Glider dive log

Bermuda Jul15 * SG038 * Dive index * Mission links * Dive 131 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.0101 PITCH_ADJ_DBAND 2.5 COMPASS_USE 4

MISSION 4 HD_C 9.8540004e-06 ROLL_MIN 250 ALTIM_BOTTOM_PING_RANGE 0

DIVE 131 HEADING -1 ROLL_MAX 3825 ALTIM_TOP_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 30

D_SURF 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2200 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 6000 TGT_DEFAULT_LAT 3210 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 1000

D_ABORT 6000 TGT_DEFAULT_LON -6430 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 12

D_BOOST 0 SM_CC 250 R_PORT_OVSHOOT 100 ALTIM_PULSE 1

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 60 ALTIM_SENSITIVITY 3

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 300 XPDR_VALID 2

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.4000001

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 200 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2140 DEVICE1 2

T_DIVE 1250 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 1440 CALL_TRIES 10 VBD_CNV -0.29049 DEVICE3 -1

T_ABORT 1500 CALL_WAIT 60 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 290 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 LOGGERDEVICE2 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 12 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 150 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 450 PITCH_MAX 3830 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2970 MINV_24V 17 SIM_W 0

GLIDE_SLOPE 20 PITCH_DBAND 0.1 MINV_10V 8 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_G 0.004402326

RHO 1.0233001 P_OVSHOOT 0.026000001 FG_AHR_24V 0 SEABIRD_T_H 0.00064293214

MASS 78712 P_OVSHOOT_WITHG 0.1286 PHONE_SUPPLY 2 SEABIRD_T_I 2.6613103e-05

MASS_COMP 9134.2002 PITCH_GAIN 20 PRESSURE_YINT -1022.6598 SEABIRD_T_J 3.266618e-06

NAV_MODE 2 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00093318848 SEABIRD_C_G -9.6536341

FERRY_MAX 45 PITCH_AD_RATE 145 AD7714Ch0Gain 32 SEABIRD_C_H 1.1178679

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014615374

HD_A 0.0040549999 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00018686533

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.266618e-06

AH0_10V 100 D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 30 D_TGT 6000 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 FERRY_MAX 45 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_MAX 3830 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 20 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 3210

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -6430

CALL_NDIVES 1 HD_A 0.0040549999 PITCH_W_GAIN 0 T_ABORT 1500

CALL_TRIES 10 HD_B 0.0101 PRESSURE_SLOPE 0.00093318848 T_BOOST 0

CALL_WAIT 60 HD_C 9.8540004e-06 PRESSURE_YINT -1022.6598 T_DIVE 1250

CAPMAXSIZE 200000 HEADING -1 PROTOCOL 1 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 38 RAFOS_DEVICE -1 T_MISSION 1440

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -2.4000001 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 0 T_TURN 290

C_PITCH 2970 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2140 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 78712 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS_COMP 9134.2002 ROLL_MAX 3825 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 450 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE3 -1 MINV_10V 8 ROLL_MIN 250 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 4 R_PORT_OVSHOOT 100 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 60 VBD_MIN 200

DIVE 131 NAV_MODE 2 SEABIRD_C_G -9.6536341 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 6000 NOCOMM_ACTION 0 SEABIRD_C_H 1.1178679 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.0014615374 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00018686533 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.004402326 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00064293214 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6613103e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 111115,101054,2636.8086,-7647.7070,40,0.9,43,-8.5,0.6,149.4,11,9.8 TGT_NAME WB2

_CALLS 1 TGT_LATLONG 2630.000,-7644.500

_XMS_NAKs 0 TGT_RADIUS 9000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.196643,-0.067499

_SM_DEPTHo 0.67 KALMAN_X 277051.062500,0.000000,0.000000,-871760.125000,15460.062500

_SM_ANGLEo -64.8 KALMAN_Y 158733.406250,0.000000,0.000000,-424200.437500,4468.718750

GPS2 111115,101530,2636.7866,-7647.6875,5,0.9,12,-8.5,0.0,0.0,10,9.8 MHEAD_RNG_PITCHd_Wd 182.8,13634,-17.9,-16.000,-20.00,3174

SPEED_LIMITS 0.440,0.498 D_GRID 6000

Post-dive calculations and measurements:

FINISH -0.1,1.023448 _10V_AH 10.30,31.060

SM_CCo 19986,0.00,0.000,0,0,203,562.68 FG_AHR_24Vo 0.000

SM_GC 0.75,7.95,0.00,0.00,0.074,0.000,0.000,167,2210,203,-8.68,0.28,562.68,0,0,0,0,0,0,26.58,27.10,26.65 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2627.01,-7646.95,060908,171949 MEM 329908

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 30317,450

HUMID 92.84 CAP_FILE_SIZE 140730,0

INTERNAL_PRESSURE 9.28014 CFSIZE 1024409600,994394112

TCM_TEMP 21.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.241,8.27,1

ALTIM_BOTTOM_PING 1554.6,38.2 GPS 111115,155009,2634.944,-7647.445,26,0.8,31,-8.5,0.0,0.0,9,9.6

_24V_AH 22.89,45.003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 290 143.97 SBE_CT 302 23 160.64

Roll_motor 115 86 230.01 AA4330 1471 13 453.92

VBD_pump_during_apogee 845 1792 34683.20 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 211 158 770.06 nil 0 0 0.00

Iridium_during_init 22 126 64.86 nil 0 0 0.00

Iridium_during_connect 30 160 110.12 nil 0 0 0.00

Iridium_during_xfer 131 223 671.66 nil 0 0 0.00

Transponder_ping 10 420 100.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 26 3.77

TT8 1544 15 246.08

LPSleep 15083 2 340.25

TT8_Active 986 15 157.19

TT8_Sampling 2558 41 1098.22

TT8_CF8 93 64 61.53

TT8_Kalman 0 0 0.00

Analog_circuits 1933 10 199.15

GPS_charging 0 0 0.00

Compass 2289 8 194.34

RAFOS 0 0 0.00

Transponder 79 30 24.52

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.99 -332.5 170 2215 212 188 0.0 0.0 0 191 0.00 0.00 -173.12 0.149 16386 0.000 0.000 170 2215 2444 2389 2499 0 0 0 0 0 0 26.89 28.83 26.91

