Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 109 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 109 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 21 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 300 R_STBD_OVSHOOT 14 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 21 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 14 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 109 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 281214,001404,6619.780,-5650.049,5,0.9,5,-31.8 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 7.57 MHEAD_RNG_PITCHd_Wd 77.9,80058,-28.1,-10.000,-30.00,958

_SM_ANGLEo -1.0 D_GRID 579

GPS2 281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

Post-dive calculations and measurements:

FINISH1 14.8,1.026505,49 _24V_AH 13.48,24.782

FINISH2 12.3 _10V_AH 13.74,0.000

RAFOS_CLK 620 FG_AHR_24Vo 0.000

RAFOS 0,1419739273,4.033333,4.020278,68,58,57,56,51,50,213,180,124,141,159,197 FG_AHR_10Vo 0.000

RAFOS_FIX 6539.356934,-5649.023926,251214,202028,2,92,5.40 MEM 271176

IRIDIUM_FIX 6548.42,-5649.81,271214,204939 DATA_FILE_SIZE 39906,1220

TT8_MAMPS 0.025466,0.025466 CAP_FILE_SIZE 156100,0

HUMID 45.66 CFSIZE 260034560,245022720

INTERNAL_PRESSURE 8.64514 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.20 INTR 0,14699.81,0x23769e,5,5

XPDR_PINGS 0 SOUNDSPEED 1473.3

ALTIM_TOP_PING 19.6,7.8 CURRENT 0.163,41.20,1

SC_FREEKB 7735040 GPS 281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 386 41.40 nil 0 0 0.00

Roll_motor 113 154 236.06 nil 0 0 0.00

VBD_pump_during_apogee 227 1380 4237.35 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 14731 6 1318.33

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2575 11 405.87

LPSleep 9868 2 313.22

TT8_Active 360 11 56.82

TT8_Sampling 1884 30 801.11

TT8_CF8 129 36 64.59

TT8_Kalman 0 0 0.00

Analog_circuits 1268 11 191.75

GPS_charging 0 0 0.00

Compass 1785 6 147.19

RAFOS 2520 1 51.94

Transponder 2 30 1.08

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -2.24 -62.3 2568 2558 2782 2740 0.0 0.0 0 32 0.00 0.00 -12.27 0.000 16386 0.000 0.000 2569 2558 3078 3082 3074 0 0 0 0 0 0 28.83 28.83 28.83

34 -2.24 -62.3 2568 2558 3083 3074 4.4 0.0 1 47 1.52 2.53 -4.97 0.000 20996 0.139 0.125 2061 1140 3207 3200 3214 0 0 0 0 0 0 14.71 14.73 14.94

273 -2.24 -62.3 2060 1140 3204 3216 23.1 -10.7 48 280 0.00 2.53 0.00 0.000 1030 0.000 0.119 2050 2560 3211 3205 3217 0 0 0 0 0 0 28.83 14.73 28.83

580 -2.24 -62.3 2050 2560 3205 3216 55.4 -11.1 65 586 0.00 2.45 0.00 0.000 516 0.000 0.099 2050 1139 3211 3205 3217 0 0 0 0 0 0 28.83 14.74 28.83

813 -2.25 -69.5 2049 1139 3204 3217 80.0 -9.2 111 819 0.00 2.55 0.00 0.000 1030 0.000 0.122 2040 2554 3210 3205 3216 0 0 0 0 0 0 28.83 14.73 28.83

1126 -2.26 -84.1 2040 2554 3205 3216 107.8 -8.4 128 1131 0.00 2.42 0.00 0.000 516 0.000 0.096 2040 1136 3210 3204 3216 0 0 0 0 0 0 28.83 14.75 28.83

1298 -2.29 -104.6 2040 1136 3204 3214 122.9 -7.8 162 1304 0.00 2.53 0.00 0.000 1030 0.000 0.121 2031 2552 3209 3204 3214 0 0 0 0 0 0 28.83 14.73 28.83

1611 -2.31 -124.1 2029 2552 3204 3220 147.2 -7.9 179 1616 0.00 2.42 0.00 0.000 516 0.000 0.097 2030 1137 3208 3203 3213 0 0 0 0 0 0 28.83 14.75 28.83

1798 -2.34 -141.4 2030 1137 3202 3213 162.8 -8.1 216 1804 0.10 2.55 0.00 0.000 3078 0.386 0.122 2037 2554 3208 3203 3213 0 0 0 0 0 0 14.62 14.73 28.83

