Glider dive log

Deck Feb16 * SG185 * Dive index * Mission links * Dive 107 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 185 HD_B 0.010078 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 900

MISSION 0 HD_C 9.8541004e-06 ROLL_MIN 300 ALTIM_PING_DELTA 20

DIVE 107 HEADING -1 ROLL_MAX 3750 ALTIM_FREQUENCY 13

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PULSE 3

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_SENSITIVITY 2

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 XPDR_VALID 6

D_TGT 990 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 XPDR_INHIBIT 90

D_ABORT 1010 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 1.9639999e-06

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_BOOST 20 SM_CC 515.13 ROLL_MAXERRORS 1 DEEPGLIDER 0

T_BOOST 4 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_FINISH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

D_PITCH 0 CALL_NDIVES 1 VBD_MIN 500 DEVICE1 -1

D_SAFE 0 COMM_SEQ 0 VBD_MAX 3500 DEVICE2 -1

D_CALL 0 PROTOCOL 9 C_VBD 2600 DEVICE3 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 360 DEVICE6 -1

T_DIVE 330 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 1

T_MISSION 400 CALL_TRIES 5 UNCOM_BLEED 20 LOGGERDEVICE1 0

T_ABORT 1440 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_TURN 270 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 DBDW 0 LOGGERDEVICE4 -1

T_NO_W 120 T_GPS 5 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_LOITER 0 N_GPS 100440 AH0_24V 150 COMPASS2_DEVICE 48

T_EPIRB 0 T_RSLEEP 3 AH0_10V 100 PHONE_DEVICE 33

USE_BATHY -6 STROBE 0 MINV_24V 19 GPS_DEVICE 48

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MAXI_24V 5 XPDR_DEVICE 4

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MAXI_10V 0.80000001 SIM_W 0.1

RELAUNCH 1 PITCH_MIN 450 FG_AHR_10V 30.332676 SEABIRD_T_G 0.0043319771

APOGEE_PITCH -5 PITCH_MAX 3300 FG_AHR_24V 20.811905 SEABIRD_T_H 0.00061972893

MAX_BUOY 150 C_PITCH 2850 PHONE_SUPPLY 2 SEABIRD_T_I 2.0309124e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -150.34485 SEABIRD_T_J 1.8214913e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00010658 SEABIRD_C_G -9.9888363

RHO 1.023 PITCH_GAIN 25 COMPASS_USE 4 SEABIRD_C_H 1.1040936

MASS 51725 PITCH_TIMEOUT 30 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0023403035

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00025686048

FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

AH0_10V 100 D_FLARE 3 N_DIVES 0 SEABIRD_C_I -0.0023403035

AH0_24V 150 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_C_J 0.00025686048

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1000 N_GPS 100440 SEABIRD_T_G 0.0043319771

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_H 0.00061972893

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_I 2.0309124e-05

ALTIM_PING_DELTA 20 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_J 1.8214913e-06

ALTIM_PING_DEPTH 900 D_TGT 990 PHONE_SUPPLY 2 SIM_W 0.1

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 SM_CC 515.13

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_10V 30.332676 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_24V 20.811905 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

APOGEE_PITCH -5 FILEMGR 0 PITCH_MAX 3300 SURFACE_URGENCY_TRY 0

CALL_NDIVES 1 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 GLIDE_SLOPE 30 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 GPS_DEVICE 48 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 HD_A 0.0038360001 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CAPUPLOAD 0 HD_B 0.010078 PITCH_W_DBAND 0 T_BOOST 4

CF8_MAXERRORS 20 HD_C 9.8541004e-06 PITCH_W_GAIN 0 T_DIVE 330

COMM_SEQ 0 HEADING -1 PRESSURE_SLOPE 0.00010658 T_EPIRB 0

COMPASS2_DEVICE 48 HEAD_ERRBAND 10 PRESSURE_YINT -150.34485 T_GPS 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_LOITER 0

COMPASS_USE 4 ID 185 RAFOS_CORR_THRESH 60 T_MISSION 400

C_PITCH 2850 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_DEVICE -1 T_NO_W 120

C_ROLL_CLIMB 2025 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_DIVE 2025 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN 270

C_VBD 2600 LOGGERDEVICE1 0 RELAUNCH 1 T_TURN_SAMPINT -5

DBDW 0 LOGGERDEVICE2 -1 RHO 1.023 UNCOM_BLEED 20

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEVICE1 -1 LOGGERS 1 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MASS 51725 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MAX 3750 VBD_DBAND 2

DEVICE4 -1 MAXI_24V 5 ROLL_MAXERRORS 1 VBD_MAX 3500

DEVICE5 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_MAXERRORS 1

DEVICE6 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MIN 500

DIVE 107 MINV_24V 19 SC_PROFILE 3.0 VBD_TIMEOUT 360

D_ABORT 1010 MISSION 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_BOOST 20 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_DEVICE 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9888363 XPDR_INHIBIT 90

D_FINISH 0 NOCOMM_ACTION 129 SEABIRD_C_H 1.1040936 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 210216,042100,4739.311,-12219.018,46,0.9,50,15.9 TGT_LATLONG 4743.500,-12225.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 0.06 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -3.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 210216,043149,4739.311,-12219.016,3,0.8,5,15.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.261 MHEAD_RNG_PITCHd_Wd 300.2,10759,-18.2,-10.000,-20.99

TGT_NAME NW D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.0,0.998307 _24V_AH 26.65,8.056

SM_CCo 18133.83,103.10,0.114,0,497.2,465.9,528.5,515.82 _10V_AH 11.06,22.086

SM_GC 0.06,103.10,6.74,0.04,0.114,0.047,0.059,497.2,465.9,528.5,447.2,2010.5,0,0,0,24.24,27.91,28.69 FG_AHR_24Vo 20.871

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 30.412

IRIDIUM_FIX 4719.74,-12223.37,210216,042305 MEM 1135460,37,45488,53

TCM_TEMP 22.20 DATA_FILE_SIZE 104972,2904

XPDR_PINGS 1 CAP_FILE_SIZE 529779,0

ALTIM_BOTTOM_PING 900.3,3.9 SDSIZE 4028416,3995040

SC_FREEKB 3986368 ERRORS 0,0,0,0,0,0,0,0

HUMID 49.58 WARN PPS timeout

TEMP 18.11 CURRENT 0.000,270.0,1

INTERNAL_PRESSURE 10.2593 GPS 210216,093501,4739.311,-12219.018,39,1.0,39,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 457 441 5380.69 nil 0 0 0.00

Pitch_motor 21 63 36.93 nil 0 0 0.00

Roll_motor 248 105 696.62 nil 0 0 0.00

Iridium 486 103 1344.10 nil 0 0 0.00

Transponder_ping 0 420 8.39 nil 0 0 0.00

GPS 6 11 0.82 nil 0 0 0.00

Core 5439 163 9849.41 SciCon 18041 4 870.17

LPSleep 13292 2 321.95 nil 0 0 0.00

Compass 3996 4 180.32 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.66

Guidance and control:

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.91 2 -146.63 -0.91 0.00 473.3 454.8 491.8 447.9 2031.1 0.00 0.00 0 36.57 30.85 0.00 0.00 0.000 0.000 0.000 1340.28 1428.12 1252.44 447.75 2030.88 0 0 0 26.51 30.00 30.00

36.84 263 -146.63 -0.91 40.00 1339.9 1427.5 1252.2 447.9 2030.8 3.45 -10.05 3 130.86 80.07 7.09 3.34 0.000 0.064 0.041 3194.94 3282.00 3107.88 2558.75 3443.38 0 0 0 26.52 27.55 26.56

398.25 1188 -146.63 -0.86 0.00 3196.2 3283.2 3109.1 2559.6 3443.3 39.26 -9.77 75 403.62 0.00 0.00 3.14 0.000 0.000 0.024 3196.78 3282.00 3111.56 2558.81 2014.62 0 0 0 30.00 30.00 27.95

