version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 205
start: 4 12 119 9 54 5
data:
$ID,573
$MISSION,30
$DIVE,205
$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,270
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,120419,093950,-3018.8557,3102.7390,33,0.7,42,-25.2,0.9,218.2,12,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-64.3
$GPS2,120419,095341,-3019.2861,3102.4775,17,0.7,19,-25.2,1.3,195.4,12,8.6
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3019.286,3049.967
$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,295.2,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.0,73,1969,592,579,0.0,0.0,0,123,0.00,0.00,-98.88,0.000,16386,0.000,0.000,74,1970,3334,3351,3317,0,0,0,0,0,0,14.92,28.83,14.92
$GC,126,-0.85,-146.0,74,1969,3351,3316,4.0,-11.1,18,146,12.75,2.53,-1.25,0.000,18692,0.308,0.083,2197,3408,3409,3438,3381,0,0,0,0,0,0,14.30,13.19,14.66
$GC,268,-0.85,-146.0,2197,3409,3441,3381,36.8,-15.6,45,275,0.08,2.33,0.00,0.000,3078,0.282,0.038,2212,2014,3411,3441,3381,0,0,0,0,0,0,14.47,14.72,14.69
$GC,338,-0.85,-146.0,2211,2014,3442,3380,47.9,-16.4,58,344,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,2014,3411,3442,3381,0,0,0,0,0,0,15.00,15.00,15.00
$GC,406,-0.85,-146.0,2211,2014,3442,3381,57.0,-13.1,71,413,0.00,2.45,0.00,0.000,2308,0.000,0.068,2211,3401,3411,3442,3380,0,0,0,0,0,0,15.02,14.66,15.02
$GC,570,-0.85,-146.0,2210,3404,3442,3380,79.2,-12.6,103,577,0.00,2.33,0.00,0.000,3078,0.000,0.037,2210,2005,3411,3443,3380,0,0,0,0,0,0,14.79,14.67,14.81
$GC,641,-0.85,-146.0,2210,2005,3444,3380,86.6,-9.9,116,647,0.00,2.47,0.00,0.000,2308,0.000,0.069,2210,3412,3410,3444,3377,0,0,0,0,0,0,15.04,14.61,15.04
$GC,797,-0.85,-146.0,2210,3412,3445,3379,103.2,-10.5,146,804,0.00,2.33,0.00,0.000,3078,0.000,0.037,2210,2010,3412,3445,3379,0,0,0,0,0,0,14.88,14.78,14.90
$GC,868,-0.85,-146.0,2210,2010,3445,3379,109.8,-10.3,159,875,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2010,3412,3446,3379,0,0,0,0,0,0,15.06,15.06,15.06
$GC,937,-0.85,-146.0,2210,2010,3446,3379,117.8,-11.4,172,942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2010,3412,3446,3379,0,0,0,0,0,0,15.07,15.07,15.06
$GC,1004,-0.85,-146.0,2210,2010,3446,3378,124.8,-10.4,185,1011,0.00,2.42,0.00,0.000,2308,0.000,0.068,2210,3405,3412,3445,3379,0,0,0,0,0,0,15.06,14.51,15.06
$GC,1057,-0.85,-146.0,2210,3405,3446,3379,130.9,-10.8,195,1064,0.00,2.30,0.00,0.000,3078,0.000,0.037,2210,2012,3412,3446,3379,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1127,-0.85,-146.0,2209,2011,3446,3379,137.8,-10.6,208,1133,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2011,3412,3446,3379,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1195,-0.85,-146.0,2210,2011,3446,3379,145.4,-11.0,221,1202,0.00,2.45,0.00,0.000,2308,0.000,0.069,2210,3408,3412,3446,3379,0,0,0,0,0,0,15.06,14.62,15.06
