Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 127 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 127 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1630285.1 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -1630285.1

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 127 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 091007,6256.110,-1327.651,32,1.6,33,-12.2 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6245.000,-1320.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 1.02 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -57.6 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 091649,6256.136,-1327.634,15,1.6,32,-12.2 MHEAD_RNG_PITCHd_Wd 174.8,21615,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.003101 ALTIM_BOTTOM_PING 925.1,69.2

SM_CCo 29163,19.42,0.743,0,0,1609,300.00 _24V_AH 23.1,37.144

SM_GC 0.77,0.00,0.00,19.42,0.000,0.000,0.743,380,2246,1609,-11.13,-0.11,300.00 _10V_AH 10.1,19.153

IRIDIUM_FIX 6235.17,-1327.72,290998,010108 DATA_FILE_SIZE 72596,1402

TT8_MAMPS 0.026845 CAP_FILE_SIZE 213882,0

HUMID 1857 CFSIZE 260165632,249225216

INTERNAL_PRESSURE 8.12856 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 17.70 GPS 050709,172453,6253.396,-1329.403,25,1.3,41,-12.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 128 74.49 SBE_CT 1150 24 637.68

Roll_motor 293 65 442.54 SBE_O2 1066 19 468.29

VBD_pump_during_apogee 381 1434 12624.16 WL_BB2F 772 105 1874.87

VBD_pump_during_surface 19 743 333.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.95 nil 0 0 0.00

Iridium_during_connect 30 160 111.67 nil 0 0 0.00

Iridium_during_xfer 183 223 946.51

Transponder_ping 8 420 80.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.26

TT8 2592 19 518.38

LPSleep 22283 2 492.89

TT8_Active 591 19 118.32

TT8_Sampling 2999 39 1205.77

TT8_CF8 1104 45 510.70

TT8_Kalman 0 81 0.00

Analog_circuits 2162 12 262.13

GPS_charging 0 0 0.00

Compass 3229 8 260.93

RAFOS 0 0 0.00

Transponder 55 30 16.88

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.96 -146.6 0.0 0.0 0 78 0.00 0.00 -58.85 0.000 6 0.000 0.000 390 2250 3431

81 -0.96 -146.6 4.5 -8.7 3 102 11.55 2.55 0.00 0.000 4 0.129 0.038 2586 837 3433

263 -0.96 -146.6 28.1 -8.3 11 268 0.00 2.45 0.00 0.000 6 0.000 0.034 2586 2245 3433

591 -0.96 -146.6 41.5 -2.9 27 596 0.00 2.55 0.00 0.000 4 0.000 0.057 2586 3651 3434

838 -0.96 -146.6 55.8 -6.8 38 843 0.00 2.42 0.00 0.000 6 0.000 0.028 2586 2227 3434

1160 -0.96 -146.6 80.3 -7.7 54 1165 0.00 2.62 0.00 0.000 4 0.000 0.053 2586 3654 3435

1199 -0.96 -146.6 83.4 -7.8 55 1206 0.00 2.40 0.00 0.000 6 0.000 0.028 2586 2244 3435

1515 -0.96 -146.6 102.0 -5.2 71 1517 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2244 3435

1826 -0.96 -146.6 118.9 -5.9 86 1830 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3652 3435

1866 -0.96 -146.6 121.7 -6.6 88 1870 0.00 2.40 0.00 0.000 6 0.000 0.029 2586 2241 3435

2192 -0.96 -146.6 144.8 -7.5 104 2193 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2241 3435

2501 -0.96 -146.6 168.5 -7.5 119 2505 0.00 2.58 0.00 0.000 4 0.000 0.054 2586 3656 3435

2541 -0.96 -146.6 171.6 -7.6 121 2545 0.00 2.40 0.00 0.000 6 0.000 0.029 2586 2248 3435

2867 -0.96 -146.6 193.6 -6.6 137 2871 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3655 3435

2916 -0.96 -146.6 197.2 -7.7 139 2920 0.00 2.40 0.00 0.000 6 0.000 0.029 2585 2246 3434

3233 -0.96 -146.6 218.7 -6.9 154 3234 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2246 3435

3541 -0.96 -146.6 240.7 -7.3 169 3545 0.00 2.55 0.00 0.000 4 0.000 0.055 2585 3652 3434

3590 -0.96 -146.6 244.6 -8.1 171 3595 0.00 2.42 0.00 0.000 6 0.000 0.029 2586 2249 3434

3911 -0.96 -146.6 268.9 -7.6 187 3912 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2249 3434

4222 -0.96 -146.6 291.4 -7.2 202 4224 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2248 3434

4529 -0.96 -146.6 312.5 -6.5 217 4534 0.00 2.55 0.00 0.000 4 0.000 0.055 2586 3654 3433

4597 -0.96 -146.6 317.3 -7.0 220 4602 0.00 2.40 0.00 0.000 6 0.000 0.029 2586 2244 3433

4922 -0.96 -146.6 337.0 -5.8 236 4923 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2243 3433

