version: 67.00
glider: 231
mission: 5
dive: 67
start: 8 25 121 18 52 35
data:
$ID,231
$MISSION,5
$DIVE,67
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72736
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.0146701
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,220
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,471
$PITCH_MAX,3850
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,29
$PITCH_TIMEOUT,26
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2.5
$PITCH_W_DBAND,0.5
$ROLL_MIN,345
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3950
$C_VBD,2690
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0035000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,20
$LOITER_DBDW,40
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,200
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,49.742016
$FG_AHR_24V,63.406647
$PHONE_SUPPLY,2
$PRESSURE_YINT,-151.5369
$PRESSURE_SLOPE,0.00022543591
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,102
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043565771
$SEABIRD_T_H,0.00062677637
$SEABIRD_T_I,2.4431472e-05
$SEABIRD_T_J,2.7094229e-06
$SEABIRD_C_G,-10.133897
$SEABIRD_C_H,1.1473427
$SEABIRD_C_I,-0.0015492893
$SEABIRD_C_J,0.0002031941
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,240821,185952,7238.734,-15614.312,3,0.6,4,12.6
$_CALLS,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-71.0
$GPS2,240821,185952,7238.734,-15614.312,3,0.6,4,12.6
$SPEED_LIMITS,0.147,0.183
$TGT_NAME,S2OUT
$TGT_LATLONG,7241.000,-15600.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,43.8,8936,-15.9,-8.462,-24.82
$D_GRID,990
$IRON,1.000000,-0.056278,-0.004066,-0.024739,1.041843,-0.019136,0.004850,0.020019,1.041317,-339.899994,1493.599976,-320.600006
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
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$GC,1407.04,260,-116.79,-0.96,80.00,3174.2,3325.7,3022.7,2261.6,2030.4,232.03,-9.50,181,1417.86,0.00,0.00,5.11,0.000,0.000,0.100,3174.19,3325.75,3022.62,2240.94,3754.62,0,0,0,30.00,30.00,15.83
$GC,1511.60,3077,-116.79,-0.96,0.00,3173.6,3325.5,3021.8,2240.8,3754.0,243.95,-11.98,202,1521.88,0.00,0.16,4.76,0.000,0.273,0.049,3174.62,3326.31,3022.94,2287.06,2030.00,0,0,0,30.00,15.77,15.86
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$GC,2057.11,260,-116.79,-0.96,80.00,3174.1,3325.2,3022.9,2285.2,2030.6,289.12,-7.83,226,2067.42,0.00,0.00,5.09,0.000,0.000,0.100,3174.19,3326.19,3022.19,2264.12,3754.94,0,0,0,30.00,30.00,15.89
$GC,2081.62,1028,-116.79,-0.96,0.00,3173.3,3324.7,3022.0,2263.8,3754.9,291.38,-7.87,231,2089.04,0.00,0.00,4.76,0.000,0.000,0.048,3173.38,3323.94,3022.81,2263.44,2031.06,0,0,0,30.00,30.00,15.91
$GC,2412.40,260,-116.79,-0.96,80.00,3173.5,3324.8,3022.2,2263.8,2031.1,320.03,-8.54,247,2422.71,0.00,0.00,5.08,0.000,0.000,0.100,3174.41,3325.94,3022.88,2243.62,3753.88,0,0,0,30.00,30.00,15.91
