Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 43 * 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 295 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 43 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 28 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 54 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 182 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 197 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 197

CALL_TRIES 5 HEADING 295 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 182

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 28 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 54 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 43 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 170319,140131,-2944.9597,3140.4084,6,0.8,27,-24.9,1.7,218.0,9,6.8 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -2941.378,3128.443

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.80 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 170319,141943,-2945.9424,3139.7090,6,1.0,14,-24.9,2.0,217.8,8,9.0 MHEAD_RNG_PITCHd_Wd 4.9,20000,-24.3,-9.980,-26.67,1272

SPEED_LIMITS 0.173,0.199 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.0,1.023403 _24V_AH 13.83,40.811

SM_CCo 6902,0.00,0.000,0,0,600,539.90 _10V_AH 13.98,0.000

SM_GC 0.70,14.27,0.00,0.00,0.056,0.000,0.000,125,1812,600,-8.26,-1.07,539.90,0,0,0,0,0,0,14.83,15.02,14.79 FG_AHR_24Vo 0.000

IRIDIUM_FIX -2932.67,3140.84,170319,140451 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.975947 MEM 340936

HUMID 40.90 DATA_FILE_SIZE 26678,1013

INTERNAL_PRESSURE 9.5467 CAP_FILE_SIZE 192378,0

TCM_TEMP 23.00 CFSIZE 2097086464,2087124992

XPDR_PINGS 71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 386.6,35.0 CURRENT 0.890,209.04,1

SC_FREEKB 3900640 GPS 170319,161625,-2948.310,3137.598,5,0.9,39,-25.0,1.6,208.2,9,5.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 477 206.80 nil 0 0 0.00

Roll_motor 120 202 336.93 nil 0 0 0.00

VBD_pump_during_apogee 283 1292 5059.76 nil 0 0 0.00

VBD_pump_during_surface 149 791 1642.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 16 11.50 nil 0 0 0.00

Iridium_during_connect 43 160 96.25 SciCon 6797 26 2457.04

Iridium_during_xfer 693 223 2139.11 nil 0 0 0.00

Transponder_ping 35 420 203.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.42

TT8 2580 9 346.66

LPSleep 1912 2 58.55

TT8_Active 657 9 88.38

TT8_Sampling 2720 28 1077.99

TT8_CF8 125 36 64.06

TT8_Kalman 0 0 0.00

Analog_circuits 1573 12 266.34

GPS_charging 0 0 0.00

Compass 1698 17 426.98

RAFOS 0 0 0.00

Transponder 107 30 45.09

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.91 -82.7 78 1847 638 561 0.0 0.0 0 106 0.00 0.00 -84.75 0.000 16386 0.000 0.000 76 1847 2889 2861 2918 0 0 0 0 0 0 15.10 28.83 15.11

109 -0.91 -82.7 76 1847 2862 2918 3.2 -6.2 15 135 13.68 2.28 -4.47 0.000 18692 0.287 0.065 2476 3250 3139 3133 3145 0 0 0 0 0 0 14.76 14.31 14.96

201 -0.91 -82.7 2476 3250 3133 3143 29.7 -21.7 32 208 0.03 2.33 0.00 0.000 3078 0.477 0.046 2485 1837 3139 3135 3144 0 0 0 0 0 0 14.84 14.96 15.00

270 -0.91 -82.7 2485 1837 3136 3143 42.4 -19.1 45 277 0.00 2.33 0.00 0.000 2564 0.000 0.062 2485 441 3139 3136 3142 0 0 0 0 0 0 15.18 14.95 15.18

304 -0.91 -82.7 2485 441 3136 3142 49.0 -20.0 51 312 0.00 2.28 0.00 0.000 3078 0.000 0.041 2478 1841 3138 3136 3141 0 0 0 0 0 0 15.02 14.95 15.03

373 -0.91 -82.7 2478 1844 3137 3141 64.2 -19.6 64 381 0.00 2.30 0.00 0.000 2308 0.000 0.051 2470 3255 3138 3136 3141 0 0 0 0 0 0 15.19 14.95 15.19

387 -0.91 -82.7 2469 3255 3137 3141 67.1 -20.6 66 395 0.08 2.30 0.00 0.000 3078 0.273 0.044 2485 1843 3139 3137 3141 0 0 0 0 0 0 14.91 15.00 15.04

459 -0.91 -82.7 2485 1843 3138 3140 80.3 -20.1 79 466 0.00 2.33 0.00 0.000 2308 0.000 0.052 2476 3253 3138 3137 3140 0 0 0 0 0 0 15.21 14.97 15.21

