Glider dive log

WA coast Oct09 * SG033 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 60 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3837 ALTIM_PING_DEPTH 125

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 2400 TGT_DEFAULT_LON -125 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_ABORT 4005 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 1

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 1

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 800 UPLOAD_DIVES_MAX -1 VBD_MIN 186 DEVICE2 99

T_MISSION 830 CALL_TRIES 5 VBD_MAX 3785 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 1836 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36790001 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 2 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -169557.44 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 151 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 27 AH0_10V 122.2 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 2563 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 1947 PRESSURE_YINT -19.421526 SEABIRD_T_G 0.0043575475

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00046800601 SEABIRD_T_H 0.00062940316

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_T_I 2.4306677e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6223986e-06

FERRY_MAX 2 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.332057

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.2094743

HD_A 0.0038945 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016192879

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00021825745

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 20

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 151 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 PITCH_MAX 2563 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 27 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 2400 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00046800601 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 2 PRESSURE_YINT -19.421526 TGT_DEFAULT_LAT 47

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 800

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -169557.44

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 830

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 33 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3837 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 1947 KALMAN_USE 1 ROLL_MIN 60 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 13 VBD_BLEED_AD_RATE 8

C_VBD 1836 MAX_BUOY 150 R_STBD_OVSHOOT 15 VBD_CNV -0.36790001

DEEPGLIDER 1 MISSION 7 SEABIRD_C_G -10.332057 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.2094743 VBD_MAX 3785

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016192879 VBD_MAXERRORS 1

DEVICE2 99 N_FILEKB 4 SEABIRD_C_J 0.00021825745 VBD_MIN 186

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043575475 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062940316 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4306677e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6223986e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 4005 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 161831,4654.368,-12531.143,38,1.5,38,18.4 TGT_NAME W_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.261,0.039

_SM_DEPTHo 1.01 KALMAN_X 27587.7,216.5,-89.9,-66975.6,17532.4

_SM_ANGLEo -58.7 KALMAN_Y -24694.5,1949.6,-132.5,11981.4,-20454.3

GPS2 162356,4654.339,-12531.128,13,1.8,13,18.4 MHEAD_RNG_PITCHd_Wd 260.2,188326,-18.1,-10.000

SPEED_LIMITS 0.100,0.264 D_GRID 2400

Post-dive calculations and measurements:

FINISH 0.5,1.023922 ALTIM_TOP_PING 19.3,18.2

SM_CCo 30891,0.00,0.000,0,0,339,550.38 ALTIM_BOTTOM_PING 1826.0,79.2

SM_GC 1.16,10.10,0.00,0.00,0.079,0.000,0.000,25,2089,339,-8.79,-0.31,550.38 _24V_AH 21.9,3.722

IRIDIUM_FIX 4638.64,-12524.57,020199,090923 _10V_AH 10.7,0.992

TT8_MAMPS 0.021476 DATA_FILE_SIZE 63148,1252

HUMID 2147 CAP_FILE_SIZE 200024,0

INTERNAL_PRESSURE 7.41239 CFSIZE 260280320,257728512

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,0,0

XPDR_PINGS 12 GPS 091009,010036,4655.018,-12536.767,27,1.3,27,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 238 120.85 SBE_CT 862 24 453.36

Roll_motor 227 166 828.40 AA4330 1903 33 1375.97

VBD_pump_during_apogee 583 2170 27725.54 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.21 nil 0 0 0.00

Iridium_during_connect 26 160 94.39 nil 0 0 0.00

Iridium_during_xfer 177 223 867.30

Transponder_ping 20 420 190.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.22

TT8 2337 19 495.16

LPSleep 24947 2 584.59

TT8_Active 771 19 163.41

TT8_Sampling 2773 39 1181.19

TT8_CF8 376 45 184.60

TT8_Kalman 33 81 29.20

Analog_circuits 2218 12 284.90

GPS_charging 0 0 0.00

Compass 2568 8 219.84

RAFOS 0 0 0.00

Transponder 115 30 37.04

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.39 -146.6 0.0 0.0 0 78 0.00 0.00 -62.67 0.000 2 0.000 0.000 27 2113 1366

80 -1.39 -146.6 3.2 -4.9 6 135 9.55 2.60 -38.62 0.000 4 0.238 0.119 1640 3512 2236

225 -1.39 -146.6 29.1 -20.4 19 229 0.00 2.38 0.00 0.000 6 0.000 0.079 1639 2089 2236

567 -1.39 -146.6 86.1 -18.1 72 571 0.00 2.53 0.00 0.000 4 0.000 0.114 1640 3512 2236

606 -1.39 -146.6 92.9 -17.2 75 610 0.00 2.35 0.00 0.000 6 0.000 0.079 1640 2092 2237

936 -1.39 -146.6 144.3 -15.4 106 940 0.00 2.40 0.00 0.000 4 0.000 0.109 1639 696 2238

978 -1.39 -146.6 151.0 -14.1 109 983 0.00 2.38 0.00 0.000 6 0.000 0.082 1640 2110 2237

1306 -1.39 -146.6 200.8 -16.1 125 1310 0.00 2.47 0.00 0.000 4 0.000 0.124 1640 3504 2238

1344 -1.39 -146.6 207.0 -16.1 127 1348 0.00 2.33 0.00 0.000 6 0.000 0.087 1640 2103 2238

1675 -1.39 -146.6 261.8 -16.7 143 1679 0.00 2.45 0.00 0.000 4 0.000 0.114 1639 691 2237

