Glider dive log

SantaMonica Nov20 * SG203 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING 270 C_ROLL_CLIMB 2650 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 179 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 57.182999 R_PORT_OVSHOOT 56 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -151 R_STBD_OVSHOOT 46 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 900 SM_CC 500 ROLL_MAXERRORS 1 ALTIM_PULSE 2

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 4

D_BOOST 0 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 4 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_FINISH 0 PROTOCOL 9 C_VBD 2400 INT_PRESSURE_YINT 0.61000001

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 4 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0015 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 375 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 410 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE1 51

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 85

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 33

USE_BATHY -2 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 600 PITCH_MIN 202 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3901 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2650 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 127.5 SEABIRD_T_G 0.0043618996

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 100 SEABIRD_T_H 0.00062548189

COURSE_BIAS 0 P_OVSHOOT 0.079999998 MINV_24V 20 SEABIRD_T_I 2.3462009e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 8 SEABIRD_T_J 2.5141646e-06

SPEED_FACTOR 1 PITCH_GAIN 32 MAXI_24V 1 SEABIRD_C_G -10.071401

RHO 1.0275 PITCH_TIMEOUT 17 MAXI_10V 0.80000001 SEABIRD_C_H 1.1168503

MASS 54696 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0033448157

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00031351036

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -167.39319 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 2600 PRESSURE_SLOPE 0.000108781 SC_XMITPROFILE 3.0

HD_A 0.0035000001 ROLL_MAX 2700 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.01122 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.9999997e-06 C_ROLL_DIVE 2650 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043618996

AH0_10V 100 D_TGT 900 PHONE_DEVICE 49 SEABIRD_T_H 0.00062548189

AH0_24V 127.5 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.3462009e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.5141646e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 500

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 32 STROBE 0

ALTIM_SENSITIVITY 4 GLIDE_SLOPE 30 PITCH_MAX 3901 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0035000001 PITCH_MIN 202 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.01122 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0015 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 HEADING 270 PITCH_W_DBAND 0 TGT_DEFAULT_LON -151

CALL_TRIES 5 HEAD_ERRBAND 179 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.000108781 T_BOOST 4

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -167.39319 T_DIVE 375

CAPUPLOAD 0 ID 203 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT 0.079999998 T_GPS 15

COMM_SEQ 0 INT_PRESSURE_YINT 0.61000001 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 410

COMPASS_DEVICE 33 LOGGERDEVICE1 51 RAFOS_DEVICE -1 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 85 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2650 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2650 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2650 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2400 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -2

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 54696 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 2700 VBD_DBAND 4

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 1 ROLL_MIN 2600 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 7 MINV_10V 8 R_PORT_OVSHOOT 56 VBD_MIN 500

D_ABORT 1010 MINV_24V 20 R_STBD_OVSHOOT 46 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 0 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_G -10.071401 XPDR_INHIBIT 90

D_OFFGRID 600 N_FILEKB 8 SEABIRD_C_H 1.1168503 XPDR_VALID 4

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0033448157

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00031351036

Pre-dive calculations and measurements:

GPS1 161120,090631,3347.6904,-11858.0723,31,0.9,33,11.9,0.7,304.2,8,6.2 SPEED_LIMITS 0.139,0.229

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 3347.799,-11911.147

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.99 MHEAD_RNG_PITCHd_Wd 258.1,20000,-15.2,-8.000,-19.24,2779

_SM_ANGLEo -67.1 D_GRID 892

GPS2 161120,091710,3347.7986,-11858.1523,3,0.7,5,11.9,0.5,308.2,12,7.2

Post-dive calculations and measurements:

FINISH 0.1,1.000808 _24V_AH 23.51,3.619

SM_CCo 18853,0.52,0.317,0,0,499,466.07 _10V_AH 10.03,2.426

SM_GC 0.99,6.97,0.00,0.52,0.031,0.000,0.317,181,2622,499,-7.58,-0.79,466.07,0,0,0,0,0,0,26.24,26.59,24.68 FG_AHR_24Vo 0.000

