Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 53 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 53 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 700

D_SURF 2 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 47 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 31 XPDR_VALID 3

D_BOOST 10 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 -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 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 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 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 -4530.353 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 0 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 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2545 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 13 PITCH_ADJ_GAIN 0.039999999 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 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 0.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.039999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 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 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 700 FERRY_MAX 45 PITCH_MAX 3915 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 207 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 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4530.353

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 195 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 -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2545 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 47 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 31 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 53 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-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 021113,004234,4808.910,-12549.217,32,0.8,32,17.0 TGT_NAME SEARCH_B

_CALLS 1 TGT_LATLONG 4815.000,-12600.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.200,0.163

_SM_DEPTHo 1.18 KALMAN_X 1885.7,0.0,0.0,-63181.6,1540.0

_SM_ANGLEo -58.1 KALMAN_Y -24031.5,0.0,0.0,123995.6,-1217.4

GPS2 021113,004909,4808.941,-12549.224,5,0.9,5,17.0 MHEAD_RNG_PITCHd_Wd 292.2,17393,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.020558 _24V_AH 23.8,7.124

SM_CCo 14322,0.00,0.000,0,0,1409,346.12 _10V_AH 10.2,5.861

SM_GC 0.92,7.18,0.00,0.00,0.033,0.000,0.000,180,2027,1409,-7.26,0.06,346.12,0,0,0,0,0,0,26.32,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12548.37,011113,191930 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 314240

HUMID 44.68 DATA_FILE_SIZE 33858,433

INTERNAL_PRESSURE 8.88834 CAP_FILE_SIZE 125673,0

TCM_TEMP 12.50 CFSIZE 2097872896,2089091072

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

ALTIM_BOTTOM_PING 785.1,27.1 GPS 021113,044929,4810.549,-12551.945,38,1.3,38,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 203 94.44 SBE_CT 296 22 158.54

Roll_motor 112 55 147.61 AA4330 573 11 153.23

VBD_pump_during_apogee 384 1044 9547.73 WL_BB2FLVMT 298 105 745.87

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 nil 0 0 0.00

Iridium_during_xfer 329 76 599.97 nil 0 0 0.00

Transponder_ping 2 420 24.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.04

TT8 1344 15 208.58

LPSleep 11110 2 248.19

TT8_Active 447 15 69.41

TT8_Sampling 1749 43 779.15

TT8_CF8 73 53 39.94

TT8_Kalman 0 69 0.27

Analog_circuits 1570 14 224.22

GPS_charging 0 0 0.00

Compass 1393 8 117.13

RAFOS 0 0 0.00

Transponder 20 30 6.13

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 -0.79 -146.6 182 2057 1571 1314 0.0 0.0 0 80 0.00 0.00 -62.00 0.000 16386 0.000 0.000 182 2057 3009 3016 3003 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.79 -146.6 181 2057 3017 3004 3.2 -4.5 6 111 7.68 2.28 -10.07 0.000 18948 0.203 0.055 2286 637 3422 3430 3414 0 0 0 0 0 0 25.84 26.11 26.44

335 -0.59 -146.6 2285 637 3432 3415 49.0 -15.7 31 345 0.25 2.12 0.00 0.000 3078 0.133 0.035 2350 2034 3423 3432 3415 0 0 0 0 0 0 26.07 26.24 28.83

645 -0.63 -146.6 2349 2034 3435 3415 84.1 -10.0 60 650 0.00 2.17 0.00 0.000 260 0.000 0.045 2342 3431 3425 3435 3416 0 0 0 0 0 0 28.83 26.29 28.83

707 -0.67 -146.6 2342 3431 3436 3415 90.3 -10.2 63 711 0.00 2.15 0.00 0.000 1030 0.000 0.028 2342 2017 3425 3435 3415 0 0 0 0 0 0 28.83 26.36 28.83

1026 -0.75 -146.6 2342 2017 3437 3415 123.1 -11.1 79 1032 0.12 2.17 0.00 0.000 4356 0.081 0.044 2252 3423 3425 3436 3415 0 0 0 0 0 0 26.46 26.39 28.83

1158 -0.62 -146.6 2252 3423 3437 3415 139.6 -13.9 85 1166 0.30 2.08 0.00 0.000 3078 0.124 0.028 2343 2019 3425 3436 3415 0 0 0 0 0 0 26.25 26.44 28.83

1475 -0.76 -146.6 2343 2019 3436 3415 170.4 -8.4 98 1482 0.12 2.20 0.00 0.000 4356 0.082 0.044 2260 3435 3425 3436 3415 0 0 0 0 0 0 26.51 26.42 28.83

1573 -0.76 -146.6 2260 3435 3436 3415 180.4 -10.2 101 1578 0.10 2.12 0.00 0.000 3078 0.118 0.028 2294 2028 3425 3436 3415 0 0 0 0 0 0 26.32 26.49 28.83

