version: 67.00
glider: 231
mission: 5
dive: 70
start: 8 26 121 13 48 35
data:
$ID,231
$MISSION,5
$DIVE,70
$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,50.037971
$FG_AHR_24V,64.541313
$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
$GPS1,260821,133510,7242.508,-15614.193,80,0.9,81,12.6
$_CALLS,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.2
$GPS2,260821,134807,7242.711,-15614.550,3,0.8,6,12.6
$SPEED_LIMITS,0.147,0.183
$TGT_NAME,HEADING
$TGT_LATLONG,7235.769,-15642.208
$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,217.4,20000,-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,1311.51,1028,-116.79,-0.96,0.00,3174.7,3321.5,3027.9,2263.6,3753.6,205.87,-11.25,179,1318.93,0.00,0.00,4.76,0.000,0.000,0.047,3175.69,3322.56,3028.81,2266.88,2029.88,0,0,0,30.00,30.00,15.84
$GC,1502.32,516,-116.79,-0.96,-80.00,3174.1,3320.8,3027.3,2269.8,2029.7,223.30,-8.61,199,1509.79,0.00,0.00,4.89,0.000,0.000,0.093,3173.41,3320.12,3026.69,2278.19,344.25,0,0,0,30.00,30.00,15.83
$GC,1568.19,1028,-116.79,-0.96,0.00,3173.8,3320.0,3027.6,2278.0,344.4,230.71,-11.85,212,1575.63,0.00,0.00,4.72,0.000,0.000,0.044,3173.69,3319.44,3027.94,2262.69,2067.25,0,0,0,30.00,30.00,15.86
$GC,1763.20,516,-116.79,-0.96,-80.00,3174.0,3320.0,3028.1,2262.5,2068.2,247.88,-8.72,232,1773.99,0.00,0.00,5.07,0.000,0.000,0.093,3174.62,3320.56,3028.69,2267.69,344.56,0,0,0,30.00,30.00,15.83
$GC,1847.74,1028,-116.79,-0.96,0.00,3172.9,3318.4,3027.4,2266.9,344.6,256.73,-10.88,249,1855.14,0.00,0.00,4.72,0.000,0.000,0.044,3174.53,3319.88,3029.19,2248.06,2070.69,0,0,0,30.00,30.00,15.88
$GC,2178.52,2049,-116.79,-0.96,0.00,3173.2,3318.6,3027.9,2249.8,2070.1,285.33,-8.72,265,2181.17,0.00,0.12,0.00,0.000,0.285,0.000,3172.28,3317.69,3026.88,2284.44,2071.75,0,0,0,30.00,15.82,30.00
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$GC,3545.55,0,-116.79,-0.96,0.00,3172.7,3317.1,3028.2,2254.7,2029.7,393.94,-8.15,328,3548.08,0.00,0.00,0.00,0.000,0.000,0.000,3171.59,3316.44,3026.75,2255.44,2030.31,0,0,0,30.00,30.00,30.00
$GC,3875.56,260,-116.79,-0.96,80.00,3172.8,3317.0,3028.7,2255.1,2029.6,421.03,-8.31,339,3885.88,0.00,0.00,5.05,0.000,0.000,0.098,3172.69,3315.88,3029.50,2233.31,3753.44,0,0,0,30.00,30.00,15.98
$GC,3950.11,3077,-116.79,-0.96,0.00,3171.7,3315.5,3027.9,2233.6,3753.9,428.30,-9.91,354,3958.10,0.00,0.18,4.74,0.000,0.261,0.047,3172.44,3316.38,3028.50,2283.75,2031.12,0,0,0,30.00,15.91,16.01
$GC,4261.47,0,-116.79,-0.96,0.00,3172.2,3316.3,3028.1,2285.1,2031.6,452.27,-7.54,366,4264.00,0.00,0.00,0.00,0.000,0.000,0.000,3171.50,3315.56,3027.44,2285.81,2031.75,0,0,0,30.00,30.00,30.00
