Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 167 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1812 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 340 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 167 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 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 33 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 2

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 20 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 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 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 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 2 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 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 95 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 3 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

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 515.36688

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 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 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 0 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 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 197

CALL_TRIES 5 HEADING 340 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 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 182

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 95 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 33 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 51 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 167 NAV_MODE 3 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 20 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 270319,220631,-3000.7771,3107.1863,8,0.9,26,-25.0,0.0,97.4,9,8.5 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG -2959.323,3119.753

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.85 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -65.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 270319,222054,-3000.8672,3107.4128,7,0.9,21,-25.1,0.8,110.2,9,8.7 MHEAD_RNG_PITCHd_Wd 106.9,20000,-23.0,-9.980,-25.43,1422

SPEED_LIMITS 0.173,0.210 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.0,1.012391 _24V_AH 13.89,70.490

SM_CCo 6102,147.85,0.805,0,0,598,515.37 _10V_AH 13.80,0.000

SM_GC 0.87,14.10,0.00,147.85,0.049,0.000,0.805,111,1801,598,-8.22,-0.31,515.37,0,0,0,0,0,0,14.83,15.03,14.21 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2947.56,3106.79,270319,221309 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.93625 MEM 340928

HUMID 43.18 DATA_FILE_SIZE 26686,955

INTERNAL_PRESSURE 9.47834 CAP_FILE_SIZE 192641,0

TCM_TEMP 21.40 CFSIZE 2097086464,2063171584

XPDR_PINGS 18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 337.9,35.8 CURRENT 0.147,113.10,1

SC_FREEKB 3836384 GPS 280319,000649,-3000.992,3108.664,11,0.8,42,-25.1,0.7,76.6,10,7.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 533 231.07 nil 0 0 0.00

Roll_motor 149 75 156.87 nil 0 0 0.00

VBD_pump_during_apogee 283 1224 4819.04 nil 0 0 0.00

VBD_pump_during_surface 147 804 1652.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 72 16 16.48 nil 0 0 0.00

Iridium_during_connect 50 160 112.04 SciCon 6147 27 2316.67

Iridium_during_xfer 359 223 1112.11 nil 0 0 0.00

Transponder_ping 19 420 112.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 11 3.51

TT8 2339 9 310.26

LPSleep 1606 2 48.55

TT8_Active 757 9 100.45

TT8_Sampling 2201 28 861.16

TT8_CF8 211 36 106.65

TT8_Kalman 0 0 0.00

Analog_circuits 1625 12 271.72

GPS_charging 0 0 0.00

Compass 1505 17 373.45

RAFOS 0 0 0.00

Transponder 93 30 38.55

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.88 -92.5 52 1852 626 547 0.0 0.0 0 108 0.00 0.00 -84.47 0.000 16386 0.000 0.000 53 1852 2844 2814 2875 0 0 0 0 0 0 15.09 28.83 15.09

111 -0.88 -92.5 52 1852 2817 2874 3.1 -5.5 15 137 13.90 2.28 -4.25 0.000 18692 0.291 0.064 2461 3223 3080 3070 3090 0 0 0 0 0 0 14.72 13.89 14.95

143 -0.88 -92.5 2460 3224 3071 3089 15.7 -39.4 20 150 0.00 2.38 0.00 0.000 3078 0.000 0.055 2461 1810 3080 3072 3088 0 0 0 0 0 0 15.00 14.90 15.01

213 -0.88 -92.5 2460 1810 3073 3087 32.2 -20.4 33 220 0.00 2.35 0.00 0.000 2308 0.000 0.056 2461 3214 3079 3073 3086 0 0 0 0 0 0 15.13 14.92 15.13

316 -0.88 -92.5 2460 3211 3073 3086 48.9 -15.1 53 323 0.00 2.33 0.00 0.000 3078 0.000 0.044 2461 1802 3079 3073 3086 0 0 0 0 0 0 15.04 14.95 15.06

387 -0.88 -92.5 2460 1802 3074 3086 60.1 -16.9 66 395 0.03 2.33 0.00 0.000 2308 0.508 0.048 2467 3211 3080 3074 3086 0 0 0 0 0 0 14.81 14.96 14.97

513 -0.88 -92.5 2460 3211 3073 3086 78.9 -14.2 90 521 0.00 2.30 0.00 0.000 3078 0.000 0.044 2461 1809 3080 3074 3087 0 0 0 0 0 0 15.08 14.99 15.09

584 -0.88 -92.5 2460 1809 3074 3086 89.1 -14.7 103 590 0.00 0.00 0.00 0.000 2054 0.000 0.000 2460 1809 3080 3075 3086 0 0 0 0 0 0 15.19 15.20 15.20

652 -0.88 -92.5 2460 1809 3075 3086 99.0 -13.3 116 659 0.00 2.35 0.00 0.000 2564 0.000 0.065 2461 409 3079 3073 3086 0 0 0 0 0 0 15.21 14.98 15.21

722 -0.88 -92.5 2460 409 3075 3086 109.2 -14.7 129 730 0.10 2.28 0.00 0.000 3078 0.259 0.036 2472 1816 3079 3074 3085 0 0 0 0 0 0 14.90 15.00 15.04

793 -0.88 -92.5 2472 1819 3076 3085 119.9 -14.9 142 801 0.00 2.30 0.00 0.000 2308 0.000 0.052 2464 3213 3080 3076 3085 0 0 0 0 0 0 15.21 15.00 15.21

839 -0.88 -92.5 2463 3214 3075 3083 126.7 -14.3 150 846 0.00 2.30 0.00 0.000 3078 0.000 0.045 2464 1810 3080 3076 3085 0 0 0 0 0 0 15.10 15.01 15.11

