version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 24
start: 10 6 118 16 41 22
data:
$ID,573
$MISSION,23
$DIVE,24
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,267
$T_MISSION,280
$T_ABORT,295
$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,125
$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,532.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,42
$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,15
$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,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,061018,162232,-2951.5061,3141.2271,44,0.8,44,-24.9,1.2,205.5,11,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.8
$GPS2,061018,164059,-2952.2285,3140.6892,15,0.9,16,-24.9,1.5,186.7,10,8.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2958.423,3150.901
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,149.9,20000,-18.2,-9.988,-21.02,2239
$D_GRID,800
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,73,1972,622,638,0.0,0.0,0,110,0.00,0.00,-87.82,0.000,16386,0.000,0.000,74,1972,3151,3164,3138,0,0,0,0,0,0,15.10,28.83,15.11
$GC,114,-0.86,-146.0,73,1972,3164,3139,3.9,-8.4,16,139,12.05,2.28,-4.35,0.000,18948,0.285,0.082,2206,582,3409,3449,3370,0,0,0,0,0,0,14.72,13.86,14.88
$GC,185,-0.86,-146.0,2206,581,3445,3369,24.4,-15.8,29,193,0.05,2.28,0.00,0.000,3078,0.350,0.046,2209,1987,3409,3450,3369,0,0,0,0,0,0,14.76,14.91,14.95
$GC,256,-0.86,-146.0,2209,1987,3450,3369,34.8,-15.1,42,262,0.00,2.35,0.00,0.000,2308,0.000,0.067,2200,3393,3410,3450,3371,0,0,0,0,0,0,15.17,14.90,15.17
$GC,289,-0.86,-146.0,2200,3393,3450,3369,39.9,-14.7,48,296,0.00,2.30,0.00,0.000,3078,0.000,0.041,2200,1976,3409,3450,3369,0,0,0,0,0,0,15.00,14.89,15.00
$GC,359,-0.86,-146.0,2200,1976,3450,3369,50.6,-15.7,61,364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1976,3410,3450,3370,0,0,0,0,0,0,15.19,15.19,15.19
$GC,426,-0.86,-146.0,2200,1976,3450,3369,61.0,-15.3,74,433,0.00,2.38,0.00,0.000,2308,0.000,0.067,2200,3386,3409,3450,3369,0,0,0,0,0,0,15.21,14.96,15.21
$GC,445,-0.86,-146.0,2199,3386,3450,3369,63.9,-15.2,77,452,0.00,2.25,0.00,0.000,3078,0.000,0.041,2200,1990,3409,3450,3369,0,0,0,0,0,0,15.02,14.93,15.03
$GC,514,-0.86,-146.0,2199,1990,3450,3369,74.7,-15.4,90,520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1990,3409,3450,3369,0,0,0,0,0,0,15.21,15.21,15.21
$GC,582,-0.86,-146.0,2200,1990,3450,3369,85.6,-16.6,103,589,0.00,2.35,0.00,0.000,2308,0.000,0.068,2192,3391,3409,3450,3369,0,0,0,0,0,0,15.22,14.97,15.22
$GC,626,-0.86,-146.0,2191,3391,3450,3369,91.7,-13.7,111,633,0.08,2.28,0.00,0.000,3078,0.271,0.041,2209,1982,3409,3450,3369,0,0,0,0,0,0,14.88,14.97,15.04
$GC,697,-0.86,-146.0,2209,1982,3457,3369,100.3,-12.2,124,703,0.00,2.33,0.00,0.000,2564,0.000,0.067,2210,576,3409,3450,3369,0,0,0,0,0,0,15.23,14.99,15.23
