Glider dive log

SOSCEx 27Sep18 * SG573 * Dive index * Mission links * Dive 71 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 1987 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 23 HEADING 258 C_ROLL_CLIMB 1910 ALTIM_TOP_TURN_MARGIN 0

DIVE 71 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 100

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

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 58 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_ABORT 1050 SM_CC 320 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 5 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT -0.85000002

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2812 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 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 335 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 350 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 360 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 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.59918 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

NAV_MODE 0 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 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

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 1000 PITCH_AD_RATE 125 SM_CC 320

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 27 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 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 20 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 0.00010902 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -167.59918 T_ABORT 360

CALL_TRIES 5 HEADING 258 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 335

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 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 350

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.85000002 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1910 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1987 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2812 MASS 52619 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3807 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 167 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 150 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 58 VBD_MAX 3960

DEVICE5 -1 MISSION 23 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 71 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 259 SEABIRD_C_G -9.9432478 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 N_DIVES 0 SEABIRD_C_H 1.1588655 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0013646155 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_C_J 0.00018066024 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0043368991 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 0 SEABIRD_T_H 0.00062533951 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.3700677e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.5956786e-06

Pre-dive calculations and measurements:

GPS1 131018,071328,-3149.5337,2932.1621,76,0.9,100,-26.4,1.9,219.3,9,6.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3152.337,2919.372

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.08 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 131018,073141,-3150.0923,2931.8108,17,0.8,18,-26.4,1.6,266.8,10,6.4 MHEAD_RNG_PITCHd_Wd 284.4,20000,-18.2,-9.950,-20.98,2247

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.025548 SC_FREEKB 3882848

SM_CCo 6200,9.73,0.128,0,0,1506,320.11 _24V_AH 13.69,69.084

SM_GC 1.72,12.48,0.10,9.73,0.056,0.120,0.128,150,2005,1506,-7.27,-1.22,320.11,0,0,0,0,0,0,14.86,14.90,14.81 _10V_AH 13.39,0.000

IRIDIUM_FIX -3135.41,2934.31,131018,040321 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.948983 FG_AHR_10Vo 0.000

HUMID 58.15 MEM 339736

INTERNAL_PRESSURE 8.81834 DATA_FILE_SIZE 30052,875

TCM_TEMP 20.40 CAP_FILE_SIZE 185495,0

XPDR_PINGS 0 CFSIZE 1023623168,1009401856

ALTIM_TOP_PING 20.0,18.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 370.3,65.9 GPS 131018,091645,-3151.716,2930.362,32,1.0,32,-26.4,0.6,189.3,8,8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 488 189.56 nil 0 0 0.00

Roll_motor 115 137 216.79 nil 0 0 0.00

VBD_pump_during_apogee 360 1601 7906.91 nil 0 0 0.00

VBD_pump_during_surface 9 127 17.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 32 11.64 nil 0 0 0.00

Iridium_during_connect 36 160 79.61 SciCon 6275 23 2052.95

Iridium_during_xfer 743 223 2269.86 nil 0 0 0.00

Transponder_ping 7 420 43.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 23 6.06

TT8 2102 8 241.31

LPSleep 1924 2 56.43

TT8_Active 613 8 70.37

TT8_Sampling 2451 28 920.77

TT8_CF8 203 41 113.19

TT8_Kalman 0 0 0.00

Analog_circuits 1479 12 245.73

GPS_charging 0 0 0.00

Compass 1449 17 334.48

RAFOS 0 0 0.00

Transponder 50 30 20.25

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

20 -0.85 -146.0 73 2012 1539 1465 0.0 0.0 0 78 0.00 0.00 -56.20 0.000 16386 0.000 0.000 74 2011 3093 3097 3090 0 0 0 0 0 0 14.90 28.83 14.91

81 -0.85 -146.0 73 2011 3097 3091 3.6 -9.5 10 105 12.55 0.00 -5.40 0.000 18950 0.308 0.000 2205 2011 3407 3447 3368 0 0 0 0 0 0 14.49 14.00 14.65

166 -0.85 -146.0 2205 2011 3447 3368 26.8 -15.2 26 173 0.00 2.40 0.00 0.000 2308 0.000 0.075 2202 3367 3409 3449 3369 0 0 0 0 0 0 14.96 14.70 14.96

419 -0.85 -146.0 2202 3367 3449 3368 60.2 -11.6 76 426 0.00 2.33 0.00 0.000 3078 0.000 0.045 2203 1983 3409 3449 3369 0 0 0 0 0 0 14.82 14.70 14.83

489 -0.85 -146.0 2203 1983 3450 3369 68.2 -12.1 89 495 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1983 3409 3450 3369 0 0 0 0 0 0 15.03 15.04 15.04

556 -0.85 -146.0 2200 1983 3450 3369 77.0 -12.8 102 563 0.00 2.45 0.00 0.000 2308 0.000 0.074 2201 3368 3409 3450 3369 0 0 0 0 0 0 15.05 14.78 15.07

595 -0.85 -146.0 2200 3368 3450 3369 81.9 -12.5 109 602 0.00 2.33 0.00 0.000 3078 0.000 0.044 2200 1979 3409 3450 3369 0 0 0 0 0 0 14.89 14.80 14.90

665 -0.85 -146.0 2199 1978 3450 3369 90.2 -12.3 122 671 0.03 0.00 0.00 0.000 2054 0.489 0.000 2209 1978 3409 3451 3368 0 0 0 0 0 0 14.71 14.90 14.88

734 -0.85 -146.0 2209 1978 3451 3369 98.8 -12.4 135 740 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 1978 3410 3451 3369 0 0 0 0 0 0 15.06 15.07 15.07

801 -0.85 -146.0 2209 1978 3451 3369 106.6 -11.9 148 808 0.00 2.45 0.00 0.000 2308 0.000 0.074 2207 3367 3410 3451 3369 0 0 0 0 0 0 15.07 14.81 15.07

