Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 40 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 40 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -77454.148 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -77454.148

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 23 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 40 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 080908,6137.756,-925.982,30,1.3,30,-9.5 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.201,-0.004

_SM_DEPTHo 1.02 KALMAN_X -59551.9,1253.5,3771.3,-7120.0,-13180.9

_SM_ANGLEo -60.3 KALMAN_Y -17274.4,21.1,2122.3,38902.9,-2860.1

GPS2 081857,6137.742,-925.897,13,1.3,13,-9.5 MHEAD_RNG_PITCHd_Wd 100.5,14411,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.018379 ALTIM_BOTTOM_PING 800.6,95.7

SM_CCo 28163,0.00,0.000,0,0,1241,338.27 _24V_AH 23.7,11.636

SM_GC 0.97,11.20,0.00,0.00,0.037,0.000,0.000,418,2174,1241,-10.40,0.68,338.27 _10V_AH 10.1,4.420

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 69329,1351

TT8_MAMPS 0.029146 CAP_FILE_SIZE 212829,0

HUMID 1670 CFSIZE 254472192,249487360

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 973 GPS 140608,161107,6138.042,-917.745,76,1.1,76,-9.4

ALTIM_TOP_PING 19.3,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 85.09 SBE_CT 925 24 526.49

Roll_motor 282 84 564.23 SBE_O2 1000 19 450.75

VBD_pump_during_apogee 397 1415 13341.51 WL_BB2F 734 105 1828.40

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 184.35 nil 0 0 0.00

Iridium_during_connect 52 160 197.92 nil 0 0 0.00

Iridium_during_xfer 236 223 1251.56

Transponder_ping 250 420 2493.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 2487 19 497.52

LPSleep 21872 2 483.80

TT8_Active 603 19 120.73

TT8_Sampling 2929 39 1177.75

TT8_CF8 845 45 391.12

TT8_Kalman 33 81 27.57

Analog_circuits 2094 12 253.90

GPS_charging 0 0 0.00

Compass 2869 8 231.82

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl 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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.03 -117.3 0.0 0.0 0 96 0.00 0.00 -69.28 0.000 6 0.000 0.000 419 2152 3099

99 -1.03 -117.3 2.3 -3.4 3 116 10.60 2.55 0.00 0.000 4 0.137 0.055 2470 744 3101

357 -0.73 -117.3 36.8 -12.6 13 365 0.32 2.53 0.00 0.000 6 0.087 0.051 2539 2150 3101

674 -0.64 -117.3 62.5 -7.8 29 676 0.10 0.00 0.00 0.000 6 0.101 0.000 2559 2150 3102

983 -0.64 -117.3 84.8 -7.9 44 984 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2149 3102

1293 -0.64 -117.3 104.9 -5.1 59 1297 0.00 2.58 0.00 0.000 4 0.000 0.061 2559 739 3102

1342 -0.64 -117.3 108.3 -6.5 61 1346 0.00 2.53 0.00 0.000 6 0.000 0.051 2559 2150 3102

1658 -0.64 -117.3 125.2 -5.1 76 1663 0.00 2.55 0.00 0.000 4 0.000 0.061 2559 747 3102

1686 -0.64 -117.3 126.7 -4.8 77 1690 0.00 2.53 0.00 0.000 6 0.000 0.051 2559 2156 3102

2004 -0.64 -117.3 142.3 -5.2 92 2008 0.00 2.58 0.00 0.000 4 0.000 0.061 2559 739 3102

2089 -0.64 -117.3 147.3 -5.4 96 2093 0.00 2.53 0.00 0.000 6 0.000 0.052 2559 2152 3102

2416 -0.64 -117.3 162.4 -4.2 112 2420 0.00 2.50 0.00 0.000 4 0.000 0.064 2559 3555 3102

2517 -0.64 -117.3 167.4 -4.4 116 2523 0.00 2.50 0.00 0.000 6 0.000 0.048 2559 2143 3102

2833 -0.64 -117.3 181.5 -4.4 132 2837 0.00 2.60 0.00 0.000 4 0.000 0.064 2559 3563 3102

2883 -0.64 -117.3 184.0 -5.4 134 2887 0.00 2.50 0.00 0.000 6 0.000 0.048 2559 2150 3103

3199 -0.64 -117.3 197.7 -4.2 149 3200 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2132 3102

3508 -0.64 -117.3 211.2 -4.6 164 3509 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2132 3102

3817 -0.64 -117.3 227.1 -5.3 179 3821 0.00 2.58 0.00 0.000 4 0.000 0.065 2559 3556 3102

3844 -0.64 -117.3 228.8 -6.2 180 3848 0.00 2.50 0.00 0.000 6 0.000 0.050 2559 2149 3102

4160 -0.64 -117.3 248.4 -6.6 195 4161 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2131 3102

4469 -0.64 -117.3 269.4 -7.1 210 4473 0.00 2.58 0.00 0.000 4 0.000 0.067 2559 3556 3101

4513 -0.64 -117.3 272.8 -7.6 212 4517 0.00 2.50 0.00 0.000 6 0.000 0.051 2560 2150 3102

4833 -0.64 -117.3 293.9 -6.5 228 4838 0.00 2.53 0.00 0.000 4 0.000 0.066 2559 750 3102

4878 -0.64 -117.3 297.2 -7.9 230 4882 0.00 2.53 0.00 0.000 6 0.000 0.054 2559 2157 3102

