version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 223
start: 4 14 119 14 5 43
data:
$ID,573
$MISSION,30
$DIVE,223
$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,33
$R_STBD_OVSHOOT,54
$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
$GPS1,140419,134337,-3052.3340,3032.5613,39,1.3,79,-25.7,1.0,204.4,7,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-58.8
$GPS2,140419,140518,-3053.2791,3032.0464,17,1.0,19,-25.7,1.6,198.9,8,8.3
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3045.006,3023.969
$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,-194.6,71,2039,591,578,0.0,0.0,0,116,0.00,0.00,-92.75,0.000,16386,0.000,0.000,72,2039,3168,3179,3157,0,0,0,0,0,0,14.87,28.83,14.88
$GC,120,-0.82,-194.6,71,2039,3181,3158,3.4,-8.0,17,150,12.98,2.53,-7.15,0.000,18948,0.311,0.084,2218,603,3608,3676,3541,0,0,0,0,0,0,14.22,13.05,14.60
$GC,233,-0.82,-194.6,2218,603,3677,3541,31.9,-16.0,38,239,0.00,2.33,0.00,0.000,3078,0.000,0.046,2217,1997,3609,3677,3541,0,0,0,0,0,0,14.77,14.66,14.78
$GC,303,-0.82,-194.6,2217,1997,3677,3541,40.0,-13.1,51,310,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3409,3609,3677,3541,0,0,0,0,0,0,14.95,14.59,14.95
$GC,346,-0.82,-194.6,2217,3409,3677,3541,45.8,-12.8,59,353,0.00,2.35,0.00,0.000,3078,0.000,0.038,2217,2008,3608,3677,3540,0,0,0,0,0,0,14.80,14.69,14.81
$GC,416,-0.82,-194.6,2217,2008,3677,3541,55.0,-13.8,72,423,0.00,2.50,0.00,0.000,2308,0.000,0.072,2217,3413,3609,3677,3541,0,0,0,0,0,0,14.96,14.61,14.97
$GC,455,-0.82,-194.6,2217,3413,3677,3541,60.4,-13.2,79,462,0.00,2.35,0.00,0.000,3078,0.000,0.038,2217,2010,3609,3678,3541,0,0,0,0,0,0,14.74,14.64,14.75
$GC,525,-0.82,-194.6,2217,2013,3678,3541,68.9,-12.4,92,532,0.00,2.50,0.00,0.000,2308,0.000,0.072,2217,3411,3609,3678,3540,0,0,0,0,0,0,14.99,14.54,14.99
$GC,619,-0.82,-194.6,2217,3412,3678,3541,79.3,-10.2,110,625,0.00,2.33,0.00,0.000,3078,0.000,0.038,2217,2011,3609,3678,3541,0,0,0,0,0,0,14.69,14.64,14.71
$GC,690,-0.82,-194.6,2216,2011,3678,3540,87.5,-11.9,123,695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2011,3609,3678,3541,0,0,0,0,0,0,15.01,15.01,15.00
$GC,758,-0.82,-194.6,2216,2011,3679,3540,94.8,-9.8,136,764,0.00,2.47,0.00,0.000,2308,0.000,0.072,2216,3412,3609,3678,3541,0,0,0,0,0,0,15.02,14.64,15.02
$GC,801,-0.82,-194.6,2216,3412,3678,3541,98.7,-9.8,144,808,0.00,2.35,0.00,0.000,3078,0.000,0.037,2217,2002,3610,3679,3541,0,0,0,0,0,0,14.85,14.75,14.86
$GC,871,-0.82,-194.6,2217,2002,3678,3541,105.4,-9.6,157,878,0.00,2.50,0.00,0.000,2308,0.000,0.071,2221,3416,3609,3678,3540,0,0,0,0,0,0,15.02,14.64,15.02
$GC,932,-0.82,-194.6,2217,3416,3678,3541,111.2,-9.4,168,938,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2008,3610,3679,3541,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1002,-0.82,-194.6,2216,2008,3679,3541,117.3,-8.4,181,1009,0.00,2.40,0.00,0.000,2564,0.000,0.068,2217,609,3609,3678,3541,0,0,0,0,0,0,15.02,14.66,15.02
