Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 289 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 289 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 R_STBD_OVSHOOT 13 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -2 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 601.23029

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -2

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 24 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 13 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 289 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 270115,043802,6644.032,-5859.907,0,3098.3,0,-32.6 SPEED_LIMITS 0.173,0.262

_CALLS 3 TGT_NAME TARGET_W

_XMS_NAKs 0 TGT_LATLONG 6644.000,-6026.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 3.15 MHEAD_RNG_PITCHd_Wd 302.5,62982,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -2.0 D_GRID 896

GPS2 270115,043802,6644.032,-5859.907,0,3098.3,0,-32.6

Post-dive calculations and measurements:

FINISH1 13.5,1.026007,74 _24V_AH 12.80,72.047

FINISH2 11.8 _10V_AH 13.12,0.000

RAFOS_CLK 852 FG_AHR_24Vo 0.000

RAFOS 0,1422374461,16.033333,16.016945,59,58,56,54,51,51,213,193,161,223,117,126 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.089844,-5924.717285,270115,161636,4,93,0.43 MEM 271092

IRIDIUM_FIX 6625.71,-5725.81,220115,144240 DATA_FILE_SIZE 33371,1007

TT8_MAMPS 0.027713,0.027713 CAP_FILE_SIZE 176081,0

HUMID 48.89 CFSIZE 260034560,231317504

INTERNAL_PRESSURE 8.47912 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 12.20 INTR 0,17970.54,0x23769e,5,5

XPDR_PINGS 1 SOUNDSPEED 1456.1

ALTIM_TOP_PING 19.2,10.4 GPS 270115,163336,6642.090,-5924.717,0,4092.8,0,-32.6

SC_FREEKB 7677600

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 339 28.37 nil 0 0 0.00

Roll_motor 145 167 311.80 nil 0 0 0.00

VBD_pump_during_apogee 490 1684 10566.99 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 18024 6 1470.07

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2150 11 323.68

LPSleep 13501 2 409.19

TT8_Active 641 11 96.54

TT8_Sampling 1596 30 648.14

TT8_CF8 236 36 112.14

TT8_Kalman 0 0 0.00

Analog_circuits 1516 11 218.87

GPS_charging 0 0 0.00

Compass 1499 6 118.03

RAFOS 3240 1 63.76

Transponder 4 30 1.66

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 -1.60 -146.0 2571 2545 2679 2647 0.0 0.0 0 74 0.00 0.00 -52.08 0.000 16386 0.000 0.000 2571 2545 3527 3517 3537 0 0 0 0 0 0 28.83 28.83 28.83

77 -1.60 -146.0 2571 2545 3519 3537 3.4 -3.4 5 89 1.15 2.50 -0.85 0.000 20996 0.148 0.117 2200 1144 3548 3539 3557 0 0 0 0 0 0 14.46 14.50 14.75

116 -1.56 -146.0 2200 1140 3540 3558 7.8 -11.4 12 123 0.00 2.58 0.00 0.000 1030 0.000 0.119 2193 2552 3549 3540 3558 0 0 0 0 0 0 28.83 14.49 28.83

432 -1.51 -146.0 2193 2553 3543 3558 52.6 -13.2 34 434 0.12 0.00 0.00 0.000 2054 0.340 0.000 2218 2552 3550 3543 3558 0 0 0 0 0 0 14.34 28.83 28.83

733 -1.51 -146.0 2218 2552 3544 3558 92.2 -14.0 49 738 0.00 2.45 0.00 0.000 260 0.000 0.144 2208 3843 3549 3540 3558 0 0 0 0 0 0 28.83 14.48 28.83

771 -1.47 -146.0 2208 3843 3543 3558 98.1 -15.7 56 778 0.10 2.22 0.00 0.000 3078 0.322 0.065 2227 2548 3550 3543 3558 0 0 0 0 0 0 14.38 14.61 28.83

1076 -1.47 -146.0 2227 2547 3542 3558 135.9 -11.2 72 1081 0.00 2.47 0.00 0.000 260 0.000 0.148 2218 3844 3550 3543 3557 0 0 0 0 0 0 28.83 14.49 28.83

1229 -1.47 -146.0 2218 3844 3544 3563 154.1 -11.3 102 1234 0.00 2.22 0.00 0.000 1030 0.000 0.063 2218 2549 3550 3544 3557 0 0 0 0 0 0 28.83 14.62 28.83

1542 -1.47 -146.0 2218 2548 3543 3556 187.9 -11.4 119 1543 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2548 3549 3543 3556 0 0 0 0 0 0 28.83 28.83 28.83

1844 -1.47 -146.0 2218 2548 3543 3554 218.7 -9.2 134 1849 0.00 2.50 0.00 0.000 260 0.000 0.147 2208 3846 3548 3543 3554 0 0 0 0 0 0 28.83 14.50 28.83

1918 -1.47 -146.0 2208 3846 3543 3554 226.3 -9.7 148 1924 0.10 2.22 0.00 0.000 3078 0.304 0.063 2227 2550 3549 3544 3554 0 0 0 0 0 0 14.40 14.64 28.83

2232 -1.49 -146.0 2227 2548 3543 3554 256.6 -9.8 164 2234 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2548 3548 3543 3554 0 0 0 0 0 0 28.83 28.83 28.83

2533 -1.52 -146.0 2227 2548 3543 3554 285.3 -9.1 174 2538 0.00 2.42 0.00 0.000 516 0.000 0.097 2227 1147 3548 3543 3554 0 0 0 0 0 0 28.83 14.57 28.83

2600 -1.54 -146.0 2227 1147 3543 3553 291.6 -9.1 187 2606 0.00 2.58 0.00 0.000 1030 0.000 0.119 2220 2556 3548 3543 3554 0 0 0 0 0 0 28.83 14.55 28.83