IRIDIUM_FIX 3346.33,-11900.00,161120,041745 FG_AHR_10Vo 0.000

TT8_MAMPS 0.105609,0.326564 MEM 215780

HUMID 57.52 DATA_FILE_SIZE 16738,454

INTERNAL_PRESSURE 8.78381 CAP_FILE_SIZE 89126,0

TCM_TEMP 19.00 CFSIZE 1024393216,1021394944

XPDR_PINGS 920 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

SC_FREEKB 3859360 GPS 161120,143331,3347.754,-11858.394,45,0.9,46,11.9,0.2,0.0,11,4.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 195 76.43 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 1082 678 17270.53 nil 0 0 0.00

VBD_pump_during_surface 261 637 3921.44 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 18591 22 10045.72

Iridium_during_xfer 457 124 1340.46 empty 0 0 0.00

Transponder_ping 230 420 2271.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.13

TT8 1147 83 962.65

LPSleep 15403 2 338.34

TT8_Active 1485 83 1245.83

TT8_Sampling 1256 110 1393.32

TT8_CF8 217 127 279.27

TT8_Kalman 0 0 0.00

Analog_circuits 2356 10 236.41

GPS_charging 0 0 0.00

Compass 733 8 60.61

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.69 -146.0 172 2622 380 626 0.0 0.0 0 104 0.00 0.00 -91.62 0.005 16386 0.000 0.000 172 2622 2727 2725 2729 0 0 0 0 0 0 26.35 28.83 26.41

107 -0.69 -146.0 171 2622 2725 2729 4.1 -6.7 9 123 8.38 0.00 -5.57 0.012 18470 0.196 0.000 2406 2621 2997 3008 2986 0 0 0 0 0 0 25.43 24.48 25.77

443 -0.69 -146.0 2405 2622 3008 2986 54.6 -12.0 41 445 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2997 3009 2986 0 0 0 0 0 0 26.71 26.78 26.77

743 -0.69 -146.0 2405 2622 3009 2986 87.3 -10.8 51 745 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2997 3009 2985 0 0 0 0 0 0 26.84 26.90 26.89

1043 -0.69 -146.0 2405 2622 3009 2985 118.6 -10.0 61 1045 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2997 3009 2985 0 0 0 0 0 0 26.91 26.98 26.97

1343 -0.69 -146.0 2405 2622 3010 2985 148.9 -10.1 71 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2997 3009 2985 0 0 0 0 0 0 26.96 27.03 27.02

1643 -0.69 -146.0 2405 2622 3010 2984 178.6 -10.1 81 1645 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2997 3009 2985 0 0 0 0 0 0 26.98 27.05 27.04

1943 -0.69 -146.0 2405 2622 3009 2984 207.3 -9.3 91 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2996 3009 2984 0 0 0 0 0 0 27.03 27.10 27.09

2243 -0.69 -146.0 2406 2622 3009 2983 234.4 -8.6 101 2245 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2995 3009 2982 0 0 0 0 0 0 27.05 27.13 27.11

2573 -0.69 -146.0 2405 2622 3009 2982 261.6 -8.2 110 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2995 3009 2982 0 0 0 0 0 0 27.08 27.15 27.13

2874 -0.69 -146.0 2405 2622 3009 2982 285.2 -7.9 115 2876 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2995 3009 2982 0 0 0 0 0 0 26.48 26.60 26.57

3174 -0.69 -146.0 2405 2622 3009 2980 308.7 -7.8 120 3176 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2994 3009 2979 0 0 0 0 0 0 27.05 27.12 27.11

3474 -0.69 -146.0 2406 2622 3009 2979 330.3 -7.1 125 3476 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2994 3009 2979 0 0 0 0 0 0 27.08 27.16 27.15

3774 -0.69 -146.0 2405 2622 3009 2978 349.5 -6.4 130 3776 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2993 3009 2978 0 0 0 0 0 0 27.10 27.17 27.15

4074 -0.69 -146.0 2405 2622 3009 2977 370.7 -7.2 135 4076 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2993 3009 2977 0 0 0 0 0 0 27.11 27.18 27.17

