Glider dive log

Cuddy Jan14 * SG189 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 30 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING 90 C_ROLL_DIVE 2100 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_PING_DEPTH 500

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2931 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 101

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -58134.293 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2486 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -81.04335 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 2.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 2.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -81.04335 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -58134.293

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 360

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -1 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2486 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2931 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 115 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 30 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 14 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 180114,040304,4713.378,-12504.460,34,0.9,34,17.0 TGT_NAME QUINAULT_S

_CALLS 1 TGT_LATLONG 4715.000,-12506.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.048,0.255

_SM_DEPTHo 1.46 KALMAN_X 3138.9,-70.6,-89.4,-8830.5,502.8

_SM_ANGLEo -66.5 KALMAN_Y -14853.3,472.5,238.6,38466.5,-4328.6

GPS2 180114,040829,4713.338,-12504.481,19,0.8,20,17.0 MHEAD_RNG_PITCHd_Wd 332.3,3621,-17.5,-10.000,-21.09,2221

SPEED_LIMITS 0.100,0.259 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024280 _24V_AH 23.1,4.890

SM_CCo 15561,0.00,0.000,0,0,1781,282.10 _10V_AH 10.0,3.798

SM_GC 1.80,6.78,0.00,0.00,0.042,0.000,0.000,143,2128,1781,-7.24,0.79,282.10,0,0,0,0,0,0,26.36,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4651.23,-12503.93,180114,000001 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 313196

HUMID 50.27 DATA_FILE_SIZE 33703,463

INTERNAL_PRESSURE 8.44372 CAP_FILE_SIZE 120613,0

TCM_TEMP 17.50 CFSIZE 260165632,254861312

XPDR_PINGS 4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 743.9,34.0 GPS 180114,082958,4715.448,-12504.725,40,0.9,40,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 210 89.90 SBE_CT 322 23 172.85

Roll_motor 127 130 383.10 WL_BB2FLVMT 315 36 267.48

VBD_pump_during_apogee 342 1508 11929.41 AA4330 716 14 235.69

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 29 48 32.49 nil 0 0 0.00

Iridium_during_connect 17 160 63.28 nil 0 0 0.00

Iridium_during_xfer 165 223 850.55 nil 0 0 0.00

Transponder_ping 7 420 72.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.60

TT8 1406 11 168.27

LPSleep 12276 2 268.86

TT8_Active 509 11 60.99

TT8_Sampling 1513 37 566.52

TT8_CF8 178 45 81.46

TT8_Kalman 33 61 20.41

Analog_circuits 1141 15 171.26

GPS_charging 0 0 0.00

Compass 1169 15 184.02

RAFOS 0 0 0.00

Transponder 48 30 14.70

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

16 -0.63 -146.6 137 2068 1776 1604 0.0 0.0 0 50 0.00 0.00 -32.17 0.000 16386 0.000 0.000 136 2068 2610 2624 2596 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.63 -146.6 136 2068 2624 2597 2.3 -4.1 3 91 7.90 2.33 -22.62 0.000 18692 0.210 0.054 2273 3532 3528 3601 3456 0 0 0 0 0 0 25.79 25.98 26.27

360 -0.50 -146.6 2273 3532 3602 3456 49.7 -14.0 34 370 0.15 2.28 0.00 0.000 3078 0.148 0.029 2327 2063 3529 3602 3456 0 0 0 0 0 0 25.98 26.10 28.83

680 -0.50 -146.6 2327 2063 3603 3456 82.5 -9.3 65 685 0.00 2.20 0.00 0.000 4612 0.000 0.042 2328 670 3529 3603 3456 0 0 0 0 0 0 28.83 26.17 28.83

867 -0.50 -146.6 2328 671 3604 3456 99.8 -9.5 74 872 0.00 2.28 0.00 0.000 3078 0.000 0.031 2319 2130 3529 3604 3455 0 0 0 0 0 0 28.83 26.22 28.83

1172 -0.50 -146.6 2318 2129 3604 3456 129.7 -9.4 89 1173 0.00 0.00 0.00 0.000 2054 0.000 0.000 2318 2129 3529 3604 3455 0 0 0 0 0 0 28.83 28.83 28.83

1470 -0.50 -146.6 2318 2129 3605 3456 157.5 -9.2 103 1475 0.00 2.30 0.00 0.000 2564 0.000 0.041 2318 675 3530 3604 3456 0 0 0 0 0 0 28.83 26.29 28.83

1559 -0.50 -146.6 2318 675 3604 3456 166.8 -10.3 106 1566 0.05 2.25 0.00 0.000 3078 0.187 0.032 2325 2123 3529 3604 3455 0 0 0 0 0 0 26.22 26.32 28.83

1890 -0.50 -146.6 2325 2123 3604 3456 195.7 -9.1 117 1895 0.00 2.20 0.00 0.000 4356 0.000 0.042 2316 3524 3529 3604 3455 0 0 0 0 0 0 28.83 26.32 28.83

1950 -0.50 -146.6 2316 3524 3604 3456 201.3 -9.3 119 1955 0.00 2.22 0.00 0.000 3078 0.000 0.028 2316 2072 3530 3604 3456 0 0 0 0 0 0 28.83 26.36 28.83

