Glider dive log

SOSCEx 27Sep18 * SG573 * Dive index * Mission links * Dive 95 * 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 100 C_ROLL_CLIMB 1910 ALTIM_TOP_TURN_MARGIN 0

DIVE 95 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 30 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 48 ALTIM_PULSE 3

D_TGT 500 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 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 190 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 500 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 190

CALL_TRIES 5 HEADING 100 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 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 182

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 30 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 48 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 95 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 161018,100900,-3256.5229,2824.4482,33,0.8,82,-27.3,0.3,315.7,9,13.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3258.626,2836.748

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.00 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 161018,102332,-3256.7505,2824.0706,22,0.9,31,-27.3,1.2,218.9,9,7.9 MHEAD_RNG_PITCHd_Wd 127.3,20000,-18.2,-9.980,-21.01,2240

SPEED_LIMITS 0.173,0.260 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.2,1.023431 SC_FREEKB 3869184

SM_CCo 5868,18.52,0.123,0,0,1506,320.11 _24V_AH 13.67,77.226

SM_GC 0.67,12.55,2.53,18.52,0.054,0.054,0.123,153,1983,1506,-7.26,-1.16,320.11,0,0,0,0,0,0,14.81,14.82,14.76 _10V_AH 13.38,0.000

IRIDIUM_FIX -3244.20,2827.61,161018,081819 FG_AHR_24Vo 0.000

TT8_MAMPS 0.018725,0.893557 FG_AHR_10Vo 0.000

HUMID 57.08 MEM 339736

INTERNAL_PRESSURE 8.89647 DATA_FILE_SIZE 36658,1024

TCM_TEMP 21.00 CAP_FILE_SIZE 196262,0

XPDR_PINGS 0 CFSIZE 1023623168,1005125632

ALTIM_TOP_PING 19.7,18.3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0

ALTIM_BOTTOM_PING 260.4,62.4 GPS 161018,120334,-3257.267,2824.698,20,1.0,51,-27.3,1.7,244.4,10,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 482 187.24 nil 0 0 0.00

Roll_motor 171 109 256.80 nil 0 0 0.00

VBD_pump_during_apogee 630 1424 12281.94 nil 0 0 0.00

VBD_pump_during_surface 18 123 31.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 32 11.87 nil 0 0 0.00

Iridium_during_connect 14 160 32.26 SciCon 5912 29 2357.43

Iridium_during_xfer 573 223 1748.96 nil 0 0 0.00

Transponder_ping 5 420 28.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 23 10.64

TT8 2195 8 251.72

LPSleep 1048 2 30.73

TT8_Active 913 8 104.78

TT8_Sampling 2395 28 898.98

TT8_CF8 208 41 115.69

TT8_Kalman 0 0 0.00

Analog_circuits 1897 12 314.83

GPS_charging 0 0 0.00

Compass 1594 17 367.65

RAFOS 0 0 0.00

Transponder 36 30 14.48

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 2000 1538 1461 0.0 0.0 0 77 0.00 0.00 -55.25 0.000 16386 0.000 0.000 73 2000 3059 3059 3059 0 0 0 0 0 0 14.96 28.83 14.97

80 -0.85 -146.0 74 2000 3061 3060 3.6 -8.5 10 105 12.45 2.45 -5.97 0.000 18692 0.302 0.085 2196 3385 3410 3448 3373 0 0 0 0 0 0 14.52 13.67 14.69

227 -0.85 -146.0 2196 3386 3450 3373 38.5 -15.6 38 235 0.08 2.35 0.00 0.000 3078 0.278 0.044 2212 1979 3411 3450 3373 0 0 0 0 0 0 14.69 14.81 14.85

297 -0.85 -146.0 2212 1979 3451 3373 48.7 -14.1 51 304 0.00 2.40 0.00 0.000 2564 0.000 0.075 2212 583 3412 3451 3373 0 0 0 0 0 0 15.04 14.78 15.04

326 -0.85 -146.0 2215 583 3451 3373 52.0 -11.8 56 333 0.00 2.33 0.00 0.000 3078 0.000 0.050 2210 1980 3412 3451 3373 0 0 0 0 0 0 14.92 14.83 14.94

396 -0.85 -146.0 2210 1986 3451 3373 58.7 -8.5 69 402 0.00 2.42 0.00 0.000 2564 0.000 0.073 2211 575 3413 3452 3374 0 0 0 0 0 0 15.06 14.81 15.07

480 -0.85 -146.0 2210 575 3452 3373 68.3 -12.8 85 486 0.00 2.35 0.00 0.000 3078 0.000 0.050 2210 1987 3412 3452 3373 0 0 0 0 0 0 14.92 14.83 14.92

549 -0.85 -146.0 2210 1987 3452 3373 77.1 -11.5 98 556 0.00 2.42 0.00 0.000 2308 0.000 0.076 2210 3396 3412 3452 3373 0 0 0 0 0 0 15.08 14.76 15.08

578 -0.85 -146.0 2210 3396 3453 3373 80.0 -9.6 103 585 0.00 2.33 0.00 0.000 3078 0.000 0.041 2210 1991 3413 3453 3373 0 0 0 0 0 0 14.96 14.87 14.97

648 -0.85 -146.0 2210 1991 3453 3373 86.0 -9.0 116 654 0.00 2.42 0.00 0.000 2564 0.000 0.073 2210 568 3413 3453 3373 0 0 0 0 0 0 15.09 14.83 15.09

676 -0.85 -146.0 2210 568 3454 3373 89.2 -12.4 121 683 0.00 2.35 0.00 0.000 3078 0.000 0.049 2211 1989 3413 3453 3373 0 0 0 0 0 0 14.97 14.88 14.98