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$GC,6113.30,1028,-116.79,-0.96,0.00,3171.7,3315.6,3027.8,2263.8,3753.7,598.73,-8.49,471,6120.77,0.00,0.00,4.72,0.000,0.000,0.048,3172.53,3315.69,3029.38,2265.50,2030.88,0,0,0,30.00,30.00,16.04
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$GC,7125.07,260,-116.79,-0.96,80.00,3171.9,3315.7,3028.2,2286.5,2031.2,670.56,-6.74,518,7135.39,0.00,0.00,5.01,0.000,0.000,0.097,3171.81,3316.25,3027.38,2264.75,3753.19,0,0,0,30.00,30.00,16.05
$GC,7194.60,1028,-116.79,-0.96,0.00,3171.9,3315.7,3028.1,2264.5,3752.6,676.22,-8.26,532,7202.54,0.00,0.00,4.72,0.000,0.000,0.048,3171.34,3314.69,3028.00,2267.81,2033.94,0,0,0,30.00,30.00,16.07
$GC,7510.92,0,-116.79,-0.96,0.00,3172.6,3316.4,3028.8,2267.9,2033.8,698.18,-6.85,545,7513.45,0.00,0.00,0.00,0.000,0.000,0.000,3171.69,3316.12,3027.25,2267.38,2033.06,0,0,0,30.00,30.00,30.00
$GC,7840.94,260,-116.79,-0.96,80.00,3172.1,3315.8,3028.4,2267.8,2032.8,720.13,-6.60,556,7851.23,0.00,0.00,5.00,0.000,0.000,0.096,3173.34,3315.75,3030.94,2245.12,3752.00,0,0,0,30.00,30.00,16.06
$GC,7915.48,3077,-116.79,-0.96,0.00,3171.8,3315.4,3028.1,2246.1,3753.2,726.07,-8.16,571,7923.48,0.00,0.12,4.72,0.000,0.257,0.048,3173.94,3317.69,3030.19,2284.38,2031.19,0,0,0,30.00,15.99,16.07
$GC,8226.86,32,-116.79,-0.96,0.00,3172.4,3316.4,3028.4,2285.0,2030.9,745.79,-6.28,583,8229.39,0.00,0.00,0.00,0.000,0.000,0.000,3171.19,3315.31,3027.06,2285.38,2030.88,0,0,0,30.00,30.00,30.00
$GC,8556.88,292,-116.79,-0.96,80.00,3171.9,3315.4,3028.4,2285.8,2031.2,766.28,-6.16,594,8567.17,0.00,0.00,5.01,0.000,0.000,0.097,3171.94,3315.88,3028.00,2263.31,3753.38,0,0,0,30.00,30.00,16.06
$GC,8616.86,1028,-116.79,-0.96,0.00,3172.0,3315.4,3028.6,2264.1,3753.8,770.69,-7.49,606,8624.33,0.00,0.00,4.72,0.000,0.000,0.047,3172.25,3316.25,3028.25,2265.94,2032.25,0,0,0,30.00,30.00,16.08
$NAV,1629994447,778.4,start
$GC,8942.70,260,-116.79,-0.96,80.00,3171.7,3315.7,3027.7,2266.1,2032.4,792.32,-6.61,621,8953.02,0.00,0.00,5.02,0.000,0.000,0.095,3173.12,3316.44,3029.81,2244.31,3752.94,0,0,0,30.00,30.00,16.03
$GC,8972.69,3077,-116.79,-0.96,0.00,3171.5,3315.3,3027.6,2245.1,3752.1,794.60,-6.66,627,8980.22,0.00,0.13,4.73,0.000,0.255,0.047,3171.03,3314.62,3027.44,2286.81,2031.06,0,0,0,30.00,15.96,16.04
$NAV,1629994832,803.7,0,stop
$GC,9298.64,32,-116.79,-0.96,0.00,3172.2,3316.0,3028.3,2287.1,2030.8,814.52,-6.01,642,9301.17,0.00,0.00,0.00,0.000,0.000,0.000,3171.44,3315.56,3027.31,2287.25,2031.50,0,0,0,30.00,30.00,30.00