845 -0.85 -146.0 2207 3367 3451 3368 111.8 -12.2 156 851 0.00 2.30 0.00 0.000 3078 0.000 0.044 2207 1988 3409 3451 3368 0 0 0 0 0 0 14.87 14.78 14.88

915 -0.85 -146.0 2207 1988 3451 3369 120.2 -12.0 169 920 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 1988 3409 3451 3367 0 0 0 0 0 0 15.07 15.07 15.07

983 -0.85 -146.0 2207 1988 3452 3369 128.6 -11.9 182 989 0.00 2.40 0.00 0.000 2308 0.000 0.072 2207 3368 3410 3451 3369 0 0 0 0 0 0 15.08 14.82 15.09

1006 -0.85 -146.0 2206 3368 3451 3369 131.0 -10.8 186 1012 0.00 2.33 0.00 0.000 3078 0.000 0.044 2206 1982 3410 3451 3369 0 0 0 0 0 0 14.93 14.83 14.93

1075 -0.85 -146.0 2206 1981 3452 3369 139.0 -11.8 199 1082 0.00 2.40 0.00 0.000 2564 0.000 0.075 2207 582 3410 3452 3369 0 0 0 0 0 0 15.08 14.78 15.09

1100 -0.85 -146.0 2206 582 3452 3369 142.1 -12.2 203 1106 0.00 2.30 0.00 0.000 3078 0.000 0.049 2206 1973 3410 3452 3368 0 0 0 0 0 0 14.89 14.79 14.90

1170 -0.85 -146.0 2205 1973 3451 3375 150.3 -12.3 216 1177 0.00 2.47 0.00 0.000 2308 0.000 0.075 2204 3391 3410 3451 3369 0 0 0 0 0 0 15.08 14.77 15.08

1203 -0.85 -146.0 2203 3392 3451 3369 154.5 -11.8 222 1210 0.00 2.33 0.00 0.000 3078 0.000 0.043 2204 1982 3410 3451 3369 0 0 0 0 0 0 14.97 14.86 14.97

1272 -0.85 -146.0 2203 1982 3451 3368 162.6 -11.9 235 1278 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1982 3410 3452 3368 0 0 0 0 0 0 15.09 15.09 15.09

1341 -0.85 -146.0 2203 1982 3451 3364 170.4 -11.8 248 1347 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1982 3409 3451 3368 0 0 0 0 0 0 15.09 15.09 15.10

1409 -0.85 -146.0 2203 1982 3451 3368 178.6 -11.7 261 1414 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1982 3409 3451 3368 0 0 0 0 0 0 15.09 15.09 15.09

1476 -0.85 -146.0 2204 1982 3451 3369 186.7 -12.0 274 1483 0.00 2.45 0.00 0.000 2308 0.000 0.074 2203 3384 3409 3451 3368 0 0 0 0 0 0 15.14 14.83 15.10

1505 -0.85 -146.0 2205 3385 3451 3368 189.9 -10.4 279 1513 0.00 2.33 0.00 0.000 3078 0.000 0.043 2203 1986 3410 3451 3369 0 0 0 0 0 0 14.92 14.82 14.94

1577 -0.85 -146.0 2204 1986 3452 3368 197.9 -11.9 292 1583 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1986 3409 3451 3368 0 0 0 0 0 0 15.10 15.10 15.10

1645 -0.85 -146.0 2203 1986 3451 3369 206.0 -11.7 305 1650 0.00 0.00 0.00 0.000 2054 0.000 0.000 2204 1985 3409 3451 3368 0 0 0 0 0 0 15.10 15.10 15.10

1712 -0.85 -146.0 2204 1986 3451 3369 214.0 -12.0 318 1719 0.00 2.45 0.00 0.000 2308 0.000 0.075 2203 3389 3409 3451 3368 0 0 0 0 0 0 15.11 14.84 15.11

1741 -0.85 -146.0 2203 3390 3451 3368 217.3 -11.1 323 1748 0.00 2.35 0.00 0.000 3078 0.000 0.044 2203 1976 3410 3452 3368 0 0 0 0 0 0 14.98 14.85 15.00

1811 -0.85 -146.0 2203 1976 3451 3368 225.3 -11.9 336 1816 0.00 0.00 0.00 0.000 2054 0.000 0.000 2207 1976 3410 3451 3369 0 0 0 0 0 0 15.12 15.13 15.13

1878 -0.85 -146.0 2203 1975 3451 3368 233.8 -12.3 349 1884 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1975 3409 3451 3368 0 0 0 0 0 0 15.13 15.13 15.13

1946 -0.85 -146.0 2203 1976 3451 3368 242.0 -12.2 362 1952 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1976 3409 3451 3368 0 0 0 0 0 0 15.14 15.14 15.14

2015 -0.85 -146.0 2203 1976 3451 3368 250.3 -12.3 375 2021 0.00 2.45 0.00 0.000 2308 0.000 0.074 2203 3383 3409 3451 3367 0 0 0 0 0 0 15.11 14.85 15.11

2053 -0.85 -146.0 2202 3384 3450 3368 255.0 -11.6 382 2060 0.00 2.33 0.00 0.000 3078 0.000 0.044 2203 1981 3409 3450 3368 0 0 0 0 0 0 15.00 14.89 15.01

2123 -0.85 -146.0 2202 1981 3450 3368 263.2 -12.5 395 2128 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1981 3409 3450 3368 0 0 0 0 0 0 15.14 15.14 15.14

2190 -0.85 -146.0 2202 1981 3450 3368 271.7 -12.3 408 2196 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1981 3409 3450 3368 0 0 0 0 0 0 15.14 15.14 15.14

2260 -0.85 -146.0 2202 1981 3450 3367 280.3 -12.5 421 2266 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1980 3408 3450 3367 0 0 0 0 0 0 15.15 15.15 15.15

2328 -0.85 -146.0 2202 1981 3450 3368 289.1 -12.7 434 2334 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1981 3408 3449 3367 0 0 0 0 0 0 15.15 15.15 15.15

