version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 417
start: 4 17 119 18 10 5
data:
$ID,574
$MISSION,3
$DIVE,417
$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,250
$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,120
$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,32
$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,2
$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
$GPS1,170419,175631,-3427.0518,2556.1663,16,0.8,27,-28.2,2.1,253.7,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-72.2
$GPS2,170419,180939,-3427.5061,2555.4900,7,0.8,14,-28.2,0.7,283.2,11,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3432.906,2606.845
$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,148.2,20000,-13.9,-10.010,-17.09,3711
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.76,-243.3,52,1811,625,549,0.0,0.0,0,113,0.00,0.00,-86.45,0.000,16386,0.000,0.000,52,1811,2839,2801,2877,0,0,0,0,0,0,14.88,28.83,14.89
$GC,118,-0.76,-243.3,52,1811,2802,2877,3.2,-5.4,16,154,14.73,2.47,-14.27,0.000,18948,0.305,0.083,2503,402,3694,3714,3674,0,0,0,0,0,0,14.40,13.79,14.66
$GC,223,-0.76,-243.3,2503,402,3714,3674,26.7,-16.2,35,230,0.00,2.38,0.00,0.000,3078,0.000,0.037,2498,1822,3694,3714,3674,0,0,0,0,0,0,14.83,14.73,14.85
$GC,294,-0.76,-243.3,2498,1824,3714,3674,39.4,-18.9,48,300,0.00,2.47,0.00,0.000,2564,0.000,0.066,2498,404,3693,3713,3674,0,0,0,0,0,0,14.96,14.70,14.96
$GC,328,-0.76,-243.3,2498,404,3713,3674,46.0,-18.0,54,334,0.00,2.35,0.00,0.000,3078,0.000,0.038,2497,1811,3693,3713,3673,0,0,0,0,0,0,14.86,14.76,14.88
$GC,400,-0.76,-243.3,2497,1813,3713,3674,57.9,-17.1,67,407,0.00,2.40,0.00,0.000,2308,0.000,0.056,2498,3220,3693,3713,3674,0,0,0,0,0,0,15.00,14.63,15.00
$GC,450,-0.76,-243.3,2497,3220,3713,3674,65.1,-13.0,76,457,0.00,2.38,0.00,0.000,3078,0.000,0.043,2498,1809,3693,3713,3674,0,0,0,0,0,0,14.76,14.68,14.78
$GC,522,-0.76,-243.3,2497,1809,3713,3674,75.3,-13.5,89,530,0.03,2.40,0.00,0.000,2308,0.477,0.052,2507,3214,3693,3713,3674,0,0,0,0,0,0,14.60,14.72,14.71
$GC,537,-0.76,-243.3,2506,3214,3713,3674,77.1,-11.5,91,544,0.00,2.38,0.00,0.000,3078,0.000,0.044,2507,1809,3693,3713,3673,0,0,0,0,0,0,14.88,14.78,14.90
$GC,609,-0.76,-243.3,2507,1809,3713,3674,84.6,-11.1,104,618,0.00,2.42,0.00,0.000,2564,0.000,0.064,2508,401,3693,3713,3674,0,0,0,0,0,0,15.02,14.75,15.02
$GC,651,-0.76,-243.3,2507,400,3712,3673,89.4,-10.5,111,659,0.00,2.35,0.00,0.000,3078,0.000,0.034,2508,1816,3693,3713,3674,0,0,0,0,0,0,14.85,14.75,14.85
$GC,724,-0.76,-243.3,2507,1818,3713,3673,97.1,-11.3,124,730,0.00,2.38,0.00,0.000,2308,0.000,0.054,2507,3220,3693,3713,3673,0,0,0,0,0,0,15.04,14.78,15.04
$GC,754,-0.76,-243.3,2507,3220,3713,3674,100.1,-8.8,129,761,0.00,2.38,0.00,0.000,3078,0.000,0.041,2508,1796,3694,3714,3674,0,0,0,0,0,0,14.90,14.81,14.92
$GC,826,-0.76,-243.3,2508,1797,3713,3674,106.8,-9.9,142,833,0.00,2.40,0.00,0.000,2564,0.000,0.064,2508,406,3693,3713,3673,0,0,0,0,0,0,15.05,14.71,15.05
$GC,876,-0.76,-243.3,2507,406,3714,3674,112.0,-9.9,151,883,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1816,3693,3713,3674,0,0,0,0,0,0,14.86,14.77,14.87