911 -0.88 -92.5 2463 1811 3076 3085 137.3 -15.9 163 917 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1811 3080 3076 3085 0 0 0 0 0 0 15.22 15.23 15.22

979 -0.88 -92.5 2463 1811 3076 3085 148.6 -15.7 176 985 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1811 3080 3076 3085 0 0 0 0 0 0 15.21 15.22 15.22

1048 -0.88 -92.5 2463 1811 3076 3085 159.4 -15.5 189 1055 0.00 2.35 0.00 0.000 2564 0.000 0.064 2464 409 3080 3075 3085 0 0 0 0 0 0 15.21 15.00 15.21

1072 -0.88 -92.5 2463 409 3075 3085 163.3 -14.8 193 1079 0.08 2.28 0.00 0.000 3078 0.291 0.037 2470 1813 3080 3076 3085 0 0 0 0 0 0 14.90 15.03 15.05

1142 -0.88 -92.5 2470 1816 3075 3084 173.1 -15.7 206 1149 0.00 2.30 0.00 0.000 2308 0.000 0.053 2462 3215 3080 3076 3084 0 0 0 0 0 0 15.22 15.01 15.23

1226 -0.88 -92.5 2461 3215 3075 3084 183.3 -11.7 222 1233 0.00 2.30 0.00 0.000 3078 0.000 0.044 2461 1811 3079 3075 3084 0 0 0 0 0 0 15.09 14.99 15.10

1299 -0.88 -92.5 2461 1811 3076 3084 193.8 -15.8 235 1305 0.00 2.35 0.00 0.000 2564 0.000 0.063 2462 408 3079 3075 3083 0 0 0 0 0 0 15.22 15.00 15.22

1332 -0.88 -92.5 2461 408 3075 3083 199.7 -18.4 241 1340 0.03 2.28 0.00 0.000 3078 0.533 0.039 2469 1806 3079 3075 3083 0 0 0 0 0 0 14.85 15.02 15.05

1403 -0.88 -92.5 2469 1810 3076 3083 210.1 -14.1 254 1410 0.00 2.33 0.00 0.000 2308 0.000 0.052 2463 3227 3079 3076 3082 0 0 0 0 0 0 15.23 15.02 15.23

1462 -0.88 -92.5 2462 3228 3075 3082 218.3 -13.0 265 1469 0.00 2.33 0.00 0.000 3078 0.000 0.046 2463 1812 3079 3076 3082 0 0 0 0 0 0 15.11 15.02 15.13

1533 -0.88 -92.5 2462 1811 3075 3082 228.0 -14.5 278 1539 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1812 3079 3076 3082 0 0 0 0 0 0 15.24 15.25 15.25

1603 -0.88 -92.5 2464 1811 3076 3080 237.4 -14.4 291 1609 0.00 2.35 0.00 0.000 2564 0.000 0.063 2462 406 3078 3075 3081 0 0 0 0 0 0 15.25 15.02 15.25

1626 -0.88 -92.5 2462 406 3075 3081 241.2 -15.3 295 1634 0.08 2.30 0.00 0.000 3078 0.290 0.037 2470 1819 3078 3076 3081 0 0 0 0 0 0 14.91 15.04 15.07

1696 -0.88 -92.5 2469 1820 3075 3080 251.3 -12.9 308 1703 0.00 2.30 0.00 0.000 2308 0.000 0.053 2462 3217 3078 3076 3081 0 0 0 0 0 0 15.26 15.00 15.26

1729 -0.88 -92.5 2462 3218 3075 3080 255.9 -13.9 314 1737 0.00 2.33 0.00 0.000 3078 0.000 0.046 2462 1804 3078 3076 3080 0 0 0 0 0 0 15.12 15.03 15.14

1800 -0.88 -92.5 2462 1803 3076 3080 266.1 -15.2 327 1806 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1804 3077 3075 3080 0 0 0 0 0 0 15.24 15.25 15.25

1870 -0.88 -92.5 2462 1803 3076 3080 276.5 -14.3 340 1876 0.00 0.00 0.00 0.000 2054 0.000 0.000 2462 1803 3078 3076 3080 0 0 0 0 0 0 15.25 15.25 15.25

1938 -0.88 -92.5 2462 1804 3076 3080 286.0 -13.8 353 1945 0.00 2.35 0.00 0.000 2308 0.000 0.054 2461 3211 3077 3075 3080 0 0 0 0 0 0 15.24 15.03 15.24

2018 -0.88 -92.5 2458 3211 3075 3080 297.2 -12.7 368 2025 0.00 2.30 0.00 0.000 3078 0.000 0.045 2461 1810 3077 3075 3079 0 0 0 0 0 0 15.14 15.04 15.14

2102 -0.88 -92.5 2460 1809 3075 3078 309.1 -14.3 375 2108 0.03 2.33 0.00 0.000 2308 0.516 0.050 2463 3221 3076 3075 3078 0 0 0 0 0 0 14.92 15.04 15.09

2119 -0.88 -92.5 2462 3221 3075 3078 309.1 -14.3 375 2130 0.00 2.30 0.00 0.000 3078 0.000 0.047 2463 1813 3076 3075 3077 0 0 0 0 0 0 15.14 15.04 15.15

2245 -0.88 -92.5 2462 1813 3075 3076 328.9 -13.9 382 2251 0.00 2.33 0.00 0.000 2308 0.000 0.054 2461 3214 3075 3075 3076 0 0 0 0 0 0 15.29 15.05 15.29

2288 -0.88 -92.5 2460 3214 3074 3076 334.8 -14.3 384 2293 0.00 2.30 0.00 0.000 3078 0.000 0.047 2461 1813 3075 3074 3076 0 0 0 0 0 0 15.16 15.06 15.17

