Glider dive log

Deck Feb16 * SG185 * Dive index * Mission links * Dive 108 * 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 108 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 30.415155 SEABIRD_T_G 0.0043319771

APOGEE_PITCH -5 PITCH_MAX 3300 FG_AHR_24V 20.883827 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 30.415155 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_24V 20.883827 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 108 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 210216,093501,4739.311,-12219.018,39,1.0,39,15.9 TGT_LATLONG 4743.500,-12225.000

_CALLS 4 TGT_RADIUS 100.000

_SM_DEPTHo 0.02 KALMAN_CONTROL 0.000,0.000

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

GPS2 210216,094849,4739.311,-12219.019,4,0.9,6,15.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.261 MHEAD_RNG_PITCHd_Wd 300.2,10757,-18.2,-10.000,-20.99

TGT_NAME NW D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.0,0.998458 _24V_AH 26.65,8.102

SM_CCo 18111.36,105.33,0.115,0,499.7,467.5,531.8,515.21 _10V_AH 11.05,22.377

SM_GC -0.03,105.33,6.80,0.04,0.115,0.048,0.060,499.7,467.5,531.8,447.8,2011.6,0,0,0,24.23,27.81,28.74 FG_AHR_24Vo 20.942

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 30.496

IRIDIUM_FIX 4722.92,-12220.67,210216,093852 MEM 1135472,36,45496,53

TCM_TEMP 22.10 DATA_FILE_SIZE 101592,2898

XPDR_PINGS 1 CAP_FILE_SIZE 527100,0

ALTIM_BOTTOM_PING 900.5,4.1 SDSIZE 4028416,3994752

SC_FREEKB 3986048 ERRORS 0,0,0,0,0,0,0,0

HUMID 49.56 WARN PPS timeout

TEMP 17.84 CURRENT 0.000,114.0,1

INTERNAL_PRESSURE 10.2471 GPS 210216,145131,4739.311,-12219.017,33,1.0,33,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 456 442 5374.37 nil 0 0 0.00

Pitch_motor 21 64 37.49 nil 0 0 0.00

Roll_motor 248 111 738.34 nil 0 0 0.00

Iridium 542 101 1465.72 nil 0 0 0.00

Transponder_ping 0 420 8.39 nil 0 0 0.00

GPS 7 11 0.93 nil 0 0 0.00

Core 5522 163 9991.22 SciCon 18016 4 863.20

LPSleep 13361 2 323.33 nil 0 0 0.00

Compass 3987 4 179.79 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

4.88 2 -146.63 -0.91 0.00 476.5 458.5 494.4 447.6 2031.4 0.00 0.00 0 36.54 30.85 0.00 0.00 0.000 0.000 0.000 1338.47 1427.56 1249.38 447.25 2031.00 0 0 0 26.53 30.00 30.00

36.80 263 -146.63 -0.91 40.00 1338.5 1427.2 1249.8 447.2 2032.1 3.68 -11.03 3 131.83 80.71 7.05 3.33 0.000 0.065 0.041 3195.06 3282.12 3108.00 2558.81 3442.44 0 0 0 26.50 27.57 26.63

398.16 1156 -146.63 -0.86 0.00 3195.8 3281.8 3109.8 2557.4 3440.2 39.82 -10.08 75 404.59 0.00 0.00 3.15 0.000 0.000 0.024 3195.88 3281.88 3109.88 2557.88 2015.19 0 0 0 30.00 30.00 27.96

583.57 389 -146.63 -0.80 40.00 3196.1 3282.4 3109.7 2557.2 2015.0 58.27 -10.04 94 589.30 0.00 0.14 3.35 0.000 0.055 0.039 3195.75 3281.94 3109.56 2588.50 3443.88 0 0 0 30.00 28.15 27.81

858.10 1156 -146.63 -0.75 0.00 3195.7 3282.1 3109.2 2590.6 3443.7 85.75 -10.02 149 864.59 0.00 0.00 3.15 0.000 0.000 0.025 3196.84 3282.00 3111.69 2589.75 2014.12 0 0 0 30.00 30.00 28.03

1043.59 389 -146.63 -0.69 40.00 3196.0 3282.5 3109.6 2590.1 2014.7 104.68 -10.30 168 1049.69 0.00 0.14 3.36 0.000 0.057 0.039 3196.41 3282.44 3110.38 2623.88 3443.81 0 0 0 30.00 28.22 27.84

1318.62 1188 -146.63 -0.64 0.00 3195.2 3281.6 3108.9 2625.8 3443.6 131.93 -9.92 223 1324.60 0.00 0.00 3.13 0.000 0.000 0.025 3195.91 3282.88 3108.94 2625.88 2016.75 0 0 0 30.00 30.00 28.07

1503.85 389 -146.63 -0.59 40.00 3196.0 3282.0 3109.9 2627.2 2016.2 150.55 -10.18 242 1509.77 0.00 0.14 3.35 0.000 0.055 0.039 3196.09 3282.12 3110.06 2659.88 3441.38 0 0 0 30.00 28.28 27.86

1778.58 1156 -146.63 -0.53 0.00 3195.6 3281.9 3109.4 2659.9 3441.2 178.21 -10.21 297 1784.60 0.00 0.00 3.12 0.000 0.000 0.025 3195.69 3281.25 3110.12 2658.38 2016.62 0 0 0 30.00 30.00 28.09

1962.96 389 -146.63 -0.48 40.00 3195.7 3282.2 3109.2 2659.9 2016.2 196.74 -10.04 316 1969.69 0.00 0.13 3.36 0.000 0.057 0.039 3197.72 3283.56 3111.88 2692.69 3444.00 0 0 0 30.00 28.34 27.86

2238.71 1156 -146.63 -0.43 0.00 3195.4 3281.8 3109.1 2693.4 3444.2 224.30 -10.33 371 2244.59 0.00 0.00 3.13 0.000 0.000 0.025 3197.00 3283.31 3110.69 2693.44 2014.75 0 0 0 30.00 30.00 28.10

2423.59 421 -146.63 -0.37 40.00 3195.6 3281.6 3109.6 2693.3 2015.1 242.65 -9.90 390 2429.30 0.00 0.14 3.35 0.000 0.056 0.039 3197.00 3282.75 3111.25 2729.56 3441.88 0 0 0 30.00 28.35 27.86

2698.43 1156 -146.63 -0.32 0.00 3195.8 3282.3 3109.2 2729.8 3442.2 270.08 -10.03 445 2704.60 0.00 0.00 3.13 0.000 0.000 0.025 3195.69 3282.62 3108.75 2729.62 2015.00 0 0 0 30.00 30.00 28.12

2883.63 421 -146.63 -0.27 40.00 3195.8 3281.5 3110.2 2729.6 2014.7 288.43 -9.97 464 2889.69 0.00 0.14 3.35 0.000 0.057 0.039 3197.81 3283.94 3111.69 2763.69 3443.00 0 0 0 30.00 28.37 27.86

