version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 398
start: 4 16 119 11 5 29
data:
$ID,574
$MISSION,3
$DIVE,398
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,358
$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,53998
$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,322
$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,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2701
$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,-148.54955
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$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,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,160419,105031,-3426.7266,2558.6274,42,1.0,72,-28.2,1.0,237.2,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-64.9
$GPS2,160419,110502,-3426.7866,2558.0332,7,1.1,47,-28.2,1.2,248.0,7,4.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.277,2549.985
$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,350.2,20000,-15.7,-10.010,-18.71,2973
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.76,-194.6,52,1793,624,550,0.0,0.0,0,118,0.00,0.00,-92.70,0.000,16386,0.000,0.000,52,1793,2974,2938,3011,0,0,0,0,0,0,14.90,28.83,14.90
$GC,123,-0.76,-194.6,52,1793,2938,3010,3.6,-8.0,17,154,14.70,2.47,-8.45,0.000,18948,0.304,0.099,2506,401,3496,3500,3493,0,0,0,0,0,0,14.42,13.80,14.69
$GC,299,-0.76,-194.6,2503,401,3504,3488,42.7,-12.9,50,306,0.00,2.35,0.00,0.000,3078,0.000,0.036,2505,1806,3495,3505,3486,0,0,0,0,0,0,14.73,14.65,14.73
$GC,372,-0.76,-194.6,2505,1809,3507,3485,51.5,-11.5,63,378,0.00,2.40,0.00,0.000,2308,0.000,0.055,2505,3216,3495,3505,3485,0,0,0,0,0,0,14.98,14.73,15.00
$GC,431,-0.76,-194.6,2504,3216,3507,3484,58.2,-10.7,74,438,0.00,2.40,0.00,0.000,3078,0.000,0.044,2505,1798,3496,3509,3484,0,0,0,0,0,0,14.87,14.76,14.88
$GC,503,-0.76,-194.6,2504,1798,3509,3484,66.7,-13.0,87,509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1798,3496,3509,3484,0,0,0,0,0,0,15.02,15.02,15.01
$GC,572,-0.76,-194.6,2504,1798,3509,3484,75.8,-13.2,100,577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1798,3496,3508,3484,0,0,0,0,0,0,15.02,15.02,15.02
$GC,643,-0.76,-194.6,2503,1798,3509,3484,85.1,-13.6,113,649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1798,3496,3509,3484,0,0,0,0,0,0,15.02,15.02,15.01
$GC,713,-0.76,-194.6,2504,1798,3509,3484,95.2,-15.1,126,720,0.00,2.42,0.00,0.000,2308,0.000,0.052,2498,3221,3496,3509,3484,0,0,0,0,0,0,15.04,14.78,15.04
$GC,757,-0.76,-194.6,2498,3221,3509,3484,100.5,-10.1,134,764,0.00,2.38,0.00,0.000,3078,0.000,0.043,2498,1811,3496,3509,3484,0,0,0,0,0,0,14.90,14.79,14.92
$GC,828,-0.76,-194.6,2498,1811,3509,3483,109.6,-13.5,147,835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1811,3496,3509,3484,0,0,0,0,0,0,15.03,15.03,15.03
$GC,899,-0.76,-194.6,2498,1811,3508,3483,119.3,-13.9,160,907,0.00,2.40,0.00,0.000,2308,0.000,0.052,2491,3217,3496,3509,3483,0,0,0,0,0,0,15.04,14.65,15.05
$GC,980,-0.76,-194.6,2491,3218,3508,3483,129.1,-10.1,175,988,0.08,2.38,0.00,0.000,3078,0.237,0.043,2508,1810,3495,3509,3482,0,0,0,0,0,0,14.62,14.74,14.78
