version: 67.00
glider: 227
mission: 6
dive: 485
start: 4 20 120 0 9 53
data:
$ID,227
$MISSION,6
$DIVE,485
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,8
$SURFACE_URGENCY_TRY,8
$SURFACE_URGENCY_FORCE,16
$T_DIVE,180
$T_MISSION,1740
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72247
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038699999
$HD_B,0.0102
$HD_C,1.6e-05
$HEADING,190
$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,517.58301
$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,-120
$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,40
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,60
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,2450
$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,2726
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0040000002
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,1
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,74.580025
$FG_AHR_24V,139.45372
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.61569
$PRESSURE_SLOPE,0.00010861728
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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,1
$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
$GPS1,190420,203530,7510.082,-14407.583,0,6255.0,0,18.2
$_CALLS,0
$_SM_DEPTHo,8.99
$_SM_ANGLEo,5.3
$GPS2,190420,203530,7510.082,-14407.583,0,6255.0,0,18.2
$SPEED_LIMITS,0.160,0.227
$TGT_NAME,HEADING
$TGT_LATLONG,7459.446,-14414.824
$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,171.8,20000,-19.4,-9.259,-22.20
$D_GRID,500
$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
$GC,5.41,2,-116.79,-0.95,0.00,1350.2,1506.8,1193.7,2579.1,2008.4,0.00,0.00,0,16.24,10.30,0.00,0.00,0.007,0.000,0.000,1707.12,1816.38,1597.88,2580.31,2008.19,0,0,0,14.59,30.00,30.00
$GC,16.49,551,-116.79,-0.95,-60.00,1705.9,1814.7,1597.1,2579.4,2008.6,10.36,0.00,1,62.52,36.81,2.35,3.65,0.005,0.119,0.068,3202.69,3146.19,3259.19,1847.31,753.06,0,0,0,14.74,15.34,14.59
$GC,105.74,1028,-116.79,-0.95,0.00,3202.3,3145.6,3259.1,1847.6,753.1,35.13,-33.25,19,111.26,0.00,0.00,3.68,0.000,0.000,0.026,3203.66,3146.25,3261.06,1832.50,2060.69,0,0,0,30.00,30.00,15.44
$GC,495.83,0,-116.79,-0.95,0.00,3203.0,3146.4,3259.5,1832.2,2062.8,118.04,-16.05,37,497.16,0.00,0.00,0.00,0.000,0.000,0.000,3202.38,3146.00,3258.75,1832.56,2062.44,0,0,0,30.00,30.00,30.00
$GC,855.63,0,-116.79,-0.95,0.00,3202.9,3146.8,3259.1,1831.9,2063.2,172.80,-14.47,49,856.97,0.00,0.00,0.00,0.000,0.000,0.000,3203.62,3147.88,3259.38,1832.44,2063.19,0,0,0,30.00,30.00,30.00