$GC,947,-0.76,-243.3,2507,1819,3713,3674,119.5,-11.0,164,955,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3207,3694,3713,3675,0,0,0,0,0,0,15.06,14.78,15.06
$GC,978,-0.76,-243.3,2502,3208,3713,3674,123.0,-9.8,169,985,0.00,2.33,0.00,0.000,3078,0.000,0.041,2508,1813,3694,3714,3674,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1050,-0.76,-243.3,2507,1813,3712,3673,129.8,-9.6,182,1057,0.00,2.42,0.00,0.000,2564,0.000,0.063,2505,409,3693,3713,3673,0,0,0,0,0,0,15.07,14.66,15.07
$GC,1070,-0.76,-243.3,2507,409,3719,3673,132.1,-10.2,185,1077,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1816,3693,3713,3674,0,0,0,0,0,0,14.80,14.71,14.82
$GC,1142,-0.76,-243.3,2507,1819,3709,3674,139.3,-11.4,198,1148,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1820,3692,3712,3673,0,0,0,0,0,0,15.06,15.07,15.06
$GC,1213,-0.76,-243.3,2506,1819,3713,3674,147.1,-11.2,211,1220,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3215,3693,3713,3674,0,0,0,0,0,0,15.05,14.79,15.04
$GC,1245,-0.76,-243.3,2507,3213,3711,3673,150.5,-9.6,216,1252,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1807,3693,3712,3674,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1318,-0.76,-243.3,2507,1807,3712,3674,158.8,-12.0,229,1327,0.00,2.40,0.00,0.000,2564,0.000,0.063,2507,411,3692,3711,3674,0,0,0,0,0,0,15.07,14.78,15.07
$GC,1345,-0.76,-243.3,2507,411,3711,3674,162.6,-12.8,233,1352,0.00,2.33,0.00,0.000,3078,0.000,0.034,2507,1823,3692,3711,3673,0,0,0,0,0,0,14.80,14.72,14.81
$GC,1416,-0.76,-243.3,2507,1825,3711,3674,171.0,-10.9,246,1422,0.00,2.35,0.00,0.000,2308,0.000,0.053,2507,3213,3692,3711,3674,0,0,0,0,0,0,15.07,14.69,15.08
$GC,1459,-0.76,-243.3,2507,3213,3711,3673,176.0,-10.2,254,1466,0.00,2.35,0.00,0.000,3078,0.000,0.041,2507,1804,3692,3711,3673,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1531,-0.76,-243.3,2507,1804,3711,3674,183.9,-11.6,267,1537,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,409,3692,3710,3674,0,0,0,0,0,0,15.07,14.72,15.07
$GC,1560,-0.76,-243.3,2507,409,3710,3674,187.4,-12.6,272,1566,0.00,2.33,0.00,0.000,3078,0.000,0.034,2507,1822,3691,3710,3673,0,0,0,0,0,0,14.82,14.76,14.83
$GC,1634,-0.76,-243.3,2507,1825,3709,3674,195.2,-11.4,285,1640,0.00,2.35,0.00,0.000,2308,0.000,0.054,2507,3216,3691,3709,3673,0,0,0,0,0,0,15.08,14.80,15.08
$GC,1674,-0.76,-243.3,2507,3216,3709,3674,199.6,-9.5,292,1681,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1811,3691,3709,3673,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1746,-0.76,-243.3,2507,1811,3709,3673,207.5,-11.2,305,1753,0.00,2.42,0.00,0.000,2564,0.000,0.064,2508,406,3690,3708,3673,0,0,0,0,0,0,15.09,14.72,15.09
$GC,1771,-0.76,-243.3,2507,406,3708,3673,210.2,-11.3,309,1777,0.00,2.33,0.00,0.000,3078,0.000,0.034,2507,1819,3690,3708,3672,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1842,-0.76,-243.3,2506,1822,3708,3673,217.9,-11.4,322,1849,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3212,3690,3708,3673,0,0,0,0,0,0,15.09,14.81,15.09
$GC,1883,-0.76,-243.3,2507,3213,3708,3673,222.2,-9.7,329,1890,0.00,2.35,0.00,0.000,3078,0.000,0.042,2507,1808,3690,3708,3673,0,0,0,0,0,0,14.95,14.83,14.96
