version: 66.12
glider: 38
mission: 4
dive: 64
start: 7 17 115 23 14 37
data:
$ID,38
$MISSION,4
$DIVE,64
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$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,1800
$T_MISSION,1860
$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,12
$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,12
$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,91
$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,2140
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$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,50
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$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
$GPS1,170715,231013,3138.9541,-6400.5933,2,1.0,10,-14.9,0.0,0.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-65.1
$GPS2,170715,231413,3138.9094,-6400.5781,4,1.0,12,-14.9,1.0,134.3,9,9.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.140434,0.219478
$KALMAN_X,-1131.301147,0.000000,0.000000,20372.882812,-1131.301147
$KALMAN_Y,-3670.413818,0.000000,0.000000,14480.812500,-3670.413818
$MHEAD_RNG_PITCHd_Wd,342.3,73777,-18.4,-10.000,-21.00,2237
$D_GRID,5400
$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,2678,-0.66,-146.6,2740,2214,2607,2678,204.1,-7.8,165,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2214,2643,2608,2678,0,0,0,0,0,0,27.24,27.26,27.26
$GC,2977,-0.66,-146.6,2740,2214,2608,2677,227.8,-8.1,175,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2214,2642,2608,2677,0,0,0,0,0,0,27.24,27.27,27.26
$GC,3277,-0.66,-146.6,2740,2214,2607,2674,252.5,-8.5,185,3282,0.00,1.95,0.00,0.000,260,0.000,0.077,2731,3595,2641,2608,2675,0,0,0,0,0,0,27.25,26.99,27.27
$GC,3356,-0.66,-146.6,2730,3595,2608,2674,258.0,-8.7,187,3360,0.00,1.85,0.00,0.000,1030,0.000,0.060,2731,2203,2640,2607,2674,0,0,0,0,0,0,27.07,27.05,27.09
$GC,3670,-0.66,-146.6,2730,2202,2608,2672,286.9,-8.7,198,3676,0.00,1.95,0.00,0.000,260,0.000,0.077,2721,3585,2639,2607,2672,0,0,0,0,0,0,27.25,26.99,27.27
$GC,3731,-0.66,-146.6,2720,3586,2607,2672,292.7,-9.1,200,3737,0.12,1.80,0.00,0.000,3078,0.189,0.060,2767,2175,2639,2607,2671,0,0,0,0,0,0,26.87,27.06,26.95
$GC,4077,-0.74,-146.6,2767,2175,2607,2670,320.2,-8.0,209,4079,0.05,0.00,0.00,0.000,4102,0.194,0.000,2725,2174,2639,2608,2670,0,0,0,0,0,0,27.05,27.10,27.08
$GC,4391,-0.74,-146.6,2725,2175,2608,2669,351.1,-9.9,216,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2175,2638,2608,2669,0,0,0,0,0,0,27.26,27.29,27.28
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$GC,5431,-0.74,-146.6,2714,2220,2608,2664,448.9,-8.5,239,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2220,2635,2607,2664,0,0,0,0,0,0,27.27,27.29,27.28
$GC,5746,-0.74,-146.6,2714,2220,2607,2662,476.3,-8.8,246,5751,0.00,1.95,0.00,0.000,260,0.000,0.077,2705,3610,2635,2608,2662,0,0,0,0,0,0,27.27,27.01,27.29
$GC,5837,-0.74,-146.6,2704,3610,2607,2663,485.4,-9.4,248,5843,0.00,1.88,0.00,0.000,1030,0.000,0.060,2704,2164,2634,2607,2662,0,0,0,0,0,0,27.11,27.07,27.12
