Glider dive log

SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 139 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 2130 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 22 HEADING -1 C_ROLL_CLIMB 1910 ALTIM_TOP_TURN_MARGIN 0

DIVE 139 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 34 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 64 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_ABORT 1050 SM_CC 290 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 5 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT -0.85000002

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2812 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 182 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 202 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.59918 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 1000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 1 ROLL_MIN 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 500 PITCH_AD_RATE 125 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 27 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.00010902 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -167.59918 T_ABORT 202

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 182

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.85000002 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 1 RELAUNCH 0 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1910 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 2130 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2812 MASS 52619 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3807 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 167 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 34 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 64 VBD_MAX 3960

DEVICE5 -1 MISSION 22 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 1000.0 VBD_MIN 600

DIVE 139 NAV_MODE 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 259 SEABIRD_C_G -9.9432478 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 N_DIVES 0 SEABIRD_C_H 1.1588655 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0013646155 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00018066024 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0043368991 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00062533951 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.3700677e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.5956786e-06

Pre-dive calculations and measurements:

GPS1 240918,014005,-2939.6123,3141.9119,19,0.9,20,-24.6,0.4,52.9,8,9.5 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG -2945.150,3156.070

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.07 MHEAD_RNG_PITCHd_Wd 138.8,24983,-18.2,-9.980,-21.01,2240

_SM_ANGLEo -67.5 D_GRID 500

GPS2 240918,015329,-2939.6292,3141.8931,15,1.0,16,-24.6,0.0,35.5,8,9.4

Post-dive calculations and measurements:

FINISH 1.0,1.024238 SC_FREEKB 3849504

SM_CCo 4806,0.00,0.000,0,0,1410,343.90 _24V_AH 13.95,39.788

SM_GC 1.26,12.38,1.98,0.00,0.047,0.042,0.000,145,2107,1410,-7.27,0.76,343.90,0,0,0,0,0,0,14.97,14.98,15.04 _10V_AH 13.55,0.000

IRIDIUM_FIX -2925.24,3140.35,240918,001258 FG_AHR_24Vo 0.000

TT8_MAMPS 0.038948,0.712299 FG_AHR_10Vo 0.000

HUMID 50.31 MEM 343428

INTERNAL_PRESSURE 9.16015 DATA_FILE_SIZE 30037,922

TCM_TEMP 23.10 CAP_FILE_SIZE 172099,0

XPDR_PINGS 0 CFSIZE 1023623168,1003438080

ALTIM_TOP_PING 19.5,999.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 230.1,52.5 GPS 240918,031423,-2940.319,3141.854,16,0.9,18,-24.6,0.5,203.2,9,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 329 125.91 nil 0 0 0.00

Roll_motor 84 92 109.21 nil 0 0 0.00

VBD_pump_during_apogee 392 1306 7154.23 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 12.04 nil 0 0 0.00

Iridium_during_connect 47 160 106.79 SciCon 4796 30 2064.33

Iridium_during_xfer 515 223 1602.78 nil 0 0 0.00

Transponder_ping 4 420 24.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 23 5.65

TT8 0 0 0.00

LPSleep 2320 2 68.87

TT8_Active 587 8 68.26

TT8_Sampling 2522 28 958.87

TT8_CF8 165 41 93.01

TT8_Kalman 0 0 0.00

Analog_circuits 1362 12 228.95

GPS_charging 0 0 0.00

Compass 1380 17 322.38

RAFOS 0 0 0.00

Transponder 30 30 12.34

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.85 -146.0 73 2161 1415 1324 0.0 0.0 0 76 0.00 0.00 -55.95 0.000 16386 0.000 0.000 72 2161 2932 2947 2917 0 0 0 0 0 0 15.03 28.83 15.04

77 -0.85 -146.0 72 2161 2948 2919 3.1 -6.4 10 106 12.10 2.33 -8.95 0.000 18692 0.293 0.093 2193 3508 3410 3451 3369 0 0 0 0 0 0 14.67 13.95 14.81

265 -0.85 -146.0 2195 3509 3453 3369 45.2 -19.5 47 272 0.08 2.30 0.00 0.000 3078 0.226 0.039 2210 2114 3411 3453 3369 0 0 0 0 0 0 14.83 14.92 14.93

332 -0.85 -146.0 2210 2114 3455 3369 57.6 -18.7 60 337 0.00 0.00 0.00 0.000 2054 0.000 0.000 2210 2113 3411 3453 3369 0 0 0 0 0 0 15.13 15.14 15.14

396 -0.85 -146.0 2210 2113 3455 3369 69.8 -18.6 73 403 0.00 2.40 0.00 0.000 2308 0.000 0.069 2203 3505 3411 3453 3369 0 0 0 0 0 0 15.14 14.93 15.15

417 -0.85 -146.0 2202 3506 3455 3370 73.7 -19.0 77 424 0.00 2.25 0.00 0.000 3078 0.000 0.040 2203 2139 3409 3450 3369 0 0 0 0 0 0 15.00 14.98 15.01

483 -0.85 -146.0 2202 2139 3455 3370 86.1 -18.4 90 490 0.00 2.35 0.00 0.000 2564 0.000 0.065 2203 724 3411 3453 3369 0 0 0 0 0 0 15.16 14.94 15.16

499 -0.85 -146.0 2204 724 3453 3369 88.9 -17.5 93 506 0.05 2.28 0.00 0.000 3078 0.278 0.047 2205 2103 3411 3453 3369 0 0 0 0 0 0 14.82 14.95 14.94

