Glider dive log

Kona Oct17 * SG204 * Dive index * Mission links * Dive 114 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 20

MISSION 21 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 17 ALTIM_PULSE 2

DIVE 114 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0.60000002

D_TGT 850 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 CALL_NDIVES 1 C_VBD 3145 MOTHERBOARD 4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 4 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00069999998 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 3

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 300 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 500 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 PHONE_DEVICE 48

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_W 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_24V 150 SIM_PITCH 0

USE_ICE 0 PITCH_MIN 210 AH0_10V 97 SEABIRD_T_G 0.0043580476

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_24V 16 SEABIRD_T_H 0.00063004985

D_OFFGRID 1010 C_PITCH 3000 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

RELAUNCH 1 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

MAX_BUOY 150 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

COURSE_BIAS 0 PITCH_GAIN 24 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_YINT -171.85684 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_AD_RATE 140 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

RHO 1.026 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

MASS 52527 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 PM_PROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_N 0 PM_XMITPROFILE 0.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

HD_A 0.0044816299 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2400 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_24V 150 FERRY_MAX 45 PITCH_GAIN 24 SEABIRD_T_J 2.6474129e-06

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_FREQUENCY 20 FG_AHR_24V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MIN 210 SM_CC 500

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_N 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00069999998 STOP_T 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_DBAND 0 STROBE 0

ALTIM_SENSITIVITY 5 HD_A 0.0044816299 PITCH_W_GAIN 0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAPDBG 0 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_XMITPROFILE 0.0 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 ID 204 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PRESSURE_YINT -171.85684 T_BOOST 4

CF8_MAXERRORS 20 KALMAN_USE 2 PROTOCOL 9 T_DIVE 300

COMM_SEQ 0 LOGGERDEVICE1 51 P_OVSHOOT 0.039999999 T_EPIRB 0

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_MISSION 500

COURSE_BIAS 0 LOGGERS 3 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_PITCH 3000 LOITER_DBDW 0 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_CLIMB 2400 LOITER_D_NO_PUMP 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_DIVE 2500 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD 3145 MASS 52527 RHO 1.026 T_WATCHDOG 10

DBDW 0 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE2 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE3 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MINV_24V 16 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE5 -1 MISSION 21 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DIVE 114 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1010 NOCOMM_ACTION 163 R_PORT_OVSHOOT 31 VBD_MAXERRORS 1

D_BOOST 50 N_DIVES 0 R_STBD_OVSHOOT 17 VBD_MIN 500

D_CALL 0 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_FINISH 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FLARE 3 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_NO_BLEED 200 N_NOSURFACE 0 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0

D_OFFGRID 1010 PHONE_DEVICE 48 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_PITCH 0 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 99

D_SAFE 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 6

D_SURF 2 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_TGT 850 PITCH_AD_RATE 140 SEABIRD_T_G 0.0043580476

Pre-dive calculations and measurements:

GPS1 011117,133230,1936.6947,-15602.0869,32,0.8,32,9.5,0.1,0.0,10,3.3 SPEED_LIMITS 0.164,0.186

_CALLS 1 TGT_NAME SHELF2

_XMS_NAKs 0 TGT_LATLONG 1937.000,-15603.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.87 MHEAD_RNG_PITCHd_Wd 270.3,1743,-26.2,-9.444,-30.00,1862

_SM_ANGLEo -68.3 D_GRID 1010

GPS2 011117,134206,1936.6945,-15602.0557,1,0.8,3,9.5,0.2,81.4,10,6.0

Post-dive calculations and measurements:

FINISH 0.0,1.011727 PM_FREEKB_06 21110208

SM_CCo 16546,148.32,0.112,0,0,1103,500.17 PM_FREEKB_07 62336576

SM_GC 0.92,12.45,0.22,148.32,0.071,0.063,0.112,189,2507,1103,-8.67,-0.54,500.17,0,0,0,0,0,0,20.20,20.18,20.01 PM_ACTIVECARD 6

IRIDIUM_FIX 1937.81,-15606.90,011117,084334 _24V_AH 19.26,41.688

TT8_MAMPS 0.047187,0.297353 _10V_AH 10.03,27.632

HUMID 49.88 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.25268 FG_AHR_10Vo 0.000

TCM_TEMP 24.20 MEM 215612

XPDR_PINGS 0 DATA_FILE_SIZE 33380,920

PM_FREEKB_00 0 CAP_FILE_SIZE 136165,0

PM_FREEKB_01 4873536 CFSIZE 260030464,241811456

PM_FREEKB_02 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0

PM_FREEKB_03 0 CURRENT 0.021,153.92,1

PM_FREEKB_04 4227648 GPS 011117,182138,1936.710,-15603.697,21,1.1,21,9.5,0.3,4.0,7,6.3

PM_FREEKB_05 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 234 148.03 nil 0 0 0.00

Roll_motor 189 976 3563.16 nil 0 0 0.00

VBD_pump_during_apogee 452 973 8480.54 nil 0 0 0.00

VBD_pump_during_surface 148 111 319.07 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 16546 3 1118.23

Iridium_during_xfer 423 123 1011.51 PMAR 16542 31 10161.71

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 12 0.68

TT8 0 0 0.00

LPSleep 13619 2 299.17

TT8_Active 902 13 120.51

TT8_Sampling 2552 44 1127.15

TT8_CF8 194 55 107.70

TT8_Kalman 0 0 0.00

Analog_circuits 2095 11 239.64

GPS_charging 0 0 0.00

Compass 1620 8 133.95

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 -1.17 -114.4 181 2510 1170 1038 0.0 0.0 0 119 0.00 0.00 -102.18 0.000 16390 0.000 0.000 180 2509 3612 3545 3680 0 0 0 0 0 0 20.35 19.54 20.40

121 -1.20 -146.2 182 2509 3546 3681 3.4 -5.3 10 144 16.17 2.78 -2.45 0.000 18724 0.235 0.976 2601 3699 3744 3684 3804 0 0 1 0 0 0 19.88 19.38 20.08

198 -1.20 -146.2 2601 3699 3688 3805 25.1 -20.7 25 206 0.00 2.47 0.00 0.000 1030 0.000 0.035 2608 2500 3746 3688 3804 0 0 0 0 0 0 20.18 20.16 20.20

