version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 34
start: 10 8 118 10 51 4
data:
$ID,573
$MISSION,23
$DIVE,34
$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,215
$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,47
$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
$GPS1,081018,102703,-3045.5164,3037.5857,38,0.9,39,-25.6,1.5,205.5,10,7.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.2
$GPS2,081018,105039,-3046.5071,3036.8074,16,1.0,16,-25.6,1.7,221.2,8,9.9
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3055.353,3029.587
$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,240.6,20000,-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,18,begin dive
$GC,19,-0.85,-146.0,73,1969,1524,1474,0.0,0.0,0,77,0.00,0.00,-55.15,0.000,16386,0.000,0.000,73,1969,3073,3076,3071,0,0,0,0,0,0,14.96,28.83,14.97
$GC,80,-0.85,-146.0,73,1969,3077,3071,3.1,-5.9,10,105,12.25,2.50,-6.12,0.000,18692,0.291,0.089,2195,3399,3409,3451,3368,0,0,0,0,0,0,14.52,13.71,14.67
$GC,342,-0.85,-146.0,2194,3399,3453,3368,50.1,-15.8,61,349,0.08,2.33,0.00,0.000,3078,0.276,0.043,2211,1990,3410,3453,3368,0,0,0,0,0,0,14.73,14.85,14.91
$GC,412,-0.85,-146.0,2210,1989,3453,3368,60.9,-15.2,74,419,0.00,2.40,0.00,0.000,2564,0.000,0.073,2206,584,3410,3453,3368,0,0,0,0,0,0,15.08,14.83,15.09
$GC,456,-0.85,-146.0,2210,585,3453,3368,67.8,-16.0,82,462,0.00,2.35,0.00,0.000,3078,0.000,0.050,2203,1995,3410,3453,3368,0,0,0,0,0,0,14.97,14.88,14.97
$GC,524,-0.85,-146.0,2204,1995,3453,3368,77.9,-14.5,95,530,0.00,2.38,0.00,0.000,2308,0.000,0.073,2195,3390,3410,3453,3368,0,0,0,0,0,0,15.09,14.76,15.09
$GC,592,-0.85,-146.0,2195,3390,3453,3368,87.2,-12.9,108,600,0.08,2.33,0.00,0.000,3078,0.273,0.043,2211,1984,3410,3453,3368,0,0,0,0,0,0,14.77,14.90,14.92
$GC,663,-0.85,-146.0,2211,1984,3454,3369,96.7,-14.3,121,669,0.00,2.38,0.00,0.000,2564,0.000,0.073,2211,579,3411,3454,3368,0,0,0,0,0,0,15.11,14.86,15.11
$GC,701,-0.85,-146.0,2211,579,3454,3368,102.5,-15.8,128,707,0.00,2.33,0.00,0.000,3078,0.000,0.050,2207,1989,3411,3454,3368,0,0,0,0,0,0,15.00,14.90,15.01
$GC,769,-0.85,-146.0,2207,1989,3454,3368,112.2,-13.8,141,776,0.00,2.40,0.00,0.000,2564,0.000,0.071,2207,577,3411,3454,3368,0,0,0,0,0,0,15.12,14.84,15.12
$GC,813,-0.85,-146.0,2207,577,3454,3368,118.7,-14.4,149,820,0.05,2.33,0.00,0.000,3078,0.349,0.050,2212,1991,3411,3454,3368,0,0,0,0,0,0,14.75,14.90,14.94
$GC,882,-0.85,-146.0,2212,1992,3454,3368,127.8,-12.4,162,889,0.00,2.40,0.00,0.000,2308,0.000,0.073,2203,3400,3411,3454,3368,0,0,0,0,0,0,15.13,14.88,15.13
$GC,906,-0.85,-146.0,2202,3400,3454,3368,130.4,-11.1,166,912,0.00,2.33,0.00,0.000,3078,0.000,0.042,2202,1989,3411,3455,3368,0,0,0,0,0,0,15.01,14.92,15.02
$GC,975,-0.85,-146.0,2202,1982,3455,3368,138.6,-11.0,179,982,0.00,2.42,0.00,0.000,2308,0.000,0.071,2200,3396,3411,3455,3368,0,0,0,0,0,0,15.13,14.85,15.13
$GC,1019,-0.85,-146.0,2200,3396,3454,3368,143.3,-10.3,187,1026,0.03,2.33,0.00,0.000,3078,0.471,0.041,2210,1975,3411,3455,3368,0,0,0,0,0,0,14.69,14.85,14.88