566 -0.85 -146.0 2205 2104 3455 3369 100.5 -16.8 106 572 0.00 0.00 0.00 0.000 2054 0.000 0.000 2206 2103 3410 3453 3368 0 0 0 0 0 0 15.11 15.12 15.12

631 -0.85 -146.0 2206 2104 3454 3369 111.6 -15.5 119 637 0.00 2.45 0.00 0.000 2308 0.000 0.071 2197 3530 3411 3453 3369 0 0 0 0 0 0 15.17 14.95 15.17

692 -0.85 -146.0 2196 3531 3455 3369 121.1 -15.9 131 699 0.05 2.25 0.00 0.000 3078 0.330 0.037 2209 2130 3411 3454 3369 0 0 0 0 0 0 14.85 15.01 15.00

759 -0.85 -146.0 2210 2129 3454 3369 130.4 -12.7 144 764 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2129 3411 3454 3369 0 0 0 0 0 0 15.17 15.18 15.18

824 -0.85 -146.0 2210 2129 3453 3369 138.8 -13.2 157 824 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2129 3411 3454 3368 0 0 0 0 0 0 15.20 15.20 15.20

883 -0.85 -146.0 2209 2129 3456 3369 146.9 -13.3 169 884 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2129 3411 3454 3369 0 0 0 0 0 0 15.20 15.21 15.21

943 -0.85 -146.0 2209 2129 3456 3370 155.0 -13.5 181 944 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2129 3411 3454 3368 0 0 0 0 0 0 15.21 15.21 15.21

1003 -0.85 -146.0 2210 2129 3454 3369 163.4 -14.4 193 1010 0.00 2.38 0.00 0.000 2564 0.000 0.066 2210 720 3411 3453 3369 0 0 0 0 0 0 15.21 14.96 15.21

1024 -0.85 -146.0 2209 721 3456 3370 166.3 -14.2 197 1031 0.00 2.33 0.00 0.000 3078 0.000 0.048 2209 2125 3411 3454 3369 0 0 0 0 0 0 15.04 14.98 15.07

1091 -0.85 -146.0 2209 2125 3456 3370 175.0 -13.5 210 1097 0.00 2.38 0.00 0.000 2308 0.000 0.071 2201 3542 3411 3454 3369 0 0 0 0 0 0 15.19 15.00 15.19

1111 -0.85 -146.0 2202 3543 3454 3370 177.9 -13.3 214 1118 0.00 2.33 0.00 0.000 3078 0.000 0.037 2201 2122 3411 3454 3369 0 0 0 0 0 0 15.04 15.00 15.06

1177 -0.85 -146.0 2202 2123 3454 3370 186.9 -13.7 227 1184 0.00 2.30 0.00 0.000 2564 0.000 0.065 2201 724 3411 3454 3369 0 0 0 0 0 0 15.20 14.95 15.20

1198 -0.85 -146.0 2201 725 3456 3370 190.3 -16.8 231 1205 0.05 2.33 0.00 0.000 3078 0.153 0.047 2212 2134 3411 3454 3369 0 0 0 0 0 0 14.90 14.98 15.04

1265 -0.85 -146.0 2213 2135 3454 3368 199.6 -14.2 244 1271 0.00 0.00 0.00 0.000 2054 0.000 0.000 2212 2134 3411 3454 3369 0 0 0 0 0 0 15.20 15.20 15.21

1330 -0.85 -146.0 2213 2135 3456 3370 208.5 -13.4 257 1331 0.00 0.00 0.00 0.000 2054 0.000 0.000 2212 2134 3411 3454 3369 0 0 0 0 0 0 15.21 15.21 15.21

1390 -0.85 -146.0 2212 2135 3456 3370 216.1 -12.3 269 1391 0.00 0.00 0.00 0.000 2054 0.000 0.000 2213 2134 3411 3454 3369 0 0 0 0 0 0 15.22 15.22 15.22

1450 -0.85 -146.0 2212 2135 3456 3370 223.8 -13.1 281 1457 0.00 2.40 0.00 0.000 2308 0.000 0.072 2207 3537 3411 3454 3369 0 0 0 0 0 0 15.22 15.00 15.22

1466 -0.85 -146.0 2207 3537 3456 3369 225.7 -12.0 284 1473 0.00 2.30 0.00 0.000 3078 0.000 0.037 2207 2130 3411 3454 3369 0 0 0 0 0 0 15.07 15.02 15.09

1532 -0.85 -146.0 2209 2130 3454 3369 234.0 -12.8 297 1538 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 2129 3410 3454 3367 0 0 0 0 0 0 15.21 15.22 15.22

1597 -0.85 -146.0 2207 2130 3455 3370 242.3 -12.9 310 1598 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 2129 3411 3454 3369 0 0 0 0 0 0 15.23 15.23 15.23

1657 -0.85 -146.0 2208 2130 3454 3369 250.0 -13.0 322 1658 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 2129 3411 3454 3369 0 0 0 0 0 0 15.23 15.23 15.23

1717 -0.85 -146.0 2207 2130 3456 3370 257.9 -13.0 334 1718 0.00 0.00 0.00 0.000 2054 0.000 0.000 2208 2130 3411 3454 3368 0 0 0 0 0 0 15.23 15.23 15.23

