Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 429 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 429 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 54 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 676.53741 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 1090 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 1 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3258 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 5 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 10 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 300 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 330 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -12015.826 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.050000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2895 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 180 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 990 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 10

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 5

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 1 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 4.3e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 300

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.050000001 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -12015.826

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 T_MISSION 330

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 54 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 429 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1090 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SM_CC 676.53741

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 270914,003502,7219.706,-14238.032,5,0.8,26,23.3 SPEED_LIMITS 0.191,0.270

_CALLS 2 TGT_NAME a

_XMS_NAKs 0 TGT_LATLONG 7130.000,-14800.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 18.10 MHEAD_RNG_PITCHd_Wd 220.8,210409,-19.5,-11.000,-22.14,2450

_SM_ANGLEo -19.3 D_GRID 1000

GPS2 270914,003502,7219.706,-14238.032,5,0.8,26,23.3

Post-dive calculations and measurements:

FREEZE 6.49,-1.375,-1.418,2,2,0 _10V_AH 12.23,0.000

FINISH1 6.5,1.020852,370 FG_AHR_24Vo 0.000

FINISH2 6.7 FG_AHR_10Vo 0.000

RAFOS_CLK 421 MEM 117624

RAFOS_FIX 7436.549805,-14036.406250,140914,040450,2,255,0.60 DATA_FILE_SIZE 40011,1181

IRIDIUM_FIX 7139.36,-14236.67,270914,001909 CAP_FILE_SIZE 179694,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2009366528

HUMID 46.10 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.68976 INTR 1,17502.39,0x21368c,1,24

TCM_TEMP 13.30 SOUNDSPEED 1453.0

XPDR_PINGS 17 GPS 270914,003502,7219.706,-14238.032,5,0.8,26,23.3

SC_FREEKB 3746432 ESCAPE_REASON NO_RECENT_FIX

_24V_AH 12.24,135.920 ESCAPE_STARTED_DIVE 376

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 238 10.52 nil 0 0 0.00

Roll_motor 100 196 241.91 nil 0 0 0.00

VBD_pump_during_apogee 650 2297 18293.45 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 17742 14 3071.54

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 4 420 21.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 14513 2 410.04

TT8_Active 618 9 71.59

TT8_Sampling 2412 28 854.08

TT8_CF8 264 35 115.54

TT8_Kalman 0 0 0.00

Analog_circuits 1634 10 199.86

GPS_charging 0 0 0.00

Compass 1764 0 16.18

RAFOS 1475 48 865.88

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.63 -175.1 2976 2767 1848 1735 0.0 0.0 0 31 0.00 0.00 -11.82 0.000 16386 0.000 0.000 2975 2766 2611 2665 2557 0 0 0 0 0 0 28.83 28.83 28.83

34 -0.63 -175.1 2976 2766 2667 2560 21.6 0.0 1 58 0.85 2.40 -18.17 0.000 20996 0.068 0.079 2675 1364 3964 4019 3909 0 0 0 0 0 0 14.25 14.23 14.54

223 -0.63 -175.1 2675 1364 4021 3913 67.2 -19.5 39 228 0.00 2.53 0.00 0.000 1030 0.000 0.094 2664 2763 3966 4020 3912 0 0 0 0 0 0 28.83 14.19 28.83

533 -0.63 -175.1 2665 2764 4020 3914 129.5 -19.2 71 538 0.00 1.83 0.00 0.000 260 0.000 0.098 2655 3786 3965 4019 3912 0 0 0 0 0 0 28.83 14.24 28.83

593 -0.63 -175.1 2656 3786 4020 3913 141.6 -20.3 83 598 0.10 1.73 0.00 0.000 3078 0.228 0.050 2690 2753 3966 4019 3913 0 0 0 0 0 0 14.03 14.39 28.83

903 -0.63 -175.1 2690 2752 4021 3913 187.7 -14.6 115 904 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2751 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

1203 -0.63 -175.1 2690 2751 4021 3913 227.6 -12.1 145 1208 0.00 2.33 0.00 0.000 516 0.000 0.064 2690 1375 3967 4019 3915 0 0 0 0 0 0 28.83 14.33 28.83

1263 -0.63 -175.1 2690 1375 4021 3913 234.4 -11.2 157 1268 0.00 2.47 0.00 0.000 1030 0.000 0.096 2688 2756 3966 4019 3913 0 0 0 0 0 0 28.83 14.28 28.83

1583 -0.63 -175.1 2689 2757 4020 3914 270.7 -11.1 178 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2756 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

1883 -0.63 -175.1 2689 2757 4020 3914 303.3 -10.7 188 1888 0.00 2.35 0.00 0.000 516 0.000 0.063 2688 1366 3966 4019 3913 0 0 0 0 0 0 28.83 14.35 28.83