$GC,1051,-0.76,-194.6,2508,1810,3509,3482,137.2,-11.5,188,1057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3497,3509,3486,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1122,-0.76,-194.6,2508,1810,3510,3482,145.4,-11.9,201,1128,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3496,3510,3482,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1191,-0.76,-194.6,2508,1810,3509,3482,153.5,-11.4,214,1196,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3497,3509,3485,0,0,0,0,0,0,15.06,15.07,15.06
$GC,1261,-0.76,-194.6,2508,1810,3509,3481,161.6,-11.8,227,1267,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1813,3495,3509,3482,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1331,-0.76,-194.6,2507,1810,3509,3481,169.8,-11.3,240,1339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1810,3495,3509,3481,0,0,0,0,0,0,15.06,15.06,15.07
$GC,1405,-0.76,-194.6,2508,1810,3509,3481,178.2,-12.5,253,1412,0.00,2.42,0.00,0.000,2308,0.000,0.054,2508,3223,3495,3509,3481,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1429,-0.76,-194.6,2507,3225,3509,3481,180.9,-10.7,257,1436,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1813,3495,3509,3481,0,0,0,0,0,0,14.78,14.67,14.79
$GC,1502,-0.76,-194.6,2508,1813,3510,3480,188.7,-11.9,270,1507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1813,3495,3509,3481,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1571,-0.76,-194.6,2507,1812,3509,3480,197.2,-12.0,283,1577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3494,3509,3480,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1641,-0.76,-194.6,2508,1812,3509,3479,205.9,-13.0,296,1647,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1812,3494,3509,3479,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1710,-0.76,-194.6,2507,1813,3509,3479,214.3,-11.7,309,1715,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1812,3494,3509,3479,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1780,-0.76,-194.6,2508,1812,3510,3477,222.6,-12.1,322,1786,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1813,3493,3509,3478,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1850,-0.76,-194.6,2507,1813,3509,3477,231.2,-12.4,335,1856,0.00,2.40,0.00,0.000,2308,0.000,0.052,2502,3217,3493,3509,3477,0,0,0,0,0,0,15.09,14.70,15.09
$GC,1879,-0.76,-194.6,2501,3218,3509,3477,234.6,-12.1,340,1887,0.00,2.38,0.00,0.000,3078,0.000,0.044,2502,1806,3493,3509,3477,0,0,0,0,0,0,14.81,14.70,14.82
$GC,1949,-0.76,-194.6,2501,1806,3509,3476,243.1,-12.6,353,1955,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3492,3509,3476,0,0,0,0,0,0,15.09,15.10,15.10
$GC,2020,-0.76,-194.6,2501,1806,3509,3476,251.9,-12.6,366,2026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3492,3509,3475,0,0,0,0,0,0,15.09,15.10,15.09
$GC,2090,-0.76,-194.6,2501,1806,3508,3475,260.4,-12.3,379,2096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3492,3509,3475,0,0,0,0,0,0,15.10,15.11,15.10
$GC,2159,-0.76,-194.6,2501,1806,3508,3475,269.2,-12.3,392,2165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3491,3508,3475,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2230,-0.76,-194.6,2501,1806,3507,3475,277.4,-12.3,405,2236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3491,3508,3475,0,0,0,0,0,0,15.10,15.11,15.11
$GC,2300,-0.76,-194.6,2501,1806,3507,3475,286.6,-12.6,418,2306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1804,3490,3507,3474,0,0,0,0,0,0,15.10,15.11,15.11
