Glider dive log

SODA Aug19 * SG229 * Dive index * Mission links * Dive 251 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2220 ALTIM_PING_DELTA 10

MISSION 7 ESCAPE_HEADING 0 C_ROLL_CLIMB 2580 ALTIM_FREQUENCY 13

DIVE 251 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 13 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 5

D_SURF 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 500 SM_CC 529.84796 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 1020 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 400 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 2760 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 10

D_FINISH 0 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_TIMEOUT 720 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 0

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 2 LOGGERDEVICE1 7

T_DIVE 175 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 660 CAPMAXSIZE 100000 LOITER_W_DBAND 2 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 5 LOITER_DBDW 400 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100740 LOITER_D_TOP 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_D_BOTTOM 700 COMPASS2_DEVICE 55

T_NO_W 120 STROBE 0 LOITER_N_DIVE 1 PHONE_DEVICE 33

T_LOITER 21600 RAFOS_PEAK_OFFSET 1 CF8_MAXERRORS 20 GPS_DEVICE 48

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 575 RAFOS_DEVICE 104

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.0044066384

D_OFFGRID 100 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00064594403

RELAUNCH 1 C_PITCH 1980 MAXI_10V 1.4 SEABIRD_T_I 2.8872973e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 19.466213 SEABIRD_T_J 3.8119131e-06

MAX_BUOY 120 PITCH_CNV 0.0031300001 FG_AHR_24V 71.57473 SEABIRD_C_G -9.8249397

GLIDE_SLOPE 30 PITCH_GAIN 36 PHONE_SUPPLY 2 SEABIRD_C_H 1.1031885

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -162.56323 SEABIRD_C_I -0.00041305512

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00012297566

MASS 72365 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 1 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.0039900001 ROLL_MIN 340 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0125 ROLL_MAX 3945 ALTIM_TOP_MIN_OBSTACLE 2

HD_C 5.7000002e-06 ROLL_DEG 70 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044066384

AH0_24V 575 D_SAFE 0 N_GPS 100740 SEABIRD_T_H 0.00064594403

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.8872973e-05

ALTIM_FREQUENCY 13 D_TGT 500 N_NOSURFACE 0 SEABIRD_T_J 3.8119131e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 529.84796

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 19.466213 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 71.57473 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3840 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.0039900001 PITCH_MIN 150 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0125 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0024999999 T_ABORT 1440

CAPMAXSIZE 100000 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 13 PITCH_W_GAIN 1 T_DIVE 175

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.56323 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 21600

COMPASS_DEVICE 66 INT_PRESSURE_YINT -2.5 RAFOS_CORR_THRESH 60 T_MISSION 660

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1980 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2580 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2220 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1 T_TURN_SAMPINT -5

C_VBD 2760 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDERMB 0 LOITER_D_BOTTOM 700 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 10 LOITER_D_TOP 400 ROLL_CNV 0.047120001 VBD_CNV -0.24529999

DEVICE2 -1 LOITER_N_DIVE 1 ROLL_DEG 70 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 2 ROLL_MAX 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72365 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 340 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 251 MAX_BUOY 120 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 1020 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_BOOST 2 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 7 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.8249397 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1031885

D_NO_BLEED 400 NOCOMM_ACTION 161 SEABIRD_C_I -0.00041305512

D_OFFGRID 100 N_DIVES 0 SEABIRD_C_J 0.00012297566

Pre-dive calculations and measurements:

GPS1 091019,012937,7356.536,-14631.402,125,1.2,130,17.7 TGT_LATLONG 7430.000,-14527.272

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.53 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -72.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,013634,7356.548,-14631.276,3,1.2,6,17.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.210 MHEAD_RNG_PITCHd_Wd 7.8,69582,-21.4,-9.524,-24.43

TGT_NAME 1 D_GRID 500

Post-dive calculations and measurements:

FINISH -0.3,1.021322 _10V_AH 15.00,0.000

SM_CCo 32189.29,0.00,0.000,0,535.8,512.4,559.1,545.61 FG_AHR_24Vo 71.747

SM_GC 2.05,0.00,7.59,1.12,0.000,0.039,0.014,535.8,512.4,559.1,131.5,2170.1,0,0,0,30.00,15.61,15.69 FG_AHR_10Vo 19.534

SUPER 51,71,254,1,0,0 MEM 1163840,32,15168,73

IRIDIUM_FIX 7356.75,-14620.75,091019,013124 DATA_FILE_SIZE 54502,1434

TCM_TEMP 5.40 CAP_FILE_SIZE 309002,0

XPDR_PINGS 5 SDSIZE 3918848,3855296

RAFOS_CLK -8 SDFILEDIR 807,1

RAFOS_FIX 7357.513672,-14631.812500,091019,101007,0,1,0.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 55.33 SOUNDSPEED 1465.0

TEMP -0.31 CURRENT 0.052, 37.5,1

INTERNAL_PRESSURE 8.23057 GPS 091019,103509,7358.235,-14627.491,83,1.0,84,17.7

_24V_AH 14.73,152.072

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 1814 16995.58 SBE_CT 543 24 192.14

Pitch_motor 18 409 112.32 nil 0 0 0.00

Roll_motor 155 81 187.05 nil 0 0 0.00

Iridium 266 188 739.09 nil 0 0 0.00

Transponder_ping 1 420 7.73 nil 0 0 0.00

GPS 15 15 3.54 nil 0 0 0.00

Core 3579 19 1069.56 SciCon 0 0 0.00

LPSleep 28998 2 1004.81 nil 0 0 0.00

Compass 1440 5 108.04 nil 0 0 0.00

RAFOS 4365 48 3142.80

Transponder 0 0 0.00

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 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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

2.50 2 -116.79 -0.89 0.00 541.1 526.2 556.1 126.3 2292.7 0.00 0.00 0 44.11 40.95 0.00 0.00 0.005 0.000 0.000 1336.81 1270.38 1403.25 126.00 2294.62 0 0 0 15.05 30.00 30.00

44.37 551 -116.79 -0.89 -70.00 1337.0 1269.9 1404.1 126.1 2293.6 3.10 -4.58 8 116.54 54.55 7.65 4.56 0.005 0.409 0.046 3235.62 3176.56 3294.69 1716.00 719.12 0 0 0 15.18 15.05 14.98

213.45 1028 -116.79 -0.89 0.00 3236.7 3176.4 3297.0 1715.7 718.6 56.30 -27.10 42 219.32 0.00 0.00 4.28 0.000 0.000 0.021 3237.75 3176.94 3298.56 1699.88 2241.94 0 0 0 30.00 30.00 15.67

518.48 516 -116.79 -0.89 -70.00 3237.3 3176.6 3298.0 1698.9 2241.6 115.08 -15.90 94 524.44 0.00 0.00 4.43 0.000 0.000 0.048 3237.19 3177.06 3297.31 1714.88 718.88 0 0 0 30.00 30.00 15.70

563.61 1028 -116.79 -0.89 0.00 3236.2 3175.2 3297.2 1715.5 719.0 122.31 -15.97 103 569.41 0.00 0.00 4.24 0.000 0.000 0.019 3238.31 3177.38 3299.25 1698.25 2242.88 0 0 0 30.00 30.00 15.72

868.52 0 -116.79 -0.89 0.00 3237.2 3176.1 3298.2 1698.9 2243.2 166.29 -14.32 134 869.85 0.00 0.00 0.00 0.000 0.000 0.000 3237.59 3176.62 3298.56 1698.31 2243.25 0 0 0 30.00 30.00 30.00

1168.61 0 -116.79 -0.89 0.00 3237.2 3176.4 3298.0 1698.0 2244.2 206.06 -12.54 162 1169.94 0.00 0.00 0.00 0.000 0.000 0.000 3237.41 3176.00 3298.81 1698.25 2243.88 0 0 0 30.00 30.00 30.00

1468.57 516 -116.79 -0.89 -70.00 3237.9 3176.4 3299.5 1698.3 2243.7 241.35 -11.16 177 1474.50 0.00 0.00 4.45 0.000 0.000 0.049 3237.84 3177.69 3298.00 1713.94 720.56 0 0 0 30.00 30.00 15.76

