Glider dive log

Shilshole 23May17 * SG402 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 402 HD_B 0.0143 ROLL_MAX 3750 ALTIM_BOTTOM_PING_RANGE 0

MISSION 2 HD_C 2.4999001e-05 ROLL_DEG 65 ALTIM_TOP_PING_RANGE 0

DIVE 35 HEADING -1 C_ROLL_DIVE 2278 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 40 ESCAPE_HEADING 0 C_ROLL_CLIMB 2230 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 0

D_FLARE 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 20 ALTIM_FREQUENCY 13

D_ABORT 210 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 20 ALTIM_PULSE 5

D_NO_BLEED 210 SM_CC 450 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 1 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 50 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 4045 DEEPGLIDER 2

D_CALL 0 N_NOCOMM 1 C_VBD 2627 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.85860002 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE3 -1

T_DIVE 75 CALL_TRIES 10 VBD_TIMEOUT 360 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0014 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 20 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 495 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3900 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2535 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 400 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044041616

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063614739

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4510882e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9009848e-06

RHO 1.023 PITCH_GAIN 13 PHONE_SUPPLY 2 SEABIRD_C_G -9.6809101

MASS 72262 PITCH_TIMEOUT 50 PRESSURE_YINT -48.895668 SEABIRD_C_H 1.1416712

MASS_COMP 0 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.3081022e-05 SEABIRD_C_I -0.0016510745

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00019793682

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2915.98

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0060000001 ROLL_MIN 300 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 450

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 70 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 13 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3900 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FILEMGR 0 PITCH_MIN 495 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.0014 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0060000001 PITCH_W_GAIN 20 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0143 PRESSURE_SLOPE 3.3081022e-05 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999001e-05 PRESSURE_YINT -48.895668 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 75

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 402 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 60

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 97 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 4

C_PITCH 2535 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 2230 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 2278 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2627 MASS 72262 ROLL_CNV 0.04555 USE_BATHY -6

DBDW 0 MASS_COMP 0 ROLL_DEG 65 USE_ICE 0

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_CNV -0.85860002

DEVICE2 -1 MAX_BUOY 400 ROLL_MIN 300 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 20 VBD_MAX 4045

DEVICE5 -1 MISSION 2 R_STBD_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.6809101 VBD_MIN 50

DIVE 35 NAV_MODE 1 SEABIRD_C_H 1.1416712 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 210 NOCOMM_ACTION 0 SEABIRD_C_I -0.0016510745 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 40 SEABIRD_C_J 0.00019793682 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2915.98 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 20 SEABIRD_T_G 0.0044041616 XPDR_DEVICE 24

D_FLARE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063614739 XPDR_INHIBIT 90

D_NO_BLEED 210 N_NOSURFACE 0 SEABIRD_T_I 2.4510882e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.9009848e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 250517,002526,4741.5840,-12225.9453,4,0.9,4,16.3,0.0,0.0,9,127.5 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.242524,0.197748

_SM_DEPTHo 0.69 KALMAN_X -6104.930176,-330.518188,-620.190247,5202.288086,-342.059509

_SM_ANGLEo -37.9 KALMAN_Y -8303.374023,-735.911621,-1426.928223,7350.519043,-48.503357

GPS2 250517,003421,4741.5283,-12226.0078,7,0.9,7,16.3,0.0,0.0,9,76.7 MHEAD_RNG_PITCHd_Wd 34.5,2346,-10.7,-8.000,-14.34,7330

SPEED_LIMITS 0.080,0.313 D_GRID 156

Post-dive calculations and measurements:

FINISH 0.0,1.017523 _10V_AH 10.49,3.654

SM_CCo 3312,0.00,0.000,0,0,1010,1388.36 FG_AHR_24Vo 0.000

SM_GC 0.77,29.42,3.90,0.00,0.040,0.044,0.000,501,2285,1010,-6.34,-0.55,1388.36,0,0,0,0,0,0,26.30,26.27,26.36 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,250517,002649 MEM 313144

TT8_MAMPS 0.020972,0.15729 DATA_FILE_SIZE 27688,697

HUMID 46.88 CAP_FILE_SIZE 112033,0

INTERNAL_PRESSURE 10.4985 CFSIZE 1024409600,1018167296

TCM_TEMP 10.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 4 GPS 250517,013150,4742.080,-12225.318,36,1.0,36,16.3,0.0,0.0,8,8.6

_24V_AH 23.44,6.887

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 59 114 160.31 SBE_CT 466 24 262.25

Roll_motor 115 1283 3471.54 nil 0 0 0.00

VBD_pump_during_apogee 125 2090 6143.04 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 80.20 nil 0 0 0.00

Iridium_during_connect 31 160 119.17 nil 0 0 0.00

Iridium_during_xfer 381 223 1995.59 nil 0 0 0.00

Transponder_ping 1 420 9.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 50 4.06

TT8 1646 19 341.90

LPSleep 232 2 5.35

TT8_Active 449 19 93.32

TT8_Sampling 1474 39 615.62

TT8_CF8 57 45 27.74

TT8_Kalman 33 81 28.68

Analog_circuits 1096 12 138.09

GPS_charging 0 0 0.00

Compass 1001 5 52.51

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 int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6 -1.37 -391.0 513 2282 1126 741 0.0 0.0 0 15 6.30 0.00 0.00 0.000 2049 0.115 0.000 1054 2282 1125 1125 690 0 0 0 0 0 0 26.45 28.83 28.83 10.62 47.28

16 -1.37 -391.0 1054 2282 1125 690 0.6 0.0 1 52 10.88 4.20 -13.82 0.000 18948 0.060 1.284 2090 862 3088 3088 817 0 0 0 0 0 0 26.15 25.03 26.23 10.62 46.53

