Glider dive log

Kona Oct17 * SG204 * Dive index * Mission links * Dive 112 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 20

MISSION 21 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 20 ALTIM_PULSE 2

DIVE 112 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 112 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1010 NOCOMM_ACTION 163 R_PORT_OVSHOOT 28 VBD_MAXERRORS 1

D_BOOST 50 N_DIVES 0 R_STBD_OVSHOOT 20 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 011117,035100,1936.5007,-15602.3408,24,0.8,24,9.5,0.4,77.9,9,6.1 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 0.89 MHEAD_RNG_PITCHd_Wd 296.1,1638,-26.2,-9.444,-30.00,1862

_SM_ANGLEo -68.8 D_GRID 1010

GPS2 011117,040020,1936.4633,-15602.2539,2,0.8,4,9.5,0.4,151.6,10,7.4

Post-dive calculations and measurements:

FINISH -0.0,0.998419 PM_FREEKB_06 32141696

SM_CCo 16601,145.27,0.114,0,0,1104,500.17 PM_FREEKB_07 62336576

SM_GC 0.98,12.40,0.22,145.27,0.069,0.061,0.114,182,2505,1104,-8.69,-0.51,500.17,0,0,0,0,0,0,20.20,20.18,20.00 PM_ACTIVECARD 6

IRIDIUM_FIX 1933.51,-15559.69,311017,225308 _24V_AH 19.23,41.384

TT8_MAMPS 0.045689,0.204477 _10V_AH 10.14,27.192

HUMID 50.59 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.22338 FG_AHR_10Vo 0.000

TCM_TEMP 23.70 MEM 215648

XPDR_PINGS 0 DATA_FILE_SIZE 33381,994

PM_FREEKB_00 0 CAP_FILE_SIZE 136784,0

PM_FREEKB_01 4873536 CFSIZE 260030464,242057216

PM_FREEKB_02 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,1,3,0,0

PM_FREEKB_03 0 CURRENT 0.014,5.70,1

PM_FREEKB_04 4227648 GPS 011117,084101,1937.392,-15603.705,31,1.0,37,9.5,0.2,0.0,10,6.9

PM_FREEKB_05 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 234 148.25 nil 0 0 0.00

Roll_motor 176 973 3294.77 nil 0 0 0.00

VBD_pump_during_apogee 447 973 8374.26 nil 0 0 0.00

VBD_pump_during_surface 145 113 318.43 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 16603 3 1122.25

Iridium_during_xfer 407 125 983.01 PMAR 16597 31 10090.57

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 12 0.74

TT8 0 0 0.00

LPSleep 13629 2 302.66

TT8_Active 836 13 112.95

TT8_Sampling 2650 44 1183.35

TT8_CF8 188 55 105.44

TT8_Kalman 0 0 0.00

Analog_circuits 2078 11 240.32

GPS_charging 0 0 0.00

Compass 1725 8 144.17

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 -114.4 181 2511 1170 1039 0.0 0.0 0 119 0.00 0.00 -101.88 0.000 16390 0.000 0.000 180 2510 3613 3546 3680 0 0 0 0 0 0 20.33 19.51 20.38

121 -1.20 -146.2 181 2510 3548 3680 3.6 -5.6 10 144 16.20 2.75 -2.42 0.000 18724 0.235 0.973 2600 3696 3743 3684 3803 2 0 1 0 0 0 19.83 19.36 20.06

178 -1.20 -146.2 2600 3697 3687 3804 21.5 -22.7 21 186 0.00 2.47 0.00 0.000 1030 0.000 0.036 2607 2509 3744 3686 3803 0 0 0 0 0 0 20.15 20.12 20.17

484 -1.20 -146.2 2607 2510 3689 3804 76.6 -17.3 42 489 0.00 2.95 0.00 0.000 516 0.000 0.041 2618 1089 3745 3689 3802 0 0 0 0 0 0 20.37 20.10 20.41

553 -1.20 -146.2 2618 1089 3690 3803 87.3 -15.4 56 559 0.00 2.95 0.00 0.000 1030 0.000 0.040 2609 2500 3745 3688 3802 0 0 0 0 0 0 20.18 20.11 20.20

875 -1.20 -146.2 2611 2502 3691 3804 135.9 -14.3 70 879 0.00 2.95 0.00 0.000 516 0.000 0.041 2618 1088 3747 3692 3803 0 0 0 0 0 0 20.38 20.12 20.42

1058 -1.20 -146.2 2617 1089 3693 3804 160.3 -12.1 107 1064 0.00 2.97 0.00 0.000 1030 0.000 0.040 2609 2496 3748 3693 3803 0 0 0 0 0 0 20.17 20.13 20.20

1385 -1.20 -146.2 2609 2497 3695 3803 197.9 -11.3 122 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2496 3748 3694 3802 0 0 0 0 0 0 20.40 20.44 20.43

1684 -1.20 -146.2 2609 2497 3697 3804 226.6 -9.0 132 1689 0.00 2.95 0.00 0.000 548 0.000 0.041 2617 1086 3749 3696 3802 0 0 0 0 0 0 20.39 20.14 20.44

1723 -1.20 -146.2 2617 1087 3697 3803 230.7 -10.8 140 1729 0.00 2.95 0.00 0.000 1030 0.000 0.039 2608 2509 3749 3696 3803 0 0 0 0 0 0 20.20 20.13 20.22

2045 -1.20 -146.2 2608 2510 3699 3804 263.5 -9.5 152 2049 0.00 2.92 0.00 0.000 516 0.000 0.038 2613 1089 3750 3697 3803 0 0 0 0 0 0 20.40 20.14 20.44

