Glider dive log

Deck Feb16 * SG185 * Dive index * Mission links * Dive 97 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 185 HD_B 0.010078 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 900

MISSION 0 HD_C 9.8541004e-06 ROLL_MIN 300 ALTIM_PING_DELTA 20

DIVE 97 HEADING -1 ROLL_MAX 3750 ALTIM_FREQUENCY 13

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PULSE 3

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_SENSITIVITY 2

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 XPDR_VALID 6

D_TGT 990 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 XPDR_INHIBIT 90

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

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_BOOST 20 SM_CC 515.13 ROLL_MAXERRORS 1 DEEPGLIDER 0

T_BOOST 4 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_FINISH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

D_PITCH 0 CALL_NDIVES 1 VBD_MIN 500 DEVICE1 -1

D_SAFE 0 COMM_SEQ 0 VBD_MAX 3500 DEVICE2 -1

D_CALL 0 PROTOCOL 9 C_VBD 2600 DEVICE3 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 360 DEVICE6 -1

T_DIVE 330 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 1

T_MISSION 400 CALL_TRIES 5 UNCOM_BLEED 20 LOGGERDEVICE1 0

T_ABORT 1440 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_TURN 270 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 DBDW 0 LOGGERDEVICE4 -1

T_NO_W 120 T_GPS 5 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_LOITER 0 N_GPS 100440 AH0_24V 150 COMPASS2_DEVICE 48

T_EPIRB 0 T_RSLEEP 3 AH0_10V 100 PHONE_DEVICE 33

USE_BATHY -6 STROBE 0 MINV_24V 19 GPS_DEVICE 48

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MAXI_24V 5 XPDR_DEVICE 4

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MAXI_10V 0.80000001 SIM_W 0.1

RELAUNCH 1 PITCH_MIN 450 FG_AHR_10V 29.502419 SEABIRD_T_G 0.0043319771

APOGEE_PITCH -5 PITCH_MAX 3300 FG_AHR_24V 20.090508 SEABIRD_T_H 0.00061972893

MAX_BUOY 150 C_PITCH 2850 PHONE_SUPPLY 2 SEABIRD_T_I 2.0309124e-05

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

SPEED_FACTOR 1 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00010658 SEABIRD_C_G -9.9888363

RHO 1.023 PITCH_GAIN 25 COMPASS_USE 4 SEABIRD_C_H 1.1040936

MASS 51725 PITCH_TIMEOUT 30 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0023403035

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00025686048

FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

AH0_10V 100 D_FLARE 3 N_DIVES 0 SEABIRD_C_I -0.0023403035

AH0_24V 150 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_C_J 0.00025686048

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1000 N_GPS 100440 SEABIRD_T_G 0.0043319771

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_H 0.00061972893

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_I 2.0309124e-05

ALTIM_PING_DELTA 20 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_J 1.8214913e-06

ALTIM_PING_DEPTH 900 D_TGT 990 PHONE_SUPPLY 2 SIM_W 0.1

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 SM_CC 515.13

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_10V 29.502419 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_24V 20.090508 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

APOGEE_PITCH -5 FILEMGR 0 PITCH_MAX 3300 SURFACE_URGENCY_TRY 0

CALL_NDIVES 1 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 GLIDE_SLOPE 30 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 GPS_DEVICE 48 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 HD_A 0.0038360001 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CAPUPLOAD 0 HD_B 0.010078 PITCH_W_DBAND 0 T_BOOST 4

CF8_MAXERRORS 20 HD_C 9.8541004e-06 PITCH_W_GAIN 0 T_DIVE 330

COMM_SEQ 0 HEADING -1 PRESSURE_SLOPE 0.00010658 T_EPIRB 0

COMPASS2_DEVICE 48 HEAD_ERRBAND 10 PRESSURE_YINT -150.34485 T_GPS 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_LOITER 0

COMPASS_USE 4 ID 185 RAFOS_CORR_THRESH 60 T_MISSION 400

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

C_ROLL_CLIMB 2025 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_DIVE 2025 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN 270

C_VBD 2600 LOGGERDEVICE1 0 RELAUNCH 1 T_TURN_SAMPINT -5

DBDW 0 LOGGERDEVICE2 -1 RHO 1.023 UNCOM_BLEED 20

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEVICE1 -1 LOGGERS 1 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MASS 51725 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MAX 3750 VBD_DBAND 2

DEVICE4 -1 MAXI_24V 5 ROLL_MAXERRORS 1 VBD_MAX 3500

DEVICE5 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_MAXERRORS 1

DEVICE6 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MIN 500

DIVE 97 MINV_24V 19 SC_PROFILE 3.0 VBD_TIMEOUT 360

D_ABORT 1010 MISSION 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_BOOST 20 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_DEVICE 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9888363 XPDR_INHIBIT 90

D_FINISH 0 NOCOMM_ACTION 129 SEABIRD_C_H 1.1040936 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 180216,234432,4739.311,-12219.017,44,0.8,44,15.9 TGT_LATLONG 4743.500,-12225.000

_CALLS 5 TGT_RADIUS 100.000

_SM_DEPTHo -0.14 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -3.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 180216,235431,4739.311,-12219.018,4,0.8,8,15.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.261 MHEAD_RNG_PITCHd_Wd 300.2,10757,-18.2,-10.000,-20.99

TGT_NAME NW D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.0,0.998133 _24V_AH 26.74,7.585

SM_CCo 18547.29,0.38,0.039,0,499.4,483.9,514.9,515.28 _10V_AH 11.08,19.195

SM_GC -0.10,0.38,6.61,3.12,0.039,0.045,0.025,499.4,483.9,514.9,447.3,2028.9,0,0,0,27.13,28.04,28.18 FG_AHR_24Vo 20.150

SUPER 51,70,254,1,0,0 FG_AHR_10Vo 29.584

IRIDIUM_FIX 4719.74,-12218.96,180216,235001 MEM 1135488,37,45460,53

TCM_TEMP 22.90 DATA_FILE_SIZE 104905,2978

XPDR_PINGS 5 CAP_FILE_SIZE 537679,0

ALTIM_BOTTOM_PING 920.0,3.9 SDSIZE 4028416,3997568

SC_FREEKB 3989568 ERRORS 0,0,0,0,0,0,0,0

HUMID 48.71 WARN PPS timeout

TEMP 19.54 CURRENT 0.000, -0.0,1

INTERNAL_PRESSURE 10.3084 GPS 190216,050431,4739.312,-12219.018,35,0.8,35,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 460 430 5308.12 nil 0 0 0.00

Pitch_motor 21 61 35.59 nil 0 0 0.00

Roll_motor 255 91 624.82 nil 0 0 0.00

Iridium 245 40 268.41 nil 0 0 0.00

Transponder_ping 2 420 25.27 nil 0 0 0.00

GPS 9 11 1.16 nil 0 0 0.00

Core 5364 163 9730.83 SciCon 18446 4 886.20

LPSleep 13727 2 333.09 nil 0 0 0.00

Compass 4098 4 185.27 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 4 30 1.33

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.00 2 -146.63 -0.91 0.00 488.2 472.8 503.6 446.7 2030.8 0.00 0.00 0 35.66 30.93 0.00 0.00 0.000 0.000 0.000 1337.81 1428.25 1247.38 446.69 2030.12 0 0 0 26.79 30.00 30.00

35.94 295 -146.63 -0.91 40.00 1337.7 1428.2 1247.2 446.5 2030.4 3.22 -9.29 3 133.90 83.61 6.99 3.33 0.000 0.062 0.042 3195.22 3282.88 3107.56 2558.38 3443.38 0 0 0 26.81 27.86 26.91

400.51 1156 -146.63 -0.86 0.00 3195.5 3282.2 3108.8 2557.9 3443.4 39.90 -10.03 76 406.55 0.00 0.00 3.14 0.000 0.000 0.025 3195.41 3281.94 3108.88 2556.12 2016.44 0 0 0 30.00 30.00 28.15