2431 -0.88 -92.5 2460 1813 3074 3075 355.2 -14.4 391 2436 0.00 2.33 0.00 0.000 2308 0.000 0.056 2460 3210 3074 3074 3075 0 0 0 0 0 0 15.28 15.06 15.30

2482 -0.88 -92.5 2460 3211 3074 3074 361.2 -14.3 393 2488 0.05 2.30 0.00 0.000 3078 0.334 0.047 2470 1804 3074 3073 3075 0 0 0 0 0 0 14.92 15.07 15.11

2494 end dive: BOTTOM_OBSTACLE_DETECTED

state 2494 begin apogee

2498 -0.17 0.0 2470 1804 3073 3075 363.9 -14.0 394 2578 1.15 0.00 69.93 1.216 10246 0.166 0.000 2697 1804 2698 2715 2682 0 0 0 0 0 0 14.97 14.62 14.23

2579 end apogee: CONTROL_FINISHED_OK

state 2580 begin climb

2581 0.88 92.5 2698 1804 2715 2682 367.3 0.0 398 2662 1.55 0.00 75.72 1.224 10246 0.075 0.000 3033 1804 2321 2343 2299 0 0 0 0 0 0 14.73 14.52 14.00

2776 0.88 92.5 3032 1804 2339 2296 354.1 11.2 408 2782 0.00 2.42 0.00 0.000 2564 0.000 0.070 3033 399 2317 2339 2295 0 0 0 0 0 0 14.99 14.76 14.99

2799 0.88 92.5 3033 399 2337 2294 351.4 11.5 409 2804 0.00 2.30 0.00 0.000 3078 0.000 0.037 3033 1804 2315 2337 2294 0 0 0 0 0 0 14.90 14.81 14.91

2942 0.88 92.5 3033 1806 2336 2292 336.1 10.5 416 2947 0.00 2.30 0.00 0.000 2308 0.000 0.053 3033 3201 2314 2336 2292 0 0 0 0 0 0 15.13 14.91 15.14

2978 0.88 92.5 3033 3201 2333 2292 333.7 10.4 417 2985 0.00 2.33 0.00 0.000 3078 0.000 0.050 3037 1801 2312 2333 2292 0 0 0 0 0 0 15.02 14.92 15.04

3104 0.88 92.5 3037 1799 2333 2289 318.8 10.6 424 3109 0.00 2.30 0.00 0.000 2308 0.000 0.050 3037 3199 2311 2332 2291 0 0 0 0 0 0 15.19 14.90 15.20

3146 0.88 92.5 3037 3199 2332 2289 314.5 10.3 426 3151 0.00 2.33 0.00 0.000 1030 0.000 0.050 3040 1801 2311 2332 2291 0 0 0 0 0 0 15.07 14.98 15.09

3289 0.89 97.6 3039 1800 2332 2290 300.9 9.6 433 3294 0.00 2.30 0.00 0.000 260 0.000 0.048 3040 3201 2310 2330 2290 0 0 0 0 0 0 15.21 15.02 15.22

3447 0.89 97.6 3040 3201 2330 2290 285.5 10.0 461 3455 0.00 2.35 0.00 0.000 1030 0.000 0.050 3044 1794 2309 2329 2290 0 0 0 0 0 0 15.10 15.02 15.12

3518 0.89 97.6 3043 1794 2329 2289 278.4 10.1 474 3523 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 1794 2309 2329 2289 0 0 0 0 0 0 15.22 15.23 15.21

3585 0.89 97.7 3043 1794 2329 2288 271.6 10.0 487 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 1794 2308 2329 2288 0 0 0 0 0 0 15.23 15.24 15.24

3653 0.89 103.5 3043 1794 2329 2287 265.2 9.6 500 3667 0.00 2.42 8.02 0.969 8708 0.000 0.072 3044 392 2277 2298 2256 0 0 0 0 0 0 15.23 14.97 14.46

3720 0.89 103.5 3044 393 2297 2256 257.9 11.1 512 3727 0.00 2.30 0.00 0.000 1030 0.000 0.038 3044 1809 2276 2297 2255 0 0 0 0 0 0 15.09 15.01 15.09

3789 0.89 103.5 3043 1809 2297 2255 250.2 11.3 525 3796 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 1809 2275 2296 2255 0 0 0 0 0 0 15.20 15.21 15.21

3858 0.89 103.5 3043 1809 2297 2255 242.6 11.2 538 3864 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1812 2276 2297 2255 0 0 0 0 0 0 15.21 15.21 15.21

3925 0.89 103.5 3043 1809 2297 2255 235.3 10.7 551 3932 0.00 2.40 0.00 0.000 516 0.000 0.069 3046 391 2275 2296 2255 0 0 0 0 0 0 15.22 14.96 15.23

4034 0.89 103.5 3047 391 2295 2255 222.6 11.4 572 4041 0.00 2.30 0.00 0.000 1030 0.000 0.037 3047 1807 2274 2295 2254 0 0 0 0 0 0 15.03 14.97 15.04

4104 0.89 103.5 3047 1808 2295 2254 215.6 10.4 585 4111 0.00 2.40 0.00 0.000 516 0.000 0.070 3047 390 2274 2294 2254 0 0 0 0 0 0 15.23 14.92 15.23

4163 0.89 103.5 3047 389 2294 2254 208.6 12.4 596 4170 0.00 2.30 0.00 0.000 1030 0.000 0.037 3045 1814 2274 2294 2254 0 0 0 0 0 0 15.11 15.04 15.12

