Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 92 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 92 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 2 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 11 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 525 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 2

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 10 PROTOCOL 9 C_VBD 2943 INT_PRESSURE_YINT 1.6

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 4 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 4 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 CALL_WAIT 45 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 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 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 1 RAFOS_HIT_WINDOW 25200 LOITER_D_BOTTOM 200 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2070 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 2 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0019 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.016000001 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.2e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.1033937e-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 20 SM_CC 525

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 2 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 4

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.2e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.83926 T_DIVE 50

CAPUPLOAD 0 ID 199 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 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 25200 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2070 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2943 LOITER_D_BOTTOM 200 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 92 MINV_10V 0 R_PORT_OVSHOOT 11 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 10 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 -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 121018,150832,7413.0254,-14633.3965,36,0.8,36,22.4,0.0,0.0,10,7.1 SPEED_LIMITS 0.173,0.210

_CALLS 2 TGT_NAME AB1

_XMS_NAKs 0 TGT_LATLONG 7337.500,-14725.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 170.6,71210,-17.7,-10.000,-25.48,2242

_SM_ANGLEo -62.5 D_GRID 150

GPS2 121018,152025,7413.1001,-14633.4717,11,0.8,11,22.4,0.0,335.7,10,7.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012160142.971816,18,4070,36,0313,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D ALTIM_TOP_PING 19.8,14.0

FREEZE -0.22,-1.120,-1.427,2,1,0 _24V_AH 13.07,45.943

FINISH -0.2,1.021056 _10V_AH 13.17,0.000

SM_CCo 14882,97.10,0.218,0,0,802,525.19 FG_AHR_24Vo 0.000

SM_GC 0.71,7.53,0.40,97.10,0.093,0.227,0.218,192,2759,802,-5.82,-0.08,525.19,0,0,0,0,0,0,14.02,13.90,13.89 FG_AHR_10Vo 0.000

RAFOS_CLK 573 MEM 334748

MODEM 0,1539360102,73.00000,-148.33333,102.972,148523.9 DATA_FILE_SIZE 49975,1527

RAFOS_FIX 7410.730469,-14633.172852,121018,161642,4,255,1.78 CAP_FILE_SIZE 165060,0

IRIDIUM_FIX 7414.00,-14627.38,121018,043106 CFSIZE 2097872896,2073460736

TT8_MAMPS 0.040446,0.904043 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 50.15 SOUNDSPEED 1442.0

INTERNAL_PRESSURE 9.45186 CURRENT 0.081,15.88,1

TCM_TEMP 12.30 GPS 121018,193202,7413.418,-14633.007,32,0.9,32,22.4,0.0,0.0,9,7.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 494 127.12 nil 0 0 0.00

Roll_motor 26 227 78.77 nil 0 0 0.00

VBD_pump_during_apogee 491 1709 10967.35 nil 0 0 0.00

VBD_pump_during_surface 97 218 276.69 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 3496 36 1690.40

Iridium_during_xfer 443 185 1072.81 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 21 5.51

TT8 0 0 0.00

LPSleep 11261 2 342.60

TT8_Active 717 11 108.36

TT8_Sampling 3358 30 1335.60

TT8_CF8 331 36 157.89

TT8_Kalman 0 0 0.00

Analog_circuits 2262 9 283.13

GPS_charging 0 0 0.00

Compass 2169 7 214.05

RAFOS 2213 33 961.79

Transponder 2 30 1.00

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 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.80 -146.0 185 2758 779 805 0.0 0.0 0 115 0.00 0.00 -103.32 0.002 16386 0.000 0.000 184 2758 2387 2411 2363 0 0 0 0 0 0 14.31 28.83 14.33

118 -0.80 -146.0 185 2759 2411 2366 4.8 -8.4 10 163 9.52 2.83 -26.12 0.005 18948 0.495 0.176 1806 1335 3543 3596 3491 0 0 0 0 0 0 13.90 13.19 14.21

208 -0.80 -146.0 1807 1335 3597 3493 35.0 -31.1 27 215 0.00 2.88 0.00 0.000 1030 0.000 0.183 1798 2755 3544 3595 3494 0 0 0 0 0 0 14.21 14.04 14.23

394 -0.80 -146.0 1798 2755 3597 3493 82.2 -21.3 46 394 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2754 3544 3596 3493 0 0 0 0 0 0 14.42 14.44 14.44

574 -0.80 -146.0 1798 2756 3596 3494 115.4 -17.8 64 574 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2755 3544 3596 3493 0 0 0 0 0 0 14.47 14.49 14.48

754 -0.80 -146.0 1798 2755 3598 3493 144.9 -15.8 82 754 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2755 3544 3596 3493 0 0 0 0 0 0 14.52 14.54 14.54

791 end dive: TARGET_DEPTH_EXCEEDED

state 791 begin apogee

797 -0.19 0.0 1798 2599 3596 3494 151.1 -15.5 86 917 0.85 0.00 115.82 1.639 10246 0.292 0.000 2005 2598 2939 3031 2847 0 0 0 0 0 0 14.21 13.70 13.07

