version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 221
start: 4 14 119 4 36 47
data:
$ID,573
$MISSION,30
$DIVE,221
$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,200
$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,320
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,140419,042102,-3050.8264,3037.2214,25,0.9,40,-25.7,1.7,193.3,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-63.3
$GPS2,140419,043622,-3051.6819,3036.9189,15,1.0,16,-25.7,1.9,196.0,10,8.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3043.409,3028.844
$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,345.7,20000,-15.6,-9.950,-18.64,2991
$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,21,-0.82,-194.6,72,2004,590,581,0.0,0.0,0,116,0.00,0.00,-93.00,0.000,16386,0.000,0.000,72,2004,3137,3145,3130,0,0,0,0,0,0,14.88,28.83,14.90
$GC,120,-0.82,-194.6,72,2004,3146,3131,3.2,-7.6,17,150,12.90,2.45,-7.78,0.000,18948,0.308,0.086,2219,606,3609,3677,3541,0,0,0,0,0,0,14.25,13.04,14.62
$GC,193,-0.82,-194.6,2218,605,3678,3541,24.4,-16.8,30,199,0.00,2.35,0.00,0.000,3078,0.000,0.044,2217,2020,3609,3678,3541,0,0,0,0,0,0,14.77,14.66,14.78
$GC,262,-0.82,-194.6,2217,2020,3678,3541,36.4,-17.7,43,269,0.00,2.42,0.00,0.000,2308,0.000,0.074,2217,3412,3609,3678,3541,0,0,0,0,0,0,14.96,14.59,14.96
$GC,360,-0.82,-194.6,2216,3412,3677,3542,50.8,-14.8,62,367,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2006,3609,3678,3541,0,0,0,0,0,0,14.73,14.64,14.75
$GC,430,-0.82,-194.6,2216,2006,3678,3541,60.4,-12.9,75,437,0.00,2.50,0.00,0.000,2308,0.000,0.071,2216,3413,3609,3678,3541,0,0,0,0,0,0,14.98,14.56,14.99
$GC,479,-0.82,-194.6,2216,3413,3678,3541,65.8,-10.3,84,485,0.00,2.33,0.00,0.000,3078,0.000,0.038,2216,2011,3610,3679,3541,0,0,0,0,0,0,14.64,14.54,14.66
$GC,548,-0.82,-194.6,2216,2011,3679,3541,73.8,-11.2,97,553,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2008,3610,3679,3541,0,0,0,0,0,0,15.02,15.02,15.02
$GC,616,-0.82,-194.6,2216,2011,3679,3541,81.3,-11.8,110,622,0.00,2.45,0.00,0.000,2308,0.000,0.071,2216,3408,3610,3679,3541,0,0,0,0,0,0,15.03,14.65,15.03
$GC,720,-0.82,-194.6,2215,3408,3679,3541,93.4,-10.4,130,727,0.00,2.35,0.00,0.000,3078,0.000,0.037,2215,2005,3610,3680,3541,0,0,0,0,0,0,14.78,14.68,14.79
$GC,790,-0.82,-194.6,2215,2005,3680,3541,100.6,-10.1,143,795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2005,3610,3680,3541,0,0,0,0,0,0,15.03,15.04,15.04
$GC,858,-0.82,-194.6,2215,2005,3680,3541,107.8,-10.3,156,864,0.00,2.47,0.00,0.000,2308,0.000,0.070,2214,3408,3611,3681,3541,0,0,0,0,0,0,15.04,14.66,15.04
$GC,897,-0.82,-194.6,2214,3408,3681,3541,111.9,-10.5,163,903,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2004,3611,3681,3541,0,0,0,0,0,0,14.88,14.76,14.89
