version: 66.12
revision: CLOWNFISH
glider: 573
mission: 22
dive: 115
start: 9 22 118 9 22 46
data:
$ID,573
$MISSION,22
$DIVE,115
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,5
$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,334
$T_MISSION,349
$T_ABORT,369
$T_TURN,500
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,332
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.59918
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,1000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,220918,090434,-2945.1318,3148.0847,30,0.8,31,-24.8,0.3,178.5,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.6
$GPS2,220918,092234,-2945.4790,3147.9851,17,0.8,18,-24.8,0.0,0.0,10,9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2935.944,3142.154
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,356.8,20000,-18.2,-9.980,-21.01,2240
$D_GRID,1000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-146.0,75,2154,1339,1241,0.0,0.0,0,81,0.00,0.00,-61.58,0.000,16386,0.000,0.000,75,2154,3068,3073,3064,0,0,0,0,0,0,14.91,28.83,14.92
$GC,83,-0.85,-146.0,75,2155,3075,3066,4.2,-11.0,11,106,12.27,2.38,-5.82,0.000,18692,0.301,0.090,2194,3515,3409,3451,3368,0,0,0,0,0,0,14.58,13.89,14.71
$GC,205,-0.85,-146.0,2194,3517,3452,3368,32.5,-18.0,35,212,0.05,2.35,0.00,0.000,3078,0.272,0.041,2204,2110,3410,3452,3368,0,0,0,0,0,0,14.69,14.81,14.80
$GC,272,-0.85,-146.0,2204,2110,3454,3369,45.0,-18.8,48,278,0.00,2.33,0.00,0.000,2564,0.000,0.067,2205,729,3410,3453,3368,0,0,0,0,0,0,15.02,14.78,15.02
$GC,302,-0.85,-146.0,2205,729,3452,3368,50.8,-18.9,54,309,0.05,2.30,0.00,0.000,3078,0.276,0.047,2208,2107,3410,3453,3367,0,0,0,0,0,0,14.69,14.84,14.79
$GC,369,-0.85,-146.0,2208,2109,3454,3369,62.8,-18.2,67,375,0.00,2.42,0.00,0.000,2308,0.000,0.071,2199,3535,3410,3453,3368,0,0,0,0,0,0,15.05,14.83,15.05
$GC,414,-0.85,-146.0,2199,3536,3453,3368,71.0,-18.5,76,421,0.03,2.35,0.00,0.000,3078,0.341,0.040,2204,2127,3410,3453,3368,0,0,0,0,0,0,14.72,14.85,14.84
$GC,481,-0.85,-146.0,2206,2127,3453,3368,83.6,-19.9,89,486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,2126,3410,3453,3368,0,0,0,0,0,0,15.06,15.07,15.06
$GC,546,-0.85,-146.0,2204,2127,3455,3370,96.7,-20.2,102,551,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,2127,3410,3453,3368,0,0,0,0,0,0,15.07,15.07,15.07
$GC,610,-0.85,-146.0,2202,2127,3455,3369,109.9,-19.0,115,611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,2127,3411,3454,3368,0,0,0,0,0,0,15.08,15.09,15.09
$GC,670,-0.85,-146.0,2204,2127,3455,3369,121.3,-18.9,127,671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,2127,3410,3453,3368,0,0,0,0,0,0,15.09,15.09,15.08
$GC,730,-0.85,-146.0,2204,2127,3455,3369,131.8,-16.8,139,737,0.00,2.38,0.00,0.000,2564,0.000,0.065,2205,726,3411,3454,3368,0,0,0,0,0,0,15.10,14.89,15.09
$GC,751,-0.85,-146.0,2204,727,3454,3369,135.3,-18.1,143,758,0.03,2.33,0.00,0.000,3078,0.366,0.047,2206,2127,3411,3454,3368,0,0,0,0,0,0,14.76,14.91,14.89
$GC,817,-0.85,-146.0,2206,2128,3454,3368,146.5,-16.1,156,824,0.00,2.42,0.00,0.000,2308,0.000,0.073,2206,3534,3411,3454,3368,0,0,0,0,0,0,15.11,14.85,15.11
