Glider dive log

Cuddy Oct13 * SG194 * Dive index * Mission links * Dive 285 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_C 9.9999997e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 285 ESCAPE_HEADING 0 C_ROLL_DIVE 2233 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 45 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 50 XPDR_VALID 3

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.223

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2400 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 550 CALL_TRIES 12 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 660 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -7180.9272 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 1 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 199 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2842 FG_AHR_10V 0 SEABIRD_T_G 0.0044109076

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064730842

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.664891e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -53.385216 SEABIRD_T_J 3.309405e-06

MASS 58592 PITCH_GAIN 21 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_G -9.5383005

MASS_COMP 3867 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.0995622

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013844616

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017264462

KALMAN_USE 13 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 2.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 291 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 2.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 21 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_MAX 3894 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 199 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 1 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 550

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001158091 T_EPIRB 0

CALL_TRIES 12 HD_B 0.0099999998 PRESSURE_YINT -53.385216 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -7180.9272

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 660

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 194 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT 1.223 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2842 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2233 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2400 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 58592 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3867 ROLL_MIN 291 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 45 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 50 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.5383005 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0995622 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0013844616 VBD_TIMEOUT 720

DIVE 285 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017264462 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044109076 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.00064730842 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.664891e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.309405e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 240114,125404,4859.523,-12657.184,28,1.0,28,17.3 TGT_NAME SEARCH_A

_CALLS 2 TGT_LATLONG 4903.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.110,0.074

_SM_DEPTHo 2.44 KALMAN_X -84364.1,0.0,0.0,-42569.1,145.9

_SM_ANGLEo -67.1 KALMAN_Y 104599.2,0.0,0.0,92757.2,3773.4

GPS2 240114,130400,4859.644,-12657.245,4,1.4,4,17.3 MHEAD_RNG_PITCHd_Wd 286.5,7058,-20.1,-6.000,-24.31,1223

SPEED_LIMITS 0.072,0.215 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.5,1.004674 _10V_AH 10.0,30.702

SM_CCo 23015,30.52,0.054,0,0,1379,250.21 FG_AHR_24Vo 0.000

SM_GC 3.71,7.60,0.32,30.52,0.023,0.053,0.054,141,2237,1379,-8.23,-1.33,250.21,0,0,0,0,0,0,26.52,26.47,25.96 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4840.32,-12656.13,240114,121257 MEM 300264

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 50209,679

HUMID 40.74 CAP_FILE_SIZE 197005,0

INTERNAL_PRESSURE 8.90884 CFSIZE 2097872896,2057371648

TCM_TEMP 13.60 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 INTR 1,22621.10,0x235a20,1,24

ALTIM_BOTTOM_PING 830.9,27.2 GPS 240114,192952,4902.199,-12700.190,40,0.9,40,17.3

_24V_AH 23.3,44.770

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 195 94.00 SBE_CT 468 23 261.41

Roll_motor 169 55 216.95 AA4330 900 0 15.73

VBD_pump_during_apogee 169 1131 4462.50 WL_BB2FLVMT 454 105 1113.03

VBD_pump_during_surface 30 54 38.63 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 nil 0 0 0.00

Iridium_during_xfer 443 80 830.46 nil 0 0 0.00

Transponder_ping 14 420 139.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 30 1.75

TT8 2196 14 328.60

LPSleep 17685 2 387.31

TT8_Active 341 14 51.07

TT8_Sampling 3221 43 1398.85

TT8_CF8 193 53 102.88

TT8_Kalman 0 69 0.27

Analog_circuits 2139 15 320.88

GPS_charging 0 0 0.00

Compass 2684 8 241.29

RAFOS 0 0 0.00

Transponder 105 30 31.53

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.96 -48.4 122 2249 873 753 0.0 0.0 0 50 0.00 0.00 -32.92 0.000 16386 0.000 0.000 122 2249 1711 1715 1707 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.96 -48.4 122 2249 1715 1708 3.0 -3.3 3 100 9.07 2.25 -32.17 0.000 18692 0.196 0.055 2518 3630 2598 2644 2552 0 0 0 0 0 0 25.08 25.99 26.60

398 -0.78 -48.4 2518 3630 2645 2553 50.1 -13.3 37 407 0.20 2.08 0.00 0.000 3078 0.133 0.028 2582 2214 2599 2645 2553 0 0 0 0 0 0 25.69 26.32 28.83

707 -0.71 -48.4 2582 2213 2646 2553 81.9 -9.6 67 713 0.10 2.20 0.00 0.000 2308 0.171 0.041 2599 3629 2599 2646 2553 0 0 0 0 0 0 26.41 26.18 28.83

779 -0.65 -48.4 2599 3629 2646 2553 87.4 -9.4 70 787 0.00 2.10 0.00 0.000 1030 0.000 0.028 2600 2240 2599 2645 2553 0 0 0 0 0 0 28.83 26.41 28.83

1086 -0.65 -48.4 2599 2240 2646 2553 112.4 -7.7 86 1093 0.12 2.15 0.00 0.000 2564 0.155 0.035 2638 840 2599 2646 2553 0 0 0 0 0 0 26.30 26.29 28.83

1309 -0.65 -48.4 2638 840 2646 2553 127.0 -6.1 97 1314 0.00 2.15 0.00 0.000 1030 0.000 0.032 2630 2227 2599 2646 2553 0 0 0 0 0 0 28.83 26.34 28.83

1628 -0.65 -48.4 2630 2228 2646 2553 148.8 -7.2 113 1633 0.00 2.17 0.00 0.000 260 0.000 0.043 2620 3632 2599 2646 2553 0 0 0 0 0 0 28.83 26.22 28.83

1890 -0.65 -48.4 2619 3632 2646 2553 166.9 -7.5 122 1897 0.00 2.08 0.00 0.000 1030 0.000 0.027 2619 2231 2599 2646 2553 0 0 0 0 0 0 28.83 26.46 28.83

2198 -0.65 -48.4 2619 2231 2646 2553 191.4 -7.3 133 2202 0.00 2.15 0.00 0.000 516 0.000 0.037 2619 842 2599 2646 2553 0 0 0 0 0 0 28.83 26.31 28.83

2267 -0.65 -48.4 2619 837 2646 2553 196.2 -7.6 135 2271 0.00 2.12 0.00 0.000 1030 0.000 0.032 2609 2243 2599 2646 2552 0 0 0 0 0 0 28.83 26.35 28.83

2589 -0.65 -48.4 2609 2244 2646 2552 222.0 -7.8 146 2593 0.00 2.15 0.00 0.000 516 0.000 0.037 2609 845 2599 2646 2553 0 0 0 0 0 0 28.83 26.32 28.83

2683 -0.65 -48.4 2609 845 2646 2553 229.1 -8.1 149 2687 0.00 2.12 0.00 0.000 1030 0.000 0.033 2606 2235 2599 2646 2553 0 0 0 0 0 0 28.83 26.34 28.83