194 -1.03 -439.8 170 2216 2389 2500 3.9 -6.3 17 249 10.48 2.05 -38.58 0.159 18692 0.291 0.077 2628 3596 3657 3630 3684 0 0 0 0 0 0 25.64 26.15 25.94

345 -0.89 -439.8 2627 3596 3629 3684 44.3 -27.7 31 351 0.17 1.88 0.00 0.000 3078 0.196 0.060 2682 2158 3656 3629 3684 0 0 0 0 0 0 25.97 26.53 26.15

661 -0.89 -439.8 2683 2157 3629 3684 115.4 -20.5 52 667 0.00 2.05 0.00 0.000 260 0.000 0.077 2673 3600 3656 3629 3684 0 0 0 0 0 0 26.99 26.53 27.01

740 -0.89 -439.8 2673 3600 3629 3684 131.2 -19.5 57 745 0.00 1.80 0.00 0.000 1030 0.000 0.057 2673 2217 3656 3629 3684 0 0 0 0 0 0 26.79 26.75 26.80

1058 -0.89 -439.8 2673 2216 3629 3684 184.4 -16.0 71 1060 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2216 3656 3629 3684 0 0 0 0 0 0 27.09 27.10 27.10

1358 -0.89 -439.8 2673 2216 3629 3684 233.4 -16.5 81 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2216 3656 3629 3684 0 0 0 0 0 0 27.11 27.13 27.13

1658 -0.89 -439.8 2672 2216 3629 3683 280.0 -14.9 91 1663 0.00 2.00 0.00 0.000 260 0.000 0.077 2662 3605 3656 3629 3683 0 0 0 0 0 0 27.13 26.64 27.14

1723 -0.89 -439.8 2662 3605 3629 3684 289.4 -14.5 93 1727 0.00 1.85 0.00 0.000 1030 0.000 0.060 2662 2183 3656 3629 3684 0 0 0 0 0 0 26.90 26.86 26.91

2041 -0.89 -439.8 2662 2182 3629 3683 338.3 -15.7 101 2047 0.00 2.00 0.00 0.000 260 0.000 0.077 2652 3595 3655 3629 3682 0 0 0 0 0 0 27.13 26.64 27.15

2119 -0.89 -439.8 2651 3596 3629 3683 346.1 -16.2 102 2123 0.10 1.83 0.00 0.000 3078 0.189 0.060 2686 2177 3655 3629 3682 0 0 0 0 0 0 26.51 26.87 26.62

2448 -0.95 -439.8 2686 2175 3629 3680 402.0 -15.1 110 2453 0.00 2.05 0.00 0.000 260 0.000 0.077 2677 3594 3654 3629 3680 0 0 0 0 0 0 27.13 26.64 27.15

2494 -1.00 -439.8 2676 3594 3629 3680 409.2 -15.3 111 2500 0.00 1.85 0.00 0.000 1030 0.000 0.057 2677 2205 3654 3629 3679 0 0 0 0 0 0 26.89 26.87 26.91

2809 -1.00 -439.8 2676 2203 3629 3677 459.9 -16.2 118 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2204 3653 3629 3677 0 0 0 0 0 0 27.13 27.15 27.14

3125 -1.06 -439.8 2676 2204 3629 3675 508.5 -15.1 125 3131 0.05 2.00 0.00 0.000 4356 0.189 0.077 2619 3595 3652 3629 3675 0 0 0 0 0 0 26.91 26.63 26.93

3171 -1.06 -439.8 2618 3596 3629 3675 516.6 -15.5 126 3176 0.00 1.83 0.00 0.000 1030 0.000 0.060 2619 2194 3652 3629 3675 0 0 0 0 0 0 26.91 26.86 26.91

3485 -1.06 -439.8 2618 2192 3629 3673 577.6 -19.2 133 3490 0.00 2.03 0.00 0.000 260 0.000 0.077 2608 3591 3651 3629 3673 0 0 0 0 0 0 27.13 26.63 27.15

3567 -1.06 -439.8 2608 3591 3628 3673 586.5 -19.3 134 3576 0.00 1.88 0.00 0.000 1030 0.000 0.060 2608 2193 3651 3629 3673 0 0 0 0 0 0 26.89 26.84 26.88

3891 -1.06 -439.8 2607 2192 3629 3669 656.3 -19.0 142 3895 0.00 2.05 0.00 0.000 260 0.000 0.077 2598 3592 3649 3629 3669 0 0 0 0 0 0 27.13 26.63 27.15

3960 -1.06 -439.8 2597 3600 3629 3669 666.1 -19.3 143 3966 0.10 1.90 0.00 0.000 3078 0.179 0.057 2631 2183 3649 3629 3669 0 0 0 0 0 0 26.44 26.86 26.50

4300 -1.06 -439.8 2631 2181 3629 3665 735.0 -18.8 151 4306 0.00 2.08 0.00 0.000 260 0.000 0.077 2622 3598 3647 3629 3665 0 0 0 0 0 0 27.13 26.63 27.15

4391 -1.06 -439.8 2621 3598 3628 3665 752.6 -19.1 153 4397 0.00 1.83 0.00 0.000 1030 0.000 0.060 2622 2214 3646 3628 3665 0 0 0 0 0 0 26.89 26.85 26.91

4706 -1.06 -439.8 2621 2212 3629 3660 813.5 -19.2 160 4710 0.00 2.05 0.00 0.000 260 0.000 0.079 2611 3592 3645 3629 3661 0 0 0 0 0 0 27.14 26.62 27.15

4754 -1.06 -439.8 2611 3592 3628 3661 822.5 -18.9 161 4760 0.00 1.85 0.00 0.000 1030 0.000 0.060 2611 2191 3644 3628 3661 0 0 0 0 0 0 26.90 26.86 26.91

5069 -1.06 -439.8 2611 2191 3628 3656 883.0 -19.2 168 5073 0.00 2.08 0.00 0.000 260 0.000 0.077 2601 3592 3642 3628 3656 0 0 0 0 0 0 27.14 26.60 27.15

5140 -1.06 -439.8 2600 3592 3628 3655 892.7 -19.5 169 5144 0.00 1.90 0.00 0.000 1030 0.000 0.057 2601 2199 3641 3627 3656 0 0 0 0 0 0 26.87 26.86 26.89

5479 -1.06 -439.8 2601 2198 3627 3649 960.2 -18.2 177 5480 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2197 3638 3627 3650 0 0 0 0 0 0 27.14 27.16 27.15