$GC,1234,-0.85,-146.0,2209,3407,3440,3379,149.6,-10.9,228,1242,0.00,2.30,0.00,0.000,3078,0.000,0.037,2210,2013,3412,3446,3379,0,0,0,0,0,0,14.73,14.64,14.74
$GC,1305,-0.85,-146.0,2210,2013,3446,3379,157.4,-11.1,241,1311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2013,3412,3445,3379,0,0,0,0,0,0,15.07,15.06,15.07
$GC,1372,-0.85,-146.0,2210,2013,3446,3379,165.0,-10.6,254,1379,0.00,2.42,0.00,0.000,2308,0.000,0.070,2210,3405,3412,3446,3379,0,0,0,0,0,0,15.07,14.70,15.08
$GC,1421,-0.85,-146.0,2209,3405,3446,3378,169.7,-10.1,263,1431,0.00,2.33,0.00,0.000,3078,0.000,0.037,2210,2007,3412,3446,3378,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1494,-0.85,-146.0,2209,2006,3446,3378,177.3,-10.5,276,1499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2007,3412,3446,3378,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1563,-0.85,-146.0,2209,2005,3446,3378,184.6,-10.3,289,1570,0.00,2.45,0.00,0.000,2308,0.000,0.070,2209,3405,3412,3446,3378,0,0,0,0,0,0,15.07,14.69,15.08
$GC,1596,-0.85,-146.0,2209,3405,3445,3378,187.7,-10.2,295,1603,0.00,2.33,0.00,0.000,3078,0.000,0.037,2209,2010,3412,3446,3378,0,0,0,0,0,0,14.84,14.71,14.87
$GC,1666,-0.85,-146.0,2209,2010,3446,3378,194.5,-9.9,308,1672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2009,3412,3446,3378,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1733,-0.85,-146.0,2209,2010,3446,3378,201.7,-10.1,321,1740,0.00,2.45,0.00,0.000,2308,0.000,0.070,2209,3411,3411,3445,3377,0,0,0,0,0,0,15.10,14.71,15.10
$GC,1818,-0.85,-146.0,2209,3411,3445,3377,209.9,-9.3,337,1825,0.00,2.33,0.00,0.000,3078,0.000,0.038,2209,2010,3411,3445,3377,0,0,0,0,0,0,14.90,14.79,14.91
$GC,1890,-0.85,-146.0,2209,2010,3445,3377,217.0,-10.2,350,1895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2010,3410,3445,3376,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1959,-0.85,-146.0,2209,2010,3445,3376,224.0,-9.6,363,1965,0.00,2.45,0.00,0.000,2308,0.000,0.070,2208,3409,3410,3445,3376,0,0,0,0,0,0,15.09,14.69,15.09
$GC,1998,-0.85,-146.0,2209,3409,3440,3376,227.9,-9.5,370,2005,0.00,2.33,0.00,0.000,3078,0.000,0.038,2209,2007,3410,3445,3375,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2068,-0.85,-146.0,2209,2007,3445,3375,234.7,-9.9,383,2074,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2007,3410,3445,3375,0,0,0,0,0,0,15.10,15.10,15.10
$GC,2135,-0.85,-146.0,2208,2007,3445,3374,241.6,-10.2,396,2142,0.00,2.47,0.00,0.000,2308,0.000,0.070,2209,3410,3406,3439,3374,0,0,0,0,0,0,15.10,14.60,15.10
$GC,2214,-0.85,-146.0,2209,3410,3444,3374,249.5,-9.7,411,2220,0.00,2.33,0.00,0.000,3078,0.000,0.039,2209,2008,3409,3444,3374,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2283,-0.85,-146.0,2209,2008,3443,3374,256.3,-9.6,424,2289,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2008,3409,3444,3374,0,0,0,0,0,0,15.10,15.10,15.10
