Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 33 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 47 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 350 R_STBD_OVSHOOT 37 XPDR_VALID 3

D_BOOST 10 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4479.9199 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 100 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 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2545 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 13 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 350

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 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 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4479.9199

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 195 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 -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2545 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 47 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 37 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 33 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 301013,093158,4741.123,-12516.018,40,0.9,40,16.8 TGT_NAME SEARCH_A

_CALLS 1 TGT_LATLONG 4750.000,-12525.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.085,0.243

_SM_DEPTHo 1.14 KALMAN_X 327.0,0.0,0.0,-19877.0,-657.6

_SM_ANGLEo -62.5 KALMAN_Y -13952.9,0.0,0.0,62321.8,-1395.5

GPS2 301013,093834,4741.074,-12515.989,5,0.8,5,16.8 MHEAD_RNG_PITCHd_Wd 324.0,19969,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.024128 _24V_AH 23.7,5.206

SM_CCo 16373,13.80,0.105,1,0,1391,350.04 _10V_AH 10.2,4.799

SM_GC 1.40,6.93,0.00,13.80,0.033,0.000,0.105,177,2023,1391,-7.28,-0.06,350.04,0,0,0,0,1,0,26.27,28.83,25.65 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12514.44,301013,040413 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 314472

HUMID 44.17 DATA_FILE_SIZE 33668,457

INTERNAL_PRESSURE 8.86881 CAP_FILE_SIZE 147212,0

TCM_TEMP 12.10 CFSIZE 2097872896,2091352064

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

ALTIM_BOTTOM_PING 812.0,71.9 GPS 301013,141328,4743.526,-12517.333,39,0.8,39,16.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 207 89.79 SBE_CT 313 22 166.97

Roll_motor 130 58 181.49 AA4330 605 11 161.08

VBD_pump_during_apogee 407 1107 10695.46 WL_BB2FLVMT 292 105 726.68

VBD_pump_during_surface 13 104 34.28 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 nil 0 0 0.00

Iridium_during_xfer 331 77 606.30 nil 0 0 0.00

Transponder_ping 18 420 181.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 30 2.83

TT8 1504 15 233.44

LPSleep 12616 2 281.83

TT8_Active 509 15 79.06

TT8_Sampling 2085 43 928.97

TT8_CF8 83 53 45.68

TT8_Kalman 0 69 0.27

Analog_circuits 1775 14 253.60

GPS_charging 0 0 0.00

Compass 1679 8 141.18

RAFOS 0 0 0.00

Transponder 117 30 35.81

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

15 -0.79 -146.6 182 2027 1423 1149 0.0 0.0 0 90 0.00 0.00 -73.00 0.000 16386 0.000 0.000 182 2027 3191 3205 3178 0 0 0 0 0 0 28.83 28.83 28.83

93 -0.79 -146.6 182 2027 3206 3179 3.9 -6.3 7 112 7.80 2.30 -4.93 0.000 18692 0.207 0.059 2273 3434 3422 3428 3416 0 0 0 0 0 0 25.71 25.95 26.25

406 -0.70 -146.6 2273 3433 3432 3416 64.3 -13.8 38 417 0.15 2.12 0.00 0.000 3078 0.142 0.029 2314 2015 3424 3432 3416 0 0 0 0 0 0 26.02 26.17 28.83

718 -0.70 -146.6 2313 2015 3435 3416 100.6 -9.7 60 724 0.00 2.17 0.00 0.000 260 0.000 0.046 2306 3421 3425 3435 3416 0 0 0 0 0 0 28.83 26.23 28.83

920 -0.70 -146.6 2306 3422 3435 3416 120.6 -10.1 70 925 0.00 2.10 0.00 0.000 1030 0.000 0.029 2306 2019 3425 3435 3416 0 0 0 0 0 0 28.83 26.34 28.83

1250 -0.70 -146.6 2305 2019 3435 3416 153.8 -10.0 86 1255 0.00 2.20 0.00 0.000 260 0.000 0.046 2296 3429 3425 3435 3416 0 0 0 0 0 0 28.83 26.35 28.83

1279 -0.70 -146.6 2296 3429 3435 3416 156.8 -9.9 87 1283 0.00 2.10 0.00 0.000 1030 0.000 0.029 2296 2023 3425 3435 3416 0 0 0 0 0 0 28.83 26.40 28.83

1605 -0.70 -146.6 2296 2022 3435 3415 187.7 -8.9 98 1609 0.00 2.20 0.00 0.000 260 0.000 0.046 2285 3437 3425 3435 3416 0 0 0 0 0 0 28.83 26.40 28.83

1806 -0.70 -146.6 2285 3437 3435 3416 205.0 -9.8 104 1815 0.08 2.15 0.00 0.000 3078 0.118 0.030 2313 2015 3425 3435 3416 0 0 0 0 0 0 26.34 26.48 28.83

2114 -0.76 -146.6 2312 2015 3435 3416 234.8 -9.1 115 2119 0.00 2.20 0.00 0.000 260 0.000 0.046 2305 3431 3426 3436 3416 0 0 0 0 0 0 28.83 26.46 28.83

2175 -0.81 -146.6 2304 3430 3434 3416 240.5 -9.3 117 2179 0.00 2.10 0.00 0.000 1030 0.000 0.029 2305 2027 3425 3435 3416 0 0 0 0 0 0 28.83 26.51 28.83

