version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 278
start: 4 20 119 5 58 55
data:
$ID,573
$MISSION,30
$DIVE,278
$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,260
$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,32
$R_STBD_OVSHOOT,46
$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,3
$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
$GPS1,200419,054401,-3207.1770,2917.8718,40,0.9,45,-26.7,2.0,190.2,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-55.3
$GPS2,200419,055830,-3207.5449,2917.4331,15,0.9,18,-26.7,0.8,188.3,9,9.1
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3209.420,2904.871
$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,286.7,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,72,2020,572,586,0.0,0.0,0,117,0.00,0.00,-93.12,0.000,16386,0.000,0.000,72,2021,3102,3097,3108,0,0,0,0,0,0,14.92,28.83,14.93
$GC,122,-0.82,-194.6,72,2020,3098,3114,3.0,-6.6,17,152,13.12,2.47,-8.43,0.000,18948,0.321,0.092,2218,605,3608,3675,3541,0,0,0,0,0,0,14.24,13.00,14.62
$GC,234,-0.82,-194.6,2217,604,3677,3541,33.4,-20.9,38,241,0.00,2.38,0.00,0.000,3078,0.000,0.051,2217,2005,3608,3677,3540,0,0,0,0,0,0,14.64,14.50,14.66
$GC,305,-0.82,-194.6,2216,2005,3677,3541,44.6,-14.7,51,312,0.00,2.53,0.00,0.000,2308,0.000,0.077,2217,3420,3608,3677,3540,0,0,0,0,0,0,14.99,14.52,15.00
$GC,504,-0.82,-194.6,2216,3421,3677,3540,68.9,-12.0,90,511,0.00,2.38,0.00,0.000,3078,0.000,0.041,2216,2012,3608,3677,3540,0,0,0,0,0,0,14.69,14.57,14.69
$GC,573,-0.82,-194.6,2216,2012,3677,3543,77.3,-11.8,103,580,0.00,2.45,0.00,0.000,2564,0.000,0.072,2217,600,3609,3678,3541,0,0,0,0,0,0,15.05,14.66,15.05
$GC,612,-0.82,-194.6,2217,600,3677,3541,81.8,-11.4,110,619,0.00,2.38,0.00,0.000,3078,0.000,0.047,2217,2023,3609,3678,3541,0,0,0,0,0,0,14.86,14.74,14.88
$GC,682,-0.82,-194.6,2216,2023,3677,3540,88.7,-10.4,123,689,0.00,2.47,0.00,0.000,2308,0.000,0.076,2216,3411,3609,3677,3541,0,0,0,0,0,0,15.02,14.63,15.02
$GC,761,-0.82,-194.6,2216,3411,3677,3541,96.9,-10.0,138,768,0.00,2.35,0.00,0.000,3078,0.000,0.039,2216,2008,3609,3678,3541,0,0,0,0,0,0,14.86,14.74,14.88
$GC,832,-0.82,-194.6,2216,2008,3678,3541,104.2,-10.6,151,837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2008,3609,3678,3541,0,0,0,0,0,0,15.04,15.04,15.04
$GC,899,-0.82,-194.6,2216,2008,3679,3541,111.9,-11.4,164,906,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3410,3609,3678,3540,0,0,0,0,0,0,15.06,14.49,15.07
$GC,963,-0.82,-194.6,2216,3410,3678,3540,118.8,-10.2,176,970,0.00,2.35,0.00,0.000,3078,0.000,0.039,2216,2002,3612,3678,3547,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1034,-0.82,-194.6,2216,2003,3678,3541,126.2,-11.7,189,1040,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3410,3609,3678,3541,0,0,0,0,0,0,15.05,14.50,15.04
$GC,1073,-0.82,-194.6,2216,3409,3678,3541,130.5,-10.8,196,1080,0.00,2.33,0.00,0.000,3078,0.000,0.039,2216,2007,3609,3678,3541,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1143,-0.82,-194.6,2216,2006,3678,3540,138.0,-11.1,209,1150,0.00,2.50,0.00,0.000,2308,0.000,0.073,2215,3414,3609,3678,3540,0,0,0,0,0,0,15.05,14.67,15.05