$GC,1088,-0.85,-146.0,2209,1975,3455,3368,150.8,-11.1,200,1094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1975,3411,3455,3368,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1156,-0.85,-146.0,2210,1975,3455,3368,158.1,-11.7,213,1163,0.00,2.35,0.00,0.000,2564,0.000,0.072,2210,584,3411,3455,3368,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1194,-0.85,-146.0,2206,583,3455,3368,162.5,-10.6,220,1201,0.00,2.30,0.00,0.000,3078,0.000,0.048,2210,1987,3411,3455,3368,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1264,-0.85,-146.0,2210,1988,3455,3368,169.5,-10.4,233,1273,0.00,2.38,0.00,0.000,2308,0.000,0.073,2210,3392,3411,3455,3368,0,0,0,0,0,0,15.14,14.81,15.14
$GC,1320,-0.85,-146.0,2210,3392,3455,3368,175.1,-10.0,243,1326,0.00,2.30,0.00,0.000,3078,0.000,0.041,2210,1985,3411,3455,3368,0,0,0,0,0,0,14.97,14.85,14.98
$GC,1389,-0.85,-146.0,2209,1986,3455,3368,182.1,-10.3,256,1395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1986,3411,3455,3368,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1457,-0.85,-146.0,2210,1986,3454,3363,189.4,-10.8,269,1463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1986,3412,3456,3368,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1524,-0.85,-146.0,2210,1986,3455,3368,196.7,-11.2,282,1530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1986,3411,3455,3368,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1592,-0.85,-146.0,2210,1986,3455,3368,204.6,-11.7,295,1599,0.00,2.40,0.00,0.000,2308,0.000,0.072,2206,3389,3411,3455,3368,0,0,0,0,0,0,15.16,14.90,15.15
$GC,1631,-0.85,-146.0,2206,3389,3456,3368,209.3,-11.9,302,1638,0.00,2.30,0.00,0.000,3078,0.000,0.042,2206,1987,3411,3455,3368,0,0,0,0,0,0,15.03,14.95,15.04
$GC,1701,-0.85,-146.0,2206,1987,3455,3368,217.2,-11.1,315,1707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1987,3411,3455,3368,0,0,0,0,0,0,15.16,15.17,15.16
$GC,1769,-0.85,-146.0,2205,1987,3455,3368,224.6,-10.8,328,1775,0.00,2.38,0.00,0.000,2564,0.000,0.073,2206,582,3411,3455,3368,0,0,0,0,0,0,15.17,14.83,15.18
$GC,1787,-0.85,-146.0,2206,582,3455,3368,226.9,-12.1,331,1794,0.00,2.30,0.00,0.000,3078,0.000,0.050,2206,1987,3411,3454,3368,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1857,-0.85,-146.0,2206,1987,3454,3368,234.2,-10.8,344,1863,0.00,2.38,0.00,0.000,2308,0.000,0.075,2204,3390,3411,3454,3368,0,0,0,0,0,0,15.17,14.91,15.17
$GC,1900,-0.85,-146.0,2204,3390,3454,3368,238.9,-10.5,352,1906,0.00,2.30,0.00,0.000,3078,0.000,0.043,2204,1984,3410,3454,3367,0,0,0,0,0,0,15.00,14.87,15.01
$GC,1969,-0.85,-146.0,2204,1984,3454,3368,246.7,-11.7,365,1975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1984,3411,3454,3368,0,0,0,0,0,0,15.18,15.19,15.19
$GC,2036,-0.85,-146.0,2204,1984,3454,3368,253.9,-10.6,378,2042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,1984,3411,3454,3368,0,0,0,0,0,0,15.19,15.19,15.21
$GC,2104,-0.85,-146.0,2204,1982,3454,3368,261.1,-10.8,391,2110,0.00,2.42,0.00,0.000,2308,0.000,0.073,2200,3390,3410,3453,3368,0,0,0,0,0,0,15.19,14.92,15.19
$GC,2132,-0.85,-146.0,2200,3390,3453,3368,264.2,-11.1,396,2140,0.05,2.30,0.00,0.000,3078,0.319,0.044,2212,1985,3410,3453,3368,0,0,0,0,0,0,14.82,14.97,15.00