3005 -0.65 -48.4 2606 2235 2646 2552 254.3 -7.4 160 3009 0.00 2.15 0.00 0.000 516 0.000 0.037 2606 838 2599 2646 2553 0 0 0 0 0 0 28.83 26.32 28.83

3124 -0.65 -48.4 2606 838 2646 2552 263.4 -7.8 164 3129 0.12 2.12 0.00 0.000 3078 0.151 0.034 2629 2241 2599 2646 2552 0 0 0 0 0 0 26.05 26.34 28.83

3446 -0.65 -48.4 2629 2241 2645 2552 284.1 -6.2 175 3450 0.00 2.15 0.00 0.000 516 0.000 0.037 2629 844 2599 2646 2553 0 0 0 0 0 0 28.83 26.32 28.83

3532 -0.65 -48.4 2629 844 2645 2553 289.9 -6.6 178 3536 0.00 2.12 0.00 0.000 1030 0.000 0.033 2622 2242 2599 2646 2552 0 0 0 0 0 0 28.83 26.34 28.83

3889 -0.65 -48.4 2621 2242 2646 2552 314.3 -6.8 187 3893 0.00 2.15 0.00 0.000 516 0.000 0.037 2621 843 2599 2646 2552 0 0 0 0 0 0 28.83 26.31 28.83

3969 -0.65 -48.4 2622 844 2646 2552 318.0 -6.7 188 3973 0.00 2.12 0.00 0.000 1030 0.000 0.033 2611 2239 2599 2646 2553 0 0 0 0 0 0 28.83 26.34 28.83

4303 -0.65 -48.4 2611 2239 2646 2552 342.8 -7.2 194 4304 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2239 2599 2646 2552 0 0 0 0 0 0 28.83 28.83 28.83

4601 -0.65 -48.4 2611 2239 2646 2552 364.0 -7.0 199 4607 0.00 2.15 0.00 0.000 516 0.000 0.037 2611 845 2599 2646 2552 0 0 0 0 0 0 28.83 26.29 28.83

4724 -0.65 -48.4 2611 845 2646 2552 372.7 -7.0 201 4728 0.00 2.12 0.00 0.000 1030 0.000 0.034 2606 2230 2599 2646 2552 0 0 0 0 0 0 28.83 26.32 28.83

5076 -0.65 -48.4 2606 2230 2646 2552 398.4 -7.2 207 5082 0.00 2.20 0.00 0.000 260 0.000 0.044 2597 3646 2598 2645 2552 0 0 0 0 0 0 28.83 26.20 28.83

5124 -0.65 -48.4 2596 3646 2646 2552 398.4 -7.2 207 5129 0.12 2.10 0.00 0.000 3078 0.145 0.028 2630 2224 2598 2644 2552 0 0 0 0 0 0 26.11 26.45 28.83

5439 -0.72 -48.4 2629 2223 2645 2552 422.4 -6.5 213 5445 0.00 2.10 0.00 0.000 516 0.000 0.037 2629 842 2598 2646 2551 0 0 0 0 0 0 28.83 26.29 28.83

5738 -0.78 -48.4 2629 842 2646 2551 443.7 -7.1 218 5744 0.00 2.12 0.00 0.000 1030 0.000 0.034 2622 2236 2598 2646 2551 0 0 0 0 0 0 28.83 26.32 28.83

6098 -0.84 -48.4 2622 2236 2646 2550 468.1 -6.7 224 6104 0.12 2.15 0.00 0.000 4612 0.078 0.035 2524 845 2598 2646 2550 0 0 0 0 0 0 26.70 26.29 28.83

6281 -0.84 -48.4 2523 845 2646 2550 484.5 -8.4 227 6286 0.15 2.17 0.00 0.000 3078 0.125 0.034 2563 2227 2598 2646 2550 0 0 0 0 0 0 25.85 26.30 28.83

6641 -0.84 -48.4 2563 2227 2646 2549 510.4 -7.2 233 6647 0.00 2.12 0.00 0.000 516 0.000 0.037 2563 846 2597 2646 2549 0 0 0 0 0 0 28.83 26.27 28.83

6788 -0.84 -48.4 2563 846 2645 2549 518.6 -6.8 235 6792 0.00 2.12 0.00 0.000 1030 0.000 0.034 2556 2233 2597 2646 2549 0 0 0 0 0 0 28.83 26.30 28.83

7115 -0.84 -48.4 2556 2233 2646 2549 545.9 -7.9 241 7116 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2233 2598 2647 2549 0 0 0 0 0 0 28.83 28.83 28.83

7415 -0.84 -48.4 2555 2233 2645 2549 573.2 -9.1 246 7416 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2233 2597 2645 2549 0 0 0 0 0 0 28.83 28.83 28.83

7714 -0.84 -48.4 2556 2233 2646 2548 599.2 -8.5 251 7715 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2233 2596 2645 2548 0 0 0 0 0 0 28.83 28.83 28.83

8015 -0.84 -48.4 2555 2233 2645 2548 623.2 -8.0 256 8020 0.00 2.15 0.00 0.000 516 0.000 0.038 2556 846 2596 2645 2547 0 0 0 0 0 0 28.83 26.25 28.83

8102 -0.84 -48.4 2556 846 2646 2547 627.7 -7.8 257 8106 0.00 2.12 0.00 0.000 1030 0.000 0.035 2546 2235 2596 2645 2547 0 0 0 0 0 0 28.83 26.27 28.83

8434 -0.84 -48.4 2545 2235 2645 2546 655.1 -7.6 263 8435 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2235 2595 2645 2546 0 0 0 0 0 0 28.83 28.83 28.83

8734 -0.84 -48.4 2546 2235 2645 2546 677.8 -7.6 268 8735 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2235 2595 2645 2546 0 0 0 0 0 0 28.83 28.83 28.83

9036 -0.84 -48.4 2546 2235 2645 2545 700.8 -7.5 273 9041 0.00 2.15 0.00 0.000 516 0.000 0.039 2546 846 2595 2645 2545 0 0 0 0 0 0 28.83 26.24 28.83

9122 -0.84 -48.4 2545 845 2646 2545 706.4 -7.7 274 9127 0.12 2.15 0.00 0.000 3078 0.152 0.035 2570 2236 2594 2645 2544 0 0 0 0 0 0 25.97 26.26 28.83

9450 -0.84 -48.4 2569 2236 2645 2544 732.7 -7.1 280 9456 0.00 2.20 0.00 0.000 260 0.000 0.045 2561 3638 2594 2645 2544 0 0 0 0 0 0 28.83 26.11 28.83

9522 -0.84 -48.4 2561 3638 2645 2544 737.4 -7.2 281 9526 0.00 2.10 0.00 0.000 1030 0.000 0.029 2561 2231 2594 2645 2544 0 0 0 0 0 0 28.83 26.39 28.83

