version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 36
start: 10 8 118 18 25 49
data:
$ID,573
$MISSION,23
$DIVE,36
$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,305
$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,36
$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
$GPS1,081018,180033,-3057.5576,3030.3518,57,0.9,97,-25.8,1.5,215.8,10,12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.7
$GPS2,081018,182524,-3058.8115,3029.3359,36,0.8,44,-25.8,1.5,194.7,11,9.3
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3052.617,3019.029
$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,330.8,20000,-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,-146.0,73,1987,1526,1469,0.0,0.0,0,84,0.00,0.00,-61.55,0.000,16386,0.000,0.000,73,1987,3277,3299,3256,0,0,0,0,0,0,15.01,28.83,15.02
$GC,86,-0.85,-146.0,73,1987,3300,3257,4.3,-11.5,11,110,12.27,2.45,-2.28,0.000,18692,0.294,0.084,2195,3394,3410,3449,3372,0,0,0,0,0,0,14.59,13.76,14.76
$GC,237,-0.85,-146.0,2195,3397,3450,3372,36.5,-13.6,40,245,0.08,2.33,0.00,0.000,3078,0.277,0.043,2211,1983,3411,3450,3373,0,0,0,0,0,0,14.73,14.85,14.89
$GC,307,-0.85,-146.0,2211,1984,3450,3373,47.0,-15.1,53,313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1985,3411,3449,3373,0,0,0,0,0,0,15.07,15.07,15.07
$GC,375,-0.85,-146.0,2210,1985,3450,3373,56.6,-14.3,66,381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1984,3411,3450,3373,0,0,0,0,0,0,15.08,15.09,15.08
$GC,443,-0.85,-146.0,2210,1985,3451,3373,66.3,-13.6,79,449,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1985,3411,3451,3372,0,0,0,0,0,0,15.09,15.10,15.10
$GC,510,-0.85,-146.0,2210,1984,3451,3373,75.9,-14.6,92,517,0.00,2.42,0.00,0.000,2308,0.000,0.070,2201,3400,3412,3451,3373,0,0,0,0,0,0,15.11,14.83,15.10
$GC,590,-0.85,-146.0,2201,3400,3450,3373,86.5,-12.8,107,597,0.00,2.33,0.00,0.000,3078,0.000,0.043,2201,1987,3412,3451,3373,0,0,0,0,0,0,14.93,14.84,14.95
$GC,659,-0.85,-146.0,2201,1987,3452,3373,95.3,-12.3,120,666,0.00,2.40,0.00,0.000,2308,0.000,0.072,2193,3389,3416,3459,3373,0,0,0,0,0,0,15.11,14.80,15.11
$GC,718,-0.85,-146.0,2193,3390,3452,3373,102.1,-10.8,131,726,0.08,2.30,0.00,0.000,3078,0.272,0.041,2210,1981,3412,3452,3373,0,0,0,0,0,0,14.79,14.90,14.95
$GC,788,-0.85,-146.0,2209,1981,3453,3373,109.4,-11.1,144,794,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1982,3412,3452,3373,0,0,0,0,0,0,15.12,15.13,15.12
$GC,856,-0.85,-146.0,2210,1982,3453,3373,117.2,-11.8,157,863,0.00,2.42,0.00,0.000,2308,0.000,0.072,2209,3393,3413,3453,3373,0,0,0,0,0,0,15.14,14.88,15.14
$GC,890,-0.85,-146.0,2209,3393,3454,3373,121.1,-11.5,163,897,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1986,3413,3453,3373,0,0,0,0,0,0,14.97,14.87,14.99
$GC,960,-0.85,-146.0,2209,1986,3453,3372,129.7,-12.7,176,967,0.00,2.38,0.00,0.000,2564,0.000,0.073,2210,579,3413,3453,3373,0,0,0,0,0,0,15.13,14.83,15.14
$GC,989,-0.85,-146.0,2209,579,3454,3373,133.2,-11.5,181,995,0.00,2.30,0.00,0.000,3078,0.000,0.048,2207,1987,3413,3453,3373,0,0,0,0,0,0,14.95,14.86,14.96
