Glider dive log

Abaco Apr17 * SG038 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.013 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

MISSION 9 HD_C 2.4999999e-05 C_ROLL_DIVE 1767 ALTIM_BOTTOM_TURN_MARGIN 50

DIVE 35 HEADING 135 C_ROLL_CLIMB 1712 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 4171719 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 800

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2630 R_PORT_OVSHOOT 57 ALTIM_FREQUENCY 12

D_TGT 1080 TGT_DEFAULT_LON -7630 R_STBD_OVSHOOT 102 ALTIM_PULSE 1

D_ABORT 6000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 ROLL_MAXERRORS 2 XPDR_VALID 2

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 200 INT_PRESSURE_YINT 1.2

D_PITCH 0 COMM_SEQ 0 VBD_MAX 3900 DEEPGLIDER 1

D_SAFE 0 PROTOCOL 9 C_VBD 2348 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 360 CALL_TRIES 10 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN 540 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS -15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50840 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 13 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 150 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3880 MINV_24V 17 SIM_W 0

RELAUNCH 0 C_PITCH 3037 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.004410191

MAX_BUOY 450 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00064652628

COURSE_BIAS 0 P_OVSHOOT 0.026000001 FG_AHR_10V 0 SEABIRD_T_I 2.6235177e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.1286 FG_AHR_24V 0 SEABIRD_T_J 3.227025e-06

SPEED_FACTOR 1 PITCH_GAIN 17 PHONE_SUPPLY 2 SEABIRD_C_G -9.5423679

RHO 1.0275 PITCH_TIMEOUT 20 PRESSURE_YINT -20.293694 SEABIRD_C_H 1.1030561

MASS 80833 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018197452

MASS_COMP 11240.1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021177332

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2945.9399

FERRY_MAX 45 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

KALMAN_USE 2 ROLL_MIN 150 COMPASS_USE 4

HD_A 0.0049999999 ROLL_MAX 3925 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SM_CC 400

AH0_10V 100 D_SURF 5 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

AH0_24V 150 D_TGT 1080 PITCH_AD_RATE 160 STOP_T 4171719

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 50 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 17 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3880 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 800 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 2630

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -7630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_BOOST 0

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -20.293694 T_DIVE 360

CALL_TRIES 10 HEADING 135 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_GPS -15

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_LOITER 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_MISSION 390

CF8_MAXERRORS 2 ID 38 RAFOS_DEVICE -1 T_NO_W 120

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 13

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 RELAUNCH 0 T_TURN 540

COMPASS_USE 4 LOGGERDEVICE1 -1 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3037 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1712 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1767 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2348 MASS 80833 ROLL_DEG 45 USE_ICE 0

DBDW 0 MASS_COMP 11240.1 ROLL_MAX 3925 VBD_BLEED_AD_RATE 2

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MIN 150 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 450 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 57 VBD_MAX 3900

DEVICE4 -1 MINV_24V 17 R_STBD_OVSHOOT 102 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 9 SEABIRD_C_G -9.5423679 VBD_MIN 200

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1030561 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 35 NAV_MODE 2 SEABIRD_C_I -0.0018197452 VBD_PUMP_AD_RATE_SURFACE 3

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_J 0.00021177332 VBD_TIMEOUT 720

D_BOOST 0 N_DIVES 0 SEABIRD_C_Z 2945.9399 W_ADJ_DBAND 2

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.004410191 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50840 SEABIRD_T_H 0.00064652628 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_I 2.6235177e-05 XPDR_VALID 2

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_J 3.227025e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 130417,145258,2810.4309,-7713.4829,37,0.8,39,-8.5,0.7,213.6,10,5.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2724.539,-7621.883

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.60 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -48.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 130417,145816,2810.3560,-7713.4937,6,0.8,13,-8.5,1.0,214.2,11,4.8 MHEAD_RNG_PITCHd_Wd 103.1,120000,-11.6,-10.000,-15.12,6583

SPEED_LIMITS 0.100,0.370 D_GRID 1080

Post-dive calculations and measurements:

FINISH 0.0,1.025327 _24V_AH 23.83,15.104

SM_CCo 18702,0.00,0.000,0,0,211,621.07 _10V_AH 10.61,2.801

SM_GC 0.78,7.88,0.00,0.00,0.072,0.000,0.000,141,1717,211,-8.91,-1.41,621.07,0,0,0,0,0,0,26.88,27.13,26.91 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2759.18,-7720.85,130417,092811 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.226947 MEM 284212

HUMID 8.69 DATA_FILE_SIZE 59024,822

INTERNAL_PRESSURE 8.77842 CAP_FILE_SIZE 148924,0

TCM_TEMP 21.40 CFSIZE 2047311872,2037121024

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

ALTIM_TOP_PING 19.4,19.3 CURRENT 0.353,165.29,1

ALTIM_BOTTOM_PING 971.3,116.1 GPS 130417,201134,2806.463,-7708.435,30,0.8,32,-8.5,0.6,191.8,10,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 258 125.69 SBE_CT 550 23 304.78

Roll_motor 117 81 228.80 AA4330 1093 13 351.18

VBD_pump_during_apogee 892 1494 31775.96 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 308 153 1130.00 nil 0 0 0.00

Iridium_during_init 23 126 69.99 nil 0 0 0.00

Iridium_during_connect 44 160 167.91 nil 0 0 0.00

Iridium_during_xfer 151 223 807.64 nil 0 0 0.00

Transponder_ping 5 420 52.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 26 4.17

TT8 2502 15 410.71

LPSleep 13105 2 304.52

TT8_Active 1123 15 184.46

TT8_Sampling 2182 41 965.26

TT8_CF8 109 64 74.55

TT8_Kalman 0 0 0.00

Analog_circuits 2260 10 239.80

GPS_charging 0 0 0.00

Compass 1892 8 165.43

RAFOS 0 0 0.00

Transponder 42 30 13.55

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 int_press humidity

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.82 -438.0 161 1737 306 313 0.0 0.0 0 282 0.00 0.00 -263.38 0.146 16386 0.000 0.000 160 1736 2796 2821 2771 0 0 0 0 0 0 26.82 28.83 26.83 8.85 8.14

285 -0.82 -438.0 160 1736 2821 2771 4.0 -5.0 26 345 9.68 2.33 -44.65 0.154 18948 0.258 0.079 2767 197 3857 3894 3821 0 0 0 0 0 0 26.02 26.19 26.10 9.11 7.55