2280 -0.50 -146.6 2316 2071 3604 3455 232.5 -9.2 130 2285 0.00 2.20 0.00 0.000 2564 0.000 0.042 2316 674 3530 3605 3455 0 0 0 0 0 0 28.83 26.36 28.83

2417 -0.50 -146.6 2316 673 3605 3456 245.0 -10.5 134 2422 0.08 2.25 0.00 0.000 3078 0.158 0.033 2332 2125 3530 3605 3455 0 0 0 0 0 0 26.29 26.39 28.83

2720 -0.57 -146.6 2331 2124 3604 3455 273.2 -8.2 144 2726 0.10 2.25 0.00 0.000 4612 0.090 0.042 2274 678 3529 3604 3455 0 0 0 0 0 0 26.41 26.38 28.83

2780 -0.57 -146.6 2274 678 3604 3455 279.8 -9.5 146 2786 0.12 2.25 0.00 0.000 3078 0.145 0.033 2308 2130 3530 3605 3455 0 0 0 0 0 0 26.30 26.41 28.83

3140 -0.57 -146.6 2309 2130 3604 3455 310.4 -8.3 156 3141 0.00 0.00 0.00 0.000 4102 0.000 0.000 2309 2130 3529 3604 3455 0 0 0 0 0 0 28.83 28.83 28.83

3442 -0.57 -146.6 2309 2130 3604 3455 335.2 -8.1 161 3443 0.00 0.00 0.00 0.000 4102 0.000 0.000 2309 2130 3530 3605 3455 0 0 0 0 0 0 28.83 28.83 28.83

3740 -0.57 -146.6 2309 2130 3605 3455 358.3 -7.7 166 3741 0.00 0.00 0.00 0.000 4102 0.000 0.000 2309 2130 3530 3605 3455 0 0 0 0 0 0 28.83 28.83 28.83

4040 -0.62 -146.6 2309 2130 3605 3456 382.9 -8.3 171 4046 0.08 2.28 0.00 0.000 4612 0.110 0.042 2263 676 3529 3604 3455 0 0 0 0 0 0 26.48 26.45 28.83

4108 -0.62 -146.6 2262 676 3604 3455 390.2 -9.3 172 4112 0.12 2.25 0.00 0.000 3078 0.145 0.033 2294 2130 3529 3604 3455 0 0 0 0 0 0 26.36 26.47 28.83

4451 -0.62 -146.6 2293 2130 3604 3455 424.3 -9.5 178 4456 0.00 2.30 0.00 0.000 4612 0.000 0.042 2294 672 3529 3604 3454 0 0 0 0 0 0 28.83 26.46 28.83

4488 -0.62 -146.6 2294 672 3604 3454 424.3 -9.5 178 4492 0.00 2.25 0.00 0.000 3078 0.000 0.033 2285 2130 3529 3604 3454 0 0 0 0 0 0 28.83 26.48 28.83

4801 -0.62 -146.6 2285 2130 3604 3454 454.8 -8.7 184 4806 0.00 2.20 0.00 0.000 2308 0.000 0.042 2275 3528 3529 3604 3454 0 0 0 0 0 0 28.83 26.46 28.83

4888 -0.62 -146.6 2275 3528 3605 3454 460.0 -8.7 185 4893 0.05 2.22 0.00 0.000 3078 0.180 0.030 2292 2070 3529 3604 3454 0 0 0 0 0 0 26.40 26.48 28.83

5212 -0.67 -146.6 2292 2069 3604 3453 487.9 -7.7 191 5214 0.08 0.00 0.00 0.000 4102 0.109 0.000 2247 2069 3528 3604 3453 0 0 0 0 0 0 26.51 28.83 28.83

5511 -0.67 -146.6 2247 2068 3604 3453 517.5 -10.3 196 5513 0.08 0.00 0.00 0.000 2054 0.161 0.000 2272 2069 3528 3604 3453 0 0 0 0 0 0 26.43 28.83 28.83

5813 -0.67 -146.6 2271 2068 3605 3453 541.7 -8.2 201 5817 0.00 2.20 0.00 0.000 4612 0.000 0.044 2272 667 3528 3604 3453 0 0 0 0 0 0 28.83 26.48 28.83

5859 -0.67 -146.6 2271 667 3604 3453 541.7 -8.2 201 5863 0.00 2.25 0.00 0.000 3078 0.000 0.032 2263 2130 3528 3604 3453 0 0 0 0 0 0 28.83 26.51 28.83

6162 -0.67 -146.6 2263 2130 3605 3453 572.4 -9.0 206 6164 0.00 0.00 0.00 0.000 2054 0.000 0.000 2263 2130 3528 3605 3452 0 0 0 0 0 0 28.83 28.83 28.83

6462 -0.67 -146.6 2262 2130 3605 3452 601.7 -9.9 211 6467 0.00 2.28 0.00 0.000 2564 0.000 0.043 2263 680 3527 3604 3451 0 0 0 0 0 0 28.83 26.49 28.83