5825 -1.06 -439.8 2601 2197 3628 3645 1023.1 -18.2 183 5826 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2197 3636 3628 3645 0 0 0 0 0 0 27.10 27.13 27.13

6185 -1.06 -439.8 2600 2197 3627 3640 1090.9 -18.8 186 6186 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2197 3634 3628 3640 0 0 0 0 0 0 27.10 27.13 27.12

6545 -1.06 -439.8 2601 2197 3626 3636 1160.0 -19.2 189 6552 0.00 2.15 0.00 0.000 260 0.000 0.079 2590 3598 3631 3626 3636 0 0 0 0 0 0 27.10 26.55 27.12

6578 -1.06 -439.8 2590 3598 3625 3636 1160.0 -19.2 189 6584 0.12 1.90 0.00 0.000 3078 0.176 0.057 2632 2193 3630 3624 3636 0 0 0 0 0 0 26.41 26.82 26.53

6914 -1.11 -439.8 2633 2192 3622 3634 1220.9 -17.0 192 6915 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2192 3627 3621 3633 0 0 0 0 0 0 27.10 27.13 27.12

7274 -1.19 -439.8 2633 2192 3620 3629 1278.2 -16.0 195 7279 0.00 2.17 0.00 0.000 4356 0.000 0.077 2623 3597 3625 3620 3630 0 0 0 0 0 0 27.12 26.51 27.13

7334 -1.26 -439.8 2623 3597 3618 3630 1278.2 -16.0 195 7339 0.08 1.90 0.00 0.000 5126 0.142 0.057 2570 2216 3624 3618 3630 0 0 0 0 0 0 26.67 26.80 26.74

7756 -1.26 -439.8 2570 2215 3617 3625 1369.3 -19.2 199 7757 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2214 3621 3617 3625 0 0 0 0 0 0 27.10 27.13 27.13

8115 -1.26 -439.8 2570 2215 3614 3623 1440.5 -19.7 202 8116 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2214 3618 3614 3623 0 0 0 0 0 0 27.10 27.13 27.12

8475 -1.26 -439.8 2570 2214 3613 3620 1508.4 -19.0 205 8476 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2214 3616 3613 3620 0 0 0 0 0 0 27.10 27.13 27.12

8832 end dive: BOTTOM_OBSTACLE_DETECTED

state 8832 begin apogee

8836 -0.25 0.0 2570 2214 3611 3618 1577.1 -19.1 208 9195 0.95 0.00 355.38 1.793 10246 0.146 0.000 2895 2214 2140 2154 2127 0 0 0 0 0 0 25.87 23.91 22.89

9196 end apogee: CONTROL_FINISHED_OK

state 9196 begin climb

9197 1.03 439.8 2894 2214 2154 2127 1600.7 0.0 211 9579 1.08 2.42 370.40 1.751 11012 0.117 0.087 3266 3575 625 644 607 0 0 0 0 0 0 24.15 23.92 22.94

9673 1.03 439.8 3266 3576 644 608 1562.7 10.5 215 9679 0.00 2.03 0.00 0.000 1030 0.000 0.057 3276 2229 625 644 607 0 0 0 0 0 0 25.57 25.54 25.58

10034 0.89 439.8 3276 2229 643 607 1495.8 18.7 218 10040 0.00 2.12 0.00 0.000 516 0.000 0.065 3287 812 625 643 607 0 0 0 0 0 0 26.77 26.51 26.79

10110 0.76 439.8 3287 812 643 607 1495.8 18.7 218 10115 0.25 2.03 0.00 0.000 5126 0.184 0.062 3208 2194 625 643 607 0 0 0 0 0 0 26.25 26.57 26.44

10510 0.73 516.7 3208 2195 643 607 1430.5 13.5 222 10574 0.00 0.00 61.88 1.651 8198 0.000 0.000 3208 2195 360 382 339 0 0 0 0 0 0 26.97 25.25 24.29

10869 0.73 516.7 3208 2195 382 339 1378.8 14.1 225 10870 0.00 0.00 0.00 0.000 6 0.000 0.000 3208 2194 360 382 339 0 0 0 0 0 0 26.76 26.78 26.78

11229 0.75 591.7 3208 2195 382 338 1330.5 13.6 228 11269 0.00 0.00 37.97 1.587 8198 0.000 0.000 3208 2195 199 217 181 0 0 0 0 0 0 26.95 25.52 24.53

11589 0.77 655.8 3208 2195 218 189 1280.0 13.9 231 11594 0.00 0.00 3.03 0.668 8198 0.000 0.000 3208 2194 200 214 186 0 0 0 0 0 0 26.80 26.08 24.74

11950 0.77 655.8 3208 2195 213 189 1226.7 14.6 234 11957 0.00 2.15 2.55 0.479 8452 0.000 0.077 3208 3605 199 212 187 0 0 0 0 0 0 26.95 25.74 24.75

12002 0.77 655.8 3208 3605 212 187 1226.7 14.6 234 12007 0.00 2.05 0.00 0.000 1030 0.000 0.057 3218 2179 199 212 187 0 0 0 0 0 0 26.72 26.69 26.73

12426 0.77 655.8 3218 2178 212 187 1149.9 16.1 238 12427 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2178 199 212 187 0 0 0 0 0 0 27.01 27.04 27.03

12786 0.77 655.8 3217 2178 212 187 1097.1 14.8 241 12791 0.00 1.98 0.00 0.000 516 0.000 0.065 3228 840 199 212 187 0 0 0 0 0 0 27.05 26.70 27.06

12817 0.77 655.8 3227 839 212 187 1097.1 14.8 241 12821 0.00 2.00 0.00 0.000 1030 0.000 0.062 3228 2196 199 212 187 0 0 0 0 0 0 26.79 26.73 26.82

13146 0.77 655.8 3227 2196 212 187 1042.9 15.0 244 13150 0.00 2.12 0.00 0.000 260 0.000 0.079 3227 3596 199 212 187 0 0 0 0 0 0 27.05 26.60 27.08

13215 0.77 655.8 3228 3596 212 188 1042.9 15.0 244 13220 0.00 1.98 0.03 0.216 9222 0.000 0.057 3238 2208 200 212 188 0 0 0 0 0 0 26.79 26.77 26.58

13555 0.77 655.8 3237 2206 212 187 978.8 15.7 248 13557 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 2206 199 212 187 0 0 0 0 0 0 27.06 27.08 27.08