2931 -1.56 -146.0 2220 2556 3543 3553 321.0 -8.9 202 2937 0.00 2.45 0.00 0.000 260 0.000 0.143 2211 3845 3548 3543 3553 0 0 0 0 0 0 28.83 14.52 28.83

2994 -1.56 -146.0 2211 3844 3543 3553 327.2 -9.4 214 3000 0.00 2.22 0.00 0.000 1030 0.000 0.062 2211 2541 3548 3543 3553 0 0 0 0 0 0 28.83 14.65 28.83

3330 -1.56 -146.0 2210 2541 3543 3553 359.8 -10.0 230 3331 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 2541 3547 3542 3553 0 0 0 0 0 0 28.83 28.83 28.83

3628 -1.56 -146.0 2210 2541 3543 3554 388.2 -9.2 240 3633 0.00 2.42 0.00 0.000 516 0.000 0.097 2211 1143 3548 3543 3553 0 0 0 0 0 0 28.83 14.57 28.83

3666 -1.56 -146.0 2211 1142 3543 3553 391.7 -10.0 247 3671 0.00 2.58 0.00 0.000 1030 0.000 0.118 2203 2551 3548 3543 3553 0 0 0 0 0 0 28.83 14.56 28.83

3998 -1.56 -146.0 2203 2551 3543 3553 420.2 -8.3 262 4003 0.00 2.45 0.00 0.000 260 0.000 0.138 2194 3840 3548 3543 3553 0 0 0 0 0 0 28.83 14.52 28.83

4051 -1.56 -146.0 2194 3841 3544 3553 425.6 -9.0 272 4056 0.00 2.20 0.00 0.000 1030 0.000 0.061 2194 2549 3548 3543 3553 0 0 0 0 0 0 28.83 14.66 28.83

4366 -1.56 -146.0 2194 2549 3544 3553 452.6 -8.6 284 4367 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2549 3548 3544 3552 0 0 0 0 0 0 28.83 28.83 28.83

4664 -1.56 -146.0 2194 2549 3544 3553 479.4 -9.0 294 4670 0.00 2.45 0.00 0.000 516 0.000 0.106 2194 1150 3549 3544 3554 0 0 0 0 0 0 28.83 14.57 28.83

4692 -1.56 -146.0 2194 1150 3544 3554 482.2 -10.4 299 4699 0.10 2.58 0.00 0.000 3078 0.332 0.124 2205 2552 3549 3544 3554 0 0 0 0 0 0 14.39 14.55 28.83

5000 -1.56 -146.0 2205 2552 3545 3554 508.7 -8.6 310 5001 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2552 3550 3546 3554 0 0 0 0 0 0 28.83 28.83 28.83

5298 -1.56 -146.0 2205 2550 3546 3554 533.9 -8.3 320 5303 0.00 2.45 0.00 0.000 260 0.000 0.141 2197 3844 3550 3546 3554 0 0 0 0 0 0 28.83 14.51 28.83

5335 -1.56 -146.0 2197 3844 3545 3554 537.2 -9.5 327 5341 0.00 2.20 0.00 0.000 1030 0.000 0.062 2196 2551 3549 3546 3553 0 0 0 0 0 0 28.83 14.66 28.83

5666 -1.56 -146.0 2196 2550 3546 3554 565.3 -8.7 342 5667 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2551 3549 3546 3553 0 0 0 0 0 0 28.83 28.83 28.83

5964 -1.56 -146.0 2197 2550 3547 3553 591.6 -8.6 352 5969 0.00 2.47 0.00 0.000 516 0.000 0.110 2197 1144 3550 3546 3554 0 0 0 0 0 0 28.83 14.57 28.83

6006 -1.56 -146.0 2197 1144 3546 3554 595.5 -9.2 360 6012 0.00 2.58 0.00 0.000 1030 0.000 0.128 2190 2552 3550 3546 3554 0 0 0 0 0 0 28.83 14.56 28.83

6331 -1.56 -146.0 2190 2550 3546 3554 622.9 -8.5 374 6337 0.00 2.45 0.00 0.000 260 0.000 0.141 2180 3836 3550 3546 3554 0 0 0 0 0 0 28.83 14.52 28.83

6384 -1.54 -146.0 2180 3836 3546 3554 628.1 -10.2 384 6390 0.15 2.20 0.00 0.000 3078 0.288 0.064 2214 2544 3550 3546 3554 0 0 0 0 0 0 14.38 14.66 28.83

6700 -1.56 -146.0 2214 2544 3547 3554 653.0 -7.9 396 6701 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2544 3550 3547 3554 0 0 0 0 0 0 28.83 28.83 28.83

7000 -1.59 -146.0 2214 2543 3547 3554 677.4 -8.2 406 7001 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2543 3550 3547 3554 0 0 0 0 0 0 28.83 28.83 28.83

7299 -1.62 -146.0 2213 2543 3548 3554 700.7 -7.7 416 7304 0.00 2.50 0.00 0.000 516 0.000 0.116 2213 1141 3551 3548 3554 0 0 0 0 0 0 28.83 14.58 28.83

7352 -1.65 -146.0 2214 1140 3548 3554 705.1 -8.4 426 7358 0.00 2.60 0.00 0.000 1030 0.000 0.131 2207 2551 3551 3548 3554 0 0 0 0 0 0 28.83 14.57 28.83

7667 -1.67 -146.0 2207 2551 3548 3554 729.5 -7.8 438 7668 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2551 3551 3548 3554 0 0 0 0 0 0 28.83 28.83 28.83