1918 -0.63 -175.1 2689 1366 4021 3914 307.0 -10.7 195 1923 0.00 2.50 0.00 0.000 1030 0.000 0.094 2681 2756 3966 4019 3913 0 0 0 0 0 0 28.83 14.21 28.83

2245 -0.63 -175.1 2682 2757 4020 3914 342.2 -10.8 210 2250 0.00 2.33 0.00 0.000 516 0.000 0.063 2681 1375 3964 4019 3910 0 0 0 0 0 0 28.83 14.35 28.83

2280 -0.63 -175.1 2681 1375 4020 3913 346.0 -10.2 217 2285 0.00 2.47 0.00 0.000 1030 0.000 0.095 2676 2755 3966 4019 3913 0 0 0 0 0 0 28.83 14.29 28.83

2607 -0.63 -175.1 2677 2755 4021 3913 380.8 -10.7 232 2608 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2755 3965 4019 3912 0 0 0 0 0 0 28.83 28.83 28.83

2906 -0.63 -175.1 2677 2756 4021 3913 412.6 -10.6 242 2906 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2755 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

3206 -0.63 -175.1 2677 2753 4020 3913 444.5 -10.5 252 3210 0.00 2.33 0.00 0.000 516 0.000 0.063 2676 1375 3966 4019 3913 0 0 0 0 0 0 28.83 14.35 28.83

3266 -0.63 -175.1 2678 1373 4015 3913 450.9 -9.9 264 3270 0.00 2.47 0.00 0.000 1030 0.000 0.095 2676 2759 3965 4019 3912 0 0 0 0 0 0 28.83 14.29 28.83

3597 -0.63 -175.1 2677 2759 4020 3913 485.6 -10.3 280 3598 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2758 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

3896 -0.63 -175.1 2676 2759 4021 3913 515.7 -10.1 290 3896 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2759 3965 4019 3912 0 0 0 0 0 0 28.83 28.83 28.83

4196 -0.63 -175.1 2677 2759 4021 3913 546.0 -10.0 300 4201 0.00 2.33 0.00 0.000 516 0.000 0.061 2676 1373 3966 4019 3913 0 0 0 0 0 0 28.83 14.37 28.83

4226 -0.63 -175.1 2677 1374 4020 3916 549.0 -10.2 306 4231 0.00 2.45 0.00 0.000 1030 0.000 0.095 2676 2749 3966 4019 3913 0 0 0 0 0 0 28.83 14.29 28.83

4558 -0.63 -175.1 2677 2751 4020 3914 581.9 -9.9 322 4558 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

4856 -0.63 -175.1 2677 2751 4021 3914 611.4 -9.6 332 4857 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

5156 -0.63 -175.1 2677 2751 4021 3913 641.3 -10.1 342 5157 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

5456 -0.63 -175.1 2677 2750 4021 3913 670.7 -9.8 352 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

5756 -0.63 -175.1 2677 2751 4020 3914 700.0 -9.7 362 5757 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

6056 -0.63 -175.1 2677 2750 4021 3913 729.5 -9.9 372 6057 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

6356 -0.63 -175.1 2677 2751 4021 3913 759.0 -9.8 382 6357 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3914 0 0 0 0 0 0 28.83 28.83 28.83

6656 -0.63 -175.1 2677 2751 4021 3914 788.3 -9.6 392 6657 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

6956 -0.63 -175.1 2677 2750 4021 3912 816.8 -9.5 402 6957 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

7256 -0.63 -175.1 2677 2750 4020 3915 845.7 -9.6 412 7257 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2750 3966 4019 3914 0 0 0 0 0 0 28.83 28.83 28.83

7556 -0.63 -175.1 2677 2750 4020 3914 874.7 -9.6 422 7557 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2750 3966 4019 3914 0 0 0 0 0 0 28.83 28.83 28.83

7856 -0.63 -175.1 2677 2750 4021 3914 902.8 -9.3 432 7861 0.00 2.33 0.00 0.000 516 0.000 0.061 2676 1373 3966 4019 3914 0 0 0 0 0 0 28.83 14.34 28.83

7891 -0.63 -175.1 2677 1374 4020 3914 905.8 -8.8 439 7896 0.00 2.47 0.00 0.000 1030 0.000 0.096 2676 2752 3966 4019 3914 0 0 0 0 0 0 28.83 14.26 28.83

8218 -0.63 -175.1 2677 2756 4021 3914 934.9 -8.8 454 8219 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2755 3966 4019 3913 0 0 0 0 0 0 28.83 28.83 28.83

8516 -0.63 -175.1 2677 2756 4020 3915 961.5 -9.0 464 8517 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2755 3964 4015 3914 0 0 0 0 0 0 28.83 28.83 28.83

8816 -0.63 -175.1 2677 2754 4021 3914 988.3 -8.8 474 8817 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2755 3966 4019 3914 0 0 0 0 0 0 28.83 28.83 28.83