$GC,1059,-0.85,-146.0,2206,1986,3453,3373,140.6,-11.7,194,1065,0.00,2.40,0.00,0.000,2308,0.000,0.073,2205,3399,3413,3453,3373,0,0,0,0,0,0,15.14,14.83,15.14
$GC,1102,-0.85,-146.0,2205,3399,3453,3373,145.5,-10.1,202,1109,0.00,2.30,0.00,0.000,3078,0.000,0.041,2205,1998,3413,3453,3373,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1172,-0.85,-146.0,2205,1998,3453,3373,152.5,-11.2,215,1178,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,1999,3413,3453,3373,0,0,0,0,0,0,15.15,15.16,15.15
$GC,1240,-0.85,-146.0,2205,1998,3453,3373,159.8,-9.9,228,1248,0.00,2.40,0.00,0.000,2308,0.000,0.070,2197,3399,3413,3453,3373,0,0,0,0,0,0,15.14,14.86,15.14
$GC,1305,-0.85,-146.0,2200,3399,3453,3373,166.0,-9.2,240,1312,0.08,2.33,0.00,0.000,3078,0.262,0.042,2213,1979,3413,3453,3373,0,0,0,0,0,0,14.78,14.88,14.94
$GC,1375,-0.85,-146.0,2213,1978,3453,3373,172.7,-9.6,253,1381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1978,3413,3453,3373,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1443,-0.85,-146.0,2213,1979,3453,3373,179.2,-9.5,266,1449,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1979,3413,3453,3373,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1513,-0.85,-146.0,2213,1979,3453,3373,185.6,-9.6,279,1518,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1979,3413,3454,3373,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1581,-0.85,-146.0,2213,1979,3453,3373,192.5,-10.5,292,1587,0.00,2.42,0.00,0.000,2308,0.000,0.071,2206,3391,3412,3453,3372,0,0,0,0,0,0,15.15,14.86,15.15
$GC,1624,-0.85,-146.0,2206,3392,3453,3373,197.0,-10.5,300,1631,0.00,2.30,0.00,0.000,3078,0.000,0.043,2206,1984,3413,3453,3373,0,0,0,0,0,0,14.95,14.85,14.95
$GC,1694,-0.85,-146.0,2207,1984,3453,3373,204.2,-10.2,313,1700,0.00,2.42,0.00,0.000,2308,0.000,0.072,2209,3395,3412,3453,3372,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1748,-0.85,-146.0,2206,3397,3453,3372,210.0,-10.9,323,1755,0.00,2.30,0.00,0.000,3078,0.000,0.042,2207,1992,3412,3453,3372,0,0,0,0,0,0,15.04,14.94,15.04
$GC,1818,-0.85,-146.0,2206,1991,3453,3372,217.1,-11.2,336,1823,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1991,3412,3453,3372,0,0,0,0,0,0,15.17,15.17,15.17
$GC,1885,-0.85,-146.0,2206,1991,3453,3372,224.1,-10.1,349,1892,0.00,2.40,0.00,0.000,2308,0.000,0.075,2207,3389,3412,3453,3371,0,0,0,0,0,0,15.16,14.91,15.17
$GC,1970,-0.85,-146.0,2206,3389,3454,3371,232.8,-10.4,365,1976,0.00,2.30,0.00,0.000,3078,0.000,0.043,2207,1986,3412,3453,3371,0,0,0,0,0,0,14.99,14.90,15.00
$GC,2041,-0.85,-146.0,2206,1986,3453,3371,240.0,-10.3,378,2047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3412,3453,3371,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2109,-0.85,-146.0,2206,1986,3452,3370,247.1,-10.3,391,2114,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3411,3452,3370,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2177,-0.85,-146.0,2206,1985,3452,3370,253.8,-9.8,404,2184,0.00,2.42,0.00,0.000,2308,0.000,0.073,2207,3390,3412,3452,3373,0,0,0,0,0,0,15.18,14.92,15.19
