Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 32 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 17 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 567.43622 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 260 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 11400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 250 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2400 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -154.09409 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.6100001e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 567.43622

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.003 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.6100001e-05 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -154.09409 T_DIVE 50

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 11400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 260

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 14 MINV_10V 11 R_PORT_OVSHOOT 32 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 15 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 121018,061535,7427.6104,-14623.7529,42,1.8,43,18.4,0.3,20.2,5,8.4 SPEED_LIMITS 0.173,0.257

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.54 MHEAD_RNG_PITCHd_Wd 136.9,23421,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -72.1 D_GRID 150

GPS2 121018,062521,7427.6426,-14623.8320,3,1.0,5,18.4,0.6,350.8,8,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012080201.653094,18,756,28,0118,0150,246,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*32 ALTIM_TOP_PING 18.2,5.7

FINISH 0.4,1.020953 _24V_AH 13.35,75.961

SM_CCo 14888,0.00,0.000,0,0,492,579.64 _10V_AH 13.07,0.000

SM_GC 2.23,9.73,0.52,0.00,0.103,0.072,0.000,206,2393,492,-6.83,-1.27,579.64,0,0,0,0,0,0,14.07,14.12,14.18 FG_AHR_24Vo 0.000

RAFOS_CLK 612 FG_AHR_10Vo 0.000

MODEM 0,1539331321,73.00043,-148.33627,121.653,175528.6 MEM 326316

RAFOS_FIX 7428.007324,-14623.263672,121018,080801,1,2,0.13 DATA_FILE_SIZE 53274,1585

IRIDIUM_FIX 7428.37,-14631.96,121018,061826 CAP_FILE_SIZE 166107,0

TT8_MAMPS 0.042693,0.678594 CFSIZE 2097872896,2093023232

HUMID 43.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.28076 SOUNDSPEED 1442.5

TCM_TEMP 14.60 CURRENT 0.139,304.72,1

XPDR_PINGS 16 GPS 121018,103520,7427.994,-14626.857,33,0.8,34,18.3,0.3,29.4,10,3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 459 146.39 nil 0 0 0.00

Roll_motor 101 90 122.65 nil 0 0 0.00

VBD_pump_during_apogee 625 1773 14795.72 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 3429 35 1640.20

Iridium_during_xfer 362 188 913.73 nil 0 0 0.00

Transponder_ping 4 420 23.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 6 1.36

TT8 0 0 0.00

LPSleep 11038 2 333.26

TT8_Active 777 11 117.55

TT8_Sampling 3366 31 1365.91

TT8_CF8 294 36 139.45

TT8_Kalman 0 0 0.00

Analog_circuits 2325 10 331.23

GPS_charging 0 0 0.00

Compass 2251 6 198.35

RAFOS 2219 33 957.08

Transponder 2 30 0.99

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.82 -146.0 197 2401 465 513 0.0 0.0 0 92 0.00 0.00 -81.68 0.003 16386 0.000 0.000 196 2401 1874 1988 1760 0 0 0 0 0 0 14.46 28.83 14.48

95 -0.82 -146.0 197 2403 1990 1763 4.9 -8.0 8 145 10.23 5.03 -32.65 0.005 18948 0.460 0.080 2146 712 3455 3570 3340 0 0 0 0 0 0 14.01 13.35 14.29

212 -0.82 -146.0 2147 713 3571 3342 55.6 -33.5 30 218 0.00 5.00 0.00 0.000 1030 0.000 0.062 2127 2400 3455 3570 3341 0 0 0 0 0 0 14.36 14.26 14.38

403 -0.82 -146.0 2133 2401 3571 3342 105.1 -21.6 50 404 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2400 3455 3569 3341 0 0 0 0 0 0 14.55 14.57 14.57

584 -0.82 -146.0 2127 2401 3570 3342 141.4 -19.6 68 595 0.00 4.95 0.00 0.000 516 0.000 0.074 2135 720 3454 3568 3341 0 0 0 0 0 0 14.61 14.39 14.62

619 -0.82 -146.0 2134 720 3568 3341 148.4 -20.5 75 626 0.00 4.93 0.00 0.000 1030 0.000 0.058 2116 2404 3454 3567 3341 0 0 0 0 0 0 14.50 14.42 14.51

632 end dive: TARGET_DEPTH_EXCEEDED

state 632 begin apogee

638 -0.11 0.0 2117 2197 3569 3342 151.7 -20.6 77 767 1.00 0.00 124.15 1.629 10246 0.308 0.000 2358 2195 2854 2928 2780 0 0 0 0 0 0 14.26 14.00 13.36

768 end apogee: CONTROL_FINISHED_OK

state 768 begin loiter

945 -0.05 19.0 2358 2195 2922 2776 171.6 -4.9 108 966 0.00 0.00 17.38 1.570 8230 0.000 0.000 2359 2195 2773 2845 2702 0 0 0 0 0 0 14.41 14.16 13.50