$GC,6152,-0.74,-146.6,2704,2164,2607,2661,516.7,-10.0,255,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2165,2634,2607,2661,0,0,0,0,0,0,27.27,27.29,27.28
$GC,6467,-0.74,-146.6,2704,2164,2607,2660,547.7,-9.7,262,6472,0.00,2.00,0.00,0.000,260,0.000,0.077,2694,3587,2634,2608,2660,0,0,0,0,0,0,27.27,27.00,27.29
$GC,6534,-0.74,-146.6,2694,3587,2607,2660,552.2,-9.7,263,6539,0.10,1.85,0.00,0.000,3078,0.174,0.060,2729,2187,2633,2607,2660,0,0,0,0,0,0,26.88,27.07,26.96
$GC,6874,-0.80,-146.6,2728,2187,2607,2656,583.8,-8.6,271,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2187,2632,2607,2657,0,0,0,0,0,0,27.27,27.29,27.29
$GC,7189,-0.85,-146.6,2728,2187,2607,2656,611.5,-9.1,278,7194,0.00,1.98,0.00,0.000,260,0.000,0.077,2719,3588,2631,2607,2656,0,0,0,0,0,0,27.27,27.00,27.29
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$GC,9178,-0.91,-146.6,2666,2221,2607,2643,857.1,-12.5,322,9181,0.00,1.95,0.00,0.000,260,0.000,0.079,2655,3588,2625,2607,2643,0,0,0,0,0,0,27.27,27.00,27.29
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$GC,9586,-0.91,-146.6,2655,2190,2606,2640,908.6,-12.3,331,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2190,2623,2606,2640,0,0,0,0,0,0,27.27,27.29,27.29
$GC,9901,-0.91,-146.6,2655,2190,2607,2637,948.1,-12.5,338,9907,0.00,1.98,0.00,0.000,260,0.000,0.077,2645,3587,2621,2607,2636,0,0,0,0,0,0,27.27,27.01,27.29
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$GC,10430,-0.91,-146.6,2680,2176,2606,2630,1015.5,-12.6,348,10436,0.00,2.00,0.00,0.000,260,0.000,0.077,2671,3585,2618,2606,2630,0,0,0,0,0,0,27.27,27.00,27.29
$GC,10495,-0.91,-146.6,2670,3584,2605,2630,1015.5,-12.6,348,10500,0.00,1.85,0.00,0.000,1030,0.000,0.060,2670,2216,2617,2605,2630,0,0,0,0,0,0,27.08,27.06,27.09
$GC,10909,-0.91,-146.6,2670,2215,2605,2627,1080.9,-13.6,352,10915,0.00,1.98,0.00,0.000,260,0.000,0.077,2660,3609,2616,2605,2627,0,0,0,0,0,0,27.27,26.99,27.29
$GC,10977,-0.91,-146.6,2660,3609,2603,2627,1080.9,-13.6,352,10981,0.00,1.88,0.00,0.000,1030,0.000,0.060,2660,2185,2615,2603,2627,0,0,0,0,0,0,27.10,27.06,27.11
$GC,11384,-0.91,-146.6,2660,2184,2603,2623,1144.8,-13.4,356,11390,0.00,2.00,0.00,0.000,260,0.000,0.077,2649,3593,2613,2603,2623,0,0,0,0,0,0,27.27,26.99,27.28
$GC,11456,-0.91,-146.6,2649,3593,2602,2623,1144.8,-13.4,356,11460,0.00,1.90,0.00,0.000,1030,0.000,0.060,2649,2198,2613,2602,2624,0,0,0,0,0,0,27.08,27.06,27.09
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$GC,30225,-1.58,-146.6,2454,2189,2578,2597,3433.4,-9.6,513,30230,0.00,2.03,0.00,0.000,260,0.000,0.082,2444,3577,2587,2578,2597,0,0,0,0,0,0,27.23,26.83,27.25
$GC,30311,-1.58,-146.6,2443,3578,2578,2597,3433.4,-9.6,513,30315,0.00,1.92,0.00,0.000,1030,0.000,0.060,2444,2198,2587,2578,2597,0,0,0,0,0,0,26.98,26.95,27.00
$GC,30705,-1.58,-146.6,2444,2197,2577,2597,3480.2,-9.7,517,30710,0.00,2.03,0.00,0.000,260,0.000,0.079,2433,3583,2587,2578,2597,0,0,0,0,0,0,27.23,26.82,27.25
