version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 38
start: 10 9 118 1 13 49
data:
$ID,573
$MISSION,23
$DIVE,38
$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,125
$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,33
$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
$GPS1,091018,005111,-3103.9868,3021.4644,44,0.8,45,-25.8,1.4,202.7,9,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.4
$GPS2,091018,011323,-3105.0405,3020.6072,17,0.8,18,-25.8,1.0,198.7,9,9.6
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3111.235,3030.948
$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,150.8,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.0,73,1946,1527,1469,0.0,0.0,0,77,0.00,0.00,-55.40,0.000,16386,0.000,0.000,74,1947,3069,3069,3070,0,0,0,0,0,0,14.99,28.83,15.00
$GC,80,-0.85,-146.0,73,1946,3069,3070,3.3,-7.3,10,105,12.30,2.35,-5.97,0.000,18948,0.297,0.090,2204,580,3410,3451,3369,0,0,0,0,0,0,14.56,13.75,14.73
$GC,202,-0.85,-146.0,2204,579,3454,3369,29.8,-15.5,33,209,0.05,2.33,0.00,0.000,3078,0.353,0.050,2211,1986,3411,3454,3369,0,0,0,0,0,0,14.68,14.83,14.87
$GC,272,-0.85,-146.0,2211,1986,3454,3369,40.1,-15.3,46,279,0.00,2.40,0.00,0.000,2308,0.000,0.073,2202,3402,3411,3453,3370,0,0,0,0,0,0,15.05,14.82,15.06
$GC,336,-0.85,-146.0,2201,3400,3454,3369,50.0,-15.2,58,342,0.00,2.35,0.00,0.000,3078,0.000,0.044,2202,1979,3410,3453,3368,0,0,0,0,0,0,14.95,14.85,14.97
$GC,405,-0.85,-146.0,2202,1979,3455,3369,59.9,-14.2,71,412,0.00,2.40,0.00,0.000,2564,0.000,0.073,2202,577,3411,3454,3369,0,0,0,0,0,0,15.08,14.81,15.09
$GC,464,-0.85,-146.0,2202,576,3454,3369,69.4,-15.9,82,471,0.05,2.33,0.00,0.000,3078,0.352,0.047,2212,1989,3411,3454,3369,0,0,0,0,0,0,14.66,14.82,14.85
$GC,534,-0.85,-146.0,2211,1990,3453,3369,79.2,-12.3,95,541,0.00,2.40,0.00,0.000,2564,0.000,0.072,2211,580,3411,3454,3369,0,0,0,0,0,0,15.10,14.78,15.10
$GC,597,-0.85,-146.0,2211,580,3455,3369,87.2,-12.3,107,604,0.00,2.35,0.00,0.000,3078,0.000,0.049,2207,1998,3411,3454,3369,0,0,0,0,0,0,15.00,14.90,15.00
$GC,666,-0.85,-146.0,2207,1999,3455,3369,94.8,-10.7,120,673,0.00,2.40,0.00,0.000,2564,0.000,0.071,2207,582,3412,3455,3369,0,0,0,0,0,0,15.11,14.87,15.11
$GC,731,-0.85,-146.0,2207,582,3456,3369,101.7,-11.1,132,738,0.00,2.35,0.00,0.000,3078,0.000,0.049,2207,1999,3412,3455,3369,0,0,0,0,0,0,15.00,14.91,15.02
$GC,801,-0.85,-146.0,2207,1999,3456,3369,109.1,-10.4,145,807,0.00,2.42,0.00,0.000,2564,0.000,0.071,2207,572,3412,3456,3369,0,0,0,0,0,0,15.12,14.88,15.13
$GC,840,-0.85,-146.0,2207,572,3456,3369,113.7,-11.7,152,846,0.00,2.33,0.00,0.000,3078,0.000,0.049,2207,1988,3412,3456,3369,0,0,0,0,0,0,14.97,14.88,14.98
$GC,909,-0.85,-146.0,2206,1988,3456,3368,122.1,-12.4,165,915,0.00,2.38,0.00,0.000,2308,0.000,0.074,2207,3390,3412,3456,3368,0,0,0,0,0,0,15.14,14.82,15.14
$GC,946,-0.85,-146.0,2203,3390,3456,3369,127.1,-12.5,172,953,0.00,2.30,0.00,0.000,3078,0.000,0.042,2207,1980,3413,3457,3369,0,0,0,0,0,0,15.02,14.92,15.02
$GC,1018,-0.85,-146.0,2206,1980,3457,3368,135.5,-12.0,185,1024,0.00,2.35,0.00,0.000,2564,0.000,0.073,2207,586,3413,3457,3369,0,0,0,0,0,0,15.13,14.89,15.14
