version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 77
start: 10 13 118 20 4 5
data:
$ID,573
$MISSION,23
$DIVE,77
$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,97
$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,28
$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
$GPS1,131018,194657,-3201.3779,2922.4075,45,1.1,46,-26.6,1.0,184.6,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.9
$GPS2,131018,200340,-3202.3010,2921.8181,17,1.0,17,-26.6,1.4,210.5,8,9.9
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3203.617,2934.466
$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,123.6,20000,-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,20,-0.85,-146.0,73,1983,1534,1463,0.0,0.0,0,77,0.00,0.00,-55.08,0.000,16386,0.000,0.000,73,1984,3049,3049,3049,0,0,0,0,0,0,14.97,28.83,14.97
$GC,80,-0.85,-146.0,73,1983,3049,3050,3.3,-7.4,10,105,12.32,2.45,-6.35,0.000,19204,0.296,0.095,2205,577,3409,3449,3369,0,0,0,0,0,0,14.55,13.70,14.70
$GC,317,-0.85,-146.0,2205,576,3452,3369,49.5,-13.9,56,325,0.08,2.38,0.00,0.000,3078,0.274,0.049,2214,2000,3410,3451,3369,0,0,0,0,0,0,14.73,14.85,14.89
$GC,387,-0.85,-146.0,2214,1999,3453,3369,58.1,-11.3,69,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1999,3410,3452,3369,0,0,0,0,0,0,15.07,15.07,15.07
$GC,455,-0.85,-146.0,2213,1999,3452,3369,65.3,-11.0,82,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1999,3410,3452,3369,0,0,0,0,0,0,15.08,15.09,15.08
$GC,523,-0.85,-146.0,2214,1999,3452,3369,72.8,-11.4,95,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1999,3411,3453,3370,0,0,0,0,0,0,15.09,15.09,15.10
$GC,590,-0.85,-146.0,2214,1999,3452,3369,80.9,-12.4,108,597,0.00,2.38,0.00,0.000,260,0.000,0.072,2210,3395,3411,3453,3369,0,0,0,0,0,0,15.10,14.82,15.10
$GC,614,-0.85,-146.0,2210,3395,3453,3369,83.8,-12.3,112,620,0.00,2.33,0.00,0.000,3078,0.000,0.042,2210,1990,3413,3457,3369,0,0,0,0,0,0,14.90,14.82,14.91
$GC,683,-0.85,-146.0,2210,1990,3453,3369,92.1,-11.5,125,690,0.00,2.42,0.00,0.000,2308,0.000,0.072,2210,3396,3411,3453,3369,0,0,0,0,0,0,15.11,14.86,15.11
$GC,712,-0.85,-146.0,2210,3396,3454,3369,95.4,-12.2,130,718,0.00,2.35,0.00,0.000,3078,0.000,0.043,2211,1970,3411,3453,3369,0,0,0,0,0,0,15.00,14.89,15.01
$GC,782,-0.85,-146.0,2210,1970,3454,3369,102.7,-11.7,143,789,0.00,2.35,0.00,0.000,2564,0.000,0.072,2210,583,3411,3453,3370,0,0,0,0,0,0,15.12,14.87,15.12
$GC,811,-0.85,-146.0,2210,583,3454,3369,106.4,-11.6,148,818,0.00,2.33,0.00,0.000,3078,0.000,0.047,2211,1993,3411,3454,3369,0,0,0,0,0,0,15.01,14.92,15.02
$GC,880,-0.85,-146.0,2210,1993,3453,3370,114.5,-12.1,161,886,0.00,2.40,0.00,0.000,2308,0.000,0.074,2210,3399,3411,3453,3369,0,0,0,0,0,0,15.11,14.83,15.12
$GC,923,-0.85,-146.0,2210,3399,3453,3369,119.7,-11.2,169,931,0.00,2.33,0.00,0.000,3078,0.000,0.041,2210,1988,3411,3454,3369,0,0,0,0,0,0,15.00,14.90,15.02
