Glider dive log

Cuddy Jan14 * SG189 * Dive index * Mission links * Dive 29 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 30 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 29 ESCAPE_HEADING 90 C_ROLL_DIVE 2100 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_PING_DEPTH 500

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2931 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 101

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -58153.508 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2486 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

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

MASS 57433 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 2.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 2.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -81.04335 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -58153.508

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 360

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -1 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2486 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2931 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 115 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 30 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 29 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 210114,094234,4745.812,-12537.548,31,1.0,32,17.2 TGT_NAME JUANDEFUCA

_CALLS 1 TGT_LATLONG 4748.000,-12539.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.074,0.118

_SM_DEPTHo 1.67 KALMAN_X 17295.5,335.1,241.3,-65523.0,-326.5

_SM_ANGLEo -70.0 KALMAN_Y 3102.6,11.6,-6.1,81412.7,1669.4

GPS2 210114,094800,4745.843,-12537.579,15,1.0,15,17.2 MHEAD_RNG_PITCHd_Wd 310.5,4368,-33.3,-10.000,-35.71,653

SPEED_LIMITS 0.100,0.259 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.024911 _24V_AH 23.4,7.238

SM_CCo 16774,40.60,0.156,0,0,1908,250.21 _10V_AH 10.0,4.683

SM_GC 2.37,7.38,2.28,40.60,0.051,0.034,0.156,146,2133,1908,-7.24,-0.40,250.21,0,0,0,0,0,0,26.34,26.37,26.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12603.53,210114,040406 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 313172

HUMID 49.88 DATA_FILE_SIZE 37073,479

INTERNAL_PRESSURE 8.44372 CAP_FILE_SIZE 129239,0

TCM_TEMP 17.10 CFSIZE 260165632,253890560

XPDR_PINGS 6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 925.1,57.2 GPS 210114,143028,4747.930,-12538.900,42,1.0,42,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 99.99 SBE_CT 333 23 181.46

Roll_motor 139 139 457.80 WL_BB2FLVMT 315 36 270.74

VBD_pump_during_apogee 147 1623 5608.62 AA4330 741 14 246.98

VBD_pump_during_surface 40 156 148.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 48 30.05 nil 0 0 0.00

Iridium_during_connect 22 160 84.93 nil 0 0 0.00

Iridium_during_xfer 168 223 880.23 nil 0 0 0.00

Transponder_ping 12 420 122.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 26 4.31

TT8 1490 11 178.26

LPSleep 13360 2 292.60

TT8_Active 407 11 48.69

TT8_Sampling 1682 37 629.83

TT8_CF8 196 45 89.65

TT8_Kalman 33 61 20.41

Analog_circuits 1086 15 162.98

GPS_charging 0 0 0.00

Compass 1330 15 209.31

RAFOS 0 0 0.00

Transponder 81 30 24.51

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.19 -42.7 143 2116 1877 1722 0.0 0.0 0 50 0.00 0.00 -32.42 0.000 16386 0.000 0.000 143 2117 2725 2734 2716 0 0 0 0 0 0 28.83 28.83 28.83

53 -1.19 -42.7 143 2117 2734 2717 2.5 -3.4 3 80 7.15 2.25 -10.55 0.000 19204 0.210 0.057 2090 3521 3106 3152 3061 0 0 0 0 0 0 25.85 26.03 26.29

370 -1.08 -42.7 2090 3521 3154 3061 65.9 -19.2 35 379 0.15 2.22 0.00 0.000 3078 0.178 0.028 2136 2062 3107 3154 3061 0 0 0 0 0 0 25.98 26.15 28.83

680 -1.08 -57.1 2136 2062 3155 3061 103.9 -7.7 55 686 0.00 2.33 -0.40 0.000 18692 0.000 0.054 2127 3518 3171 3216 3126 0 0 0 0 0 0 28.83 26.20 26.34

979 -1.08 -57.1 2127 3518 3216 3126 138.6 -13.5 70 986 0.05 2.22 0.00 0.000 3078 0.210 0.028 2139 2070 3171 3216 3126 0 0 0 0 0 0 26.14 26.26 28.83

1289 -1.08 -57.1 2139 2070 3217 3125 173.9 -11.1 82 1291 0.00 0.00 0.00 0.000 2054 0.000 0.000 2139 2070 3171 3217 3126 0 0 0 0 0 0 28.83 28.83 28.83

1589 -1.08 -57.1 2139 2070 3217 3126 205.6 -10.2 92 1595 0.00 2.33 0.00 0.000 2308 0.000 0.039 2130 3524 3171 3217 3126 0 0 0 0 0 0 28.83 26.31 28.83

1717 -1.08 -57.1 2130 3524 3217 3126 219.6 -11.6 96 1721 0.00 2.22 0.00 0.000 3078 0.000 0.029 2131 2073 3171 3217 3126 0 0 0 0 0 0 28.83 26.34 28.83

2030 -1.08 -57.1 2130 2073 3217 3126 253.5 -10.4 107 2035 0.00 2.20 0.00 0.000 2564 0.000 0.041 2130 672 3171 3217 3126 0 0 0 0 0 0 28.83 26.35 28.83

2059 -1.08 -57.1 2130 672 3217 3126 257.2 -10.8 108 2066 0.08 2.25 0.00 0.000 3078 0.203 0.029 2140 2135 3172 3217 3127 0 0 0 0 0 0 26.23 26.38 28.83

