version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 30
start: 10 7 118 18 13 29
data:
$ID,573
$MISSION,23
$DIVE,30
$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,335
$T_MISSION,350
$T_ABORT,360
$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,290
$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,320
$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,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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,30
$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
$GPS1,071018,174821,-3029.1555,3104.7122,42,0.8,43,-25.4,1.5,217.8,11,7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.4
$GPS2,071018,181304,-3030.1177,3103.8933,17,0.8,18,-25.4,1.2,206.7,11,9.3
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3026.424,3052.123
$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,315.4,20000,-18.2,-9.950,-20.98,2247
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.0,73,1990,632,634,0.0,0.0,0,110,0.00,0.00,-87.68,0.000,16386,0.000,0.000,74,1991,3153,3166,3140,0,0,0,0,0,0,15.02,28.83,15.03
$GC,113,-0.85,-146.0,73,1991,3166,3140,3.8,-9.7,16,138,12.18,2.35,-4.30,0.000,18692,0.289,0.082,2194,3400,3409,3449,3369,0,0,0,0,0,0,14.62,13.76,14.77
$GC,330,-0.85,-146.0,2194,3400,3450,3369,47.4,-16.1,58,337,0.08,2.35,0.00,0.000,3078,0.280,0.043,2210,1971,3409,3450,3369,0,0,0,0,0,0,14.73,14.85,14.90
$GC,400,-0.85,-146.0,2210,1971,3450,3372,58.7,-16.0,71,406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1971,3409,3450,3369,0,0,0,0,0,0,15.12,15.12,15.12
$GC,468,-0.85,-146.0,2210,1971,3450,3369,69.7,-15.6,84,474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1971,3409,3450,3369,0,0,0,0,0,0,15.11,15.12,15.11
$GC,535,-0.85,-146.0,2209,1971,3450,3369,80.0,-15.1,97,542,0.00,2.42,0.00,0.000,2308,0.000,0.068,2201,3397,3409,3450,3369,0,0,0,0,0,0,15.13,14.88,15.13
$GC,564,-0.85,-146.0,2201,3397,3455,3368,84.3,-15.2,102,570,0.00,2.33,0.00,0.000,3078,0.000,0.043,2201,1980,3409,3450,3369,0,0,0,0,0,0,14.93,14.84,14.94
$GC,633,-0.85,-146.0,2201,1979,3450,3369,94.3,-14.5,115,640,0.00,2.35,0.00,0.000,2564,0.000,0.070,2201,579,3409,3450,3368,0,0,0,0,0,0,15.14,14.89,15.14
$GC,666,-0.85,-146.0,2201,579,3450,3369,99.2,-15.4,121,674,0.05,2.33,0.00,0.000,3078,0.354,0.048,2211,1997,3409,3450,3369,0,0,0,0,0,0,14.76,14.92,14.95
$GC,736,-0.85,-146.0,2211,1996,3450,3369,109.6,-14.0,134,742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1996,3409,3450,3369,0,0,0,0,0,0,15.15,15.16,15.15
$GC,804,-0.85,-146.0,2211,1996,3450,3369,119.4,-13.6,147,812,0.00,2.35,0.00,0.000,2308,0.000,0.072,2202,3390,3409,3450,3369,0,0,0,0,0,0,15.14,14.83,15.14
$GC,864,-0.85,-146.0,2202,3389,3450,3369,127.3,-12.9,158,871,0.00,2.30,0.00,0.000,3078,0.000,0.041,2202,1983,3409,3450,3369,0,0,0,0,0,0,14.95,14.85,14.95
$GC,933,-0.85,-146.0,2202,1983,3450,3369,136.5,-13.4,171,939,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,1983,3409,3450,3369,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1001,-0.85,-146.0,2202,1983,3453,3369,145.6,-13.8,184,1007,0.00,2.40,0.00,0.000,2308,0.000,0.070,2194,3390,3409,3450,3369,0,0,0,0,0,0,15.16,14.91,15.16
