Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 34 * 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 34 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 45 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 350 R_STBD_OVSHOOT 35 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 -4481.1797 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 -4481.1797

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 45 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 35 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 34 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 301013,141328,4743.526,-12517.333,39,0.8,39,16.8 TGT_NAME SEARCH_A

_CALLS 1 TGT_LATLONG 4750.000,-12525.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.127,0.224

_SM_DEPTHo 1.17 KALMAN_X 286.8,0.0,0.0,-21634.7,-362.6

_SM_ANGLEo -60.5 KALMAN_Y -14073.6,0.0,0.0,66981.8,-793.0

GPS2 301013,142000,4743.520,-12517.400,5,1.1,5,16.8 MHEAD_RNG_PITCHd_Wd 313.6,15274,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.024091 _24V_AH 23.7,5.323

SM_CCo 16829,18.38,0.184,1,0,1391,350.04 _10V_AH 10.3,4.870

SM_GC 0.69,6.85,2.20,18.38,0.033,0.031,0.184,178,2027,1391,-7.28,1.33,350.04,0,0,0,0,1,0,26.27,26.25,25.65 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12518.13,301013,090910 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 314508

HUMID 44.01 DATA_FILE_SIZE 37072,489

INTERNAL_PRESSURE 8.88834 CAP_FILE_SIZE 154931,0

TCM_TEMP 12.50 CFSIZE 2097872896,2091220992

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

ALTIM_BOTTOM_PING 863.7,30.7 GPS 301013,190235,4746.026,-12519.943,39,1.0,39,16.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 206 91.66 SBE_CT 335 22 178.72

Roll_motor 134 56 180.75 AA4330 647 11 172.34

VBD_pump_during_apogee 382 1119 10139.15 WL_BB2FLVMT 324 105 806.71

VBD_pump_during_surface 18 183 79.96 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 328 77 600.76 nil 0 0 0.00

Transponder_ping 19 420 196.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.06

TT8 1600 15 250.74

LPSleep 12890 2 290.78

TT8_Active 473 15 74.25

TT8_Sampling 2201 43 990.02

TT8_CF8 89 53 49.37

TT8_Kalman 0 69 0.28

Analog_circuits 1790 14 258.16

GPS_charging 0 0 0.00

Compass 1796 8 152.48

RAFOS 0 0 0.00

Transponder 127 30 39.55

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.79 -146.6 176 2022 1513 1262 0.0 0.0 0 80 0.00 0.00 -62.28 0.000 16386 0.000 0.000 177 2023 2979 2987 2972 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.79 -146.6 176 2023 2987 2972 3.4 -5.3 6 111 7.80 2.25 -10.62 0.000 19204 0.207 0.057 2284 632 3421 3431 3411 0 0 0 0 0 0 25.72 25.96 26.28

254 -0.71 -146.6 2284 632 3432 3413 36.6 -17.6 23 264 0.15 2.15 0.00 0.000 3078 0.148 0.035 2316 2031 3422 3432 3413 0 0 0 0 0 0 25.96 26.09 28.83

564 -0.68 -146.6 2315 2031 3435 3413 75.2 -12.3 54 568 0.00 2.17 0.00 0.000 260 0.000 0.046 2308 3425 3424 3435 3413 0 0 0 0 0 0 28.83 26.19 28.83

754 -0.66 -146.6 2308 3424 3436 3413 96.7 -11.8 65 761 0.00 2.10 0.00 0.000 1030 0.000 0.029 2308 2016 3424 3436 3413 0 0 0 0 0 0 28.83 26.30 28.83

1062 -0.66 -146.6 2308 2016 3436 3413 131.6 -10.4 81 1067 0.00 2.17 0.00 0.000 260 0.000 0.045 2298 3426 3425 3437 3413 0 0 0 0 0 0 28.83 26.32 28.83

1230 -0.66 -146.6 2298 3426 3436 3413 148.9 -11.0 89 1236 0.10 2.12 0.00 0.000 3078 0.114 0.029 2332 2027 3425 3437 3413 0 0 0 0 0 0 26.27 26.41 28.83

1544 -0.72 -146.6 2332 2026 3436 3413 176.8 -8.6 100 1549 0.00 2.17 0.00 0.000 260 0.000 0.046 2324 3426 3424 3437 3412 0 0 0 0 0 0 28.83 26.39 28.83

1638 -0.78 -146.6 1472 3425 3429 3411 185.6 -9.4 103 1642 0.00 2.10 0.00 0.000 1030 0.000 0.029 2324 2015 3424 3436 3413 0 0 0 0 0 0 28.83 26.46 28.83

1960 -0.84 -146.6 2324 2015 3436 3413 215.9 -8.8 114 1962 0.15 0.00 0.00 0.000 4102 0.072 0.000 2242 2014 3424 3436 3413 0 0 0 0 0 0 26.53 28.83 28.83

2260 -0.81 -146.6 2242 2014 3436 3413 250.0 -11.3 124 2266 0.12 2.20 0.00 0.000 2308 0.147 0.044 2273 3432 3424 3436 3413 0 0 0 0 0 0 26.41 26.47 28.83

2419 -0.81 -146.6 2272 3432 3436 3413 264.9 -9.8 129 2423 0.00 2.10 0.00 0.000 1030 0.000 0.029 2273 2016 3424 3436 3413 0 0 0 0 0 0 28.83 26.53 28.83