$GC,1077,-0.85,-146.0,2207,586,3462,3369,142.8,-12.5,196,1083,0.00,2.30,0.00,0.000,3078,0.000,0.049,2207,1989,3413,3457,3369,0,0,0,0,0,0,15.02,14.93,15.04
$GC,1147,-0.85,-146.0,2206,1989,3457,3369,150.3,-11.1,209,1153,0.00,2.38,0.00,0.000,2308,0.000,0.073,2207,3390,3413,3457,3369,0,0,0,0,0,0,15.14,14.90,15.14
$GC,1176,-0.85,-146.0,2206,3390,3457,3369,153.6,-9.8,214,1182,0.00,2.30,0.00,0.000,3078,0.000,0.041,2210,1980,3412,3456,3369,0,0,0,0,0,0,15.02,14.92,15.04
$GC,1247,-0.85,-146.0,2206,1980,3456,3367,160.4,-11.0,227,1254,0.00,2.35,0.00,0.000,2564,0.000,0.070,2207,581,3413,3457,3369,0,0,0,0,0,0,15.15,14.90,15.15
$GC,1311,-0.85,-146.0,2206,580,3457,3369,167.8,-10.7,239,1318,0.00,2.33,0.00,0.000,3078,0.000,0.049,2207,1992,3413,3457,3369,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1381,-0.85,-146.0,2206,1993,3457,3367,172.2,-3.3,252,1388,0.00,2.38,0.00,0.000,2308,0.000,0.076,2207,3390,3412,3456,3369,0,0,0,0,0,0,15.15,14.89,15.15
$GC,1440,-0.85,-146.0,2206,3390,3456,3369,176.1,-9.0,263,1447,0.00,2.30,0.00,0.000,3078,0.000,0.042,2205,1983,3412,3456,3369,0,0,0,0,0,0,15.00,14.89,15.00
$GC,1509,-0.85,-146.0,2206,1982,3456,3369,182.3,-8.9,276,1516,0.00,2.38,0.00,0.000,2564,0.000,0.074,2206,580,3412,3456,3369,0,0,0,0,0,0,15.15,14.83,15.15
$GC,1568,-0.85,-146.0,2206,580,3456,3369,188.2,-11.3,287,1575,0.00,2.33,0.00,0.000,3078,0.000,0.050,2206,1994,3412,3455,3369,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1640,-0.85,-146.0,2206,1994,3455,3368,196.6,-12.6,300,1647,0.00,2.38,0.00,0.000,2308,0.000,0.075,2207,3391,3412,3455,3369,0,0,0,0,0,0,15.15,14.85,15.15
$GC,1679,-0.85,-146.0,2200,3392,3454,3369,201.1,-10.7,307,1685,0.00,2.30,0.00,0.000,3078,0.000,0.044,2201,1986,3412,3455,3369,0,0,0,0,0,0,14.96,14.89,14.97
$GC,1748,-0.85,-146.0,2200,1985,3455,3368,208.8,-10.7,320,1755,0.00,2.38,0.00,0.000,2564,0.000,0.074,2201,580,3412,3455,3369,0,0,0,0,0,0,15.16,14.90,15.16
$GC,1776,-0.85,-146.0,2200,580,3454,3369,211.9,-11.9,325,1783,0.05,2.33,0.00,0.000,3078,0.344,0.051,2212,1991,3411,3454,3368,0,0,0,0,0,0,14.79,14.95,14.97
$GC,1846,-0.85,-146.0,2212,1991,3454,3369,218.7,-10.0,338,1853,0.00,2.38,0.00,0.000,2308,0.000,0.075,2210,3392,3411,3454,3369,0,0,0,0,0,0,15.16,14.90,15.16
$GC,1885,-0.85,-146.0,2209,3391,3454,3369,222.7,-9.7,345,1892,0.00,2.30,0.00,0.000,3078,0.000,0.043,2209,1992,3411,3454,3369,0,0,0,0,0,0,15.04,14.94,15.05
$GC,1955,-0.85,-146.0,2209,1992,3452,3369,228.9,-9.2,358,1961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1992,3411,3453,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2023,-0.85,-146.0,2209,1992,3453,3369,235.7,-10.2,371,2030,0.00,2.42,0.00,0.000,2308,0.000,0.074,2204,3400,3411,3453,3369,0,0,0,0,0,0,15.16,14.91,15.17
$GC,2061,-0.85,-146.0,2203,3400,3453,3368,239.6,-9.8,378,2069,0.00,2.33,0.00,0.000,3078,0.000,0.044,2203,1981,3410,3453,3368,0,0,0,0,0,0,15.05,14.95,15.06
$GC,2132,-0.85,-146.0,2204,1981,3453,3368,246.3,-9.6,391,2138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1981,3410,3452,3368,0,0,0,0,0,0,15.18,15.18,15.17