1736 -1.39 -146.6 272.2 -16.3 145 1743 0.00 2.35 0.00 0.000 6 0.000 0.089 1640 2098 2237

2060 -1.39 -146.6 327.9 -17.3 159 2064 0.00 2.53 0.00 0.000 4 0.000 0.132 1640 3509 2238

2087 -1.39 -146.6 332.5 -16.5 160 2090 0.00 2.35 0.00 0.000 6 0.000 0.089 1640 2101 2237

2426 -1.39 -146.6 390.7 -16.8 171 2427 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2100 2237

2732 -1.39 -146.6 440.4 -16.0 181 2736 0.00 2.45 0.00 0.000 4 0.000 0.119 1640 689 2238

2798 -1.39 -146.6 452.0 -16.6 183 2803 0.00 2.40 0.00 0.000 6 0.000 0.092 1640 2102 2238

3133 -1.39 -146.6 507.6 -16.5 194 3137 0.00 2.53 0.00 0.000 4 0.000 0.134 1640 3510 2238

3147 -1.39 -146.6 509.9 -16.5 194 3152 0.00 2.38 0.00 0.000 6 0.000 0.102 1640 2108 2238

3465 -1.39 -146.6 561.3 -16.3 205 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2108 2237

3771 -1.39 -146.6 611.5 -16.2 215 3775 0.00 2.47 0.00 0.000 4 0.000 0.122 1639 685 2238

3855 -1.39 -146.6 625.0 -15.6 217 3859 0.00 2.42 0.00 0.000 6 0.000 0.097 1639 2102 2237

4178 -1.39 -146.6 677.5 -16.6 228 4183 0.00 2.55 0.00 0.000 4 0.000 0.139 1639 3514 2238

4232 -1.39 -146.6 686.7 -17.1 229 4240 0.00 2.40 0.00 0.000 6 0.000 0.102 1640 2107 2237

4545 -1.39 -146.6 737.7 -16.5 240 4546 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2107 2238

4851 -1.39 -146.6 789.4 -16.7 250 4855 0.00 2.55 0.00 0.000 4 0.000 0.137 1640 3508 2238

4884 -1.39 -146.6 794.8 -16.6 251 4888 0.00 2.38 0.00 0.000 6 0.000 0.104 1640 2100 2237

5224 -1.39 -146.6 850.2 -16.2 262 5229 0.00 2.47 0.00 0.000 4 0.000 0.127 1639 689 2237

5312 -1.39 -146.6 864.8 -16.8 264 5319 0.00 2.40 0.00 0.000 6 0.000 0.102 1640 2096 2237

5625 -1.39 -146.6 914.3 -16.2 275 5629 0.00 2.58 0.00 0.000 4 0.000 0.144 1639 3510 2237

5645 -1.39 -146.6 918.1 -16.8 275 5652 0.00 2.42 0.00 0.000 6 0.000 0.099 1639 2098 2237

5957 -1.39 -146.6 968.1 -15.9 286 5961 0.00 2.47 0.00 0.000 4 0.000 0.127 1640 691 2238

6018 -1.39 -146.6 977.6 -16.5 288 6022 0.00 2.38 0.00 0.000 6 0.000 0.104 1639 2098 2237

6360 -1.39 -146.6 1028.6 -15.3 299 6364 0.00 2.58 0.00 0.000 4 0.000 0.146 1639 3508 2237

6380 -1.39 -146.6 1032.1 -15.3 299 6387 0.00 2.42 0.00 0.000 6 0.000 0.099 1640 2096 2237

6692 -1.39 -146.6 1081.9 -16.1 310 6693 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2096 2237

6998 -1.39 -146.6 1131.3 -16.4 320 7000 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2096 2236

7305 -1.39 -146.6 1180.1 -15.9 330 7309 0.00 2.50 0.00 0.000 4 0.000 0.132 1639 683 2236

7359 -1.39 -146.6 1188.9 -15.8 331 7366 0.00 2.42 0.00 0.000 6 0.000 0.104 1639 2092 2236

7671 -1.39 -146.6 1234.2 -14.3 342 7675 0.00 2.60 0.00 0.000 4 0.000 0.149 1640 3507 2236

7692 -1.39 -146.6 1237.3 -14.8 342 7697 0.00 2.42 0.00 0.000 6 0.000 0.102 1640 2104 2236

8010 -1.39 -146.6 1281.4 -13.7 353 8011 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2104 2236

8318 -1.39 -146.6 1323.2 -13.7 363 8322 0.00 2.53 0.00 0.000 4 0.000 0.134 1639 686 2235

8378 -1.39 -146.6 1332.0 -14.7 365 8382 0.00 2.42 0.00 0.000 6 0.000 0.109 1639 2107 2235

8718 -1.39 -146.6 1380.4 -14.6 376 8722 0.00 2.58 0.00 0.000 4 0.000 0.151 1640 3507 2235

8777 -1.39 -146.6 1389.1 -14.1 377 8785 0.00 2.45 0.00 0.000 6 0.000 0.104 1640 2096 2235

9090 -1.39 -146.6 1434.1 -14.5 388 9091 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2096 2235

9397 -1.39 -146.6 1478.1 -14.2 398 9398 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2096 2234

9702 -1.39 -146.6 1521.0 -13.8 408 9703 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2096 2234

