Glider dive log

Shilshole 23May17 * SG402 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 402 HD_B 0.0143 ROLL_MAX 3750 ALTIM_BOTTOM_PING_RANGE 0

MISSION 2 HD_C 2.4999001e-05 ROLL_DEG 75 ALTIM_TOP_PING_RANGE 0

DIVE 41 HEADING -1 C_ROLL_DIVE 2278 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 50 ESCAPE_HEADING 0 C_ROLL_CLIMB 2230 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 110

D_FLARE 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 26 ALTIM_FREQUENCY 13

D_ABORT 210 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 ALTIM_PULSE 5

D_NO_BLEED 210 SM_CC 450 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 1 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 50 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 4045 DEEPGLIDER 2

D_CALL 0 N_NOCOMM 1 C_VBD 2627 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.85860002 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE3 -1

T_DIVE 86 CALL_TRIES 10 VBD_TIMEOUT 360 DEVICE4 -1

T_MISSION 95 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0014 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 20 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 495 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3900 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2660 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 450 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044041616

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063614739

GLIDE_SLOPE 20 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4510882e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9009848e-06

RHO 1.023 PITCH_GAIN 13 PHONE_SUPPLY 2 SEABIRD_C_G -9.6809101

MASS 72262 PITCH_TIMEOUT 50 PRESSURE_YINT -48.895668 SEABIRD_C_H 1.1416712

MASS_COMP 0 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.3081022e-05 SEABIRD_C_I -0.0016510745

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019793682

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2915.98

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0060000001 ROLL_MIN 300 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 450

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 70 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 13 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3900 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 110 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FILEMGR 0 PITCH_MIN 495 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 20 PITCH_VBD_SHIFT 0.0014 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0060000001 PITCH_W_GAIN 20 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0143 PRESSURE_SLOPE 3.3081022e-05 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999001e-05 PRESSURE_YINT -48.895668 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 86

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 402 RAFOS_DEVICE -1 T_MISSION 95

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 97 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 4

C_PITCH 2660 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 2230 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 2278 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2627 MASS 72262 ROLL_CNV 0.04555 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 75 USE_ICE 0

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_CNV -0.85860002

DEVICE2 -1 MAX_BUOY 450 ROLL_MIN 300 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 26 VBD_MAX 4045

DEVICE5 -1 MISSION 2 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.6809101 VBD_MIN 50

DIVE 41 NAV_MODE 1 SEABIRD_C_H 1.1416712 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 210 NOCOMM_ACTION 0 SEABIRD_C_I -0.0016510745 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 50 SEABIRD_C_J 0.00019793682 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2915.98 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 20 SEABIRD_T_G 0.0044041616 XPDR_DEVICE 24

D_FLARE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063614739 XPDR_INHIBIT 90

D_NO_BLEED 210 N_NOSURFACE 0 SEABIRD_T_I 2.4510882e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.9009848e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 250517,065747,4743.4561,-12224.5713,8,0.9,8,16.3,0.0,0.0,10,22.4 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.043846,-0.186603

_SM_DEPTHo 1.45 KALMAN_X -8190.615234,80.732155,537.395874,7448.124512,-446.494873

_SM_ANGLEo -57.3 KALMAN_Y -10490.795898,199.875183,1203.227905,9509.921875,-780.905396

GPS2 250517,070443,4743.4390,-12224.6201,5,1.8,5,16.3,0.0,0.0,6,34.7 MHEAD_RNG_PITCHd_Wd 150.5,1754,-16.8,-6.977,-20.00,3010

SPEED_LIMITS 0.192,0.310 D_GRID 180

Post-dive calculations and measurements:

SM_CCo 3515,96.50,0.615,0,0,46,2213.47 _10V_AH 10.59,3.887

SM_GC 0.57,27.35,3.95,0.00,0.034,0.039,0.000,515,2270,46,-6.69,1.00,2216.05,0,0,0,0,0,0,25.87,25.81,25.92 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,250517,065845 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020223,0.100366 MEM 313168

HUMID 45.78 DATA_FILE_SIZE 31186,781

INTERNAL_PRESSURE 10.3227 CAP_FILE_SIZE 113479,0

TCM_TEMP 10.70 CFSIZE 1024409600,1017757696

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 125.0,67.7 GPS 250517,080852,4742.819,-12224.874,8,0.8,8,16.3,0.0,0.0,12,141.1

_24V_AH 23.65,7.207

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 57 141 192.04 SBE_CT 525 24 298.47

Roll_motor 109 1293 3361.52 nil 0 0 0.00

VBD_pump_during_apogee 33 2236 1786.15 nil 0 0 0.00

VBD_pump_during_surface 96 615 1403.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.43 nil 0 0 0.00

Iridium_during_connect 20 160 79.39 nil 0 0 0.00

Iridium_during_xfer 290 223 1530.64 nil 0 0 0.00

Transponder_ping 2 420 19.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 50 3.46

TT8 1863 19 390.78

LPSleep 288 2 6.70

TT8_Active 474 19 99.58

TT8_Sampling 1493 39 629.32

TT8_CF8 58 45 28.34

TT8_Kalman 33 81 28.97

Analog_circuits 1161 12 147.58

GPS_charging 0 0 0.00

Compass 1120 5 59.31

RAFOS 0 0 0.00

Transponder 10 30 3.32

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 int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.49 -138.6 515 2270 2098 750 0.0 0.0 0 16 6.80 0.00 0.00 0.000 2049 0.142 0.000 1067 2270 2098 2098 739 0 0 0 0 0 0 26.47 28.83 28.83 10.76 47.67

17 -1.49 -138.6 1067 2270 2098 739 1.4 0.0 1 43 12.77 4.40 -4.68 0.000 18692 0.114 1.294 2172 3737 2795 2795 825 0 0 0 0 0 0 26.08 25.00 26.21 10.76 46.96

