Glider dive log

Cuddy Jan14 * SG189 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 30 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 10 ESCAPE_HEADING 90 C_ROLL_DIVE 2100 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

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 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2931 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 101

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -58129.148 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 1001 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 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2500 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -81.04335 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 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 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -81.04335 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -58129.148

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 360

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 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 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2500 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2931 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 115 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 30 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 10 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 170114,091904,4705.761,-12502.698,31,0.9,31,17.0 TGT_NAME QUINAULT_S

_CALLS 1 TGT_LATLONG 4715.000,-12506.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.046,0.255

_SM_DEPTHo 1.40 KALMAN_X 1856.2,-610.9,20.3,-4830.2,788.0

_SM_ANGLEo -64.1 KALMAN_Y -9157.0,822.8,-270.0,18921.4,-4513.4

GPS2 170114,092359,4705.776,-12502.672,18,0.9,19,17.0 MHEAD_RNG_PITCHd_Wd 332.7,17587,-17.5,-10.000,-21.09,2221

SPEED_LIMITS 0.100,0.259 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.024674 _24V_AH 22.9,4.278

SM_CCo 15993,8.07,0.180,0,0,1907,250.21 _10V_AH 9.7,3.582

SM_GC 3.33,7.05,0.00,8.07,0.047,0.000,0.180,154,2125,1907,-7.26,0.71,250.21,0,0,0,0,0,0,26.29,28.83,26.13 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4651.23,-12513.51,170114,060613 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 313172

HUMID 50.63 DATA_FILE_SIZE 30439,424

INTERNAL_PRESSURE 8.44372 CAP_FILE_SIZE 116647,0

TCM_TEMP 17.30 CFSIZE 260165632,255098880

XPDR_PINGS 13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.9,18.4 GPS 170114,135252,4707.564,-12502.910,39,1.0,39,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 266 105.31 SBE_CT 295 23 156.99

Roll_motor 122 136 382.69 WL_BB2FLVMT 259 36 218.24

VBD_pump_during_apogee 276 1671 10582.89 AA4330 656 14 213.90

VBD_pump_during_surface 8 179 33.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 48 29.91 nil 0 0 0.00

Iridium_during_connect 22 160 83.76 nil 0 0 0.00

Iridium_during_xfer 145 223 744.11 nil 0 0 0.00

Transponder_ping 21 420 204.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.14

TT8 1316 11 152.71

LPSleep 12999 2 276.15

TT8_Active 462 11 53.67

TT8_Sampling 1363 37 495.12

TT8_CF8 162 45 72.03

TT8_Kalman 33 61 19.80

Analog_circuits 1027 15 149.49

GPS_charging 0 0 0.00

Compass 1024 15 156.27

RAFOS 0 0 0.00

Transponder 130 30 37.92

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 -0.81 -146.6 145 2070 1960 1841 0.0 0.0 0 50 0.00 0.00 -32.83 0.000 16386 0.000 0.000 145 2070 2862 2870 2854 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.81 -146.6 145 2070 2870 2854 2.6 -5.8 3 82 7.70 2.38 -16.23 0.000 18692 0.212 0.057 2230 3532 3530 3585 3475 0 0 0 0 0 0 25.83 26.02 26.29

241 -0.81 -146.6 2229 3532 3586 3476 37.4 -18.7 22 250 0.00 2.25 0.00 0.000 3078 0.000 0.031 2230 2077 3531 3586 3476 0 0 0 0 0 0 28.83 26.10 28.83

552 -0.81 -146.6 2230 2076 3582 3482 86.5 -13.6 51 557 0.03 2.20 0.00 0.000 2564 0.267 0.042 2240 676 3532 3582 3482 0 0 0 0 0 0 26.20 26.17 28.83

690 -0.81 -146.6 2239 676 3581 3483 108.6 -16.2 58 696 0.00 2.28 0.00 0.000 3078 0.000 0.033 2231 2133 3531 3580 3482 0 0 0 0 0 0 28.83 26.22 28.83

1020 -0.81 -146.6 2230 2133 3580 3483 155.7 -14.1 74 1026 0.00 2.20 0.00 0.000 2308 0.000 0.041 2220 3525 3531 3580 3483 0 0 0 0 0 0 28.83 26.26 28.83

1128 -0.81 -146.6 2220 3525 3580 3483 168.4 -14.1 77 1133 0.08 2.22 0.00 0.000 3078 0.165 0.028 2243 2073 3531 3580 3483 0 0 0 0 0 0 26.18 26.29 28.83

1430 -0.81 -146.6 2243 2073 3581 3483 213.0 -14.4 87 1436 0.00 2.22 0.00 0.000 4612 0.000 0.041 2243 661 3531 3580 3483 0 0 0 0 0 0 28.83 26.31 28.83

1598 -0.81 -146.6 2242 661 3580 3484 235.3 -14.8 92 1602 0.00 2.28 0.00 0.000 3078 0.000 0.034 2234 2124 3531 3579 3484 0 0 0 0 0 0 28.83 26.34 28.83

1900 -0.81 -146.6 2234 2124 3579 3483 279.7 -13.3 102 1901 0.00 0.00 0.00 0.000 2054 0.000 0.000 2234 2124 3532 3580 3484 0 0 0 0 0 0 28.83 28.83 28.83