10008 -1.39 -146.6 1563.0 -13.7 418 10013 0.00 2.62 0.00 0.000 4 0.000 0.149 1639 3507 2234

10036 -1.39 -146.6 1567.0 -16.9 419 10040 0.00 2.42 0.00 0.000 6 0.000 0.107 1640 2097 2234

10375 -1.39 -146.6 1614.0 -13.9 430 10380 0.00 2.60 0.00 0.000 4 0.000 0.149 1639 3508 2233

10385 -1.39 -146.6 1615.3 -13.7 430 10389 0.00 2.45 0.00 0.000 6 0.000 0.104 1639 2100 2233

10708 -1.39 -146.6 1659.4 -13.4 441 10709 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2100 2233

11015 -1.39 -146.6 1701.2 -13.9 451 11020 0.00 2.62 0.00 0.000 4 0.000 0.151 1639 3508 2232

11025 -1.39 -146.6 1702.8 -13.7 451 11029 0.00 2.45 0.00 0.000 6 0.000 0.107 1639 2102 2232

11350 -1.39 -146.6 1747.9 -13.8 462 11351 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2102 2233

11654 -1.39 -146.6 1789.8 -13.6 472 11659 0.00 2.58 0.00 0.000 4 0.000 0.144 1639 684 2232

11726 -1.39 -146.6 1799.4 -13.0 474 11731 0.00 2.50 0.00 0.000 6 0.000 0.122 1639 2092 2232

12055 -1.39 -146.6 1841.1 -12.2 485 12059 0.00 2.67 0.00 0.000 4 0.000 0.159 1640 3514 2232

12098 -1.39 -146.6 1846.9 -12.5 486 12103 0.00 2.50 0.00 0.000 6 0.000 0.112 1640 2096 2232

12421 end dive: BOTTOM_OBSTACLE_DETECTED

state 12421 begin apogee

12425 -0.33 0.0 1888.9 13.0 497 12548 1.15 0.00 119.35 2.170 6 0.174 0.000 1870 1991 1836

12548 end apogee: CONTROL_FINISHED_OK

state 12549 begin climb

12550 1.39 146.6 1893.9 0.0 501 12698 1.88 3.25 136.32 2.106 4 0.142 0.156 2243 3411 1436

12921 1.42 176.3 1871.6 8.6 512 12954 0.00 2.67 26.77 1.991 6 0.000 0.112 2243 1981 1356

13271 1.43 185.2 1839.5 9.6 524 13281 0.00 0.00 8.75 1.716 6 0.000 0.000 2243 1981 1332

13578 1.45 196.5 1809.8 9.5 534 13594 0.00 2.88 10.85 1.800 4 0.000 0.164 2243 3409 1300

13666 1.45 198.2 1801.0 9.9 536 13673 0.00 2.60 0.00 0.000 6 0.000 0.112 2243 2005 1300

13980 1.47 217.5 1772.4 9.1 547 14000 0.10 0.00 18.15 1.922 6 0.109 0.000 2267 2005 1244

14286 1.47 217.5 1738.6 11.1 557 14287 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2005 1244

14590 1.47 217.5 1704.9 10.8 567 14595 0.00 2.70 0.00 0.000 4 0.000 0.151 2267 3410 1244

14673 1.47 217.5 1695.1 12.2 569 14677 0.00 2.55 0.00 0.000 6 0.000 0.112 2267 1995 1244

14990 1.47 217.5 1660.9 11.1 580 14995 0.00 2.62 0.00 0.000 4 0.000 0.144 2267 584 1244

15000 1.47 217.5 1659.5 11.2 580 15005 0.00 2.53 0.00 0.000 6 0.000 0.109 2267 2005 1244

15324 1.49 230.2 1627.8 9.4 591 15342 0.00 2.80 11.57 1.783 4 0.000 0.166 2267 3409 1210

15381 1.49 230.2 1621.8 11.1 592 15389 0.00 2.55 0.00 0.000 6 0.000 0.112 2267 2005 1210

15695 1.49 230.2 1591.5 10.0 603 15696 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2005 1210

16000 1.49 230.5 1561.2 10.0 613 16005 0.00 2.67 0.00 0.000 4 0.000 0.151 2267 3412 1210

16079 1.52 256.6 1553.2 8.8 615 16108 0.00 2.50 22.08 1.875 6 0.000 0.112 2267 1998 1138

16431 1.52 256.6 1516.9 10.2 627 16432 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1998 1138

16737 1.52 256.6 1485.8 10.1 637 16742 0.00 2.70 0.00 0.000 4 0.000 0.149 2267 3410 1138

16786 1.52 256.6 1480.6 10.3 638 16790 0.00 2.55 0.00 0.000 6 0.000 0.109 2267 1999 1138

17104 1.52 257.0 1449.2 10.0 649 17105 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1999 1138

17410 1.52 257.0 1418.4 10.1 659 17411 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1999 1138

17716 1.52 257.0 1387.0 10.4 669 17720 0.00 2.65 0.00 0.000 4 0.000 0.151 2267 3407 1138

17787 1.52 257.0 1379.1 11.2 671 17792 0.00 2.50 0.00 0.000 6 0.000 0.112 2267 1998 1138

18118 1.52 257.0 1344.3 10.4 682 18122 0.00 2.65 0.00 0.000 4 0.000 0.149 2267 3408 1138

18160 1.52 257.0 1339.4 11.6 683 18165 0.00 2.50 0.00 0.000 6 0.000 0.109 2267 2002 1138