109 -1.49 -138.6 2172 3737 2797 825 10.2 -12.6 21 116 0.00 3.75 0.00 0.000 1030 0.000 0.036 2173 2282 2797 2797 772 0 0 0 0 0 0 26.24 26.17 26.26 10.90 46.29

150 -1.49 -138.6 2172 2282 2797 772 14.0 -8.2 30 158 0.00 4.55 0.00 0.000 516 0.000 0.074 2173 646 2798 2798 767 0 0 0 0 0 0 26.48 26.09 26.49 10.89 46.88

264 -1.49 -141.3 2172 646 2799 767 22.5 -6.9 57 271 0.00 4.20 0.00 0.000 1030 0.000 0.039 2173 2262 2800 2800 747 0 0 0 0 0 0 26.38 26.28 26.41 10.88 46.10

306 -1.54 -174.0 2172 2262 2800 747 25.0 -5.9 66 312 0.00 0.00 -0.08 0.000 16390 0.000 0.000 2172 2262 2841 2841 838 0 0 0 0 0 0 26.62 25.75 26.17 10.88 45.86

346 -1.56 -189.1 2172 2262 2840 838 27.6 -6.5 75 353 0.00 0.00 -0.08 0.000 16390 0.000 0.000 2173 2262 2882 2882 879 0 0 0 0 0 0 26.53 25.67 26.11 10.89 45.98

387 -1.56 -189.1 2172 2263 2882 879 30.4 -7.2 84 392 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2262 2882 2882 791 0 0 0 0 0 0 26.46 26.48 26.48 10.89 46.14

427 -1.59 -208.4 2172 2263 2883 791 33.1 -6.3 93 432 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2262 2883 2883 775 0 0 0 0 0 0 26.51 26.53 26.52 10.89 45.98

467 -1.60 -216.5 2172 2263 2883 775 35.9 -6.7 102 474 0.00 4.22 0.00 0.000 260 0.000 0.087 2173 3747 2883 2883 773 0 0 0 0 0 0 26.55 26.17 26.56 10.90 45.86

544 -1.60 -216.5 2172 3747 2885 773 42.7 -9.5 120 551 0.00 3.80 0.00 0.000 1030 0.000 0.037 2173 2271 2885 2885 759 0 0 0 0 0 0 26.42 26.34 26.44 10.88 45.86

585 -1.60 -216.5 2172 2271 2885 759 46.1 -7.6 129 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2270 2885 2885 755 0 0 0 0 0 0 26.64 26.65 26.65 10.88 45.94

625 -1.60 -216.5 2172 2271 2885 755 49.0 -7.2 138 631 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2270 2886 2886 753 0 0 0 0 0 0 26.67 26.68 26.68 10.88 46.25

665 -1.60 -216.5 2173 2271 2886 753 52.0 -7.3 147 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2270 2885 2885 751 0 0 0 0 0 0 26.69 26.71 26.70 10.89 45.58

705 -1.60 -216.5 2172 2271 2887 751 54.9 -7.3 156 711 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2271 2887 2887 751 0 0 0 0 0 0 26.72 26.73 26.73 10.88 46.33

745 -1.60 -216.6 2172 2271 2887 751 57.7 -7.0 165 751 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2270 2888 2888 749 0 0 0 0 0 0 26.74 26.75 26.74 10.88 45.47

785 -1.60 -216.6 2172 2271 2888 749 60.6 -7.4 174 791 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2270 2888 2888 750 0 0 0 0 0 0 26.76 26.77 26.77 10.88 46.49

825 -1.60 -216.6 2172 2270 2889 750 63.6 -7.7 183 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2271 2889 2889 749 0 0 0 0 0 0 26.77 26.79 26.79 10.88 46.18

865 -1.60 -216.6 2172 2270 2889 749 66.7 -7.4 192 871 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2270 2889 2889 749 0 0 0 0 0 0 26.79 26.81 26.80 10.88 45.90

905 -1.60 -220.0 2172 2270 2889 749 69.5 -6.9 201 912 0.00 4.15 0.00 0.000 260 0.000 0.087 2173 3743 2890 2890 755 0 0 0 0 0 0 26.81 26.42 26.82 10.88 46.02

950 -1.60 -220.0 2172 3743 2890 755 73.1 -8.1 211 957 0.00 3.78 0.00 0.000 1030 0.000 0.037 2173 2267 2890 2890 756 0 0 0 0 0 0 26.63 26.55 26.65 10.88 46.41

992 -1.61 -222.7 2172 2267 2891 756 76.0 -6.9 220 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2267 2891 2891 754 0 0 0 0 0 0 26.83 26.84 26.84 10.88 45.70

1031 -1.61 -222.7 2173 2267 2891 754 78.9 -7.5 229 1037 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2267 2892 2892 753 0 0 0 0 0 0 26.84 26.86 26.85 10.88 46.37

1071 -1.61 -222.7 2172 2267 2892 753 81.9 -7.6 238 1077 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2267 2892 2892 753 0 0 0 0 0 0 26.86 26.87 26.87 10.88 46.14

1111 -1.61 -222.7 2172 2267 2893 753 84.9 -7.2 247 1117 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2267 2892 2892 752 0 0 0 0 0 0 26.87 26.88 26.89 10.88 46.57

1151 -1.61 -222.7 2172 2267 2893 752 87.9 -7.7 256 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2267 2893 2893 752 0 0 0 0 0 0 26.88 26.89 26.89 10.88 46.22

1191 -1.61 -222.7 2172 2267 2893 752 91.1 -8.1 265 1197 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2267 2893 2893 752 0 0 0 0 0 0 26.89 26.91 26.90 10.88 46.41