$GC,30776,-1.58,-146.6,2433,3582,2578,2597,3480.2,-9.7,517,30780,0.00,1.92,0.00,0.000,1030,0.000,0.060,2433,2199,2587,2578,2597,0,0,0,0,0,0,26.98,26.95,27.00
$GC,31185,-1.58,-146.6,2433,2199,2578,2597,3528.4,-10.0,521,31190,0.00,2.03,0.00,0.000,260,0.000,0.079,2423,3583,2587,2578,2597,0,0,0,0,0,0,27.23,26.82,27.24
$GC,31271,-1.58,-146.6,2423,3583,2578,2597,3528.4,-10.0,521,31276,0.12,1.95,0.00,0.000,3078,0.166,0.060,2467,2178,2587,2578,2597,0,0,0,0,0,0,26.63,26.95,26.72
$GC,31665,-1.63,-146.6,2466,2177,2578,2597,3571.4,-8.9,525,31670,0.00,2.05,0.00,0.000,260,0.000,0.079,2457,3580,2587,2578,2597,0,0,0,0,0,0,27.23,26.82,27.24
$GC,31741,-1.69,-146.6,2457,3580,2578,2596,3571.4,-8.9,525,31745,0.00,1.88,0.00,0.000,1030,0.000,0.062,2457,2204,2587,2578,2597,0,0,0,0,0,0,27.01,26.94,27.02
$GC,32145,-1.75,-146.6,2457,2204,2578,2596,3613.5,-8.7,529,32151,0.08,2.00,0.00,0.000,4356,0.146,0.079,2384,3585,2587,2577,2597,0,0,0,0,0,0,26.98,26.85,26.99
$GC,32237,-1.81,-146.6,2384,3585,2577,2596,3613.5,-8.7,529,32241,0.00,1.90,0.00,0.000,1030,0.000,0.060,2385,2191,2587,2577,2597,0,0,0,0,0,0,27.01,26.94,27.01
$GC,32620,-1.81,-146.6,2384,2191,2578,2596,3667.0,-11.3,533,32621,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2190,2587,2577,2597,0,0,0,0,0,0,27.22,27.25,27.24
$GC,32980,-1.81,-146.6,2384,2191,2577,2597,3706.7,-11.1,536,32985,0.00,2.03,0.00,0.000,260,0.000,0.079,2374,3583,2586,2577,2596,0,0,0,0,0,0,27.23,26.82,27.24
$GC,33076,-1.81,-146.6,2374,3583,2577,2597,3706.7,-11.1,536,33080,0.00,1.95,0.00,0.000,1030,0.000,0.060,2374,2190,2587,2577,2597,0,0,0,0,0,0,26.96,26.94,26.99
$GC,33460,-1.81,-146.6,2374,2189,2578,2596,3760.9,-11.3,540,33465,0.00,2.03,0.00,0.000,260,0.000,0.079,2364,3579,2586,2577,2596,0,0,0,0,0,0,27.22,26.82,27.24
$GC,33516,-1.81,-146.6,2364,3579,2577,2597,3760.9,-11.3,540,33520,0.00,1.92,0.00,0.000,1030,0.000,0.060,2364,2201,2587,2578,2597,0,0,0,0,0,0,26.96,26.93,26.98
$GC,33940,-1.81,-146.6,2363,2200,2577,2597,3814.9,-11.2,544,33941,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2200,2587,2577,2597,0,0,0,0,0,0,27.22,27.25,27.24
$GC,34300,-1.81,-146.6,2364,2200,2577,2596,3853.1,-10.7,547,34305,0.00,2.03,0.00,0.000,260,0.000,0.082,2353,3588,2586,2577,2596,0,0,0,0,0,0,27.23,26.80,27.24
$GC,34396,-1.81,-146.6,2353,3588,2577,2596,3853.1,-10.7,547,34401,0.12,1.95,0.00,0.000,3078,0.171,0.060,2396,2181,2587,2577,2597,0,0,0,0,0,0,26.58,26.94,26.67
$GC,34780,-1.81,-146.6,2396,2180,2577,2596,3900.2,-9.8,551,34785,0.00,2.05,0.00,0.000,260,0.000,0.082,2386,3580,2586,2577,2596,0,0,0,0,0,0,27.22,26.79,27.24
$GC,34841,-1.81,-146.6,2386,3580,2577,2596,3900.2,-9.8,551,34845,0.00,1.92,0.00,0.000,1030,0.000,0.062,2386,2200,2587,2577,2597,0,0,0,0,0,0,26.95,26.93,26.98
$GC,35260,-1.81,-146.6,2386,2200,2577,2596,3945.1,-9.3,555,35261,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2200,2587,2577,2597,0,0,0,0,0,0,27.23,27.25,27.24
$GC,35620,-1.81,-146.6,2386,2200,2577,2596,3976.0,-8.7,558,35625,0.00,2.03,0.00,0.000,260,0.000,0.079,2376,3582,2587,2577,2597,0,0,0,0,0,0,27.22,26.79,27.24
