Glider dive log

WA coast Oct09 * SG033 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 60 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 19 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3837 ALTIM_PING_DEPTH 125

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 3000 TGT_DEFAULT_LON -125 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_ABORT 4005 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 11 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 1

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 1

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 1000 UPLOAD_DIVES_MAX -1 VBD_MIN 186 DEVICE2 99

T_MISSION 1030 CALL_TRIES 5 VBD_MAX 3785 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 1836 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36790001 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 2 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -169721.81 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 151 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 27 AH0_10V 122.2 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 2563 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 1947 PRESSURE_YINT -19.421526 SEABIRD_T_G 0.0043575475

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00046800601 SEABIRD_T_H 0.00062940316

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_T_I 2.4306677e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6223986e-06

FERRY_MAX 2 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.332057

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.2094743

HD_A 0.0038945 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016192879

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00021825745

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 20

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 151 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 PITCH_MAX 2563 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 27 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 3000 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00046800601 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 2 PRESSURE_YINT -19.421526 TGT_DEFAULT_LAT 47

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 1000

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -169721.81

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 1030

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 33 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3837 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 1947 KALMAN_USE 1 ROLL_MIN 60 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 11 VBD_BLEED_AD_RATE 8

C_VBD 1836 MAX_BUOY 150 R_STBD_OVSHOOT 12 VBD_CNV -0.36790001

DEEPGLIDER 1 MISSION 7 SEABIRD_C_G -10.332057 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.2094743 VBD_MAX 3785

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016192879 VBD_MAXERRORS 1

DEVICE2 99 N_FILEKB 4 SEABIRD_C_J 0.00021825745 VBD_MIN 186

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043575475 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062940316 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4306677e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6223986e-06 XPDR_DEVICE 24

DIVE 19 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 4005 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 042024,4703.389,-12607.532,28,1.3,45,18.5 TGT_NAME W_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.263,0.016

_SM_DEPTHo 0.91 KALMAN_X 64756.3,-269.4,-218.6,-149534.2,15733.4

_SM_ANGLEo -58.1 KALMAN_Y -49576.8,2685.5,2025.8,50708.0,-15577.4

GPS2 042649,4703.389,-12607.540,14,1.7,31,18.5 MHEAD_RNG_PITCHd_Wd 254.9,142182,-18.1,-10.000

SPEED_LIMITS 0.100,0.264 D_GRID 3000

Post-dive calculations and measurements:

SM_CCo 48189,589.35,0.593,26,1,973,317.50 _24V_AH 22.3,7.264

SM_GC 1.56,0.00,0.00,589.35,0.000,0.000,0.593,21,1991,973,-8.86,-0.25,317.50 _10V_AH 10.6,2.113

IRIDIUM_FIX 4644.93,-12557.23,050199,161653 DATA_FILE_SIZE 34905,729

TT8_MAMPS 0.021476 CAP_FILE_SIZE 236515,60

HUMID 1802 CFSIZE 260280320,256815104

INTERNAL_PRESSURE 7.57842 ERRORS 0,1,0,0,0,0,0,0,0,0,7,0,21,182,0

TCM_TEMP 16.40 EOP_CODE MOTOR_MAX_ERRORS_EXCEEDED

XPDR_PINGS 8 RECOV_CODE MAX_VBD_ERRORS

ALTIM_BOTTOM_PING 2476.6,86.9 GPS 121009,180500,4702.149,-12609.208,123,1.5,123,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 238 116.28 SBE_CT 503 24 269.22

Roll_motor 220 163 805.63 AA4330 1108 33 815.52

VBD_pump_during_apogee 589 1085 14275.67 nil 0 0 0.00

VBD_pump_during_surface 3536 1129 89087.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 51.15 nil 0 0 0.00

Iridium_during_connect 39 160 139.50 nil 0 0 0.00

Iridium_during_xfer 196 223 977.67

Transponder_ping 26 420 243.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.49

TT8 2320 19 486.99

LPSleep 37143 2 862.24

TT8_Active 5267 19 1105.48

TT8_Sampling 1931 39 814.69

TT8_CF8 405 45 196.97

TT8_Kalman 33 81 28.91

Analog_circuits 6697 12 851.92

GPS_charging 0 0 0.00

Compass 1758 8 149.13

RAFOS 0 0 0.00

Transponder 155 30 49.34

Guidance and control:

st_secs pitch_ctl vbd_ctl 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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.39 -146.6 0.0 0.0 0 93 0.00 0.00 -77.30 0.000 2 0.000 0.000 25 2091 1486

95 -1.39 -146.6 3.7 -6.4 8 140 9.60 2.58 -28.23 0.000 4 0.238 0.112 1638 3514 2234