2508 -0.86 -146.6 2305 2026 3435 3416 272.9 -9.9 128 2510 0.12 0.00 0.00 0.000 4102 0.081 0.000 2233 2026 3425 3434 3416 0 0 0 0 0 0 26.57 28.83 28.83

2838 -0.83 -146.6 2233 2026 3434 3416 315.7 -12.9 137 2843 0.12 2.15 0.00 0.000 2308 0.147 0.045 2265 3425 3425 3434 3416 0 0 0 0 0 0 26.44 26.52 28.83

2947 -0.81 -146.6 2264 3425 3434 3416 322.8 -12.6 138 2951 0.00 2.08 0.00 0.000 1030 0.000 0.030 2265 2024 3425 3434 3416 0 0 0 0 0 0 28.83 26.57 28.83

3254 -0.81 -146.6 2265 2023 3433 3416 362.0 -10.8 143 3260 0.00 2.15 0.00 0.000 260 0.000 0.047 2254 3423 3425 3434 3416 0 0 0 0 0 0 28.83 26.54 28.83

3374 -0.81 -146.6 2254 3424 3433 3416 374.9 -10.7 145 3380 0.00 2.08 0.00 0.000 1030 0.000 0.030 2254 2016 3424 3433 3416 0 0 0 0 0 0 28.83 26.59 28.83

3735 -0.81 -146.6 2254 2016 3433 3416 413.0 -10.6 151 3740 0.00 2.17 0.00 0.000 260 0.000 0.047 2244 3432 3424 3432 3416 0 0 0 0 0 0 28.83 26.55 28.83

3871 -0.81 -146.6 2243 3432 3433 3415 425.9 -10.7 153 3876 0.15 2.10 0.00 0.000 3078 0.136 0.031 2287 2013 3424 3433 3415 0 0 0 0 0 0 26.47 26.61 28.83

4216 -0.88 -146.6 2287 2012 3433 3415 457.7 -8.7 159 4221 0.00 2.17 0.00 0.000 260 0.000 0.047 2279 3425 3423 3433 3413 0 0 0 0 0 0 28.83 26.58 28.83

4292 -0.94 -146.6 2278 3425 3433 3413 463.0 -8.7 160 4297 0.12 2.10 0.00 0.000 5126 0.080 0.031 2213 2018 3423 3433 3413 0 0 0 0 0 0 26.61 26.63 28.83

4636 -0.92 -146.6 2211 2018 3433 3413 506.9 -12.4 166 4638 0.15 0.00 0.00 0.000 2054 0.138 0.000 2253 2018 3422 3433 3412 0 0 0 0 0 0 26.51 28.83 28.83

4934 -0.95 -146.6 2253 2018 3432 3412 537.3 -10.0 171 4940 0.00 2.20 0.00 0.000 260 0.000 0.048 2245 3437 3422 3433 3411 0 0 0 0 0 0 28.83 26.59 28.83

4987 -0.99 -146.6 2244 3436 3433 3410 537.3 -10.0 171 4995 0.00 2.10 0.00 0.000 1030 0.000 0.031 2245 2021 3422 3433 3411 0 0 0 0 0 0 28.83 26.64 28.83

5295 -1.02 -146.6 2245 2020 3432 3410 573.9 -10.1 177 5301 0.00 2.17 0.00 0.000 260 0.000 0.048 2234 3429 3421 3433 3410 0 0 0 0 0 0 28.83 26.60 28.83

5331 -1.04 -146.6 2234 3429 3432 3410 573.9 -10.1 177 5336 0.00 2.10 0.00 0.000 1030 0.000 0.031 2233 2017 3421 3432 3410 0 0 0 0 0 0 28.83 26.65 28.83

5655 -1.04 -146.6 2234 2016 3432 3409 612.3 -10.6 183 5661 0.00 2.17 0.00 0.000 260 0.000 0.048 2223 3432 3420 3432 3409 0 0 0 0 0 0 28.83 26.60 28.83

5761 -1.04 -146.6 2223 3432 3432 3409 619.3 -10.8 184 5765 0.00 2.15 0.00 0.000 1030 0.000 0.031 2224 2019 3420 3432 3409 0 0 0 0 0 0 28.83 26.66 28.83

6074 -1.04 -146.6 2223 2019 3432 3408 660.7 -11.4 190 6080 0.00 2.20 0.00 0.000 260 0.000 0.048 2213 3426 3420 3432 3408 0 0 0 0 0 0 28.83 26.60 28.83

6133 -1.04 -146.6 2213 3426 3432 3408 667.4 -11.3 191 6137 0.00 2.10 0.00 0.000 1030 0.000 0.031 2213 2018 3420 3432 3408 0 0 0 0 0 0 28.83 26.65 28.83

6489 -1.04 -146.6 2213 2017 3432 3408 707.6 -11.3 197 6490 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2018 3419 3432 3407 0 0 0 0 0 0 28.83 28.83 28.83

6789 -1.04 -146.6 2213 2018 3432 3407 741.3 -11.1 202 6795 0.00 2.17 0.00 0.000 260 0.000 0.049 2202 3426 3419 3432 3406 0 0 0 0 0 0 28.83 26.62 28.83

6963 -1.04 -146.6 2202 3426 3432 3406 754.9 -11.1 204 6972 0.00 2.12 0.00 0.000 1030 0.000 0.032 2202 2008 3419 3432 3406 0 0 0 0 0 0 28.83 26.67 28.83

