version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 31
start: 10 7 118 22 40 17
data:
$ID,573
$MISSION,23
$DIVE,31
$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,300
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,071018,221556,-3035.6228,3055.9929,53,0.7,53,-25.5,2.0,219.2,12,8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.5
$GPS2,071018,223952,-3036.7273,3054.9880,16,0.7,17,-25.5,1.6,225.9,12,7.6
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3031.328,3044.131
$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,325.5,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,74,1983,1517,1477,0.0,0.0,0,78,0.00,0.00,-55.45,0.000,16386,0.000,0.000,74,1984,3118,3124,3113,0,0,0,0,0,0,15.02,28.83,15.02
$GC,81,-0.85,-146.0,74,1984,3124,3113,3.6,-8.4,10,105,12.23,2.40,-4.97,0.000,18692,0.292,0.084,2194,3400,3411,3449,3373,0,0,0,0,0,0,14.58,14.09,14.73
$GC,257,-0.85,-146.0,2194,3401,3450,3369,38.2,-16.1,44,265,0.08,2.35,0.00,0.000,3078,0.279,0.044,2210,1975,3409,3450,3369,0,0,0,0,0,0,14.74,14.87,14.91
$GC,328,-0.85,-146.0,2211,1975,3450,3369,49.4,-17.0,57,334,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1975,3409,3450,3369,0,0,0,0,0,0,15.09,15.09,15.08
$GC,395,-0.85,-146.0,2210,1975,3450,3369,60.2,-15.1,70,402,0.00,2.45,0.00,0.000,2308,0.000,0.070,2201,3403,3409,3450,3368,0,0,0,0,0,0,15.10,14.83,15.10
$GC,424,-0.85,-146.0,2200,3404,3450,3368,64.4,-14.8,75,431,0.00,2.33,0.00,0.000,3078,0.000,0.043,2201,1985,3409,3450,3369,0,0,0,0,0,0,14.99,14.89,15.00
$GC,493,-0.85,-146.0,2201,1985,3450,3369,75.9,-17.5,88,500,0.00,2.38,0.00,0.000,2564,0.000,0.073,2201,577,3409,3450,3369,0,0,0,0,0,0,15.11,14.86,15.11
$GC,537,-0.85,-146.0,2201,577,3450,3369,84.0,-17.8,96,544,0.08,2.33,0.00,0.000,3078,0.292,0.049,2210,1991,3409,3450,3368,0,0,0,0,0,0,14.77,14.90,14.94
$GC,607,-0.85,-146.0,2209,1991,3450,3368,94.2,-14.6,109,614,0.00,2.38,0.00,0.000,2308,0.000,0.073,2210,3391,3409,3450,3369,0,0,0,0,0,0,15.13,14.87,15.13
$GC,661,-0.85,-146.0,2209,3392,3450,3369,101.4,-12.4,119,668,0.00,2.30,0.00,0.000,3078,0.000,0.041,2210,1980,3410,3451,3369,0,0,0,0,0,0,14.97,14.88,14.99
$GC,730,-0.85,-146.0,2209,1980,3451,3369,110.0,-12.3,132,737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1979,3410,3451,3369,0,0,0,0,0,0,15.14,15.14,15.14
$GC,799,-0.85,-146.0,2213,1980,3452,3369,119.4,-13.9,145,805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3410,3452,3369,0,0,0,0,0,0,15.14,15.14,15.14
$GC,867,-0.85,-146.0,2210,1980,3452,3369,128.7,-13.1,158,873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3410,3452,3369,0,0,0,0,0,0,15.15,15.15,15.15
$GC,935,-0.85,-146.0,2209,1980,3452,3369,136.9,-12.7,171,941,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3410,3452,3369,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1003,-0.85,-146.0,2210,1980,3452,3369,145.0,-11.6,184,1010,0.00,2.42,0.00,0.000,2308,0.000,0.069,2202,3396,3410,3452,3368,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1049,-0.85,-146.0,2201,3397,3452,3369,150.2,-11.8,192,1056,0.00,2.30,0.00,0.000,3078,0.000,0.043,2202,1987,3410,3452,3369,0,0,0,0,0,0,15.03,14.94,15.04