$GC,1955,-0.76,-243.3,2507,1808,3708,3672,229.9,-11.7,342,1962,0.00,2.40,0.00,0.000,2564,0.000,0.065,2507,410,3689,3707,3672,0,0,0,0,0,0,15.09,14.68,15.10
$GC,1980,-0.76,-243.3,2507,410,3707,3670,233.2,-12.8,346,1987,0.00,2.33,0.00,0.000,3078,0.000,0.034,2507,1814,3689,3707,3671,0,0,0,0,0,0,14.95,14.85,14.96
$GC,2051,-0.76,-243.3,2507,1816,3707,3672,241.3,-12.3,359,2058,0.00,2.35,0.00,0.000,2308,0.000,0.055,2505,3208,3689,3707,3671,0,0,0,0,0,0,15.09,14.82,15.09
$GC,2091,-0.76,-243.3,2504,3209,3707,3671,245.7,-9.9,366,2097,0.00,2.35,0.00,0.000,3078,0.000,0.042,2505,1804,3689,3707,3672,0,0,0,0,0,0,14.95,14.84,14.96
$GC,2162,-0.76,-243.3,2505,1804,3706,3671,253.7,-12.2,379,2168,0.00,2.40,0.00,0.000,2564,0.000,0.065,2505,409,3688,3706,3671,0,0,0,0,0,0,15.10,14.80,15.10
$GC,2186,-0.76,-243.3,2505,409,3706,3671,256.9,-12.4,383,2193,0.00,2.33,0.00,0.000,3078,0.000,0.035,2505,1812,3688,3706,3671,0,0,0,0,0,0,14.90,14.81,14.90
$GC,2261,-0.76,-243.3,2504,1814,3706,3670,265.1,-11.9,396,2267,0.00,2.38,0.00,0.000,2308,0.000,0.054,2505,3217,3688,3706,3670,0,0,0,0,0,0,15.10,14.82,15.11
$GC,2306,-0.76,-243.3,2505,3218,3706,3670,270.3,-9.8,404,2313,0.00,2.38,0.00,0.000,3078,0.000,0.043,2505,1807,3688,3706,3670,0,0,0,0,0,0,14.89,14.77,14.90
$GC,2378,-0.76,-243.3,2505,1807,3706,3669,278.3,-12.0,417,2385,0.00,2.42,0.00,0.000,2564,0.000,0.066,2505,402,3687,3705,3669,0,0,0,0,0,0,15.10,14.80,15.11
$GC,2403,-0.76,-243.3,2505,402,3710,3668,281.7,-11.9,421,2410,0.00,2.35,0.00,0.000,3078,0.000,0.036,2505,1815,3687,3705,3669,0,0,0,0,0,0,14.99,14.86,14.95
$GC,2474,-0.76,-243.3,2505,1818,3705,3668,290.0,-12.3,434,2482,0.00,2.35,0.00,0.000,2308,0.000,0.056,2505,3211,3687,3705,3669,0,0,0,0,0,0,15.11,14.81,15.11
$GC,2515,-0.76,-243.3,2508,3211,3705,3669,294.8,-10.3,441,2522,0.00,2.35,0.00,0.000,3078,0.000,0.044,2504,1811,3686,3705,3668,0,0,0,0,0,0,14.81,14.71,14.83
$GC,2587,-0.76,-243.3,2504,1810,3704,3668,302.9,-12.2,451,2592,0.00,2.42,0.00,0.000,2564,0.000,0.067,2504,405,3686,3704,3668,0,0,0,0,0,0,15.11,14.80,15.09
$GC,2611,-0.76,-243.3,2504,402,3704,3668,306.1,-12.4,452,2617,0.00,2.35,0.00,0.000,3078,0.000,0.037,2504,1818,3686,3704,3668,0,0,0,0,0,0,14.97,14.88,14.99
$GC,2755,-0.76,-243.3,2504,1821,3703,3668,324.3,-13.1,459,2760,0.00,2.35,0.00,0.000,2308,0.000,0.054,2503,3212,3685,3703,3668,0,0,0,0,0,0,15.14,14.83,15.14
$GC,2792,-0.76,-243.3,2504,3212,3703,3668,327.0,-12.8,460,2798,0.00,2.35,0.00,0.000,3078,0.000,0.044,2505,1804,3685,3703,3668,0,0,0,0,0,0,14.97,14.85,14.99
$GC,2918,-0.76,-243.3,2504,1803,3702,3667,343.9,-12.7,467,2923,0.00,2.40,0.00,0.000,2564,0.000,0.067,2504,409,3684,3702,3667,0,0,0,0,0,0,15.16,14.83,15.16
$GC,2935,-0.76,-243.3,2504,408,3702,3667,343.9,-12.7,467,2945,0.00,2.33,0.00,0.000,3078,0.000,0.037,2505,1821,3684,3702,3667,0,0,0,0,0,0,14.99,14.88,15.00
$GC,3062,-0.76,-243.3,2504,1823,3701,3666,362.1,-12.8,474,3067,0.00,2.35,0.00,0.000,2308,0.000,0.057,2504,3211,3683,3701,3666,0,0,0,0,0,0,15.16,14.85,15.16
$GC,3106,-0.76,-243.3,2504,3211,3701,3666,367.2,-12.3,476,3111,0.00,2.35,0.00,0.000,3078,0.000,0.044,2504,1813,3683,3701,3666,0,0,0,0,0,0,14.86,14.75,14.88
