Glider dive log

Cuddy Oct13 * SG194 * Dive index * Mission links * Dive 39 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_C 9.9999997e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 39 ESCAPE_HEADING 0 C_ROLL_DIVE 2263 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2355 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 56 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 41 XPDR_VALID 3

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.223

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2400 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4356.9961 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 199 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2785 FG_AHR_10V 0 SEABIRD_T_G 0.0044109076

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064730842

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.664891e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -53.385216 SEABIRD_T_J 3.309405e-06

MASS 58592 PITCH_GAIN 22.9 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_G -9.5383005

MASS_COMP 3867 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.0995622

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013844616

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017264462

KALMAN_USE 13 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 291 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.9 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 199 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 50 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001158091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -53.385216 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4356.9961

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 194 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT 1.223 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2785 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2355 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2263 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2400 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 58592 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3867 ROLL_MIN 291 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 56 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 41 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.5383005 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0995622 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0013844616 VBD_TIMEOUT 720

DIVE 39 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017264462 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044109076 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.00064730842 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.664891e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.309405e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 021113,042705,4805.283,-12605.171,25,1.0,25,17.0 TGT_NAME SEARCH_B

_CALLS 1 TGT_LATLONG 4815.000,-12615.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.156,0.208

_SM_DEPTHo 1.68 KALMAN_X 1993.4,0.0,0.0,-63424.4,-290.5

_SM_ANGLEo -61.7 KALMAN_Y 16391.1,0.0,0.0,80387.0,773.4

GPS2 021113,043328,4805.323,-12605.131,5,1.0,5,17.0 MHEAD_RNG_PITCHd_Wd 306.0,21664,-17.5,-10.000,-21.03,2226

SPEED_LIMITS 0.084,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.019603 _10V_AH 10.3,5.411

SM_CCo 18645,0.00,0.000,0,0,1054,330.17 FG_AHR_24Vo 0.000

SM_GC 1.71,7.55,0.12,0.00,0.031,0.082,0.000,161,2259,1054,-8.04,1.47,330.17,0,0,0,0,0,0,26.44,26.45,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.30,-12605.19,011113,222233 MEM 311204

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 37010,511

HUMID 39.44 CAP_FILE_SIZE 152045,0

INTERNAL_PRESSURE 8.90884 CFSIZE 2097872896,2090500096

TCM_TEMP 13.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 021113,094558,4808.437,-12607.677,45,0.7,45,17.0

_24V_AH 23.2,6.593

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 201 93.48 SBE_CT 351 23 195.36

Roll_motor 132 84 261.13 AA4330 677 0 11.79

VBD_pump_during_apogee 378 1238 10877.26 WL_BB2FLVMT 326 105 794.58

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 317 78 579.54 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.05

TT8 1621 14 249.83

LPSleep 14771 2 333.20

TT8_Active 433 14 66.76

TT8_Sampling 2126 43 951.01

TT8_CF8 81 53 44.60

TT8_Kalman 0 69 0.28

Analog_circuits 1734 15 268.05

GPS_charging 0 0 0.00

Compass 1781 8 165.00

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.6 139 2243 1141 1049 0.0 0.0 0 70 0.00 0.00 -53.42 0.000 16386 0.000 0.000 138 2242 2585 2587 2583 0 0 0 0 0 0 28.83 28.83 28.83

73 -0.76 -146.6 138 2243 2590 2581 3.7 -4.8 5 100 8.80 2.33 -9.30 0.000 18692 0.202 0.063 2518 3661 3000 3063 2938 0 0 0 0 0 0 25.60 25.88 26.21

337 -0.63 -146.6 2518 3661 3066 2938 52.5 -16.8 31 345 0.17 2.17 0.00 0.000 3078 0.122 0.029 2576 2252 3002 3066 2938 0 0 0 0 0 0 25.92 26.13 28.83

645 -0.60 -146.6 2576 2252 3068 2938 88.4 -9.2 58 651 0.00 2.22 0.00 0.000 260 0.000 0.048 2568 3670 3003 3068 2938 0 0 0 0 0 0 28.83 26.20 28.83

738 -0.57 -146.6 2568 3670 3068 2938 96.2 -9.7 62 746 0.08 2.15 0.00 0.000 3078 0.120 0.030 2595 2264 3003 3068 2938 0 0 0 0 0 0 26.13 26.29 28.83

1046 -0.61 -146.6 2594 2264 3068 2938 123.8 -8.1 78 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2263 3003 3068 2938 0 0 0 0 0 0 28.83 28.83 28.83

1346 -0.66 -146.6 2594 2263 3068 2938 147.0 -7.7 93 1352 0.00 2.12 0.00 0.000 516 0.000 0.044 2595 882 3003 3068 2938 0 0 0 0 0 0 28.83 26.39 28.83

1405 -0.72 -146.6 2594 882 3068 2938 152.0 -8.2 96 1412 0.12 2.15 0.00 0.000 5126 0.079 0.040 2512 2272 3003 3068 2938 0 0 0 0 0 0 26.41 26.41 28.83

1735 -0.68 -146.6 2512 2272 3068 2938 190.0 -11.9 107 1741 0.15 2.17 0.00 0.000 2308 0.140 0.046 2553 3672 3003 3068 2938 0 0 0 0 0 0 26.34 26.43 28.83

1783 -0.65 -146.6 2552 3672 3068 2938 193.2 -11.7 108 1787 0.00 2.10 0.00 0.000 1030 0.000 0.031 2553 2263 3003 3068 2938 0 0 0 0 0 0 28.83 26.50 28.83

2090 -0.67 -146.6 2553 2264 3068 2937 225.7 -10.3 118 2091 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2264 3003 3068 2938 0 0 0 0 0 0 28.83 28.83 28.83

