Glider dive log

MIRC Mar14 * SG178 * Dive index * Mission links * Dive 246 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 20 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 246 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 3 TGT_DEFAULT_LAT 47.700001 R_PORT_OVSHOOT 58 ALTIM_PULSE 1

D_FLARE 3 TGT_DEFAULT_LON -122.4 R_STBD_OVSHOOT 46 ALTIM_SENSITIVITY 5

D_TGT 990 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 6

D_ABORT 1030 SM_CC 500 ROLL_MAXERRORS 1 XPDR_INHIBIT 99

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 425 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 3279 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 0.0018 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 330 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_MISSION 360 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 100740 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 148 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 95 XPDR_DEVICE 24

D_OFFGRID 1020 PITCH_MIN 165 MINV_24V 22 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3954 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2780 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043278597

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00062587409

MAX_BUOY 180 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.4307059e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_J 2.6760367e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.9460888

SPEED_FACTOR 1 PITCH_GAIN 45 PRESSURE_YINT -46.597843 SEABIRD_C_H 1.1279132

RHO 1.0275 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.0001161899 SEABIRD_C_I -0.0015660153

MASS 51652 PITCH_AD_RATE 145 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020359491

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 125000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 20480.0

KALMAN_USE 2 ROLL_MIN 226 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 1.0

HD_A 0.00228724 ROLL_MAX 3782 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0153901 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 8.9420502e-07 C_ROLL_DIVE 2450 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 125000.0 SEABIRD_T_H 0.00062587409

AH0_10V 95 D_SURF 3 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4307059e-05

AH0_24V 148 D_TGT 990 PA_POWERSOURCE 1.0 SEABIRD_T_J 2.6760367e-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 1 FILEMGR 0 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 5 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 45 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00228724 PITCH_MAX 3954 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0153901 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 8.9420502e-07 PITCH_MIN 165 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -122.4

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0018 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 330

CF8_MAXERRORS 20 ID 178 PRESSURE_SLOPE 0.0001161899 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -46.597843 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_MISSION 360

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 2780 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2450 LOGGERS 0 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 3279 MASS 51652 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 ROLL_DEG 40 VBD_DBAND 2

DEVICE5 -1 MISSION 20 ROLL_MAX 3782 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 246 NAV_MODE 2 ROLL_MIN 226 VBD_MIN 425

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 N_DIVES 0 R_PORT_OVSHOOT 58 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 46 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 100740 SEABIRD_C_G -9.9460888 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 2 SEABIRD_C_H 1.1279132 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.0015660153 XPDR_INHIBIT 99

D_OFFGRID 1020 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00020359491 XPDR_VALID 6

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043278597

Pre-dive calculations and measurements:

GPS1 210415,005236,1324.2874,14433.9863,38,0.9,38,1.4,0.4,265.4,9,7.2 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME RECOVERY

_XMS_NAKs 0 TGT_LATLONG 1324.720,14434.020

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.29 MHEAD_RNG_PITCHd_Wd 12.6,827,-24.5,-10.000,-30.00,1474

_SM_ANGLEo -73.8 D_GRID 1893

GPS2 210415,005725,1324.2775,14433.9580,13,1.1,13,1.4,0.3,233.4,8,8.2

Post-dive calculations and measurements:

FINISH 0.4,1.022011 FG_AHR_24Vo 0.000

SM_CCo 16848,76.80,0.063,0,0,1240,500.17 FG_AHR_10Vo 0.000

SM_GC 0.30,8.12,0.52,76.80,0.057,0.037,0.063,163,2456,1240,-8.13,-1.53,500.17,0,0,0,0,0,0,26.60,26.92,26.41 MEM 229940

IRIDIUM_FIX 1320.88,14436.50,150208,095819 DATA_FILE_SIZE 36736,810

TT8_MAMPS 0.051681,0.051681 CAP_FILE_SIZE 152174,0

HUMID 45.82 CFSIZE 260034560,238710784

INTERNAL_PRESSURE 9.47302 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.90 INTR 0,15737.06,0x236db2,7,5

XPDR_PINGS 13 CURRENT 0.066,345.76,1

_24V_AH 23.00,76.035 GPS 210415,054035,1326.530,14434.314,32,1.2,32,1.4,0.6,220.0,7,9.3

_10V_AH 10.15,36.360

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 240 117.54 SBE_CT 550 24 312.98

Roll_motor 149 63 218.80 nil 0 0 0.00

VBD_pump_during_apogee 379 1289 11247.55 nil 0 0 0.00

VBD_pump_during_surface 76 62 110.81 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 0 0 0.00

Iridium_during_xfer 209 91 438.70 nil 0 0 0.00

Transponder_ping 3 420 31.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 30 5.08

TT8 0 0 0.00

LPSleep 13723 2 305.04

TT8_Active 604 16 99.11

TT8_Sampling 2671 46 1250.58

TT8_CF8 202 54 111.96

TT8_Kalman 0 0 0.00

Analog_circuits 1870 15 290.51

GPS_charging 0 0 0.00

Compass 1957 0 14.90

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.72 -95.8 134 2473 1237 1227 0.0 0.0 0 92 0.00 0.00 -76.05 0.000 16386 0.000 0.000 131 2473 3113 3161 3065 0 0 0 0 0 0 27.01 28.83 27.07

95 -0.72 -95.8 132 2474 3161 3067 3.1 -10.8 13 119 10.60 2.12 -9.82 0.000 18692 0.240 0.063 2533 3772 3673 3741 3605 0 0 0 0 0 0 25.58 24.62 26.03

149 -0.72 -95.8 2533 3772 3742 3608 27.6 -41.3 23 156 0.00 2.00 0.00 0.000 1030 0.000 0.023 2538 2429 3676 3744 3608 0 0 0 0 0 0 26.78 26.76 26.81

461 -0.72 -95.8 2538 2426 3747 3609 125.5 -22.1 60 464 0.00 2.08 0.00 0.000 516 0.000 0.029 2540 1060 3678 3748 3608 0 0 0 0 0 0 27.23 26.76 27.30

486 -0.72 -95.8 2539 1060 3750 3609 129.9 -22.0 62 492 0.00 2.12 0.00 0.000 1030 0.000 0.032 2532 2437 3678 3748 3609 0 0 0 0 0 0 26.78 26.74 26.81

