version: 67.00
glider: 231
mission: 5
dive: 72
start: 8 27 121 2 28 21
data:
$ID,231
$MISSION,5
$DIVE,72
$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,50.237537
$FG_AHR_24V,65.258537
$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
$GPS1,270821,022031,7242.053,-15626.658,72,0.8,73,12.5
$_CALLS,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.2
$GPS2,270821,022754,7242.176,-15626.509,2,0.7,3,12.5
$SPEED_LIMITS,0.147,0.183
$TGT_NAME,HEADING
$TGT_LATLONG,7235.234,-15654.153
$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,217.5,20000,-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,59.44,18727,-116.79,-0.96,80.00,1434.2,1540.5,1327.9,447.3,2074.6,3.32,-4.26,5,132.95,53.38,9.07,4.98,0.005,0.444,0.102,3169.22,3321.12,3017.31,2261.62,3755.06,0,0,0,15.58,15.43,15.58
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$GC,527.52,1028,-116.79,-0.96,0.00,3174.1,3319.8,3028.4,2268.1,344.6,107.62,-17.84,80,534.99,0.00,0.00,4.76,0.000,0.000,0.045,3174.44,3319.56,3029.31,2269.19,2065.12,0,0,0,30.00,30.00,15.74
$GC,722.56,8710,-116.79,-0.96,-80.00,3174.5,3320.2,3028.8,2268.4,2065.6,134.55,-12.53,100,733.35,0.00,0.00,5.03,0.000,0.000,0.090,3174.53,3320.06,3029.00,2268.12,343.38,0,0,0,30.00,30.00,15.73
$GC,797.10,1028,-116.79,-0.96,0.00,3174.2,3319.2,3029.1,2268.1,343.2,145.78,-16.01,115,804.50,0.00,0.00,4.74,0.000,0.000,0.045,3175.16,3320.69,3029.62,2265.69,2065.44,0,0,0,30.00,30.00,15.80
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$GC,1017.87,1028,-116.79,-0.96,0.00,3173.3,3318.3,3028.4,2276.2,343.8,173.23,-12.77,141,1025.34,0.00,0.00,4.73,0.000,0.000,0.043,3172.25,3317.19,3027.31,2265.00,2066.94,0,0,0,30.00,30.00,15.82
$GC,1212.92,516,-116.79,-0.96,-80.00,3173.9,3319.1,3028.8,2265.0,2068.1,193.50,-9.60,161,1223.71,0.00,0.00,5.05,0.000,0.000,0.091,3174.81,3320.19,3029.44,2268.06,344.44,0,0,0,30.00,30.00,15.83
$GC,1257.44,1028,-116.79,-0.96,0.00,3174.1,3318.9,3029.4,2268.4,344.4,198.82,-12.31,170,1264.86,0.00,0.00,4.72,0.000,0.000,0.041,3174.75,3319.50,3030.00,2258.25,2069.62,0,0,0,30.00,30.00,15.84
$GC,1448.24,260,-116.79,-0.96,80.00,3174.0,3319.1,3028.9,2258.6,2069.7,215.03,-8.47,190,1455.73,0.00,0.00,4.93,0.000,0.000,0.101,3174.00,3318.62,3029.38,2235.75,3755.06,0,0,0,30.00,30.00,15.84
$GC,1488.62,3077,-116.79,-0.96,0.00,3173.6,3318.8,3028.5,2237.1,3754.8,219.07,-10.08,198,1496.09,0.00,0.12,4.74,0.000,0.287,0.046,3172.41,3317.44,3027.38,2284.00,2027.50,0,0,0,30.00,15.76,15.87
$GC,1679.48,260,-116.79,-0.96,80.00,3173.8,3318.4,3029.2,2284.5,2027.9,235.70,-9.19,218,1690.27,0.00,0.00,5.10,0.000,0.000,0.100,3173.56,3318.31,3028.81,2262.44,3754.88,0,0,0,30.00,30.00,15.81
$GC,1729.48,1028,-116.79,-0.96,0.00,3173.5,3317.9,3029.1,2262.8,3755.6,241.00,-10.92,228,1736.96,0.00,0.00,4.77,0.000,0.000,0.046,3174.94,3320.50,3029.38,2267.00,2030.19,0,0,0,30.00,30.00,15.88