746 -0.85 -146.0 2210 1989 3453 3373 96.8 -11.7 134 752 0.00 2.40 0.00 0.000 2308 0.000 0.073 2210 3386 3414 3454 3374 0 0 0 0 0 0 15.09 14.83 15.09

799 -0.85 -146.0 2211 3386 3454 3373 103.1 -11.4 144 806 0.00 2.35 0.00 0.000 3078 0.000 0.042 2210 1964 3413 3454 3373 0 0 0 0 0 0 14.89 14.78 14.90

868 -0.85 -146.0 2210 1964 3454 3373 111.2 -12.3 157 875 0.00 2.33 0.00 0.000 2564 0.000 0.073 2210 591 3412 3454 3370 0 0 0 0 0 0 15.10 14.85 15.11

897 -0.85 -146.0 2210 592 3454 3373 114.7 -12.7 162 903 0.00 2.30 0.00 0.000 3078 0.000 0.049 2210 1986 3413 3454 3373 0 0 0 0 0 0 14.98 14.89 15.00

968 -0.85 -146.0 2210 1986 3454 3374 121.5 -9.6 175 974 0.00 2.40 0.00 0.000 2308 0.000 0.076 2210 3387 3413 3453 3373 0 0 0 0 0 0 15.11 14.84 15.11

996 -0.85 -146.0 2210 3388 3454 3373 124.7 -10.1 180 1003 0.00 2.30 0.00 0.000 3078 0.000 0.037 2210 1983 3413 3454 3373 0 0 0 0 0 0 14.99 14.90 15.00

1066 -0.85 -146.0 2210 1983 3454 3373 130.6 -10.3 193 1073 0.00 2.38 0.00 0.000 2564 0.000 0.071 2210 582 3413 3454 3373 0 0 0 0 0 0 15.11 14.85 15.11

1095 -0.85 -146.0 2216 581 3454 3374 133.3 -8.3 198 1102 0.00 2.35 0.00 0.000 3078 0.000 0.049 2209 1993 3413 3454 3373 0 0 0 0 0 0 14.95 14.85 14.96

1166 -0.85 -146.0 2209 1993 3454 3373 140.1 -10.7 211 1172 0.00 2.40 0.00 0.000 2308 0.000 0.076 2202 3393 3413 3454 3373 0 0 0 0 0 0 15.12 14.85 15.13

1214 -0.85 -146.0 2201 3394 3454 3373 145.6 -10.3 220 1221 0.00 2.33 0.00 0.000 3078 0.000 0.041 2202 1983 3413 3454 3373 0 0 0 0 0 0 14.92 14.83 14.92

1284 -0.85 -146.0 2201 1983 3454 3373 153.4 -11.8 233 1290 0.00 0.00 0.00 0.000 2054 0.000 0.000 2201 1983 3413 3454 3373 0 0 0 0 0 0 15.11 15.11 15.11

1352 -0.85 -146.0 2201 1983 3454 3373 162.1 -13.1 246 1358 0.00 2.45 0.00 0.000 2308 0.000 0.073 2200 3393 3413 3454 3373 0 0 0 0 0 0 15.13 14.86 15.13

1375 -0.85 -146.0 2200 3394 3454 3373 164.8 -11.0 250 1382 0.00 2.33 0.00 0.000 3078 0.000 0.042 2200 1980 3413 3454 3372 0 0 0 0 0 0 14.96 14.86 14.97

1445 -0.85 -146.0 2199 1980 3454 3373 172.9 -11.2 263 1451 0.03 0.00 0.00 0.000 2054 0.483 0.000 2209 1979 3413 3454 3373 0 0 0 0 0 0 14.79 14.97 14.95

1513 -0.85 -146.0 2209 1980 3454 3373 180.9 -11.5 276 1520 0.00 2.45 0.00 0.000 2308 0.000 0.073 2209 3391 3413 3454 3373 0 0 0 0 0 0 15.13 14.77 15.13

1552 -0.85 -146.0 2209 3391 3454 3373 185.5 -11.0 283 1559 0.00 2.33 0.00 0.000 3078 0.000 0.043 2209 1983 3413 3454 3373 0 0 0 0 0 0 15.00 14.90 15.01

1622 -0.85 -146.0 2209 1983 3454 3373 193.0 -10.5 296 1628 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 1983 3413 3454 3373 0 0 0 0 0 0 15.12 15.12 15.13

1689 -0.85 -146.0 2209 1982 3454 3373 200.7 -10.5 309 1696 0.00 2.45 0.00 0.000 2308 0.000 0.072 2203 3394 3413 3454 3373 0 0 0 0 0 0 15.14 14.80 15.14

1708 -0.85 -146.0 2203 3395 3454 3373 202.9 -11.0 312 1714 0.00 2.33 0.00 0.000 3078 0.000 0.043 2203 1984 3413 3453 3373 0 0 0 0 0 0 15.01 14.90 15.02

1776 -0.85 -146.0 2203 1984 3454 3373 210.6 -11.3 325 1782 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1984 3413 3454 3373 0 0 0 0 0 0 15.14 15.14 15.14

1844 -0.85 -146.0 2202 1984 3454 3372 219.7 -14.0 338 1852 0.00 2.45 0.00 0.000 2308 0.000 0.072 2200 3394 3413 3454 3373 0 0 0 0 0 0 15.14 14.88 15.14

1904 -0.85 -146.0 2203 3396 3453 3371 227.1 -12.5 349 1910 0.00 2.33 0.00 0.000 3078 0.000 0.042 2203 1984 3413 3453 3373 0 0 0 0 0 0 15.02 14.92 15.03

1972 -0.85 -146.0 2203 1984 3453 3373 235.3 -10.1 362 1979 0.00 2.45 0.00 0.000 2308 0.000 0.074 2203 3393 3412 3453 3372 0 0 0 0 0 0 15.14 14.88 15.14

