Glider dive log

ROAMMIZ Jan22 * SG675 * Dive index * Mission links * Dive 245 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 675 HD_B 0.011885 ROLL_MIN 206 ALTIM_TOP_PING_RANGE 30

MISSION 3 HD_C 5.7000002e-06 ROLL_MAX 3820 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 245 HEADING -1 ROLL_DEG 30 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_DIVE 2140 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2050 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT -54 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 950 TGT_DEFAULT_LON 0 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1030 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 575.71912 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 92

T_BOOST 0 FILEMGR 0 VBD_MIN 623 INT_PRESSURE_SLOPE 1.96e-06

D_FINISH 0 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 2.5599999

D_PITCH 0 COMM_SEQ 0 C_VBD 2970 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_CALL 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 10

SURFACE_URGENCY 0 NOCOMM_ACTION 259 VBD_LP_IGNORE 0 DEVICE2 70

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 55

T_DIVE 390 CALL_TRIES 5 UNCOM_BLEED 60 DEVICE5 -1

T_MISSION 580 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

T_ABORT 700 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERS 0

T_TURN 500 CAPMAXSIZE 400000 DBDW 0 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 LOITER_W_DBAND 0.5 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 100840 LOITER_DBDW 200 LOGGERDEVICE3 -1

T_LOITER 7200 T_RSLEEP 3 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 LOITER_D_BOTTOM 0 COMPASS_DEVICE 18

USE_BATHY 0 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 1 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 0 SHORTING_PLUG 1 PHONE_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 0 AH0_24V 310 GPS_DEVICE 16

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_10V 0 RAFOS_DEVICE -1

RELAUNCH 0 PITCH_MIN 162 MINV_24V 11.5 XPDR_DEVICE 5

APOGEE_PITCH -5 PITCH_MAX 3892 MINV_10V 10 SIM_W 0

MAX_BUOY 90 C_PITCH 2600 MAXI_24V 5 SEABIRD_T_G 0.0044220379

GLIDE_SLOPE 30 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064413931

SPEED_FACTOR 1 PITCH_CNV 0.0031260001 FG_AHR_10V 13.76762 SEABIRD_T_I 2.6853917e-05

RHO 1.0275 PITCH_GAIN 33 FG_AHR_24V 33.694107 SEABIRD_T_J 3.402645e-06

MASS 53587 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -10.01496

MASS_COMP 0 PITCH_MAXERRORS 1 PRESSURE_YINT -158.96762 SEABIRD_C_H 1.1201342

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108611 SEABIRD_C_I -0.0031396081

FERRY_MAX 40 PITCH_ADJ_DBAND 0 COMPASS_USE 0 SEABIRD_C_J 0.00029222821

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_Z 0

HD_A 0.0025118899 PITCH_W_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 259 SEABIRD_T_G 0.0044220379

AH0_24V 310 D_SAFE 0 N_DIVES 0 SEABIRD_T_H 0.00064413931

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 N_FILEKB 8 SEABIRD_T_I 2.6853917e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 950 N_GPS 100840 SEABIRD_T_J 3.402645e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_NOCOMM 2 SHORTING_PLUG 1

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 40 PHONE_DEVICE 33 SM_CC 575.71912

ALTIM_PING_FIT 0 FG_AHR_10V 13.76762 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_24V 33.694107 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0031260001 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 30 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 16 PITCH_GAIN 33 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.0025118899 PITCH_MAX 3892 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.011885 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -54

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_MIN 162 TGT_DEFAULT_LON 0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 700

CAPMAXSIZE 400000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 390

COMM_SEQ 0 ID 675 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.96e-06 PRESSURE_SLOPE 0.000108611 T_GPS 15

COMPASS_DEVICE 18 INT_PRESSURE_YINT 2.5599999 PRESSURE_YINT -158.96762 T_LOITER 7200

COMPASS_USE 0 KALMAN_USE 2 PROTOCOL 9 T_MISSION 580

C_PITCH 2600 LOGGERDEVICE1 -1 RAFOS_CORR_THRESH 0 T_NO_W 120

C_ROLL_CLIMB 2050 LOGGERDEVICE2 -1 RAFOS_DEVICE -1 T_RSLEEP 3

C_ROLL_DIVE 2140 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 0 T_TURN 500

C_VBD 2970 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT 5

DBDW 0 LOGGERS 0 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 60

DEEPGLIDER 0 LOITER_DBDW 200 RELAUNCH 0 UPLOAD_DIVES_MAX -1

DEVICE1 10 LOITER_D_BOTTOM 0 RHO 1.0275 USE_BATHY 0

DEVICE2 70 LOITER_D_TOP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE3 35 LOITER_N_DIVE 1 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE4 55 LOITER_W_DBAND 0.5 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MASS 53587 ROLL_DEG 30 VBD_LP_IGNORE 0

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3820 VBD_MAX 3960

DIVE 245 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 1030 MAXI_24V 5 ROLL_MIN 206 VBD_MIN 623

D_BOOST 15 MAX_BUOY 90 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_CALL 0 MINV_10V 10 SEABIRD_C_G -10.01496 W_ADJ_DBAND 0

D_FINISH 0 MINV_24V 11.5 SEABIRD_C_H 1.1201342 XPDR_DEVICE 5

D_FLARE 3 MISSION 3 SEABIRD_C_I -0.0031396081 XPDR_INHIBIT 92

D_NO_BLEED 200 MOTHERBOARD 6 SEABIRD_C_J 0.00029222821 XPDR_VALID 4

D_OFFGRID 100 NAV_MODE 2 SEABIRD_C_Z 0

Pre-dive calculations and measurements:

GPS1 290322,171825,-5345.438,143.293,40,0.8,64,-21.4 TGT_LATLONG -5400.000,0.000

_CALLS 3 TGT_RADIUS 3000.000

_SM_DEPTHo 0.87 KALMAN_CONTROL -0.064,-0.195

_SM_ANGLEo -59.2 KALMAN_X 6098.8,118.7,-323.8,-5622.1,1406.5

GPS2 290322,173446,-5345.235,142.996,15,0.9,23,-21.4 KALMAN_Y 7297.4,35.4,157.5,-35327.9,228.7

SPEED_LIMITS 0.141,0.178 MHEAD_RNG_PITCHd_Wd 273.0,115405,-19.5,-8.120,-24.57

TGT_NAME CB D_GRID 950

Post-dive calculations and measurements:

FINISH 1.2,1.026968 _10V_AH 14.96,0.000

SM_CCo 23189.90,289.38,0.134,0,622.6,713.0,532.1,575.83 FG_AHR_24Vo 33.833

SM_GC 1.00,289.38,13.19,0.10,0.134,0.139,0.103,622.6,713.0,532.1,144.6,2185.3,0,0,0,15.62,15.57,15.81 FG_AHR_10Vo 13.818

SUPER 59,70,254,1,0,0 MEM 1169124,35,14196,66

IRIDIUM_FIX -5347.46,145.69,290322,172725 DATA_FILE_SIZE 112973,1431

TCM_TEMP 8.60 CAP_FILE_SIZE 344179,0

XPDR_PINGS 11 SDSIZE 3931136,3867104

ALTIM_TOP_PING 29.6,19.5 SDFILEDIR 783,2

HUMID 57.47 ERRORS 0,0,0,0,0,0,2,1,0,0,0,0,0,0,0,0,0,0

TEMP 1.70 CURRENT 0.074,288.5,1

INTERNAL_PRESSURE 8.49579 GPS 300322,000255,-5345.506,139.087,67,0.8,73,-21.4

_24V_AH 14.91,74.549

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 870 1534 19906.18 SBE_CT 2355 24 864.61

Pitch_motor 29 372 164.61 AA4831 1040 100 1552.08

Roll_motor 121 163 296.61 WL_BB2FL 1814 43 1179.23

Iridium 754 231 2608.76 QSP2150 717 6 70.69

Transponder_ping 3 420 18.79 nil 0 0 0.00

GPS 32 12 6.14 nil 0 0 0.00

Core 5090 8 635.89 nil 0 0 0.00

LPSleep 19031 2 623.51 nil 0 0 0.00

Compass 3175 15 748.17 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 1 30 0.45

Altimeter Analysis:

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

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

Guidance and control:

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

2.34 2 -87.59 -0.70 0.00 621.3 703.5 539.2 138.4 2115.5 0.00 0.00 0 151.90 147.03 0.00 0.00 0.005 0.000 0.000 3190.34 3214.81 3165.88 138.19 2115.50 0 0 0 15.22 30.00 30.00

152.16 551 -87.59 -0.70 -30.00 3189.5 3214.4 3164.7 138.3 2115.1 3.40 -2.25 29 178.41 4.39 13.90 1.75 0.010 0.372 0.070 3324.94 3353.00 3296.88 2375.38 1048.31 0 0 0 15.30 15.12 15.23

266.08 1028 -87.59 -0.70 0.00 3326.8 3356.2 3297.3 2375.2 1045.2 17.66 -8.42 52 271.26 0.00 0.00 1.86 0.000 0.000 0.069 3327.66 3357.44 3297.88 2375.12 2165.06 0 0 0 30.00 30.00 15.59

451.14 516 -87.59 -0.70 -30.00 3326.6 3356.1 3297.2 2375.3 2166.8 35.24 -9.99 89 456.32 0.00 0.00 1.85 0.000 0.000 0.064 3329.06 3359.06 3299.06 2375.19 1049.62 0 0 0 30.00 30.00 15.62

546.15 1028 -87.59 -0.70 0.00 3326.9 3356.3 3297.5 2375.2 1046.7 51.11 -19.10 108 551.33 0.00 0.00 1.83 0.000 0.000 0.062 3327.59 3357.31 3297.88 2375.25 2164.31 0 0 0 30.00 30.00 15.64

731.21 516 -87.59 -0.70 -30.00 3326.6 3356.1 3297.1 2375.2 2167.9 88.75 -18.01 145 735.40 0.00 0.00 1.85 0.000 0.000 0.073 3327.38 3356.44 3298.31 2374.31 1053.81 0 0 0 30.00 30.00 15.66

