Glider dive log

WA coast Jul17 * SG204 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 48 ALTIM_PULSE 2

MISSION 19 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 30 ALTIM_SENSITIVITY 2

DIVE 81 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_SURF 2 SM_CC 598.77728 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.60000002

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_TGT 900 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 4

D_ABORT 1020 CALL_NDIVES 1 C_VBD 2941 DEVICE1 -1

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE2 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 4 N_NOCOMM 3 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 3

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 51

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 85

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_DIVE 300 HEAPDBG 0 W_ADJ_DBAND 0.5 COMPASS_DEVICE 33

T_MISSION 340 T_GPS 5 DBDW 0 COMPASS2_DEVICE 147

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_TURN 225 T_RSLEEP 3 LOITER_DBDW 0 GPS_DEVICE 64

T_TURN_SAMPINT -5 STROBE 0 PITCH_W_GAIN 7 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_LOITER 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 SIM_PITCH 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_10V 97 SEABIRD_T_G 0.0043580476

USE_ICE 0 PITCH_MIN 210 MINV_24V 20 SEABIRD_T_H 0.00063004985

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

D_OFFGRID 1010 C_PITCH 3040 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

RELAUNCH 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

MAX_BUOY 150 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

COURSE_BIAS 0 PITCH_GAIN 22 PRESSURE_YINT -171.29309 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

RHO 1.0275 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS 52433 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 236 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0044816299 C_ROLL_DIVE 2400 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2700 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22 SEABIRD_T_J 2.6474129e-06

AH0_24V 150 FERRY_MAX 45 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MIN 210 SM_CC 598.77728

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0014 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 STROBE 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_GAIN 7 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 HD_A 0.0044816299 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 ID 204 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -171.29309 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PROTOCOL 9 T_DIVE 300

CF8_MAXERRORS 20 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 340

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERS 3 RAFOS_MMODEM 0 T_RSLEEP 3

C_PITCH 3040 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2700 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 52433 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 20 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 19 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 81 NOCOMM_ACTION 163 R_PORT_OVSHOOT 48 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 30 VBD_MIN 500

D_BOOST 50 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOCOMM 3 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0.5

D_NO_BLEED 200 PHONE_DEVICE 49 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_OFFGRID 1010 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 5

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043580476

D_TGT 900 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

Pre-dive calculations and measurements:

GPS1 180717,062338,4730.8223,-12523.6455,39,1.5,76,16.1,0.9,147.8,10,10.0 SPEED_LIMITS 0.173,0.188

_CALLS 5 TGT_NAME SHELF2

_XMS_NAKs 0 TGT_LATLONG 4721.000,-12515.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.29 MHEAD_RNG_PITCHd_Wd 129.7,20979,-24.2,-10.000,-28.00,2247

_SM_ANGLEo -66.0 D_GRID 1000

GPS2 180717,063548,4730.6714,-12523.7051,7,1.0,14,16.1,0.5,185.7,12,10.0

Post-dive calculations and measurements:

FINISH 0.4,1.023071 PM_FREEKB_06 124834944

SM_CCo 16001,163.62,0.141,0,0,498,598.78 PM_FREEKB_07 124834944

SM_GC 0.17,10.35,0.45,163.62,0.104,0.045,0.141,194,2385,498,-8.82,1.24,598.78,0,0,0,0,0,0,26.34,26.53,25.55 PM_ACTIVECARD 2

IRIDIUM_FIX 4729.79,-12524.85,180717,063129 _24V_AH 21.26,9.324

TT8_MAMPS 0.048685,0.296604 _10V_AH 9.47,7.339

HUMID 48.77 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 8.61789 FG_AHR_10Vo 0.000

TCM_TEMP 14.20 MEM 277732

XPDR_PINGS 9 DATA_FILE_SIZE 30021,862

PM_FREEKB_00 124650752 CAP_FILE_SIZE 119687,0

PM_FREEKB_01 12326336 CFSIZE 260030464,252735488

PM_FREEKB_02 105755584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

PM_FREEKB_03 124834880 CURRENT 0.008,136.32,1

PM_FREEKB_04 124834944 GPS 180717,110714,4729.306,-12522.079,51,1.3,64,16.1,0.1,0.0,7,10.0

PM_FREEKB_05 124834944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 263 140.15 nil 0 0 0.00

Roll_motor 101 1243 2673.94 nil 0 0 0.00

VBD_pump_during_apogee 438 1621 15116.66 nil 0 0 0.00

VBD_pump_during_surface 163 140 489.66 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 16001 3 1217.17

Iridium_during_xfer 331 55 388.51 PMAR 16003 42 14611.25

Transponder_ping 2 420 20.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 1.88

TT8 0 0 0.00

LPSleep 13616 2 282.39

TT8_Active 790 13 99.75

TT8_Sampling 2351 44 980.57

TT8_CF8 142 55 74.64

TT8_Kalman 0 0 0.00

Analog_circuits 1847 11 199.43

GPS_charging 0 0 0.00

Compass 1533 8 119.68

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.30 -146.0 193 2381 996 813 0.0 0.0 0 97 0.00 0.00 -81.85 0.000 16386 0.000 0.000 192 2380 2913 2873 2953 0 0 0 0 0 0 26.95 28.83 27.02

99 -1.30 -146.0 193 2382 2874 2955 4.0 -7.1 8 132 11.38 2.40 -11.77 0.000 19236 0.263 1.243 2621 1021 3540 3526 3555 0 0 0 0 0 0 25.13 24.23 25.59