1518.61 1028 -116.79 -0.89 0.00 3237.4 3176.0 3298.8 1714.1 720.0 247.01 -11.35 187 1524.47 0.00 0.00 4.22 0.000 0.000 0.020 3239.81 3178.19 3301.44 1697.69 2245.25 0 0 0 30.00 30.00 15.82

1828.59 260 -116.79 -0.89 70.00 3237.8 3176.1 3299.4 1698.2 2247.0 274.73 -8.13 204 1834.48 0.00 0.00 4.28 0.000 0.000 0.057 3237.34 3176.75 3297.94 1678.94 3718.31 0 0 0 30.00 30.00 15.77

1878.60 1028 -116.79 -0.89 0.00 3237.3 3176.3 3298.3 1677.8 3719.3 279.29 -9.43 214 1884.50 0.00 0.00 4.22 0.000 0.000 0.015 3239.53 3177.62 3301.44 1694.44 2184.94 0 0 0 30.00 30.00 15.83

2188.61 260 -116.79 -0.89 70.00 3237.6 3176.4 3298.9 1694.5 2184.6 303.89 -7.96 231 2194.55 0.00 0.00 4.49 0.000 0.000 0.056 3238.25 3177.06 3299.44 1677.38 3716.25 0 0 0 30.00 30.00 15.78

2233.66 1028 -116.79 -0.89 0.00 3237.5 3176.2 3298.8 1677.1 3717.8 307.76 -8.76 240 2239.55 0.00 0.00 4.22 0.000 0.000 0.015 3237.88 3175.31 3300.44 1693.75 2183.69 0 0 0 30.00 30.00 15.86

2548.66 32 -116.79 -0.89 0.00 3237.1 3175.6 3298.6 1693.4 2182.4 331.36 -7.11 258 2549.99 0.00 0.00 0.00 0.000 0.000 0.000 3236.41 3173.69 3299.12 1693.69 2182.06 0 0 0 30.00 30.00 30.00

2848.69 292 -116.79 -0.89 70.00 3237.0 3175.1 3299.0 1693.3 2182.8 352.81 -7.15 273 2854.61 0.00 0.00 4.53 0.000 0.000 0.057 3237.84 3175.56 3300.12 1676.00 3719.19 0 0 0 30.00 30.00 15.79

2898.72 1028 -116.79 -0.89 0.00 3237.4 3175.9 3298.8 1675.8 3716.8 356.99 -8.45 283 2904.57 0.00 0.00 4.22 0.000 0.000 0.015 3237.88 3175.94 3299.81 1692.56 2183.69 0 0 0 30.00 30.00 15.89

3208.70 32 -116.79 -0.89 0.00 3237.2 3175.8 3298.7 1692.1 2184.1 378.95 -6.93 300 3210.03 0.00 0.00 0.00 0.000 0.000 0.000 3237.69 3175.88 3299.50 1692.06 2184.00 0 0 0 30.00 30.00 30.00

3508.72 292 -116.79 -0.89 70.00 3237.1 3174.9 3299.2 1692.7 2184.8 399.77 -6.94 315 3514.67 0.00 0.00 4.51 0.000 0.000 0.056 3238.72 3177.00 3300.44 1674.94 3717.56 0 0 0 30.00 30.00 15.80

3603.70 1028 -116.79 -0.89 0.00 3236.8 3174.8 3298.9 1675.3 3716.8 407.57 -8.30 334 3609.64 0.00 0.00 4.22 0.000 0.000 0.015 3238.31 3175.94 3300.69 1690.75 2184.44 0 0 0 30.00 30.00 15.88

3908.82 32 -116.79 -0.89 0.00 3237.3 3175.7 3298.9 1691.1 2184.8 429.44 -7.02 350 3910.15 0.00 0.00 0.00 0.000 0.000 0.000 3234.72 3173.31 3296.12 1691.31 2184.50 0 0 0 30.00 30.00 30.00

4208.78 292 -116.79 -0.89 70.00 3237.3 3175.2 3299.4 1691.1 2184.8 449.75 -6.79 365 4214.69 0.00 0.00 4.49 0.000 0.000 0.056 3238.25 3177.25 3299.25 1673.94 3718.75 0 0 0 30.00 30.00 15.81

4303.76 1028 -116.79 -0.89 0.00 3236.5 3174.6 3298.4 1673.6 3717.9 457.34 -8.26 384 4309.70 0.00 0.00 4.20 0.000 0.000 0.015 3236.78 3175.50 3298.06 1689.38 2183.19 0 0 0 30.00 30.00 15.89

4608.90 32 -116.79 -0.89 0.00 3236.9 3175.4 3298.4 1689.6 2182.4 478.35 -6.83 400 4610.23 0.00 0.00 0.00 0.000 0.000 0.000 3238.41 3176.25 3300.56 1689.56 2182.94 0 0 0 30.00 30.00 30.00

4908.83 292 -116.79 -0.89 70.00 3237.4 3175.1 3299.8 1689.7 2182.3 498.78 -6.79 415 4914.75 0.00 0.00 4.50 0.000 0.000 0.056 3237.50 3176.12 3298.88 1672.38 3719.88 0 0 0 30.00 30.00 15.81

4929 end dive: TARGET_DEPTH_EXCEEDED

state 4929 begin apogee

4933.64 3 0.00 -0.14 0.00 3235.8 3174.7 3296.9 1683.1 2511.3 500.25 -6.81 419 5029.36 93.36 0.86 0.28 1.814 0.197 0.081 2760.97 2666.62 2855.31 1937.50 2608.44 0 0 0 11.17 15.53 15.33

5030 end apogee: CONTROL_FINISHED_OK

state 5030 begin loiter

5318.83 2 0.00 -0.14 0.00 2750.3 2658.9 2841.8 1938.3 2608.5 498.48 1.21 427 5320.16 0.00 0.00 0.00 0.000 0.000 0.000 2748.22 2657.31 2839.12 1938.31 2607.50 0 0 0 30.00 30.00 30.00

5918.85 2 0.00 -0.14 0.00 2746.3 2655.6 2837.1 1938.9 2607.8 488.43 1.74 437 5920.18 0.00 0.00 0.00 0.000 0.000 0.000 2744.97 2654.81 2835.12 1937.81 2608.50 0 0 0 30.00 30.00 30.00

6518.87 2 0.00 -0.14 0.00 2745.1 2656.8 2833.4 1938.8 2607.3 478.33 1.71 447 6520.20 0.00 0.00 0.00 0.000 0.000 0.000 2744.03 2654.38 2833.69 1938.56 2607.56 0 0 0 30.00 30.00 30.00

7118.89 2 0.00 -0.14 0.00 2744.1 2654.9 2833.3 1937.9 2607.4 467.40 1.84 457 7120.22 0.00 0.00 0.00 0.000 0.000 0.000 2742.22 2653.38 2831.06 1938.94 2608.56 0 0 0 30.00 30.00 30.00

7718.91 2 0.00 -0.14 0.00 2743.7 2654.6 2832.8 1938.2 2607.9 456.91 1.73 467 7720.25 0.00 0.00 0.00 0.000 0.000 0.000 2742.22 2653.56 2830.88 1938.75 2607.38 0 0 0 30.00 30.00 30.00

8319.00 2 0.00 -0.14 0.00 2743.5 2655.1 2832.0 1938.2 2606.8 445.87 1.83 477 8320.33 0.00 0.00 0.00 0.000 0.000 0.000 2743.62 2653.88 2833.38 1938.25 2608.19 0 0 0 30.00 30.00 30.00

8919.06 2 0.00 -0.14 0.00 2744.0 2655.1 2832.9 1938.6 2607.7 435.97 1.54 487 8920.40 0.00 0.00 0.00 0.000 0.000 0.000 2740.69 2651.88 2829.50 1938.25 2608.06 0 0 0 30.00 30.00 30.00