585.52 389 -146.63 -0.80 40.00 3195.4 3282.5 3108.2 2556.1 2016.4 58.25 -10.24 95 591.75 0.00 0.14 3.37 0.000 0.054 0.040 3197.00 3284.62 3109.38 2589.31 3444.00 0 0 0 30.00 28.33 27.98

860.67 1188 -146.63 -0.75 0.00 3195.4 3282.7 3108.1 2588.5 3443.9 85.58 -9.97 150 866.27 0.00 0.00 3.13 0.000 0.000 0.025 3196.72 3283.81 3109.62 2590.38 2016.00 0 0 0 30.00 30.00 28.17

1045.68 389 -146.63 -0.69 40.00 3195.5 3282.7 3108.2 2591.1 2016.6 103.78 -10.08 169 1051.37 0.00 0.14 3.37 0.000 0.056 0.039 3196.69 3284.00 3109.38 2625.00 3442.25 0 0 0 30.00 28.36 27.96

1320.29 1188 -146.63 -0.64 0.00 3195.6 3283.1 3108.2 2624.7 3442.2 131.46 -9.97 224 1326.68 0.00 0.00 3.14 0.000 0.000 0.025 3195.50 3282.44 3108.56 2622.44 2014.50 0 0 0 30.00 30.00 28.18

1505.09 389 -146.63 -0.59 40.00 3195.2 3282.2 3108.2 2623.6 2015.1 150.14 -10.07 243 1511.82 0.00 0.14 3.37 0.000 0.057 0.040 3195.81 3282.69 3108.94 2659.81 3442.75 0 0 0 30.00 28.38 27.95

1780.72 1188 -146.63 -0.53 0.00 3195.9 3283.0 3108.8 2658.9 3442.1 177.95 -9.90 298 1786.66 0.00 0.00 3.14 0.000 0.000 0.025 3195.56 3282.38 3108.75 2658.44 2014.69 0 0 0 30.00 30.00 28.18

1965.65 421 -146.63 -0.48 40.00 3195.6 3282.9 3108.2 2659.6 2015.1 196.29 -9.57 317 1971.75 0.00 0.14 3.37 0.000 0.056 0.040 3196.06 3282.25 3109.88 2691.00 3443.56 0 0 0 30.00 28.41 27.95

2240.65 1156 -146.63 -0.43 0.00 3195.4 3282.6 3108.2 2694.1 3442.0 223.89 -10.03 372 2246.66 0.00 0.00 3.12 0.000 0.000 0.025 3196.81 3283.44 3110.19 2692.94 2017.25 0 0 0 30.00 30.00 28.19

2425.69 389 -146.63 -0.37 40.00 3196.0 3283.4 3108.6 2693.9 2016.3 242.63 -10.46 391 2431.75 0.00 0.14 3.38 0.000 0.057 0.040 3195.59 3282.38 3108.81 2729.50 3442.75 0 0 0 30.00 28.42 27.94

2700.70 1156 -146.63 -0.32 0.00 3195.1 3282.3 3107.8 2729.6 3443.1 269.97 -10.32 446 2706.65 0.00 0.00 3.14 0.000 0.000 0.025 3197.81 3284.56 3111.06 2729.19 4.81 0 0 0 30.00 30.00 28.19

2885.63 421 -146.63 -0.27 40.00 3195.9 3282.8 3108.9 2729.8 2014.8 288.38 -9.86 465 2891.37 0.00 0.13 3.38 0.000 0.056 0.040 3195.19 3282.19 3108.19 2762.00 3442.50 0 0 0 30.00 28.45 27.93

3160.07 1188 -146.63 -0.21 0.00 3195.3 3283.2 3107.5 2762.4 3442.1 315.55 -9.90 520 3166.66 0.00 0.00 3.13 0.000 0.000 0.026 3195.84 3282.50 3109.19 2760.06 2016.19 0 0 0 30.00 30.00 28.18

3345.65 421 -146.63 -0.16 40.00 3195.9 3283.2 3108.6 2761.6 2016.8 333.93 -9.97 539 3351.38 0.00 0.13 3.37 0.000 0.057 0.040 3196.19 3284.19 3108.19 2794.19 3443.31 0 0 0 30.00 28.44 27.93

3620.28 1156 -146.63 -0.11 0.00 3195.8 3282.7 3108.8 2796.6 3443.1 361.65 -10.22 594 3626.66 0.00 0.00 3.13 0.000 0.000 0.025 3195.38 3282.88 3107.88 2796.06 2016.94 0 0 0 30.00 30.00 28.18

3805.64 421 -146.63 -0.05 40.00 3194.9 3282.5 3107.2 2797.8 2016.1 379.85 -9.78 613 3811.76 0.00 0.14 3.38 0.000 0.057 0.040 3195.78 3283.50 3108.06 2829.62 3442.69 0 0 0 30.00 28.45 27.92

4080.72 1188 -146.63 0.00 0.00 3195.2 3282.0 3108.4 2829.1 3443.0 407.34 -9.97 668 4086.66 0.00 0.00 3.14 0.000 0.000 0.025 3195.44 3281.69 3109.19 2829.38 2015.94 0 0 0 30.00 30.00 28.19

4265.64 421 -146.63 0.05 40.00 3195.9 3283.4 3108.4 2826.9 2015.0 425.72 -9.97 687 4271.76 0.00 0.14 3.38 0.000 0.058 0.040 3195.34 3282.69 3108.00 2863.44 3445.25 0 0 0 30.00 28.44 27.92

4540.43 1156 -146.63 0.11 0.00 3195.1 3282.1 3108.1 2864.0 3445.4 453.16 -10.11 742 4546.28 0.00 0.00 3.13 0.000 0.000 0.025 3196.88 3283.25 3110.50 2863.75 2015.44 0 0 0 30.00 30.00 28.18

4725.67 421 -146.63 0.16 40.00 3195.8 3282.7 3108.9 2863.4 2015.8 471.88 -9.91 761 4731.36 0.00 0.14 3.38 0.000 0.058 0.041 3195.28 3282.38 3108.19 2899.50 3441.81 0 0 0 30.00 28.43 27.90

5000.12 1156 -146.63 0.22 0.00 3195.1 3282.3 3107.8 2899.2 3442.4 499.51 -10.02 816 5006.66 0.00 0.00 3.13 0.000 0.000 0.026 3196.91 3283.88 3109.94 2899.25 2015.25 0 0 0 30.00 30.00 28.18

5185.62 389 -146.63 0.27 40.00 3195.2 3282.7 3107.7 2898.5 2014.9 518.20 -10.38 835 5191.37 0.00 0.14 3.38 0.000 0.057 0.041 3195.31 3282.56 3108.06 2930.25 3441.19 0 0 0 30.00 28.45 27.90

5460.28 1188 -146.63 0.32 0.00 3194.8 3282.0 3107.5 2930.6 3440.3 545.55 -9.87 890 5466.66 0.00 0.00 3.13 0.000 0.000 0.026 3195.59 3282.25 3108.94 2928.56 2014.81 0 0 0 30.00 30.00 28.17

5644.77 389 -146.63 0.38 40.00 3195.1 3282.5 3107.8 2930.2 2014.8 563.76 -10.15 909 5651.57 0.00 0.14 3.39 0.000 0.060 0.041 3196.38 3283.50 3109.25 2966.50 3440.94 0 0 0 30.00 28.43 27.89

5919.97 1156 -146.63 0.43 0.00 3194.8 3281.9 3107.7 2967.8 3440.4 591.37 -10.18 964 5926.67 0.00 0.00 3.12 0.000 0.000 0.025 3197.50 3283.81 3111.19 2967.94 2016.25 0 0 0 30.00 30.00 28.17

6105.83 389 -146.63 0.48 40.00 3194.8 3282.1 3107.6 2967.2 2016.0 610.39 -10.57 983 6111.37 0.00 0.14 3.38 0.000 0.057 0.040 3195.28 3282.75 3107.81 3000.69 3444.50 0 0 0 30.00 28.45 27.89