$GC,3249,-0.76,-243.3,2504,1813,3700,3665,384.8,-12.7,483,3254,0.00,2.42,0.00,0.000,2564,0.000,0.067,2504,407,3682,3700,3664,0,0,0,0,0,0,15.18,14.84,15.18
$GC,3273,-0.76,-243.3,2504,406,3698,3664,387.9,-12.8,484,3278,0.00,2.33,0.00,0.000,3078,0.000,0.037,2506,1813,3682,3700,3664,0,0,0,0,0,0,15.01,14.91,15.03
$GC,3419,-0.76,-243.3,2501,1816,3698,3663,406.1,-13.0,491,3424,0.00,2.38,0.00,0.000,2308,0.000,0.057,2501,3217,3681,3699,3663,0,0,0,0,0,0,15.16,14.86,15.17
$GC,3471,-0.76,-243.3,2501,3217,3699,3663,411.4,-12.3,493,3476,0.00,2.35,0.00,0.000,3078,0.000,0.044,2502,1806,3681,3699,3663,0,0,0,0,0,0,15.01,14.89,15.02
$GC,3604,-0.76,-243.3,2501,1806,3698,3662,428.6,-12.7,500,3610,0.00,2.40,0.00,0.000,2564,0.000,0.067,2501,409,3680,3698,3663,0,0,0,0,0,0,15.18,14.85,15.19
$GC,3632,-0.76,-243.3,2501,408,3698,3663,431.7,-12.8,501,3638,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1813,3680,3698,3662,0,0,0,0,0,0,15.02,14.92,15.03
$GC,3771,-0.76,-243.3,2501,1816,3697,3662,449.1,-12.5,508,3776,0.00,2.38,0.00,0.000,2308,0.000,0.057,2501,3211,3679,3697,3662,0,0,0,0,0,0,15.18,14.85,15.19
$GC,3823,-0.76,-243.3,2501,3211,3696,3662,453.8,-11.8,510,3828,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1803,3679,3697,3662,0,0,0,0,0,0,15.00,14.88,15.02
$GC,3958,-0.76,-243.3,2501,1803,3695,3661,471.1,-12.9,517,3960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1803,3678,3696,3661,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4077,-0.76,-243.3,2508,1803,3695,3661,487.2,-13.5,523,4078,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1803,3678,3695,3661,0,0,0,0,0,0,15.18,15.19,15.19
$GC,4196,-0.76,-243.3,2501,1803,3694,3660,503.3,-13.4,529,4201,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3210,3677,3694,3661,0,0,0,0,0,0,15.21,14.86,15.19
$GC,4220,-0.76,-243.3,2501,3210,3694,3660,506.2,-13.2,530,4225,0.00,2.35,0.00,0.000,3078,0.000,0.045,2501,1813,3677,3694,3660,0,0,0,0,0,0,15.02,14.88,15.03
$GC,4363,-0.76,-243.3,2501,1812,3693,3660,524.5,-13.3,537,4364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3676,3693,3660,0,0,0,0,0,0,15.19,15.19,15.19
$GC,4483,-0.76,-243.3,2501,1812,3693,3659,539.5,-12.3,543,4488,0.00,2.42,0.00,0.000,2564,0.000,0.070,2501,409,3675,3692,3659,0,0,0,0,0,0,15.19,14.84,15.20
$GC,4510,-0.76,-243.3,2501,409,3692,3659,542.4,-12.3,544,4515,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1820,3675,3692,3659,0,0,0,0,0,0,15.01,14.91,15.03
$GC,4648,-0.76,-243.3,2501,1823,3692,3659,559.7,-12.6,551,4653,0.00,2.38,0.00,0.000,2308,0.000,0.058,2501,3220,3675,3692,3659,0,0,0,0,0,0,15.19,14.85,15.19
$GC,4672,-0.76,-243.3,2500,3220,3692,3659,562.5,-12.5,552,4678,0.00,2.38,0.00,0.000,3078,0.000,0.045,2501,1813,3676,3693,3659,0,0,0,0,0,0,15.01,14.89,15.03
$GC,4816,-0.76,-243.3,2500,1812,3692,3658,579.4,-11.9,559,4821,0.00,2.45,0.00,0.000,2564,0.000,0.069,2501,404,3674,3691,3658,0,0,0,0,0,0,15.19,14.76,15.19
$GC,4842,-0.76,-243.3,2500,403,3691,3658,582.3,-12.1,560,4848,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1818,3675,3692,3658,0,0,0,0,0,0,15.02,14.91,15.03
$GC,4981,-0.76,-243.3,2495,1820,3691,3658,599.4,-12.5,567,4986,0.00,2.38,0.00,0.000,2308,0.000,0.056,2500,3221,3674,3691,3658,0,0,0,0,0,0,15.19,14.85,15.19
