Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 124 * 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 124 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -79028.555 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 -79028.555

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 124 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 173822,6144.168,-919.024,60,1.2,60,-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 0.007,-0.201

_SM_DEPTHo 0.79 KALMAN_X -20203.0,-1757.4,-576.1,43308.4,5742.7

_SM_ANGLEo -57.9 KALMAN_Y 96106.5,326.0,-6150.8,-99730.1,27975.6

GPS2 174421,6144.173,-918.949,16,1.2,16,-9.5 MHEAD_RNG_PITCHd_Wd 187.5,9127,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.026850 ALTIM_BOTTOM_PING 750.0,82.7

SM_CCo 26259,80.45,0.787,0,0,390,547.02 _24V_AH 23.8,26.019

SM_GC 0.66,0.00,0.00,80.45,0.000,0.000,0.787,422,2167,390,-10.48,0.57,547.02 _10V_AH 10.1,12.409

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 66212,1270

TT8_MAMPS 0.029146 CAP_FILE_SIZE 217532,0

HUMID 1677 CFSIZE 254472192,243433472

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,36,0,0

XPDR_PINGS 772 GPS 050708,010537,6142.520,-923.186,41,1.0,42,-9.5

ALTIM_TOP_PING 18.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 134 95.02 SBE_CT 869 24 496.69

Roll_motor 330 88 699.63 SBE_O2 938 19 424.35

VBD_pump_during_apogee 450 1412 15146.37 WL_BB2F 748 105 1870.12

VBD_pump_during_surface 80 786 1506.77 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 29 160 112.87 nil 0 0 0.00

Iridium_during_xfer 159 223 844.20

Transponder_ping 199 420 1996.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.39

TT8 2383 19 476.66

LPSleep 20026 2 442.96

TT8_Active 798 19 159.71

TT8_Sampling 2784 39 1119.44

TT8_CF8 702 45 324.74

TT8_Kalman 33 81 27.57

Analog_circuits 2260 12 273.94

GPS_charging 0 0 0.00

Compass 2718 8 219.69

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.03 -117.3 0.0 0.0 0 136 0.00 0.00 -109.78 0.000 6 0.000 0.000 422 2147 3100

140 -1.03 -117.3 2.3 -1.7 5 156 10.55 2.55 0.00 0.000 4 0.135 0.058 2471 737 3099

162 0.67 -117.3 7.4 -14.4 5 171 1.77 2.55 0.00 0.000 6 0.081 0.048 2844 2158 3100

490 -0.16 -117.3 17.9 -3.0 21 496 0.82 2.50 0.00 0.000 4 0.057 0.058 2661 3557 3098

558 -0.48 -117.3 20.0 -3.1 24 564 0.30 2.72 0.00 0.000 6 0.041 0.044 2580 2005 3098

882 -0.48 -117.3 31.5 -4.1 40 887 0.00 2.83 0.00 0.000 4 0.000 0.059 2579 3561 3098

1045 -0.48 -117.3 38.7 -4.4 47 1049 0.00 2.70 0.00 0.000 6 0.000 0.045 2579 2031 3098

1361 -0.48 -117.3 51.7 -4.1 62 1366 0.00 2.78 0.00 0.000 4 0.000 0.059 2579 3564 3099

1501 -0.48 -117.3 59.0 -5.6 68 1505 0.00 2.65 0.00 0.000 6 0.000 0.045 2579 2065 3099

1818 -0.48 -117.3 75.3 -5.3 83 1822 0.00 2.70 0.00 0.000 4 0.000 0.059 2579 3563 3099

1829 -0.48 -117.3 76.0 -5.6 83 1835 0.00 2.65 0.00 0.000 6 0.000 0.046 2579 2064 3099

2145 -0.48 -117.3 92.3 -5.0 99 2150 0.00 2.70 0.00 0.000 4 0.000 0.059 2579 3558 3099

2157 -0.48 -117.3 93.1 -5.0 99 2163 0.00 2.62 0.00 0.000 6 0.000 0.049 2579 2076 3099

2473 -0.48 -117.3 108.6 -4.2 115 2478 0.00 2.70 0.00 0.000 4 0.000 0.061 2579 3560 3100

2518 -0.48 -117.3 111.2 -5.9 117 2523 0.00 2.62 0.00 0.000 6 0.000 0.048 2579 2075 3099

2841 -0.52 -117.3 128.1 -6.3 133 2845 0.00 2.67 0.00 0.000 4 0.000 0.062 2579 3557 3099

2881 -0.52 -117.3 130.8 -6.7 135 2885 0.00 2.62 0.00 0.000 6 0.000 0.049 2579 2075 3099

3209 -0.52 -117.3 150.1 -5.5 151 3213 0.00 2.67 0.00 0.000 4 0.000 0.063 2579 3557 3098

3242 -0.52 -117.3 152.2 -6.3 152 3248 0.00 2.62 0.00 0.000 6 0.000 0.049 2579 2084 3098

3558 -0.57 -117.3 172.6 -6.4 168 3562 0.00 2.67 0.00 0.000 4 0.000 0.061 2579 3561 3098

3602 -0.57 -117.3 175.9 -7.5 170 3607 0.00 2.60 0.00 0.000 6 0.000 0.048 2579 2092 3098

3925 -0.61 -117.3 198.5 -7.1 186 3929 0.00 2.67 0.00 0.000 4 0.000 0.062 2579 3561 3098

3964 -0.61 -117.3 201.6 -8.1 188 3969 0.00 2.58 0.00 0.000 6 0.000 0.048 2579 2103 3098

4292 -0.61 -117.3 221.9 -5.8 204 4296 0.00 2.65 0.00 0.000 4 0.000 0.064 2579 3561 3097