94 -1.37 -391.0 2090 862 3090 817 6.3 -17.3 17 101 0.00 3.70 0.00 0.000 1030 0.000 0.041 2090 2270 3090 3090 787 0 0 0 0 0 0 26.14 26.03 26.17 10.99 46.85

135 -1.37 -391.0 2090 2270 3091 787 12.1 -14.1 26 142 0.00 4.12 0.00 0.000 260 0.000 0.093 2090 3701 3092 3092 786 0 0 0 0 0 0 26.41 26.03 26.42 10.98 47.08

188 -1.37 -391.0 2090 3701 3092 786 19.5 -13.7 38 195 0.00 3.65 0.00 0.000 1030 0.000 0.038 2090 2295 3093 3093 777 0 0 0 0 0 0 26.28 26.21 26.31 10.97 46.37

229 -1.37 -391.0 2089 2294 3093 777 24.4 -10.9 47 235 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2294 3093 3093 773 0 0 0 0 0 0 26.51 26.53 26.53 10.96 46.37

269 -1.37 -391.0 2089 2294 3094 773 29.1 -12.1 56 275 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2294 3095 3095 771 0 0 0 0 0 0 26.55 26.57 26.57 10.96 46.18

309 -1.37 -391.0 2089 2294 3096 771 34.0 -12.5 65 315 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2293 3096 3096 769 0 0 0 0 0 0 26.59 26.61 26.60 10.96 46.69

349 -1.37 -391.0 2089 2294 3097 769 38.7 -12.0 74 356 0.00 3.95 0.00 0.000 516 0.000 0.074 2090 861 3097 3097 773 0 0 0 0 0 0 26.63 26.25 26.64 10.96 46.65

390 -1.37 -391.0 2089 862 3097 773 43.9 -13.8 83 397 0.00 3.75 0.00 0.000 1030 0.000 0.041 2090 2301 3097 3097 775 0 0 0 0 0 0 26.44 26.33 26.46 10.95 46.69

431 -1.37 -391.0 2090 2302 3098 775 49.7 -14.3 92 437 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2302 3098 3098 772 0 0 0 0 0 0 26.67 26.69 26.69 10.95 45.78

471 -1.37 -391.0 2090 2302 3099 772 55.2 -13.5 101 478 0.00 3.97 0.00 0.000 260 0.000 0.089 2090 3698 3099 3099 777 0 0 0 0 0 0 26.70 26.32 26.71 10.95 46.10

532 -1.37 -391.0 2090 3699 3101 777 63.6 -13.3 115 539 0.00 3.55 0.00 0.000 1030 0.000 0.039 2090 2307 3101 3101 771 0 0 0 0 0 0 26.54 26.47 26.55 10.94 46.22

573 -1.37 -391.0 2090 2306 3101 771 68.3 -11.0 124 579 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2306 3101 3101 769 0 0 0 0 0 0 26.74 26.76 26.76 10.94 46.61

613 -1.37 -391.0 2090 2306 3102 769 72.8 -11.5 133 619 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2306 3102 3102 769 0 0 0 0 0 0 26.77 26.78 26.78 10.93 46.49

653 -1.37 -391.0 2090 2306 3103 769 77.3 -11.0 142 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2306 3103 3103 769 0 0 0 0 0 0 26.79 26.80 26.80 10.93 46.41

693 -1.37 -391.0 2089 2306 3104 769 81.8 -11.3 151 700 0.00 3.92 0.00 0.000 516 0.000 0.072 2090 866 3104 3104 774 0 0 0 0 0 0 26.80 26.43 26.82 10.92 46.18

730 -1.37 -391.0 2090 866 3104 774 86.5 -13.2 159 737 0.00 3.75 0.00 0.000 1030 0.000 0.043 2091 2313 3104 3104 778 0 0 0 0 0 0 26.60 26.49 26.63 10.94 46.02

771 -1.37 -391.0 2090 2314 3105 778 91.6 -11.8 168 777 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3106 3106 774 0 0 0 0 0 0 26.82 26.84 26.84 10.94 46.37

811 -1.37 -391.0 2090 2313 3106 774 96.3 -12.2 177 817 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3106 3106 773 0 0 0 0 0 0 26.84 26.85 26.85 10.92 46.14

850 -1.37 -391.0 2089 2314 3107 773 101.2 -12.4 186 856 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3107 3107 773 0 0 0 0 0 0 26.85 26.86 26.86 10.93 46.25

890 -1.37 -391.0 2089 2314 3108 773 105.9 -11.4 195 896 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3108 3108 773 0 0 0 0 0 0 26.86 26.88 26.88 10.93 46.49

930 -1.37 -391.0 2089 2314 3109 773 110.6 -11.5 204 936 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3109 3109 772 0 0 0 0 0 0 26.88 26.89 26.89 10.93 46.33

970 -1.37 -391.0 2090 2314 3110 772 115.7 -12.5 213 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3110 3110 772 0 0 0 0 0 0 26.89 26.90 26.90 10.93 46.73

1010 -1.37 -391.0 2090 2314 3110 772 120.8 -11.9 222 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3111 3111 772 0 0 0 0 0 0 26.90 26.91 26.91 10.93 46.53

1050 -1.37 -391.0 2090 2314 3111 772 126.1 -12.5 231 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2313 3112 3112 772 0 0 0 0 0 0 26.91 26.93 26.92 10.93 46.14

1090 -1.37 -391.0 2089 2313 3112 772 131.2 -12.4 240 1097 0.00 3.92 0.00 0.000 516 0.000 0.069 2090 863 3112 3112 778 0 0 0 0 0 0 26.92 26.55 26.94 10.93 46.53

1123 -1.37 -391.0 2089 864 3114 778 135.8 -14.8 247 1130 0.00 3.70 0.00 0.000 1030 0.000 0.044 2090 2305 3114 3114 782 0 0 0 0 0 0 26.71 26.60 26.73 10.93 46.33