7270 -1.04 -146.6 2202 2007 3432 3406 798.5 -12.0 210 7274 0.00 2.12 0.00 0.000 516 0.000 0.046 2202 624 3418 3432 3405 0 0 0 0 0 0 28.83 26.61 28.83

7330 -1.04 -146.6 2202 624 3432 3405 805.5 -12.0 211 7334 0.00 2.12 0.00 0.000 1030 0.000 0.039 2193 2025 3418 3432 3405 0 0 0 0 0 0 28.83 26.65 28.83

7682 -1.04 -146.6 2193 2025 3432 3404 848.4 -12.1 217 7687 0.00 2.17 0.00 0.000 260 0.000 0.049 2183 3429 3418 3432 3404 0 0 0 0 0 0 28.83 26.63 28.83

7794 -1.04 -146.6 2183 3429 3432 3404 855.4 -11.9 218 7801 0.00 2.15 0.00 0.000 1030 0.000 0.032 2183 2013 3418 3432 3404 0 0 0 0 0 0 28.83 26.67 28.83

7920 end dive: BOTTOM_OBSTACLE_DETECTED

state 7920 begin apogee

7923 -0.23 0.0 2183 2013 3432 3404 875.1 -11.4 221 8045 0.77 0.00 117.05 1.108 10246 0.065 0.000 2477 2013 2820 2915 2725 0 0 0 0 0 0 26.64 28.83 23.94

8046 end apogee: CONTROL_FINISHED_OK

state 8046 begin climb

8047 0.79 146.6 2477 2013 2915 2726 875.0 0.0 223 8173 0.90 0.00 121.88 1.087 10246 0.054 0.000 2800 2013 2222 2342 2102 0 0 0 0 0 0 24.83 28.83 23.70

8457 0.75 166.8 2800 2013 2336 2099 849.2 9.1 230 8476 0.00 0.00 17.20 1.001 8198 0.000 0.000 2800 2013 2140 2261 2019 0 0 0 0 0 0 28.83 28.83 24.49

8757 0.68 168.8 2800 2013 2260 2017 820.3 9.9 235 8763 0.12 2.28 0.00 0.000 4356 0.153 0.046 2763 3429 2139 2260 2018 0 0 0 0 0 0 25.72 25.79 28.83

8839 0.61 168.8 2763 3429 2260 2017 814.5 10.0 236 8843 0.00 2.17 0.00 0.000 1030 0.000 0.032 2772 2023 2139 2260 2018 0 0 0 0 0 0 28.83 25.90 28.83

9177 0.56 190.3 2771 2023 2260 2016 781.3 9.0 242 9204 0.12 2.30 19.77 0.991 12804 0.153 0.046 2740 635 2043 2174 1912 0 0 0 0 0 0 26.01 25.65 24.84

9245 0.53 217.4 2739 635 2173 1912 776.4 8.7 243 9274 0.00 2.17 23.40 0.994 9222 0.000 0.036 2740 2026 1933 2071 1796 0 0 0 0 0 0 28.83 25.78 24.52

9597 0.53 217.4 2740 2026 2070 1791 739.8 10.3 249 9603 0.00 2.22 0.00 0.000 516 0.000 0.047 2745 631 1930 2070 1791 0 0 0 0 0 0 28.83 25.88 28.83

9634 0.53 217.4 2745 631 2069 1791 739.8 10.3 249 9638 0.00 2.20 0.00 0.000 1030 0.000 0.036 2745 2014 1930 2069 1791 0 0 0 0 0 0 28.83 25.94 28.83

9956 0.53 217.4 2745 2015 2069 1790 702.5 10.3 255 9957 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2014 1929 2069 1790 0 0 0 0 0 0 28.83 28.83 28.83

10256 0.53 217.4 2745 2015 2069 1790 671.5 10.3 260 10260 0.00 2.17 0.00 0.000 516 0.000 0.046 2755 629 1929 2069 1790 0 0 0 0 0 0 28.83 26.20 28.83

10334 0.53 217.4 2755 630 2069 1789 665.5 10.3 261 10339 0.10 2.20 0.00 0.000 5126 0.122 0.036 2720 2027 1929 2069 1790 0 0 0 0 0 0 26.14 26.25 28.83

10672 0.56 234.3 2720 2027 2069 1789 631.7 9.2 267 10689 0.00 0.00 14.52 0.892 8198 0.000 0.000 2720 2027 1864 2004 1724 0 0 0 0 0 0 28.83 28.83 25.19

10972 0.58 241.1 2720 2027 2003 1722 602.8 9.7 272 10984 0.00 2.25 6.68 0.753 8708 0.000 0.046 2728 638 1836 1976 1697 0 0 0 0 0 0 28.83 26.06 25.20

11005 0.60 247.9 2728 638 1975 1697 602.8 9.7 272 11019 0.00 2.15 7.40 0.770 9222 0.000 0.037 2728 2028 1808 1948 1668 0 0 0 0 0 0 28.83 26.11 25.11

11331 0.60 247.9 2728 2028 1948 1668 567.0 10.0 278 11336 0.00 2.22 0.00 0.000 260 0.000 0.047 2729 3441 1808 1948 1668 0 0 0 0 0 0 28.83 26.14 28.83

11420 0.60 247.9 2728 3441 1948 1668 560.9 10.2 279 11425 0.00 2.20 0.00 0.000 1030 0.000 0.033 2737 2029 1808 1948 1668 0 0 0 0 0 0 28.83 26.22 28.83