8844 end dive: TARGET_DEPTH_EXCEEDED

state 8844 begin apogee

8849 -0.13 0.0 2677 2755 4020 3913 991.1 -8.9 475 9011 0.65 0.00 158.75 2.297 10244 0.202 0.000 2848 2756 3256 3278 3234 0 0 0 0 0 0 14.04 28.83 12.55

9012 end apogee: CONTROL_FINISHED_OK

state 9012 begin climb

9014 0.63 175.1 2849 2755 3274 3231 996.1 0.0 480 9186 0.77 2.58 160.55 2.168 10756 0.097 0.060 3087 1348 2542 2558 2526 0 0 0 0 0 0 13.41 13.43 12.24

9413 0.63 175.1 3088 1349 2559 2522 964.1 11.4 563 9418 0.00 2.60 0.00 0.000 1030 0.000 0.090 3086 2749 2539 2558 2521 0 0 0 0 0 0 28.83 13.76 28.83

9716 0.63 175.1 3087 2749 2559 2520 925.7 12.7 574 9721 0.00 1.85 0.00 0.000 260 0.000 0.096 3086 3789 2539 2558 2520 0 0 0 0 0 0 28.83 14.12 28.83

9946 0.63 175.1 3087 3789 2559 2520 891.5 15.2 620 9951 0.00 1.75 0.00 0.000 1030 0.000 0.049 3093 2741 2538 2557 2520 0 0 0 0 0 0 28.83 14.27 28.83

10256 0.63 175.1 3093 2740 2559 2519 850.8 13.0 632 10261 0.00 1.85 0.00 0.000 260 0.000 0.096 3094 3787 2538 2558 2519 0 0 0 0 0 0 28.83 14.22 28.83

10378 0.63 175.1 3095 3789 2558 2521 832.7 15.7 656 10383 0.00 1.70 0.00 0.000 1030 0.000 0.049 3101 2737 2538 2557 2519 0 0 0 0 0 0 28.83 14.35 28.83

10708 0.63 175.1 3102 2737 2559 2519 788.4 13.2 672 10708 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2736 2538 2557 2519 0 0 0 0 0 0 28.83 28.83 28.83

11008 0.63 175.1 3102 2738 2558 2521 749.4 12.9 682 11012 0.00 2.33 0.00 0.000 516 0.000 0.064 3111 1357 2538 2558 2519 0 0 0 0 0 0 28.83 14.40 28.83

11038 0.63 175.1 3113 1358 2558 2520 745.7 12.2 688 11042 0.00 2.45 0.00 0.000 1030 0.000 0.090 3112 2745 2538 2557 2519 0 0 0 0 0 0 28.83 14.35 28.83

11369 0.63 175.1 3113 2747 2558 2520 702.1 13.1 704 11370 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2745 2538 2557 2519 0 0 0 0 0 0 28.83 28.83 28.83

11668 0.63 175.1 3113 2746 2559 2519 662.6 13.2 714 11668 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2746 2536 2553 2519 0 0 0 0 0 0 28.83 28.83 28.83

11968 0.63 175.1 3113 2747 2558 2520 623.2 13.1 724 11969 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2746 2538 2558 2518 0 0 0 0 0 0 28.83 28.83 28.83

12268 0.63 175.1 3113 2747 2558 2519 583.9 13.0 734 12272 0.00 2.35 0.00 0.000 516 0.000 0.063 3120 1347 2538 2557 2519 0 0 0 0 0 0 28.83 14.39 28.83

12307 0.63 175.1 3121 1347 2559 2519 578.8 12.5 742 12313 0.00 2.47 0.00 0.000 1030 0.000 0.088 3120 2742 2537 2557 2517 0 0 0 0 0 0 28.83 14.34 28.83

12630 0.63 175.1 3122 2742 2559 2519 536.0 13.5 756 12630 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2742 2538 2558 2519 0 0 0 0 0 0 28.83 28.83 28.83

12928 0.63 175.1 3121 2742 2559 2519 495.8 13.4 766 12929 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2742 2537 2557 2518 0 0 0 0 0 0 28.83 28.83 28.83

13228 0.63 175.1 3121 2743 2558 2519 456.6 12.9 776 13229 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2742 2538 2557 2519 0 0 0 0 0 0 28.83 28.83 28.83

13528 0.63 175.1 3121 2742 2559 2518 418.6 12.6 786 13532 0.00 2.35 0.00 0.000 516 0.000 0.062 3129 1348 2538 2557 2519 0 0 0 0 0 0 28.83 14.37 28.83

13558 0.63 175.1 3130 1349 2558 2519 415.0 12.0 792 13562 0.00 2.45 0.00 0.000 1030 0.000 0.087 3129 2741 2537 2557 2518 0 0 0 0 0 0 28.83 14.33 28.83