13869 0.77 655.8 3237 2206 212 187 933.7 14.9 255 13874 0.00 2.03 0.00 0.000 516 0.000 0.065 3248 821 200 212 188 0 0 0 0 0 0 27.06 26.68 27.08

13900 0.77 655.8 3248 820 212 187 933.7 14.9 255 13904 0.00 2.03 0.00 0.000 1030 0.000 0.062 3248 2202 199 212 187 0 0 0 0 0 0 26.79 26.71 26.82

14224 0.77 655.8 3247 2201 212 187 877.2 16.1 262 14230 0.00 2.10 0.00 0.000 260 0.000 0.079 3248 3598 200 212 188 0 0 0 0 0 0 27.06 26.57 27.08

14283 0.77 655.8 3248 3598 212 187 869.4 16.6 263 14288 0.12 2.00 0.00 0.000 5126 0.191 0.057 3218 2187 199 212 187 0 0 0 0 0 0 26.35 26.77 26.52

14628 0.80 746.7 3218 2185 212 188 819.4 13.1 271 14633 0.00 1.98 0.00 0.000 516 0.000 0.065 3227 836 200 212 188 0 0 0 0 0 0 27.06 26.67 27.08

14689 0.83 840.4 3227 835 212 187 813.7 13.0 272 14693 0.00 2.00 0.00 0.000 1030 0.000 0.062 3227 2214 199 212 187 0 0 0 0 0 0 26.77 26.70 26.80

15033 0.83 840.4 3227 2214 212 188 761.1 15.1 280 15034 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2214 200 212 188 0 0 0 0 0 0 27.06 27.08 27.08

15348 0.83 840.4 3227 2213 212 189 715.2 14.3 287 15352 0.00 2.08 0.00 0.000 260 0.000 0.079 3227 3581 200 212 189 0 0 0 0 0 0 27.06 26.53 27.08

15387 0.83 840.4 3227 3597 212 189 715.2 14.3 287 15397 0.00 1.98 0.52 0.119 9222 0.000 0.057 3237 2192 201 212 190 0 0 0 0 0 0 26.77 26.74 26.36

15711 0.83 840.4 3236 2191 212 190 663.6 14.1 295 15713 0.00 0.00 0.22 0.151 8198 0.000 0.000 3236 2191 201 212 190 0 0 0 0 0 0 27.05 26.57 26.46

16026 0.85 916.0 3235 2191 212 191 621.0 13.6 302 16033 0.00 2.12 2.65 0.420 8452 0.000 0.079 3236 3579 199 211 188 0 0 0 0 0 0 27.05 25.79 24.21

16072 0.85 916.0 3236 3600 211 188 614.0 14.0 303 16078 0.00 1.92 0.03 0.221 9222 0.000 0.057 3247 2170 199 211 188 0 0 0 0 0 0 26.75 26.74 26.52

16387 0.87 980.0 3246 2170 211 188 569.1 13.9 310 16388 0.00 0.00 0.00 0.000 6 0.000 0.000 3246 2170 200 211 189 0 0 0 0 0 0 27.03 27.06 27.05

16702 0.87 980.0 3246 2170 212 190 523.3 14.8 317 16708 0.00 2.12 0.00 0.000 260 0.000 0.077 3246 3602 200 211 190 0 0 0 0 0 0 27.03 26.51 27.05

16733 0.87 980.0 3246 3602 211 191 523.3 14.8 317 16737 0.00 1.95 0.00 0.000 1030 0.000 0.057 3256 2198 201 211 191 0 0 0 0 0 0 26.77 26.75 26.79

17062 0.87 980.0 3256 2197 211 191 463.6 17.0 325 17069 0.00 1.98 2.58 0.372 8708 0.000 0.062 3266 829 200 211 190 0 0 0 0 0 0 27.03 25.36 24.53

17108 0.87 980.0 3266 828 210 188 455.5 17.2 326 17112 0.00 1.95 0.00 0.000 1030 0.000 0.062 3267 2205 200 211 189 0 0 0 0 0 0 26.74 26.67 26.77

17426 0.87 980.0 3266 2205 211 189 398.3 17.8 333 17432 0.00 2.00 0.00 0.000 260 0.000 0.077 3266 3593 200 211 190 0 0 0 0 0 0 27.02 26.51 27.05

17462 0.87 980.0 3266 3593 211 190 398.3 17.8 333 17471 0.00 1.92 0.05 0.161 9222 0.000 0.057 3277 2196 200 211 190 0 0 0 0 0 0 26.77 26.75 26.46

17786 0.87 980.0 3276 2195 211 191 332.1 18.0 341 17790 0.00 0.00 2.50 0.325 8198 0.000 0.000 3277 2195 200 211 189 0 0 0 0 0 0 27.02 25.80 24.69

18086 0.87 980.0 3277 2195 211 189 278.7 17.6 349 18092 0.00 2.03 0.00 0.000 260 0.000 0.077 3277 3595 200 211 189 0 0 0 0 0 0 27.02 26.51 27.04

18118 0.87 980.0 3277 3595 211 189 273.2 17.8 350 18123 0.12 1.92 0.00 0.000 5126 0.171 0.057 3245 2201 200 211 190 0 0 0 0 0 0 26.29 26.76 26.36

18449 0.95 1054.4 3244 2199 211 191 225.5 13.6 361 18451 0.00 0.00 0.47 0.127 8198 0.000 0.000 3244 2199 201 211 191 0 0 0 0 0 0 27.02 26.46 26.34

18748 1.06 1170.8 3244 2199 211 193 186.7 12.2 371 18756 0.08 2.05 0.38 0.114 10500 0.139 0.077 3316 3595 202 211 193 0 0 0 0 0 0 26.79 26.39 26.34

18788 1.14 1269.5 3316 3596 211 193 181.5 12.8 372 18798 0.00 1.88 2.70 0.340 9222 0.000 0.057 3328 2199 199 208 191 0 0 0 0 0 0 26.80 26.75 24.84

19112 1.14 1269.5 3327 2198 208 191 119.0 17.9 388 19113 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2199 200 209 191 0 0 0 0 0 0 27.01 27.04 27.03

19412 1.14 1269.5 3327 2198 209 192 72.7 14.8 408 19417 0.00 1.90 0.00 0.000 516 0.000 0.067 3338 836 200 209 192 0 0 0 0 0 0 27.01 26.63 27.03