1991 -0.85 -146.0 2202 3394 3453 3372 237.7 -11.2 365 1998 0.00 2.33 0.00 0.000 3078 0.000 0.041 2203 1985 3412 3453 3372 0 0 0 0 0 0 15.02 14.92 15.03

2060 -0.85 -146.0 2202 1984 3453 3372 245.6 -11.6 378 2066 0.00 0.00 0.00 0.000 2054 0.000 0.000 2203 1984 3412 3453 3372 0 0 0 0 0 0 15.15 15.16 15.16

2131 -0.85 -146.0 2202 1984 3453 3372 253.5 -10.7 391 2138 0.00 2.45 0.00 0.000 2308 0.000 0.074 2200 3390 3412 3452 3373 0 0 0 0 0 0 15.16 14.88 15.16

2184 -0.85 -146.0 2200 3390 3452 3372 258.9 -9.8 401 2191 0.00 2.33 0.00 0.000 3078 0.000 0.043 2200 1978 3412 3452 3372 0 0 0 0 0 0 15.02 14.92 15.04

2255 -0.85 -146.0 2200 1978 3457 3372 266.6 -11.2 414 2263 0.03 2.45 0.00 0.000 2308 0.478 0.072 2206 3397 3411 3451 3372 0 0 0 0 0 0 14.82 14.88 14.97

2300 -0.85 -146.0 2207 3397 3451 3372 271.3 -10.2 422 2306 0.00 2.33 0.00 0.000 3078 0.000 0.041 2207 1985 3411 3451 3372 0 0 0 0 0 0 14.98 14.88 15.00

2369 -0.85 -146.0 2207 1986 3452 3371 278.8 -11.0 435 2376 0.00 2.45 0.00 0.000 2308 0.000 0.073 2207 3393 3410 3451 3370 0 0 0 0 0 0 15.16 14.81 15.16

2402 -0.85 -146.0 2207 3394 3451 3370 282.3 -10.5 441 2409 0.00 2.33 0.00 0.000 3078 0.000 0.042 2207 1984 3411 3452 3371 0 0 0 0 0 0 15.03 14.93 15.04

2471 -0.85 -146.0 2206 1984 3452 3370 290.1 -12.1 454 2478 0.00 2.47 0.00 0.000 2308 0.000 0.074 2200 3393 3410 3450 3370 0 0 0 0 0 0 15.16 14.88 15.16

2505 -0.85 -146.0 2199 3393 3449 3370 294.4 -12.3 460 2511 0.00 2.33 0.00 0.000 3078 0.000 0.043 2200 1984 3410 3451 3370 0 0 0 0 0 0 15.02 14.92 15.04

2573 -0.85 -146.0 2199 1983 3451 3370 303.1 -12.6 470 2579 0.05 2.38 0.00 0.000 2564 0.314 0.071 2212 579 3410 3450 3370 0 0 0 0 0 0 14.81 14.88 14.95

2596 -0.85 -146.0 2211 578 3451 3370 306.0 -12.6 471 2601 0.00 2.33 0.00 0.000 3078 0.000 0.050 2211 1989 3409 3450 3369 0 0 0 0 0 0 15.03 14.93 15.04

2617 end dive: BOTTOM_OBSTACLE_DETECTED

state 2617 begin apogee

2622 -0.19 0.0 2211 1894 3450 3369 308.6 -12.3 472 2741 1.08 0.00 115.12 1.424 10246 0.155 0.000 2424 1894 2811 2851 2771 0 0 0 0 0 0 14.82 14.45 13.89

2743 end apogee: CONTROL_FINISHED_OK

state 2743 begin climb

2744 0.85 146.0 2424 1894 2851 2770 313.8 0.0 478 2869 1.58 2.42 114.20 1.404 10756 0.067 0.074 2778 523 2214 2258 2170 0 0 0 0 0 0 14.45 14.30 13.77

2965 0.86 151.3 2777 520 2251 2170 306.3 9.7 489 2976 0.00 2.33 5.12 1.040 13318 0.000 0.045 2778 1919 2195 2236 2154 0 0 0 0 0 0 14.69 14.62 14.00

3098 0.86 151.3 2778 1918 2233 2152 291.7 11.2 507 3104 0.00 2.40 0.00 0.000 4356 0.000 0.068 2778 3311 2192 2233 2152 0 0 0 0 0 0 14.93 14.70 14.94

3141 0.86 151.3 2777 3311 2232 2152 286.6 12.1 515 3148 0.10 2.33 0.00 0.000 5126 0.278 0.047 2769 1921 2192 2233 2152 0 0 0 0 0 0 14.57 14.69 14.73

3210 0.86 151.3 2769 1921 2232 2151 278.8 11.5 528 3216 0.00 2.42 0.00 0.000 4356 0.000 0.069 2769 3314 2191 2232 2151 0 0 0 0 0 0 15.00 14.76 15.01

3284 0.86 151.3 2769 3313 2232 2151 269.7 12.5 542 3290 0.00 2.35 0.00 0.000 5126 0.000 0.046 2777 1907 2191 2232 2151 0 0 0 0 0 0 14.92 14.82 14.92

3353 0.86 151.3 2777 1907 2232 2151 261.6 11.7 555 3360 0.00 2.42 0.00 0.000 4356 0.000 0.068 2777 3306 2190 2231 2150 0 0 0 0 0 0 15.05 14.81 15.05

3437 0.86 151.3 2777 3306 2231 2150 251.4 12.0 571 3445 0.08 2.35 0.00 0.000 5126 0.308 0.047 2772 1907 2190 2231 2150 0 0 0 0 0 0 14.71 14.86 14.90

3506 0.86 151.3 2772 1907 2231 2148 244.0 10.7 584 3513 0.00 2.42 0.00 0.000 4356 0.000 0.067 2772 3309 2190 2231 2149 0 0 0 0 0 0 15.08 14.84 15.08

