Glider dive log

Deck Feb16 * SG185 * Dive index * Mission links * Dive 110 * 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 110 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 30.582338 SEABIRD_T_G 0.0043319771

APOGEE_PITCH -5 PITCH_MAX 3300 FG_AHR_24V 21.016573 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 30.582338 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_24V 21.016573 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 110 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 210216,200831,4739.311,-12219.017,38,0.9,38,15.9 TGT_LATLONG 4743.500,-12225.000

_CALLS 5 TGT_RADIUS 100.000

_SM_DEPTHo 0.05 KALMAN_CONTROL 0.000,0.000

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

GPS2 210216,201922,4739.311,-12219.017,3,0.8,7,15.9 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 -0.0,0.998437 _24V_AH 26.67,8.183

SM_CCo 18525.48,0.47,0.031,0,499.0,476.5,521.4,515.38 _10V_AH 11.06,22.952

SM_GC 0.05,0.47,6.70,3.13,0.031,0.047,0.024,499.0,476.5,521.4,447.4,2030.4,0,0,0,27.07,27.90,28.09 FG_AHR_24Vo 21.075

SUPER 51,126,254,1,0,0 FG_AHR_10Vo 30.664

IRIDIUM_FIX 4719.74,-12221.66,210216,201640 MEM 1135368,43,45460,53

TCM_TEMP 22.50 DATA_FILE_SIZE 104892,2973

XPDR_PINGS 1 CAP_FILE_SIZE 537270,0

ALTIM_BOTTOM_PING 920.4,4.0 SDSIZE 4028416,3993824

SC_FREEKB 3985408 ERRORS 0,0,0,0,0,0,0,0

HUMID 48.77 CURRENT 0.000,218.9,1

TEMP 18.70 GPS 220216,012903,4739.310,-12219.018,36,0.8,37,15.9

INTERNAL_PRESSURE 10.276

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 456 435 5303.25 nil 0 0 0.00

Pitch_motor 21 66 38.16 nil 0 0 0.00

Roll_motor 255 108 740.76 nil 0 0 0.00

Iridium 297 51 405.13 nil 0 0 0.00

Transponder_ping 1 420 14.00 nil 0 0 0.00

GPS 8 11 1.05 nil 0 0 0.00

Core 5393 163 9765.71 SciCon 18421 4 873.42

LPSleep 13727 2 332.49 nil 0 0 0.00

Compass 4090 4 184.60 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 4 30 1.33

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

5.04 2 -146.63 -0.91 0.00 498.0 478.2 517.8 446.7 2030.8 0.00 0.00 0 36.69 30.86 0.00 0.00 0.000 0.000 0.000 1366.12 1456.94 1275.31 446.50 2030.81 0 0 0 26.45 30.00 30.00

36.96 263 -146.63 -0.91 40.00 1365.9 1456.8 1275.1 446.5 2030.4 3.41 -10.09 3 130.95 79.22 7.03 3.31 0.000 0.066 0.041 3195.69 3282.81 3108.56 2560.31 3444.06 0 0 0 26.64 27.71 26.74

397.84 1156 -146.63 -0.86 0.00 3195.6 3282.2 3109.0 2557.2 3443.8 39.63 -10.27 75 403.77 0.00 0.00 3.13 0.000 0.000 0.024 3197.34 3283.75 3110.94 2559.69 2016.56 0 0 0 30.00 30.00 28.07

582.74 389 -146.63 -0.80 40.00 3196.3 3282.8 3109.9 2558.6 2017.3 58.10 -10.02 94 588.79 0.00 0.14 3.35 0.000 0.054 0.039 3197.28 3283.12 3111.44 2593.38 3443.56 0 0 0 30.00 28.27 27.89

857.58 1188 -146.63 -0.75 0.00 3195.7 3282.5 3108.9 2591.9 3444.5 85.29 -9.96 149 863.32 0.00 0.00 3.13 0.000 0.000 0.025 3196.12 3283.25 3109.00 2591.81 2014.38 0 0 0 30.00 30.00 28.09

1042.69 421 -146.63 -0.69 40.00 3195.7 3282.7 3108.8 2589.6 2015.2 103.68 -9.96 168 1048.42 0.00 0.14 3.36 0.000 0.056 0.039 3195.56 3281.75 3109.38 2624.81 3442.69 0 0 0 30.00 28.31 27.88

1317.33 1156 -146.63 -0.64 0.00 3195.8 3281.9 3109.6 2624.8 3442.4 131.19 -10.14 223 1323.77 0.00 0.00 3.13 0.000 0.000 0.025 3196.28 3282.25 3110.31 2624.56 2015.31 0 0 0 30.00 30.00 28.11

1502.80 389 -146.63 -0.59 40.00 3196.2 3282.6 3109.8 2625.1 2015.2 149.73 -10.05 242 1508.41 0.00 0.14 3.36 0.000 0.056 0.039 3196.19 3282.44 3109.94 2662.31 1151.69 0 0 0 30.00 28.34 27.87

1777.25 1156 -146.63 -0.53 0.00 3195.7 3282.6 3108.8 2659.5 3443.0 177.14 -10.03 297 1783.72 0.00 0.00 3.11 0.000 0.000 0.025 3195.66 3282.31 3109.00 2659.19 2015.31 0 0 0 30.00 30.00 28.12

1962.70 421 -146.63 -0.48 40.00 3196.0 3282.5 3109.6 2659.2 2014.7 195.23 -9.87 316 1968.43 0.00 0.14 3.36 0.000 0.057 0.039 3197.03 3283.56 3110.50 2692.94 3443.25 0 0 0 30.00 28.38 27.86

2237.30 1188 -146.63 -0.43 0.00 3195.4 3281.8 3109.0 2693.7 3443.6 222.69 -9.73 371 2243.72 0.00 0.00 3.14 0.000 0.000 0.025 3196.56 3283.12 3110.00 2692.00 2015.12 0 0 0 30.00 30.00 28.12

2422.71 389 -146.63 -0.37 40.00 3195.9 3282.2 3109.7 2693.5 2014.9 241.49 -10.04 390 2428.42 0.00 0.14 3.37 0.000 0.057 0.039 3196.97 3283.75 3110.19 2729.31 3443.12 0 0 0 30.00 28.40 27.86

2697.31 1156 -146.63 -0.32 0.00 3196.1 3282.8 3109.3 2728.8 3443.6 269.19 -10.18 445 2703.72 0.00 0.00 3.13 0.000 0.000 0.025 3195.94 3283.00 3108.88 2729.62 2015.81 0 0 0 30.00 30.00 28.12

2882.69 389 -146.63 -0.27 40.00 3195.7 3282.1 3109.2 2729.2 2015.2 287.77 -10.03 464 2888.80 0.00 0.14 3.37 0.000 0.057 0.040 3195.22 3281.38 3109.06 2764.88 3441.88 0 0 0 30.00 28.40 27.85

3157.64 1156 -146.63 -0.21 0.00 3196.1 3283.1 3109.1 2761.2 3440.8 315.13 -10.39 519 3163.72 0.00 0.00 3.13 0.000 0.000 0.025 3196.41 3283.12 3109.69 2762.69 2015.31 0 0 0 30.00 30.00 28.12