392 -1.39 -146.6 58.1 -15.0 44 398 0.00 2.38 0.00 0.000 6 0.000 0.079 1638 2087 2234

724 -1.39 -146.6 111.4 -15.6 87 727 0.00 2.40 0.00 0.000 4 0.000 0.109 1638 695 2235

806 -1.39 -146.6 124.6 -15.2 94 815 0.00 2.38 0.00 0.000 6 0.000 0.082 1638 2110 2235

1127 -1.39 -146.6 173.9 -15.4 118 1131 0.00 2.47 0.00 0.000 4 0.000 0.124 1638 3504 2236

1175 -1.39 -146.6 181.9 -16.0 120 1180 0.00 2.35 0.00 0.000 6 0.000 0.084 1638 2107 2235

1497 -1.39 -146.6 233.4 -16.0 136 1501 0.00 2.45 0.00 0.000 4 0.000 0.114 1638 691 2236

1568 -1.39 -146.6 244.9 -15.8 139 1573 0.00 2.38 0.00 0.000 6 0.000 0.087 1638 2096 2236

1889 -1.39 -146.6 294.5 -15.6 155 1893 0.00 2.53 0.00 0.000 4 0.000 0.129 1638 3511 2236

1915 -1.39 -146.6 299.0 -17.2 156 1920 0.00 2.38 0.00 0.000 6 0.000 0.089 1638 2108 2236

2235 -1.39 -146.6 349.9 -16.0 167 2239 0.00 2.47 0.00 0.000 4 0.000 0.119 1638 684 2236

2305 -1.39 -146.6 361.8 -16.4 169 2310 0.00 2.38 0.00 0.000 6 0.000 0.092 1638 2096 2235

2640 -1.39 -146.6 415.8 -16.5 180 2644 0.00 2.55 0.00 0.000 4 0.000 0.139 1638 3512 2236

2667 -1.39 -146.6 420.5 -17.1 181 2671 0.00 2.38 0.00 0.000 6 0.000 0.102 1638 2101 2236

3008 -1.39 -146.6 476.9 -16.5 192 3012 0.00 2.45 0.00 0.000 4 0.000 0.124 1638 694 2236

3078 -1.39 -146.6 488.6 -15.3 194 3083 0.00 2.38 0.00 0.000 6 0.000 0.097 1638 2097 2236

3407 -1.39 -146.6 539.9 -16.1 205 3412 0.00 2.55 0.00 0.000 4 0.000 0.137 1638 3510 2236

3451 -1.39 -146.6 547.1 -16.0 206 3456 0.00 2.40 0.00 0.000 6 0.000 0.097 1638 2107 2236

3774 -1.39 -146.6 598.6 -16.1 217 3778 0.00 2.47 0.00 0.000 4 0.000 0.124 1638 691 2235

3840 -1.39 -146.6 609.8 -16.5 219 3845 0.00 2.40 0.00 0.000 6 0.000 0.099 1638 2101 2235

4175 -1.39 -146.6 664.4 -16.4 230 4179 0.00 2.55 0.00 0.000 4 0.000 0.142 1638 3507 2236

4195 -1.39 -146.6 667.9 -15.8 230 4202 0.00 2.40 0.00 0.000 6 0.000 0.097 1638 2104 2236

4507 -1.39 -146.6 718.8 -16.1 241 4511 0.00 2.47 0.00 0.000 4 0.000 0.127 1638 692 2236

4562 -1.39 -146.6 728.0 -16.2 242 4569 0.00 2.40 0.00 0.000 6 0.000 0.102 1638 2097 2236

4875 -1.39 -146.6 777.5 -15.9 253 4879 0.00 2.58 0.00 0.000 4 0.000 0.142 1638 3514 2236

4912 -1.39 -146.6 783.6 -16.2 254 4916 0.00 2.42 0.00 0.000 6 0.000 0.109 1638 2103 2236

5241 -1.39 -146.6 834.6 -15.3 265 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2103 2236

5547 -1.39 -146.6 881.1 -15.3 275 5548 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2103 2236

5854 -1.39 -146.6 927.4 -15.1 285 5858 0.00 2.50 0.00 0.000 4 0.000 0.132 1638 689 2235

5914 -1.39 -146.6 936.7 -15.4 287 5919 0.00 2.40 0.00 0.000 6 0.000 0.107 1638 2109 2234

6254 -1.39 -146.6 986.1 -14.5 298 6258 0.00 2.55 0.00 0.000 4 0.000 0.146 1638 3508 2235

6285 -1.39 -146.6 990.9 -14.5 299 6290 0.00 2.42 0.00 0.000 6 0.000 0.099 1638 2103 2235

6620 -1.39 -146.6 1038.6 -14.2 310 6624 0.00 2.50 0.00 0.000 4 0.000 0.132 1638 691 2234