5229 -0.96 -146.6 354.7 -5.7 251 5233 0.00 2.55 0.00 0.000 4 0.000 0.056 2586 3651 3433

5301 -0.96 -146.6 359.2 -6.0 254 5306 0.00 2.42 0.00 0.000 6 0.000 0.029 2586 2247 3433

5622 -0.96 -146.6 376.7 -5.4 270 5626 0.00 2.55 0.00 0.000 4 0.000 0.056 2585 3652 3433

5662 -0.96 -146.6 379.0 -5.9 272 5666 0.00 2.38 0.00 0.000 6 0.000 0.029 2586 2253 3433

5988 -0.96 -146.6 397.1 -5.5 288 5993 0.00 2.55 0.00 0.000 4 0.000 0.056 2586 3660 3433

6040 -0.96 -146.6 400.2 -5.9 290 6044 0.00 2.40 0.00 0.000 6 0.000 0.028 2586 2249 3432

6358 -0.96 -146.6 418.0 -5.8 305 6359 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2248 3432

6664 -0.96 -146.6 436.2 -6.0 320 6669 0.00 2.55 0.00 0.000 4 0.000 0.055 2586 3653 3432

6727 -0.96 -146.6 440.2 -6.6 323 6731 0.00 2.40 0.00 0.000 6 0.000 0.029 2586 2240 3432

7056 -0.96 -146.6 459.7 -5.9 339 7060 0.00 2.55 0.00 0.000 4 0.000 0.056 2585 3652 3432

7105 -0.96 -146.6 463.2 -6.5 341 7109 0.00 2.38 0.00 0.000 6 0.000 0.029 2586 2252 3431

7423 -0.96 -146.6 481.9 -5.8 356 7424 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2252 3432

7732 -0.96 -146.6 500.1 -5.8 371 7736 0.00 2.53 0.00 0.000 4 0.000 0.055 2586 3651 3431

7781 -0.96 -146.6 503.4 -6.2 373 7786 0.00 2.40 0.00 0.000 6 0.000 0.029 2586 2238 3432

8099 -0.96 -146.6 522.6 -6.2 388 8104 0.00 2.55 0.00 0.000 4 0.000 0.055 2586 3652 3432

8139 -0.96 -146.6 525.5 -7.1 390 8143 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2245 3432

8468 -0.96 -146.6 547.7 -7.1 406 8469 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2245 3431

8775 -0.96 -146.6 570.4 -7.6 421 8776 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2244 3431

9084 -0.96 -146.6 593.2 -7.0 436 9085 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2244 3431

9394 -0.96 -146.6 615.1 -7.3 451 9396 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2243 3431

9703 -0.96 -146.6 638.1 -7.5 466 9707 0.00 2.55 0.00 0.000 4 0.000 0.055 2585 3653 3431

9771 -0.96 -146.6 643.3 -7.6 469 9775 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2246 3431

10092 -0.96 -146.6 667.2 -7.7 485 10093 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2247 3431

10402 -0.96 -146.6 687.0 -6.1 500 10406 0.00 2.55 0.00 0.000 4 0.000 0.055 2586 3654 3431

10486 -0.96 -146.6 692.0 -5.3 504 10491 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2245 3431

10816 -0.96 -146.6 709.7 -5.4 520 10820 0.00 2.42 0.00 0.000 4 0.000 0.044 2586 852 3430

10860 -0.96 -146.6 712.4 -5.7 522 10864 0.00 2.42 0.00 0.000 6 0.000 0.035 2586 2256 3431

11182 -0.96 -146.6 730.6 -5.7 538 11186 0.00 2.47 0.00 0.000 4 0.000 0.042 2586 849 3430

11244 -0.96 -146.6 734.2 -5.6 541 11249 0.00 2.42 0.00 0.000 6 0.000 0.035 2586 2245 3430

11572 -0.96 -146.6 750.1 -4.5 557 11573 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2245 3430

11881 -0.96 -146.6 762.6 -3.9 572 11885 0.00 2.55 0.00 0.000 4 0.000 0.058 2586 3659 3430

11920 -0.96 -146.6 764.6 -5.4 574 11925 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2251 3429

12247 -0.96 -146.6 780.9 -4.9 590 12251 0.00 2.45 0.00 0.000 4 0.000 0.044 2586 849 3429

12306 -0.96 -146.6 783.8 -5.0 592 12312 0.00 2.45 0.00 0.000 6 0.000 0.037 2586 2259 3429

12621 -0.96 -146.6 802.3 -6.6 608 12623 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2258 3429

12934 -0.96 -146.6 825.1 -7.5 623 12935 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2259 3429

13241 -0.96 -146.6 844.5 -5.4 638 13245 0.00 2.47 0.00 0.000 4 0.000 0.044 2586 852 3429

13313 -0.96 -146.6 848.3 -5.4 641 13318 0.00 2.45 0.00 0.000 6 0.000 0.039 2586 2255 3429

13629 -0.96 -146.6 863.8 -5.0 656 13631 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2254 3428