$GC,1029,-0.85,-146.0,2197,3390,3450,3369,149.5,-12.4,189,1040,0.08,2.28,0.00,0.000,3078,0.259,0.042,2214,1991,3409,3450,3369,0,0,0,0,0,0,14.78,14.88,14.92
$GC,1102,-0.85,-146.0,2214,1991,3450,3369,159.1,-13.1,202,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1991,3409,3450,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1169,-0.85,-146.0,2214,1992,3450,3369,168.0,-13.6,215,1175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1991,3409,3450,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1237,-0.85,-146.0,2213,1991,3450,3369,177.2,-12.8,228,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1991,3409,3450,3369,0,0,0,0,0,0,15.16,15.17,15.17
$GC,1305,-0.85,-146.0,2213,1991,3450,3369,185.1,-12.0,241,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1991,3409,3450,3369,0,0,0,0,0,0,15.16,15.17,15.17
$GC,1373,-0.85,-146.0,2213,1991,3450,3369,193.2,-10.9,254,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1991,3409,3450,3369,0,0,0,0,0,0,15.16,15.17,15.16
$GC,1442,-0.85,-146.0,2214,1991,3450,3369,200.1,-10.1,267,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1991,3409,3450,3369,0,0,0,0,0,0,15.16,15.17,15.18
$GC,1509,-0.85,-146.0,2214,1991,3450,3369,207.4,-11.5,280,1516,0.00,2.38,0.00,0.000,260,0.000,0.070,2207,3397,3409,3450,3369,0,0,0,0,0,0,15.19,14.86,15.19
$GC,1549,-0.85,-146.0,2206,3398,3450,3369,211.8,-10.3,287,1555,0.00,2.30,0.00,0.000,3078,0.000,0.042,2207,1987,3409,3450,3369,0,0,0,0,0,0,14.97,14.89,14.99
$GC,1618,-0.85,-146.0,2206,1987,3450,3369,219.3,-10.9,300,1624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1987,3409,3450,3369,0,0,0,0,0,0,15.19,15.19,15.20
$GC,1686,-0.85,-146.0,2213,1987,3449,3369,226.6,-10.8,313,1692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3410,3450,3371,0,0,0,0,0,0,15.19,15.19,15.20
$GC,1754,-0.85,-146.0,2206,1987,3450,3369,234.4,-11.5,326,1761,0.00,2.40,0.00,0.000,2308,0.000,0.071,2206,3395,3409,3450,3368,0,0,0,0,0,0,15.19,14.94,15.19
$GC,1813,-0.85,-146.0,2206,3396,3450,3369,241.1,-11.6,337,1819,0.00,2.30,0.00,0.000,3078,0.000,0.041,2207,1981,3409,3450,3368,0,0,0,0,0,0,15.09,14.99,15.09
$GC,1882,-0.85,-146.0,2206,1981,3450,3368,248.8,-11.6,350,1888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1981,3409,3450,3368,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1950,-0.85,-146.0,2206,1982,3450,3368,256.5,-10.9,363,1957,0.00,2.40,0.00,0.000,2308,0.000,0.070,2200,3387,3409,3450,3368,0,0,0,0,0,0,15.21,14.91,15.21
$GC,2005,-0.85,-146.0,2201,3387,3449,3368,262.4,-10.7,373,2012,0.05,2.28,0.00,0.000,3078,0.314,0.042,2212,1988,3409,3450,3368,0,0,0,0,0,0,14.85,14.99,15.02
$GC,2075,-0.85,-146.0,2212,1988,3450,3368,269.5,-10.4,386,2082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1989,3409,3450,3368,0,0,0,0,0,0,15.20,15.21,15.21
$GC,2144,-0.85,-146.0,2212,1989,3449,3368,276.9,-10.9,399,2150,0.00,2.40,0.00,0.000,2308,0.000,0.072,2206,3396,3407,3449,3366,0,0,0,0,0,0,15.21,14.95,15.21