7967 -1.69 -146.0 2207 2551 3548 3554 752.8 -7.6 448 7969 0.10 0.00 0.00 0.000 4102 0.166 0.000 2160 2551 3551 3548 3554 0 0 0 0 0 0 14.66 28.83 28.83

8267 -1.67 -146.0 2160 2551 3548 3554 780.0 -9.4 458 8269 0.12 0.00 0.00 0.000 2054 0.298 0.000 2186 2551 3551 3548 3554 0 0 0 0 0 0 14.42 28.83 28.83

8566 -1.67 -146.0 2186 2551 3548 3559 804.8 -8.3 468 8572 0.00 2.50 0.00 0.000 516 0.000 0.118 2187 1150 3551 3548 3555 0 0 0 0 0 0 28.83 14.58 28.83

8614 -1.67 -146.0 2187 1150 3548 3554 809.2 -8.8 477 8619 0.00 2.58 0.00 0.000 1030 0.000 0.131 2179 2549 3551 3548 3555 0 0 0 0 0 0 28.83 14.58 28.83

8934 -1.67 -146.0 2179 2548 3548 3555 835.6 -9.1 490 8939 0.00 2.45 0.00 0.000 260 0.000 0.143 2169 3844 3551 3548 3555 0 0 0 0 0 0 28.83 14.52 28.83

8981 -1.64 -146.0 2169 3844 3548 3555 840.8 -10.1 499 8987 0.10 2.20 0.00 0.000 3078 0.301 0.066 2189 2552 3551 3548 3555 0 0 0 0 0 0 14.42 14.67 28.83

9302 -1.64 -146.0 2188 2552 3548 3555 867.6 -7.9 512 9308 0.00 2.50 0.00 0.000 516 0.000 0.119 2189 1149 3551 3548 3555 0 0 0 0 0 0 28.83 14.58 28.83

9350 -1.64 -146.0 2189 1150 3548 3555 872.0 -9.2 521 9355 0.00 2.58 0.00 0.000 1030 0.000 0.132 2182 2549 3552 3548 3556 0 0 0 0 0 0 28.83 14.57 28.83

9670 -1.90 -146.0 2182 2549 3549 3555 882.2 -0.0 534 9676 0.12 2.53 0.00 0.000 4612 0.151 0.119 2130 1148 3555 3555 3556 0 0 0 0 0 0 14.63 14.57 28.83

9696 end dive: NO_VERTICAL_VELOCITY

state 9696 begin apogee

9704 -0.38 0.0 2130 2401 3549 3555 882.2 0.0 539 9887 1.10 0.00 179.27 1.685 10246 0.168 0.000 2467 2401 2953 2974 2932 0 0 0 0 0 0 14.50 28.83 13.25

9888 end apogee: CONTROL_FINISHED_OK

state 9888 begin climb

9891 1.60 146.0 2468 2402 2964 2922 881.9 0.0 545 10090 1.40 2.95 183.43 1.506 10500 0.151 0.146 2895 3806 2355 2405 2305 0 0 0 0 1 0 13.83 13.41 12.80

10178 1.53 146.0 2895 3806 2405 2311 852.1 13.4 604 10186 0.10 2.60 0.00 0.000 5126 0.300 0.078 2887 2413 2358 2405 2311 0 0 0 0 0 0 13.66 13.76 28.83

10485 1.53 146.0 2886 2412 2405 2308 814.5 12.4 615 10490 0.00 2.62 0.00 0.000 516 0.000 0.121 2896 987 2359 2411 2308 0 0 0 0 0 0 28.83 14.12 28.83

10509 1.51 146.0 2896 987 2405 2308 811.3 12.9 619 10515 0.00 2.67 0.00 0.000 1030 0.000 0.125 2896 2398 2355 2403 2308 0 0 0 0 0 0 28.83 14.15 28.83

10824 1.48 146.0 2895 2398 2404 2306 772.1 12.9 631 10826 0.10 0.00 0.00 0.000 4102 0.304 0.000 2875 2398 2355 2405 2306 0 0 0 0 0 0 14.25 28.83 28.83

11123 1.48 146.0 2875 2398 2404 2305 737.0 11.9 641 11124 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2398 2355 2405 2305 0 0 0 0 0 0 28.83 28.83 28.83

11422 1.48 146.0 2875 2398 2405 2305 702.2 11.4 651 11424 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2399 2354 2405 2304 0 0 0 0 0 0 28.83 28.83 28.83

11722 1.48 146.0 2875 2398 2405 2304 668.2 11.4 661 11723 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2398 2354 2404 2305 0 0 0 0 0 0 28.83 28.83 28.83

12023 1.48 146.0 2875 2398 2405 2304 634.1 11.3 671 12028 0.00 2.72 0.00 0.000 260 0.000 0.148 2874 3816 2354 2405 2304 0 0 0 0 0 0 28.83 14.50 28.83

12050 1.45 146.0 2874 3821 2405 2304 630.5 12.7 676 12057 0.00 2.50 0.00 0.000 1030 0.000 0.078 2884 2387 2355 2405 2305 0 0 0 0 0 0 28.83 14.59 28.83

12357 1.45 146.0 2884 2387 2405 2304 595.0 11.5 687 12358 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2387 2354 2405 2304 0 0 0 0 0 0 28.83 28.83 28.83

12656 1.45 146.0 2884 2387 2405 2304 559.9 11.7 697 12657 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2387 2354 2405 2304 0 0 0 0 0 0 28.83 28.83 28.83

12956 1.45 146.0 2884 2387 2405 2304 525.9 11.3 707 12958 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2387 2354 2404 2304 0 0 0 0 0 0 28.83 28.83 28.83

13256 1.45 146.0 2884 2387 2405 2304 492.2 11.1 717 13257 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2387 2354 2405 2304 0 0 0 0 0 0 28.83 28.83 28.83