2201 -0.81 -146.6 2233 2124 3579 3484 315.6 -11.6 110 2207 0.00 2.28 0.00 0.000 2564 0.000 0.042 2234 678 3531 3579 3484 0 0 0 0 0 0 28.83 26.38 28.83

2238 -0.81 -146.6 2234 678 3579 3484 315.6 -11.6 110 2243 0.08 2.25 0.00 0.000 3078 0.171 0.034 2247 2127 3531 3579 3484 0 0 0 0 0 0 26.29 26.40 28.83

2553 -0.81 -146.6 2247 2127 3579 3484 356.9 -11.5 116 2557 0.00 2.25 0.00 0.000 4612 0.000 0.042 2248 668 3531 3579 3484 0 0 0 0 0 0 28.83 26.40 28.83

2588 -0.81 -146.6 2247 668 3579 3484 356.9 -11.5 116 2592 0.00 2.28 0.00 0.000 3078 0.000 0.034 2238 2131 3531 3579 3484 0 0 0 0 0 0 28.83 26.41 28.83

2892 -0.81 -146.6 2238 2130 3579 3484 396.9 -11.5 121 2893 0.00 0.00 0.00 0.000 2054 0.000 0.000 2238 2130 3531 3579 3484 0 0 0 0 0 0 28.83 28.83 28.83

3191 -0.81 -146.6 2238 2130 3579 3484 432.2 -11.8 126 3197 0.00 2.20 0.00 0.000 2308 0.000 0.044 2228 3525 3531 3579 3484 0 0 0 0 0 0 28.83 26.42 28.83

3288 -0.81 -146.6 2227 3525 3579 3484 439.1 -11.6 127 3293 0.05 2.22 0.00 0.000 3078 0.179 0.031 2244 2076 3531 3579 3484 0 0 0 0 0 0 26.36 26.45 28.83

3602 -0.81 -146.6 2243 2076 3578 3484 475.4 -10.3 133 3607 0.00 2.20 0.00 0.000 4612 0.000 0.043 2244 670 3531 3578 3484 0 0 0 0 0 0 28.83 26.44 28.83

3668 -0.81 -146.6 2244 670 3578 3484 481.8 -10.4 134 3673 0.00 2.25 0.00 0.000 3078 0.000 0.034 2235 2122 3531 3578 3484 0 0 0 0 0 0 28.83 26.46 28.83

4012 -0.81 -146.6 2235 2122 3577 3484 515.7 -9.5 140 4017 0.00 2.20 0.00 0.000 2308 0.000 0.044 2224 3525 3531 3578 3484 0 0 0 0 0 0 28.83 26.45 28.83

4109 -0.81 -146.6 2224 3525 3577 3484 521.6 -9.4 141 4114 0.05 2.22 0.00 0.000 3078 0.175 0.031 2241 2076 3530 3577 3484 0 0 0 0 0 0 26.39 26.48 28.83

4423 -0.81 -146.6 2241 2076 3576 3484 553.6 -9.1 147 4424 0.00 0.00 0.00 0.000 2054 0.000 0.000 2241 2076 3530 3576 3484 0 0 0 0 0 0 28.83 28.83 28.83

4723 -0.81 -146.6 2241 2076 3576 3484 580.6 -8.9 152 4727 0.00 2.20 0.00 0.000 2564 0.000 0.044 2242 672 3530 3576 3484 0 0 0 0 0 0 28.83 26.47 28.83

4769 -0.81 -146.6 2241 672 3576 3484 580.6 -8.9 152 4774 0.00 2.25 0.00 0.000 3078 0.000 0.034 2233 2123 3530 3576 3484 0 0 0 0 0 0 28.83 26.49 28.83

5073 -0.81 -146.6 2232 2122 3575 3484 614.3 -9.6 157 5074 0.00 0.00 0.00 0.000 2054 0.000 0.000 2233 2122 3529 3575 3484 0 0 0 0 0 0 28.83 28.83 28.83

5373 -0.81 -146.6 2232 2122 3575 3484 641.3 -8.9 162 5377 0.00 2.30 0.00 0.000 2564 0.000 0.044 2233 670 3529 3575 3484 0 0 0 0 0 0 28.83 26.48 28.83

5432 -0.81 -146.6 2232 669 3575 3484 647.2 -9.0 163 5438 0.08 2.25 0.00 0.000 3078 0.164 0.034 2247 2121 3529 3574 3484 0 0 0 0 0 0 26.40 26.51 28.83

5793 -0.81 -146.6 2247 2121 3573 3483 678.1 -8.5 169 5797 0.00 2.20 0.00 0.000 4356 0.000 0.045 2238 3518 3528 3573 3484 0 0 0 0 0 0 28.83 26.49 28.83

5830 -0.81 -146.6 2238 3519 3573 3484 678.1 -8.5 169 5834 0.00 2.22 0.00 0.000 3078 0.000 0.031 2238 2067 3528 3572 3484 0 0 0 0 0 0 28.83 26.51 28.83

6143 -0.81 -146.6 2238 2067 3572 3484 710.9 -9.2 175 6147 0.00 2.17 0.00 0.000 2564 0.000 0.045 2238 678 3528 3572 3484 0 0 0 0 0 0 28.83 26.49 28.83

6191 -0.81 -146.6 2238 678 3572 3484 710.9 -9.2 175 6201 0.05 2.25 0.00 0.000 3078 0.190 0.035 2245 2127 3527 3571 3484 0 0 0 0 0 0 26.41 26.51 28.83

