version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 32
start: 10 8 118 2 50 6
data:
$ID,573
$MISSION,23
$DIVE,32
$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,312
$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,37
$R_STBD_OVSHOOT,37
$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
$GPS1,081018,022906,-3040.0051,3047.8528,40,0.9,43,-25.5,0.6,217.3,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.5
$GPS2,081018,024941,-3040.8162,3047.1746,18,1.0,19,-25.5,1.6,220.3,8,9.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3033.590,3037.855
$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,337.5,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.0,74,1958,1520,1475,0.0,0.0,0,83,0.00,0.00,-60.95,0.000,16386,0.000,0.000,74,1959,3259,3282,3237,0,0,0,0,0,0,14.96,28.83,14.97
$GC,85,-0.85,-146.0,74,1958,3282,3237,3.9,-9.8,11,110,12.25,2.45,-2.50,0.000,18692,0.291,0.083,2193,3387,3409,3448,3371,0,0,0,0,0,0,14.54,13.73,14.70
$GC,197,-0.85,-146.0,2193,3387,3449,3371,31.3,-16.7,32,204,0.08,2.33,0.00,0.000,3078,0.282,0.046,2209,1987,3410,3450,3371,0,0,0,0,0,0,14.69,14.81,14.85
$GC,267,-0.85,-146.0,2209,1987,3450,3371,43.0,-16.3,45,273,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1986,3410,3449,3372,0,0,0,0,0,0,15.04,15.05,15.05
$GC,335,-0.85,-146.0,2209,1987,3450,3371,53.6,-15.7,58,341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1987,3410,3450,3371,0,0,0,0,0,0,15.07,15.07,15.07
$GC,403,-0.85,-146.0,2209,1987,3450,3371,64.1,-15.2,71,408,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3410,3450,3371,0,0,0,0,0,0,15.08,15.09,15.09
$GC,470,-0.85,-146.0,2209,1987,3450,3371,74.9,-16.4,84,476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3410,3450,3371,0,0,0,0,0,0,15.09,15.09,15.09
$GC,538,-0.85,-146.0,2209,1987,3450,3371,84.9,-13.3,97,544,0.00,2.40,0.00,0.000,2308,0.000,0.073,2210,3388,3410,3450,3371,0,0,0,0,0,0,15.09,14.85,15.09
$GC,607,-0.85,-146.0,2210,3389,3450,3371,93.7,-12.1,110,613,0.00,2.33,0.00,0.000,3078,0.000,0.042,2210,1985,3410,3449,3371,0,0,0,0,0,0,15.00,14.90,15.00
$GC,676,-0.85,-146.0,2209,1984,3451,3371,102.2,-12.2,123,682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1984,3411,3451,3371,0,0,0,0,0,0,15.15,15.13,15.12
$GC,745,-0.85,-146.0,2210,1984,3451,3371,110.5,-12.8,136,752,0.00,2.42,0.00,0.000,2308,0.000,0.070,2197,3397,3414,3451,3378,0,0,0,0,0,0,15.13,14.88,15.13
$GC,779,-0.85,-146.0,2201,3398,3451,3371,115.3,-13.1,142,786,0.00,2.35,0.00,0.000,3078,0.000,0.043,2201,1974,3411,3451,3371,0,0,0,0,0,0,14.92,14.83,14.93
$GC,849,-0.85,-146.0,2201,1974,3452,3371,123.8,-12.7,155,855,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1974,3411,3452,3371,0,0,0,0,0,0,15.13,15.13,15.13
$GC,917,-0.85,-146.0,2201,1974,3452,3371,132.9,-13.8,168,923,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1974,3411,3452,3371,0,0,0,0,0,0,15.14,15.14,15.14
$GC,984,-0.85,-146.0,2200,1974,3453,3371,141.3,-12.4,181,991,0.00,2.42,0.00,0.000,2308,0.000,0.071,2200,3389,3411,3452,3371,0,0,0,0,0,0,15.14,14.82,15.14
