version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 33
start: 10 8 118 7 0 42
data:
$ID,573
$MISSION,23
$DIVE,33
$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,320
$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,32
$R_STBD_OVSHOOT,36
$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
$GPS1,081018,063632,-3043.0188,3041.9375,40,1.0,50,-25.5,1.5,214.6,9,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.7
$GPS2,081018,070018,-3043.9148,3041.1274,18,0.8,21,-25.5,1.5,203.9,10,8.8
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3035.642,3033.063
$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,345.5,20000,-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,-146.0,74,1945,1523,1474,0.0,0.0,0,77,0.00,0.00,-55.25,0.000,16386,0.000,0.000,74,1945,3067,3070,3064,0,0,0,0,0,0,15.01,28.83,15.02
$GC,80,-0.85,-146.0,74,1945,3070,3065,3.0,-5.8,10,105,12.30,2.53,-6.10,0.000,18692,0.295,0.089,2195,3390,3410,3452,3368,0,0,0,0,0,0,14.56,13.74,14.71
$GC,197,-0.85,-146.0,2195,3390,3454,3368,28.3,-15.3,32,204,0.08,2.35,0.00,0.000,3078,0.278,0.044,2211,1974,3410,3453,3368,0,0,0,0,0,0,14.71,14.83,14.87
$GC,267,-0.85,-146.0,2211,1974,3454,3368,38.1,-15.2,45,274,0.00,2.38,0.00,0.000,2564,0.000,0.073,2211,576,3411,3454,3368,0,0,0,0,0,0,15.06,14.81,15.06
$GC,296,-0.85,-146.0,2211,576,3454,3368,42.8,-15.5,50,302,0.00,2.35,0.00,0.000,3078,0.000,0.049,2207,1993,3411,3454,3368,0,0,0,0,0,0,14.92,14.82,14.93
$GC,365,-0.85,-146.0,2207,1995,3454,3368,53.0,-14.9,63,372,0.00,2.38,0.00,0.000,2308,0.000,0.073,2198,3393,3410,3453,3368,0,0,0,0,0,0,15.07,14.80,15.07
$GC,389,-0.85,-146.0,2197,3393,3451,3368,56.6,-15.1,67,396,0.05,2.33,0.00,0.000,3078,0.327,0.044,2210,1982,3411,3454,3368,0,0,0,0,0,0,14.66,14.80,14.83
$GC,459,-0.85,-146.0,2207,1981,3454,3368,67.0,-15.4,80,465,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1982,3410,3453,3368,0,0,0,0,0,0,15.09,15.09,15.09
$GC,527,-0.85,-146.0,2210,1982,3454,3368,77.6,-14.6,93,533,0.00,2.42,0.00,0.000,2308,0.000,0.072,2210,3393,3411,3454,3368,0,0,0,0,0,0,15.10,14.85,15.11
$GC,585,-0.85,-146.0,2209,3392,3454,3368,85.1,-12.1,104,592,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1983,3411,3454,3368,0,0,0,0,0,0,14.95,14.85,14.96
$GC,655,-0.85,-146.0,2209,1983,3454,3368,94.5,-13.6,117,662,0.00,2.42,0.00,0.000,2308,0.000,0.070,2202,3393,3410,3453,3368,0,0,0,0,0,0,15.11,14.83,15.11
$GC,713,-0.85,-146.0,2202,3393,3454,3368,102.0,-11.8,128,720,0.00,2.30,0.00,0.000,3078,0.000,0.041,2202,1983,3411,3454,3368,0,0,0,0,0,0,15.00,14.90,15.01
$GC,784,-0.85,-146.0,2202,1983,3455,3368,110.2,-11.9,141,790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,1983,3411,3454,3368,0,0,0,0,0,0,15.12,15.12,15.12
$GC,852,-0.85,-146.0,2201,1983,3454,3367,118.6,-11.8,154,859,0.00,2.42,0.00,0.000,2308,0.000,0.071,2200,3396,3411,3455,3368,0,0,0,0,0,0,15.13,14.87,15.15
$GC,952,-0.85,-146.0,2200,3396,3455,3368,130.1,-11.7,173,959,0.05,2.33,0.00,0.000,3078,0.327,0.042,2212,1986,3411,3455,3368,0,0,0,0,0,0,14.77,14.92,14.95
