version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 83
start: 4 3 119 17 50 25
data:
$ID,573
$MISSION,30
$DIVE,83
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$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,333
$T_MISSION,343
$T_ABORT,358
$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,290
$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,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$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,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$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,-167.97279
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,030419,174059,-2901.7625,3216.9094,163,0.8,164,-23.9,1.0,195.2,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-53.79
$_SM_ANGLEo,-60.5
$GPS2,030419,175001,-2901.8865,3216.7734,20,0.9,22,-23.9,0.7,152.1,9,8.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2858.193,3205.174
$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,313.9,20000,-18.3,-10.010,-21.05,2234
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.86,-146.0,91,1999,591,578,0.0,0.0,0,130,0.00,0.00,-102.43,0.000,16390,0.000,0.000,79,2001,3407,3427,3388,0,0,0,0,0,0,14.92,13.70,14.88
$GC,132,-0.86,-146.0,80,2001,3428,3389,-51.9,-10.1,21,150,12.82,2.45,0.00,0.000,2308,0.323,0.067,2200,3390,3410,3432,3388,0,0,0,0,0,0,14.35,14.59,14.65
$GC,441,-0.86,-146.0,2201,3392,3441,3382,-20.0,-10.2,83,445,0.00,2.35,0.00,0.000,3078,0.000,0.044,2201,1981,3411,3441,3382,0,0,0,0,0,0,14.87,14.76,14.88
$GC,506,-0.86,-146.0,2200,1980,3442,3382,-16.0,-1.7,96,510,0.00,2.40,0.00,0.000,2564,0.000,0.072,2201,580,3412,3442,3383,0,0,0,0,0,0,15.12,14.71,15.12
$GC,531,-0.86,-146.0,2201,579,3442,3382,-14.4,-5.1,101,536,0.00,2.35,0.00,0.000,3078,0.000,0.047,2201,2001,3412,3442,3382,0,0,0,0,0,0,14.88,14.78,14.90
$GC,596,-0.86,-146.0,2200,2001,3442,3382,-8.1,-8.2,114,601,0.00,2.38,0.00,0.000,2308,0.000,0.072,2197,3386,3412,3442,3382,0,0,0,0,0,0,15.14,14.73,15.14
$GC,677,-0.86,-146.0,2198,3387,3442,3382,-1.8,-11.5,130,682,0.05,2.33,0.00,0.000,3078,0.341,0.041,2208,1983,3412,3443,3382,0,0,0,0,0,0,14.57,14.79,14.80
$GC,743,-0.86,-146.0,2207,1983,3443,3382,2.7,-7.4,143,747,0.00,2.45,0.00,0.000,2308,0.000,0.072,2207,3390,3412,3443,3382,0,0,0,0,0,0,15.16,14.74,15.16
$GC,812,-0.86,-146.0,2207,3390,3443,3382,7.5,-9.2,157,817,0.00,2.33,0.00,0.000,3078,0.000,0.041,2207,1986,3413,3444,3382,0,0,0,0,0,0,14.92,14.79,14.93
$GC,878,-0.86,-146.0,2208,1984,3444,3382,12.3,-4.1,170,882,0.00,2.40,0.00,0.000,2564,0.000,0.070,2207,576,3413,3444,3382,0,0,0,0,0,0,15.17,14.75,15.18
$GC,917,-0.86,-146.0,2207,576,3445,3382,15.6,-8.2,178,922,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,1987,3413,3444,3382,0,0,0,0,0,0,14.93,14.82,14.95
$GC,983,-0.86,-146.0,2206,1987,3445,3381,19.7,-3.9,191,987,0.00,2.40,0.00,0.000,2308,0.000,0.073,2204,3387,3412,3444,3381,0,0,0,0,0,0,15.18,14.76,15.19
$GC,1072,-0.86,-146.0,2204,3386,3444,3383,26.0,-7.9,209,1077,0.00,2.33,0.00,0.000,3078,0.000,0.042,2204,1974,3413,3445,3381,0,0,0,0,0,0,14.93,14.81,14.95
