Glider dive log

SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 162 * 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 102 C_ROLL_CLIMB 1910 ALTIM_TOP_TURN_MARGIN 0

DIVE 162 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 28 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 51 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 212 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 0 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 2 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 212

CALL_TRIES 5 HEADING 102 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 2 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 28 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 51 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 162 NAV_MODE 0 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 260918,045052,-2949.6147,3118.9224,29,0.8,30,-24.7,0.6,33.3,10,9.1 SPEED_LIMITS 0.173,0.260

_CALLS 2 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG -2951.642,3131.194

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.01 MHEAD_RNG_PITCHd_Wd 126.7,20000,-18.2,-9.980,-21.01,2240

_SM_ANGLEo -63.2 D_GRID 500

GPS2 260918,050701,-2949.3972,3119.0134,31,0.9,35,-24.7,0.2,334.9,9,6.1

Post-dive calculations and measurements:

FINISH 0.2,1.024282 _24V_AH 13.88,46.693

SM_CCo 5521,0.00,0.000,0,0,1355,357.40 _10V_AH 13.58,0.000

SM_GC 0.81,12.48,0.32,0.00,0.058,0.054,0.000,146,2164,1355,-7.26,-1.61,357.40,0,0,0,0,0,0,14.90,14.95,14.97 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2937.63,3118.71,260918,045418 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.873334 MEM 343564

HUMID 51.41 DATA_FILE_SIZE 30039,924

INTERNAL_PRESSURE 9.09179 CAP_FILE_SIZE 190717,0

TCM_TEMP 22.40 CFSIZE 1023623168,999768064

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

ALTIM_TOP_PING 19.6,19.4 INTR 0,4156.33,0x212b66,1,24

ALTIM_BOTTOM_PING 312.2,22.4 GPS 260918,063948,-2949.093,3120.126,14,1.0,17,-24.7,0.3,0.0,9,8.5

SC_FREEKB 3837440

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 505 194.24 nil 0 0 0.00

Roll_motor 156 89 194.46 nil 0 0 0.00

VBD_pump_during_apogee 386 1419 7608.03 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 48 32 21.95 nil 0 0 0.00

Iridium_during_connect 57 160 127.30 SciCon 5506 27 2118.15

Iridium_during_xfer 557 223 1724.84 nil 0 0 0.00

Transponder_ping 6 420 37.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 23 11.31

TT8 0 0 0.00

LPSleep 2758 2 82.04

TT8_Active 718 8 83.62

TT8_Sampling 2793 28 1064.03

TT8_CF8 203 41 114.56

TT8_Kalman 0 0 0.00

Analog_circuits 1564 12 263.41

GPS_charging 0 0 0.00

Compass 1504 17 352.06

RAFOS 0 0 0.00

Transponder 45 30 18.56

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.0 73 2138 1359 1254 0.0 0.0 0 82 0.00 0.00 -61.72 0.000 16386 0.000 0.000 72 2138 3016 3021 3011 0 0 0 0 0 0 15.00 28.83 15.00

84 -0.85 -146.0 70 2139 3021 3013 3.7 -10.0 11 108 12.00 2.42 -7.12 0.000 18692 0.278 0.090 2197 3527 3410 3450 3370 0 0 0 0 0 0 14.66 13.88 14.79

302 -0.85 -146.0 2198 3530 3452 3370 50.5 -17.9 54 309 0.05 2.35 0.00 0.000 3078 0.247 0.040 2209 2116 3411 3452 3370 0 0 0 0 0 0 14.78 14.90 14.88

369 -0.85 -146.0 2210 2115 3452 3370 62.4 -17.4 67 375 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2115 3411 3453 3370 0 0 0 0 0 0 15.11 15.10 15.11

434 -0.85 -146.0 2208 2116 3454 3371 72.7 -14.7 80 440 0.00 2.45 0.00 0.000 2308 0.000 0.071 2200 3521 3411 3452 3370 0 0 0 0 0 0 15.11 14.87 15.12

474 -0.85 -146.0 2199 3521 3454 3371 78.9 -14.9 88 481 0.03 2.30 0.00 0.000 3078 0.335 0.040 2208 2130 3411 3453 3370 0 0 0 0 0 0 14.75 14.90 14.88

541 -0.85 -146.0 2207 2131 3455 3371 89.0 -16.1 101 547 0.00 2.33 0.00 0.000 2564 0.000 0.067 2208 737 3411 3453 3370 0 0 0 0 0 0 15.12 14.92 15.12

576 -0.85 -146.0 2208 736 3455 3370 94.6 -15.6 108 583 0.00 2.30 0.00 0.000 3078 0.000 0.049 2200 2117 3411 3453 3370 0 0 0 0 0 0 14.97 14.93 15.00

643 -0.85 -146.0 2199 2118 3454 3371 104.2 -14.6 121 649 0.03 2.40 0.00 0.000 2308 0.506 0.073 2198 3538 3411 3453 3369 0 0 0 0 0 0 14.83 14.89 14.99

713 -0.85 -146.0 2199 3539 3453 3370 114.6 -14.0 135 721 0.03 2.33 0.00 0.000 3078 0.328 0.039 2206 2129 3412 3454 3370 0 0 0 0 0 0 14.76 14.89 14.88

780 -0.85 -146.0 2206 2126 3456 3371 124.0 -14.8 148 786 0.00 2.38 0.00 0.000 2564 0.000 0.066 2206 735 3411 3453 3370 0 0 0 0 0 0 15.15 14.92 15.15

816 -0.85 -146.0 2207 735 3452 3370 129.2 -14.9 155 822 0.00 2.33 0.00 0.000 3078 0.000 0.050 2206 2127 3412 3454 3370 0 0 0 0 0 0 14.99 14.95 15.01

882 -0.85 -146.0 2207 2128 3454 3369 138.0 -12.9 168 888 0.00 2.40 0.00 0.000 2308 0.000 0.073 2196 3545 3412 3454 3370 0 0 0 0 0 0 15.15 14.90 15.15

