version: 67.00
glider: 231
mission: 5
dive: 68
start: 8 26 121 1 12 32
data:
$ID,231
$MISSION,5
$DIVE,68
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.0146701
$HD_C,5.7000002e-06
$HEADING,230
$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,49.842709
$FG_AHR_24V,63.792259
$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
$GPS1,260821,005904,7243.301,-15555.160,31,1.7,43,12.7
$_CALLS,1
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.7
$GPS2,260821,011205,7243.443,-15555.528,3,1.6,5,12.7
$SPEED_LIMITS,0.147,0.183
$TGT_NAME,HEADING
$TGT_LATLONG,7236.501,-15623.205
$TGT_RADIUS,1852.000
$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,217.3,20000,-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,575.78,9222,-116.79,-0.96,0.00,3175.5,3324.9,3026.1,2282.9,344.6,121.21,-19.88,68,583.25,0.00,0.00,4.76,0.000,0.000,0.046,3175.94,3325.62,3026.25,2282.44,2064.06,0,0,0,30.00,30.00,15.73
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$GC,1526.20,516,-116.79,-0.96,-80.00,3174.1,3322.5,3025.6,2280.3,2067.2,248.38,-8.52,183,1536.99,0.00,0.00,5.05,0.000,0.000,0.091,3173.69,3322.00,3025.38,2282.25,344.50,0,0,0,30.00,30.00,15.86
$GC,1595.74,1028,-116.79,-0.96,0.00,3173.1,3321.2,3025.0,2282.5,344.4,255.67,-10.71,197,1603.67,0.00,0.00,4.71,0.000,0.000,0.043,3173.09,3320.12,3026.06,2260.19,2069.38,0,0,0,30.00,30.00,15.85
$GC,1912.04,0,-116.79,-0.96,0.00,3173.5,3321.3,3025.7,2262.3,2069.1,284.84,-8.71,210,1914.58,0.00,0.00,0.00,0.000,0.000,0.000,3172.28,3320.62,3023.94,2263.00,2069.12,0,0,0,30.00,30.00,30.00
$GC,2242.07,0,-116.79,-0.96,0.00,3173.0,3320.9,3025.1,2262.2,2069.3,313.41,-8.78,221,2244.60,0.00,0.00,0.00,0.000,0.000,0.000,3172.28,3320.56,3024.00,2262.50,2068.94,0,0,0,30.00,30.00,30.00
$GC,2572.09,516,-116.79,-0.96,-80.00,3173.4,3320.6,3026.2,2263.0,2069.0,340.05,-8.05,232,2582.41,0.00,0.00,5.03,0.000,0.000,0.092,3171.91,3319.12,3024.69,2265.25,344.69,0,0,0,30.00,30.00,15.94
$GC,2681.64,1028,-116.79,-0.96,0.00,3171.8,3317.5,3026.1,2265.1,344.7,351.89,-11.09,254,2689.56,0.00,0.00,4.68,0.000,0.000,0.044,3169.69,3315.38,3024.00,2246.44,2070.00,0,0,0,30.00,30.00,15.96
$GC,3017.12,2049,-116.79,-0.96,0.00,3171.7,3317.9,3025.4,2246.5,2070.9,381.64,-8.78,266,3019.78,0.00,0.14,0.00,0.000,0.275,0.000,3170.41,3315.88,3024.94,2286.38,2071.50,0,0,0,30.00,15.87,30.00
