Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 22 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 567.43622 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 260 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 11400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 250 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2400 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -154.09409 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.6100001e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

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

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 567.43622

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.003 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

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

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -154.09409 T_DIVE 50

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 11400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 260

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 17 MINV_10V 11 R_PORT_OVSHOOT 22 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 15 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 121018,190709,7429.2046,-14632.1621,27,1.5,28,18.3,0.4,220.2,5,8.3 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.56 MHEAD_RNG_PITCHd_Wd 139.8,26575,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -74.7 D_GRID 150

GPS2 121018,191346,7429.2134,-14632.2578,3,1.6,6,18.3,0.1,0.0,5,7.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012200202.452323,18,1371,31,0192,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*04 ALTIM_TOP_PING 19.9,5.7

FINISH -0.0,1.020826 _24V_AH 13.36,77.143

SM_CCo 14650,0.00,0.000,0,0,490,579.89 _10V_AH 13.09,0.000

SM_GC 1.23,10.20,0.93,0.00,0.125,0.067,0.000,200,2401,490,-6.83,-0.75,579.89,0,0,0,0,0,0,14.00,14.00,14.08 FG_AHR_24Vo 0.000

RAFOS_CLK 788 FG_AHR_10Vo 0.000

MODEM 0,1539374522,73.00043,-148.33627,122.452,176646.8 MEM 326348

RAFOS_FIX 7429.830566,-14631.479492,121018,202002,1,2,0.42 DATA_FILE_SIZE 49947,1527

IRIDIUM_FIX 7428.37,-14631.96,121018,145318 CAP_FILE_SIZE 160592,0

TT8_MAMPS 0.042693,0.948234 CFSIZE 2097872896,2092466176

HUMID 43.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.29052 SOUNDSPEED 1442.6

TCM_TEMP 14.50 CURRENT 0.129,307.62,1

XPDR_PINGS 8 GPS 121018,232009,7429.567,-14634.886,53,1.1,54,18.3,0.1,0.0,7,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 429 136.56 nil 0 0 0.00

Roll_motor 81 161 175.59 nil 0 0 0.00

VBD_pump_during_apogee 646 1720 14863.69 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 3187 33 1416.45

Iridium_during_xfer 240 185 595.58 nil 0 0 0.00

Transponder_ping 2 420 12.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 6 1.45

TT8 0 0 0.00

LPSleep 10865 2 328.55

TT8_Active 770 11 116.66

TT8_Sampling 3145 31 1277.87

TT8_CF8 270 36 128.66

TT8_Kalman 0 0 0.00

Analog_circuits 2155 10 307.52

GPS_charging 0 0 0.00

Compass 2170 6 191.51

RAFOS 2214 33 956.38

Transponder 2 30 0.99

Altimeter Analysis:

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

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

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.82 -146.0 196 2411 467 520 0.0 0.0 0 92 0.00 0.00 -81.70 0.003 16386 0.000 0.000 196 2411 1989 2091 1887 0 0 0 0 0 0 14.45 28.83 14.47

95 -0.82 -146.0 197 2412 2091 1893 6.6 -12.0 8 140 9.65 5.10 -28.35 0.005 18948 0.430 0.079 2148 706 3453 3569 3338 0 0 0 0 0 0 14.04 13.62 14.31

180 -0.82 -146.0 2152 707 3569 3340 48.6 -46.7 24 191 0.00 5.03 0.00 0.000 1030 0.000 0.062 2129 2396 3454 3569 3339 0 0 0 0 0 0 14.33 14.24 14.34

370 -0.82 -146.0 2129 2397 3567 3340 102.4 -22.1 44 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2396 3453 3567 3339 0 0 0 0 0 0 14.54 14.57 14.56

550 -0.82 -146.0 2128 2396 3567 3340 137.9 -18.8 62 557 0.00 5.00 0.00 0.000 516 0.000 0.073 2134 710 3453 3566 3340 0 0 0 0 0 0 14.59 14.37 14.61

592 -0.82 -146.0 2134 710 3567 3340 146.2 -19.8 70 598 0.00 4.97 0.00 0.000 1030 0.000 0.057 2115 2406 3453 3566 3340 0 0 0 0 0 0 14.49 14.41 14.50

611 end dive: TARGET_DEPTH_EXCEEDED

state 611 begin apogee

617 -0.11 0.0 2116 2184 3566 3340 150.5 -20.4 73 745 0.98 0.08 122.25 1.602 10246 0.284 0.161 2359 2214 2850 2924 2776 0 0 0 0 0 0 14.27 13.94 13.36

746 end apogee: CONTROL_FINISHED_OK

state 746 begin loiter

923 -0.06 16.7 2359 2215 2920 2774 169.6 -4.3 104 945 0.00 0.00 15.02 1.538 8230 0.000 0.000 2359 2214 2779 2853 2706 0 0 0 0 0 0 14.41 14.16 13.51