$GC,2202,-0.85,-146.0,2212,1985,3453,3368,271.4,-10.5,409,2208,0.00,2.42,0.00,0.000,2308,0.000,0.073,2207,3397,3410,3453,3368,0,0,0,0,0,0,15.19,14.92,15.19
$GC,2225,-0.85,-146.0,2206,3397,3453,3368,273.8,-10.0,413,2232,0.00,2.33,0.00,0.000,3078,0.000,0.043,2207,1983,3410,3453,3368,0,0,0,0,0,0,15.05,14.95,15.07
$GC,2294,-0.85,-146.0,2207,1983,3453,3368,280.9,-10.8,426,2301,0.00,2.35,0.00,0.000,2564,0.000,0.074,2207,589,3410,3452,3368,0,0,0,0,0,0,15.18,14.92,15.18
$GC,2322,-0.85,-146.0,2207,589,3452,3367,284.2,-11.8,431,2329,0.00,2.30,0.00,0.000,3078,0.000,0.050,2207,1990,3410,3452,3368,0,0,0,0,0,0,15.06,14.96,15.07
$GC,2393,-0.85,-146.0,2206,1990,3451,3368,292.2,-12.0,444,2399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1990,3410,3452,3368,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2462,-0.85,-146.0,2207,1990,3451,3367,300.3,-11.5,457,2467,0.00,2.38,0.00,0.000,2308,0.000,0.076,2206,3389,3409,3451,3368,0,0,0,0,0,0,15.18,14.92,15.19
$GC,2493,-0.85,-146.0,2206,3389,3451,3367,302.8,-11.2,458,2498,0.00,2.28,0.00,0.000,3078,0.000,0.043,2207,1994,3409,3451,3367,0,0,0,0,0,0,15.07,14.96,15.07
$GC,2625,-0.85,-146.0,2206,1994,3450,3367,317.9,-11.0,465,2630,0.00,2.40,0.00,0.000,2308,0.000,0.074,2200,3390,3408,3450,3366,0,0,0,0,0,0,15.21,14.94,15.22
$GC,2676,-0.85,-146.0,2200,3393,3449,3367,322.3,-10.9,467,2682,0.05,2.30,0.00,0.000,3078,0.314,0.044,2213,1983,3408,3450,3366,0,0,0,0,0,0,14.84,14.99,15.02
$GC,2809,-0.85,-146.0,2213,1983,3449,3366,337.0,-10.5,474,2811,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1983,3407,3449,3366,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2929,-0.85,-146.0,2212,1983,3448,3366,349.6,-10.7,480,2935,0.00,2.42,0.00,0.000,2308,0.000,0.075,2208,3390,3407,3448,3366,0,0,0,0,0,0,15.23,14.95,15.23
$GC,2972,-0.85,-146.0,2208,3390,3448,3366,354.0,-10.4,482,2977,0.00,2.33,0.00,0.000,3078,0.000,0.044,2208,1973,3407,3448,3366,0,0,0,0,0,0,15.09,14.98,15.11
$GC,3114,-0.85,-146.0,2207,1972,3448,3365,367.9,-9.8,489,3116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1972,3406,3448,3365,0,0,0,0,0,0,15.25,15.26,15.25
$GC,3234,-0.85,-146.0,2207,1972,3447,3364,378.5,-8.6,495,3240,0.00,2.45,0.00,0.000,2308,0.000,0.076,2208,3392,3405,3447,3364,0,0,0,0,0,0,15.26,14.96,15.26
$GC,3280,-0.85,-146.0,2207,3392,3447,3364,382.1,-8.4,497,3286,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1986,3405,3447,3364,0,0,0,0,0,0,15.11,15.00,15.12
$GC,3418,-0.85,-146.0,2207,1985,3446,3364,392.8,-7.9,504,3419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1986,3405,3446,3364,0,0,0,0,0,0,15.25,15.26,15.25
$GC,3538,-0.85,-146.0,2207,1986,3446,3363,403.5,-9.1,510,3543,0.00,2.42,0.00,0.000,2308,0.000,0.077,2208,3387,3404,3445,3363,0,0,0,0,0,0,15.26,14.96,15.26
$GC,3581,-0.85,-146.0,2207,3387,3445,3363,407.4,-9.2,512,3586,0.00,2.30,0.00,0.000,3078,0.000,0.046,2207,1986,3404,3445,3363,0,0,0,0,0,0,15.11,15.01,15.12
$GC,3724,-0.85,-146.0,2207,1986,3445,3362,420.8,-9.5,519,3725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1985,3403,3444,3362,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3844,-0.85,-146.0,2207,1986,3443,3361,431.8,-9.0,525,3849,0.00,2.42,0.00,0.000,2308,0.000,0.077,2207,3388,3401,3442,3361,0,0,0,0,0,0,15.23,14.97,15.23