$GC,35726,-1.81,-146.6,2375,3582,2577,2596,3976.0,-8.7,558,35730,0.00,1.92,0.00,0.000,1030,0.000,0.062,2376,2201,2586,2577,2596,0,0,0,0,0,0,26.96,26.92,26.96
$GC,36101,-1.81,-146.6,2375,2201,2577,2596,4016.5,-8.4,562,36102,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2201,2587,2577,2597,0,0,0,0,0,0,27.20,27.22,27.22
$GC,36461,-1.81,-146.6,2376,2201,2577,2596,4046.3,-8.3,565,36462,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2201,2587,2578,2597,0,0,0,0,0,0,27.20,27.22,27.22
$GC,36821,-1.81,-146.6,2376,2201,2577,2596,4075.8,-8.2,568,36826,0.00,2.03,0.00,0.000,260,0.000,0.079,2365,3581,2586,2577,2596,0,0,0,0,0,0,27.20,26.78,27.21
$GC,36901,-1.81,-146.6,2365,3581,2577,2596,4075.8,-8.2,568,36905,0.00,1.92,0.00,0.000,1030,0.000,0.062,2366,2207,2586,2577,2596,0,0,0,0,0,0,26.94,26.91,26.97
$GC,37302,-1.81,-146.6,2365,2206,2576,2597,4116.4,-8.4,572,37304,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2206,2586,2577,2596,0,0,0,0,0,0,27.20,27.23,27.22
$GC,37662,-1.81,-146.6,2365,2206,2577,2596,4145.6,-8.2,575,37668,0.00,2.03,0.00,0.000,260,0.000,0.082,2355,3587,2586,2577,2596,0,0,0,0,0,0,27.21,26.82,27.22
$GC,37737,-1.81,-146.6,2355,3587,2577,2597,4145.6,-8.2,575,37742,0.10,1.95,0.00,0.000,3078,0.174,0.060,2390,2188,2586,2577,2595,0,0,0,0,0,0,26.60,26.91,26.67
$GC,38143,-1.81,-146.6,2390,2188,2577,2596,4181.2,-7.4,579,38144,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2188,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38503,-1.81,-146.6,2390,2188,2577,2596,4205.5,-6.8,582,38504,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2188,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,38862,-1.81,-146.6,2390,2188,2577,2596,4230.0,-6.8,585,38867,0.00,2.03,0.00,0.000,260,0.000,0.079,2380,3575,2586,2577,2596,0,0,0,0,0,0,27.22,26.77,27.24
$GC,38938,-1.81,-146.6,2380,3575,2577,2596,4230.0,-6.8,585,38942,0.00,1.90,0.00,0.000,1030,0.000,0.060,2380,2181,2586,2577,2596,0,0,0,0,0,0,26.98,26.91,26.99
$GC,39343,-1.81,-146.6,2380,2181,2577,2596,4264.2,-7.1,589,39344,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2181,2586,2577,2596,0,0,0,0,0,0,27.20,27.23,27.22
$GC,39702,-1.81,-146.6,2380,2181,2577,2596,4288.7,-6.9,592,39703,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2181,2586,2577,2596,0,0,0,0,0,0,27.22,27.25,27.24
$GC,40063,-1.81,-146.6,2380,2180,2577,2596,4313.0,-6.7,595,40068,0.00,2.05,0.00,0.000,260,0.000,0.082,2370,3577,2586,2577,2596,0,0,0,0,0,0,27.20,26.77,27.22
$GC,40143,-1.81,-146.6,2370,3577,2577,2596,4313.0,-6.7,595,40147,0.00,1.90,0.00,0.000,1030,0.000,0.062,2370,2193,2586,2577,2596,0,0,0,0,0,0,26.97,26.90,26.99