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$GC,3603.68,3077,-116.79,-0.96,0.00,3170.8,3319.4,3022.2,2241.4,3755.0,424.55,-10.15,330,3611.20,0.00,0.15,4.75,0.000,0.254,0.049,3169.41,3318.06,3020.75,2285.19,2032.00,0,0,0,30.00,15.91,15.98
$GC,3929.58,0,-116.79,-0.96,0.00,3170.8,3319.4,3022.2,2285.3,2031.9,450.16,-7.68,345,3932.11,0.00,0.00,0.00,0.000,0.000,0.000,3170.81,3318.19,3023.44,2284.88,2031.75,0,0,0,30.00,30.00,30.00
$GC,4259.59,260,-116.79,-0.96,80.00,3171.0,3319.8,3022.1,2286.0,2032.2,475.39,-7.62,356,4269.91,0.00,0.00,5.05,0.000,0.000,0.100,3170.69,3318.75,3022.62,2263.25,3754.25,0,0,0,30.00,30.00,15.99
$GC,4329.14,1028,-116.79,-0.96,0.00,3170.8,3319.6,3022.1,2263.6,3753.2,481.69,-9.22,370,4337.08,0.00,0.00,4.74,0.000,0.000,0.050,3169.56,3318.88,3020.25,2265.62,2030.88,0,0,0,30.00,30.00,16.00
$GC,4645.44,0,-116.79,-0.96,0.00,3171.0,3320.4,3021.6,2266.2,2030.9,507.04,-7.91,383,4647.97,0.00,0.00,0.00,0.000,0.000,0.000,3170.50,3319.06,3021.94,2266.50,2031.19,0,0,0,30.00,30.00,30.00
$NAV,1629922470,528.3,start
$GC,4975.45,260,-116.79,-0.96,80.00,3170.8,3318.9,3022.8,2266.9,2031.3,532.92,-7.81,394,4985.77,0.00,0.00,5.05,0.000,0.000,0.099,3170.91,3319.75,3022.06,2245.56,3753.38,0,0,0,30.00,30.00,15.99
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$NAV,1629922826,555.2,0,stop
$GC,5361.36,0,-116.79,-0.96,0.00,3171.0,3319.1,3022.9,2286.2,2031.2,561.32,-6.87,421,5363.89,0.00,0.00,0.00,0.000,0.000,0.000,3170.47,3319.00,3021.94,2286.44,2030.94,0,0,0,30.00,30.00,30.00
$GC,5691.35,260,-116.79,-0.96,80.00,3171.2,3319.3,3023.1,2285.4,2031.0,583.29,-6.66,432,5701.67,0.00,0.00,5.05,0.000,0.000,0.099,3171.31,3318.94,3023.69,2263.88,3753.50,0,0,0,30.00,30.00,15.99
$GC,5745.88,1028,-116.79,-0.96,0.00,3170.3,3319.4,3021.1,2264.0,3753.9,587.63,-8.05,443,5753.31,0.00,0.00,4.74,0.000,0.000,0.049,3171.78,3319.31,3024.25,2262.38,2032.25,0,0,0,30.00,30.00,16.01
$GC,6076.68,0,-116.79,-0.96,0.00,3170.6,3319.1,3022.2,2263.8,2032.8,611.88,-7.42,459,6079.21,0.00,0.00,0.00,0.000,0.000,0.000,3170.91,3318.19,3023.62,2263.88,2032.25,0,0,0,30.00,30.00,30.00
$GC,6406.70,260,-116.79,-0.96,80.00,3170.8,3319.3,3022.3,2264.3,2032.6,636.34,-7.35,470,6417.02,0.00,0.00,5.02,0.000,0.000,0.097,3170.88,3318.50,3023.25,2242.00,3754.31,0,0,0,30.00,30.00,16.02
$GC,6476.25,3077,-116.79,-0.96,0.00,3170.9,3319.4,3022.4,2242.4,3754.4,642.34,-8.74,484,6484.24,0.00,0.14,4.73,0.000,0.256,0.047,3170.50,3319.38,3021.62,2285.75,2029.31,0,0,0,30.00,15.95,16.03
$GC,6792.62,0,-116.79,-0.96,0.00,3170.6,3319.1,3022.2,2285.4,2030.6,663.44,-6.50,497,6795.15,0.00,0.00,0.00,0.000,0.000,0.000,3170.50,3318.56,3022.44,2285.12,2029.88,0,0,0,30.00,30.00,30.00
$GC,7122.65,292,-116.79,-0.96,80.00,3170.9,3319.4,3022.4,2285.0,2029.9,684.29,-6.31,508,7132.95,0.00,0.00,5.03,0.000,0.000,0.099,3171.84,3319.62,3024.06,2263.38,3754.81,0,0,0,30.00,30.00,16.03