4374 -0.69 -146.0 2405 2622 3009 2977 394.0 -7.8 140 4376 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2993 3010 2976 0 0 0 0 0 0 27.12 27.19 27.17

4673 -0.69 -146.0 2405 2622 3009 2975 418.4 -8.1 145 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2992 3009 2976 0 0 0 0 0 0 27.13 27.20 27.19

4974 -0.69 -146.0 2405 2623 3009 2975 440.7 -7.4 150 4976 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2992 3009 2975 0 0 0 0 0 0 27.10 27.17 27.17

5274 -0.69 -146.0 2405 2622 3009 2974 461.2 -6.8 155 5276 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2991 3009 2974 0 0 0 0 0 0 27.14 27.21 27.20

5574 -0.69 -146.0 2405 2622 3009 2973 480.0 -6.2 160 5576 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2991 3009 2973 0 0 0 0 0 0 27.14 27.21 27.20

5874 -0.69 -146.0 2405 2622 3009 2972 498.4 -6.1 165 5876 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2621 2990 3009 2972 0 0 0 0 0 0 27.14 27.21 27.19

6174 -0.69 -146.0 2405 2622 3009 2971 517.9 -6.6 170 6176 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2990 3009 2971 0 0 0 0 0 0 27.15 27.22 27.21

6474 -0.69 -146.0 2405 2622 3009 2970 540.3 -7.6 175 6476 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2989 3009 2970 0 0 0 0 0 0 27.15 27.22 27.21

6773 -0.69 -146.0 2405 2622 3009 2969 566.1 -8.6 180 6775 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2989 3009 2970 0 0 0 0 0 0 27.15 27.22 27.20

7073 -0.69 -146.0 2405 2622 3009 2969 591.4 -8.5 185 7075 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2622 2989 3009 2969 0 0 0 0 0 0 27.15 27.22 27.21

7375 -0.69 -146.0 2405 2622 3009 2968 614.0 -7.5 190 7377 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2988 3009 2968 0 0 0 0 0 0 27.11 27.19 27.17

7674 -0.69 -146.0 2405 2622 3009 2967 635.7 -7.2 195 7676 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2987 3008 2967 0 0 0 0 0 0 27.07 27.14 27.13

7974 -0.69 -146.0 2405 2621 3009 2966 656.8 -7.2 200 7976 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2987 3009 2966 0 0 0 0 0 0 27.13 27.20 27.18

8274 -0.69 -146.0 2405 2622 3008 2966 679.1 -7.5 205 8276 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2987 3009 2966 0 0 0 0 0 0 27.14 27.22 27.21

8574 -0.69 -146.0 2405 2622 3008 2965 702.1 -7.7 210 8576 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2987 3008 2966 0 0 0 0 0 0 27.14 27.20 27.20

8874 -0.69 -146.0 2405 2622 3007 2965 724.0 -7.2 215 8876 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2986 3008 2965 0 0 0 0 0 0 27.14 27.21 27.20

9174 -0.69 -146.0 2405 2622 3008 2965 745.9 -7.3 220 9176 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2986 3007 2965 0 0 0 0 0 0 27.15 27.22 27.20

9474 -0.69 -146.0 2405 2622 3008 2965 767.7 -7.3 225 9476 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2986 3007 2965 0 0 0 0 0 0 27.13 27.21 27.20

9774 -0.69 -146.0 2405 2622 3007 2965 790.3 -7.5 230 9776 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2986 3008 2965 0 0 0 0 0 0 27.14 27.21 27.20

10074 -0.69 -146.0 2406 2622 3007 2964 812.6 -7.4 235 10076 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2985 3007 2964 0 0 0 0 0 0 27.00 27.08 27.06

10374 -0.69 -146.0 2405 2622 3007 2964 834.1 -7.1 240 10376 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2985 3007 2964 0 0 0 0 0 0 27.07 27.14 27.13

10674 -0.69 -146.0 2405 2622 3007 2964 854.0 -6.6 245 10676 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2985 3007 2964 0 0 0 0 0 0 27.10 27.17 27.17