396 -0.82 -438.0 2765 197 3893 3821 19.2 -11.1 37 404 0.00 2.20 0.00 0.000 1030 0.000 0.057 2760 1769 3857 3893 3821 0 0 0 0 0 0 26.36 26.34 26.38 9.23 7.78

704 -0.82 -438.0 2760 1769 3889 3818 46.6 -9.1 68 705 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 1768 3853 3889 3818 0 0 0 0 0 0 26.82 26.82 26.82 9.23 8.14

1006 -0.87 -438.0 2760 1769 3888 3817 75.7 -9.3 98 1015 0.00 2.33 0.00 0.000 516 0.000 0.077 2760 203 3853 3888 3818 0 0 0 0 0 0 26.93 26.64 26.94 9.24 7.90

1039 -0.87 -438.0 2760 203 3888 3817 79.2 -10.1 101 1048 0.00 2.17 0.00 0.000 1030 0.000 0.060 2753 1748 3853 3888 3818 0 0 0 0 0 0 26.74 26.72 26.75 9.24 8.18

1347 -0.87 -438.0 2752 1748 3888 3817 107.6 -9.3 132 1348 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 1748 3852 3888 3816 0 0 0 0 0 0 26.99 27.01 27.01 9.24 8.57

1649 -0.87 -438.0 2751 1748 3887 3816 136.1 -9.8 162 1650 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 1748 3851 3887 3816 0 0 0 0 0 0 27.04 27.05 27.05 9.24 8.81

1947 -0.87 -438.0 2752 1748 3887 3816 166.0 -9.7 184 1949 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 1748 3851 3887 3816 0 0 0 0 0 0 27.06 27.08 27.08 9.24 8.22

2247 -0.87 -438.0 2752 1748 3887 3816 197.3 -10.7 199 2249 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 1748 3851 3887 3816 0 0 0 0 0 0 27.09 27.10 27.10 9.25 8.18

2549 -0.87 -438.0 2752 1748 3887 3815 228.9 -9.8 214 2550 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 1748 3851 3887 3815 0 0 0 0 0 0 27.10 27.11 27.11 9.24 8.85

2847 -0.87 -438.0 2752 1748 3887 3815 257.9 -9.3 229 2852 0.00 2.28 0.00 0.000 260 0.000 0.074 2741 3315 3850 3886 3815 0 0 0 0 0 0 27.10 26.82 27.12 9.24 8.33

2882 -0.87 -438.0 2740 3315 3887 3815 260.0 -9.1 230 2890 0.00 2.17 0.00 0.000 1030 0.000 0.060 2741 1756 3851 3887 3815 0 0 0 0 0 0 26.93 26.87 26.94 9.24 8.77

3189 -0.87 -438.0 2741 1755 3887 3815 290.7 -10.3 246 3193 0.00 2.30 0.00 0.000 516 0.000 0.079 2741 199 3851 3887 3815 0 0 0 0 0 0 27.11 26.83 27.13 9.23 8.29

3239 -0.87 -438.0 2741 199 3886 3815 295.0 -11.0 248 3246 0.00 2.17 0.00 0.000 1030 0.000 0.057 2734 1768 3850 3886 3815 0 0 0 0 0 0 26.94 26.90 26.95 9.23 8.29

3556 -0.87 -438.0 2733 1768 3886 3815 331.4 -11.0 260 3557 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1768 3850 3886 3815 0 0 0 0 0 0 27.12 27.13 27.13 9.23 8.18

3855 -0.87 -438.0 2733 1768 3886 3815 363.5 -11.1 270 3857 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1768 3850 3886 3815 0 0 0 0 0 0 27.12 27.13 27.13 9.22 8.57

4156 -0.87 -438.0 2733 1768 3886 3815 399.0 -11.6 280 4157 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1768 3850 3886 3815 0 0 0 0 0 0 27.13 27.14 27.14 9.21 7.98

4455 -0.87 -438.0 2732 1769 3886 3814 431.4 -11.1 290 4456 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1768 3850 3885 3815 0 0 0 0 0 0 27.13 27.15 27.14 9.21 8.10

4756 -0.87 -438.0 2733 1768 3886 3814 468.9 -13.0 300 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1769 3849 3885 3814 0 0 0 0 0 0 27.13 27.15 27.14 9.20 8.14

5055 -0.87 -438.0 2733 1768 3884 3814 506.7 -13.0 310 5057 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1769 3849 3884 3814 0 0 0 0 0 0 27.13 27.15 27.14 9.19 8.37

5356 -0.87 -438.0 2733 1768 3884 3813 544.2 -12.1 320 5357 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1768 3848 3884 3813 0 0 0 0 0 0 27.13 27.15 27.15 9.19 8.33

5655 -0.87 -438.0 2733 1769 3883 3813 580.3 -12.2 330 5662 0.00 2.35 0.00 0.000 516 0.000 0.077 2734 206 3848 3883 3813 0 0 0 0 0 0 27.13 26.85 27.15 9.18 8.57

5688 -0.87 -438.0 2733 207 3883 3813 584.3 -12.4 331 5693 0.10 2.20 0.00 0.000 3078 0.174 0.060 2763 1759 3848 3883 3813 0 0 0 0 0 0 26.76 26.92 26.84 9.18 9.08

6016 -0.87 -438.0 2763 1759 3883 3812 620.9 -11.2 342 6017 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 1759 3848 3883 3813 0 0 0 0 0 0 27.13 27.15 27.15 9.18 8.49

6315 -0.87 -438.0 2762 1759 3883 3812 653.6 -10.8 352 6317 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 1760 3847 3882 3812 0 0 0 0 0 0 27.13 27.15 27.15 9.17 8.41

6616 -0.87 -438.0 2762 1759 3882 3811 684.0 -10.1 362 6622 0.00 2.28 0.00 0.000 260 0.000 0.074 2753 3318 3846 3882 3811 0 0 0 0 0 0 27.14 26.85 27.15 9.16 8.77

6654 -0.87 -438.0 2751 3318 3882 3811 687.1 -10.3 363 6658 0.00 2.17 0.00 0.000 1030 0.000 0.060 2752 1767 3846 3882 3811 0 0 0 0 0 0 26.96 26.90 26.96 9.16 8.41