$GC,1934.52,260,-116.79,-0.96,80.00,3173.3,3318.5,3028.1,2268.9,2030.6,258.02,-8.11,243,1944.83,0.00,0.00,5.09,0.000,0.000,0.098,3174.06,3319.19,3028.94,2248.31,3755.25,0,0,0,30.00,30.00,15.88
$GC,1969.04,3077,-116.79,-0.96,0.00,3173.0,3317.5,3028.4,2247.7,3755.5,261.23,-8.24,250,1977.04,0.00,0.12,4.73,0.000,0.273,0.045,3171.94,3318.44,3025.44,2284.12,2028.50,0,0,0,30.00,15.81,15.90
$GC,2290.42,0,-116.79,-0.96,0.00,3173.5,3318.2,3028.8,2284.0,2029.2,287.63,-8.31,264,2292.95,0.00,0.00,0.00,0.000,0.000,0.000,3172.69,3317.50,3027.88,2284.00,2028.94,0,0,0,30.00,30.00,30.00
$GC,2620.44,0,-116.79,-0.96,0.00,3173.2,3317.8,3028.6,2284.0,2028.8,314.71,-8.03,275,2622.97,0.00,0.00,0.00,0.000,0.000,0.000,3172.62,3316.94,3028.31,2284.19,2028.19,0,0,0,30.00,30.00,30.00
$GC,2950.46,260,-116.79,-0.96,80.00,3172.7,3317.2,3028.2,2283.9,2028.7,339.95,-7.69,286,2960.77,0.00,0.00,5.07,0.000,0.000,0.100,3173.31,3316.75,3029.88,2262.88,3754.00,0,0,0,30.00,30.00,15.94
$GC,3019.99,1028,-116.79,-0.96,0.00,3172.8,3317.2,3028.4,2261.9,3753.4,346.19,-9.09,300,3027.93,0.00,0.00,4.76,0.000,0.000,0.049,3173.06,3316.88,3029.25,2265.88,2028.50,0,0,0,30.00,30.00,15.97
$GC,3336.30,0,-116.79,-0.96,0.00,3173.0,3317.2,3028.7,2266.2,2028.7,371.27,-7.90,313,3338.83,0.00,0.00,0.00,0.000,0.000,0.000,3172.16,3316.19,3028.12,2266.12,2028.75,0,0,0,30.00,30.00,30.00
$GC,3666.32,260,-116.79,-0.96,80.00,3172.4,3315.8,3029.1,2266.0,2028.6,397.91,-8.22,324,3676.64,0.00,0.00,5.05,0.000,0.000,0.100,3173.94,3318.88,3029.00,2245.25,3753.50,0,0,0,30.00,30.00,15.97
$GC,3750.87,3077,-116.79,-0.96,0.00,3172.2,3315.9,3028.4,2244.6,3754.2,405.95,-9.66,341,3758.33,0.00,0.12,4.76,0.000,0.264,0.049,3171.53,3314.38,3028.69,2286.75,2030.00,0,0,0,30.00,15.90,15.99
$GC,4081.70,0,-116.79,-0.96,0.00,3172.2,3315.4,3029.1,2286.6,2029.5,430.74,-7.32,357,4084.22,0.00,0.00,0.00,0.000,0.000,0.000,3171.34,3314.81,3027.88,2286.00,2030.31,0,0,0,30.00,30.00,30.00
$GC,4411.70,260,-116.79,-0.96,80.00,3172.1,3315.2,3029.1,2286.2,2029.6,454.62,-7.15,368,4422.03,0.00,0.00,5.05,0.000,0.000,0.100,3172.41,3315.56,3029.25,2264.56,3751.50,0,0,0,30.00,30.00,15.99
$GC,4476.23,1028,-116.79,-0.96,0.00,3171.8,3314.9,3028.6,2263.9,3752.6,460.04,-8.52,381,4484.19,0.00,0.00,4.74,0.000,0.000,0.049,3173.31,3316.56,3030.06,2263.38,2034.44,0,0,0,30.00,30.00,16.01
$GC,4797.57,0,-116.79,-0.96,0.00,3172.0,3315.4,3028.6,2263.9,2033.4,484.32,-7.57,395,4800.10,0.00,0.00,0.00,0.000,0.000,0.000,3171.41,3315.06,3027.75,2264.19,2034.00,0,0,0,30.00,30.00,30.00
$GC,5127.59,260,-116.79,-0.96,80.00,3171.8,3314.6,3028.9,2263.8,2033.6,508.26,-7.10,406,5137.90,0.00,0.00,5.03,0.000,0.000,0.098,3173.25,3315.69,3030.81,2243.06,3752.94,0,0,0,30.00,30.00,16.01
$GC,5177.12,3077,-116.79,-0.96,0.00,3171.3,3314.2,3028.4,2243.5,3754.1,512.45,-8.55,416,5185.11,0.00,0.12,4.74,0.000,0.262,0.048,3173.91,3316.94,3030.88,2285.00,2026.50,0,0,0,30.00,15.95,16.02
$GC,5512.60,260,-116.79,-0.96,80.00,3172.0,3315.2,3028.8,2285.6,2026.8,534.42,-6.48,428,5522.92,0.00,0.00,5.05,0.000,0.000,0.098,3171.62,3314.12,3029.12,2263.62,3755.06,0,0,0,30.00,30.00,16.02
