Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 104 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 104 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 29 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -78561.664 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -78561.664

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 29 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 104 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150245,6144.520,-925.752,66,5.4,86,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,-0.102

_SM_DEPTHo 0.63 KALMAN_X -1794.8,187.2,10.6,16386.7,-1386.0

_SM_ANGLEo -55.1 KALMAN_Y 1130.8,-247.2,-39.0,-9569.6,1151.2

GPS2 150915,6144.569,-925.729,11,1.6,11,-9.5 MHEAD_RNG_PITCHd_Wd 130.1,14529,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.027269 ALTIM_BOTTOM_PING 775.0,27.9

SM_CCo 26377,171.50,0.768,0,0,389,547.02 _24V_AH 23.8,22.010

SM_GC 0.53,0.00,0.00,171.50,0.000,0.000,0.768,420,2191,389,-10.48,0.79,547.02 _10V_AH 10.1,10.105

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 66394,1276

TT8_MAMPS 0.029146 CAP_FILE_SIZE 202389,0

HUMID 1651 CFSIZE 254472192,245170176

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,0,0

XPDR_PINGS 785 GPS 280608,223401,6145.332,-918.041,39,1.2,46,-9.5

ALTIM_TOP_PING 19.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 140 86.44 SBE_CT 875 24 499.97

Roll_motor 260 87 541.17 SBE_O2 945 19 427.36

VBD_pump_during_apogee 320 1404 10695.74 WL_BB2F 726 105 1814.60

VBD_pump_during_surface 171 767 3133.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 30 160 114.77 nil 0 0 0.00

Iridium_during_xfer 183 223 971.90

Transponder_ping 203 420 2031.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.81

TT8 2345 19 469.13

LPSleep 20484 2 453.10

TT8_Active 743 19 148.61

TT8_Sampling 2660 39 1069.38

TT8_CF8 696 45 322.14

TT8_Kalman 32 81 26.74

Analog_circuits 2102 12 254.79

GPS_charging 0 0 0.00

Compass 2610 8 210.96

RAFOS 0 0 0.00

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

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.03 -117.3 0.0 0.0 0 138 0.00 0.00 -111.25 0.000 6 0.000 0.000 418 2169 3100

142 -1.03 -117.3 2.0 -1.4 5 158 10.70 2.60 0.00 0.000 4 0.140 0.058 2471 742 3099

188 -0.71 -117.3 10.2 -12.3 8 193 0.35 2.50 0.00 0.000 6 0.087 0.050 2546 2143 3098

515 -0.63 -117.3 33.7 -7.4 24 516 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2142 3098

825 -0.55 -117.3 53.7 -6.5 39 830 0.15 2.55 0.00 0.000 4 0.091 0.061 2581 3565 3098

836 -0.49 -117.3 54.6 -6.7 39 842 0.00 2.53 0.00 0.000 6 0.000 0.049 2580 2144 3098

1152 -0.49 -117.3 72.3 -5.7 55 1157 0.00 2.50 0.00 0.000 4 0.000 0.064 2581 751 3099

1181 -0.49 -117.3 74.0 -5.3 56 1185 0.00 2.47 0.00 0.000 6 0.000 0.050 2580 2136 3098

1499 -0.53 -117.3 91.1 -5.5 71 1503 0.00 2.55 0.00 0.000 4 0.000 0.063 2580 744 3098

1527 -0.53 -117.3 93.0 -6.0 72 1531 0.00 2.50 0.00 0.000 6 0.000 0.051 2580 2137 3098

1844 -0.58 -117.3 111.4 -5.9 87 1845 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2137 3098

2152 -0.58 -117.3 128.9 -5.5 102 2154 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2137 3098

2462 -0.58 -117.3 144.4 -4.9 117 2463 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2138 3098

2771 -0.62 -117.3 159.0 -4.7 132 2776 0.00 2.55 0.00 0.000 4 0.000 0.063 2580 3562 3098

2794 -0.62 -117.3 160.3 -5.3 133 2798 0.00 2.55 0.00 0.000 6 0.000 0.050 2580 2133 3097

3116 -0.67 -117.3 175.1 -4.5 149 3121 0.12 2.58 0.00 0.000 4 0.050 0.061 2543 3557 3097

3139 -0.62 -117.3 176.5 -5.7 150 3143 0.00 2.53 0.00 0.000 6 0.000 0.050 2543 2136 3098

3461 -0.55 -117.3 196.6 -6.3 166 3466 0.15 2.58 0.00 0.000 4 0.089 0.061 2577 3557 3097

3472 -0.49 -117.3 197.4 -6.2 166 3478 0.00 2.53 0.00 0.000 6 0.000 0.050 2578 2135 3098

3788 -0.49 -117.3 213.6 -5.3 182 3793 0.00 2.58 0.00 0.000 4 0.000 0.062 2578 3557 3097

3810 -0.49 -117.3 214.8 -5.3 183 3814 0.00 2.53 0.00 0.000 6 0.000 0.050 2578 2139 3097

4131 -0.49 -117.3 231.7 -5.0 199 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2139 3097