$GC,1022,-0.85,-146.0,2212,1986,3456,3368,138.0,-11.0,186,1028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1986,3412,3456,3368,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1090,-0.85,-146.0,2212,1985,3456,3368,145.3,-10.6,199,1096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1986,3412,3456,3368,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1158,-0.85,-146.0,2211,1986,3456,3368,153.0,-11.1,212,1165,0.00,2.40,0.00,0.000,2308,0.000,0.071,2211,3393,3412,3456,3368,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1233,-0.85,-146.0,2210,3393,3454,3368,161.4,-11.4,226,1240,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1989,3412,3456,3368,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1302,-0.85,-146.0,2210,1989,3456,3368,168.5,-10.6,239,1308,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1988,3412,3456,3368,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1370,-0.85,-146.0,2210,1988,3456,3368,175.2,-10.1,252,1376,0.00,2.40,0.00,0.000,2308,0.000,0.071,2210,3393,3412,3456,3368,0,0,0,0,0,0,15.14,14.83,15.14
$GC,1439,-0.85,-146.0,2210,3394,3456,3368,182.7,-10.9,265,1446,0.00,2.33,0.00,0.000,3078,0.000,0.042,2211,1986,3413,3455,3372,0,0,0,0,0,0,14.94,14.85,14.94
$GC,1509,-0.85,-146.0,2210,1987,3455,3368,190.4,-11.2,278,1515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1986,3412,3456,3368,0,0,0,0,0,0,15.16,15.14,15.14
$GC,1577,-0.85,-146.0,2210,1986,3456,3368,198.0,-10.5,291,1584,0.00,2.42,0.00,0.000,2308,0.000,0.072,2210,3393,3412,3456,3368,0,0,0,0,0,0,15.15,14.89,15.15
$GC,1626,-0.85,-146.0,2210,3393,3456,3368,202.8,-10.7,300,1632,0.00,2.30,0.00,0.000,3078,0.000,0.042,2211,1987,3412,3456,3368,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1696,-0.85,-146.0,2210,1987,3456,3368,210.3,-11.3,313,1702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1991,3412,3456,3368,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1764,-0.85,-146.0,2210,1987,3456,3368,217.9,-10.7,326,1770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1987,3412,3456,3368,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1831,-0.85,-146.0,2210,1988,3455,3368,224.9,-10.2,339,1838,0.00,2.42,0.00,0.000,2308,0.000,0.073,2210,3399,3411,3455,3368,0,0,0,0,0,0,15.18,14.90,15.18
$GC,1890,-0.85,-146.0,2210,3399,3455,3367,230.5,-9.3,350,1897,0.00,2.33,0.00,0.000,3078,0.000,0.042,2210,1985,3411,3455,3368,0,0,0,0,0,0,15.00,14.92,15.02
$GC,1960,-0.85,-146.0,2210,1983,3455,3368,237.0,-9.5,363,1966,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1984,3411,3455,3368,0,0,0,0,0,0,15.18,15.19,15.18
$GC,2029,-0.85,-146.0,2210,1984,3455,3368,243.8,-9.3,376,2036,0.00,2.42,0.00,0.000,2308,0.000,0.072,2210,3395,3411,3454,3368,0,0,0,0,0,0,15.18,14.83,15.18
$GC,2088,-0.85,-146.0,2210,3394,3454,3368,249.3,-9.1,387,2095,0.00,2.30,0.00,0.000,3078,0.000,0.043,2210,1988,3411,3454,3368,0,0,0,0,0,0,15.05,14.96,15.07