$GC,745,-0.86,-146.0,2209,576,3450,3369,106.5,-12.3,133,752,0.00,2.28,0.00,0.000,3078,0.000,0.047,2209,1986,3409,3450,3369,0,0,0,0,0,0,15.05,14.95,15.07
$GC,815,-0.86,-146.0,2209,1986,3450,3369,115.1,-12.7,146,821,0.00,2.35,0.00,0.000,2308,0.000,0.070,2209,3390,3409,3450,3369,0,0,0,0,0,0,15.23,14.91,15.23
$GC,863,-0.86,-146.0,2209,3390,3450,3369,121.3,-12.6,155,870,0.00,2.25,0.00,0.000,3078,0.000,0.040,2209,1996,3409,3449,3369,0,0,0,0,0,0,15.12,15.03,15.12
$GC,934,-0.86,-146.0,2209,1996,3450,3369,129.9,-12.7,168,941,0.00,2.35,0.00,0.000,2564,0.000,0.068,2209,576,3409,3450,3368,0,0,0,0,0,0,15.23,14.99,15.23
$GC,983,-0.86,-146.0,2208,575,3450,3369,136.5,-12.7,177,990,0.00,2.28,0.00,0.000,3078,0.000,0.048,2209,1986,3409,3450,3369,0,0,0,0,0,0,15.11,15.02,15.13
$GC,1054,-0.86,-146.0,2209,1986,3450,3369,144.6,-11.5,190,1060,0.00,2.33,0.00,0.000,2308,0.000,0.070,2209,3386,3409,3450,3369,0,0,0,0,0,0,15.23,14.99,15.23
$GC,1123,-0.86,-146.0,2209,3386,3450,3369,152.5,-11.1,203,1130,0.00,2.28,0.00,0.000,3078,0.000,0.040,2209,1973,3409,3450,3369,0,0,0,0,0,0,15.12,15.02,15.13
$GC,1193,-0.86,-146.0,2209,1972,3450,3369,159.8,-11.0,216,1199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1972,3409,3449,3369,0,0,0,0,0,0,15.26,15.24,15.24
$GC,1261,-0.86,-146.0,2209,1972,3450,3369,167.1,-10.8,229,1268,0.00,2.40,0.00,0.000,2308,0.000,0.069,2207,3393,3409,3450,3369,0,0,0,0,0,0,15.25,14.99,15.25
$GC,1285,-0.86,-146.0,2207,3393,3450,3369,169.7,-10.4,233,1292,0.00,2.28,0.00,0.000,3078,0.000,0.040,2207,1981,3410,3450,3370,0,0,0,0,0,0,15.05,14.96,15.07
$GC,1355,-0.86,-146.0,2207,1980,3450,3369,177.4,-11.0,246,1362,0.00,2.35,0.00,0.000,2564,0.000,0.069,2207,575,3409,3450,3369,0,0,0,0,0,0,15.23,14.95,15.24
$GC,1398,-0.86,-146.0,2207,574,3450,3369,182.5,-11.6,254,1405,0.00,2.28,0.00,0.000,3078,0.000,0.048,2207,1986,3409,3450,3369,0,0,0,0,0,0,15.12,15.02,15.13
$GC,1468,-0.86,-146.0,2206,1986,3450,3369,189.7,-9.9,267,1478,0.00,2.35,0.00,0.000,2308,0.000,0.072,2207,3393,3409,3450,3369,0,0,0,0,0,0,15.23,14.99,15.24
$GC,1524,-0.86,-146.0,2207,3393,3450,3369,194.4,-8.1,277,1531,0.00,2.28,0.00,0.000,3078,0.000,0.039,2207,1984,3409,3450,3369,0,0,0,0,0,0,15.04,14.95,15.04
$GC,1595,-0.86,-146.0,2207,1984,3450,3369,200.2,-8.3,290,1602,0.00,2.33,0.00,0.000,2564,0.000,0.068,2207,580,3409,3450,3369,0,0,0,0,0,0,15.23,15.00,15.23
$GC,1618,-0.86,-146.0,2207,579,3450,3369,202.6,-9.3,294,1625,0.00,2.28,0.00,0.000,3078,0.000,0.048,2207,1987,3409,3449,3369,0,0,0,0,0,0,15.13,15.03,15.14
$GC,1688,-0.86,-146.0,2206,1987,3450,3369,209.2,-9.7,307,1694,0.00,2.35,0.00,0.000,2308,0.000,0.072,2207,3393,3409,3449,3369,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1742,-0.86,-146.0,2206,3393,3449,3369,214.3,-9.5,317,1749,0.00,2.30,0.00,0.000,3078,0.000,0.041,2207,1976,3409,3450,3369,0,0,0,0,0,0,15.13,15.03,15.14
