Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 128 * 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 128 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 47 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 -79093.234 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 -79093.234

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 47 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 128 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 235808,6136.936,-928.496,40,1.0,40,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.158,-0.124

_SM_DEPTHo 0.80 KALMAN_X -47586.5,1271.2,533.4,58058.9,-10642.4

_SM_ANGLEo -49.0 KALMAN_Y 89288.5,-1257.8,181.8,-111038.7,1461.4

GPS2 000509,6136.934,-928.573,16,1.6,16,-9.5 MHEAD_RNG_PITCHd_Wd 137.5,17176,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.014940 ALTIM_BOTTOM_PING 900.6,19.2

SM_CCo 27457,203.95,0.769,0,0,390,547.02 _24V_AH 23.8,26.887

SM_GC 0.58,0.00,0.00,203.95,0.000,0.000,0.769,420,2144,390,-10.48,-0.17,547.02 _10V_AH 10.1,12.883

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 66234,1322

TT8_MAMPS 0.029146 CAP_FILE_SIZE 213221,0

HUMID 1658 CFSIZE 254472192,243081216

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 977 GPS 060708,074826,6133.842,-923.404,42,1.4,43,-9.4

ALTIM_TOP_PING 18.5,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 134 84.18 SBE_CT 905 24 516.94

Roll_motor 290 72 503.56 SBE_O2 981 19 443.93

VBD_pump_during_apogee 278 1412 9345.19 WL_BB2F 722 105 1805.94

VBD_pump_during_surface 203 768 3730.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 28 160 109.72 nil 0 0 0.00

Iridium_during_xfer 205 223 1090.44

Transponder_ping 252 420 2523.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.09

TT8 2429 19 485.93

LPSleep 21430 2 474.01

TT8_Active 764 19 152.80

TT8_Sampling 2697 39 1084.33

TT8_CF8 749 45 346.68

TT8_Kalman 33 81 27.56

Analog_circuits 2147 12 260.32

GPS_charging 0 0 0.00

Compass 2637 8 213.13

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 0 137 0.00 0.00 -110.15 0.000 6 0.000 0.000 418 2165 3098

140 -1.03 -117.3 2.1 -1.4 5 157 10.55 2.55 0.00 0.000 4 0.134 0.055 2468 742 3098

288 -0.69 -117.3 19.0 -7.3 10 295 0.38 2.47 0.00 0.000 6 0.086 0.049 2549 2131 3097

605 -0.61 -117.3 40.8 -7.1 26 609 0.00 2.55 0.00 0.000 4 0.000 0.059 2549 3556 3096

645 -0.49 -117.3 44.3 -9.1 28 650 0.20 2.45 0.00 0.000 6 0.083 0.044 2590 2165 3097

973 -0.55 -117.3 91.8 -18.0 44 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2147 3097

1283 -0.62 -117.3 131.7 -4.1 59 1288 0.12 2.55 0.00 0.000 4 0.049 0.058 2553 3564 3097

1328 -0.53 -117.3 131.5 0.7 61 1333 0.15 2.47 0.00 0.000 6 0.086 0.046 2583 2164 3097

1651 -0.58 -117.3 113.0 2.6 77 1656 0.00 2.53 0.00 0.000 4 0.000 0.061 2583 750 3097

1697 -0.64 -117.3 113.1 -0.6 79 1701 0.10 2.50 0.00 0.000 6 0.055 0.049 2550 2151 3097

2018 -0.57 -117.3 130.2 -8.0 95 2023 0.12 2.58 0.00 0.000 4 0.091 0.062 2577 742 3097

2030 -0.52 -117.3 131.2 -8.4 95 2036 0.00 2.47 0.00 0.000 6 0.000 0.051 2577 2129 3097

2346 -0.52 -117.3 160.0 -9.3 111 2350 0.00 2.55 0.00 0.000 4 0.000 0.061 2577 3563 3097

2356 -0.52 -117.3 160.9 -8.7 111 2362 0.00 2.53 0.00 0.000 6 0.000 0.048 2577 2138 3097

2672 -0.52 -117.3 184.2 -6.2 127 2676 0.00 2.58 0.00 0.000 4 0.000 0.062 2577 3556 3096

2693 -0.52 -117.3 186.0 -7.3 128 2698 0.00 2.53 0.00 0.000 6 0.000 0.048 2577 2134 3096

3015 -0.52 -117.3 205.5 -6.6 144 3016 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2130 3096

3324 -0.52 -117.3 229.0 -8.0 159 3328 0.00 2.60 0.00 0.000 4 0.000 0.061 2577 3560 3096

3351 -0.52 -117.3 231.6 -8.8 160 3356 0.00 2.53 0.00 0.000 6 0.000 0.050 2576 2141 3096

3667 -0.52 -117.3 261.0 -9.8 175 3671 0.00 2.58 0.00 0.000 4 0.000 0.062 2577 3557 3096

3711 -0.52 -117.3 265.5 -10.4 177 3716 0.00 2.47 0.00 0.000 6 0.000 0.050 2576 2164 3095

4034 -0.56 -117.3 301.2 -11.6 193 4038 0.00 2.53 0.00 0.000 4 0.000 0.063 2577 3560 3095

4084 -0.56 -117.3 307.1 -11.0 195 4088 0.00 2.47 0.00 0.000 6 0.000 0.050 2577 2170 3095

4400 -0.56 -117.3 339.7 -9.7 210 4401 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2169 3095