6502 -0.81 -146.6 2245 2127 3570 3484 737.7 -7.1 181 6503 0.00 0.00 0.00 0.000 4102 0.000 0.000 2245 2127 3527 3571 3484 0 0 0 0 0 0 28.83 28.83 28.83

6803 -0.81 -146.6 2245 2127 3571 3484 760.1 -7.5 186 6807 0.00 2.30 0.00 0.000 4612 0.000 0.045 2246 670 3527 3570 3484 0 0 0 0 0 0 28.83 26.50 28.83

6839 -0.81 -146.6 2245 669 3570 3484 760.1 -7.5 186 6843 0.00 2.25 0.00 0.000 3078 0.000 0.034 2238 2122 3527 3570 3484 0 0 0 0 0 0 28.83 26.52 28.83

7152 -0.81 -146.6 2237 2122 3570 3484 789.4 -8.5 192 7153 0.00 0.00 0.00 0.000 2054 0.000 0.000 2237 2122 3527 3570 3484 0 0 0 0 0 0 28.83 28.83 28.83

7452 -0.81 -146.6 2237 2122 3570 3484 815.5 -8.6 197 7453 0.00 0.00 0.00 0.000 2054 0.000 0.000 2237 2122 3527 3570 3484 0 0 0 0 0 0 28.83 28.83 28.83

7752 -0.81 -146.6 2237 2122 3569 3484 840.0 -8.1 202 7757 0.00 2.30 0.00 0.000 2564 0.000 0.044 2237 675 3526 3569 3484 0 0 0 0 0 0 28.83 26.51 28.83

7820 -0.81 -146.6 2237 675 3569 3484 845.3 -8.3 203 7824 0.05 2.25 0.00 0.000 3078 0.187 0.035 2245 2123 3526 3569 3484 0 0 0 0 0 0 26.44 26.53 28.83

8164 -0.81 -146.6 2244 2123 3569 3484 872.3 -7.4 209 8165 0.00 0.00 0.00 0.000 4102 0.000 0.000 2245 2123 3526 3569 3484 0 0 0 0 0 0 28.83 28.83 28.83

8465 -0.81 -146.6 2244 2123 3569 3483 894.0 -7.2 214 8469 0.00 2.25 0.00 0.000 4612 0.000 0.045 2245 670 3526 3569 3483 0 0 0 0 0 0 28.83 26.51 28.83

8522 -0.81 -146.6 2245 670 3569 3483 898.0 -7.4 215 8527 0.00 2.25 0.00 0.000 3078 0.000 0.035 2237 2120 3526 3569 3483 0 0 0 0 0 0 28.83 26.53 28.83

8874 -0.81 -146.6 2237 2120 3568 3483 922.2 -6.7 221 8875 0.00 0.00 0.00 0.000 2054 0.000 0.000 2237 2120 3525 3568 3483 0 0 0 0 0 0 28.83 28.83 28.83

9174 -0.81 -146.6 2237 2120 3568 3482 944.4 -7.5 226 9175 0.00 0.00 0.00 0.000 2054 0.000 0.000 2237 2120 3525 3568 3483 0 0 0 0 0 0 28.83 28.83 28.83

9472 -0.81 -146.6 2236 2120 3568 3483 967.1 -7.5 231 9478 0.00 2.30 0.00 0.000 2564 0.000 0.045 2237 675 3525 3568 3483 0 0 0 0 0 0 28.83 26.53 28.83

9535 -0.81 -146.6 2237 675 3567 3482 972.3 -7.7 232 9540 0.05 2.20 0.00 0.000 3078 0.187 0.037 2246 2124 3525 3568 3483 0 0 0 0 0 0 26.45 26.54 28.83

9821 end dive: TARGET_DEPTH_EXCEEDED

state 9821 begin apogee

9826 -0.18 0.0 2246 2124 3567 3483 992.2 -6.7 237 9950 0.55 0.00 119.80 1.672 10246 0.106 0.000 2446 2124 2930 3001 2860 0 0 0 0 0 0 26.46 28.83 23.08

9951 end apogee: CONTROL_FINISHED_OK

state 9951 begin climb

9953 0.81 146.6 2446 2124 3002 2863 993.5 0.0 239 10090 0.90 2.47 128.00 1.648 10500 0.041 0.043 2787 3525 2331 2414 2249 0 0 0 0 0 0 24.21 23.87 22.88

10130 0.81 146.6 2786 3525 2412 2250 981.5 10.2 242 10135 0.15 2.42 0.00 0.000 5126 0.184 0.034 2759 2083 2330 2412 2249 0 0 0 0 0 0 24.40 24.54 28.83

10462 0.81 146.6 2759 2083 2407 2250 914.0 19.0 248 10468 0.00 2.35 0.00 0.000 4612 0.000 0.047 2769 670 2328 2407 2250 0 0 0 0 0 0 28.83 25.41 28.83

10590 0.81 146.6 2768 670 2406 2250 890.3 19.3 250 10594 0.00 2.35 0.00 0.000 5126 0.000 0.033 2769 2128 2327 2406 2249 0 0 0 0 0 0 28.83 25.56 28.83

10933 0.81 146.6 2768 2128 2405 2249 822.4 19.4 256 10938 0.00 2.38 0.00 0.000 4612 0.000 0.045 2780 676 2327 2405 2249 0 0 0 0 0 0 28.83 25.77 28.83

