Glider dive log

NASCAR Mar17 * SG137 * Dive index * Mission links * Dive 127 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 137 HD_B 0.0082 ROLL_MIN 200 TCM_ROLL_OFFSET 0

MISSION 5 HD_C 4.2000001e-06 ROLL_MAX 3920 COMPASS_USE 4

DIVE 127 HEADING -1 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_DIVE 2050 ALTIM_TOP_PING_RANGE 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 4 TGT_DEFAULT_LAT 7156.2998 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 990 TGT_DEFAULT_LON 2002.3 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 200

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 32 ALTIM_PING_DELTA 0

D_NO_BLEED 50 SM_CC 573.99261 R_STBD_OVSHOOT 56 ALTIM_FREQUENCY 13

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 PROTOCOL 9 VBD_MIN 450 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 N_NOCOMM 2 VBD_MAX 3900 INT_PRESSURE_YINT 0

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2790 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 330 CALL_TRIES 8 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 450 CALL_WAIT 120 VBD_TIMEOUT 720 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE5 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 DEVICE6 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 N_GPS 100440 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

USE_BATHY 0 STROBE 0 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 DBDW 0 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 COMPASS_DEVICE 97

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_MMODEM 0 CF8_MAXERRORS 1 PHONE_DEVICE 49

RELAUNCH 1 PITCH_MIN 100 AH0_24V 350 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MAX 3680 AH0_10V 0 RAFOS_DEVICE -1

MAX_BUOY 150 C_PITCH 3175 MINV_24V 11 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 11 SIM_W 0

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SIM_PITCH 0

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.004399877

RHO 1.0275 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.00063904078

MASS 54893 PITCH_GAIN 15 FG_AHR_24V 0 SEABIRD_T_I 2.611986e-05

MASS_COMP 0 PITCH_TIMEOUT 25 PHONE_SUPPLY -2 SEABIRD_T_J 3.2216672e-06

NAV_MODE 2 PITCH_AD_RATE 120 PRESSURE_YINT -84.34626 SEABIRD_C_G -9.9096279

FERRY_MAX 45 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_H 1.1330101

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 AD7714Ch0Gain 128 SEABIRD_C_I -0.0017902254

HD_A 0.0034 PITCH_ADJ_DBAND 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00021440489

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2216672e-06

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_ADJ_GAIN 0.029999999 SM_CC 573.99261

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 120 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 STOP_T 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 200 FG_AHR_10V 0 PITCH_GAIN 15 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3680 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0034 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 7156.2998

CALL_NDIVES 1 HD_B 0.0082 PITCH_W_GAIN 0 TGT_DEFAULT_LON 2002.3

CALL_TRIES 8 HD_C 4.2000001e-06 PRESSURE_SLOPE 0.0001160319 T_ABORT 720

CALL_WAIT 120 HEADING -1 PRESSURE_YINT -84.34626 T_BOOST 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_DIVE 330

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_EPIRB 0

CF8_MAXERRORS 1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_GPS 5

COMM_SEQ 0 ID 137 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 450

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RAFOS_MMODEM 0 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_PITCH 3175 LOGGERDEVICE2 -1 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_CLIMB 1800 LOGGERDEVICE3 -1 RHO 1.0275 T_WATCHDOG 10

C_ROLL_DIVE 2050 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_VBD 2790 LOGGERS 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 54893 ROLL_AD_RATE 250 USE_BATHY 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE1 2 MAXI_10V 0.80000001 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAX 3920 VBD_CNV -0.245296

DEVICE3 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 200 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3900

DEVICE6 -1 MISSION 5 R_PORT_OVSHOOT 32 VBD_MAXERRORS 1

DIVE 127 MOTHERBOARD 4 R_STBD_OVSHOOT 56 VBD_MIN 450

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_G -9.9096279 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_H 1.1330101 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_DIVES 0 SEABIRD_C_I -0.0017902254 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SEABIRD_C_J 0.00021440489 W_ADJ_DBAND 0

D_FLARE 4 N_GPS 100440 SEABIRD_T_G 0.004399877 XPDR_DEVICE 24

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_H 0.00063904078 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_I 2.611986e-05 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 280317,195223,1338.3925,6115.9785,39,0.8,44,-0.7,0.0,226.6,11,8.8 SPEED_LIMITS 0.173,0.287

_CALLS 4 TGT_NAME SG137_TGT

_XMS_NAKs 0 TGT_LATLONG 1340.236,6115.963

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 2.19 MHEAD_RNG_PITCHd_Wd 1.4,3567,-19.5,-10.000,-21.90,1638

_SM_ANGLEo -67.2 D_GRID 990

GPS2 280317,200729,1338.3104,6115.9189,7,0.9,7,-0.7,1.3,200.0,8,0.0

Post-dive calculations and measurements:

FINISH 1.4,1.023868 _10V_AH 13.42,0.000

SM_CCo 16968,127.88,0.080,0,0,450,573.99 FG_AHR_24Vo 0.000

SM_GC 2.21,9.93,0.45,127.88,0.080,0.057,0.080,92,2061,450,-14.13,-1.13,573.99,0,0,0,0,0,0,14.69,14.78,14.67 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1331.97,6118.06,280317,200032 MEM 225108

TT8_MAMPS 0.025466,0.156541 DATA_FILE_SIZE 56752,1296

HUMID 47.75 CAP_FILE_SIZE 202361,0

INTERNAL_PRESSURE 9.05308 CFSIZE 260034560,249040896

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 10 CURRENT 0.080,195.86,1

_24V_AH 12.99,43.123 GPS 290317,005440,1340.073,6115.870,38,1.3,47,-0.7,0.0,207.0,7,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 422 157.98 SBE_CT 616 24 192.19

Roll_motor 162 84 177.27 nil 0 0 0.00

VBD_pump_during_apogee 369 2682 12885.02 nil 0 0 0.00

VBD_pump_during_surface 127 79 132.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 463 180 1086.01 nil 0 0 0.00

Transponder_ping 99 420 542.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.57

TT8 2760 9 365.70

LPSleep 11779 2 346.21

TT8_Active 701 9 92.92

TT8_Sampling 2596 27 970.22

TT8_CF8 183 34 85.23

TT8_Kalman 0 0 0.00

Analog_circuits 2251 15 471.37

GPS_charging 0 0 0.00

Compass 1844 6 166.86

RAFOS 0 0 0.00

Transponder 651 30 262.10

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.43 -106.5 97 2076 330 562 0.0 0.0 0 104 0.00 0.00 -94.15 0.000 16386 0.000 0.000 98 2073 2965 2885 3046 0 0 0 0 0 0 14.88 28.83 14.90