2118 -2.34 -146.0 2037 2554 3202 3213 186.4 -7.2 234 2123 0.00 2.38 0.00 0.000 260 0.000 0.139 2028 3840 3207 3202 3213 0 0 0 0 0 0 28.83 14.71 28.83

2225 -2.30 -146.0 2028 3840 3210 3213 194.5 -6.9 255 2231 0.10 2.17 0.00 0.000 3078 0.380 0.060 2045 2538 3208 3203 3213 0 0 0 0 0 0 14.60 14.78 28.83

2544 -2.30 -146.0 2045 2538 3202 3213 215.0 -6.0 273 2550 0.00 2.40 0.00 0.000 516 0.000 0.100 2045 1140 3207 3202 3212 0 0 0 0 0 0 28.83 14.74 28.83

2708 -2.30 -146.0 2045 1140 3203 3212 225.4 -6.5 305 2714 0.00 2.53 0.00 0.000 1030 0.000 0.125 2036 2553 3208 3204 3212 0 0 0 0 0 0 28.83 14.73 28.83

3031 -2.30 -146.0 2035 2554 3202 3212 244.0 -5.4 324 3036 0.00 2.35 0.00 0.000 260 0.000 0.139 2026 3838 3210 3209 3212 0 0 0 0 0 0 28.83 14.72 28.83

3119 -2.26 -146.0 2026 3838 3203 3212 249.7 -7.2 341 3126 0.15 2.17 0.00 0.000 3078 0.370 0.060 2055 2545 3207 3202 3212 0 0 0 0 0 0 14.61 14.78 28.83

3440 -2.28 -146.0 2055 2545 3202 3212 266.9 -5.3 354 3445 0.00 2.40 0.00 0.000 260 0.000 0.142 2046 3843 3206 3202 3211 0 0 0 0 0 0 28.83 14.73 28.83

3646 -2.28 -146.0 2046 3842 3203 3212 279.8 -6.2 395 3653 0.00 2.15 0.00 0.000 1030 0.000 0.059 2046 2551 3207 3203 3212 0 0 0 0 0 0 28.83 14.80 28.83

3954 -2.28 -146.0 2046 2552 3203 3212 297.3 -5.7 406 3959 0.00 2.40 0.00 0.000 516 0.000 0.107 2046 1150 3207 3202 3212 0 0 0 0 0 0 28.83 14.76 28.83

4186 -2.28 -146.0 2046 1150 3203 3212 310.2 -5.4 452 4192 0.00 2.53 0.00 0.000 1030 0.000 0.125 2036 2560 3207 3203 3212 0 0 0 0 0 0 28.83 14.74 28.83

4499 -2.28 -146.0 2035 2560 3202 3212 324.2 -3.9 464 4505 0.00 2.45 0.00 0.000 516 0.000 0.107 2035 1150 3207 3203 3212 0 0 0 0 0 0 28.83 14.76 28.83

4732 -2.28 -146.0 2036 1150 3203 3212 332.6 -3.3 510 4739 0.12 2.53 0.00 0.000 3078 0.363 0.127 2048 2548 3207 3203 3212 0 0 0 0 0 0 14.63 14.75 28.83

5048 -2.31 -146.0 2050 2548 3203 3212 342.4 -3.3 522 5053 0.00 2.42 0.00 0.000 516 0.000 0.106 2050 1142 3208 3203 3213 0 0 0 0 0 0 28.83 14.76 28.83

5280 -2.31 -146.0 2046 1143 3203 3213 351.7 -4.0 568 5285 0.00 2.53 0.00 0.000 1030 0.000 0.128 2040 2551 3208 3203 3213 0 0 0 0 0 0 28.83 14.75 28.83

5593 -2.31 -146.0 2040 2551 3203 3214 364.7 -4.2 580 5595 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2551 3208 3203 3213 0 0 0 0 0 0 28.83 28.83 28.83

5894 -2.31 -146.0 2040 2552 3204 3213 378.8 -5.0 590 5899 0.00 2.45 0.00 0.000 516 0.000 0.108 2041 1141 3208 3203 3214 0 0 0 0 0 0 28.83 14.78 28.83

6126 -2.31 -146.0 2040 1141 3204 3214 391.9 -5.7 636 6132 0.00 2.53 0.00 0.000 1030 0.000 0.129 2030 2552 3208 3203 3213 0 0 0 0 0 0 28.83 14.76 28.83

