version: 66.12
glider: 38
mission: 4
dive: 25
start: 7 7 115 20 58 10
data:
$ID,38
$MISSION,4
$DIVE,25
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,1600
$T_MISSION,1620
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,86
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,070715,205158,3137.0017,-6425.6826,38,1.1,40,-14.8,0.0,0.0,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-66.4
$GPS2,070715,205745,3136.9951,-6425.6924,6,1.1,11,-14.8,0.0,162.5,8,9.2
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,137.8,53332,-18.4,-10.000,-21.00,2237
$D_GRID,4800
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,3624,-0.66,-146.6,2759,2183,2473,2546,191.5,-6.1,228,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2183,2509,2473,2545,0,0,0,0,0,0,27.24,27.26,27.26
$GC,3924,-0.66,-146.6,2759,2183,2472,2545,211.8,-7.1,238,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2183,2509,2473,2545,0,0,0,0,0,0,27.24,27.27,27.27
$GC,4224,-0.66,-146.6,2759,2183,2473,2544,232.7,-7.0,248,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2183,2508,2472,2544,0,0,0,0,0,0,27.26,27.28,27.27
$GC,4525,-0.71,-146.6,2759,2183,2473,2544,253.9,-7.0,258,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2183,2508,2473,2544,0,0,0,0,0,0,27.26,27.28,27.28
$GC,4825,-0.77,-146.6,2760,2183,2473,2543,276.2,-7.7,268,4827,0.05,0.00,0.00,0.000,4102,0.194,0.000,2721,2183,2508,2472,2544,0,0,0,0,0,0,27.05,27.10,27.09
$GC,5124,-0.77,-146.6,2720,2183,2473,2543,301.8,-8.7,278,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2183,2508,2473,2544,0,0,0,0,0,0,27.27,27.29,27.29
$GC,5439,-0.77,-146.6,2720,2183,2472,2542,328.8,-8.3,285,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2183,2508,2474,2542,0,0,0,0,0,0,27.27,27.29,27.29
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$GC,6574,-0.77,-146.6,2710,846,2473,2539,426.4,-9.0,310,6578,0.00,1.90,0.00,0.000,1030,0.000,0.062,2701,2206,2506,2473,2539,0,0,0,0,0,0,27.09,27.06,27.10
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$GC,7198,-0.77,-146.6,2700,2206,2473,2538,481.7,-8.4,324,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2205,2505,2473,2538,0,0,0,0,0,0,27.29,27.31,27.30
$GC,7513,-0.77,-146.6,2700,2205,2472,2537,508.3,-8.4,331,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2205,2505,2473,2538,0,0,0,0,0,0,27.29,27.31,27.30
$GC,7828,-0.77,-146.6,2700,2206,2473,2537,534.7,-8.5,338,7833,0.00,1.90,0.00,0.000,516,0.000,0.067,2701,844,2504,2473,2536,0,0,0,0,0,0,27.29,27.06,27.31
$GC,7895,-0.77,-146.6,2700,845,2473,2536,538.8,-8.6,339,7899,0.00,1.90,0.00,0.000,1030,0.000,0.062,2691,2203,2504,2473,2536,0,0,0,0,0,0,27.10,27.08,27.11
$GC,8234,-0.77,-146.6,2690,2204,2473,2535,572.2,-9.4,347,8236,0.10,0.00,0.00,0.000,2054,0.204,0.000,2723,2203,2503,2472,2535,0,0,0,0,0,0,26.96,27.09,27.06
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$GC,9389,-0.77,-146.6,2704,831,2473,2532,670.3,-9.0,372,9393,0.00,1.90,0.00,0.000,1030,0.000,0.062,2694,2195,2502,2472,2532,0,0,0,0,0,0,27.10,27.08,27.12
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$GC,10358,-0.77,-146.6,2694,2195,2473,2528,767.0,-10.4,394,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2195,2500,2473,2528,0,0,0,0,0,0,27.29,27.32,27.31
$GC,10673,-0.77,-146.6,2694,2195,2473,2527,798.7,-10.2,401,10678,0.00,1.98,0.00,0.000,260,0.000,0.077,2683,3614,2500,2473,2527,0,0,0,0,0,0,27.29,27.05,27.31