$GC,1023,-0.85,-146.0,2200,3389,3452,3371,145.8,-11.1,188,1030,0.05,2.30,0.00,0.000,3078,0.327,0.042,2212,1981,3412,3453,3371,0,0,0,0,0,0,14.78,14.93,14.95
$GC,1092,-0.85,-146.0,2211,1982,3453,3371,153.6,-12.1,201,1098,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1982,3412,3453,3371,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1160,-0.85,-146.0,2211,1981,3453,3371,160.4,-10.8,214,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,1982,3412,3453,3371,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1228,-0.85,-146.0,2212,1982,3454,3370,168.2,-11.4,227,1234,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1981,3412,3453,3371,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1296,-0.85,-146.0,2212,1981,3453,3371,175.6,-10.8,240,1302,0.00,2.42,0.00,0.000,2308,0.000,0.071,2211,3394,3411,3451,3371,0,0,0,0,0,0,15.16,14.90,15.16
$GC,1349,-0.85,-146.0,2210,3395,3453,3371,181.3,-10.8,250,1356,0.00,2.30,0.00,0.000,3078,0.000,0.041,2211,1986,3412,3453,3371,0,0,0,0,0,0,14.97,14.88,14.97
$GC,1419,-0.85,-146.0,2210,1986,3453,3371,189.2,-11.6,263,1425,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1986,3412,3453,3371,0,0,0,0,0,0,15.16,15.16,15.15
$GC,1486,-0.85,-146.0,2210,1986,3453,3371,196.7,-11.0,276,1493,0.00,2.42,0.00,0.000,2308,0.000,0.072,2211,3398,3412,3453,3371,0,0,0,0,0,0,15.16,14.90,15.16
$GC,1524,-0.85,-146.0,2210,3399,3453,3371,200.8,-10.7,283,1531,0.00,2.30,0.00,0.000,3078,0.000,0.041,2211,1987,3412,3453,3371,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1594,-0.85,-146.0,2210,1987,3453,3371,208.4,-11.0,296,1600,0.00,2.40,0.00,0.000,2308,0.000,0.072,2211,3389,3412,3453,3371,0,0,0,0,0,0,15.17,14.83,15.17
$GC,1647,-0.85,-146.0,2210,3389,3453,3371,214.2,-10.6,306,1654,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1980,3412,3453,3371,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1716,-0.85,-146.0,2210,1980,3453,3371,221.3,-10.3,319,1722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1979,3412,3453,3371,0,0,0,0,0,0,15.18,15.18,15.18
$GC,1784,-0.85,-146.0,2210,1980,3453,3371,228.5,-10.3,332,1791,0.00,2.42,0.00,0.000,2308,0.000,0.072,2210,3393,3414,3458,3371,0,0,0,0,0,0,15.18,14.85,15.19
$GC,1828,-0.85,-146.0,2210,3393,3453,3371,232.8,-9.5,340,1835,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1985,3412,3453,3371,0,0,0,0,0,0,15.05,14.96,15.06
$GC,1898,-0.85,-146.0,2210,1986,3453,3371,239.6,-10.3,353,1904,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1985,3412,3453,3371,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1966,-0.85,-146.0,2215,1986,3453,3371,246.8,-10.3,366,1973,0.00,2.42,0.00,0.000,2308,0.000,0.072,2210,3397,3412,3453,3371,0,0,0,0,0,0,15.19,14.92,15.19
$GC,2010,-0.85,-146.0,2210,3398,3453,3370,251.0,-9.1,374,2017,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1989,3411,3453,3370,0,0,0,0,0,0,15.07,14.97,15.07
$GC,2080,-0.85,-146.0,2210,1988,3453,3370,257.8,-10.2,387,2087,0.00,2.40,0.00,0.000,2308,0.000,0.072,2210,3390,3411,3453,3370,0,0,0,0,0,0,15.18,14.92,15.19
$GC,2138,-0.85,-146.0,2210,3390,3453,3369,263.8,-10.1,398,2145,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1983,3411,3453,3369,0,0,0,0,0,0,15.06,14.96,15.07