13890 0.63 175.1 3130 2742 2558 2519 372.0 13.0 808 13890 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2739 2538 2558 2519 0 0 0 0 0 0 28.83 28.83 28.83

14188 0.63 175.1 3130 2742 2558 2520 333.1 12.8 818 14192 0.00 2.35 0.00 0.000 516 0.000 0.060 3138 1352 2537 2557 2518 0 0 0 0 0 0 28.83 14.35 28.83

14203 0.63 175.1 3139 1354 2559 2518 331.1 12.9 821 14208 0.15 2.45 0.00 0.000 5126 0.239 0.087 3104 2743 2538 2558 2518 0 0 0 0 0 0 14.07 14.31 28.83

14520 0.63 175.1 3106 2744 2558 2520 295.0 11.4 834 14525 0.00 2.33 0.00 0.000 516 0.000 0.062 3112 1358 2538 2558 2518 0 0 0 0 0 0 28.83 14.28 28.83

14555 0.65 195.9 3113 1358 2559 2519 291.2 10.1 841 14581 0.00 2.42 18.60 1.370 9222 0.000 0.087 3112 2739 2453 2465 2442 0 0 0 0 0 0 28.83 14.31 13.76

14880 0.65 195.9 3113 2740 2466 2440 254.1 11.1 856 14881 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2739 2452 2465 2439 0 0 0 0 0 0 28.83 28.83 28.83

15180 0.67 228.8 3113 2740 2466 2440 222.7 9.6 882 15216 0.00 2.40 27.85 1.295 8708 0.000 0.063 3121 1354 2320 2324 2317 0 0 0 0 0 0 28.83 14.40 13.70

15258 0.70 264.5 3122 1354 2325 2314 215.4 9.5 896 15293 0.00 2.45 30.73 1.280 9222 0.000 0.087 3121 2730 2178 2180 2176 0 0 0 0 0 0 28.83 14.21 13.57

15591 0.71 284.3 3122 2730 2179 2164 180.3 10.2 933 15612 0.00 2.42 16.95 1.261 8708 0.000 0.063 3125 1350 2094 2101 2088 0 0 0 0 0 0 28.83 14.36 13.64

15648 0.73 308.4 3126 1348 2101 2086 174.4 10.0 944 15674 0.00 2.47 21.38 1.231 9222 0.000 0.088 3125 2736 1996 2004 1989 0 0 0 0 0 0 28.83 14.21 13.59

15973 0.76 349.1 3126 2737 2004 1979 142.7 9.3 979 16013 0.00 0.00 35.62 1.194 8198 0.000 0.000 3125 2736 1827 1833 1822 0 0 0 0 0 0 28.83 28.83 13.60

16315 0.79 393.4 3126 2736 1833 1812 110.7 9.1 1013 16354 0.00 2.45 34.88 1.165 8708 0.000 0.066 3125 1354 1648 1662 1635 0 0 0 0 0 0 28.83 14.22 13.62

16405 0.82 434.8 3126 1354 1660 1629 102.4 9.3 1031 16446 0.00 2.45 33.53 1.153 9222 0.000 0.089 3126 2723 1478 1499 1458 0 0 0 0 0 0 28.83 14.12 13.52

16745 0.86 497.7 3127 2724 1494 1441 72.2 8.4 1069 16780 0.12 2.40 27.90 0.404 10756 0.131 0.065 3191 1357 1230 1252 1208 0 0 0 0 0 0 14.23 14.18 13.85

16802 0.86 503.8 3190 1357 1254 1208 66.4 10.7 1080 16813 0.00 2.45 3.42 0.370 9222 0.000 0.087 3191 2727 1203 1225 1181 0 0 0 0 0 0 28.83 14.15 13.78

17120 0.91 571.1 3192 2726 1229 1180 36.9 8.2 1113 17153 0.00 0.00 31.42 0.295 8198 0.000 0.000 3191 2727 927 936 919 0 0 0 0 0 0 28.83 28.83 13.95

17450 1.03 734.1 3192 2727 935 914 17.4 4.2 1146 17504 0.10 2.35 49.00 0.248 10756 0.158 0.063 3233 1357 499 445 554 0 0 0 0 0 0 14.22 14.20 13.96

17565 1.11 849.3 3234 1358 444 555 10.8 6.2 1169 17571 0.00 2.42 0.00 0.000 1030 0.000 0.089 3233 2708 498 443 553 0 0 0 0 0 0 28.83 14.13 28.83

17638 end climb: FINISH_DEPTH_REACHED

state 17640 begin subsurface finish

17646 0.26 369.7 3234 2753 440 552 6.5 5.9 1177 17682 0.85 0.00 -33.22 0.000 20486 0.148 0.000 2983 2753 1752 1814 1690 0 0 0 0 0 0 14.04 28.83 14.45