6970 -0.87 -438.0 2751 1766 3881 3810 724.3 -11.8 374 6976 0.00 2.33 0.00 0.000 516 0.000 0.079 2751 207 3845 3881 3810 0 0 0 0 0 0 27.14 26.84 27.15 9.15 8.33

7024 -0.87 -438.0 2752 207 3879 3810 727.8 -11.7 375 7031 0.00 2.20 0.00 0.000 1030 0.000 0.060 2744 1774 3845 3881 3810 0 0 0 0 0 0 26.96 26.91 26.97 9.15 8.26

7330 -0.87 -438.0 2743 1774 3881 3810 770.1 -13.2 386 7335 0.00 2.25 0.00 0.000 260 0.000 0.074 2733 3319 3844 3880 3809 0 0 0 0 0 0 27.13 26.85 27.15 9.14 8.61

7362 -0.87 -438.0 2732 3319 3880 3809 774.3 -13.3 387 7366 0.00 2.20 0.00 0.000 1030 0.000 0.060 2733 1756 3845 3881 3809 0 0 0 0 0 0 26.95 26.89 26.96 9.13 8.57

7690 -0.87 -438.0 2731 1756 3880 3809 821.3 -14.5 398 7696 0.00 2.25 0.00 0.000 516 0.000 0.079 2733 208 3844 3880 3809 0 0 0 0 0 0 27.11 26.85 27.12 9.12 9.00

7774 -0.81 -438.0 2733 208 3880 3809 830.5 -14.8 400 7782 0.15 2.15 0.00 0.000 3078 0.179 0.060 2774 1767 3844 3879 3809 0 0 0 0 0 0 26.74 26.91 26.88 9.10 8.81

8082 -0.81 -438.0 2774 1767 3878 3807 872.3 -12.9 411 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 2775 1767 3843 3879 3808 0 0 0 0 0 0 27.11 27.12 27.13 9.10 8.29

8381 -0.81 -438.0 2774 1768 3877 3806 907.1 -10.9 421 8385 0.00 2.25 0.00 0.000 260 0.000 0.074 2764 3320 3842 3877 3807 0 0 0 0 0 0 27.13 26.85 27.15 9.09 8.14

8417 -0.81 -438.0 2764 3321 3877 3806 910.1 -10.9 422 8421 0.00 2.17 0.00 0.000 1030 0.000 0.060 2764 1768 3841 3877 3806 0 0 0 0 0 0 26.95 26.90 26.97 9.08 8.45

8740 -0.81 -438.0 2763 1768 3876 3806 953.8 -14.1 433 8744 0.00 2.35 0.00 0.000 516 0.000 0.079 2764 193 3840 3875 3806 0 0 0 0 0 0 27.11 26.84 27.12 9.06 8.29

8794 -0.81 -438.0 2764 193 3875 3806 958.8 -14.3 434 8803 0.00 2.22 0.00 0.000 1030 0.000 0.060 2754 1765 3840 3875 3806 0 0 0 0 0 0 26.96 26.91 26.97 9.05 8.57

9132 -0.76 -438.0 2754 1765 3874 3805 1012.7 -15.4 445 9134 0.12 0.00 0.00 0.000 2054 0.186 0.000 2797 1766 3839 3874 3804 0 0 0 0 0 0 26.76 26.92 26.89 9.03 8.37

9370 end dive: BOTTOM_OBSTACLE_DETECTED

state 9371 begin apogee

9374 -0.29 0.0 2797 1766 3873 3803 1041.6 -12.0 449 9706 0.40 0.00 328.73 1.495 10246 0.139 0.000 2943 1766 2348 2384 2312 0 0 0 0 0 0 26.78 24.81 24.08 9.00 8.96

9707 end apogee: CONTROL_FINISHED_OK

state 9707 begin climb

9709 0.82 438.0 2943 1766 2383 2311 1066.6 0.0 454 10140 0.90 2.67 398.10 1.453 10756 0.119 0.082 3266 182 836 823 850 0 0 0 0 4 0 24.96 24.55 23.83 8.85 8.18

10680 1.13 438.0 3265 182 809 839 1022.3 8.5 470 10685 0.38 2.22 0.00 0.000 3078 0.117 0.057 3411 1733 824 809 839 0 0 0 0 0 0 26.36 26.44 26.45 8.64 8.37

10987 1.23 438.0 3410 1733 809 838 993.6 8.1 476 10992 0.00 2.40 0.00 0.000 516 0.000 0.079 3411 183 823 809 838 0 0 0 0 0 0 26.82 26.53 26.83 8.64 8.49

11132 1.31 438.0 3411 183 809 838 983.7 8.2 480 11139 0.00 2.17 0.00 0.000 3078 0.000 0.060 3412 1698 823 809 838 0 0 0 0 0 0 26.72 26.67 26.72 8.64 8.57

11439 1.44 619.6 3411 1700 809 837 960.1 7.2 491 11613 0.12 2.47 165.25 1.418 10500 0.114 0.079 3489 3259 215 209 221 0 0 0 0 0 0 26.71 24.96 24.23 8.64 8.57

11788 1.39 619.6 3489 3260 207 217 918.2 13.8 502 11792 0.00 2.28 0.00 0.000 1030 0.000 0.062 3499 1716 212 207 217 0 0 0 0 0 0 26.14 26.08 26.15 8.58 8.65

12096 1.31 619.6 3498 1716 206 216 870.6 15.2 512 12102 0.12 2.35 0.00 0.000 4612 0.196 0.079 3467 164 211 206 216 0 0 0 0 0 0 26.32 26.40 26.40 8.58 8.81

12148 1.23 619.6 3467 165 205 216 866.3 15.1 513 12157 0.12 2.22 0.00 0.000 5126 0.169 0.057 3423 1728 210 205 216 0 0 0 0 0 0 26.37 26.49 26.48 8.59 8.61

12455 1.23 619.6 3423 1728 206 216 828.1 11.4 524 12459 0.00 2.25 0.00 0.000 260 0.000 0.077 3423 3253 210 205 216 0 0 0 0 0 0 26.84 26.56 26.85 8.60 8.96

12509 1.23 619.6 3423 3255 205 216 824.3 11.4 525 12516 0.00 2.22 0.00 0.000 1030 0.000 0.062 3429 1704 210 205 216 0 0 0 0 0 0 26.67 26.62 26.69 8.61 8.85

12817 1.23 619.6 3428 1703 205 216 781.3 13.5 536 12823 0.00 2.33 0.00 0.000 516 0.000 0.082 3441 169 210 205 216 0 0 0 0 0 0 26.93 26.65 26.94 8.62 9.59