$GC,2208,-0.85,-146.0,2210,1983,3452,3369,270.7,-9.5,411,2214,0.00,2.42,0.00,0.000,2308,0.000,0.073,2210,3395,3411,3453,3369,0,0,0,0,0,0,15.19,14.93,15.19
$GC,2267,-0.85,-146.0,2210,3395,3453,3369,276.5,-9.5,422,2273,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1987,3411,3453,3369,0,0,0,0,0,0,15.07,14.97,15.07
$GC,2336,-0.85,-146.0,2209,1987,3453,3369,283.2,-10.2,435,2342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3410,3452,3369,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2405,-0.85,-146.0,2209,1987,3452,3369,290.1,-10.0,448,2410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3410,3452,3369,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2472,-0.85,-146.0,2210,1987,3451,3369,297.1,-10.0,461,2478,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3410,3451,3369,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2545,-0.85,-146.0,2210,1987,3451,3369,304.0,-9.8,469,2547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3409,3451,3368,0,0,0,0,0,0,15.22,15.22,15.21
$GC,2665,-0.85,-146.0,2210,1987,3450,3369,315.5,-9.7,475,2671,0.00,2.40,0.00,0.000,2308,0.000,0.073,2208,3388,3409,3450,3369,0,0,0,0,0,0,15.22,14.95,15.23
$GC,2779,-0.85,-146.0,2207,3388,3449,3368,326.1,-10.3,480,2784,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1987,3408,3449,3368,0,0,0,0,0,0,15.09,14.99,15.10
$GC,2912,-0.85,-146.0,2207,1986,3449,3368,340.9,-10.4,487,2913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3408,3449,3368,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3031,-0.85,-146.0,2207,1986,3448,3368,352.7,-10.0,493,3036,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3395,3408,3448,3368,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3074,-0.85,-146.0,2207,3394,3447,3367,356.4,-9.4,495,3079,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1989,3408,3448,3368,0,0,0,0,0,0,15.02,14.93,15.03
$GC,3216,-0.85,-146.0,2207,1988,3448,3366,369.3,-9.7,502,3222,0.00,2.40,0.00,0.000,2308,0.000,0.074,2207,3387,3407,3448,3367,0,0,0,0,0,0,15.25,14.96,15.25
$GC,3268,-0.85,-146.0,2207,3387,3448,3366,373.2,-9.3,504,3273,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1979,3407,3448,3366,0,0,0,0,0,0,15.11,15.02,15.12
$GC,3401,-0.85,-146.0,2207,1979,3448,3366,386.5,-9.6,511,3406,0.00,2.45,0.00,0.000,2308,0.000,0.074,2206,3396,3406,3447,3366,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3468,-0.85,-146.0,2206,3396,3447,3366,392.2,-9.0,514,3473,0.00,2.33,0.00,0.000,3078,0.000,0.044,2206,1978,3406,3447,3365,0,0,0,0,0,0,15.11,15.02,15.13
$GC,3606,-0.85,-146.0,2206,1977,3446,3365,404.7,-9.1,521,3611,0.00,2.42,0.00,0.000,2308,0.000,0.075,2200,3387,3405,3446,3365,0,0,0,0,0,0,15.26,14.97,15.26
$GC,3642,-0.85,-146.0,2200,3389,3446,3364,406.7,-9.0,522,3649,0.05,2.30,0.00,0.000,3078,0.314,0.046,2212,1982,3405,3446,3365,0,0,0,0,0,0,14.86,15.02,15.04
$GC,3768,-0.85,-146.0,2212,1982,3446,3364,419.8,-9.6,529,3769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1982,3404,3445,3364,0,0,0,0,0,0,15.25,15.25,15.25