6380.33 1188 -146.63 0.54 0.00 3194.7 3281.6 3107.7 2999.3 3443.2 637.57 -9.70 1038 6386.27 0.00 0.00 3.15 0.000 0.000 0.025 3195.94 3282.25 3109.62 2997.94 2016.44 0 0 0 30.00 30.00 28.17

6565.67 421 -146.63 0.59 40.00 3194.9 3281.8 3108.1 3001.4 2016.4 655.97 -9.81 1057 6571.36 0.00 0.14 3.38 0.000 0.059 0.040 3196.12 3282.31 3109.94 3034.75 3443.31 0 0 0 30.00 28.43 27.89

6840.32 1156 -146.63 0.64 0.00 3195.2 3281.9 3108.6 3035.3 3443.6 683.37 -10.01 1112 6846.66 0.00 0.00 3.14 0.000 0.000 0.025 3195.09 3281.50 3108.69 3035.88 2015.38 0 0 0 30.00 30.00 28.16

7024.86 389 -146.63 0.70 40.00 3194.3 3280.9 3107.8 3035.4 2014.8 701.89 -10.08 1131 7031.68 0.00 0.14 3.38 0.000 0.060 0.041 3194.72 3281.50 3107.94 3070.44 3442.44 0 0 0 30.00 28.42 27.88

7300.00 1188 -146.63 0.75 0.00 3194.8 3281.2 3108.4 3070.1 3442.4 729.26 -9.92 1186 7306.66 0.00 0.00 3.13 0.000 0.000 0.025 3196.12 3282.00 3110.25 3069.00 2016.38 0 0 0 30.00 30.00 28.16

7484.98 389 -146.63 0.80 40.00 3194.5 3280.9 3108.0 3070.1 2015.9 747.79 -10.58 1205 7491.76 0.00 0.14 3.38 0.000 0.059 0.041 3194.53 3280.81 3108.25 3103.88 3444.38 0 0 0 30.00 28.45 27.87

7760.12 1188 -146.63 0.86 0.00 3195.1 3281.2 3108.9 3103.5 3443.7 775.47 -9.94 1260 7766.27 0.00 0.00 3.13 0.000 0.000 0.026 3195.78 3282.44 3109.12 3102.81 2014.50 0 0 0 30.00 30.00 28.15

7945.28 421 -146.63 0.91 40.00 3195.2 3281.1 3109.3 3103.6 2015.2 793.95 -9.98 1279 7951.75 0.00 0.14 3.37 0.000 0.059 0.040 3195.41 3280.75 3110.06 3140.56 3440.88 0 0 0 30.00 28.42 27.87

8220.02 1156 -146.63 0.97 0.00 3194.8 3280.7 3108.9 3137.1 3440.6 821.39 -10.06 1334 8226.56 0.00 0.00 3.14 0.000 0.000 0.026 3196.19 3282.00 3110.38 3138.94 2015.00 0 0 0 30.00 30.00 28.15

8405.88 389 -146.63 1.02 40.00 3194.6 3280.8 3108.4 3139.0 2014.9 839.87 -10.01 1353 8411.75 0.00 0.14 3.38 0.000 0.058 0.041 3195.00 3281.00 3109.00 3171.00 3442.94 0 0 0 30.00 28.44 27.86

8680.62 1156 -146.63 1.07 0.00 3194.6 3280.8 3108.4 3172.2 3441.9 867.17 -10.00 1408 8686.66 0.00 0.00 3.12 0.000 0.000 0.025 3195.41 3281.19 3109.62 3171.06 2014.75 0 0 0 30.00 30.00 28.15

8865.79 421 -146.63 1.13 40.00 3194.4 3280.3 3108.6 3172.8 2014.9 885.59 -9.71 1427 8871.86 0.00 0.14 3.38 0.000 0.060 0.041 3194.69 3281.06 3108.31 3208.56 3442.81 0 0 0 30.00 28.44 27.86

9141.64 1188 -146.63 1.18 0.00 3194.4 3280.8 3108.0 3205.8 3441.9 913.29 -9.95 1482 9147.64 0.00 0.00 3.14 0.000 0.000 0.026 3195.44 3281.44 3109.44 3208.44 2015.81 0 0 0 30.00 30.00 28.15

9212 end dive: BOTTOM_OBSTACLE_DETECTED

state 9212 begin apogee

9213.23 3 0.00 -0.20 0.00 3194.2 3280.1 3108.3 3208.0 2031.6 920.03 10.55 1489 9323.53 106.75 1.66 0.05 0.431 0.039 0.091 2598.72 2655.56 2541.88 2779.00 2011.88 0 0 0 22.45 27.98 27.21

9324 end apogee: CONTROL_FINISHED_OK

state 9324 begin climb

9324.01 519 146.63 0.91 -40.00 2589.6 2646.0 2533.2 2778.2 2011.4 908.87 0.00 1500 9445.83 112.49 1.54 3.21 0.412 0.056 0.024 1992.88 2046.88 1938.88 3138.25 605.06 0 0 0 24.13 27.49 26.83

9712.38 1158 146.63 0.86 0.00 1979.6 2039.0 1920.2 3140.1 605.2 869.36 10.00 1578 9718.81 0.00 0.00 3.21 0.000 0.000 0.026 1979.56 2038.81 1920.31 3139.62 2029.50 0 0 0 30.00 30.00 27.73

9902.56 677 150.97 0.81 -40.00 1978.9 2038.1 1919.8 3139.9 2029.1 850.51 9.80 1598 9908.85 0.00 0.14 3.16 0.000 0.046 0.023 1981.25 2039.94 1922.56 3101.94 604.00 0 0 0 30.00 28.05 27.90

10177.77 1188 153.64 0.76 0.00 1978.6 2038.1 1919.0 3102.9 603.9 822.91 9.88 1653 10183.80 0.00 0.00 3.18 0.000 0.000 0.026 1978.28 2037.94 1918.62 3102.31 2031.56 0 0 0 30.00 30.00 27.95

10362.75 678 154.83 0.70 -40.00 1978.3 2038.2 1918.4 3102.8 2031.8 804.46 9.95 1672 10368.84 0.90 0.00 3.13 0.187 0.000 0.023 1964.88 2022.81 1906.94 3102.00 605.25 0 0 0 25.31 30.00 27.68

10637.30 1189 156.40 0.65 0.00 1967.1 2023.0 1911.2 3102.6 605.3 777.29 9.93 1727 10643.49 0.00 0.17 3.15 0.000 0.047 0.025 1966.69 2022.44 1910.94 3051.38 2028.00 0 0 0 30.00 27.91 28.02

10822.84 644 156.40 0.60 -40.00 1967.0 2022.8 1911.1 3051.7 2028.0 758.63 10.10 1746 10828.40 0.00 0.00 3.11 0.000 0.000 0.023 1968.69 2023.69 1913.69 3051.19 604.69 0 0 0 30.00 30.00 28.09

11097.62 1190 159.13 0.55 0.00 1967.2 2023.1 1911.2 3051.4 604.6 730.93 9.88 1801 11104.51 1.75 0.00 3.16 0.150 0.000 0.025 1949.91 2005.06 1894.75 3049.12 2029.56 0 0 0 24.89 30.00 28.05

11287.04 645 159.13 0.50 -40.00 1949.1 2002.2 1895.9 3051.2 2030.1 712.15 10.16 1821 11293.44 0.00 0.17 3.12 0.000 0.048 0.023 1949.53 2003.06 1896.00 3003.12 604.00 0 0 0 30.00 28.32 28.14

11562.39 1156 159.13 0.44 0.00 1949.2 2002.1 1896.4 3003.4 603.8 684.81 10.21 1876 11568.80 0.00 0.00 3.16 0.000 0.000 0.026 1949.81 2002.94 1896.69 3003.75 2028.50 0 0 0 30.00 30.00 28.08

11747.40 644 159.13 0.39 -40.00 1949.8 2003.2 1896.4 3003.1 2028.9 666.41 10.02 1895 11753.79 0.00 0.00 3.12 0.000 0.000 0.023 1950.19 2003.06 1897.31 3003.44 604.44 0 0 0 30.00 30.00 28.15