9869 -0.84 -48.4 2561 2231 2645 2544 765.8 -7.8 287 9873 0.00 2.17 0.00 0.000 516 0.000 0.039 2561 831 2594 2645 2544 0 0 0 0 0 0 28.83 26.21 28.83

9987 -0.84 -48.4 2561 831 2645 2544 774.8 -7.6 289 9993 0.00 2.12 0.00 0.000 1030 0.000 0.035 2552 2228 2594 2645 2544 0 0 0 0 0 0 28.83 26.25 28.83

10350 -0.84 -48.4 2552 2227 2645 2543 802.3 -7.6 295 10355 0.00 2.15 0.00 0.000 516 0.000 0.039 2552 839 2594 2645 2543 0 0 0 0 0 0 28.83 26.21 28.83

10450 -0.84 -48.4 2552 839 2645 2544 807.2 -7.7 296 10454 0.00 2.17 0.00 0.000 1030 0.000 0.035 2541 2229 2594 2645 2543 0 0 0 0 0 0 28.83 26.25 28.83

10767 -0.84 -48.4 2542 2229 2645 2543 835.5 -7.9 302 10771 0.00 2.17 0.00 0.000 516 0.000 0.039 2542 834 2594 2646 2543 0 0 0 0 0 0 28.83 26.20 28.83

10887 -0.84 -48.4 1664 833 2598 2538 844.8 -7.9 304 10892 0.12 2.17 0.00 0.000 3078 0.151 0.035 2571 2242 2594 2645 2543 0 0 0 0 0 0 25.95 26.24 28.83

10939 end dive: BOTTOM_OBSTACLE_DETECTED

state 10939 begin apogee

10944 -0.24 0.0 2569 1993 2645 2543 848.8 -7.8 305 10987 0.55 0.00 40.17 1.131 10246 0.100 0.000 2760 1994 2399 2457 2342 0 0 0 0 0 0 25.75 28.83 23.54

10988 end apogee: CONTROL_FINISHED_OK

state 10988 begin climb

10990 0.96 48.4 2759 1994 2457 2342 848.8 0.0 305 11036 1.08 0.00 42.72 1.118 10246 0.057 0.000 3155 1994 2202 2258 2146 0 0 0 0 0 0 25.55 28.83 23.30

11295 0.87 73.4 3154 1994 2254 2143 839.1 3.9 311 11323 0.12 2.33 21.65 1.079 12548 0.155 0.043 3118 3411 2100 2156 2044 0 0 0 0 0 0 25.91 25.58 23.88

11385 0.79 95.1 3118 3412 2155 2044 836.1 4.2 312 11409 0.00 2.17 19.15 1.063 9222 0.000 0.030 3126 1999 2012 2074 1951 0 0 0 0 0 0 28.83 25.90 23.80

11710 0.79 95.1 3126 1999 2073 1942 811.3 7.2 317 11714 0.00 2.20 0.00 0.000 516 0.000 0.043 3137 607 2007 2073 1942 0 0 0 0 0 0 28.83 26.06 28.83

11779 0.79 95.1 3136 607 2073 1942 807.0 7.3 318 11784 0.10 2.20 0.00 0.000 5126 0.122 0.034 3095 1998 2007 2073 1942 0 0 0 0 0 0 25.87 26.20 28.83

12126 0.79 95.1 3094 1998 2073 1941 783.4 6.6 324 12130 0.00 2.20 0.00 0.000 516 0.000 0.043 3103 607 2007 2073 1941 0 0 0 0 0 0 28.83 26.20 28.83

12205 0.79 95.1 3103 607 2073 1940 779.1 6.8 325 12209 0.00 2.15 0.00 0.000 1030 0.000 0.034 3103 2004 2006 2072 1941 0 0 0 0 0 0 28.83 26.31 28.83

12537 0.79 95.1 3103 2004 2073 1941 752.7 7.5 331 12538 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2003 2007 2073 1941 0 0 0 0 0 0 28.83 28.83 28.83

12837 0.79 95.1 3102 2004 2073 1940 732.3 6.7 336 12838 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2004 2006 2073 1940 0 0 0 0 0 0 28.83 28.83 28.83

13137 0.79 95.1 3102 2003 2073 1940 713.9 6.2 341 13141 0.00 2.17 0.00 0.000 260 0.000 0.043 3103 3402 2006 2073 1940 0 0 0 0 0 0 28.83 26.26 28.83

13376 0.79 95.1 3103 3402 2073 1940 697.8 6.8 345 13381 0.00 2.17 0.00 0.000 1030 0.000 0.031 3114 1998 2006 2073 1940 0 0 0 0 0 0 28.83 26.41 28.83

13733 0.79 95.1 3113 1998 2073 1940 674.0 6.7 351 13735 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 1997 2006 2073 1940 0 0 0 0 0 0 28.83 28.83 28.83

14033 0.79 95.1 3113 1997 2073 1939 653.8 6.8 356 14037 0.00 2.20 0.00 0.000 260 0.000 0.043 3113 3400 2006 2073 1940 0 0 0 0 0 0 28.83 26.23 28.83

14142 0.79 95.1 3113 3400 2073 1940 649.7 7.0 357 14150 0.00 2.17 0.00 0.000 1030 0.000 0.032 3124 1995 2006 2073 1940 0 0 0 0 0 0 28.83 26.40 28.83

14450 0.79 95.1 3124 1995 2073 1940 624.5 7.0 363 14451 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 1995 2006 2073 1940 0 0 0 0 0 0 28.83 28.83 28.83

14749 0.79 95.1 3124 1995 2072 1940 602.2 7.5 368 14754 0.00 2.20 0.00 0.000 260 0.000 0.043 3124 3398 2006 2073 1940 0 0 0 0 0 0 28.83 26.21 28.83

14855 0.79 95.1 3124 3398 2073 1940 597.7 7.6 369 14860 0.15 2.12 0.00 0.000 5126 0.142 0.031 3095 1991 2006 2073 1940 0 0 0 0 0 0 26.02 26.39 28.83

15161 0.79 98.4 3095 1991 2072 1939 576.4 5.7 374 15163 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 1991 2006 2073 1940 0 0 0 0 0 0 28.83 28.83 28.83

15461 0.79 98.6 3095 1991 2073 1939 558.9 6.0 379 15467 0.00 2.20 0.00 0.000 260 0.000 0.043 3095 3397 2006 2073 1939 0 0 0 0 0 0 28.83 26.20 28.83

15590 0.79 98.6 3095 3397 2073 1939 550.8 6.5 381 15594 0.00 2.12 0.00 0.000 1030 0.000 0.031 3103 1990 2006 2073 1939 0 0 0 0 0 0 28.83 26.37 28.83