4332 -0.61 -117.3 224.3 -6.3 206 4336 0.00 2.58 0.00 0.000 6 0.000 0.050 2579 2108 3097

4659 -0.66 -117.3 240.4 -4.4 222 4664 0.12 2.62 0.00 0.000 4 0.051 0.063 2539 3556 3097

4710 -0.56 -117.3 243.5 -6.7 224 4715 0.17 2.58 0.00 0.000 6 0.087 0.050 2576 2110 3097

5026 -0.56 -117.3 259.1 -5.1 239 5030 0.00 2.62 0.00 0.000 4 0.000 0.064 2576 3557 3097

5059 -0.56 -117.3 260.9 -5.8 240 5065 0.00 2.55 0.00 0.000 6 0.000 0.051 2576 2123 3096

5376 -0.56 -117.3 278.1 -5.6 256 5380 0.00 2.62 0.00 0.000 4 0.000 0.064 2576 3557 3096

5388 -0.56 -117.3 278.8 -5.4 256 5393 0.00 2.58 0.00 0.000 6 0.000 0.052 2576 2116 3096

5703 -0.56 -117.3 298.9 -6.4 272 5707 0.00 2.65 0.00 0.000 4 0.000 0.064 2576 3562 3096

5715 -0.56 -117.3 299.7 -6.3 272 5722 0.00 2.58 0.00 0.000 6 0.000 0.051 2576 2119 3096

6031 -0.56 -117.3 319.8 -6.5 288 6035 0.00 2.62 0.00 0.000 4 0.000 0.064 2576 3562 3096

6042 -0.60 -117.3 320.7 -6.6 288 6048 0.00 2.55 0.00 0.000 6 0.000 0.051 2576 2131 3095

6359 -0.64 -117.3 340.9 -5.5 304 6360 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2131 3095

6667 -0.69 -117.3 355.1 -3.8 319 6672 0.12 2.60 0.00 0.000 4 0.052 0.064 2537 3565 3095

6678 -0.69 -117.3 355.6 -3.6 319 6684 0.00 2.58 0.00 0.000 6 0.000 0.052 2536 2118 3095

6995 -0.63 -117.3 371.0 -4.3 335 6997 0.12 0.00 0.00 0.000 6 0.094 0.000 2562 2119 3095

7304 -0.63 -117.3 380.1 -2.4 350 7305 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2118 3095

7613 -0.63 -117.3 386.3 -1.9 365 7618 0.00 2.62 0.00 0.000 4 0.000 0.065 2562 3557 3095

7624 -0.63 -117.3 386.5 -2.2 365 7630 0.00 2.58 0.00 0.000 6 0.000 0.053 2562 2116 3095

7940 -0.63 -117.3 394.6 -2.8 381 7945 0.00 2.62 0.00 0.000 4 0.000 0.065 2562 3557 3094

7963 -0.63 -117.3 395.3 -2.6 382 7967 0.00 2.58 0.00 0.000 6 0.000 0.053 2562 2116 3094

8284 -0.63 -117.3 405.4 -3.3 398 8288 0.00 2.62 0.00 0.000 4 0.000 0.064 2562 3559 3094

8324 -0.63 -117.3 406.9 -4.3 400 8328 0.00 2.55 0.00 0.000 6 0.000 0.053 2562 2117 3094

8651 -0.63 -117.3 418.5 -3.9 416 8656 0.00 2.65 0.00 0.000 4 0.000 0.065 2562 3564 3094

8696 -0.63 -117.3 420.7 -5.1 418 8700 0.00 2.55 0.00 0.000 6 0.000 0.052 2562 2131 3094

9017 -0.63 -117.3 436.4 -4.8 434 9021 0.00 2.60 0.00 0.000 4 0.000 0.065 2563 3556 3094

9028 -0.63 -117.3 437.0 -5.1 434 9034 0.00 2.55 0.00 0.000 6 0.000 0.054 2562 2124 3093

9344 -0.63 -117.3 453.0 -5.4 450 9348 0.00 2.62 0.00 0.000 4 0.000 0.066 2562 3562 3094

9354 -0.63 -117.3 453.7 -5.3 450 9361 0.00 2.58 0.00 0.000 6 0.000 0.054 2562 2123 3093

9671 -0.63 -117.3 471.7 -6.2 466 9675 0.00 2.62 0.00 0.000 4 0.000 0.066 2562 3556 3093

9704 -0.63 -117.3 474.1 -7.7 467 9710 0.00 2.55 0.00 0.000 6 0.000 0.053 2562 2131 3093

10019 -0.63 -117.3 494.4 -6.6 483 10024 0.00 2.60 0.00 0.000 4 0.000 0.065 2562 3565 3093

10041 -0.63 -117.3 496.1 -7.1 484 10045 0.00 2.55 0.00 0.000 6 0.000 0.052 2562 2135 3093

10362 -0.63 -117.3 517.7 -6.6 500 10366 0.00 2.60 0.00 0.000 4 0.000 0.065 2563 3557 3093

10372 -0.63 -117.3 518.4 -6.5 500 10378 0.00 2.53 0.00 0.000 6 0.000 0.053 2562 2140 3093

10688 -0.63 -117.3 537.8 -5.6 516 10693 0.00 2.60 0.00 0.000 4 0.000 0.066 2562 3556 3093

10700 -0.63 -117.3 538.4 -5.4 516 10706 0.00 2.53 0.00 0.000 6 0.000 0.053 2562 2143 3092

11016 -0.63 -117.3 555.8 -5.5 532 11021 0.00 2.60 0.00 0.000 4 0.000 0.068 2562 3556 3093

11056 -0.63 -117.3 558.1 -6.5 534 11061 0.00 2.50 0.00 0.000 6 0.000 0.053 2562 2152 3092