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$GC,3677.15,260,-116.79,-0.96,80.00,3171.1,3317.1,3025.1,2285.9,2070.9,433.06,-7.73,288,3684.62,0.00,0.00,4.88,0.000,0.000,0.101,3170.16,3316.19,3024.12,2264.81,3753.69,0,0,0,30.00,30.00,15.97
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$GC,4058.29,0,-116.79,-0.96,0.00,3170.8,3316.9,3024.8,2268.8,2031.1,463.30,-7.72,314,4060.82,0.00,0.00,0.00,0.000,0.000,0.000,3170.38,3316.75,3024.00,2267.81,2031.00,0,0,0,30.00,30.00,30.00
$GC,4388.30,260,-116.79,-0.96,80.00,3171.2,3316.9,3025.5,2268.2,2031.5,488.60,-7.61,325,4398.63,0.00,0.00,5.03,0.000,0.000,0.097,3170.94,3316.31,3025.56,2246.75,3754.81,0,0,0,30.00,30.00,16.00
$GC,4452.83,3077,-116.79,-0.96,0.00,3170.8,3316.2,3025.4,2246.4,3754.5,494.63,-9.52,338,4460.82,0.00,0.12,4.74,0.000,0.262,0.047,3171.53,3317.75,3025.31,2284.69,2030.38,0,0,0,30.00,15.92,16.02
$GC,4774.19,0,-116.79,-0.96,0.00,3171.4,3316.8,3025.9,2285.9,2030.7,518.47,-7.34,352,4776.72,0.00,0.00,0.00,0.000,0.000,0.000,3170.66,3316.44,3024.88,2285.19,2030.81,0,0,0,30.00,30.00,30.00
$GC,5104.20,260,-116.79,-0.96,80.00,3170.9,3316.8,3025.0,2285.2,2029.8,541.92,-7.01,363,5114.52,0.00,0.00,5.03,0.000,0.000,0.098,3171.12,3315.69,3026.56,2263.69,3755.62,0,0,0,30.00,30.00,16.02
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$GC,5898.76,3077,-116.79,-0.96,0.00,3171.3,3317.6,3025.1,2246.3,3754.8,604.25,-9.05,412,5906.76,0.00,0.12,4.73,0.000,0.260,0.047,3170.12,3316.44,3023.81,2285.94,2028.38,0,0,0,30.00,15.97,16.06
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$GC,6564.25,260,-116.79,-0.96,80.00,3170.9,3316.9,3024.9,2285.7,2028.7,649.76,-6.64,435,6574.59,0.00,0.00,5.02,0.000,0.000,0.097,3172.06,3317.62,3026.50,2262.94,3755.56,0,0,0,30.00,30.00,16.04
$GC,6638.80,1028,-116.79,-0.96,0.00,3170.5,3316.4,3024.6,2263.4,3756.6,655.60,-7.95,450,6646.73,0.00,0.00,4.73,0.000,0.000,0.048,3170.28,3316.19,3024.38,2266.12,2032.12,0,0,0,30.00,30.00,16.06
$GC,6950.10,0,-116.79,-0.96,0.00,3171.3,3316.6,3026.0,2268.0,2031.9,677.27,-6.93,462,6952.63,0.00,0.00,0.00,0.000,0.000,0.000,3170.47,3315.75,3025.19,2267.88,2032.94,0,0,0,30.00,30.00,30.00
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$GC,7340.13,3077,-116.79,-0.96,0.00,3170.7,3316.0,3025.3,2246.4,3755.4,704.91,-8.15,485,7347.65,0.00,0.10,4.72,0.000,0.260,0.047,3172.00,3317.25,3026.75,2285.44,2029.50,0,0,0,30.00,15.99,16.07
$GC,7666.03,0,-116.79,-0.96,0.00,3170.5,3316.0,3025.0,2285.1,2030.2,726.35,-6.51,500,7668.56,0.00,0.00,0.00,0.000,0.000,0.000,3170.34,3315.56,3025.12,2285.56,2029.94,0,0,0,30.00,30.00,30.00
