version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 236
start: 4 16 119 5 40 11
data:
$ID,573
$MISSION,30
$DIVE,236
$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,300
$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,34
$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,4
$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
$GPS1,160419,052201,-3112.6174,3015.2520,41,0.8,43,-26.0,0.5,202.2,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-61.8
$GPS2,160419,053946,-3112.7266,3015.2466,18,0.8,19,-26.0,0.0,88.5,11,8.5
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3107.327,3004.322
$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,326.0,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,75,1980,585,582,0.0,0.0,0,122,0.00,0.00,-98.00,0.000,16386,0.000,0.000,73,1980,3254,3271,3238,0,0,0,0,0,0,14.88,28.83,14.90
$GC,126,-0.82,-194.6,73,1980,3271,3239,3.5,-9.7,18,151,13.02,2.40,-5.80,0.000,18948,0.315,0.084,2220,604,3608,3676,3541,0,0,0,0,0,0,14.22,13.04,14.60
$GC,223,-0.82,-194.6,2219,604,3678,3542,24.8,-11.7,36,230,0.00,2.35,0.00,0.000,3078,0.000,0.047,2217,2016,3609,3678,3541,0,0,0,0,0,0,14.76,14.64,14.78
$GC,293,-0.82,-194.6,2217,2017,3678,3542,32.9,-12.0,49,300,0.00,2.45,0.00,0.000,2308,0.000,0.075,2217,3417,3609,3678,3541,0,0,0,0,0,0,14.97,14.48,14.96
$GC,382,-0.82,-194.6,2216,3418,3678,3542,43.0,-11.4,66,388,0.00,2.35,0.00,0.000,3078,0.000,0.038,2217,2012,3610,3678,3542,0,0,0,0,0,0,14.80,14.69,14.82
$GC,451,-0.82,-194.6,2216,2012,3679,3541,50.8,-12.1,79,457,0.00,2.53,0.00,0.000,2308,0.000,0.073,2217,3420,3609,3678,3541,0,0,0,0,0,0,14.99,14.59,14.98
$GC,514,-0.82,-194.6,2216,3420,3678,3541,58.0,-11.3,91,521,0.00,2.35,0.00,0.000,3078,0.000,0.039,2216,2004,3610,3679,3542,0,0,0,0,0,0,14.62,14.50,14.64
$GC,584,-0.82,-194.6,2216,2004,3678,3541,65.2,-9.8,104,590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2003,3610,3679,3542,0,0,0,0,0,0,15.00,15.00,15.00
$GC,653,-0.82,-194.6,2216,2004,3678,3542,72.2,-9.8,117,659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2004,3610,3679,3541,0,0,0,0,0,0,15.02,15.02,15.02
$GC,721,-0.82,-194.6,2216,2003,3679,3541,78.6,-9.8,130,727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2004,3610,3679,3541,0,0,0,0,0,0,15.02,15.02,15.02
$GC,792,-0.82,-194.6,2216,2004,3680,3542,85.1,-9.4,143,799,0.00,2.53,0.00,0.000,2308,0.000,0.073,2216,3416,3611,3680,3542,0,0,0,0,0,0,15.00,14.63,15.01
$GC,842,-0.82,-194.6,2216,3419,3679,3541,89.7,-8.9,152,849,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2010,3610,3680,3541,0,0,0,0,0,0,14.84,14.73,14.89
$GC,913,-0.82,-194.6,2216,2010,3679,3542,96.2,-9.2,165,919,0.00,2.42,0.00,0.000,2564,0.000,0.070,2216,601,3612,3683,3542,0,0,0,0,0,0,15.02,14.65,15.02
$GC,932,-0.82,-194.6,2216,602,3680,3542,98.1,-9.8,168,939,0.00,2.38,0.00,0.000,3078,0.000,0.047,2216,2028,3610,3680,3541,0,0,0,0,0,0,14.84,14.71,14.85
$GC,1002,-0.82,-194.6,2219,2029,3679,3541,104.5,-9.3,181,1008,0.00,2.42,0.00,0.000,2308,0.000,0.077,2216,3415,3609,3678,3541,0,0,0,0,0,0,15.02,14.63,15.02