514 -1.20 -146.2 2609 2499 3691 3804 81.7 -16.8 45 520 0.00 2.88 0.00 0.000 516 0.000 0.039 2619 1094 3747 3690 3804 0 0 0 0 0 0 20.39 20.15 20.43

584 -1.20 -146.2 2621 1094 3692 3804 92.7 -16.1 59 590 0.00 2.95 0.00 0.000 1030 0.000 0.042 2610 2497 3747 3690 3804 0 0 0 0 0 0 20.20 20.13 20.22

905 -1.20 -146.2 2612 2497 3692 3804 140.5 -14.8 73 911 0.00 2.92 0.00 0.000 516 0.000 0.042 2620 1096 3748 3692 3804 0 0 0 0 0 0 20.40 20.14 20.44

1026 -1.20 -146.2 2619 1094 3693 3805 155.4 -11.9 97 1032 0.00 2.95 0.00 0.000 1030 0.000 0.041 2610 2502 3748 3693 3804 0 0 0 0 0 0 20.20 20.14 20.23

1357 -1.20 -146.2 2611 2502 3695 3804 190.1 -8.8 113 1363 0.00 2.92 0.00 0.000 548 0.000 0.041 2619 1094 3749 3695 3804 0 0 0 0 0 0 20.41 20.14 20.45

1407 -1.20 -146.2 2620 1095 3695 3805 194.5 -8.9 123 1412 0.00 2.95 0.00 0.000 1062 0.000 0.041 2610 2501 3749 3694 3804 0 0 0 0 0 0 20.21 20.15 20.23

1718 -1.20 -146.2 2610 2502 3697 3805 227.0 -11.5 135 1722 0.00 2.60 0.00 0.000 260 0.000 0.062 2601 3700 3750 3696 3804 0 0 0 0 0 0 20.42 20.13 20.45

1737 -1.20 -146.2 2601 3700 3698 3804 229.3 -11.9 139 1742 0.00 2.42 0.00 0.000 1030 0.000 0.037 2609 2500 3750 3696 3804 0 0 0 0 0 0 20.24 20.20 20.25

2048 -1.20 -146.2 2608 2500 3697 3805 263.5 -10.8 149 2053 0.00 2.90 0.00 0.000 516 0.000 0.040 2618 1090 3750 3696 3804 0 0 0 0 0 0 20.42 20.16 20.46

2169 -1.20 -146.2 2619 1091 3697 3805 274.4 -9.1 173 2175 0.00 2.95 0.00 0.000 1062 0.000 0.041 2610 2498 3750 3696 3804 0 0 0 0 0 0 20.23 20.16 20.25

2530 -1.20 -146.2 2611 2498 3697 3802 307.1 -9.1 190 2535 0.00 2.60 0.00 0.000 292 0.000 0.063 2601 3697 3749 3696 3803 0 0 0 0 0 0 20.42 20.13 20.46

2591 -1.20 -146.2 2600 3699 3696 3804 312.7 -9.5 202 2595 0.00 2.42 0.00 0.000 1030 0.000 0.034 2608 2497 3749 3695 3803 0 0 0 0 0 0 20.25 20.21 20.27

2951 -1.20 -146.2 2609 2498 3694 3801 341.2 -7.7 219 2956 0.00 2.90 0.00 0.000 548 0.000 0.040 2619 1092 3747 3693 3802 0 0 0 0 0 0 20.42 20.17 20.47

3025 -1.20 -146.2 2619 1092 3694 3800 347.8 -9.2 234 3030 0.00 2.95 0.00 0.000 1062 0.000 0.043 2610 2502 3747 3692 3802 0 0 0 0 0 0 20.23 20.16 20.25

3371 -1.20 -146.2 2610 2503 3691 3799 381.5 -9.9 248 3376 0.00 2.95 0.00 0.000 516 0.000 0.044 2618 1096 3743 3690 3797 0 0 0 0 0 0 20.42 20.17 20.47

3400 -1.20 -146.2 2619 1099 3691 3799 384.5 -9.8 254 3405 0.00 2.97 0.00 0.000 1030 0.000 0.044 2610 2506 3743 3689 3797 0 0 0 0 0 0 20.23 20.16 20.25

3731 -1.20 -146.2 2610 2507 3689 3793 414.9 -9.1 265 3736 0.00 2.92 0.00 0.000 548 0.000 0.039 2618 1093 3740 3687 3793 0 0 0 0 0 0 20.42 20.18 20.47

3771 -1.20 -146.2 2619 1091 3687 3793 418.5 -8.9 273 3777 0.00 2.95 0.00 0.000 1062 0.000 0.038 2610 2508 3739 3686 3793 0 0 0 0 0 0 20.24 20.17 20.25

4092 -1.20 -146.2 2610 2508 3685 3788 444.0 -7.8 282 4097 0.00 2.55 0.00 0.000 292 0.000 0.058 2601 3697 3736 3683 3789 0 0 0 0 0 0 20.43 20.15 20.47

4146 -1.20 -146.2 2601 3697 3684 3788 448.0 -7.4 293 4154 0.00 2.47 0.00 0.000 1062 0.000 0.038 2608 2512 3736 3683 3789 0 0 0 0 0 0 20.24 20.22 20.26

4453 -1.20 -146.2 2607 2512 3683 3787 467.0 -6.1 299 4457 0.00 2.95 0.00 0.000 548 0.000 0.042 2618 1090 3733 3681 3786 0 0 0 0 0 0 20.44 20.18 20.47

4521 -1.20 -146.2 2619 1090 3682 3786 470.8 -5.5 313 4528 0.00 2.95 0.00 0.000 1062 0.000 0.039 2609 2503 3733 3680 3787 0 0 0 0 0 0 20.25 20.18 20.26

4873 -1.20 -146.2 2610 2504 3678 3784 490.5 -5.8 328 4874 0.00 0.00 0.00 0.000 38 0.000 0.000 2610 2503 3730 3679 3782 0 0 0 0 0 0 20.43 20.48 20.48

5173 -1.20 -146.2 2610 2504 3677 3781 510.4 -6.6 333 5174 0.00 0.00 0.00 0.000 38 0.000 0.000 2610 2503 3728 3676 3780 0 0 0 0 0 0 20.44 20.48 20.48