10974 -0.69 -146.0 2405 2622 3007 2963 872.8 -6.2 250 10976 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2984 3006 2963 0 0 0 0 0 0 27.08 27.15 27.14

11274 -0.69 -146.0 2405 2622 3007 2963 891.5 -6.2 255 11276 0.00 0.00 0.00 0.000 38 0.000 0.000 2406 2622 2985 3007 2963 0 0 0 0 0 0 27.07 27.15 27.13

11331 end dive: TARGET_DEPTH_EXCEEDED

state 11331 begin apogee

11336 -0.16 0.0 2406 2622 3007 2963 893.7 -5.7 256 11836 0.50 0.00 496.67 0.679 10246 0.057 0.000 2601 2622 2400 2463 2338 0 0 0 0 0 0 26.31 24.23 23.53

11838 end apogee: CONTROL_FINISHED_OK

state 11838 begin climb

11841 0.69 146.0 2602 2622 2460 2332 893.5 0.0 264 12346 0.75 0.00 501.55 0.632 10246 0.052 0.000 2869 2622 1803 1909 1698 0 0 0 0 0 0 24.53 24.15 23.51

12594 0.69 146.0 2868 2622 1896 1674 807.8 17.2 277 12596 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1785 1896 1674 0 0 0 0 0 0 26.06 26.13 26.13

12894 0.69 146.0 2868 2622 1896 1671 755.9 17.4 282 12896 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1784 1896 1672 0 0 0 0 0 0 26.36 26.44 26.42

13194 0.69 146.0 2868 2621 1896 1670 704.2 17.3 287 13196 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1783 1896 1670 0 0 0 0 0 0 26.70 26.77 26.76

13494 0.69 146.0 2869 2621 1896 1670 653.3 16.9 292 13496 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1669 0 0 0 0 0 0 26.77 26.84 26.83

13794 0.69 146.0 2867 2622 1896 1669 605.3 16.0 297 13796 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1669 0 0 0 0 0 0 26.84 26.91 26.91

14094 0.69 146.0 2868 2622 1896 1669 560.2 14.7 302 14096 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1668 0 0 0 0 0 0 26.88 26.95 26.94

14394 0.69 146.0 2868 2622 1896 1669 516.9 14.5 307 14396 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1669 0 0 0 0 0 0 26.95 27.03 27.01

14694 0.69 146.0 2869 2622 1896 1669 472.9 14.5 312 14696 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2621 1782 1896 1668 0 0 0 0 0 0 26.97 27.03 27.03

14994 0.69 146.0 2868 2622 1896 1669 429.9 14.4 317 14996 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1668 0 0 0 0 0 0 27.00 27.07 27.06

15294 0.69 146.0 2868 2622 1896 1668 386.9 14.3 322 15296 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1669 0 0 0 0 0 0 27.01 27.08 27.08

15594 0.69 146.0 2868 2622 1896 1668 346.8 13.4 327 15596 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2621 1782 1896 1669 0 0 0 0 0 0 27.03 27.10 27.09

15894 0.69 146.0 2868 2621 1896 1668 304.7 14.1 332 15896 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1668 0 0 0 0 0 0 27.05 27.11 27.10

16194 0.69 146.0 2868 2622 1896 1668 262.5 14.1 337 16196 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1668 0 0 0 0 0 0 27.05 27.13 27.12

16494 0.69 146.0 2868 2622 1896 1669 224.2 12.7 345 16496 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1668 0 0 0 0 0 0 27.06 27.14 27.13

16794 0.69 146.0 2868 2622 1896 1669 187.6 11.7 355 16796 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1669 0 0 0 0 0 0 27.05 27.13 27.12

17094 0.69 146.0 2868 2622 1895 1668 147.6 13.1 365 17096 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1895 1669 0 0 0 0 0 0 27.05 27.13 27.12

17394 0.69 146.0 2869 2622 1896 1669 112.5 11.7 375 17396 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1669 0 0 0 0 0 0 27.09 27.16 27.15