1895 -0.80 -146.6 2294 2027 3437 3415 214.1 -10.2 112 1901 0.00 2.17 0.00 0.000 260 0.000 0.046 2286 3425 3425 3436 3415 0 0 0 0 0 0 28.83 26.46 28.83

1978 -0.83 -146.6 2286 3425 3436 3414 221.0 -11.1 114 1985 0.00 2.08 0.00 0.000 1030 0.000 0.028 2286 2026 3425 3436 3415 0 0 0 0 0 0 28.83 26.53 28.83

2286 -0.87 -146.6 2286 2027 3436 3415 260.0 -11.8 125 2292 0.00 2.17 0.00 0.000 260 0.000 0.046 2276 3429 3425 3436 3415 0 0 0 0 0 0 28.83 26.49 28.83

2353 -0.92 -146.6 2275 3429 3436 3415 267.0 -11.6 127 2357 0.00 2.08 0.00 0.000 1030 0.000 0.029 2276 2027 3425 3436 3415 0 0 0 0 0 0 28.83 26.55 28.83

2705 -0.95 -146.6 2275 2027 3436 3415 306.5 -10.7 138 2712 0.12 2.17 0.00 0.000 4356 0.081 0.044 2190 3432 3425 3435 3415 0 0 0 0 0 0 26.62 26.51 28.83

2738 -0.99 -146.6 2189 3432 3435 3415 306.5 -10.7 138 2743 0.12 2.10 0.00 0.000 3078 0.150 0.029 2223 2011 3425 3435 3415 0 0 0 0 0 0 26.40 26.57 28.83

3065 -0.91 -146.6 2222 2011 3435 3415 355.7 -13.6 144 3067 0.10 0.00 0.00 0.000 2054 0.165 0.000 2250 2011 3425 3435 3415 0 0 0 0 0 0 26.50 28.83 28.83

3365 -0.91 -146.6 2250 2011 3435 3415 391.6 -11.8 149 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2011 3425 3435 3415 0 0 0 0 0 0 28.83 28.83 28.83

3665 -0.91 -146.6 2250 2011 3435 3415 426.1 -11.5 154 3666 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2011 3425 3435 3415 0 0 0 0 0 0 28.83 28.83 28.83

3965 -0.93 -146.6 2250 2011 3435 3413 461.2 -11.8 159 3971 0.00 2.20 0.00 0.000 260 0.000 0.047 2241 3429 3423 3435 3412 0 0 0 0 0 0 28.83 26.56 28.83

4063 -0.96 -146.6 2241 3429 3434 3412 468.6 -12.0 160 4067 0.00 2.08 0.00 0.000 1030 0.000 0.030 2241 2027 3423 3435 3412 0 0 0 0 0 0 28.83 26.63 28.83

4385 -0.96 -146.6 2241 2027 3434 3412 510.3 -11.5 166 4386 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2027 3423 3434 3412 0 0 0 0 0 0 28.83 28.83 28.83

4685 -0.96 -146.6 2241 2027 3434 3411 543.4 -11.0 171 4689 0.00 2.17 0.00 0.000 260 0.000 0.047 2230 3431 3422 3434 3410 0 0 0 0 0 0 28.83 26.58 28.83

4723 -0.96 -146.6 2230 3430 3434 3410 543.4 -11.0 171 4728 0.00 2.12 0.00 0.000 1030 0.000 0.030 2231 2027 3422 3434 3410 0 0 0 0 0 0 28.83 26.65 28.83

5041 -0.96 -146.6 2230 2027 3434 3410 584.7 -11.7 177 5042 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2027 3422 3434 3410 0 0 0 0 0 0 28.83 28.83 28.83

5341 -0.98 -146.6 2230 2027 3434 3409 622.0 -12.4 182 5345 0.00 2.17 0.00 0.000 260 0.000 0.047 2220 3429 3422 3435 3409 0 0 0 0 0 0 28.83 26.59 28.83

5390 -1.00 -146.6 2220 3429 3434 3408 622.0 -12.4 182 5397 0.00 2.10 0.00 0.000 1030 0.000 0.031 2220 2012 3421 3434 3408 0 0 0 0 0 0 28.83 26.65 28.83

5697 -1.00 -146.6 2219 2012 3434 3408 664.3 -11.5 188 5701 0.00 2.20 0.00 0.000 260 0.000 0.047 2209 3431 3421 3434 3408 0 0 0 0 0 0 28.83 26.60 28.83

5745 -1.00 -146.6 2209 3431 3434 3407 664.3 -11.5 188 5753 0.00 2.15 0.00 0.000 1030 0.000 0.031 2209 2017 3420 3434 3407 0 0 0 0 0 0 28.83 26.65 28.83

6052 -1.00 -146.6 2209 2016 3434 3407 707.2 -11.6 194 6053 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2017 3421 3435 3407 0 0 0 0 0 0 28.83 28.83 28.83