2128 -1.20 -146.2 2611 1088 3698 3802 270.7 -8.7 169 2135 0.00 2.92 0.00 0.000 1062 0.000 0.038 2603 2494 3750 3698 3803 0 0 0 0 0 0 20.21 20.15 20.23

2465 -1.20 -146.2 2603 2494 3698 3802 300.4 -8.9 181 2471 0.00 2.88 0.00 0.000 548 0.000 0.041 2605 1087 3749 3696 3803 0 0 0 0 0 0 20.40 20.15 20.44

2536 -1.20 -146.2 2605 1088 3696 3804 306.4 -8.3 195 2541 0.00 2.95 0.00 0.000 1062 0.000 0.040 2596 2505 3749 3696 3803 0 0 0 0 0 0 20.21 20.15 20.23

2887 -1.20 -146.2 2596 2505 3694 3801 336.7 -9.0 210 2887 0.00 0.00 0.00 0.000 38 0.000 0.000 2596 2505 3747 3693 3801 0 0 0 0 0 0 20.40 20.45 20.44

3187 -1.20 -146.2 2596 2507 3691 3801 368.2 -10.6 215 3187 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2505 3745 3691 3799 0 0 0 0 0 0 20.41 20.46 20.45

3487 -1.20 -146.2 2596 2506 3689 3797 398.1 -9.8 220 3491 0.00 2.95 0.00 0.000 516 0.000 0.041 2600 1090 3741 3688 3795 0 0 0 0 0 0 20.41 20.16 20.45

3560 -1.20 -146.2 2600 1091 3688 3797 405.4 -9.7 235 3566 0.00 2.95 0.00 0.000 1030 0.000 0.041 2591 2497 3741 3687 3795 0 0 0 0 0 0 20.23 20.16 20.24

3907 -1.20 -146.2 2591 2498 3685 3792 436.5 -8.9 249 3913 0.00 2.62 0.00 0.000 292 0.000 0.065 2582 3699 3737 3684 3791 0 0 0 0 0 0 20.41 20.13 20.45

3962 -1.20 -146.2 2582 3700 3684 3796 441.2 -8.6 260 3969 0.00 2.50 0.00 0.000 1062 0.000 0.037 2589 2494 3736 3683 3790 0 0 0 0 0 0 20.22 20.19 20.25

4268 -1.20 -146.2 2590 2496 3682 3788 464.2 -7.3 266 4273 0.00 2.90 0.00 0.000 548 0.000 0.039 2599 1089 3734 3682 3786 0 0 0 0 0 0 20.42 20.16 20.46

4412 -1.20 -146.2 2600 1090 3682 3786 474.8 -7.2 295 4418 0.00 2.97 0.00 0.000 1062 0.000 0.041 2590 2509 3734 3680 3788 0 0 0 0 0 0 20.23 20.16 20.25

4748 -1.20 -146.2 2591 2509 3679 3782 500.0 -7.7 307 4753 0.00 2.55 0.00 0.000 292 0.000 0.057 2582 3696 3730 3678 3782 0 0 0 0 0 0 20.42 20.13 20.46

4837 -1.20 -146.2 2582 3697 3677 3783 508.1 -9.4 325 4843 0.00 2.45 0.00 0.000 1062 0.000 0.037 2589 2500 3729 3677 3782 0 0 0 0 0 0 20.25 20.20 20.27

5168 -1.20 -146.2 2589 2501 3676 3781 536.8 -8.7 336 5173 0.00 2.92 0.00 0.000 548 0.000 0.041 2599 1091 3726 3673 3779 0 0 0 0 0 0 20.41 20.16 20.47

5233 -1.20 -146.2 2598 1092 3674 3780 542.3 -8.5 349 5239 0.00 2.97 0.00 0.000 1062 0.000 0.043 2591 2495 3726 3673 3779 0 0 0 0 0 0 20.23 20.17 20.25

5589 -1.20 -146.2 2591 2495 3673 3775 572.5 -8.4 365 5595 0.00 2.95 0.00 0.000 548 0.000 0.044 2599 1092 3723 3671 3775 0 0 0 0 0 0 20.42 20.16 20.47

5650 -1.20 -146.2 2598 1092 3672 3777 577.5 -8.4 377 5656 0.00 2.97 0.00 0.000 1062 0.000 0.043 2590 2506 3722 3670 3775 0 0 0 0 0 0 20.23 20.16 20.25

6011 -1.20 -146.2 2591 2506 3671 3772 606.3 -8.0 394 6015 0.00 2.95 0.00 0.000 548 0.000 0.042 2599 1091 3721 3670 3772 0 0 0 0 0 0 20.42 20.17 20.47

6075 -1.20 -146.2 2599 1092 3670 3773 611.5 -7.9 407 6080 0.00 2.97 0.00 0.000 1062 0.000 0.042 2590 2506 3720 3669 3772 0 0 0 0 0 0 20.24 20.17 20.25

6431 -1.20 -146.2 2591 2505 3667 3768 637.1 -7.1 423 6432 0.00 0.00 0.00 0.000 38 0.000 0.000 2590 2506 3717 3667 3768 0 0 0 0 0 0 20.42 20.48 20.47

6731 -1.20 -146.2 2591 2506 3666 3766 655.1 -5.9 428 6735 0.00 2.97 0.00 0.000 548 0.000 0.043 2599 1090 3716 3665 3767 0 0 0 0 0 0 20.43 20.17 20.47