2395 -0.85 -146.0 2203 1980 3449 3367 297.7 -13.0 447 2402 0.00 2.47 0.00 0.000 2308 0.000 0.075 2200 3390 3408 3449 3367 0 0 0 0 0 0 15.14 14.86 15.14

2428 -0.85 -146.0 2200 3390 3445 3367 300.9 -13.0 451 2434 0.05 2.33 0.00 0.000 3078 0.321 0.046 2212 1990 3408 3449 3367 0 0 0 0 0 0 14.76 14.91 14.95

2561 -0.85 -146.0 2212 1990 3449 3367 319.0 -13.1 458 2562 0.00 0.00 0.00 0.000 2054 0.000 0.000 2212 1990 3408 3449 3367 0 0 0 0 0 0 15.17 15.17 15.17

2681 -0.85 -146.0 2211 1990 3448 3367 335.2 -13.5 464 2686 0.00 2.45 0.00 0.000 2308 0.000 0.076 2211 3390 3407 3448 3367 0 0 0 0 0 0 15.19 14.90 15.20

2727 -0.85 -146.0 2210 3390 3448 3366 340.7 -13.4 466 2732 0.00 2.33 0.00 0.000 3078 0.000 0.044 2211 1987 3407 3448 3366 0 0 0 0 0 0 15.04 14.95 15.06

2864 -0.85 -146.0 2210 1984 3449 3366 358.2 -12.4 473 2865 0.00 0.00 0.00 0.000 2054 0.000 0.000 2210 1987 3407 3448 3366 0 0 0 0 0 0 15.18 15.19 15.19

2984 -0.85 -146.0 2210 1987 3448 3365 372.9 -12.3 479 2989 0.00 2.45 0.00 0.000 2308 0.000 0.076 2210 3393 3406 3447 3365 0 0 0 0 0 0 15.20 14.90 15.20

3015 -0.85 -146.0 2210 3393 3448 3365 375.7 -12.5 480 3021 0.00 2.35 0.00 0.000 3078 0.000 0.044 2210 1975 3409 3454 3365 0 0 0 0 0 0 15.06 14.95 15.07

3148 -0.85 -146.0 2210 1976 3447 3364 394.0 -12.9 487 3153 0.00 2.45 0.00 0.000 2308 0.000 0.075 2210 3384 3406 3447 3365 0 0 0 0 0 0 15.21 14.92 15.21

3174 -0.85 -146.0 2210 3385 3447 3365 397.0 -12.6 488 3179 0.00 2.30 0.00 0.000 3078 0.000 0.045 2210 1989 3405 3447 3364 0 0 0 0 0 0 15.06 14.95 15.07

3311 -0.85 -146.0 2210 1988 3447 3364 415.1 -12.9 495 3312 0.00 0.00 0.00 0.000 2054 0.000 0.000 2210 1988 3405 3447 3364 0 0 0 0 0 0 15.21 15.21 15.21

3370 end dive: BOTTOM_OBSTACLE_DETECTED

state 3370 begin apogee

3375 -0.19 0.0 2210 1891 3445 3364 422.3 -12.0 498 3494 1.08 0.00 115.45 1.602 10246 0.157 0.000 2425 1890 2811 2850 2773 0 0 0 0 0 0 14.85 14.35 13.79

3496 end apogee: CONTROL_FINISHED_OK

state 3496 begin climb

3498 0.85 146.0 2425 1890 2850 2772 428.6 0.0 504 3627 1.52 2.60 116.70 1.567 11012 0.087 0.072 2747 3297 2215 2263 2167 0 0 0 0 0 0 14.38 14.22 13.69

3763 1.04 299.4 2747 3297 2257 2164 427.1 2.9 517 3900 0.22 2.33 128.40 1.561 11270 0.086 0.047 2832 1927 1590 1658 1523 0 0 0 0 0 0 14.65 14.60 13.70

4038 1.04 299.4 2832 1927 1650 1517 380.2 19.8 531 4039 0.00 0.00 0.00 0.000 4102 0.000 0.000 2832 1928 1583 1650 1516 0 0 0 0 0 0 14.82 14.83 14.83

4158 1.04 299.4 2832 1927 1653 1516 356.8 19.5 537 4159 0.00 0.00 0.00 0.000 4102 0.000 0.000 2832 1927 1582 1649 1516 0 0 0 0 0 0 14.94 14.94 14.94

4278 1.04 299.4 2832 1927 1648 1516 333.2 19.7 543 4283 0.00 2.40 0.00 0.000 4356 0.000 0.067 2832 3313 1582 1648 1516 0 0 0 0 0 0 15.02 14.77 15.02

4314 1.04 299.4 2831 3313 1647 1516 328.7 19.8 544 4321 0.08 2.38 0.00 0.000 5126 0.302 0.054 2827 1908 1581 1647 1515 0 0 0 0 0 0 14.69 14.80 14.86

4440 1.04 299.4 2827 1906 1648 1515 301.2 19.5 551 4441 0.00 0.00 0.00 0.000 4102 0.000 0.000 2827 1908 1581 1647 1515 0 0 0 0 0 0 15.07 15.07 15.07

4560 1.04 299.4 2827 1908 1646 1515 277.1 20.7 572 4567 0.00 2.42 0.00 0.000 4356 0.000 0.069 2827 3311 1580 1646 1515 0 0 0 0 0 0 15.07 14.84 15.09

4594 1.04 299.4 2827 3311 1646 1515 270.2 21.4 578 4600 0.00 2.38 0.00 0.000 5126 0.000 0.054 2836 1908 1580 1646 1515 0 0 0 0 0 0 14.90 14.86 14.92

4663 1.04 299.4 2836 1908 1646 1514 256.4 20.3 591 4669 0.00 0.00 0.00 0.000 4102 0.000 0.000 2836 1908 1580 1646 1515 0 0 0 0 0 0 15.09 15.10 15.10

4731 1.04 299.4 2836 1908 1646 1515 242.4 20.0 604 4737 0.00 0.00 0.00 0.000 4102 0.000 0.000 2835 1908 1580 1646 1515 0 0 0 0 0 0 15.10 15.11 15.11