1777 -0.85 -146.0 2207 2130 3454 3369 265.5 -12.3 346 1782 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 2129 3411 3454 3369 0 0 0 0 0 0 15.23 15.24 15.24

1836 end dive: BOTTOM_OBSTACLE_DETECTED

state 1836 begin apogee

1839 -0.19 0.0 2207 1898 3454 3372 272.8 -12.1 358 1955 1.05 0.00 109.25 1.307 10246 0.155 0.000 2422 1897 2812 2847 2777 0 0 0 0 0 0 14.92 14.56 14.05

1956 end apogee: CONTROL_FINISHED_OK

state 1956 begin climb

1958 0.85 146.0 2423 1898 2847 2778 277.5 0.0 379 2079 1.52 2.42 110.22 1.295 10756 0.088 0.072 2758 519 2214 2255 2173 0 0 0 0 0 0 14.55 14.41 13.95

2218 0.88 168.1 2758 520 2251 2173 265.8 9.0 428 2242 0.00 2.30 18.10 1.196 11270 0.000 0.042 2759 1913 2124 2167 2082 0 0 0 0 0 0 14.81 14.78 14.21

2301 0.88 168.1 2760 1915 2166 2080 257.3 10.3 444 2307 0.00 0.00 0.00 0.000 2054 0.000 0.000 2759 1914 2122 2166 2079 0 0 0 0 0 0 14.96 14.97 14.96

2366 0.88 168.1 2759 1915 2164 2080 250.3 10.8 457 2372 0.00 0.00 0.00 0.000 2054 0.000 0.000 2758 1913 2119 2159 2079 0 0 0 0 0 0 15.02 15.02 15.02

2431 0.88 168.1 2758 1914 2166 2078 243.2 10.8 470 2432 0.00 0.00 0.00 0.000 2054 0.000 0.000 2758 1914 2121 2164 2078 0 0 0 0 0 0 15.07 15.07 15.07

2491 0.88 168.1 2759 1914 2162 2079 236.9 10.4 482 2492 0.00 0.00 0.00 0.000 2054 0.000 0.000 2759 1914 2121 2164 2078 0 0 0 0 0 0 15.09 15.09 15.09

2551 0.88 168.1 2759 1914 2163 2078 230.7 10.4 494 2558 0.00 2.38 0.00 0.000 2308 0.000 0.064 2759 3308 2120 2163 2078 0 0 0 0 0 0 15.11 14.88 15.12

2572 0.88 168.1 2758 3308 2164 2078 228.4 11.0 498 2579 0.00 2.30 0.00 0.000 3078 0.000 0.044 2767 1922 2120 2163 2077 0 0 0 0 0 0 14.96 14.92 14.99

2639 0.89 172.8 2766 1922 2165 2078 222.3 9.8 511 2646 0.00 0.00 4.45 0.789 10246 0.000 0.000 2766 1922 2106 2151 2062 0 0 0 0 0 0 15.14 14.93 14.35

2705 0.89 172.8 2768 1922 2146 2062 215.4 10.0 524 2711 0.00 0.00 0.00 0.000 2054 0.000 0.000 2767 1921 2106 2151 2062 0 0 0 0 0 0 15.14 15.14 15.14

2770 0.91 189.9 2767 1922 2151 2062 209.2 9.2 537 2793 0.00 2.42 15.10 1.165 10756 0.000 0.076 2766 506 2035 2083 1987 0 0 0 0 0 0 15.16 14.85 14.35

2818 0.92 197.8 2767 507 2080 1988 204.7 9.6 546 2830 0.00 2.33 7.45 0.996 11270 0.000 0.042 2767 1915 2004 2053 1956 0 0 0 0 0 0 14.94 14.90 14.33

2889 0.92 197.8 2768 1916 2052 1955 197.5 10.8 560 2895 0.00 0.00 0.00 0.000 2054 0.000 0.000 2767 1915 2003 2053 1954 0 0 0 0 0 0 15.09 15.09 15.09

2954 0.92 197.8 2767 1916 2052 1955 190.5 10.4 573 2961 0.00 2.45 0.00 0.000 2564 0.000 0.074 2776 503 2003 2052 1954 0 0 0 0 0 0 15.11 14.88 15.11

3005 0.92 197.8 2777 504 2051 1954 184.9 10.8 583 3012 0.00 2.33 0.00 0.000 3078 0.000 0.043 2777 1912 2002 2050 1954 0 0 0 0 0 0 14.97 14.93 15.00

3072 0.93 203.8 2776 1913 2052 1955 178.3 9.7 596 3083 0.00 0.00 6.18 0.929 10246 0.000 0.000 2776 1912 1979 2029 1930 0 0 0 0 0 0 15.12 14.82 14.37

3143 0.93 209.2 2776 1913 2030 1930 171.5 9.7 610 3155 0.00 2.38 5.88 0.998 10756 0.000 0.073 2782 506 1958 2009 1908 0 0 0 0 0 0 15.13 14.83 14.38

3189 0.94 213.2 2783 507 2008 1907 167.0 9.8 619 3202 0.00 2.33 5.00 0.939 11270 0.000 0.043 2780 1917 1941 1992 1891 0 0 0 0 0 0 14.94 14.90 14.35

3261 0.96 233.1 2782 1917 1994 1891 160.3 9.1 633 3284 0.00 0.00 17.10 1.145 10246 0.000 0.000 2782 1917 1861 1916 1806 0 0 0 0 0 0 15.10 14.75 14.33