6440 -2.31 -146.0 2030 2552 3203 3214 410.0 -5.7 648 6446 0.00 2.45 0.00 0.000 516 0.000 0.110 2030 1140 3209 3204 3214 0 0 0 0 0 0 28.83 14.78 28.83

6673 -2.31 -146.0 2030 1140 3203 3214 422.5 -4.4 694 6679 0.12 2.55 0.00 0.000 3078 0.367 0.130 2043 2554 3208 3203 3214 0 0 0 0 0 0 14.65 14.76 28.83

6989 -2.33 -146.0 2043 2553 3203 3215 435.9 -4.0 706 6990 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2554 3209 3204 3215 0 0 0 0 0 0 28.83 28.83 28.83

7287 -2.33 -146.0 2044 2554 3204 3215 444.8 -2.5 716 7288 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2554 3209 3203 3215 0 0 0 0 0 0 28.83 28.83 28.83

7588 -2.35 -146.0 2044 2554 3204 3215 450.8 -1.8 726 7589 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2554 3209 3204 3215 0 0 0 0 0 0 28.83 28.83 28.83

7887 -2.37 -146.0 2043 2554 3204 3215 456.2 -1.9 736 7888 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2554 3209 3204 3215 0 0 0 0 0 0 28.83 28.83 28.83

8188 -2.37 -146.0 2044 2553 3204 3215 461.9 -2.2 746 8189 0.00 0.00 0.00 0.000 6 0.000 0.000 2044 2553 3209 3204 3215 0 0 0 0 0 0 28.83 28.83 28.83

8487 -2.39 -146.0 2044 2554 3204 3215 470.7 -3.4 756 8488 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2554 3209 3204 3214 0 0 0 0 0 0 28.83 28.83 28.83

8788 -2.41 -146.0 2044 2554 3204 3215 481.9 -3.8 766 8794 0.00 2.42 0.00 0.000 516 0.000 0.112 2044 1144 3209 3204 3215 0 0 0 0 0 0 28.83 14.81 28.83

8931 -2.41 -146.0 2042 1144 3204 3215 487.4 -3.8 794 8936 0.00 2.53 0.00 0.000 1030 0.000 0.130 2034 2552 3209 3204 3215 0 0 0 0 0 0 28.83 14.79 28.83

9245 -2.41 -146.0 2034 2552 3204 3215 498.9 -3.6 806 9246 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2552 3209 3204 3215 0 0 0 0 0 0 28.83 28.83 28.83

9543 -2.41 -146.0 2034 2552 3204 3215 510.3 -3.7 816 9549 0.00 2.42 0.00 0.000 516 0.000 0.112 2034 1150 3209 3204 3214 0 0 0 0 0 0 28.83 14.81 28.83

9776 -2.41 -146.0 2034 1150 3204 3215 518.7 -3.7 862 9781 0.00 2.50 0.00 0.000 1030 0.000 0.130 2021 2549 3209 3204 3215 0 0 0 0 0 0 28.83 14.79 28.83

10090 -2.41 -146.0 2024 2549 3204 3215 529.6 -3.3 874 10095 0.00 2.45 0.00 0.000 516 0.000 0.111 2024 1138 3209 3204 3215 0 0 0 0 0 0 28.83 14.80 28.83

10208 -2.41 -146.0 2024 1139 3207 3215 533.7 -3.5 897 10215 0.00 2.53 0.00 0.000 1030 0.000 0.131 2014 2548 3209 3203 3215 0 0 0 0 0 0 28.83 14.78 28.83

10513 -2.41 -146.0 2014 2548 3204 3211 543.5 -3.1 908 10519 0.00 2.38 0.00 0.000 260 0.000 0.141 2003 3840 3209 3204 3215 0 0 0 0 0 0 28.83 14.77 28.83

10746 -2.36 -146.0 2004 3840 3204 3215 551.4 -3.5 954 10752 0.12 2.15 0.00 0.000 3078 0.367 0.061 2030 2548 3209 3204 3215 0 0 0 0 0 0 14.66 14.83 28.83

11061 -2.36 -146.0 2029 2548 3204 3215 561.1 -3.0 966 11067 0.00 2.40 0.00 0.000 260 0.000 0.144 2020 3847 3209 3204 3215 0 0 0 0 0 0 28.83 14.76 28.83