2389 -1.08 -57.1 2139 2135 3217 3126 294.2 -11.5 119 2395 0.00 2.20 0.00 0.000 2308 0.000 0.040 2130 3526 3171 3217 3126 0 0 0 0 0 0 28.83 26.37 28.83

2669 -1.08 -57.1 2131 3526 3217 3126 322.6 -11.8 124 2673 0.00 2.22 0.00 0.000 3078 0.000 0.029 2131 2070 3171 3217 3126 0 0 0 0 0 0 28.83 26.41 28.83

2980 -1.08 -57.1 2131 2069 3217 3126 363.9 -11.5 130 2981 0.00 0.00 0.00 0.000 2054 0.000 0.000 2131 2069 3171 3217 3126 0 0 0 0 0 0 28.83 28.83 28.83

3280 -1.08 -57.1 2131 2069 3217 3126 397.6 -11.1 135 3287 0.00 2.33 0.00 0.000 2308 0.000 0.039 2120 3537 3171 3217 3126 0 0 0 0 0 0 28.83 26.42 28.83

3408 -1.08 -57.1 2120 3537 3217 3126 411.1 -11.1 137 3413 0.08 2.25 0.00 0.000 3078 0.184 0.028 2141 2057 3171 3217 3126 0 0 0 0 0 0 26.32 26.45 28.83

3751 -1.14 -57.1 2141 2057 3217 3126 449.7 -11.1 143 3757 0.08 2.30 0.00 0.000 4356 0.117 0.040 2093 3528 3171 3217 3126 0 0 0 0 0 0 26.46 26.44 28.83

3860 -1.14 -57.1 2092 3528 3216 3126 457.3 -11.4 144 3870 0.10 2.22 0.00 0.000 3078 0.174 0.030 2122 2071 3171 3216 3126 0 0 0 0 0 0 26.32 26.46 28.83

4170 -1.14 -57.1 2121 2072 3216 3126 499.6 -11.2 150 4177 0.00 2.20 0.00 0.000 4612 0.000 0.041 2122 672 3171 3216 3126 0 0 0 0 0 0 28.83 26.45 28.83

4418 -1.14 -57.1 2122 672 3216 3126 529.0 -12.2 154 4422 0.00 2.25 0.00 0.000 3078 0.000 0.031 2113 2133 3171 3216 3126 0 0 0 0 0 0 28.83 26.48 28.83

4761 -1.14 -57.1 2113 2132 3215 3125 569.6 -11.6 160 4766 0.00 2.22 0.00 0.000 2308 0.000 0.041 2102 3535 3170 3215 3125 0 0 0 0 0 0 28.83 26.46 28.83

4882 -1.14 -57.1 2102 3535 3215 3125 585.6 -12.6 162 4887 0.05 2.22 0.00 0.000 3078 0.161 0.030 2118 2063 3170 3215 3125 0 0 0 0 0 0 26.36 26.49 28.83

5243 -1.21 -57.1 2117 2062 3215 3125 630.1 -12.2 168 5248 0.05 2.25 0.00 0.000 4356 0.150 0.040 2078 3524 3170 3215 3125 0 0 0 0 0 0 26.50 26.46 28.83

5319 -1.26 -57.1 2077 3524 3214 3125 637.1 -12.6 169 5323 0.00 2.22 0.00 0.000 3078 0.000 0.030 2077 2067 3169 3214 3125 0 0 0 0 0 0 28.83 26.49 28.83

5642 -1.26 -57.1 2077 2067 3214 3125 684.0 -13.4 175 5647 0.00 2.17 0.00 0.000 2564 0.000 0.042 2077 670 3169 3214 3125 0 0 0 0 0 0 28.83 26.48 28.83

5708 -1.26 -57.1 2077 671 3214 3125 692.4 -13.3 176 5713 0.05 2.25 0.00 0.000 3078 0.225 0.031 2080 2134 3169 3214 3125 0 0 0 0 0 0 26.37 26.50 28.83

6051 -1.26 -57.1 2079 2134 3213 3124 739.7 -13.6 182 6057 0.00 2.33 0.00 0.000 2564 0.000 0.041 2079 664 3169 3213 3125 0 0 0 0 0 0 28.83 26.48 28.83

6158 -1.26 -57.1 2080 664 3213 3124 748.9 -14.0 183 6163 0.00 2.25 0.00 0.000 3078 0.000 0.031 2070 2126 3168 3212 3124 0 0 0 0 0 0 28.83 26.51 28.83

6464 -1.26 -57.1 2070 2126 3212 3125 801.5 -14.6 188 6468 0.00 2.15 0.00 0.000 2308 0.000 0.042 2059 3524 3168 3213 3124 0 0 0 0 0 0 28.83 26.48 28.83

6618 -1.26 -57.1 2059 3524 3212 3124 819.4 -14.9 190 6623 0.08 2.22 0.00 0.000 3078 0.192 0.031 2080 2071 3168 3212 3124 0 0 0 0 0 0 26.37 26.51 28.83

6936 -1.31 -57.1 2080 2072 3212 3123 865.6 -13.0 196 6940 0.05 2.12 0.00 0.000 4612 0.156 0.041 2056 672 3167 3211 3123 0 0 0 0 0 0 26.51 26.48 28.83