791 -0.72 -95.8 2531 2439 3755 3611 185.8 -15.6 93 794 0.00 2.10 0.00 0.000 260 0.000 0.045 2522 3769 3681 3753 3610 0 0 0 0 0 0 27.31 26.67 27.36

831 -0.72 -95.8 2522 3770 3756 3611 192.3 -16.2 97 834 0.00 1.95 0.00 0.000 1030 0.000 0.023 2522 2428 3682 3753 3611 0 0 0 0 0 0 27.03 26.99 27.03

1151 -0.72 -95.8 2521 2426 3758 3613 236.4 -11.9 111 1155 0.00 2.00 0.00 0.000 516 0.000 0.029 2522 1076 3683 3755 3612 0 0 0 0 0 0 27.34 26.88 27.40

1185 -0.72 -95.8 2520 1077 3758 3614 240.6 -12.3 112 1189 0.10 2.10 0.00 0.000 3078 0.132 0.032 2545 2442 3684 3755 3613 0 0 0 0 0 0 26.51 26.84 26.61

1511 -0.72 -95.8 2545 2443 3755 3614 273.0 -10.4 123 1514 0.00 2.05 0.00 0.000 516 0.000 0.030 2547 1081 3684 3756 3613 0 0 0 0 0 0 27.36 26.87 27.42

1576 -0.72 -95.8 2548 1081 3756 3613 279.0 -10.2 125 1579 0.00 2.10 0.00 0.000 1030 0.000 0.033 2541 2445 3684 3756 3613 0 0 0 0 0 0 26.89 26.85 26.93

1901 -0.72 -95.8 2542 2445 3753 3613 316.1 -10.7 136 1901 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2445 3683 3754 3613 0 0 0 0 0 0 27.36 27.43 27.43

2201 -0.75 -113.2 2542 2446 3750 3614 346.6 -8.8 146 2205 0.00 2.08 0.00 0.000 516 0.000 0.031 2541 1086 3680 3749 3612 0 0 0 0 0 0 27.37 26.87 27.43

2226 -0.78 -130.6 2542 1087 3749 3613 346.6 -8.8 146 2233 0.00 2.10 0.00 0.000 1030 0.000 0.034 2531 2447 3681 3749 3613 0 0 0 0 0 0 26.89 26.84 26.91

2531 -0.80 -143.6 2532 2448 3745 3613 377.4 -9.1 157 2535 0.00 2.10 0.00 0.000 516 0.000 0.031 2531 1080 3679 3746 3612 0 0 0 0 0 0 27.37 26.89 27.43

2556 -0.83 -156.5 2532 1080 3744 3613 377.4 -9.1 157 2562 0.00 2.08 0.00 0.000 1030 0.000 0.034 2524 2450 3678 3744 3612 0 0 0 0 0 0 26.91 26.83 26.94

2861 -0.83 -156.5 2522 2450 3743 3612 415.7 -13.1 168 2862 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2450 3675 3741 3610 0 0 0 0 0 0 27.36 27.44 27.42

3161 -0.83 -156.5 2524 2450 3739 3608 452.9 -11.6 178 3164 0.00 2.10 0.00 0.000 516 0.000 0.031 2523 1080 3673 3739 3607 0 0 0 0 0 0 27.37 26.84 27.43

3185 -0.83 -156.5 2523 1080 3739 3608 452.9 -11.6 178 3192 0.00 2.12 0.00 0.000 1030 0.000 0.034 2516 2442 3672 3738 3607 0 0 0 0 0 0 26.85 26.81 26.89

3491 -0.83 -156.5 2515 2442 3737 3607 486.7 -10.1 189 3494 0.00 2.05 0.00 0.000 516 0.000 0.031 2516 1078 3670 3735 3605 0 0 0 0 0 0 27.37 26.84 27.43

3510 -0.83 -156.5 2515 1079 3736 3606 486.7 -10.1 189 3514 0.00 2.15 0.00 0.000 1030 0.000 0.034 2507 2455 3669 3734 3605 0 0 0 0 0 0 26.85 26.79 26.89

3821 -0.83 -156.5 2506 2456 3734 3604 524.9 -12.5 200 3824 0.00 2.10 0.00 0.000 516 0.000 0.031 2507 1085 3667 3732 3603 0 0 0 0 0 0 27.37 26.84 27.43

3861 -0.83 -156.5 2507 1085 3730 3603 528.9 -12.7 201 3864 0.00 2.12 0.00 0.000 1030 0.000 0.034 2497 2449 3666 3730 3603 0 0 0 0 0 0 26.84 26.79 26.87

4181 -0.83 -156.5 2496 2449 3731 3601 572.4 -13.7 212 4185 0.00 2.10 0.00 0.000 516 0.000 0.031 2497 1086 3664 3728 3600 0 0 0 0 0 0 27.36 26.84 27.43

4215 -0.83 -156.5 2497 1086 3728 3600 576.7 -13.9 213 4219 0.00 2.15 0.00 0.000 1030 0.000 0.035 2489 2455 3663 3728 3599 0 0 0 0 0 0 26.82 26.77 26.86

4541 -0.83 -156.5 2488 2456 3727 3598 622.8 -13.7 224 4541 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2455 3661 3725 3597 0 0 0 0 0 0 27.36 27.44 27.43

4841 -0.83 -156.5 2488 2456 3724 3596 663.1 -13.1 234 4845 0.00 2.10 0.00 0.000 516 0.000 0.031 2489 1087 3658 3721 3595 0 0 0 0 0 0 27.36 26.82 27.43

4875 -0.83 -156.5 2488 1088 3723 3596 667.2 -13.2 235 4879 0.10 2.15 0.00 0.000 3078 0.144 0.035 2510 2454 3658 3721 3595 0 0 0 0 0 0 26.38 26.76 26.45

5201 -0.84 -165.2 2511 2455 3720 3593 700.9 -9.4 246 5204 0.00 2.10 0.00 0.000 516 0.000 0.031 2510 1074 3656 3720 3592 0 0 0 0 0 0 27.36 26.79 27.43