11747 0.60 247.9 2737 2029 1948 1667 522.0 10.8 285 11748 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2029 1807 1948 1667 0 0 0 0 0 0 28.83 28.83 28.83

12047 0.60 247.9 2737 2029 1948 1667 490.1 10.6 290 12048 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2029 1807 1948 1667 0 0 0 0 0 0 28.83 28.83 28.83

12347 0.60 247.9 2737 2029 1948 1667 459.0 10.2 295 12351 0.00 2.17 0.00 0.000 516 0.000 0.046 2747 629 1807 1948 1667 0 0 0 0 0 0 28.83 26.37 28.83

12403 0.60 247.9 2747 628 1948 1666 453.4 10.1 296 12407 0.00 2.15 0.00 0.000 1030 0.000 0.036 2747 2030 1807 1948 1667 0 0 0 0 0 0 28.83 26.41 28.83

12758 0.60 247.9 2747 2031 1948 1667 416.5 10.4 302 12759 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2031 1807 1948 1667 0 0 0 0 0 0 28.83 28.83 28.83

13058 0.60 247.9 2747 2031 1948 1666 385.4 10.4 307 13062 0.00 2.17 0.00 0.000 260 0.000 0.047 2747 3432 1807 1948 1667 0 0 0 0 0 0 28.83 26.45 28.83

13107 0.60 247.9 2747 3432 1948 1667 385.4 10.4 307 13114 0.00 2.17 0.00 0.000 1030 0.000 0.032 2757 2020 1807 1948 1667 0 0 0 0 0 0 28.83 26.50 28.83

13415 0.60 247.9 2756 2020 1948 1666 345.0 11.5 313 13416 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2020 1807 1948 1666 0 0 0 0 0 0 28.83 28.83 28.83

13714 0.60 247.9 2757 2020 1948 1667 308.6 12.2 318 13718 0.00 2.15 0.00 0.000 516 0.000 0.046 2767 628 1807 1948 1667 0 0 0 0 0 0 28.83 26.49 28.83

13737 0.60 247.9 2766 628 1948 1666 308.6 12.2 318 13742 0.00 2.17 0.00 0.000 1030 0.000 0.035 2767 2030 1807 1948 1666 0 0 0 0 0 0 28.83 26.53 28.83

14069 0.60 247.9 2766 2031 1948 1666 263.3 12.3 328 14071 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2031 1807 1948 1666 0 0 0 0 0 0 28.83 28.83 28.83

14369 0.60 247.9 2767 2031 1949 1666 229.2 10.9 338 14373 0.00 2.17 0.00 0.000 260 0.000 0.047 2767 3439 1807 1948 1666 0 0 0 0 0 0 28.83 26.53 28.83

14438 0.60 247.9 2766 3439 1948 1666 222.9 10.9 340 14443 0.08 2.17 0.00 0.000 5126 0.130 0.032 2742 2016 1807 1948 1666 0 0 0 0 0 0 26.43 26.58 28.83

14756 0.67 272.9 2742 2016 1948 1666 192.5 8.8 351 14778 0.00 0.00 20.73 0.662 8198 0.000 0.000 2743 2016 1706 1848 1565 0 0 0 0 0 0 28.83 28.83 25.56

15057 0.74 299.1 2742 2016 1847 1562 166.0 8.8 361 15087 0.12 2.20 21.40 0.643 10756 0.083 0.045 2824 621 1598 1739 1458 0 0 0 0 0 0 26.43 26.03 25.39

15107 0.80 315.4 2824 620 1737 1457 162.9 9.2 362 15127 0.00 2.17 14.12 0.615 9222 0.000 0.035 2824 2031 1533 1673 1393 0 0 0 0 0 0 28.83 26.10 25.24

15439 0.78 315.4 2824 2031 1672 1387 109.1 14.4 378 15445 0.00 2.20 0.00 0.000 260 0.000 0.046 2824 3432 1529 1672 1386 0 0 0 0 0 0 28.83 26.12 28.83

15523 0.75 315.4 2824 3432 1672 1387 96.4 15.8 382 15528 0.17 2.15 0.00 0.000 5126 0.132 0.031 2785 2016 1529 1672 1387 0 0 0 0 0 0 26.06 26.19 28.83

15835 0.82 344.3 2785 2016 1672 1386 65.8 8.7 406 15866 0.00 2.17 23.25 0.585 8708 0.000 0.043 2793 634 1416 1559 1273 0 0 0 0 0 0 28.83 25.96 25.34

15910 0.91 344.3 2793 634 1558 1269 58.6 10.3 413 15919 0.12 2.15 0.00 0.000 3078 0.080 0.034 2860 2027 1413 1558 1269 0 0 0 0 0 0 26.04 26.04 28.83

16218 0.91 344.3 2859 2027 1558 1265 17.2 11.9 444 16222 0.00 2.20 0.00 0.000 260 0.000 0.046 2860 3429 1411 1557 1265 0 0 0 0 0 0 28.83 26.16 28.83

16324 0.91 344.3 2859 3429 1558 1265 3.7 13.1 454 16329 0.12 2.12 0.00 0.000 5126 0.146 0.031 2836 2024 1411 1558 1265 0 0 0 0 0 0 26.11 26.24 28.83