$GC,1022,-0.82,-194.6,2216,609,3679,3540,119.1,-8.7,184,1028,0.00,2.35,0.00,0.000,3078,0.000,0.045,2217,2024,3609,3678,3541,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1092,-0.82,-194.6,2216,2024,3678,3541,125.5,-9.9,197,1098,0.00,2.42,0.00,0.000,2308,0.000,0.074,2217,3412,3609,3679,3540,0,0,0,0,0,0,15.02,14.65,15.02
$GC,1206,-0.82,-194.6,2216,3412,3678,3540,137.6,-10.4,219,1213,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2014,3610,3679,3541,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1276,-0.82,-194.6,2216,2014,3676,3540,143.9,-9.5,232,1283,0.00,2.42,0.00,0.000,2564,0.000,0.069,2217,607,3610,3679,3541,0,0,0,0,0,0,15.03,14.66,15.03
$GC,1300,-0.82,-194.6,2216,606,3678,3540,146.5,-10.0,236,1307,0.00,2.38,0.00,0.000,3078,0.000,0.045,2216,2021,3609,3678,3541,0,0,0,0,0,0,14.77,14.66,14.78
$GC,1370,-0.82,-194.6,2216,2021,3678,3540,153.6,-10.6,249,1377,0.00,2.42,0.00,0.000,2308,0.000,0.073,2216,3409,3609,3678,3540,0,0,0,0,0,0,15.03,14.57,15.03
$GC,1441,-0.82,-194.6,2216,3409,3678,3540,161.0,-10.8,262,1448,0.00,2.33,0.00,0.000,3078,0.000,0.038,2216,2015,3609,3678,3540,0,0,0,0,0,0,14.87,14.76,14.90
$GC,1511,-0.82,-194.6,2216,2015,3678,3540,169.0,-11.8,275,1521,0.00,2.42,0.00,0.000,2564,0.000,0.070,2216,613,3609,3678,3540,0,0,0,0,0,0,15.03,14.66,15.04
$GC,1533,-0.82,-194.6,2216,614,3678,3540,171.9,-13.0,278,1539,0.00,2.33,0.00,0.000,3078,0.000,0.046,2216,2014,3608,3677,3540,0,0,0,0,0,0,14.87,14.74,14.88
$GC,1603,-0.82,-194.6,2216,2014,3677,3540,179.7,-10.9,291,1610,0.00,2.47,0.00,0.000,2308,0.000,0.076,2216,3410,3608,3677,3540,0,0,0,0,0,0,15.03,14.65,15.04
$GC,1674,-0.82,-194.6,2215,3410,3677,3539,187.1,-10.0,304,1680,0.00,2.33,0.00,0.000,3078,0.000,0.039,2216,2010,3608,3677,3540,0,0,0,0,0,0,14.75,14.76,14.76
$GC,1744,-0.82,-194.6,2216,2010,3676,3539,194.0,-9.6,317,1750,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2010,3608,3677,3540,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1814,-0.82,-194.6,2216,2010,3676,3539,200.8,-9.7,330,1820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2009,3607,3676,3539,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1882,-0.82,-194.6,2216,2010,3675,3539,207.8,-10.6,343,1888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2009,3607,3675,3539,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1950,-0.82,-194.6,2216,2010,3674,3539,215.1,-10.8,356,1957,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3410,3606,3674,3538,0,0,0,0,0,0,15.06,14.57,15.07
$GC,1984,-0.82,-194.6,2216,3410,3673,3539,218.8,-10.4,362,1991,0.00,2.33,0.00,0.000,3078,0.000,0.039,2216,2014,3606,3674,3538,0,0,0,0,0,0,14.87,14.76,14.88
$GC,2054,-0.82,-194.6,2217,2014,3674,3539,226.0,-10.6,375,2060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2014,3606,3674,3538,0,0,0,0,0,0,15.05,15.06,15.06
$GC,2124,-0.82,-194.6,2216,2014,3673,3538,233.4,-10.4,388,2130,0.00,2.47,0.00,0.000,2308,0.000,0.074,2216,3408,3605,3672,3538,0,0,0,0,0,0,15.07,14.66,15.07
$GC,2167,-0.82,-194.6,2216,3409,3672,3537,238.2,-10.3,396,2174,0.00,2.33,0.00,0.000,3078,0.000,0.040,2216,2015,3605,3673,3537,0,0,0,0,0,0,14.88,14.76,14.89
