Glider dive log

Kona Oct17 * SG204 * Dive index * Mission links * Dive 111 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 20

MISSION 21 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 17 ALTIM_PULSE 2

DIVE 111 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0.60000002

D_TGT 850 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 CALL_NDIVES 1 C_VBD 3145 MOTHERBOARD 4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 4 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00069999998 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 3

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 300 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 500 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 PHONE_DEVICE 48

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_W 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_24V 150 SIM_PITCH 0

USE_ICE 0 PITCH_MIN 210 AH0_10V 97 SEABIRD_T_G 0.0043580476

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_24V 16 SEABIRD_T_H 0.00063004985

D_OFFGRID 1010 C_PITCH 3000 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

RELAUNCH 1 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

MAX_BUOY 150 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

COURSE_BIAS 0 PITCH_GAIN 24 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_YINT -171.85684 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_AD_RATE 140 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

RHO 1.026 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

MASS 52527 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 PM_PROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_N 0 PM_XMITPROFILE 0.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

HD_A 0.0044816299 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2400 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_24V 150 FERRY_MAX 45 PITCH_GAIN 24 SEABIRD_T_J 2.6474129e-06

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_FREQUENCY 20 FG_AHR_24V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MIN 210 SM_CC 500

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_N 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00069999998 STOP_T 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_DBAND 0 STROBE 0

ALTIM_SENSITIVITY 5 HD_A 0.0044816299 PITCH_W_GAIN 0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAPDBG 0 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITPROFILE 0.0 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 ID 204 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PRESSURE_YINT -171.85684 T_BOOST 4

CF8_MAXERRORS 20 KALMAN_USE 2 PROTOCOL 9 T_DIVE 300

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT 0.039999999 T_EPIRB 0

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_MISSION 500

COURSE_BIAS 0 LOGGERS 3 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_PITCH 3000 LOITER_DBDW 0 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_CLIMB 2400 LOITER_D_NO_PUMP 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_DIVE 2500 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD 3145 MASS 52527 RHO 1.026 T_WATCHDOG 10

DBDW 0 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE2 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE3 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MINV_24V 16 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE5 -1 MISSION 21 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DIVE 111 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1010 NOCOMM_ACTION 163 R_PORT_OVSHOOT 32 VBD_MAXERRORS 1

D_BOOST 50 N_DIVES 0 R_STBD_OVSHOOT 17 VBD_MIN 500

D_CALL 0 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_FINISH 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FLARE 3 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_NO_BLEED 200 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0

D_OFFGRID 1010 PHONE_DEVICE 48 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_PITCH 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 99

D_SAFE 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 6

D_SURF 2 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_TGT 850 PITCH_AD_RATE 140 SEABIRD_T_G 0.0043580476

Pre-dive calculations and measurements:

GPS1 311017,225030,1937.3738,-15603.9521,20,0.9,20,9.5,0.3,48.8,9,7.0 SPEED_LIMITS 0.164,0.186

_CALLS 1 TGT_NAME SHELF2

_XMS_NAKs 0 TGT_LATLONG 1937.000,-15603.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.85 MHEAD_RNG_PITCHd_Wd 113.8,1756,-26.2,-9.444,-30.00,1862

_SM_ANGLEo -68.3 D_GRID 1010

GPS2 311017,225940,1937.3575,-15603.9326,2,0.9,4,9.5,0.2,13.2,9,7.1

Post-dive calculations and measurements:

FINISH -0.0,1.022301 PM_FREEKB_06 37639104

SM_CCo 17262,137.60,0.112,0,0,1103,500.17 PM_FREEKB_07 62336576

SM_GC 0.97,12.45,0.22,137.60,0.070,0.062,0.112,180,2505,1103,-8.69,-0.57,500.17,0,0,0,0,0,0,20.20,20.16,19.99 PM_ACTIVECARD 6

IRIDIUM_FIX 1935.85,-15601.79,311017,180529 _24V_AH 18.80,41.252

TT8_MAMPS 0.047936,0.328811 _10V_AH 9.96,26.972

HUMID 50.03 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.25268 FG_AHR_10Vo 0.000

TCM_TEMP 24.10 MEM 215688

XPDR_PINGS 0 DATA_FILE_SIZE 33382,971

PM_FREEKB_00 0 CAP_FILE_SIZE 137478,0

PM_FREEKB_01 4873536 CFSIZE 260030464,242180096

PM_FREEKB_02 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,1,2,0,0

PM_FREEKB_03 0 CURRENT 0.016,109.35,1

PM_FREEKB_04 4227648 GPS 011117,035100,1936.501,-15602.341,24,0.8,24,9.5,0.4,77.9,9,6.1

PM_FREEKB_05 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 237 146.90 nil 0 0 0.00

Roll_motor 172 978 3174.90 nil 0 0 0.00

VBD_pump_during_apogee 444 1547 12945.00 nil 0 0 0.00

VBD_pump_during_surface 137 112 290.91 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 17263 3 1132.34

Iridium_during_xfer 398 124 934.89 PMAR 17257 31 10296.16

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 12 0.73

TT8 0 0 0.00

LPSleep 14327 2 312.52

TT8_Active 816 13 108.31

TT8_Sampling 2618 44 1148.42

TT8_CF8 185 55 102.36

TT8_Kalman 0 0 0.00

Analog_circuits 2033 11 230.93

GPS_charging 0 0 0.00

Compass 1705 8 139.94

RAFOS 0 0 0.00

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.17 -114.4 188 2505 1179 1041 0.0 0.0 0 118 0.00 0.00 -101.90 0.000 16390 0.000 0.000 187 2506 3612 3545 3680 0 0 0 0 0 0 20.34 19.50 20.38

120 -1.20 -146.2 188 2505 3547 3679 3.4 -5.4 10 146 16.33 2.78 -2.47 0.000 19236 0.237 0.978 2594 3707 3744 3685 3804 2 0 1 0 0 0 19.82 19.33 20.00

345 -1.20 -146.2 2594 3708 3690 3805 56.9 -21.6 55 352 0.00 2.50 0.00 0.000 1030 0.000 0.040 2594 2516 3746 3689 3804 0 0 0 0 0 0 20.16 20.13 20.18

