Glider dive log

SPURS Sep12 * SG189 * Dive index * Mission links * Dive 219 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HEADING -1 ROLL_DEG 45 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING 90 C_ROLL_DIVE 2150 ALTIM_PULSE 3

DIVE 219 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1600 ALTIM_SENSITIVITY 4

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 XPDR_VALID 4

D_SURF 3 TGT_DEFAULT_LAT 2434 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 2 TGT_DEFAULT_LON -3802 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 INT_PRESSURE_YINT 2.2

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT -20 DEEPGLIDER 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 100 FILEMGR 0 ROLL_MAXERRORS 2 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 1 VBD_MIN 500 DEVICE3 -1

D_SAFE 0 N_NOCOMM 5 VBD_MAX 3960 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2320 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 53

T_DIVE 540 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 67

T_MISSION 570 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 10 T_GPS 15 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 720 N_GPS 30 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 20 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -47927.738 AH0_24V 150 RAFOS_DEVICE -1

USE_BATHY 0 T_RSLEEP 2 AH0_10V 97 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 19 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 SIM_PITCH 0

D_OFFGRID 1001 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0042969952

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00061766658

RELAUNCH 1 PITCH_MIN 165 PHONE_SUPPLY 2 SEABIRD_T_I 2.0722548e-05

APOGEE_PITCH -5 PITCH_MAX 3928 PRESSURE_YINT -80.603096 SEABIRD_T_J 1.9705003e-06

MAX_BUOY 150 C_PITCH 3000 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -9.7093372

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1118598

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010979992

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00015928292

RHO 1.0233001 PITCH_GAIN 17.5 COMPASS_USE 0 SC_RECORDABOVE 2000.0

MASS 54634 PITCH_TIMEOUT 18 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

NAV_MODE 1 PITCH_AD_RATE 165 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10 TM_RECORDABOVE 200.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITPROFILE 3.0

HD_B 0.01103 ROLL_MIN 359 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

HD_C 2.7848e-05 ROLL_MAX 3924 ALTIM_PING_DELTA 5 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

AH0_10V 97 D_SAFE 0 PITCH_AD_RATE 165 STROBE 0

AH0_24V 150 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING 90 PITCH_GAIN 17.5 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3928 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MIN 165 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LAT 2434

ALTIM_SENSITIVITY 4 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -3802

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001182519 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PRESSURE_YINT -80.603096 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PROTOCOL 1 TM_RECORDABOVE 200.0

APOGEE_PITCH -5 HD_A 0.0038360001 P_OVSHOOT 0.039999999 TM_XMITPROFILE 3.0

CALL_NDIVES 1 HD_B 0.01103 RAFOS_CORR_THRESH 60 TM_XMITRAW 0.0

CALL_TRIES 5 HD_C 2.7848e-05 RAFOS_DEVICE -1 T_ABORT 1440

CALL_WAIT 60 HEADING -1 RAFOS_HIT_WINDOW 3600 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 20 RAFOS_PEAK_OFFSET 1.5 T_DIVE 540

CAPUPLOAD 0 HEAPDBG 0 RELAUNCH 1 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0233001 T_GPS 15

COMM_SEQ 0 ID 189 ROLL_ADJ_DBAND 0 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_GPS_CHARGE -47927.738

COMPASS_DEVICE 33 INT_PRESSURE_YINT 2.2 ROLL_AD_RATE 350 T_LOITER 0

COMPASS_USE 0 KALMAN_USE 1 ROLL_CNV 0.028270001 T_MISSION 570

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_DEG 45 T_NO_W 720

C_PITCH 3000 LOGGERDEVICE2 67 ROLL_MAX 3924 T_RSLEEP 2

C_ROLL_CLIMB 1600 LOGGERDEVICE3 -1 ROLL_MAXERRORS 2 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 ROLL_MIN 359 T_TURN_SAMPINT 10

C_VBD 2320 LOGGERS 3 ROLL_TIMEOUT 15 T_WATCHDOG 10

DEEPGLIDER 0 MASS 54634 R_PORT_OVSHOOT -20 UNCOM_BLEED 50

DEEPGLIDERMB 0 MAX_BUOY 150 R_STBD_OVSHOOT -20 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 8 SC_PROFILE 3.0 USE_BATHY 0

DEVICE2 -1 MINV_24V 19 SC_RECORDABOVE 2000.0 USE_ICE 0

DEVICE3 -1 MISSION 7 SC_XMITPROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7093372 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 1 SEABIRD_C_H 1.1118598 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_I -0.0010979992 VBD_MAX 3960

DIVE 219 N_DIVES 0 SEABIRD_C_J 0.00015928292 VBD_MAXERRORS 1

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_G 0.0042969952 VBD_MIN 500

D_BOOST 100 N_GPS 30 SEABIRD_T_H 0.00061766658 VBD_PUMP_AD_RATE_APOGEE 4

D_CALL 0 N_NOCOMM 5 SEABIRD_T_I 2.0722548e-05 VBD_PUMP_AD_RATE_SURFACE 6

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_J 1.9705003e-06 VBD_TIMEOUT 720

D_FLARE 2 PHONE_DEVICE 49 SIM_PITCH 0 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_SUPPLY 2 SIM_W 0 XPDR_INHIBIT 90

D_OFFGRID 1001 PITCH_ADJ_DBAND 1 SM_CC 300 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 231112,062028,2438.967,-3812.289,40,0.8,40,-14.0 TGT_NAME NW

_CALLS 1 TGT_LATLONG 2447.500,-3816.840

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.130,0.156

_SM_DEPTHo 1.98 KALMAN_X 87370.6,-286.9,-262.6,-104352.4,3122.1

_SM_ANGLEo -62.3 KALMAN_Y 38050.8,-277.2,326.4,-31957.1,-2808.1

GPS2 231112,063005,2438.933,-3812.314,13,1.2,13,-14.0 MHEAD_RNG_PITCHd_Wd 334.2,17597,-11.8,-6.111,-16.77

SPEED_LIMITS 0.106,0.203 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,0.998365 _24V_AH 23.0,42.769

SM_CCo 29596,10.05,0.138,0,0,1095,300.00 _10V_AH 10.0,35.743

SM_GC 2.82,8.18,0.80,10.05,0.034,0.031,0.138,152,2195,1095,-8.83,-0.65,300.00,0,0,0,0,0,0,26.42,26.55,25.59 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2437.06,-3828.10,221112,212134 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 344436

HUMID 59.13 DATA_FILE_SIZE 16756,595

INTERNAL_PRESSURE 9.0655 CAP_FILE_SIZE 222206,0

TCM_TEMP 23.40 CFSIZE 260034560,231661568

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

SC_FREEKB 7685792 GPS 231112,144534,2439.896,-3813.629,27,0.9,27,-14.1

TM_FREEKB 5943968

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 188 101.91 nil 0 0 0.00

Roll_motor 227 96 503.53 nil 0 0 0.00

VBD_pump_during_apogee 381 1679 14727.16 nil 0 0 0.00

VBD_pump_during_surface 10 137 31.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.44 nil 0 0 0.00