$GC,2237,-0.82,-194.6,2216,2015,3672,3537,245.0,-10.3,409,2243,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2015,3604,3672,3537,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2306,-0.82,-194.6,2216,2015,3672,3536,252.0,-9.6,422,2313,0.00,2.47,0.00,0.000,2308,0.000,0.073,2216,3409,3603,3672,3535,0,0,0,0,0,0,15.06,14.66,15.06
$GC,2345,-0.82,-194.6,2215,3409,3672,3535,256.0,-10.0,429,2352,0.00,2.33,0.00,0.000,3078,0.000,0.040,2216,2012,3603,3672,3535,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2415,-0.82,-194.6,2215,2012,3672,3534,263.0,-10.0,442,2421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2013,3603,3672,3534,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2484,-0.82,-194.6,2215,2012,3671,3535,270.1,-10.7,455,2491,0.00,2.47,0.00,0.000,2308,0.000,0.075,2214,3412,3602,3671,3534,0,0,0,0,0,0,15.04,14.66,15.05
$GC,2523,-0.82,-194.6,2214,3412,3671,3534,274.4,-10.5,462,2529,0.00,2.35,0.00,0.000,3078,0.000,0.040,2214,2008,3602,3671,3534,0,0,0,0,0,0,14.88,14.76,14.90
$GC,2592,-0.82,-194.6,2214,2008,3671,3533,281.7,-10.6,475,2598,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2008,3602,3671,3533,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2659,-0.82,-194.6,2214,2008,3670,3533,288.6,-10.1,488,2666,0.00,2.53,0.00,0.000,2308,0.000,0.075,2214,3415,3601,3670,3533,0,0,0,0,0,0,15.08,14.49,15.08
$GC,2708,-0.82,-194.6,2214,3415,3669,3532,293.8,-10.3,497,2715,0.00,2.38,0.00,0.000,3078,0.000,0.041,2214,2005,3600,3669,3532,0,0,0,0,0,0,14.87,14.74,14.88
$GC,2794,-0.82,-194.6,2214,2005,3669,3532,302.0,-9.2,510,2795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2005,3600,3669,3532,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2913,-0.82,-194.6,2214,2005,3668,3531,313.2,-9.1,516,2918,0.00,2.50,0.00,0.000,2308,0.000,0.075,2214,3409,3599,3668,3531,0,0,0,0,0,0,15.12,14.68,15.12
$GC,2964,-0.82,-194.6,2214,3409,3668,3531,317.4,-9.3,518,2970,0.00,2.33,0.00,0.000,3078,0.000,0.042,2214,2008,3599,3667,3531,0,0,0,0,0,0,14.88,14.74,14.90
$GC,3100,-0.82,-194.6,2214,2008,3667,3530,331.3,-9.2,525,3105,0.00,2.53,0.00,0.000,2308,0.000,0.077,2214,3407,3598,3666,3530,0,0,0,0,0,0,15.12,14.59,15.12
$GC,3163,-0.82,-194.6,2214,3408,3667,3529,337.7,-9.5,528,3168,0.00,2.33,0.00,0.000,3078,0.000,0.040,2214,2018,3598,3667,3529,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3306,-0.82,-194.6,2214,2018,3666,3529,351.8,-9.7,535,3312,0.00,2.47,0.00,0.000,2308,0.000,0.075,2214,3408,3597,3666,3529,0,0,0,0,0,0,15.12,14.69,15.12
$GC,3359,-0.82,-194.6,2214,3408,3666,3528,356.3,-9.8,537,3364,0.00,2.35,0.00,0.000,3078,0.000,0.041,2214,2000,3597,3666,3528,0,0,0,0,0,0,14.89,14.76,14.91
$GC,3492,-0.82,-194.6,2214,2000,3665,3528,370.9,-10.5,544,3497,0.00,2.53,0.00,0.000,2308,0.000,0.076,2214,3410,3600,3673,3527,0,0,0,0,0,0,15.11,14.69,15.11
$GC,3529,-0.82,-194.6,2213,3411,3665,3527,373.3,-10.5,545,3535,0.00,2.33,0.00,0.000,3078,0.000,0.041,2214,2010,3595,3664,3527,0,0,0,0,0,0,14.89,14.76,14.90
$GC,3655,-0.82,-194.6,2214,2010,3664,3526,387.8,-10.5,552,3660,0.00,2.53,0.00,0.000,2308,0.000,0.076,2214,3417,3595,3664,3526,0,0,0,0,0,0,15.13,14.67,15.13