932 -0.85 -146.0 2196 3546 3455 3369 144.7 -12.9 178 939 0.05 2.33 0.00 0.000 3078 0.237 0.037 2209 2132 3411 3454 3369 0 0 0 0 0 0 14.85 14.96 14.95

999 -0.85 -146.0 2210 2132 3454 3370 153.1 -11.7 191 1004 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2131 3412 3454 3370 0 0 0 0 0 0 15.16 15.17 15.16

1063 -0.85 -146.0 2209 2132 3455 3371 160.8 -12.0 204 1070 0.00 2.38 0.00 0.000 2564 0.000 0.067 2210 704 3412 3454 3370 0 0 0 0 0 0 15.17 14.91 15.18

1084 -0.85 -146.0 2210 705 3454 3370 163.4 -13.0 208 1091 0.00 2.38 0.00 0.000 3078 0.000 0.049 2210 2132 3411 3453 3370 0 0 0 0 0 0 14.99 14.94 15.00

1151 -0.85 -146.0 2209 2132 3455 3371 171.7 -12.8 221 1157 0.00 2.38 0.00 0.000 2308 0.000 0.073 2210 3537 3412 3454 3370 0 0 0 0 0 0 15.16 14.95 15.16

1196 -0.85 -146.0 2210 3537 3454 3370 177.4 -12.4 230 1203 0.00 2.33 0.00 0.000 3078 0.000 0.037 2210 2129 3412 3454 3370 0 0 0 0 0 0 15.01 14.97 15.02

1262 -0.85 -146.0 2209 2129 3456 3372 185.7 -12.7 243 1268 0.00 0.00 0.00 0.000 2054 0.000 0.000 2210 2129 3412 3454 3370 0 0 0 0 0 0 15.15 15.16 15.16

1327 -0.85 -146.0 2209 2130 3456 3371 193.9 -12.6 256 1334 0.00 2.42 0.00 0.000 2308 0.000 0.070 2201 3534 3412 3454 3370 0 0 0 0 0 0 15.16 14.95 15.16

1348 -0.85 -146.0 2202 3534 3454 3370 196.6 -12.7 260 1354 0.00 2.33 0.00 0.000 3078 0.000 0.037 2201 2120 3412 3454 3370 0 0 0 0 0 0 14.95 14.92 14.97

1414 -0.85 -146.0 2202 2120 3454 3370 205.2 -13.3 273 1420 0.00 2.33 0.00 0.000 2564 0.000 0.065 2201 722 3412 3454 3370 0 0 0 0 0 0 15.19 14.95 15.19

1439 -0.85 -146.0 2201 722 3456 3370 208.9 -14.1 278 1446 0.08 2.33 0.00 0.000 3078 0.223 0.047 2210 2127 3412 3454 3370 0 0 0 0 0 0 14.88 14.97 14.96

1505 -0.85 -146.0 2210 2128 3455 3370 217.4 -12.8 291 1512 0.00 2.42 0.00 0.000 2308 0.000 0.073 2201 3535 3412 3454 3370 0 0 0 0 0 0 15.19 14.96 15.22

1552 -0.85 -146.0 2201 3536 3453 3370 223.3 -12.6 300 1558 0.00 2.30 0.00 0.000 3078 0.000 0.038 2201 2137 3412 3454 3370 0 0 0 0 0 0 15.03 14.99 15.04

1618 -0.85 -146.0 2202 2138 3453 3370 231.9 -13.3 313 1623 0.00 0.00 0.00 0.000 2054 0.000 0.000 2201 2137 3412 3454 3370 0 0 0 0 0 0 15.20 15.20 15.20

1684 -0.85 -146.0 2202 2138 3454 3370 240.5 -12.9 326 1689 0.00 2.35 0.00 0.000 2564 0.000 0.066 2202 719 3412 3454 3370 0 0 0 0 0 0 15.19 14.95 15.19

1709 -0.85 -146.0 2200 719 3455 3371 244.2 -14.6 331 1715 0.00 2.35 0.00 0.000 3078 0.000 0.049 2200 2139 3412 3454 3370 0 0 0 0 0 0 15.02 14.99 15.05

1775 -0.85 -146.0 2201 2139 3453 3370 252.3 -12.7 344 1781 0.00 2.35 0.00 0.000 2308 0.000 0.074 2201 3533 3412 3454 3370 0 0 0 0 0 0 15.20 14.98 15.21

1806 -0.85 -146.0 2201 3534 3453 3369 256.3 -12.7 350 1812 0.00 2.30 0.00 0.000 3078 0.000 0.037 2199 2136 3411 3453 3370 0 0 0 0 0 0 15.04 15.00 15.05

1872 -0.85 -146.0 2200 2136 3455 3371 264.9 -13.3 363 1877 0.00 0.00 0.00 0.000 2054 0.000 0.000 2200 2136 3412 3454 3370 0 0 0 0 0 0 15.19 15.20 15.21

1937 -0.85 -146.0 2201 2137 3453 3370 273.5 -13.4 376 1943 0.00 2.35 0.00 0.000 2564 0.000 0.066 2200 719 3411 3453 3370 0 0 0 0 0 0 15.20 14.99 15.21

1957 -0.85 -146.0 2201 720 3452 3370 276.4 -13.9 380 1964 0.00 2.33 0.00 0.000 3078 0.000 0.048 2196 2124 3411 3453 3369 0 0 0 0 0 0 15.03 15.00 15.06

2024 -0.85 -146.0 2200 2125 3454 3370 285.1 -13.2 393 2030 0.00 2.40 0.00 0.000 2308 0.000 0.074 2200 3540 3411 3453 3369 0 0 0 0 0 0 15.20 14.96 15.21

2063 -0.85 -146.0 2199 3541 3454 3370 290.5 -12.8 401 2071 0.00 2.33 0.00 0.000 3078 0.000 0.037 2200 2129 3410 3453 3368 0 0 0 0 0 0 15.00 14.96 15.02

2131 -0.85 -146.0 2200 2129 3455 3370 299.3 -13.4 414 2137 0.00 2.35 0.00 0.000 2564 0.000 0.067 2200 720 3410 3452 3369 0 0 0 0 0 0 15.20 14.99 15.21

