version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 68
start: 10 12 118 19 42 3
data:
$ID,573
$MISSION,23
$DIVE,68
$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,90
$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,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,34
$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
$GPS1,121018,192710,-3144.2317,2933.4812,19,0.8,25,-26.3,0.0,195.0,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.0
$GPS2,121018,194138,-3144.3032,2933.5107,23,0.8,28,-26.3,0.4,284.3,10,8.8
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3144.303,2946.209
$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,116.3,20000,-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,-146.0,73,1996,1528,1461,0.0,0.0,0,83,0.00,0.00,-60.67,0.000,16386,0.000,0.000,75,1997,3177,3190,3165,0,0,0,0,0,0,14.97,28.83,14.98
$GC,85,-0.85,-146.0,73,1996,3191,3166,3.6,-9.0,11,110,12.43,2.42,-4.03,0.000,19204,0.306,0.094,2204,575,3410,3448,3373,0,0,0,0,0,0,14.54,13.70,14.71
$GC,342,-0.85,-146.0,2204,575,3450,3373,47.4,-11.7,61,349,0.05,2.35,0.00,0.000,3078,0.350,0.050,2212,1986,3411,3450,3373,0,0,0,0,0,0,14.70,14.85,14.89
$GC,412,-0.85,-146.0,2211,1986,3450,3373,55.0,-10.9,74,419,0.00,2.42,0.00,0.000,2308,0.000,0.077,2211,3395,3411,3450,3373,0,0,0,0,0,0,15.08,14.83,15.08
$GC,441,-0.85,-146.0,2210,3400,3450,3373,58.0,-10.9,79,447,0.00,2.35,0.00,0.000,3078,0.000,0.044,2211,1981,3412,3451,3373,0,0,0,0,0,0,14.97,14.88,14.97
$GC,510,-0.85,-146.0,2210,1981,3451,3373,65.4,-11.0,92,517,0.00,2.40,0.00,0.000,2564,0.000,0.075,2211,579,3412,3451,3373,0,0,0,0,0,0,15.09,14.81,15.09
$GC,554,-0.85,-146.0,2210,579,3451,3373,70.9,-12.5,100,561,0.00,2.35,0.00,0.000,3078,0.000,0.050,2210,1998,3412,3451,3373,0,0,0,0,0,0,14.89,14.81,14.90
$GC,624,-0.85,-146.0,2210,1998,3451,3373,79.1,-11.5,113,630,0.00,2.40,0.00,0.000,2308,0.000,0.076,2210,3391,3412,3451,3373,0,0,0,0,0,0,15.10,14.78,15.10
$GC,698,-0.85,-146.0,2210,3391,3451,3373,87.6,-11.0,127,704,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1983,3412,3451,3373,0,0,0,0,0,0,14.99,14.89,15.00
$GC,767,-0.85,-146.0,2210,1983,3451,3377,95.6,-11.7,140,772,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1983,3411,3451,3372,0,0,0,0,0,0,15.11,15.12,15.11
$GC,835,-0.85,-146.0,2210,1983,3452,3373,103.3,-11.7,153,841,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1983,3412,3451,3373,0,0,0,0,0,0,15.11,15.12,15.11
$GC,903,-0.85,-146.0,2210,1983,3452,3373,111.2,-11.3,166,909,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1983,3412,3452,3373,0,0,0,0,0,0,15.12,15.12,15.12
$GC,971,-0.85,-146.0,2210,1983,3452,3373,118.7,-11.3,179,977,0.00,2.40,0.00,0.000,2564,0.000,0.076,2210,578,3412,3452,3373,0,0,0,0,0,0,15.13,14.90,15.13
$GC,989,-0.85,-146.0,2210,577,3452,3373,120.9,-11.8,182,996,0.00,2.33,0.00,0.000,3078,0.000,0.050,2210,1987,3412,3452,3372,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1059,-0.85,-146.0,2210,1987,3452,3373,128.2,-10.6,195,1065,0.00,2.40,0.00,0.000,2308,0.000,0.076,2210,3389,3412,3451,3373,0,0,0,0,0,0,15.12,14.79,15.13