$GC,2211,-0.85,-146.0,2206,3390,3452,3370,257.1,-9.8,410,2218,0.00,2.30,0.00,0.000,3078,0.000,0.043,2206,1982,3410,3451,3370,0,0,0,0,0,0,15.05,14.95,15.07
$GC,2281,-0.85,-146.0,2206,1981,3451,3370,263.9,-10.1,423,2286,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1981,3409,3451,3367,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2348,-0.85,-146.0,2207,1981,3450,3369,271.0,-10.1,436,2355,0.00,2.42,0.00,0.000,2308,0.000,0.073,2207,3393,3409,3450,3369,0,0,0,0,0,0,15.19,14.92,15.19
$GC,2413,-0.85,-146.0,2206,3393,3450,3369,276.5,-8.1,448,2420,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,1983,3409,3450,3369,0,0,0,0,0,0,15.06,14.95,15.07
$GC,2484,-0.85,-146.0,2206,1983,3450,3369,282.5,-8.6,461,2490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3409,3450,3369,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2552,-0.85,-146.0,2207,1983,3450,3369,288.7,-10.0,474,2559,0.00,2.45,0.00,0.000,2308,0.000,0.074,2207,3393,3409,3450,3368,0,0,0,0,0,0,15.19,14.92,15.19
$GC,2606,-0.85,-146.0,2206,3393,3450,3368,294.1,-10.2,484,2612,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1991,3409,3450,3368,0,0,0,0,0,0,15.05,15.00,15.07
$GC,2692,-0.85,-146.0,2206,1992,3449,3368,302.2,-9.4,497,2693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1992,3408,3449,3368,0,0,0,0,0,0,15.19,15.21,15.20
$GC,2810,-0.85,-146.0,2206,1991,3449,3367,315.1,-10.2,503,2815,0.00,2.40,0.00,0.000,2308,0.000,0.075,2206,3389,3407,3448,3367,0,0,0,0,0,0,15.22,14.94,15.23
$GC,2866,-0.85,-146.0,2206,3389,3448,3368,319.2,-9.9,505,2874,0.00,2.30,0.00,0.000,3078,0.000,0.045,2206,1980,3408,3448,3368,0,0,0,0,0,0,15.09,14.99,15.09
$GC,2993,-0.85,-146.0,2206,1980,3448,3366,332.3,-9.6,512,2994,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1980,3407,3448,3367,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3112,-0.85,-146.0,2206,1980,3448,3366,343.3,-9.0,518,3118,0.00,2.42,0.00,0.000,2308,0.000,0.076,2200,3389,3406,3447,3366,0,0,0,0,0,0,15.23,14.95,15.24
$GC,3205,-0.85,-146.0,2199,3389,3448,3366,350.4,-8.6,522,3211,0.03,2.30,0.00,0.000,3078,0.475,0.046,2210,1980,3406,3447,3366,0,0,0,0,0,0,14.85,14.98,15.04
$GC,3339,-0.85,-146.0,2210,1980,3447,3365,361.3,-7.4,529,3340,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3405,3446,3365,0,0,0,0,0,0,15.24,15.24,15.24
$GC,3459,-0.85,-146.0,2210,1980,3446,3365,371.7,-9.0,535,3464,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3387,3405,3446,3365,0,0,0,0,0,0,15.24,14.96,15.24
$GC,3516,-0.85,-146.0,2207,3388,3445,3364,375.7,-9.5,537,3522,0.00,2.30,0.00,0.000,3078,0.000,0.046,2207,1981,3405,3445,3365,0,0,0,0,0,0,15.10,14.98,15.11
$GC,3642,-0.85,-146.0,2207,1981,3445,3364,388.4,-9.2,544,3643,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1981,3406,3445,3367,0,0,0,0,0,0,15.24,15.25,15.25
$GC,3762,-0.85,-146.0,2207,1981,3444,3364,400.0,-9.6,550,3767,0.00,2.45,0.00,0.000,2308,0.000,0.077,2207,3397,3404,3444,3364,0,0,0,0,0,0,15.25,14.97,15.25
