Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1850 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 304 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 37 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 33 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 29 ALTIM_PULSE 3

D_TGT 500 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 558.35083 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2801 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 167 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 177 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 363 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

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 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2785 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 85 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 500 PITCH_AD_RATE 125 SM_CC 558.35083

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 363

CALL_TRIES 5 HEADING 304 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 167

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 177

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2785 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1850 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2801 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 85 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 33 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 29 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 37 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 170319,033938,-2928.7781,3152.5657,32,0.8,40,-24.6,1.5,210.3,10,9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2923.543,3141.733

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.79 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -61.7 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170319,035414,-2929.5820,3152.0090,5,0.8,14,-24.6,2.1,205.9,11,8.4 MHEAD_RNG_PITCHd_Wd 13.6,20000,-24.3,-9.980,-26.67,1272

SPEED_LIMITS 0.173,0.199 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.3,1.023318 _24V_AH 13.81,39.371

SM_CCo 5524,0.00,0.000,0,0,600,539.90 _10V_AH 13.43,0.000

SM_GC 0.69,14.02,2.42,0.00,0.050,0.039,0.000,112,1852,600,-8.29,-1.13,539.90,0,0,0,0,0,0,15.02,15.03,14.80 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2912.87,3156.39,170319,012018 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.85386 MEM 340936

HUMID 41.73 DATA_FILE_SIZE 20050,791

INTERNAL_PRESSURE 9.52717 CAP_FILE_SIZE 161627,0

TCM_TEMP 22.00 CFSIZE 2097086464,2088337408

XPDR_PINGS 58 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 371.5,28.6 CURRENT 0.927,211.79,1

SC_FREEKB 3903744 GPS 170319,052731,-2931.314,3150.196,6,1.0,13,-24.6,1.6,214.2,9,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 527 224.16 nil 0 0 0.00

Roll_motor 97 205 276.90 nil 0 0 0.00

VBD_pump_during_apogee 253 1273 4458.66 nil 0 0 0.00

VBD_pump_during_surface 188 809 2103.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 16 5.12 nil 0 0 0.00

Iridium_during_connect 21 160 47.91 SciCon 5392 25 1900.76

Iridium_during_xfer 607 223 1870.79 nil 0 0 0.00

Transponder_ping 31 420 179.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.55

TT8 2020 9 260.79

LPSleep 1411 2 41.53

TT8_Active 707 9 91.35

TT8_Sampling 2150 28 818.42

TT8_CF8 111 36 54.65

TT8_Kalman 0 0 0.00

Analog_circuits 1431 12 232.76

GPS_charging 0 0 0.00

Compass 1296 17 313.12

RAFOS 0 0 0.00

Transponder 103 30 41.83

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

19 -0.91 -82.7 82 1844 641 561 0.0 0.0 0 107 0.00 0.00 -85.12 0.000 16386 0.000 0.000 81 1845 2932 2907 2957 0 0 0 0 0 0 15.05 28.83 15.06

109 -0.91 -82.7 80 1845 2907 2957 3.5 -7.6 15 135 13.70 2.33 -3.58 0.000 18692 0.288 0.067 2474 3282 3142 3135 3150 0 0 0 0 0 0 14.74 14.00 14.94

162 -0.91 -82.7 2474 3282 3136 3147 22.3 -20.9 24 170 0.08 2.35 0.00 0.000 3078 0.276 0.045 2489 1848 3143 3138 3148 0 0 0 0 0 0 14.82 14.95 14.96

232 -0.91 -82.7 2489 1846 3139 3146 37.0 -21.0 37 239 0.00 0.00 0.00 0.000 2054 0.000 0.000 2489 1846 3142 3139 3146 0 0 0 0 0 0 15.14 15.14 15.14

301 -0.91 -82.7 2488 1846 3139 3146 49.6 -19.2 50 308 0.00 2.35 0.00 0.000 2308 0.000 0.052 2482 3269 3142 3139 3146 0 0 0 0 0 0 15.16 14.96 15.16

375 -0.91 -82.7 2482 3269 3139 3145 62.1 -15.6 64 382 0.00 2.33 0.00 0.000 3078 0.000 0.042 2482 1844 3142 3140 3145 0 0 0 0 0 0 15.04 14.97 15.06

445 -0.91 -82.7 2482 1844 3140 3145 72.4 -14.7 77 452 0.00 0.00 0.00 0.000 2054 0.000 0.000 2481 1844 3142 3140 3145 0 0 0 0 0 0 15.19 15.20 15.19