3342.72 421 -146.63 -0.16 40.00 3195.9 3282.8 3109.0 2762.8 2014.9 333.68 -9.97 538 3348.81 0.00 0.14 3.38 0.000 0.057 0.039 3196.16 3283.00 3109.31 2797.12 3443.62 0 0 0 30.00 28.42 27.84

3617.74 1156 -146.63 -0.11 0.00 3195.9 3282.9 3108.8 2797.3 3444.9 361.20 -10.09 593 3623.72 0.00 0.00 3.13 0.000 0.000 0.025 3195.25 3282.12 3108.38 2796.88 2014.75 0 0 0 30.00 30.00 28.12

3803.15 421 -146.63 -0.05 40.00 3196.4 3283.1 3109.7 2797.6 2014.8 380.04 -9.92 612 3808.42 0.00 0.14 3.36 0.000 0.057 0.039 3196.97 3283.56 3110.38 2827.56 3443.50 0 0 0 30.00 28.42 27.84

4077.43 1156 -146.63 0.00 0.00 3195.7 3282.1 3109.4 2825.6 3444.1 407.45 -10.10 667 4083.33 0.00 0.00 3.12 0.000 0.000 0.025 3196.62 3283.56 3109.69 2827.75 2015.88 0 0 0 30.00 30.00 28.12

4262.64 421 -146.63 0.05 40.00 3195.4 3282.0 3108.8 2828.8 2016.5 426.43 -9.93 686 4268.49 0.00 0.14 3.36 0.000 0.060 0.040 3197.00 3283.44 3110.56 2863.44 3440.75 0 0 0 30.00 28.40 27.83

4537.12 1156 -146.63 0.11 0.00 3195.3 3281.9 3108.7 2863.9 3441.9 453.88 -10.14 741 4543.72 0.00 0.00 3.13 0.000 0.000 0.025 3196.12 3282.75 3109.50 2862.81 2014.56 0 0 0 30.00 30.00 28.11

4722.15 421 -146.63 0.16 40.00 3195.7 3282.5 3108.8 2864.7 2015.5 472.33 -9.80 760 4728.81 0.00 0.14 3.38 0.000 0.059 0.040 3195.19 3281.94 3108.44 2897.75 3442.56 0 0 0 30.00 28.42 27.81

4997.73 1156 -146.63 0.22 0.00 3195.9 3282.0 3109.8 2897.7 3442.4 499.92 -10.02 815 5003.71 0.00 0.00 3.12 0.000 0.000 0.025 3195.78 3281.81 3109.75 2899.00 2014.75 0 0 0 30.00 30.00 28.11

5182.70 421 -146.63 0.27 40.00 3195.4 3281.8 3109.1 2896.2 2015.2 518.49 -9.83 834 5188.43 0.00 0.14 3.38 0.000 0.058 0.039 3195.75 3282.00 3109.50 2930.12 3442.25 0 0 0 30.00 28.42 27.81

5457.33 1156 -146.63 0.32 0.00 3195.4 3281.1 3109.6 2932.1 3444.4 546.15 -10.14 889 5463.72 0.00 0.00 3.13 0.000 0.000 0.025 3195.47 3281.56 3109.38 2931.69 2014.94 0 0 0 30.00 30.00 28.10

5642.98 421 -146.63 0.38 40.00 3195.3 3281.2 3109.5 2931.6 2014.7 564.45 -9.99 908 5648.81 0.00 0.14 3.37 0.000 0.060 0.040 3197.34 3283.19 3111.50 2966.94 3442.00 0 0 0 30.00 28.43 27.80

5917.10 1188 -146.63 0.43 0.00 3194.8 3281.1 3108.5 2968.4 3442.9 591.78 -9.92 963 5923.71 0.00 0.00 3.13 0.000 0.000 0.025 3197.25 3283.19 3111.31 2966.81 2014.31 0 0 0 30.00 30.00 28.10

6103.04 421 -146.63 0.48 40.00 3194.3 3280.2 3108.4 2968.8 2015.4 610.47 -9.96 982 6108.42 0.00 0.14 3.38 0.000 0.057 0.040 3196.53 3282.31 3110.75 3005.50 3443.38 0 0 0 30.00 28.44 27.80

6377.40 1156 -146.63 0.54 0.00 3194.6 3280.9 3108.2 3002.9 3443.7 637.60 -10.01 1037 6383.33 0.00 0.00 3.13 0.000 0.000 0.025 3195.06 3280.50 3109.62 3002.88 2015.69 0 0 0 30.00 30.00 28.10

6562.71 389 -146.63 0.59 40.00 3195.5 3281.0 3110.0 3002.4 2015.0 656.16 -10.05 1056 6568.42 0.00 0.14 3.37 0.000 0.057 0.040 3194.53 3280.19 3108.88 3035.12 3441.69 0 0 0 30.00 28.43 27.79

6837.21 1188 -146.63 0.64 0.00 3194.9 3281.4 3108.3 3037.5 3442.3 683.68 -9.92 1111 6843.60 0.00 0.00 3.12 0.000 0.000 0.025 3196.50 3281.62 3111.38 1893.69 2015.69 0 0 0 30.00 30.00 28.10

7022.58 421 -146.63 0.70 40.00 3194.3 3280.6 3108.1 3034.9 2016.5 702.31 -9.71 1130 7028.42 0.00 0.14 3.38 0.000 0.059 0.040 3196.00 3280.69 3111.31 3068.56 3441.94 0 0 0 30.00 28.41 27.79

7297.46 1188 -146.63 0.75 0.00 3194.5 3280.6 3108.4 3069.6 3442.9 729.56 -9.97 1185 7303.72 0.00 0.00 3.13 0.000 0.000 0.025 3194.16 3280.06 3108.25 3069.44 2015.50 0 0 0 30.00 30.00 28.09

7482.71 421 -146.63 0.80 40.00 3194.4 3280.4 3108.4 3069.2 2015.4 748.15 -9.99 1204 7488.80 0.00 0.14 3.38 0.000 0.061 0.040 3197.41 3282.75 3112.06 3106.62 3443.88 0 0 0 30.00 28.42 27.78

7757.97 1188 -146.63 0.86 0.00 3195.2 3280.5 3110.0 3102.9 3443.4 775.81 -9.58 1259 7763.72 0.00 0.00 3.13 0.000 0.000 0.025 3194.78 3281.00 3108.56 3103.00 2015.12 0 0 0 30.00 30.00 28.09

7942.69 389 -146.63 0.91 40.00 3194.5 3280.2 3108.7 3103.8 2014.8 794.21 -10.17 1278 7948.81 0.00 0.14 3.38 0.000 0.061 0.040 3194.31 3279.75 3108.88 3140.12 3441.75 0 0 0 30.00 28.42 27.78

8217.98 1156 -146.63 0.97 0.00 3194.8 3280.8 3108.8 3138.6 3442.6 821.90 -10.06 1333 8223.72 0.00 0.00 3.13 0.000 0.000 0.025 3194.56 3280.25 3108.88 3137.62 2016.81 0 0 0 30.00 30.00 28.09