918 end apogee: CONTROL_FINISHED_OK

state 918 begin loiter

1094 -0.17 13.6 2006 2597 3031 2835 165.7 -3.5 116 1106 0.00 0.00 11.38 1.475 8230 0.000 0.000 2005 2597 2886 2983 2789 0 0 0 0 0 0 14.25 13.99 13.29

1284 -0.16 25.5 2006 2598 2981 2784 171.7 -3.0 135 1296 0.00 0.00 11.12 1.496 8230 0.000 0.000 2005 2598 2837 2927 2747 0 0 0 0 0 0 14.35 14.09 13.38

1474 -0.15 35.4 2006 2597 2924 2741 176.6 -2.5 154 1485 0.00 0.00 9.35 1.473 8230 0.000 0.000 2005 2597 2795 2883 2707 0 0 0 0 0 0 14.42 14.16 13.45

1664 -0.14 43.6 2005 2598 2882 2704 180.7 -2.1 173 1674 0.00 0.00 7.97 1.445 8230 0.000 0.000 2005 2597 2759 2848 2671 0 0 0 0 0 0 14.46 14.21 13.50

1854 -0.14 49.9 2005 2598 2850 2669 184.0 -1.6 192 1864 0.00 0.00 6.47 1.409 8230 0.000 0.000 2005 2597 2735 2826 2644 0 0 0 0 0 0 14.50 14.26 13.52

2044 -0.12 49.9 2006 2598 2827 2642 185.6 -0.5 211 2045 0.00 0.00 0.00 0.000 70 0.000 0.000 2005 2597 2734 2826 2642 0 0 0 0 0 0 14.54 14.56 14.55

2224 -0.12 49.9 2006 2597 2827 2641 186.3 -0.4 229 2225 0.00 0.00 0.00 0.000 6 0.000 0.000 2005 2597 2733 2826 2641 0 0 0 0 0 0 14.59 14.62 14.62

2407 -0.10 49.9 2006 2598 2827 2640 187.4 -0.7 247 2408 0.12 0.00 0.00 0.000 2118 0.265 0.000 2032 2597 2733 2826 2640 0 0 0 0 0 0 14.29 14.47 14.44

2585 -0.08 49.9 2033 2598 2827 2640 188.6 -0.6 265 2586 0.00 0.00 0.00 0.000 70 0.000 0.000 2032 2598 2733 2826 2640 0 0 0 0 0 0 14.57 14.59 14.59

2765 -0.08 49.9 2032 2598 2826 2641 189.3 -0.3 283 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2732 2826 2639 0 0 0 0 0 0 14.59 14.60 14.60

2945 -0.08 49.9 2032 2598 2827 2640 189.7 -0.3 301 2946 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2732 2826 2639 0 0 0 0 0 0 14.59 14.61 14.61

3125 -0.06 49.9 2032 2598 2826 2640 190.6 -0.6 319 3126 0.00 0.00 0.00 0.000 70 0.000 0.000 2032 2597 2734 2826 2643 0 0 0 0 0 0 14.59 14.62 14.62

3305 -0.05 49.9 2033 2597 2827 2639 191.6 -0.6 337 3306 0.00 0.00 0.00 0.000 70 0.000 0.000 2032 2598 2732 2826 2639 0 0 0 0 0 0 14.60 14.62 14.62

3485 -0.05 49.9 2032 2598 2826 2640 192.4 -0.4 355 3486 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2598 2732 2826 2639 0 0 0 0 0 0 14.60 14.63 14.62

3665 -0.05 49.9 2032 2598 2826 2640 193.0 -0.3 373 3666 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2732 2826 2638 0 0 0 0 0 0 14.61 14.63 14.63

3845 -0.05 49.9 2033 2598 2827 2639 193.5 -0.3 391 3846 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2732 2826 2638 0 0 0 0 0 0 14.61 14.63 14.63

4025 -0.05 49.9 2032 2599 2827 2638 194.1 -0.2 409 4026 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2732 2826 2638 0 0 0 0 0 0 14.62 14.62 14.63

4205 -0.05 49.9 2032 2598 2827 2638 194.1 0.0 427 4206 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2596 2731 2826 2637 0 0 0 0 0 0 14.62 14.64 14.64

4385 -0.05 49.9 2032 2597 2827 2637 194.3 -0.2 445 4386 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2637 0 0 0 0 0 0 14.62 14.64 14.64

4565 -0.05 49.9 2032 2597 2827 2636 194.7 -0.2 463 4566 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2637 0 0 0 0 0 0 14.67 14.69 14.69

4745 -0.05 49.9 2032 2598 2826 2638 195.3 -0.4 481 4746 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2636 0 0 0 0 0 0 14.71 14.72 14.72

4925 -0.05 49.9 2032 2597 2827 2636 196.1 -0.5 499 4926 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2636 0 0 0 0 0 0 14.73 14.75 14.75

5105 -0.05 49.9 2032 2598 2826 2637 196.8 -0.3 517 5106 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2636 0 0 0 0 0 0 14.75 14.77 14.77

5285 -0.05 49.9 2032 2597 2827 2636 197.1 -0.1 535 5286 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2596 2731 2826 2636 0 0 0 0 0 0 14.77 14.78 14.78