1164 -1.37 -391.0 2090 2306 3114 782 141.4 -13.9 256 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2306 3114 3114 778 0 0 0 0 0 0 26.93 26.94 26.94 10.93 46.45

1204 -1.37 -391.0 2090 2306 3115 778 146.5 -11.9 265 1210 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2306 3115 3115 777 0 0 0 0 0 0 26.94 26.96 26.95 10.93 46.96

1244 -1.37 -391.0 2090 2306 3116 777 151.0 -11.2 274 1250 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2306 3117 3117 776 0 0 0 0 0 0 26.95 26.96 26.96 10.93 46.57

1284 -1.37 -391.0 2090 2307 3116 776 155.4 -11.3 283 1290 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2306 3117 3117 775 0 0 0 0 0 0 26.96 26.97 26.97 10.93 47.20

1294 end dive: TARGET_DEPTH_EXCEEDED

state 1295 begin apogee

1298 -0.38 0.0 2090 2223 3117 776 156.7 -10.9 285 1333 3.20 0.00 25.62 2.091 10244 0.069 0.000 2402 2223 2626 2626 3560 0 0 0 0 0 0 26.64 25.08 24.03 10.93 46.57

1334 end apogee: CONTROL_FINISHED_OK

state 1334 begin climb

1336 1.37 391.0 2402 2223 2626 3560 158.8 0.0 291 1371 5.80 0.00 24.52 2.067 11270 0.054 0.000 2951 2223 2170 2170 3619 0 0 0 0 0 0 25.65 25.86 23.44 10.83 46.33

1405 1.37 391.0 2951 2223 2170 3619 154.2 8.5 305 1411 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2223 2170 2170 782 0 0 0 0 0 0 25.70 25.72 25.72 10.75 46.69

1445 1.37 391.0 2950 2223 2169 782 150.8 8.5 314 1451 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2223 2169 2169 755 0 0 0 0 0 0 25.94 25.96 25.95 10.75 46.10

1485 1.42 425.0 2950 2223 2169 755 147.7 7.5 323 1493 0.10 0.00 3.78 1.030 10246 0.091 0.000 2966 2224 2131 2131 4095 0 0 0 0 0 0 25.86 25.57 24.25 10.75 46.14

1527 1.42 425.0 2965 2223 2130 4095 144.4 8.4 332 1533 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2222 2130 2130 776 0 0 0 0 0 0 26.14 26.15 26.15 10.74 45.82

1567 1.43 436.4 2964 2223 2130 776 141.4 7.8 341 1580 0.00 4.12 2.55 0.470 8452 0.000 0.083 2966 3648 2117 2117 4095 0 0 0 0 0 0 26.24 25.83 24.43 10.74 46.61

1606 1.43 436.4 2965 3648 2115 4095 136.8 13.7 349 1613 0.00 3.67 0.00 0.000 1030 0.000 0.038 2966 2247 2116 2116 785 0 0 0 0 0 0 26.10 26.02 26.13 10.74 46.49

1648 1.53 508.2 2965 2247 2115 785 133.0 7.0 358 1660 0.35 0.00 5.80 1.325 10246 0.054 0.000 3005 2247 2034 2034 4095 0 0 0 0 0 0 26.11 25.45 24.50 10.73 46.57

1694 1.53 508.2 3005 2247 2034 4095 129.4 8.3 368 1700 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2246 2034 2034 776 0 0 0 0 0 0 26.28 26.29 26.29 10.72 46.53

1734 1.53 508.2 3004 2247 2033 776 125.7 9.6 377 1740 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2247 2033 2033 746 0 0 0 0 0 0 26.36 26.38 26.37 10.72 46.33

1774 1.53 508.2 3005 2247 2031 746 121.8 9.1 386 1779 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2247 2032 2032 723 0 0 0 0 0 0 26.41 26.44 26.43 10.72 47.04

1813 1.53 508.2 3005 2247 2031 723 118.4 8.2 395 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2247 2031 2031 704 0 0 0 0 0 0 26.47 26.48 26.48 10.71 46.69

1853 1.55 523.3 3005 2247 2030 704 115.3 7.8 404 1860 0.00 0.00 2.65 0.471 8198 0.000 0.000 3005 2248 2016 2016 4095 0 0 0 0 0 0 26.51 26.04 24.84 10.72 47.32

1895 1.59 552.6 3005 2247 2016 4095 112.2 7.6 413 1902 0.15 0.00 3.50 0.791 10246 0.076 0.000 3025 2247 1982 1982 4095 0 0 0 0 0 0 26.29 26.03 24.85 10.71 47.32

1937 1.62 572.5 3024 2247 1981 4095 108.7 7.7 422 1943 0.00 0.00 2.97 0.598 8198 0.000 0.000 3025 2247 1958 1958 4095 0 0 0 0 0 0 26.51 26.04 24.86 10.71 46.25

1978 1.62 572.8 3025 2246 1958 4095 105.3 8.0 431 1983 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2246 1959 1959 773 0 0 0 0 0 0 26.52 26.53 26.53 10.70 46.96

2017 1.71 634.5 3024 2247 1957 773 102.5 7.1 440 2030 0.30 0.00 5.22 1.063 10246 0.060 0.000 3060 2247 1886 1886 4095 0 0 0 0 0 0 26.31 25.73 24.89 10.70 46.29

2064 1.79 689.9 3059 2246 1885 4095 99.1 7.2 450 2078 0.22 4.00 4.82 0.991 10500 0.063 0.085 3087 3652 1822 1822 4095 0 0 0 0 0 0 26.27 26.01 24.88 10.69 46.85

2096 1.79 689.9 3087 3651 1821 4095 96.2 9.4 456 2103 0.00 3.67 0.00 0.000 1030 0.000 0.039 3087 2244 1821 1821 784 0 0 0 0 0 0 26.25 26.16 26.26 10.67 46.61