8402.78 389 -146.63 1.02 40.00 3194.2 3279.4 3108.9 3138.9 2016.5 841.06 -10.73 1352 8408.80 0.00 0.14 3.38 0.000 0.061 0.039 3194.94 3280.31 3109.56 3170.69 3443.06 0 0 0 30.00 28.42 27.78

8677.73 1156 -146.63 1.07 0.00 3194.5 3280.1 3108.9 3172.4 3444.4 868.64 -10.13 1407 8683.71 0.00 0.00 3.13 0.000 0.000 0.025 3194.72 3280.06 3109.38 3172.25 2015.31 0 0 0 30.00 30.00 28.09

8862.84 389 -146.63 1.13 40.00 3194.5 3280.2 3108.8 3171.9 2015.5 887.10 -10.07 1426 8868.92 0.00 0.14 3.38 0.000 0.062 0.040 3194.97 3280.75 3109.19 3209.25 3443.75 0 0 0 30.00 28.41 27.77

9139.65 1188 -146.63 1.18 0.00 3194.2 3280.0 3108.3 3206.9 3443.9 914.90 -9.92 1481 9145.97 0.00 0.00 3.12 0.000 0.000 0.025 3194.22 3279.75 3108.69 3209.06 2016.62 0 0 0 30.00 30.00 28.08

9199 end dive: BOTTOM_OBSTACLE_DETECTED

state 9199 begin apogee

9200.35 3 0.00 -0.20 0.00 3194.2 3279.2 3109.2 3206.1 2028.6 920.40 10.07 1487 9311.87 107.57 1.68 0.04 0.435 0.041 0.109 2599.28 2654.69 2543.88 2779.38 2012.12 0 0 0 22.66 27.86 27.16

9312 end apogee: CONTROL_FINISHED_OK

state 9312 begin climb

9312.36 519 146.63 0.91 -40.00 2589.8 2646.2 2533.5 2779.3 2012.3 909.45 0.00 1498 9434.75 113.46 1.57 3.20 0.414 0.057 0.022 1992.03 2045.81 1938.25 3139.88 603.75 0 0 0 24.10 27.43 26.76

9701.35 1188 150.75 0.86 0.00 1980.3 2039.6 1920.9 3139.8 603.9 869.95 9.81 1576 9707.52 0.00 0.00 3.20 0.000 0.000 0.024 1980.91 2040.31 1921.50 3139.19 2028.12 0 0 0 30.00 30.00 27.67

9891.93 678 160.40 0.82 -40.00 1979.7 2039.2 1920.1 3139.5 2028.6 851.11 9.56 1596 9899.64 3.12 0.00 3.13 0.191 0.000 0.023 1941.03 1998.31 1883.75 3139.81 605.38 0 0 0 24.12 30.00 27.19

10166.98 1157 160.40 0.77 0.00 1942.0 1998.1 1885.9 3139.9 605.3 823.71 10.15 1651 10172.19 0.00 0.17 3.16 0.000 0.048 0.024 1941.38 1997.38 1885.38 3086.31 2027.44 0 0 0 30.00 27.80 27.91

10357.01 644 160.40 0.71 -40.00 1941.8 1997.5 1886.2 3088.6 2027.2 804.56 10.07 1671 10362.12 0.00 0.00 3.13 0.000 0.000 0.022 1942.69 1998.75 1886.62 3087.94 605.31 0 0 0 30.00 30.00 27.97

10631.57 1188 160.82 0.66 0.00 1941.4 1997.1 1885.8 3087.5 605.1 777.18 9.98 1726 10637.52 0.00 0.00 3.16 0.000 0.000 0.024 1942.19 1998.00 1886.38 3089.38 2032.38 0 0 0 30.00 30.00 27.96

10816.91 677 163.21 0.61 -40.00 1942.1 1998.1 1886.1 3088.6 2032.2 758.85 9.89 1745 10822.57 0.00 0.17 3.13 0.000 0.050 0.022 1942.28 1997.56 1887.00 3038.44 605.31 0 0 0 30.00 28.20 28.02

11091.92 1156 163.21 0.55 0.00 1941.7 1997.7 1885.6 3038.6 605.3 731.45 10.07 1800 11097.52 0.00 0.00 3.15 0.000 0.000 0.024 1942.16 1997.06 1887.25 3038.69 2028.69 0 0 0 30.00 30.00 27.97

11276.66 644 163.21 0.50 -40.00 1941.8 1997.8 1885.8 3039.3 2029.6 712.77 10.26 1819 11282.51 0.00 0.00 3.11 0.000 0.000 0.022 1941.47 1997.31 1885.62 3036.88 603.81 0 0 0 30.00 30.00 28.05

11551.38 1157 163.21 0.45 0.00 1942.0 1997.6 1886.4 3037.2 603.8 685.37 10.03 1874 11557.20 0.00 0.19 3.14 0.000 0.048 0.025 1941.72 1997.75 1885.69 2986.62 2026.56 0 0 0 30.00 27.87 27.99

11737.03 678 164.33 0.40 -40.00 1941.8 1997.6 1885.9 2986.9 2027.7 667.03 9.95 1893 11743.22 1.32 0.00 3.11 0.165 0.000 0.022 1925.19 1982.38 1868.00 2986.88 604.00 0 0 0 25.27 30.00 27.58

12011.12 1156 164.33 0.34 0.00 1928.9 1982.8 1875.1 2987.0 603.9 639.42 10.01 1948 12017.51 0.00 0.00 3.15 0.000 0.000 0.025 1929.16 1982.44 1875.88 2988.94 2030.06 0 0 0 30.00 30.00 28.01

12201.90 679 167.53 0.29 -40.00 1928.4 1982.1 1874.8 2986.7 2029.8 620.25 9.85 1968 12208.65 1.39 0.17 3.10 0.164 0.048 0.022 1912.75 1967.31 1858.19 2938.50 603.88 0 0 0 25.05 28.35 27.72

12476.88 1156 167.53 0.24 0.00 1915.7 1968.6 1862.7 2935.9 603.9 592.59 10.01 2023 12482.51 0.00 0.00 3.15 0.000 0.000 0.024 1916.59 1969.25 1863.94 2935.75 2030.12 0 0 0 30.00 30.00 28.06

12666.89 678 170.93 0.19 -40.00 1915.4 1968.6 1862.2 2935.9 2029.8 573.39 9.84 2043 12673.60 1.59 0.00 3.11 0.156 0.000 0.022 1898.84 1952.50 1845.19 2936.19 604.12 0 0 0 25.37 30.00 27.80

12941.96 1189 172.11 0.14 0.00 1901.5 1953.8 1849.1 2936.3 603.9 545.89 9.95 2098 12947.18 0.00 0.17 3.14 0.000 0.048 0.025 1901.97 1954.12 1849.81 2889.50 2028.00 0 0 0 30.00 27.96 28.08

13131.96 644 172.11 0.08 -40.00 1901.5 1953.5 1849.5 2886.1 2027.4 526.70 10.29 2118 13137.10 0.00 0.00 3.09 0.000 0.000 0.022 1901.31 1954.00 1848.62 2889.19 603.94 0 0 0 30.00 30.00 28.13