5465 -0.05 49.9 2032 2597 2827 2635 197.2 -0.0 553 5466 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2636 0 0 0 0 0 0 14.78 14.80 14.80

5645 -0.05 49.9 2032 2597 2827 2635 197.3 -0.2 571 5646 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2731 2826 2636 0 0 0 0 0 0 14.79 14.82 14.81

5825 -0.05 49.9 2032 2598 2826 2637 198.0 -0.5 589 5826 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2596 2731 2826 2636 0 0 0 0 0 0 14.81 14.83 14.83

6005 -0.05 49.9 2032 2598 2826 2637 198.8 -0.4 607 6006 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2598 2730 2826 2635 0 0 0 0 0 0 14.81 14.83 14.83

6185 -0.05 49.9 2032 2598 2827 2637 199.0 0.0 625 6186 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2730 2826 2635 0 0 0 0 0 0 14.82 14.84 14.84

6365 -0.05 49.9 2032 2599 2827 2637 198.9 0.1 643 6366 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2730 2826 2635 0 0 0 0 0 0 14.83 14.85 14.85

6545 -0.05 49.9 2032 2597 2826 2635 199.0 -0.1 661 6546 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2598 2730 2826 2635 0 0 0 0 0 0 14.83 14.85 14.85

6725 -0.05 49.9 2032 2598 2827 2637 199.5 -0.4 679 6726 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2730 2826 2635 0 0 0 0 0 0 14.84 14.86 14.86

6905 -0.04 51.6 2032 2597 2827 2635 200.3 -0.4 697 6906 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2598 2730 2826 2635 0 0 0 0 0 0 14.85 14.87 14.87

7085 -0.04 52.6 2032 2598 2827 2636 200.9 -0.3 715 7086 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2597 2730 2826 2635 0 0 0 0 0 0 14.85 14.88 14.87

7265 -0.04 53.0 2032 2597 2826 2635 201.2 -0.1 733 7266 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2597 2730 2826 2635 0 0 0 0 0 0 14.85 14.88 14.87

7445 -0.04 53.2 2032 2598 2827 2636 201.3 -0.0 751 7446 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2598 2730 2826 2635 0 0 0 0 0 0 14.86 14.88 14.88

7625 -0.04 53.3 2032 2597 2826 2636 201.3 -0.0 769 7626 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2598 2730 2826 2635 0 0 0 0 0 0 14.86 14.88 14.88

7805 -0.04 53.8 2033 2597 2827 2635 201.5 -0.1 787 7806 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2598 2730 2826 2635 0 0 0 0 0 0 14.86 14.88 14.88

7985 -0.04 54.2 2032 2597 2827 2635 201.7 -0.1 805 7986 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2597 2730 2826 2635 0 0 0 0 0 0 14.87 14.89 14.89

8165 -0.04 54.3 2032 2598 2826 2636 201.8 -0.0 823 8175 0.00 0.00 4.18 1.279 8230 0.000 0.000 2032 2597 2718 2813 2623 0 0 0 0 0 0 14.87 14.62 13.72

8355 -0.04 54.3 2032 2598 2813 2624 200.4 1.0 842 8356 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2718 2813 2623 0 0 0 0 0 0 14.85 14.87 14.86

8535 -0.04 54.3 2032 2598 2813 2624 198.9 0.7 860 8536 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2718 2813 2623 0 0 0 0 0 0 14.85 14.88 14.87

8715 -0.04 54.3 2032 2597 2813 2623 198.0 0.4 878 8716 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.85 14.88 14.88

8895 -0.04 54.3 2032 2597 2814 2623 197.3 0.3 896 8896 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.86 14.88 14.88

9075 -0.04 54.3 2032 2597 2813 2623 196.9 0.2 914 9076 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.87 14.89 14.88

9255 -0.04 54.3 2032 2598 2813 2624 196.6 0.2 932 9256 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2718 2813 2623 0 0 0 0 0 0 14.87 14.89 14.89

9435 -0.04 54.3 2032 2597 2814 2623 196.4 0.0 950 9436 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.88 14.89 14.90

9615 -0.04 54.3 2032 2598 2813 2624 196.6 -0.2 968 9616 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2718 2813 2623 0 0 0 0 0 0 14.88 14.90 14.89

9795 -0.04 54.3 2032 2599 2813 2624 196.9 -0.1 986 9796 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.88 14.90 14.90

9975 -0.04 54.3 2032 2597 2814 2623 197.0 -0.0 1004 9976 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.88 14.90 14.90

10155 -0.04 54.3 2032 2598 2812 2624 197.0 -0.0 1022 10156 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.88 14.90 14.90

10335 -0.04 54.3 2032 2597 2812 2623 197.1 -0.1 1040 10336 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.88 14.90 14.90

10515 -0.04 54.3 2032 2598 2813 2624 197.4 -0.2 1058 10516 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2622 0 0 0 0 0 0 14.88 14.90 14.90

10695 -0.04 54.3 2032 2598 2813 2624 197.8 -0.3 1076 10696 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.88 14.91 14.90

10875 -0.04 54.3 2032 2597 2813 2622 198.1 -0.0 1094 10876 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2622 0 0 0 0 0 0 14.88 14.91 14.90

