Glider dive log

Deck Feb16 * SG185 * Dive index * Mission links * Dive 109 * 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 109 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 30.499176 SEABIRD_T_G 0.0043319771

APOGEE_PITCH -5 PITCH_MAX 3300 FG_AHR_24V 20.953848 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 30.499176 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_24V 20.953848 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 109 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 210216,145131,4739.311,-12219.017,33,1.0,33,15.9 TGT_LATLONG 4743.500,-12225.000

_CALLS 5 TGT_RADIUS 100.000

_SM_DEPTHo -0.01 KALMAN_CONTROL 0.000,0.000

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

GPS2 210216,150520,4739.310,-12219.019,4,1.1,6,15.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.261 MHEAD_RNG_PITCHd_Wd 300.3,10759,-18.2,-10.000,-20.99

TGT_NAME NW D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.0,0.998390 _24V_AH 26.64,8.147

SM_CCo 18133.29,0.55,0.026,0,499.0,474.5,523.5,515.38 _10V_AH 11.06,22.666

SM_GC 0.02,0.55,6.78,0.04,0.026,0.047,0.060,499.0,474.5,523.5,446.5,2011.2,0,0,0,27.15,28.00,28.74 FG_AHR_24Vo 21.013

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 30.580

IRIDIUM_FIX 4719.74,-12220.67,210216,145832 MEM 1135368,43,45460,53

TCM_TEMP 22.50 DATA_FILE_SIZE 104869,2908

XPDR_PINGS 2 CAP_FILE_SIZE 529233,0

ALTIM_BOTTOM_PING 900.2,4.1 SDSIZE 4028416,3994464

SC_FREEKB 3985728 ERRORS 0,0,0,0,0,0,0,0

HUMID 48.82 WARN PPS timeout

TEMP 18.65 CURRENT 0.000, 43.9,1

INTERNAL_PRESSURE 10.2737 GPS 210216,200831,4739.311,-12219.017,38,0.9,38,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 459 440 5388.94 nil 0 0 0.00

Pitch_motor 21 66 38.23 nil 0 0 0.00

Roll_motor 249 111 739.19 nil 0 0 0.00

Iridium 481 108 1398.32 nil 0 0 0.00

Transponder_ping 1 420 11.19 nil 0 0 0.00

GPS 7 11 0.93 nil 0 0 0.00

Core 5467 163 9899.70 SciCon 18043 4 865.27

LPSleep 13441 2 325.56 nil 0 0 0.00

Compass 4003 4 180.64 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

4.94 2 -146.63 -0.91 0.00 479.2 459.8 498.7 448.1 2031.4 0.00 0.00 0 36.59 30.80 0.00 0.00 0.000 0.000 0.000 1335.94 1424.31 1247.56 448.06 2031.50 0 0 0 26.49 30.00 30.00

36.86 263 -146.63 -0.91 40.00 1335.8 1424.2 1247.4 447.9 2031.4 3.50 -10.01 3 134.28 81.26 7.09 3.35 0.000 0.066 0.041 3196.19 3282.56 3109.81 2556.00 3441.88 0 0 0 26.50 27.52 26.55

400.86 1156 -146.63 -0.86 0.00 3196.2 3283.2 3109.3 2556.4 3442.2 40.05 -10.05 76 407.04 0.00 0.00 3.14 0.000 0.000 0.024 3196.91 3283.19 3110.62 2554.62 2015.69 0 0 0 30.00 30.00 27.88

586.37 421 -146.63 -0.80 40.00 3196.1 3282.2 3110.1 2556.1 2016.4 58.44 -9.87 95 592.14 0.00 0.14 3.37 0.000 0.056 0.039 3196.41 3282.25 3110.56 2590.62 3442.81 0 0 0 30.00 28.10 27.74

861.07 1188 -146.63 -0.75 0.00 3197.0 3283.6 3110.5 2590.6 3442.0 85.43 -9.91 150 867.10 0.00 0.00 3.14 0.000 0.000 0.025 3197.50 3284.25 3110.75 2591.00 2016.12 0 0 0 30.00 30.00 27.97

1046.16 389 -146.63 -0.69 40.00 3196.7 3282.9 3110.4 2590.2 2016.2 104.04 -10.02 169 1051.75 0.00 0.14 3.38 0.000 0.057 0.039 3197.59 3284.06 3111.12 2628.56 3444.00 0 0 0 30.00 28.19 27.77

1320.68 1156 -146.63 -0.64 0.00 3195.9 3282.0 3109.8 2627.9 3444.5 131.36 -10.14 224 1327.04 0.00 0.00 3.13 0.000 0.000 0.025 3198.22 3283.94 3112.50 2627.69 2014.38 0 0 0 30.00 30.00 28.02

1506.02 421 -146.63 -0.59 40.00 3196.2 3282.9 3109.5 2628.4 2014.6 149.96 -9.85 243 1511.77 0.00 0.13 3.38 0.000 0.055 0.039 3196.03 3281.81 3110.25 2658.62 3445.75 0 0 0 30.00 28.29 27.79

1780.53 1188 -146.63 -0.53 0.00 3196.4 3283.1 3109.7 2659.2 3445.5 177.19 -9.52 298 1787.04 0.00 0.00 3.15 0.000 0.000 0.025 3197.78 3284.06 3111.50 2656.25 2014.69 0 0 0 30.00 30.00 28.04

1966.00 389 -146.63 -0.48 40.00 3196.1 3282.0 3110.2 2659.2 2016.7 195.82 -10.11 317 1971.75 0.00 0.14 3.37 0.000 0.058 0.039 3197.53 3283.31 3111.75 2694.25 3444.00 0 0 0 30.00 28.31 27.79

2240.76 1188 -146.63 -0.43 0.00 3195.9 3282.6 3109.2 2694.5 3443.9 223.46 -9.96 372 2247.04 0.00 0.00 3.15 0.000 0.000 0.025 3197.28 3283.50 3111.06 2692.38 2014.44 0 0 0 30.00 30.00 28.06

2426.03 389 -146.63 -0.37 40.00 3196.2 3282.2 3110.2 2694.3 2014.8 242.21 -10.12 391 2431.75 0.00 0.13 3.35 0.000 0.057 0.039 3196.25 3282.94 3109.56 2726.12 3443.06 0 0 0 30.00 28.36 27.80

2700.71 1188 -146.63 -0.32 0.00 3196.7 3283.0 3110.4 2727.4 3443.0 269.57 -9.82 446 2706.67 0.00 0.00 3.13 0.000 0.000 0.025 3196.16 3282.62 3109.69 2726.06 2014.19 0 0 0 30.00 30.00 28.07

2885.64 389 -146.63 -0.27 40.00 3196.1 3282.4 3109.8 2727.8 2014.8 287.95 -10.10 465 2892.14 0.00 0.14 3.38 0.000 0.058 0.040 3196.56 3283.38 3109.75 2763.69 3442.56 0 0 0 30.00 28.36 27.80