13407.10 1156 172.11 0.03 0.00 1901.4 1953.4 1849.4 2887.4 603.8 499.07 10.19 2173 13412.53 0.00 0.00 3.15 0.000 0.000 0.024 1901.44 1953.62 1849.25 2886.06 2028.31 0 0 0 30.00 30.00 28.06

13591.92 645 172.11 -0.02 -40.00 1901.0 1953.4 1848.6 2885.9 2028.7 480.44 10.20 2192 13597.58 0.00 0.17 3.12 0.000 0.048 0.022 1900.94 1953.00 1848.88 2837.31 603.94 0 0 0 30.00 28.40 28.12

13866.29 1156 172.11 -0.08 0.00 1901.1 1953.5 1848.6 2837.6 603.9 453.14 10.05 2247 13872.52 0.00 0.00 3.14 0.000 0.000 0.024 1902.41 1953.88 1850.94 2835.56 2031.12 0 0 0 30.00 30.00 28.05

14051.94 644 172.11 -0.13 -40.00 1901.5 1953.2 1849.8 2836.0 2030.9 434.33 10.34 2266 14057.50 0.00 0.00 3.11 0.000 0.000 0.022 1901.94 1953.31 1850.56 2836.31 603.94 0 0 0 30.00 30.00 28.11

14326.58 1191 173.65 -0.18 0.00 1901.1 1953.6 1848.7 2836.6 604.2 406.53 9.93 2321 14332.65 1.21 0.17 3.13 0.169 0.047 0.024 1889.66 1942.62 1836.69 2786.50 2027.94 0 0 0 24.73 27.92 28.04

14511.97 644 173.65 -0.24 -40.00 1891.0 1943.5 1838.6 2786.8 2027.6 387.86 10.13 2340 14517.49 0.00 0.00 3.09 0.000 0.000 0.022 1893.19 1945.31 1841.06 2783.75 603.56 0 0 0 30.00 30.00 28.16

14786.43 1156 173.65 -0.29 0.00 1891.0 1943.1 1839.0 2786.2 603.6 360.33 10.00 2395 14792.52 0.00 0.00 3.14 0.000 0.000 0.024 1891.44 1943.69 1839.19 2786.81 2028.00 0 0 0 30.00 30.00 28.07

14971.52 645 173.65 -0.34 -40.00 1891.5 1943.9 1839.1 2785.8 2028.6 341.55 10.27 2414 14977.57 0.00 0.17 3.11 0.000 0.049 0.022 1890.47 1941.69 1839.25 2736.19 603.75 0 0 0 30.00 28.41 28.12

15246.86 1156 173.65 -0.40 0.00 1891.3 1943.8 1838.9 2736.4 603.8 314.10 10.46 2469 15252.52 0.00 0.00 3.14 0.000 0.000 0.024 1891.50 1943.69 1839.31 2735.62 2029.81 0 0 0 30.00 30.00 28.06

15431.86 678 176.69 -0.45 -40.00 1890.9 1943.1 1838.7 2736.1 2030.1 295.60 9.86 2488 15438.58 1.48 0.00 3.10 0.159 0.000 0.022 1873.97 1926.75 1821.19 2736.44 604.00 0 0 0 25.33 30.00 27.74

15706.85 1157 176.69 -0.50 0.00 1879.0 1930.6 1827.3 2735.8 603.8 268.25 10.08 2543 15712.57 0.00 0.18 3.14 0.000 0.047 0.024 1879.94 1931.56 1828.31 2683.69 2029.62 0 0 0 30.00 27.97 28.09

15896.33 644 176.69 -0.55 -40.00 1878.8 1930.8 1826.9 2683.5 2029.5 249.12 10.05 2563 15902.10 0.00 0.00 3.09 0.000 0.000 0.022 1879.34 1931.44 1827.25 2681.56 602.56 0 0 0 30.00 30.00 28.13

16171.77 1188 177.61 -0.61 0.00 1878.7 1930.6 1826.7 2684.0 602.7 222.04 9.96 2618 16177.53 0.00 0.00 3.14 0.000 0.000 0.024 1878.81 1930.56 1827.06 2686.44 2032.06 0 0 0 30.00 30.00 28.06

16356.99 679 180.86 -0.66 -40.00 1878.4 1930.5 1826.3 2684.4 2030.3 203.47 9.85 2637 16363.64 1.77 0.17 3.09 0.152 0.050 0.022 1857.78 1911.50 1804.06 2634.31 605.12 0 0 0 25.02 28.43 27.80

16631.57 1156 180.86 -0.71 0.00 1860.9 1912.5 1809.4 2634.6 605.1 176.54 10.01 2692 16637.51 0.00 0.00 3.13 0.000 0.000 0.024 1861.91 1913.12 1810.69 2632.31 2030.06 0 0 0 30.00 30.00 28.11

16821.35 676 182.80 -0.76 -40.00 1860.6 1912.4 1808.8 2633.7 2029.8 157.41 9.91 2712 16827.49 0.00 0.00 3.10 0.000 0.000 0.022 1860.97 1913.00 1808.94 2631.75 603.44 0 0 0 30.00 30.00 28.14

17096.48 1157 182.80 -0.81 0.00 1861.2 1913.5 1808.9 2635.2 603.7 129.83 10.19 2767 17102.58 0.00 0.17 3.14 0.000 0.048 0.024 1862.22 1913.19 1811.25 2581.75 2030.12 0 0 0 30.00 27.94 28.06

17282.09 644 182.80 -0.87 -40.00 1861.3 1913.6 1809.1 2583.2 2030.2 111.11 10.14 2786 17287.49 0.00 0.00 3.09 0.000 0.000 0.022 1861.03 1912.81 1809.25 2583.50 603.94 0 0 0 30.00 30.00 28.12

17556.54 1156 182.80 -0.92 0.00 1861.0 1912.9 1809.1 2583.1 603.8 83.67 10.13 2841 17562.54 0.00 0.00 3.14 0.000 0.000 0.024 1861.09 1912.94 1809.25 2582.12 2031.19 0 0 0 30.00 30.00 28.04

17741.86 645 182.80 -0.97 -40.00 1861.1 1913.2 1809.1 2583.5 2031.5 65.13 10.03 2860 17747.57 0.00 0.17 3.11 0.000 0.050 0.022 1861.22 1913.25 1809.19 2535.06 603.69 0 0 0 30.00 28.43 28.11

18016.18 1156 182.80 -1.03 0.00 1861.5 1913.1 1809.9 2532.5 604.1 38.01 10.03 2915 18022.14 0.00 0.00 3.13 0.000 0.000 0.024 1861.06 1913.38 1808.75 2532.56 2027.88 0 0 0 30.00 30.00 28.04

18202.15 678 186.38 -1.08 -40.00 1861.1 1913.2 1809.0 2532.4 2028.6 19.42 9.84 2934 18209.60 2.41 0.00 3.09 0.140 0.000 0.022 1835.75 1891.00 1780.50 2532.44 603.81 0 0 0 25.32 30.00 27.76