13940 -0.96 -146.6 881.0 -5.8 671 13944 0.00 2.47 0.00 0.000 4 0.000 0.044 2586 852 3428

13996 -0.96 -146.6 884.5 -6.7 673 14002 0.00 2.45 0.00 0.000 6 0.000 0.039 2586 2247 3428

14312 -0.96 -146.6 904.1 -5.9 689 14314 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2247 3427

14621 -0.96 -146.6 923.0 -6.0 704 14625 0.00 2.58 0.00 0.000 4 0.000 0.062 2586 3657 3427

14687 -0.96 -146.6 927.3 -6.1 707 14691 0.00 2.42 0.00 0.000 6 0.000 0.035 2586 2255 3427

15010 -0.96 -146.6 946.7 -6.1 723 15015 0.00 2.58 0.00 0.000 4 0.000 0.062 2586 3656 3426

15060 -0.96 -146.6 950.1 -7.5 725 15065 0.00 2.45 0.00 0.000 6 0.000 0.035 2586 2239 3425

15377 -0.96 -146.6 966.0 -5.2 740 15378 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2239 3425

15683 end dive: BOTTOM_OBSTACLE_DETECTED

state 15683 begin apogee

15691 -0.36 0.0 984.7 8.5 755 15827 0.62 0.00 131.18 1.434 6 0.067 0.000 2720 1464 2832

15827 end apogee: CONTROL_FINISHED_OK

state 15827 begin climb

15830 0.96 146.6 989.4 0.0 762 15971 1.30 2.28 132.90 1.390 4 0.051 0.065 3007 264 2233

16109 1.01 187.4 977.0 4.9 774 16152 0.00 2.08 37.05 1.342 6 0.000 0.038 3007 1461 2068

16465 1.03 199.2 958.8 5.7 791 16486 0.00 2.55 11.40 1.224 4 0.000 0.051 3007 2853 2018

16509 1.05 215.8 956.1 5.5 793 16532 0.00 2.50 16.73 1.279 6 0.000 0.044 3006 1454 1952

16842 1.05 215.8 936.5 6.1 809 16846 0.00 2.55 0.00 0.000 4 0.000 0.051 3007 2854 1948

16898 1.06 227.5 932.8 5.7 811 16918 0.10 2.50 11.95 1.243 6 0.046 0.044 3059 1453 1904

17234 1.06 227.5 903.4 8.9 828 17239 0.15 2.58 0.00 0.000 4 0.075 0.051 3028 2858 1900

17264 1.06 227.5 900.9 8.2 829 17268 0.00 2.50 0.00 0.000 6 0.000 0.043 3028 1454 1900

17580 1.06 227.5 877.3 7.0 844 17581 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 1454 1899

17889 1.06 227.5 854.7 7.8 859 17893 0.00 2.53 0.00 0.000 4 0.000 0.049 3027 2854 1897

17941 1.06 227.5 850.6 8.2 861 17945 0.00 2.50 0.00 0.000 6 0.000 0.041 3028 1448 1897

18257 1.06 227.5 826.7 7.9 876 18261 0.00 2.53 0.00 0.000 4 0.000 0.048 3028 2856 1896

18284 1.06 227.5 824.5 8.4 877 18288 0.00 2.47 0.00 0.000 6 0.000 0.041 3028 1448 1896

18599 1.06 227.5 798.9 8.3 892 18604 0.00 2.50 0.00 0.000 4 0.000 0.047 3028 2856 1896

18639 1.06 227.5 795.6 7.8 894 18644 0.00 2.47 0.00 0.000 6 0.000 0.039 3028 1449 1896

18966 1.06 227.5 769.3 8.5 910 18970 0.00 2.50 0.00 0.000 4 0.000 0.046 3028 2856 1896

19020 1.06 227.5 764.3 8.7 912 19027 0.00 2.47 0.00 0.000 6 0.000 0.038 3028 1448 1895

19338 1.06 227.5 732.4 10.2 928 19343 0.00 2.50 0.00 0.000 4 0.000 0.045 3028 2856 1896

19394 1.06 227.5 726.6 9.6 930 19400 0.00 2.47 0.00 0.000 6 0.000 0.038 3028 1446 1896

19712 1.06 227.5 701.1 7.4 946 19714 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1446 1896

20021 1.06 227.5 680.8 6.4 961 20025 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2856 1896

20056 1.06 227.5 678.4 6.5 962 20062 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1453 1896

20371 1.06 227.5 658.9 6.2 978 20375 0.00 2.47 0.00 0.000 4 0.000 0.044 3028 2854 1896

20398 1.06 227.5 657.1 6.5 979 20402 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1452 1896

20713 1.06 227.5 637.7 6.3 994 20718 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2857 1897

20741 1.08 240.9 635.9 5.6 995 20760 0.00 2.45 12.68 1.102 6 0.000 0.037 3028 1453 1849

21083 1.08 240.9 614.2 6.2 1012 21088 0.00 2.53 0.00 0.000 4 0.000 0.044 3028 2863 1848