6800 -1.20 -146.2 2600 1090 3665 3767 659.1 -6.0 442 6806 0.00 3.00 0.00 0.000 1062 0.000 0.044 2591 2502 3715 3663 3767 0 0 0 0 0 0 20.25 20.18 20.26

7151 -1.20 -146.2 2591 2504 3663 3766 682.0 -6.7 457 7157 0.00 2.62 0.00 0.000 292 0.000 0.066 2581 3696 3713 3662 3765 0 0 0 0 0 0 20.43 20.14 20.47

7186 -1.20 -146.2 2581 3696 3663 3765 684.7 -8.0 464 7191 0.00 2.47 0.00 0.000 1062 0.000 0.040 2588 2495 3713 3661 3765 0 0 0 0 0 0 20.26 20.21 20.28

7512 -1.20 -146.2 2588 2496 3662 3764 709.2 -7.6 474 7517 0.00 2.62 0.00 0.000 292 0.000 0.060 2581 3697 3711 3661 3762 0 0 0 0 0 0 20.44 20.14 20.48

7546 -1.20 -146.2 2582 3697 3662 3763 712.1 -8.8 481 7552 0.00 2.53 0.00 0.000 1062 0.000 0.040 2588 2497 3711 3661 3762 0 0 0 0 0 0 20.24 20.23 20.27

7872 -1.20 -146.2 2588 2497 3663 3762 738.3 -8.1 491 7877 0.00 2.92 0.00 0.000 548 0.000 0.041 2599 1092 3710 3660 3761 0 0 0 0 0 0 20.44 20.18 20.48

7917 -1.20 -146.2 2599 1093 3661 3762 742.3 -8.5 500 7922 0.00 2.97 0.00 0.000 1062 0.000 0.045 2589 2497 3710 3660 3761 0 0 0 0 0 0 20.25 20.18 20.27

8232 -1.20 -146.2 2591 2497 3660 3760 766.0 -7.5 508 8233 0.00 0.00 0.00 0.000 38 0.000 0.000 2590 2497 3709 3659 3760 0 0 0 0 0 0 20.44 20.49 20.48

8532 -1.20 -146.2 2590 2498 3658 3759 788.4 -7.4 513 8533 0.00 0.00 0.00 0.000 38 0.000 0.000 2590 2497 3708 3657 3759 0 0 0 0 0 0 20.44 20.49 20.49

8832 -1.20 -146.2 2590 2498 3656 3757 811.1 -7.4 518 8837 0.00 2.97 0.00 0.000 548 0.000 0.050 2600 1092 3706 3656 3757 0 0 0 0 0 0 20.44 20.17 20.49

8922 -1.20 -146.2 2599 1093 3657 3758 818.3 -8.0 536 8927 0.00 2.97 0.00 0.000 1062 0.000 0.041 2590 2505 3706 3656 3756 0 0 0 0 0 0 20.25 20.18 20.28

9252 -1.20 -146.2 2591 2504 3657 3755 841.7 -6.9 547 9257 0.00 2.97 0.00 0.000 548 0.000 0.045 2599 1092 3705 3655 3755 0 0 0 0 0 0 20.44 20.17 20.49

9287 -1.20 -146.2 2599 1093 3656 3758 843.8 -6.8 554 9292 0.00 3.00 0.00 0.000 1062 0.000 0.045 2590 2506 3705 3655 3755 0 0 0 0 0 0 20.25 20.18 20.28

9431 end dive: TARGET_DEPTH_EXCEEDED

state 9431 begin apogee

9435 -0.21 0.0 2590 2403 3655 3756 853.3 -6.4 561 9614 1.75 0.00 173.10 0.974 10246 0.177 0.000 2922 2401 3138 3160 3117 0 0 0 0 0 0 20.01 19.90 19.25

9616 end apogee: CONTROL_FINISHED_OK

state 9616 begin climb

9617 1.20 146.2 2923 2401 3159 3114 852.2 0.0 564 9808 2.12 2.97 181.55 0.926 10756 0.142 0.037 3385 988 2541 2568 2514 0 0 0 0 0 0 19.89 19.70 19.28

9847 1.20 146.2 3384 989 2553 2508 821.6 15.9 611 9854 0.00 3.00 0.00 0.000 1030 0.000 0.034 3385 2397 2529 2553 2505 0 0 0 0 0 0 20.09 20.01 20.11

10154 1.20 146.2 3385 2399 2549 2499 772.2 16.4 617 10159 0.00 2.92 0.00 0.000 516 0.000 0.035 3394 988 2523 2549 2498 0 0 0 0 0 0 20.33 20.09 20.37

10183 1.20 146.2 3395 988 2549 2497 767.3 15.9 623 10190 0.00 2.97 0.00 0.000 1030 0.000 0.034 3395 2397 2523 2549 2497 0 0 0 0 0 0 20.14 20.09 20.16

10515 1.20 146.2 3395 2396 2547 2495 716.8 15.1 634 10520 0.00 2.80 0.00 0.000 260 0.000 0.053 3395 3701 2520 2546 2495 0 0 0 0 0 0 20.35 20.09 20.40

10559 1.20 146.2 3394 3701 2546 2492 709.7 15.9 643 10565 0.00 2.65 0.00 0.000 1030 0.000 0.031 3409 2380 2519 2545 2493 0 0 0 0 0 0 20.20 20.16 20.21

10875 1.20 146.2 3404 2381 2546 2493 665.6 13.9 651 10876 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 2380 2518 2545 2492 0 0 0 0 0 0 20.37 20.42 20.42

11175 1.20 146.2 3405 2380 2545 2492 622.9 14.2 656 11176 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 2380 2518 2544 2492 0 0 0 0 0 0 20.38 20.43 20.42