$GC,2353,-0.85,-146.0,2209,2008,3444,3373,262.7,-9.4,437,2359,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3405,3408,3443,3374,0,0,0,0,0,0,15.09,14.71,15.09
$GC,2396,-0.85,-146.0,2207,3405,3442,3373,266.9,-9.3,445,2403,0.00,2.33,0.00,0.000,3078,0.000,0.037,2207,2013,3408,3442,3374,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2466,-0.85,-146.0,2207,2012,3443,3374,273.4,-9.4,458,2472,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2012,3408,3443,3373,0,0,0,0,0,0,15.10,15.10,15.11
$GC,2536,-0.85,-146.0,2207,2012,3443,3373,280.1,-9.6,471,2543,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3404,3407,3442,3373,0,0,0,0,0,0,15.11,14.71,15.11
$GC,2570,-0.85,-146.0,2207,3405,3442,3373,283.7,-10.2,477,2577,0.00,2.30,0.00,0.000,3078,0.000,0.038,2207,2012,3408,3443,3373,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2640,-0.85,-146.0,2207,2011,3442,3373,290.5,-10.4,490,2645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2011,3408,3444,3373,0,0,0,0,0,0,15.10,15.11,15.11
$GC,2708,-0.85,-146.0,2207,2011,3442,3373,297.7,-11.0,503,2714,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3405,3407,3441,3373,0,0,0,0,0,0,15.10,14.70,15.10
$GC,2761,-0.85,-146.0,2212,3405,3441,3373,302.2,-9.8,508,2766,0.00,2.30,0.00,0.000,3078,0.000,0.038,2207,2012,3407,3441,3373,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2893,-0.85,-146.0,2207,2011,3441,3372,316.7,-10.2,515,2899,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3405,3406,3440,3372,0,0,0,0,0,0,15.13,14.71,15.13
$GC,2947,-0.85,-146.0,2207,3404,3440,3372,320.9,-10.0,517,2952,0.00,2.30,0.00,0.000,3078,0.000,0.038,2207,2011,3406,3441,3372,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3079,-0.85,-146.0,2207,2010,3440,3371,334.2,-9.3,524,3085,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3404,3405,3440,3371,0,0,0,0,0,0,15.15,14.72,15.15
$GC,3136,-0.85,-146.0,2206,3404,3439,3370,338.1,-9.2,526,3143,0.00,2.30,0.00,0.000,3078,0.000,0.037,2207,2008,3405,3440,3370,0,0,0,0,0,0,14.93,14.82,14.95
$GC,3265,-0.85,-146.0,2207,2008,3439,3369,350.7,-9.0,533,3270,0.00,2.47,0.00,0.000,2308,0.000,0.070,2207,3409,3404,3439,3369,0,0,0,0,0,0,15.16,14.52,15.15
$GC,3321,-0.85,-146.0,2207,3409,3438,3367,354.8,-9.0,535,3328,0.00,2.30,0.00,0.000,3078,0.000,0.037,2207,2013,3403,3438,3369,0,0,0,0,0,0,14.93,14.83,14.94
$GC,3447,-0.85,-146.0,2206,2013,3438,3368,367.6,-9.3,542,3453,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3403,3403,3438,3368,0,0,0,0,0,0,15.15,14.71,15.16
$GC,3484,-0.85,-146.0,2206,3404,3437,3368,369.7,-9.4,543,3492,0.00,2.30,0.00,0.000,3078,0.000,0.037,2213,2006,3402,3437,3368,0,0,0,0,0,0,14.92,14.83,14.95
