Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 135 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 135 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1630437.2 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -1630437.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 40 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 135 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 225025,6238.343,-1304.855,43,1.6,44,-11.9 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6235.000,-1245.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 1.10 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -61.3 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 225638,6238.335,-1304.843,15,2.0,15,-11.9 MHEAD_RNG_PITCHd_Wd 122.0,18013,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.015294 ALTIM_BOTTOM_PING 850.5,70.5

SM_CCo 24957,31.23,0.766,0,0,1609,300.00 _24V_AH 23.2,38.376

SM_GC 1.29,0.00,0.00,31.23,0.000,0.000,0.766,393,2251,1609,-11.08,0.03,300.00 _10V_AH 10.1,20.128

IRIDIUM_FIX 6216.53,-1314.43,011098,151517 DATA_FILE_SIZE 59873,1196

TT8_MAMPS 0.027612 CAP_FILE_SIZE 187158,0

HUMID 1850 CFSIZE 260165632,248573952

INTERNAL_PRESSURE 8.11879 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,0,0

TCM_TEMP 13.90 GPS 080709,055454,6235.078,-1259.514,29,1.1,47,-11.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 131 76.45 SBE_CT 960 24 534.56

Roll_motor 268 63 396.19 SBE_O2 920 19 405.93

VBD_pump_during_apogee 359 1369 11410.07 WL_BB2F 641 105 1561.72

VBD_pump_during_surface 31 766 555.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.61 nil 0 0 0.00

Iridium_during_connect 25 160 94.43 nil 0 0 0.00

Iridium_during_xfer 180 223 933.47

Transponder_ping 7 420 73.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.02

TT8 2237 19 447.49

LPSleep 18924 2 418.58

TT8_Active 578 19 115.72

TT8_Sampling 2638 39 1060.71

TT8_CF8 974 45 450.74

TT8_Kalman 0 81 0.00

Analog_circuits 1976 12 239.59

GPS_charging 0 0 0.00

Compass 2840 8 229.54

RAFOS 0 0 0.00

Transponder 50 30 15.41

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.96 -146.6 0.0 0.0 0 77 0.00 0.00 -57.88 0.000 6 0.000 0.000 385 2257 3431

81 -0.96 -146.6 5.5 -10.9 3 102 11.65 2.55 0.00 0.000 4 0.131 0.039 2585 834 3432

220 -0.96 -146.6 27.8 -8.5 9 225 0.00 2.45 0.00 0.000 6 0.000 0.031 2585 2243 3432

542 -0.96 -146.6 53.3 -6.9 25 546 0.00 2.55 0.00 0.000 4 0.000 0.056 2585 3651 3433

614 -0.96 -146.6 59.2 -8.3 28 618 0.00 2.42 0.00 0.000 6 0.000 0.029 2585 2230 3433

931 -0.96 -146.6 84.6 -9.1 43 935 0.00 2.58 0.00 0.000 4 0.000 0.052 2585 3651 3434

1042 -0.96 -146.6 95.6 -9.7 48 1046 0.00 2.40 0.00 0.000 6 0.000 0.029 2585 2243 3434

1364 -0.96 -146.6 123.3 -8.6 64 1368 0.00 2.55 0.00 0.000 4 0.000 0.053 2585 3651 3434

1404 -0.96 -146.6 127.2 -9.6 66 1408 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2248 3434

1730 -0.96 -146.6 157.2 -9.1 82 1734 0.00 2.55 0.00 0.000 4 0.000 0.053 2585 3651 3434

1785 -0.96 -146.6 162.4 -9.6 84 1791 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3434

2101 -0.96 -146.6 185.9 -6.7 100 2105 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 3650 3434

2145 -0.96 -146.6 189.1 -6.5 102 2149 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2241 3433

2466 -0.96 -146.6 210.0 -6.7 118 2471 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3651 3433

2522 -0.96 -146.6 214.1 -7.1 120 2528 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2247 3433

2839 -0.96 -146.6 237.2 -7.7 136 2844 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3654 3433

2884 -0.96 -146.6 241.1 -8.6 138 2888 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2251 3433

3207 -0.96 -146.6 265.6 -7.4 154 3211 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3651 3433