5473 -1.20 -146.2 2610 2503 3674 3777 533.8 -7.9 338 5474 0.00 0.00 0.00 0.000 38 0.000 0.000 2610 2504 3725 3673 3777 0 0 0 0 0 0 20.44 20.49 20.48

5773 -1.20 -146.2 2610 2504 3672 3777 558.9 -8.3 343 5774 0.00 0.00 0.00 0.000 38 0.000 0.000 2611 2503 3723 3671 3775 0 0 0 0 0 0 20.44 20.49 20.49

6073 -1.20 -146.2 2610 2505 3672 3775 581.8 -7.6 348 6078 0.00 2.60 0.00 0.000 292 0.000 0.063 2600 3696 3721 3670 3773 0 0 0 0 0 0 20.44 20.16 20.49

6122 -1.20 -146.2 2600 3695 3670 3773 586.1 -8.8 358 6128 0.00 2.50 0.00 0.000 1062 0.000 0.040 2608 2504 3721 3670 3773 0 0 0 0 0 0 20.26 20.23 20.28

6433 -1.20 -146.2 2608 2506 3669 3771 607.4 -6.6 365 6439 0.00 2.95 0.00 0.000 548 0.000 0.044 2618 1090 3719 3669 3769 0 0 0 0 0 0 20.44 20.18 20.49

6494 -1.20 -146.2 2618 1090 3668 3770 611.7 -7.3 377 6500 0.00 2.95 0.00 0.000 1062 0.000 0.040 2610 2496 3718 3667 3770 0 0 0 0 0 0 20.26 20.20 20.28

6855 -1.20 -146.2 2610 2496 3666 3769 637.4 -7.2 394 6860 0.00 2.65 0.00 0.000 292 0.000 0.068 2601 3700 3716 3665 3768 0 0 0 0 0 0 20.45 20.16 20.49

6904 -1.20 -146.2 2601 3700 3666 3767 641.7 -8.7 404 6910 0.00 2.53 0.00 0.000 1062 0.000 0.043 2608 2503 3716 3664 3768 0 0 0 0 0 0 20.25 20.23 20.30

7215 -1.20 -146.2 2609 2504 3664 3765 665.2 -7.5 411 7220 0.00 2.95 0.00 0.000 548 0.000 0.044 2618 1090 3714 3663 3765 0 0 0 0 0 0 20.45 20.18 20.49

7290 -1.20 -146.2 2619 1090 3663 3765 670.9 -7.6 426 7295 0.00 2.97 0.00 0.000 1062 0.000 0.041 2609 2509 3714 3662 3766 0 0 0 0 0 0 20.26 20.19 20.28

7636 -1.20 -146.2 2610 2509 3663 3763 698.5 -8.2 440 7640 0.00 2.95 0.00 0.000 548 0.000 0.040 2618 1090 3712 3662 3763 0 0 0 0 0 0 20.45 20.20 20.49

7669 -1.20 -146.2 2619 1089 3663 3763 701.6 -8.5 447 7675 0.00 2.95 0.00 0.000 1062 0.000 0.041 2610 2496 3712 3661 3763 0 0 0 0 0 0 20.27 20.20 20.28

7995 -1.20 -146.2 2609 2497 3661 3762 729.3 -8.6 457 8001 0.00 2.65 0.00 0.000 292 0.000 0.068 2600 3699 3711 3662 3761 0 0 0 0 0 0 20.45 20.16 20.49

8030 -1.20 -146.2 2601 3699 3662 3761 732.7 -9.6 464 8035 0.00 2.53 0.00 0.000 1030 0.000 0.043 2608 2501 3711 3661 3761 0 0 0 0 0 0 20.25 20.24 20.28

8356 -1.20 -146.2 2608 2502 3660 3762 762.1 -9.0 474 8361 0.00 2.92 0.00 0.000 548 0.000 0.041 2618 1092 3710 3660 3761 0 0 0 0 0 0 20.45 20.19 20.49

8425 -1.20 -146.2 2618 1091 3660 3762 768.2 -8.5 488 8431 0.00 3.00 0.00 0.000 1062 0.000 0.042 2610 2507 3709 3658 3761 0 0 0 0 0 0 20.26 20.19 20.29

8776 -1.20 -146.2 2611 2508 3658 3759 797.5 -8.4 503 8781 0.00 2.58 0.00 0.000 292 0.000 0.063 2599 3696 3708 3658 3758 0 0 0 0 0 0 20.46 20.17 20.50

8840 -1.20 -146.2 2601 3697 3658 3759 803.4 -9.0 516 8846 0.00 2.53 0.00 0.000 1062 0.000 0.041 2607 2499 3707 3657 3758 0 0 0 0 0 0 20.26 20.25 20.29

9197 -1.20 -146.2 2607 2499 3657 3756 830.1 -7.6 532 9197 0.00 0.00 0.00 0.000 38 0.000 0.000 2608 2499 3706 3656 3756 0 0 0 0 0 0 20.46 20.51 20.50

9496 -1.20 -146.2 2608 2499 3657 3755 849.8 -6.5 537 9502 0.00 2.92 0.00 0.000 548 0.000 0.041 2618 1092 3706 3656 3756 0 0 0 0 0 0 20.47 20.20 20.50

9504 end dive: TARGET_DEPTH_EXCEEDED

state 9505 begin apogee

9511 -0.21 0.0 2611 2400 3656 3757 850.5 -6.2 539 9689 1.62 0.00 171.75 0.973 10246 0.175 0.000 2921 2399 3138 3160 3117 0 0 0 0 0 0 20.04 19.69 19.26

9691 end apogee: CONTROL_FINISHED_OK

state 9691 begin climb

9692 1.20 146.2 2922 2399 3160 3115 849.3 0.0 542 9879 2.12 0.00 182.35 0.924 10758 0.141 0.000 3372 2399 2549 2577 2521 0 0 0 0 0 0 19.90 19.83 19.27

10167 1.20 146.2 3373 2399 2552 2497 785.2 14.2 561 10168 0.00 0.00 0.00 0.000 6 0.000 0.000 3372 2399 2524 2551 2497 0 0 0 0 0 0 20.33 20.38 20.37

10467 1.20 146.2 3372 2400 2551 2496 744.7 13.6 566 10472 0.00 2.92 0.00 0.000 516 0.000 0.034 3383 988 2522 2550 2495 0 0 0 0 0 0 20.37 20.12 20.41