106 -1.48 -146.0 97 2073 2885 3046 4.2 -6.0 16 132 13.82 0.00 -7.93 0.000 18470 0.422 0.000 2845 2070 3388 3278 3498 0 0 0 0 0 0 14.41 13.59 14.60

435 -1.44 -146.0 2845 2070 3278 3498 63.0 -15.8 72 445 0.00 2.25 0.00 0.000 388 0.000 0.063 2836 3429 3388 3279 3498 0 0 0 0 0 0 15.00 14.70 15.01

479 -1.44 -146.0 2836 3429 3279 3498 70.5 -15.1 81 488 0.08 2.33 0.00 0.000 3078 0.236 0.039 2864 2032 3388 3279 3498 0 0 0 0 0 0 14.59 14.76 14.79

786 -1.44 -146.0 2864 2032 3279 3499 111.0 -13.0 112 790 0.00 2.28 0.00 0.000 516 0.000 0.057 2865 651 3388 3279 3498 0 0 0 0 0 0 15.06 14.81 15.07

823 -1.51 -146.0 2865 650 3280 3499 115.5 -12.4 119 832 0.00 2.25 0.00 0.000 1158 0.000 0.039 2857 2037 3388 3279 3498 0 0 0 0 0 0 14.90 14.83 14.91

1133 -1.59 -146.0 2856 2037 3279 3498 147.2 -9.7 151 1135 0.10 0.00 0.00 0.000 4262 0.148 0.000 2813 2037 3388 3279 3498 0 0 0 0 0 0 14.86 14.94 14.92

1432 -1.59 -146.0 2813 2037 3279 3498 183.9 -11.8 181 1433 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2037 3388 3279 3498 0 0 0 0 0 0 15.11 15.13 15.13

1735 -1.63 -146.0 2813 2037 3279 3498 223.0 -13.5 211 1740 0.00 2.33 0.00 0.000 388 0.000 0.061 2803 3447 3388 3279 3498 0 0 0 0 0 0 15.09 14.85 15.11

1789 -1.69 -146.0 2803 3446 3279 3498 230.7 -13.8 221 1797 0.00 2.28 0.00 0.000 1158 0.000 0.039 2803 2046 3388 3279 3498 0 0 0 0 0 0 14.95 14.88 14.96

2116 -1.73 -146.0 2802 2046 3279 3498 276.5 -14.2 242 2122 0.00 2.30 0.00 0.000 644 0.000 0.060 2803 653 3388 3279 3498 0 0 0 0 0 0 15.10 14.86 15.12

2159 -1.73 -146.0 2803 653 3279 3498 283.1 -14.6 250 2166 0.00 2.28 0.00 0.000 1030 0.000 0.043 2793 2050 3388 3279 3498 0 0 0 0 0 0 14.95 14.88 14.97

2485 -1.73 -146.0 2793 2050 3279 3498 323.9 -12.1 264 2490 0.00 2.33 0.00 0.000 260 0.000 0.064 2783 3448 3388 3279 3498 0 0 0 0 0 0 15.11 14.86 15.13

2518 -1.76 -146.0 2783 3449 3279 3498 327.9 -11.1 270 2525 0.00 2.30 0.00 0.000 1158 0.000 0.041 2784 2048 3388 3279 3498 0 0 0 0 0 0 14.96 14.89 14.97

2853 -1.76 -146.0 2783 2048 3278 3498 366.0 -11.1 286 2858 0.00 2.38 0.00 0.000 260 0.000 0.064 2773 3449 3388 3278 3498 0 0 0 0 0 0 15.11 14.86 15.14

2901 -1.76 -146.0 2773 3448 3278 3497 371.5 -12.1 295 2907 0.00 2.30 0.00 0.000 1030 0.000 0.041 2774 2045 3387 3278 3497 0 0 0 0 0 0 14.96 14.89 14.97

3221 -1.76 -146.0 2773 2044 3276 3495 409.6 -12.6 308 3222 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2045 3385 3276 3495 0 0 0 0 0 0 15.12 15.14 15.14

3521 -1.76 -146.0 2773 2045 3274 3492 450.2 -13.8 318 3526 0.00 2.40 0.00 0.000 260 0.000 0.066 2764 3456 3383 3274 3492 0 0 0 0 0 0 15.12 14.86 15.14

3586 -1.76 -146.0 2763 3456 3273 3490 459.5 -13.9 330 3592 0.12 2.33 0.00 0.000 3078 0.262 0.042 2788 2037 3381 3273 3489 0 0 0 0 0 0 14.68 14.89 14.90

3920 -1.80 -146.0 2787 2037 3271 3488 501.8 -12.3 346 3925 0.00 2.33 0.00 0.000 644 0.000 0.064 2788 643 3379 3271 3488 0 0 0 0 0 0 15.12 14.85 15.14

3963 -1.80 -146.0 2788 643 3271 3487 507.6 -12.8 354 3968 0.00 2.33 0.00 0.000 1030 0.000 0.045 2780 2050 3379 3271 3488 0 0 0 0 0 0 14.95 14.88 14.97

4287 -1.80 -146.0 2780 2050 3269 3486 546.8 -12.3 368 4288 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2050 3377 3269 3486 0 0 0 0 0 0 15.12 15.15 15.14

4587 -1.83 -146.0 2780 2051 3267 3485 583.2 -12.1 378 4592 0.00 2.35 0.00 0.000 388 0.000 0.069 2770 3453 3376 3267 3485 0 0 0 0 0 0 15.12 14.85 15.14

4613 -1.83 -146.0 2770 3453 3267 3484 586.9 -12.6 383 4622 0.00 2.33 0.00 0.000 1030 0.000 0.045 2770 2051 3375 3267 3484 0 0 0 0 0 0 14.95 14.88 14.97

4920 -1.83 -146.0 2770 2051 3266 3482 624.8 -12.4 394 4921 0.00 0.00 0.00 0.000 6 0.000 0.000 2770 2051 3374 3266 3482 0 0 0 0 0 0 15.12 15.14 15.14

5221 -1.83 -146.0 2770 2051 3265 3480 662.8 -13.0 404 5227 0.00 2.40 0.00 0.000 260 0.000 0.070 2760 3451 3372 3265 3480 0 0 0 0 0 0 15.11 14.84 15.14

5294 -1.83 -146.0 2760 3452 3265 3479 672.5 -13.4 418 5299 0.00 2.33 0.00 0.000 1030 0.000 0.044 2760 2048 3372 3265 3479 0 0 0 0 0 0 14.95 14.88 14.97

5617 -1.83 -146.0 2760 2047 3262 3478 714.6 -13.2 432 5622 0.00 2.38 0.00 0.000 516 0.000 0.070 2760 640 3370 3262 3478 0 0 0 0 0 0 15.11 14.83 15.13