$GC,1138,-0.86,-146.0,2204,1973,3445,3381,30.1,-7.8,222,1142,0.00,2.38,0.00,0.000,2564,0.000,0.072,2204,580,3413,3445,3381,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1158,-0.86,-146.0,2204,578,3445,3382,31.8,-7.3,226,1162,0.00,2.33,0.00,0.000,3078,0.000,0.047,2204,1988,3413,3445,3382,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1223,-0.86,-146.0,2204,1988,3445,3382,36.0,-7.7,239,1227,0.00,2.40,0.00,0.000,2308,0.000,0.073,2204,3387,3413,3445,3381,0,0,0,0,0,0,15.19,14.76,15.20
$GC,1282,-0.86,-146.0,2203,3388,3445,3382,38.7,0.3,251,1287,0.00,2.30,0.00,0.000,3078,0.000,0.040,2204,1990,3413,3445,3382,0,0,0,0,0,0,14.94,14.83,14.96
$GC,1348,-0.86,-146.0,2203,1990,3445,3382,44.0,-5.1,264,1350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1990,3413,3445,3382,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1413,-0.86,-146.0,2204,1990,3445,3382,48.7,-8.9,277,1417,0.00,2.42,0.00,0.000,2308,0.000,0.071,2203,3390,3413,3445,3382,0,0,0,0,0,0,15.21,14.77,15.21
$GC,1447,-0.86,-146.0,2203,3390,3445,3382,51.8,-9.2,284,1452,0.00,2.33,0.00,0.000,3078,0.000,0.041,2203,1974,3413,3445,3382,0,0,0,0,0,0,14.95,14.83,14.96
$GC,1513,-0.86,-146.0,2203,1973,3445,3382,56.1,-6.3,297,1516,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1973,3413,3445,3382,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1578,-0.86,-146.0,2202,1973,3445,3381,60.7,-7.8,310,1582,0.00,2.45,0.00,0.000,2308,0.000,0.071,2203,3387,3413,3445,3382,0,0,0,0,0,0,15.19,14.77,15.19
$GC,1612,-0.86,-146.0,2203,3388,3445,3382,62.9,-8.4,317,1616,0.00,2.33,0.00,0.000,3078,0.000,0.041,2203,1983,3413,3445,3382,0,0,0,0,0,0,14.95,14.82,14.96
$GC,1678,-0.86,-146.0,2203,1981,3445,3381,67.2,-6.8,330,1681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1981,3413,3445,3382,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1743,-0.86,-146.0,2203,1981,3445,3382,70.6,-4.4,343,1745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1981,3414,3446,3382,0,0,0,0,0,0,15.21,15.22,15.21
$GC,1808,-0.86,-146.0,2203,1981,3445,3381,74.2,-4.4,356,1812,0.00,2.45,0.00,0.000,2308,0.000,0.071,2203,3395,3413,3445,3381,0,0,0,0,0,0,15.22,14.78,15.22
$GC,1842,-0.86,-146.0,2202,3395,3445,3382,75.5,-6.4,363,1847,0.00,2.33,0.00,0.000,3078,0.000,0.041,2203,1981,3413,3445,3381,0,0,0,0,0,0,14.95,14.82,14.97
$GC,1908,-0.86,-146.0,2202,1980,3445,3382,77.1,5.3,376,1911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1980,3412,3445,3380,0,0,0,0,0,0,15.22,15.22,15.22
$GC,1974,-0.86,-146.0,2202,1980,3445,3381,82.5,-6.7,389,1978,0.00,2.45,0.00,0.000,2308,0.000,0.072,2203,3394,3413,3445,3382,0,0,0,0,0,0,15.22,14.77,15.22
$GC,2039,-0.86,-146.0,2202,3394,3445,3381,85.8,-8.6,402,2043,0.00,2.33,0.00,0.000,3078,0.000,0.041,2202,1981,3413,3445,3381,0,0,0,0,0,0,14.95,14.82,14.96
$GC,2104,-0.86,-146.0,2202,1981,3445,3381,89.8,-7.3,415,2107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1982,3413,3445,3381,0,0,0,0,0,0,15.22,15.23,15.22