5270 -0.85 -169.7 2511 1074 3719 3593 706.9 -9.7 248 5275 0.00 2.17 0.00 0.000 1030 0.000 0.036 2504 2454 3655 3719 3592 0 0 0 0 0 0 26.78 26.74 26.81

5591 -0.85 -169.7 2505 2455 3716 3591 746.1 -12.8 259 5592 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2454 3653 3716 3591 0 0 0 0 0 0 27.36 27.43 27.43

5891 -0.85 -169.7 2504 2455 3716 3591 784.5 -13.1 269 5891 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2454 3652 3715 3590 0 0 0 0 0 0 27.36 27.44 27.43

6191 -0.85 -169.7 2505 2455 3713 3589 823.1 -12.5 279 6194 0.00 2.12 0.00 0.000 516 0.000 0.032 2505 1081 3650 3712 3588 0 0 0 0 0 0 27.36 26.77 27.43

6221 -0.85 -169.7 2505 1082 3712 3589 826.8 -12.4 280 6225 0.00 2.12 0.00 0.000 1030 0.000 0.036 2495 2458 3650 3712 3588 0 0 0 0 0 0 26.81 26.72 26.84

6551 -0.85 -169.7 2495 2459 3712 3587 864.9 -11.1 291 6555 0.00 2.12 0.00 0.000 516 0.000 0.032 2496 1083 3648 3710 3586 0 0 0 0 0 0 27.36 26.77 27.42

6590 -0.85 -169.7 2495 1083 3712 3587 868.2 -11.0 292 6595 0.00 2.15 0.00 0.000 1030 0.000 0.036 2488 2445 3648 3710 3586 0 0 0 0 0 0 26.74 26.70 26.79

6911 -0.85 -169.7 2486 2446 3710 3586 905.5 -11.4 303 6914 0.00 2.05 0.00 0.000 516 0.000 0.031 2487 1083 3646 3708 3585 0 0 0 0 0 0 27.36 26.77 27.42

6955 -0.85 -169.7 2488 1084 3707 3586 909.0 -11.5 304 6959 0.00 2.15 0.00 0.000 1030 0.000 0.035 2478 2447 3646 3707 3585 0 0 0 0 0 0 26.74 26.70 26.77

7271 -0.85 -169.7 2479 2448 3705 3585 946.0 -11.1 315 7271 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2447 3645 3706 3585 0 0 0 0 0 0 27.36 27.43 27.42

7571 -0.85 -169.7 2479 2448 3704 3584 977.6 -10.7 325 7574 0.00 2.08 0.00 0.000 516 0.000 0.031 2478 1075 3643 3704 3583 0 0 0 0 0 0 27.36 26.74 27.42

7605 -0.85 -169.7 2478 1076 3706 3583 980.4 -10.9 326 7610 0.10 2.17 0.00 0.000 3078 0.155 0.036 2500 2454 3643 3704 3583 0 0 0 0 0 0 26.25 26.67 26.32

7714 end dive: TARGET_DEPTH_EXCEEDED

state 7714 begin apogee

7718 -0.11 0.0 2499 2103 3706 3583 992.3 -9.9 330 7802 0.77 0.00 81.05 1.289 10246 0.129 0.000 2738 2098 3279 3330 3229 0 0 0 0 0 0 25.87 24.99 23.68

7802 end apogee: CONTROL_FINISHED_OK

state 7802 begin climb

7804 0.85 169.7 2738 2100 3331 3229 994.0 0.0 332 7971 0.85 2.45 158.62 1.279 11012 0.047 0.042 3062 3502 2586 2630 2543 0 0 0 0 0 0 25.60 24.26 23.00

8196 0.85 169.7 3060 3503 2619 2540 967.0 14.3 346 8200 0.00 2.12 0.00 0.000 1030 0.000 0.023 3072 2119 2578 2617 2539 0 0 0 0 0 0 26.51 26.50 26.53

8526 0.85 169.7 3072 2119 2618 2535 924.8 12.3 357 8530 0.00 2.20 0.00 0.000 260 0.000 0.043 3072 3512 2575 2616 2534 0 0 0 0 0 0 27.09 26.55 27.15

8601 0.85 169.7 3073 3512 2615 2535 916.8 12.8 359 8604 0.08 2.15 0.00 0.000 5126 0.188 0.022 3055 2091 2575 2616 2534 0 0 0 0 0 0 26.26 26.82 26.46

8916 0.85 169.7 3056 2092 2613 2533 879.3 11.0 370 8920 0.00 2.15 0.00 0.000 516 0.000 0.034 3063 710 2573 2613 2533 0 0 0 0 0 0 27.21 26.72 27.28

9062 0.85 169.7 3062 710 2614 2531 864.8 12.1 374 9068 0.00 2.10 0.00 0.000 1030 0.000 0.026 3063 2111 2571 2613 2530 0 0 0 0 0 0 26.86 26.80 26.91

9366 0.85 169.7 3063 2112 2611 2530 826.7 11.4 385 9366 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2111 2571 2612 2530 0 0 0 0 0 0 27.27 27.34 27.34

9666 0.85 169.7 3062 2112 2613 2530 793.7 10.9 395 9666 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2111 2570 2611 2530 0 0 0 0 0 0 27.29 27.36 27.36

9966 0.85 169.7 3063 2111 2610 2529 758.6 11.9 405 9970 0.00 2.17 0.00 0.000 260 0.000 0.044 3063 3506 2569 2610 2529 0 0 0 0 0 0 27.31 26.63 27.38

10000 0.85 169.7 3061 3507 2611 2530 754.3 12.2 406 10004 0.00 2.12 0.00 0.000 1030 0.000 0.022 3073 2094 2569 2610 2529 0 0 0 0 0 0 26.98 26.95 26.99

10326 0.85 169.7 3073 2094 2611 2530 705.6 15.0 417 10329 0.00 2.12 0.00 0.000 516 0.000 0.034 3084 718 2568 2608 2529 0 0 0 0 0 0 27.30 26.75 27.36

10446 0.85 169.7 3083 719 2610 2528 687.8 14.9 421 10450 0.12 2.08 0.00 0.000 5126 0.198 0.026 3058 2100 2567 2608 2527 0 0 0 0 0 0 26.36 26.82 26.53

