version: 67.00
glider: 227
mission: 5
dive: 75
start: 8 22 119 2 30 42
data:
$ID,227
$MISSION,5
$DIVE,75
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,2
$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,360
$T_MISSION,450
$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,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72247
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00272
$HD_B,0.0117
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,511.6958
$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,50860
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3830
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,36
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,60
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,13
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2636
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,6.6091046
$FG_AHR_24V,14.510781
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.83586
$PRESSURE_SLOPE,0.00010809835
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043851961
$SEABIRD_T_H,0.00063407799
$SEABIRD_T_I,2.5652189e-05
$SEABIRD_T_J,2.9095588e-06
$SEABIRD_C_G,-9.6619873
$SEABIRD_C_H,1.1246239
$SEABIRD_C_I,-0.0018771546
$SEABIRD_C_J,0.00021465076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220819,022406,7341.603,-14743.934,53,0.9,57,17.4
$_CALLS,1
$_SM_DEPTHo,-3.61
$_SM_ANGLEo,-69.2
$GPS2,220819,023019,7341.655,-14743.815,4,0.8,8,17.4
$SPEED_LIMITS,0.159,0.230
$TGT_NAME,SODAB
$TGT_LATLONG,7527.800,-14538.200
$TGT_RADIUS,2000.000
$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,357.8,205070,-16.8,-9.167,-21.69
$D_GRID,990
$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,1786.11,161,-145.99,-0.77,0.00,3232.0,3177.9,3286.1,1959.7,2215.8,217.81,-6.50,240,1787.56,0.00,0.19,0.00,0.000,0.100,0.000,3231.44,3176.69,3286.19,1884.56,2215.12,0,0,0,30.00,15.89,30.00
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$GC,2146.01,161,-145.99,-0.70,0.00,3231.7,3177.7,3285.6,1884.6,2215.2,248.95,-8.52,276,2147.47,0.00,0.16,0.00,0.000,0.223,0.000,3230.78,3177.44,3284.12,1928.75,2214.81,0,0,0,30.00,15.88,30.00
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$GC,2455.82,1188,-145.99,-0.81,0.00,3231.1,3177.1,3285.0,1913.5,3566.8,270.95,-7.76,306,2461.77,0.00,0.00,3.55,0.000,0.000,0.016,3232.06,3178.88,3285.25,1926.75,2237.81,0,0,0,30.00,30.00,15.96