$GC,5007,-0.76,-243.3,2500,3221,3691,3658,602.3,-12.4,568,5013,0.00,2.38,0.00,0.000,3078,0.000,0.046,2500,1803,3674,3691,3658,0,0,0,0,0,0,15.01,14.88,15.02
$GC,5146,-0.76,-243.3,2500,1802,3691,3657,619.0,-12.2,575,5151,0.00,2.42,0.00,0.000,2564,0.000,0.069,2501,408,3674,3691,3657,0,0,0,0,0,0,15.18,14.69,15.19
$GC,5170,-0.76,-243.3,2500,408,3690,3658,621.9,-12.3,576,5175,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1821,3673,3690,3657,0,0,0,0,0,0,15.02,14.90,15.03
$GC,5313,-0.76,-243.3,2500,1823,3690,3657,639.5,-12.4,583,5318,0.00,2.35,0.00,0.000,2308,0.000,0.055,2501,3214,3673,3690,3657,0,0,0,0,0,0,15.19,14.85,15.19
$GC,5370,-0.76,-243.3,2500,3215,3690,3657,644.0,-11.4,585,5378,0.00,2.35,0.00,0.000,3078,0.000,0.045,2501,1811,3673,3690,3657,0,0,0,0,0,0,14.99,14.86,15.01
$GC,5497,-0.76,-243.3,2500,1811,3689,3656,659.6,-11.7,592,5498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3673,3689,3657,0,0,0,0,0,0,15.18,15.19,15.19
$GC,5616,-0.76,-243.3,2500,1811,3689,3656,674.5,-12.6,598,5617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3672,3689,3655,0,0,0,0,0,0,15.18,15.18,15.18
$GC,5736,-0.76,-243.3,2500,1811,3688,3655,689.5,-12.4,604,5742,0.00,2.40,0.00,0.000,2308,0.000,0.057,2498,3214,3671,3688,3655,0,0,0,0,0,0,15.18,14.84,15.19
$GC,5763,-0.76,-243.3,2498,3214,3686,3655,692.1,-12.1,605,5768,0.00,2.35,0.00,0.000,3078,0.000,0.046,2498,1812,3671,3688,3655,0,0,0,0,0,0,15.00,14.86,15.01
$STATE,5779,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5779,begin apogee
$GC,5785,-0.17,0.0,2498,1812,3688,3655,694.5,-11.7,606,5986,1.05,0.00,196.25,1.704,10246,0.157,0.000,2701,1812,2699,2733,2666,0,0,0,0,0,0,14.71,14.17,13.52
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5992,0.76,243.3,2701,1811,2729,2663,707.2,0.0,616,6210,1.48,2.58,205.40,1.717,10500,0.060,0.054,3017,3200,1707,1745,1670,0,0,0,0,0,0,14.23,13.99,13.33
$GC,6257,0.76,243.3,3016,3202,1744,1669,689.4,15.8,629,6264,0.10,2.50,0.00,0.000,5126,0.276,0.056,3009,1806,1706,1743,1670,0,0,0,0,0,0,14.12,14.25,14.29
$GC,6383,0.76,243.3,3009,1806,1742,1666,665.8,17.1,636,6384,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1806,1704,1742,1666,0,0,0,0,0,0,14.77,14.78,14.78
$GC,6503,0.76,243.3,3008,1806,1741,1665,645.1,17.2,642,6504,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1806,1703,1741,1665,0,0,0,0,0,0,14.88,14.92,14.92
$GC,6623,0.76,243.3,3009,1806,1740,1665,624.3,17.1,648,6628,0.00,2.40,0.00,0.000,4356,0.000,0.053,3008,3202,1702,1740,1665,0,0,0,0,0,0,14.98,14.73,14.98
$GC,6646,0.76,243.3,3008,3206,1738,1664,620.2,17.2,649,6652,0.00,2.42,0.00,0.000,5126,0.000,0.055,3015,1796,1701,1738,1665,0,0,0,0,0,0,14.85,14.73,14.86
$GC,6789,0.76,243.3,3016,1794,1739,1664,594.9,17.6,656,6791,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1795,1699,1735,1664,0,0,0,0,0,0,15.03,15.04,15.04
$GC,6909,0.76,243.3,3016,1795,1739,1664,574.0,17.3,662,6915,0.00,2.47,0.00,0.000,4612,0.000,0.076,3023,388,1701,1738,1664,0,0,0,0,0,0,15.07,14.76,15.07
$GC,6934,0.76,243.3,3023,388,1738,1663,569.9,17.4,663,6940,0.08,2.35,0.00,0.000,5126,0.287,0.036,3010,1804,1700,1738,1663,0,0,0,0,0,0,14.63,14.85,14.83