1231 -1.61 -225.3 2172 2267 2894 752 94.1 -6.9 274 1237 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2267 2894 2894 751 0 0 0 0 0 0 26.90 26.91 26.91 10.87 46.41

1271 -1.62 -234.6 2172 2267 2894 751 96.8 -6.7 283 1278 0.10 0.00 -0.05 0.000 20486 0.088 0.000 2158 2267 2943 2943 846 0 0 0 0 0 0 26.68 25.84 25.72 10.88 46.33

1312 -1.62 -234.6 2157 2267 2945 846 99.8 -7.6 292 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2267 2945 2945 794 0 0 0 0 0 0 26.80 26.82 26.82 10.88 46.57

1352 -1.62 -234.6 2157 2267 2945 794 102.8 -7.5 301 1359 0.00 4.50 0.00 0.000 516 0.000 0.077 2158 645 2945 2945 787 0 0 0 0 0 0 26.82 26.43 26.83 10.89 46.81

1393 -1.62 -234.6 2157 645 2945 787 106.6 -9.9 310 1400 0.00 4.20 0.00 0.000 1030 0.000 0.041 2158 2267 2946 2946 780 0 0 0 0 0 0 26.62 26.51 26.65 10.88 46.81

1435 -1.62 -234.6 2156 2268 2946 780 110.0 -7.9 319 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2267 2946 2946 773 0 0 0 0 0 0 26.81 26.83 26.83 10.89 46.65

1475 -1.62 -234.6 2157 2267 2946 773 113.3 -8.0 328 1481 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2267 2947 2947 769 0 0 0 0 0 0 26.86 26.87 26.87 10.88 46.88

1515 -1.62 -234.6 2157 2268 2948 769 116.4 -7.9 337 1523 0.00 4.50 0.00 0.000 516 0.000 0.076 2158 644 2947 2947 773 0 0 0 0 0 0 26.87 26.47 26.88 10.88 46.14

1556 -1.62 -234.6 2157 644 2948 773 120.0 -8.9 346 1566 0.00 4.18 0.00 0.000 1030 0.000 0.041 2157 2264 2948 2948 775 0 0 0 0 0 0 26.62 26.56 26.65 10.88 46.25

1600 -1.62 -234.6 2157 2264 2948 775 123.3 -7.2 355 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2263 2949 2949 770 0 0 0 0 0 0 26.88 26.90 26.89 10.88 46.53

1644 -1.62 -234.6 2157 2264 2949 770 126.5 -7.8 364 1650 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2264 2949 2949 766 0 0 0 0 0 0 26.89 26.91 26.91 10.89 46.14

1684 -1.62 -234.6 2157 2264 2950 766 129.6 -7.9 373 1690 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2264 2950 2950 764 0 0 0 0 0 0 26.91 26.92 26.92 10.88 46.29

1724 -1.62 -234.6 2157 2264 2950 764 132.9 -8.2 382 1730 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2264 2950 2950 763 0 0 0 0 0 0 26.91 26.94 26.93 10.89 47.12

1764 -1.62 -234.6 2157 2264 2951 763 136.0 -7.5 391 1770 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2263 2951 2951 762 0 0 0 0 0 0 26.93 26.94 26.94 10.89 46.45

1804 -1.62 -234.6 2157 2264 2952 762 138.9 -7.6 400 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2264 2952 2952 761 0 0 0 0 0 0 26.94 26.95 26.95 10.88 46.77

1844 -1.62 -234.6 2157 2265 2952 761 142.1 -7.5 409 1850 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2264 2952 2952 760 0 0 0 0 0 0 26.94 26.96 26.96 10.88 46.29

1884 -1.62 -234.6 2157 2265 2953 760 145.7 -8.9 418 1890 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2264 2953 2953 760 0 0 0 0 0 0 26.96 26.97 26.97 10.89 46.29

1924 -1.62 -234.6 2157 2264 2953 760 149.1 -8.4 427 1931 0.00 4.47 0.00 0.000 516 0.000 0.076 2157 644 2954 2954 766 0 0 0 0 0 0 26.96 26.56 26.98 10.88 46.33

1973 -1.62 -234.6 2157 644 2954 766 154.0 -9.9 438 1980 0.00 4.20 0.00 0.000 1030 0.000 0.041 2158 2272 2955 2955 765 0 0 0 0 0 0 26.75 26.65 26.78 10.88 46.61

2014 -1.62 -234.6 2157 2272 2956 765 157.3 -7.8 447 2020 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2271 2956 2956 764 0 0 0 0 0 0 26.97 26.98 26.98 10.88 47.16

2054 -1.62 -234.6 2156 2272 2956 764 160.3 -7.6 456 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2272 2956 2956 763 0 0 0 0 0 0 26.97 26.99 26.99 10.89 46.81

2094 -1.62 -234.6 2157 2272 2957 763 163.3 -7.6 465 2101 0.00 4.47 0.00 0.000 516 0.000 0.076 2158 648 2957 2957 768 0 0 0 0 0 0 26.98 26.58 27.00 10.89 46.41

2151 -1.62 -234.6 2157 648 2958 768 168.4 -9.9 478 2158 0.00 4.18 0.00 0.000 1030 0.000 0.041 2157 2265 2958 2958 766 0 0 0 0 0 0 26.77 26.67 26.80 10.89 47.08

2192 -1.62 -234.6 2157 2265 2958 766 172.0 -8.3 487 2198 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2265 2959 2959 764 0 0 0 0 0 0 26.99 27.01 27.01 10.89 46.77

2232 -1.62 -234.6 2157 2266 2959 764 175.2 -7.8 496 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2265 2960 2960 763 0 0 0 0 0 0 27.00 27.01 27.01 10.88 47.28