582.62 421 -146.63 -0.80 40.00 3196.0 3282.4 3109.6 2558.2 2015.6 57.43 -9.96 94 588.72 0.00 0.14 3.37 0.000 0.053 0.039 3195.72 3282.19 3109.25 2591.31 3442.62 0 0 0 30.00 28.15 27.81

857.40 1188 -146.63 -0.75 0.00 3196.5 3283.7 3109.4 2591.7 3442.1 85.10 -9.82 149 863.62 0.00 0.00 3.13 0.000 0.000 0.024 3197.25 3282.56 3111.94 2594.25 4.56 0 0 0 30.00 30.00 28.04

1042.99 389 -146.63 -0.69 40.00 3195.8 3282.5 3109.1 2590.1 2014.6 103.83 -10.15 168 1048.72 0.00 0.14 3.36 0.000 0.055 0.039 3197.22 3282.94 3111.50 2624.81 3441.94 0 0 0 30.00 28.24 27.86

1317.64 1156 -146.63 -0.64 0.00 3196.6 3283.0 3110.2 2625.9 3441.9 131.15 -10.19 223 1323.62 0.00 0.00 3.13 0.000 0.000 0.025 3197.56 3283.44 3111.69 2625.69 2014.31 0 0 0 30.00 30.00 28.09

1502.62 421 -146.63 -0.59 40.00 3195.8 3282.5 3109.1 2625.5 2014.8 149.50 -9.85 242 1508.35 0.00 0.14 3.35 0.000 0.056 0.039 3195.66 3282.50 3108.81 2658.81 3442.56 0 0 0 30.00 28.30 27.87

1778.05 1188 -146.63 -0.53 0.00 3196.2 3282.4 3110.1 2659.1 3441.8 177.08 -9.83 297 1783.68 0.00 0.00 3.11 0.000 0.000 0.025 3197.97 3283.50 3112.44 2658.44 2016.56 0 0 0 30.00 30.00 28.12

1962.81 421 -146.63 -0.48 40.00 3196.4 3282.7 3110.2 2659.3 2016.4 195.38 -9.54 316 1968.72 0.00 0.14 3.36 0.000 0.056 0.039 3197.09 3283.44 3110.75 2691.44 3443.62 0 0 0 30.00 28.34 27.89

2237.78 1156 -146.63 -0.43 0.00 3195.6 3282.0 3109.2 2693.4 3443.2 223.07 -10.09 371 2243.63 0.00 0.00 3.12 0.000 0.000 0.025 3196.50 3283.19 3109.81 2692.75 2015.12 0 0 0 30.00 30.00 28.13

2422.27 421 -146.63 -0.37 40.00 3196.4 3282.5 3110.3 2694.4 2015.5 241.48 -9.91 390 2428.72 0.00 0.14 3.35 0.000 0.056 0.039 3195.84 3282.56 3109.12 2731.12 3441.12 0 0 0 30.00 28.39 27.89

2697.67 1188 -146.63 -0.32 0.00 3195.4 3281.4 3109.3 2728.7 3442.3 269.05 -9.97 445 2703.60 0.00 0.00 3.10 0.000 0.000 0.025 3198.59 3284.94 3112.25 2726.00 2016.31 0 0 0 30.00 30.00 28.14

2882.59 389 -146.63 -0.27 40.00 3195.3 3281.6 3108.9 2729.7 2015.8 287.66 -10.23 464 2888.34 0.00 0.14 3.35 0.000 0.057 0.040 3198.12 3283.88 3112.38 2760.19 3441.88 0 0 0 30.00 28.40 27.88

3158.22 1156 -146.63 -0.21 0.00 3196.0 3282.9 3109.2 2762.6 3441.6 315.50 -10.29 519 3163.63 0.00 0.00 3.12 0.000 0.000 0.025 3195.62 3282.31 3108.94 2761.88 2016.31 0 0 0 30.00 30.00 28.14

3342.59 389 -146.63 -0.16 40.00 3196.5 3283.4 3109.6 2762.5 2016.1 334.32 -10.24 538 3348.33 0.00 0.14 3.35 0.000 0.056 0.039 3197.59 3283.25 3111.94 2797.19 3442.56 0 0 0 30.00 28.41 27.88

3618.27 1156 -146.63 -0.11 0.00 3195.6 3282.4 3108.8 2798.2 3442.4 361.65 -10.05 593 3623.26 0.00 0.00 3.11 0.000 0.000 0.025 3196.06 3283.31 3108.81 2798.50 2015.50 0 0 0 30.00 30.00 28.15

3803.23 421 -146.63 -0.05 40.00 3195.7 3282.5 3108.8 2799.0 2014.9 380.01 -9.80 612 3808.72 0.00 0.14 3.35 0.000 0.056 0.039 3198.00 3283.75 3112.25 2828.44 3442.06 0 0 0 30.00 28.43 27.88

4077.64 1188 -146.63 0.00 0.00 3195.5 3282.0 3108.9 2828.9 3441.9 407.29 -9.89 667 4083.63 0.00 0.00 3.13 0.000 0.000 0.025 3197.34 3282.88 3111.81 2826.31 2015.31 0 0 0 30.00 30.00 28.14

4262.46 389 -146.63 0.05 40.00 3195.8 3282.7 3108.9 2829.1 2015.2 425.64 -10.09 686 4268.34 0.00 0.14 3.35 0.000 0.059 0.040 3196.94 3283.00 3110.88 2864.62 3443.81 0 0 0 30.00 28.42 27.87

4538.26 1156 -146.63 0.11 0.00 3195.8 3282.8 3108.8 2865.4 3443.1 453.18 -10.32 741 4543.62 0.00 0.00 3.13 0.000 0.000 0.025 3197.03 3283.44 3110.62 2865.25 2014.56 0 0 0 30.00 30.00 28.14

4722.62 421 -146.63 0.16 40.00 3195.7 3281.6 3109.7 2864.8 2014.9 471.86 -9.87 760 4728.74 0.00 0.14 3.37 0.000 0.057 0.040 3198.03 3283.94 3112.12 2895.38 3443.62 0 0 0 30.00 28.44 27.86

4997.58 1188 -146.63 0.22 0.00 3195.1 3281.6 3108.6 2898.7 3443.4 499.42 -9.89 815 5003.63 0.00 0.00 3.11 0.000 0.000 0.025 3195.88 3281.62 3110.12 2899.00 2014.38 0 0 0 30.00 30.00 28.13

5182.95 389 -146.63 0.27 40.00 3195.1 3281.2 3108.9 2898.3 2014.7 518.01 -10.47 834 5188.72 0.00 0.14 3.36 0.000 0.057 0.040 3198.03 3283.88 3112.19 2929.00 3442.88 0 0 0 30.00 28.44 27.85

5457.55 1156 -146.63 0.32 0.00 3195.8 3282.1 3109.5 2932.1 3443.5 545.01 -10.07 889 5463.63 0.00 0.00 3.12 0.000 0.000 0.025 3196.09 3281.69 3110.50 2931.44 2016.38 0 0 0 30.00 30.00 28.13

5642.60 421 -146.63 0.38 40.00 3195.6 3281.1 3110.0 2931.7 2016.4 563.36 -9.90 908 5648.72 0.00 0.14 3.34 0.000 0.059 0.040 3196.50 3281.69 3111.31 2967.69 3444.94 0 0 0 30.00 28.41 27.85

5918.08 1156 -146.63 0.43 0.00 3195.3 3281.2 3109.4 2967.7 3444.2 590.77 -10.24 963 5923.63 0.00 0.00 3.12 0.000 0.000 0.025 3196.66 3281.88 3111.44 2966.94 2014.62 0 0 0 30.00 30.00 28.13