10776 0.85 169.7 3059 2101 2609 2528 643.6 13.1 432 10776 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2100 2567 2608 2527 0 0 0 0 0 0 27.33 27.40 27.39

11076 0.85 169.7 3059 2100 2608 2527 602.6 13.7 442 11080 0.00 2.12 0.00 0.000 516 0.000 0.034 3066 708 2567 2608 2527 0 0 0 0 0 0 27.33 26.74 27.40

11305 0.85 169.7 3064 709 2608 2526 574.5 13.1 449 11309 0.00 2.15 0.00 0.000 1030 0.000 0.027 3065 2098 2566 2606 2526 0 0 0 0 0 0 26.83 26.79 26.85

11616 0.85 169.7 3067 2098 2607 2526 533.5 11.8 460 11619 0.00 2.15 0.00 0.000 516 0.000 0.034 3076 708 2566 2607 2526 0 0 0 0 0 0 27.34 26.72 27.41

11816 0.85 169.7 3075 709 2608 2526 512.8 11.3 466 11819 0.00 2.15 0.00 0.000 1030 0.000 0.027 3076 2102 2565 2606 2525 0 0 0 0 0 0 26.84 26.80 26.87

12126 0.85 169.7 3075 2103 2609 2526 473.5 11.9 477 12130 0.00 2.17 0.00 0.000 516 0.000 0.034 3086 701 2566 2607 2525 0 0 0 0 0 0 27.34 26.70 27.41

12166 0.85 169.7 3087 701 2605 2525 470.7 12.0 478 12169 0.10 2.17 0.00 0.000 5126 0.177 0.029 3059 2103 2565 2605 2525 0 0 0 0 0 0 26.23 26.76 26.32

12481 0.86 175.4 3058 2104 2609 2526 436.5 9.6 489 12484 0.00 2.20 0.00 0.000 260 0.000 0.044 3059 3506 2566 2607 2525 0 0 0 0 0 0 27.34 26.53 27.40

12566 0.88 186.9 3060 3507 2607 2526 428.7 9.2 492 12584 0.00 2.12 13.50 0.868 9222 0.000 0.023 3067 2094 2516 2556 2477 0 0 0 0 0 0 26.96 26.94 24.60

12896 0.88 186.9 3066 2095 2554 2475 395.5 10.3 503 12900 0.00 2.15 0.00 0.000 516 0.000 0.034 3078 710 2513 2552 2474 0 0 0 0 0 0 27.22 26.62 27.28

12991 0.88 186.9 3078 710 2552 2473 386.1 10.4 506 12994 0.00 2.15 0.00 0.000 1030 0.000 0.026 3078 2108 2511 2551 2472 0 0 0 0 0 0 26.74 26.72 26.84

13316 0.88 186.9 3079 2108 2551 2473 349.5 11.1 517 13319 0.00 2.20 0.00 0.000 260 0.000 0.042 3078 3502 2511 2552 2471 0 0 0 0 0 0 27.29 26.53 27.34

13520 0.88 186.9 3078 3502 2551 2473 327.1 12.7 523 13527 0.00 2.12 0.00 0.000 1030 0.000 0.023 3088 2097 2512 2552 2472 0 0 0 0 0 0 26.89 26.86 26.95

13826 0.88 188.1 3089 2097 2551 2473 289.4 9.9 534 13829 0.00 2.15 0.00 0.000 516 0.000 0.034 3099 701 2511 2551 2472 0 0 0 0 0 0 27.32 26.67 27.38

13896 0.88 188.1 3100 702 2550 2471 283.1 10.2 536 13900 0.08 2.15 0.00 0.000 5126 0.173 0.026 3070 2103 2511 2551 2471 0 0 0 0 0 0 26.25 26.76 26.38

14216 0.90 198.7 3071 2103 2551 2471 254.1 9.3 547 14231 0.00 2.17 11.25 0.755 8452 0.000 0.040 3070 3503 2468 2509 2427 0 0 0 0 0 0 27.33 25.44 24.75

14322 0.90 198.7 3069 3504 2509 2428 244.4 10.6 550 14325 0.00 2.08 0.00 0.000 1030 0.000 0.023 3078 2093 2467 2507 2427 0 0 0 0 0 0 26.86 26.82 26.89

14631 0.91 202.3 3077 2094 2507 2426 215.7 9.7 561 14640 0.00 2.15 4.28 0.552 8708 0.000 0.034 3089 717 2454 2495 2413 0 0 0 0 0 0 27.20 25.90 24.71

14865 1.02 263.4 3088 717 2496 2410 198.1 5.7 570 14924 0.00 2.12 52.95 0.771 9222 0.000 0.026 3089 2097 2204 2248 2161 0 0 0 0 0 0 26.78 26.74 24.70

15221 1.02 263.4 3088 2098 2240 2151 161.4 10.0 606 15224 0.00 2.17 0.00 0.000 516 0.000 0.034 3099 711 2194 2239 2150 0 0 0 0 0 0 27.02 26.49 27.08

15315 1.02 263.4 3098 708 2240 2148 152.2 10.1 615 15322 0.00 2.15 0.00 0.000 1030 0.000 0.026 3099 2098 2193 2238 2148 0 0 0 0 0 0 26.65 26.60 26.67

15621 1.07 291.7 3100 2098 2236 2147 124.8 8.0 646 15652 0.00 2.15 23.30 0.685 8708 0.000 0.033 3110 711 2088 2135 2041 0 0 0 0 0 0 27.20 25.60 25.06

15877 1.14 331.7 3110 712 2133 2036 105.0 7.2 671 15916 0.12 2.12 34.42 0.672 11270 0.101 0.025 3165 2111 1926 1973 1879 0 0 0 0 0 0 26.53 26.65 24.98

16222 1.14 331.7 3166 2110 1965 1874 68.7 10.5 706 16225 0.00 2.15 0.00 0.000 516 0.000 0.033 3176 705 1920 1966 1874 0 0 0 0 0 0 27.06 26.57 27.12

16353 1.14 331.7 3175 705 1968 1871 53.9 11.2 719 16356 0.00 2.10 0.00 0.000 1030 0.000 0.026 3175 2112 1919 1967 1871 0 0 0 0 0 0 26.76 26.70 26.80