$GC,3881,-0.85,-146.0,2206,3389,3442,3361,433.9,-9.1,526,3888,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1989,3401,3442,3361,0,0,0,0,0,0,15.11,15.01,15.12
$GC,4007,-0.85,-146.0,2207,1988,3442,3360,446.6,-9.3,533,4008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1988,3401,3442,3360,0,0,0,0,0,0,15.26,15.25,15.26
$GC,4127,-0.85,-146.0,2207,1988,3441,3359,457.4,-8.9,539,4132,0.00,2.42,0.00,0.000,2308,0.000,0.079,2207,3388,3400,3441,3359,0,0,0,0,0,0,15.26,14.96,15.26
$GC,4170,-0.85,-146.0,2207,3389,3441,3358,461.0,-8.3,541,4175,0.00,2.33,0.00,0.000,3078,0.000,0.048,2203,1986,3400,3441,3359,0,0,0,0,0,0,15.07,14.96,15.08
$GC,4313,-0.85,-146.0,2207,1986,3440,3358,473.8,-9.0,548,4318,0.00,2.40,0.00,0.000,2564,0.000,0.079,2207,582,3399,3440,3358,0,0,0,0,0,0,15.26,14.95,15.26
$GC,4340,-0.85,-146.0,2207,582,3440,3358,476.2,-9.4,549,4345,0.00,2.33,0.00,0.000,3078,0.000,0.054,2208,1992,3399,3440,3358,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4478,-0.85,-146.0,2207,1992,3439,3358,490.3,-9.8,556,4483,0.00,2.40,0.00,0.000,2308,0.000,0.081,2207,3393,3398,3439,3358,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4530,-0.85,-146.0,2207,3393,3438,3357,493.9,-9.2,558,4535,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1977,3398,3438,3358,0,0,0,0,0,0,15.06,14.95,15.07
$GC,4663,-0.85,-146.0,2207,1977,3438,3357,507.7,-9.9,565,4664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1977,3397,3438,3357,0,0,0,0,0,0,15.25,15.25,15.25
$GC,4782,-0.85,-146.0,2207,1977,3437,3357,519.6,-10.0,571,4788,0.00,2.45,0.00,0.000,2308,0.000,0.079,2207,3391,3396,3436,3357,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4805,-0.85,-146.0,2206,3391,3435,3357,522.3,-10.6,572,4811,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1994,3396,3436,3357,0,0,0,0,0,0,15.11,15.01,15.12
$GC,4948,-0.85,-146.0,2207,1994,3437,3356,536.3,-10.3,579,4949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1994,3396,3436,3356,0,0,0,0,0,0,15.25,15.26,15.25
$GC,5068,-0.85,-146.0,2207,1994,3436,3355,549.1,-10.8,585,5073,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3399,3395,3436,3355,0,0,0,0,0,0,15.25,14.95,15.25
$GC,5106,-0.85,-146.0,2207,3399,3436,3355,551.4,-10.7,586,5113,0.00,2.35,0.00,0.000,3078,0.000,0.047,2207,1981,3395,3436,3355,0,0,0,0,0,0,15.11,15.00,15.11
$GC,5232,-0.85,-146.0,2206,1981,3435,3354,566.3,-10.4,593,5237,0.00,2.40,0.00,0.000,2564,0.000,0.081,2207,579,3394,3435,3353,0,0,0,0,0,0,15.24,14.94,15.25
$GC,5258,-0.85,-146.0,2206,579,3435,3354,568.5,-10.3,594,5263,0.00,2.35,0.00,0.000,3078,0.000,0.055,2207,1994,3395,3435,3355,0,0,0,0,0,0,15.09,15.00,15.11
$GC,5395,-0.85,-146.0,2206,1994,3435,3354,581.2,-9.2,601,5400,0.00,2.42,0.00,0.000,2308,0.000,0.083,2207,3400,3394,3434,3354,0,0,0,0,0,0,15.25,14.94,15.25
$GC,5438,-0.85,-146.0,2206,3400,3434,3353,585.1,-9.4,603,5443,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,1989,3394,3434,3354,0,0,0,0,0,0,15.09,14.97,15.11