11215 -2.33 -146.0 2020 3847 3204 3215 565.3 -2.9 996 11222 0.10 2.17 0.00 0.000 3078 0.379 0.063 2037 2543 3209 3204 3215 0 0 0 0 0 0 14.66 14.83 28.83

11549 -2.33 -146.0 2037 2540 3204 3215 572.4 -2.1 1012 11550 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2537 3209 3204 3215 0 0 0 0 0 0 28.83 28.83 28.83

11848 end dive: TARGET_DEPTH_EXCEEDED

state 11848 begin apogee

11853 -0.38 0.0 2037 2398 3204 3215 579.4 -2.0 1022 11927 1.60 0.00 69.78 1.380 10246 0.302 0.000 2460 2398 2951 2958 2944 0 0 0 0 0 0 14.69 28.83 13.83

11928 end apogee: CONTROL_FINISHED_OK

state 11928 begin climb

11930 2.34 146.0 2460 2398 2950 2935 579.0 0.0 1024 12093 1.90 0.00 158.00 1.310 10758 0.141 0.000 3067 2398 2354 2391 2317 0 0 0 0 0 0 14.33 28.83 13.48

12389 2.34 146.0 3066 2397 2379 2286 490.1 22.1 1050 12395 0.00 2.72 0.00 0.000 260 0.000 0.147 3067 3809 2328 2372 2285 0 0 0 0 0 0 28.83 14.38 28.83

12422 2.31 146.0 3067 3809 2369 2287 482.4 24.7 1056 12428 0.12 2.50 0.00 0.000 5126 0.369 0.084 3055 2400 2328 2369 2287 0 0 0 0 0 0 14.31 14.42 28.83

12756 2.33 146.0 3055 2400 2369 2283 412.4 20.7 1072 12761 0.00 2.70 0.00 0.000 260 0.000 0.147 3054 3815 2327 2370 2284 0 0 0 0 0 0 28.83 14.52 28.83

12798 2.31 146.0 3054 3816 2368 2285 402.8 23.4 1080 12803 0.00 2.47 0.00 0.000 1030 0.000 0.082 3065 2400 2326 2367 2285 0 0 0 0 0 0 28.83 14.57 28.83

13121 2.31 146.0 3071 2399 2368 2284 334.5 20.9 1094 13127 0.00 2.50 0.00 0.000 516 0.000 0.116 3075 983 2325 2367 2284 0 0 0 0 0 0 28.83 14.62 28.83

13198 2.31 146.0 3075 983 2367 2284 317.9 20.7 1109 13205 0.10 2.55 0.00 0.000 5126 0.356 0.119 3056 2406 2325 2367 2284 0 0 0 0 0 0 14.54 14.63 28.83

13520 2.33 146.0 3056 2406 2367 2282 251.2 21.2 1122 13521 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2406 2324 2367 2282 0 0 0 0 0 0 28.83 28.83 28.83

13829 2.36 146.0 3055 2406 2367 2282 185.5 20.4 1137 13830 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2406 2324 2367 2282 0 0 0 0 0 0 28.83 28.83 28.83

14129 2.39 146.0 3056 2406 2367 2282 123.5 20.0 1152 14134 0.00 2.62 0.00 0.000 260 0.000 0.145 3056 3809 2324 2367 2282 0 0 0 0 0 0 28.83 14.70 28.83

14226 2.39 146.0 3056 3809 2366 2283 102.7 20.5 1171 14232 0.00 2.45 0.00 0.000 1030 0.000 0.083 3065 2395 2325 2366 2284 0 0 0 0 0 0 28.83 14.73 28.83

14532 2.42 146.0 3066 2395 2366 2284 45.0 19.5 1187 14537 0.00 2.45 0.00 0.000 516 0.000 0.112 3076 989 2325 2366 2285 0 0 0 0 0 0 28.83 14.72 28.83

14675 2.45 146.0 3076 988 2366 2285 19.6 18.1 1215 14681 0.00 2.53 0.00 0.000 1030 0.000 0.119 3076 2408 2325 2366 2285 0 0 0 0 0 0 28.83 14.71 28.83

14697 end climb: SURFACE_OBSTACLE_DETECTED

state 14697 begin subsurface finish

14702 0.06 49.1 3076 2408 2365 2285 14.8 20.5 1218 14719 1.88 0.00 -10.20 0.000 20486 0.298 0.000 2566 2409 2750 2764 2737 0 0 0 0 0 0 14.63 28.83 14.93