16348 end climb: SURFACE_DEPTH_REACHED

state 16348 begin surface coast

16360 end surface coast: CONTROL_FINISHED_OK

state 16361 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	33	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	47	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	350	R_STBD_OVSHOOT	37	XPDR_VALID	3
D_BOOST	10	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4479.9199	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	100	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	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2545	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	13	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	301013,093158,4741.123,-12516.018,40,0.9,40,16.8	TGT_NAME	SEARCH_A
_CALLS	1	TGT_LATLONG	4750.000,-12525.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.085,0.243
_SM_DEPTHo	1.14	KALMAN_X	327.0,0.0,0.0,-19877.0,-657.6
_SM_ANGLEo	-62.5	KALMAN_Y	-13952.9,0.0,0.0,62321.8,-1395.5
GPS2	301013,093834,4741.074,-12515.989,5,0.8,5,16.8	MHEAD_RNG_PITCHd_Wd	324.0,19969,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	0.1,1.024128	_24V_AH	23.7,5.206
SM_CCo	16373,13.80,0.105,1,0,1391,350.04	_10V_AH	10.2,4.799
SM_GC	1.40,6.93,0.00,13.80,0.033,0.000,0.105,177,2023,1391,-7.28,-0.06,350.04,0,0,0,0,1,0,26.27,28.83,25.65	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12514.44,301013,040413	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	314472
HUMID	44.17	DATA_FILE_SIZE	33668,457
INTERNAL_PRESSURE	8.86881	CAP_FILE_SIZE	147212,0
TCM_TEMP	12.10	CFSIZE	2097872896,2091352064
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	812.0,71.9	GPS	301013,141328,4743.526,-12517.333,39,0.8,39,16.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	207	89.79	SBE_CT	313	22	166.97
Roll_motor	130	58	181.49	AA4330	605	11	161.08
VBD_pump_during_apogee	407	1107	10695.46	WL_BB2FLVMT	292	105	726.68
VBD_pump_during_surface	13	104	34.28	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	nil	0	0	0.00
Iridium_during_xfer	331	77	606.30	nil	0	0	0.00
Transponder_ping	18	420	181.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	30	2.83
TT8	1504	15	233.44
LPSleep	12616	2	281.83
TT8_Active	509	15	79.06
TT8_Sampling	2085	43	928.97
TT8_CF8	83	53	45.68
TT8_Kalman	0	69	0.27
Analog_circuits	1775	14	253.60
GPS_charging	0	0	0.00
Compass	1679	8	141.18
RAFOS	0	0	0.00
Transponder	117	30	35.81