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$GC,12294,-0.90,-146.6,2679,2190,2473,2515,965.1,-11.1,437,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2493,2473,2514,0,0,0,0,0,0,27.29,27.32,27.31
$GC,12609,-0.90,-146.6,2679,2190,2473,2512,999.1,-10.7,444,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2492,2473,2512,0,0,0,0,0,0,27.29,27.32,27.31
$GC,13015,-0.90,-146.6,2679,2190,2473,2509,1041.6,-10.5,448,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2491,2473,2510,0,0,0,0,0,0,27.29,27.32,27.31
$GC,13374,-0.90,-146.6,2679,2190,2473,2506,1081.2,-10.9,451,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2490,2473,2507,0,0,0,0,0,0,27.29,27.32,27.32
$GC,13734,-0.90,-146.6,2679,2190,2473,2503,1121.8,-11.3,454,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2488,2473,2503,0,0,0,0,0,0,27.29,27.32,27.31
$GC,14094,-0.90,-146.6,2679,2190,2472,2501,1162.6,-11.4,457,14095,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2486,2472,2501,0,0,0,0,0,0,27.29,27.32,27.31
$GC,14454,-0.90,-146.6,2679,2190,2473,2499,1203.2,-11.3,460,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2485,2472,2498,0,0,0,0,0,0,27.29,27.32,27.32
$GC,14814,-0.96,-146.6,2679,2190,2473,2497,1242.3,-10.9,463,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2190,2484,2472,2497,0,0,0,0,0,0,27.29,27.32,27.31
$GC,15174,-1.02,-146.6,2679,2190,2473,2494,1281.1,-10.8,466,15180,0.05,1.98,0.00,0.000,4356,0.191,0.074,2630,3586,2483,2473,2494,0,0,0,0,0,0,27.08,27.05,27.13
$GC,15221,-1.07,-146.6,2630,3586,2471,2494,1281.1,-10.8,466,15224,0.00,1.83,0.00,0.000,1030,0.000,0.060,2630,2221,2483,2472,2495,0,0,0,0,0,0,27.14,27.09,27.15
$GC,15535,-1.07,-146.6,2630,2221,2471,2493,1327.1,-12.4,469,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2221,2482,2472,2493,0,0,0,0,0,0,27.29,27.32,27.31
$GC,15894,-1.07,-146.6,2629,2221,2470,2490,1370.5,-12.2,472,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2221,2481,2471,2491,0,0,0,0,0,0,27.29,27.32,27.32
$GC,16254,-1.07,-146.6,2630,2221,2471,2489,1412.6,-11.8,475,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2221,2480,2471,2489,0,0,0,0,0,0,27.29,27.32,27.31
$GC,16614,-1.07,-146.6,2630,2221,2469,2488,1453.3,-11.3,478,16620,0.00,1.98,0.00,0.000,516,0.000,0.070,2630,820,2479,2470,2488,0,0,0,0,0,0,27.29,27.06,27.31
$GC,16670,-1.07,-146.6,2629,820,2470,2488,1453.3,-11.3,478,16674,0.00,1.95,0.00,0.000,1030,0.000,0.062,2620,2188,2479,2470,2488,0,0,0,0,0,0,27.10,27.07,27.12
$GC,17094,-1.07,-146.6,2619,2189,2469,2488,1509.5,-11.7,482,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2189,2477,2468,2487,0,0,0,0,0,0,27.29,27.32,27.31
$GC,17454,-1.07,-146.6,2620,2188,2468,2486,1550.5,-11.4,485,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2189,2477,2468,2486,0,0,0,0,0,0,27.29,27.32,27.31
$GC,17814,-1.07,-146.6,2620,2188,2466,2485,1591.3,-11.3,488,17819,0.00,2.00,0.00,0.000,260,0.000,0.079,2609,3595,2476,2466,2486,0,0,0,0,0,0,27.29,27.04,27.31
$GC,17865,-1.07,-146.6,2609,3595,2465,2486,1591.3,-11.3,488,17869,0.00,1.92,0.00,0.000,1030,0.000,0.060,2609,2198,2475,2465,2486,0,0,0,0,0,0,27.11,27.09,27.12
$GC,18174,-1.07,-146.6,2609,2196,2465,2485,1634.6,-11.9,491,18175,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2198,2475,2465,2485,0,0,0,0,0,0,27.29,27.31,27.31
$GC,18534,-1.07,-146.6,2608,2198,2465,2484,1678.5,-12.1,494,18535,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2198,2474,2465,2484,0,0,0,0,0,0,27.29,27.31,27.30