$GC,1078,-0.82,-194.6,2216,3415,3679,3541,111.2,-8.7,195,1084,0.00,2.33,0.00,0.000,3078,0.000,0.038,2216,2012,3610,3680,3541,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1148,-0.82,-194.6,2216,2013,3680,3541,117.3,-8.7,208,1154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2013,3610,3680,3541,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1217,-0.82,-194.6,2215,2013,3679,3541,123.3,-8.6,221,1224,0.00,2.47,0.00,0.000,2308,0.000,0.074,2216,3418,3610,3679,3541,0,0,0,0,0,0,15.02,14.64,15.02
$GC,1257,-0.82,-194.6,2215,3416,3679,3546,126.7,-8.4,228,1263,0.00,2.35,0.00,0.000,3078,0.000,0.037,2216,2008,3610,3680,3541,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1327,-0.82,-194.6,2216,2008,3679,3541,132.7,-8.8,241,1333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2008,3610,3679,3541,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1396,-0.82,-194.6,2215,2008,3680,3541,138.8,-8.7,254,1403,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3411,3610,3679,3542,0,0,0,0,0,0,15.04,14.64,15.04
$GC,1447,-0.82,-194.6,2215,3411,3680,3541,143.1,-8.4,263,1453,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2006,3610,3679,3541,0,0,0,0,0,0,14.85,14.73,14.88
$GC,1517,-0.82,-194.6,2215,2005,3679,3541,149.2,-9.1,276,1525,0.00,2.42,0.00,0.000,2564,0.000,0.072,2216,601,3610,3680,3541,0,0,0,0,0,0,15.03,14.66,15.03
$GC,1537,-0.82,-194.6,2215,602,3679,3541,151.6,-10.3,279,1544,0.00,2.35,0.00,0.000,3078,0.000,0.046,2214,2013,3610,3679,3541,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1608,-0.82,-194.6,2215,2013,3678,3541,157.5,-9.1,292,1614,0.00,2.45,0.00,0.000,2308,0.000,0.077,2214,3409,3610,3679,3541,0,0,0,0,0,0,15.03,14.64,15.02
$GC,1673,-0.82,-194.6,2213,3409,3678,3540,163.6,-9.4,304,1680,0.00,2.35,0.00,0.000,3078,0.000,0.039,2214,2007,3609,3679,3540,0,0,0,0,0,0,14.86,14.74,14.88
$GC,1743,-0.82,-194.6,2213,2007,3678,3541,170.2,-8.9,317,1749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2007,3610,3679,3541,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1811,-0.82,-194.6,2213,2007,3679,3541,177.2,-10.4,330,1818,0.00,2.53,0.00,0.000,2308,0.000,0.074,2214,3409,3609,3678,3541,0,0,0,0,0,0,15.04,14.64,15.04
$GC,1855,-0.82,-194.6,2213,3410,3678,3541,181.6,-10.3,338,1862,0.00,2.35,0.00,0.000,3078,0.000,0.040,2213,2001,3609,3678,3541,0,0,0,0,0,0,14.76,14.62,14.78
$GC,1925,-0.82,-194.6,2213,2000,3678,3541,188.5,-9.9,351,1931,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2002,3609,3678,3541,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1994,-0.82,-194.6,2213,2001,3678,3541,195.4,-10.0,364,2001,0.00,2.53,0.00,0.000,2308,0.000,0.073,2214,3412,3609,3678,3541,0,0,0,0,0,0,15.04,14.49,15.04
$GC,2024,-0.82,-194.6,2213,3411,3678,3541,198.3,-9.5,369,2030,0.00,2.33,0.00,0.000,3078,0.000,0.040,2214,2012,3609,3677,3541,0,0,0,0,0,0,14.77,14.73,14.77
$GC,2094,-0.82,-194.6,2216,2012,3677,3541,204.6,-9.5,382,2101,0.00,2.42,0.00,0.000,2564,0.000,0.072,2213,608,3609,3677,3541,0,0,0,0,0,0,15.05,14.66,15.07
$GC,2123,-0.82,-194.6,2213,608,3677,3541,207.7,-10.6,387,2130,0.00,2.35,0.00,0.000,3078,0.000,0.047,2214,2019,3608,3677,3540,0,0,0,0,0,0,14.85,14.73,14.88