3160.92 1156 -146.63 -0.21 0.00 3196.8 3283.1 3110.5 2762.8 3442.1 315.26 -10.01 520 3167.04 0.00 0.00 3.12 0.000 0.000 0.025 3196.94 3282.38 3111.50 2763.06 2014.94 0 0 0 30.00 30.00 28.08

3346.01 389 -146.63 -0.16 40.00 3196.7 3282.7 3110.6 2760.9 2015.1 333.93 -10.37 539 3352.14 0.00 0.14 3.37 0.000 0.057 0.040 3197.59 3283.62 3111.56 2796.88 3442.88 0 0 0 30.00 28.40 27.79

3621.12 1188 -146.63 -0.11 0.00 3195.7 3281.8 3109.5 2796.4 3442.4 361.34 -9.95 594 3627.05 0.00 0.00 3.12 0.000 0.000 0.025 3196.69 3282.31 3111.06 2798.06 2015.00 0 0 0 30.00 30.00 28.08

3806.02 421 -146.63 -0.05 40.00 3196.7 3282.6 3110.7 2796.5 2014.5 379.64 -9.53 613 3812.14 0.00 0.14 3.38 0.000 0.057 0.040 3196.16 3282.19 3110.12 2828.88 3441.44 0 0 0 30.00 28.41 27.79

4081.11 1188 -146.63 0.00 0.00 3196.4 3282.8 3110.0 2828.9 3442.5 407.04 -9.86 668 4087.06 0.00 0.00 3.14 0.000 0.000 0.025 3196.59 3282.75 3110.44 2829.19 2016.62 0 0 0 30.00 30.00 28.08

4266.32 389 -146.63 0.05 40.00 3195.5 3281.7 3109.4 2828.9 2016.6 425.78 -10.24 687 4272.14 0.00 0.14 3.37 0.000 0.058 0.040 3197.09 3283.56 3110.62 2863.88 3441.50 0 0 0 30.00 28.39 27.78

4541.00 1188 -146.63 0.11 0.00 3196.5 3282.6 3110.4 2863.1 3441.9 453.09 -9.80 742 4547.04 0.00 0.00 3.13 0.000 0.000 0.025 3197.00 3282.44 3111.56 2863.69 2016.25 0 0 0 30.00 30.00 28.07

4726.02 389 -146.63 0.16 40.00 3196.3 3282.2 3110.5 2862.0 2015.6 471.72 -10.01 761 4731.89 0.00 0.14 3.38 0.000 0.059 0.040 3196.12 3282.88 3109.38 2899.38 3445.25 0 0 0 30.00 28.39 27.77

5000.66 1156 -146.63 0.22 0.00 3196.2 3282.2 3110.1 2899.2 3445.1 499.02 -10.03 816 5007.14 0.00 0.00 3.12 0.000 0.000 0.025 3196.72 3283.38 3110.06 2898.88 2016.25 0 0 0 30.00 30.00 28.07

5185.47 421 -146.63 0.27 40.00 3196.6 3282.7 3110.5 2900.2 2016.7 517.36 -9.56 835 5192.14 0.00 0.14 3.38 0.000 0.056 0.040 3196.44 3282.50 3110.38 2933.38 3443.38 0 0 0 30.00 28.42 27.77

5460.98 1156 -146.63 0.32 0.00 3196.1 3282.6 3109.6 2933.1 3443.2 544.83 -10.10 890 5467.06 0.00 0.00 3.13 0.000 0.000 0.025 3197.00 3283.00 3111.00 2930.69 2014.38 0 0 0 30.00 30.00 28.07

5646.03 421 -146.63 0.38 40.00 3195.8 3281.8 3109.7 2933.6 2014.7 562.98 -9.56 909 5652.14 0.00 0.14 3.37 0.000 0.058 0.040 3197.62 3283.69 3111.56 2968.38 3441.00 0 0 0 30.00 28.42 27.77

5920.90 1188 -146.63 0.43 0.00 3196.0 3282.1 3110.0 2968.2 3441.3 590.46 -9.85 964 5927.04 0.00 0.00 3.12 0.000 0.000 0.025 3196.06 3282.56 3109.56 2968.62 2016.62 0 0 0 30.00 30.00 28.07

6106.10 389 -146.63 0.48 40.00 3195.9 3282.2 3109.6 2968.4 2016.4 609.04 -10.03 983 6112.14 0.00 0.14 3.38 0.000 0.058 0.040 3197.50 3283.88 3111.12 3002.31 3443.25 0 0 0 30.00 28.41 27.76

6381.22 1188 -146.63 0.54 0.00 3196.6 3282.8 3110.5 3002.8 3443.3 636.64 -9.72 1038 6387.04 0.00 0.00 3.14 0.000 0.000 0.025 3196.72 3282.44 3111.00 3003.44 2016.31 0 0 0 30.00 30.00 28.07

6566.41 421 -146.63 0.59 40.00 3195.8 3282.2 3109.3 3002.6 2016.6 655.62 -9.99 1057 6572.14 0.00 0.14 3.38 0.000 0.057 0.039 3195.88 3282.25 3109.50 3035.88 3443.81 0 0 0 30.00 28.42 27.76

6841.42 1188 -146.63 0.64 0.00 3195.6 3281.9 3109.3 3036.0 3443.1 682.68 -9.72 1112 6846.67 0.00 0.00 3.12 0.000 0.000 0.025 3196.09 3281.75 3110.44 3035.88 2015.62 0 0 0 30.00 30.00 28.07

7026.03 421 -146.63 0.70 40.00 3195.9 3281.7 3110.2 3036.0 2015.4 700.92 -9.92 1131 7031.75 0.00 0.14 3.38 0.000 0.059 0.040 3196.47 3282.94 3110.00 3068.94 3442.88 0 0 0 30.00 28.41 27.75

7301.00 1188 -146.63 0.75 0.00 3195.7 3281.8 3109.7 3068.4 3441.9 728.29 -9.95 1186 7306.66 0.00 0.00 3.12 0.000 0.000 0.025 3195.69 3282.00 3109.38 3068.94 2016.62 0 0 0 30.00 30.00 28.06

7486.04 389 -146.63 0.80 40.00 3196.1 3282.9 3109.3 3068.6 2016.7 746.58 -10.17 1205 7491.76 0.00 0.14 3.38 0.000 0.060 0.040 3196.03 3282.69 3109.38 3107.56 3443.06 0 0 0 30.00 28.40 27.75

7761.09 1156 -146.63 0.86 0.00 3196.2 3282.1 3110.2 3105.9 3443.6 774.32 -10.27 1260 7767.05 0.00 0.00 3.14 0.000 0.000 0.025 3196.03 3282.25 3109.81 3105.44 2014.25 0 0 0 30.00 30.00 28.05

7946.01 389 -146.63 0.91 40.00 3195.8 3282.0 3109.6 3107.2 2015.1 792.94 -10.00 1279 7951.76 0.00 0.12 3.38 0.000 0.057 0.040 3196.78 3282.75 3110.81 3136.44 3444.62 0 0 0 30.00 28.45 27.74