9518.98 2 0.00 -0.14 0.00 2743.3 2653.8 2832.9 1938.1 2608.0 427.48 1.44 497 9520.32 0.00 0.00 0.00 0.000 0.000 0.000 2741.16 2652.81 2829.50 1938.06 2608.00 0 0 0 30.00 30.00 30.00

10119.00 2 0.00 -0.14 0.00 2742.9 2654.2 2831.6 1938.4 2607.6 419.29 1.38 507 10120.34 0.00 0.00 0.00 0.000 0.000 0.000 2742.31 2652.50 2832.12 1938.88 2608.12 0 0 0 30.00 30.00 30.00

10719.03 2 0.00 -0.14 0.00 2742.8 2653.5 2832.0 1938.2 2607.6 409.86 1.71 517 10720.36 0.00 0.00 0.00 0.000 0.000 0.000 2741.56 2652.25 2830.88 1938.50 2607.69 0 0 0 30.00 30.00 30.00

11319.05 34 -6.85 -0.16 0.00 2742.4 2653.4 2831.5 1938.1 2609.4 399.39 1.76 527 11320.50 0.12 0.00 0.00 0.187 0.000 0.000 2789.28 2704.50 2874.06 1938.12 2607.88 0 0 0 14.56 30.00 30.00

11919.37 64 -6.85 -0.15 0.00 2790.5 2707.0 2874.0 1939.1 2608.5 403.24 -0.90 537 11920.70 0.00 0.00 0.00 0.000 0.000 0.000 2789.59 2705.81 2873.38 1938.56 2607.81 0 0 0 30.00 30.00 30.00

12519.12 64 -6.85 -0.14 0.00 2790.6 2707.2 2874.0 1938.6 2608.1 409.41 -1.03 547 12520.46 0.00 0.00 0.00 0.000 0.000 0.000 2789.97 2706.38 2873.56 1937.94 2608.50 0 0 0 30.00 30.00 30.00

13119.15 64 -6.85 -0.13 0.00 2790.6 2706.6 2874.6 1938.2 2608.3 413.40 -0.67 557 13120.49 0.00 0.00 0.00 0.000 0.000 0.000 2788.91 2705.25 2872.56 1939.62 2608.25 0 0 0 30.00 30.00 30.00

13719.48 0 -6.85 -0.13 0.00 2790.4 2705.7 2875.1 1938.6 2607.0 415.84 -0.44 567 13720.82 0.00 0.00 0.00 0.000 0.000 0.000 2789.28 2705.19 2873.38 1938.88 2607.94 0 0 0 30.00 30.00 30.00

14319.46 64 -6.85 -0.12 0.00 2790.7 2706.3 2875.1 1938.2 2607.5 419.39 -0.61 577 14320.80 0.00 0.00 0.00 0.000 0.000 0.000 2790.22 2706.31 2874.12 1938.69 2607.50 0 0 0 30.00 30.00 30.00

14919.23 64 -6.85 -0.12 0.00 2790.4 2706.3 2874.5 1938.6 2607.9 424.35 -0.81 587 14920.56 0.00 0.00 0.00 0.000 0.000 0.000 2790.75 2706.62 2874.88 1938.88 2607.44 0 0 0 30.00 30.00 30.00

15519.52 64 -6.85 -0.11 0.00 2790.8 2707.4 2874.2 1938.0 2607.8 427.72 -0.58 597 15520.85 0.00 0.00 0.00 0.000 0.000 0.000 2789.03 2704.88 2873.19 1938.81 2607.56 0 0 0 30.00 30.00 30.00

16119.52 0 -6.85 -0.11 0.00 2791.4 2707.9 2874.9 1938.7 2608.7 428.79 -0.35 607 16120.86 0.00 0.00 0.00 0.000 0.000 0.000 2789.53 2705.06 2874.00 1938.38 2607.62 0 0 0 30.00 30.00 30.00

16719.55 0 -6.85 -0.11 0.00 2790.8 2706.0 2875.5 1938.2 2607.9 429.40 -0.22 617 16720.88 0.00 0.00 0.00 0.000 0.000 0.000 2791.19 2707.62 2874.75 1937.94 2607.50 0 0 0 30.00 30.00 30.00

17319.58 0 -6.85 -0.11 0.00 2790.8 2706.7 2875.0 1938.4 2606.9 430.62 -0.15 627 17320.92 0.00 0.00 0.00 0.000 0.000 0.000 2790.22 2706.62 2873.81 1938.44 2608.81 0 0 0 30.00 30.00 30.00

17919.60 0 -6.85 -0.11 0.00 2790.4 2705.7 2875.1 1938.4 2608.0 433.13 -0.35 637 17920.93 0.00 0.00 0.00 0.000 0.000 0.000 2791.31 2706.12 2876.50 1938.88 2607.31 0 0 0 30.00 30.00 30.00

18519.62 0 -6.85 -0.11 0.00 2790.3 2705.7 2874.9 1938.7 2608.1 435.93 -0.48 647 18520.96 0.00 0.00 0.00 0.000 0.000 0.000 2789.25 2705.50 2873.00 1938.19 2607.38 0 0 0 30.00 30.00 30.00

19119.65 0 -6.85 -0.11 0.00 2790.2 2706.8 2873.5 1938.2 2607.2 437.95 -0.39 657 19120.98 0.00 0.00 0.00 0.000 0.000 0.000 2789.75 2705.38 2874.12 1938.25 2607.81 0 0 0 30.00 30.00 30.00

19719.67 0 -6.85 -0.11 0.00 2790.7 2706.6 2874.9 1938.9 2607.9 438.89 -0.27 667 19721.01 0.00 0.00 0.00 0.000 0.000 0.000 2790.50 2705.62 2875.38 1938.19 2608.94 0 0 0 30.00 30.00 30.00

20319.69 0 -6.85 -0.11 0.00 2791.2 2706.8 2875.6 1938.6 2607.5 438.55 -0.14 677 20321.03 0.00 0.00 0.00 0.000 0.000 0.000 2789.72 2706.25 2873.19 1938.31 2608.38 0 0 0 30.00 30.00 30.00

20919.71 0 -6.85 -0.11 0.00 2790.2 2706.6 2873.7 1938.3 2608.2 438.25 -0.00 687 20921.05 0.00 0.00 0.00 0.000 0.000 0.000 2789.97 2706.69 2873.25 1938.38 2606.94 0 0 0 30.00 30.00 30.00

21519.74 0 -6.85 -0.11 0.00 2790.3 2706.1 2874.4 1938.1 2608.3 439.11 -0.01 697 21521.07 0.00 0.00 0.00 0.000 0.000 0.000 2792.78 2708.44 2877.12 1937.38 2607.31 0 0 0 30.00 30.00 30.00

22119.76 0 -6.85 -0.11 0.00 2791.6 2707.6 2875.6 1938.2 2607.2 440.52 -0.11 707 22121.10 0.00 0.00 0.00 0.000 0.000 0.000 2790.56 2706.81 2874.31 1938.38 2607.19 0 0 0 30.00 30.00 30.00

22719.78 0 -6.85 -0.11 0.00 2790.5 2706.1 2874.9 1938.6 2606.9 440.70 -0.14 717 22721.11 0.00 0.00 0.00 0.000 0.000 0.000 2788.81 2704.94 2872.69 1938.38 2607.81 0 0 0 30.00 30.00 30.00

23319.65 0 -6.85 -0.11 0.00 2790.3 2706.0 2874.6 1938.2 2608.5 438.93 0.01 727 23320.99 0.00 0.00 0.00 0.000 0.000 0.000 2788.19 2703.50 2872.88 1937.94 2607.81 0 0 0 30.00 30.00 30.00

23919.83 0 -6.85 -0.11 0.00 2790.7 2706.6 2874.8 1938.2 2608.1 437.17 0.31 737 23921.16 0.00 0.00 0.00 0.000 0.000 0.000 2788.91 2705.81 2872.00 1939.06 2607.69 0 0 0 30.00 30.00 30.00

24519.85 0 -6.85 -0.11 0.00 2790.3 2706.8 2873.9 1939.1 2607.3 436.62 0.22 747 24521.18 0.00 0.00 0.00 0.000 0.000 0.000 2791.31 2706.88 2875.75 1938.56 2608.19 0 0 0 30.00 30.00 30.00