$GC,893,-0.85,-146.0,2207,3535,3453,3368,157.7,-13.7,171,900,0.00,2.30,0.00,0.000,3078,0.000,0.036,2206,2136,3411,3454,3368,0,0,0,0,0,0,14.93,14.90,14.95
$GC,959,-0.85,-146.0,2207,2137,3454,3369,166.7,-14.6,184,966,0.00,2.38,0.00,0.000,2308,0.000,0.069,2198,3535,3411,3454,3368,0,0,0,0,0,0,15.12,14.92,15.15
$GC,1000,-0.85,-146.0,2198,3536,3454,3369,172.6,-14.5,192,1007,0.05,2.33,0.00,0.000,3078,0.246,0.037,2210,2129,3411,3454,3368,0,0,0,0,0,0,14.82,14.92,14.92
$GC,1066,-0.85,-146.0,2211,2129,3454,3368,181.6,-13.1,205,1073,0.00,2.38,0.00,0.000,2564,0.000,0.064,2210,724,3411,3454,3368,0,0,0,0,0,0,15.11,14.91,15.11
$GC,1081,-0.85,-146.0,2210,725,3456,3370,183.6,-13.0,208,1088,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,2127,3411,3454,3368,0,0,0,0,0,0,14.97,14.93,15.00
$GC,1148,-0.85,-146.0,2208,2128,3454,3368,192.5,-13.7,221,1153,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2127,3411,3454,3368,0,0,0,0,0,0,15.13,15.12,15.13
$GC,1212,-0.85,-146.0,2206,2128,3456,3369,201.4,-14.0,234,1219,0.00,2.42,0.00,0.000,2308,0.000,0.071,2207,3538,3411,3454,3368,0,0,0,0,0,0,15.14,14.92,15.14
$GC,1253,-0.85,-146.0,2206,3539,3456,3369,207.2,-13.3,242,1260,0.00,2.33,0.00,0.000,3078,0.000,0.036,2206,2124,3411,3454,3368,0,0,0,0,0,0,14.99,14.95,15.00
$GC,1320,-0.85,-146.0,2207,2124,3456,3368,215.8,-13.4,255,1326,0.00,2.33,0.00,0.000,2564,0.000,0.064,2207,721,3411,3454,3368,0,0,0,0,0,0,15.15,14.94,15.15
$GC,1340,-0.85,-146.0,2207,722,3456,3368,218.7,-13.0,259,1347,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,2124,3411,3454,3368,0,0,0,0,0,0,14.99,14.95,15.00
$GC,1406,-0.85,-146.0,2206,2125,3456,3369,227.8,-14.1,272,1412,0.00,2.38,0.00,0.000,2308,0.000,0.071,2207,3541,3411,3454,3368,0,0,0,0,0,0,15.15,14.95,15.15
$GC,1426,-0.85,-146.0,2208,3542,3454,3368,230.7,-14.7,276,1433,0.00,2.33,0.00,0.000,3078,0.000,0.035,2207,2129,3411,3454,3368,0,0,0,0,0,0,15.00,14.96,15.02
$GC,1494,-0.85,-146.0,2208,2129,3454,3368,240.4,-14.7,289,1499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2129,3411,3454,3368,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1558,-0.85,-146.0,2208,2129,3454,3369,249.2,-13.7,302,1565,0.00,2.45,0.00,0.000,2308,0.000,0.070,2201,3546,3411,3454,3368,0,0,0,0,0,0,15.16,14.91,15.16
$GC,1594,-0.85,-146.0,2200,3547,3455,3369,254.3,-13.9,309,1600,0.00,2.33,0.00,0.000,3078,0.000,0.036,2201,2129,3410,3453,3368,0,0,0,0,0,0,15.01,14.97,15.02
$GC,1660,-0.85,-146.0,2200,2129,3456,3369,263.3,-13.6,322,1665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,2129,3410,3454,3367,0,0,0,0,0,0,15.16,15.17,15.17
$GC,1724,-0.85,-146.0,2200,2129,3455,3369,272.7,-14.0,335,1725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2129,3411,3454,3368,0,0,0,0,0,0,15.17,15.17,15.17
$GC,1784,-0.85,-146.0,2200,2129,3456,3369,281.2,-13.9,347,1785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,2129,3410,3454,3367,0,0,0,0,0,0,15.17,15.18,15.17
$GC,1844,-0.85,-146.0,2200,2129,3455,3369,289.7,-14.2,359,1845,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,2128,3410,3453,3368,0,0,0,0,0,0,15.17,15.18,15.19
$GC,1904,-0.85,-146.0,2201,2129,3454,3367,298.5,-15.2,371,1905,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,2129,3411,3454,3368,0,0,0,0,0,0,15.18,15.19,15.19