11475 1.20 146.2 3404 2381 2544 2492 582.7 13.3 661 11481 0.00 2.85 0.00 0.000 260 0.000 0.052 3404 3704 2517 2543 2491 0 0 0 0 0 0 20.39 20.11 20.43

11495 1.20 146.2 3404 3706 2543 2490 579.7 14.0 665 11502 0.00 2.62 0.00 0.000 1030 0.000 0.031 3413 2401 2516 2543 2489 0 0 0 0 0 0 20.23 20.20 20.25

11837 1.20 146.2 3413 2402 2544 2488 531.3 14.3 678 11841 0.00 2.88 0.00 0.000 516 0.000 0.034 3423 1002 2516 2543 2489 0 0 0 0 0 0 20.38 20.16 20.44

11896 1.20 146.2 3424 1003 2544 2490 522.6 14.6 690 11902 0.20 2.92 0.00 0.000 5126 0.173 0.034 3390 2404 2516 2543 2489 0 0 0 0 0 0 19.99 20.16 20.17

12257 1.20 146.2 3390 2404 2543 2489 473.2 13.9 707 12262 0.00 2.78 0.00 0.000 260 0.000 0.054 3390 3697 2515 2543 2488 0 0 0 0 0 0 20.40 20.12 20.45

12291 1.20 146.2 3390 3697 2543 2487 467.8 15.6 714 12297 0.00 2.65 0.00 0.000 1030 0.000 0.030 3398 2401 2514 2541 2487 0 0 0 0 0 0 20.23 20.22 20.28

12617 1.20 146.2 3398 2401 2543 2487 422.3 13.9 724 12618 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2401 2514 2542 2487 0 0 0 0 0 0 20.41 20.46 20.45

12917 1.20 146.2 3397 2400 2543 2487 382.0 13.4 729 12918 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2401 2514 2541 2487 0 0 0 0 0 0 20.42 20.46 20.46

13217 1.20 146.2 3398 2400 2542 2487 344.4 12.5 734 13218 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2401 2514 2541 2487 0 0 0 0 0 0 20.42 20.47 20.46

13517 1.20 146.2 3399 2402 2539 2487 306.1 12.8 739 13518 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2400 2514 2541 2487 0 0 0 0 0 0 20.42 20.47 20.47

13818 1.20 146.2 3398 2402 2544 2488 273.9 10.6 744 13822 0.00 2.78 0.00 0.000 260 0.000 0.051 3397 3700 2514 2541 2487 0 0 0 0 0 0 20.42 20.15 20.47

13878 1.20 146.2 3397 3701 2541 2487 266.6 12.4 756 13882 0.00 2.60 0.00 0.000 1030 0.000 0.029 3405 2398 2513 2540 2486 0 0 0 0 0 0 20.27 20.23 20.29

14207 1.20 146.2 3406 2397 2542 2486 224.9 13.1 775 14212 0.00 2.88 0.00 0.000 516 0.000 0.035 3418 998 2512 2538 2486 0 0 0 0 0 0 20.42 20.18 20.47

14367 1.20 146.2 3416 998 2542 2486 206.9 10.1 807 14373 0.15 2.88 0.00 0.000 5126 0.165 0.031 3392 2403 2513 2540 2486 0 0 0 0 0 0 20.02 20.18 20.20

14687 1.20 146.2 3393 2404 2541 2486 175.0 10.3 821 14688 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2402 2513 2540 2486 0 0 0 0 0 0 20.43 20.48 20.47

14988 1.22 181.3 3393 2403 2545 2486 149.2 7.5 831 15029 0.00 2.83 28.52 0.562 8484 0.000 0.051 3388 3697 2403 2444 2363 0 0 0 0 1 0 20.43 19.97 19.47

15113 1.22 181.3 3389 3697 2454 2362 136.1 12.2 856 15118 0.00 2.62 0.00 0.000 1030 0.000 0.028 3396 2401 2408 2453 2363 0 0 0 0 0 0 20.23 20.20 20.24

15439 1.25 228.7 3396 2400 2454 2362 107.1 6.8 871 15489 0.00 2.90 39.55 0.684 8740 0.000 0.033 3406 997 2214 2265 2163 0 0 0 0 1 0 20.42 19.73 19.23

15549 1.26 239.2 3407 997 2282 2163 98.6 8.9 893 15579 0.00 2.88 18.12 0.480 9254 0.000 0.031 3406 2397 2164 2218 2111 0 0 0 0 1 0 20.18 20.12 19.61

15890 1.26 239.2 3407 2397 2222 2112 64.4 9.7 911 15895 0.00 2.78 0.00 0.000 260 0.000 0.051 3406 3706 2165 2219 2112 0 0 0 0 0 0 20.39 20.11 20.42

15999 1.26 239.2 3407 3706 2219 2113 52.0 11.7 933 16005 0.00 2.67 0.00 0.000 1030 0.000 0.034 3415 2406 2165 2219 2112 0 0 0 0 0 0 20.20 20.18 20.22

16311 1.27 249.5 3416 2407 2222 2113 24.6 8.9 963 16322 0.00 2.80 6.32 0.160 8484 0.000 0.050 3410 3706 2127 2181 2074 0 0 0 0 0 0 20.40 20.09 19.99

16346 1.27 249.5 3411 3706 2191 2075 21.0 10.5 970 16353 0.00 2.67 0.00 0.000 1030 0.000 0.033 3418 2405 2134 2192 2077 0 0 0 0 0 0 20.21 20.18 20.23