$GC,7996.04,260,-116.79,-0.96,80.00,3171.1,3317.0,3025.2,2285.0,2030.1,748.24,-6.64,511,8006.37,0.00,0.00,5.01,0.000,0.000,0.097,3171.00,3316.44,3025.56,2263.81,3753.19,0,0,0,30.00,30.00,16.06
$GC,8070.58,1028,-116.79,-0.96,0.00,3170.4,3316.4,3024.4,2264.1,3752.7,753.99,-7.82,526,8078.53,0.00,0.00,4.72,0.000,0.000,0.049,3169.84,3316.19,3023.50,2265.62,2032.06,0,0,0,30.00,30.00,16.08
$GC,8381.90,0,-116.79,-0.96,0.00,3170.7,3316.4,3024.9,2265.8,2031.1,775.09,-6.76,538,8384.43,0.00,0.00,0.00,0.000,0.000,0.000,3169.78,3315.31,3024.25,2265.75,2031.81,0,0,0,30.00,30.00,30.00
$GC,8711.92,260,-116.79,-0.96,80.00,3170.9,3316.8,3024.9,2265.4,2031.8,797.11,-6.65,549,8722.24,0.00,0.00,5.01,0.000,0.000,0.097,3170.62,3315.69,3025.56,2244.50,3754.31,0,0,0,30.00,30.00,16.07
$GC,8751.45,3077,-116.79,-0.96,0.00,3171.4,3317.6,3025.2,2244.6,3753.4,800.18,-6.82,557,8759.45,0.00,0.12,4.71,0.000,0.256,0.047,3169.88,3316.56,3023.19,2285.12,2031.12,0,0,0,30.00,15.99,16.09
$GC,9067.84,32,-116.79,-0.96,0.00,3170.7,3316.1,3025.4,2284.9,2031.2,819.99,-6.23,570,9070.37,0.00,0.00,0.00,0.000,0.000,0.000,3170.16,3316.06,3024.25,2284.75,2031.44,0,0,0,30.00,30.00,30.00
$GC,9397.86,292,-116.79,-0.96,80.00,3171.0,3316.6,3025.5,2284.1,2031.1,840.52,-6.18,581,9408.17,0.00,0.00,5.01,0.000,0.000,0.098,3171.62,3317.62,3025.62,2262.12,3752.88,0,0,0,30.00,30.00,16.07
$GC,9447.37,1028,-116.79,-0.96,0.00,3171.0,3315.8,3026.2,2263.9,3754.1,844.12,-7.21,591,9455.32,0.00,0.00,4.72,0.000,0.000,0.049,3171.78,3316.38,3027.19,2263.38,2031.44,0,0,0,30.00,30.00,16.08
$GC,9782.87,0,-116.79,-0.96,0.00,3171.2,3316.7,3025.8,2265.2,2032.2,866.30,-6.62,603,9785.40,0.00,0.00,0.00,0.000,0.000,0.000,3169.81,3316.12,3023.50,2264.88,2032.44,0,0,0,30.00,30.00,30.00
$GC,10112.90,260,-116.79,-0.96,80.00,3171.1,3316.5,3025.6,2265.1,2032.1,888.25,-6.66,614,10123.21,0.00,0.00,5.01,0.000,0.000,0.097,3172.28,3317.50,3027.06,2244.44,3753.12,0,0,0,30.00,30.00,16.08
$GC,10182.43,3077,-116.79,-0.96,0.00,3171.0,3316.7,3025.2,2244.9,3753.9,893.72,-8.00,628,10190.43,0.00,0.12,4.72,0.000,0.254,0.048,3171.97,3318.62,3025.31,2285.06,2030.38,0,0,0,30.00,16.00,16.09
$GC,10498.86,32,-116.79,-0.96,0.00,3171.1,3316.6,3025.7,2286.2,2030.6,913.27,-6.12,641,10501.39,0.00,0.00,0.00,0.000,0.000,0.000,3170.06,3316.25,3023.88,2285.81,2030.31,0,0,0,30.00,30.00,30.00