21128 1.08 240.9 611.3 7.2 1014 21132 0.00 2.47 0.00 0.000 6 0.000 0.036 3028 1452 1847

21449 1.08 240.9 591.1 6.4 1030 21454 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2855 1847

21471 1.08 240.9 589.6 6.7 1031 21476 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1452 1847

21795 1.08 240.9 569.4 6.3 1047 21799 0.00 2.50 0.00 0.000 4 0.000 0.043 3028 2857 1847

21835 1.08 240.9 566.7 6.4 1049 21839 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1454 1847

22161 1.08 240.9 545.4 6.8 1065 22165 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2859 1847

22193 1.08 240.9 543.0 7.0 1066 22199 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1454 1848

22511 1.08 240.9 520.4 7.2 1082 22516 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2860 1848

22556 1.08 240.9 516.8 7.3 1084 22560 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1455 1848

22876 1.08 240.9 492.7 7.6 1100 22881 0.00 2.47 0.00 0.000 4 0.000 0.044 3028 2857 1848

22916 1.08 240.9 489.6 8.1 1102 22920 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1453 1848

23242 1.08 240.9 464.0 8.1 1118 23246 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2857 1848

23275 1.08 240.9 461.1 7.6 1119 23281 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1454 1848

23591 1.08 240.9 435.6 8.2 1135 23595 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2862 1848

23630 1.08 240.9 432.4 9.5 1137 23634 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1454 1848

23957 1.08 240.9 406.9 7.7 1153 23961 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2863 1848

23985 1.08 240.9 404.8 7.6 1154 23989 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1454 1848

24300 1.08 240.9 380.1 7.9 1169 24305 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2864 1849

24333 1.08 240.9 377.4 8.1 1170 24340 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1454 1849

24652 1.08 240.9 352.5 7.8 1186 24656 0.00 2.47 0.00 0.000 4 0.000 0.044 3028 2856 1849

24679 1.08 240.9 350.1 8.0 1187 24684 0.00 2.47 0.00 0.000 6 0.000 0.036 3028 1452 1849

25000 1.08 240.9 325.4 7.7 1203 25004 0.00 2.50 0.00 0.000 4 0.000 0.043 3028 2859 1849

25032 1.08 240.9 322.7 6.8 1204 25038 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1455 1849

25347 1.08 240.9 297.6 8.3 1220 25352 0.00 2.47 0.00 0.000 4 0.000 0.044 3028 2856 1849

25381 1.08 240.9 294.7 7.1 1221 25387 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1451 1849

25699 1.08 240.9 269.4 8.0 1237 25703 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2859 1849

25742 1.08 240.9 265.4 7.3 1239 25747 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1455 1849

26064 1.08 240.9 239.3 7.9 1255 26068 0.00 2.50 0.00 0.000 4 0.000 0.044 3028 2863 1849

26090 1.08 240.9 237.1 7.3 1256 26095 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1454 1849

26409 1.08 240.9 212.7 8.0 1271 26413 0.00 2.47 0.00 0.000 4 0.000 0.044 3028 2857 1849

26453 1.08 240.9 208.8 7.8 1273 26457 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1451 1849

26773 1.08 240.9 181.6 8.4 1289 26778 0.00 2.53 0.00 0.000 4 0.000 0.044 3028 2859 1849

26812 1.08 240.9 178.3 8.5 1290 26819 0.00 2.47 0.00 0.000 6 0.000 0.038 3028 1458 1849

27128 1.08 240.9 152.4 8.0 1306 27132 0.00 2.47 0.00 0.000 4 0.000 0.042 3028 2860 1849

27167 1.08 240.9 149.0 8.7 1308 27171 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1454 1849

27496 1.08 240.9 125.3 7.4 1324 27500 0.00 2.47 0.00 0.000 4 0.000 0.041 3028 2861 1849

27524 1.08 240.9 123.1 6.6 1325 27528 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1451 1849

27840 1.08 240.9 99.2 7.5 1340 27844 0.00 2.47 0.00 0.000 4 0.000 0.041 3028 2859 1849

27895 1.08 240.9 94.7 8.8 1342 27901 0.00 2.45 0.00 0.000 6 0.000 0.036 3028 1446 1849

28211 1.08 240.9 71.2 7.0 1358 28212 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 1446 1849

28521 1.08 240.9 49.5 6.5 1373 28525 0.00 2.47 0.00 0.000 4 0.000 0.041 3028 2857 1849

28566 1.12 270.4 46.2 5.2 1375 28598 0.00 2.45 27.15 0.791 6 0.000 0.036 3028 1447 1729

28909 1.12 270.4 14.2 8.4 1391 28913 0.00 2.12 0.00 0.000 4 0.000 0.058 3028 265 1726

28942 1.12 270.4 11.4 6.4 1392 28946 0.00 2.00 0.00 0.000 6 0.000 0.031 3028 1459 1726