$GC,2200,-0.85,-146.0,2203,1981,3452,3368,253.6,-11.0,404,2207,0.00,2.45,0.00,0.000,2308,0.000,0.076,2203,3396,3409,3451,3368,0,0,0,0,0,0,15.18,14.88,15.19
$GC,2243,-0.85,-146.0,2203,3396,3451,3368,258.2,-10.2,412,2249,0.00,2.33,0.00,0.000,3078,0.000,0.044,2203,1978,3410,3452,3368,0,0,0,0,0,0,15.05,14.96,15.07
$GC,2315,-0.85,-146.0,2204,1978,3451,3368,265.4,-10.8,425,2321,0.00,2.38,0.00,0.000,2564,0.000,0.076,2203,577,3409,3451,3368,0,0,0,0,0,0,15.17,14.91,15.18
$GC,2348,-0.85,-146.0,2203,577,3450,3368,269.5,-11.0,431,2355,0.00,2.35,0.00,0.000,3078,0.000,0.053,2201,1990,3409,3450,3368,0,0,0,0,0,0,15.05,14.96,15.07
$GC,2417,-0.85,-146.0,2201,1990,3450,3368,276.5,-10.9,444,2423,0.00,2.40,0.00,0.000,2308,0.000,0.077,2200,3396,3408,3449,3368,0,0,0,0,0,0,15.18,14.91,15.18
$GC,2481,-0.85,-146.0,2200,3393,3449,3367,283.3,-10.5,456,2488,0.03,2.33,0.00,0.000,3078,0.481,0.044,2210,1991,3408,3449,3367,0,0,0,0,0,0,14.79,14.95,14.99
$GC,2550,-0.85,-146.0,2209,1990,3449,3368,290.8,-10.5,469,2557,0.00,2.42,0.00,0.000,2308,0.000,0.076,2209,3390,3408,3451,3366,0,0,0,0,0,0,15.19,14.88,15.19
$GC,2573,-0.85,-146.0,2210,3390,3449,3367,293.2,-10.6,473,2580,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1974,3408,3449,3367,0,0,0,0,0,0,15.06,14.96,15.07
$GC,2657,-0.85,-146.0,2210,1974,3449,3367,301.8,-10.4,486,2663,0.00,2.38,0.00,0.000,2564,0.000,0.076,2210,586,3407,3448,3367,0,0,0,0,0,0,15.20,14.92,15.20
$GC,2674,-0.85,-146.0,2209,585,3448,3367,301.8,-10.4,486,2680,0.00,2.30,0.00,0.000,3078,0.000,0.053,2210,1986,3407,3448,3367,0,0,0,0,0,0,15.06,14.96,15.07
$GC,2800,-0.85,-146.0,2209,1986,3446,3366,317.4,-10.7,493,2805,0.00,2.40,0.00,0.000,2308,0.000,0.078,2202,3389,3407,3448,3366,0,0,0,0,0,0,15.21,14.93,15.21
$GC,2862,-0.85,-146.0,2202,3390,3453,3365,324.1,-10.7,496,2868,0.03,2.30,0.00,0.000,3078,0.480,0.044,2208,1993,3407,3448,3366,0,0,0,0,0,0,14.84,14.97,15.00
$GC,3007,-0.85,-146.0,2208,1994,3447,3365,340.0,-11.0,503,3012,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3397,3406,3448,3365,0,0,0,0,0,0,15.21,14.95,15.22
$GC,3033,-0.85,-146.0,2206,3397,3447,3365,342.1,-10.4,504,3038,0.00,2.33,0.00,0.000,3078,0.000,0.045,2207,1977,3406,3447,3365,0,0,0,0,0,0,15.09,14.98,15.10
$GC,3171,-0.85,-146.0,2206,1977,3447,3364,355.6,-9.2,511,3176,0.00,2.45,0.00,0.000,2308,0.000,0.077,2207,3393,3405,3446,3365,0,0,0,0,0,0,15.23,14.95,15.23
$GC,3222,-0.85,-146.0,2206,3393,3446,3364,359.1,-8.6,513,3228,0.00,2.30,0.00,0.000,3078,0.000,0.044,2206,1987,3405,3446,3364,0,0,0,0,0,0,15.09,14.99,15.10
$GC,3355,-0.85,-146.0,2206,1986,3446,3362,374.1,-11.3,520,3360,0.00,2.42,0.00,0.000,2308,0.000,0.077,2206,3389,3404,3445,3364,0,0,0,0,0,0,15.24,14.95,15.24
$GC,3406,-0.85,-146.0,2206,3389,3445,3364,378.7,-11.0,522,3411,0.00,2.30,0.00,0.000,3078,0.000,0.044,2206,1981,3404,3445,3364,0,0,0,0,0,0,15.09,15.00,15.11
$GC,3538,-0.85,-146.0,2206,1980,3445,3363,393.1,-10.5,529,3539,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1980,3403,3444,3363,0,0,0,0,0,0,15.24,15.24,15.24
$GC,3658,-0.85,-146.0,2206,1980,3443,3363,405.1,-9.8,535,3659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1980,3402,3443,3362,0,0,0,0,0,0,15.24,15.25,15.24