$GC,3889,-0.85,-146.0,2212,1981,3445,3364,431.1,-9.4,535,3894,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3387,3404,3445,3364,0,0,0,0,0,0,15.23,14.97,15.23
$GC,3935,-0.85,-146.0,2207,3387,3444,3364,435.2,-9.4,537,3941,0.00,2.30,0.00,0.000,3078,0.000,0.046,2207,1980,3404,3444,3364,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4073,-0.85,-146.0,2207,1980,3444,3363,448.5,-9.7,544,4078,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3387,3403,3444,3363,0,0,0,0,0,0,15.26,14.96,15.26
$GC,4159,-0.85,-146.0,2207,3387,3443,3363,455.8,-8.9,548,4165,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,1979,3403,3443,3363,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4297,-0.85,-146.0,2207,1979,3442,3362,468.1,-8.7,555,4302,0.00,2.45,0.00,0.000,2308,0.000,0.078,2207,3394,3402,3442,3362,0,0,0,0,0,0,15.26,14.96,15.26
$GC,4330,-0.85,-146.0,2207,3395,3441,3362,470.1,-8.8,556,4336,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1990,3402,3442,3362,0,0,0,0,0,0,15.12,15.02,15.13
$GC,4464,-0.85,-146.0,2207,1989,3441,3361,483.1,-9.1,563,4465,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1989,3401,3441,3362,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4583,-0.85,-146.0,2206,1989,3441,3361,494.1,-9.2,569,4588,0.00,2.42,0.00,0.000,2308,0.000,0.077,2207,3389,3401,3441,3361,0,0,0,0,0,0,15.27,14.96,15.26
$GC,4629,-0.85,-146.0,2206,3389,3440,3360,497.8,-9.1,571,4634,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1982,3401,3441,3361,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4769,-0.85,-146.0,2207,1981,3440,3359,510.3,-8.9,578,4770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1981,3399,3440,3359,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4889,-0.85,-146.0,2207,1981,3439,3359,520.8,-8.6,584,4890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1982,3399,3440,3359,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5009,-0.85,-146.0,2207,1982,3443,3358,531.6,-9.1,590,5010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1982,3398,3438,3358,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5127,-0.85,-146.0,2207,1981,3438,3358,542.9,-9.7,596,5132,0.00,2.45,0.00,0.000,2308,0.000,0.079,2207,3390,3397,3437,3358,0,0,0,0,0,0,15.27,14.96,15.28
$GC,5190,-0.85,-146.0,2206,3390,3437,3358,548.8,-9.5,599,5195,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,1988,3397,3436,3358,0,0,0,0,0,0,15.11,15.00,15.11
$GC,5332,-0.85,-146.0,2207,1988,3436,3357,562.9,-9.9,606,5338,0.00,2.45,0.00,0.000,2308,0.000,0.079,2207,3389,3396,3436,3357,0,0,0,0,0,0,15.27,14.95,15.26
$GC,5384,-0.85,-146.0,2207,3389,3436,3357,566.9,-9.9,608,5390,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1983,3396,3436,3357,0,0,0,0,0,0,15.02,14.91,15.02
$GC,5518,-0.85,-146.0,2207,1981,3436,3356,580.9,-9.9,615,5519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1981,3396,3436,3356,0,0,0,0,0,0,15.25,15.26,15.25
$GC,5637,-0.85,-146.0,2207,1981,3436,3356,592.2,-9.4,621,5642,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3389,3395,3435,3356,0,0,0,0,0,0,15.26,14.95,15.26
$GC,5694,-0.85,-146.0,2206,3389,3435,3355,596.1,-9.4,623,5700,0.00,2.33,0.00,0.000,3078,0.000,0.047,2206,1979,3395,3435,3355,0,0,0,0,0,0,15.09,15.00,15.11