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$GC,3576.31,161,-145.99,-0.88,0.00,3230.5,3177.6,3283.4,1903.9,2216.8,352.98,-6.99,380,3577.76,0.00,0.14,0.00,0.000,0.116,0.000,3229.22,3176.06,3282.38,1849.12,2215.69,0,0,0,30.00,15.97,30.00
$GC,3876.24,161,-145.99,-0.83,0.00,3230.7,3178.5,3282.9,1848.9,2215.6,379.03,-8.67,390,3877.70,0.00,0.14,0.00,0.000,0.234,0.000,3229.06,3176.69,3281.44,1886.81,2215.38,0,0,0,30.00,15.93,30.00
$GC,4176.09,32,-145.99,-0.83,0.00,3230.4,3177.9,3282.9,1886.7,2215.1,400.37,-7.07,400,4177.42,0.00,0.00,0.00,0.000,0.000,0.000,3229.72,3177.62,3281.81,1886.25,2215.31,0,0,0,30.00,30.00,30.00
$GC,4476.07,292,-145.99,-0.83,60.00,3230.4,3177.9,3282.8,1887.1,2214.8,421.59,-7.09,410,4482.05,0.00,0.00,3.77,0.000,0.000,0.055,3232.09,3179.50,3284.69,1872.44,3566.06,0,0,0,30.00,30.00,16.01
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$GC,5916.32,32,-145.99,-0.83,0.00,3231.3,3179.0,3283.6,1877.2,2217.9,528.00,-7.00,498,5917.66,0.00,0.00,0.00,0.000,0.000,0.000,3230.16,3178.44,3281.88,1876.31,2216.88,0,0,0,30.00,30.00,30.00
$GC,6216.35,32,-145.99,-0.83,0.00,3230.6,3178.5,3282.7,1876.9,2217.1,548.32,-6.71,508,6217.69,0.00,0.00,0.00,0.000,0.000,0.000,3230.25,3178.81,3281.69,1876.69,2217.75,0,0,0,30.00,30.00,30.00
$GC,6516.38,32,-145.99,-0.83,0.00,3230.4,3178.9,3281.9,1876.7,2217.4,568.46,-6.67,518,6517.71,0.00,0.00,0.00,0.000,0.000,0.000,3229.88,3178.12,3281.62,1876.69,2217.56,0,0,0,30.00,30.00,30.00
$GC,6816.52,292,-145.99,-0.83,60.00,3231.5,3179.6,3283.5,1876.8,2217.8,588.55,-6.64,528,6821.93,0.00,0.00,3.80,0.000,0.000,0.055,3231.97,3180.44,3283.50,1861.69,3568.12,0,0,0,30.00,30.00,15.94
$GC,6911.20,1060,-145.99,-0.83,0.00,3230.7,3179.1,3282.2,1861.1,3567.4,595.93,-7.93,547,6916.94,0.00,0.00,3.56,0.000,0.000,0.016,3231.25,3180.06,3282.44,1869.62,2242.12,0,0,0,30.00,30.00,15.94
$GC,7236.55,32,-145.99,-0.83,0.00,3231.1,3179.7,3282.4,1870.1,2217.9,619.17,-7.12,562,7237.88,0.00,0.00,0.00,0.000,0.000,0.000,3230.44,3179.50,3281.38,1870.12,2217.81,0,0,0,30.00,30.00,30.00
$GC,7536.40,32,-145.99,-0.83,0.00,3231.2,3180.1,3282.4,1870.4,2218.2,640.88,-7.24,572,7537.73,0.00,0.00,0.00,0.000,0.000,0.000,3231.19,3180.69,3281.69,1870.62,2217.81,0,0,0,30.00,30.00,30.00
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$MODEM_MSG,CACST,6,1,20190822041107.478179,18,16368,42,0147,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31