$GC,7078,0.76,243.3,3010,1806,1738,1663,545.4,16.7,670,7083,0.00,2.35,0.00,0.000,4356,0.000,0.051,3009,3205,1700,1738,1663,0,0,0,0,0,0,15.09,14.83,15.10
$GC,7095,0.76,243.3,3009,3205,1737,1663,545.4,16.7,670,7102,0.00,2.42,0.00,0.000,5126,0.000,0.055,3011,1791,1700,1737,1663,0,0,0,0,0,0,14.94,14.82,14.96
$GC,7222,0.76,243.3,3010,1792,1738,1663,521.8,16.6,677,7227,0.00,2.42,0.00,0.000,4612,0.000,0.076,3020,395,1699,1737,1662,0,0,0,0,0,0,15.11,14.79,15.11
$GC,7274,0.76,243.3,3019,395,1737,1663,514.4,16.9,679,7280,0.05,2.33,0.00,0.000,5126,0.336,0.035,3011,1803,1700,1738,1663,0,0,0,0,0,0,14.65,14.88,14.89
$GC,7408,0.76,243.3,3010,1806,1738,1663,491.4,16.0,686,7413,0.00,2.35,0.00,0.000,4356,0.000,0.050,3010,3209,1700,1738,1663,0,0,0,0,0,0,15.13,14.85,15.14
$GC,7435,0.76,243.3,3010,3209,1736,1663,487.6,16.0,687,7440,0.00,2.40,0.00,0.000,5126,0.000,0.054,3015,1798,1699,1736,1663,0,0,0,0,0,0,14.96,14.84,14.99
$GC,7573,0.76,243.3,3015,1798,1737,1663,465.0,16.1,694,7574,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1798,1700,1737,1663,0,0,0,0,0,0,15.14,15.14,15.14
$GC,7693,0.76,243.3,3015,1797,1736,1662,446.2,15.5,700,7698,0.00,2.38,0.00,0.000,4356,0.000,0.050,3015,3204,1700,1737,1663,0,0,0,0,0,0,15.14,14.85,15.15
$GC,7721,0.76,243.3,3015,3204,1735,1663,442.4,15.6,701,7726,0.00,2.42,0.00,0.000,5126,0.000,0.057,3015,1791,1699,1736,1663,0,0,0,0,0,0,14.97,14.84,15.00
$GC,7859,0.76,243.3,3016,1792,1736,1663,419.0,16.4,708,7861,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1792,1699,1736,1663,0,0,0,0,0,0,15.14,15.15,15.15
$GC,7979,0.76,243.3,3016,1792,1735,1663,399.4,16.2,714,7985,0.00,2.40,0.00,0.000,4356,0.000,0.050,3016,3205,1700,1737,1663,0,0,0,0,0,0,15.15,14.73,15.16
$GC,8006,0.76,243.3,3016,3205,1735,1663,395.7,16.1,715,8012,0.00,2.40,0.00,0.000,5126,0.000,0.054,3017,1801,1699,1735,1663,0,0,0,0,0,0,14.98,14.84,15.00
$GC,8145,0.76,243.3,3016,1801,1736,1662,374.0,15.2,722,8146,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1801,1699,1735,1663,0,0,0,0,0,0,15.15,15.16,15.15
$GC,8265,0.76,243.3,3017,1801,1735,1662,355.7,15.4,728,8270,0.00,2.35,0.00,0.000,4356,0.000,0.051,3014,3200,1699,1736,1662,0,0,0,0,0,0,15.16,14.85,15.16
$GC,8292,0.76,243.3,3016,3200,1735,1663,352.3,15.3,729,8298,0.05,2.40,0.00,0.000,5126,0.369,0.056,3010,1794,1698,1734,1662,0,0,0,0,0,0,14.63,14.84,14.89
$GC,8431,0.76,243.3,3010,1794,1735,1662,330.9,14.6,736,8432,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1794,1698,1735,1662,0,0,0,0,0,0,15.16,15.16,15.16
$GC,8551,0.76,243.3,3010,1794,1735,1662,313.4,14.6,742,8556,0.00,2.40,0.00,0.000,4356,0.000,0.050,3010,3204,1699,1735,1663,0,0,0,0,0,0,15.16,14.86,15.16
$GC,8568,0.76,243.3,3010,3204,1735,1662,313.4,14.6,742,8575,0.00,2.40,0.00,0.000,5126,0.000,0.057,3010,1799,1698,1735,1662,0,0,0,0,0,0,14.97,14.84,15.00
$GC,8696,0.76,243.3,3009,1799,1735,1662,292.9,14.1,755,8702,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1698,1735,1662,0,0,0,0,0,0,15.14,15.14,15.14
$GC,8765,0.76,243.3,3010,1799,1735,1662,283.1,13.7,768,8770,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1698,1735,1662,0,0,0,0,0,0,15.13,15.14,15.14
