Glider dive log

Deck Feb16 * SG185 * Dive index * Mission links * Dive 114 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 185 HD_B 0.010078 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 900

MISSION 0 HD_C 9.8541004e-06 ROLL_MIN 300 ALTIM_PING_DELTA 20

DIVE 114 HEADING -1 ROLL_MAX 3750 ALTIM_FREQUENCY 13

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PULSE 3

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_SENSITIVITY 2

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 XPDR_VALID 6

D_TGT 990 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 XPDR_INHIBIT 90

D_ABORT 1010 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 1.9639999e-06

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_BOOST 20 SM_CC 515.13 ROLL_MAXERRORS 1 DEEPGLIDER 0

T_BOOST 4 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_FINISH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

D_PITCH 0 CALL_NDIVES 1 VBD_MIN 500 DEVICE1 -1

D_SAFE 0 COMM_SEQ 0 VBD_MAX 3500 DEVICE2 -1

D_CALL 0 PROTOCOL 9 C_VBD 2600 DEVICE3 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 360 DEVICE6 -1

T_DIVE 330 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 1

T_MISSION 400 CALL_TRIES 5 UNCOM_BLEED 20 LOGGERDEVICE1 0

T_ABORT 1440 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_TURN 270 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 DBDW 0 LOGGERDEVICE4 -1

T_NO_W 120 T_GPS 5 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_LOITER 0 N_GPS 100440 AH0_24V 150 COMPASS2_DEVICE 48

T_EPIRB 0 T_RSLEEP 3 AH0_10V 100 PHONE_DEVICE 33

USE_BATHY -6 STROBE 0 MINV_24V 19 GPS_DEVICE 48

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MAXI_24V 5 XPDR_DEVICE 4

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MAXI_10V 0.80000001 SIM_W 0.1

RELAUNCH 1 PITCH_MIN 450 FG_AHR_10V 30.921513 SEABIRD_T_G 0.0043319771

APOGEE_PITCH -5 PITCH_MAX 3300 FG_AHR_24V 21.319708 SEABIRD_T_H 0.00061972893

MAX_BUOY 150 C_PITCH 2850 PHONE_SUPPLY 2 SEABIRD_T_I 2.0309124e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -150.34485 SEABIRD_T_J 1.8214913e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00010658 SEABIRD_C_G -9.9888363

RHO 1.023 PITCH_GAIN 25 COMPASS_USE 4 SEABIRD_C_H 1.1040936

MASS 51725 PITCH_TIMEOUT 30 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0023403035

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00025686048

FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

AH0_10V 100 D_FLARE 3 N_DIVES 0 SEABIRD_C_I -0.0023403035

AH0_24V 150 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_C_J 0.00025686048

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1000 N_GPS 100440 SEABIRD_T_G 0.0043319771

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_H 0.00061972893

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_I 2.0309124e-05

ALTIM_PING_DELTA 20 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_J 1.8214913e-06

ALTIM_PING_DEPTH 900 D_TGT 990 PHONE_SUPPLY 2 SIM_W 0.1

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 SM_CC 515.13

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_10V 30.921513 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_24V 21.319708 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

APOGEE_PITCH -5 FILEMGR 0 PITCH_MAX 3300 SURFACE_URGENCY_TRY 0

CALL_NDIVES 1 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 GLIDE_SLOPE 30 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 GPS_DEVICE 48 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 HD_A 0.0038360001 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CAPUPLOAD 0 HD_B 0.010078 PITCH_W_DBAND 0 T_BOOST 4

CF8_MAXERRORS 20 HD_C 9.8541004e-06 PITCH_W_GAIN 0 T_DIVE 330

COMM_SEQ 0 HEADING -1 PRESSURE_SLOPE 0.00010658 T_EPIRB 0

COMPASS2_DEVICE 48 HEAD_ERRBAND 10 PRESSURE_YINT -150.34485 T_GPS 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_LOITER 0

COMPASS_USE 4 ID 185 RAFOS_CORR_THRESH 60 T_MISSION 400

C_PITCH 2850 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_DEVICE -1 T_NO_W 120

C_ROLL_CLIMB 2025 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_DIVE 2025 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN 270

C_VBD 2600 LOGGERDEVICE1 0 RELAUNCH 1 T_TURN_SAMPINT -5

DBDW 0 LOGGERDEVICE2 -1 RHO 1.023 UNCOM_BLEED 20

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEVICE1 -1 LOGGERS 1 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MASS 51725 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MAX 3750 VBD_DBAND 2

DEVICE4 -1 MAXI_24V 5 ROLL_MAXERRORS 1 VBD_MAX 3500

DEVICE5 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_MAXERRORS 1

DEVICE6 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MIN 500

DIVE 114 MINV_24V 19 SC_PROFILE 3.0 VBD_TIMEOUT 360

D_ABORT 1010 MISSION 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_BOOST 20 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_DEVICE 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9888363 XPDR_INHIBIT 90

D_FINISH 0 NOCOMM_ACTION 129 SEABIRD_C_H 1.1040936 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 220216,173010,4739.306,-12219.018,26,1.5,35,15.9 TGT_LATLONG 4743.500,-12225.000

_CALLS 5 TGT_RADIUS 100.000

_SM_DEPTHo 0.11 KALMAN_CONTROL 0.000,0.000

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

GPS2 220216,174749,4739.309,-12219.020,4,1.6,20,15.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

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

TGT_NAME NW D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.0,0.997944 _24V_AH 26.66,8.385

SM_CCo 18096.25,104.04,0.112,0,498.5,466.4,530.5,515.51 _10V_AH 11.08,24.173

SM_GC 0.17,104.04,6.77,0.04,0.112,0.048,0.059,498.5,466.4,530.5,448.1,2012.2,0,0,0,23.75,27.85,28.74 FG_AHR_24Vo 21.379

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 31.001

IRIDIUM_FIX 4719.74,-12220.67,220216,174247 MEM 1135668,26,45500,53

TCM_TEMP 22.70 DATA_FILE_SIZE 101586,2897

XPDR_PINGS 3 CAP_FILE_SIZE 647910,0

ALTIM_BOTTOM_PING 900.3,4.1 SDSIZE 4028416,3992832

SC_FREEKB 3984128 ERRORS 0,0,0,0,0,0,0,687

HUMID 47.99 CURRENT 0.000, 29.0,1

TEMP 19.82 GPS 220216,225035,4739.313,-12219.017,40,0.9,50,15.9

INTERNAL_PRESSURE 10.3307

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 456 435 5306.56 nil 0 0 0.00

Pitch_motor 21 66 38.65 nil 0 0 0.00

Roll_motor 248 97 649.44 nil 0 0 0.00

Iridium 705 91 1724.97 nil 0 0 0.00

Transponder_ping 1 420 14.00 nil 0 0 0.00

GPS 21 11 2.71 nil 0 0 0.00

Core 6383 163 11579.16 SciCon 18004 4 864.96

LPSleep 12720 2 308.65 nil 0 0 0.00

Compass 4721 4 213.43 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.66

Guidance and control:

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

5.05 2 -146.63 -0.91 0.00 475.0 455.9 494.1 447.2 2031.2 0.00 0.00 0 36.71 30.85 0.00 0.00 0.000 0.000 0.000 1339.47 1428.12 1250.81 447.12 2031.44 0 0 0 26.36 30.00 30.00

36.99 295 -146.63 -0.91 40.00 1339.6 1428.1 1251.2 447.1 2031.6 3.35 -9.69 3 130.99 79.69 7.13 3.34 0.000 0.067 0.041 3195.62 3282.56 3108.69 2557.12 3442.06 0 0 0 26.48 27.50 26.56

398.37 1156 -146.63 -0.86 0.00 3196.1 3282.6 3109.6 2558.6 3442.4 39.78 -10.00 75 403.37 0.00 0.00 3.16 0.000 0.000 0.025 3198.12 3283.88 3112.38 2556.88 2017.56 0 0 0 30.00 30.00 27.93