6999 -1.31 -57.1 2055 672 3212 3123 872.6 -13.0 197 7003 0.08 2.22 0.00 0.000 3078 0.207 0.031 2065 2130 3167 3211 3123 0 0 0 0 0 0 26.36 26.51 28.83

7331 -1.31 -57.1 2065 2130 3211 3122 918.3 -13.1 203 7337 0.00 2.20 0.00 0.000 4356 0.000 0.041 2057 3536 3166 3211 3122 0 0 0 0 0 0 28.83 26.49 28.83

7369 -1.31 -57.1 2056 3536 3211 3122 918.3 -13.1 203 7373 0.00 2.22 0.00 0.000 3078 0.000 0.029 2057 2070 3166 3210 3122 0 0 0 0 0 0 28.83 26.51 28.83

7682 -1.31 -57.1 2056 2070 3211 3122 968.7 -14.6 209 7683 0.00 0.00 0.00 0.000 2054 0.000 0.000 2056 2070 3166 3211 3122 0 0 0 0 0 0 28.83 28.83 28.83

7739 end dive: BOTTOM_OBSTACLE_DETECTED

state 7739 begin apogee

7745 -0.18 0.0 2056 2123 3210 3121 974.6 -13.6 210 7801 1.10 0.00 47.03 1.623 10246 0.129 0.000 2425 2122 2932 2995 2869 0 0 0 0 0 0 26.39 28.83 24.03

7802 end apogee: CONTROL_FINISHED_OK

state 7802 begin climb

7804 1.19 57.1 2425 2122 2994 2869 974.7 0.0 211 7861 1.23 0.00 49.35 1.596 10246 0.044 0.000 2893 2123 2698 2774 2623 0 0 0 0 0 0 25.06 28.83 23.37

8163 1.07 57.1 2893 2123 2773 2622 944.3 10.6 217 8168 0.25 2.33 0.00 0.000 4612 0.213 0.044 2837 682 2697 2773 2622 0 0 0 0 0 0 25.37 25.53 28.83

8239 0.95 57.1 2837 682 2773 2623 938.2 10.8 218 8244 0.17 2.30 0.00 0.000 5126 0.202 0.030 2791 2131 2698 2773 2623 0 0 0 0 0 0 25.46 25.65 28.83

8573 0.95 60.9 2790 2131 2772 2623 905.4 9.4 224 8579 0.00 0.00 4.60 1.198 12294 0.000 0.000 2791 2131 2681 2755 2607 0 0 0 0 0 0 28.83 28.83 24.75

8872 0.95 62.3 2790 2130 2757 2608 876.2 9.8 229 8874 0.00 0.00 0.00 0.000 4102 0.000 0.000 2790 2130 2682 2757 2608 0 0 0 0 0 0 28.83 28.83 28.83

9172 0.95 62.3 2790 2131 2756 2608 846.4 10.1 234 9178 0.00 2.35 0.00 0.000 4612 0.000 0.044 2801 674 2682 2756 2608 0 0 0 0 0 0 28.83 26.02 28.83

9340 0.95 62.3 2800 674 2755 2608 833.4 10.7 236 9344 0.00 2.28 0.00 0.000 5126 0.000 0.030 2800 2134 2682 2756 2608 0 0 0 0 0 0 28.83 26.08 28.83

9643 0.95 65.4 2800 2133 2756 2608 798.7 9.5 241 9650 0.00 0.00 5.18 1.222 12294 0.000 0.000 2800 2133 2663 2736 2590 0 0 0 0 0 0 28.83 28.83 25.01

9942 0.95 73.6 2800 2133 2737 2591 772.3 8.7 246 9955 0.00 2.38 8.05 1.341 12804 0.000 0.044 2810 672 2630 2704 2556 0 0 0 0 0 0 28.83 25.86 24.89

10022 0.95 82.9 2810 672 2705 2557 767.7 8.5 247 10036 0.08 2.28 8.90 1.353 13318 0.205 0.030 2790 2129 2592 2668 2516 0 0 0 0 0 0 25.77 25.92 24.70

10344 0.95 82.9 2790 2129 2669 2518 732.0 10.7 253 10350 0.00 2.35 0.00 0.000 4612 0.000 0.044 2800 675 2593 2669 2517 0 0 0 0 0 0 28.83 25.88 28.83

10645 0.95 82.9 2800 675 2668 2517 696.7 12.0 258 10650 0.00 2.25 0.00 0.000 5126 0.000 0.030 2800 2132 2593 2668 2518 0 0 0 0 0 0 28.83 26.04 28.83

11004 0.95 82.9 2800 2132 2668 2517 653.7 11.8 264 11010 0.00 2.35 0.00 0.000 4612 0.000 0.044 2811 667 2592 2668 2517 0 0 0 0 0 0 28.83 26.10 28.83

11212 0.95 82.9 2811 668 2668 2517 631.4 12.1 267 11217 0.08 2.30 0.00 0.000 5126 0.204 0.030 2791 2135 2593 2668 2518 0 0 0 0 0 0 26.03 26.17 28.83

11535 0.95 82.9 2791 2135 2668 2518 588.3 12.2 273 11540 0.00 2.22 0.00 0.000 4356 0.000 0.041 2791 3535 2592 2668 2517 0 0 0 0 0 0 28.83 26.20 28.83

