version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 203
start: 4 12 119 3 38 6
data:
$ID,573
$MISSION,30
$DIVE,203
$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,335
$T_MISSION,345
$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,120
$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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,42
$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,80
$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
$GPS1,120419,032602,-3013.8386,3102.8042,27,1.1,27,-25.1,1.1,206.1,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-64.6
$GPS2,120419,033741,-3014.1340,3102.6433,20,0.8,21,-25.1,0.7,238.2,12,6.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3019.534,3113.478
$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,145.1,20000,-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,19,begin dive
$GC,21,-0.85,-146.0,73,2006,584,582,0.0,0.0,0,121,0.00,0.00,-98.03,0.000,16386,0.000,0.000,73,2007,3283,3300,3267,0,0,0,0,0,0,14.95,28.83,14.95
$GC,125,-0.85,-146.0,77,2007,3301,3267,3.9,-10.0,18,143,12.73,0.00,-2.12,0.000,18950,0.308,0.000,2207,2007,3411,3441,3381,0,0,0,0,0,0,14.29,13.23,14.64
$GC,205,-0.85,-146.0,2207,2007,3444,3381,27.2,-18.9,33,211,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2007,3412,3444,3381,0,0,0,0,0,0,14.98,14.98,14.98
$GC,273,-0.85,-146.0,2207,2007,3441,3381,38.1,-15.4,46,279,0.00,2.47,0.00,0.000,2308,0.000,0.070,2204,3409,3412,3444,3381,0,0,0,0,0,0,15.02,14.66,15.02
$GC,316,-0.85,-146.0,2203,3409,3444,3381,44.6,-15.3,54,323,0.00,2.35,0.00,0.000,3078,0.000,0.039,2204,2007,3413,3445,3381,0,0,0,0,0,0,14.85,14.75,14.87
$GC,386,-0.85,-146.0,2203,2007,3445,3381,56.1,-16.8,67,392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2007,3413,3445,3381,0,0,0,0,0,0,15.02,15.02,15.02
$GC,454,-0.85,-146.0,2203,2007,3445,3381,66.5,-15.1,80,461,0.00,2.40,0.00,0.000,2564,0.000,0.068,2204,606,3413,3446,3381,0,0,0,0,0,0,15.04,14.53,15.04
$GC,529,-0.85,-146.0,2203,606,3446,3381,76.0,-10.5,94,536,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,2019,3413,3446,3381,0,0,0,0,0,0,14.71,14.63,14.72
$GC,600,-0.85,-146.0,2203,2019,3446,3381,83.1,-10.3,107,607,0.00,2.40,0.00,0.000,2308,0.000,0.069,2203,3409,3413,3446,3381,0,0,0,0,0,0,15.05,14.63,15.05
$GC,705,-0.85,-146.0,2203,3409,3446,3381,95.2,-11.4,127,712,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,1997,3414,3447,3381,0,0,0,0,0,0,14.82,14.71,14.83
$GC,775,-0.85,-146.0,2203,1997,3447,3381,102.5,-10.2,140,782,0.00,2.47,0.00,0.000,2308,0.000,0.068,2204,3414,3414,3447,3381,0,0,0,0,0,0,15.07,14.64,15.07
$GC,804,-0.85,-146.0,2203,3413,3447,3381,105.6,-10.5,145,811,0.00,2.30,0.00,0.000,3078,0.000,0.037,2203,2013,3413,3447,3380,0,0,0,0,0,0,14.71,14.62,14.73
$GC,873,-0.85,-146.0,2203,2012,3447,3381,113.0,-10.4,158,880,0.00,2.40,0.00,0.000,2308,0.000,0.068,2204,3410,3414,3448,3381,0,0,0,0,0,0,15.09,14.73,15.08