$GC,5567.13,1028,-116.79,-0.96,0.00,3172.1,3315.4,3028.8,2263.5,3755.1,538.73,-8.07,439,5574.54,0.00,0.00,4.72,0.000,0.000,0.046,3171.34,3314.75,3027.94,2267.12,2033.69,0,0,0,30.00,30.00,16.04
$GC,5897.93,0,-116.79,-0.96,0.00,3171.4,3314.0,3028.8,2266.9,2033.0,562.30,-7.17,455,5900.46,0.00,0.00,0.00,0.000,0.000,0.000,3171.44,3314.50,3028.38,2267.56,2032.75,0,0,0,30.00,30.00,30.00
$GC,6227.94,260,-116.79,-0.96,80.00,3171.6,3314.4,3028.8,2266.5,2032.8,586.58,-7.38,466,6238.25,0.00,0.00,5.01,0.000,0.000,0.098,3173.38,3316.81,3029.94,2245.31,3756.19,0,0,0,30.00,30.00,16.03
$NAV,1630037642,596.5,start
$GC,6337.51,3077,-116.79,-0.96,0.00,3171.3,3314.3,3028.4,2245.4,3755.8,596.10,-8.82,488,6345.52,0.00,0.11,4.74,0.000,0.258,0.047,3170.78,3313.31,3028.25,2285.38,2032.56,0,0,0,30.00,15.97,16.05
$GC,6673.00,260,-116.79,-0.96,80.00,3171.0,3313.9,3028.1,2285.1,2032.1,619.90,-7.05,500,6683.45,0.00,0.00,5.03,0.000,0.000,0.097,3171.41,3313.75,3029.06,2264.12,3754.06,0,0,0,30.00,30.00,15.99
$NAV,1630038012,623.1,0,stop
$GC,6727.54,1028,-116.79,-0.96,0.00,3172.0,3315.1,3028.9,2263.3,3754.0,624.40,-8.36,511,6734.95,0.00,0.00,4.73,0.000,0.000,0.046,3172.16,3315.62,3028.69,2266.38,2032.19,0,0,0,30.00,30.00,16.02
$GC,7058.31,0,-116.79,-0.96,0.00,3171.3,3313.6,3028.9,2266.8,2032.6,648.59,-7.21,527,7060.85,0.00,0.00,0.00,0.000,0.000,0.000,3171.56,3314.56,3028.56,2266.38,2032.19,0,0,0,30.00,30.00,30.00
$GC,7388.36,260,-116.79,-0.96,80.00,3171.9,3314.8,3028.9,2267.1,2032.2,672.34,-7.23,538,7398.66,0.00,0.00,5.01,0.000,0.000,0.097,3172.62,3316.31,3028.94,2245.62,3753.94,0,0,0,30.00,30.00,16.03
$GC,7478.36,3077,-116.79,-0.96,0.00,3171.8,3314.7,3028.9,2245.2,3754.1,679.98,-8.70,556,7485.88,0.00,0.12,4.73,0.000,0.257,0.047,3170.41,3313.06,3027.75,2286.06,2030.62,0,0,0,30.00,15.96,16.04
$GC,7804.25,260,-116.79,-0.96,80.00,3171.6,3314.4,3028.8,2286.5,2030.5,701.80,-6.63,571,7814.58,0.00,0.00,5.03,0.000,0.000,0.097,3172.25,3314.56,3029.94,2264.69,3755.75,0,0,0,30.00,30.00,16.03
$GC,7848.79,1028,-116.79,-0.96,0.00,3171.5,3314.7,3028.4,2263.9,3754.4,705.19,-7.55,580,7856.73,0.00,0.00,4.72,0.000,0.000,0.046,3171.06,3312.94,3029.19,2264.75,2032.38,0,0,0,30.00,30.00,16.06
$GC,8160.10,0,-116.79,-0.96,0.00,3172.1,3314.9,3029.2,2264.7,2032.2,726.43,-6.76,592,8162.63,0.00,0.00,0.00,0.000,0.000,0.000,3171.22,3314.12,3028.31,2264.75,2032.31,0,0,0,30.00,30.00,30.00
$GC,8490.12,260,-116.79,-0.96,80.00,3171.9,3314.8,3028.9,2264.0,2032.8,748.66,-6.65,603,8500.43,0.00,0.00,5.00,0.000,0.000,0.096,3171.31,3314.56,3028.06,2243.56,3753.06,0,0,0,30.00,30.00,16.05
$GC,8584.66,3077,-116.79,-0.96,0.00,3171.2,3314.2,3028.3,2243.1,3753.7,756.31,-8.20,622,8592.66,0.00,0.14,4.72,0.000,0.252,0.048,3170.56,3312.00,3029.12,2286.94,2031.88,0,0,0,30.00,15.98,16.06