$GC,995,-0.85,-146.0,2210,1987,3454,3369,127.7,-11.4,182,1001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3411,3454,3369,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1062,-0.85,-146.0,2210,1987,3454,3369,135.8,-11.5,195,1069,0.00,2.40,0.00,0.000,2564,0.000,0.071,2210,569,3411,3454,3369,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1080,-0.85,-146.0,2210,569,3454,3369,137.7,-10.6,198,1087,0.00,2.35,0.00,0.000,3078,0.000,0.048,2210,1994,3411,3453,3369,0,0,0,0,0,0,14.98,14.88,15.00
$GC,1150,-0.85,-146.0,2210,1994,3454,3369,145.6,-11.4,211,1156,0.00,2.40,0.00,0.000,2308,0.000,0.075,2210,3394,3412,3454,3370,0,0,0,0,0,0,15.13,14.84,15.14
$GC,1209,-0.85,-146.0,2210,3398,3453,3369,152.2,-10.8,222,1215,0.00,2.33,0.00,0.000,3078,0.000,0.041,2210,1975,3411,3453,3369,0,0,0,0,0,0,14.92,14.83,14.93
$GC,1279,-0.85,-146.0,2210,1975,3454,3369,160.1,-11.9,235,1285,0.00,2.35,0.00,0.000,2564,0.000,0.071,2210,586,3411,3454,3369,0,0,0,0,0,0,15.12,14.81,15.12
$GC,1317,-0.85,-146.0,2210,585,3452,3369,164.9,-12.0,242,1324,0.00,2.30,0.00,0.000,3078,0.000,0.048,2210,1990,3411,3454,3369,0,0,0,0,0,0,15.02,14.92,15.04
$GC,1386,-0.85,-146.0,2210,1990,3454,3369,172.9,-12.6,255,1393,0.00,2.40,0.00,0.000,2308,0.000,0.073,2210,3395,3411,3454,3369,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1425,-0.85,-146.0,2210,3394,3453,3369,177.5,-11.1,262,1432,0.00,2.30,0.00,0.000,3078,0.000,0.040,2210,1996,3411,3453,3369,0,0,0,0,0,0,14.98,14.90,14.99
$GC,1494,-0.85,-146.0,2210,1996,3453,3369,185.3,-11.3,275,1500,0.00,2.40,0.00,0.000,2564,0.000,0.072,2210,578,3411,3453,3369,0,0,0,0,0,0,15.14,14.82,15.14
$GC,1512,-0.85,-146.0,2210,578,3454,3369,187.7,-12.5,278,1519,0.00,2.33,0.00,0.000,3078,0.000,0.048,2210,1994,3411,3454,3369,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1582,-0.85,-146.0,2210,1994,3453,3369,195.3,-11.3,291,1588,0.00,2.38,0.00,0.000,2308,0.000,0.074,2210,3387,3411,3453,3369,0,0,0,0,0,0,15.14,14.88,15.14
$GC,1630,-0.85,-146.0,2210,3387,3453,3369,200.6,-10.5,300,1637,0.00,2.30,0.00,0.000,3078,0.000,0.042,2210,1981,3411,3453,3369,0,0,0,0,0,0,14.99,14.88,15.00
$GC,1699,-0.85,-146.0,2210,1981,3453,3369,208.2,-11.0,313,1705,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1982,3411,3453,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1767,-0.85,-146.0,2210,1981,3454,3369,215.8,-10.6,326,1774,0.00,2.42,0.00,0.000,2308,0.000,0.073,2203,3389,3411,3453,3369,0,0,0,0,0,0,15.16,14.89,15.16
$GC,1812,-0.85,-146.0,2203,3388,3453,3369,220.1,-10.3,334,1818,0.00,2.30,0.00,0.000,3078,0.000,0.043,2203,1989,3411,3453,3369,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1881,-0.85,-146.0,2203,1990,3453,3369,227.6,-10.9,347,1887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1990,3411,3453,3369,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1949,-0.85,-146.0,2206,1990,3452,3369,235.2,-11.0,360,1956,0.00,2.42,0.00,0.000,2308,0.000,0.073,2209,3391,3410,3453,3368,0,0,0,0,0,0,15.17,14.83,15.18
$GC,1968,-0.85,-146.0,2202,3392,3453,3368,237.4,-11.6,363,1974,0.00,2.30,0.00,0.000,3078,0.000,0.043,2203,1987,3410,3453,3368,0,0,0,0,0,0,15.04,14.95,15.05