3158.47 1188 -146.63 -0.21 0.00 3195.5 3282.4 3108.6 2763.6 3442.2 315.55 -9.67 519 3164.21 0.00 0.00 3.13 0.000 0.000 0.025 3197.59 3283.44 3111.75 2764.38 2015.62 0 0 0 30.00 30.00 28.11

3343.19 421 -146.63 -0.16 40.00 3195.9 3281.8 3110.1 2763.3 2015.3 333.83 -9.74 538 3349.68 0.00 0.13 3.37 0.000 0.057 0.040 3198.00 3283.88 3112.12 2796.25 3444.12 0 0 0 30.00 28.41 27.85

3618.62 1188 -146.63 -0.11 0.00 3195.9 3282.1 3109.8 2797.2 3443.0 361.45 -9.96 593 3624.59 0.00 0.00 3.12 0.000 0.000 0.025 3195.91 3282.38 3109.44 2796.31 2016.12 0 0 0 30.00 30.00 28.12

3803.58 421 -146.63 -0.05 40.00 3195.5 3282.2 3108.8 2797.6 2016.2 379.96 -9.98 612 3809.69 0.00 0.14 3.35 0.000 0.057 0.039 3195.78 3281.56 3110.00 2831.12 3442.44 0 0 0 30.00 28.39 27.85

4078.79 1188 -146.63 0.00 0.00 3195.5 3281.4 3109.6 2831.8 3442.0 407.28 -9.78 667 4084.61 0.00 0.00 3.12 0.000 0.000 0.025 3195.38 3281.81 3108.94 2831.88 2016.31 0 0 0 30.00 30.00 28.12

4263.62 389 -146.63 0.05 40.00 3195.8 3281.6 3109.9 2831.0 2016.4 425.84 -10.16 686 4269.36 0.00 0.14 3.36 0.000 0.058 0.039 3195.38 3281.69 3109.06 2862.06 3442.94 0 0 0 30.00 28.41 27.84

4538.31 1156 -146.63 0.11 0.00 3195.4 3281.8 3109.1 2864.6 3442.2 453.54 -10.03 741 4544.59 0.00 0.00 3.14 0.000 0.000 0.025 3196.84 3282.69 3111.00 2864.88 2015.19 0 0 0 30.00 30.00 28.11

4723.70 389 -146.63 0.16 40.00 3195.3 3281.2 3109.5 2861.6 2014.7 471.88 -10.09 760 4729.30 0.00 0.14 3.38 0.000 0.058 0.040 3198.19 3284.31 3112.06 2896.25 3444.25 0 0 0 30.00 28.41 27.82

4998.24 1188 -146.63 0.22 0.00 3195.8 3282.4 3109.2 2898.8 3446.1 499.68 -9.96 815 5004.21 0.00 0.00 3.13 0.000 0.000 0.025 3195.91 3281.88 3109.94 2897.75 2016.56 0 0 0 30.00 30.00 28.11

5183.18 421 -146.63 0.27 40.00 3195.4 3281.4 3109.4 2899.4 2016.1 518.18 -9.61 834 5189.69 0.00 0.14 3.37 0.000 0.057 0.039 3195.62 3281.62 3109.62 2933.19 3444.31 0 0 0 30.00 28.43 27.82

5458.67 1188 -146.63 0.32 0.00 3195.5 3282.2 3108.8 2933.8 3443.3 545.68 -9.76 889 5464.48 0.00 0.00 3.13 0.000 0.000 0.025 3196.12 3281.94 3110.31 2933.19 2016.19 0 0 0 30.00 30.00 28.11

5643.80 389 -146.63 0.38 40.00 3195.1 3281.4 3108.9 2933.7 2016.2 564.30 -10.05 908 5649.69 0.00 0.13 3.37 0.000 0.060 0.039 3195.84 3282.69 3109.00 2969.62 3443.69 0 0 0 30.00 28.43 27.81

5917.95 1156 -146.63 0.43 0.00 3195.5 3281.6 3109.4 2968.2 3443.5 591.65 -10.22 963 5924.60 0.00 0.00 3.11 0.000 0.000 0.025 3195.12 3281.00 3109.25 2966.75 2016.56 0 0 0 30.00 30.00 28.10

6103.92 389 -146.63 0.48 40.00 3195.8 3281.7 3109.9 2967.6 2016.4 610.22 -10.23 982 6109.69 0.00 0.14 3.38 0.000 0.058 0.040 3196.59 3283.19 3110.00 3001.25 3442.81 0 0 0 30.00 28.42 27.80

6378.60 1156 -146.63 0.54 0.00 3195.0 3281.0 3108.9 3002.0 3442.9 637.75 -10.08 1037 6384.60 0.00 0.00 3.13 0.000 0.000 0.025 3196.47 3282.44 3110.50 3001.75 2014.69 0 0 0 30.00 30.00 28.10

6562.97 389 -146.63 0.59 40.00 3195.3 3281.4 3109.2 3001.2 2015.4 656.64 -10.52 1056 6569.69 0.00 0.14 3.37 0.000 0.058 0.039 3195.50 3281.06 3109.94 3033.56 3441.81 0 0 0 30.00 28.42 27.79

6838.50 1188 -146.63 0.64 0.00 3195.4 3281.3 3109.5 3035.2 3442.2 684.05 -9.88 1111 6844.61 0.00 0.00 3.13 0.000 0.000 0.025 3196.28 3282.12 3110.44 3036.12 2015.06 0 0 0 30.00 30.00 28.09

7023.95 389 -146.63 0.70 40.00 3195.2 3281.5 3108.8 3035.0 2015.6 703.01 -10.40 1130 7029.68 0.00 0.14 3.36 0.000 0.059 0.039 3195.84 3281.12 3110.56 3071.56 23.88 0 0 0 30.00 28.41 27.79

7298.85 1188 -146.63 0.75 0.00 3195.4 3281.1 3109.8 3070.3 3441.6 729.99 -9.84 1185 7304.60 0.00 0.00 3.13 0.000 0.000 0.025 3195.31 3281.12 3109.50 3071.25 2014.94 0 0 0 30.00 30.00 28.08

7483.95 389 -146.63 0.80 40.00 3195.5 3281.2 3109.8 3068.8 2014.5 748.32 -10.16 1204 7489.69 0.00 0.14 3.37 0.000 0.059 0.040 3196.22 3281.62 3110.81 3105.00 3441.69 0 0 0 30.00 28.42 27.77

7758.72 1188 -146.63 0.86 0.00 3195.6 3281.9 3109.3 3105.3 3441.9 776.06 -9.93 1259 7764.59 0.00 0.00 3.12 0.000 0.000 0.025 3197.12 3282.56 3111.69 3104.88 2016.12 0 0 0 30.00 30.00 28.08

7943.91 389 -146.63 0.91 40.00 3194.6 3280.2 3109.0 3104.9 2016.0 794.75 -10.42 1278 7949.80 0.00 0.13 3.37 0.000 0.058 0.040 3195.44 3281.12 3109.75 3136.25 3441.12 0 0 0 30.00 28.44 27.77