2267 end dive: BOTTOM_OBSTACLE_DETECTED

state 2267 begin apogee

2271 -0.38 0.0 2158 2230 2960 757 178.0 -8.0 504 2300 3.78 0.00 18.27 2.236 10244 0.064 0.000 2527 2229 2625 2625 3844 0 0 0 0 0 0 26.70 25.32 24.18 10.89 47.55

2301 end apogee: CONTROL_FINISHED_OK

state 2302 begin climb

2303 1.62 234.6 2527 2229 2625 3844 178.9 0.0 509 2328 6.47 0.00 15.50 2.161 11270 0.044 0.000 3159 2230 2352 2352 4095 0 0 0 0 0 0 25.91 26.12 23.65 10.83 46.61

2362 1.62 234.6 3159 2230 2351 4095 172.8 14.9 521 2368 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2229 2350 2350 789 0 0 0 0 0 0 25.86 25.88 25.87 10.77 46.45

2401 1.62 234.6 3159 2230 2351 789 166.3 16.4 530 2407 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2229 2350 2350 765 0 0 0 0 0 0 26.05 26.06 26.06 10.78 46.96

2441 1.62 234.6 3159 2230 2349 765 159.8 16.7 539 2448 0.00 4.65 0.00 0.000 516 0.000 0.079 3160 602 2348 2348 752 0 0 0 0 0 0 26.17 25.80 26.18 10.78 47.00

2506 1.62 234.6 3159 602 2346 752 148.1 18.6 554 2513 0.00 4.32 0.00 0.000 1030 0.000 0.041 3160 2234 2345 2345 736 0 0 0 0 0 0 26.10 26.00 26.13 10.78 46.45

2548 1.62 234.6 3159 2234 2344 736 141.2 16.0 563 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2233 2344 2344 724 0 0 0 0 0 0 26.37 26.39 26.39 10.77 46.14

2587 1.62 234.6 3159 2234 2343 724 134.5 16.9 572 2593 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2234 2342 2342 714 0 0 0 0 0 0 26.43 26.44 26.44 10.77 46.69

2627 1.62 234.6 3159 2234 2341 714 127.7 16.6 581 2633 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2233 2341 2341 706 0 0 0 0 0 0 26.48 26.49 26.49 10.77 46.77

2667 1.62 234.6 3159 2234 2340 706 121.4 15.9 590 2673 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2234 2339 2339 698 0 0 0 0 0 0 26.52 26.53 26.53 10.77 46.88

2707 1.62 234.6 3159 2234 2338 698 114.6 17.0 599 2713 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2233 2338 2338 692 0 0 0 0 0 0 26.56 26.57 26.57 10.77 46.65

2747 1.62 234.6 3159 2235 2337 692 107.9 16.6 608 2754 0.00 4.57 0.00 0.000 516 0.000 0.078 3159 601 2337 2337 692 0 0 0 0 0 0 26.59 26.20 26.60 10.77 46.18

2796 1.62 234.6 3159 601 2335 692 98.8 19.6 619 2803 0.00 4.25 0.00 0.000 1030 0.000 0.040 3160 2229 2335 2335 688 0 0 0 0 0 0 26.41 26.31 26.44 10.77 46.61

2837 1.62 234.6 3159 2229 2333 688 91.4 17.7 628 2843 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2229 2334 2334 682 0 0 0 0 0 0 26.65 26.66 26.66 10.75 46.96

2877 1.62 234.6 3159 2229 2332 682 84.4 17.1 637 2883 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2229 2332 2332 678 0 0 0 0 0 0 26.67 26.69 26.68 10.76 47.20

2917 1.62 234.6 3159 2229 2330 678 77.5 17.2 646 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2229 2331 2331 674 0 0 0 0 0 0 26.70 26.72 26.71 10.76 46.92

2957 1.62 234.6 3159 2229 2329 674 70.8 17.1 655 2963 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2229 2329 2329 671 0 0 0 0 0 0 26.72 26.74 26.73 10.76 46.57

2997 1.62 234.6 3159 2229 2327 671 63.8 17.0 664 3003 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2228 2328 2328 667 0 0 0 0 0 0 26.74 26.75 26.75 10.75 46.41

3037 1.62 234.6 3159 2229 2325 667 57.0 16.9 673 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2229 2326 2326 664 0 0 0 0 0 0 26.76 26.77 26.77 10.75 46.77

3076 1.62 234.6 3159 2229 2324 664 50.2 17.2 682 3083 0.00 4.28 0.00 0.000 260 0.000 0.083 3159 3746 2324 2324 668 0 0 0 0 0 0 26.77 26.40 26.79 10.75 46.49

3109 1.62 234.6 3159 3746 2322 668 44.0 19.5 689 3117 0.00 3.88 0.00 0.000 1030 0.000 0.036 3160 2225 2323 2323 668 0 0 0 0 0 0 26.58 26.50 26.60 10.75 46.57

3151 1.62 234.6 3159 2225 2321 668 36.8 15.8 698 3156 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2224 2321 2321 665 0 0 0 0 0 0 26.79 26.82 26.81 10.75 46.92

3190 1.62 234.6 3159 2224 2320 665 30.7 15.2 707 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2225 2319 2319 662 0 0 0 0 0 0 26.82 26.83 26.83 10.75 46.49

3230 1.62 234.6 3159 2225 2318 662 24.9 14.5 716 3236 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2225 2318 2318 660 0 0 0 0 0 0 26.83 26.84 26.84 10.75 47.48

3270 1.62 234.6 3159 2225 2317 660 19.0 14.8 725 3277 0.00 4.25 0.00 0.000 260 0.000 0.082 3160 3747 2317 2317 663 0 0 0 0 0 0 26.84 26.46 26.85 10.75 47.08

3303 1.62 234.6 3159 3748 2316 663 13.3 18.0 732 3310 0.00 3.88 0.00 0.000 1030 0.000 0.037 3159 2225 2316 2316 664 0 0 0 0 0 0 26.65 26.56 26.67 10.75 46.92