$GC,18894,-1.07,-146.6,2609,2197,2464,2483,1722.5,-12.2,497,18895,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2198,2473,2464,2483,0,0,0,0,0,0,27.29,27.31,27.31
$GC,19254,-1.07,-146.6,2609,2196,2465,2482,1766.7,-12.3,500,19255,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2197,2473,2464,2482,0,0,0,0,0,0,27.29,27.32,27.30
$GC,19614,-1.07,-146.6,2608,2196,2464,2481,1809.6,-12.0,503,19615,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2197,2472,2464,2481,0,0,0,0,0,0,27.29,27.31,27.30
$GC,19974,-1.07,-146.6,2609,2197,2464,2481,1850.5,-11.5,506,19975,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2197,2472,2464,2481,0,0,0,0,0,0,27.29,27.31,27.30
$GC,20334,-1.07,-146.6,2609,2197,2463,2480,1890.4,-11.1,509,20335,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2197,2472,2464,2481,0,0,0,0,0,0,27.29,27.31,27.30
$GC,20694,-1.07,-146.6,2608,2197,2463,2480,1929.1,-10.8,512,20699,0.00,2.03,0.00,0.000,260,0.000,0.079,2598,3596,2471,2463,2480,0,0,0,0,0,0,27.29,27.03,27.30
$GC,20745,-1.07,-146.6,2598,3596,2462,2480,1929.1,-10.8,512,20749,0.00,1.92,0.00,0.000,1030,0.000,0.060,2598,2203,2471,2462,2480,0,0,0,0,0,0,27.10,27.08,27.11
$GC,21054,-1.07,-146.6,2598,2203,2462,2480,1969.4,-11.1,515,21055,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2203,2471,2462,2480,0,0,0,0,0,0,27.29,27.31,27.29
$GC,21414,-1.07,-146.6,2598,2202,2462,2480,2008.6,-10.9,518,21415,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2202,2471,2462,2480,0,0,0,0,0,0,27.28,27.30,27.30
$GC,21774,-1.07,-146.6,2598,2202,2462,2479,2046.7,-10.7,521,21775,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2203,2470,2462,2479,0,0,0,0,0,0,27.28,27.31,27.30
$GC,22135,-1.13,-146.6,2598,2202,2462,2479,2084.2,-10.4,524,22136,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2202,2470,2462,2479,0,0,0,0,0,0,27.28,27.31,27.30
$GC,22495,-1.19,-146.6,2598,2202,2462,2478,2120.9,-10.3,527,22496,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2202,2470,2462,2479,0,0,0,0,0,0,27.28,27.31,27.30
$GC,22855,-1.25,-146.6,2598,2202,2461,2478,2157.0,-10.1,530,22856,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2202,2469,2461,2478,0,0,0,0,0,0,27.29,27.31,27.30
$GC,23215,-1.32,-146.6,2598,2201,2461,2478,2191.4,-9.6,533,23216,0.10,0.00,0.00,0.000,4102,0.129,0.000,2542,2201,2469,2461,2478,0,0,0,0,0,0,27.05,27.13,27.10
$GC,23574,-1.32,-146.6,2542,2201,2461,2478,2233.6,-11.2,536,23575,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2202,2469,2461,2478,0,0,0,0,0,0,27.28,27.31,27.30
$GC,23934,-1.32,-146.6,2542,2201,2461,2477,2275.9,-11.8,539,23935,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2202,2469,2461,2478,0,0,0,0,0,0,27.28,27.30,27.30
$GC,24294,-1.32,-146.6,2542,2202,2460,2477,2317.7,-11.6,542,24295,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2201,2469,2460,2478,0,0,0,0,0,0,27.28,27.30,27.30
$GC,24654,-1.32,-146.6,2542,2202,2460,2477,2359.3,-11.6,545,24659,0.00,2.00,0.00,0.000,260,0.000,0.079,2532,3586,2468,2460,2477,0,0,0,0,0,0,27.28,27.02,27.29
$GC,24700,-1.32,-146.6,2531,3586,2459,2478,2359.3,-11.6,545,24704,0.00,1.92,0.00,0.000,1030,0.000,0.062,2532,2203,2468,2459,2478,0,0,0,0,0,0,27.10,27.06,27.11
$GC,25014,-1.32,-146.6,2531,2202,2459,2477,2402.4,-11.9,548,25015,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2202,2468,2459,2477,0,0,0,0,0,0,27.28,27.30,27.29
