version: 66.12
glider: 38
mission: 4
dive: 77
start: 8 5 115 14 41 18
data:
$ID,38
$MISSION,4
$DIVE,77
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$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,152
$R_STBD_OVSHOOT,73
$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,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,12
$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
$GPS1,050815,143731,3150.3064,-6423.1069,1,0.8,6,-14.9,0.0,0.0,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-69.0
$GPS2,050815,144054,3150.2883,-6423.0825,4,0.9,9,-14.9,0.0,0.0,9,9.3
$SPEED_LIMITS,0.060,0.218
$TGT_NAME,BDA_SW
$TGT_LATLONG,3151.000,-6524.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.217511,0.004011
$KALMAN_X,18704.511719,0.000000,0.000000,-20453.250000,18704.511719
$KALMAN_Y,-444.931000,0.000000,0.000000,-179.261078,-444.931000
$MHEAD_RNG_PITCHd_Wd,286.0,95841,-11.3,-6.000,-15.42,3702
$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
$GC,15,-0.61,-146.6,130,2207,1158,1120,0.0,0.0,0,121,0.00,0.00,-103.20,0.154,16390,0.000,0.000,130,2207,2506,2452,2561,0,0,0,0,0,0,26.75,26.43,26.29
$GC,123,-0.61,-146.6,131,2207,2451,2561,3.4,-4.2,10,143,11.40,1.88,0.00,0.000,2564,0.308,0.067,2783,873,2507,2456,2559,0,0,0,0,0,0,26.10,26.40,26.34
$GC,303,-0.42,-146.6,2783,873,2457,2556,27.3,-11.1,26,314,0.17,1.83,0.00,0.000,3078,0.201,0.065,2837,2212,2507,2458,2557,0,0,0,0,0,0,26.44,26.65,26.55
$GC,618,-0.42,-146.6,2836,2212,2458,2557,41.3,-2.4,56,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2212,2507,2458,2557,0,0,0,0,0,0,27.05,27.06,27.06
$GC,918,-0.42,-146.6,2836,2212,2457,2557,48.5,-2.3,76,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2212,2507,2458,2557,0,0,0,0,0,0,27.13,27.15,27.14
$GC,1218,-0.42,-146.6,2836,2212,2458,2557,57.8,-2.9,96,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2212,2507,2457,2557,0,0,0,0,0,0,27.17,27.19,27.18
$GC,1519,-0.42,-146.6,2836,2212,2457,2556,65.6,-2.9,116,1524,0.00,1.95,0.00,0.000,260,0.000,0.079,2826,3594,2507,2457,2557,0,0,0,0,0,0,27.20,26.93,27.22
$GC,1664,-0.37,-146.6,2826,3593,2458,2557,69.9,-3.1,125,1667,0.00,1.77,0.00,0.000,1030,0.000,0.060,2826,2261,2507,2458,2556,0,0,0,0,0,0,27.05,27.02,27.06
$GC,1983,-0.37,-146.6,2826,2217,2458,2556,80.7,-3.9,146,1986,0.00,1.83,0.00,0.000,516,0.000,0.067,2826,915,2506,2458,2555,0,0,0,0,0,0,27.22,26.98,27.24
$GC,2163,-0.30,-146.6,2826,870,2458,2554,86.5,-2.5,157,2169,0.12,1.83,0.00,0.000,3078,0.191,0.062,2868,2217,2506,2458,2555,0,0,0,0,0,0,26.83,27.01,26.91
$GC,2479,-0.30,-146.6,2868,2216,2458,2554,95.2,-3.9,178,2484,0.00,1.92,0.00,0.000,260,0.000,0.077,2859,3584,2505,2457,2554,0,0,0,0,0,0,27.24,26.97,27.25