4233 0.91 119.1 3046 1814 2294 2253 202.1 8.8 609 4253 0.00 2.33 14.15 1.024 10500 0.000 0.051 3047 3200 2211 2234 2189 0 0 0 0 0 0 15.24 14.97 14.45

4280 0.93 134.0 3046 3201 2234 2189 197.8 8.9 617 4300 0.00 2.35 13.62 1.000 11270 0.000 0.051 3050 1794 2151 2176 2126 0 0 0 0 0 0 15.02 14.94 14.41

4363 0.93 134.0 3050 1795 2173 2122 188.4 14.8 632 4369 0.00 2.35 0.00 0.000 2308 0.000 0.052 3050 3200 2148 2173 2124 0 0 0 0 0 0 15.11 14.91 15.11

4497 0.93 134.0 3050 3200 2171 2124 170.7 11.9 658 4503 0.00 2.35 0.00 0.000 3078 0.000 0.050 3050 1800 2147 2171 2123 0 0 0 0 0 0 15.04 14.94 15.04

4566 0.93 134.0 3050 1800 2171 2122 162.8 11.1 671 4572 0.00 2.30 0.00 0.000 2308 0.000 0.048 3050 3197 2148 2174 2122 0 0 0 0 0 0 15.16 14.95 15.16

4579 0.93 134.0 3050 3197 2170 2122 161.2 11.3 673 4586 0.00 2.35 0.00 0.000 3078 0.000 0.052 3053 1799 2146 2170 2122 0 0 0 0 0 0 14.99 14.89 15.00

4650 0.93 134.0 3053 1800 2170 2122 153.1 11.9 686 4657 0.00 2.40 0.00 0.000 2564 0.000 0.072 3053 391 2146 2170 2122 0 0 0 0 0 0 15.16 14.90 15.19

4694 0.93 134.0 3053 391 2168 2122 147.4 12.9 694 4701 0.00 2.30 0.00 0.000 3078 0.000 0.039 3053 1799 2144 2168 2121 0 0 0 0 0 0 15.00 14.92 15.01

4764 0.93 134.0 3053 1802 2172 2122 139.0 12.7 707 4770 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1802 2144 2168 2121 0 0 0 0 0 0 15.16 15.18 15.18

4832 0.93 134.0 3053 1801 2169 2122 130.2 12.5 720 4838 0.00 2.30 0.00 0.000 2308 0.000 0.051 3053 3201 2144 2168 2121 0 0 0 0 0 0 15.19 14.97 15.19

4886 0.93 134.0 3052 3201 2168 2121 123.1 12.4 730 4892 0.00 2.35 0.00 0.000 1030 0.000 0.054 3054 1802 2144 2167 2121 0 0 0 0 0 0 15.06 14.97 15.07

4955 0.93 134.0 3054 1802 2167 2120 115.7 11.7 743 4961 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 1802 2144 2168 2120 0 0 0 0 0 0 15.18 15.19 15.19

5023 0.93 134.0 3053 1802 2168 2120 107.0 13.5 756 5029 0.00 2.40 0.00 0.000 516 0.000 0.076 3054 394 2143 2167 2120 0 0 0 0 0 0 15.19 14.95 15.19

5046 0.93 134.0 3053 394 2166 2120 103.2 15.4 760 5053 0.00 2.30 0.00 0.000 1030 0.000 0.037 3054 1805 2144 2167 2121 0 0 0 0 0 0 15.07 14.99 15.09

5116 0.93 134.0 3053 1808 2166 2120 94.4 12.9 773 5123 0.00 2.42 0.00 0.000 2564 0.000 0.070 3057 388 2143 2167 2120 0 0 0 0 0 0 15.19 14.95 15.19

5206 0.93 134.0 3056 388 2166 2120 82.6 13.2 790 5213 0.00 2.30 0.00 0.000 1030 0.000 0.037 3057 1806 2143 2166 2120 0 0 0 0 0 0 15.07 15.00 15.09

5275 0.93 134.0 3056 1807 2166 2119 74.1 11.5 803 5281 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1808 2143 2166 2120 0 0 0 0 0 0 15.19 15.20 15.20

5343 0.93 136.2 3057 1808 2166 2120 67.3 9.8 816 5350 0.00 2.28 0.00 0.000 260 0.000 0.050 3057 3195 2143 2166 2120 0 0 0 0 0 0 15.19 14.99 15.19

5663 0.95 148.1 3057 3196 2166 2120 38.0 9.1 879 5682 0.00 2.33 11.25 0.806 9222 0.000 0.049 3060 1792 2093 2119 2068 0 0 0 0 0 0 15.08 14.99 14.48

5745 1.03 212.5 3059 1792 2119 2068 32.5 5.3 894 5803 0.00 2.35 50.12 0.887 10500 0.000 0.048 3060 3204 1834 1865 1803 0 0 0 0 0 0 15.16 14.74 14.40

5875 1.03 212.5 3059 3204 1861 1799 20.7 10.9 918 5882 0.00 2.38 0.00 0.000 3078 0.000 0.050 3060 1796 1828 1858 1798 0 0 0 0 0 0 14.90 14.81 14.90

5945 1.11 277.4 3060 1795 1859 1795 16.1 5.3 931 5994 0.12 2.45 40.62 0.944 10756 0.149 0.072 3115 392 1566 1601 1531 0 0 0 0 0 0 14.84 14.63 14.26

6052 1.11 277.4 3115 392 1601 1529 4.5 17.0 950 6059 0.00 2.33 0.00 0.000 1030 0.000 0.037 3115 1799 1565 1601 1530 0 0 0 0 0 0 14.88 14.81 14.89