Iridium_during_connect 39 160 144.62 SciCon 29580 7 5385.57

Iridium_during_xfer 243 223 1249.62 TMICL 6012 13 1870.46

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.61

TT8 2538 19 502.53

LPSleep 24011 2 525.86

TT8_Active 822 19 162.93

TT8_Sampling 2391 39 951.74

TT8_CF8 405 45 185.54

TT8_Kalman 33 81 27.21

Analog_circuits 1913 12 229.63

GPS_charging 0 0 0.00

Compass 1930 15 289.60

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.86 -146.6 0.0 0.0 0 38 0.00 0.00 -12.23 0.000 2 0.000 0.000 152 2125 1455 0 0 0 0 0 0 28.83 28.83 28.83

41 -0.86 -146.6 2.0 0.0 1 118 9.48 2.55 -56.12 0.000 4 0.189 0.049 2722 546 2920 0 0 0 0 0 0 25.73 26.10 26.64

348 -0.73 -146.6 23.0 -9.9 32 357 0.15 2.50 0.00 0.000 6 0.142 0.024 2760 2185 2921 0 0 0 0 0 0 25.94 26.32 28.83

658 -0.67 -146.6 47.2 -7.5 63 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2186 2921 0 0 0 0 0 0 28.83 28.83 28.83

958 -0.61 -146.6 66.9 -6.0 93 960 0.15 0.00 0.00 0.000 6 0.134 0.000 2806 2186 2921 0 0 0 0 0 0 26.34 28.83 28.83

1258 -0.61 -146.6 81.2 -5.0 115 1259 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2185 2922 0 0 0 0 0 0 28.83 28.83 28.83

1557 -0.61 -146.6 100.5 -7.0 125 1565 0.00 2.50 0.00 0.000 4 0.000 0.042 2792 3757 2922 0 0 0 0 0 0 28.83 26.27 28.83

1617 -0.61 -146.6 104.7 -7.0 127 1625 0.00 2.47 0.00 0.000 6 0.000 0.021 2795 2096 2923 0 0 0 0 0 0 28.83 26.55 28.83

1947 -0.61 -146.6 127.2 -6.5 138 1948 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2095 2923 0 0 0 0 0 0 28.83 28.83 28.83

2248 -0.61 -146.6 143.4 -4.6 148 2255 0.00 2.45 0.00 0.000 4 0.000 0.038 2797 541 2923 0 0 0 0 0 0 28.83 26.34 28.83

2327 -0.61 -146.6 145.9 -4.2 150 2331 0.00 2.47 0.00 0.000 6 0.000 0.024 2783 2187 2922 0 0 0 0 0 0 28.83 26.52 28.83

2658 -0.61 -146.6 160.2 -4.1 157 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2187 2923 0 0 0 0 0 0 28.83 28.83 28.83

2958 -0.61 -146.6 169.8 -3.2 162 2965 0.00 2.47 0.00 0.000 4 0.000 0.041 2771 3752 2923 0 0 0 0 0 0 28.83 26.32 28.83

3127 -0.61 -146.6 175.3 -4.0 164 3131 0.00 2.45 0.00 0.000 6 0.000 0.020 2772 2101 2923 0 0 0 0 0 0 28.83 26.58 28.83

3428 -0.61 -146.6 198.4 -7.1 169 3430 0.10 0.00 0.00 0.000 6 0.140 0.000 2801 2100 2923 0 0 0 0 0 0 26.60 28.83 28.83

3728 -0.64 -146.6 215.5 -5.5 174 3729 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2100 2923 0 0 0 0 0 0 28.83 28.83 28.83

4029 -0.70 -146.6 227.3 -3.9 179 4030 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2100 2922 0 0 0 0 0 0 28.83 28.83 28.83

4328 -0.76 -146.6 242.5 -5.2 184 4336 0.15 2.42 0.00 0.000 4 0.070 0.037 2716 548 2922 0 0 0 0 0 0 26.70 26.36 28.83

4397 -0.79 -146.6 246.7 -5.8 185 4405 0.15 2.47 0.00 0.000 6 0.135 0.024 2747 2194 2922 0 0 0 0 0 0 26.19 26.53 28.83

4748 -0.76 -146.6 270.2 -6.4 191 4755 0.00 2.45 0.00 0.000 4 0.000 0.042 2737 3744 2921 0 0 0 0 0 0 28.83 26.32 28.83

4868 -0.73 -146.6 277.5 -6.2 193 4875 0.00 2.45 0.00 0.000 6 0.000 0.021 2736 2098 2921 0 0 0 0 0 0 28.83 26.58 28.83

5229 -0.70 -146.6 298.4 -5.9 199 5236 0.12 2.60 0.00 0.000 4 0.131 0.041 2763 3745 2922 0 0 0 0 0 0 26.52 26.32 28.83

5469 -0.70 -146.6 311.8 -5.6 203 5475 0.00 2.42 0.00 0.000 6 0.000 0.021 2763 2107 2920 0 0 0 0 0 0 28.83 26.58 28.83

5828 -0.70 -146.6 331.3 -5.4 209 5829 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2108 2919 0 0 0 0 0 0 28.83 28.83 28.83

6128 -0.70 -146.6 348.3 -5.7 214 6135 0.00 2.60 0.00 0.000 4 0.000 0.041 2751 3744 2918 0 0 0 0 0 0 28.83 26.32 28.83

6276 -0.70 -146.6 356.4 -6.3 216 6281 0.00 2.45 0.00 0.000 6 0.000 0.021 2752 2102 2918 0 0 0 0 0 0 28.83 26.58 28.83

6599 -0.70 -146.6 384.2 -8.2 222 6606 0.00 2.62 0.00 0.000 4 0.000 0.041 2739 3750 2916 0 0 0 0 0 0 28.83 26.30 28.83

6827 -0.70 -146.6 400.6 -9.0 225 6832 0.12 2.47 0.00 0.000 6 0.127 0.021 2776 2092 2916 0 0 0 0 0 0 26.29 26.56 28.83

7129 -0.72 -146.6 427.7 -7.3 230 7136 0.00 2.62 0.00 0.000 4 0.000 0.042 2765 3745 2915 0 0 0 0 0 0 28.83 26.30 28.83

7288 -0.75 -146.6 435.9 -7.0 232 7295 0.00 2.45 0.00 0.000 6 0.000 0.021 2765 2105 2915 0 0 0 0 0 0 28.83 26.55 28.83

7609 -0.75 -146.6 456.9 -5.6 238 7610 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2105 2914 0 0 0 0 0 0 28.83 28.83 28.83

7909 -0.75 -146.6 472.9 -5.4 243 7916 0.00 2.62 0.00 0.000 4 0.000 0.043 2753 3752 2913 0 0 0 0 0 0 28.83 26.28 28.83

8067 -0.75 -146.6 479.5 -5.4 245 8072 0.00 2.47 0.00 0.000 6 0.000 0.021 2753 2101 2913 0 0 0 0 0 0 28.83 26.56 28.83

8380 -0.75 -146.6 496.5 -4.6 251 8387 0.00 2.62 0.00 0.000 4 0.000 0.043 2741 3746 2912 0 0 0 0 0 0 28.83 26.28 28.83

8610 -0.75 -146.6 501.8 -4.5 253 8619 0.00 2.45 0.00 0.000 6 0.000 0.022 2741 2104 2911 0 0 0 0 0 0 28.83 26.55 28.83

8980 -0.75 -146.6 527.2 -5.3 257 8988 0.00 2.60 0.00 0.000 4 0.000 0.042 2730 3743 2910 0 0 0 0 0 0 28.83 26.27 28.83

9189 -0.75 -146.6 535.2 -5.7 258 9197 0.00 2.47 0.00 0.000 6 0.000 0.021 2729 2094 2911 0 0 0 0 0 0 28.83 26.55 28.83