3257 -0.96 -146.6 269.7 -7.5 156 3261 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2246 3433

3574 -0.96 -146.6 290.0 -6.2 171 3579 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3654 3432

3630 -0.96 -146.6 293.8 -6.9 173 3636 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3432

3946 -0.96 -146.6 313.4 -6.3 189 3947 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2249 3432

4254 -0.96 -146.6 333.4 -6.7 204 4259 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3651 3432

4332 -0.96 -146.6 339.0 -7.3 207 4338 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2246 3432

4651 -0.96 -146.6 358.8 -6.2 223 4655 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3655 3432

4700 -0.96 -146.6 362.4 -6.9 225 4704 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3432

5015 -0.96 -146.6 381.6 -6.3 240 5017 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3432

5328 -0.96 -146.6 401.4 -6.5 255 5332 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3650 3432

5405 -0.96 -146.6 407.4 -7.3 258 5412 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2240 3431

5721 -0.96 -146.6 427.8 -6.5 274 5725 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3650 3431

5770 -0.96 -146.6 431.5 -7.3 276 5775 0.00 2.42 0.00 0.000 6 0.000 0.031 2585 2251 3431

6091 -0.96 -146.6 452.3 -6.5 292 6095 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 3653 3431

6153 -0.96 -146.6 456.6 -6.8 295 6157 0.00 2.42 0.00 0.000 6 0.000 0.031 2585 2249 3431

6485 -0.96 -146.6 478.0 -6.5 311 6490 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3647 3431

6536 -0.96 -146.6 481.7 -7.1 313 6540 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2246 3431

6856 -0.96 -146.6 503.0 -6.5 329 6860 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3654 3430

6896 -0.96 -146.6 505.8 -7.3 331 6900 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2248 3430

7222 -0.96 -146.6 526.2 -6.2 347 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3431

7532 -0.96 -146.6 544.6 -5.9 362 7536 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 3651 3430

7618 -0.96 -146.6 550.2 -7.1 366 7622 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2248 3430

7944 -0.96 -146.6 570.4 -6.1 382 7945 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3430

8253 -0.96 -146.6 589.3 -6.4 397 8257 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3651 3430

8348 -0.96 -146.6 596.1 -7.1 401 8352 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2249 3430

8665 -0.96 -146.6 616.6 -6.6 416 8666 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3430

8974 -0.96 -146.6 637.4 -6.5 431 8978 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3650 3430

9068 -0.96 -146.6 644.3 -7.6 435 9072 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3430

9384 -0.96 -146.6 666.2 -7.3 450 9388 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3653 3430

9434 -0.96 -146.6 670.1 -7.3 452 9438 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3430

9750 -0.96 -146.6 693.1 -7.2 467 9751 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3430

10059 -0.96 -146.6 714.3 -6.5 482 10060 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2249 3429

10371 -0.96 -146.6 736.0 -6.7 497 10375 0.00 2.53 0.00 0.000 4 0.000 0.054 2585 3651 3429

10420 -0.96 -146.6 739.7 -6.8 499 10424 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2249 3429

10736 -0.96 -146.6 761.1 -6.6 514 10741 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3647 3429

10791 -0.96 -146.6 764.7 -6.9 516 10795 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2251 3429

11106 -0.96 -146.6 784.4 -6.9 531 11108 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2251 3429

11417 -0.96 -146.6 808.2 -7.1 546 11422 0.00 2.55 0.00 0.000 4 0.000 0.055 2585 3659 3429

11508 -0.96 -146.6 815.2 -7.8 550 11512 0.00 2.42 0.00 0.000 6 0.000 0.032 2585 2251 3429

11831 -0.96 -146.6 837.1 -7.6 566 11832 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3429

12138 -0.96 -146.6 858.4 -6.2 581 12139 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3428

12447 -0.96 -146.6 875.1 -4.7 596 12452 0.00 2.55 0.00 0.000 4 0.000 0.058 2585 3650 3428

12515 -0.96 -146.6 879.4 -6.2 599 12520 0.00 2.42 0.00 0.000 6 0.000 0.035 2585 2248 3428

