version: 66.12
glider: 196
mission: 7
dive: 416
start: 9 24 114 17 49 15
data:
$ID,196
$MISSION,7
$DIVE,416
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,210
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11822.289
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,240914,101826,7236.094,-14125.888,181,99.0,181,23.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-77.4
$GPS2,240914,101826,7236.094,-14125.888,181,99.0,181,23.7
$SPEED_LIMITS,0.201,0.275
$TGT_NAME,HEADING
$TGT_LATLONG,7226.742,-14143.790
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,186.3,20000,-20.4,-11.628,-22.93,2317
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.66,-175.1,201,2736,426,554,0.0,0.0,0,91,0.00,0.00,-71.50,0.000,16386,0.000,0.000,200,2735,2313,2326,2300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.66,-175.1,201,2736,2327,2302,4.1,-4.0,7,138,12.15,1.88,-27.42,0.000,18692,0.389,0.119,2667,3785,3963,4018,3909,0,0,0,0,0,0,13.90,14.23,14.54
$GC,363,-0.66,-175.1,2668,3786,4019,3913,84.9,-21.2,61,368,0.00,1.70,0.00,0.000,1030,0.000,0.050,2667,2770,3965,4018,3913,0,0,0,0,0,0,28.83,14.28,28.83
$GC,673,-0.66,-175.1,2667,2770,4019,3913,143.9,-18.4,93,678,0.00,1.80,0.00,0.000,260,0.000,0.096,2659,3785,3965,4018,3913,0,0,0,0,0,0,28.83,14.24,28.83
$GC,783,-0.66,-175.1,2659,3784,4019,3913,164.1,-17.7,115,788,0.00,1.70,0.00,0.000,1030,0.000,0.051,2659,2760,3965,4018,3913,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1093,-0.66,-175.1,2659,2760,4019,3913,214.2,-14.8,147,1098,0.00,1.83,0.00,0.000,260,0.000,0.099,2651,3787,3966,4019,3913,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1118,-0.66,-175.1,2652,3788,4018,3915,217.9,-15.5,152,1124,0.08,1.73,0.00,0.000,3078,0.227,0.050,2682,2755,3966,4019,3913,0,0,0,0,0,0,13.97,14.31,28.83
$GC,1443,-0.66,-175.1,2683,2756,4018,3914,258.3,-11.9,181,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2755,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1743,-0.66,-175.1,2683,2756,4018,3915,291.9,-10.9,191,1748,0.00,2.33,0.00,0.000,516,0.000,0.063,2682,1370,3965,4018,3913,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1793,-0.66,-175.1,2683,1370,4019,3913,297.3,-10.5,201,1798,0.00,2.47,0.00,0.000,1030,0.000,0.095,2676,2757,3965,4018,3913,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2105,-0.66,-175.1,2676,2759,4018,3914,332.2,-11.2,213,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2758,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2403,-0.66,-175.1,2676,2758,4019,3913,364.6,-10.9,223,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2758,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2703,-0.66,-175.1,2676,2758,4019,3913,397.4,-10.9,233,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2758,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3003,-0.66,-175.1,2676,2759,4018,3914,430.5,-10.9,243,3008,0.00,2.33,0.00,0.000,516,0.000,0.062,2675,1374,3965,4018,3913,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3043,-0.66,-175.1,2680,1372,4019,3913,434.6,-10.0,251,3048,0.00,2.50,0.00,0.000,1030,0.000,0.094,2667,2768,3965,4018,3913,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3365,-0.66,-175.1,2668,2768,4019,3913,469.8,-11.0,265,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,-0.66,-175.1,2668,2768,4019,3913,502.7,-10.9,275,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3963,-0.66,-175.1,2668,2768,4019,3913,535.2,-10.8,285,3968,0.00,2.35,0.00,0.000,516,0.000,0.061,2667,1370,3965,4018,3913,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