11030 0.81 146.6 2779 676 2404 2250 810.5 19.5 257 11035 0.08 2.30 0.00 0.000 5126 0.190 0.033 2760 2121 2326 2404 2249 0 0 0 0 0 0 25.71 25.84 28.83

11343 0.81 146.6 2759 2123 2404 2249 746.2 17.9 263 11344 0.00 0.00 0.00 0.000 4102 0.000 0.000 2759 2122 2326 2403 2249 0 0 0 0 0 0 28.83 28.83 28.83

11643 0.81 146.6 2759 2123 2403 2249 691.7 18.1 268 11648 0.00 2.35 0.00 0.000 4612 0.000 0.045 2769 672 2326 2403 2249 0 0 0 0 0 0 28.83 26.03 28.83

11740 0.81 146.6 2769 671 2402 2249 680.8 17.9 269 11745 0.00 2.30 0.00 0.000 5126 0.000 0.034 2769 2130 2325 2402 2249 0 0 0 0 0 0 28.83 26.07 28.83

12053 0.81 146.6 2768 2130 2402 2249 617.1 18.2 275 12054 0.00 0.00 0.00 0.000 4102 0.000 0.000 2768 2130 2326 2402 2250 0 0 0 0 0 0 28.83 28.83 28.83

12353 0.81 146.6 2768 2130 2402 2250 561.1 18.4 280 12359 0.00 2.33 0.00 0.000 4612 0.000 0.044 2779 675 2326 2402 2250 0 0 0 0 0 0 28.83 26.17 28.83

12452 0.81 146.6 2779 676 2402 2249 550.1 18.4 281 12457 0.08 2.28 0.00 0.000 5126 0.184 0.033 2758 2129 2325 2401 2249 0 0 0 0 0 0 26.08 26.20 28.83

12764 0.81 146.6 2758 2129 2402 2250 488.5 17.2 287 12766 0.00 0.00 0.00 0.000 4102 0.000 0.000 2758 2128 2325 2402 2249 0 0 0 0 0 0 28.83 28.83 28.83

13066 0.81 146.6 2758 2128 2400 2249 437.1 17.4 292 13067 0.00 0.00 0.00 0.000 4102 0.000 0.000 2758 2128 2325 2401 2249 0 0 0 0 0 0 28.83 28.83 28.83

13365 0.81 146.6 2758 2128 2401 2249 385.7 17.1 297 13370 0.00 2.30 0.00 0.000 4612 0.000 0.045 2767 675 2325 2402 2249 0 0 0 0 0 0 28.83 26.29 28.83

13492 0.81 146.6 2767 675 2401 2249 363.5 18.0 299 13496 0.00 2.28 0.00 0.000 5126 0.000 0.033 2768 2135 2325 2401 2249 0 0 0 0 0 0 28.83 26.32 28.83

13835 0.81 146.6 2767 2135 2402 2249 302.3 17.5 305 13841 0.00 2.30 0.00 0.000 4612 0.000 0.044 2778 675 2325 2401 2249 0 0 0 0 0 0 28.83 26.32 28.83

13884 0.81 146.6 2778 675 2401 2249 302.3 17.5 305 13888 0.08 2.25 0.00 0.000 5126 0.177 0.033 2757 2126 2325 2402 2249 0 0 0 0 0 0 26.22 26.34 28.83

14184 0.81 146.6 2756 2125 2401 2249 245.6 15.9 314 14186 0.00 0.00 0.00 0.000 4102 0.000 0.000 2757 2125 2325 2401 2250 0 0 0 0 0 0 28.83 28.83 28.83

14485 0.81 146.6 2756 2126 2401 2250 201.7 14.6 324 14486 0.00 0.00 0.00 0.000 2054 0.000 0.000 2757 2125 2325 2402 2249 0 0 0 0 0 0 28.83 28.83 28.83

14785 0.81 146.6 2756 2125 2402 2249 159.1 14.2 334 14790 0.00 2.33 0.00 0.000 2564 0.000 0.044 2766 666 2325 2402 2249 0 0 0 0 0 0 28.83 26.37 28.83

14875 0.81 146.6 2765 666 2402 2250 145.6 14.9 337 14884 0.00 2.28 0.00 0.000 5126 0.000 0.033 2766 2132 2326 2403 2250 0 0 0 0 0 0 28.83 26.40 28.83

15185 0.81 146.6 2766 2131 2402 2249 100.4 15.0 353 15190 0.00 2.28 0.00 0.000 4612 0.000 0.044 2776 678 2325 2402 2249 0 0 0 0 0 0 28.83 26.39 28.83

15252 0.81 146.6 2776 679 2402 2249 91.0 15.4 356 15257 0.08 2.25 0.00 0.000 5126 0.171 0.034 2753 2128 2325 2402 2249 0 0 0 0 0 0 26.30 26.41 28.83

15554 0.81 146.6 2753 2129 2403 2249 46.9 12.6 382 15564 0.00 2.33 0.00 0.000 2564 0.000 0.045 2763 670 2326 2403 2249 0 0 0 0 0 0 28.83 26.40 28.83

15855 0.90 225.5 2762 670 2404 2250 16.1 6.4 412 15889 0.08 2.25 28.67 0.190 11270 0.111 0.034 2807 2124 2009 2112 1906 0 0 0 0 0 0 26.41 26.44 26.14