2137 1.79 689.9 3087 2245 1821 784 92.4 8.9 465 2143 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2244 1820 1820 745 0 0 0 0 0 0 26.48 26.50 26.50 10.67 47.08

2177 1.79 689.9 3087 2245 1820 745 89.0 8.5 474 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2244 1819 1819 716 0 0 0 0 0 0 26.53 26.54 26.54 10.67 46.85

2217 1.79 689.9 3087 2245 1819 716 85.5 9.0 483 2223 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2245 1819 1819 693 0 0 0 0 0 0 26.57 26.58 26.58 10.67 46.65

2257 1.79 695.3 3087 2245 1818 693 82.2 7.9 492 2263 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2245 1818 1818 672 0 0 0 0 0 0 26.60 26.62 26.62 10.66 46.88

2297 1.79 695.3 3087 2245 1817 672 79.0 8.1 501 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2245 1817 1817 654 0 0 0 0 0 0 26.64 26.65 26.65 10.66 47.12

2337 1.79 695.3 3087 2245 1817 654 75.6 9.1 510 2343 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2244 1816 1816 638 0 0 0 0 0 0 26.67 26.68 26.68 10.67 46.49

2377 1.79 695.3 3087 2244 1816 638 71.9 9.4 519 2383 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2244 1815 1815 624 0 0 0 0 0 0 26.69 26.70 26.70 10.67 46.33

2417 1.79 695.3 3087 2245 1815 624 68.0 9.4 528 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2245 1814 1814 612 0 0 0 0 0 0 26.72 26.73 26.72 10.67 46.65

2457 1.79 695.3 3087 2244 1813 612 64.1 9.6 537 2463 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2244 1813 1813 601 0 0 0 0 0 0 26.74 26.75 26.74 10.66 46.65

2497 1.79 695.3 3087 2245 1813 601 60.2 9.6 546 2504 0.00 3.97 0.00 0.000 260 0.000 0.085 3087 3654 1813 1813 596 0 0 0 0 0 0 26.76 26.38 26.77 10.66 47.36

2523 1.79 695.3 3086 3654 1812 596 57.6 10.6 551 2530 0.00 3.62 0.00 0.000 1030 0.000 0.039 3087 2250 1812 1812 590 0 0 0 0 0 0 26.56 26.48 26.58 10.66 47.40

2564 1.79 695.3 3087 2250 1811 590 53.5 9.1 560 2570 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2250 1811 1811 582 0 0 0 0 0 0 26.77 26.79 26.79 10.67 47.24

2604 1.79 695.3 3087 2249 1810 582 50.1 8.7 569 2610 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2250 1810 1810 575 0 0 0 0 0 0 26.79 26.81 26.81 10.66 46.53

2644 1.79 695.3 3087 2250 1809 575 46.4 9.5 578 2649 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2249 1809 1809 569 0 0 0 0 0 0 26.82 26.82 26.82 10.66 47.12

2683 1.79 695.3 3087 2250 1808 569 42.8 9.2 587 2690 0.00 3.95 0.00 0.000 260 0.000 0.085 3088 3654 1808 1808 568 0 0 0 0 0 0 26.82 26.44 26.84 10.66 47.04

2708 1.79 695.3 3086 3654 1808 568 40.1 11.1 592 2715 0.00 3.60 0.00 0.000 1030 0.000 0.040 3088 2253 1807 1807 566 0 0 0 0 0 0 26.63 26.55 26.65 10.66 46.96

2749 1.79 695.3 3087 2253 1807 566 36.1 9.4 601 2755 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2253 1806 1806 560 0 0 0 0 0 0 26.84 26.86 26.85 10.66 47.24

2789 1.79 695.3 3087 2253 1805 560 32.5 9.0 610 2796 0.00 3.97 0.00 0.000 516 0.000 0.076 3087 813 1805 1805 560 0 0 0 0 0 0 26.85 26.47 26.86 10.66 46.77

2818 1.79 695.3 3087 813 1805 560 30.0 8.5 616 2825 0.00 3.67 0.00 0.000 1030 0.000 0.041 3087 2246 1805 1805 559 0 0 0 0 0 0 26.64 26.54 26.67 10.67 47.24

2859 1.84 729.9 3087 2246 1804 559 26.9 7.5 625 2867 0.12 0.00 3.20 0.364 10246 0.081 0.000 3105 2247 1774 1774 4095 0 0 0 0 0 0 26.62 26.46 25.76 10.66 47.00

2901 2.02 854.8 3104 2246 1773 4095 24.1 6.3 634 2921 0.52 3.97 7.85 0.674 10500 0.053 0.087 3161 3647 1629 1629 3921 0 0 0 0 0 0 26.60 26.36 25.70 10.65 47.55

2935 2.02 854.8 3160 3646 1628 3921 21.4 8.6 640 2942 0.00 3.60 0.00 0.000 1030 0.000 0.040 3161 2249 1628 1628 782 0 0 0 0 0 0 26.55 26.47 26.57 10.64 47.67

2976 2.06 883.3 3161 2250 1627 782 18.0 7.6 649 2990 0.10 3.95 3.22 0.331 10756 0.095 0.074 3176 814 1595 1595 4095 0 0 0 0 0 0 26.53 26.36 25.75 10.64 46.49

3012 2.25 1018.4 3175 814 1595 4095 15.6 6.1 656 3031 0.55 3.67 8.38 0.613 11270 0.048 0.041 3234 2242 1437 1437 4095 0 0 0 0 0 0 26.48 26.45 25.67 10.64 46.77

3066 2.59 1265.4 3233 2242 1437 4095 12.8 4.6 667 3091 1.05 4.00 13.70 0.652 10500 0.049 0.086 3343 3651 1151 1151 3496 0 0 0 0 0 0 26.41 26.11 25.56 10.62 47.04

