version: 67.01
glider: 252
mission: 5
dive: 115
start: 9 8 123 6 54 48
data:
$ID,252
$MISSION,5
$DIVE,115
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,450
$D_BOOST,0
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,4
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,720
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,420
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72701
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,703.76068
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,4
$NOCOMM_ACTION,129
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$NETBOX,1
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3615
$C_PITCH,1708.0463
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,14.195925
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,275
$ROLL_MAX,3885
$ROLL_DEG,80
$C_ROLL_DIVE,2261.3823
$C_ROLL_CLIMB,2240.4954
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3368.9795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,5
$FG_AHR_10V,15.258683
$FG_AHR_24V,73.363251
$PHONE_SUPPLY,2
$PRESSURE_YINT,-179.75725
$PRESSURE_SLOPE,0.00022626969
$COMPASS_USE,49156
$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,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,2
$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,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NAV3_DEVICE,-1
$NAV4_DEVICE,-1
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$OPTIONS,2
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,080923,063801,7514.631,-14412.150,39,0.8,40,15.6
$_CALLS,3
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.0
$GPS2,080923,065406,7514.504,-14411.812,3,0.8,5,15.6
$SPEED_LIMITS,0.159,0.226
$TGT_NAME,Bn
$TGT_LATLONG,7530.000,-14408.000
$TGT_RADIUS,4000.000
$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,347.9,28753,-18.4,-9.167,-22.07,1929,0.120
$D_GRID,990
$IRON,1.000000,-0.003494,-0.066035,0.002554,1.040209,-0.065529,0.025380,-0.050551,0.970893,-164.322388,-1320.957764,-809.900513
$OSC,8000266
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.93,16386,-116.79,-1.44,0.00,494.1,517.5,470.6,194.1,2242.1,0.00,0.00,0,61.86,49.71,0.00,0.00,0.005,0.000,0.000,1619.09,1635.81,1602.38,194.06,2241.81,0,0,0,15.85,30.00,30.00
$GC,62.39,18983,-116.79,-1.44,-80.00,1622.0,1639.6,1604.3,194.2,2242.4,4.36,-8.25,5,137.02,44.83,9.64,4.03,0.005,0.282,0.167,3848.78,3851.75,3845.81,1360.00,793.81,0,0,0,15.84,15.64,15.72
$GC,190.69,1028,-116.79,-1.44,0.00,3851.6,3857.5,3845.8,1360.1,793.9,51.99,-34.33,28,199.83,0.00,0.00,3.72,0.000,0.000,0.086,3851.19,3857.50,3844.88,1360.19,2272.38,0,0,0,30.00,30.00,15.78
$GC,578.46,260,-116.79,-1.44,80.00,3851.9,3858.0,3845.9,1360.0,2272.6,127.05,-17.93,45,587.79,0.00,0.00,3.96,0.000,0.000,0.163,3851.44,3858.00,3844.88,1359.81,3723.06,0,0,0,30.00,30.00,15.81