8218.46 1156 -146.63 0.97 0.00 3195.5 3281.6 3109.4 3136.2 3440.8 822.30 -10.16 1333 8224.83 0.00 0.00 3.12 0.000 0.000 0.025 3195.09 3281.12 3109.06 3137.75 2014.62 0 0 0 30.00 30.00 28.08

8403.16 421 -146.63 1.02 40.00 3195.1 3280.8 3109.4 3138.1 2015.1 840.64 -9.91 1352 8409.69 0.00 0.14 3.39 0.000 0.060 0.040 3194.22 3280.12 3108.31 3173.31 3443.06 0 0 0 30.00 28.41 27.76

8678.45 1156 -146.63 1.07 0.00 3194.8 3280.6 3108.9 3173.2 3442.9 868.23 -10.15 1407 8684.59 0.00 0.00 3.12 0.000 0.000 0.025 3194.75 3279.94 3109.56 3172.69 2014.50 0 0 0 30.00 30.00 28.08

8863.59 421 -146.63 1.13 40.00 3195.2 3281.0 3109.3 3173.6 2014.5 886.71 -9.98 1426 8869.69 0.00 0.14 3.38 0.000 0.060 0.040 3194.53 3280.31 3108.75 3207.06 3441.75 0 0 0 30.00 28.42 27.76

9003 end dive: BOTTOM_OBSTACLE_DETECTED

state 9003 begin apogee

9007.47 3 0.00 -0.20 0.00 3195.0 3280.2 3109.8 3207.6 2014.6 900.51 10.11 1453 9119.09 107.03 1.70 0.04 0.442 0.041 0.111 2597.75 2654.38 2541.12 2779.75 2028.12 0 0 0 22.74 27.86 27.12

9120 end apogee: CONTROL_FINISHED_OK

state 9120 begin climb

9119.59 519 146.63 0.91 -40.00 2590.9 2647.8 2534.1 2779.9 2028.6 889.68 0.00 1464 9241.98 112.85 1.57 3.26 0.415 0.057 0.023 1993.28 2047.06 1939.50 3139.19 604.81 0 0 0 24.11 27.43 26.73

9508.41 1190 148.98 0.86 0.00 1983.0 2042.6 1923.5 3139.1 605.1 849.71 9.89 1542 9514.78 0.00 0.00 3.20 0.000 0.000 0.025 1983.38 2042.69 1924.06 3139.12 2029.56 0 0 0 30.00 30.00 27.65

9698.00 647 148.98 0.80 -40.00 1982.2 2042.2 1922.3 3139.8 2029.6 830.44 10.29 1562 9704.78 0.00 0.14 3.17 0.000 0.047 0.023 1982.19 2041.75 1922.62 3102.25 603.81 0 0 0 30.00 27.98 27.81

9973.84 1158 148.98 0.75 0.00 1981.4 2041.6 1921.2 3102.2 603.7 802.44 10.05 1617 9979.86 0.00 0.00 3.17 0.000 0.000 0.025 1981.94 2042.00 1921.88 3102.19 2027.62 0 0 0 30.00 30.00 27.87

10158.84 678 162.61 0.71 -40.00 1981.4 2041.2 1921.7 3102.2 2027.4 784.38 9.38 1636 10169.47 4.18 0.00 3.11 0.305 0.000 0.023 1932.91 1990.38 1875.44 3103.69 603.69 0 0 0 24.15 30.00 27.61

10438.38 1189 163.89 0.66 0.00 1933.3 1990.6 1875.9 3102.0 604.0 756.55 9.94 1692 10444.80 0.00 0.16 3.17 0.000 0.048 0.025 1933.19 1990.50 1875.88 3054.75 2029.44 0 0 0 30.00 27.91 28.01

10628.90 676 164.16 0.61 -40.00 1933.2 1990.1 1876.2 3055.0 2029.6 737.54 9.99 1712 10634.74 0.00 0.00 3.12 0.000 0.000 0.022 1933.78 1990.50 1877.06 3055.06 603.88 0 0 0 30.00 30.00 28.06

10903.46 1190 171.01 0.56 0.00 1933.1 1990.6 1875.6 3055.0 603.9 710.23 9.69 1767 10911.57 3.03 0.00 3.15 0.168 0.000 0.024 1899.66 1957.19 1842.12 3054.12 2028.75 0 0 0 24.31 30.00 28.02

11093.34 677 171.25 0.51 -40.00 1899.4 1956.2 1842.6 3054.7 2029.5 691.17 9.99 1787 11099.42 0.00 0.16 3.12 0.000 0.050 0.022 1899.06 1955.56 1842.56 3008.25 605.19 0 0 0 30.00 28.28 28.14

11367.94 1156 171.25 0.46 0.00 1899.6 1956.1 1843.2 3007.9 605.2 663.85 10.00 1842 11374.66 0.00 0.00 3.16 0.000 0.000 0.025 1900.47 1957.44 1843.50 3008.06 2028.50 0 0 0 30.00 30.00 28.08

11553.64 644 171.25 0.40 -40.00 1899.5 1956.3 1842.7 3008.3 2027.9 645.27 10.17 1861 11559.33 0.00 0.00 3.10 0.000 0.000 0.022 1900.06 1956.25 1843.88 3007.94 603.88 0 0 0 30.00 30.00 28.12

11828.58 1157 171.25 0.35 0.00 1899.3 1955.9 1842.7 3007.6 603.9 617.56 10.22 1916 11834.82 0.00 0.18 3.16 0.000 0.048 0.025 1899.72 1956.44 1843.00 2957.69 2027.25 0 0 0 30.00 27.94 28.05

12013.17 644 171.25 0.30 -40.00 1899.2 1956.2 1842.3 2955.4 2027.0 598.92 10.24 1935 12019.74 0.00 0.00 3.11 0.000 0.000 0.022 1899.59 1956.19 1843.00 2955.50 603.94 0 0 0 30.00 30.00 28.11

12288.88 1156 171.25 0.24 0.00 1899.6 1956.1 1843.0 2955.9 603.9 571.17 10.09 1990 12294.36 0.00 0.00 3.14 0.000 0.000 0.025 1900.12 1956.75 1843.50 2955.44 2029.75 0 0 0 30.00 30.00 28.04

12473.79 677 171.26 0.19 -40.00 1898.8 1955.2 1842.5 2955.8 2029.7 552.51 10.00 2009 12479.43 0.00 0.17 3.12 0.000 0.049 0.022 1899.50 1955.81 1843.19 2903.44 602.44 0 0 0 30.00 28.37 28.10

12748.45 1188 171.53 0.14 0.00 1899.2 1956.3 1842.2 2906.2 602.3 524.89 9.99 2064 12754.75 0.00 0.00 3.13 0.000 0.000 0.024 1899.44 1955.69 1843.19 2905.25 2030.06 0 0 0 30.00 30.00 28.04