19444 1.16 1334.4 3337 836 209 192 68.3 13.9 410 19448 0.00 1.90 0.00 0.000 1030 0.000 0.062 3338 2210 200 209 191 0 0 0 0 0 0 26.74 26.68 26.77

19754 1.16 1334.4 3337 2210 209 196 22.7 15.1 434 19762 0.00 0.00 1.88 0.112 8198 0.000 0.000 3338 2210 202 209 196 0 0 0 0 0 0 27.05 26.41 26.34

19891 end climb: SURFACE_DEPTH_REACHED

state 19891 begin surface coast

19912 end surface coast: CONTROL_FINISHED_OK

state 19912 begin surface

ID	38	HD_B	0.0101	PITCH_ADJ_DBAND	2.5	COMPASS_USE	4
MISSION	4	HD_C	9.8540004e-06	ROLL_MIN	250	ALTIM_BOTTOM_PING_RANGE	0
DIVE	131	HEADING	-1	ROLL_MAX	3825	ALTIM_TOP_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	30
D_SURF	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2200	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	6000	TGT_DEFAULT_LAT	3210	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	1000
D_ABORT	6000	TGT_DEFAULT_LON	-6430	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	12
D_BOOST	0	SM_CC	250	R_PORT_OVSHOOT	100	ALTIM_PULSE	1
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	60	ALTIM_SENSITIVITY	3
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	300	XPDR_VALID	2
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.4000001
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	200	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2140	DEVICE1	2
T_DIVE	1250	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	1440	CALL_TRIES	10	VBD_CNV	-0.29049	DEVICE3	-1
T_ABORT	1500	CALL_WAIT	60	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	290	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	LOGGERDEVICE2	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	12	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	150	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	450	PITCH_MAX	3830	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2970	MINV_24V	17	SIM_W	0
GLIDE_SLOPE	20	PITCH_DBAND	0.1	MINV_10V	8	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_G	0.004402326
RHO	1.0233001	P_OVSHOOT	0.026000001	FG_AHR_24V	0	SEABIRD_T_H	0.00064293214
MASS	78712	P_OVSHOOT_WITHG	0.1286	PHONE_SUPPLY	2	SEABIRD_T_I	2.6613103e-05
MASS_COMP	9134.2002	PITCH_GAIN	20	PRESSURE_YINT	-1022.6598	SEABIRD_T_J	3.266618e-06
NAV_MODE	2	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00093318848	SEABIRD_C_G	-9.6536341
FERRY_MAX	45	PITCH_AD_RATE	145	AD7714Ch0Gain	32	SEABIRD_C_H	1.1178679
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014615374
HD_A	0.0040549999	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00018686533

GPS1	111115,101054,2636.8086,-7647.7070,40,0.9,43,-8.5,0.6,149.4,11,9.8	TGT_NAME	WB2
_CALLS	1	TGT_LATLONG	2630.000,-7644.500
_XMS_NAKs	0	TGT_RADIUS	9000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.196643,-0.067499
_SM_DEPTHo	0.67	KALMAN_X	277051.062500,0.000000,0.000000,-871760.125000,15460.062500
_SM_ANGLEo	-64.8	KALMAN_Y	158733.406250,0.000000,0.000000,-424200.437500,4468.718750
GPS2	111115,101530,2636.7866,-7647.6875,5,0.9,12,-8.5,0.0,0.0,10,9.8	MHEAD_RNG_PITCHd_Wd	182.8,13634,-17.9,-16.000,-20.00,3174
SPEED_LIMITS	0.440,0.498	D_GRID	6000

FINISH	-0.1,1.023448	_10V_AH	10.30,31.060
SM_CCo	19986,0.00,0.000,0,0,203,562.68	FG_AHR_24Vo	0.000
SM_GC	0.75,7.95,0.00,0.00,0.074,0.000,0.000,167,2210,203,-8.68,0.28,562.68,0,0,0,0,0,0,26.58,27.10,26.65	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2627.01,-7646.95,060908,171949	MEM	329908
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	30317,450
HUMID	92.84	CAP_FILE_SIZE	140730,0
INTERNAL_PRESSURE	9.28014	CFSIZE	1024409600,994394112
TCM_TEMP	21.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.241,8.27,1
ALTIM_BOTTOM_PING	1554.6,38.2	GPS	111115,155009,2634.944,-7647.445,26,0.8,31,-8.5,0.0,0.0,9,9.6
_24V_AH	22.89,45.003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	290	143.97	SBE_CT	302	23	160.64
Roll_motor	115	86	230.01	AA4330	1471	13	453.92
VBD_pump_during_apogee	845	1792	34683.20	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	211	158	770.06	nil	0	0	0.00
Iridium_during_init	22	126	64.86	nil	0	0	0.00
Iridium_during_connect	30	160	110.12	nil	0	0	0.00
Iridium_during_xfer	131	223	671.66	nil	0	0	0.00
Transponder_ping	10	420	100.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	26	3.77
TT8	1544	15	246.08
LPSleep	15083	2	340.25
TT8_Active	986	15	157.19
TT8_Sampling	2558	41	1098.22
TT8_CF8	93	64	61.53
TT8_Kalman	0	0	0.00
Analog_circuits	1933	10	199.15
GPS_charging	0	0	0.00
Compass	2289	8	194.34
RAFOS	0	0	0.00
Transponder	79	30	24.52