6064 end climb: SURFACE_DEPTH_REACHED

state 6064 begin surface coast

6080 end surface coast: CONTROL_FINISHED_OK

state 6080 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	340	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	167	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	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	33	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	2
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	20	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	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	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	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	2	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	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	95	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	3	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	270319,220631,-3000.7771,3107.1863,8,0.9,26,-25.0,0.0,97.4,9,8.5	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	-2959.323,3119.753
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.85	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-65.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	270319,222054,-3000.8672,3107.4128,7,0.9,21,-25.1,0.8,110.2,9,8.7	MHEAD_RNG_PITCHd_Wd	106.9,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS	0.173,0.210	D_GRID	500

FINISH	0.0,1.012391	_24V_AH	13.89,70.490
SM_CCo	6102,147.85,0.805,0,0,598,515.37	_10V_AH	13.80,0.000
SM_GC	0.87,14.10,0.00,147.85,0.049,0.000,0.805,111,1801,598,-8.22,-0.31,515.37,0,0,0,0,0,0,14.83,15.03,14.21	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2947.56,3106.79,270319,221309	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.93625	MEM	340928
HUMID	43.18	DATA_FILE_SIZE	26686,955
INTERNAL_PRESSURE	9.47834	CAP_FILE_SIZE	192641,0
TCM_TEMP	21.40	CFSIZE	2097086464,2063171584
XPDR_PINGS	18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	337.9,35.8	CURRENT	0.147,113.10,1
SC_FREEKB	3836384	GPS	280319,000649,-3000.992,3108.664,11,0.8,42,-25.1,0.7,76.6,10,7.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	533	231.07	nil	0	0	0.00
Roll_motor	149	75	156.87	nil	0	0	0.00
VBD_pump_during_apogee	283	1224	4819.04	nil	0	0	0.00
VBD_pump_during_surface	147	804	1652.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	72	16	16.48	nil	0	0	0.00
Iridium_during_connect	50	160	112.04	SciCon	6147	27	2316.67
Iridium_during_xfer	359	223	1112.11	nil	0	0	0.00
Transponder_ping	19	420	112.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	11	3.51
TT8	2339	9	310.26
LPSleep	1606	2	48.55
TT8_Active	757	9	100.45
TT8_Sampling	2201	28	861.16
TT8_CF8	211	36	106.65
TT8_Kalman	0	0	0.00
Analog_circuits	1625	12	271.72
GPS_charging	0	0	0.00
Compass	1505	17	373.45
RAFOS	0	0	0.00
Transponder	93	30	38.55