2741 -0.81 -146.6 2272 2016 3436 3412 298.1 -10.2 140 2742 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2016 3424 3436 3413 0 0 0 0 0 0 28.83 28.83 28.83

3074 -0.81 -146.6 2272 2016 3435 3413 331.8 -10.2 146 3079 0.00 2.17 0.00 0.000 260 0.000 0.047 2262 3427 3424 3435 3413 0 0 0 0 0 0 28.83 26.53 28.83

3131 -0.81 -146.6 2262 3428 3435 3412 338.2 -10.4 147 3135 0.00 2.10 0.00 0.000 1030 0.000 0.030 2262 2015 3424 3435 3413 0 0 0 0 0 0 28.83 26.58 28.83

3489 -0.81 -146.6 2262 2014 3435 3413 375.2 -10.4 153 3490 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2014 3423 3435 3412 0 0 0 0 0 0 28.83 28.83 28.83

3787 -0.81 -146.6 2262 2014 3434 3413 408.7 -11.3 158 3791 0.00 2.20 0.00 0.000 260 0.000 0.047 2251 3434 3423 3434 3412 0 0 0 0 0 0 28.83 26.56 28.83

3905 -0.81 -146.6 2251 3434 3434 3412 422.4 -11.6 160 3911 0.08 2.08 0.00 0.000 3078 0.123 0.030 2279 2022 3423 3434 3412 0 0 0 0 0 0 26.48 26.61 28.83

4265 -0.86 -146.6 2278 2022 3434 3412 460.2 -10.5 166 4266 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2022 3423 3434 3412 0 0 0 0 0 0 28.83 28.83 28.83

4565 -0.91 -146.6 2278 2022 3434 3411 490.4 -9.9 171 4570 0.00 2.15 0.00 0.000 260 0.000 0.047 2271 3419 3422 3434 3410 0 0 0 0 0 0 28.83 26.59 28.83

4624 -0.96 -146.6 2271 3419 3434 3410 496.2 -9.8 172 4631 0.12 2.08 0.00 0.000 5126 0.082 0.031 2203 2019 3422 3434 3410 0 0 0 0 0 0 26.62 26.63 28.83

4984 -0.93 -146.6 2204 2019 3434 3410 538.8 -11.7 178 4990 0.12 2.17 0.00 0.000 2308 0.145 0.046 2236 3424 3421 3433 3409 0 0 0 0 0 0 26.52 26.60 28.83

5046 -0.90 -146.6 2235 3424 3434 3409 545.1 -11.6 179 5050 0.00 2.12 0.00 0.000 1030 0.000 0.031 2235 2026 3421 3434 3409 0 0 0 0 0 0 28.83 26.65 28.83

5405 -0.90 -146.6 2235 2025 3434 3409 580.6 -9.9 185 5411 0.00 2.20 0.00 0.000 260 0.000 0.048 2225 3435 3421 3434 3408 0 0 0 0 0 0 28.83 26.60 28.83

5526 -0.90 -146.6 2225 3435 3434 3408 593.3 -10.3 187 5530 0.00 2.15 0.00 0.000 1030 0.000 0.031 2225 2018 3421 3434 3408 0 0 0 0 0 0 28.83 26.65 28.83

5885 -0.90 -146.6 2225 2018 3434 3407 630.8 -10.3 193 5891 0.12 2.17 0.00 0.000 2308 0.146 0.047 2257 3425 3420 3434 3407 0 0 0 0 0 0 26.54 26.61 28.83

6014 -0.93 -146.6 2257 3425 3433 3407 641.1 -9.3 195 6018 0.00 2.10 0.00 0.000 1030 0.000 0.031 2257 2014 3420 3433 3407 0 0 0 0 0 0 28.83 26.65 28.83

6364 -0.99 -146.6 2257 2014 3434 3406 671.6 -8.5 201 6370 0.00 2.17 0.00 0.000 260 0.000 0.048 2247 3425 3420 3434 3406 0 0 0 0 0 0 28.83 26.61 28.83

6440 -1.05 -146.6 2246 3425 3434 3406 677.0 -8.6 202 6445 0.12 2.10 0.00 0.000 5126 0.082 0.031 2180 2013 3420 3434 3406 0 0 0 0 0 0 26.65 26.67 28.83

6778 -1.01 -146.6 2180 2013 3433 3405 720.2 -12.6 208 6784 0.12 2.10 0.00 0.000 2564 0.148 0.044 2220 640 3419 3433 3405 0 0 0 0 0 0 26.53 26.61 28.83

6815 -0.97 -146.6 2220 640 3433 3405 720.2 -12.6 208 6819 0.00 2.10 0.00 0.000 1030 0.000 0.038 2213 2021 3419 3434 3405 0 0 0 0 0 0 28.83 26.65 28.83

7137 -0.97 -146.6 2213 2021 3433 3404 763.7 -12.2 214 7141 0.00 2.20 0.00 0.000 260 0.000 0.049 2202 3435 3419 3434 3404 0 0 0 0 0 0 28.83 26.62 28.83

7241 -0.97 -146.6 2202 3435 3433 3404 771.2 -12.1 215 7245 0.00 2.12 0.00 0.000 1030 0.000 0.032 2202 2033 3418 3433 3404 0 0 0 0 0 0 28.83 26.67 28.83

7558 -0.97 -146.6 2202 2033 3433 3404 813.2 -11.5 221 7565 0.10 2.17 0.00 0.000 2308 0.154 0.047 2220 3433 3418 3433 3403 0 0 0 0 0 0 26.60 26.62 28.83