16561 end climb: SURFACE_DEPTH_REACHED

state 16561 begin surface coast

16581 end surface coast: CONTROL_FINISHED_OK

state 16581 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	20
MISSION	21	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	20	ALTIM_PULSE	2
DIVE	112	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	011117,035100,1936.5007,-15602.3408,24,0.8,24,9.5,0.4,77.9,9,6.1	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	0.89	MHEAD_RNG_PITCHd_Wd	296.1,1638,-26.2,-9.444,-30.00,1862
_SM_ANGLEo	-68.8	D_GRID	1010
GPS2	011117,040020,1936.4633,-15602.2539,2,0.8,4,9.5,0.4,151.6,10,7.4

FINISH	-0.0,0.998419	PM_FREEKB_06	32141696
SM_CCo	16601,145.27,0.114,0,0,1104,500.17	PM_FREEKB_07	62336576
SM_GC	0.98,12.40,0.22,145.27,0.069,0.061,0.114,182,2505,1104,-8.69,-0.51,500.17,0,0,0,0,0,0,20.20,20.18,20.00	PM_ACTIVECARD	6
IRIDIUM_FIX	1933.51,-15559.69,311017,225308	_24V_AH	19.23,41.384
TT8_MAMPS	0.045689,0.204477	_10V_AH	10.14,27.192
HUMID	50.59	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.22338	FG_AHR_10Vo	0.000
TCM_TEMP	23.70	MEM	215648
XPDR_PINGS	0	DATA_FILE_SIZE	33381,994
PM_FREEKB_00	0	CAP_FILE_SIZE	136784,0
PM_FREEKB_01	4873536	CFSIZE	260030464,242057216
PM_FREEKB_02	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,1,3,0,0
PM_FREEKB_03	0	CURRENT	0.014,5.70,1
PM_FREEKB_04	4227648	GPS	011117,084101,1937.392,-15603.705,31,1.0,37,9.5,0.2,0.0,10,6.9
PM_FREEKB_05	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	234	148.25	nil	0	0	0.00
Roll_motor	176	973	3294.77	nil	0	0	0.00
VBD_pump_during_apogee	447	973	8374.26	nil	0	0	0.00
VBD_pump_during_surface	145	113	318.43	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	16603	3	1122.25
Iridium_during_xfer	407	125	983.01	PMAR	16597	31	10090.57
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	12	0.74
TT8	0	0	0.00
LPSleep	13629	2	302.66
TT8_Active	836	13	112.95
TT8_Sampling	2650	44	1183.35
TT8_CF8	188	55	105.44
TT8_Kalman	0	0	0.00
Analog_circuits	2078	11	240.32
GPS_charging	0	0	0.00
Compass	1725	8	144.17
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	181	2511	1170	1039	0.0	0.0	0	119	0.00	0.00	-101.88	0.000	16390	0.000	0.000	180	2510	3613	3546	3680	0	0	0	0	0	0	20.33	19.51	20.38
121	-1.20	-146.2	181	2510	3548	3680	3.6	-5.6	10	144	16.20	2.75	-2.42	0.000	18724	0.235	0.973	2600	3696	3743	3684	3803	2	0	1	0	0	0	19.83	19.36	20.06
178	-1.20	-146.2	2600	3697	3687	3804	21.5	-22.7	21	186	0.00	2.47	0.00	0.000	1030	0.000	0.036	2607	2509	3744	3686	3803	0	0	0	0	0	0	20.15	20.12	20.17
484	-1.20	-146.2	2607	2510	3689	3804	76.6	-17.3	42	489	0.00	2.95	0.00	0.000	516	0.000	0.041	2618	1089	3745	3689	3802	0	0	0	0	0	0	20.37	20.10	20.41
553	-1.20	-146.2	2618	1089	3690	3803	87.3	-15.4	56	559	0.00	2.95	0.00	0.000	1030	0.000	0.040	2609	2500	3745	3688	3802	0	0	0	0	0	0	20.18	20.11	20.20
875	-1.20	-146.2	2611	2502	3691	3804	135.9	-14.3	70	879	0.00	2.95	0.00	0.000	516	0.000	0.041	2618	1088	3747	3692	3803	0	0	0	0	0	0	20.38	20.12	20.42
1058	-1.20	-146.2	2617	1089	3693	3804	160.3	-12.1	107	1064	0.00	2.97	0.00	0.000	1030	0.000	0.040	2609	2496	3748	3693	3803	0	0	0	0	0	0	20.17	20.13	20.20
1385	-1.20	-146.2	2609	2497	3695	3803	197.9	-11.3	122	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2496	3748	3694	3802	0	0	0	0	0	0	20.40	20.44	20.43
1684	-1.20	-146.2	2609	2497	3697	3804	226.6	-9.0	132	1689	0.00	2.95	0.00	0.000	548	0.000	0.041	2617	1086	3749	3696	3802	0	0	0	0	0	0	20.39	20.14	20.44
1723	-1.20	-146.2	2617	1087	3697	3803	230.7	-10.8	140	1729	0.00	2.95	0.00	0.000	1030	0.000	0.039	2608	2509	3749	3696	3803	0	0	0	0	0	0	20.20	20.13	20.22