6509 -0.67 -146.6 2263 680 3604 3452 601.7 -9.9 211 6514 0.05 2.22 0.00 0.000 3078 0.192 0.032 2270 2124 3527 3604 3451 0 0 0 0 0 0 26.41 26.51 28.83

6813 -0.73 -146.6 2269 2124 3604 3451 636.9 -10.3 216 6818 0.05 2.15 0.00 0.000 4356 0.145 0.042 2225 3526 3527 3604 3451 0 0 0 0 0 0 26.55 26.50 28.83

6859 -0.78 -146.6 2225 3527 3605 3450 636.9 -10.3 216 6863 0.00 2.22 0.00 0.000 3078 0.000 0.030 2225 2072 3527 3604 3450 0 0 0 0 0 0 28.83 26.52 28.83

7163 -0.78 -146.6 2225 2071 3604 3450 677.5 -11.7 221 7167 0.00 2.20 0.00 0.000 2564 0.000 0.044 2225 668 3526 3604 3449 0 0 0 0 0 0 28.83 26.50 28.83

7269 -0.78 -146.6 2225 668 3604 3449 683.8 -11.3 222 7273 0.08 2.25 0.00 0.000 3078 0.163 0.033 2240 2128 3526 3604 3449 0 0 0 0 0 0 26.42 26.52 28.83

7571 -0.78 -146.6 2240 2128 3604 3448 718.3 -9.8 227 7573 0.00 0.00 0.00 0.000 4102 0.000 0.000 2239 2128 3526 3604 3448 0 0 0 0 0 0 28.83 28.83 28.83

7876 -0.78 -146.6 2240 2128 3604 3448 743.9 -8.6 232 7877 0.00 0.00 0.00 0.000 4102 0.000 0.000 2240 2128 3526 3604 3448 0 0 0 0 0 0 28.83 28.83 28.83

8171 -0.78 -146.6 2240 2128 3602 3448 764.3 -7.2 237 8177 0.00 2.30 0.00 0.000 4612 0.000 0.044 2241 675 3525 3603 3448 0 0 0 0 0 0 28.83 26.51 28.83

8229 end dive: BOTTOM_OBSTACLE_DETECTED

state 8229 begin apogee

8237 -0.18 0.0 2231 2128 3603 3448 770.6 -9.0 238 8358 0.55 0.00 116.05 1.509 10246 0.106 0.000 2430 2128 2931 3005 2857 0 0 0 0 0 0 26.44 28.83 23.31

8359 end apogee: CONTROL_FINISHED_OK

state 8359 begin climb

8361 0.63 146.6 2429 2128 3005 2857 771.9 0.0 240 8488 0.75 0.00 122.75 1.480 10502 0.054 0.000 2701 2128 2332 2417 2248 0 0 0 0 0 0 24.34 28.83 23.09

8823 0.50 146.6 2701 2128 2411 2248 715.6 15.3 248 8828 0.20 2.33 0.00 0.000 4612 0.158 0.046 2652 677 2329 2411 2248 0 0 0 0 0 0 25.32 25.41 28.83

8869 0.37 146.6 2652 678 2410 2248 715.6 15.3 248 8874 0.17 2.33 0.00 0.000 5126 0.145 0.031 2598 2129 2329 2410 2248 0 0 0 0 0 0 25.38 25.50 28.83

9171 0.37 169.4 2598 2129 2409 2248 683.1 8.9 253 9192 0.00 0.00 19.33 1.383 10246 0.000 0.000 2599 2129 2239 2326 2152 0 0 0 0 0 0 28.83 28.83 24.32

9471 0.37 184.0 2598 2129 2326 2152 655.2 9.3 258 9490 0.00 2.38 13.68 1.336 10756 0.000 0.044 2608 672 2179 2272 2086 0 0 0 0 0 0 28.83 25.23 24.37

9521 0.37 190.0 2607 672 2271 2086 650.4 9.7 259 9533 0.00 2.35 6.57 1.200 13318 0.000 0.031 2608 2124 2154 2250 2059 0 0 0 0 0 0 28.83 25.34 24.30

9872 0.37 199.4 2608 2124 2250 2060 616.7 9.6 265 9888 0.00 2.42 9.15 1.274 12804 0.000 0.046 2619 671 2117 2216 2019 0 0 0 0 0 0 28.83 25.41 24.54

10009 0.37 216.9 2618 671 2216 2019 605.8 9.2 267 10031 0.05 2.33 16.02 1.330 13318 0.176 0.031 2602 2119 2045 2146 1944 0 0 0 0 0 0 25.51 25.60 24.30

10342 0.44 247.3 2602 2119 2144 1944 575.7 8.6 273 10374 0.08 2.45 26.42 1.349 10756 0.108 0.046 2657 679 1920 2018 1823 0 0 0 0 0 0 25.67 24.93 24.09

10560 0.44 247.3 2656 679 2012 1824 554.9 11.4 276 10565 0.10 2.33 0.00 0.000 5126 0.144 0.031 2625 2120 1917 2012 1823 0 0 0 0 0 0 25.34 25.45 28.83