$GC,1215.88,0,-116.79,-0.95,0.00,3202.9,3146.4,3259.4,1831.8,2062.6,217.86,-10.69,61,1217.22,0.00,0.00,0.00,0.000,0.000,0.000,3202.81,3146.69,3258.94,1832.44,2062.25,0,0,0,30.00,30.00,30.00
$GC,1575.91,260,-116.79,-0.95,60.00,3203.0,3146.9,3259.2,1832.0,2063.3,255.53,-9.97,73,1581.40,0.00,0.00,3.65,0.000,0.000,0.059,3203.25,3147.75,3258.75,1816.75,3324.12,0,0,0,30.00,30.00,15.45
$GC,1645.64,1028,-116.79,-0.95,0.00,3203.2,3147.8,3258.6,1815.9,3324.4,262.67,-10.22,87,1651.43,0.00,0.00,3.68,0.000,0.000,0.024,3202.56,3146.56,3258.56,1830.62,2012.94,0,0,0,30.00,30.00,15.48
$MODEM_MSG,CACST,6,1,20200420000533.091458,18,7936,38,0110,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-35.0,0.19,-100,2.81,-01,-0.08,76,925,0025*1D
$MODEM_MSG,CACST,6,1,20200420001010.921209,18,32767,45,0111,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-34.6,0.57,-100,2.43,-01,-1.49,75,925,0025*2D
$MODEM_MSG,CACST,6,1,20200420001554.281800,18,32767,45,0156,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-14.7,0.28,-100,2.72,-01,0.03,64,925,0025*08
$MODEM_MSG,CACST,6,1,20200420002029.842273,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.8,0.32,-100,2.68,-01,0.12,65,925,0025*37
$MODEM_MSG,CACST,6,1,20200420002713.442925,18,32767,39,0208,0150,455,00,00,01,01,-1,-01,-01,1,3,0,0,150,-7.2,0.39,-100,2.61,-01,0.01,64,925,0025*03
$MODEM_MSG,CACST,6,1,20200420003142.455664,18,17384,42,0369,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.3,0.41,-100,2.59,-01,-0.01,64,925,0025*14
$MODEM_MSG,CACST,6,1,20200420003531.103742,18,32767,45,0137,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.8,0.08,-100,2.92,-01,0.04,65,925,0025*3F
$GC,2025.90,260,-116.79,-0.95,60.00,3203.4,3148.0,3258.9,1829.9,2013.4,294.46,-7.48,103,2031.49,0.00,0.00,3.85,0.000,0.000,0.057,3205.06,3149.38,3260.75,1814.94,3324.56,0,0,0,30.00,30.00,15.54
$GC,2110.77,1028,-116.79,-0.95,0.00,3202.8,3147.2,3258.2,1815.7,3325.9,302.24,-9.46,120,2116.60,0.00,0.00,3.64,0.000,0.000,0.024,3204.03,3149.00,3259.06,1827.69,2012.62,0,0,0,30.00,30.00,15.70
$GC,2475.97,260,-116.79,-0.95,60.00,3202.9,3147.6,3258.1,1828.8,2012.3,333.60,-8.36,133,2481.56,0.00,0.00,3.84,0.000,0.000,0.059,3205.03,3149.50,3260.56,1814.00,3324.81,0,0,0,30.00,30.00,15.58
$GC,2570.81,1028,-116.79,-0.95,0.00,3202.7,3147.8,3257.7,1814.1,3325.1,341.78,-8.71,152,2576.55,0.00,0.00,3.63,0.000,0.000,0.024,3202.28,3147.56,3257.00,1827.31,2012.00,0,0,0,30.00,30.00,15.73
$GC,2956.12,292,-116.79,-0.95,60.00,3202.7,3147.3,3258.1,1827.9,2011.2,369.84,-6.93,169,2961.62,0.00,0.00,3.84,0.000,0.000,0.058,3202.66,3147.69,3257.62,1812.94,3323.81,0,0,0,30.00,30.00,15.59