18484 1.52 257.0 1304.1 11.1 694 18485 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2002 1137

18790 1.52 257.0 1269.8 11.4 704 18791 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2002 1138

19096 1.52 257.0 1236.5 10.8 714 19097 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2002 1138

19402 1.52 257.0 1203.4 10.9 724 19407 0.00 2.62 0.00 0.000 4 0.000 0.149 2267 3409 1138

19468 1.52 257.0 1196.0 11.2 726 19473 0.00 2.50 0.00 0.000 6 0.000 0.109 2266 1998 1138

19804 1.52 257.0 1160.4 10.5 737 19805 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1998 1138

20109 1.52 257.0 1127.9 10.7 747 20110 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1998 1138

20415 1.52 257.0 1094.3 10.8 757 20416 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1998 1138

20721 1.52 257.0 1061.8 10.7 767 20723 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 1998 1138

21028 1.53 260.4 1031.1 9.8 777 21038 0.00 2.62 4.70 1.135 4 0.000 0.149 2267 3408 1127

21131 1.53 260.4 1020.6 10.6 780 21137 0.00 2.50 0.00 0.000 6 0.000 0.107 2267 1994 1127

21461 1.55 275.8 989.8 9.3 791 21476 0.00 0.00 13.38 1.492 6 0.000 0.000 2267 1993 1086

21769 1.55 281.6 959.8 9.7 801 21777 0.00 0.00 6.38 1.251 6 0.000 0.000 2267 1994 1070

22075 1.55 281.6 927.7 10.5 811 22079 0.00 2.67 0.00 0.000 4 0.000 0.144 2267 3416 1069

22139 1.55 281.6 920.3 11.4 813 22144 0.00 2.53 0.00 0.000 6 0.000 0.107 2267 2001 1069

22475 1.56 287.1 886.8 9.8 824 22482 0.00 0.00 5.88 1.184 6 0.000 0.000 2267 2001 1055

22782 1.57 293.6 856.0 9.7 834 22791 0.00 0.00 6.95 1.237 6 0.000 0.000 2267 2001 1036

23088 1.59 309.5 826.9 9.3 844 23104 0.10 0.00 13.38 1.383 6 0.114 0.000 2291 2001 994

23394 1.59 309.5 794.3 10.6 854 23395 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2001 994

23699 1.59 309.5 760.5 11.3 864 23703 0.00 2.65 0.00 0.000 4 0.000 0.144 2291 3414 994

23764 1.60 320.4 752.8 9.5 866 23779 0.00 2.53 9.85 1.281 6 0.000 0.107 2291 1999 964

24098 1.60 320.4 712.2 12.3 877 24099 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2000 964

24404 1.60 320.4 675.4 12.2 887 24408 0.00 2.65 0.00 0.000 4 0.000 0.144 2290 3414 963

24509 1.60 320.4 661.9 14.4 890 24514 0.00 2.50 0.00 0.000 6 0.000 0.104 2291 1999 963

24838 1.60 320.4 624.2 11.1 901 24842 0.00 2.55 0.00 0.000 4 0.000 0.137 2291 592 964

24915 1.60 320.4 615.0 11.7 903 24920 0.00 2.45 0.00 0.000 6 0.000 0.102 2291 2002 964

25240 1.60 320.4 580.1 10.9 914 25241 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2002 963

25545 1.60 320.4 546.0 10.9 924 25549 0.00 2.53 0.00 0.000 4 0.000 0.132 2291 591 964

25554 1.60 320.4 544.7 10.8 924 25559 0.00 2.42 0.00 0.000 6 0.000 0.097 2291 1994 964

25878 1.60 320.4 509.3 10.7 935 25879 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1995 964

26184 1.60 320.4 476.0 11.1 945 26188 0.00 2.58 0.00 0.000 4 0.000 0.149 2291 3406 964

26239 1.60 320.4 469.5 12.1 946 26246 0.00 2.45 0.00 0.000 6 0.000 0.099 2291 1997 964

26551 1.60 320.4 434.6 11.2 957 26552 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1996 963

26857 1.60 322.9 403.4 9.9 967 26863 0.00 0.00 3.58 0.725 6 0.000 0.000 2291 1997 958

27165 1.60 322.9 371.9 10.6 977 27166 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

27469 1.60 322.9 337.5 11.3 987 27471 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

27776 1.60 322.9 303.2 10.8 997 27777 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

28084 1.60 322.9 272.4 10.1 1011 28085 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

28394 1.60 322.9 241.7 10.8 1026 28395 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

28703 1.60 322.9 206.7 10.7 1041 28704 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

29012 1.60 322.9 173.3 11.2 1056 29013 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1997 958

29324 1.60 322.9 141.2 10.9 1075 29328 0.00 2.50 0.00 0.000 4 0.000 0.129 2291 3408 958

29413 1.60 322.9 130.8 10.5 1083 29417 0.00 2.38 0.00 0.000 6 0.000 0.104 2291 1997 958

29743 1.64 355.8 97.6 8.5 1114 29775 0.00 2.53 24.85 0.981 4 0.000 0.129 2291 588 869

29790 1.64 355.8 92.9 12.9 1118 29798 0.00 2.42 0.00 0.000 6 0.000 0.092 2291 1999 869

30126 1.68 382.0 64.8 8.8 1166 30155 0.00 2.58 20.33 0.934 4 0.000 0.124 2291 594 796