6353 -1.00 -146.6 2209 2016 3434 3406 743.5 -12.1 199 6354 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2016 3420 3434 3406 0 0 0 0 0 0 28.83 28.83 28.83

6653 -1.03 -146.6 2209 2016 3434 3406 777.9 -11.4 204 6657 0.00 2.20 0.00 0.000 260 0.000 0.048 2198 3432 3420 3434 3406 0 0 0 0 0 0 28.83 26.60 28.83

6712 -1.03 -146.6 2198 3432 3433 3405 785.1 -11.7 205 6718 0.00 2.08 0.00 0.000 1030 0.000 0.031 2198 2029 3419 3434 3405 0 0 0 0 0 0 28.83 26.66 28.83

6888 end dive: BOTTOM_OBSTACLE_DETECTED

state 6888 begin apogee

6892 -0.23 0.0 2198 2028 3433 3405 803.1 -11.1 208 7013 0.75 0.00 115.80 1.042 10246 0.073 0.000 2476 2028 2819 2914 2725 0 0 0 0 0 0 26.58 28.83 24.09

7014 end apogee: CONTROL_FINISHED_OK

state 7014 begin climb

7015 0.79 146.6 2476 2028 2914 2726 803.3 0.0 210 7140 0.85 0.00 120.22 1.044 10502 0.033 0.000 2819 2027 2221 2337 2106 0 0 0 0 0 0 24.97 28.83 23.80

7431 0.63 146.6 2818 2027 2332 2103 773.6 10.2 217 7437 0.22 2.22 0.00 0.000 4356 0.132 0.044 2750 3418 2217 2332 2103 0 0 0 0 0 0 25.56 25.64 28.83

7513 0.49 149.6 2750 3419 2332 2103 768.8 9.9 218 7518 0.20 2.15 0.00 0.000 5126 0.125 0.031 2700 2026 2217 2331 2103 0 0 0 0 0 0 25.67 25.77 28.83

7845 0.64 226.9 2699 2026 2332 2100 746.4 6.4 224 7918 0.12 2.40 64.47 1.017 10500 0.080 0.045 2774 3423 1894 2030 1759 0 0 0 0 0 0 26.08 24.94 24.22

7978 0.68 258.9 2774 3423 2029 1757 733.9 8.5 226 8013 0.00 2.20 27.52 0.969 9222 0.000 0.031 2784 2023 1765 1902 1628 0 0 0 0 0 0 28.83 25.38 24.24

8325 0.63 258.9 2784 2023 1898 1619 685.4 13.5 232 8331 0.12 2.25 0.00 0.000 4356 0.148 0.044 2745 3425 1758 1898 1619 0 0 0 0 0 0 25.72 25.77 28.83

8368 0.59 258.9 2745 3425 1898 1619 685.4 13.5 232 8372 0.00 2.17 0.00 0.000 1030 0.000 0.031 2753 2015 1758 1898 1619 0 0 0 0 0 0 28.83 25.86 28.83

8685 0.65 262.7 2752 2015 1898 1617 648.6 9.8 238 8691 0.00 2.25 0.00 0.000 260 0.000 0.046 2753 3435 1757 1898 1617 0 0 0 0 0 0 28.83 26.03 28.83

8738 0.70 266.5 2753 3434 1899 1617 648.6 9.8 238 8750 0.00 2.15 6.60 0.724 9222 0.000 0.031 2761 2024 1732 1872 1593 0 0 0 0 0 0 28.83 26.10 25.14

9102 0.74 272.0 2761 2024 1871 1592 608.1 9.7 245 9110 0.00 0.00 5.95 0.727 8198 0.000 0.000 2762 2024 1710 1849 1572 0 0 0 0 0 0 28.83 28.83 25.17

9402 0.79 279.0 2761 2024 1849 1572 579.1 9.7 250 9415 0.12 2.22 7.35 0.768 10500 0.082 0.046 2837 3424 1681 1818 1544 0 0 0 0 0 0 26.26 26.06 25.20

9475 0.79 279.0 2837 3425 1818 1544 570.7 10.6 251 9479 0.17 2.15 0.00 0.000 5126 0.139 0.031 2799 2017 1681 1818 1544 0 0 0 0 0 0 26.00 26.13 28.83

9823 0.76 279.0 2799 2017 1817 1542 523.1 12.9 257 9828 0.00 2.17 0.00 0.000 516 0.000 0.045 2807 625 1680 1818 1542 0 0 0 0 0 0 28.83 26.21 28.83

9850 0.73 279.0 2807 625 1818 1541 523.1 12.9 257 9854 0.00 2.15 0.00 0.000 1030 0.000 0.035 2807 2025 1679 1818 1541 0 0 0 0 0 0 28.83 26.26 28.83