10486 1.20 146.2 3384 988 2552 2495 741.7 14.8 570 10492 0.00 2.92 0.00 0.000 1030 0.000 0.033 3383 2407 2523 2550 2496 0 0 0 0 0 0 20.18 20.12 20.20

10828 1.20 146.2 3382 2406 2547 2496 688.0 15.9 583 10832 0.00 2.78 0.00 0.000 260 0.000 0.054 3383 3696 2520 2546 2494 0 0 0 0 0 0 20.38 20.10 20.42

10856 1.20 146.2 3384 3696 2547 2492 682.9 17.5 589 10864 0.00 2.67 0.00 0.000 1030 0.000 0.030 3392 2381 2519 2546 2492 0 0 0 0 0 0 20.21 20.18 20.23

11189 1.20 146.2 3393 2381 2547 2491 628.9 16.3 600 11194 0.00 2.83 0.00 0.000 516 0.000 0.032 3403 1000 2517 2543 2491 0 0 0 0 0 0 20.39 20.16 20.43

11249 1.20 146.2 3403 1001 2547 2493 618.8 16.7 612 11254 0.00 2.88 0.00 0.000 1030 0.000 0.031 3403 2398 2518 2546 2491 0 0 0 0 0 0 20.21 20.15 20.24

11610 1.20 146.2 3403 2399 2547 2492 560.1 16.3 629 11615 0.00 2.78 0.00 0.000 260 0.000 0.051 3403 3698 2519 2545 2493 0 0 0 0 0 0 20.40 20.13 20.44

11654 1.20 146.2 3404 3699 2545 2491 551.8 18.2 638 11660 0.00 2.62 0.00 0.000 1030 0.000 0.030 3412 2405 2516 2545 2488 0 0 0 0 0 0 20.24 20.20 20.25

11970 1.20 146.2 3412 2406 2546 2489 501.7 15.7 646 11971 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 2405 2516 2545 2487 0 0 0 0 0 0 20.41 20.45 20.45

12270 1.20 146.2 3411 2406 2544 2489 458.0 14.4 651 12275 0.00 2.78 0.00 0.000 260 0.000 0.050 3408 3706 2516 2544 2488 0 0 0 0 0 0 20.42 20.14 20.46

12299 1.20 146.2 3409 3706 2544 2489 453.5 14.9 657 12306 0.17 2.62 0.00 0.000 5126 0.178 0.030 3390 2396 2515 2543 2487 0 0 0 0 0 0 20.01 20.23 20.19

12631 1.20 146.2 3392 2397 2545 2487 411.4 12.6 668 12636 0.00 2.85 0.00 0.000 516 0.000 0.034 3400 1004 2515 2543 2487 0 0 0 0 0 0 20.42 20.18 20.46

12675 1.20 146.2 3399 1003 2544 2487 405.9 12.2 677 12682 0.00 2.88 0.00 0.000 1030 0.000 0.031 3399 2404 2515 2543 2487 0 0 0 0 0 0 20.23 20.18 20.26

12992 1.20 146.2 3400 2405 2544 2489 366.8 12.4 685 12998 0.00 2.75 0.00 0.000 260 0.000 0.054 3399 3698 2515 2543 2487 0 0 0 0 0 0 20.42 20.15 20.47

13012 1.20 146.2 3400 3697 2544 2486 364.0 13.5 689 13018 0.00 2.60 0.00 0.000 1030 0.000 0.029 3409 2399 2515 2543 2487 0 0 0 0 0 0 20.28 20.23 20.29

13353 1.20 146.2 3409 2399 2544 2485 315.4 14.6 702 13358 0.00 2.85 0.00 0.000 516 0.000 0.032 3418 999 2514 2543 2486 0 0 0 0 0 0 20.42 20.19 20.47

13443 1.20 146.2 3420 998 2544 2486 303.4 13.1 720 13449 0.17 2.88 0.00 0.000 5126 0.166 0.030 3394 2403 2514 2543 2486 0 0 0 0 0 0 20.02 20.19 20.20

13774 1.20 146.2 3392 2404 2544 2488 266.7 11.0 731 13775 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2403 2515 2543 2487 0 0 0 0 0 0 20.43 20.48 20.47

14074 1.20 146.2 3392 2403 2544 2486 230.0 12.1 738 14075 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2402 2514 2542 2486 0 0 0 0 0 0 20.44 20.49 20.48

14374 1.20 146.2 3392 2403 2544 2488 196.1 10.6 748 14374 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2402 2514 2543 2485 0 0 0 0 0 0 20.44 20.49 20.48

14674 1.20 146.2 3392 2403 2543 2487 167.0 9.9 758 14679 0.00 2.75 0.00 0.000 260 0.000 0.051 3388 3700 2514 2543 2486 0 0 0 0 0 0 20.44 20.16 20.48

14704 1.20 146.2 3389 3701 2543 2485 163.9 10.6 764 14709 0.00 2.60 0.00 0.000 1030 0.000 0.030 3397 2387 2513 2542 2485 0 0 0 0 0 0 20.28 20.25 20.30

15034 1.20 148.1 3397 2387 2544 2486 134.7 9.3 780 15039 0.00 2.80 0.00 0.000 548 0.000 0.033 3407 1005 2513 2542 2485 0 0 0 0 0 0 20.44 20.20 20.49

15083 1.21 164.6 3407 1007 2543 2485 130.3 8.5 790 15109 0.00 2.85 16.67 0.516 9254 0.000 0.030 3409 2404 2464 2501 2427 0 0 0 0 1 0 20.25 20.20 19.30

15426 1.24 204.8 3408 2404 2493 2422 102.9 7.2 808 15480 0.00 2.88 45.08 0.485 8740 0.000 0.033 3417 1011 2296 2341 2252 0 0 0 0 0 0 20.43 19.88 19.61

15515 1.26 239.2 3417 1012 2335 2248 96.3 7.5 821 15560 0.00 2.85 36.65 0.477 9254 0.000 0.031 3416 2396 2157 2207 2108 0 0 0 0 0 0 20.19 20.13 19.61

15877 1.26 241.2 3416 2399 2191 2095 62.2 9.3 843 15882 0.00 2.75 0.00 0.000 292 0.000 0.052 3412 3700 2142 2191 2094 0 0 0 0 0 0 20.40 20.13 20.45