30177 1.69 392.9 60.7 9.5 1175 30195 0.10 2.42 9.32 0.837 6 0.114 0.092 2315 2005 766

30525 1.88 549.7 34.0 2.9 1226 30644 0.17 2.72 110.95 0.906 4 0.082 0.129 2364 3397 341

30799 end climb: SURFACE_DEPTH_REACHED

state 30799 begin surface coast

30812 end surface coast: CONTROL_FINISHED_OK

state 30813 begin surface

ID	33	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	60	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3837	ALTIM_PING_DEPTH	125
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	2400	TGT_DEFAULT_LON	-125	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_ABORT	4005	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	1
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	1
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	800	UPLOAD_DIVES_MAX	-1	VBD_MIN	186	DEVICE2	99
T_MISSION	830	CALL_TRIES	5	VBD_MAX	3785	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	1836	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36790001	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	2	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-169557.44	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	151	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	27	AH0_10V	122.2	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	2563	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	1947	PRESSURE_YINT	-19.421526	SEABIRD_T_G	0.0043575475
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00046800601	SEABIRD_T_H	0.00062940316
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_T_I	2.4306677e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6223986e-06
FERRY_MAX	2	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.332057
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.2094743
HD_A	0.0038945	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016192879
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00021825745
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	20

GPS1	161831,4654.368,-12531.143,38,1.5,38,18.4	TGT_NAME	W_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.261,0.039
_SM_DEPTHo	1.01	KALMAN_X	27587.7,216.5,-89.9,-66975.6,17532.4
_SM_ANGLEo	-58.7	KALMAN_Y	-24694.5,1949.6,-132.5,11981.4,-20454.3
GPS2	162356,4654.339,-12531.128,13,1.8,13,18.4	MHEAD_RNG_PITCHd_Wd	260.2,188326,-18.1,-10.000
SPEED_LIMITS	0.100,0.264	D_GRID	2400

FINISH	0.5,1.023922	ALTIM_TOP_PING	19.3,18.2
SM_CCo	30891,0.00,0.000,0,0,339,550.38	ALTIM_BOTTOM_PING	1826.0,79.2
SM_GC	1.16,10.10,0.00,0.00,0.079,0.000,0.000,25,2089,339,-8.79,-0.31,550.38	_24V_AH	21.9,3.722
IRIDIUM_FIX	4638.64,-12524.57,020199,090923	_10V_AH	10.7,0.992
TT8_MAMPS	0.021476	DATA_FILE_SIZE	63148,1252
HUMID	2147	CAP_FILE_SIZE	200024,0
INTERNAL_PRESSURE	7.41239	CFSIZE	260280320,257728512
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
XPDR_PINGS	12	GPS	091009,010036,4655.018,-12536.767,27,1.3,27,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	238	120.85	SBE_CT	862	24	453.36
Roll_motor	227	166	828.40	AA4330	1903	33	1375.97
VBD_pump_during_apogee	583	2170	27725.54	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.21	nil	0	0	0.00
Iridium_during_connect	26	160	94.39	nil	0	0	0.00
Iridium_during_xfer	177	223	867.30
Transponder_ping	20	420	190.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.22
TT8	2337	19	495.16
LPSleep	24947	2	584.59
TT8_Active	771	19	163.41
TT8_Sampling	2773	39	1181.19
TT8_CF8	376	45	184.60
TT8_Kalman	33	81	29.20
Analog_circuits	2218	12	284.90
GPS_charging	0	0	0.00
Compass	2568	8	219.84
RAFOS	0	0	0.00
Transponder	115	30	37.04