11055 -0.04 54.3 2032 2597 2814 2622 197.8 0.3 1112 11056 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2598 2717 2812 2622 0 0 0 0 0 0 14.88 14.91 14.90

11235 -0.04 54.3 2032 2597 2813 2622 197.3 0.2 1130 11236 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2597 2717 2812 2622 0 0 0 0 0 0 14.89 14.91 14.91

11415 -0.04 54.3 2032 2597 2813 2622 197.3 -0.2 1148 11416 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2623 0 0 0 0 0 0 14.89 14.91 14.91

11595 -0.04 54.3 2032 2597 2814 2622 197.6 -0.1 1166 11596 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2598 2717 2812 2622 0 0 0 0 0 0 14.89 14.91 14.91

11775 -0.04 54.3 2032 2597 2814 2622 197.6 0.0 1184 11776 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2622 0 0 0 0 0 0 14.89 14.91 14.91

11955 -0.04 54.3 2032 2597 2813 2621 197.8 -0.2 1202 11956 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2622 0 0 0 0 0 0 14.89 14.91 14.91

12135 -0.04 54.3 2032 2597 2813 2622 198.2 -0.3 1220 12136 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2597 2717 2812 2622 0 0 0 0 0 0 14.90 14.92 14.91

12313 end loiter: LOITER_COMPLETE

state 12313 begin climb

12315 0.80 146.0 2032 2598 2813 2621 198.5 0.0 1238 12402 0.98 2.53 74.53 1.709 10500 0.186 0.214 2326 3773 2343 2442 2245 0 0 0 0 0 0 14.58 13.97 13.39

12493 0.88 146.0 2326 3773 2443 2236 189.5 7.3 1270 12498 0.00 2.30 0.00 0.000 1094 0.000 0.165 2333 2596 2339 2442 2236 0 0 0 0 0 0 14.24 14.12 14.27

12683 0.99 146.0 2334 2596 2443 2232 177.1 6.5 1290 12688 0.15 2.72 0.00 0.000 2628 0.135 0.156 2404 1174 2337 2443 2232 0 0 0 0 0 0 14.27 14.19 14.32

12744 1.06 146.0 2405 1174 2443 2231 172.5 7.5 1302 12749 0.00 2.85 0.00 0.000 1094 0.000 0.177 2404 2608 2336 2442 2231 0 0 0 0 0 0 14.35 14.20 14.38

12934 1.13 146.0 2404 2609 2442 2230 157.6 7.6 1322 12935 0.00 0.00 0.00 0.000 70 0.000 0.000 2404 2608 2335 2442 2229 0 0 0 0 0 0 14.54 14.55 14.55

13114 1.21 146.0 2405 2608 2443 2228 144.2 7.5 1340 13116 0.17 0.00 0.00 0.000 2118 0.122 0.000 2465 2608 2335 2442 2228 0 0 0 0 0 0 14.38 14.48 14.46

13294 1.25 146.0 2464 2609 2443 2228 128.5 8.4 1358 13295 0.00 0.00 0.00 0.000 70 0.000 0.000 2465 2608 2334 2442 2227 0 0 0 0 0 0 14.59 14.64 14.61

13474 1.33 146.0 2465 2608 2444 2227 114.1 7.5 1376 13475 0.00 0.00 0.00 0.000 70 0.000 0.000 2465 2608 2334 2442 2227 0 0 0 0 0 0 14.59 14.62 14.62

13654 1.42 238.2 2465 2609 2450 2228 102.8 5.8 1394 13735 0.20 0.00 74.12 1.545 10278 0.110 0.000 2533 2608 1964 2086 1843 0 0 0 0 0 0 14.43 13.93 13.31

13914 1.44 238.2 2533 2609 2087 1829 75.9 9.4 1420 13919 0.00 2.40 0.00 0.000 324 0.000 0.211 2533 3775 1957 2086 1828 0 0 0 0 0 0 14.33 14.01 14.34

13944 1.44 238.2 2534 3776 2087 1827 73.0 9.8 1426 13950 0.00 2.33 0.00 0.000 1030 0.000 0.161 2542 2589 1956 2086 1827 0 0 0 0 0 0 14.18 14.07 14.21

14135 1.55 353.0 2543 2590 2087 1824 61.3 4.7 1446 14232 0.00 2.58 89.00 1.446 8484 0.000 0.211 2542 3780 1498 1560 1436 0 0 0 0 0 0 14.40 13.66 13.20

14264 1.55 353.0 2543 3781 1557 1436 51.4 11.8 1466 14270 0.00 2.38 0.00 0.000 1030 0.000 0.161 2551 2591 1495 1556 1434 0 0 0 0 0 0 13.90 13.81 13.93

14447 1.61 353.0 2551 2592 1554 1430 34.4 8.2 1485 14449 0.12 0.00 0.00 0.000 2118 0.147 0.000 2596 2591 1491 1553 1429 0 0 0 0 0 0 14.06 14.16 14.14

14627 1.72 460.3 2597 2591 1549 1425 22.7 5.1 1503 14720 0.00 0.00 87.05 1.398 8230 0.000 0.000 2597 2591 1063 1081 1045 0 0 0 0 0 0 14.34 13.75 13.20