15951 1.26 241.2 3411 3701 2190 2094 54.3 10.4 858 15957 0.00 2.62 0.00 0.000 1030 0.000 0.031 3420 2404 2141 2189 2093 0 0 0 0 0 0 20.23 20.20 20.24

16257 1.26 242.2 3420 2406 2190 2095 25.8 9.4 888 16262 0.00 2.72 0.00 0.000 292 0.000 0.047 3412 3700 2141 2189 2094 0 0 0 0 0 0 20.41 20.14 20.46

16301 1.26 242.2 3412 3700 2190 2093 21.2 10.6 897 16309 0.00 2.62 0.00 0.000 1030 0.000 0.031 3420 2404 2141 2189 2094 0 0 0 0 0 0 20.24 20.22 20.25

16506 end climb: SURFACE_DEPTH_REACHED

state 16506 begin surface coast

16526 end surface coast: CONTROL_FINISHED_OK

state 16526 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	20
MISSION	21	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	17	ALTIM_PULSE	2
DIVE	114	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0.60000002
D_TGT	850	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	CALL_NDIVES	1	C_VBD	3145	MOTHERBOARD	4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	4	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00069999998	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	3
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	300	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	500	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	PHONE_DEVICE	48
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_W	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_24V	150	SIM_PITCH	0
USE_ICE	0	PITCH_MIN	210	AH0_10V	97	SEABIRD_T_G	0.0043580476
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_24V	16	SEABIRD_T_H	0.00063004985
D_OFFGRID	1010	C_PITCH	3000	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
RELAUNCH	1	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
MAX_BUOY	150	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
COURSE_BIAS	0	PITCH_GAIN	24	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_YINT	-171.85684	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_AD_RATE	140	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
RHO	1.026	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
MASS	52527	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	PM_PROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_N	0	PM_XMITPROFILE	0.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
HD_A	0.0044816299	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2400	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	011117,133230,1936.6947,-15602.0869,32,0.8,32,9.5,0.1,0.0,10,3.3	SPEED_LIMITS	0.164,0.186
_CALLS	1	TGT_NAME	SHELF2
_XMS_NAKs	0	TGT_LATLONG	1937.000,-15603.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.87	MHEAD_RNG_PITCHd_Wd	270.3,1743,-26.2,-9.444,-30.00,1862
_SM_ANGLEo	-68.3	D_GRID	1010
GPS2	011117,134206,1936.6945,-15602.0557,1,0.8,3,9.5,0.2,81.4,10,6.0