12894 1.23 619.6 3440 169 205 215 773.1 13.6 538 12898 0.00 2.20 0.00 0.000 1030 0.000 0.057 3441 1722 210 205 215 0 0 0 0 0 0 26.77 26.72 26.78 8.63 8.85

13201 1.17 619.6 3440 1722 205 215 725.4 14.8 548 13203 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 1722 210 205 215 0 0 0 0 0 0 26.98 27.00 26.99 8.64 9.04

13501 1.10 619.6 3440 1722 205 215 678.7 15.6 558 13503 0.17 0.00 0.00 0.000 4102 0.181 0.000 3383 1725 210 205 216 0 0 0 0 0 0 26.64 26.80 26.77 8.66 9.04

13801 1.10 619.6 3382 1725 205 216 643.3 11.6 568 13802 0.00 0.00 0.00 0.000 6 0.000 0.000 3383 1725 210 205 215 0 0 0 0 0 0 27.03 27.05 27.04 8.67 9.12

14101 1.10 619.6 3382 1725 205 215 607.5 12.0 578 14102 0.00 0.00 0.00 0.000 6 0.000 0.000 3383 1725 210 205 215 0 0 0 0 0 0 27.05 27.05 27.06 8.67 9.71

14401 1.10 619.6 3382 1725 205 216 570.2 12.6 588 14406 0.00 2.35 0.00 0.000 516 0.000 0.079 3394 170 210 205 215 0 0 0 0 0 0 27.06 26.78 27.08 8.69 9.08

14441 1.10 619.6 3393 171 205 216 565.8 12.9 589 14445 0.00 2.17 0.00 0.000 1030 0.000 0.057 3394 1713 210 205 215 0 0 0 0 0 0 26.89 26.85 26.91 8.69 8.81

14763 1.10 619.6 3393 1714 205 215 516.4 15.2 600 14769 0.00 2.28 0.00 0.000 260 0.000 0.074 3394 3266 210 205 216 0 0 0 0 0 0 27.07 26.79 27.08 8.70 8.65

14811 1.10 619.6 3393 3266 205 215 511.8 15.2 601 14816 0.00 2.22 0.00 0.000 1030 0.000 0.060 3403 1707 210 205 215 0 0 0 0 0 0 26.89 26.83 26.91 8.70 9.00

15123 1.10 619.6 3402 1707 205 215 460.6 15.7 612 15127 0.00 2.30 0.00 0.000 516 0.000 0.079 3413 171 210 205 216 0 0 0 0 0 0 27.08 26.79 27.09 8.71 8.69

15177 1.10 619.6 3413 172 205 215 455.6 15.7 613 15185 0.00 2.17 0.00 0.000 1030 0.000 0.060 3414 1719 210 205 215 0 0 0 0 0 0 26.91 26.86 26.92 8.72 8.92

15485 1.03 619.6 3413 1719 205 215 401.8 17.0 624 15487 0.15 0.00 0.00 0.000 4102 0.181 0.000 3364 1721 210 205 216 0 0 0 0 0 0 26.71 26.88 26.84 8.73 8.65

15784 1.03 619.6 3363 1721 205 216 365.4 12.1 634 15785 0.00 0.00 0.00 0.000 6 0.000 0.000 3363 1721 210 205 215 0 0 0 0 0 0 27.10 27.11 27.10 8.74 9.16

16084 1.03 619.6 3363 1721 205 216 328.7 11.7 644 16090 0.00 2.35 0.00 0.000 516 0.000 0.079 3374 163 210 205 215 0 0 0 0 0 0 27.10 26.82 27.10 8.74 8.57

16122 1.03 619.6 3373 163 205 215 325.2 11.6 645 16126 0.00 2.17 0.00 0.000 1030 0.000 0.060 3374 1725 210 205 215 0 0 0 0 0 0 26.92 26.88 26.94 8.75 8.81

16435 1.03 619.6 3373 1725 205 216 286.0 13.1 657 16441 0.00 2.22 0.00 0.000 260 0.000 0.074 3374 3256 210 205 216 0 0 0 0 0 0 27.10 26.82 27.11 8.76 9.32

16464 1.03 619.6 3373 3256 206 215 283.6 12.9 658 16468 0.00 2.20 0.00 0.000 1030 0.000 0.062 3374 1711 210 206 215 0 0 0 0 0 0 26.91 26.86 26.93 8.76 8.77

16771 1.03 619.6 3374 1712 205 215 242.8 11.6 673 16777 0.00 2.28 0.00 0.000 516 0.000 0.082 3385 173 210 205 215 0 0 0 0 0 0 27.10 26.82 27.11 8.77 8.57

16812 1.03 619.6 3385 173 205 215 238.1 11.2 675 16817 0.00 2.15 0.00 0.000 1030 0.000 0.057 3385 1711 210 205 215 0 0 0 0 0 0 26.90 26.88 26.91 8.78 9.20

17129 1.03 619.6 3384 1711 206 215 199.5 12.8 691 17131 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 1711 210 205 216 0 0 0 0 0 0 27.10 27.12 27.11 8.79 9.04

17431 1.03 619.6 3384 1711 205 215 157.3 14.7 706 17437 0.00 2.20 0.00 0.000 260 0.000 0.072 3385 3243 210 206 215 0 0 0 0 0 0 27.11 26.84 27.12 8.80 8.77

17457 1.03 619.6 3385 3243 206 215 153.9 15.1 707 17462 0.00 2.20 0.00 0.000 1030 0.000 0.062 3393 1707 211 206 216 0 0 0 0 0 0 26.89 26.86 26.91 8.80 8.65

17770 0.98 619.6 3392 1707 206 215 103.0 16.1 737 17772 0.12 0.00 0.00 0.000 4102 0.186 0.000 3350 1707 210 206 215 0 0 0 0 0 0 26.74 26.89 26.86 8.81 8.69

18069 0.98 619.6 3350 1707 206 215 68.4 11.2 767 18074 0.00 2.28 0.00 0.000 516 0.000 0.079 3360 174 210 206 215 0 0 0 0 0 0 27.11 26.82 27.12 8.82 8.18

18104 0.98 619.6 3359 174 206 215 64.9 11.1 770 18111 0.00 2.12 0.00 0.000 1030 0.000 0.057 3360 1720 210 206 215 0 0 0 0 0 0 26.94 26.89 26.94 8.82 8.73