12837 -0.96 -146.6 898.8 -7.8 615 12841 0.00 2.47 0.00 0.000 4 0.000 0.048 2585 846 3427

12893 -0.96 -146.6 902.6 -8.0 617 12899 0.00 2.45 0.00 0.000 6 0.000 0.038 2586 2249 3427

13082 end dive: BOTTOM_OBSTACLE_DETECTED

state 13083 begin apogee

13091 -0.36 0.0 911.4 4.4 627 13226 0.62 0.00 129.98 1.369 6 0.064 0.000 2721 1462 2832

13226 end apogee: CONTROL_FINISHED_OK

state 13226 begin climb

13229 0.96 146.6 916.0 0.0 634 13365 1.33 0.00 131.27 1.332 6 0.054 0.000 3010 1462 2234

13663 0.98 158.0 897.9 5.7 655 13678 0.00 2.25 10.48 1.157 4 0.000 0.064 3010 262 2186

13724 1.00 172.3 894.3 5.6 657 13746 0.00 2.10 14.55 1.212 6 0.000 0.035 3010 1473 2129

14058 1.06 223.4 878.1 4.6 673 14112 0.00 2.53 47.50 1.317 4 0.000 0.047 3009 2853 1920

14169 1.09 249.5 872.6 5.3 678 14200 0.12 2.53 25.45 1.270 6 0.041 0.043 3064 1448 1814

14514 1.09 249.5 847.0 7.7 694 14519 0.12 2.53 0.00 0.000 4 0.077 0.047 3038 2844 1805

14555 1.09 249.5 843.7 7.4 696 14559 0.00 2.47 0.00 0.000 6 0.000 0.043 3038 1450 1805

14883 1.09 249.5 816.8 8.4 712 14884 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1450 1803

15190 1.09 249.5 791.3 8.0 727 15194 0.00 2.50 0.00 0.000 4 0.000 0.046 3038 2851 1802

15234 1.09 249.5 787.7 7.6 729 15238 0.00 2.47 0.00 0.000 6 0.000 0.040 3038 1452 1802

15557 1.09 249.5 761.8 8.2 745 15561 0.00 2.47 0.00 0.000 4 0.000 0.044 3038 2846 1801

15589 1.09 249.5 758.9 7.7 746 15595 0.00 2.45 0.00 0.000 6 0.000 0.040 3038 1449 1801

15905 1.09 249.5 734.5 7.8 762 15909 0.00 2.47 0.00 0.000 4 0.000 0.044 3038 2846 1801

15954 1.09 249.5 730.5 8.0 764 15959 0.00 2.45 0.00 0.000 6 0.000 0.038 3038 1451 1800

16272 1.09 249.5 706.6 7.1 779 16276 0.00 2.47 0.00 0.000 4 0.000 0.043 3038 2853 1800

16305 1.09 249.5 704.1 7.1 780 16312 0.00 2.45 0.00 0.000 6 0.000 0.038 3038 1450 1800

16621 1.09 249.5 681.8 7.1 796 16622 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1450 1801

16930 1.09 249.5 657.8 8.1 811 16935 0.00 2.47 0.00 0.000 4 0.000 0.042 3038 2840 1801

17008 1.09 249.5 651.6 7.9 814 17013 0.00 2.42 0.00 0.000 6 0.000 0.037 3038 1453 1800

17326 1.09 249.5 628.1 7.1 829 17330 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2848 1801

17370 1.09 249.5 624.6 7.5 831 17374 0.00 2.42 0.00 0.000 6 0.000 0.037 3038 1450 1801

17693 1.09 249.5 602.4 6.7 847 17697 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2848 1801

17726 1.09 249.5 599.9 6.7 848 17732 0.00 2.42 0.00 0.000 6 0.000 0.037 3038 1446 1801

18041 1.09 249.5 578.6 6.7 864 18045 0.00 2.47 0.00 0.000 4 0.000 0.041 3038 2856 1801

18085 1.09 249.5 575.5 7.1 866 18089 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1453 1801

18406 1.09 249.5 553.0 7.2 882 18410 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2849 1801