356 -1.30 -146.0 2621 1021 3531 3554 57.9 -18.9 59 362 0.00 2.17 0.00 0.000 1030 0.000 0.043 2613 2393 3542 3530 3555 0 0 0 0 0 0 26.13 26.08 26.18

672 -1.30 -146.0 2612 2394 3533 3555 109.7 -15.0 72 677 0.00 2.17 0.00 0.000 516 0.000 0.050 2621 1010 3543 3532 3554 0 0 0 0 0 0 27.04 25.87 27.10

806 -1.30 -146.0 2621 1011 3533 3556 129.3 -14.0 99 812 0.00 2.22 0.00 0.000 1030 0.000 0.049 2612 2390 3543 3532 3555 0 0 0 0 0 0 25.95 25.89 26.01

1122 -1.30 -146.0 2613 2389 3535 3554 173.9 -14.2 112 1122 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2389 3543 3531 3555 0 0 0 0 0 0 27.06 27.14 27.12

1422 -1.30 -146.0 2613 2389 3534 3555 214.6 -13.4 122 1422 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2389 3544 3534 3554 0 0 0 0 0 0 27.07 27.13 27.13

1752 -1.30 -146.0 2612 2391 3533 3555 261.9 -14.4 132 1757 0.00 2.20 0.00 0.000 516 0.000 0.055 2621 1017 3543 3533 3553 0 0 0 0 0 0 27.07 25.65 27.13

1806 -1.30 -146.0 2620 1018 3533 3554 270.0 -14.8 143 1813 0.00 2.22 0.00 0.000 1030 0.000 0.047 2611 2398 3543 3533 3553 0 0 0 0 0 0 25.89 25.84 25.94

2112 -1.30 -146.0 2611 2397 3533 3553 314.7 -14.6 149 2117 0.00 2.10 0.00 0.000 260 0.000 0.063 2602 3697 3542 3532 3552 0 0 0 0 0 0 27.08 25.48 27.13

2141 -1.30 -146.0 2602 3699 3533 3553 319.4 -15.9 155 2147 0.00 2.03 0.00 0.000 1030 0.000 0.044 2609 2409 3541 3532 3551 0 0 0 0 0 0 26.12 26.08 26.15

2472 -1.30 -146.0 2610 2409 3533 3550 369.0 -15.0 166 2477 0.00 2.22 0.00 0.000 516 0.000 0.051 2620 1000 3541 3532 3550 0 0 0 0 0 0 27.07 25.67 27.13

2496 -1.30 -146.0 2621 1001 3533 3551 372.8 -16.2 171 2502 0.00 2.25 0.00 0.000 1030 0.000 0.044 2611 2405 3541 3532 3550 0 0 0 0 0 0 25.87 25.82 25.93

2833 -1.30 -146.0 2612 2404 3532 3548 422.0 -14.5 183 2833 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2405 3540 3531 3549 0 0 0 0 0 0 27.08 27.14 27.13

3132 -1.30 -146.0 2611 2405 3531 3547 462.0 -13.3 188 3137 0.00 2.25 0.00 0.000 516 0.000 0.056 2620 1006 3538 3530 3547 0 0 0 0 0 0 27.08 25.53 27.13

3192 -1.30 -146.0 2620 1006 3531 3547 470.1 -13.4 200 3197 0.00 2.22 0.00 0.000 1030 0.000 0.050 2612 2397 3538 3530 3547 0 0 0 0 0 0 25.78 25.66 25.84

3552 -1.30 -146.0 2611 2396 3530 3544 516.9 -12.9 217 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3537 3529 3545 0 0 0 0 0 0 27.08 27.14 27.13

3852 -1.30 -146.0 2611 2398 3529 3545 557.0 -13.4 222 3853 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3536 3528 3544 0 0 0 0 0 0 27.08 27.14 27.13

4152 -1.30 -146.0 2611 2398 3527 3544 598.7 -13.9 227 4153 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3535 3527 3543 0 0 0 0 0 0 27.07 27.14 27.13

4452 -1.30 -146.0 2611 2398 3526 3543 638.2 -13.1 232 4457 0.00 2.20 0.00 0.000 516 0.000 0.050 2620 1009 3534 3526 3542 0 0 0 0 0 0 27.08 25.56 27.13

4481 -1.30 -146.0 2620 1010 3526 3543 642.1 -13.4 238 4487 0.00 2.28 0.00 0.000 1030 0.000 0.049 2611 2398 3534 3526 3542 0 0 0 0 0 0 25.66 25.59 25.71

4812 -1.30 -146.0 2611 2399 3525 3541 682.8 -12.3 249 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2398 3533 3525 3541 0 0 0 0 0 0 27.08 27.15 27.13

5112 -1.30 -146.0 2611 2398 3525 3539 718.9 -12.1 254 5117 0.00 2.22 0.00 0.000 516 0.000 0.052 2619 1002 3531 3524 3539 0 0 0 0 0 0 27.08 25.51 27.13

5136 -1.30 -146.0 2620 1000 3525 3539 721.9 -12.6 259 5142 0.00 2.25 0.00 0.000 1030 0.000 0.045 2611 2397 3531 3524 3539 0 0 0 0 0 0 25.72 25.67 25.79

5472 -1.30 -146.0 2611 2398 3524 3539 761.4 -11.9 271 5473 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2396 3530 3523 3538 0 0 0 0 0 0 27.08 27.14 27.13