514 -0.91 -82.7 2482 1844 3140 3145 83.8 -16.7 90 520 0.00 0.00 0.00 0.000 2054 0.000 0.000 2482 1844 3142 3140 3145 0 0 0 0 0 0 15.20 15.20 15.20

583 -0.91 -82.7 2482 1844 3140 3145 94.9 -15.7 103 590 0.00 2.35 0.00 0.000 2308 0.000 0.054 2478 3265 3142 3140 3145 0 0 0 0 0 0 15.21 15.02 15.21

687 -0.91 -82.7 2477 3267 3140 3145 111.0 -14.0 123 693 0.00 2.30 0.00 0.000 3078 0.000 0.043 2477 1851 3142 3140 3145 0 0 0 0 0 0 15.11 15.03 15.13

756 -0.91 -82.7 2477 1851 3140 3145 121.3 -15.9 136 761 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1851 3142 3140 3145 0 0 0 0 0 0 15.23 15.23 15.23

823 -0.91 -82.7 2477 1850 3140 3145 131.7 -15.3 149 831 0.00 2.35 0.00 0.000 2308 0.000 0.054 2477 3268 3142 3140 3145 0 0 0 0 0 0 15.23 15.04 15.23

877 -0.91 -82.7 2477 3268 3140 3145 139.4 -13.6 159 885 0.03 2.30 0.00 0.000 3078 0.481 0.042 2486 1850 3141 3138 3145 0 0 0 0 0 0 14.92 15.02 15.09

947 -0.91 -82.7 2486 1850 3140 3145 149.8 -16.1 172 954 0.00 2.35 0.00 0.000 2564 0.000 0.065 2486 437 3142 3140 3145 0 0 0 0 0 0 15.24 15.03 15.25

997 -0.91 -82.7 2486 435 3139 3145 158.4 -17.3 181 1004 0.00 2.30 0.00 0.000 3078 0.000 0.037 2484 1865 3142 3140 3144 0 0 0 0 0 0 15.14 15.06 15.14

1067 -0.91 -82.7 2484 1868 3140 3144 169.2 -16.5 194 1073 0.00 0.00 0.00 0.000 2054 0.000 0.000 2484 1868 3142 3141 3144 0 0 0 0 0 0 15.24 15.25 15.25

1135 -0.91 -82.7 2484 1868 3140 3144 179.2 -15.2 207 1142 0.00 2.28 0.00 0.000 2308 0.000 0.057 2484 3255 3142 3140 3144 0 0 0 0 0 0 15.24 15.02 15.25

1164 -0.91 -82.7 2484 3255 3140 3143 183.6 -14.6 212 1171 0.00 2.30 0.00 0.000 3078 0.000 0.044 2484 1841 3142 3140 3144 0 0 0 0 0 0 15.09 15.01 15.10

1233 -0.91 -82.7 2484 1842 3140 3143 193.4 -14.2 225 1240 0.00 0.00 0.00 0.000 2054 0.000 0.000 2484 1841 3141 3140 3143 0 0 0 0 0 0 15.24 15.24 15.23

1303 -0.91 -82.7 2484 1842 3140 3141 202.6 -11.4 238 1309 0.00 0.00 0.00 0.000 2054 0.000 0.000 2485 1841 3141 3140 3143 0 0 0 0 0 0 15.26 15.26 15.26

1371 -0.91 -82.7 2484 1841 3140 3142 210.9 -12.0 251 1378 0.00 2.35 0.00 0.000 2308 0.000 0.056 2484 3259 3141 3140 3142 0 0 0 0 0 0 15.27 15.06 15.27

1420 -0.91 -82.7 2484 3258 3140 3142 216.5 -10.9 260 1426 0.00 2.30 0.00 0.000 3078 0.000 0.044 2483 1844 3141 3140 3142 0 0 0 0 0 0 15.11 15.03 15.12

1489 -0.91 -82.7 2484 1844 3140 3141 224.1 -11.0 273 1496 0.00 2.33 0.00 0.000 2308 0.000 0.057 2480 3250 3140 3140 3141 0 0 0 0 0 0 15.28 15.02 15.28

1549 -0.91 -82.7 2481 3250 3140 3141 230.6 -10.6 284 1556 0.00 2.30 0.00 0.000 3078 0.000 0.044 2478 1846 3140 3140 3140 0 0 0 0 0 0 15.11 15.03 15.12