$GC,2597,-0.30,-146.6,2858,3584,2458,2555,99.9,-4.3,185,2606,0.00,1.77,0.00,0.000,1030,0.000,0.060,2859,2227,2506,2458,2554,0,0,0,0,0,0,27.05,27.04,27.08
$GC,2907,-0.30,-146.6,2858,2227,2457,2553,116.8,-4.8,206,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2227,2505,2457,2553,0,0,0,0,0,0,27.24,27.27,27.25
$GC,3206,-0.30,-146.6,2858,2227,2458,2551,124.0,-2.2,226,3212,0.00,1.95,0.00,0.000,260,0.000,0.079,2849,3594,2504,2458,2551,0,0,0,0,0,0,27.24,26.98,27.26
$GC,3367,-0.30,-146.6,2849,3594,2458,2551,128.9,-3.4,236,3371,0.00,1.80,0.00,0.000,1030,0.000,0.060,2849,2246,2504,2458,2550,0,0,0,0,0,0,27.08,27.05,27.10
$GC,3685,-0.30,-146.6,2849,2198,2458,2549,141.6,-4.4,257,3690,0.00,1.95,0.00,0.000,260,0.000,0.077,2839,3586,2503,2457,2550,0,0,0,0,0,0,27.24,26.98,27.27
$GC,3781,-0.30,-146.6,2839,3586,2458,2549,146.9,-5.8,263,3785,0.10,1.85,0.00,0.000,3078,0.179,0.060,2876,2129,2503,2458,2549,0,0,0,0,0,0,26.87,27.05,26.99
$GC,4099,-0.30,-146.6,2876,2127,2458,2548,162.7,-5.1,276,4104,0.00,2.03,0.00,0.000,260,0.000,0.077,2869,3581,2503,2458,2548,0,0,0,0,0,0,27.25,26.98,27.27
$GC,4193,-0.30,-146.6,2868,3580,2458,2548,167.5,-5.1,279,4198,0.00,1.88,0.00,0.000,1030,0.000,0.057,2869,2153,2502,2458,2547,0,0,0,0,0,0,27.08,27.05,27.08
$GC,4523,-0.30,-146.6,2868,2153,2458,2545,180.7,-3.4,290,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2153,2501,2457,2545,0,0,0,0,0,0,27.25,27.27,27.27
$GC,4823,-0.30,-146.6,2868,2153,2458,2544,187.7,-2.1,300,4829,0.00,2.03,0.00,0.000,260,0.000,0.077,2860,3589,2501,2458,2544,0,0,0,0,0,0,27.25,26.98,27.27
$GC,4987,-0.30,-146.6,2860,3590,2457,2543,191.9,-2.6,305,4991,0.00,1.83,0.00,0.000,1030,0.000,0.060,2860,2198,2500,2457,2544,0,0,0,0,0,0,27.07,27.05,27.08
$GC,5310,-0.30,-146.6,2860,2198,2458,2542,205.1,-4.5,316,5316,0.00,1.98,0.00,0.000,260,0.000,0.077,2853,3584,2500,2458,2543,0,0,0,0,0,0,27.25,26.98,27.27
$GC,5434,-0.30,-146.6,2852,3584,2458,2542,210.6,-4.5,320,5438,0.00,1.77,0.00,0.000,1030,0.000,0.060,2853,2241,2500,2458,2542,0,0,0,0,0,0,27.09,27.05,27.10
$GC,5767,-0.30,-146.6,2852,2191,2458,2540,225.8,-4.8,331,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2191,2499,2458,2540,0,0,0,0,0,0,27.26,27.27,27.27
$GC,6066,-0.30,-146.6,2852,2191,2458,2539,240.6,-4.9,341,6070,0.00,1.98,0.00,0.000,260,0.000,0.077,2845,3589,2498,2458,2539,0,0,0,0,0,0,27.25,26.98,27.27
$GC,6163,-0.30,-146.6,2844,3590,2458,2539,245.7,-5.2,344,6168,0.00,1.90,0.00,0.000,1030,0.000,0.057,2845,2149,2498,2458,2539,0,0,0,0,0,0,27.08,27.05,27.09
$GC,6493,-0.30,-146.6,2844,2149,2457,2537,262.8,-5.2,355,6498,0.00,2.00,0.00,0.000,260,0.000,0.077,2837,3581,2498,2459,2538,0,0,0,0,0,0,27.25,26.98,27.27
$GC,6607,-0.30,-146.6,2836,3580,2458,2538,267.9,-5.4,358,6617,0.10,1.90,0.00,0.000,3078,0.154,0.060,2875,2130,2497,2458,2537,0,0,0,0,0,0,26.88,27.06,26.94