$GC,3055.87,1029,-116.79,-0.95,0.00,3202.4,3148.0,3256.9,1813.1,3323.9,377.50,-7.78,189,3061.66,0.00,0.08,3.62,0.000,0.225,0.023,3203.34,3148.62,3258.06,1848.31,2008.94,0,0,0,30.00,15.35,15.74
$GC,3436.25,292,-116.79,-0.95,60.00,3202.4,3148.1,3256.8,1849.4,2008.2,402.48,-6.53,205,3441.68,0.00,0.00,3.86,0.000,0.000,0.058,3204.38,3149.50,3259.25,1833.06,3325.44,0,0,0,30.00,30.00,15.60
$GC,3540.86,1028,-116.79,-0.95,0.00,3203.1,3148.6,3257.6,1833.5,3324.1,410.14,-7.36,226,3546.84,0.00,0.00,3.62,0.000,0.000,0.022,3203.22,3148.62,3257.81,1847.69,2011.06,0,0,0,30.00,30.00,15.70
$GC,3916.05,292,-116.79,-0.95,60.00,3203.2,3149.0,3257.4,1847.2,2010.7,436.21,-7.03,241,3921.74,0.00,0.00,3.84,0.000,0.000,0.058,3203.75,3149.69,3257.81,1831.06,3324.62,0,0,0,30.00,30.00,15.59
$GC,4036.16,1028,-116.79,-0.95,0.00,3203.0,3149.1,3257.0,1831.9,3324.3,445.37,-7.73,265,4041.72,0.00,0.00,3.62,0.000,0.000,0.022,3204.00,3149.75,3258.25,1844.44,2011.88,0,0,0,30.00,30.00,15.76
$GC,4426.13,292,-116.79,-0.95,60.00,3203.6,3150.1,3257.0,1844.5,2012.4,472.40,-6.78,283,4431.80,0.00,0.00,3.84,0.000,0.000,0.058,3205.41,3151.75,3259.06,1829.69,3325.44,0,0,0,30.00,30.00,15.58
$GC,4551.00,1060,-116.79,-0.95,0.00,3203.5,3150.1,3256.8,1829.6,3326.0,481.22,-7.04,308,4556.85,0.00,0.00,3.63,0.000,0.000,0.022,3203.38,3149.94,3256.81,1842.50,2011.81,0,0,0,30.00,30.00,15.76
$STATE,4876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4876,begin apogee
$GC,4878.68,3,0.00,-0.12,0.00,3204.0,3150.7,3257.2,1837.9,2469.8,501.65,-6.21,323,4976.45,95.65,0.93,0.12,1.797,0.171,0.116,2724.75,2782.00,2667.50,2113.25,2373.94,0,0,0,10.74,15.29,15.12
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4978,begin loiter
$GC,5326.04,0,0.00,-0.12,0.00,2718.1,2782.1,2654.1,2115.1,2355.0,499.34,0.79,329,5327.38,0.00,0.00,0.00,0.000,0.000,0.000,2716.97,2781.69,2652.25,2114.94,2355.31,0,0,0,30.00,30.00,30.00
$GC,5926.05,2,0.00,-0.12,0.00,2717.2,2781.6,2652.8,2114.8,2355.3,492.83,1.09,334,5927.38,0.00,0.00,0.00,0.000,0.000,0.000,2715.28,2780.12,2650.44,2115.00,2355.25,0,0,0,30.00,30.00,30.00
$GC,6526.06,2,0.00,-0.12,0.00,2716.5,2781.4,2651.5,2115.7,2355.4,485.35,1.25,339,6527.39,0.00,0.00,0.00,0.000,0.000,0.000,2716.31,2781.56,2651.06,2114.62,2355.19,0,0,0,30.00,30.00,30.00
$GC,7126.07,2,0.00,-0.12,0.00,2716.6,2781.6,2651.6,2115.1,2355.6,478.34,1.17,344,7127.40,0.00,0.00,0.00,0.000,0.000,0.000,2716.06,2782.81,2649.31,2114.88,2355.38,0,0,0,30.00,30.00,30.00