583.95 421 -146.63 -0.80 40.00 3196.7 3282.6 3110.8 2559.2 2017.9 58.15 -9.82 94 589.48 0.00 0.13 3.38 0.000 0.053 0.039 3197.22 3283.31 3111.12 2588.31 3442.81 0 0 0 30.00 28.17 27.78

858.56 1188 -146.63 -0.75 0.00 3196.4 3282.7 3110.1 2588.8 3442.5 85.57 -9.99 149 863.36 0.00 0.00 3.13 0.000 0.000 0.025 3197.16 3283.62 3110.69 2588.12 2016.25 0 0 0 30.00 30.00 28.01

1048.09 389 -146.63 -0.69 40.00 3196.9 3282.3 3111.5 2589.7 2016.1 104.70 -10.25 169 1053.46 0.00 0.14 3.36 0.000 0.059 0.039 3198.75 3284.19 3113.31 2623.69 3441.62 0 0 0 30.00 28.22 27.81

1323.45 1188 -146.63 -0.64 0.00 3196.3 3281.8 3110.9 2624.8 3442.7 132.36 -9.91 224 1328.40 0.00 0.00 3.13 0.000 0.000 0.025 3195.56 3281.31 3109.81 2625.25 2016.56 0 0 0 30.00 30.00 28.05

1508.54 389 -146.63 -0.59 40.00 3196.3 3281.8 3110.9 2625.9 2016.8 151.11 -10.26 243 1513.85 0.00 0.14 3.38 0.000 0.056 0.039 3196.19 3282.56 3109.81 2659.19 3441.94 0 0 0 30.00 28.28 27.82

1782.76 1156 -146.63 -0.53 0.00 3196.8 3282.5 3111.2 2657.8 3441.7 178.82 -10.03 298 1788.76 0.00 0.00 3.11 0.000 0.000 0.025 3196.72 3281.75 3111.69 2662.00 2018.12 0 0 0 30.00 30.00 28.07

1967.72 389 -146.63 -0.48 40.00 3196.2 3282.4 3110.0 2659.6 2018.1 197.85 -10.23 317 1973.85 0.00 0.14 3.37 0.000 0.057 0.039 3196.94 3282.94 3110.94 2696.19 3443.38 0 0 0 30.00 28.32 27.82

2242.77 1156 -146.63 -0.43 0.00 3196.7 3282.6 3110.8 2694.1 3442.2 225.82 -10.58 372 2248.76 0.00 0.00 3.12 0.000 0.000 0.025 3196.38 3281.94 3110.81 2691.62 2016.50 0 0 0 30.00 30.00 28.09

2428.08 389 -146.63 -0.37 40.00 3195.9 3281.6 3110.2 2693.4 2016.4 244.31 -10.08 391 2433.85 0.00 0.14 3.36 0.000 0.056 0.039 3197.88 3283.56 3112.19 2727.44 3442.56 0 0 0 30.00 28.36 27.82

2702.74 1188 -146.63 -0.32 0.00 3197.1 3283.1 3111.1 2727.9 3443.4 271.74 -9.92 446 2708.77 0.00 0.00 3.12 0.000 0.000 0.025 3196.94 3282.38 3111.50 2727.75 2016.25 0 0 0 30.00 30.00 28.09

2887.59 389 -146.63 -0.27 40.00 3196.2 3281.8 3110.7 2728.2 2016.6 290.36 -10.34 465 2893.47 0.00 0.14 3.37 0.000 0.058 0.039 3196.38 3282.69 3110.06 2759.56 3441.38 0 0 0 30.00 28.37 27.82

3163.43 1156 -146.63 -0.21 0.00 3196.4 3282.6 3110.3 2761.9 3442.2 318.17 -10.33 520 3168.38 0.00 0.00 3.13 0.000 0.000 0.025 3196.81 3281.56 3112.06 2761.69 2015.06 0 0 0 30.00 30.00 28.10

3348.62 421 -146.63 -0.16 40.00 3196.3 3281.9 3110.8 2761.1 2015.2 336.41 -9.56 539 3353.47 0.00 0.14 3.38 0.000 0.057 0.040 3196.16 3282.94 3109.38 2799.38 3442.19 0 0 0 30.00 28.38 27.81

3623.51 1156 -146.63 -0.11 0.00 3195.9 3282.0 3109.8 2796.0 3442.2 364.08 -10.20 594 3628.76 0.00 0.00 3.12 0.000 0.000 0.025 3196.75 3282.81 3110.69 2795.88 2016.00 0 0 0 30.00 30.00 28.10

3807.74 389 -146.63 -0.05 40.00 3196.0 3282.2 3109.7 2796.6 2016.4 382.67 -10.12 613 3813.85 0.00 0.14 3.37 0.000 0.056 0.039 3198.03 3283.06 3113.00 2827.19 3443.44 0 0 0 30.00 28.40 27.81

4082.71 1156 -146.63 0.00 0.00 3196.5 3282.6 3110.4 2829.0 3443.2 410.13 -10.07 668 4088.75 0.00 0.00 3.13 0.000 0.000 0.025 3197.00 3282.62 3111.38 2832.00 2017.06 0 0 0 30.00 30.00 28.10

4268.12 389 -146.63 0.05 40.00 3196.4 3282.2 3110.6 2829.1 2016.6 428.91 -10.11 687 4273.85 0.00 0.14 3.37 0.000 0.059 0.039 3197.66 3283.19 3112.12 2861.50 3441.75 0 0 0 30.00 28.40 27.81

4542.78 1188 -146.63 0.11 0.00 3196.6 3282.4 3110.8 2863.1 3443.3 456.44 -9.93 742 4548.75 0.00 0.00 3.12 0.000 0.000 0.025 3196.03 3282.31 3109.75 2863.44 2016.25 0 0 0 30.00 30.00 28.10

4727.76 421 -146.63 0.16 40.00 3196.7 3282.7 3110.8 2863.6 2016.5 474.47 -9.62 761 4733.47 0.00 0.14 3.37 0.000 0.059 0.039 3197.25 3283.12 3111.38 2896.88 3444.62 0 0 0 30.00 28.41 27.80

5003.57 1188 -146.63 0.22 0.00 3196.0 3281.9 3110.0 2899.4 3445.1 501.89 -9.96 816 5008.76 0.00 0.00 3.13 0.000 0.000 0.025 3197.06 3283.50 3110.62 2899.19 2014.94 0 0 0 30.00 30.00 28.10

5187.72 389 -146.63 0.27 40.00 3196.2 3282.1 3110.3 2898.4 2015.2 520.57 -10.20 835 5193.47 0.00 0.14 3.37 0.000 0.057 0.040 3195.78 3281.69 3109.88 2934.62 3442.31 0 0 0 30.00 28.41 27.80

5463.18 1188 -146.63 0.32 0.00 3196.1 3281.7 3110.5 2934.1 3442.5 547.99 -9.84 890 5468.38 0.00 0.00 3.14 0.000 0.000 0.025 3196.50 3282.88 3110.12 2934.00 2014.94 0 0 0 30.00 30.00 28.10

5648.75 421 -146.63 0.38 40.00 3196.2 3281.8 3110.6 2933.6 2015.1 566.35 -9.89 909 5653.47 0.00 0.14 3.36 0.000 0.058 0.040 3196.03 3281.88 3110.19 2970.50 3441.94 0 0 0 30.00 28.42 27.79

5922.80 1188 -146.63 0.43 0.00 3195.7 3282.1 3109.2 2968.4 3442.5 593.80 -9.90 964 5928.76 0.00 0.00 3.13 0.000 0.000 0.025 3196.56 3281.81 3111.31 2966.44 2015.81 0 0 0 30.00 30.00 28.09