$GC,6917,-0.38,-146.6,2875,2130,2458,2536,281.8,-3.9,369,6923,0.00,2.03,0.00,0.000,260,0.000,0.077,2869,3579,2496,2457,2536,0,0,0,0,0,0,27.26,26.97,27.27
$GC,7027,-0.45,-146.6,2868,3578,2458,2536,285.4,-3.8,372,7032,0.08,1.85,0.00,0.000,5126,0.154,0.060,2809,2147,2497,2458,2536,0,0,0,0,0,0,26.96,27.05,27.03
$GC,7350,-0.45,-146.6,2809,2147,2458,2534,303.8,-5.6,382,7355,0.00,2.03,0.00,0.000,260,0.000,0.077,2802,3579,2496,2458,2534,0,0,0,0,0,0,27.26,26.98,27.27
$GC,7449,-0.45,-146.6,2802,3579,2458,2534,309.3,-5.9,384,7453,0.00,1.88,0.00,0.000,1030,0.000,0.057,2802,2154,2496,2458,2534,0,0,0,0,0,0,27.08,27.06,27.09
$GC,7758,-0.45,-146.6,2802,2153,2457,2534,328.5,-6.2,391,7763,0.00,2.03,0.00,0.000,260,0.000,0.077,2792,3586,2496,2458,2534,0,0,0,0,0,0,27.25,26.98,27.27
$GC,7849,-0.45,-146.6,2792,3586,2458,2534,334.3,-6.3,393,7855,0.10,1.80,0.00,0.000,3078,0.181,0.060,2829,2182,2496,2458,2534,0,0,0,0,0,0,26.86,27.05,27.00
$GC,8164,-0.45,-146.6,2829,2180,2458,2533,350.5,-5.1,400,8169,0.00,2.00,0.00,0.000,260,0.000,0.077,2819,3591,2495,2458,2533,0,0,0,0,0,0,27.26,26.97,27.27
$GC,8274,-0.45,-146.6,2819,3591,2458,2533,355.4,-5.3,402,8277,0.00,1.80,0.00,0.000,1030,0.000,0.057,2819,2251,2495,2458,2533,0,0,0,0,0,0,27.09,27.05,27.10
$GC,8616,-0.45,-146.6,2818,2199,2458,2533,373.7,-5.2,410,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2199,2495,2458,2533,0,0,0,0,0,0,27.26,27.28,27.27
$GC,8931,-0.45,-146.6,2818,2199,2458,2532,390.8,-5.8,417,8937,0.00,1.98,0.00,0.000,260,0.000,0.077,2810,3582,2495,2458,2532,0,0,0,0,0,0,27.26,26.97,27.27
$GC,9069,-0.45,-146.6,2810,3582,2458,2532,399.5,-6.1,420,9073,0.00,1.75,0.00,0.000,1030,0.000,0.060,2810,2250,2495,2458,2532,0,0,0,0,0,0,27.09,27.05,27.10
$GC,9386,-0.45,-146.6,2810,2206,2458,2531,419.1,-6.3,427,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2206,2494,2457,2531,0,0,0,0,0,0,27.26,27.28,27.27
$GC,9701,-0.45,-146.6,2810,2206,2457,2530,436.6,-5.4,434,9707,0.00,1.95,0.00,0.000,260,0.000,0.077,2803,3587,2494,2458,2530,0,0,0,0,0,0,27.25,26.96,27.27
$GC,9815,-0.45,-146.6,2803,3587,2458,2529,441.5,-5.4,436,9819,0.00,1.90,0.00,0.000,1030,0.000,0.057,2803,2150,2494,2458,2530,0,0,0,0,0,0,27.08,27.05,27.09
$GC,10154,-0.45,-146.6,2802,2149,2458,2529,459.1,-4.9,444,10157,0.00,2.03,0.00,0.000,260,0.000,0.077,2796,3577,2493,2458,2529,0,0,0,0,0,0,27.26,26.96,27.27
$GC,10275,-0.45,-146.6,2795,3580,2458,2529,463.8,-5.0,446,10279,0.00,1.83,0.00,0.000,1030,0.000,0.060,2796,2197,2493,2458,2529,0,0,0,0,0,0,27.07,27.05,27.09
$GC,10609,-0.45,-146.6,2795,2197,2458,2527,482.1,-5.0,454,10614,0.00,1.98,0.00,0.000,260,0.000,0.077,2788,3606,2493,2458,2528,0,0,0,0,0,0,27.25,26.97,27.27