662 -1.20 -146.2 2594 2515 3693 3804 111.2 -14.8 68 667 0.00 2.92 0.00 0.000 516 0.000 0.037 2602 1087 3747 3691 3804 0 0 0 0 0 0 20.38 20.12 20.42

711 -1.20 -146.2 2602 1088 3693 3804 118.5 -13.7 78 717 0.00 2.95 0.00 0.000 1030 0.000 0.039 2593 2497 3748 3692 3804 0 0 0 0 0 0 20.18 20.12 20.20

1022 -1.20 -146.2 2593 2497 3695 3804 157.9 -12.7 90 1027 0.00 2.92 0.00 0.000 516 0.000 0.042 2599 1090 3748 3693 3803 0 0 0 0 0 0 20.39 20.12 20.42

1052 -1.20 -146.2 2598 1091 3695 3805 161.5 -11.1 96 1057 0.00 2.95 0.00 0.000 1030 0.000 0.039 2590 2502 3748 3693 3804 0 0 0 0 0 0 20.18 20.13 20.20

1382 -1.20 -146.2 2590 2502 3697 3804 196.0 -11.1 112 1387 0.00 2.95 0.00 0.000 516 0.000 0.041 2599 1089 3750 3696 3804 0 0 0 0 0 0 20.39 20.12 20.44

1436 -1.20 -146.2 2598 1089 3698 3804 201.1 -9.1 123 1444 0.00 2.97 0.00 0.000 1062 0.000 0.039 2589 2493 3750 3696 3804 0 0 0 0 0 0 20.17 20.14 20.20

1742 -1.20 -146.2 2590 2494 3698 3806 230.1 -9.9 134 1743 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2493 3751 3698 3804 0 0 0 0 0 0 20.39 20.44 20.44

2072 -1.20 -146.2 2590 2492 3699 3804 261.1 -8.9 143 2078 0.00 2.92 0.00 0.000 548 0.000 0.039 2598 1088 3751 3698 3804 0 0 0 0 0 0 20.39 20.14 20.44

2248 -1.20 -146.2 2599 1089 3699 3805 278.3 -10.5 178 2255 0.00 2.95 0.00 0.000 1030 0.000 0.038 2589 2506 3751 3698 3804 0 0 0 0 0 0 20.20 20.15 20.23

2554 -1.20 -146.2 2590 2507 3698 3805 309.0 -10.1 184 2559 0.00 2.95 0.00 0.000 516 0.000 0.039 2598 1086 3750 3697 3803 0 0 0 0 0 0 20.40 20.16 20.44

2648 -1.20 -146.2 2599 1086 3697 3804 318.1 -9.6 203 2654 0.00 2.95 0.00 0.000 1030 0.000 0.040 2590 2495 3749 3695 3804 0 0 0 0 0 0 20.22 20.15 20.23

2975 -1.20 -146.2 2590 2498 3693 3804 347.6 -9.1 213 2980 0.00 2.95 0.00 0.000 548 0.000 0.041 2598 1087 3747 3693 3802 0 0 0 0 0 0 20.41 20.15 20.44

3014 -1.20 -146.2 2598 1087 3693 3802 351.5 -9.6 221 3019 0.00 2.95 0.00 0.000 1030 0.000 0.039 2589 2507 3747 3693 3802 0 0 0 0 0 0 20.21 20.15 20.23

3335 -1.20 -146.2 2590 2507 3692 3798 384.1 -10.3 230 3339 0.00 2.95 0.00 0.000 516 0.000 0.038 2598 1085 3744 3691 3798 0 0 0 0 0 0 20.41 20.16 20.45

3369 -1.20 -146.2 2598 1086 3692 3799 387.6 -10.0 237 3374 0.00 2.95 0.00 0.000 1030 0.000 0.041 2590 2493 3744 3690 3798 0 0 0 0 0 0 20.22 20.15 20.24

3695 -1.20 -146.2 2590 2495 3689 3797 416.1 -8.5 247 3701 0.00 2.62 0.00 0.000 292 0.000 0.063 2580 3700 3742 3690 3795 0 0 0 0 0 0 20.41 20.13 20.45

3795 -1.20 -146.2 2580 3701 3686 3795 425.4 -9.5 267 3801 0.00 2.53 0.00 0.000 1030 0.000 0.039 2588 2493 3740 3686 3794 0 0 0 0 0 0 20.20 20.19 20.23

4117 -1.20 -146.2 2588 2493 3685 3791 456.0 -9.6 276 4121 0.00 2.90 0.00 0.000 516 0.000 0.039 2598 1089 3737 3683 3791 0 0 0 0 0 0 20.42 20.16 20.46

4215 -1.20 -146.2 2599 1090 3684 3790 466.2 -10.3 296 4221 0.00 2.95 0.00 0.000 1030 0.000 0.041 2592 2504 3736 3683 3790 0 0 0 0 0 0 20.23 20.16 20.25

4537 -1.20 -146.2 2589 2506 3682 3788 495.3 -8.9 305 4541 0.00 2.60 0.00 0.000 292 0.000 0.063 2580 3700 3734 3682 3787 0 0 0 0 0 0 20.42 20.13 20.46

4621 -1.20 -146.2 2580 3700 3681 3787 503.0 -9.0 322 4626 0.00 2.47 0.00 0.000 1062 0.000 0.040 2587 2497 3733 3680 3786 0 0 0 0 0 0 20.25 20.20 20.26

4956 -1.20 -146.2 2588 2496 3679 3783 529.9 -8.0 334 4961 0.00 2.90 0.00 0.000 548 0.000 0.039 2598 1091 3730 3677 3783 0 0 0 0 0 0 20.43 20.16 20.47

5046 -1.20 -146.2 2598 1090 3678 3783 536.6 -7.5 352 5051 0.00 2.95 0.00 0.000 1062 0.000 0.041 2589 2497 3730 3677 3783 0 0 0 0 0 0 20.23 20.17 20.25

5377 -1.20 -146.2 2589 2497 3674 3780 561.0 -7.5 363 5383 0.00 2.95 0.00 0.000 548 0.000 0.044 2597 1091 3727 3675 3780 0 0 0 0 0 0 20.42 20.16 20.47