$GC,7836.61,32,-145.99,-0.83,0.00,3231.3,3180.3,3282.4,1870.0,2218.1,662.32,-7.29,582,7837.95,0.00,0.00,0.00,0.000,0.000,0.000,3230.91,3180.88,3280.94,1869.81,2217.88,0,0,0,30.00,30.00,30.00
$GC,8136.59,292,-145.99,-0.83,60.00,3231.1,3180.3,3281.9,1870.6,2216.9,683.59,-6.83,592,8142.20,0.00,0.00,3.78,0.000,0.000,0.055,3233.12,3182.56,3283.69,1854.50,3566.81,0,0,0,30.00,30.00,15.98
$GC,8236.32,1060,-145.99,-0.83,0.00,3231.7,3180.9,3282.4,1854.9,3566.1,691.77,-8.17,612,8242.03,0.00,0.00,3.56,0.000,0.000,0.017,3233.00,3181.56,3284.44,1867.50,2239.44,0,0,0,30.00,30.00,15.99
$GC,8556.63,32,-145.99,-0.83,0.00,3231.4,3180.6,3282.2,1867.9,2216.6,714.45,-6.92,626,8557.96,0.00,0.00,0.00,0.000,0.000,0.000,3230.84,3180.38,3281.31,1868.19,2216.50,0,0,0,30.00,30.00,30.00
$GC,8856.65,32,-145.99,-0.83,0.00,3231.6,3181.1,3282.1,1868.3,2216.9,732.68,-5.69,636,8857.99,0.00,0.00,0.00,0.000,0.000,0.000,3231.12,3180.56,3281.69,1868.25,2216.88,0,0,0,30.00,30.00,30.00
$GC,9156.64,32,-145.99,-0.83,0.00,3231.7,3181.0,3282.4,1868.0,2216.8,748.79,-8.90,646,9157.98,0.00,0.00,0.00,0.000,0.000,0.000,3230.81,3180.31,3281.31,1868.19,2216.81,0,0,0,30.00,30.00,30.00
$GC,9456.57,292,-145.99,-0.83,60.00,3231.8,3182.1,3281.6,1868.1,2216.2,771.18,-7.20,656,9462.44,0.00,0.00,3.76,0.000,0.000,0.055,3232.53,3182.06,3283.00,1852.69,3567.06,0,0,0,30.00,30.00,16.04
$GC,9551.91,1061,-145.99,-0.83,0.00,3231.8,3181.1,3282.5,1852.6,3566.8,779.60,-8.74,675,9557.24,0.00,0.08,3.53,0.000,0.251,0.015,3232.78,3182.38,3283.19,1888.19,2229.88,0,0,0,30.00,15.96,16.04
$GC,9876.65,128,-145.99,-0.88,0.00,3231.9,3181.6,3282.2,1888.9,2206.8,866.15,-49.91,690,9877.99,0.00,0.00,0.00,0.000,0.000,0.000,3231.47,3181.75,3281.19,1888.50,2206.69,0,0,0,30.00,30.00,30.00
$GC,10176.82,129,-145.99,-0.93,0.00,3231.8,3181.3,3282.2,1888.7,2206.2,889.33,-54.84,700,10178.28,0.00,0.13,0.00,0.000,0.119,0.000,3230.56,3179.62,3281.50,1834.62,2205.44,0,0,0,30.00,16.02,30.00
$GC,10476.86,161,-145.99,-0.88,0.00,3232.2,3182.1,3282.3,1834.5,2205.0,844.97,-8.19,710,10478.31,0.00,0.12,0.00,0.000,0.236,0.000,3230.72,3179.75,3281.69,1870.88,2205.00,0,0,0,30.00,15.99,30.00
$GC,10776.74,292,-145.99,-0.88,60.00,3232.0,3181.9,3282.1,1870.6,2205.4,933.84,-6.91,720,10782.32,0.00,0.00,3.80,0.000,0.000,0.055,3232.09,3181.81,3282.38,1855.81,3567.31,0,0,0,30.00,30.00,16.05
$GC,10901.56,1060,-145.99,-0.88,0.00,3232.6,3182.5,3282.7,1855.7,3566.4,955.85,-8.38,745,10907.34,0.00,0.00,3.53,0.000,0.000,0.016,3232.56,3182.69,3282.44,1869.56,2239.44,0,0,0,30.00,30.00,16.06