$GC,967,-0.82,-194.6,2214,2004,3681,3541,119.1,-11.0,176,973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2004,3611,3681,3541,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1036,-0.82,-194.6,2214,2004,3677,3541,126.6,-10.8,189,1042,0.00,2.47,0.00,0.000,2308,0.000,0.071,2214,3407,3611,3681,3541,0,0,0,0,0,0,15.04,14.66,15.04
$GC,1091,-0.82,-194.6,2213,3408,3681,3541,132.5,-10.0,199,1097,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2011,3611,3681,3541,0,0,0,0,0,0,14.87,14.77,14.89
$GC,1161,-0.82,-194.6,2214,2011,3681,3541,138.9,-8.7,212,1168,0.00,2.47,0.00,0.000,2308,0.000,0.071,2214,3407,3611,3681,3541,0,0,0,0,0,0,15.04,14.67,15.04
$GC,1215,-0.82,-194.6,2214,3408,3681,3541,143.4,-7.6,222,1222,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2012,3611,3681,3541,0,0,0,0,0,0,14.83,14.70,14.86
$GC,1286,-0.82,-194.6,2213,2012,3681,3541,148.9,-8.8,235,1292,0.00,2.47,0.00,0.000,2308,0.000,0.071,2214,3408,3611,3681,3541,0,0,0,0,0,0,15.05,14.67,15.05
$GC,1340,-0.82,-194.6,2213,3409,3681,3541,153.8,-8.8,245,1347,0.00,2.35,0.00,0.000,3078,0.000,0.037,2214,2007,3610,3681,3540,0,0,0,0,0,0,14.78,14.69,14.81
$GC,1411,-0.82,-194.6,2213,2006,3681,3541,160.1,-9.2,258,1418,0.00,2.47,0.00,0.000,2308,0.000,0.072,2214,3407,3611,3681,3541,0,0,0,0,0,0,15.05,14.68,15.05
$GC,1450,-0.82,-194.6,2213,3408,3681,3541,164.0,-9.6,265,1457,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2014,3611,3681,3541,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1520,-0.82,-194.6,2214,2014,3681,3541,170.8,-10.0,278,1527,0.00,2.42,0.00,0.000,2564,0.000,0.069,2214,610,3611,3681,3541,0,0,0,0,0,0,15.04,14.60,15.04
$GC,1539,-0.82,-194.6,2213,610,3681,3541,172.9,-10.1,281,1546,0.00,2.33,0.00,0.000,3078,0.000,0.047,2214,2008,3611,3681,3541,0,0,0,0,0,0,14.67,14.56,14.69
$GC,1610,-0.82,-194.6,2213,2008,3680,3541,179.9,-9.8,294,1617,0.00,2.45,0.00,0.000,2308,0.000,0.073,2213,3410,3610,3680,3540,0,0,0,0,0,0,15.04,14.59,15.04
$GC,1686,-0.82,-194.6,2213,3411,3680,3548,187.5,-9.9,308,1692,0.00,2.35,0.00,0.000,3078,0.000,0.038,2213,2012,3610,3680,3541,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1756,-0.82,-194.6,2213,2014,3680,3540,194.7,-10.4,321,1761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2014,3610,3680,3540,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1823,-0.82,-194.6,2212,2013,3679,3539,201.6,-10.1,334,1830,0.00,2.47,0.00,0.000,2308,0.000,0.072,2210,3414,3609,3678,3540,0,0,0,0,0,0,15.07,14.50,15.07
$GC,1872,-0.82,-194.6,2210,3415,3678,3541,206.5,-9.6,343,1880,0.05,2.33,0.00,0.000,3078,0.320,0.038,2222,2013,3609,3679,3540,0,0,0,0,0,0,14.54,14.78,14.74
$GC,1942,-0.82,-194.6,2221,2013,3678,3540,213.0,-9.4,356,1948,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2013,3609,3678,3540,0,0,0,0,0,0,15.07,15.07,15.08
$GC,2011,-0.82,-194.6,2221,2013,3678,3541,219.1,-9.2,369,2017,0.00,2.47,0.00,0.000,2308,0.000,0.074,2222,3420,3609,3678,3541,0,0,0,0,0,0,15.07,14.66,15.07