2390 -0.70 -146.6 2553 2264 3068 2937 256.0 -9.6 128 2396 0.00 2.17 0.00 0.000 260 0.000 0.049 2542 3664 3002 3068 2937 0 0 0 0 0 0 28.83 26.49 28.83

2444 -0.72 -146.6 2542 3664 3068 2937 258.8 -9.3 129 2450 0.00 2.08 0.00 0.000 1030 0.000 0.031 2542 2264 3002 3068 2937 0 0 0 0 0 0 28.83 26.56 28.83

2751 -0.75 -146.6 2542 2264 3068 2937 288.5 -8.7 140 2756 0.00 2.15 0.00 0.000 516 0.000 0.044 2542 867 3002 3068 2936 0 0 0 0 0 0 28.83 26.53 28.83

2859 -0.76 -146.6 2542 866 3068 2936 296.7 -9.1 143 2863 0.00 2.15 0.00 0.000 1030 0.000 0.041 2533 2265 3002 3068 2936 0 0 0 0 0 0 28.83 26.55 28.83

3196 -0.78 -146.6 2533 2265 3067 2936 330.5 -9.7 149 3202 0.00 2.17 0.00 0.000 260 0.000 0.049 2523 3674 3001 3068 2935 0 0 0 0 0 0 28.83 26.54 28.83

3274 -0.79 -146.6 2522 3674 3068 2935 336.6 -9.8 150 3278 0.00 2.10 0.00 0.000 1030 0.000 0.031 2523 2264 3001 3068 2935 0 0 0 0 0 0 28.83 26.61 28.83

3611 -0.81 -146.6 2522 2264 3068 2935 371.3 -9.6 156 3612 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2265 3001 3068 2934 0 0 0 0 0 0 28.83 28.83 28.83

3913 -0.82 -146.6 2522 2265 3068 2934 401.5 -10.1 161 3914 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2265 3001 3068 2934 0 0 0 0 0 0 28.83 28.83 28.83

4211 -0.85 -146.6 2522 2265 3068 2933 430.7 -9.6 166 4216 0.00 2.17 0.00 0.000 260 0.000 0.050 2512 3666 3000 3068 2932 0 0 0 0 0 0 28.83 26.58 28.83

4259 -0.87 -146.6 2512 3666 3068 2932 430.7 -9.6 166 4263 0.00 2.10 0.00 0.000 1030 0.000 0.032 2512 2257 3000 3068 2932 0 0 0 0 0 0 28.83 26.65 28.83

4566 -0.88 -146.6 2512 2256 3068 2932 463.9 -9.4 171 4567 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2256 3000 3068 2932 0 0 0 0 0 0 28.83 28.83 28.83

4866 -0.90 -146.6 2512 2256 3068 2931 492.6 -9.6 176 4872 0.00 2.20 0.00 0.000 260 0.000 0.050 2503 3670 2999 3068 2930 0 0 0 0 0 0 28.83 26.60 28.83

4944 -0.92 -146.6 2503 3670 3068 2930 498.5 -9.6 177 4948 0.00 2.10 0.00 0.000 1030 0.000 0.032 2503 2261 2999 3068 2930 0 0 0 0 0 0 28.83 26.67 28.83

5281 -0.93 -146.6 2503 2260 3068 2930 532.9 -9.5 183 5282 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2260 2999 3068 2930 0 0 0 0 0 0 28.83 28.83 28.83

5581 -0.95 -146.6 2503 2260 3068 2929 560.8 -9.3 188 5587 0.00 2.20 0.00 0.000 260 0.000 0.050 2493 3673 2998 3068 2928 0 0 0 0 0 0 28.83 26.60 28.83

5649 -0.96 -146.6 2493 3672 3068 2929 566.7 -9.4 189 5653 0.00 2.10 0.00 0.000 1030 0.000 0.032 2493 2263 2998 3068 2929 0 0 0 0 0 0 28.83 26.68 28.83

5995 -0.96 -146.6 2493 2263 3068 2928 602.3 -10.0 195 5999 0.00 2.15 0.00 0.000 516 0.000 0.046 2493 869 2997 3068 2927 0 0 0 0 0 0 28.83 26.63 28.83

6051 -0.96 -146.6 2493 869 3068 2928 608.0 -10.0 196 6055 0.00 2.15 0.00 0.000 1030 0.000 0.042 2484 2263 2998 3068 2928 0 0 0 0 0 0 28.83 26.65 28.83

6406 -0.96 -146.6 2484 2263 3068 2927 645.3 -10.6 202 6410 0.00 2.17 0.00 0.000 260 0.000 0.050 2474 3669 2997 3068 2927 0 0 0 0 0 0 28.83 26.62 28.83

6490 -0.96 -146.6 2474 3669 3068 2927 651.5 -10.7 203 6494 0.00 2.15 0.00 0.000 1030 0.000 0.032 2474 2261 2997 3068 2927 0 0 0 0 0 0 28.83 26.70 28.83

6824 -0.96 -146.6 2473 2261 3068 2926 690.8 -10.9 209 6825 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2261 2997 3068 2926 0 0 0 0 0 0 28.83 28.83 28.83

7122 -0.96 -146.6 2473 2260 3068 2925 722.6 -10.5 214 7126 0.00 2.20 0.00 0.000 260 0.000 0.051 2463 3671 2996 3068 2925 0 0 0 0 0 0 28.83 26.62 28.83

7177 -0.96 -146.6 2463 3671 3068 2925 728.7 -10.5 215 7181 0.00 2.12 0.00 0.000 1030 0.000 0.033 2463 2254 2996 3068 2925 0 0 0 0 0 0 28.83 26.70 28.83

7533 -0.96 -146.6 2463 2253 3068 2925 765.1 -10.1 221 7534 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2253 2996 3068 2925 0 0 0 0 0 0 28.83 28.83 28.83