$GC,2159,-0.85,-146.0,2210,1988,3454,3368,255.8,-9.2,400,2164,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1988,3411,3454,3368,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2227,-0.85,-146.0,2210,1988,3453,3368,262.6,-11.2,413,2232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1989,3410,3453,3368,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2294,-0.85,-146.0,2210,1988,3453,3368,269.0,-10.1,426,2301,0.00,2.42,0.00,0.000,2308,0.000,0.074,2210,3393,3410,3453,3368,0,0,0,0,0,0,15.18,14.92,15.18
$GC,2359,-0.85,-146.0,2210,3393,3453,3368,275.1,-9.4,438,2366,0.00,2.33,0.00,0.000,3078,0.000,0.043,2210,1979,3410,3453,3368,0,0,0,0,0,0,14.96,14.87,14.97
$GC,2429,-0.85,-146.0,2209,1979,3453,3368,281.9,-9.1,451,2434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1979,3410,3452,3368,0,0,0,0,0,0,15.20,15.20,15.21
$GC,2496,-0.85,-146.0,2210,1979,3452,3368,288.5,-10.3,464,2503,0.00,2.42,0.00,0.000,2308,0.000,0.074,2210,3392,3409,3451,3368,0,0,0,0,0,0,15.19,14.92,15.19
$GC,2540,-0.85,-146.0,2209,3392,3452,3367,292.6,-9.1,472,2547,0.00,2.33,0.00,0.000,3078,0.000,0.043,2208,1983,3410,3452,3368,0,0,0,0,0,0,15.02,14.92,15.03
$GC,2610,-0.85,-146.0,2210,1983,3451,3368,298.8,-9.3,485,2616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1982,3409,3451,3368,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2683,-0.85,-146.0,2210,1982,3451,3368,305.9,-9.3,490,2685,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1982,3409,3450,3368,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2803,-0.85,-146.0,2210,1982,3450,3367,316.4,-8.7,496,2805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1982,3408,3449,3367,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2923,-0.85,-146.0,2210,1982,3449,3367,326.6,-8.5,502,2925,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1982,3407,3449,3366,0,0,0,0,0,0,15.21,15.22,15.22
$GC,3043,-0.85,-146.0,2209,1982,3448,3366,338.2,-9.8,508,3049,0.00,2.42,0.00,0.000,2308,0.000,0.075,2210,3392,3407,3448,3366,0,0,0,0,0,0,15.23,14.95,15.23
$GC,3095,-0.85,-146.0,2209,3393,3448,3365,342.2,-9.7,510,3100,0.00,2.30,0.00,0.000,3078,0.000,0.044,2210,1983,3407,3448,3366,0,0,0,0,0,0,15.09,14.98,15.11
$GC,3227,-0.85,-146.0,2210,1983,3448,3366,356.1,-10.1,517,3233,0.00,2.45,0.00,0.000,2308,0.000,0.075,2207,3393,3406,3447,3366,0,0,0,0,0,0,15.23,14.95,15.25
$GC,3284,-0.85,-146.0,2207,3393,3447,3366,359.8,-9.6,519,3292,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1988,3406,3447,3366,0,0,0,0,0,0,15.09,15.00,15.11
$GC,3410,-0.85,-146.0,2207,1988,3447,3365,372.7,-9.4,526,3411,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3406,3447,3365,0,0,0,0,0,0,15.24,15.25,15.25
$GC,3530,-0.85,-146.0,2207,1988,3447,3365,383.6,-9.0,532,3532,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3405,3446,3364,0,0,0,0,0,0,15.24,15.25,15.24
$GC,3650,-0.85,-146.0,2207,1988,3446,3364,395.0,-9.5,538,3655,0.00,2.42,0.00,0.000,2308,0.000,0.077,2207,3392,3405,3446,3364,0,0,0,0,0,0,15.25,14.95,15.25
$GC,3702,-0.85,-146.0,2207,3392,3445,3364,398.8,-9.1,540,3707,0.00,2.33,0.00,0.000,3078,0.000,0.045,2207,1977,3405,3446,3364,0,0,0,0,0,0,15.11,15.00,15.11