$GC,3778,-0.85,-146.0,2204,1980,3442,3362,417.8,-10.4,541,3783,0.00,2.45,0.00,0.000,2308,0.000,0.077,2200,3395,3402,3442,3362,0,0,0,0,0,0,15.26,14.96,15.26
$GC,3814,-0.85,-146.0,2200,3394,3442,3362,420.2,-10.5,542,3821,0.00,2.33,0.00,0.000,3078,0.000,0.047,2200,1982,3402,3443,3362,0,0,0,0,0,0,15.10,15.00,15.11
$GC,3940,-0.85,-146.0,2200,1983,3442,3362,434.2,-10.0,549,3946,0.05,2.42,0.00,0.000,2308,0.317,0.076,2205,3389,3402,3442,3362,0,0,0,0,0,0,14.89,14.95,15.02
$GC,3988,-0.85,-146.0,2204,3389,3442,3361,438.4,-9.8,551,3993,0.00,2.30,0.00,0.000,3078,0.000,0.047,2205,1988,3402,3442,3362,0,0,0,0,0,0,15.10,15.00,15.11
$GC,4125,-0.85,-146.0,2204,1987,3441,3360,452.1,-10.0,558,4130,0.00,2.45,0.00,0.000,2308,0.000,0.079,2204,3397,3400,3441,3360,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4141,-0.85,-146.0,2203,3397,3441,3360,452.1,-10.0,558,4148,0.00,2.33,0.00,0.000,3078,0.000,0.045,2203,1985,3400,3441,3360,0,0,0,0,0,0,15.10,15.00,15.11
$GC,4267,-0.85,-146.0,2203,1987,3441,3359,466.6,-10.7,565,4272,0.00,2.40,0.00,0.000,2564,0.000,0.078,2203,578,3399,3440,3359,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4293,-0.85,-146.0,2203,577,3440,3359,468.9,-10.8,566,4299,0.05,2.33,0.00,0.000,3078,0.356,0.054,2212,1987,3399,3440,3359,0,0,0,0,0,0,14.82,15.00,15.02
$GC,4432,-0.85,-146.0,2212,1987,3439,3359,483.5,-10.1,573,4437,0.00,2.42,0.00,0.000,2308,0.000,0.080,2207,3390,3399,3439,3359,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4489,-0.85,-146.0,2206,3391,3439,3358,487.7,-9.7,575,4495,0.00,2.30,0.00,0.000,3078,0.000,0.047,2207,1994,3398,3438,3358,0,0,0,0,0,0,15.09,14.98,15.10
$GC,4614,-0.85,-146.0,2206,1994,3438,3358,502.2,-10.2,582,4620,0.00,2.42,0.00,0.000,2564,0.000,0.080,2207,576,3398,3438,3358,0,0,0,0,0,0,15.25,14.95,15.25
$GC,4640,-0.85,-146.0,2206,576,3438,3358,504.7,-10.3,583,4645,0.00,2.35,0.00,0.000,3078,0.000,0.054,2207,1992,3397,3437,3358,0,0,0,0,0,0,15.10,15.00,15.11
$GC,4778,-0.85,-146.0,2206,1992,3437,3357,520.5,-11.6,590,4783,0.00,2.40,0.00,0.000,2308,0.000,0.080,2206,3390,3397,3437,3357,0,0,0,0,0,0,15.23,14.95,15.24
$GC,4849,-0.85,-146.0,2206,3390,3437,3357,527.6,-11.5,593,4855,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,1978,3397,3437,3357,0,0,0,0,0,0,15.09,14.98,15.11
$GC,4983,-0.85,-146.0,2206,1979,3436,3357,540.1,-8.3,600,4988,0.00,2.45,0.00,0.000,2308,0.000,0.079,2206,3391,3396,3436,3356,0,0,0,0,0,0,15.22,14.95,15.23
$GC,5005,-0.85,-146.0,2206,3392,3436,3357,542.1,-8.4,601,5011,0.00,2.33,0.00,0.000,3078,0.000,0.047,2206,1983,3396,3436,3357,0,0,0,0,0,0,15.11,15.00,15.11
$GC,5148,-0.85,-146.0,2206,1983,3436,3356,554.4,-9.1,608,5149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1983,3396,3436,3357,0,0,0,0,0,0,15.25,15.26,15.24
$GC,5268,-0.85,-146.0,2206,1983,3435,3356,565.3,-9.1,614,5273,0.00,2.45,0.00,0.000,2308,0.000,0.080,2200,3390,3395,3435,3356,0,0,0,0,0,0,15.24,14.94,15.25
$GC,5305,-0.85,-146.0,2200,3390,3435,3356,567.5,-9.2,615,5311,0.00,2.33,0.00,0.000,3078,0.000,0.048,2200,1982,3395,3435,3356,0,0,0,0,0,0,15.09,14.99,15.11