$GC,3610,-0.85,-146.0,2206,2007,3437,3368,383.0,-9.6,550,3612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2007,3402,3437,3368,0,0,0,0,0,0,15.16,15.16,15.17
$GC,3730,-0.85,-146.0,2206,2007,3437,3367,393.8,-9.0,556,3735,0.00,2.47,0.00,0.000,2308,0.000,0.071,2206,3409,3401,3436,3367,0,0,0,0,0,0,15.16,14.72,15.16
$GC,3834,-0.85,-146.0,2206,3409,3436,3366,403.1,-8.9,561,3839,0.00,2.33,0.00,0.000,3078,0.000,0.038,2207,2008,3401,3436,3366,0,0,0,0,0,0,14.88,14.83,14.88
$GC,3977,-0.85,-146.0,2206,2008,3436,3366,416.3,-9.2,568,3982,0.00,2.45,0.00,0.000,2308,0.000,0.070,2207,3405,3401,3436,3367,0,0,0,0,0,0,15.19,14.73,15.18
$GC,4034,-0.85,-146.0,2206,3404,3435,3366,420.1,-9.2,570,4040,0.00,2.30,0.00,0.000,3078,0.000,0.037,2207,2012,3401,3436,3366,0,0,0,0,0,0,14.93,14.83,14.95
$GC,4160,-0.85,-146.0,2206,2012,3435,3365,432.5,-8.9,577,4165,0.00,2.45,0.00,0.000,2308,0.000,0.070,2208,3403,3400,3435,3365,0,0,0,0,0,0,15.16,14.71,15.16
$GC,4223,-0.85,-146.0,2206,3403,3435,3365,438.2,-9.3,580,4228,0.00,2.33,0.00,0.000,3078,0.000,0.037,2207,2009,3400,3435,3365,0,0,0,0,0,0,14.93,14.82,14.95
$GC,4367,-0.85,-146.0,2206,2008,3435,3364,451.3,-9.2,587,4372,0.00,2.45,0.00,0.000,2308,0.000,0.070,2206,3403,3399,3435,3364,0,0,0,0,0,0,15.15,14.72,15.19
$GC,4398,-0.85,-146.0,2206,3404,3435,3364,453.5,-9.2,588,4404,0.00,2.30,0.00,0.000,3078,0.000,0.037,2206,2008,3399,3435,3364,0,0,0,0,0,0,14.93,14.82,14.95
$GC,4531,-0.85,-146.0,2205,2008,3434,3364,467.1,-9.7,595,4537,0.00,2.45,0.00,0.000,2308,0.000,0.070,2204,3403,3398,3434,3363,0,0,0,0,0,0,15.14,14.71,15.14
$GC,4575,-0.85,-146.0,2203,3403,3434,3361,471.3,-9.9,597,4580,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2014,3398,3434,3363,0,0,0,0,0,0,14.94,14.83,14.96
$GC,4717,-0.85,-146.0,2203,2014,3434,3363,485.8,-10.2,604,4723,0.00,2.45,0.00,0.000,2308,0.000,0.071,2204,3403,3398,3433,3363,0,0,0,0,0,0,15.15,14.69,15.15
$GC,4765,-0.85,-146.0,2202,3403,3433,3363,490.2,-10.1,606,4770,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,2016,3397,3433,3362,0,0,0,0,0,0,14.73,14.62,14.75
$GC,4902,-0.85,-146.0,2203,2015,3432,3362,505.6,-11.2,613,4903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2015,3397,3433,3362,0,0,0,0,0,0,15.17,15.17,15.17
$GC,5022,-0.85,-146.0,2203,2015,3431,3361,519.5,-11.6,619,5028,0.00,2.47,0.00,0.000,2308,0.000,0.071,2204,3412,3398,3431,3366,0,0,0,0,0,0,15.15,14.69,15.16
$GC,5119,-0.85,-146.0,2203,3412,3431,3360,528.8,-11.4,623,5131,0.00,2.33,0.00,0.000,3078,0.000,0.038,2204,2014,3395,3431,3360,0,0,0,0,0,0,14.90,14.79,14.92
$GC,5245,-0.85,-146.0,2203,2014,3430,3359,544.9,-11.4,630,5251,0.00,2.50,0.00,0.000,2308,0.000,0.071,2203,3411,3394,3430,3359,0,0,0,0,0,0,15.15,14.57,15.15