5772 -1.30 -146.0 2611 2397 3523 3537 798.7 -12.4 276 5773 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3529 3522 3537 0 0 0 0 0 0 27.07 27.14 27.13

6072 -1.30 -146.0 2611 2397 3522 3537 836.3 -12.5 281 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3529 3521 3537 0 0 0 0 0 0 27.07 27.15 27.13

6373 -1.30 -146.0 2611 2400 3521 3535 874.8 -12.8 286 6373 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2397 3528 3520 3536 0 0 0 0 0 0 27.07 27.15 27.13

6611 end dive: TARGET_DEPTH_EXCEEDED

state 6611 begin apogee

6615 -0.23 0.0 2609 2708 3521 3535 904.9 -12.5 290 6762 1.45 0.00 139.38 1.535 10246 0.198 0.000 2956 2709 2940 3023 2857 0 0 0 0 1 0 23.62 23.58 22.15

6764 end apogee: CONTROL_FINISHED_OK

state 6764 begin climb

6765 1.30 146.0 2956 2710 3027 2859 911.1 0.0 292 6927 1.80 1.88 147.57 1.622 10500 0.142 0.073 3438 3692 2342 2437 2247 0 0 0 0 1 0 23.80 22.25 21.26

7151 1.30 146.0 3439 3691 2441 2247 886.4 11.0 371 7157 0.00 1.55 0.00 0.000 1030 0.000 0.041 3443 2702 2342 2438 2247 0 0 0 0 0 0 26.23 26.20 26.27

7477 1.32 160.4 3445 2703 2437 2247 855.7 9.3 381 7498 0.00 0.00 19.62 0.994 8230 0.000 0.000 3443 2702 2287 2385 2189 0 0 0 0 0 0 26.93 25.48 24.49

7777 1.32 160.4 3443 2703 2373 2181 825.1 10.3 386 7778 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2702 2276 2373 2179 0 0 0 0 0 0 26.93 27.00 27.00

8077 1.32 160.4 3443 2704 2370 2180 793.4 10.6 391 8082 0.00 2.15 0.00 0.000 516 0.000 0.041 3454 1301 2274 2369 2179 0 0 0 0 0 0 27.00 26.13 27.06

8101 1.32 160.4 3454 1301 2372 2179 791.1 10.9 396 8107 0.00 2.22 0.00 0.000 1030 0.000 0.044 3446 2697 2274 2370 2179 0 0 0 0 0 0 26.20 26.15 26.26

8437 1.32 160.4 3446 2697 2369 2178 755.6 10.5 408 8442 0.00 2.17 0.00 0.000 516 0.000 0.042 3455 1293 2273 2368 2178 0 0 0 0 0 0 27.03 26.07 27.09

8467 1.32 160.4 3455 1293 2369 2178 752.5 10.4 414 8472 0.00 2.25 0.00 0.000 1030 0.000 0.044 3446 2706 2274 2370 2179 0 0 0 0 0 0 26.15 26.09 26.20

8797 1.32 160.4 3446 2706 2368 2178 719.4 10.0 425 8798 0.00 0.00 0.00 0.000 6 0.000 0.000 3446 2706 2272 2367 2178 0 0 0 0 0 0 27.03 27.10 27.10

9097 1.32 160.4 3446 2707 2368 2178 687.8 10.6 430 9102 0.00 2.20 0.00 0.000 516 0.000 0.044 3454 1302 2272 2366 2178 0 0 0 0 0 0 27.04 25.96 27.10

9157 1.32 160.4 3455 1302 2367 2178 681.3 10.9 442 9162 0.00 2.20 0.00 0.000 1030 0.000 0.047 3446 2698 2272 2366 2178 0 0 0 0 0 0 26.06 25.94 26.13

9518 1.32 160.4 3446 2698 2367 2177 642.2 10.7 459 9518 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2698 2272 2366 2178 0 0 0 0 0 0 27.04 27.11 27.11

9817 1.32 160.4 3445 2699 2366 2179 609.1 11.1 464 9822 0.00 2.17 0.00 0.000 516 0.000 0.043 3454 1300 2271 2365 2178 0 0 0 0 0 0 27.05 25.92 27.11

9871 1.32 160.4 3455 1301 2366 2177 603.3 10.6 475 9879 0.00 2.25 0.00 0.000 1030 0.000 0.043 3445 2704 2271 2365 2178 0 0 0 0 0 0 25.98 25.93 26.03

10177 1.32 160.4 3446 2704 2367 2177 571.6 10.3 481 10183 0.00 1.67 0.00 0.000 260 0.000 0.076 3438 3679 2271 2365 2178 0 0 0 0 0 0 27.05 25.20 27.11

10227 1.32 160.4 3439 3679 2364 2178 566.3 10.5 491 10233 0.00 1.58 0.00 0.000 1030 0.000 0.045 3445 2682 2270 2363 2177 0 0 0 0 0 0 26.17 26.13 26.22

10538 1.32 160.4 3445 2682 2364 2179 535.7 9.9 498 10543 0.00 2.12 0.00 0.000 516 0.000 0.041 3455 1296 2270 2363 2178 0 0 0 0 0 0 27.05 25.89 27.11

10587 1.32 160.4 3455 1295 2365 2179 530.6 10.0 508 10593 0.00 2.25 0.00 0.000 1030 0.000 0.042 3445 2704 2271 2364 2178 0 0 0 0 0 0 25.95 25.89 26.00