$GC,1123,-0.85,-146.0,2210,3389,3452,3373,134.8,-9.7,207,1130,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1976,3412,3452,3373,0,0,0,0,0,0,15.04,14.91,15.02
$GC,1193,-0.85,-146.0,2210,1976,3449,3373,141.8,-10.3,220,1199,0.00,2.45,0.00,0.000,2308,0.000,0.074,2210,3390,3412,3452,3373,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1216,-0.85,-146.0,2210,3393,3452,3373,144.2,-10.3,224,1223,0.00,2.33,0.00,0.000,3078,0.000,0.043,2210,1986,3412,3452,3373,0,0,0,0,0,0,15.01,14.92,15.02
$GC,1286,-0.85,-146.0,2210,1986,3452,3373,151.2,-10.7,237,1292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1986,3412,3452,3373,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1354,-0.85,-146.0,2210,1985,3452,3379,158.6,-10.8,250,1360,0.00,2.42,0.00,0.000,2308,0.000,0.074,2210,3389,3411,3452,3370,0,0,0,0,0,0,15.13,14.80,15.14
$GC,1382,-0.85,-146.0,2210,3388,3452,3373,161.9,-12.1,255,1388,0.00,2.33,0.00,0.000,3078,0.000,0.042,2210,1978,3412,3452,3373,0,0,0,0,0,0,15.02,14.92,15.02
$GC,1451,-0.85,-146.0,2210,1978,3452,3373,168.9,-11.1,268,1457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1979,3412,3452,3373,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1519,-0.85,-146.0,2210,1979,3451,3373,176.6,-11.0,281,1525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1979,3412,3452,3373,0,0,0,0,0,0,15.13,15.13,15.14
$GC,1587,-0.85,-146.0,2210,1979,3452,3373,184.9,-11.7,294,1594,0.00,2.45,0.00,0.000,2308,0.000,0.073,2210,3394,3412,3452,3373,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1620,-0.85,-146.0,2209,3394,3451,3372,188.4,-11.3,300,1627,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1988,3412,3452,3372,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1692,-0.85,-146.0,2210,1989,3452,3373,196.2,-11.5,313,1698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1989,3412,3452,3373,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1759,-0.85,-146.0,2210,1989,3452,3373,204.1,-11.3,326,1766,0.00,2.42,0.00,0.000,2308,0.000,0.074,2210,3389,3412,3452,3372,0,0,0,0,0,0,15.16,14.82,15.16
$GC,1793,-0.85,-146.0,2209,3388,3452,3372,207.8,-11.1,332,1799,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1978,3412,3452,3372,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1862,-0.85,-146.0,2210,1978,3452,3373,215.2,-11.0,345,1868,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1977,3411,3451,3372,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1930,-0.85,-146.0,2209,1977,3452,3372,222.7,-10.5,358,1936,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1977,3411,3451,3372,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1999,-0.85,-146.0,2209,1977,3452,3371,230.4,-11.0,371,2005,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1977,3411,3451,3371,0,0,0,0,0,0,15.17,15.18,15.17
$GC,2067,-0.85,-146.0,2210,1977,3451,3371,238.1,-11.2,384,2073,0.00,2.45,0.00,0.000,2308,0.000,0.074,2210,3390,3411,3451,3371,0,0,0,0,0,0,15.16,14.90,15.17