1123 -0.01 32.7 2360 2215 2853 2707 177.8 -4.1 124 1145 0.15 0.00 15.25 1.568 10278 0.270 0.000 2393 2214 2715 2786 2645 0 0 0 0 0 0 14.18 14.10 13.57

1325 0.03 44.6 2392 2215 2786 2645 184.0 -3.1 144 1338 0.00 0.00 11.88 1.561 8230 0.000 0.000 2393 2214 2670 2737 2604 0 0 0 0 0 0 14.53 14.30 13.62

1514 0.05 53.9 2393 2215 2736 2603 188.9 -2.4 163 1525 0.00 0.00 9.60 1.536 8230 0.000 0.000 2393 2214 2632 2696 2568 0 0 0 0 0 0 14.57 14.34 13.65

1703 0.07 60.2 2392 2215 2694 2567 192.5 -1.6 182 1714 0.00 0.00 7.20 1.478 8230 0.000 0.000 2393 2215 2604 2666 2542 0 0 0 0 0 0 14.61 14.38 13.67

1894 0.09 65.1 2392 2215 2666 2542 194.9 -1.3 201 1905 0.12 0.00 6.03 1.435 10278 0.272 0.000 2422 2214 2585 2645 2525 0 0 0 0 0 0 14.33 14.28 13.68

2085 0.11 65.1 2422 2215 2646 2526 196.4 -0.9 220 2086 0.00 0.00 0.00 0.000 70 0.000 0.000 2421 2214 2585 2645 2526 0 0 0 0 0 0 14.66 14.68 14.68

2264 0.13 70.3 2422 2215 2647 2527 198.5 -1.3 238 2274 0.00 0.00 6.45 1.488 8230 0.000 0.000 2421 2214 2564 2623 2505 0 0 0 0 0 0 14.71 14.33 13.70

2453 0.13 70.3 2422 2215 2624 2506 199.2 0.1 257 2454 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2214 2564 2624 2505 0 0 0 0 0 0 14.73 14.75 14.75

2634 0.13 70.3 2421 2215 2623 2506 198.7 0.4 275 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2214 2564 2623 2506 0 0 0 0 0 0 14.76 14.78 14.77

2817 0.13 70.3 2421 2215 2623 2506 198.6 -0.2 293 2818 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2214 2564 2623 2505 0 0 0 0 0 0 14.71 14.73 14.73

2995 0.15 70.3 2423 2215 2625 2506 199.8 -0.8 311 2996 0.00 0.00 0.00 0.000 70 0.000 0.000 2422 2214 2565 2626 2505 0 0 0 0 0 0 14.72 14.74 14.73

3175 0.18 70.3 2422 2215 2624 2506 201.2 -0.7 329 3176 0.12 0.00 0.00 0.000 2118 0.253 0.000 2452 2214 2563 2622 2505 0 0 0 0 0 0 14.46 14.63 14.60

3355 0.18 70.3 2453 2215 2624 2506 201.8 -0.2 347 3356 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.73 14.76 14.76

3535 0.18 70.3 2453 2215 2624 2507 202.3 -0.3 365 3536 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.73 14.76 14.76

3715 0.20 70.3 2452 2215 2623 2506 203.4 -0.8 383 3716 0.00 0.00 0.00 0.000 70 0.000 0.000 2452 2214 2564 2623 2506 0 0 0 0 0 0 14.74 14.76 14.76

3895 0.22 70.3 2451 2214 2623 2506 204.7 -0.6 401 3896 0.00 0.00 0.00 0.000 70 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.75 14.76 14.77

4075 0.22 70.3 2453 2215 2624 2506 205.5 -0.4 419 4076 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.76 14.77 14.77

4255 0.22 70.3 2452 2215 2623 2506 206.0 -0.3 437 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.76 14.77 14.77

4435 0.24 70.3 2453 2215 2624 2506 207.1 -0.7 455 4436 0.00 0.00 0.00 0.000 70 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.76 14.78 14.78

4615 0.25 70.3 2451 2215 2623 2505 208.2 -0.5 473 4616 0.00 0.00 0.00 0.000 70 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.76 14.78 14.78

4795 0.25 70.3 2453 2215 2624 2506 208.9 -0.4 491 4796 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.76 14.78 14.78

4975 0.25 70.3 2453 2215 2625 2506 209.2 -0.1 509 4976 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.81 14.83 14.83

5155 0.25 70.3 2453 2215 2624 2506 209.3 -0.1 527 5156 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.83 14.85 14.85

5335 0.25 70.3 2452 2215 2622 2505 209.8 -0.3 545 5336 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.85 14.87 14.87