4799 1.04 299.4 2836 1907 1646 1515 229.1 19.3 617 4805 0.00 0.00 0.00 0.000 4102 0.000 0.000 2836 1908 1579 1645 1514 0 0 0 0 0 0 15.10 15.11 15.10

4866 1.04 299.4 2836 1907 1645 1515 216.2 19.0 630 4872 0.00 0.00 0.00 0.000 4102 0.000 0.000 2836 1908 1579 1645 1514 0 0 0 0 0 0 15.12 15.12 15.12

4935 1.04 299.4 2836 1908 1645 1515 203.5 18.8 643 4941 0.00 2.42 0.00 0.000 4356 0.000 0.069 2836 3308 1579 1644 1515 0 0 0 0 0 0 15.12 14.81 15.12

4958 1.04 299.4 2835 3308 1644 1515 198.8 19.2 647 4965 0.08 2.38 0.00 0.000 5126 0.312 0.054 2827 1903 1579 1644 1514 0 0 0 0 0 0 14.76 14.88 14.95

5028 1.04 299.4 2827 1904 1644 1514 186.7 17.6 660 5034 0.00 0.00 0.00 0.000 4102 0.000 0.000 2827 1903 1579 1644 1515 0 0 0 0 0 0 15.11 15.12 15.12

5096 1.04 299.4 2827 1904 1643 1514 174.3 18.1 673 5102 0.00 2.42 0.00 0.000 4612 0.000 0.084 2837 500 1581 1644 1518 0 0 0 0 0 0 15.11 14.85 15.11

5119 1.04 299.4 2836 502 1643 1518 170.1 18.4 677 5126 0.00 2.33 0.00 0.000 5126 0.000 0.048 2837 1906 1578 1643 1514 0 0 0 0 0 0 14.92 14.85 14.93

5188 1.04 299.4 2837 1908 1643 1514 157.6 18.1 690 5195 0.00 2.42 0.00 0.000 4356 0.000 0.070 2837 3320 1578 1643 1514 0 0 0 0 0 0 15.11 14.86 15.11

5212 1.04 299.4 2836 3320 1643 1514 153.2 18.0 694 5219 0.08 2.40 0.00 0.000 5126 0.314 0.054 2831 1901 1578 1643 1514 0 0 0 0 0 0 14.74 14.87 14.95

5282 1.04 299.4 2830 1902 1643 1514 140.9 17.1 707 5288 0.00 0.00 0.00 0.000 4102 0.000 0.000 2831 1901 1578 1643 1514 0 0 0 0 0 0 15.11 15.11 15.11

5350 1.04 299.4 2830 1901 1643 1514 128.8 17.9 720 5355 0.00 0.00 0.00 0.000 4102 0.000 0.000 2831 1901 1578 1643 1514 0 0 0 0 0 0 15.10 15.10 15.10

5417 1.04 299.4 2831 1901 1643 1514 117.1 17.2 733 5423 0.00 0.00 0.00 0.000 4102 0.000 0.000 2831 1901 1578 1643 1514 0 0 0 0 0 0 15.11 15.11 15.11

5485 1.04 299.4 2830 1901 1643 1514 105.2 17.2 746 5492 0.00 2.45 0.00 0.000 4356 0.000 0.068 2830 3318 1579 1644 1514 0 0 0 0 0 0 15.10 14.83 15.10

5514 1.04 299.4 2830 3319 1643 1514 100.3 18.0 751 5520 0.00 2.38 0.00 0.000 5126 0.000 0.055 2831 1912 1578 1643 1514 0 0 0 0 0 0 14.91 14.85 14.92

5583 1.04 299.4 2831 1912 1643 1513 89.1 17.0 764 5589 0.00 0.00 0.00 0.000 4102 0.000 0.000 2831 1912 1578 1643 1514 0 0 0 0 0 0 15.10 15.10 15.10

5651 1.04 299.4 2831 1912 1643 1512 77.1 16.7 777 5657 0.00 0.00 0.00 0.000 4102 0.000 0.000 2831 1912 1579 1644 1514 0 0 0 0 0 0 15.11 15.11 15.11

5719 1.04 299.4 2831 1912 1643 1514 65.1 17.4 790 5726 0.00 2.42 0.00 0.000 4356 0.000 0.068 2831 3320 1578 1643 1514 0 0 0 0 0 0 15.11 14.78 15.11

5752 1.04 299.4 2831 3320 1642 1514 59.2 19.0 796 5759 0.00 2.40 0.00 0.000 5126 0.000 0.056 2838 1905 1578 1643 1514 0 0 0 0 0 0 14.98 14.87 15.00

5821 1.04 299.4 2838 1904 1643 1514 46.6 17.3 809 5828 0.00 2.42 0.00 0.000 4612 0.000 0.085 2849 502 1578 1643 1514 0 0 0 0 0 0 15.10 14.83 15.10

5840 1.04 299.4 2848 501 1642 1514 43.1 17.7 812 5847 0.10 2.35 0.00 0.000 5126 0.263 0.047 2829 1923 1578 1642 1514 0 0 0 0 0 0 14.71 14.83 14.90

5910 1.04 299.4 2828 1923 1643 1514 32.2 14.6 825 5917 0.00 2.40 0.00 0.000 4356 0.000 0.071 2836 3317 1578 1643 1514 0 0 0 0 0 0 15.09 14.81 15.09

5954 1.04 299.4 2828 3318 1643 1513 26.7 12.0 833 5961 0.00 2.38 0.00 0.000 5126 0.000 0.051 2836 1903 1578 1643 1513 0 0 0 0 0 0 14.90 14.82 14.92

6025 1.04 299.4 2835 1903 1643 1513 18.2 13.9 846 6031 0.00 2.42 0.00 0.000 4356 0.000 0.069 2836 3309 1578 1643 1513 0 0 0 0 0 0 15.09 14.80 15.09

6083 1.04 299.4 2836 3309 1643 1513 10.9 11.7 857 6091 0.08 2.35 0.00 0.000 5126 0.299 0.052 2826 1913 1577 1641 1513 0 0 0 0 0 0 14.73 14.87 14.93