11602 0.95 82.9 2791 3534 2668 2518 580.7 12.2 274 11606 0.00 2.25 0.00 0.000 5126 0.000 0.031 2800 2076 2592 2667 2518 0 0 0 0 0 0 28.83 26.23 28.83

11945 0.95 82.9 2800 2076 2667 2518 541.1 11.2 280 11950 0.00 2.30 0.00 0.000 4356 0.000 0.039 2800 3526 2593 2668 2518 0 0 0 0 0 0 28.83 26.25 28.83

12042 0.95 82.9 2800 3526 2668 2518 533.7 11.5 281 12047 0.08 2.25 0.00 0.000 5126 0.207 0.031 2791 2074 2592 2667 2518 0 0 0 0 0 0 26.14 26.28 28.83

12355 0.95 82.9 2791 2074 2667 2518 492.4 11.7 287 12360 0.00 2.22 0.00 0.000 4612 0.000 0.043 2801 672 2592 2667 2517 0 0 0 0 0 0 28.83 26.29 28.83

12655 0.95 82.9 2800 672 2667 2518 454.7 12.5 292 12660 0.00 2.25 0.00 0.000 5126 0.000 0.029 2800 2134 2592 2667 2518 0 0 0 0 0 0 28.83 26.34 28.83

13015 0.95 82.9 2800 2134 2667 2518 411.3 12.3 298 13016 0.00 0.00 0.00 0.000 4102 0.000 0.000 2800 2134 2592 2667 2517 0 0 0 0 0 0 28.83 28.83 28.83

13315 0.95 82.9 2800 2134 2667 2518 373.2 12.7 303 13321 0.00 2.33 0.00 0.000 4612 0.000 0.043 2812 673 2592 2667 2518 0 0 0 0 0 0 28.83 26.36 28.83

13483 0.95 82.9 2811 673 2667 2518 358.4 12.3 305 13488 0.08 2.25 0.00 0.000 5126 0.191 0.029 2790 2138 2592 2667 2517 0 0 0 0 0 0 26.26 26.40 28.83

13786 1.00 84.0 2789 2137 2667 2518 322.0 9.8 310 13791 0.05 2.15 0.00 0.000 2308 0.152 0.040 2816 3521 2592 2667 2517 0 0 0 0 0 0 26.42 26.39 28.83

13823 1.06 85.0 2816 3521 2667 2517 322.0 9.8 310 13832 0.00 2.22 3.47 0.907 13318 0.000 0.030 2827 2071 2582 2656 2508 0 0 0 0 0 0 28.83 26.41 25.45

14145 1.06 85.0 2827 2072 2657 2509 280.7 11.8 318 14151 0.00 2.22 0.00 0.000 4612 0.000 0.043 2838 666 2584 2658 2510 0 0 0 0 0 0 28.83 26.34 28.83

14404 1.06 85.0 2838 666 2658 2510 250.1 12.8 326 14409 0.05 2.25 0.00 0.000 5126 0.218 0.029 2825 2133 2584 2658 2510 0 0 0 0 0 0 26.26 26.39 28.83

14705 1.06 85.0 2825 2133 2658 2510 206.7 13.9 336 14711 0.00 2.33 0.00 0.000 4612 0.000 0.043 2835 665 2584 2658 2510 0 0 0 0 0 0 28.83 26.38 28.83

14803 1.06 85.0 2835 665 2658 2510 194.5 13.5 339 14807 0.00 2.28 0.00 0.000 5126 0.000 0.030 2835 2136 2584 2658 2510 0 0 0 0 0 0 28.83 26.41 28.83

15117 1.06 85.0 2835 2135 2658 2510 153.3 12.2 350 15121 0.00 2.17 0.00 0.000 4356 0.000 0.041 2835 3523 2584 2658 2510 0 0 0 0 0 0 28.83 26.40 28.83

15203 1.06 85.0 2835 3524 2658 2510 142.6 13.3 354 15207 0.08 2.22 0.00 0.000 5126 0.202 0.031 2825 2076 2584 2658 2511 0 0 0 0 0 0 26.29 26.42 28.83

15506 1.12 85.0 2824 2076 2659 2511 107.4 10.1 369 15511 0.08 2.17 0.00 0.000 2564 0.118 0.043 2871 673 2585 2660 2510 0 0 0 0 0 0 26.43 26.41 28.83

15693 1.12 85.3 2871 673 2659 2511 87.6 10.0 378 15698 0.10 2.25 0.00 0.000 5126 0.196 0.030 2843 2137 2585 2659 2511 0 0 0 0 0 0 26.28 26.44 28.83

15996 1.17 121.5 2843 2138 2659 2511 68.7 4.3 403 16017 0.05 2.28 13.40 0.327 10756 0.155 0.041 2882 669 2432 2514 2350 0 0 0 0 0 0 26.46 26.33 26.08

16305 1.17 133.9 2882 669 2511 2350 44.6 8.1 434 16316 0.08 2.25 4.47 0.290 13318 0.197 0.031 2863 2131 2382 2464 2301 0 0 0 0 0 0 26.24 26.38 26.11

16616 1.25 142.8 2862 2132 2463 2301 16.6 8.6 465 16626 0.08 2.33 3.20 0.224 10756 0.119 0.043 2912 669 2345 2426 2265 0 0 0 0 0 0 26.37 26.34 26.19