$GC,7187.18,1028,-116.79,-0.96,0.00,3170.8,3319.1,3022.5,2264.2,3755.2,689.23,-7.78,521,7195.11,0.00,0.00,4.73,0.000,0.000,0.048,3171.50,3320.62,3022.38,2264.75,2030.88,0,0,0,30.00,30.00,16.05
$GC,7508.49,0,-116.79,-0.96,0.00,3170.9,3319.2,3022.5,2264.9,2031.0,711.02,-6.70,535,7511.02,0.00,0.00,0.00,0.000,0.000,0.000,3171.06,3319.38,3022.75,2265.25,2031.12,0,0,0,30.00,30.00,30.00
$GC,7838.49,260,-116.79,-0.96,80.00,3171.2,3319.7,3022.7,2265.4,2031.0,733.39,-6.75,546,7848.80,0.00,0.00,5.03,0.000,0.000,0.098,3172.91,3321.19,3024.62,2244.19,3753.94,0,0,0,30.00,30.00,16.05
$GC,7913.02,3077,-116.79,-0.96,0.00,3170.7,3318.1,3023.2,2244.4,3754.7,739.37,-8.13,561,7921.02,0.00,0.14,4.72,0.000,0.251,0.048,3171.72,3318.75,3024.69,2282.75,2030.69,0,0,0,30.00,15.97,16.06
$GC,8224.39,32,-116.79,-0.96,0.00,3171.5,3319.9,3023.1,2284.8,2031.2,758.80,-6.14,573,8226.92,0.00,0.00,0.00,0.000,0.000,0.000,3170.50,3318.62,3022.38,2284.44,2031.38,0,0,0,30.00,30.00,30.00
$GC,8554.40,292,-116.79,-0.96,80.00,3171.0,3319.4,3022.6,2284.8,2031.6,779.13,-6.17,584,8564.71,0.00,0.00,5.03,0.000,0.000,0.099,3171.25,3318.38,3024.12,2262.88,3754.12,0,0,0,30.00,30.00,16.05
$GC,8608.92,1028,-116.79,-0.96,0.00,3171.1,3318.8,3023.4,2263.0,3754.7,783.15,-7.42,595,8616.34,0.00,0.00,4.72,0.000,0.000,0.048,3169.81,3318.25,3021.38,2263.19,2031.00,0,0,0,30.00,30.00,16.08
$GC,8939.72,260,-116.79,-0.96,80.00,3170.9,3319.2,3022.7,2263.3,2031.3,804.85,-6.56,611,8950.04,0.00,0.00,5.03,0.000,0.000,0.097,3171.44,3318.94,3023.94,2241.62,3756.81,0,0,0,30.00,30.00,16.06
$GC,8979.26,3077,-116.79,-0.96,0.00,3170.9,3319.5,3022.4,2241.2,3755.8,807.85,-6.58,619,8987.25,0.00,0.15,4.72,0.000,0.249,0.047,3169.81,3318.62,3021.00,2286.44,2033.19,0,0,0,30.00,15.99,16.08
$GC,9295.64,32,-116.79,-0.96,0.00,3171.0,3318.8,3023.2,2285.9,2033.3,827.46,-6.21,632,9298.17,0.00,0.00,0.00,0.000,0.000,0.000,3170.56,3318.56,3022.56,2286.19,2033.31,0,0,0,30.00,30.00,30.00
$GC,9625.66,292,-116.79,-0.96,80.00,3171.5,3319.9,3023.1,2286.8,2033.4,847.55,-5.93,643,9635.98,0.00,0.00,5.02,0.000,0.000,0.098,3172.09,3320.88,3023.31,2264.75,3753.50,0,0,0,30.00,30.00,16.06
$GC,9680.18,1028,-116.79,-0.96,0.00,3171.0,3318.8,3023.3,2264.2,3753.8,851.41,-7.15,654,9687.61,0.00,0.00,4.72,0.000,0.000,0.048,3170.84,3319.62,3022.06,2264.56,2031.31,0,0,0,30.00,30.00,16.09
$GC,10010.99,32,-116.79,-0.96,0.00,3171.4,3319.3,3023.4,2263.9,2031.2,872.51,-6.38,670,10013.52,0.00,0.00,0.00,0.000,0.000,0.000,3171.12,3319.06,3023.19,2264.31,2031.12,0,0,0,30.00,30.00,30.00
$GC,10341.04,292,-116.79,-0.96,80.00,3171.0,3319.2,3022.8,2263.9,2030.8,893.67,-6.42,681,10351.32,0.00,0.00,5.02,0.000,0.000,0.098,3173.56,3321.50,3025.62,2242.56,3753.12,0,0,0,30.00,30.00,16.06