$GC,3813,-0.85,-146.0,2207,3397,3443,3364,403.8,-9.4,552,3819,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1989,3403,3443,3364,0,0,0,0,0,0,15.10,14.99,15.11
$GC,3946,-0.85,-146.0,2205,1989,3442,3363,417.2,-10.0,559,3947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1989,3404,3445,3363,0,0,0,0,0,0,15.25,15.25,15.25
$GC,4066,-0.85,-146.0,2207,1988,3442,3362,429.2,-9.7,565,4071,0.00,2.42,0.00,0.000,2308,0.000,0.078,2207,3390,3401,3441,3362,0,0,0,0,0,0,15.26,14.96,15.26
$GC,4109,-0.85,-146.0,2206,3390,3441,3362,433.0,-9.2,567,4114,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1986,3401,3441,3362,0,0,0,0,0,0,15.06,15.00,15.06
$GC,4251,-0.85,-146.0,2206,1986,3441,3361,446.0,-9.7,574,4257,0.00,2.42,0.00,0.000,2308,0.000,0.079,2207,3389,3401,3441,3361,0,0,0,0,0,0,15.25,14.95,15.26
$GC,4297,-0.85,-146.0,2206,3389,3441,3361,450.8,-10.7,576,4302,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1985,3401,3441,3361,0,0,0,0,0,0,15.11,15.00,15.12
$GC,4434,-0.85,-146.0,2207,1984,3439,3359,467.8,-12.1,583,4436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1985,3404,3449,3360,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4555,-0.85,-146.0,2207,1985,3439,3355,479.7,-9.4,589,4560,0.00,2.45,0.00,0.000,2308,0.000,0.080,2200,3394,3398,3438,3359,0,0,0,0,0,0,15.26,14.96,15.26
$GC,4647,-0.85,-146.0,2200,3395,3438,3359,487.4,-9.3,593,4653,0.05,2.33,0.00,0.000,3078,0.319,0.047,2212,1982,3398,3438,3358,0,0,0,0,0,0,14.85,15.00,15.04
$GC,4781,-0.85,-146.0,2212,1982,3438,3358,499.8,-8.4,600,4782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1982,3398,3438,3358,0,0,0,0,0,0,15.25,15.25,15.26
$GC,4901,-0.85,-146.0,2211,1981,3437,3357,509.8,-8.3,606,4906,0.00,2.45,0.00,0.000,2308,0.000,0.080,2206,3387,3396,3436,3357,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4932,-0.85,-146.0,2206,3388,3436,3358,511.8,-8.5,607,4938,0.00,2.30,0.00,0.000,3078,0.000,0.048,2207,1985,3397,3436,3358,0,0,0,0,0,0,15.11,14.98,15.12
$GC,5065,-0.85,-146.0,2206,1985,3436,3358,525.7,-10.4,614,5066,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1985,3396,3436,3357,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5185,-0.85,-146.0,2207,1984,3436,3356,539.4,-11.6,620,5190,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3390,3396,3435,3357,0,0,0,0,0,0,15.26,14.94,15.26
$GC,5227,-0.85,-146.0,2206,3391,3435,3357,544.3,-11.4,622,5232,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1981,3395,3435,3356,0,0,0,0,0,0,15.09,14.97,15.11
$GC,5370,-0.85,-146.0,2206,1981,3435,3355,558.4,-9.9,629,5371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1982,3395,3435,3355,0,0,0,0,0,0,15.25,15.25,15.26
$GC,5490,-0.85,-146.0,2206,1981,3435,3355,568.9,-8.3,635,5495,0.00,2.45,0.00,0.000,2308,0.000,0.080,2206,3387,3395,3435,3355,0,0,0,0,0,0,15.25,14.85,15.25
$GC,5543,-0.85,-146.0,2206,3387,3434,3354,571.8,-7.2,637,5548,0.00,2.30,0.00,0.000,3078,0.000,0.048,2206,1987,3394,3434,3355,0,0,0,0,0,0,15.11,14.98,15.12
