Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 81 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 240 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -78150.648 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -78150.648

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 81 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 043626,6141.025,-920.236,40,1.7,41,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.161,0.121

_SM_DEPTHo 0.74 KALMAN_X -102401.7,1417.8,1029.5,43399.5,-11457.2

_SM_ANGLEo -59.3 KALMAN_Y -24529.0,869.1,1312.3,52063.0,-14647.1

GPS2 044303,6140.959,-920.207,14,1.7,14,-9.5 MHEAD_RNG_PITCHd_Wd 62.6,8089,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027165 ALTIM_BOTTOM_PING 802.8,45.2

SM_CCo 26504,1.33,0.124,0,0,1397,300.00 _24V_AH 23.8,17.887

SM_GC 1.35,0.00,0.00,1.33,0.000,0.000,0.124,424,2127,1397,-10.47,-0.65,300.00 _10V_AH 10.1,7.944

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 66349,1269

TT8_MAMPS 0.029146 CAP_FILE_SIZE 208551,0

HUMID 1666 CFSIZE 254472192,246820864

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,32,0,0

XPDR_PINGS 782 GPS 230608,120703,6144.978,-913.207,40,1.8,41,-9.4

ALTIM_TOP_PING 18.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 89.60 SBE_CT 871 24 497.90

Roll_motor 267 92 586.90 SBE_O2 943 19 426.65

VBD_pump_during_apogee 360 1448 12419.03 WL_BB2F 645 105 1614.08

VBD_pump_during_surface 1 124 3.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 29 160 111.43 nil 0 0 0.00

Iridium_during_xfer 186 223 990.78

Transponder_ping 202 420 2026.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.35

TT8 2404 19 480.86

LPSleep 20270 2 448.37

TT8_Active 573 19 114.65

TT8_Sampling 2937 39 1181.01

TT8_CF8 705 45 326.52

TT8_Kalman 33 81 27.59

Analog_circuits 2045 12 247.92

GPS_charging 0 0 0.00

Compass 2876 8 232.41

RAFOS 0 0 0.00

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -1.03 -117.3 0.0 0.0 0 97 0.00 0.00 -70.43 0.000 6 0.000 0.000 423 2137 3099

101 -1.03 -117.3 2.1 -3.6 3 117 10.68 2.53 0.00 0.000 4 0.141 0.058 2469 740 3100

308 -0.72 -117.3 28.1 -9.9 11 313 0.35 2.53 0.00 0.000 6 0.089 0.051 2543 2153 3101

626 -0.64 -117.3 50.9 -6.6 26 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2153 3102

934 -0.56 -117.3 79.2 -10.0 41 939 0.15 2.53 0.00 0.000 4 0.095 0.061 2578 3562 3102

983 -0.56 -117.3 84.5 -9.6 43 988 0.00 2.53 0.00 0.000 6 0.000 0.048 2578 2131 3102

1300 -0.56 -117.3 112.6 -8.3 58 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2112 3103

1609 -0.60 -117.3 143.1 -11.1 73 1613 0.00 2.60 0.00 0.000 4 0.000 0.061 2579 3555 3103

1709 -0.60 -117.3 155.4 -12.3 77 1715 0.00 2.47 0.00 0.000 6 0.000 0.048 2578 2161 3103

2026 -0.65 -117.3 185.7 -9.1 93 2030 0.00 2.55 0.00 0.000 4 0.000 0.065 2578 744 3103

2137 -0.65 -117.3 196.3 -10.6 98 2141 0.00 2.53 0.00 0.000 6 0.000 0.052 2578 2161 3103

2459 -0.70 -117.3 226.2 -7.8 114 2464 0.15 2.60 0.00 0.000 4 0.049 0.064 2530 743 3103

2526 -0.59 -117.3 232.4 -9.4 117 2531 0.20 2.50 0.00 0.000 6 0.088 0.053 2572 2135 3103

2848 -0.59 -117.3 257.5 -7.8 133 2849 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2134 3103

3157 -0.59 -117.3 278.5 -7.4 148 3161 0.00 2.55 0.00 0.000 4 0.000 0.065 2572 746 3103

3246 -0.59 -117.3 283.7 -5.2 152 3250 0.00 2.50 0.00 0.000 6 0.000 0.053 2572 2140 3103

3568 -0.64 -117.3 299.9 -4.3 168 3575 0.00 2.55 0.00 0.000 4 0.000 0.065 2572 3558 3103

3694 -0.64 -117.3 304.7 -3.4 173 3698 0.00 2.50 0.00 0.000 6 0.000 0.051 2572 2153 3103

4010 -0.64 -117.3 312.1 -1.8 188 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2151 3102

4319 -0.64 -117.3 315.3 -0.5 203 4323 0.00 2.50 0.00 0.000 4 0.000 0.067 2572 750 3102

4363 -0.64 -117.3 315.9 -1.8 205 4367 0.00 2.50 0.00 0.000 6 0.000 0.053 2572 2152 3102

4685 -0.64 -117.3 320.8 -2.4 221 4689 0.00 2.53 0.00 0.000 4 0.000 0.065 2572 3556 3102