FINISH	0.0,1.011727	PM_FREEKB_06	21110208
SM_CCo	16546,148.32,0.112,0,0,1103,500.17	PM_FREEKB_07	62336576
SM_GC	0.92,12.45,0.22,148.32,0.071,0.063,0.112,189,2507,1103,-8.67,-0.54,500.17,0,0,0,0,0,0,20.20,20.18,20.01	PM_ACTIVECARD	6
IRIDIUM_FIX	1937.81,-15606.90,011117,084334	_24V_AH	19.26,41.688
TT8_MAMPS	0.047187,0.297353	_10V_AH	10.03,27.632
HUMID	49.88	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.25268	FG_AHR_10Vo	0.000
TCM_TEMP	24.20	MEM	215612
XPDR_PINGS	0	DATA_FILE_SIZE	33380,920
PM_FREEKB_00	0	CAP_FILE_SIZE	136165,0
PM_FREEKB_01	4873536	CFSIZE	260030464,241811456
PM_FREEKB_02	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
PM_FREEKB_03	0	CURRENT	0.021,153.92,1
PM_FREEKB_04	4227648	GPS	011117,182138,1936.710,-15603.697,21,1.1,21,9.5,0.3,4.0,7,6.3
PM_FREEKB_05	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	234	148.03	nil	0	0	0.00
Roll_motor	189	976	3563.16	nil	0	0	0.00
VBD_pump_during_apogee	452	973	8480.54	nil	0	0	0.00
VBD_pump_during_surface	148	111	319.07	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	16546	3	1118.23
Iridium_during_xfer	423	123	1011.51	PMAR	16542	31	10161.71
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	12	0.68
TT8	0	0	0.00
LPSleep	13619	2	299.17
TT8_Active	902	13	120.51
TT8_Sampling	2552	44	1127.15
TT8_CF8	194	55	107.70
TT8_Kalman	0	0	0.00
Analog_circuits	2095	11	239.64
GPS_charging	0	0	0.00
Compass	1620	8	133.95
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	-1.17	-114.4	181	2510	1170	1038	0.0	0.0	0	119	0.00	0.00	-102.18	0.000	16390	0.000	0.000	180	2509	3612	3545	3680	0	0	0	0	0	0	20.35	19.54	20.40
121	-1.20	-146.2	182	2509	3546	3681	3.4	-5.3	10	144	16.17	2.78	-2.45	0.000	18724	0.235	0.976	2601	3699	3744	3684	3804	0	0	1	0	0	0	19.88	19.38	20.08
198	-1.20	-146.2	2601	3699	3688	3805	25.1	-20.7	25	206	0.00	2.47	0.00	0.000	1030	0.000	0.035	2608	2500	3746	3688	3804	0	0	0	0	0	0	20.18	20.16	20.20
514	-1.20	-146.2	2609	2499	3691	3804	81.7	-16.8	45	520	0.00	2.88	0.00	0.000	516	0.000	0.039	2619	1094	3747	3690	3804	0	0	0	0	0	0	20.39	20.15	20.43
584	-1.20	-146.2	2621	1094	3692	3804	92.7	-16.1	59	590	0.00	2.95	0.00	0.000	1030	0.000	0.042	2610	2497	3747	3690	3804	0	0	0	0	0	0	20.20	20.13	20.22
905	-1.20	-146.2	2612	2497	3692	3804	140.5	-14.8	73	911	0.00	2.92	0.00	0.000	516	0.000	0.042	2620	1096	3748	3692	3804	0	0	0	0	0	0	20.40	20.14	20.44
1026	-1.20	-146.2	2619	1094	3693	3805	155.4	-11.9	97	1032	0.00	2.95	0.00	0.000	1030	0.000	0.041	2610	2502	3748	3693	3804	0	0	0	0	0	0	20.20	20.14	20.23
1357	-1.20	-146.2	2611	2502	3695	3804	190.1	-8.8	113	1363	0.00	2.92	0.00	0.000	548	0.000	0.041	2619	1094	3749	3695	3804	0	0	0	0	0	0	20.41	20.14	20.45
1407	-1.20	-146.2	2620	1095	3695	3805	194.5	-8.9	123	1412	0.00	2.95	0.00	0.000	1062	0.000	0.041	2610	2501	3749	3694	3804	0	0	0	0	0	0	20.21	20.15	20.23
1718	-1.20	-146.2	2610	2502	3697	3805	227.0	-11.5	135	1722	0.00	2.60	0.00	0.000	260	0.000	0.062	2601	3700	3750	3696	3804	0	0	0	0	0	0	20.42	20.13	20.45
1737	-1.20	-146.2	2601	3700	3698	3804	229.3	-11.9	139	1742	0.00	2.42	0.00	0.000	1030	0.000	0.037	2609	2500	3750	3696	3804	0	0	0	0	0	0	20.24	20.20	20.25
2048	-1.20	-146.2	2608	2500	3697	3805	263.5	-10.8	149	2053	0.00	2.90	0.00	0.000	516	0.000	0.040	2618	1090	3750	3696	3804	0	0	0	0	0	0	20.42	20.16	20.46
2169	-1.20	-146.2	2619	1091	3697	3805	274.4	-9.1	173	2175	0.00	2.95	0.00	0.000	1062	0.000	0.041	2610	2498	3750	3696	3804	0	0	0	0	0	0	20.23	20.16	20.25
2530	-1.20	-146.2	2611	2498	3697	3802	307.1	-9.1	190	2535	0.00	2.60	0.00	0.000	292	0.000	0.063	2601	3697	3749	3696	3803	0	0	0	0	0	0	20.42	20.13	20.46
2591	-1.20	-146.2	2600	3699	3696	3804	312.7	-9.5	202	2595	0.00	2.42	0.00	0.000	1030	0.000	0.034	2608	2497	3749	3695	3803	0	0	0	0	0	0	20.25	20.21	20.27
2951	-1.20	-146.2	2609	2498	3694	3801	341.2	-7.7	219	2956	0.00	2.90	0.00	0.000	548	0.000	0.040	2619	1092	3747	3693	3802	0	0	0	0	0	0	20.42	20.17	20.47
3025	-1.20	-146.2	2619	1092	3694	3800	347.8	-9.2	234	3030	0.00	2.95	0.00	0.000	1062	0.000	0.043	2610	2502	3747	3692	3802	0	0	0	0	0	0	20.23	20.16	20.25
3371	-1.20	-146.2	2610	2503	3691	3799	381.5	-9.9	248	3376	0.00	2.95	0.00	0.000	516	0.000	0.044	2618	1096	3743	3690	3797	0	0	0	0	0	0	20.42	20.17	20.47
3400	-1.20	-146.2	2619	1099	3691	3799	384.5	-9.8	254	3405	0.00	2.97	0.00	0.000	1030	0.000	0.044	2610	2506	3743	3689	3797	0	0	0	0	0	0	20.23	20.16	20.25
3731	-1.20	-146.2	2610	2507	3689	3793	414.9	-9.1	265	3736	0.00	2.92	0.00	0.000	548	0.000	0.039	2618	1093	3740	3687	3793	0	0	0	0	0	0	20.42	20.18	20.47
3771	-1.20	-146.2	2619	1091	3687	3793	418.5	-8.9	273	3777	0.00	2.95	0.00	0.000	1062	0.000	0.038	2610	2508	3739	3686	3793	0	0	0	0	0	0	20.24	20.17	20.25