6683 -1.39 -146.6 1047.3 -13.9 312 6687 0.00 2.40 0.00 0.000 6 0.000 0.107 1638 2105 2234

7015 -1.39 -146.6 1093.4 -14.1 323 7020 0.00 2.58 0.00 0.000 4 0.000 0.146 1638 3509 2234

7043 -1.39 -146.6 1097.2 -14.6 324 7047 0.00 2.40 0.00 0.000 6 0.000 0.102 1638 2098 2234

7382 -1.39 -146.6 1145.5 -14.4 335 7386 0.00 2.50 0.00 0.000 4 0.000 0.132 1638 691 2233

7442 -1.39 -146.6 1154.5 -14.6 337 7446 0.00 2.40 0.00 0.000 6 0.000 0.109 1638 2099 2233

7783 -1.39 -146.6 1204.4 -15.0 348 7787 0.00 2.60 0.00 0.000 4 0.000 0.151 1638 3508 2233

7825 -1.39 -146.6 1211.0 -14.9 349 7830 0.00 2.42 0.00 0.000 6 0.000 0.102 1638 2108 2233

8149 -1.39 -146.6 1257.8 -14.5 360 8153 0.00 2.53 0.00 0.000 4 0.000 0.134 1638 691 2232

8197 -1.39 -146.6 1265.2 -15.4 361 8202 0.00 2.42 0.00 0.000 6 0.000 0.109 1638 2091 2232

8515 -1.39 -146.6 1312.3 -14.7 372 8520 0.00 2.62 0.00 0.000 4 0.000 0.151 1638 3510 2232

8553 -1.39 -146.6 1317.9 -14.6 373 8558 0.00 2.45 0.00 0.000 6 0.000 0.104 1638 2100 2232

8882 -1.39 -146.6 1364.7 -14.0 384 8883 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2100 2232

9188 -1.39 -146.6 1408.5 -14.3 394 9193 0.00 2.53 0.00 0.000 4 0.000 0.137 1638 683 2232

9250 -1.39 -146.6 1417.6 -15.1 396 9254 0.00 2.45 0.00 0.000 6 0.000 0.112 1638 2109 2231

9584 -1.39 -146.6 1465.7 -14.4 407 9588 0.00 2.60 0.00 0.000 4 0.000 0.154 1638 3512 2231

9615 -1.39 -146.6 1470.5 -15.4 408 9620 0.00 2.45 0.00 0.000 6 0.000 0.104 1638 2102 2231

9950 -1.39 -146.6 1517.2 -13.6 419 9951 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2102 2230

10257 -1.39 -146.6 1558.9 -13.6 429 10261 0.00 2.55 0.00 0.000 4 0.000 0.139 1638 685 2230

10317 -1.39 -146.6 1567.3 -15.0 431 10321 0.00 2.42 0.00 0.000 6 0.000 0.114 1638 2100 2230

10656 -1.39 -146.6 1613.3 -13.8 442 10661 0.00 2.62 0.00 0.000 4 0.000 0.156 1638 3507 2229

10683 -1.39 -146.6 1616.8 -14.0 443 10687 0.00 2.42 0.00 0.000 6 0.000 0.109 1638 2100 2230

11023 -1.39 -146.6 1662.4 -13.2 454 11024 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2100 2230

11331 -1.39 -146.6 1703.0 -13.2 464 11335 0.00 2.55 0.00 0.000 4 0.000 0.142 1638 686 2229

11397 -1.39 -146.6 1712.1 -12.7 466 11402 0.00 2.47 0.00 0.000 6 0.000 0.114 1638 2095 2229

11732 -1.39 -146.6 1755.7 -13.3 477 11736 0.00 2.65 0.00 0.000 4 0.000 0.156 1638 3511 2229

11766 -1.39 -146.6 1760.2 -12.9 478 11770 0.00 2.45 0.00 0.000 6 0.000 0.109 1638 2093 2229

12100 -1.39 -146.6 1803.4 -12.8 489 12104 0.00 2.53 0.00 0.000 4 0.000 0.142 1638 692 2228

12161 -1.39 -146.6 1811.5 -13.0 491 12166 0.00 2.45 0.00 0.000 6 0.000 0.117 1638 2104 2228

12495 -1.39 -146.6 1854.0 -12.7 502 12499 0.00 2.62 0.00 0.000 4 0.000 0.159 1638 3509 2228

12549 -1.39 -146.6 1861.3 -12.4 503 12557 0.00 2.47 0.00 0.000 6 0.000 0.109 1638 2101 2228

12863 -1.39 -146.6 1900.4 -12.6 514 12867 0.00 2.55 0.00 0.000 4 0.000 0.144 1639 692 2228