$GC,5675,-0.85,-146.0,2206,1987,3434,3354,583.4,-8.7,644,5676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1987,3394,3434,3354,0,0,0,0,0,0,15.24,15.25,15.25
$GC,5795,-0.85,-146.0,2206,1987,3433,3354,594.4,-9.3,650,5796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1987,3393,3433,3354,0,0,0,0,0,0,15.23,15.24,15.23
$GC,5915,-0.85,-146.0,2206,1987,3432,3354,607.5,-11.4,656,5916,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1987,3392,3432,3353,0,0,0,0,0,0,15.23,15.24,15.23
$GC,6037,-0.85,-146.0,2206,1987,3431,3353,620.2,-10.4,662,6042,0.00,2.47,0.00,0.000,2308,0.000,0.082,2206,3396,3392,3431,3353,0,0,0,0,0,0,15.25,14.94,15.25
$GC,6100,-0.85,-146.0,2206,3396,3431,3353,626.4,-9.5,665,6105,0.00,2.35,0.00,0.000,3078,0.000,0.049,2206,1982,3392,3431,3353,0,0,0,0,0,0,15.09,14.97,15.10
$GC,6244,-0.85,-146.0,2205,1981,3431,3351,641.0,-10.5,672,6245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1981,3391,3431,3352,0,0,0,0,0,0,15.22,15.23,15.23
$GC,6362,-0.85,-146.0,2205,1982,3431,3351,653.9,-10.7,678,6363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1981,3390,3429,3351,0,0,0,0,0,0,15.25,15.26,15.25
$GC,6482,-0.85,-146.0,2205,1981,3429,3350,667.1,-11.1,684,6483,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1982,3390,3429,3351,0,0,0,0,0,0,15.24,15.24,15.24
$GC,6603,-0.85,-146.0,2205,1981,3428,3350,680.4,-11.0,690,6608,0.00,2.47,0.00,0.000,2308,0.000,0.082,2204,3389,3389,3428,3350,0,0,0,0,0,0,15.23,14.93,15.22
$GC,6639,-0.85,-146.0,2203,3390,3428,3350,682.7,-10.5,691,6646,0.00,2.33,0.00,0.000,3078,0.000,0.050,2204,1986,3388,3428,3348,0,0,0,0,0,0,15.09,14.96,15.11
$STATE,6708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6708,begin apogee
$GC,6712,-0.19,0.0,2204,1986,3428,3349,691.0,-10.3,695,6833,1.12,0.00,116.75,2.034,10246,0.158,0.000,2427,1984,2811,2850,2772,0,0,0,0,0,0,14.85,14.30,13.63
$STATE,6835,end apogee,CONTROL_FINISHED_OK
$STATE,6835,begin climb
$GC,6836,0.85,146.0,2427,1984,2850,2772,695.9,0.0,701,6968,1.58,2.55,120.60,1.996,10500,0.070,0.074,2765,3347,2215,2261,2170,0,0,0,0,0,0,14.32,14.15,13.50
$GC,7179,0.85,146.0,2765,3347,2253,2165,671.8,12.8,718,7184,0.00,2.38,0.00,0.000,5126,0.000,0.054,2776,1954,2208,2253,2164,0,0,0,0,0,0,14.74,14.64,14.76
$GC,7311,0.85,146.0,2776,1954,2251,2163,653.8,12.6,725,7316,0.00,2.45,0.00,0.000,4356,0.000,0.073,2776,3352,2207,2251,2163,0,0,0,0,0,0,14.97,14.72,14.97
$GC,7347,0.85,146.0,2775,3354,2254,2163,650.7,12.9,726,7355,0.10,2.38,0.00,0.000,5126,0.298,0.053,2769,1947,2207,2251,2163,0,0,0,0,0,0,14.62,14.76,14.81
$GC,7473,0.85,146.0,2768,1947,2250,2162,632.3,12.9,733,7475,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1947,2203,2249,2157,0,0,0,0,0,0,15.04,15.04,15.04
$GC,7593,0.85,146.0,2768,1947,2249,2162,616.9,12.7,739,7595,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,1947,2205,2249,2162,0,0,0,0,0,0,15.08,15.09,15.09
$GC,7714,0.85,146.0,2768,1946,2247,2162,602.2,12.1,745,7719,0.00,2.45,0.00,0.000,4356,0.000,0.076,2769,3355,2205,2248,2162,0,0,0,0,0,0,15.11,14.85,15.11