17694 0.69 146.0 2868 2622 1896 1669 77.2 11.6 385 17696 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1896 1668 0 0 0 0 0 0 27.10 27.17 27.16

17994 0.69 146.0 2869 2622 1896 1669 45.3 10.1 397 17996 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2622 1782 1895 1669 0 0 0 0 0 0 27.10 27.17 27.16

18297 0.73 170.7 2868 2622 1896 1669 18.7 7.1 427 18384 0.00 0.00 84.38 0.535 8230 0.000 0.000 2868 2621 1704 1808 1601 0 0 0 0 0 0 27.01 25.65 25.05

18532 end climb: SURFACE_DEPTH_REACHED

state 18532 begin surface coast

18563 end surface coast: CONTROL_FINISHED_OK

state 18563 begin surface

ID	203	HEADING	270	C_ROLL_CLIMB	2650	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	179	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	57.182999	R_PORT_OVSHOOT	56	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-151	R_STBD_OVSHOOT	46	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	900	SM_CC	500	ROLL_MAXERRORS	1	ALTIM_PULSE	2
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	4
D_BOOST	0	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	4	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_FINISH	0	PROTOCOL	9	C_VBD	2400	INT_PRESSURE_YINT	0.61000001
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	4	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0015	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	375	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	410	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE1	51
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	85
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-2	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	600	PITCH_MIN	202	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3901	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2650	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	127.5	SEABIRD_T_G	0.0043618996
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	100	SEABIRD_T_H	0.00062548189
COURSE_BIAS	0	P_OVSHOOT	0.079999998	MINV_24V	20	SEABIRD_T_I	2.3462009e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	8	SEABIRD_T_J	2.5141646e-06
SPEED_FACTOR	1	PITCH_GAIN	32	MAXI_24V	1	SEABIRD_C_G	-10.071401
RHO	1.0275	PITCH_TIMEOUT	17	MAXI_10V	0.80000001	SEABIRD_C_H	1.1168503
MASS	54696	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0033448157
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00031351036
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-167.39319	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	2600	PRESSURE_SLOPE	0.000108781	SC_XMITPROFILE	3.0
HD_A	0.0035000001	ROLL_MAX	2700	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.01122	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.9999997e-06	C_ROLL_DIVE	2650	ALTIM_PING_FIT	0

GPS1	161120,090631,3347.6904,-11858.0723,31,0.9,33,11.9,0.7,304.2,8,6.2	SPEED_LIMITS	0.139,0.229
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	3347.799,-11911.147
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.99	MHEAD_RNG_PITCHd_Wd	258.1,20000,-15.2,-8.000,-19.24,2779
_SM_ANGLEo	-67.1	D_GRID	892
GPS2	161120,091710,3347.7986,-11858.1523,3,0.7,5,11.9,0.5,308.2,12,7.2