$GC,1118,-0.85,-146.0,2202,1987,3452,3369,158.5,-12.1,205,1125,0.00,2.35,0.00,0.000,2564,0.000,0.071,2202,585,3411,3453,3369,0,0,0,0,0,0,15.15,14.90,15.13
$GC,1132,-0.85,-146.0,2201,584,3453,3369,159.9,-10.5,207,1140,0.05,2.30,0.00,0.000,3078,0.347,0.048,2212,1989,3410,3452,3369,0,0,0,0,0,0,14.78,14.95,14.97
$GC,1202,-0.85,-146.0,2211,1989,3452,3369,167.9,-12.0,220,1208,0.00,2.38,0.00,0.000,2308,0.000,0.072,2203,3395,3410,3452,3368,0,0,0,0,0,0,15.16,14.90,15.16
$GC,1260,-0.85,-146.0,2202,3395,3452,3369,173.9,-10.6,231,1267,0.00,2.30,0.00,0.000,3078,0.000,0.041,2202,1981,3410,3452,3369,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1330,-0.85,-146.0,2202,1981,3453,3369,183.0,-14.9,244,1336,0.03,0.00,0.00,0.000,2054,0.475,0.000,2209,1980,3411,3453,3369,0,0,0,0,0,0,14.86,15.00,14.98
$GC,1399,-0.85,-146.0,2209,1980,3452,3373,192.1,-12.2,257,1404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1980,3411,3453,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1467,-0.85,-146.0,2209,1980,3453,3369,200.0,-12.0,270,1474,0.00,2.40,0.00,0.000,2308,0.000,0.070,2201,3390,3411,3453,3369,0,0,0,0,0,0,15.16,14.91,15.17
$GC,1521,-0.85,-146.0,2200,3390,3453,3369,206.8,-12.2,280,1527,0.00,2.30,0.00,0.000,3078,0.000,0.042,2201,1979,3411,3453,3369,0,0,0,0,0,0,15.05,14.95,15.06
$GC,1590,-0.85,-146.0,2201,1979,3453,3369,215.4,-12.5,293,1596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1979,3411,3453,3369,0,0,0,0,0,0,15.17,15.18,15.17
$GC,1658,-0.85,-146.0,2200,1979,3452,3369,223.5,-11.6,306,1664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1979,3410,3453,3368,0,0,0,0,0,0,15.18,15.19,15.19
$GC,1727,-0.85,-146.0,2200,1979,3452,3368,231.6,-11.9,319,1734,0.00,2.40,0.00,0.000,2308,0.000,0.071,2200,3390,3410,3452,3369,0,0,0,0,0,0,15.20,14.92,15.20
$GC,1776,-0.85,-146.0,2200,3390,3452,3369,237.2,-11.5,328,1783,0.05,2.30,0.00,0.000,3078,0.314,0.041,2212,1983,3411,3453,3369,0,0,0,0,0,0,14.80,14.94,14.97
$GC,1845,-0.85,-146.0,2212,1982,3452,3369,245.0,-11.1,341,1851,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1982,3410,3452,3368,0,0,0,0,0,0,15.19,15.20,15.20
$GC,1913,-0.85,-146.0,2212,1982,3453,3369,252.7,-10.3,354,1919,0.00,2.40,0.00,0.000,2308,0.000,0.071,2205,3394,3410,3452,3369,0,0,0,0,0,0,15.20,14.93,15.20
$GC,1977,-0.85,-146.0,2205,3394,3452,3368,258.8,-9.4,366,1984,0.00,2.33,0.00,0.000,3078,0.000,0.042,2205,1976,3410,3452,3368,0,0,0,0,0,0,15.07,14.96,15.08
$GC,2047,-0.85,-146.0,2205,1978,3452,3368,265.7,-10.0,379,2052,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,1978,3410,3452,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2114,-0.85,-146.0,2204,1978,3452,3368,272.8,-10.4,392,2120,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,1978,3410,3452,3368,0,0,0,0,0,0,15.20,15.21,15.21
$GC,2183,-0.85,-146.0,2204,1978,3452,3368,280.5,-11.2,405,2190,0.00,2.40,0.00,0.000,2308,0.000,0.072,2200,3388,3410,3452,3368,0,0,0,0,0,0,15.21,14.94,15.21
$GC,2216,-0.85,-146.0,2200,3389,3452,3368,283.9,-11.1,411,2223,0.05,2.30,0.00,0.000,3078,0.308,0.043,2213,1984,3409,3451,3368,0,0,0,0,0,0,14.81,14.94,14.98