7833 -0.96 -146.6 2463 2253 3068 2925 795.9 -10.3 226 7834 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2253 2996 3068 2925 0 0 0 0 0 0 28.83 28.83 28.83

8133 -0.96 -146.6 2463 2253 3067 2924 826.9 -10.4 231 8134 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2253 2996 3068 2924 0 0 0 0 0 0 28.83 28.83 28.83

8433 -0.96 -146.6 2463 2253 3068 2923 857.2 -10.1 236 8437 0.00 2.20 0.00 0.000 260 0.000 0.052 2452 3666 2995 3068 2923 0 0 0 0 0 0 28.83 26.63 28.83

8507 -0.96 -146.6 2452 3665 3068 2923 863.2 -10.2 237 8511 0.00 2.15 0.00 0.000 1030 0.000 0.034 2452 2257 2995 3067 2923 0 0 0 0 0 0 28.83 26.71 28.83

8849 -0.96 -146.6 2452 2256 3067 2922 901.4 -10.4 243 8850 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2256 2995 3068 2922 0 0 0 0 0 0 28.83 28.83 28.83

9149 -0.96 -146.6 2452 2257 3068 2922 934.1 -10.9 248 9150 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2256 2995 3068 2922 0 0 0 0 0 0 28.83 28.83 28.83

9449 -0.96 -146.6 2452 2257 3068 2922 964.8 -10.3 253 9450 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2257 2995 3068 2922 0 0 0 0 0 0 28.83 28.83 28.83

9748 end dive: TARGET_DEPTH_EXCEEDED

state 9748 begin apogee

9751 -0.22 0.0 2451 2362 3068 2921 993.1 -9.4 258 9872 0.75 0.00 116.25 1.239 10246 0.103 0.000 2710 2362 2400 2463 2337 0 0 0 0 0 0 26.49 28.83 23.73

9874 end apogee: CONTROL_FINISHED_OK

state 9874 begin climb

9875 0.76 146.6 2710 2362 2463 2338 995.3 0.0 260 10008 0.88 2.47 124.62 1.212 10756 0.045 0.046 3049 959 1801 1860 1742 0 0 0 0 0 0 24.72 24.02 23.17

10128 0.76 146.6 3049 959 1851 1739 975.2 10.8 264 10132 0.00 2.35 0.00 0.000 1030 0.000 0.042 3050 2343 1794 1851 1738 0 0 0 0 0 0 28.83 25.00 28.83

10460 0.61 146.6 3049 2343 1851 1736 922.9 14.6 270 10467 0.20 2.30 0.00 0.000 4356 0.142 0.049 2987 3765 1793 1851 1736 0 0 0 0 0 0 25.54 25.65 28.83

10583 0.47 146.6 2080 3765 1812 1733 906.8 14.2 272 10588 0.17 2.25 0.00 0.000 5126 0.120 0.034 2938 2352 1793 1850 1737 0 0 0 0 0 0 25.65 25.82 28.83

10940 0.47 146.6 2938 2351 1850 1733 870.4 10.1 278 10944 0.00 2.22 0.00 0.000 516 0.000 0.048 2946 955 1792 1850 1735 0 0 0 0 0 0 28.83 26.02 28.83

11060 0.47 146.6 2946 955 1849 1733 858.3 10.2 280 11064 0.00 2.22 0.00 0.000 1030 0.000 0.044 2946 2361 1790 1848 1733 0 0 0 0 0 0 28.83 26.10 28.83

11411 0.47 152.1 2946 2361 1848 1733 823.0 9.7 286 11417 0.00 0.00 4.15 0.637 8198 0.000 0.000 2946 2361 1780 1838 1722 0 0 0 0 0 0 28.83 28.83 25.09

11711 0.47 163.4 2946 2361 1838 1722 794.3 9.5 291 11729 0.00 2.33 11.15 0.959 8708 0.000 0.047 2957 958 1732 1790 1674 0 0 0 0 0 0 28.83 25.99 25.04

11779 0.47 180.6 2957 958 1789 1673 789.0 9.2 292 11800 0.00 2.25 15.57 1.025 9222 0.000 0.043 2957 2348 1663 1724 1602 0 0 0 0 0 0 28.83 26.06 24.74

12127 0.47 193.1 2956 2348 1722 1600 756.0 9.4 298 12140 0.00 0.00 11.52 0.969 8198 0.000 0.000 2957 2348 1611 1673 1550 0 0 0 0 0 0 28.83 28.83 24.86

12427 0.47 193.1 2956 2348 1673 1547 724.6 10.5 303 12431 0.00 2.22 0.00 0.000 516 0.000 0.047 2966 957 1610 1673 1547 0 0 0 0 0 0 28.83 26.03 28.83

12485 0.47 193.1 2966 957 1671 1547 718.5 10.7 304 12490 0.00 2.28 0.00 0.000 1030 0.000 0.043 2966 2362 1609 1671 1547 0 0 0 0 0 0 28.83 26.09 28.83

12843 0.47 193.1 2966 2362 1671 1547 679.7 10.7 310 12844 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2362 1608 1671 1546 0 0 0 0 0 0 28.83 28.83 28.83

13143 0.47 194.2 2966 2362 1671 1547 649.8 10.0 315 13147 0.00 2.25 0.00 0.000 516 0.000 0.047 2976 945 1608 1671 1546 0 0 0 0 0 0 28.83 26.29 28.83

13212 0.47 194.2 2976 945 1670 1546 643.9 10.0 316 13216 0.15 2.22 0.00 0.000 5126 0.130 0.043 2932 2365 1607 1669 1546 0 0 0 0 0 0 26.20 26.33 28.83

13559 0.53 220.0 2933 2365 1670 1546 611.7 8.8 322 13587 0.00 2.30 22.48 0.950 8708 0.000 0.048 2941 949 1502 1568 1437 0 0 0 0 0 0 28.83 25.84 24.99