891.30 1028 -87.59 -0.70 0.00 3326.5 3355.6 3297.4 2375.9 1053.4 113.44 -15.41 177 895.50 0.00 0.00 1.82 0.000 0.000 0.064 3327.00 3356.69 3297.31 2375.38 2164.69 0 0 0 30.00 30.00 15.70

1076.13 516 -87.59 -0.70 -30.00 3326.7 3356.1 3297.3 2375.1 2164.0 145.09 -17.26 193 1080.30 0.00 0.00 1.83 0.000 0.000 0.067 3327.88 3357.19 3298.56 2374.88 1053.25 0 0 0 30.00 30.00 15.74

1135.27 1028 -87.59 -0.70 0.00 3326.7 3356.1 3297.4 2374.9 1053.6 155.60 -17.27 196 1138.04 0.00 0.00 1.81 0.000 0.000 0.063 3325.50 3354.94 3296.06 2375.38 2165.50 0 0 0 30.00 30.00 15.76

1450.30 260 -87.59 -0.70 30.00 3326.8 3356.3 3297.2 2374.8 2165.8 209.65 -16.55 212 1453.06 0.00 0.00 1.75 0.000 0.000 0.080 3326.88 3356.25 3297.50 2374.69 3223.00 0 0 0 30.00 30.00 15.78

1520.29 1028 -87.59 -0.70 0.00 3326.5 3355.8 3297.2 2375.1 3223.4 220.19 -15.56 215 1523.04 0.00 0.00 1.78 0.000 0.000 0.047 3328.09 3357.81 3298.38 2375.06 2104.06 0 0 0 30.00 30.00 15.81

1820.35 516 -87.59 -0.70 -30.00 3326.7 3356.3 3297.1 2374.9 2101.3 264.91 -14.90 230 1823.08 0.00 0.00 1.70 0.000 0.000 0.068 3326.06 3355.88 3296.25 2375.38 1050.88 0 0 0 30.00 30.00 15.83

1905.34 1028 -87.59 -0.70 0.00 3326.6 3356.3 3296.9 2374.6 1049.6 276.80 -14.09 234 1908.10 0.00 0.00 1.80 0.000 0.000 0.062 3327.59 3356.88 3298.31 2373.88 2166.06 0 0 0 30.00 30.00 15.84

2210.39 260 -87.59 -0.70 30.00 3326.9 3356.6 3297.1 2375.1 2165.8 319.35 -14.20 250 2213.14 0.00 0.00 1.75 0.000 0.000 0.080 3326.41 3356.62 3296.19 2374.44 3224.38 0 0 0 30.00 30.00 15.85

2270.37 1028 -87.59 -0.70 0.00 3326.6 3356.2 3297.0 2374.9 3224.6 327.13 -13.40 253 2273.12 0.00 0.00 1.79 0.000 0.000 0.047 3326.53 3356.00 3297.06 2374.69 2104.00 0 0 0 30.00 30.00 15.87

2581.29 516 -87.59 -0.70 -30.00 3326.3 3356.2 3296.4 2374.7 2102.1 367.70 -13.39 269 2585.42 0.00 0.00 1.68 0.000 0.000 0.067 3328.06 3358.38 3297.75 2374.94 1053.12 0 0 0 30.00 30.00 15.87

2645.41 1028 -87.59 -0.70 0.00 3326.2 3356.1 3296.3 2374.9 1053.0 376.31 -13.32 272 2648.16 0.00 0.00 1.79 0.000 0.000 0.061 3328.00 3358.44 3297.56 2372.62 2165.25 0 0 0 30.00 30.00 15.89

2955.47 516 -87.59 -0.70 -30.00 3326.2 3356.1 3296.2 2375.2 2165.7 416.98 -13.36 288 2958.24 0.00 0.00 1.82 0.000 0.000 0.066 3326.19 3356.00 3296.38 2374.88 1052.06 0 0 0 30.00 30.00 15.89

2995.44 1028 -87.59 -0.70 0.00 3326.2 3356.1 3296.2 2374.9 1050.7 422.35 -13.40 290 2998.20 0.00 0.00 1.79 0.000 0.000 0.060 3325.12 3355.12 3295.12 2375.06 2165.62 0 0 0 30.00 30.00 15.90

3305.50 260 -87.59 -0.70 30.00 3326.3 3356.4 3296.3 2375.0 2165.4 461.95 -12.70 306 3308.24 0.00 0.00 1.74 0.000 0.000 0.079 3326.41 3356.38 3296.44 2373.62 3223.44 0 0 0 30.00 30.00 15.88

3340.49 1028 -87.59 -0.70 0.00 3325.9 3356.0 3295.9 2374.9 3223.8 466.36 -12.71 308 3343.24 0.00 0.00 1.78 0.000 0.000 0.047 3327.62 3357.81 3297.44 2372.56 2101.44 0 0 0 30.00 30.00 15.91

3655.54 516 -87.59 -0.70 -30.00 3326.1 3356.2 3296.1 2375.9 2099.2 506.58 -12.57 324 3658.27 0.00 0.00 1.69 0.000 0.000 0.069 3327.06 3356.19 3297.94 2374.50 1052.12 0 0 0 30.00 30.00 15.91

3755.55 1028 -87.59 -0.70 0.00 3326.2 3356.1 3296.3 2374.9 1051.0 518.87 -12.32 329 3758.30 0.00 0.00 1.79 0.000 0.000 0.061 3326.66 3355.81 3297.50 2373.19 2166.81 0 0 0 30.00 30.00 15.91

4066.48 0 -87.59 -0.70 0.00 3326.5 3356.6 3296.5 2374.8 2167.0 555.69 -11.79 345 4067.82 0.00 0.00 0.00 0.000 0.000 0.000 3326.31 3356.69 3295.94 2372.62 2166.56 0 0 0 30.00 30.00 30.00

4365.70 260 -87.59 -0.70 30.00 3326.2 3356.3 3296.0 2374.7 2166.8 590.40 -11.59 360 4368.45 0.00 0.00 1.75 0.000 0.000 0.079 3325.66 3354.94 3296.38 2375.06 3223.50 0 0 0 30.00 30.00 15.91

4410.64 1028 -87.59 -0.70 0.00 3326.2 3356.2 3296.1 2374.9 3223.8 595.54 -11.53 362 4413.39 0.00 0.00 1.77 0.000 0.000 0.047 3324.62 3354.69 3294.56 2375.06 2101.81 0 0 0 30.00 30.00 15.93

4715.72 0 -87.59 -0.70 0.00 3326.1 3356.4 3295.8 2375.6 2100.5 632.07 -12.07 378 4717.06 0.00 0.00 0.00 0.000 0.000 0.000 3327.00 3356.81 3297.19 2373.12 2099.75 0 0 0 30.00 30.00 30.00

5016.66 0 -87.59 -0.70 0.00 3325.8 3356.1 3295.6 2375.1 2100.1 668.34 -12.35 393 5018.00 0.00 0.00 0.00 0.000 0.000 0.000 3327.19 3357.31 3297.06 2372.56 2100.19 0 0 0 30.00 30.00 30.00

5315.79 0 -87.59 -0.70 0.00 3326.2 3356.2 3296.3 2374.7 2099.6 707.55 -13.39 408 5317.13 0.00 0.00 0.00 0.000 0.000 0.000 3327.16 3356.75 3297.56 2372.44 2099.75 0 0 0 30.00 30.00 30.00

5616.70 0 -87.59 -0.70 0.00 3326.1 3356.1 3296.1 2375.0 2100.3 747.83 -13.15 423 5618.04 0.00 0.00 0.00 0.000 0.000 0.000 3327.44 3357.44 3297.44 2373.00 2099.88 0 0 0 30.00 30.00 30.00

5915.88 260 -87.59 -0.70 30.00 3326.2 3356.4 3296.0 2375.3 2100.0 787.15 -13.12 438 5918.64 0.00 0.00 1.86 0.000 0.000 0.079 3326.12 3356.00 3296.25 2373.94 3221.81 0 0 0 30.00 30.00 15.93

5935.93 1028 -87.59 -0.70 0.00 3326.2 3356.2 3296.3 2375.2 3222.4 789.76 -13.10 439 5938.68 0.00 0.00 1.78 0.000 0.000 0.047 3326.69 3356.44 3296.94 2374.69 2100.81 0 0 0 30.00 30.00 15.94

6246.77 516 -87.59 -0.70 -30.00 3326.2 3356.5 3295.9 2375.1 2098.8 828.81 -12.38 455 6250.90 0.00 0.00 1.68 0.000 0.000 0.068 3327.84 3357.81 3297.88 2375.12 1049.62 0 0 0 30.00 30.00 15.94

6315.90 1028 -87.59 -0.70 0.00 3326.3 3356.4 3296.3 2374.9 1049.5 837.47 -12.40 458 6318.65 0.00 0.00 1.79 0.000 0.000 0.058 3326.81 3356.81 3296.81 2372.88 2167.25 0 0 0 30.00 30.00 15.94

6620.97 0 -87.59 -0.70 0.00 3326.4 3356.8 3295.9 2375.6 2168.4 873.22 -11.73 474 6622.31 0.00 0.00 0.00 0.000 0.000 0.000 3327.16 3357.00 3297.31 2372.69 2167.31 0 0 0 30.00 30.00 30.00

6921.87 260 -87.59 -0.70 30.00 3326.3 3356.2 3296.4 2375.1 2168.2 907.33 -11.28 489 6926.02 0.00 0.00 1.73 0.000 0.000 0.080 3326.53 3356.56 3296.50 2375.44 3224.50 0 0 0 30.00 30.00 15.93

6946.04 1028 -87.59 -0.70 0.00 3326.4 3356.6 3296.2 2375.4 3224.6 910.11 -11.26 490 6948.79 0.00 0.00 1.78 0.000 0.000 0.047 3325.09 3355.12 3295.06 2375.31 2099.19 0 0 0 30.00 30.00 15.95

7256.05 516 -87.59 -0.70 -30.00 3326.3 3356.4 3296.2 2375.2 2097.1 943.97 -10.95 506 7258.78 0.00 0.00 1.67 0.000 0.000 0.068 3325.06 3355.50 3294.62 2375.38 1052.19 0 0 0 30.00 30.00 15.94