16743 end climb: SURFACE_DEPTH_REACHED

state 16743 begin surface coast

16756 end surface coast: CONTROL_FINISHED_OK

state 16756 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	30	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	29	ESCAPE_HEADING	90	C_ROLL_DIVE	2100	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_PING_DEPTH	500
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2931	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	101
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-58153.508	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2486	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-81.04335	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	2.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	0

GPS1	210114,094234,4745.812,-12537.548,31,1.0,32,17.2	TGT_NAME	JUANDEFUCA
_CALLS	1	TGT_LATLONG	4748.000,-12539.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.074,0.118
_SM_DEPTHo	1.67	KALMAN_X	17295.5,335.1,241.3,-65523.0,-326.5
_SM_ANGLEo	-70.0	KALMAN_Y	3102.6,11.6,-6.1,81412.7,1669.4
GPS2	210114,094800,4745.843,-12537.579,15,1.0,15,17.2	MHEAD_RNG_PITCHd_Wd	310.5,4368,-33.3,-10.000,-35.71,653
SPEED_LIMITS	0.100,0.259	D_GRID	990

FINISH	0.8,1.024911	_24V_AH	23.4,7.238
SM_CCo	16774,40.60,0.156,0,0,1908,250.21	_10V_AH	10.0,4.683
SM_GC	2.37,7.38,2.28,40.60,0.051,0.034,0.156,146,2133,1908,-7.24,-0.40,250.21,0,0,0,0,0,0,26.34,26.37,26.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12603.53,210114,040406	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	313172
HUMID	49.88	DATA_FILE_SIZE	37073,479
INTERNAL_PRESSURE	8.44372	CAP_FILE_SIZE	129239,0
TCM_TEMP	17.10	CFSIZE	260165632,253890560
XPDR_PINGS	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	925.1,57.2	GPS	210114,143028,4747.930,-12538.900,42,1.0,42,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	99.99	SBE_CT	333	23	181.46
Roll_motor	139	139	457.80	WL_BB2FLVMT	315	36	270.74
VBD_pump_during_apogee	147	1623	5608.62	AA4330	741	14	246.98
VBD_pump_during_surface	40	156	148.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	48	30.05	nil	0	0	0.00
Iridium_during_connect	22	160	84.93	nil	0	0	0.00
Iridium_during_xfer	168	223	880.23	nil	0	0	0.00
Transponder_ping	12	420	122.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	26	4.31
TT8	1490	11	178.26
LPSleep	13360	2	292.60
TT8_Active	407	11	48.69
TT8_Sampling	1682	37	629.83
TT8_CF8	196	45	89.65
TT8_Kalman	33	61	20.41
Analog_circuits	1086	15	162.98
GPS_charging	0	0	0.00
Compass	1330	15	209.31
RAFOS	0	0	0.00
Transponder	81	30	24.51