15936 0.79 98.6 3102 1990 2073 1939 528.0 6.3 387 15942 0.00 2.20 0.00 0.000 260 0.000 0.043 3103 3399 2006 2073 1939 0 0 0 0 0 0 28.83 26.19 28.83

16236 0.79 98.6 3102 3399 2073 1939 506.2 7.5 392 16240 0.00 2.12 0.00 0.000 1030 0.000 0.031 3113 1997 2005 2073 1938 0 0 0 0 0 0 28.83 26.36 28.83

16592 0.79 98.6 3113 1997 2073 1939 479.7 7.4 398 16598 0.00 2.20 0.00 0.000 516 0.000 0.044 3124 601 2005 2073 1938 0 0 0 0 0 0 28.83 26.14 28.83

16731 0.79 98.6 3123 602 2073 1938 470.3 7.5 400 16735 0.00 2.12 0.00 0.000 1030 0.000 0.033 3124 2001 2006 2073 1939 0 0 0 0 0 0 28.83 26.29 28.83

17067 0.79 98.6 3123 2001 2073 1939 443.9 7.3 406 17073 0.00 2.22 0.00 0.000 516 0.000 0.044 3135 599 2005 2073 1938 0 0 0 0 0 0 28.83 26.13 28.83

17170 0.79 98.6 3135 599 2073 1938 439.6 7.1 407 17175 0.15 2.15 0.00 0.000 5126 0.130 0.033 3093 2014 2005 2073 1938 0 0 0 0 0 0 26.00 26.29 28.83

17483 0.85 107.5 3093 2014 2073 1938 419.5 5.3 413 17500 0.00 2.22 10.57 0.764 8452 0.000 0.043 3093 3394 1961 2028 1894 0 0 0 0 0 0 28.83 26.11 24.20

17592 0.91 117.9 3093 3394 2027 1894 416.4 5.1 414 17607 0.00 2.12 10.02 0.783 9222 0.000 0.030 3101 1989 1919 1985 1853 0 0 0 0 0 0 28.83 26.25 24.19

17960 0.97 117.9 3100 1989 1983 1851 391.5 6.1 421 17966 0.12 2.17 0.00 0.000 2564 0.079 0.042 3202 609 1916 1983 1850 0 0 0 0 0 0 26.55 26.09 28.83

18037 0.97 117.9 3202 609 1982 1850 386.5 6.6 422 18042 0.17 2.15 0.00 0.000 5126 0.137 0.034 3154 2005 1916 1982 1850 0 0 0 0 0 0 25.86 26.24 28.83

18374 0.97 117.9 3154 2005 1982 1850 355.8 8.7 428 18378 0.00 2.17 0.00 0.000 260 0.000 0.042 3154 3403 1916 1982 1850 0 0 0 0 0 0 28.83 26.17 28.83

18459 0.97 117.9 3154 3403 1982 1851 350.2 9.1 429 18463 0.00 2.12 0.00 0.000 1030 0.000 0.031 3163 2000 1916 1982 1851 0 0 0 0 0 0 28.83 26.34 28.83

18785 0.97 117.9 3163 2000 1981 1850 316.7 9.5 435 18791 0.00 2.20 0.00 0.000 516 0.000 0.043 3173 603 1916 1982 1850 0 0 0 0 0 0 28.83 26.15 28.83

18888 0.97 117.9 3173 603 1981 1850 311.3 9.3 436 18892 0.00 2.12 0.00 0.000 1030 0.000 0.032 3173 2000 1915 1981 1850 0 0 0 0 0 0 28.83 26.29 28.83

19206 0.97 117.9 3173 2000 1982 1850 278.0 9.4 445 19207 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2000 1915 1981 1850 0 0 0 0 0 0 28.83 28.83 28.83

19505 0.97 117.9 3173 2000 1981 1850 251.8 8.9 455 19506 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2000 1916 1981 1851 0 0 0 0 0 0 28.83 28.83 28.83

19806 0.97 117.9 3173 2000 1981 1850 224.3 9.5 465 19812 0.00 2.17 0.00 0.000 260 0.000 0.042 3173 3403 1916 1982 1851 0 0 0 0 0 0 28.83 26.18 28.83

19858 0.97 117.9 3173 3403 1982 1851 221.5 9.5 466 19866 0.12 2.12 0.00 0.000 5126 0.148 0.031 3152 1993 1916 1982 1851 0 0 0 0 0 0 26.03 26.36 28.83

20166 0.97 117.9 3152 1992 1982 1852 194.7 7.6 477 20167 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 1993 1916 1982 1851 0 0 0 0 0 0 28.83 28.83 28.83

20465 0.97 117.9 3151 1993 1982 1852 173.0 7.1 487 20471 0.00 2.20 0.00 0.000 260 0.000 0.042 3152 3397 1916 1982 1851 0 0 0 0 0 0 28.83 26.17 28.83

20528 0.97 117.9 3152 3397 1981 1852 168.1 7.6 489 20532 0.00 2.15 0.00 0.000 1030 0.000 0.030 3160 2000 1917 1982 1852 0 0 0 0 0 0 28.83 26.37 28.83

20848 0.97 117.9 3160 1999 1981 1852 140.4 9.4 501 20849 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2000 1917 1982 1852 0 0 0 0 0 0 28.83 28.83 28.83

21145 0.97 117.9 3159 1999 1982 1852 114.6 8.2 516 21151 0.00 2.17 0.00 0.000 260 0.000 0.041 3160 3395 1917 1981 1853 0 0 0 0 0 0 28.83 26.17 28.83

21239 0.97 117.9 3159 3396 1981 1853 107.6 8.7 520 21246 0.00 2.15 0.00 0.000 1030 0.000 0.030 3170 1996 1917 1981 1853 0 0 0 0 0 0 28.83 26.36 28.83

21546 0.97 117.9 3170 1997 1982 1853 81.2 7.2 536 21547 0.00 0.00 0.00 0.000 6 0.000 0.000 3170 1996 1916 1981 1852 0 0 0 0 0 0 28.83 28.83 28.83

21847 0.97 117.9 3170 1997 1981 1853 58.3 7.4 565 21856 0.00 2.15 0.00 0.000 260 0.000 0.041 3170 3392 1918 1982 1854 0 0 0 0 0 0 28.83 26.17 28.83

22003 0.97 117.9 3170 3392 1982 1854 47.9 6.1 580 22011 0.00 2.12 0.00 0.000 1030 0.000 0.030 3180 2002 1917 1981 1853 0 0 0 0 0 0 28.83 26.37 28.83

22311 0.97 125.6 3180 2002 1982 1854 25.3 5.4 611 22321 0.00 2.28 3.67 0.382 8708 0.000 0.041 3190 604 1886 1952 1820 0 0 0 0 0 0 28.83 26.17 24.37

22618 0.97 173.9 3190 604 1951 1820 17.0 2.0 641 22648 0.15 2.12 21.30 0.091 13318 0.129 0.031 3138 2008 1690 1755 1625 0 0 0 0 0 0 25.96 26.30 25.70