5515 0.25 70.3 2451 2215 2623 2505 210.4 -0.3 563 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.87 14.88 14.88

5695 0.25 70.3 2452 2215 2623 2505 210.8 -0.1 581 5696 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.88 14.90 14.90

5875 0.25 70.3 2453 2215 2625 2506 210.7 0.1 599 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2623 2505 0 0 0 0 0 0 14.89 14.90 14.90

6055 0.25 70.3 2453 2215 2624 2506 210.6 0.1 617 6056 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2564 2622 2506 0 0 0 0 0 0 14.90 14.92 14.92

6235 0.25 70.3 2453 2215 2624 2506 210.8 -0.2 635 6236 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2505 0 0 0 0 0 0 14.90 14.92 14.92

6415 0.25 70.3 2452 2215 2623 2505 211.3 -0.2 653 6416 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2505 0 0 0 0 0 0 14.92 14.94 14.93

6595 0.25 70.3 2452 2215 2622 2505 211.2 0.2 671 6596 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.92 14.95 14.94

6775 0.25 70.3 2453 2215 2624 2506 210.8 0.2 689 6776 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.92 14.95 14.95

6955 0.25 70.3 2452 2215 2623 2505 211.1 -0.4 707 6956 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.93 14.95 14.95

7135 0.25 70.3 2452 2215 2622 2505 211.7 -0.3 725 7136 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.94 14.96 14.95

7315 0.25 70.3 2452 2215 2622 2505 212.0 -0.1 743 7316 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2215 2563 2622 2504 0 0 0 0 0 0 14.95 14.97 14.96

7495 0.25 70.3 2453 2215 2624 2505 212.4 -0.3 761 7496 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.95 14.97 14.97

7675 0.25 70.3 2453 2215 2623 2505 212.8 -0.1 779 7676 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.95 14.97 14.97

7855 0.25 70.3 2453 2215 2623 2505 212.7 0.1 797 7856 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.96 14.98 14.97

8035 0.25 70.3 2453 2215 2624 2505 212.6 0.0 815 8036 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.96 14.98 14.98

8215 0.25 70.3 2452 2215 2622 2505 212.6 -0.0 833 8216 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.97 14.99 14.98

8395 0.25 70.3 2453 2215 2623 2505 212.8 -0.2 851 8396 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.97 14.99 14.99

8575 0.25 70.3 2453 2215 2623 2505 213.2 -0.2 869 8576 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2215 2563 2622 2504 0 0 0 0 0 0 14.97 14.99 14.99

8755 0.25 70.3 2453 2215 2623 2505 213.4 -0.0 887 8756 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.97 15.00 14.99

8935 0.25 70.3 2453 2215 2623 2505 213.7 -0.2 905 8936 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.97 15.00 15.00

9115 0.25 70.3 2453 2215 2623 2505 214.1 -0.2 923 9116 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2622 2503 0 0 0 0 0 0 14.98 15.00 15.00

9295 0.25 70.3 2453 2215 2623 2505 214.0 0.2 941 9296 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.98 15.00 15.00

9475 0.25 70.3 2452 2215 2624 2504 213.6 0.2 959 9476 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2563 2622 2504 0 0 0 0 0 0 14.99 15.00 15.00

9655 0.25 70.3 2452 2215 2622 2504 213.5 -0.1 977 9656 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2622 2503 0 0 0 0 0 0 14.99 15.00 15.00

9835 0.25 70.3 2452 2214 2621 2504 213.7 -0.1 995 9836 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2622 2503 0 0 0 0 0 0 14.99 15.01 15.00

10015 0.25 70.3 2453 2215 2623 2504 213.5 0.3 1013 10016 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2622 2503 0 0 0 0 0 0 14.99 15.01 15.00

10195 0.25 70.3 2453 2215 2623 2504 212.9 0.5 1031 10196 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2621 2503 0 0 0 0 0 0 14.99 15.01 15.01

10375 0.25 70.3 2452 2215 2622 2504 212.3 0.2 1049 10376 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.01 15.01

10555 0.25 70.3 2452 2215 2623 2505 212.5 -0.4 1067 10556 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.02 15.01

10735 0.27 70.3 2452 2215 2622 2504 213.5 -0.5 1085 10736 0.12 0.00 0.00 0.000 2118 0.246 0.000 2484 2214 2562 2622 2503 0 0 0 0 0 0 14.69 14.85 14.83

10915 0.27 70.3 2483 2215 2622 2504 214.2 -0.3 1103 10916 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2563 2623 2503 0 0 0 0 0 0 15.00 15.02 15.01

11095 0.27 70.3 2483 2214 2622 2504 214.7 -0.2 1121 11096 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2562 2621 2503 0 0 0 0 0 0 15.00 15.02 15.02