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
15	-0.79	-146.6	182	2027	1423	1149	0.0	0.0	0	90	0.00	0.00	-73.00	0.000	16386	0.000	0.000	182	2027	3191	3205	3178	0	0	0	0	0	0	28.83	28.83	28.83
93	-0.79	-146.6	182	2027	3206	3179	3.9	-6.3	7	112	7.80	2.30	-4.93	0.000	18692	0.207	0.059	2273	3434	3422	3428	3416	0	0	0	0	0	0	25.71	25.95	26.25
406	-0.70	-146.6	2273	3433	3432	3416	64.3	-13.8	38	417	0.15	2.12	0.00	0.000	3078	0.142	0.029	2314	2015	3424	3432	3416	0	0	0	0	0	0	26.02	26.17	28.83
718	-0.70	-146.6	2313	2015	3435	3416	100.6	-9.7	60	724	0.00	2.17	0.00	0.000	260	0.000	0.046	2306	3421	3425	3435	3416	0	0	0	0	0	0	28.83	26.23	28.83
920	-0.70	-146.6	2306	3422	3435	3416	120.6	-10.1	70	925	0.00	2.10	0.00	0.000	1030	0.000	0.029	2306	2019	3425	3435	3416	0	0	0	0	0	0	28.83	26.34	28.83
1250	-0.70	-146.6	2305	2019	3435	3416	153.8	-10.0	86	1255	0.00	2.20	0.00	0.000	260	0.000	0.046	2296	3429	3425	3435	3416	0	0	0	0	0	0	28.83	26.35	28.83
1279	-0.70	-146.6	2296	3429	3435	3416	156.8	-9.9	87	1283	0.00	2.10	0.00	0.000	1030	0.000	0.029	2296	2023	3425	3435	3416	0	0	0	0	0	0	28.83	26.40	28.83
1605	-0.70	-146.6	2296	2022	3435	3415	187.7	-8.9	98	1609	0.00	2.20	0.00	0.000	260	0.000	0.046	2285	3437	3425	3435	3416	0	0	0	0	0	0	28.83	26.40	28.83
1806	-0.70	-146.6	2285	3437	3435	3416	205.0	-9.8	104	1815	0.08	2.15	0.00	0.000	3078	0.118	0.030	2313	2015	3425	3435	3416	0	0	0	0	0	0	26.34	26.48	28.83
2114	-0.76	-146.6	2312	2015	3435	3416	234.8	-9.1	115	2119	0.00	2.20	0.00	0.000	260	0.000	0.046	2305	3431	3426	3436	3416	0	0	0	0	0	0	28.83	26.46	28.83
2175	-0.81	-146.6	2304	3430	3434	3416	240.5	-9.3	117	2179	0.00	2.10	0.00	0.000	1030	0.000	0.029	2305	2027	3425	3435	3416	0	0	0	0	0	0	28.83	26.51	28.83
2508	-0.86	-146.6	2305	2026	3435	3416	272.9	-9.9	128	2510	0.12	0.00	0.00	0.000	4102	0.081	0.000	2233	2026	3425	3434	3416	0	0	0	0	0	0	26.57	28.83	28.83
2838	-0.83	-146.6	2233	2026	3434	3416	315.7	-12.9	137	2843	0.12	2.15	0.00	0.000	2308	0.147	0.045	2265	3425	3425	3434	3416	0	0	0	0	0	0	26.44	26.52	28.83
2947	-0.81	-146.6	2264	3425	3434	3416	322.8	-12.6	138	2951	0.00	2.08	0.00	0.000	1030	0.000	0.030	2265	2024	3425	3434	3416	0	0	0	0	0	0	28.83	26.57	28.83
3254	-0.81	-146.6	2265	2023	3433	3416	362.0	-10.8	143	3260	0.00	2.15	0.00	0.000	260	0.000	0.047	2254	3423	3425	3434	3416	0	0	0	0	0	0	28.83	26.54	28.83
3374	-0.81	-146.6	2254	3424	3433	3416	374.9	-10.7	145	3380	0.00	2.08	0.00	0.000	1030	0.000	0.030	2254	2016	3424	3433	3416	0	0	0	0	0	0	28.83	26.59	28.83
3735	-0.81	-146.6	2254	2016	3433	3416	413.0	-10.6	151	3740	0.00	2.17	0.00	0.000	260	0.000	0.047	2244	3432	3424	3432	3416	0	0	0	0	0	0	28.83	26.55	28.83
3871	-0.81	-146.6	2243	3432	3433	3415	425.9	-10.7	153	3876	0.15	2.10	0.00	0.000	3078	0.136	0.031	2287	2013	3424	3433	3415	0	0	0	0	0	0	26.47	26.61	28.83
4216	-0.88	-146.6	2287	2012	3433	3415	457.7	-8.7	159	4221	0.00	2.17	0.00	0.000	260	0.000	0.047	2279	3425	3423	3433	3413	0	0	0	0	0	0	28.83	26.58	28.83
4292	-0.94	-146.6	2278	3425	3433	3413	463.0	-8.7	160	4297	0.12	2.10	0.00	0.000	5126	0.080	0.031	2213	2018	3423	3433	3413	0	0	0	0	0	0	26.61	26.63	28.83
4636	-0.92	-146.6	2211	2018	3433	3413	506.9	-12.4	166	4638	0.15	0.00	0.00	0.000	2054	0.138	0.000	2253	2018	3422	3433	3412	0	0	0	0	0	0	26.51	28.83	28.83
4934	-0.95	-146.6	2253	2018	3432	3412	537.3	-10.0	171	4940	0.00	2.20	0.00	0.000	260	0.000	0.048	2245	3437	3422	3433	3411	0	0	0	0	0	0	28.83	26.59	28.83
4987	-0.99	-146.6	2244	3436	3433	3410	537.3	-10.0	171	4995	0.00	2.10	0.00	0.000	1030	0.000	0.031	2245	2021	3422	3433	3411	0	0	0	0	0	0	28.83	26.64	28.83
5295	-1.02	-146.6	2245	2020	3432	3410	573.9	-10.1	177	5301	0.00	2.17	0.00	0.000	260	0.000	0.048	2234	3429	3421	3433	3410	0	0	0	0	0	0	28.83	26.60	28.83
5331	-1.04	-146.6	2234	3429	3432	3410	573.9	-10.1	177	5336	0.00	2.10	0.00	0.000	1030	0.000	0.031	2233	2017	3421	3432	3410	0	0	0	0	0	0	28.83	26.65	28.83
5655	-1.04	-146.6	2234	2016	3432	3409	612.3	-10.6	183	5661	0.00	2.17	0.00	0.000	260	0.000	0.048	2223	3432	3420	3432	3409	0	0	0	0	0	0	28.83	26.60	28.83