3344 1.62 234.6 3159 2225 2314 664 7.1 13.2 741 3350 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2224 2314 2314 661 0 0 0 0 0 0 26.85 26.87 26.86 10.76 47.36

3384 1.66 263.4 3159 2225 2313 661 4.0 6.0 750 3392 0.10 4.22 0.00 0.000 2308 0.089 0.083 3175 3746 2313 2313 665 0 0 0 0 0 0 26.63 26.50 26.67 10.76 47.12

3513 end climb: NO_VERTICAL_VELOCITY

state 3513 begin surface

ID	402	HD_B	0.0143	ROLL_MAX	3750	ALTIM_BOTTOM_PING_RANGE	0
MISSION	2	HD_C	2.4999001e-05	ROLL_DEG	75	ALTIM_TOP_PING_RANGE	0
DIVE	41	HEADING	-1	C_ROLL_DIVE	2278	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	50	ESCAPE_HEADING	0	C_ROLL_CLIMB	2230	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	110
D_FLARE	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	26	ALTIM_FREQUENCY	13
D_ABORT	210	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	ALTIM_PULSE	5
D_NO_BLEED	210	SM_CC	450	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	1	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	50	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	4045	DEEPGLIDER	2
D_CALL	0	N_NOCOMM	1	C_VBD	2627	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.85860002	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE3	-1
T_DIVE	86	CALL_TRIES	10	VBD_TIMEOUT	360	DEVICE4	-1
T_MISSION	95	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0014	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	20	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	495	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3900	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2660	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	450	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044041616
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063614739
GLIDE_SLOPE	20	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4510882e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9009848e-06
RHO	1.023	PITCH_GAIN	13	PHONE_SUPPLY	2	SEABIRD_C_G	-9.6809101
MASS	72262	PITCH_TIMEOUT	50	PRESSURE_YINT	-48.895668	SEABIRD_C_H	1.1416712
MASS_COMP	0	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.3081022e-05	SEABIRD_C_I	-0.0016510745
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019793682
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2915.98
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0060000001	ROLL_MIN	300	COMPASS_USE	4

GPS1	250517,065747,4743.4561,-12224.5713,8,0.9,8,16.3,0.0,0.0,10,22.4	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.043846,-0.186603
_SM_DEPTHo	1.45	KALMAN_X	-8190.615234,80.732155,537.395874,7448.124512,-446.494873
_SM_ANGLEo	-57.3	KALMAN_Y	-10490.795898,199.875183,1203.227905,9509.921875,-780.905396
GPS2	250517,070443,4743.4390,-12224.6201,5,1.8,5,16.3,0.0,0.0,6,34.7	MHEAD_RNG_PITCHd_Wd	150.5,1754,-16.8,-6.977,-20.00,3010
SPEED_LIMITS	0.192,0.310	D_GRID	180

SM_CCo	3515,96.50,0.615,0,0,46,2213.47	_10V_AH	10.59,3.887
SM_GC	0.57,27.35,3.95,0.00,0.034,0.039,0.000,515,2270,46,-6.69,1.00,2216.05,0,0,0,0,0,0,25.87,25.81,25.92	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,250517,065845	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020223,0.100366	MEM	313168
HUMID	45.78	DATA_FILE_SIZE	31186,781
INTERNAL_PRESSURE	10.3227	CAP_FILE_SIZE	113479,0
TCM_TEMP	10.70	CFSIZE	1024409600,1017757696
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	125.0,67.7	GPS	250517,080852,4742.819,-12224.874,8,0.8,8,16.3,0.0,0.0,12,141.1
_24V_AH	23.65,7.207

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	57	141	192.04	SBE_CT	525	24	298.47
Roll_motor	109	1293	3361.52	nil	0	0	0.00
VBD_pump_during_apogee	33	2236	1786.15	nil	0	0	0.00
VBD_pump_during_surface	96	615	1403.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.43	nil	0	0	0.00
Iridium_during_connect	20	160	79.39	nil	0	0	0.00
Iridium_during_xfer	290	223	1530.64	nil	0	0	0.00
Transponder_ping	2	420	19.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	50	3.46
TT8	1863	19	390.78
LPSleep	288	2	6.70
TT8_Active	474	19	99.58
TT8_Sampling	1493	39	629.32
TT8_CF8	58	45	28.34
TT8_Kalman	33	81	28.97
Analog_circuits	1161	12	147.58
GPS_charging	0	0	0.00
Compass	1120	5	59.31
RAFOS	0	0	0.00
Transponder	10	30	3.32