5417 -1.20 -146.2 2598 1091 3676 3780 564.3 -8.1 371 5423 0.00 2.97 0.00 0.000 1062 0.000 0.042 2589 2506 3727 3674 3780 0 0 0 0 0 0 20.23 20.16 20.25

5739 -1.20 -146.2 2590 2506 3673 3775 590.5 -8.2 380 5740 0.00 0.00 0.00 0.000 38 0.000 0.000 2589 2506 3724 3672 3776 0 0 0 0 0 0 20.43 20.47 20.47

6038 -1.20 -146.2 2590 2506 3672 3774 614.3 -7.9 385 6043 0.00 2.95 0.00 0.000 548 0.000 0.041 2598 1092 3722 3671 3774 0 0 0 0 0 0 20.43 20.17 20.47

6133 -1.20 -146.2 2598 1091 3672 3775 622.0 -7.9 404 6138 0.00 2.95 0.00 0.000 1062 0.000 0.041 2589 2494 3722 3671 3774 0 0 0 0 0 0 20.24 20.18 20.26

6458 -1.20 -146.2 2590 2494 3671 3771 646.3 -7.4 414 6459 0.00 0.00 0.00 0.000 38 0.000 0.000 2589 2495 3720 3669 3771 0 0 0 0 0 0 20.43 20.48 20.47

6758 -1.20 -146.2 2589 2496 3668 3770 664.8 -6.0 419 6764 0.00 2.95 0.00 0.000 548 0.000 0.044 2598 1091 3718 3667 3769 0 0 0 0 0 0 20.43 20.16 20.47

6804 -1.20 -146.2 2598 1092 3667 3770 667.7 -6.4 428 6809 0.00 2.97 0.00 0.000 1062 0.000 0.044 2589 2505 3717 3665 3769 0 0 0 0 0 0 20.24 20.17 20.26

7119 -1.20 -146.2 2589 2507 3666 3767 688.4 -6.6 436 7120 0.00 0.00 0.00 0.000 38 0.000 0.000 2589 2506 3716 3665 3767 0 0 0 0 0 0 20.44 20.49 20.47

7419 -1.20 -146.2 2589 2506 3664 3766 708.3 -6.7 441 7424 0.00 2.97 0.00 0.000 548 0.000 0.043 2598 1091 3713 3662 3765 0 0 0 0 0 0 20.44 20.18 20.48

7493 -1.20 -146.2 2596 1091 3662 3767 713.5 -6.9 456 7499 0.00 2.97 0.00 0.000 1062 0.000 0.042 2589 2498 3713 3662 3765 0 0 0 0 0 0 20.25 20.18 20.27

7839 -1.20 -146.2 2589 2500 3662 3765 735.3 -6.3 470 7844 0.00 2.97 0.00 0.000 548 0.000 0.049 2597 1091 3712 3661 3763 0 0 0 0 0 0 20.44 20.17 20.48

7918 -1.20 -146.2 2598 1091 3662 3763 740.2 -6.2 486 7924 0.00 2.97 0.00 0.000 1062 0.000 0.044 2589 2504 3712 3661 3763 0 0 0 0 0 0 20.25 20.18 20.27

8260 -1.20 -146.2 2589 2504 3661 3762 760.3 -5.9 499 8260 0.00 0.00 0.00 0.000 38 0.000 0.000 2589 2504 3711 3661 3761 0 0 0 0 0 0 20.44 20.49 20.49

8560 -1.20 -146.2 2589 2505 3660 3763 777.3 -5.6 504 8560 0.00 0.00 0.00 0.000 38 0.000 0.000 2589 2504 3709 3659 3760 0 0 0 0 0 0 20.44 20.49 20.49

8859 -1.20 -146.2 2589 2505 3659 3760 792.0 -4.8 509 8864 0.00 2.97 0.00 0.000 548 0.000 0.046 2598 1092 3708 3658 3759 0 0 0 0 0 0 20.45 20.18 20.49

8909 -1.20 -146.2 2598 1091 3659 3758 794.7 -5.5 519 8915 0.00 2.97 0.00 0.000 1062 0.000 0.045 2589 2493 3708 3658 3759 0 0 0 0 0 0 20.25 20.18 20.28

9220 -1.20 -146.2 2589 2495 3657 3758 811.7 -5.5 526 9221 0.00 0.00 0.00 0.000 38 0.000 0.000 2590 2493 3705 3655 3756 0 0 0 0 0 0 20.45 20.49 20.49

9520 -1.20 -146.2 2590 2494 3658 3756 828.0 -5.5 531 9526 0.00 2.95 0.00 0.000 548 0.000 0.044 2597 1092 3706 3656 3756 0 0 0 0 0 0 20.45 20.18 20.49

9550 -1.20 -146.2 2598 1092 3657 3755 829.7 -5.7 537 9556 0.00 3.00 0.00 0.000 1062 0.000 0.044 2589 2507 3705 3655 3756 0 0 0 0 0 0 20.25 20.18 20.28

9881 -1.20 -146.2 2589 2507 3655 3757 848.0 -5.6 548 9881 0.00 0.00 0.00 0.000 38 0.000 0.000 2589 2507 3705 3655 3755 0 0 0 0 0 0 20.45 20.50 20.49

9939 end dive: TARGET_DEPTH_EXCEEDED

state 9939 begin apogee

9943 -0.21 0.0 2589 2404 3656 3756 851.5 -5.8 549 10108 1.77 0.00 156.43 1.546 10246 0.178 0.000 2925 2401 3144 3164 3125 0 0 0 0 1 0 20.01 19.74 18.80

10109 end apogee: CONTROL_FINISHED_OK

state 10109 begin climb

10111 1.20 146.2 2925 2403 3172 3127 852.7 0.0 551 10299 2.12 3.05 170.27 1.548 10756 0.143 0.037 3385 974 2550 2580 2521 0 0 0 0 1 0 19.83 19.77 18.85

10355 1.20 146.2 3385 974 2582 2521 821.5 15.3 601 10360 0.00 2.95 0.00 0.000 1030 0.000 0.032 3385 2397 2550 2580 2521 0 0 0 0 0 0 20.06 20.00 20.09