$GC,11226.76,32,-145.99,-0.88,0.00,3231.5,3181.6,3281.4,1869.5,2215.9,979.25,-7.24,760,11228.09,0.00,0.00,0.00,0.000,0.000,0.000,3231.25,3181.31,3281.19,1869.62,2215.56,0,0,0,30.00,30.00,30.00
$GC,11526.93,32,-145.99,-0.88,0.00,3231.9,3181.7,3282.2,1869.1,2215.5,988.16,-7.05,770,11528.27,0.00,0.00,0.00,0.000,0.000,0.000,3231.16,3181.81,3280.50,1869.62,2215.44,0,0,0,30.00,30.00,30.00
$STATE,11557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11557,begin apogee
$GC,11557.98,3,0.00,-0.14,0.00,3231.7,3182.0,3281.4,1869.6,2295.7,990.32,-7.14,771,11675.45,115.72,0.77,0.22,2.482,0.191,0.085,2633.00,2714.56,2551.44,2110.62,2161.56,0,0,0,12.85,15.99,15.18
$STATE,11676,end apogee,CONTROL_FINISHED_OK
$STATE,11676,begin climb
$GC,11676.58,3,145.99,0.90,0.00,2633.3,2714.7,2552.0,2109.8,2152.9,991.50,0.00,774,11801.84,122.56,1.05,0.00,2.378,0.118,0.000,2040.22,2219.31,1861.12,2447.00,2146.06,0,0,0,12.44,15.24,30.00
$GC,12098.99,130,145.99,0.84,-60.00,2026.6,2203.6,1849.6,2445.8,2145.8,945.63,12.09,794,12100.33,0.00,0.00,0.00,0.000,0.000,0.000,2026.16,2202.81,1849.50,2446.25,2146.38,0,0,0,30.00,30.00,30.00
$GC,12398.99,391,145.99,0.77,60.00,2023.9,2197.8,1849.9,2446.8,2145.8,909.68,11.96,804,12404.82,0.00,0.21,3.99,0.000,0.226,0.055,2024.91,2199.19,1850.62,2371.00,3535.62,0,0,0,30.00,15.58,15.64
$GC,12463.92,1159,145.99,0.82,0.00,2022.4,2194.9,1849.9,2371.0,3535.0,903.09,9.73,817,12469.75,0.00,0.09,3.62,0.000,0.125,0.016,2024.53,2196.81,1852.25,2428.12,2211.75,0,0,0,30.00,15.64,15.69
$GC,12789.13,130,145.99,0.79,0.00,2021.7,2193.6,1849.8,2426.9,2194.8,867.69,10.93,832,12790.47,0.00,0.00,0.00,0.000,0.000,0.000,2020.94,2192.56,1849.31,2426.94,2195.44,0,0,0,30.00,30.00,30.00
$GC,13089.03,391,145.99,0.76,60.00,2020.8,2191.6,1849.9,2427.1,2194.8,834.23,11.52,842,13094.86,0.00,0.15,3.83,0.000,0.229,0.055,2020.72,2191.44,1850.00,2368.31,3538.69,0,0,0,30.00,15.77,15.82
$GC,13128.99,1159,145.99,0.81,0.00,2019.8,2189.9,1849.8,2368.3,3537.8,829.58,12.17,850,13134.80,0.00,0.08,3.60,0.000,0.133,0.018,2019.97,2190.44,1849.50,2423.56,2212.50,0,0,0,30.00,15.80,15.83
$GC,13448.99,2,145.99,0.81,0.00,2019.5,2189.2,1849.8,2424.1,2195.2,738.46,47.47,864,13450.32,0.00,0.00,0.00,0.000,0.000,0.000,2018.75,2188.75,1848.75,2423.75,2194.25,0,0,0,30.00,30.00,30.00
$GC,13749.02,262,145.99,0.81,60.00,2018.9,2188.4,1849.4,2424.1,2194.3,708.13,10.39,874,13754.86,0.00,0.00,3.81,0.000,0.000,0.056,2020.38,2189.62,1851.12,2414.62,3538.25,0,0,0,30.00,30.00,15.92