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.19	-42.7	143	2116	1877	1722	0.0	0.0	0	50	0.00	0.00	-32.42	0.000	16386	0.000	0.000	143	2117	2725	2734	2716	0	0	0	0	0	0	28.83	28.83	28.83
53	-1.19	-42.7	143	2117	2734	2717	2.5	-3.4	3	80	7.15	2.25	-10.55	0.000	19204	0.210	0.057	2090	3521	3106	3152	3061	0	0	0	0	0	0	25.85	26.03	26.29
370	-1.08	-42.7	2090	3521	3154	3061	65.9	-19.2	35	379	0.15	2.22	0.00	0.000	3078	0.178	0.028	2136	2062	3107	3154	3061	0	0	0	0	0	0	25.98	26.15	28.83
680	-1.08	-57.1	2136	2062	3155	3061	103.9	-7.7	55	686	0.00	2.33	-0.40	0.000	18692	0.000	0.054	2127	3518	3171	3216	3126	0	0	0	0	0	0	28.83	26.20	26.34
979	-1.08	-57.1	2127	3518	3216	3126	138.6	-13.5	70	986	0.05	2.22	0.00	0.000	3078	0.210	0.028	2139	2070	3171	3216	3126	0	0	0	0	0	0	26.14	26.26	28.83
1289	-1.08	-57.1	2139	2070	3217	3125	173.9	-11.1	82	1291	0.00	0.00	0.00	0.000	2054	0.000	0.000	2139	2070	3171	3217	3126	0	0	0	0	0	0	28.83	28.83	28.83
1589	-1.08	-57.1	2139	2070	3217	3126	205.6	-10.2	92	1595	0.00	2.33	0.00	0.000	2308	0.000	0.039	2130	3524	3171	3217	3126	0	0	0	0	0	0	28.83	26.31	28.83
1717	-1.08	-57.1	2130	3524	3217	3126	219.6	-11.6	96	1721	0.00	2.22	0.00	0.000	3078	0.000	0.029	2131	2073	3171	3217	3126	0	0	0	0	0	0	28.83	26.34	28.83
2030	-1.08	-57.1	2130	2073	3217	3126	253.5	-10.4	107	2035	0.00	2.20	0.00	0.000	2564	0.000	0.041	2130	672	3171	3217	3126	0	0	0	0	0	0	28.83	26.35	28.83
2059	-1.08	-57.1	2130	672	3217	3126	257.2	-10.8	108	2066	0.08	2.25	0.00	0.000	3078	0.203	0.029	2140	2135	3172	3217	3127	0	0	0	0	0	0	26.23	26.38	28.83
2389	-1.08	-57.1	2139	2135	3217	3126	294.2	-11.5	119	2395	0.00	2.20	0.00	0.000	2308	0.000	0.040	2130	3526	3171	3217	3126	0	0	0	0	0	0	28.83	26.37	28.83
2669	-1.08	-57.1	2131	3526	3217	3126	322.6	-11.8	124	2673	0.00	2.22	0.00	0.000	3078	0.000	0.029	2131	2070	3171	3217	3126	0	0	0	0	0	0	28.83	26.41	28.83
2980	-1.08	-57.1	2131	2069	3217	3126	363.9	-11.5	130	2981	0.00	0.00	0.00	0.000	2054	0.000	0.000	2131	2069	3171	3217	3126	0	0	0	0	0	0	28.83	28.83	28.83
3280	-1.08	-57.1	2131	2069	3217	3126	397.6	-11.1	135	3287	0.00	2.33	0.00	0.000	2308	0.000	0.039	2120	3537	3171	3217	3126	0	0	0	0	0	0	28.83	26.42	28.83
3408	-1.08	-57.1	2120	3537	3217	3126	411.1	-11.1	137	3413	0.08	2.25	0.00	0.000	3078	0.184	0.028	2141	2057	3171	3217	3126	0	0	0	0	0	0	26.32	26.45	28.83
3751	-1.14	-57.1	2141	2057	3217	3126	449.7	-11.1	143	3757	0.08	2.30	0.00	0.000	4356	0.117	0.040	2093	3528	3171	3217	3126	0	0	0	0	0	0	26.46	26.44	28.83
3860	-1.14	-57.1	2092	3528	3216	3126	457.3	-11.4	144	3870	0.10	2.22	0.00	0.000	3078	0.174	0.030	2122	2071	3171	3216	3126	0	0	0	0	0	0	26.32	26.46	28.83
4170	-1.14	-57.1	2121	2072	3216	3126	499.6	-11.2	150	4177	0.00	2.20	0.00	0.000	4612	0.000	0.041	2122	672	3171	3216	3126	0	0	0	0	0	0	28.83	26.45	28.83
4418	-1.14	-57.1	2122	672	3216	3126	529.0	-12.2	154	4422	0.00	2.25	0.00	0.000	3078	0.000	0.031	2113	2133	3171	3216	3126	0	0	0	0	0	0	28.83	26.48	28.83
4761	-1.14	-57.1	2113	2132	3215	3125	569.6	-11.6	160	4766	0.00	2.22	0.00	0.000	2308	0.000	0.041	2102	3535	3170	3215	3125	0	0	0	0	0	0	28.83	26.46	28.83
4882	-1.14	-57.1	2102	3535	3215	3125	585.6	-12.6	162	4887	0.05	2.22	0.00	0.000	3078	0.161	0.030	2118	2063	3170	3215	3125	0	0	0	0	0	0	26.36	26.49	28.83
5243	-1.21	-57.1	2117	2062	3215	3125	630.1	-12.2	168	5248	0.05	2.25	0.00	0.000	4356	0.150	0.040	2078	3524	3170	3215	3125	0	0	0	0	0	0	26.50	26.46	28.83
5319	-1.26	-57.1	2077	3524	3214	3125	637.1	-12.6	169	5323	0.00	2.22	0.00	0.000	3078	0.000	0.030	2077	2067	3169	3214	3125	0	0	0	0	0	0	28.83	26.49	28.83
5642	-1.26	-57.1	2077	2067	3214	3125	684.0	-13.4	175	5647	0.00	2.17	0.00	0.000	2564	0.000	0.042	2077	670	3169	3214	3125	0	0	0	0	0	0	28.83	26.48	28.83