14855 end climb: SURFACE_DEPTH_REACHED

state 14855 begin surface coast

14865 end surface coast: CONTROL_FINISHED_OK

state 14865 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	92	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	2	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	11	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	525	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	2
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	10	PROTOCOL	9	C_VBD	2943	INT_PRESSURE_YINT	1.6
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	4	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	4	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	CALL_WAIT	45	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	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	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	1	RAFOS_HIT_WINDOW	25200	LOITER_D_BOTTOM	200	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2070	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	2	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0019	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.016000001	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.2e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	121018,150832,7413.0254,-14633.3965,36,0.8,36,22.4,0.0,0.0,10,7.1	SPEED_LIMITS	0.173,0.210
_CALLS	2	TGT_NAME	AB1
_XMS_NAKs	0	TGT_LATLONG	7337.500,-14725.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	170.6,71210,-17.7,-10.000,-25.48,2242
_SM_ANGLEo	-62.5	D_GRID	150
GPS2	121018,152025,7413.1001,-14633.4717,11,0.8,11,22.4,0.0,335.7,10,7.1

MODEM_MSG	CACST,6,1,20181012160142.971816,18,4070,36,0313,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D	ALTIM_TOP_PING	19.8,14.0
FREEZE	-0.22,-1.120,-1.427,2,1,0	_24V_AH	13.07,45.943
FINISH	-0.2,1.021056	_10V_AH	13.17,0.000
SM_CCo	14882,97.10,0.218,0,0,802,525.19	FG_AHR_24Vo	0.000
SM_GC	0.71,7.53,0.40,97.10,0.093,0.227,0.218,192,2759,802,-5.82,-0.08,525.19,0,0,0,0,0,0,14.02,13.90,13.89	FG_AHR_10Vo	0.000
RAFOS_CLK	573	MEM	334748
MODEM	0,1539360102,73.00000,-148.33333,102.972,148523.9	DATA_FILE_SIZE	49975,1527
RAFOS_FIX	7410.730469,-14633.172852,121018,161642,4,255,1.78	CAP_FILE_SIZE	165060,0
IRIDIUM_FIX	7414.00,-14627.38,121018,043106	CFSIZE	2097872896,2073460736
TT8_MAMPS	0.040446,0.904043	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	50.15	SOUNDSPEED	1442.0
INTERNAL_PRESSURE	9.45186	CURRENT	0.081,15.88,1
TCM_TEMP	12.30	GPS	121018,193202,7413.418,-14633.007,32,0.9,32,22.4,0.0,0.0,9,7.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	494	127.12	nil	0	0	0.00
Roll_motor	26	227	78.77	nil	0	0	0.00
VBD_pump_during_apogee	491	1709	10967.35	nil	0	0	0.00
VBD_pump_during_surface	97	218	276.69	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	3496	36	1690.40
Iridium_during_xfer	443	185	1072.81	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	21	5.51
TT8	0	0	0.00
LPSleep	11261	2	342.60
TT8_Active	717	11	108.36
TT8_Sampling	3358	30	1335.60
TT8_CF8	331	36	157.89
TT8_Kalman	0	0	0.00
Analog_circuits	2262	9	283.13
GPS_charging	0	0	0.00
Compass	2169	7	214.05
RAFOS	2213	33	961.79
Transponder	2	30	1.00