3559 0.86 151.3 2772 3309 2231 2150 238.5 11.0 594 3566 0.00 2.33 0.00 0.000 5126 0.000 0.046 2780 1911 2189 2230 2149 0 0 0 0 0 0 14.97 14.88 14.99

3629 0.90 181.0 2780 1911 2231 2149 231.8 8.6 607 4071 0.00 2.45 314.70 0.194 8452 0.000 0.067 2780 3308 2071 2119 2024 0 0 0 0 23 0 15.10 14.59 14.14

4223 0.90 181.0 2780 3307 2117 2020 172.0 11.3 718 4230 0.00 2.38 0.00 0.000 1030 0.000 0.050 2781 1905 2068 2117 2020 0 0 0 0 0 0 14.88 14.78 14.89

4293 0.90 181.0 2780 1905 2117 2020 164.0 11.3 731 4300 0.00 2.45 0.00 0.000 4356 0.000 0.067 2781 3306 2068 2117 2020 0 0 0 0 0 0 15.02 14.78 15.02

4317 0.90 181.0 2780 3306 2117 2020 161.1 12.2 735 4323 0.00 2.35 0.00 0.000 5126 0.000 0.048 2790 1909 2068 2117 2019 0 0 0 0 0 0 14.88 14.78 14.89

4386 0.90 181.0 2790 1909 2116 2020 153.1 11.1 748 4393 0.00 2.45 0.00 0.000 4356 0.000 0.069 2790 3310 2067 2116 2019 0 0 0 0 0 0 15.04 14.76 15.04

4420 0.90 181.0 2789 3310 2116 2019 149.4 11.0 754 4428 0.10 2.38 0.00 0.000 5126 0.276 0.049 2781 1905 2067 2116 2019 0 0 0 0 0 0 14.70 14.83 14.88

4490 0.90 181.0 2781 1904 2116 2020 142.4 10.2 767 4497 0.00 2.42 0.00 0.000 4612 0.000 0.080 2790 500 2067 2115 2019 0 0 0 0 0 0 15.06 14.74 15.06

4509 0.90 181.0 2790 500 2114 2019 140.5 10.3 770 4516 0.00 2.33 0.00 0.000 5126 0.000 0.045 2790 1913 2067 2115 2019 0 0 0 0 0 0 14.95 14.86 14.96

4578 0.90 181.0 2790 1913 2115 2019 132.0 12.1 783 4585 0.00 2.42 0.00 0.000 4612 0.000 0.076 2800 501 2066 2114 2019 0 0 0 0 0 0 15.07 14.82 15.07

4681 0.90 181.0 2799 500 2113 2019 118.5 12.9 803 4688 0.10 2.33 0.00 0.000 5126 0.260 0.046 2781 1915 2066 2113 2019 0 0 0 0 0 0 14.67 14.80 14.84

4751 0.90 181.0 2781 1915 2114 2019 109.9 12.2 816 4758 0.00 2.45 0.00 0.000 4612 0.000 0.078 2790 496 2066 2113 2019 0 0 0 0 0 0 15.09 14.77 15.09

4795 0.90 181.0 2790 500 2113 2019 104.9 10.9 824 4801 0.00 2.33 0.00 0.000 5126 0.000 0.047 2790 1910 2066 2114 2019 0 0 0 0 0 0 14.97 14.89 14.99

4863 0.90 181.0 2790 1910 2114 2019 97.4 12.2 837 4870 0.00 2.42 0.00 0.000 4612 0.000 0.078 2800 503 2066 2113 2019 0 0 0 0 0 0 15.09 14.84 15.10

4912 0.90 181.0 2800 504 2113 2019 91.2 12.9 846 4919 0.10 2.33 0.00 0.000 5126 0.258 0.046 2781 1915 2066 2113 2019 0 0 0 0 0 0 14.71 14.86 14.88

4982 0.90 181.0 2781 1915 2113 2019 82.8 11.9 859 4989 0.00 2.38 0.00 0.000 4356 0.000 0.070 2781 3305 2070 2121 2019 0 0 0 0 0 0 15.11 14.84 15.11

5062 0.90 181.0 2781 3305 2114 2019 72.5 13.7 874 5068 0.00 2.35 0.00 0.000 5126 0.000 0.051 2781 1903 2066 2114 2019 0 0 0 0 0 0 14.94 14.83 14.95

5132 0.92 197.1 2781 1903 2114 2019 64.7 9.2 887 5150 0.00 2.45 13.27 1.101 8708 0.000 0.083 2781 503 2006 2056 1956 0 0 0 0 0 0 15.10 14.81 14.31

5252 0.99 257.5 2781 503 2052 1956 55.1 7.2 910 5309 0.00 2.35 49.58 1.157 11270 0.000 0.047 2781 1914 1760 1822 1699 0 0 0 0 0 0 14.92 14.83 14.14

5371 0.99 257.5 2781 1914 1819 1694 46.1 10.3 932 5377 0.00 2.47 0.00 0.000 2564 0.000 0.081 2781 505 1756 1818 1694 0 0 0 0 0 0 14.88 14.60 14.89

5619 1.03 284.4 2781 505 1814 1697 24.0 8.7 981 5644 0.08 2.33 18.75 1.021 11270 0.187 0.045 2821 1918 1651 1715 1587 0 0 0 0 0 0 14.79 14.83 14.26

5706 1.03 284.4 2820 1918 1712 1582 14.1 10.3 997 5712 0.00 2.45 0.00 0.000 516 0.000 0.083 2821 506 1646 1711 1581 0 0 0 0 0 0 14.96 14.67 14.97