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	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.49	-138.6	515	2270	2098	750	0.0	0.0	0	16	6.80	0.00	0.00	0.000	2049	0.142	0.000	1067	2270	2098	2098	739	0	0	0	0	0	0	26.47	28.83	28.83	10.76	47.67
17	-1.49	-138.6	1067	2270	2098	739	1.4	0.0	1	43	12.77	4.40	-4.68	0.000	18692	0.114	1.294	2172	3737	2795	2795	825	0	0	0	0	0	0	26.08	25.00	26.21	10.76	46.96
109	-1.49	-138.6	2172	3737	2797	825	10.2	-12.6	21	116	0.00	3.75	0.00	0.000	1030	0.000	0.036	2173	2282	2797	2797	772	0	0	0	0	0	0	26.24	26.17	26.26	10.90	46.29
150	-1.49	-138.6	2172	2282	2797	772	14.0	-8.2	30	158	0.00	4.55	0.00	0.000	516	0.000	0.074	2173	646	2798	2798	767	0	0	0	0	0	0	26.48	26.09	26.49	10.89	46.88
264	-1.49	-141.3	2172	646	2799	767	22.5	-6.9	57	271	0.00	4.20	0.00	0.000	1030	0.000	0.039	2173	2262	2800	2800	747	0	0	0	0	0	0	26.38	26.28	26.41	10.88	46.10
306	-1.54	-174.0	2172	2262	2800	747	25.0	-5.9	66	312	0.00	0.00	-0.08	0.000	16390	0.000	0.000	2172	2262	2841	2841	838	0	0	0	0	0	0	26.62	25.75	26.17	10.88	45.86
346	-1.56	-189.1	2172	2262	2840	838	27.6	-6.5	75	353	0.00	0.00	-0.08	0.000	16390	0.000	0.000	2173	2262	2882	2882	879	0	0	0	0	0	0	26.53	25.67	26.11	10.89	45.98
387	-1.56	-189.1	2172	2263	2882	879	30.4	-7.2	84	392	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2262	2882	2882	791	0	0	0	0	0	0	26.46	26.48	26.48	10.89	46.14
427	-1.59	-208.4	2172	2263	2883	791	33.1	-6.3	93	432	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2262	2883	2883	775	0	0	0	0	0	0	26.51	26.53	26.52	10.89	45.98
467	-1.60	-216.5	2172	2263	2883	775	35.9	-6.7	102	474	0.00	4.22	0.00	0.000	260	0.000	0.087	2173	3747	2883	2883	773	0	0	0	0	0	0	26.55	26.17	26.56	10.90	45.86
544	-1.60	-216.5	2172	3747	2885	773	42.7	-9.5	120	551	0.00	3.80	0.00	0.000	1030	0.000	0.037	2173	2271	2885	2885	759	0	0	0	0	0	0	26.42	26.34	26.44	10.88	45.86
585	-1.60	-216.5	2172	2271	2885	759	46.1	-7.6	129	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2270	2885	2885	755	0	0	0	0	0	0	26.64	26.65	26.65	10.88	45.94
625	-1.60	-216.5	2172	2271	2885	755	49.0	-7.2	138	631	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2270	2886	2886	753	0	0	0	0	0	0	26.67	26.68	26.68	10.88	46.25
665	-1.60	-216.5	2173	2271	2886	753	52.0	-7.3	147	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2270	2885	2885	751	0	0	0	0	0	0	26.69	26.71	26.70	10.89	45.58
705	-1.60	-216.5	2172	2271	2887	751	54.9	-7.3	156	711	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2271	2887	2887	751	0	0	0	0	0	0	26.72	26.73	26.73	10.88	46.33
745	-1.60	-216.6	2172	2271	2887	751	57.7	-7.0	165	751	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2270	2888	2888	749	0	0	0	0	0	0	26.74	26.75	26.74	10.88	45.47
785	-1.60	-216.6	2172	2271	2888	749	60.6	-7.4	174	791	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2270	2888	2888	750	0	0	0	0	0	0	26.76	26.77	26.77	10.88	46.49
825	-1.60	-216.6	2172	2270	2889	750	63.6	-7.7	183	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2271	2889	2889	749	0	0	0	0	0	0	26.77	26.79	26.79	10.88	46.18
865	-1.60	-216.6	2172	2270	2889	749	66.7	-7.4	192	871	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2270	2889	2889	749	0	0	0	0	0	0	26.79	26.81	26.80	10.88	45.90
905	-1.60	-220.0	2172	2270	2889	749	69.5	-6.9	201	912	0.00	4.15	0.00	0.000	260	0.000	0.087	2173	3743	2890	2890	755	0	0	0	0	0	0	26.81	26.42	26.82	10.88	46.02
950	-1.60	-220.0	2172	3743	2890	755	73.1	-8.1	211	957	0.00	3.78	0.00	0.000	1030	0.000	0.037	2173	2267	2890	2890	756	0	0	0	0	0	0	26.63	26.55	26.65	10.88	46.41
992	-1.61	-222.7	2172	2267	2891	756	76.0	-6.9	220	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2267	2891	2891	754	0	0	0	0	0	0	26.83	26.84	26.84	10.88	45.70
1031	-1.61	-222.7	2173	2267	2891	754	78.9	-7.5	229	1037	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2267	2892	2892	753	0	0	0	0	0	0	26.84	26.86	26.85	10.88	46.37
1071	-1.61	-222.7	2172	2267	2892	753	81.9	-7.6	238	1077	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2267	2892	2892	753	0	0	0	0	0	0	26.86	26.87	26.87	10.88	46.14
1111	-1.61	-222.7	2172	2267	2893	753	84.9	-7.2	247	1117	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2267	2892	2892	752	0	0	0	0	0	0	26.87	26.88	26.89	10.88	46.57
1151	-1.61	-222.7	2172	2267	2893	752	87.9	-7.7	256	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2267	2893	2893	752	0	0	0	0	0	0	26.88	26.89	26.89	10.88	46.22
1191	-1.61	-222.7	2172	2267	2893	752	91.1	-8.1	265	1197	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2267	2893	2893	752	0	0	0	0	0	0	26.89	26.91	26.90	10.88	46.41