9580 -0.75 -146.6 571.0 -7.5 262 9588 0.10 2.62 0.00 0.000 4 0.142 0.043 2748 3740 2908 0 0 0 0 0 0 26.59 26.26 28.83

9779 -0.75 -146.6 580.0 -7.6 263 9787 0.00 2.45 0.00 0.000 6 0.000 0.021 2747 2106 2907 0 0 0 0 0 0 28.83 26.55 28.83

10179 -0.75 -146.6 614.1 -7.1 267 10180 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2105 2906 0 0 0 0 0 0 28.83 28.83 28.83

10539 -0.75 -146.6 636.1 -6.3 270 10547 0.00 2.65 0.00 0.000 4 0.000 0.043 2735 3748 2905 0 0 0 0 0 0 28.83 26.24 28.83

10741 -0.75 -146.6 642.9 -6.0 271 10747 0.00 2.45 0.00 0.000 6 0.000 0.022 2735 2108 2905 0 0 0 0 0 0 28.83 26.53 28.83

11140 -0.75 -146.6 669.5 -5.5 275 11148 0.00 2.60 0.00 0.000 4 0.000 0.042 2724 3737 2904 0 0 0 0 0 0 28.83 26.23 28.83

11239 -0.75 -146.6 669.5 -5.5 275 11247 0.12 2.45 0.00 0.000 6 0.126 0.021 2760 2105 2904 0 0 0 0 0 0 26.25 26.53 28.83

11621 -0.79 -146.6 696.9 -5.7 279 11628 0.00 2.45 0.00 0.000 4 0.000 0.039 2761 550 2903 0 0 0 0 0 0 28.83 26.27 28.83

11709 -0.84 -146.6 696.9 -5.7 279 11717 0.00 2.50 0.00 0.000 6 0.000 0.025 2752 2195 2903 0 0 0 0 0 0 28.83 26.46 28.83

12100 -0.90 -146.6 727.7 -6.4 283 12108 0.12 2.60 0.00 0.000 4 0.080 0.038 2682 544 2902 0 0 0 0 0 0 26.70 26.25 28.83

12269 -0.94 -146.6 737.7 -7.0 284 12277 0.00 2.50 0.00 0.000 6 0.000 0.025 2670 2185 2901 0 0 0 0 0 0 28.83 26.44 28.83

12580 -0.90 -146.6 767.4 -8.3 287 12588 0.15 2.47 0.00 0.000 4 0.143 0.044 2703 3741 2900 0 0 0 0 0 0 26.35 26.18 28.83

12659 -0.85 -146.6 767.4 -8.3 287 12667 0.00 2.47 0.00 0.000 6 0.000 0.022 2703 2100 2900 0 0 0 0 0 0 28.83 26.49 28.83

13060 -0.82 -146.6 799.5 -6.7 291 13068 0.12 2.62 0.00 0.000 4 0.135 0.044 2728 3736 2898 0 0 0 0 0 0 26.48 26.16 28.83

13169 -0.79 -146.6 799.5 -6.7 291 13179 0.00 2.47 0.00 0.000 6 0.000 0.023 2728 2099 2899 0 0 0 0 0 0 28.83 26.48 28.83

13540 -0.79 -146.6 824.8 -5.3 295 13547 0.00 2.65 0.00 0.000 4 0.000 0.044 2717 3750 2898 0 0 0 0 0 0 28.83 26.14 28.83

13781 -0.79 -146.6 839.0 -5.5 297 13787 0.00 2.47 0.00 0.000 6 0.000 0.024 2717 2105 2897 0 0 0 0 0 0 28.83 26.47 28.83

14140 -0.79 -146.6 859.8 -5.8 300 14147 0.00 2.65 0.00 0.000 4 0.000 0.044 2704 3747 2896 0 0 0 0 0 0 28.83 26.13 28.83

14329 -0.79 -146.6 866.9 -5.8 301 14337 0.15 2.50 0.00 0.000 6 0.125 0.024 2749 2103 2896 0 0 0 0 0 0 26.11 26.45 28.83

14741 -0.84 -146.6 894.0 -5.6 305 14747 0.00 2.47 0.00 0.000 4 0.000 0.042 2750 551 2895 0 0 0 0 0 0 28.83 26.16 28.83

14849 -0.89 -146.6 894.0 -5.6 305 14858 0.00 2.50 0.00 0.000 6 0.000 0.026 2741 2186 2894 0 0 0 0 0 0 28.83 26.40 28.83

15220 -0.96 -146.6 926.3 -6.7 309 15228 0.15 2.60 0.00 0.000 4 0.073 0.041 2660 554 2893 0 0 0 0 0 0 26.67 26.13 28.83

15461 -0.96 -146.6 948.7 -8.2 311 15468 0.15 2.45 0.00 0.000 6 0.146 0.028 2691 2193 2892 0 0 0 0 0 0 25.96 26.38 28.83

15820 -0.91 -146.6 978.7 -8.6 314 15821 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2193 2891 0 0 0 0 0 0 28.83 28.83 28.83

15977 end dive: TARGET_DEPTH_EXCEEDED

state 15977 begin apogee

15984 -0.29 0.0 991.5 -8.1 317 16111 0.62 0.00 123.38 1.679 6 0.106 0.000 2901 1572 2319 0 0 0 0 0 0 25.65 28.83 23.48

16113 end apogee: CONTROL_FINISHED_OK

state 16113 begin climb

16117 0.86 146.6 996.5 0.0 323 16253 1.05 0.00 131.50 1.649 6 0.064 0.000 3275 1572 1720 0 0 0 0 0 0 24.94 28.83 23.01

16630 0.71 146.6 964.3 8.0 339 16638 0.17 2.62 0.00 0.000 4 0.142 0.037 3226 3199 1713 0 0 0 0 0 0 25.91 26.08 28.83

16719 0.57 146.6 964.3 8.0 339 16728 0.17 2.58 0.00 0.000 6 0.142 0.030 3188 1572 1712 0 0 0 0 0 0 25.91 26.17 28.83

17110 0.51 146.6 934.3 6.2 343 17111 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 1572 1711 0 0 0 0 0 0 28.83 28.83 28.83

17470 0.50 166.2 914.5 5.5 346 17488 0.00 0.00 16.27 1.553 6 0.000 0.000 3188 1572 1641 0 0 0 0 0 0 28.83 28.83 24.58

17830 0.47 169.6 892.2 6.0 349 17841 0.12 2.67 4.15 1.177 4 0.142 0.037 3150 3210 1627 0 0 0 0 0 0 26.21 26.21 24.44

17940 0.45 169.6 884.8 6.3 350 17947 0.00 2.55 0.00 0.000 6 0.000 0.030 3161 1583 1627 0 0 0 0 0 0 28.83 26.24 28.83

18300 0.45 169.6 857.0 7.5 353 18307 0.00 2.58 0.00 0.000 4 0.000 0.036 3161 3198 1627 0 0 0 0 0 0 28.83 26.29 28.83

18541 0.47 169.6 837.4 8.0 355 18547 0.00 2.53 0.00 0.000 6 0.000 0.031 3173 1575 1627 0 0 0 0 0 0 28.83 26.36 28.83

18899 0.47 169.6 808.7 8.0 358 18907 0.00 2.60 0.00 0.000 4 0.000 0.036 3173 3206 1625 0 0 0 0 0 0 28.83 26.32 28.83