10182 0.67 279.0 2807 2026 1818 1541 472.9 14.0 263 10188 0.12 2.20 0.00 0.000 4356 0.148 0.044 2768 3430 1679 1818 1541 0 0 0 0 0 0 26.23 26.29 28.83

10225 0.62 279.0 2767 3430 1818 1541 472.9 14.0 263 10229 0.00 2.12 0.00 0.000 1030 0.000 0.031 2774 2022 1679 1818 1541 0 0 0 0 0 0 28.83 26.34 28.83

10542 0.66 279.0 2773 2022 1818 1540 429.5 11.8 269 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 2022 1679 1818 1540 0 0 0 0 0 0 28.83 28.83 28.83

10842 0.71 279.0 2774 2022 1818 1541 397.3 10.7 274 10846 0.00 2.20 0.00 0.000 260 0.000 0.046 2774 3432 1679 1818 1540 0 0 0 0 0 0 28.83 26.39 28.83

10876 0.76 279.0 2773 3432 1818 1540 397.3 10.7 274 10880 0.00 2.12 0.00 0.000 1030 0.000 0.031 2783 2016 1679 1818 1541 0 0 0 0 0 0 28.83 26.44 28.83

11198 0.80 279.0 2782 2016 1818 1540 357.2 11.4 280 11202 0.00 2.20 0.00 0.000 260 0.000 0.046 2783 3429 1679 1818 1541 0 0 0 0 0 0 28.83 26.43 28.83

11227 0.84 279.0 2783 3429 1818 1541 357.2 11.4 280 11231 0.00 2.12 0.00 0.000 1030 0.000 0.031 2791 2016 1679 1818 1540 0 0 0 0 0 0 28.83 26.47 28.83

11554 0.87 279.0 2791 2016 1818 1541 313.7 12.2 286 11555 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2016 1679 1818 1541 0 0 0 0 0 0 28.83 28.83 28.83

11854 0.91 279.0 2791 2016 1819 1541 280.2 10.9 294 11861 0.12 2.20 0.00 0.000 2308 0.083 0.044 2866 3430 1679 1818 1541 0 0 0 0 0 0 26.57 26.48 28.83

11892 0.91 279.0 2866 3430 1818 1540 276.1 11.5 295 11897 0.10 2.15 0.00 0.000 5126 0.135 0.031 2843 2030 1679 1818 1540 0 0 0 0 0 0 26.34 26.53 28.83

12214 0.83 279.0 2843 2030 1818 1540 232.6 13.1 306 12221 0.12 2.15 0.00 0.000 4612 0.150 0.043 2810 631 1679 1818 1541 0 0 0 0 0 0 26.43 26.49 28.83

12277 0.79 279.0 2810 631 1818 1540 225.2 12.8 308 12281 0.00 2.12 0.00 0.000 1030 0.000 0.035 2810 2028 1679 1818 1540 0 0 0 0 0 0 28.83 26.53 28.83

12599 0.82 279.0 2810 2027 1818 1540 185.9 12.0 319 12600 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2027 1679 1818 1540 0 0 0 0 0 0 28.83 28.83 28.83

12900 0.85 279.0 2810 2028 1818 1540 150.5 11.5 329 12901 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2027 1679 1818 1540 0 0 0 0 0 0 28.83 28.83 28.83

13209 0.91 279.0 2810 2028 1818 1540 115.8 11.5 344 13213 0.00 2.17 0.00 0.000 260 0.000 0.046 2810 3437 1679 1818 1540 0 0 0 0 0 0 28.83 26.53 28.83

13299 0.95 279.0 2810 3438 1818 1540 105.7 13.4 348 13307 0.08 2.15 0.00 0.000 3078 0.053 0.031 2874 2024 1679 1818 1540 0 0 0 0 0 0 26.55 26.57 28.83

13606 0.90 279.0 2874 2024 1818 1540 63.2 12.1 370 13617 0.12 2.17 0.00 0.000 4356 0.148 0.044 2835 3430 1679 1818 1540 0 0 0 0 0 0 26.48 26.55 28.83

13648 0.90 279.0 2834 3430 1818 1540 58.4 11.1 374 13652 0.00 2.10 0.00 0.000 1030 0.000 0.031 2842 2020 1678 1817 1540 0 0 0 0 0 0 28.83 26.60 28.83

13961 1.02 331.5 2842 2019 1818 1540 29.7 7.6 405 14001 0.00 2.20 30.25 0.583 8708 0.000 0.044 2852 644 1466 1605 1327 0 0 0 0 0 0 28.83 26.20 25.60

14117 1.15 344.6 2851 645 1603 1320 17.2 9.4 420 14129 0.15 2.15 6.00 0.427 11270 0.042 0.034 2940 2027 1413 1555 1272 0 0 0 0 0 0 26.30 26.29 25.59