6152 end climb: SURFACE_DEPTH_REACHED

state 6153 begin surface coast

6179 end surface coast: CONTROL_FINISHED_OK

state 6179 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	23	HEADING	258	C_ROLL_CLIMB	1910	ALTIM_TOP_TURN_MARGIN	0
DIVE	71	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	100
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
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	58	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_ABORT	1050	SM_CC	320	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	5	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	-0.85000002
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2812	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	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	335	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	350	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	360	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	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00062533951
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3700677e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.5956786e-06
SPEED_FACTOR	1	PITCH_GAIN	27	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9432478
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-167.59918	SEABIRD_C_H	1.1588655
MASS	52619	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.00010902	SEABIRD_C_I	-0.0013646155
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00018066024
NAV_MODE	0	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	167	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3807	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20

GPS1	131018,071328,-3149.5337,2932.1621,76,0.9,100,-26.4,1.9,219.3,9,6.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3152.337,2919.372
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.08	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	131018,073141,-3150.0923,2931.8108,17,0.8,18,-26.4,1.6,266.8,10,6.4	MHEAD_RNG_PITCHd_Wd	284.4,20000,-18.2,-9.950,-20.98,2247
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	0.4,1.025548	SC_FREEKB	3882848
SM_CCo	6200,9.73,0.128,0,0,1506,320.11	_24V_AH	13.69,69.084
SM_GC	1.72,12.48,0.10,9.73,0.056,0.120,0.128,150,2005,1506,-7.27,-1.22,320.11,0,0,0,0,0,0,14.86,14.90,14.81	_10V_AH	13.39,0.000
IRIDIUM_FIX	-3135.41,2934.31,131018,040321	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.948983	FG_AHR_10Vo	0.000
HUMID	58.15	MEM	339736
INTERNAL_PRESSURE	8.81834	DATA_FILE_SIZE	30052,875
TCM_TEMP	20.40	CAP_FILE_SIZE	185495,0
XPDR_PINGS	0	CFSIZE	1023623168,1009401856
ALTIM_TOP_PING	20.0,18.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	370.3,65.9	GPS	131018,091645,-3151.716,2930.362,32,1.0,32,-26.4,0.6,189.3,8,8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	488	189.56	nil	0	0	0.00
Roll_motor	115	137	216.79	nil	0	0	0.00
VBD_pump_during_apogee	360	1601	7906.91	nil	0	0	0.00
VBD_pump_during_surface	9	127	17.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	32	11.64	nil	0	0	0.00
Iridium_during_connect	36	160	79.61	SciCon	6275	23	2052.95
Iridium_during_xfer	743	223	2269.86	nil	0	0	0.00
Transponder_ping	7	420	43.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	23	6.06
TT8	2102	8	241.31
LPSleep	1924	2	56.43
TT8_Active	613	8	70.37
TT8_Sampling	2451	28	920.77
TT8_CF8	203	41	113.19
TT8_Kalman	0	0	0.00
Analog_circuits	1479	12	245.73
GPS_charging	0	0	0.00
Compass	1449	17	334.48
RAFOS	0	0	0.00
Transponder	50	30	20.25