$GC,7790,0.85,146.0,2768,3354,2248,2162,594.0,13.0,748,7797,0.00,2.35,0.00,0.000,5126,0.000,0.053,2777,1946,2203,2246,2161,0,0,0,0,0,0,14.98,14.88,15.00
$GC,7916,0.85,146.0,2776,1950,2247,2161,576.9,11.6,755,7917,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1950,2204,2247,2162,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8036,0.85,146.0,2777,1950,2246,2161,563.7,10.6,761,8037,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1950,2203,2246,2161,0,0,0,0,0,0,15.16,15.16,15.16
$GC,8156,0.85,146.0,2776,1950,2246,2161,551.3,10.7,767,8157,0.00,0.00,0.00,0.000,4102,0.000,0.000,2777,1950,2203,2246,2161,0,0,0,0,0,0,15.16,15.16,15.16
$GC,8276,0.85,146.2,2777,1950,2246,2161,538.7,9.9,773,8282,0.00,2.42,0.00,0.000,4356,0.000,0.076,2777,3351,2203,2246,2161,0,0,0,0,0,0,15.17,14.90,15.17
$GC,8399,0.85,146.2,2776,3351,2245,2161,524.0,12.2,779,8405,0.10,2.35,0.00,0.000,5126,0.301,0.054,2770,1953,2203,2245,2161,0,0,0,0,0,0,14.78,14.92,14.98
$GC,8542,0.85,146.2,2769,1952,2245,2160,508.3,10.7,786,8548,0.00,2.42,0.00,0.000,4356,0.000,0.076,2769,3350,2203,2245,2161,0,0,0,0,0,0,15.17,14.90,15.18
$GC,8625,0.85,146.2,2769,3350,2245,2161,498.0,12.6,790,8630,0.00,2.38,0.00,0.000,5126,0.000,0.054,2777,1943,2203,2246,2161,0,0,0,0,0,0,15.04,14.93,15.06
$GC,8767,0.85,146.2,2777,1943,2245,2158,481.8,10.9,797,8772,0.00,2.45,0.00,0.000,4356,0.000,0.075,2777,3357,2202,2245,2160,0,0,0,0,0,0,15.19,14.91,15.20
$GC,8829,0.85,146.2,2777,3357,2245,2160,474.8,11.1,800,8835,0.12,2.38,0.00,0.000,5126,0.284,0.054,2765,1943,2202,2245,2160,0,0,0,0,0,0,14.77,14.94,15.00
$GC,8972,0.85,146.2,2764,1943,2244,2160,460.3,10.3,807,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1943,2200,2241,2160,0,0,0,0,0,0,15.18,15.19,15.19
$GC,9092,0.85,146.2,2764,1943,2244,2160,447.4,10.8,813,9097,0.00,2.42,0.00,0.000,260,0.000,0.075,2765,3349,2199,2239,2160,0,0,0,0,0,0,15.19,14.91,15.19
$GC,9143,0.85,146.2,2764,3349,2244,2160,442.6,11.1,815,9149,0.00,2.35,0.00,0.000,5126,0.000,0.053,2773,1943,2202,2244,2160,0,0,0,0,0,0,15.06,14.95,15.07
$GC,9275,0.85,146.2,2773,1944,2243,2160,426.1,12.1,822,9281,0.00,2.42,0.00,0.000,4356,0.000,0.075,2773,3348,2201,2243,2160,0,0,0,0,0,0,15.19,14.91,15.20
$GC,9522,0.85,146.2,2773,3349,2242,2160,394.0,13.2,834,9528,0.08,2.35,0.00,0.000,5126,0.322,0.055,2770,1946,2201,2243,2160,0,0,0,0,0,0,14.76,14.93,14.99
$GC,9660,0.85,146.2,2770,1945,2243,2160,377.1,11.6,841,9661,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1945,2200,2242,2159,0,0,0,0,0,0,15.19,15.20,15.20
$GC,9780,0.85,146.2,2770,1945,2243,2161,364.1,10.6,847,9781,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,1945,2201,2243,2160,0,0,0,0,0,0,15.21,15.21,15.21
$GC,9900,0.85,146.2,2770,1945,2242,2160,349.5,12.4,853,9905,0.00,2.45,0.00,0.000,4356,0.000,0.076,2770,3349,2199,2242,2157,0,0,0,0,0,0,15.21,14.91,15.21
$GC,10082,0.85,146.2,2770,3349,2242,2160,326.3,12.3,862,10088,0.00,2.35,0.00,0.000,5126,0.000,0.052,2778,1942,2203,2247,2160,0,0,0,0,0,0,15.05,14.94,15.07