4441 -0.54 -117.3 247.6 -4.9 214 4442 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2140 3097

4750 -0.58 -117.3 263.3 -5.0 229 4754 0.00 2.50 0.00 0.000 4 0.000 0.067 2578 751 3097

4784 -0.58 -117.3 265.1 -5.4 230 4790 0.00 2.47 0.00 0.000 6 0.000 0.053 2577 2133 3097

5101 -0.62 -117.3 280.5 -4.8 246 5105 0.00 2.53 0.00 0.000 4 0.000 0.066 2578 750 3097

5112 -0.62 -117.3 281.1 -5.0 246 5118 0.00 2.47 0.00 0.000 6 0.000 0.053 2578 2128 3096

5428 -0.67 -117.3 297.6 -4.9 262 5430 0.12 0.00 0.00 0.000 6 0.052 0.000 2540 2128 3096

5737 -0.60 -117.3 315.7 -6.1 277 5739 0.15 0.00 0.00 0.000 6 0.089 0.000 2571 2128 3096

6046 -0.60 -117.3 332.4 -5.3 292 6051 0.00 2.58 0.00 0.000 4 0.000 0.066 2570 3557 3096

6059 -0.60 -117.3 333.1 -5.3 292 6065 0.00 2.55 0.00 0.000 6 0.000 0.054 2571 2135 3096

6375 -0.60 -117.3 349.3 -5.0 308 6379 0.00 2.60 0.00 0.000 4 0.000 0.064 2571 3561 3096

6397 -0.60 -117.3 350.5 -4.9 309 6401 0.00 2.53 0.00 0.000 6 0.000 0.052 2571 2143 3095

6718 -0.60 -117.3 366.0 -5.3 325 6723 0.00 2.55 0.00 0.000 4 0.000 0.064 2571 3557 3095

6729 -0.60 -117.3 366.7 -5.6 325 6736 0.00 2.53 0.00 0.000 6 0.000 0.051 2570 2143 3095

7046 -0.60 -117.3 385.2 -6.2 341 7047 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2141 3095

7355 -0.60 -117.3 404.9 -6.4 356 7359 0.00 2.60 0.00 0.000 4 0.000 0.064 2570 3558 3095

7404 -0.60 -117.3 408.3 -6.6 358 7409 0.00 2.50 0.00 0.000 6 0.000 0.050 2570 2151 3094

7720 -0.60 -117.3 427.6 -6.1 373 7724 0.00 2.58 0.00 0.000 4 0.000 0.066 2570 3559 3095

7737 -0.60 -117.3 428.7 -6.0 374 7741 0.00 2.50 0.00 0.000 6 0.000 0.052 2571 2154 3094

8064 -0.60 -117.3 447.9 -5.4 390 8068 0.00 2.58 0.00 0.000 4 0.000 0.064 2570 3557 3094

8074 -0.60 -117.3 448.5 -5.6 390 8081 0.00 2.50 0.00 0.000 6 0.000 0.052 2571 2159 3094

8391 -0.60 -117.3 464.5 -4.7 406 8392 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2142 3094

8700 -0.60 -117.3 478.4 -4.4 421 8701 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2142 3094

9010 -0.60 -117.3 492.4 -4.7 436 9011 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2142 3094

9319 -0.60 -117.3 508.7 -5.5 451 9320 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2140 3094

9629 -0.60 -117.3 525.0 -5.0 466 9630 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2140 3094

9937 -0.60 -117.3 539.4 -4.4 481 9942 0.00 2.58 0.00 0.000 4 0.000 0.065 2570 3559 3094

9950 -0.60 -117.3 540.0 -4.5 481 9956 0.00 2.50 0.00 0.000 6 0.000 0.054 2570 2163 3094

10266 -0.60 -117.3 554.0 -4.6 497 10270 0.00 2.55 0.00 0.000 4 0.000 0.067 2570 745 3094

10299 -0.60 -117.3 555.8 -5.3 498 10306 0.00 2.47 0.00 0.000 6 0.000 0.054 2571 2138 3094

10615 -0.60 -117.3 570.0 -4.5 514 10617 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2138 3094

10925 -0.60 -117.3 584.8 -4.9 529 10926 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2138 3094

11235 -0.64 -117.3 599.0 -4.4 544 11236 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2139 3094

11543 -0.64 -117.3 611.1 -3.5 559 11544 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2139 3093

11853 -0.64 -117.3 625.1 -4.7 574 11857 0.00 2.55 0.00 0.000 4 0.000 0.067 2570 3561 3093

11864 -0.64 -117.3 625.8 -4.7 574 11870 0.00 2.53 0.00 0.000 6 0.000 0.056 2571 2152 3093

12180 -0.69 -117.3 640.7 -4.6 590 12185 0.00 2.60 0.00 0.000 4 0.000 0.067 2570 3561 3093

12202 -0.69 -117.3 641.6 -3.7 591 12207 0.00 2.50 0.00 0.000 6 0.000 0.056 2571 2170 3093

12525 -0.73 -117.3 653.8 -3.6 607 12530 0.15 2.58 0.00 0.000 4 0.050 0.068 2524 3564 3093