$GC,1173,-0.82,-194.6,2215,3414,3678,3541,141.6,-12.1,214,1180,0.00,2.33,0.00,0.000,3078,0.000,0.038,2215,2014,3609,3678,3541,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1243,-0.82,-194.6,2215,2013,3678,3540,149.3,-11.6,227,1250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2013,3609,3678,3540,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1312,-0.82,-194.6,2215,2013,3678,3541,157.9,-11.8,240,1319,0.00,2.47,0.00,0.000,2308,0.000,0.073,2214,3411,3609,3678,3540,0,0,0,0,0,0,15.07,14.67,15.07
$GC,1351,-0.82,-194.6,2214,3411,3678,3541,162.1,-11.5,247,1358,0.00,2.35,0.00,0.000,3078,0.000,0.039,2214,2005,3608,3675,3541,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1422,-0.82,-194.6,2214,2005,3678,3540,170.3,-12.1,260,1428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2005,3609,3678,3540,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1491,-0.82,-194.6,2214,2005,3678,3541,179.3,-13.2,273,1498,0.00,2.53,0.00,0.000,2308,0.000,0.073,2214,3416,3609,3678,3541,0,0,0,0,0,0,15.06,14.60,15.06
$GC,1571,-0.82,-194.6,2214,3416,3678,3541,189.3,-12.6,288,1578,0.00,2.35,0.00,0.000,3078,0.000,0.038,2214,2008,3609,3678,3541,0,0,0,0,0,0,14.86,14.71,14.88
$GC,1641,-0.82,-194.6,2214,2008,3678,3540,197.8,-12.4,301,1648,0.00,2.50,0.00,0.000,2308,0.000,0.072,2214,3411,3608,3677,3540,0,0,0,0,0,0,15.07,14.67,15.07
$GC,1686,-0.82,-194.6,2214,3410,3678,3540,203.4,-12.6,309,1692,0.00,2.33,0.00,0.000,3078,0.000,0.038,2214,2014,3609,3678,3540,0,0,0,0,0,0,14.80,14.68,14.82
$GC,1756,-0.82,-194.6,2214,2014,3678,3540,211.9,-12.3,322,1762,0.00,2.50,0.00,0.000,2308,0.000,0.073,2214,3414,3609,3678,3540,0,0,0,0,0,0,15.08,14.66,15.09
$GC,1789,-0.82,-194.6,2213,3415,3677,3540,216.1,-11.8,328,1796,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2009,3609,3678,3540,0,0,0,0,0,0,14.88,14.76,14.92
$GC,1861,-0.82,-194.6,2213,2009,3683,3540,224.2,-11.5,341,1867,0.00,2.50,0.00,0.000,2308,0.000,0.073,2214,3416,3608,3677,3540,0,0,0,0,0,0,15.08,14.69,15.08
$GC,1894,-0.82,-194.6,2213,3416,3676,3540,228.2,-11.6,347,1901,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2015,3609,3678,3540,0,0,0,0,0,0,14.69,14.57,14.71
$GC,1967,-0.82,-194.6,2214,2015,3678,3540,236.4,-11.7,360,1973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2015,3609,3678,3540,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2036,-0.82,-194.6,2214,2015,3678,3540,244.7,-11.6,373,2041,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2015,3608,3677,3540,0,0,0,0,0,0,15.10,15.10,15.10
$GC,2104,-0.82,-194.6,2213,2015,3677,3540,253.0,-12.1,386,2111,0.00,2.47,0.00,0.000,2308,0.000,0.073,2211,3410,3608,3677,3540,0,0,0,0,0,0,15.10,14.50,15.10
$GC,2138,-0.82,-194.6,2210,3410,3677,3540,256.8,-11.9,392,2146,0.05,2.33,0.00,0.000,3078,0.324,0.040,2221,2014,3608,3677,3539,0,0,0,0,0,0,14.56,14.78,14.77
$GC,2208,-0.82,-194.6,2221,2014,3676,3539,264.6,-10.7,405,2214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2014,3607,3676,3539,0,0,0,0,0,0,15.09,15.10,15.09
$GC,2276,-0.82,-194.6,2221,2014,3676,3539,271.9,-10.9,418,2283,0.00,2.53,0.00,0.000,2308,0.000,0.073,2222,3419,3607,3676,3539,0,0,0,0,0,0,15.11,14.69,15.11