$GC,3691,-0.82,-194.6,2214,3416,3664,3526,390.3,-10.6,553,3698,0.00,2.33,0.00,0.000,3078,0.000,0.042,2214,2011,3594,3663,3526,0,0,0,0,0,0,14.91,14.78,14.93
$GC,3817,-0.82,-194.6,2214,2011,3663,3526,403.4,-9.2,560,3819,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2011,3594,3663,3525,0,0,0,0,0,0,15.13,15.14,15.14
$GC,3937,-0.82,-194.6,2213,2011,3661,3525,413.8,-8.4,566,3943,0.00,2.50,0.00,0.000,2308,0.000,0.077,2213,3408,3593,3661,3525,0,0,0,0,0,0,15.16,14.69,15.16
$GC,4000,-0.82,-194.6,2214,3408,3661,3524,418.9,-8.0,569,4006,0.00,2.38,0.00,0.000,3078,0.000,0.041,2214,2011,3592,3661,3524,0,0,0,0,0,0,14.80,14.68,14.82
$GC,4145,-0.82,-194.6,2213,2011,3661,3524,430.8,-8.3,576,4150,0.00,2.47,0.00,0.000,2308,0.000,0.076,2214,3408,3591,3660,3523,0,0,0,0,0,0,15.14,14.68,15.14
$GC,4197,-0.82,-194.6,2213,3408,3660,3523,434.7,-8.5,578,4202,0.00,2.33,0.00,0.000,3078,0.000,0.041,2214,2011,3591,3660,3523,0,0,0,0,0,0,14.92,14.78,14.94
$GC,4329,-0.82,-194.6,2213,2010,3660,3522,446.1,-8.1,585,4335,0.00,2.55,0.00,0.000,2308,0.000,0.077,2213,3416,3590,3659,3522,0,0,0,0,0,0,15.14,14.47,15.14
$GC,4386,-0.82,-194.6,2214,3416,3659,3522,449.2,-7.6,587,4394,0.00,2.35,0.00,0.000,3078,0.000,0.042,2214,2011,3590,3659,3522,0,0,0,0,0,0,14.90,14.77,14.92
$GC,4513,-0.82,-194.6,2213,2011,3659,3521,459.5,-7.4,594,4518,0.00,2.53,0.00,0.000,2308,0.000,0.077,2214,3410,3589,3658,3521,0,0,0,0,0,0,15.14,14.65,15.13
$GC,4545,-0.82,-194.6,2213,3411,3658,3521,461.2,-7.4,595,4550,0.00,2.33,0.00,0.000,3078,0.000,0.043,2214,2013,3589,3658,3521,0,0,0,0,0,0,14.91,14.77,14.93
$GC,4678,-0.82,-194.6,2213,2012,3657,3521,471.7,-7.5,602,4683,0.00,2.53,0.00,0.000,2308,0.000,0.078,2214,3415,3589,3657,3521,0,0,0,0,0,0,15.14,14.65,15.14
$GC,4720,-0.82,-194.6,2213,3415,3657,3521,474.9,-7.4,604,4726,0.00,2.38,0.00,0.000,3078,0.000,0.043,2214,2011,3588,3656,3520,0,0,0,0,0,0,14.78,14.66,14.81
$GC,4864,-0.82,-194.6,2213,2010,3656,3519,486.4,-8.3,611,4869,0.00,2.53,0.00,0.000,2308,0.000,0.078,2214,3416,3587,3656,3519,0,0,0,0,0,0,15.15,14.64,15.15
$GC,4907,-0.82,-194.6,2213,3416,3656,3519,490.1,-8.4,613,4913,0.00,2.35,0.00,0.000,3078,0.000,0.043,2214,2012,3587,3656,3519,0,0,0,0,0,0,14.90,14.77,14.92
$GC,5050,-0.82,-194.6,2213,2012,3655,3518,504.1,-10.1,620,5055,0.00,2.55,0.00,0.000,2308,0.000,0.078,2214,3415,3586,3655,3518,0,0,0,0,0,0,15.14,14.54,15.14
$GC,5097,-0.82,-194.6,2213,3415,3655,3518,508.2,-9.8,622,5102,0.00,2.35,0.00,0.000,3078,0.000,0.043,2214,2010,3586,3654,3518,0,0,0,0,0,0,14.89,14.76,14.91
$GC,5234,-0.82,-194.6,2213,2010,3654,3517,523.2,-11.1,629,5240,0.00,2.53,0.00,0.000,2308,0.000,0.079,2213,3413,3585,3654,3517,0,0,0,0,0,0,15.14,14.64,15.14
$GC,5280,-0.82,-194.6,2213,3413,3652,3517,527.9,-11.2,631,5286,0.00,2.35,0.00,0.000,3078,0.000,0.044,2213,2010,3585,3653,3517,0,0,0,0,0,0,14.88,14.75,14.90
$GC,5418,-0.82,-194.6,2213,2009,3653,3517,544.4,-12.1,638,5423,0.00,2.53,0.00,0.000,2308,0.000,0.079,2213,3408,3584,3652,3517,0,0,0,0,0,0,15.12,14.63,15.12
$GC,5460,-0.82,-194.6,2211,3408,3652,3517,549.4,-11.9,640,5466,0.00,2.35,0.00,0.000,3078,0.000,0.044,2213,2008,3585,3652,3518,0,0,0,0,0,0,14.89,14.74,14.91