8220.62 1188 -146.63 0.97 0.00 3196.5 3282.7 3110.4 3136.8 3445.6 820.20 -9.85 1334 8227.27 0.00 0.00 3.14 0.000 0.000 0.025 3196.06 3282.50 3109.62 3137.00 2013.31 0 0 0 30.00 30.00 28.06

8405.35 421 -146.63 1.02 40.00 3196.5 3282.6 3110.3 3136.3 2013.3 838.35 -9.91 1353 8412.14 0.00 0.14 3.39 0.000 0.062 0.040 3197.28 3283.12 3111.44 3171.31 3443.12 0 0 0 30.00 28.40 27.74

8681.12 1156 -146.63 1.07 0.00 3196.0 3282.8 3109.2 3171.7 3443.2 865.85 -10.09 1408 8687.05 0.00 0.00 3.12 0.000 0.000 0.025 3196.81 3282.31 3111.31 3172.88 2015.38 0 0 0 30.00 30.00 28.06

8866.03 389 -146.63 1.13 40.00 3196.3 3282.5 3110.1 3172.6 2014.9 884.27 -10.15 1427 8871.90 0.00 0.14 3.38 0.000 0.061 0.040 3197.06 3282.69 3111.44 3208.69 3442.38 0 0 0 30.00 28.40 27.73

9031 end dive: BOTTOM_OBSTACLE_DETECTED

state 9031 begin apogee

9036.48 3 0.00 -0.20 0.00 3196.2 3282.4 3110.1 3208.7 2014.6 900.24 10.19 1459 9150.54 107.99 1.70 0.04 0.441 0.041 0.111 2601.12 2656.69 2545.56 2779.38 2028.44 0 0 0 22.73 27.84 27.11

9151 end apogee: CONTROL_FINISHED_OK

state 9151 begin climb

9151.03 519 146.63 0.91 -40.00 2589.2 2646.2 2532.2 2779.6 2028.2 887.85 0.00 1471 9272.86 112.86 1.57 3.26 0.414 0.058 0.022 1993.31 2046.56 1940.06 3140.06 603.88 0 0 0 24.03 27.42 26.73

9539.81 1158 146.63 0.86 0.00 1981.2 2041.1 1921.2 3140.0 603.8 849.15 10.03 1549 9545.82 0.00 0.00 3.20 0.000 0.000 0.024 1982.00 2041.19 1922.81 3139.88 2028.56 0 0 0 30.00 30.00 27.65

9730.30 647 146.63 0.80 -40.00 1980.6 2040.2 1920.9 3140.1 2028.6 829.92 10.13 1569 9735.86 0.00 0.13 3.15 0.000 0.049 0.022 1983.00 2042.88 1923.12 3102.50 603.88 0 0 0 30.00 27.97 27.81

10005.13 1190 147.19 0.75 0.00 1980.4 2040.6 1920.2 3102.6 604.1 802.17 9.97 1624 10010.43 0.00 0.00 3.17 0.000 0.000 0.024 1980.56 2040.69 1920.44 3101.12 2027.75 0 0 0 30.00 30.00 27.86

10190.45 646 147.19 0.70 -40.00 1980.1 2040.1 1920.1 3101.9 2027.8 783.63 10.10 1643 10195.41 0.00 0.00 3.13 0.000 0.000 0.022 1981.00 2041.00 1921.00 3101.19 605.00 0 0 0 30.00 30.00 27.95

10465.01 1191 148.35 0.64 0.00 1979.6 2039.1 1920.1 3102.2 605.2 756.28 9.95 1698 10470.88 0.00 0.19 3.16 0.000 0.048 0.025 1979.25 2039.00 1919.50 3050.06 2027.88 0 0 0 30.00 27.82 27.93

10649.91 646 148.35 0.59 -40.00 1979.3 2038.8 1919.8 3050.1 2027.9 737.36 10.09 1717 10655.80 0.00 0.00 3.12 0.000 0.000 0.022 1981.00 2039.75 1922.25 3048.50 602.62 0 0 0 30.00 30.00 28.01

10924.70 1158 148.35 0.54 0.00 1979.2 2038.8 1919.8 3049.2 603.1 709.91 10.33 1772 10930.70 0.00 0.00 3.14 0.000 0.000 0.024 1980.31 2039.12 1921.50 3049.50 2030.25 0 0 0 30.00 30.00 27.98

11109.71 647 148.35 0.48 -40.00 1979.3 2038.6 1920.1 3049.6 2029.7 691.33 10.19 1791 11115.86 0.00 0.17 3.12 0.000 0.050 0.022 1979.25 2038.44 1920.06 2999.06 602.44 0 0 0 30.00 28.24 28.04

11385.20 1190 149.99 0.43 0.00 1979.1 2038.4 1919.8 2997.9 602.4 663.63 9.92 1846 11390.42 0.00 0.00 3.17 0.000 0.000 0.025 1980.38 2039.69 1921.06 2998.81 2031.88 0 0 0 30.00 30.00 27.99

11569.40 646 149.99 0.38 -40.00 1979.2 2038.7 1919.6 2998.1 2031.8 644.87 10.31 1865 11575.80 0.00 0.00 3.12 0.000 0.000 0.022 1979.50 2039.06 1919.94 2999.19 601.00 0 0 0 30.00 30.00 28.06

11845.42 1189 151.70 0.33 0.00 1979.4 2038.6 1920.1 2998.9 601.2 617.11 9.92 1920 11850.87 0.00 0.17 3.15 0.000 0.046 0.025 1980.34 2039.62 1921.06 2947.94 2029.62 0 0 0 30.00 27.88 28.00

12030.12 678 154.50 0.28 -40.00 1978.4 2036.9 1919.9 2946.7 2030.0 598.74 9.87 1939 12035.85 0.86 0.00 3.11 0.194 0.000 0.022 1965.56 2023.06 1908.06 2947.75 605.19 0 0 0 25.31 30.00 27.48

12304.92 1188 156.09 0.22 0.00 1966.6 2022.6 1910.6 2947.4 605.0 571.29 9.93 1994 12310.82 0.00 0.00 3.15 0.000 0.000 0.025 1966.66 2022.88 1910.44 2947.06 2029.94 0 0 0 30.00 30.00 28.02

12489.86 645 156.09 0.17 -40.00 1966.2 2022.6 1909.8 2947.5 2029.7 552.28 10.65 2013 12495.86 0.00 0.17 3.11 0.000 0.049 0.022 1967.88 2024.12 1911.62 2898.75 603.69 0 0 0 30.00 28.37 28.08

12764.97 1190 164.75 0.13 0.00 1966.8 2023.2 1910.4 2896.9 603.8 525.03 9.60 2068 12775.32 3.95 0.00 3.15 0.291 0.000 0.024 1925.44 1982.31 1868.56 2897.31 2028.50 0 0 0 23.77 30.00 28.02

