version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 84
start: 10 15 118 7 15 28
data:
$ID,573
$MISSION,23
$DIVE,84
$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,295
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,151018,064902,-3241.8208,2846.0510,35,0.8,63,-27.1,1.2,253.3,10,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.4
$GPS2,151018,071503,-3242.5273,2845.3684,22,0.8,26,-27.1,0.6,229.1,10,8.5
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3237.963,2833.746
$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,322.1,20000,-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,-146.0,73,2003,1548,1459,0.0,0.0,0,84,0.00,0.00,-61.38,0.000,16386,0.000,0.000,73,2003,3242,3259,3226,0,0,0,0,0,0,14.88,28.83,14.89
$GC,86,-0.85,-146.0,73,2003,3260,3225,4.5,-12.7,11,110,12.60,2.47,-2.80,0.000,18948,0.308,0.093,2207,579,3410,3448,3373,0,0,0,0,0,0,14.45,13.59,14.63
$GC,132,-0.85,-146.0,2207,579,3449,3373,21.0,-25.9,19,139,0.00,2.35,0.00,0.000,3078,0.000,0.052,2203,1979,3411,3449,3373,0,0,0,0,0,0,14.80,14.70,14.81
$GC,202,-0.85,-146.0,2203,1979,3449,3373,31.1,-15.4,32,209,0.00,2.45,0.00,0.000,2308,0.000,0.078,2194,3387,3411,3449,3373,0,0,0,0,0,0,14.94,14.69,14.94
$GC,220,-0.85,-146.0,2194,3387,3449,3373,34.5,-17.7,35,228,0.08,2.38,0.00,0.000,3078,0.285,0.047,2209,1979,3411,3450,3373,0,0,0,0,0,0,14.56,14.69,14.73
$GC,291,-0.85,-146.0,2209,1979,3450,3373,46.7,-16.8,48,297,0.00,2.47,0.00,0.000,2308,0.000,0.074,2202,3389,3411,3450,3373,0,0,0,0,0,0,14.97,14.68,14.97
$GC,394,-0.85,-146.0,2202,3390,3450,3373,59.9,-11.7,68,401,0.00,2.35,0.00,0.000,3078,0.000,0.045,2203,1980,3412,3451,3373,0,0,0,0,0,0,14.78,14.68,14.79
$GC,464,-0.85,-146.0,2203,1980,3452,3373,69.2,-13.6,81,470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1980,3412,3451,3373,0,0,0,0,0,0,15.01,15.01,15.01
$GC,531,-0.85,-146.0,2202,1980,3451,3373,78.1,-13.2,94,538,0.00,2.40,0.00,0.000,2564,0.000,0.076,2202,586,3412,3451,3373,0,0,0,0,0,0,15.02,14.76,15.03
$GC,570,-0.85,-146.0,2203,582,3451,3373,83.8,-15.7,101,577,0.03,2.35,0.00,0.000,3078,0.517,0.052,2209,1990,3412,3451,3373,0,0,0,0,0,0,14.58,14.73,14.79
$GC,640,-0.85,-146.0,2209,1990,3452,3373,92.7,-12.1,114,647,0.00,2.45,0.00,0.000,2308,0.000,0.077,2209,3396,3412,3452,3373,0,0,0,0,0,0,15.02,14.73,15.03
$GC,699,-0.85,-146.0,2209,3396,3451,3374,99.4,-11.2,125,706,0.00,2.33,0.00,0.000,3078,0.000,0.044,2210,1985,3412,3452,3373,0,0,0,0,0,0,14.83,14.72,14.84
$GC,769,-0.85,-146.0,2210,1981,3452,3373,107.6,-11.4,138,776,0.00,2.47,0.00,0.000,2308,0.000,0.074,2207,3396,3412,3452,3373,0,0,0,0,0,0,15.04,14.70,15.04
$GC,828,-0.85,-146.0,2206,3396,3452,3373,114.1,-10.6,149,835,0.00,2.33,0.00,0.000,3078,0.000,0.043,2207,1987,3413,3453,3373,0,0,0,0,0,0,14.92,14.83,14.94
$GC,898,-0.85,-146.0,2207,1987,3453,3373,121.9,-11.4,162,904,0.00,2.45,0.00,0.000,2308,0.000,0.074,2205,3397,3413,3453,3373,0,0,0,0,0,0,15.05,14.79,15.06