3117 2.76 1382.0 3342 3651 1150 3496 9.6 6.4 677 3137 0.52 3.67 7.55 0.536 11270 0.057 0.041 3396 2240 1013 1013 4095 0 0 0 0 0 0 26.26 26.27 25.55 10.57 46.37

3171 2.76 1382.0 3395 2239 1013 4095 5.5 8.4 688 3178 0.00 3.95 0.00 0.000 516 0.000 0.074 3396 815 1012 1012 744 0 0 0 0 0 0 26.51 26.14 26.53 10.55 46.92

3199 end climb: SURFACE_DEPTH_REACHED

state 3199 begin surface coast

3212 end surface coast: CONTROL_FINISHED_OK

state 3212 begin surface

ID	402	HD_B	0.0143	ROLL_MAX	3750	ALTIM_BOTTOM_PING_RANGE	0
MISSION	2	HD_C	2.4999001e-05	ROLL_DEG	65	ALTIM_TOP_PING_RANGE	0
DIVE	35	HEADING	-1	C_ROLL_DIVE	2278	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	40	ESCAPE_HEADING	0	C_ROLL_CLIMB	2230	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	0
D_FLARE	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	20	ALTIM_FREQUENCY	13
D_ABORT	210	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	20	ALTIM_PULSE	5
D_NO_BLEED	210	SM_CC	450	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	1	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	50	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	4045	DEEPGLIDER	2
D_CALL	0	N_NOCOMM	1	C_VBD	2627	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.85860002	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE3	-1
T_DIVE	75	CALL_TRIES	10	VBD_TIMEOUT	360	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0014	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	20	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	495	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3900	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2535	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	400	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044041616
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063614739
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4510882e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9009848e-06
RHO	1.023	PITCH_GAIN	13	PHONE_SUPPLY	2	SEABIRD_C_G	-9.6809101
MASS	72262	PITCH_TIMEOUT	50	PRESSURE_YINT	-48.895668	SEABIRD_C_H	1.1416712
MASS_COMP	0	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.3081022e-05	SEABIRD_C_I	-0.0016510745
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00019793682
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2915.98
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0060000001	ROLL_MIN	300	COMPASS_USE	4

GPS1	250517,002526,4741.5840,-12225.9453,4,0.9,4,16.3,0.0,0.0,9,127.5	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.242524,0.197748
_SM_DEPTHo	0.69	KALMAN_X	-6104.930176,-330.518188,-620.190247,5202.288086,-342.059509
_SM_ANGLEo	-37.9	KALMAN_Y	-8303.374023,-735.911621,-1426.928223,7350.519043,-48.503357
GPS2	250517,003421,4741.5283,-12226.0078,7,0.9,7,16.3,0.0,0.0,9,76.7	MHEAD_RNG_PITCHd_Wd	34.5,2346,-10.7,-8.000,-14.34,7330
SPEED_LIMITS	0.080,0.313	D_GRID	156

FINISH	0.0,1.017523	_10V_AH	10.49,3.654
SM_CCo	3312,0.00,0.000,0,0,1010,1388.36	FG_AHR_24Vo	0.000
SM_GC	0.77,29.42,3.90,0.00,0.040,0.044,0.000,501,2285,1010,-6.34,-0.55,1388.36,0,0,0,0,0,0,26.30,26.27,26.36	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,250517,002649	MEM	313144
TT8_MAMPS	0.020972,0.15729	DATA_FILE_SIZE	27688,697
HUMID	46.88	CAP_FILE_SIZE	112033,0
INTERNAL_PRESSURE	10.4985	CFSIZE	1024409600,1018167296
TCM_TEMP	10.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	4	GPS	250517,013150,4742.080,-12225.318,36,1.0,36,16.3,0.0,0.0,8,8.6
_24V_AH	23.44,6.887