10864 0.50 249.5 2625 2120 2010 1824 519.2 9.9 281 10869 0.08 2.33 0.00 0.000 2564 0.108 0.046 2679 678 1916 2010 1823 0 0 0 0 0 0 25.76 25.72 28.83

11072 0.50 249.5 2678 678 2009 1823 495.3 12.5 284 11079 0.10 2.30 0.00 0.000 5126 0.148 0.031 2647 2127 1916 2009 1824 0 0 0 0 0 0 25.76 25.86 28.83

11404 0.50 249.5 2647 2127 2009 1823 453.5 11.2 290 11408 0.00 2.35 0.00 0.000 4612 0.000 0.046 2656 673 1916 2009 1823 0 0 0 0 0 0 28.83 25.97 28.83

11522 0.50 249.5 2656 673 2008 1823 439.6 11.4 292 11528 0.00 2.30 0.00 0.000 5126 0.000 0.031 2657 2133 1915 2008 1823 0 0 0 0 0 0 28.83 26.03 28.83

11883 0.50 249.5 2656 2133 2008 1823 398.9 11.4 298 11889 0.00 2.35 0.00 0.000 4612 0.000 0.045 2667 676 1915 2008 1823 0 0 0 0 0 0 28.83 26.09 28.83

12010 0.50 249.5 2666 676 2007 1823 384.9 11.6 300 12015 0.08 2.30 0.00 0.000 5126 0.155 0.032 2642 2128 1915 2007 1823 0 0 0 0 0 0 26.06 26.14 28.83

12354 0.57 249.5 2642 2129 2007 1823 348.4 10.2 306 12359 0.08 2.30 0.00 0.000 2564 0.111 0.045 2697 678 1915 2007 1823 0 0 0 0 0 0 26.22 26.17 28.83

12501 0.57 249.5 2697 678 2007 1823 333.3 11.1 308 12505 0.10 2.25 0.00 0.000 5126 0.147 0.031 2665 2122 1915 2007 1823 0 0 0 0 0 0 26.12 26.23 28.83

12823 0.57 249.5 2664 2122 2007 1823 294.6 10.8 314 12829 0.00 2.33 0.00 0.000 2564 0.000 0.046 2675 673 1915 2007 1823 0 0 0 0 0 0 28.83 26.24 28.83

12944 0.57 249.5 2674 673 2007 1823 282.5 10.0 318 12950 0.00 2.25 0.00 0.000 5126 0.000 0.031 2674 2123 1915 2007 1823 0 0 0 0 0 0 28.83 26.27 28.83

13274 0.57 249.5 2674 2123 2007 1823 248.6 10.2 329 13279 0.00 2.30 0.00 0.000 4612 0.000 0.045 2684 676 1915 2007 1823 0 0 0 0 0 0 28.83 26.28 28.83

13401 0.57 249.5 2684 676 2007 1823 235.7 10.8 333 13406 0.05 2.28 0.00 0.000 5126 0.178 0.031 2668 2126 1915 2007 1823 0 0 0 0 0 0 26.23 26.32 28.83

13714 0.63 249.5 2667 2126 2007 1824 203.4 10.0 344 13720 0.08 2.28 0.00 0.000 2564 0.109 0.044 2724 677 1915 2007 1823 0 0 0 0 0 0 26.36 26.32 28.83

13871 0.63 249.5 2724 677 2007 1823 183.1 13.9 349 13876 0.12 2.25 0.00 0.000 5126 0.140 0.031 2682 2131 1915 2007 1824 0 0 0 0 0 0 26.25 26.35 28.83

14185 0.68 249.5 2682 2131 2007 1824 147.4 10.6 360 14191 0.08 2.28 0.00 0.000 2564 0.109 0.045 2738 680 1915 2007 1824 0 0 0 0 0 0 26.39 26.34 28.83

14352 0.68 249.5 2737 680 2007 1823 124.6 14.6 368 14357 0.10 2.25 0.00 0.000 5126 0.149 0.031 2705 2134 1914 2006 1823 0 0 0 0 0 0 26.28 26.38 28.83

14655 0.68 249.5 2704 2134 2007 1824 86.3 11.9 383 14660 0.00 2.30 0.00 0.000 4612 0.000 0.045 2714 683 1915 2007 1823 0 0 0 0 0 0 28.83 26.39 28.83

14735 0.68 249.5 2714 682 2007 1824 76.7 12.3 388 14744 0.00 2.22 0.00 0.000 5126 0.000 0.031 2714 2127 1915 2007 1823 0 0 0 0 0 0 28.83 26.41 28.83

15044 0.68 249.5 2714 2127 2007 1824 41.6 11.5 419 15053 0.00 2.30 0.00 0.000 4612 0.000 0.045 2725 676 1915 2007 1823 0 0 0 0 0 0 28.83 26.40 28.83

15296 0.74 280.2 2724 676 2007 1823 16.0 8.6 444 15314 0.00 2.22 12.35 0.192 13318 0.000 0.032 2725 2127 1785 1888 1683 0 0 0 0 0 0 28.83 26.43 26.20