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.99	-332.5	170	2215	212	188	0.0	0.0	0	191	0.00	0.00	-173.12	0.149	16386	0.000	0.000	170	2215	2444	2389	2499	0	0	0	0	0	0	26.89	28.83	26.91
194	-1.03	-439.8	170	2216	2389	2500	3.9	-6.3	17	249	10.48	2.05	-38.58	0.159	18692	0.291	0.077	2628	3596	3657	3630	3684	0	0	0	0	0	0	25.64	26.15	25.94
345	-0.89	-439.8	2627	3596	3629	3684	44.3	-27.7	31	351	0.17	1.88	0.00	0.000	3078	0.196	0.060	2682	2158	3656	3629	3684	0	0	0	0	0	0	25.97	26.53	26.15
661	-0.89	-439.8	2683	2157	3629	3684	115.4	-20.5	52	667	0.00	2.05	0.00	0.000	260	0.000	0.077	2673	3600	3656	3629	3684	0	0	0	0	0	0	26.99	26.53	27.01
740	-0.89	-439.8	2673	3600	3629	3684	131.2	-19.5	57	745	0.00	1.80	0.00	0.000	1030	0.000	0.057	2673	2217	3656	3629	3684	0	0	0	0	0	0	26.79	26.75	26.80
1058	-0.89	-439.8	2673	2216	3629	3684	184.4	-16.0	71	1060	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2216	3656	3629	3684	0	0	0	0	0	0	27.09	27.10	27.10
1358	-0.89	-439.8	2673	2216	3629	3684	233.4	-16.5	81	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2216	3656	3629	3684	0	0	0	0	0	0	27.11	27.13	27.13
1658	-0.89	-439.8	2672	2216	3629	3683	280.0	-14.9	91	1663	0.00	2.00	0.00	0.000	260	0.000	0.077	2662	3605	3656	3629	3683	0	0	0	0	0	0	27.13	26.64	27.14
1723	-0.89	-439.8	2662	3605	3629	3684	289.4	-14.5	93	1727	0.00	1.85	0.00	0.000	1030	0.000	0.060	2662	2183	3656	3629	3684	0	0	0	0	0	0	26.90	26.86	26.91
2041	-0.89	-439.8	2662	2182	3629	3683	338.3	-15.7	101	2047	0.00	2.00	0.00	0.000	260	0.000	0.077	2652	3595	3655	3629	3682	0	0	0	0	0	0	27.13	26.64	27.15
2119	-0.89	-439.8	2651	3596	3629	3683	346.1	-16.2	102	2123	0.10	1.83	0.00	0.000	3078	0.189	0.060	2686	2177	3655	3629	3682	0	0	0	0	0	0	26.51	26.87	26.62
2448	-0.95	-439.8	2686	2175	3629	3680	402.0	-15.1	110	2453	0.00	2.05	0.00	0.000	260	0.000	0.077	2677	3594	3654	3629	3680	0	0	0	0	0	0	27.13	26.64	27.15
2494	-1.00	-439.8	2676	3594	3629	3680	409.2	-15.3	111	2500	0.00	1.85	0.00	0.000	1030	0.000	0.057	2677	2205	3654	3629	3679	0	0	0	0	0	0	26.89	26.87	26.91
2809	-1.00	-439.8	2676	2203	3629	3677	459.9	-16.2	118	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2204	3653	3629	3677	0	0	0	0	0	0	27.13	27.15	27.14
3125	-1.06	-439.8	2676	2204	3629	3675	508.5	-15.1	125	3131	0.05	2.00	0.00	0.000	4356	0.189	0.077	2619	3595	3652	3629	3675	0	0	0	0	0	0	26.91	26.63	26.93
3171	-1.06	-439.8	2618	3596	3629	3675	516.6	-15.5	126	3176	0.00	1.83	0.00	0.000	1030	0.000	0.060	2619	2194	3652	3629	3675	0	0	0	0	0	0	26.91	26.86	26.91
3485	-1.06	-439.8	2618	2192	3629	3673	577.6	-19.2	133	3490	0.00	2.03	0.00	0.000	260	0.000	0.077	2608	3591	3651	3629	3673	0	0	0	0	0	0	27.13	26.63	27.15
3567	-1.06	-439.8	2608	3591	3628	3673	586.5	-19.3	134	3576	0.00	1.88	0.00	0.000	1030	0.000	0.060	2608	2193	3651	3629	3673	0	0	0	0	0	0	26.89	26.84	26.88
3891	-1.06	-439.8	2607	2192	3629	3669	656.3	-19.0	142	3895	0.00	2.05	0.00	0.000	260	0.000	0.077	2598	3592	3649	3629	3669	0	0	0	0	0	0	27.13	26.63	27.15
3960	-1.06	-439.8	2597	3600	3629	3669	666.1	-19.3	143	3966	0.10	1.90	0.00	0.000	3078	0.179	0.057	2631	2183	3649	3629	3669	0	0	0	0	0	0	26.44	26.86	26.50
4300	-1.06	-439.8	2631	2181	3629	3665	735.0	-18.8	151	4306	0.00	2.08	0.00	0.000	260	0.000	0.077	2622	3598	3647	3629	3665	0	0	0	0	0	0	27.13	26.63	27.15
4391	-1.06	-439.8	2621	3598	3628	3665	752.6	-19.1	153	4397	0.00	1.83	0.00	0.000	1030	0.000	0.060	2622	2214	3646	3628	3665	0	0	0	0	0	0	26.89	26.85	26.91
4706	-1.06	-439.8	2621	2212	3629	3660	813.5	-19.2	160	4710	0.00	2.05	0.00	0.000	260	0.000	0.079	2611	3592	3645	3629	3661	0	0	0	0	0	0	27.14	26.62	27.15
4754	-1.06	-439.8	2611	3592	3628	3661	822.5	-18.9	161	4760	0.00	1.85	0.00	0.000	1030	0.000	0.060	2611	2191	3644	3628	3661	0	0	0	0	0	0	26.90	26.86	26.91
5069	-1.06	-439.8	2611	2191	3628	3656	883.0	-19.2	168	5073	0.00	2.08	0.00	0.000	260	0.000	0.077	2601	3592	3642	3628	3656	0	0	0	0	0	0	27.14	26.60	27.15
5140	-1.06	-439.8	2600	3592	3628	3655	892.7	-19.5	169	5144	0.00	1.90	0.00	0.000	1030	0.000	0.057	2601	2199	3641	3627	3656	0	0	0	0	0	0	26.87	26.86	26.89
5479	-1.06	-439.8	2601	2198	3627	3649	960.2	-18.2	177	5480	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2197	3638	3627	3650	0	0	0	0	0	0	27.14	27.16	27.15
5825	-1.06	-439.8	2601	2197	3628	3645	1023.1	-18.2	183	5826	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2197	3636	3628	3645	0	0	0	0	0	0	27.10	27.13	27.13