13644 0.58 245.2 2941 949 1565 1436 606.8 8.8 323 13675 0.00 2.25 22.08 0.948 9222 0.000 0.043 2941 2361 1399 1467 1331 0 0 0 0 0 0 28.83 25.95 24.63

13975 0.64 257.7 2941 2361 1465 1327 572.6 9.4 329 13992 0.12 2.35 11.00 0.860 10756 0.080 0.048 3030 957 1348 1416 1280 0 0 0 0 0 0 26.04 25.71 24.91

14058 0.68 257.7 3030 956 1415 1279 564.8 10.1 330 14062 0.00 2.22 0.00 0.000 1030 0.000 0.042 3031 2356 1347 1415 1279 0 0 0 0 0 0 28.83 25.84 28.83

14389 0.63 257.7 3030 2356 1414 1278 511.7 15.1 336 14391 0.15 0.00 0.00 0.000 4102 0.140 0.000 2988 2357 1346 1415 1278 0 0 0 0 0 0 25.99 28.83 28.83

14689 0.65 257.7 2988 2357 1415 1277 473.6 12.6 341 14695 0.00 2.25 0.00 0.000 516 0.000 0.048 2996 946 1345 1414 1277 0 0 0 0 0 0 28.83 26.20 28.83

14809 0.67 257.7 2995 945 1413 1277 458.7 12.5 343 14815 0.00 2.25 0.00 0.000 1030 0.000 0.043 2996 2357 1345 1413 1277 0 0 0 0 0 0 28.83 26.26 28.83

15169 0.67 257.7 2995 2358 1413 1277 412.6 12.9 349 15173 0.00 2.22 0.00 0.000 516 0.000 0.047 3007 952 1345 1413 1277 0 0 0 0 0 0 28.83 26.32 28.83

15247 0.67 257.7 3006 952 1413 1277 405.3 12.9 350 15252 0.00 2.22 0.00 0.000 1030 0.000 0.041 3006 2352 1344 1413 1276 0 0 0 0 0 0 28.83 26.36 28.83

15584 0.67 257.7 3006 2353 1413 1277 357.6 13.3 356 15589 0.00 2.20 0.00 0.000 516 0.000 0.047 3016 955 1345 1413 1277 0 0 0 0 0 0 28.83 26.39 28.83

15618 0.67 257.7 3016 955 1413 1277 357.6 13.3 356 15622 0.00 2.22 0.00 0.000 1030 0.000 0.042 3017 2357 1345 1413 1277 0 0 0 0 0 0 28.83 26.41 28.83

15940 0.67 257.7 3016 2357 1413 1277 307.3 14.2 362 15944 0.00 2.20 0.00 0.000 516 0.000 0.047 3027 955 1345 1413 1277 0 0 0 0 0 0 28.83 26.43 28.83

15996 0.67 257.7 3027 955 1413 1277 299.4 14.1 363 16000 0.00 2.17 0.00 0.000 1030 0.000 0.041 3027 2358 1345 1413 1277 0 0 0 0 0 0 28.83 26.46 28.83

16322 0.65 257.7 3027 2358 1413 1277 254.8 13.4 374 16324 0.12 0.00 0.00 0.000 4102 0.145 0.000 2992 2358 1345 1413 1277 0 0 0 0 0 0 26.41 28.83 28.83

16622 0.70 257.7 2992 2358 1413 1277 221.6 11.2 384 16626 0.00 2.20 0.00 0.000 516 0.000 0.047 2999 955 1345 1413 1277 0 0 0 0 0 0 28.83 26.48 28.83

16726 0.74 257.7 2999 954 1413 1277 211.8 11.3 387 16731 0.00 2.17 0.00 0.000 1030 0.000 0.042 2999 2357 1345 1413 1277 0 0 0 0 0 0 28.83 26.52 28.83

17034 0.78 257.7 2999 2356 1413 1277 174.0 11.6 397 17036 0.12 0.00 0.00 0.000 2054 0.083 0.000 3079 2357 1345 1413 1277 0 0 0 0 0 0 26.63 28.83 28.83

17334 0.73 257.7 3079 2356 1413 1277 130.2 14.0 409 17341 0.17 2.22 0.00 0.000 4612 0.132 0.045 3028 947 1345 1413 1277 0 0 0 0 0 0 26.43 26.53 28.83

17437 0.76 257.7 3028 947 1413 1277 119.2 10.6 414 17441 0.00 2.17 0.00 0.000 1030 0.000 0.041 3028 2356 1345 1413 1277 0 0 0 0 0 0 28.83 26.56 28.83

17749 0.80 257.7 3028 2355 1413 1277 81.7 12.1 430 17753 0.00 2.20 0.00 0.000 516 0.000 0.046 3038 946 1345 1413 1277 0 0 0 0 0 0 28.83 26.55 28.83

17778 0.84 257.7 3037 946 1413 1277 78.8 11.7 432 17786 0.00 2.20 0.00 0.000 1030 0.000 0.041 3038 2347 1345 1413 1277 0 0 0 0 0 0 28.83 26.59 28.83

18086 0.89 278.5 3037 2347 1413 1277 43.7 9.0 463 18106 0.00 0.00 16.88 0.588 8198 0.000 0.000 3038 2347 1264 1335 1193 0 0 0 0 0 0 28.83 28.83 25.63

18406 0.97 328.2 3038 2347 1335 1188 18.8 7.7 495 18437 0.12 2.20 22.85 0.106 10756 0.080 0.044 3134 950 1060 1139 982 0 0 0 0 0 0 26.51 26.34 26.21

18532 0.97 328.2 3135 950 1133 979 4.1 12.5 507 18541 0.10 2.22 0.00 0.000 5126 0.106 0.040 3098 2358 1055 1133 978 0 0 0 0 0 0 26.25 26.37 28.83