2151 -0.85 -146.0 2201 721 3452 3369 302.1 -13.6 417 2157 0.10 2.33 0.00 0.000 3078 0.249 0.047 2213 2127 3410 3452 3369 0 0 0 0 0 0 14.92 15.00 15.06

2291 -0.85 -146.0 2212 2128 3453 3368 319.6 -12.4 424 2296 0.00 2.40 0.00 0.000 2308 0.000 0.074 2204 3545 3409 3451 3368 0 0 0 0 0 0 15.23 15.01 15.23

2346 -0.85 -146.0 2205 3546 3451 3368 324.4 -12.1 426 2352 0.00 2.33 0.00 0.000 3078 0.000 0.039 2204 2129 3409 3451 3368 0 0 0 0 0 0 15.06 15.02 15.08

2370 end dive: BOTTOM_OBSTACLE_DETECTED

state 2370 begin apogee

2374 -0.19 0.0 2204 1899 3452 3369 329.3 -12.1 428 2493 1.10 0.00 111.20 1.420 10246 0.154 0.000 2426 1899 2812 2849 2775 0 0 0 0 0 0 14.95 14.52 13.99

2494 end apogee: CONTROL_FINISHED_OK

state 2494 begin climb

2495 0.85 146.0 2426 1899 2850 2775 334.1 0.0 434 2618 1.52 2.53 112.40 1.396 11012 0.091 0.067 2751 3309 2214 2258 2170 0 0 0 0 0 0 14.51 14.34 13.89

2872 1.03 285.3 2750 3309 2253 2168 332.1 3.6 453 2995 0.15 2.35 111.15 1.402 11270 0.073 0.045 2820 1914 1646 1714 1578 0 0 0 0 0 0 14.81 14.81 13.90

3112 1.03 285.3 2821 1915 1709 1575 299.3 16.1 465 3119 0.00 2.45 0.00 0.000 260 0.000 0.063 2821 3309 1641 1708 1575 0 0 0 0 0 0 14.90 14.65 14.91

3143 1.03 285.3 2820 3309 1709 1572 294.3 16.2 471 3150 0.00 2.38 0.00 0.000 5126 0.000 0.048 2828 1923 1640 1708 1573 0 0 0 0 0 0 14.75 14.70 14.76

3209 1.03 285.3 2828 1922 1709 1574 284.2 15.9 484 3216 0.00 2.42 0.00 0.000 4612 0.000 0.079 2829 501 1640 1707 1573 0 0 0 0 0 0 14.99 14.78 15.00

3235 1.03 285.3 2829 500 1706 1574 279.8 16.0 489 3241 0.00 2.35 0.00 0.000 5126 0.000 0.042 2829 1914 1639 1706 1573 0 0 0 0 0 0 14.85 14.81 14.88

3301 1.03 285.3 2830 1914 1706 1574 269.2 16.0 502 3307 0.00 2.35 0.00 0.000 4356 0.000 0.065 2829 3307 1639 1705 1574 0 0 0 0 0 0 15.04 14.83 15.04

3326 1.03 285.3 2828 3308 1706 1574 264.9 16.4 507 3333 0.00 2.38 0.00 0.000 5126 0.000 0.049 2829 1910 1639 1705 1573 0 0 0 0 0 0 14.89 14.85 14.91

3393 1.03 285.3 2829 1910 1705 1573 254.5 15.9 520 3399 0.00 2.40 0.00 0.000 4612 0.000 0.077 2838 493 1638 1705 1572 0 0 0 0 0 0 15.09 14.83 15.08

3418 1.03 285.3 2839 494 1705 1573 250.6 14.8 525 3425 0.05 2.35 0.00 0.000 5126 0.262 0.042 2827 1917 1635 1699 1572 0 0 0 0 0 0 14.78 14.89 14.89

3484 1.03 285.3 2826 1918 1706 1573 239.7 15.8 538 3490 0.00 0.00 0.00 0.000 4102 0.000 0.000 2827 1917 1638 1704 1572 0 0 0 0 0 0 15.10 15.11 15.11

3549 1.03 285.3 2827 1918 1704 1572 229.2 16.4 551 3555 0.00 0.00 0.00 0.000 4102 0.000 0.000 2826 1917 1638 1704 1572 0 0 0 0 0 0 15.11 15.12 15.12

3614 1.03 285.3 2828 1918 1704 1572 218.6 16.0 564 3620 0.00 0.00 0.00 0.000 4102 0.000 0.000 2827 1917 1637 1704 1570 0 0 0 0 0 0 15.13 15.14 15.14

3679 1.03 285.3 2828 1917 1703 1572 208.7 15.0 577 3686 0.00 2.35 0.00 0.000 4356 0.000 0.066 2827 3294 1637 1704 1571 0 0 0 0 0 0 15.14 14.90 15.14

3710 1.03 285.3 2826 3295 1705 1572 203.7 16.5 583 3717 0.00 2.33 0.00 0.000 5126 0.000 0.050 2828 1915 1637 1703 1571 0 0 0 0 0 0 14.99 14.92 15.00

3776 1.03 285.3 2829 1915 1703 1571 194.3 14.0 596 3783 0.00 2.42 0.00 0.000 4612 0.000 0.080 2828 495 1637 1703 1571 0 0 0 0 0 0 15.14 14.93 15.14

3807 1.03 285.3 2829 496 1703 1572 189.9 14.2 602 3814 0.00 2.33 0.00 0.000 5126 0.000 0.043 2828 1903 1637 1703 1571 0 0 0 0 0 0 15.00 14.96 15.01

3874 1.03 285.3 2828 1906 1704 1571 180.7 14.0 615 3880 0.00 2.38 0.00 0.000 4356 0.000 0.065 2828 3320 1636 1702 1571 0 0 0 0 0 0 15.15 14.91 15.15

3914 1.03 285.3 2828 3320 1704 1572 175.0 14.3 623 3920 0.00 2.38 0.00 0.000 5126 0.000 0.049 2828 1892 1636 1703 1570 0 0 0 0 0 0 15.02 14.93 15.04