1145 0.00 37.2 2359 2196 2845 2699 180.9 -4.7 128 1166 0.15 0.00 17.05 1.591 10278 0.276 0.000 2392 2195 2700 2769 2631 0 0 0 0 0 0 14.16 14.21 13.57

1346 0.04 50.5 2392 2195 2766 2630 187.9 -3.4 148 1365 0.00 0.00 12.77 1.582 8230 0.000 0.000 2392 2194 2646 2710 2583 0 0 0 0 0 0 14.52 14.28 13.62

1545 0.08 62.2 2393 2196 2709 2583 194.0 -3.0 168 1559 0.12 0.00 11.88 1.588 10278 0.274 0.000 2421 2195 2598 2659 2537 0 0 0 0 0 0 14.26 14.33 13.66

1736 0.10 70.3 2420 2195 2657 2537 198.4 -2.1 187 1746 0.00 0.00 8.77 1.541 8230 0.000 0.000 2420 2195 2566 2625 2507 0 0 0 0 0 0 14.59 14.37 13.68

1925 0.12 76.6 2420 2196 2623 2507 201.6 -1.6 206 1936 0.00 0.00 7.18 1.505 8230 0.000 0.000 2421 2195 2540 2598 2482 0 0 0 0 0 0 14.63 14.40 13.68

2115 0.14 82.2 2421 2196 2597 2482 204.2 -1.4 225 2126 0.00 0.00 6.80 1.493 8230 0.000 0.000 2420 2195 2516 2573 2459 0 0 0 0 0 0 14.65 14.43 13.70

2305 0.14 82.2 2421 2196 2575 2460 205.3 -0.1 244 2305 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2195 2515 2572 2459 0 0 0 0 0 0 14.68 14.70 14.70

2485 0.14 82.2 2420 2196 2572 2460 205.0 0.3 262 2486 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2195 2515 2572 2459 0 0 0 0 0 0 14.72 14.74 14.73

2665 0.14 82.2 2420 2196 2572 2459 204.7 0.0 280 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2195 2515 2572 2459 0 0 0 0 0 0 14.75 14.78 14.77

2845 0.16 82.2 2421 2196 2573 2460 205.4 -0.8 298 2846 0.00 0.00 0.00 0.000 70 0.000 0.000 2421 2195 2515 2572 2459 0 0 0 0 0 0 14.78 14.81 14.80

3025 0.17 86.1 2420 2195 2571 2459 207.2 -1.0 316 3036 0.12 0.00 4.57 1.370 10278 0.267 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.48 14.57 13.72

3215 0.17 86.1 2450 2196 2559 2446 207.5 0.2 335 3215 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.81 14.83 14.83

3395 0.17 86.1 2450 2196 2558 2446 207.1 0.2 353 3396 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.83 14.85 14.85

3575 0.17 86.1 2451 2196 2559 2446 207.3 -0.3 371 3575 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.85 14.87 14.86

3755 0.19 86.1 2451 2196 2559 2446 208.3 -0.6 389 3756 0.00 0.00 0.00 0.000 70 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.85 14.88 14.88

3935 0.19 86.1 2451 2196 2560 2446 209.2 -0.3 407 3935 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2194 2501 2558 2445 0 0 0 0 0 0 14.88 14.89 14.89

4115 0.19 86.1 2450 2196 2558 2446 209.2 0.1 425 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.88 14.90 14.90

4295 0.19 86.1 2449 2196 2558 2446 209.4 -0.3 443 4295 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2502 2558 2446 0 0 0 0 0 0 14.90 14.92 14.91

4475 0.19 86.1 2450 2195 2558 2445 209.9 -0.1 461 4475 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.90 14.92 14.92

4655 0.19 86.1 2450 2196 2559 2446 209.7 0.2 479 4656 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.91 14.93 14.93

4835 0.19 86.1 2450 2195 2558 2445 209.6 -0.2 497 4835 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2195 2501 2558 2445 0 0 0 0 0 0 14.92 14.94 14.94

5015 0.21 86.1 2450 2195 2558 2445 210.6 -0.7 515 5015 0.00 0.00 0.00 0.000 70 0.000 0.000 2450 2195 2501 2558 2445 0 0 0 0 0 0 14.92 14.95 14.95

5195 0.21 86.1 2450 2195 2558 2445 211.5 -0.3 533 5195 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2557 2445 0 0 0 0 0 0 14.93 14.95 14.95

5375 0.21 86.1 2450 2195 2557 2445 211.7 -0.0 551 5375 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2557 2445 0 0 0 0 0 0 14.94 14.96 14.96

5555 0.21 86.1 2450 2196 2557 2445 211.7 0.1 569 5555 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2194 2500 2557 2444 0 0 0 0 0 0 14.95 14.97 14.96