18376 end climb: SURFACE_DEPTH_REACHED

state 18376 begin surface coast

18397 end surface coast: CONTROL_FINISHED_OK

state 18397 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	110	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	30.582338	SEABIRD_T_G	0.0043319771
APOGEE_PITCH	-5	PITCH_MAX	3300	FG_AHR_24V	21.016573	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	210216,200831,4739.311,-12219.017,38,0.9,38,15.9	TGT_LATLONG	4743.500,-12225.000
_CALLS	5	TGT_RADIUS	100.000
_SM_DEPTHo	0.05	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-3.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210216,201922,4739.311,-12219.017,3,0.8,7,15.9	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	-0.0,0.998437	_24V_AH	26.67,8.183
SM_CCo	18525.48,0.47,0.031,0,499.0,476.5,521.4,515.38	_10V_AH	11.06,22.952
SM_GC	0.05,0.47,6.70,3.13,0.031,0.047,0.024,499.0,476.5,521.4,447.4,2030.4,0,0,0,27.07,27.90,28.09	FG_AHR_24Vo	21.075
SUPER	51,126,254,1,0,0	FG_AHR_10Vo	30.664
IRIDIUM_FIX	4719.74,-12221.66,210216,201640	MEM	1135368,43,45460,53
TCM_TEMP	22.50	DATA_FILE_SIZE	104892,2973
XPDR_PINGS	1	CAP_FILE_SIZE	537270,0
ALTIM_BOTTOM_PING	920.4,4.0	SDSIZE	4028416,3993824
SC_FREEKB	3985408	ERRORS	0,0,0,0,0,0,0,0
HUMID	48.77	CURRENT	0.000,218.9,1
TEMP	18.70	GPS	220216,012903,4739.310,-12219.018,36,0.8,37,15.9
INTERNAL_PRESSURE	10.276

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	456	435	5303.25	nil	0	0	0.00
Pitch_motor	21	66	38.16	nil	0	0	0.00
Roll_motor	255	108	740.76	nil	0	0	0.00
Iridium	297	51	405.13	nil	0	0	0.00
Transponder_ping	1	420	14.00	nil	0	0	0.00
GPS	8	11	1.05	nil	0	0	0.00
Core	5393	163	9765.71	SciCon	18421	4	873.42
LPSleep	13727	2	332.49	nil	0	0	0.00
Compass	4090	4	184.60	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	4	30	1.33