$GC,941,-0.85,-146.0,2204,3397,3452,3373,126.6,-11.5,170,947,0.00,2.33,0.00,0.000,3078,0.000,0.041,2205,1989,3417,3461,3373,0,0,0,0,0,0,14.90,14.81,14.90
$GC,1011,-0.85,-146.0,2204,1988,3453,3373,134.9,-12.5,183,1017,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1988,3413,3453,3373,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1079,-0.85,-146.0,2204,1988,3453,3373,143.5,-12.3,196,1085,0.00,2.45,0.00,0.000,2308,0.000,0.073,2204,3398,3413,3453,3373,0,0,0,0,0,0,15.06,14.71,15.07
$GC,1117,-0.85,-146.0,2204,3398,3453,3373,148.7,-12.7,203,1124,0.00,2.35,0.00,0.000,3078,0.000,0.042,2204,1975,3413,3453,3373,0,0,0,0,0,0,14.94,14.84,14.95
$GC,1187,-0.85,-146.0,2204,1975,3453,3373,157.2,-12.9,216,1194,0.00,2.47,0.00,0.000,2308,0.000,0.074,2204,3392,3413,3453,3373,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1215,-0.85,-146.0,2203,3393,3453,3372,160.9,-11.7,221,1222,0.00,2.33,0.00,0.000,3078,0.000,0.041,2204,1988,3413,3453,3373,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1285,-0.85,-146.0,2203,1988,3453,3373,169.1,-11.9,234,1291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1988,3413,3453,3373,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1352,-0.85,-146.0,2204,1988,3453,3373,177.4,-11.7,247,1358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1988,3413,3453,3373,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1420,-0.85,-146.0,2204,1988,3453,3373,185.0,-11.5,260,1426,0.00,2.45,0.00,0.000,2308,0.000,0.074,2204,3394,3413,3453,3373,0,0,0,0,0,0,15.05,14.77,15.07
$GC,1453,-0.85,-146.0,2203,3393,3453,3373,188.8,-10.9,266,1460,0.00,2.33,0.00,0.000,3078,0.000,0.042,2202,1987,3412,3452,3373,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1522,-0.85,-146.0,2204,1987,3453,3373,196.3,-11.6,279,1527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1987,3413,3453,3373,0,0,0,0,0,0,15.07,15.08,15.07
$GC,1589,-0.85,-146.0,2203,1987,3459,3373,204.1,-11.3,292,1595,0.00,2.45,0.00,0.000,2308,0.000,0.075,2203,3392,3412,3453,3372,0,0,0,0,0,0,15.09,14.72,15.09
$GC,1632,-0.85,-146.0,2203,3392,3453,3372,208.9,-11.1,300,1638,0.00,2.33,0.00,0.000,3078,0.000,0.043,2204,1986,3413,3453,3373,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1701,-0.85,-146.0,2203,1986,3453,3372,216.7,-11.9,313,1706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1985,3412,3453,3372,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1768,-0.85,-146.0,2203,1985,3453,3372,225.1,-12.2,326,1774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1986,3412,3452,3372,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1836,-0.85,-146.0,2203,1985,3453,3372,233.1,-11.7,339,1842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1986,3411,3451,3371,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1905,-0.85,-146.0,2203,1986,3452,3370,241.1,-11.4,352,1911,0.00,2.45,0.00,0.000,2308,0.000,0.075,2199,3393,3411,3452,3371,0,0,0,0,0,0,15.10,14.83,15.11
$GC,1938,-0.85,-146.0,2199,3393,3452,3371,244.9,-10.4,358,1946,0.05,2.33,0.00,0.000,3078,0.317,0.043,2211,1989,3411,3452,3371,0,0,0,0,0,0,14.73,14.88,14.91