$GC,2371,-0.76,-194.6,2506,1806,3507,3474,295.5,-13.0,431,2377,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3490,3507,3474,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2446,-0.76,-194.6,2501,1806,3507,3474,305.3,-13.2,439,2447,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3490,3507,3474,0,0,0,0,0,0,15.12,15.12,15.12
$GC,2566,-0.76,-194.6,2502,1806,3506,3473,321.5,-13.5,445,2567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3488,3503,3474,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2685,-0.76,-194.6,2501,1806,3506,3474,337.9,-13.8,451,2686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3489,3505,3473,0,0,0,0,0,0,15.16,15.15,15.15
$GC,2805,-0.76,-194.6,2501,1806,3505,3473,355.0,-14.2,457,2810,0.00,2.42,0.00,0.000,2308,0.000,0.056,2501,3223,3489,3505,3473,0,0,0,0,0,0,15.16,14.85,15.16
$GC,2831,-0.76,-194.6,2501,3224,3505,3473,358.4,-14.3,458,2837,0.00,2.38,0.00,0.000,3078,0.000,0.046,2502,1814,3489,3505,3473,0,0,0,0,0,0,15.00,14.88,15.02
$GC,2972,-0.76,-194.6,2501,1813,3505,3472,377.6,-14.1,465,2973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1813,3488,3504,3472,0,0,0,0,0,0,15.15,15.13,15.15
$GC,3090,-0.76,-194.6,2501,1813,3504,3470,394.8,-14.3,471,3091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1813,3487,3504,3471,0,0,0,0,0,0,15.18,15.18,15.18
$GC,3211,-0.76,-194.6,2501,1813,3503,3471,411.8,-14.0,477,3212,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1813,3487,3503,3471,0,0,0,0,0,0,15.17,15.18,15.18
$GC,3330,-0.76,-194.6,2502,1813,3503,3470,428.7,-14.0,483,3331,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1813,3486,3503,3470,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3452,-0.76,-194.6,2501,1813,3503,3469,445.6,-14.0,489,3453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1813,3486,3502,3470,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3571,-0.76,-194.6,2501,1813,3502,3469,461.0,-12.1,495,3572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1813,3484,3499,3469,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3690,-0.76,-194.6,2501,1813,3501,3468,476.8,-13.5,501,3696,0.00,2.40,0.00,0.000,2308,0.000,0.056,2502,3215,3486,3505,3468,0,0,0,0,0,0,15.19,14.81,15.19
$GC,3717,-0.76,-194.6,2501,3215,3501,3468,480.1,-13.5,502,3722,0.00,2.38,0.00,0.000,3078,0.000,0.047,2502,1804,3484,3501,3468,0,0,0,0,0,0,15.02,14.89,15.04
$GC,3855,-0.76,-194.6,2501,1803,3501,3468,498.9,-14.2,509,3856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3484,3501,3468,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3976,-0.76,-194.6,2501,1803,3500,3467,515.3,-13.4,515,3981,0.00,2.42,0.00,0.000,2308,0.000,0.057,2499,3224,3482,3499,3466,0,0,0,0,0,0,15.19,14.88,15.19
$GC,3999,-0.76,-194.6,2499,3224,3500,3467,518.5,-13.3,516,4004,0.00,2.40,0.00,0.000,3078,0.000,0.050,2499,1806,3484,3501,3467,0,0,0,0,0,0,15.00,14.88,15.02
$GC,4144,-0.76,-194.6,2499,1806,3499,3467,536.9,-12.5,523,4145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2499,1806,3483,3500,3467,0,0,0,0,0,0,15.17,15.17,15.17
$GC,4262,-0.76,-194.6,2498,1806,3500,3466,553.0,-13.9,529,4267,0.00,2.42,0.00,0.000,2308,0.000,0.055,2498,3221,3482,3499,3466,0,0,0,0,0,0,15.20,14.87,15.20