$GC,2169,-0.86,-146.0,2202,1981,3445,3381,92.8,-5.6,428,2173,0.00,2.45,0.00,0.000,2308,0.000,0.071,2202,3392,3413,3445,3381,0,0,0,0,0,0,15.22,14.77,15.22
$GC,2210,-0.86,-146.0,2202,3393,3445,3381,95.1,-5.1,436,2214,0.00,2.33,0.00,0.000,3078,0.000,0.041,2202,1979,3413,3445,3381,0,0,0,0,0,0,14.95,14.82,14.97
$GC,2274,-0.86,-146.0,2202,1978,3445,3381,99.2,-11.1,449,2279,0.00,2.45,0.00,0.000,2308,0.000,0.072,2200,3393,3413,3445,3381,0,0,0,0,0,0,15.23,14.77,15.23
$GC,2320,-0.86,-146.0,2200,3394,3445,3380,101.6,-5.6,458,2324,0.00,2.33,0.00,0.000,3078,0.000,0.039,2201,1986,3413,3445,3381,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2385,-0.86,-146.0,2200,1984,3445,3381,106.1,-3.3,471,2388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1984,3413,3445,3381,0,0,0,0,0,0,15.22,15.23,15.22
$GC,2449,-0.86,-146.0,2200,1984,3445,3381,111.7,-11.9,484,2454,0.00,2.45,0.00,0.000,2308,0.000,0.071,2200,3389,3412,3445,3380,0,0,0,0,0,0,15.23,14.76,15.23
$GC,2540,-0.86,-146.0,2200,3389,3445,3380,117.6,-7.0,502,2544,0.00,2.33,0.00,0.000,3078,0.000,0.041,2200,1980,3412,3444,3380,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2606,-0.86,-146.0,2200,1980,3445,3379,121.6,-6.2,515,2609,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1979,3412,3445,3380,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2670,-0.86,-146.0,2200,1980,3445,3379,126.3,-10.5,528,2674,0.00,2.45,0.00,0.000,2308,0.000,0.072,2200,3386,3412,3445,3379,0,0,0,0,0,0,15.23,14.76,15.23
$GC,2699,-0.86,-146.0,2200,3386,3445,3379,128.3,-10.1,534,2704,0.00,2.30,0.00,0.000,3078,0.000,0.042,2200,1984,3412,3445,3379,0,0,0,0,0,0,14.95,14.82,14.97
$GC,2765,-0.86,-146.0,2200,1983,3445,3379,132.6,-4.5,547,2769,0.00,2.45,0.00,0.000,2308,0.000,0.073,2199,3392,3411,3445,3378,0,0,0,0,0,0,15.23,14.76,15.23
$GC,2820,-0.86,-146.0,2200,3392,3445,3378,137.3,-7.9,558,2824,0.00,2.33,0.00,0.000,3078,0.000,0.042,2200,1984,3411,3445,3378,0,0,0,0,0,0,14.95,14.82,14.96
$GC,2885,-0.86,-146.0,2200,1982,3445,3378,141.2,-4.3,571,2888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1983,3411,3445,3378,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2950,-0.86,-146.0,2200,1983,3445,3378,145.7,-7.7,584,2954,0.00,2.45,0.00,0.000,2308,0.000,0.072,2200,3386,3411,3445,3378,0,0,0,0,0,0,15.23,14.76,15.23
$GC,3000,-0.86,-146.0,2200,3386,3444,3378,148.2,-2.8,594,3004,0.00,2.33,0.00,0.000,3078,0.000,0.042,2200,1980,3410,3444,3377,0,0,0,0,0,0,14.95,14.81,14.96
$GC,3065,-0.86,-146.0,2200,1979,3444,3378,153.1,-2.9,607,3068,0.00,0.00,0.00,0.000,2054,0.000,0.000,2199,1979,3410,3444,3377,0,0,0,0,0,0,15.22,15.23,15.22
$GC,3130,-0.86,-146.0,2200,1978,3444,3377,157.7,-7.5,620,3134,0.00,2.45,0.00,0.000,2308,0.000,0.073,2200,3385,3410,3444,3377,0,0,0,0,0,0,15.22,14.75,15.23
$GC,3185,-0.86,-146.0,2200,3385,3444,3377,160.8,-4.3,631,3189,0.00,2.33,0.00,0.000,3078,0.000,0.043,2200,1984,3409,3443,3376,0,0,0,0,0,0,14.94,14.82,14.96
$GC,3250,-0.86,-146.0,2199,1984,3444,3376,166.0,-12.9,644,3254,0.00,2.45,0.00,0.000,2308,0.000,0.073,2198,3388,3409,3442,3377,0,0,0,0,0,0,15.22,14.74,15.23
