Glider dive log

Cuddy Jan14 * SG189 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 30 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 28 ESCAPE_HEADING 90 C_ROLL_DIVE 2100 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_PING_DEPTH 500

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

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 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2931 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 101

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -58152.25 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 1001 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 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2486 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -81.04335 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 2.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 2.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 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 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -81.04335 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -58152.25

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 360

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 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 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2486 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2931 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 115 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 30 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 28 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 210114,040234,4742.920,-12535.659,37,0.7,37,17.2 TGT_NAME JUANDEFUCA

_CALLS 1 TGT_LATLONG 4748.000,-12539.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.183,0.183

_SM_DEPTHo 1.74 KALMAN_X 16699.0,156.2,-193.8,-61897.8,1591.4

_SM_ANGLEo -70.4 KALMAN_Y 1233.5,13.1,82.1,77789.0,916.7

GPS2 210114,040742,4742.923,-12535.667,15,1.1,16,17.2 MHEAD_RNG_PITCHd_Wd 297.8,10276,-17.5,-10.000,-21.09,2221

SPEED_LIMITS 0.100,0.259 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.024897 _10V_AH 10.0,4.627

SM_CCo 19972,0.00,0.000,0,0,1807,275.47 FG_AHR_24Vo 0.000

SM_GC 1.37,6.82,0.00,0.00,0.044,0.000,0.000,146,2117,1807,-7.24,0.48,275.47,0,0,0,0,0,0,26.34,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4719.74,-12540.05,200114,222231 MEM 313212

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 40447,532

HUMID 49.60 CAP_FILE_SIZE 148546,0

INTERNAL_PRESSURE 8.44372 CFSIZE 260165632,253935616

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 11 GPS 210114,094234,4745.812,-12537.548,31,1.0,32,17.2

_24V_AH 22.9,7.165

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 209 91.44 SBE_CT 370 23 197.26

Roll_motor 150 107 371.94 WL_BB2FLVMT 328 36 275.73

VBD_pump_during_apogee 354 1651 13407.11 AA4330 823 14 268.45

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 48 28.19 nil 0 0 0.00

Iridium_during_connect 15 160 56.43 nil 0 0 0.00

Iridium_during_xfer 153 223 785.88 nil 0 0 0.00

Transponder_ping 15 420 146.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.57

TT8 1655 11 198.04

LPSleep 16075 2 352.06

TT8_Active 549 11 65.77

TT8_Sampling 1782 37 667.01

TT8_CF8 209 45 95.80

TT8_Kalman 33 61 20.41

Analog_circuits 1318 15 197.72

GPS_charging 0 0 0.00

Compass 1436 15 225.91

RAFOS 0 0 0.00

Transponder 91 30 27.48

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.63 -146.6 140 2121 1890 1736 0.0 0.0 0 50 0.00 0.00 -32.38 0.000 16386 0.000 0.000 139 2121 2749 2757 2741 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.63 -146.6 140 2121 2757 2742 2.7 -4.8 3 91 7.82 2.28 -20.70 0.000 18692 0.210 0.058 2271 3529 3530 3585 3476 0 0 0 0 0 0 25.82 25.99 26.27

261 -0.50 -146.6 2270 3529 3579 3483 35.8 -18.5 24 270 0.15 2.25 0.00 0.000 3078 0.133 0.030 2321 2070 3530 3578 3483 0 0 0 0 0 0 25.96 26.09 28.83

570 -0.50 -146.6 2319 2070 3579 3484 76.3 -11.4 55 579 0.00 2.33 0.00 0.000 2308 0.000 0.042 2311 3518 3531 3578 3484 0 0 0 0 0 0 28.83 26.15 28.83

839 -0.50 -146.6 2311 3518 3578 3484 101.4 -8.8 70 849 0.05 2.22 0.00 0.000 3078 0.179 0.028 2327 2068 3531 3579 3483 0 0 0 0 0 0 26.13 26.23 28.83

1150 -0.50 -146.6 2327 2068 3578 3485 132.8 -9.3 86 1156 0.00 2.20 0.00 0.000 4612 0.000 0.043 2328 672 3531 3578 3485 0 0 0 0 0 0 28.83 26.25 28.83

1230 -0.50 -146.6 2327 671 3578 3485 140.5 -9.5 90 1235 0.00 2.25 0.00 0.000 3078 0.000 0.031 2319 2125 3531 3578 3485 0 0 0 0 0 0 28.83 26.28 28.83

1560 -0.50 -146.6 2318 2125 3578 3485 171.2 -9.0 103 1565 0.00 2.20 0.00 0.000 2308 0.000 0.042 2308 3518 3531 3578 3485 0 0 0 0 0 0 28.83 26.29 28.83

1650 -0.50 -146.6 2308 3518 3578 3487 179.1 -8.9 106 1656 0.05 2.22 0.00 0.000 3078 0.173 0.028 2325 2062 3532 3578 3486 0 0 0 0 0 0 26.24 26.33 28.83

1980 -0.50 -146.6 2325 2062 3578 3486 207.1 -8.4 117 1985 0.00 2.17 0.00 0.000 4612 0.000 0.043 2326 675 3532 3578 3486 0 0 0 0 0 0 28.83 26.34 28.83

2100 -0.50 -146.6 2325 674 3578 3486 218.1 -9.2 121 2105 0.00 2.22 0.00 0.000 3078 0.000 0.031 2317 2129 3532 3578 3486 0 0 0 0 0 0 28.83 26.37 28.83

