Glider dive log

Cuddy Oct13 * SG194 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_C 9.9999997e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 21 ESCAPE_HEADING 0 C_ROLL_DIVE 2263 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2355 ALTIM_PING_DEPTH 100

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 53 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 280 R_STBD_OVSHOOT 37 XPDR_VALID 3

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.223

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2400 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4334.3091 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 199 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2785 FG_AHR_10V 0 SEABIRD_T_G 0.0044109076

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064730842

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.664891e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -53.385216 SEABIRD_T_J 3.309405e-06

MASS 58592 PITCH_GAIN 22.9 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_G -9.5383005

MASS_COMP 3867 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.0995622

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013844616

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017264462

KALMAN_USE 13 PITCH_ADJ_GAIN 0.039999999 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 291 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 280

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.039999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.9 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3894 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 199 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 50 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001158091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -53.385216 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4334.3091

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 194 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT 1.223 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2785 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2355 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2263 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2400 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 58592 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3867 ROLL_MIN 291 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 53 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 37 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.5383005 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0995622 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0013844616 VBD_TIMEOUT 720

DIVE 21 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017264462 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044109076 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.00064730842 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.664891e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.309405e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 291013,050505,4720.817,-12533.015,37,1.2,37,16.7 TGT_NAME SEARCH_B

_CALLS 1 TGT_LATLONG 4745.000,-12545.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.087,0.245

_SM_DEPTHo 1.70 KALMAN_X 1393.9,0.0,0.0,-22520.7,57.2

_SM_ANGLEo -64.7 KALMAN_Y -225.8,0.0,0.0,14414.1,172.2

GPS2 291013,051059,4720.750,-12533.113,5,1.0,5,16.7 MHEAD_RNG_PITCHd_Wd 323.7,47286,-17.5,-10.000,-21.03,2226

SPEED_LIMITS 0.084,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.011957 _10V_AH 10.3,4.071

SM_CCo 18598,5.72,0.057,0,0,1257,280.13 FG_AHR_24Vo 0.000

SM_GC 2.73,7.43,0.12,5.72,0.032,0.083,0.057,161,2250,1257,-8.06,1.53,280.13,0,0,0,0,0,0,26.55,26.55,26.44 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4703.87,-12531.52,281013,232317 MEM 311224

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 37110,512

HUMID 39.68 CAP_FILE_SIZE 155663,0

INTERNAL_PRESSURE 8.91861 CFSIZE 2097872896,2092859392

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 291013,102234,4723.513,-12534.222,30,0.8,30,16.7

_24V_AH 23.2,4.527

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 201 111.63 SBE_CT 353 23 196.72

Roll_motor 118 86 238.11 AA4330 678 0 11.81

VBD_pump_during_apogee 343 1234 9840.37 WL_BB2FLVMT 1098 105 2676.45

VBD_pump_during_surface 5 57 7.62 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 286 79 528.36 nil 0 0 0.00

Transponder_ping 22 420 219.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.06

TT8 1665 14 256.59

LPSleep 14452 2 326.00

TT8_Active 422 14 65.13

TT8_Sampling 2325 43 1039.86

TT8_CF8 97 53 53.58

TT8_Kalman 0 69 0.28

Analog_circuits 1638 15 253.22

GPS_charging 0 0 0.00

Compass 1973 8 182.70

RAFOS 0 0 0.00

Transponder 142 30 44.07

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.76 -146.6 139 2248 1160 1067 0.0 0.0 0 71 0.00 0.00 -53.62 0.000 16386 0.000 0.000 137 2247 2615 2622 2609 0 0 0 0 0 0 28.83 28.83 28.83

74 -0.76 -146.6 137 2247 2625 2608 3.4 -4.4 5 94 8.77 0.00 -9.23 0.000 18438 0.202 0.000 2530 2247 2999 3061 2938 0 0 0 0 0 0 25.79 28.83 26.40

392 -0.52 -146.6 2530 2247 3066 2939 56.9 -16.8 37 403 0.25 2.22 0.00 0.000 2308 0.135 0.048 2604 3674 3002 3066 2938 0 0 0 0 0 0 26.08 26.20 28.83

507 -0.52 -146.6 2604 3674 3067 2939 70.1 -10.6 48 517 0.00 2.12 0.00 0.000 1030 0.000 0.030 2604 2253 3002 3067 2938 0 0 0 0 0 0 28.83 26.31 28.83

818 -0.57 -146.6 2604 2253 3069 2938 97.8 -8.1 69 824 0.00 2.20 0.00 0.000 260 0.000 0.050 2593 3666 3003 3068 2938 0 0 0 0 0 0 28.83 26.32 28.83

988 -0.63 -146.6 2593 3667 3069 2938 112.1 -8.6 77 992 0.00 2.10 0.00 0.000 1030 0.000 0.030 2593 2254 3003 3068 2938 0 0 0 0 0 0 28.83 26.42 28.83

1297 -0.74 -146.6 2593 2253 3068 2938 136.6 -7.3 92 1303 0.12 2.20 0.00 0.000 4356 0.081 0.049 2494 3670 3003 3068 2938 0 0 0 0 0 0 26.53 26.39 28.83

1378 -0.61 -146.6 2494 3670 3068 2938 145.5 -11.1 96 1384 0.25 2.05 0.00 0.000 3078 0.112 0.031 2580 2265 3003 3068 2938 0 0 0 0 0 0 26.28 26.49 28.83

1710 -0.71 -146.6 2580 2264 3068 2938 172.4 -8.5 108 1711 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2264 3003 3068 2938 0 0 0 0 0 0 28.83 28.83 28.83

2008 -0.81 -146.6 2580 2264 3068 2938 197.8 -8.4 118 2010 0.17 0.00 0.00 0.000 4102 0.064 0.000 2481 2265 3003 3068 2938 0 0 0 0 0 0 26.60 28.83 28.83