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
20	-0.85	-146.0	73	2012	1539	1465	0.0	0.0	0	78	0.00	0.00	-56.20	0.000	16386	0.000	0.000	74	2011	3093	3097	3090	0	0	0	0	0	0	14.90	28.83	14.91
81	-0.85	-146.0	73	2011	3097	3091	3.6	-9.5	10	105	12.55	0.00	-5.40	0.000	18950	0.308	0.000	2205	2011	3407	3447	3368	0	0	0	0	0	0	14.49	14.00	14.65
166	-0.85	-146.0	2205	2011	3447	3368	26.8	-15.2	26	173	0.00	2.40	0.00	0.000	2308	0.000	0.075	2202	3367	3409	3449	3369	0	0	0	0	0	0	14.96	14.70	14.96
419	-0.85	-146.0	2202	3367	3449	3368	60.2	-11.6	76	426	0.00	2.33	0.00	0.000	3078	0.000	0.045	2203	1983	3409	3449	3369	0	0	0	0	0	0	14.82	14.70	14.83
489	-0.85	-146.0	2203	1983	3450	3369	68.2	-12.1	89	495	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1983	3409	3450	3369	0	0	0	0	0	0	15.03	15.04	15.04
556	-0.85	-146.0	2200	1983	3450	3369	77.0	-12.8	102	563	0.00	2.45	0.00	0.000	2308	0.000	0.074	2201	3368	3409	3450	3369	0	0	0	0	0	0	15.05	14.78	15.07
595	-0.85	-146.0	2200	3368	3450	3369	81.9	-12.5	109	602	0.00	2.33	0.00	0.000	3078	0.000	0.044	2200	1979	3409	3450	3369	0	0	0	0	0	0	14.89	14.80	14.90
665	-0.85	-146.0	2199	1978	3450	3369	90.2	-12.3	122	671	0.03	0.00	0.00	0.000	2054	0.489	0.000	2209	1978	3409	3451	3368	0	0	0	0	0	0	14.71	14.90	14.88
734	-0.85	-146.0	2209	1978	3451	3369	98.8	-12.4	135	740	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	1978	3410	3451	3369	0	0	0	0	0	0	15.06	15.07	15.07
801	-0.85	-146.0	2209	1978	3451	3369	106.6	-11.9	148	808	0.00	2.45	0.00	0.000	2308	0.000	0.074	2207	3367	3410	3451	3369	0	0	0	0	0	0	15.07	14.81	15.07
845	-0.85	-146.0	2207	3367	3451	3368	111.8	-12.2	156	851	0.00	2.30	0.00	0.000	3078	0.000	0.044	2207	1988	3409	3451	3368	0	0	0	0	0	0	14.87	14.78	14.88
915	-0.85	-146.0	2207	1988	3451	3369	120.2	-12.0	169	920	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	1988	3409	3451	3367	0	0	0	0	0	0	15.07	15.07	15.07
983	-0.85	-146.0	2207	1988	3452	3369	128.6	-11.9	182	989	0.00	2.40	0.00	0.000	2308	0.000	0.072	2207	3368	3410	3451	3369	0	0	0	0	0	0	15.08	14.82	15.09
1006	-0.85	-146.0	2206	3368	3451	3369	131.0	-10.8	186	1012	0.00	2.33	0.00	0.000	3078	0.000	0.044	2206	1982	3410	3451	3369	0	0	0	0	0	0	14.93	14.83	14.93
1075	-0.85	-146.0	2206	1981	3452	3369	139.0	-11.8	199	1082	0.00	2.40	0.00	0.000	2564	0.000	0.075	2207	582	3410	3452	3369	0	0	0	0	0	0	15.08	14.78	15.09
1100	-0.85	-146.0	2206	582	3452	3369	142.1	-12.2	203	1106	0.00	2.30	0.00	0.000	3078	0.000	0.049	2206	1973	3410	3452	3368	0	0	0	0	0	0	14.89	14.79	14.90
1170	-0.85	-146.0	2205	1973	3451	3375	150.3	-12.3	216	1177	0.00	2.47	0.00	0.000	2308	0.000	0.075	2204	3391	3410	3451	3369	0	0	0	0	0	0	15.08	14.77	15.08
1203	-0.85	-146.0	2203	3392	3451	3369	154.5	-11.8	222	1210	0.00	2.33	0.00	0.000	3078	0.000	0.043	2204	1982	3410	3451	3369	0	0	0	0	0	0	14.97	14.86	14.97
1272	-0.85	-146.0	2203	1982	3451	3368	162.6	-11.9	235	1278	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1982	3410	3452	3368	0	0	0	0	0	0	15.09	15.09	15.09
1341	-0.85	-146.0	2203	1982	3451	3364	170.4	-11.8	248	1347	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1982	3409	3451	3368	0	0	0	0	0	0	15.09	15.09	15.10
1409	-0.85	-146.0	2203	1982	3451	3368	178.6	-11.7	261	1414	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1982	3409	3451	3368	0	0	0	0	0	0	15.09	15.09	15.09
1476	-0.85	-146.0	2204	1982	3451	3369	186.7	-12.0	274	1483	0.00	2.45	0.00	0.000	2308	0.000	0.074	2203	3384	3409	3451	3368	0	0	0	0	0	0	15.14	14.83	15.10
1505	-0.85	-146.0	2205	3385	3451	3368	189.9	-10.4	279	1513	0.00	2.33	0.00	0.000	3078	0.000	0.043	2203	1986	3410	3451	3369	0	0	0	0	0	0	14.92	14.82	14.94
1577	-0.85	-146.0	2204	1986	3452	3368	197.9	-11.9	292	1583	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1986	3409	3451	3368	0	0	0	0	0	0	15.10	15.10	15.10
1645	-0.85	-146.0	2203	1986	3451	3369	206.0	-11.7	305	1650	0.00	0.00	0.00	0.000	2054	0.000	0.000	2204	1985	3409	3451	3368	0	0	0	0	0	0	15.10	15.10	15.10
1712	-0.85	-146.0	2204	1986	3451	3369	214.0	-12.0	318	1719	0.00	2.45	0.00	0.000	2308	0.000	0.075	2203	3389	3409	3451	3368	0	0	0	0	0	0	15.11	14.84	15.11
1741	-0.85	-146.0	2203	3390	3451	3368	217.3	-11.1	323	1748	0.00	2.35	0.00	0.000	3078	0.000	0.044	2203	1976	3410	3452	3368	0	0	0	0	0	0	14.98	14.85	15.00
1811	-0.85	-146.0	2203	1976	3451	3368	225.3	-11.9	336	1816	0.00	0.00	0.00	0.000	2054	0.000	0.000	2207	1976	3410	3451	3369	0	0	0	0	0	0	15.12	15.13	15.13