$GC,907,-0.85,-146.0,2201,3410,3448,3381,116.9,-12.9,164,913,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2011,3415,3449,3381,0,0,0,0,0,0,14.91,14.81,14.92
$GC,976,-0.85,-146.0,2203,2011,3448,3381,124.1,-11.1,177,982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2011,3414,3448,3381,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1044,-0.85,-146.0,2203,2011,3448,3381,131.9,-11.5,190,1051,0.00,2.42,0.00,0.000,2308,0.000,0.067,2203,3409,3414,3448,3381,0,0,0,0,0,0,15.07,14.54,15.08
$GC,1078,-0.85,-146.0,2203,3409,3448,3381,136.0,-11.2,196,1084,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2008,3414,3448,3381,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1147,-0.85,-146.0,2203,2007,3448,3384,143.1,-10.9,209,1153,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2007,3414,3448,3381,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1217,-0.85,-146.0,2204,2007,3448,3381,150.2,-9.8,222,1224,0.00,2.45,0.00,0.000,2308,0.000,0.068,2204,3411,3414,3447,3381,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1241,-0.85,-146.0,2203,3411,3448,3381,152.6,-8.7,226,1247,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,2007,3414,3448,3380,0,0,0,0,0,0,14.84,14.75,14.85
$GC,1311,-0.85,-146.0,2203,2006,3448,3381,158.3,-7.8,239,1316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2006,3414,3448,3381,0,0,0,0,0,0,15.08,15.09,15.08
$GC,1379,-0.85,-146.0,2203,2003,3448,3382,163.6,-7.5,252,1386,0.00,2.45,0.00,0.000,2308,0.000,0.069,2204,3409,3414,3448,3381,0,0,0,0,0,0,15.09,14.54,15.09
$GC,1449,-0.85,-146.0,2203,3409,3448,3381,169.5,-8.7,265,1456,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2012,3414,3448,3381,0,0,0,0,0,0,14.72,14.62,14.73
$GC,1519,-0.85,-146.0,2203,2013,3448,3381,176.0,-9.3,278,1525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2012,3414,3448,3381,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1587,-0.85,-146.0,2203,2012,3448,3380,183.2,-10.6,291,1594,0.00,2.42,0.00,0.000,2308,0.000,0.068,2203,3410,3413,3448,3378,0,0,0,0,0,0,15.09,14.72,15.09
$GC,1612,-0.85,-146.0,2203,3411,3448,3379,185.4,-9.3,295,1618,0.00,2.33,0.00,0.000,3078,0.000,0.037,2204,2004,3414,3448,3380,0,0,0,0,0,0,14.91,14.81,14.94
$GC,1682,-0.85,-146.0,2203,2004,3448,3384,193.3,-11.3,308,1688,0.00,2.47,0.00,0.000,2308,0.000,0.069,2204,3416,3413,3448,3379,0,0,0,0,0,0,15.08,14.71,15.08
$GC,1725,-0.85,-146.0,2203,3416,3448,3379,198.5,-11.4,316,1732,0.00,2.35,0.00,0.000,3078,0.000,0.037,2203,2005,3413,3447,3379,0,0,0,0,0,0,14.78,14.65,14.81