$GC,10722,-0.45,-146.6,2788,3606,2458,2528,486.9,-5.1,456,10727,0.10,1.88,0.00,0.000,3078,0.159,0.057,2826,2173,2493,2458,2528,0,0,0,0,0,0,26.85,27.05,26.93
$GC,11061,-0.45,-146.6,2826,2173,2458,2527,502.5,-4.2,464,11066,0.00,2.00,0.00,0.000,260,0.000,0.077,2817,3585,2492,2457,2527,0,0,0,0,0,0,27.26,26.97,27.27
$GC,11138,-0.45,-146.6,2816,3585,2457,2527,504.3,-4.2,465,11143,0.00,1.80,0.00,0.000,1030,0.000,0.057,2817,2217,2492,2458,2527,0,0,0,0,0,0,27.08,27.05,27.08
$GC,11467,-0.45,-146.6,2816,2217,2457,2527,521.7,-4.8,473,11471,0.00,1.95,0.00,0.000,260,0.000,0.077,2808,3592,2492,2458,2527,0,0,0,0,0,0,27.26,26.96,27.27
$GC,11522,-0.45,-146.6,2808,3592,2458,2526,524.4,-5.1,474,11526,0.00,1.85,0.00,0.000,1030,0.000,0.057,2808,2191,2492,2458,2526,0,0,0,0,0,0,27.08,27.05,27.08
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$GC,65965,-1.41,-146.6,2520,2198,2436,2466,3904.8,-4.1,1032,65971,0.00,2.08,0.00,0.000,260,0.000,0.079,2511,3572,2451,2435,2467,0,0,0,0,0,0,27.20,26.55,27.21
$GC,66046,-1.41,-146.6,2511,3572,2435,2466,3904.8,-4.1,1032,66051,0.00,1.92,0.00,0.000,1030,0.000,0.060,2511,2200,2451,2436,2466,0,0,0,0,0,0,26.82,26.79,26.84
$GC,66445,-1.41,-146.6,2511,2198,2435,2466,3924.5,-4.1,1036,66446,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2198,2450,2435,2466,0,0,0,0,0,0,27.20,27.22,27.21
$GC,66806,-1.41,-146.6,2511,2198,2434,2466,3938.2,-3.9,1039,66811,0.00,2.08,0.00,0.000,260,0.000,0.079,2502,3572,2450,2435,2466,0,0,0,0,0,0,27.20,26.55,27.22
$GC,66968,-1.41,-146.6,2502,3572,2435,2467,3943.3,-3.9,1040,66972,0.00,1.90,0.00,0.000,1030,0.000,0.060,2502,2180,2451,2435,2467,0,0,0,0,0,0,26.86,26.80,26.89
$GC,67286,-1.41,-146.6,2502,2179,2435,2466,3958.7,-4.3,1043,67292,0.00,2.10,0.00,0.000,260,0.000,0.079,2494,3571,2450,2435,2466,0,0,0,0,0,0,27.20,26.53,27.21
$GC,67362,-1.41,-146.6,2494,3571,2435,2466,3958.7,-4.3,1043,67367,0.00,1.92,0.00,0.000,1030,0.000,0.060,2494,2199,2450,2435,2466,0,0,0,0,0,0,26.82,26.79,26.85
$GC,67766,-1.41,-146.6,2494,2198,2435,2466,3979.5,-4.3,1047,67772,0.00,2.05,0.00,0.000,260,0.000,0.079,2485,3570,2450,2435,2466,0,0,0,0,0,0,27.19,26.54,27.21
$GC,67894,-1.41,-146.6,2485,3570,2435,2467,3984.6,-4.3,1048,67899,0.10,1.90,0.00,0.000,3078,0.169,0.060,2521,2191,2450,2435,2466,0,0,0,0,0,0,26.52,26.79,26.61
$GC,68248,-1.41,-146.6,2521,2190,2435,2466,3998.1,-3.8,1051,68249,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2190,2450,2435,2466,0,0,0,0,0,0,27.20,27.22,27.21
$GC,68609,-1.41,-146.6,2520,2190,2435,2466,4010.9,-3.6,1054,68614,0.00,2.10,0.00,0.000,260,0.000,0.079,2512,3576,2450,2435,2466,0,0,0,0,0,0,27.17,26.54,27.18
$GC,68729,-1.41,-146.6,2511,3576,2435,2466,4015.3,-3.6,1055,68733,0.00,1.88,0.00,0.000,1030,0.000,0.062,2512,2202,2450,2435,2466,0,0,0,0,0,0,26.85,26.79,26.87