$GC,3284,-0.86,-146.0,2199,3389,3443,3376,168.4,-10.5,651,3289,0.00,2.33,0.00,0.000,3078,0.000,0.043,2199,1979,3409,3443,3376,0,0,0,0,0,0,14.94,14.80,14.95
$GC,3350,-0.86,-146.0,2199,1978,3443,3376,171.7,-6.8,664,3353,0.00,0.00,0.00,0.000,2054,0.000,0.000,2199,1978,3409,3443,3376,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3415,-0.86,-146.0,2199,1978,3443,3375,175.9,-9.0,677,3418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2199,1978,3409,3443,3375,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3481,-0.86,-146.0,2198,1978,3443,3374,179.7,-10.5,690,3484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2199,1977,3408,3443,3374,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3545,-0.86,-146.0,2198,1978,3443,3374,183.2,-4.9,703,3549,0.00,2.47,0.00,0.000,2308,0.000,0.073,2197,3389,3408,3442,3374,0,0,0,0,0,0,15.23,14.74,15.23
$GC,3620,-0.86,-146.0,2197,3389,3442,3375,187.2,-8.6,718,3625,0.05,2.33,0.00,0.000,3078,0.338,0.043,2207,1987,3408,3442,3374,0,0,0,0,0,0,14.57,14.79,14.80
$GC,3686,-0.86,-146.0,2206,1987,3442,3374,191.2,-0.3,731,3689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3408,3442,3374,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3750,-0.86,-146.0,2207,1987,3442,3374,195.5,-8.8,744,3755,0.00,2.45,0.00,0.000,2308,0.000,0.076,2207,3385,3408,3442,3374,0,0,0,0,0,0,15.23,14.73,15.23
$GC,3821,-0.86,-146.0,2207,3386,3441,3374,199.5,-7.0,758,3825,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,1987,3408,3442,3374,0,0,0,0,0,0,14.92,14.79,14.95
$GC,3885,-0.86,-146.0,2207,1987,3441,3373,202.9,-2.5,771,3888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1987,3407,3441,3373,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3950,-0.86,-146.0,2207,1987,3441,3373,207.3,-4.0,784,3955,0.00,2.47,0.00,0.000,2308,0.000,0.075,2207,3386,3407,3441,3374,0,0,0,0,0,0,15.23,14.72,15.23
$GC,3985,-0.86,-146.0,2207,3387,3441,3373,209.8,-14.3,791,3989,0.00,2.33,0.00,0.000,3078,0.000,0.043,2207,1985,3407,3441,3373,0,0,0,0,0,0,14.92,14.79,14.95
$GC,4051,-0.86,-146.0,2207,1985,3441,3374,212.3,-3.2,804,4054,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3407,3441,3373,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4116,-0.86,-146.0,2207,1984,3441,3373,217.1,-7.2,817,4120,0.00,2.45,0.00,0.000,2308,0.000,0.075,2207,3386,3407,3441,3374,0,0,0,0,0,0,15.23,14.72,15.23
$GC,4185,-0.86,-146.0,2207,3385,3440,3373,220.8,-3.4,831,4190,0.00,2.33,0.00,0.000,3078,0.000,0.043,2207,1990,3406,3440,3373,0,0,0,0,0,0,14.92,14.79,14.94
$GC,4250,-0.86,-146.0,2208,1988,3440,3373,224.0,-3.7,844,4254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3407,3441,3373,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4317,-0.86,-146.0,2206,1989,3441,3373,227.4,-3.2,857,4323,0.00,2.45,0.00,0.000,2308,0.000,0.075,2207,3387,3406,3439,3373,0,0,0,0,0,0,15.23,14.71,15.23
$GC,4365,-0.86,-146.0,2206,3387,3440,3372,231.7,-18.0,867,4369,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,1986,3406,3440,3373,0,0,0,0,0,0,14.92,14.78,14.94