10705 1.20 146.2 3386 2397 2578 2520 764.6 16.5 616 10710 0.00 2.78 0.00 0.000 260 0.000 0.053 3385 3698 2549 2578 2521 0 0 0 0 0 0 20.32 20.05 20.36

10729 1.20 146.2 3385 3699 2576 2522 760.3 17.4 621 10735 0.00 2.67 0.00 0.000 1030 0.000 0.030 3394 2383 2548 2575 2521 0 0 0 0 0 0 20.18 20.13 20.19

11066 1.20 146.2 3394 2385 2574 2523 709.8 14.7 633 11067 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2384 2547 2574 2521 0 0 0 0 0 0 20.35 20.39 20.38

11365 1.20 146.2 3394 2385 2574 2520 666.6 14.5 638 11366 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2384 2546 2572 2520 0 0 0 0 0 0 20.35 20.40 20.39

11666 1.20 146.2 3395 2384 2573 2522 627.4 12.9 643 11666 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2384 2545 2571 2520 0 0 0 0 0 0 20.37 20.42 20.42

11965 1.20 146.2 3394 2385 2571 2521 588.7 13.0 648 11971 0.00 2.80 0.00 0.000 516 0.000 0.032 3404 1008 2545 2571 2520 0 0 0 0 0 0 20.37 20.13 20.42

12010 1.20 146.2 3404 1009 2572 2521 582.4 13.9 657 12016 0.00 2.88 0.00 0.000 1030 0.000 0.032 3405 2399 2545 2571 2520 0 0 0 0 0 0 20.19 20.13 20.21

12326 1.20 146.2 3405 2399 2570 2518 538.2 14.0 665 12327 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 2399 2544 2569 2520 0 0 0 0 0 0 20.38 20.43 20.42

12626 1.20 146.2 3405 2399 2569 2521 496.9 13.7 670 12627 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 2399 2544 2568 2520 0 0 0 0 0 0 20.38 20.44 20.42

12926 1.20 146.2 3404 2400 2569 2519 456.5 13.3 675 12927 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 2399 2543 2568 2518 0 0 0 0 0 0 20.38 20.44 20.43

13226 1.20 146.2 3404 2399 2568 2517 419.6 12.4 680 13232 0.00 2.85 0.00 0.000 516 0.000 0.032 3414 1009 2542 2567 2518 0 0 0 0 0 0 20.39 20.16 20.44

13301 1.20 146.2 3414 1009 2568 2520 409.9 13.0 695 13307 0.00 2.90 0.00 0.000 1030 0.000 0.033 3414 2407 2542 2567 2518 0 0 0 0 0 0 20.21 20.16 20.23

13647 1.20 146.2 3414 2409 2567 2520 363.4 13.6 709 13652 0.00 2.78 0.00 0.000 260 0.000 0.055 3412 3700 2542 2566 2518 0 0 0 0 0 0 20.40 20.13 20.44

13711 1.20 146.2 3413 3701 2567 2518 353.4 16.0 722 13717 0.10 2.65 0.00 0.000 5126 0.172 0.033 3393 2405 2541 2566 2517 0 0 0 0 0 0 20.00 20.20 20.16

14067 1.20 146.2 3393 2406 2567 2516 308.2 12.4 738 14072 0.00 2.85 0.00 0.000 516 0.000 0.032 3401 1002 2541 2566 2517 0 0 0 0 0 0 20.41 20.17 20.44

14147 1.20 146.2 3402 1002 2567 2517 298.5 11.8 754 14152 0.00 2.90 0.00 0.000 1030 0.000 0.031 3401 2406 2541 2566 2517 0 0 0 0 0 0 20.23 20.16 20.25

14488 1.20 146.2 3402 2406 2567 2517 258.5 11.8 767 14492 0.00 2.88 0.00 0.000 516 0.000 0.034 3411 1004 2541 2566 2517 0 0 0 0 0 0 20.41 20.17 20.45

14512 1.20 146.2 3412 1005 2567 2518 255.6 11.6 772 14518 0.00 2.88 0.00 0.000 1030 0.000 0.033 3412 2397 2542 2568 2517 0 0 0 0 0 0 20.23 20.16 20.25

14818 1.20 146.2 3412 2397 2567 2516 219.3 11.6 787 14819 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 2397 2541 2566 2517 0 0 0 0 0 0 20.41 20.46 20.45

15118 1.20 146.2 3412 2399 2567 2518 190.9 9.5 797 15123 0.00 2.85 0.00 0.000 516 0.000 0.034 3421 1001 2541 2566 2517 0 0 0 0 0 0 20.42 20.18 20.45

15209 1.20 146.2 3421 1002 2567 2518 182.0 10.3 815 15214 0.17 2.88 0.00 0.000 5126 0.161 0.032 3393 2404 2541 2566 2517 0 0 0 0 0 0 20.01 20.17 20.17

15539 1.20 152.7 3393 2405 2568 2519 151.1 9.1 831 15547 0.00 0.00 6.50 0.716 8230 0.000 0.000 3393 2404 2523 2552 2495 0 0 0 0 0 0 20.42 20.01 19.59

15839 1.20 157.2 3393 2404 2553 2495 123.2 9.2 841 15849 0.00 2.80 3.25 0.595 8484 0.000 0.052 3390 3696 2504 2538 2471 0 0 0 0 0 0 20.41 20.06 19.34

15873 1.21 168.8 3391 3695 2543 2471 120.0 8.8 848 15894 0.00 2.62 16.38 0.587 9254 0.000 0.028 3398 2401 2453 2492 2415 0 0 0 0 0 0 20.23 20.21 19.61

16200 1.24 211.6 3399 2401 2485 2411 96.6 7.1 863 16251 0.00 2.88 45.12 0.510 8740 0.000 0.034 3409 1000 2273 2322 2225 0 0 0 0 0 0 20.40 19.87 19.61

16275 1.27 257.5 3409 1000 2315 2225 91.4 6.9 878 16327 0.00 2.88 46.97 0.497 9254 0.000 0.032 3409 2398 2095 2146 2044 0 0 0 0 0 0 20.16 20.10 19.60