5739 0.21 86.1 2450 2196 2557 2445 211.6 -0.1 587 5740 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2501 2557 2445 0 0 0 0 0 0 14.88 14.90 14.90

5917 0.21 86.1 2450 2195 2557 2445 212.2 -0.4 605 5918 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.87 14.89 14.88

6097 0.21 86.1 2449 2195 2558 2445 212.9 -0.3 623 6098 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2556 2444 0 0 0 0 0 0 14.86 14.88 14.88

6277 0.21 86.1 2450 2196 2558 2445 213.2 -0.1 641 6278 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.85 14.87 14.86

6457 0.21 86.1 2450 2196 2558 2445 213.2 -0.0 659 6458 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2556 2444 0 0 0 0 0 0 14.84 14.86 14.85

6637 0.21 86.1 2450 2195 2557 2445 213.6 -0.3 677 6638 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.87 14.85 14.85

6817 0.23 86.1 2450 2196 2558 2446 214.5 -0.6 695 6818 0.00 0.00 0.00 0.000 70 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.83 14.85 14.84

6997 0.23 86.1 2450 2196 2558 2445 215.1 -0.1 713 6998 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.85 14.84 14.83

7177 0.23 86.1 2449 2195 2557 2445 214.9 0.2 731 7178 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.81 14.83 14.83

7357 0.23 86.1 2450 2196 2557 2445 214.7 -0.1 749 7358 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.81 14.83 14.83

7537 0.23 86.1 2449 2199 2558 2445 215.3 -0.4 767 7538 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.81 14.81 14.82

7717 0.23 86.1 2450 2196 2557 2444 216.0 -0.3 785 7718 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.80 14.83 14.82

7897 0.23 86.1 2449 2195 2557 2445 216.0 0.1 803 7898 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2557 2444 0 0 0 0 0 0 14.85 14.88 14.88

8077 0.23 86.1 2451 2196 2557 2445 215.9 0.0 821 8078 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2556 2444 0 0 0 0 0 0 14.87 14.89 14.89

8257 0.23 86.1 2450 2195 2556 2444 215.9 0.1 839 8258 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2556 2444 0 0 0 0 0 0 14.88 14.90 14.90

8437 0.23 86.1 2450 2195 2557 2444 215.6 0.2 857 8438 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2556 2444 0 0 0 0 0 0 14.90 14.92 14.92

8617 0.23 86.1 2451 2196 2558 2445 215.4 0.1 875 8618 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2500 2556 2444 0 0 0 0 0 0 14.91 14.92 14.92

8797 0.23 86.1 2451 2196 2558 2444 215.3 0.1 893 8798 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.91 14.93 14.93

8977 0.23 86.1 2450 2195 2556 2444 215.0 0.2 911 8978 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.92 14.95 14.94

9157 0.23 86.1 2451 2195 2558 2444 214.6 0.2 929 9158 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.92 14.95 14.95

9337 0.23 86.1 2450 2195 2556 2444 214.5 -0.1 947 9338 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2194 2499 2556 2443 0 0 0 0 0 0 14.93 14.95 14.95

9517 0.23 86.1 2451 2196 2558 2444 215.0 -0.3 965 9518 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.94 14.96 14.96

9697 0.23 86.1 2450 2195 2556 2444 215.1 0.1 983 9698 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2195 2499 2556 2443 0 0 0 0 0 0 14.95 14.97 14.96

9877 0.23 86.1 2451 2196 2558 2444 214.7 0.2 1001 9878 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.95 14.97 14.97

10057 0.23 86.1 2450 2195 2557 2443 214.6 -0.1 1019 10058 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.95 14.97 14.97

10237 0.23 86.1 2451 2196 2557 2444 215.2 -0.4 1037 10238 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2443 0 0 0 0 0 0 14.96 14.98 14.98

10417 0.23 86.1 2450 2196 2556 2443 216.0 -0.4 1055 10418 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.96 14.98 14.98

10597 0.23 86.1 2450 2195 2556 2443 216.4 -0.1 1073 10598 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.97 14.99 14.99

10777 0.23 86.1 2449 2195 2556 2443 216.4 0.1 1091 10778 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.97 14.99 14.99

10957 0.23 86.1 2449 2196 2556 2442 216.1 0.2 1109 10958 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2195 2499 2556 2442 0 0 0 0 0 0 15.00 15.00 14.99

11137 0.23 86.1 2450 2196 2557 2443 215.7 0.1 1127 11138 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.97 15.00 15.00

11317 0.23 86.1 2450 2196 2556 2443 215.9 -0.1 1145 11318 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.97 15.00 15.00

11497 0.23 86.1 2450 2196 2556 2443 215.8 0.1 1163 11498 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.98 15.00 15.00

11677 0.23 86.1 2451 2196 2557 2443 215.5 0.2 1181 11678 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.99 15.00 15.00