$GC,2286,-0.85,-146.0,2212,1984,3449,3368,291.4,-10.4,424,2292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1984,3409,3451,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2354,-0.85,-146.0,2212,1982,3451,3368,298.4,-10.0,437,2359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1984,3409,3451,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2432,-0.85,-146.0,2212,1984,3450,3368,305.9,-9.9,443,2437,0.00,2.40,0.00,0.000,2308,0.000,0.073,2206,3389,3409,3450,3368,0,0,0,0,0,0,15.22,14.94,15.22
$GC,2475,-0.85,-146.0,2206,3388,3450,3368,310.1,-9.6,445,2480,0.00,2.30,0.00,0.000,3078,0.000,0.044,2206,1981,3409,3450,3368,0,0,0,0,0,0,15.09,15.00,15.10
$GC,2618,-0.85,-146.0,2206,1981,3449,3368,323.7,-9.5,452,2623,0.00,2.42,0.00,0.000,2308,0.000,0.073,2206,3389,3408,3449,3368,0,0,0,0,0,0,15.24,14.96,15.24
$GC,2701,-0.85,-146.0,2206,3389,3449,3368,330.8,-8.6,456,2706,0.00,2.30,0.00,0.000,3078,0.000,0.044,2206,1980,3408,3448,3368,0,0,0,0,0,0,15.11,15.00,15.12
$GC,2844,-0.85,-146.0,2206,1978,3448,3367,343.8,-9.2,463,2849,0.00,2.40,0.00,0.000,2308,0.000,0.072,2205,3390,3407,3448,3367,0,0,0,0,0,0,15.25,14.97,15.26
$GC,2942,-0.85,-146.0,2204,3390,3448,3367,350.3,-7.7,467,2949,0.00,2.28,0.00,0.000,3078,0.000,0.044,2205,1988,3407,3448,3367,0,0,0,0,0,0,15.11,15.02,15.13
$GC,3067,-0.85,-146.0,2205,1989,3447,3367,364.9,-10.8,474,3073,0.00,2.40,0.00,0.000,2308,0.000,0.073,2200,3390,3407,3447,3367,0,0,0,0,0,0,15.25,14.97,15.26
$GC,3141,-0.85,-146.0,2196,3391,3447,3366,370.3,-8.7,477,3146,0.05,2.28,0.00,0.000,3078,0.310,0.043,2212,1987,3406,3447,3366,0,0,0,0,0,0,14.88,15.02,15.05
$GC,3274,-0.85,-146.0,2212,1987,3447,3364,383.2,-8.9,484,3279,0.00,2.40,0.00,0.000,2308,0.000,0.075,2212,3389,3406,3447,3365,0,0,0,0,0,0,15.27,14.98,15.27
$GC,3325,-0.85,-146.0,2212,3389,3447,3365,386.8,-8.5,486,3331,0.00,2.28,0.00,0.000,3078,0.000,0.043,2213,1985,3406,3447,3365,0,0,0,0,0,0,15.12,15.01,15.13
$GC,3458,-0.85,-146.0,2213,1984,3446,3365,398.3,-8.2,493,3459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1984,3405,3446,3365,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3578,-0.85,-146.0,2213,1983,3446,3365,408.1,-8.3,499,3583,0.00,2.40,0.00,0.000,2308,0.000,0.074,2207,3388,3405,3446,3364,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3615,-0.85,-146.0,2207,3388,3445,3364,410.2,-8.6,500,3621,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1984,3404,3445,3364,0,0,0,0,0,0,15.12,15.02,15.14
$GC,3741,-0.85,-146.0,2207,1985,3451,3364,423.5,-9.9,507,3742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3404,3445,3364,0,0,0,0,0,0,15.27,15.27,15.27
$GC,3860,-0.85,-146.0,2207,1984,3444,3363,436.1,-10.7,513,3866,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3393,3403,3444,3363,0,0,0,0,0,0,15.27,14.97,15.27
$GC,3923,-0.85,-146.0,2207,3394,3443,3363,442.6,-10.3,516,3928,0.00,2.30,0.00,0.000,3078,0.000,0.046,2207,1987,3403,3443,3363,0,0,0,0,0,0,15.13,15.02,15.14
$GC,4065,-0.85,-146.0,2207,1987,3442,3362,455.7,-8.7,523,4070,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3395,3402,3442,3363,0,0,0,0,0,0,15.26,14.97,15.27