11384 -0.63 -117.3 574.9 -5.0 550 11389 0.00 2.60 0.00 0.000 4 0.000 0.067 2562 3564 3093

11394 -0.63 -117.3 575.5 -5.3 550 11399 0.00 2.50 0.00 0.000 6 0.000 0.054 2562 2154 3093

11711 -0.63 -117.3 592.4 -5.6 565 11715 0.00 2.58 0.00 0.000 4 0.000 0.066 2562 3556 3092

11729 -0.63 -117.3 593.4 -5.4 566 11733 0.00 2.47 0.00 0.000 6 0.000 0.052 2563 2164 3092

12055 -0.63 -117.3 615.7 -6.9 582 12059 0.00 2.55 0.00 0.000 4 0.000 0.067 2562 3556 3092

12066 -0.63 -117.3 616.5 -6.7 582 12072 0.00 2.50 0.00 0.000 6 0.000 0.052 2562 2157 3092

12382 -0.63 -117.3 636.4 -5.6 598 12387 0.00 2.58 0.00 0.000 4 0.000 0.067 2562 3564 3092

12393 -0.63 -117.3 637.1 -5.5 598 12399 0.00 2.50 0.00 0.000 6 0.000 0.052 2562 2163 3092

12710 -0.63 -117.3 650.3 -3.7 614 12715 0.00 2.55 0.00 0.000 4 0.000 0.067 2562 3562 3092

12773 -0.63 -117.3 652.8 -3.9 617 12777 0.00 2.45 0.00 0.000 6 0.000 0.051 2563 2178 3092

13099 -0.63 -117.3 660.0 -1.4 633 13104 0.00 2.55 0.00 0.000 4 0.000 0.067 2562 3558 3092

13111 -0.63 -117.3 660.1 -1.4 633 13117 0.00 2.47 0.00 0.000 6 0.000 0.053 2562 2173 3092

13427 -0.63 -117.3 665.4 -2.5 649 13431 0.00 2.55 0.00 0.000 4 0.000 0.068 2562 3555 3092

13437 -0.63 -117.3 665.8 -2.7 649 13444 0.00 2.45 0.00 0.000 6 0.000 0.054 2562 2183 3092

13753 -0.63 -117.3 682.8 -7.1 665 13754 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2164 3092

14063 -0.63 -117.3 705.5 -8.5 680 14067 0.00 2.55 0.00 0.000 4 0.000 0.068 2562 3565 3092

14073 -0.63 -117.3 706.5 -8.8 680 14080 0.00 2.47 0.00 0.000 6 0.000 0.054 2562 2164 3091

14390 -0.63 -117.3 730.2 -6.0 696 14394 0.00 2.55 0.00 0.000 4 0.000 0.068 2562 763 3092

14403 -0.63 -117.3 730.9 -5.6 696 14409 0.00 2.55 0.00 0.000 6 0.000 0.056 2562 2185 3092

14719 -0.67 -117.3 741.8 -0.8 712 14723 0.00 2.50 0.00 0.000 4 0.000 0.071 2562 3565 3092

14874 -0.67 -117.3 741.7 -0.0 719 14878 0.00 2.38 0.00 0.000 6 0.000 0.055 2562 2233 3092

15200 -0.67 -117.3 749.7 -4.5 735 15207 0.00 2.47 0.00 0.000 4 0.000 0.074 2562 3561 3092

15275 -0.67 -117.3 754.5 -5.3 738 15279 0.00 2.38 0.00 0.000 6 0.000 0.058 2562 2237 3092

15597 -0.73 -117.3 774.3 -6.4 754 15598 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2220 3092

15906 -0.77 -117.3 790.2 -6.2 769 15911 0.15 2.50 0.00 0.000 4 0.057 0.081 2516 3565 3091

15928 -0.77 -117.3 791.9 -7.7 770 15932 0.00 2.45 0.00 0.000 6 0.000 0.067 2516 2227 3091

16251 -0.66 -117.3 808.7 -5.5 786 16256 0.15 2.53 0.00 0.000 4 0.100 0.086 2550 3554 3090

16313 -0.66 -117.3 811.2 -3.7 789 16318 0.00 2.40 0.00 0.000 6 0.000 0.067 2550 2236 3090

16556 end dive: BOTTOM_OBSTACLE_DETECTED

state 16556 begin apogee

16563 -0.33 0.0 823.0 5.8 801 16666 0.38 0.00 99.55 1.413 6 0.086 0.000 2627 2114 2620

16666 end apogee: CONTROL_FINISHED_OK

state 16667 begin climb

16669 1.03 117.3 825.8 0.0 806 16777 1.40 2.78 99.82 1.387 4 0.077 0.089 2922 697 2140

16839 0.94 117.3 816.5 6.1 814 16843 0.00 2.65 0.00 0.000 6 0.000 0.073 2923 2099 2140

17160 0.86 117.3 788.5 10.0 830 17165 0.15 2.67 0.00 0.000 4 0.094 0.084 2889 3510 2138

17234 0.95 144.3 783.3 5.1 833 17265 0.00 2.60 23.58 1.325 6 0.000 0.070 2890 2125 2031

17578 1.03 144.3 759.3 11.4 850 17579 0.15 0.00 0.00 0.000 6 0.056 0.000 2930 2112 2029

17884 1.03 144.3 726.2 10.3 865 17889 0.00 2.65 0.00 0.000 4 0.000 0.086 2930 3508 2027

17997 0.98 144.3 711.8 12.3 870 18001 0.00 2.58 0.00 0.000 6 0.000 0.068 2930 2129 2027

18318 0.98 144.3 677.8 9.5 886 18320 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2118 2025

18627 0.98 144.3 646.8 8.4 901 18631 0.00 2.62 0.00 0.000 4 0.000 0.077 2930 3514 2025