537 -0.91 -82.7 2477 3253 3137 3141 95.0 -16.0 94 545 0.00 2.28 0.00 0.000 3078 0.000 0.044 2472 1851 3138 3137 3140 0 0 0 0 0 0 15.11 15.02 15.11

608 -0.91 -82.7 2477 1850 3137 3140 106.6 -15.7 107 615 0.00 2.33 0.00 0.000 2564 0.000 0.061 2478 446 3139 3138 3140 0 0 0 0 0 0 15.22 15.02 15.22

627 -0.91 -82.7 2477 444 3138 3140 110.2 -16.6 110 635 0.08 2.28 0.00 0.000 3078 0.292 0.036 2487 1858 3138 3137 3140 0 0 0 0 0 0 14.93 15.04 15.07

697 -0.91 -82.7 2487 1860 3136 3140 121.0 -16.3 123 704 0.00 2.28 0.00 0.000 2308 0.000 0.057 2480 3247 3138 3137 3140 0 0 0 0 0 0 15.23 15.02 15.23

730 -0.91 -82.7 2480 3248 3137 3140 126.3 -16.2 129 737 0.00 2.28 0.00 0.000 3078 0.000 0.042 2479 1847 3138 3137 3140 0 0 0 0 0 0 15.10 15.02 15.11

801 -0.91 -82.7 2479 1847 3138 3140 138.2 -15.8 142 807 0.00 0.00 0.00 0.000 2054 0.000 0.000 2479 1847 3139 3138 3140 0 0 0 0 0 0 15.24 15.24 15.24

870 -0.91 -82.7 2479 1847 3138 3140 149.0 -16.6 155 877 0.00 2.30 0.00 0.000 2308 0.000 0.051 2471 3245 3138 3137 3140 0 0 0 0 0 0 15.24 15.02 15.24

935 -0.91 -82.7 2471 3247 3137 3139 158.7 -13.4 167 942 0.08 2.28 0.00 0.000 3078 0.277 0.044 2487 1848 3138 3138 3139 0 0 0 0 0 0 14.94 15.03 15.07

1004 -0.91 -82.7 2486 1845 3138 3139 168.9 -14.2 180 1010 0.00 2.33 0.00 0.000 2308 0.000 0.063 2483 3244 3138 3137 3139 0 0 0 0 0 0 15.24 15.00 15.24

1074 -0.91 -82.7 2484 3244 3137 3139 174.0 -7.9 193 1080 0.00 2.28 0.00 0.000 3078 0.000 0.042 2484 1839 3138 3137 3139 0 0 0 0 0 0 15.09 15.02 15.11

1141 -0.91 -82.7 2484 1839 3138 3138 182.6 -10.3 206 1149 0.00 2.35 0.00 0.000 2308 0.000 0.057 2484 3246 3138 3138 3138 0 0 0 0 0 0 15.26 15.04 15.26

1191 -0.91 -82.7 2484 3246 3138 3137 188.1 -10.2 215 1198 0.00 2.28 0.00 0.000 3078 0.000 0.043 2484 1846 3137 3137 3138 0 0 0 0 0 0 15.14 15.06 15.16

1263 -0.91 -82.7 2481 1846 3138 3138 195.3 -11.5 228 1269 0.00 2.33 0.00 0.000 2564 0.000 0.063 2484 443 3137 3138 3137 0 0 0 0 0 0 15.25 15.04 15.25

1285 -0.91 -82.7 2484 441 3137 3137 198.5 -12.5 232 1292 0.00 2.25 0.00 0.000 3078 0.000 0.037 2477 1842 3137 3137 3137 0 0 0 0 0 0 15.12 15.05 15.13

1354 -0.91 -82.7 2477 1844 3138 3137 207.5 -12.5 245 1360 0.00 0.00 0.00 0.000 2054 0.000 0.000 2477 1844 3137 3137 3137 0 0 0 0 0 0 15.27 15.27 15.27

1423 -0.91 -82.7 2477 1845 3137 3137 215.7 -11.7 258 1430 0.00 2.30 0.00 0.000 2308 0.000 0.055 2475 3256 3137 3137 3137 0 0 0 0 0 0 15.27 15.07 15.28

1568 -0.91 -82.7 2474 3256 3137 3136 233.7 -12.8 286 1576 0.05 2.28 0.00 0.000 3078 0.332 0.044 2486 1850 3136 3137 3136 0 0 0 0 0 0 14.97 15.09 15.12

1640 -0.91 -82.7 2486 1850 3137 3136 242.9 -12.9 299 1646 0.00 2.33 0.00 0.000 2308 0.000 0.055 2481 3261 3136 3137 3135 0 0 0 0 0 0 15.28 15.08 15.28