2045	-1.20	-146.2	2608	2510	3699	3804	263.5	-9.5	152	2049	0.00	2.92	0.00	0.000	516	0.000	0.038	2613	1089	3750	3697	3803	0	0	0	0	0	0	20.40	20.14	20.44
2128	-1.20	-146.2	2611	1088	3698	3802	270.7	-8.7	169	2135	0.00	2.92	0.00	0.000	1062	0.000	0.038	2603	2494	3750	3698	3803	0	0	0	0	0	0	20.21	20.15	20.23
2465	-1.20	-146.2	2603	2494	3698	3802	300.4	-8.9	181	2471	0.00	2.88	0.00	0.000	548	0.000	0.041	2605	1087	3749	3696	3803	0	0	0	0	0	0	20.40	20.15	20.44
2536	-1.20	-146.2	2605	1088	3696	3804	306.4	-8.3	195	2541	0.00	2.95	0.00	0.000	1062	0.000	0.040	2596	2505	3749	3696	3803	0	0	0	0	0	0	20.21	20.15	20.23
2887	-1.20	-146.2	2596	2505	3694	3801	336.7	-9.0	210	2887	0.00	0.00	0.00	0.000	38	0.000	0.000	2596	2505	3747	3693	3801	0	0	0	0	0	0	20.40	20.45	20.44
3187	-1.20	-146.2	2596	2507	3691	3801	368.2	-10.6	215	3187	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2505	3745	3691	3799	0	0	0	0	0	0	20.41	20.46	20.45
3487	-1.20	-146.2	2596	2506	3689	3797	398.1	-9.8	220	3491	0.00	2.95	0.00	0.000	516	0.000	0.041	2600	1090	3741	3688	3795	0	0	0	0	0	0	20.41	20.16	20.45
3560	-1.20	-146.2	2600	1091	3688	3797	405.4	-9.7	235	3566	0.00	2.95	0.00	0.000	1030	0.000	0.041	2591	2497	3741	3687	3795	0	0	0	0	0	0	20.23	20.16	20.24
3907	-1.20	-146.2	2591	2498	3685	3792	436.5	-8.9	249	3913	0.00	2.62	0.00	0.000	292	0.000	0.065	2582	3699	3737	3684	3791	0	0	0	0	0	0	20.41	20.13	20.45
3962	-1.20	-146.2	2582	3700	3684	3796	441.2	-8.6	260	3969	0.00	2.50	0.00	0.000	1062	0.000	0.037	2589	2494	3736	3683	3790	0	0	0	0	0	0	20.22	20.19	20.25
4268	-1.20	-146.2	2590	2496	3682	3788	464.2	-7.3	266	4273	0.00	2.90	0.00	0.000	548	0.000	0.039	2599	1089	3734	3682	3786	0	0	0	0	0	0	20.42	20.16	20.46
4412	-1.20	-146.2	2600	1090	3682	3786	474.8	-7.2	295	4418	0.00	2.97	0.00	0.000	1062	0.000	0.041	2590	2509	3734	3680	3788	0	0	0	0	0	0	20.23	20.16	20.25
4748	-1.20	-146.2	2591	2509	3679	3782	500.0	-7.7	307	4753	0.00	2.55	0.00	0.000	292	0.000	0.057	2582	3696	3730	3678	3782	0	0	0	0	0	0	20.42	20.13	20.46
4837	-1.20	-146.2	2582	3697	3677	3783	508.1	-9.4	325	4843	0.00	2.45	0.00	0.000	1062	0.000	0.037	2589	2500	3729	3677	3782	0	0	0	0	0	0	20.25	20.20	20.27
5168	-1.20	-146.2	2589	2501	3676	3781	536.8	-8.7	336	5173	0.00	2.92	0.00	0.000	548	0.000	0.041	2599	1091	3726	3673	3779	0	0	0	0	0	0	20.41	20.16	20.47
5233	-1.20	-146.2	2598	1092	3674	3780	542.3	-8.5	349	5239	0.00	2.97	0.00	0.000	1062	0.000	0.043	2591	2495	3726	3673	3779	0	0	0	0	0	0	20.23	20.17	20.25
5589	-1.20	-146.2	2591	2495	3673	3775	572.5	-8.4	365	5595	0.00	2.95	0.00	0.000	548	0.000	0.044	2599	1092	3723	3671	3775	0	0	0	0	0	0	20.42	20.16	20.47
5650	-1.20	-146.2	2598	1092	3672	3777	577.5	-8.4	377	5656	0.00	2.97	0.00	0.000	1062	0.000	0.043	2590	2506	3722	3670	3775	0	0	0	0	0	0	20.23	20.16	20.25
6011	-1.20	-146.2	2591	2506	3671	3772	606.3	-8.0	394	6015	0.00	2.95	0.00	0.000	548	0.000	0.042	2599	1091	3721	3670	3772	0	0	0	0	0	0	20.42	20.17	20.47
6075	-1.20	-146.2	2599	1092	3670	3773	611.5	-7.9	407	6080	0.00	2.97	0.00	0.000	1062	0.000	0.042	2590	2506	3720	3669	3772	0	0	0	0	0	0	20.24	20.17	20.25
6431	-1.20	-146.2	2591	2505	3667	3768	637.1	-7.1	423	6432	0.00	0.00	0.00	0.000	38	0.000	0.000	2590	2506	3717	3667	3768	0	0	0	0	0	0	20.42	20.48	20.47
6731	-1.20	-146.2	2591	2506	3666	3766	655.1	-5.9	428	6735	0.00	2.97	0.00	0.000	548	0.000	0.043	2599	1090	3716	3665	3767	0	0	0	0	0	0	20.43	20.17	20.47
6800	-1.20	-146.2	2600	1090	3665	3767	659.1	-6.0	442	6806	0.00	3.00	0.00	0.000	1062	0.000	0.044	2591	2502	3715	3663	3767	0	0	0	0	0	0	20.25	20.18	20.26