12022.72 1157 159.13 0.34 0.00 1949.3 2002.3 1896.3 3004.4 604.4 639.09 10.11 1950 12028.48 0.00 0.17 3.16 0.000 0.046 0.026 1949.62 2002.88 1896.38 2950.00 2030.44 0 0 0 30.00 27.97 28.08

12207.82 678 164.54 0.29 -40.00 1949.3 2002.5 1896.1 2949.6 2029.9 620.94 9.75 1969 12214.51 2.30 0.00 3.12 0.139 0.000 0.023 1923.00 1978.12 1867.88 2949.44 603.94 0 0 0 25.36 30.00 27.80

12482.46 1156 164.54 0.23 0.00 1927.2 1980.2 1874.2 2948.9 603.9 593.62 10.18 2024 12488.79 0.00 0.00 3.15 0.000 0.000 0.025 1927.88 1980.00 1875.75 2948.00 2028.88 0 0 0 30.00 30.00 28.12

12672.56 679 169.21 0.19 -40.00 1927.3 1980.4 1874.2 2947.7 2029.2 574.77 9.79 2044 12679.56 1.97 0.16 3.11 0.146 0.049 0.023 1905.53 1959.62 1851.44 2903.00 605.25 0 0 0 25.16 28.43 27.86

12947.90 1190 172.90 0.14 0.00 1908.1 1960.2 1855.9 2903.4 605.4 547.31 9.83 2099 12954.50 1.60 0.00 3.14 0.156 0.000 0.025 1894.03 1948.12 1839.94 2903.44 2029.12 0 0 0 25.20 30.00 28.15

13132.87 644 172.90 0.08 -40.00 1893.5 1945.1 1841.8 2903.1 2029.2 528.62 10.17 2118 13138.38 0.00 0.00 3.09 0.000 0.000 0.023 1894.75 1946.19 1843.31 2905.69 604.25 0 0 0 30.00 30.00 28.26

13407.36 1189 174.51 0.03 0.00 1893.6 1945.2 1842.0 2902.8 604.2 501.14 9.93 2173 13413.86 0.00 0.17 3.14 0.000 0.047 0.026 1894.31 1945.62 1843.00 2853.69 2029.94 0 0 0 30.00 28.05 28.17

13592.18 644 174.51 -0.02 -40.00 1893.4 1945.2 1841.6 2853.6 2029.8 482.88 10.11 2192 13598.79 0.00 0.00 3.12 0.000 0.000 0.023 1894.47 1945.94 1843.00 2857.25 603.94 0 0 0 30.00 30.00 28.21

13867.67 1156 174.51 -0.07 0.00 1893.5 1945.4 1841.6 2854.5 604.1 455.03 10.20 2247 13873.42 0.00 0.00 3.14 0.000 0.000 0.025 1893.31 1945.00 1841.62 2853.50 2029.56 0 0 0 30.00 30.00 28.13

14053.21 645 174.51 -0.13 -40.00 1893.2 1945.5 1841.0 2853.4 2030.1 436.36 10.07 2266 14058.47 0.00 0.17 3.11 0.000 0.050 0.023 1894.38 1946.25 1842.50 2804.44 604.00 0 0 0 30.00 28.42 28.19

14327.47 1156 174.51 -0.18 0.00 1893.5 1945.4 1841.6 2803.7 603.8 409.08 10.09 2321 14333.80 0.00 0.00 3.15 0.000 0.000 0.025 1893.75 1945.94 1841.56 2803.75 2030.12 0 0 0 30.00 30.00 28.11

14512.76 644 174.51 -0.23 -40.00 1893.3 1945.4 1841.1 2803.3 2030.1 390.51 10.03 2340 14518.39 0.00 0.00 3.10 0.000 0.000 0.023 1894.12 1946.12 1842.12 2801.62 604.19 0 0 0 30.00 30.00 28.18

14787.65 1189 175.33 -0.29 0.00 1893.0 1944.9 1841.1 2803.4 604.1 363.06 9.96 2395 14793.54 0.00 0.18 3.14 0.000 0.046 0.026 1894.38 1945.81 1842.94 2753.88 2027.44 0 0 0 30.00 27.99 28.10

14972.08 678 175.78 -0.34 -40.00 1893.5 1945.4 1841.6 2751.2 2027.2 344.52 9.98 2414 14978.47 1.27 0.00 3.10 0.165 0.000 0.023 1878.25 1931.50 1825.00 2751.62 603.94 0 0 0 25.39 30.00 27.72

15248.03 1190 179.35 -0.39 0.00 1882.7 1935.0 1830.4 2751.2 603.8 317.04 9.84 2469 15254.51 1.65 0.00 3.14 0.160 0.000 0.025 1863.91 1917.38 1810.44 2748.88 2029.69 0 0 0 23.59 30.00 28.13

15437.27 645 179.35 -0.44 -40.00 1867.6 1919.9 1815.2 2749.9 2030.2 298.06 10.26 2489 15443.83 0.00 0.16 3.10 0.000 0.049 0.023 1868.62 1920.81 1816.44 2702.81 604.19 0 0 0 30.00 28.46 28.25

15712.21 1188 181.00 -0.49 0.00 1867.7 1920.5 1814.9 2702.6 603.7 270.72 9.92 2544 15718.80 0.00 0.00 3.12 0.000 0.000 0.025 1869.00 1921.25 1816.75 2700.94 2029.00 0 0 0 30.00 30.00 28.16

15896.78 644 181.00 -0.55 -40.00 1868.0 1920.4 1815.5 2703.5 2029.1 252.28 10.16 2563 15903.47 0.00 0.00 3.10 0.000 0.000 0.023 1868.53 1921.19 1815.88 2703.06 604.00 0 0 0 30.00 30.00 28.21

16172.36 1157 181.00 -0.60 0.00 1867.7 1920.1 1815.3 2704.1 604.0 224.50 10.14 2618 16178.49 0.00 0.18 3.14 0.000 0.049 0.025 1868.41 1920.75 1816.06 2651.31 2028.00 0 0 0 30.00 28.00 28.12

16357.89 678 182.51 -0.65 -40.00 1868.2 1920.6 1815.9 2650.4 2027.8 205.89 9.93 2637 16363.45 1.39 0.00 3.09 0.161 0.000 0.023 1850.69 1904.94 1796.44 2648.38 603.62 0 0 0 25.40 30.00 27.83

16632.46 1156 182.51 -0.71 0.00 1855.4 1908.5 1802.3 2650.8 604.0 178.61 10.15 2692 16638.42 0.00 0.00 3.15 0.000 0.000 0.025 1855.66 1908.75 1802.56 2648.94 2029.62 0 0 0 30.00 30.00 28.14

16817.80 645 182.51 -0.76 -40.00 1855.9 1908.7 1803.1 2646.8 2030.0 160.04 10.04 2711 16823.47 0.00 0.16 3.11 0.000 0.050 0.023 1855.91 1908.81 1803.00 2602.88 603.88 0 0 0 30.00 28.46 28.19

17092.77 1190 186.56 -0.81 0.00 1855.5 1908.0 1802.9 2603.3 604.1 132.56 9.81 2766 17099.51 1.93 0.00 3.14 0.146 0.000 0.025 1836.12 1892.00 1780.25 2600.38 2029.69 0 0 0 24.99 30.00 28.12

17282.27 678 190.22 -0.86 -40.00 1837.7 1890.8 1784.5 2603.0 2029.5 113.98 9.83 2786 17288.84 1.60 0.00 3.10 0.155 0.000 0.023 1818.75 1875.81 1761.69 2602.31 603.88 0 0 0 25.51 30.00 27.91

17557.03 1157 190.22 -0.91 0.00 1823.8 1877.6 1770.1 2603.3 603.8 86.04 10.07 2841 17563.44 0.00 0.17 3.13 0.000 0.048 0.026 1824.38 1877.62 1771.12 2552.31 2028.69 0 0 0 30.00 28.06 28.17