$GC,69092,-1.41,-146.6,2511,2201,2435,2466,4029.3,-3.8,1058,69093,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2201,2450,2435,2466,0,0,0,0,0,0,27.20,27.22,27.21
$GC,69453,-1.41,-146.6,2511,2201,2435,2466,4044.2,-4.2,1061,69458,0.00,2.08,0.00,0.000,260,0.000,0.079,2503,3576,2450,2435,2466,0,0,0,0,0,0,27.16,26.53,27.18
$GC,69563,-1.41,-146.6,2502,3576,2435,2466,4044.2,-4.2,1061,69572,0.00,1.92,0.00,0.000,1030,0.000,0.060,2502,2202,2450,2435,2466,0,0,0,0,0,0,26.82,26.78,26.84
$GC,69933,-1.41,-146.6,2502,2202,2435,2466,4062.6,-3.9,1065,69935,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2202,2450,2435,2466,0,0,0,0,0,0,27.16,27.19,27.18
$GC,70292,-1.41,-146.6,2502,2202,2435,2467,4074.7,-3.4,1068,70296,0.00,2.08,0.00,0.000,260,0.000,0.079,2495,3569,2450,2435,2466,0,0,0,0,0,0,27.19,26.53,27.21
$GC,70402,-1.41,-146.6,2495,3576,2435,2466,4074.7,-3.4,1068,70405,0.00,1.90,0.00,0.000,1030,0.000,0.060,2495,2190,2450,2435,2466,0,0,0,0,0,0,26.86,26.79,26.88
$GC,70778,-1.41,-146.6,2495,2187,2435,2466,4093.1,-3.8,1072,70779,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2187,2450,2435,2466,0,0,0,0,0,0,27.17,27.20,27.19
$GC,71135,-1.41,-146.6,2495,2187,2435,2466,4108.0,-4.1,1075,71140,0.00,2.10,0.00,0.000,260,0.000,0.079,2487,3574,2451,2436,2466,0,0,0,0,0,0,27.20,26.53,27.21
$GC,71274,-1.41,-146.6,2487,3574,2435,2466,4113.1,-4.1,1076,71279,0.00,1.92,0.00,0.000,1030,0.000,0.060,2487,2203,2450,2435,2466,0,0,0,0,0,0,26.82,26.79,26.83
$GC,71619,-1.41,-146.6,2487,2202,2435,2466,4127.4,-4.0,1079,71621,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2203,2451,2436,2466,0,0,0,0,0,0,27.20,27.22,27.21
$GC,71980,-1.41,-146.6,2487,2202,2435,2466,4142.2,-4.1,1082,71985,0.00,2.05,0.00,0.000,260,0.000,0.079,2478,3573,2451,2436,2466,0,0,0,0,0,0,27.16,26.53,27.18
$GC,72108,-1.41,-146.6,2478,3574,2436,2466,4147.3,-4.1,1083,72113,0.12,1.90,0.00,0.000,3078,0.159,0.060,2523,2193,2450,2435,2466,0,0,0,0,0,0,26.47,26.78,26.58
$GC,72457,-1.41,-146.6,2523,2192,2436,2467,4158.9,-3.4,1086,72462,0.00,2.10,0.00,0.000,260,0.000,0.079,2514,3579,2450,2435,2466,0,0,0,0,0,0,27.20,26.53,27.21
$GC,72528,-1.41,-146.6,2514,3579,2435,2466,4158.9,-3.4,1086,72532,0.00,1.90,0.00,0.000,1030,0.000,0.060,2514,2201,2450,2435,2466,0,0,0,0,0,0,26.85,26.79,26.87
$GC,72937,-1.41,-146.6,2513,2199,2436,2466,4175.5,-3.5,1090,72942,0.00,2.08,0.00,0.000,260,0.000,0.079,2505,3572,2450,2435,2466,0,0,0,0,0,0,27.19,26.53,27.21
$GC,73013,-1.41,-146.6,2505,3572,2436,2466,4175.5,-3.5,1090,73016,0.00,1.90,0.00,0.000,1030,0.000,0.060,2506,2194,2450,2435,2466,0,0,0,0,0,0,26.85,26.79,26.87
$GC,73418,-1.41,-146.6,2505,2193,2436,2466,4191.7,-3.4,1094,73419,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2193,2451,2435,2467,0,0,0,0,0,0,27.16,27.18,27.18