$GC,2086,-0.85,-146.0,2209,3391,3451,3371,239.9,-10.9,387,2094,0.00,2.33,0.00,0.000,3078,0.000,0.044,2213,1981,3411,3451,3371,0,0,0,0,0,0,15.04,14.93,15.05
$GC,2156,-0.85,-146.0,2209,1980,3451,3371,247.5,-11.0,400,2162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1981,3411,3451,3371,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2224,-0.85,-146.0,2209,1980,3451,3370,255.1,-11.6,413,2230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1981,3410,3451,3370,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2292,-0.85,-146.0,2209,1981,3450,3365,262.9,-11.4,426,2298,0.00,2.45,0.00,0.000,2308,0.000,0.075,2207,3392,3410,3450,3370,0,0,0,0,0,0,15.17,14.90,15.17
$GC,2320,-0.85,-146.0,2207,3392,3450,3370,266.1,-10.3,431,2327,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,1987,3410,3450,3370,0,0,0,0,0,0,15.00,14.90,15.01
$GC,2391,-0.85,-146.0,2207,1987,3450,3370,273.8,-11.5,444,2397,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3410,3450,3370,0,0,0,0,0,0,15.17,15.17,15.18
$GC,2459,-0.85,-146.0,2207,1986,3449,3370,281.7,-11.2,457,2465,0.00,2.45,0.00,0.000,2308,0.000,0.075,2207,3398,3409,3449,3370,0,0,0,0,0,0,15.19,14.82,15.19
$GC,2482,-0.85,-146.0,2207,3398,3449,3370,284.2,-11.0,461,2489,0.00,2.33,0.00,0.000,3078,0.000,0.043,2207,1986,3409,3449,3370,0,0,0,0,0,0,15.04,14.94,15.05
$GC,2551,-0.85,-146.0,2206,1986,3449,3370,291.4,-10.7,474,2558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3409,3449,3370,0,0,0,0,0,0,15.17,15.19,15.17
$GC,2620,-0.85,-146.0,2205,1986,3449,3369,298.8,-10.9,487,2625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1986,3409,3449,3369,0,0,0,0,0,0,15.18,15.18,15.18
$GC,2692,-0.85,-146.0,2207,1986,3448,3369,306.9,-11.0,492,2698,0.00,2.45,0.00,0.000,2308,0.000,0.075,2207,3398,3408,3448,3369,0,0,0,0,0,0,15.19,14.91,15.17
$GC,2719,-0.85,-146.0,2207,3398,3448,3369,309.4,-11.1,493,2724,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,1983,3409,3449,3370,0,0,0,0,0,0,14.96,14.88,14.97
$GC,2856,-0.85,-146.0,2205,1982,3448,3369,325.8,-11.8,500,2861,0.00,2.38,0.00,0.000,2564,0.000,0.075,2206,581,3407,3448,3367,0,0,0,0,0,0,15.21,14.92,15.21
$GC,2892,-0.85,-146.0,2207,582,3449,3369,328.6,-12.0,501,2900,0.00,2.30,0.00,0.000,3078,0.000,0.050,2207,1987,3408,3448,3369,0,0,0,0,0,0,15.07,14.97,15.08
$GC,3018,-0.85,-146.0,2207,1987,3448,3368,345.2,-11.9,508,3023,0.00,2.42,0.00,0.000,2308,0.000,0.078,2207,3393,3408,3448,3368,0,0,0,0,0,0,15.21,14.93,15.21
$GC,3069,-0.85,-146.0,2207,3394,3448,3368,350.0,-11.7,510,3075,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1985,3408,3448,3368,0,0,0,0,0,0,15.09,14.98,15.09
$GC,3202,-0.85,-146.0,2207,1984,3448,3368,366.3,-11.7,517,3203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3408,3448,3368,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3324,-0.85,-146.0,2207,1984,3447,3368,380.4,-11.9,523,3329,0.00,2.42,0.00,0.000,2308,0.000,0.076,2207,3389,3407,3447,3368,0,0,0,0,0,0,15.21,14.95,15.21