$GC,4430,-0.86,-146.0,2207,1984,3439,3372,233.3,-0.2,880,4433,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1984,3405,3439,3372,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4495,-0.86,-146.0,2206,1984,3439,3371,237.5,-6.7,893,4500,0.00,2.45,0.00,0.000,2308,0.000,0.076,2207,3385,3405,3439,3371,0,0,0,0,0,0,15.23,14.71,15.23
$GC,4535,-0.86,-146.0,2206,3385,3439,3371,239.2,-4.1,901,4540,0.00,2.33,0.00,0.000,3078,0.000,0.043,2207,1986,3404,3439,3370,0,0,0,0,0,0,14.92,14.78,14.93
$GC,4601,-0.86,-146.0,2206,1985,3438,3371,242.1,-3.0,914,4604,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1985,3404,3439,3370,0,0,0,0,0,0,15.22,15.23,15.22
$GC,4666,-0.86,-146.0,2206,1985,3439,3370,245.8,-7.0,927,4670,0.00,2.47,0.00,0.000,2308,0.000,0.075,2206,3393,3404,3438,3370,0,0,0,0,0,0,15.22,14.71,15.23
$GC,4706,-0.86,-146.0,2207,3393,3438,3369,246.7,-6.8,935,4710,0.00,2.35,0.00,0.000,3078,0.000,0.044,2207,1981,3403,3438,3369,0,0,0,0,0,0,14.91,14.77,14.93
$GC,4771,-0.86,-146.0,2206,1981,3438,3370,249.0,-4.6,948,4774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1981,3403,3437,3369,0,0,0,0,0,0,15.23,15.23,15.23
$GC,4836,-0.86,-146.0,2206,1981,3438,3369,251.5,-6.1,961,4840,0.00,2.47,0.00,0.000,2308,0.000,0.076,2204,3385,3403,3437,3369,0,0,0,0,0,0,15.22,14.70,15.23
$GC,4896,-0.86,-146.0,2204,3385,3437,3369,253.1,-3.2,973,4900,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,1991,3403,3437,3369,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4961,-0.86,-146.0,2204,1990,3437,3369,255.8,-5.5,986,4965,0.00,2.45,0.00,0.000,2308,0.000,0.076,2204,3385,3403,3437,3369,0,0,0,0,0,0,15.22,14.70,15.23
$GC,4996,-0.86,-146.0,2203,3385,3437,3369,257.4,-4.8,993,5000,0.00,2.35,0.00,0.000,3078,0.000,0.044,2204,1973,3402,3436,3369,0,0,0,0,0,0,14.90,14.76,14.92
$GC,5061,-0.86,-146.0,2204,1972,3436,3368,260.2,-2.4,1006,5065,0.00,2.50,0.00,0.000,2308,0.000,0.076,2204,3385,3402,3436,3368,0,0,0,0,0,0,15.22,14.69,15.22
$STATE,5089,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5089,begin apogee
$GC,5096,-0.19,0.0,2203,1987,3436,3368,260.8,-15.4,1012,5220,1.12,0.00,116.85,1.788,10246,0.181,0.000,2420,1984,2812,2856,2769,0,0,0,0,0,0,14.50,14.25,13.50
$STATE,5221,end apogee,CONTROL_FINISHED_OK
$STATE,5222,begin climb
$GC,5223,0.86,146.0,2421,1984,2855,2769,252.5,0.0,1038,5355,1.62,2.47,121.65,1.746,10756,0.104,0.082,2750,587,2214,2266,2163,0,0,0,0,0,0,14.23,14.02,13.42
$GC,5405,0.86,146.0,2750,587,2259,2164,257.1,605.7,1049,5417,0.00,2.38,0.00,0.000,3078,0.000,0.046,2750,1983,2210,2259,2161,0,0,0,0,0,0,14.42,14.38,14.44
$GC,5588,1.02,278.5,2750,1983,2256,2161,246.5,3.9,1062,5710,0.20,2.58,111.78,1.698,10500,0.105,0.072,2812,3386,1672,1730,1615,0,0,0,0,0,0,14.57,14.07,13.50
$GC,5715,1.02,278.5,2812,3387,1730,1615,539.1,15.2,1070,5719,0.00,2.42,0.00,0.000,1030,0.000,0.050,2814,1991,1672,1729,1615,0,0,0,0,0,0,14.35,14.26,14.35
$GC,5932,1.02,278.5,2814,1991,1723,1610,503.3,15.2,1084,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1666,1723,1610,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6052,1.02,278.5,2814,1990,1722,1610,485.4,14.9,1090,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1663,1722,1605,0,0,0,0,0,0,14.94,14.95,14.95