1723 -0.91 -82.7 2481 3261 3136 3136 254.5 -13.5 315 1730 0.00 2.30 0.00 0.000 3078 0.000 0.044 2481 1843 3135 3136 3135 0 0 0 0 0 0 15.18 15.09 15.19

1792 -0.91 -82.7 2481 1842 3136 3134 263.8 -13.0 328 1799 0.00 2.33 0.00 0.000 2308 0.000 0.056 2473 3253 3135 3136 3134 0 0 0 0 0 0 15.29 15.08 15.30

1861 -0.91 -82.7 2473 3253 3136 3134 272.4 -12.1 341 1869 0.08 2.28 0.00 0.000 3078 0.270 0.042 2490 1847 3135 3136 3134 0 0 0 0 0 0 15.00 15.09 15.14

1930 -0.91 -82.7 2489 1847 3136 3134 281.2 -12.1 354 1937 0.00 0.00 0.00 0.000 2054 0.000 0.000 2490 1847 3135 3136 3134 0 0 0 0 0 0 15.29 15.30 15.30

2000 -0.91 -82.7 2489 1847 3137 3133 289.5 -12.9 367 2007 0.00 2.33 0.00 0.000 2308 0.000 0.057 2488 3252 3135 3136 3134 0 0 0 0 0 0 15.29 15.09 15.29

2068 -0.91 -82.7 2489 3253 3135 3133 297.7 -11.7 380 2075 0.00 2.28 0.00 0.000 3078 0.000 0.047 2490 1854 3134 3135 3134 0 0 0 0 0 0 15.17 15.09 15.19

2152 -0.91 -82.7 2490 1854 3135 3133 308.1 -12.3 387 2154 0.00 0.00 0.00 0.000 2054 0.000 0.000 2490 1854 3134 3135 3133 0 0 0 0 0 0 15.31 15.32 15.33

2272 -0.91 -82.7 2490 1858 3135 3133 324.5 -13.7 393 2277 0.00 2.33 0.00 0.000 2308 0.000 0.057 2490 3261 3133 3134 3133 0 0 0 0 0 0 15.33 15.11 15.33

2329 -0.91 -82.7 2490 3261 3133 3133 330.0 -13.5 395 2336 0.00 2.30 0.00 0.000 3078 0.000 0.047 2490 1842 3133 3133 3133 0 0 0 0 0 0 15.21 15.12 15.21

2454 -0.91 -82.7 2489 1842 3134 3131 349.7 -14.7 402 2459 0.00 2.33 0.00 0.000 2308 0.000 0.056 2490 3251 3131 3133 3130 0 0 0 0 0 0 15.34 15.08 15.34

2486 -0.91 -82.7 2490 3251 3133 3130 353.0 -14.5 403 2491 0.00 2.28 0.00 0.000 3078 0.000 0.047 2490 1851 3131 3133 3130 0 0 0 0 0 0 15.21 15.12 15.23

2618 -0.91 -82.7 2490 1851 3132 3129 372.7 -14.1 410 2619 0.00 0.00 0.00 0.000 2054 0.000 0.000 2490 1851 3130 3132 3129 0 0 0 0 0 0 15.33 15.34 15.33

2738 -0.91 -82.7 2490 1851 3132 3128 389.3 -13.8 416 2739 0.00 0.00 0.00 0.000 2054 0.000 0.000 2490 1851 3130 3132 3129 0 0 0 0 0 0 15.35 15.35 15.35

2857 -0.91 -82.7 2490 1851 3132 3128 406.0 -14.0 422 2863 0.00 2.33 0.00 0.000 2308 0.000 0.057 2485 3259 3129 3131 3128 0 0 0 0 0 0 15.35 15.14 15.36

2889 -0.91 -82.7 2484 3259 3131 3128 408.9 -13.8 423 2894 0.00 2.30 0.00 0.000 3078 0.000 0.049 2484 1846 3129 3131 3128 0 0 0 0 0 0 15.23 15.14 15.24

2920 end dive: BOTTOM_OBSTACLE_DETECTED

state 2920 begin apogee

2924 -0.17 0.0 2484 1788 3131 3128 414.2 -13.2 425 2990 1.20 0.00 61.90 1.288 10246 0.164 0.000 2721 1788 2800 2816 2784 0 0 0 0 0 0 15.07 14.78 14.25

2992 end apogee: CONTROL_FINISHED_OK

state 2992 begin climb

2993 0.91 82.7 2724 1788 2815 2783 416.5 0.0 428 3070 1.58 2.42 67.15 1.292 10500 0.046 0.049 3094 3217 2459 2463 2455 0 0 0 0 0 0 14.79 14.43 14.00