18411 0.98 619.6 3359 1720 206 215 27.8 12.5 801 18415 0.00 2.20 0.00 0.000 260 0.000 0.074 3359 3245 210 206 215 0 0 0 0 0 0 27.12 26.84 27.13 8.82 8.37

18449 0.98 619.6 3359 3245 207 216 22.9 13.3 804 18457 0.00 2.17 0.00 0.000 1030 0.000 0.060 3360 1717 211 207 215 0 0 0 0 0 0 26.89 26.86 26.91 8.83 8.96

18596 end climb: SURFACE_DEPTH_REACHED

state 18596 begin surface coast

18628 end surface coast: CONTROL_FINISHED_OK

state 18628 begin surface

ID	38	HD_B	0.013	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
MISSION	9	HD_C	2.4999999e-05	C_ROLL_DIVE	1767	ALTIM_BOTTOM_TURN_MARGIN	50
DIVE	35	HEADING	135	C_ROLL_CLIMB	1712	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	4171719	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	800
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2630	R_PORT_OVSHOOT	57	ALTIM_FREQUENCY	12
D_TGT	1080	TGT_DEFAULT_LON	-7630	R_STBD_OVSHOOT	102	ALTIM_PULSE	1
D_ABORT	6000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	ROLL_MAXERRORS	2	XPDR_VALID	2
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	200	INT_PRESSURE_YINT	1.2
D_PITCH	0	COMM_SEQ	0	VBD_MAX	3900	DEEPGLIDER	1
D_SAFE	0	PROTOCOL	9	C_VBD	2348	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	360	CALL_TRIES	10	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN	540	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	-15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50840	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	13	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	150	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3880	MINV_24V	17	SIM_W	0
RELAUNCH	0	C_PITCH	3037	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.004410191
MAX_BUOY	450	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00064652628
COURSE_BIAS	0	P_OVSHOOT	0.026000001	FG_AHR_10V	0	SEABIRD_T_I	2.6235177e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.1286	FG_AHR_24V	0	SEABIRD_T_J	3.227025e-06
SPEED_FACTOR	1	PITCH_GAIN	17	PHONE_SUPPLY	2	SEABIRD_C_G	-9.5423679
RHO	1.0275	PITCH_TIMEOUT	20	PRESSURE_YINT	-20.293694	SEABIRD_C_H	1.1030561
MASS	80833	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018197452
MASS_COMP	11240.1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021177332
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2945.9399
FERRY_MAX	45	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
KALMAN_USE	2	ROLL_MIN	150	COMPASS_USE	4
HD_A	0.0049999999	ROLL_MAX	3925	ALTIM_BOTTOM_PING_RANGE	0

GPS1	130417,145258,2810.4309,-7713.4829,37,0.8,39,-8.5,0.7,213.6,10,5.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2724.539,-7621.883
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.60	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-48.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	130417,145816,2810.3560,-7713.4937,6,0.8,13,-8.5,1.0,214.2,11,4.8	MHEAD_RNG_PITCHd_Wd	103.1,120000,-11.6,-10.000,-15.12,6583
SPEED_LIMITS	0.100,0.370	D_GRID	1080

FINISH	0.0,1.025327	_24V_AH	23.83,15.104
SM_CCo	18702,0.00,0.000,0,0,211,621.07	_10V_AH	10.61,2.801
SM_GC	0.78,7.88,0.00,0.00,0.072,0.000,0.000,141,1717,211,-8.91,-1.41,621.07,0,0,0,0,0,0,26.88,27.13,26.91	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2759.18,-7720.85,130417,092811	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.226947	MEM	284212
HUMID	8.69	DATA_FILE_SIZE	59024,822
INTERNAL_PRESSURE	8.77842	CAP_FILE_SIZE	148924,0
TCM_TEMP	21.40	CFSIZE	2047311872,2037121024
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
ALTIM_TOP_PING	19.4,19.3	CURRENT	0.353,165.29,1
ALTIM_BOTTOM_PING	971.3,116.1	GPS	130417,201134,2806.463,-7708.435,30,0.8,32,-8.5,0.6,191.8,10,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	258	125.69	SBE_CT	550	23	304.78
Roll_motor	117	81	228.80	AA4330	1093	13	351.18
VBD_pump_during_apogee	892	1494	31775.96	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	308	153	1130.00	nil	0	0	0.00
Iridium_during_init	23	126	69.99	nil	0	0	0.00
Iridium_during_connect	44	160	167.91	nil	0	0	0.00
Iridium_during_xfer	151	223	807.64	nil	0	0	0.00
Transponder_ping	5	420	52.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	26	4.17
TT8	2502	15	410.71
LPSleep	13105	2	304.52
TT8_Active	1123	15	184.46
TT8_Sampling	2182	41	965.26
TT8_CF8	109	64	74.55
TT8_Kalman	0	0	0.00
Analog_circuits	2260	10	239.80
GPS_charging	0	0	0.00
Compass	1892	8	165.43
RAFOS	0	0	0.00
Transponder	42	30	13.55