5654 -1.83 -146.0 2760 640 3262 3478 720.2 -14.4 439 5660 0.12 2.35 0.00 0.000 3078 0.298 0.049 2773 2054 3370 3262 3478 0 0 0 0 0 0 14.62 14.87 14.86

5985 -1.83 -146.0 2773 2054 3261 3477 762.2 -12.9 454 5989 0.00 2.38 0.00 0.000 260 0.000 0.076 2765 3447 3369 3261 3477 0 0 0 0 0 0 15.11 14.81 15.14

6050 -1.87 -146.0 2765 3447 3261 3477 771.1 -13.0 467 6055 0.00 2.33 0.00 0.000 1158 0.000 0.047 2765 2052 3369 3261 3477 0 0 0 0 0 0 14.93 14.85 14.95

6380 -1.87 -146.0 2765 2051 3260 3477 813.4 -13.2 482 6385 0.00 2.42 0.00 0.000 260 0.000 0.072 2754 3455 3368 3260 3476 0 0 0 0 0 0 15.11 14.81 15.14

6416 -1.87 -146.0 2754 3456 3259 3476 818.6 -13.0 489 6422 0.00 2.35 0.00 0.000 1030 0.000 0.048 2754 2046 3368 3260 3476 0 0 0 0 0 0 14.93 14.85 14.95

6745 -1.87 -146.0 2754 2046 3258 3475 863.1 -13.7 504 6752 0.00 2.35 0.00 0.000 516 0.000 0.066 2754 647 3366 3258 3474 0 0 0 0 0 0 15.10 14.82 15.12

6824 -1.83 -146.0 2754 647 3258 3474 875.1 -15.2 519 6829 0.15 2.33 0.00 0.000 3206 0.293 0.047 2779 2050 3366 3258 3474 0 0 0 0 0 0 14.56 14.85 14.73

7143 -1.88 -146.0 2779 2051 3256 3473 914.8 -12.3 532 7149 0.00 2.38 0.00 0.000 388 0.000 0.071 2771 3450 3364 3256 3473 0 0 0 0 0 0 15.10 14.81 15.12

7208 -1.94 -146.0 2770 3450 3256 3472 923.4 -13.2 544 7215 0.00 2.35 0.00 0.000 1158 0.000 0.050 2771 2051 3364 3256 3472 0 0 0 0 0 0 14.92 14.83 14.94

7543 -1.97 -146.0 2770 2050 3255 3471 967.0 -12.8 560 7548 0.10 2.38 0.00 0.000 4740 0.171 0.067 2740 642 3363 3255 3471 0 0 0 0 0 0 14.83 14.81 14.90

7619 -1.92 -146.0 2739 642 3255 3471 978.1 -14.4 574 7624 0.12 2.35 0.00 0.000 3206 0.286 0.050 2753 2054 3362 3254 3471 0 0 0 0 0 0 14.59 14.84 14.80

7731 end dive: TARGET_DEPTH_EXCEEDED

state 7731 begin apogee

7736 -0.33 0.0 2753 1789 3254 3471 993.2 -13.1 581 7867 1.33 0.00 127.05 2.683 10246 0.267 0.000 3098 1788 2789 2675 2903 0 0 0 0 0 0 14.54 14.05 13.09

7868 end apogee: CONTROL_FINISHED_OK

state 7868 begin climb

7870 1.48 146.0 3099 1787 2671 2900 996.2 0.0 585 8015 1.33 2.58 133.52 2.626 10756 0.152 0.081 3501 404 2187 2057 2317 0 0 0 0 0 0 14.04 13.78 12.99

8063 1.28 146.0 3501 404 2046 2317 979.8 15.9 627 8070 0.20 2.42 0.00 0.000 5254 0.334 0.048 3457 1795 2181 2045 2317 0 0 0 0 0 0 14.07 14.23 14.21

8393 1.17 146.0 3457 1796 2038 2317 935.7 13.2 643 8394 0.15 0.00 0.00 0.000 4230 0.388 0.000 3430 1796 2177 2038 2317 0 0 0 0 0 0 14.36 14.69 14.64

8692 1.10 146.0 3430 1796 2035 2317 898.1 12.9 653 8694 0.00 0.00 0.00 0.000 134 0.000 0.000 3431 1796 2176 2035 2317 0 0 0 0 0 0 14.96 14.99 14.99

8992 1.04 146.0 3430 1796 2034 2317 857.5 13.6 663 8999 0.12 2.45 0.00 0.000 4740 0.405 0.074 3416 394 2175 2034 2317 0 0 0 0 0 0 14.48 14.75 14.69

9022 0.99 146.0 3415 394 2033 2317 853.4 13.6 669 9029 0.00 2.38 0.00 0.000 1158 0.000 0.050 3412 1798 2175 2033 2317 0 0 0 0 0 0 14.85 14.78 14.88

9352 0.99 146.0 3412 1798 2032 2317 811.7 12.5 685 9359 0.00 2.40 0.00 0.000 260 0.000 0.076 3412 3209 2174 2031 2317 0 0 0 0 0 0 15.05 14.77 15.08

9376 0.95 146.0 3412 3209 2031 2317 808.5 13.8 690 9384 0.17 2.38 0.00 0.000 5254 0.342 0.054 3385 1797 2174 2032 2316 0 0 0 0 0 0 14.54 14.81 14.83

9682 0.95 146.0 3385 1797 2030 2317 773.8 11.1 701 9683 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 1797 2173 2030 2317 0 0 0 0 0 0 15.08 15.10 15.10

9982 0.95 146.0 3385 1798 2029 2317 741.7 10.3 711 9988 0.00 2.45 0.00 0.000 260 0.000 0.079 3381 3204 2173 2029 2317 0 0 0 0 0 0 15.09 14.80 15.11

10020 0.95 146.0 3381 3204 2029 2317 737.6 10.9 719 10025 0.00 2.38 0.00 0.000 1030 0.000 0.061 3389 1807 2172 2029 2316 0 0 0 0 0 0 14.90 14.81 14.93

10337 0.95 146.0 3389 1806 2028 2316 705.5 10.2 732 10341 0.00 2.42 0.00 0.000 260 0.000 0.073 3381 3206 2172 2028 2317 0 0 0 0 0 0 15.10 14.81 15.12

10426 0.95 146.0 3381 3206 2029 2317 696.0 10.6 750 10431 0.00 2.40 0.00 0.000 1030 0.000 0.061 3390 1797 2173 2029 2317 0 0 0 0 0 0 14.90 14.82 14.94

10753 0.95 150.0 3389 1797 2028 2317 663.7 9.7 765 10760 0.00 2.42 0.00 0.000 548 0.000 0.084 3400 394 2172 2027 2317 0 0 0 0 0 0 15.11 14.80 15.13

