Glider dive log

MIRC Mar14 * SG204 * Dive index * Mission links * Dive 150 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 HEADING -1 C_ROLL_CLIMB 2420 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 150 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 78 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 43 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1030 SM_CC 500 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.60000002

T_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2839 DEVICE1 2

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00145 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 300 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_MISSION 330 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 99

T_ABORT 1440 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 20 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 1 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -2 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

USE_ICE 0 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

D_OFFGRID 1030 PITCH_MIN 210 MINV_24V 22.5 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3900 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 3270 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043959874

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063999143

MAX_BUOY 180 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.6240119e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_J 3.2438568e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.8023682

SPEED_FACTOR 1 PITCH_GAIN 29 PRESSURE_YINT -71.557899 SEABIRD_C_H 1.1326066

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001157966 SEABIRD_C_I -0.0012119424

MASS 52154 PITCH_AD_RATE 160 AD7714Ch0Gain 128 SEABIRD_C_J 0.00017415492

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 236 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 1.0

HD_A 0.003 ROLL_MAX 3704 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 9.9999997e-06 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063999143

AH0_10V 97 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.6240119e-05

AH0_24V 150 D_TGT 990 PA_POWERSOURCE 1.0 SEABIRD_T_J 3.2438568e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PHONE_SUPPLY -2 SM_CC 500

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_GAIN 29 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 9.9999997e-06 PITCH_MIN 210 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.00145 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 300

CF8_MAXERRORS 20 ID 204 PRESSURE_SLOPE 0.0001157966 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -71.557899 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0.60000002 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_MISSION 330

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 3270 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2420 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2600 LOGGERS 1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2839 MASS 52154 RELAUNCH 1 UNCOM_BLEED 50

DBDW 0 MASS_COMP 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 USE_BATHY -2

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 180 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 22.5 ROLL_DEG 40 VBD_DBAND 2

DEVICE5 -1 MISSION 15 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 150 NAV_MODE 2 ROLL_MIN 236 VBD_MIN 500

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 78 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 43 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 20 SEABIRD_C_G -9.8023682 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 2 SEABIRD_C_H 1.1326066 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.0012119424 XPDR_INHIBIT 90

D_OFFGRID 1030 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00017415492 XPDR_VALID 2

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 0.0 SEABIRD_T_G 0.0043959874

Pre-dive calculations and measurements:

GPS1 290315,091922,1447.9102,14623.1006,38,1.1,38,1.1,0.5,244.5,8,13.8 SPEED_LIMITS 0.191,0.291

_CALLS 1 TGT_NAME N7

_XMS_NAKs 0 TGT_LATLONG 1511.580,14553.100

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.72 MHEAD_RNG_PITCHd_Wd 301.1,69122,-17.3,-11.000,-20.71,2428

_SM_ANGLEo -64.6 D_GRID 1030

GPS2 290315,092458,1447.9069,14622.9990,7,0.8,7,1.1,0.7,243.2,9,18.4

Post-dive calculations and measurements:

FINISH 1.0,0.997711 PA_DATA0 0.92/107.385/117.199/3.860

SM_CCo 16530,20.33,0.116,0,0,798,500.17 PA_ROOT 0.75/0.091/0.121/0.024

SM_GC 1.63,10.20,0.25,20.33,0.080,0.060,0.116,201,2601,798,-9.52,-1.39,500.17,0,0,0,0,0,0,26.13,26.08,25.79 PA_HOME 0.05/0.098/1.856/1.664

IRIDIUM_FIX 1443.14,14624.16,230108,224710 PA_DISK_BANK 1

TT8_MAMPS 0.055426,0.055426 _24V_AH 22.89,50.623

HUMID 36.13 _10V_AH 10.09,35.261

INTERNAL_PRESSURE 9.26244 FG_AHR_24Vo 0.000

TCM_TEMP 24.60 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 229112

PA_PMVER 0.6 DATA_FILE_SIZE 33482,780

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 136701,0

PA_BOARDID 1651515 CFSIZE 1024393216,1003585536

PA_UPTIME 16507.11 6935.45 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

PA_BOOTCOUNT 955 INTR 0,16356.30,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.025,125.02,1

PA_LOG 0.07/0.132/1.876/1.649 GPS 290315,140159,1449.138,14621.002,40,0.8,40,1.1,1.0,186.3,10,8.9

PA_DATA1 0.43/50.701/117.199/60.544

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 231 129.17 SBE_CT 526 23 279.87

Roll_motor 91 60 126.37 nil 0 0 0.00

VBD_pump_during_apogee 526 1679 20230.95 nil 0 0 0.00

VBD_pump_during_surface 20 115 53.74 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 PAAM 16904 0 126.53

Iridium_during_xfer 251 87 501.35 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 16904 63 24539.61

GPS 7 26 2.10

TT8 0 0 0.00

LPSleep 13147 2 290.52

TT8_Active 603 18 113.85

TT8_Sampling 3019 44 1368.69

TT8_CF8 108 61 67.50

TT8_Kalman 0 0 0.00

Analog_circuits 2124 15 321.60

GPS_charging 0 0 0.00

Compass 1633 8 135.82

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

91 end surface: CONTROL_FINISHED_OK

state 91 begin dive

93 -0.85 -175.2 191 2611 804 797 0.0 0.0 0 149 0.00 0.00 -49.67 0.000 16386 0.000 0.000 190 2611 2131 2094 2169 0 0 0 0 0 0 26.13 28.83 26.19