4008,-0.66,-175.1,2664,1370,4017,3914,539.9,-10.1,294,4013,0.00,2.47,0.00,0.000,1030,0.000,0.094,2663,2758,3965,4018,3913,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4325,-0.66,-175.1,2664,2758,4019,3913,575.2,-11.3,307,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3965,4018,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4623,-0.66,-175.1,2664,2759,4018,3915,608.5,-11.0,317,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4923,-0.66,-175.1,2664,2759,4018,3915,640.8,-10.7,327,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,-0.66,-175.1,2664,2759,4018,3915,672.5,-10.6,337,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5523,-0.66,-175.1,2664,2759,4018,3915,704.5,-10.7,347,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3970,4026,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,-0.66,-175.1,2664,2760,4018,3916,736.7,-10.7,357,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3966,4017,3915,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5971,begin apogee
$GC,5977,-0.13,0.0,2664,2759,4018,3916,752.8,-10.7,362,6130,0.68,0.00,150.52,1.998,10244,0.200,0.000,2844,2759,3257,3280,3235,0,0,0,0,0,0,14.09,28.83,12.85
$STATE,6131,end apogee,CONTROL_FINISHED_OK
$STATE,6131,begin climb
$GC,6133,0.66,175.1,2845,2760,3275,3232,758.2,0.0,367,6294,0.82,2.50,151.30,1.864,10756,0.097,0.059,3101,1355,2538,2555,2522,0,0,0,0,0,0,13.62,13.64,12.45
$GC,6519,0.67,187.7,3101,1355,2556,2517,727.5,11.1,446,6538,0.00,2.55,11.82,1.776,9222,0.000,0.090,3100,2743,2488,2507,2470,0,0,0,0,0,0,28.83,13.84,13.02
$GC,6846,0.67,187.7,3102,2744,2508,2468,686.2,12.8,461,6850,0.00,1.85,0.00,0.000,260,0.000,0.095,3101,3792,2487,2507,2467,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7075,0.67,187.7,3101,3792,2508,2468,651.6,15.3,507,7080,0.00,1.73,0.00,0.000,1030,0.000,0.049,3108,2742,2487,2507,2467,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7386,0.67,187.7,3109,2741,2508,2468,610.4,13.3,519,7390,0.00,1.83,0.00,0.000,260,0.000,0.095,3108,3787,2487,2508,2467,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7476,0.67,187.7,3109,3789,2507,2468,596.5,15.9,537,7480,0.00,1.67,0.00,0.000,1030,0.000,0.047,3116,2737,2486,2506,2467,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7819,0.67,187.7,3116,2737,2508,2467,550.6,13.7,553,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2737,2486,2506,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8106,0.67,187.7,3116,2737,2507,2468,508.8,13.9,563,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2486,2506,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8406,0.67,187.7,3117,2737,2507,2468,467.7,13.6,573,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2486,2506,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8706,0.67,187.7,3116,2737,2507,2468,427.2,13.5,583,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2736,2490,2506,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9006,0.67,187.7,3116,2737,2507,2467,387.5,13.0,593,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2486,2506,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9306,0.67,187.7,3116,2737,2509,2467,349.1,12.7,603,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2486,2506,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9606,0.67,187.7,3116,2737,2507,2467,311.1,12.7,613,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2487,2506,2468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9906,0.67,187.7,3116,2738,2507,2468,273.4,12.6,623,