2430 -0.50 -146.6 2317 2129 3578 3486 246.2 -8.1 132 2431 0.00 0.00 0.00 0.000 2054 0.000 0.000 2317 2129 3532 3578 3486 0 0 0 0 0 0 28.83 28.83 28.83

2730 -0.50 -146.6 2317 2128 3578 3486 267.9 -7.1 142 2735 0.00 2.33 0.00 0.000 2564 0.000 0.042 2317 658 3532 3578 3486 0 0 0 0 0 0 28.83 26.39 28.83

2790 -0.50 -146.6 2317 657 3578 3486 272.5 -7.2 144 2796 0.05 2.28 0.00 0.000 3078 0.183 0.031 2325 2130 3532 3578 3486 0 0 0 0 0 0 26.32 26.41 28.83

3120 -0.57 -146.6 2324 2131 3578 3487 295.1 -7.0 155 3126 0.08 2.17 0.00 0.000 4356 0.109 0.041 2268 3520 3532 3578 3486 0 0 0 0 0 0 26.44 26.40 28.83

3168 -0.63 -146.6 2268 3520 3577 3486 297.7 -7.3 156 3173 0.05 2.22 0.00 0.000 3078 0.180 0.028 2284 2058 3531 3577 3486 0 0 0 0 0 0 26.34 26.43 28.83

3499 -0.63 -146.6 2284 2058 3577 3486 332.8 -10.1 162 3505 0.00 2.35 0.00 0.000 4356 0.000 0.041 2275 3535 3531 3577 3486 0 0 0 0 0 0 28.83 26.41 28.83

3547 -0.63 -146.6 2275 3535 3577 3486 332.8 -10.1 162 3551 0.00 2.22 0.00 0.000 3078 0.000 0.028 2275 2071 3531 3577 3486 0 0 0 0 0 0 28.83 26.45 28.83

3850 -0.63 -146.6 2275 2072 3577 3486 367.7 -10.0 167 3855 0.00 2.20 0.00 0.000 2564 0.000 0.042 2275 673 3531 3577 3486 0 0 0 0 0 0 28.83 26.43 28.83

3888 -0.63 -146.6 2275 673 3577 3487 367.7 -10.0 167 3892 0.08 2.25 0.00 0.000 3078 0.165 0.031 2290 2133 3531 3576 3486 0 0 0 0 0 0 26.36 26.45 28.83

4201 -0.63 -146.6 2290 2133 3576 3486 399.6 -8.8 173 4202 0.00 0.00 0.00 0.000 4102 0.000 0.000 2290 2133 3531 3577 3486 0 0 0 0 0 0 28.83 28.83 28.83

4501 -0.63 -146.6 2290 2133 3576 3486 425.6 -8.6 178 4502 0.00 0.00 0.00 0.000 4102 0.000 0.000 2290 2133 3530 3575 3486 0 0 0 0 0 0 28.83 28.83 28.83

4801 -0.63 -146.6 2290 2133 3576 3486 450.8 -8.4 183 4806 0.00 2.28 0.00 0.000 4612 0.000 0.042 2291 680 3531 3576 3486 0 0 0 0 0 0 28.83 26.46 28.83

4848 -0.63 -146.6 2290 680 3576 3486 450.8 -8.4 183 4852 0.00 2.22 0.00 0.000 3078 0.000 0.031 2282 2125 3530 3575 3486 0 0 0 0 0 0 28.83 26.48 28.83

5151 -0.63 -146.6 2282 2125 3575 3487 483.1 -9.2 188 5152 0.00 0.00 0.00 0.000 2054 0.000 0.000 2282 2124 3530 3575 3486 0 0 0 0 0 0 28.83 28.83 28.83

5452 -0.63 -146.6 2282 2125 3575 3486 510.3 -9.1 193 5453 0.00 0.00 0.00 0.000 2054 0.000 0.000 2282 2124 3530 3575 3486 0 0 0 0 0 0 28.83 28.83 28.83

5751 -0.68 -146.6 2282 2124 3574 3486 536.0 -8.4 198 5753 0.05 0.00 0.00 0.000 4102 0.143 0.000 2243 2124 3530 3574 3486 0 0 0 0 0 0 26.53 28.83 28.83

6052 -0.68 -146.6 2243 2125 3573 3486 565.3 -9.8 203 6057 0.08 2.28 0.00 0.000 2564 0.158 0.043 2268 678 3529 3573 3486 0 0 0 0 0 0 26.44 26.48 28.83

6112 -0.68 -146.6 2268 678 3573 3486 570.8 -9.6 204 6116 0.00 2.20 0.00 0.000 3078 0.000 0.033 2260 2115 3529 3572 3486 0 0 0 0 0 0 28.83 26.51 28.83

6472 -0.68 -146.6 2259 2115 3571 3486 601.8 -8.6 210 6473 0.00 0.00 0.00 0.000 2054 0.000 0.000 2260 2115 3529 3572 3487 0 0 0 0 0 0 28.83 28.83 28.83

6772 -0.68 -146.6 2259 2115 3571 3486 628.1 -8.8 215 6774 0.00 0.00 0.00 0.000 2054 0.000 0.000 2260 2115 3528 3571 3486 0 0 0 0 0 0 28.83 28.83 28.83

7073 -0.68 -146.6 2259 2115 3571 3486 652.5 -8.1 220 7074 0.00 0.00 0.00 0.000 2054 0.000 0.000 2260 2115 3528 3571 3486 0 0 0 0 0 0 28.83 28.83 28.83