150 -0.85 -175.2 191 2612 2099 2167 3.0 -4.5 7 204 11.85 1.67 -36.15 0.000 18692 0.231 0.060 2983 3690 3555 3527 3583 0 0 0 0 0 0 25.60 24.27 25.91

453 -0.85 -175.2 2984 3690 3528 3586 81.7 -27.9 49 462 0.00 1.58 0.00 0.000 1030 0.000 0.020 2990 2588 3557 3529 3585 0 0 0 0 0 0 26.17 26.16 26.18

766 -0.85 -175.2 2988 2589 3533 3586 162.6 -21.6 80 776 0.00 1.70 0.00 0.000 260 0.000 0.041 2983 3695 3558 3531 3585 0 0 0 0 0 0 26.20 26.03 26.25

830 -0.85 -175.2 2982 3696 3533 3586 175.7 -21.1 86 838 0.00 1.52 0.00 0.000 1030 0.000 0.020 2990 2591 3558 3531 3586 0 0 0 0 0 0 26.20 26.17 26.21

1162 -0.85 -175.2 2989 2591 3536 3587 236.6 -17.3 105 1172 0.00 1.70 0.00 0.000 260 0.000 0.042 2982 3695 3560 3534 3586 0 0 0 0 0 0 26.20 26.04 26.25

1216 -0.85 -175.2 2982 3696 3534 3587 243.0 -17.9 106 1223 0.00 1.52 0.00 0.000 1030 0.000 0.021 2990 2592 3560 3534 3587 0 0 0 0 0 0 26.24 26.21 26.25

1527 -0.85 -175.2 2990 2592 3535 3588 293.0 -15.1 117 1536 0.00 1.73 0.00 0.000 260 0.000 0.044 2983 3681 3562 3536 3588 0 0 0 0 0 0 26.19 26.03 26.25

1550 -0.85 -175.2 2983 3681 3535 3588 293.0 -15.1 117 1557 0.00 1.50 0.00 0.000 1030 0.000 0.023 2989 2616 3562 3536 3588 0 0 0 0 0 0 26.22 26.19 26.23

1861 -0.85 -175.2 2988 2617 3537 3588 341.4 -15.0 128 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2616 3559 3532 3586 0 0 0 0 0 0 26.24 26.29 26.29

2161 -0.85 -175.2 2988 2617 3537 3588 380.3 -13.1 138 2169 0.00 2.08 0.00 0.000 516 0.000 0.025 2996 1207 3560 3535 3586 0 0 0 0 0 0 26.21 26.11 26.27

2258 -0.85 -175.2 2996 1208 3537 3586 391.0 -11.9 141 2266 0.00 2.12 0.00 0.000 1030 0.000 0.029 2988 2605 3560 3535 3585 0 0 0 0 0 0 26.14 26.08 26.17

2580 -0.85 -175.2 2987 2606 3536 3582 431.3 -12.5 152 2587 0.00 1.73 0.00 0.000 260 0.000 0.044 2979 3694 3558 3535 3581 0 0 0 0 0 0 26.20 26.00 26.25

2681 -0.85 -175.2 2980 3695 3533 3580 443.2 -12.8 155 2688 0.00 1.55 0.00 0.000 1030 0.000 0.021 2987 2587 3557 3534 3580 0 0 0 0 0 0 26.21 26.18 26.22

3002 -0.85 -175.2 2987 2588 3529 3577 486.1 -13.2 166 3008 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2588 3553 3530 3576 0 0 0 0 0 0 26.18 26.25 26.24

3302 -0.85 -175.2 2986 2588 3527 3575 522.1 -11.3 176 3308 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 2588 3550 3527 3574 0 0 0 0 0 0 26.17 26.25 26.23

3602 -0.85 -175.2 2987 2588 3523 3572 554.5 -11.4 186 3609 0.00 1.73 0.00 0.000 260 0.000 0.043 2979 3693 3547 3523 3571 0 0 0 0 0 0 26.15 25.92 26.21

3664 -0.85 -175.2 2980 3693 3523 3571 562.1 -11.8 188 3671 0.00 1.55 0.00 0.000 1030 0.000 0.021 2986 2592 3546 3523 3570 0 0 0 0 0 0 26.14 26.10 26.16

3995 -0.85 -175.2 2987 2592 3519 3568 601.2 -11.2 199 4007 0.00 2.03 0.00 0.000 516 0.000 0.024 2997 1225 3543 3519 3567 0 0 0 0 0 0 26.15 26.05 26.23

4046 -0.85 -175.2 2997 1226 3518 3568 604.4 -11.0 200 4054 0.00 2.12 0.00 0.000 1030 0.000 0.029 2988 2609 3542 3517 3568 0 0 0 0 0 0 26.10 26.03 26.13

4351 -0.85 -175.2 2988 2609 3516 3565 636.3 -9.7 210 4357 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2609 3540 3516 3564 0 0 0 0 0 0 26.15 26.21 26.20

4651 -0.85 -175.2 2987 2610 3515 3561 666.3 -10.2 220 4658 0.00 1.70 0.00 0.000 260 0.000 0.044 2979 3691 3539 3513 3566 0 0 0 0 0 0 26.13 25.88 26.20

4737 -0.85 -175.2 2980 3692 3512 3562 672.9 -10.5 222 4748 0.00 1.55 0.00 0.000 1030 0.000 0.022 2986 2597 3536 3512 3561 0 0 0 0 0 0 26.08 26.06 26.10