19129 0.47 169.6 799.8 7.8 359 19139 0.12 2.55 0.00 0.000 6 0.132 0.029 3149 1577 1625 0 0 0 0 0 0 26.18 26.38 28.83

19500 0.50 169.8 770.3 6.1 363 19507 0.00 1.98 0.00 0.000 4 0.000 0.049 3157 356 1624 0 0 0 0 0 0 28.83 26.24 28.83

19679 0.56 185.0 764.1 5.7 364 19699 0.00 1.95 14.70 1.478 6 0.000 0.026 3156 1653 1564 0 0 0 0 0 0 28.83 26.53 24.68

20090 0.63 194.9 736.8 5.8 368 20109 0.12 2.15 9.73 1.405 4 0.081 0.050 3236 353 1524 0 0 0 0 0 0 26.46 26.08 24.63

20169 0.70 204.7 736.8 5.8 368 20188 0.00 1.98 10.48 1.408 6 0.000 0.026 3237 1648 1484 0 0 0 0 0 0 28.83 26.23 24.46

20570 0.67 204.7 701.1 7.4 372 20577 0.00 2.47 0.00 0.000 4 0.000 0.036 3237 3202 1482 0 0 0 0 0 0 28.83 26.18 28.83

20690 0.62 204.7 692.5 7.3 373 20698 0.12 2.55 0.00 0.000 6 0.112 0.031 3204 1581 1482 0 0 0 0 0 0 26.00 26.25 28.83

21050 0.64 220.7 673.6 5.6 376 21067 0.00 0.00 15.50 1.424 6 0.000 0.000 3204 1582 1418 0 0 0 0 0 0 28.83 28.83 24.65

21410 0.68 240.7 653.2 5.5 379 21433 0.00 2.05 18.48 1.421 4 0.000 0.051 3212 358 1336 0 0 0 0 0 0 28.83 25.82 24.51

21541 0.72 247.3 645.6 5.9 380 21552 0.00 1.98 7.03 1.257 6 0.000 0.026 3212 1648 1310 0 0 0 0 0 0 28.83 26.10 24.38

21871 0.76 247.3 614.7 8.4 383 21879 0.10 2.12 0.00 0.000 4 0.094 0.050 3282 349 1309 0 0 0 0 0 0 26.35 26.09 28.83

22050 0.76 247.3 601.0 9.5 384 22055 0.12 1.98 0.00 0.000 6 0.137 0.026 3247 1648 1309 0 0 0 0 0 0 26.09 26.36 28.83

22463 0.72 247.3 553.2 10.1 388 22470 0.00 2.50 0.00 0.000 4 0.000 0.036 3247 3214 1309 0 0 0 0 0 0 28.83 26.28 28.83

22542 0.68 247.3 553.2 10.1 388 22550 0.12 2.58 0.00 0.000 6 0.138 0.030 3222 1579 1309 0 0 0 0 0 0 26.12 26.33 28.83

22943 0.69 251.8 524.2 6.0 392 22952 0.00 2.03 4.97 1.100 4 0.000 0.050 3230 344 1294 0 0 0 0 0 0 28.83 26.34 24.67

23043 0.70 256.4 524.2 6.0 392 23054 0.00 2.00 6.22 1.168 6 0.000 0.026 3230 1651 1273 0 0 0 0 0 0 28.83 26.46 24.75

23403 0.72 276.5 498.5 5.5 396 23424 0.00 0.00 18.92 1.327 6 0.000 0.000 3230 1651 1191 0 0 0 0 0 0 28.83 28.83 24.68

23703 0.72 276.5 473.9 8.4 401 23704 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 1651 1190 0 0 0 0 0 0 28.83 28.83 28.83

24003 0.72 276.5 447.4 8.8 406 24010 0.00 2.12 0.00 0.000 4 0.000 0.049 3240 355 1190 0 0 0 0 0 0 28.83 26.17 28.83

24131 0.72 276.5 437.5 8.4 408 24135 0.00 1.95 0.00 0.000 6 0.000 0.026 3240 1645 1191 0 0 0 0 0 0 28.83 26.43 28.83

24473 0.72 276.5 412.5 6.9 414 24480 0.00 2.10 0.00 0.000 4 0.000 0.048 3250 351 1189 0 0 0 0 0 0 28.83 26.23 28.83

24622 0.72 276.5 404.1 6.9 416 24626 0.00 1.95 0.00 0.000 6 0.000 0.025 3250 1647 1189 0 0 0 0 0 0 28.83 26.50 28.83

24943 0.72 276.5 377.7 7.6 422 24944 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 1646 1190 0 0 0 0 0 0 28.83 28.83 28.83

25243 0.72 276.5 353.9 8.0 427 25250 0.00 2.10 0.00 0.000 4 0.000 0.047 3260 349 1189 0 0 0 0 0 0 28.83 26.25 28.83

25312 0.72 276.5 349.0 8.1 428 25316 0.00 1.95 0.00 0.000 6 0.000 0.024 3260 1647 1190 0 0 0 0 0 0 28.83 26.54 28.83

25654 0.72 276.5 319.5 8.4 434 25662 0.00 2.47 0.00 0.000 4 0.000 0.036 3260 3206 1190 0 0 0 0 0 0 28.83 26.33 28.83

25714 0.72 276.5 313.9 8.7 435 25722 0.15 2.55 0.00 0.000 6 0.125 0.030 3226 1575 1189 0 0 0 0 0 0 26.15 26.39 28.83

26075 0.79 276.5 281.3 9.4 441 26082 0.00 2.58 0.00 0.000 4 0.000 0.035 3226 3205 1190 0 0 0 0 0 0 28.83 26.34 28.83

26194 0.87 276.5 269.7 9.6 443 26202 0.08 2.53 0.00 0.000 6 0.050 0.029 3303 1575 1189 0 0 0 0 0 0 26.34 26.39 28.83

26555 0.82 276.5 235.1 9.4 449 26562 0.15 2.55 0.00 0.000 4 0.125 0.034 3257 3200 1189 0 0 0 0 0 0 26.41 26.35 28.83

26603 0.77 276.5 235.1 9.4 449 26612 0.00 2.53 0.00 0.000 6 0.000 0.029 3267 1581 1189 0 0 0 0 0 0 28.83 26.39 28.83

26914 0.77 276.5 209.0 6.9 455 26915 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 1580 1190 0 0 0 0 0 0 28.83 28.83 28.83

27214 0.77 276.5 188.7 6.8 460 27222 0.00 2.55 0.00 0.000 4 0.000 0.034 3267 3200 1189 0 0 0 0 0 0 28.83 26.32 28.83

27263 0.77 276.5 188.7 6.8 460 27268 0.12 2.53 0.00 0.000 6 0.133 0.029 3242 1579 1190 0 0 0 0 0 0 26.19 26.39 28.83

27564 0.82 276.5 159.5 8.4 465 27572 0.00 2.55 0.00 0.000 4 0.000 0.034 3242 3202 1190 0 0 0 0 0 0 28.83 26.32 28.83

27644 0.88 276.5 154.4 8.5 466 27652 0.00 2.53 0.00 0.000 6 0.000 0.028 3253 1575 1190 0 0 0 0 0 0 28.83 26.40 28.83

27956 0.95 276.5 128.8 7.4 476 27962 0.15 1.95 0.00 0.000 4 0.068 0.049 3351 329 1190 0 0 0 0 0 0 26.68 26.22 28.83