1618 -0.91 -82.7 2480 1846 3140 3140 238.8 -11.9 297 1625 0.00 2.33 0.00 0.000 2308 0.000 0.057 2477 3251 3139 3138 3140 0 0 0 0 0 0 15.28 15.07 15.28

1670 -0.91 -82.7 2477 3251 3138 3140 245.0 -11.9 306 1676 0.00 2.28 0.00 0.000 3078 0.000 0.043 2477 1850 3140 3140 3140 0 0 0 0 0 0 15.12 15.04 15.14

1739 -0.91 -82.7 2476 1850 3139 3139 253.8 -12.3 319 1745 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1850 3139 3139 3139 0 0 0 0 0 0 15.28 15.29 15.28

1808 -0.91 -82.7 2477 1850 3139 3139 263.0 -13.5 332 1813 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1850 3139 3140 3139 0 0 0 0 0 0 15.28 15.29 15.29

1877 -0.91 -82.7 2476 1848 3139 3138 270.9 -8.1 345 1884 0.00 0.00 0.00 0.000 2054 0.000 0.000 2476 1848 3138 3139 3138 0 0 0 0 0 0 15.29 15.29 15.29

1946 -0.91 -82.7 2477 1847 3138 3138 278.9 -10.1 358 1952 0.00 2.30 0.00 0.000 2308 0.000 0.049 2477 3259 3137 3138 3137 0 0 0 0 0 0 15.29 15.09 15.29

1990 -0.91 -82.7 2477 3259 3138 3137 284.6 -12.4 366 1999 0.00 2.30 0.00 0.000 3078 0.000 0.041 2477 1839 3139 3141 3138 0 0 0 0 0 0 15.14 15.05 15.16

2063 -0.91 -82.7 2477 1839 3138 3137 294.2 -13.4 379 2068 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1839 3137 3138 3137 0 0 0 0 0 0 15.28 15.29 15.30

2131 -0.91 -82.7 2477 1839 3138 3136 303.7 -14.5 389 2132 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1839 3137 3137 3137 0 0 0 0 0 0 15.30 15.31 15.30

2251 -0.91 -82.7 2478 1839 3137 3135 323.1 -17.0 395 2256 0.00 2.33 0.00 0.000 2308 0.000 0.054 2477 3251 3138 3141 3136 0 0 0 0 0 0 15.32 15.10 15.32

2329 -0.91 -82.7 2477 3251 3136 3136 330.7 -13.0 398 2335 0.00 2.28 0.00 0.000 3078 0.000 0.044 2477 1843 3135 3136 3135 0 0 0 0 0 0 15.20 15.11 15.21

2455 -0.91 -82.7 2477 1843 3136 3134 345.9 -10.5 405 2456 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1843 3135 3136 3134 0 0 0 0 0 0 15.33 15.33 15.33

2575 -0.91 -82.7 2477 1843 3135 3133 358.1 -9.1 411 2581 0.03 2.33 0.00 0.000 2308 0.528 0.058 2481 3250 3133 3134 3133 0 0 0 0 0 0 15.02 15.12 15.18

2668 -0.91 -82.7 2480 3250 3133 3133 366.8 -10.2 415 2674 0.00 2.30 0.00 0.000 3078 0.000 0.053 2481 1845 3134 3134 3134 0 0 0 0 0 0 15.22 15.13 15.23

2801 -0.91 -82.7 2480 1843 3133 3133 380.0 -7.3 422 2807 0.00 2.35 0.00 0.000 2308 0.000 0.060 2477 3258 3136 3138 3135 0 0 0 0 0 0 15.35 15.12 15.35

2853 -0.91 -82.7 2477 3258 3133 3133 384.2 -8.0 424 2859 0.00 2.30 0.00 0.000 3078 0.000 0.049 2478 1847 3133 3133 3133 0 0 0 0 0 0 15.23 15.13 15.23

2904 end dive: BOTTOM_OBSTACLE_DETECTED

state 2904 begin apogee

2908 -0.17 0.0 2477 1794 3133 3133 392.3 -12.8 427 2974 1.25 0.00 61.53 1.274 10246 0.166 0.000 2725 1794 2800 2816 2785 0 0 0 0 0 0 15.05 14.77 14.19

2976 end apogee: CONTROL_FINISHED_OK

state 2976 begin climb

2977 0.91 82.7 2725 1794 2815 2784 394.4 0.0 430 3051 1.60 0.00 69.62 1.263 10246 0.044 0.000 3095 1794 2462 2484 2440 0 0 0 0 0 0 14.80 14.53 14.04