12933.09 644 171.53 0.08 -40.00 1899.3 1955.4 1843.2 2905.0 2030.0 506.42 10.03 2083 12939.72 0.00 0.00 3.10 0.000 0.000 0.022 1900.44 1956.69 1844.19 2906.81 604.00 0 0 0 30.00 30.00 28.10

13208.69 1157 171.53 0.03 0.00 1899.3 1955.6 1843.0 2905.7 604.7 478.89 10.12 2138 13214.43 0.00 0.19 3.14 0.000 0.047 0.025 1900.12 1956.81 1843.44 2852.06 2026.94 0 0 0 30.00 27.91 28.03

13393.84 678 178.23 -0.02 -40.00 1899.5 1956.2 1842.8 2851.9 2026.4 460.45 9.69 2157 13401.46 2.62 0.00 3.10 0.138 0.000 0.022 1867.84 1924.12 1811.56 2854.88 604.19 0 0 0 25.30 30.00 27.71

13668.58 1156 178.23 -0.07 0.00 1868.8 1924.1 1813.4 2851.9 603.9 433.17 10.10 2212 13674.36 0.00 0.00 3.12 0.000 0.000 0.024 1869.38 1924.56 1814.19 2852.00 2030.81 0 0 0 30.00 30.00 28.07

13858.12 645 178.23 -0.12 -40.00 1868.8 1924.0 1813.7 2851.6 2030.2 414.33 10.01 2232 13864.81 0.00 0.15 3.12 0.000 0.050 0.022 1869.06 1924.50 1813.62 2807.44 603.88 0 0 0 30.00 28.43 28.11

14133.10 1188 180.14 -0.17 0.00 1868.8 1924.0 1813.6 2806.9 603.7 386.86 9.91 2287 14139.75 0.00 0.00 3.13 0.000 0.000 0.024 1869.16 1924.88 1813.44 2805.81 2030.56 0 0 0 30.00 30.00 28.04

14318.09 678 182.26 -0.23 -40.00 1869.2 1924.6 1813.8 2806.2 2029.6 368.40 9.90 2306 14324.79 1.38 0.00 3.10 0.165 0.000 0.022 1853.47 1909.31 1797.62 2806.25 603.88 0 0 0 25.34 30.00 27.72

14593.24 1191 188.61 -0.27 0.00 1852.5 1907.8 1797.2 2806.2 603.8 340.80 9.71 2361 14600.55 2.51 0.17 3.14 0.142 0.047 0.025 1826.53 1884.06 1769.00 2756.94 2028.00 0 0 0 25.02 27.95 28.07

14783.21 644 188.61 -0.32 -40.00 1826.2 1883.3 1769.1 2756.9 2028.2 321.55 10.34 2381 14789.35 0.00 0.00 3.11 0.000 0.000 0.022 1826.69 1883.81 1769.56 2755.69 603.56 0 0 0 30.00 30.00 28.17

15057.92 1156 188.61 -0.38 0.00 1826.2 1883.1 1769.4 2756.7 603.7 294.46 10.07 2436 15064.65 0.00 0.00 3.13 0.000 0.000 0.024 1826.41 1883.38 1769.44 2754.38 2029.31 0 0 0 30.00 30.00 28.09

15243.35 679 192.97 -0.43 -40.00 1826.2 1882.8 1769.6 2756.5 2029.1 275.90 9.80 2455 15249.85 1.55 0.17 3.08 0.159 0.050 0.022 1808.09 1865.81 1750.38 2707.69 605.06 0 0 0 25.08 28.43 27.83

15518.78 1188 195.10 -0.48 0.00 1809.8 1866.2 1753.5 2707.8 605.1 248.17 9.90 2510 15524.75 0.00 0.00 3.12 0.000 0.000 0.024 1809.84 1866.31 1753.38 2707.25 2028.69 0 0 0 30.00 30.00 28.11

15703.78 678 196.99 -0.53 -40.00 1809.6 1865.9 1753.2 2707.4 2028.2 229.54 9.91 2529 15709.79 1.47 0.00 3.09 0.164 0.000 0.022 1792.84 1850.88 1734.81 2708.00 603.69 0 0 0 25.39 30.00 27.85

15978.94 1157 196.99 -0.58 0.00 1794.1 1850.6 1737.6 2708.2 603.6 201.83 10.18 2584 15984.82 0.00 0.17 3.12 0.000 0.049 0.025 1795.00 1850.88 1739.12 2656.50 2031.44 0 0 0 30.00 27.99 28.11

16162.92 644 196.99 -0.64 -40.00 1793.7 1849.9 1737.5 2657.4 2031.6 183.22 10.29 2603 16169.61 0.00 0.00 3.09 0.000 0.000 0.022 1794.94 1851.38 1738.50 2655.00 602.19 0 0 0 30.00 30.00 28.16

16438.56 1190 199.79 -0.69 0.00 1794.1 1850.2 1737.9 2657.3 602.6 155.73 9.87 2658 16444.83 1.10 0.00 3.14 0.182 0.000 0.025 1779.91 1839.19 1720.62 2657.38 2029.62 0 0 0 25.00 30.00 28.06

16623.24 677 200.82 -0.74 -40.00 1782.0 1838.9 1725.1 2656.8 2029.5 137.48 9.95 2677 16629.80 0.00 0.17 3.11 0.000 0.050 0.022 1782.44 1838.94 1725.94 2607.62 603.88 0 0 0 30.00 28.42 28.18

16898.19 1190 203.74 -0.79 0.00 1781.9 1838.3 1725.4 2608.1 603.6 109.74 9.87 2732 16904.82 1.47 0.00 3.12 0.165 0.000 0.025 1767.59 1826.81 1708.38 2607.38 2031.19 0 0 0 25.05 30.00 28.09

17083.25 644 203.74 -0.84 -40.00 1766.1 1824.2 1708.1 2605.1 2031.1 90.91 10.83 2751 17089.36 0.00 0.00 3.11 0.000 0.000 0.022 1766.16 1824.50 1707.81 2606.38 602.81 0 0 0 30.00 30.00 28.19

17357.94 1189 204.26 -0.89 0.00 1765.8 1823.8 1707.8 2607.1 602.8 63.58 9.98 2806 17364.73 0.00 0.17 3.15 0.000 0.048 0.025 1766.78 1825.00 1708.56 2556.75 2028.56 0 0 0 30.00 27.98 28.10

17543.34 644 204.26 -0.95 -40.00 1765.9 1824.4 1707.4 2558.7 2029.2 44.80 10.18 2825 17549.72 0.00 0.00 3.10 0.000 0.000 0.022 1765.88 1823.94 1707.81 2558.50 601.06 0 0 0 30.00 30.00 28.15

17818.64 1156 204.26 -1.00 0.00 1765.6 1824.0 1707.2 2558.2 601.3 17.24 10.63 2880 17824.80 0.00 0.00 3.14 0.000 0.000 0.025 1766.34 1824.38 1708.31 2557.69 2029.81 0 0 0 30.00 30.00 28.06