28173 0.86 276.5 109.1 9.8 483 28178 0.25 1.98 0.00 0.000 6 0.122 0.023 3273 1656 1190 0 0 0 0 0 0 26.03 26.56 28.83

28487 0.89 276.5 83.9 7.9 494 28493 0.00 2.08 0.00 0.000 4 0.000 0.047 3281 357 1190 0 0 0 0 0 0 28.83 26.23 28.83

28616 0.89 276.5 73.5 8.0 499 28624 0.00 1.92 0.00 0.000 6 0.000 0.024 3281 1648 1190 0 0 0 0 0 0 28.83 26.56 28.83

28926 0.91 276.5 50.4 7.4 530 28935 0.00 2.08 0.00 0.000 4 0.000 0.047 3291 352 1192 0 0 0 0 0 0 28.83 26.23 28.83

29015 0.91 276.5 43.3 8.0 539 29024 0.00 1.95 0.00 0.000 6 0.000 0.024 3291 1650 1192 0 0 0 0 0 0 28.83 26.57 28.83

29326 0.91 276.5 20.2 7.4 570 29334 0.00 2.10 0.00 0.000 4 0.000 0.047 3301 348 1195 0 0 0 0 0 0 28.83 26.23 28.83

29426 0.91 276.5 12.0 8.2 580 29434 0.00 1.92 0.00 0.000 6 0.000 0.023 3301 1645 1192 0 0 0 0 0 0 28.83 26.58 28.83

29543 end climb: SURFACE_DEPTH_REACHED

state 29543 begin surface coast

29574 end surface coast: CONTROL_FINISHED_OK

state 29575 begin surface

ID	189	HEADING	-1	ROLL_DEG	45	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING	90	C_ROLL_DIVE	2150	ALTIM_PULSE	3
DIVE	219	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1600	ALTIM_SENSITIVITY	4
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	XPDR_VALID	4
D_SURF	3	TGT_DEFAULT_LAT	2434	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	2	TGT_DEFAULT_LON	-3802	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	INT_PRESSURE_YINT	2.2
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	-20	DEEPGLIDER	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	100	FILEMGR	0	ROLL_MAXERRORS	2	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	1	VBD_MIN	500	DEVICE3	-1
D_SAFE	0	N_NOCOMM	5	VBD_MAX	3960	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2320	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	53
T_DIVE	540	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	67
T_MISSION	570	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	10	T_GPS	15	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	720	N_GPS	30	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	20	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-47927.738	AH0_24V	150	RAFOS_DEVICE	-1
USE_BATHY	0	T_RSLEEP	2	AH0_10V	97	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	19	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	SIM_PITCH	0
D_OFFGRID	1001	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0042969952
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00061766658
RELAUNCH	1	PITCH_MIN	165	PHONE_SUPPLY	2	SEABIRD_T_I	2.0722548e-05
APOGEE_PITCH	-5	PITCH_MAX	3928	PRESSURE_YINT	-80.603096	SEABIRD_T_J	1.9705003e-06
MAX_BUOY	150	C_PITCH	3000	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-9.7093372
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1118598
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010979992
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00015928292
RHO	1.0233001	PITCH_GAIN	17.5	COMPASS_USE	0	SC_RECORDABOVE	2000.0
MASS	54634	PITCH_TIMEOUT	18	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
NAV_MODE	1	PITCH_AD_RATE	165	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10	TM_RECORDABOVE	200.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITPROFILE	3.0
HD_B	0.01103	ROLL_MIN	359	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
HD_C	2.7848e-05	ROLL_MAX	3924	ALTIM_PING_DELTA	5	TM_XMITRAW	0.0

GPS1	231112,062028,2438.967,-3812.289,40,0.8,40,-14.0	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	2447.500,-3816.840
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.130,0.156
_SM_DEPTHo	1.98	KALMAN_X	87370.6,-286.9,-262.6,-104352.4,3122.1
_SM_ANGLEo	-62.3	KALMAN_Y	38050.8,-277.2,326.4,-31957.1,-2808.1
GPS2	231112,063005,2438.933,-3812.314,13,1.2,13,-14.0	MHEAD_RNG_PITCHd_Wd	334.2,17597,-11.8,-6.111,-16.77
SPEED_LIMITS	0.106,0.203	D_GRID	990

FINISH	1.1,0.998365	_24V_AH	23.0,42.769
SM_CCo	29596,10.05,0.138,0,0,1095,300.00	_10V_AH	10.0,35.743
SM_GC	2.82,8.18,0.80,10.05,0.034,0.031,0.138,152,2195,1095,-8.83,-0.65,300.00,0,0,0,0,0,0,26.42,26.55,25.59	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2437.06,-3828.10,221112,212134	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	344436
HUMID	59.13	DATA_FILE_SIZE	16756,595
INTERNAL_PRESSURE	9.0655	CAP_FILE_SIZE	222206,0
TCM_TEMP	23.40	CFSIZE	260034560,231661568
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	7685792	GPS	231112,144534,2439.896,-3813.629,27,0.9,27,-14.1
TM_FREEKB	5943968