4709 -0.56 -117.3 364.8 -7.5 225 4713 0.00 2.55 0.00 0.000 4 0.000 0.067 2577 744 3095

4736 -0.56 -117.3 367.2 -8.5 226 4740 0.00 2.55 0.00 0.000 6 0.000 0.053 2577 2177 3095

5053 -0.56 -117.3 384.5 -4.5 241 5057 0.00 2.62 0.00 0.000 4 0.000 0.064 2576 738 3094

5087 -0.61 -117.3 386.0 -4.1 242 5092 0.00 2.53 0.00 0.000 6 0.000 0.054 2576 2150 3094

5403 -0.61 -117.3 398.8 -3.6 258 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2150 3094

5713 -0.66 -117.3 412.7 -5.2 273 5717 0.00 2.55 0.00 0.000 4 0.000 0.065 2576 744 3094

5735 -0.71 -117.3 413.6 -3.6 274 5740 0.15 2.50 0.00 0.000 6 0.050 0.054 2533 2141 3094

6059 -0.62 -117.3 427.1 -4.7 290 6064 0.15 2.55 0.00 0.000 4 0.089 0.066 2569 3557 3094

6070 -0.55 -117.3 427.7 -4.5 290 6077 0.00 2.55 0.00 0.000 6 0.000 0.053 2569 2130 3094

6387 -0.55 -117.3 438.7 -3.6 306 6388 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2111 3094

6696 -0.55 -117.3 448.4 -2.8 321 6701 0.00 2.62 0.00 0.000 4 0.000 0.066 2569 3557 3094

6708 -0.55 -117.3 448.9 -3.1 321 6714 0.00 2.53 0.00 0.000 6 0.000 0.052 2569 2142 3094

7024 -0.55 -117.3 459.9 -4.0 337 7028 0.00 2.60 0.00 0.000 4 0.000 0.066 2569 3557 3093

7035 -0.55 -117.3 460.5 -3.8 337 7041 0.00 2.50 0.00 0.000 6 0.000 0.051 2569 2149 3093

7351 -0.55 -117.3 473.8 -4.3 353 7355 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 3557 3093

7374 -0.55 -117.3 475.0 -5.0 354 7378 0.00 2.50 0.00 0.000 6 0.000 0.051 2569 2154 3093

7700 -0.55 -117.3 492.7 -6.0 370 7704 0.00 2.58 0.00 0.000 4 0.000 0.064 2569 3557 3093

7739 -0.55 -117.3 495.3 -6.7 372 7744 0.00 2.47 0.00 0.000 6 0.000 0.050 2569 2158 3093

8066 -0.55 -117.3 516.2 -6.5 388 8067 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2140 3093

8376 -0.55 -117.3 535.8 -6.1 403 8377 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2140 3092

8685 -0.55 -117.3 553.1 -5.4 418 8689 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 3563 3092

8696 -0.55 -117.3 553.7 -5.1 418 8702 0.00 2.50 0.00 0.000 6 0.000 0.052 2569 2161 3092

9012 -0.55 -117.3 570.3 -6.5 434 9016 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 3561 3092

9039 -0.55 -117.3 572.2 -7.1 435 9043 0.00 2.50 0.00 0.000 6 0.000 0.051 2569 2157 3092

9355 -0.55 -117.3 591.4 -5.5 450 9356 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2140 3092

9664 -0.55 -117.3 607.5 -4.9 465 9668 0.00 2.53 0.00 0.000 4 0.000 0.065 2569 750 3092

9675 -0.55 -117.3 608.1 -4.7 465 9682 0.00 2.53 0.00 0.000 6 0.000 0.054 2569 2159 3092

9992 -0.55 -117.3 621.5 -4.5 481 9996 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 750 3092

10009 -0.55 -117.3 622.3 -4.3 482 10013 0.00 2.53 0.00 0.000 6 0.000 0.054 2569 2162 3092

10336 -0.55 -117.3 636.2 -3.2 498 10340 0.00 2.58 0.00 0.000 4 0.000 0.067 2569 748 3092

10375 -0.55 -117.3 638.1 -4.7 500 10380 0.00 2.53 0.00 0.000 6 0.000 0.055 2569 2160 3092

10703 -0.55 -117.3 655.3 -5.3 516 10707 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 751 3092

10715 -0.55 -117.3 655.9 -4.8 516 10721 0.00 2.53 0.00 0.000 6 0.000 0.054 2568 2155 3092

11031 -0.55 -117.3 671.5 -5.0 532 11032 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3092

11341 -0.55 -117.3 687.8 -5.5 547 11342 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3091

11650 -0.55 -117.3 705.8 -5.7 562 11651 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3091

11959 -0.55 -117.3 723.4 -5.1 577 11960 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3091

12268 -0.55 -117.3 739.6 -5.0 592 12272 0.00 2.58 0.00 0.000 4 0.000 0.067 2569 750 3091

12279 -0.55 -117.3 740.3 -5.6 592 12285 0.00 2.53 0.00 0.000 6 0.000 0.055 2569 2160 3091

12595 -0.55 -117.3 756.4 -5.0 608 12600 0.00 2.58 0.00 0.000 4 0.000 0.067 2568 751 3091

12607 -0.55 -117.3 757.1 -5.3 608 12613 0.00 2.53 0.00 0.000 6 0.000 0.055 2569 2154 3091