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	59	114	160.31	SBE_CT	466	24	262.25
Roll_motor	115	1283	3471.54	nil	0	0	0.00
VBD_pump_during_apogee	125	2090	6143.04	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	80.20	nil	0	0	0.00
Iridium_during_connect	31	160	119.17	nil	0	0	0.00
Iridium_during_xfer	381	223	1995.59	nil	0	0	0.00
Transponder_ping	1	420	9.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	50	4.06
TT8	1646	19	341.90
LPSleep	232	2	5.35
TT8_Active	449	19	93.32
TT8_Sampling	1474	39	615.62
TT8_CF8	57	45	27.74
TT8_Kalman	33	81	28.68
Analog_circuits	1096	12	138.09
GPS_charging	0	0	0.00
Compass	1001	5	52.51
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	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6	-1.37	-391.0	513	2282	1126	741	0.0	0.0	0	15	6.30	0.00	0.00	0.000	2049	0.115	0.000	1054	2282	1125	1125	690	0	0	0	0	0	0	26.45	28.83	28.83	10.62	47.28
16	-1.37	-391.0	1054	2282	1125	690	0.6	0.0	1	52	10.88	4.20	-13.82	0.000	18948	0.060	1.284	2090	862	3088	3088	817	0	0	0	0	0	0	26.15	25.03	26.23	10.62	46.53
94	-1.37	-391.0	2090	862	3090	817	6.3	-17.3	17	101	0.00	3.70	0.00	0.000	1030	0.000	0.041	2090	2270	3090	3090	787	0	0	0	0	0	0	26.14	26.03	26.17	10.99	46.85
135	-1.37	-391.0	2090	2270	3091	787	12.1	-14.1	26	142	0.00	4.12	0.00	0.000	260	0.000	0.093	2090	3701	3092	3092	786	0	0	0	0	0	0	26.41	26.03	26.42	10.98	47.08
188	-1.37	-391.0	2090	3701	3092	786	19.5	-13.7	38	195	0.00	3.65	0.00	0.000	1030	0.000	0.038	2090	2295	3093	3093	777	0	0	0	0	0	0	26.28	26.21	26.31	10.97	46.37
229	-1.37	-391.0	2089	2294	3093	777	24.4	-10.9	47	235	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2294	3093	3093	773	0	0	0	0	0	0	26.51	26.53	26.53	10.96	46.37
269	-1.37	-391.0	2089	2294	3094	773	29.1	-12.1	56	275	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2294	3095	3095	771	0	0	0	0	0	0	26.55	26.57	26.57	10.96	46.18
309	-1.37	-391.0	2089	2294	3096	771	34.0	-12.5	65	315	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2293	3096	3096	769	0	0	0	0	0	0	26.59	26.61	26.60	10.96	46.69
349	-1.37	-391.0	2089	2294	3097	769	38.7	-12.0	74	356	0.00	3.95	0.00	0.000	516	0.000	0.074	2090	861	3097	3097	773	0	0	0	0	0	0	26.63	26.25	26.64	10.96	46.65
390	-1.37	-391.0	2089	862	3097	773	43.9	-13.8	83	397	0.00	3.75	0.00	0.000	1030	0.000	0.041	2090	2301	3097	3097	775	0	0	0	0	0	0	26.44	26.33	26.46	10.95	46.69
431	-1.37	-391.0	2090	2302	3098	775	49.7	-14.3	92	437	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2302	3098	3098	772	0	0	0	0	0	0	26.67	26.69	26.69	10.95	45.78
471	-1.37	-391.0	2090	2302	3099	772	55.2	-13.5	101	478	0.00	3.97	0.00	0.000	260	0.000	0.089	2090	3698	3099	3099	777	0	0	0	0	0	0	26.70	26.32	26.71	10.95	46.10
532	-1.37	-391.0	2090	3699	3101	777	63.6	-13.3	115	539	0.00	3.55	0.00	0.000	1030	0.000	0.039	2090	2307	3101	3101	771	0	0	0	0	0	0	26.54	26.47	26.55	10.94	46.22
573	-1.37	-391.0	2090	2306	3101	771	68.3	-11.0	124	579	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2306	3101	3101	769	0	0	0	0	0	0	26.74	26.76	26.76	10.94	46.61
613	-1.37	-391.0	2090	2306	3102	769	72.8	-11.5	133	619	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2306	3102	3102	769	0	0	0	0	0	0	26.77	26.78	26.78	10.93	46.49
653	-1.37	-391.0	2090	2306	3103	769	77.3	-11.0	142	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2306	3103	3103	769	0	0	0	0	0	0	26.79	26.80	26.80	10.93	46.41
693	-1.37	-391.0	2089	2306	3104	769	81.8	-11.3	151	700	0.00	3.92	0.00	0.000	516	0.000	0.072	2090	866	3104	3104	774	0	0	0	0	0	0	26.80	26.43	26.82	10.92	46.18
730	-1.37	-391.0	2090	866	3104	774	86.5	-13.2	159	737	0.00	3.75	0.00	0.000	1030	0.000	0.043	2091	2313	3104	3104	778	0	0	0	0	0	0	26.60	26.49	26.63	10.94	46.02
771	-1.37	-391.0	2090	2314	3105	778	91.6	-11.8	168	777	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3106	3106	774	0	0	0	0	0	0	26.82	26.84	26.84	10.94	46.37
811	-1.37	-391.0	2090	2313	3106	774	96.3	-12.2	177	817	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3106	3106	773	0	0	0	0	0	0	26.84	26.85	26.85	10.92	46.14
850	-1.37	-391.0	2089	2314	3107	773	101.2	-12.4	186	856	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3107	3107	773	0	0	0	0	0	0	26.85	26.86	26.86	10.93	46.25
890	-1.37	-391.0	2089	2314	3108	773	105.9	-11.4	195	896	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3108	3108	773	0	0	0	0	0	0	26.86	26.88	26.88	10.93	46.49
930	-1.37	-391.0	2089	2314	3109	773	110.6	-11.5	204	936	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3109	3109	772	0	0	0	0	0	0	26.88	26.89	26.89	10.93	46.33
970	-1.37	-391.0	2090	2314	3110	772	115.7	-12.5	213	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3110	3110	772	0	0	0	0	0	0	26.89	26.90	26.90	10.93	46.73