7371 -0.68 -146.6 2259 2114 3571 3486 676.0 -7.8 225 7372 0.00 0.00 0.00 0.000 2054 0.000 0.000 2259 2115 3528 3571 3486 0 0 0 0 0 0 28.83 28.83 28.83

7672 -0.74 -146.6 2259 2115 3570 3486 700.1 -8.1 230 7673 0.00 0.00 0.00 0.000 4102 0.000 0.000 2260 2115 3528 3570 3486 0 0 0 0 0 0 28.83 28.83 28.83

7971 -0.79 -146.6 2259 2114 3570 3486 726.3 -8.8 235 7973 0.08 0.00 0.00 0.000 4102 0.113 0.000 2213 2115 3528 3570 3486 0 0 0 0 0 0 26.54 28.83 28.83

8271 -0.79 -146.6 2212 2115 3569 3486 760.2 -11.5 240 8277 0.08 2.25 0.00 0.000 2564 0.160 0.044 2238 681 3527 3569 3486 0 0 0 0 0 0 26.46 26.51 28.83

8318 -0.79 -146.6 2238 681 3569 3486 760.2 -11.5 240 8322 0.00 2.22 0.00 0.000 3078 0.000 0.033 2228 2122 3527 3569 3486 0 0 0 0 0 0 28.83 26.53 28.83

8622 -0.79 -146.6 2229 2122 3569 3486 793.5 -9.3 245 8626 0.00 2.20 0.00 0.000 2308 0.000 0.044 2219 3519 3527 3569 3486 0 0 0 0 0 0 28.83 26.51 28.83

8681 -0.79 -146.6 2218 3519 3568 3485 799.5 -9.5 246 8686 0.00 2.22 0.00 0.000 3078 0.000 0.030 2219 2063 3527 3568 3486 0 0 0 0 0 0 28.83 26.53 28.83

9042 -0.79 -146.6 2218 2063 3568 3485 834.2 -9.7 252 9043 0.00 0.00 0.00 0.000 2054 0.000 0.000 2219 2063 3526 3568 3485 0 0 0 0 0 0 28.83 28.83 28.83

9342 -0.79 -146.6 2218 2063 3568 3484 865.2 -10.5 257 9344 0.05 0.00 0.00 0.000 2054 0.184 0.000 2236 2063 3526 3568 3484 0 0 0 0 0 0 26.50 28.83 28.83

9640 -0.79 -146.6 2235 2063 3568 3484 896.8 -10.5 262 9642 0.00 0.00 0.00 0.000 4102 0.000 0.000 2236 2063 3525 3567 3484 0 0 0 0 0 0 28.83 28.83 28.83

9942 -0.85 -146.6 2236 2063 3567 3484 926.2 -9.6 267 9947 0.08 2.15 0.00 0.000 4612 0.109 0.045 2190 679 3525 3567 3484 0 0 0 0 0 0 26.55 26.52 28.83

10018 -0.85 -146.6 2190 679 3567 3484 933.4 -10.0 268 10023 0.10 2.22 0.00 0.000 3078 0.151 0.032 2214 2124 3525 3567 3484 0 0 0 0 0 0 26.44 26.54 28.83

10352 -0.85 -146.6 2213 2124 3566 3484 970.6 -10.4 274 10357 0.00 2.20 0.00 0.000 2308 0.000 0.044 2204 3521 3525 3567 3484 0 0 0 0 0 0 28.83 26.51 28.83

10399 -0.85 -146.6 2204 3522 3567 3483 970.6 -10.4 274 10403 0.00 2.22 0.00 0.000 3078 0.000 0.030 2204 2066 3525 3567 3483 0 0 0 0 0 0 28.83 26.53 28.83

10579 end dive: TARGET_DEPTH_EXCEEDED

state 10580 begin apogee

10585 -0.18 0.0 2204 2127 3566 3483 995.7 -10.8 277 10709 0.62 0.00 119.50 1.652 10246 0.112 0.000 2426 2127 2930 3000 2861 0 0 0 0 0 0 26.44 28.83 23.22

10710 end apogee: CONTROL_FINISHED_OK

state 10710 begin climb

10712 0.63 146.6 2426 2127 3001 2862 999.9 0.0 279 10843 0.75 0.00 126.90 1.637 10502 0.054 0.000 2698 2127 2332 2417 2248 0 0 0 0 0 0 24.31 28.83 22.91

11162 0.47 146.6 2698 2127 2410 2248 954.1 13.8 287 11167 0.22 2.35 0.00 0.000 4612 0.168 0.046 2644 678 2329 2410 2248 0 0 0 0 0 0 25.16 25.27 28.83

11269 0.33 146.6 2644 678 2408 2248 946.8 13.5 288 11274 0.17 2.33 0.00 0.000 5126 0.151 0.031 2592 2121 2328 2409 2248 0 0 0 0 0 0 25.32 25.44 28.83

11571 0.33 180.3 2591 2122 2408 2247 915.4 8.4 293 11607 0.00 2.47 29.23 1.539 10756 0.000 0.047 2601 679 2194 2286 2102 0 0 0 0 0 0 28.83 24.78 23.87

11751 0.33 194.6 2600 680 2283 2102 898.2 9.3 296 11770 0.00 2.35 13.57 1.456 13318 0.000 0.031 2600 2126 2136 2232 2040 0 0 0 0 0 0 28.83 25.29 23.96