$GC,4320,-0.76,-194.6,2498,3221,3499,3466,558.0,-12.3,531,4328,0.00,2.38,0.00,0.000,3078,0.000,0.047,2498,1811,3482,3499,3466,0,0,0,0,0,0,14.93,14.81,14.95
$GC,4446,-0.76,-194.6,2498,1811,3499,3466,575.3,-13.0,538,4447,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1812,3482,3499,3466,0,0,0,0,0,0,15.16,15.16,15.17
$GC,4567,-0.76,-194.6,2498,1811,3497,3465,591.1,-13.2,544,4568,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1811,3481,3498,3465,0,0,0,0,0,0,15.18,15.19,15.19
$GC,4686,-0.76,-194.6,2498,1811,3498,3465,607.4,-13.6,550,4692,0.03,2.40,0.00,0.000,2308,0.496,0.054,2505,3222,3480,3495,3465,0,0,0,0,0,0,14.78,14.86,14.92
$GC,4714,-0.76,-194.6,2505,3223,3497,3465,610.6,-13.5,551,4720,0.00,2.38,0.00,0.000,3078,0.000,0.047,2505,1807,3481,3497,3465,0,0,0,0,0,0,15.01,14.88,15.03
$GC,4852,-0.76,-194.6,2505,1807,3497,3463,629.2,-13.5,558,4854,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1807,3480,3497,3464,0,0,0,0,0,0,15.19,15.20,15.19
$GC,4973,-0.76,-194.6,2504,1807,3496,3464,647.0,-15.1,564,4974,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1807,3479,3496,3463,0,0,0,0,0,0,15.18,15.19,15.19
$GC,5092,-0.76,-194.6,2505,1807,3496,3463,663.6,-13.5,570,5094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1807,3479,3496,3463,0,0,0,0,0,0,15.19,15.20,15.20
$GC,5213,-0.76,-194.6,2505,1807,3496,3463,677.5,-11.4,576,5218,0.00,2.40,0.00,0.000,2308,0.000,0.055,2500,3215,3479,3496,3463,0,0,0,0,0,0,15.19,14.85,15.20
$GC,5245,-0.76,-194.6,2500,3216,3496,3463,679.9,-10.9,577,5250,0.00,2.38,0.00,0.000,3078,0.000,0.047,2500,1804,3479,3496,3463,0,0,0,0,0,0,15.00,14.87,15.02
$GC,5379,-0.76,-194.6,2501,1803,3495,3461,695.7,-11.6,584,5380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2499,1804,3478,3495,3462,0,0,0,0,0,0,15.18,15.19,15.19
$GC,5499,-0.76,-194.6,2500,1804,3495,3462,711.4,-13.4,590,5500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,1803,3478,3495,3462,0,0,0,0,0,0,15.19,15.19,15.19
$GC,5618,-0.76,-194.6,2499,1804,3495,3462,728.5,-14.1,596,5619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,1804,3478,3495,3462,0,0,0,0,0,0,15.19,15.19,15.19
$GC,5738,-0.76,-194.6,2499,1803,3494,3461,744.6,-13.5,602,5743,0.00,2.42,0.00,0.000,2308,0.000,0.055,2498,3221,3478,3494,3462,0,0,0,0,0,0,15.19,14.84,15.19
$GC,5782,-0.76,-194.6,2498,3224,3495,3462,749.7,-12.8,604,5788,0.00,2.40,0.00,0.000,3078,0.000,0.048,2498,1802,3478,3495,3462,0,0,0,0,0,0,15.00,14.86,15.01
$GC,5927,-0.76,-194.6,2498,1802,3494,3461,767.3,-12.8,611,5929,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1802,3477,3494,3461,0,0,0,0,0,0,15.17,15.18,15.17
$GC,6046,-0.76,-194.6,2498,1802,3494,3461,782.2,-12.5,617,6051,0.00,2.42,0.00,0.000,2308,0.000,0.059,2498,3214,3477,3494,3461,0,0,0,0,0,0,15.19,14.83,15.19
$GC,6083,-0.76,-194.6,2498,3213,3494,3461,784.4,-11.7,618,6090,0.00,2.35,0.00,0.000,3078,0.000,0.045,2498,1809,3477,3494,3461,0,0,0,0,0,0,14.99,14.87,15.01
$STATE,6106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6107,begin apogee
$GC,6112,-0.17,0.0,2498,1809,3493,3461,789.0,-10.7,620,6277,1.05,0.00,160.43,1.802,10246,0.159,0.000,2701,1808,2699,2728,2670,0,0,0,0,0,0,14.70,14.19,13.47
$STATE,6279,end apogee,CONTROL_FINISHED_OK
$STATE,6279,begin climb