14234 end climb: SURFACE_DEPTH_REACHED

state 14235 begin surface coast

14249 end surface coast: CONTROL_FINISHED_OK

state 14249 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	53	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	700
D_SURF	2	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	47	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	31	XPDR_VALID	3
D_BOOST	10	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	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	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	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	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	-4530.353	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	0	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	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2545	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	13	PITCH_ADJ_GAIN	0.039999999	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	021113,004234,4808.910,-12549.217,32,0.8,32,17.0	TGT_NAME	SEARCH_B
_CALLS	1	TGT_LATLONG	4815.000,-12600.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.200,0.163
_SM_DEPTHo	1.18	KALMAN_X	1885.7,0.0,0.0,-63181.6,1540.0
_SM_ANGLEo	-58.1	KALMAN_Y	-24031.5,0.0,0.0,123995.6,-1217.4
GPS2	021113,004909,4808.941,-12549.224,5,0.9,5,17.0	MHEAD_RNG_PITCHd_Wd	292.2,17393,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	-0.1,1.020558	_24V_AH	23.8,7.124
SM_CCo	14322,0.00,0.000,0,0,1409,346.12	_10V_AH	10.2,5.861
SM_GC	0.92,7.18,0.00,0.00,0.033,0.000,0.000,180,2027,1409,-7.26,0.06,346.12,0,0,0,0,0,0,26.32,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12548.37,011113,191930	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	314240
HUMID	44.68	DATA_FILE_SIZE	33858,433
INTERNAL_PRESSURE	8.88834	CAP_FILE_SIZE	125673,0
TCM_TEMP	12.50	CFSIZE	2097872896,2089091072
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	785.1,27.1	GPS	021113,044929,4810.549,-12551.945,38,1.3,38,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	203	94.44	SBE_CT	296	22	158.54
Roll_motor	112	55	147.61	AA4330	573	11	153.23
VBD_pump_during_apogee	384	1044	9547.73	WL_BB2FLVMT	298	105	745.87
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	nil	0	0	0.00
Iridium_during_xfer	329	76	599.97	nil	0	0	0.00
Transponder_ping	2	420	24.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.04
TT8	1344	15	208.58
LPSleep	11110	2	248.19
TT8_Active	447	15	69.41
TT8_Sampling	1749	43	779.15
TT8_CF8	73	53	39.94
TT8_Kalman	0	69	0.27
Analog_circuits	1570	14	224.22
GPS_charging	0	0	0.00
Compass	1393	8	117.13
RAFOS	0	0	0.00
Transponder	20	30	6.13