$GC,10828.92,292,-116.79,-0.96,80.00,3171.2,3316.9,3025.4,2286.1,2030.2,933.15,-5.94,652,10839.18,0.00,0.00,5.02,0.000,0.000,0.097,3171.25,3316.12,3026.38,2264.56,3752.00,0,0,0,30.00,30.00,16.08
$GC,10863.40,1060,-116.79,-0.96,0.00,3170.8,3316.4,3025.2,2263.6,3752.2,935.54,-5.99,659,10871.33,0.00,0.00,4.72,0.000,0.000,0.048,3169.94,3315.38,3024.50,2263.69,2031.62,0,0,0,30.00,30.00,16.10
$NAV,1629951266,938.8,start
$GC,11184.72,32,-116.79,-0.96,0.00,3171.2,3317.2,3025.1,2264.1,2030.9,955.25,-6.02,673,11187.25,0.00,0.00,0.00,0.000,0.000,0.000,3170.12,3315.75,3024.50,2263.62,2030.88,0,0,0,30.00,30.00,30.00
$NAV,1629951626,960.6,0,stop
$GC,11514.74,292,-116.79,-0.96,80.00,3170.9,3316.4,3025.4,2264.1,2031.3,974.97,-6.02,684,11525.04,0.00,0.00,5.03,0.000,0.000,0.097,3171.97,3317.44,3026.50,2242.56,3752.75,0,0,0,30.00,30.00,16.05
$GC,11564.25,3077,-116.79,-0.96,0.00,3170.5,3316.0,3025.0,2242.5,3752.8,978.52,-7.12,694,11572.25,0.00,0.14,4.73,0.000,0.252,0.048,3169.69,3316.25,3023.12,2287.19,2031.88,0,0,0,30.00,15.97,16.07
$STATE,11779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11779,begin apogee
$GC,11783.59,10243,0.00,-0.17,0.00,3170.9,3316.1,3025.8,2282.4,2367.7,990.94,-5.72,702,11897.50,109.60,0.83,0.12,2.438,0.203,0.157,2689.62,2789.75,2589.50,2538.31,2317.00,0,0,0,12.99,15.99,15.19
$WARN,HSCICON missed fuel gauge read
$STATE,11907,end apogee,CONTROL_FINISHED_OK
$STATE,11907,begin climb
$GC,11907.53,10503,116.79,0.96,80.00,2685.5,2784.4,2586.5,2538.4,2317.3,991.95,0.00,705,12024.75,106.47,1.12,5.28,2.420,0.121,0.118,2211.31,2265.00,2157.62,2897.25,3951.38,0,0,0,12.45,15.26,14.86
$GC,12027.73,1028,116.79,0.96,0.00,2208.7,2262.4,2155.0,2897.0,3950.4,981.12,9.19,714,12035.58,0.00,0.00,4.74,0.000,0.000,0.042,2207.34,2262.31,2152.38,2918.75,2330.62,0,0,0,30.00,30.00,15.01
$GC,12348.96,16902,116.79,0.96,-80.00,2197.7,2260.8,2134.7,2918.7,2331.2,938.01,13.43,728,12356.45,0.00,0.00,4.93,0.000,0.000,0.081,2199.66,2263.25,2136.06,2940.25,644.19,0,0,0,30.00,30.00,15.51
$GC,12374.80,21511,116.79,0.96,0.00,2197.9,2261.1,2134.6,2940.2,643.7,934.37,13.52,733,12385.15,0.00,0.17,4.84,0.000,0.243,0.044,2198.25,2262.56,2133.94,2889.44,2361.56,0,0,0,30.00,15.44,15.52
$GC,12704.83,16386,116.79,0.96,0.00,2195.4,2261.7,2129.1,2890.5,2362.0,894.75,11.74,749,12707.36,0.00,0.00,0.00,0.000,0.000,0.000,2194.22,2261.00,2127.44,2890.12,2362.06,0,0,0,30.00,30.00,30.00