3166 1.07 207.7 3095 1794 2475 2435 395.4 -0.1 440 3276 0.05 2.47 99.43 1.269 10756 0.261 0.069 3132 403 1950 1974 1926 0 0 0 0 0 0 14.77 14.46 13.93

3312 1.07 207.7 3132 403 1973 1925 378.9 18.5 447 3318 0.00 2.33 0.00 0.000 5126 0.000 0.041 3132 1802 1949 1973 1925 0 0 0 0 0 0 14.73 14.66 14.74

3450 1.07 207.7 3132 1806 1971 1922 345.5 22.4 454 3455 0.00 2.33 0.00 0.000 4356 0.000 0.052 3133 3209 1946 1970 1922 0 0 0 0 0 0 15.06 14.85 15.06

3601 1.07 207.7 3132 3209 1967 1921 306.3 28.9 461 3607 0.00 2.30 0.00 0.000 5126 0.000 0.046 3138 1804 1944 1967 1921 0 0 0 0 0 0 15.04 14.95 15.05

3728 1.07 207.7 3138 1804 1965 1919 272.8 25.7 485 3736 0.00 2.33 0.00 0.000 4356 0.000 0.058 3138 3203 1942 1965 1919 0 0 0 0 0 0 15.18 14.98 15.18

4239 1.07 207.7 3138 3205 1961 1917 159.5 22.1 586 4246 0.00 2.33 0.00 0.000 5126 0.000 0.055 3138 1805 1938 1961 1916 0 0 0 0 0 0 15.08 15.00 15.09

4308 1.07 207.7 3138 1805 1961 1916 144.6 21.3 599 4313 0.00 0.00 0.00 0.000 4102 0.000 0.000 3138 1805 1939 1962 1916 0 0 0 0 0 0 15.23 15.23 15.23

4375 1.07 207.7 3138 1805 1961 1917 129.9 23.0 612 4381 0.00 0.00 0.00 0.000 4102 0.000 0.000 3138 1805 1938 1961 1916 0 0 0 0 0 0 15.23 15.23 15.23

4442 1.07 207.7 3138 1805 1961 1915 115.9 18.5 625 4449 0.00 2.33 0.00 0.000 4356 0.000 0.052 3138 3211 1938 1961 1916 0 0 0 0 0 0 15.23 15.04 15.24

4471 1.07 207.7 3138 3211 1961 1916 110.1 19.9 630 4478 0.00 2.35 0.00 0.000 5126 0.000 0.054 3138 1800 1938 1961 1916 0 0 0 0 0 0 15.13 15.04 15.14

4539 1.07 207.7 3138 1799 1961 1916 98.6 14.9 643 4546 0.00 2.33 0.00 0.000 4356 0.000 0.053 3138 3212 1938 1961 1916 0 0 0 0 0 0 15.23 14.99 15.23

4608 1.07 207.7 3138 3212 1961 1916 86.8 17.4 656 4614 0.00 2.35 0.00 0.000 5126 0.000 0.053 3138 1798 1938 1961 1916 0 0 0 0 0 0 15.12 15.03 15.14

4676 1.07 207.7 3138 1797 1961 1915 74.2 20.0 669 4683 0.00 2.38 0.00 0.000 4612 0.000 0.076 3138 396 1935 1960 1911 0 0 0 0 0 0 15.23 15.01 15.24

4769 1.07 207.7 3138 397 1960 1915 58.6 12.8 687 4776 0.00 2.30 0.00 0.000 5126 0.000 0.041 3138 1813 1937 1960 1914 0 0 0 0 0 0 15.08 15.01 15.09

4838 1.07 207.7 3138 1815 1960 1914 50.7 11.0 700 4845 0.00 2.28 0.00 0.000 4356 0.000 0.054 3138 3212 1937 1960 1914 0 0 0 0 0 0 15.23 15.04 15.23

4997 1.10 238.0 3138 3212 1959 1914 34.8 7.5 731 5027 0.00 2.38 22.90 0.880 9222 0.000 0.052 3141 1790 1825 1850 1801 0 0 0 0 0 0 15.12 15.04 14.51

5088 1.10 238.0 3141 1790 1849 1799 24.7 12.3 748 5095 0.00 2.35 0.00 0.000 516 0.000 0.073 3141 395 1823 1849 1798 0 0 0 0 0 0 15.13 14.93 15.14