$STATE,5602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5602,begin apogee
$GC,5606,-0.19,0.0,2213,2007,3652,3517,564.6,-10.0,647,5768,1.02,0.00,157.10,1.705,10246,0.095,0.000,2432,2006,2811,2865,2758,0,0,0,0,0,0,14.68,14.19,13.33
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5771,0.82,194.6,2431,2006,2869,2754,564.5,0.0,655,5945,1.52,2.70,162.90,1.675,11012,0.090,0.084,2750,568,2016,2071,1962,0,0,0,0,0,0,14.21,14.06,13.31
$GC,6001,0.93,283.5,2750,569,2065,1962,555.8,6.9,666,6088,0.08,2.40,76.70,1.639,11270,0.198,0.047,2778,1962,1657,1715,1599,0,0,0,0,0,0,14.35,14.42,13.34
$GC,6207,0.93,283.5,2778,1963,1707,1595,531.4,11.5,677,6212,0.00,2.53,0.00,0.000,2308,0.000,0.070,2777,3372,1651,1708,1594,0,0,0,0,0,0,14.78,14.49,14.78
$GC,6253,0.93,283.5,2778,3372,1706,1594,525.3,13.5,679,6259,0.00,2.42,0.00,0.000,3078,0.000,0.054,2780,1968,1650,1706,1594,0,0,0,0,0,0,14.69,14.55,14.70
$GC,6391,0.93,283.5,2780,1967,1704,1593,507.3,12.9,686,6396,0.00,2.53,0.00,0.000,2564,0.000,0.090,2780,560,1648,1704,1593,0,0,0,0,0,0,14.95,14.59,14.95
$GC,6402,0.93,283.5,2779,560,1704,1593,507.3,12.9,686,6408,0.00,2.38,0.00,0.000,3078,0.000,0.044,2780,1977,1648,1704,1593,0,0,0,0,0,0,14.80,14.69,14.81
$GC,6535,0.93,283.5,2780,1978,1703,1593,488.7,11.5,693,6540,0.00,2.47,0.00,0.000,2308,0.000,0.073,2780,3367,1648,1703,1593,0,0,0,0,0,0,15.00,14.64,15.00
$GC,6566,0.93,283.5,2780,3367,1703,1593,485.9,11.0,694,6572,0.00,2.40,0.00,0.000,3078,0.000,0.051,2780,1961,1648,1703,1593,0,0,0,0,0,0,14.83,14.69,14.85
$GC,6699,0.93,283.5,2779,1961,1703,1592,468.6,12.2,701,6701,0.00,0.00,0.00,0.000,2054,0.000,0.000,2780,1961,1647,1703,1592,0,0,0,0,0,0,15.04,15.04,15.04
$GC,6819,0.93,283.5,2780,1961,1703,1592,454.2,12.0,707,6820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2780,1961,1647,1703,1591,0,0,0,0,0,0,15.05,15.05,15.05
$GC,6939,0.93,283.5,2780,1961,1702,1591,440.0,11.9,713,6944,0.00,2.50,0.00,0.000,2308,0.000,0.072,2780,3366,1646,1702,1591,0,0,0,0,0,0,15.07,14.69,15.07
$GC,6965,0.93,283.5,2780,3366,1703,1591,437.1,12.2,714,6970,0.00,2.40,0.00,0.000,3078,0.000,0.051,2781,1960,1646,1702,1591,0,0,0,0,0,0,14.87,14.73,14.90
$GC,7102,0.93,283.5,2781,1961,1702,1591,419.6,12.3,721,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1961,1646,1701,1591,0,0,0,0,0,0,15.07,15.09,15.08
$GC,7222,0.93,283.5,2781,1961,1701,1586,404.8,12.2,727,7224,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,1961,1646,1702,1591,0,0,0,0,0,0,15.09,15.09,15.09
$GC,7342,0.93,283.5,2781,1961,1701,1591,390.8,11.8,733,7344,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,1961,1644,1701,1587,0,0,0,0,0,0,15.10,15.11,15.11
$GC,7463,0.93,283.5,2781,1961,1701,1590,376.0,12.4,739,7464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,1961,1645,1700,1590,0,0,0,0,0,0,15.11,15.12,15.12
$GC,7583,0.93,283.5,2781,1961,1700,1590,361.5,11.9,745,7588,0.00,2.50,0.00,0.000,2308,0.000,0.073,2781,3360,1644,1700,1589,0,0,0,0,0,0,15.11,14.68,15.11