$GC,1811,-0.86,-146.0,2207,1976,3449,3369,221.5,-10.7,330,1817,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1976,3409,3449,3369,0,0,0,0,0,0,15.26,15.27,15.27
$GC,1879,-0.86,-146.0,2206,1976,3449,3369,228.8,-10.8,343,1886,0.00,2.40,0.00,0.000,2308,0.000,0.070,2207,3387,3409,3449,3369,0,0,0,0,0,0,15.27,14.93,15.27
$GC,1898,-0.86,-146.0,2206,3387,3449,3369,231.1,-11.7,346,1904,0.00,2.25,0.00,0.000,3078,0.000,0.041,2205,1987,3409,3449,3369,0,0,0,0,0,0,15.13,15.03,15.15
$GC,1967,-0.86,-146.0,2207,1987,3449,3369,238.0,-10.4,359,1974,0.00,2.33,0.00,0.000,2564,0.000,0.070,2207,587,3408,3449,3368,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1997,-0.86,-146.0,2206,586,3449,3368,241.1,-10.5,364,2004,0.00,2.28,0.00,0.000,3078,0.000,0.050,2207,1989,3408,3449,3367,0,0,0,0,0,0,15.14,15.04,15.14
$GC,2067,-0.86,-146.0,2206,1990,3449,3368,247.8,-9.6,377,2074,0.00,2.35,0.00,0.000,2308,0.000,0.073,2207,3394,3412,3457,3368,0,0,0,0,0,0,15.26,15.00,15.27
$GC,2121,-0.86,-146.0,2207,3394,3448,3368,252.9,-9.3,387,2128,0.00,2.30,0.00,0.000,3078,0.000,0.040,2207,1980,3408,3449,3368,0,0,0,0,0,0,15.09,14.99,15.11
$GC,2191,-0.86,-146.0,2206,1980,3448,3368,259.6,-10.1,400,2198,0.00,2.33,0.00,0.000,2564,0.000,0.070,2207,586,3408,3448,3368,0,0,0,0,0,0,15.27,14.97,15.27
$GC,2215,-0.86,-146.0,2206,586,3448,3368,262.3,-10.9,404,2222,0.00,2.28,0.00,0.000,3078,0.000,0.050,2206,1987,3408,3448,3368,0,0,0,0,0,0,15.14,15.04,15.15
$GC,2284,-0.86,-146.0,2206,1987,3448,3368,269.2,-10.0,417,2291,0.00,2.35,0.00,0.000,2308,0.000,0.073,2207,3390,3408,3448,3368,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2338,-0.86,-146.0,2206,3388,3448,3368,274.7,-9.4,427,2345,0.00,2.28,0.00,0.000,3078,0.000,0.041,2207,1986,3408,3448,3368,0,0,0,0,0,0,15.14,15.02,15.15
$GC,2408,-0.86,-146.0,2206,1986,3447,3368,281.2,-9.4,440,2414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3408,3448,3368,0,0,0,0,0,0,15.28,15.28,15.28
$GC,2475,-0.86,-146.0,2206,1986,3448,3368,287.4,-9.4,453,2482,0.00,2.40,0.00,0.000,2308,0.000,0.073,2206,3394,3407,3447,3367,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2495,-0.86,-146.0,2206,3394,3447,3368,289.2,-9.5,456,2501,0.00,2.28,0.00,0.000,3078,0.000,0.041,2206,1984,3407,3447,3368,0,0,0,0,0,0,15.14,15.04,15.15
$GC,2565,-0.86,-146.0,2206,1984,3447,3368,295.5,-9.0,469,2572,0.00,2.33,0.00,0.000,2564,0.000,0.070,2207,588,3407,3447,3368,0,0,0,0,0,0,15.26,15.00,15.26
$GC,2589,-0.86,-146.0,2206,588,3447,3367,297.9,-9.8,473,2596,0.00,2.28,0.00,0.000,3078,0.000,0.050,2206,1987,3407,3446,3368,0,0,0,0,0,0,15.04,14.97,15.05
$GC,2673,-0.86,-146.0,2206,1987,3446,3366,305.9,-9.3,480,2678,0.00,2.38,0.00,0.000,2308,0.000,0.074,2204,3398,3406,3446,3366,0,0,0,0,0,0,15.28,15.00,15.28
