Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 107 * 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 107 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -78602.289 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 -78602.289

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 107 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 123837,6145.684,-913.716,32,1.0,33,-9.4 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.061,-0.192

_SM_DEPTHo 0.49 KALMAN_X -1358.5,-175.2,-429.0,27276.2,1003.1

_SM_ANGLEo -52.8 KALMAN_Y 19514.2,-696.2,-299.0,-25187.0,10027.7

GPS2 124508,6145.691,-913.716,14,1.1,14,-9.4 MHEAD_RNG_PITCHd_Wd 207.1,9010,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026981 ALTIM_BOTTOM_PING 650.6,105.7

SM_CCo 25835,215.98,0.766,0,0,390,547.02 _24V_AH 23.8,22.586

SM_GC 0.43,0.00,0.00,215.98,0.000,0.000,0.766,419,2180,390,-10.49,0.85,547.02 _10V_AH 10.1,10.443

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 63112,1244

TT8_MAMPS 0.029146 CAP_FILE_SIZE 202603,0

HUMID 1641 CFSIZE 254472192,244920320

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 780 GPS 290608,200137,6146.777,-914.758,40,1.5,46,-9.4

ALTIM_TOP_PING 18.5,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 139 83.47 SBE_CT 852 24 487.10

Roll_motor 281 93 626.08 SBE_O2 922 19 416.98

VBD_pump_during_apogee 259 1366 8442.41 WL_BB2F 701 105 1753.79

VBD_pump_during_surface 215 766 3938.59 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 31 160 120.84 nil 0 0 0.00

Iridium_during_xfer 180 223 957.40

Transponder_ping 200 420 2006.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.06

TT8 2328 19 465.67

LPSleep 19931 2 440.87

TT8_Active 761 19 152.36

TT8_Sampling 2714 39 1091.15

TT8_CF8 696 45 322.37

TT8_Kalman 33 81 27.56

Analog_circuits 2140 12 259.47

GPS_charging 0 0 0.00

Compass 2659 8 214.91

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 -111.60 0.000 6 0.000 0.000 422 2156 3099

142 -1.03 -117.3 2.0 -1.5 5 158 10.65 2.53 0.00 0.000 4 0.140 0.058 2469 3562 3099

411 -0.70 -117.3 35.4 -10.3 16 417 0.38 2.53 0.00 0.000 6 0.091 0.046 2549 2142 3098

734 -0.62 -117.3 52.9 -5.8 32 738 0.00 2.60 0.00 0.000 4 0.000 0.059 2549 3564 3098

992 -0.52 -117.3 71.3 -8.1 43 999 0.17 2.50 0.00 0.000 6 0.090 0.046 2584 2151 3098

1309 -0.56 -117.3 93.7 -6.9 59 1313 0.00 2.58 0.00 0.000 4 0.000 0.060 2583 3561 3098

1330 -0.56 -117.3 95.3 -6.6 60 1334 0.00 2.47 0.00 0.000 6 0.000 0.048 2584 2164 3098

1652 -0.60 -117.3 115.1 -6.2 76 1653 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2162 3098

1961 -0.65 -117.3 134.6 -6.3 91 1966 0.12 2.55 0.00 0.000 4 0.051 0.061 2548 3567 3099

1971 -0.65 -117.3 135.5 -6.3 91 1978 0.00 2.50 0.00 0.000 6 0.000 0.050 2548 2166 3098

2288 -0.58 -117.3 158.0 -6.9 107 2293 0.12 2.55 0.00 0.000 4 0.092 0.061 2573 3567 3098

2299 -0.52 -117.3 158.7 -6.6 107 2305 0.00 2.50 0.00 0.000 6 0.000 0.051 2573 2166 3098

2614 -0.52 -117.3 177.9 -6.4 123 2619 0.00 2.53 0.00 0.000 4 0.000 0.062 2573 3564 3098

2648 -0.52 -117.3 180.1 -6.7 124 2654 0.00 2.47 0.00 0.000 6 0.000 0.049 2573 2175 3098

2964 -0.52 -117.3 197.9 -5.6 140 2968 0.00 2.53 0.00 0.000 4 0.000 0.064 2573 3557 3098

2991 -0.52 -117.3 199.5 -5.6 141 2996 0.00 2.45 0.00 0.000 6 0.000 0.051 2573 2180 3098

3308 -0.52 -117.3 218.1 -6.5 156 3309 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2178 3097

3617 -0.52 -117.3 238.3 -6.5 171 3621 0.00 2.60 0.00 0.000 4 0.000 0.068 2573 743 3097

3627 -0.52 -117.3 239.0 -6.5 171 3633 0.00 2.58 0.00 0.000 6 0.000 0.053 2573 2178 3097

3943 -0.52 -117.3 260.0 -6.5 187 3947 0.00 2.62 0.00 0.000 4 0.000 0.065 2573 745 3097

3960 -0.52 -117.3 261.0 -5.8 188 3965 0.00 2.55 0.00 0.000 6 0.000 0.053 2573 2173 3097

4287 -0.52 -117.3 281.1 -6.1 204 4291 0.00 2.62 0.00 0.000 4 0.000 0.067 2573 738 3097