12536 -0.73 -117.3 654.4 -3.5 607 12542 0.00 2.53 0.00 0.000 6 0.000 0.056 2524 2158 3092

12852 -0.65 -117.3 673.2 -6.9 623 12857 0.15 2.58 0.00 0.000 4 0.091 0.067 2560 3565 3092

12942 -0.65 -117.3 678.9 -5.9 627 12946 0.00 2.42 0.00 0.000 6 0.000 0.053 2560 2202 3092

13264 -0.65 -117.3 694.2 -3.5 643 13265 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2184 3092

13573 -0.70 -117.3 706.5 -2.5 658 13574 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2184 3092

13882 -0.70 -117.3 713.5 -1.1 673 13886 0.00 2.53 0.00 0.000 4 0.000 0.071 2560 3565 3092

13892 -0.70 -117.3 713.5 -0.5 673 13899 0.00 2.47 0.00 0.000 6 0.000 0.058 2561 2169 3092

14209 -0.70 -117.3 723.6 -2.7 689 14213 0.00 2.55 0.00 0.000 4 0.000 0.071 2560 3562 3092

14367 -0.70 -117.3 728.6 -4.6 696 14372 0.00 2.40 0.00 0.000 6 0.000 0.056 2560 2215 3092

14689 -0.70 -117.3 737.2 -2.3 712 14694 0.00 2.65 0.00 0.000 4 0.000 0.073 2561 760 3091

14948 -0.77 -117.3 741.8 0.4 723 14955 0.12 2.55 0.00 0.000 6 0.056 0.061 2523 2165 3091

15265 -0.73 -117.3 748.0 -2.2 739 15269 0.00 2.60 0.00 0.000 4 0.000 0.076 2523 761 3091

15394 -0.65 -117.3 757.1 -6.1 745 15400 0.15 2.60 0.00 0.000 6 0.094 0.065 2554 2180 3091

15722 -0.65 -117.3 768.5 -2.1 761 15726 0.00 2.55 0.00 0.000 4 0.000 0.079 2554 3564 3090

15773 -0.65 -117.3 769.4 -1.3 763 15777 0.00 2.47 0.00 0.000 6 0.000 0.066 2554 2212 3090

16089 -0.65 -117.3 780.6 -3.8 778 16093 0.00 2.58 0.00 0.000 4 0.000 0.084 2554 3568 3089

16100 -0.65 -117.3 781.2 -3.4 778 16106 0.00 2.45 0.00 0.000 6 0.000 0.065 2554 2210 3089

16351 end dive: BOTTOM_OBSTACLE_DETECTED

state 16351 begin apogee

16359 -0.33 0.0 793.7 5.3 791 16462 0.35 0.00 100.65 1.404 6 0.096 0.000 2625 2100 2620

16463 end apogee: CONTROL_FINISHED_OK

state 16463 begin climb

16466 1.03 117.3 800.9 0.0 796 16576 1.40 2.75 100.35 1.373 4 0.075 0.087 2921 705 2141

16723 1.05 128.0 786.4 5.6 808 16738 0.00 2.62 10.50 1.195 6 0.000 0.069 2921 2102 2098

17060 1.05 128.0 765.9 6.7 825 17064 0.00 2.65 0.00 0.000 4 0.000 0.083 2921 3508 2096

17167 0.99 128.0 755.8 10.0 830 17172 0.00 2.60 0.00 0.000 6 0.000 0.071 2922 2120 2096

17495 1.08 178.8 735.3 4.3 846 17544 0.00 2.72 43.67 1.361 4 0.000 0.082 2922 3508 1891

17603 1.20 254.5 732.5 3.4 851 17674 0.17 2.60 64.82 1.362 6 0.054 0.070 2968 2113 1582

17991 1.10 254.5 706.7 8.4 870 17996 0.12 2.70 0.00 0.000 4 0.097 0.087 2944 705 1582

18041 1.10 254.5 702.5 8.4 872 18046 0.00 2.67 0.00 0.000 6 0.000 0.071 2944 2130 1582

18357 1.10 254.5 676.3 8.5 887 18361 0.00 2.58 0.00 0.000 4 0.000 0.078 2944 3518 1581

18407 1.10 254.5 671.5 10.6 889 18411 0.00 2.55 0.00 0.000 6 0.000 0.063 2944 2139 1581

18723 1.10 254.5 642.3 10.1 904 18724 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2110 1581

19031 1.10 254.5 615.0 8.7 919 19032 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2110 1581

19341 1.10 254.5 587.8 8.8 934 19345 0.00 2.55 0.00 0.000 4 0.000 0.068 2944 3512 1581

19374 1.10 254.5 584.8 8.5 935 19380 0.00 2.53 0.00 0.000 6 0.000 0.058 2944 2124 1581

19690 1.10 254.5 557.7 8.5 951 19694 0.00 2.60 0.00 0.000 4 0.000 0.071 2944 690 1581

19745 1.10 254.5 552.9 8.0 953 19751 0.00 2.62 0.00 0.000 6 0.000 0.058 2944 2139 1581