$GC,5580,-0.85,-146.0,2206,1989,3434,3353,597.6,-8.9,610,5582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1989,3394,3435,3353,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5701,-0.85,-146.0,2206,1989,3433,3352,609.1,-9.9,616,5702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1989,3393,3434,3353,0,0,0,0,0,0,15.24,15.25,15.25
$STATE,5759,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5759,begin apogee
$GC,5763,-0.19,0.0,2207,1988,3433,3352,614.4,-9.0,619,5883,1.10,0.00,115.65,1.916,10246,0.156,0.000,2426,1987,2812,2851,2773,0,0,0,0,0,0,14.86,14.33,13.69
$STATE,5884,end apogee,CONTROL_FINISHED_OK
$STATE,5884,begin climb
$GC,5886,0.85,146.0,2426,1987,2851,2772,619.7,0.0,625,6016,1.58,2.62,120.38,1.870,10756,0.067,0.080,2780,543,2216,2261,2171,0,0,0,0,0,0,14.35,14.10,13.59
$GC,6183,0.85,146.0,2779,543,2250,2170,602.3,11.9,640,6189,0.08,2.40,0.00,0.000,5126,0.292,0.051,2767,1958,2209,2249,2170,0,0,0,0,0,0,14.52,14.64,14.68
$GC,6326,0.85,146.0,2766,1957,2248,2168,586.4,11.0,647,6327,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,1958,2207,2248,2167,0,0,0,0,0,0,14.95,14.97,14.97
$GC,6446,0.85,146.0,2766,1958,2248,2167,572.5,11.5,653,6447,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,1958,2207,2247,2167,0,0,0,0,0,0,15.02,15.02,15.02
$GC,6566,0.85,146.0,2766,1958,2247,2166,559.4,10.8,659,6571,0.00,2.42,0.00,0.000,4356,0.000,0.076,2767,3357,2206,2246,2166,0,0,0,0,0,0,15.07,14.81,15.07
$GC,6622,0.85,146.0,2766,3358,2246,2166,554.3,11.6,661,6629,0.00,2.35,0.00,0.000,5126,0.000,0.051,2775,1946,2205,2246,2165,0,0,0,0,0,0,14.88,14.78,14.89
$GC,6748,0.85,146.0,2775,1946,2246,2164,537.2,12.4,668,6754,0.00,2.40,0.00,0.000,4612,0.000,0.083,2786,550,2205,2246,2165,0,0,0,0,0,0,15.10,14.85,15.11
$GC,6785,0.85,146.0,2786,550,2245,2165,534.5,12.3,669,6792,0.10,2.33,0.00,0.000,5126,0.274,0.052,2768,1957,2205,2246,2165,0,0,0,0,0,0,14.75,14.90,14.94
$GC,6911,0.85,146.0,2767,1957,2245,2165,519.1,10.7,676,6916,0.00,2.40,0.00,0.000,4356,0.000,0.076,2767,3354,2205,2245,2165,0,0,0,0,0,0,15.14,14.87,15.14
$GC,6967,0.85,146.0,2767,3353,2245,2164,514.4,11.1,678,6974,0.00,2.33,0.00,0.000,5126,0.000,0.052,2776,1952,2204,2245,2164,0,0,0,0,0,0,15.00,14.90,15.02
$GC,7093,0.85,146.0,2776,1952,2243,2164,498.4,11.8,685,7094,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1952,2204,2244,2164,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7213,0.85,146.0,2775,1952,2243,2163,485.0,11.1,691,7214,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1952,2203,2243,2163,0,0,0,0,0,0,15.17,15.17,15.17
$GC,7333,0.85,146.0,2775,1952,2242,2162,470.9,11.9,697,7338,0.00,2.42,0.00,0.000,4356,0.000,0.075,2776,3353,2202,2242,2163,0,0,0,0,0,0,15.18,14.90,15.18
$GC,7355,0.85,146.0,2775,3353,2242,2163,468.0,12.2,698,7361,0.10,2.35,0.00,0.000,5126,0.295,0.053,2768,1946,2202,2242,2163,0,0,0,0,0,0,14.78,14.93,15.00
$GC,7498,0.85,146.0,2768,1945,2242,2162,450.7,12.2,705,7499,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,1945,2202,2242,2162,0,0,0,0,0,0,15.17,15.18,15.18