5043 -0.85 -175.2 2987 2598 3509 3559 707.4 -10.5 233 5049 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2598 3534 3510 3559 0 0 0 0 0 0 26.10 26.17 26.16

5343 -0.85 -175.2 2985 2598 3509 3557 737.8 -10.0 243 5349 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3532 3508 3556 0 0 0 0 0 0 26.09 26.16 26.15

5643 -0.85 -175.2 2987 2598 3506 3554 768.2 -10.2 253 5648 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3530 3506 3554 0 0 0 0 0 0 26.09 26.16 26.15

5943 -0.85 -175.2 2987 2598 3503 3552 800.4 -11.1 263 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3528 3504 3552 0 0 0 0 0 0 26.11 26.16 26.15

6242 -0.85 -175.2 2987 2598 3502 3551 834.7 -11.8 273 6249 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 2597 3526 3502 3550 0 0 0 0 0 0 26.08 26.15 26.14

6542 -0.85 -175.2 2987 2598 3500 3549 870.7 -12.0 283 6548 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3525 3501 3549 0 0 0 0 0 0 26.03 26.10 26.09

6842 -0.85 -175.2 2985 2598 3501 3549 906.4 -11.6 293 6849 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3522 3498 3547 0 0 0 0 0 0 26.06 26.12 26.11

7142 -0.85 -175.2 2987 2597 3497 3546 940.3 -11.1 303 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3522 3498 3546 0 0 0 0 0 0 26.07 26.13 26.13

7443 -0.85 -175.2 2987 2597 3496 3545 972.6 -10.6 313 7448 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2597 3520 3496 3544 0 0 0 0 0 0 26.03 26.12 26.10

7621 end dive: TARGET_DEPTH_EXCEEDED

state 7621 begin apogee

7625 -0.17 0.0 2988 2445 3494 3544 991.0 -10.2 319 7785 0.80 0.00 146.02 1.679 10246 0.149 0.000 3213 2444 2839 2813 2866 0 0 0 0 1 0 25.53 23.93 22.89

7786 end apogee: CONTROL_FINISHED_OK

state 7786 begin climb

7787 0.85 175.2 3213 2445 2824 2870 998.5 0.0 324 7952 1.15 2.33 152.98 1.169 10756 0.128 0.023 3543 1021 2120 2114 2127 0 0 0 0 0 0 24.15 23.89 23.32

8121 0.96 250.5 3543 1021 2110 2116 989.2 7.8 334 8196 0.15 2.20 62.85 1.191 11270 0.170 0.028 3572 2431 1815 1815 1815 0 0 0 0 0 0 25.40 25.66 24.00

8491 0.96 250.5 3572 2431 1808 1803 944.5 12.0 347 8498 0.00 1.98 0.00 0.000 260 0.000 0.043 3564 3690 1804 1806 1802 0 0 0 0 0 0 26.06 25.98 26.11

8537 0.96 250.5 3563 3691 1807 1803 940.1 12.4 348 8545 0.00 1.90 0.00 0.000 1030 0.000 0.022 3573 2385 1804 1806 1802 0 0 0 0 0 0 26.15 26.11 26.17

8854 0.96 250.5 3572 2382 1806 1800 899.9 12.0 359 8860 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2381 1801 1804 1799 0 0 0 0 0 0 26.16 26.24 26.22

9154 0.96 250.5 3572 2382 1805 1800 865.1 11.3 369 9162 0.00 2.08 0.00 0.000 260 0.000 0.044 3560 3693 1801 1803 1799 0 0 0 0 0 0 26.19 26.03 26.25

9231 0.96 250.5 3564 3694 1805 1800 857.4 11.6 371 9239 0.00 1.83 0.00 0.000 1030 0.000 0.022 3573 2424 1801 1803 1799 0 0 0 0 0 0 26.20 26.15 26.21

9543 0.98 265.2 3572 2425 1804 1799 822.5 10.4 382 9560 0.00 0.00 11.73 1.150 8198 0.000 0.000 3572 2424 1757 1760 1754 0 0 0 0 0 0 26.10 25.84 24.94

9843 1.01 285.3 3571 2425 1754 1746 791.7 10.2 392 9869 0.00 0.00 18.33 1.145 8198 0.000 0.000 3573 2424 1675 1676 1674 0 0 0 0 0 0 26.07 25.69 24.82

10143 1.01 285.3 3572 2425 1670 1664 759.3 11.3 402 10148 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2424 1666 1668 1664 0 0 0 0 0 0 26.10 26.17 26.16

10443 1.01 285.3 3572 2425 1669 1663 724.1 12.0 412 10450 0.00 2.00 0.00 0.000 260 0.000 0.043 3564 3688 1664 1667 1661 0 0 0 0 0 0 26.13 25.98 26.20

10474 1.01 285.3 3564 3690 1669 1662 720.8 12.1 413 10482 0.00 1.83 0.00 0.000 1030 0.000 0.023 3573 2425 1665 1668 1662 0 0 0 0 0 0 26.10 26.07 26.11

10796 1.01 285.3 3573 2423 1666 1661 681.0 12.1 424 10802 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 2423 1663 1666 1661 0 0 0 0 0 0 26.11 26.19 26.17

11096 1.01 285.3 3572 2424 1667 1662 644.3 12.4 434 11104 0.00 2.03 0.00 0.000 260 0.000 0.044 3565 3692 1663 1666 1661 0 0 0 0 0 0 26.13 25.93 26.19