7286.09 1028 -87.59 -0.70 0.00 3326.3 3356.7 3295.9 2375.0 1051.2 947.42 -11.06 507 7288.84 0.00 0.00 1.78 0.000 0.000 0.058 3328.00 3358.38 3297.62 2372.62 2169.50 0 0 0 30.00 30.00 15.95

7326 end dive: TARGET_DEPTH_EXCEEDED

state 7326 begin apogee

7328.19 3 0.00 -0.15 0.00 3326.6 3356.9 3296.3 2375.3 1989.6 951.77 -11.00 509 7451.79 120.29 0.98 0.13 1.534 0.302 0.163 2967.97 3038.62 2897.31 2549.75 2104.94 0 0 0 12.00 15.57 15.11

7451 end apogee: CONTROL_FINISHED_OK

state 7452 begin loiter

7746.09 2 0.00 -0.15 0.00 2957.7 3029.5 2885.9 2550.0 2104.6 957.69 -0.48 530 7747.43 0.00 0.00 0.00 0.000 0.000 0.000 2958.19 3029.50 2886.88 2547.69 2104.06 0 0 0 30.00 30.00 30.00

8046.99 2 0.00 -0.15 0.00 2957.1 3028.9 2885.3 2549.8 2104.5 958.90 -0.44 545 8048.34 0.00 0.00 0.00 0.000 0.000 0.000 2957.44 3029.31 2885.56 2547.88 2104.12 0 0 0 30.00 30.00 30.00

8346.19 34 1.03 -0.15 0.00 2956.7 3028.2 2885.2 2550.0 2104.4 960.81 -0.53 560 8347.53 0.00 0.00 0.00 0.000 0.000 0.000 2957.16 3028.19 2886.12 2547.12 2104.56 0 0 0 30.00 30.00 30.00

8647.06 32 2.53 -0.15 0.00 2956.5 3027.9 2885.1 2550.1 2104.6 963.24 -0.77 575 8648.41 0.00 0.00 0.00 0.000 0.000 0.000 2956.75 3028.19 2885.31 2547.25 2103.88 0 0 0 30.00 30.00 30.00

8946.25 32 4.24 -0.15 0.00 2956.3 3027.8 2884.9 2549.6 2105.0 965.87 -0.88 590 8947.59 0.00 0.00 0.00 0.000 0.000 0.000 2956.19 3027.00 2885.38 2548.00 2104.00 0 0 0 30.00 30.00 30.00

9247.12 34 6.04 -0.14 0.00 2956.4 3028.1 2884.7 2550.2 2104.8 968.66 -0.93 605 9249.59 1.88 0.00 0.00 0.142 0.000 0.000 2944.84 3016.38 2873.31 2549.94 2105.19 0 0 0 15.61 30.00 30.00

9546.28 34 7.70 -0.14 0.00 2950.5 3021.3 2879.7 2550.1 2105.0 971.09 -0.85 620 9555.88 8.33 0.00 0.00 1.415 0.000 0.000 2934.91 3007.56 2862.25 2550.44 2104.62 0 0 0 12.07 30.00 30.00

9847.21 0 7.70 -0.14 0.00 2931.9 3005.8 2858.1 2550.2 2104.6 968.87 -0.01 635 9848.55 0.00 0.00 0.00 0.000 0.000 0.000 2932.19 3005.31 2859.06 2547.88 2104.12 0 0 0 30.00 30.00 30.00

10146.31 0 7.70 -0.14 0.00 2932.0 3005.9 2858.1 2550.1 2104.6 965.57 1.10 650 10147.65 0.00 0.00 0.00 0.000 0.000 0.000 2932.09 3005.12 2859.06 2547.69 2104.69 0 0 0 30.00 30.00 30.00

10447.20 0 7.70 -0.14 0.00 2931.9 3005.8 2858.1 2549.9 2105.4 962.14 1.14 665 10448.55 0.00 0.00 0.00 0.000 0.000 0.000 2931.72 3005.75 2857.69 2547.88 2103.94 0 0 0 30.00 30.00 30.00

10746.35 0 7.70 -0.14 0.00 2931.8 3005.9 2857.8 2550.1 2104.8 958.55 1.19 680 10747.69 0.00 0.00 0.00 0.000 0.000 0.000 2932.50 3006.38 2858.62 2547.69 2104.19 0 0 0 30.00 30.00 30.00

11047.25 0 7.70 -0.14 0.00 2931.8 3005.6 2857.9 2549.7 2104.7 955.16 1.13 695 11048.59 0.00 0.00 0.00 0.000 0.000 0.000 2931.72 3006.00 2857.44 2547.62 2104.31 0 0 0 30.00 30.00 30.00

11346.40 0 7.70 -0.14 0.00 2931.5 3005.5 2857.4 2549.8 2104.6 951.66 1.15 710 11347.74 0.00 0.00 0.00 0.000 0.000 0.000 2931.94 3004.88 2859.00 2548.38 2104.25 0 0 0 30.00 30.00 30.00

11647.30 0 7.70 -0.14 0.00 2931.5 3005.8 2857.3 2549.9 2104.6 948.38 1.10 725 11648.64 0.00 0.00 0.00 0.000 0.000 0.000 2931.56 3004.56 2858.56 2548.00 2104.75 0 0 0 30.00 30.00 30.00

11946.44 0 7.70 -0.14 0.00 2931.8 3005.9 2857.7 2550.2 2105.2 945.05 1.11 740 11947.78 0.00 0.00 0.00 0.000 0.000 0.000 2932.44 3006.56 2858.31 2546.94 2104.56 0 0 0 30.00 30.00 30.00

12247.34 0 7.70 -0.14 0.00 2931.5 3005.5 2857.4 2550.4 2104.2 941.98 1.04 755 12248.68 0.00 0.00 0.00 0.000 0.000 0.000 2931.53 3004.88 2858.19 2548.12 2104.75 0 0 0 30.00 30.00 30.00

12546.51 0 7.70 -0.14 0.00 2931.2 3005.3 2857.1 2549.6 2104.6 939.46 0.87 770 12547.85 0.00 0.00 0.00 0.000 0.000 0.000 2931.91 3005.88 2857.94 2547.00 2104.31 0 0 0 30.00 30.00 30.00

12847.38 0 7.70 -0.14 0.00 2931.4 3005.2 2857.6 2549.6 2104.9 936.93 0.82 785 12848.72 0.00 0.00 0.00 0.000 0.000 0.000 2931.62 3005.12 2858.12 2547.56 2104.38 0 0 0 30.00 30.00 30.00

13146.54 0 7.70 -0.14 0.00 2931.0 3004.8 2857.1 2549.9 2104.8 934.15 0.92 800 13147.88 0.00 0.00 0.00 0.000 0.000 0.000 2931.94 3005.56 2858.31 2547.69 2104.38 0 0 0 30.00 30.00 30.00

13447.45 0 7.70 -0.14 0.00 2931.2 3005.0 2857.4 2550.3 2104.8 930.86 1.09 815 13448.79 0.00 0.00 0.00 0.000 0.000 0.000 2930.75 3003.69 2857.81 2548.62 2103.75 0 0 0 30.00 30.00 30.00

13746.76 0 7.70 -0.14 0.00 2931.0 3004.8 2857.2 2549.5 2104.6 927.24 1.23 830 13748.10 0.00 0.00 0.00 0.000 0.000 0.000 2930.72 3004.50 2856.94 2547.94 2104.06 0 0 0 30.00 30.00 30.00

14047.52 0 7.70 -0.14 0.00 2931.0 3004.6 2857.5 2549.8 2104.7 923.21 1.35 845 14048.86 0.00 0.00 0.00 0.000 0.000 0.000 2930.88 3003.75 2858.00 2547.69 2104.50 0 0 0 30.00 30.00 30.00

14346.72 0 7.70 -0.14 0.00 2930.8 3004.4 2857.3 2550.4 2104.8 918.45 1.61 860 14348.06 0.00 0.00 0.00 0.000 0.000 0.000 2931.69 3004.31 2859.06 2548.38 2104.12 0 0 0 30.00 30.00 30.00

14647 end loiter: LOITER_COMPLETE

state 14647 begin climb

14647.72 263 87.59 0.70 30.00 2931.0 3004.5 2857.6 2550.0 2104.4 912.86 0.00 875 14770.81 117.20 1.43 1.78 1.483 0.233 0.077 2609.19 2717.19 2501.19 2821.56 3133.06 0 0 0 12.05 15.66 14.67

14852.46 1030 87.59 0.70 0.00 2594.7 2700.4 2489.0 2822.8 3134.6 898.90 8.70 885 14855.23 0.00 0.00 1.86 0.000 0.000 0.054 2593.16 2698.62 2487.69 2822.56 2015.00 0 0 0 30.00 30.00 15.42

15163.39 2 87.59 0.70 0.00 2591.8 2699.1 2484.5 2823.3 2014.4 868.26 9.96 901 15164.74 0.00 0.00 0.00 0.000 0.000 0.000 2592.22 2699.31 2485.12 2820.44 2014.25 0 0 0 30.00 30.00 30.00

15462.57 262 87.59 0.70 30.00 2590.8 2697.8 2483.8 2823.3 2014.8 840.15 8.84 916 15465.33 0.00 0.00 1.86 0.000 0.000 0.069 2592.66 2698.88 2486.44 2822.62 3136.38 0 0 0 30.00 30.00 15.72

15547.56 1030 87.59 0.70 0.00 2588.8 2694.6 2483.1 2823.2 3135.7 832.65 8.82 920 15550.34 0.00 0.00 1.83 0.000 0.000 0.055 2587.59 2693.44 2481.75 2823.31 2015.00 0 0 0 30.00 30.00 15.74

15852.63 518 87.59 0.70 -30.00 2589.5 2695.4 2483.6 2823.1 2014.8 806.89 8.65 936 15855.38 0.00 0.00 1.75 0.000 0.000 0.081 2588.84 2694.81 2482.88 2823.25 966.44 0 0 0 30.00 30.00 15.77