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.88	-92.5	52	1852	626	547	0.0	0.0	0	108	0.00	0.00	-84.47	0.000	16386	0.000	0.000	53	1852	2844	2814	2875	0	0	0	0	0	0	15.09	28.83	15.09
111	-0.88	-92.5	52	1852	2817	2874	3.1	-5.5	15	137	13.90	2.28	-4.25	0.000	18692	0.291	0.064	2461	3223	3080	3070	3090	0	0	0	0	0	0	14.72	13.89	14.95
143	-0.88	-92.5	2460	3224	3071	3089	15.7	-39.4	20	150	0.00	2.38	0.00	0.000	3078	0.000	0.055	2461	1810	3080	3072	3088	0	0	0	0	0	0	15.00	14.90	15.01
213	-0.88	-92.5	2460	1810	3073	3087	32.2	-20.4	33	220	0.00	2.35	0.00	0.000	2308	0.000	0.056	2461	3214	3079	3073	3086	0	0	0	0	0	0	15.13	14.92	15.13
316	-0.88	-92.5	2460	3211	3073	3086	48.9	-15.1	53	323	0.00	2.33	0.00	0.000	3078	0.000	0.044	2461	1802	3079	3073	3086	0	0	0	0	0	0	15.04	14.95	15.06
387	-0.88	-92.5	2460	1802	3074	3086	60.1	-16.9	66	395	0.03	2.33	0.00	0.000	2308	0.508	0.048	2467	3211	3080	3074	3086	0	0	0	0	0	0	14.81	14.96	14.97
513	-0.88	-92.5	2460	3211	3073	3086	78.9	-14.2	90	521	0.00	2.30	0.00	0.000	3078	0.000	0.044	2461	1809	3080	3074	3087	0	0	0	0	0	0	15.08	14.99	15.09
584	-0.88	-92.5	2460	1809	3074	3086	89.1	-14.7	103	590	0.00	0.00	0.00	0.000	2054	0.000	0.000	2460	1809	3080	3075	3086	0	0	0	0	0	0	15.19	15.20	15.20
652	-0.88	-92.5	2460	1809	3075	3086	99.0	-13.3	116	659	0.00	2.35	0.00	0.000	2564	0.000	0.065	2461	409	3079	3073	3086	0	0	0	0	0	0	15.21	14.98	15.21
722	-0.88	-92.5	2460	409	3075	3086	109.2	-14.7	129	730	0.10	2.28	0.00	0.000	3078	0.259	0.036	2472	1816	3079	3074	3085	0	0	0	0	0	0	14.90	15.00	15.04
793	-0.88	-92.5	2472	1819	3076	3085	119.9	-14.9	142	801	0.00	2.30	0.00	0.000	2308	0.000	0.052	2464	3213	3080	3076	3085	0	0	0	0	0	0	15.21	15.00	15.21
839	-0.88	-92.5	2463	3214	3075	3083	126.7	-14.3	150	846	0.00	2.30	0.00	0.000	3078	0.000	0.045	2464	1810	3080	3076	3085	0	0	0	0	0	0	15.10	15.01	15.11
911	-0.88	-92.5	2463	1811	3076	3085	137.3	-15.9	163	917	0.00	0.00	0.00	0.000	2054	0.000	0.000	2464	1811	3080	3076	3085	0	0	0	0	0	0	15.22	15.23	15.22
979	-0.88	-92.5	2463	1811	3076	3085	148.6	-15.7	176	985	0.00	0.00	0.00	0.000	2054	0.000	0.000	2464	1811	3080	3076	3085	0	0	0	0	0	0	15.21	15.22	15.22
1048	-0.88	-92.5	2463	1811	3076	3085	159.4	-15.5	189	1055	0.00	2.35	0.00	0.000	2564	0.000	0.064	2464	409	3080	3075	3085	0	0	0	0	0	0	15.21	15.00	15.21
1072	-0.88	-92.5	2463	409	3075	3085	163.3	-14.8	193	1079	0.08	2.28	0.00	0.000	3078	0.291	0.037	2470	1813	3080	3076	3085	0	0	0	0	0	0	14.90	15.03	15.05
1142	-0.88	-92.5	2470	1816	3075	3084	173.1	-15.7	206	1149	0.00	2.30	0.00	0.000	2308	0.000	0.053	2462	3215	3080	3076	3084	0	0	0	0	0	0	15.22	15.01	15.23
1226	-0.88	-92.5	2461	3215	3075	3084	183.3	-11.7	222	1233	0.00	2.30	0.00	0.000	3078	0.000	0.044	2461	1811	3079	3075	3084	0	0	0	0	0	0	15.09	14.99	15.10
1299	-0.88	-92.5	2461	1811	3076	3084	193.8	-15.8	235	1305	0.00	2.35	0.00	0.000	2564	0.000	0.063	2462	408	3079	3075	3083	0	0	0	0	0	0	15.22	15.00	15.22
1332	-0.88	-92.5	2461	408	3075	3083	199.7	-18.4	241	1340	0.03	2.28	0.00	0.000	3078	0.533	0.039	2469	1806	3079	3075	3083	0	0	0	0	0	0	14.85	15.02	15.05
1403	-0.88	-92.5	2469	1810	3076	3083	210.1	-14.1	254	1410	0.00	2.33	0.00	0.000	2308	0.000	0.052	2463	3227	3079	3076	3082	0	0	0	0	0	0	15.23	15.02	15.23
1462	-0.88	-92.5	2462	3228	3075	3082	218.3	-13.0	265	1469	0.00	2.33	0.00	0.000	3078	0.000	0.046	2463	1812	3079	3076	3082	0	0	0	0	0	0	15.11	15.02	15.13
1533	-0.88	-92.5	2462	1811	3075	3082	228.0	-14.5	278	1539	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1812	3079	3076	3082	0	0	0	0	0	0	15.24	15.25	15.25
1603	-0.88	-92.5	2464	1811	3076	3080	237.4	-14.4	291	1609	0.00	2.35	0.00	0.000	2564	0.000	0.063	2462	406	3078	3075	3081	0	0	0	0	0	0	15.25	15.02	15.25
1626	-0.88	-92.5	2462	406	3075	3081	241.2	-15.3	295	1634	0.08	2.30	0.00	0.000	3078	0.290	0.037	2470	1819	3078	3076	3081	0	0	0	0	0	0	14.91	15.04	15.07
1696	-0.88	-92.5	2469	1820	3075	3080	251.3	-12.9	308	1703	0.00	2.30	0.00	0.000	2308	0.000	0.053	2462	3217	3078	3076	3081	0	0	0	0	0	0	15.26	15.00	15.26
1729	-0.88	-92.5	2462	3218	3075	3080	255.9	-13.9	314	1737	0.00	2.33	0.00	0.000	3078	0.000	0.046	2462	1804	3078	3076	3080	0	0	0	0	0	0	15.12	15.03	15.14