18671 0.98 144.3 643.4 8.2 903 18675 0.00 2.53 0.00 0.000 6 0.000 0.061 2930 2142 2025

18992 1.33 362.5 641.2 -1.5 919 19182 0.22 2.75 180.10 1.303 4 0.048 0.072 2994 685 1141

19217 1.31 413.4 634.1 4.3 930 19267 0.00 2.72 44.03 1.230 6 0.000 0.061 2994 2163 934

19592 1.23 413.4 612.2 8.9 948 19597 0.12 2.78 0.00 0.000 4 0.088 0.073 2968 685 936

19661 1.23 413.4 605.3 9.4 951 19665 0.00 2.65 0.00 0.000 6 0.000 0.058 2968 2137 936

19981 1.23 413.4 573.3 10.9 967 19986 0.00 2.70 0.00 0.000 4 0.000 0.072 2968 690 937

20021 1.23 413.4 568.8 10.8 969 20026 0.00 2.60 0.00 0.000 6 0.000 0.058 2968 2121 937

20348 1.23 413.4 533.2 11.2 985 20352 0.00 2.62 0.00 0.000 4 0.000 0.071 2968 690 937

20388 1.27 413.4 528.9 10.5 987 20393 0.00 2.55 0.00 0.000 6 0.000 0.058 2968 2099 937

20715 1.32 413.4 499.3 7.9 1003 20716 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2099 938

21024 1.37 413.4 477.6 6.7 1018 21029 0.15 2.60 0.00 0.000 4 0.047 0.069 3017 689 938

21092 1.25 413.4 470.4 11.9 1021 21097 0.22 2.50 0.00 0.000 6 0.080 0.055 2973 2073 938

21413 1.25 413.4 445.0 8.2 1037 21414 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2074 938

21722 1.25 413.4 417.3 9.4 1052 21726 0.00 2.58 0.00 0.000 4 0.000 0.071 2972 683 939

21772 1.25 413.4 412.3 9.8 1054 21776 0.00 2.47 0.00 0.000 6 0.000 0.054 2972 2056 939

22087 1.25 413.4 386.6 8.2 1069 22092 0.00 2.60 0.00 0.000 4 0.000 0.063 2972 3506 939

22121 1.35 413.4 383.6 8.4 1070 22128 0.00 2.65 0.00 0.000 6 0.000 0.053 2972 2035 939

22438 1.35 413.4 359.2 7.8 1086 22441 0.00 2.45 0.00 0.000 4 0.000 0.071 2972 681 940

22499 1.35 413.4 353.4 9.3 1088 22505 0.00 2.45 0.00 0.000 6 0.000 0.053 2972 2044 940

22815 1.35 413.4 329.1 8.2 1104 22819 0.00 2.62 0.00 0.000 4 0.000 0.062 2972 3508 940

22855 1.45 413.4 325.9 7.4 1106 22860 0.20 2.65 0.00 0.000 6 0.043 0.053 3028 2030 940

23183 1.26 413.4 280.2 14.2 1122 23188 0.22 2.45 0.00 0.000 4 0.084 0.070 2978 681 940

23233 1.26 413.4 275.5 7.7 1124 23237 0.00 2.45 0.00 0.000 6 0.000 0.053 2978 2048 941

23549 1.26 413.4 251.1 8.2 1139 23553 0.00 2.62 0.00 0.000 4 0.000 0.062 2978 3510 940

23589 1.35 413.4 247.7 8.1 1141 23593 0.00 2.65 0.00 0.000 6 0.000 0.053 2977 2033 940

23916 1.35 413.4 222.4 7.5 1157 23920 0.00 2.45 0.00 0.000 4 0.000 0.071 2978 684 941

23971 1.35 413.4 218.2 6.6 1159 23977 0.00 2.45 0.00 0.000 6 0.000 0.052 2978 2050 941

24287 1.35 413.4 195.6 7.8 1175 24292 0.00 2.60 0.00 0.000 4 0.000 0.062 2978 3510 941

24321 1.43 413.4 192.6 7.7 1176 24328 0.15 2.65 0.00 0.000 6 0.048 0.053 3023 2034 941

24637 1.25 413.4 152.6 13.2 1192 24642 0.22 2.45 0.00 0.000 4 0.082 0.071 2975 687 941

24682 1.25 413.4 147.7 9.8 1194 24686 0.00 2.42 0.00 0.000 6 0.000 0.052 2975 2041 941

25004 1.25 413.4 123.2 7.3 1210 25008 0.00 2.62 0.00 0.000 4 0.000 0.062 2975 3509 941

25037 1.35 413.4 120.8 6.9 1211 25043 0.00 2.65 0.00 0.000 6 0.000 0.051 2975 2030 941

25353 1.35 413.4 95.6 9.7 1227 25358 0.00 2.42 0.00 0.000 4 0.000 0.070 2975 690 941

25399 1.42 413.4 90.2 10.3 1229 25404 0.15 2.42 0.00 0.000 6 0.044 0.052 3019 2041 941

25720 1.27 413.4 49.0 13.7 1245 25730 0.17 2.65 3.38 0.499 4 0.081 0.061 2979 3508 933

25766 1.37 413.4 44.2 9.4 1247 25771 0.00 2.65 0.00 0.000 6 0.000 0.051 2979 2030 933

26094 1.42 413.4 14.7 9.0 1263 26099 0.12 2.42 0.00 0.000 4 0.049 0.065 3020 684 933

26157 1.33 413.4 6.6 13.4 1266 26162 0.15 2.40 0.00 0.000 6 0.084 0.048 2989 2039 933