$GC,73778,-1.41,-146.6,2505,2193,2435,2466,4203.6,-3.3,1097,73783,0.00,2.08,0.00,0.000,260,0.000,0.079,2498,3576,2450,2435,2466,0,0,0,0,0,0,27.17,26.53,27.18
$GC,73898,-1.41,-146.6,2498,3576,2434,2466,4207.7,-3.3,1098,73901,0.00,1.88,0.00,0.000,1030,0.000,0.062,2498,2202,2451,2436,2466,0,0,0,0,0,0,26.85,26.78,26.87
$GC,74260,-1.41,-146.6,2498,2199,2435,2466,4219.9,-3.4,1101,74261,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2199,2450,2435,2466,0,0,0,0,0,0,27.19,27.22,27.21
$GC,74623,-1.41,-146.6,2498,2199,2435,2466,4231.7,-3.3,1104,74628,0.00,2.08,0.00,0.000,260,0.000,0.079,2490,3570,2450,2435,2466,0,0,0,0,0,0,27.17,26.52,27.19
$GC,74708,-1.41,-146.6,2490,3571,2435,2466,4231.7,-3.3,1104,74712,0.00,1.92,0.00,0.000,1030,0.000,0.060,2490,2177,2450,2435,2466,0,0,0,0,0,0,26.85,26.79,26.87
$GC,75104,-1.41,-146.6,2490,2176,2435,2466,4248.4,-3.5,1108,75105,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2176,2450,2435,2466,0,0,0,0,0,0,27.19,27.21,27.21
$GC,75463,-1.41,-146.6,2490,2176,2435,2466,4260.7,-3.4,1111,75467,0.00,2.12,0.00,0.000,260,0.000,0.079,2485,3560,2450,2435,2466,0,0,0,0,0,0,27.17,26.52,27.18
$GC,75547,-1.41,-146.6,2484,3582,2435,2466,4260.7,-3.4,1111,75552,0.10,1.90,0.00,0.000,3078,0.164,0.060,2522,2183,2450,2435,2466,0,0,0,0,0,0,26.53,26.77,26.62
$GC,75946,-1.48,-146.6,2521,2182,2435,2466,4276.3,-3.2,1115,75950,0.00,2.10,0.00,0.000,260,0.000,0.079,2516,3556,2451,2436,2466,0,0,0,0,0,0,27.19,26.52,27.21
$GC,76128,-1.56,-146.6,2515,3573,2435,2466,4280.7,-3.4,1116,76132,0.08,1.90,0.00,0.000,5126,0.144,0.060,2466,2198,2450,2435,2466,0,0,0,0,0,0,26.67,26.78,26.74
$GC,76547,-1.56,-146.6,2466,2197,2435,2466,4298.7,-3.8,1120,76548,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2196,2450,2435,2466,0,0,0,0,0,0,27.19,27.21,27.21
$GC,76909,-1.56,-146.6,2466,2197,2436,2466,4312.3,-3.8,1123,76914,0.00,2.08,0.00,0.000,260,0.000,0.079,2460,3568,2450,2435,2466,0,0,0,0,0,0,27.17,26.51,27.19
$GC,77041,-1.56,-146.6,2459,3568,2435,2466,4316.7,-3.7,1124,77045,0.00,1.88,0.00,0.000,1030,0.000,0.060,2460,2197,2450,2435,2466,0,0,0,0,0,0,26.84,26.78,26.86
$GC,77385,-1.56,-146.6,2459,2195,2435,2466,4329.1,-3.5,1127,77386,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2196,2450,2434,2466,0,0,0,0,0,0,27.19,27.22,27.21
$GC,77746,-1.56,-146.6,2459,2195,2435,2467,4341.5,-3.5,1130,77747,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2196,2451,2435,2467,0,0,0,0,0,0,27.17,27.19,27.18
$GC,78106,-1.56,-146.6,2460,2195,2435,2466,4353.5,-3.3,1133,78109,0.00,2.10,0.00,0.000,260,0.000,0.079,2452,3568,2450,2435,2466,0,0,0,0,0,0,27.17,26.52,27.18