$GC,680.72,1028,-116.79,-1.44,0.00,3851.8,3858.1,3845.5,1360.2,3723.6,148.16,-21.38,65,689.45,0.00,0.00,3.60,0.000,0.000,0.067,3851.19,3857.06,3845.31,1359.88,2244.31,0,0,0,30.00,30.00,15.87
$GC,1053.06,0,-116.79,-1.44,0.00,3851.6,3857.7,3845.4,1360.3,2244.2,210.62,-16.04,79,1054.94,0.00,0.00,0.00,0.000,0.000,0.000,3851.00,3856.88,3845.12,1359.94,2243.88,0,0,0,30.00,30.00,30.00
$GC,1443.07,0,-116.79,-1.44,0.00,3851.5,3857.8,3845.3,1360.1,2244.4,266.00,-13.00,92,1444.95,0.00,0.00,0.00,0.000,0.000,0.000,3851.12,3857.75,3844.50,1359.81,2244.56,0,0,0,30.00,30.00,30.00
$GC,1833.08,0,-116.79,-1.44,0.00,3851.5,3858.0,3845.0,1360.6,2244.2,308.78,-11.44,105,1834.96,0.00,0.00,0.00,0.000,0.000,0.000,3851.16,3857.31,3845.00,1360.06,2244.56,0,0,0,30.00,30.00,30.00
$GC,2223.09,260,-116.79,-1.44,80.00,3851.3,3857.8,3844.9,1360.1,2244.8,347.30,-9.77,118,2232.43,0.00,0.00,3.92,0.000,0.000,0.158,3852.16,3856.94,3847.38,1359.00,3723.44,0,0,0,30.00,30.00,15.95
$GC,2335.36,1028,-116.79,-1.44,0.00,3851.5,3858.0,3845.1,1359.8,3723.3,360.55,-11.98,140,2343.83,0.00,0.00,3.56,0.000,0.000,0.067,3852.12,3858.94,3845.31,1359.88,2245.44,0,0,0,30.00,30.00,16.01
$GC,2731.14,0,-116.79,-1.44,0.00,3851.8,3858.1,3845.4,1360.1,2244.8,399.16,-9.54,154,2733.02,0.00,0.00,0.00,0.000,0.000,0.000,3850.75,3856.81,3844.69,1359.88,2244.88,0,0,0,30.00,30.00,30.00
$GC,3112.15,260,-116.79,-1.44,80.00,3851.4,3857.8,3845.1,1360.1,2244.6,435.45,-9.43,168,3121.48,0.00,0.00,3.94,0.000,0.000,0.155,3852.28,3858.19,3846.38,1360.06,3723.25,0,0,0,30.00,30.00,15.99
$GC,3159.39,1028,-116.79,-1.44,0.00,3851.7,3857.9,3845.4,1359.8,3723.5,440.66,-11.19,177,3168.35,0.00,0.00,3.53,0.000,0.000,0.065,3851.03,3857.88,3844.19,1360.19,2245.56,0,0,0,30.00,30.00,16.03
$GC,3555.20,260,-116.79,-1.44,80.00,3852.4,3859.4,3845.4,1360.4,2245.6,477.93,-9.34,191,3564.67,0.00,0.00,3.89,0.000,0.000,0.156,3821.94,3797.69,3846.19,1359.06,3723.12,0,0,0,30.00,30.00,16.00
$GC,3597.63,1028,-116.79,-1.44,0.00,3852.2,3859.7,3844.8,1360.4,3723.7,482.45,-10.54,199,3606.55,0.00,0.00,3.53,0.000,0.000,0.064,3852.28,3859.50,3845.06,1360.12,2245.44,0,0,0,30.00,30.00,16.05
$NAV,1694159968,508.2,start
$GC,3970.30,32,-116.79,-1.44,0.00,3853.2,3861.2,3845.1,1360.6,2244.6,516.37,-9.09,213,3972.22,0.00,0.00,0.00,0.000,0.000,0.000,3852.72,3860.75,3844.69,1360.31,2244.50,0,0,0,30.00,30.00,30.00
$GC,4360.31,292,-116.79,-1.44,80.00,3853.8,3862.1,3845.6,1360.3,2245.0,550.86,-8.85,226,4369.77,0.00,0.00,3.94,0.000,0.000,0.154,3853.88,3862.81,3844.94,1360.06,3725.00,0,0,0,30.00,30.00,15.96
$GC,4407.74,1028,-116.79,-1.44,0.00,3854.0,3862.1,3845.9,1359.8,3724.4,555.85,-10.67,235,4416.67,0.00,0.00,3.53,0.000,0.000,0.064,3853.12,3861.25,3845.00,1360.00,2244.81,0,0,0,30.00,30.00,16.01