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
5.04	2	-146.63	-0.91	0.00	498.0	478.2	517.8	446.7	2030.8	0.00	0.00	0	36.69	30.86	0.00	0.00	0.000	0.000	0.000	1366.12	1456.94	1275.31	446.50	2030.81	0	0	0	26.45	30.00	30.00
36.96	263	-146.63	-0.91	40.00	1365.9	1456.8	1275.1	446.5	2030.4	3.41	-10.09	3	130.95	79.22	7.03	3.31	0.000	0.066	0.041	3195.69	3282.81	3108.56	2560.31	3444.06	0	0	0	26.64	27.71	26.74
397.84	1156	-146.63	-0.86	0.00	3195.6	3282.2	3109.0	2557.2	3443.8	39.63	-10.27	75	403.77	0.00	0.00	3.13	0.000	0.000	0.024	3197.34	3283.75	3110.94	2559.69	2016.56	0	0	0	30.00	30.00	28.07
582.74	389	-146.63	-0.80	40.00	3196.3	3282.8	3109.9	2558.6	2017.3	58.10	-10.02	94	588.79	0.00	0.14	3.35	0.000	0.054	0.039	3197.28	3283.12	3111.44	2593.38	3443.56	0	0	0	30.00	28.27	27.89
857.58	1188	-146.63	-0.75	0.00	3195.7	3282.5	3108.9	2591.9	3444.5	85.29	-9.96	149	863.32	0.00	0.00	3.13	0.000	0.000	0.025	3196.12	3283.25	3109.00	2591.81	2014.38	0	0	0	30.00	30.00	28.09
1042.69	421	-146.63	-0.69	40.00	3195.7	3282.7	3108.8	2589.6	2015.2	103.68	-9.96	168	1048.42	0.00	0.14	3.36	0.000	0.056	0.039	3195.56	3281.75	3109.38	2624.81	3442.69	0	0	0	30.00	28.31	27.88
1317.33	1156	-146.63	-0.64	0.00	3195.8	3281.9	3109.6	2624.8	3442.4	131.19	-10.14	223	1323.77	0.00	0.00	3.13	0.000	0.000	0.025	3196.28	3282.25	3110.31	2624.56	2015.31	0	0	0	30.00	30.00	28.11
1502.80	389	-146.63	-0.59	40.00	3196.2	3282.6	3109.8	2625.1	2015.2	149.73	-10.05	242	1508.41	0.00	0.14	3.36	0.000	0.056	0.039	3196.19	3282.44	3109.94	2662.31	1151.69	0	0	0	30.00	28.34	27.87
1777.25	1156	-146.63	-0.53	0.00	3195.7	3282.6	3108.8	2659.5	3443.0	177.14	-10.03	297	1783.72	0.00	0.00	3.11	0.000	0.000	0.025	3195.66	3282.31	3109.00	2659.19	2015.31	0	0	0	30.00	30.00	28.12
1962.70	421	-146.63	-0.48	40.00	3196.0	3282.5	3109.6	2659.2	2014.7	195.23	-9.87	316	1968.43	0.00	0.14	3.36	0.000	0.057	0.039	3197.03	3283.56	3110.50	2692.94	3443.25	0	0	0	30.00	28.38	27.86
2237.30	1188	-146.63	-0.43	0.00	3195.4	3281.8	3109.0	2693.7	3443.6	222.69	-9.73	371	2243.72	0.00	0.00	3.14	0.000	0.000	0.025	3196.56	3283.12	3110.00	2692.00	2015.12	0	0	0	30.00	30.00	28.12
2422.71	389	-146.63	-0.37	40.00	3195.9	3282.2	3109.7	2693.5	2014.9	241.49	-10.04	390	2428.42	0.00	0.14	3.37	0.000	0.057	0.039	3196.97	3283.75	3110.19	2729.31	3443.12	0	0	0	30.00	28.40	27.86
2697.31	1156	-146.63	-0.32	0.00	3196.1	3282.8	3109.3	2728.8	3443.6	269.19	-10.18	445	2703.72	0.00	0.00	3.13	0.000	0.000	0.025	3195.94	3283.00	3108.88	2729.62	2015.81	0	0	0	30.00	30.00	28.12
2882.69	389	-146.63	-0.27	40.00	3195.7	3282.1	3109.2	2729.2	2015.2	287.77	-10.03	464	2888.80	0.00	0.14	3.37	0.000	0.057	0.040	3195.22	3281.38	3109.06	2764.88	3441.88	0	0	0	30.00	28.40	27.85
3157.64	1156	-146.63	-0.21	0.00	3196.1	3283.1	3109.1	2761.2	3440.8	315.13	-10.39	519	3163.72	0.00	0.00	3.13	0.000	0.000	0.025	3196.41	3283.12	3109.69	2762.69	2015.31	0	0	0	30.00	30.00	28.12
3342.72	421	-146.63	-0.16	40.00	3195.9	3282.8	3109.0	2762.8	2014.9	333.68	-9.97	538	3348.81	0.00	0.14	3.38	0.000	0.057	0.039	3196.16	3283.00	3109.31	2797.12	3443.62	0	0	0	30.00	28.42	27.84
3617.74	1156	-146.63	-0.11	0.00	3195.9	3282.9	3108.8	2797.3	3444.9	361.20	-10.09	593	3623.72	0.00	0.00	3.13	0.000	0.000	0.025	3195.25	3282.12	3108.38	2796.88	2014.75	0	0	0	30.00	30.00	28.12
3803.15	421	-146.63	-0.05	40.00	3196.4	3283.1	3109.7	2797.6	2014.8	380.04	-9.92	612	3808.42	0.00	0.14	3.36	0.000	0.057	0.039	3196.97	3283.56	3110.38	2827.56	3443.50	0	0	0	30.00	28.42	27.84
4077.43	1156	-146.63	0.00	0.00	3195.7	3282.1	3109.4	2825.6	3444.1	407.45	-10.10	667	4083.33	0.00	0.00	3.12	0.000	0.000	0.025	3196.62	3283.56	3109.69	2827.75	2015.88	0	0	0	30.00	30.00	28.12
4262.64	421	-146.63	0.05	40.00	3195.4	3282.0	3108.8	2828.8	2016.5	426.43	-9.93	686	4268.49	0.00	0.14	3.36	0.000	0.060	0.040	3197.00	3283.44	3110.56	2863.44	3440.75	0	0	0	30.00	28.40	27.83
4537.12	1156	-146.63	0.11	0.00	3195.3	3281.9	3108.7	2863.9	3441.9	453.88	-10.14	741	4543.72	0.00	0.00	3.13	0.000	0.000	0.025	3196.12	3282.75	3109.50	2862.81	2014.56	0	0	0	30.00	30.00	28.11
4722.15	421	-146.63	0.16	40.00	3195.7	3282.5	3108.8	2864.7	2015.5	472.33	-9.80	760	4728.81	0.00	0.14	3.38	0.000	0.059	0.040	3195.19	3281.94	3108.44	2897.75	3442.56	0	0	0	30.00	28.42	27.81
4997.73	1156	-146.63	0.22	0.00	3195.9	3282.0	3109.8	2897.7	3442.4	499.92	-10.02	815	5003.71	0.00	0.00	3.12	0.000	0.000	0.025	3195.78	3281.81	3109.75	2899.00	2014.75	0	0	0	30.00	30.00	28.11
5182.70	421	-146.63	0.27	40.00	3195.4	3281.8	3109.1	2896.2	2015.2	518.49	-9.83	834	5188.43	0.00	0.14	3.38	0.000	0.058	0.039	3195.75	3282.00	3109.50	2930.12	3442.25	0	0	0	30.00	28.42	27.81
5457.33	1156	-146.63	0.32	0.00	3195.4	3281.1	3109.6	2932.1	3444.4	546.15	-10.14	889	5463.72	0.00	0.00	3.13	0.000	0.000	0.025	3195.47	3281.56	3109.38	2931.69	2014.94	0	0	0	30.00	30.00	28.10
5642.98	421	-146.63	0.38	40.00	3195.3	3281.2	3109.5	2931.6	2014.7	564.45	-9.99	908	5648.81	0.00	0.14	3.37	0.000	0.060	0.040	3197.34	3283.19	3111.50	2966.94	3442.00	0	0	0	30.00	28.43	27.80
5917.10	1188	-146.63	0.43	0.00	3194.8	3281.1	3108.5	2968.4	3442.9	591.78	-9.92	963	5923.71	0.00	0.00	3.13	0.000	0.000	0.025	3197.25	3283.19	3111.31	2966.81	2014.31	0	0	0	30.00	30.00	28.10