$GC,1795,-0.85,-146.0,2203,2006,3448,3379,206.4,-11.1,329,1801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2006,3413,3448,3379,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1863,-0.85,-146.0,2203,2006,3448,3379,214.3,-11.3,342,1869,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2006,3413,3448,3379,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1931,-0.85,-146.0,2203,2006,3447,3379,221.6,-10.8,355,1937,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2005,3413,3447,3379,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1999,-0.85,-146.0,2203,2005,3442,3379,228.9,-10.6,368,2006,0.00,2.47,0.00,0.000,2308,0.000,0.070,2203,3410,3413,3447,3379,0,0,0,0,0,0,15.10,14.71,15.11
$GC,2048,-0.85,-146.0,2203,3410,3446,3378,234.0,-10.2,377,2055,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2015,3413,3447,3379,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2118,-0.85,-146.0,2203,2015,3447,3378,241.2,-10.7,390,2124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2015,3412,3446,3379,0,0,0,0,0,0,15.12,15.13,15.13
$GC,2186,-0.85,-146.0,2203,2015,3446,3380,248.3,-10.4,403,2193,0.00,2.47,0.00,0.000,2308,0.000,0.068,2204,3415,3412,3446,3378,0,0,0,0,0,0,15.12,14.72,15.12
$GC,2220,-0.85,-146.0,2203,3415,3446,3378,251.7,-9.8,409,2226,0.00,2.33,0.00,0.000,3078,0.000,0.038,2204,2008,3412,3446,3378,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2290,-0.85,-146.0,2203,2008,3446,3378,258.5,-9.7,422,2296,0.00,2.45,0.00,0.000,2308,0.000,0.070,2203,3415,3411,3446,3377,0,0,0,0,0,0,15.11,14.72,15.11
$GC,2319,-0.85,-146.0,2203,3415,3445,3377,261.3,-8.8,427,2325,0.00,2.33,0.00,0.000,3078,0.000,0.038,2204,2007,3412,3446,3378,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2388,-0.85,-146.0,2203,2007,3446,3377,267.6,-9.6,440,2394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2007,3411,3446,3377,0,0,0,0,0,0,15.11,15.10,15.11
$GC,2458,-0.85,-146.0,2203,2007,3446,3376,273.9,-8.9,453,2464,0.00,2.47,0.00,0.000,2308,0.000,0.071,2204,3416,3410,3445,3376,0,0,0,0,0,0,15.11,14.72,15.11
$GC,2497,-0.85,-146.0,2203,3416,3445,3376,277.4,-8.5,460,2503,0.00,2.33,0.00,0.000,3078,0.000,0.038,2204,2014,3411,3446,3376,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2567,-0.85,-146.0,2203,2013,3445,3375,283.3,-8.6,473,2574,0.00,2.45,0.00,0.000,2308,0.000,0.070,2203,3409,3410,3445,3375,0,0,0,0,0,0,15.11,14.71,15.11
$GC,2586,-0.85,-146.0,2203,3409,3445,3375,285.1,-8.6,476,2593,0.00,2.33,0.00,0.000,3078,0.000,0.037,2204,2013,3409,3444,3375,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2656,-0.85,-146.0,2203,2013,3445,3374,292.0,-10.4,489,2662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2013,3409,3445,3374,0,0,0,0,0,0,15.11,15.12,15.12
$GC,2724,-0.85,-146.0,2204,2013,3445,3374,297.6,-9.0,502,2731,0.00,2.45,0.00,0.000,2308,0.000,0.067,2204,3409,3409,3444,3374,0,0,0,0,0,0,15.11,14.56,15.12
$GC,2752,-0.85,-146.0,2203,3410,3444,3374,300.4,-12.1,506,2757,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2012,3409,3444,3374,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2890,-0.85,-146.0,2203,2012,3443,3374,309.8,-5.8,513,2895,0.00,2.45,0.00,0.000,2308,0.000,0.071,2203,3410,3408,3443,3373,0,0,0,0,0,0,15.16,14.73,15.16