5818 end climb: SURFACE_DEPTH_REACHED

state 5818 begin surface coast

5844 end surface coast: CONTROL_FINISHED_OK

state 5844 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	23	HEADING	100	C_ROLL_CLIMB	1910	ALTIM_TOP_TURN_MARGIN	0
DIVE	95	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	30	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	48	ALTIM_PULSE	3
D_TGT	500	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	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	190	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	161018,100900,-3256.5229,2824.4482,33,0.8,82,-27.3,0.3,315.7,9,13.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3258.626,2836.748
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.00	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	161018,102332,-3256.7505,2824.0706,22,0.9,31,-27.3,1.2,218.9,9,7.9	MHEAD_RNG_PITCHd_Wd	127.3,20000,-18.2,-9.980,-21.01,2240
SPEED_LIMITS	0.173,0.260	D_GRID	500

FINISH	0.2,1.023431	SC_FREEKB	3869184
SM_CCo	5868,18.52,0.123,0,0,1506,320.11	_24V_AH	13.67,77.226
SM_GC	0.67,12.55,2.53,18.52,0.054,0.054,0.123,153,1983,1506,-7.26,-1.16,320.11,0,0,0,0,0,0,14.81,14.82,14.76	_10V_AH	13.38,0.000
IRIDIUM_FIX	-3244.20,2827.61,161018,081819	FG_AHR_24Vo	0.000
TT8_MAMPS	0.018725,0.893557	FG_AHR_10Vo	0.000
HUMID	57.08	MEM	339736
INTERNAL_PRESSURE	8.89647	DATA_FILE_SIZE	36658,1024
TCM_TEMP	21.00	CAP_FILE_SIZE	196262,0
XPDR_PINGS	0	CFSIZE	1023623168,1005125632
ALTIM_TOP_PING	19.7,18.3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
ALTIM_BOTTOM_PING	260.4,62.4	GPS	161018,120334,-3257.267,2824.698,20,1.0,51,-27.3,1.7,244.4,10,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	482	187.24	nil	0	0	0.00
Roll_motor	171	109	256.80	nil	0	0	0.00
VBD_pump_during_apogee	630	1424	12281.94	nil	0	0	0.00
VBD_pump_during_surface	18	123	31.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	32	11.87	nil	0	0	0.00
Iridium_during_connect	14	160	32.26	SciCon	5912	29	2357.43
Iridium_during_xfer	573	223	1748.96	nil	0	0	0.00
Transponder_ping	5	420	28.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	23	10.64
TT8	2195	8	251.72
LPSleep	1048	2	30.73
TT8_Active	913	8	104.78
TT8_Sampling	2395	28	898.98
TT8_CF8	208	41	115.69
TT8_Kalman	0	0	0.00
Analog_circuits	1897	12	314.83
GPS_charging	0	0	0.00
Compass	1594	17	367.65
RAFOS	0	0	0.00
Transponder	36	30	14.48