22945 end climb: SURFACE_DEPTH_REACHED

state 22946 begin surface coast

22999 end surface coast: CONTROL_FINISHED_OK

state 22999 begin surface

ID	194	HD_C	9.9999997e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	285	ESCAPE_HEADING	0	C_ROLL_DIVE	2233	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	45	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	50	XPDR_VALID	3
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.223
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2400	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	550	CALL_TRIES	12	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	660	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-7180.9272	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	1	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	199	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2842	FG_AHR_10V	0	SEABIRD_T_G	0.0044109076
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064730842
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.664891e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-53.385216	SEABIRD_T_J	3.309405e-06
MASS	58592	PITCH_GAIN	21	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_G	-9.5383005
MASS_COMP	3867	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.0995622
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013844616
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017264462
KALMAN_USE	13	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	2.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	291	ALTIM_TOP_PING_RANGE	0

GPS1	240114,125404,4859.523,-12657.184,28,1.0,28,17.3	TGT_NAME	SEARCH_A
_CALLS	2	TGT_LATLONG	4903.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.110,0.074
_SM_DEPTHo	2.44	KALMAN_X	-84364.1,0.0,0.0,-42569.1,145.9
_SM_ANGLEo	-67.1	KALMAN_Y	104599.2,0.0,0.0,92757.2,3773.4
GPS2	240114,130400,4859.644,-12657.245,4,1.4,4,17.3	MHEAD_RNG_PITCHd_Wd	286.5,7058,-20.1,-6.000,-24.31,1223
SPEED_LIMITS	0.072,0.215	D_GRID	990

FINISH	1.5,1.004674	_10V_AH	10.0,30.702
SM_CCo	23015,30.52,0.054,0,0,1379,250.21	FG_AHR_24Vo	0.000
SM_GC	3.71,7.60,0.32,30.52,0.023,0.053,0.054,141,2237,1379,-8.23,-1.33,250.21,0,0,0,0,0,0,26.52,26.47,25.96	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4840.32,-12656.13,240114,121257	MEM	300264
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	50209,679
HUMID	40.74	CAP_FILE_SIZE	197005,0
INTERNAL_PRESSURE	8.90884	CFSIZE	2097872896,2057371648
TCM_TEMP	13.60	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	INTR	1,22621.10,0x235a20,1,24
ALTIM_BOTTOM_PING	830.9,27.2	GPS	240114,192952,4902.199,-12700.190,40,0.9,40,17.3
_24V_AH	23.3,44.770

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	195	94.00	SBE_CT	468	23	261.41
Roll_motor	169	55	216.95	AA4330	900	0	15.73
VBD_pump_during_apogee	169	1131	4462.50	WL_BB2FLVMT	454	105	1113.03
VBD_pump_during_surface	30	54	38.63	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	nil	0	0	0.00
Iridium_during_xfer	443	80	830.46	nil	0	0	0.00
Transponder_ping	14	420	139.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	30	1.75
TT8	2196	14	328.60
LPSleep	17685	2	387.31
TT8_Active	341	14	51.07
TT8_Sampling	3221	43	1398.85
TT8_CF8	193	53	102.88
TT8_Kalman	0	69	0.27
Analog_circuits	2139	15	320.88
GPS_charging	0	0	0.00
Compass	2684	8	241.29
RAFOS	0	0	0.00
Transponder	105	30	31.53