3980 1.03 285.3 2828 1892 1705 1571 165.8 14.1 636 3986 0.00 0.00 0.00 0.000 4102 0.000 0.000 2829 1891 1636 1703 1570 0 0 0 0 0 0 15.15 15.15 15.16

4045 1.03 285.3 2828 1892 1704 1571 156.5 14.4 649 4050 0.00 0.00 0.00 0.000 4102 0.000 0.000 2828 1891 1636 1703 1570 0 0 0 0 0 0 15.16 15.16 15.16

4110 1.03 285.3 2828 1892 1705 1571 147.5 13.6 662 4116 0.00 2.35 0.00 0.000 4612 0.000 0.080 2829 500 1636 1703 1570 0 0 0 0 0 0 15.16 14.94 15.16

4151 1.03 285.3 2828 500 1704 1571 141.6 14.2 670 4157 0.00 2.33 0.00 0.000 5126 0.000 0.043 2828 1913 1636 1702 1570 0 0 0 0 0 0 15.01 14.96 15.03

4216 1.03 285.3 2828 1913 1704 1571 132.8 13.0 683 4223 0.00 2.40 0.00 0.000 4612 0.000 0.078 2828 497 1636 1702 1570 0 0 0 0 0 0 15.15 14.94 15.15

4242 1.03 285.3 2829 498 1701 1570 129.3 13.5 688 4249 0.00 2.33 0.00 0.000 5126 0.000 0.044 2829 1909 1636 1702 1570 0 0 0 0 0 0 15.00 14.96 15.02

4309 1.03 285.3 2828 1916 1704 1571 120.8 13.2 701 4315 0.00 2.35 0.00 0.000 4356 0.000 0.065 2829 3309 1634 1699 1570 0 0 0 0 0 0 15.16 14.92 15.16

4339 1.03 285.3 2828 3310 1703 1571 116.5 13.8 707 4346 0.00 2.38 0.00 0.000 5126 0.000 0.049 2828 1902 1635 1701 1570 0 0 0 0 0 0 14.98 14.92 15.00

4406 1.03 285.3 2828 1900 1704 1571 108.1 12.4 720 4411 0.00 0.00 0.00 0.000 4102 0.000 0.000 2828 1902 1636 1702 1570 0 0 0 0 0 0 15.15 15.16 15.15

4470 1.03 285.3 2830 1902 1702 1571 99.8 12.3 733 4476 0.00 0.00 0.00 0.000 4102 0.000 0.000 2828 1901 1636 1702 1570 0 0 0 0 0 0 15.15 15.16 15.16

4535 1.03 285.3 2828 1902 1704 1571 91.9 11.9 746 4542 0.00 2.42 0.00 0.000 4356 0.000 0.064 2828 3334 1636 1702 1570 0 0 0 0 0 0 15.16 14.95 15.16

4557 1.03 285.3 2827 3335 1701 1570 89.2 12.8 750 4563 0.00 2.38 0.00 0.000 5126 0.000 0.049 2825 1899 1635 1701 1570 0 0 0 0 0 0 15.07 14.96 15.07

4623 1.03 285.3 2828 1900 1703 1571 82.0 10.6 763 4629 0.00 2.38 0.00 0.000 4612 0.000 0.079 2828 495 1635 1701 1570 0 0 0 0 0 0 15.15 14.90 15.16

4653 1.03 285.3 2828 495 1702 1570 78.9 11.4 769 4660 0.00 2.35 0.00 0.000 5126 0.000 0.043 2829 1917 1635 1701 1570 0 0 0 0 0 0 14.97 14.92 14.98

4720 1.03 285.3 2827 1917 1704 1570 71.2 11.4 782 4725 0.00 0.00 0.00 0.000 4102 0.000 0.000 2829 1917 1635 1701 1570 0 0 0 0 0 0 15.16 15.17 15.16

4784 1.03 285.3 2830 1918 1701 1570 64.0 10.3 795 4791 0.00 2.33 0.00 0.000 4356 0.000 0.065 2829 3303 1635 1701 1570 0 0 0 0 0 0 15.16 14.95 15.16

4830 1.03 285.3 2828 3304 1702 1571 59.1 10.6 804 4837 0.00 2.35 0.00 0.000 5126 0.000 0.049 2829 1917 1636 1701 1571 0 0 0 0 0 0 15.00 14.95 15.02

4896 1.03 285.3 2828 1917 1703 1570 52.3 10.9 817 4902 0.00 2.40 0.00 0.000 4612 0.000 0.079 2833 496 1635 1701 1569 0 0 0 0 0 0 15.15 14.95 15.15

4947 1.03 285.3 2832 497 1702 1570 46.6 10.9 827 4954 0.03 2.33 0.00 0.000 5126 0.352 0.043 2826 1917 1635 1701 1570 0 0 0 0 0 0 14.80 14.97 14.93

5014 1.09 333.2 2826 1917 1702 1571 41.2 7.8 840 5058 0.00 2.35 38.83 1.095 10500 0.000 0.065 2826 3294 1450 1520 1381 0 0 0 0 0 0 15.16 14.70 14.33

5184 1.09 333.2 2827 3295 1519 1378 25.5 11.6 873 5190 0.00 2.33 0.00 0.000 3078 0.000 0.048 2826 1902 1447 1518 1377 0 0 0 0 0 0 14.92 14.83 14.93

5249 1.09 333.2 2827 1902 1518 1377 18.4 11.6 886 5255 0.00 0.00 0.00 0.000 2054 0.000 0.000 2826 1902 1447 1518 1377 0 0 0 0 0 0 15.07 15.07 15.07

5314 1.10 349.1 2827 1903 1518 1377 11.5 9.3 899 5326 0.00 0.00 9.30 0.862 10246 0.000 0.000 2826 1902 1387 1457 1318 0 0 0 0 0 0 15.09 14.88 14.42

5387 1.11 355.6 2825 1902 1458 1314 5.8 9.7 913 5393 0.00 0.00 3.17 0.529 10246 0.000 0.000 2826 1902 1362 1432 1292 0 0 0 0 0 0 15.05 14.85 14.38