17742.75 678 197.58 -0.96 -40.00 1823.2 1877.0 1769.4 2552.2 2028.2 67.96 9.66 2860 17750.51 3.12 0.00 3.09 0.194 0.000 0.024 1790.19 1847.25 1733.12 2549.12 605.19 0 0 0 23.97 30.00 27.42

18017.52 1188 197.85 -1.01 0.00 1792.8 1846.6 1738.9 2551.9 605.4 40.41 9.99 2915 18023.79 0.00 0.00 3.13 0.000 0.000 0.025 1792.69 1847.12 1738.25 2552.00 2029.00 0 0 0 30.00 30.00 28.26

18207.55 645 197.85 -1.06 -40.00 1792.3 1846.3 1738.2 2552.2 2029.6 21.16 10.29 2935 18213.85 0.00 0.16 3.11 0.000 0.050 0.023 1792.75 1847.12 1738.38 2504.75 602.69 0 0 0 30.00 28.47 28.27

18402 end climb: SURFACE_DEPTH_REACHED

state 18402 begin surface coast

18423 end surface coast: CONTROL_FINISHED_OK

state 18423 begin surface

ID	185	HD_B	0.010078	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	900
MISSION	0	HD_C	9.8541004e-06	ROLL_MIN	300	ALTIM_PING_DELTA	20
DIVE	97	HEADING	-1	ROLL_MAX	3750	ALTIM_FREQUENCY	13
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PULSE	3
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_SENSITIVITY	2
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	XPDR_VALID	6
D_TGT	990	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	XPDR_INHIBIT	90
D_ABORT	1010	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_BOOST	20	SM_CC	515.13	ROLL_MAXERRORS	1	DEEPGLIDER	0
T_BOOST	4	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_FINISH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
D_PITCH	0	CALL_NDIVES	1	VBD_MIN	500	DEVICE1	-1
D_SAFE	0	COMM_SEQ	0	VBD_MAX	3500	DEVICE2	-1
D_CALL	0	PROTOCOL	9	C_VBD	2600	DEVICE3	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	360	DEVICE6	-1
T_DIVE	330	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	1
T_MISSION	400	CALL_TRIES	5	UNCOM_BLEED	20	LOGGERDEVICE1	0
T_ABORT	1440	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_TURN	270	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	DBDW	0	LOGGERDEVICE4	-1
T_NO_W	120	T_GPS	5	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_LOITER	0	N_GPS	100440	AH0_24V	150	COMPASS2_DEVICE	48
T_EPIRB	0	T_RSLEEP	3	AH0_10V	100	PHONE_DEVICE	33
USE_BATHY	-6	STROBE	0	MINV_24V	19	GPS_DEVICE	48
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MAXI_24V	5	XPDR_DEVICE	4
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MAXI_10V	0.80000001	SIM_W	0.1
RELAUNCH	1	PITCH_MIN	450	FG_AHR_10V	29.502419	SEABIRD_T_G	0.0043319771
APOGEE_PITCH	-5	PITCH_MAX	3300	FG_AHR_24V	20.090508	SEABIRD_T_H	0.00061972893
MAX_BUOY	150	C_PITCH	2850	PHONE_SUPPLY	2	SEABIRD_T_I	2.0309124e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-150.34485	SEABIRD_T_J	1.8214913e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00010658	SEABIRD_C_G	-9.9888363
RHO	1.023	PITCH_GAIN	25	COMPASS_USE	4	SEABIRD_C_H	1.1040936
MASS	51725	PITCH_TIMEOUT	30	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0023403035
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00025686048
FERRY_MAX	45	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0

GPS1	180216,234432,4739.311,-12219.017,44,0.8,44,15.9	TGT_LATLONG	4743.500,-12225.000
_CALLS	5	TGT_RADIUS	100.000
_SM_DEPTHo	-0.14	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-3.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	180216,235431,4739.311,-12219.018,4,0.8,8,15.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.261	MHEAD_RNG_PITCHd_Wd	300.2,10757,-18.2,-10.000,-20.99
TGT_NAME	NW	D_GRID	1000

FINISH	-0.0,0.998133	_24V_AH	26.74,7.585
SM_CCo	18547.29,0.38,0.039,0,499.4,483.9,514.9,515.28	_10V_AH	11.08,19.195
SM_GC	-0.10,0.38,6.61,3.12,0.039,0.045,0.025,499.4,483.9,514.9,447.3,2028.9,0,0,0,27.13,28.04,28.18	FG_AHR_24Vo	20.150
SUPER	51,70,254,1,0,0	FG_AHR_10Vo	29.584
IRIDIUM_FIX	4719.74,-12218.96,180216,235001	MEM	1135488,37,45460,53
TCM_TEMP	22.90	DATA_FILE_SIZE	104905,2978
XPDR_PINGS	5	CAP_FILE_SIZE	537679,0
ALTIM_BOTTOM_PING	920.0,3.9	SDSIZE	4028416,3997568
SC_FREEKB	3989568	ERRORS	0,0,0,0,0,0,0,0
HUMID	48.71	WARN	PPS timeout
TEMP	19.54	CURRENT	0.000, -0.0,1
INTERNAL_PRESSURE	10.3084	GPS	190216,050431,4739.312,-12219.018,35,0.8,35,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	460	430	5308.12	nil	0	0	0.00
Pitch_motor	21	61	35.59	nil	0	0	0.00
Roll_motor	255	91	624.82	nil	0	0	0.00
Iridium	245	40	268.41	nil	0	0	0.00
Transponder_ping	2	420	25.27	nil	0	0	0.00
GPS	9	11	1.16	nil	0	0	0.00
Core	5364	163	9730.83	SciCon	18446	4	886.20
LPSleep	13727	2	333.09	nil	0	0	0.00
Compass	4098	4	185.27	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	4	30	1.33