12959.49 676 164.77 0.07 -40.00 1924.3 1980.1 1868.5 2899.1 2028.2 505.73 10.00 2089 12965.39 0.00 0.00 3.10 0.000 0.000 0.022 1924.88 1980.44 1869.31 2896.44 602.56 0 0 0 30.00 30.00 28.21

13234.97 1191 168.91 0.03 0.00 1924.7 1980.4 1868.9 2898.1 602.5 478.20 9.81 2144 13241.97 1.59 0.16 3.14 0.158 0.047 0.025 1907.50 1963.12 1851.88 2852.06 2027.31 0 0 0 25.25 28.00 28.11

13424.79 676 169.36 -0.03 -40.00 1908.3 1961.8 1854.8 2853.1 2027.5 459.53 9.98 2164 13430.72 0.00 0.00 3.10 0.000 0.000 0.022 1908.91 1962.19 1855.62 2849.38 603.62 0 0 0 30.00 30.00 28.19

13700.17 1190 179.03 -0.07 0.00 1908.0 1961.9 1854.1 2852.7 603.8 432.24 9.56 2219 13710.33 3.91 0.00 3.13 0.293 0.000 0.024 1865.53 1920.62 1810.44 2851.81 2029.81 0 0 0 24.01 30.00 28.12

13895.11 645 179.03 -0.12 -40.00 1866.3 1920.4 1812.3 2852.6 2030.1 412.31 10.19 2240 13900.86 0.00 0.16 3.11 0.000 0.050 0.022 1868.31 1922.19 1814.44 2806.44 603.75 0 0 0 30.00 28.42 28.27

14170.31 1188 179.19 -0.18 0.00 1865.7 1919.6 1811.8 2807.0 603.9 384.70 9.99 2295 14175.81 0.00 0.00 3.14 0.000 0.000 0.024 1867.53 1921.69 1813.38 2806.00 2030.25 0 0 0 30.00 30.00 28.18

14354.79 644 179.19 -0.23 -40.00 1866.1 1920.3 1811.9 2805.9 2030.0 366.27 10.09 2314 14360.78 0.00 0.00 3.09 0.000 0.000 0.022 1866.41 1920.38 1812.44 2804.62 601.00 0 0 0 30.00 30.00 28.21

14629.81 1191 189.03 -0.27 0.00 1865.8 1919.8 1811.8 2805.9 600.9 338.81 9.55 2369 14640.39 3.70 0.17 3.14 0.271 0.048 0.025 1825.78 1882.69 1768.88 2754.38 2028.12 0 0 0 24.33 28.02 28.13

14824.95 678 192.67 -0.32 -40.00 1824.9 1881.4 1768.4 2756.6 2027.4 319.10 9.83 2390 14830.47 1.38 0.00 3.09 0.165 0.000 0.022 1811.50 1869.31 1753.69 2756.31 603.75 0 0 0 25.57 30.00 27.96

15100.76 1190 197.21 -0.37 0.00 1811.0 1867.1 1754.9 2756.8 604.0 291.37 9.79 2445 15107.51 1.71 0.00 3.13 0.153 0.000 0.024 1794.75 1852.50 1737.00 2755.06 2029.44 0 0 0 25.42 30.00 28.21

15290.31 645 197.21 -0.42 -40.00 1793.7 1849.3 1738.0 2755.7 2029.2 272.25 10.14 2465 15295.86 0.00 0.15 3.11 0.000 0.051 0.022 1794.81 1850.44 1739.19 2710.38 603.94 0 0 0 30.00 28.44 28.26

15564.79 1188 199.10 -0.47 0.00 1793.9 1849.5 1738.3 2710.8 603.9 245.14 9.91 2520 15570.82 0.00 0.00 3.13 0.000 0.000 0.024 1793.62 1849.06 1738.19 2710.06 2029.12 0 0 0 30.00 30.00 28.18

15749.50 676 199.44 -0.53 -40.00 1793.7 1849.1 1738.3 2709.9 2029.6 226.44 9.98 2539 15755.78 0.00 0.00 3.10 0.000 0.000 0.022 1794.41 1849.81 1739.00 2709.81 603.81 0 0 0 30.00 30.00 28.21

16024.79 1191 202.27 -0.58 0.00 1793.4 1849.2 1737.6 2710.6 603.6 199.08 9.87 2594 16031.97 1.98 0.17 3.13 0.149 0.048 0.024 1771.88 1830.81 1712.94 2659.00 2027.25 0 0 0 25.03 28.02 28.14

16214.83 676 204.03 -0.63 -40.00 1772.4 1828.7 1716.2 2659.2 2026.7 180.01 9.92 2614 16220.39 0.00 0.00 3.08 0.000 0.000 0.022 1773.66 1829.81 1717.50 2657.75 604.00 0 0 0 30.00 30.00 28.23

16490.58 1156 204.03 -0.68 0.00 1772.6 1829.0 1716.2 2659.6 603.9 152.40 10.22 2669 16495.43 0.00 0.00 3.14 0.000 0.000 0.024 1773.19 1829.69 1716.69 2657.56 2029.69 0 0 0 30.00 30.00 28.15

16674.80 645 204.03 -0.73 -40.00 1772.6 1829.0 1716.2 2659.2 2029.5 133.80 10.10 2688 16680.46 0.00 0.17 3.10 0.000 0.050 0.022 1773.88 1830.00 1717.75 2611.56 605.00 0 0 0 30.00 28.42 28.19

16949.82 1156 204.03 -0.79 0.00 1772.9 1829.3 1716.4 2610.3 605.0 106.39 10.00 2743 16955.81 0.00 0.00 3.13 0.000 0.000 0.024 1773.88 1830.44 1717.31 2610.88 2030.50 0 0 0 30.00 30.00 28.12

17135.13 678 208.03 -0.84 -40.00 1772.8 1829.3 1716.2 2610.4 2029.4 87.78 9.82 2762 17141.51 2.23 0.00 3.10 0.144 0.000 0.022 1747.28 1806.12 1688.44 2610.06 604.00 0 0 0 25.38 30.00 27.90

17409.68 1157 208.03 -0.89 0.00 1749.0 1805.7 1692.4 2609.8 603.8 60.33 10.03 2817 17415.86 0.00 0.17 3.14 0.000 0.048 0.025 1750.19 1806.75 1693.62 2559.25 2027.69 0 0 0 30.00 28.01 28.14

17599.63 644 208.03 -0.94 -40.00 1749.1 1805.8 1692.3 2558.9 2027.3 41.13 10.40 2837 17605.39 0.00 0.00 3.10 0.000 0.000 0.022 1749.81 1806.19 1693.44 2557.44 603.81 0 0 0 30.00 30.00 28.18

17874.97 1190 217.90 -0.98 0.00 1748.8 1805.8 1691.9 2559.6 604.1 13.70 9.55 2892 17885.34 3.76 0.00 3.14 0.131 0.000 0.024 1710.22 1770.31 1650.12 2557.69 2029.25 0 0 0 24.99 30.00 28.11