4092	-1.20	-146.2	2610	2508	3685	3788	444.0	-7.8	282	4097	0.00	2.55	0.00	0.000	292	0.000	0.058	2601	3697	3736	3683	3789	0	0	0	0	0	0	20.43	20.15	20.47
4146	-1.20	-146.2	2601	3697	3684	3788	448.0	-7.4	293	4154	0.00	2.47	0.00	0.000	1062	0.000	0.038	2608	2512	3736	3683	3789	0	0	0	0	0	0	20.24	20.22	20.26
4453	-1.20	-146.2	2607	2512	3683	3787	467.0	-6.1	299	4457	0.00	2.95	0.00	0.000	548	0.000	0.042	2618	1090	3733	3681	3786	0	0	0	0	0	0	20.44	20.18	20.47
4521	-1.20	-146.2	2619	1090	3682	3786	470.8	-5.5	313	4528	0.00	2.95	0.00	0.000	1062	0.000	0.039	2609	2503	3733	3680	3787	0	0	0	0	0	0	20.25	20.18	20.26
4873	-1.20	-146.2	2610	2504	3678	3784	490.5	-5.8	328	4874	0.00	0.00	0.00	0.000	38	0.000	0.000	2610	2503	3730	3679	3782	0	0	0	0	0	0	20.43	20.48	20.48
5173	-1.20	-146.2	2610	2504	3677	3781	510.4	-6.6	333	5174	0.00	0.00	0.00	0.000	38	0.000	0.000	2610	2503	3728	3676	3780	0	0	0	0	0	0	20.44	20.48	20.48
5473	-1.20	-146.2	2610	2503	3674	3777	533.8	-7.9	338	5474	0.00	0.00	0.00	0.000	38	0.000	0.000	2610	2504	3725	3673	3777	0	0	0	0	0	0	20.44	20.49	20.48
5773	-1.20	-146.2	2610	2504	3672	3777	558.9	-8.3	343	5774	0.00	0.00	0.00	0.000	38	0.000	0.000	2611	2503	3723	3671	3775	0	0	0	0	0	0	20.44	20.49	20.49
6073	-1.20	-146.2	2610	2505	3672	3775	581.8	-7.6	348	6078	0.00	2.60	0.00	0.000	292	0.000	0.063	2600	3696	3721	3670	3773	0	0	0	0	0	0	20.44	20.16	20.49
6122	-1.20	-146.2	2600	3695	3670	3773	586.1	-8.8	358	6128	0.00	2.50	0.00	0.000	1062	0.000	0.040	2608	2504	3721	3670	3773	0	0	0	0	0	0	20.26	20.23	20.28
6433	-1.20	-146.2	2608	2506	3669	3771	607.4	-6.6	365	6439	0.00	2.95	0.00	0.000	548	0.000	0.044	2618	1090	3719	3669	3769	0	0	0	0	0	0	20.44	20.18	20.49
6494	-1.20	-146.2	2618	1090	3668	3770	611.7	-7.3	377	6500	0.00	2.95	0.00	0.000	1062	0.000	0.040	2610	2496	3718	3667	3770	0	0	0	0	0	0	20.26	20.20	20.28
6855	-1.20	-146.2	2610	2496	3666	3769	637.4	-7.2	394	6860	0.00	2.65	0.00	0.000	292	0.000	0.068	2601	3700	3716	3665	3768	0	0	0	0	0	0	20.45	20.16	20.49
6904	-1.20	-146.2	2601	3700	3666	3767	641.7	-8.7	404	6910	0.00	2.53	0.00	0.000	1062	0.000	0.043	2608	2503	3716	3664	3768	0	0	0	0	0	0	20.25	20.23	20.30
7215	-1.20	-146.2	2609	2504	3664	3765	665.2	-7.5	411	7220	0.00	2.95	0.00	0.000	548	0.000	0.044	2618	1090	3714	3663	3765	0	0	0	0	0	0	20.45	20.18	20.49
7290	-1.20	-146.2	2619	1090	3663	3765	670.9	-7.6	426	7295	0.00	2.97	0.00	0.000	1062	0.000	0.041	2609	2509	3714	3662	3766	0	0	0	0	0	0	20.26	20.19	20.28
7636	-1.20	-146.2	2610	2509	3663	3763	698.5	-8.2	440	7640	0.00	2.95	0.00	0.000	548	0.000	0.040	2618	1090	3712	3662	3763	0	0	0	0	0	0	20.45	20.20	20.49
7669	-1.20	-146.2	2619	1089	3663	3763	701.6	-8.5	447	7675	0.00	2.95	0.00	0.000	1062	0.000	0.041	2610	2496	3712	3661	3763	0	0	0	0	0	0	20.27	20.20	20.28
7995	-1.20	-146.2	2609	2497	3661	3762	729.3	-8.6	457	8001	0.00	2.65	0.00	0.000	292	0.000	0.068	2600	3699	3711	3662	3761	0	0	0	0	0	0	20.45	20.16	20.49
8030	-1.20	-146.2	2601	3699	3662	3761	732.7	-9.6	464	8035	0.00	2.53	0.00	0.000	1030	0.000	0.043	2608	2501	3711	3661	3761	0	0	0	0	0	0	20.25	20.24	20.28
8356	-1.20	-146.2	2608	2502	3660	3762	762.1	-9.0	474	8361	0.00	2.92	0.00	0.000	548	0.000	0.041	2618	1092	3710	3660	3761	0	0	0	0	0	0	20.45	20.19	20.49
8425	-1.20	-146.2	2618	1091	3660	3762	768.2	-8.5	488	8431	0.00	3.00	0.00	0.000	1062	0.000	0.042	2610	2507	3709	3658	3761	0	0	0	0	0	0	20.26	20.19	20.29
8776	-1.20	-146.2	2611	2508	3658	3759	797.5	-8.4	503	8781	0.00	2.58	0.00	0.000	292	0.000	0.063	2599	3696	3708	3658	3758	0	0	0	0	0	0	20.46	20.17	20.50
8840	-1.20	-146.2	2601	3697	3658	3759	803.4	-9.0	516	8846	0.00	2.53	0.00	0.000	1062	0.000	0.041	2607	2499	3707	3657	3758	0	0	0	0	0	0	20.26	20.25	20.29
9197	-1.20	-146.2	2607	2499	3657	3756	830.1	-7.6	532	9197	0.00	0.00	0.00	0.000	38	0.000	0.000	2608	2499	3706	3656	3756	0	0	0	0	0	0	20.46	20.51	20.50
9496	-1.20	-146.2	2608	2499	3657	3755	849.8	-6.5	537	9502	0.00	2.92	0.00	0.000	548	0.000	0.041	2618	1092	3706	3656	3756	0	0	0	0	0	0	20.47	20.20	20.50
9504	end dive: TARGET_DEPTH_EXCEEDED
state	9505	begin apogee
9511	-0.21	0.0	2611	2400	3656	3757	850.5	-6.2	539	9689	1.62	0.00	171.75	0.973	10246	0.175	0.000	2921	2399	3138	3160	3117	0	0	0	0	0	0	20.04	19.69	19.26
9691	end apogee: CONTROL_FINISHED_OK
state	9691	begin climb
9692	1.20	146.2	2922	2399	3160	3115	849.3	0.0	542	9879	2.12	0.00	182.35	0.924	10758	0.141	0.000	3372	2399	2549	2577	2521	0	0	0	0	0	0	19.90	19.83	19.27
10167	1.20	146.2	3373	2399	2552	2497	785.2	14.2	561	10168	0.00	0.00	0.00	0.000	6	0.000	0.000	3372	2399	2524	2551	2497	0	0	0	0	0	0	20.33	20.38	20.37
10467	1.20	146.2	3372	2400	2551	2496	744.7	13.6	566	10472	0.00	2.92	0.00	0.000	516	0.000	0.034	3383	988	2522	2550	2495	0	0	0	0	0	0	20.37	20.12	20.41