$GC,13034.85,16386,116.79,0.96,0.00,2194.1,2262.5,2125.8,2890.6,2362.1,855.70,11.79,760,13037.38,0.00,0.00,0.00,0.000,0.000,0.000,2192.97,2261.69,2124.25,2889.62,2361.44,0,0,0,30.00,30.00,30.00
$GC,13364.87,16386,116.79,0.96,0.00,2193.3,2263.1,2123.6,2890.2,2362.1,817.01,11.70,771,13367.40,0.00,0.00,0.00,0.000,0.000,0.000,2192.28,2262.06,2122.50,2890.38,2362.25,0,0,0,30.00,30.00,30.00
$GC,13694.89,16386,116.79,0.96,0.00,2192.5,2263.4,2121.6,2889.8,2361.6,778.71,11.55,782,13697.42,0.00,0.00,0.00,0.000,0.000,0.000,2192.22,2262.88,2121.56,2890.12,2361.69,0,0,0,30.00,30.00,30.00
$GC,14024.91,16386,116.79,0.96,0.00,2192.5,2264.5,2120.5,2889.9,2361.7,740.20,11.75,793,14027.44,0.00,0.00,0.00,0.000,0.000,0.000,2191.44,2263.44,2119.44,2889.88,2362.38,0,0,0,30.00,30.00,30.00
$GC,14354.92,16902,116.79,0.96,-80.00,2191.7,2264.4,2118.9,2890.3,2361.9,702.38,11.26,804,14362.42,0.00,0.00,4.95,0.000,0.000,0.084,2191.78,2265.12,2118.44,2911.81,641.69,0,0,0,30.00,30.00,15.94
$GC,14380.78,17414,116.79,0.96,0.00,2191.4,2264.3,2118.6,2911.8,641.9,699.29,11.33,809,14388.24,0.00,0.00,4.74,0.000,0.000,0.048,2190.59,2263.69,2117.50,2903.94,2362.19,0,0,0,30.00,30.00,15.95
$GC,14706.62,16386,116.79,0.96,0.00,2191.2,2264.8,2117.8,2903.7,2361.9,659.43,12.34,824,14709.15,0.00,0.00,0.00,0.000,0.000,0.000,2190.50,2264.31,2116.69,2903.62,2361.81,0,0,0,30.00,30.00,30.00
$GC,15036.78,16386,116.79,0.96,0.00,2191.7,2265.8,2117.6,2904.2,2361.9,619.26,12.21,835,15039.31,0.00,0.00,0.00,0.000,0.000,0.000,2190.81,2264.75,2116.88,2904.06,2362.38,0,0,0,30.00,30.00,30.00
$GC,15366.66,16386,116.79,0.96,0.00,2191.8,2266.0,2117.6,2904.8,2362.4,578.71,12.41,846,15369.19,0.00,0.00,0.00,0.000,0.000,0.000,2190.78,2265.06,2116.50,2904.38,2362.69,0,0,0,30.00,30.00,30.00
$GC,15696.68,16386,116.79,0.96,0.00,2191.2,2265.4,2116.9,2903.8,2362.1,537.57,12.49,857,15699.21,0.00,0.00,0.00,0.000,0.000,0.000,2190.59,2265.31,2115.88,2903.56,2362.94,0,0,0,30.00,30.00,30.00
$GC,16026.70,16902,116.79,0.96,-80.00,2191.1,2266.1,2116.1,2904.4,2362.8,497.19,12.17,868,16034.19,0.00,0.00,4.93,0.000,0.000,0.085,2192.56,2267.12,2118.00,2926.44,641.88,0,0,0,30.00,30.00,16.03
$GC,16057.08,17414,116.79,0.96,0.00,2191.1,2266.4,2115.8,2926.2,641.7,493.21,12.88,874,16065.02,0.00,0.00,4.72,0.000,0.000,0.049,2189.91,2264.56,2115.25,2925.81,2363.31,0,0,0,30.00,30.00,16.04
$GC,16378.38,16386,116.79,0.96,0.00,2191.0,2266.7,2115.3,2926.8,2362.8,451.47,12.97,888,16380.91,0.00,0.00,0.00,0.000,0.000,0.000,2189.78,2265.44,2114.12,2925.62,2363.56,0,0,0,30.00,30.00,30.00