2307 -0.67 -146.6 2481 2264 3068 2938 236.7 -13.2 128 2309 0.28 0.00 0.00 0.000 2054 0.126 0.000 2566 2264 3003 3069 2937 0 0 0 0 0 0 26.38 28.83 28.83

2610 -0.77 -146.6 2565 2264 3068 2938 262.0 -7.9 138 2615 0.00 2.17 0.00 0.000 260 0.000 0.051 2557 3671 3003 3069 2937 0 0 0 0 0 0 28.83 26.53 28.83

2686 -0.87 -146.6 2556 3671 3068 2937 267.1 -8.1 140 2691 0.15 2.08 0.00 0.000 5126 0.070 0.031 2467 2264 3002 3068 2937 0 0 0 0 0 0 26.60 26.60 28.83

2995 -0.71 -146.6 2467 2264 3068 2937 309.0 -13.7 149 3001 0.25 2.17 0.00 0.000 2308 0.129 0.050 2541 3670 3002 3068 2936 0 0 0 0 0 0 26.42 26.54 28.83

3063 -0.60 -146.6 2541 3669 3068 2936 315.5 -12.8 150 3067 0.17 2.08 0.00 0.000 3078 0.122 0.031 2594 2263 3002 3069 2936 0 0 0 0 0 0 26.46 26.62 28.83

3413 -0.82 -146.6 2593 2263 3068 2936 342.9 -7.4 156 3415 0.22 0.00 0.00 0.000 4102 0.055 0.000 2473 2263 3001 3068 2935 0 0 0 0 0 0 26.68 28.83 28.83

3712 -0.72 -146.6 2473 2262 3068 2935 379.8 -12.6 161 3718 0.22 2.17 0.00 0.000 2308 0.129 0.050 2539 3667 3001 3068 2935 0 0 0 0 0 0 26.46 26.57 28.83

3753 -0.62 -146.6 2539 3667 3068 2935 379.8 -12.6 161 3757 0.15 2.08 0.00 0.000 3078 0.125 0.031 2585 2260 3001 3068 2935 0 0 0 0 0 0 26.49 26.65 28.83

4071 -0.84 -146.6 2584 2260 3068 2934 405.5 -6.3 167 4073 0.20 0.00 0.00 0.000 4102 0.060 0.000 2475 2260 3001 3068 2934 0 0 0 0 0 0 26.71 28.83 28.83

4372 -0.75 -146.6 2474 2260 3068 2933 436.4 -10.6 172 4374 0.22 0.00 0.00 0.000 2054 0.125 0.000 2544 2260 3000 3068 2933 0 0 0 0 0 0 26.48 28.83 28.83

4673 -0.87 -146.6 2543 2260 3068 2932 461.2 -8.1 177 4675 0.12 0.00 0.00 0.000 4102 0.080 0.000 2465 2260 3000 3068 2932 0 0 0 0 0 0 26.74 28.83 28.83

4972 -0.78 -146.6 2465 2260 3068 2932 498.1 -12.6 182 4974 0.22 0.00 0.00 0.000 2054 0.125 0.000 2534 2259 3000 3069 2932 0 0 0 0 0 0 26.51 28.83 28.83

5271 -0.90 -146.6 2533 2260 3069 2931 525.2 -8.7 187 5273 0.12 0.00 0.00 0.000 4102 0.079 0.000 2458 2259 2999 3068 2931 0 0 0 0 0 0 26.77 28.83 28.83

5572 -0.81 -146.6 2457 2260 3068 2930 561.7 -12.4 192 5578 0.20 2.20 0.00 0.000 2308 0.129 0.051 2515 3666 2999 3068 2930 0 0 0 0 0 0 26.51 26.62 28.83

5691 -0.81 -146.6 2515 3667 3068 2930 573.7 -11.2 194 5697 0.00 2.05 0.00 0.000 1030 0.000 0.032 2516 2272 2999 3068 2930 0 0 0 0 0 0 28.83 26.70 28.83

6051 -0.90 -146.6 2515 2273 3068 2929 609.1 -10.0 200 6052 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2273 2998 3068 2929 0 0 0 0 0 0 28.83 28.83 28.83

6351 -1.00 -146.6 2515 2273 3068 2929 640.1 -10.4 205 6357 0.12 2.15 0.00 0.000 4612 0.080 0.046 2432 868 2998 3068 2928 0 0 0 0 0 0 26.77 26.64 28.83

6411 -1.04 -146.6 2432 868 3068 2928 648.2 -10.9 206 6417 0.00 2.17 0.00 0.000 1030 0.000 0.046 2423 2269 2998 3068 2928 0 0 0 0 0 0 28.83 26.66 28.83

6771 -0.91 -146.6 2423 2269 3067 2927 698.9 -13.8 212 6773 0.22 0.00 0.00 0.000 2054 0.133 0.000 2490 2269 2997 3068 2927 0 0 0 0 0 0 26.51 28.83 28.83

7071 -0.97 -146.6 2490 2269 3068 2927 730.2 -10.2 217 7077 0.00 2.15 0.00 0.000 260 0.000 0.054 2482 3664 2996 3067 2926 0 0 0 0 0 0 28.83 26.63 28.83

7131 -1.04 -146.6 2482 3664 3068 2926 736.4 -10.2 218 7136 0.00 2.10 0.00 0.000 1030 0.000 0.032 2482 2253 2997 3068 2927 0 0 0 0 0 0 28.83 26.71 28.83

7492 -1.08 -146.6 2482 2253 3068 2926 771.7 -9.6 224 7494 0.12 0.00 0.00 0.000 4102 0.083 0.000 2405 2252 2997 3068 2926 0 0 0 0 0 0 26.77 28.83 28.83

7792 -0.94 -146.6 2405 2252 3068 2926 810.3 -13.1 229 7794 0.25 0.00 0.00 0.000 2054 0.129 0.000 2481 2252 2997 3068 2926 0 0 0 0 0 0 26.50 28.83 28.83