7671 -0.97 -146.6 2220 3433 3433 3403 819.7 -11.3 222 7681 0.00 2.10 0.00 0.000 1030 0.000 0.032 2220 2023 3417 3432 3403 0 0 0 0 0 0 28.83 26.67 28.83

7978 -1.01 -146.6 2220 2024 3432 3403 857.6 -10.6 228 7982 0.00 2.20 0.00 0.000 260 0.000 0.049 2210 3440 3417 3432 3403 0 0 0 0 0 0 28.83 26.62 28.83

8039 -1.05 -146.6 2209 3440 3432 3403 863.7 -10.7 229 8043 0.00 2.15 0.00 0.000 1030 0.000 0.032 2209 2024 3417 3432 3403 0 0 0 0 0 0 28.83 26.70 28.83

8276 end dive: BOTTOM_OBSTACLE_DETECTED

state 8276 begin apogee

8279 -0.23 0.0 2209 2024 3432 3403 889.1 -10.5 233 8401 0.75 0.00 116.68 1.119 10246 0.104 0.000 2467 2023 2821 2916 2726 0 0 0 0 0 0 26.53 28.83 23.93

8402 end apogee: CONTROL_FINISHED_OK

state 8402 begin climb

8403 0.79 146.6 2467 2023 2916 2725 891.7 0.0 235 8534 0.93 2.42 120.57 1.100 10756 0.048 0.044 2817 635 2221 2337 2105 0 0 0 0 0 0 24.84 24.47 23.68

8604 0.79 146.6 2817 635 2334 2103 880.4 8.5 238 8608 0.00 2.28 0.00 0.000 1030 0.000 0.035 2817 2021 2219 2335 2103 0 0 0 0 0 0 28.83 25.15 28.83

8931 0.63 146.6 2817 2021 2333 2101 831.6 13.5 244 8938 0.22 2.28 0.00 0.000 4356 0.145 0.045 2751 3443 2217 2333 2101 0 0 0 0 0 0 25.65 25.76 28.83

8984 0.46 146.6 2750 3443 2332 2101 831.6 13.5 244 8992 0.22 2.20 0.00 0.000 5126 0.134 0.033 2695 2019 2217 2333 2101 0 0 0 0 0 0 25.72 25.84 28.83

9291 0.46 195.6 2695 2019 2333 2099 801.3 7.7 250 9333 0.00 0.00 39.70 1.045 8198 0.000 0.000 2695 2019 2021 2153 1889 0 0 0 0 0 0 28.83 28.83 24.44

9591 0.46 218.0 2695 2019 2153 1885 774.8 9.0 255 9613 0.00 0.00 19.10 0.989 8454 0.000 0.000 2695 2019 1930 2068 1792 0 0 0 0 0 0 28.83 28.83 24.63

9952 0.48 227.2 2695 2019 2069 1789 740.6 9.6 261 9963 0.00 0.00 8.70 0.872 8454 0.000 0.000 2695 2019 1891 2031 1752 0 0 0 0 0 0 28.83 28.83 24.94

10312 0.52 231.1 2695 2019 2031 1751 705.6 9.8 267 10321 0.00 2.33 4.47 0.671 8452 0.000 0.047 2695 3432 1877 2017 1737 0 0 0 0 0 0 28.83 25.97 25.08

10386 0.55 231.1 2695 3432 2017 1738 699.4 10.1 268 10390 0.00 2.17 0.00 0.000 1030 0.000 0.033 2703 2014 1877 2017 1738 0 0 0 0 0 0 28.83 26.06 28.83

10728 0.57 231.1 2702 2014 2017 1738 662.5 10.2 274 10729 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2014 1877 2017 1738 0 0 0 0 0 0 28.83 28.83 28.83

11028 0.61 237.0 2702 2014 2017 1738 633.2 9.7 279 11037 0.12 0.00 6.43 0.717 10246 0.083 0.000 2770 2014 1853 1992 1714 0 0 0 0 0 0 26.33 28.83 25.23

11328 0.55 237.0 2770 2015 1992 1714 594.6 13.1 284 11330 0.17 0.00 0.00 0.000 4102 0.135 0.000 2720 2014 1852 1992 1713 0 0 0 0 0 0 26.17 28.83 28.83

11629 0.55 243.0 2720 2015 1991 1713 564.8 9.7 289 11641 0.00 2.30 6.25 0.727 8452 0.000 0.047 2720 3433 1829 1967 1691 0 0 0 0 0 0 28.83 26.22 25.32

11691 0.55 249.2 2720 3433 1968 1691 558.8 9.7 290 11703 0.00 2.17 6.97 0.750 9222 0.000 0.033 2727 2030 1804 1942 1666 0 0 0 0 0 0 28.83 26.27 25.25

12045 0.55 251.7 2727 2030 1942 1664 523.5 9.9 296 12053 0.00 2.22 3.55 0.441 8708 0.000 0.044 2737 622 1792 1931 1653 0 0 0 0 0 0 28.83 26.20 25.29

12078 0.55 254.3 2737 622 1931 1653 523.5 9.9 296 12088 0.00 2.17 3.72 0.542 9222 0.000 0.036 2737 2031 1782 1921 1644 0 0 0 0 0 0 28.83 26.25 25.27

12400 0.55 254.3 2737 2032 1921 1644 484.8 11.2 302 12404 0.00 2.20 0.00 0.000 260 0.000 0.047 2737 3438 1782 1921 1644 0 0 0 0 0 0 28.83 26.27 28.83