$GC,2038,-0.85,-146.0,2203,1990,3453,3368,245.1,-11.0,376,2045,0.00,2.38,0.00,0.000,2564,0.000,0.072,2203,584,3410,3452,3369,0,0,0,0,0,0,15.17,14.81,15.18
$GC,2062,-0.85,-146.0,2203,585,3452,3368,247.9,-11.8,380,2069,0.00,2.30,0.00,0.000,3078,0.000,0.049,2203,1987,3408,3448,3368,0,0,0,0,0,0,15.04,14.94,15.05
$GC,2132,-0.85,-146.0,2203,1987,3452,3369,255.9,-11.8,393,2138,0.00,2.42,0.00,0.000,2308,0.000,0.075,2203,3393,3410,3452,3368,0,0,0,0,0,0,15.17,14.90,15.16
$GC,2176,-0.85,-146.0,2202,3393,3451,3368,261.4,-12.8,401,2183,0.00,2.30,0.00,0.000,3078,0.000,0.043,2203,1985,3410,3452,3369,0,0,0,0,0,0,15.04,14.93,15.05
$GC,2246,-0.85,-146.0,2202,1985,3452,3368,268.9,-11.7,414,2252,0.00,2.38,0.00,0.000,2564,0.000,0.073,2203,581,3409,3451,3368,0,0,0,0,0,0,15.16,14.90,15.17
$GC,2274,-0.85,-146.0,2202,580,3451,3368,272.6,-12.4,419,2281,0.00,2.33,0.00,0.000,3078,0.000,0.050,2203,1994,3409,3451,3368,0,0,0,0,0,0,15.05,14.95,15.07
$GC,2346,-0.85,-146.0,2202,1994,3450,3368,280.5,-11.3,432,2352,0.00,2.40,0.00,0.000,2308,0.000,0.075,2195,3396,3410,3452,3368,0,0,0,0,0,0,15.18,14.90,15.18
$GC,2409,-0.85,-146.0,2195,3395,3450,3368,287.7,-10.9,444,2417,0.08,2.33,0.00,0.000,3078,0.265,0.043,2212,1982,3409,3450,3368,0,0,0,0,0,0,14.76,14.88,14.92
$GC,2479,-0.85,-146.0,2211,1983,3450,3367,295.1,-10.9,457,2485,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1983,3409,3450,3368,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2546,-0.85,-146.0,2211,1983,3450,3368,302.6,-11.1,467,2548,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1983,3408,3450,3367,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2666,-0.85,-146.0,2211,1983,3449,3368,315.9,-11.1,473,2668,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,1983,3408,3449,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2786,-0.85,-146.0,2211,1983,3449,3367,329.4,-11.4,479,2792,0.00,2.42,0.00,0.000,2308,0.000,0.075,2211,3390,3407,3448,3367,0,0,0,0,0,0,15.22,14.92,15.21
$GC,2813,-0.85,-146.0,2210,3390,3448,3367,332.0,-11.2,480,2819,0.00,2.30,0.00,0.000,3078,0.000,0.044,2211,1987,3407,3448,3367,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2951,-0.85,-146.0,2210,1987,3448,3366,348.0,-11.4,487,2952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1988,3407,3448,3366,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3071,-0.85,-146.0,2210,1987,3448,3366,361.2,-11.0,493,3077,0.00,2.42,0.00,0.000,2308,0.000,0.076,2211,3389,3407,3448,3366,0,0,0,0,0,0,15.23,14.95,15.23
$GC,3108,-0.85,-146.0,2210,3389,3448,3366,363.7,-11.0,494,3114,0.00,2.30,0.00,0.000,3078,0.000,0.044,2210,1988,3407,3448,3366,0,0,0,0,0,0,15.09,14.99,15.11
$GC,3234,-0.85,-146.0,2210,1989,3448,3365,378.8,-11.0,501,3235,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1988,3406,3448,3365,0,0,0,0,0,0,15.25,15.25,15.25