15965 end climb: SURFACE_DEPTH_REACHED

state 15965 begin surface coast

15977 end surface coast: CONTROL_FINISHED_OK

state 15977 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	30	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	10	ESCAPE_HEADING	90	C_ROLL_DIVE	2100	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
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	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2931	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	101
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-58129.148	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	1001	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	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2500	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-81.04335	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	20

GPS1	170114,091904,4705.761,-12502.698,31,0.9,31,17.0	TGT_NAME	QUINAULT_S
_CALLS	1	TGT_LATLONG	4715.000,-12506.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.046,0.255
_SM_DEPTHo	1.40	KALMAN_X	1856.2,-610.9,20.3,-4830.2,788.0
_SM_ANGLEo	-64.1	KALMAN_Y	-9157.0,822.8,-270.0,18921.4,-4513.4
GPS2	170114,092359,4705.776,-12502.672,18,0.9,19,17.0	MHEAD_RNG_PITCHd_Wd	332.7,17587,-17.5,-10.000,-21.09,2221
SPEED_LIMITS	0.100,0.259	D_GRID	990

FINISH	0.8,1.024674	_24V_AH	22.9,4.278
SM_CCo	15993,8.07,0.180,0,0,1907,250.21	_10V_AH	9.7,3.582
SM_GC	3.33,7.05,0.00,8.07,0.047,0.000,0.180,154,2125,1907,-7.26,0.71,250.21,0,0,0,0,0,0,26.29,28.83,26.13	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4651.23,-12513.51,170114,060613	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	313172
HUMID	50.63	DATA_FILE_SIZE	30439,424
INTERNAL_PRESSURE	8.44372	CAP_FILE_SIZE	116647,0
TCM_TEMP	17.30	CFSIZE	260165632,255098880
XPDR_PINGS	13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.9,18.4	GPS	170114,135252,4707.564,-12502.910,39,1.0,39,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	266	105.31	SBE_CT	295	23	156.99
Roll_motor	122	136	382.69	WL_BB2FLVMT	259	36	218.24
VBD_pump_during_apogee	276	1671	10582.89	AA4330	656	14	213.90
VBD_pump_during_surface	8	179	33.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	48	29.91	nil	0	0	0.00
Iridium_during_connect	22	160	83.76	nil	0	0	0.00
Iridium_during_xfer	145	223	744.11	nil	0	0	0.00
Transponder_ping	21	420	204.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.14
TT8	1316	11	152.71
LPSleep	12999	2	276.15
TT8_Active	462	11	53.67
TT8_Sampling	1363	37	495.12
TT8_CF8	162	45	72.03
TT8_Kalman	33	61	19.80
Analog_circuits	1027	15	149.49
GPS_charging	0	0	0.00
Compass	1024	15	156.27
RAFOS	0	0	0.00
Transponder	130	30	37.92