11218 1.01 285.3 3564 3693 1668 1661 628.9 13.2 438 11229 0.00 1.85 0.00 0.000 1030 0.000 0.023 3573 2418 1663 1666 1661 0 0 0 0 0 0 26.12 26.08 26.13

11543 1.01 285.3 3572 2419 1667 1661 588.0 12.4 449 11550 0.00 2.12 0.00 0.000 516 0.000 0.028 3583 1042 1662 1665 1660 0 0 0 0 0 0 26.09 25.99 26.15

11604 1.01 285.3 3584 1037 1663 1661 580.4 12.5 451 11612 0.00 2.12 0.00 0.000 1030 0.000 0.028 3575 2417 1662 1664 1660 0 0 0 0 0 0 26.01 25.94 26.05

11931 1.01 285.3 3576 2417 1664 1661 541.4 11.7 462 11940 0.00 2.03 0.00 0.000 260 0.000 0.044 3568 3693 1663 1666 1660 0 0 0 0 0 0 26.03 25.86 26.08

11979 1.01 285.3 3567 3693 1666 1661 537.5 11.6 463 11987 0.00 1.85 0.00 0.000 1030 0.000 0.023 3576 2423 1662 1665 1660 0 0 0 0 0 0 26.05 26.02 26.06

12291 1.05 313.0 3577 2424 1664 1661 503.5 9.8 474 12326 0.00 2.03 24.30 0.979 8452 0.000 0.041 3569 3696 1557 1560 1555 0 0 0 0 0 0 26.06 25.44 24.86

12355 1.07 327.2 3570 3697 1557 1552 496.4 10.4 476 12377 0.12 1.88 13.62 0.982 11270 0.102 0.023 3621 2422 1503 1507 1499 0 0 0 0 0 0 25.68 25.82 24.72

12681 1.07 327.2 3622 2422 1499 1486 451.2 14.2 487 12689 0.00 2.03 0.00 0.000 260 0.000 0.044 3614 3693 1493 1500 1486 0 0 0 0 0 0 26.06 25.91 26.12

12733 1.07 327.2 3615 3693 1499 1486 446.5 14.4 488 12740 0.00 1.88 0.00 0.000 1030 0.000 0.022 3622 2405 1493 1500 1486 0 0 0 0 0 0 26.10 26.06 26.11

13038 1.07 327.2 3622 2402 1498 1484 400.8 13.5 498 13046 0.00 2.05 0.00 0.000 260 0.000 0.043 3616 3693 1491 1499 1483 0 0 0 0 0 0 26.08 25.91 26.15

13109 1.07 327.2 3615 3694 1501 1485 393.1 13.4 500 13117 0.00 1.85 0.00 0.000 1030 0.000 0.023 3630 2423 1492 1499 1485 0 0 0 0 0 0 26.10 26.08 26.12

13427 1.07 327.2 3623 2424 1500 1484 349.8 12.9 511 13433 0.00 0.00 0.00 0.000 6 0.000 0.000 3623 2422 1491 1499 1484 0 0 0 0 0 0 26.08 26.15 26.15

13726 1.07 327.2 3624 2423 1499 1483 309.1 13.9 521 13732 0.00 0.00 0.00 0.000 6 0.000 0.000 3624 2422 1491 1499 1483 0 0 0 0 0 0 26.07 26.14 26.13

14026 1.07 327.2 3624 2422 1499 1482 273.0 11.7 531 14032 0.00 0.00 0.00 0.000 6 0.000 0.000 3624 2423 1490 1499 1482 0 0 0 0 0 0 26.09 26.15 26.15

14326 1.07 327.2 3624 2423 1498 1481 236.1 11.5 541 14334 0.00 2.10 0.00 0.000 516 0.000 0.028 3634 1037 1490 1499 1481 0 0 0 0 0 0 26.08 25.96 26.14

14449 1.11 355.2 3635 1037 1497 1481 224.6 9.8 545 14482 0.00 2.12 23.45 0.793 9222 0.000 0.028 3626 2419 1390 1401 1379 0 0 0 0 0 0 25.99 25.93 25.01

14786 1.16 392.0 3626 2420 1393 1367 188.9 9.4 563 14830 0.00 2.05 31.42 0.760 8452 0.000 0.043 3616 3686 1234 1249 1219 0 0 0 0 0 0 26.06 25.67 24.96

14964 1.16 392.0 3614 3687 1246 1213 168.6 13.0 580 14975 0.00 1.85 0.00 0.000 1030 0.000 0.021 3624 2407 1228 1244 1212 0 0 0 0 0 0 26.01 25.97 26.02

15269 1.19 409.8 3624 2407 1246 1211 131.1 10.2 611 15295 0.00 2.08 12.57 0.725 8452 0.000 0.043 3616 3694 1164 1182 1146 0 0 0 0 0 0 26.10 25.89 25.15

15520 1.24 446.3 3614 3695 1181 1141 108.5 9.5 635 15561 0.15 1.83 29.08 0.665 11270 0.143 0.021 3664 2422 1017 1040 994 0 0 0 0 0 0 25.72 26.07 25.08

15855 1.24 446.3 3663 2423 1035 984 71.1 11.5 669 15863 0.00 2.00 0.00 0.000 260 0.000 0.041 3655 3692 1008 1033 983 0 0 0 0 0 0 26.10 25.95 26.15

15887 1.24 446.3 3655 3693 1029 983 67.3 12.1 672 15895 0.00 1.85 0.00 0.000 1030 0.000 0.021 3663 2409 1007 1032 982 0 0 0 0 0 0 26.14 26.10 26.16