12923 -0.59 -117.3 773.4 -4.9 624 12928 0.00 2.58 0.00 0.000 4 0.000 0.067 2569 752 3091

12996 -0.59 -117.3 777.0 -5.3 627 13001 0.00 2.50 0.00 0.000 6 0.000 0.055 2569 2143 3091

13312 -0.59 -117.3 794.6 -6.1 642 13316 0.00 2.55 0.00 0.000 4 0.000 0.069 2569 3555 3091

13333 -0.59 -117.3 796.0 -6.3 643 13338 0.00 2.53 0.00 0.000 6 0.000 0.055 2569 2150 3091

13655 -0.59 -117.3 818.0 -7.0 659 13659 0.00 2.58 0.00 0.000 4 0.000 0.067 2569 3563 3091

13665 -0.59 -117.3 818.9 -6.9 659 13671 0.00 2.53 0.00 0.000 6 0.000 0.054 2569 2151 3090

13981 -0.64 -117.3 843.2 -7.7 675 13982 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2150 3091

14291 -0.64 -117.3 861.3 -4.6 690 14295 0.00 2.53 0.00 0.000 4 0.000 0.068 2569 744 3091

14341 -0.64 -117.3 863.4 -4.1 692 14345 0.00 2.53 0.00 0.000 6 0.000 0.056 2569 2147 3091

14657 -0.71 -117.3 873.0 -2.3 707 14659 0.12 0.00 0.00 0.000 6 0.053 0.000 2530 2147 3091

14966 -0.64 -117.3 885.2 -5.2 722 14968 0.12 0.00 0.00 0.000 6 0.094 0.000 2556 2147 3091

15278 -0.64 -117.3 900.6 -4.9 737 15283 0.00 2.60 0.00 0.000 4 0.000 0.072 2556 745 3091

15329 -0.64 -117.3 903.1 -4.5 739 15334 0.00 2.58 0.00 0.000 6 0.000 0.060 2556 2166 3091

15519 end dive: BOTTOM_OBSTACLE_DETECTED

state 15519 begin apogee

15526 -0.33 0.0 910.0 3.0 748 15629 0.32 0.00 100.70 1.412 6 0.080 0.000 2624 2069 2620

15630 end apogee: CONTROL_FINISHED_OK

state 15630 begin climb

15634 1.03 117.3 911.2 0.0 753 15744 1.38 2.65 100.78 1.397 4 0.066 0.072 2922 703 2141

15763 0.95 117.3 902.6 7.8 759 15768 0.00 2.60 0.00 0.000 6 0.000 0.059 2922 2106 2141

16086 0.89 117.3 881.5 6.0 775 16091 0.15 2.58 0.00 0.000 4 0.086 0.073 2888 3508 2140

16158 0.96 117.3 877.1 6.0 778 16163 0.00 2.55 0.00 0.000 6 0.000 0.059 2888 2120 2139

16475 1.06 141.8 863.0 5.2 793 16500 0.20 0.00 21.88 1.328 6 0.045 0.000 2945 2120 2042

16804 0.97 141.8 835.0 8.5 809 16806 0.15 0.00 0.00 0.000 6 0.085 0.000 2913 2120 2041

17113 0.99 152.2 817.0 5.6 824 17129 0.00 2.62 10.55 1.223 4 0.000 0.068 2913 3509 1998

17168 1.00 161.7 813.5 5.7 825 17183 0.00 2.55 9.65 1.197 6 0.000 0.056 2913 2116 1961

17506 1.07 201.3 798.8 4.6 842 17547 0.00 2.65 34.53 1.333 4 0.000 0.065 2913 3513 1799

17576 1.13 201.3 795.1 6.3 845 17581 0.12 2.47 0.00 0.000 6 0.050 0.054 2950 2156 1799

17898 1.05 201.3 771.8 7.7 861 17903 0.00 2.67 0.00 0.000 4 0.000 0.067 2950 682 1798

17943 0.99 201.3 768.0 7.6 863 17948 0.17 2.67 0.00 0.000 6 0.081 0.056 2913 2160 1799

18265 1.04 201.3 748.1 6.7 879 18269 0.00 2.45 0.00 0.000 4 0.000 0.065 2913 3509 1798

18299 1.11 201.3 745.5 7.6 880 18306 0.12 2.47 0.00 0.000 6 0.050 0.053 2952 2143 1798

18616 1.04 201.3 717.1 9.2 896 18618 0.12 0.00 0.00 0.000 6 0.085 0.000 2926 2144 1799

18925 1.04 201.3 692.7 7.2 911 18929 0.00 2.53 0.00 0.000 4 0.000 0.065 2927 3517 1799

18964 1.04 201.3 689.6 7.4 913 18968 0.00 2.42 0.00 0.000 6 0.000 0.052 2927 2166 1799

19297 1.04 201.3 666.6 6.5 929 19302 0.00 2.65 0.00 0.000 4 0.000 0.065 2927 690 1799

19338 1.04 201.3 663.8 7.9 931 19342 0.00 2.65 0.00 0.000 6 0.000 0.054 2928 2170 1799

19664 1.04 201.3 640.1 7.7 947 19665 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2169 1799

19973 1.04 201.3 614.3 8.6 962 19975 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2169 1799

20282 1.04 201.3 587.7 8.1 977 20287 0.00 2.70 0.00 0.000 4 0.000 0.065 2927 690 1799

20322 1.04 201.3 584.0 8.8 979 20327 0.00 2.62 0.00 0.000 6 0.000 0.055 2927 2162 1799