3343 0.97 236.0 2782 1917 1915 1805 152.6 9.8 649 3349 0.00 2.42 0.00 0.000 2564 0.000 0.075 2788 498 1858 1913 1804 0 0 0 0 0 0 15.06 14.82 15.06

3398 0.97 236.0 2791 498 1911 1805 147.2 10.5 660 3405 0.00 2.35 0.00 0.000 3078 0.000 0.044 2792 1914 1858 1912 1804 0 0 0 0 0 0 14.90 14.86 14.92

3465 0.97 236.0 2793 1915 1912 1805 140.3 10.2 673 3471 0.00 2.35 0.00 0.000 2308 0.000 0.066 2792 3315 1858 1912 1804 0 0 0 0 0 0 15.11 14.90 15.11

3485 0.97 236.0 2792 3315 1912 1804 138.0 11.2 677 3493 0.00 2.35 3.58 0.592 11270 0.000 0.045 2794 1914 1849 1903 1795 0 0 0 0 0 0 14.95 14.92 14.38

3552 0.97 236.0 2794 1914 1911 1795 131.2 11.2 690 3557 0.00 0.00 0.00 0.000 2054 0.000 0.000 2794 1913 1849 1903 1795 0 0 0 0 0 0 15.11 15.11 15.11

3617 0.97 236.0 2793 1914 1905 1796 123.7 11.8 703 3618 0.00 0.00 0.00 0.000 2054 0.000 0.000 2794 1913 1848 1903 1794 0 0 0 0 0 0 15.12 15.13 15.13

3677 1.01 274.2 2794 1914 1902 1795 118.0 8.2 715 3717 0.00 2.40 31.65 1.144 10500 0.000 0.063 2793 3302 1694 1757 1631 0 0 0 0 0 0 15.14 14.75 14.33

3796 1.03 290.4 2795 3303 1755 1628 107.0 9.2 738 3814 0.00 2.35 14.62 1.049 11270 0.000 0.047 2794 1909 1627 1693 1562 0 0 0 0 0 0 14.90 14.85 14.32

3874 1.04 292.6 2794 1909 1690 1559 99.8 9.9 753 3879 0.00 0.00 0.00 0.000 2054 0.000 0.000 2793 1908 1624 1690 1558 0 0 0 0 0 0 15.03 15.03 15.03

3938 1.08 328.0 2793 1909 1692 1559 94.0 8.4 766 3973 0.10 0.00 31.80 1.096 10246 0.148 0.000 2844 1908 1474 1540 1408 0 0 0 0 0 0 14.90 14.72 14.26

4032 1.08 328.0 2843 1909 1541 1404 82.9 12.5 784 4038 0.00 0.00 0.00 0.000 4102 0.000 0.000 2843 1908 1471 1539 1403 0 0 0 0 0 0 14.99 14.99 14.99

4097 1.08 328.0 2843 1908 1540 1403 74.6 12.6 797 4098 0.00 0.00 0.00 0.000 4102 0.000 0.000 2843 1908 1470 1538 1402 0 0 0 0 0 0 15.03 15.04 15.03

4157 1.08 328.0 2844 1907 1537 1403 66.9 12.8 809 4158 0.00 0.00 0.00 0.000 4102 0.000 0.000 2843 1908 1470 1538 1402 0 0 0 0 0 0 15.07 15.07 15.07

4217 1.08 328.0 2845 1908 1537 1402 59.4 12.4 821 4218 0.00 0.00 0.00 0.000 4102 0.000 0.000 2843 1908 1470 1538 1402 0 0 0 0 0 0 15.09 15.09 15.09

4277 1.08 328.0 2843 1909 1540 1402 51.9 11.9 833 4283 0.00 0.00 0.00 0.000 4102 0.000 0.000 2843 1908 1469 1537 1401 0 0 0 0 0 0 15.11 15.11 15.11

4342 1.08 328.0 2844 1909 1537 1402 44.3 11.4 846 4348 0.00 0.00 0.00 0.000 4102 0.000 0.000 2843 1908 1469 1537 1401 0 0 0 0 0 0 15.12 15.12 15.13

4407 1.10 341.9 2844 1909 1536 1401 37.9 9.3 859 4425 0.00 0.00 12.12 0.936 12294 0.000 0.000 2846 1908 1416 1484 1349 0 0 0 0 0 0 15.14 14.81 14.42

4485 1.10 341.9 2844 1909 1484 1348 29.2 12.1 874 4491 0.00 2.38 0.00 0.000 260 0.000 0.064 2844 3310 1415 1483 1347 0 0 0 0 0 0 15.10 14.90 15.11

4520 1.10 341.9 2843 3311 1485 1348 24.5 12.5 881 4527 0.00 2.35 0.00 0.000 5126 0.000 0.047 2845 1915 1415 1484 1347 0 0 0 0 0 0 14.96 14.92 14.98

4587 1.10 341.9 2845 1916 1485 1347 16.6 11.8 894 4592 0.00 0.00 0.00 0.000 4102 0.000 0.000 2845 1915 1415 1483 1347 0 0 0 0 0 0 15.11 15.12 15.11

4651 1.10 341.9 2845 1915 1485 1348 9.6 10.7 907 4658 0.00 2.38 0.00 0.000 4356 0.000 0.063 2845 3299 1415 1484 1346 0 0 0 0 0 0 15.13 14.92 15.14