5199 -0.64 -117.3 320.0 -7.1 246 5204 0.00 2.53 0.00 0.000 4 0.000 0.067 2559 3559 3102

5239 -0.64 -117.3 323.3 -8.2 248 5244 0.00 2.50 0.00 0.000 6 0.000 0.051 2559 2150 3101

5566 -0.64 -117.3 347.5 -7.1 264 5567 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2131 3102

5876 -0.64 -117.3 369.3 -6.5 279 5880 0.00 2.60 0.00 0.000 4 0.000 0.067 2559 3560 3102

5942 -0.64 -117.3 374.2 -7.0 282 5946 0.00 2.50 0.00 0.000 6 0.000 0.051 2559 2151 3101

6263 -0.64 -117.3 394.2 -6.0 298 6264 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2135 3101

6572 -0.64 -117.3 412.1 -6.0 313 6573 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2135 3101

6882 -0.64 -117.3 430.6 -5.9 328 6883 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2134 3101

7191 -0.64 -117.3 448.9 -5.8 343 7195 0.00 2.60 0.00 0.000 4 0.000 0.068 2559 3562 3101

7230 -0.64 -117.3 451.4 -6.5 345 7235 0.00 2.53 0.00 0.000 6 0.000 0.053 2559 2147 3100

7558 -0.64 -117.3 470.8 -6.0 361 7559 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2129 3100

7867 -0.64 -117.3 489.1 -6.3 376 7871 0.00 2.60 0.00 0.000 4 0.000 0.068 2559 3556 3100

7934 -0.64 -117.3 493.3 -6.4 379 7938 0.00 2.53 0.00 0.000 6 0.000 0.053 2559 2143 3100

8255 -0.64 -117.3 512.3 -5.8 395 8259 0.00 2.62 0.00 0.000 4 0.000 0.069 2559 3563 3100

8273 -0.64 -117.3 513.3 -5.8 396 8277 0.00 2.53 0.00 0.000 6 0.000 0.054 2559 2149 3100

8599 -0.64 -117.3 530.9 -5.3 412 8601 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2131 3100

8909 -0.64 -117.3 548.1 -5.5 427 8910 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2131 3099

9218 -0.64 -117.3 564.9 -5.2 442 9219 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2131 3099

9527 -0.64 -117.3 581.2 -5.0 457 9532 0.00 2.58 0.00 0.000 4 0.000 0.068 2559 3555 3099

9578 -0.64 -117.3 584.1 -6.3 459 9582 0.00 2.50 0.00 0.000 6 0.000 0.052 2559 2149 3099

9894 -0.64 -117.3 601.3 -5.3 474 9898 0.00 2.60 0.00 0.000 4 0.000 0.068 2559 3556 3099

9927 -0.64 -117.3 603.1 -5.9 475 9933 0.00 2.53 0.00 0.000 6 0.000 0.054 2559 2144 3099

10243 -0.64 -117.3 620.0 -5.0 491 10244 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2128 3099

10553 -0.64 -117.3 634.6 -4.1 506 10554 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2128 3099

10862 -0.64 -117.3 647.1 -4.1 521 10863 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2129 3098

11171 -0.64 -117.3 659.4 -3.8 536 11172 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2129 3098

11480 -0.64 -117.3 672.3 -4.4 551 11481 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2129 3098

11790 -0.64 -117.3 686.3 -4.6 566 11791 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2128 3098

12099 -0.64 -117.3 699.9 -3.7 581 12104 0.00 2.50 0.00 0.000 4 0.000 0.068 2559 753 3098

12137 -0.64 -117.3 701.6 -4.7 582 12143 0.00 2.53 0.00 0.000 6 0.000 0.056 2559 2155 3098

12454 -0.64 -117.3 713.0 -3.5 598 12458 0.00 2.55 0.00 0.000 4 0.000 0.069 2560 3562 3098

12526 -0.64 -117.3 716.1 -4.6 601 12530 0.00 2.53 0.00 0.000 6 0.000 0.054 2559 2152 3097

12843 -0.64 -117.3 727.8 -3.1 616 12847 0.00 2.60 0.00 0.000 4 0.000 0.070 2559 3558 3097

12893 -0.64 -117.3 729.8 -4.1 618 12897 0.00 2.53 0.00 0.000 6 0.000 0.054 2559 2148 3097

13209 -0.64 -117.3 743.6 -4.3 633 13213 0.00 2.60 0.00 0.000 4 0.000 0.069 2559 3555 3097

13309 -0.64 -117.3 749.0 -4.9 637 13315 0.00 2.53 0.00 0.000 6 0.000 0.053 2559 2140 3097

13625 -0.64 -117.3 762.6 -3.9 653 13630 0.00 2.62 0.00 0.000 4 0.000 0.071 2559 3562 3097

13647 -0.64 -117.3 763.9 -5.7 654 13651 0.00 2.53 0.00 0.000 6 0.000 0.056 2559 2149 3097

13968 -0.64 -117.3 777.1 -3.7 670 13972 0.00 2.55 0.00 0.000 4 0.000 0.070 2559 740 3097

14063 -0.64 -117.3 780.9 -4.2 674 14067 0.00 2.55 0.00 0.000 6 0.000 0.058 2559 2149 3097