$GC,10224,0.85,146.2,2778,1943,2242,2159,309.4,12.3,869,10226,0.03,0.00,0.00,0.000,4102,0.535,0.000,2771,1941,2201,2242,2160,0,0,0,0,0,0,14.77,15.03,15.00
$GC,10344,0.85,146.2,2770,1942,2242,2159,295.9,10.5,878,10350,0.00,0.00,0.00,0.000,4102,0.000,0.000,2771,1942,2200,2241,2159,0,0,0,0,0,0,15.20,15.21,15.21
$GC,10412,0.85,146.2,2770,1942,2241,2160,289.2,10.5,891,10419,0.00,2.45,0.00,0.000,4356,0.000,0.074,2770,3357,2201,2242,2160,0,0,0,0,0,0,15.18,14.81,15.19
$GC,10500,0.85,146.2,2770,3357,2242,2160,280.0,10.3,908,10507,0.00,2.38,0.00,0.000,5126,0.000,0.054,2779,1942,2201,2242,2160,0,0,0,0,0,0,15.03,14.92,15.05
$GC,10570,0.88,166.9,2779,1942,2242,2159,273.0,9.0,921,10588,0.00,0.00,15.88,1.484,12294,0.000,0.000,2779,1942,2130,2172,2088,0,0,0,0,0,0,15.16,14.86,14.23
$GC,10650,0.88,166.9,2778,1942,2171,2086,265.7,11.7,936,10657,0.00,2.47,0.00,0.000,4356,0.000,0.074,2779,3356,2128,2171,2086,0,0,0,0,0,0,15.07,14.83,15.07
$GC,10825,0.88,166.9,2778,3356,2171,2085,245.5,12.1,970,10832,0.08,2.38,0.00,0.000,5126,0.325,0.054,2776,1953,2127,2171,2084,0,0,0,0,0,0,14.69,14.85,14.90
$GC,10894,0.88,166.9,2775,1953,2171,2084,237.3,11.6,983,10899,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1953,2127,2171,2083,0,0,0,0,0,0,15.10,15.10,15.10
$GC,10961,0.88,166.9,2775,1953,2171,2084,229.3,12.3,996,10968,0.00,2.45,0.00,0.000,4356,0.000,0.075,2775,3354,2127,2171,2084,0,0,0,0,0,0,15.11,14.83,15.11
$GC,11115,0.88,166.9,2775,3354,2171,2084,209.3,12.9,1026,11122,0.00,2.38,0.00,0.000,5126,0.000,0.054,2784,1948,2127,2170,2084,0,0,0,0,0,0,14.98,14.87,15.00
$GC,11185,0.88,166.9,2783,1948,2171,2084,201.0,12.0,1039,11190,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1948,2127,2171,2084,0,0,0,0,0,0,15.11,15.11,15.11
$GC,11252,0.88,166.9,2783,1948,2170,2084,193.1,11.4,1052,11259,0.00,2.45,0.00,0.000,4356,0.000,0.074,2784,3349,2127,2170,2084,0,0,0,0,0,0,15.09,14.76,15.09
$GC,11351,0.88,166.9,2784,3349,2171,2084,181.8,12.1,1071,11359,0.10,2.35,0.00,0.000,5126,0.291,0.053,2775,1947,2127,2170,2084,0,0,0,0,0,0,14.70,14.86,14.90
$GC,11420,0.88,166.9,2775,1947,2171,2084,174.6,11.4,1084,11426,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1947,2127,2170,2084,0,0,0,0,0,0,15.10,15.10,15.10
$GC,11489,0.93,207.3,2775,1947,2170,2084,168.8,8.1,1097,11529,0.00,2.47,33.42,1.383,10500,0.000,0.072,2775,3352,1964,2013,1915,0,0,0,0,0,0,15.09,14.59,14.14
$GC,11587,0.93,207.3,2775,3352,2012,1913,157.3,13.7,1115,11594,0.00,2.40,0.00,0.000,3078,0.000,0.054,2783,1945,1962,2012,1913,0,0,0,0,0,0,14.81,14.71,14.83
$GC,11656,0.93,207.3,2783,1945,2012,1911,148.5,12.8,1128,11663,0.00,2.47,0.00,0.000,2308,0.000,0.071,2783,3353,1961,2011,1911,0,0,0,0,0,0,14.95,14.72,14.95
$GC,11755,0.93,207.3,2785,3354,2011,1912,134.1,13.9,1147,11762,0.00,2.40,0.00,0.000,5126,0.000,0.054,2792,1944,1961,2011,1911,0,0,0,0,0,0,14.87,14.76,14.88