$GC,5820,-0.85,-146.0,2206,1979,3434,3355,608.9,-9.3,630,5825,0.00,2.45,0.00,0.000,2308,0.000,0.080,2206,3386,3395,3435,3355,0,0,0,0,0,0,15.25,14.94,15.25
$GC,5866,-0.85,-146.0,2207,3386,3434,3355,612.8,-9.3,632,5872,0.00,2.33,0.00,0.000,3078,0.000,0.047,2206,1978,3394,3434,3354,0,0,0,0,0,0,15.10,14.98,15.11
$GC,6004,-0.85,-146.0,2206,1977,3434,3354,625.2,-8.7,639,6010,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3386,3394,3434,3354,0,0,0,0,0,0,15.24,14.93,15.25
$GC,6047,-0.85,-146.0,2206,3387,3434,3354,628.9,-8.6,641,6052,0.00,2.33,0.00,0.000,3078,0.000,0.047,2209,1983,3394,3434,3354,0,0,0,0,0,0,15.09,14.98,15.11
$GC,6190,-0.85,-146.0,2206,1982,3433,3354,640.9,-8.5,648,6192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1983,3393,3433,3354,0,0,0,0,0,0,15.24,15.25,15.24
$GC,6310,-0.85,-146.0,2206,1983,3432,3353,651.6,-9.0,654,6312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1983,3392,3432,3353,0,0,0,0,0,0,15.24,15.24,15.24
$GC,6430,-0.85,-146.0,2206,1983,3431,3352,663.0,-9.5,660,6435,0.00,2.45,0.00,0.000,2308,0.000,0.081,2206,3386,3391,3431,3352,0,0,0,0,0,0,15.26,14.93,15.26
$GC,6472,-0.85,-146.0,2205,3387,3430,3352,667.3,-9.8,662,6477,0.00,2.33,0.00,0.000,3078,0.000,0.047,2206,1983,3391,3431,3352,0,0,0,0,0,0,15.10,14.98,15.11
$GC,6616,-0.85,-146.0,2206,1983,3431,3351,680.5,-9.3,669,6617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1983,3391,3431,3352,0,0,0,0,0,0,15.24,15.24,15.24
$GC,6735,-0.85,-146.0,2206,1983,3430,3351,692.0,-9.6,675,6736,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3390,3430,3351,0,0,0,0,0,0,15.25,15.25,15.25
$GC,6855,-0.85,-146.0,2206,1983,3429,3351,703.0,-8.9,681,6860,0.00,2.47,0.00,0.000,2308,0.000,0.082,2205,3390,3389,3429,3350,0,0,0,0,0,0,15.26,14.88,15.26
$GC,6888,-0.85,-146.0,2205,3391,3429,3351,704.9,-8.7,682,6893,0.00,2.33,0.00,0.000,3078,0.000,0.049,2205,1989,3389,3429,3350,0,0,0,0,0,0,15.09,14.97,15.10
$STATE,6943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6943,begin apogee
$GC,6947,-0.19,0.0,2206,1989,3427,3350,710.3,-8.5,685,7068,1.10,0.00,116.93,2.054,10246,0.160,0.000,2423,1987,2812,2850,2774,0,0,0,0,0,0,14.85,14.30,13.61
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7071,0.85,146.0,2424,1987,2850,2773,714.5,0.0,691,7206,1.60,2.65,122.68,2.004,10756,0.069,0.083,2781,553,2214,2259,2170,0,0,0,0,0,0,14.33,14.14,13.52
$GC,7332,0.85,146.0,2780,553,2249,2169,699.4,13.5,704,7338,0.08,2.38,0.00,0.000,5126,0.294,0.051,2764,1954,2209,2250,2169,0,0,0,0,0,0,14.45,14.57,14.61
$GC,7465,0.85,146.0,2768,1954,2249,2167,682.6,11.5,711,7471,0.00,2.45,0.00,0.000,4356,0.000,0.075,2768,3356,2207,2248,2167,0,0,0,0,0,0,14.92,14.66,14.92
$GC,7516,0.85,146.0,2768,3356,2248,2166,677.2,12.2,713,7522,0.00,2.38,0.00,0.000,5126,0.000,0.052,2776,1949,2206,2248,2165,0,0,0,0,0,0,14.83,14.72,14.84
$GC,7649,0.85,146.0,2776,1949,2247,2165,659.7,12.5,720,7654,0.00,2.45,0.00,0.000,4356,0.000,0.075,2775,3351,2206,2247,2165,0,0,0,0,0,0,15.02,14.76,15.02
$GC,7700,0.85,146.0,2776,3351,2247,2165,654.1,13.0,722,7706,0.10,2.38,0.00,0.000,5126,0.296,0.054,2769,1942,2205,2247,2164,0,0,0,0,0,0,14.66,14.81,14.87