5276 end climb: SURFACE_DEPTH_REACHED

state 5276 begin surface coast

5307 end surface coast: CONTROL_FINISHED_OK

state 5307 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1850	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	304	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	37	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	33	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	29	ALTIM_PULSE	3
D_TGT	500	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	558.35083	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2801	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	167	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	177	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	363	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
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	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2785	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	85	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	170319,033938,-2928.7781,3152.5657,32,0.8,40,-24.6,1.5,210.3,10,9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2923.543,3141.733
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.79	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-61.7	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170319,035414,-2929.5820,3152.0090,5,0.8,14,-24.6,2.1,205.9,11,8.4	MHEAD_RNG_PITCHd_Wd	13.6,20000,-24.3,-9.980,-26.67,1272
SPEED_LIMITS	0.173,0.199	D_GRID	500

FINISH	0.3,1.023318	_24V_AH	13.81,39.371
SM_CCo	5524,0.00,0.000,0,0,600,539.90	_10V_AH	13.43,0.000
SM_GC	0.69,14.02,2.42,0.00,0.050,0.039,0.000,112,1852,600,-8.29,-1.13,539.90,0,0,0,0,0,0,15.02,15.03,14.80	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2912.87,3156.39,170319,012018	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.85386	MEM	340936
HUMID	41.73	DATA_FILE_SIZE	20050,791
INTERNAL_PRESSURE	9.52717	CAP_FILE_SIZE	161627,0
TCM_TEMP	22.00	CFSIZE	2097086464,2088337408
XPDR_PINGS	58	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	371.5,28.6	CURRENT	0.927,211.79,1
SC_FREEKB	3903744	GPS	170319,052731,-2931.314,3150.196,6,1.0,13,-24.6,1.6,214.2,9,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	527	224.16	nil	0	0	0.00
Roll_motor	97	205	276.90	nil	0	0	0.00
VBD_pump_during_apogee	253	1273	4458.66	nil	0	0	0.00
VBD_pump_during_surface	188	809	2103.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	16	5.12	nil	0	0	0.00
Iridium_during_connect	21	160	47.91	SciCon	5392	25	1900.76
Iridium_during_xfer	607	223	1870.79	nil	0	0	0.00
Transponder_ping	31	420	179.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.55
TT8	2020	9	260.79
LPSleep	1411	2	41.53
TT8_Active	707	9	91.35
TT8_Sampling	2150	28	818.42
TT8_CF8	111	36	54.65
TT8_Kalman	0	0	0.00
Analog_circuits	1431	12	232.76
GPS_charging	0	0	0.00
Compass	1296	17	313.12
RAFOS	0	0	0.00
Transponder	103	30	41.83