$GC,3354,-0.85,-146.0,2210,1989,3447,3365,392.4,-11.5,507,3355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1988,3406,3447,3365,0,0,0,0,0,0,15.25,15.25,15.25
$GC,3474,-0.85,-146.0,2210,1988,3447,3364,405.5,-10.9,513,3475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1989,3405,3446,3364,0,0,0,0,0,0,15.26,15.25,15.25
$GC,3594,-0.85,-146.0,2210,1988,3446,3364,418.5,-10.7,519,3599,0.00,2.42,0.00,0.000,2308,0.000,0.076,2210,3389,3405,3446,3364,0,0,0,0,0,0,15.25,14.95,15.25
$GC,3636,-0.85,-146.0,2210,3389,3446,3364,422.8,-10.5,521,3641,0.00,2.33,0.00,0.000,3078,0.000,0.045,2211,1978,3405,3446,3364,0,0,0,0,0,0,15.11,15.00,15.11
$GC,3778,-0.85,-146.0,2210,1977,3445,3364,437.6,-10.7,528,3779,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1979,3404,3445,3363,0,0,0,0,0,0,15.24,15.25,15.25
$GC,3899,-0.85,-146.0,2211,1978,3445,3363,451.3,-11.5,534,3900,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1978,3404,3445,3363,0,0,0,0,0,0,15.24,15.25,15.25
$GC,4018,-0.85,-146.0,2210,1978,3444,3362,465.1,-11.5,540,4023,0.00,2.45,0.00,0.000,2308,0.000,0.076,2210,3392,3402,3443,3362,0,0,0,0,0,0,15.26,14.95,15.26
$GC,4040,-0.85,-146.0,2210,3392,3443,3363,467.6,-11.2,541,4046,0.00,2.33,0.00,0.000,3078,0.000,0.046,2210,1988,3402,3443,3362,0,0,0,0,0,0,15.11,15.00,15.11
$GC,4183,-0.85,-146.0,2210,1988,3443,3362,482.5,-10.7,548,4188,0.00,2.40,0.00,0.000,2564,0.000,0.077,2211,577,3402,3443,3362,0,0,0,0,0,0,15.25,14.96,15.26
$GC,4209,-0.85,-146.0,2210,577,3443,3362,485.1,-10.7,549,4214,0.00,2.33,0.00,0.000,3078,0.000,0.051,2211,1993,3401,3441,3362,0,0,0,0,0,0,15.01,14.91,15.02
$GC,4346,-0.85,-146.0,2210,1993,3441,3361,499.5,-10.2,556,4351,0.00,2.40,0.00,0.000,2308,0.000,0.079,2210,3391,3401,3442,3361,0,0,0,0,0,0,15.25,14.95,15.26
$GC,4403,-0.85,-146.0,2210,3391,3441,3361,503.6,-9.9,558,4410,0.00,2.33,0.00,0.000,3078,0.000,0.045,2210,1980,3401,3442,3361,0,0,0,0,0,0,15.10,14.97,15.11
$GC,4529,-0.85,-146.0,2210,1980,3441,3360,517.8,-10.6,565,4530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3400,3441,3360,0,0,0,0,0,0,15.25,15.25,15.25
$GC,4649,-0.85,-146.0,2210,1980,3441,3359,530.8,-10.8,571,4650,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3400,3441,3360,0,0,0,0,0,0,15.24,15.25,15.25
$GC,4768,-0.85,-146.0,2210,1980,3441,3356,544.3,-11.3,577,4770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1982,3397,3441,3353,0,0,0,0,0,0,15.26,15.26,15.26
$GC,4888,-0.85,-146.0,2210,1980,3440,3357,558.0,-11.4,583,4890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3399,3441,3357,0,0,0,0,0,0,15.25,15.25,15.26
$GC,5009,-0.85,-146.0,2210,1980,3439,3357,571.5,-11.2,589,5010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1980,3398,3440,3357,0,0,0,0,0,0,15.25,15.25,15.25
$GC,5128,-0.85,-146.0,2210,1980,3439,3358,584.0,-10.3,595,5134,0.00,2.45,0.00,0.000,2308,0.000,0.077,2210,3390,3397,3438,3357,0,0,0,0,0,0,15.26,14.94,15.26
$GC,5175,-0.85,-146.0,2210,3390,3438,3357,588.2,-10.0,597,5180,0.00,2.30,0.00,0.000,3078,0.000,0.047,2210,1990,3398,3439,3357,0,0,0,0,0,0,15.10,15.00,15.11