26214 end climb: SURFACE_DEPTH_REACHED

state 26214 begin surface coast

26236 end surface coast: CONTROL_FINISHED_OK

state 26236 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	124	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-79028.555	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	173822,6144.168,-919.024,60,1.2,60,-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	0.007,-0.201
_SM_DEPTHo	0.79	KALMAN_X	-20203.0,-1757.4,-576.1,43308.4,5742.7
_SM_ANGLEo	-57.9	KALMAN_Y	96106.5,326.0,-6150.8,-99730.1,27975.6
GPS2	174421,6144.173,-918.949,16,1.2,16,-9.5	MHEAD_RNG_PITCHd_Wd	187.5,9127,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.1,1.026850	ALTIM_BOTTOM_PING	750.0,82.7
SM_CCo	26259,80.45,0.787,0,0,390,547.02	_24V_AH	23.8,26.019
SM_GC	0.66,0.00,0.00,80.45,0.000,0.000,0.787,422,2167,390,-10.48,0.57,547.02	_10V_AH	10.1,12.409
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	66212,1270
TT8_MAMPS	0.029146	CAP_FILE_SIZE	217532,0
HUMID	1677	CFSIZE	254472192,243433472
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
XPDR_PINGS	772	GPS	050708,010537,6142.520,-923.186,41,1.0,42,-9.5
ALTIM_TOP_PING	18.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	134	95.02	SBE_CT	869	24	496.69
Roll_motor	330	88	699.63	SBE_O2	938	19	424.35
VBD_pump_during_apogee	450	1412	15146.37	WL_BB2F	748	105	1870.12
VBD_pump_during_surface	80	786	1506.77	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	29	160	112.87	nil	0	0	0.00
Iridium_during_xfer	159	223	844.20
Transponder_ping	199	420	1996.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.39
TT8	2383	19	476.66
LPSleep	20026	2	442.96
TT8_Active	798	19	159.71
TT8_Sampling	2784	39	1119.44
TT8_CF8	702	45	324.74
TT8_Kalman	33	81	27.57
Analog_circuits	2260	12	273.94
GPS_charging	0	0	0.00
Compass	2718	8	219.69
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.03	-117.3	0.0	0.0	0	136	0.00	0.00	-109.78	0.000	6	0.000	0.000	422	2147	3100
140	-1.03	-117.3	2.3	-1.7	5	156	10.55	2.55	0.00	0.000	4	0.135	0.058	2471	737	3099
162	0.67	-117.3	7.4	-14.4	5	171	1.77	2.55	0.00	0.000	6	0.081	0.048	2844	2158	3100
490	-0.16	-117.3	17.9	-3.0	21	496	0.82	2.50	0.00	0.000	4	0.057	0.058	2661	3557	3098
558	-0.48	-117.3	20.0	-3.1	24	564	0.30	2.72	0.00	0.000	6	0.041	0.044	2580	2005	3098
882	-0.48	-117.3	31.5	-4.1	40	887	0.00	2.83	0.00	0.000	4	0.000	0.059	2579	3561	3098
1045	-0.48	-117.3	38.7	-4.4	47	1049	0.00	2.70	0.00	0.000	6	0.000	0.045	2579	2031	3098
1361	-0.48	-117.3	51.7	-4.1	62	1366	0.00	2.78	0.00	0.000	4	0.000	0.059	2579	3564	3099
1501	-0.48	-117.3	59.0	-5.6	68	1505	0.00	2.65	0.00	0.000	6	0.000	0.045	2579	2065	3099
1818	-0.48	-117.3	75.3	-5.3	83	1822	0.00	2.70	0.00	0.000	4	0.000	0.059	2579	3563	3099
1829	-0.48	-117.3	76.0	-5.6	83	1835	0.00	2.65	0.00	0.000	6	0.000	0.046	2579	2064	3099
2145	-0.48	-117.3	92.3	-5.0	99	2150	0.00	2.70	0.00	0.000	4	0.000	0.059	2579	3558	3099
2157	-0.48	-117.3	93.1	-5.0	99	2163	0.00	2.62	0.00	0.000	6	0.000	0.049	2579	2076	3099
2473	-0.48	-117.3	108.6	-4.2	115	2478	0.00	2.70	0.00	0.000	4	0.000	0.061	2579	3560	3100
2518	-0.48	-117.3	111.2	-5.9	117	2523	0.00	2.62	0.00	0.000	6	0.000	0.048	2579	2075	3099
2841	-0.52	-117.3	128.1	-6.3	133	2845	0.00	2.67	0.00	0.000	4	0.000	0.062	2579	3557	3099
2881	-0.52	-117.3	130.8	-6.7	135	2885	0.00	2.62	0.00	0.000	6	0.000	0.049	2579	2075	3099
3209	-0.52	-117.3	150.1	-5.5	151	3213	0.00	2.67	0.00	0.000	4	0.000	0.063	2579	3557	3098
3242	-0.52	-117.3	152.2	-6.3	152	3248	0.00	2.62	0.00	0.000	6	0.000	0.049	2579	2084	3098
3558	-0.57	-117.3	172.6	-6.4	168	3562	0.00	2.67	0.00	0.000	4	0.000	0.061	2579	3561	3098