10486	1.20	146.2	3384	988	2552	2495	741.7	14.8	570	10492	0.00	2.92	0.00	0.000	1030	0.000	0.033	3383	2407	2523	2550	2496	0	0	0	0	0	0	20.18	20.12	20.20
10828	1.20	146.2	3382	2406	2547	2496	688.0	15.9	583	10832	0.00	2.78	0.00	0.000	260	0.000	0.054	3383	3696	2520	2546	2494	0	0	0	0	0	0	20.38	20.10	20.42
10856	1.20	146.2	3384	3696	2547	2492	682.9	17.5	589	10864	0.00	2.67	0.00	0.000	1030	0.000	0.030	3392	2381	2519	2546	2492	0	0	0	0	0	0	20.21	20.18	20.23
11189	1.20	146.2	3393	2381	2547	2491	628.9	16.3	600	11194	0.00	2.83	0.00	0.000	516	0.000	0.032	3403	1000	2517	2543	2491	0	0	0	0	0	0	20.39	20.16	20.43
11249	1.20	146.2	3403	1001	2547	2493	618.8	16.7	612	11254	0.00	2.88	0.00	0.000	1030	0.000	0.031	3403	2398	2518	2546	2491	0	0	0	0	0	0	20.21	20.15	20.24
11610	1.20	146.2	3403	2399	2547	2492	560.1	16.3	629	11615	0.00	2.78	0.00	0.000	260	0.000	0.051	3403	3698	2519	2545	2493	0	0	0	0	0	0	20.40	20.13	20.44
11654	1.20	146.2	3404	3699	2545	2491	551.8	18.2	638	11660	0.00	2.62	0.00	0.000	1030	0.000	0.030	3412	2405	2516	2545	2488	0	0	0	0	0	0	20.24	20.20	20.25
11970	1.20	146.2	3412	2406	2546	2489	501.7	15.7	646	11971	0.00	0.00	0.00	0.000	6	0.000	0.000	3412	2405	2516	2545	2487	0	0	0	0	0	0	20.41	20.45	20.45
12270	1.20	146.2	3411	2406	2544	2489	458.0	14.4	651	12275	0.00	2.78	0.00	0.000	260	0.000	0.050	3408	3706	2516	2544	2488	0	0	0	0	0	0	20.42	20.14	20.46
12299	1.20	146.2	3409	3706	2544	2489	453.5	14.9	657	12306	0.17	2.62	0.00	0.000	5126	0.178	0.030	3390	2396	2515	2543	2487	0	0	0	0	0	0	20.01	20.23	20.19
12631	1.20	146.2	3392	2397	2545	2487	411.4	12.6	668	12636	0.00	2.85	0.00	0.000	516	0.000	0.034	3400	1004	2515	2543	2487	0	0	0	0	0	0	20.42	20.18	20.46
12675	1.20	146.2	3399	1003	2544	2487	405.9	12.2	677	12682	0.00	2.88	0.00	0.000	1030	0.000	0.031	3399	2404	2515	2543	2487	0	0	0	0	0	0	20.23	20.18	20.26
12992	1.20	146.2	3400	2405	2544	2489	366.8	12.4	685	12998	0.00	2.75	0.00	0.000	260	0.000	0.054	3399	3698	2515	2543	2487	0	0	0	0	0	0	20.42	20.15	20.47
13012	1.20	146.2	3400	3697	2544	2486	364.0	13.5	689	13018	0.00	2.60	0.00	0.000	1030	0.000	0.029	3409	2399	2515	2543	2487	0	0	0	0	0	0	20.28	20.23	20.29
13353	1.20	146.2	3409	2399	2544	2485	315.4	14.6	702	13358	0.00	2.85	0.00	0.000	516	0.000	0.032	3418	999	2514	2543	2486	0	0	0	0	0	0	20.42	20.19	20.47
13443	1.20	146.2	3420	998	2544	2486	303.4	13.1	720	13449	0.17	2.88	0.00	0.000	5126	0.166	0.030	3394	2403	2514	2543	2486	0	0	0	0	0	0	20.02	20.19	20.20
13774	1.20	146.2	3392	2404	2544	2488	266.7	11.0	731	13775	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2403	2515	2543	2487	0	0	0	0	0	0	20.43	20.48	20.47
14074	1.20	146.2	3392	2403	2544	2486	230.0	12.1	738	14075	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2402	2514	2542	2486	0	0	0	0	0	0	20.44	20.49	20.48
14374	1.20	146.2	3392	2403	2544	2488	196.1	10.6	748	14374	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2402	2514	2543	2485	0	0	0	0	0	0	20.44	20.49	20.48
14674	1.20	146.2	3392	2403	2543	2487	167.0	9.9	758	14679	0.00	2.75	0.00	0.000	260	0.000	0.051	3388	3700	2514	2543	2486	0	0	0	0	0	0	20.44	20.16	20.48
14704	1.20	146.2	3389	3701	2543	2485	163.9	10.6	764	14709	0.00	2.60	0.00	0.000	1030	0.000	0.030	3397	2387	2513	2542	2485	0	0	0	0	0	0	20.28	20.25	20.30
15034	1.20	148.1	3397	2387	2544	2486	134.7	9.3	780	15039	0.00	2.80	0.00	0.000	548	0.000	0.033	3407	1005	2513	2542	2485	0	0	0	0	0	0	20.44	20.20	20.49
15083	1.21	164.6	3407	1007	2543	2485	130.3	8.5	790	15109	0.00	2.85	16.67	0.516	9254	0.000	0.030	3409	2404	2464	2501	2427	0	0	0	0	1	0	20.25	20.20	19.30
15426	1.24	204.8	3408	2404	2493	2422	102.9	7.2	808	15480	0.00	2.88	45.08	0.485	8740	0.000	0.033	3417	1011	2296	2341	2252	0	0	0	0	0	0	20.43	19.88	19.61
15515	1.26	239.2	3417	1012	2335	2248	96.3	7.5	821	15560	0.00	2.85	36.65	0.477	9254	0.000	0.031	3416	2396	2157	2207	2108	0	0	0	0	0	0	20.19	20.13	19.61
15877	1.26	241.2	3416	2399	2191	2095	62.2	9.3	843	15882	0.00	2.75	0.00	0.000	292	0.000	0.052	3412	3700	2142	2191	2094	0	0	0	0	0	0	20.40	20.13	20.45
15951	1.26	241.2	3411	3701	2190	2094	54.3	10.4	858	15957	0.00	2.62	0.00	0.000	1030	0.000	0.031	3420	2404	2141	2189	2093	0	0	0	0	0	0	20.23	20.20	20.24
16257	1.26	242.2	3420	2406	2190	2095	25.8	9.4	888	16262	0.00	2.72	0.00	0.000	292	0.000	0.047	3412	3700	2141	2189	2094	0	0	0	0	0	0	20.41	20.14	20.46
16301	1.26	242.2	3412	3700	2190	2093	21.2	10.6	897	16309	0.00	2.62	0.00	0.000	1030	0.000	0.031	3420	2404	2141	2189	2094	0	0	0	0	0	0	20.24	20.22	20.25
16506	end climb: SURFACE_DEPTH_REACHED
state	16506	begin surface coast
16526	end surface coast: CONTROL_FINISHED_OK
state	16526	begin surface