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.39	-146.6	0.0	0.0	0	78	0.00	0.00	-62.67	0.000	2	0.000	0.000	27	2113	1366
80	-1.39	-146.6	3.2	-4.9	6	135	9.55	2.60	-38.62	0.000	4	0.238	0.119	1640	3512	2236
225	-1.39	-146.6	29.1	-20.4	19	229	0.00	2.38	0.00	0.000	6	0.000	0.079	1639	2089	2236
567	-1.39	-146.6	86.1	-18.1	72	571	0.00	2.53	0.00	0.000	4	0.000	0.114	1640	3512	2236
606	-1.39	-146.6	92.9	-17.2	75	610	0.00	2.35	0.00	0.000	6	0.000	0.079	1640	2092	2237
936	-1.39	-146.6	144.3	-15.4	106	940	0.00	2.40	0.00	0.000	4	0.000	0.109	1639	696	2238
978	-1.39	-146.6	151.0	-14.1	109	983	0.00	2.38	0.00	0.000	6	0.000	0.082	1640	2110	2237
1306	-1.39	-146.6	200.8	-16.1	125	1310	0.00	2.47	0.00	0.000	4	0.000	0.124	1640	3504	2238
1344	-1.39	-146.6	207.0	-16.1	127	1348	0.00	2.33	0.00	0.000	6	0.000	0.087	1640	2103	2238
1675	-1.39	-146.6	261.8	-16.7	143	1679	0.00	2.45	0.00	0.000	4	0.000	0.114	1639	691	2237
1736	-1.39	-146.6	272.2	-16.3	145	1743	0.00	2.35	0.00	0.000	6	0.000	0.089	1640	2098	2237
2060	-1.39	-146.6	327.9	-17.3	159	2064	0.00	2.53	0.00	0.000	4	0.000	0.132	1640	3509	2238
2087	-1.39	-146.6	332.5	-16.5	160	2090	0.00	2.35	0.00	0.000	6	0.000	0.089	1640	2101	2237
2426	-1.39	-146.6	390.7	-16.8	171	2427	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2100	2237
2732	-1.39	-146.6	440.4	-16.0	181	2736	0.00	2.45	0.00	0.000	4	0.000	0.119	1640	689	2238
2798	-1.39	-146.6	452.0	-16.6	183	2803	0.00	2.40	0.00	0.000	6	0.000	0.092	1640	2102	2238
3133	-1.39	-146.6	507.6	-16.5	194	3137	0.00	2.53	0.00	0.000	4	0.000	0.134	1640	3510	2238
3147	-1.39	-146.6	509.9	-16.5	194	3152	0.00	2.38	0.00	0.000	6	0.000	0.102	1640	2108	2238
3465	-1.39	-146.6	561.3	-16.3	205	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2108	2237
3771	-1.39	-146.6	611.5	-16.2	215	3775	0.00	2.47	0.00	0.000	4	0.000	0.122	1639	685	2238
3855	-1.39	-146.6	625.0	-15.6	217	3859	0.00	2.42	0.00	0.000	6	0.000	0.097	1639	2102	2237
4178	-1.39	-146.6	677.5	-16.6	228	4183	0.00	2.55	0.00	0.000	4	0.000	0.139	1639	3514	2238
4232	-1.39	-146.6	686.7	-17.1	229	4240	0.00	2.40	0.00	0.000	6	0.000	0.102	1640	2107	2237
4545	-1.39	-146.6	737.7	-16.5	240	4546	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2107	2238
4851	-1.39	-146.6	789.4	-16.7	250	4855	0.00	2.55	0.00	0.000	4	0.000	0.137	1640	3508	2238
4884	-1.39	-146.6	794.8	-16.6	251	4888	0.00	2.38	0.00	0.000	6	0.000	0.104	1640	2100	2237
5224	-1.39	-146.6	850.2	-16.2	262	5229	0.00	2.47	0.00	0.000	4	0.000	0.127	1639	689	2237
5312	-1.39	-146.6	864.8	-16.8	264	5319	0.00	2.40	0.00	0.000	6	0.000	0.102	1640	2096	2237
5625	-1.39	-146.6	914.3	-16.2	275	5629	0.00	2.58	0.00	0.000	4	0.000	0.144	1639	3510	2237
5645	-1.39	-146.6	918.1	-16.8	275	5652	0.00	2.42	0.00	0.000	6	0.000	0.099	1639	2098	2237
5957	-1.39	-146.6	968.1	-15.9	286	5961	0.00	2.47	0.00	0.000	4	0.000	0.127	1640	691	2238
6018	-1.39	-146.6	977.6	-16.5	288	6022	0.00	2.38	0.00	0.000	6	0.000	0.104	1639	2098	2237
6360	-1.39	-146.6	1028.6	-15.3	299	6364	0.00	2.58	0.00	0.000	4	0.000	0.146	1639	3508	2237
6380	-1.39	-146.6	1032.1	-15.3	299	6387	0.00	2.42	0.00	0.000	6	0.000	0.099	1640	2096	2237
6692	-1.39	-146.6	1081.9	-16.1	310	6693	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2096	2237
6998	-1.39	-146.6	1131.3	-16.4	320	7000	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2096	2236
7305	-1.39	-146.6	1180.1	-15.9	330	7309	0.00	2.50	0.00	0.000	4	0.000	0.132	1639	683	2236
7359	-1.39	-146.6	1188.9	-15.8	331	7366	0.00	2.42	0.00	0.000	6	0.000	0.104	1639	2092	2236
7671	-1.39	-146.6	1234.2	-14.3	342	7675	0.00	2.60	0.00	0.000	4	0.000	0.149	1640	3507	2236
7692	-1.39	-146.6	1237.3	-14.8	342	7697	0.00	2.42	0.00	0.000	6	0.000	0.102	1640	2104	2236
8010	-1.39	-146.6	1281.4	-13.7	353	8011	0.00	0.00	0.00	0.000	6	0.000	0.000	1640	2104	2236
8318	-1.39	-146.6	1323.2	-13.7	363	8322	0.00	2.53	0.00	0.000	4	0.000	0.134	1639	686	2235
8378	-1.39	-146.6	1332.0	-14.7	365	8382	0.00	2.42	0.00	0.000	6	0.000	0.109	1639	2107	2235
8718	-1.39	-146.6	1380.4	-14.6	376	8722	0.00	2.58	0.00	0.000	4	0.000	0.151	1640	3507	2235
8777	-1.39	-146.6	1389.1	-14.1	377	8785	0.00	2.45	0.00	0.000	6	0.000	0.104	1640	2096	2235
9090	-1.39	-146.6	1434.1	-14.5	388	9091	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2096	2235