13556 1.45 146.0 2884 2387 2404 2304 458.9 11.1 727 13561 0.00 2.75 0.00 0.000 260 0.000 0.146 2884 3816 2354 2405 2304 0 0 0 0 0 0 28.83 14.54 28.83

13579 1.41 146.0 2884 3816 2404 2304 456.2 11.9 731 13585 0.15 2.47 0.00 0.000 5126 0.281 0.077 2860 2393 2354 2405 2304 0 0 0 0 0 0 14.45 14.64 28.83

13894 1.41 146.0 2860 2393 2405 2300 424.6 10.1 743 13895 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 2394 2354 2404 2304 0 0 0 0 0 0 28.83 28.83 28.83

14194 1.44 146.0 2861 2393 2404 2304 393.9 10.3 753 14195 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 2394 2354 2404 2304 0 0 0 0 0 0 28.83 28.83 28.83

14494 1.46 147.7 2860 2393 2404 2303 363.7 9.9 763 14499 0.00 2.72 0.00 0.000 260 0.000 0.151 2859 3809 2354 2405 2304 0 0 0 0 0 0 28.83 14.54 28.83

14531 1.46 147.7 2860 3809 2405 2304 359.4 11.9 770 14537 0.00 2.45 0.00 0.000 1030 0.000 0.077 2869 2399 2354 2405 2304 0 0 0 0 0 0 28.83 14.64 28.83

14861 1.47 156.1 2869 2399 2405 2304 327.6 9.6 785 14889 0.00 0.00 16.67 1.252 8198 0.000 0.000 2869 2399 2306 2352 2260 0 0 0 0 1 0 28.83 28.83 13.86

15191 1.48 164.8 2869 2399 2343 2250 295.7 9.6 796 15196 0.00 0.00 2.92 0.692 8198 0.000 0.000 2869 2399 2278 2323 2234 0 0 0 0 0 0 28.83 28.83 13.83

15489 1.48 164.8 2869 2399 2324 2251 265.7 10.4 806 15495 0.00 2.75 0.00 0.000 260 0.000 0.151 2868 3817 2287 2324 2251 0 0 0 0 0 0 28.83 14.50 28.83

15572 1.48 164.8 2869 3817 2324 2252 255.9 12.1 822 15578 0.00 2.47 0.00 0.000 1030 0.000 0.078 2878 2399 2288 2324 2252 0 0 0 0 0 0 28.83 14.57 28.83

15885 1.51 164.8 2878 2399 2324 2252 223.7 10.2 838 15889 0.00 0.00 1.77 0.188 8198 0.000 0.000 2878 2399 2278 2318 2238 0 0 0 0 0 0 28.83 28.83 14.52

16186 1.56 183.9 2879 2399 2322 2252 194.8 9.1 853 16224 0.00 2.75 23.33 1.116 8452 0.000 0.150 2878 3817 2202 2242 2162 0 0 0 0 1 0 28.83 14.50 13.93

16236 1.58 203.9 2878 3818 2242 2166 190.1 9.1 860 16272 0.00 2.50 24.08 1.147 9222 0.000 0.076 2888 2392 2118 2163 2073 0 0 0 0 1 0 28.83 14.54 13.85

16590 1.62 207.8 2888 2392 2165 2087 157.2 9.8 885 16600 0.00 2.78 4.22 0.926 8452 0.000 0.148 2888 3819 2104 2145 2064 0 0 0 0 0 0 28.83 14.43 13.77

16637 1.62 207.8 2889 3818 2151 2075 152.0 11.4 894 16647 0.00 2.50 2.15 0.326 9222 0.000 0.076 2898 2398 2102 2142 2062 0 0 0 0 0 0 28.83 14.49 13.74

16955 1.71 245.4 2898 2398 2152 2075 124.6 8.3 912 17004 0.10 2.53 36.15 1.278 10756 0.167 0.109 2948 994 1951 1998 1905 0 0 0 0 1 0 14.56 14.33 13.70

17062 1.71 245.4 2948 994 2001 1915 111.7 12.9 933 17068 0.12 2.60 0.00 0.000 5126 0.278 0.119 2921 2403 1959 2001 1917 0 0 0 0 0 0 14.24 14.35 28.83

17382 1.77 268.2 2922 2406 2001 1916 80.0 9.0 951 17406 0.00 2.83 16.08 0.363 8452 0.000 0.151 2921 3809 1861 1907 1816 0 0 0 0 0 0 28.83 14.37 14.18

17439 1.77 268.2 2921 3809 1906 1823 74.2 11.6 962 17445 0.00 2.50 0.00 0.000 1030 0.000 0.076 2930 2392 1865 1907 1823 0 0 0 0 0 0 28.83 14.46 28.83

17744 1.79 268.2 2930 2392 1908 1822 39.5 11.5 978 17749 0.00 2.47 0.00 0.000 516 0.000 0.109 2940 994 1865 1908 1822 0 0 0 0 0 0 28.83 14.45 28.83

17791 1.83 268.2 2940 994 1908 1823 34.2 10.6 987 17797 0.00 2.60 0.00 0.000 1030 0.000 0.119 2940 2409 1865 1908 1822 0 0 0 0 0 0 28.83 14.46 28.83

17967 end climb: SURFACE_OBSTACLE_DETECTED

state 17967 begin subsurface finish

17973 0.09 73.7 2940 2409 1909 1821 13.5 11.6 1002 18002 1.27 2.75 -20.62 0.000 20740 0.231 0.168 2575 3816 2653 2666 2640 0 0 0 0 0 0 14.33 14.44 14.76