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.00	2	-146.63	-0.91	0.00	488.2	472.8	503.6	446.7	2030.8	0.00	0.00	0	35.66	30.93	0.00	0.00	0.000	0.000	0.000	1337.81	1428.25	1247.38	446.69	2030.12	0	0	0	26.79	30.00	30.00
35.94	295	-146.63	-0.91	40.00	1337.7	1428.2	1247.2	446.5	2030.4	3.22	-9.29	3	133.90	83.61	6.99	3.33	0.000	0.062	0.042	3195.22	3282.88	3107.56	2558.38	3443.38	0	0	0	26.81	27.86	26.91
400.51	1156	-146.63	-0.86	0.00	3195.5	3282.2	3108.8	2557.9	3443.4	39.90	-10.03	76	406.55	0.00	0.00	3.14	0.000	0.000	0.025	3195.41	3281.94	3108.88	2556.12	2016.44	0	0	0	30.00	30.00	28.15
585.52	389	-146.63	-0.80	40.00	3195.4	3282.5	3108.2	2556.1	2016.4	58.25	-10.24	95	591.75	0.00	0.14	3.37	0.000	0.054	0.040	3197.00	3284.62	3109.38	2589.31	3444.00	0	0	0	30.00	28.33	27.98
860.67	1188	-146.63	-0.75	0.00	3195.4	3282.7	3108.1	2588.5	3443.9	85.58	-9.97	150	866.27	0.00	0.00	3.13	0.000	0.000	0.025	3196.72	3283.81	3109.62	2590.38	2016.00	0	0	0	30.00	30.00	28.17
1045.68	389	-146.63	-0.69	40.00	3195.5	3282.7	3108.2	2591.1	2016.6	103.78	-10.08	169	1051.37	0.00	0.14	3.37	0.000	0.056	0.039	3196.69	3284.00	3109.38	2625.00	3442.25	0	0	0	30.00	28.36	27.96
1320.29	1188	-146.63	-0.64	0.00	3195.6	3283.1	3108.2	2624.7	3442.2	131.46	-9.97	224	1326.68	0.00	0.00	3.14	0.000	0.000	0.025	3195.50	3282.44	3108.56	2622.44	2014.50	0	0	0	30.00	30.00	28.18
1505.09	389	-146.63	-0.59	40.00	3195.2	3282.2	3108.2	2623.6	2015.1	150.14	-10.07	243	1511.82	0.00	0.14	3.37	0.000	0.057	0.040	3195.81	3282.69	3108.94	2659.81	3442.75	0	0	0	30.00	28.38	27.95
1780.72	1188	-146.63	-0.53	0.00	3195.9	3283.0	3108.8	2658.9	3442.1	177.95	-9.90	298	1786.66	0.00	0.00	3.14	0.000	0.000	0.025	3195.56	3282.38	3108.75	2658.44	2014.69	0	0	0	30.00	30.00	28.18
1965.65	421	-146.63	-0.48	40.00	3195.6	3282.9	3108.2	2659.6	2015.1	196.29	-9.57	317	1971.75	0.00	0.14	3.37	0.000	0.056	0.040	3196.06	3282.25	3109.88	2691.00	3443.56	0	0	0	30.00	28.41	27.95
2240.65	1156	-146.63	-0.43	0.00	3195.4	3282.6	3108.2	2694.1	3442.0	223.89	-10.03	372	2246.66	0.00	0.00	3.12	0.000	0.000	0.025	3196.81	3283.44	3110.19	2692.94	2017.25	0	0	0	30.00	30.00	28.19
2425.69	389	-146.63	-0.37	40.00	3196.0	3283.4	3108.6	2693.9	2016.3	242.63	-10.46	391	2431.75	0.00	0.14	3.38	0.000	0.057	0.040	3195.59	3282.38	3108.81	2729.50	3442.75	0	0	0	30.00	28.42	27.94
2700.70	1156	-146.63	-0.32	0.00	3195.1	3282.3	3107.8	2729.6	3443.1	269.97	-10.32	446	2706.65	0.00	0.00	3.14	0.000	0.000	0.025	3197.81	3284.56	3111.06	2729.19	4.81	0	0	0	30.00	30.00	28.19
2885.63	421	-146.63	-0.27	40.00	3195.9	3282.8	3108.9	2729.8	2014.8	288.38	-9.86	465	2891.37	0.00	0.13	3.38	0.000	0.056	0.040	3195.19	3282.19	3108.19	2762.00	3442.50	0	0	0	30.00	28.45	27.93
3160.07	1188	-146.63	-0.21	0.00	3195.3	3283.2	3107.5	2762.4	3442.1	315.55	-9.90	520	3166.66	0.00	0.00	3.13	0.000	0.000	0.026	3195.84	3282.50	3109.19	2760.06	2016.19	0	0	0	30.00	30.00	28.18
3345.65	421	-146.63	-0.16	40.00	3195.9	3283.2	3108.6	2761.6	2016.8	333.93	-9.97	539	3351.38	0.00	0.13	3.37	0.000	0.057	0.040	3196.19	3284.19	3108.19	2794.19	3443.31	0	0	0	30.00	28.44	27.93
3620.28	1156	-146.63	-0.11	0.00	3195.8	3282.7	3108.8	2796.6	3443.1	361.65	-10.22	594	3626.66	0.00	0.00	3.13	0.000	0.000	0.025	3195.38	3282.88	3107.88	2796.06	2016.94	0	0	0	30.00	30.00	28.18
3805.64	421	-146.63	-0.05	40.00	3194.9	3282.5	3107.2	2797.8	2016.1	379.85	-9.78	613	3811.76	0.00	0.14	3.38	0.000	0.057	0.040	3195.78	3283.50	3108.06	2829.62	3442.69	0	0	0	30.00	28.45	27.92
4080.72	1188	-146.63	0.00	0.00	3195.2	3282.0	3108.4	2829.1	3443.0	407.34	-9.97	668	4086.66	0.00	0.00	3.14	0.000	0.000	0.025	3195.44	3281.69	3109.19	2829.38	2015.94	0	0	0	30.00	30.00	28.19
4265.64	421	-146.63	0.05	40.00	3195.9	3283.4	3108.4	2826.9	2015.0	425.72	-9.97	687	4271.76	0.00	0.14	3.38	0.000	0.058	0.040	3195.34	3282.69	3108.00	2863.44	3445.25	0	0	0	30.00	28.44	27.92
4540.43	1156	-146.63	0.11	0.00	3195.1	3282.1	3108.1	2864.0	3445.4	453.16	-10.11	742	4546.28	0.00	0.00	3.13	0.000	0.000	0.025	3196.88	3283.25	3110.50	2863.75	2015.44	0	0	0	30.00	30.00	28.18
4725.67	421	-146.63	0.16	40.00	3195.8	3282.7	3108.9	2863.4	2015.8	471.88	-9.91	761	4731.36	0.00	0.14	3.38	0.000	0.058	0.041	3195.28	3282.38	3108.19	2899.50	3441.81	0	0	0	30.00	28.43	27.90
5000.12	1156	-146.63	0.22	0.00	3195.1	3282.3	3107.8	2899.2	3442.4	499.51	-10.02	816	5006.66	0.00	0.00	3.13	0.000	0.000	0.026	3196.91	3283.88	3109.94	2899.25	2015.25	0	0	0	30.00	30.00	28.18
5185.62	389	-146.63	0.27	40.00	3195.2	3282.7	3107.7	2898.5	2014.9	518.20	-10.38	835	5191.37	0.00	0.14	3.38	0.000	0.057	0.041	3195.31	3282.56	3108.06	2930.25	3441.19	0	0	0	30.00	28.45	27.90
5460.28	1188	-146.63	0.32	0.00	3194.8	3282.0	3107.5	2930.6	3440.3	545.55	-9.87	890	5466.66	0.00	0.00	3.13	0.000	0.000	0.026	3195.59	3282.25	3108.94	2928.56	2014.81	0	0	0	30.00	30.00	28.17
5644.77	389	-146.63	0.38	40.00	3195.1	3282.5	3107.8	2930.2	2014.8	563.76	-10.15	909	5651.57	0.00	0.14	3.39	0.000	0.060	0.041	3196.38	3283.50	3109.25	2966.50	3440.94	0	0	0	30.00	28.43	27.89
5919.97	1156	-146.63	0.43	0.00	3194.8	3281.9	3107.7	2967.8	3440.4	591.37	-10.18	964	5926.67	0.00	0.00	3.12	0.000	0.000	0.025	3197.50	3283.81	3111.19	2967.94	2016.25	0	0	0	30.00	30.00	28.17