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
19	-0.91	-82.7	82	1844	641	561	0.0	0.0	0	107	0.00	0.00	-85.12	0.000	16386	0.000	0.000	81	1845	2932	2907	2957	0	0	0	0	0	0	15.05	28.83	15.06
109	-0.91	-82.7	80	1845	2907	2957	3.5	-7.6	15	135	13.70	2.33	-3.58	0.000	18692	0.288	0.067	2474	3282	3142	3135	3150	0	0	0	0	0	0	14.74	14.00	14.94
162	-0.91	-82.7	2474	3282	3136	3147	22.3	-20.9	24	170	0.08	2.35	0.00	0.000	3078	0.276	0.045	2489	1848	3143	3138	3148	0	0	0	0	0	0	14.82	14.95	14.96
232	-0.91	-82.7	2489	1846	3139	3146	37.0	-21.0	37	239	0.00	0.00	0.00	0.000	2054	0.000	0.000	2489	1846	3142	3139	3146	0	0	0	0	0	0	15.14	15.14	15.14
301	-0.91	-82.7	2488	1846	3139	3146	49.6	-19.2	50	308	0.00	2.35	0.00	0.000	2308	0.000	0.052	2482	3269	3142	3139	3146	0	0	0	0	0	0	15.16	14.96	15.16
375	-0.91	-82.7	2482	3269	3139	3145	62.1	-15.6	64	382	0.00	2.33	0.00	0.000	3078	0.000	0.042	2482	1844	3142	3140	3145	0	0	0	0	0	0	15.04	14.97	15.06
445	-0.91	-82.7	2482	1844	3140	3145	72.4	-14.7	77	452	0.00	0.00	0.00	0.000	2054	0.000	0.000	2481	1844	3142	3140	3145	0	0	0	0	0	0	15.19	15.20	15.19
514	-0.91	-82.7	2482	1844	3140	3145	83.8	-16.7	90	520	0.00	0.00	0.00	0.000	2054	0.000	0.000	2482	1844	3142	3140	3145	0	0	0	0	0	0	15.20	15.20	15.20
583	-0.91	-82.7	2482	1844	3140	3145	94.9	-15.7	103	590	0.00	2.35	0.00	0.000	2308	0.000	0.054	2478	3265	3142	3140	3145	0	0	0	0	0	0	15.21	15.02	15.21
687	-0.91	-82.7	2477	3267	3140	3145	111.0	-14.0	123	693	0.00	2.30	0.00	0.000	3078	0.000	0.043	2477	1851	3142	3140	3145	0	0	0	0	0	0	15.11	15.03	15.13
756	-0.91	-82.7	2477	1851	3140	3145	121.3	-15.9	136	761	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1851	3142	3140	3145	0	0	0	0	0	0	15.23	15.23	15.23
823	-0.91	-82.7	2477	1850	3140	3145	131.7	-15.3	149	831	0.00	2.35	0.00	0.000	2308	0.000	0.054	2477	3268	3142	3140	3145	0	0	0	0	0	0	15.23	15.04	15.23
877	-0.91	-82.7	2477	3268	3140	3145	139.4	-13.6	159	885	0.03	2.30	0.00	0.000	3078	0.481	0.042	2486	1850	3141	3138	3145	0	0	0	0	0	0	14.92	15.02	15.09
947	-0.91	-82.7	2486	1850	3140	3145	149.8	-16.1	172	954	0.00	2.35	0.00	0.000	2564	0.000	0.065	2486	437	3142	3140	3145	0	0	0	0	0	0	15.24	15.03	15.25
997	-0.91	-82.7	2486	435	3139	3145	158.4	-17.3	181	1004	0.00	2.30	0.00	0.000	3078	0.000	0.037	2484	1865	3142	3140	3144	0	0	0	0	0	0	15.14	15.06	15.14
1067	-0.91	-82.7	2484	1868	3140	3144	169.2	-16.5	194	1073	0.00	0.00	0.00	0.000	2054	0.000	0.000	2484	1868	3142	3141	3144	0	0	0	0	0	0	15.24	15.25	15.25
1135	-0.91	-82.7	2484	1868	3140	3144	179.2	-15.2	207	1142	0.00	2.28	0.00	0.000	2308	0.000	0.057	2484	3255	3142	3140	3144	0	0	0	0	0	0	15.24	15.02	15.25
1164	-0.91	-82.7	2484	3255	3140	3143	183.6	-14.6	212	1171	0.00	2.30	0.00	0.000	3078	0.000	0.044	2484	1841	3142	3140	3144	0	0	0	0	0	0	15.09	15.01	15.10
1233	-0.91	-82.7	2484	1842	3140	3143	193.4	-14.2	225	1240	0.00	0.00	0.00	0.000	2054	0.000	0.000	2484	1841	3141	3140	3143	0	0	0	0	0	0	15.24	15.24	15.23
1303	-0.91	-82.7	2484	1842	3140	3141	202.6	-11.4	238	1309	0.00	0.00	0.00	0.000	2054	0.000	0.000	2485	1841	3141	3140	3143	0	0	0	0	0	0	15.26	15.26	15.26