18551 end climb: SURFACE_DEPTH_REACHED

state 18551 begin surface coast

18571 end surface coast: CONTROL_FINISHED_OK

state 18571 begin surface

ID	194	HD_C	9.9999997e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	39	ESCAPE_HEADING	0	C_ROLL_DIVE	2263	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2355	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	56	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	41	XPDR_VALID	3
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.223
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2400	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4356.9961	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	199	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2785	FG_AHR_10V	0	SEABIRD_T_G	0.0044109076
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064730842
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.664891e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-53.385216	SEABIRD_T_J	3.309405e-06
MASS	58592	PITCH_GAIN	22.9	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_G	-9.5383005
MASS_COMP	3867	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.0995622
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013844616
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017264462
KALMAN_USE	13	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	291	ALTIM_TOP_PING_RANGE	0

GPS1	021113,042705,4805.283,-12605.171,25,1.0,25,17.0	TGT_NAME	SEARCH_B
_CALLS	1	TGT_LATLONG	4815.000,-12615.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.156,0.208
_SM_DEPTHo	1.68	KALMAN_X	1993.4,0.0,0.0,-63424.4,-290.5
_SM_ANGLEo	-61.7	KALMAN_Y	16391.1,0.0,0.0,80387.0,773.4
GPS2	021113,043328,4805.323,-12605.131,5,1.0,5,17.0	MHEAD_RNG_PITCHd_Wd	306.0,21664,-17.5,-10.000,-21.03,2226
SPEED_LIMITS	0.084,0.260	D_GRID	990

FINISH	0.7,1.019603	_10V_AH	10.3,5.411
SM_CCo	18645,0.00,0.000,0,0,1054,330.17	FG_AHR_24Vo	0.000
SM_GC	1.71,7.55,0.12,0.00,0.031,0.082,0.000,161,2259,1054,-8.04,1.47,330.17,0,0,0,0,0,0,26.44,26.45,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.30,-12605.19,011113,222233	MEM	311204
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	37010,511
HUMID	39.44	CAP_FILE_SIZE	152045,0
INTERNAL_PRESSURE	8.90884	CFSIZE	2097872896,2090500096
TCM_TEMP	13.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	021113,094558,4808.437,-12607.677,45,0.7,45,17.0
_24V_AH	23.2,6.593