18003 end subsurface finish: CONTROL_FINISHED_OK

state 18003 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	289	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	R_STBD_OVSHOOT	13	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-2	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	270115,043802,6644.032,-5859.907,0,3098.3,0,-32.6	SPEED_LIMITS	0.173,0.262
_CALLS	3	TGT_NAME	TARGET_W
_XMS_NAKs	0	TGT_LATLONG	6644.000,-6026.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	3.15	MHEAD_RNG_PITCHd_Wd	302.5,62982,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-2.0	D_GRID	896
GPS2	270115,043802,6644.032,-5859.907,0,3098.3,0,-32.6

FINISH1	13.5,1.026007,74	_24V_AH	12.80,72.047
FINISH2	11.8	_10V_AH	13.12,0.000
RAFOS_CLK	852	FG_AHR_24Vo	0.000
RAFOS	0,1422374461,16.033333,16.016945,59,58,56,54,51,51,213,193,161,223,117,126	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.089844,-5924.717285,270115,161636,4,93,0.43	MEM	271092
IRIDIUM_FIX	6625.71,-5725.81,220115,144240	DATA_FILE_SIZE	33371,1007
TT8_MAMPS	0.027713,0.027713	CAP_FILE_SIZE	176081,0
HUMID	48.89	CFSIZE	260034560,231317504
INTERNAL_PRESSURE	8.47912	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	12.20	INTR	0,17970.54,0x23769e,5,5
XPDR_PINGS	1	SOUNDSPEED	1456.1
ALTIM_TOP_PING	19.2,10.4	GPS	270115,163336,6642.090,-5924.717,0,4092.8,0,-32.6
SC_FREEKB	7677600

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	339	28.37	nil	0	0	0.00
Roll_motor	145	167	311.80	nil	0	0	0.00
VBD_pump_during_apogee	490	1684	10566.99	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	18024	6	1470.07
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2150	11	323.68
LPSleep	13501	2	409.19
TT8_Active	641	11	96.54
TT8_Sampling	1596	30	648.14
TT8_CF8	236	36	112.14
TT8_Kalman	0	0	0.00
Analog_circuits	1516	11	218.87
GPS_charging	0	0	0.00
Compass	1499	6	118.03
RAFOS	3240	1	63.76
Transponder	4	30	1.66