14379 -0.64 -117.3 797.8 -6.4 689 14380 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2148 3097

14689 -0.69 -117.3 819.3 -6.0 704 14690 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2148 3097

14997 -0.69 -117.3 830.7 -4.4 719 15002 0.00 2.60 0.00 0.000 4 0.000 0.072 2559 748 3097

15038 -0.73 -117.3 833.4 -7.4 721 15043 0.00 2.55 0.00 0.000 6 0.000 0.060 2559 2156 3097

15365 -0.73 -117.3 852.9 -5.0 737 15369 0.00 2.62 0.00 0.000 4 0.000 0.073 2559 740 3097

15623 -0.73 -117.3 867.8 -5.8 748 15629 0.00 2.58 0.00 0.000 6 0.000 0.062 2558 2151 3096

15874 end dive: BOTTOM_OBSTACLE_DETECTED

state 15874 begin apogee

15881 -0.33 0.0 887.2 4.4 761 15987 0.32 0.00 102.75 1.415 6 0.081 0.000 2627 2150 2620

15987 end apogee: CONTROL_FINISHED_OK

state 15987 begin climb

15991 1.03 117.3 890.7 0.0 766 16101 1.35 2.78 101.55 1.393 4 0.067 0.084 2921 757 2141

16231 0.96 157.5 869.9 4.6 777 16273 0.00 2.60 35.80 1.345 6 0.000 0.067 2921 2148 1977

16597 1.04 280.5 855.9 1.8 795 16707 0.00 0.00 105.12 1.393 6 0.000 0.000 2921 2163 1476

17031 1.09 280.5 827.0 8.7 816 17035 0.00 2.70 0.00 0.000 4 0.000 0.083 2921 744 1476

17075 1.15 280.5 823.5 8.0 818 17080 0.12 2.65 0.00 0.000 6 0.056 0.069 2957 2154 1475

17396 1.08 280.5 791.5 9.9 834 17401 0.12 2.67 0.00 0.000 4 0.091 0.077 2933 749 1475

17446 1.08 280.5 786.7 9.2 836 17451 0.00 2.60 0.00 0.000 6 0.000 0.065 2933 2152 1474

17762 1.08 280.5 762.0 8.2 851 17767 0.00 2.62 0.00 0.000 4 0.000 0.074 2933 749 1474

17795 1.08 280.5 758.8 9.6 852 17801 0.00 2.60 0.00 0.000 6 0.000 0.062 2933 2156 1474

18111 1.08 280.5 734.6 7.6 868 18115 0.00 2.65 0.00 0.000 4 0.000 0.074 2934 748 1474

18143 1.08 280.5 732.2 7.6 869 18149 0.00 2.58 0.00 0.000 6 0.000 0.061 2933 2150 1474

18459 1.08 280.5 711.6 6.1 885 18460 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 2149 1474

18769 1.08 280.5 691.6 6.5 900 18773 0.00 2.60 0.00 0.000 4 0.000 0.071 2933 749 1474

18818 1.08 280.5 688.0 7.5 902 18822 0.00 2.58 0.00 0.000 6 0.000 0.059 2933 2160 1474

19134 1.08 280.5 667.8 6.7 917 19138 0.00 2.62 0.00 0.000 4 0.000 0.071 2933 743 1474

19173 1.08 280.5 664.8 6.7 919 19178 0.00 2.55 0.00 0.000 6 0.000 0.058 2933 2148 1474

19499 1.08 280.5 640.0 8.0 935 19504 0.00 2.58 0.00 0.000 4 0.000 0.069 2933 748 1475

19539 1.08 280.5 636.8 8.4 937 19544 0.00 2.55 0.00 0.000 6 0.000 0.056 2933 2158 1474

19867 1.12 280.5 611.5 7.5 953 19871 0.00 2.62 0.00 0.000 4 0.000 0.069 2933 741 1475

19900 1.17 280.5 608.5 7.6 954 19906 0.00 2.55 0.00 0.000 6 0.000 0.057 2933 2150 1475

20216 1.21 280.5 583.2 8.2 970 20221 0.12 2.58 0.00 0.000 4 0.050 0.067 2973 748 1476

20244 1.16 280.5 580.4 10.1 971 20248 0.00 2.53 0.00 0.000 6 0.000 0.056 2973 2149 1476

20560 1.06 280.5 544.8 10.7 986 20565 0.20 2.60 0.00 0.000 4 0.077 0.067 2927 746 1476

20594 1.10 280.5 541.6 8.9 987 20600 0.00 2.55 0.00 0.000 6 0.000 0.056 2927 2153 1477

20910 1.16 280.5 518.8 7.2 1003 20915 0.10 2.60 0.00 0.000 4 0.054 0.067 2961 741 1477

20943 1.12 280.5 515.8 8.8 1004 20949 0.00 2.55 0.00 0.000 6 0.000 0.056 2961 2150 1476

21259 1.07 280.5 487.2 8.8 1020 21264 0.15 2.58 0.00 0.000 4 0.080 0.066 2928 747 1477

21281 1.07 280.5 485.3 8.6 1021 21285 0.00 2.55 0.00 0.000 6 0.000 0.055 2928 2156 1477

21602 1.14 280.5 465.2 6.1 1037 21606 0.00 2.58 0.00 0.000 4 0.000 0.067 2929 747 1477