$GC,3835,-0.85,-146.0,2207,1977,3444,3363,410.9,-9.0,547,3836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1977,3403,3444,3363,0,0,0,0,0,0,15.25,15.26,15.25
$GC,3955,-0.85,-146.0,2207,1977,3443,3362,421.3,-8.5,553,3960,0.00,2.45,0.00,0.000,2308,0.000,0.077,2207,3393,3403,3443,3363,0,0,0,0,0,0,15.25,14.96,15.26
$GC,4007,-0.85,-146.0,2207,3394,3444,3363,425.1,-8.6,555,4012,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,1977,3402,3443,3362,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4139,-0.85,-146.0,2207,1977,3442,3362,438.1,-9.8,562,4145,0.00,2.45,0.00,0.000,2308,0.000,0.078,2207,3391,3402,3442,3362,0,0,0,0,0,0,15.25,14.95,15.26
$GC,4176,-0.85,-146.0,2206,3392,3442,3362,440.4,-10.1,563,4183,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1989,3402,3442,3362,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4302,-0.85,-146.0,2206,1988,3441,3361,453.7,-9.0,570,4303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3401,3441,3361,0,0,0,0,0,0,15.25,15.25,15.25
$GC,4422,-0.85,-146.0,2207,1988,3441,3360,463.7,-8.3,576,4427,0.00,2.45,0.00,0.000,2308,0.000,0.079,2206,3396,3400,3440,3360,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4459,-0.85,-146.0,2206,3396,3440,3360,465.6,-8.3,577,4466,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1983,3399,3440,3359,0,0,0,0,0,0,15.10,15.00,15.11
$GC,4585,-0.85,-146.0,2206,1983,3440,3359,477.5,-8.6,584,4586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1983,3399,3440,3359,0,0,0,0,0,0,15.24,15.26,15.26
$GC,4705,-0.85,-146.0,2206,1983,3438,3358,487.9,-8.8,590,4710,0.00,2.45,0.00,0.000,2308,0.000,0.079,2206,3393,3398,3438,3358,0,0,0,0,0,0,15.25,14.95,15.26
$GC,4743,-0.85,-146.0,2205,3393,3438,3358,490.2,-9.2,591,4749,0.00,2.33,0.00,0.000,3078,0.000,0.047,2206,1983,3398,3438,3358,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4869,-0.85,-146.0,2206,1983,3438,3358,503.0,-9.2,598,4874,0.00,2.45,0.00,0.000,2308,0.000,0.079,2201,3390,3397,3437,3358,0,0,0,0,0,0,15.26,14.85,15.26
$GC,4921,-0.85,-146.0,2200,3389,3437,3358,506.6,-8.6,600,4926,0.00,2.33,0.00,0.000,3078,0.000,0.047,2200,1978,3397,3437,3357,0,0,0,0,0,0,15.11,15.03,15.12
$GC,5053,-0.85,-146.0,2200,1976,3436,3357,518.7,-8.8,607,5058,0.00,2.47,0.00,0.000,2308,0.000,0.080,2200,3390,3396,3436,3357,0,0,0,0,0,0,15.24,14.94,15.24
$GC,5105,-0.85,-146.0,2200,3390,3436,3357,522.4,-8.9,609,5111,0.05,2.33,0.00,0.000,3078,0.314,0.048,2212,1983,3396,3436,3357,0,0,0,0,0,0,14.83,14.99,15.02
$GC,5238,-0.85,-146.0,2212,1982,3436,3356,534.3,-8.7,616,5239,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1983,3396,3436,3356,0,0,0,0,0,0,15.26,15.26,15.27
$GC,5358,-0.85,-146.0,2212,1983,3436,3355,545.6,-9.4,622,5364,0.00,2.42,0.00,0.000,260,0.000,0.080,2207,3391,3395,3435,3356,0,0,0,0,0,0,15.25,14.94,15.26
$GC,5423,-0.85,-146.0,2207,3391,3435,3355,551.1,-8.9,625,5428,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,1986,3395,3436,3355,0,0,0,0,0,0,15.10,14.97,15.11