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	int_press	humidity
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.82	-438.0	161	1737	306	313	0.0	0.0	0	282	0.00	0.00	-263.38	0.146	16386	0.000	0.000	160	1736	2796	2821	2771	0	0	0	0	0	0	26.82	28.83	26.83	8.85	8.14
285	-0.82	-438.0	160	1736	2821	2771	4.0	-5.0	26	345	9.68	2.33	-44.65	0.154	18948	0.258	0.079	2767	197	3857	3894	3821	0	0	0	0	0	0	26.02	26.19	26.10	9.11	7.55
396	-0.82	-438.0	2765	197	3893	3821	19.2	-11.1	37	404	0.00	2.20	0.00	0.000	1030	0.000	0.057	2760	1769	3857	3893	3821	0	0	0	0	0	0	26.36	26.34	26.38	9.23	7.78
704	-0.82	-438.0	2760	1769	3889	3818	46.6	-9.1	68	705	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	1768	3853	3889	3818	0	0	0	0	0	0	26.82	26.82	26.82	9.23	8.14
1006	-0.87	-438.0	2760	1769	3888	3817	75.7	-9.3	98	1015	0.00	2.33	0.00	0.000	516	0.000	0.077	2760	203	3853	3888	3818	0	0	0	0	0	0	26.93	26.64	26.94	9.24	7.90
1039	-0.87	-438.0	2760	203	3888	3817	79.2	-10.1	101	1048	0.00	2.17	0.00	0.000	1030	0.000	0.060	2753	1748	3853	3888	3818	0	0	0	0	0	0	26.74	26.72	26.75	9.24	8.18
1347	-0.87	-438.0	2752	1748	3888	3817	107.6	-9.3	132	1348	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	1748	3852	3888	3816	0	0	0	0	0	0	26.99	27.01	27.01	9.24	8.57
1649	-0.87	-438.0	2751	1748	3887	3816	136.1	-9.8	162	1650	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	1748	3851	3887	3816	0	0	0	0	0	0	27.04	27.05	27.05	9.24	8.81
1947	-0.87	-438.0	2752	1748	3887	3816	166.0	-9.7	184	1949	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	1748	3851	3887	3816	0	0	0	0	0	0	27.06	27.08	27.08	9.24	8.22
2247	-0.87	-438.0	2752	1748	3887	3816	197.3	-10.7	199	2249	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	1748	3851	3887	3816	0	0	0	0	0	0	27.09	27.10	27.10	9.25	8.18
2549	-0.87	-438.0	2752	1748	3887	3815	228.9	-9.8	214	2550	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	1748	3851	3887	3815	0	0	0	0	0	0	27.10	27.11	27.11	9.24	8.85
2847	-0.87	-438.0	2752	1748	3887	3815	257.9	-9.3	229	2852	0.00	2.28	0.00	0.000	260	0.000	0.074	2741	3315	3850	3886	3815	0	0	0	0	0	0	27.10	26.82	27.12	9.24	8.33
2882	-0.87	-438.0	2740	3315	3887	3815	260.0	-9.1	230	2890	0.00	2.17	0.00	0.000	1030	0.000	0.060	2741	1756	3851	3887	3815	0	0	0	0	0	0	26.93	26.87	26.94	9.24	8.77
3189	-0.87	-438.0	2741	1755	3887	3815	290.7	-10.3	246	3193	0.00	2.30	0.00	0.000	516	0.000	0.079	2741	199	3851	3887	3815	0	0	0	0	0	0	27.11	26.83	27.13	9.23	8.29
3239	-0.87	-438.0	2741	199	3886	3815	295.0	-11.0	248	3246	0.00	2.17	0.00	0.000	1030	0.000	0.057	2734	1768	3850	3886	3815	0	0	0	0	0	0	26.94	26.90	26.95	9.23	8.29
3556	-0.87	-438.0	2733	1768	3886	3815	331.4	-11.0	260	3557	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1768	3850	3886	3815	0	0	0	0	0	0	27.12	27.13	27.13	9.23	8.18
3855	-0.87	-438.0	2733	1768	3886	3815	363.5	-11.1	270	3857	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1768	3850	3886	3815	0	0	0	0	0	0	27.12	27.13	27.13	9.22	8.57
4156	-0.87	-438.0	2733	1768	3886	3815	399.0	-11.6	280	4157	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1768	3850	3886	3815	0	0	0	0	0	0	27.13	27.14	27.14	9.21	7.98
4455	-0.87	-438.0	2732	1769	3886	3814	431.4	-11.1	290	4456	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1768	3850	3885	3815	0	0	0	0	0	0	27.13	27.15	27.14	9.21	8.10
4756	-0.87	-438.0	2733	1768	3886	3814	468.9	-13.0	300	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1769	3849	3885	3814	0	0	0	0	0	0	27.13	27.15	27.14	9.20	8.14
5055	-0.87	-438.0	2733	1768	3884	3814	506.7	-13.0	310	5057	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1769	3849	3884	3814	0	0	0	0	0	0	27.13	27.15	27.14	9.19	8.37
5356	-0.87	-438.0	2733	1768	3884	3813	544.2	-12.1	320	5357	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1768	3848	3884	3813	0	0	0	0	0	0	27.13	27.15	27.15	9.19	8.33
5655	-0.87	-438.0	2733	1769	3883	3813	580.3	-12.2	330	5662	0.00	2.35	0.00	0.000	516	0.000	0.077	2734	206	3848	3883	3813	0	0	0	0	0	0	27.13	26.85	27.15	9.18	8.57
5688	-0.87	-438.0	2733	207	3883	3813	584.3	-12.4	331	5693	0.10	2.20	0.00	0.000	3078	0.174	0.060	2763	1759	3848	3883	3813	0	0	0	0	0	0	26.76	26.92	26.84	9.18	9.08
6016	-0.87	-438.0	2763	1759	3883	3812	620.9	-11.2	342	6017	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	1759	3848	3883	3813	0	0	0	0	0	0	27.13	27.15	27.15	9.18	8.49