5708	-1.26	-57.1	2077	671	3214	3125	692.4	-13.3	176	5713	0.05	2.25	0.00	0.000	3078	0.225	0.031	2080	2134	3169	3214	3125	0	0	0	0	0	0	26.37	26.50	28.83
6051	-1.26	-57.1	2079	2134	3213	3124	739.7	-13.6	182	6057	0.00	2.33	0.00	0.000	2564	0.000	0.041	2079	664	3169	3213	3125	0	0	0	0	0	0	28.83	26.48	28.83
6158	-1.26	-57.1	2080	664	3213	3124	748.9	-14.0	183	6163	0.00	2.25	0.00	0.000	3078	0.000	0.031	2070	2126	3168	3212	3124	0	0	0	0	0	0	28.83	26.51	28.83
6464	-1.26	-57.1	2070	2126	3212	3125	801.5	-14.6	188	6468	0.00	2.15	0.00	0.000	2308	0.000	0.042	2059	3524	3168	3213	3124	0	0	0	0	0	0	28.83	26.48	28.83
6618	-1.26	-57.1	2059	3524	3212	3124	819.4	-14.9	190	6623	0.08	2.22	0.00	0.000	3078	0.192	0.031	2080	2071	3168	3212	3124	0	0	0	0	0	0	26.37	26.51	28.83
6936	-1.31	-57.1	2080	2072	3212	3123	865.6	-13.0	196	6940	0.05	2.12	0.00	0.000	4612	0.156	0.041	2056	672	3167	3211	3123	0	0	0	0	0	0	26.51	26.48	28.83
6999	-1.31	-57.1	2055	672	3212	3123	872.6	-13.0	197	7003	0.08	2.22	0.00	0.000	3078	0.207	0.031	2065	2130	3167	3211	3123	0	0	0	0	0	0	26.36	26.51	28.83
7331	-1.31	-57.1	2065	2130	3211	3122	918.3	-13.1	203	7337	0.00	2.20	0.00	0.000	4356	0.000	0.041	2057	3536	3166	3211	3122	0	0	0	0	0	0	28.83	26.49	28.83
7369	-1.31	-57.1	2056	3536	3211	3122	918.3	-13.1	203	7373	0.00	2.22	0.00	0.000	3078	0.000	0.029	2057	2070	3166	3210	3122	0	0	0	0	0	0	28.83	26.51	28.83
7682	-1.31	-57.1	2056	2070	3211	3122	968.7	-14.6	209	7683	0.00	0.00	0.00	0.000	2054	0.000	0.000	2056	2070	3166	3211	3122	0	0	0	0	0	0	28.83	28.83	28.83
7739	end dive: BOTTOM_OBSTACLE_DETECTED
state	7739	begin apogee
7745	-0.18	0.0	2056	2123	3210	3121	974.6	-13.6	210	7801	1.10	0.00	47.03	1.623	10246	0.129	0.000	2425	2122	2932	2995	2869	0	0	0	0	0	0	26.39	28.83	24.03
7802	end apogee: CONTROL_FINISHED_OK
state	7802	begin climb
7804	1.19	57.1	2425	2122	2994	2869	974.7	0.0	211	7861	1.23	0.00	49.35	1.596	10246	0.044	0.000	2893	2123	2698	2774	2623	0	0	0	0	0	0	25.06	28.83	23.37
8163	1.07	57.1	2893	2123	2773	2622	944.3	10.6	217	8168	0.25	2.33	0.00	0.000	4612	0.213	0.044	2837	682	2697	2773	2622	0	0	0	0	0	0	25.37	25.53	28.83
8239	0.95	57.1	2837	682	2773	2623	938.2	10.8	218	8244	0.17	2.30	0.00	0.000	5126	0.202	0.030	2791	2131	2698	2773	2623	0	0	0	0	0	0	25.46	25.65	28.83
8573	0.95	60.9	2790	2131	2772	2623	905.4	9.4	224	8579	0.00	0.00	4.60	1.198	12294	0.000	0.000	2791	2131	2681	2755	2607	0	0	0	0	0	0	28.83	28.83	24.75
8872	0.95	62.3	2790	2130	2757	2608	876.2	9.8	229	8874	0.00	0.00	0.00	0.000	4102	0.000	0.000	2790	2130	2682	2757	2608	0	0	0	0	0	0	28.83	28.83	28.83
9172	0.95	62.3	2790	2131	2756	2608	846.4	10.1	234	9178	0.00	2.35	0.00	0.000	4612	0.000	0.044	2801	674	2682	2756	2608	0	0	0	0	0	0	28.83	26.02	28.83
9340	0.95	62.3	2800	674	2755	2608	833.4	10.7	236	9344	0.00	2.28	0.00	0.000	5126	0.000	0.030	2800	2134	2682	2756	2608	0	0	0	0	0	0	28.83	26.08	28.83
9643	0.95	65.4	2800	2133	2756	2608	798.7	9.5	241	9650	0.00	0.00	5.18	1.222	12294	0.000	0.000	2800	2133	2663	2736	2590	0	0	0	0	0	0	28.83	28.83	25.01
9942	0.95	73.6	2800	2133	2737	2591	772.3	8.7	246	9955	0.00	2.38	8.05	1.341	12804	0.000	0.044	2810	672	2630	2704	2556	0	0	0	0	0	0	28.83	25.86	24.89
10022	0.95	82.9	2810	672	2705	2557	767.7	8.5	247	10036	0.08	2.28	8.90	1.353	13318	0.205	0.030	2790	2129	2592	2668	2516	0	0	0	0	0	0	25.77	25.92	24.70
10344	0.95	82.9	2790	2129	2669	2518	732.0	10.7	253	10350	0.00	2.35	0.00	0.000	4612	0.000	0.044	2800	675	2593	2669	2517	0	0	0	0	0	0	28.83	25.88	28.83
10645	0.95	82.9	2800	675	2668	2517	696.7	12.0	258	10650	0.00	2.25	0.00	0.000	5126	0.000	0.030	2800	2132	2593	2668	2518	0	0	0	0	0	0	28.83	26.04	28.83
11004	0.95	82.9	2800	2132	2668	2517	653.7	11.8	264	11010	0.00	2.35	0.00	0.000	4612	0.000	0.044	2811	667	2592	2668	2517	0	0	0	0	0	0	28.83	26.10	28.83