17999 end climb: SURFACE_DEPTH_REACHED

state 17999 begin surface coast

18019 end surface coast: CONTROL_FINISHED_OK

state 18019 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	109	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	30.499176	SEABIRD_T_G	0.0043319771
APOGEE_PITCH	-5	PITCH_MAX	3300	FG_AHR_24V	20.953848	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	210216,145131,4739.311,-12219.017,33,1.0,33,15.9	TGT_LATLONG	4743.500,-12225.000
_CALLS	5	TGT_RADIUS	100.000
_SM_DEPTHo	-0.01	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-3.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210216,150520,4739.310,-12219.019,4,1.1,6,15.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.261	MHEAD_RNG_PITCHd_Wd	300.3,10759,-18.2,-10.000,-20.99
TGT_NAME	NW	D_GRID	1000

FINISH	-0.0,0.998390	_24V_AH	26.64,8.147
SM_CCo	18133.29,0.55,0.026,0,499.0,474.5,523.5,515.38	_10V_AH	11.06,22.666
SM_GC	0.02,0.55,6.78,0.04,0.026,0.047,0.060,499.0,474.5,523.5,446.5,2011.2,0,0,0,27.15,28.00,28.74	FG_AHR_24Vo	21.013
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	30.580
IRIDIUM_FIX	4719.74,-12220.67,210216,145832	MEM	1135368,43,45460,53
TCM_TEMP	22.50	DATA_FILE_SIZE	104869,2908
XPDR_PINGS	2	CAP_FILE_SIZE	529233,0
ALTIM_BOTTOM_PING	900.2,4.1	SDSIZE	4028416,3994464
SC_FREEKB	3985728	ERRORS	0,0,0,0,0,0,0,0
HUMID	48.82	WARN	PPS timeout
TEMP	18.65	CURRENT	0.000, 43.9,1
INTERNAL_PRESSURE	10.2737	GPS	210216,200831,4739.311,-12219.017,38,0.9,38,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	459	440	5388.94	nil	0	0	0.00
Pitch_motor	21	66	38.23	nil	0	0	0.00
Roll_motor	249	111	739.19	nil	0	0	0.00
Iridium	481	108	1398.32	nil	0	0	0.00
Transponder_ping	1	420	11.19	nil	0	0	0.00
GPS	7	11	0.93	nil	0	0	0.00
Core	5467	163	9899.70	SciCon	18043	4	865.27
LPSleep	13441	2	325.56	nil	0	0	0.00
Compass	4003	4	180.64	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
4.94	2	-146.63	-0.91	0.00	479.2	459.8	498.7	448.1	2031.4	0.00	0.00	0	36.59	30.80	0.00	0.00	0.000	0.000	0.000	1335.94	1424.31	1247.56	448.06	2031.50	0	0	0	26.49	30.00	30.00
36.86	263	-146.63	-0.91	40.00	1335.8	1424.2	1247.4	447.9	2031.4	3.50	-10.01	3	134.28	81.26	7.09	3.35	0.000	0.066	0.041	3196.19	3282.56	3109.81	2556.00	3441.88	0	0	0	26.50	27.52	26.55
400.86	1156	-146.63	-0.86	0.00	3196.2	3283.2	3109.3	2556.4	3442.2	40.05	-10.05	76	407.04	0.00	0.00	3.14	0.000	0.000	0.024	3196.91	3283.19	3110.62	2554.62	2015.69	0	0	0	30.00	30.00	27.88
586.37	421	-146.63	-0.80	40.00	3196.1	3282.2	3110.1	2556.1	2016.4	58.44	-9.87	95	592.14	0.00	0.14	3.37	0.000	0.056	0.039	3196.41	3282.25	3110.56	2590.62	3442.81	0	0	0	30.00	28.10	27.74
861.07	1188	-146.63	-0.75	0.00	3197.0	3283.6	3110.5	2590.6	3442.0	85.43	-9.91	150	867.10	0.00	0.00	3.14	0.000	0.000	0.025	3197.50	3284.25	3110.75	2591.00	2016.12	0	0	0	30.00	30.00	27.97
1046.16	389	-146.63	-0.69	40.00	3196.7	3282.9	3110.4	2590.2	2016.2	104.04	-10.02	169	1051.75	0.00	0.14	3.38	0.000	0.057	0.039	3197.59	3284.06	3111.12	2628.56	3444.00	0	0	0	30.00	28.19	27.77
1320.68	1156	-146.63	-0.64	0.00	3195.9	3282.0	3109.8	2627.9	3444.5	131.36	-10.14	224	1327.04	0.00	0.00	3.13	0.000	0.000	0.025	3198.22	3283.94	3112.50	2627.69	2014.38	0	0	0	30.00	30.00	28.02
1506.02	421	-146.63	-0.59	40.00	3196.2	3282.9	3109.5	2628.4	2014.6	149.96	-9.85	243	1511.77	0.00	0.13	3.38	0.000	0.055	0.039	3196.03	3281.81	3110.25	2658.62	3445.75	0	0	0	30.00	28.29	27.79
1780.53	1188	-146.63	-0.53	0.00	3196.4	3283.1	3109.7	2659.2	3445.5	177.19	-9.52	298	1787.04	0.00	0.00	3.15	0.000	0.000	0.025	3197.78	3284.06	3111.50	2656.25	2014.69	0	0	0	30.00	30.00	28.04
1966.00	389	-146.63	-0.48	40.00	3196.1	3282.0	3110.2	2659.2	2016.7	195.82	-10.11	317	1971.75	0.00	0.14	3.37	0.000	0.058	0.039	3197.53	3283.31	3111.75	2694.25	3444.00	0	0	0	30.00	28.31	27.79
2240.76	1188	-146.63	-0.43	0.00	3195.9	3282.6	3109.2	2694.5	3443.9	223.46	-9.96	372	2247.04	0.00	0.00	3.15	0.000	0.000	0.025	3197.28	3283.50	3111.06	2692.38	2014.44	0	0	0	30.00	30.00	28.06
2426.03	389	-146.63	-0.37	40.00	3196.2	3282.2	3110.2	2694.3	2014.8	242.21	-10.12	391	2431.75	0.00	0.13	3.35	0.000	0.057	0.039	3196.25	3282.94	3109.56	2726.12	3443.06	0	0	0	30.00	28.36	27.80
2700.71	1188	-146.63	-0.32	0.00	3196.7	3283.0	3110.4	2727.4	3443.0	269.57	-9.82	446	2706.67	0.00	0.00	3.13	0.000	0.000	0.025	3196.16	3282.62	3109.69	2726.06	2014.19	0	0	0	30.00	30.00	28.07