$GC,2055,-0.82,-194.6,2221,3420,3678,3540,223.1,-9.2,377,2062,0.00,2.35,0.00,0.000,3078,0.000,0.039,2222,2014,3608,3677,3540,0,0,0,0,0,0,14.83,14.69,14.81
$GC,2127,-0.82,-194.6,2221,2014,3677,3540,229.6,-9.4,390,2133,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2014,3608,3677,3540,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2197,-0.82,-194.6,2221,2014,3676,3540,236.5,-9.7,403,2203,0.00,2.47,0.00,0.000,2308,0.000,0.073,2221,3412,3608,3676,3540,0,0,0,0,0,0,15.07,14.67,15.08
$GC,2237,-0.82,-194.6,2221,3412,3676,3540,240.3,-9.4,410,2244,0.00,2.33,0.00,0.000,3078,0.000,0.039,2221,2015,3608,3676,3540,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2307,-0.82,-194.6,2221,2015,3676,3540,247.0,-9.7,423,2313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2015,3608,3676,3540,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2377,-0.82,-194.6,2221,2015,3673,3540,253.7,-9.7,436,2383,0.00,2.47,0.00,0.000,2308,0.000,0.073,2221,3412,3606,3674,3539,0,0,0,0,0,0,15.07,14.67,15.08
$GC,2431,-0.82,-194.6,2220,3412,3673,3538,258.9,-9.3,446,2437,0.00,2.33,0.00,0.000,3078,0.000,0.040,2221,2014,3606,3675,3538,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2500,-0.82,-194.6,2221,2014,3674,3538,265.6,-9.8,459,2506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2014,3606,3674,3538,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2570,-0.82,-194.6,2221,2014,3674,3537,272.3,-9.4,472,2577,0.00,2.50,0.00,0.000,2308,0.000,0.073,2221,3418,3605,3674,3537,0,0,0,0,0,0,15.07,14.67,15.07
$GC,2614,-0.82,-194.6,2221,3418,3674,3537,276.6,-9.4,480,2621,0.00,2.35,0.00,0.000,3078,0.000,0.039,2221,2014,3605,3674,3537,0,0,0,0,0,0,14.71,14.60,14.73
$GC,2685,-0.82,-194.6,2221,2014,3674,3536,283.5,-9.9,493,2690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2014,3607,3674,3541,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2753,-0.82,-194.6,2221,2014,3673,3536,290.6,-10.3,506,2760,0.00,2.47,0.00,0.000,2308,0.000,0.074,2221,3413,3604,3673,3536,0,0,0,0,0,0,15.09,14.50,15.09
$GC,2792,-0.82,-194.6,2220,3413,3673,3535,294.7,-10.5,513,2799,0.00,2.35,0.00,0.000,3078,0.000,0.041,2221,2008,3604,3673,3535,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2867,-0.82,-194.6,2220,2008,3673,3535,302.4,-10.7,524,2873,0.00,2.45,0.00,0.000,2564,0.000,0.074,2221,601,3603,3672,3535,0,0,0,0,0,0,15.11,14.69,15.11
$GC,2890,-0.82,-194.6,2221,601,3671,3535,305.0,-10.8,525,2895,0.00,2.38,0.00,0.000,3078,0.000,0.049,2221,2024,3603,3671,3535,0,0,0,0,0,0,14.88,14.75,14.90
$GC,3033,-0.82,-194.6,2220,2024,3671,3534,320.2,-10.6,532,3039,0.00,2.42,0.00,0.000,2308,0.000,0.078,2221,3408,3602,3671,3533,0,0,0,0,0,0,15.10,14.67,15.11
$GC,3140,-0.82,-194.6,2220,3409,3671,3533,330.8,-10.5,537,3146,0.00,2.33,0.00,0.000,3078,0.000,0.041,2220,2010,3602,3671,3533,0,0,0,0,0,0,14.92,14.80,14.93