$GC,13794.06,1158,145.99,0.76,0.00,2018.1,2186.5,1849.6,2414.7,3538.2,703.35,10.89,883,13799.81,0.00,0.00,3.58,0.000,0.000,0.017,2019.78,2188.38,1851.19,2428.75,2215.19,0,0,0,30.00,30.00,15.91
$GC,14108.97,131,145.99,0.73,0.00,2018.6,2187.3,1849.9,2429.3,2208.1,670.88,46.80,896,14110.42,0.00,0.18,0.00,0.000,0.229,0.000,2017.09,2185.88,1848.31,2375.44,2192.56,0,0,0,30.00,15.87,30.00
$GC,14409.21,390,145.99,0.79,60.00,2018.1,2186.4,1849.8,2375.6,2192.4,645.50,49.23,906,14414.89,0.00,0.00,3.78,0.000,0.000,0.055,2019.62,2187.94,1851.31,2359.94,3536.50,0,0,0,30.00,30.00,15.96
$GC,14454.21,1159,145.99,0.88,0.00,2017.7,2185.5,1849.9,2360.4,3536.6,641.26,222.87,915,14459.94,0.00,0.17,3.57,0.000,0.097,0.018,2020.03,2187.31,1852.75,2447.94,2210.88,0,0,0,30.00,15.93,15.98
$GC,14769.07,131,145.99,0.82,0.00,2017.6,2185.2,1850.1,2447.8,2194.9,607.26,50.41,928,14770.52,0.00,0.16,0.00,0.000,0.227,0.000,2016.69,2185.00,1848.38,2403.38,2187.31,0,0,0,30.00,15.91,30.00
$GC,15069.09,294,157.49,0.85,60.00,2017.4,2185.2,1849.6,2403.5,2187.2,580.46,8.67,938,15082.12,7.86,0.00,3.80,1.558,0.000,0.058,1992.16,2156.81,1827.50,2384.62,3536.12,0,0,0,12.90,30.00,15.87
$GC,15118.96,1157,157.49,0.89,0.00,1992.1,2156.9,1827.3,2387.3,3537.2,575.40,146.18,948,15125.11,0.00,0.09,3.58,0.000,0.120,0.018,1993.91,2158.62,1829.19,2447.88,2210.06,0,0,0,30.00,15.92,15.95
$GC,15424.33,128,157.49,0.84,0.00,1991.5,2156.0,1827.0,2449.0,2195.0,543.09,10.55,959,15425.67,0.00,0.00,0.00,0.000,0.000,0.000,1990.66,2155.31,1826.00,2448.12,2195.06,0,0,0,30.00,30.00,30.00
$GC,15724.36,389,157.49,0.79,60.00,1991.2,2155.2,1827.2,2447.8,2195.2,511.64,44.88,969,15730.13,0.00,0.19,3.80,0.000,0.220,0.056,1991.03,2155.06,1827.00,2378.38,3538.25,0,0,0,30.00,15.92,15.97
$GC,15759.01,1028,157.49,0.79,0.00,1990.7,2154.3,1827.1,2378.2,3538.5,508.19,9.85,976,15765.04,0.00,0.00,3.57,0.000,0.000,0.017,1992.06,2155.56,1828.56,2393.56,2215.81,0,0,0,30.00,30.00,16.00
$GC,16084.42,163,174.04,0.89,0.00,1990.4,2154.2,1826.7,2393.6,2210.2,480.62,8.45,991,16101.22,15.70,0.12,0.00,1.742,0.111,0.000,1925.97,2090.94,1761.00,2449.69,2192.06,0,0,0,12.89,15.96,30.00
$GC,16384.40,260,174.04,0.89,60.00,1921.7,2084.5,1758.9,2450.2,2192.1,448.97,10.62,1001,16390.13,0.00,0.00,3.79,0.000,0.000,0.057,1922.22,2084.88,1759.56,2440.19,3535.12,0,0,0,30.00,30.00,15.93