8092 -1.00 -146.6 2481 2252 3068 2926 837.7 -8.9 234 8094 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2252 2996 3068 2925 0 0 0 0 0 0 28.83 28.83 28.83

8392 -1.07 -146.6 2481 2252 3068 2925 864.8 -9.0 239 8398 0.12 2.20 0.00 0.000 4356 0.084 0.053 2388 3666 2996 3068 2924 0 0 0 0 0 0 26.78 26.64 28.83

8453 -1.07 -146.6 2387 3666 3068 2924 872.4 -9.8 240 8458 0.15 2.12 0.00 0.000 3078 0.122 0.033 2438 2265 2996 3068 2924 0 0 0 0 0 0 26.48 26.72 28.83

8813 -1.07 -146.6 2438 2264 3068 2924 913.1 -11.0 246 8818 0.00 2.17 0.00 0.000 260 0.000 0.054 2430 3663 2995 3068 2923 0 0 0 0 0 0 28.83 26.63 28.83

8872 -1.07 -146.6 2429 3663 3068 2923 919.8 -11.0 247 8877 0.00 2.10 0.00 0.000 1030 0.000 0.034 2430 2254 2995 3068 2923 0 0 0 0 0 0 28.83 26.72 28.83

9232 -1.07 -146.6 2430 2255 3068 2923 958.9 -10.9 253 9233 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2254 2995 3068 2923 0 0 0 0 0 0 28.83 28.83 28.83

9532 -1.03 -146.6 2430 2254 3068 2923 989.9 -10.3 258 9533 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2254 2995 3067 2923 0 0 0 0 0 0 28.83 28.83 28.83

9591 end dive: TARGET_DEPTH_EXCEEDED

state 9591 begin apogee

9595 -0.22 0.0 2428 2360 3068 2922 995.9 -10.2 259 9718 0.82 0.00 116.53 1.235 10246 0.106 0.000 2711 2360 2400 2463 2338 0 0 0 0 0 0 26.50 28.83 23.63

9719 end apogee: CONTROL_FINISHED_OK

state 9719 begin climb

9720 0.76 146.6 2711 2360 2463 2338 997.1 0.0 261 9849 0.88 0.00 125.12 1.209 10246 0.042 0.000 3045 2360 1802 1860 1744 0 0 0 0 0 0 24.72 28.83 23.22

10132 0.45 146.6 3045 2360 1853 1738 946.9 15.1 268 10134 0.40 0.00 0.00 0.000 4102 0.132 0.000 2927 2360 1795 1853 1737 0 0 0 0 0 0 25.35 28.83 28.83

10432 0.45 164.8 2926 2360 1853 1736 918.4 9.2 273 10449 0.00 0.00 15.25 1.056 8198 0.000 0.000 2927 2360 1728 1787 1669 0 0 0 0 0 0 28.83 28.83 24.53

10732 0.45 178.0 2926 2360 1785 1667 890.3 9.4 278 10749 0.00 2.30 12.25 1.008 8708 0.000 0.049 2935 960 1674 1734 1614 0 0 0 0 0 0 28.83 25.54 24.65

10799 0.45 191.0 2935 959 1732 1613 885.1 9.4 279 10818 0.00 2.28 12.40 1.004 9222 0.000 0.046 2935 2358 1620 1682 1559 0 0 0 0 0 0 28.83 25.68 24.49

11147 0.45 191.0 2935 2358 1680 1557 849.3 10.0 285 11153 0.00 2.25 0.00 0.000 516 0.000 0.050 2945 964 1618 1680 1557 0 0 0 0 0 0 28.83 25.89 28.83

11194 0.45 191.0 2945 964 1679 1556 849.3 10.0 285 11198 0.00 2.28 0.00 0.000 1030 0.000 0.046 2945 2353 1617 1679 1556 0 0 0 0 0 0 28.83 25.94 28.83

11507 0.45 191.0 2945 2353 1679 1556 812.6 10.2 291 11508 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2353 1617 1679 1556 0 0 0 0 0 0 28.83 28.83 28.83

11807 0.45 191.0 2945 2353 1679 1556 782.0 10.3 296 11812 0.00 2.22 0.00 0.000 516 0.000 0.050 2956 957 1617 1679 1556 0 0 0 0 0 0 28.83 26.20 28.83

11867 0.45 191.0 2955 956 1677 1555 775.8 10.2 297 11873 0.00 2.22 0.00 0.000 1030 0.000 0.046 2956 2358 1616 1677 1556 0 0 0 0 0 0 28.83 26.24 28.83

12227 0.45 191.0 2955 2358 1677 1555 739.0 10.2 303 12228 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2358 1616 1677 1555 0 0 0 0 0 0 28.83 28.83 28.83

12527 0.45 191.0 2955 2358 1677 1555 708.0 10.4 308 12532 0.00 2.20 0.00 0.000 516 0.000 0.050 2965 965 1616 1677 1555 0 0 0 0 0 0 28.83 26.35 28.83

12564 0.45 191.0 2965 965 1676 1555 708.0 10.4 308 12569 0.10 2.22 0.00 0.000 5126 0.114 0.046 2929 2351 1615 1676 1555 0 0 0 0 0 0 26.26 26.39 28.83

12887 0.52 219.6 2929 2351 1677 1555 675.9 8.7 314 12918 0.00 2.35 23.77 0.982 8452 0.000 0.054 2929 3762 1503 1568 1439 0 0 0 0 0 0 28.83 25.81 24.93

12980 0.59 246.1 2929 3762 1568 1439 670.2 8.8 315 13009 0.12 2.15 23.23 0.967 11270 0.079 0.034 3009 2362 1395 1462 1329 0 0 0 0 0 0 25.96 25.97 24.51

13307 0.49 246.1 3008 2362 1459 1325 622.4 13.8 321 13314 0.20 2.25 0.00 0.000 4612 0.129 0.047 2955 957 1391 1459 1324 0 0 0 0 0 0 25.84 25.92 28.83