4770 -0.64 -117.3 323.8 -4.1 225 4774 0.00 2.47 0.00 0.000 6 0.000 0.049 2572 2158 3102

5097 -0.64 -117.3 334.2 -3.1 241 5098 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2151 3102

5407 -0.64 -117.3 344.6 -4.1 256 5411 0.00 2.53 0.00 0.000 4 0.000 0.067 2572 751 3102

5469 -0.64 -117.3 346.8 -3.7 259 5473 0.00 2.53 0.00 0.000 6 0.000 0.052 2572 2170 3101

5796 -0.68 -117.3 357.4 -3.2 275 5800 0.00 2.50 0.00 0.000 4 0.000 0.065 2572 3559 3101

5869 -0.68 -117.3 360.3 -4.2 278 5874 0.00 2.47 0.00 0.000 6 0.000 0.050 2572 2163 3101

6185 -0.68 -117.3 370.6 -3.4 293 6190 0.00 2.55 0.00 0.000 4 0.000 0.065 2572 744 3101

6275 -0.68 -117.3 374.3 -3.7 297 6280 0.00 2.55 0.00 0.000 6 0.000 0.053 2572 2165 3101

6597 -0.72 -117.3 386.4 -3.9 313 6602 0.12 2.50 0.00 0.000 4 0.052 0.065 2534 3554 3101

6676 -0.62 -117.3 390.8 -5.7 316 6683 0.15 2.50 0.00 0.000 6 0.091 0.051 2566 2152 3101

6992 -0.62 -117.3 405.6 -4.8 332 6993 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2135 3101

7301 -0.62 -117.3 420.2 -4.8 347 7303 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2135 3101

7611 -0.62 -117.3 435.5 -5.0 362 7615 0.00 2.58 0.00 0.000 4 0.000 0.067 2565 3554 3101

7678 -0.62 -117.3 439.4 -5.8 365 7682 0.00 2.50 0.00 0.000 6 0.000 0.052 2565 2153 3101

7999 -0.62 -117.3 456.0 -5.3 381 8004 0.00 2.53 0.00 0.000 4 0.000 0.067 2565 744 3101

8049 -0.62 -117.3 459.1 -6.2 383 8054 0.00 2.55 0.00 0.000 6 0.000 0.054 2565 2164 3101

8365 -0.62 -117.3 476.3 -5.1 398 8367 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2164 3101

8675 -0.62 -117.3 492.4 -5.3 413 8676 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2164 3101

8984 -0.62 -117.3 508.1 -5.0 428 8985 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2165 3100

9293 -0.62 -117.3 521.8 -4.1 443 9294 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2164 3100

9603 -0.62 -117.3 533.9 -3.8 458 9604 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2164 3100

9912 -0.62 -117.3 547.3 -4.4 473 9916 0.00 2.60 0.00 0.000 4 0.000 0.068 2565 749 3100

10046 -0.62 -117.3 554.2 -5.6 479 10050 0.00 2.55 0.00 0.000 6 0.000 0.055 2565 2166 3100

10367 -0.62 -117.3 569.8 -4.6 495 10372 0.00 2.58 0.00 0.000 4 0.000 0.067 2565 750 3100

10435 -0.62 -117.3 573.1 -5.3 498 10439 0.00 2.53 0.00 0.000 6 0.000 0.054 2565 2156 3100

10757 -0.62 -117.3 586.1 -4.0 514 10761 0.00 2.58 0.00 0.000 4 0.000 0.064 2565 747 3100

10807 -0.62 -117.3 588.4 -4.4 516 10811 0.00 2.53 0.00 0.000 6 0.000 0.054 2565 2148 3100

11124 -0.62 -117.3 603.9 -5.4 531 11128 0.00 2.55 0.00 0.000 4 0.000 0.067 2565 3560 3099

11219 -0.62 -117.3 609.2 -5.7 535 11223 0.00 2.53 0.00 0.000 6 0.000 0.052 2565 2140 3100

11535 -0.66 -117.3 624.7 -5.7 550 11540 0.00 2.60 0.00 0.000 4 0.000 0.067 2565 3554 3099

11653 -0.66 -117.3 630.9 -4.7 555 11657 0.00 2.47 0.00 0.000 6 0.000 0.051 2565 2168 3100

11969 -0.66 -117.3 644.8 -5.5 570 11973 0.00 2.58 0.00 0.000 4 0.000 0.072 2566 746 3099

12148 -0.66 -117.3 656.9 -8.0 578 12152 0.00 2.55 0.00 0.000 6 0.000 0.058 2566 2162 3100

12469 -0.70 -117.3 674.3 -3.6 594 12474 0.00 2.60 0.00 0.000 4 0.000 0.070 2566 746 3099

12596 -0.75 -117.3 681.4 -4.4 599 12602 0.12 2.55 0.00 0.000 6 0.053 0.058 2527 2155 3099

12912 -0.68 -117.3 685.2 -0.6 615 12917 0.12 2.62 0.00 0.000 4 0.095 0.071 2553 741 3099