10784 0.95 150.0 3400 394 2027 2316 660.7 10.4 771 10790 0.00 2.38 0.00 0.000 1030 0.000 0.052 3400 1806 2171 2026 2316 0 0 0 0 0 0 14.91 14.83 14.93

11114 0.95 150.0 3400 1806 2026 2317 627.5 10.1 787 11120 0.00 2.38 0.00 0.000 260 0.000 0.077 3400 3206 2171 2026 2316 0 0 0 0 0 0 15.11 14.80 15.13

11222 0.92 150.0 3400 3206 2026 2317 615.4 10.5 809 11228 0.17 2.38 0.00 0.000 5254 0.347 0.055 3376 1794 2171 2026 2317 0 0 0 0 0 0 14.54 14.83 14.83

11528 0.96 150.0 3375 1794 2026 2316 584.9 10.0 820 11532 0.00 2.40 0.00 0.000 644 0.000 0.071 3384 388 2171 2026 2316 0 0 0 0 0 0 15.11 14.81 15.13

11592 0.96 150.0 3384 387 2025 2316 578.0 11.3 833 11597 0.00 2.40 0.00 0.000 1030 0.000 0.044 3381 1805 2170 2025 2316 0 0 0 0 0 0 14.87 14.82 14.90

11920 1.00 150.0 3381 1804 2025 2316 544.4 10.4 848 11926 0.00 2.38 0.00 0.000 388 0.000 0.070 3378 3216 2171 2025 2317 0 0 0 0 0 0 15.11 14.81 15.14

11964 1.00 150.0 3377 3216 2025 2317 539.7 10.3 857 11968 0.00 2.38 0.00 0.000 1030 0.000 0.052 3386 1796 2171 2025 2317 0 0 0 0 0 0 14.92 14.84 14.94

12276 1.05 161.8 3385 1796 2025 2317 509.7 9.3 869 12293 0.00 2.47 11.25 1.904 8612 0.000 0.067 3381 3201 2125 1982 2269 0 0 0 0 0 0 15.11 14.77 13.97

12348 1.06 175.6 3381 3201 1981 2266 502.9 9.1 884 12367 0.00 2.38 13.30 1.909 9254 0.000 0.050 3389 1790 2071 1929 2214 0 0 0 0 0 0 14.85 14.78 13.89

12666 1.13 202.3 3389 1790 1919 2211 475.4 8.3 897 12696 0.12 0.00 23.62 1.912 10406 0.145 0.000 3427 1790 1958 1815 2102 0 0 0 0 0 0 14.71 14.42 13.78

12995 1.13 202.3 3427 1790 1806 2101 440.5 10.7 908 12999 0.00 2.45 0.00 0.000 516 0.000 0.081 3431 391 1953 1806 2101 0 0 0 0 0 0 14.93 14.66 14.96

13014 1.13 202.3 3430 391 1805 2101 438.3 10.9 912 13021 0.00 2.38 0.00 0.000 1030 0.000 0.047 3430 1800 1953 1805 2101 0 0 0 0 0 0 14.78 14.71 14.80

13322 1.13 202.3 3430 1801 1805 2101 403.5 11.5 923 13328 0.00 2.47 0.00 0.000 516 0.000 0.076 3437 393 1953 1805 2101 0 0 0 0 0 0 15.01 14.73 15.03

13375 1.09 202.3 3437 393 1803 2101 397.1 11.7 934 13382 0.00 2.38 0.00 0.000 1158 0.000 0.047 3434 1801 1952 1803 2101 0 0 0 0 0 0 14.84 14.76 14.87

13681 1.09 202.3 3434 1801 1803 2101 361.6 11.6 945 13682 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 1801 1952 1803 2101 0 0 0 0 0 0 15.05 15.07 15.07

13982 1.09 202.3 3434 1801 1803 2101 326.3 12.0 955 13983 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 1801 1952 1803 2101 0 0 0 0 0 0 15.07 15.10 15.09

14281 1.09 202.3 3434 1801 1803 2101 288.6 13.0 965 14288 0.00 2.47 0.00 0.000 516 0.000 0.079 3440 394 1952 1803 2101 0 0 0 0 0 0 15.09 14.80 15.11

14350 1.06 202.3 3440 394 1802 2101 278.6 14.7 979 14355 0.12 2.35 0.00 0.000 5254 0.317 0.045 3408 1813 1951 1801 2101 0 0 0 0 0 0 14.58 14.84 14.86

14658 1.09 202.3 3408 1813 1802 2101 238.2 12.7 997 14668 0.00 2.42 0.00 0.000 644 0.000 0.076 3417 403 1951 1801 2101 0 0 0 0 0 0 15.09 14.77 15.11

14710 1.09 202.3 3417 403 1801 2101 231.7 12.5 1007 14719 0.00 2.33 0.00 0.000 1030 0.000 0.050 3411 1793 1951 1801 2101 0 0 0 0 0 0 14.91 14.83 14.93

15020 1.13 229.8 3411 1793 1801 2101 200.6 8.3 1039 15051 0.00 0.00 22.62 1.523 8486 0.000 0.000 3411 1793 1847 1699 1996 0 0 0 0 0 0 15.09 14.71 14.07

15351 1.20 250.8 3411 1793 1692 1996 172.8 8.7 1073 15372 0.10 0.00 17.80 1.470 10406 0.145 0.000 3458 1794 1762 1614 1911 0 0 0 0 0 0 14.76 14.66 14.00

15670 1.20 250.8 3457 1794 1604 1910 130.2 14.8 1105 15675 0.12 2.38 0.00 0.000 4356 0.319 0.060 3428 3207 1757 1604 1910 0 0 0 0 0 0 14.50 14.71 14.67

15717 1.20 250.8 3428 3207 1603 1910 123.8 13.6 1114 15722 0.00 2.38 0.00 0.000 1030 0.000 0.049 3437 1794 1756 1603 1910 0 0 0 0 0 0 14.81 14.73 14.83

16029 1.24 250.8 3437 1793 1602 1910 90.6 10.1 1146 16033 0.00 2.42 0.00 0.000 644 0.000 0.076 3447 386 1755 1602 1909 0 0 0 0 0 0 15.02 14.74 15.04

16094 1.27 253.6 3447 386 1600 1910 84.0 9.8 1159 16101 0.00 2.35 0.00 0.000 1190 0.000 0.040 3442 1812 1754 1600 1909 0 0 0 0 0 0 14.86 14.80 14.88

16401 1.32 258.6 3442 1811 1600 1910 54.4 9.7 1190 16412 0.00 2.53 4.97 1.095 8868 0.000 0.069 3451 388 1734 1580 1889 0 0 0 0 0 0 15.05 14.78 14.06