16657 1.14 331.7 3175 2112 1970 1872 20.8 11.3 775 16663 0.00 2.15 0.00 0.000 260 0.000 0.041 3175 3494 1919 1968 1871 0 0 0 0 0 0 27.24 26.65 27.29

16718 1.14 331.7 3176 3495 1969 1871 13.2 13.0 787 16725 0.12 2.08 0.00 0.000 5126 0.151 0.021 3148 2096 1920 1969 1871 0 0 0 0 0 0 26.35 26.91 26.43

16813 end climb: SURFACE_DEPTH_REACHED

state 16813 begin surface coast

16833 end surface coast: CONTROL_FINISHED_OK

state 16833 begin surface

ID	178	HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	20	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	246	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	3	TGT_DEFAULT_LAT	47.700001	R_PORT_OVSHOOT	58	ALTIM_PULSE	1
D_FLARE	3	TGT_DEFAULT_LON	-122.4	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	5
D_TGT	990	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	6
D_ABORT	1030	SM_CC	500	ROLL_MAXERRORS	1	XPDR_INHIBIT	99
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	425	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	3279	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	0.0018	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	330	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_MISSION	360	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	100740	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	148	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	95	XPDR_DEVICE	24
D_OFFGRID	1020	PITCH_MIN	165	MINV_24V	22	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3954	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2780	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043278597
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00062587409
MAX_BUOY	180	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.4307059e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_J	2.6760367e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.9460888
SPEED_FACTOR	1	PITCH_GAIN	45	PRESSURE_YINT	-46.597843	SEABIRD_C_H	1.1279132
RHO	1.0275	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.0001161899	SEABIRD_C_I	-0.0015660153
MASS	51652	PITCH_AD_RATE	145	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020359491
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	125000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	20480.0
KALMAN_USE	2	ROLL_MIN	226	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	1.0
HD_A	0.00228724	ROLL_MAX	3782	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0153901	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	8.9420502e-07	C_ROLL_DIVE	2450	ALTIM_TOP_TURN_MARGIN	0

GPS1	210415,005236,1324.2874,14433.9863,38,0.9,38,1.4,0.4,265.4,9,7.2	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	RECOVERY
_XMS_NAKs	0	TGT_LATLONG	1324.720,14434.020
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.29	MHEAD_RNG_PITCHd_Wd	12.6,827,-24.5,-10.000,-30.00,1474
_SM_ANGLEo	-73.8	D_GRID	1893
GPS2	210415,005725,1324.2775,14433.9580,13,1.1,13,1.4,0.3,233.4,8,8.2

FINISH	0.4,1.022011	FG_AHR_24Vo	0.000
SM_CCo	16848,76.80,0.063,0,0,1240,500.17	FG_AHR_10Vo	0.000
SM_GC	0.30,8.12,0.52,76.80,0.057,0.037,0.063,163,2456,1240,-8.13,-1.53,500.17,0,0,0,0,0,0,26.60,26.92,26.41	MEM	229940
IRIDIUM_FIX	1320.88,14436.50,150208,095819	DATA_FILE_SIZE	36736,810
TT8_MAMPS	0.051681,0.051681	CAP_FILE_SIZE	152174,0
HUMID	45.82	CFSIZE	260034560,238710784
INTERNAL_PRESSURE	9.47302	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.90	INTR	0,15737.06,0x236db2,7,5
XPDR_PINGS	13	CURRENT	0.066,345.76,1
_24V_AH	23.00,76.035	GPS	210415,054035,1326.530,14434.314,32,1.2,32,1.4,0.6,220.0,7,9.3
_10V_AH	10.15,36.360