$GC,8906.05,292,-116.79,-0.96,80.00,3171.6,3314.9,3028.4,2286.8,2031.1,776.40,-6.07,636,8916.35,0.00,0.00,5.01,0.000,0.000,0.097,3172.47,3315.06,3029.88,2264.56,3755.50,0,0,0,30.00,30.00,16.05
$GC,8945.58,1060,-116.79,-0.96,0.00,3171.4,3313.6,3029.2,2264.4,3755.0,779.20,-6.12,644,8953.51,0.00,0.00,4.72,0.000,0.000,0.046,3171.56,3314.88,3028.25,2265.94,2032.19,0,0,0,30.00,30.00,16.06
$GC,9261.87,260,-116.79,-0.96,80.00,3171.9,3315.0,3028.9,2266.9,2032.1,799.65,-6.50,657,9272.18,0.00,0.00,5.01,0.000,0.000,0.096,3171.31,3315.12,3027.50,2244.69,3754.50,0,0,0,30.00,30.00,16.05
$GC,9301.40,3077,-116.79,-0.96,0.00,3171.6,3315.9,3027.4,2245.1,3755.4,802.72,-6.80,665,9309.39,0.00,0.14,4.72,0.000,0.253,0.046,3173.34,3314.75,3031.94,2285.00,2032.31,0,0,0,30.00,15.98,16.08
$GC,9617.78,292,-116.79,-0.96,80.00,3171.3,3314.1,3028.4,2284.8,2031.6,822.36,-6.08,678,9628.08,0.00,0.00,5.01,0.000,0.000,0.097,3172.31,3314.88,3029.75,2263.12,3753.69,0,0,0,30.00,30.00,16.06
$GC,9692.29,1028,-116.79,-0.96,0.00,3171.6,3314.1,3029.1,2263.3,3754.1,827.61,-7.18,693,9700.24,0.00,0.00,4.72,0.000,0.000,0.047,3170.97,3314.12,3027.81,2266.75,2033.69,0,0,0,30.00,30.00,16.06
$GC,10003.61,292,-116.79,-0.96,80.00,3171.4,3314.2,3028.6,2266.8,2033.5,847.50,-6.39,705,10013.92,0.00,0.00,5.01,0.000,0.000,0.096,3172.22,3314.69,3029.75,2245.88,3755.94,0,0,0,30.00,30.00,16.06
$GC,10033.61,3109,-116.79,-0.96,0.00,3171.4,3314.5,3028.3,2245.4,3754.8,849.76,-6.46,711,10041.13,0.00,0.12,4.72,0.000,0.255,0.045,3170.22,3313.56,3026.88,2285.19,2032.44,0,0,0,30.00,15.99,16.07
$GC,10359.55,260,-116.79,-0.96,80.00,3171.7,3314.9,3028.4,2285.8,2032.6,871.42,-6.64,726,10369.87,0.00,0.00,5.01,0.000,0.000,0.097,3172.00,3314.06,3029.94,2264.56,3754.50,0,0,0,30.00,30.00,16.04
$GC,10409.08,1028,-116.79,-0.96,0.00,3171.2,3313.5,3028.9,2264.1,3753.6,875.31,-7.88,736,10417.01,0.00,0.00,4.72,0.000,0.000,0.047,3172.81,3314.50,3031.12,2264.69,2032.12,0,0,0,30.00,30.00,16.09
$GC,10744.60,260,-116.79,-0.96,80.00,3171.7,3314.1,3029.2,2267.8,2032.2,899.15,-7.07,748,10754.89,0.00,0.00,5.01,0.000,0.000,0.095,3172.22,3315.38,3029.06,2246.50,3753.81,0,0,0,30.00,30.00,16.06
$GC,10784.10,3077,-116.79,-0.96,0.00,3171.5,3313.8,3029.2,2246.1,3754.2,902.32,-7.25,756,10792.10,0.00,0.11,4.72,0.000,0.259,0.047,3170.66,3313.25,3028.06,2285.94,2031.12,0,0,0,30.00,16.00,16.08
$GC,11100.53,260,-116.79,-0.96,80.00,3171.7,3314.6,3028.9,2286.4,2031.5,923.22,-6.48,769,11110.85,0.00,0.00,5.01,0.000,0.000,0.097,3171.97,3313.44,3030.50,2263.69,3754.00,0,0,0,30.00,30.00,16.07
$GC,11145.07,1028,-116.79,-0.96,0.00,3171.3,3313.8,3028.9,2264.4,3754.1,926.50,-6.57,778,11153.00,0.00,0.00,4.72,0.000,0.000,0.047,3172.25,3315.50,3029.00,2263.69,2034.06,0,0,0,30.00,30.00,16.07
$GC,11456.38,260,-116.79,-0.96,80.00,3171.7,3314.1,3029.2,2265.0,2032.9,947.28,-6.71,790,11466.69,0.00,0.00,5.00,0.000,0.000,0.097,3172.94,3315.25,3030.62,2240.25,3755.56,0,0,0,30.00,30.00,16.07