12465 0.55 254.3 2737 3438 1921 1644 478.0 11.5 303 12469 0.00 2.15 0.00 0.000 1030 0.000 0.033 2746 2017 1782 1921 1644 0 0 0 0 0 0 28.83 26.32 28.83

12810 0.55 254.3 2745 2017 1921 1644 436.9 11.4 309 12814 0.00 2.17 0.00 0.000 516 0.000 0.047 2756 619 1782 1921 1644 0 0 0 0 0 0 28.83 26.34 28.83

12854 0.55 254.3 2756 619 1921 1644 436.9 11.4 309 12859 0.08 2.20 0.00 0.000 5126 0.125 0.036 2728 2023 1782 1921 1643 0 0 0 0 0 0 26.27 26.39 28.83

13166 0.59 254.3 2728 2023 1921 1644 398.7 10.5 315 13170 0.00 2.20 0.00 0.000 260 0.000 0.047 2728 3437 1782 1921 1644 0 0 0 0 0 0 28.83 26.39 28.83

13242 0.62 254.3 2728 3437 1921 1643 392.4 10.7 316 13246 0.00 2.12 0.00 0.000 1030 0.000 0.033 2734 2022 1782 1921 1644 0 0 0 0 0 0 28.83 26.44 28.83

13578 0.66 254.3 2734 2022 1921 1644 355.0 10.4 322 13582 0.00 2.15 0.00 0.000 516 0.000 0.046 2744 632 1782 1921 1644 0 0 0 0 0 0 28.83 26.43 28.83

13642 0.70 254.3 2743 632 1921 1643 348.9 10.5 323 13646 0.00 2.12 0.00 0.000 1030 0.000 0.036 2744 2027 1782 1921 1644 0 0 0 0 0 0 28.83 26.48 28.83

13995 0.73 254.3 2744 2027 1921 1643 309.7 10.7 329 14001 0.10 2.17 0.00 0.000 2308 0.096 0.046 2802 3429 1782 1921 1643 0 0 0 0 0 0 26.56 26.46 28.83

14047 0.76 254.3 2802 3429 1921 1644 309.7 10.7 329 14054 0.00 2.12 0.00 0.000 1030 0.000 0.032 2811 2016 1782 1921 1644 0 0 0 0 0 0 28.83 26.51 28.83

14354 0.70 254.3 2811 2016 1920 1644 256.3 14.8 339 14356 0.15 0.00 0.00 0.000 4102 0.147 0.000 2770 2016 1782 1921 1643 0 0 0 0 0 0 26.41 28.83 28.83

14655 0.70 254.3 2770 2016 1921 1643 221.6 11.0 349 14656 0.00 0.00 0.00 0.000 6 0.000 0.000 2770 2016 1782 1921 1644 0 0 0 0 0 0 28.83 28.83 28.83

14954 0.70 254.3 2770 2016 1921 1643 190.7 10.2 359 14958 0.00 2.15 0.00 0.000 516 0.000 0.045 2779 621 1782 1921 1643 0 0 0 0 0 0 28.83 26.52 28.83

14992 0.70 254.3 2778 620 1921 1644 188.0 10.3 360 14997 0.00 2.17 0.00 0.000 1030 0.000 0.036 2778 2016 1782 1921 1644 0 0 0 0 0 0 28.83 26.57 28.83

15309 0.70 254.3 2778 2016 1921 1643 150.8 11.3 371 15313 0.00 2.20 0.00 0.000 260 0.000 0.047 2778 3438 1782 1921 1644 0 0 0 0 0 0 28.83 26.53 28.83

15348 0.70 254.3 2778 3438 1921 1644 146.7 11.2 373 15352 0.00 2.15 0.00 0.000 1030 0.000 0.031 2788 2026 1783 1922 1644 0 0 0 0 0 0 28.83 26.59 28.83

15666 0.70 254.3 2788 2026 1921 1643 111.1 11.1 389 15672 0.00 2.15 0.00 0.000 516 0.000 0.045 2798 628 1782 1921 1644 0 0 0 0 0 0 28.83 26.54 28.83

15729 0.70 254.3 2798 627 1921 1644 104.2 11.4 392 15733 0.00 2.15 0.00 0.000 1030 0.000 0.035 2798 2022 1782 1921 1644 0 0 0 0 0 0 28.83 26.59 28.83

16037 0.73 271.3 2798 2022 1921 1644 70.0 9.2 412 16057 0.00 2.28 14.88 0.559 8452 0.000 0.047 2798 3433 1712 1852 1572 0 0 0 0 0 0 28.83 26.38 25.70

16091 0.75 271.3 2798 3433 1852 1572 64.3 10.9 417 16099 0.00 2.12 0.00 0.000 1030 0.000 0.031 2807 2013 1712 1852 1572 0 0 0 0 0 0 28.83 26.44 28.83

16399 0.80 271.3 2807 2014 1852 1570 29.6 10.2 448 16401 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2013 1711 1852 1570 0 0 0 0 0 0 28.83 28.83 28.83

16700 0.86 338.9 2807 2013 1852 1569 10.1 6.9 478 16740 0.00 2.30 31.23 0.479 8452 0.000 0.047 2808 3432 1435 1578 1293 0 0 0 0 0 0 28.83 26.13 25.61