$GC,10390.53,3077,-116.79,-0.96,0.00,3171.3,3319.6,3023.0,2243.3,3753.9,897.42,-7.63,691,10398.54,0.00,0.14,4.72,0.000,0.252,0.048,3171.78,3319.94,3023.62,2287.38,2030.56,0,0,0,30.00,16.00,16.09
$GC,10726.04,32,-116.79,-0.96,0.00,3171.2,3319.2,3023.1,2287.9,2030.6,918.08,-6.12,703,10728.57,0.00,0.00,0.00,0.000,0.000,0.000,3170.75,3318.38,3023.12,2287.88,2030.56,0,0,0,30.00,30.00,30.00
$GC,11056.06,292,-116.79,-0.96,80.00,3171.1,3318.9,3023.3,2288.3,2030.5,938.16,-6.05,714,11066.36,0.00,0.00,5.03,0.000,0.000,0.098,3171.56,3321.00,3022.12,2266.69,3754.31,0,0,0,30.00,30.00,16.07
$GC,11105.58,1028,-116.79,-0.96,0.00,3171.4,3319.8,3023.1,2266.6,3754.0,941.69,-7.06,724,11113.51,0.00,0.00,4.72,0.000,0.000,0.049,3172.69,3321.25,3024.12,2265.81,2034.25,0,0,0,30.00,30.00,16.10
$GC,11441.08,32,-116.79,-0.96,0.00,3171.0,3319.0,3023.0,2265.8,2034.5,962.99,-6.31,736,11443.61,0.00,0.00,0.00,0.000,0.000,0.000,3171.69,3319.19,3024.19,2266.62,2034.00,0,0,0,30.00,30.00,30.00
$GC,11771.11,292,-116.79,-0.96,80.00,3171.2,3319.1,3023.3,2265.6,2034.4,984.12,-6.40,747,11781.42,0.00,0.00,5.02,0.000,0.000,0.099,3171.44,3319.00,3023.88,2244.56,3753.81,0,0,0,30.00,30.00,16.07
$GC,11820.62,3077,-116.79,-0.96,0.00,3171.0,3318.6,3023.4,2244.6,3753.9,987.78,-7.44,757,11828.62,0.00,0.14,4.71,0.000,0.253,0.048,3169.38,3317.62,3021.12,2286.25,2031.31,0,0,0,30.00,16.01,16.10
$STATE,11855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11855,begin apogee
$GC,11859.95,10243,0.00,-0.17,0.00,3170.7,3318.9,3022.6,2281.6,2364.8,990.01,-6.36,759,11974.08,110.01,0.82,0.11,2.467,0.202,0.171,2688.94,2790.06,2587.81,2538.25,2319.12,0,0,0,12.95,16.01,15.20
$STATE,11975,end apogee,CONTROL_FINISHED_OK
$STATE,11975,begin climb
$GC,11976.13,10243,116.79,0.96,0.00,2686.7,2787.7,2585.8,2537.8,2319.6,991.32,0.00,762,12086.66,105.72,1.12,0.00,2.370,0.121,0.000,2212.84,2267.44,2158.25,2901.44,2318.31,0,0,0,12.53,15.24,30.00
$GC,12400.03,16386,116.79,0.96,0.00,2198.3,2263.2,2133.4,2901.1,2318.4,943.32,12.60,777,12402.56,0.00,0.00,0.00,0.000,0.000,0.000,2197.53,2262.12,2132.94,2901.75,2318.19,0,0,0,30.00,30.00,30.00
$GC,12730.04,16386,116.79,0.96,0.00,2195.6,2263.1,2128.1,2900.8,2318.4,901.82,12.62,788,12732.57,0.00,0.00,0.00,0.000,0.000,0.000,2194.53,2262.12,2126.94,2901.12,2318.44,0,0,0,30.00,30.00,30.00
$GC,13060.06,16646,116.79,0.96,80.00,2194.4,2263.3,2125.4,2901.4,2318.0,860.32,12.63,799,13067.57,0.00,0.00,4.99,0.000,0.000,0.118,2194.84,2263.75,2125.94,2900.31,3950.56,0,0,0,30.00,30.00,15.73
$GC,13100.45,17414,116.79,0.96,0.00,2194.0,2263.6,2124.4,2900.1,3951.1,854.26,15.60,807,13108.35,0.00,0.00,4.50,0.000,0.000,0.046,2195.12,2264.62,2125.62,2920.69,2330.44,0,0,0,30.00,30.00,15.78
$GC,13411.71,16386,116.79,0.96,0.00,2193.0,2263.9,2122.1,2921.3,2330.7,812.15,13.39,819,13414.24,0.00,0.00,0.00,0.000,0.000,0.000,2192.53,2263.19,2121.88,2920.94,2330.62,0,0,0,30.00,30.00,30.00