$GC,7618,0.85,146.0,2768,1946,2241,2162,436.7,11.4,711,7623,0.00,2.42,0.00,0.000,4356,0.000,0.076,2768,3346,2201,2241,2162,0,0,0,0,0,0,15.18,14.92,15.19
$GC,7694,0.85,146.0,2768,3346,2242,2162,429.5,11.7,714,7701,0.00,2.33,0.00,0.000,5126,0.000,0.054,2776,1949,2201,2241,2162,0,0,0,0,0,0,15.05,14.95,15.07
$GC,7820,0.85,146.0,2776,1950,2241,2162,414.1,10.5,721,7825,0.00,2.40,0.00,0.000,4356,0.000,0.075,2776,3344,2201,2241,2162,0,0,0,0,0,0,15.19,14.92,15.20
$GC,7902,0.85,146.0,2776,3347,2241,2161,405.0,11.0,725,7908,0.10,2.33,0.00,0.000,5126,0.291,0.054,2769,1950,2201,2241,2161,0,0,0,0,0,0,14.78,14.94,15.00
$GC,8045,0.85,146.0,2769,1950,2240,2161,390.5,10.1,732,8046,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,1950,2200,2240,2161,0,0,0,0,0,0,15.20,15.21,15.20
$GC,8165,0.85,146.0,2768,1950,2240,2161,378.5,10.1,738,8166,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1950,2200,2240,2161,0,0,0,0,0,0,15.21,15.21,15.22
$GC,8285,0.87,156.7,2768,1950,2240,2161,367.2,9.5,744,8299,0.00,2.42,8.02,1.397,8452,0.000,0.074,2768,3349,2172,2212,2132,0,0,0,0,0,0,15.20,14.93,14.29
$GC,8321,0.87,161.7,2768,3349,2211,2131,365.1,9.7,745,8332,0.00,2.35,5.88,1.231,13318,0.000,0.054,2777,1946,2151,2192,2111,0,0,0,0,0,0,15.04,14.93,14.25
$GC,8469,0.87,161.7,2777,1946,2191,2109,347.6,11.1,753,8475,0.00,2.45,0.00,0.000,4356,0.000,0.075,2777,3344,2150,2191,2109,0,0,0,0,0,0,15.14,14.89,15.14
$GC,8572,0.87,161.7,2777,3340,2191,2108,335.6,11.8,758,8578,0.08,2.35,0.00,0.000,5126,0.321,0.054,2773,1944,2149,2191,2108,0,0,0,0,0,0,14.77,14.92,14.96
$GC,8715,0.87,161.7,2773,1943,2191,2108,319.0,12.0,765,8716,0.00,0.00,0.00,0.000,4102,0.000,0.000,2773,1943,2149,2191,2107,0,0,0,0,0,0,15.16,15.17,15.17
$GC,8835,0.87,161.7,2773,1943,2190,2108,304.8,11.7,771,8840,0.00,2.42,0.00,0.000,4612,0.000,0.086,2782,544,2149,2190,2108,0,0,0,0,0,0,15.17,14.90,15.19
$GC,8857,0.87,161.7,2782,543,2190,2108,302.0,12.0,772,8863,0.00,2.33,0.00,0.000,5126,0.000,0.052,2781,1943,2149,2190,2108,0,0,0,0,0,0,15.04,14.95,15.05
$GC,8984,0.87,161.7,2781,1942,2189,2108,286.5,12.1,794,8991,0.00,2.45,0.00,0.000,4612,0.000,0.084,2792,542,2148,2190,2107,0,0,0,0,0,0,15.17,14.90,15.17
$GC,9033,0.87,161.7,2791,541,2190,2107,280.5,12.0,803,9040,0.10,2.35,0.00,0.000,5126,0.270,0.053,2773,1952,2152,2189,2115,0,0,0,0,0,0,14.72,14.85,14.90
$GC,9102,0.87,161.7,2773,1952,2189,2107,272.7,11.1,816,9109,0.00,2.45,0.00,0.000,4356,0.000,0.076,2773,3354,2148,2189,2108,0,0,0,0,0,0,15.16,14.81,15.16
$GC,9196,0.87,161.7,2773,3356,2190,2108,261.7,11.2,834,9203,0.00,2.38,0.00,0.000,5126,0.000,0.052,2782,1945,2148,2190,2107,0,0,0,0,0,0,15.03,14.92,15.04
$GC,9266,0.87,161.7,2782,1945,2190,2108,254.7,10.1,847,9272,0.00,2.45,0.00,0.000,4356,0.000,0.073,2781,3359,2148,2190,2107,0,0,0,0,0,0,15.15,14.89,15.15
$GC,9279,0.87,161.7,2781,3359,2190,2107,253.2,10.4,849,9286,0.10,2.35,0.00,0.000,5126,0.295,0.053,2774,1951,2148,2190,2107,0,0,0,0,0,0,14.76,14.92,14.95
$GC,9349,0.87,161.7,2779,1950,2190,2107,246.2,10.6,862,9356,0.00,2.42,0.00,0.000,4612,0.000,0.085,2783,549,2148,2189,2107,0,0,0,0,0,0,15.15,14.90,15.15