16653 1.28 262.0 3409 2397 2128 2029 58.1 9.2 903 16657 0.00 2.78 0.00 0.000 292 0.000 0.051 3408 3702 2078 2127 2029 0 0 0 0 0 0 20.37 20.09 20.41

16716 1.28 262.0 3409 3702 2129 2029 51.4 10.6 916 16723 0.00 2.67 0.00 0.000 1030 0.000 0.032 3415 2402 2078 2126 2030 0 0 0 0 0 0 20.19 20.17 20.21

17024 1.28 262.2 3417 2402 2127 2029 21.6 9.4 949 17024 0.00 0.00 0.00 0.000 38 0.000 0.000 3416 2402 2077 2126 2029 0 0 0 0 0 0 20.39 20.44 20.43

17222 end climb: SURFACE_DEPTH_REACHED

state 17222 begin surface coast

17243 end surface coast: CONTROL_FINISHED_OK

state 17243 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	20
MISSION	21	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	17	ALTIM_PULSE	2
DIVE	111	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0.60000002
D_TGT	850	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	CALL_NDIVES	1	C_VBD	3145	MOTHERBOARD	4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	4	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00069999998	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	3
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	300	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	500	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	PHONE_DEVICE	48
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_W	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_24V	150	SIM_PITCH	0
USE_ICE	0	PITCH_MIN	210	AH0_10V	97	SEABIRD_T_G	0.0043580476
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_24V	16	SEABIRD_T_H	0.00063004985
D_OFFGRID	1010	C_PITCH	3000	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
RELAUNCH	1	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
MAX_BUOY	150	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
COURSE_BIAS	0	PITCH_GAIN	24	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_YINT	-171.85684	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_AD_RATE	140	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
RHO	1.026	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
MASS	52527	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	PM_PROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_N	0	PM_XMITPROFILE	0.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
HD_A	0.0044816299	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2400	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	311017,225030,1937.3738,-15603.9521,20,0.9,20,9.5,0.3,48.8,9,7.0	SPEED_LIMITS	0.164,0.186
_CALLS	1	TGT_NAME	SHELF2
_XMS_NAKs	0	TGT_LATLONG	1937.000,-15603.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.85	MHEAD_RNG_PITCHd_Wd	113.8,1756,-26.2,-9.444,-30.00,1862
_SM_ANGLEo	-68.3	D_GRID	1010
GPS2	311017,225940,1937.3575,-15603.9326,2,0.9,4,9.5,0.2,13.2,9,7.1