$GC,3278,-0.82,-194.6,2220,2010,3669,3532,346.0,-10.8,544,3283,0.00,2.50,0.00,0.000,2308,0.000,0.076,2220,3411,3601,3669,3533,0,0,0,0,0,0,15.14,14.69,15.15
$GC,3309,-0.82,-194.6,2220,3410,3668,3532,348.3,-10.8,545,3314,0.00,2.33,0.00,0.000,3078,0.000,0.041,2220,2014,3600,3668,3532,0,0,0,0,0,0,14.91,14.79,14.92
$GC,3442,-0.82,-194.6,2219,2014,3668,3531,362.9,-10.1,552,3447,0.00,2.47,0.00,0.000,2308,0.000,0.076,2218,3408,3599,3668,3531,0,0,0,0,0,0,15.14,14.68,15.14
$GC,3484,-0.82,-194.6,2217,3408,3668,3531,367.3,-10.0,554,3490,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2006,3599,3668,3531,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3628,-0.82,-194.6,2217,2006,3665,3530,382.0,-10.4,561,3633,0.00,2.50,0.00,0.000,2308,0.000,0.078,2217,3414,3598,3667,3530,0,0,0,0,0,0,15.12,14.69,15.12
$GC,3674,-0.82,-194.6,2218,3414,3667,3530,386.3,-10.1,563,3680,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2007,3598,3667,3530,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3813,-0.82,-194.6,2217,2006,3667,3529,400.0,-9.5,570,3818,0.00,2.50,0.00,0.000,2308,0.000,0.076,2218,3409,3598,3667,3529,0,0,0,0,0,0,15.13,14.68,15.13
$GC,3859,-0.82,-194.6,2217,3409,3666,3529,404.0,-9.7,572,3865,0.00,2.33,0.00,0.000,3078,0.000,0.041,2218,2011,3597,3666,3529,0,0,0,0,0,0,14.91,14.79,14.93
$GC,3998,-0.82,-194.6,2217,2010,3666,3528,417.1,-9.1,579,4003,0.00,2.50,0.00,0.000,2308,0.000,0.076,2217,3408,3597,3666,3528,0,0,0,0,0,0,15.14,14.67,15.15
$GC,4065,-0.82,-194.6,2217,3407,3665,3528,423.2,-9.7,582,4070,0.00,2.33,0.00,0.000,3078,0.000,0.042,2217,2014,3596,3665,3528,0,0,0,0,0,0,14.92,14.80,14.95
$GC,4203,-0.82,-194.6,2217,2014,3664,3527,437.5,-10.2,589,4204,0.00,0.00,0.00,0.000,2054,0.000,0.000,2218,2014,3596,3665,3528,0,0,0,0,0,0,15.14,15.14,15.14
$GC,4323,-0.82,-194.6,2217,2014,3664,3527,449.4,-10.0,595,4328,0.00,2.47,0.00,0.000,2308,0.000,0.076,2217,3408,3594,3663,3526,0,0,0,0,0,0,15.14,14.67,15.14
$GC,4390,-0.82,-194.6,2216,3408,3663,3526,455.3,-9.6,598,4395,0.00,2.33,0.00,0.000,3078,0.000,0.042,2223,2014,3595,3663,3527,0,0,0,0,0,0,14.91,14.78,14.93
$GC,4527,-0.82,-194.6,2217,2014,3662,3525,469.7,-10.2,605,4533,0.00,2.50,0.00,0.000,2308,0.000,0.077,2217,3408,3593,3662,3525,0,0,0,0,0,0,15.14,14.66,15.14
$GC,4570,-0.82,-194.6,2217,3408,3662,3526,474.2,-10.3,607,4575,0.00,2.35,0.00,0.000,3078,0.000,0.043,2217,2007,3593,3661,3526,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4713,-0.82,-194.6,2217,2007,3661,3525,489.6,-10.7,614,4718,0.00,2.50,0.00,0.000,2308,0.000,0.078,2217,3408,3593,3661,3525,0,0,0,0,0,0,15.14,14.66,15.14
$GC,4755,-0.82,-194.6,2217,3408,3661,3525,494.0,-10.7,616,4760,0.00,2.35,0.00,0.000,3078,0.000,0.043,2217,2005,3592,3661,3524,0,0,0,0,0,0,14.89,14.75,14.92
$GC,4897,-0.82,-194.6,2216,2005,3660,3524,509.3,-10.6,623,4903,0.00,2.50,0.00,0.000,2308,0.000,0.079,2217,3412,3592,3660,3524,0,0,0,0,0,0,15.14,14.64,15.14