12923 -1.39 -146.6 1908.0 -12.8 516 12927 0.00 2.45 0.00 0.000 6 0.000 0.119 1638 2101 2228

13263 -1.39 -146.6 1950.5 -12.7 527 13268 0.00 2.65 0.00 0.000 4 0.000 0.161 1638 3510 2227

13312 -1.39 -146.6 1957.2 -13.9 528 13317 0.00 2.47 0.00 0.000 6 0.000 0.119 1638 2104 2227

13630 -1.39 -146.6 1997.7 -12.8 539 13634 0.00 2.58 0.00 0.000 4 0.000 0.144 1638 689 2227

13691 -1.39 -146.6 2005.4 -12.2 541 13695 0.00 2.47 0.00 0.000 6 0.000 0.122 1638 2105 2227

14024 -1.39 -146.6 2046.9 -12.4 552 14028 0.00 2.65 0.00 0.000 4 0.000 0.161 1638 3510 2227

14061 -1.39 -146.6 2051.8 -12.9 553 14065 0.00 2.47 0.00 0.000 6 0.000 0.119 1638 2102 2227

14390 -1.39 -146.6 2091.0 -11.9 564 14394 0.00 2.58 0.00 0.000 4 0.000 0.144 1638 686 2227

14467 -1.39 -146.6 2100.4 -12.5 566 14471 0.00 2.47 0.00 0.000 6 0.000 0.122 1638 2102 2227

14790 -1.39 -146.6 2137.5 -11.4 577 14794 0.00 2.65 0.00 0.000 4 0.000 0.161 1638 3509 2227

14839 -1.39 -146.6 2143.3 -12.0 578 14844 0.00 2.47 0.00 0.000 6 0.000 0.112 1638 2105 2227

15157 -1.39 -146.6 2178.8 -11.2 589 15161 0.00 2.60 0.00 0.000 4 0.000 0.146 1638 682 2226

15219 -1.39 -146.6 2185.8 -11.9 591 15223 0.00 2.50 0.00 0.000 6 0.000 0.122 1638 2107 2226

15552 -1.39 -146.6 2222.3 -10.9 602 15556 0.00 2.65 0.00 0.000 4 0.000 0.161 1638 3509 2226

15600 -1.39 -146.6 2227.7 -11.0 603 15605 0.00 2.50 0.00 0.000 6 0.000 0.112 1638 2096 2226

15919 -1.39 -146.6 2260.9 -10.2 614 15920 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2096 2226

16224 -1.39 -146.6 2293.2 -10.4 624 16228 0.00 2.58 0.00 0.000 4 0.000 0.146 1638 686 2226

16289 -1.39 -146.6 2300.7 -11.8 626 16294 0.00 2.53 0.00 0.000 6 0.000 0.124 1638 2102 2226

16625 -1.39 -146.6 2336.1 -10.6 637 16629 0.00 2.67 0.00 0.000 4 0.000 0.164 1638 3512 2226

16656 -1.39 -146.6 2339.5 -10.9 638 16661 0.00 2.50 0.00 0.000 6 0.000 0.112 1638 2099 2226

16991 -1.39 -146.6 2374.1 -10.4 649 16995 0.00 2.60 0.00 0.000 4 0.000 0.149 1638 681 2226

17067 -1.39 -146.6 2382.1 -9.5 651 17072 0.00 2.53 0.00 0.000 6 0.000 0.124 1638 2092 2225

17391 -1.39 -146.6 2415.0 -10.4 662 17395 0.00 2.67 0.00 0.000 4 0.000 0.164 1638 3509 2225

17433 -1.39 -146.6 2419.4 -10.8 663 17438 0.00 2.50 0.00 0.000 6 0.000 0.114 1638 2098 2225

17758 -1.39 -146.6 2451.6 -10.0 674 17763 0.00 2.60 0.00 0.000 4 0.000 0.149 1638 681 2225

17830 -1.39 -146.6 2459.1 -9.4 676 17834 0.00 2.53 0.00 0.000 6 0.000 0.127 1638 2092 2225

18159 -1.39 -146.6 2491.3 -9.5 687 18163 0.00 2.70 0.00 0.000 4 0.000 0.164 1638 3511 2225

18207 -1.39 -146.6 2496.1 -11.1 688 18212 0.00 2.50 0.00 0.000 6 0.000 0.114 1638 2105 2225

18525 -1.39 -146.6 2526.6 -9.5 699 18530 0.00 2.62 0.00 0.000 4 0.000 0.151 1638 681 2225

18604 -1.39 -146.6 2534.4 -9.8 701 18608 0.00 2.53 0.00 0.000 6 0.000 0.129 1638 2100 2225

18705 end dive: BOTTOM_OBSTACLE_DETECTED

state 18705 begin apogee

18709 -0.33 0.0 2544.4 9.9 705 19433 1.10 0.00 589.35 1.085 6 0.151 0.000 1868 1997 1925