11857 0.23 86.1 2450 2195 2557 2443 215.3 0.0 1199 11858 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.98 15.02 15.00

12037 0.23 86.1 2450 2195 2557 2443 215.6 -0.3 1217 12038 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2195 2499 2556 2442 0 0 0 0 0 0 14.99 15.01 15.00

12164 end loiter: LOITER_COMPLETE

state 12164 begin climb

12167 0.82 146.0 2450 2195 2556 2443 216.0 0.0 1230 12232 0.70 5.22 54.40 1.773 10500 0.189 0.090 2657 3895 2255 2300 2211 0 0 0 0 0 0 14.66 14.45 13.80

12412 0.91 146.0 2658 3896 2293 2211 202.5 7.1 1277 12419 0.00 4.85 0.00 0.000 1094 0.000 0.048 2679 2212 2250 2292 2209 0 0 0 0 0 0 14.54 14.50 14.60

12598 1.18 237.6 2679 2211 2292 2205 191.8 5.7 1296 12687 0.30 5.15 80.32 1.691 10788 0.145 0.076 2799 509 1881 1924 1839 0 0 0 0 0 0 14.47 14.07 13.55

12732 1.18 237.6 2799 509 1914 1840 178.1 12.6 1321 12739 0.00 5.03 0.00 0.000 1030 0.000 0.054 2799 2212 1876 1914 1839 0 0 0 0 0 0 14.27 14.22 14.28

12917 1.18 237.6 2799 2213 1914 1831 155.8 11.4 1340 12928 0.00 5.12 0.00 0.000 516 0.000 0.079 2820 513 1871 1912 1831 0 0 0 0 0 0 14.50 14.24 14.52

12953 1.18 237.6 2820 514 1911 1833 151.6 13.1 1347 12961 0.17 4.93 0.00 0.000 5126 0.335 0.054 2785 2200 1870 1909 1831 0 0 0 0 0 0 14.16 14.34 14.38

13139 1.18 237.6 2786 2201 1911 1828 132.3 9.5 1366 13150 0.00 5.03 0.00 0.000 516 0.000 0.078 2804 510 1868 1909 1827 0 0 0 0 0 0 14.58 14.33 14.60

13160 1.18 237.6 2804 511 1908 1828 130.0 10.4 1370 13172 0.00 4.93 0.00 0.000 1030 0.000 0.052 2803 2205 1867 1908 1826 0 0 0 0 0 0 14.47 14.40 14.50

13351 1.23 237.6 2803 2206 1910 1826 112.4 8.4 1390 13351 0.00 0.00 0.00 0.000 70 0.000 0.000 2803 2205 1866 1908 1825 0 0 0 0 0 0 14.62 14.64 14.64

13531 1.33 237.6 2802 2206 1909 1824 99.4 6.6 1408 13541 0.00 5.05 0.00 0.000 580 0.000 0.079 2823 509 1866 1908 1824 0 0 0 0 0 0 14.64 14.42 14.66

13582 1.40 237.6 2823 509 1907 1825 95.6 7.8 1418 13594 0.00 4.90 0.00 0.000 1094 0.000 0.053 2823 2205 1865 1907 1823 0 0 0 0 0 0 14.52 14.46 14.54

13772 1.73 348.4 2823 2206 1908 1822 84.3 4.8 1438 13876 0.43 5.22 91.93 1.557 10532 0.138 0.086 2956 3890 1429 1462 1396 0 0 0 0 0 0 14.39 14.02 13.52

13883 1.75 348.4 2955 3890 1461 1396 75.1 9.2 1452 13890 0.00 5.03 0.00 0.000 1094 0.000 0.047 2977 2197 1428 1461 1395 0 0 0 0 0 0 14.17 14.12 14.19

14066 2.03 439.5 2978 2197 1461 1385 59.7 5.8 1471 14154 0.22 5.30 74.47 1.483 10532 0.153 0.081 3045 3894 1057 1075 1040 0 0 0 0 0 0 14.21 13.93 13.46

14160 2.08 439.5 3046 3896 1075 1041 53.5 8.2 1486 14167 0.00 5.07 0.00 0.000 1094 0.000 0.046 3066 2193 1057 1074 1040 0 0 0 0 0 0 14.12 14.06 14.14

14344 2.19 439.5 3065 2193 1074 1031 38.8 6.4 1505 14355 0.12 5.03 0.00 0.000 2628 0.175 0.072 3128 509 1051 1071 1031 0 0 0 0 0 0 14.14 14.16 14.20

14580 2.78 636.3 3128 509 1061 1034 33.6 0.8 1552 14703 0.55 4.93 113.32 1.444 11302 0.164 0.047 3283 2216 496 470 523 0 0 0 0 0 0 14.23 14.33 13.43