$GC,4941,-0.82,-194.6,2216,3412,3660,3523,513.7,-10.3,625,4947,0.00,2.35,0.00,0.000,3078,0.000,0.043,2217,2007,3591,3660,3523,0,0,0,0,0,0,14.89,14.74,14.91
$GC,5084,-0.82,-194.6,2216,2007,3660,3522,528.0,-10.1,632,5089,0.00,2.53,0.00,0.000,2308,0.000,0.079,2217,3416,3590,3659,3522,0,0,0,0,0,0,15.14,14.63,15.14
$GC,5127,-0.82,-194.6,2217,3417,3659,3522,532.1,-9.9,634,5132,0.00,2.38,0.00,0.000,3078,0.000,0.043,2217,2002,3590,3659,3522,0,0,0,0,0,0,14.90,14.76,14.92
$GC,5270,-0.82,-194.6,2217,2002,3658,3522,546.1,-9.8,641,5275,0.00,2.53,0.00,0.000,2308,0.000,0.078,2217,3411,3590,3658,3522,0,0,0,0,0,0,15.14,14.64,15.14
$GC,5322,-0.82,-194.6,2216,3411,3658,3522,550.3,-9.7,643,5327,0.00,2.35,0.00,0.000,3078,0.000,0.044,2217,2005,3590,3658,3522,0,0,0,0,0,0,14.89,14.76,14.92
$GC,5454,-0.82,-194.6,2217,2005,3657,3521,562.1,-8.3,650,5460,0.00,2.55,0.00,0.000,2308,0.000,0.079,2216,3413,3588,3656,3521,0,0,0,0,0,0,15.17,14.52,15.14
$GC,5486,-0.82,-194.6,2216,3414,3657,3521,564.0,-8.1,651,5492,0.00,2.38,0.00,0.000,3078,0.000,0.044,2216,2008,3589,3657,3521,0,0,0,0,0,0,14.88,14.73,14.90
$GC,5619,-0.82,-194.6,2216,2008,3657,3520,575.6,-8.3,658,5625,0.00,2.53,0.00,0.000,2308,0.000,0.080,2216,3413,3588,3656,3520,0,0,0,0,0,0,15.13,14.62,15.13
$GC,5671,-0.82,-194.6,2216,3413,3656,3520,579.2,-8.6,660,5677,0.00,2.35,0.00,0.000,3078,0.000,0.044,2216,2010,3588,3656,3520,0,0,0,0,0,0,14.88,14.74,14.90
$GC,5804,-0.82,-194.6,2217,2009,3656,3519,592.4,-9.8,667,5805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2009,3587,3655,3519,0,0,0,0,0,0,15.15,15.15,15.15
$GC,5924,-0.82,-194.6,2217,2009,3655,3519,605.0,-10.7,673,5929,0.00,2.55,0.00,0.000,2308,0.000,0.081,2216,3410,3587,3655,3519,0,0,0,0,0,0,15.14,14.61,15.14
$GC,5975,-0.82,-194.6,2216,3410,3654,3519,609.6,-10.8,675,5981,0.00,2.35,0.00,0.000,3078,0.000,0.044,2216,2010,3586,3654,3519,0,0,0,0,0,0,14.87,14.71,14.90
$GC,6108,-0.82,-194.6,2216,2010,3654,3518,626.0,-11.9,682,6113,0.00,2.53,0.00,0.000,2308,0.000,0.081,2215,3410,3586,3654,3518,0,0,0,0,0,0,15.14,14.60,15.14
$GC,6160,-0.82,-194.6,2215,3410,3654,3518,631.0,-11.8,684,6165,0.00,2.35,0.00,0.000,3078,0.000,0.045,2215,2014,3586,3654,3518,0,0,0,0,0,0,14.88,14.73,14.90
$GC,6293,-0.82,-194.6,2215,2014,3653,3517,646.6,-10.7,691,6298,0.00,2.53,0.00,0.000,2308,0.000,0.080,2214,3412,3585,3653,3517,0,0,0,0,0,0,15.12,14.60,15.13
$GC,6349,-0.82,-194.6,2214,3412,3652,3517,650.9,-10.4,693,6356,0.00,2.35,0.00,0.000,3078,0.000,0.045,2214,2013,3584,3652,3517,0,0,0,0,0,0,14.88,14.73,14.90
$GC,6475,-0.82,-194.6,2214,2013,3652,3517,665.2,-10.3,700,6480,0.00,2.55,0.00,0.000,2308,0.000,0.080,2214,3415,3584,3651,3517,0,0,0,0,0,0,15.14,14.53,15.15
$GC,6521,-0.82,-194.6,2214,3415,3651,3517,669.3,-10.1,702,6526,0.00,2.35,0.00,0.000,3078,0.000,0.045,2214,2013,3584,3652,3517,0,0,0,0,0,0,14.86,14.71,14.88
$STATE,6641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6641,begin apogee