$GC,2167,-0.85,-146.0,2206,3396,3449,3365,279.8,-12.3,403,2175,0.00,2.30,0.00,0.000,3078,0.000,0.042,2206,1985,3408,3448,3368,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2237,-0.85,-146.0,2205,1985,3449,3368,287.9,-11.9,416,2244,0.00,2.35,0.00,0.000,2564,0.000,0.071,2206,583,3408,3449,3367,0,0,0,0,0,0,15.21,14.94,15.21
$GC,2265,-0.85,-146.0,2206,583,3449,3368,291.0,-12.3,421,2272,0.00,2.30,0.00,0.000,3078,0.000,0.050,2200,1990,3408,3448,3368,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2336,-0.85,-146.0,2200,1990,3448,3367,298.2,-9.9,434,2344,0.05,2.35,0.00,0.000,2308,0.346,0.071,2203,3392,3408,3448,3368,0,0,0,0,0,0,14.85,14.94,15.00
$GC,2390,-0.85,-146.0,2203,3391,3448,3367,302.8,-10.1,439,2395,0.00,2.30,0.00,0.000,3078,0.000,0.043,2202,1979,3407,3448,3367,0,0,0,0,0,0,15.04,14.92,15.06
$GC,2522,-0.85,-146.0,2202,1979,3448,3367,317.8,-11.2,446,2523,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,1979,3407,3448,3366,0,0,0,0,0,0,15.23,15.23,15.24
$GC,2643,-0.85,-146.0,2202,1979,3449,3366,331.5,-11.7,452,2648,0.00,2.33,0.00,0.000,2564,0.000,0.072,2202,589,3407,3448,3366,0,0,0,0,0,0,15.24,14.97,15.25
$GC,2669,-0.85,-146.0,2202,589,3448,3366,334.4,-11.9,453,2675,0.05,2.28,0.00,0.000,3078,0.352,0.050,2212,1991,3406,3447,3366,0,0,0,0,0,0,14.85,15.02,15.05
$GC,2807,-0.85,-146.0,2212,1990,3447,3365,349.8,-10.5,460,2812,0.00,2.35,0.00,0.000,2308,0.000,0.074,2205,3389,3406,3447,3365,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2878,-0.85,-146.0,2204,3390,3447,3365,356.5,-10.5,463,2884,0.00,2.28,0.00,0.000,3078,0.000,0.042,2204,1986,3405,3447,3363,0,0,0,0,0,0,15.11,15.00,15.13
$GC,3011,-0.85,-146.0,2204,1986,3446,3365,371.7,-11.0,470,3013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1985,3406,3447,3365,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3131,-0.85,-146.0,2204,1986,3446,3364,385.4,-11.5,476,3132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1986,3404,3445,3364,0,0,0,0,0,0,15.28,15.28,15.28
$GC,3251,-0.85,-146.0,2204,1986,3446,3364,399.1,-11.4,482,3252,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1986,3405,3446,3364,0,0,0,0,0,0,15.27,15.28,15.28
$GC,3371,-0.85,-146.0,2204,1985,3445,3364,412.4,-11.1,488,3376,0.00,2.40,0.00,0.000,2308,0.000,0.074,2204,3389,3403,3444,3363,0,0,0,0,0,0,15.28,14.99,15.28
$GC,3433,-0.85,-146.0,2203,3388,3444,3363,419.0,-10.7,491,3438,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,1976,3404,3445,3363,0,0,0,0,0,0,15.14,15.04,15.14
$GC,3575,-0.85,-146.0,2203,1975,3443,3361,435.2,-11.8,498,3580,0.00,2.42,0.00,0.000,2308,0.000,0.075,2204,3390,3403,3443,3363,0,0,0,0,0,0,15.28,14.99,15.28
$GC,3637,-0.85,-146.0,2203,3390,3443,3363,442.2,-11.4,501,3643,0.00,2.30,0.00,0.000,3078,0.000,0.044,2203,1982,3402,3443,3362,0,0,0,0,0,0,15.14,15.03,15.14
$GC,3780,-0.85,-146.0,2203,1982,3442,3362,456.9,-10.0,508,3785,0.00,2.42,0.00,0.000,2308,0.000,0.074,2203,3397,3402,3442,3362,0,0,0,0,0,0,15.27,14.99,15.28
$GC,3867,-0.85,-146.0,2203,3397,3441,3361,465.1,-9.7,512,3872,0.00,2.30,0.00,0.000,3078,0.000,0.044,2204,1985,3401,3442,3361,0,0,0,0,0,0,15.13,15.02,15.14
$GC,4005,-0.85,-146.0,2203,1984,3441,3360,478.1,-9.1,519,4010,0.00,2.42,0.00,0.000,2308,0.000,0.076,2203,3394,3400,3441,3360,0,0,0,0,0,0,15.27,14.98,15.28