$GC,4803.61,32,-116.79,-1.44,0.00,3855.6,3865.1,3846.0,1360.1,2244.2,591.24,-8.85,249,4805.54,0.00,0.00,0.00,0.000,0.000,0.000,3854.53,3864.50,3844.56,1360.44,2244.12,0,0,0,30.00,30.00,30.00
$GC,5193.62,292,-116.79,-1.44,80.00,3856.6,3867.2,3845.9,1360.0,2244.1,625.21,-8.60,262,5203.07,0.00,0.00,3.97,0.000,0.000,0.155,3855.78,3866.44,3845.12,1360.38,3723.62,0,0,0,30.00,30.00,15.92
$GC,5226.13,1060,-116.79,-1.44,0.00,3856.3,3867.1,3845.4,1360.2,3723.7,628.46,-8.84,268,5234.96,0.00,0.00,3.56,0.000,0.000,0.063,3856.91,3867.12,3846.69,1359.69,2243.44,0,0,0,30.00,30.00,15.97
$GC,5608.72,292,-116.79,-1.44,80.00,3857.2,3868.4,3846.0,1360.2,2244.0,662.09,-8.79,284,5618.19,0.00,0.00,3.96,0.000,0.000,0.155,3857.34,3868.62,3846.06,1359.88,3724.06,0,0,0,30.00,30.00,15.91
$GC,5651.16,1028,-116.79,-1.44,0.00,3858.1,3869.9,3846.2,1360.4,3724.6,666.48,-10.17,292,5660.08,0.00,0.00,3.56,0.000,0.000,0.064,3856.78,3868.94,3844.62,1360.44,2244.12,0,0,0,30.00,30.00,15.95
$GC,6023.83,292,-116.79,-1.44,80.00,3858.6,3870.0,3847.2,1360.0,2244.1,699.40,-8.84,306,6033.31,0.00,0.00,3.96,0.000,0.000,0.155,3858.78,3870.06,3847.50,1360.12,3723.06,0,0,0,30.00,30.00,15.89
$GC,6052.14,1060,-116.79,-1.44,0.00,3859.2,3870.4,3848.0,1360.1,3723.7,702.22,-8.97,311,6061.20,0.00,0.00,3.54,0.000,0.000,0.064,3859.19,3870.06,3848.31,1359.44,2243.50,0,0,0,30.00,30.00,15.94
$GC,6439.94,292,-116.79,-1.44,80.00,3860.6,3872.4,3848.8,1360.4,2243.6,736.46,-8.68,328,6449.51,0.00,0.00,3.99,0.000,0.000,0.155,3859.78,3871.06,3848.50,1360.19,3724.12,0,0,0,30.00,30.00,15.88
$GC,6482.46,1028,-116.79,-1.44,0.00,3860.3,3872.3,3848.4,1359.8,3723.6,740.76,-9.98,336,6491.35,0.00,0.00,3.56,0.000,0.000,0.064,3860.22,3872.88,3847.56,1359.62,2244.31,0,0,0,30.00,30.00,15.93
$MODEM_MSG,CACST,8,1,20230908081049.283710,18,3498,23,0180,0000,246,02,02,02,04,-1,-01,-01,1,3,0,0,150,-36.9,0.47,-100,2.53,-01,0.06,55,925,0025,0,-1,00,00*1E
$MODEM_MSG,CACST,8,1,20230908081518.620344,18,4613,30,0184,0000,246,02,02,01,04,-1,-01,-01,1,3,0,0,150,-37.5,0.71,-100,2.29,-01,0.03,56,925,0025,0,-1,00,00*13
$NAV,1694162733,754.8,2,stop
$GC,6855.09,32,-116.79,-1.44,0.00,3861.9,3873.9,3849.9,1359.9,2245.0,772.43,-8.41,350,6857.01,0.00,0.00,0.00,0.000,0.000,0.000,3861.06,3873.12,3849.00,1360.00,2244.88,0,0,0,30.00,30.00,30.00
$GC,7245.11,292,-116.79,-1.44,80.00,3863.6,3876.4,3850.8,1360.7,2245.0,804.60,-8.18,363,7254.53,0.00,0.00,3.95,0.000,0.000,0.155,3863.62,3876.75,3850.50,1359.56,3721.88,0,0,0,30.00,30.00,15.95
$GC,7287.48,1028,-116.79,-1.44,0.00,3863.9,3876.6,3851.1,1360.2,3722.4,808.65,-9.36,371,7296.42,0.00,0.00,3.54,0.000,0.000,0.064,3863.28,3875.56,3851.00,1360.31,2245.38,0,0,0,30.00,30.00,16.00