$GC,7833,0.85,146.0,2768,1941,2246,2163,636.9,11.9,729,7834,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,1942,2205,2246,2164,0,0,0,0,0,0,15.08,15.09,15.09
$GC,7953,0.85,146.0,2769,1942,2246,2163,623.0,11.5,735,7958,0.00,2.45,0.00,0.000,4356,0.000,0.076,2769,3352,2204,2245,2163,0,0,0,0,0,0,15.11,14.85,15.11
$GC,8104,0.85,146.0,2768,3352,2245,2163,605.3,12.7,742,8109,0.00,2.35,0.00,0.000,5126,0.000,0.054,2777,1948,2203,2245,2162,0,0,0,0,0,0,15.00,14.89,15.01
$GC,8236,0.85,146.0,2777,1948,2245,2162,588.6,11.6,749,8242,0.00,2.45,0.00,0.000,4356,0.000,0.076,2777,3356,2206,2245,2168,0,0,0,0,0,0,15.14,14.87,15.15
$GC,8338,0.85,146.0,2777,3356,2245,2162,574.6,13.8,754,8344,0.10,2.38,0.00,0.000,5126,0.294,0.053,2770,1942,2203,2245,2162,0,0,0,0,0,0,14.76,14.90,14.97
$GC,8481,0.85,146.0,2769,1942,2244,2162,557.6,11.5,761,8487,0.00,2.45,0.00,0.000,4356,0.000,0.076,2768,3354,2202,2244,2161,0,0,0,0,0,0,15.16,14.89,15.16
$GC,8584,0.85,146.0,2769,3354,2244,2161,545.5,11.8,766,8589,0.00,2.35,0.00,0.000,5126,0.000,0.052,2778,1949,2202,2244,2161,0,0,0,0,0,0,15.03,14.92,15.04
$GC,8726,0.85,146.0,2778,1949,2243,2161,529.0,11.4,773,8732,0.05,2.42,0.00,0.000,4356,0.389,0.072,2769,3351,2202,2243,2161,0,0,0,0,0,0,14.76,14.90,14.95
$GC,8854,0.85,146.0,2769,3351,2243,2161,514.6,11.8,779,8859,0.00,2.35,0.00,0.000,5126,0.000,0.051,2778,1947,2202,2243,2161,0,0,0,0,0,0,15.04,14.93,15.06
$GC,8991,0.85,146.0,2777,1946,2242,2161,499.8,10.5,786,8992,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1947,2201,2242,2161,0,0,0,0,0,0,15.19,15.19,15.19
$GC,9112,0.85,146.0,2777,1947,2242,2161,487.1,10.5,792,9113,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1946,2201,2241,2161,0,0,0,0,0,0,15.20,15.20,15.20
$GC,9231,0.85,146.0,2777,1947,2241,2161,474.9,10.0,798,9232,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1947,2200,2241,2160,0,0,0,0,0,0,15.19,15.20,15.19
$GC,9352,0.86,152.8,2777,1947,2241,2160,463.3,9.6,804,9358,0.00,0.00,4.55,1.175,12294,0.000,0.000,2778,1947,2188,2229,2148,0,0,0,0,0,0,15.21,14.98,14.23
$GC,9471,0.86,152.8,2777,1947,2229,2147,450.4,11.0,810,9477,0.00,2.45,0.00,0.000,4356,0.000,0.076,2777,3351,2188,2229,2147,0,0,0,0,0,0,15.19,14.92,15.19
$GC,9588,0.86,152.8,2777,3351,2228,2148,437.9,12.5,815,9596,0.10,2.35,0.00,0.000,5126,0.295,0.054,2769,1944,2188,2229,2147,0,0,0,0,0,0,14.78,14.94,14.98
$GC,9714,0.86,152.8,2768,1944,2229,2147,421.6,11.1,822,9715,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1944,2187,2228,2147,0,0,0,0,0,0,15.19,15.20,15.20
$GC,9834,0.86,152.8,2769,1944,2228,2147,407.8,11.6,828,9839,0.00,2.45,0.00,0.000,4356,0.000,0.076,2775,3350,2187,2228,2147,0,0,0,0,0,0,15.21,14.92,15.21
$GC,9920,0.86,152.8,2769,3351,2228,2147,397.7,12.3,832,9925,0.00,2.35,0.00,0.000,5126,0.000,0.054,2778,1949,2186,2228,2144,0,0,0,0,0,0,15.05,14.94,15.07
$GC,10057,0.86,152.8,2777,1949,2228,2147,380.1,12.4,839,10062,0.00,2.45,0.00,0.000,4356,0.000,0.076,2776,3356,2187,2228,2147,0,0,0,0,0,0,15.20,14.83,15.20