13434 0.49 246.1 2955 957 1456 1324 609.3 12.3 323 13439 0.00 2.28 0.00 0.000 1030 0.000 0.045 2955 2352 1390 1456 1324 0 0 0 0 0 0 28.83 26.03 28.83

13788 0.54 246.1 2955 2353 1456 1324 570.4 10.7 329 13793 0.00 2.22 0.00 0.000 516 0.000 0.050 2965 958 1390 1456 1324 0 0 0 0 0 0 28.83 26.17 28.83

13847 0.61 246.1 2964 958 1455 1324 563.9 10.7 330 13853 0.00 2.22 0.00 0.000 1030 0.000 0.046 2964 2357 1389 1455 1323 0 0 0 0 0 0 28.83 26.21 28.83

14208 0.65 246.1 2964 2357 1455 1323 524.6 10.8 336 14214 0.00 2.22 0.00 0.000 516 0.000 0.049 2973 953 1389 1455 1324 0 0 0 0 0 0 28.83 26.29 28.83

14261 0.69 246.1 2973 953 1454 1323 524.6 10.8 336 14269 0.00 2.25 0.00 0.000 1030 0.000 0.046 2973 2353 1388 1454 1323 0 0 0 0 0 0 28.83 26.32 28.83

14567 0.69 246.1 2973 2354 1454 1323 485.9 10.9 342 14573 0.00 2.22 0.00 0.000 516 0.000 0.050 2982 954 1388 1454 1323 0 0 0 0 0 0 28.83 26.36 28.83

14614 0.69 246.1 2982 954 1454 1323 485.9 10.9 342 14619 0.00 2.25 0.00 0.000 1030 0.000 0.044 2982 2361 1388 1454 1323 0 0 0 0 0 0 28.83 26.39 28.83

14927 0.69 246.1 2983 2361 1454 1323 442.8 12.2 348 14933 0.00 2.22 0.00 0.000 516 0.000 0.050 2990 951 1388 1454 1323 0 0 0 0 0 0 28.83 26.40 28.83

14987 0.69 246.1 2990 950 1454 1323 435.2 12.4 349 14993 0.00 2.22 0.00 0.000 1030 0.000 0.044 2990 2368 1388 1454 1323 0 0 0 0 0 0 28.83 26.43 28.83

15347 0.69 246.1 2990 2367 1454 1323 388.0 13.0 355 15353 0.00 2.22 0.00 0.000 516 0.000 0.049 3001 957 1388 1454 1323 0 0 0 0 0 0 28.83 26.45 28.83

15434 0.69 246.1 3000 957 1454 1323 380.3 12.9 356 15439 0.00 2.22 0.00 0.000 1030 0.000 0.044 3001 2350 1388 1454 1323 0 0 0 0 0 0 28.83 26.48 28.83

15767 0.69 246.1 3001 2349 1454 1323 335.5 12.3 362 15773 0.00 2.20 0.00 0.000 516 0.000 0.049 3011 955 1388 1453 1323 0 0 0 0 0 0 28.83 26.48 28.83

15834 0.69 246.1 3011 955 1454 1323 328.2 12.2 363 15839 0.00 2.22 0.00 0.000 1030 0.000 0.044 3011 2357 1388 1454 1323 0 0 0 0 0 0 28.83 26.51 28.83

16157 0.69 246.1 3011 2357 1454 1323 287.6 12.3 370 16163 0.00 2.20 0.00 0.000 516 0.000 0.048 3022 957 1388 1454 1323 0 0 0 0 0 0 28.83 26.51 28.83

16210 0.69 246.1 3021 957 1454 1323 283.9 12.4 371 16218 0.00 2.22 0.00 0.000 1030 0.000 0.044 3022 2354 1388 1454 1323 0 0 0 0 0 0 28.83 26.54 28.83

16518 0.69 246.1 3022 2354 1454 1323 242.7 12.5 382 16523 0.00 2.20 0.00 0.000 516 0.000 0.048 3032 956 1388 1454 1323 0 0 0 0 0 0 28.83 26.52 28.83

16565 0.69 246.1 3032 956 1454 1324 238.8 12.5 383 16569 0.00 2.22 0.00 0.000 1030 0.000 0.044 3032 2354 1388 1454 1323 0 0 0 0 0 0 28.83 26.55 28.83

16878 0.69 246.1 3032 2354 1454 1323 193.2 14.3 394 16884 0.00 2.20 0.00 0.000 516 0.000 0.048 3043 954 1389 1454 1324 0 0 0 0 0 0 28.83 26.54 28.83

16940 0.69 246.1 3043 953 1454 1323 184.5 14.5 396 16945 0.10 2.22 0.00 0.000 5126 0.111 0.044 3006 2361 1388 1454 1323 0 0 0 0 0 0 26.44 26.56 28.83

17249 0.75 246.1 3006 2361 1454 1323 144.5 12.5 407 17250 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2361 1388 1454 1323 0 0 0 0 0 0 28.83 28.83 28.83

17549 0.85 246.1 3006 2361 1454 1323 109.1 11.1 422 17555 0.12 2.20 0.00 0.000 2564 0.083 0.047 3099 952 1388 1454 1323 0 0 0 0 0 0 26.69 26.57 28.83

17657 0.73 246.1 3099 952 1453 1323 94.8 14.7 427 17662 0.25 2.17 0.00 0.000 5126 0.125 0.044 3021 2361 1388 1454 1323 0 0 0 0 0 0 26.44 26.60 28.83

17965 0.85 265.0 3021 2361 1454 1323 65.6 9.1 450 17986 0.12 0.00 14.98 0.588 10246 0.081 0.000 3100 2361 1319 1387 1251 0 0 0 0 0 0 26.70 28.83 25.66

18284 0.85 265.0 3099 2361 1388 1249 26.6 10.8 482 18286 0.15 0.00 0.00 0.000 4102 0.135 0.000 3056 2361 1318 1387 1249 0 0 0 0 0 0 26.36 28.83 28.83