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.96	-48.4	122	2249	873	753	0.0	0.0	0	50	0.00	0.00	-32.92	0.000	16386	0.000	0.000	122	2249	1711	1715	1707	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.96	-48.4	122	2249	1715	1708	3.0	-3.3	3	100	9.07	2.25	-32.17	0.000	18692	0.196	0.055	2518	3630	2598	2644	2552	0	0	0	0	0	0	25.08	25.99	26.60
398	-0.78	-48.4	2518	3630	2645	2553	50.1	-13.3	37	407	0.20	2.08	0.00	0.000	3078	0.133	0.028	2582	2214	2599	2645	2553	0	0	0	0	0	0	25.69	26.32	28.83
707	-0.71	-48.4	2582	2213	2646	2553	81.9	-9.6	67	713	0.10	2.20	0.00	0.000	2308	0.171	0.041	2599	3629	2599	2646	2553	0	0	0	0	0	0	26.41	26.18	28.83
779	-0.65	-48.4	2599	3629	2646	2553	87.4	-9.4	70	787	0.00	2.10	0.00	0.000	1030	0.000	0.028	2600	2240	2599	2645	2553	0	0	0	0	0	0	28.83	26.41	28.83
1086	-0.65	-48.4	2599	2240	2646	2553	112.4	-7.7	86	1093	0.12	2.15	0.00	0.000	2564	0.155	0.035	2638	840	2599	2646	2553	0	0	0	0	0	0	26.30	26.29	28.83
1309	-0.65	-48.4	2638	840	2646	2553	127.0	-6.1	97	1314	0.00	2.15	0.00	0.000	1030	0.000	0.032	2630	2227	2599	2646	2553	0	0	0	0	0	0	28.83	26.34	28.83
1628	-0.65	-48.4	2630	2228	2646	2553	148.8	-7.2	113	1633	0.00	2.17	0.00	0.000	260	0.000	0.043	2620	3632	2599	2646	2553	0	0	0	0	0	0	28.83	26.22	28.83
1890	-0.65	-48.4	2619	3632	2646	2553	166.9	-7.5	122	1897	0.00	2.08	0.00	0.000	1030	0.000	0.027	2619	2231	2599	2646	2553	0	0	0	0	0	0	28.83	26.46	28.83
2198	-0.65	-48.4	2619	2231	2646	2553	191.4	-7.3	133	2202	0.00	2.15	0.00	0.000	516	0.000	0.037	2619	842	2599	2646	2553	0	0	0	0	0	0	28.83	26.31	28.83
2267	-0.65	-48.4	2619	837	2646	2553	196.2	-7.6	135	2271	0.00	2.12	0.00	0.000	1030	0.000	0.032	2609	2243	2599	2646	2552	0	0	0	0	0	0	28.83	26.35	28.83
2589	-0.65	-48.4	2609	2244	2646	2552	222.0	-7.8	146	2593	0.00	2.15	0.00	0.000	516	0.000	0.037	2609	845	2599	2646	2553	0	0	0	0	0	0	28.83	26.32	28.83
2683	-0.65	-48.4	2609	845	2646	2553	229.1	-8.1	149	2687	0.00	2.12	0.00	0.000	1030	0.000	0.033	2606	2235	2599	2646	2553	0	0	0	0	0	0	28.83	26.34	28.83
3005	-0.65	-48.4	2606	2235	2646	2552	254.3	-7.4	160	3009	0.00	2.15	0.00	0.000	516	0.000	0.037	2606	838	2599	2646	2553	0	0	0	0	0	0	28.83	26.32	28.83
3124	-0.65	-48.4	2606	838	2646	2552	263.4	-7.8	164	3129	0.12	2.12	0.00	0.000	3078	0.151	0.034	2629	2241	2599	2646	2552	0	0	0	0	0	0	26.05	26.34	28.83
3446	-0.65	-48.4	2629	2241	2645	2552	284.1	-6.2	175	3450	0.00	2.15	0.00	0.000	516	0.000	0.037	2629	844	2599	2646	2553	0	0	0	0	0	0	28.83	26.32	28.83
3532	-0.65	-48.4	2629	844	2645	2553	289.9	-6.6	178	3536	0.00	2.12	0.00	0.000	1030	0.000	0.033	2622	2242	2599	2646	2552	0	0	0	0	0	0	28.83	26.34	28.83
3889	-0.65	-48.4	2621	2242	2646	2552	314.3	-6.8	187	3893	0.00	2.15	0.00	0.000	516	0.000	0.037	2621	843	2599	2646	2552	0	0	0	0	0	0	28.83	26.31	28.83
3969	-0.65	-48.4	2622	844	2646	2552	318.0	-6.7	188	3973	0.00	2.12	0.00	0.000	1030	0.000	0.033	2611	2239	2599	2646	2553	0	0	0	0	0	0	28.83	26.34	28.83
4303	-0.65	-48.4	2611	2239	2646	2552	342.8	-7.2	194	4304	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2239	2599	2646	2552	0	0	0	0	0	0	28.83	28.83	28.83
4601	-0.65	-48.4	2611	2239	2646	2552	364.0	-7.0	199	4607	0.00	2.15	0.00	0.000	516	0.000	0.037	2611	845	2599	2646	2552	0	0	0	0	0	0	28.83	26.29	28.83
4724	-0.65	-48.4	2611	845	2646	2552	372.7	-7.0	201	4728	0.00	2.12	0.00	0.000	1030	0.000	0.034	2606	2230	2599	2646	2552	0	0	0	0	0	0	28.83	26.32	28.83
5076	-0.65	-48.4	2606	2230	2646	2552	398.4	-7.2	207	5082	0.00	2.20	0.00	0.000	260	0.000	0.044	2597	3646	2598	2645	2552	0	0	0	0	0	0	28.83	26.20	28.83
5124	-0.65	-48.4	2596	3646	2646	2552	398.4	-7.2	207	5129	0.12	2.10	0.00	0.000	3078	0.145	0.028	2630	2224	2598	2644	2552	0	0	0	0	0	0	26.11	26.45	28.83
5439	-0.72	-48.4	2629	2223	2645	2552	422.4	-6.5	213	5445	0.00	2.10	0.00	0.000	516	0.000	0.037	2629	842	2598	2646	2551	0	0	0	0	0	0	28.83	26.29	28.83
5738	-0.78	-48.4	2629	842	2646	2551	443.7	-7.1	218	5744	0.00	2.12	0.00	0.000	1030	0.000	0.034	2622	2236	2598	2646	2551	0	0	0	0	0	0	28.83	26.32	28.83
6098	-0.84	-48.4	2622	2236	2646	2550	468.1	-6.7	224	6104	0.12	2.15	0.00	0.000	4612	0.078	0.035	2524	845	2598	2646	2550	0	0	0	0	0	0	26.70	26.29	28.83
6281	-0.84	-48.4	2523	845	2646	2550	484.5	-8.4	227	6286	0.15	2.17	0.00	0.000	3078	0.125	0.034	2563	2227	2598	2646	2550	0	0	0	0	0	0	25.85	26.30	28.83
6641	-0.84	-48.4	2563	2227	2646	2549	510.4	-7.2	233	6647	0.00	2.12	0.00	0.000	516	0.000	0.037	2563	846	2597	2646	2549	0	0	0	0	0	0	28.83	26.27	28.83
6788	-0.84	-48.4	2563	846	2645	2549	518.6	-6.8	235	6792	0.00	2.12	0.00	0.000	1030	0.000	0.034	2556	2233	2597	2646	2549	0	0	0	0	0	0	28.83	26.30	28.83
7115	-0.84	-48.4	2556	2233	2646	2549	545.9	-7.9	241	7116	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2233	2598	2647	2549	0	0	0	0	0	0	28.83	28.83	28.83
7415	-0.84	-48.4	2555	2233	2645	2549	573.2	-9.1	246	7416	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2233	2597	2645	2549	0	0	0	0	0	0	28.83	28.83	28.83
7714	-0.84	-48.4	2556	2233	2646	2548	599.2	-8.5	251	7715	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2233	2596	2645	2548	0	0	0	0	0	0	28.83	28.83	28.83