		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	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.80	-146.0	185	2758	779	805	0.0	0.0	0	115	0.00	0.00	-103.32	0.002	16386	0.000	0.000	184	2758	2387	2411	2363	0	0	0	0	0	0	14.31	28.83	14.33
118	-0.80	-146.0	185	2759	2411	2366	4.8	-8.4	10	163	9.52	2.83	-26.12	0.005	18948	0.495	0.176	1806	1335	3543	3596	3491	0	0	0	0	0	0	13.90	13.19	14.21
208	-0.80	-146.0	1807	1335	3597	3493	35.0	-31.1	27	215	0.00	2.88	0.00	0.000	1030	0.000	0.183	1798	2755	3544	3595	3494	0	0	0	0	0	0	14.21	14.04	14.23
394	-0.80	-146.0	1798	2755	3597	3493	82.2	-21.3	46	394	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2754	3544	3596	3493	0	0	0	0	0	0	14.42	14.44	14.44
574	-0.80	-146.0	1798	2756	3596	3494	115.4	-17.8	64	574	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2755	3544	3596	3493	0	0	0	0	0	0	14.47	14.49	14.48
754	-0.80	-146.0	1798	2755	3598	3493	144.9	-15.8	82	754	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2755	3544	3596	3493	0	0	0	0	0	0	14.52	14.54	14.54
791	end dive: TARGET_DEPTH_EXCEEDED
state	791	begin apogee
797	-0.19	0.0	1798	2599	3596	3494	151.1	-15.5	86	917	0.85	0.00	115.82	1.639	10246	0.292	0.000	2005	2598	2939	3031	2847	0	0	0	0	0	0	14.21	13.70	13.07
918	end apogee: CONTROL_FINISHED_OK
state	918	begin loiter
1094	-0.17	13.6	2006	2597	3031	2835	165.7	-3.5	116	1106	0.00	0.00	11.38	1.475	8230	0.000	0.000	2005	2597	2886	2983	2789	0	0	0	0	0	0	14.25	13.99	13.29
1284	-0.16	25.5	2006	2598	2981	2784	171.7	-3.0	135	1296	0.00	0.00	11.12	1.496	8230	0.000	0.000	2005	2598	2837	2927	2747	0	0	0	0	0	0	14.35	14.09	13.38
1474	-0.15	35.4	2006	2597	2924	2741	176.6	-2.5	154	1485	0.00	0.00	9.35	1.473	8230	0.000	0.000	2005	2597	2795	2883	2707	0	0	0	0	0	0	14.42	14.16	13.45
1664	-0.14	43.6	2005	2598	2882	2704	180.7	-2.1	173	1674	0.00	0.00	7.97	1.445	8230	0.000	0.000	2005	2597	2759	2848	2671	0	0	0	0	0	0	14.46	14.21	13.50
1854	-0.14	49.9	2005	2598	2850	2669	184.0	-1.6	192	1864	0.00	0.00	6.47	1.409	8230	0.000	0.000	2005	2597	2735	2826	2644	0	0	0	0	0	0	14.50	14.26	13.52
2044	-0.12	49.9	2006	2598	2827	2642	185.6	-0.5	211	2045	0.00	0.00	0.00	0.000	70	0.000	0.000	2005	2597	2734	2826	2642	0	0	0	0	0	0	14.54	14.56	14.55
2224	-0.12	49.9	2006	2597	2827	2641	186.3	-0.4	229	2225	0.00	0.00	0.00	0.000	6	0.000	0.000	2005	2597	2733	2826	2641	0	0	0	0	0	0	14.59	14.62	14.62
2407	-0.10	49.9	2006	2598	2827	2640	187.4	-0.7	247	2408	0.12	0.00	0.00	0.000	2118	0.265	0.000	2032	2597	2733	2826	2640	0	0	0	0	0	0	14.29	14.47	14.44
2585	-0.08	49.9	2033	2598	2827	2640	188.6	-0.6	265	2586	0.00	0.00	0.00	0.000	70	0.000	0.000	2032	2598	2733	2826	2640	0	0	0	0	0	0	14.57	14.59	14.59
2765	-0.08	49.9	2032	2598	2826	2641	189.3	-0.3	283	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2732	2826	2639	0	0	0	0	0	0	14.59	14.60	14.60
2945	-0.08	49.9	2032	2598	2827	2640	189.7	-0.3	301	2946	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2732	2826	2639	0	0	0	0	0	0	14.59	14.61	14.61
3125	-0.06	49.9	2032	2598	2826	2640	190.6	-0.6	319	3126	0.00	0.00	0.00	0.000	70	0.000	0.000	2032	2597	2734	2826	2643	0	0	0	0	0	0	14.59	14.62	14.62
3305	-0.05	49.9	2033	2597	2827	2639	191.6	-0.6	337	3306	0.00	0.00	0.00	0.000	70	0.000	0.000	2032	2598	2732	2826	2639	0	0	0	0	0	0	14.60	14.62	14.62
3485	-0.05	49.9	2032	2598	2826	2640	192.4	-0.4	355	3486	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2598	2732	2826	2639	0	0	0	0	0	0	14.60	14.63	14.62
3665	-0.05	49.9	2032	2598	2826	2640	193.0	-0.3	373	3666	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2732	2826	2638	0	0	0	0	0	0	14.61	14.63	14.63
3845	-0.05	49.9	2033	2598	2827	2639	193.5	-0.3	391	3846	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2732	2826	2638	0	0	0	0	0	0	14.61	14.63	14.63
4025	-0.05	49.9	2032	2599	2827	2638	194.1	-0.2	409	4026	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2732	2826	2638	0	0	0	0	0	0	14.62	14.62	14.63
4205	-0.05	49.9	2032	2598	2827	2638	194.1	0.0	427	4206	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2596	2731	2826	2637	0	0	0	0	0	0	14.62	14.64	14.64
4385	-0.05	49.9	2032	2597	2827	2637	194.3	-0.2	445	4386	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2637	0	0	0	0	0	0	14.62	14.64	14.64
4565	-0.05	49.9	2032	2597	2827	2636	194.7	-0.2	463	4566	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2637	0	0	0	0	0	0	14.67	14.69	14.69