6103.01 389 -146.63 0.48 40.00 3195.6 3281.1 3110.1 2967.8 2015.0 609.39 -10.14 982 6108.33 0.00 0.14 3.38 0.000 0.058 0.040 3196.47 3282.62 3110.31 3001.62 3443.06 0 0 0 30.00 28.44 27.84

6378.29 1188 -146.63 0.54 0.00 3195.4 3281.5 3109.3 3001.8 3443.6 636.88 -9.61 1037 6383.63 0.00 0.00 3.12 0.000 0.000 0.025 3196.00 3281.44 3110.56 2998.56 2014.75 0 0 0 30.00 30.00 28.12

6563.13 421 -146.63 0.59 40.00 3195.4 3281.3 3109.6 3001.8 2014.9 655.06 -9.43 1056 6568.72 0.00 0.14 3.36 0.000 0.058 0.040 3197.34 3282.12 3112.56 3035.62 3443.25 0 0 0 30.00 28.42 27.83

6838.29 1156 -146.63 0.64 0.00 3194.8 3280.9 3108.8 3038.1 3442.9 682.84 -10.15 1111 6843.24 0.00 0.00 3.12 0.000 0.000 0.025 3195.81 3281.62 3110.00 3037.31 2014.88 0 0 0 30.00 30.00 28.12

7022.62 389 -146.63 0.70 40.00 3195.2 3281.6 3108.8 3037.4 2014.9 701.19 -10.10 1130 7028.34 0.00 0.14 3.38 0.000 0.058 0.040 3195.28 3281.25 3109.31 3069.38 3443.31 0 0 0 30.00 28.43 27.82

7297.78 1188 -146.63 0.75 0.00 3195.2 3280.8 3109.6 3067.4 3443.1 728.86 -9.84 1185 7303.24 0.00 0.00 3.12 0.000 0.000 0.025 3194.91 3280.75 3109.06 3067.88 2015.00 0 0 0 30.00 30.00 28.11

7483.65 389 -146.63 0.80 40.00 3194.4 3280.1 3108.7 3069.7 2014.8 747.55 -10.09 1204 7488.39 0.00 0.14 3.37 0.000 0.060 0.040 3194.22 3279.94 3108.50 3105.50 3441.69 0 0 0 30.00 28.42 27.81

7757.69 1156 -146.63 0.86 0.00 3194.7 3280.2 3109.2 3104.5 3441.2 774.87 -10.02 1259 7763.63 0.00 0.00 3.12 0.000 0.000 0.025 3195.12 3279.31 3110.94 3104.06 2014.00 0 0 0 30.00 30.00 28.11

7943.05 421 -146.63 0.91 40.00 3194.7 3279.9 3109.5 3103.6 2014.8 793.17 -9.68 1278 7948.61 0.00 0.14 3.37 0.000 0.059 0.040 3196.16 3281.38 3110.94 3138.62 3443.75 0 0 0 30.00 28.43 27.80

8217.47 1188 -146.63 0.97 0.00 3194.5 3280.2 3108.9 3138.2 3443.6 820.55 -9.81 1333 8223.77 0.00 0.00 3.13 0.000 0.000 0.025 3194.72 3280.69 3108.75 3138.88 2014.94 0 0 0 30.00 30.00 28.10

8402.75 389 -146.63 1.02 40.00 3194.3 3279.7 3109.0 3138.8 2015.6 838.85 -10.02 1352 8408.72 0.00 0.14 3.37 0.000 0.060 0.040 3194.50 3280.00 3109.00 3170.94 3442.81 0 0 0 30.00 28.43 27.80

8677.71 1188 -146.63 1.07 0.00 3194.4 3279.1 3109.6 3171.5 3442.4 866.20 -9.83 1407 8683.63 0.00 0.00 3.13 0.000 0.000 0.025 3194.12 3279.56 3108.69 3171.25 2014.62 0 0 0 30.00 30.00 28.10

8862.60 421 -146.63 1.13 40.00 3194.0 3279.1 3108.8 3172.1 2015.5 884.74 -9.96 1426 8868.72 0.00 0.14 3.37 0.000 0.061 0.040 3194.59 3279.38 3109.81 3208.31 3442.06 0 0 0 30.00 28.41 27.79

9023 end dive: BOTTOM_OBSTACLE_DETECTED

state 9023 begin apogee

9027.54 3 0.00 -0.20 0.00 3194.8 3279.4 3110.2 3206.9 2014.5 900.32 9.96 1457 9138.14 106.02 1.68 0.05 0.441 0.041 0.105 2595.53 2652.38 2538.69 2778.75 2029.75 0 0 0 22.70 27.89 27.14

9138 end apogee: CONTROL_FINISHED_OK

state 9138 begin climb

9138.63 519 146.63 0.91 -40.00 2591.9 2648.8 2535.1 2780.0 2030.2 889.18 0.00 1468 9260.55 112.43 1.54 3.24 0.421 0.056 0.023 1996.72 2051.31 1942.12 3137.31 605.31 0 0 0 24.04 27.44 26.74

9527.43 1188 149.58 0.86 0.00 1984.8 2044.2 1925.5 3139.0 605.4 849.23 9.87 1546 9533.53 0.00 0.00 3.21 0.000 0.000 0.025 1986.94 2046.00 1927.88 3139.00 2029.50 0 0 0 30.00 30.00 27.68

9718.02 644 149.58 0.81 -40.00 1984.6 2044.6 1924.6 3137.8 2030.3 830.13 10.31 1566 9723.11 0.00 0.00 3.15 0.000 0.000 0.022 1985.62 2045.38 1925.88 3138.50 604.00 0 0 0 30.00 30.00 27.85

9993.34 1157 149.58 0.75 0.00 1983.8 2043.6 1924.1 3139.2 603.7 802.61 10.13 1621 9998.19 0.00 0.19 3.18 0.000 0.047 0.025 1984.97 2044.75 1925.19 3084.62 2027.31 0 0 0 30.00 27.79 27.90

10177.67 676 153.00 0.70 -40.00 1983.5 2043.2 1923.9 3084.8 2027.8 784.39 9.84 1640 10183.12 0.00 0.00 3.12 0.000 0.000 0.022 1984.81 2043.25 1926.38 3082.75 602.19 0 0 0 30.00 30.00 27.98

10452.85 1156 153.00 0.65 0.00 1983.9 2043.5 1924.2 3084.4 602.4 756.61 10.12 1695 10458.52 0.00 0.00 3.16 0.000 0.000 0.025 1985.47 2044.50 1926.44 3081.50 2029.44 0 0 0 30.00 30.00 27.96

10638.17 679 159.87 0.60 -40.00 1983.2 2042.8 1923.6 3082.6 2029.2 738.43 9.69 1714 10648.09 3.29 0.16 3.11 0.219 0.049 0.024 1944.03 2000.75 1887.31 3036.00 604.06 0 0 0 24.11 28.24 27.43

10917.55 1188 161.32 0.55 0.00 1943.2 2000.3 1886.0 3036.8 603.9 710.65 9.93 1770 10923.50 0.00 0.00 3.14 0.000 0.000 0.025 1943.81 2000.06 1887.56 3036.44 2028.31 0 0 0 30.00 30.00 28.08

11107.87 644 161.32 0.50 -40.00 1943.5 2000.4 1886.6 3036.6 2029.1 691.41 10.37 1790 11113.48 0.00 0.00 3.10 0.000 0.000 0.022 1945.62 2002.88 1888.38 3036.44 604.00 0 0 0 30.00 30.00 28.12

11382.75 1191 163.90 0.45 0.00 1943.0 2000.1 1885.9 3037.0 604.1 663.70 9.88 1845 11388.66 1.23 0.17 3.15 0.172 0.048 0.025 1932.97 1989.88 1876.06 2986.31 2027.56 0 0 0 25.00 27.95 28.06