$GC,4051,-0.85,-146.0,2202,3394,3441,3360,482.0,-8.8,521,4056,0.00,2.30,0.00,0.000,3078,0.000,0.045,2203,1983,3400,3441,3360,0,0,0,0,0,0,15.13,15.02,15.14
$GC,4189,-0.85,-146.0,2203,1983,3440,3358,494.9,-9.4,528,4194,0.00,2.42,0.00,0.000,2308,0.000,0.074,2200,3388,3400,3441,3359,0,0,0,0,0,0,15.27,14.88,15.28
$GC,4261,-0.85,-146.0,2200,3387,3440,3359,501.0,-9.5,531,4267,0.05,2.28,0.00,0.000,3078,0.313,0.044,2212,1989,3399,3439,3359,0,0,0,0,0,0,14.88,15.03,15.06
$GC,4394,-0.85,-146.0,2212,1989,3439,3358,514.5,-9.5,538,4399,0.00,2.42,0.00,0.000,2308,0.000,0.076,2213,3397,3398,3438,3358,0,0,0,0,0,0,15.27,14.98,15.28
$GC,4441,-0.85,-146.0,2212,3397,3438,3358,518.5,-9.3,540,4446,0.00,2.33,0.00,0.000,3078,0.000,0.044,2213,1980,3398,3438,3358,0,0,0,0,0,0,15.13,15.02,15.14
$GC,4579,-0.85,-146.0,2212,1980,3438,3358,531.8,-9.8,547,4584,0.00,2.42,0.00,0.000,2308,0.000,0.075,2206,3386,3395,3437,3354,0,0,0,0,0,0,15.27,14.90,15.27
$GC,4650,-0.85,-146.0,2206,3389,3437,3358,538.1,-10.0,550,4656,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1979,3397,3437,3357,0,0,0,0,0,0,15.12,15.01,15.14
$GC,4783,-0.85,-146.0,2206,1975,3437,3357,552.4,-10.2,557,4788,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3388,3397,3437,3357,0,0,0,0,0,0,15.26,14.97,15.28
$GC,4829,-0.85,-146.0,2206,3389,3436,3357,556.6,-9.8,559,4835,0.00,2.30,0.00,0.000,3078,0.000,0.046,2207,1984,3396,3435,3357,0,0,0,0,0,0,15.12,15.02,15.14
$GC,4967,-0.85,-146.0,2206,1984,3444,3356,569.4,-8.7,566,4968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1984,3398,3436,3360,0,0,0,0,0,0,15.27,15.27,15.27
$GC,5088,-0.85,-146.0,2206,1984,3436,3355,580.0,-8.8,572,5093,0.00,2.42,0.00,0.000,2308,0.000,0.076,2200,3390,3398,3441,3355,0,0,0,0,0,0,15.27,14.97,15.27
$GC,5144,-0.85,-146.0,2200,3390,3435,3355,583.6,-8.2,574,5151,0.03,2.30,0.00,0.000,3078,0.472,0.047,2211,1986,3394,3434,3355,0,0,0,0,0,0,14.85,15.02,15.04
$GC,5270,-0.85,-146.0,2210,1986,3435,3361,595.0,-8.2,581,5272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1986,3394,3435,3354,0,0,0,0,0,0,15.26,15.27,15.27
$GC,5390,-0.85,-146.0,2211,1986,3435,3354,605.4,-8.6,587,5392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1986,3394,3434,3354,0,0,0,0,0,0,15.27,15.27,15.27
$GC,5510,-0.85,-146.0,2210,1986,3434,3353,616.4,-9.5,593,5516,0.00,2.42,0.00,0.000,2308,0.000,0.078,2210,3387,3394,3434,3354,0,0,0,0,0,0,15.27,14.92,15.26
$GC,5567,-0.85,-146.0,2209,3387,3433,3353,620.5,-9.6,595,5574,0.00,2.33,0.00,0.000,3078,0.000,0.047,2210,1983,3393,3433,3354,0,0,0,0,0,0,15.11,15.00,15.14
$GC,5693,-0.85,-146.0,2210,1983,3433,3352,634.3,-10.1,602,5694,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1983,3393,3433,3353,0,0,0,0,0,0,15.27,15.28,15.27
$GC,5813,-0.85,-146.0,2209,1983,3432,3352,646.9,-10.6,608,5818,0.00,2.42,0.00,0.000,2308,0.000,0.079,2206,3387,3392,3432,3352,0,0,0,0,0,0,15.26,14.96,15.26
$GC,5845,-0.85,-146.0,2206,3387,3431,3352,649.3,-10.5,609,5850,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1986,3391,3431,3352,0,0,0,0,0,0,15.11,15.00,15.12
$GC,5977,-0.85,-146.0,2206,1986,3430,3351,664.3,-10.6,616,5979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3391,3431,3351,0,0,0,0,0,0,15.27,15.28,15.27