$GC,2738,-0.86,-146.0,2203,3397,3446,3366,311.7,-9.5,483,2743,0.00,2.28,0.00,0.000,3078,0.000,0.041,2203,1989,3406,3446,3367,0,0,0,0,0,0,15.15,15.04,15.16
$GC,2880,-0.86,-146.0,2203,1989,3446,3365,325.9,-10.0,490,2885,0.00,2.35,0.00,0.000,2564,0.000,0.071,2204,583,3405,3446,3364,0,0,0,0,0,0,15.28,14.95,15.30
$GC,2898,-0.86,-146.0,2203,583,3446,3365,325.9,-10.0,490,2904,0.00,2.28,0.00,0.000,3078,0.000,0.050,2204,1987,3405,3445,3365,0,0,0,0,0,0,15.16,15.06,15.17
$GC,3023,-0.86,-146.0,2203,1987,3445,3365,339.9,-9.7,497,3028,0.00,2.35,0.00,0.000,2308,0.000,0.075,2204,3389,3405,3445,3365,0,0,0,0,0,0,15.30,15.02,15.30
$GC,3081,-0.86,-146.0,2203,3390,3444,3364,344.2,-9.7,499,3087,0.00,2.25,0.00,0.000,3078,0.000,0.042,2204,1987,3405,3445,3365,0,0,0,0,0,0,15.16,15.05,15.18
$GC,3207,-0.86,-146.0,2203,1986,3444,3364,357.4,-9.5,506,3212,0.00,2.38,0.00,0.000,2308,0.000,0.073,2203,3389,3403,3443,3364,0,0,0,0,0,0,15.30,15.02,15.31
$GC,3238,-0.86,-146.0,2203,3389,3440,3364,359.6,-9.5,507,3244,0.00,2.25,0.00,0.000,3078,0.000,0.042,2203,1985,3403,3443,3364,0,0,0,0,0,0,15.16,15.05,15.18
$GC,3371,-0.86,-146.0,2199,1984,3444,3364,373.2,-9.8,514,3376,0.00,2.33,0.00,0.000,2564,0.000,0.073,2203,588,3403,3443,3364,0,0,0,0,0,0,15.30,15.02,15.31
$GC,3387,-0.86,-146.0,2203,587,3442,3364,373.2,-9.8,514,3394,0.00,2.28,0.00,0.000,3078,0.000,0.051,2203,1989,3402,3442,3363,0,0,0,0,0,0,15.16,15.07,15.18
$GC,3513,-0.86,-146.0,2203,1989,3442,3363,386.5,-9.0,521,3519,0.00,2.38,0.00,0.000,2308,0.000,0.076,2203,3394,3402,3442,3363,0,0,0,0,0,0,15.31,15.02,15.31
$GC,3565,-0.86,-146.0,2203,3394,3442,3363,390.1,-8.6,523,3570,0.00,2.28,0.00,0.000,3078,0.000,0.043,2203,1980,3402,3441,3363,0,0,0,0,0,0,15.17,15.05,15.19
$GC,3698,-0.86,-146.0,2203,1980,3441,3362,402.9,-9.1,530,3699,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1980,3401,3441,3362,0,0,0,0,0,0,15.32,15.33,15.33
$GC,3818,-0.86,-146.0,2203,1980,3441,3362,413.8,-9.3,536,3823,0.00,2.40,0.00,0.000,2308,0.000,0.075,2203,3390,3401,3441,3362,0,0,0,0,0,0,15.32,15.02,15.32
$GC,3840,-0.86,-146.0,2203,3391,3440,3360,415.6,-9.0,537,3846,0.00,2.28,0.00,0.000,3078,0.000,0.043,2203,1990,3401,3440,3362,0,0,0,0,0,0,15.11,14.99,15.13
$GC,3983,-0.86,-146.0,2203,1990,3440,3361,430.1,-10.5,544,3984,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1990,3400,3440,3361,0,0,0,0,0,0,15.30,15.31,15.31
$GC,4103,-0.86,-146.0,2203,1990,3439,3360,443.3,-11.1,550,4108,0.00,2.40,0.00,0.000,2308,0.000,0.076,2203,3395,3399,3438,3360,0,0,0,0,0,0,15.33,15.02,15.33
$GC,4119,-0.86,-146.0,2202,3396,3438,3360,443.3,-11.1,550,4125,0.00,2.28,0.00,0.000,3078,0.000,0.044,2201,1988,3399,3438,3360,0,0,0,0,0,0,15.17,15.07,15.19
$GC,4245,-0.86,-146.0,2201,1987,3438,3359,458.7,-10.8,557,4246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1987,3398,3437,3359,0,0,0,0,0,0,15.32,15.33,15.33