20650 1.04 201.3 558.7 7.7 995 20654 0.00 2.42 0.00 0.000 4 0.000 0.064 2927 3509 1800

20694 1.04 201.3 554.8 9.0 997 20698 0.00 2.42 0.00 0.000 6 0.000 0.051 2927 2156 1799

21015 1.04 201.3 532.3 6.9 1013 21019 0.00 2.62 0.00 0.000 4 0.000 0.065 2927 685 1799

21047 1.04 201.3 530.0 6.2 1014 21053 0.00 2.65 0.00 0.000 6 0.000 0.054 2927 2170 1800

21363 1.04 201.3 509.1 6.7 1030 21367 0.00 2.42 0.00 0.000 4 0.000 0.064 2927 3517 1800

21404 1.09 201.3 506.0 7.9 1031 21410 0.00 2.42 0.00 0.000 6 0.000 0.052 2927 2168 1800

21720 1.09 201.3 483.0 7.1 1047 21725 0.00 2.67 0.00 0.000 4 0.000 0.066 2926 681 1801

21770 1.09 201.3 478.9 8.7 1049 21774 0.00 2.67 0.00 0.000 6 0.000 0.054 2927 2174 1800

22085 1.09 201.3 453.7 8.3 1064 22087 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2174 1801

22395 1.09 201.3 426.2 8.9 1079 22396 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2174 1800

22704 1.09 201.3 398.8 9.8 1094 22708 0.00 2.70 0.00 0.000 4 0.000 0.065 2926 688 1801

22744 1.13 201.3 394.4 11.2 1096 22749 0.00 2.62 0.00 0.000 6 0.000 0.054 2927 2162 1801

23072 1.13 201.3 359.6 10.1 1112 23076 0.00 2.42 0.00 0.000 4 0.000 0.064 2927 3512 1801

23112 1.19 201.3 355.3 10.1 1114 23117 0.15 2.42 0.00 0.000 6 0.045 0.051 2974 2150 1801

23439 1.09 201.3 316.7 11.0 1130 23444 0.15 2.60 0.00 0.000 4 0.081 0.066 2937 690 1801

23467 1.09 201.3 314.2 7.0 1131 23471 0.00 2.62 0.00 0.000 6 0.000 0.054 2937 2160 1801

23783 1.09 201.3 288.5 7.7 1146 23787 0.00 2.42 0.00 0.000 4 0.000 0.063 2937 3512 1801

23816 1.09 201.3 285.6 9.7 1147 23822 0.00 2.45 0.00 0.000 6 0.000 0.051 2937 2145 1801

24132 1.09 201.3 262.2 7.3 1163 24136 0.00 2.60 0.00 0.000 4 0.000 0.065 2937 690 1802

24171 1.09 201.3 259.1 7.9 1165 24175 0.00 2.60 0.00 0.000 6 0.000 0.054 2937 2161 1801

24498 1.09 201.3 235.8 7.3 1181 24502 0.00 2.42 0.00 0.000 4 0.000 0.062 2937 3513 1801

24553 1.09 201.3 231.6 7.4 1183 24559 0.00 2.42 0.00 0.000 6 0.000 0.050 2937 2150 1801

24869 1.09 201.3 207.3 8.0 1199 24873 0.00 2.62 0.00 0.000 4 0.000 0.066 2937 689 1801

24902 1.09 201.3 204.5 7.8 1200 24908 0.00 2.65 0.00 0.000 6 0.000 0.054 2937 2166 1801

25218 1.09 201.3 179.0 8.6 1216 25222 0.00 2.40 0.00 0.000 4 0.000 0.061 2938 3517 1801

25256 1.09 201.3 175.7 7.4 1217 25262 0.00 2.42 0.00 0.000 6 0.000 0.050 2937 2158 1801

25572 1.09 201.3 148.8 8.4 1233 25576 0.00 2.62 0.00 0.000 4 0.000 0.065 2937 681 1801

25613 1.09 201.3 145.1 9.3 1235 25617 0.00 2.65 0.00 0.000 6 0.000 0.052 2937 2164 1802

25940 1.09 201.3 119.1 7.8 1251 25944 0.00 2.40 0.00 0.000 4 0.000 0.061 2937 3511 1801

25996 1.13 201.3 113.8 8.9 1253 26002 0.00 2.40 0.00 0.000 6 0.000 0.049 2937 2161 1801

26312 1.13 201.3 93.4 7.2 1269 26317 0.00 2.62 0.00 0.000 4 0.000 0.064 2937 691 1801

26353 1.13 201.3 89.8 8.9 1271 26357 0.00 2.67 0.00 0.000 6 0.000 0.052 2937 2187 1802

26680 1.13 201.3 59.9 9.1 1287 26684 0.00 2.72 0.00 0.000 4 0.000 0.064 2937 691 1802

26707 1.13 201.3 57.2 10.5 1288 26711 0.00 2.62 0.00 0.000 6 0.000 0.052 2937 2166 1802

27025 1.19 201.3 31.2 7.9 1303 27030 0.10 2.40 0.00 0.000 4 0.052 0.059 2973 3514 1802

27098 1.15 201.3 24.1 9.7 1306 27102 0.12 2.40 0.00 0.000 6 0.079 0.050 2946 2169 1802