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	-1.60	-146.0	2571	2545	2679	2647	0.0	0.0	0	74	0.00	0.00	-52.08	0.000	16386	0.000	0.000	2571	2545	3527	3517	3537	0	0	0	0	0	0	28.83	28.83	28.83
77	-1.60	-146.0	2571	2545	3519	3537	3.4	-3.4	5	89	1.15	2.50	-0.85	0.000	20996	0.148	0.117	2200	1144	3548	3539	3557	0	0	0	0	0	0	14.46	14.50	14.75
116	-1.56	-146.0	2200	1140	3540	3558	7.8	-11.4	12	123	0.00	2.58	0.00	0.000	1030	0.000	0.119	2193	2552	3549	3540	3558	0	0	0	0	0	0	28.83	14.49	28.83
432	-1.51	-146.0	2193	2553	3543	3558	52.6	-13.2	34	434	0.12	0.00	0.00	0.000	2054	0.340	0.000	2218	2552	3550	3543	3558	0	0	0	0	0	0	14.34	28.83	28.83
733	-1.51	-146.0	2218	2552	3544	3558	92.2	-14.0	49	738	0.00	2.45	0.00	0.000	260	0.000	0.144	2208	3843	3549	3540	3558	0	0	0	0	0	0	28.83	14.48	28.83
771	-1.47	-146.0	2208	3843	3543	3558	98.1	-15.7	56	778	0.10	2.22	0.00	0.000	3078	0.322	0.065	2227	2548	3550	3543	3558	0	0	0	0	0	0	14.38	14.61	28.83
1076	-1.47	-146.0	2227	2547	3542	3558	135.9	-11.2	72	1081	0.00	2.47	0.00	0.000	260	0.000	0.148	2218	3844	3550	3543	3557	0	0	0	0	0	0	28.83	14.49	28.83
1229	-1.47	-146.0	2218	3844	3544	3563	154.1	-11.3	102	1234	0.00	2.22	0.00	0.000	1030	0.000	0.063	2218	2549	3550	3544	3557	0	0	0	0	0	0	28.83	14.62	28.83
1542	-1.47	-146.0	2218	2548	3543	3556	187.9	-11.4	119	1543	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2548	3549	3543	3556	0	0	0	0	0	0	28.83	28.83	28.83
1844	-1.47	-146.0	2218	2548	3543	3554	218.7	-9.2	134	1849	0.00	2.50	0.00	0.000	260	0.000	0.147	2208	3846	3548	3543	3554	0	0	0	0	0	0	28.83	14.50	28.83
1918	-1.47	-146.0	2208	3846	3543	3554	226.3	-9.7	148	1924	0.10	2.22	0.00	0.000	3078	0.304	0.063	2227	2550	3549	3544	3554	0	0	0	0	0	0	14.40	14.64	28.83
2232	-1.49	-146.0	2227	2548	3543	3554	256.6	-9.8	164	2234	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2548	3548	3543	3554	0	0	0	0	0	0	28.83	28.83	28.83
2533	-1.52	-146.0	2227	2548	3543	3554	285.3	-9.1	174	2538	0.00	2.42	0.00	0.000	516	0.000	0.097	2227	1147	3548	3543	3554	0	0	0	0	0	0	28.83	14.57	28.83
2600	-1.54	-146.0	2227	1147	3543	3553	291.6	-9.1	187	2606	0.00	2.58	0.00	0.000	1030	0.000	0.119	2220	2556	3548	3543	3554	0	0	0	0	0	0	28.83	14.55	28.83
2931	-1.56	-146.0	2220	2556	3543	3553	321.0	-8.9	202	2937	0.00	2.45	0.00	0.000	260	0.000	0.143	2211	3845	3548	3543	3553	0	0	0	0	0	0	28.83	14.52	28.83
2994	-1.56	-146.0	2211	3844	3543	3553	327.2	-9.4	214	3000	0.00	2.22	0.00	0.000	1030	0.000	0.062	2211	2541	3548	3543	3553	0	0	0	0	0	0	28.83	14.65	28.83
3330	-1.56	-146.0	2210	2541	3543	3553	359.8	-10.0	230	3331	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	2541	3547	3542	3553	0	0	0	0	0	0	28.83	28.83	28.83
3628	-1.56	-146.0	2210	2541	3543	3554	388.2	-9.2	240	3633	0.00	2.42	0.00	0.000	516	0.000	0.097	2211	1143	3548	3543	3553	0	0	0	0	0	0	28.83	14.57	28.83
3666	-1.56	-146.0	2211	1142	3543	3553	391.7	-10.0	247	3671	0.00	2.58	0.00	0.000	1030	0.000	0.118	2203	2551	3548	3543	3553	0	0	0	0	0	0	28.83	14.56	28.83
3998	-1.56	-146.0	2203	2551	3543	3553	420.2	-8.3	262	4003	0.00	2.45	0.00	0.000	260	0.000	0.138	2194	3840	3548	3543	3553	0	0	0	0	0	0	28.83	14.52	28.83
4051	-1.56	-146.0	2194	3841	3544	3553	425.6	-9.0	272	4056	0.00	2.20	0.00	0.000	1030	0.000	0.061	2194	2549	3548	3543	3553	0	0	0	0	0	0	28.83	14.66	28.83
4366	-1.56	-146.0	2194	2549	3544	3553	452.6	-8.6	284	4367	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2549	3548	3544	3552	0	0	0	0	0	0	28.83	28.83	28.83
4664	-1.56	-146.0	2194	2549	3544	3553	479.4	-9.0	294	4670	0.00	2.45	0.00	0.000	516	0.000	0.106	2194	1150	3549	3544	3554	0	0	0	0	0	0	28.83	14.57	28.83
4692	-1.56	-146.0	2194	1150	3544	3554	482.2	-10.4	299	4699	0.10	2.58	0.00	0.000	3078	0.332	0.124	2205	2552	3549	3544	3554	0	0	0	0	0	0	14.39	14.55	28.83
5000	-1.56	-146.0	2205	2552	3545	3554	508.7	-8.6	310	5001	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2552	3550	3546	3554	0	0	0	0	0	0	28.83	28.83	28.83
5298	-1.56	-146.0	2205	2550	3546	3554	533.9	-8.3	320	5303	0.00	2.45	0.00	0.000	260	0.000	0.141	2197	3844	3550	3546	3554	0	0	0	0	0	0	28.83	14.51	28.83
5335	-1.56	-146.0	2197	3844	3545	3554	537.2	-9.5	327	5341	0.00	2.20	0.00	0.000	1030	0.000	0.062	2196	2551	3549	3546	3553	0	0	0	0	0	0	28.83	14.66	28.83
5666	-1.56	-146.0	2196	2550	3546	3554	565.3	-8.7	342	5667	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2551	3549	3546	3553	0	0	0	0	0	0	28.83	28.83	28.83