3276 0.99 147.1 3094 3216 2465 2446 409.0 4.8 442 3335 0.00 2.35 52.38 1.281 9222 0.000 0.048 3104 1804 2199 2216 2183 0 0 0 0 0 0 14.98 14.91 14.13

3452 0.99 147.1 3104 1804 2209 2176 386.7 16.2 451 3458 0.00 2.40 0.00 0.000 516 0.000 0.071 3114 398 2192 2209 2176 0 0 0 0 0 0 15.03 14.82 15.04

3658 0.99 147.1 3113 398 2202 2174 352.6 16.9 461 3665 0.00 2.28 0.00 0.000 5126 0.000 0.041 3114 1804 2188 2203 2174 0 0 0 0 0 0 15.07 14.99 15.07

3797 0.99 147.1 3113 1806 2202 2173 329.3 16.4 468 3802 0.00 2.28 0.00 0.000 4356 0.000 0.052 3114 3205 2187 2201 2173 0 0 0 0 0 0 15.22 15.02 15.23

3913 0.99 147.1 3113 3205 2200 2172 312.6 16.3 473 3922 0.08 2.33 0.00 0.000 5126 0.371 0.051 3111 1792 2186 2200 2172 0 0 0 0 0 0 14.90 15.04 15.09

4039 0.99 147.1 3111 1791 2200 2170 291.1 14.9 489 4046 0.00 2.30 0.00 0.000 4356 0.000 0.050 3111 3203 2184 2199 2170 0 0 0 0 0 0 15.26 15.06 15.26

4548 0.99 147.1 3111 3203 2196 2168 214.8 15.3 590 4555 0.00 2.35 0.00 0.000 5126 0.000 0.054 3111 1797 2182 2196 2168 0 0 0 0 0 0 15.16 15.07 15.18

4617 0.99 147.1 3111 1797 2196 2168 203.7 16.4 603 4623 0.00 2.30 0.00 0.000 4356 0.000 0.051 3111 3205 2181 2196 2167 0 0 0 0 0 0 15.28 15.08 15.28

5125 1.00 157.7 3110 3205 2195 2167 144.0 9.1 704 5139 0.00 2.33 7.05 0.845 13318 0.000 0.050 3120 1795 2155 2171 2139 0 0 0 0 0 0 15.10 15.02 14.52

5202 1.00 157.7 3120 1795 2171 2139 135.9 11.7 718 5208 0.00 2.33 0.00 0.000 4356 0.000 0.051 3120 3202 2154 2170 2139 0 0 0 0 0 0 15.23 15.02 15.23

5600 1.00 157.7 3120 3202 2168 2139 89.6 11.0 797 5609 0.08 2.33 0.00 0.000 5126 0.364 0.050 3114 1799 2153 2168 2138 0 0 0 0 0 0 14.88 15.01 15.06

5672 1.01 161.4 3114 1798 2168 2138 82.5 9.7 810 5684 0.00 2.35 4.72 0.669 12548 0.000 0.050 3114 3206 2139 2155 2123 0 0 0 0 0 0 15.24 15.01 14.54

5731 1.03 177.5 3114 3206 2155 2122 77.1 8.7 821 5751 0.00 2.35 13.32 0.913 13318 0.000 0.052 3118 1792 2080 2099 2061 0 0 0 0 0 0 15.11 15.02 14.52

5813 1.03 177.5 3118 1792 2097 2060 69.5 10.4 836 5819 0.00 2.30 0.00 0.000 260 0.000 0.050 3118 3202 2076 2094 2059 0 0 0 0 0 0 15.16 14.97 15.17

6031 1.03 178.4 3118 3202 2095 2060 45.6 9.9 879 6037 0.00 2.33 0.00 0.000 5126 0.000 0.050 3126 1797 2076 2094 2059 0 0 0 0 0 0 15.07 14.98 15.08

6100 1.05 191.8 3126 1797 2094 2058 38.5 8.9 892 6119 0.00 2.38 12.57 0.851 12804 0.000 0.070 3128 395 2015 2036 1995 0 0 0 0 0 0 15.21 14.83 14.42

6621 1.18 297.2 3127 395 2036 1995 9.1 1.5 995 6693 0.08 2.28 64.05 0.879 11270 0.209 0.036 3156 1812 1584 1612 1557 0 0 0 0 0 0 15.00 15.02 14.36