15942.66 1062 88.29 0.70 0.00 2589.8 2696.1 2483.6 2823.1 965.5 799.73 8.08 940 15945.41 0.00 0.00 1.77 0.000 0.000 0.051 2592.38 2697.38 2487.38 2823.06 2084.19 0 0 0 30.00 30.00 15.79

16243.59 32 93.42 0.71 0.00 2588.9 2695.5 2482.2 2823.4 2085.7 776.27 7.80 955 16244.93 0.00 0.00 0.00 0.000 0.000 0.000 2589.28 2696.75 2481.81 2821.38 2084.50 0 0 0 30.00 30.00 30.00

16542.77 294 110.59 0.73 30.00 2588.5 2695.1 2481.9 2823.2 2085.5 754.98 7.05 970 16575.73 29.81 0.00 1.74 1.412 0.000 0.076 2515.78 2624.19 2407.38 2823.12 3134.38 0 0 0 12.15 30.00 15.58

16652.78 1060 115.75 0.73 0.00 2503.1 2610.8 2395.5 2823.6 3134.4 746.39 7.80 975 16655.54 0.00 0.00 1.84 0.000 0.000 0.056 2503.22 2611.19 2395.25 2823.50 2015.00 0 0 0 30.00 30.00 15.70

16952.83 34 118.61 0.74 0.00 2501.3 2609.0 2393.6 2823.4 2014.0 722.69 7.94 990 16962.43 8.27 0.00 0.00 1.271 0.000 0.000 2482.44 2588.94 2375.94 2823.31 2013.81 0 0 0 12.26 30.00 30.00

17253.80 262 118.61 0.74 30.00 2477.9 2582.2 2373.6 2823.0 2014.1 697.91 8.25 1005 17257.97 0.00 0.00 1.86 0.000 0.000 0.070 2479.34 2583.94 2374.75 2822.88 3134.50 0 0 0 30.00 30.00 15.77

17297.84 1030 118.61 0.74 0.00 2476.8 2580.1 2373.6 2823.3 3135.4 693.89 8.55 1007 17300.61 0.00 0.00 1.82 0.000 0.000 0.055 2475.16 2578.06 2372.25 2823.12 2014.81 0 0 0 30.00 30.00 15.79

17608.79 518 118.61 0.74 -30.00 2476.8 2579.8 2373.8 2823.2 2014.4 668.27 8.49 1023 17612.95 0.00 0.00 1.74 0.000 0.000 0.080 2477.03 2580.31 2373.75 2823.25 968.12 0 0 0 30.00 30.00 15.80

17637.99 1030 118.61 0.74 0.00 2477.2 2580.8 2373.7 2823.6 968.3 665.70 8.50 1024 17640.74 0.00 0.00 1.76 0.000 0.000 0.050 2476.66 2579.31 2374.00 2823.44 2084.12 0 0 0 30.00 30.00 15.83

17942.97 262 118.61 0.74 30.00 2476.4 2579.4 2373.4 2823.3 2086.1 639.17 8.66 1040 17945.72 0.00 0.00 1.73 0.000 0.000 0.072 2477.62 2580.62 2374.62 2823.06 3138.75 0 0 0 30.00 30.00 15.84

18022.97 1030 118.61 0.74 0.00 2475.4 2577.2 2373.5 2823.1 3138.4 632.02 8.88 1044 18025.74 0.00 0.00 1.82 0.000 0.000 0.055 2474.88 2576.56 2373.19 2823.00 2015.06 0 0 0 30.00 30.00 15.87

18333.04 518 118.61 0.74 -30.00 2475.5 2577.4 2373.6 2823.8 2014.6 604.15 9.05 1060 18335.79 0.00 0.00 1.74 0.000 0.000 0.080 2475.72 2577.62 2373.81 2821.94 966.62 0 0 0 30.00 30.00 15.86

18358.08 1030 118.61 0.74 0.00 2475.4 2577.1 2373.8 2823.4 966.8 602.14 8.99 1061 18360.84 0.00 0.00 1.76 0.000 0.000 0.047 2475.50 2576.50 2374.50 2821.38 2080.94 0 0 0 30.00 30.00 15.88

18663.98 35 183.09 0.82 0.00 2475.4 2577.5 2373.4 2823.3 2084.7 588.85 4.10 1077 18745.73 79.69 0.17 0.00 1.372 0.155 0.000 2220.28 2320.94 2119.62 2864.25 2084.56 0 0 0 12.14 15.76 30.00

19043.14 294 206.62 0.85 30.00 2212.6 2312.9 2112.2 2864.1 2085.1 565.81 6.65 1096 19083.71 35.31 0.00 1.77 1.259 0.000 0.072 2125.19 2221.31 2029.06 2862.81 3134.50 0 0 0 12.24 30.00 15.37

19133.13 1062 227.91 0.87 0.00 2111.6 2200.1 2023.2 2863.9 3135.0 559.57 6.79 1100 19165.15 28.69 0.00 1.87 1.247 0.000 0.058 2040.03 2134.12 1945.94 2864.56 2016.94 0 0 0 12.29 30.00 15.50

19478.18 262 227.91 0.87 30.00 2019.7 2114.3 1925.1 2864.4 2016.0 523.71 16.42 1118 19480.95 0.00 0.00 1.88 0.000 0.000 0.068 2020.09 2114.44 1925.75 2864.25 3136.50 0 0 0 30.00 30.00 15.62

19574.06 1030 227.91 0.87 0.00 2018.2 2111.2 1925.1 2864.7 3136.3 508.39 16.07 1123 19578.24 0.00 0.00 1.86 0.000 0.000 0.061 2018.88 2112.00 1925.75 2864.75 2020.62 0 0 0 30.00 30.00 15.65

19894.09 518 227.91 0.87 -30.00 2017.3 2109.6 1925.0 2864.2 2019.2 453.98 17.36 1139 19898.24 0.00 0.00 1.76 0.000 0.000 0.087 2017.38 2108.38 1926.38 2864.12 968.50 0 0 0 30.00 30.00 15.73

19938.20 1030 227.91 0.87 0.00 2016.8 2108.8 1924.9 2864.7 968.3 446.67 16.87 1141 19940.96 0.00 0.00 1.78 0.000 0.000 0.051 2018.06 2109.81 1926.31 2864.62 2080.19 0 0 0 30.00 30.00 15.77

20249.24 262 227.91 0.87 30.00 2016.8 2108.4 1925.1 2865.4 2082.4 394.60 17.14 1157 20253.40 0.00 0.00 1.74 0.000 0.000 0.071 2017.72 2109.31 1926.12 2864.50 3135.75 0 0 0 30.00 30.00 15.80

20293.23 1030 227.91 0.87 0.00 2015.9 2106.9 1925.0 2864.8 3135.8 386.96 17.17 1159 20296.01 0.00 0.00 1.83 0.000 0.000 0.061 2015.06 2106.25 1923.88 2865.25 2018.62 0 0 0 30.00 30.00 15.81

20604.17 518 227.91 0.87 -30.00 2015.7 2106.9 1924.4 2864.9 2017.5 333.85 16.86 1175 20608.32 0.00 0.00 1.75 0.000 0.000 0.087 2015.75 2107.19 1924.31 2864.44 968.69 0 0 0 30.00 30.00 15.82

20623.35 1030 227.91 0.87 0.00 2015.2 2106.2 1924.3 2865.1 968.4 330.51 16.85 1176 20626.11 0.00 0.00 1.76 0.000 0.000 0.051 2014.88 2105.69 1924.06 2864.50 2084.69 0 0 0 30.00 30.00 15.84

20938.32 262 227.91 0.87 30.00 2015.2 2106.2 1924.2 2864.9 2086.4 277.40 17.10 1192 20941.07 0.00 0.00 1.71 0.000 0.000 0.070 2014.38 2104.88 1923.88 2864.88 3135.56 0 0 0 30.00 30.00 15.86

20963.36 1030 227.91 0.87 0.00 2015.0 2105.6 1924.4 2864.8 3135.8 273.09 17.27 1193 20966.13 0.00 0.00 1.83 0.000 0.000 0.060 2013.31 2103.62 1923.00 2865.25 2017.25 0 0 0 30.00 30.00 15.87

21269.23 262 227.91 0.87 30.00 2014.9 2105.5 1924.2 2864.9 2016.5 223.36 15.80 1209 21273.40 0.00 0.00 1.83 0.000 0.000 0.067 2015.44 2106.31 1924.56 2864.62 3137.12 0 0 0 30.00 30.00 15.87

21288.41 1030 227.91 0.87 0.00 2014.6 2105.1 1924.1 2865.1 3137.1 220.00 15.85 1210 21291.18 0.00 0.00 1.82 0.000 0.000 0.059 2013.41 2104.06 1922.75 2864.62 2018.62 0 0 0 30.00 30.00 15.88

21603.38 518 227.91 0.87 -30.00 2014.8 2105.4 1924.1 2865.4 2017.6 169.29 16.77 1226 21606.14 0.00 0.00 1.74 0.000 0.000 0.086 2013.38 2104.00 1922.75 2864.75 966.75 0 0 0 30.00 30.00 15.88

21683.37 1030 227.91 0.87 0.00 2014.4 2104.8 1923.9 2864.6 966.8 157.68 14.88 1230 21686.12 0.00 0.00 1.76 0.000 0.000 0.049 2014.16 2104.62 1923.69 2865.00 2087.19 0 0 0 30.00 30.00 15.91

21984.47 2 227.91 0.87 0.00 2014.6 2104.8 1924.4 2864.7 2088.8 111.85 14.40 1253 21985.81 0.00 0.00 0.00 0.000 0.000 0.000 2014.44 2104.88 1924.00 2862.75 2088.50 0 0 0 30.00 30.00 30.00

22164.47 262 227.91 0.87 30.00 2014.6 2105.2 1924.0 2864.9 2089.5 88.98 11.95 1289 22168.65 0.00 0.00 1.71 0.000 0.000 0.065 2015.31 2105.62 1925.00 2864.94 3138.38 0 0 0 30.00 30.00 15.89

22228.49 1030 227.91 0.87 0.00 2014.0 2104.4 1923.7 2864.8 3138.9 82.44 11.68 1302 22231.26 0.00 0.00 1.81 0.000 0.000 0.057 2013.88 2103.56 1924.19 2864.94 2015.88 0 0 0 30.00 30.00 15.89