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	-0.79	-146.6	182	2057	1571	1314	0.0	0.0	0	80	0.00	0.00	-62.00	0.000	16386	0.000	0.000	182	2057	3009	3016	3003	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.79	-146.6	181	2057	3017	3004	3.2	-4.5	6	111	7.68	2.28	-10.07	0.000	18948	0.203	0.055	2286	637	3422	3430	3414	0	0	0	0	0	0	25.84	26.11	26.44
335	-0.59	-146.6	2285	637	3432	3415	49.0	-15.7	31	345	0.25	2.12	0.00	0.000	3078	0.133	0.035	2350	2034	3423	3432	3415	0	0	0	0	0	0	26.07	26.24	28.83
645	-0.63	-146.6	2349	2034	3435	3415	84.1	-10.0	60	650	0.00	2.17	0.00	0.000	260	0.000	0.045	2342	3431	3425	3435	3416	0	0	0	0	0	0	28.83	26.29	28.83
707	-0.67	-146.6	2342	3431	3436	3415	90.3	-10.2	63	711	0.00	2.15	0.00	0.000	1030	0.000	0.028	2342	2017	3425	3435	3415	0	0	0	0	0	0	28.83	26.36	28.83
1026	-0.75	-146.6	2342	2017	3437	3415	123.1	-11.1	79	1032	0.12	2.17	0.00	0.000	4356	0.081	0.044	2252	3423	3425	3436	3415	0	0	0	0	0	0	26.46	26.39	28.83
1158	-0.62	-146.6	2252	3423	3437	3415	139.6	-13.9	85	1166	0.30	2.08	0.00	0.000	3078	0.124	0.028	2343	2019	3425	3436	3415	0	0	0	0	0	0	26.25	26.44	28.83
1475	-0.76	-146.6	2343	2019	3436	3415	170.4	-8.4	98	1482	0.12	2.20	0.00	0.000	4356	0.082	0.044	2260	3435	3425	3436	3415	0	0	0	0	0	0	26.51	26.42	28.83
1573	-0.76	-146.6	2260	3435	3436	3415	180.4	-10.2	101	1578	0.10	2.12	0.00	0.000	3078	0.118	0.028	2294	2028	3425	3436	3415	0	0	0	0	0	0	26.32	26.49	28.83
1895	-0.80	-146.6	2294	2027	3437	3415	214.1	-10.2	112	1901	0.00	2.17	0.00	0.000	260	0.000	0.046	2286	3425	3425	3436	3415	0	0	0	0	0	0	28.83	26.46	28.83
1978	-0.83	-146.6	2286	3425	3436	3414	221.0	-11.1	114	1985	0.00	2.08	0.00	0.000	1030	0.000	0.028	2286	2026	3425	3436	3415	0	0	0	0	0	0	28.83	26.53	28.83
2286	-0.87	-146.6	2286	2027	3436	3415	260.0	-11.8	125	2292	0.00	2.17	0.00	0.000	260	0.000	0.046	2276	3429	3425	3436	3415	0	0	0	0	0	0	28.83	26.49	28.83
2353	-0.92	-146.6	2275	3429	3436	3415	267.0	-11.6	127	2357	0.00	2.08	0.00	0.000	1030	0.000	0.029	2276	2027	3425	3436	3415	0	0	0	0	0	0	28.83	26.55	28.83
2705	-0.95	-146.6	2275	2027	3436	3415	306.5	-10.7	138	2712	0.12	2.17	0.00	0.000	4356	0.081	0.044	2190	3432	3425	3435	3415	0	0	0	0	0	0	26.62	26.51	28.83
2738	-0.99	-146.6	2189	3432	3435	3415	306.5	-10.7	138	2743	0.12	2.10	0.00	0.000	3078	0.150	0.029	2223	2011	3425	3435	3415	0	0	0	0	0	0	26.40	26.57	28.83
3065	-0.91	-146.6	2222	2011	3435	3415	355.7	-13.6	144	3067	0.10	0.00	0.00	0.000	2054	0.165	0.000	2250	2011	3425	3435	3415	0	0	0	0	0	0	26.50	28.83	28.83
3365	-0.91	-146.6	2250	2011	3435	3415	391.6	-11.8	149	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	2011	3425	3435	3415	0	0	0	0	0	0	28.83	28.83	28.83
3665	-0.91	-146.6	2250	2011	3435	3415	426.1	-11.5	154	3666	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	2011	3425	3435	3415	0	0	0	0	0	0	28.83	28.83	28.83
3965	-0.93	-146.6	2250	2011	3435	3413	461.2	-11.8	159	3971	0.00	2.20	0.00	0.000	260	0.000	0.047	2241	3429	3423	3435	3412	0	0	0	0	0	0	28.83	26.56	28.83
4063	-0.96	-146.6	2241	3429	3434	3412	468.6	-12.0	160	4067	0.00	2.08	0.00	0.000	1030	0.000	0.030	2241	2027	3423	3435	3412	0	0	0	0	0	0	28.83	26.63	28.83
4385	-0.96	-146.6	2241	2027	3434	3412	510.3	-11.5	166	4386	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2027	3423	3434	3412	0	0	0	0	0	0	28.83	28.83	28.83
4685	-0.96	-146.6	2241	2027	3434	3411	543.4	-11.0	171	4689	0.00	2.17	0.00	0.000	260	0.000	0.047	2230	3431	3422	3434	3410	0	0	0	0	0	0	28.83	26.58	28.83
4723	-0.96	-146.6	2230	3430	3434	3410	543.4	-11.0	171	4728	0.00	2.12	0.00	0.000	1030	0.000	0.030	2231	2027	3422	3434	3410	0	0	0	0	0	0	28.83	26.65	28.83