20061 1.10 254.5 528.4 7.7 969 20065 0.00 2.50 0.00 0.000 4 0.000 0.067 2944 3518 1582

20094 1.15 254.5 525.6 9.0 970 20101 0.00 2.50 0.00 0.000 6 0.000 0.054 2944 2136 1582

20410 1.15 254.5 500.6 8.4 986 20414 0.00 2.62 0.00 0.000 4 0.000 0.069 2944 681 1583

20454 1.15 254.5 496.7 8.3 988 20458 0.00 2.62 0.00 0.000 6 0.000 0.055 2944 2140 1582

20775 1.15 254.5 470.8 7.6 1004 20776 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2140 1583

21084 1.15 254.5 446.9 8.0 1019 21088 0.00 2.67 0.00 0.000 4 0.000 0.069 2944 680 1583

21117 1.15 254.5 444.0 7.7 1020 21123 0.00 2.60 0.00 0.000 6 0.000 0.054 2944 2128 1583

21433 1.15 254.5 419.0 8.2 1036 21437 0.00 2.47 0.00 0.000 4 0.000 0.064 2944 3514 1584

21460 1.15 254.5 416.6 8.3 1037 21464 0.00 2.50 0.00 0.000 6 0.000 0.053 2944 2119 1585

21776 1.15 254.5 390.9 8.5 1052 21780 0.00 2.55 0.00 0.000 4 0.000 0.068 2944 689 1585

21815 1.15 254.5 387.3 8.8 1054 21819 0.00 2.55 0.00 0.000 6 0.000 0.054 2944 2124 1585

22141 1.15 254.5 362.4 7.3 1070 22145 0.00 2.50 0.00 0.000 4 0.000 0.064 2944 3517 1586

22182 1.20 254.5 359.0 9.1 1072 22186 0.00 2.50 0.00 0.000 6 0.000 0.053 2944 2119 1586

22508 1.20 254.5 334.2 7.8 1088 22512 0.00 2.58 0.00 0.000 4 0.000 0.068 2944 689 1587

22552 1.20 254.5 330.5 9.3 1090 22556 0.00 2.58 0.00 0.000 6 0.000 0.053 2944 2127 1586

22874 1.20 254.5 304.7 8.4 1106 22878 0.00 2.47 0.00 0.000 4 0.000 0.063 2944 3517 1587

22914 1.26 254.5 301.0 8.3 1108 22919 0.12 2.50 0.00 0.000 6 0.048 0.052 2984 2114 1587

23241 1.17 254.5 266.2 10.9 1124 23246 0.15 2.58 0.00 0.000 4 0.081 0.068 2949 689 1587

23274 1.17 254.5 262.9 8.7 1125 23281 0.00 2.58 0.00 0.000 6 0.000 0.053 2949 2125 1587

23590 1.17 254.5 235.5 8.2 1141 23595 0.00 2.47 0.00 0.000 4 0.000 0.062 2949 3515 1588

23635 1.22 254.5 231.5 9.2 1143 23640 0.00 2.50 0.00 0.000 6 0.000 0.054 2949 2117 1588

23957 1.22 254.5 206.2 7.6 1159 23961 0.00 2.58 0.00 0.000 4 0.000 0.067 2949 688 1588

23990 1.22 254.5 203.3 6.6 1160 23996 0.00 2.58 0.00 0.000 6 0.000 0.052 2949 2133 1588

24306 1.22 254.5 177.8 8.0 1176 24310 0.00 2.45 0.00 0.000 4 0.000 0.062 2949 3509 1588

24339 1.27 254.5 175.1 9.0 1177 24346 0.12 2.47 0.00 0.000 6 0.048 0.051 2990 2123 1588

24656 1.17 254.5 141.8 10.4 1193 24661 0.15 2.60 0.00 0.000 4 0.081 0.067 2954 681 1588

24700 1.17 254.5 137.2 9.5 1195 24704 0.00 2.58 0.00 0.000 6 0.000 0.052 2954 2125 1588

25022 1.17 254.5 110.5 8.6 1211 25026 0.00 2.47 0.00 0.000 4 0.000 0.061 2954 3513 1589

25062 1.17 254.5 106.9 7.6 1213 25066 0.00 2.47 0.00 0.000 6 0.000 0.050 2954 2124 1588

25389 1.17 254.5 79.5 8.6 1229 25393 0.00 2.58 0.00 0.000 4 0.000 0.068 2954 691 1589

25444 1.17 254.5 74.4 9.0 1231 25451 0.00 2.55 0.00 0.000 6 0.000 0.051 2954 2127 1589

25760 1.17 254.5 48.1 8.2 1247 25765 0.00 2.47 0.00 0.000 4 0.000 0.061 2954 3512 1589

25802 1.22 254.5 44.4 11.9 1249 25806 0.00 2.45 0.00 0.000 6 0.000 0.050 2954 2122 1589

26129 1.22 254.5 16.7 7.4 1265 26130 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2121 1589