15452 end climb: SURFACE_DEPTH_REACHED

state 15452 begin surface coast

15485 end surface coast: CONTROL_FINISHED_OK

state 15485 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	30	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING	90	C_ROLL_DIVE	2100	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_PING_DEPTH	500
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2931	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	101
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-58134.293	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2486	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-81.04335	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	2.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	0

GPS1	180114,040304,4713.378,-12504.460,34,0.9,34,17.0	TGT_NAME	QUINAULT_S
_CALLS	1	TGT_LATLONG	4715.000,-12506.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.048,0.255
_SM_DEPTHo	1.46	KALMAN_X	3138.9,-70.6,-89.4,-8830.5,502.8
_SM_ANGLEo	-66.5	KALMAN_Y	-14853.3,472.5,238.6,38466.5,-4328.6
GPS2	180114,040829,4713.338,-12504.481,19,0.8,20,17.0	MHEAD_RNG_PITCHd_Wd	332.3,3621,-17.5,-10.000,-21.09,2221
SPEED_LIMITS	0.100,0.259	D_GRID	990

FINISH	0.5,1.024280	_24V_AH	23.1,4.890
SM_CCo	15561,0.00,0.000,0,0,1781,282.10	_10V_AH	10.0,3.798
SM_GC	1.80,6.78,0.00,0.00,0.042,0.000,0.000,143,2128,1781,-7.24,0.79,282.10,0,0,0,0,0,0,26.36,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4651.23,-12503.93,180114,000001	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	313196
HUMID	50.27	DATA_FILE_SIZE	33703,463
INTERNAL_PRESSURE	8.44372	CAP_FILE_SIZE	120613,0
TCM_TEMP	17.50	CFSIZE	260165632,254861312
XPDR_PINGS	4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	743.9,34.0	GPS	180114,082958,4715.448,-12504.725,40,0.9,40,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	210	89.90	SBE_CT	322	23	172.85
Roll_motor	127	130	383.10	WL_BB2FLVMT	315	36	267.48
VBD_pump_during_apogee	342	1508	11929.41	AA4330	716	14	235.69
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	29	48	32.49	nil	0	0	0.00
Iridium_during_connect	17	160	63.28	nil	0	0	0.00
Iridium_during_xfer	165	223	850.55	nil	0	0	0.00
Transponder_ping	7	420	72.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.60
TT8	1406	11	168.27
LPSleep	12276	2	268.86
TT8_Active	509	11	60.99
TT8_Sampling	1513	37	566.52
TT8_CF8	178	45	81.46
TT8_Kalman	33	61	20.41
Analog_circuits	1141	15	171.26
GPS_charging	0	0	0.00
Compass	1169	15	184.02
RAFOS	0	0	0.00
Transponder	48	30	14.70