11275 0.27 70.3 2485 2215 2623 2504 214.8 0.1 1139 11276 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.02 15.02

11455 0.27 70.3 2484 2215 2623 2504 214.3 0.3 1157 11456 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.02 15.02

11635 0.27 70.3 2485 2215 2623 2504 213.8 0.2 1175 11636 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.02 15.02

11815 0.27 70.3 2483 2215 2622 2504 213.7 0.1 1193 11816 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.02 15.02

11995 0.27 70.3 2484 2216 2623 2503 213.6 0.1 1211 11996 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2562 2622 2503 0 0 0 0 0 0 15.00 15.02 15.02

12142 end loiter: LOITER_COMPLETE

state 12142 begin climb

12145 0.82 146.0 2484 2215 2623 2504 213.6 0.0 1226 12228 0.57 5.10 70.80 1.720 10756 0.160 0.082 2683 516 2250 2298 2203 0 0 0 0 0 0 14.71 14.40 13.77

12308 0.91 146.0 2682 517 2292 2202 206.1 6.9 1256 12319 0.00 4.90 0.00 0.000 1094 0.000 0.054 2683 2204 2246 2293 2200 0 0 0 0 0 0 14.52 14.45 14.54

12500 1.02 146.0 2683 2205 2295 2197 193.8 6.4 1276 12501 0.15 0.00 0.00 0.000 2118 0.169 0.000 2728 2205 2245 2294 2197 0 0 0 0 0 0 14.44 14.52 14.50

12678 1.11 146.0 2728 2205 2302 2196 181.0 7.1 1294 12679 0.00 0.00 0.00 0.000 70 0.000 0.000 2728 2204 2244 2294 2195 0 0 0 0 0 0 14.69 14.71 14.71

12858 1.22 146.0 2728 2205 2295 2194 169.0 6.4 1312 12869 0.17 5.00 0.00 0.000 2628 0.164 0.078 2807 519 2243 2292 2195 0 0 0 0 0 0 14.48 14.50 14.57

12884 1.22 146.0 2808 520 2291 2196 166.4 10.0 1317 12891 0.00 4.85 0.00 0.000 1030 0.000 0.054 2800 2202 2243 2292 2195 0 0 0 0 0 0 14.60 14.54 14.62

13070 1.30 146.0 2801 2203 2293 2196 152.2 7.3 1336 13080 0.00 4.95 0.00 0.000 580 0.000 0.076 2820 523 2242 2291 2194 0 0 0 0 0 0 14.73 14.52 14.76

13116 1.35 146.0 2821 524 2290 2195 148.6 8.1 1345 13122 0.00 4.82 0.00 0.000 1094 0.000 0.053 2816 2202 2242 2290 2195 0 0 0 0 0 0 14.55 14.49 14.57

13301 1.46 146.0 2817 2204 2293 2195 135.6 6.4 1364 13312 0.15 4.95 0.00 0.000 2628 0.181 0.074 2884 519 2241 2289 2194 0 0 0 0 0 0 14.44 14.52 14.52

13337 1.53 146.0 2884 520 2289 2195 132.9 7.7 1371 13345 0.00 4.85 0.00 0.000 1094 0.000 0.053 2878 2208 2245 2296 2194 0 0 0 0 0 0 14.59 14.52 14.60

13522 1.90 270.3 2879 2209 2290 2195 122.6 4.2 1390 13643 0.40 0.00 112.88 1.556 10790 0.149 0.000 3005 2208 1743 1781 1706 0 0 0 0 0 0 14.50 14.10 13.52

13822 1.90 270.3 3005 2209 1778 1697 81.2 13.1 1425 13823 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2208 1737 1777 1697 0 0 0 0 0 0 14.43 14.45 14.45

14002 2.42 443.5 3005 2209 1777 1694 68.1 1.9 1443 14169 0.55 5.22 152.00 1.431 10532 0.135 0.081 3168 3885 1037 1040 1034 0 0 0 0 0 0 14.28 13.83 13.39

14204 2.42 443.5 3167 3886 1039 1035 46.0 19.5 1475 14211 0.00 5.03 0.00 0.000 1030 0.000 0.048 3185 2212 1035 1037 1034 0 0 0 0 0 0 14.09 14.03 14.11

14396 2.89 599.3 3186 2212 1038 1030 29.4 2.8 1495 14526 0.43 5.28 117.30 1.368 10788 0.145 0.070 3341 506 493 463 524 0 0 0 0 0 0 14.12 13.85 13.38

14561 2.89 599.3 3341 508 460 525 2.8 30.1 1525 14567 0.00 4.75 0.00 0.000 1027 0.000 0.050 3322 2098 491 459 524 0 0 0 0 0 0 28.83 14.14 28.83