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	201	93.48	SBE_CT	351	23	195.36
Roll_motor	132	84	261.13	AA4330	677	0	11.79
VBD_pump_during_apogee	378	1238	10877.26	WL_BB2FLVMT	326	105	794.58
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	317	78	579.54	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.05
TT8	1621	14	249.83
LPSleep	14771	2	333.20
TT8_Active	433	14	66.76
TT8_Sampling	2126	43	951.01
TT8_CF8	81	53	44.60
TT8_Kalman	0	69	0.28
Analog_circuits	1734	15	268.05
GPS_charging	0	0	0.00
Compass	1781	8	165.00
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.6	139	2243	1141	1049	0.0	0.0	0	70	0.00	0.00	-53.42	0.000	16386	0.000	0.000	138	2242	2585	2587	2583	0	0	0	0	0	0	28.83	28.83	28.83
73	-0.76	-146.6	138	2243	2590	2581	3.7	-4.8	5	100	8.80	2.33	-9.30	0.000	18692	0.202	0.063	2518	3661	3000	3063	2938	0	0	0	0	0	0	25.60	25.88	26.21
337	-0.63	-146.6	2518	3661	3066	2938	52.5	-16.8	31	345	0.17	2.17	0.00	0.000	3078	0.122	0.029	2576	2252	3002	3066	2938	0	0	0	0	0	0	25.92	26.13	28.83
645	-0.60	-146.6	2576	2252	3068	2938	88.4	-9.2	58	651	0.00	2.22	0.00	0.000	260	0.000	0.048	2568	3670	3003	3068	2938	0	0	0	0	0	0	28.83	26.20	28.83
738	-0.57	-146.6	2568	3670	3068	2938	96.2	-9.7	62	746	0.08	2.15	0.00	0.000	3078	0.120	0.030	2595	2264	3003	3068	2938	0	0	0	0	0	0	26.13	26.29	28.83
1046	-0.61	-146.6	2594	2264	3068	2938	123.8	-8.1	78	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2263	3003	3068	2938	0	0	0	0	0	0	28.83	28.83	28.83
1346	-0.66	-146.6	2594	2263	3068	2938	147.0	-7.7	93	1352	0.00	2.12	0.00	0.000	516	0.000	0.044	2595	882	3003	3068	2938	0	0	0	0	0	0	28.83	26.39	28.83
1405	-0.72	-146.6	2594	882	3068	2938	152.0	-8.2	96	1412	0.12	2.15	0.00	0.000	5126	0.079	0.040	2512	2272	3003	3068	2938	0	0	0	0	0	0	26.41	26.41	28.83
1735	-0.68	-146.6	2512	2272	3068	2938	190.0	-11.9	107	1741	0.15	2.17	0.00	0.000	2308	0.140	0.046	2553	3672	3003	3068	2938	0	0	0	0	0	0	26.34	26.43	28.83
1783	-0.65	-146.6	2552	3672	3068	2938	193.2	-11.7	108	1787	0.00	2.10	0.00	0.000	1030	0.000	0.031	2553	2263	3003	3068	2938	0	0	0	0	0	0	28.83	26.50	28.83
2090	-0.67	-146.6	2553	2264	3068	2937	225.7	-10.3	118	2091	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2264	3003	3068	2938	0	0	0	0	0	0	28.83	28.83	28.83
2390	-0.70	-146.6	2553	2264	3068	2937	256.0	-9.6	128	2396	0.00	2.17	0.00	0.000	260	0.000	0.049	2542	3664	3002	3068	2937	0	0	0	0	0	0	28.83	26.49	28.83
2444	-0.72	-146.6	2542	3664	3068	2937	258.8	-9.3	129	2450	0.00	2.08	0.00	0.000	1030	0.000	0.031	2542	2264	3002	3068	2937	0	0	0	0	0	0	28.83	26.56	28.83
2751	-0.75	-146.6	2542	2264	3068	2937	288.5	-8.7	140	2756	0.00	2.15	0.00	0.000	516	0.000	0.044	2542	867	3002	3068	2936	0	0	0	0	0	0	28.83	26.53	28.83
2859	-0.76	-146.6	2542	866	3068	2936	296.7	-9.1	143	2863	0.00	2.15	0.00	0.000	1030	0.000	0.041	2533	2265	3002	3068	2936	0	0	0	0	0	0	28.83	26.55	28.83
3196	-0.78	-146.6	2533	2265	3067	2936	330.5	-9.7	149	3202	0.00	2.17	0.00	0.000	260	0.000	0.049	2523	3674	3001	3068	2935	0	0	0	0	0	0	28.83	26.54	28.83
3274	-0.79	-146.6	2522	3674	3068	2935	336.6	-9.8	150	3278	0.00	2.10	0.00	0.000	1030	0.000	0.031	2523	2264	3001	3068	2935	0	0	0	0	0	0	28.83	26.61	28.83
3611	-0.81	-146.6	2522	2264	3068	2935	371.3	-9.6	156	3612	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2265	3001	3068	2934	0	0	0	0	0	0	28.83	28.83	28.83
3913	-0.82	-146.6	2522	2265	3068	2934	401.5	-10.1	161	3914	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2265	3001	3068	2934	0	0	0	0	0	0	28.83	28.83	28.83
4211	-0.85	-146.6	2522	2265	3068	2933	430.7	-9.6	166	4216	0.00	2.17	0.00	0.000	260	0.000	0.050	2512	3666	3000	3068	2932	0	0	0	0	0	0	28.83	26.58	28.83
4259	-0.87	-146.6	2512	3666	3068	2932	430.7	-9.6	166	4263	0.00	2.10	0.00	0.000	1030	0.000	0.032	2512	2257	3000	3068	2932	0	0	0	0	0	0	28.83	26.65	28.83
4566	-0.88	-146.6	2512	2256	3068	2932	463.9	-9.4	171	4567	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2256	3000	3068	2932	0	0	0	0	0	0	28.83	28.83	28.83
4866	-0.90	-146.6	2512	2256	3068	2931	492.6	-9.6	176	4872	0.00	2.20	0.00	0.000	260	0.000	0.050	2503	3670	2999	3068	2930	0	0	0	0	0	0	28.83	26.60	28.83
4944	-0.92	-146.6	2503	3670	3068	2930	498.5	-9.6	177	4948	0.00	2.10	0.00	0.000	1030	0.000	0.032	2503	2261	2999	3068	2930	0	0	0	0	0	0	28.83	26.67	28.83
5281	-0.93	-146.6	2503	2260	3068	2930	532.9	-9.5	183	5282	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2260	2999	3068	2930	0	0	0	0	0	0	28.83	28.83	28.83