$GC,2927,-0.85,-146.0,2204,3410,3443,3374,311.3,-6.2,514,2934,0.00,2.33,0.00,0.000,3078,0.000,0.040,2204,2011,3408,3443,3373,0,0,0,0,0,0,14.93,14.81,14.95
$GC,3053,-0.85,-146.0,2203,2011,3442,3373,323.4,-8.6,521,3058,0.00,2.45,0.00,0.000,2308,0.000,0.070,2204,3412,3407,3442,3373,0,0,0,0,0,0,15.16,14.75,15.17
$GC,3085,-0.85,-146.0,2203,3413,3442,3373,325.2,-8.8,522,3090,0.00,2.33,0.00,0.000,3078,0.000,0.040,2203,2005,3407,3442,3373,0,0,0,0,0,0,14.96,14.84,14.97
$GC,3218,-0.85,-146.0,2203,2006,3442,3373,340.1,-10.8,529,3223,0.00,2.47,0.00,0.000,2308,0.000,0.072,2204,3415,3407,3441,3373,0,0,0,0,0,0,15.15,14.74,15.16
$GC,3254,-0.85,-146.0,2203,3415,3441,3373,342.7,-11.0,530,3261,0.00,2.33,0.00,0.000,3078,0.000,0.039,2203,2007,3407,3441,3373,0,0,0,0,0,0,14.72,14.63,14.73
$GC,3380,-0.85,-146.0,2203,2007,3441,3372,357.4,-10.2,537,3381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2007,3406,3441,3372,0,0,0,0,0,0,15.14,15.15,15.15
$GC,3501,-0.85,-146.0,2203,2007,3441,3372,370.1,-10.7,543,3506,0.00,2.47,0.00,0.000,2308,0.000,0.072,2204,3413,3405,3441,3370,0,0,0,0,0,0,15.15,14.74,15.15
$GC,3552,-0.85,-146.0,2203,3413,3440,3371,374.6,-10.4,545,3558,0.00,2.33,0.00,0.000,3078,0.000,0.040,2204,2007,3407,3442,3372,0,0,0,0,0,0,14.95,14.84,14.97
$GC,3685,-0.85,-146.0,2207,2006,3440,3370,389.8,-10.9,552,3686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2007,3405,3440,3370,0,0,0,0,0,0,15.16,15.16,15.16
$GC,3805,-0.85,-146.0,2203,2007,3439,3370,402.8,-10.7,558,3810,0.00,2.50,0.00,0.000,2308,0.000,0.073,2204,3415,3404,3439,3369,0,0,0,0,0,0,15.17,14.73,15.17
$GC,3888,-0.85,-146.0,2203,3416,3438,3369,411.0,-9.9,562,3894,0.00,2.33,0.00,0.000,3078,0.000,0.040,2204,2012,3404,3439,3369,0,0,0,0,0,0,14.96,14.85,14.98
$GC,4031,-0.85,-146.0,2203,2012,3434,3368,425.2,-9.9,569,4032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2012,3403,3438,3368,0,0,0,0,0,0,15.17,15.17,15.18
$GC,4151,-0.85,-146.0,2203,2012,3437,3368,436.3,-9.2,575,4156,0.00,2.45,0.00,0.000,2308,0.000,0.072,2203,3408,3402,3437,3368,0,0,0,0,0,0,15.17,14.72,15.17
$GC,4203,-0.85,-146.0,2203,3408,3437,3368,440.2,-9.1,577,4208,0.00,2.30,0.00,0.000,3078,0.000,0.041,2204,2014,3402,3437,3368,0,0,0,0,0,0,14.96,14.85,14.98
$GC,4336,-0.85,-146.0,2203,2014,3437,3367,452.7,-9.2,584,4337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2015,3402,3437,3367,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4456,-0.85,-146.0,2203,2014,3436,3367,464.2,-9.4,590,4457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2014,3401,3436,3367,0,0,0,0,0,0,15.17,15.18,15.18
$GC,4576,-0.85,-146.0,2203,2014,3437,3366,475.4,-9.4,596,4581,0.00,2.50,0.00,0.000,2308,0.000,0.073,2203,3412,3401,3436,3366,0,0,0,0,0,0,15.17,14.69,15.18