4711 end climb: SURFACE_DEPTH_REACHED

state 4711 begin surface coast

4726 end surface coast: CONTROL_FINISHED_OK

state 4726 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2130	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	22	HEADING	-1	C_ROLL_CLIMB	1910	ALTIM_TOP_TURN_MARGIN	0
DIVE	139	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	34	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	64	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_ABORT	1050	SM_CC	290	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	5	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	-0.85000002
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2812	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	182	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	202	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00062533951
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3700677e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.5956786e-06
SPEED_FACTOR	1	PITCH_GAIN	27	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9432478
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-167.59918	SEABIRD_C_H	1.1588655
MASS	52619	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.00010902	SEABIRD_C_I	-0.0013646155
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00018066024
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	1000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	1	ROLL_MIN	167	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3807	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20

GPS1	240918,014005,-2939.6123,3141.9119,19,0.9,20,-24.6,0.4,52.9,8,9.5	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	-2945.150,3156.070
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.07	MHEAD_RNG_PITCHd_Wd	138.8,24983,-18.2,-9.980,-21.01,2240
_SM_ANGLEo	-67.5	D_GRID	500
GPS2	240918,015329,-2939.6292,3141.8931,15,1.0,16,-24.6,0.0,35.5,8,9.4

FINISH	1.0,1.024238	SC_FREEKB	3849504
SM_CCo	4806,0.00,0.000,0,0,1410,343.90	_24V_AH	13.95,39.788
SM_GC	1.26,12.38,1.98,0.00,0.047,0.042,0.000,145,2107,1410,-7.27,0.76,343.90,0,0,0,0,0,0,14.97,14.98,15.04	_10V_AH	13.55,0.000
IRIDIUM_FIX	-2925.24,3140.35,240918,001258	FG_AHR_24Vo	0.000
TT8_MAMPS	0.038948,0.712299	FG_AHR_10Vo	0.000
HUMID	50.31	MEM	343428
INTERNAL_PRESSURE	9.16015	DATA_FILE_SIZE	30037,922
TCM_TEMP	23.10	CAP_FILE_SIZE	172099,0
XPDR_PINGS	0	CFSIZE	1023623168,1003438080
ALTIM_TOP_PING	19.5,999.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	230.1,52.5	GPS	240918,031423,-2940.319,3141.854,16,0.9,18,-24.6,0.5,203.2,9,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	329	125.91	nil	0	0	0.00
Roll_motor	84	92	109.21	nil	0	0	0.00
VBD_pump_during_apogee	392	1306	7154.23	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	12.04	nil	0	0	0.00
Iridium_during_connect	47	160	106.79	SciCon	4796	30	2064.33
Iridium_during_xfer	515	223	1602.78	nil	0	0	0.00
Transponder_ping	4	420	24.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	23	5.65
TT8	0	0	0.00
LPSleep	2320	2	68.87
TT8_Active	587	8	68.26
TT8_Sampling	2522	28	958.87
TT8_CF8	165	41	93.01
TT8_Kalman	0	0	0.00
Analog_circuits	1362	12	228.95
GPS_charging	0	0	0.00
Compass	1380	17	322.38
RAFOS	0	0	0.00
Transponder	30	30	12.34