$GC,9628.63,292,-116.79,-0.96,80.00,3171.7,3315.4,3028.0,2287.0,2030.8,834.49,-6.01,653,9638.92,0.00,0.00,5.01,0.000,0.000,0.097,3173.19,3317.81,3028.56,2265.19,3754.31,0,0,0,30.00,30.00,16.04
$GC,9718.61,1028,-116.79,-0.96,0.00,3172.1,3315.8,3028.4,2264.2,3753.9,841.08,-7.54,671,9726.08,0.00,0.00,4.72,0.000,0.000,0.047,3171.84,3315.19,3028.50,2265.69,2031.94,0,0,0,30.00,30.00,16.06
$GC,10044.46,0,-116.79,-0.96,0.00,3172.2,3316.2,3028.1,2265.8,2032.9,862.89,-6.67,686,10046.99,0.00,0.00,0.00,0.000,0.000,0.000,3171.06,3315.50,3026.62,2265.81,2031.88,0,0,0,30.00,30.00,30.00
$GC,10374.48,260,-116.79,-0.96,80.00,3172.0,3315.6,3028.4,2265.4,2032.8,884.94,-6.74,697,10384.81,0.00,0.00,5.02,0.000,0.000,0.097,3171.66,3316.00,3027.31,2245.06,3755.00,0,0,0,30.00,30.00,16.05
$GC,10414.01,3077,-116.79,-0.96,0.00,3171.8,3316.1,3027.6,2245.2,3754.5,888.07,-6.96,705,10422.03,0.00,0.14,4.72,0.000,0.250,0.045,3171.12,3315.50,3026.75,2285.00,2029.69,0,0,0,30.00,15.98,16.07
$GC,10730.45,292,-116.79,-0.96,80.00,3171.6,3315.4,3027.9,2285.2,2029.4,908.29,-6.26,718,10740.75,0.00,0.00,5.01,0.000,0.000,0.096,3172.84,3315.56,3030.12,2263.88,3753.62,0,0,0,30.00,30.00,16.05
$GC,10779.97,1028,-116.79,-0.96,0.00,3172.6,3315.2,3030.0,2263.4,3753.1,911.90,-7.21,728,10787.91,0.00,0.00,4.72,0.000,0.000,0.046,3172.22,3315.75,3028.69,2265.88,2032.44,0,0,0,30.00,30.00,16.07
$GC,11115.48,32,-116.79,-0.96,0.00,3171.6,3315.2,3028.1,2267.4,2032.3,932.64,-6.06,740,11118.01,0.00,0.00,0.00,0.000,0.000,0.000,3171.09,3315.81,3026.38,2267.38,2032.06,0,0,0,30.00,30.00,30.00
$GC,11445.50,292,-116.79,-0.96,80.00,3171.8,3315.6,3027.9,2267.4,2031.6,952.09,-5.77,751,11455.79,0.00,0.00,5.00,0.000,0.000,0.096,3173.56,3318.44,3028.69,2246.38,3752.81,0,0,0,30.00,30.00,16.06
$GC,11525.02,3077,-116.79,-0.96,0.00,3172.2,3315.7,3028.8,2246.1,3752.2,957.64,-7.09,767,11533.02,0.00,0.12,4.72,0.000,0.251,0.048,3171.41,3315.50,3027.31,2284.81,2032.56,0,0,0,30.00,16.01,16.06
$GC,11860.53,292,-116.79,-0.96,80.00,3171.8,3315.5,3028.1,2285.1,2032.1,975.08,-4.99,779,11870.84,0.00,0.00,5.01,0.000,0.000,0.096,3173.16,3316.44,3029.88,2262.06,3753.31,0,0,0,30.00,30.00,16.07
$GC,11910.06,1060,-116.79,-0.96,0.00,3171.8,3315.3,3028.3,2263.6,3754.6,978.12,-5.19,789,11917.99,0.00,0.00,4.71,0.000,0.000,0.046,3172.00,3317.31,3026.69,2266.69,2033.19,0,0,0,30.00,30.00,16.09
$STATE,12124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12124,begin apogee
$GC,12129.38,10243,0.00,-0.17,0.00,3171.8,3315.2,3028.2,2263.8,2367.0,990.19,-5.61,797,12244.39,110.96,0.90,0.12,2.474,0.212,0.161,2689.47,2788.94,2590.00,2536.19,2317.44,0,0,0,12.98,16.00,15.18
$WARN,HSCICON missed fuel gauge read