$GC,40543,-1.81,-146.6,2370,2192,2577,2596,4346.2,-6.9,599,40544,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2192,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,40903,-1.81,-146.6,2370,2193,2577,2596,4370.1,-6.7,602,40905,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2192,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,41263,-1.81,-146.6,2370,2192,2577,2596,4394.8,-6.8,605,41264,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2192,2586,2576,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,41622,-1.81,-146.6,2370,2192,2577,2596,4418.5,-6.7,608,41623,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2193,2586,2577,2596,0,0,0,0,0,0,27.22,27.25,27.24
$GC,41983,-1.81,-146.6,2370,2192,2577,2596,4441.5,-6.4,611,41984,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2192,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,42345,-1.81,-146.6,2370,2191,2577,2596,4464.6,-6.4,614,42350,0.00,2.05,0.00,0.000,260,0.000,0.082,2360,3585,2586,2577,2596,0,0,0,0,0,0,27.21,26.76,27.22
$GC,42415,-1.81,-146.6,2359,3586,2577,2596,4464.6,-6.4,614,42420,0.10,1.90,0.00,0.000,3078,0.184,0.062,2394,2188,2586,2577,2596,0,0,0,0,0,0,26.63,26.89,26.76
$GC,42826,-1.87,-146.6,2394,2187,2577,2596,4492.3,-5.7,618,42827,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2186,2586,2576,2596,0,0,0,0,0,0,27.20,27.23,27.22
$GC,43187,-1.95,-146.6,2394,2187,2577,2596,4511.8,-5.4,621,43189,0.08,0.00,0.00,0.000,4102,0.149,0.000,2347,2187,2586,2577,2596,0,0,0,0,0,0,26.97,27.02,27.00
$GC,43545,-1.95,-146.6,2346,2187,2577,2596,4534.2,-6.0,624,43546,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2187,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,43905,-1.95,-146.6,2346,2188,2577,2596,4557.1,-6.4,627,43906,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2187,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,44264,-1.95,-146.6,2346,2187,2577,2596,4578.8,-6.1,630,44265,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2187,2586,2576,2597,0,0,0,0,0,0,27.22,27.24,27.24
$GC,44625,-1.95,-146.6,2346,2187,2577,2596,4600.6,-6.1,633,44626,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2187,2586,2577,2596,0,0,0,0,0,0,27.20,27.22,27.22
$GC,44988,-1.95,-146.6,2346,2187,2577,2596,4621.7,-5.9,636,44989,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2187,2586,2577,2596,0,0,0,0,0,0,27.20,27.23,27.22
$STATE,45224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,45224,begin apogee
$GC,45228,-0.25,0.0,2346,2187,2577,2596,4635.5,-5.8,638,45357,1.60,0.00,125.53,3.801,10246,0.144,0.000,2898,2186,2140,2147,2133,0,0,0,0,0,0,26.47,22.28,20.83
$STATE,45358,end apogee,CONTROL_FINISHED_OK
$STATE,45358,begin climb
$GC,45360,0.96,146.6,2898,2186,2147,2133,4632.3,0.0,639,45522,1.15,0.00,158.35,3.727,10246,0.087,0.000,3297,2186,1634,1652,1617,0,0,0,0,0,0,22.74,21.90,20.52
$GC,45824,0.96,146.6,3297,2186,1652,1617,4501.9,31.0,643,45829,0.00,2.05,0.00,0.000,516,0.000,0.067,3308,835,1634,1652,1617,0,0,0,0,0,0,25.51,25.29,25.53
$GC,46123,0.50,146.6,3308,835,1652,1617,4427.6,31.2,645,46128,0.65,2.00,0.00,0.000,5126,0.236,0.062,3131,2190,1634,1652,1617,0,0,0,0,0,0,25.65,25.89,25.84
$GC,46542,0.17,146.6,3131,2190,1652,1617,4311.4,24.2,649,46548,0.32,1.95,0.00,0.000,4612,0.216,0.067,3038,844,1634,1651,1617,0,0,0,0,0,0,26.03,26.22,26.15