$GC,78229,-1.56,-146.6,2452,3583,2435,2466,4357.9,-3.4,1134,78234,0.00,1.92,0.00,0.000,1030,0.000,0.060,2452,2191,2451,2435,2467,0,0,0,0,0,0,26.84,26.77,26.86
$GC,78592,-1.56,-146.6,2451,2191,2435,2466,4370.5,-3.5,1137,78593,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2191,2451,2436,2467,0,0,0,0,0,0,27.17,27.20,27.19
$GC,78948,-1.56,-146.6,2451,2190,2436,2466,4382.3,-3.3,1140,78953,0.00,2.10,0.00,0.000,260,0.000,0.079,2442,3576,2450,2435,2466,0,0,0,0,0,0,27.19,26.52,27.21
$GC,79034,-1.56,-146.6,2442,3576,2436,2466,4382.3,-3.3,1140,79038,0.00,1.92,0.00,0.000,1030,0.000,0.060,2442,2206,2450,2435,2466,0,0,0,0,0,0,26.81,26.77,26.83
$STATE,79307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,79307,begin apogee
$GC,79310,-0.25,0.0,2442,2205,2435,2466,4395.6,-3.6,1143,79445,1.27,0.00,130.90,3.677,10246,0.129,0.000,2892,2205,2000,2008,1992,0,0,0,0,0,0,26.19,22.19,20.74
$STATE,79446,end apogee,CONTROL_FINISHED_OK
$STATE,79446,begin climb
$GC,79447,0.61,146.6,2892,2205,2007,1992,4392.7,0.0,1144,79619,0.82,2.40,163.85,3.583,10756,0.087,0.089,3196,846,1495,1517,1474,0,0,0,0,0,0,22.68,22.08,20.68
$GC,79912,0.61,146.6,3197,845,1517,1473,4283.3,25.8,1148,79918,0.10,2.08,0.00,0.000,5126,0.228,0.060,3170,2188,1495,1517,1473,0,0,0,0,0,0,25.18,25.39,25.29
$GC,80272,0.13,146.6,3170,2188,1517,1473,4193.6,25.1,1151,80278,0.52,2.00,0.00,0.000,4612,0.219,0.065,3020,831,1495,1517,1474,0,0,0,0,0,0,25.79,26.00,25.92
$GC,80571,-0.28,146.6,3019,830,1517,1473,4150.5,21.3,1153,80576,0.40,2.03,0.00,0.000,5126,0.191,0.062,2897,2210,1494,1516,1473,0,0,0,0,0,0,26.06,26.30,26.24
$GC,80991,-0.44,146.6,2897,2211,1517,1473,4092.7,12.0,1157,80996,0.17,2.00,0.00,0.000,4612,0.176,0.065,2841,836,1494,1516,1473,0,0,0,0,0,0,26.30,26.45,26.39
$GC,81218,-0.56,146.6,2841,836,1517,1473,4083.0,10.6,1158,81223,0.15,2.03,0.00,0.000,5126,0.161,0.062,2788,2209,1494,1516,1473,0,0,0,0,0,0,26.38,26.55,26.51
$GC,81587,-0.56,146.6,2788,2208,1516,1473,4050.8,7.0,1161,81593,0.00,2.03,0.00,0.000,516,0.000,0.067,2794,833,1494,1516,1473,0,0,0,0,0,0,26.87,26.60,26.89
$GC,81638,-0.56,146.6,2794,834,1517,1473,4050.8,7.0,1161,81642,0.00,2.03,0.00,0.000,1030,0.000,0.062,2794,2196,1494,1516,1473,0,0,0,0,0,0,26.67,26.65,26.70
$GC,81947,-0.56,146.6,2794,2196,1517,1474,4027.2,6.5,1164,81948,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2196,1494,1516,1473,0,0,0,0,0,0,26.93,26.95,26.95
$GC,82307,-0.56,146.6,2794,2196,1517,1473,4005.4,6.2,1167,82312,0.00,1.98,0.00,0.000,516,0.000,0.067,2795,834,1494,1516,1473,0,0,0,0,0,0,26.97,26.70,26.99
$GC,82393,-0.56,146.6,2794,834,1516,1473,4005.4,6.2,1167,82397,0.00,2.03,0.00,0.000,1030,0.000,0.062,2795,2199,1494,1516,1473,0,0,0,0,0,0,26.76,26.73,26.79