25119.87 0 -6.85 -0.11 0.00 2790.7 2706.3 2875.0 1938.1 2607.8 437.15 0.09 757 25121.20 0.00 0.00 0.00 0.000 0.000 0.000 2789.41 2707.00 2871.81 1938.56 2607.12 0 0 0 30.00 30.00 30.00

25719.90 0 -6.85 -0.11 0.00 2791.1 2706.9 2875.3 1938.5 2607.4 437.59 -0.02 767 25721.23 0.00 0.00 0.00 0.000 0.000 0.000 2788.47 2704.88 2872.06 1938.19 2607.88 0 0 0 30.00 30.00 30.00

26319.92 0 -6.85 -0.11 0.00 2790.3 2706.3 2874.2 1938.0 2607.6 437.05 -0.02 777 26321.25 0.00 0.00 0.00 0.000 0.000 0.000 2790.62 2706.69 2874.56 1938.75 2607.75 0 0 0 30.00 30.00 30.00

26620 end loiter: LOITER_COMPLETE

state 26620 begin climb

26620.00 263 116.79 0.89 70.00 2790.0 2706.8 2873.2 1939.2 2607.5 436.59 0.00 782 26733.10 105.18 0.95 4.09 1.717 0.069 0.071 2280.78 2178.00 2383.56 2270.94 3956.38 0 0 0 10.59 15.74 15.26

26749.93 1028 116.79 0.89 0.00 2277.8 2176.9 2378.8 2270.2 3957.2 429.01 9.74 808 26755.79 0.00 0.00 4.01 0.000 0.000 0.013 2280.91 2180.00 2381.81 2285.56 2531.00 0 0 0 30.00 30.00 15.48

27060.27 2 116.79 0.89 0.00 2270.8 2168.5 2373.0 2286.7 2515.6 393.62 11.37 825 27061.60 0.00 0.00 0.00 0.000 0.000 0.000 2270.16 2168.50 2371.81 2286.50 2516.00 0 0 0 30.00 30.00 30.00

27360.24 2 116.79 0.89 0.00 2268.7 2166.6 2370.8 2287.1 2515.2 360.44 11.00 840 27361.58 0.00 0.00 0.00 0.000 0.000 0.000 2267.50 2165.12 2369.88 2286.81 2515.50 0 0 0 30.00 30.00 30.00

27660.25 262 116.79 0.89 70.00 2267.4 2165.4 2369.3 2287.0 2515.1 328.05 10.64 855 27665.88 0.00 0.00 4.29 0.000 0.000 0.065 2268.19 2165.25 2371.12 2270.12 3956.56 0 0 0 30.00 30.00 15.63

27700.00 1030 116.79 0.89 0.00 2267.3 2166.2 2368.5 2271.2 3956.2 323.14 12.51 863 27705.82 0.00 0.00 3.88 0.000 0.000 0.013 2268.09 2166.31 2369.88 2287.69 2529.94 0 0 0 30.00 30.00 15.74

28020.32 2 116.79 0.89 0.00 2265.3 2164.8 2365.9 2286.8 2513.4 291.48 9.68 882 28021.66 0.00 0.00 0.00 0.000 0.000 0.000 2264.25 2163.75 2364.75 2287.25 2514.38 0 0 0 30.00 30.00 30.00

28320.31 66 116.79 0.90 0.00 2265.0 2163.9 2366.0 2287.1 2514.7 265.12 8.21 897 28321.65 0.00 0.00 0.00 0.000 0.000 0.000 2264.31 2162.88 2365.75 2286.94 2515.38 0 0 0 30.00 30.00 30.00

28620.31 35 189.06 1.08 0.00 2264.6 2163.2 2366.1 2287.2 2514.4 245.06 5.58 912 28681.02 57.30 0.12 0.00 1.497 0.093 0.000 1990.06 1880.44 2099.69 2341.50 2514.06 0 0 0 11.11 15.76 30.00

28980.34 550 225.88 1.17 -70.00 1981.0 1871.6 2090.4 2340.9 2515.3 217.82 7.52 933 29017.62 30.81 0.00 4.16 1.417 0.000 0.041 1839.56 1729.25 1949.88 2359.81 1077.12 0 0 0 11.46 30.00 15.44

29060.06 1092 225.88 1.18 0.00 1835.7 1726.7 1944.7 2358.8 1076.9 211.39 8.39 949 29065.97 0.00 0.00 4.29 0.000 0.000 0.022 1835.59 1726.69 1944.50 2342.94 2598.94 0 0 0 30.00 30.00 15.60

29365.39 551 271.80 1.30 -70.00 1831.6 1722.1 1941.1 2342.9 2598.1 188.36 7.02 974 29411.86 37.83 0.16 4.41 1.397 0.074 0.039 1650.38 1544.81 1755.94 2436.88 1078.50 0 0 0 11.50 15.61 15.41

29450.13 1029 271.80 1.30 0.00 1648.2 1545.1 1751.4 2437.3 1077.9 179.97 10.57 991 29456.14 0.00 0.12 4.30 0.000 0.236 0.023 1648.84 1545.31 1752.38 2388.50 2601.44 0 0 0 30.00 15.37 15.56

29755.46 580 271.80 1.31 -70.00 1644.3 1538.8 1749.8 2387.2 2602.1 152.84 8.51 1022 29761.10 0.00 0.00 4.40 0.000 0.000 0.038 1643.69 1538.50 1748.88 2404.62 1078.50 0 0 0 30.00 30.00 15.64

29800.25 1094 271.80 1.31 0.00 1642.9 1538.1 1747.6 2403.9 1078.1 148.79 8.93 1031 29806.16 0.00 0.00 4.29 0.000 0.000 0.024 1643.28 1538.31 1748.25 2387.94 2597.31 0 0 0 30.00 30.00 15.63

30105.51 35 310.43 1.41 0.00 1642.1 1537.3 1746.8 2387.7 2598.9 124.99 7.42 1062 30139.02 31.84 0.13 0.00 1.349 0.079 0.000 1495.38 1391.94 1598.81 2447.69 2596.69 0 0 0 11.41 15.66 30.00

30435.29 580 310.43 1.43 -70.00 1488.5 1385.4 1591.5 2448.8 2598.1 96.99 7.87 1098 30441.22 0.00 0.00 4.41 0.000 0.000 0.039 1488.66 1385.56 1591.75 2469.06 1078.62 0 0 0 30.00 30.00 15.61

30505.30 1092 310.43 1.44 0.00 1487.3 1385.2 1589.5 2468.2 1078.0 91.25 8.25 1112 30511.23 0.00 0.00 4.28 0.000 0.000 0.023 1487.16 1385.25 1589.06 2451.38 2597.06 0 0 0 30.00 30.00 15.66

30810.63 551 404.40 1.67 -70.00 1486.1 1383.1 1589.0 2452.1 2597.6 74.18 4.40 1173 30893.27 74.84 0.19 4.45 1.307 0.063 0.040 1110.28 1019.69 1200.88 2557.44 1079.25 0 0 0 11.49 15.68 15.35

30980.65 1062 443.55 1.77 0.00 1104.5 1018.8 1190.1 2556.7 1079.8 62.42 7.39 1207 31018.43 31.43 0.00 4.32 1.233 0.000 0.023 954.22 875.56 1032.88 2540.12 2599.44 0 0 0 11.83 30.00 15.53

31315.73 551 554.64 2.05 -70.00 945.6 865.6 1025.7 2540.9 2598.2 46.26 3.46 1274 31400.40 77.76 0.28 4.49 1.235 0.052 0.040 548.44 521.75 575.12 2678.69 1079.62 0 0 0 11.61 15.53 15.25

31517.62 1095 554.64 2.06 0.00 540.9 516.2 565.7 2679.1 1079.7 30.66 8.43 1314 31523.60 0.00 0.11 4.34 0.000 0.202 0.024 541.09 516.06 566.12 2628.50 2602.06 0 0 0 30.00 15.32 15.47