$GC,4122,-0.85,-146.0,2207,3396,3442,3362,459.5,-8.8,525,4131,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1986,3402,3442,3362,0,0,0,0,0,0,15.12,15.02,15.14
$GC,4250,-0.85,-146.0,2207,1986,3441,3362,471.4,-8.7,532,4255,0.00,2.42,0.00,0.000,2308,0.000,0.076,2206,3396,3401,3441,3362,0,0,0,0,0,0,15.27,14.97,15.27
$GC,4306,-0.85,-146.0,2207,3397,3441,3362,475.3,-9.0,534,4313,0.00,2.30,0.00,0.000,3078,0.000,0.045,2206,1987,3401,3441,3361,0,0,0,0,0,0,15.12,15.02,15.13
$GC,4433,-0.85,-146.0,2207,1987,3441,3360,487.7,-9.0,541,4434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3400,3441,3360,0,0,0,0,0,0,15.26,15.27,15.26
$GC,4552,-0.85,-146.0,2206,1987,3440,3359,499.6,-10.1,547,4553,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3399,3440,3359,0,0,0,0,0,0,15.26,15.27,15.27
$GC,4673,-0.85,-146.0,2207,1987,3439,3359,511.8,-10.3,553,4678,0.00,2.42,0.00,0.000,2308,0.000,0.077,2200,3391,3399,3439,3359,0,0,0,0,0,0,15.26,14.97,15.26
$GC,4759,-0.85,-146.0,2199,3392,3438,3359,519.9,-9.8,557,4765,0.05,2.30,0.00,0.000,3078,0.314,0.046,2212,1987,3398,3438,3358,0,0,0,0,0,0,14.85,15.02,15.04
$GC,4897,-0.85,-146.0,2212,1987,3437,3358,535.9,-12.2,564,4902,0.00,2.42,0.00,0.000,2308,0.000,0.077,2207,3387,3397,3437,3358,0,0,0,0,0,0,15.26,14.96,15.27
$GC,4948,-0.85,-146.0,2207,3387,3437,3358,540.8,-12.0,566,4954,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,1986,3397,3437,3358,0,0,0,0,0,0,15.12,15.01,15.14
$GC,5081,-0.85,-146.0,2207,1985,3436,3357,556.0,-10.5,573,5086,0.00,2.42,0.00,0.000,2308,0.000,0.079,2207,3387,3396,3436,3357,0,0,0,0,0,0,15.25,14.96,15.26
$GC,5117,-0.85,-146.0,2207,3387,3436,3357,558.3,-10.4,574,5125,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1983,3396,3436,3357,0,0,0,0,0,0,15.11,14.99,15.12
$GC,5244,-0.85,-146.0,2207,1983,3436,3357,572.0,-9.8,581,5245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3396,3436,3357,0,0,0,0,0,0,15.26,15.27,15.27
$GC,5364,-0.85,-146.0,2207,1983,3436,3356,583.4,-9.4,587,5369,0.00,2.45,0.00,0.000,2308,0.000,0.079,2208,3393,3395,3435,3356,0,0,0,0,0,0,15.26,14.95,15.27
$GC,5400,-0.85,-146.0,2206,3393,3435,3356,585.6,-9.3,588,5407,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,1980,3395,3435,3356,0,0,0,0,0,0,15.11,15.00,15.12
$GC,5526,-0.85,-146.0,2207,1980,3435,3355,598.0,-8.8,595,5527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1980,3395,3435,3355,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5646,-0.85,-146.0,2207,1980,3434,3354,608.5,-8.9,601,5647,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1981,3394,3434,3354,0,0,0,0,0,0,15.25,15.27,15.26
$GC,5766,-0.85,-146.0,2207,1980,3434,3354,619.7,-9.5,607,5767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1980,3394,3434,3354,0,0,0,0,0,0,15.26,15.27,15.26
$GC,5887,-0.85,-146.0,2207,1980,3433,3354,631.7,-10.1,613,5892,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3386,3393,3433,3354,0,0,0,0,0,0,15.26,14.95,15.26
$GC,5918,-0.85,-146.0,2207,3389,3433,3354,634.1,-10.1,614,5923,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1990,3393,3433,3354,0,0,0,0,0,0,15.11,15.00,15.12