6315	-0.87	-438.0	2762	1759	3883	3812	653.6	-10.8	352	6317	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	1760	3847	3882	3812	0	0	0	0	0	0	27.13	27.15	27.15	9.17	8.41
6616	-0.87	-438.0	2762	1759	3882	3811	684.0	-10.1	362	6622	0.00	2.28	0.00	0.000	260	0.000	0.074	2753	3318	3846	3882	3811	0	0	0	0	0	0	27.14	26.85	27.15	9.16	8.77
6654	-0.87	-438.0	2751	3318	3882	3811	687.1	-10.3	363	6658	0.00	2.17	0.00	0.000	1030	0.000	0.060	2752	1767	3846	3882	3811	0	0	0	0	0	0	26.96	26.90	26.96	9.16	8.41
6970	-0.87	-438.0	2751	1766	3881	3810	724.3	-11.8	374	6976	0.00	2.33	0.00	0.000	516	0.000	0.079	2751	207	3845	3881	3810	0	0	0	0	0	0	27.14	26.84	27.15	9.15	8.33
7024	-0.87	-438.0	2752	207	3879	3810	727.8	-11.7	375	7031	0.00	2.20	0.00	0.000	1030	0.000	0.060	2744	1774	3845	3881	3810	0	0	0	0	0	0	26.96	26.91	26.97	9.15	8.26
7330	-0.87	-438.0	2743	1774	3881	3810	770.1	-13.2	386	7335	0.00	2.25	0.00	0.000	260	0.000	0.074	2733	3319	3844	3880	3809	0	0	0	0	0	0	27.13	26.85	27.15	9.14	8.61
7362	-0.87	-438.0	2732	3319	3880	3809	774.3	-13.3	387	7366	0.00	2.20	0.00	0.000	1030	0.000	0.060	2733	1756	3845	3881	3809	0	0	0	0	0	0	26.95	26.89	26.96	9.13	8.57
7690	-0.87	-438.0	2731	1756	3880	3809	821.3	-14.5	398	7696	0.00	2.25	0.00	0.000	516	0.000	0.079	2733	208	3844	3880	3809	0	0	0	0	0	0	27.11	26.85	27.12	9.12	9.00
7774	-0.81	-438.0	2733	208	3880	3809	830.5	-14.8	400	7782	0.15	2.15	0.00	0.000	3078	0.179	0.060	2774	1767	3844	3879	3809	0	0	0	0	0	0	26.74	26.91	26.88	9.10	8.81
8082	-0.81	-438.0	2774	1767	3878	3807	872.3	-12.9	411	8084	0.00	0.00	0.00	0.000	6	0.000	0.000	2775	1767	3843	3879	3808	0	0	0	0	0	0	27.11	27.12	27.13	9.10	8.29
8381	-0.81	-438.0	2774	1768	3877	3806	907.1	-10.9	421	8385	0.00	2.25	0.00	0.000	260	0.000	0.074	2764	3320	3842	3877	3807	0	0	0	0	0	0	27.13	26.85	27.15	9.09	8.14
8417	-0.81	-438.0	2764	3321	3877	3806	910.1	-10.9	422	8421	0.00	2.17	0.00	0.000	1030	0.000	0.060	2764	1768	3841	3877	3806	0	0	0	0	0	0	26.95	26.90	26.97	9.08	8.45
8740	-0.81	-438.0	2763	1768	3876	3806	953.8	-14.1	433	8744	0.00	2.35	0.00	0.000	516	0.000	0.079	2764	193	3840	3875	3806	0	0	0	0	0	0	27.11	26.84	27.12	9.06	8.29
8794	-0.81	-438.0	2764	193	3875	3806	958.8	-14.3	434	8803	0.00	2.22	0.00	0.000	1030	0.000	0.060	2754	1765	3840	3875	3806	0	0	0	0	0	0	26.96	26.91	26.97	9.05	8.57
9132	-0.76	-438.0	2754	1765	3874	3805	1012.7	-15.4	445	9134	0.12	0.00	0.00	0.000	2054	0.186	0.000	2797	1766	3839	3874	3804	0	0	0	0	0	0	26.76	26.92	26.89	9.03	8.37
9370	end dive: BOTTOM_OBSTACLE_DETECTED
state	9371	begin apogee
9374	-0.29	0.0	2797	1766	3873	3803	1041.6	-12.0	449	9706	0.40	0.00	328.73	1.495	10246	0.139	0.000	2943	1766	2348	2384	2312	0	0	0	0	0	0	26.78	24.81	24.08	9.00	8.96
9707	end apogee: CONTROL_FINISHED_OK
state	9707	begin climb
9709	0.82	438.0	2943	1766	2383	2311	1066.6	0.0	454	10140	0.90	2.67	398.10	1.453	10756	0.119	0.082	3266	182	836	823	850	0	0	0	0	4	0	24.96	24.55	23.83	8.85	8.18
10680	1.13	438.0	3265	182	809	839	1022.3	8.5	470	10685	0.38	2.22	0.00	0.000	3078	0.117	0.057	3411	1733	824	809	839	0	0	0	0	0	0	26.36	26.44	26.45	8.64	8.37
10987	1.23	438.0	3410	1733	809	838	993.6	8.1	476	10992	0.00	2.40	0.00	0.000	516	0.000	0.079	3411	183	823	809	838	0	0	0	0	0	0	26.82	26.53	26.83	8.64	8.49
11132	1.31	438.0	3411	183	809	838	983.7	8.2	480	11139	0.00	2.17	0.00	0.000	3078	0.000	0.060	3412	1698	823	809	838	0	0	0	0	0	0	26.72	26.67	26.72	8.64	8.57
11439	1.44	619.6	3411	1700	809	837	960.1	7.2	491	11613	0.12	2.47	165.25	1.418	10500	0.114	0.079	3489	3259	215	209	221	0	0	0	0	0	0	26.71	24.96	24.23	8.64	8.57
11788	1.39	619.6	3489	3260	207	217	918.2	13.8	502	11792	0.00	2.28	0.00	0.000	1030	0.000	0.062	3499	1716	212	207	217	0	0	0	0	0	0	26.14	26.08	26.15	8.58	8.65
12096	1.31	619.6	3498	1716	206	216	870.6	15.2	512	12102	0.12	2.35	0.00	0.000	4612	0.196	0.079	3467	164	211	206	216	0	0	0	0	0	0	26.32	26.40	26.40	8.58	8.81
12148	1.23	619.6	3467	165	205	216	866.3	15.1	513	12157	0.12	2.22	0.00	0.000	5126	0.169	0.057	3423	1728	210	205	216	0	0	0	0	0	0	26.37	26.49	26.48	8.59	8.61
12455	1.23	619.6	3423	1728	206	216	828.1	11.4	524	12459	0.00	2.25	0.00	0.000	260	0.000	0.077	3423	3253	210	205	216	0	0	0	0	0	0	26.84	26.56	26.85	8.60	8.96
12509	1.23	619.6	3423	3255	205	216	824.3	11.4	525	12516	0.00	2.22	0.00	0.000	1030	0.000	0.062	3429	1704	210	205	216	0	0	0	0	0	0	26.67	26.62	26.69	8.61	8.85
12817	1.23	619.6	3428	1703	205	216	781.3	13.5	536	12823	0.00	2.33	0.00	0.000	516	0.000	0.082	3441	169	210	205	216	0	0	0	0	0	0	26.93	26.65	26.94	8.62	9.59