$GC,5291,-0.85,-146.0,2203,3410,3430,3359,549.6,-11.0,632,5297,0.00,2.33,0.00,0.000,3078,0.000,0.038,2204,2015,3394,3430,3359,0,0,0,0,0,0,14.92,14.81,14.95
$GC,5429,-0.85,-146.0,2203,2014,3430,3359,564.4,-10.2,639,5431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2014,3394,3430,3358,0,0,0,0,0,0,15.15,15.15,15.15
$STATE,5487,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5488,begin apogee
$GC,5493,-0.19,0.0,2204,1933,3429,3358,570.7,-10.6,642,5615,1.15,0.00,117.75,1.705,10246,0.174,0.000,2424,1931,2812,2856,2769,0,0,0,0,0,0,14.50,14.28,13.44
$STATE,5617,end apogee,CONTROL_FINISHED_OK
$STATE,5617,begin climb
$GC,5618,0.85,146.0,2424,1931,2856,2768,574.5,0.0,648,5752,1.55,2.42,122.95,1.681,10756,0.099,0.080,2749,585,2215,2269,2161,0,0,0,0,0,0,14.28,14.19,13.39
$GC,5888,0.88,167.3,2749,585,2258,2161,559.8,9.0,661,5915,0.00,2.30,18.85,1.545,11270,0.000,0.044,2749,1962,2128,2180,2077,0,0,0,0,0,0,14.69,14.59,13.62
$GC,6035,0.93,207.9,2749,1962,2175,2075,546.7,8.1,669,6075,0.08,0.00,35.28,1.617,10246,0.194,0.000,2780,1962,1963,2018,1909,0,0,0,0,0,0,14.60,14.44,13.60
$GC,6194,0.96,231.3,2780,1962,2012,1905,532.2,8.9,677,6223,0.00,2.50,20.60,1.554,10500,0.000,0.071,2780,3354,1870,1923,1817,0,0,0,0,0,0,14.88,14.49,13.66
$GC,6245,0.98,252.8,2779,3354,1920,1816,528.3,9.0,679,6275,0.00,2.33,20.35,1.533,11270,0.000,0.045,2788,1986,1780,1835,1726,0,0,0,0,0,0,14.66,14.54,13.57
$GC,6396,0.98,252.8,2787,1985,1829,1722,510.4,11.6,687,6402,0.00,2.53,0.00,0.000,2564,0.000,0.083,2786,561,1775,1829,1722,0,0,0,0,0,0,14.88,14.55,14.88
$GC,6422,0.98,252.8,2787,561,1828,1722,507.6,11.9,688,6427,0.00,2.33,0.00,0.000,3078,0.000,0.043,2787,1964,1774,1827,1722,0,0,0,0,0,0,14.76,14.66,14.76
$GC,6560,0.98,252.8,2786,1964,1826,1721,489.2,13.4,695,6565,0.00,2.42,0.00,0.000,2308,0.000,0.069,2787,3362,1773,1826,1721,0,0,0,0,0,0,14.98,14.64,14.99
$GC,6582,0.98,252.8,2784,3361,1826,1721,485.9,14.0,696,6587,0.00,2.35,0.00,0.000,3078,0.000,0.047,2790,1964,1773,1826,1721,0,0,0,0,0,0,14.83,14.70,14.85
$GC,6724,0.98,252.8,2789,1965,1826,1720,464.5,15.3,703,6730,0.00,2.45,0.00,0.000,2564,0.000,0.083,2790,555,1773,1826,1720,0,0,0,0,0,0,15.04,14.66,15.04
$GC,6747,0.98,252.8,2790,554,1829,1720,460.8,15.6,704,6752,0.00,2.35,0.00,0.000,3078,0.000,0.041,2790,1967,1773,1826,1720,0,0,0,0,0,0,14.87,14.76,14.88
$GC,6890,0.98,252.8,2790,1967,1825,1720,439.7,14.7,711,6891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1967,1772,1825,1720,0,0,0,0,0,0,15.07,15.07,15.07
$GC,7009,0.98,252.8,2790,1968,1824,1720,422.5,14.2,717,7015,0.00,2.40,0.00,0.000,2308,0.000,0.068,2790,3365,1772,1824,1720,0,0,0,0,0,0,15.09,14.71,15.09
$GC,7032,0.98,252.8,2790,3365,1823,1719,419.2,14.4,718,7037,0.00,2.35,0.00,0.000,3078,0.000,0.047,2795,1962,1771,1824,1719,0,0,0,0,0,0,14.90,14.77,14.92