18455 1.09 249.5 549.3 7.3 884 18459 0.00 2.42 0.00 0.000 6 0.000 0.037 3038 1448 1801

18771 1.09 249.5 525.2 8.0 899 18775 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2853 1802

18827 1.09 249.5 520.7 7.5 901 18833 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1449 1802

19142 1.09 249.5 495.9 7.7 917 19147 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2850 1802

19192 1.09 249.5 491.8 9.6 919 19196 0.00 2.42 0.00 0.000 6 0.000 0.037 3038 1452 1802

19510 1.09 249.5 466.0 8.6 934 19514 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2851 1802

19553 1.09 249.5 462.0 7.8 936 19558 0.00 2.45 0.00 0.000 6 0.000 0.036 3038 1447 1802

19877 1.09 249.5 435.3 8.2 952 19882 0.00 2.45 0.00 0.000 4 0.000 0.041 3039 2850 1802

19933 1.09 249.5 430.2 8.3 954 19939 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1447 1802

20248 1.09 249.5 403.3 8.8 970 20252 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2848 1802

20305 1.09 249.5 398.7 9.0 972 20311 0.00 2.42 0.00 0.000 6 0.000 0.037 3038 1450 1802

20620 1.09 249.5 371.6 8.7 988 20624 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2848 1802

20675 1.09 249.5 366.8 8.4 990 20682 0.00 2.45 0.00 0.000 6 0.000 0.038 3038 1455 1802

20991 1.09 249.5 340.5 8.4 1006 20995 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2859 1802

21035 1.09 249.5 336.5 7.6 1008 21040 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1455 1802

21359 1.09 249.5 309.4 8.3 1024 21363 0.00 2.45 0.00 0.000 4 0.000 0.040 3038 2856 1802

21403 1.09 249.5 305.3 8.8 1026 21407 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1450 1802

21726 1.09 249.5 277.7 9.0 1042 21730 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2849 1803

21766 1.09 249.5 274.1 8.8 1044 21770 0.00 2.45 0.00 0.000 6 0.000 0.038 3038 1446 1803

22092 1.09 249.5 245.6 8.7 1060 22097 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2854 1803

22149 1.09 249.5 240.8 8.5 1062 22155 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1451 1803

22464 1.09 249.5 215.0 7.9 1078 22469 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2850 1803

22504 1.09 249.5 211.8 8.6 1080 22509 0.00 2.42 0.00 0.000 6 0.000 0.038 3038 1450 1803

22832 1.09 249.5 185.2 8.0 1096 22836 0.00 2.45 0.00 0.000 4 0.000 0.041 3039 2851 1803

22887 1.09 249.5 180.6 8.0 1098 22893 0.00 2.45 0.00 0.000 6 0.000 0.037 3038 1445 1803

23205 1.09 249.5 155.3 8.3 1114 23209 0.00 2.45 0.00 0.000 4 0.000 0.041 3038 2849 1803

23254 1.09 249.5 150.8 8.8 1116 23258 0.00 2.40 0.00 0.000 6 0.000 0.038 3038 1455 1803

23570 1.09 249.5 123.1 9.3 1131 23575 0.00 2.45 0.00 0.000 4 0.000 0.040 3038 2853 1803

23620 1.09 249.5 118.4 9.8 1133 23624 0.00 2.45 0.00 0.000 6 0.000 0.036 3038 1445 1803

23942 1.09 249.5 87.1 9.9 1149 23946 0.00 2.45 0.00 0.000 4 0.000 0.040 3038 2855 1803

24013 1.09 249.5 79.8 9.9 1152 24018 0.00 2.42 0.00 0.000 6 0.000 0.036 3038 1455 1803

24329 1.09 249.5 49.9 9.9 1167 24334 0.00 2.47 0.00 0.000 4 0.000 0.040 3038 2845 1803

24370 1.09 249.5 46.0 10.1 1168 24376 0.00 2.42 0.00 0.000 6 0.000 0.036 3038 1452 1803

24686 1.09 249.5 17.1 8.2 1184 24687 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1452 1803