27411 end climb: SURFACE_DEPTH_REACHED

state 27411 begin surface coast

27436 end surface coast: CONTROL_FINISHED_OK

state 27436 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	128	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	47	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	-79093.234	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	235808,6136.936,-928.496,40,1.0,40,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.158,-0.124
_SM_DEPTHo	0.80	KALMAN_X	-47586.5,1271.2,533.4,58058.9,-10642.4
_SM_ANGLEo	-49.0	KALMAN_Y	89288.5,-1257.8,181.8,-111038.7,1461.4
GPS2	000509,6136.934,-928.573,16,1.6,16,-9.5	MHEAD_RNG_PITCHd_Wd	137.5,17176,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.2,1.014940	ALTIM_BOTTOM_PING	900.6,19.2
SM_CCo	27457,203.95,0.769,0,0,390,547.02	_24V_AH	23.8,26.887
SM_GC	0.58,0.00,0.00,203.95,0.000,0.000,0.769,420,2144,390,-10.48,-0.17,547.02	_10V_AH	10.1,12.883
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	66234,1322
TT8_MAMPS	0.029146	CAP_FILE_SIZE	213221,0
HUMID	1658	CFSIZE	254472192,243081216
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	977	GPS	060708,074826,6133.842,-923.404,42,1.4,43,-9.4
ALTIM_TOP_PING	18.5,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	134	84.18	SBE_CT	905	24	516.94
Roll_motor	290	72	503.56	SBE_O2	981	19	443.93
VBD_pump_during_apogee	278	1412	9345.19	WL_BB2F	722	105	1805.94
VBD_pump_during_surface	203	768	3730.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	28	160	109.72	nil	0	0	0.00
Iridium_during_xfer	205	223	1090.44
Transponder_ping	252	420	2523.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.09
TT8	2429	19	485.93
LPSleep	21430	2	474.01
TT8_Active	764	19	152.80
TT8_Sampling	2697	39	1084.33
TT8_CF8	749	45	346.68
TT8_Kalman	33	81	27.56
Analog_circuits	2147	12	260.32
GPS_charging	0	0	0.00
Compass	2637	8	213.13
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	137	0.00	0.00	-110.15	0.000	6	0.000	0.000	418	2165	3098
140	-1.03	-117.3	2.1	-1.4	5	157	10.55	2.55	0.00	0.000	4	0.134	0.055	2468	742	3098
288	-0.69	-117.3	19.0	-7.3	10	295	0.38	2.47	0.00	0.000	6	0.086	0.049	2549	2131	3097
605	-0.61	-117.3	40.8	-7.1	26	609	0.00	2.55	0.00	0.000	4	0.000	0.059	2549	3556	3096
645	-0.49	-117.3	44.3	-9.1	28	650	0.20	2.45	0.00	0.000	6	0.083	0.044	2590	2165	3097
973	-0.55	-117.3	91.8	-18.0	44	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2147	3097
1283	-0.62	-117.3	131.7	-4.1	59	1288	0.12	2.55	0.00	0.000	4	0.049	0.058	2553	3564	3097
1328	-0.53	-117.3	131.5	0.7	61	1333	0.15	2.47	0.00	0.000	6	0.086	0.046	2583	2164	3097
1651	-0.58	-117.3	113.0	2.6	77	1656	0.00	2.53	0.00	0.000	4	0.000	0.061	2583	750	3097
1697	-0.64	-117.3	113.1	-0.6	79	1701	0.10	2.50	0.00	0.000	6	0.055	0.049	2550	2151	3097
2018	-0.57	-117.3	130.2	-8.0	95	2023	0.12	2.58	0.00	0.000	4	0.091	0.062	2577	742	3097
2030	-0.52	-117.3	131.2	-8.4	95	2036	0.00	2.47	0.00	0.000	6	0.000	0.051	2577	2129	3097
2346	-0.52	-117.3	160.0	-9.3	111	2350	0.00	2.55	0.00	0.000	4	0.000	0.061	2577	3563	3097
2356	-0.52	-117.3	160.9	-8.7	111	2362	0.00	2.53	0.00	0.000	6	0.000	0.048	2577	2138	3097
2672	-0.52	-117.3	184.2	-6.2	127	2676	0.00	2.58	0.00	0.000	4	0.000	0.062	2577	3556	3096
2693	-0.52	-117.3	186.0	-7.3	128	2698	0.00	2.53	0.00	0.000	6	0.000	0.048	2577	2134	3096
3015	-0.52	-117.3	205.5	-6.6	144	3016	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2130	3096
3324	-0.52	-117.3	229.0	-8.0	159	3328	0.00	2.60	0.00	0.000	4	0.000	0.061	2577	3560	3096
3351	-0.52	-117.3	231.6	-8.8	160	3356	0.00	2.53	0.00	0.000	6	0.000	0.050	2576	2141	3096
3667	-0.52	-117.3	261.0	-9.8	175	3671	0.00	2.58	0.00	0.000	4	0.000	0.062	2577	3557	3096