$GC,6050,-0.85,-146.0,2207,1990,3431,3350,648.3,-10.1,621,6051,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1990,3392,3432,3353,0,0,0,0,0,0,15.26,15.26,15.26
$GC,6171,-0.85,-146.0,2207,1990,3431,3352,659.9,-9.4,627,6176,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3394,3391,3430,3352,0,0,0,0,0,0,15.26,14.95,15.26
$GC,6202,-0.85,-146.0,2207,3395,3430,3352,661.9,-9.2,628,6208,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,1987,3391,3431,3352,0,0,0,0,0,0,15.10,15.00,15.12
$GC,6335,-0.85,-146.0,2207,1987,3430,3351,673.9,-8.6,635,6336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3390,3430,3351,0,0,0,0,0,0,15.27,15.26,15.27
$GC,6455,-0.85,-146.0,2207,1987,3429,3351,684.6,-9.0,641,6456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3390,3429,3351,0,0,0,0,0,0,15.26,15.26,15.26
$GC,6575,-0.85,-146.0,2207,1987,3428,3350,695.9,-9.3,647,6576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3389,3428,3350,0,0,0,0,0,0,15.26,15.26,15.26
$GC,6695,-0.85,-146.0,2207,1987,3428,3349,706.6,-8.7,653,6700,0.00,2.47,0.00,0.000,2308,0.000,0.082,2207,3394,3388,3427,3349,0,0,0,0,0,0,15.26,14.84,15.26
$GC,6747,-0.85,-146.0,2207,3394,3428,3350,710.2,-8.7,655,6753,0.00,2.38,0.00,0.000,3078,0.000,0.050,2208,1977,3388,3428,3349,0,0,0,0,0,0,15.10,14.99,15.11
$GC,6880,-0.85,-146.0,2207,1977,3428,3348,722.5,-8.7,662,6885,0.00,2.47,0.00,0.000,2308,0.000,0.082,2207,3393,3387,3427,3348,0,0,0,0,0,0,15.24,14.92,15.25
$GC,6936,-0.85,-146.0,2207,3393,3427,3348,726.1,-8.6,664,6943,0.00,2.35,0.00,0.000,3078,0.000,0.049,2207,1981,3387,3427,3347,0,0,0,0,0,0,15.09,14.97,15.11
$STATE,6985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6985,begin apogee
$GC,6989,-0.19,0.0,2207,1981,3426,3347,731.1,-8.3,667,7110,1.10,0.00,116.82,2.069,10246,0.158,0.000,2426,1980,2812,2850,2774,0,0,0,0,0,0,14.86,14.29,13.62
$STATE,7111,end apogee,CONTROL_FINISHED_OK
$STATE,7112,begin climb
$GC,7113,0.85,146.0,2426,1980,2850,2773,735.1,0.0,673,7248,1.62,2.62,123.68,2.024,10756,0.065,0.083,2786,555,2214,2259,2169,0,0,0,0,0,0,14.35,14.16,13.52
$GC,7354,0.85,146.0,2786,554,2249,2169,723.5,12.7,685,7360,0.10,2.38,0.00,0.000,5126,0.265,0.053,2768,1953,2209,2249,2169,0,0,0,0,0,0,14.45,14.57,14.60
$GC,7487,0.85,146.0,2768,1953,2248,2165,707.5,10.7,692,7493,0.00,2.45,0.00,0.000,4356,0.000,0.075,2768,3360,2206,2248,2165,0,0,0,0,0,0,14.92,14.67,14.92
$GC,7739,0.85,146.0,2768,3361,2246,2163,678.6,11.8,704,7744,0.00,2.38,0.00,0.000,5126,0.000,0.054,2777,1948,2204,2246,2162,0,0,0,0,0,0,14.92,14.81,14.94
$GC,7871,0.85,146.0,2777,1947,2246,2159,662.6,11.6,711,7872,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1948,2204,2246,2162,0,0,0,0,0,0,15.09,15.10,15.10
$GC,7991,0.85,146.0,2777,1947,2245,2159,648.7,11.6,717,7996,0.00,2.45,0.00,0.000,4356,0.000,0.076,2777,3359,2203,2245,2162,0,0,0,0,0,0,15.12,14.78,15.12
$GC,8057,0.85,146.0,2777,3358,2245,2162,641.0,12.3,720,8063,0.10,2.38,0.00,0.000,5126,0.300,0.052,2772,1943,2203,2245,2162,0,0,0,0,0,0,14.74,14.89,14.95