$STATE,12253,end apogee,CONTROL_FINISHED_OK
$STATE,12253,begin climb
$GC,12254.40,10243,116.79,0.96,0.00,2685.8,2785.6,2586.0,2537.7,2317.2,990.98,0.00,800,12366.11,107.28,1.13,0.00,2.436,0.123,0.000,2210.50,2264.25,2156.75,2903.12,2316.44,0,0,0,12.44,15.26,30.00
$GC,12674.48,16386,116.79,0.96,-80.00,2197.7,2262.2,2133.2,2903.2,2317.0,940.14,13.30,829,12677.01,0.00,0.00,0.00,0.000,0.000,0.000,2196.66,2261.00,2132.31,2902.75,2316.94,0,0,0,30.00,30.00,30.00
$GC,13004.50,16386,116.79,0.96,-80.00,2195.1,2262.2,2127.9,2902.9,2316.9,897.21,12.92,840,13007.03,0.00,0.00,0.00,0.000,0.000,0.000,2194.06,2261.44,2126.69,2903.00,2317.31,0,0,0,30.00,30.00,30.00
$GC,13334.52,16646,116.79,0.96,80.00,2194.2,2263.1,2125.2,2902.8,2316.9,855.22,12.82,851,13342.02,0.00,0.00,4.99,0.000,0.000,0.118,2194.56,2263.88,2125.25,2902.81,3949.50,0,0,0,30.00,30.00,15.73
$GC,13364.90,17414,116.79,0.96,0.00,2193.8,2262.8,2124.7,2902.6,3949.6,850.61,15.26,857,13372.82,0.00,0.00,4.49,0.000,0.000,0.045,2192.25,2262.50,2122.00,2923.94,2331.06,0,0,0,30.00,30.00,15.76
$GC,13686.18,16386,116.79,0.96,0.00,2193.3,2264.4,2122.3,2923.7,2330.9,806.43,13.55,871,13688.71,0.00,0.00,0.00,0.000,0.000,0.000,2192.16,2262.62,2121.69,2923.56,2330.94,0,0,0,30.00,30.00,30.00
$GC,14016.21,16646,116.79,0.96,80.00,2192.1,2263.8,2120.4,2924.5,2330.8,762.70,13.04,882,14023.70,0.00,0.00,4.93,0.000,0.000,0.120,2190.62,2262.00,2119.25,2923.56,3950.94,0,0,0,30.00,30.00,15.85
$GC,14066.59,17414,116.79,0.96,0.00,2192.1,2263.6,2120.6,2923.8,3950.6,754.78,16.33,892,14073.95,0.00,0.00,4.45,0.000,0.000,0.045,2190.44,2261.88,2119.00,2944.62,2329.00,0,0,0,30.00,30.00,15.87
$GC,14397.32,20483,116.79,0.96,0.00,2191.6,2264.6,2118.6,2944.3,2329.1,709.04,13.59,908,14399.97,0.00,0.19,0.00,0.000,0.243,0.000,2192.69,2265.88,2119.50,2888.69,2328.38,0,0,0,30.00,15.82,30.00
$GC,14727.36,16646,116.79,0.96,80.00,2190.9,2264.2,2117.6,2887.4,2328.6,671.66,11.25,919,14734.84,0.00,0.00,4.91,0.000,0.000,0.119,2191.34,2265.00,2117.69,2886.81,3949.38,0,0,0,30.00,30.00,15.91
$GC,14767.72,17414,116.79,0.96,0.00,2191.0,2264.6,2117.4,2887.6,3949.3,666.06,14.35,927,14774.61,0.00,0.00,4.45,0.000,0.000,0.044,2191.69,2265.56,2117.81,2909.25,2329.00,0,0,0,30.00,30.00,15.94
$GC,15078.22,16386,116.79,0.96,0.00,2191.2,2265.8,2116.6,2908.8,2329.6,627.71,12.20,939,15080.75,0.00,0.00,0.00,0.000,0.000,0.000,2190.16,2265.00,2115.31,2908.88,2328.62,0,0,0,30.00,30.00,30.00
$GC,15408.24,16646,116.79,0.96,80.00,2190.7,2265.8,2115.6,2909.2,2329.9,587.25,12.29,950,15415.73,0.00,0.00,4.90,0.000,0.000,0.120,2191.34,2265.88,2116.81,2908.56,3949.62,0,0,0,30.00,30.00,15.95