1371	-0.91	-82.7	2484	1841	3140	3142	210.9	-12.0	251	1378	0.00	2.35	0.00	0.000	2308	0.000	0.056	2484	3259	3141	3140	3142	0	0	0	0	0	0	15.27	15.06	15.27
1420	-0.91	-82.7	2484	3258	3140	3142	216.5	-10.9	260	1426	0.00	2.30	0.00	0.000	3078	0.000	0.044	2483	1844	3141	3140	3142	0	0	0	0	0	0	15.11	15.03	15.12
1489	-0.91	-82.7	2484	1844	3140	3141	224.1	-11.0	273	1496	0.00	2.33	0.00	0.000	2308	0.000	0.057	2480	3250	3140	3140	3141	0	0	0	0	0	0	15.28	15.02	15.28
1549	-0.91	-82.7	2481	3250	3140	3141	230.6	-10.6	284	1556	0.00	2.30	0.00	0.000	3078	0.000	0.044	2478	1846	3140	3140	3140	0	0	0	0	0	0	15.11	15.03	15.12
1618	-0.91	-82.7	2480	1846	3140	3140	238.8	-11.9	297	1625	0.00	2.33	0.00	0.000	2308	0.000	0.057	2477	3251	3139	3138	3140	0	0	0	0	0	0	15.28	15.07	15.28
1670	-0.91	-82.7	2477	3251	3138	3140	245.0	-11.9	306	1676	0.00	2.28	0.00	0.000	3078	0.000	0.043	2477	1850	3140	3140	3140	0	0	0	0	0	0	15.12	15.04	15.14
1739	-0.91	-82.7	2476	1850	3139	3139	253.8	-12.3	319	1745	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1850	3139	3139	3139	0	0	0	0	0	0	15.28	15.29	15.28
1808	-0.91	-82.7	2477	1850	3139	3139	263.0	-13.5	332	1813	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1850	3139	3140	3139	0	0	0	0	0	0	15.28	15.29	15.29
1877	-0.91	-82.7	2476	1848	3139	3138	270.9	-8.1	345	1884	0.00	0.00	0.00	0.000	2054	0.000	0.000	2476	1848	3138	3139	3138	0	0	0	0	0	0	15.29	15.29	15.29
1946	-0.91	-82.7	2477	1847	3138	3138	278.9	-10.1	358	1952	0.00	2.30	0.00	0.000	2308	0.000	0.049	2477	3259	3137	3138	3137	0	0	0	0	0	0	15.29	15.09	15.29
1990	-0.91	-82.7	2477	3259	3138	3137	284.6	-12.4	366	1999	0.00	2.30	0.00	0.000	3078	0.000	0.041	2477	1839	3139	3141	3138	0	0	0	0	0	0	15.14	15.05	15.16
2063	-0.91	-82.7	2477	1839	3138	3137	294.2	-13.4	379	2068	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1839	3137	3138	3137	0	0	0	0	0	0	15.28	15.29	15.30
2131	-0.91	-82.7	2477	1839	3138	3136	303.7	-14.5	389	2132	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1839	3137	3137	3137	0	0	0	0	0	0	15.30	15.31	15.30
2251	-0.91	-82.7	2478	1839	3137	3135	323.1	-17.0	395	2256	0.00	2.33	0.00	0.000	2308	0.000	0.054	2477	3251	3138	3141	3136	0	0	0	0	0	0	15.32	15.10	15.32
2329	-0.91	-82.7	2477	3251	3136	3136	330.7	-13.0	398	2335	0.00	2.28	0.00	0.000	3078	0.000	0.044	2477	1843	3135	3136	3135	0	0	0	0	0	0	15.20	15.11	15.21
2455	-0.91	-82.7	2477	1843	3136	3134	345.9	-10.5	405	2456	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1843	3135	3136	3134	0	0	0	0	0	0	15.33	15.33	15.33
2575	-0.91	-82.7	2477	1843	3135	3133	358.1	-9.1	411	2581	0.03	2.33	0.00	0.000	2308	0.528	0.058	2481	3250	3133	3134	3133	0	0	0	0	0	0	15.02	15.12	15.18
2668	-0.91	-82.7	2480	3250	3133	3133	366.8	-10.2	415	2674	0.00	2.30	0.00	0.000	3078	0.000	0.053	2481	1845	3134	3134	3134	0	0	0	0	0	0	15.22	15.13	15.23
2801	-0.91	-82.7	2480	1843	3133	3133	380.0	-7.3	422	2807	0.00	2.35	0.00	0.000	2308	0.000	0.060	2477	3258	3136	3138	3135	0	0	0	0	0	0	15.35	15.12	15.35
2853	-0.91	-82.7	2477	3258	3133	3133	384.2	-8.0	424	2859	0.00	2.30	0.00	0.000	3078	0.000	0.049	2478	1847	3133	3133	3133	0	0	0	0	0	0	15.23	15.13	15.23
2904	end dive: BOTTOM_OBSTACLE_DETECTED