6105.83	389	-146.63	0.48	40.00	3194.8	3282.1	3107.6	2967.2	2016.0	610.39	-10.57	983	6111.37	0.00	0.14	3.38	0.000	0.057	0.040	3195.28	3282.75	3107.81	3000.69	3444.50	0	0	0	30.00	28.45	27.89
6380.33	1188	-146.63	0.54	0.00	3194.7	3281.6	3107.7	2999.3	3443.2	637.57	-9.70	1038	6386.27	0.00	0.00	3.15	0.000	0.000	0.025	3195.94	3282.25	3109.62	2997.94	2016.44	0	0	0	30.00	30.00	28.17
6565.67	421	-146.63	0.59	40.00	3194.9	3281.8	3108.1	3001.4	2016.4	655.97	-9.81	1057	6571.36	0.00	0.14	3.38	0.000	0.059	0.040	3196.12	3282.31	3109.94	3034.75	3443.31	0	0	0	30.00	28.43	27.89
6840.32	1156	-146.63	0.64	0.00	3195.2	3281.9	3108.6	3035.3	3443.6	683.37	-10.01	1112	6846.66	0.00	0.00	3.14	0.000	0.000	0.025	3195.09	3281.50	3108.69	3035.88	2015.38	0	0	0	30.00	30.00	28.16
7024.86	389	-146.63	0.70	40.00	3194.3	3280.9	3107.8	3035.4	2014.8	701.89	-10.08	1131	7031.68	0.00	0.14	3.38	0.000	0.060	0.041	3194.72	3281.50	3107.94	3070.44	3442.44	0	0	0	30.00	28.42	27.88
7300.00	1188	-146.63	0.75	0.00	3194.8	3281.2	3108.4	3070.1	3442.4	729.26	-9.92	1186	7306.66	0.00	0.00	3.13	0.000	0.000	0.025	3196.12	3282.00	3110.25	3069.00	2016.38	0	0	0	30.00	30.00	28.16
7484.98	389	-146.63	0.80	40.00	3194.5	3280.9	3108.0	3070.1	2015.9	747.79	-10.58	1205	7491.76	0.00	0.14	3.38	0.000	0.059	0.041	3194.53	3280.81	3108.25	3103.88	3444.38	0	0	0	30.00	28.45	27.87
7760.12	1188	-146.63	0.86	0.00	3195.1	3281.2	3108.9	3103.5	3443.7	775.47	-9.94	1260	7766.27	0.00	0.00	3.13	0.000	0.000	0.026	3195.78	3282.44	3109.12	3102.81	2014.50	0	0	0	30.00	30.00	28.15
7945.28	421	-146.63	0.91	40.00	3195.2	3281.1	3109.3	3103.6	2015.2	793.95	-9.98	1279	7951.75	0.00	0.14	3.37	0.000	0.059	0.040	3195.41	3280.75	3110.06	3140.56	3440.88	0	0	0	30.00	28.42	27.87
8220.02	1156	-146.63	0.97	0.00	3194.8	3280.7	3108.9	3137.1	3440.6	821.39	-10.06	1334	8226.56	0.00	0.00	3.14	0.000	0.000	0.026	3196.19	3282.00	3110.38	3138.94	2015.00	0	0	0	30.00	30.00	28.15
8405.88	389	-146.63	1.02	40.00	3194.6	3280.8	3108.4	3139.0	2014.9	839.87	-10.01	1353	8411.75	0.00	0.14	3.38	0.000	0.058	0.041	3195.00	3281.00	3109.00	3171.00	3442.94	0	0	0	30.00	28.44	27.86
8680.62	1156	-146.63	1.07	0.00	3194.6	3280.8	3108.4	3172.2	3441.9	867.17	-10.00	1408	8686.66	0.00	0.00	3.12	0.000	0.000	0.025	3195.41	3281.19	3109.62	3171.06	2014.75	0	0	0	30.00	30.00	28.15
8865.79	421	-146.63	1.13	40.00	3194.4	3280.3	3108.6	3172.8	2014.9	885.59	-9.71	1427	8871.86	0.00	0.14	3.38	0.000	0.060	0.041	3194.69	3281.06	3108.31	3208.56	3442.81	0	0	0	30.00	28.44	27.86
9141.64	1188	-146.63	1.18	0.00	3194.4	3280.8	3108.0	3205.8	3441.9	913.29	-9.95	1482	9147.64	0.00	0.00	3.14	0.000	0.000	0.026	3195.44	3281.44	3109.44	3208.44	2015.81	0	0	0	30.00	30.00	28.15
9212	end dive: BOTTOM_OBSTACLE_DETECTED
state	9212	begin apogee
9213.23	3	0.00	-0.20	0.00	3194.2	3280.1	3108.3	3208.0	2031.6	920.03	10.55	1489	9323.53	106.75	1.66	0.05	0.431	0.039	0.091	2598.72	2655.56	2541.88	2779.00	2011.88	0	0	0	22.45	27.98	27.21
9324	end apogee: CONTROL_FINISHED_OK
state	9324	begin climb
9324.01	519	146.63	0.91	-40.00	2589.6	2646.0	2533.2	2778.2	2011.4	908.87	0.00	1500	9445.83	112.49	1.54	3.21	0.412	0.056	0.024	1992.88	2046.88	1938.88	3138.25	605.06	0	0	0	24.13	27.49	26.83
9712.38	1158	146.63	0.86	0.00	1979.6	2039.0	1920.2	3140.1	605.2	869.36	10.00	1578	9718.81	0.00	0.00	3.21	0.000	0.000	0.026	1979.56	2038.81	1920.31	3139.62	2029.50	0	0	0	30.00	30.00	27.73
9902.56	677	150.97	0.81	-40.00	1978.9	2038.1	1919.8	3139.9	2029.1	850.51	9.80	1598	9908.85	0.00	0.14	3.16	0.000	0.046	0.023	1981.25	2039.94	1922.56	3101.94	604.00	0	0	0	30.00	28.05	27.90
10177.77	1188	153.64	0.76	0.00	1978.6	2038.1	1919.0	3102.9	603.9	822.91	9.88	1653	10183.80	0.00	0.00	3.18	0.000	0.000	0.026	1978.28	2037.94	1918.62	3102.31	2031.56	0	0	0	30.00	30.00	27.95
10362.75	678	154.83	0.70	-40.00	1978.3	2038.2	1918.4	3102.8	2031.8	804.46	9.95	1672	10368.84	0.90	0.00	3.13	0.187	0.000	0.023	1964.88	2022.81	1906.94	3102.00	605.25	0	0	0	25.31	30.00	27.68
10637.30	1189	156.40	0.65	0.00	1967.1	2023.0	1911.2	3102.6	605.3	777.29	9.93	1727	10643.49	0.00	0.17	3.15	0.000	0.047	0.025	1966.69	2022.44	1910.94	3051.38	2028.00	0	0	0	30.00	27.91	28.02
10822.84	644	156.40	0.60	-40.00	1967.0	2022.8	1911.1	3051.7	2028.0	758.63	10.10	1746	10828.40	0.00	0.00	3.11	0.000	0.000	0.023	1968.69	2023.69	1913.69	3051.19	604.69	0	0	0	30.00	30.00	28.09
11097.62	1190	159.13	0.55	0.00	1967.2	2023.1	1911.2	3051.4	604.6	730.93	9.88	1801	11104.51	1.75	0.00	3.16	0.150	0.000	0.025	1949.91	2005.06	1894.75	3049.12	2029.56	0	0	0	24.89	30.00	28.05
11287.04	645	159.13	0.50	-40.00	1949.1	2002.2	1895.9	3051.2	2030.1	712.15	10.16	1821	11293.44	0.00	0.17	3.12	0.000	0.048	0.023	1949.53	2003.06	1896.00	3003.12	604.00	0	0	0	30.00	28.32	28.14
11562.39	1156	159.13	0.44	0.00	1949.2	2002.1	1896.4	3003.4	603.8	684.81	10.21	1876	11568.80	0.00	0.00	3.16	0.000	0.000	0.026	1949.81	2002.94	1896.69	3003.75	2028.50	0	0	0	30.00	30.00	28.08
11747.40	644	159.13	0.39	-40.00	1949.8	2003.2	1896.4	3003.1	2028.9	666.41	10.02	1895	11753.79	0.00	0.00	3.12	0.000	0.000	0.023	1950.19	2003.06	1897.31	3003.44	604.44	0	0	0	30.00	30.00	28.15
12022.72	1157	159.13	0.34	0.00	1949.3	2002.3	1896.3	3004.4	604.4	639.09	10.11	1950	12028.48	0.00	0.17	3.16	0.000	0.046	0.026	1949.62	2002.88	1896.38	2950.00	2030.44	0	0	0	30.00	27.97	28.08