$GC,3346,-0.85,-146.0,2206,3389,3447,3368,383.2,-11.9,524,3351,0.00,2.30,0.00,0.000,3078,0.000,0.045,2207,1995,3407,3447,3368,0,0,0,0,0,0,15.09,14.99,15.11
$GC,3489,-0.85,-146.0,2206,1989,3447,3368,400.5,-12.4,531,3490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1989,3407,3447,3367,0,0,0,0,0,0,15.23,15.23,15.25
$GC,3608,-0.85,-146.0,2206,1989,3446,3366,415.5,-12.5,537,3610,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1989,3406,3446,3367,0,0,0,0,0,0,15.23,15.24,15.24
$GC,3729,-0.85,-146.0,2206,1989,3446,3366,430.2,-12.3,543,3734,0.00,2.42,0.00,0.000,2308,0.000,0.075,2206,3387,3405,3445,3366,0,0,0,0,0,0,15.23,14.95,15.24
$GC,3760,-0.85,-146.0,2206,3388,3444,3366,433.1,-12.3,544,3766,0.00,2.33,0.00,0.000,3078,0.000,0.045,2206,1971,3406,3446,3366,0,0,0,0,0,0,15.10,14.99,15.11
$GC,3893,-0.85,-146.0,2206,1971,3445,3366,449.6,-11.6,551,3898,0.00,2.47,0.00,0.000,2308,0.000,0.076,2206,3395,3405,3444,3366,0,0,0,0,0,0,15.23,14.95,15.23
$GC,3941,-0.85,-146.0,2206,3396,3445,3365,454.4,-10.9,553,3946,0.00,2.33,0.00,0.000,3078,0.000,0.045,2206,1988,3405,3445,3366,0,0,0,0,0,0,15.10,15.00,15.11
$GC,4079,-0.85,-146.0,2206,1987,3445,3365,470.9,-12.3,560,4084,0.00,2.45,0.00,0.000,2308,0.000,0.077,2206,3397,3404,3444,3365,0,0,0,0,0,0,15.23,14.95,15.23
$GC,4110,-0.85,-146.0,2205,3397,3444,3366,473.7,-12.3,561,4116,0.00,2.33,0.00,0.000,3078,0.000,0.044,2205,1981,3404,3444,3365,0,0,0,0,0,0,15.10,14.99,15.11
$GC,4243,-0.85,-146.0,2206,1981,3443,3365,492.2,-13.6,568,4245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1979,3404,3443,3365,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4363,-0.85,-146.0,2206,1982,3440,3364,508.9,-13.8,574,4368,0.00,2.45,0.00,0.000,2308,0.000,0.077,2204,3390,3403,3442,3364,0,0,0,0,0,0,15.26,14.95,15.26
$GC,4396,-0.85,-146.0,2203,3390,3442,3364,511.8,-13.5,575,4401,0.00,2.30,0.00,0.000,3078,0.000,0.045,2203,1989,3403,3443,3364,0,0,0,0,0,0,15.11,15.00,15.11
$GC,4528,-0.85,-146.0,2203,1988,3443,3362,529.0,-11.7,582,4534,0.00,2.40,0.00,0.000,2564,0.000,0.078,2204,581,3403,3442,3364,0,0,0,0,0,0,15.24,14.94,15.24
$GC,4555,-0.85,-146.0,2204,580,3441,3364,531.4,-11.4,583,4560,0.00,2.33,0.00,0.000,3078,0.000,0.053,2204,1987,3403,3442,3364,0,0,0,0,0,0,15.10,15.00,15.11
$GC,4697,-0.85,-146.0,2203,1987,3442,3363,547.3,-11.2,590,4702,0.00,2.42,0.00,0.000,2308,0.000,0.080,2208,3393,3402,3441,3364,0,0,0,0,0,0,15.25,14.95,15.26
$GC,4761,-0.85,-146.0,2203,3394,3441,3363,554.0,-10.1,593,4766,0.00,2.35,0.00,0.000,3078,0.000,0.050,2204,1984,3402,3441,3363,0,0,0,0,0,0,15.09,14.97,15.10
$STATE,4782,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4782,begin apogee
$GC,4787,-0.19,0.0,2204,1891,3441,3363,556.3,-10.2,594,4907,1.12,0.00,115.97,1.821,10246,0.161,0.000,2427,1891,2811,2851,2772,0,0,0,0,0,0,14.87,14.36,13.73
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4910,0.85,146.0,2427,1890,2850,2772,561.0,0.0,600,5039,1.58,2.45,118.50,1.780,10756,0.069,0.077,2777,524,2215,2259,2171,0,0,0,0,0,0,14.38,14.14,13.62