4320 -0.52 -117.3 283.3 -6.5 205 4326 0.00 2.55 0.00 0.000 6 0.000 0.054 2573 2163 3097

4636 -0.52 -117.3 301.5 -5.5 221 4641 0.00 2.60 0.00 0.000 4 0.000 0.067 2573 744 3096

4664 -0.52 -117.3 303.1 -5.7 222 4669 0.00 2.55 0.00 0.000 6 0.000 0.053 2573 2164 3096

4980 -0.52 -117.3 319.3 -4.9 237 4985 0.00 2.60 0.00 0.000 4 0.000 0.068 2573 744 3096

5026 -0.52 -117.3 321.7 -5.4 239 5030 0.00 2.53 0.00 0.000 6 0.000 0.054 2573 2151 3096

5347 -0.52 -117.3 336.5 -4.6 255 5348 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2150 3096

5658 -0.52 -117.3 350.6 -4.6 270 5662 0.00 2.60 0.00 0.000 4 0.000 0.067 2573 740 3095

5668 -0.52 -117.3 351.3 -4.7 270 5675 0.00 2.55 0.00 0.000 6 0.000 0.054 2573 2161 3096

5985 -0.52 -117.3 365.0 -4.0 286 5986 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2159 3095

6295 -0.52 -117.3 376.2 -3.6 301 6296 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2159 3095

6603 -0.52 -117.3 387.4 -3.7 316 6605 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2159 3095

6913 -0.52 -117.3 398.9 -3.7 331 6914 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2158 3096

7222 -0.52 -117.3 408.9 -3.1 346 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2158 3095

7531 -0.52 -117.3 420.0 -3.5 361 7535 0.00 2.58 0.00 0.000 4 0.000 0.067 2573 744 3095

7542 -0.52 -117.3 420.5 -3.6 361 7548 0.00 2.53 0.00 0.000 6 0.000 0.054 2573 2156 3095

7859 -0.52 -117.3 432.3 -3.4 377 7863 0.00 2.58 0.00 0.000 4 0.000 0.067 2573 744 3095

7880 -0.52 -117.3 433.0 -3.3 378 7885 0.00 2.53 0.00 0.000 6 0.000 0.054 2573 2147 3095

8202 -0.52 -117.3 445.3 -3.9 394 8206 0.00 2.55 0.00 0.000 4 0.000 0.067 2573 3561 3094

8213 -0.52 -117.3 445.7 -3.7 394 8219 0.00 2.53 0.00 0.000 6 0.000 0.053 2573 2146 3095

8529 -0.52 -117.3 459.0 -4.2 410 8533 0.00 2.60 0.00 0.000 4 0.000 0.067 2573 3559 3094

8547 -0.52 -117.3 459.7 -4.3 411 8551 0.00 2.47 0.00 0.000 6 0.000 0.052 2573 2155 3094

8874 -0.52 -117.3 474.0 -4.4 427 8878 0.00 2.58 0.00 0.000 4 0.000 0.065 2573 3560 3094

8886 -0.52 -117.3 474.5 -4.3 427 8892 0.00 2.50 0.00 0.000 6 0.000 0.051 2573 2155 3094

9202 -0.52 -117.3 488.8 -4.6 443 9207 0.00 2.58 0.00 0.000 4 0.000 0.065 2573 3558 3094

9225 -0.52 -117.3 489.9 -4.8 444 9229 0.00 2.47 0.00 0.000 6 0.000 0.051 2573 2169 3094

9546 -0.56 -117.3 503.2 -3.8 460 9551 0.00 2.55 0.00 0.000 4 0.000 0.067 2573 3561 3094

9557 -0.56 -117.3 503.5 -3.7 460 9564 0.00 2.50 0.00 0.000 6 0.000 0.053 2573 2162 3093

9874 -0.56 -117.3 510.8 -1.9 476 9878 0.00 2.55 0.00 0.000 4 0.000 0.067 2573 3557 3093

9885 -0.56 -117.3 511.0 -1.9 476 9891 0.00 2.47 0.00 0.000 6 0.000 0.052 2573 2168 3094

10201 -0.56 -117.3 515.0 -1.3 492 10206 0.00 2.58 0.00 0.000 4 0.000 0.067 2573 3565 3094

10219 -0.56 -117.3 515.2 -1.5 493 10223 0.00 2.47 0.00 0.000 6 0.000 0.052 2573 2172 3093

10546 -0.56 -117.3 524.5 -4.2 509 10551 0.00 2.55 0.00 0.000 4 0.000 0.067 2573 3557 3093

10559 -0.60 -117.3 525.2 -4.4 509 10565 0.00 2.47 0.00 0.000 6 0.000 0.052 2573 2171 3093

10876 -0.60 -117.3 536.5 -4.1 525 10880 0.00 2.55 0.00 0.000 4 0.000 0.067 2573 3557 3093

10887 -0.60 -117.3 537.0 -4.9 525 10893 0.00 2.45 0.00 0.000 6 0.000 0.053 2573 2163 3093

11203 -0.60 -117.3 548.7 -3.6 541 11205 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2151 3093

11514 -0.65 -117.3 563.7 -5.8 556 11515 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2151 3093