1878	-0.85	-146.0	2203	1975	3451	3368	233.8	-12.3	349	1884	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1975	3409	3451	3368	0	0	0	0	0	0	15.13	15.13	15.13
1946	-0.85	-146.0	2203	1976	3451	3368	242.0	-12.2	362	1952	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1976	3409	3451	3368	0	0	0	0	0	0	15.14	15.14	15.14
2015	-0.85	-146.0	2203	1976	3451	3368	250.3	-12.3	375	2021	0.00	2.45	0.00	0.000	2308	0.000	0.074	2203	3383	3409	3451	3367	0	0	0	0	0	0	15.11	14.85	15.11
2053	-0.85	-146.0	2202	3384	3450	3368	255.0	-11.6	382	2060	0.00	2.33	0.00	0.000	3078	0.000	0.044	2203	1981	3409	3450	3368	0	0	0	0	0	0	15.00	14.89	15.01
2123	-0.85	-146.0	2202	1981	3450	3368	263.2	-12.5	395	2128	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1981	3409	3450	3368	0	0	0	0	0	0	15.14	15.14	15.14
2190	-0.85	-146.0	2202	1981	3450	3368	271.7	-12.3	408	2196	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1981	3409	3450	3368	0	0	0	0	0	0	15.14	15.14	15.14
2260	-0.85	-146.0	2202	1981	3450	3367	280.3	-12.5	421	2266	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1980	3408	3450	3367	0	0	0	0	0	0	15.15	15.15	15.15
2328	-0.85	-146.0	2202	1981	3450	3368	289.1	-12.7	434	2334	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1981	3408	3449	3367	0	0	0	0	0	0	15.15	15.15	15.15
2395	-0.85	-146.0	2203	1980	3449	3367	297.7	-13.0	447	2402	0.00	2.47	0.00	0.000	2308	0.000	0.075	2200	3390	3408	3449	3367	0	0	0	0	0	0	15.14	14.86	15.14
2428	-0.85	-146.0	2200	3390	3445	3367	300.9	-13.0	451	2434	0.05	2.33	0.00	0.000	3078	0.321	0.046	2212	1990	3408	3449	3367	0	0	0	0	0	0	14.76	14.91	14.95
2561	-0.85	-146.0	2212	1990	3449	3367	319.0	-13.1	458	2562	0.00	0.00	0.00	0.000	2054	0.000	0.000	2212	1990	3408	3449	3367	0	0	0	0	0	0	15.17	15.17	15.17
2681	-0.85	-146.0	2211	1990	3448	3367	335.2	-13.5	464	2686	0.00	2.45	0.00	0.000	2308	0.000	0.076	2211	3390	3407	3448	3367	0	0	0	0	0	0	15.19	14.90	15.20
2727	-0.85	-146.0	2210	3390	3448	3366	340.7	-13.4	466	2732	0.00	2.33	0.00	0.000	3078	0.000	0.044	2211	1987	3407	3448	3366	0	0	0	0	0	0	15.04	14.95	15.06
2864	-0.85	-146.0	2210	1984	3449	3366	358.2	-12.4	473	2865	0.00	0.00	0.00	0.000	2054	0.000	0.000	2210	1987	3407	3448	3366	0	0	0	0	0	0	15.18	15.19	15.19
2984	-0.85	-146.0	2210	1987	3448	3365	372.9	-12.3	479	2989	0.00	2.45	0.00	0.000	2308	0.000	0.076	2210	3393	3406	3447	3365	0	0	0	0	0	0	15.20	14.90	15.20
3015	-0.85	-146.0	2210	3393	3448	3365	375.7	-12.5	480	3021	0.00	2.35	0.00	0.000	3078	0.000	0.044	2210	1975	3409	3454	3365	0	0	0	0	0	0	15.06	14.95	15.07
3148	-0.85	-146.0	2210	1976	3447	3364	394.0	-12.9	487	3153	0.00	2.45	0.00	0.000	2308	0.000	0.075	2210	3384	3406	3447	3365	0	0	0	0	0	0	15.21	14.92	15.21
3174	-0.85	-146.0	2210	3385	3447	3365	397.0	-12.6	488	3179	0.00	2.30	0.00	0.000	3078	0.000	0.045	2210	1989	3405	3447	3364	0	0	0	0	0	0	15.06	14.95	15.07
3311	-0.85	-146.0	2210	1988	3447	3364	415.1	-12.9	495	3312	0.00	0.00	0.00	0.000	2054	0.000	0.000	2210	1988	3405	3447	3364	0	0	0	0	0	0	15.21	15.21	15.21
3370	end dive: BOTTOM_OBSTACLE_DETECTED
state	3370	begin apogee
3375	-0.19	0.0	2210	1891	3445	3364	422.3	-12.0	498	3494	1.08	0.00	115.45	1.602	10246	0.157	0.000	2425	1890	2811	2850	2773	0	0	0	0	0	0	14.85	14.35	13.79
3496	end apogee: CONTROL_FINISHED_OK
state	3496	begin climb
3498	0.85	146.0	2425	1890	2850	2772	428.6	0.0	504	3627	1.52	2.60	116.70	1.567	11012	0.087	0.072	2747	3297	2215	2263	2167	0	0	0	0	0	0	14.38	14.22	13.69
3763	1.04	299.4	2747	3297	2257	2164	427.1	2.9	517	3900	0.22	2.33	128.40	1.561	11270	0.086	0.047	2832	1927	1590	1658	1523	0	0	0	0	0	0	14.65	14.60	13.70
4038	1.04	299.4	2832	1927	1650	1517	380.2	19.8	531	4039	0.00	0.00	0.00	0.000	4102	0.000	0.000	2832	1928	1583	1650	1516	0	0	0	0	0	0	14.82	14.83	14.83
4158	1.04	299.4	2832	1927	1653	1516	356.8	19.5	537	4159	0.00	0.00	0.00	0.000	4102	0.000	0.000	2832	1927	1582	1649	1516	0	0	0	0	0	0	14.94	14.94	14.94
4278	1.04	299.4	2832	1927	1648	1516	333.2	19.7	543	4283	0.00	2.40	0.00	0.000	4356	0.000	0.067	2832	3313	1582	1648	1516	0	0	0	0	0	0	15.02	14.77	15.02
4314	1.04	299.4	2831	3313	1647	1516	328.7	19.8	544	4321	0.08	2.38	0.00	0.000	5126	0.302	0.054	2827	1908	1581	1647	1515	0	0	0	0	0	0	14.69	14.80	14.86
4440	1.04	299.4	2827	1906	1648	1515	301.2	19.5	551	4441	0.00	0.00	0.00	0.000	4102	0.000	0.000	2827	1908	1581	1647	1515	0	0	0	0	0	0	15.07	15.07	15.07