11567.65 676 164.39 0.40 -40.00 1926.6 1983.4 1869.8 2986.8 2028.1 645.00 9.98 1864 11573.10 0.00 0.00 3.09 0.000 0.000 0.022 1926.75 1984.06 1869.44 2985.81 605.31 0 0 0 30.00 30.00 28.16

11842.68 1156 164.39 0.34 0.00 1926.6 1983.2 1870.0 2986.4 605.2 617.15 10.01 1919 11848.13 0.00 0.00 3.13 0.000 0.000 0.025 1927.38 1984.31 1870.44 2985.44 2029.75 0 0 0 30.00 30.00 28.09

12028.49 645 164.39 0.29 -40.00 1926.8 1983.5 1870.0 2985.7 2029.9 598.65 10.11 1938 12033.16 0.00 0.17 3.10 0.000 0.048 0.022 1927.41 1983.31 1871.50 2936.44 604.00 0 0 0 30.00 28.37 28.14

12302.45 1190 168.74 0.24 0.00 1926.8 1983.4 1870.1 2936.7 604.0 571.24 9.80 1993 12309.22 1.63 0.00 3.14 0.157 0.000 0.025 1907.12 1963.38 1850.88 2939.38 2029.75 0 0 0 24.92 30.00 28.07

12493.03 678 180.99 0.20 -40.00 1907.4 1963.5 1851.4 2936.0 2030.1 552.61 9.44 2013 12504.48 6.69 0.00 3.09 0.384 0.000 0.023 1860.03 1917.06 1803.00 2935.12 602.38 0 0 0 24.24 30.00 27.87

12772.54 1159 180.99 0.15 0.00 1853.8 1914.5 1793.1 2936.5 602.6 524.57 10.11 2069 12778.20 0.00 0.15 3.13 0.000 0.048 0.025 1854.41 1915.25 1793.56 2891.06 2027.56 0 0 0 30.00 28.07 28.17

12957.94 646 180.99 0.09 -40.00 1853.3 1914.3 1792.4 2890.9 2026.6 505.92 10.21 2088 12963.10 0.00 0.00 3.08 0.000 0.000 0.022 1855.62 1916.12 1795.12 2890.94 605.25 0 0 0 30.00 30.00 28.20

13233.14 1158 180.99 0.04 0.00 1854.0 1914.7 1793.2 2891.1 605.5 478.03 10.45 2143 13238.13 0.00 0.00 3.14 0.000 0.000 0.025 1855.03 1916.12 1793.94 2893.12 15.00 0 0 0 30.00 30.00 28.13

13418.12 677 184.80 -0.01 -40.00 1853.3 1914.4 1792.2 2891.2 2027.9 459.40 9.83 2162 13423.55 0.00 0.16 3.10 0.000 0.050 0.022 1854.81 1915.44 1794.19 2842.06 603.94 0 0 0 30.00 28.40 28.18

13692.84 1188 185.12 -0.06 0.00 1853.2 1914.2 1792.1 2842.3 603.9 432.09 9.99 2217 13698.52 0.00 0.00 3.14 0.000 0.000 0.025 1853.59 1914.62 1792.56 2842.25 2032.94 0 0 0 30.00 30.00 28.11

13877.49 644 185.12 -0.11 -40.00 1853.5 1914.8 1792.2 2842.9 2032.2 413.52 10.22 2236 13883.48 0.00 0.00 3.10 0.000 0.000 0.022 1854.38 1915.69 1793.06 2842.50 602.44 0 0 0 30.00 30.00 28.16

14152.41 1191 186.08 -0.17 0.00 1853.3 1914.6 1791.9 2842.9 602.6 386.09 9.96 2291 14158.65 1.15 0.17 3.13 0.176 0.048 0.025 1839.91 1899.38 1780.44 2789.94 2029.19 0 0 0 24.89 27.98 28.10

14338.09 644 186.08 -0.22 -40.00 1837.7 1897.9 1777.4 2790.6 2028.7 367.44 10.24 2310 14343.10 0.00 0.00 3.10 0.000 0.000 0.022 1837.78 1898.25 1777.31 2790.19 603.69 0 0 0 30.00 30.00 28.21

14613.10 1156 186.08 -0.27 0.00 1837.8 1898.2 1777.4 2790.8 603.9 339.73 10.14 2365 14618.15 0.00 0.00 3.13 0.000 0.000 0.025 1838.28 1898.56 1778.00 2790.50 2030.00 0 0 0 30.00 30.00 28.12

14798.27 679 189.82 -0.32 -40.00 1837.4 1897.9 1776.9 2790.2 2030.0 321.42 9.83 2384 14804.65 1.24 0.17 3.08 0.172 0.049 0.023 1821.44 1882.62 1760.25 2739.56 604.88 0 0 0 25.06 28.41 27.88

15072.38 1156 189.82 -0.38 0.00 1821.3 1881.9 1760.7 2740.2 605.0 294.12 10.38 2439 15078.51 0.00 0.00 3.14 0.000 0.000 0.025 1822.53 1882.44 1762.62 2737.00 2030.12 0 0 0 30.00 30.00 28.13

15262.74 676 190.64 -0.43 -40.00 1821.3 1881.8 1760.8 2739.5 2029.4 275.00 9.96 2459 15268.09 0.00 0.00 3.09 0.000 0.000 0.022 1822.78 1882.38 1763.19 2737.75 603.69 0 0 0 30.00 30.00 28.18

15537.70 1157 190.64 -0.48 0.00 1821.0 1881.6 1760.4 2737.9 604.0 247.26 10.11 2514 15543.58 0.00 0.17 3.13 0.000 0.048 0.025 1822.16 1883.06 1761.25 2688.25 2028.44 0 0 0 30.00 27.98 28.10

15722.90 644 190.64 -0.54 -40.00 1821.1 1882.1 1760.2 2690.1 2028.6 228.47 10.60 2533 15728.48 0.00 0.00 3.10 0.000 0.000 0.022 1822.66 1882.25 1763.06 2688.12 603.69 0 0 0 30.00 30.00 28.16

15998.90 1156 190.64 -0.59 0.00 1821.4 1882.0 1760.8 2690.7 603.8 200.94 10.05 2588 16003.13 0.00 0.00 3.13 0.000 0.000 0.024 1821.91 1881.81 1762.00 2691.50 0.12 0 0 0 30.00 30.00 28.08

16183.55 645 190.64 -0.64 -40.00 1821.1 1881.6 1760.6 2689.4 2029.7 181.87 10.61 2607 16188.19 0.00 0.18 3.11 0.000 0.050 0.022 1821.62 1881.44 1761.81 2638.12 603.88 0 0 0 30.00 28.41 28.14

16457.61 1188 191.07 -0.70 0.00 1821.0 1881.8 1760.2 2638.9 603.9 154.50 9.98 2662 16463.14 0.00 0.00 3.13 0.000 0.000 0.024 1820.81 1881.38 1760.25 2635.81 2027.88 0 0 0 30.00 30.00 28.07

16643.14 678 193.40 -0.75 -40.00 1821.4 1882.1 1760.8 2635.8 2028.4 136.05 9.89 2681 16649.58 1.25 0.00 3.08 0.172 0.000 0.022 1806.59 1867.19 1746.00 2637.75 603.81 0 0 0 25.32 30.00 27.68

16917.94 1189 194.38 -0.80 0.00 1807.6 1867.4 1747.8 2638.5 604.0 108.62 9.96 2736 16923.19 0.00 0.17 3.14 0.000 0.048 0.025 1807.19 1867.44 1746.94 2588.50 2028.50 0 0 0 30.00 27.96 28.09

17108.01 644 194.38 -0.85 -40.00 1807.3 1867.2 1747.4 2587.8 2028.2 89.67 10.07 2756 17113.10 0.00 0.00 3.10 0.000 0.000 0.022 1809.19 1868.75 1749.62 2587.38 605.44 0 0 0 30.00 30.00 28.14