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	-0.81	-146.6	145	2070	1960	1841	0.0	0.0	0	50	0.00	0.00	-32.83	0.000	16386	0.000	0.000	145	2070	2862	2870	2854	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.81	-146.6	145	2070	2870	2854	2.6	-5.8	3	82	7.70	2.38	-16.23	0.000	18692	0.212	0.057	2230	3532	3530	3585	3475	0	0	0	0	0	0	25.83	26.02	26.29
241	-0.81	-146.6	2229	3532	3586	3476	37.4	-18.7	22	250	0.00	2.25	0.00	0.000	3078	0.000	0.031	2230	2077	3531	3586	3476	0	0	0	0	0	0	28.83	26.10	28.83
552	-0.81	-146.6	2230	2076	3582	3482	86.5	-13.6	51	557	0.03	2.20	0.00	0.000	2564	0.267	0.042	2240	676	3532	3582	3482	0	0	0	0	0	0	26.20	26.17	28.83
690	-0.81	-146.6	2239	676	3581	3483	108.6	-16.2	58	696	0.00	2.28	0.00	0.000	3078	0.000	0.033	2231	2133	3531	3580	3482	0	0	0	0	0	0	28.83	26.22	28.83
1020	-0.81	-146.6	2230	2133	3580	3483	155.7	-14.1	74	1026	0.00	2.20	0.00	0.000	2308	0.000	0.041	2220	3525	3531	3580	3483	0	0	0	0	0	0	28.83	26.26	28.83
1128	-0.81	-146.6	2220	3525	3580	3483	168.4	-14.1	77	1133	0.08	2.22	0.00	0.000	3078	0.165	0.028	2243	2073	3531	3580	3483	0	0	0	0	0	0	26.18	26.29	28.83
1430	-0.81	-146.6	2243	2073	3581	3483	213.0	-14.4	87	1436	0.00	2.22	0.00	0.000	4612	0.000	0.041	2243	661	3531	3580	3483	0	0	0	0	0	0	28.83	26.31	28.83
1598	-0.81	-146.6	2242	661	3580	3484	235.3	-14.8	92	1602	0.00	2.28	0.00	0.000	3078	0.000	0.034	2234	2124	3531	3579	3484	0	0	0	0	0	0	28.83	26.34	28.83
1900	-0.81	-146.6	2234	2124	3579	3483	279.7	-13.3	102	1901	0.00	0.00	0.00	0.000	2054	0.000	0.000	2234	2124	3532	3580	3484	0	0	0	0	0	0	28.83	28.83	28.83
2201	-0.81	-146.6	2233	2124	3579	3484	315.6	-11.6	110	2207	0.00	2.28	0.00	0.000	2564	0.000	0.042	2234	678	3531	3579	3484	0	0	0	0	0	0	28.83	26.38	28.83
2238	-0.81	-146.6	2234	678	3579	3484	315.6	-11.6	110	2243	0.08	2.25	0.00	0.000	3078	0.171	0.034	2247	2127	3531	3579	3484	0	0	0	0	0	0	26.29	26.40	28.83
2553	-0.81	-146.6	2247	2127	3579	3484	356.9	-11.5	116	2557	0.00	2.25	0.00	0.000	4612	0.000	0.042	2248	668	3531	3579	3484	0	0	0	0	0	0	28.83	26.40	28.83
2588	-0.81	-146.6	2247	668	3579	3484	356.9	-11.5	116	2592	0.00	2.28	0.00	0.000	3078	0.000	0.034	2238	2131	3531	3579	3484	0	0	0	0	0	0	28.83	26.41	28.83
2892	-0.81	-146.6	2238	2130	3579	3484	396.9	-11.5	121	2893	0.00	0.00	0.00	0.000	2054	0.000	0.000	2238	2130	3531	3579	3484	0	0	0	0	0	0	28.83	28.83	28.83
3191	-0.81	-146.6	2238	2130	3579	3484	432.2	-11.8	126	3197	0.00	2.20	0.00	0.000	2308	0.000	0.044	2228	3525	3531	3579	3484	0	0	0	0	0	0	28.83	26.42	28.83
3288	-0.81	-146.6	2227	3525	3579	3484	439.1	-11.6	127	3293	0.05	2.22	0.00	0.000	3078	0.179	0.031	2244	2076	3531	3579	3484	0	0	0	0	0	0	26.36	26.45	28.83
3602	-0.81	-146.6	2243	2076	3578	3484	475.4	-10.3	133	3607	0.00	2.20	0.00	0.000	4612	0.000	0.043	2244	670	3531	3578	3484	0	0	0	0	0	0	28.83	26.44	28.83
3668	-0.81	-146.6	2244	670	3578	3484	481.8	-10.4	134	3673	0.00	2.25	0.00	0.000	3078	0.000	0.034	2235	2122	3531	3578	3484	0	0	0	0	0	0	28.83	26.46	28.83
4012	-0.81	-146.6	2235	2122	3577	3484	515.7	-9.5	140	4017	0.00	2.20	0.00	0.000	2308	0.000	0.044	2224	3525	3531	3578	3484	0	0	0	0	0	0	28.83	26.45	28.83
4109	-0.81	-146.6	2224	3525	3577	3484	521.6	-9.4	141	4114	0.05	2.22	0.00	0.000	3078	0.175	0.031	2241	2076	3530	3577	3484	0	0	0	0	0	0	26.39	26.48	28.83
4423	-0.81	-146.6	2241	2076	3576	3484	553.6	-9.1	147	4424	0.00	0.00	0.00	0.000	2054	0.000	0.000	2241	2076	3530	3576	3484	0	0	0	0	0	0	28.83	28.83	28.83
4723	-0.81	-146.6	2241	2076	3576	3484	580.6	-8.9	152	4727	0.00	2.20	0.00	0.000	2564	0.000	0.044	2242	672	3530	3576	3484	0	0	0	0	0	0	28.83	26.47	28.83
4769	-0.81	-146.6	2241	672	3576	3484	580.6	-8.9	152	4774	0.00	2.25	0.00	0.000	3078	0.000	0.034	2233	2123	3530	3576	3484	0	0	0	0	0	0	28.83	26.49	28.83