8015	-0.84	-48.4	2555	2233	2645	2548	623.2	-8.0	256	8020	0.00	2.15	0.00	0.000	516	0.000	0.038	2556	846	2596	2645	2547	0	0	0	0	0	0	28.83	26.25	28.83
8102	-0.84	-48.4	2556	846	2646	2547	627.7	-7.8	257	8106	0.00	2.12	0.00	0.000	1030	0.000	0.035	2546	2235	2596	2645	2547	0	0	0	0	0	0	28.83	26.27	28.83
8434	-0.84	-48.4	2545	2235	2645	2546	655.1	-7.6	263	8435	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2235	2595	2645	2546	0	0	0	0	0	0	28.83	28.83	28.83
8734	-0.84	-48.4	2546	2235	2645	2546	677.8	-7.6	268	8735	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2235	2595	2645	2546	0	0	0	0	0	0	28.83	28.83	28.83
9036	-0.84	-48.4	2546	2235	2645	2545	700.8	-7.5	273	9041	0.00	2.15	0.00	0.000	516	0.000	0.039	2546	846	2595	2645	2545	0	0	0	0	0	0	28.83	26.24	28.83
9122	-0.84	-48.4	2545	845	2646	2545	706.4	-7.7	274	9127	0.12	2.15	0.00	0.000	3078	0.152	0.035	2570	2236	2594	2645	2544	0	0	0	0	0	0	25.97	26.26	28.83
9450	-0.84	-48.4	2569	2236	2645	2544	732.7	-7.1	280	9456	0.00	2.20	0.00	0.000	260	0.000	0.045	2561	3638	2594	2645	2544	0	0	0	0	0	0	28.83	26.11	28.83
9522	-0.84	-48.4	2561	3638	2645	2544	737.4	-7.2	281	9526	0.00	2.10	0.00	0.000	1030	0.000	0.029	2561	2231	2594	2645	2544	0	0	0	0	0	0	28.83	26.39	28.83
9869	-0.84	-48.4	2561	2231	2645	2544	765.8	-7.8	287	9873	0.00	2.17	0.00	0.000	516	0.000	0.039	2561	831	2594	2645	2544	0	0	0	0	0	0	28.83	26.21	28.83
9987	-0.84	-48.4	2561	831	2645	2544	774.8	-7.6	289	9993	0.00	2.12	0.00	0.000	1030	0.000	0.035	2552	2228	2594	2645	2544	0	0	0	0	0	0	28.83	26.25	28.83
10350	-0.84	-48.4	2552	2227	2645	2543	802.3	-7.6	295	10355	0.00	2.15	0.00	0.000	516	0.000	0.039	2552	839	2594	2645	2543	0	0	0	0	0	0	28.83	26.21	28.83
10450	-0.84	-48.4	2552	839	2645	2544	807.2	-7.7	296	10454	0.00	2.17	0.00	0.000	1030	0.000	0.035	2541	2229	2594	2645	2543	0	0	0	0	0	0	28.83	26.25	28.83
10767	-0.84	-48.4	2542	2229	2645	2543	835.5	-7.9	302	10771	0.00	2.17	0.00	0.000	516	0.000	0.039	2542	834	2594	2646	2543	0	0	0	0	0	0	28.83	26.20	28.83
10887	-0.84	-48.4	1664	833	2598	2538	844.8	-7.9	304	10892	0.12	2.17	0.00	0.000	3078	0.151	0.035	2571	2242	2594	2645	2543	0	0	0	0	0	0	25.95	26.24	28.83
10939	end dive: BOTTOM_OBSTACLE_DETECTED
state	10939	begin apogee
10944	-0.24	0.0	2569	1993	2645	2543	848.8	-7.8	305	10987	0.55	0.00	40.17	1.131	10246	0.100	0.000	2760	1994	2399	2457	2342	0	0	0	0	0	0	25.75	28.83	23.54
10988	end apogee: CONTROL_FINISHED_OK
state	10988	begin climb
10990	0.96	48.4	2759	1994	2457	2342	848.8	0.0	305	11036	1.08	0.00	42.72	1.118	10246	0.057	0.000	3155	1994	2202	2258	2146	0	0	0	0	0	0	25.55	28.83	23.30
11295	0.87	73.4	3154	1994	2254	2143	839.1	3.9	311	11323	0.12	2.33	21.65	1.079	12548	0.155	0.043	3118	3411	2100	2156	2044	0	0	0	0	0	0	25.91	25.58	23.88
11385	0.79	95.1	3118	3412	2155	2044	836.1	4.2	312	11409	0.00	2.17	19.15	1.063	9222	0.000	0.030	3126	1999	2012	2074	1951	0	0	0	0	0	0	28.83	25.90	23.80
11710	0.79	95.1	3126	1999	2073	1942	811.3	7.2	317	11714	0.00	2.20	0.00	0.000	516	0.000	0.043	3137	607	2007	2073	1942	0	0	0	0	0	0	28.83	26.06	28.83
11779	0.79	95.1	3136	607	2073	1942	807.0	7.3	318	11784	0.10	2.20	0.00	0.000	5126	0.122	0.034	3095	1998	2007	2073	1942	0	0	0	0	0	0	25.87	26.20	28.83
12126	0.79	95.1	3094	1998	2073	1941	783.4	6.6	324	12130	0.00	2.20	0.00	0.000	516	0.000	0.043	3103	607	2007	2073	1941	0	0	0	0	0	0	28.83	26.20	28.83
12205	0.79	95.1	3103	607	2073	1940	779.1	6.8	325	12209	0.00	2.15	0.00	0.000	1030	0.000	0.034	3103	2004	2006	2072	1941	0	0	0	0	0	0	28.83	26.31	28.83
12537	0.79	95.1	3103	2004	2073	1941	752.7	7.5	331	12538	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2003	2007	2073	1941	0	0	0	0	0	0	28.83	28.83	28.83
12837	0.79	95.1	3102	2004	2073	1940	732.3	6.7	336	12838	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2004	2006	2073	1940	0	0	0	0	0	0	28.83	28.83	28.83
13137	0.79	95.1	3102	2003	2073	1940	713.9	6.2	341	13141	0.00	2.17	0.00	0.000	260	0.000	0.043	3103	3402	2006	2073	1940	0	0	0	0	0	0	28.83	26.26	28.83
13376	0.79	95.1	3103	3402	2073	1940	697.8	6.8	345	13381	0.00	2.17	0.00	0.000	1030	0.000	0.031	3114	1998	2006	2073	1940	0	0	0	0	0	0	28.83	26.41	28.83
13733	0.79	95.1	3113	1998	2073	1940	674.0	6.7	351	13735	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	1997	2006	2073	1940	0	0	0	0	0	0	28.83	28.83	28.83
14033	0.79	95.1	3113	1997	2073	1939	653.8	6.8	356	14037	0.00	2.20	0.00	0.000	260	0.000	0.043	3113	3400	2006	2073	1940	0	0	0	0	0	0	28.83	26.23	28.83
14142	0.79	95.1	3113	3400	2073	1940	649.7	7.0	357	14150	0.00	2.17	0.00	0.000	1030	0.000	0.032	3124	1995	2006	2073	1940	0	0	0	0	0	0	28.83	26.40	28.83
14450	0.79	95.1	3124	1995	2073	1940	624.5	7.0	363	14451	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	1995	2006	2073	1940	0	0	0	0	0	0	28.83	28.83	28.83
14749	0.79	95.1	3124	1995	2072	1940	602.2	7.5	368	14754	0.00	2.20	0.00	0.000	260	0.000	0.043	3124	3398	2006	2073	1940	0	0	0	0	0	0	28.83	26.21	28.83
14855	0.79	95.1	3124	3398	2073	1940	597.7	7.6	369	14860	0.15	2.12	0.00	0.000	5126	0.142	0.031	3095	1991	2006	2073	1940	0	0	0	0	0	0	26.02	26.39	28.83