12101 0.33 194.6 2601 2126 2231 2041 862.6 10.1 302 12106 0.00 2.40 0.00 0.000 4612 0.000 0.047 2611 679 2135 2231 2040 0 0 0 0 0 0 28.83 25.53 28.83

12290 0.33 194.6 2611 679 2230 2040 843.4 10.5 305 12296 0.08 2.30 0.00 0.000 5126 0.162 0.031 2588 2123 2135 2230 2040 0 0 0 0 0 0 25.61 25.72 28.83

12641 0.38 211.9 2589 2124 2230 2040 810.1 9.2 311 12663 0.08 2.42 15.35 1.446 10756 0.108 0.047 2641 673 2067 2166 1969 0 0 0 0 0 0 25.90 25.39 24.49

12858 0.38 211.9 2641 673 2163 1968 789.5 11.4 314 12863 0.10 2.33 0.00 0.000 5126 0.155 0.031 2610 2129 2065 2163 1968 0 0 0 0 0 0 25.56 25.67 28.83

13161 0.38 211.9 2610 2128 2163 1968 751.2 10.5 319 13166 0.00 2.38 0.00 0.000 4612 0.000 0.047 2619 677 2065 2162 1968 0 0 0 0 0 0 28.83 25.84 28.83

13341 0.38 211.9 2619 678 2162 1968 731.6 10.8 322 13347 0.00 2.28 0.00 0.000 5126 0.000 0.031 2619 2123 2065 2162 1968 0 0 0 0 0 0 28.83 25.94 28.83

13701 0.38 211.9 2619 2122 2161 1968 691.7 11.1 328 13707 0.00 2.35 0.00 0.000 4612 0.000 0.047 2630 675 2065 2162 1968 0 0 0 0 0 0 28.83 26.02 28.83

13888 0.38 211.9 2629 675 2161 1968 670.1 11.8 331 13893 0.08 2.28 0.00 0.000 5126 0.156 0.031 2605 2126 2064 2161 1968 0 0 0 0 0 0 26.01 26.10 28.83

14232 0.44 227.7 2605 2126 2161 1969 636.6 9.3 337 14252 0.08 2.40 14.10 1.353 10756 0.109 0.047 2660 673 2001 2101 1901 0 0 0 0 0 0 26.17 25.72 24.84

14439 0.44 227.7 2660 673 2099 1901 615.9 11.5 340 14444 0.10 2.30 0.00 0.000 5126 0.149 0.031 2629 2130 2000 2099 1901 0 0 0 0 0 0 25.79 25.89 28.83

14752 0.44 244.0 2628 2130 2099 1901 581.8 9.3 346 14772 0.00 2.42 14.70 1.321 12804 0.000 0.047 2638 670 1935 2032 1838 0 0 0 0 0 0 28.83 25.58 24.72

14951 0.44 251.1 2637 669 2028 1839 565.0 9.7 349 14963 0.00 2.30 7.18 1.200 13318 0.000 0.030 2638 2121 1906 2000 1813 0 0 0 0 0 0 28.83 25.79 24.70

15272 0.44 251.1 2638 2121 2000 1813 527.2 10.8 355 15278 0.00 2.35 0.00 0.000 4612 0.000 0.047 2648 676 1906 2000 1813 0 0 0 0 0 0 28.83 25.84 28.83

15409 0.44 251.1 2648 676 1999 1813 513.5 11.2 357 15414 0.08 2.30 0.00 0.000 5126 0.153 0.031 2624 2133 1906 1999 1813 0 0 0 0 0 0 25.84 25.94 28.83

15744 0.51 251.1 2623 2133 1999 1814 477.6 10.1 363 15749 0.08 2.30 0.00 0.000 2564 0.109 0.047 2679 672 1906 1999 1813 0 0 0 0 0 0 26.06 26.02 28.83

15961 0.51 251.1 2679 672 1999 1814 453.3 12.7 366 15966 0.10 2.28 0.00 0.000 5126 0.146 0.031 2647 2124 1905 1998 1813 0 0 0 0 0 0 26.01 26.11 28.83

16274 0.51 251.1 2647 2124 1998 1813 412.6 11.2 372 16279 0.00 2.35 0.00 0.000 2564 0.000 0.047 2656 672 1905 1998 1813 0 0 0 0 0 0 28.83 26.14 28.83

16421 0.51 251.1 2656 672 1997 1813 399.2 11.2 374 16426 0.00 2.28 0.00 0.000 5126 0.000 0.031 2657 2129 1905 1998 1813 0 0 0 0 0 0 28.83 26.20 28.83

16745 0.51 251.1 2656 2128 1997 1814 359.7 11.2 380 16750 0.00 2.33 0.00 0.000 4612 0.000 0.047 2667 676 1905 1997 1814 0 0 0 0 0 0 28.83 26.21 28.83

16881 0.51 251.1 2666 676 1997 1813 345.5 11.5 382 16886 0.05 2.25 0.00 0.000 5126 0.181 0.031 2650 2124 1905 1998 1813 0 0 0 0 0 0 26.16 26.26 28.83

17215 0.58 258.1 2650 2124 1998 1813 310.6 9.7 388 17228 0.08 2.35 7.12 1.092 10756 0.109 0.047 2708 677 1877 1970 1784 0 0 0 0 0 0 26.30 26.09 25.28

17387 0.58 258.1 2707 676 1969 1785 288.0 13.2 392 17393 0.10 2.25 0.00 0.000 5126 0.124 0.031 2673 2123 1877 1969 1785 0 0 0 0 0 0 26.07 26.17 28.83