1800	-0.88	-92.5	2462	1803	3076	3080	266.1	-15.2	327	1806	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1804	3077	3075	3080	0	0	0	0	0	0	15.24	15.25	15.25
1870	-0.88	-92.5	2462	1803	3076	3080	276.5	-14.3	340	1876	0.00	0.00	0.00	0.000	2054	0.000	0.000	2462	1803	3078	3076	3080	0	0	0	0	0	0	15.25	15.25	15.25
1938	-0.88	-92.5	2462	1804	3076	3080	286.0	-13.8	353	1945	0.00	2.35	0.00	0.000	2308	0.000	0.054	2461	3211	3077	3075	3080	0	0	0	0	0	0	15.24	15.03	15.24
2018	-0.88	-92.5	2458	3211	3075	3080	297.2	-12.7	368	2025	0.00	2.30	0.00	0.000	3078	0.000	0.045	2461	1810	3077	3075	3079	0	0	0	0	0	0	15.14	15.04	15.14
2102	-0.88	-92.5	2460	1809	3075	3078	309.1	-14.3	375	2108	0.03	2.33	0.00	0.000	2308	0.516	0.050	2463	3221	3076	3075	3078	0	0	0	0	0	0	14.92	15.04	15.09
2119	-0.88	-92.5	2462	3221	3075	3078	309.1	-14.3	375	2130	0.00	2.30	0.00	0.000	3078	0.000	0.047	2463	1813	3076	3075	3077	0	0	0	0	0	0	15.14	15.04	15.15
2245	-0.88	-92.5	2462	1813	3075	3076	328.9	-13.9	382	2251	0.00	2.33	0.00	0.000	2308	0.000	0.054	2461	3214	3075	3075	3076	0	0	0	0	0	0	15.29	15.05	15.29
2288	-0.88	-92.5	2460	3214	3074	3076	334.8	-14.3	384	2293	0.00	2.30	0.00	0.000	3078	0.000	0.047	2461	1813	3075	3074	3076	0	0	0	0	0	0	15.16	15.06	15.17
2431	-0.88	-92.5	2460	1813	3074	3075	355.2	-14.4	391	2436	0.00	2.33	0.00	0.000	2308	0.000	0.056	2460	3210	3074	3074	3075	0	0	0	0	0	0	15.28	15.06	15.30
2482	-0.88	-92.5	2460	3211	3074	3074	361.2	-14.3	393	2488	0.05	2.30	0.00	0.000	3078	0.334	0.047	2470	1804	3074	3073	3075	0	0	0	0	0	0	14.92	15.07	15.11
2494	end dive: BOTTOM_OBSTACLE_DETECTED
state	2494	begin apogee
2498	-0.17	0.0	2470	1804	3073	3075	363.9	-14.0	394	2578	1.15	0.00	69.93	1.216	10246	0.166	0.000	2697	1804	2698	2715	2682	0	0	0	0	0	0	14.97	14.62	14.23
2579	end apogee: CONTROL_FINISHED_OK
state	2580	begin climb
2581	0.88	92.5	2698	1804	2715	2682	367.3	0.0	398	2662	1.55	0.00	75.72	1.224	10246	0.075	0.000	3033	1804	2321	2343	2299	0	0	0	0	0	0	14.73	14.52	14.00
2776	0.88	92.5	3032	1804	2339	2296	354.1	11.2	408	2782	0.00	2.42	0.00	0.000	2564	0.000	0.070	3033	399	2317	2339	2295	0	0	0	0	0	0	14.99	14.76	14.99
2799	0.88	92.5	3033	399	2337	2294	351.4	11.5	409	2804	0.00	2.30	0.00	0.000	3078	0.000	0.037	3033	1804	2315	2337	2294	0	0	0	0	0	0	14.90	14.81	14.91
2942	0.88	92.5	3033	1806	2336	2292	336.1	10.5	416	2947	0.00	2.30	0.00	0.000	2308	0.000	0.053	3033	3201	2314	2336	2292	0	0	0	0	0	0	15.13	14.91	15.14
2978	0.88	92.5	3033	3201	2333	2292	333.7	10.4	417	2985	0.00	2.33	0.00	0.000	3078	0.000	0.050	3037	1801	2312	2333	2292	0	0	0	0	0	0	15.02	14.92	15.04
3104	0.88	92.5	3037	1799	2333	2289	318.8	10.6	424	3109	0.00	2.30	0.00	0.000	2308	0.000	0.050	3037	3199	2311	2332	2291	0	0	0	0	0	0	15.19	14.90	15.20
3146	0.88	92.5	3037	3199	2332	2289	314.5	10.3	426	3151	0.00	2.33	0.00	0.000	1030	0.000	0.050	3040	1801	2311	2332	2291	0	0	0	0	0	0	15.07	14.98	15.09
3289	0.89	97.6	3039	1800	2332	2290	300.9	9.6	433	3294	0.00	2.30	0.00	0.000	260	0.000	0.048	3040	3201	2310	2330	2290	0	0	0	0	0	0	15.21	15.02	15.22
3447	0.89	97.6	3040	3201	2330	2290	285.5	10.0	461	3455	0.00	2.35	0.00	0.000	1030	0.000	0.050	3044	1794	2309	2329	2290	0	0	0	0	0	0	15.10	15.02	15.12
3518	0.89	97.6	3043	1794	2329	2289	278.4	10.1	474	3523	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	1794	2309	2329	2289	0	0	0	0	0	0	15.22	15.23	15.21
3585	0.89	97.7	3043	1794	2329	2288	271.6	10.0	487	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	1794	2308	2329	2288	0	0	0	0	0	0	15.23	15.24	15.24
3653	0.89	103.5	3043	1794	2329	2287	265.2	9.6	500	3667	0.00	2.42	8.02	0.969	8708	0.000	0.072	3044	392	2277	2298	2256	0	0	0	0	0	0	15.23	14.97	14.46
3720	0.89	103.5	3044	393	2297	2256	257.9	11.1	512	3727	0.00	2.30	0.00	0.000	1030	0.000	0.038	3044	1809	2276	2297	2255	0	0	0	0	0	0	15.09	15.01	15.09
3789	0.89	103.5	3043	1809	2297	2255	250.2	11.3	525	3796	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	1809	2275	2296	2255	0	0	0	0	0	0	15.20	15.21	15.21
3858	0.89	103.5	3043	1809	2297	2255	242.6	11.2	538	3864	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1812	2276	2297	2255	0	0	0	0	0	0	15.21	15.21	15.21