18553 end climb: SURFACE_DEPTH_REACHED

state 18553 begin surface coast

18584 end surface coast: CONTROL_FINISHED_OK

state 18584 begin surface

ID	194	HD_C	9.9999997e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	21	ESCAPE_HEADING	0	C_ROLL_DIVE	2263	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2355	ALTIM_PING_DEPTH	100
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	53	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	280	R_STBD_OVSHOOT	37	XPDR_VALID	3
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.223
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2400	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4334.3091	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	199	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2785	FG_AHR_10V	0	SEABIRD_T_G	0.0044109076
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064730842
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.664891e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-53.385216	SEABIRD_T_J	3.309405e-06
MASS	58592	PITCH_GAIN	22.9	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_G	-9.5383005
MASS_COMP	3867	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.0995622
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013844616
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017264462
KALMAN_USE	13	PITCH_ADJ_GAIN	0.039999999	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	291	ALTIM_TOP_PING_RANGE	0

GPS1	291013,050505,4720.817,-12533.015,37,1.2,37,16.7	TGT_NAME	SEARCH_B
_CALLS	1	TGT_LATLONG	4745.000,-12545.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.087,0.245
_SM_DEPTHo	1.70	KALMAN_X	1393.9,0.0,0.0,-22520.7,57.2
_SM_ANGLEo	-64.7	KALMAN_Y	-225.8,0.0,0.0,14414.1,172.2
GPS2	291013,051059,4720.750,-12533.113,5,1.0,5,16.7	MHEAD_RNG_PITCHd_Wd	323.7,47286,-17.5,-10.000,-21.03,2226
SPEED_LIMITS	0.084,0.260	D_GRID	990

FINISH	0.7,1.011957	_10V_AH	10.3,4.071
SM_CCo	18598,5.72,0.057,0,0,1257,280.13	FG_AHR_24Vo	0.000
SM_GC	2.73,7.43,0.12,5.72,0.032,0.083,0.057,161,2250,1257,-8.06,1.53,280.13,0,0,0,0,0,0,26.55,26.55,26.44	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4703.87,-12531.52,281013,232317	MEM	311224
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	37110,512
HUMID	39.68	CAP_FILE_SIZE	155663,0
INTERNAL_PRESSURE	8.91861	CFSIZE	2097872896,2092859392
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	291013,102234,4723.513,-12534.222,30,0.8,30,16.7
_24V_AH	23.2,4.527

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	201	111.63	SBE_CT	353	23	196.72
Roll_motor	118	86	238.11	AA4330	678	0	11.81
VBD_pump_during_apogee	343	1234	9840.37	WL_BB2FLVMT	1098	105	2676.45
VBD_pump_during_surface	5	57	7.62	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	286	79	528.36	nil	0	0	0.00
Transponder_ping	22	420	219.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.06
TT8	1665	14	256.59
LPSleep	14452	2	326.00
TT8_Active	422	14	65.13
TT8_Sampling	2325	43	1039.86
TT8_CF8	97	53	53.58
TT8_Kalman	0	69	0.28
Analog_circuits	1638	15	253.22
GPS_charging	0	0	0.00
Compass	1973	8	182.70
RAFOS	0	0	0.00
Transponder	142	30	44.07