16448 1.36 258.6 3450 388 1581 1890 49.6 10.3 1199 16455 0.00 2.33 0.00 0.000 1158 0.000 0.044 3450 1797 1735 1581 1890 0 0 0 0 0 0 14.86 14.80 14.88

16758 1.43 280.5 3450 1798 1580 1890 20.3 8.6 1260 16784 0.12 2.40 15.57 1.105 10660 0.124 0.061 3502 3209 1640 1487 1793 0 0 0 0 0 0 14.78 14.71 14.19

16826 1.38 280.5 3501 3209 1487 1791 13.4 10.1 1272 16834 0.17 2.38 0.00 0.000 5254 0.334 0.048 3475 1787 1639 1487 1791 0 0 0 0 0 0 14.54 14.73 14.76

16924 end climb: SURFACE_DEPTH_REACHED

state 16925 begin surface coast

16951 end surface coast: CONTROL_FINISHED_OK

state 16951 begin surface

ID	137	HD_B	0.0082	ROLL_MIN	200	TCM_ROLL_OFFSET	0
MISSION	5	HD_C	4.2000001e-06	ROLL_MAX	3920	COMPASS_USE	4
DIVE	127	HEADING	-1	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_DIVE	2050	ALTIM_TOP_PING_RANGE	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	4	TGT_DEFAULT_LAT	7156.2998	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	990	TGT_DEFAULT_LON	2002.3	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	200
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	32	ALTIM_PING_DELTA	0
D_NO_BLEED	50	SM_CC	573.99261	R_STBD_OVSHOOT	56	ALTIM_FREQUENCY	13
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	PROTOCOL	9	VBD_MIN	450	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	N_NOCOMM	2	VBD_MAX	3900	INT_PRESSURE_YINT	0
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2790	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	330	CALL_TRIES	8	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	450	CALL_WAIT	120	VBD_TIMEOUT	720	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE5	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	DEVICE6	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	N_GPS	100440	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
USE_BATHY	0	STROBE	0	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	DBDW	0	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	COMPASS_DEVICE	97
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_MMODEM	0	CF8_MAXERRORS	1	PHONE_DEVICE	49
RELAUNCH	1	PITCH_MIN	100	AH0_24V	350	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MAX	3680	AH0_10V	0	RAFOS_DEVICE	-1
MAX_BUOY	150	C_PITCH	3175	MINV_24V	11	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	11	SIM_W	0
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SIM_PITCH	0
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.004399877
RHO	1.0275	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.00063904078
MASS	54893	PITCH_GAIN	15	FG_AHR_24V	0	SEABIRD_T_I	2.611986e-05
MASS_COMP	0	PITCH_TIMEOUT	25	PHONE_SUPPLY	-2	SEABIRD_T_J	3.2216672e-06
NAV_MODE	2	PITCH_AD_RATE	120	PRESSURE_YINT	-84.34626	SEABIRD_C_G	-9.9096279
FERRY_MAX	45	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_H	1.1330101
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0017902254
HD_A	0.0034	PITCH_ADJ_DBAND	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00021440489

GPS1	280317,195223,1338.3925,6115.9785,39,0.8,44,-0.7,0.0,226.6,11,8.8	SPEED_LIMITS	0.173,0.287
_CALLS	4	TGT_NAME	SG137_TGT
_XMS_NAKs	0	TGT_LATLONG	1340.236,6115.963
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	2.19	MHEAD_RNG_PITCHd_Wd	1.4,3567,-19.5,-10.000,-21.90,1638
_SM_ANGLEo	-67.2	D_GRID	990
GPS2	280317,200729,1338.3104,6115.9189,7,0.9,7,-0.7,1.3,200.0,8,0.0

FINISH	1.4,1.023868	_10V_AH	13.42,0.000
SM_CCo	16968,127.88,0.080,0,0,450,573.99	FG_AHR_24Vo	0.000
SM_GC	2.21,9.93,0.45,127.88,0.080,0.057,0.080,92,2061,450,-14.13,-1.13,573.99,0,0,0,0,0,0,14.69,14.78,14.67	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1331.97,6118.06,280317,200032	MEM	225108
TT8_MAMPS	0.025466,0.156541	DATA_FILE_SIZE	56752,1296
HUMID	47.75	CAP_FILE_SIZE	202361,0
INTERNAL_PRESSURE	9.05308	CFSIZE	260034560,249040896
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	10	CURRENT	0.080,195.86,1
_24V_AH	12.99,43.123	GPS	290317,005440,1340.073,6115.870,38,1.3,47,-0.7,0.0,207.0,7,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	422	157.98	SBE_CT	616	24	192.19
Roll_motor	162	84	177.27	nil	0	0	0.00
VBD_pump_during_apogee	369	2682	12885.02	nil	0	0	0.00
VBD_pump_during_surface	127	79	132.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	463	180	1086.01	nil	0	0	0.00
Transponder_ping	99	420	542.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.57
TT8	2760	9	365.70
LPSleep	11779	2	346.21
TT8_Active	701	9	92.92
TT8_Sampling	2596	27	970.22
TT8_CF8	183	34	85.23
TT8_Kalman	0	0	0.00
Analog_circuits	2251	15	471.37
GPS_charging	0	0	0.00
Compass	1844	6	166.86
RAFOS	0	0	0.00
Transponder	651	30	262.10