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	188	101.91	nil	0	0	0.00
Roll_motor	227	96	503.53	nil	0	0	0.00
VBD_pump_during_apogee	381	1679	14727.16	nil	0	0	0.00
VBD_pump_during_surface	10	137	31.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.44	nil	0	0	0.00
Iridium_during_connect	39	160	144.62	SciCon	29580	7	5385.57
Iridium_during_xfer	243	223	1249.62	TMICL	6012	13	1870.46
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.61
TT8	2538	19	502.53
LPSleep	24011	2	525.86
TT8_Active	822	19	162.93
TT8_Sampling	2391	39	951.74
TT8_CF8	405	45	185.54
TT8_Kalman	33	81	27.21
Analog_circuits	1913	12	229.63
GPS_charging	0	0	0.00
Compass	1930	15	289.60
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.86	-146.6	0.0	0.0	0	38	0.00	0.00	-12.23	0.000	2	0.000	0.000	152	2125	1455	0	0	0	0	0	0	28.83	28.83	28.83
41	-0.86	-146.6	2.0	0.0	1	118	9.48	2.55	-56.12	0.000	4	0.189	0.049	2722	546	2920	0	0	0	0	0	0	25.73	26.10	26.64
348	-0.73	-146.6	23.0	-9.9	32	357	0.15	2.50	0.00	0.000	6	0.142	0.024	2760	2185	2921	0	0	0	0	0	0	25.94	26.32	28.83
658	-0.67	-146.6	47.2	-7.5	63	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2186	2921	0	0	0	0	0	0	28.83	28.83	28.83
958	-0.61	-146.6	66.9	-6.0	93	960	0.15	0.00	0.00	0.000	6	0.134	0.000	2806	2186	2921	0	0	0	0	0	0	26.34	28.83	28.83
1258	-0.61	-146.6	81.2	-5.0	115	1259	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2185	2922	0	0	0	0	0	0	28.83	28.83	28.83
1557	-0.61	-146.6	100.5	-7.0	125	1565	0.00	2.50	0.00	0.000	4	0.000	0.042	2792	3757	2922	0	0	0	0	0	0	28.83	26.27	28.83
1617	-0.61	-146.6	104.7	-7.0	127	1625	0.00	2.47	0.00	0.000	6	0.000	0.021	2795	2096	2923	0	0	0	0	0	0	28.83	26.55	28.83
1947	-0.61	-146.6	127.2	-6.5	138	1948	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2095	2923	0	0	0	0	0	0	28.83	28.83	28.83
2248	-0.61	-146.6	143.4	-4.6	148	2255	0.00	2.45	0.00	0.000	4	0.000	0.038	2797	541	2923	0	0	0	0	0	0	28.83	26.34	28.83
2327	-0.61	-146.6	145.9	-4.2	150	2331	0.00	2.47	0.00	0.000	6	0.000	0.024	2783	2187	2922	0	0	0	0	0	0	28.83	26.52	28.83
2658	-0.61	-146.6	160.2	-4.1	157	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2187	2923	0	0	0	0	0	0	28.83	28.83	28.83
2958	-0.61	-146.6	169.8	-3.2	162	2965	0.00	2.47	0.00	0.000	4	0.000	0.041	2771	3752	2923	0	0	0	0	0	0	28.83	26.32	28.83
3127	-0.61	-146.6	175.3	-4.0	164	3131	0.00	2.45	0.00	0.000	6	0.000	0.020	2772	2101	2923	0	0	0	0	0	0	28.83	26.58	28.83
3428	-0.61	-146.6	198.4	-7.1	169	3430	0.10	0.00	0.00	0.000	6	0.140	0.000	2801	2100	2923	0	0	0	0	0	0	26.60	28.83	28.83
3728	-0.64	-146.6	215.5	-5.5	174	3729	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2100	2923	0	0	0	0	0	0	28.83	28.83	28.83
4029	-0.70	-146.6	227.3	-3.9	179	4030	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2100	2922	0	0	0	0	0	0	28.83	28.83	28.83
4328	-0.76	-146.6	242.5	-5.2	184	4336	0.15	2.42	0.00	0.000	4	0.070	0.037	2716	548	2922	0	0	0	0	0	0	26.70	26.36	28.83
4397	-0.79	-146.6	246.7	-5.8	185	4405	0.15	2.47	0.00	0.000	6	0.135	0.024	2747	2194	2922	0	0	0	0	0	0	26.19	26.53	28.83
4748	-0.76	-146.6	270.2	-6.4	191	4755	0.00	2.45	0.00	0.000	4	0.000	0.042	2737	3744	2921	0	0	0	0	0	0	28.83	26.32	28.83
4868	-0.73	-146.6	277.5	-6.2	193	4875	0.00	2.45	0.00	0.000	6	0.000	0.021	2736	2098	2921	0	0	0	0	0	0	28.83	26.58	28.83
5229	-0.70	-146.6	298.4	-5.9	199	5236	0.12	2.60	0.00	0.000	4	0.131	0.041	2763	3745	2922	0	0	0	0	0	0	26.52	26.32	28.83
5469	-0.70	-146.6	311.8	-5.6	203	5475	0.00	2.42	0.00	0.000	6	0.000	0.021	2763	2107	2920	0	0	0	0	0	0	28.83	26.58	28.83
5828	-0.70	-146.6	331.3	-5.4	209	5829	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2108	2919	0	0	0	0	0	0	28.83	28.83	28.83
6128	-0.70	-146.6	348.3	-5.7	214	6135	0.00	2.60	0.00	0.000	4	0.000	0.041	2751	3744	2918	0	0	0	0	0	0	28.83	26.32	28.83
6276	-0.70	-146.6	356.4	-6.3	216	6281	0.00	2.45	0.00	0.000	6	0.000	0.021	2752	2102	2918	0	0	0	0	0	0	28.83	26.58	28.83
6599	-0.70	-146.6	384.2	-8.2	222	6606	0.00	2.62	0.00	0.000	4	0.000	0.041	2739	3750	2916	0	0	0	0	0	0	28.83	26.30	28.83
6827	-0.70	-146.6	400.6	-9.0	225	6832	0.12	2.47	0.00	0.000	6	0.127	0.021	2776	2092	2916	0	0	0	0	0	0	26.29	26.56	28.83
7129	-0.72	-146.6	427.7	-7.3	230	7136	0.00	2.62	0.00	0.000	4	0.000	0.042	2765	3745	2915	0	0	0	0	0	0	28.83	26.30	28.83
7288	-0.75	-146.6	435.9	-7.0	232	7295	0.00	2.45	0.00	0.000	6	0.000	0.021	2765	2105	2915	0	0	0	0	0	0	28.83	26.55	28.83
7609	-0.75	-146.6	456.9	-5.6	238	7610	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2105	2914	0	0	0	0	0	0	28.83	28.83	28.83
7909	-0.75	-146.6	472.9	-5.4	243	7916	0.00	2.62	0.00	0.000	4	0.000	0.043	2753	3752	2913	0	0	0	0	0	0	28.83	26.28	28.83
8067	-0.75	-146.6	479.5	-5.4	245	8072	0.00	2.47	0.00	0.000	6	0.000	0.021	2753	2101	2913	0	0	0	0	0	0	28.83	26.56	28.83
8380	-0.75	-146.6	496.5	-4.6	251	8387	0.00	2.62	0.00	0.000	4	0.000	0.043	2741	3746	2912	0	0	0	0	0	0	28.83	26.28	28.83
8610	-0.75	-146.6	501.8	-4.5	253	8619	0.00	2.45	0.00	0.000	6	0.000	0.022	2741	2104	2911	0	0	0	0	0	0	28.83	26.55	28.83