21642 1.21 280.5 462.4 8.0 1039 21647 0.15 2.53 0.00 0.000 6 0.045 0.055 2974 2150 1477

21969 1.11 280.5 432.5 9.2 1055 21974 0.15 2.58 0.00 0.000 4 0.081 0.066 2943 745 1477

21996 1.11 280.5 430.2 7.8 1056 22000 0.00 2.55 0.00 0.000 6 0.000 0.055 2942 2154 1477

22312 1.11 280.5 410.0 6.4 1071 22317 0.00 2.55 0.00 0.000 4 0.000 0.067 2942 747 1477

22346 1.11 280.5 407.4 7.9 1072 22352 0.00 2.55 0.00 0.000 6 0.000 0.055 2942 2160 1477

22661 1.12 288.2 388.0 5.7 1088 22675 0.00 2.65 8.40 0.921 4 0.000 0.067 2943 749 1445

22694 1.12 288.2 385.9 6.6 1089 22698 0.00 2.55 0.00 0.000 6 0.000 0.054 2942 2149 1445

23010 1.24 334.0 370.0 4.4 1104 23053 0.12 0.00 38.60 1.043 6 0.049 0.000 2982 2149 1258

23364 1.14 334.0 340.5 8.6 1121 23369 0.17 2.58 0.00 0.000 4 0.078 0.066 2943 748 1258

23427 1.21 334.0 336.0 6.2 1124 23431 0.00 2.53 0.00 0.000 6 0.000 0.054 2943 2150 1258

23754 1.29 338.5 317.2 5.8 1140 23765 0.15 2.62 5.57 0.789 4 0.045 0.066 2989 741 1240

23799 1.20 338.5 313.2 11.1 1142 23805 0.15 2.58 0.00 0.000 6 0.082 0.055 2958 2156 1240

24120 1.20 338.5 289.9 6.9 1158 24125 0.00 2.60 0.00 0.000 4 0.000 0.065 2959 747 1240

24154 1.20 338.5 287.4 6.2 1159 24160 0.00 2.55 0.00 0.000 6 0.000 0.054 2958 2156 1240

24470 1.20 338.5 265.5 7.2 1175 24474 0.00 2.60 0.00 0.000 4 0.000 0.067 2958 747 1240

24502 1.20 338.5 262.9 7.5 1176 24508 0.00 2.55 0.00 0.000 6 0.000 0.054 2958 2156 1240

24818 1.20 338.5 241.1 7.2 1192 24822 0.00 2.58 0.00 0.000 4 0.000 0.066 2959 747 1240

24857 1.20 338.5 238.1 8.1 1194 24862 0.00 2.53 0.00 0.000 6 0.000 0.054 2958 2153 1240

25184 1.20 338.5 213.5 7.8 1210 25188 0.00 2.60 0.00 0.000 4 0.000 0.067 2958 744 1240

25217 1.20 338.5 210.8 7.7 1211 25223 0.00 2.55 0.00 0.000 6 0.000 0.054 2958 2158 1240

25533 1.20 338.5 186.9 7.5 1227 25537 0.00 2.60 0.00 0.000 4 0.000 0.067 2958 740 1240

25572 1.20 338.5 183.7 7.2 1229 25576 0.00 2.53 0.00 0.000 6 0.000 0.054 2958 2150 1240

25898 1.20 338.5 161.3 6.8 1245 25903 0.00 2.58 0.00 0.000 4 0.000 0.065 2958 746 1241

25938 1.20 338.5 158.4 7.6 1247 25942 0.00 2.53 0.00 0.000 6 0.000 0.054 2959 2150 1241

26265 1.20 338.5 136.5 6.8 1263 26269 0.00 2.58 0.00 0.000 4 0.000 0.066 2959 746 1241

26298 1.20 338.5 134.3 6.3 1264 26304 0.00 2.53 0.00 0.000 6 0.000 0.054 2959 2150 1241

26615 1.24 338.5 110.8 7.7 1280 26620 0.00 2.58 0.00 0.000 4 0.000 0.065 2959 746 1241

26672 1.28 338.5 105.8 8.6 1282 26678 0.00 2.53 0.00 0.000 6 0.000 0.053 2958 2158 1241

26988 1.33 338.5 85.1 7.1 1298 26993 0.15 2.60 0.00 0.000 4 0.047 0.064 3008 743 1241

27022 1.21 338.5 81.8 12.3 1299 27028 0.22 2.53 0.00 0.000 6 0.077 0.054 2962 2149 1241

27339 1.21 338.5 58.2 7.2 1315 27343 0.00 2.58 0.00 0.000 4 0.000 0.064 2962 742 1241

27372 1.21 338.5 54.8 8.5 1316 27378 0.00 2.53 0.00 0.000 6 0.000 0.052 2962 2156 1241

27688 1.26 338.5 32.0 7.0 1332 27693 0.00 2.58 0.00 0.000 4 0.000 0.064 2962 746 1241

27722 1.30 338.5 29.3 8.8 1333 27728 0.00 2.50 0.00 0.000 6 0.000 0.051 2961 2150 1241

28039 1.35 338.5 3.4 8.3 1349 28044 0.15 2.58 0.00 0.000 4 0.044 0.062 3012 743 1242