$GC,7660.15,292,-116.79,-1.44,80.00,3865.5,3878.3,3852.8,1360.2,2245.2,838.94,-8.11,385,7669.58,0.00,0.00,3.95,0.000,0.000,0.155,3864.72,3877.81,3851.62,1359.81,3723.06,0,0,0,30.00,30.00,15.98
$GC,7692.63,1060,-116.79,-1.44,0.00,3865.6,3878.3,3852.9,1359.8,3723.7,842.01,-8.37,391,7701.44,0.00,0.00,3.55,0.000,0.000,0.064,3864.78,3877.44,3852.12,1360.00,2241.88,0,0,0,30.00,30.00,16.02
$GC,8075.18,32,-116.79,-1.44,0.00,3866.9,3880.2,3853.6,1360.1,2242.4,873.14,-8.20,407,8077.10,0.00,0.00,0.00,0.000,0.000,0.000,3866.56,3879.62,3853.50,1360.06,2242.12,0,0,0,30.00,30.00,30.00
$GC,8465.18,292,-116.79,-1.44,80.00,3868.0,3881.6,3854.5,1359.6,2242.0,904.87,-8.17,420,8474.68,0.00,0.00,3.96,0.000,0.000,0.157,3867.41,3881.19,3853.62,1360.50,3723.75,0,0,0,30.00,30.00,16.00
$GC,8517.63,1028,-116.79,-1.44,0.00,3868.5,3881.4,3855.6,1360.1,3723.3,909.97,-9.85,430,8526.21,0.00,0.00,3.53,0.000,0.000,0.066,3868.44,3881.94,3854.94,1360.31,2245.62,0,0,0,30.00,30.00,16.05
$GC,8913.52,32,-116.79,-1.44,0.00,3869.7,3882.9,3856.4,1360.1,2245.3,942.39,-8.10,444,8915.43,0.00,0.00,0.00,0.000,0.000,0.000,3869.06,3882.06,3856.06,1359.88,2245.50,0,0,0,30.00,30.00,30.00
$GC,9303.53,292,-116.79,-1.44,80.00,3871.7,3884.6,3858.7,1360.1,2245.4,973.89,-8.01,457,9312.95,0.00,0.00,3.95,0.000,0.000,0.157,3870.75,3883.44,3858.06,1359.00,3724.31,0,0,0,30.00,30.00,16.02
$GC,9350.91,1028,-116.79,-1.44,0.00,3871.2,3884.1,3858.2,1359.9,3725.1,978.36,-9.36,466,9359.80,0.00,0.00,3.52,0.000,0.000,0.066,3870.62,3883.56,3857.69,1359.75,2244.88,0,0,0,30.00,30.00,16.07
$STATE,9507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9507,begin apogee
$GC,9508.52,10243,0.00,-0.35,0.00,3872.0,3885.4,3858.6,1359.8,2227.8,991.05,-8.15,472,9635.36,110.99,1.83,0.05,2.454,0.136,0.445,3367.19,3412.06,3322.31,1624.25,2248.88,0,0,0,11.68,16.04,15.29
$WARN,HSCICON missed fuel gauge read
$STATE,9645,end apogee,CONTROL_FINISHED_OK
$STATE,9645,begin climb
$GC,9645.17,10503,116.79,1.44,80.00,3366.7,3410.6,3322.8,1624.1,2249.5,992.30,0.00,475,9782.96,109.18,2.90,4.20,2.402,0.072,0.162,2890.56,2952.75,2828.38,2063.19,3701.50,0,0,0,11.71,15.40,15.01
$GC,9786.05,1028,116.79,1.44,0.00,2888.6,2948.7,2828.6,2064.1,3701.4,982.97,12.27,490,9795.00,0.00,0.00,3.73,0.000,0.000,0.068,2886.47,2947.44,2825.50,2063.94,2226.06,0,0,0,30.00,30.00,15.18
$GC,10168.65,16646,116.79,1.44,80.00,2879.2,2937.4,2821.1,2064.1,2225.9,929.66,14.09,506,10178.27,0.00,0.00,4.07,0.000,0.000,0.161,2877.66,2935.94,2819.38,2064.12,3703.06,0,0,0,30.00,30.00,15.58
$GC,10216.24,17414,116.79,1.44,0.00,2877.9,2934.6,2821.2,2064.2,3702.3,921.84,16.70,515,10225.16,0.00,0.00,3.59,0.000,0.000,0.070,2877.50,2935.75,2819.25,2064.06,2224.12,0,0,0,30.00,30.00,15.64