5761	-1.04	-146.6	2223	3432	3432	3409	619.3	-10.8	184	5765	0.00	2.15	0.00	0.000	1030	0.000	0.031	2224	2019	3420	3432	3409	0	0	0	0	0	0	28.83	26.66	28.83
6074	-1.04	-146.6	2223	2019	3432	3408	660.7	-11.4	190	6080	0.00	2.20	0.00	0.000	260	0.000	0.048	2213	3426	3420	3432	3408	0	0	0	0	0	0	28.83	26.60	28.83
6133	-1.04	-146.6	2213	3426	3432	3408	667.4	-11.3	191	6137	0.00	2.10	0.00	0.000	1030	0.000	0.031	2213	2018	3420	3432	3408	0	0	0	0	0	0	28.83	26.65	28.83
6489	-1.04	-146.6	2213	2017	3432	3408	707.6	-11.3	197	6490	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2018	3419	3432	3407	0	0	0	0	0	0	28.83	28.83	28.83
6789	-1.04	-146.6	2213	2018	3432	3407	741.3	-11.1	202	6795	0.00	2.17	0.00	0.000	260	0.000	0.049	2202	3426	3419	3432	3406	0	0	0	0	0	0	28.83	26.62	28.83
6963	-1.04	-146.6	2202	3426	3432	3406	754.9	-11.1	204	6972	0.00	2.12	0.00	0.000	1030	0.000	0.032	2202	2008	3419	3432	3406	0	0	0	0	0	0	28.83	26.67	28.83
7270	-1.04	-146.6	2202	2007	3432	3406	798.5	-12.0	210	7274	0.00	2.12	0.00	0.000	516	0.000	0.046	2202	624	3418	3432	3405	0	0	0	0	0	0	28.83	26.61	28.83
7330	-1.04	-146.6	2202	624	3432	3405	805.5	-12.0	211	7334	0.00	2.12	0.00	0.000	1030	0.000	0.039	2193	2025	3418	3432	3405	0	0	0	0	0	0	28.83	26.65	28.83
7682	-1.04	-146.6	2193	2025	3432	3404	848.4	-12.1	217	7687	0.00	2.17	0.00	0.000	260	0.000	0.049	2183	3429	3418	3432	3404	0	0	0	0	0	0	28.83	26.63	28.83
7794	-1.04	-146.6	2183	3429	3432	3404	855.4	-11.9	218	7801	0.00	2.15	0.00	0.000	1030	0.000	0.032	2183	2013	3418	3432	3404	0	0	0	0	0	0	28.83	26.67	28.83
7920	end dive: BOTTOM_OBSTACLE_DETECTED
state	7920	begin apogee
7923	-0.23	0.0	2183	2013	3432	3404	875.1	-11.4	221	8045	0.77	0.00	117.05	1.108	10246	0.065	0.000	2477	2013	2820	2915	2725	0	0	0	0	0	0	26.64	28.83	23.94
8046	end apogee: CONTROL_FINISHED_OK
state	8046	begin climb
8047	0.79	146.6	2477	2013	2915	2726	875.0	0.0	223	8173	0.90	0.00	121.88	1.087	10246	0.054	0.000	2800	2013	2222	2342	2102	0	0	0	0	0	0	24.83	28.83	23.70
8457	0.75	166.8	2800	2013	2336	2099	849.2	9.1	230	8476	0.00	0.00	17.20	1.001	8198	0.000	0.000	2800	2013	2140	2261	2019	0	0	0	0	0	0	28.83	28.83	24.49
8757	0.68	168.8	2800	2013	2260	2017	820.3	9.9	235	8763	0.12	2.28	0.00	0.000	4356	0.153	0.046	2763	3429	2139	2260	2018	0	0	0	0	0	0	25.72	25.79	28.83
8839	0.61	168.8	2763	3429	2260	2017	814.5	10.0	236	8843	0.00	2.17	0.00	0.000	1030	0.000	0.032	2772	2023	2139	2260	2018	0	0	0	0	0	0	28.83	25.90	28.83
9177	0.56	190.3	2771	2023	2260	2016	781.3	9.0	242	9204	0.12	2.30	19.77	0.991	12804	0.153	0.046	2740	635	2043	2174	1912	0	0	0	0	0	0	26.01	25.65	24.84
9245	0.53	217.4	2739	635	2173	1912	776.4	8.7	243	9274	0.00	2.17	23.40	0.994	9222	0.000	0.036	2740	2026	1933	2071	1796	0	0	0	0	0	0	28.83	25.78	24.52
9597	0.53	217.4	2740	2026	2070	1791	739.8	10.3	249	9603	0.00	2.22	0.00	0.000	516	0.000	0.047	2745	631	1930	2070	1791	0	0	0	0	0	0	28.83	25.88	28.83
9634	0.53	217.4	2745	631	2069	1791	739.8	10.3	249	9638	0.00	2.20	0.00	0.000	1030	0.000	0.036	2745	2014	1930	2069	1791	0	0	0	0	0	0	28.83	25.94	28.83
9956	0.53	217.4	2745	2015	2069	1790	702.5	10.3	255	9957	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2014	1929	2069	1790	0	0	0	0	0	0	28.83	28.83	28.83
10256	0.53	217.4	2745	2015	2069	1790	671.5	10.3	260	10260	0.00	2.17	0.00	0.000	516	0.000	0.046	2755	629	1929	2069	1790	0	0	0	0	0	0	28.83	26.20	28.83
10334	0.53	217.4	2755	630	2069	1789	665.5	10.3	261	10339	0.10	2.20	0.00	0.000	5126	0.122	0.036	2720	2027	1929	2069	1790	0	0	0	0	0	0	26.14	26.25	28.83
10672	0.56	234.3	2720	2027	2069	1789	631.7	9.2	267	10689	0.00	0.00	14.52	0.892	8198	0.000	0.000	2720	2027	1864	2004	1724	0	0	0	0	0	0	28.83	28.83	25.19
10972	0.58	241.1	2720	2027	2003	1722	602.8	9.7	272	10984	0.00	2.25	6.68	0.753	8708	0.000	0.046	2728	638	1836	1976	1697	0	0	0	0	0	0	28.83	26.06	25.20