$GC,2008,-0.85,-146.0,2210,1989,3452,3370,252.7,-11.1,371,2014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1989,3411,3452,3371,0,0,0,0,0,0,15.11,15.12,15.12
$GC,2077,-0.85,-146.0,2210,1989,3451,3370,260.2,-11.6,384,2082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1989,3410,3451,3370,0,0,0,0,0,0,15.12,15.12,15.12
$GC,2144,-0.85,-146.0,2210,1989,3451,3369,268.1,-11.2,397,2151,0.00,2.45,0.00,0.000,2308,0.000,0.074,2207,3396,3409,3450,3369,0,0,0,0,0,0,15.11,14.85,15.11
$GC,2198,-0.85,-146.0,2207,3396,3451,3369,274.2,-10.9,407,2205,0.00,2.35,0.00,0.000,3078,0.000,0.043,2207,1984,3410,3451,3369,0,0,0,0,0,0,15.00,14.89,15.01
$GC,2268,-0.85,-146.0,2207,1984,3451,3369,282.3,-11.3,420,2274,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3410,3451,3370,0,0,0,0,0,0,15.13,15.13,15.13
$GC,2337,-0.85,-146.0,2207,1984,3450,3369,290.1,-12.1,433,2343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3409,3450,3369,0,0,0,0,0,0,15.14,15.13,15.14
$GC,2405,-0.85,-146.0,2207,1984,3450,3368,298.3,-11.6,446,2411,0.00,2.45,0.00,0.000,2308,0.000,0.076,2205,3393,3408,3448,3368,0,0,0,0,0,0,15.12,14.84,15.11
$GC,2443,-0.85,-146.0,2205,3393,3447,3368,301.2,-11.8,450,2450,0.00,2.33,0.00,0.000,3078,0.000,0.044,2205,1983,3409,3450,3369,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2569,-0.85,-146.0,2205,1982,3447,3368,317.2,-11.7,457,2570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2205,1983,3408,3449,3368,0,0,0,0,0,0,15.16,15.17,15.16
$GC,2691,-0.85,-146.0,2205,1983,3449,3368,331.1,-11.5,463,2696,0.00,2.47,0.00,0.000,2308,0.000,0.077,2204,3396,3408,3449,3368,0,0,0,0,0,0,15.17,14.88,15.18
$GC,2742,-0.85,-146.0,2204,3396,3448,3368,336.0,-11.1,465,2748,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,1987,3408,3449,3368,0,0,0,0,0,0,15.02,14.94,15.04
$GC,2875,-0.85,-146.0,2203,1987,3448,3367,352.1,-11.8,472,2877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1993,3407,3448,3367,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2995,-0.85,-146.0,2204,1987,3448,3366,366.8,-12.4,478,2996,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1987,3407,3448,3367,0,0,0,0,0,0,15.18,15.18,15.18
$GC,3115,-0.85,-146.0,2204,1987,3448,3366,381.5,-12.3,484,3120,0.00,2.45,0.00,0.000,2308,0.000,0.077,2204,3391,3406,3447,3366,0,0,0,0,0,0,15.17,14.90,15.18
$GC,3166,-0.85,-146.0,2203,3391,3447,3366,386.6,-12.1,486,3172,0.00,2.33,0.00,0.000,3078,0.000,0.045,2204,1981,3406,3447,3366,0,0,0,0,0,0,15.05,14.94,15.07
$GC,3299,-0.85,-146.0,2203,1981,3447,3365,403.7,-12.4,493,3304,0.00,2.47,0.00,0.000,2308,0.000,0.077,2200,3398,3405,3446,3365,0,0,0,0,0,0,15.19,14.89,15.20
$GC,3335,-0.85,-146.0,2200,3399,3446,3365,406.3,-12.4,494,3342,0.05,2.33,0.00,0.000,3078,0.317,0.044,2212,1987,3405,3446,3365,0,0,0,0,0,0,14.80,14.94,14.97
$GC,3461,-0.85,-146.0,2212,1987,3446,3365,422.5,-11.7,501,3462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1987,3405,3446,3365,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3581,-0.85,-146.0,2211,1987,3445,3364,436.8,-12.0,507,3582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1987,3405,3446,3364,0,0,0,0,0,0,15.20,15.21,15.21