5581	-0.95	-146.6	2503	2260	3068	2929	560.8	-9.3	188	5587	0.00	2.20	0.00	0.000	260	0.000	0.050	2493	3673	2998	3068	2928	0	0	0	0	0	0	28.83	26.60	28.83
5649	-0.96	-146.6	2493	3672	3068	2929	566.7	-9.4	189	5653	0.00	2.10	0.00	0.000	1030	0.000	0.032	2493	2263	2998	3068	2929	0	0	0	0	0	0	28.83	26.68	28.83
5995	-0.96	-146.6	2493	2263	3068	2928	602.3	-10.0	195	5999	0.00	2.15	0.00	0.000	516	0.000	0.046	2493	869	2997	3068	2927	0	0	0	0	0	0	28.83	26.63	28.83
6051	-0.96	-146.6	2493	869	3068	2928	608.0	-10.0	196	6055	0.00	2.15	0.00	0.000	1030	0.000	0.042	2484	2263	2998	3068	2928	0	0	0	0	0	0	28.83	26.65	28.83
6406	-0.96	-146.6	2484	2263	3068	2927	645.3	-10.6	202	6410	0.00	2.17	0.00	0.000	260	0.000	0.050	2474	3669	2997	3068	2927	0	0	0	0	0	0	28.83	26.62	28.83
6490	-0.96	-146.6	2474	3669	3068	2927	651.5	-10.7	203	6494	0.00	2.15	0.00	0.000	1030	0.000	0.032	2474	2261	2997	3068	2927	0	0	0	0	0	0	28.83	26.70	28.83
6824	-0.96	-146.6	2473	2261	3068	2926	690.8	-10.9	209	6825	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2261	2997	3068	2926	0	0	0	0	0	0	28.83	28.83	28.83
7122	-0.96	-146.6	2473	2260	3068	2925	722.6	-10.5	214	7126	0.00	2.20	0.00	0.000	260	0.000	0.051	2463	3671	2996	3068	2925	0	0	0	0	0	0	28.83	26.62	28.83
7177	-0.96	-146.6	2463	3671	3068	2925	728.7	-10.5	215	7181	0.00	2.12	0.00	0.000	1030	0.000	0.033	2463	2254	2996	3068	2925	0	0	0	0	0	0	28.83	26.70	28.83
7533	-0.96	-146.6	2463	2253	3068	2925	765.1	-10.1	221	7534	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2253	2996	3068	2925	0	0	0	0	0	0	28.83	28.83	28.83
7833	-0.96	-146.6	2463	2253	3068	2925	795.9	-10.3	226	7834	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2253	2996	3068	2925	0	0	0	0	0	0	28.83	28.83	28.83
8133	-0.96	-146.6	2463	2253	3067	2924	826.9	-10.4	231	8134	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2253	2996	3068	2924	0	0	0	0	0	0	28.83	28.83	28.83
8433	-0.96	-146.6	2463	2253	3068	2923	857.2	-10.1	236	8437	0.00	2.20	0.00	0.000	260	0.000	0.052	2452	3666	2995	3068	2923	0	0	0	0	0	0	28.83	26.63	28.83
8507	-0.96	-146.6	2452	3665	3068	2923	863.2	-10.2	237	8511	0.00	2.15	0.00	0.000	1030	0.000	0.034	2452	2257	2995	3067	2923	0	0	0	0	0	0	28.83	26.71	28.83
8849	-0.96	-146.6	2452	2256	3067	2922	901.4	-10.4	243	8850	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2256	2995	3068	2922	0	0	0	0	0	0	28.83	28.83	28.83
9149	-0.96	-146.6	2452	2257	3068	2922	934.1	-10.9	248	9150	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2256	2995	3068	2922	0	0	0	0	0	0	28.83	28.83	28.83
9449	-0.96	-146.6	2452	2257	3068	2922	964.8	-10.3	253	9450	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2257	2995	3068	2922	0	0	0	0	0	0	28.83	28.83	28.83
9748	end dive: TARGET_DEPTH_EXCEEDED
state	9748	begin apogee
9751	-0.22	0.0	2451	2362	3068	2921	993.1	-9.4	258	9872	0.75	0.00	116.25	1.239	10246	0.103	0.000	2710	2362	2400	2463	2337	0	0	0	0	0	0	26.49	28.83	23.73
9874	end apogee: CONTROL_FINISHED_OK
state	9874	begin climb
9875	0.76	146.6	2710	2362	2463	2338	995.3	0.0	260	10008	0.88	2.47	124.62	1.212	10756	0.045	0.046	3049	959	1801	1860	1742	0	0	0	0	0	0	24.72	24.02	23.17
10128	0.76	146.6	3049	959	1851	1739	975.2	10.8	264	10132	0.00	2.35	0.00	0.000	1030	0.000	0.042	3050	2343	1794	1851	1738	0	0	0	0	0	0	28.83	25.00	28.83
10460	0.61	146.6	3049	2343	1851	1736	922.9	14.6	270	10467	0.20	2.30	0.00	0.000	4356	0.142	0.049	2987	3765	1793	1851	1736	0	0	0	0	0	0	25.54	25.65	28.83
10583	0.47	146.6	2080	3765	1812	1733	906.8	14.2	272	10588	0.17	2.25	0.00	0.000	5126	0.120	0.034	2938	2352	1793	1850	1737	0	0	0	0	0	0	25.65	25.82	28.83
10940	0.47	146.6	2938	2351	1850	1733	870.4	10.1	278	10944	0.00	2.22	0.00	0.000	516	0.000	0.048	2946	955	1792	1850	1735	0	0	0	0	0	0	28.83	26.02	28.83
11060	0.47	146.6	2946	955	1849	1733	858.3	10.2	280	11064	0.00	2.22	0.00	0.000	1030	0.000	0.044	2946	2361	1790	1848	1733	0	0	0	0	0	0	28.83	26.10	28.83
11411	0.47	152.1	2946	2361	1848	1733	823.0	9.7	286	11417	0.00	0.00	4.15	0.637	8198	0.000	0.000	2946	2361	1780	1838	1722	0	0	0	0	0	0	28.83	28.83	25.09
11711	0.47	163.4	2946	2361	1838	1722	794.3	9.5	291	11729	0.00	2.33	11.15	0.959	8708	0.000	0.047	2957	958	1732	1790	1674	0	0	0	0	0	0	28.83	25.99	25.04
11779	0.47	180.6	2957	958	1789	1673	789.0	9.2	292	11800	0.00	2.25	15.57	1.025	9222	0.000	0.043	2957	2348	1663	1724	1602	0	0	0	0	0	0	28.83	26.06	24.74
12127	0.47	193.1	2956	2348	1722	1600	756.0	9.4	298	12140	0.00	0.00	11.52	0.969	8198	0.000	0.000	2957	2348	1611	1673	1550	0	0	0	0	0	0	28.83	28.83	24.86