$GC,5200,0.85,146.0,2777,523,2250,2170,543.2,13.7,614,5207,0.00,2.33,0.00,0.000,5126,0.000,0.048,2777,1914,2210,2250,2170,0,0,0,0,0,0,14.74,14.66,14.76
$GC,5326,0.85,146.0,2777,1914,2248,2170,525.4,12.5,621,5331,0.00,2.42,0.00,0.000,4356,0.000,0.071,2777,3317,2209,2248,2170,0,0,0,0,0,0,14.97,14.73,14.97
$GC,5362,0.85,146.0,2777,3317,2248,2169,522.3,12.7,622,5370,0.10,2.33,0.00,0.000,5126,0.284,0.050,2769,1926,2208,2248,2169,0,0,0,0,0,0,14.65,14.78,14.83
$GC,5489,0.85,146.0,2769,1926,2247,2168,505.3,11.7,629,5494,0.00,2.45,0.00,0.000,4612,0.000,0.080,2778,499,2207,2247,2168,0,0,0,0,0,0,15.05,14.80,15.06
$GC,5499,0.85,146.0,2778,499,2247,2168,505.3,11.7,629,5505,0.05,2.35,0.00,0.000,5126,0.349,0.048,2769,1920,2207,2247,2168,0,0,0,0,0,0,14.69,14.85,14.89
$GC,5632,0.85,146.0,2769,1921,2246,2168,488.3,11.6,636,5638,0.00,2.38,0.00,0.000,4356,0.000,0.071,2769,3309,2207,2246,2168,0,0,0,0,0,0,15.09,14.85,15.10
$GC,5769,0.85,146.0,2768,3308,2246,2167,472.0,13.7,642,5775,0.00,2.35,0.00,0.000,5126,0.000,0.050,2777,1900,2206,2246,2167,0,0,0,0,0,0,14.96,14.86,14.98
$GC,5895,0.85,146.0,2777,1899,2246,2166,455.6,11.4,649,5900,0.00,2.42,0.00,0.000,4356,0.000,0.070,2777,3310,2206,2246,2166,0,0,0,0,0,0,15.14,14.89,15.14
$GC,5917,0.85,146.0,2777,3309,2246,2166,452.7,11.6,650,5923,0.10,2.33,0.00,0.000,5126,0.287,0.048,2769,1911,2206,2246,2166,0,0,0,0,0,0,14.71,14.85,14.90
$GC,6060,0.85,146.0,2768,1911,2246,2166,437.5,10.7,657,6065,0.00,2.40,0.00,0.000,4356,0.000,0.071,2769,3315,2206,2246,2166,0,0,0,0,0,0,15.16,14.90,15.16
$GC,6122,0.85,146.0,2769,3315,2246,2166,430.7,10.6,660,6127,0.00,2.35,0.00,0.000,5126,0.000,0.050,2778,1906,2206,2246,2166,0,0,0,0,0,0,15.04,14.94,15.06
$GC,6265,0.86,148.0,2777,1907,2246,2165,416.5,9.9,667,6270,0.00,2.42,0.00,0.000,4356,0.000,0.072,2778,3310,2205,2245,2165,0,0,0,0,0,0,15.19,14.92,15.19
$GC,6307,0.86,148.0,2777,3310,2245,2165,412.1,10.0,669,6313,0.10,2.35,0.00,0.000,5126,0.286,0.050,2770,1902,2205,2246,2165,0,0,0,0,0,0,14.73,14.85,14.91
$GC,6450,0.88,164.0,2769,1902,2245,2165,398.8,9.2,676,6471,0.00,2.45,14.55,1.540,8708,0.000,0.082,2778,505,2141,2183,2100,0,0,0,0,0,0,15.19,14.85,14.26
$GC,6497,0.89,176.8,2777,504,2180,2100,394.6,9.4,678,6514,0.00,2.33,11.88,1.476,9222,0.000,0.048,2778,1915,2091,2134,2048,0,0,0,0,0,0,14.96,14.89,14.19
$GC,6633,0.89,176.8,2780,1915,2133,2044,378.9,11.3,685,6638,0.00,2.40,0.00,0.000,260,0.000,0.073,2778,3307,2086,2132,2041,0,0,0,0,0,0,15.06,14.82,15.07
$GC,6679,0.89,176.8,2778,3307,2127,2043,374.1,11.4,687,6684,0.00,2.35,0.00,0.000,5126,0.000,0.051,2787,1903,2087,2132,2042,0,0,0,0,0,0,14.95,14.85,14.96
$GC,6816,0.89,176.8,2787,1901,2132,2042,357.9,11.3,694,6821,0.00,2.42,0.00,0.000,4612,0.000,0.083,2797,497,2086,2131,2042,0,0,0,0,0,0,15.12,14.86,15.12
$GC,6838,0.89,176.8,2797,496,2131,2042,355.3,11.3,695,6844,0.10,2.35,0.00,0.000,5126,0.269,0.048,2779,1918,2086,2131,2042,0,0,0,0,0,0,14.77,14.91,14.94