$GC,7174,0.98,252.8,2795,1962,1823,1719,399.6,13.8,725,7175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2795,1961,1771,1824,1719,0,0,0,0,0,0,15.09,15.10,15.10
$GC,7294,0.98,252.8,2795,1961,1823,1719,383.5,13.3,731,7295,0.00,0.00,0.00,0.000,2054,0.000,0.000,2795,1961,1771,1823,1719,0,0,0,0,0,0,15.10,15.11,15.10
$GC,7414,0.98,252.8,2795,1962,1823,1719,367.5,13.4,737,7420,0.00,2.45,0.00,0.000,2308,0.000,0.067,2795,3362,1771,1823,1719,0,0,0,0,0,0,15.10,14.71,15.11
$GC,7451,0.98,252.8,2795,3362,1822,1719,364.2,13.5,738,7458,0.00,2.35,0.00,0.000,3078,0.000,0.047,2797,1960,1770,1822,1719,0,0,0,0,0,0,14.90,14.77,14.92
$GC,7577,0.98,252.8,2796,1960,1822,1719,346.3,12.6,745,7582,0.00,2.45,0.00,0.000,2564,0.000,0.082,2798,561,1770,1822,1719,0,0,0,0,0,0,15.12,14.69,15.12
$GC,7600,0.98,252.8,2797,561,1821,1718,343.5,12.5,746,7605,0.00,2.33,0.00,0.000,3078,0.000,0.041,2798,1972,1770,1821,1719,0,0,0,0,0,0,14.90,14.80,14.92
$GC,7742,0.98,252.8,2797,1972,1821,1719,325.8,12.2,753,7747,0.00,2.40,0.00,0.000,2308,0.000,0.069,2798,3361,1770,1821,1719,0,0,0,0,0,0,15.11,14.71,15.11
$GC,7788,0.98,252.8,2797,3362,1821,1719,320.4,12.3,755,7794,0.00,2.35,0.00,0.000,1030,0.000,0.046,2804,1954,1770,1821,1719,0,0,0,0,0,0,14.88,14.76,14.92
$GC,7926,0.98,252.8,2804,1955,1821,1719,303.2,12.3,762,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8046,0.98,252.8,2804,1955,1821,1719,288.0,12.9,780,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8114,0.98,252.8,2803,1955,1821,1719,279.4,12.9,793,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8182,0.98,252.8,2803,1955,1821,1719,270.0,13.7,806,8188,0.00,0.00,0.00,0.000,4102,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.10,15.11,15.11
$GC,8250,0.98,252.8,2803,1955,1821,1719,260.6,14.0,819,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.08,15.09,15.09
$GC,8318,0.98,252.8,2803,1955,1821,1719,250.9,14.3,832,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.09,15.10,15.10
$GC,8386,0.98,252.8,2803,1955,1821,1719,241.4,13.8,845,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.08,15.09,15.09
$GC,8454,0.98,252.8,2803,1955,1821,1719,232.3,13.3,858,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1955,1770,1821,1719,0,0,0,0,0,0,15.08,15.09,15.09
$GC,8522,0.98,252.8,2803,1955,1821,1719,223.2,13.2,871,8528,0.00,2.47,0.00,0.000,260,0.000,0.066,2804,3362,1769,1820,1719,0,0,0,0,0,0,15.07,14.66,15.07
$GC,8545,0.98,252.8,2803,3362,1820,1719,219.8,13.7,875,8552,0.00,2.38,0.00,0.000,1030,0.000,0.047,2804,1965,1769,1820,1718,0,0,0,0,0,0,14.65,14.51,14.69
$GC,8615,0.98,252.8,2805,1964,1820,1718,210.7,13.2,888,8622,0.00,2.50,0.00,0.000,516,0.000,0.081,2811,553,1769,1820,1718,0,0,0,0,0,0,15.07,14.46,15.07