14568 end climb: SURFACE_DEPTH_REACHED

state 14568 begin surface coast

14570 end surface coast: CONTROL_FINISHED_OK

state 14570 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	22	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	567.43622	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	260	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	11400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	250	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2400	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-154.09409	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.6100001e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	121018,190709,7429.2046,-14632.1621,27,1.5,28,18.3,0.4,220.2,5,8.3	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.56	MHEAD_RNG_PITCHd_Wd	139.8,26575,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-74.7	D_GRID	150
GPS2	121018,191346,7429.2134,-14632.2578,3,1.6,6,18.3,0.1,0.0,5,7.9

MODEM_MSG	CACST,6,1,20181012200202.452323,18,1371,31,0192,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*04	ALTIM_TOP_PING	19.9,5.7
FINISH	-0.0,1.020826	_24V_AH	13.36,77.143
SM_CCo	14650,0.00,0.000,0,0,490,579.89	_10V_AH	13.09,0.000
SM_GC	1.23,10.20,0.93,0.00,0.125,0.067,0.000,200,2401,490,-6.83,-0.75,579.89,0,0,0,0,0,0,14.00,14.00,14.08	FG_AHR_24Vo	0.000
RAFOS_CLK	788	FG_AHR_10Vo	0.000
MODEM	0,1539374522,73.00043,-148.33627,122.452,176646.8	MEM	326348
RAFOS_FIX	7429.830566,-14631.479492,121018,202002,1,2,0.42	DATA_FILE_SIZE	49947,1527
IRIDIUM_FIX	7428.37,-14631.96,121018,145318	CAP_FILE_SIZE	160592,0
TT8_MAMPS	0.042693,0.948234	CFSIZE	2097872896,2092466176
HUMID	43.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.29052	SOUNDSPEED	1442.6
TCM_TEMP	14.50	CURRENT	0.129,307.62,1
XPDR_PINGS	8	GPS	121018,232009,7429.567,-14634.886,53,1.1,54,18.3,0.1,0.0,7,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	429	136.56	nil	0	0	0.00
Roll_motor	81	161	175.59	nil	0	0	0.00
VBD_pump_during_apogee	646	1720	14863.69	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	3187	33	1416.45
Iridium_during_xfer	240	185	595.58	nil	0	0	0.00
Transponder_ping	2	420	12.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	6	1.45
TT8	0	0	0.00
LPSleep	10865	2	328.55
TT8_Active	770	11	116.66
TT8_Sampling	3145	31	1277.87
TT8_CF8	270	36	128.66
TT8_Kalman	0	0	0.00
Analog_circuits	2155	10	307.52
GPS_charging	0	0	0.00
Compass	2170	6	191.51
RAFOS	2214	33	956.38
Transponder	2	30	0.99