14720 end subsurface finish: CONTROL_FINISHED_OK

state 14720 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	109	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	21	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	300	R_STBD_OVSHOOT	14	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	281214,001404,6619.780,-5650.049,5,0.9,5,-31.8	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	7.57	MHEAD_RNG_PITCHd_Wd	77.9,80058,-28.1,-10.000,-30.00,958
_SM_ANGLEo	-1.0	D_GRID	579
GPS2	281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

FINISH1	14.8,1.026505,49	_24V_AH	13.48,24.782
FINISH2	12.3	_10V_AH	13.74,0.000
RAFOS_CLK	620	FG_AHR_24Vo	0.000
RAFOS	0,1419739273,4.033333,4.020278,68,58,57,56,51,50,213,180,124,141,159,197	FG_AHR_10Vo	0.000
RAFOS_FIX	6539.356934,-5649.023926,251214,202028,2,92,5.40	MEM	271176
IRIDIUM_FIX	6548.42,-5649.81,271214,204939	DATA_FILE_SIZE	39906,1220
TT8_MAMPS	0.025466,0.025466	CAP_FILE_SIZE	156100,0
HUMID	45.66	CFSIZE	260034560,245022720
INTERNAL_PRESSURE	8.64514	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.20	INTR	0,14699.81,0x23769e,5,5
XPDR_PINGS	0	SOUNDSPEED	1473.3
ALTIM_TOP_PING	19.6,7.8	CURRENT	0.163,41.20,1
SC_FREEKB	7735040	GPS	281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	386	41.40	nil	0	0	0.00
Roll_motor	113	154	236.06	nil	0	0	0.00
VBD_pump_during_apogee	227	1380	4237.35	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	14731	6	1318.33
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2575	11	405.87
LPSleep	9868	2	313.22
TT8_Active	360	11	56.82
TT8_Sampling	1884	30	801.11
TT8_CF8	129	36	64.59
TT8_Kalman	0	0	0.00
Analog_circuits	1268	11	191.75
GPS_charging	0	0	0.00
Compass	1785	6	147.19
RAFOS	2520	1	51.94
Transponder	2	30	1.08