$GC,46784,-0.07,146.6,3038,844,1652,1617,4267.6,20.6,651,46791,0.25,1.98,0.00,0.000,5126,0.201,0.065,2963,2199,1634,1651,1617,0,0,0,0,0,0,26.16,26.38,26.32
$GC,47145,-0.19,146.6,2963,2199,1652,1617,4216.0,15.0,654,47150,0.15,1.95,0.00,0.000,4612,0.196,0.067,2919,843,1634,1652,1617,0,0,0,0,0,0,26.32,26.48,26.42
$GC,47226,-0.31,146.6,2919,843,1652,1617,4216.0,15.0,654,47230,0.12,2.00,0.00,0.000,5126,0.171,0.065,2864,2199,1634,1652,1617,0,0,0,0,0,0,26.35,26.53,26.49
$GC,47624,-0.31,146.6,2864,2199,1652,1618,4169.4,9.6,658,47630,0.00,1.98,0.00,0.000,516,0.000,0.070,2874,829,1634,1652,1617,0,0,0,0,0,0,26.85,26.60,26.87
$GC,47685,-0.31,146.6,2874,829,1652,1617,4169.4,9.6,658,47689,0.00,2.00,0.00,0.000,1030,0.000,0.062,2875,2192,1634,1651,1617,0,0,0,0,0,0,26.65,26.63,26.68
$GC,48104,-0.31,146.6,2874,2192,1651,1617,4125.1,9.2,662,48109,0.00,1.95,0.00,0.000,516,0.000,0.070,2884,838,1634,1652,1617,0,0,0,0,0,0,26.92,26.66,26.94
$GC,48160,-0.31,146.6,2884,838,1652,1618,4125.1,9.2,662,48164,0.00,2.00,0.00,0.000,1030,0.000,0.062,2884,2199,1634,1652,1617,0,0,0,0,0,0,26.72,26.70,26.74
$GC,48584,-0.31,146.6,2884,2198,1652,1617,4080.4,9.3,666,48590,0.00,1.98,0.00,0.000,516,0.000,0.070,2894,824,1635,1652,1618,0,0,0,0,0,0,26.98,26.73,26.99
$GC,48640,-0.31,146.6,2894,824,1652,1617,4080.4,9.3,666,48644,0.00,2.03,0.00,0.000,1030,0.000,0.062,2895,2205,1634,1652,1617,0,0,0,0,0,0,26.80,26.74,26.79
$GC,49064,-0.31,146.6,2894,2205,1651,1617,4033.8,9.7,670,49069,0.00,1.95,0.00,0.000,516,0.000,0.070,2904,842,1634,1651,1617,0,0,0,0,0,0,27.02,26.75,27.03
$GC,49130,-0.31,146.6,2904,842,1652,1617,4033.8,9.7,670,49135,0.10,2.00,0.00,0.000,5126,0.166,0.065,2869,2207,1634,1651,1617,0,0,0,0,0,0,26.60,26.77,26.69
$GC,49544,-0.31,146.6,2870,2207,1651,1617,3992.8,8.5,674,49549,0.00,1.98,0.00,0.000,516,0.000,0.070,2880,828,1634,1651,1617,0,0,0,0,0,0,27.05,26.78,27.06
$GC,49605,-0.31,146.6,2880,828,1651,1617,3992.8,8.5,674,49609,0.00,2.00,0.00,0.000,1030,0.000,0.062,2880,2191,1634,1651,1617,0,0,0,0,0,0,26.84,26.81,26.86
$GC,50024,-0.31,146.6,2880,2192,1652,1617,3952.9,8.3,678,50025,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2192,1634,1651,1617,0,0,0,0,0,0,27.07,27.10,27.09
$GC,50384,-0.31,146.6,2880,2192,1652,1617,3922.8,8.3,681,50389,0.00,1.95,0.00,0.000,516,0.000,0.070,2889,828,1634,1651,1617,0,0,0,0,0,0,27.09,26.82,27.10
$GC,50460,-0.31,146.6,2889,828,1651,1617,3922.8,8.3,681,50464,0.00,2.03,0.00,0.000,1030,0.000,0.062,2889,2211,1634,1652,1617,0,0,0,0,0,0,26.86,26.84,26.90
$GC,50864,-0.31,146.6,2889,2211,1652,1617,3881.1,8.7,685,50869,0.00,1.98,0.00,0.000,516,0.000,0.070,2899,831,1634,1651,1617,0,0,0,0,0,0,27.10,26.84,27.12
$GC,50925,-0.31,146.6,2899,830,1652,1617,3881.1,8.7,685,50930,0.00,2.00,0.00,0.000,1030,0.000,0.062,2899,2197,1634,1651,1617,0,0,0,0,0,0,26.89,26.86,26.91
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$STATE,86915,end climb,SURFACE_DEPTH_REACHED
$STATE,86915,begin surface coast
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