$GC,6283,0.76,194.6,2701,1809,2726,2668,798.4,0.0,628,6457,1.45,0.00,166.48,1.806,10502,0.071,0.000,3006,1808,1908,1944,1873,0,0,0,0,0,0,14.21,13.96,13.26
$GC,6569,0.76,194.6,3006,1808,1934,1865,780.9,16.1,643,6574,0.00,2.47,0.00,0.000,260,0.000,0.059,3007,3205,1898,1934,1863,0,0,0,0,0,0,14.64,14.40,14.64
$GC,6601,0.76,194.6,3006,3205,1932,1865,777.2,16.7,644,6606,0.00,2.47,0.00,0.000,5126,0.000,0.060,3016,1808,1898,1932,1865,0,0,0,0,0,0,14.52,14.42,14.54
$GC,6734,0.76,194.6,3015,1808,1931,1862,752.7,17.3,651,6735,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1808,1896,1931,1862,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6854,0.76,194.6,3016,1808,1930,1861,732.8,16.6,657,6855,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1809,1895,1930,1861,0,0,0,0,0,0,14.96,14.96,14.96
$GC,6974,0.76,194.6,3016,1808,1930,1861,713.6,16.4,663,6979,0.00,2.40,0.00,0.000,4356,0.000,0.060,3016,3201,1895,1930,1861,0,0,0,0,0,0,15.02,14.73,15.02
$GC,7006,0.76,194.6,3016,3201,1929,1861,709.9,16.3,664,7012,0.08,2.45,0.00,0.000,5126,0.334,0.060,3012,1790,1894,1928,1861,0,0,0,0,0,0,14.54,14.74,14.80
$GC,7140,0.76,194.6,3012,1790,1929,1860,686.6,16.5,671,7141,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1789,1897,1930,1865,0,0,0,0,0,0,15.05,15.06,15.06
$GC,7260,0.76,194.6,3012,1789,1929,1860,667.0,16.5,677,7261,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1789,1894,1929,1860,0,0,0,0,0,0,15.08,15.08,15.09
$GC,7380,0.76,194.6,3012,1789,1928,1860,648.4,15.1,683,7385,0.00,2.45,0.00,0.000,4356,0.000,0.059,3012,3211,1894,1928,1860,0,0,0,0,0,0,15.10,14.76,15.11
$GC,7414,0.76,194.6,3011,3210,1927,1860,644.7,15.1,684,7420,0.05,2.42,0.00,0.000,5126,0.386,0.055,3012,1791,1893,1927,1860,0,0,0,0,0,0,14.59,14.81,14.86
$GC,7548,0.76,194.6,3011,1791,1927,1859,623.5,14.4,691,7549,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1791,1893,1927,1860,0,0,0,0,0,0,15.11,15.11,15.11
$GC,7668,0.76,194.6,3011,1791,1927,1859,606.2,14.3,697,7669,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1791,1893,1927,1860,0,0,0,0,0,0,15.12,15.13,15.13
$GC,7788,0.76,194.6,3011,1791,1927,1859,589.8,13.6,703,7789,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1791,1893,1927,1859,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7908,0.76,194.6,3008,1791,1926,1859,572.5,14.5,709,7909,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1791,1892,1926,1859,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8028,0.76,194.6,3011,1791,1926,1859,555.7,13.9,715,8029,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1791,1892,1926,1859,0,0,0,0,0,0,15.14,15.15,15.15
$GC,8148,0.76,194.6,3011,1791,1926,1859,539.2,13.6,721,8153,0.00,2.40,0.00,0.000,4356,0.000,0.053,3011,3207,1892,1926,1859,0,0,0,0,0,0,15.15,14.85,15.15
$GC,8191,0.76,194.6,3011,3207,1925,1859,533.2,13.9,723,8196,0.00,2.42,0.00,0.000,5126,0.000,0.056,3018,1799,1892,1925,1859,0,0,0,0,0,0,14.90,14.78,14.92
$GC,8334,0.76,194.6,3018,1799,1926,1859,512.5,14.8,730,8339,0.00,2.45,0.00,0.000,4612,0.000,0.076,3027,395,1892,1925,1859,0,0,0,0,0,0,15.16,14.81,15.16
$GC,8366,0.76,194.6,3026,395,1924,1859,508.8,15.0,731,8372,0.10,2.33,0.00,0.000,5126,0.270,0.038,3008,1805,1891,1924,1859,0,0,0,0,0,0,14.62,14.88,14.88