FINISH	0.1,1.000808	_24V_AH	23.51,3.619
SM_CCo	18853,0.52,0.317,0,0,499,466.07	_10V_AH	10.03,2.426
SM_GC	0.99,6.97,0.00,0.52,0.031,0.000,0.317,181,2622,499,-7.58,-0.79,466.07,0,0,0,0,0,0,26.24,26.59,24.68	FG_AHR_24Vo	0.000
IRIDIUM_FIX	3346.33,-11900.00,161120,041745	FG_AHR_10Vo	0.000
TT8_MAMPS	0.105609,0.326564	MEM	215780
HUMID	57.52	DATA_FILE_SIZE	16738,454
INTERNAL_PRESSURE	8.78381	CAP_FILE_SIZE	89126,0
TCM_TEMP	19.00	CFSIZE	1024393216,1021394944
XPDR_PINGS	920	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
SC_FREEKB	3859360	GPS	161120,143331,3347.754,-11858.394,45,0.9,46,11.9,0.2,0.0,11,4.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	195	76.43	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	1082	678	17270.53	nil	0	0	0.00
VBD_pump_during_surface	261	637	3921.44	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	18591	22	10045.72
Iridium_during_xfer	457	124	1340.46	empty	0	0	0.00
Transponder_ping	230	420	2271.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.13
TT8	1147	83	962.65
LPSleep	15403	2	338.34
TT8_Active	1485	83	1245.83
TT8_Sampling	1256	110	1393.32
TT8_CF8	217	127	279.27
TT8_Kalman	0	0	0.00
Analog_circuits	2356	10	236.41
GPS_charging	0	0	0.00
Compass	733	8	60.61
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.69	-146.0	172	2622	380	626	0.0	0.0	0	104	0.00	0.00	-91.62	0.005	16386	0.000	0.000	172	2622	2727	2725	2729	0	0	0	0	0	0	26.35	28.83	26.41
107	-0.69	-146.0	171	2622	2725	2729	4.1	-6.7	9	123	8.38	0.00	-5.57	0.012	18470	0.196	0.000	2406	2621	2997	3008	2986	0	0	0	0	0	0	25.43	24.48	25.77
443	-0.69	-146.0	2405	2622	3008	2986	54.6	-12.0	41	445	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2997	3009	2986	0	0	0	0	0	0	26.71	26.78	26.77
743	-0.69	-146.0	2405	2622	3009	2986	87.3	-10.8	51	745	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2997	3009	2985	0	0	0	0	0	0	26.84	26.90	26.89
1043	-0.69	-146.0	2405	2622	3009	2985	118.6	-10.0	61	1045	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2997	3009	2985	0	0	0	0	0	0	26.91	26.98	26.97
1343	-0.69	-146.0	2405	2622	3010	2985	148.9	-10.1	71	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2997	3009	2985	0	0	0	0	0	0	26.96	27.03	27.02
1643	-0.69	-146.0	2405	2622	3010	2984	178.6	-10.1	81	1645	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2997	3009	2985	0	0	0	0	0	0	26.98	27.05	27.04
1943	-0.69	-146.0	2405	2622	3009	2984	207.3	-9.3	91	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2996	3009	2984	0	0	0	0	0	0	27.03	27.10	27.09
2243	-0.69	-146.0	2406	2622	3009	2983	234.4	-8.6	101	2245	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2995	3009	2982	0	0	0	0	0	0	27.05	27.13	27.11
2573	-0.69	-146.0	2405	2622	3009	2982	261.6	-8.2	110	2575	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2995	3009	2982	0	0	0	0	0	0	27.08	27.15	27.13
2874	-0.69	-146.0	2405	2622	3009	2982	285.2	-7.9	115	2876	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2995	3009	2982	0	0	0	0	0	0	26.48	26.60	26.57
3174	-0.69	-146.0	2405	2622	3009	2980	308.7	-7.8	120	3176	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2994	3009	2979	0	0	0	0	0	0	27.05	27.12	27.11
3474	-0.69	-146.0	2406	2622	3009	2979	330.3	-7.1	125	3476	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2994	3009	2979	0	0	0	0	0	0	27.08	27.16	27.15
3774	-0.69	-146.0	2405	2622	3009	2978	349.5	-6.4	130	3776	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2993	3009	2978	0	0	0	0	0	0	27.10	27.17	27.15
4074	-0.69	-146.0	2405	2622	3009	2977	370.7	-7.2	135	4076	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2993	3009	2977	0	0	0	0	0	0	27.11	27.18	27.17