$GC,6981,0.89,176.8,2779,1918,2131,2042,339.5,11.2,702,6982,0.00,0.00,0.00,0.000,4102,0.000,0.000,2779,1918,2086,2131,2042,0,0,0,0,0,0,15.14,15.15,15.15
$GC,7101,0.89,176.8,2779,1918,2131,2042,325.9,11.3,708,7102,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1919,2086,2131,2042,0,0,0,0,0,0,15.17,15.17,15.17
$GC,7221,0.89,176.8,2779,1918,2130,2040,312.4,11.2,714,7227,0.00,2.40,0.00,0.000,4356,0.000,0.074,2778,3313,2086,2131,2041,0,0,0,0,0,0,15.18,14.91,15.18
$GC,7244,0.89,176.8,2778,3313,2130,2041,309.7,11.5,715,7249,0.00,2.35,0.00,0.000,5126,0.000,0.051,2786,1908,2085,2130,2041,0,0,0,0,0,0,15.04,14.95,15.06
$GC,7371,0.89,176.8,2786,1908,2130,2041,294.9,11.1,725,7377,0.00,0.00,0.00,0.000,4102,0.000,0.000,2786,1908,2085,2130,2041,0,0,0,0,0,0,15.17,15.17,15.17
$GC,7438,0.89,176.8,2786,1908,2130,2041,287.1,11.3,738,7444,0.00,0.00,0.00,0.000,4102,0.000,0.000,2786,1908,2083,2125,2041,0,0,0,0,0,0,15.18,15.18,15.18
$GC,7506,0.89,176.8,2786,1908,2130,2041,279.7,11.1,751,7512,0.00,0.00,0.00,0.000,4102,0.000,0.000,2786,1908,2085,2130,2041,0,0,0,0,0,0,15.17,15.18,15.17
$GC,7574,0.89,176.8,2786,1908,2130,2041,271.8,11.4,764,7580,0.00,2.42,0.00,0.000,4356,0.000,0.073,2786,3307,2085,2130,2041,0,0,0,0,0,0,15.16,14.90,15.16
$GC,7602,0.89,176.8,2786,3307,2126,2041,268.5,11.8,769,7610,0.08,2.35,0.00,0.000,5126,0.314,0.052,2783,1905,2085,2130,2041,0,0,0,0,0,0,14.78,14.93,14.97
$GC,7672,0.89,176.8,2782,1905,2130,2040,260.7,11.3,782,7678,0.00,0.00,0.00,0.000,4102,0.000,0.000,2782,1905,2085,2130,2040,0,0,0,0,0,0,15.15,15.15,15.16
$GC,7739,0.89,176.8,2782,1905,2130,2040,252.9,11.5,795,7745,0.00,0.00,0.00,0.000,4102,0.000,0.000,2782,1905,2085,2130,2041,0,0,0,0,0,0,15.16,15.17,15.17
$GC,7807,0.89,176.8,2782,1909,2128,2040,245.0,11.4,808,7814,0.00,2.42,0.00,0.000,4612,0.000,0.084,2791,503,2084,2129,2040,0,0,0,0,0,0,15.16,14.81,15.16
$GC,7826,0.89,176.8,2790,503,2128,2040,243.0,11.4,811,7832,0.00,2.33,0.00,0.000,5126,0.000,0.049,2791,1911,2085,2129,2041,0,0,0,0,0,0,15.03,14.94,15.04
$GC,7895,0.89,176.8,2790,1911,2129,2040,234.7,11.7,824,7902,0.00,2.42,0.00,0.000,4356,0.000,0.074,2789,3314,2084,2129,2040,0,0,0,0,0,0,15.16,14.90,15.14
$GC,7919,0.89,176.8,2790,3314,2129,2040,231.6,12.4,828,7926,0.08,2.38,0.00,0.000,5126,0.313,0.054,2781,1903,2085,2130,2040,0,0,0,0,0,0,14.76,14.92,14.97
$GC,7989,0.89,176.8,2781,1903,2130,2042,224.0,10.6,841,7995,0.00,0.00,0.00,0.000,4102,0.000,0.000,2781,1903,2084,2129,2040,0,0,0,0,0,0,15.16,15.16,15.16
$GC,8057,0.89,176.8,2781,1904,2129,2040,216.8,10.2,854,8063,0.00,2.45,0.00,0.000,4356,0.000,0.071,2781,3311,2085,2130,2040,0,0,0,0,0,0,15.16,14.81,15.16
$GC,8105,0.89,176.8,2781,3312,2129,2041,211.7,11.0,863,8112,0.00,2.35,0.00,0.000,5126,0.000,0.051,2789,1909,2084,2129,2040,0,0,0,0,0,0,15.02,14.92,15.04
$GC,8175,0.89,176.8,2788,1909,2129,2040,204.1,10.9,876,8182,0.00,2.42,0.00,0.000,4612,0.000,0.083,2799,504,2084,2129,2040,0,0,0,0,0,0,15.15,14.88,15.15
$GC,8188,0.89,176.8,2798,505,2128,2040,202.5,11.2,878,8195,0.10,2.33,0.00,0.000,5126,0.260,0.049,2780,1908,2084,2129,2040,0,0,0,0,0,0,14.75,14.90,14.92