$GC,2320,-0.82,-194.6,2220,3419,3675,3539,276.4,-10.2,426,2327,0.00,2.35,0.00,0.000,3078,0.000,0.040,2221,2015,3607,3676,3539,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2391,-0.82,-194.6,2220,2015,3675,3538,283.5,-10.2,439,2397,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2019,3606,3675,3538,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2459,-0.82,-194.6,2221,2015,3675,3538,290.5,-10.0,452,2465,0.00,2.47,0.00,0.000,2308,0.000,0.073,2221,3411,3606,3675,3538,0,0,0,0,0,0,15.11,14.69,15.11
$GC,2518,-0.82,-194.6,2221,3410,3674,3538,296.4,-9.6,463,2525,0.00,2.35,0.00,0.000,3078,0.000,0.040,2221,2010,3606,3675,3538,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2597,-0.82,-194.6,2221,2009,3674,3538,304.2,-10.1,472,2598,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2010,3606,3674,3538,0,0,0,0,0,0,15.11,15.12,15.11
$GC,2717,-0.82,-194.6,2221,2010,3673,3538,316.6,-10.3,478,2722,0.00,2.50,0.00,0.000,2308,0.000,0.074,2221,3412,3605,3673,3538,0,0,0,0,0,0,15.14,14.70,15.13
$GC,2769,-0.82,-194.6,2220,3412,3671,3537,320.9,-10.3,480,2774,0.00,2.35,0.00,0.000,3078,0.000,0.041,2221,2009,3605,3673,3537,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2902,-0.82,-194.6,2220,2010,3672,3536,336.2,-10.9,487,2907,0.00,2.50,0.00,0.000,2308,0.000,0.074,2215,3415,3604,3673,3536,0,0,0,0,0,0,15.14,14.71,15.14
$GC,2948,-0.82,-194.6,2217,3417,3672,3536,340.8,-10.6,489,2953,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2005,3604,3673,3535,0,0,0,0,0,0,14.94,14.81,14.95
$GC,3086,-0.82,-194.6,2217,2005,3671,3535,356.3,-11.1,496,3091,0.00,2.50,0.00,0.000,2308,0.000,0.074,2217,3410,3603,3671,3535,0,0,0,0,0,0,15.14,14.71,15.15
$GC,3142,-0.82,-194.6,2217,3411,3671,3534,361.0,-11.2,498,3149,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2007,3602,3671,3534,0,0,0,0,0,0,14.92,14.80,14.95
$GC,3268,-0.82,-194.6,2217,2007,3671,3534,377.3,-11.9,505,3270,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2007,3602,3671,3533,0,0,0,0,0,0,15.15,15.16,15.16
$GC,3389,-0.82,-194.6,2217,2007,3670,3533,391.6,-11.9,511,3394,0.00,2.53,0.00,0.000,2308,0.000,0.076,2217,3417,3601,3670,3533,0,0,0,0,0,0,15.15,14.72,15.15
$GC,3461,-0.82,-194.6,2216,3418,3669,3532,398.7,-11.4,514,3466,0.00,2.38,0.00,0.000,3078,0.000,0.041,2217,2005,3601,3670,3533,0,0,0,0,0,0,14.93,14.80,14.95
$GC,3594,-0.82,-194.6,2217,2005,3669,3532,415.0,-11.6,521,3595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2005,3600,3669,3532,0,0,0,0,0,0,15.16,15.16,15.17
$GC,3714,-0.82,-194.6,2217,2005,3668,3531,428.3,-10.9,527,3719,0.00,2.53,0.00,0.000,2308,0.000,0.075,2217,3417,3599,3668,3531,0,0,0,0,0,0,15.18,14.71,15.18
$GC,3782,-0.82,-194.6,2217,3417,3668,3531,434.9,-10.5,530,3787,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2015,3599,3668,3531,0,0,0,0,0,0,14.93,14.82,14.95
$GC,3920,-0.82,-194.6,2216,2015,3667,3530,449.9,-10.8,537,3925,0.00,2.50,0.00,0.000,2308,0.000,0.075,2216,3415,3600,3667,3534,0,0,0,0,0,0,15.16,14.71,15.16
$GC,3963,-0.82,-194.6,2216,3415,3667,3530,454.7,-11.2,539,3968,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2010,3598,3667,3530,0,0,0,0,0,0,14.93,14.80,14.95