10898 1.32 160.4 3445 2707 2366 2179 499.2 10.1 515 10899 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2705 2270 2363 2177 0 0 0 0 0 0 27.05 27.13 27.12

11198 1.32 160.4 3446 2704 2364 2177 468.3 10.3 520 11203 0.00 2.20 0.00 0.000 516 0.000 0.044 3455 1296 2270 2363 2177 0 0 0 0 0 0 27.05 25.79 27.12

11262 1.32 160.4 3454 1298 2364 2179 461.8 10.0 533 11268 0.00 2.25 0.00 0.000 1030 0.000 0.042 3446 2702 2270 2363 2177 0 0 0 0 0 0 25.90 25.85 25.96

11619 1.32 160.4 3445 2705 2364 2179 426.8 9.7 549 11624 0.00 1.67 0.00 0.000 260 0.000 0.075 3438 3693 2269 2362 2177 0 0 0 0 0 0 27.05 25.03 27.12

11703 1.32 160.4 3438 3694 2363 2179 418.6 10.0 566 11709 0.00 1.55 0.00 0.000 1030 0.000 0.040 3444 2697 2269 2362 2177 0 0 0 0 0 0 26.18 26.15 26.22

12039 1.34 173.7 3443 2699 2362 2179 387.2 9.4 578 12060 0.00 2.17 14.12 0.856 8740 0.000 0.041 3455 1298 2226 2323 2129 0 0 0 0 0 0 27.05 25.62 24.63

12109 1.34 173.7 3454 1299 2321 2126 380.1 10.0 592 12115 0.00 2.22 0.00 0.000 1030 0.000 0.042 3446 2695 2223 2319 2127 0 0 0 0 0 0 26.18 26.12 26.22

12460 1.34 173.7 3446 2694 2318 2126 345.3 10.0 607 12461 0.00 0.00 0.00 0.000 6 0.000 0.000 3446 2695 2221 2317 2126 0 0 0 0 0 0 27.01 27.09 27.08

12760 1.34 173.7 3446 2696 2318 2127 316.3 9.6 612 12760 0.00 0.00 0.00 0.000 6 0.000 0.000 3446 2695 2221 2316 2126 0 0 0 0 0 0 27.04 27.11 27.10

13060 1.36 190.0 3446 2694 2317 2126 288.2 9.3 617 13086 0.00 1.65 20.08 0.771 8484 0.000 0.070 3438 3693 2157 2257 2058 0 0 0 0 0 0 27.05 25.58 24.63

13121 1.36 190.0 3439 3693 2253 2058 282.2 10.5 629 13126 0.08 1.55 0.00 0.000 3078 0.158 0.040 3469 2695 2154 2252 2057 0 0 0 0 0 0 25.96 26.33 26.02

13481 1.36 190.0 3470 2696 2250 2060 244.1 10.6 646 13486 0.00 2.20 0.00 0.000 516 0.000 0.042 3480 1273 2153 2249 2057 0 0 0 0 0 0 27.01 25.91 27.07

13525 1.36 190.0 3480 1274 2250 2058 239.1 11.1 655 13531 0.00 2.28 0.00 0.000 1030 0.000 0.041 3480 2700 2153 2249 2057 0 0 0 0 0 0 26.01 25.96 26.07

13841 1.36 190.0 3480 2700 2250 2057 203.1 11.2 668 13846 0.00 2.17 0.00 0.000 516 0.000 0.041 3491 1303 2152 2248 2057 0 0 0 0 0 0 27.04 25.86 27.10

13932 1.36 190.0 3491 1303 2252 2057 193.4 10.5 686 13936 0.00 2.17 0.00 0.000 1030 0.000 0.043 3490 2700 2153 2249 2057 0 0 0 0 0 0 25.97 25.86 26.04

14261 1.36 190.0 3491 2701 2248 2058 159.4 10.1 702 14266 0.00 2.17 0.00 0.000 516 0.000 0.041 3501 1297 2152 2248 2057 0 0 0 0 0 0 27.05 25.83 27.12

14325 1.36 190.0 3502 1296 2249 2057 152.7 10.6 715 14331 0.00 2.22 0.00 0.000 1030 0.000 0.040 3501 2697 2152 2248 2057 0 0 0 0 0 0 25.94 25.89 25.99

14651 1.36 190.0 3502 2697 2248 2057 118.5 10.1 730 14652 0.00 0.00 0.00 0.000 6 0.000 0.000 3501 2697 2152 2247 2057 0 0 0 0 0 0 27.05 27.13 27.12

14951 1.41 224.3 3502 2696 2249 2057 92.1 8.4 740 15001 0.00 2.25 42.22 0.618 8740 0.000 0.038 3511 1300 2018 2122 1915 0 0 0 0 0 0 27.06 25.46 24.58

15110 1.41 224.3 3511 1300 2116 1913 74.5 11.4 767 15116 0.00 2.22 0.00 0.000 1030 0.000 0.040 3511 2706 2015 2118 1912 0 0 0 0 0 0 26.10 26.05 26.15

15421 1.49 283.0 3511 2708 2113 1912 47.9 7.3 782 15458 0.00 1.62 31.73 0.255 8484 0.000 0.074 3511 3691 1784 1893 1675 0 0 0 0 0 0 26.99 25.52 25.27

15633 1.53 306.4 3511 3692 1891 1679 27.1 8.9 824 15650 0.00 1.52 12.82 0.210 9254 0.000 0.041 3518 2709 1687 1791 1583 0 0 0 0 0 0 26.27 26.24 25.25