$GC,10612.02,16646,116.79,1.44,80.00,2876.2,2931.4,2820.9,2064.2,2224.3,866.80,13.66,529,10621.64,0.00,0.00,4.02,0.000,0.000,0.161,2876.12,2931.25,2821.00,2064.19,3701.75,0,0,0,30.00,30.00,15.74
$GC,10654.61,17414,116.79,1.44,0.00,2875.4,2929.8,2821.1,2064.2,3701.4,859.98,16.25,537,10663.50,0.00,0.00,3.56,0.000,0.000,0.069,2874.03,2929.00,2819.06,2064.69,2226.06,0,0,0,30.00,30.00,15.80
$GC,11027.14,16646,116.79,1.44,80.00,2874.8,2929.0,2820.5,2064.8,2226.4,808.69,13.71,551,11036.66,0.00,0.00,3.95,0.000,0.000,0.160,2873.47,2927.56,2819.38,2065.00,3701.56,0,0,0,30.00,30.00,15.82
$NAV,1694167143,804.4,start
$GC,11084.49,17414,116.79,1.44,0.00,2874.6,2928.2,2820.9,2064.6,3701.7,799.57,16.01,560,11093.39,0.00,0.00,3.56,0.000,0.000,0.068,2872.75,2926.25,2819.25,2064.56,2224.31,0,0,0,30.00,30.00,15.86
$GC,11480.31,16646,116.79,1.44,80.00,2873.8,2927.9,2819.7,2064.2,2224.4,746.11,13.29,574,11489.80,0.00,0.00,3.97,0.000,0.000,0.159,2873.66,2926.25,2821.06,2063.12,3703.25,0,0,0,30.00,30.00,15.83
$GC,11538.54,17414,116.79,1.44,0.00,2873.2,2926.5,2820.0,2064.5,3703.4,737.24,15.65,585,11547.68,0.00,0.00,3.58,0.000,0.000,0.068,2872.81,2926.00,2819.62,2062.50,2223.75,0,0,0,30.00,30.00,15.87
$GC,11926.32,16646,116.79,1.44,80.00,2873.0,2925.6,2820.4,2064.4,2224.2,686.41,12.96,602,11935.86,0.00,0.00,3.94,0.000,0.000,0.157,2871.81,2924.81,2818.81,2064.88,3702.44,0,0,0,30.00,30.00,15.84
$GC,11988.82,17414,116.79,1.44,0.00,2872.7,2925.0,2820.3,2064.4,3702.2,676.86,15.51,614,11997.72,0.00,0.00,3.57,0.000,0.000,0.067,2871.41,2924.75,2818.06,2064.25,2224.50,0,0,0,30.00,30.00,15.89
$NAV,1694168429,631.3,0,stop
$GC,12371.36,16646,116.79,1.44,80.00,2873.0,2925.6,2820.4,2064.4,2224.6,627.47,12.78,630,12380.89,0.00,0.00,3.91,0.000,0.000,0.157,2870.06,2920.81,2819.31,2063.00,3703.38,0,0,0,30.00,30.00,15.87
$GC,12418.96,17414,116.79,1.44,0.00,2872.9,2925.2,2820.6,2064.7,3703.5,620.38,14.98,639,12427.84,0.00,0.00,3.54,0.000,0.000,0.067,2871.19,2923.50,2818.88,2064.62,2224.69,0,0,0,30.00,30.00,15.93
$GC,12814.74,16646,116.79,1.44,80.00,2872.6,2925.2,2819.9,2064.2,2224.2,570.19,12.47,653,12824.17,0.00,0.00,3.86,0.000,0.000,0.156,2870.47,2923.06,2817.88,2064.31,3700.31,0,0,0,30.00,30.00,15.92
$GC,12867.13,17414,116.79,1.44,0.00,2872.4,2925.0,2819.8,2064.6,3700.8,562.56,14.69,663,12875.71,0.00,0.00,3.53,0.000,0.000,0.067,2871.94,2924.56,2819.31,2065.38,2224.69,0,0,0,30.00,30.00,15.97
$GC,13262.91,16646,116.79,1.44,80.00,2872.2,2924.6,2819.9,2065.0,2224.8,514.25,11.95,677,13272.46,0.00,0.00,3.90,0.000,0.000,0.156,2870.78,2923.19,2818.38,2064.31,3702.62,0,0,0,30.00,30.00,15.94
$GC,13310.42,17414,116.79,1.44,0.00,2872.3,2924.4,2820.2,2064.7,3702.6,507.68,13.90,686,13319.32,0.00,0.00,3.52,0.000,0.000,0.066,2870.72,2922.69,2818.75,2064.94,2224.06,0,0,0,30.00,30.00,16.00