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.43	-106.5	97	2076	330	562	0.0	0.0	0	104	0.00	0.00	-94.15	0.000	16386	0.000	0.000	98	2073	2965	2885	3046	0	0	0	0	0	0	14.88	28.83	14.90
106	-1.48	-146.0	97	2073	2885	3046	4.2	-6.0	16	132	13.82	0.00	-7.93	0.000	18470	0.422	0.000	2845	2070	3388	3278	3498	0	0	0	0	0	0	14.41	13.59	14.60
435	-1.44	-146.0	2845	2070	3278	3498	63.0	-15.8	72	445	0.00	2.25	0.00	0.000	388	0.000	0.063	2836	3429	3388	3279	3498	0	0	0	0	0	0	15.00	14.70	15.01
479	-1.44	-146.0	2836	3429	3279	3498	70.5	-15.1	81	488	0.08	2.33	0.00	0.000	3078	0.236	0.039	2864	2032	3388	3279	3498	0	0	0	0	0	0	14.59	14.76	14.79
786	-1.44	-146.0	2864	2032	3279	3499	111.0	-13.0	112	790	0.00	2.28	0.00	0.000	516	0.000	0.057	2865	651	3388	3279	3498	0	0	0	0	0	0	15.06	14.81	15.07
823	-1.51	-146.0	2865	650	3280	3499	115.5	-12.4	119	832	0.00	2.25	0.00	0.000	1158	0.000	0.039	2857	2037	3388	3279	3498	0	0	0	0	0	0	14.90	14.83	14.91
1133	-1.59	-146.0	2856	2037	3279	3498	147.2	-9.7	151	1135	0.10	0.00	0.00	0.000	4262	0.148	0.000	2813	2037	3388	3279	3498	0	0	0	0	0	0	14.86	14.94	14.92
1432	-1.59	-146.0	2813	2037	3279	3498	183.9	-11.8	181	1433	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2037	3388	3279	3498	0	0	0	0	0	0	15.11	15.13	15.13
1735	-1.63	-146.0	2813	2037	3279	3498	223.0	-13.5	211	1740	0.00	2.33	0.00	0.000	388	0.000	0.061	2803	3447	3388	3279	3498	0	0	0	0	0	0	15.09	14.85	15.11
1789	-1.69	-146.0	2803	3446	3279	3498	230.7	-13.8	221	1797	0.00	2.28	0.00	0.000	1158	0.000	0.039	2803	2046	3388	3279	3498	0	0	0	0	0	0	14.95	14.88	14.96
2116	-1.73	-146.0	2802	2046	3279	3498	276.5	-14.2	242	2122	0.00	2.30	0.00	0.000	644	0.000	0.060	2803	653	3388	3279	3498	0	0	0	0	0	0	15.10	14.86	15.12
2159	-1.73	-146.0	2803	653	3279	3498	283.1	-14.6	250	2166	0.00	2.28	0.00	0.000	1030	0.000	0.043	2793	2050	3388	3279	3498	0	0	0	0	0	0	14.95	14.88	14.97
2485	-1.73	-146.0	2793	2050	3279	3498	323.9	-12.1	264	2490	0.00	2.33	0.00	0.000	260	0.000	0.064	2783	3448	3388	3279	3498	0	0	0	0	0	0	15.11	14.86	15.13
2518	-1.76	-146.0	2783	3449	3279	3498	327.9	-11.1	270	2525	0.00	2.30	0.00	0.000	1158	0.000	0.041	2784	2048	3388	3279	3498	0	0	0	0	0	0	14.96	14.89	14.97
2853	-1.76	-146.0	2783	2048	3278	3498	366.0	-11.1	286	2858	0.00	2.38	0.00	0.000	260	0.000	0.064	2773	3449	3388	3278	3498	0	0	0	0	0	0	15.11	14.86	15.14
2901	-1.76	-146.0	2773	3448	3278	3497	371.5	-12.1	295	2907	0.00	2.30	0.00	0.000	1030	0.000	0.041	2774	2045	3387	3278	3497	0	0	0	0	0	0	14.96	14.89	14.97
3221	-1.76	-146.0	2773	2044	3276	3495	409.6	-12.6	308	3222	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2045	3385	3276	3495	0	0	0	0	0	0	15.12	15.14	15.14
3521	-1.76	-146.0	2773	2045	3274	3492	450.2	-13.8	318	3526	0.00	2.40	0.00	0.000	260	0.000	0.066	2764	3456	3383	3274	3492	0	0	0	0	0	0	15.12	14.86	15.14
3586	-1.76	-146.0	2763	3456	3273	3490	459.5	-13.9	330	3592	0.12	2.33	0.00	0.000	3078	0.262	0.042	2788	2037	3381	3273	3489	0	0	0	0	0	0	14.68	14.89	14.90
3920	-1.80	-146.0	2787	2037	3271	3488	501.8	-12.3	346	3925	0.00	2.33	0.00	0.000	644	0.000	0.064	2788	643	3379	3271	3488	0	0	0	0	0	0	15.12	14.85	15.14
3963	-1.80	-146.0	2788	643	3271	3487	507.6	-12.8	354	3968	0.00	2.33	0.00	0.000	1030	0.000	0.045	2780	2050	3379	3271	3488	0	0	0	0	0	0	14.95	14.88	14.97
4287	-1.80	-146.0	2780	2050	3269	3486	546.8	-12.3	368	4288	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2050	3377	3269	3486	0	0	0	0	0	0	15.12	15.15	15.14
4587	-1.83	-146.0	2780	2051	3267	3485	583.2	-12.1	378	4592	0.00	2.35	0.00	0.000	388	0.000	0.069	2770	3453	3376	3267	3485	0	0	0	0	0	0	15.12	14.85	15.14
4613	-1.83	-146.0	2770	3453	3267	3484	586.9	-12.6	383	4622	0.00	2.33	0.00	0.000	1030	0.000	0.045	2770	2051	3375	3267	3484	0	0	0	0	0	0	14.95	14.88	14.97
4920	-1.83	-146.0	2770	2051	3266	3482	624.8	-12.4	394	4921	0.00	0.00	0.00	0.000	6	0.000	0.000	2770	2051	3374	3266	3482	0	0	0	0	0	0	15.12	15.14	15.14
5221	-1.83	-146.0	2770	2051	3265	3480	662.8	-13.0	404	5227	0.00	2.40	0.00	0.000	260	0.000	0.070	2760	3451	3372	3265	3480	0	0	0	0	0	0	15.11	14.84	15.14
5294	-1.83	-146.0	2760	3452	3265	3479	672.5	-13.4	418	5299	0.00	2.33	0.00	0.000	1030	0.000	0.044	2760	2048	3372	3265	3479	0	0	0	0	0	0	14.95	14.88	14.97
5617	-1.83	-146.0	2760	2047	3262	3478	714.6	-13.2	432	5622	0.00	2.38	0.00	0.000	516	0.000	0.070	2760	640	3370	3262	3478	0	0	0	0	0	0	15.11	14.83	15.13