$GC,15428.64,17414,116.79,0.96,0.00,2190.5,2265.8,2115.2,2907.8,3949.4,584.40,12.37,954,15435.97,0.00,0.00,4.42,0.000,0.000,0.045,2191.62,2266.75,2116.50,2928.81,2329.62,0,0,0,30.00,30.00,15.98
$GC,15759.35,20483,116.79,0.96,0.00,2190.5,2266.2,2114.7,2929.6,2329.8,541.28,12.82,970,15762.00,0.00,0.13,0.00,0.000,0.243,0.000,2189.16,2265.06,2113.25,2889.06,2329.62,0,0,0,30.00,15.92,30.00
$GC,16089.37,16646,116.79,0.96,80.00,2190.3,2266.8,2113.9,2889.2,2329.8,504.34,11.02,981,16096.84,0.00,0.00,4.89,0.000,0.000,0.121,2190.75,2266.56,2114.94,2887.94,3951.06,0,0,0,30.00,30.00,15.99
$GC,16139.73,17414,116.79,0.96,0.00,2190.1,2265.7,2114.4,2888.9,3951.2,497.54,13.98,991,16147.10,0.00,0.00,4.44,0.000,0.000,0.046,2189.44,2266.06,2112.81,2909.69,2330.81,0,0,0,30.00,30.00,16.01
$GC,16470.51,16386,116.79,0.96,0.00,2189.7,2266.6,2112.8,2909.8,2330.6,457.94,11.87,1007,16473.04,0.00,0.00,0.00,0.000,0.000,0.000,2188.75,2265.94,2111.56,2910.00,2331.06,0,0,0,30.00,30.00,30.00
$GC,16800.50,16386,116.79,0.96,0.00,2190.0,2266.8,2113.3,2909.4,2330.9,419.03,11.68,1018,16803.03,0.00,0.00,0.00,0.000,0.000,0.000,2189.16,2266.25,2112.06,2910.44,2330.50,0,0,0,30.00,30.00,30.00
$GC,17130.53,16646,116.79,0.96,80.00,2189.8,2267.1,2112.6,2909.6,2330.8,381.05,11.53,1029,17138.00,0.00,0.00,4.89,0.000,0.000,0.124,2189.78,2267.62,2111.94,2909.12,3949.88,0,0,0,30.00,30.00,16.01
$GC,17175.88,17414,116.79,0.96,0.00,2189.7,2266.4,2113.0,2910.3,3949.7,374.64,14.56,1038,17182.78,0.00,0.00,4.41,0.000,0.000,0.046,2189.53,2266.25,2112.81,2930.25,2329.12,0,0,0,30.00,30.00,16.03
$GC,17511.37,20483,116.79,0.96,0.00,2189.7,2267.3,2112.1,2931.2,2329.3,333.48,11.81,1050,17514.03,0.00,0.14,0.00,0.000,0.234,0.000,2187.88,2265.06,2110.69,2888.44,2329.75,0,0,0,30.00,15.97,30.00
$GC,17841.42,16386,116.79,0.96,0.00,2189.4,2267.1,2111.6,2888.6,2329.6,300.79,9.55,1061,17843.95,0.00,0.00,0.00,0.000,0.000,0.000,2188.56,2266.94,2110.19,2888.62,2329.38,0,0,0,30.00,30.00,30.00
$GC,18171.42,16646,116.79,0.96,80.00,2189.8,2267.8,2111.8,2889.0,2329.4,268.61,9.81,1072,18178.90,0.00,0.00,4.89,0.000,0.000,0.123,2187.94,2266.06,2109.81,2889.38,3949.31,0,0,0,30.00,30.00,16.02
$GC,18216.78,17414,116.79,0.96,0.00,2189.8,2267.9,2111.8,2888.6,3949.2,263.09,12.58,1081,18223.68,0.00,0.00,4.43,0.000,0.000,0.045,2189.16,2266.94,2111.38,2909.44,2328.25,0,0,0,30.00,30.00,16.05
$GC,18532.32,16386,116.79,0.96,0.00,2189.4,2268.0,2110.8,2909.6,2328.1,230.64,9.79,1105,18534.85,0.00,0.00,0.00,0.000,0.000,0.000,2188.34,2267.06,2109.62,2909.12,2328.62,0,0,0,30.00,30.00,30.00