4560	1.04	299.4	2827	1908	1646	1515	277.1	20.7	572	4567	0.00	2.42	0.00	0.000	4356	0.000	0.069	2827	3311	1580	1646	1515	0	0	0	0	0	0	15.07	14.84	15.09
4594	1.04	299.4	2827	3311	1646	1515	270.2	21.4	578	4600	0.00	2.38	0.00	0.000	5126	0.000	0.054	2836	1908	1580	1646	1515	0	0	0	0	0	0	14.90	14.86	14.92
4663	1.04	299.4	2836	1908	1646	1514	256.4	20.3	591	4669	0.00	0.00	0.00	0.000	4102	0.000	0.000	2836	1908	1580	1646	1515	0	0	0	0	0	0	15.09	15.10	15.10
4731	1.04	299.4	2836	1908	1646	1515	242.4	20.0	604	4737	0.00	0.00	0.00	0.000	4102	0.000	0.000	2835	1908	1580	1646	1515	0	0	0	0	0	0	15.10	15.11	15.11
4799	1.04	299.4	2836	1907	1646	1515	229.1	19.3	617	4805	0.00	0.00	0.00	0.000	4102	0.000	0.000	2836	1908	1579	1645	1514	0	0	0	0	0	0	15.10	15.11	15.10
4866	1.04	299.4	2836	1907	1645	1515	216.2	19.0	630	4872	0.00	0.00	0.00	0.000	4102	0.000	0.000	2836	1908	1579	1645	1514	0	0	0	0	0	0	15.12	15.12	15.12
4935	1.04	299.4	2836	1908	1645	1515	203.5	18.8	643	4941	0.00	2.42	0.00	0.000	4356	0.000	0.069	2836	3308	1579	1644	1515	0	0	0	0	0	0	15.12	14.81	15.12
4958	1.04	299.4	2835	3308	1644	1515	198.8	19.2	647	4965	0.08	2.38	0.00	0.000	5126	0.312	0.054	2827	1903	1579	1644	1514	0	0	0	0	0	0	14.76	14.88	14.95
5028	1.04	299.4	2827	1904	1644	1514	186.7	17.6	660	5034	0.00	0.00	0.00	0.000	4102	0.000	0.000	2827	1903	1579	1644	1515	0	0	0	0	0	0	15.11	15.12	15.12
5096	1.04	299.4	2827	1904	1643	1514	174.3	18.1	673	5102	0.00	2.42	0.00	0.000	4612	0.000	0.084	2837	500	1581	1644	1518	0	0	0	0	0	0	15.11	14.85	15.11
5119	1.04	299.4	2836	502	1643	1518	170.1	18.4	677	5126	0.00	2.33	0.00	0.000	5126	0.000	0.048	2837	1906	1578	1643	1514	0	0	0	0	0	0	14.92	14.85	14.93
5188	1.04	299.4	2837	1908	1643	1514	157.6	18.1	690	5195	0.00	2.42	0.00	0.000	4356	0.000	0.070	2837	3320	1578	1643	1514	0	0	0	0	0	0	15.11	14.86	15.11
5212	1.04	299.4	2836	3320	1643	1514	153.2	18.0	694	5219	0.08	2.40	0.00	0.000	5126	0.314	0.054	2831	1901	1578	1643	1514	0	0	0	0	0	0	14.74	14.87	14.95
5282	1.04	299.4	2830	1902	1643	1514	140.9	17.1	707	5288	0.00	0.00	0.00	0.000	4102	0.000	0.000	2831	1901	1578	1643	1514	0	0	0	0	0	0	15.11	15.11	15.11
5350	1.04	299.4	2830	1901	1643	1514	128.8	17.9	720	5355	0.00	0.00	0.00	0.000	4102	0.000	0.000	2831	1901	1578	1643	1514	0	0	0	0	0	0	15.10	15.10	15.10
5417	1.04	299.4	2831	1901	1643	1514	117.1	17.2	733	5423	0.00	0.00	0.00	0.000	4102	0.000	0.000	2831	1901	1578	1643	1514	0	0	0	0	0	0	15.11	15.11	15.11
5485	1.04	299.4	2830	1901	1643	1514	105.2	17.2	746	5492	0.00	2.45	0.00	0.000	4356	0.000	0.068	2830	3318	1579	1644	1514	0	0	0	0	0	0	15.10	14.83	15.10
5514	1.04	299.4	2830	3319	1643	1514	100.3	18.0	751	5520	0.00	2.38	0.00	0.000	5126	0.000	0.055	2831	1912	1578	1643	1514	0	0	0	0	0	0	14.91	14.85	14.92
5583	1.04	299.4	2831	1912	1643	1513	89.1	17.0	764	5589	0.00	0.00	0.00	0.000	4102	0.000	0.000	2831	1912	1578	1643	1514	0	0	0	0	0	0	15.10	15.10	15.10
5651	1.04	299.4	2831	1912	1643	1512	77.1	16.7	777	5657	0.00	0.00	0.00	0.000	4102	0.000	0.000	2831	1912	1579	1644	1514	0	0	0	0	0	0	15.11	15.11	15.11
5719	1.04	299.4	2831	1912	1643	1514	65.1	17.4	790	5726	0.00	2.42	0.00	0.000	4356	0.000	0.068	2831	3320	1578	1643	1514	0	0	0	0	0	0	15.11	14.78	15.11
5752	1.04	299.4	2831	3320	1642	1514	59.2	19.0	796	5759	0.00	2.40	0.00	0.000	5126	0.000	0.056	2838	1905	1578	1643	1514	0	0	0	0	0	0	14.98	14.87	15.00
5821	1.04	299.4	2838	1904	1643	1514	46.6	17.3	809	5828	0.00	2.42	0.00	0.000	4612	0.000	0.085	2849	502	1578	1643	1514	0	0	0	0	0	0	15.10	14.83	15.10
5840	1.04	299.4	2848	501	1642	1514	43.1	17.7	812	5847	0.10	2.35	0.00	0.000	5126	0.263	0.047	2829	1923	1578	1642	1514	0	0	0	0	0	0	14.71	14.83	14.90
5910	1.04	299.4	2828	1923	1643	1514	32.2	14.6	825	5917	0.00	2.40	0.00	0.000	4356	0.000	0.071	2836	3317	1578	1643	1514	0	0	0	0	0	0	15.09	14.81	15.09
5954	1.04	299.4	2828	3318	1643	1513	26.7	12.0	833	5961	0.00	2.38	0.00	0.000	5126	0.000	0.051	2836	1903	1578	1643	1513	0	0	0	0	0	0	14.90	14.82	14.92
6025	1.04	299.4	2835	1903	1643	1513	18.2	13.9	846	6031	0.00	2.42	0.00	0.000	4356	0.000	0.069	2836	3309	1578	1643	1513	0	0	0	0	0	0	15.09	14.80	15.09
6083	1.04	299.4	2836	3309	1643	1513	10.9	11.7	857	6091	0.08	2.35	0.00	0.000	5126	0.299	0.052	2826	1913	1577	1641	1513	0	0	0	0	0	0	14.73	14.87	14.93
6152	end climb: SURFACE_DEPTH_REACHED
state	6153	begin surface coast
6179	end surface coast: CONTROL_FINISHED_OK
state	6179	begin surface