$GC,11510.92,3077,-116.79,-0.96,0.00,3171.3,3314.3,3028.2,2243.0,3755.0,951.49,-7.86,801,11518.39,0.00,0.12,4.72,0.000,0.256,0.046,3171.22,3313.81,3028.62,2285.44,2031.38,0,0,0,30.00,15.99,16.09
$GC,11841.81,292,-116.79,-0.96,80.00,3171.5,3314.7,3028.3,2285.2,2030.9,971.58,-5.97,817,11852.12,0.00,0.00,5.01,0.000,0.000,0.096,3171.94,3314.56,3029.31,2262.88,3753.62,0,0,0,30.00,30.00,16.07
$GC,11886.34,1060,-116.79,-0.96,0.00,3171.6,3314.8,3028.4,2263.4,3753.6,974.58,-6.02,826,11894.27,0.00,0.00,4.72,0.000,0.000,0.047,3172.66,3314.44,3030.88,2266.31,2031.00,0,0,0,30.00,30.00,16.08
$STATE,12167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12167,begin apogee
$GC,12171.48,10243,0.00,-0.17,0.00,3172.2,3314.8,3029.6,2263.8,2368.0,991.50,-5.89,837,12285.73,109.84,0.90,0.12,2.446,0.212,0.156,2686.38,2789.06,2583.69,2537.50,2313.88,0,0,0,12.95,16.00,15.21
$STATE,12287,end apogee,CONTROL_FINISHED_OK
$STATE,12287,begin climb
$GC,12287.76,10243,116.79,0.96,0.00,2686.6,2787.9,2585.4,2538.3,2314.2,992.45,0.00,840,12398.45,106.32,1.12,0.00,2.372,0.122,0.000,2213.06,2267.69,2158.44,2902.69,2313.69,0,0,0,12.55,15.25,30.00
$GC,12711.85,16386,116.79,0.96,-80.00,2198.5,2263.9,2133.0,2902.7,2313.3,943.06,12.87,860,12714.38,0.00,0.00,0.00,0.000,0.000,0.000,2197.59,2263.12,2132.06,2902.56,2313.62,0,0,0,30.00,30.00,30.00
$GC,13041.82,16386,116.79,0.96,-80.00,2195.9,2263.6,2128.2,2903.1,2313.5,901.32,12.53,871,13044.35,0.00,0.00,0.00,0.000,0.000,0.000,2195.28,2263.12,2127.44,2903.25,2314.19,0,0,0,30.00,30.00,30.00
$GC,13371.83,16386,116.79,0.96,-80.00,2194.4,2263.8,2125.1,2902.9,2313.1,860.39,12.35,882,13374.36,0.00,0.00,0.00,0.000,0.000,0.000,2193.38,2262.94,2123.81,2902.69,2313.56,0,0,0,30.00,30.00,30.00
$GC,13701.85,16386,116.79,0.96,-80.00,2193.5,2264.2,2122.8,2902.7,2313.6,818.31,12.77,893,13704.38,0.00,0.00,0.00,0.000,0.000,0.000,2192.75,2263.88,2121.62,2902.75,2313.06,0,0,0,30.00,30.00,30.00
$GC,14031.85,16646,116.79,0.96,80.00,2192.9,2264.2,2121.5,2902.8,2313.5,777.08,12.37,904,14039.34,0.00,0.00,4.97,0.000,0.000,0.118,2190.97,2262.19,2119.75,2903.00,3951.31,0,0,0,30.00,30.00,15.85
$GC,14067.23,17414,116.79,0.96,0.00,2192.4,2265.0,2119.8,2902.4,3950.9,771.84,15.29,911,14075.12,0.00,0.00,4.47,0.000,0.000,0.046,2191.09,2263.19,2119.00,2923.62,2329.50,0,0,0,30.00,30.00,15.88
$GC,14383.49,16386,116.79,0.96,0.00,2192.2,2265.3,2119.1,2924.1,2330.1,728.88,13.46,924,14386.02,0.00,0.00,0.00,0.000,0.000,0.000,2191.19,2264.44,2117.94,2924.12,2329.44,0,0,0,30.00,30.00,30.00
$GC,14713.53,16386,116.79,0.96,0.00,2191.4,2265.0,2117.8,2924.0,2329.4,685.18,13.21,935,14716.06,0.00,0.00,0.00,0.000,0.000,0.000,2190.38,2264.50,2116.25,2924.06,2329.00,0,0,0,30.00,30.00,30.00
$GC,15043.53,16646,116.79,0.96,80.00,2191.5,2265.2,2117.8,2923.9,2328.5,641.95,13.07,946,15051.00,0.00,0.00,4.89,0.000,0.000,0.118,2190.06,2264.25,2115.88,2924.25,3951.00,0,0,0,30.00,30.00,15.94
$GC,15078.89,17414,116.79,0.96,0.00,2191.4,2264.9,2117.8,2925.0,3950.8,636.56,15.78,953,15085.79,0.00,0.00,4.43,0.000,0.000,0.045,2189.81,2262.75,2116.88,2944.75,2329.44,0,0,0,30.00,30.00,15.96