24889 end climb: SURFACE_DEPTH_REACHED

state 24889 begin surface coast

24933 end surface coast: CONTROL_FINISHED_OK

state 24933 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	135	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1630437.2	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	225025,6238.343,-1304.855,43,1.6,44,-11.9	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6235.000,-1245.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	1.10	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-61.3	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	225638,6238.335,-1304.843,15,2.0,15,-11.9	MHEAD_RNG_PITCHd_Wd	122.0,18013,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.015294	ALTIM_BOTTOM_PING	850.5,70.5
SM_CCo	24957,31.23,0.766,0,0,1609,300.00	_24V_AH	23.2,38.376
SM_GC	1.29,0.00,0.00,31.23,0.000,0.000,0.766,393,2251,1609,-11.08,0.03,300.00	_10V_AH	10.1,20.128
IRIDIUM_FIX	6216.53,-1314.43,011098,151517	DATA_FILE_SIZE	59873,1196
TT8_MAMPS	0.027612	CAP_FILE_SIZE	187158,0
HUMID	1850	CFSIZE	260165632,248573952
INTERNAL_PRESSURE	8.11879	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
TCM_TEMP	13.90	GPS	080709,055454,6235.078,-1259.514,29,1.1,47,-11.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	131	76.45	SBE_CT	960	24	534.56
Roll_motor	268	63	396.19	SBE_O2	920	19	405.93
VBD_pump_during_apogee	359	1369	11410.07	WL_BB2F	641	105	1561.72
VBD_pump_during_surface	31	766	555.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.61	nil	0	0	0.00
Iridium_during_connect	25	160	94.43	nil	0	0	0.00
Iridium_during_xfer	180	223	933.47
Transponder_ping	7	420	73.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.02
TT8	2237	19	447.49
LPSleep	18924	2	418.58
TT8_Active	578	19	115.72
TT8_Sampling	2638	39	1060.71
TT8_CF8	974	45	450.74
TT8_Kalman	0	81	0.00
Analog_circuits	1976	12	239.59
GPS_charging	0	0	0.00
Compass	2840	8	229.54
RAFOS	0	0	0.00
Transponder	50	30	15.41