$GC,2193,-0.82,-194.6,2213,2019,3677,3541,214.4,-9.8,400,2200,0.00,2.42,0.00,0.000,2308,0.000,0.077,2213,3409,3609,3677,3541,0,0,0,0,0,0,15.05,14.64,15.05
$GC,2269,-0.82,-194.6,2213,3409,3677,3540,222.0,-9.8,414,2275,0.00,2.33,0.00,0.000,3078,0.000,0.038,2213,2009,3609,3677,3541,0,0,0,0,0,0,14.78,14.77,14.78
$GC,2339,-0.82,-194.6,2212,2009,3676,3540,228.0,-8.3,427,2345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2008,3608,3677,3540,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2409,-0.82,-194.6,2214,2008,3676,3541,234.7,-9.4,440,2415,0.00,2.50,0.00,0.000,2308,0.000,0.076,2213,3413,3608,3675,3541,0,0,0,0,0,0,15.07,14.45,15.07
$GC,2448,-0.82,-194.6,2213,3413,3676,3540,238.3,-9.3,447,2455,0.00,2.33,0.00,0.000,3078,0.000,0.039,2213,2016,3607,3675,3540,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2522,-0.82,-194.6,2213,2015,3675,3541,244.5,-8.8,460,2527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2015,3607,3675,3540,0,0,0,0,0,0,15.08,15.09,15.08
$GC,2591,-0.82,-194.6,2213,2015,3675,3540,250.8,-9.2,473,2597,0.00,2.50,0.00,0.000,2308,0.000,0.074,2213,3410,3607,3675,3540,0,0,0,0,0,0,15.09,14.62,15.09
$GC,2645,-0.82,-194.6,2213,3409,3674,3540,255.7,-8.8,483,2652,0.00,2.35,0.00,0.000,3078,0.000,0.040,2213,1999,3611,3682,3540,0,0,0,0,0,0,14.87,14.74,14.89
$GC,2715,-0.82,-194.6,2213,2000,3675,3540,262.4,-9.8,496,2720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1999,3606,3674,3539,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2783,-0.82,-194.6,2213,2000,3674,3539,269.0,-8.9,509,2790,0.00,2.50,0.00,0.000,2308,0.000,0.074,2211,3410,3608,3678,3538,0,0,0,0,0,0,15.08,14.66,15.09
$GC,2848,-0.82,-194.6,2210,3411,3672,3538,274.9,-8.1,521,2855,0.05,2.33,0.00,0.000,3078,0.319,0.040,2221,2018,3606,3674,3538,0,0,0,0,0,0,14.54,14.76,14.74
$GC,2918,-0.82,-194.6,2221,2018,3674,3538,282.2,-10.1,534,2925,0.00,2.47,0.00,0.000,2308,0.000,0.074,2221,3412,3605,3674,3537,0,0,0,0,0,0,15.09,14.66,15.09
$GC,2952,-0.82,-194.6,2221,3412,3674,3537,285.5,-10.6,540,2959,0.00,2.35,0.00,0.000,3078,0.000,0.040,2221,2010,3605,3674,3537,0,0,0,0,0,0,14.88,14.76,14.90
$GC,3023,-0.82,-194.6,2221,2010,3674,3537,292.5,-9.7,553,3028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2010,3605,3674,3537,0,0,0,0,0,0,15.08,15.08,15.09
$GC,3091,-0.82,-194.6,2221,2010,3674,3537,299.4,-9.8,566,3098,0.00,2.53,0.00,0.000,2308,0.000,0.076,2221,3409,3605,3673,3537,0,0,0,0,0,0,15.09,14.64,15.09
$GC,3125,-0.82,-194.6,2220,3409,3673,3536,301.8,-10.0,568,3130,0.00,2.33,0.00,0.000,3078,0.000,0.040,2221,2009,3604,3673,3536,0,0,0,0,0,0,14.89,14.76,14.91
$GC,3257,-0.82,-194.6,2219,2008,3673,3535,316.7,-10.4,575,3263,0.00,2.50,0.00,0.000,2308,0.000,0.076,2221,3406,3604,3673,3536,0,0,0,0,0,0,15.11,14.66,15.11
$GC,3294,-0.82,-194.6,2221,3410,3673,3536,318.6,-10.1,576,3301,0.00,2.33,0.00,0.000,3078,0.000,0.039,2221,2011,3604,3673,3535,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3420,-0.82,-194.6,2220,2010,3672,3535,332.8,-10.1,583,3425,0.00,2.50,0.00,0.000,2308,0.000,0.076,2220,3414,3603,3672,3535,0,0,0,0,0,0,15.14,14.68,15.14