$GC,3702,-0.85,-146.0,2211,1987,3445,3364,451.6,-12.2,513,3707,0.00,2.45,0.00,0.000,2308,0.000,0.078,2207,3391,3404,3445,3363,0,0,0,0,0,0,15.20,14.91,15.21
$GC,3748,-0.85,-146.0,2207,3391,3444,3364,456.7,-12.1,515,3753,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,1991,3404,3444,3364,0,0,0,0,0,0,15.06,14.95,15.07
$GC,3885,-0.85,-146.0,2206,1988,3451,3363,472.9,-11.5,522,3886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3403,3443,3363,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4005,-0.85,-146.0,2206,1988,3443,3363,486.8,-11.6,528,4006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3403,3443,3363,0,0,0,0,0,0,15.22,15.23,15.22
$GC,4126,-0.85,-146.0,2206,1988,3440,3362,500.1,-11.1,534,4131,0.00,2.47,0.00,0.000,2308,0.000,0.080,2207,3399,3401,3441,3362,0,0,0,0,0,0,15.21,14.91,15.21
$GC,4188,-0.85,-146.0,2206,3399,3442,3362,506.7,-10.8,537,4194,0.00,2.35,0.00,0.000,3078,0.000,0.045,2206,1984,3402,3442,3362,0,0,0,0,0,0,15.05,14.95,15.07
$GC,4331,-0.85,-146.0,2206,1983,3441,3361,522.2,-10.9,544,4333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3401,3441,3361,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4451,-0.85,-146.0,2206,1983,3441,3360,535.1,-10.7,550,4452,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3400,3441,3360,0,0,0,0,0,0,15.22,15.22,15.22
$GC,4571,-0.85,-146.0,2206,1983,3440,3359,548.6,-11.5,556,4576,0.00,2.47,0.00,0.000,2308,0.000,0.079,2203,3396,3399,3440,3359,0,0,0,0,0,0,15.23,14.90,15.23
$GC,4614,-0.85,-146.0,2203,3396,3440,3359,553.3,-11.2,558,4620,0.00,2.35,0.00,0.000,3078,0.000,0.047,2203,1981,3399,3440,3359,0,0,0,0,0,0,15.07,14.95,15.08
$GC,4757,-0.85,-146.0,2203,1981,3439,3358,569.1,-11.0,565,4758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1981,3398,3439,3358,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4877,-0.85,-146.0,2203,1981,3439,3358,582.4,-10.9,571,4882,0.00,2.50,0.00,0.000,2308,0.000,0.080,2203,3395,3398,3438,3358,0,0,0,0,0,0,15.21,14.90,15.22
$GC,4943,-0.85,-146.0,2203,3395,3438,3358,589.3,-10.7,574,4948,0.00,2.33,0.00,0.000,3078,0.000,0.047,2203,1991,3398,3438,3358,0,0,0,0,0,0,15.06,14.95,15.07
$GC,5080,-0.85,-146.0,2203,1990,3437,3358,604.7,-11.0,581,5081,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1990,3397,3437,3358,0,0,0,0,0,0,15.21,15.21,15.21
$GC,5200,-0.85,-146.0,2203,1990,3436,3358,617.5,-10.7,587,5206,0.00,2.47,0.00,0.000,2308,0.000,0.080,2200,3398,3396,3436,3357,0,0,0,0,0,0,15.20,14.90,15.23
$GC,5246,-0.85,-146.0,2199,3398,3436,3357,622.1,-10.8,589,5252,0.05,2.35,0.00,0.000,3078,0.317,0.047,2211,1986,3396,3436,3357,0,0,0,0,0,0,14.78,14.95,14.98
$GC,5385,-0.85,-146.0,2211,1986,3436,3357,637.6,-11.1,596,5386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1985,3396,3436,3357,0,0,0,0,0,0,15.20,15.21,15.21