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.96	-146.6	0.0	0.0	0	77	0.00	0.00	-57.88	0.000	6	0.000	0.000	385	2257	3431
81	-0.96	-146.6	5.5	-10.9	3	102	11.65	2.55	0.00	0.000	4	0.131	0.039	2585	834	3432
220	-0.96	-146.6	27.8	-8.5	9	225	0.00	2.45	0.00	0.000	6	0.000	0.031	2585	2243	3432
542	-0.96	-146.6	53.3	-6.9	25	546	0.00	2.55	0.00	0.000	4	0.000	0.056	2585	3651	3433
614	-0.96	-146.6	59.2	-8.3	28	618	0.00	2.42	0.00	0.000	6	0.000	0.029	2585	2230	3433
931	-0.96	-146.6	84.6	-9.1	43	935	0.00	2.58	0.00	0.000	4	0.000	0.052	2585	3651	3434
1042	-0.96	-146.6	95.6	-9.7	48	1046	0.00	2.40	0.00	0.000	6	0.000	0.029	2585	2243	3434
1364	-0.96	-146.6	123.3	-8.6	64	1368	0.00	2.55	0.00	0.000	4	0.000	0.053	2585	3651	3434
1404	-0.96	-146.6	127.2	-9.6	66	1408	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2248	3434
1730	-0.96	-146.6	157.2	-9.1	82	1734	0.00	2.55	0.00	0.000	4	0.000	0.053	2585	3651	3434
1785	-0.96	-146.6	162.4	-9.6	84	1791	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3434
2101	-0.96	-146.6	185.9	-6.7	100	2105	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	3650	3434
2145	-0.96	-146.6	189.1	-6.5	102	2149	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2241	3433
2466	-0.96	-146.6	210.0	-6.7	118	2471	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3651	3433
2522	-0.96	-146.6	214.1	-7.1	120	2528	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2247	3433
2839	-0.96	-146.6	237.2	-7.7	136	2844	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3654	3433
2884	-0.96	-146.6	241.1	-8.6	138	2888	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2251	3433
3207	-0.96	-146.6	265.6	-7.4	154	3211	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3651	3433
3257	-0.96	-146.6	269.7	-7.5	156	3261	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2246	3433
3574	-0.96	-146.6	290.0	-6.2	171	3579	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3654	3432
3630	-0.96	-146.6	293.8	-6.9	173	3636	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3432
3946	-0.96	-146.6	313.4	-6.3	189	3947	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2249	3432
4254	-0.96	-146.6	333.4	-6.7	204	4259	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3651	3432
4332	-0.96	-146.6	339.0	-7.3	207	4338	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2246	3432
4651	-0.96	-146.6	358.8	-6.2	223	4655	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3655	3432
4700	-0.96	-146.6	362.4	-6.9	225	4704	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3432
5015	-0.96	-146.6	381.6	-6.3	240	5017	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3432
5328	-0.96	-146.6	401.4	-6.5	255	5332	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3650	3432
5405	-0.96	-146.6	407.4	-7.3	258	5412	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2240	3431
5721	-0.96	-146.6	427.8	-6.5	274	5725	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3650	3431
5770	-0.96	-146.6	431.5	-7.3	276	5775	0.00	2.42	0.00	0.000	6	0.000	0.031	2585	2251	3431
6091	-0.96	-146.6	452.3	-6.5	292	6095	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	3653	3431
6153	-0.96	-146.6	456.6	-6.8	295	6157	0.00	2.42	0.00	0.000	6	0.000	0.031	2585	2249	3431
6485	-0.96	-146.6	478.0	-6.5	311	6490	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3647	3431
6536	-0.96	-146.6	481.7	-7.1	313	6540	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2246	3431
6856	-0.96	-146.6	503.0	-6.5	329	6860	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3654	3430
6896	-0.96	-146.6	505.8	-7.3	331	6900	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2248	3430
7222	-0.96	-146.6	526.2	-6.2	347	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3431
7532	-0.96	-146.6	544.6	-5.9	362	7536	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	3651	3430
7618	-0.96	-146.6	550.2	-7.1	366	7622	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2248	3430
7944	-0.96	-146.6	570.4	-6.1	382	7945	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3430