$GC,6172,1.02,278.5,2814,1991,1721,1609,467.7,14.9,1096,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1991,1665,1721,1609,0,0,0,0,0,0,14.99,15.00,15.00
$GC,6292,1.02,278.5,2813,1991,1720,1609,450.0,14.8,1102,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1664,1720,1609,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6412,1.02,278.5,2814,1991,1719,1608,432.0,15.0,1108,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1663,1719,1608,0,0,0,0,0,0,15.04,15.05,15.05
$GC,6532,1.02,278.5,2814,1991,1719,1608,414.2,14.7,1114,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1663,1719,1608,0,0,0,0,0,0,15.06,15.07,15.07
$GC,6652,1.02,278.5,2813,1991,1718,1608,395.4,15.9,1120,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1663,1718,1608,0,0,0,0,0,0,15.08,15.09,15.09
$GC,6772,1.02,278.5,2813,1991,1717,1608,375.7,16.4,1126,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1663,1718,1608,0,0,0,0,0,0,15.09,15.11,15.10
$GC,6893,1.02,278.5,2813,1991,1718,1607,356.0,16.4,1132,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1991,1662,1718,1607,0,0,0,0,0,0,15.09,15.11,15.10
$GC,7012,1.02,278.5,2814,1991,1717,1607,337.1,15.7,1138,7017,0.00,2.45,0.00,0.000,516,0.000,0.086,2814,586,1662,1717,1607,0,0,0,0,0,0,15.10,14.69,15.11
$GC,7038,1.02,278.5,2814,585,1717,1607,333.8,15.4,1139,7043,0.00,2.33,0.00,0.000,1030,0.000,0.047,2814,1987,1662,1717,1607,0,0,0,0,0,0,14.91,14.81,14.94
$GC,7175,1.02,278.5,2814,1988,1717,1607,312.4,15.5,1146,7180,0.00,2.42,0.00,0.000,260,0.000,0.072,2814,3390,1661,1716,1607,0,0,0,0,0,0,15.10,14.73,15.11
$GC,7201,1.02,278.5,2814,3390,1716,1606,308.8,15.8,1147,7206,0.00,2.35,0.00,0.000,1030,0.000,0.050,2814,1985,1661,1716,1606,0,0,0,0,0,0,14.90,14.78,14.93
$GC,7328,1.02,278.5,2814,1985,1716,1606,287.8,16.4,1164,7335,0.00,2.45,0.00,0.000,260,0.000,0.073,2814,3391,1661,1716,1606,0,0,0,0,0,0,15.08,14.72,15.09
$GC,7372,1.02,278.5,2814,3392,1716,1606,280.5,17.1,1172,7379,0.00,2.38,0.00,0.000,1030,0.000,0.051,2814,1988,1660,1716,1605,0,0,0,0,0,0,14.73,14.62,14.76
$GC,7441,1.02,278.5,2814,1988,1716,1605,270.1,15.1,1185,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1988,1660,1716,1605,0,0,0,0,0,0,15.08,15.09,15.09
$GC,7509,1.02,278.5,2814,1988,1716,1606,259.4,15.3,1198,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1988,1661,1717,1606,0,0,0,0,0,0,15.07,15.08,15.08
$GC,7577,1.02,278.5,2814,1988,1716,1605,248.9,16.1,1211,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1988,1661,1717,1605,0,0,0,0,0,0,15.07,15.07,15.07
$GC,7646,1.02,278.5,2813,1988,1716,1605,238.5,15.2,1224,7653,0.00,2.45,0.00,0.000,260,0.000,0.071,2814,3394,1660,1716,1605,0,0,0,0,0,0,15.07,14.71,15.07
$GC,7665,1.02,278.5,2814,3394,1715,1605,235.3,15.3,1227,7672,0.00,2.40,0.00,0.000,1030,0.000,0.051,2814,1980,1660,1716,1605,0,0,0,0,0,0,14.87,14.74,14.90
$GC,7735,1.02,278.5,2814,1979,1716,1605,225.4,14.5,1240,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1979,1661,1716,1606,0,0,0,0,0,0,15.07,15.07,15.07