4374	-0.69	-146.0	2405	2622	3009	2977	394.0	-7.8	140	4376	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2993	3010	2976	0	0	0	0	0	0	27.12	27.19	27.17
4673	-0.69	-146.0	2405	2622	3009	2975	418.4	-8.1	145	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2992	3009	2976	0	0	0	0	0	0	27.13	27.20	27.19
4974	-0.69	-146.0	2405	2623	3009	2975	440.7	-7.4	150	4976	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2992	3009	2975	0	0	0	0	0	0	27.10	27.17	27.17
5274	-0.69	-146.0	2405	2622	3009	2974	461.2	-6.8	155	5276	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2991	3009	2974	0	0	0	0	0	0	27.14	27.21	27.20
5574	-0.69	-146.0	2405	2622	3009	2973	480.0	-6.2	160	5576	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2991	3009	2973	0	0	0	0	0	0	27.14	27.21	27.20
5874	-0.69	-146.0	2405	2622	3009	2972	498.4	-6.1	165	5876	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2621	2990	3009	2972	0	0	0	0	0	0	27.14	27.21	27.19
6174	-0.69	-146.0	2405	2622	3009	2971	517.9	-6.6	170	6176	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2990	3009	2971	0	0	0	0	0	0	27.15	27.22	27.21
6474	-0.69	-146.0	2405	2622	3009	2970	540.3	-7.6	175	6476	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2989	3009	2970	0	0	0	0	0	0	27.15	27.22	27.21
6773	-0.69	-146.0	2405	2622	3009	2969	566.1	-8.6	180	6775	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2989	3009	2970	0	0	0	0	0	0	27.15	27.22	27.20
7073	-0.69	-146.0	2405	2622	3009	2969	591.4	-8.5	185	7075	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2622	2989	3009	2969	0	0	0	0	0	0	27.15	27.22	27.21
7375	-0.69	-146.0	2405	2622	3009	2968	614.0	-7.5	190	7377	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2988	3009	2968	0	0	0	0	0	0	27.11	27.19	27.17
7674	-0.69	-146.0	2405	2622	3009	2967	635.7	-7.2	195	7676	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2987	3008	2967	0	0	0	0	0	0	27.07	27.14	27.13
7974	-0.69	-146.0	2405	2621	3009	2966	656.8	-7.2	200	7976	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2987	3009	2966	0	0	0	0	0	0	27.13	27.20	27.18
8274	-0.69	-146.0	2405	2622	3008	2966	679.1	-7.5	205	8276	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2987	3009	2966	0	0	0	0	0	0	27.14	27.22	27.21
8574	-0.69	-146.0	2405	2622	3008	2965	702.1	-7.7	210	8576	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2987	3008	2966	0	0	0	0	0	0	27.14	27.20	27.20
8874	-0.69	-146.0	2405	2622	3007	2965	724.0	-7.2	215	8876	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2986	3008	2965	0	0	0	0	0	0	27.14	27.21	27.20
9174	-0.69	-146.0	2405	2622	3008	2965	745.9	-7.3	220	9176	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2986	3007	2965	0	0	0	0	0	0	27.15	27.22	27.20
9474	-0.69	-146.0	2405	2622	3008	2965	767.7	-7.3	225	9476	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2986	3007	2965	0	0	0	0	0	0	27.13	27.21	27.20
9774	-0.69	-146.0	2405	2622	3007	2965	790.3	-7.5	230	9776	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2986	3008	2965	0	0	0	0	0	0	27.14	27.21	27.20
10074	-0.69	-146.0	2406	2622	3007	2964	812.6	-7.4	235	10076	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2985	3007	2964	0	0	0	0	0	0	27.00	27.08	27.06
10374	-0.69	-146.0	2405	2622	3007	2964	834.1	-7.1	240	10376	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2985	3007	2964	0	0	0	0	0	0	27.07	27.14	27.13
10674	-0.69	-146.0	2405	2622	3007	2964	854.0	-6.6	245	10676	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2985	3007	2964	0	0	0	0	0	0	27.10	27.17	27.17
10974	-0.69	-146.0	2405	2622	3007	2963	872.8	-6.2	250	10976	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2984	3006	2963	0	0	0	0	0	0	27.08	27.15	27.14
11274	-0.69	-146.0	2405	2622	3007	2963	891.5	-6.2	255	11276	0.00	0.00	0.00	0.000	38	0.000	0.000	2406	2622	2985	3007	2963	0	0	0	0	0	0	27.07	27.15	27.13