$GC,7726.07,2,0.00,-0.12,0.00,2716.9,2782.1,2651.7,2115.1,2355.2,474.78,0.65,349,7727.41,0.00,0.00,0.00,0.000,0.000,0.000,2715.75,2782.06,2649.44,2115.31,2355.06,0,0,0,30.00,30.00,30.00
$GC,8326.09,2,0.00,-0.12,0.00,2716.4,2780.9,2651.9,2115.1,2355.2,474.29,0.34,354,8327.42,0.00,0.00,0.00,0.000,0.000,0.000,2715.69,2781.31,2650.06,2115.25,2354.69,0,0,0,30.00,30.00,30.00
$GC,8926.10,2,0.00,-0.12,0.00,2717.1,2781.4,2652.7,2114.9,2355.6,472.23,0.27,359,8927.44,0.00,0.00,0.00,0.000,0.000,0.000,2715.69,2781.50,2649.88,2115.19,2355.06,0,0,0,30.00,30.00,30.00
$GC,9526.11,2,0.00,-0.12,0.00,2716.8,2781.6,2651.9,2114.9,2354.9,467.88,0.72,364,9527.44,0.00,0.00,0.00,0.000,0.000,0.000,2715.94,2781.81,2650.06,2115.19,2355.00,0,0,0,30.00,30.00,30.00
$GC,10126.14,2,0.00,-0.12,0.00,2716.6,2782.6,2650.6,2115.1,2355.1,463.74,0.69,369,10127.48,0.00,0.00,0.00,0.000,0.000,0.000,2717.06,2782.00,2652.12,2114.75,2356.00,0,0,0,30.00,30.00,30.00
$GC,10726.14,2,0.00,-0.12,0.00,2716.7,2782.2,2651.1,2115.7,2354.9,459.62,0.69,374,10727.47,0.00,0.00,0.00,0.000,0.000,0.000,2715.50,2781.19,2649.81,2115.00,2355.25,0,0,0,30.00,30.00,30.00
$GC,11326.15,2,0.00,-0.12,0.00,2716.7,2782.1,2651.4,2115.0,2355.4,455.50,0.69,379,11327.49,0.00,0.00,0.00,0.000,0.000,0.000,2715.72,2781.88,2649.56,2115.31,2355.44,0,0,0,30.00,30.00,30.00
$GC,11926.16,2,0.00,-0.12,0.00,2717.1,2781.9,2652.2,2115.0,2354.8,450.94,0.76,384,11927.49,0.00,0.00,0.00,0.000,0.000,0.000,2715.78,2781.75,2649.81,2114.88,2355.75,0,0,0,30.00,30.00,30.00
$GC,12526.17,2,0.00,-0.12,0.00,2717.1,2781.9,2652.3,2115.0,2355.2,447.33,0.63,389,12527.51,0.00,0.00,0.00,0.000,0.000,0.000,2715.38,2780.50,2650.25,2114.94,2355.38,0,0,0,30.00,30.00,30.00
$GC,13126.18,2,0.00,-0.12,0.00,2717.0,2782.0,2652.0,2114.9,2355.3,446.01,0.38,394,13127.52,0.00,0.00,0.00,0.000,0.000,0.000,2715.12,2780.62,2649.62,2115.31,2355.88,0,0,0,30.00,30.00,30.00
$GC,13726.20,2,0.00,-0.12,0.00,2716.6,2781.2,2651.9,2114.9,2355.1,444.68,0.26,399,13727.53,0.00,0.00,0.00,0.000,0.000,0.000,2715.50,2781.19,2649.81,2114.88,2355.19,0,0,0,30.00,30.00,30.00
$GC,14326.22,2,0.00,-0.12,0.00,2717.0,2782.3,2651.7,2114.5,2355.7,442.67,0.28,404,14327.56,0.00,0.00,0.00,0.000,0.000,0.000,2715.72,2781.62,2649.81,2115.19,2355.00,0,0,0,30.00,30.00,30.00
$GC,14926.22,2,0.00,-0.12,0.00,2716.7,2781.9,2651.4,2115.0,2355.1,441.31,0.28,409,14927.56,0.00,0.00,0.00,0.000,0.000,0.000,2715.94,2781.12,2650.75,2115.38,2355.44,0,0,0,30.00,30.00,30.00
$GC,15526.24,2,0.00,-0.12,0.00,2717.1,2782.4,2651.8,2115.1,2356.1,440.04,0.24,414,15527.57,0.00,0.00,0.00,0.000,0.000,0.000,2716.03,2782.25,2649.81,2115.06,2355.06,0,0,0,30.00,30.00,30.00