12427	0.47	193.1	2956	2348	1673	1547	724.6	10.5	303	12431	0.00	2.22	0.00	0.000	516	0.000	0.047	2966	957	1610	1673	1547	0	0	0	0	0	0	28.83	26.03	28.83
12485	0.47	193.1	2966	957	1671	1547	718.5	10.7	304	12490	0.00	2.28	0.00	0.000	1030	0.000	0.043	2966	2362	1609	1671	1547	0	0	0	0	0	0	28.83	26.09	28.83
12843	0.47	193.1	2966	2362	1671	1547	679.7	10.7	310	12844	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2362	1608	1671	1546	0	0	0	0	0	0	28.83	28.83	28.83
13143	0.47	194.2	2966	2362	1671	1547	649.8	10.0	315	13147	0.00	2.25	0.00	0.000	516	0.000	0.047	2976	945	1608	1671	1546	0	0	0	0	0	0	28.83	26.29	28.83
13212	0.47	194.2	2976	945	1670	1546	643.9	10.0	316	13216	0.15	2.22	0.00	0.000	5126	0.130	0.043	2932	2365	1607	1669	1546	0	0	0	0	0	0	26.20	26.33	28.83
13559	0.53	220.0	2933	2365	1670	1546	611.7	8.8	322	13587	0.00	2.30	22.48	0.950	8708	0.000	0.048	2941	949	1502	1568	1437	0	0	0	0	0	0	28.83	25.84	24.99
13644	0.58	245.2	2941	949	1565	1436	606.8	8.8	323	13675	0.00	2.25	22.08	0.948	9222	0.000	0.043	2941	2361	1399	1467	1331	0	0	0	0	0	0	28.83	25.95	24.63
13975	0.64	257.7	2941	2361	1465	1327	572.6	9.4	329	13992	0.12	2.35	11.00	0.860	10756	0.080	0.048	3030	957	1348	1416	1280	0	0	0	0	0	0	26.04	25.71	24.91
14058	0.68	257.7	3030	956	1415	1279	564.8	10.1	330	14062	0.00	2.22	0.00	0.000	1030	0.000	0.042	3031	2356	1347	1415	1279	0	0	0	0	0	0	28.83	25.84	28.83
14389	0.63	257.7	3030	2356	1414	1278	511.7	15.1	336	14391	0.15	0.00	0.00	0.000	4102	0.140	0.000	2988	2357	1346	1415	1278	0	0	0	0	0	0	25.99	28.83	28.83
14689	0.65	257.7	2988	2357	1415	1277	473.6	12.6	341	14695	0.00	2.25	0.00	0.000	516	0.000	0.048	2996	946	1345	1414	1277	0	0	0	0	0	0	28.83	26.20	28.83
14809	0.67	257.7	2995	945	1413	1277	458.7	12.5	343	14815	0.00	2.25	0.00	0.000	1030	0.000	0.043	2996	2357	1345	1413	1277	0	0	0	0	0	0	28.83	26.26	28.83
15169	0.67	257.7	2995	2358	1413	1277	412.6	12.9	349	15173	0.00	2.22	0.00	0.000	516	0.000	0.047	3007	952	1345	1413	1277	0	0	0	0	0	0	28.83	26.32	28.83
15247	0.67	257.7	3006	952	1413	1277	405.3	12.9	350	15252	0.00	2.22	0.00	0.000	1030	0.000	0.041	3006	2352	1344	1413	1276	0	0	0	0	0	0	28.83	26.36	28.83
15584	0.67	257.7	3006	2353	1413	1277	357.6	13.3	356	15589	0.00	2.20	0.00	0.000	516	0.000	0.047	3016	955	1345	1413	1277	0	0	0	0	0	0	28.83	26.39	28.83
15618	0.67	257.7	3016	955	1413	1277	357.6	13.3	356	15622	0.00	2.22	0.00	0.000	1030	0.000	0.042	3017	2357	1345	1413	1277	0	0	0	0	0	0	28.83	26.41	28.83
15940	0.67	257.7	3016	2357	1413	1277	307.3	14.2	362	15944	0.00	2.20	0.00	0.000	516	0.000	0.047	3027	955	1345	1413	1277	0	0	0	0	0	0	28.83	26.43	28.83
15996	0.67	257.7	3027	955	1413	1277	299.4	14.1	363	16000	0.00	2.17	0.00	0.000	1030	0.000	0.041	3027	2358	1345	1413	1277	0	0	0	0	0	0	28.83	26.46	28.83
16322	0.65	257.7	3027	2358	1413	1277	254.8	13.4	374	16324	0.12	0.00	0.00	0.000	4102	0.145	0.000	2992	2358	1345	1413	1277	0	0	0	0	0	0	26.41	28.83	28.83
16622	0.70	257.7	2992	2358	1413	1277	221.6	11.2	384	16626	0.00	2.20	0.00	0.000	516	0.000	0.047	2999	955	1345	1413	1277	0	0	0	0	0	0	28.83	26.48	28.83
16726	0.74	257.7	2999	954	1413	1277	211.8	11.3	387	16731	0.00	2.17	0.00	0.000	1030	0.000	0.042	2999	2357	1345	1413	1277	0	0	0	0	0	0	28.83	26.52	28.83
17034	0.78	257.7	2999	2356	1413	1277	174.0	11.6	397	17036	0.12	0.00	0.00	0.000	2054	0.083	0.000	3079	2357	1345	1413	1277	0	0	0	0	0	0	26.63	28.83	28.83
17334	0.73	257.7	3079	2356	1413	1277	130.2	14.0	409	17341	0.17	2.22	0.00	0.000	4612	0.132	0.045	3028	947	1345	1413	1277	0	0	0	0	0	0	26.43	26.53	28.83
17437	0.76	257.7	3028	947	1413	1277	119.2	10.6	414	17441	0.00	2.17	0.00	0.000	1030	0.000	0.041	3028	2356	1345	1413	1277	0	0	0	0	0	0	28.83	26.56	28.83
17749	0.80	257.7	3028	2355	1413	1277	81.7	12.1	430	17753	0.00	2.20	0.00	0.000	516	0.000	0.046	3038	946	1345	1413	1277	0	0	0	0	0	0	28.83	26.55	28.83
17778	0.84	257.7	3037	946	1413	1277	78.8	11.7	432	17786	0.00	2.20	0.00	0.000	1030	0.000	0.041	3038	2347	1345	1413	1277	0	0	0	0	0	0	28.83	26.59	28.83
18086	0.89	278.5	3037	2347	1413	1277	43.7	9.0	463	18106	0.00	0.00	16.88	0.588	8198	0.000	0.000	3038	2347	1264	1335	1193	0	0	0	0	0	0	28.83	28.83	25.63
18406	0.97	328.2	3038	2347	1335	1188	18.8	7.7	495	18437	0.12	2.20	22.85	0.106	10756	0.080	0.044	3134	950	1060	1139	982	0	0	0	0	0	0	26.51	26.34	26.21
18532	0.97	328.2	3135	950	1133	979	4.1	12.5	507	18541	0.10	2.22	0.00	0.000	5126	0.106	0.040	3098	2358	1055	1133	978	0	0	0	0	0	0	26.25	26.37	28.83
18551	end climb: SURFACE_DEPTH_REACHED
state	18551	begin surface coast
18571	end surface coast: CONTROL_FINISHED_OK
state	18571	begin surface