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-2.24	-62.3	2568	2558	2782	2740	0.0	0.0	0	32	0.00	0.00	-12.27	0.000	16386	0.000	0.000	2569	2558	3078	3082	3074	0	0	0	0	0	0	28.83	28.83	28.83
34	-2.24	-62.3	2568	2558	3083	3074	4.4	0.0	1	47	1.52	2.53	-4.97	0.000	20996	0.139	0.125	2061	1140	3207	3200	3214	0	0	0	0	0	0	14.71	14.73	14.94
273	-2.24	-62.3	2060	1140	3204	3216	23.1	-10.7	48	280	0.00	2.53	0.00	0.000	1030	0.000	0.119	2050	2560	3211	3205	3217	0	0	0	0	0	0	28.83	14.73	28.83
580	-2.24	-62.3	2050	2560	3205	3216	55.4	-11.1	65	586	0.00	2.45	0.00	0.000	516	0.000	0.099	2050	1139	3211	3205	3217	0	0	0	0	0	0	28.83	14.74	28.83
813	-2.25	-69.5	2049	1139	3204	3217	80.0	-9.2	111	819	0.00	2.55	0.00	0.000	1030	0.000	0.122	2040	2554	3210	3205	3216	0	0	0	0	0	0	28.83	14.73	28.83
1126	-2.26	-84.1	2040	2554	3205	3216	107.8	-8.4	128	1131	0.00	2.42	0.00	0.000	516	0.000	0.096	2040	1136	3210	3204	3216	0	0	0	0	0	0	28.83	14.75	28.83
1298	-2.29	-104.6	2040	1136	3204	3214	122.9	-7.8	162	1304	0.00	2.53	0.00	0.000	1030	0.000	0.121	2031	2552	3209	3204	3214	0	0	0	0	0	0	28.83	14.73	28.83
1611	-2.31	-124.1	2029	2552	3204	3220	147.2	-7.9	179	1616	0.00	2.42	0.00	0.000	516	0.000	0.097	2030	1137	3208	3203	3213	0	0	0	0	0	0	28.83	14.75	28.83
1798	-2.34	-141.4	2030	1137	3202	3213	162.8	-8.1	216	1804	0.10	2.55	0.00	0.000	3078	0.386	0.122	2037	2554	3208	3203	3213	0	0	0	0	0	0	14.62	14.73	28.83
2118	-2.34	-146.0	2037	2554	3202	3213	186.4	-7.2	234	2123	0.00	2.38	0.00	0.000	260	0.000	0.139	2028	3840	3207	3202	3213	0	0	0	0	0	0	28.83	14.71	28.83
2225	-2.30	-146.0	2028	3840	3210	3213	194.5	-6.9	255	2231	0.10	2.17	0.00	0.000	3078	0.380	0.060	2045	2538	3208	3203	3213	0	0	0	0	0	0	14.60	14.78	28.83
2544	-2.30	-146.0	2045	2538	3202	3213	215.0	-6.0	273	2550	0.00	2.40	0.00	0.000	516	0.000	0.100	2045	1140	3207	3202	3212	0	0	0	0	0	0	28.83	14.74	28.83
2708	-2.30	-146.0	2045	1140	3203	3212	225.4	-6.5	305	2714	0.00	2.53	0.00	0.000	1030	0.000	0.125	2036	2553	3208	3204	3212	0	0	0	0	0	0	28.83	14.73	28.83
3031	-2.30	-146.0	2035	2554	3202	3212	244.0	-5.4	324	3036	0.00	2.35	0.00	0.000	260	0.000	0.139	2026	3838	3210	3209	3212	0	0	0	0	0	0	28.83	14.72	28.83
3119	-2.26	-146.0	2026	3838	3203	3212	249.7	-7.2	341	3126	0.15	2.17	0.00	0.000	3078	0.370	0.060	2055	2545	3207	3202	3212	0	0	0	0	0	0	14.61	14.78	28.83
3440	-2.28	-146.0	2055	2545	3202	3212	266.9	-5.3	354	3445	0.00	2.40	0.00	0.000	260	0.000	0.142	2046	3843	3206	3202	3211	0	0	0	0	0	0	28.83	14.73	28.83
3646	-2.28	-146.0	2046	3842	3203	3212	279.8	-6.2	395	3653	0.00	2.15	0.00	0.000	1030	0.000	0.059	2046	2551	3207	3203	3212	0	0	0	0	0	0	28.83	14.80	28.83
3954	-2.28	-146.0	2046	2552	3203	3212	297.3	-5.7	406	3959	0.00	2.40	0.00	0.000	516	0.000	0.107	2046	1150	3207	3202	3212	0	0	0	0	0	0	28.83	14.76	28.83
4186	-2.28	-146.0	2046	1150	3203	3212	310.2	-5.4	452	4192	0.00	2.53	0.00	0.000	1030	0.000	0.125	2036	2560	3207	3203	3212	0	0	0	0	0	0	28.83	14.74	28.83
4499	-2.28	-146.0	2035	2560	3202	3212	324.2	-3.9	464	4505	0.00	2.45	0.00	0.000	516	0.000	0.107	2035	1150	3207	3203	3212	0	0	0	0	0	0	28.83	14.76	28.83
4732	-2.28	-146.0	2036	1150	3203	3212	332.6	-3.3	510	4739	0.12	2.53	0.00	0.000	3078	0.363	0.127	2048	2548	3207	3203	3212	0	0	0	0	0	0	14.63	14.75	28.83