15955 1.59 352.0 3518 2710 1794 1590 2.8 7.9 858 15967 0.00 0.00 10.88 0.159 8482 0.000 0.000 3517 2708 1606 1705 1508 0 0 0 0 0 0 27.02 28.83 27.08

15967 end climb: SURFACE_DEPTH_REACHED

state 15967 begin surface coast

15984 end surface coast: CONTROL_FINISHED_OK

state 15984 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	48	ALTIM_PULSE	2
MISSION	19	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	2
DIVE	81	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_SURF	2	SM_CC	598.77728	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.60000002
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_TGT	900	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	4
D_ABORT	1020	CALL_NDIVES	1	C_VBD	2941	DEVICE1	-1
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE2	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	4	N_NOCOMM	3	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	3
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	51
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	85
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_DIVE	300	HEAPDBG	0	W_ADJ_DBAND	0.5	COMPASS_DEVICE	33
T_MISSION	340	T_GPS	5	DBDW	0	COMPASS2_DEVICE	147
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_TURN	225	T_RSLEEP	3	LOITER_DBDW	0	GPS_DEVICE	64
T_TURN_SAMPINT	-5	STROBE	0	PITCH_W_GAIN	7	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_LOITER	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	SIM_PITCH	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_10V	97	SEABIRD_T_G	0.0043580476
USE_ICE	0	PITCH_MIN	210	MINV_24V	20	SEABIRD_T_H	0.00063004985
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
D_OFFGRID	1010	C_PITCH	3040	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
RELAUNCH	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
MAX_BUOY	150	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
COURSE_BIAS	0	PITCH_GAIN	22	PRESSURE_YINT	-171.29309	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
RHO	1.0275	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS	52433	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	236	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0044816299	C_ROLL_DIVE	2400	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2700	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13

GPS1	180717,062338,4730.8223,-12523.6455,39,1.5,76,16.1,0.9,147.8,10,10.0	SPEED_LIMITS	0.173,0.188
_CALLS	5	TGT_NAME	SHELF2
_XMS_NAKs	0	TGT_LATLONG	4721.000,-12515.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.29	MHEAD_RNG_PITCHd_Wd	129.7,20979,-24.2,-10.000,-28.00,2247
_SM_ANGLEo	-66.0	D_GRID	1000
GPS2	180717,063548,4730.6714,-12523.7051,7,1.0,14,16.1,0.5,185.7,12,10.0