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.76	-146.6	139	2248	1160	1067	0.0	0.0	0	71	0.00	0.00	-53.62	0.000	16386	0.000	0.000	137	2247	2615	2622	2609	0	0	0	0	0	0	28.83	28.83	28.83
74	-0.76	-146.6	137	2247	2625	2608	3.4	-4.4	5	94	8.77	0.00	-9.23	0.000	18438	0.202	0.000	2530	2247	2999	3061	2938	0	0	0	0	0	0	25.79	28.83	26.40
392	-0.52	-146.6	2530	2247	3066	2939	56.9	-16.8	37	403	0.25	2.22	0.00	0.000	2308	0.135	0.048	2604	3674	3002	3066	2938	0	0	0	0	0	0	26.08	26.20	28.83
507	-0.52	-146.6	2604	3674	3067	2939	70.1	-10.6	48	517	0.00	2.12	0.00	0.000	1030	0.000	0.030	2604	2253	3002	3067	2938	0	0	0	0	0	0	28.83	26.31	28.83
818	-0.57	-146.6	2604	2253	3069	2938	97.8	-8.1	69	824	0.00	2.20	0.00	0.000	260	0.000	0.050	2593	3666	3003	3068	2938	0	0	0	0	0	0	28.83	26.32	28.83
988	-0.63	-146.6	2593	3667	3069	2938	112.1	-8.6	77	992	0.00	2.10	0.00	0.000	1030	0.000	0.030	2593	2254	3003	3068	2938	0	0	0	0	0	0	28.83	26.42	28.83
1297	-0.74	-146.6	2593	2253	3068	2938	136.6	-7.3	92	1303	0.12	2.20	0.00	0.000	4356	0.081	0.049	2494	3670	3003	3068	2938	0	0	0	0	0	0	26.53	26.39	28.83
1378	-0.61	-146.6	2494	3670	3068	2938	145.5	-11.1	96	1384	0.25	2.05	0.00	0.000	3078	0.112	0.031	2580	2265	3003	3068	2938	0	0	0	0	0	0	26.28	26.49	28.83
1710	-0.71	-146.6	2580	2264	3068	2938	172.4	-8.5	108	1711	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2264	3003	3068	2938	0	0	0	0	0	0	28.83	28.83	28.83
2008	-0.81	-146.6	2580	2264	3068	2938	197.8	-8.4	118	2010	0.17	0.00	0.00	0.000	4102	0.064	0.000	2481	2265	3003	3068	2938	0	0	0	0	0	0	26.60	28.83	28.83
2307	-0.67	-146.6	2481	2264	3068	2938	236.7	-13.2	128	2309	0.28	0.00	0.00	0.000	2054	0.126	0.000	2566	2264	3003	3069	2937	0	0	0	0	0	0	26.38	28.83	28.83
2610	-0.77	-146.6	2565	2264	3068	2938	262.0	-7.9	138	2615	0.00	2.17	0.00	0.000	260	0.000	0.051	2557	3671	3003	3069	2937	0	0	0	0	0	0	28.83	26.53	28.83
2686	-0.87	-146.6	2556	3671	3068	2937	267.1	-8.1	140	2691	0.15	2.08	0.00	0.000	5126	0.070	0.031	2467	2264	3002	3068	2937	0	0	0	0	0	0	26.60	26.60	28.83
2995	-0.71	-146.6	2467	2264	3068	2937	309.0	-13.7	149	3001	0.25	2.17	0.00	0.000	2308	0.129	0.050	2541	3670	3002	3068	2936	0	0	0	0	0	0	26.42	26.54	28.83
3063	-0.60	-146.6	2541	3669	3068	2936	315.5	-12.8	150	3067	0.17	2.08	0.00	0.000	3078	0.122	0.031	2594	2263	3002	3069	2936	0	0	0	0	0	0	26.46	26.62	28.83
3413	-0.82	-146.6	2593	2263	3068	2936	342.9	-7.4	156	3415	0.22	0.00	0.00	0.000	4102	0.055	0.000	2473	2263	3001	3068	2935	0	0	0	0	0	0	26.68	28.83	28.83
3712	-0.72	-146.6	2473	2262	3068	2935	379.8	-12.6	161	3718	0.22	2.17	0.00	0.000	2308	0.129	0.050	2539	3667	3001	3068	2935	0	0	0	0	0	0	26.46	26.57	28.83
3753	-0.62	-146.6	2539	3667	3068	2935	379.8	-12.6	161	3757	0.15	2.08	0.00	0.000	3078	0.125	0.031	2585	2260	3001	3068	2935	0	0	0	0	0	0	26.49	26.65	28.83
4071	-0.84	-146.6	2584	2260	3068	2934	405.5	-6.3	167	4073	0.20	0.00	0.00	0.000	4102	0.060	0.000	2475	2260	3001	3068	2934	0	0	0	0	0	0	26.71	28.83	28.83
4372	-0.75	-146.6	2474	2260	3068	2933	436.4	-10.6	172	4374	0.22	0.00	0.00	0.000	2054	0.125	0.000	2544	2260	3000	3068	2933	0	0	0	0	0	0	26.48	28.83	28.83
4673	-0.87	-146.6	2543	2260	3068	2932	461.2	-8.1	177	4675	0.12	0.00	0.00	0.000	4102	0.080	0.000	2465	2260	3000	3068	2932	0	0	0	0	0	0	26.74	28.83	28.83
4972	-0.78	-146.6	2465	2260	3068	2932	498.1	-12.6	182	4974	0.22	0.00	0.00	0.000	2054	0.125	0.000	2534	2259	3000	3069	2932	0	0	0	0	0	0	26.51	28.83	28.83
5271	-0.90	-146.6	2533	2260	3069	2931	525.2	-8.7	187	5273	0.12	0.00	0.00	0.000	4102	0.079	0.000	2458	2259	2999	3068	2931	0	0	0	0	0	0	26.77	28.83	28.83
5572	-0.81	-146.6	2457	2260	3068	2930	561.7	-12.4	192	5578	0.20	2.20	0.00	0.000	2308	0.129	0.051	2515	3666	2999	3068	2930	0	0	0	0	0	0	26.51	26.62	28.83
5691	-0.81	-146.6	2515	3667	3068	2930	573.7	-11.2	194	5697	0.00	2.05	0.00	0.000	1030	0.000	0.032	2516	2272	2999	3068	2930	0	0	0	0	0	0	28.83	26.70	28.83
6051	-0.90	-146.6	2515	2273	3068	2929	609.1	-10.0	200	6052	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2273	2998	3068	2929	0	0	0	0	0	0	28.83	28.83	28.83
6351	-1.00	-146.6	2515	2273	3068	2929	640.1	-10.4	205	6357	0.12	2.15	0.00	0.000	4612	0.080	0.046	2432	868	2998	3068	2928	0	0	0	0	0	0	26.77	26.64	28.83