5048	-2.31	-146.0	2050	2548	3203	3212	342.4	-3.3	522	5053	0.00	2.42	0.00	0.000	516	0.000	0.106	2050	1142	3208	3203	3213	0	0	0	0	0	0	28.83	14.76	28.83
5280	-2.31	-146.0	2046	1143	3203	3213	351.7	-4.0	568	5285	0.00	2.53	0.00	0.000	1030	0.000	0.128	2040	2551	3208	3203	3213	0	0	0	0	0	0	28.83	14.75	28.83
5593	-2.31	-146.0	2040	2551	3203	3214	364.7	-4.2	580	5595	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2551	3208	3203	3213	0	0	0	0	0	0	28.83	28.83	28.83
5894	-2.31	-146.0	2040	2552	3204	3213	378.8	-5.0	590	5899	0.00	2.45	0.00	0.000	516	0.000	0.108	2041	1141	3208	3203	3214	0	0	0	0	0	0	28.83	14.78	28.83
6126	-2.31	-146.0	2040	1141	3204	3214	391.9	-5.7	636	6132	0.00	2.53	0.00	0.000	1030	0.000	0.129	2030	2552	3208	3203	3213	0	0	0	0	0	0	28.83	14.76	28.83
6440	-2.31	-146.0	2030	2552	3203	3214	410.0	-5.7	648	6446	0.00	2.45	0.00	0.000	516	0.000	0.110	2030	1140	3209	3204	3214	0	0	0	0	0	0	28.83	14.78	28.83
6673	-2.31	-146.0	2030	1140	3203	3214	422.5	-4.4	694	6679	0.12	2.55	0.00	0.000	3078	0.367	0.130	2043	2554	3208	3203	3214	0	0	0	0	0	0	14.65	14.76	28.83
6989	-2.33	-146.0	2043	2553	3203	3215	435.9	-4.0	706	6990	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	2554	3209	3204	3215	0	0	0	0	0	0	28.83	28.83	28.83
7287	-2.33	-146.0	2044	2554	3204	3215	444.8	-2.5	716	7288	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	2554	3209	3203	3215	0	0	0	0	0	0	28.83	28.83	28.83
7588	-2.35	-146.0	2044	2554	3204	3215	450.8	-1.8	726	7589	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	2554	3209	3204	3215	0	0	0	0	0	0	28.83	28.83	28.83
7887	-2.37	-146.0	2043	2554	3204	3215	456.2	-1.9	736	7888	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	2554	3209	3204	3215	0	0	0	0	0	0	28.83	28.83	28.83
8188	-2.37	-146.0	2044	2553	3204	3215	461.9	-2.2	746	8189	0.00	0.00	0.00	0.000	6	0.000	0.000	2044	2553	3209	3204	3215	0	0	0	0	0	0	28.83	28.83	28.83
8487	-2.39	-146.0	2044	2554	3204	3215	470.7	-3.4	756	8488	0.00	0.00	0.00	0.000	6	0.000	0.000	2043	2554	3209	3204	3214	0	0	0	0	0	0	28.83	28.83	28.83
8788	-2.41	-146.0	2044	2554	3204	3215	481.9	-3.8	766	8794	0.00	2.42	0.00	0.000	516	0.000	0.112	2044	1144	3209	3204	3215	0	0	0	0	0	0	28.83	14.81	28.83
8931	-2.41	-146.0	2042	1144	3204	3215	487.4	-3.8	794	8936	0.00	2.53	0.00	0.000	1030	0.000	0.130	2034	2552	3209	3204	3215	0	0	0	0	0	0	28.83	14.79	28.83
9245	-2.41	-146.0	2034	2552	3204	3215	498.9	-3.6	806	9246	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2552	3209	3204	3215	0	0	0	0	0	0	28.83	28.83	28.83
9543	-2.41	-146.0	2034	2552	3204	3215	510.3	-3.7	816	9549	0.00	2.42	0.00	0.000	516	0.000	0.112	2034	1150	3209	3204	3214	0	0	0	0	0	0	28.83	14.81	28.83
9776	-2.41	-146.0	2034	1150	3204	3215	518.7	-3.7	862	9781	0.00	2.50	0.00	0.000	1030	0.000	0.130	2021	2549	3209	3204	3215	0	0	0	0	0	0	28.83	14.79	28.83
10090	-2.41	-146.0	2024	2549	3204	3215	529.6	-3.3	874	10095	0.00	2.45	0.00	0.000	516	0.000	0.111	2024	1138	3209	3204	3215	0	0	0	0	0	0	28.83	14.80	28.83
10208	-2.41	-146.0	2024	1139	3207	3215	533.7	-3.5	897	10215	0.00	2.53	0.00	0.000	1030	0.000	0.131	2014	2548	3209	3203	3215	0	0	0	0	0	0	28.83	14.78	28.83
10513	-2.41	-146.0	2014	2548	3204	3211	543.5	-3.1	908	10519	0.00	2.38	0.00	0.000	260	0.000	0.141	2003	3840	3209	3204	3215	0	0	0	0	0	0	28.83	14.77	28.83