6107.82 421 -146.63 0.48 40.00 3196.6 3282.1 3111.1 2968.2 2015.9 612.11 -9.89 983 6113.47 0.00 0.14 3.38 0.000 0.057 0.040 3195.78 3282.00 3109.56 3001.12 3442.06 0 0 0 30.00 28.42 27.78

6383.24 1188 -146.63 0.54 0.00 3195.8 3281.8 3109.9 3001.1 3441.9 639.23 -9.85 1038 6388.76 0.00 0.00 3.14 0.000 0.000 0.025 3196.97 3282.81 3111.12 3001.00 2016.56 0 0 0 30.00 30.00 28.08

6568.03 421 -146.63 0.59 40.00 3195.9 3281.8 3110.0 3001.9 2017.1 658.01 -9.97 1057 6573.86 0.00 0.14 3.37 0.000 0.059 0.040 3196.88 3282.19 3111.56 3034.56 3441.94 0 0 0 30.00 28.42 27.78

6843.64 1188 -146.63 0.64 0.00 3195.7 3281.8 3109.5 3036.7 3442.9 685.45 -9.81 1112 6848.38 0.00 0.00 3.13 0.000 0.000 0.025 3196.44 3282.75 3110.12 3034.88 2017.31 0 0 0 30.00 30.00 28.08

7028.45 421 -146.63 0.70 40.00 3196.2 3282.6 3109.9 3035.5 2016.2 703.96 -9.53 1131 7033.85 0.00 0.14 3.36 0.000 0.060 0.040 3197.69 3282.81 3112.56 3066.38 3443.56 0 0 0 30.00 28.40 27.78

7303.12 1188 -146.63 0.75 0.00 3195.6 3281.8 3109.4 3068.6 3443.5 731.28 -9.96 1186 7308.76 0.00 0.00 3.14 0.000 0.000 0.025 3196.56 3282.12 3111.00 3068.31 2014.94 0 0 0 30.00 30.00 28.08

7487.72 389 -146.63 0.80 40.00 3196.5 3282.9 3110.2 3068.1 2015.1 749.82 -10.12 1205 7493.86 0.00 0.14 3.38 0.000 0.062 0.040 3196.09 3282.75 3109.44 3105.25 3440.56 0 0 0 30.00 28.39 27.77

7763.15 1188 -146.63 0.86 0.00 3196.1 3281.6 3110.6 3105.2 3440.3 777.02 -9.88 1260 7768.76 0.00 0.00 3.12 0.000 0.000 0.025 3197.28 3283.19 3111.38 3105.38 2015.19 0 0 0 30.00 30.00 28.08

7947.80 389 -146.63 0.91 40.00 3195.9 3282.4 3109.4 3105.1 2014.8 795.63 -10.07 1279 7953.86 0.00 0.13 3.38 0.000 0.058 0.040 3196.00 3282.25 3109.75 3136.62 3443.94 0 0 0 30.00 28.43 27.77

8223.06 1188 -146.63 0.97 0.00 3196.5 3282.5 3110.4 3137.8 3443.4 823.07 -9.93 1334 8228.76 0.00 0.00 3.13 0.000 0.000 0.025 3196.19 3282.62 3109.75 3137.88 2014.88 0 0 0 30.00 30.00 28.07

8407.73 389 -146.63 1.02 40.00 3196.2 3282.2 3110.1 3139.2 2014.9 841.57 -10.05 1353 8413.47 0.00 0.14 3.38 0.000 0.060 0.040 3195.97 3281.88 3110.06 3174.25 3442.25 0 0 0 30.00 28.42 27.76

8683.42 1188 -146.63 1.07 0.00 3196.3 3282.7 3110.0 3171.8 3442.6 868.98 -9.97 1408 8688.37 0.00 0.00 3.13 0.000 0.000 0.025 3196.72 3282.44 3111.00 3173.69 2017.12 0 0 0 30.00 30.00 28.08

8868.10 421 -146.63 1.13 40.00 3195.9 3281.7 3110.2 3172.6 2016.4 887.32 -9.64 1427 8873.47 0.00 0.14 3.37 0.000 0.061 0.040 3195.81 3282.06 3109.56 3205.25 3442.31 0 0 0 30.00 28.40 27.76

9004 end dive: BOTTOM_OBSTACLE_DETECTED

state 9004 begin apogee

9008.96 3 0.00 -0.20 0.00 3196.4 3282.0 3110.9 3206.2 2013.8 900.32 10.07 1453 9119.56 106.54 1.69 0.05 0.436 0.042 0.098 2597.31 2653.88 2540.75 2781.38 2029.94 0 0 0 22.58 27.85 27.14

9120 end apogee: CONTROL_FINISHED_OK

state 9120 begin climb

9120.05 519 146.63 0.91 -40.00 2591.8 2648.6 2535.0 2779.2 2029.6 889.28 0.00 1464 9241.88 112.24 1.55 3.25 0.416 0.057 0.022 1992.97 2047.31 1938.62 3137.44 603.56 0 0 0 24.10 27.44 26.75

9508.79 1190 148.37 0.86 0.00 1984.4 2043.9 1925.0 3138.1 603.8 849.49 9.92 1542 9514.84 0.00 0.00 3.19 0.000 0.000 0.024 1984.16 2043.25 1925.06 3139.00 2028.38 0 0 0 30.00 30.00 27.66

9699.32 647 148.37 0.80 -40.00 1984.1 2043.8 1924.3 3140.1 2028.2 830.41 10.03 1562 9704.50 0.00 0.14 3.14 0.000 0.049 0.022 1986.44 2045.81 1927.06 3101.38 603.62 0 0 0 30.00 27.98 27.83

9974.93 1158 148.37 0.75 0.00 1983.5 2042.9 1924.0 3101.7 603.8 802.78 10.17 1617 9979.45 0.00 0.00 3.16 0.000 0.000 0.024 1985.09 2044.69 1925.50 3102.19 2027.44 0 0 0 30.00 30.00 27.88

10159.43 678 153.84 0.70 -40.00 1983.3 2043.0 1923.6 3101.6 2028.3 784.42 9.75 1636 10164.88 0.96 0.00 3.12 0.187 0.000 0.022 1968.88 2026.00 1911.75 3100.00 605.12 0 0 0 25.27 30.00 27.60

10433.77 1157 153.84 0.65 0.00 1968.4 2025.4 1911.4 3101.2 605.0 756.81 10.20 1691 10439.91 0.00 0.17 3.16 0.000 0.048 0.025 1969.31 2026.00 1912.62 3049.25 2027.94 0 0 0 30.00 27.83 27.95

10618.74 678 158.80 0.60 -40.00 1968.6 2025.2 1911.9 3051.0 2028.0 738.40 9.77 1710 10624.90 1.74 0.00 3.11 0.153 0.000 0.022 1948.97 2004.50 1893.44 3051.31 604.00 0 0 0 25.28 30.00 27.69

10893.78 1156 158.80 0.55 0.00 1948.6 2003.8 1893.4 3051.4 603.8 710.93 10.00 1765 10899.84 0.00 0.00 3.14 0.000 0.000 0.024 1948.62 2003.81 1893.44 3049.19 2029.12 0 0 0 30.00 30.00 28.01

11079.12 677 160.64 0.50 -40.00 1948.3 2003.6 1892.9 3051.2 2030.1 692.36 9.92 1784 11084.90 0.00 0.17 3.12 0.000 0.051 0.022 1949.34 2004.12 1894.56 3003.75 604.50 0 0 0 30.00 28.26 28.07

11354.16 1156 160.64 0.44 0.00 1948.3 2003.8 1892.9 3003.6 604.4 664.76 10.22 1839 11359.84 0.00 0.00 3.15 0.000 0.000 0.024 1949.00 2004.19 1893.81 3006.69 2030.25 0 0 0 30.00 30.00 28.01