7151	-1.20	-146.2	2591	2504	3663	3766	682.0	-6.7	457	7157	0.00	2.62	0.00	0.000	292	0.000	0.066	2581	3696	3713	3662	3765	0	0	0	0	0	0	20.43	20.14	20.47
7186	-1.20	-146.2	2581	3696	3663	3765	684.7	-8.0	464	7191	0.00	2.47	0.00	0.000	1062	0.000	0.040	2588	2495	3713	3661	3765	0	0	0	0	0	0	20.26	20.21	20.28
7512	-1.20	-146.2	2588	2496	3662	3764	709.2	-7.6	474	7517	0.00	2.62	0.00	0.000	292	0.000	0.060	2581	3697	3711	3661	3762	0	0	0	0	0	0	20.44	20.14	20.48
7546	-1.20	-146.2	2582	3697	3662	3763	712.1	-8.8	481	7552	0.00	2.53	0.00	0.000	1062	0.000	0.040	2588	2497	3711	3661	3762	0	0	0	0	0	0	20.24	20.23	20.27
7872	-1.20	-146.2	2588	2497	3663	3762	738.3	-8.1	491	7877	0.00	2.92	0.00	0.000	548	0.000	0.041	2599	1092	3710	3660	3761	0	0	0	0	0	0	20.44	20.18	20.48
7917	-1.20	-146.2	2599	1093	3661	3762	742.3	-8.5	500	7922	0.00	2.97	0.00	0.000	1062	0.000	0.045	2589	2497	3710	3660	3761	0	0	0	0	0	0	20.25	20.18	20.27
8232	-1.20	-146.2	2591	2497	3660	3760	766.0	-7.5	508	8233	0.00	0.00	0.00	0.000	38	0.000	0.000	2590	2497	3709	3659	3760	0	0	0	0	0	0	20.44	20.49	20.48
8532	-1.20	-146.2	2590	2498	3658	3759	788.4	-7.4	513	8533	0.00	0.00	0.00	0.000	38	0.000	0.000	2590	2497	3708	3657	3759	0	0	0	0	0	0	20.44	20.49	20.49
8832	-1.20	-146.2	2590	2498	3656	3757	811.1	-7.4	518	8837	0.00	2.97	0.00	0.000	548	0.000	0.050	2600	1092	3706	3656	3757	0	0	0	0	0	0	20.44	20.17	20.49
8922	-1.20	-146.2	2599	1093	3657	3758	818.3	-8.0	536	8927	0.00	2.97	0.00	0.000	1062	0.000	0.041	2590	2505	3706	3656	3756	0	0	0	0	0	0	20.25	20.18	20.28
9252	-1.20	-146.2	2591	2504	3657	3755	841.7	-6.9	547	9257	0.00	2.97	0.00	0.000	548	0.000	0.045	2599	1092	3705	3655	3755	0	0	0	0	0	0	20.44	20.17	20.49
9287	-1.20	-146.2	2599	1093	3656	3758	843.8	-6.8	554	9292	0.00	3.00	0.00	0.000	1062	0.000	0.045	2590	2506	3705	3655	3755	0	0	0	0	0	0	20.25	20.18	20.28
9431	end dive: TARGET_DEPTH_EXCEEDED
state	9431	begin apogee
9435	-0.21	0.0	2590	2403	3655	3756	853.3	-6.4	561	9614	1.75	0.00	173.10	0.974	10246	0.177	0.000	2922	2401	3138	3160	3117	0	0	0	0	0	0	20.01	19.90	19.25
9616	end apogee: CONTROL_FINISHED_OK
state	9616	begin climb
9617	1.20	146.2	2923	2401	3159	3114	852.2	0.0	564	9808	2.12	2.97	181.55	0.926	10756	0.142	0.037	3385	988	2541	2568	2514	0	0	0	0	0	0	19.89	19.70	19.28
9847	1.20	146.2	3384	989	2553	2508	821.6	15.9	611	9854	0.00	3.00	0.00	0.000	1030	0.000	0.034	3385	2397	2529	2553	2505	0	0	0	0	0	0	20.09	20.01	20.11
10154	1.20	146.2	3385	2399	2549	2499	772.2	16.4	617	10159	0.00	2.92	0.00	0.000	516	0.000	0.035	3394	988	2523	2549	2498	0	0	0	0	0	0	20.33	20.09	20.37
10183	1.20	146.2	3395	988	2549	2497	767.3	15.9	623	10190	0.00	2.97	0.00	0.000	1030	0.000	0.034	3395	2397	2523	2549	2497	0	0	0	0	0	0	20.14	20.09	20.16
10515	1.20	146.2	3395	2396	2547	2495	716.8	15.1	634	10520	0.00	2.80	0.00	0.000	260	0.000	0.053	3395	3701	2520	2546	2495	0	0	0	0	0	0	20.35	20.09	20.40
10559	1.20	146.2	3394	3701	2546	2492	709.7	15.9	643	10565	0.00	2.65	0.00	0.000	1030	0.000	0.031	3409	2380	2519	2545	2493	0	0	0	0	0	0	20.20	20.16	20.21
10875	1.20	146.2	3404	2381	2546	2493	665.6	13.9	651	10876	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	2380	2518	2545	2492	0	0	0	0	0	0	20.37	20.42	20.42
11175	1.20	146.2	3405	2380	2545	2492	622.9	14.2	656	11176	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	2380	2518	2544	2492	0	0	0	0	0	0	20.38	20.43	20.42
11475	1.20	146.2	3404	2381	2544	2492	582.7	13.3	661	11481	0.00	2.85	0.00	0.000	260	0.000	0.052	3404	3704	2517	2543	2491	0	0	0	0	0	0	20.39	20.11	20.43