$GC,16409.08,1156,174.04,0.84,0.00,1920.8,2082.8,1758.9,2440.0,3535.1,446.16,10.70,1006,16415.21,0.00,0.00,3.57,0.000,0.000,0.017,1922.09,2084.19,1760.00,2455.50,2218.31,0,0,0,30.00,30.00,15.94
$GC,16714.40,129,174.04,0.81,0.00,1921.0,2083.0,1759.0,2455.3,2210.2,413.47,10.65,1017,16715.85,0.00,0.19,0.00,0.000,0.222,0.000,1920.53,2082.31,1758.75,2397.94,2197.25,0,0,0,30.00,15.88,30.00
$GC,17014.43,423,192.89,0.93,60.00,1920.2,2081.9,1758.4,2398.2,2196.8,388.25,8.36,1027,17037.39,16.78,0.15,3.79,1.650,0.102,0.057,1846.78,2011.00,1682.56,2451.25,3535.06,0,0,0,12.87,15.94,15.81
$GC,17069.46,1156,192.89,0.88,0.00,1846.9,2009.8,1684.1,2451.9,3534.9,382.40,11.53,1038,17075.26,0.00,0.00,3.58,0.000,0.000,0.017,1848.50,2010.56,1686.44,2466.69,2217.62,0,0,0,30.00,30.00,15.89
$GC,17399.50,129,192.89,0.85,0.00,1845.1,2006.9,1683.2,2466.8,2210.6,345.92,10.98,1054,17400.96,0.00,0.19,0.00,0.000,0.222,0.000,1844.56,2006.62,1682.50,2412.19,2198.06,0,0,0,30.00,15.85,30.00
$GC,17699.47,423,204.90,0.95,60.00,1844.2,2005.9,1682.4,2412.4,2198.1,319.63,8.65,1064,17716.75,11.52,0.14,3.80,1.478,0.110,0.059,1800.88,1963.75,1638.00,2456.94,3537.56,0,0,0,12.87,15.93,15.81
$GC,17739.32,1156,204.90,0.92,0.00,1798.1,1959.7,1636.4,2457.5,3538.3,315.41,10.76,1072,17745.35,0.00,0.00,3.60,0.000,0.000,0.018,1797.72,1960.06,1635.38,2472.12,2217.31,0,0,0,30.00,30.00,15.90
$GC,18054.71,0,204.90,0.92,0.00,1796.4,1957.7,1635.1,2472.8,2210.7,280.52,11.17,1085,18056.04,0.00,0.00,0.00,0.000,0.000,0.000,1795.84,1957.12,1634.56,2472.88,2210.56,0,0,0,30.00,30.00,30.00
$GC,18354.68,260,204.90,0.92,60.00,1796.0,1956.5,1635.5,2472.4,2210.2,249.02,10.19,1095,18360.43,0.00,0.00,3.78,0.000,0.000,0.056,1795.91,1956.12,1635.69,2461.88,3536.75,0,0,0,30.00,30.00,15.95
$GC,18379.63,1028,204.90,0.92,0.00,1794.6,1953.8,1635.3,2460.9,3536.4,246.41,10.18,1100,18385.50,0.00,0.00,3.57,0.000,0.000,0.018,1796.06,1955.38,1636.75,2476.75,2216.56,0,0,0,30.00,30.00,15.96
$GC,18564.68,1,204.90,0.92,0.00,1794.8,1953.9,1635.6,2476.9,2209.3,228.51,9.28,1119,18566.13,0.00,0.14,0.00,0.000,0.228,0.000,1794.34,1953.62,1635.06,2434.88,2197.50,0,0,0,30.00,15.87,30.00
$GC,18744.83,163,250.71,1.15,0.00,1794.8,1953.8,1635.8,2434.6,2197.9,214.68,7.20,1137,18782.63,36.60,0.25,0.00,1.526,0.088,0.000,1612.22,1774.56,1449.88,2536.12,2193.00,0,0,0,12.91,15.93,30.00
$GC,18954.84,0,250.71,1.15,0.00,1607.2,1768.1,1446.4,2535.8,2193.2,194.16,9.72,1158,18956.17,0.00,0.00,0.00,0.000,0.000,0.000,1606.94,1767.56,1446.31,2536.31,2192.88,0,0,0,30.00,30.00,30.00