17974 end climb: SURFACE_DEPTH_REACHED

state 17974 begin surface coast

17994 end surface coast: CONTROL_FINISHED_OK

state 17994 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	108	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	30.415155	SEABIRD_T_G	0.0043319771
APOGEE_PITCH	-5	PITCH_MAX	3300	FG_AHR_24V	20.883827	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	210216,093501,4739.311,-12219.018,39,1.0,39,15.9	TGT_LATLONG	4743.500,-12225.000
_CALLS	4	TGT_RADIUS	100.000
_SM_DEPTHo	0.02	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-3.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210216,094849,4739.311,-12219.019,4,0.9,6,15.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.261	MHEAD_RNG_PITCHd_Wd	300.2,10757,-18.2,-10.000,-20.99
TGT_NAME	NW	D_GRID	1000

FINISH	-0.0,0.998458	_24V_AH	26.65,8.102
SM_CCo	18111.36,105.33,0.115,0,499.7,467.5,531.8,515.21	_10V_AH	11.05,22.377
SM_GC	-0.03,105.33,6.80,0.04,0.115,0.048,0.060,499.7,467.5,531.8,447.8,2011.6,0,0,0,24.23,27.81,28.74	FG_AHR_24Vo	20.942
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	30.496
IRIDIUM_FIX	4722.92,-12220.67,210216,093852	MEM	1135472,36,45496,53
TCM_TEMP	22.10	DATA_FILE_SIZE	101592,2898
XPDR_PINGS	1	CAP_FILE_SIZE	527100,0
ALTIM_BOTTOM_PING	900.5,4.1	SDSIZE	4028416,3994752
SC_FREEKB	3986048	ERRORS	0,0,0,0,0,0,0,0
HUMID	49.56	WARN	PPS timeout
TEMP	17.84	CURRENT	0.000,114.0,1
INTERNAL_PRESSURE	10.2471	GPS	210216,145131,4739.311,-12219.017,33,1.0,33,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	456	442	5374.37	nil	0	0	0.00
Pitch_motor	21	64	37.49	nil	0	0	0.00
Roll_motor	248	111	738.34	nil	0	0	0.00
Iridium	542	101	1465.72	nil	0	0	0.00
Transponder_ping	0	420	8.39	nil	0	0	0.00
GPS	7	11	0.93	nil	0	0	0.00
Core	5522	163	9991.22	SciCon	18016	4	863.20
LPSleep	13361	2	323.33	nil	0	0	0.00
Compass	3987	4	179.79	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
4.88	2	-146.63	-0.91	0.00	476.5	458.5	494.4	447.6	2031.4	0.00	0.00	0	36.54	30.85	0.00	0.00	0.000	0.000	0.000	1338.47	1427.56	1249.38	447.25	2031.00	0	0	0	26.53	30.00	30.00
36.80	263	-146.63	-0.91	40.00	1338.5	1427.2	1249.8	447.2	2032.1	3.68	-11.03	3	131.83	80.71	7.05	3.33	0.000	0.065	0.041	3195.06	3282.12	3108.00	2558.81	3442.44	0	0	0	26.50	27.57	26.63
398.16	1156	-146.63	-0.86	0.00	3195.8	3281.8	3109.8	2557.4	3440.2	39.82	-10.08	75	404.59	0.00	0.00	3.15	0.000	0.000	0.024	3195.88	3281.88	3109.88	2557.88	2015.19	0	0	0	30.00	30.00	27.96
583.57	389	-146.63	-0.80	40.00	3196.1	3282.4	3109.7	2557.2	2015.0	58.27	-10.04	94	589.30	0.00	0.14	3.35	0.000	0.055	0.039	3195.75	3281.94	3109.56	2588.50	3443.88	0	0	0	30.00	28.15	27.81
858.10	1156	-146.63	-0.75	0.00	3195.7	3282.1	3109.2	2590.6	3443.7	85.75	-10.02	149	864.59	0.00	0.00	3.15	0.000	0.000	0.025	3196.84	3282.00	3111.69	2589.75	2014.12	0	0	0	30.00	30.00	28.03
1043.59	389	-146.63	-0.69	40.00	3196.0	3282.5	3109.6	2590.1	2014.7	104.68	-10.30	168	1049.69	0.00	0.14	3.36	0.000	0.057	0.039	3196.41	3282.44	3110.38	2623.88	3443.81	0	0	0	30.00	28.22	27.84
1318.62	1188	-146.63	-0.64	0.00	3195.2	3281.6	3108.9	2625.8	3443.6	131.93	-9.92	223	1324.60	0.00	0.00	3.13	0.000	0.000	0.025	3195.91	3282.88	3108.94	2625.88	2016.75	0	0	0	30.00	30.00	28.07
1503.85	389	-146.63	-0.59	40.00	3196.0	3282.0	3109.9	2627.2	2016.2	150.55	-10.18	242	1509.77	0.00	0.14	3.35	0.000	0.055	0.039	3196.09	3282.12	3110.06	2659.88	3441.38	0	0	0	30.00	28.28	27.86
1778.58	1156	-146.63	-0.53	0.00	3195.6	3281.9	3109.4	2659.9	3441.2	178.21	-10.21	297	1784.60	0.00	0.00	3.12	0.000	0.000	0.025	3195.69	3281.25	3110.12	2658.38	2016.62	0	0	0	30.00	30.00	28.09
1962.96	389	-146.63	-0.48	40.00	3195.7	3282.2	3109.2	2659.9	2016.2	196.74	-10.04	316	1969.69	0.00	0.13	3.36	0.000	0.057	0.039	3197.72	3283.56	3111.88	2692.69	3444.00	0	0	0	30.00	28.34	27.86
2238.71	1156	-146.63	-0.43	0.00	3195.4	3281.8	3109.1	2693.4	3444.2	224.30	-10.33	371	2244.59	0.00	0.00	3.13	0.000	0.000	0.025	3197.00	3283.31	3110.69	2693.44	2014.75	0	0	0	30.00	30.00	28.10
2423.59	421	-146.63	-0.37	40.00	3195.6	3281.6	3109.6	2693.3	2015.1	242.65	-9.90	390	2429.30	0.00	0.14	3.35	0.000	0.056	0.039	3197.00	3282.75	3111.25	2729.56	3441.88	0	0	0	30.00	28.35	27.86
2698.43	1156	-146.63	-0.32	0.00	3195.8	3282.3	3109.2	2729.8	3442.2	270.08	-10.03	445	2704.60	0.00	0.00	3.13	0.000	0.000	0.025	3195.69	3282.62	3108.75	2729.62	2015.00	0	0	0	30.00	30.00	28.12