16196 1.24 446.3 3663 2406 1034 983 30.7 11.9 719 16209 0.00 2.05 0.00 0.000 516 0.000 0.028 3674 1040 1008 1033 983 0 0 0 0 0 0 26.15 26.09 26.20

16223 1.24 446.3 3674 1041 1035 984 27.4 12.2 723 16234 0.00 2.10 0.00 0.000 1030 0.000 0.028 3665 2427 1008 1033 983 0 0 0 0 0 0 26.11 26.06 26.14

16488 end climb: SURFACE_DEPTH_REACHED

state 16488 begin surface coast

16514 end surface coast: CONTROL_FINISHED_OK

state 16514 begin surface

ID	204	HEADING	-1	C_ROLL_CLIMB	2420	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	150	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	78	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1030	SM_CC	500	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.60000002
T_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2839	DEVICE1	2
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00145	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	300	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_MISSION	330	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	99
T_ABORT	1440	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	20	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	1	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-2	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
USE_ICE	0	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
D_OFFGRID	1030	PITCH_MIN	210	MINV_24V	22.5	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3900	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	3270	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043959874
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063999143
MAX_BUOY	180	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.6240119e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_J	3.2438568e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8023682
SPEED_FACTOR	1	PITCH_GAIN	29	PRESSURE_YINT	-71.557899	SEABIRD_C_H	1.1326066
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001157966	SEABIRD_C_I	-0.0012119424
MASS	52154	PITCH_AD_RATE	160	AD7714Ch0Gain	128	SEABIRD_C_J	0.00017415492
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	236	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	1.0
HD_A	0.003	ROLL_MAX	3704	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	9.9999997e-06	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0

GPS1	290315,091922,1447.9102,14623.1006,38,1.1,38,1.1,0.5,244.5,8,13.8	SPEED_LIMITS	0.191,0.291
_CALLS	1	TGT_NAME	N7
_XMS_NAKs	0	TGT_LATLONG	1511.580,14553.100
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.72	MHEAD_RNG_PITCHd_Wd	301.1,69122,-17.3,-11.000,-20.71,2428
_SM_ANGLEo	-64.6	D_GRID	1030
GPS2	290315,092458,1447.9069,14622.9990,7,0.8,7,1.1,0.7,243.2,9,18.4

FINISH	1.0,0.997711	PA_DATA0	0.92/107.385/117.199/3.860
SM_CCo	16530,20.33,0.116,0,0,798,500.17	PA_ROOT	0.75/0.091/0.121/0.024
SM_GC	1.63,10.20,0.25,20.33,0.080,0.060,0.116,201,2601,798,-9.52,-1.39,500.17,0,0,0,0,0,0,26.13,26.08,25.79	PA_HOME	0.05/0.098/1.856/1.664
IRIDIUM_FIX	1443.14,14624.16,230108,224710	PA_DISK_BANK	1
TT8_MAMPS	0.055426,0.055426	_24V_AH	22.89,50.623
HUMID	36.13	_10V_AH	10.09,35.261
INTERNAL_PRESSURE	9.26244	FG_AHR_24Vo	0.000
TCM_TEMP	24.60	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	229112
PA_PMVER	0.6	DATA_FILE_SIZE	33482,780
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	136701,0
PA_BOARDID	1651515	CFSIZE	1024393216,1003585536
PA_UPTIME	16507.11 6935.45	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
PA_BOOTCOUNT	955	INTR	0,16356.30,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.025,125.02,1
PA_LOG	0.07/0.132/1.876/1.649	GPS	290315,140159,1449.138,14621.002,40,0.8,40,1.1,1.0,186.3,10,8.9
PA_DATA1	0.43/50.701/117.199/60.544