5654	-1.83	-146.0	2760	640	3262	3478	720.2	-14.4	439	5660	0.12	2.35	0.00	0.000	3078	0.298	0.049	2773	2054	3370	3262	3478	0	0	0	0	0	0	14.62	14.87	14.86
5985	-1.83	-146.0	2773	2054	3261	3477	762.2	-12.9	454	5989	0.00	2.38	0.00	0.000	260	0.000	0.076	2765	3447	3369	3261	3477	0	0	0	0	0	0	15.11	14.81	15.14
6050	-1.87	-146.0	2765	3447	3261	3477	771.1	-13.0	467	6055	0.00	2.33	0.00	0.000	1158	0.000	0.047	2765	2052	3369	3261	3477	0	0	0	0	0	0	14.93	14.85	14.95
6380	-1.87	-146.0	2765	2051	3260	3477	813.4	-13.2	482	6385	0.00	2.42	0.00	0.000	260	0.000	0.072	2754	3455	3368	3260	3476	0	0	0	0	0	0	15.11	14.81	15.14
6416	-1.87	-146.0	2754	3456	3259	3476	818.6	-13.0	489	6422	0.00	2.35	0.00	0.000	1030	0.000	0.048	2754	2046	3368	3260	3476	0	0	0	0	0	0	14.93	14.85	14.95
6745	-1.87	-146.0	2754	2046	3258	3475	863.1	-13.7	504	6752	0.00	2.35	0.00	0.000	516	0.000	0.066	2754	647	3366	3258	3474	0	0	0	0	0	0	15.10	14.82	15.12
6824	-1.83	-146.0	2754	647	3258	3474	875.1	-15.2	519	6829	0.15	2.33	0.00	0.000	3206	0.293	0.047	2779	2050	3366	3258	3474	0	0	0	0	0	0	14.56	14.85	14.73
7143	-1.88	-146.0	2779	2051	3256	3473	914.8	-12.3	532	7149	0.00	2.38	0.00	0.000	388	0.000	0.071	2771	3450	3364	3256	3473	0	0	0	0	0	0	15.10	14.81	15.12
7208	-1.94	-146.0	2770	3450	3256	3472	923.4	-13.2	544	7215	0.00	2.35	0.00	0.000	1158	0.000	0.050	2771	2051	3364	3256	3472	0	0	0	0	0	0	14.92	14.83	14.94
7543	-1.97	-146.0	2770	2050	3255	3471	967.0	-12.8	560	7548	0.10	2.38	0.00	0.000	4740	0.171	0.067	2740	642	3363	3255	3471	0	0	0	0	0	0	14.83	14.81	14.90
7619	-1.92	-146.0	2739	642	3255	3471	978.1	-14.4	574	7624	0.12	2.35	0.00	0.000	3206	0.286	0.050	2753	2054	3362	3254	3471	0	0	0	0	0	0	14.59	14.84	14.80
7731	end dive: TARGET_DEPTH_EXCEEDED
state	7731	begin apogee
7736	-0.33	0.0	2753	1789	3254	3471	993.2	-13.1	581	7867	1.33	0.00	127.05	2.683	10246	0.267	0.000	3098	1788	2789	2675	2903	0	0	0	0	0	0	14.54	14.05	13.09
7868	end apogee: CONTROL_FINISHED_OK
state	7868	begin climb
7870	1.48	146.0	3099	1787	2671	2900	996.2	0.0	585	8015	1.33	2.58	133.52	2.626	10756	0.152	0.081	3501	404	2187	2057	2317	0	0	0	0	0	0	14.04	13.78	12.99
8063	1.28	146.0	3501	404	2046	2317	979.8	15.9	627	8070	0.20	2.42	0.00	0.000	5254	0.334	0.048	3457	1795	2181	2045	2317	0	0	0	0	0	0	14.07	14.23	14.21
8393	1.17	146.0	3457	1796	2038	2317	935.7	13.2	643	8394	0.15	0.00	0.00	0.000	4230	0.388	0.000	3430	1796	2177	2038	2317	0	0	0	0	0	0	14.36	14.69	14.64
8692	1.10	146.0	3430	1796	2035	2317	898.1	12.9	653	8694	0.00	0.00	0.00	0.000	134	0.000	0.000	3431	1796	2176	2035	2317	0	0	0	0	0	0	14.96	14.99	14.99
8992	1.04	146.0	3430	1796	2034	2317	857.5	13.6	663	8999	0.12	2.45	0.00	0.000	4740	0.405	0.074	3416	394	2175	2034	2317	0	0	0	0	0	0	14.48	14.75	14.69
9022	0.99	146.0	3415	394	2033	2317	853.4	13.6	669	9029	0.00	2.38	0.00	0.000	1158	0.000	0.050	3412	1798	2175	2033	2317	0	0	0	0	0	0	14.85	14.78	14.88
9352	0.99	146.0	3412	1798	2032	2317	811.7	12.5	685	9359	0.00	2.40	0.00	0.000	260	0.000	0.076	3412	3209	2174	2031	2317	0	0	0	0	0	0	15.05	14.77	15.08
9376	0.95	146.0	3412	3209	2031	2317	808.5	13.8	690	9384	0.17	2.38	0.00	0.000	5254	0.342	0.054	3385	1797	2174	2032	2316	0	0	0	0	0	0	14.54	14.81	14.83
9682	0.95	146.0	3385	1797	2030	2317	773.8	11.1	701	9683	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	1797	2173	2030	2317	0	0	0	0	0	0	15.08	15.10	15.10
9982	0.95	146.0	3385	1798	2029	2317	741.7	10.3	711	9988	0.00	2.45	0.00	0.000	260	0.000	0.079	3381	3204	2173	2029	2317	0	0	0	0	0	0	15.09	14.80	15.11
10020	0.95	146.0	3381	3204	2029	2317	737.6	10.9	719	10025	0.00	2.38	0.00	0.000	1030	0.000	0.061	3389	1807	2172	2029	2316	0	0	0	0	0	0	14.90	14.81	14.93
10337	0.95	146.0	3389	1806	2028	2316	705.5	10.2	732	10341	0.00	2.42	0.00	0.000	260	0.000	0.073	3381	3206	2172	2028	2317	0	0	0	0	0	0	15.10	14.81	15.12
10426	0.95	146.0	3381	3206	2029	2317	696.0	10.6	750	10431	0.00	2.40	0.00	0.000	1030	0.000	0.061	3390	1797	2173	2029	2317	0	0	0	0	0	0	14.90	14.82	14.94
10753	0.95	150.0	3389	1797	2028	2317	663.7	9.7	765	10760	0.00	2.42	0.00	0.000	548	0.000	0.084	3400	394	2172	2027	2317	0	0	0	0	0	0	15.11	14.80	15.13
10784	0.95	150.0	3400	394	2027	2316	660.7	10.4	771	10790	0.00	2.38	0.00	0.000	1030	0.000	0.052	3400	1806	2171	2026	2316	0	0	0	0	0	0	14.91	14.83	14.93
11114	0.95	150.0	3400	1806	2026	2317	627.5	10.1	787	11120	0.00	2.38	0.00	0.000	260	0.000	0.077	3400	3206	2171	2026	2316	0	0	0	0	0	0	15.11	14.80	15.13