$GC,10113,0.86,152.8,2777,3356,2228,2147,374.7,12.6,841,10121,0.10,2.35,0.00,0.000,5126,0.295,0.053,2769,1947,2187,2228,2147,0,0,0,0,0,0,14.77,14.94,14.98
$GC,10239,0.86,152.8,2769,1946,2228,2147,358.5,11.4,848,10245,0.00,2.45,0.00,0.000,4356,0.000,0.074,2769,3353,2187,2228,2147,0,0,0,0,0,0,15.20,14.92,15.21
$GC,10302,0.86,152.8,2768,3353,2227,2147,350.9,11.9,851,10307,0.00,2.38,0.00,0.000,5126,0.000,0.053,2777,1945,2187,2228,2147,0,0,0,0,0,0,15.05,14.93,15.07
$GC,10444,0.86,152.8,2777,1945,2228,2147,334.2,11.7,858,10445,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1945,2187,2228,2146,0,0,0,0,0,0,15.21,15.21,15.21
$GC,10564,0.86,152.8,2777,1944,2227,2147,319.9,11.8,864,10565,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1945,2187,2228,2147,0,0,0,0,0,0,15.21,15.21,15.21
$GC,10684,0.86,152.8,2777,1945,2228,2147,305.6,11.7,870,10689,0.00,2.45,0.00,0.000,4356,0.000,0.074,2778,3352,2187,2228,2147,0,0,0,0,0,0,15.21,14.92,15.21
$GC,10866,0.86,152.8,2777,3352,2228,2147,284.2,12.2,897,10873,0.10,2.35,0.00,0.000,5126,0.297,0.054,2769,1950,2187,2227,2147,0,0,0,0,0,0,14.76,14.93,14.97
$GC,10935,0.86,152.8,2769,1949,2228,2147,276.2,12.2,910,10941,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1949,2187,2228,2147,0,0,0,0,0,0,15.18,15.19,15.18
$GC,11003,0.86,152.8,2769,1949,2227,2147,269.0,10.6,923,11009,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1949,2189,2228,2151,0,0,0,0,0,0,15.16,15.17,15.16
$GC,11071,0.86,152.8,2770,1949,2228,2146,261.6,10.8,936,11077,0.00,2.45,0.00,0.000,4356,0.000,0.074,2769,3355,2187,2228,2147,0,0,0,0,0,0,15.16,14.88,15.17
$GC,11149,0.86,152.8,2769,3356,2229,2147,252.8,10.9,951,11155,0.00,2.38,0.00,0.000,5126,0.000,0.051,2777,1943,2187,2227,2147,0,0,0,0,0,0,14.98,14.87,15.00
$GC,11218,0.86,152.8,2777,1943,2228,2147,246.0,10.1,964,11224,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1943,2187,2228,2147,0,0,0,0,0,0,15.19,15.16,15.16
$GC,11286,0.86,152.8,2777,1943,2228,2147,239.2,10.6,977,11292,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1943,2187,2228,2146,0,0,0,0,0,0,15.16,15.16,15.16
$GC,11354,0.86,152.8,2777,1943,2231,2147,231.4,11.0,990,11360,0.00,2.45,0.00,0.000,4356,0.000,0.074,2777,3350,2187,2228,2147,0,0,0,0,0,0,15.15,14.87,15.15
$GC,11742,0.86,152.8,2773,3350,2228,2147,189.5,10.5,1067,11750,0.10,2.38,0.00,0.000,5126,0.290,0.053,2769,1943,2187,2228,2147,0,0,0,0,0,0,14.62,14.79,14.82
$GC,11812,0.87,157.0,2769,1943,2228,2146,182.8,9.8,1080,11819,0.00,0.00,5.15,0.995,8198,0.000,0.000,2769,1943,2172,2212,2132,0,0,0,0,0,0,15.10,14.91,14.24
$GC,11882,0.91,188.1,2769,1943,2212,2131,176.8,8.5,1093,11917,0.00,2.47,26.92,1.346,10500,0.000,0.070,2770,3351,2042,2089,1995,0,0,0,0,0,0,15.10,14.66,14.20
$GC,12059,0.91,188.1,2769,3351,2087,1993,156.5,11.6,1127,12065,0.00,2.38,0.00,0.000,1030,0.000,0.051,2777,1950,2039,2087,1991,0,0,0,0,0,0,14.83,14.74,14.85
$GC,12128,0.91,188.1,2777,1949,2087,1991,148.4,12.5,1140,12135,0.00,2.45,0.00,0.000,516,0.000,0.084,2787,549,2038,2086,1991,0,0,0,0,0,0,15.00,14.70,15.01
$GC,12167,0.91,188.1,2787,549,2085,1990,143.3,13.0,1147,12174,0.00,2.35,0.00,0.000,5126,0.000,0.051,2787,1956,2037,2084,1991,0,0,0,0,0,0,14.90,14.81,14.92