4745	-0.05	49.9	2032	2598	2826	2638	195.3	-0.4	481	4746	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2636	0	0	0	0	0	0	14.71	14.72	14.72
4925	-0.05	49.9	2032	2597	2827	2636	196.1	-0.5	499	4926	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2636	0	0	0	0	0	0	14.73	14.75	14.75
5105	-0.05	49.9	2032	2598	2826	2637	196.8	-0.3	517	5106	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2636	0	0	0	0	0	0	14.75	14.77	14.77
5285	-0.05	49.9	2032	2597	2827	2636	197.1	-0.1	535	5286	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2596	2731	2826	2636	0	0	0	0	0	0	14.77	14.78	14.78
5465	-0.05	49.9	2032	2597	2827	2635	197.2	-0.0	553	5466	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2636	0	0	0	0	0	0	14.78	14.80	14.80
5645	-0.05	49.9	2032	2597	2827	2635	197.3	-0.2	571	5646	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2731	2826	2636	0	0	0	0	0	0	14.79	14.82	14.81
5825	-0.05	49.9	2032	2598	2826	2637	198.0	-0.5	589	5826	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2596	2731	2826	2636	0	0	0	0	0	0	14.81	14.83	14.83
6005	-0.05	49.9	2032	2598	2826	2637	198.8	-0.4	607	6006	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2598	2730	2826	2635	0	0	0	0	0	0	14.81	14.83	14.83
6185	-0.05	49.9	2032	2598	2827	2637	199.0	0.0	625	6186	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2730	2826	2635	0	0	0	0	0	0	14.82	14.84	14.84
6365	-0.05	49.9	2032	2599	2827	2637	198.9	0.1	643	6366	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2730	2826	2635	0	0	0	0	0	0	14.83	14.85	14.85
6545	-0.05	49.9	2032	2597	2826	2635	199.0	-0.1	661	6546	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2598	2730	2826	2635	0	0	0	0	0	0	14.83	14.85	14.85
6725	-0.05	49.9	2032	2598	2827	2637	199.5	-0.4	679	6726	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2730	2826	2635	0	0	0	0	0	0	14.84	14.86	14.86
6905	-0.04	51.6	2032	2597	2827	2635	200.3	-0.4	697	6906	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2598	2730	2826	2635	0	0	0	0	0	0	14.85	14.87	14.87
7085	-0.04	52.6	2032	2598	2827	2636	200.9	-0.3	715	7086	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2597	2730	2826	2635	0	0	0	0	0	0	14.85	14.88	14.87
7265	-0.04	53.0	2032	2597	2826	2635	201.2	-0.1	733	7266	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2597	2730	2826	2635	0	0	0	0	0	0	14.85	14.88	14.87
7445	-0.04	53.2	2032	2598	2827	2636	201.3	-0.0	751	7446	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2598	2730	2826	2635	0	0	0	0	0	0	14.86	14.88	14.88
7625	-0.04	53.3	2032	2597	2826	2636	201.3	-0.0	769	7626	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2598	2730	2826	2635	0	0	0	0	0	0	14.86	14.88	14.88
7805	-0.04	53.8	2033	2597	2827	2635	201.5	-0.1	787	7806	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2598	2730	2826	2635	0	0	0	0	0	0	14.86	14.88	14.88
7985	-0.04	54.2	2032	2597	2827	2635	201.7	-0.1	805	7986	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2597	2730	2826	2635	0	0	0	0	0	0	14.87	14.89	14.89
8165	-0.04	54.3	2032	2598	2826	2636	201.8	-0.0	823	8175	0.00	0.00	4.18	1.279	8230	0.000	0.000	2032	2597	2718	2813	2623	0	0	0	0	0	0	14.87	14.62	13.72
8355	-0.04	54.3	2032	2598	2813	2624	200.4	1.0	842	8356	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2718	2813	2623	0	0	0	0	0	0	14.85	14.87	14.86
8535	-0.04	54.3	2032	2598	2813	2624	198.9	0.7	860	8536	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2718	2813	2623	0	0	0	0	0	0	14.85	14.88	14.87
8715	-0.04	54.3	2032	2597	2813	2623	198.0	0.4	878	8716	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.85	14.88	14.88
8895	-0.04	54.3	2032	2597	2814	2623	197.3	0.3	896	8896	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.86	14.88	14.88
9075	-0.04	54.3	2032	2597	2813	2623	196.9	0.2	914	9076	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.87	14.89	14.88
9255	-0.04	54.3	2032	2598	2813	2624	196.6	0.2	932	9256	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2718	2813	2623	0	0	0	0	0	0	14.87	14.89	14.89
9435	-0.04	54.3	2032	2597	2814	2623	196.4	0.0	950	9436	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.88	14.89	14.90
9615	-0.04	54.3	2032	2598	2813	2624	196.6	-0.2	968	9616	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2718	2813	2623	0	0	0	0	0	0	14.88	14.90	14.89
9795	-0.04	54.3	2032	2599	2813	2624	196.9	-0.1	986	9796	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.88	14.90	14.90