6704 end climb: SURFACE_DEPTH_REACHED

state 6704 begin surface coast

6725 end surface coast: CONTROL_FINISHED_OK

state 6725 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1850	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	295	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	43	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	28	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	54	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	182	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	197	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	170319,140131,-2944.9597,3140.4084,6,0.8,27,-24.9,1.7,218.0,9,6.8	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-2941.378,3128.443
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.80	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	170319,141943,-2945.9424,3139.7090,6,1.0,14,-24.9,2.0,217.8,8,9.0	MHEAD_RNG_PITCHd_Wd	4.9,20000,-24.3,-9.980,-26.67,1272
SPEED_LIMITS	0.173,0.199	D_GRID	500

FINISH	0.0,1.023403	_24V_AH	13.83,40.811
SM_CCo	6902,0.00,0.000,0,0,600,539.90	_10V_AH	13.98,0.000
SM_GC	0.70,14.27,0.00,0.00,0.056,0.000,0.000,125,1812,600,-8.26,-1.07,539.90,0,0,0,0,0,0,14.83,15.02,14.79	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-2932.67,3140.84,170319,140451	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.975947	MEM	340936
HUMID	40.90	DATA_FILE_SIZE	26678,1013
INTERNAL_PRESSURE	9.5467	CAP_FILE_SIZE	192378,0
TCM_TEMP	23.00	CFSIZE	2097086464,2087124992
XPDR_PINGS	71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	386.6,35.0	CURRENT	0.890,209.04,1
SC_FREEKB	3900640	GPS	170319,161625,-2948.310,3137.598,5,0.9,39,-25.0,1.6,208.2,9,5.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	477	206.80	nil	0	0	0.00
Roll_motor	120	202	336.93	nil	0	0	0.00
VBD_pump_during_apogee	283	1292	5059.76	nil	0	0	0.00
VBD_pump_during_surface	149	791	1642.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	16	11.50	nil	0	0	0.00
Iridium_during_connect	43	160	96.25	SciCon	6797	26	2457.04
Iridium_during_xfer	693	223	2139.11	nil	0	0	0.00
Transponder_ping	35	420	203.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.42
TT8	2580	9	346.66
LPSleep	1912	2	58.55
TT8_Active	657	9	88.38
TT8_Sampling	2720	28	1077.99
TT8_CF8	125	36	64.06
TT8_Kalman	0	0	0.00
Analog_circuits	1573	12	266.34
GPS_charging	0	0	0.00
Compass	1698	17	426.98
RAFOS	0	0	0.00
Transponder	107	30	45.09