$GC,6097,-0.85,-146.0,2206,1986,3430,3350,677.0,-10.6,622,6103,0.00,2.42,0.00,0.000,2308,0.000,0.079,2207,3386,3390,3430,3350,0,0,0,0,0,0,15.26,14.95,15.27
$GC,6169,-0.85,-146.0,2206,3387,3429,3349,683.2,-10.0,625,6174,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1990,3389,3429,3350,0,0,0,0,0,0,15.00,14.88,15.01
$GC,6301,-0.85,-146.0,2206,1990,3428,3349,697.8,-10.4,632,6306,0.00,2.42,0.00,0.000,2308,0.000,0.079,2200,3389,3388,3428,3349,0,0,0,0,0,0,15.26,14.95,15.27
$GC,6347,-0.85,-146.0,2200,3389,3428,3349,701.9,-10.1,634,6353,0.05,2.33,0.00,0.000,3078,0.310,0.047,2212,1981,3388,3428,3348,0,0,0,0,0,0,14.85,15.00,15.04
$GC,6486,-0.85,-146.0,2212,1981,3428,3347,715.2,-9.3,641,6487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1981,3388,3428,3348,0,0,0,0,0,0,15.26,15.26,15.26
$GC,6605,-0.85,-146.0,2212,1981,3428,3347,726.6,-9.6,647,6607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1981,3387,3428,3347,0,0,0,0,0,0,15.26,15.26,15.26
$GC,6725,-0.85,-146.0,2212,1981,3427,3346,738.7,-10.0,653,6726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1981,3386,3427,3346,0,0,0,0,0,0,15.26,15.26,15.26
$GC,6848,-0.85,-146.0,2213,1981,3426,3346,750.6,-9.9,659,6853,0.00,2.45,0.00,0.000,2308,0.000,0.080,2208,3388,3386,3426,3346,0,0,0,0,0,0,15.26,14.94,15.27
$GC,6890,-0.85,-146.0,2208,3389,3426,3345,755.0,-9.8,661,6896,0.00,2.35,0.00,0.000,3078,0.000,0.050,2208,1982,3386,3426,3346,0,0,0,0,0,0,15.09,14.94,15.11
$GC,7033,-0.85,-146.0,2208,1982,3425,3345,768.9,-9.7,668,7034,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1982,3385,3425,3346,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,7154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7154,begin apogee
$GC,7158,-0.19,0.0,2208,1982,3425,3345,780.4,-9.9,674,7279,1.10,0.00,116.28,2.124,10246,0.156,0.000,2427,1980,2812,2851,2774,0,0,0,0,0,0,14.88,14.31,13.61
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7280,begin climb
$GC,7282,0.85,146.0,2427,1980,2850,2774,786.9,0.0,680,7419,1.58,2.53,124.47,2.079,11012,0.063,0.072,2773,3342,2214,2259,2169,0,0,0,0,0,0,14.35,14.16,13.50
$GC,7565,0.85,146.0,2773,3343,2251,2165,771.3,12.9,694,7571,0.08,2.38,0.00,0.000,5126,0.329,0.051,2770,1950,2208,2252,2164,0,0,0,0,0,0,14.48,14.62,14.67
$GC,7698,0.85,146.0,2770,1950,2250,2162,754.8,11.5,701,7699,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1950,2206,2250,2162,0,0,0,0,0,0,14.95,14.96,14.96
$GC,7818,0.85,146.0,2770,1949,2249,2161,741.4,11.0,707,7823,0.00,2.42,0.00,0.000,4356,0.000,0.073,2770,3350,2205,2249,2161,0,0,0,0,0,0,15.04,14.78,15.04
$GC,7884,0.85,146.0,2770,3350,2248,2161,734.0,11.6,710,7890,0.05,2.35,0.00,0.000,5126,0.383,0.054,2770,1951,2204,2247,2161,0,0,0,0,0,0,14.66,14.82,14.88
$GC,8022,0.85,146.0,2769,1951,2247,2160,717.8,11.2,717,8023,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1950,2204,2247,2161,0,0,0,0,0,0,15.09,15.09,15.09