$GC,16708.39,16386,116.79,0.96,0.00,2190.7,2266.6,2114.7,2925.8,2363.2,410.50,12.33,899,16710.92,0.00,0.00,0.00,0.000,0.000,0.000,2189.41,2265.06,2113.75,2925.50,2363.50,0,0,0,30.00,30.00,30.00
$GC,17038.40,16386,116.79,0.96,0.00,2190.2,2266.3,2114.1,2926.0,2363.1,369.46,12.57,910,17040.93,0.00,0.00,0.00,0.000,0.000,0.000,2189.66,2265.81,2113.50,2926.06,2363.56,0,0,0,30.00,30.00,30.00
$GC,17368.41,16386,116.79,0.96,0.00,2190.3,2266.8,2113.9,2925.8,2363.1,329.56,11.62,921,17370.95,0.00,0.00,0.00,0.000,0.000,0.000,2190.16,2266.56,2113.75,2925.81,2363.19,0,0,0,30.00,30.00,30.00
$GC,17698.42,16386,116.79,0.96,0.00,2190.7,2267.2,2114.1,2926.6,2363.3,290.86,11.69,932,17700.96,0.00,0.00,0.00,0.000,0.000,0.000,2189.81,2266.31,2113.31,2925.38,2363.56,0,0,0,30.00,30.00,30.00
$GC,18028.44,16902,116.79,0.96,-80.00,2190.3,2267.4,2113.3,2926.1,2363.4,253.28,11.21,943,18035.93,0.00,0.00,4.93,0.000,0.000,0.086,2191.22,2267.81,2114.62,2947.75,643.06,0,0,0,30.00,30.00,16.06
$GC,18134.31,21511,116.79,0.96,0.00,2190.4,2267.4,2113.4,2947.8,643.1,241.21,10.86,964,18141.83,0.00,0.18,4.70,0.000,0.231,0.049,2189.16,2265.75,2112.56,2889.25,2365.31,0,0,0,30.00,15.97,16.06
$GC,18329.35,16966,116.79,0.97,-80.00,2190.4,2267.8,2112.9,2889.1,2365.2,225.02,7.96,984,18336.82,0.00,0.00,4.91,0.000,0.000,0.085,2189.81,2266.88,2112.75,2910.38,643.19,0,0,0,30.00,30.00,16.05
$GC,18365.18,17414,116.79,0.97,0.00,2189.8,2267.3,2112.4,2911.3,643.2,221.86,8.47,991,18372.64,0.00,0.00,4.70,0.000,0.000,0.048,2190.72,2267.69,2113.75,2903.94,2365.19,0,0,0,30.00,30.00,16.05
$GC,18560.22,16966,116.79,1.01,-80.00,2190.4,2267.9,2112.9,2903.6,2365.8,207.60,6.72,1011,18567.70,0.00,0.00,4.91,0.000,0.000,0.084,2193.12,2270.94,2115.31,2925.88,643.06,0,0,0,30.00,30.00,16.04
$GC,18610.61,17478,116.79,1.03,0.00,2190.2,2268.0,2112.5,2926.4,643.1,203.74,7.67,1021,18617.99,0.00,0.00,4.68,0.000,0.000,0.046,2190.62,2267.88,2113.38,2926.25,2365.81,0,0,0,30.00,30.00,16.05
$GC,18801.37,10275,163.32,1.20,0.00,2190.6,2268.4,2112.8,2925.4,2366.7,191.18,6.16,1041,18842.20,38.42,0.14,0.00,1.503,0.088,0.000,2025.44,2103.00,1947.88,2990.12,2366.12,0,0,0,12.98,16.04,30.00
$GC,19031.37,516,163.32,1.20,-80.00,2017.5,2097.4,1937.6,2989.9,2366.1,172.79,8.19,1067,19038.87,0.00,0.00,4.99,0.000,0.000,0.085,2017.75,2097.06,1938.44,3011.94,643.12,0,0,0,30.00,30.00,15.89