5415 end climb: SURFACE_DEPTH_REACHED

state 5415 begin surface coast

5441 end surface coast: CONTROL_FINISHED_OK

state 5441 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	2130	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	22	HEADING	102	C_ROLL_CLIMB	1910	ALTIM_TOP_TURN_MARGIN	0
DIVE	162	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	28	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	51	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	212	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	0	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	2	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	260918,045052,-2949.6147,3118.9224,29,0.8,30,-24.7,0.6,33.3,10,9.1	SPEED_LIMITS	0.173,0.260
_CALLS	2	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	-2951.642,3131.194
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.01	MHEAD_RNG_PITCHd_Wd	126.7,20000,-18.2,-9.980,-21.01,2240
_SM_ANGLEo	-63.2	D_GRID	500
GPS2	260918,050701,-2949.3972,3119.0134,31,0.9,35,-24.7,0.2,334.9,9,6.1

FINISH	0.2,1.024282	_24V_AH	13.88,46.693
SM_CCo	5521,0.00,0.000,0,0,1355,357.40	_10V_AH	13.58,0.000
SM_GC	0.81,12.48,0.32,0.00,0.058,0.054,0.000,146,2164,1355,-7.26,-1.61,357.40,0,0,0,0,0,0,14.90,14.95,14.97	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2937.63,3118.71,260918,045418	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.873334	MEM	343564
HUMID	51.41	DATA_FILE_SIZE	30039,924
INTERNAL_PRESSURE	9.09179	CAP_FILE_SIZE	190717,0
TCM_TEMP	22.40	CFSIZE	1023623168,999768064
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.6,19.4	INTR	0,4156.33,0x212b66,1,24
ALTIM_BOTTOM_PING	312.2,22.4	GPS	260918,063948,-2949.093,3120.126,14,1.0,17,-24.7,0.3,0.0,9,8.5
SC_FREEKB	3837440

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	505	194.24	nil	0	0	0.00
Roll_motor	156	89	194.46	nil	0	0	0.00
VBD_pump_during_apogee	386	1419	7608.03	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	48	32	21.95	nil	0	0	0.00
Iridium_during_connect	57	160	127.30	SciCon	5506	27	2118.15
Iridium_during_xfer	557	223	1724.84	nil	0	0	0.00
Transponder_ping	6	420	37.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	23	11.31
TT8	0	0	0.00
LPSleep	2758	2	82.04
TT8_Active	718	8	83.62
TT8_Sampling	2793	28	1064.03
TT8_CF8	203	41	114.56
TT8_Kalman	0	0	0.00
Analog_circuits	1564	12	263.41
GPS_charging	0	0	0.00
Compass	1504	17	352.06
RAFOS	0	0	0.00
Transponder	45	30	18.56