$GC,8639,0.98,252.8,2810,553,1819,1718,207.4,13.1,892,8646,0.00,2.35,0.00,0.000,5126,0.000,0.041,2811,1978,1769,1819,1719,0,0,0,0,0,0,14.87,14.76,14.90
$GC,8709,0.98,252.8,2810,1978,1819,1719,198.6,12.0,905,8715,0.00,2.40,0.00,0.000,4356,0.000,0.067,2811,3357,1769,1820,1718,0,0,0,0,0,0,15.06,14.66,15.06
$GC,8728,0.98,252.8,2810,3357,1820,1718,195.8,13.4,908,8734,0.00,2.38,0.00,0.000,5126,0.000,0.045,2811,1954,1769,1820,1719,0,0,0,0,0,0,14.87,14.72,14.89
$GC,8798,0.98,252.8,2811,1954,1820,1719,185.9,13.9,921,8803,0.00,0.00,0.00,0.000,4102,0.000,0.000,2811,1954,1769,1820,1719,0,0,0,0,0,0,15.04,15.04,15.04
$GC,8867,0.98,252.8,2811,1954,1820,1718,176.4,13.2,934,8873,0.00,0.00,0.00,0.000,4102,0.000,0.000,2811,1954,1769,1820,1718,0,0,0,0,0,0,15.04,15.05,15.05
$GC,8935,0.98,252.8,2811,1954,1820,1718,167.2,13.4,947,8940,0.00,0.00,0.00,0.000,4102,0.000,0.000,2811,1954,1769,1820,1719,0,0,0,0,0,0,15.04,15.04,15.04
$GC,9002,0.98,252.8,2811,1954,1820,1719,158.1,13.5,960,9009,0.00,2.47,0.00,0.000,4356,0.000,0.063,2811,3361,1769,1819,1719,0,0,0,0,0,0,15.05,14.65,15.06
$GC,9021,0.98,252.8,2810,3362,1819,1719,155.5,14.0,963,9028,0.00,2.40,0.00,0.000,5126,0.000,0.047,2811,1957,1769,1820,1718,0,0,0,0,0,0,14.74,14.60,14.76
$GC,9091,0.98,252.8,2811,1956,1819,1719,146.4,13.0,976,9097,0.00,0.00,0.00,0.000,4102,0.000,0.000,2811,1956,1769,1820,1719,0,0,0,0,0,0,15.02,15.03,15.03
$GC,9159,0.98,252.8,2811,1956,1820,1723,137.7,12.7,989,9166,0.00,2.47,0.00,0.000,4612,0.000,0.080,2817,554,1769,1820,1718,0,0,0,0,0,0,15.04,14.59,15.04
$GC,9183,0.98,252.8,2817,554,1819,1718,134.9,11.6,993,9190,0.00,2.33,0.00,0.000,5126,0.000,0.040,2817,1971,1768,1818,1719,0,0,0,0,0,0,14.83,14.72,14.85
$GC,9253,0.98,252.8,2816,1972,1819,1719,126.0,12.6,1006,9259,0.00,0.00,0.00,0.000,4102,0.000,0.000,2817,1971,1769,1819,1719,0,0,0,0,0,0,15.02,15.02,15.02
$GC,9321,0.98,252.8,2816,1972,1818,1718,117.2,13.1,1019,9327,0.00,0.00,0.00,0.000,4102,0.000,0.000,2817,1971,1768,1819,1718,0,0,0,0,0,0,15.02,15.02,15.02
$GC,9389,0.98,252.8,2817,1972,1819,1718,108.5,13.2,1032,9395,0.00,0.00,0.00,0.000,4102,0.000,0.000,2817,1972,1769,1819,1719,0,0,0,0,0,0,15.04,15.04,15.04
$GC,9457,0.98,252.8,2817,1971,1819,1719,99.0,13.7,1045,9463,0.00,0.00,0.00,0.000,4102,0.000,0.000,2817,1972,1768,1819,1718,0,0,0,0,0,0,15.03,15.03,15.03
$GC,9525,0.98,252.8,2816,1971,1819,1718,90.5,11.8,1058,9532,0.00,2.42,0.00,0.000,4356,0.000,0.067,2817,3350,1768,1819,1718,0,0,0,0,0,0,15.02,14.41,15.02
$GC,9639,0.98,252.8,2817,3349,1819,1718,78.6,10.5,1080,9646,0.00,2.35,0.00,0.000,5126,0.000,0.044,2817,1957,1768,1819,1718,0,0,0,0,0,0,14.82,14.68,14.84
$GC,9710,1.00,266.7,2815,1957,1819,1718,72.6,9.3,1093,9728,0.00,2.45,11.23,0.988,12548,0.000,0.063,2817,3360,1722,1775,1670,0,0,0,0,0,0,15.02,14.45,13.88