2883.63	421	-146.63	-0.27	40.00	3195.8	3281.5	3110.2	2729.6	2014.7	288.43	-9.97	464	2889.69	0.00	0.14	3.35	0.000	0.057	0.039	3197.81	3283.94	3111.69	2763.69	3443.00	0	0	0	30.00	28.37	27.86
3158.47	1188	-146.63	-0.21	0.00	3195.5	3282.4	3108.6	2763.6	3442.2	315.55	-9.67	519	3164.21	0.00	0.00	3.13	0.000	0.000	0.025	3197.59	3283.44	3111.75	2764.38	2015.62	0	0	0	30.00	30.00	28.11
3343.19	421	-146.63	-0.16	40.00	3195.9	3281.8	3110.1	2763.3	2015.3	333.83	-9.74	538	3349.68	0.00	0.13	3.37	0.000	0.057	0.040	3198.00	3283.88	3112.12	2796.25	3444.12	0	0	0	30.00	28.41	27.85
3618.62	1188	-146.63	-0.11	0.00	3195.9	3282.1	3109.8	2797.2	3443.0	361.45	-9.96	593	3624.59	0.00	0.00	3.12	0.000	0.000	0.025	3195.91	3282.38	3109.44	2796.31	2016.12	0	0	0	30.00	30.00	28.12
3803.58	421	-146.63	-0.05	40.00	3195.5	3282.2	3108.8	2797.6	2016.2	379.96	-9.98	612	3809.69	0.00	0.14	3.35	0.000	0.057	0.039	3195.78	3281.56	3110.00	2831.12	3442.44	0	0	0	30.00	28.39	27.85
4078.79	1188	-146.63	0.00	0.00	3195.5	3281.4	3109.6	2831.8	3442.0	407.28	-9.78	667	4084.61	0.00	0.00	3.12	0.000	0.000	0.025	3195.38	3281.81	3108.94	2831.88	2016.31	0	0	0	30.00	30.00	28.12
4263.62	389	-146.63	0.05	40.00	3195.8	3281.6	3109.9	2831.0	2016.4	425.84	-10.16	686	4269.36	0.00	0.14	3.36	0.000	0.058	0.039	3195.38	3281.69	3109.06	2862.06	3442.94	0	0	0	30.00	28.41	27.84
4538.31	1156	-146.63	0.11	0.00	3195.4	3281.8	3109.1	2864.6	3442.2	453.54	-10.03	741	4544.59	0.00	0.00	3.14	0.000	0.000	0.025	3196.84	3282.69	3111.00	2864.88	2015.19	0	0	0	30.00	30.00	28.11
4723.70	389	-146.63	0.16	40.00	3195.3	3281.2	3109.5	2861.6	2014.7	471.88	-10.09	760	4729.30	0.00	0.14	3.38	0.000	0.058	0.040	3198.19	3284.31	3112.06	2896.25	3444.25	0	0	0	30.00	28.41	27.82
4998.24	1188	-146.63	0.22	0.00	3195.8	3282.4	3109.2	2898.8	3446.1	499.68	-9.96	815	5004.21	0.00	0.00	3.13	0.000	0.000	0.025	3195.91	3281.88	3109.94	2897.75	2016.56	0	0	0	30.00	30.00	28.11
5183.18	421	-146.63	0.27	40.00	3195.4	3281.4	3109.4	2899.4	2016.1	518.18	-9.61	834	5189.69	0.00	0.14	3.37	0.000	0.057	0.039	3195.62	3281.62	3109.62	2933.19	3444.31	0	0	0	30.00	28.43	27.82
5458.67	1188	-146.63	0.32	0.00	3195.5	3282.2	3108.8	2933.8	3443.3	545.68	-9.76	889	5464.48	0.00	0.00	3.13	0.000	0.000	0.025	3196.12	3281.94	3110.31	2933.19	2016.19	0	0	0	30.00	30.00	28.11
5643.80	389	-146.63	0.38	40.00	3195.1	3281.4	3108.9	2933.7	2016.2	564.30	-10.05	908	5649.69	0.00	0.13	3.37	0.000	0.060	0.039	3195.84	3282.69	3109.00	2969.62	3443.69	0	0	0	30.00	28.43	27.81
5917.95	1156	-146.63	0.43	0.00	3195.5	3281.6	3109.4	2968.2	3443.5	591.65	-10.22	963	5924.60	0.00	0.00	3.11	0.000	0.000	0.025	3195.12	3281.00	3109.25	2966.75	2016.56	0	0	0	30.00	30.00	28.10
6103.92	389	-146.63	0.48	40.00	3195.8	3281.7	3109.9	2967.6	2016.4	610.22	-10.23	982	6109.69	0.00	0.14	3.38	0.000	0.058	0.040	3196.59	3283.19	3110.00	3001.25	3442.81	0	0	0	30.00	28.42	27.80
6378.60	1156	-146.63	0.54	0.00	3195.0	3281.0	3108.9	3002.0	3442.9	637.75	-10.08	1037	6384.60	0.00	0.00	3.13	0.000	0.000	0.025	3196.47	3282.44	3110.50	3001.75	2014.69	0	0	0	30.00	30.00	28.10
6562.97	389	-146.63	0.59	40.00	3195.3	3281.4	3109.2	3001.2	2015.4	656.64	-10.52	1056	6569.69	0.00	0.14	3.37	0.000	0.058	0.039	3195.50	3281.06	3109.94	3033.56	3441.81	0	0	0	30.00	28.42	27.79
6838.50	1188	-146.63	0.64	0.00	3195.4	3281.3	3109.5	3035.2	3442.2	684.05	-9.88	1111	6844.61	0.00	0.00	3.13	0.000	0.000	0.025	3196.28	3282.12	3110.44	3036.12	2015.06	0	0	0	30.00	30.00	28.09
7023.95	389	-146.63	0.70	40.00	3195.2	3281.5	3108.8	3035.0	2015.6	703.01	-10.40	1130	7029.68	0.00	0.14	3.36	0.000	0.059	0.039	3195.84	3281.12	3110.56	3071.56	23.88	0	0	0	30.00	28.41	27.79
7298.85	1188	-146.63	0.75	0.00	3195.4	3281.1	3109.8	3070.3	3441.6	729.99	-9.84	1185	7304.60	0.00	0.00	3.13	0.000	0.000	0.025	3195.31	3281.12	3109.50	3071.25	2014.94	0	0	0	30.00	30.00	28.08
7483.95	389	-146.63	0.80	40.00	3195.5	3281.2	3109.8	3068.8	2014.5	748.32	-10.16	1204	7489.69	0.00	0.14	3.37	0.000	0.059	0.040	3196.22	3281.62	3110.81	3105.00	3441.69	0	0	0	30.00	28.42	27.77
7758.72	1188	-146.63	0.86	0.00	3195.6	3281.9	3109.3	3105.3	3441.9	776.06	-9.93	1259	7764.59	0.00	0.00	3.12	0.000	0.000	0.025	3197.12	3282.56	3111.69	3104.88	2016.12	0	0	0	30.00	30.00	28.08