FINISH	0.4,1.023071	PM_FREEKB_06	124834944
SM_CCo	16001,163.62,0.141,0,0,498,598.78	PM_FREEKB_07	124834944
SM_GC	0.17,10.35,0.45,163.62,0.104,0.045,0.141,194,2385,498,-8.82,1.24,598.78,0,0,0,0,0,0,26.34,26.53,25.55	PM_ACTIVECARD	2
IRIDIUM_FIX	4729.79,-12524.85,180717,063129	_24V_AH	21.26,9.324
TT8_MAMPS	0.048685,0.296604	_10V_AH	9.47,7.339
HUMID	48.77	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	8.61789	FG_AHR_10Vo	0.000
TCM_TEMP	14.20	MEM	277732
XPDR_PINGS	9	DATA_FILE_SIZE	30021,862
PM_FREEKB_00	124650752	CAP_FILE_SIZE	119687,0
PM_FREEKB_01	12326336	CFSIZE	260030464,252735488
PM_FREEKB_02	105755584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
PM_FREEKB_03	124834880	CURRENT	0.008,136.32,1
PM_FREEKB_04	124834944	GPS	180717,110714,4729.306,-12522.079,51,1.3,64,16.1,0.1,0.0,7,10.0
PM_FREEKB_05	124834944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	263	140.15	nil	0	0	0.00
Roll_motor	101	1243	2673.94	nil	0	0	0.00
VBD_pump_during_apogee	438	1621	15116.66	nil	0	0	0.00
VBD_pump_during_surface	163	140	489.66	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	16001	3	1217.17
Iridium_during_xfer	331	55	388.51	PMAR	16003	42	14611.25
Transponder_ping	2	420	20.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	1.88
TT8	0	0	0.00
LPSleep	13616	2	282.39
TT8_Active	790	13	99.75
TT8_Sampling	2351	44	980.57
TT8_CF8	142	55	74.64
TT8_Kalman	0	0	0.00
Analog_circuits	1847	11	199.43
GPS_charging	0	0	0.00
Compass	1533	8	119.68
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.30	-146.0	193	2381	996	813	0.0	0.0	0	97	0.00	0.00	-81.85	0.000	16386	0.000	0.000	192	2380	2913	2873	2953	0	0	0	0	0	0	26.95	28.83	27.02
99	-1.30	-146.0	193	2382	2874	2955	4.0	-7.1	8	132	11.38	2.40	-11.77	0.000	19236	0.263	1.243	2621	1021	3540	3526	3555	0	0	0	0	0	0	25.13	24.23	25.59
356	-1.30	-146.0	2621	1021	3531	3554	57.9	-18.9	59	362	0.00	2.17	0.00	0.000	1030	0.000	0.043	2613	2393	3542	3530	3555	0	0	0	0	0	0	26.13	26.08	26.18
672	-1.30	-146.0	2612	2394	3533	3555	109.7	-15.0	72	677	0.00	2.17	0.00	0.000	516	0.000	0.050	2621	1010	3543	3532	3554	0	0	0	0	0	0	27.04	25.87	27.10
806	-1.30	-146.0	2621	1011	3533	3556	129.3	-14.0	99	812	0.00	2.22	0.00	0.000	1030	0.000	0.049	2612	2390	3543	3532	3555	0	0	0	0	0	0	25.95	25.89	26.01
1122	-1.30	-146.0	2613	2389	3535	3554	173.9	-14.2	112	1122	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2389	3543	3531	3555	0	0	0	0	0	0	27.06	27.14	27.12
1422	-1.30	-146.0	2613	2389	3534	3555	214.6	-13.4	122	1422	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2389	3544	3534	3554	0	0	0	0	0	0	27.07	27.13	27.13
1752	-1.30	-146.0	2612	2391	3533	3555	261.9	-14.4	132	1757	0.00	2.20	0.00	0.000	516	0.000	0.055	2621	1017	3543	3533	3553	0	0	0	0	0	0	27.07	25.65	27.13
1806	-1.30	-146.0	2620	1018	3533	3554	270.0	-14.8	143	1813	0.00	2.22	0.00	0.000	1030	0.000	0.047	2611	2398	3543	3533	3553	0	0	0	0	0	0	25.89	25.84	25.94
2112	-1.30	-146.0	2611	2397	3533	3553	314.7	-14.6	149	2117	0.00	2.10	0.00	0.000	260	0.000	0.063	2602	3697	3542	3532	3552	0	0	0	0	0	0	27.08	25.48	27.13
2141	-1.30	-146.0	2602	3699	3533	3553	319.4	-15.9	155	2147	0.00	2.03	0.00	0.000	1030	0.000	0.044	2609	2409	3541	3532	3551	0	0	0	0	0	0	26.12	26.08	26.15
2472	-1.30	-146.0	2610	2409	3533	3550	369.0	-15.0	166	2477	0.00	2.22	0.00	0.000	516	0.000	0.051	2620	1000	3541	3532	3550	0	0	0	0	0	0	27.07	25.67	27.13
2496	-1.30	-146.0	2621	1001	3533	3551	372.8	-16.2	171	2502	0.00	2.25	0.00	0.000	1030	0.000	0.044	2611	2405	3541	3532	3550	0	0	0	0	0	0	25.87	25.82	25.93
2833	-1.30	-146.0	2612	2404	3532	3548	422.0	-14.5	183	2833	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2405	3540	3531	3549	0	0	0	0	0	0	27.08	27.14	27.13
3132	-1.30	-146.0	2611	2405	3531	3547	462.0	-13.3	188	3137	0.00	2.25	0.00	0.000	516	0.000	0.056	2620	1006	3538	3530	3547	0	0	0	0	0	0	27.08	25.53	27.13
3192	-1.30	-146.0	2620	1006	3531	3547	470.1	-13.4	200	3197	0.00	2.22	0.00	0.000	1030	0.000	0.050	2612	2397	3538	3530	3547	0	0	0	0	0	0	25.78	25.66	25.84
3552	-1.30	-146.0	2611	2396	3530	3544	516.9	-12.9	217	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3537	3529	3545	0	0	0	0	0	0	27.08	27.14	27.13