$GC,3463,-0.82,-194.6,2220,3414,3672,3534,336.9,-9.8,585,3468,0.00,2.35,0.00,0.000,3078,0.000,0.039,2221,2010,3605,3676,3534,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3607,-0.82,-194.6,2220,2010,3671,3534,350.8,-9.9,592,3612,0.00,2.50,0.00,0.000,2308,0.000,0.077,2220,3413,3602,3671,3534,0,0,0,0,0,0,15.12,14.69,15.13
$GC,3644,-0.82,-194.6,2220,3415,3671,3534,353.1,-9.8,593,3651,0.00,2.35,0.00,0.000,3078,0.000,0.040,2220,2002,3602,3671,3534,0,0,0,0,0,0,14.89,14.75,14.91
$GC,3770,-0.82,-194.6,2220,2002,3672,3533,366.1,-9.2,600,3775,0.00,2.50,0.00,0.000,2308,0.000,0.076,2217,3410,3601,3670,3533,0,0,0,0,0,0,15.13,14.68,15.13
$GC,3813,-0.82,-194.6,2217,3411,3669,3533,370.2,-9.4,602,3819,0.00,2.33,0.00,0.000,3078,0.000,0.041,2218,2011,3601,3670,3533,0,0,0,0,0,0,14.92,14.78,14.94
$GC,3956,-0.82,-194.6,2217,2011,3670,3532,385.5,-10.5,609,3962,0.00,2.50,0.00,0.000,2308,0.000,0.077,2217,3410,3603,3674,3532,0,0,0,0,0,0,15.13,14.67,15.14
$GC,3993,-0.82,-194.6,2217,3410,3668,3532,387.7,-10.3,610,4000,0.00,2.33,0.00,0.000,3078,0.000,0.041,2217,2021,3600,3669,3532,0,0,0,0,0,0,14.90,14.78,14.92
$GC,4119,-0.82,-194.6,2217,2021,3669,3532,402.6,-11.4,617,4120,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2021,3599,3668,3531,0,0,0,0,0,0,15.14,15.14,15.14
$GC,4239,-0.82,-194.6,2217,2020,3668,3531,416.3,-11.5,623,4244,0.00,2.50,0.00,0.000,2308,0.000,0.076,2217,3414,3599,3667,3531,0,0,0,0,0,0,15.14,14.46,15.14
$GC,4296,-0.82,-194.6,2217,3414,3667,3531,421.0,-11.2,625,4302,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2000,3600,3668,3532,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4422,-0.82,-194.6,2217,1999,3668,3530,436.2,-10.7,632,4427,0.00,2.53,0.00,0.000,2308,0.000,0.076,2217,3409,3598,3667,3530,0,0,0,0,0,0,15.16,14.68,15.16
$GC,4458,-0.82,-194.6,2217,3409,3667,3530,438.5,-10.6,633,4466,0.00,2.33,0.00,0.000,3078,0.000,0.042,2216,2009,3598,3667,3530,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4584,-0.82,-194.6,2217,2009,3667,3529,454.0,-11.4,640,4590,0.00,2.50,0.00,0.000,2308,0.000,0.077,2217,3409,3598,3667,3529,0,0,0,0,0,0,15.14,14.66,15.15
$GC,4636,-0.82,-194.6,2217,3409,3666,3529,459.3,-12.3,642,4641,0.00,2.33,0.00,0.000,3078,0.000,0.042,2217,2008,3596,3663,3529,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4769,-0.82,-194.6,2216,2008,3666,3528,475.8,-11.4,649,4774,0.00,2.50,0.00,0.000,2308,0.000,0.079,2217,3408,3597,3666,3528,0,0,0,0,0,0,15.14,14.64,15.14
$GC,4805,-0.82,-194.6,2216,3408,3666,3528,478.4,-11.3,650,4813,0.00,2.33,0.00,0.000,3078,0.000,0.042,2217,2009,3597,3666,3528,0,0,0,0,0,0,14.89,14.75,14.91
$GC,4931,-0.82,-194.6,2216,2009,3666,3528,494.4,-11.3,657,4937,0.00,2.53,0.00,0.000,2308,0.000,0.077,2216,3411,3596,3665,3528,0,0,0,0,0,0,15.14,14.65,15.15
$GC,4963,-0.82,-194.6,2216,3416,3665,3528,496.8,-11.1,658,4968,0.00,2.33,0.00,0.000,3078,0.000,0.041,2216,2018,3596,3665,3528,0,0,0,0,0,0,14.89,14.77,14.92
$GC,5097,-0.82,-194.6,2216,2018,3665,3527,510.3,-9.9,665,5102,0.00,2.45,0.00,0.000,2564,0.000,0.076,2216,611,3595,3664,3527,0,0,0,0,0,0,15.13,14.68,15.14
$GC,5123,-0.82,-194.6,2216,611,3665,3527,512.9,-10.1,666,5129,0.00,2.35,0.00,0.000,3078,0.000,0.050,2216,2019,3596,3665,3527,0,0,0,0,0,0,14.89,14.75,14.91