FINISH	-0.0,1.022301	PM_FREEKB_06	37639104
SM_CCo	17262,137.60,0.112,0,0,1103,500.17	PM_FREEKB_07	62336576
SM_GC	0.97,12.45,0.22,137.60,0.070,0.062,0.112,180,2505,1103,-8.69,-0.57,500.17,0,0,0,0,0,0,20.20,20.16,19.99	PM_ACTIVECARD	6
IRIDIUM_FIX	1935.85,-15601.79,311017,180529	_24V_AH	18.80,41.252
TT8_MAMPS	0.047936,0.328811	_10V_AH	9.96,26.972
HUMID	50.03	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.25268	FG_AHR_10Vo	0.000
TCM_TEMP	24.10	MEM	215688
XPDR_PINGS	0	DATA_FILE_SIZE	33382,971
PM_FREEKB_00	0	CAP_FILE_SIZE	137478,0
PM_FREEKB_01	4873536	CFSIZE	260030464,242180096
PM_FREEKB_02	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,1,2,0,0
PM_FREEKB_03	0	CURRENT	0.016,109.35,1
PM_FREEKB_04	4227648	GPS	011117,035100,1936.501,-15602.341,24,0.8,24,9.5,0.4,77.9,9,6.1
PM_FREEKB_05	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	237	146.90	nil	0	0	0.00
Roll_motor	172	978	3174.90	nil	0	0	0.00
VBD_pump_during_apogee	444	1547	12945.00	nil	0	0	0.00
VBD_pump_during_surface	137	112	290.91	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	17263	3	1132.34
Iridium_during_xfer	398	124	934.89	PMAR	17257	31	10296.16
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	12	0.73
TT8	0	0	0.00
LPSleep	14327	2	312.52
TT8_Active	816	13	108.31
TT8_Sampling	2618	44	1148.42
TT8_CF8	185	55	102.36
TT8_Kalman	0	0	0.00
Analog_circuits	2033	11	230.93
GPS_charging	0	0	0.00
Compass	1705	8	139.94
RAFOS	0	0	0.00
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.17	-114.4	188	2505	1179	1041	0.0	0.0	0	118	0.00	0.00	-101.90	0.000	16390	0.000	0.000	187	2506	3612	3545	3680	0	0	0	0	0	0	20.34	19.50	20.38
120	-1.20	-146.2	188	2505	3547	3679	3.4	-5.4	10	146	16.33	2.78	-2.47	0.000	19236	0.237	0.978	2594	3707	3744	3685	3804	2	0	1	0	0	0	19.82	19.33	20.00
345	-1.20	-146.2	2594	3708	3690	3805	56.9	-21.6	55	352	0.00	2.50	0.00	0.000	1030	0.000	0.040	2594	2516	3746	3689	3804	0	0	0	0	0	0	20.16	20.13	20.18
662	-1.20	-146.2	2594	2515	3693	3804	111.2	-14.8	68	667	0.00	2.92	0.00	0.000	516	0.000	0.037	2602	1087	3747	3691	3804	0	0	0	0	0	0	20.38	20.12	20.42
711	-1.20	-146.2	2602	1088	3693	3804	118.5	-13.7	78	717	0.00	2.95	0.00	0.000	1030	0.000	0.039	2593	2497	3748	3692	3804	0	0	0	0	0	0	20.18	20.12	20.20
1022	-1.20	-146.2	2593	2497	3695	3804	157.9	-12.7	90	1027	0.00	2.92	0.00	0.000	516	0.000	0.042	2599	1090	3748	3693	3803	0	0	0	0	0	0	20.39	20.12	20.42
1052	-1.20	-146.2	2598	1091	3695	3805	161.5	-11.1	96	1057	0.00	2.95	0.00	0.000	1030	0.000	0.039	2590	2502	3748	3693	3804	0	0	0	0	0	0	20.18	20.13	20.20
1382	-1.20	-146.2	2590	2502	3697	3804	196.0	-11.1	112	1387	0.00	2.95	0.00	0.000	516	0.000	0.041	2599	1089	3750	3696	3804	0	0	0	0	0	0	20.39	20.12	20.44
1436	-1.20	-146.2	2598	1089	3698	3804	201.1	-9.1	123	1444	0.00	2.97	0.00	0.000	1062	0.000	0.039	2589	2493	3750	3696	3804	0	0	0	0	0	0	20.17	20.14	20.20
1742	-1.20	-146.2	2590	2494	3698	3806	230.1	-9.9	134	1743	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2493	3751	3698	3804	0	0	0	0	0	0	20.39	20.44	20.44
2072	-1.20	-146.2	2590	2492	3699	3804	261.1	-8.9	143	2078	0.00	2.92	0.00	0.000	548	0.000	0.039	2598	1088	3751	3698	3804	0	0	0	0	0	0	20.39	20.14	20.44
2248	-1.20	-146.2	2599	1089	3699	3805	278.3	-10.5	178	2255	0.00	2.95	0.00	0.000	1030	0.000	0.038	2589	2506	3751	3698	3804	0	0	0	0	0	0	20.20	20.15	20.23
2554	-1.20	-146.2	2590	2507	3698	3805	309.0	-10.1	184	2559	0.00	2.95	0.00	0.000	516	0.000	0.039	2598	1086	3750	3697	3803	0	0	0	0	0	0	20.40	20.16	20.44
2648	-1.20	-146.2	2599	1086	3697	3804	318.1	-9.6	203	2654	0.00	2.95	0.00	0.000	1030	0.000	0.040	2590	2495	3749	3695	3804	0	0	0	0	0	0	20.22	20.15	20.23
2975	-1.20	-146.2	2590	2498	3693	3804	347.6	-9.1	213	2980	0.00	2.95	0.00	0.000	548	0.000	0.041	2598	1087	3747	3693	3802	0	0	0	0	0	0	20.41	20.15	20.44
3014	-1.20	-146.2	2598	1087	3693	3802	351.5	-9.6	221	3019	0.00	2.95	0.00	0.000	1030	0.000	0.039	2589	2507	3747	3693	3802	0	0	0	0	0	0	20.21	20.15	20.23
3335	-1.20	-146.2	2590	2507	3692	3798	384.1	-10.3	230	3339	0.00	2.95	0.00	0.000	516	0.000	0.038	2598	1085	3744	3691	3798	0	0	0	0	0	0	20.41	20.16	20.45
3369	-1.20	-146.2	2598	1086	3692	3799	387.6	-10.0	237	3374	0.00	2.95	0.00	0.000	1030	0.000	0.041	2590	2493	3744	3690	3798	0	0	0	0	0	0	20.22	20.15	20.24
3695	-1.20	-146.2	2590	2495	3689	3797	416.1	-8.5	247	3701	0.00	2.62	0.00	0.000	292	0.000	0.063	2580	3700	3742	3690	3795	0	0	0	0	0	0	20.41	20.13	20.45
3795	-1.20	-146.2	2580	3701	3686	3795	425.4	-9.5	267	3801	0.00	2.53	0.00	0.000	1030	0.000	0.039	2588	2493	3740	3686	3794	0	0	0	0	0	0	20.20	20.19	20.23
4117	-1.20	-146.2	2588	2493	3685	3791	456.0	-9.6	276	4121	0.00	2.90	0.00	0.000	516	0.000	0.039	2598	1089	3737	3683	3791	0	0	0	0	0	0	20.42	20.16	20.46