5964	-1.56	-146.0	2197	2550	3547	3553	591.6	-8.6	352	5969	0.00	2.47	0.00	0.000	516	0.000	0.110	2197	1144	3550	3546	3554	0	0	0	0	0	0	28.83	14.57	28.83
6006	-1.56	-146.0	2197	1144	3546	3554	595.5	-9.2	360	6012	0.00	2.58	0.00	0.000	1030	0.000	0.128	2190	2552	3550	3546	3554	0	0	0	0	0	0	28.83	14.56	28.83
6331	-1.56	-146.0	2190	2550	3546	3554	622.9	-8.5	374	6337	0.00	2.45	0.00	0.000	260	0.000	0.141	2180	3836	3550	3546	3554	0	0	0	0	0	0	28.83	14.52	28.83
6384	-1.54	-146.0	2180	3836	3546	3554	628.1	-10.2	384	6390	0.15	2.20	0.00	0.000	3078	0.288	0.064	2214	2544	3550	3546	3554	0	0	0	0	0	0	14.38	14.66	28.83
6700	-1.56	-146.0	2214	2544	3547	3554	653.0	-7.9	396	6701	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2544	3550	3547	3554	0	0	0	0	0	0	28.83	28.83	28.83
7000	-1.59	-146.0	2214	2543	3547	3554	677.4	-8.2	406	7001	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2543	3550	3547	3554	0	0	0	0	0	0	28.83	28.83	28.83
7299	-1.62	-146.0	2213	2543	3548	3554	700.7	-7.7	416	7304	0.00	2.50	0.00	0.000	516	0.000	0.116	2213	1141	3551	3548	3554	0	0	0	0	0	0	28.83	14.58	28.83
7352	-1.65	-146.0	2214	1140	3548	3554	705.1	-8.4	426	7358	0.00	2.60	0.00	0.000	1030	0.000	0.131	2207	2551	3551	3548	3554	0	0	0	0	0	0	28.83	14.57	28.83
7667	-1.67	-146.0	2207	2551	3548	3554	729.5	-7.8	438	7668	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2551	3551	3548	3554	0	0	0	0	0	0	28.83	28.83	28.83
7967	-1.69	-146.0	2207	2551	3548	3554	752.8	-7.6	448	7969	0.10	0.00	0.00	0.000	4102	0.166	0.000	2160	2551	3551	3548	3554	0	0	0	0	0	0	14.66	28.83	28.83
8267	-1.67	-146.0	2160	2551	3548	3554	780.0	-9.4	458	8269	0.12	0.00	0.00	0.000	2054	0.298	0.000	2186	2551	3551	3548	3554	0	0	0	0	0	0	14.42	28.83	28.83
8566	-1.67	-146.0	2186	2551	3548	3559	804.8	-8.3	468	8572	0.00	2.50	0.00	0.000	516	0.000	0.118	2187	1150	3551	3548	3555	0	0	0	0	0	0	28.83	14.58	28.83
8614	-1.67	-146.0	2187	1150	3548	3554	809.2	-8.8	477	8619	0.00	2.58	0.00	0.000	1030	0.000	0.131	2179	2549	3551	3548	3555	0	0	0	0	0	0	28.83	14.58	28.83
8934	-1.67	-146.0	2179	2548	3548	3555	835.6	-9.1	490	8939	0.00	2.45	0.00	0.000	260	0.000	0.143	2169	3844	3551	3548	3555	0	0	0	0	0	0	28.83	14.52	28.83
8981	-1.64	-146.0	2169	3844	3548	3555	840.8	-10.1	499	8987	0.10	2.20	0.00	0.000	3078	0.301	0.066	2189	2552	3551	3548	3555	0	0	0	0	0	0	14.42	14.67	28.83
9302	-1.64	-146.0	2188	2552	3548	3555	867.6	-7.9	512	9308	0.00	2.50	0.00	0.000	516	0.000	0.119	2189	1149	3551	3548	3555	0	0	0	0	0	0	28.83	14.58	28.83
9350	-1.64	-146.0	2189	1150	3548	3555	872.0	-9.2	521	9355	0.00	2.58	0.00	0.000	1030	0.000	0.132	2182	2549	3552	3548	3556	0	0	0	0	0	0	28.83	14.57	28.83
9670	-1.90	-146.0	2182	2549	3549	3555	882.2	-0.0	534	9676	0.12	2.53	0.00	0.000	4612	0.151	0.119	2130	1148	3555	3555	3556	0	0	0	0	0	0	14.63	14.57	28.83
9696	end dive: NO_VERTICAL_VELOCITY
state	9696	begin apogee
9704	-0.38	0.0	2130	2401	3549	3555	882.2	0.0	539	9887	1.10	0.00	179.27	1.685	10246	0.168	0.000	2467	2401	2953	2974	2932	0	0	0	0	0	0	14.50	28.83	13.25
9888	end apogee: CONTROL_FINISHED_OK
state	9888	begin climb
9891	1.60	146.0	2468	2402	2964	2922	881.9	0.0	545	10090	1.40	2.95	183.43	1.506	10500	0.151	0.146	2895	3806	2355	2405	2305	0	0	0	0	1	0	13.83	13.41	12.80
10178	1.53	146.0	2895	3806	2405	2311	852.1	13.4	604	10186	0.10	2.60	0.00	0.000	5126	0.300	0.078	2887	2413	2358	2405	2311	0	0	0	0	0	0	13.66	13.76	28.83
10485	1.53	146.0	2886	2412	2405	2308	814.5	12.4	615	10490	0.00	2.62	0.00	0.000	516	0.000	0.121	2896	987	2359	2411	2308	0	0	0	0	0	0	28.83	14.12	28.83
10509	1.51	146.0	2896	987	2405	2308	811.3	12.9	619	10515	0.00	2.67	0.00	0.000	1030	0.000	0.125	2896	2398	2355	2403	2308	0	0	0	0	0	0	28.83	14.15	28.83
10824	1.48	146.0	2895	2398	2404	2306	772.1	12.9	631	10826	0.10	0.00	0.00	0.000	4102	0.304	0.000	2875	2398	2355	2405	2306	0	0	0	0	0	0	14.25	28.83	28.83
11123	1.48	146.0	2875	2398	2404	2305	737.0	11.9	641	11124	0.00	0.00	0.00	0.000	6	0.000	0.000	2875	2398	2355	2405	2305	0	0	0	0	0	0	28.83	28.83	28.83
11422	1.48	146.0	2875	2398	2405	2305	702.2	11.4	651	11424	0.00	0.00	0.00	0.000	6	0.000	0.000	2874	2399	2354	2405	2304	0	0	0	0	0	0	28.83	28.83	28.83
11722	1.48	146.0	2875	2398	2405	2304	668.2	11.4	661	11723	0.00	0.00	0.00	0.000	6	0.000	0.000	2875	2398	2354	2404	2305	0	0	0	0	0	0	28.83	28.83	28.83
12023	1.48	146.0	2875	2398	2405	2304	634.1	11.3	671	12028	0.00	2.72	0.00	0.000	260	0.000	0.148	2874	3816	2354	2405	2304	0	0	0	0	0	0	28.83	14.50	28.83