2885.64	389	-146.63	-0.27	40.00	3196.1	3282.4	3109.8	2727.8	2014.8	287.95	-10.10	465	2892.14	0.00	0.14	3.38	0.000	0.058	0.040	3196.56	3283.38	3109.75	2763.69	3442.56	0	0	0	30.00	28.36	27.80
3160.92	1156	-146.63	-0.21	0.00	3196.8	3283.1	3110.5	2762.8	3442.1	315.26	-10.01	520	3167.04	0.00	0.00	3.12	0.000	0.000	0.025	3196.94	3282.38	3111.50	2763.06	2014.94	0	0	0	30.00	30.00	28.08
3346.01	389	-146.63	-0.16	40.00	3196.7	3282.7	3110.6	2760.9	2015.1	333.93	-10.37	539	3352.14	0.00	0.14	3.37	0.000	0.057	0.040	3197.59	3283.62	3111.56	2796.88	3442.88	0	0	0	30.00	28.40	27.79
3621.12	1188	-146.63	-0.11	0.00	3195.7	3281.8	3109.5	2796.4	3442.4	361.34	-9.95	594	3627.05	0.00	0.00	3.12	0.000	0.000	0.025	3196.69	3282.31	3111.06	2798.06	2015.00	0	0	0	30.00	30.00	28.08
3806.02	421	-146.63	-0.05	40.00	3196.7	3282.6	3110.7	2796.5	2014.5	379.64	-9.53	613	3812.14	0.00	0.14	3.38	0.000	0.057	0.040	3196.16	3282.19	3110.12	2828.88	3441.44	0	0	0	30.00	28.41	27.79
4081.11	1188	-146.63	0.00	0.00	3196.4	3282.8	3110.0	2828.9	3442.5	407.04	-9.86	668	4087.06	0.00	0.00	3.14	0.000	0.000	0.025	3196.59	3282.75	3110.44	2829.19	2016.62	0	0	0	30.00	30.00	28.08
4266.32	389	-146.63	0.05	40.00	3195.5	3281.7	3109.4	2828.9	2016.6	425.78	-10.24	687	4272.14	0.00	0.14	3.37	0.000	0.058	0.040	3197.09	3283.56	3110.62	2863.88	3441.50	0	0	0	30.00	28.39	27.78
4541.00	1188	-146.63	0.11	0.00	3196.5	3282.6	3110.4	2863.1	3441.9	453.09	-9.80	742	4547.04	0.00	0.00	3.13	0.000	0.000	0.025	3197.00	3282.44	3111.56	2863.69	2016.25	0	0	0	30.00	30.00	28.07
4726.02	389	-146.63	0.16	40.00	3196.3	3282.2	3110.5	2862.0	2015.6	471.72	-10.01	761	4731.89	0.00	0.14	3.38	0.000	0.059	0.040	3196.12	3282.88	3109.38	2899.38	3445.25	0	0	0	30.00	28.39	27.77
5000.66	1156	-146.63	0.22	0.00	3196.2	3282.2	3110.1	2899.2	3445.1	499.02	-10.03	816	5007.14	0.00	0.00	3.12	0.000	0.000	0.025	3196.72	3283.38	3110.06	2898.88	2016.25	0	0	0	30.00	30.00	28.07
5185.47	421	-146.63	0.27	40.00	3196.6	3282.7	3110.5	2900.2	2016.7	517.36	-9.56	835	5192.14	0.00	0.14	3.38	0.000	0.056	0.040	3196.44	3282.50	3110.38	2933.38	3443.38	0	0	0	30.00	28.42	27.77
5460.98	1156	-146.63	0.32	0.00	3196.1	3282.6	3109.6	2933.1	3443.2	544.83	-10.10	890	5467.06	0.00	0.00	3.13	0.000	0.000	0.025	3197.00	3283.00	3111.00	2930.69	2014.38	0	0	0	30.00	30.00	28.07
5646.03	421	-146.63	0.38	40.00	3195.8	3281.8	3109.7	2933.6	2014.7	562.98	-9.56	909	5652.14	0.00	0.14	3.37	0.000	0.058	0.040	3197.62	3283.69	3111.56	2968.38	3441.00	0	0	0	30.00	28.42	27.77
5920.90	1188	-146.63	0.43	0.00	3196.0	3282.1	3110.0	2968.2	3441.3	590.46	-9.85	964	5927.04	0.00	0.00	3.12	0.000	0.000	0.025	3196.06	3282.56	3109.56	2968.62	2016.62	0	0	0	30.00	30.00	28.07
6106.10	389	-146.63	0.48	40.00	3195.9	3282.2	3109.6	2968.4	2016.4	609.04	-10.03	983	6112.14	0.00	0.14	3.38	0.000	0.058	0.040	3197.50	3283.88	3111.12	3002.31	3443.25	0	0	0	30.00	28.41	27.76
6381.22	1188	-146.63	0.54	0.00	3196.6	3282.8	3110.5	3002.8	3443.3	636.64	-9.72	1038	6387.04	0.00	0.00	3.14	0.000	0.000	0.025	3196.72	3282.44	3111.00	3003.44	2016.31	0	0	0	30.00	30.00	28.07
6566.41	421	-146.63	0.59	40.00	3195.8	3282.2	3109.3	3002.6	2016.6	655.62	-9.99	1057	6572.14	0.00	0.14	3.38	0.000	0.057	0.039	3195.88	3282.25	3109.50	3035.88	3443.81	0	0	0	30.00	28.42	27.76
6841.42	1188	-146.63	0.64	0.00	3195.6	3281.9	3109.3	3036.0	3443.1	682.68	-9.72	1112	6846.67	0.00	0.00	3.12	0.000	0.000	0.025	3196.09	3281.75	3110.44	3035.88	2015.62	0	0	0	30.00	30.00	28.07
7026.03	421	-146.63	0.70	40.00	3195.9	3281.7	3110.2	3036.0	2015.4	700.92	-9.92	1131	7031.75	0.00	0.14	3.38	0.000	0.059	0.040	3196.47	3282.94	3110.00	3068.94	3442.88	0	0	0	30.00	28.41	27.75
7301.00	1188	-146.63	0.75	0.00	3195.7	3281.8	3109.7	3068.4	3441.9	728.29	-9.95	1186	7306.66	0.00	0.00	3.12	0.000	0.000	0.025	3195.69	3282.00	3109.38	3068.94	2016.62	0	0	0	30.00	30.00	28.06
7486.04	389	-146.63	0.80	40.00	3196.1	3282.9	3109.3	3068.6	2016.7	746.58	-10.17	1205	7491.76	0.00	0.14	3.38	0.000	0.060	0.040	3196.03	3282.69	3109.38	3107.56	3443.06	0	0	0	30.00	28.40	27.75
7761.09	1156	-146.63	0.86	0.00	3196.2	3282.1	3110.2	3105.9	3443.6	774.32	-10.27	1260	7767.05	0.00	0.00	3.14	0.000	0.000	0.025	3196.03	3282.25	3109.81	3105.44	2014.25	0	0	0	30.00	30.00	28.05