$GC,7594,0.93,283.5,2787,3360,1700,1590,361.5,11.9,745,7599,0.00,2.38,0.00,0.000,3078,0.000,0.052,2783,1963,1645,1700,1590,0,0,0,0,0,0,14.89,14.73,14.92
$GC,7726,0.93,283.5,2783,1963,1700,1590,344.7,11.9,752,7731,0.00,2.47,0.00,0.000,2564,0.000,0.089,2783,561,1644,1699,1590,0,0,0,0,0,0,15.11,14.64,15.11
$GC,7749,0.93,283.5,2783,561,1699,1590,342.2,11.9,753,7754,0.00,2.35,0.00,0.000,3078,0.000,0.048,2783,1968,1644,1699,1590,0,0,0,0,0,0,14.90,14.77,14.92
$GC,7891,0.93,283.5,2786,1969,1699,1590,326.4,11.2,760,7897,0.00,2.47,0.00,0.000,260,0.000,0.076,2783,3365,1644,1699,1590,0,0,0,0,0,0,15.10,14.67,15.11
$GC,7928,0.93,283.5,2783,3365,1699,1590,323.6,11.7,761,7934,0.00,2.38,0.00,0.000,1030,0.000,0.051,2782,1964,1644,1699,1590,0,0,0,0,0,0,14.87,14.73,14.90
$GC,8054,0.93,283.5,2783,1964,1699,1590,306.8,11.6,768,8059,0.00,2.50,0.00,0.000,516,0.000,0.088,2784,556,1644,1699,1590,0,0,0,0,0,0,15.09,14.64,15.11
$GC,8076,0.93,283.5,2784,556,1699,1590,304.7,11.0,769,8082,0.00,2.35,0.00,0.000,1030,0.000,0.048,2784,1968,1644,1699,1590,0,0,0,0,0,0,14.83,14.73,14.90
$GC,8204,0.93,283.5,2783,1968,1698,1590,291.0,10.1,788,8211,0.00,2.45,0.00,0.000,260,0.000,0.075,2784,3355,1644,1698,1590,0,0,0,0,0,0,15.09,14.65,15.08
$GC,8223,0.93,283.5,2783,3354,1698,1590,289.0,10.2,791,8230,0.00,2.38,0.00,0.000,1030,0.000,0.051,2784,1963,1644,1699,1590,0,0,0,0,0,0,14.84,14.71,14.87
$GC,8293,0.93,284.0,2784,1963,1698,1590,282.1,9.9,804,8300,0.00,2.50,0.00,0.000,516,0.000,0.088,2784,555,1644,1698,1590,0,0,0,0,0,0,15.07,14.60,15.07
$GC,8318,0.95,302.4,2784,554,1698,1590,279.7,9.3,808,8341,0.00,2.35,16.10,1.320,11270,0.000,0.047,2784,1965,1579,1635,1523,0,0,0,0,0,0,14.68,14.66,13.78
$GC,8404,0.95,302.4,2784,1965,1634,1522,270.7,10.6,824,8411,0.00,2.47,0.00,0.000,2308,0.000,0.076,2784,3356,1577,1633,1522,0,0,0,0,0,0,14.98,14.62,14.99
$GC,8427,0.95,302.4,2784,3356,1633,1522,268.2,10.8,828,8434,0.00,2.40,0.00,0.000,3078,0.000,0.054,2784,1960,1577,1633,1521,0,0,0,0,0,0,14.81,14.66,14.83
$GC,8498,0.95,302.4,2784,1959,1634,1521,260.8,12.0,841,8504,0.00,2.53,0.00,0.000,2564,0.000,0.090,2785,552,1577,1633,1521,0,0,0,0,0,0,15.00,14.41,15.01
$GC,8511,0.95,302.4,2784,553,1633,1521,259.0,12.4,843,8518,0.00,2.38,0.00,0.000,3078,0.000,0.048,2790,1964,1576,1632,1521,0,0,0,0,0,0,14.81,14.69,14.83
$GC,8581,0.95,302.4,2784,1964,1629,1522,251.9,10.6,856,8588,0.00,2.47,0.00,0.000,2308,0.000,0.073,2785,3362,1578,1632,1525,0,0,0,0,0,0,15.00,14.62,15.00
$GC,8610,0.95,302.4,2784,3362,1631,1521,248.1,12.6,861,8617,0.00,2.42,0.00,0.000,3078,0.000,0.051,2785,1962,1576,1631,1521,0,0,0,0,0,0,14.82,14.66,14.83
$GC,8680,0.95,302.4,2784,1962,1632,1521,240.4,11.0,874,8687,0.00,2.53,0.00,0.000,2564,0.000,0.090,2786,560,1576,1631,1521,0,0,0,0,0,0,15.01,14.57,15.02
$GC,8699,0.95,302.4,2786,559,1630,1521,238.2,10.8,877,8706,0.00,2.38,0.00,0.000,3078,0.000,0.047,2787,1969,1575,1631,1520,0,0,0,0,0,0,14.73,14.60,14.75
$GC,8769,0.95,302.4,2786,1969,1628,1521,230.7,10.6,890,8776,0.00,2.47,0.00,0.000,2308,0.000,0.073,2786,3359,1576,1631,1521,0,0,0,0,0,0,15.02,14.53,15.02