$GC,4106,-0.82,-194.6,2216,2009,3667,3529,471.0,-11.3,546,4112,0.00,2.53,0.00,0.000,2308,0.000,0.075,2217,3418,3598,3667,3529,0,0,0,0,0,0,15.15,14.71,15.16
$GC,4178,-0.82,-194.6,2216,3418,3666,3529,478.4,-11.7,549,4184,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2013,3597,3666,3529,0,0,0,0,0,0,14.93,14.81,14.95
$GC,4311,-0.82,-194.6,2216,2012,3666,3528,495.1,-11.7,556,4316,0.00,2.50,0.00,0.000,2308,0.000,0.076,2216,3411,3597,3666,3528,0,0,0,0,0,0,15.16,14.69,15.16
$GC,4363,-0.82,-194.6,2216,3410,3665,3528,499.8,-11.2,558,4368,0.00,2.35,0.00,0.000,3078,0.000,0.041,2216,2011,3596,3665,3528,0,0,0,0,0,0,14.92,14.80,14.95
$GC,4496,-0.82,-194.6,2222,2011,3665,3527,515.5,-11.3,565,4501,0.00,2.50,0.00,0.000,2308,0.000,0.075,2216,3411,3595,3664,3527,0,0,0,0,0,0,15.15,14.69,15.16
$GC,4528,-0.82,-194.6,2216,3411,3665,3527,518.2,-11.2,566,4533,0.00,2.38,0.00,0.000,3078,0.000,0.041,2216,1997,3596,3665,3527,0,0,0,0,0,0,14.92,14.79,14.94
$GC,4661,-0.82,-194.6,2215,1996,3664,3527,534.2,-11.2,573,4666,0.00,2.53,0.00,0.000,2308,0.000,0.076,2216,3410,3595,3664,3526,0,0,0,0,0,0,15.16,14.70,15.16
$GC,4717,-0.82,-194.6,2215,3409,3663,3526,539.3,-11.5,575,4727,0.00,2.33,0.00,0.000,3078,0.000,0.041,2216,2021,3595,3664,3526,0,0,0,0,0,0,14.92,14.79,14.94
$GC,4844,-0.82,-194.6,2215,2021,3663,3523,556.4,-12.4,582,4849,0.00,2.47,0.00,0.000,2308,0.000,0.076,2214,3409,3593,3662,3525,0,0,0,0,0,0,15.15,14.67,15.15
$GC,4888,-0.82,-194.6,2214,3410,3662,3525,560.7,-11.1,584,4893,0.00,2.35,0.00,0.000,3078,0.000,0.042,2214,2008,3593,3662,3525,0,0,0,0,0,0,14.92,14.79,14.95
$GC,5030,-0.82,-194.6,2214,2007,3661,3525,576.9,-13.5,591,5036,0.00,2.53,0.00,0.000,2308,0.000,0.077,2214,3409,3593,3661,3525,0,0,0,0,0,0,15.15,14.67,15.15
$GC,5117,-0.82,-194.6,2214,3409,3661,3524,587.6,-12.8,595,5123,0.00,2.35,0.00,0.000,3078,0.000,0.042,2214,2004,3592,3661,3524,0,0,0,0,0,0,14.90,14.76,14.93
$STATE,5193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5193,begin apogee
$GC,5198,-0.19,0.0,2214,2004,3661,3524,598.5,-13.2,599,5362,1.08,0.00,159.40,1.761,10246,0.161,0.000,2423,2001,2812,2867,2757,0,0,0,0,0,0,14.53,14.23,13.31
$STATE,5364,end apogee,CONTROL_FINISHED_OK
$STATE,5364,begin climb
$GC,5367,0.82,194.6,2423,2001,2872,2751,606.9,0.0,607,5540,1.52,2.67,163.10,1.727,11012,0.104,0.082,2736,560,2018,2075,1962,0,0,0,0,0,0,14.25,14.01,13.33
$GC,5647,1.00,338.6,2735,560,2067,1962,598.3,5.0,621,5780,0.25,2.35,123.75,1.702,11270,0.097,0.045,2802,1963,1430,1492,1369,0,0,0,0,0,0,14.58,14.59,13.37
$GC,5898,1.00,338.6,2802,1963,1488,1369,571.9,10.9,634,5903,0.00,2.50,0.00,0.000,2308,0.000,0.071,2799,3360,1428,1488,1369,0,0,0,0,0,0,14.83,14.54,14.83
$GC,5925,1.00,338.6,2802,3360,1487,1369,569.5,10.7,635,5930,0.00,2.38,0.00,0.000,3078,0.000,0.047,2804,1971,1428,1487,1369,0,0,0,0,0,0,14.67,14.56,14.69
$GC,6062,1.00,338.6,2803,1970,1489,1369,553.4,11.3,642,6064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2804,1970,1427,1486,1369,0,0,0,0,0,0,14.98,14.98,14.98
$GC,6182,1.00,338.6,2804,1970,1485,1369,539.4,11.4,648,6188,0.00,2.53,0.00,0.000,2564,0.000,0.088,2804,555,1426,1485,1368,0,0,0,0,0,0,15.04,14.66,15.04