3602	-0.57	-117.3	175.9	-7.5	170	3607	0.00	2.60	0.00	0.000	6	0.000	0.048	2579	2092	3098
3925	-0.61	-117.3	198.5	-7.1	186	3929	0.00	2.67	0.00	0.000	4	0.000	0.062	2579	3561	3098
3964	-0.61	-117.3	201.6	-8.1	188	3969	0.00	2.58	0.00	0.000	6	0.000	0.048	2579	2103	3098
4292	-0.61	-117.3	221.9	-5.8	204	4296	0.00	2.65	0.00	0.000	4	0.000	0.064	2579	3561	3097
4332	-0.61	-117.3	224.3	-6.3	206	4336	0.00	2.58	0.00	0.000	6	0.000	0.050	2579	2108	3097
4659	-0.66	-117.3	240.4	-4.4	222	4664	0.12	2.62	0.00	0.000	4	0.051	0.063	2539	3556	3097
4710	-0.56	-117.3	243.5	-6.7	224	4715	0.17	2.58	0.00	0.000	6	0.087	0.050	2576	2110	3097
5026	-0.56	-117.3	259.1	-5.1	239	5030	0.00	2.62	0.00	0.000	4	0.000	0.064	2576	3557	3097
5059	-0.56	-117.3	260.9	-5.8	240	5065	0.00	2.55	0.00	0.000	6	0.000	0.051	2576	2123	3096
5376	-0.56	-117.3	278.1	-5.6	256	5380	0.00	2.62	0.00	0.000	4	0.000	0.064	2576	3557	3096
5388	-0.56	-117.3	278.8	-5.4	256	5393	0.00	2.58	0.00	0.000	6	0.000	0.052	2576	2116	3096
5703	-0.56	-117.3	298.9	-6.4	272	5707	0.00	2.65	0.00	0.000	4	0.000	0.064	2576	3562	3096
5715	-0.56	-117.3	299.7	-6.3	272	5722	0.00	2.58	0.00	0.000	6	0.000	0.051	2576	2119	3096
6031	-0.56	-117.3	319.8	-6.5	288	6035	0.00	2.62	0.00	0.000	4	0.000	0.064	2576	3562	3096
6042	-0.60	-117.3	320.7	-6.6	288	6048	0.00	2.55	0.00	0.000	6	0.000	0.051	2576	2131	3095
6359	-0.64	-117.3	340.9	-5.5	304	6360	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2131	3095
6667	-0.69	-117.3	355.1	-3.8	319	6672	0.12	2.60	0.00	0.000	4	0.052	0.064	2537	3565	3095
6678	-0.69	-117.3	355.6	-3.6	319	6684	0.00	2.58	0.00	0.000	6	0.000	0.052	2536	2118	3095
6995	-0.63	-117.3	371.0	-4.3	335	6997	0.12	0.00	0.00	0.000	6	0.094	0.000	2562	2119	3095
7304	-0.63	-117.3	380.1	-2.4	350	7305	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2118	3095
7613	-0.63	-117.3	386.3	-1.9	365	7618	0.00	2.62	0.00	0.000	4	0.000	0.065	2562	3557	3095
7624	-0.63	-117.3	386.5	-2.2	365	7630	0.00	2.58	0.00	0.000	6	0.000	0.053	2562	2116	3095
7940	-0.63	-117.3	394.6	-2.8	381	7945	0.00	2.62	0.00	0.000	4	0.000	0.065	2562	3557	3094
7963	-0.63	-117.3	395.3	-2.6	382	7967	0.00	2.58	0.00	0.000	6	0.000	0.053	2562	2116	3094
8284	-0.63	-117.3	405.4	-3.3	398	8288	0.00	2.62	0.00	0.000	4	0.000	0.064	2562	3559	3094
8324	-0.63	-117.3	406.9	-4.3	400	8328	0.00	2.55	0.00	0.000	6	0.000	0.053	2562	2117	3094
8651	-0.63	-117.3	418.5	-3.9	416	8656	0.00	2.65	0.00	0.000	4	0.000	0.065	2562	3564	3094
8696	-0.63	-117.3	420.7	-5.1	418	8700	0.00	2.55	0.00	0.000	6	0.000	0.052	2562	2131	3094
9017	-0.63	-117.3	436.4	-4.8	434	9021	0.00	2.60	0.00	0.000	4	0.000	0.065	2563	3556	3094
9028	-0.63	-117.3	437.0	-5.1	434	9034	0.00	2.55	0.00	0.000	6	0.000	0.054	2562	2124	3093
9344	-0.63	-117.3	453.0	-5.4	450	9348	0.00	2.62	0.00	0.000	4	0.000	0.066	2562	3562	3094
9354	-0.63	-117.3	453.7	-5.3	450	9361	0.00	2.58	0.00	0.000	6	0.000	0.054	2562	2123	3093
9671	-0.63	-117.3	471.7	-6.2	466	9675	0.00	2.62	0.00	0.000	4	0.000	0.066	2562	3556	3093
9704	-0.63	-117.3	474.1	-7.7	467	9710	0.00	2.55	0.00	0.000	6	0.000	0.053	2562	2131	3093
10019	-0.63	-117.3	494.4	-6.6	483	10024	0.00	2.60	0.00	0.000	4	0.000	0.065	2562	3565	3093
10041	-0.63	-117.3	496.1	-7.1	484	10045	0.00	2.55	0.00	0.000	6	0.000	0.052	2562	2135	3093
10362	-0.63	-117.3	517.7	-6.6	500	10366	0.00	2.60	0.00	0.000	4	0.000	0.065	2563	3557	3093
10372	-0.63	-117.3	518.4	-6.5	500	10378	0.00	2.53	0.00	0.000	6	0.000	0.053	2562	2140	3093
10688	-0.63	-117.3	537.8	-5.6	516	10693	0.00	2.60	0.00	0.000	4	0.000	0.066	2562	3556	3093
10700	-0.63	-117.3	538.4	-5.4	516	10706	0.00	2.53	0.00	0.000	6	0.000	0.053	2562	2143	3092
11016	-0.63	-117.3	555.8	-5.5	532	11021	0.00	2.60	0.00	0.000	4	0.000	0.068	2562	3556	3093