16792 end climb: SURFACE_DEPTH_REACHED

state 16792 begin surface coast

16815 end surface coast: CONTROL_FINISHED_OK

state 16815 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	34	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	45	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	350	R_STBD_OVSHOOT	35	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	-4481.1797	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	301013,141328,4743.526,-12517.333,39,0.8,39,16.8	TGT_NAME	SEARCH_A
_CALLS	1	TGT_LATLONG	4750.000,-12525.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.127,0.224
_SM_DEPTHo	1.17	KALMAN_X	286.8,0.0,0.0,-21634.7,-362.6
_SM_ANGLEo	-60.5	KALMAN_Y	-14073.6,0.0,0.0,66981.8,-793.0
GPS2	301013,142000,4743.520,-12517.400,5,1.1,5,16.8	MHEAD_RNG_PITCHd_Wd	313.6,15274,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	-0.0,1.024091	_24V_AH	23.7,5.323
SM_CCo	16829,18.38,0.184,1,0,1391,350.04	_10V_AH	10.3,4.870
SM_GC	0.69,6.85,2.20,18.38,0.033,0.031,0.184,178,2027,1391,-7.28,1.33,350.04,0,0,0,0,1,0,26.27,26.25,25.65	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12518.13,301013,090910	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	314508
HUMID	44.01	DATA_FILE_SIZE	37072,489
INTERNAL_PRESSURE	8.88834	CAP_FILE_SIZE	154931,0
TCM_TEMP	12.50	CFSIZE	2097872896,2091220992
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
ALTIM_BOTTOM_PING	863.7,30.7	GPS	301013,190235,4746.026,-12519.943,39,1.0,39,16.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	206	91.66	SBE_CT	335	22	178.72
Roll_motor	134	56	180.75	AA4330	647	11	172.34
VBD_pump_during_apogee	382	1119	10139.15	WL_BB2FLVMT	324	105	806.71
VBD_pump_during_surface	18	183	79.96	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	328	77	600.76	nil	0	0	0.00
Transponder_ping	19	420	196.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.06
TT8	1600	15	250.74
LPSleep	12890	2	290.78
TT8_Active	473	15	74.25
TT8_Sampling	2201	43	990.02
TT8_CF8	89	53	49.37
TT8_Kalman	0	69	0.28
Analog_circuits	1790	14	258.16
GPS_charging	0	0	0.00
Compass	1796	8	152.48
RAFOS	0	0	0.00
Transponder	127	30	39.55