$GC,6646,-0.19,0.0,2214,1961,3650,3517,681.2,-9.7,708,6813,1.10,0.00,162.40,1.884,10246,0.170,0.000,2425,1960,2811,2864,2759,0,0,0,0,0,0,14.46,14.14,13.23
$STATE,6815,end apogee,CONTROL_FINISHED_OK
$STATE,6815,begin climb
$GC,6818,0.82,194.6,2425,1960,2864,2759,687.7,0.0,716,6999,1.60,2.65,166.98,1.844,11012,0.106,0.074,2748,3357,2016,2071,1962,0,0,0,0,0,0,14.16,14.08,13.22
$GC,7011,0.91,270.2,2748,3358,2068,1962,680.0,7.4,726,7087,0.05,2.45,67.28,1.803,11270,0.248,0.050,2778,1964,1709,1767,1651,0,0,0,0,0,0,14.16,14.22,13.21
$GC,7225,0.91,270.2,2779,1964,1759,1645,654.9,11.3,737,7226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2778,1964,1702,1759,1645,0,0,0,0,0,0,14.79,14.80,14.79
$GC,7345,0.91,270.2,2778,1964,1758,1644,640.7,12.1,743,7350,0.00,2.50,0.00,0.000,2308,0.000,0.072,2778,3360,1700,1757,1644,0,0,0,0,0,0,14.90,14.53,14.90
$GC,7361,0.91,270.2,2778,3360,1756,1644,640.7,12.1,743,7368,0.00,2.40,0.00,0.000,1030,0.000,0.054,2780,1963,1700,1757,1644,0,0,0,0,0,0,14.74,14.62,14.76
$GC,7488,0.91,270.2,2779,1963,1755,1643,621.2,14.1,750,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1963,1699,1755,1643,0,0,0,0,0,0,14.96,14.97,14.97
$GC,7609,0.91,270.2,2780,1962,1755,1643,605.9,12.5,756,7614,0.00,2.50,0.00,0.000,516,0.000,0.092,2780,558,1699,1755,1643,0,0,0,0,0,0,15.00,14.61,15.01
$GC,7625,0.91,270.2,2779,559,1754,1643,605.9,12.5,756,7632,0.00,2.35,0.00,0.000,1030,0.000,0.049,2780,1961,1698,1754,1643,0,0,0,0,0,0,14.83,14.73,14.85
$GC,7751,0.91,270.2,2780,1961,1754,1642,587.0,13.4,763,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1961,1698,1754,1642,0,0,0,0,0,0,15.04,15.04,15.04
$GC,7871,0.91,270.2,2780,1961,1753,1642,570.5,13.7,769,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1961,1697,1753,1642,0,0,0,0,0,0,15.06,15.07,15.07
$GC,7992,0.91,270.2,2780,1961,1753,1641,554.1,13.5,775,7997,0.00,2.47,0.00,0.000,260,0.000,0.074,2780,3370,1697,1753,1641,0,0,0,0,0,0,15.06,14.68,15.07
$GC,8008,0.91,270.2,2780,3370,1753,1641,554.1,13.5,775,8015,0.00,2.40,0.00,0.000,1030,0.000,0.054,2782,1960,1697,1753,1641,0,0,0,0,0,0,14.85,14.73,14.89
$GC,8134,0.91,270.2,2783,1960,1753,1641,535.2,13.3,782,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1960,1697,1753,1641,0,0,0,0,0,0,15.07,15.07,15.07
$GC,8254,0.91,270.2,2783,1960,1752,1641,518.8,13.8,788,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1958,1699,1752,1647,0,0,0,0,0,0,15.08,15.09,15.09
$GC,8374,0.91,270.2,2783,1960,1752,1641,502.5,13.5,794,8379,0.00,2.50,0.00,0.000,516,0.000,0.091,2783,553,1698,1752,1645,0,0,0,0,0,0,15.09,14.64,15.10
$GC,8385,0.91,270.2,2783,552,1752,1641,502.5,13.5,794,8390,0.00,2.38,0.00,0.000,1030,0.000,0.049,2784,1970,1696,1752,1641,0,0,0,0,0,0,14.86,14.74,14.90
$GC,8517,0.91,270.2,2783,1970,1752,1641,482.7,13.9,801,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1970,1695,1751,1640,0,0,0,0,0,0,15.11,15.12,15.11