13171 -0.73 -117.3 693.3 -4.3 626 13177 0.00 2.47 0.00 0.000 6 0.000 0.061 2553 2113 3099

13487 -0.73 -117.3 697.6 2.3 642 13491 0.00 2.55 0.00 0.000 4 0.000 0.077 2553 743 3099

13549 -0.73 -117.3 702.1 -8.0 645 13553 0.00 2.45 0.00 0.000 6 0.000 0.064 2553 2090 3099

13876 -0.73 -117.3 721.2 -4.8 661 13880 0.00 2.53 0.00 0.000 4 0.000 0.081 2553 747 3098

14133 -0.73 -117.3 752.4 -16.9 672 14140 0.00 2.42 0.00 0.000 6 0.000 0.067 2553 2067 3098

14450 -0.73 -117.3 781.3 -2.4 688 14454 0.00 2.78 0.00 0.000 4 0.000 0.084 2553 3561 3097

14646 -0.73 -117.3 782.7 0.4 697 14651 0.00 2.65 0.00 0.000 6 0.000 0.067 2553 2114 3096

14972 -0.73 -117.3 814.6 -19.0 713 14977 0.00 2.72 0.00 0.000 4 0.000 0.084 2553 3554 3095

15160 end dive: BOTTOM_OBSTACLE_DETECTED

state 15161 begin apogee

15170 -0.33 0.0 838.7 20.2 721 15276 0.32 0.00 101.80 1.449 6 0.093 0.000 2622 2074 2620

15277 end apogee: CONTROL_FINISHED_OK

state 15277 begin climb

15280 1.03 117.3 853.9 0.0 727 15391 1.35 2.83 101.20 1.427 4 0.054 0.085 2927 3504 2140

15400 0.70 117.3 841.5 25.5 732 15407 0.35 2.67 0.00 0.000 6 0.071 0.073 2852 2107 2140

15716 0.85 117.3 802.3 6.3 748 15721 0.15 2.70 0.00 0.000 4 0.071 0.087 2887 3504 2138

15941 1.01 157.6 790.3 4.6 758 15982 0.15 2.58 35.08 1.386 6 0.058 0.079 2927 2136 1977

16305 0.96 157.6 760.1 9.3 776 16306 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2127 1976

16614 0.92 157.6 734.6 8.3 791 16615 0.12 0.00 0.00 0.000 6 0.102 0.000 2903 2126 1975

16923 0.92 157.6 698.5 9.6 806 16927 0.00 2.62 0.00 0.000 4 0.000 0.088 2903 3509 1974

16940 0.92 157.6 697.2 8.4 807 16944 0.00 2.50 0.00 0.000 6 0.000 0.071 2903 2178 1974

17266 0.97 157.6 676.6 6.0 823 17271 0.00 2.80 0.00 0.000 4 0.000 0.092 2903 703 1973

17299 0.97 157.6 674.3 6.7 824 17305 0.00 2.75 0.00 0.000 6 0.000 0.077 2903 2162 1973

17616 1.01 159.8 658.2 5.9 840 17620 0.00 2.80 0.00 0.000 4 0.000 0.089 2903 696 1972

17650 1.01 160.8 656.0 6.0 841 17656 0.00 2.72 0.00 0.000 6 0.000 0.074 2903 2150 1972

17966 1.05 160.8 634.2 6.6 857 17971 0.12 2.78 0.00 0.000 4 0.061 0.087 2938 704 1970

18011 0.98 160.8 629.9 10.7 859 18017 0.12 2.67 0.00 0.000 6 0.102 0.071 2912 2138 1970

18333 0.98 160.8 606.2 7.2 875 18337 0.00 2.70 0.00 0.000 4 0.000 0.080 2912 701 1970

18343 0.98 160.8 605.4 7.4 875 18350 0.00 2.62 0.00 0.000 6 0.000 0.067 2912 2125 1969

18659 0.98 160.8 581.3 8.0 891 18663 0.00 2.55 0.00 0.000 4 0.000 0.074 2912 3514 1969

18681 0.98 160.8 579.2 10.4 892 18686 0.00 2.50 0.00 0.000 6 0.000 0.060 2912 2145 1969

19003 0.98 160.8 550.8 7.9 908 19007 0.00 2.53 0.00 0.000 4 0.000 0.071 2912 3512 1970

19030 1.02 160.8 548.6 8.1 909 19035 0.00 2.50 0.00 0.000 6 0.000 0.058 2912 2136 1970

19346 1.02 160.8 524.9 7.0 924 19351 0.00 2.55 0.00 0.000 4 0.000 0.067 2912 3521 1971

19374 1.07 160.8 523.0 7.3 925 19379 0.00 2.47 0.00 0.000 6 0.000 0.056 2912 2151 1971

19691 1.13 168.2 502.9 5.7 940 19703 0.15 0.00 9.20 1.057 6 0.048 0.000 2957 2135 1934

20000 1.06 168.2 481.8 7.6 955 20004 0.15 2.53 0.00 0.000 4 0.083 0.065 2925 3521 1935