7946.01	389	-146.63	0.91	40.00	3195.8	3282.0	3109.6	3107.2	2015.1	792.94	-10.00	1279	7951.76	0.00	0.12	3.38	0.000	0.057	0.040	3196.78	3282.75	3110.81	3136.44	3444.62	0	0	0	30.00	28.45	27.74
8220.62	1188	-146.63	0.97	0.00	3196.5	3282.7	3110.4	3136.8	3445.6	820.20	-9.85	1334	8227.27	0.00	0.00	3.14	0.000	0.000	0.025	3196.06	3282.50	3109.62	3137.00	2013.31	0	0	0	30.00	30.00	28.06
8405.35	421	-146.63	1.02	40.00	3196.5	3282.6	3110.3	3136.3	2013.3	838.35	-9.91	1353	8412.14	0.00	0.14	3.39	0.000	0.062	0.040	3197.28	3283.12	3111.44	3171.31	3443.12	0	0	0	30.00	28.40	27.74
8681.12	1156	-146.63	1.07	0.00	3196.0	3282.8	3109.2	3171.7	3443.2	865.85	-10.09	1408	8687.05	0.00	0.00	3.12	0.000	0.000	0.025	3196.81	3282.31	3111.31	3172.88	2015.38	0	0	0	30.00	30.00	28.06
8866.03	389	-146.63	1.13	40.00	3196.3	3282.5	3110.1	3172.6	2014.9	884.27	-10.15	1427	8871.90	0.00	0.14	3.38	0.000	0.061	0.040	3197.06	3282.69	3111.44	3208.69	3442.38	0	0	0	30.00	28.40	27.73
9031	end dive: BOTTOM_OBSTACLE_DETECTED
state	9031	begin apogee
9036.48	3	0.00	-0.20	0.00	3196.2	3282.4	3110.1	3208.7	2014.6	900.24	10.19	1459	9150.54	107.99	1.70	0.04	0.441	0.041	0.111	2601.12	2656.69	2545.56	2779.38	2028.44	0	0	0	22.73	27.84	27.11
9151	end apogee: CONTROL_FINISHED_OK
state	9151	begin climb
9151.03	519	146.63	0.91	-40.00	2589.2	2646.2	2532.2	2779.6	2028.2	887.85	0.00	1471	9272.86	112.86	1.57	3.26	0.414	0.058	0.022	1993.31	2046.56	1940.06	3140.06	603.88	0	0	0	24.03	27.42	26.73
9539.81	1158	146.63	0.86	0.00	1981.2	2041.1	1921.2	3140.0	603.8	849.15	10.03	1549	9545.82	0.00	0.00	3.20	0.000	0.000	0.024	1982.00	2041.19	1922.81	3139.88	2028.56	0	0	0	30.00	30.00	27.65
9730.30	647	146.63	0.80	-40.00	1980.6	2040.2	1920.9	3140.1	2028.6	829.92	10.13	1569	9735.86	0.00	0.13	3.15	0.000	0.049	0.022	1983.00	2042.88	1923.12	3102.50	603.88	0	0	0	30.00	27.97	27.81
10005.13	1190	147.19	0.75	0.00	1980.4	2040.6	1920.2	3102.6	604.1	802.17	9.97	1624	10010.43	0.00	0.00	3.17	0.000	0.000	0.024	1980.56	2040.69	1920.44	3101.12	2027.75	0	0	0	30.00	30.00	27.86
10190.45	646	147.19	0.70	-40.00	1980.1	2040.1	1920.1	3101.9	2027.8	783.63	10.10	1643	10195.41	0.00	0.00	3.13	0.000	0.000	0.022	1981.00	2041.00	1921.00	3101.19	605.00	0	0	0	30.00	30.00	27.95
10465.01	1191	148.35	0.64	0.00	1979.6	2039.1	1920.1	3102.2	605.2	756.28	9.95	1698	10470.88	0.00	0.19	3.16	0.000	0.048	0.025	1979.25	2039.00	1919.50	3050.06	2027.88	0	0	0	30.00	27.82	27.93
10649.91	646	148.35	0.59	-40.00	1979.3	2038.8	1919.8	3050.1	2027.9	737.36	10.09	1717	10655.80	0.00	0.00	3.12	0.000	0.000	0.022	1981.00	2039.75	1922.25	3048.50	602.62	0	0	0	30.00	30.00	28.01
10924.70	1158	148.35	0.54	0.00	1979.2	2038.8	1919.8	3049.2	603.1	709.91	10.33	1772	10930.70	0.00	0.00	3.14	0.000	0.000	0.024	1980.31	2039.12	1921.50	3049.50	2030.25	0	0	0	30.00	30.00	27.98
11109.71	647	148.35	0.48	-40.00	1979.3	2038.6	1920.1	3049.6	2029.7	691.33	10.19	1791	11115.86	0.00	0.17	3.12	0.000	0.050	0.022	1979.25	2038.44	1920.06	2999.06	602.44	0	0	0	30.00	28.24	28.04
11385.20	1190	149.99	0.43	0.00	1979.1	2038.4	1919.8	2997.9	602.4	663.63	9.92	1846	11390.42	0.00	0.00	3.17	0.000	0.000	0.025	1980.38	2039.69	1921.06	2998.81	2031.88	0	0	0	30.00	30.00	27.99
11569.40	646	149.99	0.38	-40.00	1979.2	2038.7	1919.6	2998.1	2031.8	644.87	10.31	1865	11575.80	0.00	0.00	3.12	0.000	0.000	0.022	1979.50	2039.06	1919.94	2999.19	601.00	0	0	0	30.00	30.00	28.06
11845.42	1189	151.70	0.33	0.00	1979.4	2038.6	1920.1	2998.9	601.2	617.11	9.92	1920	11850.87	0.00	0.17	3.15	0.000	0.046	0.025	1980.34	2039.62	1921.06	2947.94	2029.62	0	0	0	30.00	27.88	28.00
12030.12	678	154.50	0.28	-40.00	1978.4	2036.9	1919.9	2946.7	2030.0	598.74	9.87	1939	12035.85	0.86	0.00	3.11	0.194	0.000	0.022	1965.56	2023.06	1908.06	2947.75	605.19	0	0	0	25.31	30.00	27.48
12304.92	1188	156.09	0.22	0.00	1966.6	2022.6	1910.6	2947.4	605.0	571.29	9.93	1994	12310.82	0.00	0.00	3.15	0.000	0.000	0.025	1966.66	2022.88	1910.44	2947.06	2029.94	0	0	0	30.00	30.00	28.02
12489.86	645	156.09	0.17	-40.00	1966.2	2022.6	1909.8	2947.5	2029.7	552.28	10.65	2013	12495.86	0.00	0.17	3.11	0.000	0.049	0.022	1967.88	2024.12	1911.62	2898.75	603.69	0	0	0	30.00	28.37	28.08
12764.97	1190	164.75	0.13	0.00	1966.8	2023.2	1910.4	2896.9	603.8	525.03	9.60	2068	12775.32	3.95	0.00	3.15	0.291	0.000	0.024	1925.44	1982.31	1868.56	2897.31	2028.50	0	0	0	23.77	30.00	28.02