17383.01 1190 207.70 -0.89 0.00 1807.2 1867.0 1747.4 2587.7 605.2 62.62 9.39 2811 17397.98 8.62 0.00 3.15 0.410 0.000 0.025 1750.38 1812.50 1688.25 2587.44 2030.19 0 0 0 23.85 30.00 28.07

17578.01 677 210.85 -0.94 -40.00 1744.1 1810.1 1678.1 2587.9 2030.4 43.14 9.86 2832 17583.55 0.00 0.14 3.09 0.000 0.051 0.022 1746.19 1812.12 1680.25 2542.25 605.12 0 0 0 30.00 28.41 28.22

17852.48 1188 211.51 -0.99 0.00 1743.5 1810.2 1676.8 2544.7 605.2 15.54 9.97 2887 17858.52 0.00 0.00 3.12 0.000 0.000 0.024 1744.00 1810.81 1677.19 2543.69 2028.50 0 0 0 30.00 30.00 28.13

17998 end climb: SURFACE_DEPTH_REACHED

state 17998 begin surface coast

18018 end surface coast: CONTROL_FINISHED_OK

state 18018 begin surface

ID	185	HD_B	0.010078	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	900
MISSION	0	HD_C	9.8541004e-06	ROLL_MIN	300	ALTIM_PING_DELTA	20
DIVE	107	HEADING	-1	ROLL_MAX	3750	ALTIM_FREQUENCY	13
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PULSE	3
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_SENSITIVITY	2
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	XPDR_VALID	6
D_TGT	990	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	XPDR_INHIBIT	90
D_ABORT	1010	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_BOOST	20	SM_CC	515.13	ROLL_MAXERRORS	1	DEEPGLIDER	0
T_BOOST	4	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_FINISH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
D_PITCH	0	CALL_NDIVES	1	VBD_MIN	500	DEVICE1	-1
D_SAFE	0	COMM_SEQ	0	VBD_MAX	3500	DEVICE2	-1
D_CALL	0	PROTOCOL	9	C_VBD	2600	DEVICE3	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	360	DEVICE6	-1
T_DIVE	330	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	1
T_MISSION	400	CALL_TRIES	5	UNCOM_BLEED	20	LOGGERDEVICE1	0
T_ABORT	1440	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_TURN	270	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	DBDW	0	LOGGERDEVICE4	-1
T_NO_W	120	T_GPS	5	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_LOITER	0	N_GPS	100440	AH0_24V	150	COMPASS2_DEVICE	48
T_EPIRB	0	T_RSLEEP	3	AH0_10V	100	PHONE_DEVICE	33
USE_BATHY	-6	STROBE	0	MINV_24V	19	GPS_DEVICE	48
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MAXI_24V	5	XPDR_DEVICE	4
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MAXI_10V	0.80000001	SIM_W	0.1
RELAUNCH	1	PITCH_MIN	450	FG_AHR_10V	30.332676	SEABIRD_T_G	0.0043319771
APOGEE_PITCH	-5	PITCH_MAX	3300	FG_AHR_24V	20.811905	SEABIRD_T_H	0.00061972893
MAX_BUOY	150	C_PITCH	2850	PHONE_SUPPLY	2	SEABIRD_T_I	2.0309124e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-150.34485	SEABIRD_T_J	1.8214913e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00010658	SEABIRD_C_G	-9.9888363
RHO	1.023	PITCH_GAIN	25	COMPASS_USE	4	SEABIRD_C_H	1.1040936
MASS	51725	PITCH_TIMEOUT	30	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0023403035
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00025686048
FERRY_MAX	45	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0

GPS1	210216,042100,4739.311,-12219.018,46,0.9,50,15.9	TGT_LATLONG	4743.500,-12225.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	0.06	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-3.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210216,043149,4739.311,-12219.016,3,0.8,5,15.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.261	MHEAD_RNG_PITCHd_Wd	300.2,10759,-18.2,-10.000,-20.99
TGT_NAME	NW	D_GRID	1000

FINISH	-0.0,0.998307	_24V_AH	26.65,8.056
SM_CCo	18133.83,103.10,0.114,0,497.2,465.9,528.5,515.82	_10V_AH	11.06,22.086
SM_GC	0.06,103.10,6.74,0.04,0.114,0.047,0.059,497.2,465.9,528.5,447.2,2010.5,0,0,0,24.24,27.91,28.69	FG_AHR_24Vo	20.871
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	30.412
IRIDIUM_FIX	4719.74,-12223.37,210216,042305	MEM	1135460,37,45488,53
TCM_TEMP	22.20	DATA_FILE_SIZE	104972,2904
XPDR_PINGS	1	CAP_FILE_SIZE	529779,0
ALTIM_BOTTOM_PING	900.3,3.9	SDSIZE	4028416,3995040
SC_FREEKB	3986368	ERRORS	0,0,0,0,0,0,0,0
HUMID	49.58	WARN	PPS timeout
TEMP	18.11	CURRENT	0.000,270.0,1
INTERNAL_PRESSURE	10.2593	GPS	210216,093501,4739.311,-12219.018,39,1.0,39,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	457	441	5380.69	nil	0	0	0.00
Pitch_motor	21	63	36.93	nil	0	0	0.00
Roll_motor	248	105	696.62	nil	0	0	0.00
Iridium	486	103	1344.10	nil	0	0	0.00
Transponder_ping	0	420	8.39	nil	0	0	0.00
GPS	6	11	0.82	nil	0	0	0.00
Core	5439	163	9849.41	SciCon	18041	4	870.17
LPSleep	13292	2	321.95	nil	0	0	0.00
Compass	3996	4	180.32	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.66