$GC,1974,-0.85,-146.0,2200,2128,3455,3369,309.4,-15.8,376,1980,0.00,2.42,0.00,0.000,2308,0.000,0.070,2201,3538,3411,3454,3368,0,0,0,0,0,0,15.21,14.97,15.21
$GC,2009,-0.85,-146.0,2200,3538,3456,3369,312.5,-15.7,377,2016,0.00,2.33,0.00,0.000,3078,0.000,0.036,2200,2127,3410,3453,3368,0,0,0,0,0,0,15.03,14.98,15.04
$GC,2134,-0.85,-146.0,2201,2127,3453,3368,334.0,-15.4,384,2135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,2126,3411,3454,3368,0,0,0,0,0,0,15.22,15.23,15.22
$GC,2254,-0.85,-146.0,2200,2127,3454,3368,353.4,-16.1,390,2260,0.00,2.42,0.00,0.000,2308,0.000,0.072,2201,3533,3410,3453,3368,0,0,0,0,0,0,15.23,15.01,15.23
$GC,2299,-0.85,-146.0,2200,3534,3455,3368,359.4,-15.6,392,2305,0.00,2.30,0.00,0.000,3078,0.000,0.037,2200,2132,3410,3453,3368,0,0,0,0,0,0,15.07,15.02,15.08
$GC,2435,-0.85,-146.0,2200,2133,3454,3369,380.3,-14.7,399,2440,0.00,2.33,0.00,0.000,2564,0.000,0.067,2200,724,3409,3452,3367,0,0,0,0,0,0,15.22,15.03,15.22
$GC,2454,-0.85,-146.0,2200,725,3454,3369,383.2,-14.4,400,2460,0.00,2.33,0.00,0.000,3078,0.000,0.049,2200,2133,3410,3452,3368,0,0,0,0,0,0,15.09,15.04,15.09
$GC,2595,-0.85,-146.0,2200,2133,3453,3368,402.5,-13.8,407,2600,0.00,2.38,0.00,0.000,2308,0.000,0.074,2200,3541,3409,3451,3367,0,0,0,0,0,0,15.23,15.04,15.23
$GC,2649,-0.85,-146.0,2200,3541,3453,3368,407.7,-13.3,409,2659,0.00,2.33,0.00,0.000,3078,0.000,0.037,2200,2125,3409,3451,3367,0,0,0,0,0,0,15.08,15.05,15.10
$GC,2775,-0.85,-146.0,2200,2126,3452,3368,425.8,-13.1,416,2775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2125,3408,3450,3367,0,0,0,0,0,0,15.26,15.27,15.27
$GC,2895,-0.85,-146.0,2200,2126,3451,3367,440.8,-12.3,422,2900,0.00,2.33,0.00,0.000,2564,0.000,0.067,2200,720,3407,3449,3366,0,0,0,0,0,0,15.23,15.05,15.24
$GC,2914,-0.85,-146.0,2202,719,3449,3367,443.4,-12.5,423,2920,0.00,2.33,0.00,0.000,3078,0.000,0.049,2200,2129,3407,3449,3366,0,0,0,0,0,0,15.10,15.06,15.12
$GC,3055,-0.85,-146.0,2201,2129,3448,3366,460.4,-12.2,430,3060,0.00,2.38,0.00,0.000,2308,0.000,0.075,2200,3542,3406,3447,3366,0,0,0,0,0,0,15.24,15.05,15.24
$GC,3089,-0.85,-146.0,2203,3543,3448,3366,462.8,-12.1,431,3096,0.00,2.33,0.00,0.000,3078,0.000,0.037,2200,2130,3407,3448,3366,0,0,0,0,0,0,15.10,15.07,15.11
$GC,3215,-0.85,-146.0,2201,2131,3448,3366,480.0,-12.7,438,3216,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2130,3407,3449,3365,0,0,0,0,0,0,15.24,15.25,15.25
$GC,3334,-0.85,-146.0,2201,2131,3448,3365,496.2,-13.5,444,3335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2130,3406,3448,3364,0,0,0,0,0,0,15.27,15.28,15.28
$GC,3454,-0.85,-146.0,2201,2131,3447,3364,512.9,-13.9,450,3460,0.00,2.42,0.00,0.000,2308,0.000,0.073,2192,3538,3405,3447,3364,0,0,0,0,0,0,15.28,15.05,15.28
$GC,3489,-0.85,-146.0,2191,3538,3448,3365,515.5,-13.8,451,3496,0.08,2.33,0.00,0.000,3078,0.213,0.039,2209,2127,3404,3447,3362,0,0,0,0,0,0,14.99,15.07,15.07
$GC,3614,-0.85,-146.0,2210,2128,3446,3364,534.7,-13.9,458,3615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2127,3405,3447,3363,0,0,0,0,0,0,15.28,15.28,15.28
$GC,3735,-0.85,-146.0,2209,2128,3446,3364,551.0,-13.4,464,3740,0.00,2.38,0.00,0.000,2308,0.000,0.073,2206,3535,3403,3444,3363,0,0,0,0,0,0,15.26,15.07,15.25