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.85	-146.0	73	2161	1415	1324	0.0	0.0	0	76	0.00	0.00	-55.95	0.000	16386	0.000	0.000	72	2161	2932	2947	2917	0	0	0	0	0	0	15.03	28.83	15.04
77	-0.85	-146.0	72	2161	2948	2919	3.1	-6.4	10	106	12.10	2.33	-8.95	0.000	18692	0.293	0.093	2193	3508	3410	3451	3369	0	0	0	0	0	0	14.67	13.95	14.81
265	-0.85	-146.0	2195	3509	3453	3369	45.2	-19.5	47	272	0.08	2.30	0.00	0.000	3078	0.226	0.039	2210	2114	3411	3453	3369	0	0	0	0	0	0	14.83	14.92	14.93
332	-0.85	-146.0	2210	2114	3455	3369	57.6	-18.7	60	337	0.00	0.00	0.00	0.000	2054	0.000	0.000	2210	2113	3411	3453	3369	0	0	0	0	0	0	15.13	15.14	15.14
396	-0.85	-146.0	2210	2113	3455	3369	69.8	-18.6	73	403	0.00	2.40	0.00	0.000	2308	0.000	0.069	2203	3505	3411	3453	3369	0	0	0	0	0	0	15.14	14.93	15.15
417	-0.85	-146.0	2202	3506	3455	3370	73.7	-19.0	77	424	0.00	2.25	0.00	0.000	3078	0.000	0.040	2203	2139	3409	3450	3369	0	0	0	0	0	0	15.00	14.98	15.01
483	-0.85	-146.0	2202	2139	3455	3370	86.1	-18.4	90	490	0.00	2.35	0.00	0.000	2564	0.000	0.065	2203	724	3411	3453	3369	0	0	0	0	0	0	15.16	14.94	15.16
499	-0.85	-146.0	2204	724	3453	3369	88.9	-17.5	93	506	0.05	2.28	0.00	0.000	3078	0.278	0.047	2205	2103	3411	3453	3369	0	0	0	0	0	0	14.82	14.95	14.94
566	-0.85	-146.0	2205	2104	3455	3369	100.5	-16.8	106	572	0.00	0.00	0.00	0.000	2054	0.000	0.000	2206	2103	3410	3453	3368	0	0	0	0	0	0	15.11	15.12	15.12
631	-0.85	-146.0	2206	2104	3454	3369	111.6	-15.5	119	637	0.00	2.45	0.00	0.000	2308	0.000	0.071	2197	3530	3411	3453	3369	0	0	0	0	0	0	15.17	14.95	15.17
692	-0.85	-146.0	2196	3531	3455	3369	121.1	-15.9	131	699	0.05	2.25	0.00	0.000	3078	0.330	0.037	2209	2130	3411	3454	3369	0	0	0	0	0	0	14.85	15.01	15.00
759	-0.85	-146.0	2210	2129	3454	3369	130.4	-12.7	144	764	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	2129	3411	3454	3369	0	0	0	0	0	0	15.17	15.18	15.18
824	-0.85	-146.0	2210	2129	3453	3369	138.8	-13.2	157	824	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	2129	3411	3454	3368	0	0	0	0	0	0	15.20	15.20	15.20
883	-0.85	-146.0	2209	2129	3456	3369	146.9	-13.3	169	884	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	2129	3411	3454	3369	0	0	0	0	0	0	15.20	15.21	15.21
943	-0.85	-146.0	2209	2129	3456	3370	155.0	-13.5	181	944	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	2129	3411	3454	3368	0	0	0	0	0	0	15.21	15.21	15.21
1003	-0.85	-146.0	2210	2129	3454	3369	163.4	-14.4	193	1010	0.00	2.38	0.00	0.000	2564	0.000	0.066	2210	720	3411	3453	3369	0	0	0	0	0	0	15.21	14.96	15.21
1024	-0.85	-146.0	2209	721	3456	3370	166.3	-14.2	197	1031	0.00	2.33	0.00	0.000	3078	0.000	0.048	2209	2125	3411	3454	3369	0	0	0	0	0	0	15.04	14.98	15.07
1091	-0.85	-146.0	2209	2125	3456	3370	175.0	-13.5	210	1097	0.00	2.38	0.00	0.000	2308	0.000	0.071	2201	3542	3411	3454	3369	0	0	0	0	0	0	15.19	15.00	15.19
1111	-0.85	-146.0	2202	3543	3454	3370	177.9	-13.3	214	1118	0.00	2.33	0.00	0.000	3078	0.000	0.037	2201	2122	3411	3454	3369	0	0	0	0	0	0	15.04	15.00	15.06
1177	-0.85	-146.0	2202	2123	3454	3370	186.9	-13.7	227	1184	0.00	2.30	0.00	0.000	2564	0.000	0.065	2201	724	3411	3454	3369	0	0	0	0	0	0	15.20	14.95	15.20
1198	-0.85	-146.0	2201	725	3456	3370	190.3	-16.8	231	1205	0.05	2.33	0.00	0.000	3078	0.153	0.047	2212	2134	3411	3454	3369	0	0	0	0	0	0	14.90	14.98	15.04
1265	-0.85	-146.0	2213	2135	3454	3368	199.6	-14.2	244	1271	0.00	0.00	0.00	0.000	2054	0.000	0.000	2212	2134	3411	3454	3369	0	0	0	0	0	0	15.20	15.20	15.21
1330	-0.85	-146.0	2213	2135	3456	3370	208.5	-13.4	257	1331	0.00	0.00	0.00	0.000	2054	0.000	0.000	2212	2134	3411	3454	3369	0	0	0	0	0	0	15.21	15.21	15.21
1390	-0.85	-146.0	2212	2135	3456	3370	216.1	-12.3	269	1391	0.00	0.00	0.00	0.000	2054	0.000	0.000	2213	2134	3411	3454	3369	0	0	0	0	0	0	15.22	15.22	15.22