$GC,9408,0.87,161.7,2783,549,2189,2107,239.6,11.7,873,9414,0.00,2.33,0.00,0.000,5126,0.000,0.051,2782,1951,2148,2189,2107,0,0,0,0,0,0,15.02,14.92,15.03
$GC,9477,0.87,161.7,2782,1951,2189,2107,231.8,11.3,886,9484,0.00,2.45,0.00,0.000,4356,0.000,0.076,2783,3358,2148,2189,2107,0,0,0,0,0,0,15.16,14.88,15.15
$GC,9511,0.87,161.7,2782,3358,2190,2107,227.7,12.9,892,9518,0.10,2.35,0.00,0.000,5126,0.293,0.051,2774,1949,2148,2190,2107,0,0,0,0,0,0,14.74,14.91,14.95
$GC,9581,0.87,161.7,2774,1949,2190,2107,219.3,12.0,905,9588,0.00,2.45,0.00,0.000,4356,0.000,0.073,2775,3361,2148,2190,2107,0,0,0,0,0,0,15.15,14.88,15.15
$GC,9624,0.87,161.7,2774,3361,2189,2107,213.4,12.9,913,9631,0.00,2.38,0.00,0.000,5126,0.000,0.049,2783,1943,2148,2190,2107,0,0,0,0,0,0,14.98,14.87,14.99
$GC,9693,0.87,161.7,2782,1942,2190,2107,204.9,12.2,926,9699,0.00,0.00,0.00,0.000,4102,0.000,0.000,2782,1942,2148,2190,2107,0,0,0,0,0,0,15.14,15.15,15.14
$GC,9761,0.87,161.7,2782,1942,2190,2107,196.4,12.5,939,9768,0.00,2.42,0.00,0.000,4612,0.000,0.083,2797,549,2148,2190,2107,0,0,0,0,0,0,15.14,14.86,15.14
$GC,9831,0.87,161.7,2793,549,2189,2107,187.9,12.9,952,9838,0.10,2.35,0.00,0.000,5126,0.273,0.052,2775,1963,2148,2189,2107,0,0,0,0,0,0,14.74,14.91,14.93
$GC,9900,0.87,161.7,2774,1963,2190,2107,179.0,13.4,965,9907,0.00,2.40,0.00,0.000,4356,0.000,0.074,2775,3351,2148,2190,2107,0,0,0,0,0,0,15.12,14.86,15.13
$GC,10003,0.87,161.7,2774,3351,2189,2107,166.0,11.6,985,10010,0.00,2.35,0.00,0.000,5126,0.000,0.050,2782,1949,2148,2190,2107,0,0,0,0,0,0,14.95,14.85,14.96
$GC,10073,0.87,161.7,2782,1949,2190,2107,158.2,11.0,998,10079,0.00,2.45,0.00,0.000,4356,0.000,0.073,2782,3353,2148,2189,2107,0,0,0,0,0,0,15.11,14.78,15.11
$GC,10121,0.87,161.7,2782,3354,2190,2107,153.0,10.4,1007,10129,0.10,2.35,0.00,0.000,5126,0.291,0.050,2774,1950,2148,2190,2107,0,0,0,0,0,0,14.71,14.88,14.92
$GC,10191,0.90,183.6,2774,1947,2190,2107,147.2,8.9,1020,10215,0.00,2.47,19.02,1.274,8708,0.000,0.083,2783,547,2061,2106,2016,0,0,0,0,0,0,15.11,14.78,14.23
$GC,10253,0.90,183.6,2783,545,2103,2015,140.3,11.3,1031,10259,0.00,2.35,0.00,0.000,5126,0.000,0.049,2783,1957,2059,2103,2015,0,0,0,0,0,0,14.85,14.77,14.85
$GC,10322,0.90,183.6,2783,1957,2104,2014,132.3,12.1,1044,10329,0.00,2.45,0.00,0.000,4612,0.000,0.079,2793,546,2058,2103,2014,0,0,0,0,0,0,15.02,14.71,15.02
$GC,10371,0.90,183.6,2793,546,2102,2014,126.0,13.4,1053,10378,0.05,2.35,0.00,0.000,5126,0.348,0.050,2784,1960,2058,2103,2014,0,0,0,0,0,0,14.67,14.83,14.85
$GC,10440,0.90,183.6,2784,1960,2103,2013,117.1,13.3,1066,10446,0.00,2.40,0.00,0.000,4356,0.000,0.072,2784,3350,2058,2103,2014,0,0,0,0,0,0,15.05,14.79,15.05
$GC,10503,0.90,183.6,2784,3350,2103,2013,109.5,12.0,1078,10510,0.00,2.38,0.00,0.000,5126,0.000,0.051,2791,1948,2058,2103,2013,0,0,0,0,0,0,14.90,14.80,14.90
$GC,10573,0.92,203.9,2791,1948,2103,2013,102.4,9.0,1091,10597,0.00,2.42,17.48,1.187,12804,0.000,0.080,2802,546,1979,2027,1931,0,0,0,0,0,0,15.06,14.66,14.26
$GC,10609,0.97,238.8,2801,546,2024,1930,99.3,8.4,1097,10645,0.00,2.35,29.12,1.203,9222,0.000,0.050,2802,1955,1838,1889,1787,0,0,0,0,0,0,14.85,14.78,14.12