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
16	-0.63	-146.6	137	2068	1776	1604	0.0	0.0	0	50	0.00	0.00	-32.17	0.000	16386	0.000	0.000	136	2068	2610	2624	2596	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.63	-146.6	136	2068	2624	2597	2.3	-4.1	3	91	7.90	2.33	-22.62	0.000	18692	0.210	0.054	2273	3532	3528	3601	3456	0	0	0	0	0	0	25.79	25.98	26.27
360	-0.50	-146.6	2273	3532	3602	3456	49.7	-14.0	34	370	0.15	2.28	0.00	0.000	3078	0.148	0.029	2327	2063	3529	3602	3456	0	0	0	0	0	0	25.98	26.10	28.83
680	-0.50	-146.6	2327	2063	3603	3456	82.5	-9.3	65	685	0.00	2.20	0.00	0.000	4612	0.000	0.042	2328	670	3529	3603	3456	0	0	0	0	0	0	28.83	26.17	28.83
867	-0.50	-146.6	2328	671	3604	3456	99.8	-9.5	74	872	0.00	2.28	0.00	0.000	3078	0.000	0.031	2319	2130	3529	3604	3455	0	0	0	0	0	0	28.83	26.22	28.83
1172	-0.50	-146.6	2318	2129	3604	3456	129.7	-9.4	89	1173	0.00	0.00	0.00	0.000	2054	0.000	0.000	2318	2129	3529	3604	3455	0	0	0	0	0	0	28.83	28.83	28.83
1470	-0.50	-146.6	2318	2129	3605	3456	157.5	-9.2	103	1475	0.00	2.30	0.00	0.000	2564	0.000	0.041	2318	675	3530	3604	3456	0	0	0	0	0	0	28.83	26.29	28.83
1559	-0.50	-146.6	2318	675	3604	3456	166.8	-10.3	106	1566	0.05	2.25	0.00	0.000	3078	0.187	0.032	2325	2123	3529	3604	3455	0	0	0	0	0	0	26.22	26.32	28.83
1890	-0.50	-146.6	2325	2123	3604	3456	195.7	-9.1	117	1895	0.00	2.20	0.00	0.000	4356	0.000	0.042	2316	3524	3529	3604	3455	0	0	0	0	0	0	28.83	26.32	28.83
1950	-0.50	-146.6	2316	3524	3604	3456	201.3	-9.3	119	1955	0.00	2.22	0.00	0.000	3078	0.000	0.028	2316	2072	3530	3604	3456	0	0	0	0	0	0	28.83	26.36	28.83
2280	-0.50	-146.6	2316	2071	3604	3455	232.5	-9.2	130	2285	0.00	2.20	0.00	0.000	2564	0.000	0.042	2316	674	3530	3605	3455	0	0	0	0	0	0	28.83	26.36	28.83
2417	-0.50	-146.6	2316	673	3605	3456	245.0	-10.5	134	2422	0.08	2.25	0.00	0.000	3078	0.158	0.033	2332	2125	3530	3605	3455	0	0	0	0	0	0	26.29	26.39	28.83
2720	-0.57	-146.6	2331	2124	3604	3455	273.2	-8.2	144	2726	0.10	2.25	0.00	0.000	4612	0.090	0.042	2274	678	3529	3604	3455	0	0	0	0	0	0	26.41	26.38	28.83
2780	-0.57	-146.6	2274	678	3604	3455	279.8	-9.5	146	2786	0.12	2.25	0.00	0.000	3078	0.145	0.033	2308	2130	3530	3605	3455	0	0	0	0	0	0	26.30	26.41	28.83
3140	-0.57	-146.6	2309	2130	3604	3455	310.4	-8.3	156	3141	0.00	0.00	0.00	0.000	4102	0.000	0.000	2309	2130	3529	3604	3455	0	0	0	0	0	0	28.83	28.83	28.83
3442	-0.57	-146.6	2309	2130	3604	3455	335.2	-8.1	161	3443	0.00	0.00	0.00	0.000	4102	0.000	0.000	2309	2130	3530	3605	3455	0	0	0	0	0	0	28.83	28.83	28.83
3740	-0.57	-146.6	2309	2130	3605	3455	358.3	-7.7	166	3741	0.00	0.00	0.00	0.000	4102	0.000	0.000	2309	2130	3530	3605	3455	0	0	0	0	0	0	28.83	28.83	28.83
4040	-0.62	-146.6	2309	2130	3605	3456	382.9	-8.3	171	4046	0.08	2.28	0.00	0.000	4612	0.110	0.042	2263	676	3529	3604	3455	0	0	0	0	0	0	26.48	26.45	28.83
4108	-0.62	-146.6	2262	676	3604	3455	390.2	-9.3	172	4112	0.12	2.25	0.00	0.000	3078	0.145	0.033	2294	2130	3529	3604	3455	0	0	0	0	0	0	26.36	26.47	28.83
4451	-0.62	-146.6	2293	2130	3604	3455	424.3	-9.5	178	4456	0.00	2.30	0.00	0.000	4612	0.000	0.042	2294	672	3529	3604	3454	0	0	0	0	0	0	28.83	26.46	28.83
4488	-0.62	-146.6	2294	672	3604	3454	424.3	-9.5	178	4492	0.00	2.25	0.00	0.000	3078	0.000	0.033	2285	2130	3529	3604	3454	0	0	0	0	0	0	28.83	26.48	28.83
4801	-0.62	-146.6	2285	2130	3604	3454	454.8	-8.7	184	4806	0.00	2.20	0.00	0.000	2308	0.000	0.042	2275	3528	3529	3604	3454	0	0	0	0	0	0	28.83	26.46	28.83
4888	-0.62	-146.6	2275	3528	3605	3454	460.0	-8.7	185	4893	0.05	2.22	0.00	0.000	3078	0.180	0.030	2292	2070	3529	3604	3454	0	0	0	0	0	0	26.40	26.48	28.83