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2736,2486,2506,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10207,0.68,199.1,3116,2737,2508,2467,239.0,11.1,639,10220,0.00,0.00,10.93,1.344,8198,0.000,0.000,3115,2737,2444,2459,2430,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10518,0.70,236.2,3117,2737,2455,2426,206.6,10.0,670,10551,0.00,0.00,31.83,1.259,8198,0.000,0.000,3115,2737,2294,2301,2287,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10848,0.75,306.1,3117,2737,2298,2278,175.5,8.5,703,10908,0.00,0.00,58.53,1.247,8710,0.000,0.000,3115,2737,2009,2015,2004,0,0,0,0,0,0,28.83,28.83,13.52
$GC,11206,0.78,350.0,3117,2737,2013,1988,141.0,9.7,740,11251,0.00,2.42,37.42,1.201,8708,0.000,0.065,3125,1361,1825,1829,1821,0,0,0,0,0,0,28.83,14.23,13.59
$GC,11273,0.80,379.3,3126,1360,1828,1818,134.4,10.3,753,11308,0.00,2.45,26.10,1.190,9222,0.000,0.089,3125,2737,1704,1713,1695,0,0,0,0,0,0,28.83,14.19,13.50
$GC,11606,0.83,416.9,3126,2738,1713,1683,99.5,10.0,790,11628,0.12,2.45,16.25,0.491,10756,0.122,0.065,3192,1352,1559,1574,1545,0,0,0,0,0,0,14.25,14.21,13.81
$GC,11670,0.83,416.9,3193,1352,1576,1544,91.9,12.4,802,11675,0.12,2.47,0.00,0.000,5126,0.225,0.089,3165,2735,1558,1573,1544,0,0,0,0,0,0,14.00,14.12,28.83
$GC,11982,0.87,471.2,3166,2737,1578,1539,57.1,9.2,834,12012,0.00,2.45,25.12,0.357,8708,0.000,0.066,3165,1357,1336,1357,1316,0,0,0,0,0,0,28.83,14.21,13.88
$GC,12064,0.92,553.2,3166,1357,1360,1315,50.4,8.0,850,12108,0.00,2.45,38.45,0.336,9222,0.000,0.090,3165,2725,1000,1013,988,0,0,0,0,0,0,28.83,14.14,13.91
$GC,12413,1.03,709.0,3166,2725,1013,978,25.2,4.7,890,12478,0.17,2.40,57.33,0.275,10756,0.116,0.063,3228,1361,498,443,553,0,0,0,0,0,0,14.16,14.14,13.94
$GC,12554,1.12,840.5,3229,1362,443,553,18.2,5.8,918,12559,0.00,2.45,0.00,0.000,1030,0.000,0.086,3228,2716,497,442,552,0,0,0,0,0,0,28.83,14.12,28.83
$FREEZE,8.68,-1.186,-1.401,2,3,0
$FREEZE,8.13,-1.188,-1.400,2,3,0
$FREEZE,7.42,-1.191,-1.399,2,3,0
$FREEZE,6.79,-1.193,-1.398,2,3,0
$FREEZE,6.15,-1.195,-1.398,2,3,0
$FREEZE,5.43,-1.196,-1.397,2,3,0
$FREEZE,4.56,-1.196,-1.396,2,3,0
$FREEZE,3.80,-1.206,-1.396,2,3,0
$FREEZE,2.97,-1.205,-1.395,2,3,0
$FREEZE,2.30,-1.206,-1.394,2,3,0
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$STATE,13202,end climb,NO_VERTICAL_VELOCITY
$STATE,13202,begin subsurface finish
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$FINISH2,2.1
$STATE,13217,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13217,begin surface
$RAFOS_CLK,267
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$IRIDIUM_FIX,7200.11,-14128.29,240914,100648
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.94
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,13.30
$XPDR_PINGS,14
$SC_FREEKB,3752256
$24V_AH,12.45,130.686
$10V_AH,12.47,0.000
$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,15.950,60.350,615.600,0.000,0.000,0.000,0.000,120.900,3.500,0.000,181.870,0.000,10569.558,658.938,2322.021,453.849,0.000,1592.028,0.000,1507.185,1482.000,0.540,0.000
$DEVICE_MAMPS,388.620,119.340,1998.180,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13275.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.931,0.000,0.000,0.000
$MEM,123896
$DATA_FILE_SIZE,33346,1009
$CAP_FILE_SIZE,156499,0
$CFSIZE,2097872896,2011922432
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13470.35,0x2378b6,7,5
$INTR,1,5973.67,0x2378b6,2,5
$INTR,2,13204.71,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,240914,101826,7236.094,-14125.888,181,99.0,181,23.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376