$GC,8637,0.91,270.2,2783,1970,1751,1640,466.0,13.8,807,8643,0.00,2.45,0.00,0.000,260,0.000,0.075,2783,3362,1695,1751,1640,0,0,0,0,0,0,15.09,14.67,15.13
$GC,8664,0.91,270.2,2783,3362,1751,1640,462.8,13.8,808,8669,0.00,2.38,0.00,0.000,1030,0.000,0.054,2783,1964,1696,1751,1641,0,0,0,0,0,0,14.69,14.55,14.72
$GC,8801,0.91,270.2,2783,1964,1751,1640,443.3,13.8,815,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1964,1697,1754,1640,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8921,0.91,270.2,2783,1964,1751,1640,426.7,13.8,821,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1964,1695,1751,1640,0,0,0,0,0,0,15.10,15.11,15.11
$GC,9041,0.91,270.2,2783,1964,1751,1639,410.6,13.4,827,9046,0.00,2.50,0.00,0.000,516,0.000,0.088,2785,555,1695,1751,1639,0,0,0,0,0,0,15.10,14.63,15.11
$GC,9058,0.91,270.2,2785,554,1751,1640,410.6,13.4,827,9064,0.00,2.38,0.00,0.000,5126,0.000,0.050,2785,1977,1695,1750,1640,0,0,0,0,0,0,14.88,14.74,14.90
$GC,9184,0.91,270.2,2785,1977,1750,1639,392.4,12.8,834,9189,0.00,2.42,0.00,0.000,4356,0.000,0.075,2785,3356,1694,1750,1639,0,0,0,0,0,0,15.10,14.66,15.11
$GC,9200,0.91,270.2,2784,3356,1751,1639,392.4,12.8,834,9207,0.00,2.38,0.00,0.000,5126,0.000,0.054,2787,1963,1694,1750,1639,0,0,0,0,0,0,14.87,14.71,14.90
$GC,9326,0.91,270.2,2786,1963,1750,1640,373.6,13.0,841,9332,0.00,2.50,0.00,0.000,4612,0.000,0.090,2787,560,1696,1750,1643,0,0,0,0,0,0,15.11,14.61,15.11
$GC,9343,0.91,270.2,2786,560,1749,1639,373.6,13.0,841,9350,0.00,2.35,0.00,0.000,5126,0.000,0.049,2787,1974,1695,1751,1639,0,0,0,0,0,0,14.87,14.72,14.90
$GC,9469,0.91,270.2,2786,1975,1750,1638,354.7,13.2,848,9474,0.00,2.45,0.00,0.000,4356,0.000,0.074,2790,3363,1694,1750,1639,0,0,0,0,0,0,15.10,14.64,15.11
$GC,9485,0.91,270.2,2786,3363,1750,1639,354.7,13.2,848,9492,0.00,2.40,0.00,0.000,5126,0.000,0.054,2787,1954,1694,1750,1639,0,0,0,0,0,0,14.85,14.70,14.89
$GC,9611,0.91,270.2,2787,1954,1750,1639,335.6,13.2,855,9613,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1954,1694,1750,1639,0,0,0,0,0,0,15.10,15.11,15.11
$GC,9733,0.91,270.2,2787,1954,1750,1639,319.6,13.3,861,9738,0.00,2.47,0.00,0.000,4612,0.000,0.090,2787,561,1694,1750,1639,0,0,0,0,0,0,15.11,14.60,15.11
$GC,9749,0.91,270.2,2787,561,1750,1639,319.6,13.3,861,9756,0.00,2.35,0.00,0.000,5126,0.000,0.048,2787,1968,1694,1750,1639,0,0,0,0,0,0,14.87,14.71,14.89
$GC,9875,0.91,270.2,2787,1968,1749,1639,300.4,13.4,868,9881,0.00,2.42,0.00,0.000,4356,0.000,0.073,2787,3356,1694,1750,1639,0,0,0,0,0,0,15.11,14.64,15.11
$GC,9912,0.91,270.2,2787,3356,1749,1639,295.5,13.4,872,9919,0.00,2.38,0.00,0.000,5126,0.000,0.054,2791,1966,1694,1750,1639,0,0,0,0,0,0,14.85,14.69,14.88
$GC,9984,0.91,270.2,2790,1966,1750,1639,286.0,13.4,885,9990,0.00,2.50,0.00,0.000,4612,0.000,0.090,2789,560,1694,1750,1639,0,0,0,0,0,0,15.08,14.45,15.08