$GC,5261,-0.82,-194.6,2216,2020,3663,3526,527.0,-9.7,673,5266,0.00,2.50,0.00,0.000,2308,0.000,0.082,2216,3412,3595,3664,3526,0,0,0,0,0,0,15.14,14.64,15.14
$GC,5374,-0.82,-194.6,2216,3412,3663,3526,536.3,-9.1,678,5380,0.00,2.38,0.00,0.000,3078,0.000,0.043,2216,1998,3593,3662,3525,0,0,0,0,0,0,14.88,14.74,14.90
$GC,5509,-0.82,-194.6,2216,1998,3662,3525,550.8,-9.8,685,5514,0.00,2.55,0.00,0.000,2308,0.000,0.079,2215,3418,3593,3662,3525,0,0,0,0,0,0,15.13,14.63,15.13
$GC,5545,-0.82,-194.6,2215,3419,3662,3525,552.7,-9.3,686,5552,0.00,2.35,0.00,0.000,3078,0.000,0.043,2215,2011,3593,3661,3525,0,0,0,0,0,0,14.88,14.73,14.90
$GC,5672,-0.82,-194.6,2215,2011,3661,3524,565.4,-9.1,693,5677,0.00,2.53,0.00,0.000,2308,0.000,0.080,2214,3411,3592,3661,3524,0,0,0,0,0,0,15.13,14.63,15.14
$GC,5708,-0.82,-194.6,2214,3411,3661,3524,567.4,-9.1,694,5715,0.00,2.33,0.00,0.000,3078,0.000,0.042,2214,2020,3592,3661,3524,0,0,0,0,0,0,14.88,14.75,14.90
$GC,5835,-0.82,-194.6,2215,2020,3661,3523,580.2,-9.5,701,5836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2020,3591,3660,3523,0,0,0,0,0,0,15.09,15.09,15.09
$GC,5955,-0.82,-194.6,2214,2020,3660,3523,591.9,-9.8,707,5961,0.00,2.53,0.00,0.000,2308,0.000,0.080,2214,3412,3591,3660,3523,0,0,0,0,0,0,15.09,14.64,15.10
$GC,6002,-0.82,-194.6,2214,3412,3660,3523,596.1,-9.6,709,6007,0.00,2.35,0.00,0.000,3078,0.000,0.042,2214,2014,3591,3660,3522,0,0,0,0,0,0,14.88,14.75,14.90
$GC,6141,-0.82,-194.6,2214,2014,3659,3522,610.1,-9.8,716,6142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2014,3590,3659,3522,0,0,0,0,0,0,15.13,15.14,15.13
$GC,6259,-0.82,-194.6,2214,2014,3659,3521,622.5,-10.5,722,6264,0.00,2.53,0.00,0.000,2308,0.000,0.080,2214,3412,3590,3659,3521,0,0,0,0,0,0,15.14,14.62,15.14
$GC,6311,-0.82,-194.6,2213,3413,3659,3521,627.4,-11.2,724,6316,0.00,2.38,0.00,0.000,3078,0.000,0.043,2214,2007,3590,3659,3521,0,0,0,0,0,0,14.86,14.71,14.88
$GC,6444,-0.82,-194.6,2214,2006,3658,3521,642.6,-10.7,731,6445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2007,3590,3659,3521,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6564,-0.82,-194.6,2214,2007,3657,3521,657.2,-12.5,737,6569,0.00,2.55,0.00,0.000,2308,0.000,0.080,2214,3412,3589,3657,3521,0,0,0,0,0,0,15.13,14.59,15.13
$STATE,6585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6585,begin apogee
$GC,6592,-0.19,0.0,2214,1966,3657,3521,660.3,-12.6,738,6766,1.08,0.00,164.48,1.844,10246,0.164,0.000,2423,1965,2810,2862,2758,0,0,0,0,0,0,14.47,14.16,13.23
$STATE,6767,end apogee,CONTROL_FINISHED_OK
$STATE,6769,begin climb
$GC,6770,0.82,194.6,2423,1964,2866,2758,674.9,0.0,747,6951,1.55,2.67,168.05,1.819,10756,0.065,0.086,2760,563,2016,2070,1962,0,0,0,0,0,0,14.23,14.09,13.21
$GC,6958,0.98,327.0,2759,563,2068,1962,670.9,5.4,756,7085,0.12,2.42,117.32,1.787,11270,0.146,0.047,2795,1966,1478,1538,1418,0,0,0,0,0,0,14.21,14.23,13.22
$GC,7212,1.01,349.9,2795,1968,1533,1416,641.7,9.2,769,7235,0.00,0.00,20.67,1.651,10246,0.000,0.000,2796,1968,1384,1445,1324,0,0,0,0,0,0,14.76,14.39,13.48