$GC,15394.39,20483,116.79,0.96,0.00,2191.2,2265.9,2116.4,2945.1,2329.6,593.05,13.68,966,15397.04,0.00,0.19,0.00,0.000,0.250,0.000,2189.97,2262.50,2117.44,2888.38,2329.69,0,0,0,30.00,15.89,30.00
$GC,15724.42,16386,116.79,0.96,0.00,2190.6,2265.8,2115.4,2889.9,2329.1,556.26,10.99,977,15726.95,0.00,0.00,0.00,0.000,0.000,0.000,2189.75,2265.12,2114.38,2889.44,2329.44,0,0,0,30.00,30.00,30.00
$GC,16054.43,16386,116.79,0.96,0.00,2190.6,2266.6,2114.6,2889.6,2329.5,519.23,11.35,988,16056.96,0.00,0.00,0.00,0.000,0.000,0.000,2189.38,2265.50,2113.25,2889.62,2329.50,0,0,0,30.00,30.00,30.00
$GC,16384.45,16646,116.79,0.96,80.00,2190.2,2266.4,2114.1,2890.0,2328.8,481.82,11.29,999,16391.92,0.00,0.00,4.87,0.000,0.000,0.118,2190.97,2266.75,2115.19,2888.12,3949.19,0,0,0,30.00,30.00,16.00
$GC,16419.80,17414,116.79,0.96,0.00,2190.2,2266.0,2114.5,2889.4,3950.7,477.06,13.56,1006,16426.70,0.00,0.00,4.43,0.000,0.000,0.046,2190.88,2266.50,2115.25,2910.75,2330.88,0,0,0,30.00,30.00,16.02
$GC,16735.30,16386,116.79,0.96,0.00,2190.0,2267.1,2112.9,2910.3,2330.4,438.78,12.02,1019,16737.83,0.00,0.00,0.00,0.000,0.000,0.000,2189.06,2266.06,2112.06,2910.00,2330.56,0,0,0,30.00,30.00,30.00
$GC,17065.33,16386,116.79,0.96,0.00,2189.8,2266.8,2112.8,2910.5,2330.2,399.52,11.95,1030,17067.86,0.00,0.00,0.00,0.000,0.000,0.000,2189.16,2266.25,2112.06,2910.44,2330.69,0,0,0,30.00,30.00,30.00
$GC,17395.35,16386,116.79,0.96,0.00,2189.7,2266.9,2112.4,2911.4,2330.5,360.08,12.02,1041,17397.88,0.00,0.00,0.00,0.000,0.000,0.000,2188.66,2265.88,2111.44,2911.00,2331.00,0,0,0,30.00,30.00,30.00
$GC,17725.35,16646,116.79,0.96,80.00,2190.1,2267.4,2112.8,2910.9,2330.4,321.77,11.61,1052,17732.83,0.00,0.00,4.86,0.000,0.000,0.119,2189.25,2266.56,2111.94,2910.19,3949.25,0,0,0,30.00,30.00,16.02
$GC,17765.71,17414,116.79,0.96,0.00,2189.4,2267.2,2111.6,2910.3,3950.0,316.12,14.34,1060,17772.62,0.00,0.00,4.43,0.000,0.000,0.046,2188.41,2263.56,2113.25,2930.00,2327.69,0,0,0,30.00,30.00,16.04
$GC,18076.21,20999,116.79,0.96,-80.00,2189.9,2268.5,2111.3,2932.4,2328.4,279.05,11.74,1072,18083.73,0.00,0.14,4.76,0.000,0.237,0.084,2190.91,2269.44,2112.38,2909.75,642.88,0,0,0,30.00,15.96,16.03
$GC,18116.65,17414,116.79,0.96,0.00,2189.8,2268.1,2111.4,2909.9,643.2,274.32,11.46,1080,18124.58,0.00,0.00,4.70,0.000,0.000,0.048,2191.28,2270.12,2112.44,2902.69,2362.50,0,0,0,30.00,30.00,16.05
$GC,18427.96,16386,116.79,0.96,0.00,2190.3,2268.7,2111.9,2903.6,2362.2,242.01,9.77,1096,18430.49,0.00,0.00,0.00,0.000,0.000,0.000,2188.78,2267.12,2110.44,2902.69,2361.69,0,0,0,30.00,30.00,30.00
$GC,18618.00,16386,116.79,0.96,0.00,2189.6,2268.2,2111.0,2902.8,2361.7,223.12,9.68,1115,18620.53,0.00,0.00,0.00,0.000,0.000,0.000,2189.28,2268.31,2110.25,2902.94,2361.81,0,0,0,30.00,30.00,30.00
$GC,18808.04,16902,116.79,0.96,-80.00,2190.1,2268.4,2111.8,2902.9,2361.7,205.66,8.98,1134,18815.51,0.00,0.00,4.91,0.000,0.000,0.083,2188.56,2265.06,2112.06,2923.00,641.69,0,0,0,30.00,30.00,16.05