$GC,6209,1.00,338.6,2804,554,1485,1369,537.2,10.7,649,6214,0.00,2.35,0.00,0.000,3078,0.000,0.044,2804,1971,1427,1485,1369,0,0,0,0,0,0,14.86,14.75,14.88
$GC,6347,1.00,338.6,2804,1971,1484,1365,521.0,12.5,656,6348,0.00,0.00,0.00,0.000,2054,0.000,0.000,2804,1971,1426,1484,1368,0,0,0,0,0,0,15.07,15.08,15.08
$GC,6467,1.00,338.6,2804,1971,1484,1368,506.9,11.6,662,6468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2804,1971,1426,1484,1368,0,0,0,0,0,0,15.08,15.09,15.09
$GC,6587,1.00,338.6,2804,1971,1484,1368,492.6,11.9,668,6592,0.00,2.47,0.00,0.000,2308,0.000,0.074,2804,3362,1425,1483,1368,0,0,0,0,0,0,15.09,14.72,15.10
$GC,6619,1.00,338.6,2804,3362,1482,1368,489.8,11.9,669,6624,0.00,2.38,0.00,0.000,3078,0.000,0.050,2804,1962,1425,1483,1368,0,0,0,0,0,0,14.91,14.77,14.92
$GC,6751,1.00,338.6,2804,1961,1482,1368,473.0,12.0,676,6757,0.00,2.50,0.00,0.000,2564,0.000,0.088,2804,557,1425,1482,1368,0,0,0,0,0,0,15.11,14.70,15.11
$GC,6768,1.00,338.6,2804,557,1482,1368,473.0,12.0,676,6775,0.00,2.33,0.00,0.000,3078,0.000,0.045,2804,1968,1425,1482,1368,0,0,0,0,0,0,14.91,14.77,14.93
$GC,6894,1.00,338.6,2804,1968,1482,1368,456.8,10.9,683,6900,0.00,2.45,0.00,0.000,2308,0.000,0.073,2804,3357,1425,1482,1368,0,0,0,0,0,0,15.11,14.72,15.11
$GC,6917,1.00,338.6,2804,3357,1481,1368,454.2,11.2,684,6922,0.00,2.38,0.00,0.000,3078,0.000,0.050,2804,1956,1424,1481,1368,0,0,0,0,0,0,14.92,14.80,14.94
$GC,7060,1.00,338.6,2804,1955,1481,1367,438.2,11.2,691,7065,0.00,2.50,0.00,0.000,2564,0.000,0.088,2804,554,1424,1481,1368,0,0,0,0,0,0,15.12,14.69,15.12
$GC,7092,1.00,338.6,2804,554,1481,1368,435.7,11.1,692,7097,0.00,2.33,0.00,0.000,3078,0.000,0.047,2804,1970,1424,1481,1368,0,0,0,0,0,0,14.92,14.78,14.94
$GC,7224,1.00,338.6,2804,1970,1481,1368,421.0,10.2,699,7230,0.00,2.42,0.00,0.000,2308,0.000,0.074,2804,3351,1424,1481,1367,0,0,0,0,0,0,15.12,14.71,15.12
$GC,7256,1.00,338.6,2804,3351,1480,1367,418.6,10.2,700,7261,0.00,2.35,0.00,0.000,3078,0.000,0.050,2805,1964,1423,1480,1367,0,0,0,0,0,0,14.92,14.78,14.94
$GC,7389,1.00,338.6,2804,1964,1481,1367,404.0,10.2,707,7394,0.00,2.47,0.00,0.000,2564,0.000,0.088,2804,561,1423,1480,1367,0,0,0,0,0,0,15.13,14.67,15.13
$GC,7425,1.00,338.6,2804,560,1480,1368,401.7,10.2,708,7432,0.00,2.33,0.00,0.000,3078,0.000,0.046,2805,1960,1423,1480,1367,0,0,0,0,0,0,14.90,14.72,14.93
$GC,7551,1.00,338.6,2804,1960,1480,1367,387.1,10.7,715,7557,0.00,2.45,0.00,0.000,2308,0.000,0.073,2805,3364,1423,1480,1367,0,0,0,0,0,0,15.12,14.71,15.13
$GC,7577,1.00,338.6,2804,3364,1479,1367,384.4,10.9,716,7583,0.00,2.35,0.00,0.000,3078,0.000,0.048,2804,1963,1423,1479,1367,0,0,0,0,0,0,14.92,14.78,14.95
$GC,7715,1.00,338.6,2804,1963,1479,1367,369.2,10.9,723,7720,0.00,2.47,0.00,0.000,2564,0.000,0.087,2805,560,1423,1479,1367,0,0,0,0,0,0,15.13,14.67,15.14
$GC,7741,1.00,338.6,2804,560,1479,1367,366.8,10.8,724,7746,0.00,2.33,0.00,0.000,3078,0.000,0.046,2805,1975,1423,1479,1367,0,0,0,0,0,0,14.92,14.79,14.95
$GC,7879,1.00,338.6,2804,1976,1479,1367,352.4,10.2,731,7884,0.00,2.42,0.00,0.000,2308,0.000,0.074,2805,3360,1423,1479,1367,0,0,0,0,0,0,15.13,14.71,15.13