19435 end apogee: CONTROL_FINISHED_OK

state 19435 begin climb

19436 1.39 146.6 2562.5 0.0 729 19441 1.88 0.00 0.62 0.040 2 0.109 0.000 2244 1997 1924

19441 end climb: MOTOR_MAX_ERRORS_EXCEEDED

ID	33	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	60	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	19	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3837	ALTIM_PING_DEPTH	125
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	3000	TGT_DEFAULT_LON	-125	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_ABORT	4005	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	11	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	1
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	1
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	1000	UPLOAD_DIVES_MAX	-1	VBD_MIN	186	DEVICE2	99
T_MISSION	1030	CALL_TRIES	5	VBD_MAX	3785	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	1836	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36790001	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	2	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-169721.81	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	151	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	27	AH0_10V	122.2	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	2563	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	1947	PRESSURE_YINT	-19.421526	SEABIRD_T_G	0.0043575475
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00046800601	SEABIRD_T_H	0.00062940316
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_T_I	2.4306677e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6223986e-06
FERRY_MAX	2	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.332057
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.2094743
HD_A	0.0038945	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016192879
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00021825745
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	20

GPS1	042024,4703.389,-12607.532,28,1.3,45,18.5	TGT_NAME	W_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.263,0.016
_SM_DEPTHo	0.91	KALMAN_X	64756.3,-269.4,-218.6,-149534.2,15733.4
_SM_ANGLEo	-58.1	KALMAN_Y	-49576.8,2685.5,2025.8,50708.0,-15577.4
GPS2	042649,4703.389,-12607.540,14,1.7,31,18.5	MHEAD_RNG_PITCHd_Wd	254.9,142182,-18.1,-10.000
SPEED_LIMITS	0.100,0.264	D_GRID	3000

SM_CCo	48189,589.35,0.593,26,1,973,317.50	_24V_AH	22.3,7.264
SM_GC	1.56,0.00,0.00,589.35,0.000,0.000,0.593,21,1991,973,-8.86,-0.25,317.50	_10V_AH	10.6,2.113
IRIDIUM_FIX	4644.93,-12557.23,050199,161653	DATA_FILE_SIZE	34905,729
TT8_MAMPS	0.021476	CAP_FILE_SIZE	236515,60
HUMID	1802	CFSIZE	260280320,256815104
INTERNAL_PRESSURE	7.57842	ERRORS	0,1,0,0,0,0,0,0,0,0,7,0,21,182,0
TCM_TEMP	16.40	EOP_CODE	MOTOR_MAX_ERRORS_EXCEEDED
XPDR_PINGS	8	RECOV_CODE	MAX_VBD_ERRORS
ALTIM_BOTTOM_PING	2476.6,86.9	GPS	121009,180500,4702.149,-12609.208,123,1.5,123,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	238	116.28	SBE_CT	503	24	269.22
Roll_motor	220	163	805.63	AA4330	1108	33	815.52
VBD_pump_during_apogee	589	1085	14275.67	nil	0	0	0.00
VBD_pump_during_surface	3536	1129	89087.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	51.15	nil	0	0	0.00
Iridium_during_connect	39	160	139.50	nil	0	0	0.00
Iridium_during_xfer	196	223	977.67
Transponder_ping	26	420	243.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.49
TT8	2320	19	486.99
LPSleep	37143	2	862.24
TT8_Active	5267	19	1105.48
TT8_Sampling	1931	39	814.69
TT8_CF8	405	45	196.97
TT8_Kalman	33	81	28.91
Analog_circuits	6697	12	851.92
GPS_charging	0	0	0.00
Compass	1758	8	149.13
RAFOS	0	0	0.00
Transponder	155	30	49.34