$GC,18843.88,17414,116.79,0.96,0.00,2189.8,2268.4,2111.2,2925.1,641.9,202.37,9.09,1141,18851.35,0.00,0.00,4.70,0.000,0.000,0.048,2188.62,2266.69,2110.56,2925.25,2363.50,0,0,0,30.00,30.00,16.04
$GC,19038.92,16902,116.79,0.96,-80.00,2189.9,2268.3,2111.6,2925.2,2363.5,185.71,8.04,1161,19046.42,0.00,0.00,4.91,0.000,0.000,0.084,2188.88,2267.50,2110.25,2946.50,641.75,0,0,0,30.00,30.00,16.02
$GC,19139.31,21511,116.79,0.96,0.00,2190.0,2268.6,2111.3,2946.2,642.2,177.01,8.75,1181,19146.79,0.00,0.17,4.70,0.000,0.224,0.049,2190.88,2270.06,2111.69,2888.75,2363.06,0,0,0,30.00,15.95,16.05
$GC,19330.19,10275,183.02,1.19,0.00,2190.5,2269.4,2111.6,2889.6,2363.4,166.16,5.19,1201,19390.55,55.09,0.23,0.00,1.507,0.066,0.000,1943.19,2014.88,1871.50,2990.88,2363.44,0,0,0,12.97,16.03,30.00
$GC,19580.25,16902,183.02,1.19,-80.00,1934.6,2010.4,1858.8,2990.2,2363.6,144.82,8.66,1226,19590.98,0.00,0.00,4.99,0.000,0.000,0.085,1934.25,2008.88,1859.62,3011.50,644.62,0,0,0,30.00,30.00,15.80
$GC,19634.75,21511,183.02,1.19,0.00,1933.8,2009.0,1858.5,3012.4,644.5,139.39,10.24,1237,19642.22,0.00,0.12,4.77,0.000,0.244,0.048,1932.19,2007.50,1856.88,2962.75,2361.94,0,0,0,30.00,15.75,15.83
$GC,19825.61,16450,183.02,1.21,0.00,1931.8,2009.0,1854.6,2963.7,2361.8,124.29,7.66,1257,19828.15,0.00,0.00,0.00,0.000,0.000,0.000,1931.47,2008.06,1854.88,2963.75,2362.00,0,0,0,30.00,30.00,30.00
$GC,20015.63,16966,183.02,1.25,-80.00,1931.1,2008.8,1853.4,2963.7,2362.1,110.34,6.92,1276,20026.38,0.00,0.00,4.99,0.000,0.000,0.086,1931.00,2009.12,1852.88,2980.44,642.19,0,0,0,30.00,30.00,15.88
$GC,20065.63,17478,183.02,1.27,0.00,1930.7,2008.5,1852.9,2980.8,642.2,106.67,7.44,1286,20073.08,0.00,0.00,4.76,0.000,0.000,0.049,1931.34,2009.25,1853.44,2973.94,2361.94,0,0,0,30.00,30.00,15.88
$GC,20260.66,10275,228.16,1.43,0.00,1930.7,2008.9,1852.4,2974.2,2361.7,94.27,6.23,1306,20303.85,40.39,0.21,0.00,1.431,0.068,0.000,1758.16,1826.94,1689.38,3067.12,2362.00,0,0,0,12.86,15.90,30.00
$GC,20490.71,16902,228.16,1.43,-80.00,1751.3,1823.4,1679.2,3066.5,2362.6,74.42,8.80,1329,20501.44,0.00,0.00,5.01,0.000,0.000,0.086,1752.16,1823.88,1680.44,3088.25,644.50,0,0,0,30.00,30.00,15.77
$GC,20505.21,21511,228.16,1.43,0.00,1751.5,1823.3,1679.8,3088.9,644.6,73.05,8.87,1332,20515.50,0.00,0.15,4.78,0.000,0.244,0.048,1751.44,1823.56,1679.31,3042.25,2362.62,0,0,0,30.00,15.69,15.76
$GC,20700.72,16966,228.16,1.47,-80.00,1749.8,1823.1,1676.4,3041.9,2363.4,57.07,6.77,1353,20711.55,0.00,0.00,5.01,0.000,0.000,0.086,1750.06,1823.44,1676.69,3064.00,642.12,0,0,0,30.00,30.00,15.79
$NAV,1630052041,54.5,start
$GC,20795.23,11303,276.43,1.64,0.00,1749.9,1823.4,1676.5,3063.1,641.9,51.14,6.07,1372,20852.63,47.64,0.17,4.79,1.375,0.083,0.047,1562.78,1622.75,1502.81,3138.38,2362.88,0,0,0,12.75,15.79,15.81