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$GC,79127.53,2,0.00,-0.10,0.00,2716.8,2781.9,2651.8,2115.2,2355.3,436.57,0.08,944,79128.87,0.00,0.00,0.00,0.000,0.000,0.000,2716.06,2781.44,2650.69,2115.50,2355.06,0,0,0,30.00,30.00,30.00
$GC,79727.53,2,0.00,-0.10,0.00,2716.6,2781.6,2651.7,2115.6,2355.0,437.01,0.00,949,79728.87,0.00,0.00,0.00,0.000,0.000,0.000,2716.97,2781.88,2652.06,2114.88,2355.81,0,0,0,30.00,30.00,30.00
$GC,80327.55,2,0.00,-0.10,0.00,2716.9,2781.6,2652.2,2115.3,2355.3,438.74,-0.06,954,80328.89,0.00,0.00,0.00,0.000,0.000,0.000,2715.56,2780.50,2650.62,2115.56,2355.12,0,0,0,30.00,30.00,30.00
$GC,80927.57,2,0.00,-0.10,0.00,2716.8,2781.8,2651.8,2115.5,2355.6,438.40,-0.02,959,80928.90,0.00,0.00,0.00,0.000,0.000,0.000,2715.69,2780.88,2650.50,2115.25,2354.81,0,0,0,30.00,30.00,30.00
$GC,81527.58,2,0.00,-0.10,0.00,2716.9,2781.6,2652.2,2114.8,2355.4,438.15,-0.05,964,81528.92,0.00,0.00,0.00,0.000,0.000,0.000,2714.88,2779.88,2649.88,2115.06,2355.31,0,0,0,30.00,30.00,30.00
$GC,82127.59,2,0.00,-0.10,0.00,2717.2,2781.9,2652.4,2115.1,2355.2,440.33,-0.14,969,82128.93,0.00,0.00,0.00,0.000,0.000,0.000,2715.69,2781.00,2650.38,2115.31,2355.06,0,0,0,30.00,30.00,30.00
$GC,82727.61,2,0.00,-0.10,0.00,2716.9,2781.9,2651.8,2115.1,2355.0,441.45,-0.28,974,82728.95,0.00,0.00,0.00,0.000,0.000,0.000,2715.75,2780.94,2650.56,2114.94,2355.44,0,0,0,30.00,30.00,30.00
$GC,83327.63,2,0.00,-0.10,0.00,2716.8,2781.1,2652.4,2115.0,2355.2,439.77,-0.07,979,83328.96,0.00,0.00,0.00,0.000,0.000,0.000,2715.47,2780.50,2650.44,2115.12,2355.25,0,0,0,30.00,30.00,30.00
$GC,83927.64,2,0.00,-0.10,0.00,2716.8,2781.9,2651.8,2115.2,2355.6,438.75,0.00,984,83928.98,0.00,0.00,0.00,0.000,0.000,0.000,2715.44,2780.50,2650.38,2115.25,2355.31,0,0,0,30.00,30.00,30.00
$GC,84527.65,2,0.00,-0.10,0.00,2717.1,2781.7,2652.5,2115.7,2355.2,439.10,-0.03,989,84528.99,0.00,0.00,0.00,0.000,0.000,0.000,2715.62,2780.44,2650.81,2115.19,2355.44,0,0,0,30.00,30.00,30.00
$GC,85127.67,2,0.00,-0.10,0.00,2716.7,2781.3,2652.1,2115.6,2355.5,440.80,-0.07,994,85129.01,0.00,0.00,0.00,0.000,0.000,0.000,2715.28,2780.19,2650.38,2115.06,2355.25,0,0,0,30.00,30.00,30.00
$GC,85727.69,2,0.00,-0.10,0.00,2716.6,2781.6,2651.6,2115.2,2355.4,443.00,-0.33,999,85729.02,0.00,0.00,0.00,0.000,0.000,0.000,2715.34,2780.56,2650.12,2115.25,2355.56,0,0,0,30.00,30.00,30.00
$GC,86327.71,2,0.00,-0.10,0.00,2716.8,2781.4,2652.2,2115.4,2355.2,444.25,-0.29,1004,86329.05,0.00,0.00,0.00,0.000,0.000,0.000,2715.81,2780.62,2651.00,2114.94,2355.50,0,0,0,30.00,30.00,30.00