$GC,4366,-0.86,-146.0,2202,1987,3437,3359,471.2,-10.4,563,4371,0.00,2.40,0.00,0.000,2308,0.000,0.076,2200,3393,3398,3437,3359,0,0,0,0,0,0,15.31,15.02,15.31
$GC,4402,-0.86,-146.0,2200,3393,3436,3358,473.8,-10.5,564,4409,0.00,2.28,0.00,0.000,3078,0.000,0.044,2200,1984,3398,3437,3359,0,0,0,0,0,0,15.16,15.05,15.18
$GC,4528,-0.86,-146.0,2200,1984,3436,3359,487.8,-9.9,571,4530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1984,3397,3436,3358,0,0,0,0,0,0,15.31,15.32,15.32
$GC,4648,-0.86,-146.0,2200,1984,3436,3358,499.8,-9.9,577,4654,0.00,2.40,0.00,0.000,2308,0.000,0.075,2200,3390,3397,3436,3358,0,0,0,0,0,0,15.31,15.01,15.32
$GC,4674,-0.86,-146.0,2200,3390,3436,3358,502.1,-9.7,578,4680,0.00,2.28,0.00,0.000,3078,0.000,0.044,2200,1987,3397,3436,3358,0,0,0,0,0,0,15.17,15.07,15.19
$GC,4812,-0.86,-146.0,2200,1985,3435,3357,516.3,-10.2,585,4813,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1987,3396,3436,3357,0,0,0,0,0,0,15.30,15.31,15.31
$GC,4932,-0.86,-146.0,2200,1987,3435,3357,526.8,-8.5,591,4937,0.00,2.40,0.00,0.000,2308,0.000,0.078,2200,3391,3396,3435,3357,0,0,0,0,0,0,15.32,15.00,15.33
$GC,4969,-0.86,-146.0,2200,3392,3435,3357,528.9,-8.9,592,4976,0.00,2.28,0.00,0.000,3078,0.000,0.046,2200,1987,3396,3435,3357,0,0,0,0,0,0,15.16,15.04,15.17
$GC,5095,-0.86,-146.0,2200,1986,3434,3356,541.5,-8.9,599,5097,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1987,3395,3434,3356,0,0,0,0,0,0,15.30,15.30,15.30
$GC,5215,-0.86,-146.0,2200,1987,3434,3353,552.5,-9.2,605,5220,0.00,2.42,0.00,0.000,2308,0.000,0.078,2200,3400,3395,3434,3356,0,0,0,0,0,0,15.32,15.01,15.33
$GC,5231,-0.86,-146.0,2200,3400,3431,3356,552.5,-9.2,605,5238,0.00,2.30,0.00,0.000,3078,0.000,0.044,2200,1977,3394,3434,3355,0,0,0,0,0,0,15.16,15.04,15.17
$GC,5357,-0.86,-146.0,2200,1977,3433,3355,566.7,-10.3,612,5363,0.03,2.33,0.00,0.000,2564,0.487,0.073,2209,589,3394,3433,3355,0,0,0,0,0,0,14.95,15.00,15.09
$GC,5380,-0.86,-146.0,2208,595,3433,3355,569.2,-10.3,613,5385,0.00,2.30,0.00,0.000,3078,0.000,0.053,2209,1990,3393,3432,3355,0,0,0,0,0,0,15.15,15.04,15.16
$GC,5522,-0.86,-146.0,2209,1990,3432,3354,583.7,-10.2,620,5528,0.00,2.40,0.00,0.000,2308,0.000,0.079,2208,3399,3393,3432,3354,0,0,0,0,0,0,15.30,15.00,15.32
$GC,5615,-0.86,-146.0,2207,3399,3431,3354,591.6,-9.5,624,5620,0.00,2.30,0.00,0.000,3078,0.000,0.046,2207,1987,3392,3430,3354,0,0,0,0,0,0,15.15,15.02,15.16
$GC,5748,-0.86,-146.0,2207,1987,3431,3354,604.6,-9.1,631,5753,0.00,2.42,0.00,0.000,2308,0.000,0.079,2207,3396,3392,3431,3354,0,0,0,0,0,0,15.30,14.98,15.30
$GC,5770,-0.86,-146.0,2207,3396,3430,3354,606.6,-8.9,632,5776,0.00,2.33,0.00,0.000,3078,0.000,0.046,2208,1975,3396,3438,3354,0,0,0,0,0,0,15.14,15.04,15.16
$GC,5913,-0.86,-146.0,2207,1975,3430,3353,620.5,-10.1,639,5914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1975,3393,3430,3356,0,0,0,0,0,0,15.27,15.28,15.28