5212	-0.67	-146.6	2292	2069	3604	3453	487.9	-7.7	191	5214	0.08	0.00	0.00	0.000	4102	0.109	0.000	2247	2069	3528	3604	3453	0	0	0	0	0	0	26.51	28.83	28.83
5511	-0.67	-146.6	2247	2068	3604	3453	517.5	-10.3	196	5513	0.08	0.00	0.00	0.000	2054	0.161	0.000	2272	2069	3528	3604	3453	0	0	0	0	0	0	26.43	28.83	28.83
5813	-0.67	-146.6	2271	2068	3605	3453	541.7	-8.2	201	5817	0.00	2.20	0.00	0.000	4612	0.000	0.044	2272	667	3528	3604	3453	0	0	0	0	0	0	28.83	26.48	28.83
5859	-0.67	-146.6	2271	667	3604	3453	541.7	-8.2	201	5863	0.00	2.25	0.00	0.000	3078	0.000	0.032	2263	2130	3528	3604	3453	0	0	0	0	0	0	28.83	26.51	28.83
6162	-0.67	-146.6	2263	2130	3605	3453	572.4	-9.0	206	6164	0.00	0.00	0.00	0.000	2054	0.000	0.000	2263	2130	3528	3605	3452	0	0	0	0	0	0	28.83	28.83	28.83
6462	-0.67	-146.6	2262	2130	3605	3452	601.7	-9.9	211	6467	0.00	2.28	0.00	0.000	2564	0.000	0.043	2263	680	3527	3604	3451	0	0	0	0	0	0	28.83	26.49	28.83
6509	-0.67	-146.6	2263	680	3604	3452	601.7	-9.9	211	6514	0.05	2.22	0.00	0.000	3078	0.192	0.032	2270	2124	3527	3604	3451	0	0	0	0	0	0	26.41	26.51	28.83
6813	-0.73	-146.6	2269	2124	3604	3451	636.9	-10.3	216	6818	0.05	2.15	0.00	0.000	4356	0.145	0.042	2225	3526	3527	3604	3451	0	0	0	0	0	0	26.55	26.50	28.83
6859	-0.78	-146.6	2225	3527	3605	3450	636.9	-10.3	216	6863	0.00	2.22	0.00	0.000	3078	0.000	0.030	2225	2072	3527	3604	3450	0	0	0	0	0	0	28.83	26.52	28.83
7163	-0.78	-146.6	2225	2071	3604	3450	677.5	-11.7	221	7167	0.00	2.20	0.00	0.000	2564	0.000	0.044	2225	668	3526	3604	3449	0	0	0	0	0	0	28.83	26.50	28.83
7269	-0.78	-146.6	2225	668	3604	3449	683.8	-11.3	222	7273	0.08	2.25	0.00	0.000	3078	0.163	0.033	2240	2128	3526	3604	3449	0	0	0	0	0	0	26.42	26.52	28.83
7571	-0.78	-146.6	2240	2128	3604	3448	718.3	-9.8	227	7573	0.00	0.00	0.00	0.000	4102	0.000	0.000	2239	2128	3526	3604	3448	0	0	0	0	0	0	28.83	28.83	28.83
7876	-0.78	-146.6	2240	2128	3604	3448	743.9	-8.6	232	7877	0.00	0.00	0.00	0.000	4102	0.000	0.000	2240	2128	3526	3604	3448	0	0	0	0	0	0	28.83	28.83	28.83
8171	-0.78	-146.6	2240	2128	3602	3448	764.3	-7.2	237	8177	0.00	2.30	0.00	0.000	4612	0.000	0.044	2241	675	3525	3603	3448	0	0	0	0	0	0	28.83	26.51	28.83
8229	end dive: BOTTOM_OBSTACLE_DETECTED
state	8229	begin apogee
8237	-0.18	0.0	2231	2128	3603	3448	770.6	-9.0	238	8358	0.55	0.00	116.05	1.509	10246	0.106	0.000	2430	2128	2931	3005	2857	0	0	0	0	0	0	26.44	28.83	23.31
8359	end apogee: CONTROL_FINISHED_OK
state	8359	begin climb
8361	0.63	146.6	2429	2128	3005	2857	771.9	0.0	240	8488	0.75	0.00	122.75	1.480	10502	0.054	0.000	2701	2128	2332	2417	2248	0	0	0	0	0	0	24.34	28.83	23.09
8823	0.50	146.6	2701	2128	2411	2248	715.6	15.3	248	8828	0.20	2.33	0.00	0.000	4612	0.158	0.046	2652	677	2329	2411	2248	0	0	0	0	0	0	25.32	25.41	28.83
8869	0.37	146.6	2652	678	2410	2248	715.6	15.3	248	8874	0.17	2.33	0.00	0.000	5126	0.145	0.031	2598	2129	2329	2410	2248	0	0	0	0	0	0	25.38	25.50	28.83
9171	0.37	169.4	2598	2129	2409	2248	683.1	8.9	253	9192	0.00	0.00	19.33	1.383	10246	0.000	0.000	2599	2129	2239	2326	2152	0	0	0	0	0	0	28.83	28.83	24.32
9471	0.37	184.0	2598	2129	2326	2152	655.2	9.3	258	9490	0.00	2.38	13.68	1.336	10756	0.000	0.044	2608	672	2179	2272	2086	0	0	0	0	0	0	28.83	25.23	24.37
9521	0.37	190.0	2607	672	2271	2086	650.4	9.7	259	9533	0.00	2.35	6.57	1.200	13318	0.000	0.031	2608	2124	2154	2250	2059	0	0	0	0	0	0	28.83	25.34	24.30
9872	0.37	199.4	2608	2124	2250	2060	616.7	9.6	265	9888	0.00	2.42	9.15	1.274	12804	0.000	0.046	2619	671	2117	2216	2019	0	0	0	0	0	0	28.83	25.41	24.54
10009	0.37	216.9	2618	671	2216	2019	605.8	9.2	267	10031	0.05	2.33	16.02	1.330	13318	0.176	0.031	2602	2119	2045	2146	1944	0	0	0	0	0	0	25.51	25.60	24.30