$GC,19134.75,34,263.35,1.19,0.00,1606.2,1766.7,1445.6,2535.9,2193.0,178.01,8.62,1176,19147.11,11.14,0.00,0.00,1.313,0.000,0.000,1562.62,1725.50,1399.75,2535.56,2193.25,0,0,0,12.81,30.00,30.00
$GC,19324.82,423,292.40,1.31,60.00,1558.5,1720.7,1396.4,2535.5,2192.8,162.72,7.92,1195,19356.27,24.27,0.10,3.84,1.420,0.124,0.057,1442.66,1607.19,1278.12,2570.69,3536.31,0,0,0,12.77,15.78,15.65
$GC,19384.84,1156,292.40,1.28,0.00,1441.6,1605.0,1278.1,2571.8,3536.6,156.93,10.17,1207,19390.58,0.00,0.00,3.62,0.000,0.000,0.018,1443.12,1606.75,1279.50,2586.75,2216.75,0,0,0,30.00,30.00,15.71
$GC,19574.78,0,292.40,1.28,0.00,1438.4,1601.6,1275.2,2586.4,2209.8,139.13,9.32,1227,19576.12,0.00,0.00,0.00,0.000,0.000,0.000,1437.56,1600.81,1274.31,2586.38,2209.56,0,0,0,30.00,30.00,30.00
$GC,19755.61,34,305.18,1.31,0.00,1437.4,1600.5,1274.3,2586.2,2210.5,123.38,8.62,1245,19767.89,11.60,0.00,0.00,1.278,0.000,0.000,1391.19,1557.44,1224.94,2586.44,2210.38,0,0,0,12.77,30.00,30.00
$GC,19945.70,34,333.07,1.40,0.00,1388.2,1553.8,1222.6,2587.0,2210.7,107.59,7.97,1264,19970.26,23.42,0.00,0.00,1.360,0.000,0.000,1277.53,1446.94,1108.12,2585.81,2210.44,0,0,0,12.66,30.00,30.00
$GC,20145.71,163,361.23,1.55,0.00,1272.9,1441.2,1104.6,2586.6,2210.0,91.49,7.95,1284,20170.36,23.08,0.18,0.00,1.329,0.092,0.000,1163.91,1335.88,991.94,2658.25,2206.94,0,0,0,12.64,15.67,30.00
$GC,20345.76,0,361.23,1.55,0.00,1158.7,1330.2,987.2,2659.0,2207.6,72.02,9.56,1304,20347.10,0.00,0.00,0.00,0.000,0.000,0.000,1158.53,1330.19,986.88,2658.44,2206.81,0,0,0,30.00,30.00,30.00
$GC,20525.62,294,376.16,1.59,60.00,1158.0,1329.3,986.7,2658.4,2207.1,55.68,8.52,1322,20546.77,13.27,0.00,3.88,1.238,0.000,0.058,1102.00,1275.50,928.50,2650.44,3536.12,0,0,0,12.73,30.00,15.58
$GC,20770.81,1191,429.82,1.81,0.00,1099.3,1270.6,928.1,2651.9,3535.9,36.15,6.86,1370,20819.50,42.70,0.19,3.63,1.296,0.094,0.018,883.75,1063.69,703.81,2744.81,2205.88,0,0,0,12.64,15.64,15.68
$GC,21001.70,679,474.34,2.00,-60.00,878.7,1059.6,697.8,2744.9,2205.3,18.35,7.25,1398,21043.32,36.10,0.14,3.65,1.248,0.110,0.062,702.84,892.38,513.31,2820.38,963.62,0,0,0,12.66,15.57,15.40
$FREEZE,9.92,4.355,-1.550,0,1,0
$FREEZE,9.67,4.347,-1.550,0,1,0
$FREEZE,9.47,4.347,-1.550,0,1,0
$FREEZE,9.25,4.340,-1.550,0,1,0
$FREEZE,9.03,4.340,-1.550,0,1,0
$FREEZE,8.84,4.338,-1.550,0,1,0
$FREEZE,8.59,4.338,-1.550,0,1,0
$FREEZE,8.43,4.336,-1.550,0,1,0
$FREEZE,8.22,4.336,-1.550,0,1,0
$FREEZE,8.01,4.311,-1.550,0,1,0