$GC,5431,-0.85,-146.0,2200,1982,3435,3354,581.9,-11.2,622,5436,0.00,2.47,0.00,0.000,2308,0.000,0.080,2200,3397,3395,3435,3355,0,0,0,0,0,0,15.23,14.94,15.24
$GC,5453,-0.85,-146.0,2200,3398,3435,3355,584.4,-11.4,623,5459,0.05,2.35,0.00,0.000,3078,0.324,0.047,2212,1975,3395,3435,3355,0,0,0,0,0,0,14.83,14.99,15.02
$GC,5598,-0.85,-146.0,2211,1974,3435,3354,600.4,-10.9,630,5603,0.00,2.47,0.00,0.000,2308,0.000,0.079,2210,3397,3394,3434,3354,0,0,0,0,0,0,15.23,14.94,15.23
$GC,5629,-0.85,-146.0,2210,3397,3434,3354,602.9,-10.7,631,5634,0.00,2.33,0.00,0.000,3078,0.000,0.045,2210,1984,3394,3434,3354,0,0,0,0,0,0,15.09,15.00,15.11
$GC,5761,-0.85,-146.0,2211,1983,3434,3354,617.5,-10.0,638,5767,0.00,2.45,0.00,0.000,2308,0.000,0.079,2206,3390,3394,3434,3354,0,0,0,0,0,0,15.23,14.93,15.23
$GC,5798,-0.85,-146.0,2206,3391,3433,3353,619.8,-10.0,639,5805,0.00,2.33,0.00,0.000,3078,0.000,0.048,2206,1984,3394,3434,3354,0,0,0,0,0,0,15.09,14.98,15.10
$GC,5924,-0.85,-146.0,2206,1984,3433,3353,634.4,-10.6,646,5929,0.00,2.45,0.00,0.000,2308,0.000,0.080,2207,3392,3393,3433,3353,0,0,0,0,0,0,15.24,14.93,15.25
$GC,5946,-0.85,-146.0,2207,3392,3432,3353,636.8,-10.7,647,5951,0.00,2.33,0.00,0.000,3078,0.000,0.047,2207,1987,3393,3433,3353,0,0,0,0,0,0,15.09,14.99,15.11
$STATE,6070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6070,begin apogee
$GC,6074,-0.19,0.0,2207,1987,3434,3349,650.2,-11.1,653,6194,1.10,0.00,116.78,1.975,10246,0.164,0.000,2424,1986,2811,2850,2772,0,0,0,0,0,0,14.88,14.31,13.64
$STATE,6196,end apogee,CONTROL_FINISHED_OK
$STATE,6196,begin climb
$GC,6198,0.85,146.0,2424,1986,2850,2772,658.0,0.0,659,6331,1.60,2.50,121.45,1.937,11012,0.068,0.071,2770,3351,2214,2260,2168,0,0,0,0,0,0,14.34,14.06,13.53
$GC,6454,0.87,158.2,2769,3351,2254,2165,653.2,9.4,672,6473,0.00,2.42,11.02,1.662,13318,0.000,0.052,2780,1944,2166,2212,2120,0,0,0,0,0,0,14.60,14.51,13.84
$GC,6593,0.88,165.7,2780,1944,2209,2118,640.0,9.6,679,6607,0.00,2.50,7.62,1.527,12548,0.000,0.074,2780,3351,2135,2182,2089,0,0,0,0,0,0,14.88,14.61,13.92
$GC,6663,0.88,165.7,2780,3351,2180,2087,633.2,10.7,682,6669,0.08,2.40,0.00,0.000,5126,0.324,0.052,2778,1950,2134,2180,2088,0,0,0,0,0,0,14.55,14.68,14.73
$GC,6797,0.88,165.7,2778,1949,2179,2087,616.4,11.9,689,6802,0.00,2.47,0.00,0.000,4356,0.000,0.075,2778,3353,2133,2179,2087,0,0,0,0,0,0,14.99,14.74,14.99
$GC,6913,0.88,165.7,2777,3353,2178,2087,603.2,12.9,694,6921,0.05,2.38,0.00,0.000,5126,0.371,0.052,2778,1941,2132,2178,2086,0,0,0,0,0,0,14.66,14.81,14.85
$GC,7039,0.88,165.7,2777,1941,2178,2085,587.0,11.5,701,7044,0.00,2.47,0.00,0.000,4356,0.000,0.075,2778,3353,2131,2177,2086,0,0,0,0,0,0,15.08,14.82,15.08
$GC,7055,0.88,165.7,2777,3353,2177,2085,587.0,11.5,701,7062,0.03,2.38,0.00,0.000,5126,0.526,0.053,2778,1949,2131,2177,2086,0,0,0,0,0,0,14.66,14.79,14.86
$GC,7181,0.88,165.7,2778,1949,2177,2085,570.0,11.6,708,7187,0.00,2.45,0.00,0.000,4356,0.000,0.074,2778,3351,2130,2176,2085,0,0,0,0,0,0,15.10,14.85,15.11
$GC,7203,0.88,165.7,2777,3352,2176,2085,567.4,11.6,709,7210,0.03,2.35,0.00,0.000,5126,0.531,0.051,2778,1948,2130,2176,2085,0,0,0,0,0,0,14.71,14.88,14.92