31822.68 551 683.09 2.38 -70.00 538.5 514.1 562.8 2630.1 2603.2 22.32 2.52 1375 31829.46 0.00 0.32 4.43 0.000 0.043 0.038 538.06 513.56 562.56 2785.50 1078.69 0 0 0 30.00 15.56 15.57

31867.71 1063 785.36 2.64 0.00 537.2 513.4 561.1 2784.5 1079.3 20.10 3.95 1384 31873.66 0.00 0.17 4.29 0.000 0.079 0.021 537.81 513.81 561.81 2844.25 2599.81 0 0 0 30.00 15.49 15.62

32098 end climb: SURFACE_DEPTH_REACHED

state 32098 begin surface coast

32118 end surface coast: CONTROL_FINISHED_OK

state 32118 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2220	ALTIM_PING_DELTA	10
MISSION	7	ESCAPE_HEADING	0	C_ROLL_CLIMB	2580	ALTIM_FREQUENCY	13
DIVE	251	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	13	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	5
D_SURF	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	500	SM_CC	529.84796	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	1020	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	400	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	2760	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	10
D_FINISH	0	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_TIMEOUT	720	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	0
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	2	LOGGERDEVICE1	7
T_DIVE	175	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	660	CAPMAXSIZE	100000	LOITER_W_DBAND	2	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	5	LOITER_DBDW	400	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100740	LOITER_D_TOP	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_D_BOTTOM	700	COMPASS2_DEVICE	55
T_NO_W	120	STROBE	0	LOITER_N_DIVE	1	PHONE_DEVICE	33
T_LOITER	21600	RAFOS_PEAK_OFFSET	1	CF8_MAXERRORS	20	GPS_DEVICE	48
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	575	RAFOS_DEVICE	104
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.0044066384
D_OFFGRID	100	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00064594403
RELAUNCH	1	C_PITCH	1980	MAXI_10V	1.4	SEABIRD_T_I	2.8872973e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	19.466213	SEABIRD_T_J	3.8119131e-06
MAX_BUOY	120	PITCH_CNV	0.0031300001	FG_AHR_24V	71.57473	SEABIRD_C_G	-9.8249397
GLIDE_SLOPE	30	PITCH_GAIN	36	PHONE_SUPPLY	2	SEABIRD_C_H	1.1031885
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-162.56323	SEABIRD_C_I	-0.00041305512
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00012297566
MASS	72365	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	1	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.0039900001	ROLL_MIN	340	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0125	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	2
HD_C	5.7000002e-06	ROLL_DEG	70	ALTIM_PING_DEPTH	0

GPS1	091019,012937,7356.536,-14631.402,125,1.2,130,17.7	TGT_LATLONG	7430.000,-14527.272
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.53	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-72.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,013634,7356.548,-14631.276,3,1.2,6,17.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.210	MHEAD_RNG_PITCHd_Wd	7.8,69582,-21.4,-9.524,-24.43
TGT_NAME	1	D_GRID	500

FINISH	-0.3,1.021322	_10V_AH	15.00,0.000
SM_CCo	32189.29,0.00,0.000,0,535.8,512.4,559.1,545.61	FG_AHR_24Vo	71.747
SM_GC	2.05,0.00,7.59,1.12,0.000,0.039,0.014,535.8,512.4,559.1,131.5,2170.1,0,0,0,30.00,15.61,15.69	FG_AHR_10Vo	19.534
SUPER	51,71,254,1,0,0	MEM	1163840,32,15168,73
IRIDIUM_FIX	7356.75,-14620.75,091019,013124	DATA_FILE_SIZE	54502,1434
TCM_TEMP	5.40	CAP_FILE_SIZE	309002,0
XPDR_PINGS	5	SDSIZE	3918848,3855296
RAFOS_CLK	-8	SDFILEDIR	807,1
RAFOS_FIX	7357.513672,-14631.812500,091019,101007,0,1,0.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	55.33	SOUNDSPEED	1465.0
TEMP	-0.31	CURRENT	0.052, 37.5,1
INTERNAL_PRESSURE	8.23057	GPS	091019,103509,7358.235,-14627.491,83,1.0,84,17.7
_24V_AH	14.73,152.072

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	1814	16995.58	SBE_CT	543	24	192.14
Pitch_motor	18	409	112.32	nil	0	0	0.00
Roll_motor	155	81	187.05	nil	0	0	0.00
Iridium	266	188	739.09	nil	0	0	0.00
Transponder_ping	1	420	7.73	nil	0	0	0.00
GPS	15	15	3.54	nil	0	0	0.00
Core	3579	19	1069.56	SciCon	0	0	0.00
LPSleep	28998	2	1004.81	nil	0	0	0.00
Compass	1440	5	108.04	nil	0	0	0.00
RAFOS	4365	48	3142.80
Transponder	0	0	0.00