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.91	2	-146.63	-0.91	0.00	473.3	454.8	491.8	447.9	2031.1	0.00	0.00	0	36.57	30.85	0.00	0.00	0.000	0.000	0.000	1340.28	1428.12	1252.44	447.75	2030.88	0	0	0	26.51	30.00	30.00
36.84	263	-146.63	-0.91	40.00	1339.9	1427.5	1252.2	447.9	2030.8	3.45	-10.05	3	130.86	80.07	7.09	3.34	0.000	0.064	0.041	3194.94	3282.00	3107.88	2558.75	3443.38	0	0	0	26.52	27.55	26.56
398.25	1188	-146.63	-0.86	0.00	3196.2	3283.2	3109.1	2559.6	3443.3	39.26	-9.77	75	403.62	0.00	0.00	3.14	0.000	0.000	0.024	3196.78	3282.00	3111.56	2558.81	2014.62	0	0	0	30.00	30.00	27.95
582.62	421	-146.63	-0.80	40.00	3196.0	3282.4	3109.6	2558.2	2015.6	57.43	-9.96	94	588.72	0.00	0.14	3.37	0.000	0.053	0.039	3195.72	3282.19	3109.25	2591.31	3442.62	0	0	0	30.00	28.15	27.81
857.40	1188	-146.63	-0.75	0.00	3196.5	3283.7	3109.4	2591.7	3442.1	85.10	-9.82	149	863.62	0.00	0.00	3.13	0.000	0.000	0.024	3197.25	3282.56	3111.94	2594.25	4.56	0	0	0	30.00	30.00	28.04
1042.99	389	-146.63	-0.69	40.00	3195.8	3282.5	3109.1	2590.1	2014.6	103.83	-10.15	168	1048.72	0.00	0.14	3.36	0.000	0.055	0.039	3197.22	3282.94	3111.50	2624.81	3441.94	0	0	0	30.00	28.24	27.86
1317.64	1156	-146.63	-0.64	0.00	3196.6	3283.0	3110.2	2625.9	3441.9	131.15	-10.19	223	1323.62	0.00	0.00	3.13	0.000	0.000	0.025	3197.56	3283.44	3111.69	2625.69	2014.31	0	0	0	30.00	30.00	28.09
1502.62	421	-146.63	-0.59	40.00	3195.8	3282.5	3109.1	2625.5	2014.8	149.50	-9.85	242	1508.35	0.00	0.14	3.35	0.000	0.056	0.039	3195.66	3282.50	3108.81	2658.81	3442.56	0	0	0	30.00	28.30	27.87
1778.05	1188	-146.63	-0.53	0.00	3196.2	3282.4	3110.1	2659.1	3441.8	177.08	-9.83	297	1783.68	0.00	0.00	3.11	0.000	0.000	0.025	3197.97	3283.50	3112.44	2658.44	2016.56	0	0	0	30.00	30.00	28.12
1962.81	421	-146.63	-0.48	40.00	3196.4	3282.7	3110.2	2659.3	2016.4	195.38	-9.54	316	1968.72	0.00	0.14	3.36	0.000	0.056	0.039	3197.09	3283.44	3110.75	2691.44	3443.62	0	0	0	30.00	28.34	27.89
2237.78	1156	-146.63	-0.43	0.00	3195.6	3282.0	3109.2	2693.4	3443.2	223.07	-10.09	371	2243.63	0.00	0.00	3.12	0.000	0.000	0.025	3196.50	3283.19	3109.81	2692.75	2015.12	0	0	0	30.00	30.00	28.13
2422.27	421	-146.63	-0.37	40.00	3196.4	3282.5	3110.3	2694.4	2015.5	241.48	-9.91	390	2428.72	0.00	0.14	3.35	0.000	0.056	0.039	3195.84	3282.56	3109.12	2731.12	3441.12	0	0	0	30.00	28.39	27.89
2697.67	1188	-146.63	-0.32	0.00	3195.4	3281.4	3109.3	2728.7	3442.3	269.05	-9.97	445	2703.60	0.00	0.00	3.10	0.000	0.000	0.025	3198.59	3284.94	3112.25	2726.00	2016.31	0	0	0	30.00	30.00	28.14
2882.59	389	-146.63	-0.27	40.00	3195.3	3281.6	3108.9	2729.7	2015.8	287.66	-10.23	464	2888.34	0.00	0.14	3.35	0.000	0.057	0.040	3198.12	3283.88	3112.38	2760.19	3441.88	0	0	0	30.00	28.40	27.88
3158.22	1156	-146.63	-0.21	0.00	3196.0	3282.9	3109.2	2762.6	3441.6	315.50	-10.29	519	3163.63	0.00	0.00	3.12	0.000	0.000	0.025	3195.62	3282.31	3108.94	2761.88	2016.31	0	0	0	30.00	30.00	28.14
3342.59	389	-146.63	-0.16	40.00	3196.5	3283.4	3109.6	2762.5	2016.1	334.32	-10.24	538	3348.33	0.00	0.14	3.35	0.000	0.056	0.039	3197.59	3283.25	3111.94	2797.19	3442.56	0	0	0	30.00	28.41	27.88
3618.27	1156	-146.63	-0.11	0.00	3195.6	3282.4	3108.8	2798.2	3442.4	361.65	-10.05	593	3623.26	0.00	0.00	3.11	0.000	0.000	0.025	3196.06	3283.31	3108.81	2798.50	2015.50	0	0	0	30.00	30.00	28.15
3803.23	421	-146.63	-0.05	40.00	3195.7	3282.5	3108.8	2799.0	2014.9	380.01	-9.80	612	3808.72	0.00	0.14	3.35	0.000	0.056	0.039	3198.00	3283.75	3112.25	2828.44	3442.06	0	0	0	30.00	28.43	27.88
4077.64	1188	-146.63	0.00	0.00	3195.5	3282.0	3108.9	2828.9	3441.9	407.29	-9.89	667	4083.63	0.00	0.00	3.13	0.000	0.000	0.025	3197.34	3282.88	3111.81	2826.31	2015.31	0	0	0	30.00	30.00	28.14
4262.46	389	-146.63	0.05	40.00	3195.8	3282.7	3108.9	2829.1	2015.2	425.64	-10.09	686	4268.34	0.00	0.14	3.35	0.000	0.059	0.040	3196.94	3283.00	3110.88	2864.62	3443.81	0	0	0	30.00	28.42	27.87
4538.26	1156	-146.63	0.11	0.00	3195.8	3282.8	3108.8	2865.4	3443.1	453.18	-10.32	741	4543.62	0.00	0.00	3.13	0.000	0.000	0.025	3197.03	3283.44	3110.62	2865.25	2014.56	0	0	0	30.00	30.00	28.14
4722.62	421	-146.63	0.16	40.00	3195.7	3281.6	3109.7	2864.8	2014.9	471.86	-9.87	760	4728.74	0.00	0.14	3.37	0.000	0.057	0.040	3198.03	3283.94	3112.12	2895.38	3443.62	0	0	0	30.00	28.44	27.86
4997.58	1188	-146.63	0.22	0.00	3195.1	3281.6	3108.6	2898.7	3443.4	499.42	-9.89	815	5003.63	0.00	0.00	3.11	0.000	0.000	0.025	3195.88	3281.62	3110.12	2899.00	2014.38	0	0	0	30.00	30.00	28.13
5182.95	389	-146.63	0.27	40.00	3195.1	3281.2	3108.9	2898.3	2014.7	518.01	-10.47	834	5188.72	0.00	0.14	3.36	0.000	0.057	0.040	3198.03	3283.88	3112.19	2929.00	3442.88	0	0	0	30.00	28.44	27.85
5457.55	1156	-146.63	0.32	0.00	3195.8	3282.1	3109.5	2932.1	3443.5	545.01	-10.07	889	5463.63	0.00	0.00	3.12	0.000	0.000	0.025	3196.09	3281.69	3110.50	2931.44	2016.38	0	0	0	30.00	30.00	28.13
5642.60	421	-146.63	0.38	40.00	3195.6	3281.1	3110.0	2931.7	2016.4	563.36	-9.90	908	5648.72	0.00	0.14	3.34	0.000	0.059	0.040	3196.50	3281.69	3111.31	2967.69	3444.94	0	0	0	30.00	28.41	27.85
5918.08	1156	-146.63	0.43	0.00	3195.3	3281.2	3109.4	2967.7	3444.2	590.77	-10.24	963	5923.63	0.00	0.00	3.12	0.000	0.000	0.025	3196.66	3281.88	3111.44	2966.94	2014.62	0	0	0	30.00	30.00	28.13