11538.82 644 160.64 0.39 -40.00 1948.3 2003.2 1893.4 3003.6 2028.7 646.16 10.06 1858 11544.84 0.00 0.00 3.12 0.000 0.000 0.022 1949.03 2004.06 1894.00 3002.81 604.00 0 0 0 30.00 30.00 28.08

11814.23 1157 160.64 0.34 0.00 1948.2 2003.3 1893.0 3001.9 604.0 618.48 10.20 1913 11819.91 0.00 0.18 3.16 0.000 0.048 0.025 1950.62 2005.38 1895.88 2950.25 2027.62 0 0 0 30.00 27.90 28.02

11999.26 678 162.75 0.29 -40.00 1948.4 2003.8 1893.1 2951.6 2028.9 599.99 9.90 1932 12004.92 1.37 0.00 3.09 0.165 0.000 0.022 1931.66 1986.81 1876.50 2951.56 602.19 0 0 0 25.31 30.00 27.67

12273.97 1190 171.29 0.24 0.00 1932.5 1986.5 1878.4 2951.4 602.6 572.75 9.61 1987 12281.96 3.30 0.00 3.12 0.220 0.000 0.024 1899.22 1954.62 1843.81 2951.19 2030.25 0 0 0 23.98 30.00 28.06

12459.30 677 171.85 0.19 -40.00 1896.7 1952.0 1841.4 2952.4 2029.6 554.17 9.97 2006 12464.90 0.00 0.16 3.11 0.000 0.050 0.022 1897.34 1952.50 1842.19 2903.81 603.69 0 0 0 30.00 28.39 28.23

12733.89 1156 171.85 0.14 0.00 1897.2 1952.4 1842.1 2905.3 603.9 526.52 10.00 2061 12739.84 0.00 0.00 3.12 0.000 0.000 0.024 1898.78 1953.75 1843.81 2905.56 2028.19 0 0 0 30.00 30.00 28.14

12919.18 644 171.85 0.08 -40.00 1896.8 1951.9 1841.8 2904.7 2028.8 507.67 10.39 2080 12924.81 0.00 0.00 3.10 0.000 0.000 0.022 1898.12 1953.31 1842.94 2905.50 602.12 0 0 0 30.00 30.00 28.18

13194.76 1157 171.85 0.03 0.00 1897.2 1952.2 1842.1 2905.2 602.2 479.88 10.17 2135 13199.63 0.00 0.18 3.15 0.000 0.047 0.024 1897.12 1952.12 1842.12 2853.75 2028.81 0 0 0 30.00 27.99 28.11

13379.33 644 171.85 -0.02 -40.00 1896.7 1952.0 1841.4 2853.1 2028.1 460.89 10.22 2154 13384.42 0.00 0.00 3.09 0.000 0.000 0.022 1898.28 1953.88 1842.69 2852.38 605.12 0 0 0 30.00 30.00 28.16

13654.39 1190 179.66 -0.07 0.00 1896.6 1951.8 1841.4 2852.6 605.2 433.80 9.64 2209 13661.96 2.98 0.00 3.12 0.138 0.000 0.024 1865.25 1920.81 1809.69 2851.19 2029.69 0 0 0 23.57 30.00 28.10

13845.69 677 179.75 -0.12 -40.00 1862.2 1917.9 1806.6 2852.6 2029.8 414.93 10.00 2229 13850.57 0.00 0.16 3.11 0.000 0.051 0.022 1863.81 1919.12 1808.50 2806.56 605.25 0 0 0 30.00 28.42 28.23

14119.93 1188 181.30 -0.17 0.00 1862.0 1917.6 1806.5 2804.8 605.2 387.72 9.93 2284 14125.91 0.00 0.00 3.13 0.000 0.000 0.024 1864.06 1919.38 1808.75 2806.31 2029.94 0 0 0 30.00 30.00 28.15

14304.91 644 181.30 -0.23 -40.00 1862.2 1917.6 1806.9 2807.1 2029.8 369.22 10.18 2303 14310.49 0.00 0.00 3.10 0.000 0.000 0.022 1863.22 1918.62 1807.81 2807.00 603.88 0 0 0 30.00 30.00 28.19

14580.80 1191 185.29 -0.28 0.00 1862.2 1917.6 1806.8 2806.2 603.8 341.50 9.82 2358 14590.51 1.90 0.17 3.13 0.150 0.047 0.024 1839.72 1896.94 1782.50 2755.12 2028.00 0 0 0 24.97 27.99 28.11

14775.59 644 185.29 -0.33 -40.00 1840.9 1897.7 1784.1 2756.1 2028.1 321.52 10.38 2379 14780.87 0.00 0.00 3.09 0.000 0.000 0.022 1841.88 1898.38 1785.38 2754.88 603.94 0 0 0 30.00 30.00 28.22

15050.79 1156 185.29 -0.38 0.00 1840.7 1897.4 1783.9 2755.1 604.1 293.99 10.04 2434 15055.53 0.00 0.00 3.12 0.000 0.000 0.024 1840.66 1897.56 1783.75 2755.25 2029.38 0 0 0 30.00 30.00 28.13

15234.83 679 200.33 -0.42 -40.00 1840.9 1898.1 1783.8 2755.1 2029.2 275.59 9.31 2453 15251.03 9.74 0.14 3.09 0.408 0.051 0.023 1778.38 1839.00 1717.75 2710.88 603.81 0 0 0 24.10 28.46 27.89

15520.16 1158 200.33 -0.47 0.00 1772.4 1837.1 1707.8 2710.4 604.1 247.02 10.25 2510 15525.91 0.00 0.00 3.14 0.000 0.000 0.024 1773.44 1838.25 1708.62 2707.38 2029.25 0 0 0 30.00 30.00 28.17

15705.85 676 204.74 -0.52 -40.00 1772.2 1837.2 1707.2 2709.9 2029.4 228.40 9.80 2529 15710.49 0.00 0.00 3.10 0.000 0.000 0.022 1772.69 1837.94 1707.44 2710.56 601.00 0 0 0 30.00 30.00 28.21

15980.65 1157 204.74 -0.57 0.00 1772.5 1837.2 1707.7 2710.2 601.1 200.93 10.07 2584 15985.59 0.00 0.17 3.14 0.000 0.049 0.024 1772.59 1837.62 1707.56 2661.81 2029.88 0 0 0 30.00 28.02 28.13

16165.53 644 204.74 -0.63 -40.00 1772.3 1837.2 1707.5 2662.2 2029.4 182.05 10.05 2603 16170.87 0.00 0.00 3.10 0.000 0.000 0.022 1772.94 1837.81 1708.06 2661.62 603.81 0 0 0 30.00 30.00 28.18

16440.28 1156 204.74 -0.68 0.00 1772.3 1837.1 1707.4 2661.2 603.7 154.35 10.22 2658 16445.52 0.00 0.00 3.14 0.000 0.000 0.024 1774.19 1838.94 1709.44 2661.62 2030.00 0 0 0 30.00 30.00 28.12

16625.67 679 206.71 -0.73 -40.00 1771.8 1836.5 1707.1 2661.6 2030.3 135.83 9.91 2677 16631.91 1.42 0.17 3.09 0.162 0.049 0.022 1753.22 1817.69 1688.75 2613.50 603.69 0 0 0 25.07 28.39 27.90

16900.01 1156 206.71 -0.78 0.00 1752.8 1816.9 1688.8 2610.0 603.9 108.47 10.38 2732 16905.52 0.00 0.00 3.13 0.000 0.000 0.024 1752.66 1816.50 1688.81 2610.25 2028.62 0 0 0 30.00 30.00 28.15

17089.95 644 206.71 -0.84 -40.00 1752.8 1816.6 1689.1 2610.4 2029.6 89.22 10.26 2752 17095.48 0.00 0.00 3.10 0.000 0.000 0.022 1754.75 1818.31 1691.19 2610.75 603.88 0 0 0 30.00 30.00 28.19