$GC,8257,0.89,176.8,2780,1909,2129,2040,195.1,10.3,891,8264,0.00,2.42,0.00,0.000,4356,0.000,0.073,2780,3311,2085,2130,2040,0,0,0,0,0,0,15.13,14.80,15.14
$GC,8291,0.89,176.8,2780,3311,2129,2040,191.5,12.2,897,8297,0.00,2.38,0.00,0.000,5126,0.000,0.052,2787,1908,2085,2130,2040,0,0,0,0,0,0,15.01,14.90,15.02
$GC,8360,0.89,176.8,2787,1907,2130,2040,184.1,11.0,910,8366,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1907,2084,2129,2040,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8428,0.89,176.8,2787,1907,2129,2040,176.3,10.9,923,8434,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1907,2084,2129,2040,0,0,0,0,0,0,15.12,15.12,15.12
$GC,8496,0.89,176.8,2787,1907,2129,2040,169.0,11.1,936,8503,0.00,2.45,0.00,0.000,4356,0.000,0.071,2787,3314,2084,2129,2040,0,0,0,0,0,0,15.12,14.86,15.12
$GC,8520,0.89,176.8,2787,3315,2129,2040,166.4,10.5,940,8527,0.08,2.38,0.00,0.000,5126,0.314,0.051,2783,1901,2084,2129,2040,0,0,0,0,0,0,14.73,14.89,14.92
$GC,8590,0.89,176.8,2783,1899,2129,2040,158.4,11.2,953,8596,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1901,2084,2129,2040,0,0,0,0,0,0,15.12,15.12,15.12
$GC,8658,0.89,176.8,2782,1901,2129,2040,150.2,11.9,966,8665,0.00,2.47,0.00,0.000,4356,0.000,0.070,2782,3319,2084,2129,2040,0,0,0,0,0,0,15.11,14.82,15.11
$GC,8687,0.89,176.8,2782,3319,2129,2040,146.7,12.2,971,8693,0.00,2.38,0.00,0.000,5126,0.000,0.050,2787,1905,2088,2137,2040,0,0,0,0,0,0,14.90,14.82,14.92
$GC,8756,0.89,176.8,2787,1905,2129,2040,138.9,12.0,984,8762,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1905,2084,2129,2040,0,0,0,0,0,0,15.10,15.11,15.11
$GC,8824,0.89,176.8,2786,1905,2129,2040,130.6,11.9,997,8831,0.00,2.45,0.00,0.000,4356,0.000,0.071,2787,3312,2084,2129,2040,0,0,0,0,0,0,15.11,14.85,15.11
$GC,8923,0.89,176.8,2786,3312,2129,2040,118.2,12.4,1016,8930,0.08,2.38,0.00,0.000,5126,0.316,0.051,2783,1904,2084,2129,2040,0,0,0,0,0,0,14.67,14.80,14.88
$GC,8993,0.89,176.8,2782,1905,2129,2040,110.7,10.6,1029,8998,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1905,2084,2129,2040,0,0,0,0,0,0,15.11,15.11,15.11
$GC,9061,0.89,176.8,2782,1905,2129,2040,103.6,10.7,1042,9066,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1905,2085,2129,2041,0,0,0,0,0,0,15.11,15.11,15.11
$GC,9128,0.89,176.8,2783,1905,2129,2040,96.1,10.5,1055,9135,0.00,2.45,0.00,0.000,4612,0.000,0.083,2790,499,2084,2129,2040,0,0,0,0,0,0,15.11,14.81,15.11
$GC,9157,0.89,176.8,2790,499,2128,2040,93.0,10.8,1060,9164,0.00,2.35,0.00,0.000,5126,0.000,0.049,2791,1913,2084,2128,2040,0,0,0,0,0,0,14.88,14.80,14.89
$GC,9226,0.89,176.8,2790,1914,2129,2040,85.8,11.0,1073,9232,0.00,2.40,0.00,0.000,4356,0.000,0.073,2790,3309,2084,2129,2040,0,0,0,0,0,0,15.10,14.83,15.10
$GC,9289,0.89,176.8,2790,3308,2129,2040,78.4,11.1,1085,9296,0.10,2.38,0.00,0.000,5126,0.282,0.051,2781,1910,2084,2129,2040,0,0,0,0,0,0,14.71,14.88,14.91