11331	end dive: TARGET_DEPTH_EXCEEDED
state	11331	begin apogee
11336	-0.16	0.0	2406	2622	3007	2963	893.7	-5.7	256	11836	0.50	0.00	496.67	0.679	10246	0.057	0.000	2601	2622	2400	2463	2338	0	0	0	0	0	0	26.31	24.23	23.53
11838	end apogee: CONTROL_FINISHED_OK
state	11838	begin climb
11841	0.69	146.0	2602	2622	2460	2332	893.5	0.0	264	12346	0.75	0.00	501.55	0.632	10246	0.052	0.000	2869	2622	1803	1909	1698	0	0	0	0	0	0	24.53	24.15	23.51
12594	0.69	146.0	2868	2622	1896	1674	807.8	17.2	277	12596	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1785	1896	1674	0	0	0	0	0	0	26.06	26.13	26.13
12894	0.69	146.0	2868	2622	1896	1671	755.9	17.4	282	12896	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1784	1896	1672	0	0	0	0	0	0	26.36	26.44	26.42
13194	0.69	146.0	2868	2621	1896	1670	704.2	17.3	287	13196	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1783	1896	1670	0	0	0	0	0	0	26.70	26.77	26.76
13494	0.69	146.0	2869	2621	1896	1670	653.3	16.9	292	13496	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1669	0	0	0	0	0	0	26.77	26.84	26.83
13794	0.69	146.0	2867	2622	1896	1669	605.3	16.0	297	13796	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1669	0	0	0	0	0	0	26.84	26.91	26.91
14094	0.69	146.0	2868	2622	1896	1669	560.2	14.7	302	14096	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1668	0	0	0	0	0	0	26.88	26.95	26.94
14394	0.69	146.0	2868	2622	1896	1669	516.9	14.5	307	14396	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1669	0	0	0	0	0	0	26.95	27.03	27.01
14694	0.69	146.0	2869	2622	1896	1669	472.9	14.5	312	14696	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2621	1782	1896	1668	0	0	0	0	0	0	26.97	27.03	27.03
14994	0.69	146.0	2868	2622	1896	1669	429.9	14.4	317	14996	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1668	0	0	0	0	0	0	27.00	27.07	27.06
15294	0.69	146.0	2868	2622	1896	1668	386.9	14.3	322	15296	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1669	0	0	0	0	0	0	27.01	27.08	27.08
15594	0.69	146.0	2868	2622	1896	1668	346.8	13.4	327	15596	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2621	1782	1896	1669	0	0	0	0	0	0	27.03	27.10	27.09
15894	0.69	146.0	2868	2621	1896	1668	304.7	14.1	332	15896	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1668	0	0	0	0	0	0	27.05	27.11	27.10
16194	0.69	146.0	2868	2622	1896	1668	262.5	14.1	337	16196	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1668	0	0	0	0	0	0	27.05	27.13	27.12
16494	0.69	146.0	2868	2622	1896	1669	224.2	12.7	345	16496	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1668	0	0	0	0	0	0	27.06	27.14	27.13
16794	0.69	146.0	2868	2622	1896	1669	187.6	11.7	355	16796	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1669	0	0	0	0	0	0	27.05	27.13	27.12
17094	0.69	146.0	2868	2622	1895	1668	147.6	13.1	365	17096	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1895	1669	0	0	0	0	0	0	27.05	27.13	27.12
17394	0.69	146.0	2869	2622	1896	1669	112.5	11.7	375	17396	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1669	0	0	0	0	0	0	27.09	27.16	27.15
17694	0.69	146.0	2868	2622	1896	1669	77.2	11.6	385	17696	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1896	1668	0	0	0	0	0	0	27.10	27.17	27.16
17994	0.69	146.0	2869	2622	1896	1669	45.3	10.1	397	17996	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2622	1782	1895	1669	0	0	0	0	0	0	27.10	27.17	27.16
18297	0.73	170.7	2868	2622	1896	1669	18.7	7.1	427	18384	0.00	0.00	84.38	0.535	8230	0.000	0.000	2868	2621	1704	1808	1601	0	0	0	0	0	0	27.01	25.65	25.05
18532	end climb: SURFACE_DEPTH_REACHED
state	18532	begin surface coast
18563	end surface coast: CONTROL_FINISHED_OK
state	18563	begin surface