17365.45 1157 206.71 -0.89 0.00 1752.7 1816.8 1688.6 2610.0 604.1 61.55 10.27 2807 17370.58 0.00 0.17 3.14 0.000 0.048 0.024 1753.12 1817.06 1689.19 2561.00 2030.81 0 0 0 30.00 27.99 28.11

17549.79 644 206.71 -0.94 -40.00 1752.9 1816.7 1689.1 2558.6 2030.3 43.04 10.23 2826 17555.88 0.00 0.00 3.10 0.000 0.000 0.022 1753.00 1816.69 1689.31 2558.94 604.00 0 0 0 30.00 30.00 28.17

17824.92 1156 206.71 -1.00 0.00 1752.7 1816.8 1688.6 2558.5 604.1 15.11 10.04 2881 17830.52 0.00 0.00 3.13 0.000 0.000 0.024 1753.75 1817.50 1690.00 2558.56 2029.88 0 0 0 30.00 30.00 28.10

17961 end climb: SURFACE_DEPTH_REACHED

state 17961 begin surface coast

17980 end surface coast: CONTROL_FINISHED_OK

state 17980 begin surface

ID	185	HD_B	0.010078	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	900
MISSION	0	HD_C	9.8541004e-06	ROLL_MIN	300	ALTIM_PING_DELTA	20
DIVE	114	HEADING	-1	ROLL_MAX	3750	ALTIM_FREQUENCY	13
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PULSE	3
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_SENSITIVITY	2
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	XPDR_VALID	6
D_TGT	990	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	XPDR_INHIBIT	90
D_ABORT	1010	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_BOOST	20	SM_CC	515.13	ROLL_MAXERRORS	1	DEEPGLIDER	0
T_BOOST	4	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_FINISH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
D_PITCH	0	CALL_NDIVES	1	VBD_MIN	500	DEVICE1	-1
D_SAFE	0	COMM_SEQ	0	VBD_MAX	3500	DEVICE2	-1
D_CALL	0	PROTOCOL	9	C_VBD	2600	DEVICE3	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	360	DEVICE6	-1
T_DIVE	330	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	1
T_MISSION	400	CALL_TRIES	5	UNCOM_BLEED	20	LOGGERDEVICE1	0
T_ABORT	1440	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_TURN	270	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	DBDW	0	LOGGERDEVICE4	-1
T_NO_W	120	T_GPS	5	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_LOITER	0	N_GPS	100440	AH0_24V	150	COMPASS2_DEVICE	48
T_EPIRB	0	T_RSLEEP	3	AH0_10V	100	PHONE_DEVICE	33
USE_BATHY	-6	STROBE	0	MINV_24V	19	GPS_DEVICE	48
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MAXI_24V	5	XPDR_DEVICE	4
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MAXI_10V	0.80000001	SIM_W	0.1
RELAUNCH	1	PITCH_MIN	450	FG_AHR_10V	30.921513	SEABIRD_T_G	0.0043319771
APOGEE_PITCH	-5	PITCH_MAX	3300	FG_AHR_24V	21.319708	SEABIRD_T_H	0.00061972893
MAX_BUOY	150	C_PITCH	2850	PHONE_SUPPLY	2	SEABIRD_T_I	2.0309124e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-150.34485	SEABIRD_T_J	1.8214913e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00010658	SEABIRD_C_G	-9.9888363
RHO	1.023	PITCH_GAIN	25	COMPASS_USE	4	SEABIRD_C_H	1.1040936
MASS	51725	PITCH_TIMEOUT	30	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0023403035
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00025686048
FERRY_MAX	45	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0

GPS1	220216,173010,4739.306,-12219.018,26,1.5,35,15.9	TGT_LATLONG	4743.500,-12225.000
_CALLS	5	TGT_RADIUS	100.000
_SM_DEPTHo	0.11	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-3.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	220216,174749,4739.309,-12219.020,4,1.6,20,15.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.261	MHEAD_RNG_PITCHd_Wd	300.3,10759,-18.2,-10.000,-20.99
TGT_NAME	NW	D_GRID	1000

FINISH	-0.0,0.997944	_24V_AH	26.66,8.385
SM_CCo	18096.25,104.04,0.112,0,498.5,466.4,530.5,515.51	_10V_AH	11.08,24.173
SM_GC	0.17,104.04,6.77,0.04,0.112,0.048,0.059,498.5,466.4,530.5,448.1,2012.2,0,0,0,23.75,27.85,28.74	FG_AHR_24Vo	21.379
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	31.001
IRIDIUM_FIX	4719.74,-12220.67,220216,174247	MEM	1135668,26,45500,53
TCM_TEMP	22.70	DATA_FILE_SIZE	101586,2897
XPDR_PINGS	3	CAP_FILE_SIZE	647910,0
ALTIM_BOTTOM_PING	900.3,4.1	SDSIZE	4028416,3992832
SC_FREEKB	3984128	ERRORS	0,0,0,0,0,0,0,687
HUMID	47.99	CURRENT	0.000, 29.0,1
TEMP	19.82	GPS	220216,225035,4739.313,-12219.017,40,0.9,50,15.9
INTERNAL_PRESSURE	10.3307

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	456	435	5306.56	nil	0	0	0.00
Pitch_motor	21	66	38.65	nil	0	0	0.00
Roll_motor	248	97	649.44	nil	0	0	0.00
Iridium	705	91	1724.97	nil	0	0	0.00
Transponder_ping	1	420	14.00	nil	0	0	0.00
GPS	21	11	2.71	nil	0	0	0.00
Core	6383	163	11579.16	SciCon	18004	4	864.96
LPSleep	12720	2	308.65	nil	0	0	0.00
Compass	4721	4	213.43	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.66