15161	0.79	98.4	3095	1991	2072	1939	576.4	5.7	374	15163	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	1991	2006	2073	1940	0	0	0	0	0	0	28.83	28.83	28.83
15461	0.79	98.6	3095	1991	2073	1939	558.9	6.0	379	15467	0.00	2.20	0.00	0.000	260	0.000	0.043	3095	3397	2006	2073	1939	0	0	0	0	0	0	28.83	26.20	28.83
15590	0.79	98.6	3095	3397	2073	1939	550.8	6.5	381	15594	0.00	2.12	0.00	0.000	1030	0.000	0.031	3103	1990	2006	2073	1939	0	0	0	0	0	0	28.83	26.37	28.83
15936	0.79	98.6	3102	1990	2073	1939	528.0	6.3	387	15942	0.00	2.20	0.00	0.000	260	0.000	0.043	3103	3399	2006	2073	1939	0	0	0	0	0	0	28.83	26.19	28.83
16236	0.79	98.6	3102	3399	2073	1939	506.2	7.5	392	16240	0.00	2.12	0.00	0.000	1030	0.000	0.031	3113	1997	2005	2073	1938	0	0	0	0	0	0	28.83	26.36	28.83
16592	0.79	98.6	3113	1997	2073	1939	479.7	7.4	398	16598	0.00	2.20	0.00	0.000	516	0.000	0.044	3124	601	2005	2073	1938	0	0	0	0	0	0	28.83	26.14	28.83
16731	0.79	98.6	3123	602	2073	1938	470.3	7.5	400	16735	0.00	2.12	0.00	0.000	1030	0.000	0.033	3124	2001	2006	2073	1939	0	0	0	0	0	0	28.83	26.29	28.83
17067	0.79	98.6	3123	2001	2073	1939	443.9	7.3	406	17073	0.00	2.22	0.00	0.000	516	0.000	0.044	3135	599	2005	2073	1938	0	0	0	0	0	0	28.83	26.13	28.83
17170	0.79	98.6	3135	599	2073	1938	439.6	7.1	407	17175	0.15	2.15	0.00	0.000	5126	0.130	0.033	3093	2014	2005	2073	1938	0	0	0	0	0	0	26.00	26.29	28.83
17483	0.85	107.5	3093	2014	2073	1938	419.5	5.3	413	17500	0.00	2.22	10.57	0.764	8452	0.000	0.043	3093	3394	1961	2028	1894	0	0	0	0	0	0	28.83	26.11	24.20
17592	0.91	117.9	3093	3394	2027	1894	416.4	5.1	414	17607	0.00	2.12	10.02	0.783	9222	0.000	0.030	3101	1989	1919	1985	1853	0	0	0	0	0	0	28.83	26.25	24.19
17960	0.97	117.9	3100	1989	1983	1851	391.5	6.1	421	17966	0.12	2.17	0.00	0.000	2564	0.079	0.042	3202	609	1916	1983	1850	0	0	0	0	0	0	26.55	26.09	28.83
18037	0.97	117.9	3202	609	1982	1850	386.5	6.6	422	18042	0.17	2.15	0.00	0.000	5126	0.137	0.034	3154	2005	1916	1982	1850	0	0	0	0	0	0	25.86	26.24	28.83
18374	0.97	117.9	3154	2005	1982	1850	355.8	8.7	428	18378	0.00	2.17	0.00	0.000	260	0.000	0.042	3154	3403	1916	1982	1850	0	0	0	0	0	0	28.83	26.17	28.83
18459	0.97	117.9	3154	3403	1982	1851	350.2	9.1	429	18463	0.00	2.12	0.00	0.000	1030	0.000	0.031	3163	2000	1916	1982	1851	0	0	0	0	0	0	28.83	26.34	28.83
18785	0.97	117.9	3163	2000	1981	1850	316.7	9.5	435	18791	0.00	2.20	0.00	0.000	516	0.000	0.043	3173	603	1916	1982	1850	0	0	0	0	0	0	28.83	26.15	28.83
18888	0.97	117.9	3173	603	1981	1850	311.3	9.3	436	18892	0.00	2.12	0.00	0.000	1030	0.000	0.032	3173	2000	1915	1981	1850	0	0	0	0	0	0	28.83	26.29	28.83
19206	0.97	117.9	3173	2000	1982	1850	278.0	9.4	445	19207	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2000	1915	1981	1850	0	0	0	0	0	0	28.83	28.83	28.83
19505	0.97	117.9	3173	2000	1981	1850	251.8	8.9	455	19506	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2000	1916	1981	1851	0	0	0	0	0	0	28.83	28.83	28.83
19806	0.97	117.9	3173	2000	1981	1850	224.3	9.5	465	19812	0.00	2.17	0.00	0.000	260	0.000	0.042	3173	3403	1916	1982	1851	0	0	0	0	0	0	28.83	26.18	28.83
19858	0.97	117.9	3173	3403	1982	1851	221.5	9.5	466	19866	0.12	2.12	0.00	0.000	5126	0.148	0.031	3152	1993	1916	1982	1851	0	0	0	0	0	0	26.03	26.36	28.83
20166	0.97	117.9	3152	1992	1982	1852	194.7	7.6	477	20167	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	1993	1916	1982	1851	0	0	0	0	0	0	28.83	28.83	28.83
20465	0.97	117.9	3151	1993	1982	1852	173.0	7.1	487	20471	0.00	2.20	0.00	0.000	260	0.000	0.042	3152	3397	1916	1982	1851	0	0	0	0	0	0	28.83	26.17	28.83
20528	0.97	117.9	3152	3397	1981	1852	168.1	7.6	489	20532	0.00	2.15	0.00	0.000	1030	0.000	0.030	3160	2000	1917	1982	1852	0	0	0	0	0	0	28.83	26.37	28.83
20848	0.97	117.9	3160	1999	1981	1852	140.4	9.4	501	20849	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2000	1917	1982	1852	0	0	0	0	0	0	28.83	28.83	28.83
21145	0.97	117.9	3159	1999	1982	1852	114.6	8.2	516	21151	0.00	2.17	0.00	0.000	260	0.000	0.041	3160	3395	1917	1981	1853	0	0	0	0	0	0	28.83	26.17	28.83
21239	0.97	117.9	3159	3396	1981	1853	107.6	8.7	520	21246	0.00	2.15	0.00	0.000	1030	0.000	0.030	3170	1996	1917	1981	1853	0	0	0	0	0	0	28.83	26.36	28.83
21546	0.97	117.9	3170	1997	1982	1853	81.2	7.2	536	21547	0.00	0.00	0.00	0.000	6	0.000	0.000	3170	1996	1916	1981	1852	0	0	0	0	0	0	28.83	28.83	28.83
21847	0.97	117.9	3170	1997	1981	1853	58.3	7.4	565	21856	0.00	2.15	0.00	0.000	260	0.000	0.041	3170	3392	1918	1982	1854	0	0	0	0	0	0	28.83	26.17	28.83
22003	0.97	117.9	3170	3392	1982	1854	47.9	6.1	580	22011	0.00	2.12	0.00	0.000	1030	0.000	0.030	3180	2002	1917	1981	1853	0	0	0	0	0	0	28.83	26.37	28.83
22311	0.97	125.6	3180	2002	1982	1854	25.3	5.4	611	22321	0.00	2.28	3.67	0.382	8708	0.000	0.041	3190	604	1886	1952	1820	0	0	0	0	0	0	28.83	26.17	24.37
22618	0.97	173.9	3190	604	1951	1820	17.0	2.0	641	22648	0.15	2.12	21.30	0.091	13318	0.129	0.031	3138	2008	1690	1755	1625	0	0	0	0	0	0	25.96	26.30	25.70
22945	end climb: SURFACE_DEPTH_REACHED
state	22946	begin surface coast
22999	end surface coast: CONTROL_FINISHED_OK
state	22999	begin surface