$GC,8500,0.76,194.6,3007,1807,1924,1858,487.9,13.9,738,8506,0.00,2.47,0.00,0.000,4612,0.000,0.076,3017,395,1891,1924,1859,0,0,0,0,0,0,15.15,14.80,15.15
$GC,8523,0.76,194.6,3016,395,1920,1860,484.8,13.3,739,8529,0.00,2.35,0.00,0.000,5126,0.000,0.037,3017,1810,1891,1923,1859,0,0,0,0,0,0,14.99,14.89,15.00
$GC,8666,0.76,194.6,3016,1813,1924,1858,462.6,15.7,746,8672,0.00,2.33,0.00,0.000,4356,0.000,0.052,3017,3201,1891,1924,1858,0,0,0,0,0,0,15.15,14.84,15.15
$GC,8699,0.76,194.6,3016,3200,1923,1858,459.3,15.0,747,8704,0.00,2.40,0.00,0.000,5126,0.000,0.058,3018,1795,1891,1923,1859,0,0,0,0,0,0,14.97,14.83,15.00
$GC,8832,0.76,194.6,3018,1795,1923,1858,439.5,14.4,754,8833,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1795,1890,1923,1858,0,0,0,0,0,0,15.15,15.15,15.15
$GC,8952,0.76,194.6,3017,1795,1924,1858,426.1,10.8,760,8954,0.03,0.00,0.00,0.000,4102,0.562,0.000,3012,1795,1890,1923,1858,0,0,0,0,0,0,14.70,14.94,14.89
$GC,9072,0.76,194.6,3011,1795,1924,1858,411.4,12.3,766,9077,0.00,2.38,0.00,0.000,4356,0.000,0.051,3011,3200,1891,1924,1858,0,0,0,0,0,0,15.16,14.84,15.16
$GC,9104,0.76,194.6,3011,3200,1924,1858,408.5,12.3,767,9109,0.00,2.40,0.00,0.000,5126,0.000,0.056,3017,1792,1890,1923,1858,0,0,0,0,0,0,14.96,14.83,14.99
$GC,9237,0.76,194.6,3016,1792,1923,1858,390.7,12.5,774,9238,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1792,1890,1923,1858,0,0,0,0,0,0,15.16,15.16,15.16
$GC,9357,0.76,194.6,3016,1792,1923,1858,374.6,13.5,780,9362,0.00,2.38,0.00,0.000,4356,0.000,0.051,3016,3200,1890,1923,1858,0,0,0,0,0,0,15.16,14.84,15.16
$GC,9400,0.76,194.6,3016,3201,1924,1858,369.0,13.4,782,9405,0.00,2.40,0.00,0.000,5126,0.000,0.056,3017,1800,1890,1923,1858,0,0,0,0,0,0,14.97,14.83,15.00
$GC,9543,0.76,194.6,3016,1799,1923,1858,349.7,13.5,789,9544,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1799,1890,1923,1858,0,0,0,0,0,0,15.15,15.16,15.15
$GC,9664,0.76,194.6,3016,1799,1923,1858,333.5,13.5,795,9669,0.03,2.38,0.00,0.000,4356,0.557,0.050,3011,3201,1890,1923,1858,0,0,0,0,0,0,14.76,14.83,14.87
$GC,9701,0.76,194.6,3010,3201,1922,1858,330.2,13.6,796,9708,0.00,2.40,0.00,0.000,5126,0.000,0.057,3015,1797,1890,1923,1858,0,0,0,0,0,0,14.97,14.82,14.99
$GC,9827,0.76,194.6,3014,1796,1923,1858,311.4,13.6,803,9828,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1796,1890,1923,1857,0,0,0,0,0,0,15.15,15.16,15.16
$GC,9947,0.76,194.6,3014,1796,1923,1858,295.5,12.9,812,9953,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1796,1890,1923,1858,0,0,0,0,0,0,15.15,15.15,15.15
$GC,10016,0.76,194.6,3014,1796,1923,1858,286.7,12.7,825,10022,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1796,1890,1923,1858,0,0,0,0,0,0,15.13,15.14,15.13
$GC,10085,0.76,194.6,3014,1796,1923,1858,278.1,12.4,838,10090,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1796,1890,1923,1858,0,0,0,0,0,0,15.12,15.14,15.13
$GC,10153,0.76,194.6,3014,1796,1923,1858,269.4,12.6,851,10160,0.00,2.38,0.00,0.000,4356,0.000,0.052,3014,3200,1890,1923,1858,0,0,0,0,0,0,15.12,14.81,15.11
$GC,10193,0.76,194.6,3014,3200,1923,1858,264.2,13.2,858,10199,0.00,2.42,0.00,0.000,5126,0.000,0.056,3017,1792,1890,1923,1857,0,0,0,0,0,0,14.94,14.80,14.97
$GC,10263,0.76,194.6,3023,1792,1923,1858,255.3,13.4,871,10269,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1792,1890,1923,1857,0,0,0,0,0,0,15.09,15.10,15.10