17682 end subsurface finish: CONTROL_FINISHED_OK

state 17682 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	429	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	54	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	676.53741	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	1090	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	1	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3258	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	5	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	10	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	300	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	330	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-12015.826	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.050000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2895	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	180	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	270914,003502,7219.706,-14238.032,5,0.8,26,23.3	SPEED_LIMITS	0.191,0.270
_CALLS	2	TGT_NAME	a
_XMS_NAKs	0	TGT_LATLONG	7130.000,-14800.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	18.10	MHEAD_RNG_PITCHd_Wd	220.8,210409,-19.5,-11.000,-22.14,2450
_SM_ANGLEo	-19.3	D_GRID	1000
GPS2	270914,003502,7219.706,-14238.032,5,0.8,26,23.3

FREEZE	6.49,-1.375,-1.418,2,2,0	_10V_AH	12.23,0.000
FINISH1	6.5,1.020852,370	FG_AHR_24Vo	0.000
FINISH2	6.7	FG_AHR_10Vo	0.000
RAFOS_CLK	421	MEM	117624
RAFOS_FIX	7436.549805,-14036.406250,140914,040450,2,255,0.60	DATA_FILE_SIZE	40011,1181
IRIDIUM_FIX	7139.36,-14236.67,270914,001909	CAP_FILE_SIZE	179694,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2009366528
HUMID	46.10	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.68976	INTR	1,17502.39,0x21368c,1,24
TCM_TEMP	13.30	SOUNDSPEED	1453.0
XPDR_PINGS	17	GPS	270914,003502,7219.706,-14238.032,5,0.8,26,23.3
SC_FREEKB	3746432	ESCAPE_REASON	NO_RECENT_FIX
_24V_AH	12.24,135.920	ESCAPE_STARTED_DIVE	376