6103.01	389	-146.63	0.48	40.00	3195.6	3281.1	3110.1	2967.8	2015.0	609.39	-10.14	982	6108.33	0.00	0.14	3.38	0.000	0.058	0.040	3196.47	3282.62	3110.31	3001.62	3443.06	0	0	0	30.00	28.44	27.84
6378.29	1188	-146.63	0.54	0.00	3195.4	3281.5	3109.3	3001.8	3443.6	636.88	-9.61	1037	6383.63	0.00	0.00	3.12	0.000	0.000	0.025	3196.00	3281.44	3110.56	2998.56	2014.75	0	0	0	30.00	30.00	28.12
6563.13	421	-146.63	0.59	40.00	3195.4	3281.3	3109.6	3001.8	2014.9	655.06	-9.43	1056	6568.72	0.00	0.14	3.36	0.000	0.058	0.040	3197.34	3282.12	3112.56	3035.62	3443.25	0	0	0	30.00	28.42	27.83
6838.29	1156	-146.63	0.64	0.00	3194.8	3280.9	3108.8	3038.1	3442.9	682.84	-10.15	1111	6843.24	0.00	0.00	3.12	0.000	0.000	0.025	3195.81	3281.62	3110.00	3037.31	2014.88	0	0	0	30.00	30.00	28.12
7022.62	389	-146.63	0.70	40.00	3195.2	3281.6	3108.8	3037.4	2014.9	701.19	-10.10	1130	7028.34	0.00	0.14	3.38	0.000	0.058	0.040	3195.28	3281.25	3109.31	3069.38	3443.31	0	0	0	30.00	28.43	27.82
7297.78	1188	-146.63	0.75	0.00	3195.2	3280.8	3109.6	3067.4	3443.1	728.86	-9.84	1185	7303.24	0.00	0.00	3.12	0.000	0.000	0.025	3194.91	3280.75	3109.06	3067.88	2015.00	0	0	0	30.00	30.00	28.11
7483.65	389	-146.63	0.80	40.00	3194.4	3280.1	3108.7	3069.7	2014.8	747.55	-10.09	1204	7488.39	0.00	0.14	3.37	0.000	0.060	0.040	3194.22	3279.94	3108.50	3105.50	3441.69	0	0	0	30.00	28.42	27.81
7757.69	1156	-146.63	0.86	0.00	3194.7	3280.2	3109.2	3104.5	3441.2	774.87	-10.02	1259	7763.63	0.00	0.00	3.12	0.000	0.000	0.025	3195.12	3279.31	3110.94	3104.06	2014.00	0	0	0	30.00	30.00	28.11
7943.05	421	-146.63	0.91	40.00	3194.7	3279.9	3109.5	3103.6	2014.8	793.17	-9.68	1278	7948.61	0.00	0.14	3.37	0.000	0.059	0.040	3196.16	3281.38	3110.94	3138.62	3443.75	0	0	0	30.00	28.43	27.80
8217.47	1188	-146.63	0.97	0.00	3194.5	3280.2	3108.9	3138.2	3443.6	820.55	-9.81	1333	8223.77	0.00	0.00	3.13	0.000	0.000	0.025	3194.72	3280.69	3108.75	3138.88	2014.94	0	0	0	30.00	30.00	28.10
8402.75	389	-146.63	1.02	40.00	3194.3	3279.7	3109.0	3138.8	2015.6	838.85	-10.02	1352	8408.72	0.00	0.14	3.37	0.000	0.060	0.040	3194.50	3280.00	3109.00	3170.94	3442.81	0	0	0	30.00	28.43	27.80
8677.71	1188	-146.63	1.07	0.00	3194.4	3279.1	3109.6	3171.5	3442.4	866.20	-9.83	1407	8683.63	0.00	0.00	3.13	0.000	0.000	0.025	3194.12	3279.56	3108.69	3171.25	2014.62	0	0	0	30.00	30.00	28.10
8862.60	421	-146.63	1.13	40.00	3194.0	3279.1	3108.8	3172.1	2015.5	884.74	-9.96	1426	8868.72	0.00	0.14	3.37	0.000	0.061	0.040	3194.59	3279.38	3109.81	3208.31	3442.06	0	0	0	30.00	28.41	27.79
9023	end dive: BOTTOM_OBSTACLE_DETECTED
state	9023	begin apogee
9027.54	3	0.00	-0.20	0.00	3194.8	3279.4	3110.2	3206.9	2014.5	900.32	9.96	1457	9138.14	106.02	1.68	0.05	0.441	0.041	0.105	2595.53	2652.38	2538.69	2778.75	2029.75	0	0	0	22.70	27.89	27.14
9138	end apogee: CONTROL_FINISHED_OK
state	9138	begin climb
9138.63	519	146.63	0.91	-40.00	2591.9	2648.8	2535.1	2780.0	2030.2	889.18	0.00	1468	9260.55	112.43	1.54	3.24	0.421	0.056	0.023	1996.72	2051.31	1942.12	3137.31	605.31	0	0	0	24.04	27.44	26.74
9527.43	1188	149.58	0.86	0.00	1984.8	2044.2	1925.5	3139.0	605.4	849.23	9.87	1546	9533.53	0.00	0.00	3.21	0.000	0.000	0.025	1986.94	2046.00	1927.88	3139.00	2029.50	0	0	0	30.00	30.00	27.68
9718.02	644	149.58	0.81	-40.00	1984.6	2044.6	1924.6	3137.8	2030.3	830.13	10.31	1566	9723.11	0.00	0.00	3.15	0.000	0.000	0.022	1985.62	2045.38	1925.88	3138.50	604.00	0	0	0	30.00	30.00	27.85
9993.34	1157	149.58	0.75	0.00	1983.8	2043.6	1924.1	3139.2	603.7	802.61	10.13	1621	9998.19	0.00	0.19	3.18	0.000	0.047	0.025	1984.97	2044.75	1925.19	3084.62	2027.31	0	0	0	30.00	27.79	27.90
10177.67	676	153.00	0.70	-40.00	1983.5	2043.2	1923.9	3084.8	2027.8	784.39	9.84	1640	10183.12	0.00	0.00	3.12	0.000	0.000	0.022	1984.81	2043.25	1926.38	3082.75	602.19	0	0	0	30.00	30.00	27.98
10452.85	1156	153.00	0.65	0.00	1983.9	2043.5	1924.2	3084.4	602.4	756.61	10.12	1695	10458.52	0.00	0.00	3.16	0.000	0.000	0.025	1985.47	2044.50	1926.44	3081.50	2029.44	0	0	0	30.00	30.00	27.96
10638.17	679	159.87	0.60	-40.00	1983.2	2042.8	1923.6	3082.6	2029.2	738.43	9.69	1714	10648.09	3.29	0.16	3.11	0.219	0.049	0.024	1944.03	2000.75	1887.31	3036.00	604.06	0	0	0	24.11	28.24	27.43
10917.55	1188	161.32	0.55	0.00	1943.2	2000.3	1886.0	3036.8	603.9	710.65	9.93	1770	10923.50	0.00	0.00	3.14	0.000	0.000	0.025	1943.81	2000.06	1887.56	3036.44	2028.31	0	0	0	30.00	30.00	28.08
11107.87	644	161.32	0.50	-40.00	1943.5	2000.4	1886.6	3036.6	2029.1	691.41	10.37	1790	11113.48	0.00	0.00	3.10	0.000	0.000	0.022	1945.62	2002.88	1888.38	3036.44	604.00	0	0	0	30.00	30.00	28.12
11382.75	1191	163.90	0.45	0.00	1943.0	2000.1	1885.9	3037.0	604.1	663.70	9.88	1845	11388.66	1.23	0.17	3.15	0.172	0.048	0.025	1932.97	1989.88	1876.06	2986.31	2027.56	0	0	0	25.00	27.95	28.06
11567.65	676	164.39	0.40	-40.00	1926.6	1983.4	1869.8	2986.8	2028.1	645.00	9.98	1864	11573.10	0.00	0.00	3.09	0.000	0.000	0.022	1926.75	1984.06	1869.44	2985.81	605.31	0	0	0	30.00	30.00	28.16
11842.68	1156	164.39	0.34	0.00	1926.6	1983.2	1870.0	2986.4	605.2	617.15	10.01	1919	11848.13	0.00	0.00	3.13	0.000	0.000	0.025	1927.38	1984.31	1870.44	2985.44	2029.75	0	0	0	30.00	30.00	28.09