17716 0.58 258.1 2672 2123 1969 1785 252.0 10.7 403 17722 0.00 2.35 0.00 0.000 4612 0.000 0.047 2682 671 1877 1969 1785 0 0 0 0 0 0 28.83 26.20 28.83

17853 0.58 258.1 2682 670 1969 1785 238.6 11.2 407 17857 0.00 2.28 0.00 0.000 5126 0.000 0.031 2682 2130 1877 1969 1785 0 0 0 0 0 0 28.83 26.25 28.83

18158 0.58 258.1 2682 2130 1969 1785 199.5 12.6 417 18162 0.00 2.28 0.00 0.000 4612 0.000 0.047 2693 675 1876 1968 1785 0 0 0 0 0 0 28.83 26.25 28.83

18293 0.58 258.1 2693 675 1969 1785 183.5 13.4 421 18298 0.08 2.25 0.00 0.000 5126 0.151 0.031 2667 2124 1877 1969 1785 0 0 0 0 0 0 26.20 26.29 28.83

18596 0.66 258.1 2667 2123 1969 1785 147.5 10.3 431 18602 0.10 2.30 0.00 0.000 2564 0.090 0.047 2734 676 1877 1969 1785 0 0 0 0 0 0 26.33 26.29 28.83

18763 0.66 258.1 2734 676 1969 1785 127.1 12.8 439 18768 0.12 2.25 0.00 0.000 5126 0.139 0.031 2692 2129 1877 1969 1785 0 0 0 0 0 0 26.23 26.34 28.83

19066 0.72 258.1 2692 2128 1969 1785 93.5 11.2 454 19072 0.08 2.30 0.00 0.000 2564 0.108 0.047 2749 673 1877 1969 1785 0 0 0 0 0 0 26.37 26.33 28.83

19266 0.72 258.1 2749 673 1969 1785 67.0 11.8 469 19276 0.10 2.22 0.00 0.000 5126 0.129 0.031 2714 2116 1877 1969 1785 0 0 0 0 0 0 26.27 26.37 28.83

19576 0.78 274.5 2713 2116 1969 1785 35.9 9.2 500 19589 0.08 2.33 6.82 0.262 10756 0.108 0.047 2772 669 1810 1908 1712 0 0 0 0 0 0 26.40 26.32 26.13

19627 0.78 274.5 2772 669 1907 1712 29.8 12.3 505 19637 0.10 2.22 0.00 0.000 5126 0.129 0.031 2738 2117 1809 1907 1712 0 0 0 0 0 0 26.25 26.34 28.83

19876 end climb: SURFACE_DEPTH_REACHED

state 19876 begin surface coast

19896 end surface coast: CONTROL_FINISHED_OK

state 19896 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	30	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	28	ESCAPE_HEADING	90	C_ROLL_DIVE	2100	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_PING_DEPTH	500
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
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	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2931	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	101
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-58152.25	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	1001	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	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2486	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-81.04335	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	2.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	0

GPS1	210114,040234,4742.920,-12535.659,37,0.7,37,17.2	TGT_NAME	JUANDEFUCA
_CALLS	1	TGT_LATLONG	4748.000,-12539.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.183,0.183
_SM_DEPTHo	1.74	KALMAN_X	16699.0,156.2,-193.8,-61897.8,1591.4
_SM_ANGLEo	-70.4	KALMAN_Y	1233.5,13.1,82.1,77789.0,916.7
GPS2	210114,040742,4742.923,-12535.667,15,1.1,16,17.2	MHEAD_RNG_PITCHd_Wd	297.8,10276,-17.5,-10.000,-21.09,2221
SPEED_LIMITS	0.100,0.259	D_GRID	990

FINISH	0.9,1.024897	_10V_AH	10.0,4.627
SM_CCo	19972,0.00,0.000,0,0,1807,275.47	FG_AHR_24Vo	0.000
SM_GC	1.37,6.82,0.00,0.00,0.044,0.000,0.000,146,2117,1807,-7.24,0.48,275.47,0,0,0,0,0,0,26.34,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4719.74,-12540.05,200114,222231	MEM	313212
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	40447,532
HUMID	49.60	CAP_FILE_SIZE	148546,0
INTERNAL_PRESSURE	8.44372	CFSIZE	260165632,253935616
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	11	GPS	210114,094234,4745.812,-12537.548,31,1.0,32,17.2
_24V_AH	22.9,7.165

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	209	91.44	SBE_CT	370	23	197.26
Roll_motor	150	107	371.94	WL_BB2FLVMT	328	36	275.73
VBD_pump_during_apogee	354	1651	13407.11	AA4330	823	14	268.45
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	48	28.19	nil	0	0	0.00
Iridium_during_connect	15	160	56.43	nil	0	0	0.00
Iridium_during_xfer	153	223	785.88	nil	0	0	0.00
Transponder_ping	15	420	146.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.57
TT8	1655	11	198.04
LPSleep	16075	2	352.06
TT8_Active	549	11	65.77
TT8_Sampling	1782	37	667.01
TT8_CF8	209	45	95.80
TT8_Kalman	33	61	20.41
Analog_circuits	1318	15	197.72
GPS_charging	0	0	0.00
Compass	1436	15	225.91
RAFOS	0	0	0.00
Transponder	91	30	27.48