$GC,4612,-0.85,-146.0,2203,3412,3436,3366,477.4,-9.1,597,4619,0.00,2.33,0.00,0.000,3078,0.000,0.041,2203,2016,3401,3436,3366,0,0,0,0,0,0,14.94,14.82,14.96
$GC,4739,-0.85,-146.0,2203,2015,3435,3366,489.5,-8.6,604,4744,0.00,2.47,0.00,0.000,2308,0.000,0.073,2204,3416,3400,3435,3365,0,0,0,0,0,0,15.16,14.69,15.16
$STATE,4760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4760,begin apogee
$GC,4767,-0.19,0.0,2203,1954,3435,3365,491.8,-9.2,605,4888,1.15,0.00,116.90,1.597,10246,0.173,0.000,2425,1951,2812,2855,2769,0,0,0,0,0,0,14.54,14.34,13.52
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4892,0.85,146.0,2425,1952,2855,2768,497.5,0.0,611,5024,1.55,2.50,120.40,1.573,10756,0.099,0.080,2753,563,2215,2267,2164,0,0,0,0,0,0,14.33,14.09,13.45
$GC,5080,0.89,179.3,2753,563,2261,2163,489.6,8.4,620,5115,0.00,2.38,28.52,1.502,11270,0.000,0.044,2753,1961,2081,2134,2029,0,0,0,0,0,0,14.59,14.50,13.57
$GC,5248,0.89,179.3,2753,1961,2128,2026,469.7,10.5,629,5254,0.00,2.50,0.00,0.000,2308,0.000,0.072,2752,3369,2077,2128,2026,0,0,0,0,0,0,14.88,14.57,14.88
$GC,5320,0.89,179.3,2753,3369,2126,2026,462.1,11.8,632,5325,0.00,2.38,0.00,0.000,3078,0.000,0.048,2755,1962,2074,2126,2023,0,0,0,0,0,0,14.78,14.66,14.80
$GC,5452,0.89,179.3,2755,1962,2125,2025,446.9,10.9,639,5458,0.00,2.45,0.00,0.000,2564,0.000,0.083,2759,562,2074,2125,2024,0,0,0,0,0,0,15.01,14.65,15.01
$GC,5495,0.89,179.3,2759,562,2123,2025,442.0,11.1,641,5500,0.00,2.33,0.00,0.000,3078,0.000,0.045,2759,1965,2074,2123,2025,0,0,0,0,0,0,14.85,14.77,14.88
$GC,5637,0.89,179.3,2759,1966,2123,2024,426.5,10.6,648,5638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2759,1966,2073,2123,2024,0,0,0,0,0,0,15.07,15.07,15.07
$GC,5757,0.89,179.3,2759,1965,2123,2024,413.0,11.1,654,5758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2759,1966,2073,2123,2024,0,0,0,0,0,0,15.08,15.09,15.09
$GC,5877,0.89,179.3,2758,1966,2122,2023,399.9,10.7,660,5878,0.00,0.00,0.00,0.000,2054,0.000,0.000,2759,1966,2072,2122,2023,0,0,0,0,0,0,15.10,15.11,15.10
$GC,5997,0.89,179.3,2759,1966,2121,2023,387.2,10.4,666,5998,0.00,0.00,0.00,0.000,2054,0.000,0.000,2759,1966,2072,2121,2024,0,0,0,0,0,0,15.11,15.11,15.11
$GC,6117,0.90,181.9,2759,1966,2121,2030,375.1,9.8,672,6122,0.00,2.45,0.00,0.000,2308,0.000,0.072,2757,3372,2071,2120,2022,0,0,0,0,0,0,15.13,14.73,15.14
$GC,6154,0.90,182.4,2759,3371,2120,2021,372.6,9.9,673,6161,0.00,2.35,0.00,0.000,3078,0.000,0.045,2762,1960,2071,2120,2022,0,0,0,0,0,0,14.92,14.78,14.94
$GC,6280,0.90,182.4,2762,1959,2120,2022,358.6,10.1,680,6285,0.00,2.45,0.00,0.000,2564,0.000,0.083,2763,562,2070,2119,2021,0,0,0,0,0,0,15.13,14.70,15.13
$GC,6336,0.90,182.4,2762,562,2119,2021,354.3,10.3,682,6343,0.00,2.33,0.00,0.000,3078,0.000,0.045,2762,1972,2072,2119,2026,0,0,0,0,0,0,14.92,14.81,14.94