28054 end climb: SURFACE_DEPTH_REACHED

state 28054 begin surface coast

28077 end surface coast: CONTROL_FINISHED_OK

state 28077 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	40	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-77454.148	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	080908,6137.756,-925.982,30,1.3,30,-9.5	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.201,-0.004
_SM_DEPTHo	1.02	KALMAN_X	-59551.9,1253.5,3771.3,-7120.0,-13180.9
_SM_ANGLEo	-60.3	KALMAN_Y	-17274.4,21.1,2122.3,38902.9,-2860.1
GPS2	081857,6137.742,-925.897,13,1.3,13,-9.5	MHEAD_RNG_PITCHd_Wd	100.5,14411,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.2,1.018379	ALTIM_BOTTOM_PING	800.6,95.7
SM_CCo	28163,0.00,0.000,0,0,1241,338.27	_24V_AH	23.7,11.636
SM_GC	0.97,11.20,0.00,0.00,0.037,0.000,0.000,418,2174,1241,-10.40,0.68,338.27	_10V_AH	10.1,4.420
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	69329,1351
TT8_MAMPS	0.029146	CAP_FILE_SIZE	212829,0
HUMID	1670	CFSIZE	254472192,249487360
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	973	GPS	140608,161107,6138.042,-917.745,76,1.1,76,-9.4
ALTIM_TOP_PING	19.3,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	85.09	SBE_CT	925	24	526.49
Roll_motor	282	84	564.23	SBE_O2	1000	19	450.75
VBD_pump_during_apogee	397	1415	13341.51	WL_BB2F	734	105	1828.40
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	184.35	nil	0	0	0.00
Iridium_during_connect	52	160	197.92	nil	0	0	0.00
Iridium_during_xfer	236	223	1251.56
Transponder_ping	250	420	2493.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	2487	19	497.52
LPSleep	21872	2	483.80
TT8_Active	603	19	120.73
TT8_Sampling	2929	39	1177.75
TT8_CF8	845	45	391.12
TT8_Kalman	33	81	27.57
Analog_circuits	2094	12	253.90
GPS_charging	0	0	0.00
Compass	2869	8	231.82
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.03	-117.3	0.0	0.0	0	96	0.00	0.00	-69.28	0.000	6	0.000	0.000	419	2152	3099
99	-1.03	-117.3	2.3	-3.4	3	116	10.60	2.55	0.00	0.000	4	0.137	0.055	2470	744	3101
357	-0.73	-117.3	36.8	-12.6	13	365	0.32	2.53	0.00	0.000	6	0.087	0.051	2539	2150	3101
674	-0.64	-117.3	62.5	-7.8	29	676	0.10	0.00	0.00	0.000	6	0.101	0.000	2559	2150	3102
983	-0.64	-117.3	84.8	-7.9	44	984	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2149	3102
1293	-0.64	-117.3	104.9	-5.1	59	1297	0.00	2.58	0.00	0.000	4	0.000	0.061	2559	739	3102
1342	-0.64	-117.3	108.3	-6.5	61	1346	0.00	2.53	0.00	0.000	6	0.000	0.051	2559	2150	3102
1658	-0.64	-117.3	125.2	-5.1	76	1663	0.00	2.55	0.00	0.000	4	0.000	0.061	2559	747	3102
1686	-0.64	-117.3	126.7	-4.8	77	1690	0.00	2.53	0.00	0.000	6	0.000	0.051	2559	2156	3102
2004	-0.64	-117.3	142.3	-5.2	92	2008	0.00	2.58	0.00	0.000	4	0.000	0.061	2559	739	3102
2089	-0.64	-117.3	147.3	-5.4	96	2093	0.00	2.53	0.00	0.000	6	0.000	0.052	2559	2152	3102
2416	-0.64	-117.3	162.4	-4.2	112	2420	0.00	2.50	0.00	0.000	4	0.000	0.064	2559	3555	3102
2517	-0.64	-117.3	167.4	-4.4	116	2523	0.00	2.50	0.00	0.000	6	0.000	0.048	2559	2143	3102
2833	-0.64	-117.3	181.5	-4.4	132	2837	0.00	2.60	0.00	0.000	4	0.000	0.064	2559	3563	3102
2883	-0.64	-117.3	184.0	-5.4	134	2887	0.00	2.50	0.00	0.000	6	0.000	0.048	2559	2150	3103
3199	-0.64	-117.3	197.7	-4.2	149	3200	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2132	3102
3508	-0.64	-117.3	211.2	-4.6	164	3509	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2132	3102
3817	-0.64	-117.3	227.1	-5.3	179	3821	0.00	2.58	0.00	0.000	4	0.000	0.065	2559	3556	3102
3844	-0.64	-117.3	228.8	-6.2	180	3848	0.00	2.50	0.00	0.000	6	0.000	0.050	2559	2149	3102