$GC,9359,0.89,176.8,2781,1910,2129,2040,71.2,10.2,1098,9364,0.00,0.00,0.00,0.000,4102,0.000,0.000,2781,1910,2084,2129,2040,0,0,0,0,0,0,15.11,15.10,15.11
$GC,9426,0.89,179.8,2781,1910,2130,2039,64.6,9.8,1111,9432,0.00,0.00,0.00,0.000,4102,0.000,0.000,2781,1910,2084,2129,2040,0,0,0,0,0,0,15.10,15.10,15.10
$GC,9495,0.90,185.3,2781,1911,2130,2040,57.9,9.7,1124,9508,0.00,2.50,7.70,1.024,8452,0.000,0.070,2781,3309,2055,2100,2010,0,0,0,0,0,0,15.10,14.81,14.28
$GC,9525,0.90,187.6,2781,3310,2101,2009,55.0,9.8,1129,9532,0.00,2.35,0.00,0.000,5126,0.000,0.050,2787,1909,2055,2101,2009,0,0,0,0,0,0,14.95,14.85,14.96
$GC,9595,0.90,187.6,2787,1909,2101,2008,48.0,10.0,1142,9601,0.00,0.00,0.00,0.000,4102,0.000,0.000,2788,1909,2054,2101,2008,0,0,0,0,0,0,15.07,15.07,15.07
$GC,9663,0.93,206.4,2788,1909,2100,2008,41.5,9.1,1155,9687,0.00,2.50,18.33,1.134,8452,0.000,0.070,2787,3314,1968,2018,1918,0,0,0,0,0,0,15.07,14.72,14.26
$GC,9730,0.93,206.4,2788,3313,2018,1916,34.8,10.8,1167,9737,0.00,2.38,0.00,0.000,5126,0.000,0.050,2797,1910,1964,2017,1912,0,0,0,0,0,0,14.88,14.78,14.89
$GC,9800,0.93,206.4,2796,1910,2016,1916,27.1,11.7,1180,9806,0.00,2.45,0.00,0.000,4612,0.000,0.085,2803,505,1965,2016,1915,0,0,0,0,0,0,15.01,14.76,15.01
$GC,9823,0.93,206.4,2802,505,2016,1915,24.4,11.5,1184,9830,0.08,2.35,0.00,0.000,5126,0.282,0.047,2789,1917,1965,2016,1914,0,0,0,0,0,0,14.65,14.79,14.82
$GC,9893,1.02,285.1,2789,1917,2016,1916,18.9,6.4,1197,9949,0.00,2.42,48.62,1.071,10500,0.000,0.070,2789,3306,1645,1710,1580,0,0,0,0,0,0,15.03,14.53,14.16
$GC,9957,1.02,285.1,2789,3306,1710,1579,13.3,10.3,1208,9963,0.00,2.40,0.00,0.000,3078,0.000,0.051,2790,1903,1644,1710,1578,0,0,0,0,0,0,14.68,14.59,14.69
$GC,10026,1.02,285.1,2790,1903,1707,1576,5.8,11.1,1221,10032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1903,1641,1707,1576,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,10052,end climb,SURFACE_DEPTH_REACHED
$STATE,10052,begin surface coast
$FINISH,0.0,1.025082
$STATE,10078,end surface coast,CONTROL_FINISHED_OK
$STATE,10079,begin surface
$SM_CCo,10101,18.40,0.132,0,0,1507,320.11
$SM_GC,0.77,12.68,0.12,18.40,0.069,0.114,0.132,135,1996,1507,-7.31,-1.07,320.11,0,0,0,0,0,0,14.71,14.73,14.67
$IRIDIUM_FIX,-3130.35,2933.06,121018,174100
$TT8_MAMPS,0.019474,0.934003
$HUMID,59.09
$INTERNAL_PRESSURE,8.79881
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,551.9,17.8
$SC_FREEKB,3884576
$24V_AH,13.62,67.945
$10V_AH,13.65,0.000
$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,28.875,234.025,335.550,18.400,0.000,22.923,16.295,579.168,14.000,0.000,28.966,3122.856,3861.466,763.113,2987.643,253.724,0.000,2031.270,0.000,2133.584,0.000,97.909,0.000
$DEVICE_MAMPS,350.370,134.640,1821.465,131.580,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10142.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.239,0.000,0.000,0.000
$MEM,339720
$DATA_FILE_SIZE,43384,1231
$CAP_FILE_SIZE,272892,0
$CFSIZE,1023623168,1009893376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121018,223202,-3145.080,2934.371,41,0.8,41,-26.3,0.0,0.0,10,9.5