$GC,8833,0.76,243.3,3010,1799,1735,1663,273.6,14.0,781,8839,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1698,1735,1662,0,0,0,0,0,0,15.13,15.13,15.14
$GC,8902,0.76,243.3,3010,1799,1735,1662,263.7,14.7,794,8908,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1698,1735,1662,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8971,0.76,243.3,3010,1799,1735,1662,253.9,14.4,807,8976,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1698,1735,1662,0,0,0,0,0,0,15.15,15.12,15.12
$GC,9039,0.76,243.3,3010,1799,1735,1662,244.3,14.2,820,9046,0.00,2.40,0.00,0.000,4356,0.000,0.050,3010,3206,1699,1735,1663,0,0,0,0,0,0,15.11,14.68,15.12
$GC,9059,0.76,243.3,3010,3206,1734,1662,241.4,14.5,823,9065,0.00,2.42,0.00,0.000,5126,0.000,0.056,3016,1797,1698,1735,1662,0,0,0,0,0,0,14.80,14.66,14.81
$GC,9130,0.76,243.3,3016,1797,1735,1662,231.7,14.2,836,9137,0.00,2.47,0.00,0.000,4612,0.000,0.076,3016,393,1698,1735,1662,0,0,0,0,0,0,15.10,14.70,15.11
$GC,9149,0.76,243.3,3016,393,1735,1662,228.4,15.2,839,9156,0.00,2.35,0.00,0.000,5126,0.000,0.036,3017,1802,1698,1735,1662,0,0,0,0,0,0,14.81,14.73,14.83
$GC,9221,0.76,243.3,3016,1804,1734,1662,218.6,14.0,852,9227,0.00,2.38,0.00,0.000,4356,0.000,0.050,3016,3206,1698,1735,1662,0,0,0,0,0,0,15.09,14.81,15.10
$GC,9235,0.76,243.3,3016,3207,1734,1662,216.2,14.3,854,9241,0.00,2.42,0.00,0.000,5126,0.000,0.055,3017,1798,1698,1735,1661,0,0,0,0,0,0,14.92,14.79,14.95
$GC,9306,0.76,243.3,3016,1798,1735,1662,206.5,13.8,867,9313,0.00,2.45,0.00,0.000,4612,0.000,0.076,3017,395,1699,1736,1662,0,0,0,0,0,0,15.09,14.74,15.09
$GC,9320,0.76,243.3,3016,395,1735,1662,204.3,14.0,869,9327,0.00,2.35,0.00,0.000,5126,0.000,0.035,3017,1803,1698,1735,1662,0,0,0,0,0,0,14.87,14.78,14.88
$GC,9392,0.76,243.3,3016,1806,1735,1662,194.2,14.6,882,9398,0.00,2.35,0.00,0.000,4356,0.000,0.050,3017,3197,1698,1735,1662,0,0,0,0,0,0,15.06,14.78,15.07
$GC,9426,0.76,243.3,3016,3196,1734,1662,188.7,15.5,888,9432,0.00,2.42,0.00,0.000,5126,0.000,0.057,3017,1800,1698,1734,1662,0,0,0,0,0,0,14.90,14.76,14.93
$GC,9497,0.76,243.3,3017,1800,1734,1662,178.3,14.7,901,9504,0.00,2.45,0.00,0.000,4612,0.000,0.076,3017,395,1698,1735,1662,0,0,0,0,0,0,15.05,14.73,15.05
$GC,9527,0.76,243.3,3016,395,1735,1662,173.6,15.8,906,9533,0.00,2.35,0.00,0.000,5126,0.000,0.037,3017,1799,1698,1735,1662,0,0,0,0,0,0,14.92,14.83,14.93
$GC,9598,0.76,243.3,3017,1802,1735,1662,163.1,14.9,919,9604,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1802,1698,1735,1662,0,0,0,0,0,0,15.04,15.04,15.04
$GC,9667,0.76,243.3,3017,1802,1735,1661,152.8,13.9,932,9672,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1802,1698,1735,1662,0,0,0,0,0,0,15.05,15.06,15.05
$GC,9735,0.76,243.3,3017,1802,1735,1662,142.7,14.3,945,9740,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1802,1696,1734,1659,0,0,0,0,0,0,15.05,15.05,15.05
$GC,9803,0.76,243.3,3017,1805,1735,1662,133.8,13.2,958,9809,0.00,2.50,0.00,0.000,4612,0.000,0.076,3024,390,1698,1735,1662,0,0,0,0,0,0,15.05,14.70,15.05
$GC,9943,0.76,243.3,3024,390,1735,1662,112.4,12.9,985,9951,0.08,2.35,0.00,0.000,5126,0.285,0.037,3010,1798,1698,1735,1662,0,0,0,0,0,0,14.53,14.79,14.69