10746	-2.36	-146.0	2004	3840	3204	3215	551.4	-3.5	954	10752	0.12	2.15	0.00	0.000	3078	0.367	0.061	2030	2548	3209	3204	3215	0	0	0	0	0	0	14.66	14.83	28.83
11061	-2.36	-146.0	2029	2548	3204	3215	561.1	-3.0	966	11067	0.00	2.40	0.00	0.000	260	0.000	0.144	2020	3847	3209	3204	3215	0	0	0	0	0	0	28.83	14.76	28.83
11215	-2.33	-146.0	2020	3847	3204	3215	565.3	-2.9	996	11222	0.10	2.17	0.00	0.000	3078	0.379	0.063	2037	2543	3209	3204	3215	0	0	0	0	0	0	14.66	14.83	28.83
11549	-2.33	-146.0	2037	2540	3204	3215	572.4	-2.1	1012	11550	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2537	3209	3204	3215	0	0	0	0	0	0	28.83	28.83	28.83
11848	end dive: TARGET_DEPTH_EXCEEDED
state	11848	begin apogee
11853	-0.38	0.0	2037	2398	3204	3215	579.4	-2.0	1022	11927	1.60	0.00	69.78	1.380	10246	0.302	0.000	2460	2398	2951	2958	2944	0	0	0	0	0	0	14.69	28.83	13.83
11928	end apogee: CONTROL_FINISHED_OK
state	11928	begin climb
11930	2.34	146.0	2460	2398	2950	2935	579.0	0.0	1024	12093	1.90	0.00	158.00	1.310	10758	0.141	0.000	3067	2398	2354	2391	2317	0	0	0	0	0	0	14.33	28.83	13.48
12389	2.34	146.0	3066	2397	2379	2286	490.1	22.1	1050	12395	0.00	2.72	0.00	0.000	260	0.000	0.147	3067	3809	2328	2372	2285	0	0	0	0	0	0	28.83	14.38	28.83
12422	2.31	146.0	3067	3809	2369	2287	482.4	24.7	1056	12428	0.12	2.50	0.00	0.000	5126	0.369	0.084	3055	2400	2328	2369	2287	0	0	0	0	0	0	14.31	14.42	28.83
12756	2.33	146.0	3055	2400	2369	2283	412.4	20.7	1072	12761	0.00	2.70	0.00	0.000	260	0.000	0.147	3054	3815	2327	2370	2284	0	0	0	0	0	0	28.83	14.52	28.83
12798	2.31	146.0	3054	3816	2368	2285	402.8	23.4	1080	12803	0.00	2.47	0.00	0.000	1030	0.000	0.082	3065	2400	2326	2367	2285	0	0	0	0	0	0	28.83	14.57	28.83
13121	2.31	146.0	3071	2399	2368	2284	334.5	20.9	1094	13127	0.00	2.50	0.00	0.000	516	0.000	0.116	3075	983	2325	2367	2284	0	0	0	0	0	0	28.83	14.62	28.83
13198	2.31	146.0	3075	983	2367	2284	317.9	20.7	1109	13205	0.10	2.55	0.00	0.000	5126	0.356	0.119	3056	2406	2325	2367	2284	0	0	0	0	0	0	14.54	14.63	28.83
13520	2.33	146.0	3056	2406	2367	2282	251.2	21.2	1122	13521	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2406	2324	2367	2282	0	0	0	0	0	0	28.83	28.83	28.83
13829	2.36	146.0	3055	2406	2367	2282	185.5	20.4	1137	13830	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2406	2324	2367	2282	0	0	0	0	0	0	28.83	28.83	28.83
14129	2.39	146.0	3056	2406	2367	2282	123.5	20.0	1152	14134	0.00	2.62	0.00	0.000	260	0.000	0.145	3056	3809	2324	2367	2282	0	0	0	0	0	0	28.83	14.70	28.83
14226	2.39	146.0	3056	3809	2366	2283	102.7	20.5	1171	14232	0.00	2.45	0.00	0.000	1030	0.000	0.083	3065	2395	2325	2366	2284	0	0	0	0	0	0	28.83	14.73	28.83
14532	2.42	146.0	3066	2395	2366	2284	45.0	19.5	1187	14537	0.00	2.45	0.00	0.000	516	0.000	0.112	3076	989	2325	2366	2285	0	0	0	0	0	0	28.83	14.72	28.83
14675	2.45	146.0	3076	988	2366	2285	19.6	18.1	1215	14681	0.00	2.53	0.00	0.000	1030	0.000	0.119	3076	2408	2325	2366	2285	0	0	0	0	0	0	28.83	14.71	28.83
14697	end climb: SURFACE_OBSTACLE_DETECTED
state	14697	begin subsurface finish
14702	0.06	49.1	3076	2408	2365	2285	14.8	20.5	1218	14719	1.88	0.00	-10.20	0.000	20486	0.298	0.000	2566	2409	2750	2764	2737	0	0	0	0	0	0	14.63	28.83	14.93
14720	end subsurface finish: CONTROL_FINISHED_OK
state	14720	begin surface