12207.82	678	164.54	0.29	-40.00	1949.3	2002.5	1896.1	2949.6	2029.9	620.94	9.75	1969	12214.51	2.30	0.00	3.12	0.139	0.000	0.023	1923.00	1978.12	1867.88	2949.44	603.94	0	0	0	25.36	30.00	27.80
12482.46	1156	164.54	0.23	0.00	1927.2	1980.2	1874.2	2948.9	603.9	593.62	10.18	2024	12488.79	0.00	0.00	3.15	0.000	0.000	0.025	1927.88	1980.00	1875.75	2948.00	2028.88	0	0	0	30.00	30.00	28.12
12672.56	679	169.21	0.19	-40.00	1927.3	1980.4	1874.2	2947.7	2029.2	574.77	9.79	2044	12679.56	1.97	0.16	3.11	0.146	0.049	0.023	1905.53	1959.62	1851.44	2903.00	605.25	0	0	0	25.16	28.43	27.86
12947.90	1190	172.90	0.14	0.00	1908.1	1960.2	1855.9	2903.4	605.4	547.31	9.83	2099	12954.50	1.60	0.00	3.14	0.156	0.000	0.025	1894.03	1948.12	1839.94	2903.44	2029.12	0	0	0	25.20	30.00	28.15
13132.87	644	172.90	0.08	-40.00	1893.5	1945.1	1841.8	2903.1	2029.2	528.62	10.17	2118	13138.38	0.00	0.00	3.09	0.000	0.000	0.023	1894.75	1946.19	1843.31	2905.69	604.25	0	0	0	30.00	30.00	28.26
13407.36	1189	174.51	0.03	0.00	1893.6	1945.2	1842.0	2902.8	604.2	501.14	9.93	2173	13413.86	0.00	0.17	3.14	0.000	0.047	0.026	1894.31	1945.62	1843.00	2853.69	2029.94	0	0	0	30.00	28.05	28.17
13592.18	644	174.51	-0.02	-40.00	1893.4	1945.2	1841.6	2853.6	2029.8	482.88	10.11	2192	13598.79	0.00	0.00	3.12	0.000	0.000	0.023	1894.47	1945.94	1843.00	2857.25	603.94	0	0	0	30.00	30.00	28.21
13867.67	1156	174.51	-0.07	0.00	1893.5	1945.4	1841.6	2854.5	604.1	455.03	10.20	2247	13873.42	0.00	0.00	3.14	0.000	0.000	0.025	1893.31	1945.00	1841.62	2853.50	2029.56	0	0	0	30.00	30.00	28.13
14053.21	645	174.51	-0.13	-40.00	1893.2	1945.5	1841.0	2853.4	2030.1	436.36	10.07	2266	14058.47	0.00	0.17	3.11	0.000	0.050	0.023	1894.38	1946.25	1842.50	2804.44	604.00	0	0	0	30.00	28.42	28.19
14327.47	1156	174.51	-0.18	0.00	1893.5	1945.4	1841.6	2803.7	603.8	409.08	10.09	2321	14333.80	0.00	0.00	3.15	0.000	0.000	0.025	1893.75	1945.94	1841.56	2803.75	2030.12	0	0	0	30.00	30.00	28.11
14512.76	644	174.51	-0.23	-40.00	1893.3	1945.4	1841.1	2803.3	2030.1	390.51	10.03	2340	14518.39	0.00	0.00	3.10	0.000	0.000	0.023	1894.12	1946.12	1842.12	2801.62	604.19	0	0	0	30.00	30.00	28.18
14787.65	1189	175.33	-0.29	0.00	1893.0	1944.9	1841.1	2803.4	604.1	363.06	9.96	2395	14793.54	0.00	0.18	3.14	0.000	0.046	0.026	1894.38	1945.81	1842.94	2753.88	2027.44	0	0	0	30.00	27.99	28.10
14972.08	678	175.78	-0.34	-40.00	1893.5	1945.4	1841.6	2751.2	2027.2	344.52	9.98	2414	14978.47	1.27	0.00	3.10	0.165	0.000	0.023	1878.25	1931.50	1825.00	2751.62	603.94	0	0	0	25.39	30.00	27.72
15248.03	1190	179.35	-0.39	0.00	1882.7	1935.0	1830.4	2751.2	603.8	317.04	9.84	2469	15254.51	1.65	0.00	3.14	0.160	0.000	0.025	1863.91	1917.38	1810.44	2748.88	2029.69	0	0	0	23.59	30.00	28.13
15437.27	645	179.35	-0.44	-40.00	1867.6	1919.9	1815.2	2749.9	2030.2	298.06	10.26	2489	15443.83	0.00	0.16	3.10	0.000	0.049	0.023	1868.62	1920.81	1816.44	2702.81	604.19	0	0	0	30.00	28.46	28.25
15712.21	1188	181.00	-0.49	0.00	1867.7	1920.5	1814.9	2702.6	603.7	270.72	9.92	2544	15718.80	0.00	0.00	3.12	0.000	0.000	0.025	1869.00	1921.25	1816.75	2700.94	2029.00	0	0	0	30.00	30.00	28.16
15896.78	644	181.00	-0.55	-40.00	1868.0	1920.4	1815.5	2703.5	2029.1	252.28	10.16	2563	15903.47	0.00	0.00	3.10	0.000	0.000	0.023	1868.53	1921.19	1815.88	2703.06	604.00	0	0	0	30.00	30.00	28.21
16172.36	1157	181.00	-0.60	0.00	1867.7	1920.1	1815.3	2704.1	604.0	224.50	10.14	2618	16178.49	0.00	0.18	3.14	0.000	0.049	0.025	1868.41	1920.75	1816.06	2651.31	2028.00	0	0	0	30.00	28.00	28.12
16357.89	678	182.51	-0.65	-40.00	1868.2	1920.6	1815.9	2650.4	2027.8	205.89	9.93	2637	16363.45	1.39	0.00	3.09	0.161	0.000	0.023	1850.69	1904.94	1796.44	2648.38	603.62	0	0	0	25.40	30.00	27.83
16632.46	1156	182.51	-0.71	0.00	1855.4	1908.5	1802.3	2650.8	604.0	178.61	10.15	2692	16638.42	0.00	0.00	3.15	0.000	0.000	0.025	1855.66	1908.75	1802.56	2648.94	2029.62	0	0	0	30.00	30.00	28.14
16817.80	645	182.51	-0.76	-40.00	1855.9	1908.7	1803.1	2646.8	2030.0	160.04	10.04	2711	16823.47	0.00	0.16	3.11	0.000	0.050	0.023	1855.91	1908.81	1803.00	2602.88	603.88	0	0	0	30.00	28.46	28.19
17092.77	1190	186.56	-0.81	0.00	1855.5	1908.0	1802.9	2603.3	604.1	132.56	9.81	2766	17099.51	1.93	0.00	3.14	0.146	0.000	0.025	1836.12	1892.00	1780.25	2600.38	2029.69	0	0	0	24.99	30.00	28.12
17282.27	678	190.22	-0.86	-40.00	1837.7	1890.8	1784.5	2603.0	2029.5	113.98	9.83	2786	17288.84	1.60	0.00	3.10	0.155	0.000	0.023	1818.75	1875.81	1761.69	2602.31	603.88	0	0	0	25.51	30.00	27.91
17557.03	1157	190.22	-0.91	0.00	1823.8	1877.6	1770.1	2603.3	603.8	86.04	10.07	2841	17563.44	0.00	0.17	3.13	0.000	0.048	0.026	1824.38	1877.62	1771.12	2552.31	2028.69	0	0	0	30.00	28.06	28.17
17742.75	678	197.58	-0.96	-40.00	1823.2	1877.0	1769.4	2552.2	2028.2	67.96	9.66	2860	17750.51	3.12	0.00	3.09	0.194	0.000	0.024	1790.19	1847.25	1733.12	2549.12	605.19	0	0	0	23.97	30.00	27.42
18017.52	1188	197.85	-1.01	0.00	1792.8	1846.6	1738.9	2551.9	605.4	40.41	9.99	2915	18023.79	0.00	0.00	3.13	0.000	0.000	0.025	1792.69	1847.12	1738.25	2552.00	2029.00	0	0	0	30.00	30.00	28.26
18207.55	645	197.85	-1.06	-40.00	1792.3	1846.3	1738.2	2552.2	2029.6	21.16	10.29	2935	18213.85	0.00	0.16	3.11	0.000	0.050	0.023	1792.75	1847.12	1738.38	2504.75	602.69	0	0	0	30.00	28.47	28.27
18402	end climb: SURFACE_DEPTH_REACHED
state	18402	begin surface coast
18423	end surface coast: CONTROL_FINISHED_OK
state	18423	begin surface