$GC,13741.74,16386,116.79,0.96,0.00,2192.6,2264.3,2120.8,2921.4,2331.0,768.99,12.97,830,13744.27,0.00,0.00,0.00,0.000,0.000,0.000,2192.06,2263.50,2120.62,2921.62,2330.88,0,0,0,30.00,30.00,30.00
$GC,14071.77,16646,116.79,0.96,80.00,2191.8,2264.5,2119.1,2921.6,2330.9,726.21,12.83,841,14079.25,0.00,0.00,4.93,0.000,0.000,0.121,2190.28,2262.31,2118.25,2920.50,3949.69,0,0,0,30.00,30.00,15.88
$GC,14102.14,17414,116.79,0.96,0.00,2191.9,2264.6,2119.2,2920.7,3950.6,721.63,15.22,847,14110.03,0.00,0.00,4.45,0.000,0.000,0.046,2192.41,2265.44,2119.38,2942.12,2331.06,0,0,0,30.00,30.00,15.91
$GC,14423.39,20743,116.79,0.96,80.00,2191.4,2265.4,2117.5,2941.2,2330.9,677.47,13.60,861,14433.74,0.00,0.17,4.90,0.000,0.243,0.120,2191.59,2264.81,2118.38,2888.88,3949.50,0,0,0,30.00,15.85,15.91
$GC,14437.91,17414,116.79,0.96,0.00,2191.2,2265.4,2117.0,2888.8,3950.1,675.39,13.59,864,14444.81,0.00,0.00,4.45,0.000,0.000,0.045,2191.12,2264.81,2117.44,2909.44,2329.56,0,0,0,30.00,30.00,15.93
$GC,14748.40,16386,116.79,0.96,0.00,2191.2,2265.4,2117.1,2909.4,2328.6,636.47,12.53,876,14750.93,0.00,0.00,0.00,0.000,0.000,0.000,2190.59,2264.75,2116.44,2909.50,2329.31,0,0,0,30.00,30.00,30.00
$GC,15078.41,16646,116.79,0.96,80.00,2191.2,2265.7,2116.8,2909.5,2329.2,594.40,12.78,887,15085.88,0.00,0.00,4.89,0.000,0.000,0.120,2191.75,2265.75,2117.75,2904.38,3948.69,0,0,0,30.00,30.00,15.95
$GC,15104.32,17414,116.79,0.96,0.00,2191.3,2265.6,2117.1,2904.8,3949.1,590.70,14.28,892,15111.68,0.00,0.00,4.42,0.000,0.000,0.045,2193.06,2267.38,2118.75,2925.88,2329.44,0,0,0,30.00,30.00,15.97
$GC,15430.06,16386,116.79,0.96,0.00,2191.0,2266.3,2115.6,2926.2,2329.2,547.58,13.05,907,15432.59,0.00,0.00,0.00,0.000,0.000,0.000,2190.53,2265.50,2115.56,2925.88,2329.75,0,0,0,30.00,30.00,30.00
$GC,15760.08,16646,116.79,0.96,80.00,2190.7,2266.4,2114.9,2925.9,2329.1,504.72,12.89,918,15767.56,0.00,0.00,4.88,0.000,0.000,0.120,2191.44,2266.38,2116.50,2923.12,3948.50,0,0,0,30.00,30.00,15.98
$GC,15795.45,17414,116.79,0.96,0.00,2190.5,2266.1,2115.0,2923.9,3948.2,499.36,15.62,925,15802.35,0.00,0.00,4.41,0.000,0.000,0.046,2190.09,2265.88,2114.31,2945.56,2325.88,0,0,0,30.00,30.00,16.02
$GC,16110.95,20483,116.79,0.96,0.00,2190.2,2266.1,2114.2,2945.2,2326.2,456.73,13.31,938,16113.60,0.00,0.19,0.00,0.000,0.241,0.000,2189.88,2265.88,2113.88,2887.19,2326.44,0,0,0,30.00,15.93,30.00
$GC,16440.98,16646,116.79,0.96,80.00,2190.1,2266.6,2113.6,2887.8,2326.2,420.22,10.97,949,16448.45,0.00,0.00,4.90,0.000,0.000,0.120,2188.72,2265.19,2112.25,2887.00,3952.19,0,0,0,30.00,30.00,16.00
$GC,16466.84,17414,116.79,0.96,0.00,2190.2,2267.0,2113.4,2887.2,3952.0,416.95,11.21,954,16474.22,0.00,0.00,4.43,0.000,0.000,0.044,2189.84,2266.69,2113.00,2907.12,2329.62,0,0,0,30.00,30.00,16.02