$GC,5566,-0.85,-146.0,2207,1985,3434,3354,564.4,-9.2,632,5567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1985,3394,3435,3354,0,0,0,0,0,0,15.24,15.25,15.24
$GC,5686,-0.85,-146.0,2207,1985,3434,3354,575.6,-9.5,638,5687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1984,3394,3434,3354,0,0,0,0,0,0,15.24,15.25,15.24
$GC,5806,-0.85,-146.0,2207,1985,3434,3354,587.0,-9.5,644,5811,0.00,2.47,0.00,0.000,2308,0.000,0.082,2207,3397,3394,3434,3354,0,0,0,0,0,0,15.24,14.93,15.25
$GC,5852,-0.85,-146.0,2204,3397,3433,3354,591.0,-9.7,646,5857,0.00,2.33,0.00,0.000,3078,0.000,0.048,2207,1985,3393,3433,3354,0,0,0,0,0,0,15.09,14.97,15.11
$GC,5990,-0.85,-146.0,2207,1984,3433,3353,603.8,-9.3,653,5991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3393,3433,3353,0,0,0,0,0,0,15.24,15.24,15.24
$GC,6110,-0.85,-146.0,2207,1984,3432,3352,614.9,-9.3,659,6115,0.00,2.47,0.00,0.000,2308,0.000,0.082,2207,3396,3391,3431,3352,0,0,0,0,0,0,15.24,14.92,15.25
$STATE,6173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6173,begin apogee
$GC,6180,-0.19,0.0,2207,1950,3431,3352,620.8,-9.5,662,6300,1.10,0.00,115.57,1.931,10246,0.155,0.000,2426,1949,2812,2850,2774,0,0,0,0,0,0,14.85,14.33,13.67
$STATE,6302,end apogee,CONTROL_FINISHED_OK
$STATE,6302,begin climb
$GC,6303,0.85,146.0,2426,1949,2851,2773,627.0,0.0,668,6435,1.60,2.60,121.53,1.886,10500,0.065,0.073,2769,3352,2214,2260,2169,0,0,0,0,0,0,14.37,14.19,13.57
$GC,6680,0.85,146.0,2768,3351,2251,2164,601.7,11.1,687,6686,0.08,2.40,0.00,0.000,5126,0.327,0.053,2767,1944,2207,2251,2163,0,0,0,0,0,0,14.55,14.69,14.75
$GC,6818,0.85,146.0,2767,1944,2250,2162,587.5,10.2,694,6823,0.00,2.47,0.00,0.000,4356,0.000,0.073,2767,3360,2206,2250,2162,0,0,0,0,0,0,15.00,14.75,15.01
$GC,6889,0.85,146.0,2766,3361,2250,2162,580.4,11.4,697,6895,0.00,2.38,0.00,0.000,5126,0.000,0.052,2775,1949,2205,2249,2162,0,0,0,0,0,0,14.90,14.80,14.94
$GC,7022,0.85,146.0,2775,1949,2248,2161,565.1,10.5,704,7027,0.00,2.45,0.00,0.000,4356,0.000,0.074,2772,3360,2204,2248,2161,0,0,0,0,0,0,15.07,14.81,15.08
$GC,7094,0.85,146.0,2775,3360,2248,2161,557.8,11.5,707,7099,0.10,2.38,0.00,0.000,5126,0.298,0.051,2768,1942,2204,2247,2161,0,0,0,0,0,0,14.71,14.85,14.91
$GC,7226,0.85,146.0,2768,1942,2247,2161,541.1,11.8,714,7228,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,1942,2203,2246,2161,0,0,0,0,0,0,15.11,15.12,15.12
$GC,7346,0.85,146.0,2768,1940,2246,2161,528.1,10.5,720,7352,0.00,2.45,0.00,0.000,4356,0.000,0.075,2768,3358,2203,2246,2160,0,0,0,0,0,0,15.14,14.87,15.14
$GC,7483,0.85,146.0,2768,3358,2246,2161,515.5,10.2,726,7489,0.00,2.35,0.00,0.000,5126,0.000,0.051,2777,1949,2203,2246,2160,0,0,0,0,0,0,15.02,14.90,15.03
$GC,7609,0.85,146.0,2776,1949,2246,2160,501.2,10.6,733,7614,0.00,2.42,0.00,0.000,4356,0.000,0.074,2776,3353,2202,2245,2160,0,0,0,0,0,0,15.16,14.89,15.16
$GC,7701,0.85,146.0,2776,3353,2246,2160,491.5,11.8,737,7707,0.10,2.35,0.00,0.000,5126,0.297,0.054,2769,1946,2202,2245,2160,0,0,0,0,0,0,14.76,14.92,14.97