12894	1.23	619.6	3440	169	205	215	773.1	13.6	538	12898	0.00	2.20	0.00	0.000	1030	0.000	0.057	3441	1722	210	205	215	0	0	0	0	0	0	26.77	26.72	26.78	8.63	8.85
13201	1.17	619.6	3440	1722	205	215	725.4	14.8	548	13203	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	1722	210	205	215	0	0	0	0	0	0	26.98	27.00	26.99	8.64	9.04
13501	1.10	619.6	3440	1722	205	215	678.7	15.6	558	13503	0.17	0.00	0.00	0.000	4102	0.181	0.000	3383	1725	210	205	216	0	0	0	0	0	0	26.64	26.80	26.77	8.66	9.04
13801	1.10	619.6	3382	1725	205	216	643.3	11.6	568	13802	0.00	0.00	0.00	0.000	6	0.000	0.000	3383	1725	210	205	215	0	0	0	0	0	0	27.03	27.05	27.04	8.67	9.12
14101	1.10	619.6	3382	1725	205	215	607.5	12.0	578	14102	0.00	0.00	0.00	0.000	6	0.000	0.000	3383	1725	210	205	215	0	0	0	0	0	0	27.05	27.05	27.06	8.67	9.71
14401	1.10	619.6	3382	1725	205	216	570.2	12.6	588	14406	0.00	2.35	0.00	0.000	516	0.000	0.079	3394	170	210	205	215	0	0	0	0	0	0	27.06	26.78	27.08	8.69	9.08
14441	1.10	619.6	3393	171	205	216	565.8	12.9	589	14445	0.00	2.17	0.00	0.000	1030	0.000	0.057	3394	1713	210	205	215	0	0	0	0	0	0	26.89	26.85	26.91	8.69	8.81
14763	1.10	619.6	3393	1714	205	215	516.4	15.2	600	14769	0.00	2.28	0.00	0.000	260	0.000	0.074	3394	3266	210	205	216	0	0	0	0	0	0	27.07	26.79	27.08	8.70	8.65
14811	1.10	619.6	3393	3266	205	215	511.8	15.2	601	14816	0.00	2.22	0.00	0.000	1030	0.000	0.060	3403	1707	210	205	215	0	0	0	0	0	0	26.89	26.83	26.91	8.70	9.00
15123	1.10	619.6	3402	1707	205	215	460.6	15.7	612	15127	0.00	2.30	0.00	0.000	516	0.000	0.079	3413	171	210	205	216	0	0	0	0	0	0	27.08	26.79	27.09	8.71	8.69
15177	1.10	619.6	3413	172	205	215	455.6	15.7	613	15185	0.00	2.17	0.00	0.000	1030	0.000	0.060	3414	1719	210	205	215	0	0	0	0	0	0	26.91	26.86	26.92	8.72	8.92
15485	1.03	619.6	3413	1719	205	215	401.8	17.0	624	15487	0.15	0.00	0.00	0.000	4102	0.181	0.000	3364	1721	210	205	216	0	0	0	0	0	0	26.71	26.88	26.84	8.73	8.65
15784	1.03	619.6	3363	1721	205	216	365.4	12.1	634	15785	0.00	0.00	0.00	0.000	6	0.000	0.000	3363	1721	210	205	215	0	0	0	0	0	0	27.10	27.11	27.10	8.74	9.16
16084	1.03	619.6	3363	1721	205	216	328.7	11.7	644	16090	0.00	2.35	0.00	0.000	516	0.000	0.079	3374	163	210	205	215	0	0	0	0	0	0	27.10	26.82	27.10	8.74	8.57
16122	1.03	619.6	3373	163	205	215	325.2	11.6	645	16126	0.00	2.17	0.00	0.000	1030	0.000	0.060	3374	1725	210	205	215	0	0	0	0	0	0	26.92	26.88	26.94	8.75	8.81
16435	1.03	619.6	3373	1725	205	216	286.0	13.1	657	16441	0.00	2.22	0.00	0.000	260	0.000	0.074	3374	3256	210	205	216	0	0	0	0	0	0	27.10	26.82	27.11	8.76	9.32
16464	1.03	619.6	3373	3256	206	215	283.6	12.9	658	16468	0.00	2.20	0.00	0.000	1030	0.000	0.062	3374	1711	210	206	215	0	0	0	0	0	0	26.91	26.86	26.93	8.76	8.77
16771	1.03	619.6	3374	1712	205	215	242.8	11.6	673	16777	0.00	2.28	0.00	0.000	516	0.000	0.082	3385	173	210	205	215	0	0	0	0	0	0	27.10	26.82	27.11	8.77	8.57
16812	1.03	619.6	3385	173	205	215	238.1	11.2	675	16817	0.00	2.15	0.00	0.000	1030	0.000	0.057	3385	1711	210	205	215	0	0	0	0	0	0	26.90	26.88	26.91	8.78	9.20
17129	1.03	619.6	3384	1711	206	215	199.5	12.8	691	17131	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	1711	210	205	216	0	0	0	0	0	0	27.10	27.12	27.11	8.79	9.04
17431	1.03	619.6	3384	1711	205	215	157.3	14.7	706	17437	0.00	2.20	0.00	0.000	260	0.000	0.072	3385	3243	210	206	215	0	0	0	0	0	0	27.11	26.84	27.12	8.80	8.77
17457	1.03	619.6	3385	3243	206	215	153.9	15.1	707	17462	0.00	2.20	0.00	0.000	1030	0.000	0.062	3393	1707	211	206	216	0	0	0	0	0	0	26.89	26.86	26.91	8.80	8.65
17770	0.98	619.6	3392	1707	206	215	103.0	16.1	737	17772	0.12	0.00	0.00	0.000	4102	0.186	0.000	3350	1707	210	206	215	0	0	0	0	0	0	26.74	26.89	26.86	8.81	8.69
18069	0.98	619.6	3350	1707	206	215	68.4	11.2	767	18074	0.00	2.28	0.00	0.000	516	0.000	0.079	3360	174	210	206	215	0	0	0	0	0	0	27.11	26.82	27.12	8.82	8.18
18104	0.98	619.6	3359	174	206	215	64.9	11.1	770	18111	0.00	2.12	0.00	0.000	1030	0.000	0.057	3360	1720	210	206	215	0	0	0	0	0	0	26.94	26.89	26.94	8.82	8.73
18411	0.98	619.6	3359	1720	206	215	27.8	12.5	801	18415	0.00	2.20	0.00	0.000	260	0.000	0.074	3359	3245	210	206	215	0	0	0	0	0	0	27.12	26.84	27.13	8.82	8.37
18449	0.98	619.6	3359	3245	207	216	22.9	13.3	804	18457	0.00	2.17	0.00	0.000	1030	0.000	0.060	3360	1717	211	207	215	0	0	0	0	0	0	26.89	26.86	26.91	8.83	8.96
18596	end climb: SURFACE_DEPTH_REACHED
state	18596	begin surface coast
18628	end surface coast: CONTROL_FINISHED_OK
state	18628	begin surface