11495	1.20	146.2	3404	3706	2543	2490	579.7	14.0	665	11502	0.00	2.62	0.00	0.000	1030	0.000	0.031	3413	2401	2516	2543	2489	0	0	0	0	0	0	20.23	20.20	20.25
11837	1.20	146.2	3413	2402	2544	2488	531.3	14.3	678	11841	0.00	2.88	0.00	0.000	516	0.000	0.034	3423	1002	2516	2543	2489	0	0	0	0	0	0	20.38	20.16	20.44
11896	1.20	146.2	3424	1003	2544	2490	522.6	14.6	690	11902	0.20	2.92	0.00	0.000	5126	0.173	0.034	3390	2404	2516	2543	2489	0	0	0	0	0	0	19.99	20.16	20.17
12257	1.20	146.2	3390	2404	2543	2489	473.2	13.9	707	12262	0.00	2.78	0.00	0.000	260	0.000	0.054	3390	3697	2515	2543	2488	0	0	0	0	0	0	20.40	20.12	20.45
12291	1.20	146.2	3390	3697	2543	2487	467.8	15.6	714	12297	0.00	2.65	0.00	0.000	1030	0.000	0.030	3398	2401	2514	2541	2487	0	0	0	0	0	0	20.23	20.22	20.28
12617	1.20	146.2	3398	2401	2543	2487	422.3	13.9	724	12618	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2401	2514	2542	2487	0	0	0	0	0	0	20.41	20.46	20.45
12917	1.20	146.2	3397	2400	2543	2487	382.0	13.4	729	12918	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2401	2514	2541	2487	0	0	0	0	0	0	20.42	20.46	20.46
13217	1.20	146.2	3398	2400	2542	2487	344.4	12.5	734	13218	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2401	2514	2541	2487	0	0	0	0	0	0	20.42	20.47	20.46
13517	1.20	146.2	3399	2402	2539	2487	306.1	12.8	739	13518	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2400	2514	2541	2487	0	0	0	0	0	0	20.42	20.47	20.47
13818	1.20	146.2	3398	2402	2544	2488	273.9	10.6	744	13822	0.00	2.78	0.00	0.000	260	0.000	0.051	3397	3700	2514	2541	2487	0	0	0	0	0	0	20.42	20.15	20.47
13878	1.20	146.2	3397	3701	2541	2487	266.6	12.4	756	13882	0.00	2.60	0.00	0.000	1030	0.000	0.029	3405	2398	2513	2540	2486	0	0	0	0	0	0	20.27	20.23	20.29
14207	1.20	146.2	3406	2397	2542	2486	224.9	13.1	775	14212	0.00	2.88	0.00	0.000	516	0.000	0.035	3418	998	2512	2538	2486	0	0	0	0	0	0	20.42	20.18	20.47
14367	1.20	146.2	3416	998	2542	2486	206.9	10.1	807	14373	0.15	2.88	0.00	0.000	5126	0.165	0.031	3392	2403	2513	2540	2486	0	0	0	0	0	0	20.02	20.18	20.20
14687	1.20	146.2	3393	2404	2541	2486	175.0	10.3	821	14688	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2402	2513	2540	2486	0	0	0	0	0	0	20.43	20.48	20.47
14988	1.22	181.3	3393	2403	2545	2486	149.2	7.5	831	15029	0.00	2.83	28.52	0.562	8484	0.000	0.051	3388	3697	2403	2444	2363	0	0	0	0	1	0	20.43	19.97	19.47
15113	1.22	181.3	3389	3697	2454	2362	136.1	12.2	856	15118	0.00	2.62	0.00	0.000	1030	0.000	0.028	3396	2401	2408	2453	2363	0	0	0	0	0	0	20.23	20.20	20.24
15439	1.25	228.7	3396	2400	2454	2362	107.1	6.8	871	15489	0.00	2.90	39.55	0.684	8740	0.000	0.033	3406	997	2214	2265	2163	0	0	0	0	1	0	20.42	19.73	19.23
15549	1.26	239.2	3407	997	2282	2163	98.6	8.9	893	15579	0.00	2.88	18.12	0.480	9254	0.000	0.031	3406	2397	2164	2218	2111	0	0	0	0	1	0	20.18	20.12	19.61
15890	1.26	239.2	3407	2397	2222	2112	64.4	9.7	911	15895	0.00	2.78	0.00	0.000	260	0.000	0.051	3406	3706	2165	2219	2112	0	0	0	0	0	0	20.39	20.11	20.42
15999	1.26	239.2	3407	3706	2219	2113	52.0	11.7	933	16005	0.00	2.67	0.00	0.000	1030	0.000	0.034	3415	2406	2165	2219	2112	0	0	0	0	0	0	20.20	20.18	20.22
16311	1.27	249.5	3416	2407	2222	2113	24.6	8.9	963	16322	0.00	2.80	6.32	0.160	8484	0.000	0.050	3410	3706	2127	2181	2074	0	0	0	0	0	0	20.40	20.09	19.99
16346	1.27	249.5	3411	3706	2191	2075	21.0	10.5	970	16353	0.00	2.67	0.00	0.000	1030	0.000	0.033	3418	2405	2134	2192	2077	0	0	0	0	0	0	20.21	20.18	20.23
16561	end climb: SURFACE_DEPTH_REACHED
state	16561	begin surface coast
16581	end surface coast: CONTROL_FINISHED_OK
state	16581	begin surface