$GC,5504,-0.85,-146.0,2211,1985,3436,3357,650.6,-11.2,602,5505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1985,3396,3436,3356,0,0,0,0,0,0,15.22,15.22,15.22
$GC,5624,-0.85,-146.0,2211,1985,3436,3356,665.3,-12.2,608,5625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1985,3395,3434,3356,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,5683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5683,begin apogee
$GC,5688,-0.19,0.0,2211,1896,3433,3355,672.3,-11.6,611,5811,1.08,0.00,119.85,2.000,10246,0.159,0.000,2424,1895,2812,2854,2770,0,0,0,0,0,0,14.81,14.27,13.59
$STATE,5813,end apogee,CONTROL_FINISHED_OK
$STATE,5813,begin climb
$GC,5815,0.85,146.0,2424,1896,2854,2770,677.8,0.0,617,5950,1.60,2.50,123.93,1.952,10756,0.064,0.082,2786,522,2213,2260,2167,0,0,0,0,0,0,14.31,14.09,13.43
$GC,6151,0.85,146.0,2785,522,2250,2167,658.4,10.8,634,6157,0.10,2.35,0.00,0.000,5126,0.262,0.049,2768,1919,2208,2250,2167,0,0,0,0,0,0,14.47,14.60,14.65
$GC,6290,0.87,159.9,2768,1920,2248,2167,644.1,9.3,641,6309,0.00,0.00,12.60,1.720,10246,0.000,0.000,2768,1920,2158,2200,2116,0,0,0,0,0,0,14.94,14.65,13.93
$GC,6429,0.87,159.9,2768,1920,2198,2114,629.3,11.0,648,6435,0.00,2.40,0.00,0.000,260,0.000,0.073,2768,3312,2156,2198,2114,0,0,0,0,0,0,14.93,14.70,14.94
$GC,6481,0.87,159.9,2767,3312,2198,2113,624.2,11.6,650,6486,0.00,2.35,0.00,0.000,5126,0.000,0.051,2776,1922,2155,2198,2112,0,0,0,0,0,0,14.85,14.75,14.86
$GC,6613,0.87,159.9,2775,1923,2198,2112,607.7,11.6,657,6614,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1923,2155,2198,2112,0,0,0,0,0,0,15.02,15.02,15.02
$GC,6733,0.87,159.9,2774,1922,2196,2111,593.7,11.7,663,6734,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1923,2154,2197,2111,0,0,0,0,0,0,15.06,15.07,15.07
$GC,6853,0.87,159.9,2775,1923,2196,2112,579.7,11.7,669,6858,0.00,2.42,0.00,0.000,4356,0.000,0.072,2776,3307,2153,2196,2111,0,0,0,0,0,0,15.09,14.83,15.09
$GC,6899,0.87,159.9,2776,3308,2195,2111,574.6,11.6,671,6905,0.08,2.35,0.00,0.000,5126,0.320,0.052,2774,1908,2153,2196,2111,0,0,0,0,0,0,14.71,14.85,14.90
$GC,7037,0.87,159.9,2772,1908,2195,2110,558.7,10.9,678,7042,0.00,2.45,0.00,0.000,4356,0.000,0.072,2773,3314,2153,2196,2111,0,0,0,0,0,0,15.10,14.88,15.10
$GC,7123,0.87,159.9,2772,3315,2195,2111,549.0,11.8,682,7128,0.00,2.38,0.00,0.000,5126,0.000,0.051,2781,1910,2153,2195,2111,0,0,0,0,0,0,14.95,14.84,14.96
$GC,7260,0.87,159.9,2781,1909,2195,2110,533.0,11.3,689,7261,0.00,0.00,0.00,0.000,4102,0.000,0.000,2781,1910,2152,2195,2110,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7380,0.87,159.9,2781,1909,2194,2110,519.8,10.9,695,7385,0.00,2.42,0.00,0.000,4356,0.000,0.073,2781,3307,2152,2194,2110,0,0,0,0,0,0,15.19,14.88,15.15
$GC,7476,0.87,159.9,2781,3308,2191,2109,510.5,11.2,699,7484,0.10,2.35,0.00,0.000,5126,0.288,0.053,2773,1911,2151,2194,2109,0,0,0,0,0,0,14.73,14.90,14.94
$GC,7602,0.87,159.9,2773,1911,2194,2109,496.2,10.1,706,7603,0.00,0.00,0.00,0.000,4102,0.000,0.000,2773,1910,2152,2194,2110,0,0,0,0,0,0,15.15,15.16,15.16