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.91	-82.7	78	1847	638	561	0.0	0.0	0	106	0.00	0.00	-84.75	0.000	16386	0.000	0.000	76	1847	2889	2861	2918	0	0	0	0	0	0	15.10	28.83	15.11
109	-0.91	-82.7	76	1847	2862	2918	3.2	-6.2	15	135	13.68	2.28	-4.47	0.000	18692	0.287	0.065	2476	3250	3139	3133	3145	0	0	0	0	0	0	14.76	14.31	14.96
201	-0.91	-82.7	2476	3250	3133	3143	29.7	-21.7	32	208	0.03	2.33	0.00	0.000	3078	0.477	0.046	2485	1837	3139	3135	3144	0	0	0	0	0	0	14.84	14.96	15.00
270	-0.91	-82.7	2485	1837	3136	3143	42.4	-19.1	45	277	0.00	2.33	0.00	0.000	2564	0.000	0.062	2485	441	3139	3136	3142	0	0	0	0	0	0	15.18	14.95	15.18
304	-0.91	-82.7	2485	441	3136	3142	49.0	-20.0	51	312	0.00	2.28	0.00	0.000	3078	0.000	0.041	2478	1841	3138	3136	3141	0	0	0	0	0	0	15.02	14.95	15.03
373	-0.91	-82.7	2478	1844	3137	3141	64.2	-19.6	64	381	0.00	2.30	0.00	0.000	2308	0.000	0.051	2470	3255	3138	3136	3141	0	0	0	0	0	0	15.19	14.95	15.19
387	-0.91	-82.7	2469	3255	3137	3141	67.1	-20.6	66	395	0.08	2.30	0.00	0.000	3078	0.273	0.044	2485	1843	3139	3137	3141	0	0	0	0	0	0	14.91	15.00	15.04
459	-0.91	-82.7	2485	1843	3138	3140	80.3	-20.1	79	466	0.00	2.33	0.00	0.000	2308	0.000	0.052	2476	3253	3138	3137	3140	0	0	0	0	0	0	15.21	14.97	15.21
537	-0.91	-82.7	2477	3253	3137	3141	95.0	-16.0	94	545	0.00	2.28	0.00	0.000	3078	0.000	0.044	2472	1851	3138	3137	3140	0	0	0	0	0	0	15.11	15.02	15.11
608	-0.91	-82.7	2477	1850	3137	3140	106.6	-15.7	107	615	0.00	2.33	0.00	0.000	2564	0.000	0.061	2478	446	3139	3138	3140	0	0	0	0	0	0	15.22	15.02	15.22
627	-0.91	-82.7	2477	444	3138	3140	110.2	-16.6	110	635	0.08	2.28	0.00	0.000	3078	0.292	0.036	2487	1858	3138	3137	3140	0	0	0	0	0	0	14.93	15.04	15.07
697	-0.91	-82.7	2487	1860	3136	3140	121.0	-16.3	123	704	0.00	2.28	0.00	0.000	2308	0.000	0.057	2480	3247	3138	3137	3140	0	0	0	0	0	0	15.23	15.02	15.23
730	-0.91	-82.7	2480	3248	3137	3140	126.3	-16.2	129	737	0.00	2.28	0.00	0.000	3078	0.000	0.042	2479	1847	3138	3137	3140	0	0	0	0	0	0	15.10	15.02	15.11
801	-0.91	-82.7	2479	1847	3138	3140	138.2	-15.8	142	807	0.00	0.00	0.00	0.000	2054	0.000	0.000	2479	1847	3139	3138	3140	0	0	0	0	0	0	15.24	15.24	15.24
870	-0.91	-82.7	2479	1847	3138	3140	149.0	-16.6	155	877	0.00	2.30	0.00	0.000	2308	0.000	0.051	2471	3245	3138	3137	3140	0	0	0	0	0	0	15.24	15.02	15.24
935	-0.91	-82.7	2471	3247	3137	3139	158.7	-13.4	167	942	0.08	2.28	0.00	0.000	3078	0.277	0.044	2487	1848	3138	3138	3139	0	0	0	0	0	0	14.94	15.03	15.07
1004	-0.91	-82.7	2486	1845	3138	3139	168.9	-14.2	180	1010	0.00	2.33	0.00	0.000	2308	0.000	0.063	2483	3244	3138	3137	3139	0	0	0	0	0	0	15.24	15.00	15.24
1074	-0.91	-82.7	2484	3244	3137	3139	174.0	-7.9	193	1080	0.00	2.28	0.00	0.000	3078	0.000	0.042	2484	1839	3138	3137	3139	0	0	0	0	0	0	15.09	15.02	15.11
1141	-0.91	-82.7	2484	1839	3138	3138	182.6	-10.3	206	1149	0.00	2.35	0.00	0.000	2308	0.000	0.057	2484	3246	3138	3138	3138	0	0	0	0	0	0	15.26	15.04	15.26
1191	-0.91	-82.7	2484	3246	3138	3137	188.1	-10.2	215	1198	0.00	2.28	0.00	0.000	3078	0.000	0.043	2484	1846	3137	3137	3138	0	0	0	0	0	0	15.14	15.06	15.16
1263	-0.91	-82.7	2481	1846	3138	3138	195.3	-11.5	228	1269	0.00	2.33	0.00	0.000	2564	0.000	0.063	2484	443	3137	3138	3137	0	0	0	0	0	0	15.25	15.04	15.25