$GC,86927.72,2,0.00,-0.10,0.00,2716.6,2781.6,2651.5,2116.1,2354.9,442.09,-0.13,1009,86929.06,0.00,0.00,0.00,0.000,0.000,0.000,2715.22,2781.00,2649.44,2115.50,2356.25,0,0,0,30.00,30.00,30.00
$GC,87527.73,2,0.00,-0.10,0.00,2716.8,2781.9,2651.7,2115.5,2355.0,438.27,0.64,1014,87529.07,0.00,0.00,0.00,0.000,0.000,0.000,2716.25,2781.88,2650.62,2115.19,2355.25,0,0,0,30.00,30.00,30.00
$GC,88127.75,2,0.00,-0.10,0.00,2716.5,2781.6,2651.4,2114.9,2355.0,435.88,0.47,1019,88129.08,0.00,0.00,0.00,0.000,0.000,0.000,2716.00,2781.94,2650.06,2114.94,2355.50,0,0,0,30.00,30.00,30.00
$MODEM_MSG,CACST,6,1,20200421000531.984012,18,30153,44,0220,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.8,0.53,-100,2.47,-01,0.08,65,925,0025*03
$MODEM_MSG,CACST,6,1,20200421001010.687742,18,32767,45,0123,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.5,0.37,-100,2.63,-01,-0.10,71,925,0025*2D
$MODEM_MSG,CACST,6,1,20200421001554.099150,18,5089,37,0166,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.5,0.61,-100,2.39,-01,0.08,65,925,0025*3E
$MODEM_MSG,CACST,6,1,20200421002029.460013,18,29015,44,0122,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.1,0.40,-100,2.60,-01,0.01,66,925,0025*3A
$MODEM_MSG,CACST,6,1,20200421003530.835424,18,16796,42,0143,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.8,0.50,-100,2.50,-01,-0.09,65,925,0025*1B
$GC,88727.77,2,0.00,-0.10,0.00,2717.1,2782.4,2651.7,2114.7,2355.4,435.09,0.30,1024,88729.10,0.00,0.00,0.00,0.000,0.000,0.000,2715.94,2780.62,2651.25,2114.56,2355.31,0,0,0,30.00,30.00,30.00
$GC,89327.77,2,0.00,-0.10,0.00,2717.1,2782.1,2652.1,2115.2,2355.4,434.81,0.22,1029,89329.11,0.00,0.00,0.00,0.000,0.000,0.000,2715.19,2781.12,2649.25,2114.81,2355.12,0,0,0,30.00,30.00,30.00
$GC,89927.79,2,0.00,-0.10,0.00,2716.9,2782.1,2651.6,2114.9,2355.4,436.09,0.16,1034,89929.12,0.00,0.00,0.00,0.000,0.000,0.000,2715.00,2780.12,2649.88,2114.94,2355.56,0,0,0,30.00,30.00,30.00
$GC,90527.79,2,0.00,-0.10,0.00,2716.7,2781.2,2652.1,2115.4,2355.2,437.81,-0.24,1039,90529.13,0.00,0.00,0.00,0.000,0.000,0.000,2715.56,2780.62,2650.50,2115.31,2355.12,0,0,0,30.00,30.00,30.00
$GC,91127.82,2,0.00,-0.10,0.00,2717.0,2781.8,2652.2,2114.9,2354.8,439.88,-0.31,1044,91129.16,0.00,0.00,0.00,0.000,0.000,0.000,2716.09,2781.62,2650.56,2115.25,2354.88,0,0,0,30.00,30.00,30.00
$STATE,91368,end loiter,LOITER_COMPLETE
$STATE,91368,begin climb
$GC,91367.92,263,116.79,0.95,60.00,2717.1,2781.9,2652.2,2115.4,2355.6,440.73,0.00,1046,91480.82,103.65,0.99,4.07,1.687,0.056,0.071,2248.31,2359.44,2137.19,2463.50,3731.12,0,0,0,9.49,15.66,14.99