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	2000	1538	1461	0.0	0.0	0	77	0.00	0.00	-55.25	0.000	16386	0.000	0.000	73	2000	3059	3059	3059	0	0	0	0	0	0	14.96	28.83	14.97
80	-0.85	-146.0	74	2000	3061	3060	3.6	-8.5	10	105	12.45	2.45	-5.97	0.000	18692	0.302	0.085	2196	3385	3410	3448	3373	0	0	0	0	0	0	14.52	13.67	14.69
227	-0.85	-146.0	2196	3386	3450	3373	38.5	-15.6	38	235	0.08	2.35	0.00	0.000	3078	0.278	0.044	2212	1979	3411	3450	3373	0	0	0	0	0	0	14.69	14.81	14.85
297	-0.85	-146.0	2212	1979	3451	3373	48.7	-14.1	51	304	0.00	2.40	0.00	0.000	2564	0.000	0.075	2212	583	3412	3451	3373	0	0	0	0	0	0	15.04	14.78	15.04
326	-0.85	-146.0	2215	583	3451	3373	52.0	-11.8	56	333	0.00	2.33	0.00	0.000	3078	0.000	0.050	2210	1980	3412	3451	3373	0	0	0	0	0	0	14.92	14.83	14.94
396	-0.85	-146.0	2210	1986	3451	3373	58.7	-8.5	69	402	0.00	2.42	0.00	0.000	2564	0.000	0.073	2211	575	3413	3452	3374	0	0	0	0	0	0	15.06	14.81	15.07
480	-0.85	-146.0	2210	575	3452	3373	68.3	-12.8	85	486	0.00	2.35	0.00	0.000	3078	0.000	0.050	2210	1987	3412	3452	3373	0	0	0	0	0	0	14.92	14.83	14.92
549	-0.85	-146.0	2210	1987	3452	3373	77.1	-11.5	98	556	0.00	2.42	0.00	0.000	2308	0.000	0.076	2210	3396	3412	3452	3373	0	0	0	0	0	0	15.08	14.76	15.08
578	-0.85	-146.0	2210	3396	3453	3373	80.0	-9.6	103	585	0.00	2.33	0.00	0.000	3078	0.000	0.041	2210	1991	3413	3453	3373	0	0	0	0	0	0	14.96	14.87	14.97
648	-0.85	-146.0	2210	1991	3453	3373	86.0	-9.0	116	654	0.00	2.42	0.00	0.000	2564	0.000	0.073	2210	568	3413	3453	3373	0	0	0	0	0	0	15.09	14.83	15.09
676	-0.85	-146.0	2210	568	3454	3373	89.2	-12.4	121	683	0.00	2.35	0.00	0.000	3078	0.000	0.049	2211	1989	3413	3453	3373	0	0	0	0	0	0	14.97	14.88	14.98
746	-0.85	-146.0	2210	1989	3453	3373	96.8	-11.7	134	752	0.00	2.40	0.00	0.000	2308	0.000	0.073	2210	3386	3414	3454	3374	0	0	0	0	0	0	15.09	14.83	15.09
799	-0.85	-146.0	2211	3386	3454	3373	103.1	-11.4	144	806	0.00	2.35	0.00	0.000	3078	0.000	0.042	2210	1964	3413	3454	3373	0	0	0	0	0	0	14.89	14.78	14.90
868	-0.85	-146.0	2210	1964	3454	3373	111.2	-12.3	157	875	0.00	2.33	0.00	0.000	2564	0.000	0.073	2210	591	3412	3454	3370	0	0	0	0	0	0	15.10	14.85	15.11
897	-0.85	-146.0	2210	592	3454	3373	114.7	-12.7	162	903	0.00	2.30	0.00	0.000	3078	0.000	0.049	2210	1986	3413	3454	3373	0	0	0	0	0	0	14.98	14.89	15.00
968	-0.85	-146.0	2210	1986	3454	3374	121.5	-9.6	175	974	0.00	2.40	0.00	0.000	2308	0.000	0.076	2210	3387	3413	3453	3373	0	0	0	0	0	0	15.11	14.84	15.11
996	-0.85	-146.0	2210	3388	3454	3373	124.7	-10.1	180	1003	0.00	2.30	0.00	0.000	3078	0.000	0.037	2210	1983	3413	3454	3373	0	0	0	0	0	0	14.99	14.90	15.00
1066	-0.85	-146.0	2210	1983	3454	3373	130.6	-10.3	193	1073	0.00	2.38	0.00	0.000	2564	0.000	0.071	2210	582	3413	3454	3373	0	0	0	0	0	0	15.11	14.85	15.11
1095	-0.85	-146.0	2216	581	3454	3374	133.3	-8.3	198	1102	0.00	2.35	0.00	0.000	3078	0.000	0.049	2209	1993	3413	3454	3373	0	0	0	0	0	0	14.95	14.85	14.96
1166	-0.85	-146.0	2209	1993	3454	3373	140.1	-10.7	211	1172	0.00	2.40	0.00	0.000	2308	0.000	0.076	2202	3393	3413	3454	3373	0	0	0	0	0	0	15.12	14.85	15.13
1214	-0.85	-146.0	2201	3394	3454	3373	145.6	-10.3	220	1221	0.00	2.33	0.00	0.000	3078	0.000	0.041	2202	1983	3413	3454	3373	0	0	0	0	0	0	14.92	14.83	14.92
1284	-0.85	-146.0	2201	1983	3454	3373	153.4	-11.8	233	1290	0.00	0.00	0.00	0.000	2054	0.000	0.000	2201	1983	3413	3454	3373	0	0	0	0	0	0	15.11	15.11	15.11
1352	-0.85	-146.0	2201	1983	3454	3373	162.1	-13.1	246	1358	0.00	2.45	0.00	0.000	2308	0.000	0.073	2200	3393	3413	3454	3373	0	0	0	0	0	0	15.13	14.86	15.13
1375	-0.85	-146.0	2200	3394	3454	3373	164.8	-11.0	250	1382	0.00	2.33	0.00	0.000	3078	0.000	0.042	2200	1980	3413	3454	3372	0	0	0	0	0	0	14.96	14.86	14.97
1445	-0.85	-146.0	2199	1980	3454	3373	172.9	-11.2	263	1451	0.03	0.00	0.00	0.000	2054	0.483	0.000	2209	1979	3413	3454	3373	0	0	0	0	0	0	14.79	14.97	14.95
1513	-0.85	-146.0	2209	1980	3454	3373	180.9	-11.5	276	1520	0.00	2.45	0.00	0.000	2308	0.000	0.073	2209	3391	3413	3454	3373	0	0	0	0	0	0	15.13	14.77	15.13
1552	-0.85	-146.0	2209	3391	3454	3373	185.5	-11.0	283	1559	0.00	2.33	0.00	0.000	3078	0.000	0.043	2209	1983	3413	3454	3373	0	0	0	0	0	0	15.00	14.90	15.01