11822 -0.69 -117.3 582.4 -5.9 571 11824 0.10 0.00 0.00 0.000 6 0.057 0.000 2541 2151 3093

12131 -0.63 -117.3 604.4 -8.0 586 12132 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2152 3093

12443 -0.58 -117.3 625.2 -6.4 601 12448 0.15 2.55 0.00 0.000 4 0.093 0.066 2572 3566 3093

12454 -0.58 -117.3 626.2 -6.2 601 12459 0.00 2.42 0.00 0.000 6 0.000 0.052 2572 2202 3092

12770 -0.62 -117.3 643.3 -5.5 617 12774 0.00 2.50 0.00 0.000 4 0.000 0.067 2572 3566 3092

12826 -0.62 -117.3 646.7 -6.6 619 12832 0.00 2.42 0.00 0.000 6 0.000 0.051 2572 2197 3092

13142 -0.67 -117.3 659.0 -2.8 635 13143 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2186 3092

13452 -0.75 -117.3 668.2 -3.1 650 13457 0.15 2.60 0.00 0.000 4 0.051 0.067 2523 753 3092

13502 -0.67 -117.3 669.0 -1.4 652 13507 0.12 2.58 0.00 0.000 6 0.094 0.057 2550 2181 3092

13819 -0.67 -117.3 678.6 -4.1 667 13823 0.00 2.53 0.00 0.000 4 0.000 0.071 2550 3568 3092

13983 -0.67 -117.3 687.3 -5.0 674 13987 0.00 2.45 0.00 0.000 6 0.000 0.057 2550 2206 3092

14299 -0.67 -117.3 698.3 -5.5 689 14303 0.00 2.53 0.00 0.000 4 0.000 0.074 2550 3567 3092

14429 -0.67 -117.3 703.0 -3.5 695 14433 0.00 2.45 0.00 0.000 6 0.000 0.058 2550 2203 3092

14757 -0.67 -117.3 710.6 -3.2 711 14761 0.00 2.65 0.00 0.000 4 0.000 0.080 2550 757 3092

14768 -0.67 -117.3 711.0 -3.3 711 14774 0.00 2.65 0.00 0.000 6 0.000 0.066 2550 2200 3092

15083 -0.67 -117.3 732.4 -11.5 727 15085 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2199 3091

15393 -0.55 -117.3 742.0 -0.4 742 15398 0.15 2.72 0.00 0.000 4 0.097 0.086 2584 758 3090

15498 end dive: BOTTOM_OBSTACLE_DETECTED

state 15498 begin apogee

15508 -0.33 0.0 746.6 4.9 747 15611 0.20 0.00 100.00 1.366 6 0.088 0.000 2624 2100 2621

15612 end apogee: CONTROL_FINISHED_OK

state 15612 begin climb

15615 1.03 117.3 748.6 0.0 752 15722 1.40 2.72 99.78 1.338 4 0.084 0.081 2917 3512 2140

15930 1.05 127.4 728.7 5.7 766 15945 0.00 2.65 9.95 1.161 6 0.000 0.072 2918 2112 2100

16262 1.05 127.4 705.4 8.5 783 16266 0.00 2.72 0.00 0.000 4 0.000 0.092 2918 681 2099

16329 1.00 133.2 701.0 5.8 786 16344 0.00 2.67 6.32 1.065 6 0.000 0.073 2918 2103 2076

16655 0.97 158.7 688.6 5.1 802 16684 0.00 2.75 22.80 1.305 4 0.000 0.084 2917 3504 1973

16774 0.97 158.7 681.0 6.6 807 16779 0.00 2.58 0.00 0.000 6 0.000 0.071 2918 2139 1972

17090 0.97 158.7 653.6 11.5 822 17091 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2122 1970

17400 0.97 158.7 621.4 9.3 837 17404 0.00 2.60 0.00 0.000 4 0.000 0.077 2918 3511 1969

17477 0.97 158.7 614.4 8.4 840 17484 0.00 2.50 0.00 0.000 6 0.000 0.061 2918 2150 1968

17794 0.97 158.7 589.4 7.9 856 17798 0.00 2.67 0.00 0.000 4 0.000 0.076 2918 687 1968

17833 0.97 158.7 586.1 9.2 858 17838 0.00 2.70 0.00 0.000 6 0.000 0.063 2918 2175 1968

18159 0.97 158.7 559.0 9.0 874 18161 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2175 1968

18469 0.97 158.7 528.6 9.7 889 18473 0.00 2.75 0.00 0.000 4 0.000 0.071 2917 689 1969

18513 0.97 158.7 524.0 9.7 891 18517 0.00 2.65 0.00 0.000 6 0.000 0.058 2917 2158 1969

18833 0.97 158.7 497.2 7.9 907 18837 0.00 2.47 0.00 0.000 4 0.000 0.067 2918 3517 1969

18889 0.97 158.7 492.1 8.4 909 18896 0.00 2.45 0.00 0.000 6 0.000 0.054 2918 2149 1969

19205 0.97 158.7 467.6 7.1 925 19209 0.00 2.65 0.00 0.000 4 0.000 0.070 2918 680 1970