8253	-0.96	-146.6	589.3	-6.4	397	8257	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3651	3430
8348	-0.96	-146.6	596.1	-7.1	401	8352	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2249	3430
8665	-0.96	-146.6	616.6	-6.6	416	8666	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3430
8974	-0.96	-146.6	637.4	-6.5	431	8978	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3650	3430
9068	-0.96	-146.6	644.3	-7.6	435	9072	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3430
9384	-0.96	-146.6	666.2	-7.3	450	9388	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3653	3430
9434	-0.96	-146.6	670.1	-7.3	452	9438	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3430
9750	-0.96	-146.6	693.1	-7.2	467	9751	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3430
10059	-0.96	-146.6	714.3	-6.5	482	10060	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2249	3429
10371	-0.96	-146.6	736.0	-6.7	497	10375	0.00	2.53	0.00	0.000	4	0.000	0.054	2585	3651	3429
10420	-0.96	-146.6	739.7	-6.8	499	10424	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2249	3429
10736	-0.96	-146.6	761.1	-6.6	514	10741	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3647	3429
10791	-0.96	-146.6	764.7	-6.9	516	10795	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2251	3429
11106	-0.96	-146.6	784.4	-6.9	531	11108	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2251	3429
11417	-0.96	-146.6	808.2	-7.1	546	11422	0.00	2.55	0.00	0.000	4	0.000	0.055	2585	3659	3429
11508	-0.96	-146.6	815.2	-7.8	550	11512	0.00	2.42	0.00	0.000	6	0.000	0.032	2585	2251	3429
11831	-0.96	-146.6	837.1	-7.6	566	11832	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3429
12138	-0.96	-146.6	858.4	-6.2	581	12139	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3428
12447	-0.96	-146.6	875.1	-4.7	596	12452	0.00	2.55	0.00	0.000	4	0.000	0.058	2585	3650	3428
12515	-0.96	-146.6	879.4	-6.2	599	12520	0.00	2.42	0.00	0.000	6	0.000	0.035	2585	2248	3428
12837	-0.96	-146.6	898.8	-7.8	615	12841	0.00	2.47	0.00	0.000	4	0.000	0.048	2585	846	3427
12893	-0.96	-146.6	902.6	-8.0	617	12899	0.00	2.45	0.00	0.000	6	0.000	0.038	2586	2249	3427
13082	end dive: BOTTOM_OBSTACLE_DETECTED
state	13083	begin apogee
13091	-0.36	0.0	911.4	4.4	627	13226	0.62	0.00	129.98	1.369	6	0.064	0.000	2721	1462	2832
13226	end apogee: CONTROL_FINISHED_OK
state	13226	begin climb
13229	0.96	146.6	916.0	0.0	634	13365	1.33	0.00	131.27	1.332	6	0.054	0.000	3010	1462	2234
13663	0.98	158.0	897.9	5.7	655	13678	0.00	2.25	10.48	1.157	4	0.000	0.064	3010	262	2186
13724	1.00	172.3	894.3	5.6	657	13746	0.00	2.10	14.55	1.212	6	0.000	0.035	3010	1473	2129
14058	1.06	223.4	878.1	4.6	673	14112	0.00	2.53	47.50	1.317	4	0.000	0.047	3009	2853	1920
14169	1.09	249.5	872.6	5.3	678	14200	0.12	2.53	25.45	1.270	6	0.041	0.043	3064	1448	1814
14514	1.09	249.5	847.0	7.7	694	14519	0.12	2.53	0.00	0.000	4	0.077	0.047	3038	2844	1805
14555	1.09	249.5	843.7	7.4	696	14559	0.00	2.47	0.00	0.000	6	0.000	0.043	3038	1450	1805
14883	1.09	249.5	816.8	8.4	712	14884	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1450	1803
15190	1.09	249.5	791.3	8.0	727	15194	0.00	2.50	0.00	0.000	4	0.000	0.046	3038	2851	1802
15234	1.09	249.5	787.7	7.6	729	15238	0.00	2.47	0.00	0.000	6	0.000	0.040	3038	1452	1802
15557	1.09	249.5	761.8	8.2	745	15561	0.00	2.47	0.00	0.000	4	0.000	0.044	3038	2846	1801
15589	1.09	249.5	758.9	7.7	746	15595	0.00	2.45	0.00	0.000	6	0.000	0.040	3038	1449	1801
15905	1.09	249.5	734.5	7.8	762	15909	0.00	2.47	0.00	0.000	4	0.000	0.044	3038	2846	1801
15954	1.09	249.5	730.5	8.0	764	15959	0.00	2.45	0.00	0.000	6	0.000	0.038	3038	1451	1800
16272	1.09	249.5	706.6	7.1	779	16276	0.00	2.47	0.00	0.000	4	0.000	0.043	3038	2853	1800
16305	1.09	249.5	704.1	7.1	780	16312	0.00	2.45	0.00	0.000	6	0.000	0.038	3038	1450	1800
16621	1.09	249.5	681.8	7.1	796	16622	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1450	1801
16930	1.09	249.5	657.8	8.1	811	16935	0.00	2.47	0.00	0.000	4	0.000	0.042	3038	2840	1801
17008	1.09	249.5	651.6	7.9	814	17013	0.00	2.42	0.00	0.000	6	0.000	0.037	3038	1453	1800