9397	-1.39	-146.6	1478.1	-14.2	398	9398	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2096	2234
9702	-1.39	-146.6	1521.0	-13.8	408	9703	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2096	2234
10008	-1.39	-146.6	1563.0	-13.7	418	10013	0.00	2.62	0.00	0.000	4	0.000	0.149	1639	3507	2234
10036	-1.39	-146.6	1567.0	-16.9	419	10040	0.00	2.42	0.00	0.000	6	0.000	0.107	1640	2097	2234
10375	-1.39	-146.6	1614.0	-13.9	430	10380	0.00	2.60	0.00	0.000	4	0.000	0.149	1639	3508	2233
10385	-1.39	-146.6	1615.3	-13.7	430	10389	0.00	2.45	0.00	0.000	6	0.000	0.104	1639	2100	2233
10708	-1.39	-146.6	1659.4	-13.4	441	10709	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2100	2233
11015	-1.39	-146.6	1701.2	-13.9	451	11020	0.00	2.62	0.00	0.000	4	0.000	0.151	1639	3508	2232
11025	-1.39	-146.6	1702.8	-13.7	451	11029	0.00	2.45	0.00	0.000	6	0.000	0.107	1639	2102	2232
11350	-1.39	-146.6	1747.9	-13.8	462	11351	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2102	2233
11654	-1.39	-146.6	1789.8	-13.6	472	11659	0.00	2.58	0.00	0.000	4	0.000	0.144	1639	684	2232
11726	-1.39	-146.6	1799.4	-13.0	474	11731	0.00	2.50	0.00	0.000	6	0.000	0.122	1639	2092	2232
12055	-1.39	-146.6	1841.1	-12.2	485	12059	0.00	2.67	0.00	0.000	4	0.000	0.159	1640	3514	2232
12098	-1.39	-146.6	1846.9	-12.5	486	12103	0.00	2.50	0.00	0.000	6	0.000	0.112	1640	2096	2232
12421	end dive: BOTTOM_OBSTACLE_DETECTED
state	12421	begin apogee
12425	-0.33	0.0	1888.9	13.0	497	12548	1.15	0.00	119.35	2.170	6	0.174	0.000	1870	1991	1836
12548	end apogee: CONTROL_FINISHED_OK
state	12549	begin climb
12550	1.39	146.6	1893.9	0.0	501	12698	1.88	3.25	136.32	2.106	4	0.142	0.156	2243	3411	1436
12921	1.42	176.3	1871.6	8.6	512	12954	0.00	2.67	26.77	1.991	6	0.000	0.112	2243	1981	1356
13271	1.43	185.2	1839.5	9.6	524	13281	0.00	0.00	8.75	1.716	6	0.000	0.000	2243	1981	1332
13578	1.45	196.5	1809.8	9.5	534	13594	0.00	2.88	10.85	1.800	4	0.000	0.164	2243	3409	1300
13666	1.45	198.2	1801.0	9.9	536	13673	0.00	2.60	0.00	0.000	6	0.000	0.112	2243	2005	1300
13980	1.47	217.5	1772.4	9.1	547	14000	0.10	0.00	18.15	1.922	6	0.109	0.000	2267	2005	1244
14286	1.47	217.5	1738.6	11.1	557	14287	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2005	1244
14590	1.47	217.5	1704.9	10.8	567	14595	0.00	2.70	0.00	0.000	4	0.000	0.151	2267	3410	1244
14673	1.47	217.5	1695.1	12.2	569	14677	0.00	2.55	0.00	0.000	6	0.000	0.112	2267	1995	1244
14990	1.47	217.5	1660.9	11.1	580	14995	0.00	2.62	0.00	0.000	4	0.000	0.144	2267	584	1244
15000	1.47	217.5	1659.5	11.2	580	15005	0.00	2.53	0.00	0.000	6	0.000	0.109	2267	2005	1244
15324	1.49	230.2	1627.8	9.4	591	15342	0.00	2.80	11.57	1.783	4	0.000	0.166	2267	3409	1210
15381	1.49	230.2	1621.8	11.1	592	15389	0.00	2.55	0.00	0.000	6	0.000	0.112	2267	2005	1210
15695	1.49	230.2	1591.5	10.0	603	15696	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2005	1210
16000	1.49	230.5	1561.2	10.0	613	16005	0.00	2.67	0.00	0.000	4	0.000	0.151	2267	3412	1210
16079	1.52	256.6	1553.2	8.8	615	16108	0.00	2.50	22.08	1.875	6	0.000	0.112	2267	1998	1138
16431	1.52	256.6	1516.9	10.2	627	16432	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1998	1138
16737	1.52	256.6	1485.8	10.1	637	16742	0.00	2.70	0.00	0.000	4	0.000	0.149	2267	3410	1138
16786	1.52	256.6	1480.6	10.3	638	16790	0.00	2.55	0.00	0.000	6	0.000	0.109	2267	1999	1138
17104	1.52	257.0	1449.2	10.0	649	17105	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1999	1138
17410	1.52	257.0	1418.4	10.1	659	17411	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1999	1138
17716	1.52	257.0	1387.0	10.4	669	17720	0.00	2.65	0.00	0.000	4	0.000	0.151	2267	3407	1138
17787	1.52	257.0	1379.1	11.2	671	17792	0.00	2.50	0.00	0.000	6	0.000	0.112	2267	1998	1138
18118	1.52	257.0	1344.3	10.4	682	18122	0.00	2.65	0.00	0.000	4	0.000	0.149	2267	3408	1138
18160	1.52	257.0	1339.4	11.6	683	18165	0.00	2.50	0.00	0.000	6	0.000	0.109	2267	2002	1138
18484	1.52	257.0	1304.1	11.1	694	18485	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2002	1137
18790	1.52	257.0	1269.8	11.4	704	18791	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2002	1138
19096	1.52	257.0	1236.5	10.8	714	19097	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2002	1138
19402	1.52	257.0	1203.4	10.9	724	19407	0.00	2.62	0.00	0.000	4	0.000	0.149	2267	3409	1138