$GC,7902,1.00,338.6,2804,3360,1479,1367,350.0,10.3,732,7907,0.00,2.35,0.00,0.000,3078,0.000,0.049,2804,1963,1423,1479,1367,0,0,0,0,0,0,14.92,14.77,14.95
$GC,8044,1.00,338.6,2805,1963,1479,1367,334.5,11.0,739,8050,0.00,2.47,0.00,0.000,2564,0.000,0.087,2805,561,1423,1479,1367,0,0,0,0,0,0,15.14,14.67,15.14
$GC,8081,1.00,338.6,2805,561,1479,1367,332.0,11.2,740,8088,0.00,2.33,0.00,0.000,3078,0.000,0.046,2805,1967,1423,1479,1367,0,0,0,0,0,0,14.90,14.76,14.93
$GC,8207,1.00,338.6,2805,1967,1479,1367,316.5,11.2,747,8212,0.00,2.45,0.00,0.000,2308,0.000,0.073,2805,3356,1423,1479,1367,0,0,0,0,0,0,15.14,14.69,15.14
$GC,8244,1.00,338.6,2805,3355,1479,1367,313.9,11.3,748,8250,0.00,2.35,0.00,0.000,3078,0.000,0.049,2804,1963,1423,1479,1367,0,0,0,0,0,0,14.91,14.76,14.94
$GC,8370,1.00,338.6,2805,1963,1478,1367,297.5,11.6,758,8376,0.00,2.47,0.00,0.000,2564,0.000,0.087,2805,561,1422,1478,1367,0,0,0,0,0,0,15.10,14.64,15.11
$GC,8394,1.00,338.6,2805,561,1479,1367,294.7,11.7,762,8401,0.00,2.33,0.00,0.000,3078,0.000,0.045,2805,1961,1423,1479,1367,0,0,0,0,0,0,14.70,14.53,14.73
$GC,8464,1.00,338.6,2805,1960,1478,1366,287.1,11.2,775,8471,0.00,2.47,0.00,0.000,260,0.000,0.073,2805,3361,1421,1479,1364,0,0,0,0,0,0,15.10,14.56,15.11
$GC,8483,1.00,338.6,2805,3359,1478,1367,284.7,11.4,778,8490,0.00,2.38,0.00,0.000,1030,0.000,0.049,2806,1962,1423,1479,1367,0,0,0,0,0,0,14.64,14.54,14.66
$GC,8554,1.00,338.6,2805,1961,1479,1367,277.0,11.2,791,8560,0.00,2.47,0.00,0.000,516,0.000,0.086,2806,561,1422,1479,1366,0,0,0,0,0,0,15.09,14.42,15.09
$GC,8573,1.00,338.6,2806,562,1478,1366,274.5,11.0,794,8579,0.00,2.33,0.00,0.000,1030,0.000,0.045,2806,1966,1422,1479,1365,0,0,0,0,0,0,14.85,14.73,14.89
$GC,8643,1.00,338.6,2806,1964,1479,1364,266.9,11.5,807,8649,0.00,2.42,0.00,0.000,260,0.000,0.071,2806,3352,1423,1479,1367,0,0,0,0,0,0,15.07,14.63,15.08
$GC,8672,1.00,338.6,2806,3352,1478,1367,263.2,11.2,812,8678,0.00,2.38,0.00,0.000,1030,0.000,0.049,2807,1956,1423,1479,1367,0,0,0,0,0,0,14.84,14.71,14.88
$GC,8742,1.00,338.6,2806,1955,1479,1367,254.9,11.6,825,8749,0.00,2.47,0.00,0.000,516,0.000,0.087,2807,561,1422,1478,1366,0,0,0,0,0,0,15.07,14.60,15.07
$GC,8772,1.00,339.0,2807,561,1479,1366,251.7,9.9,830,8778,0.00,2.33,0.00,0.000,1030,0.000,0.045,2807,1962,1423,1479,1367,0,0,0,0,0,0,14.83,14.71,14.87
$GC,8842,1.00,339.0,2807,1963,1478,1367,243.8,11.1,843,8849,0.00,2.42,0.00,0.000,260,0.000,0.073,2807,3353,1422,1478,1366,0,0,0,0,0,0,15.07,14.64,15.08
$GC,8866,1.00,339.0,2807,3354,1479,1367,240.8,11.4,847,8873,0.00,2.38,0.00,0.000,1030,0.000,0.049,2807,1962,1422,1478,1366,0,0,0,0,0,0,14.83,14.70,14.85
$GC,8937,1.00,339.0,2807,1961,1479,1367,233.1,11.1,860,8944,0.00,2.47,0.00,0.000,516,0.000,0.086,2807,560,1423,1479,1367,0,0,0,0,0,0,15.05,14.59,15.06
$GC,8966,1.00,339.0,2807,560,1478,1366,229.7,11.5,865,8973,0.00,2.38,0.00,0.000,1030,0.000,0.046,2807,1969,1422,1478,1366,0,0,0,0,0,0,14.83,14.73,14.86
$GC,9037,1.00,339.0,2807,1970,1479,1367,222.0,11.2,878,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1970,1422,1478,1366,0,0,0,0,0,0,15.05,15.07,15.07