5073	-0.81	-146.6	2232	2122	3575	3484	614.3	-9.6	157	5074	0.00	0.00	0.00	0.000	2054	0.000	0.000	2233	2122	3529	3575	3484	0	0	0	0	0	0	28.83	28.83	28.83
5373	-0.81	-146.6	2232	2122	3575	3484	641.3	-8.9	162	5377	0.00	2.30	0.00	0.000	2564	0.000	0.044	2233	670	3529	3575	3484	0	0	0	0	0	0	28.83	26.48	28.83
5432	-0.81	-146.6	2232	669	3575	3484	647.2	-9.0	163	5438	0.08	2.25	0.00	0.000	3078	0.164	0.034	2247	2121	3529	3574	3484	0	0	0	0	0	0	26.40	26.51	28.83
5793	-0.81	-146.6	2247	2121	3573	3483	678.1	-8.5	169	5797	0.00	2.20	0.00	0.000	4356	0.000	0.045	2238	3518	3528	3573	3484	0	0	0	0	0	0	28.83	26.49	28.83
5830	-0.81	-146.6	2238	3519	3573	3484	678.1	-8.5	169	5834	0.00	2.22	0.00	0.000	3078	0.000	0.031	2238	2067	3528	3572	3484	0	0	0	0	0	0	28.83	26.51	28.83
6143	-0.81	-146.6	2238	2067	3572	3484	710.9	-9.2	175	6147	0.00	2.17	0.00	0.000	2564	0.000	0.045	2238	678	3528	3572	3484	0	0	0	0	0	0	28.83	26.49	28.83
6191	-0.81	-146.6	2238	678	3572	3484	710.9	-9.2	175	6201	0.05	2.25	0.00	0.000	3078	0.190	0.035	2245	2127	3527	3571	3484	0	0	0	0	0	0	26.41	26.51	28.83
6502	-0.81	-146.6	2245	2127	3570	3484	737.7	-7.1	181	6503	0.00	0.00	0.00	0.000	4102	0.000	0.000	2245	2127	3527	3571	3484	0	0	0	0	0	0	28.83	28.83	28.83
6803	-0.81	-146.6	2245	2127	3571	3484	760.1	-7.5	186	6807	0.00	2.30	0.00	0.000	4612	0.000	0.045	2246	670	3527	3570	3484	0	0	0	0	0	0	28.83	26.50	28.83
6839	-0.81	-146.6	2245	669	3570	3484	760.1	-7.5	186	6843	0.00	2.25	0.00	0.000	3078	0.000	0.034	2238	2122	3527	3570	3484	0	0	0	0	0	0	28.83	26.52	28.83
7152	-0.81	-146.6	2237	2122	3570	3484	789.4	-8.5	192	7153	0.00	0.00	0.00	0.000	2054	0.000	0.000	2237	2122	3527	3570	3484	0	0	0	0	0	0	28.83	28.83	28.83
7452	-0.81	-146.6	2237	2122	3570	3484	815.5	-8.6	197	7453	0.00	0.00	0.00	0.000	2054	0.000	0.000	2237	2122	3527	3570	3484	0	0	0	0	0	0	28.83	28.83	28.83
7752	-0.81	-146.6	2237	2122	3569	3484	840.0	-8.1	202	7757	0.00	2.30	0.00	0.000	2564	0.000	0.044	2237	675	3526	3569	3484	0	0	0	0	0	0	28.83	26.51	28.83
7820	-0.81	-146.6	2237	675	3569	3484	845.3	-8.3	203	7824	0.05	2.25	0.00	0.000	3078	0.187	0.035	2245	2123	3526	3569	3484	0	0	0	0	0	0	26.44	26.53	28.83
8164	-0.81	-146.6	2244	2123	3569	3484	872.3	-7.4	209	8165	0.00	0.00	0.00	0.000	4102	0.000	0.000	2245	2123	3526	3569	3484	0	0	0	0	0	0	28.83	28.83	28.83
8465	-0.81	-146.6	2244	2123	3569	3483	894.0	-7.2	214	8469	0.00	2.25	0.00	0.000	4612	0.000	0.045	2245	670	3526	3569	3483	0	0	0	0	0	0	28.83	26.51	28.83
8522	-0.81	-146.6	2245	670	3569	3483	898.0	-7.4	215	8527	0.00	2.25	0.00	0.000	3078	0.000	0.035	2237	2120	3526	3569	3483	0	0	0	0	0	0	28.83	26.53	28.83
8874	-0.81	-146.6	2237	2120	3568	3483	922.2	-6.7	221	8875	0.00	0.00	0.00	0.000	2054	0.000	0.000	2237	2120	3525	3568	3483	0	0	0	0	0	0	28.83	28.83	28.83
9174	-0.81	-146.6	2237	2120	3568	3482	944.4	-7.5	226	9175	0.00	0.00	0.00	0.000	2054	0.000	0.000	2237	2120	3525	3568	3483	0	0	0	0	0	0	28.83	28.83	28.83
9472	-0.81	-146.6	2236	2120	3568	3483	967.1	-7.5	231	9478	0.00	2.30	0.00	0.000	2564	0.000	0.045	2237	675	3525	3568	3483	0	0	0	0	0	0	28.83	26.53	28.83
9535	-0.81	-146.6	2237	675	3567	3482	972.3	-7.7	232	9540	0.05	2.20	0.00	0.000	3078	0.187	0.037	2246	2124	3525	3568	3483	0	0	0	0	0	0	26.45	26.54	28.83
9821	end dive: TARGET_DEPTH_EXCEEDED
state	9821	begin apogee
9826	-0.18	0.0	2246	2124	3567	3483	992.2	-6.7	237	9950	0.55	0.00	119.80	1.672	10246	0.106	0.000	2446	2124	2930	3001	2860	0	0	0	0	0	0	26.46	28.83	23.08
9951	end apogee: CONTROL_FINISHED_OK
state	9951	begin climb
9953	0.81	146.6	2446	2124	3002	2863	993.5	0.0	239	10090	0.90	2.47	128.00	1.648	10500	0.041	0.043	2787	3525	2331	2414	2249	0	0	0	0	0	0	24.21	23.87	22.88
10130	0.81	146.6	2786	3525	2412	2250	981.5	10.2	242	10135	0.15	2.42	0.00	0.000	5126	0.184	0.034	2759	2083	2330	2412	2249	0	0	0	0	0	0	24.40	24.54	28.83