20017 1.06 168.2 480.4 7.4 956 20022 0.00 2.47 0.00 0.000 6 0.000 0.054 2926 2147 1935

20344 1.06 168.2 453.9 8.9 972 20349 0.00 2.53 0.00 0.000 4 0.000 0.065 2926 3515 1936

20362 1.06 168.2 452.4 8.7 973 20366 0.00 2.42 0.00 0.000 6 0.000 0.053 2925 2159 1936

20688 1.06 168.2 422.5 8.9 989 20689 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2150 1937

20997 1.06 168.2 397.4 7.7 1004 21002 0.00 2.47 0.00 0.000 4 0.000 0.063 2926 3515 1937

21021 1.06 168.2 395.5 7.8 1005 21025 0.00 2.42 0.00 0.000 6 0.000 0.051 2925 2162 1938

21342 1.06 168.2 372.5 6.8 1021 21346 0.00 2.47 0.00 0.000 4 0.000 0.062 2926 3514 1938

21353 1.06 168.2 371.5 6.7 1021 21359 0.00 2.42 0.00 0.000 6 0.000 0.052 2925 2162 1939

21669 1.06 168.2 351.2 6.4 1037 21670 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2162 1940

21978 1.06 168.2 331.0 6.5 1052 21982 0.00 2.47 0.00 0.000 4 0.000 0.062 2926 3514 1940

22006 1.06 168.2 329.3 6.6 1053 22010 0.00 2.40 0.00 0.000 6 0.000 0.051 2925 2169 1940

22322 1.06 168.2 310.0 6.4 1068 22326 0.00 2.45 0.00 0.000 4 0.000 0.063 2926 3514 1941

22333 1.06 168.2 309.2 6.3 1068 22338 0.00 2.40 0.00 0.000 6 0.000 0.051 2926 2174 1941

22648 1.06 168.2 289.1 6.7 1084 22650 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2174 1941

22957 1.06 168.2 266.8 8.0 1099 22962 0.00 2.65 0.00 0.000 4 0.000 0.067 2926 691 1941

22968 1.06 168.2 265.9 8.0 1099 22974 0.00 2.67 0.00 0.000 6 0.000 0.054 2926 2187 1941

23284 1.06 168.2 244.1 6.6 1115 23288 0.00 2.75 0.00 0.000 4 0.000 0.067 2926 685 1942

23295 1.06 168.2 243.3 6.5 1115 23302 0.00 2.67 0.00 0.000 6 0.000 0.054 2925 2184 1942

23612 1.10 195.5 225.1 5.1 1131 23639 0.00 0.00 25.40 0.928 6 0.000 0.000 2926 2184 1821

23941 1.22 231.8 208.3 4.8 1147 23977 0.15 2.80 30.12 0.929 4 0.045 0.065 2977 689 1673

23984 1.14 231.8 205.4 6.1 1148 23989 0.15 2.70 0.00 0.000 6 0.078 0.053 2946 2177 1673

24306 1.17 251.6 187.0 5.3 1164 24328 0.00 2.83 17.10 0.890 4 0.000 0.065 2946 691 1594

24344 1.17 251.6 184.9 6.0 1165 24351 0.00 2.70 0.00 0.000 6 0.000 0.053 2946 2182 1594

24661 1.20 267.0 168.9 5.5 1181 24682 0.00 2.80 14.05 0.864 4 0.000 0.067 2946 683 1531

24717 1.31 298.5 165.6 4.9 1183 24749 0.17 2.67 26.20 0.890 6 0.041 0.053 2998 2162 1403

25062 1.25 298.5 130.9 13.0 1200 25067 0.12 2.72 0.00 0.000 4 0.082 0.065 2974 685 1403

25080 1.25 298.5 128.2 12.9 1201 25085 0.00 2.60 0.00 0.000 6 0.000 0.051 2974 2141 1403

25407 1.25 298.5 92.4 10.6 1217 25411 0.00 2.67 0.00 0.000 4 0.000 0.065 2974 689 1404

25447 1.25 298.5 88.2 10.1 1219 25452 0.00 2.58 0.00 0.000 6 0.000 0.051 2974 2131 1404

25774 1.25 298.5 57.4 8.9 1235 25775 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2132 1404

26083 1.25 298.5 32.9 7.2 1250 26087 0.00 2.65 0.00 0.000 4 0.000 0.064 2974 684 1404

26110 1.25 298.5 30.5 8.1 1251 26114 0.00 2.55 0.00 0.000 6 0.000 0.050 2974 2114 1404

26427 1.25 298.5 4.6 8.2 1266 26431 0.00 2.62 0.00 0.000 4 0.000 0.065 2974 682 1405

26444 1.25 298.5 3.0 9.3 1267 26448 0.00 2.53 0.00 0.000 6 0.000 0.050 2974 2107 1405