$GC,8788,0.95,302.4,2786,3359,1631,1521,228.6,10.7,893,8795,0.00,2.40,0.00,0.000,3078,0.000,0.049,2787,1957,1575,1631,1520,0,0,0,0,0,0,14.62,14.47,14.64
$GC,8858,0.97,315.8,2786,1957,1631,1520,222.1,9.5,906,8878,0.00,2.45,13.45,1.210,10756,0.000,0.088,2786,561,1524,1580,1468,0,0,0,0,0,0,15.02,14.66,13.78
$GC,8895,1.02,354.7,2786,560,1579,1468,218.4,8.6,912,8936,0.00,2.35,34.72,1.288,11270,0.000,0.049,2787,1957,1365,1424,1306,0,0,0,0,0,0,14.80,14.69,13.72
$GC,8998,1.03,368.5,2786,1957,1422,1305,208.3,9.5,931,9018,0.08,2.55,13.20,1.164,10500,0.190,0.075,2832,3362,1309,1368,1250,0,0,0,0,0,0,14.53,14.50,13.66
$GC,9030,1.03,368.5,2832,3362,1369,1250,204.5,11.7,936,9037,0.00,2.42,0.00,0.000,5126,0.000,0.052,2833,1964,1309,1369,1250,0,0,0,0,0,0,14.64,14.52,14.66
$GC,9100,1.03,368.5,2832,1964,1369,1250,194.9,13.3,949,9106,0.00,2.55,0.00,0.000,4612,0.000,0.090,2835,560,1309,1368,1250,0,0,0,0,0,0,14.83,14.48,14.83
$GC,9119,1.03,368.5,2835,560,1368,1250,192.3,13.0,952,9125,0.00,2.40,0.00,0.000,5126,0.000,0.046,2835,1975,1308,1368,1249,0,0,0,0,0,0,14.62,14.47,14.62
$GC,9189,1.03,368.5,2834,1975,1367,1249,182.7,14.3,965,9195,0.00,2.47,0.00,0.000,4356,0.000,0.074,2835,3362,1310,1372,1249,0,0,0,0,0,0,14.88,14.47,14.88
$GC,9208,1.03,368.5,2835,3362,1367,1249,179.6,15.0,968,9214,0.00,2.40,0.00,0.000,5126,0.000,0.051,2835,1965,1308,1367,1249,0,0,0,0,0,0,14.54,14.43,14.56
$GC,9278,1.03,368.5,2834,1965,1367,1249,170.2,13.9,981,9284,0.00,2.53,0.00,0.000,4612,0.000,0.090,2835,561,1308,1367,1249,0,0,0,0,0,0,14.92,14.36,14.92
$GC,9301,1.03,368.5,2835,561,1366,1256,167.0,12.6,985,9308,0.00,2.38,0.00,0.000,5126,0.000,0.046,2835,1974,1308,1367,1249,0,0,0,0,0,0,14.76,14.64,14.78
$GC,9371,1.03,368.5,2835,1974,1366,1249,157.7,13.1,998,9378,0.00,2.45,0.00,0.000,4356,0.000,0.073,2835,3359,1307,1366,1249,0,0,0,0,0,0,14.92,14.56,14.92
$GC,9390,1.03,368.5,2835,3358,1366,1249,154.9,13.8,1001,9397,0.00,2.40,0.00,0.000,5126,0.000,0.051,2835,1964,1307,1366,1249,0,0,0,0,0,0,14.76,14.61,14.77
$GC,9460,1.03,368.5,2835,1964,1366,1249,145.4,14.3,1014,9467,0.00,2.53,0.00,0.000,4612,0.000,0.090,2838,560,1307,1366,1249,0,0,0,0,0,0,14.93,14.54,14.93
$GC,9479,1.03,368.5,2838,560,1365,1249,142.6,14.4,1017,9486,0.08,2.38,0.00,0.000,5126,0.284,0.045,2823,1973,1307,1365,1249,0,0,0,0,0,0,14.35,14.57,14.57
$GC,9548,1.03,368.5,2823,1973,1365,1249,133.5,12.8,1030,9555,0.00,2.45,0.00,0.000,260,0.000,0.072,2823,3358,1307,1365,1249,0,0,0,0,0,0,14.95,14.42,14.95
$GC,9572,1.03,368.5,2823,3359,1365,1249,130.2,14.2,1034,9579,0.00,2.40,0.00,0.000,5126,0.000,0.052,2824,1961,1307,1365,1249,0,0,0,0,0,0,14.77,14.62,14.79
$GC,9642,1.03,368.5,2824,1961,1365,1249,120.2,15.1,1047,9648,0.00,0.00,0.00,0.000,4102,0.000,0.000,2824,1961,1307,1365,1249,0,0,0,0,0,0,14.96,14.96,14.96
$GC,9710,1.03,368.5,2824,1961,1365,1249,109.5,15.0,1060,9716,0.00,0.00,0.00,0.000,4102,0.000,0.000,2824,1961,1307,1365,1249,0,0,0,0,0,0,14.98,15.00,14.99
$GC,9778,1.03,368.5,2824,1961,1365,1248,100.1,13.5,1073,9784,0.00,2.53,0.00,0.000,4612,0.000,0.090,2825,561,1306,1365,1248,0,0,0,0,0,0,14.96,14.38,14.97