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	240	117.54	SBE_CT	550	24	312.98
Roll_motor	149	63	218.80	nil	0	0	0.00
VBD_pump_during_apogee	379	1289	11247.55	nil	0	0	0.00
VBD_pump_during_surface	76	62	110.81	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	0	0	0.00
Iridium_during_xfer	209	91	438.70	nil	0	0	0.00
Transponder_ping	3	420	31.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	30	5.08
TT8	0	0	0.00
LPSleep	13723	2	305.04
TT8_Active	604	16	99.11
TT8_Sampling	2671	46	1250.58
TT8_CF8	202	54	111.96
TT8_Kalman	0	0	0.00
Analog_circuits	1870	15	290.51
GPS_charging	0	0	0.00
Compass	1957	0	14.90
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.72	-95.8	134	2473	1237	1227	0.0	0.0	0	92	0.00	0.00	-76.05	0.000	16386	0.000	0.000	131	2473	3113	3161	3065	0	0	0	0	0	0	27.01	28.83	27.07
95	-0.72	-95.8	132	2474	3161	3067	3.1	-10.8	13	119	10.60	2.12	-9.82	0.000	18692	0.240	0.063	2533	3772	3673	3741	3605	0	0	0	0	0	0	25.58	24.62	26.03
149	-0.72	-95.8	2533	3772	3742	3608	27.6	-41.3	23	156	0.00	2.00	0.00	0.000	1030	0.000	0.023	2538	2429	3676	3744	3608	0	0	0	0	0	0	26.78	26.76	26.81
461	-0.72	-95.8	2538	2426	3747	3609	125.5	-22.1	60	464	0.00	2.08	0.00	0.000	516	0.000	0.029	2540	1060	3678	3748	3608	0	0	0	0	0	0	27.23	26.76	27.30
486	-0.72	-95.8	2539	1060	3750	3609	129.9	-22.0	62	492	0.00	2.12	0.00	0.000	1030	0.000	0.032	2532	2437	3678	3748	3609	0	0	0	0	0	0	26.78	26.74	26.81
791	-0.72	-95.8	2531	2439	3755	3611	185.8	-15.6	93	794	0.00	2.10	0.00	0.000	260	0.000	0.045	2522	3769	3681	3753	3610	0	0	0	0	0	0	27.31	26.67	27.36
831	-0.72	-95.8	2522	3770	3756	3611	192.3	-16.2	97	834	0.00	1.95	0.00	0.000	1030	0.000	0.023	2522	2428	3682	3753	3611	0	0	0	0	0	0	27.03	26.99	27.03
1151	-0.72	-95.8	2521	2426	3758	3613	236.4	-11.9	111	1155	0.00	2.00	0.00	0.000	516	0.000	0.029	2522	1076	3683	3755	3612	0	0	0	0	0	0	27.34	26.88	27.40
1185	-0.72	-95.8	2520	1077	3758	3614	240.6	-12.3	112	1189	0.10	2.10	0.00	0.000	3078	0.132	0.032	2545	2442	3684	3755	3613	0	0	0	0	0	0	26.51	26.84	26.61
1511	-0.72	-95.8	2545	2443	3755	3614	273.0	-10.4	123	1514	0.00	2.05	0.00	0.000	516	0.000	0.030	2547	1081	3684	3756	3613	0	0	0	0	0	0	27.36	26.87	27.42
1576	-0.72	-95.8	2548	1081	3756	3613	279.0	-10.2	125	1579	0.00	2.10	0.00	0.000	1030	0.000	0.033	2541	2445	3684	3756	3613	0	0	0	0	0	0	26.89	26.85	26.93
1901	-0.72	-95.8	2542	2445	3753	3613	316.1	-10.7	136	1901	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2445	3683	3754	3613	0	0	0	0	0	0	27.36	27.43	27.43
2201	-0.75	-113.2	2542	2446	3750	3614	346.6	-8.8	146	2205	0.00	2.08	0.00	0.000	516	0.000	0.031	2541	1086	3680	3749	3612	0	0	0	0	0	0	27.37	26.87	27.43
2226	-0.78	-130.6	2542	1087	3749	3613	346.6	-8.8	146	2233	0.00	2.10	0.00	0.000	1030	0.000	0.034	2531	2447	3681	3749	3613	0	0	0	0	0	0	26.89	26.84	26.91
2531	-0.80	-143.6	2532	2448	3745	3613	377.4	-9.1	157	2535	0.00	2.10	0.00	0.000	516	0.000	0.031	2531	1080	3679	3746	3612	0	0	0	0	0	0	27.37	26.89	27.43
2556	-0.83	-156.5	2532	1080	3744	3613	377.4	-9.1	157	2562	0.00	2.08	0.00	0.000	1030	0.000	0.034	2524	2450	3678	3744	3612	0	0	0	0	0	0	26.91	26.83	26.94
2861	-0.83	-156.5	2522	2450	3743	3612	415.7	-13.1	168	2862	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2450	3675	3741	3610	0	0	0	0	0	0	27.36	27.44	27.42
3161	-0.83	-156.5	2524	2450	3739	3608	452.9	-11.6	178	3164	0.00	2.10	0.00	0.000	516	0.000	0.031	2523	1080	3673	3739	3607	0	0	0	0	0	0	27.37	26.84	27.43
3185	-0.83	-156.5	2523	1080	3739	3608	452.9	-11.6	178	3192	0.00	2.12	0.00	0.000	1030	0.000	0.034	2516	2442	3672	3738	3607	0	0	0	0	0	0	26.85	26.81	26.89
3491	-0.83	-156.5	2515	2442	3737	3607	486.7	-10.1	189	3494	0.00	2.05	0.00	0.000	516	0.000	0.031	2516	1078	3670	3735	3605	0	0	0	0	0	0	27.37	26.84	27.43
3510	-0.83	-156.5	2515	1079	3736	3606	486.7	-10.1	189	3514	0.00	2.15	0.00	0.000	1030	0.000	0.034	2507	2455	3669	3734	3605	0	0	0	0	0	0	26.85	26.79	26.89
3821	-0.83	-156.5	2506	2456	3734	3604	524.9	-12.5	200	3824	0.00	2.10	0.00	0.000	516	0.000	0.031	2507	1085	3667	3732	3603	0	0	0	0	0	0	27.37	26.84	27.43
3861	-0.83	-156.5	2507	1085	3730	3603	528.9	-12.7	201	3864	0.00	2.12	0.00	0.000	1030	0.000	0.034	2497	2449	3666	3730	3603	0	0	0	0	0	0	26.84	26.79	26.87
4181	-0.83	-156.5	2496	2449	3731	3601	572.4	-13.7	212	4185	0.00	2.10	0.00	0.000	516	0.000	0.031	2497	1086	3664	3728	3600	0	0	0	0	0	0	27.36	26.84	27.43
4215	-0.83	-156.5	2497	1086	3728	3600	576.7	-13.9	213	4219	0.00	2.15	0.00	0.000	1030	0.000	0.035	2489	2455	3663	3728	3599	0	0	0	0	0	0	26.82	26.77	26.86