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.79	-146.6	176	2022	1513	1262	0.0	0.0	0	80	0.00	0.00	-62.28	0.000	16386	0.000	0.000	177	2023	2979	2987	2972	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.79	-146.6	176	2023	2987	2972	3.4	-5.3	6	111	7.80	2.25	-10.62	0.000	19204	0.207	0.057	2284	632	3421	3431	3411	0	0	0	0	0	0	25.72	25.96	26.28
254	-0.71	-146.6	2284	632	3432	3413	36.6	-17.6	23	264	0.15	2.15	0.00	0.000	3078	0.148	0.035	2316	2031	3422	3432	3413	0	0	0	0	0	0	25.96	26.09	28.83
564	-0.68	-146.6	2315	2031	3435	3413	75.2	-12.3	54	568	0.00	2.17	0.00	0.000	260	0.000	0.046	2308	3425	3424	3435	3413	0	0	0	0	0	0	28.83	26.19	28.83
754	-0.66	-146.6	2308	3424	3436	3413	96.7	-11.8	65	761	0.00	2.10	0.00	0.000	1030	0.000	0.029	2308	2016	3424	3436	3413	0	0	0	0	0	0	28.83	26.30	28.83
1062	-0.66	-146.6	2308	2016	3436	3413	131.6	-10.4	81	1067	0.00	2.17	0.00	0.000	260	0.000	0.045	2298	3426	3425	3437	3413	0	0	0	0	0	0	28.83	26.32	28.83
1230	-0.66	-146.6	2298	3426	3436	3413	148.9	-11.0	89	1236	0.10	2.12	0.00	0.000	3078	0.114	0.029	2332	2027	3425	3437	3413	0	0	0	0	0	0	26.27	26.41	28.83
1544	-0.72	-146.6	2332	2026	3436	3413	176.8	-8.6	100	1549	0.00	2.17	0.00	0.000	260	0.000	0.046	2324	3426	3424	3437	3412	0	0	0	0	0	0	28.83	26.39	28.83
1638	-0.78	-146.6	1472	3425	3429	3411	185.6	-9.4	103	1642	0.00	2.10	0.00	0.000	1030	0.000	0.029	2324	2015	3424	3436	3413	0	0	0	0	0	0	28.83	26.46	28.83
1960	-0.84	-146.6	2324	2015	3436	3413	215.9	-8.8	114	1962	0.15	0.00	0.00	0.000	4102	0.072	0.000	2242	2014	3424	3436	3413	0	0	0	0	0	0	26.53	28.83	28.83
2260	-0.81	-146.6	2242	2014	3436	3413	250.0	-11.3	124	2266	0.12	2.20	0.00	0.000	2308	0.147	0.044	2273	3432	3424	3436	3413	0	0	0	0	0	0	26.41	26.47	28.83
2419	-0.81	-146.6	2272	3432	3436	3413	264.9	-9.8	129	2423	0.00	2.10	0.00	0.000	1030	0.000	0.029	2273	2016	3424	3436	3413	0	0	0	0	0	0	28.83	26.53	28.83
2741	-0.81	-146.6	2272	2016	3436	3412	298.1	-10.2	140	2742	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2016	3424	3436	3413	0	0	0	0	0	0	28.83	28.83	28.83
3074	-0.81	-146.6	2272	2016	3435	3413	331.8	-10.2	146	3079	0.00	2.17	0.00	0.000	260	0.000	0.047	2262	3427	3424	3435	3413	0	0	0	0	0	0	28.83	26.53	28.83
3131	-0.81	-146.6	2262	3428	3435	3412	338.2	-10.4	147	3135	0.00	2.10	0.00	0.000	1030	0.000	0.030	2262	2015	3424	3435	3413	0	0	0	0	0	0	28.83	26.58	28.83
3489	-0.81	-146.6	2262	2014	3435	3413	375.2	-10.4	153	3490	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2014	3423	3435	3412	0	0	0	0	0	0	28.83	28.83	28.83
3787	-0.81	-146.6	2262	2014	3434	3413	408.7	-11.3	158	3791	0.00	2.20	0.00	0.000	260	0.000	0.047	2251	3434	3423	3434	3412	0	0	0	0	0	0	28.83	26.56	28.83
3905	-0.81	-146.6	2251	3434	3434	3412	422.4	-11.6	160	3911	0.08	2.08	0.00	0.000	3078	0.123	0.030	2279	2022	3423	3434	3412	0	0	0	0	0	0	26.48	26.61	28.83
4265	-0.86	-146.6	2278	2022	3434	3412	460.2	-10.5	166	4266	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2022	3423	3434	3412	0	0	0	0	0	0	28.83	28.83	28.83
4565	-0.91	-146.6	2278	2022	3434	3411	490.4	-9.9	171	4570	0.00	2.15	0.00	0.000	260	0.000	0.047	2271	3419	3422	3434	3410	0	0	0	0	0	0	28.83	26.59	28.83
4624	-0.96	-146.6	2271	3419	3434	3410	496.2	-9.8	172	4631	0.12	2.08	0.00	0.000	5126	0.082	0.031	2203	2019	3422	3434	3410	0	0	0	0	0	0	26.62	26.63	28.83
4984	-0.93	-146.6	2204	2019	3434	3410	538.8	-11.7	178	4990	0.12	2.17	0.00	0.000	2308	0.145	0.046	2236	3424	3421	3433	3409	0	0	0	0	0	0	26.52	26.60	28.83
5046	-0.90	-146.6	2235	3424	3434	3409	545.1	-11.6	179	5050	0.00	2.12	0.00	0.000	1030	0.000	0.031	2235	2026	3421	3434	3409	0	0	0	0	0	0	28.83	26.65	28.83
5405	-0.90	-146.6	2235	2025	3434	3409	580.6	-9.9	185	5411	0.00	2.20	0.00	0.000	260	0.000	0.048	2225	3435	3421	3434	3408	0	0	0	0	0	0	28.83	26.60	28.83
5526	-0.90	-146.6	2225	3435	3434	3408	593.3	-10.3	187	5530	0.00	2.15	0.00	0.000	1030	0.000	0.031	2225	2018	3421	3434	3408	0	0	0	0	0	0	28.83	26.65	28.83
5885	-0.90	-146.6	2225	2018	3434	3407	630.8	-10.3	193	5891	0.12	2.17	0.00	0.000	2308	0.146	0.047	2257	3425	3420	3434	3407	0	0	0	0	0	0	26.54	26.61	28.83