st_secs	pitch_ctl	vbd_ctl	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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.39	-146.6	0.0	0.0	0	93	0.00	0.00	-77.30	0.000	2	0.000	0.000	25	2091	1486
95	-1.39	-146.6	3.7	-6.4	8	140	9.60	2.58	-28.23	0.000	4	0.238	0.112	1638	3514	2234
392	-1.39	-146.6	58.1	-15.0	44	398	0.00	2.38	0.00	0.000	6	0.000	0.079	1638	2087	2234
724	-1.39	-146.6	111.4	-15.6	87	727	0.00	2.40	0.00	0.000	4	0.000	0.109	1638	695	2235
806	-1.39	-146.6	124.6	-15.2	94	815	0.00	2.38	0.00	0.000	6	0.000	0.082	1638	2110	2235
1127	-1.39	-146.6	173.9	-15.4	118	1131	0.00	2.47	0.00	0.000	4	0.000	0.124	1638	3504	2236
1175	-1.39	-146.6	181.9	-16.0	120	1180	0.00	2.35	0.00	0.000	6	0.000	0.084	1638	2107	2235
1497	-1.39	-146.6	233.4	-16.0	136	1501	0.00	2.45	0.00	0.000	4	0.000	0.114	1638	691	2236
1568	-1.39	-146.6	244.9	-15.8	139	1573	0.00	2.38	0.00	0.000	6	0.000	0.087	1638	2096	2236
1889	-1.39	-146.6	294.5	-15.6	155	1893	0.00	2.53	0.00	0.000	4	0.000	0.129	1638	3511	2236
1915	-1.39	-146.6	299.0	-17.2	156	1920	0.00	2.38	0.00	0.000	6	0.000	0.089	1638	2108	2236
2235	-1.39	-146.6	349.9	-16.0	167	2239	0.00	2.47	0.00	0.000	4	0.000	0.119	1638	684	2236
2305	-1.39	-146.6	361.8	-16.4	169	2310	0.00	2.38	0.00	0.000	6	0.000	0.092	1638	2096	2235
2640	-1.39	-146.6	415.8	-16.5	180	2644	0.00	2.55	0.00	0.000	4	0.000	0.139	1638	3512	2236
2667	-1.39	-146.6	420.5	-17.1	181	2671	0.00	2.38	0.00	0.000	6	0.000	0.102	1638	2101	2236
3008	-1.39	-146.6	476.9	-16.5	192	3012	0.00	2.45	0.00	0.000	4	0.000	0.124	1638	694	2236
3078	-1.39	-146.6	488.6	-15.3	194	3083	0.00	2.38	0.00	0.000	6	0.000	0.097	1638	2097	2236
3407	-1.39	-146.6	539.9	-16.1	205	3412	0.00	2.55	0.00	0.000	4	0.000	0.137	1638	3510	2236
3451	-1.39	-146.6	547.1	-16.0	206	3456	0.00	2.40	0.00	0.000	6	0.000	0.097	1638	2107	2236
3774	-1.39	-146.6	598.6	-16.1	217	3778	0.00	2.47	0.00	0.000	4	0.000	0.124	1638	691	2235
3840	-1.39	-146.6	609.8	-16.5	219	3845	0.00	2.40	0.00	0.000	6	0.000	0.099	1638	2101	2235
4175	-1.39	-146.6	664.4	-16.4	230	4179	0.00	2.55	0.00	0.000	4	0.000	0.142	1638	3507	2236
4195	-1.39	-146.6	667.9	-15.8	230	4202	0.00	2.40	0.00	0.000	6	0.000	0.097	1638	2104	2236
4507	-1.39	-146.6	718.8	-16.1	241	4511	0.00	2.47	0.00	0.000	4	0.000	0.127	1638	692	2236
4562	-1.39	-146.6	728.0	-16.2	242	4569	0.00	2.40	0.00	0.000	6	0.000	0.102	1638	2097	2236
4875	-1.39	-146.6	777.5	-15.9	253	4879	0.00	2.58	0.00	0.000	4	0.000	0.142	1638	3514	2236
4912	-1.39	-146.6	783.6	-16.2	254	4916	0.00	2.42	0.00	0.000	6	0.000	0.109	1638	2103	2236
5241	-1.39	-146.6	834.6	-15.3	265	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2103	2236
5547	-1.39	-146.6	881.1	-15.3	275	5548	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2103	2236
5854	-1.39	-146.6	927.4	-15.1	285	5858	0.00	2.50	0.00	0.000	4	0.000	0.132	1638	689	2235
5914	-1.39	-146.6	936.7	-15.4	287	5919	0.00	2.40	0.00	0.000	6	0.000	0.107	1638	2109	2234
6254	-1.39	-146.6	986.1	-14.5	298	6258	0.00	2.55	0.00	0.000	4	0.000	0.146	1638	3508	2235
6285	-1.39	-146.6	990.9	-14.5	299	6290	0.00	2.42	0.00	0.000	6	0.000	0.099	1638	2103	2235