1450	-0.85	-146.0	2212	2135	3456	3370	223.8	-13.1	281	1457	0.00	2.40	0.00	0.000	2308	0.000	0.072	2207	3537	3411	3454	3369	0	0	0	0	0	0	15.22	15.00	15.22
1466	-0.85	-146.0	2207	3537	3456	3369	225.7	-12.0	284	1473	0.00	2.30	0.00	0.000	3078	0.000	0.037	2207	2130	3411	3454	3369	0	0	0	0	0	0	15.07	15.02	15.09
1532	-0.85	-146.0	2209	2130	3454	3369	234.0	-12.8	297	1538	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	2129	3410	3454	3367	0	0	0	0	0	0	15.21	15.22	15.22
1597	-0.85	-146.0	2207	2130	3455	3370	242.3	-12.9	310	1598	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	2129	3411	3454	3369	0	0	0	0	0	0	15.23	15.23	15.23
1657	-0.85	-146.0	2208	2130	3454	3369	250.0	-13.0	322	1658	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	2129	3411	3454	3369	0	0	0	0	0	0	15.23	15.23	15.23
1717	-0.85	-146.0	2207	2130	3456	3370	257.9	-13.0	334	1718	0.00	0.00	0.00	0.000	2054	0.000	0.000	2208	2130	3411	3454	3368	0	0	0	0	0	0	15.23	15.23	15.23
1777	-0.85	-146.0	2207	2130	3454	3369	265.5	-12.3	346	1782	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	2129	3411	3454	3369	0	0	0	0	0	0	15.23	15.24	15.24
1836	end dive: BOTTOM_OBSTACLE_DETECTED
state	1836	begin apogee
1839	-0.19	0.0	2207	1898	3454	3372	272.8	-12.1	358	1955	1.05	0.00	109.25	1.307	10246	0.155	0.000	2422	1897	2812	2847	2777	0	0	0	0	0	0	14.92	14.56	14.05
1956	end apogee: CONTROL_FINISHED_OK
state	1956	begin climb
1958	0.85	146.0	2423	1898	2847	2778	277.5	0.0	379	2079	1.52	2.42	110.22	1.295	10756	0.088	0.072	2758	519	2214	2255	2173	0	0	0	0	0	0	14.55	14.41	13.95
2218	0.88	168.1	2758	520	2251	2173	265.8	9.0	428	2242	0.00	2.30	18.10	1.196	11270	0.000	0.042	2759	1913	2124	2167	2082	0	0	0	0	0	0	14.81	14.78	14.21
2301	0.88	168.1	2760	1915	2166	2080	257.3	10.3	444	2307	0.00	0.00	0.00	0.000	2054	0.000	0.000	2759	1914	2122	2166	2079	0	0	0	0	0	0	14.96	14.97	14.96
2366	0.88	168.1	2759	1915	2164	2080	250.3	10.8	457	2372	0.00	0.00	0.00	0.000	2054	0.000	0.000	2758	1913	2119	2159	2079	0	0	0	0	0	0	15.02	15.02	15.02
2431	0.88	168.1	2758	1914	2166	2078	243.2	10.8	470	2432	0.00	0.00	0.00	0.000	2054	0.000	0.000	2758	1914	2121	2164	2078	0	0	0	0	0	0	15.07	15.07	15.07
2491	0.88	168.1	2759	1914	2162	2079	236.9	10.4	482	2492	0.00	0.00	0.00	0.000	2054	0.000	0.000	2759	1914	2121	2164	2078	0	0	0	0	0	0	15.09	15.09	15.09
2551	0.88	168.1	2759	1914	2163	2078	230.7	10.4	494	2558	0.00	2.38	0.00	0.000	2308	0.000	0.064	2759	3308	2120	2163	2078	0	0	0	0	0	0	15.11	14.88	15.12
2572	0.88	168.1	2758	3308	2164	2078	228.4	11.0	498	2579	0.00	2.30	0.00	0.000	3078	0.000	0.044	2767	1922	2120	2163	2077	0	0	0	0	0	0	14.96	14.92	14.99
2639	0.89	172.8	2766	1922	2165	2078	222.3	9.8	511	2646	0.00	0.00	4.45	0.789	10246	0.000	0.000	2766	1922	2106	2151	2062	0	0	0	0	0	0	15.14	14.93	14.35
2705	0.89	172.8	2768	1922	2146	2062	215.4	10.0	524	2711	0.00	0.00	0.00	0.000	2054	0.000	0.000	2767	1921	2106	2151	2062	0	0	0	0	0	0	15.14	15.14	15.14
2770	0.91	189.9	2767	1922	2151	2062	209.2	9.2	537	2793	0.00	2.42	15.10	1.165	10756	0.000	0.076	2766	506	2035	2083	1987	0	0	0	0	0	0	15.16	14.85	14.35
2818	0.92	197.8	2767	507	2080	1988	204.7	9.6	546	2830	0.00	2.33	7.45	0.996	11270	0.000	0.042	2767	1915	2004	2053	1956	0	0	0	0	0	0	14.94	14.90	14.33
2889	0.92	197.8	2768	1916	2052	1955	197.5	10.8	560	2895	0.00	0.00	0.00	0.000	2054	0.000	0.000	2767	1915	2003	2053	1954	0	0	0	0	0	0	15.09	15.09	15.09
2954	0.92	197.8	2767	1916	2052	1955	190.5	10.4	573	2961	0.00	2.45	0.00	0.000	2564	0.000	0.074	2776	503	2003	2052	1954	0	0	0	0	0	0	15.11	14.88	15.11
3005	0.92	197.8	2777	504	2051	1954	184.9	10.8	583	3012	0.00	2.33	0.00	0.000	3078	0.000	0.043	2777	1912	2002	2050	1954	0	0	0	0	0	0	14.97	14.93	15.00
3072	0.93	203.8	2776	1913	2052	1955	178.3	9.7	596	3083	0.00	0.00	6.18	0.929	10246	0.000	0.000	2776	1912	1979	2029	1930	0	0	0	0	0	0	15.12	14.82	14.37