		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	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
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
2.50	2	-116.79	-0.89	0.00	541.1	526.2	556.1	126.3	2292.7	0.00	0.00	0	44.11	40.95	0.00	0.00	0.005	0.000	0.000	1336.81	1270.38	1403.25	126.00	2294.62	0	0	0	15.05	30.00	30.00
44.37	551	-116.79	-0.89	-70.00	1337.0	1269.9	1404.1	126.1	2293.6	3.10	-4.58	8	116.54	54.55	7.65	4.56	0.005	0.409	0.046	3235.62	3176.56	3294.69	1716.00	719.12	0	0	0	15.18	15.05	14.98
213.45	1028	-116.79	-0.89	0.00	3236.7	3176.4	3297.0	1715.7	718.6	56.30	-27.10	42	219.32	0.00	0.00	4.28	0.000	0.000	0.021	3237.75	3176.94	3298.56	1699.88	2241.94	0	0	0	30.00	30.00	15.67
518.48	516	-116.79	-0.89	-70.00	3237.3	3176.6	3298.0	1698.9	2241.6	115.08	-15.90	94	524.44	0.00	0.00	4.43	0.000	0.000	0.048	3237.19	3177.06	3297.31	1714.88	718.88	0	0	0	30.00	30.00	15.70
563.61	1028	-116.79	-0.89	0.00	3236.2	3175.2	3297.2	1715.5	719.0	122.31	-15.97	103	569.41	0.00	0.00	4.24	0.000	0.000	0.019	3238.31	3177.38	3299.25	1698.25	2242.88	0	0	0	30.00	30.00	15.72
868.52	0	-116.79	-0.89	0.00	3237.2	3176.1	3298.2	1698.9	2243.2	166.29	-14.32	134	869.85	0.00	0.00	0.00	0.000	0.000	0.000	3237.59	3176.62	3298.56	1698.31	2243.25	0	0	0	30.00	30.00	30.00
1168.61	0	-116.79	-0.89	0.00	3237.2	3176.4	3298.0	1698.0	2244.2	206.06	-12.54	162	1169.94	0.00	0.00	0.00	0.000	0.000	0.000	3237.41	3176.00	3298.81	1698.25	2243.88	0	0	0	30.00	30.00	30.00
1468.57	516	-116.79	-0.89	-70.00	3237.9	3176.4	3299.5	1698.3	2243.7	241.35	-11.16	177	1474.50	0.00	0.00	4.45	0.000	0.000	0.049	3237.84	3177.69	3298.00	1713.94	720.56	0	0	0	30.00	30.00	15.76
1518.61	1028	-116.79	-0.89	0.00	3237.4	3176.0	3298.8	1714.1	720.0	247.01	-11.35	187	1524.47	0.00	0.00	4.22	0.000	0.000	0.020	3239.81	3178.19	3301.44	1697.69	2245.25	0	0	0	30.00	30.00	15.82
1828.59	260	-116.79	-0.89	70.00	3237.8	3176.1	3299.4	1698.2	2247.0	274.73	-8.13	204	1834.48	0.00	0.00	4.28	0.000	0.000	0.057	3237.34	3176.75	3297.94	1678.94	3718.31	0	0	0	30.00	30.00	15.77
1878.60	1028	-116.79	-0.89	0.00	3237.3	3176.3	3298.3	1677.8	3719.3	279.29	-9.43	214	1884.50	0.00	0.00	4.22	0.000	0.000	0.015	3239.53	3177.62	3301.44	1694.44	2184.94	0	0	0	30.00	30.00	15.83
2188.61	260	-116.79	-0.89	70.00	3237.6	3176.4	3298.9	1694.5	2184.6	303.89	-7.96	231	2194.55	0.00	0.00	4.49	0.000	0.000	0.056	3238.25	3177.06	3299.44	1677.38	3716.25	0	0	0	30.00	30.00	15.78
2233.66	1028	-116.79	-0.89	0.00	3237.5	3176.2	3298.8	1677.1	3717.8	307.76	-8.76	240	2239.55	0.00	0.00	4.22	0.000	0.000	0.015	3237.88	3175.31	3300.44	1693.75	2183.69	0	0	0	30.00	30.00	15.86
2548.66	32	-116.79	-0.89	0.00	3237.1	3175.6	3298.6	1693.4	2182.4	331.36	-7.11	258	2549.99	0.00	0.00	0.00	0.000	0.000	0.000	3236.41	3173.69	3299.12	1693.69	2182.06	0	0	0	30.00	30.00	30.00
2848.69	292	-116.79	-0.89	70.00	3237.0	3175.1	3299.0	1693.3	2182.8	352.81	-7.15	273	2854.61	0.00	0.00	4.53	0.000	0.000	0.057	3237.84	3175.56	3300.12	1676.00	3719.19	0	0	0	30.00	30.00	15.79
2898.72	1028	-116.79	-0.89	0.00	3237.4	3175.9	3298.8	1675.8	3716.8	356.99	-8.45	283	2904.57	0.00	0.00	4.22	0.000	0.000	0.015	3237.88	3175.94	3299.81	1692.56	2183.69	0	0	0	30.00	30.00	15.89
3208.70	32	-116.79	-0.89	0.00	3237.2	3175.8	3298.7	1692.1	2184.1	378.95	-6.93	300	3210.03	0.00	0.00	0.00	0.000	0.000	0.000	3237.69	3175.88	3299.50	1692.06	2184.00	0	0	0	30.00	30.00	30.00
3508.72	292	-116.79	-0.89	70.00	3237.1	3174.9	3299.2	1692.7	2184.8	399.77	-6.94	315	3514.67	0.00	0.00	4.51	0.000	0.000	0.056	3238.72	3177.00	3300.44	1674.94	3717.56	0	0	0	30.00	30.00	15.80
3603.70	1028	-116.79	-0.89	0.00	3236.8	3174.8	3298.9	1675.3	3716.8	407.57	-8.30	334	3609.64	0.00	0.00	4.22	0.000	0.000	0.015	3238.31	3175.94	3300.69	1690.75	2184.44	0	0	0	30.00	30.00	15.88
3908.82	32	-116.79	-0.89	0.00	3237.3	3175.7	3298.9	1691.1	2184.8	429.44	-7.02	350	3910.15	0.00	0.00	0.00	0.000	0.000	0.000	3234.72	3173.31	3296.12	1691.31	2184.50	0	0	0	30.00	30.00	30.00
4208.78	292	-116.79	-0.89	70.00	3237.3	3175.2	3299.4	1691.1	2184.8	449.75	-6.79	365	4214.69	0.00	0.00	4.49	0.000	0.000	0.056	3238.25	3177.25	3299.25	1673.94	3718.75	0	0	0	30.00	30.00	15.81
4303.76	1028	-116.79	-0.89	0.00	3236.5	3174.6	3298.4	1673.6	3717.9	457.34	-8.26	384	4309.70	0.00	0.00	4.20	0.000	0.000	0.015	3236.78	3175.50	3298.06	1689.38	2183.19	0	0	0	30.00	30.00	15.89
4608.90	32	-116.79	-0.89	0.00	3236.9	3175.4	3298.4	1689.6	2182.4	478.35	-6.83	400	4610.23	0.00	0.00	0.00	0.000	0.000	0.000	3238.41	3176.25	3300.56	1689.56	2182.94	0	0	0	30.00	30.00	30.00
4908.83	292	-116.79	-0.89	70.00	3237.4	3175.1	3299.8	1689.7	2182.3	498.78	-6.79	415	4914.75	0.00	0.00	4.50	0.000	0.000	0.056	3237.50	3176.12	3298.88	1672.38	3719.88	0	0	0	30.00	30.00	15.81
4929	end dive: TARGET_DEPTH_EXCEEDED
state	4929	begin apogee
4933.64	3	0.00	-0.14	0.00	3235.8	3174.7	3296.9	1683.1	2511.3	500.25	-6.81	419	5029.36	93.36	0.86	0.28	1.814	0.197	0.081	2760.97	2666.62	2855.31	1937.50	2608.44	0	0	0	11.17	15.53	15.33
5030	end apogee: CONTROL_FINISHED_OK
state	5030	begin loiter
5318.83	2	0.00	-0.14	0.00	2750.3	2658.9	2841.8	1938.3	2608.5	498.48	1.21	427	5320.16	0.00	0.00	0.00	0.000	0.000	0.000	2748.22	2657.31	2839.12	1938.31	2607.50	0	0	0	30.00	30.00	30.00
5918.85	2	0.00	-0.14	0.00	2746.3	2655.6	2837.1	1938.9	2607.8	488.43	1.74	437	5920.18	0.00	0.00	0.00	0.000	0.000	0.000	2744.97	2654.81	2835.12	1937.81	2608.50	0	0	0	30.00	30.00	30.00
6518.87	2	0.00	-0.14	0.00	2745.1	2656.8	2833.4	1938.8	2607.3	478.33	1.71	447	6520.20	0.00	0.00	0.00	0.000	0.000	0.000	2744.03	2654.38	2833.69	1938.56	2607.56	0	0	0	30.00	30.00	30.00