$GC,6462,0.90,182.4,2762,1972,2119,2021,339.3,11.0,689,6467,0.00,2.42,0.00,0.000,2308,0.000,0.071,2763,3368,2069,2119,2020,0,0,0,0,0,0,15.14,14.73,15.14
$GC,6494,0.90,182.4,2762,3367,2118,2021,336.7,11.1,690,6499,0.00,2.35,0.00,0.000,3078,0.000,0.046,2766,1956,2070,2119,2021,0,0,0,0,0,0,14.92,14.78,14.94
$GC,6626,0.90,182.4,2765,1956,2119,2020,320.5,11.6,697,6631,0.00,2.45,0.00,0.000,2564,0.000,0.083,2766,560,2070,2119,2021,0,0,0,0,0,0,15.14,14.69,15.14
$GC,6678,0.90,182.4,2765,560,2118,2021,315.2,11.8,699,6683,0.00,2.33,0.00,0.000,3078,0.000,0.046,2766,1968,2069,2118,2021,0,0,0,0,0,0,14.92,14.81,14.95
$GC,6810,0.90,182.4,2765,1968,2118,2020,299.0,11.7,706,6817,0.00,2.42,0.00,0.000,2308,0.000,0.071,2766,3370,2069,2118,2021,0,0,0,0,0,0,15.15,14.73,15.16
$GC,6869,0.90,182.4,2765,3371,2118,2021,291.7,12.5,717,6876,0.00,2.38,0.00,0.000,3078,0.000,0.044,2769,1964,2069,2118,2021,0,0,0,0,0,0,14.72,14.56,14.74
$GC,6938,0.90,182.4,2769,1964,2118,2020,283.9,11.3,730,6945,0.00,2.45,0.00,0.000,2564,0.000,0.082,2769,567,2069,2118,2020,0,0,0,0,0,0,15.11,14.47,15.11
$GC,6972,0.90,182.4,2769,567,2117,2021,279.6,12.3,736,6979,0.00,2.33,0.00,0.000,3078,0.000,0.046,2769,1968,2069,2118,2020,0,0,0,0,0,0,14.92,14.78,14.92
$GC,7042,0.90,182.4,2769,1968,2117,2020,272.0,11.1,749,7048,0.00,2.42,0.00,0.000,2308,0.000,0.070,2769,3368,2068,2117,2020,0,0,0,0,0,0,15.10,14.69,15.10
$GC,7081,0.90,182.4,2769,3369,2117,2020,267.3,11.9,756,7087,0.00,2.38,0.00,0.000,3078,0.000,0.046,2773,1959,2068,2117,2020,0,0,0,0,0,0,14.88,14.74,14.92
$GC,7152,0.90,182.4,2772,1961,2117,2020,259.6,11.4,769,7158,0.00,2.45,0.00,0.000,2564,0.000,0.081,2773,562,2068,2117,2020,0,0,0,0,0,0,15.10,14.65,15.10
$GC,7195,0.90,182.4,2773,563,2115,2020,254.3,11.4,777,7201,0.00,2.33,0.00,0.000,3078,0.000,0.044,2773,1969,2068,2116,2020,0,0,0,0,0,0,14.90,14.78,14.92
$GC,7265,0.90,182.4,2773,1969,2116,2021,246.9,10.7,790,7271,0.00,2.42,0.00,0.000,2308,0.000,0.070,2773,3372,2068,2116,2020,0,0,0,0,0,0,15.09,14.68,15.09
$GC,7308,0.90,182.4,2772,3372,2116,2020,241.9,11.4,798,7315,0.00,2.35,0.00,0.000,3078,0.000,0.044,2773,1967,2068,2116,2020,0,0,0,0,0,0,14.69,14.57,14.69
$GC,7378,0.90,182.4,2772,1967,2116,2020,235.0,10.0,811,7384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2773,1967,2068,2116,2021,0,0,0,0,0,0,15.09,15.09,15.09
$GC,7447,0.90,184.0,2772,1967,2117,2020,228.1,9.9,824,7453,0.00,2.47,0.00,0.000,2564,0.000,0.081,2772,558,2068,2116,2020,0,0,0,0,0,0,15.09,14.63,15.09
$GC,7485,0.92,196.6,2773,557,2115,2020,224.1,9.4,831,7509,0.00,2.33,14.07,1.221,11270,0.000,0.044,2773,1965,2009,2060,1958,0,0,0,0,0,0,14.88,14.76,13.83
$GC,7572,0.93,205.0,2773,1965,2059,1957,216.1,9.6,847,7590,0.00,2.45,8.52,1.151,10500,0.000,0.070,2773,3362,1975,2028,1923,0,0,0,0,0,0,15.03,14.66,13.80
$GC,7613,0.93,205.0,2773,3362,2026,1922,212.1,10.1,854,7619,0.00,2.35,0.00,0.000,3078,0.000,0.047,2776,1962,1974,2027,1922,0,0,0,0,0,0,14.83,14.70,14.84