7943.91	389	-146.63	0.91	40.00	3194.6	3280.2	3109.0	3104.9	2016.0	794.75	-10.42	1278	7949.80	0.00	0.13	3.37	0.000	0.058	0.040	3195.44	3281.12	3109.75	3136.25	3441.12	0	0	0	30.00	28.44	27.77
8218.46	1156	-146.63	0.97	0.00	3195.5	3281.6	3109.4	3136.2	3440.8	822.30	-10.16	1333	8224.83	0.00	0.00	3.12	0.000	0.000	0.025	3195.09	3281.12	3109.06	3137.75	2014.62	0	0	0	30.00	30.00	28.08
8403.16	421	-146.63	1.02	40.00	3195.1	3280.8	3109.4	3138.1	2015.1	840.64	-9.91	1352	8409.69	0.00	0.14	3.39	0.000	0.060	0.040	3194.22	3280.12	3108.31	3173.31	3443.06	0	0	0	30.00	28.41	27.76
8678.45	1156	-146.63	1.07	0.00	3194.8	3280.6	3108.9	3173.2	3442.9	868.23	-10.15	1407	8684.59	0.00	0.00	3.12	0.000	0.000	0.025	3194.75	3279.94	3109.56	3172.69	2014.50	0	0	0	30.00	30.00	28.08
8863.59	421	-146.63	1.13	40.00	3195.2	3281.0	3109.3	3173.6	2014.5	886.71	-9.98	1426	8869.69	0.00	0.14	3.38	0.000	0.060	0.040	3194.53	3280.31	3108.75	3207.06	3441.75	0	0	0	30.00	28.42	27.76
9003	end dive: BOTTOM_OBSTACLE_DETECTED
state	9003	begin apogee
9007.47	3	0.00	-0.20	0.00	3195.0	3280.2	3109.8	3207.6	2014.6	900.51	10.11	1453	9119.09	107.03	1.70	0.04	0.442	0.041	0.111	2597.75	2654.38	2541.12	2779.75	2028.12	0	0	0	22.74	27.86	27.12
9120	end apogee: CONTROL_FINISHED_OK
state	9120	begin climb
9119.59	519	146.63	0.91	-40.00	2590.9	2647.8	2534.1	2779.9	2028.6	889.68	0.00	1464	9241.98	112.85	1.57	3.26	0.415	0.057	0.023	1993.28	2047.06	1939.50	3139.19	604.81	0	0	0	24.11	27.43	26.73
9508.41	1190	148.98	0.86	0.00	1983.0	2042.6	1923.5	3139.1	605.1	849.71	9.89	1542	9514.78	0.00	0.00	3.20	0.000	0.000	0.025	1983.38	2042.69	1924.06	3139.12	2029.56	0	0	0	30.00	30.00	27.65
9698.00	647	148.98	0.80	-40.00	1982.2	2042.2	1922.3	3139.8	2029.6	830.44	10.29	1562	9704.78	0.00	0.14	3.17	0.000	0.047	0.023	1982.19	2041.75	1922.62	3102.25	603.81	0	0	0	30.00	27.98	27.81
9973.84	1158	148.98	0.75	0.00	1981.4	2041.6	1921.2	3102.2	603.7	802.44	10.05	1617	9979.86	0.00	0.00	3.17	0.000	0.000	0.025	1981.94	2042.00	1921.88	3102.19	2027.62	0	0	0	30.00	30.00	27.87
10158.84	678	162.61	0.71	-40.00	1981.4	2041.2	1921.7	3102.2	2027.4	784.38	9.38	1636	10169.47	4.18	0.00	3.11	0.305	0.000	0.023	1932.91	1990.38	1875.44	3103.69	603.69	0	0	0	24.15	30.00	27.61
10438.38	1189	163.89	0.66	0.00	1933.3	1990.6	1875.9	3102.0	604.0	756.55	9.94	1692	10444.80	0.00	0.16	3.17	0.000	0.048	0.025	1933.19	1990.50	1875.88	3054.75	2029.44	0	0	0	30.00	27.91	28.01
10628.90	676	164.16	0.61	-40.00	1933.2	1990.1	1876.2	3055.0	2029.6	737.54	9.99	1712	10634.74	0.00	0.00	3.12	0.000	0.000	0.022	1933.78	1990.50	1877.06	3055.06	603.88	0	0	0	30.00	30.00	28.06
10903.46	1190	171.01	0.56	0.00	1933.1	1990.6	1875.6	3055.0	603.9	710.23	9.69	1767	10911.57	3.03	0.00	3.15	0.168	0.000	0.024	1899.66	1957.19	1842.12	3054.12	2028.75	0	0	0	24.31	30.00	28.02
11093.34	677	171.25	0.51	-40.00	1899.4	1956.2	1842.6	3054.7	2029.5	691.17	9.99	1787	11099.42	0.00	0.16	3.12	0.000	0.050	0.022	1899.06	1955.56	1842.56	3008.25	605.19	0	0	0	30.00	28.28	28.14
11367.94	1156	171.25	0.46	0.00	1899.6	1956.1	1843.2	3007.9	605.2	663.85	10.00	1842	11374.66	0.00	0.00	3.16	0.000	0.000	0.025	1900.47	1957.44	1843.50	3008.06	2028.50	0	0	0	30.00	30.00	28.08
11553.64	644	171.25	0.40	-40.00	1899.5	1956.3	1842.7	3008.3	2027.9	645.27	10.17	1861	11559.33	0.00	0.00	3.10	0.000	0.000	0.022	1900.06	1956.25	1843.88	3007.94	603.88	0	0	0	30.00	30.00	28.12
11828.58	1157	171.25	0.35	0.00	1899.3	1955.9	1842.7	3007.6	603.9	617.56	10.22	1916	11834.82	0.00	0.18	3.16	0.000	0.048	0.025	1899.72	1956.44	1843.00	2957.69	2027.25	0	0	0	30.00	27.94	28.05
12013.17	644	171.25	0.30	-40.00	1899.2	1956.2	1842.3	2955.4	2027.0	598.92	10.24	1935	12019.74	0.00	0.00	3.11	0.000	0.000	0.022	1899.59	1956.19	1843.00	2955.50	603.94	0	0	0	30.00	30.00	28.11
12288.88	1156	171.25	0.24	0.00	1899.6	1956.1	1843.0	2955.9	603.9	571.17	10.09	1990	12294.36	0.00	0.00	3.14	0.000	0.000	0.025	1900.12	1956.75	1843.50	2955.44	2029.75	0	0	0	30.00	30.00	28.04
12473.79	677	171.26	0.19	-40.00	1898.8	1955.2	1842.5	2955.8	2029.7	552.51	10.00	2009	12479.43	0.00	0.17	3.12	0.000	0.049	0.022	1899.50	1955.81	1843.19	2903.44	602.44	0	0	0	30.00	28.37	28.10
12748.45	1188	171.53	0.14	0.00	1899.2	1956.3	1842.2	2906.2	602.3	524.89	9.99	2064	12754.75	0.00	0.00	3.13	0.000	0.000	0.024	1899.44	1955.69	1843.19	2905.25	2030.06	0	0	0	30.00	30.00	28.04