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.63	-146.6	140	2121	1890	1736	0.0	0.0	0	50	0.00	0.00	-32.38	0.000	16386	0.000	0.000	139	2121	2749	2757	2741	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.63	-146.6	140	2121	2757	2742	2.7	-4.8	3	91	7.82	2.28	-20.70	0.000	18692	0.210	0.058	2271	3529	3530	3585	3476	0	0	0	0	0	0	25.82	25.99	26.27
261	-0.50	-146.6	2270	3529	3579	3483	35.8	-18.5	24	270	0.15	2.25	0.00	0.000	3078	0.133	0.030	2321	2070	3530	3578	3483	0	0	0	0	0	0	25.96	26.09	28.83
570	-0.50	-146.6	2319	2070	3579	3484	76.3	-11.4	55	579	0.00	2.33	0.00	0.000	2308	0.000	0.042	2311	3518	3531	3578	3484	0	0	0	0	0	0	28.83	26.15	28.83
839	-0.50	-146.6	2311	3518	3578	3484	101.4	-8.8	70	849	0.05	2.22	0.00	0.000	3078	0.179	0.028	2327	2068	3531	3579	3483	0	0	0	0	0	0	26.13	26.23	28.83
1150	-0.50	-146.6	2327	2068	3578	3485	132.8	-9.3	86	1156	0.00	2.20	0.00	0.000	4612	0.000	0.043	2328	672	3531	3578	3485	0	0	0	0	0	0	28.83	26.25	28.83
1230	-0.50	-146.6	2327	671	3578	3485	140.5	-9.5	90	1235	0.00	2.25	0.00	0.000	3078	0.000	0.031	2319	2125	3531	3578	3485	0	0	0	0	0	0	28.83	26.28	28.83
1560	-0.50	-146.6	2318	2125	3578	3485	171.2	-9.0	103	1565	0.00	2.20	0.00	0.000	2308	0.000	0.042	2308	3518	3531	3578	3485	0	0	0	0	0	0	28.83	26.29	28.83
1650	-0.50	-146.6	2308	3518	3578	3487	179.1	-8.9	106	1656	0.05	2.22	0.00	0.000	3078	0.173	0.028	2325	2062	3532	3578	3486	0	0	0	0	0	0	26.24	26.33	28.83
1980	-0.50	-146.6	2325	2062	3578	3486	207.1	-8.4	117	1985	0.00	2.17	0.00	0.000	4612	0.000	0.043	2326	675	3532	3578	3486	0	0	0	0	0	0	28.83	26.34	28.83
2100	-0.50	-146.6	2325	674	3578	3486	218.1	-9.2	121	2105	0.00	2.22	0.00	0.000	3078	0.000	0.031	2317	2129	3532	3578	3486	0	0	0	0	0	0	28.83	26.37	28.83
2430	-0.50	-146.6	2317	2129	3578	3486	246.2	-8.1	132	2431	0.00	0.00	0.00	0.000	2054	0.000	0.000	2317	2129	3532	3578	3486	0	0	0	0	0	0	28.83	28.83	28.83
2730	-0.50	-146.6	2317	2128	3578	3486	267.9	-7.1	142	2735	0.00	2.33	0.00	0.000	2564	0.000	0.042	2317	658	3532	3578	3486	0	0	0	0	0	0	28.83	26.39	28.83
2790	-0.50	-146.6	2317	657	3578	3486	272.5	-7.2	144	2796	0.05	2.28	0.00	0.000	3078	0.183	0.031	2325	2130	3532	3578	3486	0	0	0	0	0	0	26.32	26.41	28.83
3120	-0.57	-146.6	2324	2131	3578	3487	295.1	-7.0	155	3126	0.08	2.17	0.00	0.000	4356	0.109	0.041	2268	3520	3532	3578	3486	0	0	0	0	0	0	26.44	26.40	28.83
3168	-0.63	-146.6	2268	3520	3577	3486	297.7	-7.3	156	3173	0.05	2.22	0.00	0.000	3078	0.180	0.028	2284	2058	3531	3577	3486	0	0	0	0	0	0	26.34	26.43	28.83
3499	-0.63	-146.6	2284	2058	3577	3486	332.8	-10.1	162	3505	0.00	2.35	0.00	0.000	4356	0.000	0.041	2275	3535	3531	3577	3486	0	0	0	0	0	0	28.83	26.41	28.83
3547	-0.63	-146.6	2275	3535	3577	3486	332.8	-10.1	162	3551	0.00	2.22	0.00	0.000	3078	0.000	0.028	2275	2071	3531	3577	3486	0	0	0	0	0	0	28.83	26.45	28.83
3850	-0.63	-146.6	2275	2072	3577	3486	367.7	-10.0	167	3855	0.00	2.20	0.00	0.000	2564	0.000	0.042	2275	673	3531	3577	3486	0	0	0	0	0	0	28.83	26.43	28.83
3888	-0.63	-146.6	2275	673	3577	3487	367.7	-10.0	167	3892	0.08	2.25	0.00	0.000	3078	0.165	0.031	2290	2133	3531	3576	3486	0	0	0	0	0	0	26.36	26.45	28.83
4201	-0.63	-146.6	2290	2133	3576	3486	399.6	-8.8	173	4202	0.00	0.00	0.00	0.000	4102	0.000	0.000	2290	2133	3531	3577	3486	0	0	0	0	0	0	28.83	28.83	28.83