22409.55 518 227.91 0.87 -30.00 2014.1 2104.4 1923.8 2864.9 2014.6 61.41 12.40 1338 22414.71 0.00 0.00 1.74 0.000 0.000 0.083 2015.47 2106.06 1924.88 2864.75 968.25 0 0 0 30.00 30.00 15.84

22449.54 1030 227.91 0.87 0.00 2013.7 2103.9 1923.6 2864.9 968.1 56.51 12.00 1346 22454.71 0.00 0.00 1.77 0.000 0.000 0.054 2014.97 2105.19 1924.75 2864.12 2083.38 0 0 0 30.00 30.00 15.86

22634.68 2 227.91 0.87 0.00 2013.7 2104.0 1923.4 2864.9 2086.6 32.63 12.01 1383 22636.02 0.00 0.00 0.00 0.000 0.000 0.000 2014.25 2104.75 1923.75 2863.12 2086.50 0 0 0 30.00 30.00 30.00

22816.03 2 227.91 0.87 0.00 2013.1 2103.5 1922.7 2865.1 2087.1 10.28 14.99 1419 22817.38 0.00 0.00 0.00 0.000 0.000 0.000 2013.41 2104.38 1922.44 2862.44 2086.75 0 0 0 30.00 30.00 30.00

22860 end climb: SURFACE_DEPTH_REACHED

state 22861 begin surface coast

22876 end surface coast: CONTROL_FINISHED_OK

state 22876 begin surface

ID	675	HD_B	0.011885	ROLL_MIN	206	ALTIM_TOP_PING_RANGE	30
MISSION	3	HD_C	5.7000002e-06	ROLL_MAX	3820	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	245	HEADING	-1	ROLL_DEG	30	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_DIVE	2140	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2050	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	-54	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	950	TGT_DEFAULT_LON	0	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1030	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	575.71912	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	92
T_BOOST	0	FILEMGR	0	VBD_MIN	623	INT_PRESSURE_SLOPE	1.96e-06
D_FINISH	0	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	2.5599999
D_PITCH	0	COMM_SEQ	0	C_VBD	2970	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_CALL	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	10
SURFACE_URGENCY	0	NOCOMM_ACTION	259	VBD_LP_IGNORE	0	DEVICE2	70
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	55
T_DIVE	390	CALL_TRIES	5	UNCOM_BLEED	60	DEVICE5	-1
T_MISSION	580	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
T_ABORT	700	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERS	0
T_TURN	500	CAPMAXSIZE	400000	DBDW	0	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	LOITER_W_DBAND	0.5	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	100840	LOITER_DBDW	200	LOGGERDEVICE3	-1
T_LOITER	7200	T_RSLEEP	3	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	LOITER_D_BOTTOM	0	COMPASS_DEVICE	18
USE_BATHY	0	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	1	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	0	SHORTING_PLUG	1	PHONE_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	0	AH0_24V	310	GPS_DEVICE	16
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_10V	0	RAFOS_DEVICE	-1
RELAUNCH	0	PITCH_MIN	162	MINV_24V	11.5	XPDR_DEVICE	5
APOGEE_PITCH	-5	PITCH_MAX	3892	MINV_10V	10	SIM_W	0
MAX_BUOY	90	C_PITCH	2600	MAXI_24V	5	SEABIRD_T_G	0.0044220379
GLIDE_SLOPE	30	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064413931
SPEED_FACTOR	1	PITCH_CNV	0.0031260001	FG_AHR_10V	13.76762	SEABIRD_T_I	2.6853917e-05
RHO	1.0275	PITCH_GAIN	33	FG_AHR_24V	33.694107	SEABIRD_T_J	3.402645e-06
MASS	53587	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01496
MASS_COMP	0	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.96762	SEABIRD_C_H	1.1201342
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108611	SEABIRD_C_I	-0.0031396081
FERRY_MAX	40	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SEABIRD_C_J	0.00029222821
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_Z	0
HD_A	0.0025118899	PITCH_W_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	290322,171825,-5345.438,143.293,40,0.8,64,-21.4	TGT_LATLONG	-5400.000,0.000
_CALLS	3	TGT_RADIUS	3000.000
_SM_DEPTHo	0.87	KALMAN_CONTROL	-0.064,-0.195
_SM_ANGLEo	-59.2	KALMAN_X	6098.8,118.7,-323.8,-5622.1,1406.5
GPS2	290322,173446,-5345.235,142.996,15,0.9,23,-21.4	KALMAN_Y	7297.4,35.4,157.5,-35327.9,228.7
SPEED_LIMITS	0.141,0.178	MHEAD_RNG_PITCHd_Wd	273.0,115405,-19.5,-8.120,-24.57
TGT_NAME	CB	D_GRID	950

FINISH	1.2,1.026968	_10V_AH	14.96,0.000
SM_CCo	23189.90,289.38,0.134,0,622.6,713.0,532.1,575.83	FG_AHR_24Vo	33.833
SM_GC	1.00,289.38,13.19,0.10,0.134,0.139,0.103,622.6,713.0,532.1,144.6,2185.3,0,0,0,15.62,15.57,15.81	FG_AHR_10Vo	13.818
SUPER	59,70,254,1,0,0	MEM	1169124,35,14196,66
IRIDIUM_FIX	-5347.46,145.69,290322,172725	DATA_FILE_SIZE	112973,1431
TCM_TEMP	8.60	CAP_FILE_SIZE	344179,0
XPDR_PINGS	11	SDSIZE	3931136,3867104
ALTIM_TOP_PING	29.6,19.5	SDFILEDIR	783,2
HUMID	57.47	ERRORS	0,0,0,0,0,0,2,1,0,0,0,0,0,0,0,0,0,0
TEMP	1.70	CURRENT	0.074,288.5,1
INTERNAL_PRESSURE	8.49579	GPS	300322,000255,-5345.506,139.087,67,0.8,73,-21.4
_24V_AH	14.91,74.549

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	870	1534	19906.18	SBE_CT	2355	24	864.61
Pitch_motor	29	372	164.61	AA4831	1040	100	1552.08
Roll_motor	121	163	296.61	WL_BB2FL	1814	43	1179.23
Iridium	754	231	2608.76	QSP2150	717	6	70.69
Transponder_ping	3	420	18.79	nil	0	0	0.00
GPS	32	12	6.14	nil	0	0	0.00
Core	5090	8	635.89	nil	0	0	0.00
LPSleep	19031	2	623.51	nil	0	0	0.00
Compass	3175	15	748.17	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	1	30	0.45