12933.09	644	171.53	0.08	-40.00	1899.3	1955.4	1843.2	2905.0	2030.0	506.42	10.03	2083	12939.72	0.00	0.00	3.10	0.000	0.000	0.022	1900.44	1956.69	1844.19	2906.81	604.00	0	0	0	30.00	30.00	28.10
13208.69	1157	171.53	0.03	0.00	1899.3	1955.6	1843.0	2905.7	604.7	478.89	10.12	2138	13214.43	0.00	0.19	3.14	0.000	0.047	0.025	1900.12	1956.81	1843.44	2852.06	2026.94	0	0	0	30.00	27.91	28.03
13393.84	678	178.23	-0.02	-40.00	1899.5	1956.2	1842.8	2851.9	2026.4	460.45	9.69	2157	13401.46	2.62	0.00	3.10	0.138	0.000	0.022	1867.84	1924.12	1811.56	2854.88	604.19	0	0	0	25.30	30.00	27.71
13668.58	1156	178.23	-0.07	0.00	1868.8	1924.1	1813.4	2851.9	603.9	433.17	10.10	2212	13674.36	0.00	0.00	3.12	0.000	0.000	0.024	1869.38	1924.56	1814.19	2852.00	2030.81	0	0	0	30.00	30.00	28.07
13858.12	645	178.23	-0.12	-40.00	1868.8	1924.0	1813.7	2851.6	2030.2	414.33	10.01	2232	13864.81	0.00	0.15	3.12	0.000	0.050	0.022	1869.06	1924.50	1813.62	2807.44	603.88	0	0	0	30.00	28.43	28.11
14133.10	1188	180.14	-0.17	0.00	1868.8	1924.0	1813.6	2806.9	603.7	386.86	9.91	2287	14139.75	0.00	0.00	3.13	0.000	0.000	0.024	1869.16	1924.88	1813.44	2805.81	2030.56	0	0	0	30.00	30.00	28.04
14318.09	678	182.26	-0.23	-40.00	1869.2	1924.6	1813.8	2806.2	2029.6	368.40	9.90	2306	14324.79	1.38	0.00	3.10	0.165	0.000	0.022	1853.47	1909.31	1797.62	2806.25	603.88	0	0	0	25.34	30.00	27.72
14593.24	1191	188.61	-0.27	0.00	1852.5	1907.8	1797.2	2806.2	603.8	340.80	9.71	2361	14600.55	2.51	0.17	3.14	0.142	0.047	0.025	1826.53	1884.06	1769.00	2756.94	2028.00	0	0	0	25.02	27.95	28.07
14783.21	644	188.61	-0.32	-40.00	1826.2	1883.3	1769.1	2756.9	2028.2	321.55	10.34	2381	14789.35	0.00	0.00	3.11	0.000	0.000	0.022	1826.69	1883.81	1769.56	2755.69	603.56	0	0	0	30.00	30.00	28.17
15057.92	1156	188.61	-0.38	0.00	1826.2	1883.1	1769.4	2756.7	603.7	294.46	10.07	2436	15064.65	0.00	0.00	3.13	0.000	0.000	0.024	1826.41	1883.38	1769.44	2754.38	2029.31	0	0	0	30.00	30.00	28.09
15243.35	679	192.97	-0.43	-40.00	1826.2	1882.8	1769.6	2756.5	2029.1	275.90	9.80	2455	15249.85	1.55	0.17	3.08	0.159	0.050	0.022	1808.09	1865.81	1750.38	2707.69	605.06	0	0	0	25.08	28.43	27.83
15518.78	1188	195.10	-0.48	0.00	1809.8	1866.2	1753.5	2707.8	605.1	248.17	9.90	2510	15524.75	0.00	0.00	3.12	0.000	0.000	0.024	1809.84	1866.31	1753.38	2707.25	2028.69	0	0	0	30.00	30.00	28.11
15703.78	678	196.99	-0.53	-40.00	1809.6	1865.9	1753.2	2707.4	2028.2	229.54	9.91	2529	15709.79	1.47	0.00	3.09	0.164	0.000	0.022	1792.84	1850.88	1734.81	2708.00	603.69	0	0	0	25.39	30.00	27.85
15978.94	1157	196.99	-0.58	0.00	1794.1	1850.6	1737.6	2708.2	603.6	201.83	10.18	2584	15984.82	0.00	0.17	3.12	0.000	0.049	0.025	1795.00	1850.88	1739.12	2656.50	2031.44	0	0	0	30.00	27.99	28.11
16162.92	644	196.99	-0.64	-40.00	1793.7	1849.9	1737.5	2657.4	2031.6	183.22	10.29	2603	16169.61	0.00	0.00	3.09	0.000	0.000	0.022	1794.94	1851.38	1738.50	2655.00	602.19	0	0	0	30.00	30.00	28.16
16438.56	1190	199.79	-0.69	0.00	1794.1	1850.2	1737.9	2657.3	602.6	155.73	9.87	2658	16444.83	1.10	0.00	3.14	0.182	0.000	0.025	1779.91	1839.19	1720.62	2657.38	2029.62	0	0	0	25.00	30.00	28.06
16623.24	677	200.82	-0.74	-40.00	1782.0	1838.9	1725.1	2656.8	2029.5	137.48	9.95	2677	16629.80	0.00	0.17	3.11	0.000	0.050	0.022	1782.44	1838.94	1725.94	2607.62	603.88	0	0	0	30.00	28.42	28.18
16898.19	1190	203.74	-0.79	0.00	1781.9	1838.3	1725.4	2608.1	603.6	109.74	9.87	2732	16904.82	1.47	0.00	3.12	0.165	0.000	0.025	1767.59	1826.81	1708.38	2607.38	2031.19	0	0	0	25.05	30.00	28.09
17083.25	644	203.74	-0.84	-40.00	1766.1	1824.2	1708.1	2605.1	2031.1	90.91	10.83	2751	17089.36	0.00	0.00	3.11	0.000	0.000	0.022	1766.16	1824.50	1707.81	2606.38	602.81	0	0	0	30.00	30.00	28.19
17357.94	1189	204.26	-0.89	0.00	1765.8	1823.8	1707.8	2607.1	602.8	63.58	9.98	2806	17364.73	0.00	0.17	3.15	0.000	0.048	0.025	1766.78	1825.00	1708.56	2556.75	2028.56	0	0	0	30.00	27.98	28.10
17543.34	644	204.26	-0.95	-40.00	1765.9	1824.4	1707.4	2558.7	2029.2	44.80	10.18	2825	17549.72	0.00	0.00	3.10	0.000	0.000	0.022	1765.88	1823.94	1707.81	2558.50	601.06	0	0	0	30.00	30.00	28.15
17818.64	1156	204.26	-1.00	0.00	1765.6	1824.0	1707.2	2558.2	601.3	17.24	10.63	2880	17824.80	0.00	0.00	3.14	0.000	0.000	0.025	1766.34	1824.38	1708.31	2557.69	2029.81	0	0	0	30.00	30.00	28.06
17974	end climb: SURFACE_DEPTH_REACHED
state	17974	begin surface coast
17994	end surface coast: CONTROL_FINISHED_OK
state	17994	begin surface