$GC,10332,0.76,194.6,3012,1792,1923,1858,245.9,13.1,884,10338,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1793,1890,1923,1858,0,0,0,0,0,0,15.11,15.11,15.11
$GC,10401,0.76,194.6,3016,1792,1923,1858,237.0,13.0,897,10406,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1792,1890,1923,1858,0,0,0,0,0,0,15.11,15.10,15.11
$GC,10469,0.76,194.6,3016,1792,1923,1858,228.0,13.2,910,10476,0.00,2.40,0.00,0.000,4356,0.000,0.051,3016,3202,1890,1923,1858,0,0,0,0,0,0,15.09,14.62,15.10
$GC,10504,0.76,194.6,3016,3202,1923,1858,223.3,13.8,916,10510,0.00,2.42,0.00,0.000,5126,0.000,0.056,3016,1794,1890,1923,1858,0,0,0,0,0,0,14.92,14.78,14.94
$GC,10576,0.76,194.6,3016,1793,1923,1858,214.3,13.1,929,10582,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1800,1890,1923,1858,0,0,0,0,0,0,15.08,15.09,15.09
$GC,10645,0.76,194.6,3016,1793,1923,1858,205.0,13.1,942,10650,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1794,1890,1923,1858,0,0,0,0,0,0,15.09,15.09,15.09
$GC,10713,0.76,194.6,3016,1794,1923,1858,196.6,11.5,955,10719,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1794,1890,1923,1858,0,0,0,0,0,0,15.08,15.09,15.09
$GC,10782,0.76,194.6,3017,1793,1924,1858,187.7,12.5,968,10788,0.00,2.40,0.00,0.000,4356,0.000,0.050,3017,3201,1890,1923,1858,0,0,0,0,0,0,15.08,14.77,15.08
$GC,10811,0.76,194.6,3015,3201,1923,1858,183.9,14.3,973,10819,0.05,2.45,0.00,0.000,5126,0.379,0.056,3011,1795,1890,1923,1858,0,0,0,0,0,0,14.52,14.73,14.80
$GC,10881,0.76,194.6,3011,1795,1923,1858,175.1,12.4,986,10887,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1795,1890,1923,1858,0,0,0,0,0,0,15.06,15.06,15.06
$GC,10950,0.76,194.6,3010,1795,1923,1858,166.5,12.4,999,10956,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1795,1890,1923,1858,0,0,0,0,0,0,15.05,15.06,15.05
$GC,11019,0.76,194.6,3010,1794,1923,1858,158.2,12.3,1012,11025,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1795,1890,1922,1858,0,0,0,0,0,0,15.05,15.06,15.06
$GC,11087,0.76,194.6,3011,1795,1923,1858,149.4,12.5,1025,11093,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1795,1890,1922,1858,0,0,0,0,0,0,15.04,15.04,15.04
$GC,11156,0.76,194.6,3011,1795,1923,1858,140.9,12.4,1038,11162,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1795,1890,1923,1858,0,0,0,0,0,0,15.04,15.04,15.04
$GC,11225,0.76,194.6,3011,1795,1923,1858,132.8,12.3,1051,11231,0.00,2.40,0.00,0.000,4356,0.000,0.051,3011,3200,1890,1923,1857,0,0,0,0,0,0,15.04,14.61,15.04
$GC,11264,0.76,194.6,3010,3199,1922,1855,127.7,12.8,1058,11271,0.00,2.42,0.00,0.000,5126,0.000,0.056,3013,1798,1890,1923,1858,0,0,0,0,0,0,14.71,14.59,14.72
$GC,11335,0.76,194.6,3013,1798,1923,1858,119.7,12.0,1071,11342,0.00,2.47,0.00,0.000,4612,0.000,0.076,3017,395,1890,1923,1858,0,0,0,0,0,0,15.03,14.61,15.04
$GC,11364,0.76,194.6,3016,395,1922,1858,115.3,13.0,1076,11371,0.00,2.38,0.00,0.000,5126,0.000,0.035,3017,1810,1890,1923,1858,0,0,0,0,0,0,14.71,14.62,14.73
$GC,11436,0.76,194.6,3016,1812,1923,1858,106.1,12.6,1089,11443,0.00,2.35,0.00,0.000,4356,0.000,0.050,3017,3198,1890,1924,1857,0,0,0,0,0,0,15.03,14.73,15.03
$GC,11471,0.76,194.6,3016,3198,1923,1858,101.3,13.1,1095,11477,0.00,2.42,0.00,0.000,5126,0.000,0.055,3017,1800,1889,1922,1857,0,0,0,0,0,0,14.79,14.66,14.81