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
5.05	2	-146.63	-0.91	0.00	475.0	455.9	494.1	447.2	2031.2	0.00	0.00	0	36.71	30.85	0.00	0.00	0.000	0.000	0.000	1339.47	1428.12	1250.81	447.12	2031.44	0	0	0	26.36	30.00	30.00
36.99	295	-146.63	-0.91	40.00	1339.6	1428.1	1251.2	447.1	2031.6	3.35	-9.69	3	130.99	79.69	7.13	3.34	0.000	0.067	0.041	3195.62	3282.56	3108.69	2557.12	3442.06	0	0	0	26.48	27.50	26.56
398.37	1156	-146.63	-0.86	0.00	3196.1	3282.6	3109.6	2558.6	3442.4	39.78	-10.00	75	403.37	0.00	0.00	3.16	0.000	0.000	0.025	3198.12	3283.88	3112.38	2556.88	2017.56	0	0	0	30.00	30.00	27.93
583.95	421	-146.63	-0.80	40.00	3196.7	3282.6	3110.8	2559.2	2017.9	58.15	-9.82	94	589.48	0.00	0.13	3.38	0.000	0.053	0.039	3197.22	3283.31	3111.12	2588.31	3442.81	0	0	0	30.00	28.17	27.78
858.56	1188	-146.63	-0.75	0.00	3196.4	3282.7	3110.1	2588.8	3442.5	85.57	-9.99	149	863.36	0.00	0.00	3.13	0.000	0.000	0.025	3197.16	3283.62	3110.69	2588.12	2016.25	0	0	0	30.00	30.00	28.01
1048.09	389	-146.63	-0.69	40.00	3196.9	3282.3	3111.5	2589.7	2016.1	104.70	-10.25	169	1053.46	0.00	0.14	3.36	0.000	0.059	0.039	3198.75	3284.19	3113.31	2623.69	3441.62	0	0	0	30.00	28.22	27.81
1323.45	1188	-146.63	-0.64	0.00	3196.3	3281.8	3110.9	2624.8	3442.7	132.36	-9.91	224	1328.40	0.00	0.00	3.13	0.000	0.000	0.025	3195.56	3281.31	3109.81	2625.25	2016.56	0	0	0	30.00	30.00	28.05
1508.54	389	-146.63	-0.59	40.00	3196.3	3281.8	3110.9	2625.9	2016.8	151.11	-10.26	243	1513.85	0.00	0.14	3.38	0.000	0.056	0.039	3196.19	3282.56	3109.81	2659.19	3441.94	0	0	0	30.00	28.28	27.82
1782.76	1156	-146.63	-0.53	0.00	3196.8	3282.5	3111.2	2657.8	3441.7	178.82	-10.03	298	1788.76	0.00	0.00	3.11	0.000	0.000	0.025	3196.72	3281.75	3111.69	2662.00	2018.12	0	0	0	30.00	30.00	28.07
1967.72	389	-146.63	-0.48	40.00	3196.2	3282.4	3110.0	2659.6	2018.1	197.85	-10.23	317	1973.85	0.00	0.14	3.37	0.000	0.057	0.039	3196.94	3282.94	3110.94	2696.19	3443.38	0	0	0	30.00	28.32	27.82
2242.77	1156	-146.63	-0.43	0.00	3196.7	3282.6	3110.8	2694.1	3442.2	225.82	-10.58	372	2248.76	0.00	0.00	3.12	0.000	0.000	0.025	3196.38	3281.94	3110.81	2691.62	2016.50	0	0	0	30.00	30.00	28.09
2428.08	389	-146.63	-0.37	40.00	3195.9	3281.6	3110.2	2693.4	2016.4	244.31	-10.08	391	2433.85	0.00	0.14	3.36	0.000	0.056	0.039	3197.88	3283.56	3112.19	2727.44	3442.56	0	0	0	30.00	28.36	27.82
2702.74	1188	-146.63	-0.32	0.00	3197.1	3283.1	3111.1	2727.9	3443.4	271.74	-9.92	446	2708.77	0.00	0.00	3.12	0.000	0.000	0.025	3196.94	3282.38	3111.50	2727.75	2016.25	0	0	0	30.00	30.00	28.09
2887.59	389	-146.63	-0.27	40.00	3196.2	3281.8	3110.7	2728.2	2016.6	290.36	-10.34	465	2893.47	0.00	0.14	3.37	0.000	0.058	0.039	3196.38	3282.69	3110.06	2759.56	3441.38	0	0	0	30.00	28.37	27.82
3163.43	1156	-146.63	-0.21	0.00	3196.4	3282.6	3110.3	2761.9	3442.2	318.17	-10.33	520	3168.38	0.00	0.00	3.13	0.000	0.000	0.025	3196.81	3281.56	3112.06	2761.69	2015.06	0	0	0	30.00	30.00	28.10
3348.62	421	-146.63	-0.16	40.00	3196.3	3281.9	3110.8	2761.1	2015.2	336.41	-9.56	539	3353.47	0.00	0.14	3.38	0.000	0.057	0.040	3196.16	3282.94	3109.38	2799.38	3442.19	0	0	0	30.00	28.38	27.81
3623.51	1156	-146.63	-0.11	0.00	3195.9	3282.0	3109.8	2796.0	3442.2	364.08	-10.20	594	3628.76	0.00	0.00	3.12	0.000	0.000	0.025	3196.75	3282.81	3110.69	2795.88	2016.00	0	0	0	30.00	30.00	28.10
3807.74	389	-146.63	-0.05	40.00	3196.0	3282.2	3109.7	2796.6	2016.4	382.67	-10.12	613	3813.85	0.00	0.14	3.37	0.000	0.056	0.039	3198.03	3283.06	3113.00	2827.19	3443.44	0	0	0	30.00	28.40	27.81
4082.71	1156	-146.63	0.00	0.00	3196.5	3282.6	3110.4	2829.0	3443.2	410.13	-10.07	668	4088.75	0.00	0.00	3.13	0.000	0.000	0.025	3197.00	3282.62	3111.38	2832.00	2017.06	0	0	0	30.00	30.00	28.10
4268.12	389	-146.63	0.05	40.00	3196.4	3282.2	3110.6	2829.1	2016.6	428.91	-10.11	687	4273.85	0.00	0.14	3.37	0.000	0.059	0.039	3197.66	3283.19	3112.12	2861.50	3441.75	0	0	0	30.00	28.40	27.81
4542.78	1188	-146.63	0.11	0.00	3196.6	3282.4	3110.8	2863.1	3443.3	456.44	-9.93	742	4548.75	0.00	0.00	3.12	0.000	0.000	0.025	3196.03	3282.31	3109.75	2863.44	2016.25	0	0	0	30.00	30.00	28.10
4727.76	421	-146.63	0.16	40.00	3196.7	3282.7	3110.8	2863.6	2016.5	474.47	-9.62	761	4733.47	0.00	0.14	3.37	0.000	0.059	0.039	3197.25	3283.12	3111.38	2896.88	3444.62	0	0	0	30.00	28.41	27.80
5003.57	1188	-146.63	0.22	0.00	3196.0	3281.9	3110.0	2899.4	3445.1	501.89	-9.96	816	5008.76	0.00	0.00	3.13	0.000	0.000	0.025	3197.06	3283.50	3110.62	2899.19	2014.94	0	0	0	30.00	30.00	28.10
5187.72	389	-146.63	0.27	40.00	3196.2	3282.1	3110.3	2898.4	2015.2	520.57	-10.20	835	5193.47	0.00	0.14	3.37	0.000	0.057	0.040	3195.78	3281.69	3109.88	2934.62	3442.31	0	0	0	30.00	28.41	27.80
5463.18	1188	-146.63	0.32	0.00	3196.1	3281.7	3110.5	2934.1	3442.5	547.99	-9.84	890	5468.38	0.00	0.00	3.14	0.000	0.000	0.025	3196.50	3282.88	3110.12	2934.00	2014.94	0	0	0	30.00	30.00	28.10
5648.75	421	-146.63	0.38	40.00	3196.2	3281.8	3110.6	2933.6	2015.1	566.35	-9.89	909	5653.47	0.00	0.14	3.36	0.000	0.058	0.040	3196.03	3281.88	3110.19	2970.50	3441.94	0	0	0	30.00	28.42	27.79
5922.80	1188	-146.63	0.43	0.00	3195.7	3282.1	3109.2	2968.4	3442.5	593.80	-9.90	964	5928.76	0.00	0.00	3.13	0.000	0.000	0.025	3196.56	3281.81	3111.31	2966.44	2015.81	0	0	0	30.00	30.00	28.09