14798 end climb: SURFACE_DEPTH_REACHED

state 14798 begin surface coast

14808 end surface coast: CONTROL_FINISHED_OK

state 14808 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	32	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	17	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	567.43622	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	260	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	11400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	250	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2400	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-154.09409	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.6100001e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	121018,061535,7427.6104,-14623.7529,42,1.8,43,18.4,0.3,20.2,5,8.4	SPEED_LIMITS	0.173,0.257
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.54	MHEAD_RNG_PITCHd_Wd	136.9,23421,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-72.1	D_GRID	150
GPS2	121018,062521,7427.6426,-14623.8320,3,1.0,5,18.4,0.6,350.8,8,9.3

MODEM_MSG	CACST,6,1,20181012080201.653094,18,756,28,0118,0150,246,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*32	ALTIM_TOP_PING	18.2,5.7
FINISH	0.4,1.020953	_24V_AH	13.35,75.961
SM_CCo	14888,0.00,0.000,0,0,492,579.64	_10V_AH	13.07,0.000
SM_GC	2.23,9.73,0.52,0.00,0.103,0.072,0.000,206,2393,492,-6.83,-1.27,579.64,0,0,0,0,0,0,14.07,14.12,14.18	FG_AHR_24Vo	0.000
RAFOS_CLK	612	FG_AHR_10Vo	0.000
MODEM	0,1539331321,73.00043,-148.33627,121.653,175528.6	MEM	326316
RAFOS_FIX	7428.007324,-14623.263672,121018,080801,1,2,0.13	DATA_FILE_SIZE	53274,1585
IRIDIUM_FIX	7428.37,-14631.96,121018,061826	CAP_FILE_SIZE	166107,0
TT8_MAMPS	0.042693,0.678594	CFSIZE	2097872896,2093023232
HUMID	43.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.28076	SOUNDSPEED	1442.5
TCM_TEMP	14.60	CURRENT	0.139,304.72,1
XPDR_PINGS	16	GPS	121018,103520,7427.994,-14626.857,33,0.8,34,18.3,0.3,29.4,10,3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	459	146.39	nil	0	0	0.00
Roll_motor	101	90	122.65	nil	0	0	0.00
VBD_pump_during_apogee	625	1773	14795.72	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	3429	35	1640.20
Iridium_during_xfer	362	188	913.73	nil	0	0	0.00
Transponder_ping	4	420	23.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	6	1.36
TT8	0	0	0.00
LPSleep	11038	2	333.26
TT8_Active	777	11	117.55
TT8_Sampling	3366	31	1365.91
TT8_CF8	294	36	139.45
TT8_Kalman	0	0	0.00
Analog_circuits	2325	10	331.23
GPS_charging	0	0	0.00
Compass	2251	6	198.35
RAFOS	2219	33	957.08
Transponder	2	30	0.99