$GC,8142,0.85,146.0,2770,1950,2246,2160,703.8,11.7,723,8143,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1950,2203,2246,2160,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8262,0.85,146.0,2770,1949,2246,2160,690.9,10.7,729,8263,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1950,2203,2246,2160,0,0,0,0,0,0,15.15,15.15,15.15
$GC,8382,0.85,146.0,2770,1950,2245,2160,678.3,10.5,735,8387,0.00,2.42,0.00,0.000,4356,0.000,0.074,2770,3348,2202,2245,2160,0,0,0,0,0,0,15.16,14.90,15.16
$GC,8475,0.85,146.0,2770,3348,2245,2160,668.5,12.0,739,8481,0.05,2.35,0.00,0.000,5126,0.383,0.055,2773,1952,2202,2245,2160,0,0,0,0,0,0,14.74,14.92,14.98
$GC,8608,0.85,146.0,2770,1952,2245,2159,651.5,11.7,746,8613,0.00,2.42,0.00,0.000,4356,0.000,0.074,2770,3357,2202,2245,2159,0,0,0,0,0,0,15.18,14.90,15.18
$GC,8731,0.85,146.0,2769,3357,2244,2159,636.7,11.8,752,8736,0.00,2.38,0.00,0.000,5126,0.000,0.054,2776,1940,2201,2243,2159,0,0,0,0,0,0,15.04,14.94,15.06
$GC,8873,0.85,146.0,2776,1940,2243,2158,620.5,11.4,759,8874,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1940,2200,2242,2158,0,0,0,0,0,0,15.19,15.19,15.19
$GC,8993,0.85,146.0,2775,1940,2243,2158,607.1,11.3,765,8998,0.00,2.42,0.00,0.000,4356,0.000,0.074,2776,3348,2200,2242,2158,0,0,0,0,0,0,15.20,14.92,15.20
$GC,9059,0.85,146.0,2776,3348,2243,2158,599.8,11.7,768,9065,0.05,2.35,0.00,0.000,5126,0.392,0.057,2770,1943,2200,2243,2158,0,0,0,0,0,0,14.75,14.94,15.00
$GC,9197,0.85,146.0,2770,1943,2242,2157,583.8,11.3,775,9199,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1943,2199,2242,2157,0,0,0,0,0,0,15.20,15.21,15.20
$GC,9317,0.85,146.0,2770,1943,2241,2157,570.0,11.6,781,9319,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1943,2199,2242,2157,0,0,0,0,0,0,15.21,15.21,15.21
$GC,9437,0.85,146.0,2770,1943,2241,2164,556.4,11.2,787,9443,0.00,2.42,0.00,0.000,4356,0.000,0.074,2770,3350,2199,2241,2157,0,0,0,0,0,0,15.21,14.93,15.22
$GC,9534,0.85,146.0,2770,3350,2241,2157,547.0,11.4,791,9540,0.00,2.35,0.00,0.000,5126,0.000,0.055,2777,1943,2199,2241,2157,0,0,0,0,0,0,15.07,14.95,15.08
$GC,9660,0.85,146.0,2778,1942,2241,2157,530.8,11.4,798,9662,0.05,0.00,0.00,0.000,4102,0.394,0.000,2770,1942,2198,2240,2157,0,0,0,0,0,0,14.78,15.05,15.01
$GC,9780,0.85,146.0,2769,1942,2240,2156,517.8,11.0,804,9785,0.00,2.42,0.00,0.000,4356,0.000,0.074,2770,3349,2198,2240,2157,0,0,0,0,0,0,15.21,14.92,15.22
$GC,9851,0.85,146.0,2769,3349,2240,2157,510.6,11.4,807,9857,0.05,2.35,0.00,0.000,5126,0.384,0.054,2770,1949,2198,2240,2156,0,0,0,0,0,0,14.75,14.95,15.00
$GC,9984,0.85,146.0,2770,1949,2240,2156,495.5,10.2,814,9989,0.00,2.42,0.00,0.000,4356,0.000,0.074,2770,3356,2198,2240,2156,0,0,0,0,0,0,15.22,14.92,15.22
$GC,10130,0.85,146.0,2769,3356,2240,2156,479.2,11.7,821,10135,0.00,2.38,0.00,0.000,5126,0.000,0.054,2770,1943,2198,2240,2156,0,0,0,0,0,0,15.07,14.95,15.08
$GC,10267,0.85,146.0,2769,1942,2240,2156,464.3,10.4,828,10272,0.00,2.42,0.00,0.000,4356,0.000,0.073,2770,3350,2198,2240,2156,0,0,0,0,0,0,15.22,14.92,15.22
$GC,10523,0.85,146.0,2765,3350,2239,2156,438.2,10.7,840,10530,0.00,2.35,0.00,0.000,5126,0.000,0.054,2777,1948,2198,2240,2156,0,0,0,0,0,0,15.06,14.94,15.07
$GC,10649,0.85,146.0,2777,1948,2239,2156,423.5,10.3,847,10655,0.03,2.42,0.00,0.000,4356,0.544,0.073,2770,3355,2197,2239,2156,0,0,0,0,0,0,14.78,14.92,15.00