19468	1.52	257.0	1196.0	11.2	726	19473	0.00	2.50	0.00	0.000	6	0.000	0.109	2266	1998	1138
19804	1.52	257.0	1160.4	10.5	737	19805	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1998	1138
20109	1.52	257.0	1127.9	10.7	747	20110	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1998	1138
20415	1.52	257.0	1094.3	10.8	757	20416	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1998	1138
20721	1.52	257.0	1061.8	10.7	767	20723	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	1998	1138
21028	1.53	260.4	1031.1	9.8	777	21038	0.00	2.62	4.70	1.135	4	0.000	0.149	2267	3408	1127
21131	1.53	260.4	1020.6	10.6	780	21137	0.00	2.50	0.00	0.000	6	0.000	0.107	2267	1994	1127
21461	1.55	275.8	989.8	9.3	791	21476	0.00	0.00	13.38	1.492	6	0.000	0.000	2267	1993	1086
21769	1.55	281.6	959.8	9.7	801	21777	0.00	0.00	6.38	1.251	6	0.000	0.000	2267	1994	1070
22075	1.55	281.6	927.7	10.5	811	22079	0.00	2.67	0.00	0.000	4	0.000	0.144	2267	3416	1069
22139	1.55	281.6	920.3	11.4	813	22144	0.00	2.53	0.00	0.000	6	0.000	0.107	2267	2001	1069
22475	1.56	287.1	886.8	9.8	824	22482	0.00	0.00	5.88	1.184	6	0.000	0.000	2267	2001	1055
22782	1.57	293.6	856.0	9.7	834	22791	0.00	0.00	6.95	1.237	6	0.000	0.000	2267	2001	1036
23088	1.59	309.5	826.9	9.3	844	23104	0.10	0.00	13.38	1.383	6	0.114	0.000	2291	2001	994
23394	1.59	309.5	794.3	10.6	854	23395	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2001	994
23699	1.59	309.5	760.5	11.3	864	23703	0.00	2.65	0.00	0.000	4	0.000	0.144	2291	3414	994
23764	1.60	320.4	752.8	9.5	866	23779	0.00	2.53	9.85	1.281	6	0.000	0.107	2291	1999	964
24098	1.60	320.4	712.2	12.3	877	24099	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2000	964
24404	1.60	320.4	675.4	12.2	887	24408	0.00	2.65	0.00	0.000	4	0.000	0.144	2290	3414	963
24509	1.60	320.4	661.9	14.4	890	24514	0.00	2.50	0.00	0.000	6	0.000	0.104	2291	1999	963
24838	1.60	320.4	624.2	11.1	901	24842	0.00	2.55	0.00	0.000	4	0.000	0.137	2291	592	964
24915	1.60	320.4	615.0	11.7	903	24920	0.00	2.45	0.00	0.000	6	0.000	0.102	2291	2002	964
25240	1.60	320.4	580.1	10.9	914	25241	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2002	963
25545	1.60	320.4	546.0	10.9	924	25549	0.00	2.53	0.00	0.000	4	0.000	0.132	2291	591	964
25554	1.60	320.4	544.7	10.8	924	25559	0.00	2.42	0.00	0.000	6	0.000	0.097	2291	1994	964
25878	1.60	320.4	509.3	10.7	935	25879	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1995	964
26184	1.60	320.4	476.0	11.1	945	26188	0.00	2.58	0.00	0.000	4	0.000	0.149	2291	3406	964
26239	1.60	320.4	469.5	12.1	946	26246	0.00	2.45	0.00	0.000	6	0.000	0.099	2291	1997	964
26551	1.60	320.4	434.6	11.2	957	26552	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1996	963
26857	1.60	322.9	403.4	9.9	967	26863	0.00	0.00	3.58	0.725	6	0.000	0.000	2291	1997	958
27165	1.60	322.9	371.9	10.6	977	27166	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
27469	1.60	322.9	337.5	11.3	987	27471	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
27776	1.60	322.9	303.2	10.8	997	27777	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
28084	1.60	322.9	272.4	10.1	1011	28085	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
28394	1.60	322.9	241.7	10.8	1026	28395	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
28703	1.60	322.9	206.7	10.7	1041	28704	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
29012	1.60	322.9	173.3	11.2	1056	29013	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1997	958
29324	1.60	322.9	141.2	10.9	1075	29328	0.00	2.50	0.00	0.000	4	0.000	0.129	2291	3408	958
29413	1.60	322.9	130.8	10.5	1083	29417	0.00	2.38	0.00	0.000	6	0.000	0.104	2291	1997	958
29743	1.64	355.8	97.6	8.5	1114	29775	0.00	2.53	24.85	0.981	4	0.000	0.129	2291	588	869
29790	1.64	355.8	92.9	12.9	1118	29798	0.00	2.42	0.00	0.000	6	0.000	0.092	2291	1999	869
30126	1.68	382.0	64.8	8.8	1166	30155	0.00	2.58	20.33	0.934	4	0.000	0.124	2291	594	796
30177	1.69	392.9	60.7	9.5	1175	30195	0.10	2.42	9.32	0.837	6	0.114	0.092	2315	2005	766
30525	1.88	549.7	34.0	2.9	1226	30644	0.17	2.72	110.95	0.906	4	0.082	0.129	2364	3397	341
30799	end climb: SURFACE_DEPTH_REACHED
state	30799	begin surface coast
30812	end surface coast: CONTROL_FINISHED_OK
state	30813	begin surface