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.82	-146.0	197	2401	465	513	0.0	0.0	0	92	0.00	0.00	-81.68	0.003	16386	0.000	0.000	196	2401	1874	1988	1760	0	0	0	0	0	0	14.46	28.83	14.48
95	-0.82	-146.0	197	2403	1990	1763	4.9	-8.0	8	145	10.23	5.03	-32.65	0.005	18948	0.460	0.080	2146	712	3455	3570	3340	0	0	0	0	0	0	14.01	13.35	14.29
212	-0.82	-146.0	2147	713	3571	3342	55.6	-33.5	30	218	0.00	5.00	0.00	0.000	1030	0.000	0.062	2127	2400	3455	3570	3341	0	0	0	0	0	0	14.36	14.26	14.38
403	-0.82	-146.0	2133	2401	3571	3342	105.1	-21.6	50	404	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2400	3455	3569	3341	0	0	0	0	0	0	14.55	14.57	14.57
584	-0.82	-146.0	2127	2401	3570	3342	141.4	-19.6	68	595	0.00	4.95	0.00	0.000	516	0.000	0.074	2135	720	3454	3568	3341	0	0	0	0	0	0	14.61	14.39	14.62
619	-0.82	-146.0	2134	720	3568	3341	148.4	-20.5	75	626	0.00	4.93	0.00	0.000	1030	0.000	0.058	2116	2404	3454	3567	3341	0	0	0	0	0	0	14.50	14.42	14.51
632	end dive: TARGET_DEPTH_EXCEEDED
state	632	begin apogee
638	-0.11	0.0	2117	2197	3569	3342	151.7	-20.6	77	767	1.00	0.00	124.15	1.629	10246	0.308	0.000	2358	2195	2854	2928	2780	0	0	0	0	0	0	14.26	14.00	13.36
768	end apogee: CONTROL_FINISHED_OK
state	768	begin loiter
945	-0.05	19.0	2358	2195	2922	2776	171.6	-4.9	108	966	0.00	0.00	17.38	1.570	8230	0.000	0.000	2359	2195	2773	2845	2702	0	0	0	0	0	0	14.41	14.16	13.50
1145	0.00	37.2	2359	2196	2845	2699	180.9	-4.7	128	1166	0.15	0.00	17.05	1.591	10278	0.276	0.000	2392	2195	2700	2769	2631	0	0	0	0	0	0	14.16	14.21	13.57
1346	0.04	50.5	2392	2195	2766	2630	187.9	-3.4	148	1365	0.00	0.00	12.77	1.582	8230	0.000	0.000	2392	2194	2646	2710	2583	0	0	0	0	0	0	14.52	14.28	13.62
1545	0.08	62.2	2393	2196	2709	2583	194.0	-3.0	168	1559	0.12	0.00	11.88	1.588	10278	0.274	0.000	2421	2195	2598	2659	2537	0	0	0	0	0	0	14.26	14.33	13.66
1736	0.10	70.3	2420	2195	2657	2537	198.4	-2.1	187	1746	0.00	0.00	8.77	1.541	8230	0.000	0.000	2420	2195	2566	2625	2507	0	0	0	0	0	0	14.59	14.37	13.68
1925	0.12	76.6	2420	2196	2623	2507	201.6	-1.6	206	1936	0.00	0.00	7.18	1.505	8230	0.000	0.000	2421	2195	2540	2598	2482	0	0	0	0	0	0	14.63	14.40	13.68
2115	0.14	82.2	2421	2196	2597	2482	204.2	-1.4	225	2126	0.00	0.00	6.80	1.493	8230	0.000	0.000	2420	2195	2516	2573	2459	0	0	0	0	0	0	14.65	14.43	13.70
2305	0.14	82.2	2421	2196	2575	2460	205.3	-0.1	244	2305	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2195	2515	2572	2459	0	0	0	0	0	0	14.68	14.70	14.70
2485	0.14	82.2	2420	2196	2572	2460	205.0	0.3	262	2486	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2195	2515	2572	2459	0	0	0	0	0	0	14.72	14.74	14.73
2665	0.14	82.2	2420	2196	2572	2459	204.7	0.0	280	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2195	2515	2572	2459	0	0	0	0	0	0	14.75	14.78	14.77
2845	0.16	82.2	2421	2196	2573	2460	205.4	-0.8	298	2846	0.00	0.00	0.00	0.000	70	0.000	0.000	2421	2195	2515	2572	2459	0	0	0	0	0	0	14.78	14.81	14.80
3025	0.17	86.1	2420	2195	2571	2459	207.2	-1.0	316	3036	0.12	0.00	4.57	1.370	10278	0.267	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.48	14.57	13.72
3215	0.17	86.1	2450	2196	2559	2446	207.5	0.2	335	3215	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.81	14.83	14.83
3395	0.17	86.1	2450	2196	2558	2446	207.1	0.2	353	3396	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.83	14.85	14.85
3575	0.17	86.1	2451	2196	2559	2446	207.3	-0.3	371	3575	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.85	14.87	14.86
3755	0.19	86.1	2451	2196	2559	2446	208.3	-0.6	389	3756	0.00	0.00	0.00	0.000	70	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.85	14.88	14.88
3935	0.19	86.1	2451	2196	2560	2446	209.2	-0.3	407	3935	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2194	2501	2558	2445	0	0	0	0	0	0	14.88	14.89	14.89
4115	0.19	86.1	2450	2196	2558	2446	209.2	0.1	425	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.88	14.90	14.90
4295	0.19	86.1	2449	2196	2558	2446	209.4	-0.3	443	4295	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2502	2558	2446	0	0	0	0	0	0	14.90	14.92	14.91
4475	0.19	86.1	2450	2195	2558	2445	209.9	-0.1	461	4475	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.90	14.92	14.92
4655	0.19	86.1	2450	2196	2559	2446	209.7	0.2	479	4656	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.91	14.93	14.93