$GC,16792.60,16386,116.79,0.96,0.00,2189.9,2267.2,2112.5,2907.4,2329.5,379.02,11.51,969,16795.13,0.00,0.00,0.00,0.000,0.000,0.000,2189.34,2265.94,2112.75,2907.56,2329.75,0,0,0,30.00,30.00,30.00
$GC,17122.62,16646,116.79,0.96,80.00,2190.1,2267.4,2112.9,2908.0,2329.6,341.24,11.30,980,17130.09,0.00,0.00,4.88,0.000,0.000,0.121,2188.69,2265.81,2111.56,2907.19,3950.06,0,0,0,30.00,30.00,16.01
$GC,17157.97,17414,116.79,0.96,0.00,2189.5,2266.9,2112.1,2907.1,3949.8,336.58,13.31,987,17164.89,0.00,0.00,4.42,0.000,0.000,0.045,2191.47,2268.75,2114.19,2928.06,2329.12,0,0,0,30.00,30.00,16.03
$GC,17473.47,16902,116.79,0.96,-80.00,2190.0,2267.9,2112.1,2927.3,2328.1,298.65,11.87,1000,17480.95,0.00,0.00,4.81,0.000,0.000,0.086,2188.81,2266.62,2111.00,2948.81,642.88,0,0,0,30.00,30.00,16.04
$GC,17508.84,21511,116.79,0.96,0.00,2189.9,2267.4,2112.3,2948.5,643.1,294.17,12.62,1007,17516.83,0.00,0.13,4.74,0.000,0.245,0.048,2188.56,2266.12,2111.00,2891.50,2362.19,0,0,0,30.00,15.96,16.03
$GC,17825.21,16646,116.79,0.96,80.00,2190.0,2268.1,2111.8,2890.9,2361.8,262.05,9.65,1020,17832.67,0.00,0.00,4.73,0.000,0.000,0.124,2191.94,2269.56,2114.31,2887.50,3949.50,0,0,0,30.00,30.00,16.01
$GC,17875.55,17414,116.79,0.96,0.00,2190.0,2268.2,2111.7,2886.6,3949.9,256.30,11.71,1030,17882.92,0.00,0.00,4.42,0.000,0.000,0.045,2192.44,2271.44,2113.44,2907.94,2328.56,0,0,0,30.00,30.00,16.04
$GC,18186.30,16386,116.79,0.96,0.00,2190.0,2268.8,2111.2,2907.5,2328.5,229.06,8.25,1060,18188.83,0.00,0.00,0.00,0.000,0.000,0.000,2189.47,2267.81,2111.12,2908.00,2328.12,0,0,0,30.00,30.00,30.00
$GC,18376.33,16710,116.79,1.00,80.00,2189.9,2268.4,2111.4,2907.5,2328.5,214.89,6.88,1079,18383.79,0.00,0.00,4.86,0.000,0.000,0.119,2189.09,2268.06,2110.12,2907.44,3949.56,0,0,0,30.00,30.00,16.01
$GC,18436.69,17414,116.79,1.00,0.00,2189.8,2268.4,2111.3,2907.3,3949.4,209.72,8.91,1091,18444.06,0.00,0.00,4.41,0.000,0.000,0.044,2191.31,2270.06,2112.56,2927.94,2328.25,0,0,0,30.00,30.00,16.04
$GC,18627.43,10275,172.57,1.19,0.00,2190.0,2269.0,2111.0,2929.1,2328.4,198.00,5.70,1111,18678.39,46.21,0.12,0.00,1.529,0.088,0.000,1984.06,2057.38,1910.75,2993.88,2327.94,0,0,0,12.86,16.03,30.00
$GC,18867.45,16386,172.57,1.19,0.00,1977.6,2054.4,1900.7,2992.9,2328.2,178.90,8.37,1135,18869.98,0.00,0.00,0.00,0.000,0.000,0.000,1976.81,2053.56,1900.06,2993.25,2328.44,0,0,0,30.00,30.00,30.00
$GC,19057.72,16710,172.57,1.22,80.00,1976.2,2054.1,1898.4,2993.1,2328.1,163.20,7.49,1154,19068.22,0.00,0.00,4.93,0.000,0.000,0.120,1978.41,2056.50,1900.31,2993.31,3949.81,0,0,0,30.00,30.00,15.85
$GC,19141.99,17414,172.57,1.22,0.00,1975.9,2053.4,1898.4,2993.4,3949.4,155.20,9.80,1171,19149.35,0.00,0.00,4.43,0.000,0.000,0.040,1975.94,2053.06,1898.81,3014.56,2328.38,0,0,0,30.00,30.00,15.87
$NAV,1629936847,144.2,start
$GC,19332.75,16450,172.57,1.26,0.00,1975.2,2053.0,1897.3,3013.8,2328.4,141.47,6.85,1191,19335.28,0.00,0.00,0.00,0.000,0.000,0.000,1974.44,2052.19,1896.69,3013.56,2327.94,0,0,0,30.00,30.00,30.00