$GC,5312,-0.85,-146.0,2210,1990,3438,3357,602.4,-10.3,604,5313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1995,3398,3439,3357,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5432,-0.85,-146.0,2210,1990,3437,3357,615.1,-10.6,610,5437,0.00,2.45,0.00,0.000,2308,0.000,0.078,2210,3399,3397,3437,3357,0,0,0,0,0,0,15.26,14.95,15.26
$GC,5458,-0.85,-146.0,2210,3399,3437,3357,617.6,-10.8,611,5463,0.00,2.33,0.00,0.000,3078,0.000,0.047,2210,1982,3396,3435,3357,0,0,0,0,0,0,15.11,15.00,15.12
$GC,5595,-0.85,-146.0,2210,1983,3437,3356,632.2,-10.4,618,5601,0.00,2.40,0.00,0.000,2564,0.000,0.078,2210,577,3396,3436,3356,0,0,0,0,0,0,15.25,14.95,15.25
$GC,5621,-0.85,-146.0,2210,573,3437,3357,634.6,-10.5,619,5626,0.00,2.35,0.00,0.000,3078,0.000,0.052,2210,1995,3396,3436,3356,0,0,0,0,0,0,15.09,14.99,15.11
$GC,5758,-0.85,-146.0,2209,1995,3436,3355,649.5,-10.8,626,5763,0.00,2.40,0.00,0.000,2308,0.000,0.080,2210,3390,3396,3436,3356,0,0,0,0,0,0,15.26,14.93,15.26
$GC,5829,-0.85,-146.0,2210,3390,3432,3355,656.0,-10.5,629,5835,0.00,2.33,0.00,0.000,3078,0.000,0.046,2210,1977,3395,3436,3355,0,0,0,0,0,0,15.01,14.88,15.01
$GC,5962,-0.85,-146.0,2210,1977,3436,3354,671.1,-11.2,636,5967,0.00,2.45,0.00,0.000,2308,0.000,0.074,2208,3392,3394,3435,3354,0,0,0,0,0,0,15.24,14.93,15.24
$GC,5978,-0.85,-146.0,2208,3393,3435,3354,671.1,-11.2,636,5985,0.00,2.30,0.00,0.000,3078,0.000,0.046,2208,1991,3394,3435,3354,0,0,0,0,0,0,15.09,14.98,15.10
$STATE,6003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6003,begin apogee
$GC,6008,-0.19,0.0,2208,1882,3435,3354,675.5,-10.7,638,6130,1.10,0.00,118.05,1.988,10246,0.155,0.000,2427,1881,2811,2853,2770,0,0,0,0,0,0,14.85,14.33,13.66
$STATE,6132,end apogee,CONTROL_FINISHED_OK
$STATE,6132,begin climb
$GC,6133,0.85,146.0,2427,1881,2853,2770,680.4,0.0,644,6265,1.52,0.00,122.28,1.938,10758,0.079,0.000,2750,1881,2214,2261,2167,0,0,0,0,0,0,14.34,14.19,13.55
$GC,6384,0.88,163.8,2750,1881,2254,2164,669.6,9.1,657,6405,0.00,2.60,15.95,1.763,10500,0.000,0.070,2750,3316,2142,2190,2095,0,0,0,0,0,0,14.78,14.47,13.83
$GC,6442,0.90,185.4,2750,3315,2189,2093,665.8,9.0,659,6468,0.00,2.40,20.02,1.789,11270,0.000,0.054,2760,1924,2058,2114,2002,0,0,0,0,0,0,14.66,14.57,13.81
$GC,6588,0.90,185.4,2760,1923,2103,1999,646.7,12.0,667,6593,0.00,2.45,0.00,0.000,2308,0.000,0.070,2760,3314,2051,2103,1999,0,0,0,0,0,0,14.87,14.64,14.88
$GC,6614,0.90,185.4,2759,3314,2103,1999,644.1,11.9,668,6619,0.00,2.38,0.00,0.000,3078,0.000,0.050,2770,1909,2050,2102,1998,0,0,0,0,0,0,14.78,14.69,14.80
$GC,6751,0.90,185.4,2770,1909,2094,1997,627.5,12.1,675,6752,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,1909,2049,2101,1997,0,0,0,0,0,0,15.01,15.01,15.01
$GC,6871,0.90,185.4,2770,1909,2100,1997,612.7,12.2,681,6872,0.00,0.00,0.00,0.000,2054,0.000,0.000,2771,1909,2048,2100,1997,0,0,0,0,0,0,15.06,15.06,15.06
$GC,6991,0.90,185.4,2770,1909,2099,1996,597.9,12.5,687,6997,0.00,2.45,0.00,0.000,2308,0.000,0.073,2771,3314,2048,2099,1997,0,0,0,0,0,0,15.09,14.83,15.10