$GC,7723,0.90,180.9,2773,1911,2194,2110,485.2,9.0,712,7747,0.00,2.45,18.33,1.717,10756,0.000,0.084,2782,502,2072,2119,2025,0,0,0,0,0,0,15.16,14.71,14.14
$GC,7784,0.90,187.9,2782,502,2116,2025,479.0,9.6,715,7798,0.00,2.35,7.30,1.437,9222,0.000,0.048,2782,1908,2044,2093,1996,0,0,0,0,0,0,14.89,14.82,14.09
$GC,7925,0.90,187.9,2782,1908,2092,1994,463.1,11.4,722,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1908,2043,2092,1994,0,0,0,0,0,0,15.02,15.03,15.03
$GC,8045,0.90,187.9,2782,1908,2091,1994,449.5,11.4,728,8051,0.00,2.40,0.00,0.000,260,0.000,0.076,2782,3312,2043,2092,1994,0,0,0,0,0,0,15.07,14.81,15.07
$GC,8152,0.90,187.9,2782,3312,2091,1994,437.5,11.8,733,8157,0.00,2.38,0.00,0.000,5126,0.000,0.054,2791,1903,2042,2091,1994,0,0,0,0,0,0,14.95,14.84,14.96
$GC,8289,0.90,187.9,2791,1902,2091,1993,420.6,12.2,740,8294,0.00,2.45,0.00,0.000,4356,0.000,0.072,2791,3313,2041,2090,1993,0,0,0,0,0,0,15.10,14.84,15.11
$GC,8345,0.90,187.9,2791,3313,2089,1993,415.2,12.4,742,8353,0.10,2.38,0.00,0.000,5126,0.285,0.053,2783,1903,2041,2090,1993,0,0,0,0,0,0,14.72,14.86,14.91
$GC,8471,0.90,187.9,2783,1903,2090,1993,398.2,11.8,749,8472,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1902,2041,2090,1992,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8591,0.90,187.9,2783,1903,2090,1992,384.7,10.9,755,8592,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1903,2040,2089,1992,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8711,0.90,187.9,2782,1902,2088,1992,371.4,11.2,761,8712,0.00,0.00,0.00,0.000,4102,0.000,0.000,2783,1903,2041,2090,1992,0,0,0,0,0,0,15.15,15.15,15.15
$GC,8831,0.90,187.9,2783,1902,2088,1992,357.8,11.3,767,8837,0.00,2.50,0.00,0.000,4356,0.000,0.074,2783,3311,2040,2089,1992,0,0,0,0,0,0,15.16,14.78,15.16
$GC,8923,0.90,187.9,2783,3311,2089,1992,348.1,11.9,771,8928,0.00,2.38,0.00,0.000,5126,0.000,0.054,2791,1909,2040,2089,1992,0,0,0,0,0,0,14.97,14.86,14.99
$GC,9055,0.90,187.9,2791,1908,2089,1991,332.1,11.4,778,9056,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1908,2040,2089,1991,0,0,0,0,0,0,15.16,15.16,15.16
$GC,9175,0.90,187.9,2791,1908,2089,1992,318.1,11.6,784,9180,0.00,2.45,0.00,0.000,4356,0.000,0.073,2791,3312,2040,2089,1991,0,0,0,0,0,0,15.16,14.88,15.17
$GC,9221,0.90,187.9,2791,3312,2089,1992,312.9,11.8,786,9227,0.08,2.38,0.00,0.000,5126,0.310,0.053,2787,1903,2040,2089,1992,0,0,0,0,0,0,14.69,14.81,14.85
$GC,9349,0.90,187.9,2786,1904,2089,1991,298.2,11.0,794,9355,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1903,2040,2089,1991,0,0,0,0,0,0,15.16,15.16,15.16
$GC,9417,0.90,187.9,2786,1903,2089,1991,290.3,11.2,807,9424,0.00,2.45,0.00,0.000,4356,0.000,0.072,2787,3312,2040,2089,1992,0,0,0,0,0,0,15.14,14.88,15.14
$GC,9481,0.90,187.9,2786,3312,2088,1991,282.6,12.4,819,9488,0.03,2.38,0.00,0.000,5126,0.524,0.053,2787,1907,2040,2089,1991,0,0,0,0,0,0,14.64,14.90,14.85
$GC,9550,0.90,187.9,2786,1906,2089,1991,274.8,11.5,832,9557,0.00,2.45,0.00,0.000,4356,0.000,0.072,2786,3313,2039,2088,1991,0,0,0,0,0,0,15.14,14.86,15.14