4160	-0.64	-117.3	248.4	-6.6	195	4161	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2131	3102
4469	-0.64	-117.3	269.4	-7.1	210	4473	0.00	2.58	0.00	0.000	4	0.000	0.067	2559	3556	3101
4513	-0.64	-117.3	272.8	-7.6	212	4517	0.00	2.50	0.00	0.000	6	0.000	0.051	2560	2150	3102
4833	-0.64	-117.3	293.9	-6.5	228	4838	0.00	2.53	0.00	0.000	4	0.000	0.066	2559	750	3102
4878	-0.64	-117.3	297.2	-7.9	230	4882	0.00	2.53	0.00	0.000	6	0.000	0.054	2559	2157	3102
5199	-0.64	-117.3	320.0	-7.1	246	5204	0.00	2.53	0.00	0.000	4	0.000	0.067	2559	3559	3102
5239	-0.64	-117.3	323.3	-8.2	248	5244	0.00	2.50	0.00	0.000	6	0.000	0.051	2559	2150	3101
5566	-0.64	-117.3	347.5	-7.1	264	5567	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2131	3102
5876	-0.64	-117.3	369.3	-6.5	279	5880	0.00	2.60	0.00	0.000	4	0.000	0.067	2559	3560	3102
5942	-0.64	-117.3	374.2	-7.0	282	5946	0.00	2.50	0.00	0.000	6	0.000	0.051	2559	2151	3101
6263	-0.64	-117.3	394.2	-6.0	298	6264	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2135	3101
6572	-0.64	-117.3	412.1	-6.0	313	6573	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2135	3101
6882	-0.64	-117.3	430.6	-5.9	328	6883	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2134	3101
7191	-0.64	-117.3	448.9	-5.8	343	7195	0.00	2.60	0.00	0.000	4	0.000	0.068	2559	3562	3101
7230	-0.64	-117.3	451.4	-6.5	345	7235	0.00	2.53	0.00	0.000	6	0.000	0.053	2559	2147	3100
7558	-0.64	-117.3	470.8	-6.0	361	7559	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2129	3100
7867	-0.64	-117.3	489.1	-6.3	376	7871	0.00	2.60	0.00	0.000	4	0.000	0.068	2559	3556	3100
7934	-0.64	-117.3	493.3	-6.4	379	7938	0.00	2.53	0.00	0.000	6	0.000	0.053	2559	2143	3100
8255	-0.64	-117.3	512.3	-5.8	395	8259	0.00	2.62	0.00	0.000	4	0.000	0.069	2559	3563	3100
8273	-0.64	-117.3	513.3	-5.8	396	8277	0.00	2.53	0.00	0.000	6	0.000	0.054	2559	2149	3100
8599	-0.64	-117.3	530.9	-5.3	412	8601	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2131	3100
8909	-0.64	-117.3	548.1	-5.5	427	8910	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2131	3099
9218	-0.64	-117.3	564.9	-5.2	442	9219	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2131	3099
9527	-0.64	-117.3	581.2	-5.0	457	9532	0.00	2.58	0.00	0.000	4	0.000	0.068	2559	3555	3099
9578	-0.64	-117.3	584.1	-6.3	459	9582	0.00	2.50	0.00	0.000	6	0.000	0.052	2559	2149	3099
9894	-0.64	-117.3	601.3	-5.3	474	9898	0.00	2.60	0.00	0.000	4	0.000	0.068	2559	3556	3099
9927	-0.64	-117.3	603.1	-5.9	475	9933	0.00	2.53	0.00	0.000	6	0.000	0.054	2559	2144	3099
10243	-0.64	-117.3	620.0	-5.0	491	10244	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2128	3099
10553	-0.64	-117.3	634.6	-4.1	506	10554	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2128	3099
10862	-0.64	-117.3	647.1	-4.1	521	10863	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2129	3098
11171	-0.64	-117.3	659.4	-3.8	536	11172	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2129	3098
11480	-0.64	-117.3	672.3	-4.4	551	11481	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2129	3098
11790	-0.64	-117.3	686.3	-4.6	566	11791	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2128	3098
12099	-0.64	-117.3	699.9	-3.7	581	12104	0.00	2.50	0.00	0.000	4	0.000	0.068	2559	753	3098
12137	-0.64	-117.3	701.6	-4.7	582	12143	0.00	2.53	0.00	0.000	6	0.000	0.056	2559	2155	3098
12454	-0.64	-117.3	713.0	-3.5	598	12458	0.00	2.55	0.00	0.000	4	0.000	0.069	2560	3562	3098
12526	-0.64	-117.3	716.1	-4.6	601	12530	0.00	2.53	0.00	0.000	6	0.000	0.054	2559	2152	3097
12843	-0.64	-117.3	727.8	-3.1	616	12847	0.00	2.60	0.00	0.000	4	0.000	0.070	2559	3558	3097