$GC,7028,0.90,185.4,2770,3314,2099,1997,594.9,12.9,688,7034,0.00,2.38,0.00,0.000,1030,0.000,0.053,2781,1906,2047,2099,1996,0,0,0,0,0,0,14.96,14.87,14.98
$GC,7154,0.90,185.4,2780,1907,2098,1996,575.7,13.6,695,7159,0.00,2.45,0.00,0.000,260,0.000,0.073,2781,3314,2047,2098,1996,0,0,0,0,0,0,15.12,14.87,15.13
$GC,7200,0.90,185.4,2780,3315,2098,1996,569.7,13.8,697,7205,0.00,2.38,0.00,0.000,5126,0.000,0.051,2790,1906,2047,2098,1996,0,0,0,0,0,0,14.92,14.82,14.95
$GC,7337,0.90,185.4,2790,1906,2097,1996,550.3,13.6,704,7339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1906,2047,2098,1996,0,0,0,0,0,0,15.15,15.15,15.15
$GC,7457,0.90,185.4,2790,1906,2098,1995,534.4,13.3,710,7463,0.00,2.45,0.00,0.000,4356,0.000,0.072,2790,3319,2047,2098,1996,0,0,0,0,0,0,15.16,14.90,15.16
$GC,7468,0.90,185.4,2790,3319,2098,1996,534.4,13.3,710,7474,0.10,2.38,0.00,0.000,5126,0.285,0.053,2782,1904,2047,2098,1996,0,0,0,0,0,0,14.78,14.92,14.98
$GC,7601,0.90,185.4,2782,1902,2098,1995,516.7,12.1,717,7607,0.00,2.42,0.00,0.000,4612,0.000,0.084,2789,501,2046,2098,1995,0,0,0,0,0,0,15.17,14.90,15.18
$GC,7668,0.90,185.4,2789,501,2096,1995,508.7,12.7,720,7674,0.00,2.33,0.00,0.000,5126,0.000,0.048,2789,1920,2045,2096,1995,0,0,0,0,0,0,15.04,14.95,15.06
$GC,7806,0.90,185.4,2788,1920,2096,1995,490.0,13.2,727,7807,0.00,0.00,0.00,0.000,4102,0.000,0.000,2789,1920,2046,2097,1995,0,0,0,0,0,0,15.17,15.18,15.17
$GC,7926,0.90,185.4,2789,1920,2097,1995,474.1,13.1,733,7931,0.00,2.38,0.00,0.000,4356,0.000,0.073,2789,3311,2046,2097,1995,0,0,0,0,0,0,15.19,14.92,15.19
$GC,7977,0.90,185.4,2789,3312,2097,1995,468.4,13.2,735,7983,0.08,2.35,0.00,0.000,5126,0.315,0.052,2786,1908,2046,2097,1995,0,0,0,0,0,0,14.78,14.95,15.00
$GC,8110,0.90,185.4,2785,1907,2096,1995,451.0,12.1,742,8116,0.00,2.40,0.00,0.000,4612,0.000,0.083,2794,504,2045,2096,1995,0,0,0,0,0,0,15.19,14.90,15.19
$GC,8147,0.90,185.4,2793,505,2094,1995,448.3,12.1,743,8154,0.05,2.30,0.00,0.000,5126,0.347,0.047,2785,1914,2045,2095,1995,0,0,0,0,0,0,14.78,14.97,15.00
$GC,8273,0.90,185.4,2785,1915,2095,1995,431.1,12.2,750,8278,0.00,2.38,0.00,0.000,4356,0.000,0.075,2785,3309,2045,2096,1995,0,0,0,0,0,0,15.20,14.92,15.20
$GC,8289,0.90,185.4,2785,3309,2096,1995,431.1,12.2,750,8296,0.00,2.35,0.00,0.000,5126,0.000,0.052,2792,1904,2045,2096,1995,0,0,0,0,0,0,15.06,14.95,15.08
$GC,8415,0.90,185.4,2792,1905,2095,1995,412.6,13.3,757,8417,0.03,0.00,0.00,0.000,4102,0.521,0.000,2786,1904,2045,2095,1995,0,0,0,0,0,0,14.81,15.04,15.01
$GC,8535,0.90,185.4,2785,1904,2095,1995,397.5,12.5,763,8540,0.00,2.42,0.00,0.000,4356,0.000,0.072,2785,3310,2044,2095,1994,0,0,0,0,0,0,15.21,14.92,15.21
$GC,8546,0.90,185.4,2785,3310,2096,1994,397.5,12.5,763,8551,0.00,2.35,0.00,0.000,5126,0.000,0.053,2793,1901,2045,2096,1995,0,0,0,0,0,0,15.07,14.95,15.08
$GC,8678,0.90,185.4,2792,1901,2095,1995,378.9,12.9,770,8684,0.03,2.40,0.00,0.000,4612,0.524,0.081,2794,502,2044,2094,1995,0,0,0,0,0,0,14.80,14.91,15.00