$GC,7352,1.14,454.3,2795,1972,1446,1324,629.5,6.4,776,7457,0.15,2.55,96.50,1.750,11012,0.127,0.071,2848,3361,959,1024,895,0,0,0,0,0,0,14.57,14.20,13.33
$GC,7479,1.14,454.3,2845,3361,1023,894,615.3,10.7,782,7485,0.00,2.45,0.00,0.000,1030,0.000,0.052,2851,1970,958,1023,894,0,0,0,0,0,0,14.43,14.33,14.45
$GC,7617,1.14,454.3,2852,1970,1022,894,590.8,18.4,789,7622,0.00,2.53,0.00,0.000,516,0.000,0.092,2852,558,958,1023,894,0,0,0,0,0,0,14.83,14.52,14.85
$GC,7648,1.14,454.3,2852,557,1022,894,586.5,18.5,790,7654,0.00,2.38,0.00,0.000,1030,0.000,0.046,2852,1970,957,1022,893,0,0,0,0,0,0,14.71,14.62,14.73
$GC,7781,1.14,454.3,2852,1971,1022,892,560.2,18.2,797,7786,0.00,2.53,0.00,0.000,516,0.000,0.093,2852,557,957,1022,892,0,0,0,0,0,0,14.96,14.60,14.96
$GC,7797,1.14,454.3,2852,557,1022,893,560.2,18.2,797,7804,0.00,2.35,0.00,0.000,1030,0.000,0.046,2852,1966,957,1021,893,0,0,0,0,0,0,14.79,14.70,14.81
$GC,7923,1.14,454.3,2852,1967,1022,892,533.6,19.1,804,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1969,957,1022,892,0,0,0,0,0,0,15.01,15.02,15.02
$GC,8044,1.14,454.3,2852,1966,1021,892,510.1,19.3,810,8049,0.00,2.50,0.00,0.000,516,0.000,0.092,2853,560,956,1021,892,0,0,0,0,0,0,15.02,14.65,15.03
$GC,8070,1.14,454.3,2852,558,1021,892,505.4,19.5,811,8076,0.00,2.35,0.00,0.000,1030,0.000,0.047,2853,1965,957,1022,892,0,0,0,0,0,0,14.86,14.77,14.88
$GC,8208,1.14,454.3,2852,1967,1021,891,475.3,21.7,818,8213,0.00,2.45,0.00,0.000,260,0.000,0.070,2853,3374,956,1021,891,0,0,0,0,0,0,15.06,14.70,15.07
$GC,8224,1.14,454.3,2852,3374,1021,891,475.3,21.7,818,8231,0.00,2.40,0.00,0.000,1030,0.000,0.056,2854,1964,956,1021,891,0,0,0,0,0,0,14.86,14.73,14.88
$GC,8350,1.14,454.3,2853,1963,1021,891,446.3,20.2,825,8356,0.00,2.50,0.00,0.000,516,0.000,0.094,2855,553,956,1021,891,0,0,0,0,0,0,15.08,14.69,15.07
$GC,8397,1.14,454.3,2855,552,1021,891,437.4,21.1,827,8402,0.00,2.38,0.00,0.000,1030,0.000,0.049,2855,1981,956,1021,891,0,0,0,0,0,0,14.87,14.74,14.89
$GC,8535,1.14,454.3,2853,1981,1021,890,408.0,20.6,834,8540,0.00,2.40,0.00,0.000,260,0.000,0.070,2856,3364,955,1021,890,0,0,0,0,0,0,15.07,14.70,15.08
$GC,8551,1.14,454.3,2855,3364,1021,890,408.0,20.6,834,8558,0.00,2.40,0.00,0.000,1030,0.000,0.054,2855,1954,955,1021,890,0,0,0,0,0,0,14.88,14.74,14.90
$GC,8677,1.14,454.3,2855,1954,1021,890,378.6,20.2,841,8682,0.00,2.47,0.00,0.000,516,0.000,0.093,2856,560,955,1021,889,0,0,0,0,0,0,15.09,14.54,15.09
$GC,8720,1.14,454.3,2855,558,1021,892,370.7,19.7,843,8725,0.00,2.35,0.00,0.000,1030,0.000,0.047,2856,1962,955,1021,890,0,0,0,0,0,0,14.89,14.79,14.91
$GC,8862,1.14,454.3,2855,1962,1021,889,344.4,18.6,850,8868,0.00,2.45,0.00,0.000,260,0.000,0.070,2856,3369,955,1021,889,0,0,0,0,0,0,15.08,14.71,15.09
$GC,8875,1.14,454.3,2855,3369,1020,889,344.4,18.6,850,8880,0.00,2.40,0.00,0.000,5126,0.000,0.053,2859,1962,955,1021,889,0,0,0,0,0,0,14.90,14.74,14.91
$GC,9007,1.14,454.3,2858,1962,1020,889,316.8,19.0,857,9012,0.00,2.53,0.00,0.000,4612,0.000,0.098,2859,561,955,1022,889,0,0,0,0,0,0,15.10,14.50,15.11
$GC,9044,1.14,454.3,2859,561,1021,890,312.6,19.5,858,9050,0.00,2.35,0.00,0.000,5126,0.000,0.047,2859,1970,955,1021,889,0,0,0,0,0,0,14.90,14.78,14.92