4215	-1.20	-146.2	2599	1090	3684	3790	466.2	-10.3	296	4221	0.00	2.95	0.00	0.000	1030	0.000	0.041	2592	2504	3736	3683	3790	0	0	0	0	0	0	20.23	20.16	20.25
4537	-1.20	-146.2	2589	2506	3682	3788	495.3	-8.9	305	4541	0.00	2.60	0.00	0.000	292	0.000	0.063	2580	3700	3734	3682	3787	0	0	0	0	0	0	20.42	20.13	20.46
4621	-1.20	-146.2	2580	3700	3681	3787	503.0	-9.0	322	4626	0.00	2.47	0.00	0.000	1062	0.000	0.040	2587	2497	3733	3680	3786	0	0	0	0	0	0	20.25	20.20	20.26
4956	-1.20	-146.2	2588	2496	3679	3783	529.9	-8.0	334	4961	0.00	2.90	0.00	0.000	548	0.000	0.039	2598	1091	3730	3677	3783	0	0	0	0	0	0	20.43	20.16	20.47
5046	-1.20	-146.2	2598	1090	3678	3783	536.6	-7.5	352	5051	0.00	2.95	0.00	0.000	1062	0.000	0.041	2589	2497	3730	3677	3783	0	0	0	0	0	0	20.23	20.17	20.25
5377	-1.20	-146.2	2589	2497	3674	3780	561.0	-7.5	363	5383	0.00	2.95	0.00	0.000	548	0.000	0.044	2597	1091	3727	3675	3780	0	0	0	0	0	0	20.42	20.16	20.47
5417	-1.20	-146.2	2598	1091	3676	3780	564.3	-8.1	371	5423	0.00	2.97	0.00	0.000	1062	0.000	0.042	2589	2506	3727	3674	3780	0	0	0	0	0	0	20.23	20.16	20.25
5739	-1.20	-146.2	2590	2506	3673	3775	590.5	-8.2	380	5740	0.00	0.00	0.00	0.000	38	0.000	0.000	2589	2506	3724	3672	3776	0	0	0	0	0	0	20.43	20.47	20.47
6038	-1.20	-146.2	2590	2506	3672	3774	614.3	-7.9	385	6043	0.00	2.95	0.00	0.000	548	0.000	0.041	2598	1092	3722	3671	3774	0	0	0	0	0	0	20.43	20.17	20.47
6133	-1.20	-146.2	2598	1091	3672	3775	622.0	-7.9	404	6138	0.00	2.95	0.00	0.000	1062	0.000	0.041	2589	2494	3722	3671	3774	0	0	0	0	0	0	20.24	20.18	20.26
6458	-1.20	-146.2	2590	2494	3671	3771	646.3	-7.4	414	6459	0.00	0.00	0.00	0.000	38	0.000	0.000	2589	2495	3720	3669	3771	0	0	0	0	0	0	20.43	20.48	20.47
6758	-1.20	-146.2	2589	2496	3668	3770	664.8	-6.0	419	6764	0.00	2.95	0.00	0.000	548	0.000	0.044	2598	1091	3718	3667	3769	0	0	0	0	0	0	20.43	20.16	20.47
6804	-1.20	-146.2	2598	1092	3667	3770	667.7	-6.4	428	6809	0.00	2.97	0.00	0.000	1062	0.000	0.044	2589	2505	3717	3665	3769	0	0	0	0	0	0	20.24	20.17	20.26
7119	-1.20	-146.2	2589	2507	3666	3767	688.4	-6.6	436	7120	0.00	0.00	0.00	0.000	38	0.000	0.000	2589	2506	3716	3665	3767	0	0	0	0	0	0	20.44	20.49	20.47
7419	-1.20	-146.2	2589	2506	3664	3766	708.3	-6.7	441	7424	0.00	2.97	0.00	0.000	548	0.000	0.043	2598	1091	3713	3662	3765	0	0	0	0	0	0	20.44	20.18	20.48
7493	-1.20	-146.2	2596	1091	3662	3767	713.5	-6.9	456	7499	0.00	2.97	0.00	0.000	1062	0.000	0.042	2589	2498	3713	3662	3765	0	0	0	0	0	0	20.25	20.18	20.27
7839	-1.20	-146.2	2589	2500	3662	3765	735.3	-6.3	470	7844	0.00	2.97	0.00	0.000	548	0.000	0.049	2597	1091	3712	3661	3763	0	0	0	0	0	0	20.44	20.17	20.48
7918	-1.20	-146.2	2598	1091	3662	3763	740.2	-6.2	486	7924	0.00	2.97	0.00	0.000	1062	0.000	0.044	2589	2504	3712	3661	3763	0	0	0	0	0	0	20.25	20.18	20.27
8260	-1.20	-146.2	2589	2504	3661	3762	760.3	-5.9	499	8260	0.00	0.00	0.00	0.000	38	0.000	0.000	2589	2504	3711	3661	3761	0	0	0	0	0	0	20.44	20.49	20.49
8560	-1.20	-146.2	2589	2505	3660	3763	777.3	-5.6	504	8560	0.00	0.00	0.00	0.000	38	0.000	0.000	2589	2504	3709	3659	3760	0	0	0	0	0	0	20.44	20.49	20.49
8859	-1.20	-146.2	2589	2505	3659	3760	792.0	-4.8	509	8864	0.00	2.97	0.00	0.000	548	0.000	0.046	2598	1092	3708	3658	3759	0	0	0	0	0	0	20.45	20.18	20.49
8909	-1.20	-146.2	2598	1091	3659	3758	794.7	-5.5	519	8915	0.00	2.97	0.00	0.000	1062	0.000	0.045	2589	2493	3708	3658	3759	0	0	0	0	0	0	20.25	20.18	20.28
9220	-1.20	-146.2	2589	2495	3657	3758	811.7	-5.5	526	9221	0.00	0.00	0.00	0.000	38	0.000	0.000	2590	2493	3705	3655	3756	0	0	0	0	0	0	20.45	20.49	20.49
9520	-1.20	-146.2	2590	2494	3658	3756	828.0	-5.5	531	9526	0.00	2.95	0.00	0.000	548	0.000	0.044	2597	1092	3706	3656	3756	0	0	0	0	0	0	20.45	20.18	20.49
9550	-1.20	-146.2	2598	1092	3657	3755	829.7	-5.7	537	9556	0.00	3.00	0.00	0.000	1062	0.000	0.044	2589	2507	3705	3655	3756	0	0	0	0	0	0	20.25	20.18	20.28
9881	-1.20	-146.2	2589	2507	3655	3757	848.0	-5.6	548	9881	0.00	0.00	0.00	0.000	38	0.000	0.000	2589	2507	3705	3655	3755	0	0	0	0	0	0	20.45	20.50	20.49
9939	end dive: TARGET_DEPTH_EXCEEDED
state	9939	begin apogee
9943	-0.21	0.0	2589	2404	3656	3756	851.5	-5.8	549	10108	1.77	0.00	156.43	1.546	10246	0.178	0.000	2925	2401	3144	3164	3125	0	0	0	0	1	0	20.01	19.74	18.80
10109	end apogee: CONTROL_FINISHED_OK
state	10109	begin climb
10111	1.20	146.2	2925	2403	3172	3127	852.7	0.0	551	10299	2.12	3.05	170.27	1.548	10756	0.143	0.037	3385	974	2550	2580	2521	0	0	0	0	1	0	19.83	19.77	18.85
10355	1.20	146.2	3385	974	2582	2521	821.5	15.3	601	10360	0.00	2.95	0.00	0.000	1030	0.000	0.032	3385	2397	2550	2580	2521	0	0	0	0	0	0	20.06	20.00	20.09