$GC,11825,0.93,207.3,2792,1944,2011,1910,123.5,14.9,1160,11832,0.00,2.47,0.00,0.000,4356,0.000,0.072,2792,3352,1960,2011,1910,0,0,0,0,0,0,15.00,14.76,15.00
$GC,11969,0.93,207.3,2792,3356,2011,1910,102.8,13.1,1188,11976,0.00,2.38,0.00,0.000,5126,0.000,0.052,2801,1948,1960,2011,1910,0,0,0,0,0,0,14.88,14.77,14.88
$GC,12038,0.93,207.3,2801,1948,2010,1910,94.0,13.1,1201,12045,0.00,2.45,0.00,0.000,4612,0.000,0.083,2812,545,1958,2010,1907,0,0,0,0,0,0,15.03,14.71,15.03
$GC,12067,0.93,207.3,2811,545,2009,1910,90.2,13.0,1206,12074,0.10,2.35,0.00,0.000,5126,0.260,0.050,2793,1954,1959,2009,1910,0,0,0,0,0,0,14.69,14.83,14.86
$GC,12136,0.93,207.3,2793,1953,2009,1910,81.9,12.5,1219,12141,0.00,0.00,0.00,0.000,4102,0.000,0.000,2793,1954,1959,2009,1910,0,0,0,0,0,0,15.04,15.04,15.04
$GC,12204,0.93,207.3,2793,1954,2009,1909,73.6,11.2,1232,12209,0.00,0.00,0.00,0.000,4102,0.000,0.000,2793,1954,1959,2009,1909,0,0,0,0,0,0,15.04,15.04,15.04
$GC,12272,0.94,216.3,2792,1954,2009,1909,66.7,9.5,1245,12285,0.00,2.47,8.02,1.038,8452,0.000,0.073,2793,3354,1929,1978,1880,0,0,0,0,0,0,15.04,14.80,14.22
$GC,12522,0.94,216.9,2793,3354,1978,1879,39.5,9.9,1294,12529,0.00,2.38,0.00,0.000,5126,0.000,0.050,2801,1942,1928,1978,1878,0,0,0,0,0,0,14.86,14.78,14.87
$GC,12592,0.97,241.9,2800,1943,1978,1878,33.4,8.8,1307,12621,0.00,2.42,21.70,1.128,8708,0.000,0.084,2801,542,1825,1877,1773,0,0,0,0,0,0,15.04,14.70,14.23
$GC,12693,0.97,241.9,2800,542,1875,1771,24.0,10.8,1326,12700,0.00,2.35,0.00,0.000,1030,0.000,0.050,2800,1956,1823,1874,1772,0,0,0,0,0,0,14.78,14.72,14.80
$GC,12762,0.97,241.9,2800,1957,1875,1770,16.1,11.8,1339,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1956,1823,1875,1771,0,0,0,0,0,0,15.00,15.00,15.00
$GC,12830,0.97,241.9,2800,1957,1876,1769,7.0,14.1,1352,12837,0.00,2.40,0.00,0.000,260,0.000,0.072,2801,3354,1822,1876,1769,0,0,0,0,0,0,15.01,14.77,15.02
$STATE,12867,end climb,SURFACE_DEPTH_REACHED
$STATE,12867,begin surface coast
$FINISH,0.4,1.024442
$STATE,12893,end surface coast,CONTROL_FINISHED_OK
$STATE,12893,begin surface
$SM_CCo,12916,41.97,0.125,0,0,1507,320.11
$SM_GC,1.08,12.50,2.35,41.97,0.060,0.054,0.125,141,1990,1507,-7.28,1.05,320.11,0,0,0,0,0,0,14.83,14.81,14.74
$IRIDIUM_FIX,-3045.00,3028.95,081018,180527
$TT8_MAMPS,0.019474,0.967708
$HUMID,56.26
$INTERNAL_PRESSURE,8.95506
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,691.0,6.9
$SC_FREEKB,3902816
$24V_AH,13.50,57.726
$10V_AH,13.53,0.000
$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,28.475,214.825,316.375,41.975,0.000,52.212,65.179,955.065,15.500,0.000,45.941,3615.711,5939.215,717.440,3867.250,295.302,0.000,2111.058,0.000,2501.738,0.000,99.795,0.000
$DEVICE_MAMPS,535.500,84.150,2034.135,125.460,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13008.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.386,0.000,0.000,0.000
$MEM,339768
$DATA_FILE_SIZE,46615,1364
$CAP_FILE_SIZE,305953,0
$CFSIZE,1023623168,1015365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081018,220332,-3101.993,3024.256,45,0.7,65,-25.8,1.7,209.1,12,4.1