10342	0.44	247.3	2602	2119	2144	1944	575.7	8.6	273	10374	0.08	2.45	26.42	1.349	10756	0.108	0.046	2657	679	1920	2018	1823	0	0	0	0	0	0	25.67	24.93	24.09
10560	0.44	247.3	2656	679	2012	1824	554.9	11.4	276	10565	0.10	2.33	0.00	0.000	5126	0.144	0.031	2625	2120	1917	2012	1823	0	0	0	0	0	0	25.34	25.45	28.83
10864	0.50	249.5	2625	2120	2010	1824	519.2	9.9	281	10869	0.08	2.33	0.00	0.000	2564	0.108	0.046	2679	678	1916	2010	1823	0	0	0	0	0	0	25.76	25.72	28.83
11072	0.50	249.5	2678	678	2009	1823	495.3	12.5	284	11079	0.10	2.30	0.00	0.000	5126	0.148	0.031	2647	2127	1916	2009	1824	0	0	0	0	0	0	25.76	25.86	28.83
11404	0.50	249.5	2647	2127	2009	1823	453.5	11.2	290	11408	0.00	2.35	0.00	0.000	4612	0.000	0.046	2656	673	1916	2009	1823	0	0	0	0	0	0	28.83	25.97	28.83
11522	0.50	249.5	2656	673	2008	1823	439.6	11.4	292	11528	0.00	2.30	0.00	0.000	5126	0.000	0.031	2657	2133	1915	2008	1823	0	0	0	0	0	0	28.83	26.03	28.83
11883	0.50	249.5	2656	2133	2008	1823	398.9	11.4	298	11889	0.00	2.35	0.00	0.000	4612	0.000	0.045	2667	676	1915	2008	1823	0	0	0	0	0	0	28.83	26.09	28.83
12010	0.50	249.5	2666	676	2007	1823	384.9	11.6	300	12015	0.08	2.30	0.00	0.000	5126	0.155	0.032	2642	2128	1915	2007	1823	0	0	0	0	0	0	26.06	26.14	28.83
12354	0.57	249.5	2642	2129	2007	1823	348.4	10.2	306	12359	0.08	2.30	0.00	0.000	2564	0.111	0.045	2697	678	1915	2007	1823	0	0	0	0	0	0	26.22	26.17	28.83
12501	0.57	249.5	2697	678	2007	1823	333.3	11.1	308	12505	0.10	2.25	0.00	0.000	5126	0.147	0.031	2665	2122	1915	2007	1823	0	0	0	0	0	0	26.12	26.23	28.83
12823	0.57	249.5	2664	2122	2007	1823	294.6	10.8	314	12829	0.00	2.33	0.00	0.000	2564	0.000	0.046	2675	673	1915	2007	1823	0	0	0	0	0	0	28.83	26.24	28.83
12944	0.57	249.5	2674	673	2007	1823	282.5	10.0	318	12950	0.00	2.25	0.00	0.000	5126	0.000	0.031	2674	2123	1915	2007	1823	0	0	0	0	0	0	28.83	26.27	28.83
13274	0.57	249.5	2674	2123	2007	1823	248.6	10.2	329	13279	0.00	2.30	0.00	0.000	4612	0.000	0.045	2684	676	1915	2007	1823	0	0	0	0	0	0	28.83	26.28	28.83
13401	0.57	249.5	2684	676	2007	1823	235.7	10.8	333	13406	0.05	2.28	0.00	0.000	5126	0.178	0.031	2668	2126	1915	2007	1823	0	0	0	0	0	0	26.23	26.32	28.83
13714	0.63	249.5	2667	2126	2007	1824	203.4	10.0	344	13720	0.08	2.28	0.00	0.000	2564	0.109	0.044	2724	677	1915	2007	1823	0	0	0	0	0	0	26.36	26.32	28.83
13871	0.63	249.5	2724	677	2007	1823	183.1	13.9	349	13876	0.12	2.25	0.00	0.000	5126	0.140	0.031	2682	2131	1915	2007	1824	0	0	0	0	0	0	26.25	26.35	28.83
14185	0.68	249.5	2682	2131	2007	1824	147.4	10.6	360	14191	0.08	2.28	0.00	0.000	2564	0.109	0.045	2738	680	1915	2007	1824	0	0	0	0	0	0	26.39	26.34	28.83
14352	0.68	249.5	2737	680	2007	1823	124.6	14.6	368	14357	0.10	2.25	0.00	0.000	5126	0.149	0.031	2705	2134	1914	2006	1823	0	0	0	0	0	0	26.28	26.38	28.83
14655	0.68	249.5	2704	2134	2007	1824	86.3	11.9	383	14660	0.00	2.30	0.00	0.000	4612	0.000	0.045	2714	683	1915	2007	1823	0	0	0	0	0	0	28.83	26.39	28.83
14735	0.68	249.5	2714	682	2007	1824	76.7	12.3	388	14744	0.00	2.22	0.00	0.000	5126	0.000	0.031	2714	2127	1915	2007	1823	0	0	0	0	0	0	28.83	26.41	28.83
15044	0.68	249.5	2714	2127	2007	1824	41.6	11.5	419	15053	0.00	2.30	0.00	0.000	4612	0.000	0.045	2725	676	1915	2007	1823	0	0	0	0	0	0	28.83	26.40	28.83
15296	0.74	280.2	2724	676	2007	1823	16.0	8.6	444	15314	0.00	2.22	12.35	0.192	13318	0.000	0.032	2725	2127	1785	1888	1683	0	0	0	0	0	0	28.83	26.43	26.20
15452	end climb: SURFACE_DEPTH_REACHED
state	15452	begin surface coast
15485	end surface coast: CONTROL_FINISHED_OK
state	15485	begin surface