$GC,8195,0.85,146.0,2769,1942,2244,2161,624.7,11.7,727,8196,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1942,2203,2245,2161,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8315,0.85,146.0,2768,1942,2242,2161,610.3,12.1,733,8316,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1943,2202,2244,2161,0,0,0,0,0,0,15.16,15.17,15.17
$GC,8435,0.85,146.0,2769,1943,2243,2161,594.7,13.1,739,8436,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1943,2202,2243,2161,0,0,0,0,0,0,15.18,15.19,15.19
$GC,8555,0.85,146.0,2769,1943,2242,2161,578.9,13.1,745,8556,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1942,2201,2242,2160,0,0,0,0,0,0,15.19,15.20,15.19
$GC,8675,0.85,146.0,2769,1942,2241,2160,563.9,12.4,751,8676,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1942,2201,2241,2161,0,0,0,0,0,0,15.19,15.20,15.20
$GC,8795,0.85,146.0,2769,1942,2241,2160,550.2,11.4,757,8800,0.00,2.45,0.00,0.000,4356,0.000,0.076,2769,3357,2200,2241,2160,0,0,0,0,0,0,15.20,14.92,15.21
$GC,8891,0.85,146.0,2769,3357,2241,2160,540.4,12.0,761,8898,0.05,2.35,0.00,0.000,5126,0.380,0.054,2770,1949,2200,2241,2160,0,0,0,0,0,0,14.68,14.85,14.91
$GC,9017,0.85,146.0,2770,1949,2241,2160,525.5,10.2,768,9022,0.00,2.42,0.00,0.000,4356,0.000,0.076,2770,3351,2200,2241,2160,0,0,0,0,0,0,15.20,14.92,15.20
$GC,9268,0.85,146.0,2769,3351,2240,2160,497.6,12.1,780,9274,0.05,2.35,0.00,0.000,5126,0.379,0.055,2770,1943,2200,2241,2160,0,0,0,0,0,0,14.76,14.94,15.00
$GC,9401,0.85,146.0,2769,1943,2240,2160,481.9,10.8,787,9407,0.00,2.45,0.00,0.000,4356,0.000,0.075,2770,3356,2200,2240,2160,0,0,0,0,0,0,15.21,14.83,15.21
$GC,9467,0.85,146.0,2769,3356,2240,2160,474.8,11.1,790,9472,0.00,2.35,0.00,0.000,5126,0.000,0.052,2778,1948,2200,2240,2160,0,0,0,0,0,0,15.06,14.95,15.07
$GC,9604,0.85,146.0,2777,1948,2240,2159,458.4,11.8,797,9606,0.05,0.00,0.00,0.000,4102,0.391,0.000,2769,1948,2198,2239,2158,0,0,0,0,0,0,14.79,15.05,15.01
$GC,9724,0.85,146.0,2769,1947,2239,2159,444.3,11.7,803,9729,0.00,2.42,0.00,0.000,4356,0.000,0.076,2769,3351,2199,2239,2159,0,0,0,0,0,0,15.22,14.92,15.22
$GC,9940,0.85,146.0,2768,3351,2239,2160,419.4,12.6,813,9947,0.00,2.35,0.00,0.000,5126,0.000,0.056,2778,1947,2199,2239,2159,0,0,0,0,0,0,15.04,14.93,15.04
$GC,10066,0.85,146.0,2777,1947,2239,2159,404.4,10.6,820,10068,0.05,0.00,0.00,0.000,4102,0.391,0.000,2769,1946,2199,2239,2159,0,0,0,0,0,0,14.77,15.04,15.00
$GC,10186,0.85,146.0,2769,1946,2239,2159,392.3,10.2,826,10192,0.00,2.42,0.00,0.000,4356,0.000,0.075,2769,3352,2199,2239,2159,0,0,0,0,0,0,15.20,14.92,15.20
$GC,10263,0.85,146.0,2769,3351,2239,2158,385.3,11.2,829,10269,0.00,2.35,0.00,0.000,5126,0.000,0.054,2777,1942,2199,2239,2159,0,0,0,0,0,0,15.07,14.95,15.09
$GC,10389,0.85,146.0,2777,1941,2239,2159,369.3,11.4,836,10394,0.00,2.40,0.00,0.000,4612,0.000,0.085,2788,546,2198,2238,2159,0,0,0,0,0,0,15.21,14.91,15.21
$GC,10471,0.85,146.0,2786,546,2237,2159,358.7,13.0,840,10477,0.10,2.33,0.00,0.000,5126,0.272,0.052,2769,1948,2198,2237,2159,0,0,0,0,0,0,14.78,14.96,15.00
$GC,10614,0.85,146.0,2769,1948,2238,2159,343.2,10.1,847,10619,0.00,2.45,0.00,0.000,4356,0.000,0.077,2769,3362,2198,2238,2159,0,0,0,0,0,0,15.21,14.91,15.21