6107.82	421	-146.63	0.48	40.00	3196.6	3282.1	3111.1	2968.2	2015.9	612.11	-9.89	983	6113.47	0.00	0.14	3.38	0.000	0.057	0.040	3195.78	3282.00	3109.56	3001.12	3442.06	0	0	0	30.00	28.42	27.78
6383.24	1188	-146.63	0.54	0.00	3195.8	3281.8	3109.9	3001.1	3441.9	639.23	-9.85	1038	6388.76	0.00	0.00	3.14	0.000	0.000	0.025	3196.97	3282.81	3111.12	3001.00	2016.56	0	0	0	30.00	30.00	28.08
6568.03	421	-146.63	0.59	40.00	3195.9	3281.8	3110.0	3001.9	2017.1	658.01	-9.97	1057	6573.86	0.00	0.14	3.37	0.000	0.059	0.040	3196.88	3282.19	3111.56	3034.56	3441.94	0	0	0	30.00	28.42	27.78
6843.64	1188	-146.63	0.64	0.00	3195.7	3281.8	3109.5	3036.7	3442.9	685.45	-9.81	1112	6848.38	0.00	0.00	3.13	0.000	0.000	0.025	3196.44	3282.75	3110.12	3034.88	2017.31	0	0	0	30.00	30.00	28.08
7028.45	421	-146.63	0.70	40.00	3196.2	3282.6	3109.9	3035.5	2016.2	703.96	-9.53	1131	7033.85	0.00	0.14	3.36	0.000	0.060	0.040	3197.69	3282.81	3112.56	3066.38	3443.56	0	0	0	30.00	28.40	27.78
7303.12	1188	-146.63	0.75	0.00	3195.6	3281.8	3109.4	3068.6	3443.5	731.28	-9.96	1186	7308.76	0.00	0.00	3.14	0.000	0.000	0.025	3196.56	3282.12	3111.00	3068.31	2014.94	0	0	0	30.00	30.00	28.08
7487.72	389	-146.63	0.80	40.00	3196.5	3282.9	3110.2	3068.1	2015.1	749.82	-10.12	1205	7493.86	0.00	0.14	3.38	0.000	0.062	0.040	3196.09	3282.75	3109.44	3105.25	3440.56	0	0	0	30.00	28.39	27.77
7763.15	1188	-146.63	0.86	0.00	3196.1	3281.6	3110.6	3105.2	3440.3	777.02	-9.88	1260	7768.76	0.00	0.00	3.12	0.000	0.000	0.025	3197.28	3283.19	3111.38	3105.38	2015.19	0	0	0	30.00	30.00	28.08
7947.80	389	-146.63	0.91	40.00	3195.9	3282.4	3109.4	3105.1	2014.8	795.63	-10.07	1279	7953.86	0.00	0.13	3.38	0.000	0.058	0.040	3196.00	3282.25	3109.75	3136.62	3443.94	0	0	0	30.00	28.43	27.77
8223.06	1188	-146.63	0.97	0.00	3196.5	3282.5	3110.4	3137.8	3443.4	823.07	-9.93	1334	8228.76	0.00	0.00	3.13	0.000	0.000	0.025	3196.19	3282.62	3109.75	3137.88	2014.88	0	0	0	30.00	30.00	28.07
8407.73	389	-146.63	1.02	40.00	3196.2	3282.2	3110.1	3139.2	2014.9	841.57	-10.05	1353	8413.47	0.00	0.14	3.38	0.000	0.060	0.040	3195.97	3281.88	3110.06	3174.25	3442.25	0	0	0	30.00	28.42	27.76
8683.42	1188	-146.63	1.07	0.00	3196.3	3282.7	3110.0	3171.8	3442.6	868.98	-9.97	1408	8688.37	0.00	0.00	3.13	0.000	0.000	0.025	3196.72	3282.44	3111.00	3173.69	2017.12	0	0	0	30.00	30.00	28.08
8868.10	421	-146.63	1.13	40.00	3195.9	3281.7	3110.2	3172.6	2016.4	887.32	-9.64	1427	8873.47	0.00	0.14	3.37	0.000	0.061	0.040	3195.81	3282.06	3109.56	3205.25	3442.31	0	0	0	30.00	28.40	27.76
9004	end dive: BOTTOM_OBSTACLE_DETECTED
state	9004	begin apogee
9008.96	3	0.00	-0.20	0.00	3196.4	3282.0	3110.9	3206.2	2013.8	900.32	10.07	1453	9119.56	106.54	1.69	0.05	0.436	0.042	0.098	2597.31	2653.88	2540.75	2781.38	2029.94	0	0	0	22.58	27.85	27.14
9120	end apogee: CONTROL_FINISHED_OK
state	9120	begin climb
9120.05	519	146.63	0.91	-40.00	2591.8	2648.6	2535.0	2779.2	2029.6	889.28	0.00	1464	9241.88	112.24	1.55	3.25	0.416	0.057	0.022	1992.97	2047.31	1938.62	3137.44	603.56	0	0	0	24.10	27.44	26.75
9508.79	1190	148.37	0.86	0.00	1984.4	2043.9	1925.0	3138.1	603.8	849.49	9.92	1542	9514.84	0.00	0.00	3.19	0.000	0.000	0.024	1984.16	2043.25	1925.06	3139.00	2028.38	0	0	0	30.00	30.00	27.66
9699.32	647	148.37	0.80	-40.00	1984.1	2043.8	1924.3	3140.1	2028.2	830.41	10.03	1562	9704.50	0.00	0.14	3.14	0.000	0.049	0.022	1986.44	2045.81	1927.06	3101.38	603.62	0	0	0	30.00	27.98	27.83
9974.93	1158	148.37	0.75	0.00	1983.5	2042.9	1924.0	3101.7	603.8	802.78	10.17	1617	9979.45	0.00	0.00	3.16	0.000	0.000	0.024	1985.09	2044.69	1925.50	3102.19	2027.44	0	0	0	30.00	30.00	27.88
10159.43	678	153.84	0.70	-40.00	1983.3	2043.0	1923.6	3101.6	2028.3	784.42	9.75	1636	10164.88	0.96	0.00	3.12	0.187	0.000	0.022	1968.88	2026.00	1911.75	3100.00	605.12	0	0	0	25.27	30.00	27.60
10433.77	1157	153.84	0.65	0.00	1968.4	2025.4	1911.4	3101.2	605.0	756.81	10.20	1691	10439.91	0.00	0.17	3.16	0.000	0.048	0.025	1969.31	2026.00	1912.62	3049.25	2027.94	0	0	0	30.00	27.83	27.95
10618.74	678	158.80	0.60	-40.00	1968.6	2025.2	1911.9	3051.0	2028.0	738.40	9.77	1710	10624.90	1.74	0.00	3.11	0.153	0.000	0.022	1948.97	2004.50	1893.44	3051.31	604.00	0	0	0	25.28	30.00	27.69
10893.78	1156	158.80	0.55	0.00	1948.6	2003.8	1893.4	3051.4	603.8	710.93	10.00	1765	10899.84	0.00	0.00	3.14	0.000	0.000	0.024	1948.62	2003.81	1893.44	3049.19	2029.12	0	0	0	30.00	30.00	28.01
11079.12	677	160.64	0.50	-40.00	1948.3	2003.6	1892.9	3051.2	2030.1	692.36	9.92	1784	11084.90	0.00	0.17	3.12	0.000	0.051	0.022	1949.34	2004.12	1894.56	3003.75	604.50	0	0	0	30.00	28.26	28.07
11354.16	1156	160.64	0.44	0.00	1948.3	2003.8	1892.9	3003.6	604.4	664.76	10.22	1839	11359.84	0.00	0.00	3.15	0.000	0.000	0.024	1949.00	2004.19	1893.81	3006.69	2030.25	0	0	0	30.00	30.00	28.01
11538.82	644	160.64	0.39	-40.00	1948.3	2003.2	1893.4	3003.6	2028.7	646.16	10.06	1858	11544.84	0.00	0.00	3.12	0.000	0.000	0.022	1949.03	2004.06	1894.00	3002.81	604.00	0	0	0	30.00	30.00	28.08
11814.23	1157	160.64	0.34	0.00	1948.2	2003.3	1893.0	3001.9	604.0	618.48	10.20	1913	11819.91	0.00	0.18	3.16	0.000	0.048	0.025	1950.62	2005.38	1895.88	2950.25	2027.62	0	0	0	30.00	27.90	28.02