3925	0.89	103.5	3043	1809	2297	2255	235.3	10.7	551	3932	0.00	2.40	0.00	0.000	516	0.000	0.069	3046	391	2275	2296	2255	0	0	0	0	0	0	15.22	14.96	15.23
4034	0.89	103.5	3047	391	2295	2255	222.6	11.4	572	4041	0.00	2.30	0.00	0.000	1030	0.000	0.037	3047	1807	2274	2295	2254	0	0	0	0	0	0	15.03	14.97	15.04
4104	0.89	103.5	3047	1808	2295	2254	215.6	10.4	585	4111	0.00	2.40	0.00	0.000	516	0.000	0.070	3047	390	2274	2294	2254	0	0	0	0	0	0	15.23	14.92	15.23
4163	0.89	103.5	3047	389	2294	2254	208.6	12.4	596	4170	0.00	2.30	0.00	0.000	1030	0.000	0.037	3045	1814	2274	2294	2254	0	0	0	0	0	0	15.11	15.04	15.12
4233	0.91	119.1	3046	1814	2294	2253	202.1	8.8	609	4253	0.00	2.33	14.15	1.024	10500	0.000	0.051	3047	3200	2211	2234	2189	0	0	0	0	0	0	15.24	14.97	14.45
4280	0.93	134.0	3046	3201	2234	2189	197.8	8.9	617	4300	0.00	2.35	13.62	1.000	11270	0.000	0.051	3050	1794	2151	2176	2126	0	0	0	0	0	0	15.02	14.94	14.41
4363	0.93	134.0	3050	1795	2173	2122	188.4	14.8	632	4369	0.00	2.35	0.00	0.000	2308	0.000	0.052	3050	3200	2148	2173	2124	0	0	0	0	0	0	15.11	14.91	15.11
4497	0.93	134.0	3050	3200	2171	2124	170.7	11.9	658	4503	0.00	2.35	0.00	0.000	3078	0.000	0.050	3050	1800	2147	2171	2123	0	0	0	0	0	0	15.04	14.94	15.04
4566	0.93	134.0	3050	1800	2171	2122	162.8	11.1	671	4572	0.00	2.30	0.00	0.000	2308	0.000	0.048	3050	3197	2148	2174	2122	0	0	0	0	0	0	15.16	14.95	15.16
4579	0.93	134.0	3050	3197	2170	2122	161.2	11.3	673	4586	0.00	2.35	0.00	0.000	3078	0.000	0.052	3053	1799	2146	2170	2122	0	0	0	0	0	0	14.99	14.89	15.00
4650	0.93	134.0	3053	1800	2170	2122	153.1	11.9	686	4657	0.00	2.40	0.00	0.000	2564	0.000	0.072	3053	391	2146	2170	2122	0	0	0	0	0	0	15.16	14.90	15.19
4694	0.93	134.0	3053	391	2168	2122	147.4	12.9	694	4701	0.00	2.30	0.00	0.000	3078	0.000	0.039	3053	1799	2144	2168	2121	0	0	0	0	0	0	15.00	14.92	15.01
4764	0.93	134.0	3053	1802	2172	2122	139.0	12.7	707	4770	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1802	2144	2168	2121	0	0	0	0	0	0	15.16	15.18	15.18
4832	0.93	134.0	3053	1801	2169	2122	130.2	12.5	720	4838	0.00	2.30	0.00	0.000	2308	0.000	0.051	3053	3201	2144	2168	2121	0	0	0	0	0	0	15.19	14.97	15.19
4886	0.93	134.0	3052	3201	2168	2121	123.1	12.4	730	4892	0.00	2.35	0.00	0.000	1030	0.000	0.054	3054	1802	2144	2167	2121	0	0	0	0	0	0	15.06	14.97	15.07
4955	0.93	134.0	3054	1802	2167	2120	115.7	11.7	743	4961	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	1802	2144	2168	2120	0	0	0	0	0	0	15.18	15.19	15.19
5023	0.93	134.0	3053	1802	2168	2120	107.0	13.5	756	5029	0.00	2.40	0.00	0.000	516	0.000	0.076	3054	394	2143	2167	2120	0	0	0	0	0	0	15.19	14.95	15.19
5046	0.93	134.0	3053	394	2166	2120	103.2	15.4	760	5053	0.00	2.30	0.00	0.000	1030	0.000	0.037	3054	1805	2144	2167	2121	0	0	0	0	0	0	15.07	14.99	15.09
5116	0.93	134.0	3053	1808	2166	2120	94.4	12.9	773	5123	0.00	2.42	0.00	0.000	2564	0.000	0.070	3057	388	2143	2167	2120	0	0	0	0	0	0	15.19	14.95	15.19
5206	0.93	134.0	3056	388	2166	2120	82.6	13.2	790	5213	0.00	2.30	0.00	0.000	1030	0.000	0.037	3057	1806	2143	2166	2120	0	0	0	0	0	0	15.07	15.00	15.09
5275	0.93	134.0	3056	1807	2166	2119	74.1	11.5	803	5281	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1808	2143	2166	2120	0	0	0	0	0	0	15.19	15.20	15.20
5343	0.93	136.2	3057	1808	2166	2120	67.3	9.8	816	5350	0.00	2.28	0.00	0.000	260	0.000	0.050	3057	3195	2143	2166	2120	0	0	0	0	0	0	15.19	14.99	15.19
5663	0.95	148.1	3057	3196	2166	2120	38.0	9.1	879	5682	0.00	2.33	11.25	0.806	9222	0.000	0.049	3060	1792	2093	2119	2068	0	0	0	0	0	0	15.08	14.99	14.48
5745	1.03	212.5	3059	1792	2119	2068	32.5	5.3	894	5803	0.00	2.35	50.12	0.887	10500	0.000	0.048	3060	3204	1834	1865	1803	0	0	0	0	0	0	15.16	14.74	14.40
5875	1.03	212.5	3059	3204	1861	1799	20.7	10.9	918	5882	0.00	2.38	0.00	0.000	3078	0.000	0.050	3060	1796	1828	1858	1798	0	0	0	0	0	0	14.90	14.81	14.90
5945	1.11	277.4	3060	1795	1859	1795	16.1	5.3	931	5994	0.12	2.45	40.62	0.944	10756	0.149	0.072	3115	392	1566	1601	1531	0	0	0	0	0	0	14.84	14.63	14.26
6052	1.11	277.4	3115	392	1601	1529	4.5	17.0	950	6059	0.00	2.33	0.00	0.000	1030	0.000	0.037	3115	1799	1565	1601	1530	0	0	0	0	0	0	14.88	14.81	14.89
6064	end climb: SURFACE_DEPTH_REACHED
state	6064	begin surface coast
6080	end surface coast: CONTROL_FINISHED_OK
state	6080	begin surface