$GC,7802,1.02,278.5,2814,1979,1716,1605,215.6,13.9,1253,7809,0.00,2.45,0.00,0.000,516,0.000,0.086,2814,584,1660,1716,1605,0,0,0,0,0,0,15.07,14.49,15.07
$GC,7831,1.02,278.5,2814,584,1715,1605,211.7,13.8,1258,7837,0.00,2.35,0.00,0.000,1030,0.000,0.046,2814,1992,1660,1715,1605,0,0,0,0,0,0,14.88,14.78,14.90
$GC,7900,1.02,278.5,2814,1992,1715,1601,202.4,12.6,1271,7907,0.00,2.47,0.00,0.000,516,0.000,0.083,2815,581,1660,1715,1606,0,0,0,0,0,0,15.07,14.66,15.07
$GC,7939,1.02,278.5,2814,581,1715,1605,197.2,13.1,1278,7945,0.00,2.38,0.00,0.000,1030,0.000,0.047,2815,1992,1659,1714,1605,0,0,0,0,0,0,14.86,14.76,14.89
$GC,8010,1.02,278.5,2816,1993,1715,1605,187.9,13.6,1291,8016,0.00,2.47,0.00,0.000,516,0.000,0.082,2818,584,1660,1715,1605,0,0,0,0,0,0,15.04,14.64,15.06
$GC,8033,1.02,278.5,2817,584,1715,1605,184.4,14.1,1295,8040,0.00,2.38,0.00,0.000,1030,0.000,0.045,2818,2000,1659,1714,1605,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8103,1.02,278.5,2816,1999,1714,1605,174.4,14.7,1308,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2000,1660,1715,1605,0,0,0,0,0,0,15.03,15.03,15.04
$GC,8171,1.02,278.5,2815,2000,1714,1605,164.5,14.6,1321,8177,0.00,2.42,0.00,0.000,260,0.000,0.073,2818,3396,1660,1715,1605,0,0,0,0,0,0,15.04,14.66,15.04
$GC,8190,1.02,278.5,2817,3396,1715,1605,161.4,16.6,1324,8196,0.00,2.40,0.00,0.000,1030,0.000,0.049,2818,1984,1660,1715,1605,0,0,0,0,0,0,14.84,14.73,14.87
$GC,8259,1.02,278.5,2818,1984,1715,1605,151.7,13.7,1337,8266,0.00,2.47,0.00,0.000,516,0.000,0.084,2818,577,1660,1715,1605,0,0,0,0,0,0,15.02,14.63,15.02
$GC,8272,1.02,278.5,2818,577,1715,1605,149.8,13.5,1339,8279,0.00,2.35,0.00,0.000,1030,0.000,0.044,2818,1987,1659,1714,1605,0,0,0,0,0,0,14.66,14.58,14.69
$GC,8341,1.02,278.5,2818,1987,1715,1605,140.7,13.5,1352,8348,0.00,2.47,0.00,0.000,516,0.000,0.082,2818,578,1660,1715,1605,0,0,0,0,0,0,15.02,14.63,15.03
$GC,8365,1.02,278.5,2818,578,1714,1605,137.5,12.5,1356,8372,0.00,2.38,0.00,0.000,1030,0.000,0.046,2818,1992,1661,1717,1605,0,0,0,0,0,0,14.83,14.73,14.86
$GC,8434,1.02,278.5,2818,1992,1714,1605,127.8,13.9,1369,8441,0.00,2.45,0.00,0.000,260,0.000,0.071,2818,3400,1660,1715,1605,0,0,0,0,0,0,15.01,14.66,15.02
$GC,8452,1.02,278.5,2818,3400,1714,1605,125.1,13.8,1372,8459,0.00,2.40,0.00,0.000,1030,0.000,0.048,2818,1986,1659,1714,1605,0,0,0,0,0,0,14.69,14.57,14.71
$GC,8522,1.02,278.5,2818,1985,1714,1605,115.9,13.2,1385,8528,0.00,2.45,0.00,0.000,516,0.000,0.083,2819,583,1659,1714,1605,0,0,0,0,0,0,15.02,14.45,15.02
$GC,8540,1.02,278.5,2818,583,1715,1604,113.4,13.1,1388,8547,0.00,2.38,0.00,0.000,1030,0.000,0.048,2818,2002,1659,1714,1605,0,0,0,0,0,0,14.83,14.71,14.86
$GC,8610,1.02,278.5,2818,2003,1714,1605,104.1,13.2,1401,8616,0.00,2.40,0.00,0.000,260,0.000,0.071,2819,3389,1660,1715,1605,0,0,0,0,0,0,15.01,14.65,15.02
$GC,8679,1.02,278.5,2818,3389,1716,1606,94.2,13.9,1414,8686,0.00,2.40,0.00,0.000,1030,0.000,0.050,2818,1977,1664,1724,1605,0,0,0,0,0,0,14.82,14.71,14.85