5041	-0.96	-146.6	2230	2027	3434	3410	584.7	-11.7	177	5042	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2027	3422	3434	3410	0	0	0	0	0	0	28.83	28.83	28.83
5341	-0.98	-146.6	2230	2027	3434	3409	622.0	-12.4	182	5345	0.00	2.17	0.00	0.000	260	0.000	0.047	2220	3429	3422	3435	3409	0	0	0	0	0	0	28.83	26.59	28.83
5390	-1.00	-146.6	2220	3429	3434	3408	622.0	-12.4	182	5397	0.00	2.10	0.00	0.000	1030	0.000	0.031	2220	2012	3421	3434	3408	0	0	0	0	0	0	28.83	26.65	28.83
5697	-1.00	-146.6	2219	2012	3434	3408	664.3	-11.5	188	5701	0.00	2.20	0.00	0.000	260	0.000	0.047	2209	3431	3421	3434	3408	0	0	0	0	0	0	28.83	26.60	28.83
5745	-1.00	-146.6	2209	3431	3434	3407	664.3	-11.5	188	5753	0.00	2.15	0.00	0.000	1030	0.000	0.031	2209	2017	3420	3434	3407	0	0	0	0	0	0	28.83	26.65	28.83
6052	-1.00	-146.6	2209	2016	3434	3407	707.2	-11.6	194	6053	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2017	3421	3435	3407	0	0	0	0	0	0	28.83	28.83	28.83
6353	-1.00	-146.6	2209	2016	3434	3406	743.5	-12.1	199	6354	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2016	3420	3434	3406	0	0	0	0	0	0	28.83	28.83	28.83
6653	-1.03	-146.6	2209	2016	3434	3406	777.9	-11.4	204	6657	0.00	2.20	0.00	0.000	260	0.000	0.048	2198	3432	3420	3434	3406	0	0	0	0	0	0	28.83	26.60	28.83
6712	-1.03	-146.6	2198	3432	3433	3405	785.1	-11.7	205	6718	0.00	2.08	0.00	0.000	1030	0.000	0.031	2198	2029	3419	3434	3405	0	0	0	0	0	0	28.83	26.66	28.83
6888	end dive: BOTTOM_OBSTACLE_DETECTED
state	6888	begin apogee
6892	-0.23	0.0	2198	2028	3433	3405	803.1	-11.1	208	7013	0.75	0.00	115.80	1.042	10246	0.073	0.000	2476	2028	2819	2914	2725	0	0	0	0	0	0	26.58	28.83	24.09
7014	end apogee: CONTROL_FINISHED_OK
state	7014	begin climb
7015	0.79	146.6	2476	2028	2914	2726	803.3	0.0	210	7140	0.85	0.00	120.22	1.044	10502	0.033	0.000	2819	2027	2221	2337	2106	0	0	0	0	0	0	24.97	28.83	23.80
7431	0.63	146.6	2818	2027	2332	2103	773.6	10.2	217	7437	0.22	2.22	0.00	0.000	4356	0.132	0.044	2750	3418	2217	2332	2103	0	0	0	0	0	0	25.56	25.64	28.83
7513	0.49	149.6	2750	3419	2332	2103	768.8	9.9	218	7518	0.20	2.15	0.00	0.000	5126	0.125	0.031	2700	2026	2217	2331	2103	0	0	0	0	0	0	25.67	25.77	28.83
7845	0.64	226.9	2699	2026	2332	2100	746.4	6.4	224	7918	0.12	2.40	64.47	1.017	10500	0.080	0.045	2774	3423	1894	2030	1759	0	0	0	0	0	0	26.08	24.94	24.22
7978	0.68	258.9	2774	3423	2029	1757	733.9	8.5	226	8013	0.00	2.20	27.52	0.969	9222	0.000	0.031	2784	2023	1765	1902	1628	0	0	0	0	0	0	28.83	25.38	24.24
8325	0.63	258.9	2784	2023	1898	1619	685.4	13.5	232	8331	0.12	2.25	0.00	0.000	4356	0.148	0.044	2745	3425	1758	1898	1619	0	0	0	0	0	0	25.72	25.77	28.83
8368	0.59	258.9	2745	3425	1898	1619	685.4	13.5	232	8372	0.00	2.17	0.00	0.000	1030	0.000	0.031	2753	2015	1758	1898	1619	0	0	0	0	0	0	28.83	25.86	28.83
8685	0.65	262.7	2752	2015	1898	1617	648.6	9.8	238	8691	0.00	2.25	0.00	0.000	260	0.000	0.046	2753	3435	1757	1898	1617	0	0	0	0	0	0	28.83	26.03	28.83
8738	0.70	266.5	2753	3434	1899	1617	648.6	9.8	238	8750	0.00	2.15	6.60	0.724	9222	0.000	0.031	2761	2024	1732	1872	1593	0	0	0	0	0	0	28.83	26.10	25.14
9102	0.74	272.0	2761	2024	1871	1592	608.1	9.7	245	9110	0.00	0.00	5.95	0.727	8198	0.000	0.000	2762	2024	1710	1849	1572	0	0	0	0	0	0	28.83	28.83	25.17
9402	0.79	279.0	2761	2024	1849	1572	579.1	9.7	250	9415	0.12	2.22	7.35	0.768	10500	0.082	0.046	2837	3424	1681	1818	1544	0	0	0	0	0	0	26.26	26.06	25.20
9475	0.79	279.0	2837	3425	1818	1544	570.7	10.6	251	9479	0.17	2.15	0.00	0.000	5126	0.139	0.031	2799	2017	1681	1818	1544	0	0	0	0	0	0	26.00	26.13	28.83