$GC,10772,0.86,148.6,2770,3355,2239,2156,411.3,9.8,853,10778,0.00,2.35,0.00,0.000,5126,0.000,0.052,2778,1946,2197,2238,2156,0,0,0,0,0,0,15.06,14.95,15.08
$GC,10915,0.86,154.3,2778,1946,2239,2155,397.6,9.7,860,10925,0.00,2.42,5.30,1.196,12548,0.000,0.073,2778,3360,2181,2222,2140,0,0,0,0,0,0,15.21,14.86,14.25
$GC,11121,0.86,154.3,2778,3360,2223,2139,375.7,10.8,870,11127,0.10,2.35,0.00,0.000,5126,0.300,0.051,2770,1943,2180,2222,2139,0,0,0,0,0,0,14.77,14.94,14.98
$GC,11259,0.86,154.3,2770,1943,2223,2139,361.0,10.4,877,11260,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1943,2180,2222,2139,0,0,0,0,0,0,15.20,15.19,15.20
$GC,11379,0.86,154.3,2770,1943,2222,2139,348.5,10.1,883,11380,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1943,2180,2222,2139,0,0,0,0,0,0,15.21,15.21,15.21
$GC,11499,0.86,154.3,2770,1943,2222,2139,335.6,10.8,889,11504,0.00,2.45,0.00,0.000,4356,0.000,0.072,2770,3357,2180,2222,2139,0,0,0,0,0,0,15.21,14.85,15.21
$GC,11550,0.86,154.3,2770,3358,2222,2139,330.8,11.2,891,11556,0.00,2.35,0.00,0.000,5126,0.000,0.050,2779,1945,2181,2223,2139,0,0,0,0,0,0,15.07,14.95,15.08
$GC,11682,0.86,154.3,2779,1945,2221,2139,315.7,10.7,898,11684,0.00,0.00,0.00,0.000,4102,0.000,0.000,2779,1945,2180,2222,2139,0,0,0,0,0,0,15.21,15.21,15.21
$GC,11803,0.87,155.9,2779,1944,2222,2139,304.1,9.9,904,11804,0.00,0.00,0.00,0.000,4102,0.000,0.000,2779,1945,2181,2223,2139,0,0,0,0,0,0,15.21,15.21,15.21
$GC,11923,0.88,169.7,2778,1945,2223,2139,291.5,9.3,922,11941,0.00,0.00,14.32,1.398,12294,0.000,0.000,2779,1945,2119,2161,2077,0,0,0,0,0,0,15.19,14.92,14.31
$GC,12002,0.88,169.7,2778,1945,2160,2073,283.0,11.3,937,12009,0.00,2.45,0.00,0.000,4356,0.000,0.073,2779,3355,2116,2160,2073,0,0,0,0,0,0,15.11,14.87,15.11
$GC,12086,0.88,169.7,2778,3356,2159,2073,273.0,12.3,953,12093,0.05,2.38,0.00,0.000,5126,0.379,0.051,2780,1948,2115,2159,2072,0,0,0,0,0,0,14.71,14.89,14.92
$GC,12155,0.91,191.1,2779,1948,2159,2072,265.9,9.0,966,12178,0.00,0.00,18.62,1.394,8198,0.000,0.000,2779,1948,2031,2077,1986,0,0,0,0,0,0,15.11,14.81,14.21
$GC,12240,0.91,191.1,2779,1948,2075,1983,258.0,10.4,982,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1948,2029,2075,1983,0,0,0,0,0,0,15.02,15.04,15.03
$GC,12308,0.91,191.1,2779,1948,2075,1982,249.1,14.2,995,12315,0.00,2.42,0.00,0.000,260,0.000,0.072,2779,3355,2028,2075,1982,0,0,0,0,0,0,15.04,14.73,15.07
$GC,12406,0.91,191.1,2779,3355,2074,1982,233.9,16.0,1014,12412,0.00,2.35,0.00,0.000,5126,0.000,0.050,2788,1951,2028,2075,1982,0,0,0,0,0,0,14.95,14.83,14.96
$GC,12475,0.91,191.1,2787,1952,2075,1982,222.8,15.1,1027,12481,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1951,2028,2075,1981,0,0,0,0,0,0,15.08,15.08,15.08
$GC,12543,0.91,191.1,2787,1953,2075,1981,213.0,14.0,1040,12549,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1952,2028,2075,1981,0,0,0,0,0,0,15.09,15.09,15.09
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$GC,12960,0.91,191.1,2788,1947,2075,1981,163.0,10.7,1120,12967,0.00,2.45,0.00,0.000,4356,0.000,0.072,2787,3357,2028,2075,1981,0,0,0,0,0,0,15.11,14.85,15.11