10462	0.81	146.6	2759	2083	2407	2250	914.0	19.0	248	10468	0.00	2.35	0.00	0.000	4612	0.000	0.047	2769	670	2328	2407	2250	0	0	0	0	0	0	28.83	25.41	28.83
10590	0.81	146.6	2768	670	2406	2250	890.3	19.3	250	10594	0.00	2.35	0.00	0.000	5126	0.000	0.033	2769	2128	2327	2406	2249	0	0	0	0	0	0	28.83	25.56	28.83
10933	0.81	146.6	2768	2128	2405	2249	822.4	19.4	256	10938	0.00	2.38	0.00	0.000	4612	0.000	0.045	2780	676	2327	2405	2249	0	0	0	0	0	0	28.83	25.77	28.83
11030	0.81	146.6	2779	676	2404	2250	810.5	19.5	257	11035	0.08	2.30	0.00	0.000	5126	0.190	0.033	2760	2121	2326	2404	2249	0	0	0	0	0	0	25.71	25.84	28.83
11343	0.81	146.6	2759	2123	2404	2249	746.2	17.9	263	11344	0.00	0.00	0.00	0.000	4102	0.000	0.000	2759	2122	2326	2403	2249	0	0	0	0	0	0	28.83	28.83	28.83
11643	0.81	146.6	2759	2123	2403	2249	691.7	18.1	268	11648	0.00	2.35	0.00	0.000	4612	0.000	0.045	2769	672	2326	2403	2249	0	0	0	0	0	0	28.83	26.03	28.83
11740	0.81	146.6	2769	671	2402	2249	680.8	17.9	269	11745	0.00	2.30	0.00	0.000	5126	0.000	0.034	2769	2130	2325	2402	2249	0	0	0	0	0	0	28.83	26.07	28.83
12053	0.81	146.6	2768	2130	2402	2249	617.1	18.2	275	12054	0.00	0.00	0.00	0.000	4102	0.000	0.000	2768	2130	2326	2402	2250	0	0	0	0	0	0	28.83	28.83	28.83
12353	0.81	146.6	2768	2130	2402	2250	561.1	18.4	280	12359	0.00	2.33	0.00	0.000	4612	0.000	0.044	2779	675	2326	2402	2250	0	0	0	0	0	0	28.83	26.17	28.83
12452	0.81	146.6	2779	676	2402	2249	550.1	18.4	281	12457	0.08	2.28	0.00	0.000	5126	0.184	0.033	2758	2129	2325	2401	2249	0	0	0	0	0	0	26.08	26.20	28.83
12764	0.81	146.6	2758	2129	2402	2250	488.5	17.2	287	12766	0.00	0.00	0.00	0.000	4102	0.000	0.000	2758	2128	2325	2402	2249	0	0	0	0	0	0	28.83	28.83	28.83
13066	0.81	146.6	2758	2128	2400	2249	437.1	17.4	292	13067	0.00	0.00	0.00	0.000	4102	0.000	0.000	2758	2128	2325	2401	2249	0	0	0	0	0	0	28.83	28.83	28.83
13365	0.81	146.6	2758	2128	2401	2249	385.7	17.1	297	13370	0.00	2.30	0.00	0.000	4612	0.000	0.045	2767	675	2325	2402	2249	0	0	0	0	0	0	28.83	26.29	28.83
13492	0.81	146.6	2767	675	2401	2249	363.5	18.0	299	13496	0.00	2.28	0.00	0.000	5126	0.000	0.033	2768	2135	2325	2401	2249	0	0	0	0	0	0	28.83	26.32	28.83
13835	0.81	146.6	2767	2135	2402	2249	302.3	17.5	305	13841	0.00	2.30	0.00	0.000	4612	0.000	0.044	2778	675	2325	2401	2249	0	0	0	0	0	0	28.83	26.32	28.83
13884	0.81	146.6	2778	675	2401	2249	302.3	17.5	305	13888	0.08	2.25	0.00	0.000	5126	0.177	0.033	2757	2126	2325	2402	2249	0	0	0	0	0	0	26.22	26.34	28.83
14184	0.81	146.6	2756	2125	2401	2249	245.6	15.9	314	14186	0.00	0.00	0.00	0.000	4102	0.000	0.000	2757	2125	2325	2401	2250	0	0	0	0	0	0	28.83	28.83	28.83
14485	0.81	146.6	2756	2126	2401	2250	201.7	14.6	324	14486	0.00	0.00	0.00	0.000	2054	0.000	0.000	2757	2125	2325	2402	2249	0	0	0	0	0	0	28.83	28.83	28.83
14785	0.81	146.6	2756	2125	2402	2249	159.1	14.2	334	14790	0.00	2.33	0.00	0.000	2564	0.000	0.044	2766	666	2325	2402	2249	0	0	0	0	0	0	28.83	26.37	28.83
14875	0.81	146.6	2765	666	2402	2250	145.6	14.9	337	14884	0.00	2.28	0.00	0.000	5126	0.000	0.033	2766	2132	2326	2403	2250	0	0	0	0	0	0	28.83	26.40	28.83
15185	0.81	146.6	2766	2131	2402	2249	100.4	15.0	353	15190	0.00	2.28	0.00	0.000	4612	0.000	0.044	2776	678	2325	2402	2249	0	0	0	0	0	0	28.83	26.39	28.83
15252	0.81	146.6	2776	679	2402	2249	91.0	15.4	356	15257	0.08	2.25	0.00	0.000	5126	0.171	0.034	2753	2128	2325	2402	2249	0	0	0	0	0	0	26.30	26.41	28.83
15554	0.81	146.6	2753	2129	2403	2249	46.9	12.6	382	15564	0.00	2.33	0.00	0.000	2564	0.000	0.045	2763	670	2326	2403	2249	0	0	0	0	0	0	28.83	26.40	28.83
15855	0.90	225.5	2762	670	2404	2250	16.1	6.4	412	15889	0.08	2.25	28.67	0.190	11270	0.111	0.034	2807	2124	2009	2112	1906	0	0	0	0	0	0	26.41	26.44	26.14
15965	end climb: SURFACE_DEPTH_REACHED
state	15965	begin surface coast
15977	end surface coast: CONTROL_FINISHED_OK
state	15977	begin surface