19244 0.97 158.7 464.7 7.4 927 19249 0.00 2.65 0.00 0.000 6 0.000 0.056 2918 2162 1970

19571 0.97 158.7 441.1 7.7 943 19575 0.00 2.45 0.00 0.000 4 0.000 0.066 2918 3514 1970

19633 0.97 158.7 436.5 6.9 946 19638 0.00 2.45 0.00 0.000 6 0.000 0.052 2918 2148 1971

19960 0.97 158.7 415.3 6.4 962 19965 0.00 2.65 0.00 0.000 4 0.000 0.069 2918 681 1972

20005 0.97 158.7 412.1 7.0 964 20010 0.00 2.67 0.00 0.000 6 0.000 0.054 2918 2173 1972

20326 0.97 158.7 388.1 7.9 980 20331 0.00 2.42 0.00 0.000 4 0.000 0.064 2918 3521 1973

20376 0.97 158.7 384.2 8.7 982 20381 0.00 2.42 0.00 0.000 6 0.000 0.051 2918 2159 1973

20693 0.97 158.7 360.5 7.3 997 20697 0.00 2.65 0.00 0.000 4 0.000 0.068 2918 689 1973

20738 0.97 158.7 357.0 7.4 999 20742 0.00 2.67 0.00 0.000 6 0.000 0.055 2918 2178 1973

21059 0.97 158.7 333.7 7.6 1015 21063 0.00 2.40 0.00 0.000 4 0.000 0.064 2918 3514 1973

21109 1.01 158.7 329.4 7.7 1017 21114 0.00 2.40 0.00 0.000 6 0.000 0.051 2917 2159 1974

21425 1.01 158.7 307.7 6.3 1032 21429 0.00 2.65 0.00 0.000 4 0.000 0.068 2918 690 1974

21480 1.01 158.7 303.9 7.7 1034 21486 0.00 2.65 0.00 0.000 6 0.000 0.054 2918 2167 1974

21796 1.01 158.7 284.6 6.1 1050 21800 0.00 2.40 0.00 0.000 4 0.000 0.063 2918 3515 1975

21846 1.05 158.7 281.3 6.3 1052 21850 0.00 2.42 0.00 0.000 6 0.000 0.051 2918 2159 1975

22167 1.10 166.2 261.7 5.7 1068 22181 0.00 2.72 8.23 0.858 4 0.000 0.067 2918 686 1942

22217 1.10 166.2 258.7 6.9 1070 22221 0.00 2.67 0.00 0.000 6 0.000 0.053 2918 2170 1941

22538 1.16 166.2 240.9 6.0 1086 22543 0.12 2.42 0.00 0.000 4 0.048 0.062 2960 3517 1942

22589 1.07 166.2 236.9 8.4 1088 22594 0.12 2.45 0.00 0.000 6 0.085 0.051 2933 2153 1942

22904 1.07 166.2 215.4 6.9 1103 22909 0.00 2.62 0.00 0.000 4 0.000 0.067 2934 689 1942

22944 1.07 166.2 212.5 6.8 1105 22948 0.00 2.62 0.00 0.000 6 0.000 0.053 2934 2169 1942

23271 1.07 166.2 188.1 7.9 1121 23275 0.00 2.42 0.00 0.000 4 0.000 0.062 2933 3519 1942

23315 1.07 166.2 184.2 9.1 1123 23319 0.00 2.45 0.00 0.000 6 0.000 0.051 2934 2152 1942

23635 1.07 166.2 161.0 7.1 1139 23640 0.00 2.65 0.00 0.000 4 0.000 0.068 2933 681 1942

23676 1.07 166.2 158.2 7.4 1141 23680 0.00 2.65 0.00 0.000 6 0.000 0.053 2933 2166 1943

24003 1.07 166.2 133.0 8.1 1157 24007 0.00 2.42 0.00 0.000 4 0.000 0.061 2934 3521 1943

24058 1.07 166.2 127.5 9.3 1159 24064 0.00 2.42 0.00 0.000 6 0.000 0.050 2934 2153 1943

24374 1.07 166.2 99.6 8.1 1175 24379 0.00 2.65 0.00 0.000 4 0.000 0.067 2933 681 1943

24418 1.07 166.2 96.0 7.5 1177 24423 0.00 2.65 0.00 0.000 6 0.000 0.051 2934 2173 1943

24740 1.09 179.6 76.2 5.5 1193 24759 0.00 0.00 12.60 0.795 6 0.000 0.000 2934 2173 1887

25071 1.09 179.6 57.6 6.3 1209 25076 0.00 2.72 0.00 0.000 4 0.000 0.067 2933 681 1887

25121 1.09 179.6 53.7 7.1 1211 25125 0.00 2.65 0.00 0.000 6 0.000 0.051 2933 2164 1887

25439 1.15 179.6 30.0 6.7 1226 25443 0.00 2.42 0.00 0.000 4 0.000 0.061 2934 3517 1887

25495 1.21 179.6 25.7 6.6 1228 25502 0.12 2.45 0.00 0.000 6 0.048 0.049 2975 2142 1887