6185	-1.06	-439.8	2600	2197	3627	3640	1090.9	-18.8	186	6186	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2197	3634	3628	3640	0	0	0	0	0	0	27.10	27.13	27.12
6545	-1.06	-439.8	2601	2197	3626	3636	1160.0	-19.2	189	6552	0.00	2.15	0.00	0.000	260	0.000	0.079	2590	3598	3631	3626	3636	0	0	0	0	0	0	27.10	26.55	27.12
6578	-1.06	-439.8	2590	3598	3625	3636	1160.0	-19.2	189	6584	0.12	1.90	0.00	0.000	3078	0.176	0.057	2632	2193	3630	3624	3636	0	0	0	0	0	0	26.41	26.82	26.53
6914	-1.11	-439.8	2633	2192	3622	3634	1220.9	-17.0	192	6915	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2192	3627	3621	3633	0	0	0	0	0	0	27.10	27.13	27.12
7274	-1.19	-439.8	2633	2192	3620	3629	1278.2	-16.0	195	7279	0.00	2.17	0.00	0.000	4356	0.000	0.077	2623	3597	3625	3620	3630	0	0	0	0	0	0	27.12	26.51	27.13
7334	-1.26	-439.8	2623	3597	3618	3630	1278.2	-16.0	195	7339	0.08	1.90	0.00	0.000	5126	0.142	0.057	2570	2216	3624	3618	3630	0	0	0	0	0	0	26.67	26.80	26.74
7756	-1.26	-439.8	2570	2215	3617	3625	1369.3	-19.2	199	7757	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2214	3621	3617	3625	0	0	0	0	0	0	27.10	27.13	27.13
8115	-1.26	-439.8	2570	2215	3614	3623	1440.5	-19.7	202	8116	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2214	3618	3614	3623	0	0	0	0	0	0	27.10	27.13	27.12
8475	-1.26	-439.8	2570	2214	3613	3620	1508.4	-19.0	205	8476	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2214	3616	3613	3620	0	0	0	0	0	0	27.10	27.13	27.12
8832	end dive: BOTTOM_OBSTACLE_DETECTED
state	8832	begin apogee
8836	-0.25	0.0	2570	2214	3611	3618	1577.1	-19.1	208	9195	0.95	0.00	355.38	1.793	10246	0.146	0.000	2895	2214	2140	2154	2127	0	0	0	0	0	0	25.87	23.91	22.89
9196	end apogee: CONTROL_FINISHED_OK
state	9196	begin climb
9197	1.03	439.8	2894	2214	2154	2127	1600.7	0.0	211	9579	1.08	2.42	370.40	1.751	11012	0.117	0.087	3266	3575	625	644	607	0	0	0	0	0	0	24.15	23.92	22.94
9673	1.03	439.8	3266	3576	644	608	1562.7	10.5	215	9679	0.00	2.03	0.00	0.000	1030	0.000	0.057	3276	2229	625	644	607	0	0	0	0	0	0	25.57	25.54	25.58
10034	0.89	439.8	3276	2229	643	607	1495.8	18.7	218	10040	0.00	2.12	0.00	0.000	516	0.000	0.065	3287	812	625	643	607	0	0	0	0	0	0	26.77	26.51	26.79
10110	0.76	439.8	3287	812	643	607	1495.8	18.7	218	10115	0.25	2.03	0.00	0.000	5126	0.184	0.062	3208	2194	625	643	607	0	0	0	0	0	0	26.25	26.57	26.44
10510	0.73	516.7	3208	2195	643	607	1430.5	13.5	222	10574	0.00	0.00	61.88	1.651	8198	0.000	0.000	3208	2195	360	382	339	0	0	0	0	0	0	26.97	25.25	24.29
10869	0.73	516.7	3208	2195	382	339	1378.8	14.1	225	10870	0.00	0.00	0.00	0.000	6	0.000	0.000	3208	2194	360	382	339	0	0	0	0	0	0	26.76	26.78	26.78
11229	0.75	591.7	3208	2195	382	338	1330.5	13.6	228	11269	0.00	0.00	37.97	1.587	8198	0.000	0.000	3208	2195	199	217	181	0	0	0	0	0	0	26.95	25.52	24.53
11589	0.77	655.8	3208	2195	218	189	1280.0	13.9	231	11594	0.00	0.00	3.03	0.668	8198	0.000	0.000	3208	2194	200	214	186	0	0	0	0	0	0	26.80	26.08	24.74
11950	0.77	655.8	3208	2195	213	189	1226.7	14.6	234	11957	0.00	2.15	2.55	0.479	8452	0.000	0.077	3208	3605	199	212	187	0	0	0	0	0	0	26.95	25.74	24.75
12002	0.77	655.8	3208	3605	212	187	1226.7	14.6	234	12007	0.00	2.05	0.00	0.000	1030	0.000	0.057	3218	2179	199	212	187	0	0	0	0	0	0	26.72	26.69	26.73
12426	0.77	655.8	3218	2178	212	187	1149.9	16.1	238	12427	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2178	199	212	187	0	0	0	0	0	0	27.01	27.04	27.03
12786	0.77	655.8	3217	2178	212	187	1097.1	14.8	241	12791	0.00	1.98	0.00	0.000	516	0.000	0.065	3228	840	199	212	187	0	0	0	0	0	0	27.05	26.70	27.06
12817	0.77	655.8	3227	839	212	187	1097.1	14.8	241	12821	0.00	2.00	0.00	0.000	1030	0.000	0.062	3228	2196	199	212	187	0	0	0	0	0	0	26.79	26.73	26.82
13146	0.77	655.8	3227	2196	212	187	1042.9	15.0	244	13150	0.00	2.12	0.00	0.000	260	0.000	0.079	3227	3596	199	212	187	0	0	0	0	0	0	27.05	26.60	27.08
13215	0.77	655.8	3228	3596	212	188	1042.9	15.0	244	13220	0.00	1.98	0.03	0.216	9222	0.000	0.057	3238	2208	200	212	188	0	0	0	0	0	0	26.79	26.77	26.58
13555	0.77	655.8	3237	2206	212	187	978.8	15.7	248	13557	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	2206	199	212	187	0	0	0	0	0	0	27.06	27.08	27.08
13869	0.77	655.8	3237	2206	212	187	933.7	14.9	255	13874	0.00	2.03	0.00	0.000	516	0.000	0.065	3248	821	200	212	188	0	0	0	0	0	0	27.06	26.68	27.08