6411	-1.04	-146.6	2432	868	3068	2928	648.2	-10.9	206	6417	0.00	2.17	0.00	0.000	1030	0.000	0.046	2423	2269	2998	3068	2928	0	0	0	0	0	0	28.83	26.66	28.83
6771	-0.91	-146.6	2423	2269	3067	2927	698.9	-13.8	212	6773	0.22	0.00	0.00	0.000	2054	0.133	0.000	2490	2269	2997	3068	2927	0	0	0	0	0	0	26.51	28.83	28.83
7071	-0.97	-146.6	2490	2269	3068	2927	730.2	-10.2	217	7077	0.00	2.15	0.00	0.000	260	0.000	0.054	2482	3664	2996	3067	2926	0	0	0	0	0	0	28.83	26.63	28.83
7131	-1.04	-146.6	2482	3664	3068	2926	736.4	-10.2	218	7136	0.00	2.10	0.00	0.000	1030	0.000	0.032	2482	2253	2997	3068	2927	0	0	0	0	0	0	28.83	26.71	28.83
7492	-1.08	-146.6	2482	2253	3068	2926	771.7	-9.6	224	7494	0.12	0.00	0.00	0.000	4102	0.083	0.000	2405	2252	2997	3068	2926	0	0	0	0	0	0	26.77	28.83	28.83
7792	-0.94	-146.6	2405	2252	3068	2926	810.3	-13.1	229	7794	0.25	0.00	0.00	0.000	2054	0.129	0.000	2481	2252	2997	3068	2926	0	0	0	0	0	0	26.50	28.83	28.83
8092	-1.00	-146.6	2481	2252	3068	2926	837.7	-8.9	234	8094	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2252	2996	3068	2925	0	0	0	0	0	0	28.83	28.83	28.83
8392	-1.07	-146.6	2481	2252	3068	2925	864.8	-9.0	239	8398	0.12	2.20	0.00	0.000	4356	0.084	0.053	2388	3666	2996	3068	2924	0	0	0	0	0	0	26.78	26.64	28.83
8453	-1.07	-146.6	2387	3666	3068	2924	872.4	-9.8	240	8458	0.15	2.12	0.00	0.000	3078	0.122	0.033	2438	2265	2996	3068	2924	0	0	0	0	0	0	26.48	26.72	28.83
8813	-1.07	-146.6	2438	2264	3068	2924	913.1	-11.0	246	8818	0.00	2.17	0.00	0.000	260	0.000	0.054	2430	3663	2995	3068	2923	0	0	0	0	0	0	28.83	26.63	28.83
8872	-1.07	-146.6	2429	3663	3068	2923	919.8	-11.0	247	8877	0.00	2.10	0.00	0.000	1030	0.000	0.034	2430	2254	2995	3068	2923	0	0	0	0	0	0	28.83	26.72	28.83
9232	-1.07	-146.6	2430	2255	3068	2923	958.9	-10.9	253	9233	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2254	2995	3068	2923	0	0	0	0	0	0	28.83	28.83	28.83
9532	-1.03	-146.6	2430	2254	3068	2923	989.9	-10.3	258	9533	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2254	2995	3067	2923	0	0	0	0	0	0	28.83	28.83	28.83
9591	end dive: TARGET_DEPTH_EXCEEDED
state	9591	begin apogee
9595	-0.22	0.0	2428	2360	3068	2922	995.9	-10.2	259	9718	0.82	0.00	116.53	1.235	10246	0.106	0.000	2711	2360	2400	2463	2338	0	0	0	0	0	0	26.50	28.83	23.63
9719	end apogee: CONTROL_FINISHED_OK
state	9719	begin climb
9720	0.76	146.6	2711	2360	2463	2338	997.1	0.0	261	9849	0.88	0.00	125.12	1.209	10246	0.042	0.000	3045	2360	1802	1860	1744	0	0	0	0	0	0	24.72	28.83	23.22
10132	0.45	146.6	3045	2360	1853	1738	946.9	15.1	268	10134	0.40	0.00	0.00	0.000	4102	0.132	0.000	2927	2360	1795	1853	1737	0	0	0	0	0	0	25.35	28.83	28.83
10432	0.45	164.8	2926	2360	1853	1736	918.4	9.2	273	10449	0.00	0.00	15.25	1.056	8198	0.000	0.000	2927	2360	1728	1787	1669	0	0	0	0	0	0	28.83	28.83	24.53
10732	0.45	178.0	2926	2360	1785	1667	890.3	9.4	278	10749	0.00	2.30	12.25	1.008	8708	0.000	0.049	2935	960	1674	1734	1614	0	0	0	0	0	0	28.83	25.54	24.65
10799	0.45	191.0	2935	959	1732	1613	885.1	9.4	279	10818	0.00	2.28	12.40	1.004	9222	0.000	0.046	2935	2358	1620	1682	1559	0	0	0	0	0	0	28.83	25.68	24.49
11147	0.45	191.0	2935	2358	1680	1557	849.3	10.0	285	11153	0.00	2.25	0.00	0.000	516	0.000	0.050	2945	964	1618	1680	1557	0	0	0	0	0	0	28.83	25.89	28.83
11194	0.45	191.0	2945	964	1679	1556	849.3	10.0	285	11198	0.00	2.28	0.00	0.000	1030	0.000	0.046	2945	2353	1617	1679	1556	0	0	0	0	0	0	28.83	25.94	28.83
11507	0.45	191.0	2945	2353	1679	1556	812.6	10.2	291	11508	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2353	1617	1679	1556	0	0	0	0	0	0	28.83	28.83	28.83
11807	0.45	191.0	2945	2353	1679	1556	782.0	10.3	296	11812	0.00	2.22	0.00	0.000	516	0.000	0.050	2956	957	1617	1679	1556	0	0	0	0	0	0	28.83	26.20	28.83
11867	0.45	191.0	2955	956	1677	1555	775.8	10.2	297	11873	0.00	2.22	0.00	0.000	1030	0.000	0.046	2956	2358	1616	1677	1556	0	0	0	0	0	0	28.83	26.24	28.83
12227	0.45	191.0	2955	2358	1677	1555	739.0	10.2	303	12228	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2358	1616	1677	1555	0	0	0	0	0	0	28.83	28.83	28.83
12527	0.45	191.0	2955	2358	1677	1555	708.0	10.4	308	12532	0.00	2.20	0.00	0.000	516	0.000	0.050	2965	965	1616	1677	1555	0	0	0	0	0	0	28.83	26.35	28.83
12564	0.45	191.0	2965	965	1676	1555	708.0	10.4	308	12569	0.10	2.22	0.00	0.000	5126	0.114	0.046	2929	2351	1615	1676	1555	0	0	0	0	0	0	26.26	26.39	28.83