$GC,10706,0.97,238.8,2801,1955,1885,1780,88.7,12.3,1115,10713,0.00,2.45,0.00,0.000,516,0.000,0.080,2811,548,1832,1885,1780,0,0,0,0,0,0,14.88,14.66,14.88
$GC,10755,0.97,238.8,2811,547,1884,1780,83.0,11.4,1124,10761,0.00,2.35,0.00,0.000,5126,0.000,0.050,2811,1949,1832,1884,1781,0,0,0,0,0,0,14.81,14.73,14.82
$GC,10824,0.97,238.8,2811,1949,1884,1779,75.5,11.3,1137,10831,0.00,2.45,0.00,0.000,4356,0.000,0.074,2812,3355,1831,1884,1779,0,0,0,0,0,0,14.95,14.71,14.95
$GC,10899,0.97,238.8,2811,3355,1883,1778,66.1,12.1,1151,10906,0.08,2.38,0.00,0.000,5126,0.301,0.048,2806,1943,1831,1884,1778,0,0,0,0,0,0,14.62,14.76,14.81
$GC,10969,1.00,264.4,2806,1943,1884,1778,59.5,8.8,1164,10998,0.00,2.42,21.35,1.109,10756,0.000,0.081,2815,545,1732,1788,1677,0,0,0,0,0,0,15.00,14.68,14.19
$GC,11075,1.00,264.4,2815,545,1784,1677,46.8,13.6,1184,11082,0.00,2.35,0.00,0.000,5126,0.000,0.049,2815,1949,1730,1783,1677,0,0,0,0,0,0,14.84,14.75,14.85
$GC,11145,1.00,264.4,2815,1948,1783,1675,37.3,12.9,1197,11152,0.00,2.45,0.00,0.000,4356,0.000,0.073,2815,3351,1728,1783,1674,0,0,0,0,0,0,14.97,14.74,14.97
$GC,11178,1.00,264.4,2814,3351,1783,1673,32.7,13.5,1203,11184,0.00,2.35,0.00,0.000,5126,0.000,0.050,2824,1950,1728,1784,1672,0,0,0,0,0,0,14.82,14.72,14.83
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$GC,11316,1.00,264.4,2824,1949,1784,1672,18.0,10.1,1229,11323,0.00,2.42,0.00,0.000,4612,0.000,0.080,2835,544,1727,1783,1672,0,0,0,0,0,0,15.02,14.78,15.02
$GC,11329,1.00,264.4,2834,543,1784,1672,16.2,11.4,1231,11337,0.10,2.35,0.00,0.000,5126,0.262,0.048,2815,1961,1727,1783,1672,0,0,0,0,0,0,14.69,14.83,14.86
$GC,11398,1.00,264.4,2815,1961,1783,1672,6.7,15.6,1244,11405,0.00,2.40,0.00,0.000,4356,0.000,0.072,2815,3353,1727,1783,1672,0,0,0,0,0,0,15.03,14.77,15.04
$GC,11411,1.00,264.4,2815,3353,1783,1671,5.1,13.8,1246,11418,0.00,2.35,0.00,0.000,5126,0.000,0.050,2822,1947,1728,1784,1672,0,0,0,0,0,0,14.92,14.83,14.94
$STATE,11433,end climb,SURFACE_DEPTH_REACHED
$STATE,11433,begin surface coast
$FINISH,0.3,1.001932
$STATE,11460,end surface coast,CONTROL_FINISHED_OK
$STATE,11460,begin surface
$SM_CCo,11481,28.90,0.122,0,0,1506,320.11
$SM_GC,1.26,12.55,0.00,28.90,0.060,0.000,0.122,151,1945,1506,-7.26,-1.19,320.11,0,0,0,0,0,0,14.83,15.07,14.78
$IRIDIUM_FIX,-3034.97,3046.64,081018,103149
$TT8_MAMPS,0.019474,0.890561
$HUMID,54.92
$INTERNAL_PRESSURE,9.00389
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.1
$ALTIM_BOTTOM_PING,560.1,67.6
$SC_FREEKB,3904000
$24V_AH,13.59,56.991
$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,28.975,271.075,336.900,28.900,0.000,49.658,40.020,931.497,12.500,0.000,18.313,3260.208,5091.920,761.167,3512.771,288.244,0.000,2069.695,0.000,2217.290,0.000,82.454,0.000
$DEVICE_MAMPS,471.240,88.740,1915.560,121.635,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11573.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.116,0.000,0.000,0.000
$MEM,339768
$DATA_FILE_SIZE,43276,1255
$CAP_FILE_SIZE,296989,0
$CFSIZE,1023623168,1015742464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081018,140401,-3050.892,3033.973,27,0.8,29,-25.6,3.0,220.7,11,8.8