11999.26	678	162.75	0.29	-40.00	1948.4	2003.8	1893.1	2951.6	2028.9	599.99	9.90	1932	12004.92	1.37	0.00	3.09	0.165	0.000	0.022	1931.66	1986.81	1876.50	2951.56	602.19	0	0	0	25.31	30.00	27.67
12273.97	1190	171.29	0.24	0.00	1932.5	1986.5	1878.4	2951.4	602.6	572.75	9.61	1987	12281.96	3.30	0.00	3.12	0.220	0.000	0.024	1899.22	1954.62	1843.81	2951.19	2030.25	0	0	0	23.98	30.00	28.06
12459.30	677	171.85	0.19	-40.00	1896.7	1952.0	1841.4	2952.4	2029.6	554.17	9.97	2006	12464.90	0.00	0.16	3.11	0.000	0.050	0.022	1897.34	1952.50	1842.19	2903.81	603.69	0	0	0	30.00	28.39	28.23
12733.89	1156	171.85	0.14	0.00	1897.2	1952.4	1842.1	2905.3	603.9	526.52	10.00	2061	12739.84	0.00	0.00	3.12	0.000	0.000	0.024	1898.78	1953.75	1843.81	2905.56	2028.19	0	0	0	30.00	30.00	28.14
12919.18	644	171.85	0.08	-40.00	1896.8	1951.9	1841.8	2904.7	2028.8	507.67	10.39	2080	12924.81	0.00	0.00	3.10	0.000	0.000	0.022	1898.12	1953.31	1842.94	2905.50	602.12	0	0	0	30.00	30.00	28.18
13194.76	1157	171.85	0.03	0.00	1897.2	1952.2	1842.1	2905.2	602.2	479.88	10.17	2135	13199.63	0.00	0.18	3.15	0.000	0.047	0.024	1897.12	1952.12	1842.12	2853.75	2028.81	0	0	0	30.00	27.99	28.11
13379.33	644	171.85	-0.02	-40.00	1896.7	1952.0	1841.4	2853.1	2028.1	460.89	10.22	2154	13384.42	0.00	0.00	3.09	0.000	0.000	0.022	1898.28	1953.88	1842.69	2852.38	605.12	0	0	0	30.00	30.00	28.16
13654.39	1190	179.66	-0.07	0.00	1896.6	1951.8	1841.4	2852.6	605.2	433.80	9.64	2209	13661.96	2.98	0.00	3.12	0.138	0.000	0.024	1865.25	1920.81	1809.69	2851.19	2029.69	0	0	0	23.57	30.00	28.10
13845.69	677	179.75	-0.12	-40.00	1862.2	1917.9	1806.6	2852.6	2029.8	414.93	10.00	2229	13850.57	0.00	0.16	3.11	0.000	0.051	0.022	1863.81	1919.12	1808.50	2806.56	605.25	0	0	0	30.00	28.42	28.23
14119.93	1188	181.30	-0.17	0.00	1862.0	1917.6	1806.5	2804.8	605.2	387.72	9.93	2284	14125.91	0.00	0.00	3.13	0.000	0.000	0.024	1864.06	1919.38	1808.75	2806.31	2029.94	0	0	0	30.00	30.00	28.15
14304.91	644	181.30	-0.23	-40.00	1862.2	1917.6	1806.9	2807.1	2029.8	369.22	10.18	2303	14310.49	0.00	0.00	3.10	0.000	0.000	0.022	1863.22	1918.62	1807.81	2807.00	603.88	0	0	0	30.00	30.00	28.19
14580.80	1191	185.29	-0.28	0.00	1862.2	1917.6	1806.8	2806.2	603.8	341.50	9.82	2358	14590.51	1.90	0.17	3.13	0.150	0.047	0.024	1839.72	1896.94	1782.50	2755.12	2028.00	0	0	0	24.97	27.99	28.11
14775.59	644	185.29	-0.33	-40.00	1840.9	1897.7	1784.1	2756.1	2028.1	321.52	10.38	2379	14780.87	0.00	0.00	3.09	0.000	0.000	0.022	1841.88	1898.38	1785.38	2754.88	603.94	0	0	0	30.00	30.00	28.22
15050.79	1156	185.29	-0.38	0.00	1840.7	1897.4	1783.9	2755.1	604.1	293.99	10.04	2434	15055.53	0.00	0.00	3.12	0.000	0.000	0.024	1840.66	1897.56	1783.75	2755.25	2029.38	0	0	0	30.00	30.00	28.13
15234.83	679	200.33	-0.42	-40.00	1840.9	1898.1	1783.8	2755.1	2029.2	275.59	9.31	2453	15251.03	9.74	0.14	3.09	0.408	0.051	0.023	1778.38	1839.00	1717.75	2710.88	603.81	0	0	0	24.10	28.46	27.89
15520.16	1158	200.33	-0.47	0.00	1772.4	1837.1	1707.8	2710.4	604.1	247.02	10.25	2510	15525.91	0.00	0.00	3.14	0.000	0.000	0.024	1773.44	1838.25	1708.62	2707.38	2029.25	0	0	0	30.00	30.00	28.17
15705.85	676	204.74	-0.52	-40.00	1772.2	1837.2	1707.2	2709.9	2029.4	228.40	9.80	2529	15710.49	0.00	0.00	3.10	0.000	0.000	0.022	1772.69	1837.94	1707.44	2710.56	601.00	0	0	0	30.00	30.00	28.21
15980.65	1157	204.74	-0.57	0.00	1772.5	1837.2	1707.7	2710.2	601.1	200.93	10.07	2584	15985.59	0.00	0.17	3.14	0.000	0.049	0.024	1772.59	1837.62	1707.56	2661.81	2029.88	0	0	0	30.00	28.02	28.13
16165.53	644	204.74	-0.63	-40.00	1772.3	1837.2	1707.5	2662.2	2029.4	182.05	10.05	2603	16170.87	0.00	0.00	3.10	0.000	0.000	0.022	1772.94	1837.81	1708.06	2661.62	603.81	0	0	0	30.00	30.00	28.18
16440.28	1156	204.74	-0.68	0.00	1772.3	1837.1	1707.4	2661.2	603.7	154.35	10.22	2658	16445.52	0.00	0.00	3.14	0.000	0.000	0.024	1774.19	1838.94	1709.44	2661.62	2030.00	0	0	0	30.00	30.00	28.12
16625.67	679	206.71	-0.73	-40.00	1771.8	1836.5	1707.1	2661.6	2030.3	135.83	9.91	2677	16631.91	1.42	0.17	3.09	0.162	0.049	0.022	1753.22	1817.69	1688.75	2613.50	603.69	0	0	0	25.07	28.39	27.90
16900.01	1156	206.71	-0.78	0.00	1752.8	1816.9	1688.8	2610.0	603.9	108.47	10.38	2732	16905.52	0.00	0.00	3.13	0.000	0.000	0.024	1752.66	1816.50	1688.81	2610.25	2028.62	0	0	0	30.00	30.00	28.15
17089.95	644	206.71	-0.84	-40.00	1752.8	1816.6	1689.1	2610.4	2029.6	89.22	10.26	2752	17095.48	0.00	0.00	3.10	0.000	0.000	0.022	1754.75	1818.31	1691.19	2610.75	603.88	0	0	0	30.00	30.00	28.19
17365.45	1157	206.71	-0.89	0.00	1752.7	1816.8	1688.6	2610.0	604.1	61.55	10.27	2807	17370.58	0.00	0.17	3.14	0.000	0.048	0.024	1753.12	1817.06	1689.19	2561.00	2030.81	0	0	0	30.00	27.99	28.11
17549.79	644	206.71	-0.94	-40.00	1752.9	1816.7	1689.1	2558.6	2030.3	43.04	10.23	2826	17555.88	0.00	0.00	3.10	0.000	0.000	0.022	1753.00	1816.69	1689.31	2558.94	604.00	0	0	0	30.00	30.00	28.17
17824.92	1156	206.71	-1.00	0.00	1752.7	1816.8	1688.6	2558.5	604.1	15.11	10.04	2881	17830.52	0.00	0.00	3.13	0.000	0.000	0.024	1753.75	1817.50	1690.00	2558.56	2029.88	0	0	0	30.00	30.00	28.10
17961	end climb: SURFACE_DEPTH_REACHED
state	17961	begin surface coast
17980	end surface coast: CONTROL_FINISHED_OK
state	17980	begin surface