$FREEZE,7.82,4.311,-1.550,0,1,0
$FREEZE,7.57,4.303,-1.549,0,1,0
$FREEZE,7.38,4.303,-1.549,0,1,0
$FREEZE,7.16,4.302,-1.549,0,1,0
$FREEZE,6.97,4.302,-1.549,0,1,0
$FREEZE,6.82,4.298,-1.548,0,1,0
$FREEZE,6.54,4.298,-1.548,0,1,0
$FREEZE,6.32,4.298,-1.548,0,1,0
$FREEZE,6.18,4.298,-1.548,0,1,0
$FREEZE,5.94,4.300,-1.547,0,1,0
$FREEZE,5.73,4.300,-1.547,0,1,0
$FREEZE,5.52,4.301,-1.547,0,1,0
$FREEZE,5.28,4.301,-1.547,0,1,0
$FREEZE,5.06,4.301,-1.546,0,1,0
$FREEZE,4.86,4.301,-1.546,0,1,0
$FREEZE,4.60,4.299,-1.546,0,1,0
$FREEZE,4.42,4.299,-1.546,0,1,0
$FREEZE,4.17,4.267,-1.546,0,1,0
$FREEZE,3.87,4.267,-1.546,0,1,0
$FREEZE,3.56,4.274,-1.545,0,1,0
$FREEZE,3.24,4.274,-1.545,0,1,0
$FREEZE,2.95,4.259,-1.544,0,1,0
$FREEZE,2.58,4.259,-1.544,0,1,0
$GC,21266.58,1191,588.57,2.39,0.00,696.7,887.9,505.6,2820.9,963.8,4.42,4.25,1451,21303.37,30.91,0.29,3.68,1.219,0.088,0.021,550.81,746.69,354.94,2931.88,2283.38,0,0,0,12.57,15.55,15.58
$FREEZE,1.54,4.340,-1.541,0,1,0
$STATE,21312,end climb,SURFACE_DEPTH_REACHED
$STATE,21312,begin surface coast
$FREEZE,0.76,4.257,-1.541,0,1,0
$FREEZE,-0.07,4.222,-1.539,0,1,0
$FREEZE,-0.95,4.224,-1.538,0,1,0
$FINISH,-0.9,1.022392
$STATE,21342,end surface coast,CONTROL_FINISHED_OK
$STATE,21342,begin surface
$SM_CCo,21415.49,0.00,0.000,0,546.9,741.6,352.1,512.46
$SM_GC,-2.07,0.00,8.92,0.11,0.000,0.144,0.058,546.9,741.6,352.1,146.1,2210.7,0,0,0,30.00,15.41,15.50
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,7337.52,-14741.09,210819,201120
$TCM_TEMP,198.86
$XPDR_PINGS,151
$SC_FREEKB,3796256
$RAFOS_CLK,0
$MODEM,2,1566447067,74.08163,-144.87579,67.478,98855.5
$MODEM,0,1566446456,73.00043,-148.33627,56.981,83476.5
$RAFOS_FIX,7343.165039,-14750.875977,220819,040407,2,510,0.76
$HUMID,55.57
$TEMP,0.79
$INTERNAL_PRESSURE,8.47564
$24V_AH,14.30,32.577
$10V_AH,14.78,0.000
$FG_AHR_24Vo,14.702
$FG_AHR_10Vo,6.710
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,648.660,24.200,198.645,252.077,37.750,16.974,3869.094,17890.846,1568.223,4415.000,0.000,0.000
$DEVICE_MAMPS,2481.728,401.552,85.360,192.694,420.000,11.790,11.520,2.310,5.000,48.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21361.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.760,0.000,0.000,0.000
$MEM,1154888,30,24280,67
$DATA_FILE_SIZE,44937,1462
$CAP_FILE_SIZE,372363,0
$SDSIZE,3918848,3890848
$SDFILEDIR,414,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.021, 65.9,1
$GPS,220819,082930,7344.948,-14740.884,90,0.9,90,17.4