25787 end climb: SURFACE_DEPTH_REACHED

state 25788 begin surface coast

25812 end surface coast: CONTROL_FINISHED_OK

state 25812 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	107	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-78602.289	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	123837,6145.684,-913.716,32,1.0,33,-9.4	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.061,-0.192
_SM_DEPTHo	0.49	KALMAN_X	-1358.5,-175.2,-429.0,27276.2,1003.1
_SM_ANGLEo	-52.8	KALMAN_Y	19514.2,-696.2,-299.0,-25187.0,10027.7
GPS2	124508,6145.691,-913.716,14,1.1,14,-9.4	MHEAD_RNG_PITCHd_Wd	207.1,9010,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.3,1.026981	ALTIM_BOTTOM_PING	650.6,105.7
SM_CCo	25835,215.98,0.766,0,0,390,547.02	_24V_AH	23.8,22.586
SM_GC	0.43,0.00,0.00,215.98,0.000,0.000,0.766,419,2180,390,-10.49,0.85,547.02	_10V_AH	10.1,10.443
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	63112,1244
TT8_MAMPS	0.029146	CAP_FILE_SIZE	202603,0
HUMID	1641	CFSIZE	254472192,244920320
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	780	GPS	290608,200137,6146.777,-914.758,40,1.5,46,-9.4
ALTIM_TOP_PING	18.5,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	139	83.47	SBE_CT	852	24	487.10
Roll_motor	281	93	626.08	SBE_O2	922	19	416.98
VBD_pump_during_apogee	259	1366	8442.41	WL_BB2F	701	105	1753.79
VBD_pump_during_surface	215	766	3938.59	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	31	160	120.84	nil	0	0	0.00
Iridium_during_xfer	180	223	957.40
Transponder_ping	200	420	2006.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.06
TT8	2328	19	465.67
LPSleep	19931	2	440.87
TT8_Active	761	19	152.36
TT8_Sampling	2714	39	1091.15
TT8_CF8	696	45	322.37
TT8_Kalman	33	81	27.56
Analog_circuits	2140	12	259.47
GPS_charging	0	0	0.00
Compass	2659	8	214.91
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	-111.60	0.000	6	0.000	0.000	422	2156	3099
142	-1.03	-117.3	2.0	-1.5	5	158	10.65	2.53	0.00	0.000	4	0.140	0.058	2469	3562	3099
411	-0.70	-117.3	35.4	-10.3	16	417	0.38	2.53	0.00	0.000	6	0.091	0.046	2549	2142	3098
734	-0.62	-117.3	52.9	-5.8	32	738	0.00	2.60	0.00	0.000	4	0.000	0.059	2549	3564	3098
992	-0.52	-117.3	71.3	-8.1	43	999	0.17	2.50	0.00	0.000	6	0.090	0.046	2584	2151	3098
1309	-0.56	-117.3	93.7	-6.9	59	1313	0.00	2.58	0.00	0.000	4	0.000	0.060	2583	3561	3098
1330	-0.56	-117.3	95.3	-6.6	60	1334	0.00	2.47	0.00	0.000	6	0.000	0.048	2584	2164	3098
1652	-0.60	-117.3	115.1	-6.2	76	1653	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2162	3098
1961	-0.65	-117.3	134.6	-6.3	91	1966	0.12	2.55	0.00	0.000	4	0.051	0.061	2548	3567	3099
1971	-0.65	-117.3	135.5	-6.3	91	1978	0.00	2.50	0.00	0.000	6	0.000	0.050	2548	2166	3098
2288	-0.58	-117.3	158.0	-6.9	107	2293	0.12	2.55	0.00	0.000	4	0.092	0.061	2573	3567	3098
2299	-0.52	-117.3	158.7	-6.6	107	2305	0.00	2.50	0.00	0.000	6	0.000	0.051	2573	2166	3098
2614	-0.52	-117.3	177.9	-6.4	123	2619	0.00	2.53	0.00	0.000	4	0.000	0.062	2573	3564	3098
2648	-0.52	-117.3	180.1	-6.7	124	2654	0.00	2.47	0.00	0.000	6	0.000	0.049	2573	2175	3098
2964	-0.52	-117.3	197.9	-5.6	140	2968	0.00	2.53	0.00	0.000	4	0.000	0.064	2573	3557	3098
2991	-0.52	-117.3	199.5	-5.6	141	2996	0.00	2.45	0.00	0.000	6	0.000	0.051	2573	2180	3098
3308	-0.52	-117.3	218.1	-6.5	156	3309	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2178	3097
3617	-0.52	-117.3	238.3	-6.5	171	3621	0.00	2.60	0.00	0.000	4	0.000	0.068	2573	743	3097