1010	-1.37	-391.0	2090	2314	3110	772	120.8	-11.9	222	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3111	3111	772	0	0	0	0	0	0	26.90	26.91	26.91	10.93	46.53
1050	-1.37	-391.0	2090	2314	3111	772	126.1	-12.5	231	1056	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2313	3112	3112	772	0	0	0	0	0	0	26.91	26.93	26.92	10.93	46.14
1090	-1.37	-391.0	2089	2313	3112	772	131.2	-12.4	240	1097	0.00	3.92	0.00	0.000	516	0.000	0.069	2090	863	3112	3112	778	0	0	0	0	0	0	26.92	26.55	26.94	10.93	46.53
1123	-1.37	-391.0	2089	864	3114	778	135.8	-14.8	247	1130	0.00	3.70	0.00	0.000	1030	0.000	0.044	2090	2305	3114	3114	782	0	0	0	0	0	0	26.71	26.60	26.73	10.93	46.33
1164	-1.37	-391.0	2090	2306	3114	782	141.4	-13.9	256	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2306	3114	3114	778	0	0	0	0	0	0	26.93	26.94	26.94	10.93	46.45
1204	-1.37	-391.0	2090	2306	3115	778	146.5	-11.9	265	1210	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2306	3115	3115	777	0	0	0	0	0	0	26.94	26.96	26.95	10.93	46.96
1244	-1.37	-391.0	2090	2306	3116	777	151.0	-11.2	274	1250	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2306	3117	3117	776	0	0	0	0	0	0	26.95	26.96	26.96	10.93	46.57
1284	-1.37	-391.0	2090	2307	3116	776	155.4	-11.3	283	1290	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2306	3117	3117	775	0	0	0	0	0	0	26.96	26.97	26.97	10.93	47.20
1294	end dive: TARGET_DEPTH_EXCEEDED
state	1295	begin apogee
1298	-0.38	0.0	2090	2223	3117	776	156.7	-10.9	285	1333	3.20	0.00	25.62	2.091	10244	0.069	0.000	2402	2223	2626	2626	3560	0	0	0	0	0	0	26.64	25.08	24.03	10.93	46.57
1334	end apogee: CONTROL_FINISHED_OK
state	1334	begin climb
1336	1.37	391.0	2402	2223	2626	3560	158.8	0.0	291	1371	5.80	0.00	24.52	2.067	11270	0.054	0.000	2951	2223	2170	2170	3619	0	0	0	0	0	0	25.65	25.86	23.44	10.83	46.33
1405	1.37	391.0	2951	2223	2170	3619	154.2	8.5	305	1411	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2223	2170	2170	782	0	0	0	0	0	0	25.70	25.72	25.72	10.75	46.69
1445	1.37	391.0	2950	2223	2169	782	150.8	8.5	314	1451	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2223	2169	2169	755	0	0	0	0	0	0	25.94	25.96	25.95	10.75	46.10
1485	1.42	425.0	2950	2223	2169	755	147.7	7.5	323	1493	0.10	0.00	3.78	1.030	10246	0.091	0.000	2966	2224	2131	2131	4095	0	0	0	0	0	0	25.86	25.57	24.25	10.75	46.14
1527	1.42	425.0	2965	2223	2130	4095	144.4	8.4	332	1533	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2222	2130	2130	776	0	0	0	0	0	0	26.14	26.15	26.15	10.74	45.82
1567	1.43	436.4	2964	2223	2130	776	141.4	7.8	341	1580	0.00	4.12	2.55	0.470	8452	0.000	0.083	2966	3648	2117	2117	4095	0	0	0	0	0	0	26.24	25.83	24.43	10.74	46.61
1606	1.43	436.4	2965	3648	2115	4095	136.8	13.7	349	1613	0.00	3.67	0.00	0.000	1030	0.000	0.038	2966	2247	2116	2116	785	0	0	0	0	0	0	26.10	26.02	26.13	10.74	46.49
1648	1.53	508.2	2965	2247	2115	785	133.0	7.0	358	1660	0.35	0.00	5.80	1.325	10246	0.054	0.000	3005	2247	2034	2034	4095	0	0	0	0	0	0	26.11	25.45	24.50	10.73	46.57
1694	1.53	508.2	3005	2247	2034	4095	129.4	8.3	368	1700	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2246	2034	2034	776	0	0	0	0	0	0	26.28	26.29	26.29	10.72	46.53
1734	1.53	508.2	3004	2247	2033	776	125.7	9.6	377	1740	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2247	2033	2033	746	0	0	0	0	0	0	26.36	26.38	26.37	10.72	46.33
1774	1.53	508.2	3005	2247	2031	746	121.8	9.1	386	1779	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2247	2032	2032	723	0	0	0	0	0	0	26.41	26.44	26.43	10.72	47.04
1813	1.53	508.2	3005	2247	2031	723	118.4	8.2	395	1819	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2247	2031	2031	704	0	0	0	0	0	0	26.47	26.48	26.48	10.71	46.69
1853	1.55	523.3	3005	2247	2030	704	115.3	7.8	404	1860	0.00	0.00	2.65	0.471	8198	0.000	0.000	3005	2248	2016	2016	4095	0	0	0	0	0	0	26.51	26.04	24.84	10.72	47.32
1895	1.59	552.6	3005	2247	2016	4095	112.2	7.6	413	1902	0.15	0.00	3.50	0.791	10246	0.076	0.000	3025	2247	1982	1982	4095	0	0	0	0	0	0	26.29	26.03	24.85	10.71	47.32
1937	1.62	572.5	3024	2247	1981	4095	108.7	7.7	422	1943	0.00	0.00	2.97	0.598	8198	0.000	0.000	3025	2247	1958	1958	4095	0	0	0	0	0	0	26.51	26.04	24.86	10.71	46.25
1978	1.62	572.8	3025	2246	1958	4095	105.3	8.0	431	1983	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2246	1959	1959	773	0	0	0	0	0	0	26.52	26.53	26.53	10.70	46.96
2017	1.71	634.5	3024	2247	1957	773	102.5	7.1	440	2030	0.30	0.00	5.22	1.063	10246	0.060	0.000	3060	2247	1886	1886	4095	0	0	0	0	0	0	26.31	25.73	24.89	10.70	46.29
2064	1.79	689.9	3059	2246	1885	4095	99.1	7.2	450	2078	0.22	4.00	4.82	0.991	10500	0.063	0.085	3087	3652	1822	1822	4095	0	0	0	0	0	0	26.27	26.01	24.88	10.69	46.85