3852	-1.30	-146.0	2611	2398	3529	3545	557.0	-13.4	222	3853	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3536	3528	3544	0	0	0	0	0	0	27.08	27.14	27.13
4152	-1.30	-146.0	2611	2398	3527	3544	598.7	-13.9	227	4153	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3535	3527	3543	0	0	0	0	0	0	27.07	27.14	27.13
4452	-1.30	-146.0	2611	2398	3526	3543	638.2	-13.1	232	4457	0.00	2.20	0.00	0.000	516	0.000	0.050	2620	1009	3534	3526	3542	0	0	0	0	0	0	27.08	25.56	27.13
4481	-1.30	-146.0	2620	1010	3526	3543	642.1	-13.4	238	4487	0.00	2.28	0.00	0.000	1030	0.000	0.049	2611	2398	3534	3526	3542	0	0	0	0	0	0	25.66	25.59	25.71
4812	-1.30	-146.0	2611	2399	3525	3541	682.8	-12.3	249	4813	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2398	3533	3525	3541	0	0	0	0	0	0	27.08	27.15	27.13
5112	-1.30	-146.0	2611	2398	3525	3539	718.9	-12.1	254	5117	0.00	2.22	0.00	0.000	516	0.000	0.052	2619	1002	3531	3524	3539	0	0	0	0	0	0	27.08	25.51	27.13
5136	-1.30	-146.0	2620	1000	3525	3539	721.9	-12.6	259	5142	0.00	2.25	0.00	0.000	1030	0.000	0.045	2611	2397	3531	3524	3539	0	0	0	0	0	0	25.72	25.67	25.79
5472	-1.30	-146.0	2611	2398	3524	3539	761.4	-11.9	271	5473	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2396	3530	3523	3538	0	0	0	0	0	0	27.08	27.14	27.13
5772	-1.30	-146.0	2611	2397	3523	3537	798.7	-12.4	276	5773	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3529	3522	3537	0	0	0	0	0	0	27.07	27.14	27.13
6072	-1.30	-146.0	2611	2397	3522	3537	836.3	-12.5	281	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3529	3521	3537	0	0	0	0	0	0	27.07	27.15	27.13
6373	-1.30	-146.0	2611	2400	3521	3535	874.8	-12.8	286	6373	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2397	3528	3520	3536	0	0	0	0	0	0	27.07	27.15	27.13
6611	end dive: TARGET_DEPTH_EXCEEDED
state	6611	begin apogee
6615	-0.23	0.0	2609	2708	3521	3535	904.9	-12.5	290	6762	1.45	0.00	139.38	1.535	10246	0.198	0.000	2956	2709	2940	3023	2857	0	0	0	0	1	0	23.62	23.58	22.15
6764	end apogee: CONTROL_FINISHED_OK
state	6764	begin climb
6765	1.30	146.0	2956	2710	3027	2859	911.1	0.0	292	6927	1.80	1.88	147.57	1.622	10500	0.142	0.073	3438	3692	2342	2437	2247	0	0	0	0	1	0	23.80	22.25	21.26
7151	1.30	146.0	3439	3691	2441	2247	886.4	11.0	371	7157	0.00	1.55	0.00	0.000	1030	0.000	0.041	3443	2702	2342	2438	2247	0	0	0	0	0	0	26.23	26.20	26.27
7477	1.32	160.4	3445	2703	2437	2247	855.7	9.3	381	7498	0.00	0.00	19.62	0.994	8230	0.000	0.000	3443	2702	2287	2385	2189	0	0	0	0	0	0	26.93	25.48	24.49
7777	1.32	160.4	3443	2703	2373	2181	825.1	10.3	386	7778	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2702	2276	2373	2179	0	0	0	0	0	0	26.93	27.00	27.00
8077	1.32	160.4	3443	2704	2370	2180	793.4	10.6	391	8082	0.00	2.15	0.00	0.000	516	0.000	0.041	3454	1301	2274	2369	2179	0	0	0	0	0	0	27.00	26.13	27.06
8101	1.32	160.4	3454	1301	2372	2179	791.1	10.9	396	8107	0.00	2.22	0.00	0.000	1030	0.000	0.044	3446	2697	2274	2370	2179	0	0	0	0	0	0	26.20	26.15	26.26
8437	1.32	160.4	3446	2697	2369	2178	755.6	10.5	408	8442	0.00	2.17	0.00	0.000	516	0.000	0.042	3455	1293	2273	2368	2178	0	0	0	0	0	0	27.03	26.07	27.09
8467	1.32	160.4	3455	1293	2369	2178	752.5	10.4	414	8472	0.00	2.25	0.00	0.000	1030	0.000	0.044	3446	2706	2274	2370	2179	0	0	0	0	0	0	26.15	26.09	26.20
8797	1.32	160.4	3446	2706	2368	2178	719.4	10.0	425	8798	0.00	0.00	0.00	0.000	6	0.000	0.000	3446	2706	2272	2367	2178	0	0	0	0	0	0	27.03	27.10	27.10
9097	1.32	160.4	3446	2707	2368	2178	687.8	10.6	430	9102	0.00	2.20	0.00	0.000	516	0.000	0.044	3454	1302	2272	2366	2178	0	0	0	0	0	0	27.04	25.96	27.10
9157	1.32	160.4	3455	1302	2367	2178	681.3	10.9	442	9162	0.00	2.20	0.00	0.000	1030	0.000	0.047	3446	2698	2272	2366	2178	0	0	0	0	0	0	26.06	25.94	26.13
9518	1.32	160.4	3446	2698	2367	2177	642.2	10.7	459	9518	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2698	2272	2366	2178	0	0	0	0	0	0	27.04	27.11	27.11
9817	1.32	160.4	3445	2699	2366	2179	609.1	11.1	464	9822	0.00	2.17	0.00	0.000	516	0.000	0.043	3454	1300	2271	2365	2178	0	0	0	0	0	0	27.05	25.92	27.11
9871	1.32	160.4	3455	1301	2366	2177	603.3	10.6	475	9879	0.00	2.25	0.00	0.000	1030	0.000	0.043	3445	2704	2271	2365	2178	0	0	0	0	0	0	25.98	25.93	26.03
10177	1.32	160.4	3446	2704	2367	2177	571.6	10.3	481	10183	0.00	1.67	0.00	0.000	260	0.000	0.076	3438	3679	2271	2365	2178	0	0	0	0	0	0	27.05	25.20	27.11