$GC,7835,0.85,146.0,2769,1946,2244,2160,475.8,11.7,744,7840,0.00,2.45,0.00,0.000,4356,0.000,0.074,2769,3363,2202,2245,2160,0,0,0,0,0,0,15.17,14.90,15.18
$GC,7951,0.85,146.0,2769,3363,2245,2160,463.6,11.8,749,7958,0.00,2.35,0.00,0.000,5126,0.000,0.053,2777,1950,2202,2244,2160,0,0,0,0,0,0,15.04,14.92,15.05
$GC,8077,0.85,146.0,2777,1950,2244,2159,448.6,10.5,756,8079,0.05,0.00,0.00,0.000,4102,0.387,0.000,2769,1950,2201,2244,2159,0,0,0,0,0,0,14.77,15.02,15.00
$GC,8197,0.85,146.0,2769,1950,2243,2159,435.9,10.5,762,8198,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1950,2201,2244,2159,0,0,0,0,0,0,15.21,15.21,15.21
$GC,8317,0.85,147.0,2769,1950,2243,2159,424.0,9.9,768,8318,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1950,2201,2243,2159,0,0,0,0,0,0,15.19,15.20,15.20
$GC,8437,0.86,149.3,2769,1950,2243,2159,412.2,9.8,774,8442,0.00,2.47,0.00,0.000,4356,0.000,0.076,2769,3363,2201,2243,2159,0,0,0,0,0,0,15.21,14.92,15.21
$GC,8539,0.86,149.3,2769,3363,2243,2159,401.2,10.8,779,8545,0.00,2.38,0.00,0.000,5126,0.000,0.053,2777,1952,2200,2242,2159,0,0,0,0,0,0,15.06,14.95,15.07
$GC,8682,0.86,149.3,2777,1952,2242,2158,386.3,10.2,786,8687,0.00,2.45,0.00,0.000,4356,0.000,0.075,2777,3356,2200,2242,2158,0,0,0,0,0,0,15.21,14.88,15.21
$GC,8758,0.86,149.3,2777,3354,2242,2159,379.7,10.5,789,8766,0.10,2.35,0.00,0.000,5126,0.295,0.054,2770,1947,2200,2242,2159,0,0,0,0,0,0,14.77,14.94,14.98
$GC,8885,0.87,156.2,2769,1947,2242,2158,366.2,9.6,796,8894,0.00,0.00,7.03,1.354,8198,0.000,0.000,2770,1947,2175,2217,2133,0,0,0,0,0,0,15.20,14.96,14.26
$GC,9004,0.87,156.2,2769,1947,2216,2132,353.4,10.9,802,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1947,2174,2216,2132,0,0,0,0,0,0,15.18,15.19,15.19
$GC,9124,0.87,156.2,2770,1943,2216,2132,341.2,10.2,808,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1947,2175,2219,2132,0,0,0,0,0,0,15.18,15.19,15.19
$GC,9245,0.88,163.8,2769,1947,2214,2132,329.5,9.6,814,9259,0.00,2.45,8.35,1.382,8452,0.000,0.073,2770,3357,2142,2184,2100,0,0,0,0,0,0,15.19,14.80,14.24
$GC,9386,0.88,163.8,2770,3357,2183,2099,312.0,13.0,821,9391,0.00,2.38,0.00,0.000,5126,0.000,0.053,2778,1944,2140,2183,2098,0,0,0,0,0,0,15.02,14.90,15.03
$GC,9513,0.88,163.8,2778,1944,2183,2096,296.5,11.6,831,9519,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1943,2140,2183,2097,0,0,0,0,0,0,15.15,15.16,15.16
$GC,9581,0.88,163.8,2778,1944,2182,2096,288.9,10.7,844,9588,0.00,2.47,0.00,0.000,4356,0.000,0.075,2778,3349,2139,2182,2097,0,0,0,0,0,0,15.15,14.83,15.15
$GC,9620,0.88,163.8,2778,3349,2182,2097,284.7,11.1,851,9627,0.08,2.35,0.00,0.000,5126,0.324,0.054,2775,1948,2139,2182,2096,0,0,0,0,0,0,14.76,14.92,14.96
$GC,9689,0.88,163.8,2775,1948,2182,2096,278.1,10.4,864,9695,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1949,2139,2183,2096,0,0,0,0,0,0,15.15,15.15,15.15
$GC,9757,0.88,166.9,2775,1948,2182,2096,271.1,9.8,877,9763,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1949,2139,2182,2096,0,0,0,0,0,0,15.14,15.15,15.15