2096	1.79	689.9	3087	3651	1821	4095	96.2	9.4	456	2103	0.00	3.67	0.00	0.000	1030	0.000	0.039	3087	2244	1821	1821	784	0	0	0	0	0	0	26.25	26.16	26.26	10.67	46.61
2137	1.79	689.9	3087	2245	1821	784	92.4	8.9	465	2143	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2244	1820	1820	745	0	0	0	0	0	0	26.48	26.50	26.50	10.67	47.08
2177	1.79	689.9	3087	2245	1820	745	89.0	8.5	474	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2244	1819	1819	716	0	0	0	0	0	0	26.53	26.54	26.54	10.67	46.85
2217	1.79	689.9	3087	2245	1819	716	85.5	9.0	483	2223	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2245	1819	1819	693	0	0	0	0	0	0	26.57	26.58	26.58	10.67	46.65
2257	1.79	695.3	3087	2245	1818	693	82.2	7.9	492	2263	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2245	1818	1818	672	0	0	0	0	0	0	26.60	26.62	26.62	10.66	46.88
2297	1.79	695.3	3087	2245	1817	672	79.0	8.1	501	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2245	1817	1817	654	0	0	0	0	0	0	26.64	26.65	26.65	10.66	47.12
2337	1.79	695.3	3087	2245	1817	654	75.6	9.1	510	2343	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2244	1816	1816	638	0	0	0	0	0	0	26.67	26.68	26.68	10.67	46.49
2377	1.79	695.3	3087	2244	1816	638	71.9	9.4	519	2383	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2244	1815	1815	624	0	0	0	0	0	0	26.69	26.70	26.70	10.67	46.33
2417	1.79	695.3	3087	2245	1815	624	68.0	9.4	528	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2245	1814	1814	612	0	0	0	0	0	0	26.72	26.73	26.72	10.67	46.65
2457	1.79	695.3	3087	2244	1813	612	64.1	9.6	537	2463	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2244	1813	1813	601	0	0	0	0	0	0	26.74	26.75	26.74	10.66	46.65
2497	1.79	695.3	3087	2245	1813	601	60.2	9.6	546	2504	0.00	3.97	0.00	0.000	260	0.000	0.085	3087	3654	1813	1813	596	0	0	0	0	0	0	26.76	26.38	26.77	10.66	47.36
2523	1.79	695.3	3086	3654	1812	596	57.6	10.6	551	2530	0.00	3.62	0.00	0.000	1030	0.000	0.039	3087	2250	1812	1812	590	0	0	0	0	0	0	26.56	26.48	26.58	10.66	47.40
2564	1.79	695.3	3087	2250	1811	590	53.5	9.1	560	2570	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2250	1811	1811	582	0	0	0	0	0	0	26.77	26.79	26.79	10.67	47.24
2604	1.79	695.3	3087	2249	1810	582	50.1	8.7	569	2610	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2250	1810	1810	575	0	0	0	0	0	0	26.79	26.81	26.81	10.66	46.53
2644	1.79	695.3	3087	2250	1809	575	46.4	9.5	578	2649	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2249	1809	1809	569	0	0	0	0	0	0	26.82	26.82	26.82	10.66	47.12
2683	1.79	695.3	3087	2250	1808	569	42.8	9.2	587	2690	0.00	3.95	0.00	0.000	260	0.000	0.085	3088	3654	1808	1808	568	0	0	0	0	0	0	26.82	26.44	26.84	10.66	47.04
2708	1.79	695.3	3086	3654	1808	568	40.1	11.1	592	2715	0.00	3.60	0.00	0.000	1030	0.000	0.040	3088	2253	1807	1807	566	0	0	0	0	0	0	26.63	26.55	26.65	10.66	46.96
2749	1.79	695.3	3087	2253	1807	566	36.1	9.4	601	2755	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2253	1806	1806	560	0	0	0	0	0	0	26.84	26.86	26.85	10.66	47.24
2789	1.79	695.3	3087	2253	1805	560	32.5	9.0	610	2796	0.00	3.97	0.00	0.000	516	0.000	0.076	3087	813	1805	1805	560	0	0	0	0	0	0	26.85	26.47	26.86	10.66	46.77
2818	1.79	695.3	3087	813	1805	560	30.0	8.5	616	2825	0.00	3.67	0.00	0.000	1030	0.000	0.041	3087	2246	1805	1805	559	0	0	0	0	0	0	26.64	26.54	26.67	10.67	47.24
2859	1.84	729.9	3087	2246	1804	559	26.9	7.5	625	2867	0.12	0.00	3.20	0.364	10246	0.081	0.000	3105	2247	1774	1774	4095	0	0	0	0	0	0	26.62	26.46	25.76	10.66	47.00
2901	2.02	854.8	3104	2246	1773	4095	24.1	6.3	634	2921	0.52	3.97	7.85	0.674	10500	0.053	0.087	3161	3647	1629	1629	3921	0	0	0	0	0	0	26.60	26.36	25.70	10.65	47.55
2935	2.02	854.8	3160	3646	1628	3921	21.4	8.6	640	2942	0.00	3.60	0.00	0.000	1030	0.000	0.040	3161	2249	1628	1628	782	0	0	0	0	0	0	26.55	26.47	26.57	10.64	47.67
2976	2.06	883.3	3161	2250	1627	782	18.0	7.6	649	2990	0.10	3.95	3.22	0.331	10756	0.095	0.074	3176	814	1595	1595	4095	0	0	0	0	0	0	26.53	26.36	25.75	10.64	46.49
3012	2.25	1018.4	3175	814	1595	4095	15.6	6.1	656	3031	0.55	3.67	8.38	0.613	11270	0.048	0.041	3234	2242	1437	1437	4095	0	0	0	0	0	0	26.48	26.45	25.67	10.64	46.77
3066	2.59	1265.4	3233	2242	1437	4095	12.8	4.6	667	3091	1.05	4.00	13.70	0.652	10500	0.049	0.086	3343	3651	1151	1151	3496	0	0	0	0	0	0	26.41	26.11	25.56	10.62	47.04
3117	2.76	1382.0	3342	3651	1150	3496	9.6	6.4	677	3137	0.52	3.67	7.55	0.536	11270	0.057	0.041	3396	2240	1013	1013	4095	0	0	0	0	0	0	26.26	26.27	25.55	10.57	46.37
3171	2.76	1382.0	3395	2239	1013	4095	5.5	8.4	688	3178	0.00	3.95	0.00	0.000	516	0.000	0.074	3396	815	1012	1012	744	0	0	0	0	0	0	26.51	26.14	26.53	10.55	46.92
3199	end climb: SURFACE_DEPTH_REACHED
state	3199	begin surface coast
3212	end surface coast: CONTROL_FINISHED_OK
state	3212	begin surface