11222	0.92	150.0	3400	3206	2026	2317	615.4	10.5	809	11228	0.17	2.38	0.00	0.000	5254	0.347	0.055	3376	1794	2171	2026	2317	0	0	0	0	0	0	14.54	14.83	14.83
11528	0.96	150.0	3375	1794	2026	2316	584.9	10.0	820	11532	0.00	2.40	0.00	0.000	644	0.000	0.071	3384	388	2171	2026	2316	0	0	0	0	0	0	15.11	14.81	15.13
11592	0.96	150.0	3384	387	2025	2316	578.0	11.3	833	11597	0.00	2.40	0.00	0.000	1030	0.000	0.044	3381	1805	2170	2025	2316	0	0	0	0	0	0	14.87	14.82	14.90
11920	1.00	150.0	3381	1804	2025	2316	544.4	10.4	848	11926	0.00	2.38	0.00	0.000	388	0.000	0.070	3378	3216	2171	2025	2317	0	0	0	0	0	0	15.11	14.81	15.14
11964	1.00	150.0	3377	3216	2025	2317	539.7	10.3	857	11968	0.00	2.38	0.00	0.000	1030	0.000	0.052	3386	1796	2171	2025	2317	0	0	0	0	0	0	14.92	14.84	14.94
12276	1.05	161.8	3385	1796	2025	2317	509.7	9.3	869	12293	0.00	2.47	11.25	1.904	8612	0.000	0.067	3381	3201	2125	1982	2269	0	0	0	0	0	0	15.11	14.77	13.97
12348	1.06	175.6	3381	3201	1981	2266	502.9	9.1	884	12367	0.00	2.38	13.30	1.909	9254	0.000	0.050	3389	1790	2071	1929	2214	0	0	0	0	0	0	14.85	14.78	13.89
12666	1.13	202.3	3389	1790	1919	2211	475.4	8.3	897	12696	0.12	0.00	23.62	1.912	10406	0.145	0.000	3427	1790	1958	1815	2102	0	0	0	0	0	0	14.71	14.42	13.78
12995	1.13	202.3	3427	1790	1806	2101	440.5	10.7	908	12999	0.00	2.45	0.00	0.000	516	0.000	0.081	3431	391	1953	1806	2101	0	0	0	0	0	0	14.93	14.66	14.96
13014	1.13	202.3	3430	391	1805	2101	438.3	10.9	912	13021	0.00	2.38	0.00	0.000	1030	0.000	0.047	3430	1800	1953	1805	2101	0	0	0	0	0	0	14.78	14.71	14.80
13322	1.13	202.3	3430	1801	1805	2101	403.5	11.5	923	13328	0.00	2.47	0.00	0.000	516	0.000	0.076	3437	393	1953	1805	2101	0	0	0	0	0	0	15.01	14.73	15.03
13375	1.09	202.3	3437	393	1803	2101	397.1	11.7	934	13382	0.00	2.38	0.00	0.000	1158	0.000	0.047	3434	1801	1952	1803	2101	0	0	0	0	0	0	14.84	14.76	14.87
13681	1.09	202.3	3434	1801	1803	2101	361.6	11.6	945	13682	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	1801	1952	1803	2101	0	0	0	0	0	0	15.05	15.07	15.07
13982	1.09	202.3	3434	1801	1803	2101	326.3	12.0	955	13983	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	1801	1952	1803	2101	0	0	0	0	0	0	15.07	15.10	15.09
14281	1.09	202.3	3434	1801	1803	2101	288.6	13.0	965	14288	0.00	2.47	0.00	0.000	516	0.000	0.079	3440	394	1952	1803	2101	0	0	0	0	0	0	15.09	14.80	15.11
14350	1.06	202.3	3440	394	1802	2101	278.6	14.7	979	14355	0.12	2.35	0.00	0.000	5254	0.317	0.045	3408	1813	1951	1801	2101	0	0	0	0	0	0	14.58	14.84	14.86
14658	1.09	202.3	3408	1813	1802	2101	238.2	12.7	997	14668	0.00	2.42	0.00	0.000	644	0.000	0.076	3417	403	1951	1801	2101	0	0	0	0	0	0	15.09	14.77	15.11
14710	1.09	202.3	3417	403	1801	2101	231.7	12.5	1007	14719	0.00	2.33	0.00	0.000	1030	0.000	0.050	3411	1793	1951	1801	2101	0	0	0	0	0	0	14.91	14.83	14.93
15020	1.13	229.8	3411	1793	1801	2101	200.6	8.3	1039	15051	0.00	0.00	22.62	1.523	8486	0.000	0.000	3411	1793	1847	1699	1996	0	0	0	0	0	0	15.09	14.71	14.07
15351	1.20	250.8	3411	1793	1692	1996	172.8	8.7	1073	15372	0.10	0.00	17.80	1.470	10406	0.145	0.000	3458	1794	1762	1614	1911	0	0	0	0	0	0	14.76	14.66	14.00
15670	1.20	250.8	3457	1794	1604	1910	130.2	14.8	1105	15675	0.12	2.38	0.00	0.000	4356	0.319	0.060	3428	3207	1757	1604	1910	0	0	0	0	0	0	14.50	14.71	14.67
15717	1.20	250.8	3428	3207	1603	1910	123.8	13.6	1114	15722	0.00	2.38	0.00	0.000	1030	0.000	0.049	3437	1794	1756	1603	1910	0	0	0	0	0	0	14.81	14.73	14.83
16029	1.24	250.8	3437	1793	1602	1910	90.6	10.1	1146	16033	0.00	2.42	0.00	0.000	644	0.000	0.076	3447	386	1755	1602	1909	0	0	0	0	0	0	15.02	14.74	15.04
16094	1.27	253.6	3447	386	1600	1910	84.0	9.8	1159	16101	0.00	2.35	0.00	0.000	1190	0.000	0.040	3442	1812	1754	1600	1909	0	0	0	0	0	0	14.86	14.80	14.88
16401	1.32	258.6	3442	1811	1600	1910	54.4	9.7	1190	16412	0.00	2.53	4.97	1.095	8868	0.000	0.069	3451	388	1734	1580	1889	0	0	0	0	0	0	15.05	14.78	14.06
16448	1.36	258.6	3450	388	1581	1890	49.6	10.3	1199	16455	0.00	2.33	0.00	0.000	1158	0.000	0.044	3450	1797	1735	1581	1890	0	0	0	0	0	0	14.86	14.80	14.88
16758	1.43	280.5	3450	1798	1580	1890	20.3	8.6	1260	16784	0.12	2.40	15.57	1.105	10660	0.124	0.061	3502	3209	1640	1487	1793	0	0	0	0	0	0	14.78	14.71	14.19
16826	1.38	280.5	3501	3209	1487	1791	13.4	10.1	1272	16834	0.17	2.38	0.00	0.000	5254	0.334	0.048	3475	1787	1639	1487	1791	0	0	0	0	0	0	14.54	14.73	14.76
16924	end climb: SURFACE_DEPTH_REACHED
state	16925	begin surface coast
16951	end surface coast: CONTROL_FINISHED_OK
state	16951	begin surface