$GC,9824,0.88,166.9,2775,1949,2182,2096,263.9,11.3,890,9830,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1949,2139,2182,2096,0,0,0,0,0,0,15.14,15.14,15.14
$GC,9892,0.88,166.9,2775,1948,2181,2096,256.3,11.1,903,9898,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1948,2139,2182,2096,0,0,0,0,0,0,15.16,15.16,15.16
$GC,9960,0.88,166.9,2775,1948,2182,2096,248.5,12.1,916,9966,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1948,2139,2182,2096,0,0,0,0,0,0,15.14,15.15,15.15
$GC,10028,0.88,166.9,2775,1948,2182,2096,240.2,11.8,929,10035,0.00,2.45,0.00,0.000,4356,0.000,0.074,2774,3356,2137,2182,2092,0,0,0,0,0,0,15.15,14.88,15.15
$GC,10157,0.88,166.9,2775,3353,2182,2096,225.9,10.8,954,10163,0.00,2.35,0.00,0.000,5126,0.000,0.054,2783,1951,2139,2182,2096,0,0,0,0,0,0,15.01,14.90,15.02
$GC,10226,0.88,166.9,2783,1951,2181,2096,218.2,11.5,967,10232,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1952,2139,2182,2096,0,0,0,0,0,0,15.14,15.14,15.14
$GC,10294,0.88,166.9,2783,1951,2182,2096,210.1,12.0,980,10301,0.00,2.45,0.00,0.000,4356,0.000,0.075,2783,3354,2138,2180,2096,0,0,0,0,0,0,15.14,14.88,15.15
$GC,10403,0.88,166.9,2783,3355,2182,2096,196.8,11.4,1001,10410,0.10,2.38,0.00,0.000,5126,0.290,0.053,2776,1943,2138,2181,2096,0,0,0,0,0,0,14.73,14.89,14.94
$GC,10472,0.88,166.9,2775,1943,2182,2096,189.0,10.9,1014,10478,0.00,2.47,0.00,0.000,4356,0.000,0.073,2775,3354,2139,2182,2096,0,0,0,0,0,0,15.12,14.83,15.13
$GC,10505,0.88,166.9,2775,3354,2182,2096,185.4,11.1,1020,10512,0.00,2.35,0.00,0.000,5126,0.000,0.052,2783,1951,2138,2181,2096,0,0,0,0,0,0,15.00,14.89,15.01
$GC,10575,0.88,166.9,2783,1950,2182,2096,178.4,10.8,1033,10581,0.00,0.00,3.62,0.769,12294,0.000,0.000,2784,1951,2132,2173,2091,0,0,0,0,0,0,15.11,14.87,14.19
$GC,10644,0.88,166.9,2784,1951,2173,2088,170.2,10.7,1046,10651,0.00,2.45,0.00,0.000,4356,0.000,0.073,2784,3355,2130,2173,2087,0,0,0,0,0,0,15.10,14.85,15.10
$GC,10737,0.88,166.9,2783,3355,2173,2087,160.1,10.8,1064,10744,0.10,2.38,0.00,0.000,5126,0.287,0.051,2776,1944,2130,2173,2088,0,0,0,0,0,0,14.69,14.84,14.88
$GC,10806,0.88,166.9,2776,1944,2173,2088,153.5,10.0,1077,10812,0.00,2.47,0.00,0.000,4356,0.000,0.073,2776,3363,2130,2173,2088,0,0,0,0,0,0,15.09,14.77,15.10
$GC,10889,0.88,166.9,2775,3363,2173,2088,145.5,10.0,1093,10896,0.00,2.38,0.00,0.000,5126,0.000,0.050,2784,1944,2131,2174,2088,0,0,0,0,0,0,14.97,14.87,14.99
$GC,10959,0.91,193.9,2784,1946,2173,2088,139.4,8.7,1106,10989,0.00,2.50,23.35,1.280,8452,0.000,0.072,2784,3353,2019,2066,1973,0,0,0,0,0,0,15.09,14.75,14.21
$GC,11022,0.91,193.9,2784,3353,2065,1972,133.0,10.9,1117,11029,0.00,2.38,0.00,0.000,5126,0.000,0.052,2788,1953,2018,2065,1971,0,0,0,0,0,0,14.84,14.75,14.85
$GC,11093,0.91,193.9,2788,1953,2064,1969,124.7,12.2,1130,11099,0.00,2.45,0.00,0.000,4612,0.000,0.081,2798,546,2016,2063,1970,0,0,0,0,0,0,15.00,14.76,15.01
$GC,11121,0.91,193.9,2795,546,2063,1969,121.1,13.3,1135,11129,0.05,2.35,0.00,0.000,5126,0.342,0.050,2789,1952,2016,2063,1969,0,0,0,0,0,0,14.62,14.75,14.80