12893	-0.64	-117.3	729.8	-4.1	618	12897	0.00	2.53	0.00	0.000	6	0.000	0.054	2559	2148	3097
13209	-0.64	-117.3	743.6	-4.3	633	13213	0.00	2.60	0.00	0.000	4	0.000	0.069	2559	3555	3097
13309	-0.64	-117.3	749.0	-4.9	637	13315	0.00	2.53	0.00	0.000	6	0.000	0.053	2559	2140	3097
13625	-0.64	-117.3	762.6	-3.9	653	13630	0.00	2.62	0.00	0.000	4	0.000	0.071	2559	3562	3097
13647	-0.64	-117.3	763.9	-5.7	654	13651	0.00	2.53	0.00	0.000	6	0.000	0.056	2559	2149	3097
13968	-0.64	-117.3	777.1	-3.7	670	13972	0.00	2.55	0.00	0.000	4	0.000	0.070	2559	740	3097
14063	-0.64	-117.3	780.9	-4.2	674	14067	0.00	2.55	0.00	0.000	6	0.000	0.058	2559	2149	3097
14379	-0.64	-117.3	797.8	-6.4	689	14380	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2148	3097
14689	-0.69	-117.3	819.3	-6.0	704	14690	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2148	3097
14997	-0.69	-117.3	830.7	-4.4	719	15002	0.00	2.60	0.00	0.000	4	0.000	0.072	2559	748	3097
15038	-0.73	-117.3	833.4	-7.4	721	15043	0.00	2.55	0.00	0.000	6	0.000	0.060	2559	2156	3097
15365	-0.73	-117.3	852.9	-5.0	737	15369	0.00	2.62	0.00	0.000	4	0.000	0.073	2559	740	3097
15623	-0.73	-117.3	867.8	-5.8	748	15629	0.00	2.58	0.00	0.000	6	0.000	0.062	2558	2151	3096
15874	end dive: BOTTOM_OBSTACLE_DETECTED
state	15874	begin apogee
15881	-0.33	0.0	887.2	4.4	761	15987	0.32	0.00	102.75	1.415	6	0.081	0.000	2627	2150	2620
15987	end apogee: CONTROL_FINISHED_OK
state	15987	begin climb
15991	1.03	117.3	890.7	0.0	766	16101	1.35	2.78	101.55	1.393	4	0.067	0.084	2921	757	2141
16231	0.96	157.5	869.9	4.6	777	16273	0.00	2.60	35.80	1.345	6	0.000	0.067	2921	2148	1977
16597	1.04	280.5	855.9	1.8	795	16707	0.00	0.00	105.12	1.393	6	0.000	0.000	2921	2163	1476
17031	1.09	280.5	827.0	8.7	816	17035	0.00	2.70	0.00	0.000	4	0.000	0.083	2921	744	1476
17075	1.15	280.5	823.5	8.0	818	17080	0.12	2.65	0.00	0.000	6	0.056	0.069	2957	2154	1475
17396	1.08	280.5	791.5	9.9	834	17401	0.12	2.67	0.00	0.000	4	0.091	0.077	2933	749	1475
17446	1.08	280.5	786.7	9.2	836	17451	0.00	2.60	0.00	0.000	6	0.000	0.065	2933	2152	1474
17762	1.08	280.5	762.0	8.2	851	17767	0.00	2.62	0.00	0.000	4	0.000	0.074	2933	749	1474
17795	1.08	280.5	758.8	9.6	852	17801	0.00	2.60	0.00	0.000	6	0.000	0.062	2933	2156	1474
18111	1.08	280.5	734.6	7.6	868	18115	0.00	2.65	0.00	0.000	4	0.000	0.074	2934	748	1474
18143	1.08	280.5	732.2	7.6	869	18149	0.00	2.58	0.00	0.000	6	0.000	0.061	2933	2150	1474
18459	1.08	280.5	711.6	6.1	885	18460	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	2149	1474
18769	1.08	280.5	691.6	6.5	900	18773	0.00	2.60	0.00	0.000	4	0.000	0.071	2933	749	1474
18818	1.08	280.5	688.0	7.5	902	18822	0.00	2.58	0.00	0.000	6	0.000	0.059	2933	2160	1474
19134	1.08	280.5	667.8	6.7	917	19138	0.00	2.62	0.00	0.000	4	0.000	0.071	2933	743	1474
19173	1.08	280.5	664.8	6.7	919	19178	0.00	2.55	0.00	0.000	6	0.000	0.058	2933	2148	1474
19499	1.08	280.5	640.0	8.0	935	19504	0.00	2.58	0.00	0.000	4	0.000	0.069	2933	748	1475
19539	1.08	280.5	636.8	8.4	937	19544	0.00	2.55	0.00	0.000	6	0.000	0.056	2933	2158	1474
19867	1.12	280.5	611.5	7.5	953	19871	0.00	2.62	0.00	0.000	4	0.000	0.069	2933	741	1475
19900	1.17	280.5	608.5	7.6	954	19906	0.00	2.55	0.00	0.000	6	0.000	0.057	2933	2150	1475
20216	1.21	280.5	583.2	8.2	970	20221	0.12	2.58	0.00	0.000	4	0.050	0.067	2973	748	1476
20244	1.16	280.5	580.4	10.1	971	20248	0.00	2.53	0.00	0.000	6	0.000	0.056	2973	2149	1476
20560	1.06	280.5	544.8	10.7	986	20565	0.20	2.60	0.00	0.000	4	0.077	0.067	2927	746	1476
20594	1.10	280.5	541.6	8.9	987	20600	0.00	2.55	0.00	0.000	6	0.000	0.056	2927	2153	1477
20910	1.16	280.5	518.8	7.2	1003	20915	0.10	2.60	0.00	0.000	4	0.054	0.067	2961	741	1477