26451 end climb: SURFACE_DEPTH_REACHED

state 26451 begin surface coast

26482 end surface coast: CONTROL_FINISHED_OK

state 26482 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	81	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	240	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-78150.648	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	043626,6141.025,-920.236,40,1.7,41,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.161,0.121
_SM_DEPTHo	0.74	KALMAN_X	-102401.7,1417.8,1029.5,43399.5,-11457.2
_SM_ANGLEo	-59.3	KALMAN_Y	-24529.0,869.1,1312.3,52063.0,-14647.1
GPS2	044303,6140.959,-920.207,14,1.7,14,-9.5	MHEAD_RNG_PITCHd_Wd	62.6,8089,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.1,1.027165	ALTIM_BOTTOM_PING	802.8,45.2
SM_CCo	26504,1.33,0.124,0,0,1397,300.00	_24V_AH	23.8,17.887
SM_GC	1.35,0.00,0.00,1.33,0.000,0.000,0.124,424,2127,1397,-10.47,-0.65,300.00	_10V_AH	10.1,7.944
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	66349,1269
TT8_MAMPS	0.029146	CAP_FILE_SIZE	208551,0
HUMID	1666	CFSIZE	254472192,246820864
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
XPDR_PINGS	782	GPS	230608,120703,6144.978,-913.207,40,1.8,41,-9.4
ALTIM_TOP_PING	18.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	89.60	SBE_CT	871	24	497.90
Roll_motor	267	92	586.90	SBE_O2	943	19	426.65
VBD_pump_during_apogee	360	1448	12419.03	WL_BB2F	645	105	1614.08
VBD_pump_during_surface	1	124	3.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	29	160	111.43	nil	0	0	0.00
Iridium_during_xfer	186	223	990.78
Transponder_ping	202	420	2026.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.35
TT8	2404	19	480.86
LPSleep	20270	2	448.37
TT8_Active	573	19	114.65
TT8_Sampling	2937	39	1181.01
TT8_CF8	705	45	326.52
TT8_Kalman	33	81	27.59
Analog_circuits	2045	12	247.92
GPS_charging	0	0	0.00
Compass	2876	8	232.41
RAFOS	0	0	0.00