12887	0.52	219.6	2929	2351	1677	1555	675.9	8.7	314	12918	0.00	2.35	23.77	0.982	8452	0.000	0.054	2929	3762	1503	1568	1439	0	0	0	0	0	0	28.83	25.81	24.93
12980	0.59	246.1	2929	3762	1568	1439	670.2	8.8	315	13009	0.12	2.15	23.23	0.967	11270	0.079	0.034	3009	2362	1395	1462	1329	0	0	0	0	0	0	25.96	25.97	24.51
13307	0.49	246.1	3008	2362	1459	1325	622.4	13.8	321	13314	0.20	2.25	0.00	0.000	4612	0.129	0.047	2955	957	1391	1459	1324	0	0	0	0	0	0	25.84	25.92	28.83
13434	0.49	246.1	2955	957	1456	1324	609.3	12.3	323	13439	0.00	2.28	0.00	0.000	1030	0.000	0.045	2955	2352	1390	1456	1324	0	0	0	0	0	0	28.83	26.03	28.83
13788	0.54	246.1	2955	2353	1456	1324	570.4	10.7	329	13793	0.00	2.22	0.00	0.000	516	0.000	0.050	2965	958	1390	1456	1324	0	0	0	0	0	0	28.83	26.17	28.83
13847	0.61	246.1	2964	958	1455	1324	563.9	10.7	330	13853	0.00	2.22	0.00	0.000	1030	0.000	0.046	2964	2357	1389	1455	1323	0	0	0	0	0	0	28.83	26.21	28.83
14208	0.65	246.1	2964	2357	1455	1323	524.6	10.8	336	14214	0.00	2.22	0.00	0.000	516	0.000	0.049	2973	953	1389	1455	1324	0	0	0	0	0	0	28.83	26.29	28.83
14261	0.69	246.1	2973	953	1454	1323	524.6	10.8	336	14269	0.00	2.25	0.00	0.000	1030	0.000	0.046	2973	2353	1388	1454	1323	0	0	0	0	0	0	28.83	26.32	28.83
14567	0.69	246.1	2973	2354	1454	1323	485.9	10.9	342	14573	0.00	2.22	0.00	0.000	516	0.000	0.050	2982	954	1388	1454	1323	0	0	0	0	0	0	28.83	26.36	28.83
14614	0.69	246.1	2982	954	1454	1323	485.9	10.9	342	14619	0.00	2.25	0.00	0.000	1030	0.000	0.044	2982	2361	1388	1454	1323	0	0	0	0	0	0	28.83	26.39	28.83
14927	0.69	246.1	2983	2361	1454	1323	442.8	12.2	348	14933	0.00	2.22	0.00	0.000	516	0.000	0.050	2990	951	1388	1454	1323	0	0	0	0	0	0	28.83	26.40	28.83
14987	0.69	246.1	2990	950	1454	1323	435.2	12.4	349	14993	0.00	2.22	0.00	0.000	1030	0.000	0.044	2990	2368	1388	1454	1323	0	0	0	0	0	0	28.83	26.43	28.83
15347	0.69	246.1	2990	2367	1454	1323	388.0	13.0	355	15353	0.00	2.22	0.00	0.000	516	0.000	0.049	3001	957	1388	1454	1323	0	0	0	0	0	0	28.83	26.45	28.83
15434	0.69	246.1	3000	957	1454	1323	380.3	12.9	356	15439	0.00	2.22	0.00	0.000	1030	0.000	0.044	3001	2350	1388	1454	1323	0	0	0	0	0	0	28.83	26.48	28.83
15767	0.69	246.1	3001	2349	1454	1323	335.5	12.3	362	15773	0.00	2.20	0.00	0.000	516	0.000	0.049	3011	955	1388	1453	1323	0	0	0	0	0	0	28.83	26.48	28.83
15834	0.69	246.1	3011	955	1454	1323	328.2	12.2	363	15839	0.00	2.22	0.00	0.000	1030	0.000	0.044	3011	2357	1388	1454	1323	0	0	0	0	0	0	28.83	26.51	28.83
16157	0.69	246.1	3011	2357	1454	1323	287.6	12.3	370	16163	0.00	2.20	0.00	0.000	516	0.000	0.048	3022	957	1388	1454	1323	0	0	0	0	0	0	28.83	26.51	28.83
16210	0.69	246.1	3021	957	1454	1323	283.9	12.4	371	16218	0.00	2.22	0.00	0.000	1030	0.000	0.044	3022	2354	1388	1454	1323	0	0	0	0	0	0	28.83	26.54	28.83
16518	0.69	246.1	3022	2354	1454	1323	242.7	12.5	382	16523	0.00	2.20	0.00	0.000	516	0.000	0.048	3032	956	1388	1454	1323	0	0	0	0	0	0	28.83	26.52	28.83
16565	0.69	246.1	3032	956	1454	1324	238.8	12.5	383	16569	0.00	2.22	0.00	0.000	1030	0.000	0.044	3032	2354	1388	1454	1323	0	0	0	0	0	0	28.83	26.55	28.83
16878	0.69	246.1	3032	2354	1454	1323	193.2	14.3	394	16884	0.00	2.20	0.00	0.000	516	0.000	0.048	3043	954	1389	1454	1324	0	0	0	0	0	0	28.83	26.54	28.83
16940	0.69	246.1	3043	953	1454	1323	184.5	14.5	396	16945	0.10	2.22	0.00	0.000	5126	0.111	0.044	3006	2361	1388	1454	1323	0	0	0	0	0	0	26.44	26.56	28.83
17249	0.75	246.1	3006	2361	1454	1323	144.5	12.5	407	17250	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2361	1388	1454	1323	0	0	0	0	0	0	28.83	28.83	28.83
17549	0.85	246.1	3006	2361	1454	1323	109.1	11.1	422	17555	0.12	2.20	0.00	0.000	2564	0.083	0.047	3099	952	1388	1454	1323	0	0	0	0	0	0	26.69	26.57	28.83
17657	0.73	246.1	3099	952	1453	1323	94.8	14.7	427	17662	0.25	2.17	0.00	0.000	5126	0.125	0.044	3021	2361	1388	1454	1323	0	0	0	0	0	0	26.44	26.60	28.83
17965	0.85	265.0	3021	2361	1454	1323	65.6	9.1	450	17986	0.12	0.00	14.98	0.588	10246	0.081	0.000	3100	2361	1319	1387	1251	0	0	0	0	0	0	26.70	28.83	25.66
18284	0.85	265.0	3099	2361	1388	1249	26.6	10.8	482	18286	0.15	0.00	0.00	0.000	4102	0.135	0.000	3056	2361	1318	1387	1249	0	0	0	0	0	0	26.36	28.83	28.83
18553	end climb: SURFACE_DEPTH_REACHED
state	18553	begin surface coast
18584	end surface coast: CONTROL_FINISHED_OK
state	18584	begin surface