$GC,10002,0.91,270.2,2790,558,1749,1639,283.4,12.7,888,10009,0.00,2.35,0.00,0.000,5126,0.000,0.048,2790,1967,1694,1749,1639,0,0,0,0,0,0,14.85,14.69,14.88
$GC,10073,0.91,270.2,2789,1967,1749,1639,273.9,13.2,901,10079,0.00,2.42,0.00,0.000,4356,0.000,0.073,2790,3354,1694,1750,1639,0,0,0,0,0,0,15.07,14.61,15.07
$GC,10091,0.91,270.2,2790,3354,1749,1637,271.1,13.6,904,10098,0.00,2.38,0.00,0.000,5126,0.000,0.052,2790,1963,1694,1750,1639,0,0,0,0,0,0,14.83,14.67,14.87
$GC,10162,0.91,270.2,2790,1963,1749,1639,262.1,13.0,917,10167,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1963,1694,1750,1639,0,0,0,0,0,0,15.04,15.05,15.04
$GC,10230,0.91,270.2,2789,1963,1749,1639,253.0,13.6,930,10235,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1963,1693,1749,1638,0,0,0,0,0,0,15.05,15.05,15.05
$GC,10297,0.91,270.2,2790,1963,1749,1639,244.1,13.0,943,10303,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1963,1693,1749,1638,0,0,0,0,0,0,15.06,15.06,15.06
$GC,10366,0.91,270.2,2790,1963,1749,1639,235.5,12.5,956,10371,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1962,1694,1749,1639,0,0,0,0,0,0,15.05,15.06,15.06
$GC,10433,0.91,270.2,2789,1962,1750,1639,227.1,12.5,969,10439,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1963,1693,1749,1638,0,0,0,0,0,0,15.08,15.05,15.05
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$GC,11199,0.91,270.2,2790,3355,1749,1638,128.5,13.9,1113,11206,0.00,2.40,0.00,0.000,5126,0.000,0.050,2790,1959,1696,1749,1644,0,0,0,0,0,0,14.52,14.37,14.55
$GC,11269,0.91,270.2,2790,1960,1749,1639,120.1,12.5,1126,11276,0.00,2.50,0.00,0.000,4612,0.000,0.087,2791,561,1694,1750,1639,0,0,0,0,0,0,15.00,14.31,15.00
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$STATE,12474,end climb,SURFACE_DEPTH_REACHED
$STATE,12474,begin surface coast
$FINISH,-0.2,1.023363
$STATE,12485,end surface coast,CONTROL_FINISHED_OK
$STATE,12486,begin surface
$SM_CCo,12510,31.02,0.778,0,0,599,542.59
$SM_GC,0.42,12.82,2.35,31.02,0.059,0.049,0.778,149,2023,599,-7.26,1.05,542.59,0,0,0,0,0,0,14.54,14.51,13.86
$IRIDIUM_FIX,-3037.47,3041.04,140419,003247
$TT8_MAMPS,0.019474,0.757988
$HUMID,59.33
$INTERNAL_PRESSURE,9.12109
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,21.0
$ALTIM_BOTTOM_PING,681.2,7.2
$SC_FREEKB,3808320
$24V_AH,13.04,141.671
$10V_AH,12.51,0.000
$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,28.600,300.425,548.675,31.025,0.000,22.350,45.436,518.012,15.750,0.000,16.904,3426.552,5387.852,1019.432,3249.758,362.655,0.000,2477.991,0.000,2380.359,0.000,101.109,0.000
$DEVICE_MAMPS,319.770,203.490,1884.195,778.005,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.197,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,46599,1350
$CAP_FILE_SIZE,314640,0
$CFSIZE,1023623168,990986240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140419,080703,-3052.067,3034.936,36,0.9,37,-25.7,1.4,192.8,9,9.6