$GC,9105,1.00,339.0,2814,1970,1478,1366,213.7,11.9,891,9111,0.00,2.45,0.00,0.000,260,0.000,0.073,2807,3355,1422,1478,1366,0,0,0,0,0,0,15.06,14.52,15.07
$GC,9124,1.00,339.0,2807,3355,1478,1367,211.4,12.4,894,9130,0.00,2.38,0.00,0.000,1030,0.000,0.048,2807,1962,1422,1479,1366,0,0,0,0,0,0,14.59,14.47,14.62
$GC,9194,1.00,339.0,2807,1963,1478,1366,203.4,11.7,907,9200,0.00,2.50,0.00,0.000,516,0.000,0.086,2807,558,1423,1479,1367,0,0,0,0,0,0,15.05,14.40,15.06
$GC,9218,1.00,339.0,2807,558,1478,1367,200.4,12.0,911,9224,0.00,2.35,0.00,0.000,1030,0.000,0.045,2807,1971,1422,1478,1367,0,0,0,0,0,0,14.81,14.68,14.84
$GC,9288,1.00,339.0,2807,1971,1478,1366,192.9,11.4,924,9295,0.00,2.42,0.00,0.000,260,0.000,0.073,2807,3351,1422,1478,1366,0,0,0,0,0,0,15.04,14.43,15.04
$GC,9321,1.00,339.0,2807,3350,1479,1367,188.6,12.1,930,9328,0.00,2.38,0.00,0.000,1030,0.000,0.049,2807,1962,1422,1479,1366,0,0,0,0,0,0,14.80,14.68,14.83
$GC,9392,1.00,339.0,2807,1961,1480,1367,180.1,11.8,943,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1961,1422,1478,1366,0,0,0,0,0,0,15.01,15.02,15.02
$GC,9460,1.00,339.0,2807,1961,1478,1366,171.9,11.7,956,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1961,1422,1479,1366,0,0,0,0,0,0,15.02,15.04,15.03
$GC,9528,1.00,339.0,2807,1961,1486,1367,163.9,11.9,969,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1961,1422,1478,1367,0,0,0,0,0,0,15.03,15.04,15.04
$GC,9596,1.00,339.0,2807,1961,1478,1367,155.8,11.9,982,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1961,1422,1479,1366,0,0,0,0,0,0,15.03,15.04,15.04
$GC,9665,1.00,339.0,2807,1962,1479,1366,147.5,12.1,995,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1961,1422,1478,1366,0,0,0,0,0,0,15.02,15.02,15.02
$GC,9733,1.00,339.0,2807,1961,1478,1366,139.4,12.0,1008,9739,0.00,2.53,0.00,0.000,4612,0.000,0.088,2807,559,1422,1478,1366,0,0,0,0,0,0,15.03,14.37,15.03
$GC,9756,1.00,339.0,2807,560,1479,1366,136.7,11.2,1012,9763,0.00,2.35,0.00,0.000,1030,0.000,0.046,2808,1963,1423,1479,1367,0,0,0,0,0,0,14.78,14.66,14.81
$GC,9827,1.00,339.0,2807,1964,1479,1367,128.5,11.8,1025,9833,0.00,2.47,0.00,0.000,260,0.000,0.073,2807,3360,1422,1478,1366,0,0,0,0,0,0,15.00,14.57,15.01
$GC,9861,1.00,339.0,2807,3360,1479,1367,124.0,13.0,1031,9867,0.00,2.40,0.00,0.000,1030,0.000,0.048,2807,1964,1423,1479,1367,0,0,0,0,0,0,14.77,14.66,14.81
$GC,9931,1.00,339.0,2807,1964,1480,1367,115.5,12.1,1044,9938,0.00,2.53,0.00,0.000,516,0.000,0.086,2807,561,1422,1478,1367,0,0,0,0,0,0,15.00,14.53,15.00
$GC,9955,1.00,339.0,2807,561,1478,1365,112.5,12.6,1048,9962,0.00,2.38,0.00,0.000,1030,0.000,0.044,2807,1974,1423,1479,1367,0,0,0,0,0,0,14.76,14.62,14.79
$GC,10026,1.00,339.0,2807,1974,1479,1367,104.7,11.1,1061,10033,0.00,2.42,0.00,0.000,260,0.000,0.072,2803,3351,1422,1479,1366,0,0,0,0,0,0,15.00,14.58,15.00
$GC,10069,1.00,339.0,2807,3352,1478,1366,99.4,11.8,1069,10076,0.00,2.40,0.00,0.000,1030,0.000,0.049,2808,1955,1422,1478,1366,0,0,0,0,0,0,14.67,14.53,14.70
$GC,10140,1.00,339.0,2807,1954,1479,1366,92.1,10.3,1082,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1955,1423,1479,1367,0,0,0,0,0,0,15.00,15.01,15.01