4541	-0.83	-156.5	2488	2456	3727	3598	622.8	-13.7	224	4541	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2455	3661	3725	3597	0	0	0	0	0	0	27.36	27.44	27.43
4841	-0.83	-156.5	2488	2456	3724	3596	663.1	-13.1	234	4845	0.00	2.10	0.00	0.000	516	0.000	0.031	2489	1087	3658	3721	3595	0	0	0	0	0	0	27.36	26.82	27.43
4875	-0.83	-156.5	2488	1088	3723	3596	667.2	-13.2	235	4879	0.10	2.15	0.00	0.000	3078	0.144	0.035	2510	2454	3658	3721	3595	0	0	0	0	0	0	26.38	26.76	26.45
5201	-0.84	-165.2	2511	2455	3720	3593	700.9	-9.4	246	5204	0.00	2.10	0.00	0.000	516	0.000	0.031	2510	1074	3656	3720	3592	0	0	0	0	0	0	27.36	26.79	27.43
5270	-0.85	-169.7	2511	1074	3719	3593	706.9	-9.7	248	5275	0.00	2.17	0.00	0.000	1030	0.000	0.036	2504	2454	3655	3719	3592	0	0	0	0	0	0	26.78	26.74	26.81
5591	-0.85	-169.7	2505	2455	3716	3591	746.1	-12.8	259	5592	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2454	3653	3716	3591	0	0	0	0	0	0	27.36	27.43	27.43
5891	-0.85	-169.7	2504	2455	3716	3591	784.5	-13.1	269	5891	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2454	3652	3715	3590	0	0	0	0	0	0	27.36	27.44	27.43
6191	-0.85	-169.7	2505	2455	3713	3589	823.1	-12.5	279	6194	0.00	2.12	0.00	0.000	516	0.000	0.032	2505	1081	3650	3712	3588	0	0	0	0	0	0	27.36	26.77	27.43
6221	-0.85	-169.7	2505	1082	3712	3589	826.8	-12.4	280	6225	0.00	2.12	0.00	0.000	1030	0.000	0.036	2495	2458	3650	3712	3588	0	0	0	0	0	0	26.81	26.72	26.84
6551	-0.85	-169.7	2495	2459	3712	3587	864.9	-11.1	291	6555	0.00	2.12	0.00	0.000	516	0.000	0.032	2496	1083	3648	3710	3586	0	0	0	0	0	0	27.36	26.77	27.42
6590	-0.85	-169.7	2495	1083	3712	3587	868.2	-11.0	292	6595	0.00	2.15	0.00	0.000	1030	0.000	0.036	2488	2445	3648	3710	3586	0	0	0	0	0	0	26.74	26.70	26.79
6911	-0.85	-169.7	2486	2446	3710	3586	905.5	-11.4	303	6914	0.00	2.05	0.00	0.000	516	0.000	0.031	2487	1083	3646	3708	3585	0	0	0	0	0	0	27.36	26.77	27.42
6955	-0.85	-169.7	2488	1084	3707	3586	909.0	-11.5	304	6959	0.00	2.15	0.00	0.000	1030	0.000	0.035	2478	2447	3646	3707	3585	0	0	0	0	0	0	26.74	26.70	26.77
7271	-0.85	-169.7	2479	2448	3705	3585	946.0	-11.1	315	7271	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2447	3645	3706	3585	0	0	0	0	0	0	27.36	27.43	27.42
7571	-0.85	-169.7	2479	2448	3704	3584	977.6	-10.7	325	7574	0.00	2.08	0.00	0.000	516	0.000	0.031	2478	1075	3643	3704	3583	0	0	0	0	0	0	27.36	26.74	27.42
7605	-0.85	-169.7	2478	1076	3706	3583	980.4	-10.9	326	7610	0.10	2.17	0.00	0.000	3078	0.155	0.036	2500	2454	3643	3704	3583	0	0	0	0	0	0	26.25	26.67	26.32
7714	end dive: TARGET_DEPTH_EXCEEDED
state	7714	begin apogee
7718	-0.11	0.0	2499	2103	3706	3583	992.3	-9.9	330	7802	0.77	0.00	81.05	1.289	10246	0.129	0.000	2738	2098	3279	3330	3229	0	0	0	0	0	0	25.87	24.99	23.68
7802	end apogee: CONTROL_FINISHED_OK
state	7802	begin climb
7804	0.85	169.7	2738	2100	3331	3229	994.0	0.0	332	7971	0.85	2.45	158.62	1.279	11012	0.047	0.042	3062	3502	2586	2630	2543	0	0	0	0	0	0	25.60	24.26	23.00
8196	0.85	169.7	3060	3503	2619	2540	967.0	14.3	346	8200	0.00	2.12	0.00	0.000	1030	0.000	0.023	3072	2119	2578	2617	2539	0	0	0	0	0	0	26.51	26.50	26.53
8526	0.85	169.7	3072	2119	2618	2535	924.8	12.3	357	8530	0.00	2.20	0.00	0.000	260	0.000	0.043	3072	3512	2575	2616	2534	0	0	0	0	0	0	27.09	26.55	27.15
8601	0.85	169.7	3073	3512	2615	2535	916.8	12.8	359	8604	0.08	2.15	0.00	0.000	5126	0.188	0.022	3055	2091	2575	2616	2534	0	0	0	0	0	0	26.26	26.82	26.46
8916	0.85	169.7	3056	2092	2613	2533	879.3	11.0	370	8920	0.00	2.15	0.00	0.000	516	0.000	0.034	3063	710	2573	2613	2533	0	0	0	0	0	0	27.21	26.72	27.28
9062	0.85	169.7	3062	710	2614	2531	864.8	12.1	374	9068	0.00	2.10	0.00	0.000	1030	0.000	0.026	3063	2111	2571	2613	2530	0	0	0	0	0	0	26.86	26.80	26.91
9366	0.85	169.7	3063	2112	2611	2530	826.7	11.4	385	9366	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2111	2571	2612	2530	0	0	0	0	0	0	27.27	27.34	27.34
9666	0.85	169.7	3062	2112	2613	2530	793.7	10.9	395	9666	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2111	2570	2611	2530	0	0	0	0	0	0	27.29	27.36	27.36
9966	0.85	169.7	3063	2111	2610	2529	758.6	11.9	405	9970	0.00	2.17	0.00	0.000	260	0.000	0.044	3063	3506	2569	2610	2529	0	0	0	0	0	0	27.31	26.63	27.38
10000	0.85	169.7	3061	3507	2611	2530	754.3	12.2	406	10004	0.00	2.12	0.00	0.000	1030	0.000	0.022	3073	2094	2569	2610	2529	0	0	0	0	0	0	26.98	26.95	26.99
10326	0.85	169.7	3073	2094	2611	2530	705.6	15.0	417	10329	0.00	2.12	0.00	0.000	516	0.000	0.034	3084	718	2568	2608	2529	0	0	0	0	0	0	27.30	26.75	27.36