3143	0.93	209.2	2776	1913	2030	1930	171.5	9.7	610	3155	0.00	2.38	5.88	0.998	10756	0.000	0.073	2782	506	1958	2009	1908	0	0	0	0	0	0	15.13	14.83	14.38
3189	0.94	213.2	2783	507	2008	1907	167.0	9.8	619	3202	0.00	2.33	5.00	0.939	11270	0.000	0.043	2780	1917	1941	1992	1891	0	0	0	0	0	0	14.94	14.90	14.35
3261	0.96	233.1	2782	1917	1994	1891	160.3	9.1	633	3284	0.00	0.00	17.10	1.145	10246	0.000	0.000	2782	1917	1861	1916	1806	0	0	0	0	0	0	15.10	14.75	14.33
3343	0.97	236.0	2782	1917	1915	1805	152.6	9.8	649	3349	0.00	2.42	0.00	0.000	2564	0.000	0.075	2788	498	1858	1913	1804	0	0	0	0	0	0	15.06	14.82	15.06
3398	0.97	236.0	2791	498	1911	1805	147.2	10.5	660	3405	0.00	2.35	0.00	0.000	3078	0.000	0.044	2792	1914	1858	1912	1804	0	0	0	0	0	0	14.90	14.86	14.92
3465	0.97	236.0	2793	1915	1912	1805	140.3	10.2	673	3471	0.00	2.35	0.00	0.000	2308	0.000	0.066	2792	3315	1858	1912	1804	0	0	0	0	0	0	15.11	14.90	15.11
3485	0.97	236.0	2792	3315	1912	1804	138.0	11.2	677	3493	0.00	2.35	3.58	0.592	11270	0.000	0.045	2794	1914	1849	1903	1795	0	0	0	0	0	0	14.95	14.92	14.38
3552	0.97	236.0	2794	1914	1911	1795	131.2	11.2	690	3557	0.00	0.00	0.00	0.000	2054	0.000	0.000	2794	1913	1849	1903	1795	0	0	0	0	0	0	15.11	15.11	15.11
3617	0.97	236.0	2793	1914	1905	1796	123.7	11.8	703	3618	0.00	0.00	0.00	0.000	2054	0.000	0.000	2794	1913	1848	1903	1794	0	0	0	0	0	0	15.12	15.13	15.13
3677	1.01	274.2	2794	1914	1902	1795	118.0	8.2	715	3717	0.00	2.40	31.65	1.144	10500	0.000	0.063	2793	3302	1694	1757	1631	0	0	0	0	0	0	15.14	14.75	14.33
3796	1.03	290.4	2795	3303	1755	1628	107.0	9.2	738	3814	0.00	2.35	14.62	1.049	11270	0.000	0.047	2794	1909	1627	1693	1562	0	0	0	0	0	0	14.90	14.85	14.32
3874	1.04	292.6	2794	1909	1690	1559	99.8	9.9	753	3879	0.00	0.00	0.00	0.000	2054	0.000	0.000	2793	1908	1624	1690	1558	0	0	0	0	0	0	15.03	15.03	15.03
3938	1.08	328.0	2793	1909	1692	1559	94.0	8.4	766	3973	0.10	0.00	31.80	1.096	10246	0.148	0.000	2844	1908	1474	1540	1408	0	0	0	0	0	0	14.90	14.72	14.26
4032	1.08	328.0	2843	1909	1541	1404	82.9	12.5	784	4038	0.00	0.00	0.00	0.000	4102	0.000	0.000	2843	1908	1471	1539	1403	0	0	0	0	0	0	14.99	14.99	14.99
4097	1.08	328.0	2843	1908	1540	1403	74.6	12.6	797	4098	0.00	0.00	0.00	0.000	4102	0.000	0.000	2843	1908	1470	1538	1402	0	0	0	0	0	0	15.03	15.04	15.03
4157	1.08	328.0	2844	1907	1537	1403	66.9	12.8	809	4158	0.00	0.00	0.00	0.000	4102	0.000	0.000	2843	1908	1470	1538	1402	0	0	0	0	0	0	15.07	15.07	15.07
4217	1.08	328.0	2845	1908	1537	1402	59.4	12.4	821	4218	0.00	0.00	0.00	0.000	4102	0.000	0.000	2843	1908	1470	1538	1402	0	0	0	0	0	0	15.09	15.09	15.09
4277	1.08	328.0	2843	1909	1540	1402	51.9	11.9	833	4283	0.00	0.00	0.00	0.000	4102	0.000	0.000	2843	1908	1469	1537	1401	0	0	0	0	0	0	15.11	15.11	15.11
4342	1.08	328.0	2844	1909	1537	1402	44.3	11.4	846	4348	0.00	0.00	0.00	0.000	4102	0.000	0.000	2843	1908	1469	1537	1401	0	0	0	0	0	0	15.12	15.12	15.13
4407	1.10	341.9	2844	1909	1536	1401	37.9	9.3	859	4425	0.00	0.00	12.12	0.936	12294	0.000	0.000	2846	1908	1416	1484	1349	0	0	0	0	0	0	15.14	14.81	14.42
4485	1.10	341.9	2844	1909	1484	1348	29.2	12.1	874	4491	0.00	2.38	0.00	0.000	260	0.000	0.064	2844	3310	1415	1483	1347	0	0	0	0	0	0	15.10	14.90	15.11
4520	1.10	341.9	2843	3311	1485	1348	24.5	12.5	881	4527	0.00	2.35	0.00	0.000	5126	0.000	0.047	2845	1915	1415	1484	1347	0	0	0	0	0	0	14.96	14.92	14.98
4587	1.10	341.9	2845	1916	1485	1347	16.6	11.8	894	4592	0.00	0.00	0.00	0.000	4102	0.000	0.000	2845	1915	1415	1483	1347	0	0	0	0	0	0	15.11	15.12	15.11
4651	1.10	341.9	2845	1915	1485	1348	9.6	10.7	907	4658	0.00	2.38	0.00	0.000	4356	0.000	0.063	2845	3299	1415	1484	1346	0	0	0	0	0	0	15.13	14.92	15.14
4711	end climb: SURFACE_DEPTH_REACHED
state	4711	begin surface coast
4726	end surface coast: CONTROL_FINISHED_OK
state	4726	begin surface