29098 end climb: SURFACE_DEPTH_REACHED

state 29098 begin surface coast

29139 end surface coast: CONTROL_FINISHED_OK

state 29139 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	127	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1630285.1	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	091007,6256.110,-1327.651,32,1.6,33,-12.2	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6245.000,-1320.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	1.02	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-57.6	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	091649,6256.136,-1327.634,15,1.6,32,-12.2	MHEAD_RNG_PITCHd_Wd	174.8,21615,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.1,1.003101	ALTIM_BOTTOM_PING	925.1,69.2
SM_CCo	29163,19.42,0.743,0,0,1609,300.00	_24V_AH	23.1,37.144
SM_GC	0.77,0.00,0.00,19.42,0.000,0.000,0.743,380,2246,1609,-11.13,-0.11,300.00	_10V_AH	10.1,19.153
IRIDIUM_FIX	6235.17,-1327.72,290998,010108	DATA_FILE_SIZE	72596,1402
TT8_MAMPS	0.026845	CAP_FILE_SIZE	213882,0
HUMID	1857	CFSIZE	260165632,249225216
INTERNAL_PRESSURE	8.12856	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	17.70	GPS	050709,172453,6253.396,-1329.403,25,1.3,41,-12.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	128	74.49	SBE_CT	1150	24	637.68
Roll_motor	293	65	442.54	SBE_O2	1066	19	468.29
VBD_pump_during_apogee	381	1434	12624.16	WL_BB2F	772	105	1874.87
VBD_pump_during_surface	19	743	333.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.95	nil	0	0	0.00
Iridium_during_connect	30	160	111.67	nil	0	0	0.00
Iridium_during_xfer	183	223	946.51
Transponder_ping	8	420	80.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.26
TT8	2592	19	518.38
LPSleep	22283	2	492.89
TT8_Active	591	19	118.32
TT8_Sampling	2999	39	1205.77
TT8_CF8	1104	45	510.70
TT8_Kalman	0	81	0.00
Analog_circuits	2162	12	262.13
GPS_charging	0	0	0.00
Compass	3229	8	260.93
RAFOS	0	0	0.00
Transponder	55	30	16.88