4835	0.19	86.1	2450	2195	2558	2445	209.6	-0.2	497	4835	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2195	2501	2558	2445	0	0	0	0	0	0	14.92	14.94	14.94
5015	0.21	86.1	2450	2195	2558	2445	210.6	-0.7	515	5015	0.00	0.00	0.00	0.000	70	0.000	0.000	2450	2195	2501	2558	2445	0	0	0	0	0	0	14.92	14.95	14.95
5195	0.21	86.1	2450	2195	2558	2445	211.5	-0.3	533	5195	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2557	2445	0	0	0	0	0	0	14.93	14.95	14.95
5375	0.21	86.1	2450	2195	2557	2445	211.7	-0.0	551	5375	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2557	2445	0	0	0	0	0	0	14.94	14.96	14.96
5555	0.21	86.1	2450	2196	2557	2445	211.7	0.1	569	5555	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2194	2500	2557	2444	0	0	0	0	0	0	14.95	14.97	14.96
5739	0.21	86.1	2450	2196	2557	2445	211.6	-0.1	587	5740	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2501	2557	2445	0	0	0	0	0	0	14.88	14.90	14.90
5917	0.21	86.1	2450	2195	2557	2445	212.2	-0.4	605	5918	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.87	14.89	14.88
6097	0.21	86.1	2449	2195	2558	2445	212.9	-0.3	623	6098	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2556	2444	0	0	0	0	0	0	14.86	14.88	14.88
6277	0.21	86.1	2450	2196	2558	2445	213.2	-0.1	641	6278	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.85	14.87	14.86
6457	0.21	86.1	2450	2196	2558	2445	213.2	-0.0	659	6458	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2556	2444	0	0	0	0	0	0	14.84	14.86	14.85
6637	0.21	86.1	2450	2195	2557	2445	213.6	-0.3	677	6638	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.87	14.85	14.85
6817	0.23	86.1	2450	2196	2558	2446	214.5	-0.6	695	6818	0.00	0.00	0.00	0.000	70	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.83	14.85	14.84
6997	0.23	86.1	2450	2196	2558	2445	215.1	-0.1	713	6998	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.85	14.84	14.83
7177	0.23	86.1	2449	2195	2557	2445	214.9	0.2	731	7178	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.81	14.83	14.83
7357	0.23	86.1	2450	2196	2557	2445	214.7	-0.1	749	7358	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.81	14.83	14.83
7537	0.23	86.1	2449	2199	2558	2445	215.3	-0.4	767	7538	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.81	14.81	14.82
7717	0.23	86.1	2450	2196	2557	2444	216.0	-0.3	785	7718	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.80	14.83	14.82
7897	0.23	86.1	2449	2195	2557	2445	216.0	0.1	803	7898	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2557	2444	0	0	0	0	0	0	14.85	14.88	14.88
8077	0.23	86.1	2451	2196	2557	2445	215.9	0.0	821	8078	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2556	2444	0	0	0	0	0	0	14.87	14.89	14.89
8257	0.23	86.1	2450	2195	2556	2444	215.9	0.1	839	8258	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2556	2444	0	0	0	0	0	0	14.88	14.90	14.90
8437	0.23	86.1	2450	2195	2557	2444	215.6	0.2	857	8438	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2556	2444	0	0	0	0	0	0	14.90	14.92	14.92
8617	0.23	86.1	2451	2196	2558	2445	215.4	0.1	875	8618	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2500	2556	2444	0	0	0	0	0	0	14.91	14.92	14.92
8797	0.23	86.1	2451	2196	2558	2444	215.3	0.1	893	8798	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.91	14.93	14.93
8977	0.23	86.1	2450	2195	2556	2444	215.0	0.2	911	8978	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.92	14.95	14.94
9157	0.23	86.1	2451	2195	2558	2444	214.6	0.2	929	9158	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.92	14.95	14.95
9337	0.23	86.1	2450	2195	2556	2444	214.5	-0.1	947	9338	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2194	2499	2556	2443	0	0	0	0	0	0	14.93	14.95	14.95
9517	0.23	86.1	2451	2196	2558	2444	215.0	-0.3	965	9518	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.94	14.96	14.96
9697	0.23	86.1	2450	2195	2556	2444	215.1	0.1	983	9698	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2195	2499	2556	2443	0	0	0	0	0	0	14.95	14.97	14.96
9877	0.23	86.1	2451	2196	2558	2444	214.7	0.2	1001	9878	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.95	14.97	14.97
10057	0.23	86.1	2450	2195	2557	2443	214.6	-0.1	1019	10058	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.95	14.97	14.97