$GC,7346,0.88,165.7,2778,1947,2175,2084,550.8,11.7,716,7352,0.00,2.47,0.00,0.000,4356,0.000,0.074,2778,3357,2130,2176,2084,0,0,0,0,0,0,15.14,14.88,15.14
$GC,7393,0.88,165.7,2777,3357,2176,2084,545.4,12.2,718,7399,0.05,2.35,0.00,0.000,5126,0.377,0.051,2778,1949,2130,2176,2084,0,0,0,0,0,0,14.73,14.90,14.95
$GC,7531,0.88,165.7,2777,1948,2175,2084,529.5,10.8,725,7536,0.00,2.45,0.00,0.000,4356,0.000,0.073,2778,3355,2129,2175,2084,0,0,0,0,0,0,15.16,14.90,15.16
$GC,7583,0.88,165.7,2777,3355,2175,2084,524.9,10.9,727,7589,0.03,2.35,0.00,0.000,5126,0.535,0.051,2778,1945,2129,2175,2084,0,0,0,0,0,0,14.74,14.92,14.96
$GC,7716,0.88,165.7,2777,1945,2175,2084,509.3,11.2,734,7721,0.00,2.45,0.00,0.000,4356,0.000,0.072,2777,3352,2129,2175,2084,0,0,0,0,0,0,15.16,14.87,15.17
$GC,7772,0.88,165.7,2777,3352,2175,2083,504.3,11.6,736,7779,0.05,2.35,0.00,0.000,5126,0.383,0.054,2777,1945,2129,2175,2083,0,0,0,0,0,0,14.75,14.92,14.97
$GC,7898,0.88,165.7,2778,1945,2174,2083,485.4,13.2,743,7903,0.00,2.40,0.00,0.000,4612,0.000,0.084,2786,550,2128,2174,2083,0,0,0,0,0,0,15.16,14.90,15.17
$GC,7980,0.88,165.7,2786,549,2171,2083,474.7,13.0,747,7986,0.05,2.33,0.00,0.000,5126,0.359,0.051,2777,1952,2127,2172,2083,0,0,0,0,0,0,14.77,14.95,14.97
$GC,8123,0.88,165.7,2777,1952,2172,2083,455.3,13.5,754,8124,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1952,2127,2172,2083,0,0,0,0,0,0,15.17,15.19,15.19
$GC,8243,0.88,165.7,2777,1952,2172,2083,439.0,13.6,760,8248,0.00,2.42,0.00,0.000,4612,0.000,0.085,2786,549,2127,2171,2083,0,0,0,0,0,0,15.19,14.91,15.19
$GC,8269,0.88,165.7,2785,549,2171,2083,435.9,13.9,761,8275,0.05,2.33,0.00,0.000,5126,0.354,0.054,2777,1960,2127,2171,2083,0,0,0,0,0,0,14.77,14.94,15.00
$GC,8407,0.88,165.7,2777,1960,2172,2083,417.4,12.8,768,8412,0.00,2.38,0.00,0.000,4356,0.000,0.076,2777,3346,2127,2172,2083,0,0,0,0,0,0,15.19,14.92,15.19
$GC,8438,0.88,165.7,2776,3346,2172,2083,414.4,12.8,769,8444,0.00,2.33,0.00,0.000,5126,0.000,0.054,2785,1953,2127,2172,2083,0,0,0,0,0,0,15.05,14.95,15.07
$GC,8571,0.88,165.7,2784,1953,2172,2082,396.7,12.3,776,8572,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1952,2127,2172,2083,0,0,0,0,0,0,15.19,15.20,15.20
$GC,8691,0.88,165.7,2785,1953,2171,2083,382.1,12.1,782,8692,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1953,2127,2171,2083,0,0,0,0,0,0,15.20,15.21,15.20
$GC,8811,0.88,165.7,2784,1953,2171,2082,367.9,11.6,788,8816,0.00,2.42,0.00,0.000,4356,0.000,0.075,2785,3351,2127,2171,2083,0,0,0,0,0,0,15.20,14.92,15.21
$GC,8837,0.88,165.7,2785,3350,2171,2083,365.3,11.5,789,8843,0.10,2.35,0.00,0.000,5126,0.298,0.054,2777,1947,2126,2171,2082,0,0,0,0,0,0,14.78,14.95,15.01
$GC,8975,0.88,165.7,2777,1947,2171,2082,348.3,11.9,796,8980,0.00,2.42,0.00,0.000,4356,0.000,0.074,2776,3346,2127,2171,2083,0,0,0,0,0,0,15.20,14.89,15.21
$GC,9048,0.88,165.7,2776,3346,2171,2082,340.4,12.6,799,9053,0.00,2.33,0.00,0.000,5126,0.000,0.053,2785,1949,2126,2171,2082,0,0,0,0,0,0,15.07,14.95,15.08
$GC,9180,0.88,165.7,2784,1948,2171,2081,321.7,13.5,806,9185,0.00,2.40,0.00,0.000,4612,0.000,0.084,2795,547,2126,2171,2082,0,0,0,0,0,0,15.21,14.92,15.21