6014	-0.93	-146.6	2257	3425	3433	3407	641.1	-9.3	195	6018	0.00	2.10	0.00	0.000	1030	0.000	0.031	2257	2014	3420	3433	3407	0	0	0	0	0	0	28.83	26.65	28.83
6364	-0.99	-146.6	2257	2014	3434	3406	671.6	-8.5	201	6370	0.00	2.17	0.00	0.000	260	0.000	0.048	2247	3425	3420	3434	3406	0	0	0	0	0	0	28.83	26.61	28.83
6440	-1.05	-146.6	2246	3425	3434	3406	677.0	-8.6	202	6445	0.12	2.10	0.00	0.000	5126	0.082	0.031	2180	2013	3420	3434	3406	0	0	0	0	0	0	26.65	26.67	28.83
6778	-1.01	-146.6	2180	2013	3433	3405	720.2	-12.6	208	6784	0.12	2.10	0.00	0.000	2564	0.148	0.044	2220	640	3419	3433	3405	0	0	0	0	0	0	26.53	26.61	28.83
6815	-0.97	-146.6	2220	640	3433	3405	720.2	-12.6	208	6819	0.00	2.10	0.00	0.000	1030	0.000	0.038	2213	2021	3419	3434	3405	0	0	0	0	0	0	28.83	26.65	28.83
7137	-0.97	-146.6	2213	2021	3433	3404	763.7	-12.2	214	7141	0.00	2.20	0.00	0.000	260	0.000	0.049	2202	3435	3419	3434	3404	0	0	0	0	0	0	28.83	26.62	28.83
7241	-0.97	-146.6	2202	3435	3433	3404	771.2	-12.1	215	7245	0.00	2.12	0.00	0.000	1030	0.000	0.032	2202	2033	3418	3433	3404	0	0	0	0	0	0	28.83	26.67	28.83
7558	-0.97	-146.6	2202	2033	3433	3404	813.2	-11.5	221	7565	0.10	2.17	0.00	0.000	2308	0.154	0.047	2220	3433	3418	3433	3403	0	0	0	0	0	0	26.60	26.62	28.83
7671	-0.97	-146.6	2220	3433	3433	3403	819.7	-11.3	222	7681	0.00	2.10	0.00	0.000	1030	0.000	0.032	2220	2023	3417	3432	3403	0	0	0	0	0	0	28.83	26.67	28.83
7978	-1.01	-146.6	2220	2024	3432	3403	857.6	-10.6	228	7982	0.00	2.20	0.00	0.000	260	0.000	0.049	2210	3440	3417	3432	3403	0	0	0	0	0	0	28.83	26.62	28.83
8039	-1.05	-146.6	2209	3440	3432	3403	863.7	-10.7	229	8043	0.00	2.15	0.00	0.000	1030	0.000	0.032	2209	2024	3417	3432	3403	0	0	0	0	0	0	28.83	26.70	28.83
8276	end dive: BOTTOM_OBSTACLE_DETECTED
state	8276	begin apogee
8279	-0.23	0.0	2209	2024	3432	3403	889.1	-10.5	233	8401	0.75	0.00	116.68	1.119	10246	0.104	0.000	2467	2023	2821	2916	2726	0	0	0	0	0	0	26.53	28.83	23.93
8402	end apogee: CONTROL_FINISHED_OK
state	8402	begin climb
8403	0.79	146.6	2467	2023	2916	2725	891.7	0.0	235	8534	0.93	2.42	120.57	1.100	10756	0.048	0.044	2817	635	2221	2337	2105	0	0	0	0	0	0	24.84	24.47	23.68
8604	0.79	146.6	2817	635	2334	2103	880.4	8.5	238	8608	0.00	2.28	0.00	0.000	1030	0.000	0.035	2817	2021	2219	2335	2103	0	0	0	0	0	0	28.83	25.15	28.83
8931	0.63	146.6	2817	2021	2333	2101	831.6	13.5	244	8938	0.22	2.28	0.00	0.000	4356	0.145	0.045	2751	3443	2217	2333	2101	0	0	0	0	0	0	25.65	25.76	28.83
8984	0.46	146.6	2750	3443	2332	2101	831.6	13.5	244	8992	0.22	2.20	0.00	0.000	5126	0.134	0.033	2695	2019	2217	2333	2101	0	0	0	0	0	0	25.72	25.84	28.83
9291	0.46	195.6	2695	2019	2333	2099	801.3	7.7	250	9333	0.00	0.00	39.70	1.045	8198	0.000	0.000	2695	2019	2021	2153	1889	0	0	0	0	0	0	28.83	28.83	24.44
9591	0.46	218.0	2695	2019	2153	1885	774.8	9.0	255	9613	0.00	0.00	19.10	0.989	8454	0.000	0.000	2695	2019	1930	2068	1792	0	0	0	0	0	0	28.83	28.83	24.63
9952	0.48	227.2	2695	2019	2069	1789	740.6	9.6	261	9963	0.00	0.00	8.70	0.872	8454	0.000	0.000	2695	2019	1891	2031	1752	0	0	0	0	0	0	28.83	28.83	24.94
10312	0.52	231.1	2695	2019	2031	1751	705.6	9.8	267	10321	0.00	2.33	4.47	0.671	8452	0.000	0.047	2695	3432	1877	2017	1737	0	0	0	0	0	0	28.83	25.97	25.08
10386	0.55	231.1	2695	3432	2017	1738	699.4	10.1	268	10390	0.00	2.17	0.00	0.000	1030	0.000	0.033	2703	2014	1877	2017	1738	0	0	0	0	0	0	28.83	26.06	28.83
10728	0.57	231.1	2702	2014	2017	1738	662.5	10.2	274	10729	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2014	1877	2017	1738	0	0	0	0	0	0	28.83	28.83	28.83
11028	0.61	237.0	2702	2014	2017	1738	633.2	9.7	279	11037	0.12	0.00	6.43	0.717	10246	0.083	0.000	2770	2014	1853	1992	1714	0	0	0	0	0	0	26.33	28.83	25.23
11328	0.55	237.0	2770	2015	1992	1714	594.6	13.1	284	11330	0.17	0.00	0.00	0.000	4102	0.135	0.000	2720	2014	1852	1992	1713	0	0	0	0	0	0	26.17	28.83	28.83
11629	0.55	243.0	2720	2015	1991	1713	564.8	9.7	289	11641	0.00	2.30	6.25	0.727	8452	0.000	0.047	2720	3433	1829	1967	1691	0	0	0	0	0	0	28.83	26.22	25.32