11056	-0.63	-117.3	558.1	-6.5	534	11061	0.00	2.50	0.00	0.000	6	0.000	0.053	2562	2152	3092
11384	-0.63	-117.3	574.9	-5.0	550	11389	0.00	2.60	0.00	0.000	4	0.000	0.067	2562	3564	3093
11394	-0.63	-117.3	575.5	-5.3	550	11399	0.00	2.50	0.00	0.000	6	0.000	0.054	2562	2154	3093
11711	-0.63	-117.3	592.4	-5.6	565	11715	0.00	2.58	0.00	0.000	4	0.000	0.066	2562	3556	3092
11729	-0.63	-117.3	593.4	-5.4	566	11733	0.00	2.47	0.00	0.000	6	0.000	0.052	2563	2164	3092
12055	-0.63	-117.3	615.7	-6.9	582	12059	0.00	2.55	0.00	0.000	4	0.000	0.067	2562	3556	3092
12066	-0.63	-117.3	616.5	-6.7	582	12072	0.00	2.50	0.00	0.000	6	0.000	0.052	2562	2157	3092
12382	-0.63	-117.3	636.4	-5.6	598	12387	0.00	2.58	0.00	0.000	4	0.000	0.067	2562	3564	3092
12393	-0.63	-117.3	637.1	-5.5	598	12399	0.00	2.50	0.00	0.000	6	0.000	0.052	2562	2163	3092
12710	-0.63	-117.3	650.3	-3.7	614	12715	0.00	2.55	0.00	0.000	4	0.000	0.067	2562	3562	3092
12773	-0.63	-117.3	652.8	-3.9	617	12777	0.00	2.45	0.00	0.000	6	0.000	0.051	2563	2178	3092
13099	-0.63	-117.3	660.0	-1.4	633	13104	0.00	2.55	0.00	0.000	4	0.000	0.067	2562	3558	3092
13111	-0.63	-117.3	660.1	-1.4	633	13117	0.00	2.47	0.00	0.000	6	0.000	0.053	2562	2173	3092
13427	-0.63	-117.3	665.4	-2.5	649	13431	0.00	2.55	0.00	0.000	4	0.000	0.068	2562	3555	3092
13437	-0.63	-117.3	665.8	-2.7	649	13444	0.00	2.45	0.00	0.000	6	0.000	0.054	2562	2183	3092
13753	-0.63	-117.3	682.8	-7.1	665	13754	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2164	3092
14063	-0.63	-117.3	705.5	-8.5	680	14067	0.00	2.55	0.00	0.000	4	0.000	0.068	2562	3565	3092
14073	-0.63	-117.3	706.5	-8.8	680	14080	0.00	2.47	0.00	0.000	6	0.000	0.054	2562	2164	3091
14390	-0.63	-117.3	730.2	-6.0	696	14394	0.00	2.55	0.00	0.000	4	0.000	0.068	2562	763	3092
14403	-0.63	-117.3	730.9	-5.6	696	14409	0.00	2.55	0.00	0.000	6	0.000	0.056	2562	2185	3092
14719	-0.67	-117.3	741.8	-0.8	712	14723	0.00	2.50	0.00	0.000	4	0.000	0.071	2562	3565	3092
14874	-0.67	-117.3	741.7	-0.0	719	14878	0.00	2.38	0.00	0.000	6	0.000	0.055	2562	2233	3092
15200	-0.67	-117.3	749.7	-4.5	735	15207	0.00	2.47	0.00	0.000	4	0.000	0.074	2562	3561	3092
15275	-0.67	-117.3	754.5	-5.3	738	15279	0.00	2.38	0.00	0.000	6	0.000	0.058	2562	2237	3092
15597	-0.73	-117.3	774.3	-6.4	754	15598	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2220	3092
15906	-0.77	-117.3	790.2	-6.2	769	15911	0.15	2.50	0.00	0.000	4	0.057	0.081	2516	3565	3091
15928	-0.77	-117.3	791.9	-7.7	770	15932	0.00	2.45	0.00	0.000	6	0.000	0.067	2516	2227	3091
16251	-0.66	-117.3	808.7	-5.5	786	16256	0.15	2.53	0.00	0.000	4	0.100	0.086	2550	3554	3090
16313	-0.66	-117.3	811.2	-3.7	789	16318	0.00	2.40	0.00	0.000	6	0.000	0.067	2550	2236	3090
16556	end dive: BOTTOM_OBSTACLE_DETECTED
state	16556	begin apogee
16563	-0.33	0.0	823.0	5.8	801	16666	0.38	0.00	99.55	1.413	6	0.086	0.000	2627	2114	2620
16666	end apogee: CONTROL_FINISHED_OK
state	16667	begin climb
16669	1.03	117.3	825.8	0.0	806	16777	1.40	2.78	99.82	1.387	4	0.077	0.089	2922	697	2140
16839	0.94	117.3	816.5	6.1	814	16843	0.00	2.65	0.00	0.000	6	0.000	0.073	2923	2099	2140
17160	0.86	117.3	788.5	10.0	830	17165	0.15	2.67	0.00	0.000	4	0.094	0.084	2889	3510	2138
17234	0.95	144.3	783.3	5.1	833	17265	0.00	2.60	23.58	1.325	6	0.000	0.070	2890	2125	2031
17578	1.03	144.3	759.3	11.4	850	17579	0.15	0.00	0.00	0.000	6	0.056	0.000	2930	2112	2029
17884	1.03	144.3	726.2	10.3	865	17889	0.00	2.65	0.00	0.000	4	0.000	0.086	2930	3508	2027
17997	0.98	144.3	711.8	12.3	870	18001	0.00	2.58	0.00	0.000	6	0.000	0.068	2930	2129	2027
18318	0.98	144.3	677.8	9.5	886	18320	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2118	2025