$GC,9202,0.88,165.7,2794,548,2170,2082,318.6,13.6,807,9208,0.10,2.33,0.00,0.000,5126,0.274,0.051,2775,1955,2126,2171,2082,0,0,0,0,0,0,14.79,14.97,15.01
$GC,9345,0.88,165.7,2776,1956,2171,2082,300.3,12.5,814,9350,0.00,2.42,0.00,0.000,4356,0.000,0.076,2777,3355,2126,2171,2082,0,0,0,0,0,0,15.20,14.92,15.21
$GC,9387,0.88,165.7,2776,3355,2171,2082,294.7,13.4,819,9394,0.00,2.38,0.00,0.000,5126,0.000,0.053,2785,1950,2126,2171,2082,0,0,0,0,0,0,15.04,14.94,15.07
$GC,9457,0.88,165.7,2784,1950,2171,2082,285.6,13.3,832,9463,0.00,2.40,0.00,0.000,4612,0.000,0.084,2794,548,2126,2171,2082,0,0,0,0,0,0,15.19,14.90,15.19
$GC,9532,0.88,165.7,2794,547,2169,2082,275.0,14.3,846,9539,0.10,2.33,0.00,0.000,5126,0.273,0.053,2776,1944,2126,2170,2082,0,0,0,0,0,0,14.77,14.95,14.99
$GC,9601,0.88,165.7,2776,1944,2170,2082,265.7,12.9,859,9607,0.00,2.42,0.00,0.000,4356,0.000,0.076,2776,3360,2126,2170,2082,0,0,0,0,0,0,15.16,14.89,15.17
$GC,9629,0.88,165.7,2776,3360,2171,2082,261.8,13.6,864,9636,0.00,2.35,0.00,0.000,5126,0.000,0.052,2782,1950,2126,2171,2082,0,0,0,0,0,0,15.03,14.92,15.04
$GC,9698,0.88,165.7,2783,1950,2171,2082,252.8,12.9,877,9705,0.00,2.42,0.00,0.000,4356,0.000,0.074,2783,3363,2126,2171,2082,0,0,0,0,0,0,15.16,14.88,15.16
$GC,9717,0.88,165.7,2783,3363,2171,2082,250.3,14.0,880,9724,0.10,2.38,0.00,0.000,5126,0.299,0.051,2775,1945,2126,2171,2082,0,0,0,0,0,0,14.74,14.92,14.97
$GC,9787,0.88,165.7,2775,1945,2171,2082,241.6,12.6,893,9794,0.00,2.45,0.00,0.000,4356,0.000,0.073,2775,3363,2126,2171,2082,0,0,0,0,0,0,15.16,14.88,15.16
$GC,9826,0.88,165.7,2773,3363,2171,2082,236.4,13.3,900,9832,0.00,2.38,0.00,0.000,5126,0.000,0.051,2783,1948,2126,2171,2082,0,0,0,0,0,0,14.98,14.87,15.00
$GC,9896,0.88,165.7,2783,1948,2170,2082,227.5,13.2,913,9903,0.00,2.42,0.00,0.000,4612,0.000,0.083,2793,544,2126,2170,2082,0,0,0,0,0,0,15.16,14.87,15.16
$GC,9909,0.88,165.7,2793,544,2169,2082,225.5,12.6,915,9917,0.10,2.35,0.00,0.000,5126,0.277,0.050,2775,1964,2126,2170,2082,0,0,0,0,0,0,14.74,14.92,14.96
$GC,9978,0.88,165.7,2775,1964,2171,2082,216.4,13.1,928,9984,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1964,2126,2170,2082,0,0,0,0,0,0,15.14,15.14,15.14
$GC,10046,0.88,165.7,2775,1964,2170,2082,207.9,12.5,941,10052,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1964,2126,2171,2082,0,0,0,0,0,0,15.16,15.15,15.16
$GC,10114,0.88,165.7,2775,1964,2171,2082,199.7,11.8,954,10121,0.00,2.38,0.00,0.000,4356,0.000,0.074,2775,3348,2126,2171,2082,0,0,0,0,0,0,15.14,14.78,15.15
$GC,10127,0.88,165.7,2775,3348,2173,2082,198.5,10.7,956,10134,0.00,2.35,0.00,0.000,5126,0.000,0.050,2784,1946,2126,2171,2082,0,0,0,0,0,0,15.00,14.90,15.02
$GC,10196,0.88,165.7,2783,1946,2171,2079,190.4,11.0,969,10203,0.00,2.42,0.00,0.000,4612,0.000,0.083,2793,542,2126,2170,2082,0,0,0,0,0,0,15.13,14.85,15.13
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$GC,10279,0.88,170.8,2775,1953,2170,2082,182.0,9.7,984,10291,0.00,2.42,4.30,0.913,8452,0.000,0.075,2775,3344,2114,2159,2069,0,0,0,0,0,0,15.11,14.85,14.19
$GC,10298,0.89,178.8,2775,3344,2159,2069,180.1,9.6,987,10312,0.00,2.35,8.38,1.201,13318,0.000,0.053,2782,1941,2084,2130,2038,0,0,0,0,0,0,14.99,14.88,14.25