10446	0.85	169.7	3083	719	2610	2528	687.8	14.9	421	10450	0.12	2.08	0.00	0.000	5126	0.198	0.026	3058	2100	2567	2608	2527	0	0	0	0	0	0	26.36	26.82	26.53
10776	0.85	169.7	3059	2101	2609	2528	643.6	13.1	432	10776	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2100	2567	2608	2527	0	0	0	0	0	0	27.33	27.40	27.39
11076	0.85	169.7	3059	2100	2608	2527	602.6	13.7	442	11080	0.00	2.12	0.00	0.000	516	0.000	0.034	3066	708	2567	2608	2527	0	0	0	0	0	0	27.33	26.74	27.40
11305	0.85	169.7	3064	709	2608	2526	574.5	13.1	449	11309	0.00	2.15	0.00	0.000	1030	0.000	0.027	3065	2098	2566	2606	2526	0	0	0	0	0	0	26.83	26.79	26.85
11616	0.85	169.7	3067	2098	2607	2526	533.5	11.8	460	11619	0.00	2.15	0.00	0.000	516	0.000	0.034	3076	708	2566	2607	2526	0	0	0	0	0	0	27.34	26.72	27.41
11816	0.85	169.7	3075	709	2608	2526	512.8	11.3	466	11819	0.00	2.15	0.00	0.000	1030	0.000	0.027	3076	2102	2565	2606	2525	0	0	0	0	0	0	26.84	26.80	26.87
12126	0.85	169.7	3075	2103	2609	2526	473.5	11.9	477	12130	0.00	2.17	0.00	0.000	516	0.000	0.034	3086	701	2566	2607	2525	0	0	0	0	0	0	27.34	26.70	27.41
12166	0.85	169.7	3087	701	2605	2525	470.7	12.0	478	12169	0.10	2.17	0.00	0.000	5126	0.177	0.029	3059	2103	2565	2605	2525	0	0	0	0	0	0	26.23	26.76	26.32
12481	0.86	175.4	3058	2104	2609	2526	436.5	9.6	489	12484	0.00	2.20	0.00	0.000	260	0.000	0.044	3059	3506	2566	2607	2525	0	0	0	0	0	0	27.34	26.53	27.40
12566	0.88	186.9	3060	3507	2607	2526	428.7	9.2	492	12584	0.00	2.12	13.50	0.868	9222	0.000	0.023	3067	2094	2516	2556	2477	0	0	0	0	0	0	26.96	26.94	24.60
12896	0.88	186.9	3066	2095	2554	2475	395.5	10.3	503	12900	0.00	2.15	0.00	0.000	516	0.000	0.034	3078	710	2513	2552	2474	0	0	0	0	0	0	27.22	26.62	27.28
12991	0.88	186.9	3078	710	2552	2473	386.1	10.4	506	12994	0.00	2.15	0.00	0.000	1030	0.000	0.026	3078	2108	2511	2551	2472	0	0	0	0	0	0	26.74	26.72	26.84
13316	0.88	186.9	3079	2108	2551	2473	349.5	11.1	517	13319	0.00	2.20	0.00	0.000	260	0.000	0.042	3078	3502	2511	2552	2471	0	0	0	0	0	0	27.29	26.53	27.34
13520	0.88	186.9	3078	3502	2551	2473	327.1	12.7	523	13527	0.00	2.12	0.00	0.000	1030	0.000	0.023	3088	2097	2512	2552	2472	0	0	0	0	0	0	26.89	26.86	26.95
13826	0.88	188.1	3089	2097	2551	2473	289.4	9.9	534	13829	0.00	2.15	0.00	0.000	516	0.000	0.034	3099	701	2511	2551	2472	0	0	0	0	0	0	27.32	26.67	27.38
13896	0.88	188.1	3100	702	2550	2471	283.1	10.2	536	13900	0.08	2.15	0.00	0.000	5126	0.173	0.026	3070	2103	2511	2551	2471	0	0	0	0	0	0	26.25	26.76	26.38
14216	0.90	198.7	3071	2103	2551	2471	254.1	9.3	547	14231	0.00	2.17	11.25	0.755	8452	0.000	0.040	3070	3503	2468	2509	2427	0	0	0	0	0	0	27.33	25.44	24.75
14322	0.90	198.7	3069	3504	2509	2428	244.4	10.6	550	14325	0.00	2.08	0.00	0.000	1030	0.000	0.023	3078	2093	2467	2507	2427	0	0	0	0	0	0	26.86	26.82	26.89
14631	0.91	202.3	3077	2094	2507	2426	215.7	9.7	561	14640	0.00	2.15	4.28	0.552	8708	0.000	0.034	3089	717	2454	2495	2413	0	0	0	0	0	0	27.20	25.90	24.71
14865	1.02	263.4	3088	717	2496	2410	198.1	5.7	570	14924	0.00	2.12	52.95	0.771	9222	0.000	0.026	3089	2097	2204	2248	2161	0	0	0	0	0	0	26.78	26.74	24.70
15221	1.02	263.4	3088	2098	2240	2151	161.4	10.0	606	15224	0.00	2.17	0.00	0.000	516	0.000	0.034	3099	711	2194	2239	2150	0	0	0	0	0	0	27.02	26.49	27.08
15315	1.02	263.4	3098	708	2240	2148	152.2	10.1	615	15322	0.00	2.15	0.00	0.000	1030	0.000	0.026	3099	2098	2193	2238	2148	0	0	0	0	0	0	26.65	26.60	26.67
15621	1.07	291.7	3100	2098	2236	2147	124.8	8.0	646	15652	0.00	2.15	23.30	0.685	8708	0.000	0.033	3110	711	2088	2135	2041	0	0	0	0	0	0	27.20	25.60	25.06
15877	1.14	331.7	3110	712	2133	2036	105.0	7.2	671	15916	0.12	2.12	34.42	0.672	11270	0.101	0.025	3165	2111	1926	1973	1879	0	0	0	0	0	0	26.53	26.65	24.98
16222	1.14	331.7	3166	2110	1965	1874	68.7	10.5	706	16225	0.00	2.15	0.00	0.000	516	0.000	0.033	3176	705	1920	1966	1874	0	0	0	0	0	0	27.06	26.57	27.12
16353	1.14	331.7	3175	705	1968	1871	53.9	11.2	719	16356	0.00	2.10	0.00	0.000	1030	0.000	0.026	3175	2112	1919	1967	1871	0	0	0	0	0	0	26.76	26.70	26.80
16657	1.14	331.7	3175	2112	1970	1872	20.8	11.3	775	16663	0.00	2.15	0.00	0.000	260	0.000	0.041	3175	3494	1919	1968	1871	0	0	0	0	0	0	27.24	26.65	27.29
16718	1.14	331.7	3176	3495	1969	1871	13.2	13.0	787	16725	0.12	2.08	0.00	0.000	5126	0.151	0.021	3148	2096	1920	1969	1871	0	0	0	0	0	0	26.35	26.91	26.43
16813	end climb: SURFACE_DEPTH_REACHED
state	16813	begin surface coast
16833	end surface coast: CONTROL_FINISHED_OK
state	16833	begin surface