12028.49	645	164.39	0.29	-40.00	1926.8	1983.5	1870.0	2985.7	2029.9	598.65	10.11	1938	12033.16	0.00	0.17	3.10	0.000	0.048	0.022	1927.41	1983.31	1871.50	2936.44	604.00	0	0	0	30.00	28.37	28.14
12302.45	1190	168.74	0.24	0.00	1926.8	1983.4	1870.1	2936.7	604.0	571.24	9.80	1993	12309.22	1.63	0.00	3.14	0.157	0.000	0.025	1907.12	1963.38	1850.88	2939.38	2029.75	0	0	0	24.92	30.00	28.07
12493.03	678	180.99	0.20	-40.00	1907.4	1963.5	1851.4	2936.0	2030.1	552.61	9.44	2013	12504.48	6.69	0.00	3.09	0.384	0.000	0.023	1860.03	1917.06	1803.00	2935.12	602.38	0	0	0	24.24	30.00	27.87
12772.54	1159	180.99	0.15	0.00	1853.8	1914.5	1793.1	2936.5	602.6	524.57	10.11	2069	12778.20	0.00	0.15	3.13	0.000	0.048	0.025	1854.41	1915.25	1793.56	2891.06	2027.56	0	0	0	30.00	28.07	28.17
12957.94	646	180.99	0.09	-40.00	1853.3	1914.3	1792.4	2890.9	2026.6	505.92	10.21	2088	12963.10	0.00	0.00	3.08	0.000	0.000	0.022	1855.62	1916.12	1795.12	2890.94	605.25	0	0	0	30.00	30.00	28.20
13233.14	1158	180.99	0.04	0.00	1854.0	1914.7	1793.2	2891.1	605.5	478.03	10.45	2143	13238.13	0.00	0.00	3.14	0.000	0.000	0.025	1855.03	1916.12	1793.94	2893.12	15.00	0	0	0	30.00	30.00	28.13
13418.12	677	184.80	-0.01	-40.00	1853.3	1914.4	1792.2	2891.2	2027.9	459.40	9.83	2162	13423.55	0.00	0.16	3.10	0.000	0.050	0.022	1854.81	1915.44	1794.19	2842.06	603.94	0	0	0	30.00	28.40	28.18
13692.84	1188	185.12	-0.06	0.00	1853.2	1914.2	1792.1	2842.3	603.9	432.09	9.99	2217	13698.52	0.00	0.00	3.14	0.000	0.000	0.025	1853.59	1914.62	1792.56	2842.25	2032.94	0	0	0	30.00	30.00	28.11
13877.49	644	185.12	-0.11	-40.00	1853.5	1914.8	1792.2	2842.9	2032.2	413.52	10.22	2236	13883.48	0.00	0.00	3.10	0.000	0.000	0.022	1854.38	1915.69	1793.06	2842.50	602.44	0	0	0	30.00	30.00	28.16
14152.41	1191	186.08	-0.17	0.00	1853.3	1914.6	1791.9	2842.9	602.6	386.09	9.96	2291	14158.65	1.15	0.17	3.13	0.176	0.048	0.025	1839.91	1899.38	1780.44	2789.94	2029.19	0	0	0	24.89	27.98	28.10
14338.09	644	186.08	-0.22	-40.00	1837.7	1897.9	1777.4	2790.6	2028.7	367.44	10.24	2310	14343.10	0.00	0.00	3.10	0.000	0.000	0.022	1837.78	1898.25	1777.31	2790.19	603.69	0	0	0	30.00	30.00	28.21
14613.10	1156	186.08	-0.27	0.00	1837.8	1898.2	1777.4	2790.8	603.9	339.73	10.14	2365	14618.15	0.00	0.00	3.13	0.000	0.000	0.025	1838.28	1898.56	1778.00	2790.50	2030.00	0	0	0	30.00	30.00	28.12
14798.27	679	189.82	-0.32	-40.00	1837.4	1897.9	1776.9	2790.2	2030.0	321.42	9.83	2384	14804.65	1.24	0.17	3.08	0.172	0.049	0.023	1821.44	1882.62	1760.25	2739.56	604.88	0	0	0	25.06	28.41	27.88
15072.38	1156	189.82	-0.38	0.00	1821.3	1881.9	1760.7	2740.2	605.0	294.12	10.38	2439	15078.51	0.00	0.00	3.14	0.000	0.000	0.025	1822.53	1882.44	1762.62	2737.00	2030.12	0	0	0	30.00	30.00	28.13
15262.74	676	190.64	-0.43	-40.00	1821.3	1881.8	1760.8	2739.5	2029.4	275.00	9.96	2459	15268.09	0.00	0.00	3.09	0.000	0.000	0.022	1822.78	1882.38	1763.19	2737.75	603.69	0	0	0	30.00	30.00	28.18
15537.70	1157	190.64	-0.48	0.00	1821.0	1881.6	1760.4	2737.9	604.0	247.26	10.11	2514	15543.58	0.00	0.17	3.13	0.000	0.048	0.025	1822.16	1883.06	1761.25	2688.25	2028.44	0	0	0	30.00	27.98	28.10
15722.90	644	190.64	-0.54	-40.00	1821.1	1882.1	1760.2	2690.1	2028.6	228.47	10.60	2533	15728.48	0.00	0.00	3.10	0.000	0.000	0.022	1822.66	1882.25	1763.06	2688.12	603.69	0	0	0	30.00	30.00	28.16
15998.90	1156	190.64	-0.59	0.00	1821.4	1882.0	1760.8	2690.7	603.8	200.94	10.05	2588	16003.13	0.00	0.00	3.13	0.000	0.000	0.024	1821.91	1881.81	1762.00	2691.50	0.12	0	0	0	30.00	30.00	28.08
16183.55	645	190.64	-0.64	-40.00	1821.1	1881.6	1760.6	2689.4	2029.7	181.87	10.61	2607	16188.19	0.00	0.18	3.11	0.000	0.050	0.022	1821.62	1881.44	1761.81	2638.12	603.88	0	0	0	30.00	28.41	28.14
16457.61	1188	191.07	-0.70	0.00	1821.0	1881.8	1760.2	2638.9	603.9	154.50	9.98	2662	16463.14	0.00	0.00	3.13	0.000	0.000	0.024	1820.81	1881.38	1760.25	2635.81	2027.88	0	0	0	30.00	30.00	28.07
16643.14	678	193.40	-0.75	-40.00	1821.4	1882.1	1760.8	2635.8	2028.4	136.05	9.89	2681	16649.58	1.25	0.00	3.08	0.172	0.000	0.022	1806.59	1867.19	1746.00	2637.75	603.81	0	0	0	25.32	30.00	27.68
16917.94	1189	194.38	-0.80	0.00	1807.6	1867.4	1747.8	2638.5	604.0	108.62	9.96	2736	16923.19	0.00	0.17	3.14	0.000	0.048	0.025	1807.19	1867.44	1746.94	2588.50	2028.50	0	0	0	30.00	27.96	28.09
17108.01	644	194.38	-0.85	-40.00	1807.3	1867.2	1747.4	2587.8	2028.2	89.67	10.07	2756	17113.10	0.00	0.00	3.10	0.000	0.000	0.022	1809.19	1868.75	1749.62	2587.38	605.44	0	0	0	30.00	30.00	28.14
17383.01	1190	207.70	-0.89	0.00	1807.2	1867.0	1747.4	2587.7	605.2	62.62	9.39	2811	17397.98	8.62	0.00	3.15	0.410	0.000	0.025	1750.38	1812.50	1688.25	2587.44	2030.19	0	0	0	23.85	30.00	28.07
17578.01	677	210.85	-0.94	-40.00	1744.1	1810.1	1678.1	2587.9	2030.4	43.14	9.86	2832	17583.55	0.00	0.14	3.09	0.000	0.051	0.022	1746.19	1812.12	1680.25	2542.25	605.12	0	0	0	30.00	28.41	28.22
17852.48	1188	211.51	-0.99	0.00	1743.5	1810.2	1676.8	2544.7	605.2	15.54	9.97	2887	17858.52	0.00	0.00	3.12	0.000	0.000	0.024	1744.00	1810.81	1677.19	2543.69	2028.50	0	0	0	30.00	30.00	28.13
17998	end climb: SURFACE_DEPTH_REACHED
state	17998	begin surface coast
18018	end surface coast: CONTROL_FINISHED_OK
state	18018	begin surface