6103.04	421	-146.63	0.48	40.00	3194.3	3280.2	3108.4	2968.8	2015.4	610.47	-9.96	982	6108.42	0.00	0.14	3.38	0.000	0.057	0.040	3196.53	3282.31	3110.75	3005.50	3443.38	0	0	0	30.00	28.44	27.80
6377.40	1156	-146.63	0.54	0.00	3194.6	3280.9	3108.2	3002.9	3443.7	637.60	-10.01	1037	6383.33	0.00	0.00	3.13	0.000	0.000	0.025	3195.06	3280.50	3109.62	3002.88	2015.69	0	0	0	30.00	30.00	28.10
6562.71	389	-146.63	0.59	40.00	3195.5	3281.0	3110.0	3002.4	2015.0	656.16	-10.05	1056	6568.42	0.00	0.14	3.37	0.000	0.057	0.040	3194.53	3280.19	3108.88	3035.12	3441.69	0	0	0	30.00	28.43	27.79
6837.21	1188	-146.63	0.64	0.00	3194.9	3281.4	3108.3	3037.5	3442.3	683.68	-9.92	1111	6843.60	0.00	0.00	3.12	0.000	0.000	0.025	3196.50	3281.62	3111.38	1893.69	2015.69	0	0	0	30.00	30.00	28.10
7022.58	421	-146.63	0.70	40.00	3194.3	3280.6	3108.1	3034.9	2016.5	702.31	-9.71	1130	7028.42	0.00	0.14	3.38	0.000	0.059	0.040	3196.00	3280.69	3111.31	3068.56	3441.94	0	0	0	30.00	28.41	27.79
7297.46	1188	-146.63	0.75	0.00	3194.5	3280.6	3108.4	3069.6	3442.9	729.56	-9.97	1185	7303.72	0.00	0.00	3.13	0.000	0.000	0.025	3194.16	3280.06	3108.25	3069.44	2015.50	0	0	0	30.00	30.00	28.09
7482.71	421	-146.63	0.80	40.00	3194.4	3280.4	3108.4	3069.2	2015.4	748.15	-9.99	1204	7488.80	0.00	0.14	3.38	0.000	0.061	0.040	3197.41	3282.75	3112.06	3106.62	3443.88	0	0	0	30.00	28.42	27.78
7757.97	1188	-146.63	0.86	0.00	3195.2	3280.5	3110.0	3102.9	3443.4	775.81	-9.58	1259	7763.72	0.00	0.00	3.13	0.000	0.000	0.025	3194.78	3281.00	3108.56	3103.00	2015.12	0	0	0	30.00	30.00	28.09
7942.69	389	-146.63	0.91	40.00	3194.5	3280.2	3108.7	3103.8	2014.8	794.21	-10.17	1278	7948.81	0.00	0.14	3.38	0.000	0.061	0.040	3194.31	3279.75	3108.88	3140.12	3441.75	0	0	0	30.00	28.42	27.78
8217.98	1156	-146.63	0.97	0.00	3194.8	3280.8	3108.8	3138.6	3442.6	821.90	-10.06	1333	8223.72	0.00	0.00	3.13	0.000	0.000	0.025	3194.56	3280.25	3108.88	3137.62	2016.81	0	0	0	30.00	30.00	28.09
8402.78	389	-146.63	1.02	40.00	3194.2	3279.4	3108.9	3138.9	2016.5	841.06	-10.73	1352	8408.80	0.00	0.14	3.38	0.000	0.061	0.039	3194.94	3280.31	3109.56	3170.69	3443.06	0	0	0	30.00	28.42	27.78
8677.73	1156	-146.63	1.07	0.00	3194.5	3280.1	3108.9	3172.4	3444.4	868.64	-10.13	1407	8683.71	0.00	0.00	3.13	0.000	0.000	0.025	3194.72	3280.06	3109.38	3172.25	2015.31	0	0	0	30.00	30.00	28.09
8862.84	389	-146.63	1.13	40.00	3194.5	3280.2	3108.8	3171.9	2015.5	887.10	-10.07	1426	8868.92	0.00	0.14	3.38	0.000	0.062	0.040	3194.97	3280.75	3109.19	3209.25	3443.75	0	0	0	30.00	28.41	27.77
9139.65	1188	-146.63	1.18	0.00	3194.2	3280.0	3108.3	3206.9	3443.9	914.90	-9.92	1481	9145.97	0.00	0.00	3.12	0.000	0.000	0.025	3194.22	3279.75	3108.69	3209.06	2016.62	0	0	0	30.00	30.00	28.08
9199	end dive: BOTTOM_OBSTACLE_DETECTED
state	9199	begin apogee
9200.35	3	0.00	-0.20	0.00	3194.2	3279.2	3109.2	3206.1	2028.6	920.40	10.07	1487	9311.87	107.57	1.68	0.04	0.435	0.041	0.109	2599.28	2654.69	2543.88	2779.38	2012.12	0	0	0	22.66	27.86	27.16
9312	end apogee: CONTROL_FINISHED_OK
state	9312	begin climb
9312.36	519	146.63	0.91	-40.00	2589.8	2646.2	2533.5	2779.3	2012.3	909.45	0.00	1498	9434.75	113.46	1.57	3.20	0.414	0.057	0.022	1992.03	2045.81	1938.25	3139.88	603.75	0	0	0	24.10	27.43	26.76
9701.35	1188	150.75	0.86	0.00	1980.3	2039.6	1920.9	3139.8	603.9	869.95	9.81	1576	9707.52	0.00	0.00	3.20	0.000	0.000	0.024	1980.91	2040.31	1921.50	3139.19	2028.12	0	0	0	30.00	30.00	27.67
9891.93	678	160.40	0.82	-40.00	1979.7	2039.2	1920.1	3139.5	2028.6	851.11	9.56	1596	9899.64	3.12	0.00	3.13	0.191	0.000	0.023	1941.03	1998.31	1883.75	3139.81	605.38	0	0	0	24.12	30.00	27.19
10166.98	1157	160.40	0.77	0.00	1942.0	1998.1	1885.9	3139.9	605.3	823.71	10.15	1651	10172.19	0.00	0.17	3.16	0.000	0.048	0.024	1941.38	1997.38	1885.38	3086.31	2027.44	0	0	0	30.00	27.80	27.91
10357.01	644	160.40	0.71	-40.00	1941.8	1997.5	1886.2	3088.6	2027.2	804.56	10.07	1671	10362.12	0.00	0.00	3.13	0.000	0.000	0.022	1942.69	1998.75	1886.62	3087.94	605.31	0	0	0	30.00	30.00	27.97
10631.57	1188	160.82	0.66	0.00	1941.4	1997.1	1885.8	3087.5	605.1	777.18	9.98	1726	10637.52	0.00	0.00	3.16	0.000	0.000	0.024	1942.19	1998.00	1886.38	3089.38	2032.38	0	0	0	30.00	30.00	27.96
10816.91	677	163.21	0.61	-40.00	1942.1	1998.1	1886.1	3088.6	2032.2	758.85	9.89	1745	10822.57	0.00	0.17	3.13	0.000	0.050	0.022	1942.28	1997.56	1887.00	3038.44	605.31	0	0	0	30.00	28.20	28.02
11091.92	1156	163.21	0.55	0.00	1941.7	1997.7	1885.6	3038.6	605.3	731.45	10.07	1800	11097.52	0.00	0.00	3.15	0.000	0.000	0.024	1942.16	1997.06	1887.25	3038.69	2028.69	0	0	0	30.00	30.00	27.97
11276.66	644	163.21	0.50	-40.00	1941.8	1997.8	1885.8	3039.3	2029.6	712.77	10.26	1819	11282.51	0.00	0.00	3.11	0.000	0.000	0.022	1941.47	1997.31	1885.62	3036.88	603.81	0	0	0	30.00	30.00	28.05
11551.38	1157	163.21	0.45	0.00	1942.0	1997.6	1886.4	3037.2	603.8	685.37	10.03	1874	11557.20	0.00	0.19	3.14	0.000	0.048	0.025	1941.72	1997.75	1885.69	2986.62	2026.56	0	0	0	30.00	27.87	27.99
11737.03	678	164.33	0.40	-40.00	1941.8	1997.6	1885.9	2986.9	2027.7	667.03	9.95	1893	11743.22	1.32	0.00	3.11	0.165	0.000	0.022	1925.19	1982.38	1868.00	2986.88	604.00	0	0	0	25.27	30.00	27.58
12011.12	1156	164.33	0.34	0.00	1928.9	1982.8	1875.1	2987.0	603.9	639.42	10.01	1948	12017.51	0.00	0.00	3.15	0.000	0.000	0.025	1929.16	1982.44	1875.88	2988.94	2030.06	0	0	0	30.00	30.00	28.01