10237	0.23	86.1	2451	2196	2557	2444	215.2	-0.4	1037	10238	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2443	0	0	0	0	0	0	14.96	14.98	14.98
10417	0.23	86.1	2450	2196	2556	2443	216.0	-0.4	1055	10418	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.96	14.98	14.98
10597	0.23	86.1	2450	2195	2556	2443	216.4	-0.1	1073	10598	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.97	14.99	14.99
10777	0.23	86.1	2449	2195	2556	2443	216.4	0.1	1091	10778	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.97	14.99	14.99
10957	0.23	86.1	2449	2196	2556	2442	216.1	0.2	1109	10958	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2195	2499	2556	2442	0	0	0	0	0	0	15.00	15.00	14.99
11137	0.23	86.1	2450	2196	2557	2443	215.7	0.1	1127	11138	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.97	15.00	15.00
11317	0.23	86.1	2450	2196	2556	2443	215.9	-0.1	1145	11318	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.97	15.00	15.00
11497	0.23	86.1	2450	2196	2556	2443	215.8	0.1	1163	11498	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.98	15.00	15.00
11677	0.23	86.1	2451	2196	2557	2443	215.5	0.2	1181	11678	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.99	15.00	15.00
11857	0.23	86.1	2450	2195	2557	2443	215.3	0.0	1199	11858	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.98	15.02	15.00
12037	0.23	86.1	2450	2195	2557	2443	215.6	-0.3	1217	12038	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2195	2499	2556	2442	0	0	0	0	0	0	14.99	15.01	15.00
12164	end loiter: LOITER_COMPLETE
state	12164	begin climb
12167	0.82	146.0	2450	2195	2556	2443	216.0	0.0	1230	12232	0.70	5.22	54.40	1.773	10500	0.189	0.090	2657	3895	2255	2300	2211	0	0	0	0	0	0	14.66	14.45	13.80
12412	0.91	146.0	2658	3896	2293	2211	202.5	7.1	1277	12419	0.00	4.85	0.00	0.000	1094	0.000	0.048	2679	2212	2250	2292	2209	0	0	0	0	0	0	14.54	14.50	14.60
12598	1.18	237.6	2679	2211	2292	2205	191.8	5.7	1296	12687	0.30	5.15	80.32	1.691	10788	0.145	0.076	2799	509	1881	1924	1839	0	0	0	0	0	0	14.47	14.07	13.55
12732	1.18	237.6	2799	509	1914	1840	178.1	12.6	1321	12739	0.00	5.03	0.00	0.000	1030	0.000	0.054	2799	2212	1876	1914	1839	0	0	0	0	0	0	14.27	14.22	14.28
12917	1.18	237.6	2799	2213	1914	1831	155.8	11.4	1340	12928	0.00	5.12	0.00	0.000	516	0.000	0.079	2820	513	1871	1912	1831	0	0	0	0	0	0	14.50	14.24	14.52
12953	1.18	237.6	2820	514	1911	1833	151.6	13.1	1347	12961	0.17	4.93	0.00	0.000	5126	0.335	0.054	2785	2200	1870	1909	1831	0	0	0	0	0	0	14.16	14.34	14.38
13139	1.18	237.6	2786	2201	1911	1828	132.3	9.5	1366	13150	0.00	5.03	0.00	0.000	516	0.000	0.078	2804	510	1868	1909	1827	0	0	0	0	0	0	14.58	14.33	14.60
13160	1.18	237.6	2804	511	1908	1828	130.0	10.4	1370	13172	0.00	4.93	0.00	0.000	1030	0.000	0.052	2803	2205	1867	1908	1826	0	0	0	0	0	0	14.47	14.40	14.50
13351	1.23	237.6	2803	2206	1910	1826	112.4	8.4	1390	13351	0.00	0.00	0.00	0.000	70	0.000	0.000	2803	2205	1866	1908	1825	0	0	0	0	0	0	14.62	14.64	14.64
13531	1.33	237.6	2802	2206	1909	1824	99.4	6.6	1408	13541	0.00	5.05	0.00	0.000	580	0.000	0.079	2823	509	1866	1908	1824	0	0	0	0	0	0	14.64	14.42	14.66
13582	1.40	237.6	2823	509	1907	1825	95.6	7.8	1418	13594	0.00	4.90	0.00	0.000	1094	0.000	0.053	2823	2205	1865	1907	1823	0	0	0	0	0	0	14.52	14.46	14.54
13772	1.73	348.4	2823	2206	1908	1822	84.3	4.8	1438	13876	0.43	5.22	91.93	1.557	10532	0.138	0.086	2956	3890	1429	1462	1396	0	0	0	0	0	0	14.39	14.02	13.52
13883	1.75	348.4	2955	3890	1461	1396	75.1	9.2	1452	13890	0.00	5.03	0.00	0.000	1094	0.000	0.047	2977	2197	1428	1461	1395	0	0	0	0	0	0	14.17	14.12	14.19
14066	2.03	439.5	2978	2197	1461	1385	59.7	5.8	1471	14154	0.22	5.30	74.47	1.483	10532	0.153	0.081	3045	3894	1057	1075	1040	0	0	0	0	0	0	14.21	13.93	13.46
14160	2.08	439.5	3046	3896	1075	1041	53.5	8.2	1486	14167	0.00	5.07	0.00	0.000	1094	0.000	0.046	3066	2193	1057	1074	1040	0	0	0	0	0	0	14.12	14.06	14.14
14344	2.19	439.5	3065	2193	1074	1031	38.8	6.4	1505	14355	0.12	5.03	0.00	0.000	2628	0.175	0.072	3128	509	1051	1071	1031	0	0	0	0	0	0	14.14	14.16	14.20
14580	2.78	636.3	3128	509	1061	1034	33.6	0.8	1552	14703	0.55	4.93	113.32	1.444	11302	0.164	0.047	3283	2216	496	470	523	0	0	0	0	0	0	14.23	14.33	13.43
14798	end climb: SURFACE_DEPTH_REACHED
state	14798	begin surface coast
14808	end surface coast: CONTROL_FINISHED_OK
state	14808	begin surface