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	231	129.17	SBE_CT	526	23	279.87
Roll_motor	91	60	126.37	nil	0	0	0.00
VBD_pump_during_apogee	526	1679	20230.95	nil	0	0	0.00
VBD_pump_during_surface	20	115	53.74	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	PAAM	16904	0	126.53
Iridium_during_xfer	251	87	501.35	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	16904	63	24539.61
GPS	7	26	2.10
TT8	0	0	0.00
LPSleep	13147	2	290.52
TT8_Active	603	18	113.85
TT8_Sampling	3019	44	1368.69
TT8_CF8	108	61	67.50
TT8_Kalman	0	0	0.00
Analog_circuits	2124	15	321.60
GPS_charging	0	0	0.00
Compass	1633	8	135.82
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
91	end surface: CONTROL_FINISHED_OK
state	91	begin dive
93	-0.85	-175.2	191	2611	804	797	0.0	0.0	0	149	0.00	0.00	-49.67	0.000	16386	0.000	0.000	190	2611	2131	2094	2169	0	0	0	0	0	0	26.13	28.83	26.19
150	-0.85	-175.2	191	2612	2099	2167	3.0	-4.5	7	204	11.85	1.67	-36.15	0.000	18692	0.231	0.060	2983	3690	3555	3527	3583	0	0	0	0	0	0	25.60	24.27	25.91
453	-0.85	-175.2	2984	3690	3528	3586	81.7	-27.9	49	462	0.00	1.58	0.00	0.000	1030	0.000	0.020	2990	2588	3557	3529	3585	0	0	0	0	0	0	26.17	26.16	26.18
766	-0.85	-175.2	2988	2589	3533	3586	162.6	-21.6	80	776	0.00	1.70	0.00	0.000	260	0.000	0.041	2983	3695	3558	3531	3585	0	0	0	0	0	0	26.20	26.03	26.25
830	-0.85	-175.2	2982	3696	3533	3586	175.7	-21.1	86	838	0.00	1.52	0.00	0.000	1030	0.000	0.020	2990	2591	3558	3531	3586	0	0	0	0	0	0	26.20	26.17	26.21
1162	-0.85	-175.2	2989	2591	3536	3587	236.6	-17.3	105	1172	0.00	1.70	0.00	0.000	260	0.000	0.042	2982	3695	3560	3534	3586	0	0	0	0	0	0	26.20	26.04	26.25
1216	-0.85	-175.2	2982	3696	3534	3587	243.0	-17.9	106	1223	0.00	1.52	0.00	0.000	1030	0.000	0.021	2990	2592	3560	3534	3587	0	0	0	0	0	0	26.24	26.21	26.25
1527	-0.85	-175.2	2990	2592	3535	3588	293.0	-15.1	117	1536	0.00	1.73	0.00	0.000	260	0.000	0.044	2983	3681	3562	3536	3588	0	0	0	0	0	0	26.19	26.03	26.25
1550	-0.85	-175.2	2983	3681	3535	3588	293.0	-15.1	117	1557	0.00	1.50	0.00	0.000	1030	0.000	0.023	2989	2616	3562	3536	3588	0	0	0	0	0	0	26.22	26.19	26.23
1861	-0.85	-175.2	2988	2617	3537	3588	341.4	-15.0	128	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2616	3559	3532	3586	0	0	0	0	0	0	26.24	26.29	26.29
2161	-0.85	-175.2	2988	2617	3537	3588	380.3	-13.1	138	2169	0.00	2.08	0.00	0.000	516	0.000	0.025	2996	1207	3560	3535	3586	0	0	0	0	0	0	26.21	26.11	26.27
2258	-0.85	-175.2	2996	1208	3537	3586	391.0	-11.9	141	2266	0.00	2.12	0.00	0.000	1030	0.000	0.029	2988	2605	3560	3535	3585	0	0	0	0	0	0	26.14	26.08	26.17
2580	-0.85	-175.2	2987	2606	3536	3582	431.3	-12.5	152	2587	0.00	1.73	0.00	0.000	260	0.000	0.044	2979	3694	3558	3535	3581	0	0	0	0	0	0	26.20	26.00	26.25
2681	-0.85	-175.2	2980	3695	3533	3580	443.2	-12.8	155	2688	0.00	1.55	0.00	0.000	1030	0.000	0.021	2987	2587	3557	3534	3580	0	0	0	0	0	0	26.21	26.18	26.22
3002	-0.85	-175.2	2987	2588	3529	3577	486.1	-13.2	166	3008	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2588	3553	3530	3576	0	0	0	0	0	0	26.18	26.25	26.24
3302	-0.85	-175.2	2986	2588	3527	3575	522.1	-11.3	176	3308	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	2588	3550	3527	3574	0	0	0	0	0	0	26.17	26.25	26.23
3602	-0.85	-175.2	2987	2588	3523	3572	554.5	-11.4	186	3609	0.00	1.73	0.00	0.000	260	0.000	0.043	2979	3693	3547	3523	3571	0	0	0	0	0	0	26.15	25.92	26.21
3664	-0.85	-175.2	2980	3693	3523	3571	562.1	-11.8	188	3671	0.00	1.55	0.00	0.000	1030	0.000	0.021	2986	2592	3546	3523	3570	0	0	0	0	0	0	26.14	26.10	26.16
3995	-0.85	-175.2	2987	2592	3519	3568	601.2	-11.2	199	4007	0.00	2.03	0.00	0.000	516	0.000	0.024	2997	1225	3543	3519	3567	0	0	0	0	0	0	26.15	26.05	26.23
4046	-0.85	-175.2	2997	1226	3518	3568	604.4	-11.0	200	4054	0.00	2.12	0.00	0.000	1030	0.000	0.029	2988	2609	3542	3517	3568	0	0	0	0	0	0	26.10	26.03	26.13
4351	-0.85	-175.2	2988	2609	3516	3565	636.3	-9.7	210	4357	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2609	3540	3516	3564	0	0	0	0	0	0	26.15	26.21	26.20