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

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
2.34	2	-87.59	-0.70	0.00	621.3	703.5	539.2	138.4	2115.5	0.00	0.00	0	151.90	147.03	0.00	0.00	0.005	0.000	0.000	3190.34	3214.81	3165.88	138.19	2115.50	0	0	0	15.22	30.00	30.00
152.16	551	-87.59	-0.70	-30.00	3189.5	3214.4	3164.7	138.3	2115.1	3.40	-2.25	29	178.41	4.39	13.90	1.75	0.010	0.372	0.070	3324.94	3353.00	3296.88	2375.38	1048.31	0	0	0	15.30	15.12	15.23
266.08	1028	-87.59	-0.70	0.00	3326.8	3356.2	3297.3	2375.2	1045.2	17.66	-8.42	52	271.26	0.00	0.00	1.86	0.000	0.000	0.069	3327.66	3357.44	3297.88	2375.12	2165.06	0	0	0	30.00	30.00	15.59
451.14	516	-87.59	-0.70	-30.00	3326.6	3356.1	3297.2	2375.3	2166.8	35.24	-9.99	89	456.32	0.00	0.00	1.85	0.000	0.000	0.064	3329.06	3359.06	3299.06	2375.19	1049.62	0	0	0	30.00	30.00	15.62
546.15	1028	-87.59	-0.70	0.00	3326.9	3356.3	3297.5	2375.2	1046.7	51.11	-19.10	108	551.33	0.00	0.00	1.83	0.000	0.000	0.062	3327.59	3357.31	3297.88	2375.25	2164.31	0	0	0	30.00	30.00	15.64
731.21	516	-87.59	-0.70	-30.00	3326.6	3356.1	3297.1	2375.2	2167.9	88.75	-18.01	145	735.40	0.00	0.00	1.85	0.000	0.000	0.073	3327.38	3356.44	3298.31	2374.31	1053.81	0	0	0	30.00	30.00	15.66
891.30	1028	-87.59	-0.70	0.00	3326.5	3355.6	3297.4	2375.9	1053.4	113.44	-15.41	177	895.50	0.00	0.00	1.82	0.000	0.000	0.064	3327.00	3356.69	3297.31	2375.38	2164.69	0	0	0	30.00	30.00	15.70
1076.13	516	-87.59	-0.70	-30.00	3326.7	3356.1	3297.3	2375.1	2164.0	145.09	-17.26	193	1080.30	0.00	0.00	1.83	0.000	0.000	0.067	3327.88	3357.19	3298.56	2374.88	1053.25	0	0	0	30.00	30.00	15.74
1135.27	1028	-87.59	-0.70	0.00	3326.7	3356.1	3297.4	2374.9	1053.6	155.60	-17.27	196	1138.04	0.00	0.00	1.81	0.000	0.000	0.063	3325.50	3354.94	3296.06	2375.38	2165.50	0	0	0	30.00	30.00	15.76
1450.30	260	-87.59	-0.70	30.00	3326.8	3356.3	3297.2	2374.8	2165.8	209.65	-16.55	212	1453.06	0.00	0.00	1.75	0.000	0.000	0.080	3326.88	3356.25	3297.50	2374.69	3223.00	0	0	0	30.00	30.00	15.78
1520.29	1028	-87.59	-0.70	0.00	3326.5	3355.8	3297.2	2375.1	3223.4	220.19	-15.56	215	1523.04	0.00	0.00	1.78	0.000	0.000	0.047	3328.09	3357.81	3298.38	2375.06	2104.06	0	0	0	30.00	30.00	15.81
1820.35	516	-87.59	-0.70	-30.00	3326.7	3356.3	3297.1	2374.9	2101.3	264.91	-14.90	230	1823.08	0.00	0.00	1.70	0.000	0.000	0.068	3326.06	3355.88	3296.25	2375.38	1050.88	0	0	0	30.00	30.00	15.83
1905.34	1028	-87.59	-0.70	0.00	3326.6	3356.3	3296.9	2374.6	1049.6	276.80	-14.09	234	1908.10	0.00	0.00	1.80	0.000	0.000	0.062	3327.59	3356.88	3298.31	2373.88	2166.06	0	0	0	30.00	30.00	15.84
2210.39	260	-87.59	-0.70	30.00	3326.9	3356.6	3297.1	2375.1	2165.8	319.35	-14.20	250	2213.14	0.00	0.00	1.75	0.000	0.000	0.080	3326.41	3356.62	3296.19	2374.44	3224.38	0	0	0	30.00	30.00	15.85
2270.37	1028	-87.59	-0.70	0.00	3326.6	3356.2	3297.0	2374.9	3224.6	327.13	-13.40	253	2273.12	0.00	0.00	1.79	0.000	0.000	0.047	3326.53	3356.00	3297.06	2374.69	2104.00	0	0	0	30.00	30.00	15.87
2581.29	516	-87.59	-0.70	-30.00	3326.3	3356.2	3296.4	2374.7	2102.1	367.70	-13.39	269	2585.42	0.00	0.00	1.68	0.000	0.000	0.067	3328.06	3358.38	3297.75	2374.94	1053.12	0	0	0	30.00	30.00	15.87
2645.41	1028	-87.59	-0.70	0.00	3326.2	3356.1	3296.3	2374.9	1053.0	376.31	-13.32	272	2648.16	0.00	0.00	1.79	0.000	0.000	0.061	3328.00	3358.44	3297.56	2372.62	2165.25	0	0	0	30.00	30.00	15.89
2955.47	516	-87.59	-0.70	-30.00	3326.2	3356.1	3296.2	2375.2	2165.7	416.98	-13.36	288	2958.24	0.00	0.00	1.82	0.000	0.000	0.066	3326.19	3356.00	3296.38	2374.88	1052.06	0	0	0	30.00	30.00	15.89
2995.44	1028	-87.59	-0.70	0.00	3326.2	3356.1	3296.2	2374.9	1050.7	422.35	-13.40	290	2998.20	0.00	0.00	1.79	0.000	0.000	0.060	3325.12	3355.12	3295.12	2375.06	2165.62	0	0	0	30.00	30.00	15.90
3305.50	260	-87.59	-0.70	30.00	3326.3	3356.4	3296.3	2375.0	2165.4	461.95	-12.70	306	3308.24	0.00	0.00	1.74	0.000	0.000	0.079	3326.41	3356.38	3296.44	2373.62	3223.44	0	0	0	30.00	30.00	15.88
3340.49	1028	-87.59	-0.70	0.00	3325.9	3356.0	3295.9	2374.9	3223.8	466.36	-12.71	308	3343.24	0.00	0.00	1.78	0.000	0.000	0.047	3327.62	3357.81	3297.44	2372.56	2101.44	0	0	0	30.00	30.00	15.91
3655.54	516	-87.59	-0.70	-30.00	3326.1	3356.2	3296.1	2375.9	2099.2	506.58	-12.57	324	3658.27	0.00	0.00	1.69	0.000	0.000	0.069	3327.06	3356.19	3297.94	2374.50	1052.12	0	0	0	30.00	30.00	15.91
3755.55	1028	-87.59	-0.70	0.00	3326.2	3356.1	3296.3	2374.9	1051.0	518.87	-12.32	329	3758.30	0.00	0.00	1.79	0.000	0.000	0.061	3326.66	3355.81	3297.50	2373.19	2166.81	0	0	0	30.00	30.00	15.91
4066.48	0	-87.59	-0.70	0.00	3326.5	3356.6	3296.5	2374.8	2167.0	555.69	-11.79	345	4067.82	0.00	0.00	0.00	0.000	0.000	0.000	3326.31	3356.69	3295.94	2372.62	2166.56	0	0	0	30.00	30.00	30.00
4365.70	260	-87.59	-0.70	30.00	3326.2	3356.3	3296.0	2374.7	2166.8	590.40	-11.59	360	4368.45	0.00	0.00	1.75	0.000	0.000	0.079	3325.66	3354.94	3296.38	2375.06	3223.50	0	0	0	30.00	30.00	15.91
4410.64	1028	-87.59	-0.70	0.00	3326.2	3356.2	3296.1	2374.9	3223.8	595.54	-11.53	362	4413.39	0.00	0.00	1.77	0.000	0.000	0.047	3324.62	3354.69	3294.56	2375.06	2101.81	0	0	0	30.00	30.00	15.93
4715.72	0	-87.59	-0.70	0.00	3326.1	3356.4	3295.8	2375.6	2100.5	632.07	-12.07	378	4717.06	0.00	0.00	0.00	0.000	0.000	0.000	3327.00	3356.81	3297.19	2373.12	2099.75	0	0	0	30.00	30.00	30.00
5016.66	0	-87.59	-0.70	0.00	3325.8	3356.1	3295.6	2375.1	2100.1	668.34	-12.35	393	5018.00	0.00	0.00	0.00	0.000	0.000	0.000	3327.19	3357.31	3297.06	2372.56	2100.19	0	0	0	30.00	30.00	30.00
5315.79	0	-87.59	-0.70	0.00	3326.2	3356.2	3296.3	2374.7	2099.6	707.55	-13.39	408	5317.13	0.00	0.00	0.00	0.000	0.000	0.000	3327.16	3356.75	3297.56	2372.44	2099.75	0	0	0	30.00	30.00	30.00
5616.70	0	-87.59	-0.70	0.00	3326.1	3356.1	3296.1	2375.0	2100.3	747.83	-13.15	423	5618.04	0.00	0.00	0.00	0.000	0.000	0.000	3327.44	3357.44	3297.44	2373.00	2099.88	0	0	0	30.00	30.00	30.00
5915.88	260	-87.59	-0.70	30.00	3326.2	3356.4	3296.0	2375.3	2100.0	787.15	-13.12	438	5918.64	0.00	0.00	1.86	0.000	0.000	0.079	3326.12	3356.00	3296.25	2373.94	3221.81	0	0	0	30.00	30.00	15.93
5935.93	1028	-87.59	-0.70	0.00	3326.2	3356.2	3296.3	2375.2	3222.4	789.76	-13.10	439	5938.68	0.00	0.00	1.78	0.000	0.000	0.047	3326.69	3356.44	3296.94	2374.69	2100.81	0	0	0	30.00	30.00	15.94
6246.77	516	-87.59	-0.70	-30.00	3326.2	3356.5	3295.9	2375.1	2098.8	828.81	-12.38	455	6250.90	0.00	0.00	1.68	0.000	0.000	0.068	3327.84	3357.81	3297.88	2375.12	1049.62	0	0	0	30.00	30.00	15.94
6315.90	1028	-87.59	-0.70	0.00	3326.3	3356.4	3296.3	2374.9	1049.5	837.47	-12.40	458	6318.65	0.00	0.00	1.79	0.000	0.000	0.058	3326.81	3356.81	3296.81	2372.88	2167.25	0	0	0	30.00	30.00	15.94
6620.97	0	-87.59	-0.70	0.00	3326.4	3356.8	3295.9	2375.6	2168.4	873.22	-11.73	474	6622.31	0.00	0.00	0.00	0.000	0.000	0.000	3327.16	3357.00	3297.31	2372.69	2167.31	0	0	0	30.00	30.00	30.00