20943	1.12	280.5	515.8	8.8	1004	20949	0.00	2.55	0.00	0.000	6	0.000	0.056	2961	2150	1476
21259	1.07	280.5	487.2	8.8	1020	21264	0.15	2.58	0.00	0.000	4	0.080	0.066	2928	747	1477
21281	1.07	280.5	485.3	8.6	1021	21285	0.00	2.55	0.00	0.000	6	0.000	0.055	2928	2156	1477
21602	1.14	280.5	465.2	6.1	1037	21606	0.00	2.58	0.00	0.000	4	0.000	0.067	2929	747	1477
21642	1.21	280.5	462.4	8.0	1039	21647	0.15	2.53	0.00	0.000	6	0.045	0.055	2974	2150	1477
21969	1.11	280.5	432.5	9.2	1055	21974	0.15	2.58	0.00	0.000	4	0.081	0.066	2943	745	1477
21996	1.11	280.5	430.2	7.8	1056	22000	0.00	2.55	0.00	0.000	6	0.000	0.055	2942	2154	1477
22312	1.11	280.5	410.0	6.4	1071	22317	0.00	2.55	0.00	0.000	4	0.000	0.067	2942	747	1477
22346	1.11	280.5	407.4	7.9	1072	22352	0.00	2.55	0.00	0.000	6	0.000	0.055	2942	2160	1477
22661	1.12	288.2	388.0	5.7	1088	22675	0.00	2.65	8.40	0.921	4	0.000	0.067	2943	749	1445
22694	1.12	288.2	385.9	6.6	1089	22698	0.00	2.55	0.00	0.000	6	0.000	0.054	2942	2149	1445
23010	1.24	334.0	370.0	4.4	1104	23053	0.12	0.00	38.60	1.043	6	0.049	0.000	2982	2149	1258
23364	1.14	334.0	340.5	8.6	1121	23369	0.17	2.58	0.00	0.000	4	0.078	0.066	2943	748	1258
23427	1.21	334.0	336.0	6.2	1124	23431	0.00	2.53	0.00	0.000	6	0.000	0.054	2943	2150	1258
23754	1.29	338.5	317.2	5.8	1140	23765	0.15	2.62	5.57	0.789	4	0.045	0.066	2989	741	1240
23799	1.20	338.5	313.2	11.1	1142	23805	0.15	2.58	0.00	0.000	6	0.082	0.055	2958	2156	1240
24120	1.20	338.5	289.9	6.9	1158	24125	0.00	2.60	0.00	0.000	4	0.000	0.065	2959	747	1240
24154	1.20	338.5	287.4	6.2	1159	24160	0.00	2.55	0.00	0.000	6	0.000	0.054	2958	2156	1240
24470	1.20	338.5	265.5	7.2	1175	24474	0.00	2.60	0.00	0.000	4	0.000	0.067	2958	747	1240
24502	1.20	338.5	262.9	7.5	1176	24508	0.00	2.55	0.00	0.000	6	0.000	0.054	2958	2156	1240
24818	1.20	338.5	241.1	7.2	1192	24822	0.00	2.58	0.00	0.000	4	0.000	0.066	2959	747	1240
24857	1.20	338.5	238.1	8.1	1194	24862	0.00	2.53	0.00	0.000	6	0.000	0.054	2958	2153	1240
25184	1.20	338.5	213.5	7.8	1210	25188	0.00	2.60	0.00	0.000	4	0.000	0.067	2958	744	1240
25217	1.20	338.5	210.8	7.7	1211	25223	0.00	2.55	0.00	0.000	6	0.000	0.054	2958	2158	1240
25533	1.20	338.5	186.9	7.5	1227	25537	0.00	2.60	0.00	0.000	4	0.000	0.067	2958	740	1240
25572	1.20	338.5	183.7	7.2	1229	25576	0.00	2.53	0.00	0.000	6	0.000	0.054	2958	2150	1240
25898	1.20	338.5	161.3	6.8	1245	25903	0.00	2.58	0.00	0.000	4	0.000	0.065	2958	746	1241
25938	1.20	338.5	158.4	7.6	1247	25942	0.00	2.53	0.00	0.000	6	0.000	0.054	2959	2150	1241
26265	1.20	338.5	136.5	6.8	1263	26269	0.00	2.58	0.00	0.000	4	0.000	0.066	2959	746	1241
26298	1.20	338.5	134.3	6.3	1264	26304	0.00	2.53	0.00	0.000	6	0.000	0.054	2959	2150	1241
26615	1.24	338.5	110.8	7.7	1280	26620	0.00	2.58	0.00	0.000	4	0.000	0.065	2959	746	1241
26672	1.28	338.5	105.8	8.6	1282	26678	0.00	2.53	0.00	0.000	6	0.000	0.053	2958	2158	1241
26988	1.33	338.5	85.1	7.1	1298	26993	0.15	2.60	0.00	0.000	4	0.047	0.064	3008	743	1241
27022	1.21	338.5	81.8	12.3	1299	27028	0.22	2.53	0.00	0.000	6	0.077	0.054	2962	2149	1241
27339	1.21	338.5	58.2	7.2	1315	27343	0.00	2.58	0.00	0.000	4	0.000	0.064	2962	742	1241
27372	1.21	338.5	54.8	8.5	1316	27378	0.00	2.53	0.00	0.000	6	0.000	0.052	2962	2156	1241
27688	1.26	338.5	32.0	7.0	1332	27693	0.00	2.58	0.00	0.000	4	0.000	0.064	2962	746	1241
27722	1.30	338.5	29.3	8.8	1333	27728	0.00	2.50	0.00	0.000	6	0.000	0.051	2961	2150	1241
28039	1.35	338.5	3.4	8.3	1349	28044	0.15	2.58	0.00	0.000	4	0.044	0.062	3012	743	1242
28054	end climb: SURFACE_DEPTH_REACHED
state	28054	begin surface coast
28077	end surface coast: CONTROL_FINISHED_OK
state	28077	begin surface