1231	-1.61	-225.3	2172	2267	2894	752	94.1	-6.9	274	1237	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2267	2894	2894	751	0	0	0	0	0	0	26.90	26.91	26.91	10.87	46.41
1271	-1.62	-234.6	2172	2267	2894	751	96.8	-6.7	283	1278	0.10	0.00	-0.05	0.000	20486	0.088	0.000	2158	2267	2943	2943	846	0	0	0	0	0	0	26.68	25.84	25.72	10.88	46.33
1312	-1.62	-234.6	2157	2267	2945	846	99.8	-7.6	292	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2267	2945	2945	794	0	0	0	0	0	0	26.80	26.82	26.82	10.88	46.57
1352	-1.62	-234.6	2157	2267	2945	794	102.8	-7.5	301	1359	0.00	4.50	0.00	0.000	516	0.000	0.077	2158	645	2945	2945	787	0	0	0	0	0	0	26.82	26.43	26.83	10.89	46.81
1393	-1.62	-234.6	2157	645	2945	787	106.6	-9.9	310	1400	0.00	4.20	0.00	0.000	1030	0.000	0.041	2158	2267	2946	2946	780	0	0	0	0	0	0	26.62	26.51	26.65	10.88	46.81
1435	-1.62	-234.6	2156	2268	2946	780	110.0	-7.9	319	1441	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2267	2946	2946	773	0	0	0	0	0	0	26.81	26.83	26.83	10.89	46.65
1475	-1.62	-234.6	2157	2267	2946	773	113.3	-8.0	328	1481	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2267	2947	2947	769	0	0	0	0	0	0	26.86	26.87	26.87	10.88	46.88
1515	-1.62	-234.6	2157	2268	2948	769	116.4	-7.9	337	1523	0.00	4.50	0.00	0.000	516	0.000	0.076	2158	644	2947	2947	773	0	0	0	0	0	0	26.87	26.47	26.88	10.88	46.14
1556	-1.62	-234.6	2157	644	2948	773	120.0	-8.9	346	1566	0.00	4.18	0.00	0.000	1030	0.000	0.041	2157	2264	2948	2948	775	0	0	0	0	0	0	26.62	26.56	26.65	10.88	46.25
1600	-1.62	-234.6	2157	2264	2948	775	123.3	-7.2	355	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2263	2949	2949	770	0	0	0	0	0	0	26.88	26.90	26.89	10.88	46.53
1644	-1.62	-234.6	2157	2264	2949	770	126.5	-7.8	364	1650	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2264	2949	2949	766	0	0	0	0	0	0	26.89	26.91	26.91	10.89	46.14
1684	-1.62	-234.6	2157	2264	2950	766	129.6	-7.9	373	1690	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2264	2950	2950	764	0	0	0	0	0	0	26.91	26.92	26.92	10.88	46.29
1724	-1.62	-234.6	2157	2264	2950	764	132.9	-8.2	382	1730	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2264	2950	2950	763	0	0	0	0	0	0	26.91	26.94	26.93	10.89	47.12
1764	-1.62	-234.6	2157	2264	2951	763	136.0	-7.5	391	1770	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2263	2951	2951	762	0	0	0	0	0	0	26.93	26.94	26.94	10.89	46.45
1804	-1.62	-234.6	2157	2264	2952	762	138.9	-7.6	400	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2264	2952	2952	761	0	0	0	0	0	0	26.94	26.95	26.95	10.88	46.77
1844	-1.62	-234.6	2157	2265	2952	761	142.1	-7.5	409	1850	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2264	2952	2952	760	0	0	0	0	0	0	26.94	26.96	26.96	10.88	46.29
1884	-1.62	-234.6	2157	2265	2953	760	145.7	-8.9	418	1890	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2264	2953	2953	760	0	0	0	0	0	0	26.96	26.97	26.97	10.89	46.29
1924	-1.62	-234.6	2157	2264	2953	760	149.1	-8.4	427	1931	0.00	4.47	0.00	0.000	516	0.000	0.076	2157	644	2954	2954	766	0	0	0	0	0	0	26.96	26.56	26.98	10.88	46.33
1973	-1.62	-234.6	2157	644	2954	766	154.0	-9.9	438	1980	0.00	4.20	0.00	0.000	1030	0.000	0.041	2158	2272	2955	2955	765	0	0	0	0	0	0	26.75	26.65	26.78	10.88	46.61
2014	-1.62	-234.6	2157	2272	2956	765	157.3	-7.8	447	2020	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2271	2956	2956	764	0	0	0	0	0	0	26.97	26.98	26.98	10.88	47.16
2054	-1.62	-234.6	2156	2272	2956	764	160.3	-7.6	456	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2272	2956	2956	763	0	0	0	0	0	0	26.97	26.99	26.99	10.89	46.81
2094	-1.62	-234.6	2157	2272	2957	763	163.3	-7.6	465	2101	0.00	4.47	0.00	0.000	516	0.000	0.076	2158	648	2957	2957	768	0	0	0	0	0	0	26.98	26.58	27.00	10.89	46.41
2151	-1.62	-234.6	2157	648	2958	768	168.4	-9.9	478	2158	0.00	4.18	0.00	0.000	1030	0.000	0.041	2157	2265	2958	2958	766	0	0	0	0	0	0	26.77	26.67	26.80	10.89	47.08
2192	-1.62	-234.6	2157	2265	2958	766	172.0	-8.3	487	2198	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2265	2959	2959	764	0	0	0	0	0	0	26.99	27.01	27.01	10.89	46.77
2232	-1.62	-234.6	2157	2266	2959	764	175.2	-7.8	496	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2265	2960	2960	763	0	0	0	0	0	0	27.00	27.01	27.01	10.88	47.28
2267	end dive: BOTTOM_OBSTACLE_DETECTED
state	2267	begin apogee
2271	-0.38	0.0	2158	2230	2960	757	178.0	-8.0	504	2300	3.78	0.00	18.27	2.236	10244	0.064	0.000	2527	2229	2625	2625	3844	0	0	0	0	0	0	26.70	25.32	24.18	10.89	47.55
2301	end apogee: CONTROL_FINISHED_OK
state	2302	begin climb