17326	1.09	249.5	628.1	7.1	829	17330	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2848	1801
17370	1.09	249.5	624.6	7.5	831	17374	0.00	2.42	0.00	0.000	6	0.000	0.037	3038	1450	1801
17693	1.09	249.5	602.4	6.7	847	17697	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2848	1801
17726	1.09	249.5	599.9	6.7	848	17732	0.00	2.42	0.00	0.000	6	0.000	0.037	3038	1446	1801
18041	1.09	249.5	578.6	6.7	864	18045	0.00	2.47	0.00	0.000	4	0.000	0.041	3038	2856	1801
18085	1.09	249.5	575.5	7.1	866	18089	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1453	1801
18406	1.09	249.5	553.0	7.2	882	18410	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2849	1801
18455	1.09	249.5	549.3	7.3	884	18459	0.00	2.42	0.00	0.000	6	0.000	0.037	3038	1448	1801
18771	1.09	249.5	525.2	8.0	899	18775	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2853	1802
18827	1.09	249.5	520.7	7.5	901	18833	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1449	1802
19142	1.09	249.5	495.9	7.7	917	19147	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2850	1802
19192	1.09	249.5	491.8	9.6	919	19196	0.00	2.42	0.00	0.000	6	0.000	0.037	3038	1452	1802
19510	1.09	249.5	466.0	8.6	934	19514	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2851	1802
19553	1.09	249.5	462.0	7.8	936	19558	0.00	2.45	0.00	0.000	6	0.000	0.036	3038	1447	1802
19877	1.09	249.5	435.3	8.2	952	19882	0.00	2.45	0.00	0.000	4	0.000	0.041	3039	2850	1802
19933	1.09	249.5	430.2	8.3	954	19939	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1447	1802
20248	1.09	249.5	403.3	8.8	970	20252	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2848	1802
20305	1.09	249.5	398.7	9.0	972	20311	0.00	2.42	0.00	0.000	6	0.000	0.037	3038	1450	1802
20620	1.09	249.5	371.6	8.7	988	20624	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2848	1802
20675	1.09	249.5	366.8	8.4	990	20682	0.00	2.45	0.00	0.000	6	0.000	0.038	3038	1455	1802
20991	1.09	249.5	340.5	8.4	1006	20995	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2859	1802
21035	1.09	249.5	336.5	7.6	1008	21040	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1455	1802
21359	1.09	249.5	309.4	8.3	1024	21363	0.00	2.45	0.00	0.000	4	0.000	0.040	3038	2856	1802
21403	1.09	249.5	305.3	8.8	1026	21407	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1450	1802
21726	1.09	249.5	277.7	9.0	1042	21730	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2849	1803
21766	1.09	249.5	274.1	8.8	1044	21770	0.00	2.45	0.00	0.000	6	0.000	0.038	3038	1446	1803
22092	1.09	249.5	245.6	8.7	1060	22097	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2854	1803
22149	1.09	249.5	240.8	8.5	1062	22155	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1451	1803
22464	1.09	249.5	215.0	7.9	1078	22469	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2850	1803
22504	1.09	249.5	211.8	8.6	1080	22509	0.00	2.42	0.00	0.000	6	0.000	0.038	3038	1450	1803
22832	1.09	249.5	185.2	8.0	1096	22836	0.00	2.45	0.00	0.000	4	0.000	0.041	3039	2851	1803
22887	1.09	249.5	180.6	8.0	1098	22893	0.00	2.45	0.00	0.000	6	0.000	0.037	3038	1445	1803
23205	1.09	249.5	155.3	8.3	1114	23209	0.00	2.45	0.00	0.000	4	0.000	0.041	3038	2849	1803
23254	1.09	249.5	150.8	8.8	1116	23258	0.00	2.40	0.00	0.000	6	0.000	0.038	3038	1455	1803
23570	1.09	249.5	123.1	9.3	1131	23575	0.00	2.45	0.00	0.000	4	0.000	0.040	3038	2853	1803
23620	1.09	249.5	118.4	9.8	1133	23624	0.00	2.45	0.00	0.000	6	0.000	0.036	3038	1445	1803
23942	1.09	249.5	87.1	9.9	1149	23946	0.00	2.45	0.00	0.000	4	0.000	0.040	3038	2855	1803
24013	1.09	249.5	79.8	9.9	1152	24018	0.00	2.42	0.00	0.000	6	0.000	0.036	3038	1455	1803
24329	1.09	249.5	49.9	9.9	1167	24334	0.00	2.47	0.00	0.000	4	0.000	0.040	3038	2845	1803
24370	1.09	249.5	46.0	10.1	1168	24376	0.00	2.42	0.00	0.000	6	0.000	0.036	3038	1452	1803
24686	1.09	249.5	17.1	8.2	1184	24687	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1452	1803
24889	end climb: SURFACE_DEPTH_REACHED
state	24889	begin surface coast
24933	end surface coast: CONTROL_FINISHED_OK
state	24933	begin surface