$GC,11542,0.76,194.6,3017,1800,1923,1857,93.0,10.9,1108,11549,0.00,2.40,0.00,0.000,4356,0.000,0.050,3017,3205,1890,1923,1857,0,0,0,0,0,0,15.02,14.73,15.02
$GC,11608,0.76,194.6,3017,3205,1928,1857,85.6,11.2,1120,11615,0.05,2.42,0.00,0.000,5126,0.373,0.056,3011,1801,1890,1923,1857,0,0,0,0,0,0,14.49,14.72,14.76
$GC,11680,0.76,194.6,3011,1800,1923,1857,78.3,11.0,1133,11686,0.00,2.38,0.00,0.000,4356,0.000,0.051,3011,3198,1890,1923,1857,0,0,0,0,0,0,15.02,14.59,15.03
$GC,11751,0.76,194.6,3010,3197,1923,1857,70.1,10.9,1146,11758,0.00,2.42,0.00,0.000,5126,0.000,0.054,3013,1801,1890,1923,1857,0,0,0,0,0,0,14.79,14.65,14.81
$GC,11822,0.76,194.6,3013,1800,1923,1857,62.6,11.1,1159,11827,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1801,1894,1932,1857,0,0,0,0,0,0,15.02,15.02,15.02
$GC,11890,0.76,194.6,3013,1801,1923,1857,54.6,11.5,1172,11897,0.00,2.40,0.00,0.000,4356,0.000,0.051,3013,3200,1890,1923,1857,0,0,0,0,0,0,15.01,14.66,15.02
$GC,11945,0.76,194.6,3013,3199,1922,1857,48.4,10.9,1182,11951,0.00,2.42,0.00,0.000,5126,0.000,0.056,3016,1799,1890,1923,1857,0,0,0,0,0,0,14.71,14.59,14.74
$GC,12016,0.77,201.3,3016,1799,1923,1857,41.8,9.8,1195,12029,0.00,2.47,4.95,0.712,12804,0.000,0.076,3017,388,1877,1911,1844,0,0,0,0,0,0,15.02,14.75,14.14
$GC,12067,0.77,201.3,3016,388,1909,1844,36.2,11.1,1204,12074,0.00,2.38,0.00,0.000,5126,0.000,0.034,3016,1810,1876,1908,1844,0,0,0,0,0,0,14.87,14.78,14.88
$GC,12138,0.81,234.4,3016,1812,1909,1851,29.6,8.9,1217,12173,0.00,2.38,28.38,0.988,8452,0.000,0.048,3017,3202,1742,1779,1706,0,0,0,0,0,0,14.99,14.52,14.09
$GC,12208,0.81,234.4,3016,3202,1779,1706,22.4,11.7,1229,12214,0.00,2.45,0.00,0.000,1030,0.000,0.057,3017,1799,1742,1779,1706,0,0,0,0,0,0,14.73,14.62,14.76
$GC,12278,0.81,234.4,3016,1799,1779,1706,13.4,13.8,1242,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1799,1742,1779,1706,0,0,0,0,0,0,14.88,14.90,14.89
$GC,12347,0.94,336.2,3016,1796,1779,1706,7.5,6.5,1255,12399,0.08,0.00,48.28,0.925,10498,0.196,0.000,3050,1799,1469,1515,1424,0,0,0,0,0,0,14.54,28.83,14.59
$STATE,12400,end climb,SURFACE_DEPTH_REACHED
$STATE,12400,begin surface coast
$FINISH,0.4,1.024696
$STATE,12427,end surface coast,CONTROL_FINISHED_OK
$STATE,12427,begin surface
$SM_CCo,12451,159.95,0.848,0,0,599,515.37
$SM_GC,0.90,14.10,0.00,159.95,0.050,0.000,0.848,124,1796,599,-8.18,-0.45,515.37,0,0,0,0,0,0,14.59,14.81,13.93
$IRIDIUM_FIX,-3414.71,2601.17,160419,075436
$TT8_MAMPS,0.020972,0.922019
$HUMID,46.65
$INTERNAL_PRESSURE,9.21467
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,762.2,34.4
$SC_FREEKB,3712192
$24V_AH,13.26,126.044
$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,31.850,168.325,408.500,159.950,0.000,22.388,38.213,447.262,36.000,0.000,49.975,3154.860,5943.789,949.272,2915.822,516.690,0.000,2201.150,0.000,2096.083,0.000,221.537,0.000
$DEVICE_MAMPS,561.510,98.685,1806.165,847.620,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12533.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.816,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,33309,1269
$CAP_FILE_SIZE,284255,0
$CFSIZE,2097086464,2017067008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160419,143707,-3425.637,2557.119,37,1.0,43,-28.1,0.2,30.4,8,9.1