$GC,25374,-1.32,-146.6,2531,2202,2459,2478,2442.6,-11.3,551,25375,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2202,2468,2459,2477,0,0,0,0,0,0,27.27,27.30,27.29
$GC,25734,-1.32,-146.6,2531,2202,2459,2477,2480.9,-10.7,554,25739,0.00,1.98,0.00,0.000,516,0.000,0.070,2531,815,2468,2459,2477,0,0,0,0,0,0,27.27,27.03,27.29
$GC,25780,-1.32,-146.6,2531,815,2459,2477,2480.9,-10.7,554,25784,0.00,2.00,0.00,0.000,1030,0.000,0.065,2521,2202,2468,2459,2477,0,0,0,0,0,0,27.08,27.05,27.10
$GC,26094,-1.32,-146.6,2521,2202,2459,2477,2518.4,-10.4,557,26095,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2468,2459,2477,0,0,0,0,0,0,27.27,27.30,27.29
$GC,26454,-1.32,-146.6,2520,2201,2459,2477,2556.0,-10.4,560,26455,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2468,2459,2477,0,0,0,0,0,0,27.27,27.30,27.29
$GC,26814,-1.32,-146.6,2520,2201,2459,2476,2594.4,-10.6,563,26815,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2202,2468,2459,2477,0,0,0,0,0,0,27.27,27.30,27.29
$GC,27174,-1.32,-146.6,2521,2201,2459,2476,2631.2,-10.3,566,27175,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2202,2468,2459,2477,0,0,0,0,0,0,27.27,27.30,27.29
$GC,27534,-1.32,-146.6,2521,2202,2459,2477,2666.9,-10.0,569,27535,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2459,2476,0,0,0,0,0,0,27.27,27.30,27.29
$GC,27894,-1.32,-146.6,2521,2202,2458,2476,2702.2,-9.8,572,27895,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2468,2459,2477,0,0,0,0,0,0,27.27,27.29,27.29
$GC,28254,-1.32,-146.6,2521,2201,2459,2477,2737.3,-9.8,575,28255,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2458,2476,0,0,0,0,0,0,27.27,27.29,27.29
$GC,28614,-1.32,-146.6,2521,2201,2458,2476,2771.9,-9.7,578,28615,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2458,2476,0,0,0,0,0,0,27.27,27.29,27.29
$GC,28974,-1.32,-146.6,2521,2201,2458,2476,2806.1,-9.5,581,28975,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2458,2476,0,0,0,0,0,0,27.27,27.30,27.29
$GC,29334,-1.32,-146.6,2520,2202,2459,2476,2839.9,-9.4,584,29335,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2458,2476,0,0,0,0,0,0,27.27,27.30,27.29
$GC,29694,-1.32,-146.6,2521,2201,2458,2476,2872.6,-9.1,587,29695,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2458,2476,0,0,0,0,0,0,27.27,27.30,27.29
$GC,30055,-1.37,-146.6,2521,2201,2458,2475,2903.2,-8.6,590,30056,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2467,2458,2476,0,0,0,0,0,0,27.27,27.29,27.29
$GC,30415,-1.43,-146.6,2521,2201,2458,2475,2933.2,-8.3,593,30416,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,2466,2458,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,30775,-1.49,-146.6,2521,2201,2458,2475,2963.0,-8.3,596,30776,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2202,2466,2458,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,31135,-1.55,-146.6,2521,2201,2458,2475,2992.1,-8.1,599,31140,0.08,2.00,0.00,0.000,4356,0.146,0.079,2457,3595,2466,2458,2475,0,0,0,0,0,0,27.05,27.01,27.09
$GC,31186,-1.61,-146.6,2456,3595,2457,2475,2992.1,-8.1,599,31189,0.00,1.92,0.00,0.000,1030,0.000,0.062,2457,2200,2466,2458,2475,0,0,0,0,0,0,27.10,27.05,27.12
$GC,31496,-1.61,-146.6,2456,2199,2457,2475,3029.3,-9.8,602,31497,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2199,2466,2457,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,31854,-1.61,-146.6,2456,2199,2457,2475,3065.7,-10.2,605,31855,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2199,2466,2457,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,32214,-1.61,-146.6,2457,2199,2457,2475,3102.4,-10.2,608,32220,0.00,1.98,0.00,0.000,516,0.000,0.070,2456,816,2466,2457,2475,0,0,0,0,0,0,27.27,27.02,27.29