26332 end climb: SURFACE_DEPTH_REACHED

state 26332 begin surface coast

26354 end surface coast: CONTROL_FINISHED_OK

state 26354 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	104	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	29	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-78561.664	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150245,6144.520,-925.752,66,5.4,86,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,-0.102
_SM_DEPTHo	0.63	KALMAN_X	-1794.8,187.2,10.6,16386.7,-1386.0
_SM_ANGLEo	-55.1	KALMAN_Y	1130.8,-247.2,-39.0,-9569.6,1151.2
GPS2	150915,6144.569,-925.729,11,1.6,11,-9.5	MHEAD_RNG_PITCHd_Wd	130.1,14529,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.0,1.027269	ALTIM_BOTTOM_PING	775.0,27.9
SM_CCo	26377,171.50,0.768,0,0,389,547.02	_24V_AH	23.8,22.010
SM_GC	0.53,0.00,0.00,171.50,0.000,0.000,0.768,420,2191,389,-10.48,0.79,547.02	_10V_AH	10.1,10.105
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	66394,1276
TT8_MAMPS	0.029146	CAP_FILE_SIZE	202389,0
HUMID	1651	CFSIZE	254472192,245170176
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
XPDR_PINGS	785	GPS	280608,223401,6145.332,-918.041,39,1.2,46,-9.5
ALTIM_TOP_PING	19.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	140	86.44	SBE_CT	875	24	499.97
Roll_motor	260	87	541.17	SBE_O2	945	19	427.36
VBD_pump_during_apogee	320	1404	10695.74	WL_BB2F	726	105	1814.60
VBD_pump_during_surface	171	767	3133.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	30	160	114.77	nil	0	0	0.00
Iridium_during_xfer	183	223	971.90
Transponder_ping	203	420	2031.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.81
TT8	2345	19	469.13
LPSleep	20484	2	453.10
TT8_Active	743	19	148.61
TT8_Sampling	2660	39	1069.38
TT8_CF8	696	45	322.14
TT8_Kalman	32	81	26.74
Analog_circuits	2102	12	254.79
GPS_charging	0	0	0.00
Compass	2610	8	210.96
RAFOS	0	0	0.00