12201.90	679	167.53	0.29	-40.00	1928.4	1982.1	1874.8	2986.7	2029.8	620.25	9.85	1968	12208.65	1.39	0.17	3.10	0.164	0.048	0.022	1912.75	1967.31	1858.19	2938.50	603.88	0	0	0	25.05	28.35	27.72
12476.88	1156	167.53	0.24	0.00	1915.7	1968.6	1862.7	2935.9	603.9	592.59	10.01	2023	12482.51	0.00	0.00	3.15	0.000	0.000	0.024	1916.59	1969.25	1863.94	2935.75	2030.12	0	0	0	30.00	30.00	28.06
12666.89	678	170.93	0.19	-40.00	1915.4	1968.6	1862.2	2935.9	2029.8	573.39	9.84	2043	12673.60	1.59	0.00	3.11	0.156	0.000	0.022	1898.84	1952.50	1845.19	2936.19	604.12	0	0	0	25.37	30.00	27.80
12941.96	1189	172.11	0.14	0.00	1901.5	1953.8	1849.1	2936.3	603.9	545.89	9.95	2098	12947.18	0.00	0.17	3.14	0.000	0.048	0.025	1901.97	1954.12	1849.81	2889.50	2028.00	0	0	0	30.00	27.96	28.08
13131.96	644	172.11	0.08	-40.00	1901.5	1953.5	1849.5	2886.1	2027.4	526.70	10.29	2118	13137.10	0.00	0.00	3.09	0.000	0.000	0.022	1901.31	1954.00	1848.62	2889.19	603.94	0	0	0	30.00	30.00	28.13
13407.10	1156	172.11	0.03	0.00	1901.4	1953.4	1849.4	2887.4	603.8	499.07	10.19	2173	13412.53	0.00	0.00	3.15	0.000	0.000	0.024	1901.44	1953.62	1849.25	2886.06	2028.31	0	0	0	30.00	30.00	28.06
13591.92	645	172.11	-0.02	-40.00	1901.0	1953.4	1848.6	2885.9	2028.7	480.44	10.20	2192	13597.58	0.00	0.17	3.12	0.000	0.048	0.022	1900.94	1953.00	1848.88	2837.31	603.94	0	0	0	30.00	28.40	28.12
13866.29	1156	172.11	-0.08	0.00	1901.1	1953.5	1848.6	2837.6	603.9	453.14	10.05	2247	13872.52	0.00	0.00	3.14	0.000	0.000	0.024	1902.41	1953.88	1850.94	2835.56	2031.12	0	0	0	30.00	30.00	28.05
14051.94	644	172.11	-0.13	-40.00	1901.5	1953.2	1849.8	2836.0	2030.9	434.33	10.34	2266	14057.50	0.00	0.00	3.11	0.000	0.000	0.022	1901.94	1953.31	1850.56	2836.31	603.94	0	0	0	30.00	30.00	28.11
14326.58	1191	173.65	-0.18	0.00	1901.1	1953.6	1848.7	2836.6	604.2	406.53	9.93	2321	14332.65	1.21	0.17	3.13	0.169	0.047	0.024	1889.66	1942.62	1836.69	2786.50	2027.94	0	0	0	24.73	27.92	28.04
14511.97	644	173.65	-0.24	-40.00	1891.0	1943.5	1838.6	2786.8	2027.6	387.86	10.13	2340	14517.49	0.00	0.00	3.09	0.000	0.000	0.022	1893.19	1945.31	1841.06	2783.75	603.56	0	0	0	30.00	30.00	28.16
14786.43	1156	173.65	-0.29	0.00	1891.0	1943.1	1839.0	2786.2	603.6	360.33	10.00	2395	14792.52	0.00	0.00	3.14	0.000	0.000	0.024	1891.44	1943.69	1839.19	2786.81	2028.00	0	0	0	30.00	30.00	28.07
14971.52	645	173.65	-0.34	-40.00	1891.5	1943.9	1839.1	2785.8	2028.6	341.55	10.27	2414	14977.57	0.00	0.17	3.11	0.000	0.049	0.022	1890.47	1941.69	1839.25	2736.19	603.75	0	0	0	30.00	28.41	28.12
15246.86	1156	173.65	-0.40	0.00	1891.3	1943.8	1838.9	2736.4	603.8	314.10	10.46	2469	15252.52	0.00	0.00	3.14	0.000	0.000	0.024	1891.50	1943.69	1839.31	2735.62	2029.81	0	0	0	30.00	30.00	28.06
15431.86	678	176.69	-0.45	-40.00	1890.9	1943.1	1838.7	2736.1	2030.1	295.60	9.86	2488	15438.58	1.48	0.00	3.10	0.159	0.000	0.022	1873.97	1926.75	1821.19	2736.44	604.00	0	0	0	25.33	30.00	27.74
15706.85	1157	176.69	-0.50	0.00	1879.0	1930.6	1827.3	2735.8	603.8	268.25	10.08	2543	15712.57	0.00	0.18	3.14	0.000	0.047	0.024	1879.94	1931.56	1828.31	2683.69	2029.62	0	0	0	30.00	27.97	28.09
15896.33	644	176.69	-0.55	-40.00	1878.8	1930.8	1826.9	2683.5	2029.5	249.12	10.05	2563	15902.10	0.00	0.00	3.09	0.000	0.000	0.022	1879.34	1931.44	1827.25	2681.56	602.56	0	0	0	30.00	30.00	28.13
16171.77	1188	177.61	-0.61	0.00	1878.7	1930.6	1826.7	2684.0	602.7	222.04	9.96	2618	16177.53	0.00	0.00	3.14	0.000	0.000	0.024	1878.81	1930.56	1827.06	2686.44	2032.06	0	0	0	30.00	30.00	28.06
16356.99	679	180.86	-0.66	-40.00	1878.4	1930.5	1826.3	2684.4	2030.3	203.47	9.85	2637	16363.64	1.77	0.17	3.09	0.152	0.050	0.022	1857.78	1911.50	1804.06	2634.31	605.12	0	0	0	25.02	28.43	27.80
16631.57	1156	180.86	-0.71	0.00	1860.9	1912.5	1809.4	2634.6	605.1	176.54	10.01	2692	16637.51	0.00	0.00	3.13	0.000	0.000	0.024	1861.91	1913.12	1810.69	2632.31	2030.06	0	0	0	30.00	30.00	28.11
16821.35	676	182.80	-0.76	-40.00	1860.6	1912.4	1808.8	2633.7	2029.8	157.41	9.91	2712	16827.49	0.00	0.00	3.10	0.000	0.000	0.022	1860.97	1913.00	1808.94	2631.75	603.44	0	0	0	30.00	30.00	28.14
17096.48	1157	182.80	-0.81	0.00	1861.2	1913.5	1808.9	2635.2	603.7	129.83	10.19	2767	17102.58	0.00	0.17	3.14	0.000	0.048	0.024	1862.22	1913.19	1811.25	2581.75	2030.12	0	0	0	30.00	27.94	28.06
17282.09	644	182.80	-0.87	-40.00	1861.3	1913.6	1809.1	2583.2	2030.2	111.11	10.14	2786	17287.49	0.00	0.00	3.09	0.000	0.000	0.022	1861.03	1912.81	1809.25	2583.50	603.94	0	0	0	30.00	30.00	28.12
17556.54	1156	182.80	-0.92	0.00	1861.0	1912.9	1809.1	2583.1	603.8	83.67	10.13	2841	17562.54	0.00	0.00	3.14	0.000	0.000	0.024	1861.09	1912.94	1809.25	2582.12	2031.19	0	0	0	30.00	30.00	28.04
17741.86	645	182.80	-0.97	-40.00	1861.1	1913.2	1809.1	2583.5	2031.5	65.13	10.03	2860	17747.57	0.00	0.17	3.11	0.000	0.050	0.022	1861.22	1913.25	1809.19	2535.06	603.69	0	0	0	30.00	28.43	28.11
18016.18	1156	182.80	-1.03	0.00	1861.5	1913.1	1809.9	2532.5	604.1	38.01	10.03	2915	18022.14	0.00	0.00	3.13	0.000	0.000	0.024	1861.06	1913.38	1808.75	2532.56	2027.88	0	0	0	30.00	30.00	28.04
18202.15	678	186.38	-1.08	-40.00	1861.1	1913.2	1809.0	2532.4	2028.6	19.42	9.84	2934	18209.60	2.41	0.00	3.09	0.140	0.000	0.022	1835.75	1891.00	1780.50	2532.44	603.81	0	0	0	25.32	30.00	27.76
18376	end climb: SURFACE_DEPTH_REACHED
state	18376	begin surface coast
18397	end surface coast: CONTROL_FINISHED_OK
state	18397	begin surface