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.96	-146.6	0.0	0.0	0	78	0.00	0.00	-58.85	0.000	6	0.000	0.000	390	2250	3431
81	-0.96	-146.6	4.5	-8.7	3	102	11.55	2.55	0.00	0.000	4	0.129	0.038	2586	837	3433
263	-0.96	-146.6	28.1	-8.3	11	268	0.00	2.45	0.00	0.000	6	0.000	0.034	2586	2245	3433
591	-0.96	-146.6	41.5	-2.9	27	596	0.00	2.55	0.00	0.000	4	0.000	0.057	2586	3651	3434
838	-0.96	-146.6	55.8	-6.8	38	843	0.00	2.42	0.00	0.000	6	0.000	0.028	2586	2227	3434
1160	-0.96	-146.6	80.3	-7.7	54	1165	0.00	2.62	0.00	0.000	4	0.000	0.053	2586	3654	3435
1199	-0.96	-146.6	83.4	-7.8	55	1206	0.00	2.40	0.00	0.000	6	0.000	0.028	2586	2244	3435
1515	-0.96	-146.6	102.0	-5.2	71	1517	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2244	3435
1826	-0.96	-146.6	118.9	-5.9	86	1830	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3652	3435
1866	-0.96	-146.6	121.7	-6.6	88	1870	0.00	2.40	0.00	0.000	6	0.000	0.029	2586	2241	3435
2192	-0.96	-146.6	144.8	-7.5	104	2193	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2241	3435
2501	-0.96	-146.6	168.5	-7.5	119	2505	0.00	2.58	0.00	0.000	4	0.000	0.054	2586	3656	3435
2541	-0.96	-146.6	171.6	-7.6	121	2545	0.00	2.40	0.00	0.000	6	0.000	0.029	2586	2248	3435
2867	-0.96	-146.6	193.6	-6.6	137	2871	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3655	3435
2916	-0.96	-146.6	197.2	-7.7	139	2920	0.00	2.40	0.00	0.000	6	0.000	0.029	2585	2246	3434
3233	-0.96	-146.6	218.7	-6.9	154	3234	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2246	3435
3541	-0.96	-146.6	240.7	-7.3	169	3545	0.00	2.55	0.00	0.000	4	0.000	0.055	2585	3652	3434
3590	-0.96	-146.6	244.6	-8.1	171	3595	0.00	2.42	0.00	0.000	6	0.000	0.029	2586	2249	3434
3911	-0.96	-146.6	268.9	-7.6	187	3912	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2249	3434
4222	-0.96	-146.6	291.4	-7.2	202	4224	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2248	3434
4529	-0.96	-146.6	312.5	-6.5	217	4534	0.00	2.55	0.00	0.000	4	0.000	0.055	2586	3654	3433
4597	-0.96	-146.6	317.3	-7.0	220	4602	0.00	2.40	0.00	0.000	6	0.000	0.029	2586	2244	3433
4922	-0.96	-146.6	337.0	-5.8	236	4923	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2243	3433
5229	-0.96	-146.6	354.7	-5.7	251	5233	0.00	2.55	0.00	0.000	4	0.000	0.056	2586	3651	3433
5301	-0.96	-146.6	359.2	-6.0	254	5306	0.00	2.42	0.00	0.000	6	0.000	0.029	2586	2247	3433
5622	-0.96	-146.6	376.7	-5.4	270	5626	0.00	2.55	0.00	0.000	4	0.000	0.056	2585	3652	3433
5662	-0.96	-146.6	379.0	-5.9	272	5666	0.00	2.38	0.00	0.000	6	0.000	0.029	2586	2253	3433
5988	-0.96	-146.6	397.1	-5.5	288	5993	0.00	2.55	0.00	0.000	4	0.000	0.056	2586	3660	3433
6040	-0.96	-146.6	400.2	-5.9	290	6044	0.00	2.40	0.00	0.000	6	0.000	0.028	2586	2249	3432
6358	-0.96	-146.6	418.0	-5.8	305	6359	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2248	3432
6664	-0.96	-146.6	436.2	-6.0	320	6669	0.00	2.55	0.00	0.000	4	0.000	0.055	2586	3653	3432
6727	-0.96	-146.6	440.2	-6.6	323	6731	0.00	2.40	0.00	0.000	6	0.000	0.029	2586	2240	3432
7056	-0.96	-146.6	459.7	-5.9	339	7060	0.00	2.55	0.00	0.000	4	0.000	0.056	2585	3652	3432
7105	-0.96	-146.6	463.2	-6.5	341	7109	0.00	2.38	0.00	0.000	6	0.000	0.029	2586	2252	3431
7423	-0.96	-146.6	481.9	-5.8	356	7424	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2252	3432
7732	-0.96	-146.6	500.1	-5.8	371	7736	0.00	2.53	0.00	0.000	4	0.000	0.055	2586	3651	3431
7781	-0.96	-146.6	503.4	-6.2	373	7786	0.00	2.40	0.00	0.000	6	0.000	0.029	2586	2238	3432
8099	-0.96	-146.6	522.6	-6.2	388	8104	0.00	2.55	0.00	0.000	4	0.000	0.055	2586	3652	3432
8139	-0.96	-146.6	525.5	-7.1	390	8143	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2245	3432
8468	-0.96	-146.6	547.7	-7.1	406	8469	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2245	3431
8775	-0.96	-146.6	570.4	-7.6	421	8776	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2244	3431
9084	-0.96	-146.6	593.2	-7.0	436	9085	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2244	3431
9394	-0.96	-146.6	615.1	-7.3	451	9396	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2243	3431
9703	-0.96	-146.6	638.1	-7.5	466	9707	0.00	2.55	0.00	0.000	4	0.000	0.055	2585	3653	3431
9771	-0.96	-146.6	643.3	-7.6	469	9775	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2246	3431
10092	-0.96	-146.6	667.2	-7.7	485	10093	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2247	3431
10402	-0.96	-146.6	687.0	-6.1	500	10406	0.00	2.55	0.00	0.000	4	0.000	0.055	2586	3654	3431
10486	-0.96	-146.6	692.0	-5.3	504	10491	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2245	3431