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.0	73	2138	1359	1254	0.0	0.0	0	82	0.00	0.00	-61.72	0.000	16386	0.000	0.000	72	2138	3016	3021	3011	0	0	0	0	0	0	15.00	28.83	15.00
84	-0.85	-146.0	70	2139	3021	3013	3.7	-10.0	11	108	12.00	2.42	-7.12	0.000	18692	0.278	0.090	2197	3527	3410	3450	3370	0	0	0	0	0	0	14.66	13.88	14.79
302	-0.85	-146.0	2198	3530	3452	3370	50.5	-17.9	54	309	0.05	2.35	0.00	0.000	3078	0.247	0.040	2209	2116	3411	3452	3370	0	0	0	0	0	0	14.78	14.90	14.88
369	-0.85	-146.0	2210	2115	3452	3370	62.4	-17.4	67	375	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	2115	3411	3453	3370	0	0	0	0	0	0	15.11	15.10	15.11
434	-0.85	-146.0	2208	2116	3454	3371	72.7	-14.7	80	440	0.00	2.45	0.00	0.000	2308	0.000	0.071	2200	3521	3411	3452	3370	0	0	0	0	0	0	15.11	14.87	15.12
474	-0.85	-146.0	2199	3521	3454	3371	78.9	-14.9	88	481	0.03	2.30	0.00	0.000	3078	0.335	0.040	2208	2130	3411	3453	3370	0	0	0	0	0	0	14.75	14.90	14.88
541	-0.85	-146.0	2207	2131	3455	3371	89.0	-16.1	101	547	0.00	2.33	0.00	0.000	2564	0.000	0.067	2208	737	3411	3453	3370	0	0	0	0	0	0	15.12	14.92	15.12
576	-0.85	-146.0	2208	736	3455	3370	94.6	-15.6	108	583	0.00	2.30	0.00	0.000	3078	0.000	0.049	2200	2117	3411	3453	3370	0	0	0	0	0	0	14.97	14.93	15.00
643	-0.85	-146.0	2199	2118	3454	3371	104.2	-14.6	121	649	0.03	2.40	0.00	0.000	2308	0.506	0.073	2198	3538	3411	3453	3369	0	0	0	0	0	0	14.83	14.89	14.99
713	-0.85	-146.0	2199	3539	3453	3370	114.6	-14.0	135	721	0.03	2.33	0.00	0.000	3078	0.328	0.039	2206	2129	3412	3454	3370	0	0	0	0	0	0	14.76	14.89	14.88
780	-0.85	-146.0	2206	2126	3456	3371	124.0	-14.8	148	786	0.00	2.38	0.00	0.000	2564	0.000	0.066	2206	735	3411	3453	3370	0	0	0	0	0	0	15.15	14.92	15.15
816	-0.85	-146.0	2207	735	3452	3370	129.2	-14.9	155	822	0.00	2.33	0.00	0.000	3078	0.000	0.050	2206	2127	3412	3454	3370	0	0	0	0	0	0	14.99	14.95	15.01
882	-0.85	-146.0	2207	2128	3454	3369	138.0	-12.9	168	888	0.00	2.40	0.00	0.000	2308	0.000	0.073	2196	3545	3412	3454	3370	0	0	0	0	0	0	15.15	14.90	15.15
932	-0.85	-146.0	2196	3546	3455	3369	144.7	-12.9	178	939	0.05	2.33	0.00	0.000	3078	0.237	0.037	2209	2132	3411	3454	3369	0	0	0	0	0	0	14.85	14.96	14.95
999	-0.85	-146.0	2210	2132	3454	3370	153.1	-11.7	191	1004	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	2131	3412	3454	3370	0	0	0	0	0	0	15.16	15.17	15.16
1063	-0.85	-146.0	2209	2132	3455	3371	160.8	-12.0	204	1070	0.00	2.38	0.00	0.000	2564	0.000	0.067	2210	704	3412	3454	3370	0	0	0	0	0	0	15.17	14.91	15.18
1084	-0.85	-146.0	2210	705	3454	3370	163.4	-13.0	208	1091	0.00	2.38	0.00	0.000	3078	0.000	0.049	2210	2132	3411	3453	3370	0	0	0	0	0	0	14.99	14.94	15.00
1151	-0.85	-146.0	2209	2132	3455	3371	171.7	-12.8	221	1157	0.00	2.38	0.00	0.000	2308	0.000	0.073	2210	3537	3412	3454	3370	0	0	0	0	0	0	15.16	14.95	15.16
1196	-0.85	-146.0	2210	3537	3454	3370	177.4	-12.4	230	1203	0.00	2.33	0.00	0.000	3078	0.000	0.037	2210	2129	3412	3454	3370	0	0	0	0	0	0	15.01	14.97	15.02
1262	-0.85	-146.0	2209	2129	3456	3372	185.7	-12.7	243	1268	0.00	0.00	0.00	0.000	2054	0.000	0.000	2210	2129	3412	3454	3370	0	0	0	0	0	0	15.15	15.16	15.16
1327	-0.85	-146.0	2209	2130	3456	3371	193.9	-12.6	256	1334	0.00	2.42	0.00	0.000	2308	0.000	0.070	2201	3534	3412	3454	3370	0	0	0	0	0	0	15.16	14.95	15.16
1348	-0.85	-146.0	2202	3534	3454	3370	196.6	-12.7	260	1354	0.00	2.33	0.00	0.000	3078	0.000	0.037	2201	2120	3412	3454	3370	0	0	0	0	0	0	14.95	14.92	14.97
1414	-0.85	-146.0	2202	2120	3454	3370	205.2	-13.3	273	1420	0.00	2.33	0.00	0.000	2564	0.000	0.065	2201	722	3412	3454	3370	0	0	0	0	0	0	15.19	14.95	15.19
1439	-0.85	-146.0	2201	722	3456	3370	208.9	-14.1	278	1446	0.08	2.33	0.00	0.000	3078	0.223	0.047	2210	2127	3412	3454	3370	0	0	0	0	0	0	14.88	14.97	14.96
1505	-0.85	-146.0	2210	2128	3455	3370	217.4	-12.8	291	1512	0.00	2.42	0.00	0.000	2308	0.000	0.073	2201	3535	3412	3454	3370	0	0	0	0	0	0	15.19	14.96	15.22
1552	-0.85	-146.0	2201	3536	3453	3370	223.3	-12.6	300	1558	0.00	2.30	0.00	0.000	3078	0.000	0.038	2201	2137	3412	3454	3370	0	0	0	0	0	0	15.03	14.99	15.04
1618	-0.85	-146.0	2202	2138	3453	3370	231.9	-13.3	313	1623	0.00	0.00	0.00	0.000	2054	0.000	0.000	2201	2137	3412	3454	3370	0	0	0	0	0	0	15.20	15.20	15.20
1684	-0.85	-146.0	2202	2138	3454	3370	240.5	-12.9	326	1689	0.00	2.35	0.00	0.000	2564	0.000	0.066	2202	719	3412	3454	3370	0	0	0	0	0	0	15.19	14.95	15.19