11691	0.55	249.2	2720	3433	1968	1691	558.8	9.7	290	11703	0.00	2.17	6.97	0.750	9222	0.000	0.033	2727	2030	1804	1942	1666	0	0	0	0	0	0	28.83	26.27	25.25
12045	0.55	251.7	2727	2030	1942	1664	523.5	9.9	296	12053	0.00	2.22	3.55	0.441	8708	0.000	0.044	2737	622	1792	1931	1653	0	0	0	0	0	0	28.83	26.20	25.29
12078	0.55	254.3	2737	622	1931	1653	523.5	9.9	296	12088	0.00	2.17	3.72	0.542	9222	0.000	0.036	2737	2031	1782	1921	1644	0	0	0	0	0	0	28.83	26.25	25.27
12400	0.55	254.3	2737	2032	1921	1644	484.8	11.2	302	12404	0.00	2.20	0.00	0.000	260	0.000	0.047	2737	3438	1782	1921	1644	0	0	0	0	0	0	28.83	26.27	28.83
12465	0.55	254.3	2737	3438	1921	1644	478.0	11.5	303	12469	0.00	2.15	0.00	0.000	1030	0.000	0.033	2746	2017	1782	1921	1644	0	0	0	0	0	0	28.83	26.32	28.83
12810	0.55	254.3	2745	2017	1921	1644	436.9	11.4	309	12814	0.00	2.17	0.00	0.000	516	0.000	0.047	2756	619	1782	1921	1644	0	0	0	0	0	0	28.83	26.34	28.83
12854	0.55	254.3	2756	619	1921	1644	436.9	11.4	309	12859	0.08	2.20	0.00	0.000	5126	0.125	0.036	2728	2023	1782	1921	1643	0	0	0	0	0	0	26.27	26.39	28.83
13166	0.59	254.3	2728	2023	1921	1644	398.7	10.5	315	13170	0.00	2.20	0.00	0.000	260	0.000	0.047	2728	3437	1782	1921	1644	0	0	0	0	0	0	28.83	26.39	28.83
13242	0.62	254.3	2728	3437	1921	1643	392.4	10.7	316	13246	0.00	2.12	0.00	0.000	1030	0.000	0.033	2734	2022	1782	1921	1644	0	0	0	0	0	0	28.83	26.44	28.83
13578	0.66	254.3	2734	2022	1921	1644	355.0	10.4	322	13582	0.00	2.15	0.00	0.000	516	0.000	0.046	2744	632	1782	1921	1644	0	0	0	0	0	0	28.83	26.43	28.83
13642	0.70	254.3	2743	632	1921	1643	348.9	10.5	323	13646	0.00	2.12	0.00	0.000	1030	0.000	0.036	2744	2027	1782	1921	1644	0	0	0	0	0	0	28.83	26.48	28.83
13995	0.73	254.3	2744	2027	1921	1643	309.7	10.7	329	14001	0.10	2.17	0.00	0.000	2308	0.096	0.046	2802	3429	1782	1921	1643	0	0	0	0	0	0	26.56	26.46	28.83
14047	0.76	254.3	2802	3429	1921	1644	309.7	10.7	329	14054	0.00	2.12	0.00	0.000	1030	0.000	0.032	2811	2016	1782	1921	1644	0	0	0	0	0	0	28.83	26.51	28.83
14354	0.70	254.3	2811	2016	1920	1644	256.3	14.8	339	14356	0.15	0.00	0.00	0.000	4102	0.147	0.000	2770	2016	1782	1921	1643	0	0	0	0	0	0	26.41	28.83	28.83
14655	0.70	254.3	2770	2016	1921	1643	221.6	11.0	349	14656	0.00	0.00	0.00	0.000	6	0.000	0.000	2770	2016	1782	1921	1644	0	0	0	0	0	0	28.83	28.83	28.83
14954	0.70	254.3	2770	2016	1921	1643	190.7	10.2	359	14958	0.00	2.15	0.00	0.000	516	0.000	0.045	2779	621	1782	1921	1643	0	0	0	0	0	0	28.83	26.52	28.83
14992	0.70	254.3	2778	620	1921	1644	188.0	10.3	360	14997	0.00	2.17	0.00	0.000	1030	0.000	0.036	2778	2016	1782	1921	1644	0	0	0	0	0	0	28.83	26.57	28.83
15309	0.70	254.3	2778	2016	1921	1643	150.8	11.3	371	15313	0.00	2.20	0.00	0.000	260	0.000	0.047	2778	3438	1782	1921	1644	0	0	0	0	0	0	28.83	26.53	28.83
15348	0.70	254.3	2778	3438	1921	1644	146.7	11.2	373	15352	0.00	2.15	0.00	0.000	1030	0.000	0.031	2788	2026	1783	1922	1644	0	0	0	0	0	0	28.83	26.59	28.83
15666	0.70	254.3	2788	2026	1921	1643	111.1	11.1	389	15672	0.00	2.15	0.00	0.000	516	0.000	0.045	2798	628	1782	1921	1644	0	0	0	0	0	0	28.83	26.54	28.83
15729	0.70	254.3	2798	627	1921	1644	104.2	11.4	392	15733	0.00	2.15	0.00	0.000	1030	0.000	0.035	2798	2022	1782	1921	1644	0	0	0	0	0	0	28.83	26.59	28.83
16037	0.73	271.3	2798	2022	1921	1644	70.0	9.2	412	16057	0.00	2.28	14.88	0.559	8452	0.000	0.047	2798	3433	1712	1852	1572	0	0	0	0	0	0	28.83	26.38	25.70
16091	0.75	271.3	2798	3433	1852	1572	64.3	10.9	417	16099	0.00	2.12	0.00	0.000	1030	0.000	0.031	2807	2013	1712	1852	1572	0	0	0	0	0	0	28.83	26.44	28.83
16399	0.80	271.3	2807	2014	1852	1570	29.6	10.2	448	16401	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2013	1711	1852	1570	0	0	0	0	0	0	28.83	28.83	28.83
16700	0.86	338.9	2807	2013	1852	1569	10.1	6.9	478	16740	0.00	2.30	31.23	0.479	8452	0.000	0.047	2808	3432	1435	1578	1293	0	0	0	0	0	0	28.83	26.13	25.61
16792	end climb: SURFACE_DEPTH_REACHED
state	16792	begin surface coast
16815	end surface coast: CONTROL_FINISHED_OK
state	16815	begin surface