12959.49	676	164.77	0.07	-40.00	1924.3	1980.1	1868.5	2899.1	2028.2	505.73	10.00	2089	12965.39	0.00	0.00	3.10	0.000	0.000	0.022	1924.88	1980.44	1869.31	2896.44	602.56	0	0	0	30.00	30.00	28.21
13234.97	1191	168.91	0.03	0.00	1924.7	1980.4	1868.9	2898.1	602.5	478.20	9.81	2144	13241.97	1.59	0.16	3.14	0.158	0.047	0.025	1907.50	1963.12	1851.88	2852.06	2027.31	0	0	0	25.25	28.00	28.11
13424.79	676	169.36	-0.03	-40.00	1908.3	1961.8	1854.8	2853.1	2027.5	459.53	9.98	2164	13430.72	0.00	0.00	3.10	0.000	0.000	0.022	1908.91	1962.19	1855.62	2849.38	603.62	0	0	0	30.00	30.00	28.19
13700.17	1190	179.03	-0.07	0.00	1908.0	1961.9	1854.1	2852.7	603.8	432.24	9.56	2219	13710.33	3.91	0.00	3.13	0.293	0.000	0.024	1865.53	1920.62	1810.44	2851.81	2029.81	0	0	0	24.01	30.00	28.12
13895.11	645	179.03	-0.12	-40.00	1866.3	1920.4	1812.3	2852.6	2030.1	412.31	10.19	2240	13900.86	0.00	0.16	3.11	0.000	0.050	0.022	1868.31	1922.19	1814.44	2806.44	603.75	0	0	0	30.00	28.42	28.27
14170.31	1188	179.19	-0.18	0.00	1865.7	1919.6	1811.8	2807.0	603.9	384.70	9.99	2295	14175.81	0.00	0.00	3.14	0.000	0.000	0.024	1867.53	1921.69	1813.38	2806.00	2030.25	0	0	0	30.00	30.00	28.18
14354.79	644	179.19	-0.23	-40.00	1866.1	1920.3	1811.9	2805.9	2030.0	366.27	10.09	2314	14360.78	0.00	0.00	3.09	0.000	0.000	0.022	1866.41	1920.38	1812.44	2804.62	601.00	0	0	0	30.00	30.00	28.21
14629.81	1191	189.03	-0.27	0.00	1865.8	1919.8	1811.8	2805.9	600.9	338.81	9.55	2369	14640.39	3.70	0.17	3.14	0.271	0.048	0.025	1825.78	1882.69	1768.88	2754.38	2028.12	0	0	0	24.33	28.02	28.13
14824.95	678	192.67	-0.32	-40.00	1824.9	1881.4	1768.4	2756.6	2027.4	319.10	9.83	2390	14830.47	1.38	0.00	3.09	0.165	0.000	0.022	1811.50	1869.31	1753.69	2756.31	603.75	0	0	0	25.57	30.00	27.96
15100.76	1190	197.21	-0.37	0.00	1811.0	1867.1	1754.9	2756.8	604.0	291.37	9.79	2445	15107.51	1.71	0.00	3.13	0.153	0.000	0.024	1794.75	1852.50	1737.00	2755.06	2029.44	0	0	0	25.42	30.00	28.21
15290.31	645	197.21	-0.42	-40.00	1793.7	1849.3	1738.0	2755.7	2029.2	272.25	10.14	2465	15295.86	0.00	0.15	3.11	0.000	0.051	0.022	1794.81	1850.44	1739.19	2710.38	603.94	0	0	0	30.00	28.44	28.26
15564.79	1188	199.10	-0.47	0.00	1793.9	1849.5	1738.3	2710.8	603.9	245.14	9.91	2520	15570.82	0.00	0.00	3.13	0.000	0.000	0.024	1793.62	1849.06	1738.19	2710.06	2029.12	0	0	0	30.00	30.00	28.18
15749.50	676	199.44	-0.53	-40.00	1793.7	1849.1	1738.3	2709.9	2029.6	226.44	9.98	2539	15755.78	0.00	0.00	3.10	0.000	0.000	0.022	1794.41	1849.81	1739.00	2709.81	603.81	0	0	0	30.00	30.00	28.21
16024.79	1191	202.27	-0.58	0.00	1793.4	1849.2	1737.6	2710.6	603.6	199.08	9.87	2594	16031.97	1.98	0.17	3.13	0.149	0.048	0.024	1771.88	1830.81	1712.94	2659.00	2027.25	0	0	0	25.03	28.02	28.14
16214.83	676	204.03	-0.63	-40.00	1772.4	1828.7	1716.2	2659.2	2026.7	180.01	9.92	2614	16220.39	0.00	0.00	3.08	0.000	0.000	0.022	1773.66	1829.81	1717.50	2657.75	604.00	0	0	0	30.00	30.00	28.23
16490.58	1156	204.03	-0.68	0.00	1772.6	1829.0	1716.2	2659.6	603.9	152.40	10.22	2669	16495.43	0.00	0.00	3.14	0.000	0.000	0.024	1773.19	1829.69	1716.69	2657.56	2029.69	0	0	0	30.00	30.00	28.15
16674.80	645	204.03	-0.73	-40.00	1772.6	1829.0	1716.2	2659.2	2029.5	133.80	10.10	2688	16680.46	0.00	0.17	3.10	0.000	0.050	0.022	1773.88	1830.00	1717.75	2611.56	605.00	0	0	0	30.00	28.42	28.19
16949.82	1156	204.03	-0.79	0.00	1772.9	1829.3	1716.4	2610.3	605.0	106.39	10.00	2743	16955.81	0.00	0.00	3.13	0.000	0.000	0.024	1773.88	1830.44	1717.31	2610.88	2030.50	0	0	0	30.00	30.00	28.12
17135.13	678	208.03	-0.84	-40.00	1772.8	1829.3	1716.2	2610.4	2029.4	87.78	9.82	2762	17141.51	2.23	0.00	3.10	0.144	0.000	0.022	1747.28	1806.12	1688.44	2610.06	604.00	0	0	0	25.38	30.00	27.90
17409.68	1157	208.03	-0.89	0.00	1749.0	1805.7	1692.4	2609.8	603.8	60.33	10.03	2817	17415.86	0.00	0.17	3.14	0.000	0.048	0.025	1750.19	1806.75	1693.62	2559.25	2027.69	0	0	0	30.00	28.01	28.14
17599.63	644	208.03	-0.94	-40.00	1749.1	1805.8	1692.3	2558.9	2027.3	41.13	10.40	2837	17605.39	0.00	0.00	3.10	0.000	0.000	0.022	1749.81	1806.19	1693.44	2557.44	603.81	0	0	0	30.00	30.00	28.18
17874.97	1190	217.90	-0.98	0.00	1748.8	1805.8	1691.9	2559.6	604.1	13.70	9.55	2892	17885.34	3.76	0.00	3.14	0.131	0.000	0.024	1710.22	1770.31	1650.12	2557.69	2029.25	0	0	0	24.99	30.00	28.11
17999	end climb: SURFACE_DEPTH_REACHED
state	17999	begin surface coast
18019	end surface coast: CONTROL_FINISHED_OK
state	18019	begin surface