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-1.03	-117.3	0.0	0.0	0	97	0.00	0.00	-70.43	0.000	6	0.000	0.000	423	2137	3099
101	-1.03	-117.3	2.1	-3.6	3	117	10.68	2.53	0.00	0.000	4	0.141	0.058	2469	740	3100
308	-0.72	-117.3	28.1	-9.9	11	313	0.35	2.53	0.00	0.000	6	0.089	0.051	2543	2153	3101
626	-0.64	-117.3	50.9	-6.6	26	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2153	3102
934	-0.56	-117.3	79.2	-10.0	41	939	0.15	2.53	0.00	0.000	4	0.095	0.061	2578	3562	3102
983	-0.56	-117.3	84.5	-9.6	43	988	0.00	2.53	0.00	0.000	6	0.000	0.048	2578	2131	3102
1300	-0.56	-117.3	112.6	-8.3	58	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2112	3103
1609	-0.60	-117.3	143.1	-11.1	73	1613	0.00	2.60	0.00	0.000	4	0.000	0.061	2579	3555	3103
1709	-0.60	-117.3	155.4	-12.3	77	1715	0.00	2.47	0.00	0.000	6	0.000	0.048	2578	2161	3103
2026	-0.65	-117.3	185.7	-9.1	93	2030	0.00	2.55	0.00	0.000	4	0.000	0.065	2578	744	3103
2137	-0.65	-117.3	196.3	-10.6	98	2141	0.00	2.53	0.00	0.000	6	0.000	0.052	2578	2161	3103
2459	-0.70	-117.3	226.2	-7.8	114	2464	0.15	2.60	0.00	0.000	4	0.049	0.064	2530	743	3103
2526	-0.59	-117.3	232.4	-9.4	117	2531	0.20	2.50	0.00	0.000	6	0.088	0.053	2572	2135	3103
2848	-0.59	-117.3	257.5	-7.8	133	2849	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2134	3103
3157	-0.59	-117.3	278.5	-7.4	148	3161	0.00	2.55	0.00	0.000	4	0.000	0.065	2572	746	3103
3246	-0.59	-117.3	283.7	-5.2	152	3250	0.00	2.50	0.00	0.000	6	0.000	0.053	2572	2140	3103
3568	-0.64	-117.3	299.9	-4.3	168	3575	0.00	2.55	0.00	0.000	4	0.000	0.065	2572	3558	3103
3694	-0.64	-117.3	304.7	-3.4	173	3698	0.00	2.50	0.00	0.000	6	0.000	0.051	2572	2153	3103
4010	-0.64	-117.3	312.1	-1.8	188	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2151	3102
4319	-0.64	-117.3	315.3	-0.5	203	4323	0.00	2.50	0.00	0.000	4	0.000	0.067	2572	750	3102
4363	-0.64	-117.3	315.9	-1.8	205	4367	0.00	2.50	0.00	0.000	6	0.000	0.053	2572	2152	3102
4685	-0.64	-117.3	320.8	-2.4	221	4689	0.00	2.53	0.00	0.000	4	0.000	0.065	2572	3556	3102
4770	-0.64	-117.3	323.8	-4.1	225	4774	0.00	2.47	0.00	0.000	6	0.000	0.049	2572	2158	3102
5097	-0.64	-117.3	334.2	-3.1	241	5098	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2151	3102
5407	-0.64	-117.3	344.6	-4.1	256	5411	0.00	2.53	0.00	0.000	4	0.000	0.067	2572	751	3102
5469	-0.64	-117.3	346.8	-3.7	259	5473	0.00	2.53	0.00	0.000	6	0.000	0.052	2572	2170	3101
5796	-0.68	-117.3	357.4	-3.2	275	5800	0.00	2.50	0.00	0.000	4	0.000	0.065	2572	3559	3101
5869	-0.68	-117.3	360.3	-4.2	278	5874	0.00	2.47	0.00	0.000	6	0.000	0.050	2572	2163	3101
6185	-0.68	-117.3	370.6	-3.4	293	6190	0.00	2.55	0.00	0.000	4	0.000	0.065	2572	744	3101
6275	-0.68	-117.3	374.3	-3.7	297	6280	0.00	2.55	0.00	0.000	6	0.000	0.053	2572	2165	3101
6597	-0.72	-117.3	386.4	-3.9	313	6602	0.12	2.50	0.00	0.000	4	0.052	0.065	2534	3554	3101
6676	-0.62	-117.3	390.8	-5.7	316	6683	0.15	2.50	0.00	0.000	6	0.091	0.051	2566	2152	3101
6992	-0.62	-117.3	405.6	-4.8	332	6993	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2135	3101
7301	-0.62	-117.3	420.2	-4.8	347	7303	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2135	3101
7611	-0.62	-117.3	435.5	-5.0	362	7615	0.00	2.58	0.00	0.000	4	0.000	0.067	2565	3554	3101
7678	-0.62	-117.3	439.4	-5.8	365	7682	0.00	2.50	0.00	0.000	6	0.000	0.052	2565	2153	3101
7999	-0.62	-117.3	456.0	-5.3	381	8004	0.00	2.53	0.00	0.000	4	0.000	0.067	2565	744	3101
8049	-0.62	-117.3	459.1	-6.2	383	8054	0.00	2.55	0.00	0.000	6	0.000	0.054	2565	2164	3101
8365	-0.62	-117.3	476.3	-5.1	398	8367	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2164	3101
8675	-0.62	-117.3	492.4	-5.3	413	8676	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2164	3101
8984	-0.62	-117.3	508.1	-5.0	428	8985	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2165	3100
9293	-0.62	-117.3	521.8	-4.1	443	9294	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2164	3100