$GC,91702.86,1030,116.79,0.95,0.00,2239.8,2345.9,2133.8,2464.2,3731.2,407.02,13.10,1113,91708.64,0.00,0.00,3.59,0.000,0.000,0.018,2241.25,2346.75,2135.75,2478.31,2414.88,0,0,0,30.00,30.00,15.64
$GC,92088.15,262,116.79,0.95,60.00,2235.5,2345.4,2125.5,2479.5,2398.7,363.69,11.23,1130,92093.73,0.00,0.00,3.89,0.000,0.000,0.069,2237.03,2347.25,2126.81,2464.50,3733.00,0,0,0,30.00,30.00,15.50
$GC,92222.92,1030,116.79,0.95,0.00,2235.3,2344.9,2125.6,2464.2,3732.9,346.11,13.16,1157,92228.71,0.00,0.00,3.57,0.000,0.000,0.016,2236.56,2346.19,2126.94,2479.38,2412.50,0,0,0,30.00,30.00,15.72
$GC,92598.09,2,116.79,0.95,0.00,2234.2,2344.5,2123.9,2479.5,2394.9,304.60,10.44,1172,92599.43,0.00,0.00,0.00,0.000,0.000,0.000,2233.62,2344.69,2122.56,2480.56,2395.19,0,0,0,30.00,30.00,30.00
$GC,92958.17,2,116.79,0.95,0.00,2233.8,2345.0,2122.6,2479.8,2393.8,269.33,9.90,1184,92959.51,0.00,0.00,0.00,0.000,0.000,0.000,2232.62,2344.19,2121.06,2480.19,2393.56,0,0,0,30.00,30.00,30.00
$GC,93318.14,35,189.61,1.24,0.00,2233.3,2344.8,2121.8,2481.1,2392.8,244.33,5.37,1196,93379.70,59.90,0.21,0.00,1.463,0.096,0.000,1952.03,2072.25,1831.81,2560.19,2388.25,0,0,0,11.22,15.29,30.00
$GC,93738.27,66,189.61,1.27,0.00,1942.2,2064.8,1819.6,2560.0,2388.5,209.88,8.03,1210,93739.61,0.00,0.00,0.00,0.000,0.000,0.000,1941.69,2064.50,1818.88,2559.94,2388.06,0,0,0,30.00,30.00,30.00
$GC,94098.20,35,233.92,1.44,0.00,1939.5,2063.6,1815.5,2559.9,2388.3,183.78,6.89,1222,94135.25,36.33,0.17,0.00,1.380,0.104,0.000,1773.09,1901.12,1645.06,2624.75,2388.62,0,0,0,11.34,15.33,30.00
$GC,94488.26,66,233.92,1.47,0.00,1763.3,1895.9,1630.6,2625.1,2388.6,149.67,8.19,1235,94489.60,0.00,0.00,0.00,0.000,0.000,0.000,1763.38,1896.31,1630.44,2626.19,2388.56,0,0,0,30.00,30.00,30.00
$GC,94848.29,66,233.92,1.50,0.00,1761.3,1895.2,1627.4,2625.1,2388.0,121.87,7.34,1247,94849.62,0.00,0.00,0.00,0.000,0.000,0.000,1760.66,1894.94,1626.38,2625.31,2388.38,0,0,0,30.00,30.00,30.00
$GC,95208.30,35,309.12,1.81,0.00,1759.7,1894.8,1624.6,2624.7,2388.1,101.18,5.24,1259,95269.71,60.21,0.31,0.00,1.340,0.093,0.000,1465.69,1621.88,1309.50,2742.06,2388.38,0,0,0,11.15,15.47,30.00
$GC,95628.62,295,387.06,2.12,60.00,1456.1,1619.6,1292.5,2741.7,2388.1,65.72,5.10,1273,95697.49,62.47,0.26,3.92,1.270,0.097,0.068,1146.62,1343.75,949.50,2823.88,3733.31,0,0,0,11.27,15.56,15.17
$GC,95919.48,1063,470.02,2.45,0.00,1140.6,1335.6,945.6,2826.2,3734.1,42.27,4.83,1331,95991.81,66.75,0.28,3.58,1.218,0.102,0.014,810.59,1055.25,565.94,2943.25,2387.44,0,0,0,11.30,15.43,15.61