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
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.03	-117.3	0.0	0.0	0	138	0.00	0.00	-111.25	0.000	6	0.000	0.000	418	2169	3100
142	-1.03	-117.3	2.0	-1.4	5	158	10.70	2.60	0.00	0.000	4	0.140	0.058	2471	742	3099
188	-0.71	-117.3	10.2	-12.3	8	193	0.35	2.50	0.00	0.000	6	0.087	0.050	2546	2143	3098
515	-0.63	-117.3	33.7	-7.4	24	516	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2142	3098
825	-0.55	-117.3	53.7	-6.5	39	830	0.15	2.55	0.00	0.000	4	0.091	0.061	2581	3565	3098
836	-0.49	-117.3	54.6	-6.7	39	842	0.00	2.53	0.00	0.000	6	0.000	0.049	2580	2144	3098
1152	-0.49	-117.3	72.3	-5.7	55	1157	0.00	2.50	0.00	0.000	4	0.000	0.064	2581	751	3099
1181	-0.49	-117.3	74.0	-5.3	56	1185	0.00	2.47	0.00	0.000	6	0.000	0.050	2580	2136	3098
1499	-0.53	-117.3	91.1	-5.5	71	1503	0.00	2.55	0.00	0.000	4	0.000	0.063	2580	744	3098
1527	-0.53	-117.3	93.0	-6.0	72	1531	0.00	2.50	0.00	0.000	6	0.000	0.051	2580	2137	3098
1844	-0.58	-117.3	111.4	-5.9	87	1845	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2137	3098
2152	-0.58	-117.3	128.9	-5.5	102	2154	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2137	3098
2462	-0.58	-117.3	144.4	-4.9	117	2463	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2138	3098
2771	-0.62	-117.3	159.0	-4.7	132	2776	0.00	2.55	0.00	0.000	4	0.000	0.063	2580	3562	3098
2794	-0.62	-117.3	160.3	-5.3	133	2798	0.00	2.55	0.00	0.000	6	0.000	0.050	2580	2133	3097
3116	-0.67	-117.3	175.1	-4.5	149	3121	0.12	2.58	0.00	0.000	4	0.050	0.061	2543	3557	3097
3139	-0.62	-117.3	176.5	-5.7	150	3143	0.00	2.53	0.00	0.000	6	0.000	0.050	2543	2136	3098
3461	-0.55	-117.3	196.6	-6.3	166	3466	0.15	2.58	0.00	0.000	4	0.089	0.061	2577	3557	3097
3472	-0.49	-117.3	197.4	-6.2	166	3478	0.00	2.53	0.00	0.000	6	0.000	0.050	2578	2135	3098
3788	-0.49	-117.3	213.6	-5.3	182	3793	0.00	2.58	0.00	0.000	4	0.000	0.062	2578	3557	3097
3810	-0.49	-117.3	214.8	-5.3	183	3814	0.00	2.53	0.00	0.000	6	0.000	0.050	2578	2139	3097
4131	-0.49	-117.3	231.7	-5.0	199	4133	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2139	3097
4441	-0.54	-117.3	247.6	-4.9	214	4442	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2140	3097
4750	-0.58	-117.3	263.3	-5.0	229	4754	0.00	2.50	0.00	0.000	4	0.000	0.067	2578	751	3097
4784	-0.58	-117.3	265.1	-5.4	230	4790	0.00	2.47	0.00	0.000	6	0.000	0.053	2577	2133	3097
5101	-0.62	-117.3	280.5	-4.8	246	5105	0.00	2.53	0.00	0.000	4	0.000	0.066	2578	750	3097
5112	-0.62	-117.3	281.1	-5.0	246	5118	0.00	2.47	0.00	0.000	6	0.000	0.053	2578	2128	3096
5428	-0.67	-117.3	297.6	-4.9	262	5430	0.12	0.00	0.00	0.000	6	0.052	0.000	2540	2128	3096
5737	-0.60	-117.3	315.7	-6.1	277	5739	0.15	0.00	0.00	0.000	6	0.089	0.000	2571	2128	3096
6046	-0.60	-117.3	332.4	-5.3	292	6051	0.00	2.58	0.00	0.000	4	0.000	0.066	2570	3557	3096
6059	-0.60	-117.3	333.1	-5.3	292	6065	0.00	2.55	0.00	0.000	6	0.000	0.054	2571	2135	3096
6375	-0.60	-117.3	349.3	-5.0	308	6379	0.00	2.60	0.00	0.000	4	0.000	0.064	2571	3561	3096
6397	-0.60	-117.3	350.5	-4.9	309	6401	0.00	2.53	0.00	0.000	6	0.000	0.052	2571	2143	3095
6718	-0.60	-117.3	366.0	-5.3	325	6723	0.00	2.55	0.00	0.000	4	0.000	0.064	2571	3557	3095
6729	-0.60	-117.3	366.7	-5.6	325	6736	0.00	2.53	0.00	0.000	6	0.000	0.051	2570	2143	3095
7046	-0.60	-117.3	385.2	-6.2	341	7047	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2141	3095
7355	-0.60	-117.3	404.9	-6.4	356	7359	0.00	2.60	0.00	0.000	4	0.000	0.064	2570	3558	3095
7404	-0.60	-117.3	408.3	-6.6	358	7409	0.00	2.50	0.00	0.000	6	0.000	0.050	2570	2151	3094
7720	-0.60	-117.3	427.6	-6.1	373	7724	0.00	2.58	0.00	0.000	4	0.000	0.066	2570	3559	3095
7737	-0.60	-117.3	428.7	-6.0	374	7741	0.00	2.50	0.00	0.000	6	0.000	0.052	2571	2154	3094
8064	-0.60	-117.3	447.9	-5.4	390	8068	0.00	2.58	0.00	0.000	4	0.000	0.064	2570	3557	3094
8074	-0.60	-117.3	448.5	-5.6	390	8081	0.00	2.50	0.00	0.000	6	0.000	0.052	2571	2159	3094
8391	-0.60	-117.3	464.5	-4.7	406	8392	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2142	3094