4651	-0.85	-175.2	2987	2610	3515	3561	666.3	-10.2	220	4658	0.00	1.70	0.00	0.000	260	0.000	0.044	2979	3691	3539	3513	3566	0	0	0	0	0	0	26.13	25.88	26.20
4737	-0.85	-175.2	2980	3692	3512	3562	672.9	-10.5	222	4748	0.00	1.55	0.00	0.000	1030	0.000	0.022	2986	2597	3536	3512	3561	0	0	0	0	0	0	26.08	26.06	26.10
5043	-0.85	-175.2	2987	2598	3509	3559	707.4	-10.5	233	5049	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2598	3534	3510	3559	0	0	0	0	0	0	26.10	26.17	26.16
5343	-0.85	-175.2	2985	2598	3509	3557	737.8	-10.0	243	5349	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3532	3508	3556	0	0	0	0	0	0	26.09	26.16	26.15
5643	-0.85	-175.2	2987	2598	3506	3554	768.2	-10.2	253	5648	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3530	3506	3554	0	0	0	0	0	0	26.09	26.16	26.15
5943	-0.85	-175.2	2987	2598	3503	3552	800.4	-11.1	263	5948	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3528	3504	3552	0	0	0	0	0	0	26.11	26.16	26.15
6242	-0.85	-175.2	2987	2598	3502	3551	834.7	-11.8	273	6249	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	2597	3526	3502	3550	0	0	0	0	0	0	26.08	26.15	26.14
6542	-0.85	-175.2	2987	2598	3500	3549	870.7	-12.0	283	6548	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3525	3501	3549	0	0	0	0	0	0	26.03	26.10	26.09
6842	-0.85	-175.2	2985	2598	3501	3549	906.4	-11.6	293	6849	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3522	3498	3547	0	0	0	0	0	0	26.06	26.12	26.11
7142	-0.85	-175.2	2987	2597	3497	3546	940.3	-11.1	303	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3522	3498	3546	0	0	0	0	0	0	26.07	26.13	26.13
7443	-0.85	-175.2	2987	2597	3496	3545	972.6	-10.6	313	7448	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2597	3520	3496	3544	0	0	0	0	0	0	26.03	26.12	26.10
7621	end dive: TARGET_DEPTH_EXCEEDED
state	7621	begin apogee
7625	-0.17	0.0	2988	2445	3494	3544	991.0	-10.2	319	7785	0.80	0.00	146.02	1.679	10246	0.149	0.000	3213	2444	2839	2813	2866	0	0	0	0	1	0	25.53	23.93	22.89
7786	end apogee: CONTROL_FINISHED_OK
state	7786	begin climb
7787	0.85	175.2	3213	2445	2824	2870	998.5	0.0	324	7952	1.15	2.33	152.98	1.169	10756	0.128	0.023	3543	1021	2120	2114	2127	0	0	0	0	0	0	24.15	23.89	23.32
8121	0.96	250.5	3543	1021	2110	2116	989.2	7.8	334	8196	0.15	2.20	62.85	1.191	11270	0.170	0.028	3572	2431	1815	1815	1815	0	0	0	0	0	0	25.40	25.66	24.00
8491	0.96	250.5	3572	2431	1808	1803	944.5	12.0	347	8498	0.00	1.98	0.00	0.000	260	0.000	0.043	3564	3690	1804	1806	1802	0	0	0	0	0	0	26.06	25.98	26.11
8537	0.96	250.5	3563	3691	1807	1803	940.1	12.4	348	8545	0.00	1.90	0.00	0.000	1030	0.000	0.022	3573	2385	1804	1806	1802	0	0	0	0	0	0	26.15	26.11	26.17
8854	0.96	250.5	3572	2382	1806	1800	899.9	12.0	359	8860	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2381	1801	1804	1799	0	0	0	0	0	0	26.16	26.24	26.22
9154	0.96	250.5	3572	2382	1805	1800	865.1	11.3	369	9162	0.00	2.08	0.00	0.000	260	0.000	0.044	3560	3693	1801	1803	1799	0	0	0	0	0	0	26.19	26.03	26.25
9231	0.96	250.5	3564	3694	1805	1800	857.4	11.6	371	9239	0.00	1.83	0.00	0.000	1030	0.000	0.022	3573	2424	1801	1803	1799	0	0	0	0	0	0	26.20	26.15	26.21
9543	0.98	265.2	3572	2425	1804	1799	822.5	10.4	382	9560	0.00	0.00	11.73	1.150	8198	0.000	0.000	3572	2424	1757	1760	1754	0	0	0	0	0	0	26.10	25.84	24.94
9843	1.01	285.3	3571	2425	1754	1746	791.7	10.2	392	9869	0.00	0.00	18.33	1.145	8198	0.000	0.000	3573	2424	1675	1676	1674	0	0	0	0	0	0	26.07	25.69	24.82
10143	1.01	285.3	3572	2425	1670	1664	759.3	11.3	402	10148	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2424	1666	1668	1664	0	0	0	0	0	0	26.10	26.17	26.16
10443	1.01	285.3	3572	2425	1669	1663	724.1	12.0	412	10450	0.00	2.00	0.00	0.000	260	0.000	0.043	3564	3688	1664	1667	1661	0	0	0	0	0	0	26.13	25.98	26.20
10474	1.01	285.3	3564	3690	1669	1662	720.8	12.1	413	10482	0.00	1.83	0.00	0.000	1030	0.000	0.023	3573	2425	1665	1668	1662	0	0	0	0	0	0	26.10	26.07	26.11
10796	1.01	285.3	3573	2423	1666	1661	681.0	12.1	424	10802	0.00	0.00	0.00	0.000	6	0.000	0.000	3573	2423	1663	1666	1661	0	0	0	0	0	0	26.11	26.19	26.17