$GC,13706.20,16646,116.79,1.44,80.00,2872.3,2924.3,2820.2,2065.8,2223.2,461.34,11.63,700,13715.73,0.00,0.00,3.93,0.000,0.000,0.154,2871.16,2923.19,2819.12,2064.75,3702.19,0,0,0,30.00,30.00,15.97
$GC,13783.71,17414,116.79,1.44,0.00,2872.1,2923.9,2820.2,2065.8,3702.5,450.66,13.90,715,13792.61,0.00,0.00,3.52,0.000,0.000,0.066,2872.41,2924.31,2820.50,2064.06,2223.06,0,0,0,30.00,30.00,16.03
$GC,14179.49,16646,116.79,1.44,80.00,2872.3,2924.2,2820.4,2065.1,2223.2,404.33,11.45,729,14189.03,0.00,0.00,3.94,0.000,0.000,0.153,2870.62,2922.88,2818.38,2065.62,3701.44,0,0,0,30.00,30.00,15.99
$GC,14222.00,17414,116.79,1.44,0.00,2872.1,2924.2,2820.0,2065.1,3701.6,398.67,13.36,737,14230.90,0.00,0.00,3.51,0.000,0.000,0.066,2871.22,2922.81,2819.62,2064.62,2222.06,0,0,0,30.00,30.00,16.04
$GC,14594.54,16646,116.79,1.44,80.00,2872.3,2924.2,2820.5,2065.3,2222.4,357.56,10.95,751,14603.96,0.00,0.00,3.88,0.000,0.000,0.153,2871.06,2923.50,2818.62,2064.75,3701.12,0,0,0,30.00,30.00,16.00
$GC,14641.92,17414,116.79,1.44,0.00,2872.1,2924.2,2820.1,2065.4,3701.6,351.65,12.69,760,14650.82,0.00,0.00,3.51,0.000,0.000,0.065,2872.28,2923.38,2821.19,2064.75,2223.62,0,0,0,30.00,30.00,16.05
$GC,15037.78,8742,127.27,1.45,-80.00,2872.1,2923.9,2820.2,2065.2,2224.3,312.73,8.61,774,15056.13,8.03,0.00,3.92,1.369,0.000,0.169,2849.44,2899.62,2799.25,2065.50,775.75,0,0,0,11.71,30.00,15.99
$GC,15104.11,1028,127.27,1.45,0.00,2848.8,2899.0,2798.5,2065.2,775.4,306.30,10.07,787,15113.09,0.00,0.00,3.62,0.000,0.000,0.083,2846.84,2897.81,2795.88,2065.44,2253.25,0,0,0,30.00,30.00,16.03
$GC,15486.84,8486,155.78,1.49,80.00,2848.7,2898.9,2798.5,2065.4,2252.5,275.04,7.65,803,15529.28,29.55,0.00,3.88,1.593,0.000,0.162,2731.47,2781.06,2681.88,2065.00,3703.12,0,0,0,11.66,30.00,15.85
$GC,15548.13,9254,182.74,1.52,0.00,2731.0,2779.8,2682.2,2065.1,3702.6,270.48,7.73,814,15587.96,27.83,0.00,3.56,1.551,0.000,0.065,2621.53,2676.06,2567.00,2065.12,2223.19,0,0,0,11.82,30.00,15.91
$GC,15971.70,8226,212.24,1.56,0.00,2616.9,2671.1,2562.7,2064.6,2222.4,235.48,7.60,838,16004.79,28.97,0.00,0.00,1.530,0.000,0.000,2501.38,2561.50,2441.25,2065.06,2223.12,0,0,0,11.54,30.00,30.00
$GC,16391.71,10791,277.59,1.64,-80.00,2496.6,2556.7,2436.5,2065.5,2223.5,206.28,5.69,852,16470.47,61.23,0.25,4.11,1.517,0.074,0.172,2235.25,2306.00,2164.50,2120.94,775.75,0,0,0,11.42,15.87,15.54
$GC,16478.44,1028,277.59,1.64,0.00,2232.7,2302.2,2163.2,2120.9,776.2,199.71,9.35,868,16487.53,0.00,0.00,3.72,0.000,0.000,0.081,2233.28,2302.81,2163.75,2120.88,2251.31,0,0,0,30.00,30.00,15.61
$GC,16874.25,16386,277.59,1.64,0.00,2226.3,2296.9,2155.7,2120.8,2251.2,160.30,10.25,882,16876.17,0.00,0.00,0.00,0.000,0.000,0.000,2224.69,2294.69,2154.69,2120.75,2250.00,0,0,0,30.00,30.00,30.00