12050	1.45	146.0	2874	3821	2405	2304	630.5	12.7	676	12057	0.00	2.50	0.00	0.000	1030	0.000	0.078	2884	2387	2355	2405	2305	0	0	0	0	0	0	28.83	14.59	28.83
12357	1.45	146.0	2884	2387	2405	2304	595.0	11.5	687	12358	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2387	2354	2405	2304	0	0	0	0	0	0	28.83	28.83	28.83
12656	1.45	146.0	2884	2387	2405	2304	559.9	11.7	697	12657	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2387	2354	2405	2304	0	0	0	0	0	0	28.83	28.83	28.83
12956	1.45	146.0	2884	2387	2405	2304	525.9	11.3	707	12958	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2387	2354	2404	2304	0	0	0	0	0	0	28.83	28.83	28.83
13256	1.45	146.0	2884	2387	2405	2304	492.2	11.1	717	13257	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2387	2354	2405	2304	0	0	0	0	0	0	28.83	28.83	28.83
13556	1.45	146.0	2884	2387	2404	2304	458.9	11.1	727	13561	0.00	2.75	0.00	0.000	260	0.000	0.146	2884	3816	2354	2405	2304	0	0	0	0	0	0	28.83	14.54	28.83
13579	1.41	146.0	2884	3816	2404	2304	456.2	11.9	731	13585	0.15	2.47	0.00	0.000	5126	0.281	0.077	2860	2393	2354	2405	2304	0	0	0	0	0	0	14.45	14.64	28.83
13894	1.41	146.0	2860	2393	2405	2300	424.6	10.1	743	13895	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	2394	2354	2404	2304	0	0	0	0	0	0	28.83	28.83	28.83
14194	1.44	146.0	2861	2393	2404	2304	393.9	10.3	753	14195	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	2394	2354	2404	2304	0	0	0	0	0	0	28.83	28.83	28.83
14494	1.46	147.7	2860	2393	2404	2303	363.7	9.9	763	14499	0.00	2.72	0.00	0.000	260	0.000	0.151	2859	3809	2354	2405	2304	0	0	0	0	0	0	28.83	14.54	28.83
14531	1.46	147.7	2860	3809	2405	2304	359.4	11.9	770	14537	0.00	2.45	0.00	0.000	1030	0.000	0.077	2869	2399	2354	2405	2304	0	0	0	0	0	0	28.83	14.64	28.83
14861	1.47	156.1	2869	2399	2405	2304	327.6	9.6	785	14889	0.00	0.00	16.67	1.252	8198	0.000	0.000	2869	2399	2306	2352	2260	0	0	0	0	1	0	28.83	28.83	13.86
15191	1.48	164.8	2869	2399	2343	2250	295.7	9.6	796	15196	0.00	0.00	2.92	0.692	8198	0.000	0.000	2869	2399	2278	2323	2234	0	0	0	0	0	0	28.83	28.83	13.83
15489	1.48	164.8	2869	2399	2324	2251	265.7	10.4	806	15495	0.00	2.75	0.00	0.000	260	0.000	0.151	2868	3817	2287	2324	2251	0	0	0	0	0	0	28.83	14.50	28.83
15572	1.48	164.8	2869	3817	2324	2252	255.9	12.1	822	15578	0.00	2.47	0.00	0.000	1030	0.000	0.078	2878	2399	2288	2324	2252	0	0	0	0	0	0	28.83	14.57	28.83
15885	1.51	164.8	2878	2399	2324	2252	223.7	10.2	838	15889	0.00	0.00	1.77	0.188	8198	0.000	0.000	2878	2399	2278	2318	2238	0	0	0	0	0	0	28.83	28.83	14.52
16186	1.56	183.9	2879	2399	2322	2252	194.8	9.1	853	16224	0.00	2.75	23.33	1.116	8452	0.000	0.150	2878	3817	2202	2242	2162	0	0	0	0	1	0	28.83	14.50	13.93
16236	1.58	203.9	2878	3818	2242	2166	190.1	9.1	860	16272	0.00	2.50	24.08	1.147	9222	0.000	0.076	2888	2392	2118	2163	2073	0	0	0	0	1	0	28.83	14.54	13.85
16590	1.62	207.8	2888	2392	2165	2087	157.2	9.8	885	16600	0.00	2.78	4.22	0.926	8452	0.000	0.148	2888	3819	2104	2145	2064	0	0	0	0	0	0	28.83	14.43	13.77
16637	1.62	207.8	2889	3818	2151	2075	152.0	11.4	894	16647	0.00	2.50	2.15	0.326	9222	0.000	0.076	2898	2398	2102	2142	2062	0	0	0	0	0	0	28.83	14.49	13.74
16955	1.71	245.4	2898	2398	2152	2075	124.6	8.3	912	17004	0.10	2.53	36.15	1.278	10756	0.167	0.109	2948	994	1951	1998	1905	0	0	0	0	1	0	14.56	14.33	13.70
17062	1.71	245.4	2948	994	2001	1915	111.7	12.9	933	17068	0.12	2.60	0.00	0.000	5126	0.278	0.119	2921	2403	1959	2001	1917	0	0	0	0	0	0	14.24	14.35	28.83
17382	1.77	268.2	2922	2406	2001	1916	80.0	9.0	951	17406	0.00	2.83	16.08	0.363	8452	0.000	0.151	2921	3809	1861	1907	1816	0	0	0	0	0	0	28.83	14.37	14.18
17439	1.77	268.2	2921	3809	1906	1823	74.2	11.6	962	17445	0.00	2.50	0.00	0.000	1030	0.000	0.076	2930	2392	1865	1907	1823	0	0	0	0	0	0	28.83	14.46	28.83
17744	1.79	268.2	2930	2392	1908	1822	39.5	11.5	978	17749	0.00	2.47	0.00	0.000	516	0.000	0.109	2940	994	1865	1908	1822	0	0	0	0	0	0	28.83	14.45	28.83
17791	1.83	268.2	2940	994	1908	1823	34.2	10.6	987	17797	0.00	2.60	0.00	0.000	1030	0.000	0.119	2940	2409	1865	1908	1822	0	0	0	0	0	0	28.83	14.46	28.83
17967	end climb: SURFACE_OBSTACLE_DETECTED
state	17967	begin subsurface finish
17973	0.09	73.7	2940	2409	1909	1821	13.5	11.6	1002	18002	1.27	2.75	-20.62	0.000	20740	0.231	0.168	2575	3816	2653	2666	2640	0	0	0	0	0	0	14.33	14.44	14.76
18003	end subsurface finish: CONTROL_FINISHED_OK
state	18003	begin surface