10816	-0.96	-146.6	709.7	-5.4	520	10820	0.00	2.42	0.00	0.000	4	0.000	0.044	2586	852	3430
10860	-0.96	-146.6	712.4	-5.7	522	10864	0.00	2.42	0.00	0.000	6	0.000	0.035	2586	2256	3431
11182	-0.96	-146.6	730.6	-5.7	538	11186	0.00	2.47	0.00	0.000	4	0.000	0.042	2586	849	3430
11244	-0.96	-146.6	734.2	-5.6	541	11249	0.00	2.42	0.00	0.000	6	0.000	0.035	2586	2245	3430
11572	-0.96	-146.6	750.1	-4.5	557	11573	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2245	3430
11881	-0.96	-146.6	762.6	-3.9	572	11885	0.00	2.55	0.00	0.000	4	0.000	0.058	2586	3659	3430
11920	-0.96	-146.6	764.6	-5.4	574	11925	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2251	3429
12247	-0.96	-146.6	780.9	-4.9	590	12251	0.00	2.45	0.00	0.000	4	0.000	0.044	2586	849	3429
12306	-0.96	-146.6	783.8	-5.0	592	12312	0.00	2.45	0.00	0.000	6	0.000	0.037	2586	2259	3429
12621	-0.96	-146.6	802.3	-6.6	608	12623	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2258	3429
12934	-0.96	-146.6	825.1	-7.5	623	12935	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2259	3429
13241	-0.96	-146.6	844.5	-5.4	638	13245	0.00	2.47	0.00	0.000	4	0.000	0.044	2586	852	3429
13313	-0.96	-146.6	848.3	-5.4	641	13318	0.00	2.45	0.00	0.000	6	0.000	0.039	2586	2255	3429
13629	-0.96	-146.6	863.8	-5.0	656	13631	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2254	3428
13940	-0.96	-146.6	881.0	-5.8	671	13944	0.00	2.47	0.00	0.000	4	0.000	0.044	2586	852	3428
13996	-0.96	-146.6	884.5	-6.7	673	14002	0.00	2.45	0.00	0.000	6	0.000	0.039	2586	2247	3428
14312	-0.96	-146.6	904.1	-5.9	689	14314	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2247	3427
14621	-0.96	-146.6	923.0	-6.0	704	14625	0.00	2.58	0.00	0.000	4	0.000	0.062	2586	3657	3427
14687	-0.96	-146.6	927.3	-6.1	707	14691	0.00	2.42	0.00	0.000	6	0.000	0.035	2586	2255	3427
15010	-0.96	-146.6	946.7	-6.1	723	15015	0.00	2.58	0.00	0.000	4	0.000	0.062	2586	3656	3426
15060	-0.96	-146.6	950.1	-7.5	725	15065	0.00	2.45	0.00	0.000	6	0.000	0.035	2586	2239	3425
15377	-0.96	-146.6	966.0	-5.2	740	15378	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2239	3425
15683	end dive: BOTTOM_OBSTACLE_DETECTED
state	15683	begin apogee
15691	-0.36	0.0	984.7	8.5	755	15827	0.62	0.00	131.18	1.434	6	0.067	0.000	2720	1464	2832
15827	end apogee: CONTROL_FINISHED_OK
state	15827	begin climb
15830	0.96	146.6	989.4	0.0	762	15971	1.30	2.28	132.90	1.390	4	0.051	0.065	3007	264	2233
16109	1.01	187.4	977.0	4.9	774	16152	0.00	2.08	37.05	1.342	6	0.000	0.038	3007	1461	2068
16465	1.03	199.2	958.8	5.7	791	16486	0.00	2.55	11.40	1.224	4	0.000	0.051	3007	2853	2018
16509	1.05	215.8	956.1	5.5	793	16532	0.00	2.50	16.73	1.279	6	0.000	0.044	3006	1454	1952
16842	1.05	215.8	936.5	6.1	809	16846	0.00	2.55	0.00	0.000	4	0.000	0.051	3007	2854	1948
16898	1.06	227.5	932.8	5.7	811	16918	0.10	2.50	11.95	1.243	6	0.046	0.044	3059	1453	1904
17234	1.06	227.5	903.4	8.9	828	17239	0.15	2.58	0.00	0.000	4	0.075	0.051	3028	2858	1900
17264	1.06	227.5	900.9	8.2	829	17268	0.00	2.50	0.00	0.000	6	0.000	0.043	3028	1454	1900
17580	1.06	227.5	877.3	7.0	844	17581	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	1454	1899
17889	1.06	227.5	854.7	7.8	859	17893	0.00	2.53	0.00	0.000	4	0.000	0.049	3027	2854	1897
17941	1.06	227.5	850.6	8.2	861	17945	0.00	2.50	0.00	0.000	6	0.000	0.041	3028	1448	1897
18257	1.06	227.5	826.7	7.9	876	18261	0.00	2.53	0.00	0.000	4	0.000	0.048	3028	2856	1896
18284	1.06	227.5	824.5	8.4	877	18288	0.00	2.47	0.00	0.000	6	0.000	0.041	3028	1448	1896
18599	1.06	227.5	798.9	8.3	892	18604	0.00	2.50	0.00	0.000	4	0.000	0.047	3028	2856	1896
18639	1.06	227.5	795.6	7.8	894	18644	0.00	2.47	0.00	0.000	6	0.000	0.039	3028	1449	1896
18966	1.06	227.5	769.3	8.5	910	18970	0.00	2.50	0.00	0.000	4	0.000	0.046	3028	2856	1896
19020	1.06	227.5	764.3	8.7	912	19027	0.00	2.47	0.00	0.000	6	0.000	0.038	3028	1448	1895
19338	1.06	227.5	732.4	10.2	928	19343	0.00	2.50	0.00	0.000	4	0.000	0.045	3028	2856	1896
19394	1.06	227.5	726.6	9.6	930	19400	0.00	2.47	0.00	0.000	6	0.000	0.038	3028	1446	1896
19712	1.06	227.5	701.1	7.4	946	19714	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1446	1896
20021	1.06	227.5	680.8	6.4	961	20025	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2856	1896
20056	1.06	227.5	678.4	6.5	962	20062	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1453	1896
20371	1.06	227.5	658.9	6.2	978	20375	0.00	2.47	0.00	0.000	4	0.000	0.044	3028	2854	1896
20398	1.06	227.5	657.1	6.5	979	20402	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1452	1896
20713	1.06	227.5	637.7	6.3	994	20718	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2857	1897