2303	1.62	234.6	2527	2229	2625	3844	178.9	0.0	509	2328	6.47	0.00	15.50	2.161	11270	0.044	0.000	3159	2230	2352	2352	4095	0	0	0	0	0	0	25.91	26.12	23.65	10.83	46.61
2362	1.62	234.6	3159	2230	2351	4095	172.8	14.9	521	2368	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2229	2350	2350	789	0	0	0	0	0	0	25.86	25.88	25.87	10.77	46.45
2401	1.62	234.6	3159	2230	2351	789	166.3	16.4	530	2407	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2229	2350	2350	765	0	0	0	0	0	0	26.05	26.06	26.06	10.78	46.96
2441	1.62	234.6	3159	2230	2349	765	159.8	16.7	539	2448	0.00	4.65	0.00	0.000	516	0.000	0.079	3160	602	2348	2348	752	0	0	0	0	0	0	26.17	25.80	26.18	10.78	47.00
2506	1.62	234.6	3159	602	2346	752	148.1	18.6	554	2513	0.00	4.32	0.00	0.000	1030	0.000	0.041	3160	2234	2345	2345	736	0	0	0	0	0	0	26.10	26.00	26.13	10.78	46.45
2548	1.62	234.6	3159	2234	2344	736	141.2	16.0	563	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2233	2344	2344	724	0	0	0	0	0	0	26.37	26.39	26.39	10.77	46.14
2587	1.62	234.6	3159	2234	2343	724	134.5	16.9	572	2593	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2234	2342	2342	714	0	0	0	0	0	0	26.43	26.44	26.44	10.77	46.69
2627	1.62	234.6	3159	2234	2341	714	127.7	16.6	581	2633	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2233	2341	2341	706	0	0	0	0	0	0	26.48	26.49	26.49	10.77	46.77
2667	1.62	234.6	3159	2234	2340	706	121.4	15.9	590	2673	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2234	2339	2339	698	0	0	0	0	0	0	26.52	26.53	26.53	10.77	46.88
2707	1.62	234.6	3159	2234	2338	698	114.6	17.0	599	2713	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2233	2338	2338	692	0	0	0	0	0	0	26.56	26.57	26.57	10.77	46.65
2747	1.62	234.6	3159	2235	2337	692	107.9	16.6	608	2754	0.00	4.57	0.00	0.000	516	0.000	0.078	3159	601	2337	2337	692	0	0	0	0	0	0	26.59	26.20	26.60	10.77	46.18
2796	1.62	234.6	3159	601	2335	692	98.8	19.6	619	2803	0.00	4.25	0.00	0.000	1030	0.000	0.040	3160	2229	2335	2335	688	0	0	0	0	0	0	26.41	26.31	26.44	10.77	46.61
2837	1.62	234.6	3159	2229	2333	688	91.4	17.7	628	2843	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2229	2334	2334	682	0	0	0	0	0	0	26.65	26.66	26.66	10.75	46.96
2877	1.62	234.6	3159	2229	2332	682	84.4	17.1	637	2883	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2229	2332	2332	678	0	0	0	0	0	0	26.67	26.69	26.68	10.76	47.20
2917	1.62	234.6	3159	2229	2330	678	77.5	17.2	646	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2229	2331	2331	674	0	0	0	0	0	0	26.70	26.72	26.71	10.76	46.92
2957	1.62	234.6	3159	2229	2329	674	70.8	17.1	655	2963	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2229	2329	2329	671	0	0	0	0	0	0	26.72	26.74	26.73	10.76	46.57
2997	1.62	234.6	3159	2229	2327	671	63.8	17.0	664	3003	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2228	2328	2328	667	0	0	0	0	0	0	26.74	26.75	26.75	10.75	46.41
3037	1.62	234.6	3159	2229	2325	667	57.0	16.9	673	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2229	2326	2326	664	0	0	0	0	0	0	26.76	26.77	26.77	10.75	46.77
3076	1.62	234.6	3159	2229	2324	664	50.2	17.2	682	3083	0.00	4.28	0.00	0.000	260	0.000	0.083	3159	3746	2324	2324	668	0	0	0	0	0	0	26.77	26.40	26.79	10.75	46.49
3109	1.62	234.6	3159	3746	2322	668	44.0	19.5	689	3117	0.00	3.88	0.00	0.000	1030	0.000	0.036	3160	2225	2323	2323	668	0	0	0	0	0	0	26.58	26.50	26.60	10.75	46.57
3151	1.62	234.6	3159	2225	2321	668	36.8	15.8	698	3156	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2224	2321	2321	665	0	0	0	0	0	0	26.79	26.82	26.81	10.75	46.92
3190	1.62	234.6	3159	2224	2320	665	30.7	15.2	707	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2225	2319	2319	662	0	0	0	0	0	0	26.82	26.83	26.83	10.75	46.49
3230	1.62	234.6	3159	2225	2318	662	24.9	14.5	716	3236	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2225	2318	2318	660	0	0	0	0	0	0	26.83	26.84	26.84	10.75	47.48
3270	1.62	234.6	3159	2225	2317	660	19.0	14.8	725	3277	0.00	4.25	0.00	0.000	260	0.000	0.082	3160	3747	2317	2317	663	0	0	0	0	0	0	26.84	26.46	26.85	10.75	47.08
3303	1.62	234.6	3159	3748	2316	663	13.3	18.0	732	3310	0.00	3.88	0.00	0.000	1030	0.000	0.037	3159	2225	2316	2316	664	0	0	0	0	0	0	26.65	26.56	26.67	10.75	46.92
3344	1.62	234.6	3159	2225	2314	664	7.1	13.2	741	3350	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2224	2314	2314	661	0	0	0	0	0	0	26.85	26.87	26.86	10.76	47.36
3384	1.66	263.4	3159	2225	2313	661	4.0	6.0	750	3392	0.10	4.22	0.00	0.000	2308	0.089	0.083	3175	3746	2313	2313	665	0	0	0	0	0	0	26.63	26.50	26.67	10.76	47.12
3513	end climb: NO_VERTICAL_VELOCITY
state	3513	begin surface