$GC,18722.35,16386,116.79,0.96,0.00,2189.5,2268.4,2110.6,2909.6,2328.4,213.41,9.16,1124,18724.88,0.00,0.00,0.00,0.000,0.000,0.000,2188.38,2267.44,2109.31,2909.88,2328.12,0,0,0,30.00,30.00,30.00
$GC,18912.38,16386,116.79,0.96,0.00,2189.6,2268.2,2110.9,2909.9,2328.1,195.21,9.92,1143,18914.92,0.00,0.00,0.00,0.000,0.000,0.000,2188.72,2267.56,2109.88,2909.50,2328.50,0,0,0,30.00,30.00,30.00
$GC,19102.42,16902,116.79,0.96,-80.00,2189.4,2268.0,2110.8,2910.1,2328.4,178.80,8.99,1162,19109.87,0.00,0.00,4.77,0.000,0.000,0.085,2187.97,2266.38,2109.56,2932.12,643.19,0,0,0,30.00,30.00,16.04
$GC,19178.25,21511,116.79,0.96,0.00,2189.4,2268.4,2110.4,2932.0,643.0,172.31,8.48,1177,19185.77,0.00,0.12,4.70,0.000,0.218,0.048,2190.03,2268.44,2111.62,2886.19,2365.06,0,0,0,30.00,15.97,16.05
$GC,19373.29,10535,173.69,1.16,80.00,2189.6,2269.1,2110.1,2886.9,2364.6,160.90,5.65,1197,19429.77,47.26,0.20,4.82,1.481,0.066,0.128,1979.31,2053.31,1905.31,2984.00,3949.81,0,0,0,12.95,16.05,15.73
$GC,19473.30,1028,173.69,1.16,0.00,1975.7,2050.0,1901.4,2982.9,3949.9,151.93,11.00,1217,19480.71,0.00,0.00,4.49,0.000,0.000,0.044,1976.31,2051.56,1901.06,3003.50,2329.56,0,0,0,30.00,30.00,15.82
$GC,19668.33,20483,173.69,1.16,0.00,1972.8,2050.2,1895.4,3004.3,2329.1,133.89,8.68,1237,19670.98,0.00,0.17,0.00,0.000,0.239,0.000,1973.31,2050.06,1896.56,2953.81,2328.25,0,0,0,30.00,15.78,30.00
$GC,19858.40,10535,226.78,1.34,80.00,1971.6,2050.0,1893.1,2953.9,2329.0,121.88,5.84,1256,19914.81,46.35,0.19,4.98,1.429,0.071,0.123,1763.16,1828.06,1698.25,3045.06,3950.19,0,0,0,12.81,15.87,15.61
$GC,20002.91,1028,226.78,1.34,0.00,1758.7,1825.4,1691.9,3044.7,3949.7,106.09,12.66,1285,20010.29,0.00,0.00,4.51,0.000,0.000,0.044,1759.12,1826.31,1691.94,3063.94,2331.88,0,0,0,30.00,30.00,15.70
$GC,20193.67,20999,226.78,1.34,-80.00,1755.5,1825.6,1685.4,3064.6,2332.1,88.26,8.42,1305,20204.48,0.00,0.18,4.88,0.000,0.229,0.086,1755.81,1825.94,1685.69,3032.62,643.38,0,0,0,30.00,15.69,15.76
$GC,20258.21,17478,226.78,1.36,0.00,1755.1,1824.8,1685.4,3032.1,643.0,83.10,7.91,1318,20265.60,0.00,0.00,4.78,0.000,0.000,0.048,1755.94,1825.56,1686.31,3031.38,2363.50,0,0,0,30.00,30.00,15.79
$GC,20449.01,16450,226.78,1.39,0.00,1753.9,1824.9,1682.9,3029.9,2362.8,69.11,7.16,1338,20451.54,0.00,0.00,0.00,0.000,0.000,0.000,1753.22,1824.38,1682.06,3029.62,2363.62,0,0,0,30.00,30.00,30.00
$GC,20639.03,10791,305.09,1.66,-80.00,1752.8,1825.0,1680.7,3029.3,2363.2,59.04,4.59,1357,20721.51,73.44,0.26,5.14,1.375,0.062,0.086,1445.66,1491.56,1399.75,3173.62,643.12,0,0,0,12.79,15.83,15.47