8980	-0.75	-146.6	527.2	-5.3	257	8988	0.00	2.60	0.00	0.000	4	0.000	0.042	2730	3743	2910	0	0	0	0	0	0	28.83	26.27	28.83
9189	-0.75	-146.6	535.2	-5.7	258	9197	0.00	2.47	0.00	0.000	6	0.000	0.021	2729	2094	2911	0	0	0	0	0	0	28.83	26.55	28.83
9580	-0.75	-146.6	571.0	-7.5	262	9588	0.10	2.62	0.00	0.000	4	0.142	0.043	2748	3740	2908	0	0	0	0	0	0	26.59	26.26	28.83
9779	-0.75	-146.6	580.0	-7.6	263	9787	0.00	2.45	0.00	0.000	6	0.000	0.021	2747	2106	2907	0	0	0	0	0	0	28.83	26.55	28.83
10179	-0.75	-146.6	614.1	-7.1	267	10180	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2105	2906	0	0	0	0	0	0	28.83	28.83	28.83
10539	-0.75	-146.6	636.1	-6.3	270	10547	0.00	2.65	0.00	0.000	4	0.000	0.043	2735	3748	2905	0	0	0	0	0	0	28.83	26.24	28.83
10741	-0.75	-146.6	642.9	-6.0	271	10747	0.00	2.45	0.00	0.000	6	0.000	0.022	2735	2108	2905	0	0	0	0	0	0	28.83	26.53	28.83
11140	-0.75	-146.6	669.5	-5.5	275	11148	0.00	2.60	0.00	0.000	4	0.000	0.042	2724	3737	2904	0	0	0	0	0	0	28.83	26.23	28.83
11239	-0.75	-146.6	669.5	-5.5	275	11247	0.12	2.45	0.00	0.000	6	0.126	0.021	2760	2105	2904	0	0	0	0	0	0	26.25	26.53	28.83
11621	-0.79	-146.6	696.9	-5.7	279	11628	0.00	2.45	0.00	0.000	4	0.000	0.039	2761	550	2903	0	0	0	0	0	0	28.83	26.27	28.83
11709	-0.84	-146.6	696.9	-5.7	279	11717	0.00	2.50	0.00	0.000	6	0.000	0.025	2752	2195	2903	0	0	0	0	0	0	28.83	26.46	28.83
12100	-0.90	-146.6	727.7	-6.4	283	12108	0.12	2.60	0.00	0.000	4	0.080	0.038	2682	544	2902	0	0	0	0	0	0	26.70	26.25	28.83
12269	-0.94	-146.6	737.7	-7.0	284	12277	0.00	2.50	0.00	0.000	6	0.000	0.025	2670	2185	2901	0	0	0	0	0	0	28.83	26.44	28.83
12580	-0.90	-146.6	767.4	-8.3	287	12588	0.15	2.47	0.00	0.000	4	0.143	0.044	2703	3741	2900	0	0	0	0	0	0	26.35	26.18	28.83
12659	-0.85	-146.6	767.4	-8.3	287	12667	0.00	2.47	0.00	0.000	6	0.000	0.022	2703	2100	2900	0	0	0	0	0	0	28.83	26.49	28.83
13060	-0.82	-146.6	799.5	-6.7	291	13068	0.12	2.62	0.00	0.000	4	0.135	0.044	2728	3736	2898	0	0	0	0	0	0	26.48	26.16	28.83
13169	-0.79	-146.6	799.5	-6.7	291	13179	0.00	2.47	0.00	0.000	6	0.000	0.023	2728	2099	2899	0	0	0	0	0	0	28.83	26.48	28.83
13540	-0.79	-146.6	824.8	-5.3	295	13547	0.00	2.65	0.00	0.000	4	0.000	0.044	2717	3750	2898	0	0	0	0	0	0	28.83	26.14	28.83
13781	-0.79	-146.6	839.0	-5.5	297	13787	0.00	2.47	0.00	0.000	6	0.000	0.024	2717	2105	2897	0	0	0	0	0	0	28.83	26.47	28.83
14140	-0.79	-146.6	859.8	-5.8	300	14147	0.00	2.65	0.00	0.000	4	0.000	0.044	2704	3747	2896	0	0	0	0	0	0	28.83	26.13	28.83
14329	-0.79	-146.6	866.9	-5.8	301	14337	0.15	2.50	0.00	0.000	6	0.125	0.024	2749	2103	2896	0	0	0	0	0	0	26.11	26.45	28.83
14741	-0.84	-146.6	894.0	-5.6	305	14747	0.00	2.47	0.00	0.000	4	0.000	0.042	2750	551	2895	0	0	0	0	0	0	28.83	26.16	28.83
14849	-0.89	-146.6	894.0	-5.6	305	14858	0.00	2.50	0.00	0.000	6	0.000	0.026	2741	2186	2894	0	0	0	0	0	0	28.83	26.40	28.83
15220	-0.96	-146.6	926.3	-6.7	309	15228	0.15	2.60	0.00	0.000	4	0.073	0.041	2660	554	2893	0	0	0	0	0	0	26.67	26.13	28.83
15461	-0.96	-146.6	948.7	-8.2	311	15468	0.15	2.45	0.00	0.000	6	0.146	0.028	2691	2193	2892	0	0	0	0	0	0	25.96	26.38	28.83
15820	-0.91	-146.6	978.7	-8.6	314	15821	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2193	2891	0	0	0	0	0	0	28.83	28.83	28.83
15977	end dive: TARGET_DEPTH_EXCEEDED
state	15977	begin apogee
15984	-0.29	0.0	991.5	-8.1	317	16111	0.62	0.00	123.38	1.679	6	0.106	0.000	2901	1572	2319	0	0	0	0	0	0	25.65	28.83	23.48
16113	end apogee: CONTROL_FINISHED_OK
state	16113	begin climb
16117	0.86	146.6	996.5	0.0	323	16253	1.05	0.00	131.50	1.649	6	0.064	0.000	3275	1572	1720	0	0	0	0	0	0	24.94	28.83	23.01
16630	0.71	146.6	964.3	8.0	339	16638	0.17	2.62	0.00	0.000	4	0.142	0.037	3226	3199	1713	0	0	0	0	0	0	25.91	26.08	28.83
16719	0.57	146.6	964.3	8.0	339	16728	0.17	2.58	0.00	0.000	6	0.142	0.030	3188	1572	1712	0	0	0	0	0	0	25.91	26.17	28.83
17110	0.51	146.6	934.3	6.2	343	17111	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	1572	1711	0	0	0	0	0	0	28.83	28.83	28.83
17470	0.50	166.2	914.5	5.5	346	17488	0.00	0.00	16.27	1.553	6	0.000	0.000	3188	1572	1641	0	0	0	0	0	0	28.83	28.83	24.58
17830	0.47	169.6	892.2	6.0	349	17841	0.12	2.67	4.15	1.177	4	0.142	0.037	3150	3210	1627	0	0	0	0	0	0	26.21	26.21	24.44
17940	0.45	169.6	884.8	6.3	350	17947	0.00	2.55	0.00	0.000	6	0.000	0.030	3161	1583	1627	0	0	0	0	0	0	28.83	26.24	28.83
18300	0.45	169.6	857.0	7.5	353	18307	0.00	2.58	0.00	0.000	4	0.000	0.036	3161	3198	1627	0	0	0	0	0	0	28.83	26.29	28.83
18541	0.47	169.6	837.4	8.0	355	18547	0.00	2.53	0.00	0.000	6	0.000	0.031	3173	1575	1627	0	0	0	0	0	0	28.83	26.36	28.83
18899	0.47	169.6	808.7	8.0	358	18907	0.00	2.60	0.00	0.000	4	0.000	0.036	3173	3206	1625	0	0	0	0	0	0	28.83	26.32	28.83
19129	0.47	169.6	799.8	7.8	359	19139	0.12	2.55	0.00	0.000	6	0.132	0.029	3149	1577	1625	0	0	0	0	0	0	26.18	26.38	28.83
19500	0.50	169.8	770.3	6.1	363	19507	0.00	1.98	0.00	0.000	4	0.000	0.049	3157	356	1624	0	0	0	0	0	0	28.83	26.24	28.83
19679	0.56	185.0	764.1	5.7	364	19699	0.00	1.95	14.70	1.478	6	0.000	0.026	3156	1653	1564	0	0	0	0	0	0	28.83	26.53	24.68