1622	-0.85	-146.0	2209	1983	3454	3373	193.0	-10.5	296	1628	0.00	0.00	0.00	0.000	2054	0.000	0.000	2209	1983	3413	3454	3373	0	0	0	0	0	0	15.12	15.12	15.13
1689	-0.85	-146.0	2209	1982	3454	3373	200.7	-10.5	309	1696	0.00	2.45	0.00	0.000	2308	0.000	0.072	2203	3394	3413	3454	3373	0	0	0	0	0	0	15.14	14.80	15.14
1708	-0.85	-146.0	2203	3395	3454	3373	202.9	-11.0	312	1714	0.00	2.33	0.00	0.000	3078	0.000	0.043	2203	1984	3413	3453	3373	0	0	0	0	0	0	15.01	14.90	15.02
1776	-0.85	-146.0	2203	1984	3454	3373	210.6	-11.3	325	1782	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1984	3413	3454	3373	0	0	0	0	0	0	15.14	15.14	15.14
1844	-0.85	-146.0	2202	1984	3454	3372	219.7	-14.0	338	1852	0.00	2.45	0.00	0.000	2308	0.000	0.072	2200	3394	3413	3454	3373	0	0	0	0	0	0	15.14	14.88	15.14
1904	-0.85	-146.0	2203	3396	3453	3371	227.1	-12.5	349	1910	0.00	2.33	0.00	0.000	3078	0.000	0.042	2203	1984	3413	3453	3373	0	0	0	0	0	0	15.02	14.92	15.03
1972	-0.85	-146.0	2203	1984	3453	3373	235.3	-10.1	362	1979	0.00	2.45	0.00	0.000	2308	0.000	0.074	2203	3393	3412	3453	3372	0	0	0	0	0	0	15.14	14.88	15.14
1991	-0.85	-146.0	2202	3394	3453	3372	237.7	-11.2	365	1998	0.00	2.33	0.00	0.000	3078	0.000	0.041	2203	1985	3412	3453	3372	0	0	0	0	0	0	15.02	14.92	15.03
2060	-0.85	-146.0	2202	1984	3453	3372	245.6	-11.6	378	2066	0.00	0.00	0.00	0.000	2054	0.000	0.000	2203	1984	3412	3453	3372	0	0	0	0	0	0	15.15	15.16	15.16
2131	-0.85	-146.0	2202	1984	3453	3372	253.5	-10.7	391	2138	0.00	2.45	0.00	0.000	2308	0.000	0.074	2200	3390	3412	3452	3373	0	0	0	0	0	0	15.16	14.88	15.16
2184	-0.85	-146.0	2200	3390	3452	3372	258.9	-9.8	401	2191	0.00	2.33	0.00	0.000	3078	0.000	0.043	2200	1978	3412	3452	3372	0	0	0	0	0	0	15.02	14.92	15.04
2255	-0.85	-146.0	2200	1978	3457	3372	266.6	-11.2	414	2263	0.03	2.45	0.00	0.000	2308	0.478	0.072	2206	3397	3411	3451	3372	0	0	0	0	0	0	14.82	14.88	14.97
2300	-0.85	-146.0	2207	3397	3451	3372	271.3	-10.2	422	2306	0.00	2.33	0.00	0.000	3078	0.000	0.041	2207	1985	3411	3451	3372	0	0	0	0	0	0	14.98	14.88	15.00
2369	-0.85	-146.0	2207	1986	3452	3371	278.8	-11.0	435	2376	0.00	2.45	0.00	0.000	2308	0.000	0.073	2207	3393	3410	3451	3370	0	0	0	0	0	0	15.16	14.81	15.16
2402	-0.85	-146.0	2207	3394	3451	3370	282.3	-10.5	441	2409	0.00	2.33	0.00	0.000	3078	0.000	0.042	2207	1984	3411	3452	3371	0	0	0	0	0	0	15.03	14.93	15.04
2471	-0.85	-146.0	2206	1984	3452	3370	290.1	-12.1	454	2478	0.00	2.47	0.00	0.000	2308	0.000	0.074	2200	3393	3410	3450	3370	0	0	0	0	0	0	15.16	14.88	15.16
2505	-0.85	-146.0	2199	3393	3449	3370	294.4	-12.3	460	2511	0.00	2.33	0.00	0.000	3078	0.000	0.043	2200	1984	3410	3451	3370	0	0	0	0	0	0	15.02	14.92	15.04
2573	-0.85	-146.0	2199	1983	3451	3370	303.1	-12.6	470	2579	0.05	2.38	0.00	0.000	2564	0.314	0.071	2212	579	3410	3450	3370	0	0	0	0	0	0	14.81	14.88	14.95
2596	-0.85	-146.0	2211	578	3451	3370	306.0	-12.6	471	2601	0.00	2.33	0.00	0.000	3078	0.000	0.050	2211	1989	3409	3450	3369	0	0	0	0	0	0	15.03	14.93	15.04
2617	end dive: BOTTOM_OBSTACLE_DETECTED
state	2617	begin apogee
2622	-0.19	0.0	2211	1894	3450	3369	308.6	-12.3	472	2741	1.08	0.00	115.12	1.424	10246	0.155	0.000	2424	1894	2811	2851	2771	0	0	0	0	0	0	14.82	14.45	13.89
2743	end apogee: CONTROL_FINISHED_OK
state	2743	begin climb
2744	0.85	146.0	2424	1894	2851	2770	313.8	0.0	478	2869	1.58	2.42	114.20	1.404	10756	0.067	0.074	2778	523	2214	2258	2170	0	0	0	0	0	0	14.45	14.30	13.77
2965	0.86	151.3	2777	520	2251	2170	306.3	9.7	489	2976	0.00	2.33	5.12	1.040	13318	0.000	0.045	2778	1919	2195	2236	2154	0	0	0	0	0	0	14.69	14.62	14.00
3098	0.86	151.3	2778	1918	2233	2152	291.7	11.2	507	3104	0.00	2.40	0.00	0.000	4356	0.000	0.068	2778	3311	2192	2233	2152	0	0	0	0	0	0	14.93	14.70	14.94
3141	0.86	151.3	2777	3311	2232	2152	286.6	12.1	515	3148	0.10	2.33	0.00	0.000	5126	0.278	0.047	2769	1921	2192	2233	2152	0	0	0	0	0	0	14.57	14.69	14.73
3210	0.86	151.3	2769	1921	2232	2151	278.8	11.5	528	3216	0.00	2.42	0.00	0.000	4356	0.000	0.069	2769	3314	2191	2232	2151	0	0	0	0	0	0	15.00	14.76	15.01