$GC,3759,-0.85,-146.0,2205,3536,3447,3364,553.7,-13.4,465,3765,0.00,2.30,0.00,0.000,3078,0.000,0.039,2206,2139,3403,3444,3363,0,0,0,0,0,0,15.11,15.07,15.14
$GC,3895,-0.85,-146.0,2207,2140,3444,3363,571.9,-13.1,472,3896,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,2138,3403,3444,3362,0,0,0,0,0,0,15.25,15.26,15.26
$GC,4014,-0.85,-146.0,2207,2140,3443,3362,587.0,-12.5,478,4015,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,2139,3403,3444,3362,0,0,0,0,0,0,15.28,15.29,15.28
$GC,4135,-0.85,-146.0,2207,2139,3442,3361,602.2,-12.5,484,4136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,2139,3401,3442,3361,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4254,-0.85,-146.0,2205,2139,3442,3361,617.7,-12.9,490,4255,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,2139,3401,3442,3360,0,0,0,0,0,0,15.29,15.30,15.29
$GC,4374,-0.85,-146.0,2206,2139,3443,3360,633.5,-13.1,496,4380,0.00,2.42,0.00,0.000,2308,0.000,0.075,2201,3535,3400,3441,3359,0,0,0,0,0,0,15.30,15.05,15.30
$GC,4414,-0.85,-146.0,2202,3543,3440,3359,638.7,-13.0,498,4420,0.00,2.33,0.00,0.000,3078,0.000,0.041,2201,2130,3400,3441,3359,0,0,0,0,0,0,15.11,15.07,15.13
$GC,4554,-0.85,-146.0,2200,2129,3443,3356,656.2,-12.8,505,4560,0.00,2.40,0.00,0.000,2564,0.000,0.072,2200,720,3398,3441,3356,0,0,0,0,0,0,15.30,15.05,15.30
$GC,4584,-0.85,-146.0,2202,721,3441,3356,658.9,-13.0,506,4590,0.00,2.33,0.00,0.000,3078,0.000,0.050,2200,2123,3398,3441,3356,0,0,0,0,0,0,15.11,15.07,15.14
$GC,4715,-0.85,-146.0,2200,2123,3442,3356,677.2,-13.1,513,4720,0.00,2.42,0.00,0.000,2308,0.000,0.078,2201,3530,3397,3440,3355,0,0,0,0,0,0,15.28,15.04,15.28
$GC,4744,-0.85,-146.0,2201,3530,3440,3356,679.6,-12.8,514,4750,0.00,2.33,0.00,0.000,3078,0.000,0.041,2200,2126,3397,3440,3355,0,0,0,0,0,0,15.11,15.07,15.13
$GC,4874,-0.85,-146.0,2201,2125,3440,3353,697.7,-13.1,521,4880,0.00,2.45,0.00,0.000,2308,0.000,0.076,2200,3533,3396,3439,3354,0,0,0,0,0,0,15.29,15.04,15.29
$GC,4960,-0.85,-146.0,2200,3534,3440,3355,707.8,-12.6,525,4965,0.00,2.33,0.00,0.000,3078,0.000,0.041,2200,2132,3396,3439,3354,0,0,0,0,0,0,15.11,15.06,15.12
$GC,5095,-0.85,-146.0,2201,2133,3438,3354,725.4,-12.9,532,5100,0.00,2.35,0.00,0.000,2564,0.000,0.072,2200,723,3395,3437,3354,0,0,0,0,0,0,15.28,15.05,15.28
$GC,5109,-0.85,-146.0,2200,722,3438,3355,725.4,-12.9,532,5116,0.00,2.33,0.00,0.000,3078,0.000,0.050,2200,2123,3395,3436,3354,0,0,0,0,0,0,15.09,15.06,15.12
$GC,5234,-0.85,-146.0,2199,2123,3438,3354,743.8,-13.2,539,5240,0.00,2.45,0.00,0.000,2308,0.000,0.078,2204,3538,3394,3436,3353,0,0,0,0,0,0,15.28,15.04,15.28
$STATE,5253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5253,begin apogee
$GC,5259,-0.19,0.0,2201,1903,3435,3354,746.5,-13.2,540,5379,1.12,0.00,117.55,2.059,10246,0.159,0.000,2426,1902,2812,2850,2775,0,0,0,0,0,0,15.00,14.31,13.64
$STATE,5380,end apogee,CONTROL_FINISHED_OK
$STATE,5380,begin climb
$GC,5382,0.85,146.0,2427,1903,2852,2776,751.7,0.0,546,5512,1.60,2.50,121.62,2.027,10756,0.083,0.076,2773,505,2214,2259,2169,0,0,0,0,0,0,14.31,14.07,13.52
$GC,5670,0.89,175.6,2775,506,2249,2170,742.2,8.6,560,5702,0.00,2.40,25.27,1.911,9222,0.000,0.045,2774,1917,2094,2141,2048,0,0,0,0,0,0,14.67,14.63,13.81