$GC,6033,-0.86,-146.0,2208,1975,3429,3352,633.0,-10.4,645,6034,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1974,3390,3429,3352,0,0,0,0,0,0,15.30,15.30,15.30
$GC,6152,-0.86,-146.0,2207,1975,3429,3352,646.3,-11.2,651,6158,0.00,2.45,0.00,0.000,2308,0.000,0.079,2207,3394,3390,3428,3352,0,0,0,0,0,0,15.29,14.97,15.30
$GC,6179,-0.86,-146.0,2207,3394,3428,3352,648.9,-11.2,652,6184,0.00,2.30,0.00,0.000,3078,0.000,0.047,2206,1988,3390,3428,3352,0,0,0,0,0,0,15.14,15.02,15.15
$GC,6317,-0.86,-146.0,2207,1987,3430,3348,662.8,-9.4,659,6322,0.00,2.40,0.00,0.000,2564,0.000,0.080,2207,575,3389,3430,3348,0,0,0,0,0,0,15.30,14.97,15.30
$GC,6384,-0.86,-146.0,2207,574,3430,3347,669.1,-9.9,662,6390,0.00,2.33,0.00,0.000,3078,0.000,0.057,2207,1984,3389,3430,3348,0,0,0,0,0,0,15.13,15.02,15.15
$GC,6522,-0.86,-146.0,2207,1984,3429,3348,682.2,-9.7,669,6527,0.00,2.42,0.00,0.000,2308,0.000,0.081,2207,3400,3388,3428,3348,0,0,0,0,0,0,15.29,14.96,15.29
$GC,6594,-0.86,-146.0,2207,3399,3428,3347,687.8,-9.2,672,6599,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1976,3388,3428,3348,0,0,0,0,0,0,15.13,15.02,15.14
$GC,6727,-0.86,-146.0,2207,1976,3428,3347,699.9,-8.3,679,6732,0.00,2.38,0.00,0.000,2564,0.000,0.076,2207,571,3387,3428,3347,0,0,0,0,0,0,15.28,14.97,15.28
$GC,6797,-0.86,-146.0,2207,569,3427,3347,705.3,-8.0,682,6802,0.00,2.35,0.00,0.000,3078,0.000,0.056,2206,1995,3388,3428,3348,0,0,0,0,0,0,15.12,15.00,15.14
$GC,6934,-0.86,-146.0,2207,1995,3427,3347,716.8,-8.4,689,6940,0.00,2.40,0.00,0.000,2308,0.000,0.082,2207,3396,3387,3427,3347,0,0,0,0,0,0,15.26,14.95,15.27
$GC,6957,-0.86,-146.0,2206,3396,3427,3347,718.8,-8.5,690,6962,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1979,3387,3427,3347,0,0,0,0,0,0,15.11,15.00,15.14
$GC,7100,-0.86,-146.0,2207,1977,3426,3347,729.1,-6.5,697,7105,0.00,2.38,0.00,0.000,2564,0.000,0.080,2208,581,3386,3426,3346,0,0,0,0,0,0,15.28,14.95,15.28
$GC,7123,-0.86,-146.0,2207,580,3425,3346,731.5,-7.4,698,7129,0.00,2.35,0.00,0.000,3078,0.000,0.057,2207,1986,3386,3426,3346,0,0,0,0,0,0,15.12,15.00,15.14
$GC,7266,-0.86,-146.0,2207,1987,3425,3346,735.8,0.2,705,7271,0.00,2.40,0.00,0.000,2308,0.000,0.073,2207,3400,3386,3425,3347,0,0,0,0,0,0,15.27,14.95,15.28
$STATE,7387,end dive,NO_VERTICAL_VELOCITY
$STATE,7387,begin apogee
$GC,7394,-0.19,0.0,2207,2002,3419,3351,735.5,0.0,711,7512,1.10,0.00,114.10,2.054,10246,0.161,0.000,2429,2002,2812,2842,2783,0,0,0,0,0,0,14.88,14.37,13.67
$STATE,7514,end apogee,CONTROL_FINISHED_OK
$STATE,7514,begin climb
$GC,7516,0.86,146.0,2425,2002,2841,2782,735.6,0.0,717,7650,1.60,2.65,121.72,1.997,10756,0.090,0.112,2762,576,2215,2258,2173,0,0,0,0,0,0,14.40,14.23,13.60
$GC,8153,1.12,364.1,2759,576,2249,2165,735.2,-0.0,749,8348,0.30,2.38,186.32,2.039,11270,0.086,0.054,2847,2007,1327,1387,1267,0,0,0,0,0,0,14.90,14.91,13.57