$GC,20804.47,5125,305.09,1.66,0.00,1440.9,1483.4,1398.4,3173.6,643.2,47.10,8.23,1390,20814.75,0.00,0.19,4.86,0.000,0.235,0.050,1439.94,1483.25,1396.62,3114.38,2361.62,0,0,0,30.00,15.51,15.60
$GC,20999.97,10791,386.90,1.95,-80.00,1436.1,1483.3,1388.9,3114.3,2361.8,35.65,4.42,1411,21092.67,83.57,0.28,5.20,1.333,0.060,0.087,1111.03,1128.88,1093.19,3263.19,643.12,0,0,0,12.68,15.67,15.33
$GC,21181.10,11303,463.74,2.22,0.00,1107.1,1120.8,1093.4,3263.2,643.0,26.54,4.66,1447,21268.07,77.72,0.13,4.88,1.312,0.090,0.044,799.56,791.88,807.25,3322.81,2364.31,0,0,0,12.55,15.47,15.46
$GC,21451.63,10535,552.89,2.53,80.00,790.8,788.3,793.2,3322.9,2364.4,17.36,4.05,1483,21527.96,66.96,0.22,4.94,1.297,0.070,0.123,524.94,513.12,536.75,3418.81,3948.44,0,0,0,12.54,15.49,15.20
$GC,21530.85,11303,603.32,2.71,0.00,524.7,512.9,536.5,3419.6,3948.5,12.99,5.97,1496,21538.27,0.00,0.05,4.61,0.000,0.160,0.044,524.16,512.31,536.00,3469.38,2331.38,0,0,0,30.00,15.27,15.29
$FREEZE,9.10,1.730,-1.528,2,1,0
$FREEZE,8.00,1.733,-1.527,2,1,0
$FREEZE,6.93,1.733,-1.526,2,1,0
$FREEZE,5.82,1.736,-1.525,2,1,0
$FREEZE,4.73,1.748,-1.523,2,1,0
$FREEZE,3.61,1.726,-1.515,2,1,0
$FREEZE,2.47,1.659,-1.512,2,1,0
$FREEZE,1.33,1.597,-1.509,2,1,0
$STATE,21641,end climb,SURFACE_DEPTH_REACHED
$STATE,21641,begin surface coast
$FREEZE,0.16,1.517,-1.505,2,1,0
$FREEZE,0.08,1.487,-1.506,2,1,0
$FINISH,0.1,1.022117
$STATE,21661,end surface coast,CONTROL_FINISHED_OK
$STATE,21661,begin surface
$SM_CCo,21739.56,0.00,0.000,0,518.9,513.1,524.8,532.56
$SM_GC,1.68,0.00,8.53,0.83,0.000,0.048,0.078,518.9,513.1,524.8,455.9,2035.0,0,0,0,30.00,15.45,15.45
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7245.31,-15558.57,260821,071729
$TCM_TEMP,4.48
$XPDR_PINGS,66,14.0,10.5
$SC_FREEKB,3851616
$RAFOS_CLK,-37
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,53.62
$TEMP,0.63
$INTERNAL_PRESSURE,7.96235
$24V_AH,14.30,55.954
$10V_AH,14.81,0.000
$FG_AHR_24Vo,64.882
$FG_AHR_10Vo,50.132
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,716.945,23.370,359.190,582.949,16.500,15.072,5087.665,17333.916,2126.763,385.981,0.000,0.000,0.000
$DEVICE_MAMPS,2473.856,449.112,160.800,213.633,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.073,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997296,18,49532,69
$DATA_FILE_SIZE,44942,1510
$CAP_FILE_SIZE,484635,0
$SDSIZE,3918848,3884288
$SDFILEDIR,595,2
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$IMPLIED_C_PITCH,2625,18.43,925
$IMPLIED_C_VBD,2688,33.909218,557
$GPS,260821,195210,7242.129,-15620.637,58,0.7,59,12.5
ESCAPE_REASON=NO_RECENT_FIX
ESCAPE_STARTED_DIVE=67