$GC,12236,0.91,188.1,2787,1956,2085,1991,135.1,11.6,1160,12243,0.00,2.42,0.00,0.000,4356,0.000,0.075,2787,3351,2038,2086,1991,0,0,0,0,0,0,15.02,14.78,15.03
$GC,12701,0.94,214.4,2787,3351,2085,1991,86.0,8.7,1252,12730,0.00,2.35,21.80,1.170,9222,0.000,0.051,2787,1946,1936,1985,1888,0,0,0,0,0,0,14.94,14.85,14.24
$GC,12792,0.98,252.7,2787,1948,1982,1882,78.5,8.2,1269,12827,0.00,0.00,31.42,1.164,10246,0.000,0.000,2787,1948,1781,1836,1727,0,0,0,0,0,0,14.99,14.64,14.15
$GC,12888,0.98,252.7,2787,1947,1833,1721,69.1,10.4,1287,12895,0.00,2.47,0.00,0.000,2308,0.000,0.070,2787,3354,1776,1832,1721,0,0,0,0,0,0,14.88,14.62,14.88
$GC,12947,0.98,252.7,2787,3354,1832,1721,61.7,13.0,1298,12953,0.00,2.38,0.00,0.000,3078,0.000,0.051,2796,1953,1776,1832,1720,0,0,0,0,0,0,14.82,14.72,14.83
$GC,13018,0.98,252.7,2796,1952,1831,1719,53.9,11.8,1311,13023,0.00,0.00,0.00,0.000,2054,0.000,0.000,2796,1952,1776,1832,1720,0,0,0,0,0,0,14.95,14.96,14.96
$GC,13085,0.98,252.7,2796,1952,1832,1720,45.8,12.0,1324,13091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2796,1952,1775,1831,1720,0,0,0,0,0,0,14.99,14.99,14.99
$GC,13153,0.98,252.7,2796,1952,1831,1719,37.2,11.9,1337,13159,0.00,0.00,0.00,0.000,2054,0.000,0.000,2796,1952,1775,1831,1719,0,0,0,0,0,0,15.00,15.01,15.00
$GC,13220,0.98,252.7,2796,1952,1831,1720,29.5,11.7,1350,13227,0.00,2.45,0.00,0.000,2564,0.000,0.082,2807,542,1775,1831,1720,0,0,0,0,0,0,15.02,14.77,15.02
$GC,13269,0.98,252.7,2806,542,1830,1719,23.1,12.7,1359,13276,0.00,2.35,0.00,0.000,1030,0.000,0.048,2806,1955,1776,1830,1723,0,0,0,0,0,0,14.88,14.80,14.88
$GC,13340,0.98,252.7,2806,1956,1830,1719,14.3,11.9,1372,13347,0.00,2.40,0.00,0.000,260,0.000,0.071,2807,3350,1775,1830,1720,0,0,0,0,0,0,15.04,14.80,15.04
$GC,13369,0.98,252.7,2806,3351,1829,1719,10.0,15.8,1377,13375,0.00,2.35,0.00,0.000,1030,0.000,0.050,2808,1948,1772,1829,1715,0,0,0,0,0,0,14.88,14.79,14.90
$STATE,13421,end climb,SURFACE_DEPTH_REACHED
$STATE,13421,begin surface coast
$FINISH,0.2,1.024404
$STATE,13442,end surface coast,CONTROL_FINISHED_OK
$STATE,13442,begin surface
$SM_CCo,13463,34.92,0.122,0,0,1506,320.11
$SM_GC,1.36,12.40,0.00,34.92,0.049,0.000,0.122,143,1946,1506,-7.27,-1.16,320.11,0,0,0,0,0,0,14.85,15.07,14.78
$IRIDIUM_FIX,-3022.46,3053.96,071018,223745
$TT8_MAMPS,0.019474,0.827645
$HUMID,54.13
$INTERNAL_PRESSURE,9.00389
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,710.3,6.7
$SC_FREEKB,3905216
$24V_AH,13.52,56.288
$10V_AH,13.54,0.000
$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,28.250,224.450,329.450,34.925,0.000,23.489,22.190,867.766,16.000,0.000,19.986,3745.131,6173.843,728.393,3784.487,286.932,0.000,2180.525,0.000,2603.651,0.000,102.973,0.000
$DEVICE_MAMPS,389.385,84.150,2054.025,121.635,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13561.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.993,0.000,0.000,0.000
$MEM,339744
$DATA_FILE_SIZE,46671,1391
$CAP_FILE_SIZE,313500,0
$CFSIZE,1023623168,1016119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081018,063632,-3043.019,3041.938,40,1.0,50,-25.5,1.5,214.6,9,4.2