state	2904	begin apogee
2908	-0.17	0.0	2477	1794	3133	3133	392.3	-12.8	427	2974	1.25	0.00	61.53	1.274	10246	0.166	0.000	2725	1794	2800	2816	2785	0	0	0	0	0	0	15.05	14.77	14.19
2976	end apogee: CONTROL_FINISHED_OK
state	2976	begin climb
2977	0.91	82.7	2725	1794	2815	2784	394.4	0.0	430	3051	1.60	0.00	69.62	1.263	10246	0.044	0.000	3095	1794	2462	2484	2440	0	0	0	0	0	0	14.80	14.53	14.04
3166	1.07	207.7	3095	1794	2475	2435	395.4	-0.1	440	3276	0.05	2.47	99.43	1.269	10756	0.261	0.069	3132	403	1950	1974	1926	0	0	0	0	0	0	14.77	14.46	13.93
3312	1.07	207.7	3132	403	1973	1925	378.9	18.5	447	3318	0.00	2.33	0.00	0.000	5126	0.000	0.041	3132	1802	1949	1973	1925	0	0	0	0	0	0	14.73	14.66	14.74
3450	1.07	207.7	3132	1806	1971	1922	345.5	22.4	454	3455	0.00	2.33	0.00	0.000	4356	0.000	0.052	3133	3209	1946	1970	1922	0	0	0	0	0	0	15.06	14.85	15.06
3601	1.07	207.7	3132	3209	1967	1921	306.3	28.9	461	3607	0.00	2.30	0.00	0.000	5126	0.000	0.046	3138	1804	1944	1967	1921	0	0	0	0	0	0	15.04	14.95	15.05
3728	1.07	207.7	3138	1804	1965	1919	272.8	25.7	485	3736	0.00	2.33	0.00	0.000	4356	0.000	0.058	3138	3203	1942	1965	1919	0	0	0	0	0	0	15.18	14.98	15.18
4239	1.07	207.7	3138	3205	1961	1917	159.5	22.1	586	4246	0.00	2.33	0.00	0.000	5126	0.000	0.055	3138	1805	1938	1961	1916	0	0	0	0	0	0	15.08	15.00	15.09
4308	1.07	207.7	3138	1805	1961	1916	144.6	21.3	599	4313	0.00	0.00	0.00	0.000	4102	0.000	0.000	3138	1805	1939	1962	1916	0	0	0	0	0	0	15.23	15.23	15.23
4375	1.07	207.7	3138	1805	1961	1917	129.9	23.0	612	4381	0.00	0.00	0.00	0.000	4102	0.000	0.000	3138	1805	1938	1961	1916	0	0	0	0	0	0	15.23	15.23	15.23
4442	1.07	207.7	3138	1805	1961	1915	115.9	18.5	625	4449	0.00	2.33	0.00	0.000	4356	0.000	0.052	3138	3211	1938	1961	1916	0	0	0	0	0	0	15.23	15.04	15.24
4471	1.07	207.7	3138	3211	1961	1916	110.1	19.9	630	4478	0.00	2.35	0.00	0.000	5126	0.000	0.054	3138	1800	1938	1961	1916	0	0	0	0	0	0	15.13	15.04	15.14
4539	1.07	207.7	3138	1799	1961	1916	98.6	14.9	643	4546	0.00	2.33	0.00	0.000	4356	0.000	0.053	3138	3212	1938	1961	1916	0	0	0	0	0	0	15.23	14.99	15.23
4608	1.07	207.7	3138	3212	1961	1916	86.8	17.4	656	4614	0.00	2.35	0.00	0.000	5126	0.000	0.053	3138	1798	1938	1961	1916	0	0	0	0	0	0	15.12	15.03	15.14
4676	1.07	207.7	3138	1797	1961	1915	74.2	20.0	669	4683	0.00	2.38	0.00	0.000	4612	0.000	0.076	3138	396	1935	1960	1911	0	0	0	0	0	0	15.23	15.01	15.24
4769	1.07	207.7	3138	397	1960	1915	58.6	12.8	687	4776	0.00	2.30	0.00	0.000	5126	0.000	0.041	3138	1813	1937	1960	1914	0	0	0	0	0	0	15.08	15.01	15.09
4838	1.07	207.7	3138	1815	1960	1914	50.7	11.0	700	4845	0.00	2.28	0.00	0.000	4356	0.000	0.054	3138	3212	1937	1960	1914	0	0	0	0	0	0	15.23	15.04	15.23
4997	1.10	238.0	3138	3212	1959	1914	34.8	7.5	731	5027	0.00	2.38	22.90	0.880	9222	0.000	0.052	3141	1790	1825	1850	1801	0	0	0	0	0	0	15.12	15.04	14.51
5088	1.10	238.0	3141	1790	1849	1799	24.7	12.3	748	5095	0.00	2.35	0.00	0.000	516	0.000	0.073	3141	395	1823	1849	1798	0	0	0	0	0	0	15.13	14.93	15.14
5276	end climb: SURFACE_DEPTH_REACHED
state	5276	begin surface coast
5307	end surface coast: CONTROL_FINISHED_OK
state	5307	begin surface