$GC,82787,-0.56,146.6,2794,2199,1516,1474,3977.6,5.8,1171,82792,0.00,2.00,0.00,0.000,516,0.000,0.070,2795,832,1494,1516,1473,0,0,0,0,0,0,27.01,26.73,27.03
$GC,82838,-0.56,146.6,2794,833,1517,1473,3977.6,5.8,1171,82842,0.00,2.03,0.00,0.000,1030,0.000,0.062,2795,2207,1495,1516,1474,0,0,0,0,0,0,26.79,26.77,26.82
$GC,83147,-0.56,146.6,2794,2206,1516,1473,3955.7,6.0,1174,83148,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2207,1494,1516,1473,0,0,0,0,0,0,27.03,27.05,27.05
$GC,83507,-0.56,146.6,2794,2207,1516,1473,3934.4,6.0,1177,83512,0.00,2.00,0.00,0.000,516,0.000,0.067,2799,835,1494,1516,1473,0,0,0,0,0,0,27.06,26.78,27.08
$GC,83588,-0.56,146.6,2798,835,1516,1473,3934.4,6.0,1177,83592,0.00,2.03,0.00,0.000,1030,0.000,0.062,2799,2208,1494,1516,1473,0,0,0,0,0,0,26.84,26.81,26.89
$GC,83987,-0.56,146.6,2799,2208,1516,1473,3905.9,6.0,1181,83992,0.00,2.03,0.00,0.000,516,0.000,0.067,2801,825,1495,1516,1474,0,0,0,0,0,0,27.08,26.80,27.10
$GC,84033,-0.56,146.6,2800,825,1516,1473,3905.9,6.0,1181,84037,0.00,2.03,0.00,0.000,1030,0.000,0.062,2801,2200,1494,1516,1473,0,0,0,0,0,0,26.86,26.82,26.87
$GC,84347,-0.56,146.6,2800,2200,1516,1473,3885.1,5.8,1184,84348,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2200,1494,1516,1473,0,0,0,0,0,0,27.09,27.11,27.10
$GC,84707,-0.56,146.6,2800,2200,1516,1473,3864.6,5.7,1187,84712,0.00,2.03,0.00,0.000,516,0.000,0.067,2800,817,1494,1516,1473,0,0,0,0,0,0,27.10,26.85,27.12
$GC,84783,-0.56,146.6,2800,818,1517,1473,3864.6,5.7,1187,84787,0.00,2.05,0.00,0.000,1030,0.000,0.062,2800,2208,1494,1516,1473,0,0,0,0,0,0,26.88,26.84,26.90
$GC,85187,-0.56,146.6,2800,2208,1516,1473,3837.3,5.7,1191,85192,0.00,2.00,0.00,0.000,516,0.000,0.067,2800,834,1495,1516,1474,0,0,0,0,0,0,27.12,26.84,27.13
$GC,85238,-0.56,146.6,2800,834,1516,1473,3837.3,5.7,1191,85242,0.00,2.03,0.00,0.000,1030,0.000,0.062,2800,2205,1494,1516,1473,0,0,0,0,0,0,26.89,26.86,26.91
$GC,85547,-0.56,146.6,2800,2205,1516,1473,3818.3,5.4,1194,85548,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2205,1494,1516,1473,0,0,0,0,0,0,27.13,27.15,27.14
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$STATE,150147,end climb,SURFACE_DEPTH_REACHED
$STATE,150148,begin surface coast
$FINISH,-0.7,1.010728
$STATE,150209,end surface coast,CONTROL_FINISHED_OK
$STATE,150209,begin surface
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$TCM_TEMP,21.80
$XPDR_PINGS,1
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$ALTIM_BOTTOM_PING,4370.5,50.9
$24V_AH,20.68,19.652
$10V_AH,10.33,9.938
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330324
$DATA_FILE_SIZE,130348,2067
$CAP_FILE_SIZE,1057073,0
$CFSIZE,1024409600,1009745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070815,082703,3152.145,-6443.572,24,0.8,24,-14.8,0.7,109.0,10,8.2