$GC,9807,1.03,368.5,2824,561,1365,1248,96.6,11.9,1078,9813,0.00,2.35,0.00,0.000,5126,0.000,0.047,2825,1964,1307,1365,1249,0,0,0,0,0,0,14.79,14.64,14.81
$GC,9877,1.03,368.5,2824,1964,1365,1249,87.7,12.4,1091,9883,0.00,2.47,0.00,0.000,4356,0.000,0.072,2824,3353,1306,1365,1248,0,0,0,0,0,0,14.97,14.59,14.97
$GC,9957,1.03,368.5,2824,3353,1364,1248,78.7,11.0,1106,9963,0.00,2.40,0.00,0.000,5126,0.000,0.051,2824,1957,1306,1364,1248,0,0,0,0,0,0,14.78,14.64,14.81
$GC,10027,1.04,373.9,2824,1957,1364,1248,71.7,9.8,1119,10039,0.00,0.00,5.55,0.793,8198,0.000,0.000,2824,1958,1288,1348,1228,0,0,0,0,0,0,14.97,14.33,13.72
$GC,10102,1.04,373.9,2824,1957,1348,1227,64.4,10.4,1133,10109,0.00,2.47,0.00,0.000,260,0.000,0.071,2825,3353,1287,1348,1227,0,0,0,0,0,0,14.98,14.47,14.99
$GC,10126,1.04,373.9,2824,3353,1348,1227,61.6,10.8,1137,10133,0.00,2.38,0.00,0.000,1030,0.000,0.050,2824,1964,1288,1348,1228,0,0,0,0,0,0,14.77,14.64,14.80
$GC,10196,1.05,383.0,2824,1963,1348,1228,54.3,9.6,1150,10214,0.00,2.53,9.55,0.916,8708,0.000,0.087,2825,560,1250,1310,1190,0,0,0,0,0,0,14.95,14.60,13.80
$GC,10237,1.12,440.6,2824,559,1310,1190,50.7,8.0,1157,10294,0.00,2.35,50.00,1.060,11270,0.000,0.044,2824,1956,1015,1074,956,0,0,0,0,0,0,14.80,14.69,13.80
$GC,10356,1.19,496.6,2824,1956,1074,953,40.5,8.0,1179,10413,0.08,2.55,48.90,1.024,10500,0.184,0.071,2868,3372,784,817,752,0,0,0,0,0,0,14.42,14.16,13.66
$GC,10541,1.19,496.6,2868,3372,817,744,21.1,11.6,1214,10548,0.00,2.45,0.00,0.000,1030,0.000,0.048,2868,1954,780,817,744,0,0,0,0,0,0,14.64,14.53,14.66
$GC,10611,1.22,522.4,2868,1953,817,741,14.6,9.1,1227,10635,0.00,2.47,15.95,0.875,10756,0.000,0.090,2868,561,681,696,667,0,0,0,0,0,0,14.87,14.42,13.85
$GC,10653,1.29,575.3,2869,561,696,665,11.0,8.1,1234,10677,0.05,2.38,13.82,0.831,11270,0.257,0.044,2902,1966,597,584,611,0,0,0,0,0,0,14.33,14.45,13.82
$STATE,10733,end climb,SURFACE_DEPTH_REACHED
$STATE,10733,begin surface coast
$FINISH,0.2,1.023387
$STATE,10759,end surface coast,CONTROL_FINISHED_OK
$STATE,10759,begin surface
$SM_CCo,10841,0.00,0.000,0,0,592,544.56
$SM_GC,0.40,13.05,0.05,0.00,0.054,0.185,0.000,148,2021,592,-7.27,-1.13,544.56,0,0,0,0,0,0,14.58,14.63,14.68
$IRIDIUM_FIX,-3039.98,3031.12,140419,134958
$TT8_MAMPS,0.019474,0.804426
$HUMID,63.34
$INTERNAL_PRESSURE,9.02343
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,530.2,48.9
$SC_FREEKB,3807008
$24V_AH,13.05,142.625
$10V_AH,13.31,0.000
$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,28.925,296.525,617.950,0.000,0.000,51.149,60.053,720.877,12.000,0.000,20.107,3110.790,4300.125,1004.680,3321.084,374.623,0.000,2359.970,0.000,2182.174,0.000,77.009,0.000
$DEVICE_MAMPS,311.355,185.130,1705.185,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10935.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.357,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,43286,1254
$CAP_FILE_SIZE,294088,0
$CFSIZE,1023623168,990543872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5604.20,0x2131c2,2,24
$GPS,140419,170733,-3053.118,3030.736,32,1.0,33,-25.7,1.4,199.0,9,8.0