7118.89	2	0.00	-0.14	0.00	2744.1	2654.9	2833.3	1937.9	2607.4	467.40	1.84	457	7120.22	0.00	0.00	0.00	0.000	0.000	0.000	2742.22	2653.38	2831.06	1938.94	2608.56	0	0	0	30.00	30.00	30.00
7718.91	2	0.00	-0.14	0.00	2743.7	2654.6	2832.8	1938.2	2607.9	456.91	1.73	467	7720.25	0.00	0.00	0.00	0.000	0.000	0.000	2742.22	2653.56	2830.88	1938.75	2607.38	0	0	0	30.00	30.00	30.00
8319.00	2	0.00	-0.14	0.00	2743.5	2655.1	2832.0	1938.2	2606.8	445.87	1.83	477	8320.33	0.00	0.00	0.00	0.000	0.000	0.000	2743.62	2653.88	2833.38	1938.25	2608.19	0	0	0	30.00	30.00	30.00
8919.06	2	0.00	-0.14	0.00	2744.0	2655.1	2832.9	1938.6	2607.7	435.97	1.54	487	8920.40	0.00	0.00	0.00	0.000	0.000	0.000	2740.69	2651.88	2829.50	1938.25	2608.06	0	0	0	30.00	30.00	30.00
9518.98	2	0.00	-0.14	0.00	2743.3	2653.8	2832.9	1938.1	2608.0	427.48	1.44	497	9520.32	0.00	0.00	0.00	0.000	0.000	0.000	2741.16	2652.81	2829.50	1938.06	2608.00	0	0	0	30.00	30.00	30.00
10119.00	2	0.00	-0.14	0.00	2742.9	2654.2	2831.6	1938.4	2607.6	419.29	1.38	507	10120.34	0.00	0.00	0.00	0.000	0.000	0.000	2742.31	2652.50	2832.12	1938.88	2608.12	0	0	0	30.00	30.00	30.00
10719.03	2	0.00	-0.14	0.00	2742.8	2653.5	2832.0	1938.2	2607.6	409.86	1.71	517	10720.36	0.00	0.00	0.00	0.000	0.000	0.000	2741.56	2652.25	2830.88	1938.50	2607.69	0	0	0	30.00	30.00	30.00
11319.05	34	-6.85	-0.16	0.00	2742.4	2653.4	2831.5	1938.1	2609.4	399.39	1.76	527	11320.50	0.12	0.00	0.00	0.187	0.000	0.000	2789.28	2704.50	2874.06	1938.12	2607.88	0	0	0	14.56	30.00	30.00
11919.37	64	-6.85	-0.15	0.00	2790.5	2707.0	2874.0	1939.1	2608.5	403.24	-0.90	537	11920.70	0.00	0.00	0.00	0.000	0.000	0.000	2789.59	2705.81	2873.38	1938.56	2607.81	0	0	0	30.00	30.00	30.00
12519.12	64	-6.85	-0.14	0.00	2790.6	2707.2	2874.0	1938.6	2608.1	409.41	-1.03	547	12520.46	0.00	0.00	0.00	0.000	0.000	0.000	2789.97	2706.38	2873.56	1937.94	2608.50	0	0	0	30.00	30.00	30.00
13119.15	64	-6.85	-0.13	0.00	2790.6	2706.6	2874.6	1938.2	2608.3	413.40	-0.67	557	13120.49	0.00	0.00	0.00	0.000	0.000	0.000	2788.91	2705.25	2872.56	1939.62	2608.25	0	0	0	30.00	30.00	30.00
13719.48	0	-6.85	-0.13	0.00	2790.4	2705.7	2875.1	1938.6	2607.0	415.84	-0.44	567	13720.82	0.00	0.00	0.00	0.000	0.000	0.000	2789.28	2705.19	2873.38	1938.88	2607.94	0	0	0	30.00	30.00	30.00
14319.46	64	-6.85	-0.12	0.00	2790.7	2706.3	2875.1	1938.2	2607.5	419.39	-0.61	577	14320.80	0.00	0.00	0.00	0.000	0.000	0.000	2790.22	2706.31	2874.12	1938.69	2607.50	0	0	0	30.00	30.00	30.00
14919.23	64	-6.85	-0.12	0.00	2790.4	2706.3	2874.5	1938.6	2607.9	424.35	-0.81	587	14920.56	0.00	0.00	0.00	0.000	0.000	0.000	2790.75	2706.62	2874.88	1938.88	2607.44	0	0	0	30.00	30.00	30.00
15519.52	64	-6.85	-0.11	0.00	2790.8	2707.4	2874.2	1938.0	2607.8	427.72	-0.58	597	15520.85	0.00	0.00	0.00	0.000	0.000	0.000	2789.03	2704.88	2873.19	1938.81	2607.56	0	0	0	30.00	30.00	30.00
16119.52	0	-6.85	-0.11	0.00	2791.4	2707.9	2874.9	1938.7	2608.7	428.79	-0.35	607	16120.86	0.00	0.00	0.00	0.000	0.000	0.000	2789.53	2705.06	2874.00	1938.38	2607.62	0	0	0	30.00	30.00	30.00
16719.55	0	-6.85	-0.11	0.00	2790.8	2706.0	2875.5	1938.2	2607.9	429.40	-0.22	617	16720.88	0.00	0.00	0.00	0.000	0.000	0.000	2791.19	2707.62	2874.75	1937.94	2607.50	0	0	0	30.00	30.00	30.00
17319.58	0	-6.85	-0.11	0.00	2790.8	2706.7	2875.0	1938.4	2606.9	430.62	-0.15	627	17320.92	0.00	0.00	0.00	0.000	0.000	0.000	2790.22	2706.62	2873.81	1938.44	2608.81	0	0	0	30.00	30.00	30.00
17919.60	0	-6.85	-0.11	0.00	2790.4	2705.7	2875.1	1938.4	2608.0	433.13	-0.35	637	17920.93	0.00	0.00	0.00	0.000	0.000	0.000	2791.31	2706.12	2876.50	1938.88	2607.31	0	0	0	30.00	30.00	30.00
18519.62	0	-6.85	-0.11	0.00	2790.3	2705.7	2874.9	1938.7	2608.1	435.93	-0.48	647	18520.96	0.00	0.00	0.00	0.000	0.000	0.000	2789.25	2705.50	2873.00	1938.19	2607.38	0	0	0	30.00	30.00	30.00
19119.65	0	-6.85	-0.11	0.00	2790.2	2706.8	2873.5	1938.2	2607.2	437.95	-0.39	657	19120.98	0.00	0.00	0.00	0.000	0.000	0.000	2789.75	2705.38	2874.12	1938.25	2607.81	0	0	0	30.00	30.00	30.00
19719.67	0	-6.85	-0.11	0.00	2790.7	2706.6	2874.9	1938.9	2607.9	438.89	-0.27	667	19721.01	0.00	0.00	0.00	0.000	0.000	0.000	2790.50	2705.62	2875.38	1938.19	2608.94	0	0	0	30.00	30.00	30.00
20319.69	0	-6.85	-0.11	0.00	2791.2	2706.8	2875.6	1938.6	2607.5	438.55	-0.14	677	20321.03	0.00	0.00	0.00	0.000	0.000	0.000	2789.72	2706.25	2873.19	1938.31	2608.38	0	0	0	30.00	30.00	30.00
20919.71	0	-6.85	-0.11	0.00	2790.2	2706.6	2873.7	1938.3	2608.2	438.25	-0.00	687	20921.05	0.00	0.00	0.00	0.000	0.000	0.000	2789.97	2706.69	2873.25	1938.38	2606.94	0	0	0	30.00	30.00	30.00
21519.74	0	-6.85	-0.11	0.00	2790.3	2706.1	2874.4	1938.1	2608.3	439.11	-0.01	697	21521.07	0.00	0.00	0.00	0.000	0.000	0.000	2792.78	2708.44	2877.12	1937.38	2607.31	0	0	0	30.00	30.00	30.00
22119.76	0	-6.85	-0.11	0.00	2791.6	2707.6	2875.6	1938.2	2607.2	440.52	-0.11	707	22121.10	0.00	0.00	0.00	0.000	0.000	0.000	2790.56	2706.81	2874.31	1938.38	2607.19	0	0	0	30.00	30.00	30.00
22719.78	0	-6.85	-0.11	0.00	2790.5	2706.1	2874.9	1938.6	2606.9	440.70	-0.14	717	22721.11	0.00	0.00	0.00	0.000	0.000	0.000	2788.81	2704.94	2872.69	1938.38	2607.81	0	0	0	30.00	30.00	30.00
23319.65	0	-6.85	-0.11	0.00	2790.3	2706.0	2874.6	1938.2	2608.5	438.93	0.01	727	23320.99	0.00	0.00	0.00	0.000	0.000	0.000	2788.19	2703.50	2872.88	1937.94	2607.81	0	0	0	30.00	30.00	30.00
23919.83	0	-6.85	-0.11	0.00	2790.7	2706.6	2874.8	1938.2	2608.1	437.17	0.31	737	23921.16	0.00	0.00	0.00	0.000	0.000	0.000	2788.91	2705.81	2872.00	1939.06	2607.69	0	0	0	30.00	30.00	30.00