$GC,8705,0.90,185.4,2793,502,2093,1995,375.7,13.0,771,8711,0.03,2.33,0.00,0.000,5126,0.497,0.049,2785,1910,2044,2093,1995,0,0,0,0,0,0,14.78,14.97,15.01
$GC,8843,0.90,185.4,2784,1911,2094,1994,357.5,12.7,778,8844,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1911,2044,2094,1995,0,0,0,0,0,0,15.21,15.21,15.21
$GC,8963,0.90,185.4,2785,1911,2094,1995,342.6,12.2,784,8964,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1913,2044,2094,1995,0,0,0,0,0,0,15.21,15.21,15.21
$GC,9083,0.90,185.4,2785,1911,2093,1995,327.7,12.5,790,9088,0.00,2.40,0.00,0.000,4356,0.000,0.075,2786,3310,2044,2094,1995,0,0,0,0,0,0,15.23,14.93,15.23
$GC,9114,0.90,185.4,2785,3308,2094,1995,324.9,12.6,791,9119,0.00,2.33,0.00,0.000,5126,0.000,0.053,2792,1911,2044,2094,1995,0,0,0,0,0,0,15.07,14.95,15.09
$GC,9246,0.90,185.4,2792,1911,2094,1995,307.6,12.3,798,9252,0.00,2.40,0.00,0.000,4356,0.000,0.072,2792,3306,2044,2094,1995,0,0,0,0,0,0,15.21,14.93,15.22
$GC,9278,0.90,185.4,2792,3306,2094,1995,304.8,12.4,799,9283,0.10,2.33,0.00,0.000,5126,0.283,0.052,2783,1910,2045,2095,1995,0,0,0,0,0,0,14.79,14.96,15.02
$GC,9405,0.90,185.4,2784,1914,2094,1995,289.6,10.7,820,9411,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,1910,2044,2094,1995,0,0,0,0,0,0,15.19,15.19,15.19
$GC,9473,0.90,185.4,2784,1910,2094,1995,282.5,10.8,833,9479,0.00,2.40,0.00,0.000,4356,0.000,0.072,2783,3311,2044,2094,1995,0,0,0,0,0,0,15.19,14.90,15.19
$GC,9512,0.90,185.4,2783,3312,2094,1994,277.9,11.8,840,9518,0.00,2.38,0.00,0.000,5126,0.000,0.052,2791,1902,2044,2094,1995,0,0,0,0,0,0,15.04,14.92,15.06
$GC,9581,0.90,185.4,2791,1902,2094,1995,270.3,11.0,853,9587,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1902,2045,2095,1995,0,0,0,0,0,0,15.18,15.18,15.18
$GC,9649,0.90,185.4,2791,1902,2095,1995,262.6,11.5,866,9656,0.00,2.45,0.00,0.000,4356,0.000,0.073,2791,3313,2044,2094,1994,0,0,0,0,0,0,15.18,14.90,15.18
$GC,9692,0.90,185.4,2791,3313,2094,1995,257.3,11.9,874,9700,0.10,2.38,0.00,0.000,5126,0.282,0.052,2783,1911,2044,2094,1995,0,0,0,0,0,0,14.76,14.92,14.97
$GC,9762,0.90,185.4,2782,1912,2094,1995,249.5,11.1,887,9768,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1912,2044,2094,1995,0,0,0,0,0,0,15.16,15.17,15.16
$GC,9830,0.90,185.4,2782,1912,2093,1994,241.8,11.7,900,9837,0.00,2.42,0.00,0.000,4612,0.000,0.084,2791,506,2044,2093,1995,0,0,0,0,0,0,15.17,14.79,15.18
$GC,9854,0.90,185.4,2790,506,2093,1995,238.8,11.8,904,9860,0.00,2.33,0.00,0.000,5126,0.000,0.047,2791,1917,2044,2093,1995,0,0,0,0,0,0,15.02,14.93,15.04
$GC,9923,0.90,185.4,2790,1917,2094,1995,230.4,12.2,917,9929,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1917,2044,2094,1995,0,0,0,0,0,0,15.15,15.14,15.15
$GC,9991,0.90,185.4,2790,1917,2093,1995,222.0,11.9,930,9998,0.00,2.38,0.00,0.000,4356,0.000,0.072,2791,3309,2046,2094,1999,0,0,0,0,0,0,15.16,14.84,15.17