4501	-0.63	-146.6	2290	2133	3576	3486	425.6	-8.6	178	4502	0.00	0.00	0.00	0.000	4102	0.000	0.000	2290	2133	3530	3575	3486	0	0	0	0	0	0	28.83	28.83	28.83
4801	-0.63	-146.6	2290	2133	3576	3486	450.8	-8.4	183	4806	0.00	2.28	0.00	0.000	4612	0.000	0.042	2291	680	3531	3576	3486	0	0	0	0	0	0	28.83	26.46	28.83
4848	-0.63	-146.6	2290	680	3576	3486	450.8	-8.4	183	4852	0.00	2.22	0.00	0.000	3078	0.000	0.031	2282	2125	3530	3575	3486	0	0	0	0	0	0	28.83	26.48	28.83
5151	-0.63	-146.6	2282	2125	3575	3487	483.1	-9.2	188	5152	0.00	0.00	0.00	0.000	2054	0.000	0.000	2282	2124	3530	3575	3486	0	0	0	0	0	0	28.83	28.83	28.83
5452	-0.63	-146.6	2282	2125	3575	3486	510.3	-9.1	193	5453	0.00	0.00	0.00	0.000	2054	0.000	0.000	2282	2124	3530	3575	3486	0	0	0	0	0	0	28.83	28.83	28.83
5751	-0.68	-146.6	2282	2124	3574	3486	536.0	-8.4	198	5753	0.05	0.00	0.00	0.000	4102	0.143	0.000	2243	2124	3530	3574	3486	0	0	0	0	0	0	26.53	28.83	28.83
6052	-0.68	-146.6	2243	2125	3573	3486	565.3	-9.8	203	6057	0.08	2.28	0.00	0.000	2564	0.158	0.043	2268	678	3529	3573	3486	0	0	0	0	0	0	26.44	26.48	28.83
6112	-0.68	-146.6	2268	678	3573	3486	570.8	-9.6	204	6116	0.00	2.20	0.00	0.000	3078	0.000	0.033	2260	2115	3529	3572	3486	0	0	0	0	0	0	28.83	26.51	28.83
6472	-0.68	-146.6	2259	2115	3571	3486	601.8	-8.6	210	6473	0.00	0.00	0.00	0.000	2054	0.000	0.000	2260	2115	3529	3572	3487	0	0	0	0	0	0	28.83	28.83	28.83
6772	-0.68	-146.6	2259	2115	3571	3486	628.1	-8.8	215	6774	0.00	0.00	0.00	0.000	2054	0.000	0.000	2260	2115	3528	3571	3486	0	0	0	0	0	0	28.83	28.83	28.83
7073	-0.68	-146.6	2259	2115	3571	3486	652.5	-8.1	220	7074	0.00	0.00	0.00	0.000	2054	0.000	0.000	2260	2115	3528	3571	3486	0	0	0	0	0	0	28.83	28.83	28.83
7371	-0.68	-146.6	2259	2114	3571	3486	676.0	-7.8	225	7372	0.00	0.00	0.00	0.000	2054	0.000	0.000	2259	2115	3528	3571	3486	0	0	0	0	0	0	28.83	28.83	28.83
7672	-0.74	-146.6	2259	2115	3570	3486	700.1	-8.1	230	7673	0.00	0.00	0.00	0.000	4102	0.000	0.000	2260	2115	3528	3570	3486	0	0	0	0	0	0	28.83	28.83	28.83
7971	-0.79	-146.6	2259	2114	3570	3486	726.3	-8.8	235	7973	0.08	0.00	0.00	0.000	4102	0.113	0.000	2213	2115	3528	3570	3486	0	0	0	0	0	0	26.54	28.83	28.83
8271	-0.79	-146.6	2212	2115	3569	3486	760.2	-11.5	240	8277	0.08	2.25	0.00	0.000	2564	0.160	0.044	2238	681	3527	3569	3486	0	0	0	0	0	0	26.46	26.51	28.83
8318	-0.79	-146.6	2238	681	3569	3486	760.2	-11.5	240	8322	0.00	2.22	0.00	0.000	3078	0.000	0.033	2228	2122	3527	3569	3486	0	0	0	0	0	0	28.83	26.53	28.83
8622	-0.79	-146.6	2229	2122	3569	3486	793.5	-9.3	245	8626	0.00	2.20	0.00	0.000	2308	0.000	0.044	2219	3519	3527	3569	3486	0	0	0	0	0	0	28.83	26.51	28.83
8681	-0.79	-146.6	2218	3519	3568	3485	799.5	-9.5	246	8686	0.00	2.22	0.00	0.000	3078	0.000	0.030	2219	2063	3527	3568	3486	0	0	0	0	0	0	28.83	26.53	28.83
9042	-0.79	-146.6	2218	2063	3568	3485	834.2	-9.7	252	9043	0.00	0.00	0.00	0.000	2054	0.000	0.000	2219	2063	3526	3568	3485	0	0	0	0	0	0	28.83	28.83	28.83
9342	-0.79	-146.6	2218	2063	3568	3484	865.2	-10.5	257	9344	0.05	0.00	0.00	0.000	2054	0.184	0.000	2236	2063	3526	3568	3484	0	0	0	0	0	0	26.50	28.83	28.83
9640	-0.79	-146.6	2235	2063	3568	3484	896.8	-10.5	262	9642	0.00	0.00	0.00	0.000	4102	0.000	0.000	2236	2063	3525	3567	3484	0	0	0	0	0	0	28.83	28.83	28.83