$GC,7683,0.93,205.0,2776,1962,2025,1921,205.0,10.3,867,7689,0.00,2.45,0.00,0.000,2564,0.000,0.082,2777,565,1973,2025,1921,0,0,0,0,0,0,15.00,14.62,15.00
$GC,7717,0.93,208.2,2776,566,2024,1921,201.6,9.8,873,7730,0.00,2.33,4.15,0.779,11270,0.000,0.043,2777,1968,1962,2015,1910,0,0,0,0,0,0,14.84,14.73,13.74
$GC,7792,0.93,208.2,2776,1968,2014,1909,192.9,11.6,887,7799,0.00,2.42,0.00,0.000,2308,0.000,0.069,2777,3363,1961,2013,1910,0,0,0,0,0,0,15.02,14.66,15.02
$GC,7851,0.93,208.2,2776,3363,2013,1910,185.3,12.4,898,7857,0.00,2.38,0.00,0.000,3078,0.000,0.047,2777,1964,1961,2013,1909,0,0,0,0,0,0,14.83,14.69,14.85
$GC,7922,0.93,208.2,2776,1963,2013,1909,177.5,11.1,911,7927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2777,1963,1961,2013,1909,0,0,0,0,0,0,15.02,15.02,15.02
$GC,7990,0.93,208.2,2776,1963,2013,1909,170.1,10.2,924,7995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2776,1963,1961,2013,1909,0,0,0,0,0,0,15.00,15.02,15.01
$GC,8058,0.93,209.8,2776,1963,2013,1909,163.5,9.9,937,8064,0.00,2.47,0.00,0.000,2564,0.000,0.082,2777,559,1960,2012,1909,0,0,0,0,0,0,15.02,14.62,15.03
$GC,8091,0.93,211.4,2776,559,2012,1909,160.0,9.9,943,8104,0.00,2.35,4.43,0.780,11270,0.000,0.044,2777,1971,1949,2000,1898,0,0,0,0,0,0,14.85,14.74,13.76
$GC,8167,0.93,211.4,2776,1971,2000,1896,152.9,11.6,957,8173,0.00,2.42,0.00,0.000,2308,0.000,0.068,2777,3365,1948,1999,1898,0,0,0,0,0,0,15.02,14.66,15.02
$GC,8230,0.93,211.4,2776,3364,1999,1898,145.4,11.2,969,8237,0.00,2.38,0.00,0.000,3078,0.000,0.045,2778,1961,1948,1999,1898,0,0,0,0,0,0,14.85,14.71,14.87
$GC,8300,0.93,211.4,2777,1960,1998,1898,137.7,11.0,982,8307,0.00,2.47,0.00,0.000,2564,0.000,0.080,2778,560,1948,1999,1897,0,0,0,0,0,0,15.02,14.63,15.02
$GC,8339,0.93,211.4,2777,560,1998,1897,133.4,10.9,989,8346,0.00,2.35,0.00,0.000,3078,0.000,0.043,2778,1969,1948,1998,1898,0,0,0,0,0,0,14.74,14.60,14.76
$GC,8409,0.95,220.7,2777,1968,1998,1898,126.5,9.5,1002,8428,0.00,2.45,9.38,1.010,10500,0.000,0.068,2778,3368,1911,1963,1859,0,0,0,0,0,0,15.02,14.62,13.93
$GC,8505,0.95,220.7,2777,3367,1961,1858,116.5,10.5,1020,8512,0.00,2.38,0.00,0.000,3078,0.000,0.044,2780,1960,1909,1961,1857,0,0,0,0,0,0,14.83,14.69,14.85
$GC,8575,0.95,220.7,2779,1959,1961,1857,109.2,11.4,1033,8582,0.00,2.47,0.00,0.000,2564,0.000,0.080,2780,566,1908,1960,1857,0,0,0,0,0,0,15.00,14.54,15.01
$GC,8609,0.95,220.7,2779,566,1959,1857,105.4,10.8,1039,8616,0.00,2.33,0.00,0.000,3078,0.000,0.043,2783,1964,1908,1959,1857,0,0,0,0,0,0,14.69,14.59,14.70
$GC,8678,0.95,220.7,2779,1964,1959,1857,98.6,10.6,1052,8685,0.00,2.45,0.00,0.000,2308,0.000,0.067,2780,3363,1908,1959,1857,0,0,0,0,0,0,15.03,14.48,15.03
$GC,8753,0.95,220.7,2779,3363,1959,1857,90.3,10.6,1066,8760,0.00,2.38,0.00,0.000,3078,0.000,0.048,2780,1959,1908,1959,1857,0,0,0,0,0,0,14.66,14.54,14.68