$GC,10061,0.90,185.4,2790,3309,2093,1994,213.3,12.4,943,10068,0.08,2.38,0.00,0.000,5126,0.314,0.052,2784,1902,2044,2093,1995,0,0,0,0,0,0,14.69,14.85,14.90
$GC,10130,0.90,185.4,2784,1902,2093,1995,205.6,11.1,956,10136,0.00,2.42,0.00,0.000,4612,0.000,0.083,2792,496,2044,2093,1995,0,0,0,0,0,0,15.16,14.76,15.16
$GC,10169,0.90,185.4,2792,496,2093,1995,201.3,11.5,963,10175,0.00,2.33,0.00,0.000,5126,0.000,0.047,2792,1914,2044,2093,1995,0,0,0,0,0,0,15.02,14.92,15.02
$GC,10238,0.90,185.4,2792,1914,2093,1995,193.6,10.8,976,10244,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,1914,2044,2094,1994,0,0,0,0,0,0,15.13,15.13,15.13
$GC,10306,0.90,185.4,2792,1914,2093,1995,185.1,11.9,989,10313,0.00,2.40,0.00,0.000,4356,0.000,0.071,2792,3309,2044,2093,1995,0,0,0,0,0,0,15.12,14.81,15.13
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$GC,10591,0.90,185.4,2791,3313,2093,1995,151.8,11.2,1042,10599,0.10,2.38,0.00,0.000,5126,0.281,0.051,2782,1907,2044,2093,1995,0,0,0,0,0,0,14.66,14.82,14.92
$GC,10660,0.90,185.4,2782,1907,2094,1995,144.6,10.3,1055,10667,0.00,2.42,0.00,0.000,4612,0.000,0.083,2790,504,2044,2093,1995,0,0,0,0,0,0,15.09,14.73,15.10
$GC,10689,0.90,185.4,2790,505,2093,1995,141.5,11.0,1060,10695,0.00,2.33,0.00,0.000,5126,0.000,0.044,2790,1916,2044,2094,1995,0,0,0,0,0,0,14.98,14.90,15.00
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$GC,10826,0.90,185.4,2790,1917,2093,1995,125.0,11.8,1086,10832,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1917,2044,2094,1995,0,0,0,0,0,0,15.09,15.10,15.10
$GC,10894,0.90,185.4,2790,1917,2094,1995,117.1,11.9,1099,10900,0.00,2.38,0.00,0.000,4356,0.000,0.070,2791,3312,2044,2094,1995,0,0,0,0,0,0,15.09,14.82,15.09
$GC,10997,0.90,185.4,2790,3312,2094,1995,104.5,11.9,1119,11005,0.08,2.38,0.00,0.000,5126,0.309,0.050,2786,1902,2044,2094,1994,0,0,0,0,0,0,14.67,14.85,14.90
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$STATE,12165,end climb,SURFACE_DEPTH_REACHED
$STATE,12165,begin surface coast
$FINISH,0.3,1.024238
$STATE,12182,end surface coast,CONTROL_FINISHED_OK
$STATE,12182,begin surface
$SM_CCo,12264,0.00,0.000,0,0,1492,323.79
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$IRIDIUM_FIX,-3145.55,2923.26,131018,171933
$TT8_MAMPS,0.019474,0.807422
$HUMID,59.37
$INTERNAL_PRESSURE,8.8867
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.1
$ALTIM_BOTTOM_PING,662.1,27.6
$SC_FREEKB,3879680
$24V_AH,13.55,70.803
$10V_AH,13.61,0.000
$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,28.900,256.900,385.575,0.000,0.000,25.202,19.050,686.203,14.750,0.000,18.021,3390.156,5574.259,769.440,3245.422,281.839,0.000,2110.891,0.000,2278.154,0.000,96.597,0.000
$DEVICE_MAMPS,524.025,121.635,1988.235,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.433,0.000,0.000,0.000
$MEM,339720
$DATA_FILE_SIZE,46612,1348
$CAP_FILE_SIZE,297865,0
$CFSIZE,1023623168,1008353280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8294.70,0x2131c2,1,24
$GPS,131018,233022,-3205.262,2921.768,76,1.1,77,-26.7,2.7,224.1,8,8.4