20090	0.63	194.9	736.8	5.8	368	20109	0.12	2.15	9.73	1.405	4	0.081	0.050	3236	353	1524	0	0	0	0	0	0	26.46	26.08	24.63
20169	0.70	204.7	736.8	5.8	368	20188	0.00	1.98	10.48	1.408	6	0.000	0.026	3237	1648	1484	0	0	0	0	0	0	28.83	26.23	24.46
20570	0.67	204.7	701.1	7.4	372	20577	0.00	2.47	0.00	0.000	4	0.000	0.036	3237	3202	1482	0	0	0	0	0	0	28.83	26.18	28.83
20690	0.62	204.7	692.5	7.3	373	20698	0.12	2.55	0.00	0.000	6	0.112	0.031	3204	1581	1482	0	0	0	0	0	0	26.00	26.25	28.83
21050	0.64	220.7	673.6	5.6	376	21067	0.00	0.00	15.50	1.424	6	0.000	0.000	3204	1582	1418	0	0	0	0	0	0	28.83	28.83	24.65
21410	0.68	240.7	653.2	5.5	379	21433	0.00	2.05	18.48	1.421	4	0.000	0.051	3212	358	1336	0	0	0	0	0	0	28.83	25.82	24.51
21541	0.72	247.3	645.6	5.9	380	21552	0.00	1.98	7.03	1.257	6	0.000	0.026	3212	1648	1310	0	0	0	0	0	0	28.83	26.10	24.38
21871	0.76	247.3	614.7	8.4	383	21879	0.10	2.12	0.00	0.000	4	0.094	0.050	3282	349	1309	0	0	0	0	0	0	26.35	26.09	28.83
22050	0.76	247.3	601.0	9.5	384	22055	0.12	1.98	0.00	0.000	6	0.137	0.026	3247	1648	1309	0	0	0	0	0	0	26.09	26.36	28.83
22463	0.72	247.3	553.2	10.1	388	22470	0.00	2.50	0.00	0.000	4	0.000	0.036	3247	3214	1309	0	0	0	0	0	0	28.83	26.28	28.83
22542	0.68	247.3	553.2	10.1	388	22550	0.12	2.58	0.00	0.000	6	0.138	0.030	3222	1579	1309	0	0	0	0	0	0	26.12	26.33	28.83
22943	0.69	251.8	524.2	6.0	392	22952	0.00	2.03	4.97	1.100	4	0.000	0.050	3230	344	1294	0	0	0	0	0	0	28.83	26.34	24.67
23043	0.70	256.4	524.2	6.0	392	23054	0.00	2.00	6.22	1.168	6	0.000	0.026	3230	1651	1273	0	0	0	0	0	0	28.83	26.46	24.75
23403	0.72	276.5	498.5	5.5	396	23424	0.00	0.00	18.92	1.327	6	0.000	0.000	3230	1651	1191	0	0	0	0	0	0	28.83	28.83	24.68
23703	0.72	276.5	473.9	8.4	401	23704	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	1651	1190	0	0	0	0	0	0	28.83	28.83	28.83
24003	0.72	276.5	447.4	8.8	406	24010	0.00	2.12	0.00	0.000	4	0.000	0.049	3240	355	1190	0	0	0	0	0	0	28.83	26.17	28.83
24131	0.72	276.5	437.5	8.4	408	24135	0.00	1.95	0.00	0.000	6	0.000	0.026	3240	1645	1191	0	0	0	0	0	0	28.83	26.43	28.83
24473	0.72	276.5	412.5	6.9	414	24480	0.00	2.10	0.00	0.000	4	0.000	0.048	3250	351	1189	0	0	0	0	0	0	28.83	26.23	28.83
24622	0.72	276.5	404.1	6.9	416	24626	0.00	1.95	0.00	0.000	6	0.000	0.025	3250	1647	1189	0	0	0	0	0	0	28.83	26.50	28.83
24943	0.72	276.5	377.7	7.6	422	24944	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	1646	1190	0	0	0	0	0	0	28.83	28.83	28.83
25243	0.72	276.5	353.9	8.0	427	25250	0.00	2.10	0.00	0.000	4	0.000	0.047	3260	349	1189	0	0	0	0	0	0	28.83	26.25	28.83
25312	0.72	276.5	349.0	8.1	428	25316	0.00	1.95	0.00	0.000	6	0.000	0.024	3260	1647	1190	0	0	0	0	0	0	28.83	26.54	28.83
25654	0.72	276.5	319.5	8.4	434	25662	0.00	2.47	0.00	0.000	4	0.000	0.036	3260	3206	1190	0	0	0	0	0	0	28.83	26.33	28.83
25714	0.72	276.5	313.9	8.7	435	25722	0.15	2.55	0.00	0.000	6	0.125	0.030	3226	1575	1189	0	0	0	0	0	0	26.15	26.39	28.83
26075	0.79	276.5	281.3	9.4	441	26082	0.00	2.58	0.00	0.000	4	0.000	0.035	3226	3205	1190	0	0	0	0	0	0	28.83	26.34	28.83
26194	0.87	276.5	269.7	9.6	443	26202	0.08	2.53	0.00	0.000	6	0.050	0.029	3303	1575	1189	0	0	0	0	0	0	26.34	26.39	28.83
26555	0.82	276.5	235.1	9.4	449	26562	0.15	2.55	0.00	0.000	4	0.125	0.034	3257	3200	1189	0	0	0	0	0	0	26.41	26.35	28.83
26603	0.77	276.5	235.1	9.4	449	26612	0.00	2.53	0.00	0.000	6	0.000	0.029	3267	1581	1189	0	0	0	0	0	0	28.83	26.39	28.83
26914	0.77	276.5	209.0	6.9	455	26915	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	1580	1190	0	0	0	0	0	0	28.83	28.83	28.83
27214	0.77	276.5	188.7	6.8	460	27222	0.00	2.55	0.00	0.000	4	0.000	0.034	3267	3200	1189	0	0	0	0	0	0	28.83	26.32	28.83
27263	0.77	276.5	188.7	6.8	460	27268	0.12	2.53	0.00	0.000	6	0.133	0.029	3242	1579	1190	0	0	0	0	0	0	26.19	26.39	28.83
27564	0.82	276.5	159.5	8.4	465	27572	0.00	2.55	0.00	0.000	4	0.000	0.034	3242	3202	1190	0	0	0	0	0	0	28.83	26.32	28.83
27644	0.88	276.5	154.4	8.5	466	27652	0.00	2.53	0.00	0.000	6	0.000	0.028	3253	1575	1190	0	0	0	0	0	0	28.83	26.40	28.83
27956	0.95	276.5	128.8	7.4	476	27962	0.15	1.95	0.00	0.000	4	0.068	0.049	3351	329	1190	0	0	0	0	0	0	26.68	26.22	28.83
28173	0.86	276.5	109.1	9.8	483	28178	0.25	1.98	0.00	0.000	6	0.122	0.023	3273	1656	1190	0	0	0	0	0	0	26.03	26.56	28.83
28487	0.89	276.5	83.9	7.9	494	28493	0.00	2.08	0.00	0.000	4	0.000	0.047	3281	357	1190	0	0	0	0	0	0	28.83	26.23	28.83
28616	0.89	276.5	73.5	8.0	499	28624	0.00	1.92	0.00	0.000	6	0.000	0.024	3281	1648	1190	0	0	0	0	0	0	28.83	26.56	28.83
28926	0.91	276.5	50.4	7.4	530	28935	0.00	2.08	0.00	0.000	4	0.000	0.047	3291	352	1192	0	0	0	0	0	0	28.83	26.23	28.83
29015	0.91	276.5	43.3	8.0	539	29024	0.00	1.95	0.00	0.000	6	0.000	0.024	3291	1650	1192	0	0	0	0	0	0	28.83	26.57	28.83
29326	0.91	276.5	20.2	7.4	570	29334	0.00	2.10	0.00	0.000	4	0.000	0.047	3301	348	1195	0	0	0	0	0	0	28.83	26.23	28.83
29426	0.91	276.5	12.0	8.2	580	29434	0.00	1.92	0.00	0.000	6	0.000	0.023	3301	1645	1192	0	0	0	0	0	0	28.83	26.58	28.83
29543	end climb: SURFACE_DEPTH_REACHED
state	29543	begin surface coast
29574	end surface coast: CONTROL_FINISHED_OK
state	29575	begin surface