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.82	-146.0	196	2411	467	520	0.0	0.0	0	92	0.00	0.00	-81.70	0.003	16386	0.000	0.000	196	2411	1989	2091	1887	0	0	0	0	0	0	14.45	28.83	14.47
95	-0.82	-146.0	197	2412	2091	1893	6.6	-12.0	8	140	9.65	5.10	-28.35	0.005	18948	0.430	0.079	2148	706	3453	3569	3338	0	0	0	0	0	0	14.04	13.62	14.31
180	-0.82	-146.0	2152	707	3569	3340	48.6	-46.7	24	191	0.00	5.03	0.00	0.000	1030	0.000	0.062	2129	2396	3454	3569	3339	0	0	0	0	0	0	14.33	14.24	14.34
370	-0.82	-146.0	2129	2397	3567	3340	102.4	-22.1	44	371	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2396	3453	3567	3339	0	0	0	0	0	0	14.54	14.57	14.56
550	-0.82	-146.0	2128	2396	3567	3340	137.9	-18.8	62	557	0.00	5.00	0.00	0.000	516	0.000	0.073	2134	710	3453	3566	3340	0	0	0	0	0	0	14.59	14.37	14.61
592	-0.82	-146.0	2134	710	3567	3340	146.2	-19.8	70	598	0.00	4.97	0.00	0.000	1030	0.000	0.057	2115	2406	3453	3566	3340	0	0	0	0	0	0	14.49	14.41	14.50
611	end dive: TARGET_DEPTH_EXCEEDED
state	611	begin apogee
617	-0.11	0.0	2116	2184	3566	3340	150.5	-20.4	73	745	0.98	0.08	122.25	1.602	10246	0.284	0.161	2359	2214	2850	2924	2776	0	0	0	0	0	0	14.27	13.94	13.36
746	end apogee: CONTROL_FINISHED_OK
state	746	begin loiter
923	-0.06	16.7	2359	2215	2920	2774	169.6	-4.3	104	945	0.00	0.00	15.02	1.538	8230	0.000	0.000	2359	2214	2779	2853	2706	0	0	0	0	0	0	14.41	14.16	13.51
1123	-0.01	32.7	2360	2215	2853	2707	177.8	-4.1	124	1145	0.15	0.00	15.25	1.568	10278	0.270	0.000	2393	2214	2715	2786	2645	0	0	0	0	0	0	14.18	14.10	13.57
1325	0.03	44.6	2392	2215	2786	2645	184.0	-3.1	144	1338	0.00	0.00	11.88	1.561	8230	0.000	0.000	2393	2214	2670	2737	2604	0	0	0	0	0	0	14.53	14.30	13.62
1514	0.05	53.9	2393	2215	2736	2603	188.9	-2.4	163	1525	0.00	0.00	9.60	1.536	8230	0.000	0.000	2393	2214	2632	2696	2568	0	0	0	0	0	0	14.57	14.34	13.65
1703	0.07	60.2	2392	2215	2694	2567	192.5	-1.6	182	1714	0.00	0.00	7.20	1.478	8230	0.000	0.000	2393	2215	2604	2666	2542	0	0	0	0	0	0	14.61	14.38	13.67
1894	0.09	65.1	2392	2215	2666	2542	194.9	-1.3	201	1905	0.12	0.00	6.03	1.435	10278	0.272	0.000	2422	2214	2585	2645	2525	0	0	0	0	0	0	14.33	14.28	13.68
2085	0.11	65.1	2422	2215	2646	2526	196.4	-0.9	220	2086	0.00	0.00	0.00	0.000	70	0.000	0.000	2421	2214	2585	2645	2526	0	0	0	0	0	0	14.66	14.68	14.68
2264	0.13	70.3	2422	2215	2647	2527	198.5	-1.3	238	2274	0.00	0.00	6.45	1.488	8230	0.000	0.000	2421	2214	2564	2623	2505	0	0	0	0	0	0	14.71	14.33	13.70
2453	0.13	70.3	2422	2215	2624	2506	199.2	0.1	257	2454	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2214	2564	2624	2505	0	0	0	0	0	0	14.73	14.75	14.75
2634	0.13	70.3	2421	2215	2623	2506	198.7	0.4	275	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2214	2564	2623	2506	0	0	0	0	0	0	14.76	14.78	14.77
2817	0.13	70.3	2421	2215	2623	2506	198.6	-0.2	293	2818	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2214	2564	2623	2505	0	0	0	0	0	0	14.71	14.73	14.73
2995	0.15	70.3	2423	2215	2625	2506	199.8	-0.8	311	2996	0.00	0.00	0.00	0.000	70	0.000	0.000	2422	2214	2565	2626	2505	0	0	0	0	0	0	14.72	14.74	14.73
3175	0.18	70.3	2422	2215	2624	2506	201.2	-0.7	329	3176	0.12	0.00	0.00	0.000	2118	0.253	0.000	2452	2214	2563	2622	2505	0	0	0	0	0	0	14.46	14.63	14.60
3355	0.18	70.3	2453	2215	2624	2506	201.8	-0.2	347	3356	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.73	14.76	14.76
3535	0.18	70.3	2453	2215	2624	2507	202.3	-0.3	365	3536	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.73	14.76	14.76
3715	0.20	70.3	2452	2215	2623	2506	203.4	-0.8	383	3716	0.00	0.00	0.00	0.000	70	0.000	0.000	2452	2214	2564	2623	2506	0	0	0	0	0	0	14.74	14.76	14.76
3895	0.22	70.3	2451	2214	2623	2506	204.7	-0.6	401	3896	0.00	0.00	0.00	0.000	70	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.75	14.76	14.77
4075	0.22	70.3	2453	2215	2624	2506	205.5	-0.4	419	4076	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.76	14.77	14.77
4255	0.22	70.3	2452	2215	2623	2506	206.0	-0.3	437	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.76	14.77	14.77
4435	0.24	70.3	2453	2215	2624	2506	207.1	-0.7	455	4436	0.00	0.00	0.00	0.000	70	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.76	14.78	14.78