$GC,8476,1.39,581.4,2847,2007,1381,1258,735.0,0.0,765,8645,0.30,2.42,159.95,2.014,11012,0.089,0.066,2929,3378,597,556,638,0,0,0,0,0,0,14.66,14.22,13.57
$GC,8797,1.39,581.4,2926,3380,558,624,654.8,31.4,781,8802,0.00,2.45,0.00,0.000,1030,0.000,0.068,2933,1975,590,558,623,0,0,0,0,0,0,14.75,14.64,14.77
$GC,8939,1.39,581.4,2932,1975,559,618,605.0,36.0,788,8944,0.00,2.45,0.00,0.000,516,0.000,0.096,2936,576,588,558,619,0,0,0,0,0,0,15.01,14.76,15.02
$GC,9006,1.39,581.4,2936,576,561,616,582.4,36.4,791,9011,0.00,2.33,0.00,0.000,1030,0.000,0.047,2936,1982,588,560,616,0,0,0,0,0,0,14.92,14.84,14.94
$GC,9143,1.39,581.4,2936,1983,562,613,530.7,36.8,798,9149,0.00,2.47,0.00,0.000,516,0.000,0.095,2936,574,587,561,613,0,0,0,0,0,0,15.10,14.84,15.11
$GC,9169,1.39,581.4,2936,574,562,613,522.5,36.5,799,9175,0.00,2.33,0.00,0.000,1030,0.000,0.048,2936,1985,587,562,613,0,0,0,0,0,0,14.98,14.90,15.00
$GC,9307,1.39,581.4,2936,1986,563,611,472.0,35.7,806,9312,0.00,2.45,0.00,0.000,516,0.000,0.090,2947,576,587,563,611,0,0,0,0,0,0,15.13,14.88,15.14
$GC,9329,1.39,581.4,2947,576,563,611,463.9,35.6,807,9334,0.00,2.35,0.00,0.000,5126,0.000,0.047,2946,1988,587,563,611,0,0,0,0,0,0,15.03,14.95,15.04
$GC,9471,1.39,581.4,2947,1989,564,610,411.5,37.0,814,9476,0.00,2.45,0.00,0.000,4612,0.000,0.090,2957,574,586,564,609,0,0,0,0,0,0,15.17,14.90,15.18
$GC,9503,1.39,581.4,2957,574,565,609,403.5,36.8,815,9509,0.10,2.33,0.00,0.000,5126,0.297,0.049,2940,1988,587,565,609,0,0,0,0,0,0,14.81,14.97,15.01
$GC,9636,1.39,581.4,2939,1990,566,609,352.5,36.5,822,9642,0.00,2.45,0.00,0.000,4612,0.000,0.090,2949,574,587,566,608,0,0,0,0,0,0,15.19,14.92,15.19
$GC,9658,1.39,581.4,2947,574,564,608,344.0,37.3,823,9664,0.00,2.33,0.00,0.000,5126,0.000,0.047,2949,1992,587,566,609,0,0,0,0,0,0,15.07,14.99,15.08
$GC,9786,1.39,581.4,2949,1993,567,608,294.5,39.7,830,9793,0.00,2.47,0.00,0.000,4612,0.000,0.090,2959,572,587,566,608,0,0,0,0,0,0,15.19,14.93,15.20
$GC,9805,1.39,581.4,2959,571,567,608,287.0,39.6,833,9812,0.10,2.35,0.00,0.000,5126,0.294,0.048,2941,1995,587,567,608,0,0,0,0,0,0,14.83,15.00,15.03
$GC,9875,1.39,581.4,2941,1996,567,607,260.8,37.9,846,9880,0.00,0.00,0.00,0.000,4102,0.000,0.000,2942,1996,587,567,608,0,0,0,0,0,0,15.19,15.20,15.20
$GC,9942,1.39,581.4,2941,1996,567,607,236.1,34.4,859,9949,0.00,2.47,0.00,0.000,4612,0.000,0.090,2951,569,587,567,607,0,0,0,0,0,0,15.19,14.86,15.20
$GC,9971,1.39,581.4,2951,568,567,607,226.0,35.8,864,9978,0.05,2.35,0.00,0.000,5126,0.359,0.050,2942,1989,587,567,607,0,0,0,0,0,0,14.81,14.99,15.02
$GC,10040,1.39,581.4,2942,1990,567,606,201.4,36.1,877,10045,0.00,0.00,0.00,0.000,4102,0.000,0.000,2942,1990,587,568,607,0,0,0,0,0,0,15.19,15.19,15.19