$GC,5836,0.89,175.6,2773,1917,2141,2046,724.0,10.3,569,5842,0.00,2.47,0.00,0.000,516,0.000,0.080,2784,496,2092,2139,2045,0,0,0,0,0,0,14.88,14.68,14.88
$GC,5856,0.89,175.6,2785,497,2138,2046,722.0,10.4,570,5861,0.00,2.40,0.00,0.000,5126,0.000,0.046,2784,1913,2091,2138,2045,0,0,0,0,0,0,14.76,14.71,14.77
$GC,5996,0.89,175.6,2785,1913,2137,2045,706.6,11.0,577,5997,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,1913,2091,2137,2045,0,0,0,0,0,0,15.00,15.01,15.01
$GC,6116,0.89,175.6,2785,1914,2136,2045,694.1,10.3,583,6121,0.00,2.40,0.00,0.000,4356,0.000,0.072,2784,3299,2090,2136,2044,0,0,0,0,0,0,15.06,14.83,15.07
$GC,6171,0.89,175.6,2783,3299,2138,2045,689.8,10.6,585,6178,0.05,2.35,0.00,0.000,5126,0.283,0.050,2784,1917,2089,2136,2043,0,0,0,0,0,0,14.76,14.87,14.88
$GC,6296,0.89,175.6,2785,1918,2135,2043,674.9,10.5,592,6301,0.00,2.40,0.00,0.000,4356,0.000,0.070,2783,3303,2089,2135,2043,0,0,0,0,0,0,15.11,14.89,15.11
$GC,6371,0.89,175.6,2784,3304,2134,2042,668.0,11.3,595,6378,0.03,2.35,0.00,0.000,5126,0.378,0.051,2786,1916,2088,2134,2042,0,0,0,0,0,0,14.77,14.92,14.90
$GC,6496,0.89,175.6,2786,1916,2135,2042,653.4,10.3,602,6501,0.00,2.45,0.00,0.000,4612,0.000,0.083,2794,502,2087,2133,2041,0,0,0,0,0,0,15.15,14.92,15.16
$GC,6561,0.89,175.6,2794,502,2134,2042,646.9,10.8,605,6567,0.05,2.35,0.00,0.000,5126,0.256,0.047,2784,1912,2087,2133,2041,0,0,0,0,0,0,14.85,14.95,14.95
$GC,6696,0.89,175.6,2785,1913,2132,2042,632.3,10.1,612,6701,0.00,2.40,0.00,0.000,4356,0.000,0.073,2784,3305,2086,2132,2041,0,0,0,0,0,0,15.16,14.94,15.17
$GC,6726,0.89,175.6,2785,3306,2133,2041,630.0,10.3,613,6732,0.05,2.35,0.00,0.000,5126,0.285,0.050,2782,1909,2086,2132,2041,0,0,0,0,0,0,14.85,14.97,14.97
$GC,6856,0.89,175.6,2781,1910,2133,2041,615.6,10.3,620,6861,0.00,2.40,0.00,0.000,4356,0.000,0.071,2782,3297,2086,2132,2040,0,0,0,0,0,0,15.19,14.95,15.19
$GC,6886,0.89,175.6,2781,3298,2134,2041,613.5,10.5,621,6891,0.00,2.33,0.00,0.000,5126,0.000,0.050,2787,1918,2086,2132,2040,0,0,0,0,0,0,15.02,14.98,15.04
$GC,7016,0.89,175.6,2788,1919,2132,2041,598.7,10.2,628,7021,0.00,2.42,0.00,0.000,4612,0.000,0.083,2786,487,2086,2132,2040,0,0,0,0,0,0,15.20,14.98,15.20
$GC,7031,0.89,175.6,2786,488,2133,2041,598.7,10.2,628,7038,0.00,2.35,0.00,0.000,5126,0.000,0.045,2787,1904,2086,2132,2040,0,0,0,0,0,0,15.04,15.00,15.05
$GC,7156,0.89,175.6,2787,1904,2131,2041,583.9,10.8,635,7157,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1904,2085,2131,2040,0,0,0,0,0,0,15.21,15.21,15.21
$GC,7276,0.89,175.6,2787,1903,2131,2040,570.8,10.9,641,7277,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1904,2085,2131,2039,0,0,0,0,0,0,15.21,15.21,15.22
$GC,7396,0.89,175.6,2786,1904,2133,2040,558.6,10.1,647,7401,0.00,2.40,0.00,0.000,4356,0.000,0.073,2786,3307,2085,2131,2039,0,0,0,0,0,0,15.22,14.99,15.22
$GC,7481,0.89,175.6,2788,3308,2131,2040,550.2,10.6,651,7487,0.05,2.35,0.00,0.000,5126,0.287,0.051,2784,1912,2085,2131,2039,0,0,0,0,0,0,14.89,15.01,15.02
$GC,7616,0.90,181.6,2786,1914,2130,2038,536.3,9.7,658,7627,0.00,2.42,4.85,1.211,12548,0.000,0.073,2784,3311,2069,2116,2023,0,0,0,0,0,0,15.23,14.96,14.23