11212	0.95	82.9	2811	668	2668	2517	631.4	12.1	267	11217	0.08	2.30	0.00	0.000	5126	0.204	0.030	2791	2135	2593	2668	2518	0	0	0	0	0	0	26.03	26.17	28.83
11535	0.95	82.9	2791	2135	2668	2518	588.3	12.2	273	11540	0.00	2.22	0.00	0.000	4356	0.000	0.041	2791	3535	2592	2668	2517	0	0	0	0	0	0	28.83	26.20	28.83
11602	0.95	82.9	2791	3534	2668	2518	580.7	12.2	274	11606	0.00	2.25	0.00	0.000	5126	0.000	0.031	2800	2076	2592	2667	2518	0	0	0	0	0	0	28.83	26.23	28.83
11945	0.95	82.9	2800	2076	2667	2518	541.1	11.2	280	11950	0.00	2.30	0.00	0.000	4356	0.000	0.039	2800	3526	2593	2668	2518	0	0	0	0	0	0	28.83	26.25	28.83
12042	0.95	82.9	2800	3526	2668	2518	533.7	11.5	281	12047	0.08	2.25	0.00	0.000	5126	0.207	0.031	2791	2074	2592	2667	2518	0	0	0	0	0	0	26.14	26.28	28.83
12355	0.95	82.9	2791	2074	2667	2518	492.4	11.7	287	12360	0.00	2.22	0.00	0.000	4612	0.000	0.043	2801	672	2592	2667	2517	0	0	0	0	0	0	28.83	26.29	28.83
12655	0.95	82.9	2800	672	2667	2518	454.7	12.5	292	12660	0.00	2.25	0.00	0.000	5126	0.000	0.029	2800	2134	2592	2667	2518	0	0	0	0	0	0	28.83	26.34	28.83
13015	0.95	82.9	2800	2134	2667	2518	411.3	12.3	298	13016	0.00	0.00	0.00	0.000	4102	0.000	0.000	2800	2134	2592	2667	2517	0	0	0	0	0	0	28.83	28.83	28.83
13315	0.95	82.9	2800	2134	2667	2518	373.2	12.7	303	13321	0.00	2.33	0.00	0.000	4612	0.000	0.043	2812	673	2592	2667	2518	0	0	0	0	0	0	28.83	26.36	28.83
13483	0.95	82.9	2811	673	2667	2518	358.4	12.3	305	13488	0.08	2.25	0.00	0.000	5126	0.191	0.029	2790	2138	2592	2667	2517	0	0	0	0	0	0	26.26	26.40	28.83
13786	1.00	84.0	2789	2137	2667	2518	322.0	9.8	310	13791	0.05	2.15	0.00	0.000	2308	0.152	0.040	2816	3521	2592	2667	2517	0	0	0	0	0	0	26.42	26.39	28.83
13823	1.06	85.0	2816	3521	2667	2517	322.0	9.8	310	13832	0.00	2.22	3.47	0.907	13318	0.000	0.030	2827	2071	2582	2656	2508	0	0	0	0	0	0	28.83	26.41	25.45
14145	1.06	85.0	2827	2072	2657	2509	280.7	11.8	318	14151	0.00	2.22	0.00	0.000	4612	0.000	0.043	2838	666	2584	2658	2510	0	0	0	0	0	0	28.83	26.34	28.83
14404	1.06	85.0	2838	666	2658	2510	250.1	12.8	326	14409	0.05	2.25	0.00	0.000	5126	0.218	0.029	2825	2133	2584	2658	2510	0	0	0	0	0	0	26.26	26.39	28.83
14705	1.06	85.0	2825	2133	2658	2510	206.7	13.9	336	14711	0.00	2.33	0.00	0.000	4612	0.000	0.043	2835	665	2584	2658	2510	0	0	0	0	0	0	28.83	26.38	28.83
14803	1.06	85.0	2835	665	2658	2510	194.5	13.5	339	14807	0.00	2.28	0.00	0.000	5126	0.000	0.030	2835	2136	2584	2658	2510	0	0	0	0	0	0	28.83	26.41	28.83
15117	1.06	85.0	2835	2135	2658	2510	153.3	12.2	350	15121	0.00	2.17	0.00	0.000	4356	0.000	0.041	2835	3523	2584	2658	2510	0	0	0	0	0	0	28.83	26.40	28.83
15203	1.06	85.0	2835	3524	2658	2510	142.6	13.3	354	15207	0.08	2.22	0.00	0.000	5126	0.202	0.031	2825	2076	2584	2658	2511	0	0	0	0	0	0	26.29	26.42	28.83
15506	1.12	85.0	2824	2076	2659	2511	107.4	10.1	369	15511	0.08	2.17	0.00	0.000	2564	0.118	0.043	2871	673	2585	2660	2510	0	0	0	0	0	0	26.43	26.41	28.83
15693	1.12	85.3	2871	673	2659	2511	87.6	10.0	378	15698	0.10	2.25	0.00	0.000	5126	0.196	0.030	2843	2137	2585	2659	2511	0	0	0	0	0	0	26.28	26.44	28.83
15996	1.17	121.5	2843	2138	2659	2511	68.7	4.3	403	16017	0.05	2.28	13.40	0.327	10756	0.155	0.041	2882	669	2432	2514	2350	0	0	0	0	0	0	26.46	26.33	26.08
16305	1.17	133.9	2882	669	2511	2350	44.6	8.1	434	16316	0.08	2.25	4.47	0.290	13318	0.197	0.031	2863	2131	2382	2464	2301	0	0	0	0	0	0	26.24	26.38	26.11
16616	1.25	142.8	2862	2132	2463	2301	16.6	8.6	465	16626	0.08	2.33	3.20	0.224	10756	0.119	0.043	2912	669	2345	2426	2265	0	0	0	0	0	0	26.37	26.34	26.19
16743	end climb: SURFACE_DEPTH_REACHED
state	16743	begin surface coast
16756	end surface coast: CONTROL_FINISHED_OK
state	16756	begin surface