6921.87	260	-87.59	-0.70	30.00	3326.3	3356.2	3296.4	2375.1	2168.2	907.33	-11.28	489	6926.02	0.00	0.00	1.73	0.000	0.000	0.080	3326.53	3356.56	3296.50	2375.44	3224.50	0	0	0	30.00	30.00	15.93
6946.04	1028	-87.59	-0.70	0.00	3326.4	3356.6	3296.2	2375.4	3224.6	910.11	-11.26	490	6948.79	0.00	0.00	1.78	0.000	0.000	0.047	3325.09	3355.12	3295.06	2375.31	2099.19	0	0	0	30.00	30.00	15.95
7256.05	516	-87.59	-0.70	-30.00	3326.3	3356.4	3296.2	2375.2	2097.1	943.97	-10.95	506	7258.78	0.00	0.00	1.67	0.000	0.000	0.068	3325.06	3355.50	3294.62	2375.38	1052.19	0	0	0	30.00	30.00	15.94
7286.09	1028	-87.59	-0.70	0.00	3326.3	3356.7	3295.9	2375.0	1051.2	947.42	-11.06	507	7288.84	0.00	0.00	1.78	0.000	0.000	0.058	3328.00	3358.38	3297.62	2372.62	2169.50	0	0	0	30.00	30.00	15.95
7326	end dive: TARGET_DEPTH_EXCEEDED
state	7326	begin apogee
7328.19	3	0.00	-0.15	0.00	3326.6	3356.9	3296.3	2375.3	1989.6	951.77	-11.00	509	7451.79	120.29	0.98	0.13	1.534	0.302	0.163	2967.97	3038.62	2897.31	2549.75	2104.94	0	0	0	12.00	15.57	15.11
7451	end apogee: CONTROL_FINISHED_OK
state	7452	begin loiter
7746.09	2	0.00	-0.15	0.00	2957.7	3029.5	2885.9	2550.0	2104.6	957.69	-0.48	530	7747.43	0.00	0.00	0.00	0.000	0.000	0.000	2958.19	3029.50	2886.88	2547.69	2104.06	0	0	0	30.00	30.00	30.00
8046.99	2	0.00	-0.15	0.00	2957.1	3028.9	2885.3	2549.8	2104.5	958.90	-0.44	545	8048.34	0.00	0.00	0.00	0.000	0.000	0.000	2957.44	3029.31	2885.56	2547.88	2104.12	0	0	0	30.00	30.00	30.00
8346.19	34	1.03	-0.15	0.00	2956.7	3028.2	2885.2	2550.0	2104.4	960.81	-0.53	560	8347.53	0.00	0.00	0.00	0.000	0.000	0.000	2957.16	3028.19	2886.12	2547.12	2104.56	0	0	0	30.00	30.00	30.00
8647.06	32	2.53	-0.15	0.00	2956.5	3027.9	2885.1	2550.1	2104.6	963.24	-0.77	575	8648.41	0.00	0.00	0.00	0.000	0.000	0.000	2956.75	3028.19	2885.31	2547.25	2103.88	0	0	0	30.00	30.00	30.00
8946.25	32	4.24	-0.15	0.00	2956.3	3027.8	2884.9	2549.6	2105.0	965.87	-0.88	590	8947.59	0.00	0.00	0.00	0.000	0.000	0.000	2956.19	3027.00	2885.38	2548.00	2104.00	0	0	0	30.00	30.00	30.00
9247.12	34	6.04	-0.14	0.00	2956.4	3028.1	2884.7	2550.2	2104.8	968.66	-0.93	605	9249.59	1.88	0.00	0.00	0.142	0.000	0.000	2944.84	3016.38	2873.31	2549.94	2105.19	0	0	0	15.61	30.00	30.00
9546.28	34	7.70	-0.14	0.00	2950.5	3021.3	2879.7	2550.1	2105.0	971.09	-0.85	620	9555.88	8.33	0.00	0.00	1.415	0.000	0.000	2934.91	3007.56	2862.25	2550.44	2104.62	0	0	0	12.07	30.00	30.00
9847.21	0	7.70	-0.14	0.00	2931.9	3005.8	2858.1	2550.2	2104.6	968.87	-0.01	635	9848.55	0.00	0.00	0.00	0.000	0.000	0.000	2932.19	3005.31	2859.06	2547.88	2104.12	0	0	0	30.00	30.00	30.00
10146.31	0	7.70	-0.14	0.00	2932.0	3005.9	2858.1	2550.1	2104.6	965.57	1.10	650	10147.65	0.00	0.00	0.00	0.000	0.000	0.000	2932.09	3005.12	2859.06	2547.69	2104.69	0	0	0	30.00	30.00	30.00
10447.20	0	7.70	-0.14	0.00	2931.9	3005.8	2858.1	2549.9	2105.4	962.14	1.14	665	10448.55	0.00	0.00	0.00	0.000	0.000	0.000	2931.72	3005.75	2857.69	2547.88	2103.94	0	0	0	30.00	30.00	30.00
10746.35	0	7.70	-0.14	0.00	2931.8	3005.9	2857.8	2550.1	2104.8	958.55	1.19	680	10747.69	0.00	0.00	0.00	0.000	0.000	0.000	2932.50	3006.38	2858.62	2547.69	2104.19	0	0	0	30.00	30.00	30.00
11047.25	0	7.70	-0.14	0.00	2931.8	3005.6	2857.9	2549.7	2104.7	955.16	1.13	695	11048.59	0.00	0.00	0.00	0.000	0.000	0.000	2931.72	3006.00	2857.44	2547.62	2104.31	0	0	0	30.00	30.00	30.00
11346.40	0	7.70	-0.14	0.00	2931.5	3005.5	2857.4	2549.8	2104.6	951.66	1.15	710	11347.74	0.00	0.00	0.00	0.000	0.000	0.000	2931.94	3004.88	2859.00	2548.38	2104.25	0	0	0	30.00	30.00	30.00
11647.30	0	7.70	-0.14	0.00	2931.5	3005.8	2857.3	2549.9	2104.6	948.38	1.10	725	11648.64	0.00	0.00	0.00	0.000	0.000	0.000	2931.56	3004.56	2858.56	2548.00	2104.75	0	0	0	30.00	30.00	30.00
11946.44	0	7.70	-0.14	0.00	2931.8	3005.9	2857.7	2550.2	2105.2	945.05	1.11	740	11947.78	0.00	0.00	0.00	0.000	0.000	0.000	2932.44	3006.56	2858.31	2546.94	2104.56	0	0	0	30.00	30.00	30.00
12247.34	0	7.70	-0.14	0.00	2931.5	3005.5	2857.4	2550.4	2104.2	941.98	1.04	755	12248.68	0.00	0.00	0.00	0.000	0.000	0.000	2931.53	3004.88	2858.19	2548.12	2104.75	0	0	0	30.00	30.00	30.00
12546.51	0	7.70	-0.14	0.00	2931.2	3005.3	2857.1	2549.6	2104.6	939.46	0.87	770	12547.85	0.00	0.00	0.00	0.000	0.000	0.000	2931.91	3005.88	2857.94	2547.00	2104.31	0	0	0	30.00	30.00	30.00
12847.38	0	7.70	-0.14	0.00	2931.4	3005.2	2857.6	2549.6	2104.9	936.93	0.82	785	12848.72	0.00	0.00	0.00	0.000	0.000	0.000	2931.62	3005.12	2858.12	2547.56	2104.38	0	0	0	30.00	30.00	30.00
13146.54	0	7.70	-0.14	0.00	2931.0	3004.8	2857.1	2549.9	2104.8	934.15	0.92	800	13147.88	0.00	0.00	0.00	0.000	0.000	0.000	2931.94	3005.56	2858.31	2547.69	2104.38	0	0	0	30.00	30.00	30.00
13447.45	0	7.70	-0.14	0.00	2931.2	3005.0	2857.4	2550.3	2104.8	930.86	1.09	815	13448.79	0.00	0.00	0.00	0.000	0.000	0.000	2930.75	3003.69	2857.81	2548.62	2103.75	0	0	0	30.00	30.00	30.00
13746.76	0	7.70	-0.14	0.00	2931.0	3004.8	2857.2	2549.5	2104.6	927.24	1.23	830	13748.10	0.00	0.00	0.00	0.000	0.000	0.000	2930.72	3004.50	2856.94	2547.94	2104.06	0	0	0	30.00	30.00	30.00
14047.52	0	7.70	-0.14	0.00	2931.0	3004.6	2857.5	2549.8	2104.7	923.21	1.35	845	14048.86	0.00	0.00	0.00	0.000	0.000	0.000	2930.88	3003.75	2858.00	2547.69	2104.50	0	0	0	30.00	30.00	30.00
14346.72	0	7.70	-0.14	0.00	2930.8	3004.4	2857.3	2550.4	2104.8	918.45	1.61	860	14348.06	0.00	0.00	0.00	0.000	0.000	0.000	2931.69	3004.31	2859.06	2548.38	2104.12	0	0	0	30.00	30.00	30.00
14647	end loiter: LOITER_COMPLETE
state	14647	begin climb
14647.72	263	87.59	0.70	30.00	2931.0	3004.5	2857.6	2550.0	2104.4	912.86	0.00	875	14770.81	117.20	1.43	1.78	1.483	0.233	0.077	2609.19	2717.19	2501.19	2821.56	3133.06	0	0	0	12.05	15.66	14.67
14852.46	1030	87.59	0.70	0.00	2594.7	2700.4	2489.0	2822.8	3134.6	898.90	8.70	885	14855.23	0.00	0.00	1.86	0.000	0.000	0.054	2593.16	2698.62	2487.69	2822.56	2015.00	0	0	0	30.00	30.00	15.42
15163.39	2	87.59	0.70	0.00	2591.8	2699.1	2484.5	2823.3	2014.4	868.26	9.96	901	15164.74	0.00	0.00	0.00	0.000	0.000	0.000	2592.22	2699.31	2485.12	2820.44	2014.25	0	0	0	30.00	30.00	30.00
15462.57	262	87.59	0.70	30.00	2590.8	2697.8	2483.8	2823.3	2014.8	840.15	8.84	916	15465.33	0.00	0.00	1.86	0.000	0.000	0.069	2592.66	2698.88	2486.44	2822.62	3136.38	0	0	0	30.00	30.00	15.72
15547.56	1030	87.59	0.70	0.00	2588.8	2694.6	2483.1	2823.2	3135.7	832.65	8.82	920	15550.34	0.00	0.00	1.83	0.000	0.000	0.055	2587.59	2693.44	2481.75	2823.31	2015.00	0	0	0	30.00	30.00	15.74
15852.63	518	87.59	0.70	-30.00	2589.5	2695.4	2483.6	2823.1	2014.8	806.89	8.65	936	15855.38	0.00	0.00	1.75	0.000	0.000	0.081	2588.84	2694.81	2482.88	2823.25	966.44	0	0	0	30.00	30.00	15.77
15942.66	1062	88.29	0.70	0.00	2589.8	2696.1	2483.6	2823.1	965.5	799.73	8.08	940	15945.41	0.00	0.00	1.77	0.000	0.000	0.051	2592.38	2697.38	2487.38	2823.06	2084.19	0	0	0	30.00	30.00	15.79
16243.59	32	93.42	0.71	0.00	2588.9	2695.5	2482.2	2823.4	2085.7	776.27	7.80	955	16244.93	0.00	0.00	0.00	0.000	0.000	0.000	2589.28	2696.75	2481.81	2821.38	2084.50	0	0	0	30.00	30.00	30.00