4615	0.25	70.3	2451	2215	2623	2505	208.2	-0.5	473	4616	0.00	0.00	0.00	0.000	70	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.76	14.78	14.78
4795	0.25	70.3	2453	2215	2624	2506	208.9	-0.4	491	4796	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.76	14.78	14.78
4975	0.25	70.3	2453	2215	2625	2506	209.2	-0.1	509	4976	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.81	14.83	14.83
5155	0.25	70.3	2453	2215	2624	2506	209.3	-0.1	527	5156	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.83	14.85	14.85
5335	0.25	70.3	2452	2215	2622	2505	209.8	-0.3	545	5336	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.85	14.87	14.87
5515	0.25	70.3	2451	2215	2623	2505	210.4	-0.3	563	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.87	14.88	14.88
5695	0.25	70.3	2452	2215	2623	2505	210.8	-0.1	581	5696	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.88	14.90	14.90
5875	0.25	70.3	2453	2215	2625	2506	210.7	0.1	599	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2623	2505	0	0	0	0	0	0	14.89	14.90	14.90
6055	0.25	70.3	2453	2215	2624	2506	210.6	0.1	617	6056	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2564	2622	2506	0	0	0	0	0	0	14.90	14.92	14.92
6235	0.25	70.3	2453	2215	2624	2506	210.8	-0.2	635	6236	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2505	0	0	0	0	0	0	14.90	14.92	14.92
6415	0.25	70.3	2452	2215	2623	2505	211.3	-0.2	653	6416	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2505	0	0	0	0	0	0	14.92	14.94	14.93
6595	0.25	70.3	2452	2215	2622	2505	211.2	0.2	671	6596	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.92	14.95	14.94
6775	0.25	70.3	2453	2215	2624	2506	210.8	0.2	689	6776	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.92	14.95	14.95
6955	0.25	70.3	2452	2215	2623	2505	211.1	-0.4	707	6956	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.93	14.95	14.95
7135	0.25	70.3	2452	2215	2622	2505	211.7	-0.3	725	7136	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.94	14.96	14.95
7315	0.25	70.3	2452	2215	2622	2505	212.0	-0.1	743	7316	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2215	2563	2622	2504	0	0	0	0	0	0	14.95	14.97	14.96
7495	0.25	70.3	2453	2215	2624	2505	212.4	-0.3	761	7496	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.95	14.97	14.97
7675	0.25	70.3	2453	2215	2623	2505	212.8	-0.1	779	7676	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.95	14.97	14.97
7855	0.25	70.3	2453	2215	2623	2505	212.7	0.1	797	7856	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.96	14.98	14.97
8035	0.25	70.3	2453	2215	2624	2505	212.6	0.0	815	8036	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.96	14.98	14.98
8215	0.25	70.3	2452	2215	2622	2505	212.6	-0.0	833	8216	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.97	14.99	14.98
8395	0.25	70.3	2453	2215	2623	2505	212.8	-0.2	851	8396	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.97	14.99	14.99
8575	0.25	70.3	2453	2215	2623	2505	213.2	-0.2	869	8576	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2215	2563	2622	2504	0	0	0	0	0	0	14.97	14.99	14.99
8755	0.25	70.3	2453	2215	2623	2505	213.4	-0.0	887	8756	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.97	15.00	14.99
8935	0.25	70.3	2453	2215	2623	2505	213.7	-0.2	905	8936	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.97	15.00	15.00
9115	0.25	70.3	2453	2215	2623	2505	214.1	-0.2	923	9116	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2622	2503	0	0	0	0	0	0	14.98	15.00	15.00
9295	0.25	70.3	2453	2215	2623	2505	214.0	0.2	941	9296	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.98	15.00	15.00
9475	0.25	70.3	2452	2215	2624	2504	213.6	0.2	959	9476	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2563	2622	2504	0	0	0	0	0	0	14.99	15.00	15.00
9655	0.25	70.3	2452	2215	2622	2504	213.5	-0.1	977	9656	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2622	2503	0	0	0	0	0	0	14.99	15.00	15.00
9835	0.25	70.3	2452	2214	2621	2504	213.7	-0.1	995	9836	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2622	2503	0	0	0	0	0	0	14.99	15.01	15.00
10015	0.25	70.3	2453	2215	2623	2504	213.5	0.3	1013	10016	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2622	2503	0	0	0	0	0	0	14.99	15.01	15.00