$GC,9745,1.02,278.3,2817,3360,1774,1669,68.8,9.4,1099,9764,0.00,2.38,11.02,0.968,9222,0.000,0.044,2818,1957,1677,1732,1623,0,0,0,0,0,0,14.66,14.56,13.88
$GC,9826,1.03,293.5,2817,1957,1729,1619,61.7,9.3,1114,9843,0.00,0.00,14.12,0.988,8198,0.000,0.000,2818,1957,1615,1670,1560,0,0,0,0,0,0,14.94,14.62,13.88
$GC,9905,1.13,367.1,2817,1956,1666,1557,55.9,6.6,1129,9975,0.05,2.53,60.67,1.053,10500,0.254,0.063,2855,3351,1313,1372,1255,0,0,0,0,0,0,14.59,14.44,13.79
$GC,10012,1.13,367.1,2854,3351,1372,1254,44.5,12.6,1148,10018,0.00,2.38,0.00,0.000,5126,0.000,0.044,2856,1964,1313,1372,1254,0,0,0,0,0,0,14.62,14.52,14.64
$GC,10082,1.13,367.1,2853,1964,1372,1253,36.9,10.8,1161,10088,0.00,0.00,0.00,0.000,4102,0.000,0.000,2856,1964,1312,1371,1253,0,0,0,0,0,0,14.83,14.83,14.83
$GC,10150,1.13,367.1,2855,1965,1371,1253,29.1,11.4,1174,10155,0.00,0.00,0.00,0.000,4102,0.000,0.000,2856,1964,1312,1371,1253,0,0,0,0,0,0,14.88,14.88,14.88
$GC,10218,1.13,367.1,2855,1964,1367,1253,21.8,11.2,1187,10224,0.00,2.45,0.00,0.000,4356,0.000,0.062,2855,3358,1311,1370,1252,0,0,0,0,0,0,14.92,14.59,14.92
$GC,10246,1.13,367.1,2855,3358,1369,1252,18.0,12.8,1192,10253,0.00,2.38,0.00,0.000,5126,0.000,0.043,2859,1960,1310,1369,1252,0,0,0,0,0,0,14.69,14.58,14.71
$GC,10317,1.13,367.1,2859,1959,1369,1252,9.8,13.1,1205,10324,0.00,2.47,0.00,0.000,4612,0.000,0.080,2859,559,1310,1369,1252,0,0,0,0,0,0,14.95,14.58,14.95
$GC,10336,1.13,367.1,2858,558,1368,1252,7.2,12.6,1208,10343,0.00,2.33,0.00,0.000,5126,0.000,0.038,2859,1966,1310,1368,1252,0,0,0,0,0,0,14.72,14.63,14.73
$STATE,10373,end climb,SURFACE_DEPTH_REACHED
$STATE,10374,begin surface coast
$FINISH,-0.2,1.023652
$STATE,10401,end surface coast,CONTROL_FINISHED_OK
$STATE,10401,begin surface
$SM_CCo,10423,98.28,0.775,0,0,598,542.59
$SM_GC,0.51,12.77,0.00,98.28,0.057,0.000,0.775,148,1968,598,-7.26,-1.27,542.59,0,0,0,0,0,0,14.70,15.00,13.97
$IRIDIUM_FIX,-3004.98,3102.11,120419,062629
$TT8_MAMPS,0.019474,0.79394
$HUMID,57.48
$INTERNAL_PRESSURE,9.16992
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,531.1,53.0
$SC_FREEKB,3817408
$24V_AH,13.19,136.476
$10V_AH,12.55,0.000
$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,28.425,210.675,432.825,98.275,0.000,25.410,19.431,475.124,12.000,0.000,20.394,3089.013,4109.481,917.257,2928.408,297.463,0.000,2196.233,0.000,2148.170,0.000,76.975,0.000
$DEVICE_MAMPS,307.530,150.705,1705.185,774.945,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10514.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.487,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,43278,1220
$CAP_FILE_SIZE,268096,0
$CFSIZE,1023623168,993738752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120419,125049,-3020.934,3059.697,28,0.9,44,-25.2,1.3,225.9,8,6.6