11005	0.60	247.9	2728	638	1975	1697	602.8	9.7	272	11019	0.00	2.15	7.40	0.770	9222	0.000	0.037	2728	2028	1808	1948	1668	0	0	0	0	0	0	28.83	26.11	25.11
11331	0.60	247.9	2728	2028	1948	1668	567.0	10.0	278	11336	0.00	2.22	0.00	0.000	260	0.000	0.047	2729	3441	1808	1948	1668	0	0	0	0	0	0	28.83	26.14	28.83
11420	0.60	247.9	2728	3441	1948	1668	560.9	10.2	279	11425	0.00	2.20	0.00	0.000	1030	0.000	0.033	2737	2029	1808	1948	1668	0	0	0	0	0	0	28.83	26.22	28.83
11747	0.60	247.9	2737	2029	1948	1667	522.0	10.8	285	11748	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2029	1807	1948	1667	0	0	0	0	0	0	28.83	28.83	28.83
12047	0.60	247.9	2737	2029	1948	1667	490.1	10.6	290	12048	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2029	1807	1948	1667	0	0	0	0	0	0	28.83	28.83	28.83
12347	0.60	247.9	2737	2029	1948	1667	459.0	10.2	295	12351	0.00	2.17	0.00	0.000	516	0.000	0.046	2747	629	1807	1948	1667	0	0	0	0	0	0	28.83	26.37	28.83
12403	0.60	247.9	2747	628	1948	1666	453.4	10.1	296	12407	0.00	2.15	0.00	0.000	1030	0.000	0.036	2747	2030	1807	1948	1667	0	0	0	0	0	0	28.83	26.41	28.83
12758	0.60	247.9	2747	2031	1948	1667	416.5	10.4	302	12759	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2031	1807	1948	1667	0	0	0	0	0	0	28.83	28.83	28.83
13058	0.60	247.9	2747	2031	1948	1666	385.4	10.4	307	13062	0.00	2.17	0.00	0.000	260	0.000	0.047	2747	3432	1807	1948	1667	0	0	0	0	0	0	28.83	26.45	28.83
13107	0.60	247.9	2747	3432	1948	1667	385.4	10.4	307	13114	0.00	2.17	0.00	0.000	1030	0.000	0.032	2757	2020	1807	1948	1667	0	0	0	0	0	0	28.83	26.50	28.83
13415	0.60	247.9	2756	2020	1948	1666	345.0	11.5	313	13416	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2020	1807	1948	1666	0	0	0	0	0	0	28.83	28.83	28.83
13714	0.60	247.9	2757	2020	1948	1667	308.6	12.2	318	13718	0.00	2.15	0.00	0.000	516	0.000	0.046	2767	628	1807	1948	1667	0	0	0	0	0	0	28.83	26.49	28.83
13737	0.60	247.9	2766	628	1948	1666	308.6	12.2	318	13742	0.00	2.17	0.00	0.000	1030	0.000	0.035	2767	2030	1807	1948	1666	0	0	0	0	0	0	28.83	26.53	28.83
14069	0.60	247.9	2766	2031	1948	1666	263.3	12.3	328	14071	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2031	1807	1948	1666	0	0	0	0	0	0	28.83	28.83	28.83
14369	0.60	247.9	2767	2031	1949	1666	229.2	10.9	338	14373	0.00	2.17	0.00	0.000	260	0.000	0.047	2767	3439	1807	1948	1666	0	0	0	0	0	0	28.83	26.53	28.83
14438	0.60	247.9	2766	3439	1948	1666	222.9	10.9	340	14443	0.08	2.17	0.00	0.000	5126	0.130	0.032	2742	2016	1807	1948	1666	0	0	0	0	0	0	26.43	26.58	28.83
14756	0.67	272.9	2742	2016	1948	1666	192.5	8.8	351	14778	0.00	0.00	20.73	0.662	8198	0.000	0.000	2743	2016	1706	1848	1565	0	0	0	0	0	0	28.83	28.83	25.56
15057	0.74	299.1	2742	2016	1847	1562	166.0	8.8	361	15087	0.12	2.20	21.40	0.643	10756	0.083	0.045	2824	621	1598	1739	1458	0	0	0	0	0	0	26.43	26.03	25.39
15107	0.80	315.4	2824	620	1737	1457	162.9	9.2	362	15127	0.00	2.17	14.12	0.615	9222	0.000	0.035	2824	2031	1533	1673	1393	0	0	0	0	0	0	28.83	26.10	25.24
15439	0.78	315.4	2824	2031	1672	1387	109.1	14.4	378	15445	0.00	2.20	0.00	0.000	260	0.000	0.046	2824	3432	1529	1672	1386	0	0	0	0	0	0	28.83	26.12	28.83
15523	0.75	315.4	2824	3432	1672	1387	96.4	15.8	382	15528	0.17	2.15	0.00	0.000	5126	0.132	0.031	2785	2016	1529	1672	1387	0	0	0	0	0	0	26.06	26.19	28.83
15835	0.82	344.3	2785	2016	1672	1386	65.8	8.7	406	15866	0.00	2.17	23.25	0.585	8708	0.000	0.043	2793	634	1416	1559	1273	0	0	0	0	0	0	28.83	25.96	25.34
15910	0.91	344.3	2793	634	1558	1269	58.6	10.3	413	15919	0.12	2.15	0.00	0.000	3078	0.080	0.034	2860	2027	1413	1558	1269	0	0	0	0	0	0	26.04	26.04	28.83
16218	0.91	344.3	2859	2027	1558	1265	17.2	11.9	444	16222	0.00	2.20	0.00	0.000	260	0.000	0.046	2860	3429	1411	1557	1265	0	0	0	0	0	0	28.83	26.16	28.83
16324	0.91	344.3	2859	3429	1558	1265	3.7	13.1	454	16329	0.12	2.12	0.00	0.000	5126	0.146	0.031	2836	2024	1411	1558	1265	0	0	0	0	0	0	26.11	26.24	28.83
16348	end climb: SURFACE_DEPTH_REACHED
state	16348	begin surface coast
16360	end surface coast: CONTROL_FINISHED_OK
state	16361	begin surface