20741	1.08	240.9	635.9	5.6	995	20760	0.00	2.45	12.68	1.102	6	0.000	0.037	3028	1453	1849
21083	1.08	240.9	614.2	6.2	1012	21088	0.00	2.53	0.00	0.000	4	0.000	0.044	3028	2863	1848
21128	1.08	240.9	611.3	7.2	1014	21132	0.00	2.47	0.00	0.000	6	0.000	0.036	3028	1452	1847
21449	1.08	240.9	591.1	6.4	1030	21454	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2855	1847
21471	1.08	240.9	589.6	6.7	1031	21476	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1452	1847
21795	1.08	240.9	569.4	6.3	1047	21799	0.00	2.50	0.00	0.000	4	0.000	0.043	3028	2857	1847
21835	1.08	240.9	566.7	6.4	1049	21839	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1454	1847
22161	1.08	240.9	545.4	6.8	1065	22165	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2859	1847
22193	1.08	240.9	543.0	7.0	1066	22199	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1454	1848
22511	1.08	240.9	520.4	7.2	1082	22516	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2860	1848
22556	1.08	240.9	516.8	7.3	1084	22560	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1455	1848
22876	1.08	240.9	492.7	7.6	1100	22881	0.00	2.47	0.00	0.000	4	0.000	0.044	3028	2857	1848
22916	1.08	240.9	489.6	8.1	1102	22920	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1453	1848
23242	1.08	240.9	464.0	8.1	1118	23246	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2857	1848
23275	1.08	240.9	461.1	7.6	1119	23281	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1454	1848
23591	1.08	240.9	435.6	8.2	1135	23595	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2862	1848
23630	1.08	240.9	432.4	9.5	1137	23634	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1454	1848
23957	1.08	240.9	406.9	7.7	1153	23961	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2863	1848
23985	1.08	240.9	404.8	7.6	1154	23989	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1454	1848
24300	1.08	240.9	380.1	7.9	1169	24305	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2864	1849
24333	1.08	240.9	377.4	8.1	1170	24340	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1454	1849
24652	1.08	240.9	352.5	7.8	1186	24656	0.00	2.47	0.00	0.000	4	0.000	0.044	3028	2856	1849
24679	1.08	240.9	350.1	8.0	1187	24684	0.00	2.47	0.00	0.000	6	0.000	0.036	3028	1452	1849
25000	1.08	240.9	325.4	7.7	1203	25004	0.00	2.50	0.00	0.000	4	0.000	0.043	3028	2859	1849
25032	1.08	240.9	322.7	6.8	1204	25038	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1455	1849
25347	1.08	240.9	297.6	8.3	1220	25352	0.00	2.47	0.00	0.000	4	0.000	0.044	3028	2856	1849
25381	1.08	240.9	294.7	7.1	1221	25387	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1451	1849
25699	1.08	240.9	269.4	8.0	1237	25703	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2859	1849
25742	1.08	240.9	265.4	7.3	1239	25747	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1455	1849
26064	1.08	240.9	239.3	7.9	1255	26068	0.00	2.50	0.00	0.000	4	0.000	0.044	3028	2863	1849
26090	1.08	240.9	237.1	7.3	1256	26095	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1454	1849
26409	1.08	240.9	212.7	8.0	1271	26413	0.00	2.47	0.00	0.000	4	0.000	0.044	3028	2857	1849
26453	1.08	240.9	208.8	7.8	1273	26457	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1451	1849
26773	1.08	240.9	181.6	8.4	1289	26778	0.00	2.53	0.00	0.000	4	0.000	0.044	3028	2859	1849
26812	1.08	240.9	178.3	8.5	1290	26819	0.00	2.47	0.00	0.000	6	0.000	0.038	3028	1458	1849
27128	1.08	240.9	152.4	8.0	1306	27132	0.00	2.47	0.00	0.000	4	0.000	0.042	3028	2860	1849
27167	1.08	240.9	149.0	8.7	1308	27171	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1454	1849
27496	1.08	240.9	125.3	7.4	1324	27500	0.00	2.47	0.00	0.000	4	0.000	0.041	3028	2861	1849
27524	1.08	240.9	123.1	6.6	1325	27528	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1451	1849
27840	1.08	240.9	99.2	7.5	1340	27844	0.00	2.47	0.00	0.000	4	0.000	0.041	3028	2859	1849
27895	1.08	240.9	94.7	8.8	1342	27901	0.00	2.45	0.00	0.000	6	0.000	0.036	3028	1446	1849
28211	1.08	240.9	71.2	7.0	1358	28212	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	1446	1849
28521	1.08	240.9	49.5	6.5	1373	28525	0.00	2.47	0.00	0.000	4	0.000	0.041	3028	2857	1849
28566	1.12	270.4	46.2	5.2	1375	28598	0.00	2.45	27.15	0.791	6	0.000	0.036	3028	1447	1729
28909	1.12	270.4	14.2	8.4	1391	28913	0.00	2.12	0.00	0.000	4	0.000	0.058	3028	265	1726
28942	1.12	270.4	11.4	6.4	1392	28946	0.00	2.00	0.00	0.000	6	0.000	0.031	3028	1459	1726
29098	end climb: SURFACE_DEPTH_REACHED
state	29098	begin surface coast
29139	end surface coast: CONTROL_FINISHED_OK
state	29139	begin surface