24519.85	0	-6.85	-0.11	0.00	2790.3	2706.8	2873.9	1939.1	2607.3	436.62	0.22	747	24521.18	0.00	0.00	0.00	0.000	0.000	0.000	2791.31	2706.88	2875.75	1938.56	2608.19	0	0	0	30.00	30.00	30.00
25119.87	0	-6.85	-0.11	0.00	2790.7	2706.3	2875.0	1938.1	2607.8	437.15	0.09	757	25121.20	0.00	0.00	0.00	0.000	0.000	0.000	2789.41	2707.00	2871.81	1938.56	2607.12	0	0	0	30.00	30.00	30.00
25719.90	0	-6.85	-0.11	0.00	2791.1	2706.9	2875.3	1938.5	2607.4	437.59	-0.02	767	25721.23	0.00	0.00	0.00	0.000	0.000	0.000	2788.47	2704.88	2872.06	1938.19	2607.88	0	0	0	30.00	30.00	30.00
26319.92	0	-6.85	-0.11	0.00	2790.3	2706.3	2874.2	1938.0	2607.6	437.05	-0.02	777	26321.25	0.00	0.00	0.00	0.000	0.000	0.000	2790.62	2706.69	2874.56	1938.75	2607.75	0	0	0	30.00	30.00	30.00
26620	end loiter: LOITER_COMPLETE
state	26620	begin climb
26620.00	263	116.79	0.89	70.00	2790.0	2706.8	2873.2	1939.2	2607.5	436.59	0.00	782	26733.10	105.18	0.95	4.09	1.717	0.069	0.071	2280.78	2178.00	2383.56	2270.94	3956.38	0	0	0	10.59	15.74	15.26
26749.93	1028	116.79	0.89	0.00	2277.8	2176.9	2378.8	2270.2	3957.2	429.01	9.74	808	26755.79	0.00	0.00	4.01	0.000	0.000	0.013	2280.91	2180.00	2381.81	2285.56	2531.00	0	0	0	30.00	30.00	15.48
27060.27	2	116.79	0.89	0.00	2270.8	2168.5	2373.0	2286.7	2515.6	393.62	11.37	825	27061.60	0.00	0.00	0.00	0.000	0.000	0.000	2270.16	2168.50	2371.81	2286.50	2516.00	0	0	0	30.00	30.00	30.00
27360.24	2	116.79	0.89	0.00	2268.7	2166.6	2370.8	2287.1	2515.2	360.44	11.00	840	27361.58	0.00	0.00	0.00	0.000	0.000	0.000	2267.50	2165.12	2369.88	2286.81	2515.50	0	0	0	30.00	30.00	30.00
27660.25	262	116.79	0.89	70.00	2267.4	2165.4	2369.3	2287.0	2515.1	328.05	10.64	855	27665.88	0.00	0.00	4.29	0.000	0.000	0.065	2268.19	2165.25	2371.12	2270.12	3956.56	0	0	0	30.00	30.00	15.63
27700.00	1030	116.79	0.89	0.00	2267.3	2166.2	2368.5	2271.2	3956.2	323.14	12.51	863	27705.82	0.00	0.00	3.88	0.000	0.000	0.013	2268.09	2166.31	2369.88	2287.69	2529.94	0	0	0	30.00	30.00	15.74
28020.32	2	116.79	0.89	0.00	2265.3	2164.8	2365.9	2286.8	2513.4	291.48	9.68	882	28021.66	0.00	0.00	0.00	0.000	0.000	0.000	2264.25	2163.75	2364.75	2287.25	2514.38	0	0	0	30.00	30.00	30.00
28320.31	66	116.79	0.90	0.00	2265.0	2163.9	2366.0	2287.1	2514.7	265.12	8.21	897	28321.65	0.00	0.00	0.00	0.000	0.000	0.000	2264.31	2162.88	2365.75	2286.94	2515.38	0	0	0	30.00	30.00	30.00
28620.31	35	189.06	1.08	0.00	2264.6	2163.2	2366.1	2287.2	2514.4	245.06	5.58	912	28681.02	57.30	0.12	0.00	1.497	0.093	0.000	1990.06	1880.44	2099.69	2341.50	2514.06	0	0	0	11.11	15.76	30.00
28980.34	550	225.88	1.17	-70.00	1981.0	1871.6	2090.4	2340.9	2515.3	217.82	7.52	933	29017.62	30.81	0.00	4.16	1.417	0.000	0.041	1839.56	1729.25	1949.88	2359.81	1077.12	0	0	0	11.46	30.00	15.44
29060.06	1092	225.88	1.18	0.00	1835.7	1726.7	1944.7	2358.8	1076.9	211.39	8.39	949	29065.97	0.00	0.00	4.29	0.000	0.000	0.022	1835.59	1726.69	1944.50	2342.94	2598.94	0	0	0	30.00	30.00	15.60
29365.39	551	271.80	1.30	-70.00	1831.6	1722.1	1941.1	2342.9	2598.1	188.36	7.02	974	29411.86	37.83	0.16	4.41	1.397	0.074	0.039	1650.38	1544.81	1755.94	2436.88	1078.50	0	0	0	11.50	15.61	15.41
29450.13	1029	271.80	1.30	0.00	1648.2	1545.1	1751.4	2437.3	1077.9	179.97	10.57	991	29456.14	0.00	0.12	4.30	0.000	0.236	0.023	1648.84	1545.31	1752.38	2388.50	2601.44	0	0	0	30.00	15.37	15.56
29755.46	580	271.80	1.31	-70.00	1644.3	1538.8	1749.8	2387.2	2602.1	152.84	8.51	1022	29761.10	0.00	0.00	4.40	0.000	0.000	0.038	1643.69	1538.50	1748.88	2404.62	1078.50	0	0	0	30.00	30.00	15.64
29800.25	1094	271.80	1.31	0.00	1642.9	1538.1	1747.6	2403.9	1078.1	148.79	8.93	1031	29806.16	0.00	0.00	4.29	0.000	0.000	0.024	1643.28	1538.31	1748.25	2387.94	2597.31	0	0	0	30.00	30.00	15.63
30105.51	35	310.43	1.41	0.00	1642.1	1537.3	1746.8	2387.7	2598.9	124.99	7.42	1062	30139.02	31.84	0.13	0.00	1.349	0.079	0.000	1495.38	1391.94	1598.81	2447.69	2596.69	0	0	0	11.41	15.66	30.00
30435.29	580	310.43	1.43	-70.00	1488.5	1385.4	1591.5	2448.8	2598.1	96.99	7.87	1098	30441.22	0.00	0.00	4.41	0.000	0.000	0.039	1488.66	1385.56	1591.75	2469.06	1078.62	0	0	0	30.00	30.00	15.61
30505.30	1092	310.43	1.44	0.00	1487.3	1385.2	1589.5	2468.2	1078.0	91.25	8.25	1112	30511.23	0.00	0.00	4.28	0.000	0.000	0.023	1487.16	1385.25	1589.06	2451.38	2597.06	0	0	0	30.00	30.00	15.66
30810.63	551	404.40	1.67	-70.00	1486.1	1383.1	1589.0	2452.1	2597.6	74.18	4.40	1173	30893.27	74.84	0.19	4.45	1.307	0.063	0.040	1110.28	1019.69	1200.88	2557.44	1079.25	0	0	0	11.49	15.68	15.35
30980.65	1062	443.55	1.77	0.00	1104.5	1018.8	1190.1	2556.7	1079.8	62.42	7.39	1207	31018.43	31.43	0.00	4.32	1.233	0.000	0.023	954.22	875.56	1032.88	2540.12	2599.44	0	0	0	11.83	30.00	15.53
31315.73	551	554.64	2.05	-70.00	945.6	865.6	1025.7	2540.9	2598.2	46.26	3.46	1274	31400.40	77.76	0.28	4.49	1.235	0.052	0.040	548.44	521.75	575.12	2678.69	1079.62	0	0	0	11.61	15.53	15.25
31517.62	1095	554.64	2.06	0.00	540.9	516.2	565.7	2679.1	1079.7	30.66	8.43	1314	31523.60	0.00	0.11	4.34	0.000	0.202	0.024	541.09	516.06	566.12	2628.50	2602.06	0	0	0	30.00	15.32	15.47
31822.68	551	683.09	2.38	-70.00	538.5	514.1	562.8	2630.1	2603.2	22.32	2.52	1375	31829.46	0.00	0.32	4.43	0.000	0.043	0.038	538.06	513.56	562.56	2785.50	1078.69	0	0	0	30.00	15.56	15.57
31867.71	1063	785.36	2.64	0.00	537.2	513.4	561.1	2784.5	1079.3	20.10	3.95	1384	31873.66	0.00	0.17	4.29	0.000	0.079	0.021	537.81	513.81	561.81	2844.25	2599.81	0	0	0	30.00	15.49	15.62
32098	end climb: SURFACE_DEPTH_REACHED
state	32098	begin surface coast
32118	end surface coast: CONTROL_FINISHED_OK
state	32118	begin surface