11096	1.01	285.3	3572	2424	1667	1662	644.3	12.4	434	11104	0.00	2.03	0.00	0.000	260	0.000	0.044	3565	3692	1663	1666	1661	0	0	0	0	0	0	26.13	25.93	26.19
11218	1.01	285.3	3564	3693	1668	1661	628.9	13.2	438	11229	0.00	1.85	0.00	0.000	1030	0.000	0.023	3573	2418	1663	1666	1661	0	0	0	0	0	0	26.12	26.08	26.13
11543	1.01	285.3	3572	2419	1667	1661	588.0	12.4	449	11550	0.00	2.12	0.00	0.000	516	0.000	0.028	3583	1042	1662	1665	1660	0	0	0	0	0	0	26.09	25.99	26.15
11604	1.01	285.3	3584	1037	1663	1661	580.4	12.5	451	11612	0.00	2.12	0.00	0.000	1030	0.000	0.028	3575	2417	1662	1664	1660	0	0	0	0	0	0	26.01	25.94	26.05
11931	1.01	285.3	3576	2417	1664	1661	541.4	11.7	462	11940	0.00	2.03	0.00	0.000	260	0.000	0.044	3568	3693	1663	1666	1660	0	0	0	0	0	0	26.03	25.86	26.08
11979	1.01	285.3	3567	3693	1666	1661	537.5	11.6	463	11987	0.00	1.85	0.00	0.000	1030	0.000	0.023	3576	2423	1662	1665	1660	0	0	0	0	0	0	26.05	26.02	26.06
12291	1.05	313.0	3577	2424	1664	1661	503.5	9.8	474	12326	0.00	2.03	24.30	0.979	8452	0.000	0.041	3569	3696	1557	1560	1555	0	0	0	0	0	0	26.06	25.44	24.86
12355	1.07	327.2	3570	3697	1557	1552	496.4	10.4	476	12377	0.12	1.88	13.62	0.982	11270	0.102	0.023	3621	2422	1503	1507	1499	0	0	0	0	0	0	25.68	25.82	24.72
12681	1.07	327.2	3622	2422	1499	1486	451.2	14.2	487	12689	0.00	2.03	0.00	0.000	260	0.000	0.044	3614	3693	1493	1500	1486	0	0	0	0	0	0	26.06	25.91	26.12
12733	1.07	327.2	3615	3693	1499	1486	446.5	14.4	488	12740	0.00	1.88	0.00	0.000	1030	0.000	0.022	3622	2405	1493	1500	1486	0	0	0	0	0	0	26.10	26.06	26.11
13038	1.07	327.2	3622	2402	1498	1484	400.8	13.5	498	13046	0.00	2.05	0.00	0.000	260	0.000	0.043	3616	3693	1491	1499	1483	0	0	0	0	0	0	26.08	25.91	26.15
13109	1.07	327.2	3615	3694	1501	1485	393.1	13.4	500	13117	0.00	1.85	0.00	0.000	1030	0.000	0.023	3630	2423	1492	1499	1485	0	0	0	0	0	0	26.10	26.08	26.12
13427	1.07	327.2	3623	2424	1500	1484	349.8	12.9	511	13433	0.00	0.00	0.00	0.000	6	0.000	0.000	3623	2422	1491	1499	1484	0	0	0	0	0	0	26.08	26.15	26.15
13726	1.07	327.2	3624	2423	1499	1483	309.1	13.9	521	13732	0.00	0.00	0.00	0.000	6	0.000	0.000	3624	2422	1491	1499	1483	0	0	0	0	0	0	26.07	26.14	26.13
14026	1.07	327.2	3624	2422	1499	1482	273.0	11.7	531	14032	0.00	0.00	0.00	0.000	6	0.000	0.000	3624	2423	1490	1499	1482	0	0	0	0	0	0	26.09	26.15	26.15
14326	1.07	327.2	3624	2423	1498	1481	236.1	11.5	541	14334	0.00	2.10	0.00	0.000	516	0.000	0.028	3634	1037	1490	1499	1481	0	0	0	0	0	0	26.08	25.96	26.14
14449	1.11	355.2	3635	1037	1497	1481	224.6	9.8	545	14482	0.00	2.12	23.45	0.793	9222	0.000	0.028	3626	2419	1390	1401	1379	0	0	0	0	0	0	25.99	25.93	25.01
14786	1.16	392.0	3626	2420	1393	1367	188.9	9.4	563	14830	0.00	2.05	31.42	0.760	8452	0.000	0.043	3616	3686	1234	1249	1219	0	0	0	0	0	0	26.06	25.67	24.96
14964	1.16	392.0	3614	3687	1246	1213	168.6	13.0	580	14975	0.00	1.85	0.00	0.000	1030	0.000	0.021	3624	2407	1228	1244	1212	0	0	0	0	0	0	26.01	25.97	26.02
15269	1.19	409.8	3624	2407	1246	1211	131.1	10.2	611	15295	0.00	2.08	12.57	0.725	8452	0.000	0.043	3616	3694	1164	1182	1146	0	0	0	0	0	0	26.10	25.89	25.15
15520	1.24	446.3	3614	3695	1181	1141	108.5	9.5	635	15561	0.15	1.83	29.08	0.665	11270	0.143	0.021	3664	2422	1017	1040	994	0	0	0	0	0	0	25.72	26.07	25.08
15855	1.24	446.3	3663	2423	1035	984	71.1	11.5	669	15863	0.00	2.00	0.00	0.000	260	0.000	0.041	3655	3692	1008	1033	983	0	0	0	0	0	0	26.10	25.95	26.15
15887	1.24	446.3	3655	3693	1029	983	67.3	12.1	672	15895	0.00	1.85	0.00	0.000	1030	0.000	0.021	3663	2409	1007	1032	982	0	0	0	0	0	0	26.14	26.10	26.16
16196	1.24	446.3	3663	2406	1034	983	30.7	11.9	719	16209	0.00	2.05	0.00	0.000	516	0.000	0.028	3674	1040	1008	1033	983	0	0	0	0	0	0	26.15	26.09	26.20
16223	1.24	446.3	3674	1041	1035	984	27.4	12.2	723	16234	0.00	2.10	0.00	0.000	1030	0.000	0.028	3665	2427	1008	1033	983	0	0	0	0	0	0	26.11	26.06	26.14
16488	end climb: SURFACE_DEPTH_REACHED
state	16488	begin surface coast
16514	end surface coast: CONTROL_FINISHED_OK
state	16514	begin surface