$GC,9170,1.14,454.3,2859,1971,1021,890,286.3,18.4,874,9176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1971,955,1021,889,0,0,0,0,0,0,15.09,15.09,15.09
$GC,9238,1.14,454.3,2859,1971,1021,889,272.9,19.4,887,9244,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1971,954,1020,889,0,0,0,0,0,0,15.09,15.09,15.09
$GC,9306,1.14,454.3,2859,1971,1020,889,259.9,20.0,900,9312,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1969,955,1021,889,0,0,0,0,0,0,15.08,15.09,15.08
$GC,9375,1.14,454.3,2859,1971,1020,889,246.9,18.7,913,9380,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1972,954,1020,889,0,0,0,0,0,0,15.07,15.07,15.08
$GC,9442,1.14,454.3,2859,1971,1021,889,234.2,18.9,926,9448,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1971,955,1021,889,0,0,0,0,0,0,15.07,15.07,15.07
$GC,9510,1.14,454.3,2859,1971,1021,889,221.6,18.4,939,9517,0.00,2.55,0.00,0.000,4612,0.000,0.089,2859,553,954,1020,888,0,0,0,0,0,0,15.07,14.62,15.07
$GC,9529,1.14,454.3,2859,553,1020,889,218.2,18.8,942,9536,0.00,2.40,0.00,0.000,5126,0.000,0.045,2859,1971,954,1020,889,0,0,0,0,0,0,14.87,14.75,14.89
$GC,9599,1.14,454.3,2859,1972,1020,889,206.5,17.2,955,9606,0.00,2.47,0.00,0.000,4356,0.000,0.071,2859,3369,954,1020,889,0,0,0,0,0,0,15.07,14.66,15.07
$GC,9618,1.14,454.3,2859,3369,1020,888,203.0,17.6,958,9625,0.00,2.42,0.00,0.000,5126,0.000,0.054,2860,1964,954,1020,889,0,0,0,0,0,0,14.76,14.61,14.78
$GC,9688,1.14,454.3,2859,1964,1020,893,191.1,17.6,971,9695,0.00,2.53,0.00,0.000,4612,0.000,0.092,2859,561,954,1020,888,0,0,0,0,0,0,15.04,14.52,15.04
$GC,9717,1.14,454.3,2859,561,1020,889,185.7,17.6,976,9723,0.00,2.35,0.00,0.000,5126,0.000,0.045,2860,1965,954,1020,889,0,0,0,0,0,0,14.69,14.59,14.70
$GC,9787,1.14,454.3,2865,1965,1020,889,173.9,17.9,989,9794,0.00,2.50,0.00,0.000,4356,0.000,0.071,2858,3376,955,1021,889,0,0,0,0,0,0,15.04,14.44,15.04
$GC,9806,1.14,454.3,2860,3376,1020,888,170.0,19.1,992,9813,0.00,2.42,0.00,0.000,5126,0.000,0.055,2861,1965,954,1020,888,0,0,0,0,0,0,14.83,14.67,14.85
$GC,9876,1.14,454.3,2861,1964,1020,889,157.6,18.8,1005,9883,0.00,2.53,0.00,0.000,4612,0.000,0.091,2862,553,954,1020,889,0,0,0,0,0,0,15.02,14.59,15.02
$GC,9920,1.14,454.3,2862,553,1020,889,149.2,17.9,1013,9927,0.00,2.40,0.00,0.000,5126,0.000,0.046,2863,1970,954,1020,889,0,0,0,0,0,0,14.83,14.72,14.85
$GC,9990,1.14,454.3,2862,1970,1020,889,136.7,19.1,1026,9997,0.00,2.53,0.00,0.000,4612,0.000,0.087,2866,560,954,1020,889,0,0,0,0,0,0,15.02,14.59,15.03
$GC,10014,1.14,454.3,2865,560,1020,889,132.1,17.9,1030,10021,0.00,2.38,0.00,0.000,5126,0.000,0.044,2866,1967,954,1020,889,0,0,0,0,0,0,14.83,14.72,14.85
$GC,10085,1.14,454.3,2869,1968,1020,889,119.2,18.6,1043,10090,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,1968,954,1020,889,0,0,0,0,0,0,15.00,15.01,15.01
$GC,10153,1.14,454.3,2865,1968,1020,889,106.2,17.8,1056,10159,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,1968,954,1020,889,0,0,0,0,0,0,15.02,15.03,15.03
$GC,10221,1.14,454.3,2865,1968,1020,889,93.9,18.5,1069,10227,0.00,2.47,0.00,0.000,4356,0.000,0.070,2866,3364,954,1020,889,0,0,0,0,0,0,15.02,14.61,15.02