3627	-0.52	-117.3	239.0	-6.5	171	3633	0.00	2.58	0.00	0.000	6	0.000	0.053	2573	2178	3097
3943	-0.52	-117.3	260.0	-6.5	187	3947	0.00	2.62	0.00	0.000	4	0.000	0.065	2573	745	3097
3960	-0.52	-117.3	261.0	-5.8	188	3965	0.00	2.55	0.00	0.000	6	0.000	0.053	2573	2173	3097
4287	-0.52	-117.3	281.1	-6.1	204	4291	0.00	2.62	0.00	0.000	4	0.000	0.067	2573	738	3097
4320	-0.52	-117.3	283.3	-6.5	205	4326	0.00	2.55	0.00	0.000	6	0.000	0.054	2573	2163	3097
4636	-0.52	-117.3	301.5	-5.5	221	4641	0.00	2.60	0.00	0.000	4	0.000	0.067	2573	744	3096
4664	-0.52	-117.3	303.1	-5.7	222	4669	0.00	2.55	0.00	0.000	6	0.000	0.053	2573	2164	3096
4980	-0.52	-117.3	319.3	-4.9	237	4985	0.00	2.60	0.00	0.000	4	0.000	0.068	2573	744	3096
5026	-0.52	-117.3	321.7	-5.4	239	5030	0.00	2.53	0.00	0.000	6	0.000	0.054	2573	2151	3096
5347	-0.52	-117.3	336.5	-4.6	255	5348	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2150	3096
5658	-0.52	-117.3	350.6	-4.6	270	5662	0.00	2.60	0.00	0.000	4	0.000	0.067	2573	740	3095
5668	-0.52	-117.3	351.3	-4.7	270	5675	0.00	2.55	0.00	0.000	6	0.000	0.054	2573	2161	3096
5985	-0.52	-117.3	365.0	-4.0	286	5986	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2159	3095
6295	-0.52	-117.3	376.2	-3.6	301	6296	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2159	3095
6603	-0.52	-117.3	387.4	-3.7	316	6605	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2159	3095
6913	-0.52	-117.3	398.9	-3.7	331	6914	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2158	3096
7222	-0.52	-117.3	408.9	-3.1	346	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2158	3095
7531	-0.52	-117.3	420.0	-3.5	361	7535	0.00	2.58	0.00	0.000	4	0.000	0.067	2573	744	3095
7542	-0.52	-117.3	420.5	-3.6	361	7548	0.00	2.53	0.00	0.000	6	0.000	0.054	2573	2156	3095
7859	-0.52	-117.3	432.3	-3.4	377	7863	0.00	2.58	0.00	0.000	4	0.000	0.067	2573	744	3095
7880	-0.52	-117.3	433.0	-3.3	378	7885	0.00	2.53	0.00	0.000	6	0.000	0.054	2573	2147	3095
8202	-0.52	-117.3	445.3	-3.9	394	8206	0.00	2.55	0.00	0.000	4	0.000	0.067	2573	3561	3094
8213	-0.52	-117.3	445.7	-3.7	394	8219	0.00	2.53	0.00	0.000	6	0.000	0.053	2573	2146	3095
8529	-0.52	-117.3	459.0	-4.2	410	8533	0.00	2.60	0.00	0.000	4	0.000	0.067	2573	3559	3094
8547	-0.52	-117.3	459.7	-4.3	411	8551	0.00	2.47	0.00	0.000	6	0.000	0.052	2573	2155	3094
8874	-0.52	-117.3	474.0	-4.4	427	8878	0.00	2.58	0.00	0.000	4	0.000	0.065	2573	3560	3094
8886	-0.52	-117.3	474.5	-4.3	427	8892	0.00	2.50	0.00	0.000	6	0.000	0.051	2573	2155	3094
9202	-0.52	-117.3	488.8	-4.6	443	9207	0.00	2.58	0.00	0.000	4	0.000	0.065	2573	3558	3094
9225	-0.52	-117.3	489.9	-4.8	444	9229	0.00	2.47	0.00	0.000	6	0.000	0.051	2573	2169	3094
9546	-0.56	-117.3	503.2	-3.8	460	9551	0.00	2.55	0.00	0.000	4	0.000	0.067	2573	3561	3094
9557	-0.56	-117.3	503.5	-3.7	460	9564	0.00	2.50	0.00	0.000	6	0.000	0.053	2573	2162	3093
9874	-0.56	-117.3	510.8	-1.9	476	9878	0.00	2.55	0.00	0.000	4	0.000	0.067	2573	3557	3093
9885	-0.56	-117.3	511.0	-1.9	476	9891	0.00	2.47	0.00	0.000	6	0.000	0.052	2573	2168	3094
10201	-0.56	-117.3	515.0	-1.3	492	10206	0.00	2.58	0.00	0.000	4	0.000	0.067	2573	3565	3094
10219	-0.56	-117.3	515.2	-1.5	493	10223	0.00	2.47	0.00	0.000	6	0.000	0.052	2573	2172	3093
10546	-0.56	-117.3	524.5	-4.2	509	10551	0.00	2.55	0.00	0.000	4	0.000	0.067	2573	3557	3093
10559	-0.60	-117.3	525.2	-4.4	509	10565	0.00	2.47	0.00	0.000	6	0.000	0.052	2573	2171	3093