8700	-0.60	-117.3	478.4	-4.4	421	8701	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2142	3094
9010	-0.60	-117.3	492.4	-4.7	436	9011	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2142	3094
9319	-0.60	-117.3	508.7	-5.5	451	9320	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2140	3094
9629	-0.60	-117.3	525.0	-5.0	466	9630	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2140	3094
9937	-0.60	-117.3	539.4	-4.4	481	9942	0.00	2.58	0.00	0.000	4	0.000	0.065	2570	3559	3094
9950	-0.60	-117.3	540.0	-4.5	481	9956	0.00	2.50	0.00	0.000	6	0.000	0.054	2570	2163	3094
10266	-0.60	-117.3	554.0	-4.6	497	10270	0.00	2.55	0.00	0.000	4	0.000	0.067	2570	745	3094
10299	-0.60	-117.3	555.8	-5.3	498	10306	0.00	2.47	0.00	0.000	6	0.000	0.054	2571	2138	3094
10615	-0.60	-117.3	570.0	-4.5	514	10617	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2138	3094
10925	-0.60	-117.3	584.8	-4.9	529	10926	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2138	3094
11235	-0.64	-117.3	599.0	-4.4	544	11236	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2139	3094
11543	-0.64	-117.3	611.1	-3.5	559	11544	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2139	3093
11853	-0.64	-117.3	625.1	-4.7	574	11857	0.00	2.55	0.00	0.000	4	0.000	0.067	2570	3561	3093
11864	-0.64	-117.3	625.8	-4.7	574	11870	0.00	2.53	0.00	0.000	6	0.000	0.056	2571	2152	3093
12180	-0.69	-117.3	640.7	-4.6	590	12185	0.00	2.60	0.00	0.000	4	0.000	0.067	2570	3561	3093
12202	-0.69	-117.3	641.6	-3.7	591	12207	0.00	2.50	0.00	0.000	6	0.000	0.056	2571	2170	3093
12525	-0.73	-117.3	653.8	-3.6	607	12530	0.15	2.58	0.00	0.000	4	0.050	0.068	2524	3564	3093
12536	-0.73	-117.3	654.4	-3.5	607	12542	0.00	2.53	0.00	0.000	6	0.000	0.056	2524	2158	3092
12852	-0.65	-117.3	673.2	-6.9	623	12857	0.15	2.58	0.00	0.000	4	0.091	0.067	2560	3565	3092
12942	-0.65	-117.3	678.9	-5.9	627	12946	0.00	2.42	0.00	0.000	6	0.000	0.053	2560	2202	3092
13264	-0.65	-117.3	694.2	-3.5	643	13265	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2184	3092
13573	-0.70	-117.3	706.5	-2.5	658	13574	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2184	3092
13882	-0.70	-117.3	713.5	-1.1	673	13886	0.00	2.53	0.00	0.000	4	0.000	0.071	2560	3565	3092
13892	-0.70	-117.3	713.5	-0.5	673	13899	0.00	2.47	0.00	0.000	6	0.000	0.058	2561	2169	3092
14209	-0.70	-117.3	723.6	-2.7	689	14213	0.00	2.55	0.00	0.000	4	0.000	0.071	2560	3562	3092
14367	-0.70	-117.3	728.6	-4.6	696	14372	0.00	2.40	0.00	0.000	6	0.000	0.056	2560	2215	3092
14689	-0.70	-117.3	737.2	-2.3	712	14694	0.00	2.65	0.00	0.000	4	0.000	0.073	2561	760	3091
14948	-0.77	-117.3	741.8	0.4	723	14955	0.12	2.55	0.00	0.000	6	0.056	0.061	2523	2165	3091
15265	-0.73	-117.3	748.0	-2.2	739	15269	0.00	2.60	0.00	0.000	4	0.000	0.076	2523	761	3091
15394	-0.65	-117.3	757.1	-6.1	745	15400	0.15	2.60	0.00	0.000	6	0.094	0.065	2554	2180	3091
15722	-0.65	-117.3	768.5	-2.1	761	15726	0.00	2.55	0.00	0.000	4	0.000	0.079	2554	3564	3090
15773	-0.65	-117.3	769.4	-1.3	763	15777	0.00	2.47	0.00	0.000	6	0.000	0.066	2554	2212	3090
16089	-0.65	-117.3	780.6	-3.8	778	16093	0.00	2.58	0.00	0.000	4	0.000	0.084	2554	3568	3089
16100	-0.65	-117.3	781.2	-3.4	778	16106	0.00	2.45	0.00	0.000	6	0.000	0.065	2554	2210	3089
16351	end dive: BOTTOM_OBSTACLE_DETECTED
state	16351	begin apogee
16359	-0.33	0.0	793.7	5.3	791	16462	0.35	0.00	100.65	1.404	6	0.096	0.000	2625	2100	2620
16463	end apogee: CONTROL_FINISHED_OK
state	16463	begin climb
16466	1.03	117.3	800.9	0.0	796	16576	1.40	2.75	100.35	1.373	4	0.075	0.087	2921	705	2141
16723	1.05	128.0	786.4	5.6	808	16738	0.00	2.62	10.50	1.195	6	0.000	0.069	2921	2102	2098
17060	1.05	128.0	765.9	6.7	825	17064	0.00	2.65	0.00	0.000	4	0.000	0.083	2921	3508	2096
17167	0.99	128.0	755.8	10.0	830	17172	0.00	2.60	0.00	0.000	6	0.000	0.071	2922	2120	2096
17495	1.08	178.8	735.3	4.3	846	17544	0.00	2.72	43.67	1.361	4	0.000	0.082	2922	3508	1891
17603	1.20	254.5	732.5	3.4	851	17674	0.17	2.60	64.82	1.362	6	0.054	0.070	2968	2113	1582
17991	1.10	254.5	706.7	8.4	870	17996	0.12	2.70	0.00	0.000	4	0.097	0.087	2944	705	1582