18627	0.98	144.3	646.8	8.4	901	18631	0.00	2.62	0.00	0.000	4	0.000	0.077	2930	3514	2025
18671	0.98	144.3	643.4	8.2	903	18675	0.00	2.53	0.00	0.000	6	0.000	0.061	2930	2142	2025
18992	1.33	362.5	641.2	-1.5	919	19182	0.22	2.75	180.10	1.303	4	0.048	0.072	2994	685	1141
19217	1.31	413.4	634.1	4.3	930	19267	0.00	2.72	44.03	1.230	6	0.000	0.061	2994	2163	934
19592	1.23	413.4	612.2	8.9	948	19597	0.12	2.78	0.00	0.000	4	0.088	0.073	2968	685	936
19661	1.23	413.4	605.3	9.4	951	19665	0.00	2.65	0.00	0.000	6	0.000	0.058	2968	2137	936
19981	1.23	413.4	573.3	10.9	967	19986	0.00	2.70	0.00	0.000	4	0.000	0.072	2968	690	937
20021	1.23	413.4	568.8	10.8	969	20026	0.00	2.60	0.00	0.000	6	0.000	0.058	2968	2121	937
20348	1.23	413.4	533.2	11.2	985	20352	0.00	2.62	0.00	0.000	4	0.000	0.071	2968	690	937
20388	1.27	413.4	528.9	10.5	987	20393	0.00	2.55	0.00	0.000	6	0.000	0.058	2968	2099	937
20715	1.32	413.4	499.3	7.9	1003	20716	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2099	938
21024	1.37	413.4	477.6	6.7	1018	21029	0.15	2.60	0.00	0.000	4	0.047	0.069	3017	689	938
21092	1.25	413.4	470.4	11.9	1021	21097	0.22	2.50	0.00	0.000	6	0.080	0.055	2973	2073	938
21413	1.25	413.4	445.0	8.2	1037	21414	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2074	938
21722	1.25	413.4	417.3	9.4	1052	21726	0.00	2.58	0.00	0.000	4	0.000	0.071	2972	683	939
21772	1.25	413.4	412.3	9.8	1054	21776	0.00	2.47	0.00	0.000	6	0.000	0.054	2972	2056	939
22087	1.25	413.4	386.6	8.2	1069	22092	0.00	2.60	0.00	0.000	4	0.000	0.063	2972	3506	939
22121	1.35	413.4	383.6	8.4	1070	22128	0.00	2.65	0.00	0.000	6	0.000	0.053	2972	2035	939
22438	1.35	413.4	359.2	7.8	1086	22441	0.00	2.45	0.00	0.000	4	0.000	0.071	2972	681	940
22499	1.35	413.4	353.4	9.3	1088	22505	0.00	2.45	0.00	0.000	6	0.000	0.053	2972	2044	940
22815	1.35	413.4	329.1	8.2	1104	22819	0.00	2.62	0.00	0.000	4	0.000	0.062	2972	3508	940
22855	1.45	413.4	325.9	7.4	1106	22860	0.20	2.65	0.00	0.000	6	0.043	0.053	3028	2030	940
23183	1.26	413.4	280.2	14.2	1122	23188	0.22	2.45	0.00	0.000	4	0.084	0.070	2978	681	940
23233	1.26	413.4	275.5	7.7	1124	23237	0.00	2.45	0.00	0.000	6	0.000	0.053	2978	2048	941
23549	1.26	413.4	251.1	8.2	1139	23553	0.00	2.62	0.00	0.000	4	0.000	0.062	2978	3510	940
23589	1.35	413.4	247.7	8.1	1141	23593	0.00	2.65	0.00	0.000	6	0.000	0.053	2977	2033	940
23916	1.35	413.4	222.4	7.5	1157	23920	0.00	2.45	0.00	0.000	4	0.000	0.071	2978	684	941
23971	1.35	413.4	218.2	6.6	1159	23977	0.00	2.45	0.00	0.000	6	0.000	0.052	2978	2050	941
24287	1.35	413.4	195.6	7.8	1175	24292	0.00	2.60	0.00	0.000	4	0.000	0.062	2978	3510	941
24321	1.43	413.4	192.6	7.7	1176	24328	0.15	2.65	0.00	0.000	6	0.048	0.053	3023	2034	941
24637	1.25	413.4	152.6	13.2	1192	24642	0.22	2.45	0.00	0.000	4	0.082	0.071	2975	687	941
24682	1.25	413.4	147.7	9.8	1194	24686	0.00	2.42	0.00	0.000	6	0.000	0.052	2975	2041	941
25004	1.25	413.4	123.2	7.3	1210	25008	0.00	2.62	0.00	0.000	4	0.000	0.062	2975	3509	941
25037	1.35	413.4	120.8	6.9	1211	25043	0.00	2.65	0.00	0.000	6	0.000	0.051	2975	2030	941
25353	1.35	413.4	95.6	9.7	1227	25358	0.00	2.42	0.00	0.000	4	0.000	0.070	2975	690	941
25399	1.42	413.4	90.2	10.3	1229	25404	0.15	2.42	0.00	0.000	6	0.044	0.052	3019	2041	941
25720	1.27	413.4	49.0	13.7	1245	25730	0.17	2.65	3.38	0.499	4	0.081	0.061	2979	3508	933
25766	1.37	413.4	44.2	9.4	1247	25771	0.00	2.65	0.00	0.000	6	0.000	0.051	2979	2030	933
26094	1.42	413.4	14.7	9.0	1263	26099	0.12	2.42	0.00	0.000	4	0.049	0.065	3020	684	933
26157	1.33	413.4	6.6	13.4	1266	26162	0.15	2.40	0.00	0.000	6	0.084	0.048	2989	2039	933
26214	end climb: SURFACE_DEPTH_REACHED
state	26214	begin surface coast
26236	end surface coast: CONTROL_FINISHED_OK
state	26236	begin surface