3711	-0.52	-117.3	265.5	-10.4	177	3716	0.00	2.47	0.00	0.000	6	0.000	0.050	2576	2164	3095
4034	-0.56	-117.3	301.2	-11.6	193	4038	0.00	2.53	0.00	0.000	4	0.000	0.063	2577	3560	3095
4084	-0.56	-117.3	307.1	-11.0	195	4088	0.00	2.47	0.00	0.000	6	0.000	0.050	2577	2170	3095
4400	-0.56	-117.3	339.7	-9.7	210	4401	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2169	3095
4709	-0.56	-117.3	364.8	-7.5	225	4713	0.00	2.55	0.00	0.000	4	0.000	0.067	2577	744	3095
4736	-0.56	-117.3	367.2	-8.5	226	4740	0.00	2.55	0.00	0.000	6	0.000	0.053	2577	2177	3095
5053	-0.56	-117.3	384.5	-4.5	241	5057	0.00	2.62	0.00	0.000	4	0.000	0.064	2576	738	3094
5087	-0.61	-117.3	386.0	-4.1	242	5092	0.00	2.53	0.00	0.000	6	0.000	0.054	2576	2150	3094
5403	-0.61	-117.3	398.8	-3.6	258	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2150	3094
5713	-0.66	-117.3	412.7	-5.2	273	5717	0.00	2.55	0.00	0.000	4	0.000	0.065	2576	744	3094
5735	-0.71	-117.3	413.6	-3.6	274	5740	0.15	2.50	0.00	0.000	6	0.050	0.054	2533	2141	3094
6059	-0.62	-117.3	427.1	-4.7	290	6064	0.15	2.55	0.00	0.000	4	0.089	0.066	2569	3557	3094
6070	-0.55	-117.3	427.7	-4.5	290	6077	0.00	2.55	0.00	0.000	6	0.000	0.053	2569	2130	3094
6387	-0.55	-117.3	438.7	-3.6	306	6388	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2111	3094
6696	-0.55	-117.3	448.4	-2.8	321	6701	0.00	2.62	0.00	0.000	4	0.000	0.066	2569	3557	3094
6708	-0.55	-117.3	448.9	-3.1	321	6714	0.00	2.53	0.00	0.000	6	0.000	0.052	2569	2142	3094
7024	-0.55	-117.3	459.9	-4.0	337	7028	0.00	2.60	0.00	0.000	4	0.000	0.066	2569	3557	3093
7035	-0.55	-117.3	460.5	-3.8	337	7041	0.00	2.50	0.00	0.000	6	0.000	0.051	2569	2149	3093
7351	-0.55	-117.3	473.8	-4.3	353	7355	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	3557	3093
7374	-0.55	-117.3	475.0	-5.0	354	7378	0.00	2.50	0.00	0.000	6	0.000	0.051	2569	2154	3093
7700	-0.55	-117.3	492.7	-6.0	370	7704	0.00	2.58	0.00	0.000	4	0.000	0.064	2569	3557	3093
7739	-0.55	-117.3	495.3	-6.7	372	7744	0.00	2.47	0.00	0.000	6	0.000	0.050	2569	2158	3093
8066	-0.55	-117.3	516.2	-6.5	388	8067	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2140	3093
8376	-0.55	-117.3	535.8	-6.1	403	8377	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2140	3092
8685	-0.55	-117.3	553.1	-5.4	418	8689	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	3563	3092
8696	-0.55	-117.3	553.7	-5.1	418	8702	0.00	2.50	0.00	0.000	6	0.000	0.052	2569	2161	3092
9012	-0.55	-117.3	570.3	-6.5	434	9016	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	3561	3092
9039	-0.55	-117.3	572.2	-7.1	435	9043	0.00	2.50	0.00	0.000	6	0.000	0.051	2569	2157	3092
9355	-0.55	-117.3	591.4	-5.5	450	9356	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2140	3092
9664	-0.55	-117.3	607.5	-4.9	465	9668	0.00	2.53	0.00	0.000	4	0.000	0.065	2569	750	3092
9675	-0.55	-117.3	608.1	-4.7	465	9682	0.00	2.53	0.00	0.000	6	0.000	0.054	2569	2159	3092
9992	-0.55	-117.3	621.5	-4.5	481	9996	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	750	3092
10009	-0.55	-117.3	622.3	-4.3	482	10013	0.00	2.53	0.00	0.000	6	0.000	0.054	2569	2162	3092
10336	-0.55	-117.3	636.2	-3.2	498	10340	0.00	2.58	0.00	0.000	4	0.000	0.067	2569	748	3092
10375	-0.55	-117.3	638.1	-4.7	500	10380	0.00	2.53	0.00	0.000	6	0.000	0.055	2569	2160	3092
10703	-0.55	-117.3	655.3	-5.3	516	10707	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	751	3092
10715	-0.55	-117.3	655.9	-4.8	516	10721	0.00	2.53	0.00	0.000	6	0.000	0.054	2568	2155	3092
11031	-0.55	-117.3	671.5	-5.0	532	11032	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3092
11341	-0.55	-117.3	687.8	-5.5	547	11342	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3091