$GC,10374,0.89,178.8,2782,1943,2127,2030,171.8,11.2,1001,10380,0.00,2.42,0.00,0.000,4612,0.000,0.085,2792,549,2080,2126,2035,0,0,0,0,0,0,15.05,14.74,15.05
$GC,10517,0.89,178.8,2791,550,2125,2035,154.1,12.3,1029,10525,0.05,2.35,0.00,0.000,5126,0.351,0.052,2782,1956,2080,2125,2035,0,0,0,0,0,0,14.69,14.86,14.89
$GC,10586,0.89,178.8,2782,1957,2125,2035,146.1,12.1,1042,10593,0.00,2.47,0.00,0.000,4612,0.000,0.083,2790,545,2080,2125,2035,0,0,0,0,0,0,15.07,14.81,15.07
$GC,10600,0.89,178.8,2790,544,2124,2035,144.7,12.1,1044,10606,0.00,2.35,0.00,0.000,5126,0.000,0.050,2790,1950,2080,2125,2035,0,0,0,0,0,0,14.88,14.79,14.90
$GC,10669,0.89,178.8,2790,1950,2125,2035,136.5,12.9,1057,10676,0.00,2.45,0.00,0.000,4612,0.000,0.083,2800,549,2080,2125,2035,0,0,0,0,0,0,15.07,14.73,15.07
$GC,10702,0.89,178.8,2800,549,2124,2035,131.8,15.0,1063,10710,0.10,2.35,0.00,0.000,5126,0.269,0.050,2782,1960,2079,2124,2035,0,0,0,0,0,0,14.70,14.86,14.89
$GC,10771,0.89,178.8,2782,1960,2125,2035,121.9,14.9,1076,10778,0.00,2.50,0.00,0.000,4612,0.000,0.082,2791,542,2080,2125,2036,0,0,0,0,0,0,15.07,14.81,15.08
$GC,10820,0.89,178.8,2790,542,2124,2035,116.2,11.1,1085,10827,0.00,2.35,0.00,0.000,5126,0.000,0.049,2791,1956,2080,2125,2035,0,0,0,0,0,0,14.92,14.83,14.92
$GC,10890,0.90,182.9,2790,1955,2125,2035,109.0,9.8,1098,10903,0.00,2.42,4.85,0.910,12804,0.000,0.083,2800,550,2065,2110,2020,0,0,0,0,0,0,15.07,14.81,14.23
$GC,11406,1.00,262.7,2800,550,2109,2020,70.1,6.3,1200,11478,0.00,2.33,64.60,1.211,11270,0.000,0.050,2800,1950,1738,1795,1681,0,0,0,0,0,0,14.92,14.84,14.05
$GC,11542,1.00,262.7,2800,1950,1794,1677,57.1,13.9,1225,11548,0.00,2.47,0.00,0.000,2564,0.000,0.083,2811,550,1735,1793,1677,0,0,0,0,0,0,14.83,14.62,14.84
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$GC,11895,1.00,262.7,2815,1950,1790,1673,7.5,13.9,1291,11902,0.00,2.42,0.00,0.000,4612,0.000,0.080,2824,544,1731,1789,1673,0,0,0,0,0,0,15.00,14.73,15.00
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$STATE,11936,end climb,SURFACE_DEPTH_REACHED
$STATE,11937,begin surface coast
$FINISH,0.2,1.013422
$STATE,11958,end surface coast,CONTROL_FINISHED_OK
$STATE,11958,begin surface
$SM_CCo,11979,30.02,0.124,0,0,1505,320.11
$SM_GC,1.20,12.60,0.00,30.02,0.064,0.000,0.124,149,1957,1505,-7.27,-0.85,320.11,0,0,0,0,0,0,14.80,15.04,14.75
$IRIDIUM_FIX,-3052.53,3022.45,091018,005518
$TT8_MAMPS,0.019474,0.942242
$HUMID,55.43
$INTERNAL_PRESSURE,8.96483
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,650.2,6.9
$SC_FREEKB,3901664
$24V_AH,13.53,58.403
$10V_AH,13.35,0.000
$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,29.225,333.100,339.000,30.025,0.000,48.753,57.582,866.511,14.500,0.000,18.936,3463.381,5166.839,818.092,3598.420,292.194,0.000,2216.250,0.000,2356.754,0.000,94.276,0.000
$DEVICE_MAMPS,535.500,90.270,1975.230,123.930,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.125,0.000,0.000,0.000
$MEM,339768
$DATA_FILE_SIZE,46622,1302
$CAP_FILE_SIZE,314079,0
$CFSIZE,1023623168,1014988800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091018,043551,-3108.954,3019.460,74,0.8,74,-25.9,2.6,225.7,10,7.9