9975	-0.04	54.3	2032	2597	2814	2623	197.0	-0.0	1004	9976	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.88	14.90	14.90
10155	-0.04	54.3	2032	2598	2812	2624	197.0	-0.0	1022	10156	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.88	14.90	14.90
10335	-0.04	54.3	2032	2597	2812	2623	197.1	-0.1	1040	10336	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.88	14.90	14.90
10515	-0.04	54.3	2032	2598	2813	2624	197.4	-0.2	1058	10516	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2622	0	0	0	0	0	0	14.88	14.90	14.90
10695	-0.04	54.3	2032	2598	2813	2624	197.8	-0.3	1076	10696	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.88	14.91	14.90
10875	-0.04	54.3	2032	2597	2813	2622	198.1	-0.0	1094	10876	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2622	0	0	0	0	0	0	14.88	14.91	14.90
11055	-0.04	54.3	2032	2597	2814	2622	197.8	0.3	1112	11056	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2598	2717	2812	2622	0	0	0	0	0	0	14.88	14.91	14.90
11235	-0.04	54.3	2032	2597	2813	2622	197.3	0.2	1130	11236	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2597	2717	2812	2622	0	0	0	0	0	0	14.89	14.91	14.91
11415	-0.04	54.3	2032	2597	2813	2622	197.3	-0.2	1148	11416	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2623	0	0	0	0	0	0	14.89	14.91	14.91
11595	-0.04	54.3	2032	2597	2814	2622	197.6	-0.1	1166	11596	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2598	2717	2812	2622	0	0	0	0	0	0	14.89	14.91	14.91
11775	-0.04	54.3	2032	2597	2814	2622	197.6	0.0	1184	11776	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2622	0	0	0	0	0	0	14.89	14.91	14.91
11955	-0.04	54.3	2032	2597	2813	2621	197.8	-0.2	1202	11956	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2622	0	0	0	0	0	0	14.89	14.91	14.91
12135	-0.04	54.3	2032	2597	2813	2622	198.2	-0.3	1220	12136	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2597	2717	2812	2622	0	0	0	0	0	0	14.90	14.92	14.91
12313	end loiter: LOITER_COMPLETE
state	12313	begin climb
12315	0.80	146.0	2032	2598	2813	2621	198.5	0.0	1238	12402	0.98	2.53	74.53	1.709	10500	0.186	0.214	2326	3773	2343	2442	2245	0	0	0	0	0	0	14.58	13.97	13.39
12493	0.88	146.0	2326	3773	2443	2236	189.5	7.3	1270	12498	0.00	2.30	0.00	0.000	1094	0.000	0.165	2333	2596	2339	2442	2236	0	0	0	0	0	0	14.24	14.12	14.27
12683	0.99	146.0	2334	2596	2443	2232	177.1	6.5	1290	12688	0.15	2.72	0.00	0.000	2628	0.135	0.156	2404	1174	2337	2443	2232	0	0	0	0	0	0	14.27	14.19	14.32
12744	1.06	146.0	2405	1174	2443	2231	172.5	7.5	1302	12749	0.00	2.85	0.00	0.000	1094	0.000	0.177	2404	2608	2336	2442	2231	0	0	0	0	0	0	14.35	14.20	14.38
12934	1.13	146.0	2404	2609	2442	2230	157.6	7.6	1322	12935	0.00	0.00	0.00	0.000	70	0.000	0.000	2404	2608	2335	2442	2229	0	0	0	0	0	0	14.54	14.55	14.55
13114	1.21	146.0	2405	2608	2443	2228	144.2	7.5	1340	13116	0.17	0.00	0.00	0.000	2118	0.122	0.000	2465	2608	2335	2442	2228	0	0	0	0	0	0	14.38	14.48	14.46
13294	1.25	146.0	2464	2609	2443	2228	128.5	8.4	1358	13295	0.00	0.00	0.00	0.000	70	0.000	0.000	2465	2608	2334	2442	2227	0	0	0	0	0	0	14.59	14.64	14.61
13474	1.33	146.0	2465	2608	2444	2227	114.1	7.5	1376	13475	0.00	0.00	0.00	0.000	70	0.000	0.000	2465	2608	2334	2442	2227	0	0	0	0	0	0	14.59	14.62	14.62
13654	1.42	238.2	2465	2609	2450	2228	102.8	5.8	1394	13735	0.20	0.00	74.12	1.545	10278	0.110	0.000	2533	2608	1964	2086	1843	0	0	0	0	0	0	14.43	13.93	13.31
13914	1.44	238.2	2533	2609	2087	1829	75.9	9.4	1420	13919	0.00	2.40	0.00	0.000	324	0.000	0.211	2533	3775	1957	2086	1828	0	0	0	0	0	0	14.33	14.01	14.34
13944	1.44	238.2	2534	3776	2087	1827	73.0	9.8	1426	13950	0.00	2.33	0.00	0.000	1030	0.000	0.161	2542	2589	1956	2086	1827	0	0	0	0	0	0	14.18	14.07	14.21
14135	1.55	353.0	2543	2590	2087	1824	61.3	4.7	1446	14232	0.00	2.58	89.00	1.446	8484	0.000	0.211	2542	3780	1498	1560	1436	0	0	0	0	0	0	14.40	13.66	13.20
14264	1.55	353.0	2543	3781	1557	1436	51.4	11.8	1466	14270	0.00	2.38	0.00	0.000	1030	0.000	0.161	2551	2591	1495	1556	1434	0	0	0	0	0	0	13.90	13.81	13.93
14447	1.61	353.0	2551	2592	1554	1430	34.4	8.2	1485	14449	0.12	0.00	0.00	0.000	2118	0.147	0.000	2596	2591	1491	1553	1429	0	0	0	0	0	0	14.06	14.16	14.14
14627	1.72	460.3	2597	2591	1549	1425	22.7	5.1	1503	14720	0.00	0.00	87.05	1.398	8230	0.000	0.000	2597	2591	1063	1081	1045	0	0	0	0	0	0	14.34	13.75	13.20
14855	end climb: SURFACE_DEPTH_REACHED
state	14855	begin surface coast
14865	end surface coast: CONTROL_FINISHED_OK
state	14865	begin surface