$GC,32265,-1.61,-146.6,2456,816,2457,2475,3102.4,-10.2,608,32269,0.00,2.00,0.00,0.000,1030,0.000,0.065,2447,2198,2466,2457,2475,0,0,0,0,0,0,27.07,27.04,27.08
$GC,32576,-1.61,-146.6,2446,2197,2457,2475,3139.9,-10.4,611,32577,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2197,2466,2458,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,32934,-1.61,-146.6,2446,2197,2457,2475,3177.5,-10.4,614,32935,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2198,2466,2457,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,33294,-1.61,-146.6,2446,2197,2457,2475,3214.6,-10.3,617,33300,0.00,2.00,0.00,0.000,516,0.000,0.070,2447,812,2466,2457,2475,0,0,0,0,0,0,27.27,27.02,27.29
$GC,33362,-1.61,-146.6,2446,812,2457,2474,3214.6,-10.3,617,33365,0.00,1.98,0.00,0.000,1030,0.000,0.065,2436,2201,2466,2457,2475,0,0,0,0,0,0,27.09,27.03,27.11
$GC,33769,-1.61,-146.6,2436,2202,2457,2475,3263.7,-10.3,621,33770,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2202,2466,2457,2475,0,0,0,0,0,0,27.27,27.29,27.29
$GC,34129,-1.61,-146.6,2435,2202,2457,2474,3298.4,-9.7,624,34130,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2202,2465,2457,2474,0,0,0,0,0,0,27.27,27.29,27.29
$GC,34489,-1.61,-146.6,2435,2201,2457,2475,3332.0,-9.4,627,34495,0.00,2.00,0.00,0.000,516,0.000,0.070,2436,816,2465,2457,2474,0,0,0,0,0,0,27.27,27.02,27.28
$GC,34550,-1.61,-146.6,2435,815,2457,2474,3332.0,-9.4,627,34555,0.00,2.00,0.00,0.000,1030,0.000,0.065,2426,2202,2465,2457,2474,0,0,0,0,0,0,27.06,27.04,27.08
$GC,34969,-1.61,-146.6,2426,2202,2457,2474,3379.3,-9.8,631,34970,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2201,2465,2457,2474,0,0,0,0,0,0,27.27,27.29,27.28
$GC,35329,-1.61,-146.6,2426,2202,2457,2474,3413.7,-9.7,634,35330,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2201,2465,2457,2474,0,0,0,0,0,0,27.27,27.29,27.28
$GC,35689,-1.61,-146.6,2426,2202,2457,2474,3447.3,-9.4,637,35690,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2201,2465,2457,2474,0,0,0,0,0,0,27.27,27.29,27.29
$GC,36049,-1.61,-146.6,2426,2201,2457,2474,3480.1,-9.2,640,36055,0.00,1.98,0.00,0.000,516,0.000,0.070,2426,804,2465,2457,2473,0,0,0,0,0,0,27.25,27.02,27.29
$GC,36135,-1.61,-146.6,2426,804,2457,2473,3480.1,-9.2,640,36140,0.10,2.03,0.00,0.000,3078,0.184,0.065,2450,2206,2465,2457,2473,0,0,0,0,0,0,26.87,27.03,26.96
$STATE,36412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,36412,begin apogee
$GC,36416,-0.25,0.0,2449,2206,2457,2473,3510.5,-8.6,643,36540,1.25,0.00,120.10,3.116,10246,0.144,0.000,2893,2206,2000,2014,1987,0,0,0,0,0,0,26.89,23.84,22.56
$STATE,36541,end apogee,CONTROL_FINISHED_OK
$STATE,36541,begin climb
$GC,36542,0.96,146.6,2893,2206,2014,1986,3511.6,0.0,644,36743,1.08,0.00,157.32,2.769,10246,0.087,0.000,3295,2206,1495,1517,1473,0,0,0,0,8,0,24.22,22.45,21.16
$GC,37009,0.96,146.6,3295,2206,1517,1473,3415.9,23.9,648,37014,0.00,2.10,0.00,0.000,516,0.000,0.067,3306,832,1494,1516,1473,0,0,0,0,0,0,25.38,25.15,25.39
$GC,37260,0.58,146.6,3306,832,1517,1473,3356.4,24.9,650,37265,0.52,2.05,0.00,0.000,5126,0.226,0.065,3160,2206,1495,1517,1473,0,0,0,0,0,0,25.53,25.71,25.69
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