$GC,10208,1.00,339.0,2807,1954,1479,1367,84.7,10.8,1095,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1954,1422,1479,1366,0,0,0,0,0,0,15.02,15.02,15.02
$GC,10276,1.00,339.0,2807,1954,1479,1367,77.6,10.1,1108,10283,0.00,2.47,0.00,0.000,516,0.000,0.086,2807,561,1423,1479,1367,0,0,0,0,0,0,15.01,14.53,15.02
$GC,10305,1.00,339.0,2807,563,1477,1367,74.6,11.2,1113,10312,0.00,2.38,0.00,0.000,1030,0.000,0.044,2807,1967,1422,1478,1366,0,0,0,0,0,0,14.76,14.63,14.78
$GC,10376,1.00,342.4,2807,1967,1478,1366,67.9,9.8,1126,10383,0.00,2.47,0.00,0.000,260,0.000,0.073,2807,3363,1423,1479,1367,0,0,0,0,0,0,15.00,14.56,15.00
$GC,10399,1.00,342.4,2807,3363,1479,1367,65.3,10.9,1130,10406,0.00,2.42,0.00,0.000,1030,0.000,0.049,2808,1955,1423,1479,1367,0,0,0,0,0,0,14.66,14.54,14.69
$GC,10470,1.03,363.2,2807,1955,1479,1367,58.7,9.2,1143,10499,0.00,2.47,21.05,1.040,10756,0.000,0.087,2808,556,1331,1391,1272,0,0,0,0,0,0,15.02,14.55,13.72
$GC,10512,1.07,401.3,2807,556,1390,1272,55.0,8.6,1150,10553,0.00,2.35,33.90,1.053,11270,0.000,0.044,2808,1957,1174,1235,1114,0,0,0,0,0,0,14.78,14.66,13.71
$GC,10615,1.12,440.8,2807,1957,1236,1114,45.7,8.6,1169,10657,0.08,2.55,34.92,1.034,10500,0.190,0.074,2851,3363,1015,1074,956,0,0,0,0,0,0,14.45,14.40,13.66
$GC,10685,1.12,440.8,2851,3363,1074,954,38.9,10.2,1181,10691,0.00,2.42,0.00,0.000,5126,0.000,0.047,2851,1960,1013,1073,954,0,0,0,0,0,0,14.57,14.45,14.58
$GC,10756,1.25,548.4,2851,1960,1074,954,33.7,6.3,1194,10853,0.08,0.00,90.60,1.022,10758,0.184,0.000,2893,1958,599,555,643,0,0,0,0,0,0,14.43,14.33,13.66
$GC,10916,1.28,566.2,2893,1958,553,640,18.1,9.3,1223,10923,0.00,2.53,0.00,0.000,2308,0.000,0.071,2894,3363,594,548,640,0,0,0,0,0,0,14.74,14.45,14.75
$GC,10960,1.28,566.2,2893,3363,552,638,13.0,11.9,1231,10967,0.00,2.42,0.00,0.000,3078,0.000,0.048,2894,1964,595,552,638,0,0,0,0,0,0,14.65,14.51,14.67
$GC,11030,1.28,566.2,2893,1964,552,635,4.0,13.2,1244,11037,0.00,2.50,0.00,0.000,2564,0.000,0.083,2894,557,593,552,635,0,0,0,0,0,0,14.85,14.50,14.86
$STATE,11042,end climb,SURFACE_DEPTH_REACHED
$STATE,11042,begin surface coast
$FINISH,1.1,1.023868
$STATE,11059,end surface coast,CONTROL_FINISHED_OK
$STATE,11059,begin surface
$SM_CCo,11144,0.00,0.000,0,0,593,544.56
$SM_GC,0.43,12.98,2.50,0.00,0.051,0.046,0.000,149,2012,593,-7.27,-1.05,544.56,0,0,0,0,0,0,14.58,14.64,14.69
$IRIDIUM_FIX,-3150.62,2918.83,200419,023932
$TT8_MAMPS,0.019474,0.859103
$HUMID,65.04
$INTERNAL_PRESSURE,9.00389
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.4
$ALTIM_BOTTOM_PING,571.3,41.7
$SC_FREEKB,3775936
$24V_AH,13.00,161.066
$10V_AH,12.11,0.000
$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,29.150,295.700,626.725,0.000,0.000,23.997,16.077,502.604,13.000,0.000,19.423,3140.043,4420.738,1011.611,3032.891,395.147,0.000,2402.268,0.000,2231.411,0.000,83.194,0.000
$DEVICE_MAMPS,324.360,91.800,1761.030,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.102,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,43302,1249
$CAP_FILE_SIZE,286712,0
$CFSIZE,1023623168,981630976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,090601,-3209.475,2913.788,41,0.7,46,-26.7,2.3,226.0,12,5.4