$GC,19522.79,16710,172.57,1.30,80.00,1974.4,2052.9,1896.0,3014.1,2328.9,128.40,6.57,1210,19530.26,0.00,0.00,4.93,0.000,0.000,0.120,1975.47,2053.94,1897.00,3013.62,3950.19,0,0,0,30.00,30.00,15.85
$GC,19573.17,17478,172.57,1.34,0.00,1974.5,2052.6,1896.4,3014.6,3948.9,124.76,7.17,1220,19580.53,0.00,0.00,4.43,0.000,0.000,0.043,1972.97,2051.38,1894.56,3034.38,2328.44,0,0,0,30.00,30.00,15.87
$NAV,1629937218,119.2,0,stop
$GC,19763.92,8486,213.80,1.48,80.00,1974.1,2052.9,1895.2,3035.1,2327.9,112.69,6.42,1240,19809.66,37.01,0.00,4.97,1.432,0.000,0.121,1817.88,1888.94,1746.81,3034.88,3948.56,0,0,0,12.92,30.00,15.66
$GC,19812.56,3141,213.80,1.53,0.00,1815.0,1885.1,1744.8,3033.8,3947.8,109.42,6.61,1246,19819.95,0.00,0.07,4.49,0.000,0.123,0.043,1815.94,1885.75,1746.12,3092.06,2326.56,0,0,0,30.00,15.71,15.70
$GC,20003.31,0,213.80,1.53,0.00,1811.2,1884.0,1738.3,3092.5,2327.1,92.61,8.80,1266,20005.84,0.00,0.00,0.00,0.000,0.000,0.000,1810.25,1883.25,1737.25,3092.69,2327.12,0,0,0,30.00,30.00,30.00
$GC,20193.34,16710,213.80,1.56,80.00,1810.2,1884.6,1735.8,3092.2,2326.6,77.71,7.00,1285,20200.83,0.00,0.00,4.95,0.000,0.000,0.120,1810.53,1884.12,1736.94,3086.69,3952.00,0,0,0,30.00,30.00,15.79
$GC,20239.20,17478,213.80,1.58,0.00,1809.1,1882.3,1735.9,3085.8,3950.8,74.06,7.96,1294,20246.61,0.00,0.00,4.47,0.000,0.000,0.044,1808.06,1881.75,1734.38,3106.94,2327.50,0,0,0,30.00,30.00,15.82
$GC,20434.23,10535,289.39,1.84,80.00,1807.5,1882.1,1732.9,3107.2,2327.9,63.60,4.72,1314,20516.44,70.68,0.20,5.01,1.398,0.075,0.119,1507.12,1556.12,1458.12,3196.19,3948.75,0,0,0,12.84,15.84,15.48
$GC,20629.36,17414,289.39,1.84,0.00,1500.7,1550.1,1451.2,3196.5,3948.2,46.95,10.41,1353,20636.76,0.00,0.00,4.53,0.000,0.000,0.044,1499.53,1549.31,1449.75,3217.12,2328.38,0,0,0,30.00,30.00,15.62
$GC,20820.15,10275,380.28,2.16,0.00,1498.2,1550.9,1445.5,3217.1,2328.2,36.92,3.97,1373,20915.28,92.50,0.19,0.00,1.312,0.078,0.000,1140.19,1154.69,1125.69,3294.56,2328.62,0,0,0,12.67,15.69,30.00
$GC,21100.19,10791,432.06,2.34,-80.00,1131.7,1149.6,1113.8,3294.7,2328.2,17.59,5.90,1405,21166.12,55.08,0.12,5.03,1.297,0.082,0.085,928.28,930.06,926.50,3383.19,641.75,0,0,0,12.65,15.53,15.28
$GC,21214.73,11303,548.45,2.75,0.00,925.3,924.4,926.1,3383.1,641.9,15.72,2.71,1428,21333.32,107.72,0.29,4.88,1.260,0.082,0.043,524.94,502.62,547.25,3480.75,2365.38,0,0,0,12.50,15.40,15.42
$FREEZE,9.19,1.072,-1.500,2,5,0
$FREEZE,8.34,1.047,-1.498,2,5,0
$FREEZE,7.54,0.800,-1.489,2,5,0
$FREEZE,6.72,0.634,-1.484,2,5,0
$FREEZE,5.98,0.549,-1.482,2,5,0
$FREEZE,5.26,0.541,-1.480,2,5,0
$FREEZE,4.53,0.540,-1.480,2,5,0
$FREEZE,3.82,0.542,-1.479,2,5,0
$FREEZE,3.04,0.533,-1.478,2,5,0
$FREEZE,2.36,0.531,-1.477,2,5,0
$FREEZE,1.66,0.531,-1.477,2,5,0
$STATE,21469,end climb,SURFACE_DEPTH_REACHED
$STATE,21470,begin surface coast