$GC,13035,0.91,191.1,2787,3357,2074,1981,154.9,11.1,1134,13041,0.00,2.38,0.00,0.000,5126,0.000,0.050,2793,1942,2027,2074,1981,0,0,0,0,0,0,14.95,14.85,14.96
$GC,13104,0.91,191.1,2793,1943,2075,1981,147.9,10.2,1147,13110,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1943,2028,2075,1981,0,0,0,0,0,0,15.11,15.11,15.11
$GC,13172,0.91,191.1,2793,1943,2075,1981,141.1,10.0,1160,13178,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1945,2028,2075,1981,0,0,0,0,0,0,15.11,15.11,15.11
$GC,13240,0.91,191.1,2793,1943,2074,1981,133.8,10.9,1173,13245,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1943,2028,2075,1981,0,0,0,0,0,0,15.11,15.11,15.11
$GC,13307,0.91,191.1,2793,1943,2075,1981,126.0,11.6,1186,13313,0.00,0.00,0.00,0.000,4102,0.000,0.000,2793,1943,2028,2075,1981,0,0,0,0,0,0,15.11,15.11,15.11
$GC,13375,0.91,191.1,2793,1943,2076,1981,117.9,11.9,1199,13381,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1943,2028,2075,1981,0,0,0,0,0,0,15.11,15.11,15.11
$GC,13443,0.91,191.1,2793,1942,2075,1981,110.2,11.5,1212,13450,0.00,2.40,0.00,0.000,4612,0.000,0.081,2793,549,2028,2075,1981,0,0,0,0,0,0,15.11,14.84,15.11
$GC,13521,0.91,191.1,2793,552,2075,1982,100.1,12.8,1227,13528,0.00,2.33,0.00,0.000,5126,0.000,0.048,2794,1959,2028,2075,1981,0,0,0,0,0,0,15.00,14.90,15.01
$GC,13590,0.91,191.1,2793,1958,2075,1981,91.5,11.6,1240,13597,0.00,2.38,0.00,0.000,4356,0.000,0.070,2794,3349,2028,2075,1981,0,0,0,0,0,0,15.11,14.85,15.11
$GC,13689,0.91,191.1,2793,3350,2075,1981,80.6,10.9,1259,13697,0.10,2.33,0.00,0.000,5126,0.278,0.049,2785,1948,2028,2075,1981,0,0,0,0,0,0,14.70,14.81,14.88
$GC,13758,0.95,224.0,2784,1948,2075,1981,74.3,8.4,1272,13787,0.00,0.00,26.52,1.121,10246,0.000,0.000,2785,1947,1901,1949,1853,0,0,0,0,0,0,15.11,14.79,14.28
$GC,13849,0.99,258.2,2788,1948,1946,1846,66.6,8.4,1289,13885,0.00,2.42,28.30,1.102,10756,0.000,0.078,2793,550,1758,1812,1704,0,0,0,0,0,0,15.00,14.59,14.20
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$STATE,14383,end climb,SURFACE_DEPTH_REACHED
$STATE,14383,begin surface coast
$FINISH,0.2,1.024230
$STATE,14404,end surface coast,CONTROL_FINISHED_OK
$STATE,14405,begin surface
$SM_CCo,14425,31.02,0.119,0,0,1505,320.11
$SM_GC,1.29,12.40,0.00,31.02,0.055,0.000,0.119,148,1946,1505,-7.27,-1.16,320.11,0,0,0,0,0,0,14.85,15.09,14.80
$IRIDIUM_FIX,-3014.96,3102.54,071018,175329
$TT8_MAMPS,0.019474,0.704809
$HUMID,53.46
$INTERNAL_PRESSURE,9.05272
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,780.4,6.5
$SC_FREEKB,3906496
$24V_AH,13.50,55.548
$10V_AH,13.58,0.000
$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,28.375,232.200,333.825,31.025,0.000,48.682,83.129,946.751,18.000,0.000,19.464,3837.746,6940.329,775.055,4063.105,307.342,0.000,2297.696,0.000,2690.017,0.000,116.751,0.000
$DEVICE_MAMPS,543.915,81.855,2124.405,118.575,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14529.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.068,0.000,0.000,0.000
$MEM,339736
$DATA_FILE_SIZE,49930,1393
$CAP_FILE_SIZE,329502,0
$CFSIZE,1023623168,1016512512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071018,221556,-3035.623,3055.993,53,0.7,53,-25.5,2.0,219.2,12,8.2