6620	-1.39	-146.6	1038.6	-14.2	310	6624	0.00	2.50	0.00	0.000	4	0.000	0.132	1638	691	2234
6683	-1.39	-146.6	1047.3	-13.9	312	6687	0.00	2.40	0.00	0.000	6	0.000	0.107	1638	2105	2234
7015	-1.39	-146.6	1093.4	-14.1	323	7020	0.00	2.58	0.00	0.000	4	0.000	0.146	1638	3509	2234
7043	-1.39	-146.6	1097.2	-14.6	324	7047	0.00	2.40	0.00	0.000	6	0.000	0.102	1638	2098	2234
7382	-1.39	-146.6	1145.5	-14.4	335	7386	0.00	2.50	0.00	0.000	4	0.000	0.132	1638	691	2233
7442	-1.39	-146.6	1154.5	-14.6	337	7446	0.00	2.40	0.00	0.000	6	0.000	0.109	1638	2099	2233
7783	-1.39	-146.6	1204.4	-15.0	348	7787	0.00	2.60	0.00	0.000	4	0.000	0.151	1638	3508	2233
7825	-1.39	-146.6	1211.0	-14.9	349	7830	0.00	2.42	0.00	0.000	6	0.000	0.102	1638	2108	2233
8149	-1.39	-146.6	1257.8	-14.5	360	8153	0.00	2.53	0.00	0.000	4	0.000	0.134	1638	691	2232
8197	-1.39	-146.6	1265.2	-15.4	361	8202	0.00	2.42	0.00	0.000	6	0.000	0.109	1638	2091	2232
8515	-1.39	-146.6	1312.3	-14.7	372	8520	0.00	2.62	0.00	0.000	4	0.000	0.151	1638	3510	2232
8553	-1.39	-146.6	1317.9	-14.6	373	8558	0.00	2.45	0.00	0.000	6	0.000	0.104	1638	2100	2232
8882	-1.39	-146.6	1364.7	-14.0	384	8883	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2100	2232
9188	-1.39	-146.6	1408.5	-14.3	394	9193	0.00	2.53	0.00	0.000	4	0.000	0.137	1638	683	2232
9250	-1.39	-146.6	1417.6	-15.1	396	9254	0.00	2.45	0.00	0.000	6	0.000	0.112	1638	2109	2231
9584	-1.39	-146.6	1465.7	-14.4	407	9588	0.00	2.60	0.00	0.000	4	0.000	0.154	1638	3512	2231
9615	-1.39	-146.6	1470.5	-15.4	408	9620	0.00	2.45	0.00	0.000	6	0.000	0.104	1638	2102	2231
9950	-1.39	-146.6	1517.2	-13.6	419	9951	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2102	2230
10257	-1.39	-146.6	1558.9	-13.6	429	10261	0.00	2.55	0.00	0.000	4	0.000	0.139	1638	685	2230
10317	-1.39	-146.6	1567.3	-15.0	431	10321	0.00	2.42	0.00	0.000	6	0.000	0.114	1638	2100	2230
10656	-1.39	-146.6	1613.3	-13.8	442	10661	0.00	2.62	0.00	0.000	4	0.000	0.156	1638	3507	2229
10683	-1.39	-146.6	1616.8	-14.0	443	10687	0.00	2.42	0.00	0.000	6	0.000	0.109	1638	2100	2230
11023	-1.39	-146.6	1662.4	-13.2	454	11024	0.00	0.00	0.00	0.000	6	0.000	0.000	1638	2100	2230
11331	-1.39	-146.6	1703.0	-13.2	464	11335	0.00	2.55	0.00	0.000	4	0.000	0.142	1638	686	2229
11397	-1.39	-146.6	1712.1	-12.7	466	11402	0.00	2.47	0.00	0.000	6	0.000	0.114	1638	2095	2229
11732	-1.39	-146.6	1755.7	-13.3	477	11736	0.00	2.65	0.00	0.000	4	0.000	0.156	1638	3511	2229
11766	-1.39	-146.6	1760.2	-12.9	478	11770	0.00	2.45	0.00	0.000	6	0.000	0.109	1638	2093	2229
12100	-1.39	-146.6	1803.4	-12.8	489	12104	0.00	2.53	0.00	0.000	4	0.000	0.142	1638	692	2228
12161	-1.39	-146.6	1811.5	-13.0	491	12166	0.00	2.45	0.00	0.000	6	0.000	0.117	1638	2104	2228
12495	-1.39	-146.6	1854.0	-12.7	502	12499	0.00	2.62	0.00	0.000	4	0.000	0.159	1638	3509	2228
12549	-1.39	-146.6	1861.3	-12.4	503	12557	0.00	2.47	0.00	0.000	6	0.000	0.109	1638	2101	2228
12863	-1.39	-146.6	1900.4	-12.6	514	12867	0.00	2.55	0.00	0.000	4	0.000	0.144	1639	692	2228
12923	-1.39	-146.6	1908.0	-12.8	516	12927	0.00	2.45	0.00	0.000	6	0.000	0.119	1638	2101	2228