$GC,9599,0.90,187.9,2786,3309,2089,1992,268.9,12.5,841,9605,0.00,2.38,0.00,0.000,5126,0.000,0.052,2794,1906,2040,2089,1992,0,0,0,0,0,0,15.00,14.88,15.02
$GC,9668,0.90,187.9,2793,1905,2089,1991,260.5,11.8,854,9674,0.00,0.00,0.00,0.000,4102,0.000,0.000,2794,1906,2039,2088,1991,0,0,0,0,0,0,15.12,15.13,15.13
$GC,9736,0.90,187.9,2794,1906,2089,1991,252.4,12.0,867,9742,0.00,2.45,0.00,0.000,4356,0.000,0.071,2794,3312,2039,2088,1991,0,0,0,0,0,0,15.12,14.85,15.12
$GC,9789,0.90,187.9,2794,3312,2088,1991,246.1,12.5,877,9796,0.10,2.38,0.00,0.000,5126,0.282,0.053,2785,1907,2039,2088,1991,0,0,0,0,0,0,14.71,14.88,14.91
$GC,9859,0.90,187.9,2785,1907,2088,1991,238.0,10.9,890,9865,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1907,2039,2088,1991,0,0,0,0,0,0,15.12,15.13,15.13
$GC,9927,0.90,187.9,2785,1907,2088,1991,230.7,10.7,903,9933,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1906,2039,2088,1991,0,0,0,0,0,0,15.11,15.11,15.11
$GC,9995,0.90,187.9,2785,1907,2089,1991,223.7,10.4,916,10000,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1907,2039,2088,1991,0,0,0,0,0,0,15.11,15.11,15.12
$GC,10062,0.90,187.9,2785,1907,2088,1991,216.4,10.8,929,10068,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1907,2039,2088,1991,0,0,0,0,0,0,15.12,15.12,15.12
$GC,10131,0.90,187.9,2785,1904,2089,1990,209.3,10.4,942,10137,0.00,2.47,0.00,0.000,4356,0.000,0.072,2785,3319,2039,2087,1991,0,0,0,0,0,0,15.13,14.73,15.12
$GC,10219,0.90,187.9,2784,3319,2088,1991,199.6,11.0,959,10226,0.00,2.40,0.00,0.000,5126,0.000,0.054,2792,1905,2039,2088,1991,0,0,0,0,0,0,14.97,14.85,14.99
$GC,10289,0.90,187.9,2792,1905,2089,1991,192.0,10.7,972,10294,0.00,0.00,0.00,0.000,4102,0.000,0.000,2793,1905,2040,2089,1991,0,0,0,0,0,0,15.09,15.09,15.09
$GC,10356,0.90,187.9,2792,1905,2089,1991,185.0,10.3,985,10363,0.00,2.47,0.00,0.000,4356,0.000,0.070,2792,3313,2039,2088,1991,0,0,0,0,0,0,15.08,14.74,15.09
$GC,10430,0.90,187.9,2792,3313,2089,1991,177.5,10.6,999,10438,0.10,2.38,0.00,0.000,5126,0.282,0.052,2784,1908,2039,2088,1991,0,0,0,0,0,0,14.67,14.84,14.88
$GC,10500,0.92,203.4,2783,1909,2089,1991,170.8,9.2,1012,10517,0.00,0.00,13.88,1.305,8198,0.000,0.000,2784,1909,1981,2032,1931,0,0,0,0,0,0,15.08,14.78,14.19
$GC,10579,0.92,203.4,2783,1909,2030,1928,162.7,10.3,1027,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,1979,2030,1928,0,0,0,0,0,0,15.00,15.01,15.01
$GC,10647,0.92,203.4,2783,1909,2030,1927,155.4,10.4,1040,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,1978,2030,1927,0,0,0,0,0,0,15.00,15.02,15.02
$GC,10715,0.92,203.4,2784,1909,2030,1927,148.5,10.5,1053,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,1978,2029,1927,0,0,0,0,0,0,15.02,15.02,15.02
$GC,10783,0.92,203.4,2783,1909,2029,1927,140.9,10.8,1066,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1909,1978,2030,1927,0,0,0,0,0,0,15.03,15.04,15.04
$GC,10850,0.92,203.4,2783,1909,2030,1927,133.7,10.5,1079,10857,0.00,2.42,0.00,0.000,260,0.000,0.070,2783,3312,1978,2029,1927,0,0,0,0,0,0,15.02,14.77,15.03