10876	-0.60	-117.3	536.5	-4.1	525	10880	0.00	2.55	0.00	0.000	4	0.000	0.067	2573	3557	3093
10887	-0.60	-117.3	537.0	-4.9	525	10893	0.00	2.45	0.00	0.000	6	0.000	0.053	2573	2163	3093
11203	-0.60	-117.3	548.7	-3.6	541	11205	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2151	3093
11514	-0.65	-117.3	563.7	-5.8	556	11515	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2151	3093
11822	-0.69	-117.3	582.4	-5.9	571	11824	0.10	0.00	0.00	0.000	6	0.057	0.000	2541	2151	3093
12131	-0.63	-117.3	604.4	-8.0	586	12132	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2152	3093
12443	-0.58	-117.3	625.2	-6.4	601	12448	0.15	2.55	0.00	0.000	4	0.093	0.066	2572	3566	3093
12454	-0.58	-117.3	626.2	-6.2	601	12459	0.00	2.42	0.00	0.000	6	0.000	0.052	2572	2202	3092
12770	-0.62	-117.3	643.3	-5.5	617	12774	0.00	2.50	0.00	0.000	4	0.000	0.067	2572	3566	3092
12826	-0.62	-117.3	646.7	-6.6	619	12832	0.00	2.42	0.00	0.000	6	0.000	0.051	2572	2197	3092
13142	-0.67	-117.3	659.0	-2.8	635	13143	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2186	3092
13452	-0.75	-117.3	668.2	-3.1	650	13457	0.15	2.60	0.00	0.000	4	0.051	0.067	2523	753	3092
13502	-0.67	-117.3	669.0	-1.4	652	13507	0.12	2.58	0.00	0.000	6	0.094	0.057	2550	2181	3092
13819	-0.67	-117.3	678.6	-4.1	667	13823	0.00	2.53	0.00	0.000	4	0.000	0.071	2550	3568	3092
13983	-0.67	-117.3	687.3	-5.0	674	13987	0.00	2.45	0.00	0.000	6	0.000	0.057	2550	2206	3092
14299	-0.67	-117.3	698.3	-5.5	689	14303	0.00	2.53	0.00	0.000	4	0.000	0.074	2550	3567	3092
14429	-0.67	-117.3	703.0	-3.5	695	14433	0.00	2.45	0.00	0.000	6	0.000	0.058	2550	2203	3092
14757	-0.67	-117.3	710.6	-3.2	711	14761	0.00	2.65	0.00	0.000	4	0.000	0.080	2550	757	3092
14768	-0.67	-117.3	711.0	-3.3	711	14774	0.00	2.65	0.00	0.000	6	0.000	0.066	2550	2200	3092
15083	-0.67	-117.3	732.4	-11.5	727	15085	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2199	3091
15393	-0.55	-117.3	742.0	-0.4	742	15398	0.15	2.72	0.00	0.000	4	0.097	0.086	2584	758	3090
15498	end dive: BOTTOM_OBSTACLE_DETECTED
state	15498	begin apogee
15508	-0.33	0.0	746.6	4.9	747	15611	0.20	0.00	100.00	1.366	6	0.088	0.000	2624	2100	2621
15612	end apogee: CONTROL_FINISHED_OK
state	15612	begin climb
15615	1.03	117.3	748.6	0.0	752	15722	1.40	2.72	99.78	1.338	4	0.084	0.081	2917	3512	2140
15930	1.05	127.4	728.7	5.7	766	15945	0.00	2.65	9.95	1.161	6	0.000	0.072	2918	2112	2100
16262	1.05	127.4	705.4	8.5	783	16266	0.00	2.72	0.00	0.000	4	0.000	0.092	2918	681	2099
16329	1.00	133.2	701.0	5.8	786	16344	0.00	2.67	6.32	1.065	6	0.000	0.073	2918	2103	2076
16655	0.97	158.7	688.6	5.1	802	16684	0.00	2.75	22.80	1.305	4	0.000	0.084	2917	3504	1973
16774	0.97	158.7	681.0	6.6	807	16779	0.00	2.58	0.00	0.000	6	0.000	0.071	2918	2139	1972
17090	0.97	158.7	653.6	11.5	822	17091	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2122	1970
17400	0.97	158.7	621.4	9.3	837	17404	0.00	2.60	0.00	0.000	4	0.000	0.077	2918	3511	1969
17477	0.97	158.7	614.4	8.4	840	17484	0.00	2.50	0.00	0.000	6	0.000	0.061	2918	2150	1968
17794	0.97	158.7	589.4	7.9	856	17798	0.00	2.67	0.00	0.000	4	0.000	0.076	2918	687	1968
17833	0.97	158.7	586.1	9.2	858	17838	0.00	2.70	0.00	0.000	6	0.000	0.063	2918	2175	1968
18159	0.97	158.7	559.0	9.0	874	18161	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2175	1968
18469	0.97	158.7	528.6	9.7	889	18473	0.00	2.75	0.00	0.000	4	0.000	0.071	2917	689	1969
18513	0.97	158.7	524.0	9.7	891	18517	0.00	2.65	0.00	0.000	6	0.000	0.058	2917	2158	1969