$FREEZE,9.59,-1.517,-1.539,2,412,0
$STATE,96335,end climb,FINISH_DEPTH_REACHED
$STATE,96335,begin subsurface finish
$FINISH1,9.6,1.022583,338
$GC,96336.17,1575,338.11,1.35,-60.00,801.2,1052.7,549.8,2943.7,2480.3,9.59,10.31,1374,96360.88,16.14,1.35,3.89,0.006,0.221,0.056,1350.31,1539.75,1160.88,2592.44,1162.88,0,0,0,14.78,14.90,14.60
$FINISH2,8.6
$STATE,96361,end subsurface finish,CONTROL_FINISHED_OK
$STATE,96361,begin surface
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,7531.73,-14326.73,301019,130527
$TCM_TEMP,3.51
$XPDR_PINGS,118
$SC_FREEKB,3560832
$RAFOS_CLK,-15
$MODEM,6,1587429330,75.33060,-142.67570,30.835,45173.9
$MODEM,3,1587428429,75.26195,-145.59448,29.460,43158.9
$MODEM,2,1587428154,75.67648,-146.03058,54.099,79255.3
$MODEM,1,1587427810,75.02295,-144.31340,10.688,15657.5
$MODEM,0,1587427531,74.83892,-145.28152,31.984,46856.6
$MODEM,6,1587414930,75.33060,-142.67570,30.784,45098.0
$MODEM,3,1587414029,75.26195,-145.59448,29.466,43167.6
$MODEM,1,1587413409,75.02295,-144.31340,9.946,14570.8
$MODEM,0,1587413132,74.83892,-145.28152,32.056,46962.6
$MODEM,6,1587400530,75.33060,-142.67570,30.804,45128.6
$MODEM,3,1587399629,75.26195,-145.59448,29.365,43019.3
$MODEM,2,1587399354,75.67648,-146.03058,54.102,79259.7
$MODEM,1,1587399009,75.02295,-144.31340,9.934,14553.2
$MODEM,0,1587398732,74.83892,-145.28152,32.178,47140.3
$MODEM,6,1587386131,75.33060,-142.67570,31.084,45537.4
$MODEM,3,1587385229,75.26195,-145.59448,29.347,42993.2
$MODEM,2,1587384954,75.67648,-146.03058,54.141,79316.3
$MODEM,1,1587384609,75.02295,-144.31340,9.898,14499.9
$MODEM,0,1587384332,74.83892,-145.28152,32.017,46904.8
$MODEM,6,1587371730,75.33060,-142.67570,30.803,45126.3
$RAFOS_FIX,7508.940430,-14407.980469,210420,000030,5,255,0.02
$HUMID,55.03
$TEMP,0.03
$INTERNAL_PRESSURE,8.112
$24V_AH,14.30,296.082
$10V_AH,15.00,0.000
$FG_AHR_24Vo,139.690
$FG_AHR_10Vo,74.836
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,548.210,6.920,88.635,0.000,29.500,0.000,3331.863,93129.625,1336.104,13076.000,0.000,0.000
$DEVICE_MAMPS,1797.192,224.760,116.192,0.000,420.000,0.000,11.520,2.920,5.000,40.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10008.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.890,0.000,0.000,0.000
$MEM,1155404,34,23560,59
$DATA_FILE_SIZE,41656,1379
$CAP_FILE_SIZE,313568,0
$SDSIZE,3918848,3797088
$SDFILEDIR,2537,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,210420,003530,7508.940,-14407.980,0,6255.0,0,18.2
ESCAPE_REASON=NO_RECENT_FIX
ESCAPE_STARTED_DIVE=415