1285	-0.91	-82.7	2484	441	3137	3137	198.5	-12.5	232	1292	0.00	2.25	0.00	0.000	3078	0.000	0.037	2477	1842	3137	3137	3137	0	0	0	0	0	0	15.12	15.05	15.13
1354	-0.91	-82.7	2477	1844	3138	3137	207.5	-12.5	245	1360	0.00	0.00	0.00	0.000	2054	0.000	0.000	2477	1844	3137	3137	3137	0	0	0	0	0	0	15.27	15.27	15.27
1423	-0.91	-82.7	2477	1845	3137	3137	215.7	-11.7	258	1430	0.00	2.30	0.00	0.000	2308	0.000	0.055	2475	3256	3137	3137	3137	0	0	0	0	0	0	15.27	15.07	15.28
1568	-0.91	-82.7	2474	3256	3137	3136	233.7	-12.8	286	1576	0.05	2.28	0.00	0.000	3078	0.332	0.044	2486	1850	3136	3137	3136	0	0	0	0	0	0	14.97	15.09	15.12
1640	-0.91	-82.7	2486	1850	3137	3136	242.9	-12.9	299	1646	0.00	2.33	0.00	0.000	2308	0.000	0.055	2481	3261	3136	3137	3135	0	0	0	0	0	0	15.28	15.08	15.28
1723	-0.91	-82.7	2481	3261	3136	3136	254.5	-13.5	315	1730	0.00	2.30	0.00	0.000	3078	0.000	0.044	2481	1843	3135	3136	3135	0	0	0	0	0	0	15.18	15.09	15.19
1792	-0.91	-82.7	2481	1842	3136	3134	263.8	-13.0	328	1799	0.00	2.33	0.00	0.000	2308	0.000	0.056	2473	3253	3135	3136	3134	0	0	0	0	0	0	15.29	15.08	15.30
1861	-0.91	-82.7	2473	3253	3136	3134	272.4	-12.1	341	1869	0.08	2.28	0.00	0.000	3078	0.270	0.042	2490	1847	3135	3136	3134	0	0	0	0	0	0	15.00	15.09	15.14
1930	-0.91	-82.7	2489	1847	3136	3134	281.2	-12.1	354	1937	0.00	0.00	0.00	0.000	2054	0.000	0.000	2490	1847	3135	3136	3134	0	0	0	0	0	0	15.29	15.30	15.30
2000	-0.91	-82.7	2489	1847	3137	3133	289.5	-12.9	367	2007	0.00	2.33	0.00	0.000	2308	0.000	0.057	2488	3252	3135	3136	3134	0	0	0	0	0	0	15.29	15.09	15.29
2068	-0.91	-82.7	2489	3253	3135	3133	297.7	-11.7	380	2075	0.00	2.28	0.00	0.000	3078	0.000	0.047	2490	1854	3134	3135	3134	0	0	0	0	0	0	15.17	15.09	15.19
2152	-0.91	-82.7	2490	1854	3135	3133	308.1	-12.3	387	2154	0.00	0.00	0.00	0.000	2054	0.000	0.000	2490	1854	3134	3135	3133	0	0	0	0	0	0	15.31	15.32	15.33
2272	-0.91	-82.7	2490	1858	3135	3133	324.5	-13.7	393	2277	0.00	2.33	0.00	0.000	2308	0.000	0.057	2490	3261	3133	3134	3133	0	0	0	0	0	0	15.33	15.11	15.33
2329	-0.91	-82.7	2490	3261	3133	3133	330.0	-13.5	395	2336	0.00	2.30	0.00	0.000	3078	0.000	0.047	2490	1842	3133	3133	3133	0	0	0	0	0	0	15.21	15.12	15.21
2454	-0.91	-82.7	2489	1842	3134	3131	349.7	-14.7	402	2459	0.00	2.33	0.00	0.000	2308	0.000	0.056	2490	3251	3131	3133	3130	0	0	0	0	0	0	15.34	15.08	15.34
2486	-0.91	-82.7	2490	3251	3133	3130	353.0	-14.5	403	2491	0.00	2.28	0.00	0.000	3078	0.000	0.047	2490	1851	3131	3133	3130	0	0	0	0	0	0	15.21	15.12	15.23
2618	-0.91	-82.7	2490	1851	3132	3129	372.7	-14.1	410	2619	0.00	0.00	0.00	0.000	2054	0.000	0.000	2490	1851	3130	3132	3129	0	0	0	0	0	0	15.33	15.34	15.33
2738	-0.91	-82.7	2490	1851	3132	3128	389.3	-13.8	416	2739	0.00	0.00	0.00	0.000	2054	0.000	0.000	2490	1851	3130	3132	3129	0	0	0	0	0	0	15.35	15.35	15.35
2857	-0.91	-82.7	2490	1851	3132	3128	406.0	-14.0	422	2863	0.00	2.33	0.00	0.000	2308	0.000	0.057	2485	3259	3129	3131	3128	0	0	0	0	0	0	15.35	15.14	15.36
2889	-0.91	-82.7	2484	3259	3131	3128	408.9	-13.8	423	2894	0.00	2.30	0.00	0.000	3078	0.000	0.049	2484	1846	3129	3131	3128	0	0	0	0	0	0	15.23	15.14	15.24