18833	0.97	158.7	497.2	7.9	907	18837	0.00	2.47	0.00	0.000	4	0.000	0.067	2918	3517	1969
18889	0.97	158.7	492.1	8.4	909	18896	0.00	2.45	0.00	0.000	6	0.000	0.054	2918	2149	1969
19205	0.97	158.7	467.6	7.1	925	19209	0.00	2.65	0.00	0.000	4	0.000	0.070	2918	680	1970
19244	0.97	158.7	464.7	7.4	927	19249	0.00	2.65	0.00	0.000	6	0.000	0.056	2918	2162	1970
19571	0.97	158.7	441.1	7.7	943	19575	0.00	2.45	0.00	0.000	4	0.000	0.066	2918	3514	1970
19633	0.97	158.7	436.5	6.9	946	19638	0.00	2.45	0.00	0.000	6	0.000	0.052	2918	2148	1971
19960	0.97	158.7	415.3	6.4	962	19965	0.00	2.65	0.00	0.000	4	0.000	0.069	2918	681	1972
20005	0.97	158.7	412.1	7.0	964	20010	0.00	2.67	0.00	0.000	6	0.000	0.054	2918	2173	1972
20326	0.97	158.7	388.1	7.9	980	20331	0.00	2.42	0.00	0.000	4	0.000	0.064	2918	3521	1973
20376	0.97	158.7	384.2	8.7	982	20381	0.00	2.42	0.00	0.000	6	0.000	0.051	2918	2159	1973
20693	0.97	158.7	360.5	7.3	997	20697	0.00	2.65	0.00	0.000	4	0.000	0.068	2918	689	1973
20738	0.97	158.7	357.0	7.4	999	20742	0.00	2.67	0.00	0.000	6	0.000	0.055	2918	2178	1973
21059	0.97	158.7	333.7	7.6	1015	21063	0.00	2.40	0.00	0.000	4	0.000	0.064	2918	3514	1973
21109	1.01	158.7	329.4	7.7	1017	21114	0.00	2.40	0.00	0.000	6	0.000	0.051	2917	2159	1974
21425	1.01	158.7	307.7	6.3	1032	21429	0.00	2.65	0.00	0.000	4	0.000	0.068	2918	690	1974
21480	1.01	158.7	303.9	7.7	1034	21486	0.00	2.65	0.00	0.000	6	0.000	0.054	2918	2167	1974
21796	1.01	158.7	284.6	6.1	1050	21800	0.00	2.40	0.00	0.000	4	0.000	0.063	2918	3515	1975
21846	1.05	158.7	281.3	6.3	1052	21850	0.00	2.42	0.00	0.000	6	0.000	0.051	2918	2159	1975
22167	1.10	166.2	261.7	5.7	1068	22181	0.00	2.72	8.23	0.858	4	0.000	0.067	2918	686	1942
22217	1.10	166.2	258.7	6.9	1070	22221	0.00	2.67	0.00	0.000	6	0.000	0.053	2918	2170	1941
22538	1.16	166.2	240.9	6.0	1086	22543	0.12	2.42	0.00	0.000	4	0.048	0.062	2960	3517	1942
22589	1.07	166.2	236.9	8.4	1088	22594	0.12	2.45	0.00	0.000	6	0.085	0.051	2933	2153	1942
22904	1.07	166.2	215.4	6.9	1103	22909	0.00	2.62	0.00	0.000	4	0.000	0.067	2934	689	1942
22944	1.07	166.2	212.5	6.8	1105	22948	0.00	2.62	0.00	0.000	6	0.000	0.053	2934	2169	1942
23271	1.07	166.2	188.1	7.9	1121	23275	0.00	2.42	0.00	0.000	4	0.000	0.062	2933	3519	1942
23315	1.07	166.2	184.2	9.1	1123	23319	0.00	2.45	0.00	0.000	6	0.000	0.051	2934	2152	1942
23635	1.07	166.2	161.0	7.1	1139	23640	0.00	2.65	0.00	0.000	4	0.000	0.068	2933	681	1942
23676	1.07	166.2	158.2	7.4	1141	23680	0.00	2.65	0.00	0.000	6	0.000	0.053	2933	2166	1943
24003	1.07	166.2	133.0	8.1	1157	24007	0.00	2.42	0.00	0.000	4	0.000	0.061	2934	3521	1943
24058	1.07	166.2	127.5	9.3	1159	24064	0.00	2.42	0.00	0.000	6	0.000	0.050	2934	2153	1943
24374	1.07	166.2	99.6	8.1	1175	24379	0.00	2.65	0.00	0.000	4	0.000	0.067	2933	681	1943
24418	1.07	166.2	96.0	7.5	1177	24423	0.00	2.65	0.00	0.000	6	0.000	0.051	2934	2173	1943
24740	1.09	179.6	76.2	5.5	1193	24759	0.00	0.00	12.60	0.795	6	0.000	0.000	2934	2173	1887
25071	1.09	179.6	57.6	6.3	1209	25076	0.00	2.72	0.00	0.000	4	0.000	0.067	2933	681	1887
25121	1.09	179.6	53.7	7.1	1211	25125	0.00	2.65	0.00	0.000	6	0.000	0.051	2933	2164	1887
25439	1.15	179.6	30.0	6.7	1226	25443	0.00	2.42	0.00	0.000	4	0.000	0.061	2934	3517	1887
25495	1.21	179.6	25.7	6.6	1228	25502	0.12	2.45	0.00	0.000	6	0.048	0.049	2975	2142	1887
25787	end climb: SURFACE_DEPTH_REACHED
state	25788	begin surface coast
25812	end surface coast: CONTROL_FINISHED_OK
state	25812	begin surface