$GC,10240,1.14,454.3,2865,3363,1020,889,90.3,19.5,1072,10247,0.00,2.42,0.00,0.000,5126,0.000,0.055,2866,1962,954,1020,889,0,0,0,0,0,0,14.81,14.65,14.83
$GC,10310,1.14,454.3,2865,1961,1020,889,78.2,17.4,1085,10317,0.00,2.53,0.00,0.000,4612,0.000,0.090,2866,553,955,1021,889,0,0,0,0,0,0,15.01,14.58,15.02
$GC,10329,1.14,454.3,2866,553,1025,888,74.6,17.7,1088,10336,0.00,2.40,0.00,0.000,5126,0.000,0.045,2866,1969,954,1020,888,0,0,0,0,0,0,14.83,14.69,14.85
$GC,10399,1.14,454.3,2865,1970,1020,888,62.9,16.8,1101,10406,0.00,2.50,0.00,0.000,4356,0.000,0.071,2866,3369,954,1020,889,0,0,0,0,0,0,15.01,14.61,15.01
$GC,10418,1.14,454.3,2866,3369,1020,888,59.8,15.1,1104,10425,0.00,2.42,0.00,0.000,5126,0.000,0.050,2866,1960,954,1020,889,0,0,0,0,0,0,14.72,14.57,14.74
$GC,10488,1.14,454.3,2866,1960,1020,888,49.2,15.9,1117,10495,0.00,2.53,0.00,0.000,4612,0.000,0.089,2866,558,954,1020,888,0,0,0,0,0,0,15.02,14.49,15.02
$GC,10507,1.14,454.3,2866,558,1020,888,45.8,16.7,1120,10514,0.00,2.38,0.00,0.000,5126,0.000,0.044,2866,1971,954,1020,888,0,0,0,0,0,0,14.62,14.50,14.65
$GC,10577,1.14,454.3,2866,1971,1021,888,35.4,13.8,1133,10584,0.00,2.50,0.00,0.000,4356,0.000,0.072,2866,3374,954,1020,888,0,0,0,0,0,0,15.01,14.43,15.02
$GC,10596,1.14,454.3,2866,3375,1017,888,32.3,14.9,1136,10603,0.00,2.42,0.00,0.000,5126,0.000,0.051,2866,1957,954,1020,888,0,0,0,0,0,0,14.81,14.65,14.83
$GC,10667,1.14,454.3,2868,1957,1020,889,22.7,13.6,1149,10673,0.00,2.50,0.00,0.000,4612,0.000,0.089,2867,558,954,1020,888,0,0,0,0,0,0,15.00,14.40,15.00
$GC,10700,1.14,454.3,2866,558,1021,889,18.0,13.6,1155,10707,0.00,2.38,0.00,0.000,5126,0.000,0.044,2866,1973,954,1020,889,0,0,0,0,0,0,14.82,14.71,14.84
$GC,10771,1.14,454.3,2866,1975,1020,886,9.6,12.2,1168,10777,0.00,2.53,0.00,0.000,4612,0.000,0.083,2866,559,958,1021,896,0,0,0,0,0,0,15.00,14.58,15.00
$GC,10784,1.14,454.3,2868,559,1020,889,7.7,12.7,1170,10791,0.05,2.38,0.00,0.000,5126,0.346,0.044,2859,1967,954,1020,889,0,0,0,0,0,0,14.44,14.68,14.66
$STATE,10826,end climb,SURFACE_DEPTH_REACHED
$STATE,10827,begin surface coast
$FINISH,-0.3,1.023828
$STATE,10849,end surface coast,CONTROL_FINISHED_OK
$STATE,10849,begin surface
$SM_CCo,10871,53.20,0.827,0,0,599,542.59
$SM_GC,0.43,12.77,0.05,53.20,0.053,0.189,0.827,121,2030,599,-7.31,-1.16,542.59,0,0,0,0,0,0,14.75,14.78,13.93
$IRIDIUM_FIX,-3100.07,3017.20,160419,003038
$TT8_MAMPS,0.019474,0.859852
$HUMID,59.92
$INTERNAL_PRESSURE,9.08202
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,631.8,42.8
$SC_FREEKB,3799456
$24V_AH,13.04,147.477
$10V_AH,12.39,0.000
$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,28.800,291.800,567.025,53.200,0.000,22.916,20.146,634.598,14.500,0.000,20.423,3044.470,4404.773,1045.880,3094.525,376.635,0.000,2373.100,0.000,2115.020,0.000,92.459,0.000
$DEVICE_MAMPS,345.780,188.955,1844.415,826.965,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.435,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,40071,1182
$CAP_FILE_SIZE,288581,0
$CFSIZE,1023623168,988217344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160419,084334,-3111.291,3014.262,18,0.9,40,-25.9,0.0,45.6,9,9.7