$GC,7651,0.91,187.3,2785,3312,2118,2024,534.2,9.7,659,7662,0.00,2.38,6.70,1.535,13318,0.000,0.050,2792,1906,2046,2094,1999,0,0,0,0,0,0,15.00,14.96,14.23
$GC,7796,0.91,187.3,2792,1907,2095,2000,517.0,11.0,667,7802,0.00,2.45,0.00,0.000,4356,0.000,0.072,2792,3311,2046,2095,1998,0,0,0,0,0,0,15.17,14.93,15.17
$GC,7826,0.91,187.3,2793,3312,2095,1999,514.6,11.2,668,7832,0.08,2.38,0.00,0.000,5126,0.252,0.051,2787,1905,2046,2095,1998,0,0,0,0,0,0,14.90,14.96,14.97
$GC,7956,0.91,187.3,2787,1905,2103,1999,499.0,11.1,675,7961,0.00,2.42,0.00,0.000,4356,0.000,0.072,2786,3294,2046,2094,1998,0,0,0,0,0,0,15.18,14.94,15.18
$GC,8001,0.91,187.3,2787,3295,2094,1999,494.0,11.7,677,8007,0.00,2.35,0.00,0.000,5126,0.000,0.051,2792,1907,2046,2094,1998,0,0,0,0,0,0,15.02,14.97,15.04
$GC,8136,0.91,187.3,2791,1908,2095,1999,478.6,10.8,684,8137,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,1907,2046,2094,1998,0,0,0,0,0,0,15.19,15.20,15.19
$GC,8256,0.91,187.3,2791,1907,2095,1999,466.2,10.1,690,8257,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,1907,2045,2093,1998,0,0,0,0,0,0,15.20,15.21,15.21
$GC,8376,0.91,193.7,2792,1907,2093,1998,454.4,9.7,696,8387,0.00,2.40,6.20,1.289,12548,0.000,0.070,2792,3311,2024,2070,1978,0,0,0,0,0,0,15.21,14.87,14.28
$GC,8401,0.92,197.7,2791,3312,2074,1976,452.4,9.8,697,8412,0.05,2.38,5.72,1.217,13318,0.282,0.050,2792,1909,2007,2059,1955,0,0,0,0,0,0,14.84,14.94,14.26
$GC,8537,0.95,220.5,2792,1910,2053,1956,439.6,8.9,704,8559,0.00,0.00,20.33,1.626,8198,0.000,0.000,2792,1909,1913,1964,1862,0,0,0,0,0,0,15.15,14.83,14.20
$GC,8676,0.95,221.5,2791,1910,1965,1859,426.4,9.9,711,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1910,1910,1963,1858,0,0,0,0,0,0,15.04,15.06,15.05
$GC,8796,0.95,221.5,2792,1910,1962,1858,414.0,10.4,717,8802,0.00,2.45,0.00,0.000,260,0.000,0.073,2791,3311,1910,1962,1858,0,0,0,0,0,0,15.10,14.86,15.10
$GC,8816,0.95,221.5,2792,3312,1962,1858,411.5,10.9,718,8822,0.00,2.38,0.00,0.000,5126,0.000,0.051,2797,1916,1909,1962,1857,0,0,0,0,0,0,14.94,14.89,14.96
$GC,8956,0.95,221.5,2796,1917,1964,1858,396.1,10.9,725,8957,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1916,1909,1962,1857,0,0,0,0,0,0,15.14,15.14,15.14
$GC,9076,0.95,221.5,2797,1917,1961,1858,383.5,10.6,731,9082,0.00,2.40,0.00,0.000,260,0.000,0.072,2797,3327,1909,1961,1857,0,0,0,0,0,0,15.16,14.94,15.16
$GC,9121,0.95,221.5,2795,3328,1963,1858,378.5,11.6,733,9127,0.00,2.40,0.00,0.000,5126,0.000,0.050,2804,1917,1909,1961,1857,0,0,0,0,0,0,14.98,14.93,15.00
$GC,9256,0.95,221.5,2805,1918,1961,1858,362.0,11.6,740,9262,0.00,2.47,0.00,0.000,4612,0.000,0.081,2814,496,1908,1960,1857,0,0,0,0,0,0,15.18,14.94,15.18
$GC,9286,0.95,221.5,2814,497,1961,1858,359.7,11.7,741,9292,0.08,2.35,0.00,0.000,5126,0.226,0.049,2799,1906,1908,1960,1857,0,0,0,0,0,0,14.88,14.96,14.97
$GC,9416,0.95,221.5,2800,1907,1959,1857,343.1,11.7,748,9422,0.00,2.42,0.00,0.000,4356,0.000,0.074,2798,3301,1908,1959,1857,0,0,0,0,0,0,15.19,14.95,15.19
$GC,9476,0.95,221.5,2798,3302,1960,1858,335.6,12.5,751,9481,0.00,2.35,0.00,0.000,5126,0.000,0.052,2806,1915,1908,1959,1857,0,0,0,0,0,0,15.02,14.97,15.04
$GC,9616,0.95,221.5,2807,1911,1959,1857,318.8,12.1,758,9622,0.00,2.42,0.00,0.000,4356,0.000,0.073,2807,3303,1908,1959,1857,0,0,0,0,0,0,15.20,14.95,15.20