18041	1.10	254.5	702.5	8.4	872	18046	0.00	2.67	0.00	0.000	6	0.000	0.071	2944	2130	1582
18357	1.10	254.5	676.3	8.5	887	18361	0.00	2.58	0.00	0.000	4	0.000	0.078	2944	3518	1581
18407	1.10	254.5	671.5	10.6	889	18411	0.00	2.55	0.00	0.000	6	0.000	0.063	2944	2139	1581
18723	1.10	254.5	642.3	10.1	904	18724	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2110	1581
19031	1.10	254.5	615.0	8.7	919	19032	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2110	1581
19341	1.10	254.5	587.8	8.8	934	19345	0.00	2.55	0.00	0.000	4	0.000	0.068	2944	3512	1581
19374	1.10	254.5	584.8	8.5	935	19380	0.00	2.53	0.00	0.000	6	0.000	0.058	2944	2124	1581
19690	1.10	254.5	557.7	8.5	951	19694	0.00	2.60	0.00	0.000	4	0.000	0.071	2944	690	1581
19745	1.10	254.5	552.9	8.0	953	19751	0.00	2.62	0.00	0.000	6	0.000	0.058	2944	2139	1581
20061	1.10	254.5	528.4	7.7	969	20065	0.00	2.50	0.00	0.000	4	0.000	0.067	2944	3518	1582
20094	1.15	254.5	525.6	9.0	970	20101	0.00	2.50	0.00	0.000	6	0.000	0.054	2944	2136	1582
20410	1.15	254.5	500.6	8.4	986	20414	0.00	2.62	0.00	0.000	4	0.000	0.069	2944	681	1583
20454	1.15	254.5	496.7	8.3	988	20458	0.00	2.62	0.00	0.000	6	0.000	0.055	2944	2140	1582
20775	1.15	254.5	470.8	7.6	1004	20776	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2140	1583
21084	1.15	254.5	446.9	8.0	1019	21088	0.00	2.67	0.00	0.000	4	0.000	0.069	2944	680	1583
21117	1.15	254.5	444.0	7.7	1020	21123	0.00	2.60	0.00	0.000	6	0.000	0.054	2944	2128	1583
21433	1.15	254.5	419.0	8.2	1036	21437	0.00	2.47	0.00	0.000	4	0.000	0.064	2944	3514	1584
21460	1.15	254.5	416.6	8.3	1037	21464	0.00	2.50	0.00	0.000	6	0.000	0.053	2944	2119	1585
21776	1.15	254.5	390.9	8.5	1052	21780	0.00	2.55	0.00	0.000	4	0.000	0.068	2944	689	1585
21815	1.15	254.5	387.3	8.8	1054	21819	0.00	2.55	0.00	0.000	6	0.000	0.054	2944	2124	1585
22141	1.15	254.5	362.4	7.3	1070	22145	0.00	2.50	0.00	0.000	4	0.000	0.064	2944	3517	1586
22182	1.20	254.5	359.0	9.1	1072	22186	0.00	2.50	0.00	0.000	6	0.000	0.053	2944	2119	1586
22508	1.20	254.5	334.2	7.8	1088	22512	0.00	2.58	0.00	0.000	4	0.000	0.068	2944	689	1587
22552	1.20	254.5	330.5	9.3	1090	22556	0.00	2.58	0.00	0.000	6	0.000	0.053	2944	2127	1586
22874	1.20	254.5	304.7	8.4	1106	22878	0.00	2.47	0.00	0.000	4	0.000	0.063	2944	3517	1587
22914	1.26	254.5	301.0	8.3	1108	22919	0.12	2.50	0.00	0.000	6	0.048	0.052	2984	2114	1587
23241	1.17	254.5	266.2	10.9	1124	23246	0.15	2.58	0.00	0.000	4	0.081	0.068	2949	689	1587
23274	1.17	254.5	262.9	8.7	1125	23281	0.00	2.58	0.00	0.000	6	0.000	0.053	2949	2125	1587
23590	1.17	254.5	235.5	8.2	1141	23595	0.00	2.47	0.00	0.000	4	0.000	0.062	2949	3515	1588
23635	1.22	254.5	231.5	9.2	1143	23640	0.00	2.50	0.00	0.000	6	0.000	0.054	2949	2117	1588
23957	1.22	254.5	206.2	7.6	1159	23961	0.00	2.58	0.00	0.000	4	0.000	0.067	2949	688	1588
23990	1.22	254.5	203.3	6.6	1160	23996	0.00	2.58	0.00	0.000	6	0.000	0.052	2949	2133	1588
24306	1.22	254.5	177.8	8.0	1176	24310	0.00	2.45	0.00	0.000	4	0.000	0.062	2949	3509	1588
24339	1.27	254.5	175.1	9.0	1177	24346	0.12	2.47	0.00	0.000	6	0.048	0.051	2990	2123	1588
24656	1.17	254.5	141.8	10.4	1193	24661	0.15	2.60	0.00	0.000	4	0.081	0.067	2954	681	1588
24700	1.17	254.5	137.2	9.5	1195	24704	0.00	2.58	0.00	0.000	6	0.000	0.052	2954	2125	1588
25022	1.17	254.5	110.5	8.6	1211	25026	0.00	2.47	0.00	0.000	4	0.000	0.061	2954	3513	1589
25062	1.17	254.5	106.9	7.6	1213	25066	0.00	2.47	0.00	0.000	6	0.000	0.050	2954	2124	1588
25389	1.17	254.5	79.5	8.6	1229	25393	0.00	2.58	0.00	0.000	4	0.000	0.068	2954	691	1589
25444	1.17	254.5	74.4	9.0	1231	25451	0.00	2.55	0.00	0.000	6	0.000	0.051	2954	2127	1589
25760	1.17	254.5	48.1	8.2	1247	25765	0.00	2.47	0.00	0.000	4	0.000	0.061	2954	3512	1589
25802	1.22	254.5	44.4	11.9	1249	25806	0.00	2.45	0.00	0.000	6	0.000	0.050	2954	2122	1589
26129	1.22	254.5	16.7	7.4	1265	26130	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2121	1589
26332	end climb: SURFACE_DEPTH_REACHED
state	26332	begin surface coast
26354	end surface coast: CONTROL_FINISHED_OK
state	26354	begin surface