9603	-0.62	-117.3	533.9	-3.8	458	9604	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2164	3100
9912	-0.62	-117.3	547.3	-4.4	473	9916	0.00	2.60	0.00	0.000	4	0.000	0.068	2565	749	3100
10046	-0.62	-117.3	554.2	-5.6	479	10050	0.00	2.55	0.00	0.000	6	0.000	0.055	2565	2166	3100
10367	-0.62	-117.3	569.8	-4.6	495	10372	0.00	2.58	0.00	0.000	4	0.000	0.067	2565	750	3100
10435	-0.62	-117.3	573.1	-5.3	498	10439	0.00	2.53	0.00	0.000	6	0.000	0.054	2565	2156	3100
10757	-0.62	-117.3	586.1	-4.0	514	10761	0.00	2.58	0.00	0.000	4	0.000	0.064	2565	747	3100
10807	-0.62	-117.3	588.4	-4.4	516	10811	0.00	2.53	0.00	0.000	6	0.000	0.054	2565	2148	3100
11124	-0.62	-117.3	603.9	-5.4	531	11128	0.00	2.55	0.00	0.000	4	0.000	0.067	2565	3560	3099
11219	-0.62	-117.3	609.2	-5.7	535	11223	0.00	2.53	0.00	0.000	6	0.000	0.052	2565	2140	3100
11535	-0.66	-117.3	624.7	-5.7	550	11540	0.00	2.60	0.00	0.000	4	0.000	0.067	2565	3554	3099
11653	-0.66	-117.3	630.9	-4.7	555	11657	0.00	2.47	0.00	0.000	6	0.000	0.051	2565	2168	3100
11969	-0.66	-117.3	644.8	-5.5	570	11973	0.00	2.58	0.00	0.000	4	0.000	0.072	2566	746	3099
12148	-0.66	-117.3	656.9	-8.0	578	12152	0.00	2.55	0.00	0.000	6	0.000	0.058	2566	2162	3100
12469	-0.70	-117.3	674.3	-3.6	594	12474	0.00	2.60	0.00	0.000	4	0.000	0.070	2566	746	3099
12596	-0.75	-117.3	681.4	-4.4	599	12602	0.12	2.55	0.00	0.000	6	0.053	0.058	2527	2155	3099
12912	-0.68	-117.3	685.2	-0.6	615	12917	0.12	2.62	0.00	0.000	4	0.095	0.071	2553	741	3099
13171	-0.73	-117.3	693.3	-4.3	626	13177	0.00	2.47	0.00	0.000	6	0.000	0.061	2553	2113	3099
13487	-0.73	-117.3	697.6	2.3	642	13491	0.00	2.55	0.00	0.000	4	0.000	0.077	2553	743	3099
13549	-0.73	-117.3	702.1	-8.0	645	13553	0.00	2.45	0.00	0.000	6	0.000	0.064	2553	2090	3099
13876	-0.73	-117.3	721.2	-4.8	661	13880	0.00	2.53	0.00	0.000	4	0.000	0.081	2553	747	3098
14133	-0.73	-117.3	752.4	-16.9	672	14140	0.00	2.42	0.00	0.000	6	0.000	0.067	2553	2067	3098
14450	-0.73	-117.3	781.3	-2.4	688	14454	0.00	2.78	0.00	0.000	4	0.000	0.084	2553	3561	3097
14646	-0.73	-117.3	782.7	0.4	697	14651	0.00	2.65	0.00	0.000	6	0.000	0.067	2553	2114	3096
14972	-0.73	-117.3	814.6	-19.0	713	14977	0.00	2.72	0.00	0.000	4	0.000	0.084	2553	3554	3095
15160	end dive: BOTTOM_OBSTACLE_DETECTED
state	15161	begin apogee
15170	-0.33	0.0	838.7	20.2	721	15276	0.32	0.00	101.80	1.449	6	0.093	0.000	2622	2074	2620
15277	end apogee: CONTROL_FINISHED_OK
state	15277	begin climb
15280	1.03	117.3	853.9	0.0	727	15391	1.35	2.83	101.20	1.427	4	0.054	0.085	2927	3504	2140
15400	0.70	117.3	841.5	25.5	732	15407	0.35	2.67	0.00	0.000	6	0.071	0.073	2852	2107	2140
15716	0.85	117.3	802.3	6.3	748	15721	0.15	2.70	0.00	0.000	4	0.071	0.087	2887	3504	2138
15941	1.01	157.6	790.3	4.6	758	15982	0.15	2.58	35.08	1.386	6	0.058	0.079	2927	2136	1977
16305	0.96	157.6	760.1	9.3	776	16306	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2127	1976
16614	0.92	157.6	734.6	8.3	791	16615	0.12	0.00	0.00	0.000	6	0.102	0.000	2903	2126	1975
16923	0.92	157.6	698.5	9.6	806	16927	0.00	2.62	0.00	0.000	4	0.000	0.088	2903	3509	1974
16940	0.92	157.6	697.2	8.4	807	16944	0.00	2.50	0.00	0.000	6	0.000	0.071	2903	2178	1974
17266	0.97	157.6	676.6	6.0	823	17271	0.00	2.80	0.00	0.000	4	0.000	0.092	2903	703	1973
17299	0.97	157.6	674.3	6.7	824	17305	0.00	2.75	0.00	0.000	6	0.000	0.077	2903	2162	1973
17616	1.01	159.8	658.2	5.9	840	17620	0.00	2.80	0.00	0.000	4	0.000	0.089	2903	696	1972
17650	1.01	160.8	656.0	6.0	841	17656	0.00	2.72	0.00	0.000	6	0.000	0.074	2903	2150	1972
17966	1.05	160.8	634.2	6.6	857	17971	0.12	2.78	0.00	0.000	4	0.061	0.087	2938	704	1970
18011	0.98	160.8	629.9	10.7	859	18017	0.12	2.67	0.00	0.000	6	0.102	0.071	2912	2138	1970
18333	0.98	160.8	606.2	7.2	875	18337	0.00	2.70	0.00	0.000	4	0.000	0.080	2912	701	1970
18343	0.98	160.8	605.4	7.4	875	18350	0.00	2.62	0.00	0.000	6	0.000	0.067	2912	2125	1969