$GC,9641,0.95,221.5,2806,3304,1961,1858,316.4,11.9,759,9647,0.08,2.35,0.00,0.000,5126,0.249,0.052,2801,1914,1908,1959,1857,0,0,0,0,0,0,14.89,14.98,14.99
$GC,9776,0.95,221.5,2801,1914,1959,1857,299.9,11.6,766,9783,0.00,2.42,0.00,0.000,4356,0.000,0.072,2801,3310,1908,1959,1857,0,0,0,0,0,0,15.21,14.97,15.21
$GC,9802,0.95,221.5,2801,3311,1959,1857,296.7,12.2,771,9809,0.05,2.38,0.00,0.000,5126,0.282,0.051,2799,1906,1908,1959,1857,0,0,0,0,0,0,14.87,14.98,14.98
$GC,9868,0.95,221.5,2798,1907,1961,1858,289.4,10.6,784,9875,0.00,2.38,0.00,0.000,4356,0.000,0.071,2799,3307,1908,1959,1857,0,0,0,0,0,0,15.19,14.97,15.19
$GC,9919,0.95,221.5,2799,3308,1959,1858,283.7,11.4,794,9926,0.00,2.38,0.00,0.000,5126,0.000,0.052,2807,1903,1908,1959,1857,0,0,0,0,0,0,15.02,14.97,15.04
$GC,9985,0.95,221.5,2807,1904,1959,1857,276.8,11.0,807,9991,0.00,2.40,0.00,0.000,4612,0.000,0.083,2817,496,1908,1959,1857,0,0,0,0,0,0,15.18,14.96,15.18
$GC,10000,0.95,221.5,2818,497,1958,1857,274.7,11.2,810,10007,0.08,2.35,0.00,0.000,5126,0.232,0.047,2802,1909,1907,1958,1857,0,0,0,0,0,0,14.86,14.96,14.95
$GC,10067,0.95,221.5,2801,1910,1960,1858,267.8,10.6,823,10072,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1909,1908,1959,1857,0,0,0,0,0,0,15.16,15.17,15.17
$GC,10132,0.95,221.5,2802,1910,1959,1858,260.9,10.8,836,10137,0.00,0.00,0.00,0.000,4102,0.000,0.000,2802,1909,1908,1959,1857,0,0,0,0,0,0,15.17,15.17,15.17
$GC,10197,0.95,221.5,2801,1910,1960,1858,254.1,10.2,849,10203,0.00,2.42,0.00,0.000,4356,0.000,0.073,2801,3312,1907,1958,1857,0,0,0,0,0,0,15.16,14.94,15.17
$GC,10263,0.95,221.5,2801,3313,1960,1858,246.9,11.4,862,10270,0.05,2.35,0.00,0.000,5126,0.359,0.051,2800,1899,1908,1959,1857,0,0,0,0,0,0,14.85,14.97,15.02
$GC,10329,0.98,245.3,2800,1900,1965,1858,240.4,8.9,875,10352,0.00,0.00,21.42,1.361,8198,0.000,0.000,2800,1899,1811,1865,1757,0,0,0,0,0,0,15.16,14.85,14.27
$GC,10412,0.98,245.3,2801,1900,1865,1754,232.2,10.2,891,10418,0.00,2.42,0.00,0.000,516,0.000,0.085,2800,490,1808,1863,1753,0,0,0,0,0,0,15.03,14.82,15.04
$GC,10448,0.98,245.3,2800,491,1866,1754,228.5,10.4,898,10454,0.00,2.38,0.00,0.000,1030,0.000,0.047,2800,1911,1808,1864,1753,0,0,0,0,0,0,14.89,14.85,14.91
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$GC,11293,1.00,261.8,2809,501,1801,1682,139.4,10.8,1065,11300,0.00,2.35,0.00,0.000,1030,0.000,0.046,2808,1910,1741,1801,1682,0,0,0,0,0,0,14.90,14.86,14.92
$GC,11360,1.01,268.7,2808,1910,1803,1683,132.8,9.7,1078,11372,0.00,2.45,7.00,0.955,10756,0.000,0.080,2817,493,1714,1774,1654,0,0,0,0,0,0,15.05,14.71,14.27
$GC,11387,1.04,294.7,2818,494,1777,1655,130.4,8.8,1083,11415,0.00,2.38,22.77,1.173,11270,0.000,0.045,2817,1910,1608,1672,1544,0,0,0,0,0,0,14.88,14.83,14.18
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$GC,11536,1.04,294.7,2819,3306,1674,1543,115.7,10.5,1112,11542,0.00,2.35,0.00,0.000,1030,0.000,0.050,2821,1908,1607,1672,1543,0,0,0,0,0,0,14.84,14.76,14.85
$GC,11602,1.04,294.7,2821,1908,1673,1543,109.0,10.2,1125,11608,0.00,2.42,0.00,0.000,516,0.000,0.083,2821,498,1607,1672,1543,0,0,0,0,0,0,14.98,14.78,14.99
$GC,11622,1.04,294.7,2822,498,1672,1543,106.6,11.5,1129,11629,0.00,2.38,0.00,0.000,1030,0.000,0.044,2821,1916,1607,1672,1542,0,0,0,0,0,0,14.85,14.81,14.89