$GC,10014,0.76,243.3,3009,1800,1735,1662,104.4,10.8,998,10020,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1800,1698,1735,1662,0,0,0,0,0,0,15.04,15.04,15.04
$GC,10083,0.76,243.3,3010,1796,1735,1662,97.3,11.1,1011,10090,0.00,2.38,0.00,0.000,4356,0.000,0.052,3010,3202,1698,1735,1662,0,0,0,0,0,0,15.04,14.73,15.04
$GC,10123,0.76,243.3,3009,3202,1735,1662,92.4,12.6,1018,10129,0.00,2.42,0.00,0.000,5126,0.000,0.054,3010,1796,1698,1735,1662,0,0,0,0,0,0,14.87,14.73,14.90
$GC,10193,0.76,243.3,3010,1796,1734,1662,84.0,12.3,1031,10199,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1796,1698,1735,1662,0,0,0,0,0,0,15.02,15.02,15.02
$GC,10262,0.76,243.3,3010,1796,1735,1662,75.3,12.6,1044,10268,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1796,1698,1735,1662,0,0,0,0,0,0,15.03,15.04,15.03
$GC,10331,0.76,243.3,3010,1796,1735,1662,66.6,12.5,1057,10337,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1796,1698,1735,1661,0,0,0,0,0,0,15.04,15.04,15.04
$GC,10400,0.76,243.3,3009,1796,1735,1662,58.8,10.1,1070,10405,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1796,1698,1735,1662,0,0,0,0,0,0,15.03,15.04,15.04
$GC,10468,0.76,243.3,3010,1796,1734,1662,52.5,10.8,1083,10475,0.00,2.47,0.00,0.000,4612,0.000,0.077,3010,400,1698,1735,1662,0,0,0,0,0,0,15.04,14.57,15.04
$GC,10559,0.81,278.9,3010,396,1734,1662,43.5,9.0,1100,10600,0.00,2.38,29.98,1.101,11270,0.000,0.035,3010,1816,1560,1602,1518,0,0,0,0,0,0,14.74,14.65,14.09
$GC,10663,0.81,278.9,3009,1816,1601,1519,33.4,11.0,1119,10669,0.00,2.53,0.00,0.000,2564,0.000,0.074,3010,395,1559,1601,1517,0,0,0,0,0,0,14.88,14.60,14.90
$GC,10874,0.92,369.0,3010,398,1601,1518,18.5,7.5,1160,10950,0.10,2.35,67.55,0.983,11270,0.151,0.035,3050,1807,1195,1253,1138,0,0,0,0,0,0,14.57,14.61,14.02
$GC,11013,0.96,406.1,3049,1808,1250,1135,5.2,9.0,1185,11041,0.00,0.00,26.42,0.842,10758,0.000,0.000,3050,1807,1044,1105,984,0,0,0,0,0,0,14.78,14.51,14.03
$STATE,11046,end climb,SURFACE_DEPTH_REACHED
$STATE,11046,begin surface coast
$FINISH,0.4,1.024083
$STATE,11080,end surface coast,CONTROL_FINISHED_OK
$STATE,11080,begin surface
$SM_CCo,11105,79.82,0.814,0,0,599,515.37
$SM_GC,0.88,14.20,0.00,79.82,0.049,0.000,0.814,114,1807,599,-8.22,-0.11,515.37,0,0,0,0,0,0,14.57,14.79,14.00
$IRIDIUM_FIX,-3412.10,2609.36,170419,151605
$TT8_MAMPS,0.021721,0.748251
$HUMID,48.11
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,667.0,37.3
$SC_FREEKB,3702336
$24V_AH,13.33,131.454
$10V_AH,12.88,0.000
$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,31.925,276.475,525.600,79.825,0.000,26.238,19.503,418.784,31.250,0.000,15.186,3020.932,4605.853,1026.930,2778.145,535.748,0.000,2309.516,0.000,2059.004,0.000,195.996,0.000
$DEVICE_MAMPS,477.360,82.620,1716.660,813.960,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11188.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.953,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,33284,1197
$CAP_FILE_SIZE,283499,0
$CFSIZE,2097086464,2013495296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,211758,-3429.128,2555.066,27,0.8,46,-28.2,1.4,247.6,11,8.6