11650	-0.55	-117.3	705.8	-5.7	562	11651	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3091
11959	-0.55	-117.3	723.4	-5.1	577	11960	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3091
12268	-0.55	-117.3	739.6	-5.0	592	12272	0.00	2.58	0.00	0.000	4	0.000	0.067	2569	750	3091
12279	-0.55	-117.3	740.3	-5.6	592	12285	0.00	2.53	0.00	0.000	6	0.000	0.055	2569	2160	3091
12595	-0.55	-117.3	756.4	-5.0	608	12600	0.00	2.58	0.00	0.000	4	0.000	0.067	2568	751	3091
12607	-0.55	-117.3	757.1	-5.3	608	12613	0.00	2.53	0.00	0.000	6	0.000	0.055	2569	2154	3091
12923	-0.59	-117.3	773.4	-4.9	624	12928	0.00	2.58	0.00	0.000	4	0.000	0.067	2569	752	3091
12996	-0.59	-117.3	777.0	-5.3	627	13001	0.00	2.50	0.00	0.000	6	0.000	0.055	2569	2143	3091
13312	-0.59	-117.3	794.6	-6.1	642	13316	0.00	2.55	0.00	0.000	4	0.000	0.069	2569	3555	3091
13333	-0.59	-117.3	796.0	-6.3	643	13338	0.00	2.53	0.00	0.000	6	0.000	0.055	2569	2150	3091
13655	-0.59	-117.3	818.0	-7.0	659	13659	0.00	2.58	0.00	0.000	4	0.000	0.067	2569	3563	3091
13665	-0.59	-117.3	818.9	-6.9	659	13671	0.00	2.53	0.00	0.000	6	0.000	0.054	2569	2151	3090
13981	-0.64	-117.3	843.2	-7.7	675	13982	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2150	3091
14291	-0.64	-117.3	861.3	-4.6	690	14295	0.00	2.53	0.00	0.000	4	0.000	0.068	2569	744	3091
14341	-0.64	-117.3	863.4	-4.1	692	14345	0.00	2.53	0.00	0.000	6	0.000	0.056	2569	2147	3091
14657	-0.71	-117.3	873.0	-2.3	707	14659	0.12	0.00	0.00	0.000	6	0.053	0.000	2530	2147	3091
14966	-0.64	-117.3	885.2	-5.2	722	14968	0.12	0.00	0.00	0.000	6	0.094	0.000	2556	2147	3091
15278	-0.64	-117.3	900.6	-4.9	737	15283	0.00	2.60	0.00	0.000	4	0.000	0.072	2556	745	3091
15329	-0.64	-117.3	903.1	-4.5	739	15334	0.00	2.58	0.00	0.000	6	0.000	0.060	2556	2166	3091
15519	end dive: BOTTOM_OBSTACLE_DETECTED
state	15519	begin apogee
15526	-0.33	0.0	910.0	3.0	748	15629	0.32	0.00	100.70	1.412	6	0.080	0.000	2624	2069	2620
15630	end apogee: CONTROL_FINISHED_OK
state	15630	begin climb
15634	1.03	117.3	911.2	0.0	753	15744	1.38	2.65	100.78	1.397	4	0.066	0.072	2922	703	2141
15763	0.95	117.3	902.6	7.8	759	15768	0.00	2.60	0.00	0.000	6	0.000	0.059	2922	2106	2141
16086	0.89	117.3	881.5	6.0	775	16091	0.15	2.58	0.00	0.000	4	0.086	0.073	2888	3508	2140
16158	0.96	117.3	877.1	6.0	778	16163	0.00	2.55	0.00	0.000	6	0.000	0.059	2888	2120	2139
16475	1.06	141.8	863.0	5.2	793	16500	0.20	0.00	21.88	1.328	6	0.045	0.000	2945	2120	2042
16804	0.97	141.8	835.0	8.5	809	16806	0.15	0.00	0.00	0.000	6	0.085	0.000	2913	2120	2041
17113	0.99	152.2	817.0	5.6	824	17129	0.00	2.62	10.55	1.223	4	0.000	0.068	2913	3509	1998
17168	1.00	161.7	813.5	5.7	825	17183	0.00	2.55	9.65	1.197	6	0.000	0.056	2913	2116	1961
17506	1.07	201.3	798.8	4.6	842	17547	0.00	2.65	34.53	1.333	4	0.000	0.065	2913	3513	1799
17576	1.13	201.3	795.1	6.3	845	17581	0.12	2.47	0.00	0.000	6	0.050	0.054	2950	2156	1799
17898	1.05	201.3	771.8	7.7	861	17903	0.00	2.67	0.00	0.000	4	0.000	0.067	2950	682	1798
17943	0.99	201.3	768.0	7.6	863	17948	0.17	2.67	0.00	0.000	6	0.081	0.056	2913	2160	1799
18265	1.04	201.3	748.1	6.7	879	18269	0.00	2.45	0.00	0.000	4	0.000	0.065	2913	3509	1798
18299	1.11	201.3	745.5	7.6	880	18306	0.12	2.47	0.00	0.000	6	0.050	0.053	2952	2143	1798
18616	1.04	201.3	717.1	9.2	896	18618	0.12	0.00	0.00	0.000	6	0.085	0.000	2926	2144	1799
18925	1.04	201.3	692.7	7.2	911	18929	0.00	2.53	0.00	0.000	4	0.000	0.065	2927	3517	1799
18964	1.04	201.3	689.6	7.4	913	18968	0.00	2.42	0.00	0.000	6	0.000	0.052	2927	2166	1799
19297	1.04	201.3	666.6	6.5	929	19302	0.00	2.65	0.00	0.000	4	0.000	0.065	2927	690	1799
19338	1.04	201.3	663.8	7.9	931	19342	0.00	2.65	0.00	0.000	6	0.000	0.054	2928	2170	1799
19664	1.04	201.3	640.1	7.7	947	19665	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2169	1799