$GC,10936,0.85,146.0,2769,3361,2238,2159,304.5,13.2,863,10942,0.05,2.38,0.00,0.000,5126,0.381,0.052,2769,1941,2198,2238,2159,0,0,0,0,0,0,14.73,14.94,14.99
$GC,11064,0.85,146.0,2769,1941,2239,2160,289.6,11.2,882,11071,0.00,2.45,0.00,0.000,4356,0.000,0.071,2769,3354,2198,2238,2158,0,0,0,0,0,0,15.19,14.90,15.19
$GC,11263,0.89,179.8,2769,3354,2238,2158,268.9,8.4,921,11298,0.00,2.38,25.98,1.475,9222,0.000,0.053,2777,1948,2076,2121,2031,0,0,0,0,0,0,15.02,14.92,14.22
$GC,11360,0.89,179.8,2777,1946,2119,2028,259.7,10.6,939,11366,0.00,2.42,0.00,0.000,516,0.000,0.084,2787,545,2073,2118,2028,0,0,0,0,0,0,15.02,14.78,15.02
$GC,11383,0.89,179.8,2787,544,2118,2028,256.9,11.8,943,11390,0.00,2.38,0.00,0.000,5126,0.000,0.051,2787,1961,2073,2118,2028,0,0,0,0,0,0,14.92,14.83,14.93
$GC,11453,0.89,179.8,2787,1961,2118,2027,249.7,10.1,956,11459,0.00,2.42,0.00,0.000,4356,0.000,0.075,2788,3354,2073,2118,2028,0,0,0,0,0,0,15.05,14.79,15.05
$GC,11496,0.89,179.8,2787,3354,2118,2028,244.7,11.3,964,11503,0.08,2.38,0.00,0.000,5126,0.317,0.052,2785,1943,2072,2118,2027,0,0,0,0,0,0,14.68,14.82,14.87
$GC,11564,0.89,179.8,2784,1942,2118,2027,237.0,10.9,977,11570,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,1943,2072,2118,2027,0,0,0,0,0,0,15.07,15.07,15.07
$GC,11632,0.89,179.8,2784,1942,2117,2027,229.4,11.7,990,11638,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,1943,2072,2118,2027,0,0,0,0,0,0,15.09,15.09,15.09
$GC,11700,0.89,179.8,2784,1943,2118,2027,221.5,11.8,1003,11706,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,1943,2072,2118,2026,0,0,0,0,0,0,15.09,15.10,15.09
$GC,11768,0.89,179.8,2784,1943,2118,2026,213.3,12.3,1016,11773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,1943,2072,2118,2027,0,0,0,0,0,0,15.09,15.10,15.10
$GC,11835,0.89,179.8,2784,1942,2118,2026,205.0,12.2,1029,11842,0.00,2.47,0.00,0.000,4356,0.000,0.073,2784,3354,2072,2118,2027,0,0,0,0,0,0,15.10,14.83,15.10
$GC,12039,0.89,179.8,2784,3354,2118,2027,177.0,15.2,1069,12045,0.00,2.35,0.00,0.000,5126,0.000,0.052,2790,1951,2072,2118,2026,0,0,0,0,0,0,14.98,14.87,14.99
$GC,12108,0.89,179.8,2790,1951,2118,2026,167.3,12.6,1082,12114,0.00,0.00,0.00,0.000,4102,0.000,0.000,2788,1951,2072,2118,2027,0,0,0,0,0,0,15.10,15.10,15.10
$GC,12176,0.89,179.8,2790,1951,2118,2026,159.3,11.5,1095,12182,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1950,2074,2118,2031,0,0,0,0,0,0,15.10,15.10,15.10
$GC,12244,0.89,179.8,2789,1951,2118,2026,151.5,12.2,1108,12250,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1951,2072,2118,2026,0,0,0,0,0,0,15.11,15.11,15.11
$GC,12311,0.89,179.8,2790,1951,2115,2026,143.4,10.2,1121,12318,0.00,2.45,0.00,0.000,4356,0.000,0.071,2790,3358,2072,2118,2027,0,0,0,0,0,0,15.10,14.81,15.11
$GC,12381,0.89,179.8,2790,3358,2118,2026,136.2,10.5,1134,12388,0.10,2.38,0.00,0.000,5126,0.278,0.050,2782,1940,2072,2118,2027,0,0,0,0,0,0,14.64,14.78,14.83
$GC,12450,0.90,186.2,2782,1940,2123,2027,129.6,9.7,1147,12463,0.00,2.40,6.35,0.997,12804,0.000,0.080,2790,545,2051,2097,2005,0,0,0,0,0,0,15.10,14.76,14.28
$GC,12516,0.90,186.2,2790,545,2096,2005,122.3,12.3,1159,12523,0.00,2.35,0.00,0.000,5126,0.000,0.050,2791,1955,2050,2096,2005,0,0,0,0,0,0,14.89,14.80,14.90