$GC,19127.26,5125,163.32,1.20,0.00,2016.4,2096.0,1936.9,3011.6,643.0,164.69,8.30,1086,19134.76,0.00,0.12,4.74,0.000,0.253,0.047,2018.19,2097.31,1939.06,2965.38,2364.81,0,0,0,30.00,15.81,15.89
$GC,19322.27,10275,211.88,1.37,0.00,2015.8,2096.1,1935.4,2965.2,2364.7,152.06,6.06,1106,19367.83,42.67,0.18,0.00,1.487,0.077,0.000,1823.72,1891.75,1755.69,3050.62,2365.19,0,0,0,12.83,15.90,30.00
$GC,19552.28,16902,211.88,1.37,-80.00,1817.5,1888.2,1746.7,3051.2,2364.7,131.43,9.81,1129,19563.05,0.00,0.00,5.03,0.000,0.000,0.087,1818.38,1889.25,1747.50,3072.19,644.50,0,0,0,30.00,30.00,15.75
$GC,19652.29,21511,211.88,1.37,0.00,1816.8,1886.9,1746.6,3072.1,644.4,120.71,10.48,1149,19659.81,0.00,0.17,4.78,0.000,0.247,0.048,1817.34,1887.38,1747.31,3020.00,2363.31,0,0,0,30.00,15.68,15.77
$GC,19847.33,16450,211.88,1.41,0.00,1814.4,1886.3,1742.6,3020.4,2363.4,106.57,6.76,1169,19849.86,0.00,0.00,0.00,0.000,0.000,0.000,1813.97,1886.00,1741.94,3020.81,2363.06,0,0,0,30.00,30.00,30.00
$GC,20037.34,10791,254.50,1.56,-80.00,1813.7,1886.7,1740.6,3020.9,2363.4,93.61,6.35,1188,20084.66,38.23,0.19,5.05,1.418,0.074,0.088,1648.72,1710.31,1587.12,3131.44,643.12,0,0,0,12.82,15.83,15.61
$GC,20147.56,5125,254.50,1.56,0.00,1647.4,1707.2,1587.5,3132.1,643.1,83.40,10.57,1210,20157.87,0.00,0.17,4.82,0.000,0.252,0.049,1646.84,1707.56,1586.12,3080.81,2363.94,0,0,0,30.00,15.62,15.71
$GC,20343.09,16966,254.50,1.59,-80.00,1643.9,1707.4,1580.4,3081.2,2364.3,67.77,7.07,1231,20353.87,0.00,0.00,5.03,0.000,0.000,0.088,1643.66,1707.44,1579.88,3102.56,643.06,0,0,0,30.00,30.00,15.76
$GC,20387.62,17478,254.50,1.63,0.00,1643.4,1707.1,1579.6,3102.8,643.0,64.52,7.02,1240,20395.02,0.00,0.00,4.79,0.000,0.000,0.049,1642.44,1706.00,1578.88,3100.94,2361.50,0,0,0,30.00,30.00,15.77
$GC,20578.39,10791,324.52,1.87,-80.00,1641.9,1707.3,1576.6,3100.6,2362.1,53.43,5.00,1260,20655.27,66.69,0.25,5.11,1.365,0.067,0.088,1365.97,1408.69,1323.25,3233.69,643.06,0,0,0,12.74,15.77,15.47
$GC,20723.17,5125,324.52,1.87,0.00,1361.8,1400.9,1322.8,3233.3,643.3,41.81,9.02,1289,20733.46,0.00,0.17,4.86,0.000,0.257,0.047,1362.03,1401.19,1322.88,3182.62,2364.88,0,0,0,30.00,15.50,15.56
$GC,20918.69,10275,370.36,2.03,0.00,1357.7,1400.4,1314.9,3182.4,2364.2,29.64,6.19,1310,20970.75,48.62,0.17,0.00,1.302,0.076,0.000,1180.94,1211.44,1150.44,3262.94,2364.81,0,0,0,12.65,15.64,30.00
$GC,21158.73,10275,487.10,2.44,0.00,1173.1,1206.6,1139.6,3263.6,2364.1,18.97,2.69,1334,21284.76,120.34,0.31,0.00,1.320,0.059,0.000,704.81,693.31,716.31,3388.88,2364.69,0,0,0,12.51,15.59,30.00