13263	-1.39	-146.6	1950.5	-12.7	527	13268	0.00	2.65	0.00	0.000	4	0.000	0.161	1638	3510	2227
13312	-1.39	-146.6	1957.2	-13.9	528	13317	0.00	2.47	0.00	0.000	6	0.000	0.119	1638	2104	2227
13630	-1.39	-146.6	1997.7	-12.8	539	13634	0.00	2.58	0.00	0.000	4	0.000	0.144	1638	689	2227
13691	-1.39	-146.6	2005.4	-12.2	541	13695	0.00	2.47	0.00	0.000	6	0.000	0.122	1638	2105	2227
14024	-1.39	-146.6	2046.9	-12.4	552	14028	0.00	2.65	0.00	0.000	4	0.000	0.161	1638	3510	2227
14061	-1.39	-146.6	2051.8	-12.9	553	14065	0.00	2.47	0.00	0.000	6	0.000	0.119	1638	2102	2227
14390	-1.39	-146.6	2091.0	-11.9	564	14394	0.00	2.58	0.00	0.000	4	0.000	0.144	1638	686	2227
14467	-1.39	-146.6	2100.4	-12.5	566	14471	0.00	2.47	0.00	0.000	6	0.000	0.122	1638	2102	2227
14790	-1.39	-146.6	2137.5	-11.4	577	14794	0.00	2.65	0.00	0.000	4	0.000	0.161	1638	3509	2227
14839	-1.39	-146.6	2143.3	-12.0	578	14844	0.00	2.47	0.00	0.000	6	0.000	0.112	1638	2105	2227
15157	-1.39	-146.6	2178.8	-11.2	589	15161	0.00	2.60	0.00	0.000	4	0.000	0.146	1638	682	2226
15219	-1.39	-146.6	2185.8	-11.9	591	15223	0.00	2.50	0.00	0.000	6	0.000	0.122	1638	2107	2226
15552	-1.39	-146.6	2222.3	-10.9	602	15556	0.00	2.65	0.00	0.000	4	0.000	0.161	1638	3509	2226
15600	-1.39	-146.6	2227.7	-11.0	603	15605	0.00	2.50	0.00	0.000	6	0.000	0.112	1638	2096	2226
15919	-1.39	-146.6	2260.9	-10.2	614	15920	0.00	0.00	0.00	0.000	6	0.000	0.000	1639	2096	2226
16224	-1.39	-146.6	2293.2	-10.4	624	16228	0.00	2.58	0.00	0.000	4	0.000	0.146	1638	686	2226
16289	-1.39	-146.6	2300.7	-11.8	626	16294	0.00	2.53	0.00	0.000	6	0.000	0.124	1638	2102	2226
16625	-1.39	-146.6	2336.1	-10.6	637	16629	0.00	2.67	0.00	0.000	4	0.000	0.164	1638	3512	2226
16656	-1.39	-146.6	2339.5	-10.9	638	16661	0.00	2.50	0.00	0.000	6	0.000	0.112	1638	2099	2226
16991	-1.39	-146.6	2374.1	-10.4	649	16995	0.00	2.60	0.00	0.000	4	0.000	0.149	1638	681	2226
17067	-1.39	-146.6	2382.1	-9.5	651	17072	0.00	2.53	0.00	0.000	6	0.000	0.124	1638	2092	2225
17391	-1.39	-146.6	2415.0	-10.4	662	17395	0.00	2.67	0.00	0.000	4	0.000	0.164	1638	3509	2225
17433	-1.39	-146.6	2419.4	-10.8	663	17438	0.00	2.50	0.00	0.000	6	0.000	0.114	1638	2098	2225
17758	-1.39	-146.6	2451.6	-10.0	674	17763	0.00	2.60	0.00	0.000	4	0.000	0.149	1638	681	2225
17830	-1.39	-146.6	2459.1	-9.4	676	17834	0.00	2.53	0.00	0.000	6	0.000	0.127	1638	2092	2225
18159	-1.39	-146.6	2491.3	-9.5	687	18163	0.00	2.70	0.00	0.000	4	0.000	0.164	1638	3511	2225
18207	-1.39	-146.6	2496.1	-11.1	688	18212	0.00	2.50	0.00	0.000	6	0.000	0.114	1638	2105	2225
18525	-1.39	-146.6	2526.6	-9.5	699	18530	0.00	2.62	0.00	0.000	4	0.000	0.151	1638	681	2225
18604	-1.39	-146.6	2534.4	-9.8	701	18608	0.00	2.53	0.00	0.000	6	0.000	0.129	1638	2100	2225
18705	end dive: BOTTOM_OBSTACLE_DETECTED
state	18705	begin apogee
18709	-0.33	0.0	2544.4	9.9	705	19433	1.10	0.00	589.35	1.085	6	0.151	0.000	1868	1997	1925
19435	end apogee: CONTROL_FINISHED_OK
state	19435	begin climb
19436	1.39	146.6	2562.5	0.0	729	19441	1.88	0.00	0.62	0.040	2	0.109	0.000	2244	1997	1924
19441	end climb: MOTOR_MAX_ERRORS_EXCEEDED