3284	0.86	151.3	2769	3313	2232	2151	269.7	12.5	542	3290	0.00	2.35	0.00	0.000	5126	0.000	0.046	2777	1907	2191	2232	2151	0	0	0	0	0	0	14.92	14.82	14.92
3353	0.86	151.3	2777	1907	2232	2151	261.6	11.7	555	3360	0.00	2.42	0.00	0.000	4356	0.000	0.068	2777	3306	2190	2231	2150	0	0	0	0	0	0	15.05	14.81	15.05
3437	0.86	151.3	2777	3306	2231	2150	251.4	12.0	571	3445	0.08	2.35	0.00	0.000	5126	0.308	0.047	2772	1907	2190	2231	2150	0	0	0	0	0	0	14.71	14.86	14.90
3506	0.86	151.3	2772	1907	2231	2148	244.0	10.7	584	3513	0.00	2.42	0.00	0.000	4356	0.000	0.067	2772	3309	2190	2231	2149	0	0	0	0	0	0	15.08	14.84	15.08
3559	0.86	151.3	2772	3309	2231	2150	238.5	11.0	594	3566	0.00	2.33	0.00	0.000	5126	0.000	0.046	2780	1911	2189	2230	2149	0	0	0	0	0	0	14.97	14.88	14.99
3629	0.90	181.0	2780	1911	2231	2149	231.8	8.6	607	4071	0.00	2.45	314.70	0.194	8452	0.000	0.067	2780	3308	2071	2119	2024	0	0	0	0	23	0	15.10	14.59	14.14
4223	0.90	181.0	2780	3307	2117	2020	172.0	11.3	718	4230	0.00	2.38	0.00	0.000	1030	0.000	0.050	2781	1905	2068	2117	2020	0	0	0	0	0	0	14.88	14.78	14.89
4293	0.90	181.0	2780	1905	2117	2020	164.0	11.3	731	4300	0.00	2.45	0.00	0.000	4356	0.000	0.067	2781	3306	2068	2117	2020	0	0	0	0	0	0	15.02	14.78	15.02
4317	0.90	181.0	2780	3306	2117	2020	161.1	12.2	735	4323	0.00	2.35	0.00	0.000	5126	0.000	0.048	2790	1909	2068	2117	2019	0	0	0	0	0	0	14.88	14.78	14.89
4386	0.90	181.0	2790	1909	2116	2020	153.1	11.1	748	4393	0.00	2.45	0.00	0.000	4356	0.000	0.069	2790	3310	2067	2116	2019	0	0	0	0	0	0	15.04	14.76	15.04
4420	0.90	181.0	2789	3310	2116	2019	149.4	11.0	754	4428	0.10	2.38	0.00	0.000	5126	0.276	0.049	2781	1905	2067	2116	2019	0	0	0	0	0	0	14.70	14.83	14.88
4490	0.90	181.0	2781	1904	2116	2020	142.4	10.2	767	4497	0.00	2.42	0.00	0.000	4612	0.000	0.080	2790	500	2067	2115	2019	0	0	0	0	0	0	15.06	14.74	15.06
4509	0.90	181.0	2790	500	2114	2019	140.5	10.3	770	4516	0.00	2.33	0.00	0.000	5126	0.000	0.045	2790	1913	2067	2115	2019	0	0	0	0	0	0	14.95	14.86	14.96
4578	0.90	181.0	2790	1913	2115	2019	132.0	12.1	783	4585	0.00	2.42	0.00	0.000	4612	0.000	0.076	2800	501	2066	2114	2019	0	0	0	0	0	0	15.07	14.82	15.07
4681	0.90	181.0	2799	500	2113	2019	118.5	12.9	803	4688	0.10	2.33	0.00	0.000	5126	0.260	0.046	2781	1915	2066	2113	2019	0	0	0	0	0	0	14.67	14.80	14.84
4751	0.90	181.0	2781	1915	2114	2019	109.9	12.2	816	4758	0.00	2.45	0.00	0.000	4612	0.000	0.078	2790	496	2066	2113	2019	0	0	0	0	0	0	15.09	14.77	15.09
4795	0.90	181.0	2790	500	2113	2019	104.9	10.9	824	4801	0.00	2.33	0.00	0.000	5126	0.000	0.047	2790	1910	2066	2114	2019	0	0	0	0	0	0	14.97	14.89	14.99
4863	0.90	181.0	2790	1910	2114	2019	97.4	12.2	837	4870	0.00	2.42	0.00	0.000	4612	0.000	0.078	2800	503	2066	2113	2019	0	0	0	0	0	0	15.09	14.84	15.10
4912	0.90	181.0	2800	504	2113	2019	91.2	12.9	846	4919	0.10	2.33	0.00	0.000	5126	0.258	0.046	2781	1915	2066	2113	2019	0	0	0	0	0	0	14.71	14.86	14.88
4982	0.90	181.0	2781	1915	2113	2019	82.8	11.9	859	4989	0.00	2.38	0.00	0.000	4356	0.000	0.070	2781	3305	2070	2121	2019	0	0	0	0	0	0	15.11	14.84	15.11
5062	0.90	181.0	2781	3305	2114	2019	72.5	13.7	874	5068	0.00	2.35	0.00	0.000	5126	0.000	0.051	2781	1903	2066	2114	2019	0	0	0	0	0	0	14.94	14.83	14.95
5132	0.92	197.1	2781	1903	2114	2019	64.7	9.2	887	5150	0.00	2.45	13.27	1.101	8708	0.000	0.083	2781	503	2006	2056	1956	0	0	0	0	0	0	15.10	14.81	14.31
5252	0.99	257.5	2781	503	2052	1956	55.1	7.2	910	5309	0.00	2.35	49.58	1.157	11270	0.000	0.047	2781	1914	1760	1822	1699	0	0	0	0	0	0	14.92	14.83	14.14
5371	0.99	257.5	2781	1914	1819	1694	46.1	10.3	932	5377	0.00	2.47	0.00	0.000	2564	0.000	0.081	2781	505	1756	1818	1694	0	0	0	0	0	0	14.88	14.60	14.89
5619	1.03	284.4	2781	505	1814	1697	24.0	8.7	981	5644	0.08	2.33	18.75	1.021	11270	0.187	0.045	2821	1918	1651	1715	1587	0	0	0	0	0	0	14.79	14.83	14.26
5706	1.03	284.4	2820	1918	1712	1582	14.1	10.3	997	5712	0.00	2.45	0.00	0.000	516	0.000	0.083	2821	506	1646	1711	1581	0	0	0	0	0	0	14.96	14.67	14.97
5818	end climb: SURFACE_DEPTH_REACHED
state	5818	begin surface coast
5844	end surface coast: CONTROL_FINISHED_OK
state	5844	begin surface