$GC,11688,1.04,294.7,2822,1916,1671,1543,99.8,10.1,1142,11695,0.00,2.35,0.00,0.000,260,0.000,0.069,2821,3308,1606,1671,1542,0,0,0,0,0,0,15.00,14.81,15.00
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$GC,11790,1.04,294.7,2821,1916,1673,1543,89.5,10.1,1162,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1915,1606,1671,1542,0,0,0,0,0,0,15.02,15.03,15.03
$GC,11855,1.04,294.9,2820,1916,1673,1543,83.1,10.0,1175,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1915,1606,1671,1542,0,0,0,0,0,0,15.04,15.04,15.04
$GC,11915,1.04,295.1,2822,1916,1671,1543,77.1,10.0,1187,11922,0.00,2.47,0.00,0.000,516,0.000,0.083,2821,471,1605,1669,1542,0,0,0,0,0,0,15.04,14.81,15.05
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$GC,11998,1.05,304.3,2822,1908,1675,1543,68.6,9.6,1203,12015,0.00,2.42,8.85,0.918,10500,0.000,0.068,2821,3307,1571,1636,1507,0,0,0,0,0,0,15.04,14.81,14.29
$GC,12050,1.05,304.3,2820,3308,1637,1507,63.2,10.8,1213,12056,0.00,2.35,0.00,0.000,3078,0.000,0.050,2821,1903,1571,1636,1507,0,0,0,0,0,0,14.88,14.78,14.89
$GC,12116,1.05,304.3,2820,1904,1637,1507,56.3,10.9,1226,12121,0.00,0.00,0.00,0.000,2054,0.000,0.000,2820,1904,1570,1635,1506,0,0,0,0,0,0,15.04,15.04,15.04
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$GC,12401,1.11,351.7,2822,1913,1569,1441,28.9,8.5,1282,12429,0.00,0.00,26.48,1.050,10246,0.000,0.000,2821,1913,1376,1442,1310,0,0,0,0,0,0,15.02,14.70,14.23
$GC,12488,1.16,391.9,2822,1914,1442,1308,20.8,8.1,1299,12518,0.10,0.00,26.65,0.981,10246,0.148,0.000,2873,1914,1212,1274,1151,0,0,0,0,0,0,14.75,14.66,14.22
$GC,12578,1.16,391.9,2871,1914,1276,1145,9.0,14.2,1316,12584,0.00,2.45,0.00,0.000,4612,0.000,0.080,2879,503,1209,1274,1144,0,0,0,0,0,0,14.87,14.66,14.87
$GC,12588,1.16,391.9,2880,506,1274,1144,7.5,14.8,1318,12595,0.05,2.35,0.00,0.000,5126,0.254,0.041,2868,1913,1207,1274,1140,0,0,0,0,0,0,14.59,14.70,14.70
$STATE,12628,end climb,SURFACE_DEPTH_REACHED
$STATE,12628,begin surface coast
$FINISH,0.4,1.022284
$STATE,12648,end surface coast,CONTROL_FINISHED_OK
$STATE,12648,begin surface
$SM_CCo,12727,0.00,0.000,0,0,1204,394.19
$SM_GC,0.91,12.70,0.32,0.00,0.045,0.054,0.000,131,2178,1204,-7.30,-1.22,394.19,0,0,0,0,0,0,14.76,14.81,14.83
$IRIDIUM_FIX,-2935.15,3149.79,220918,055406
$TT8_MAMPS,0.038948,0.93625
$HUMID,49.72
$INTERNAL_PRESSURE,9.07226
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,700.4,54.4
$SC_FREEKB,3862016
$24V_AH,13.52,34.208
$10V_AH,13.44,0.000
$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,28.800,291.000,452.700,0.000,0.000,22.814,15.902,767.631,16.000,0.000,18.688,0.000,8382.498,963.775,4179.051,255.602,0.000,2314.423,0.000,2388.995,0.000,103.577,0.000
$DEVICE_MAMPS,377.910,90.270,2058.615,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,0.000,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12750.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.909,0.000,0.000,0.000
$MEM,343620
$DATA_FILE_SIZE,46678,1330
$CAP_FILE_SIZE,321515,0
$CFSIZE,1023623168,1006632960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220918,125554,-2943.747,3147.602,41,0.7,44,-24.7,0.8,255.1,11,9.2