18659	0.98	160.8	581.3	8.0	891	18663	0.00	2.55	0.00	0.000	4	0.000	0.074	2912	3514	1969
18681	0.98	160.8	579.2	10.4	892	18686	0.00	2.50	0.00	0.000	6	0.000	0.060	2912	2145	1969
19003	0.98	160.8	550.8	7.9	908	19007	0.00	2.53	0.00	0.000	4	0.000	0.071	2912	3512	1970
19030	1.02	160.8	548.6	8.1	909	19035	0.00	2.50	0.00	0.000	6	0.000	0.058	2912	2136	1970
19346	1.02	160.8	524.9	7.0	924	19351	0.00	2.55	0.00	0.000	4	0.000	0.067	2912	3521	1971
19374	1.07	160.8	523.0	7.3	925	19379	0.00	2.47	0.00	0.000	6	0.000	0.056	2912	2151	1971
19691	1.13	168.2	502.9	5.7	940	19703	0.15	0.00	9.20	1.057	6	0.048	0.000	2957	2135	1934
20000	1.06	168.2	481.8	7.6	955	20004	0.15	2.53	0.00	0.000	4	0.083	0.065	2925	3521	1935
20017	1.06	168.2	480.4	7.4	956	20022	0.00	2.47	0.00	0.000	6	0.000	0.054	2926	2147	1935
20344	1.06	168.2	453.9	8.9	972	20349	0.00	2.53	0.00	0.000	4	0.000	0.065	2926	3515	1936
20362	1.06	168.2	452.4	8.7	973	20366	0.00	2.42	0.00	0.000	6	0.000	0.053	2925	2159	1936
20688	1.06	168.2	422.5	8.9	989	20689	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2150	1937
20997	1.06	168.2	397.4	7.7	1004	21002	0.00	2.47	0.00	0.000	4	0.000	0.063	2926	3515	1937
21021	1.06	168.2	395.5	7.8	1005	21025	0.00	2.42	0.00	0.000	6	0.000	0.051	2925	2162	1938
21342	1.06	168.2	372.5	6.8	1021	21346	0.00	2.47	0.00	0.000	4	0.000	0.062	2926	3514	1938
21353	1.06	168.2	371.5	6.7	1021	21359	0.00	2.42	0.00	0.000	6	0.000	0.052	2925	2162	1939
21669	1.06	168.2	351.2	6.4	1037	21670	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2162	1940
21978	1.06	168.2	331.0	6.5	1052	21982	0.00	2.47	0.00	0.000	4	0.000	0.062	2926	3514	1940
22006	1.06	168.2	329.3	6.6	1053	22010	0.00	2.40	0.00	0.000	6	0.000	0.051	2925	2169	1940
22322	1.06	168.2	310.0	6.4	1068	22326	0.00	2.45	0.00	0.000	4	0.000	0.063	2926	3514	1941
22333	1.06	168.2	309.2	6.3	1068	22338	0.00	2.40	0.00	0.000	6	0.000	0.051	2926	2174	1941
22648	1.06	168.2	289.1	6.7	1084	22650	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2174	1941
22957	1.06	168.2	266.8	8.0	1099	22962	0.00	2.65	0.00	0.000	4	0.000	0.067	2926	691	1941
22968	1.06	168.2	265.9	8.0	1099	22974	0.00	2.67	0.00	0.000	6	0.000	0.054	2926	2187	1941
23284	1.06	168.2	244.1	6.6	1115	23288	0.00	2.75	0.00	0.000	4	0.000	0.067	2926	685	1942
23295	1.06	168.2	243.3	6.5	1115	23302	0.00	2.67	0.00	0.000	6	0.000	0.054	2925	2184	1942
23612	1.10	195.5	225.1	5.1	1131	23639	0.00	0.00	25.40	0.928	6	0.000	0.000	2926	2184	1821
23941	1.22	231.8	208.3	4.8	1147	23977	0.15	2.80	30.12	0.929	4	0.045	0.065	2977	689	1673
23984	1.14	231.8	205.4	6.1	1148	23989	0.15	2.70	0.00	0.000	6	0.078	0.053	2946	2177	1673
24306	1.17	251.6	187.0	5.3	1164	24328	0.00	2.83	17.10	0.890	4	0.000	0.065	2946	691	1594
24344	1.17	251.6	184.9	6.0	1165	24351	0.00	2.70	0.00	0.000	6	0.000	0.053	2946	2182	1594
24661	1.20	267.0	168.9	5.5	1181	24682	0.00	2.80	14.05	0.864	4	0.000	0.067	2946	683	1531
24717	1.31	298.5	165.6	4.9	1183	24749	0.17	2.67	26.20	0.890	6	0.041	0.053	2998	2162	1403
25062	1.25	298.5	130.9	13.0	1200	25067	0.12	2.72	0.00	0.000	4	0.082	0.065	2974	685	1403
25080	1.25	298.5	128.2	12.9	1201	25085	0.00	2.60	0.00	0.000	6	0.000	0.051	2974	2141	1403
25407	1.25	298.5	92.4	10.6	1217	25411	0.00	2.67	0.00	0.000	4	0.000	0.065	2974	689	1404
25447	1.25	298.5	88.2	10.1	1219	25452	0.00	2.58	0.00	0.000	6	0.000	0.051	2974	2131	1404
25774	1.25	298.5	57.4	8.9	1235	25775	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2132	1404
26083	1.25	298.5	32.9	7.2	1250	26087	0.00	2.65	0.00	0.000	4	0.000	0.064	2974	684	1404
26110	1.25	298.5	30.5	8.1	1251	26114	0.00	2.55	0.00	0.000	6	0.000	0.050	2974	2114	1404
26427	1.25	298.5	4.6	8.2	1266	26431	0.00	2.62	0.00	0.000	4	0.000	0.065	2974	682	1405
26444	1.25	298.5	3.0	9.3	1267	26448	0.00	2.53	0.00	0.000	6	0.000	0.050	2974	2107	1405
26451	end climb: SURFACE_DEPTH_REACHED
state	26451	begin surface coast
26482	end surface coast: CONTROL_FINISHED_OK
state	26482	begin surface