2920	end dive: BOTTOM_OBSTACLE_DETECTED
state	2920	begin apogee
2924	-0.17	0.0	2484	1788	3131	3128	414.2	-13.2	425	2990	1.20	0.00	61.90	1.288	10246	0.164	0.000	2721	1788	2800	2816	2784	0	0	0	0	0	0	15.07	14.78	14.25
2992	end apogee: CONTROL_FINISHED_OK
state	2992	begin climb
2993	0.91	82.7	2724	1788	2815	2783	416.5	0.0	428	3070	1.58	2.42	67.15	1.292	10500	0.046	0.049	3094	3217	2459	2463	2455	0	0	0	0	0	0	14.79	14.43	14.00
3276	0.99	147.1	3094	3216	2465	2446	409.0	4.8	442	3335	0.00	2.35	52.38	1.281	9222	0.000	0.048	3104	1804	2199	2216	2183	0	0	0	0	0	0	14.98	14.91	14.13
3452	0.99	147.1	3104	1804	2209	2176	386.7	16.2	451	3458	0.00	2.40	0.00	0.000	516	0.000	0.071	3114	398	2192	2209	2176	0	0	0	0	0	0	15.03	14.82	15.04
3658	0.99	147.1	3113	398	2202	2174	352.6	16.9	461	3665	0.00	2.28	0.00	0.000	5126	0.000	0.041	3114	1804	2188	2203	2174	0	0	0	0	0	0	15.07	14.99	15.07
3797	0.99	147.1	3113	1806	2202	2173	329.3	16.4	468	3802	0.00	2.28	0.00	0.000	4356	0.000	0.052	3114	3205	2187	2201	2173	0	0	0	0	0	0	15.22	15.02	15.23
3913	0.99	147.1	3113	3205	2200	2172	312.6	16.3	473	3922	0.08	2.33	0.00	0.000	5126	0.371	0.051	3111	1792	2186	2200	2172	0	0	0	0	0	0	14.90	15.04	15.09
4039	0.99	147.1	3111	1791	2200	2170	291.1	14.9	489	4046	0.00	2.30	0.00	0.000	4356	0.000	0.050	3111	3203	2184	2199	2170	0	0	0	0	0	0	15.26	15.06	15.26
4548	0.99	147.1	3111	3203	2196	2168	214.8	15.3	590	4555	0.00	2.35	0.00	0.000	5126	0.000	0.054	3111	1797	2182	2196	2168	0	0	0	0	0	0	15.16	15.07	15.18
4617	0.99	147.1	3111	1797	2196	2168	203.7	16.4	603	4623	0.00	2.30	0.00	0.000	4356	0.000	0.051	3111	3205	2181	2196	2167	0	0	0	0	0	0	15.28	15.08	15.28
5125	1.00	157.7	3110	3205	2195	2167	144.0	9.1	704	5139	0.00	2.33	7.05	0.845	13318	0.000	0.050	3120	1795	2155	2171	2139	0	0	0	0	0	0	15.10	15.02	14.52
5202	1.00	157.7	3120	1795	2171	2139	135.9	11.7	718	5208	0.00	2.33	0.00	0.000	4356	0.000	0.051	3120	3202	2154	2170	2139	0	0	0	0	0	0	15.23	15.02	15.23
5600	1.00	157.7	3120	3202	2168	2139	89.6	11.0	797	5609	0.08	2.33	0.00	0.000	5126	0.364	0.050	3114	1799	2153	2168	2138	0	0	0	0	0	0	14.88	15.01	15.06
5672	1.01	161.4	3114	1798	2168	2138	82.5	9.7	810	5684	0.00	2.35	4.72	0.669	12548	0.000	0.050	3114	3206	2139	2155	2123	0	0	0	0	0	0	15.24	15.01	14.54
5731	1.03	177.5	3114	3206	2155	2122	77.1	8.7	821	5751	0.00	2.35	13.32	0.913	13318	0.000	0.052	3118	1792	2080	2099	2061	0	0	0	0	0	0	15.11	15.02	14.52
5813	1.03	177.5	3118	1792	2097	2060	69.5	10.4	836	5819	0.00	2.30	0.00	0.000	260	0.000	0.050	3118	3202	2076	2094	2059	0	0	0	0	0	0	15.16	14.97	15.17
6031	1.03	178.4	3118	3202	2095	2060	45.6	9.9	879	6037	0.00	2.33	0.00	0.000	5126	0.000	0.050	3126	1797	2076	2094	2059	0	0	0	0	0	0	15.07	14.98	15.08
6100	1.05	191.8	3126	1797	2094	2058	38.5	8.9	892	6119	0.00	2.38	12.57	0.851	12804	0.000	0.070	3128	395	2015	2036	1995	0	0	0	0	0	0	15.21	14.83	14.42
6621	1.18	297.2	3127	395	2036	1995	9.1	1.5	995	6693	0.08	2.28	64.05	0.879	11270	0.209	0.036	3156	1812	1584	1612	1557	0	0	0	0	0	0	15.00	15.02	14.36
6704	end climb: SURFACE_DEPTH_REACHED
state	6704	begin surface coast
6725	end surface coast: CONTROL_FINISHED_OK
state	6725	begin surface