10195	0.25	70.3	2453	2215	2623	2504	212.9	0.5	1031	10196	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2621	2503	0	0	0	0	0	0	14.99	15.01	15.01
10375	0.25	70.3	2452	2215	2622	2504	212.3	0.2	1049	10376	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.01	15.01
10555	0.25	70.3	2452	2215	2623	2505	212.5	-0.4	1067	10556	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.02	15.01
10735	0.27	70.3	2452	2215	2622	2504	213.5	-0.5	1085	10736	0.12	0.00	0.00	0.000	2118	0.246	0.000	2484	2214	2562	2622	2503	0	0	0	0	0	0	14.69	14.85	14.83
10915	0.27	70.3	2483	2215	2622	2504	214.2	-0.3	1103	10916	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2563	2623	2503	0	0	0	0	0	0	15.00	15.02	15.01
11095	0.27	70.3	2483	2214	2622	2504	214.7	-0.2	1121	11096	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2562	2621	2503	0	0	0	0	0	0	15.00	15.02	15.02
11275	0.27	70.3	2485	2215	2623	2504	214.8	0.1	1139	11276	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.02	15.02
11455	0.27	70.3	2484	2215	2623	2504	214.3	0.3	1157	11456	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.02	15.02
11635	0.27	70.3	2485	2215	2623	2504	213.8	0.2	1175	11636	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.02	15.02
11815	0.27	70.3	2483	2215	2622	2504	213.7	0.1	1193	11816	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.02	15.02
11995	0.27	70.3	2484	2216	2623	2503	213.6	0.1	1211	11996	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2562	2622	2503	0	0	0	0	0	0	15.00	15.02	15.02
12142	end loiter: LOITER_COMPLETE
state	12142	begin climb
12145	0.82	146.0	2484	2215	2623	2504	213.6	0.0	1226	12228	0.57	5.10	70.80	1.720	10756	0.160	0.082	2683	516	2250	2298	2203	0	0	0	0	0	0	14.71	14.40	13.77
12308	0.91	146.0	2682	517	2292	2202	206.1	6.9	1256	12319	0.00	4.90	0.00	0.000	1094	0.000	0.054	2683	2204	2246	2293	2200	0	0	0	0	0	0	14.52	14.45	14.54
12500	1.02	146.0	2683	2205	2295	2197	193.8	6.4	1276	12501	0.15	0.00	0.00	0.000	2118	0.169	0.000	2728	2205	2245	2294	2197	0	0	0	0	0	0	14.44	14.52	14.50
12678	1.11	146.0	2728	2205	2302	2196	181.0	7.1	1294	12679	0.00	0.00	0.00	0.000	70	0.000	0.000	2728	2204	2244	2294	2195	0	0	0	0	0	0	14.69	14.71	14.71
12858	1.22	146.0	2728	2205	2295	2194	169.0	6.4	1312	12869	0.17	5.00	0.00	0.000	2628	0.164	0.078	2807	519	2243	2292	2195	0	0	0	0	0	0	14.48	14.50	14.57
12884	1.22	146.0	2808	520	2291	2196	166.4	10.0	1317	12891	0.00	4.85	0.00	0.000	1030	0.000	0.054	2800	2202	2243	2292	2195	0	0	0	0	0	0	14.60	14.54	14.62
13070	1.30	146.0	2801	2203	2293	2196	152.2	7.3	1336	13080	0.00	4.95	0.00	0.000	580	0.000	0.076	2820	523	2242	2291	2194	0	0	0	0	0	0	14.73	14.52	14.76
13116	1.35	146.0	2821	524	2290	2195	148.6	8.1	1345	13122	0.00	4.82	0.00	0.000	1094	0.000	0.053	2816	2202	2242	2290	2195	0	0	0	0	0	0	14.55	14.49	14.57
13301	1.46	146.0	2817	2204	2293	2195	135.6	6.4	1364	13312	0.15	4.95	0.00	0.000	2628	0.181	0.074	2884	519	2241	2289	2194	0	0	0	0	0	0	14.44	14.52	14.52
13337	1.53	146.0	2884	520	2289	2195	132.9	7.7	1371	13345	0.00	4.85	0.00	0.000	1094	0.000	0.053	2878	2208	2245	2296	2194	0	0	0	0	0	0	14.59	14.52	14.60
13522	1.90	270.3	2879	2209	2290	2195	122.6	4.2	1390	13643	0.40	0.00	112.88	1.556	10790	0.149	0.000	3005	2208	1743	1781	1706	0	0	0	0	0	0	14.50	14.10	13.52
13822	1.90	270.3	3005	2209	1778	1697	81.2	13.1	1425	13823	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2208	1737	1777	1697	0	0	0	0	0	0	14.43	14.45	14.45
14002	2.42	443.5	3005	2209	1777	1694	68.1	1.9	1443	14169	0.55	5.22	152.00	1.431	10532	0.135	0.081	3168	3885	1037	1040	1034	0	0	0	0	0	0	14.28	13.83	13.39
14204	2.42	443.5	3167	3886	1039	1035	46.0	19.5	1475	14211	0.00	5.03	0.00	0.000	1030	0.000	0.048	3185	2212	1035	1037	1034	0	0	0	0	0	0	14.09	14.03	14.11
14396	2.89	599.3	3186	2212	1038	1030	29.4	2.8	1495	14526	0.43	5.28	117.30	1.368	10788	0.145	0.070	3341	506	493	463	524	0	0	0	0	0	0	14.12	13.85	13.38
14561	2.89	599.3	3341	508	460	525	2.8	30.1	1525	14567	0.00	4.75	0.00	0.000	1027	0.000	0.050	3322	2098	491	459	524	0	0	0	0	0	0	28.83	14.14	28.83
14568	end climb: SURFACE_DEPTH_REACHED
state	14568	begin surface coast
14570	end surface coast: CONTROL_FINISHED_OK
state	14570	begin surface