$FREEZE,9.69,1.647,-1.522,2,1,0
$FREEZE,9.08,1.607,-1.520,2,1,0
$FREEZE,8.51,1.565,-1.518,2,1,0
$FREEZE,7.95,1.547,-1.516,2,1,0
$FREEZE,7.64,1.547,-1.516,2,1,0
$FREEZE,7.31,1.522,-1.515,2,1,0
$FREEZE,6.99,1.522,-1.514,2,1,0
$FREEZE,6.67,1.504,-1.512,2,1,0
$FREEZE,6.29,1.504,-1.512,2,1,0
$FREEZE,5.92,1.229,-1.502,2,1,0
$FREEZE,5.55,1.229,-1.502,2,1,0
$FREEZE,5.11,1.116,-1.499,2,1,0
$FREEZE,4.68,1.116,-1.498,2,1,0
$FREEZE,4.23,1.100,-1.497,2,1,0
$GC,21468.78,10535,537.89,2.62,80.00,696.1,689.8,702.4,3388.1,2364.6,7.95,5.95,1366,21525.23,46.92,0.12,4.89,1.288,0.097,0.120,525.06,514.50,535.62,3446.19,3948.62,0,0,0,12.51,15.46,15.25
$FREEZE,3.12,1.100,-1.496,2,1,0
$FREEZE,2.51,1.100,-1.495,2,1,0
$FREEZE,1.82,1.086,-1.494,2,1,0
$STATE,21538,end climb,SURFACE_DEPTH_REACHED
$STATE,21538,begin surface coast
$FREEZE,1.14,1.086,-1.493,2,1,0
$FREEZE,0.47,1.085,-1.493,2,1,0
$FREEZE,0.01,1.085,-1.492,2,1,0
$FREEZE,0.04,1.080,-1.496,2,1,0
$FREEZE,0.16,1.080,-1.496,2,1,0
$FINISH,0.2,1.021988
$STATE,21563,end surface coast,CONTROL_FINISHED_OK
$STATE,21563,begin surface
$SM_CCo,21646.10,0.00,0.000,0,520.7,514.1,527.3,532.12
$SM_GC,1.20,0.00,8.55,5.47,0.000,0.051,0.050,520.7,514.1,527.3,440.2,2032.6,0,0,0,30.00,15.38,15.39
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7240.69,-15620.58,240821,185128
$TCM_TEMP,4.03
$XPDR_PINGS,47,14.0,10.5
$SC_FREEKB,3852384
$RAFOS_CLK,-36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,53.50
$TEMP,0.34
$INTERNAL_PRESSURE,7.94724
$24V_AH,14.31,55.078
$10V_AH,14.77,0.000
$FG_AHR_24Vo,64.134
$FG_AHR_10Vo,49.935
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,720.775,22.995,294.390,662.337,11.750,14.673,4916.903,17471.346,1983.741,360.145,0.000,0.000,0.000
$DEVICE_MAMPS,2437.776,461.904,156.864,214.649,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21561.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.024,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997296,18,49532,69
$DATA_FILE_SIZE,41670,1385
$CAP_FILE_SIZE,429640,0
$SDSIZE,3918848,3884864
$SDFILEDIR,585,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$MAGCAL,1.000000,-0.043969,-0.006825,-0.035098,1.064729,0.001244,0.017160,0.007826,0.998948,-371.4,1449.9,-245.6,31,0.0682,0
$IMPLIED_C_PITCH,2634,17.88,911
$IMPLIED_C_VBD,2672,24.985933,550
$GPS,260821,071409,7242.978,-15605.200,33,0.9,34,12.7
ESCAPE_REASON=NO_RECENT_FIX
ESCAPE_STARTED_DIVE=67