13900	0.77	655.8	3248	820	212	187	933.7	14.9	255	13904	0.00	2.03	0.00	0.000	1030	0.000	0.062	3248	2202	199	212	187	0	0	0	0	0	0	26.79	26.71	26.82
14224	0.77	655.8	3247	2201	212	187	877.2	16.1	262	14230	0.00	2.10	0.00	0.000	260	0.000	0.079	3248	3598	200	212	188	0	0	0	0	0	0	27.06	26.57	27.08
14283	0.77	655.8	3248	3598	212	187	869.4	16.6	263	14288	0.12	2.00	0.00	0.000	5126	0.191	0.057	3218	2187	199	212	187	0	0	0	0	0	0	26.35	26.77	26.52
14628	0.80	746.7	3218	2185	212	188	819.4	13.1	271	14633	0.00	1.98	0.00	0.000	516	0.000	0.065	3227	836	200	212	188	0	0	0	0	0	0	27.06	26.67	27.08
14689	0.83	840.4	3227	835	212	187	813.7	13.0	272	14693	0.00	2.00	0.00	0.000	1030	0.000	0.062	3227	2214	199	212	187	0	0	0	0	0	0	26.77	26.70	26.80
15033	0.83	840.4	3227	2214	212	188	761.1	15.1	280	15034	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2214	200	212	188	0	0	0	0	0	0	27.06	27.08	27.08
15348	0.83	840.4	3227	2213	212	189	715.2	14.3	287	15352	0.00	2.08	0.00	0.000	260	0.000	0.079	3227	3581	200	212	189	0	0	0	0	0	0	27.06	26.53	27.08
15387	0.83	840.4	3227	3597	212	189	715.2	14.3	287	15397	0.00	1.98	0.52	0.119	9222	0.000	0.057	3237	2192	201	212	190	0	0	0	0	0	0	26.77	26.74	26.36
15711	0.83	840.4	3236	2191	212	190	663.6	14.1	295	15713	0.00	0.00	0.22	0.151	8198	0.000	0.000	3236	2191	201	212	190	0	0	0	0	0	0	27.05	26.57	26.46
16026	0.85	916.0	3235	2191	212	191	621.0	13.6	302	16033	0.00	2.12	2.65	0.420	8452	0.000	0.079	3236	3579	199	211	188	0	0	0	0	0	0	27.05	25.79	24.21
16072	0.85	916.0	3236	3600	211	188	614.0	14.0	303	16078	0.00	1.92	0.03	0.221	9222	0.000	0.057	3247	2170	199	211	188	0	0	0	0	0	0	26.75	26.74	26.52
16387	0.87	980.0	3246	2170	211	188	569.1	13.9	310	16388	0.00	0.00	0.00	0.000	6	0.000	0.000	3246	2170	200	211	189	0	0	0	0	0	0	27.03	27.06	27.05
16702	0.87	980.0	3246	2170	212	190	523.3	14.8	317	16708	0.00	2.12	0.00	0.000	260	0.000	0.077	3246	3602	200	211	190	0	0	0	0	0	0	27.03	26.51	27.05
16733	0.87	980.0	3246	3602	211	191	523.3	14.8	317	16737	0.00	1.95	0.00	0.000	1030	0.000	0.057	3256	2198	201	211	191	0	0	0	0	0	0	26.77	26.75	26.79
17062	0.87	980.0	3256	2197	211	191	463.6	17.0	325	17069	0.00	1.98	2.58	0.372	8708	0.000	0.062	3266	829	200	211	190	0	0	0	0	0	0	27.03	25.36	24.53
17108	0.87	980.0	3266	828	210	188	455.5	17.2	326	17112	0.00	1.95	0.00	0.000	1030	0.000	0.062	3267	2205	200	211	189	0	0	0	0	0	0	26.74	26.67	26.77
17426	0.87	980.0	3266	2205	211	189	398.3	17.8	333	17432	0.00	2.00	0.00	0.000	260	0.000	0.077	3266	3593	200	211	190	0	0	0	0	0	0	27.02	26.51	27.05
17462	0.87	980.0	3266	3593	211	190	398.3	17.8	333	17471	0.00	1.92	0.05	0.161	9222	0.000	0.057	3277	2196	200	211	190	0	0	0	0	0	0	26.77	26.75	26.46
17786	0.87	980.0	3276	2195	211	191	332.1	18.0	341	17790	0.00	0.00	2.50	0.325	8198	0.000	0.000	3277	2195	200	211	189	0	0	0	0	0	0	27.02	25.80	24.69
18086	0.87	980.0	3277	2195	211	189	278.7	17.6	349	18092	0.00	2.03	0.00	0.000	260	0.000	0.077	3277	3595	200	211	189	0	0	0	0	0	0	27.02	26.51	27.04
18118	0.87	980.0	3277	3595	211	189	273.2	17.8	350	18123	0.12	1.92	0.00	0.000	5126	0.171	0.057	3245	2201	200	211	190	0	0	0	0	0	0	26.29	26.76	26.36
18449	0.95	1054.4	3244	2199	211	191	225.5	13.6	361	18451	0.00	0.00	0.47	0.127	8198	0.000	0.000	3244	2199	201	211	191	0	0	0	0	0	0	27.02	26.46	26.34
18748	1.06	1170.8	3244	2199	211	193	186.7	12.2	371	18756	0.08	2.05	0.38	0.114	10500	0.139	0.077	3316	3595	202	211	193	0	0	0	0	0	0	26.79	26.39	26.34
18788	1.14	1269.5	3316	3596	211	193	181.5	12.8	372	18798	0.00	1.88	2.70	0.340	9222	0.000	0.057	3328	2199	199	208	191	0	0	0	0	0	0	26.80	26.75	24.84
19112	1.14	1269.5	3327	2198	208	191	119.0	17.9	388	19113	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2199	200	209	191	0	0	0	0	0	0	27.01	27.04	27.03
19412	1.14	1269.5	3327	2198	209	192	72.7	14.8	408	19417	0.00	1.90	0.00	0.000	516	0.000	0.067	3338	836	200	209	192	0	0	0	0	0	0	27.01	26.63	27.03
19444	1.16	1334.4	3337	836	209	192	68.3	13.9	410	19448	0.00	1.90	0.00	0.000	1030	0.000	0.062	3338	2210	200	209	191	0	0	0	0	0	0	26.74	26.68	26.77
19754	1.16	1334.4	3337	2210	209	196	22.7	15.1	434	19762	0.00	0.00	1.88	0.112	8198	0.000	0.000	3338	2210	202	209	196	0	0	0	0	0	0	27.05	26.41	26.34
19891	end climb: SURFACE_DEPTH_REACHED
state	19891	begin surface coast
19912	end surface coast: CONTROL_FINISHED_OK
state	19912	begin surface