$GC,12585,0.90,186.2,2790,1955,2097,2004,114.3,10.5,1172,12592,0.00,2.40,0.00,0.000,4356,0.000,0.073,2790,3351,2050,2096,2004,0,0,0,0,0,0,15.07,14.83,15.08
$GC,12650,0.91,193.0,2790,3351,2096,2004,107.7,9.6,1184,12664,0.08,2.35,7.05,1.001,13318,0.306,0.049,2787,1941,2024,2070,1978,0,0,0,0,0,0,14.71,14.88,14.26
$GC,12726,0.95,221.5,2786,1941,2069,1976,101.3,8.6,1198,12756,0.00,2.45,24.10,1.179,10500,0.000,0.070,2787,3357,1907,1957,1857,0,0,0,0,0,0,15.06,14.68,14.21
$GC,13008,0.95,225.4,2786,3357,1954,1853,73.4,9.8,1253,13021,0.00,2.35,4.07,0.700,9222,0.000,0.049,2794,1951,1892,1942,1842,0,0,0,0,0,0,14.90,14.81,14.22
$GC,13084,0.98,251.7,2794,1950,1942,1842,66.7,8.7,1267,13112,0.00,0.00,22.85,1.100,10246,0.000,0.000,2794,1950,1785,1840,1731,0,0,0,0,0,0,15.04,14.62,14.22
$GC,13173,0.98,251.7,2794,1950,1837,1727,56.4,12.7,1284,13180,0.00,2.45,0.00,0.000,2564,0.000,0.080,2804,542,1781,1836,1727,0,0,0,0,0,0,14.96,14.72,14.96
$GC,13227,0.98,251.7,2803,541,1835,1726,49.1,13.1,1294,13233,0.00,2.35,0.00,0.000,1030,0.000,0.048,2803,1954,1781,1835,1727,0,0,0,0,0,0,14.83,14.76,14.85
$GC,13296,0.98,251.7,2804,1954,1835,1724,40.5,13.1,1307,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1954,1781,1835,1727,0,0,0,0,0,0,15.01,15.02,15.01
$GC,13364,0.98,251.7,2804,1954,1835,1727,31.6,12.6,1320,13370,0.00,2.42,0.00,0.000,516,0.000,0.079,2814,543,1780,1835,1726,0,0,0,0,0,0,15.02,14.78,15.03
$GC,13387,0.98,251.7,2813,543,1834,1726,28.3,14.5,1324,13394,0.00,2.35,0.00,0.000,5126,0.000,0.047,2814,1950,1780,1834,1727,0,0,0,0,0,0,14.88,14.81,14.90
$GC,13456,0.98,251.7,2814,1950,1834,1726,18.8,14.8,1337,13462,0.00,0.00,0.00,0.000,4102,0.000,0.000,2814,1950,1780,1835,1726,0,0,0,0,0,0,15.04,15.04,15.04
$GC,13524,0.98,251.7,2814,1950,1834,1726,9.5,14.4,1350,13530,0.00,0.00,0.00,0.000,4102,0.000,0.000,2814,1950,1780,1834,1726,0,0,0,0,0,0,15.06,15.06,15.06
$STATE,13570,end climb,SURFACE_DEPTH_REACHED
$STATE,13570,begin surface coast
$FINISH,0.1,1.024452
$STATE,13592,end surface coast,CONTROL_FINISHED_OK
$STATE,13592,begin surface
$SM_CCo,13613,35.00,0.119,0,0,1507,320.11
$SM_GC,1.44,12.57,0.00,35.00,0.059,0.000,0.119,136,1953,1507,-7.30,-0.96,320.11,0,0,0,0,0,0,14.83,15.10,14.80
$IRIDIUM_FIX,-3022.46,3053.96,071018,222100
$TT8_MAMPS,0.018725,0.984935
$HUMID,53.58
$INTERNAL_PRESSURE,9.03319
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,731.1,6.7
$SC_FREEKB,3905856
$24V_AH,13.52,55.922
$10V_AH,13.25,0.000
$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,28.750,228.375,330.900,35.000,0.000,50.897,59.093,921.114,16.500,0.000,18.402,3767.589,6284.056,760.556,3961.632,294.994,0.000,2235.371,0.000,2642.922,0.000,107.533,0.000
$DEVICE_MAMPS,475.065,295.290,2068.560,118.575,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13724.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.579,0.000,0.000,0.000
$MEM,339736
$DATA_FILE_SIZE,46646,1363
$CAP_FILE_SIZE,319489,0
$CFSIZE,1023623168,1016332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081018,022906,-3040.005,3047.853,40,0.9,43,-25.5,0.6,217.3,8,9.6