$FREEZE,0.91,0.531,-1.476,2,5,0
$FREEZE,0.09,0.531,-1.476,2,5,0
$FREEZE,0.05,0.527,-1.352,2,5,0
$FREEZE,-0.01,0.521,-1.477,2,5,0
$FINISH,-0.0,1.021744
$STATE,21510,end surface coast,CONTROL_FINISHED_OK
$STATE,21510,begin surface
$SM_CCo,21587.24,0.00,0.000,0,517.4,504.2,530.6,532.93
$SM_GC,4.65,0.00,8.57,0.96,0.000,0.047,0.060,517.4,504.2,530.6,438.9,2031.5,0,0,0,30.00,15.45,15.45
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7241.75,-15611.06,240821,122418
$TCM_TEMP,3.38
$XPDR_PINGS,62,14.0,10.5
$SC_FREEKB,3852768
$RAFOS_CLK,-35
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,53.70
$TEMP,0.04
$INTERNAL_PRESSURE,7.93766
$24V_AH,14.33,54.638
$10V_AH,14.81,0.000
$FG_AHR_24Vo,63.752
$FG_AHR_10Vo,49.839
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,719.540,22.635,358.205,0.000,15.500,0.000,4405.612,17216.072,2081.540,727.310,0.000,0.000,0.000
$DEVICE_MAMPS,2467.296,456.656,170.968,0.000,420.000,0.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21523.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.714,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997204,22,49544,69
$DATA_FILE_SIZE,44845,1469
$CAP_FILE_SIZE,472444,0
$SDSIZE,3918848,3884992
$SDFILEDIR,580,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.042, 57.7,1
$IMPLIED_C_PITCH,2627,17.95,924
$IMPLIED_C_VBD,2699,25.307487,458
$GPS,240821,185952,7238.734,-15614.312,3,0.6,4,12.6
$FREEZE,1.91,0.521,-1.478,2,5,0
$SM_CCo,21829.24,0.00,0.000,0,513.5,502.5,524.4,533.90
$SM_GC,2.05,0.00,0.20,0.94,0.000,0.502,0.060,513.5,502.5,524.4,471.4,2365.0,0,0,0,30.00,15.43,15.61
$STATE,21831,begin surface
$SM_CCo,21928.24,0.00,0.000,0,512.8,502.7,522.8,534.08
$SM_GC,1.79,0.00,0.00,0.94,0.000,0.000,0.054,512.8,502.7,522.8,471.1,2028.0,0,0,0,30.00,30.00,15.66
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7241.75,-15611.06,240821,122418
$TCM_TEMP,4.01
$XPDR_PINGS,1,14.0,10.5
$SC_FREEKB,3852704
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,53.61
$TEMP,0.08
$INTERNAL_PRESSURE,7.93923
$24V_AH,14.33,54.639
$10V_AH,14.81,0.000
$FG_AHR_24Vo,63.753
$FG_AHR_10Vo,49.840
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,0.000,0.200,1.875,0.000,0.250,0.000,53.833,148.049,11.977,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,501.592,59.776,0.000,420.000,0.000,11.920,2.920,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.913,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997204,22,49544,69
$DATA_FILE_SIZE,44881,1469
$CAP_FILE_SIZE,4466,0
$SDSIZE,3918848,3885152
$SDFILEDIR,585,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,372.546,  0.1,1
$MAGCAL,1.000000,-0.388021,-0.435911,0.151039,0.430084,-0.948406,0.194908,0.675829,0.862360,53.0,1126.0,-445.3,16,0.0351,0
$GPS,260821,005904,7243.301,-15555.160,31,1.7,43,12.7
ESCAPE_REASON=NO_RECENT_FIX
ESCAPE_STARTED_DIVE=67