$GC,21040.72,8742,325.00,1.81,-80.00,1554.7,1616.8,1492.5,3139.2,2362.7,34.28,6.06,1402,21102.71,51.52,0.00,5.16,1.295,0.000,0.087,1363.84,1409.25,1318.44,3160.44,643.44,0,0,0,12.70,30.00,15.40
$NAV,1630052411,31.4,0,stop
$GC,21215.67,11303,389.10,2.04,0.00,1359.4,1400.7,1318.1,3161.1,643.1,25.99,5.29,1437,21293.46,67.18,0.25,4.86,1.289,0.067,0.047,1103.97,1121.88,1086.06,3262.19,2363.06,0,0,0,12.58,15.55,15.57
$GC,21481.18,10275,489.55,2.39,0.00,1095.5,1116.0,1074.9,3262.9,2362.8,12.68,3.49,1471,21587.73,101.57,0.26,0.00,1.264,0.060,0.000,694.72,682.19,707.25,3377.50,2363.69,0,0,0,12.49,15.53,30.00
$FREEZE,9.89,1.109,-1.522,2,1,0
$FREEZE,9.62,1.149,-1.520,2,1,0
$FREEZE,9.34,1.133,-1.520,2,1,0
$FREEZE,9.06,1.146,-1.519,2,1,0
$FREEZE,8.72,1.148,-1.519,2,1,0
$FREEZE,8.37,1.146,-1.519,2,1,0
$FREEZE,7.95,1.132,-1.520,2,1,0
$FREEZE,7.50,1.139,-1.519,2,1,0
$FREEZE,7.09,1.143,-1.518,2,1,0
$FREEZE,6.63,1.160,-1.517,2,1,0
$FREEZE,6.20,1.155,-1.517,2,1,0
$FREEZE,5.76,1.162,-1.516,2,1,0
$FREEZE,5.33,1.163,-1.516,2,1,0
$FREEZE,4.73,1.162,-1.516,2,1,0
$FREEZE,4.27,1.159,-1.515,2,1,0
$FREEZE,4.02,1.159,-1.515,2,1,0
$FREEZE,3.69,1.160,-1.515,2,1,0
$FREEZE,3.36,1.160,-1.515,2,1,0
$FREEZE,3.06,1.163,-1.514,2,1,0
$FREEZE,2.77,1.163,-1.514,2,1,0
$FREEZE,2.41,1.158,-1.514,2,1,0
$FREEZE,2.04,1.158,-1.514,2,1,0
$FREEZE,1.62,1.164,-1.513,2,1,0
$GC,21771.24,10535,567.78,2.66,80.00,686.5,680.5,692.4,3377.1,2363.3,4.27,4.59,1506,21812.12,38.40,0.19,0.00,1.275,0.076,0.000,544.53,535.75,553.31,3462.56,2363.25,0,0,0,12.47,15.47,30.00
$STATE,21812,end climb,SURFACE_DEPTH_REACHED
$STATE,21812,begin surface coast
$FREEZE,0.91,1.162,-1.514,2,1,0
$FREEZE,0.10,1.160,-1.512,2,1,0
$FREEZE,0.37,1.122,-1.515,2,1,0
$FREEZE,-0.00,1.154,-1.425,2,1,0
$FINISH,-0.0,1.020971
$STATE,21850,end surface coast,CONTROL_FINISHED_OK
$STATE,21850,begin surface
$SM_CCo,21928.57,0.00,0.000,0,539.5,533.9,545.1,527.52
$SM_GC,0.96,0.00,8.53,0.97,0.000,0.046,0.065,539.5,533.9,545.1,448.0,2031.0,0,0,0,30.00,15.39,15.41
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7241.75,-15611.06,260821,195534
$TCM_TEMP,3.52
$XPDR_PINGS,66,14.0,10.5
$SC_FREEKB,3850848
$RAFOS_CLK,-38
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,53.48
$TEMP,0.22
$INTERNAL_PRESSURE,7.94875
$24V_AH,14.33,56.793
$10V_AH,14.78,0.000
$FG_AHR_24Vo,65.601
$FG_AHR_10Vo,50.336
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,720.960,23.050,380.635,251.061,16.500,12.486,4839.070,17424.770,2143.332,740.665,0.000,0.000,0.000
$DEVICE_MAMPS,2446.304,443.864,156.208,197.753,420.000,15.000,11.920,2.920,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.701,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997296,18,49532,69
$DATA_FILE_SIZE,44869,1518
$CAP_FILE_SIZE,498682,0
$SDSIZE,3918848,3883808
$SDFILEDIR,601,2
$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,2623,18.52,932
$IMPLIED_C_VBD,2690,27.755434,556
$GPS,270821,083536,7241.899,-15632.016,87,1.2,90,12.5
ESCAPE_REASON=NO_RECENT_FIX
ESCAPE_STARTED_DIVE=67