$GC,10939,0.92,203.4,2783,3312,2030,1927,124.1,11.5,1096,10946,0.00,2.40,0.00,0.000,5126,0.000,0.053,2791,1911,1978,2030,1927,0,0,0,0,0,0,14.91,14.80,14.92
$GC,11009,0.92,203.4,2791,1905,2030,1927,116.4,10.5,1109,11015,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1905,1978,2030,1927,0,0,0,0,0,0,15.03,15.04,15.04
$GC,11078,0.92,203.8,2791,1904,2029,1927,109.7,9.9,1122,11084,0.00,2.47,0.00,0.000,4356,0.000,0.069,2787,3316,1978,2029,1927,0,0,0,0,0,0,15.04,14.78,15.04
$GC,11326,0.92,203.8,2791,3316,2030,1927,82.8,10.6,1171,11333,0.00,2.40,0.00,0.000,5126,0.000,0.052,2800,1902,1978,2030,1927,0,0,0,0,0,0,14.82,14.71,14.83
$GC,11396,0.93,207.4,2800,1902,2030,1927,76.2,9.8,1184,11409,0.00,2.42,4.53,0.840,12804,0.000,0.086,2800,502,1965,2016,1915,0,0,0,0,0,0,15.04,14.74,14.17
$GC,11441,0.93,207.4,2800,502,2016,1915,71.6,10.0,1192,11448,0.00,2.35,0.00,0.000,5126,0.000,0.043,2800,1923,1965,2016,1915,0,0,0,0,0,0,14.84,14.79,14.85
$GC,11512,0.94,214.0,2800,1923,2025,1915,65.4,9.6,1205,11524,0.00,0.00,7.65,1.024,12294,0.000,0.000,2800,1923,1937,1989,1885,0,0,0,0,0,0,15.03,14.79,14.20
$GC,11587,0.94,214.0,2800,1922,1988,1884,56.7,11.4,1219,11594,0.00,2.42,0.00,0.000,4356,0.000,0.073,2800,3313,1936,1988,1885,0,0,0,0,0,0,15.00,14.72,15.01
$GC,11862,1.02,280.6,2800,3313,1988,1883,29.3,6.9,1273,11924,0.00,2.40,55.75,1.162,11270,0.000,0.051,2800,1902,1666,1733,1600,0,0,0,0,0,0,14.88,14.77,14.07
$GC,11986,1.04,299.8,2800,1902,1728,1596,20.2,9.1,1296,12006,0.00,2.50,11.90,1.020,10756,0.000,0.086,2800,500,1589,1657,1521,0,0,0,0,0,0,14.82,14.46,14.06
$GC,12043,1.04,299.8,2800,500,1653,1521,13.7,11.0,1306,12050,0.00,2.38,0.00,0.000,3078,0.000,0.045,2800,1907,1587,1654,1520,0,0,0,0,0,0,14.71,14.63,14.72
$GC,12113,1.04,299.8,2800,1909,1653,1517,5.7,12.4,1319,12120,0.00,2.47,0.00,0.000,2308,0.000,0.067,2800,3319,1585,1653,1518,0,0,0,0,0,0,14.86,14.62,14.88
$STATE,12135,end climb,SURFACE_DEPTH_REACHED
$STATE,12135,begin surface coast
$FINISH,0.9,1.025087
$STATE,12152,end surface coast,CONTROL_FINISHED_OK
$STATE,12152,begin surface
$SM_CCo,12176,10.70,0.132,0,0,1506,320.11
$SM_GC,1.27,12.77,2.35,10.70,0.069,0.060,0.132,153,1993,1506,-7.27,0.93,320.11,0,0,0,0,0,0,14.64,14.67,14.62
$IRIDIUM_FIX,-3228.84,2845.62,151018,065415
$TT8_MAMPS,0.019474,0.955724
$HUMID,59.17
$INTERNAL_PRESSURE,8.78904
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.6
$ALTIM_BOTTOM_PING,631.0,54.8
$SC_FREEKB,3875072
$24V_AH,13.43,73.982
$10V_AH,13.48,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.975,206.900,375.700,10.700,0.000,49.904,41.455,1042.341,14.000,0.000,28.590,3399.584,5533.877,743.999,3757.021,297.270,0.000,2081.665,0.000,2329.240,0.000,90.506,0.000
$DEVICE_MAMPS,524.025,136.170,1999.710,131.580,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.022,0.000,0.000,0.000
$MEM,339712
$DATA_FILE_SIZE,46672,1326
$CAP_FILE_SIZE,294845,0
$CFSIZE,1023623168,1006780416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151018,104036,-3243.476,2842.654,74,1.0,83,-27.1,0.6,176.1,8,6.9