$GC,11191,0.94,212.9,2788,1952,2063,1969,113.9,9.1,1148,11214,0.00,2.42,16.30,1.196,8452,0.000,0.073,2788,3349,1943,1992,1895,0,0,0,0,0,0,15.00,14.64,14.19
$GC,11496,0.94,212.9,2788,3349,1990,1892,82.4,11.9,1208,11503,0.00,2.38,0.00,0.000,5126,0.000,0.050,2796,1940,1940,1990,1890,0,0,0,0,0,0,14.88,14.78,14.89
$GC,11566,0.94,212.9,2795,1940,1990,1890,74.4,12.2,1221,11573,0.00,2.42,0.00,0.000,4612,0.000,0.082,2806,543,1939,1989,1890,0,0,0,0,0,0,15.03,14.73,15.04
$GC,11589,0.94,212.9,2806,543,1989,1890,71.6,11.6,1225,11596,0.08,2.35,0.00,0.000,5126,0.282,0.051,2792,1956,1939,1988,1890,0,0,0,0,0,0,14.71,14.83,14.87
$GC,11658,0.94,212.9,2792,1955,1989,1890,63.2,13.0,1238,11664,0.00,2.40,0.00,0.000,260,0.000,0.073,2792,3357,1939,1989,1890,0,0,0,0,0,0,15.05,14.81,15.06
$GC,11771,0.94,212.9,2791,3357,1988,1890,50.9,10.7,1260,11778,0.00,2.38,0.00,0.000,5126,0.000,0.048,2800,1946,1939,1989,1890,0,0,0,0,0,0,14.90,14.79,14.91
$GC,11841,0.94,212.9,2799,1945,1989,1890,43.7,10.6,1273,11847,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1946,1939,1989,1890,0,0,0,0,0,0,15.07,15.07,15.07
$GC,11908,0.96,234.3,2799,1946,1989,1890,37.4,9.0,1286,11932,0.00,0.00,18.23,1.064,8198,0.000,0.000,2801,1946,1855,1906,1804,0,0,0,0,0,0,15.07,14.80,14.28
$GC,11994,0.96,234.3,2800,1946,1905,1802,29.0,10.6,1302,12000,0.00,2.40,0.00,0.000,516,0.000,0.081,2800,549,1853,1904,1802,0,0,0,0,0,0,15.00,14.76,15.01
$GC,12047,0.96,234.3,2800,548,1902,1802,22.3,11.9,1312,12054,0.00,2.33,0.00,0.000,5126,0.000,0.047,2800,1949,1852,1902,1802,0,0,0,0,0,0,14.88,14.79,14.89
$GC,12116,0.96,234.3,2799,1949,1903,1802,14.3,12.1,1325,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1948,1853,1904,1802,0,0,0,0,0,0,15.02,15.03,15.03
$GC,12184,0.97,239.1,2800,1949,1904,1802,7.0,9.7,1338,12192,0.00,2.45,2.35,0.371,8452,0.000,0.073,2800,3354,1833,1881,1786,0,0,0,0,0,0,15.04,14.78,14.28
$STATE,12217,end climb,SURFACE_DEPTH_REACHED
$STATE,12218,begin surface coast
$FINISH,0.4,1.024391
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12261,42.47,0.121,0,0,1507,320.11
$SM_GC,1.10,12.48,2.30,42.47,0.062,0.038,0.121,150,1972,1507,-7.26,1.02,320.11,0,0,0,0,0,0,14.83,14.87,14.77
$IRIDIUM_FIX,-3032.46,3039.76,081018,065654
$TT8_MAMPS,0.019474,0.961716
$HUMID,54.17
$INTERNAL_PRESSURE,9.00389
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,620.8,6.7
$SC_FREEKB,3904576
$24V_AH,13.57,56.639
$10V_AH,13.28,0.000
$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,28.525,225.000,316.325,42.475,0.000,46.508,75.793,899.355,13.750,0.000,22.819,3548.359,5397.427,749.457,3728.791,291.623,0.000,2112.686,0.000,2425.784,0.000,88.818,0.000
$DEVICE_MAMPS,387.090,88.740,1930.860,120.870,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12366.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.979,0.000,0.000,0.000
$MEM,339768
$DATA_FILE_SIZE,46587,1348
$CAP_FILE_SIZE,304262,0
$CFSIZE,1023623168,1015922688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081018,102703,-3045.516,3037.586,38,0.9,39,-25.6,1.5,205.5,10,7.2