$GC,17264.32,8742,303.82,1.67,-80.00,2225.0,2295.2,2154.8,2121.1,2251.4,125.87,7.77,895,17307.98,31.05,0.00,4.10,1.415,0.000,0.168,2126.66,2196.38,2056.94,2121.19,775.81,0,0,0,11.61,30.00,15.69
$GC,17311.03,9254,318.60,1.69,0.00,2128.0,2197.3,2058.6,2121.2,775.9,122.11,8.38,902,17341.71,19.92,0.00,3.67,1.336,0.000,0.084,2068.06,2139.69,1996.44,2120.81,2251.38,0,0,0,11.51,30.00,15.74
$GC,17722.79,8226,338.76,1.71,0.00,2061.8,2134.7,1988.9,2121.0,2251.0,86.64,8.09,921,17754.51,25.51,0.00,0.00,1.375,0.000,0.000,1986.66,2060.00,1913.31,2120.75,2251.25,0,0,0,11.48,30.00,30.00
$GC,18142.81,8226,380.15,1.76,0.00,1981.3,2055.0,1907.6,2120.7,2251.1,56.15,6.96,935,18202.64,53.08,0.00,0.00,1.385,0.000,0.000,1817.97,1895.00,1740.94,2119.94,2250.62,0,0,0,11.59,30.00,30.00
$NAV,1694174345,51.3,start
$GC,18587.82,10535,524.64,1.94,80.00,1810.8,1888.2,1733.3,2121.5,2250.8,46.06,1.47,954,18793.92,178.02,0.37,4.11,1.349,0.063,0.163,1229.81,1311.00,1148.62,2193.81,3700.44,0,0,0,11.53,15.76,15.20
$GC,18921.99,9254,590.68,2.02,0.00,1224.2,1300.4,1148.1,2193.9,3700.6,31.78,5.65,1017,19024.71,86.12,0.00,3.67,1.299,0.000,0.066,960.81,1032.12,889.50,2193.44,2224.81,0,0,0,11.42,30.00,15.49
$GC,19328.45,10535,693.59,2.15,80.00,955.2,1021.4,889.1,2193.2,2223.8,16.19,3.68,1066,19487.05,136.01,0.22,4.14,1.297,0.088,0.156,541.34,575.69,507.00,2233.50,3700.75,0,0,0,11.58,15.61,15.20
$GC,19715.15,11303,853.02,2.34,0.00,537.8,569.3,506.2,2235.1,3701.1,12.00,0.67,1140,19741.15,15.06,0.26,3.66,1.216,0.101,0.063,500.69,527.25,474.12,2279.88,2224.62,0,0,0,11.45,15.53,15.54
$FREEZE,9.93,-0.035,-1.366,2,1,0
$FREEZE,9.88,-0.035,-1.366,2,1,0
$GC,20046.07,10535,1012.80,2.54,80.00,500.8,527.1,474.6,2279.9,2224.2,9.93,0.66,1175,20056.24,0.01,0.29,4.03,0.247,0.097,0.153,500.62,526.75,474.50,2329.31,3702.81,0,0,0,30.36,15.65,15.60
$FREEZE,9.61,-0.035,-1.366,2,1,0
$FREEZE,9.55,-0.038,-1.365,2,1,0
$FREEZE,9.55,-0.038,-1.365,2,1,0
$FREEZE,9.49,-0.036,-1.365,2,1,0
$FREEZE,9.41,-0.036,-1.365,2,1,0
$FREEZE,9.35,-0.039,-1.365,2,1,0
$FREEZE,9.32,-0.039,-1.365,2,1,0
$FREEZE,9.30,-0.035,-1.365,2,1,0
$FREEZE,9.27,-0.035,-1.365,2,1,0
$FREEZE,9.21,-0.035,-1.365,2,1,0
$FREEZE,9.16,-0.035,-1.364,2,1,0
$FREEZE,9.14,-0.035,-1.364,2,1,0
$FREEZE,9.11,-0.035,-1.364,2,1,0
$FREEZE,9.05,-0.033,-1.364,2,1,0
$FREEZE,8.98,-0.033,-1.364,2,1,0
$FREEZE,8.93,-0.033,-1.364,2,1,0
$FREEZE,8.88,-0.033,-1.364,2,1,0
$FREEZE,8.83,-0.034,-1.364,2,1,0
$FREEZE,8.77,-0.034,-1.364,2,1,0
$FREEZE,8.71,-0.033,-1.364,2,1,0
$FREEZE,8.62,-0.033,-1.364,2,1,0
$FREEZE,8.54,-0.032,-1.363,2,1,0
$FREEZE,8.46,-0.032,-1.363,2,1,0
$FREEZE,8.34,-0.032,-1.363,2,1,0
$FREEZE,8.23,-0.032,-1.363,2,1,0
$FREEZE,8.14,-0.032,-1.363,2,1,0
$FREEZE,8.00,-0.032,-1.363,2,1,0