$GC,10108,1.39,581.4,2942,1990,568,604,177.4,35.6,890,10114,0.00,2.45,0.00,0.000,4612,0.000,0.089,2951,574,589,573,606,0,0,0,0,0,0,15.16,14.85,15.18
$GC,10131,1.39,581.4,2951,574,568,614,169.1,34.6,894,10139,0.05,2.33,0.00,0.000,5126,0.358,0.046,2942,1990,587,568,606,0,0,0,0,0,0,14.81,14.98,15.01
$GC,10200,1.39,581.4,2942,1992,568,605,146.2,34.5,907,10206,0.00,0.00,0.00,0.000,4102,0.000,0.000,2942,1992,586,568,605,0,0,0,0,0,0,15.17,15.18,15.18
$GC,10268,1.39,581.4,2942,1992,568,604,123.1,32.7,920,10274,0.00,2.47,0.00,0.000,4612,0.000,0.090,2951,567,586,568,604,0,0,0,0,0,0,15.16,14.85,15.16
$GC,10311,1.39,581.4,2951,567,568,604,109.8,30.9,928,10318,0.05,2.35,0.00,0.000,5126,0.353,0.049,2942,1984,586,569,604,0,0,0,0,0,0,14.80,14.97,15.01
$GC,10380,1.39,581.4,2942,1985,569,603,89.9,29.3,941,10386,0.00,2.38,0.00,0.000,4356,0.000,0.069,2942,3395,586,569,603,0,0,0,0,0,0,15.16,14.92,15.16
$GC,10398,1.39,581.4,2941,3395,568,603,84.3,31.2,944,10406,0.05,2.40,0.00,0.000,5126,0.389,0.060,2942,1975,586,569,603,0,0,0,0,0,0,14.75,14.90,14.97
$GC,10468,1.39,581.4,2941,1975,569,603,64.0,30.9,957,10474,0.00,2.40,0.00,0.000,4612,0.000,0.088,2951,581,585,569,602,0,0,0,0,0,0,15.15,14.83,15.16
$GC,10486,1.39,581.4,2950,581,569,602,58.4,29.5,960,10494,0.05,2.33,0.00,0.000,5126,0.359,0.046,2942,1997,586,569,603,0,0,0,0,0,0,14.78,14.97,15.00
$GC,10555,1.39,581.4,2942,1998,570,603,37.6,30.6,973,10562,0.00,2.35,0.00,0.000,4356,0.000,0.067,2942,3393,586,570,602,0,0,0,0,0,0,15.16,14.92,15.16
$GC,10584,1.39,581.4,2941,3393,570,602,28.7,30.7,978,10590,0.00,2.38,0.00,0.000,5126,0.000,0.059,2947,1987,586,570,602,0,0,0,0,0,0,15.01,14.90,15.02
$STATE,10647,end climb,FINISH_DEPTH_REACHED
$STATE,10647,begin subsurface finish
$FINISH1,9.8,1.024396,155
$GC,10652,0.19,155.2,2947,1987,571,601,9.8,30.8,990,10709,1.98,2.42,-45.83,0.000,20996,0.198,0.107,2557,577,2182,2236,2128,0,0,0,0,0,0,14.81,13.75,15.00
$FINISH2,2.8
$STATE,10711,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10711,begin surface
$IRIDIUM_FIX,-2932.67,3145.07,061018,140137
$TT8_MAMPS,0.019474,0.922768
$HUMID,63.74
$INTERNAL_PRESSURE,9.09179
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.7
$SC_FREEKB,3910304
$24V_AH,13.57,53.252
$10V_AH,13.49,0.000
$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,17.925,265.425,582.100,0.000,0.000,26.110,22.679,825.879,16.500,0.000,17.664,2787.512,4728.484,920.111,3110.234,273.504,0.000,2206.826,0.000,2043.884,0.000,106.826,0.000
$DEVICE_MAMPS,487.305,111.690,2054.025,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10753.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.797,0.000,0.000,0.000
$MEM,339760
$DATA_FILE_SIZE,33404,1000
$CAP_FILE_SIZE,265331,0
$CFSIZE,1023623168,1017856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061018,164059,-2952.229,3140.689,15,0.9,16,-24.9,1.5,186.7,10,8.0