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	238	10.52	nil	0	0	0.00
Roll_motor	100	196	241.91	nil	0	0	0.00
VBD_pump_during_apogee	650	2297	18293.45	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	17742	14	3071.54
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	4	420	21.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	14513	2	410.04
TT8_Active	618	9	71.59
TT8_Sampling	2412	28	854.08
TT8_CF8	264	35	115.54
TT8_Kalman	0	0	0.00
Analog_circuits	1634	10	199.86
GPS_charging	0	0	0.00
Compass	1764	0	16.18
RAFOS	1475	48	865.88
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.63	-175.1	2976	2767	1848	1735	0.0	0.0	0	31	0.00	0.00	-11.82	0.000	16386	0.000	0.000	2975	2766	2611	2665	2557	0	0	0	0	0	0	28.83	28.83	28.83
34	-0.63	-175.1	2976	2766	2667	2560	21.6	0.0	1	58	0.85	2.40	-18.17	0.000	20996	0.068	0.079	2675	1364	3964	4019	3909	0	0	0	0	0	0	14.25	14.23	14.54
223	-0.63	-175.1	2675	1364	4021	3913	67.2	-19.5	39	228	0.00	2.53	0.00	0.000	1030	0.000	0.094	2664	2763	3966	4020	3912	0	0	0	0	0	0	28.83	14.19	28.83
533	-0.63	-175.1	2665	2764	4020	3914	129.5	-19.2	71	538	0.00	1.83	0.00	0.000	260	0.000	0.098	2655	3786	3965	4019	3912	0	0	0	0	0	0	28.83	14.24	28.83
593	-0.63	-175.1	2656	3786	4020	3913	141.6	-20.3	83	598	0.10	1.73	0.00	0.000	3078	0.228	0.050	2690	2753	3966	4019	3913	0	0	0	0	0	0	14.03	14.39	28.83
903	-0.63	-175.1	2690	2752	4021	3913	187.7	-14.6	115	904	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2751	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
1203	-0.63	-175.1	2690	2751	4021	3913	227.6	-12.1	145	1208	0.00	2.33	0.00	0.000	516	0.000	0.064	2690	1375	3967	4019	3915	0	0	0	0	0	0	28.83	14.33	28.83
1263	-0.63	-175.1	2690	1375	4021	3913	234.4	-11.2	157	1268	0.00	2.47	0.00	0.000	1030	0.000	0.096	2688	2756	3966	4019	3913	0	0	0	0	0	0	28.83	14.28	28.83
1583	-0.63	-175.1	2689	2757	4020	3914	270.7	-11.1	178	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2756	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
1883	-0.63	-175.1	2689	2757	4020	3914	303.3	-10.7	188	1888	0.00	2.35	0.00	0.000	516	0.000	0.063	2688	1366	3966	4019	3913	0	0	0	0	0	0	28.83	14.35	28.83
1918	-0.63	-175.1	2689	1366	4021	3914	307.0	-10.7	195	1923	0.00	2.50	0.00	0.000	1030	0.000	0.094	2681	2756	3966	4019	3913	0	0	0	0	0	0	28.83	14.21	28.83
2245	-0.63	-175.1	2682	2757	4020	3914	342.2	-10.8	210	2250	0.00	2.33	0.00	0.000	516	0.000	0.063	2681	1375	3964	4019	3910	0	0	0	0	0	0	28.83	14.35	28.83
2280	-0.63	-175.1	2681	1375	4020	3913	346.0	-10.2	217	2285	0.00	2.47	0.00	0.000	1030	0.000	0.095	2676	2755	3966	4019	3913	0	0	0	0	0	0	28.83	14.29	28.83
2607	-0.63	-175.1	2677	2755	4021	3913	380.8	-10.7	232	2608	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2755	3965	4019	3912	0	0	0	0	0	0	28.83	28.83	28.83
2906	-0.63	-175.1	2677	2756	4021	3913	412.6	-10.6	242	2906	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2755	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
3206	-0.63	-175.1	2677	2753	4020	3913	444.5	-10.5	252	3210	0.00	2.33	0.00	0.000	516	0.000	0.063	2676	1375	3966	4019	3913	0	0	0	0	0	0	28.83	14.35	28.83
3266	-0.63	-175.1	2678	1373	4015	3913	450.9	-9.9	264	3270	0.00	2.47	0.00	0.000	1030	0.000	0.095	2676	2759	3965	4019	3912	0	0	0	0	0	0	28.83	14.29	28.83
3597	-0.63	-175.1	2677	2759	4020	3913	485.6	-10.3	280	3598	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2758	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
3896	-0.63	-175.1	2676	2759	4021	3913	515.7	-10.1	290	3896	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2759	3965	4019	3912	0	0	0	0	0	0	28.83	28.83	28.83
4196	-0.63	-175.1	2677	2759	4021	3913	546.0	-10.0	300	4201	0.00	2.33	0.00	0.000	516	0.000	0.061	2676	1373	3966	4019	3913	0	0	0	0	0	0	28.83	14.37	28.83
4226	-0.63	-175.1	2677	1374	4020	3916	549.0	-10.2	306	4231	0.00	2.45	0.00	0.000	1030	0.000	0.095	2676	2749	3966	4019	3913	0	0	0	0	0	0	28.83	14.29	28.83
4558	-0.63	-175.1	2677	2751	4020	3914	581.9	-9.9	322	4558	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
4856	-0.63	-175.1	2677	2751	4021	3914	611.4	-9.6	332	4857	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