$GC,8749,1.02,278.5,2819,1976,1715,1609,84.9,13.2,1427,8755,0.00,2.45,0.00,0.000,516,0.000,0.082,2819,580,1659,1714,1605,0,0,0,0,0,0,15.00,14.62,15.00
$GC,8772,1.02,278.5,2818,580,1714,1605,81.7,13.4,1431,8778,0.00,2.35,0.00,0.000,1030,0.000,0.044,2819,1989,1660,1714,1607,0,0,0,0,0,0,14.69,14.60,14.71
$GC,8841,1.02,278.5,2819,1989,1714,1605,72.5,13.8,1444,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1989,1659,1714,1605,0,0,0,0,0,0,15.00,15.01,15.01
$GC,8909,1.02,278.5,2818,1989,1714,1605,63.3,12.6,1457,8916,0.00,2.42,0.00,0.000,260,0.000,0.070,2819,3393,1660,1715,1605,0,0,0,0,0,0,15.02,14.64,15.02
$GC,8938,1.02,278.5,2818,3393,1715,1605,59.3,15.3,1462,8944,0.00,2.40,0.00,0.000,1030,0.000,0.049,2818,1977,1660,1715,1605,0,0,0,0,0,0,14.68,14.57,14.73
$GC,9007,1.02,278.5,2819,1977,1715,1605,50.4,13.0,1475,9014,0.00,2.45,0.00,0.000,516,0.000,0.083,2819,577,1659,1714,1605,0,0,0,0,0,0,15.01,14.47,15.01
$GC,9046,1.02,278.5,2819,577,1715,1605,45.3,12.7,1482,9053,0.00,2.35,0.00,0.000,1030,0.000,0.045,2819,1987,1659,1714,1605,0,0,0,0,0,0,14.83,14.73,14.85
$GC,9115,1.02,278.5,2819,1987,1715,1605,37.1,12.1,1495,9122,0.00,2.42,0.00,0.000,260,0.000,0.070,2819,3397,1660,1715,1605,0,0,0,0,0,0,15.01,14.64,15.02
$GC,9204,1.02,278.5,2818,3397,1715,1604,26.8,10.6,1512,9211,0.00,2.40,0.00,0.000,1030,0.000,0.047,2819,1982,1660,1715,1605,0,0,0,0,0,0,14.81,14.71,14.85
$GC,9274,1.05,306.0,2819,1982,1715,1605,20.5,8.7,1525,9299,0.00,2.42,17.50,0.933,10756,0.000,0.078,2819,575,1562,1618,1507,0,0,0,0,0,0,15.02,14.64,14.12
$GC,9311,1.08,327.3,2819,575,1617,1508,17.2,9.0,1531,9330,0.00,2.35,12.98,0.904,11270,0.000,0.043,2819,1993,1476,1533,1419,0,0,0,0,0,0,14.82,14.72,14.07
$GC,9392,1.08,327.3,2819,1993,1529,1418,8.2,10.2,1546,9398,0.00,0.00,0.00,0.000,2054,0.000,0.000,2819,1993,1473,1529,1418,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,9448,end climb,SURFACE_DEPTH_REACHED
$STATE,9448,begin surface coast
$FINISH,0.3,1.023704
$STATE,9474,end surface coast,CONTROL_FINISHED_OK
$STATE,9474,begin surface
$SM_CCo,9494,123.82,0.818,0,0,598,542.59
$SM_GC,0.48,12.62,0.00,123.82,0.056,0.000,0.818,145,1994,598,-7.27,0.20,542.59,0,0,0,0,0,0,14.69,14.97,13.98
$IRIDIUM_FIX,-2850.67,3217.31,030419,153141
$TT8_MAMPS,0.018725,3.06716
$HUMID,57.12
$INTERNAL_PRESSURE,9.17968
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.5
$ALTIM_BOTTOM_PING,240.1,35.3
$SC_FREEKB,3880992
$24V_AH,13.42,105.811
$10V_AH,11.67,0.000
$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,28.500,239.700,380.750,123.825,0.000,24.534,35.104,270.190,5.750,0.000,23.388,1908.718,4137.856,601.377,3286.507,223.835,0.000,2157.413,0.000,2314.378,0.000,38.898,0.000
$DEVICE_MAMPS,341.190,85.680,1787.805,817.785,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3712.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.728,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,53256,1562
$CAP_FILE_SIZE,254053,1
$CFSIZE,1023623168,1010909184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030419,203228,-2902.304,3214.721,66,1.1,66,-23.9,0.7,214.6,9,7.6