1709	-0.85	-146.0	2200	719	3455	3371	244.2	-14.6	331	1715	0.00	2.35	0.00	0.000	3078	0.000	0.049	2200	2139	3412	3454	3370	0	0	0	0	0	0	15.02	14.99	15.05
1775	-0.85	-146.0	2201	2139	3453	3370	252.3	-12.7	344	1781	0.00	2.35	0.00	0.000	2308	0.000	0.074	2201	3533	3412	3454	3370	0	0	0	0	0	0	15.20	14.98	15.21
1806	-0.85	-146.0	2201	3534	3453	3369	256.3	-12.7	350	1812	0.00	2.30	0.00	0.000	3078	0.000	0.037	2199	2136	3411	3453	3370	0	0	0	0	0	0	15.04	15.00	15.05
1872	-0.85	-146.0	2200	2136	3455	3371	264.9	-13.3	363	1877	0.00	0.00	0.00	0.000	2054	0.000	0.000	2200	2136	3412	3454	3370	0	0	0	0	0	0	15.19	15.20	15.21
1937	-0.85	-146.0	2201	2137	3453	3370	273.5	-13.4	376	1943	0.00	2.35	0.00	0.000	2564	0.000	0.066	2200	719	3411	3453	3370	0	0	0	0	0	0	15.20	14.99	15.21
1957	-0.85	-146.0	2201	720	3452	3370	276.4	-13.9	380	1964	0.00	2.33	0.00	0.000	3078	0.000	0.048	2196	2124	3411	3453	3369	0	0	0	0	0	0	15.03	15.00	15.06
2024	-0.85	-146.0	2200	2125	3454	3370	285.1	-13.2	393	2030	0.00	2.40	0.00	0.000	2308	0.000	0.074	2200	3540	3411	3453	3369	0	0	0	0	0	0	15.20	14.96	15.21
2063	-0.85	-146.0	2199	3541	3454	3370	290.5	-12.8	401	2071	0.00	2.33	0.00	0.000	3078	0.000	0.037	2200	2129	3410	3453	3368	0	0	0	0	0	0	15.00	14.96	15.02
2131	-0.85	-146.0	2200	2129	3455	3370	299.3	-13.4	414	2137	0.00	2.35	0.00	0.000	2564	0.000	0.067	2200	720	3410	3452	3369	0	0	0	0	0	0	15.20	14.99	15.21
2151	-0.85	-146.0	2201	721	3452	3369	302.1	-13.6	417	2157	0.10	2.33	0.00	0.000	3078	0.249	0.047	2213	2127	3410	3452	3369	0	0	0	0	0	0	14.92	15.00	15.06
2291	-0.85	-146.0	2212	2128	3453	3368	319.6	-12.4	424	2296	0.00	2.40	0.00	0.000	2308	0.000	0.074	2204	3545	3409	3451	3368	0	0	0	0	0	0	15.23	15.01	15.23
2346	-0.85	-146.0	2205	3546	3451	3368	324.4	-12.1	426	2352	0.00	2.33	0.00	0.000	3078	0.000	0.039	2204	2129	3409	3451	3368	0	0	0	0	0	0	15.06	15.02	15.08
2370	end dive: BOTTOM_OBSTACLE_DETECTED
state	2370	begin apogee
2374	-0.19	0.0	2204	1899	3452	3369	329.3	-12.1	428	2493	1.10	0.00	111.20	1.420	10246	0.154	0.000	2426	1899	2812	2849	2775	0	0	0	0	0	0	14.95	14.52	13.99
2494	end apogee: CONTROL_FINISHED_OK
state	2494	begin climb
2495	0.85	146.0	2426	1899	2850	2775	334.1	0.0	434	2618	1.52	2.53	112.40	1.396	11012	0.091	0.067	2751	3309	2214	2258	2170	0	0	0	0	0	0	14.51	14.34	13.89
2872	1.03	285.3	2750	3309	2253	2168	332.1	3.6	453	2995	0.15	2.35	111.15	1.402	11270	0.073	0.045	2820	1914	1646	1714	1578	0	0	0	0	0	0	14.81	14.81	13.90
3112	1.03	285.3	2821	1915	1709	1575	299.3	16.1	465	3119	0.00	2.45	0.00	0.000	260	0.000	0.063	2821	3309	1641	1708	1575	0	0	0	0	0	0	14.90	14.65	14.91
3143	1.03	285.3	2820	3309	1709	1572	294.3	16.2	471	3150	0.00	2.38	0.00	0.000	5126	0.000	0.048	2828	1923	1640	1708	1573	0	0	0	0	0	0	14.75	14.70	14.76
3209	1.03	285.3	2828	1922	1709	1574	284.2	15.9	484	3216	0.00	2.42	0.00	0.000	4612	0.000	0.079	2829	501	1640	1707	1573	0	0	0	0	0	0	14.99	14.78	15.00
3235	1.03	285.3	2829	500	1706	1574	279.8	16.0	489	3241	0.00	2.35	0.00	0.000	5126	0.000	0.042	2829	1914	1639	1706	1573	0	0	0	0	0	0	14.85	14.81	14.88
3301	1.03	285.3	2830	1914	1706	1574	269.2	16.0	502	3307	0.00	2.35	0.00	0.000	4356	0.000	0.065	2829	3307	1639	1705	1574	0	0	0	0	0	0	15.04	14.83	15.04
3326	1.03	285.3	2828	3308	1706	1574	264.9	16.4	507	3333	0.00	2.38	0.00	0.000	5126	0.000	0.049	2829	1910	1639	1705	1573	0	0	0	0	0	0	14.89	14.85	14.91
3393	1.03	285.3	2829	1910	1705	1573	254.5	15.9	520	3399	0.00	2.40	0.00	0.000	4612	0.000	0.077	2838	493	1638	1705	1572	0	0	0	0	0	0	15.09	14.83	15.08
3418	1.03	285.3	2839	494	1705	1573	250.6	14.8	525	3425	0.05	2.35	0.00	0.000	5126	0.262	0.042	2827	1917	1635	1699	1572	0	0	0	0	0	0	14.78	14.89	14.89
3484	1.03	285.3	2826	1918	1706	1573	239.7	15.8	538	3490	0.00	0.00	0.00	0.000	4102	0.000	0.000	2827	1917	1638	1704	1572	0	0	0	0	0	0	15.10	15.11	15.11
3549	1.03	285.3	2827	1918	1704	1572	229.2	16.4	551	3555	0.00	0.00	0.00	0.000	4102	0.000	0.000	2826	1917	1638	1704	1572	0	0	0	0	0	0	15.11	15.12	15.12
3614	1.03	285.3	2828	1918	1704	1572	218.6	16.0	564	3620	0.00	0.00	0.00	0.000	4102	0.000	0.000	2827	1917	1637	1704	1570	0	0	0	0	0	0	15.13	15.14	15.14
3679	1.03	285.3	2828	1917	1703	1572	208.7	15.0	577	3686	0.00	2.35	0.00	0.000	4356	0.000	0.066	2827	3294	1637	1704	1571	0	0	0	0	0	0	15.14	14.90	15.14
3710	1.03	285.3	2826	3295	1705	1572	203.7	16.5	583	3717	0.00	2.33	0.00	0.000	5126	0.000	0.050	2828	1915	1637	1703	1571	0	0	0	0	0	0	14.99	14.92	15.00