16542.77	294	110.59	0.73	30.00	2588.5	2695.1	2481.9	2823.2	2085.5	754.98	7.05	970	16575.73	29.81	0.00	1.74	1.412	0.000	0.076	2515.78	2624.19	2407.38	2823.12	3134.38	0	0	0	12.15	30.00	15.58
16652.78	1060	115.75	0.73	0.00	2503.1	2610.8	2395.5	2823.6	3134.4	746.39	7.80	975	16655.54	0.00	0.00	1.84	0.000	0.000	0.056	2503.22	2611.19	2395.25	2823.50	2015.00	0	0	0	30.00	30.00	15.70
16952.83	34	118.61	0.74	0.00	2501.3	2609.0	2393.6	2823.4	2014.0	722.69	7.94	990	16962.43	8.27	0.00	0.00	1.271	0.000	0.000	2482.44	2588.94	2375.94	2823.31	2013.81	0	0	0	12.26	30.00	30.00
17253.80	262	118.61	0.74	30.00	2477.9	2582.2	2373.6	2823.0	2014.1	697.91	8.25	1005	17257.97	0.00	0.00	1.86	0.000	0.000	0.070	2479.34	2583.94	2374.75	2822.88	3134.50	0	0	0	30.00	30.00	15.77
17297.84	1030	118.61	0.74	0.00	2476.8	2580.1	2373.6	2823.3	3135.4	693.89	8.55	1007	17300.61	0.00	0.00	1.82	0.000	0.000	0.055	2475.16	2578.06	2372.25	2823.12	2014.81	0	0	0	30.00	30.00	15.79
17608.79	518	118.61	0.74	-30.00	2476.8	2579.8	2373.8	2823.2	2014.4	668.27	8.49	1023	17612.95	0.00	0.00	1.74	0.000	0.000	0.080	2477.03	2580.31	2373.75	2823.25	968.12	0	0	0	30.00	30.00	15.80
17637.99	1030	118.61	0.74	0.00	2477.2	2580.8	2373.7	2823.6	968.3	665.70	8.50	1024	17640.74	0.00	0.00	1.76	0.000	0.000	0.050	2476.66	2579.31	2374.00	2823.44	2084.12	0	0	0	30.00	30.00	15.83
17942.97	262	118.61	0.74	30.00	2476.4	2579.4	2373.4	2823.3	2086.1	639.17	8.66	1040	17945.72	0.00	0.00	1.73	0.000	0.000	0.072	2477.62	2580.62	2374.62	2823.06	3138.75	0	0	0	30.00	30.00	15.84
18022.97	1030	118.61	0.74	0.00	2475.4	2577.2	2373.5	2823.1	3138.4	632.02	8.88	1044	18025.74	0.00	0.00	1.82	0.000	0.000	0.055	2474.88	2576.56	2373.19	2823.00	2015.06	0	0	0	30.00	30.00	15.87
18333.04	518	118.61	0.74	-30.00	2475.5	2577.4	2373.6	2823.8	2014.6	604.15	9.05	1060	18335.79	0.00	0.00	1.74	0.000	0.000	0.080	2475.72	2577.62	2373.81	2821.94	966.62	0	0	0	30.00	30.00	15.86
18358.08	1030	118.61	0.74	0.00	2475.4	2577.1	2373.8	2823.4	966.8	602.14	8.99	1061	18360.84	0.00	0.00	1.76	0.000	0.000	0.047	2475.50	2576.50	2374.50	2821.38	2080.94	0	0	0	30.00	30.00	15.88
18663.98	35	183.09	0.82	0.00	2475.4	2577.5	2373.4	2823.3	2084.7	588.85	4.10	1077	18745.73	79.69	0.17	0.00	1.372	0.155	0.000	2220.28	2320.94	2119.62	2864.25	2084.56	0	0	0	12.14	15.76	30.00
19043.14	294	206.62	0.85	30.00	2212.6	2312.9	2112.2	2864.1	2085.1	565.81	6.65	1096	19083.71	35.31	0.00	1.77	1.259	0.000	0.072	2125.19	2221.31	2029.06	2862.81	3134.50	0	0	0	12.24	30.00	15.37
19133.13	1062	227.91	0.87	0.00	2111.6	2200.1	2023.2	2863.9	3135.0	559.57	6.79	1100	19165.15	28.69	0.00	1.87	1.247	0.000	0.058	2040.03	2134.12	1945.94	2864.56	2016.94	0	0	0	12.29	30.00	15.50
19478.18	262	227.91	0.87	30.00	2019.7	2114.3	1925.1	2864.4	2016.0	523.71	16.42	1118	19480.95	0.00	0.00	1.88	0.000	0.000	0.068	2020.09	2114.44	1925.75	2864.25	3136.50	0	0	0	30.00	30.00	15.62
19574.06	1030	227.91	0.87	0.00	2018.2	2111.2	1925.1	2864.7	3136.3	508.39	16.07	1123	19578.24	0.00	0.00	1.86	0.000	0.000	0.061	2018.88	2112.00	1925.75	2864.75	2020.62	0	0	0	30.00	30.00	15.65
19894.09	518	227.91	0.87	-30.00	2017.3	2109.6	1925.0	2864.2	2019.2	453.98	17.36	1139	19898.24	0.00	0.00	1.76	0.000	0.000	0.087	2017.38	2108.38	1926.38	2864.12	968.50	0	0	0	30.00	30.00	15.73
19938.20	1030	227.91	0.87	0.00	2016.8	2108.8	1924.9	2864.7	968.3	446.67	16.87	1141	19940.96	0.00	0.00	1.78	0.000	0.000	0.051	2018.06	2109.81	1926.31	2864.62	2080.19	0	0	0	30.00	30.00	15.77
20249.24	262	227.91	0.87	30.00	2016.8	2108.4	1925.1	2865.4	2082.4	394.60	17.14	1157	20253.40	0.00	0.00	1.74	0.000	0.000	0.071	2017.72	2109.31	1926.12	2864.50	3135.75	0	0	0	30.00	30.00	15.80
20293.23	1030	227.91	0.87	0.00	2015.9	2106.9	1925.0	2864.8	3135.8	386.96	17.17	1159	20296.01	0.00	0.00	1.83	0.000	0.000	0.061	2015.06	2106.25	1923.88	2865.25	2018.62	0	0	0	30.00	30.00	15.81
20604.17	518	227.91	0.87	-30.00	2015.7	2106.9	1924.4	2864.9	2017.5	333.85	16.86	1175	20608.32	0.00	0.00	1.75	0.000	0.000	0.087	2015.75	2107.19	1924.31	2864.44	968.69	0	0	0	30.00	30.00	15.82
20623.35	1030	227.91	0.87	0.00	2015.2	2106.2	1924.3	2865.1	968.4	330.51	16.85	1176	20626.11	0.00	0.00	1.76	0.000	0.000	0.051	2014.88	2105.69	1924.06	2864.50	2084.69	0	0	0	30.00	30.00	15.84
20938.32	262	227.91	0.87	30.00	2015.2	2106.2	1924.2	2864.9	2086.4	277.40	17.10	1192	20941.07	0.00	0.00	1.71	0.000	0.000	0.070	2014.38	2104.88	1923.88	2864.88	3135.56	0	0	0	30.00	30.00	15.86
20963.36	1030	227.91	0.87	0.00	2015.0	2105.6	1924.4	2864.8	3135.8	273.09	17.27	1193	20966.13	0.00	0.00	1.83	0.000	0.000	0.060	2013.31	2103.62	1923.00	2865.25	2017.25	0	0	0	30.00	30.00	15.87
21269.23	262	227.91	0.87	30.00	2014.9	2105.5	1924.2	2864.9	2016.5	223.36	15.80	1209	21273.40	0.00	0.00	1.83	0.000	0.000	0.067	2015.44	2106.31	1924.56	2864.62	3137.12	0	0	0	30.00	30.00	15.87
21288.41	1030	227.91	0.87	0.00	2014.6	2105.1	1924.1	2865.1	3137.1	220.00	15.85	1210	21291.18	0.00	0.00	1.82	0.000	0.000	0.059	2013.41	2104.06	1922.75	2864.62	2018.62	0	0	0	30.00	30.00	15.88
21603.38	518	227.91	0.87	-30.00	2014.8	2105.4	1924.1	2865.4	2017.6	169.29	16.77	1226	21606.14	0.00	0.00	1.74	0.000	0.000	0.086	2013.38	2104.00	1922.75	2864.75	966.75	0	0	0	30.00	30.00	15.88
21683.37	1030	227.91	0.87	0.00	2014.4	2104.8	1923.9	2864.6	966.8	157.68	14.88	1230	21686.12	0.00	0.00	1.76	0.000	0.000	0.049	2014.16	2104.62	1923.69	2865.00	2087.19	0	0	0	30.00	30.00	15.91
21984.47	2	227.91	0.87	0.00	2014.6	2104.8	1924.4	2864.7	2088.8	111.85	14.40	1253	21985.81	0.00	0.00	0.00	0.000	0.000	0.000	2014.44	2104.88	1924.00	2862.75	2088.50	0	0	0	30.00	30.00	30.00
22164.47	262	227.91	0.87	30.00	2014.6	2105.2	1924.0	2864.9	2089.5	88.98	11.95	1289	22168.65	0.00	0.00	1.71	0.000	0.000	0.065	2015.31	2105.62	1925.00	2864.94	3138.38	0	0	0	30.00	30.00	15.89
22228.49	1030	227.91	0.87	0.00	2014.0	2104.4	1923.7	2864.8	3138.9	82.44	11.68	1302	22231.26	0.00	0.00	1.81	0.000	0.000	0.057	2013.88	2103.56	1924.19	2864.94	2015.88	0	0	0	30.00	30.00	15.89
22409.55	518	227.91	0.87	-30.00	2014.1	2104.4	1923.8	2864.9	2014.6	61.41	12.40	1338	22414.71	0.00	0.00	1.74	0.000	0.000	0.083	2015.47	2106.06	1924.88	2864.75	968.25	0	0	0	30.00	30.00	15.84
22449.54	1030	227.91	0.87	0.00	2013.7	2103.9	1923.6	2864.9	968.1	56.51	12.00	1346	22454.71	0.00	0.00	1.77	0.000	0.000	0.054	2014.97	2105.19	1924.75	2864.12	2083.38	0	0	0	30.00	30.00	15.86
22634.68	2	227.91	0.87	0.00	2013.7	2104.0	1923.4	2864.9	2086.6	32.63	12.01	1383	22636.02	0.00	0.00	0.00	0.000	0.000	0.000	2014.25	2104.75	1923.75	2863.12	2086.50	0	0	0	30.00	30.00	30.00
22816.03	2	227.91	0.87	0.00	2013.1	2103.5	1922.7	2865.1	2087.1	10.28	14.99	1419	22817.38	0.00	0.00	0.00	0.000	0.000	0.000	2013.41	2104.38	1922.44	2862.44	2086.75	0	0	0	30.00	30.00	30.00
22860	end climb: SURFACE_DEPTH_REACHED
state	22861	begin surface coast
22876	end surface coast: CONTROL_FINISHED_OK
state	22876	begin surface