10227	1.32	160.4	3439	3679	2364	2178	566.3	10.5	491	10233	0.00	1.58	0.00	0.000	1030	0.000	0.045	3445	2682	2270	2363	2177	0	0	0	0	0	0	26.17	26.13	26.22
10538	1.32	160.4	3445	2682	2364	2179	535.7	9.9	498	10543	0.00	2.12	0.00	0.000	516	0.000	0.041	3455	1296	2270	2363	2178	0	0	0	0	0	0	27.05	25.89	27.11
10587	1.32	160.4	3455	1295	2365	2179	530.6	10.0	508	10593	0.00	2.25	0.00	0.000	1030	0.000	0.042	3445	2704	2271	2364	2178	0	0	0	0	0	0	25.95	25.89	26.00
10898	1.32	160.4	3445	2707	2366	2179	499.2	10.1	515	10899	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2705	2270	2363	2177	0	0	0	0	0	0	27.05	27.13	27.12
11198	1.32	160.4	3446	2704	2364	2177	468.3	10.3	520	11203	0.00	2.20	0.00	0.000	516	0.000	0.044	3455	1296	2270	2363	2177	0	0	0	0	0	0	27.05	25.79	27.12
11262	1.32	160.4	3454	1298	2364	2179	461.8	10.0	533	11268	0.00	2.25	0.00	0.000	1030	0.000	0.042	3446	2702	2270	2363	2177	0	0	0	0	0	0	25.90	25.85	25.96
11619	1.32	160.4	3445	2705	2364	2179	426.8	9.7	549	11624	0.00	1.67	0.00	0.000	260	0.000	0.075	3438	3693	2269	2362	2177	0	0	0	0	0	0	27.05	25.03	27.12
11703	1.32	160.4	3438	3694	2363	2179	418.6	10.0	566	11709	0.00	1.55	0.00	0.000	1030	0.000	0.040	3444	2697	2269	2362	2177	0	0	0	0	0	0	26.18	26.15	26.22
12039	1.34	173.7	3443	2699	2362	2179	387.2	9.4	578	12060	0.00	2.17	14.12	0.856	8740	0.000	0.041	3455	1298	2226	2323	2129	0	0	0	0	0	0	27.05	25.62	24.63
12109	1.34	173.7	3454	1299	2321	2126	380.1	10.0	592	12115	0.00	2.22	0.00	0.000	1030	0.000	0.042	3446	2695	2223	2319	2127	0	0	0	0	0	0	26.18	26.12	26.22
12460	1.34	173.7	3446	2694	2318	2126	345.3	10.0	607	12461	0.00	0.00	0.00	0.000	6	0.000	0.000	3446	2695	2221	2317	2126	0	0	0	0	0	0	27.01	27.09	27.08
12760	1.34	173.7	3446	2696	2318	2127	316.3	9.6	612	12760	0.00	0.00	0.00	0.000	6	0.000	0.000	3446	2695	2221	2316	2126	0	0	0	0	0	0	27.04	27.11	27.10
13060	1.36	190.0	3446	2694	2317	2126	288.2	9.3	617	13086	0.00	1.65	20.08	0.771	8484	0.000	0.070	3438	3693	2157	2257	2058	0	0	0	0	0	0	27.05	25.58	24.63
13121	1.36	190.0	3439	3693	2253	2058	282.2	10.5	629	13126	0.08	1.55	0.00	0.000	3078	0.158	0.040	3469	2695	2154	2252	2057	0	0	0	0	0	0	25.96	26.33	26.02
13481	1.36	190.0	3470	2696	2250	2060	244.1	10.6	646	13486	0.00	2.20	0.00	0.000	516	0.000	0.042	3480	1273	2153	2249	2057	0	0	0	0	0	0	27.01	25.91	27.07
13525	1.36	190.0	3480	1274	2250	2058	239.1	11.1	655	13531	0.00	2.28	0.00	0.000	1030	0.000	0.041	3480	2700	2153	2249	2057	0	0	0	0	0	0	26.01	25.96	26.07
13841	1.36	190.0	3480	2700	2250	2057	203.1	11.2	668	13846	0.00	2.17	0.00	0.000	516	0.000	0.041	3491	1303	2152	2248	2057	0	0	0	0	0	0	27.04	25.86	27.10
13932	1.36	190.0	3491	1303	2252	2057	193.4	10.5	686	13936	0.00	2.17	0.00	0.000	1030	0.000	0.043	3490	2700	2153	2249	2057	0	0	0	0	0	0	25.97	25.86	26.04
14261	1.36	190.0	3491	2701	2248	2058	159.4	10.1	702	14266	0.00	2.17	0.00	0.000	516	0.000	0.041	3501	1297	2152	2248	2057	0	0	0	0	0	0	27.05	25.83	27.12
14325	1.36	190.0	3502	1296	2249	2057	152.7	10.6	715	14331	0.00	2.22	0.00	0.000	1030	0.000	0.040	3501	2697	2152	2248	2057	0	0	0	0	0	0	25.94	25.89	25.99
14651	1.36	190.0	3502	2697	2248	2057	118.5	10.1	730	14652	0.00	0.00	0.00	0.000	6	0.000	0.000	3501	2697	2152	2247	2057	0	0	0	0	0	0	27.05	27.13	27.12
14951	1.41	224.3	3502	2696	2249	2057	92.1	8.4	740	15001	0.00	2.25	42.22	0.618	8740	0.000	0.038	3511	1300	2018	2122	1915	0	0	0	0	0	0	27.06	25.46	24.58
15110	1.41	224.3	3511	1300	2116	1913	74.5	11.4	767	15116	0.00	2.22	0.00	0.000	1030	0.000	0.040	3511	2706	2015	2118	1912	0	0	0	0	0	0	26.10	26.05	26.15
15421	1.49	283.0	3511	2708	2113	1912	47.9	7.3	782	15458	0.00	1.62	31.73	0.255	8484	0.000	0.074	3511	3691	1784	1893	1675	0	0	0	0	0	0	26.99	25.52	25.27
15633	1.53	306.4	3511	3692	1891	1679	27.1	8.9	824	15650	0.00	1.52	12.82	0.210	9254	0.000	0.041	3518	2709	1687	1791	1583	0	0	0	0	0	0	26.27	26.24	25.25
15955	1.59	352.0	3518	2710	1794	1590	2.8	7.9	858	15967	0.00	0.00	10.88	0.159	8482	0.000	0.000	3517	2708	1606	1705	1508	0	0	0	0	0	0	27.02	28.83	27.08
15967	end climb: SURFACE_DEPTH_REACHED
state	15967	begin surface coast
15984	end surface coast: CONTROL_FINISHED_OK
state	15984	begin surface