3776	1.03	285.3	2829	1915	1703	1571	194.3	14.0	596	3783	0.00	2.42	0.00	0.000	4612	0.000	0.080	2828	495	1637	1703	1571	0	0	0	0	0	0	15.14	14.93	15.14
3807	1.03	285.3	2829	496	1703	1572	189.9	14.2	602	3814	0.00	2.33	0.00	0.000	5126	0.000	0.043	2828	1903	1637	1703	1571	0	0	0	0	0	0	15.00	14.96	15.01
3874	1.03	285.3	2828	1906	1704	1571	180.7	14.0	615	3880	0.00	2.38	0.00	0.000	4356	0.000	0.065	2828	3320	1636	1702	1571	0	0	0	0	0	0	15.15	14.91	15.15
3914	1.03	285.3	2828	3320	1704	1572	175.0	14.3	623	3920	0.00	2.38	0.00	0.000	5126	0.000	0.049	2828	1892	1636	1703	1570	0	0	0	0	0	0	15.02	14.93	15.04
3980	1.03	285.3	2828	1892	1705	1571	165.8	14.1	636	3986	0.00	0.00	0.00	0.000	4102	0.000	0.000	2829	1891	1636	1703	1570	0	0	0	0	0	0	15.15	15.15	15.16
4045	1.03	285.3	2828	1892	1704	1571	156.5	14.4	649	4050	0.00	0.00	0.00	0.000	4102	0.000	0.000	2828	1891	1636	1703	1570	0	0	0	0	0	0	15.16	15.16	15.16
4110	1.03	285.3	2828	1892	1705	1571	147.5	13.6	662	4116	0.00	2.35	0.00	0.000	4612	0.000	0.080	2829	500	1636	1703	1570	0	0	0	0	0	0	15.16	14.94	15.16
4151	1.03	285.3	2828	500	1704	1571	141.6	14.2	670	4157	0.00	2.33	0.00	0.000	5126	0.000	0.043	2828	1913	1636	1702	1570	0	0	0	0	0	0	15.01	14.96	15.03
4216	1.03	285.3	2828	1913	1704	1571	132.8	13.0	683	4223	0.00	2.40	0.00	0.000	4612	0.000	0.078	2828	497	1636	1702	1570	0	0	0	0	0	0	15.15	14.94	15.15
4242	1.03	285.3	2829	498	1701	1570	129.3	13.5	688	4249	0.00	2.33	0.00	0.000	5126	0.000	0.044	2829	1909	1636	1702	1570	0	0	0	0	0	0	15.00	14.96	15.02
4309	1.03	285.3	2828	1916	1704	1571	120.8	13.2	701	4315	0.00	2.35	0.00	0.000	4356	0.000	0.065	2829	3309	1634	1699	1570	0	0	0	0	0	0	15.16	14.92	15.16
4339	1.03	285.3	2828	3310	1703	1571	116.5	13.8	707	4346	0.00	2.38	0.00	0.000	5126	0.000	0.049	2828	1902	1635	1701	1570	0	0	0	0	0	0	14.98	14.92	15.00
4406	1.03	285.3	2828	1900	1704	1571	108.1	12.4	720	4411	0.00	0.00	0.00	0.000	4102	0.000	0.000	2828	1902	1636	1702	1570	0	0	0	0	0	0	15.15	15.16	15.15
4470	1.03	285.3	2830	1902	1702	1571	99.8	12.3	733	4476	0.00	0.00	0.00	0.000	4102	0.000	0.000	2828	1901	1636	1702	1570	0	0	0	0	0	0	15.15	15.16	15.16
4535	1.03	285.3	2828	1902	1704	1571	91.9	11.9	746	4542	0.00	2.42	0.00	0.000	4356	0.000	0.064	2828	3334	1636	1702	1570	0	0	0	0	0	0	15.16	14.95	15.16
4557	1.03	285.3	2827	3335	1701	1570	89.2	12.8	750	4563	0.00	2.38	0.00	0.000	5126	0.000	0.049	2825	1899	1635	1701	1570	0	0	0	0	0	0	15.07	14.96	15.07
4623	1.03	285.3	2828	1900	1703	1571	82.0	10.6	763	4629	0.00	2.38	0.00	0.000	4612	0.000	0.079	2828	495	1635	1701	1570	0	0	0	0	0	0	15.15	14.90	15.16
4653	1.03	285.3	2828	495	1702	1570	78.9	11.4	769	4660	0.00	2.35	0.00	0.000	5126	0.000	0.043	2829	1917	1635	1701	1570	0	0	0	0	0	0	14.97	14.92	14.98
4720	1.03	285.3	2827	1917	1704	1570	71.2	11.4	782	4725	0.00	0.00	0.00	0.000	4102	0.000	0.000	2829	1917	1635	1701	1570	0	0	0	0	0	0	15.16	15.17	15.16
4784	1.03	285.3	2830	1918	1701	1570	64.0	10.3	795	4791	0.00	2.33	0.00	0.000	4356	0.000	0.065	2829	3303	1635	1701	1570	0	0	0	0	0	0	15.16	14.95	15.16
4830	1.03	285.3	2828	3304	1702	1571	59.1	10.6	804	4837	0.00	2.35	0.00	0.000	5126	0.000	0.049	2829	1917	1636	1701	1571	0	0	0	0	0	0	15.00	14.95	15.02
4896	1.03	285.3	2828	1917	1703	1570	52.3	10.9	817	4902	0.00	2.40	0.00	0.000	4612	0.000	0.079	2833	496	1635	1701	1569	0	0	0	0	0	0	15.15	14.95	15.15
4947	1.03	285.3	2832	497	1702	1570	46.6	10.9	827	4954	0.03	2.33	0.00	0.000	5126	0.352	0.043	2826	1917	1635	1701	1570	0	0	0	0	0	0	14.80	14.97	14.93
5014	1.09	333.2	2826	1917	1702	1571	41.2	7.8	840	5058	0.00	2.35	38.83	1.095	10500	0.000	0.065	2826	3294	1450	1520	1381	0	0	0	0	0	0	15.16	14.70	14.33
5184	1.09	333.2	2827	3295	1519	1378	25.5	11.6	873	5190	0.00	2.33	0.00	0.000	3078	0.000	0.048	2826	1902	1447	1518	1377	0	0	0	0	0	0	14.92	14.83	14.93
5249	1.09	333.2	2827	1902	1518	1377	18.4	11.6	886	5255	0.00	0.00	0.00	0.000	2054	0.000	0.000	2826	1902	1447	1518	1377	0	0	0	0	0	0	15.07	15.07	15.07
5314	1.10	349.1	2827	1903	1518	1377	11.5	9.3	899	5326	0.00	0.00	9.30	0.862	10246	0.000	0.000	2826	1902	1387	1457	1318	0	0	0	0	0	0	15.09	14.88	14.42
5387	1.11	355.6	2825	1902	1458	1314	5.8	9.7	913	5393	0.00	0.00	3.17	0.529	10246	0.000	0.000	2826	1902	1362	1432	1292	0	0	0	0	0	0	15.05	14.85	14.38
5415	end climb: SURFACE_DEPTH_REACHED
state	5415	begin surface coast
5441	end surface coast: CONTROL_FINISHED_OK
state	5441	begin surface