5156	-0.63	-175.1	2677	2751	4021	3913	641.3	-10.1	342	5157	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
5456	-0.63	-175.1	2677	2750	4021	3913	670.7	-9.8	352	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
5756	-0.63	-175.1	2677	2751	4020	3914	700.0	-9.7	362	5757	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
6056	-0.63	-175.1	2677	2750	4021	3913	729.5	-9.9	372	6057	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
6356	-0.63	-175.1	2677	2751	4021	3913	759.0	-9.8	382	6357	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3914	0	0	0	0	0	0	28.83	28.83	28.83
6656	-0.63	-175.1	2677	2751	4021	3914	788.3	-9.6	392	6657	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
6956	-0.63	-175.1	2677	2750	4021	3912	816.8	-9.5	402	6957	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
7256	-0.63	-175.1	2677	2750	4020	3915	845.7	-9.6	412	7257	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2750	3966	4019	3914	0	0	0	0	0	0	28.83	28.83	28.83
7556	-0.63	-175.1	2677	2750	4020	3914	874.7	-9.6	422	7557	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2750	3966	4019	3914	0	0	0	0	0	0	28.83	28.83	28.83
7856	-0.63	-175.1	2677	2750	4021	3914	902.8	-9.3	432	7861	0.00	2.33	0.00	0.000	516	0.000	0.061	2676	1373	3966	4019	3914	0	0	0	0	0	0	28.83	14.34	28.83
7891	-0.63	-175.1	2677	1374	4020	3914	905.8	-8.8	439	7896	0.00	2.47	0.00	0.000	1030	0.000	0.096	2676	2752	3966	4019	3914	0	0	0	0	0	0	28.83	14.26	28.83
8218	-0.63	-175.1	2677	2756	4021	3914	934.9	-8.8	454	8219	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2755	3966	4019	3913	0	0	0	0	0	0	28.83	28.83	28.83
8516	-0.63	-175.1	2677	2756	4020	3915	961.5	-9.0	464	8517	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2755	3964	4015	3914	0	0	0	0	0	0	28.83	28.83	28.83
8816	-0.63	-175.1	2677	2754	4021	3914	988.3	-8.8	474	8817	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2755	3966	4019	3914	0	0	0	0	0	0	28.83	28.83	28.83
8844	end dive: TARGET_DEPTH_EXCEEDED
state	8844	begin apogee
8849	-0.13	0.0	2677	2755	4020	3913	991.1	-8.9	475	9011	0.65	0.00	158.75	2.297	10244	0.202	0.000	2848	2756	3256	3278	3234	0	0	0	0	0	0	14.04	28.83	12.55
9012	end apogee: CONTROL_FINISHED_OK
state	9012	begin climb
9014	0.63	175.1	2849	2755	3274	3231	996.1	0.0	480	9186	0.77	2.58	160.55	2.168	10756	0.097	0.060	3087	1348	2542	2558	2526	0	0	0	0	0	0	13.41	13.43	12.24
9413	0.63	175.1	3088	1349	2559	2522	964.1	11.4	563	9418	0.00	2.60	0.00	0.000	1030	0.000	0.090	3086	2749	2539	2558	2521	0	0	0	0	0	0	28.83	13.76	28.83
9716	0.63	175.1	3087	2749	2559	2520	925.7	12.7	574	9721	0.00	1.85	0.00	0.000	260	0.000	0.096	3086	3789	2539	2558	2520	0	0	0	0	0	0	28.83	14.12	28.83
9946	0.63	175.1	3087	3789	2559	2520	891.5	15.2	620	9951	0.00	1.75	0.00	0.000	1030	0.000	0.049	3093	2741	2538	2557	2520	0	0	0	0	0	0	28.83	14.27	28.83
10256	0.63	175.1	3093	2740	2559	2519	850.8	13.0	632	10261	0.00	1.85	0.00	0.000	260	0.000	0.096	3094	3787	2538	2558	2519	0	0	0	0	0	0	28.83	14.22	28.83
10378	0.63	175.1	3095	3789	2558	2521	832.7	15.7	656	10383	0.00	1.70	0.00	0.000	1030	0.000	0.049	3101	2737	2538	2557	2519	0	0	0	0	0	0	28.83	14.35	28.83
10708	0.63	175.1	3102	2737	2559	2519	788.4	13.2	672	10708	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2736	2538	2557	2519	0	0	0	0	0	0	28.83	28.83	28.83
11008	0.63	175.1	3102	2738	2558	2521	749.4	12.9	682	11012	0.00	2.33	0.00	0.000	516	0.000	0.064	3111	1357	2538	2558	2519	0	0	0	0	0	0	28.83	14.40	28.83
11038	0.63	175.1	3113	1358	2558	2520	745.7	12.2	688	11042	0.00	2.45	0.00	0.000	1030	0.000	0.090	3112	2745	2538	2557	2519	0	0	0	0	0	0	28.83	14.35	28.83
11369	0.63	175.1	3113	2747	2558	2520	702.1	13.1	704	11370	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2745	2538	2557	2519	0	0	0	0	0	0	28.83	28.83	28.83
11668	0.63	175.1	3113	2746	2559	2519	662.6	13.2	714	11668	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2746	2536	2553	2519	0	0	0	0	0	0	28.83	28.83	28.83
11968	0.63	175.1	3113	2747	2558	2520	623.2	13.1	724	11969	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2746	2538	2558	2518	0	0	0	0	0	0	28.83	28.83	28.83