$GC,8824,0.95,227.2,2779,1959,1959,1857,83.6,9.7,1079,8837,0.00,2.42,6.65,0.858,10756,0.000,0.078,2780,563,1885,1936,1835,0,0,0,0,0,0,15.04,14.43,13.83
$GC,8880,0.98,245.5,2779,561,1934,1835,77.9,9.1,1089,8904,0.00,2.35,17.02,1.027,11270,0.000,0.043,2780,1973,1809,1862,1757,0,0,0,0,0,0,14.80,14.68,13.95
$GC,8967,0.99,258.2,2779,1973,1859,1755,70.1,9.4,1105,8985,0.00,2.47,11.70,0.959,10756,0.000,0.076,2783,562,1758,1812,1705,0,0,0,0,0,0,14.96,14.46,13.91
$GC,9033,1.03,290.7,2783,562,1810,1705,64.4,8.5,1117,9069,0.08,2.33,27.77,1.051,11270,0.187,0.041,2822,1970,1626,1682,1571,0,0,0,0,0,0,14.49,14.57,13.90
$GC,9132,1.03,290.7,2822,1970,1678,1568,54.0,12.2,1135,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1970,1623,1679,1568,0,0,0,0,0,0,14.88,14.88,14.88
$GC,9199,1.03,290.7,2822,1970,1677,1567,46.0,10.2,1148,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1970,1622,1676,1568,0,0,0,0,0,0,14.90,14.91,14.91
$GC,9267,1.05,305.7,2822,1970,1676,1567,39.8,9.3,1161,9286,0.00,2.53,13.48,0.928,8708,0.000,0.077,2824,562,1564,1619,1509,0,0,0,0,0,0,14.95,14.59,13.90
$GC,9325,1.10,345.2,2824,561,1617,1508,34.7,8.1,1171,9365,0.00,2.33,32.70,0.983,11270,0.000,0.041,2824,1958,1404,1462,1347,0,0,0,0,0,0,14.71,14.60,13.90
$GC,9427,1.15,389.9,2824,1958,1459,1346,26.7,7.9,1190,9462,0.08,0.00,29.58,0.957,10246,0.182,0.000,2869,1958,1221,1281,1161,0,0,0,0,0,0,14.55,14.49,13.88
$GC,9525,1.15,389.9,2868,1959,1282,1162,15.1,11.7,1208,9532,0.00,2.50,0.00,0.000,4612,0.000,0.080,2869,561,1221,1282,1161,0,0,0,0,0,0,14.84,14.48,14.84
$GC,9583,1.15,389.9,2869,561,1282,1162,7.6,13.0,1219,9590,0.00,2.33,0.00,0.000,5126,0.000,0.041,2869,1963,1221,1282,1161,0,0,0,0,0,0,14.62,14.54,14.63
$STATE,9620,end climb,SURFACE_DEPTH_REACHED
$STATE,9620,begin surface coast
$FINISH,0.1,1.023737
$STATE,9643,end surface coast,CONTROL_FINISHED_OK
$STATE,9643,begin surface
$SM_CCo,9664,86.22,0.767,0,0,598,542.59
$SM_GC,0.55,12.73,0.00,86.22,0.049,0.000,0.767,146,1966,598,-7.27,-1.33,542.59,0,0,0,0,0,0,14.69,14.95,13.99
$IRIDIUM_FIX,-3000.00,3102.96,120419,010344
$TT8_MAMPS,0.019474,0.881573
$HUMID,57.32
$INTERNAL_PRESSURE,9.17968
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,450.8,55.2
$SC_FREEKB,3818560
$24V_AH,13.23,135.770
$10V_AH,13.24,0.000
$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,28.300,239.650,445.275,86.225,0.000,24.628,16.733,383.051,10.000,0.000,22.125,2983.805,3536.141,921.670,2710.027,294.155,0.000,2161.315,0.000,2057.047,0.000,65.576,0.000
$DEVICE_MAMPS,307.530,83.385,1597.320,767.295,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9731.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.081,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,43252,1230
$CAP_FILE_SIZE,267123,0
$CFSIZE,1023623168,994099200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120419,062158,-3015.985,3102.779,41,0.9,43,-25.1,0.8,192.1,9,8.3