$FREEZE,7.85,-0.032,-1.363,2,1,0
$FREEZE,7.70,-0.032,-1.363,2,1,0
$FREEZE,7.60,-0.032,-1.363,2,1,0
$FREEZE,7.45,-0.032,-1.363,2,1,0
$FREEZE,7.27,-0.031,-1.362,2,1,0
$FREEZE,7.09,-0.031,-1.362,2,1,0
$FREEZE,6.95,-0.033,-1.362,2,1,0
$FREEZE,6.75,-0.033,-1.362,2,1,0
$FREEZE,6.57,-0.031,-1.362,2,1,0
$FREEZE,6.41,-0.031,-1.362,2,1,0
$FREEZE,6.23,-0.031,-1.361,2,1,0
$FREEZE,6.05,-0.031,-1.361,2,1,0
$FREEZE,5.90,-0.031,-1.361,2,1,0
$FREEZE,5.73,-0.031,-1.361,2,1,0
$FREEZE,5.56,-0.031,-1.361,2,1,0
$FREEZE,5.37,-0.031,-1.361,2,1,0
$FREEZE,5.21,-0.031,-1.361,2,1,0
$FREEZE,5.04,-0.031,-1.360,2,1,0
$FREEZE,4.82,-0.031,-1.360,2,1,0
$FREEZE,4.65,-0.031,-1.360,2,1,0
$GC,20285.27,11303,1121.97,2.68,0.00,500.7,526.8,474.6,2329.1,3703.4,4.82,3.35,1222,20294.93,0.00,0.17,3.62,0.016,0.088,0.064,494.69,515.06,474.31,2364.75,2223.62,0,0,0,30.36,15.73,15.71
$FREEZE,4.20,-0.032,-1.360,2,1,0
$FREEZE,3.84,-0.031,-1.360,2,1,0
$FREEZE,3.47,-0.031,-1.359,2,1,0
$FREEZE,3.11,-0.031,-1.359,2,1,0
$FREEZE,2.73,-0.031,-1.359,2,1,0
$FREEZE,2.36,-0.031,-1.358,2,1,0
$FREEZE,1.98,-0.031,-1.358,2,1,0
$STATE,20360,end climb,SURFACE_DEPTH_REACHED
$STATE,20360,begin surface coast
$FREEZE,1.55,-0.032,-1.358,2,1,0
$FREEZE,1.15,-0.031,-1.357,2,1,0
$FREEZE,0.73,-0.030,-1.357,2,1,0
$FREEZE,0.28,-0.030,-1.357,2,1,0
$FREEZE,-0.32,-0.030,-1.357,2,1,0
$FREEZE,-0.18,-0.031,-1.358,2,1,0
$FINISH,-0.2,1.020032
$STATE,20420,end surface coast,CONTROL_FINISHED_OK
$STATE,20420,begin surface
$SM_CCo,20513.36,0.00,0.000,0,498.7,523.5,473.9,703.84
$SM_GC,1.17,0.00,13.75,0.11,0.000,0.042,0.170,498.7,523.5,473.9,196.4,2277.9,0,0,0,30.00,15.75,15.73
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,7515.52,-14412.02,080923,063954
$TCM_TEMP,-93.13
$SC_FREEKB,3841984
$RAFOS_CLK,-1
$MODEM,3,1694160918,75.49550,-144.14850,18.620,27278.8
$MODEM,2,1694160649,75.22370,-146.73190,49.284,72200.6
$RAFOS_FIX,7515.387207,-14417.870117,080923,080818,3,255,0.68
$HUMID,51.41
$TEMP,0.45
$INTERNAL_PRESSURE,7.57371
$24V_AH,14.42,85.894
$10V_AH,15.00,0.000
$FG_AHR_24Vo,73.796
$FG_AHR_10Vo,15.377
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,1015.115,29.685,249.560,786.234,0.000,14.284,5609.940,9.425,0.000,15815.359,2339.101,4064.973,0.000,0.000,85.129
$DEVICE_MAMPS,2454.176,281.832,444.520,187.535,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20429.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.100,0.000,0.000,0.000
$MEM0,59796,1,0,0
$MEM1,65508,1,0,0
$MEM2,940628,34,104780,124
$DATA_FILE_SIZE,35298,1236
$CAP_FILE_SIZE,435129,0
$SDSIZE,3887104,3827200
$SDFILEDIR,911,116
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$IMPLIED_C_PITCH,1709,13.81,589,0.0,14.00
$IMPLIED_C_VBD,3233,35.625866,340,0
$GPS,080923,123809,7516.683,-14407.911,63,1.8,67,15.6