12268	0.63	175.1	3113	2747	2558	2519	583.9	13.0	734	12272	0.00	2.35	0.00	0.000	516	0.000	0.063	3120	1347	2538	2557	2519	0	0	0	0	0	0	28.83	14.39	28.83
12307	0.63	175.1	3121	1347	2559	2519	578.8	12.5	742	12313	0.00	2.47	0.00	0.000	1030	0.000	0.088	3120	2742	2537	2557	2517	0	0	0	0	0	0	28.83	14.34	28.83
12630	0.63	175.1	3122	2742	2559	2519	536.0	13.5	756	12630	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2742	2538	2558	2519	0	0	0	0	0	0	28.83	28.83	28.83
12928	0.63	175.1	3121	2742	2559	2519	495.8	13.4	766	12929	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2742	2537	2557	2518	0	0	0	0	0	0	28.83	28.83	28.83
13228	0.63	175.1	3121	2743	2558	2519	456.6	12.9	776	13229	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2742	2538	2557	2519	0	0	0	0	0	0	28.83	28.83	28.83
13528	0.63	175.1	3121	2742	2559	2518	418.6	12.6	786	13532	0.00	2.35	0.00	0.000	516	0.000	0.062	3129	1348	2538	2557	2519	0	0	0	0	0	0	28.83	14.37	28.83
13558	0.63	175.1	3130	1349	2558	2519	415.0	12.0	792	13562	0.00	2.45	0.00	0.000	1030	0.000	0.087	3129	2741	2537	2557	2518	0	0	0	0	0	0	28.83	14.33	28.83
13890	0.63	175.1	3130	2742	2558	2519	372.0	13.0	808	13890	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2739	2538	2558	2519	0	0	0	0	0	0	28.83	28.83	28.83
14188	0.63	175.1	3130	2742	2558	2520	333.1	12.8	818	14192	0.00	2.35	0.00	0.000	516	0.000	0.060	3138	1352	2537	2557	2518	0	0	0	0	0	0	28.83	14.35	28.83
14203	0.63	175.1	3139	1354	2559	2518	331.1	12.9	821	14208	0.15	2.45	0.00	0.000	5126	0.239	0.087	3104	2743	2538	2558	2518	0	0	0	0	0	0	14.07	14.31	28.83
14520	0.63	175.1	3106	2744	2558	2520	295.0	11.4	834	14525	0.00	2.33	0.00	0.000	516	0.000	0.062	3112	1358	2538	2558	2518	0	0	0	0	0	0	28.83	14.28	28.83
14555	0.65	195.9	3113	1358	2559	2519	291.2	10.1	841	14581	0.00	2.42	18.60	1.370	9222	0.000	0.087	3112	2739	2453	2465	2442	0	0	0	0	0	0	28.83	14.31	13.76
14880	0.65	195.9	3113	2740	2466	2440	254.1	11.1	856	14881	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2739	2452	2465	2439	0	0	0	0	0	0	28.83	28.83	28.83
15180	0.67	228.8	3113	2740	2466	2440	222.7	9.6	882	15216	0.00	2.40	27.85	1.295	8708	0.000	0.063	3121	1354	2320	2324	2317	0	0	0	0	0	0	28.83	14.40	13.70
15258	0.70	264.5	3122	1354	2325	2314	215.4	9.5	896	15293	0.00	2.45	30.73	1.280	9222	0.000	0.087	3121	2730	2178	2180	2176	0	0	0	0	0	0	28.83	14.21	13.57
15591	0.71	284.3	3122	2730	2179	2164	180.3	10.2	933	15612	0.00	2.42	16.95	1.261	8708	0.000	0.063	3125	1350	2094	2101	2088	0	0	0	0	0	0	28.83	14.36	13.64
15648	0.73	308.4	3126	1348	2101	2086	174.4	10.0	944	15674	0.00	2.47	21.38	1.231	9222	0.000	0.088	3125	2736	1996	2004	1989	0	0	0	0	0	0	28.83	14.21	13.59
15973	0.76	349.1	3126	2737	2004	1979	142.7	9.3	979	16013	0.00	0.00	35.62	1.194	8198	0.000	0.000	3125	2736	1827	1833	1822	0	0	0	0	0	0	28.83	28.83	13.60
16315	0.79	393.4	3126	2736	1833	1812	110.7	9.1	1013	16354	0.00	2.45	34.88	1.165	8708	0.000	0.066	3125	1354	1648	1662	1635	0	0	0	0	0	0	28.83	14.22	13.62
16405	0.82	434.8	3126	1354	1660	1629	102.4	9.3	1031	16446	0.00	2.45	33.53	1.153	9222	0.000	0.089	3126	2723	1478	1499	1458	0	0	0	0	0	0	28.83	14.12	13.52
16745	0.86	497.7	3127	2724	1494	1441	72.2	8.4	1069	16780	0.12	2.40	27.90	0.404	10756	0.131	0.065	3191	1357	1230	1252	1208	0	0	0	0	0	0	14.23	14.18	13.85
16802	0.86	503.8	3190	1357	1254	1208	66.4	10.7	1080	16813	0.00	2.45	3.42	0.370	9222	0.000	0.087	3191	2727	1203	1225	1181	0	0	0	0	0	0	28.83	14.15	13.78
17120	0.91	571.1	3192	2726	1229	1180	36.9	8.2	1113	17153	0.00	0.00	31.42	0.295	8198	0.000	0.000	3191	2727	927	936	919	0	0	0	0	0	0	28.83	28.83	13.95
17450	1.03	734.1	3192	2727	935	914	17.4	4.2	1146	17504	0.10	2.35	49.00	0.248	10756	0.158	0.063	3233	1357	499	445	554	0	0	0	0	0	0	14.22	14.20	13.96
17565	1.11	849.3	3234	1358	444	555	10.8	6.2	1169	17571	0.00	2.42	0.00	0.000	1030	0.000	0.089	3233	2708	498	443	553	0	0	0	0	0	0	28.83	14.13	28.83
17638	end climb: FINISH_DEPTH_REACHED
state	17640	begin subsurface finish
17646	0.26	369.7	3234	2753	440	552	6.5	5.9	1177	17682	0.85	0.00	-33.22	0.000	20486	0.148	0.000	2983	2753	1752	1814	1690	0	0	0	0	0	0	14.04	28.83	14.45
17682	end subsurface finish: CONTROL_FINISHED_OK
state	17682	begin surface