19973	1.04	201.3	614.3	8.6	962	19975	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2169	1799
20282	1.04	201.3	587.7	8.1	977	20287	0.00	2.70	0.00	0.000	4	0.000	0.065	2927	690	1799
20322	1.04	201.3	584.0	8.8	979	20327	0.00	2.62	0.00	0.000	6	0.000	0.055	2927	2162	1799
20650	1.04	201.3	558.7	7.7	995	20654	0.00	2.42	0.00	0.000	4	0.000	0.064	2927	3509	1800
20694	1.04	201.3	554.8	9.0	997	20698	0.00	2.42	0.00	0.000	6	0.000	0.051	2927	2156	1799
21015	1.04	201.3	532.3	6.9	1013	21019	0.00	2.62	0.00	0.000	4	0.000	0.065	2927	685	1799
21047	1.04	201.3	530.0	6.2	1014	21053	0.00	2.65	0.00	0.000	6	0.000	0.054	2927	2170	1800
21363	1.04	201.3	509.1	6.7	1030	21367	0.00	2.42	0.00	0.000	4	0.000	0.064	2927	3517	1800
21404	1.09	201.3	506.0	7.9	1031	21410	0.00	2.42	0.00	0.000	6	0.000	0.052	2927	2168	1800
21720	1.09	201.3	483.0	7.1	1047	21725	0.00	2.67	0.00	0.000	4	0.000	0.066	2926	681	1801
21770	1.09	201.3	478.9	8.7	1049	21774	0.00	2.67	0.00	0.000	6	0.000	0.054	2927	2174	1800
22085	1.09	201.3	453.7	8.3	1064	22087	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2174	1801
22395	1.09	201.3	426.2	8.9	1079	22396	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2174	1800
22704	1.09	201.3	398.8	9.8	1094	22708	0.00	2.70	0.00	0.000	4	0.000	0.065	2926	688	1801
22744	1.13	201.3	394.4	11.2	1096	22749	0.00	2.62	0.00	0.000	6	0.000	0.054	2927	2162	1801
23072	1.13	201.3	359.6	10.1	1112	23076	0.00	2.42	0.00	0.000	4	0.000	0.064	2927	3512	1801
23112	1.19	201.3	355.3	10.1	1114	23117	0.15	2.42	0.00	0.000	6	0.045	0.051	2974	2150	1801
23439	1.09	201.3	316.7	11.0	1130	23444	0.15	2.60	0.00	0.000	4	0.081	0.066	2937	690	1801
23467	1.09	201.3	314.2	7.0	1131	23471	0.00	2.62	0.00	0.000	6	0.000	0.054	2937	2160	1801
23783	1.09	201.3	288.5	7.7	1146	23787	0.00	2.42	0.00	0.000	4	0.000	0.063	2937	3512	1801
23816	1.09	201.3	285.6	9.7	1147	23822	0.00	2.45	0.00	0.000	6	0.000	0.051	2937	2145	1801
24132	1.09	201.3	262.2	7.3	1163	24136	0.00	2.60	0.00	0.000	4	0.000	0.065	2937	690	1802
24171	1.09	201.3	259.1	7.9	1165	24175	0.00	2.60	0.00	0.000	6	0.000	0.054	2937	2161	1801
24498	1.09	201.3	235.8	7.3	1181	24502	0.00	2.42	0.00	0.000	4	0.000	0.062	2937	3513	1801
24553	1.09	201.3	231.6	7.4	1183	24559	0.00	2.42	0.00	0.000	6	0.000	0.050	2937	2150	1801
24869	1.09	201.3	207.3	8.0	1199	24873	0.00	2.62	0.00	0.000	4	0.000	0.066	2937	689	1801
24902	1.09	201.3	204.5	7.8	1200	24908	0.00	2.65	0.00	0.000	6	0.000	0.054	2937	2166	1801
25218	1.09	201.3	179.0	8.6	1216	25222	0.00	2.40	0.00	0.000	4	0.000	0.061	2938	3517	1801
25256	1.09	201.3	175.7	7.4	1217	25262	0.00	2.42	0.00	0.000	6	0.000	0.050	2937	2158	1801
25572	1.09	201.3	148.8	8.4	1233	25576	0.00	2.62	0.00	0.000	4	0.000	0.065	2937	681	1801
25613	1.09	201.3	145.1	9.3	1235	25617	0.00	2.65	0.00	0.000	6	0.000	0.052	2937	2164	1802
25940	1.09	201.3	119.1	7.8	1251	25944	0.00	2.40	0.00	0.000	4	0.000	0.061	2937	3511	1801
25996	1.13	201.3	113.8	8.9	1253	26002	0.00	2.40	0.00	0.000	6	0.000	0.049	2937	2161	1801
26312	1.13	201.3	93.4	7.2	1269	26317	0.00	2.62	0.00	0.000	4	0.000	0.064	2937	691	1801
26353	1.13	201.3	89.8	8.9	1271	26357	0.00	2.67	0.00	0.000	6	0.000	0.052	2937	2187	1802
26680	1.13	201.3	59.9	9.1	1287	26684	0.00	2.72	0.00	0.000	4	0.000	0.064	2937	691	1802
26707	1.13	201.3	57.2	10.5	1288	26711	0.00	2.62	0.00	0.000	6	0.000	0.052	2937	2166	1802
27025	1.19	201.3	31.2	7.9	1303	27030	0.10	2.40	0.00	0.000	4	0.052	0.059	2973	3514	1802
27098	1.15	201.3	24.1	9.7	1306	27102	0.12	2.40	0.00	0.000	6	0.079	0.050	2946	2169	1802
27411	end climb: SURFACE_DEPTH_REACHED
state	27411	begin surface coast
27436	end surface coast: CONTROL_FINISHED_OK
state	27436	begin surface