10705	1.20	146.2	3386	2397	2578	2520	764.6	16.5	616	10710	0.00	2.78	0.00	0.000	260	0.000	0.053	3385	3698	2549	2578	2521	0	0	0	0	0	0	20.32	20.05	20.36
10729	1.20	146.2	3385	3699	2576	2522	760.3	17.4	621	10735	0.00	2.67	0.00	0.000	1030	0.000	0.030	3394	2383	2548	2575	2521	0	0	0	0	0	0	20.18	20.13	20.19
11066	1.20	146.2	3394	2385	2574	2523	709.8	14.7	633	11067	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2384	2547	2574	2521	0	0	0	0	0	0	20.35	20.39	20.38
11365	1.20	146.2	3394	2385	2574	2520	666.6	14.5	638	11366	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2384	2546	2572	2520	0	0	0	0	0	0	20.35	20.40	20.39
11666	1.20	146.2	3395	2384	2573	2522	627.4	12.9	643	11666	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2384	2545	2571	2520	0	0	0	0	0	0	20.37	20.42	20.42
11965	1.20	146.2	3394	2385	2571	2521	588.7	13.0	648	11971	0.00	2.80	0.00	0.000	516	0.000	0.032	3404	1008	2545	2571	2520	0	0	0	0	0	0	20.37	20.13	20.42
12010	1.20	146.2	3404	1009	2572	2521	582.4	13.9	657	12016	0.00	2.88	0.00	0.000	1030	0.000	0.032	3405	2399	2545	2571	2520	0	0	0	0	0	0	20.19	20.13	20.21
12326	1.20	146.2	3405	2399	2570	2518	538.2	14.0	665	12327	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	2399	2544	2569	2520	0	0	0	0	0	0	20.38	20.43	20.42
12626	1.20	146.2	3405	2399	2569	2521	496.9	13.7	670	12627	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	2399	2544	2568	2520	0	0	0	0	0	0	20.38	20.44	20.42
12926	1.20	146.2	3404	2400	2569	2519	456.5	13.3	675	12927	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	2399	2543	2568	2518	0	0	0	0	0	0	20.38	20.44	20.43
13226	1.20	146.2	3404	2399	2568	2517	419.6	12.4	680	13232	0.00	2.85	0.00	0.000	516	0.000	0.032	3414	1009	2542	2567	2518	0	0	0	0	0	0	20.39	20.16	20.44
13301	1.20	146.2	3414	1009	2568	2520	409.9	13.0	695	13307	0.00	2.90	0.00	0.000	1030	0.000	0.033	3414	2407	2542	2567	2518	0	0	0	0	0	0	20.21	20.16	20.23
13647	1.20	146.2	3414	2409	2567	2520	363.4	13.6	709	13652	0.00	2.78	0.00	0.000	260	0.000	0.055	3412	3700	2542	2566	2518	0	0	0	0	0	0	20.40	20.13	20.44
13711	1.20	146.2	3413	3701	2567	2518	353.4	16.0	722	13717	0.10	2.65	0.00	0.000	5126	0.172	0.033	3393	2405	2541	2566	2517	0	0	0	0	0	0	20.00	20.20	20.16
14067	1.20	146.2	3393	2406	2567	2516	308.2	12.4	738	14072	0.00	2.85	0.00	0.000	516	0.000	0.032	3401	1002	2541	2566	2517	0	0	0	0	0	0	20.41	20.17	20.44
14147	1.20	146.2	3402	1002	2567	2517	298.5	11.8	754	14152	0.00	2.90	0.00	0.000	1030	0.000	0.031	3401	2406	2541	2566	2517	0	0	0	0	0	0	20.23	20.16	20.25
14488	1.20	146.2	3402	2406	2567	2517	258.5	11.8	767	14492	0.00	2.88	0.00	0.000	516	0.000	0.034	3411	1004	2541	2566	2517	0	0	0	0	0	0	20.41	20.17	20.45
14512	1.20	146.2	3412	1005	2567	2518	255.6	11.6	772	14518	0.00	2.88	0.00	0.000	1030	0.000	0.033	3412	2397	2542	2568	2517	0	0	0	0	0	0	20.23	20.16	20.25
14818	1.20	146.2	3412	2397	2567	2516	219.3	11.6	787	14819	0.00	0.00	0.00	0.000	6	0.000	0.000	3412	2397	2541	2566	2517	0	0	0	0	0	0	20.41	20.46	20.45
15118	1.20	146.2	3412	2399	2567	2518	190.9	9.5	797	15123	0.00	2.85	0.00	0.000	516	0.000	0.034	3421	1001	2541	2566	2517	0	0	0	0	0	0	20.42	20.18	20.45
15209	1.20	146.2	3421	1002	2567	2518	182.0	10.3	815	15214	0.17	2.88	0.00	0.000	5126	0.161	0.032	3393	2404	2541	2566	2517	0	0	0	0	0	0	20.01	20.17	20.17
15539	1.20	152.7	3393	2405	2568	2519	151.1	9.1	831	15547	0.00	0.00	6.50	0.716	8230	0.000	0.000	3393	2404	2523	2552	2495	0	0	0	0	0	0	20.42	20.01	19.59
15839	1.20	157.2	3393	2404	2553	2495	123.2	9.2	841	15849	0.00	2.80	3.25	0.595	8484	0.000	0.052	3390	3696	2504	2538	2471	0	0	0	0	0	0	20.41	20.06	19.34
15873	1.21	168.8	3391	3695	2543	2471	120.0	8.8	848	15894	0.00	2.62	16.38	0.587	9254	0.000	0.028	3398	2401	2453	2492	2415	0	0	0	0	0	0	20.23	20.21	19.61
16200	1.24	211.6	3399	2401	2485	2411	96.6	7.1	863	16251	0.00	2.88	45.12	0.510	8740	0.000	0.034	3409	1000	2273	2322	2225	0	0	0	0	0	0	20.40	19.87	19.61
16275	1.27	257.5	3409	1000	2315	2225	91.4	6.9	878	16327	0.00	2.88	46.97	0.497	9254	0.000	0.032	3409	2398	2095	2146	2044	0	0	0	0	0	0	20.16	20.10	19.60
16653	1.28	262.0	3409	2397	2128	2029	58.1	9.2	903	16657	0.00	2.78	0.00	0.000	292	0.000	0.051	3408	3702	2078	2127	2029	0	0	0	0	0	0	20.37	20.09	20.41
16716	1.28	262.0	3409	3702	2129	2029	51.4	10.6	916	16723	0.00	2.67	0.00	0.000	1030	0.000	0.032	3415	2402	2078	2126	2030	0	0	0	0	0	0	20.19	20.17	20.21
17024	1.28	262.2	3417	2402	2127	2029	21.6	9.4	949	17024	0.00	0.00	0.00	0.000	38	0.000	0.000	3416	2402	2077	2126	2029	0	0	0	0	0	0	20.39	20.44	20.43
17222	end climb: SURFACE_DEPTH_REACHED
state	17222	begin surface coast
17243	end surface coast: CONTROL_FINISHED_OK
state	17243	begin surface