9823	0.76	279.0	2799	2017	1817	1542	523.1	12.9	257	9828	0.00	2.17	0.00	0.000	516	0.000	0.045	2807	625	1680	1818	1542	0	0	0	0	0	0	28.83	26.21	28.83
9850	0.73	279.0	2807	625	1818	1541	523.1	12.9	257	9854	0.00	2.15	0.00	0.000	1030	0.000	0.035	2807	2025	1679	1818	1541	0	0	0	0	0	0	28.83	26.26	28.83
10182	0.67	279.0	2807	2026	1818	1541	472.9	14.0	263	10188	0.12	2.20	0.00	0.000	4356	0.148	0.044	2768	3430	1679	1818	1541	0	0	0	0	0	0	26.23	26.29	28.83
10225	0.62	279.0	2767	3430	1818	1541	472.9	14.0	263	10229	0.00	2.12	0.00	0.000	1030	0.000	0.031	2774	2022	1679	1818	1541	0	0	0	0	0	0	28.83	26.34	28.83
10542	0.66	279.0	2773	2022	1818	1540	429.5	11.8	269	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	2022	1679	1818	1540	0	0	0	0	0	0	28.83	28.83	28.83
10842	0.71	279.0	2774	2022	1818	1541	397.3	10.7	274	10846	0.00	2.20	0.00	0.000	260	0.000	0.046	2774	3432	1679	1818	1540	0	0	0	0	0	0	28.83	26.39	28.83
10876	0.76	279.0	2773	3432	1818	1540	397.3	10.7	274	10880	0.00	2.12	0.00	0.000	1030	0.000	0.031	2783	2016	1679	1818	1541	0	0	0	0	0	0	28.83	26.44	28.83
11198	0.80	279.0	2782	2016	1818	1540	357.2	11.4	280	11202	0.00	2.20	0.00	0.000	260	0.000	0.046	2783	3429	1679	1818	1541	0	0	0	0	0	0	28.83	26.43	28.83
11227	0.84	279.0	2783	3429	1818	1541	357.2	11.4	280	11231	0.00	2.12	0.00	0.000	1030	0.000	0.031	2791	2016	1679	1818	1540	0	0	0	0	0	0	28.83	26.47	28.83
11554	0.87	279.0	2791	2016	1818	1541	313.7	12.2	286	11555	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2016	1679	1818	1541	0	0	0	0	0	0	28.83	28.83	28.83
11854	0.91	279.0	2791	2016	1819	1541	280.2	10.9	294	11861	0.12	2.20	0.00	0.000	2308	0.083	0.044	2866	3430	1679	1818	1541	0	0	0	0	0	0	26.57	26.48	28.83
11892	0.91	279.0	2866	3430	1818	1540	276.1	11.5	295	11897	0.10	2.15	0.00	0.000	5126	0.135	0.031	2843	2030	1679	1818	1540	0	0	0	0	0	0	26.34	26.53	28.83
12214	0.83	279.0	2843	2030	1818	1540	232.6	13.1	306	12221	0.12	2.15	0.00	0.000	4612	0.150	0.043	2810	631	1679	1818	1541	0	0	0	0	0	0	26.43	26.49	28.83
12277	0.79	279.0	2810	631	1818	1540	225.2	12.8	308	12281	0.00	2.12	0.00	0.000	1030	0.000	0.035	2810	2028	1679	1818	1540	0	0	0	0	0	0	28.83	26.53	28.83
12599	0.82	279.0	2810	2027	1818	1540	185.9	12.0	319	12600	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2027	1679	1818	1540	0	0	0	0	0	0	28.83	28.83	28.83
12900	0.85	279.0	2810	2028	1818	1540	150.5	11.5	329	12901	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2027	1679	1818	1540	0	0	0	0	0	0	28.83	28.83	28.83
13209	0.91	279.0	2810	2028	1818	1540	115.8	11.5	344	13213	0.00	2.17	0.00	0.000	260	0.000	0.046	2810	3437	1679	1818	1540	0	0	0	0	0	0	28.83	26.53	28.83
13299	0.95	279.0	2810	3438	1818	1540	105.7	13.4	348	13307	0.08	2.15	0.00	0.000	3078	0.053	0.031	2874	2024	1679	1818	1540	0	0	0	0	0	0	26.55	26.57	28.83
13606	0.90	279.0	2874	2024	1818	1540	63.2	12.1	370	13617	0.12	2.17	0.00	0.000	4356	0.148	0.044	2835	3430	1679	1818	1540	0	0	0	0	0	0	26.48	26.55	28.83
13648	0.90	279.0	2834	3430	1818	1540	58.4	11.1	374	13652	0.00	2.10	0.00	0.000	1030	0.000	0.031	2842	2020	1678	1817	1540	0	0	0	0	0	0	28.83	26.60	28.83
13961	1.02	331.5	2842	2019	1818	1540	29.7	7.6	405	14001	0.00	2.20	30.25	0.583	8708	0.000	0.044	2852	644	1466	1605	1327	0	0	0	0	0	0	28.83	26.20	25.60
14117	1.15	344.6	2851	645	1603	1320	17.2	9.4	420	14129	0.15	2.15	6.00	0.427	11270	0.042	0.034	2940	2027	1413	1555	1272	0	0	0	0	0	0	26.30	26.29	25.59
14234	end climb: SURFACE_DEPTH_REACHED
state	14235	begin surface coast
14249	end surface coast: CONTROL_FINISHED_OK
state	14249	begin surface