9942	-0.85	-146.6	2236	2063	3567	3484	926.2	-9.6	267	9947	0.08	2.15	0.00	0.000	4612	0.109	0.045	2190	679	3525	3567	3484	0	0	0	0	0	0	26.55	26.52	28.83
10018	-0.85	-146.6	2190	679	3567	3484	933.4	-10.0	268	10023	0.10	2.22	0.00	0.000	3078	0.151	0.032	2214	2124	3525	3567	3484	0	0	0	0	0	0	26.44	26.54	28.83
10352	-0.85	-146.6	2213	2124	3566	3484	970.6	-10.4	274	10357	0.00	2.20	0.00	0.000	2308	0.000	0.044	2204	3521	3525	3567	3484	0	0	0	0	0	0	28.83	26.51	28.83
10399	-0.85	-146.6	2204	3522	3567	3483	970.6	-10.4	274	10403	0.00	2.22	0.00	0.000	3078	0.000	0.030	2204	2066	3525	3567	3483	0	0	0	0	0	0	28.83	26.53	28.83
10579	end dive: TARGET_DEPTH_EXCEEDED
state	10580	begin apogee
10585	-0.18	0.0	2204	2127	3566	3483	995.7	-10.8	277	10709	0.62	0.00	119.50	1.652	10246	0.112	0.000	2426	2127	2930	3000	2861	0	0	0	0	0	0	26.44	28.83	23.22
10710	end apogee: CONTROL_FINISHED_OK
state	10710	begin climb
10712	0.63	146.6	2426	2127	3001	2862	999.9	0.0	279	10843	0.75	0.00	126.90	1.637	10502	0.054	0.000	2698	2127	2332	2417	2248	0	0	0	0	0	0	24.31	28.83	22.91
11162	0.47	146.6	2698	2127	2410	2248	954.1	13.8	287	11167	0.22	2.35	0.00	0.000	4612	0.168	0.046	2644	678	2329	2410	2248	0	0	0	0	0	0	25.16	25.27	28.83
11269	0.33	146.6	2644	678	2408	2248	946.8	13.5	288	11274	0.17	2.33	0.00	0.000	5126	0.151	0.031	2592	2121	2328	2409	2248	0	0	0	0	0	0	25.32	25.44	28.83
11571	0.33	180.3	2591	2122	2408	2247	915.4	8.4	293	11607	0.00	2.47	29.23	1.539	10756	0.000	0.047	2601	679	2194	2286	2102	0	0	0	0	0	0	28.83	24.78	23.87
11751	0.33	194.6	2600	680	2283	2102	898.2	9.3	296	11770	0.00	2.35	13.57	1.456	13318	0.000	0.031	2600	2126	2136	2232	2040	0	0	0	0	0	0	28.83	25.29	23.96
12101	0.33	194.6	2601	2126	2231	2041	862.6	10.1	302	12106	0.00	2.40	0.00	0.000	4612	0.000	0.047	2611	679	2135	2231	2040	0	0	0	0	0	0	28.83	25.53	28.83
12290	0.33	194.6	2611	679	2230	2040	843.4	10.5	305	12296	0.08	2.30	0.00	0.000	5126	0.162	0.031	2588	2123	2135	2230	2040	0	0	0	0	0	0	25.61	25.72	28.83
12641	0.38	211.9	2589	2124	2230	2040	810.1	9.2	311	12663	0.08	2.42	15.35	1.446	10756	0.108	0.047	2641	673	2067	2166	1969	0	0	0	0	0	0	25.90	25.39	24.49
12858	0.38	211.9	2641	673	2163	1968	789.5	11.4	314	12863	0.10	2.33	0.00	0.000	5126	0.155	0.031	2610	2129	2065	2163	1968	0	0	0	0	0	0	25.56	25.67	28.83
13161	0.38	211.9	2610	2128	2163	1968	751.2	10.5	319	13166	0.00	2.38	0.00	0.000	4612	0.000	0.047	2619	677	2065	2162	1968	0	0	0	0	0	0	28.83	25.84	28.83
13341	0.38	211.9	2619	678	2162	1968	731.6	10.8	322	13347	0.00	2.28	0.00	0.000	5126	0.000	0.031	2619	2123	2065	2162	1968	0	0	0	0	0	0	28.83	25.94	28.83
13701	0.38	211.9	2619	2122	2161	1968	691.7	11.1	328	13707	0.00	2.35	0.00	0.000	4612	0.000	0.047	2630	675	2065	2162	1968	0	0	0	0	0	0	28.83	26.02	28.83
13888	0.38	211.9	2629	675	2161	1968	670.1	11.8	331	13893	0.08	2.28	0.00	0.000	5126	0.156	0.031	2605	2126	2064	2161	1968	0	0	0	0	0	0	26.01	26.10	28.83
14232	0.44	227.7	2605	2126	2161	1969	636.6	9.3	337	14252	0.08	2.40	14.10	1.353	10756	0.109	0.047	2660	673	2001	2101	1901	0	0	0	0	0	0	26.17	25.72	24.84
14439	0.44	227.7	2660	673	2099	1901	615.9	11.5	340	14444	0.10	2.30	0.00	0.000	5126	0.149	0.031	2629	2130	2000	2099	1901	0	0	0	0	0	0	25.79	25.89	28.83
14752	0.44	244.0	2628	2130	2099	1901	581.8	9.3	346	14772	0.00	2.42	14.70	1.321	12804	0.000	0.047	2638	670	1935	2032	1838	0	0	0	0	0	0	28.83	25.58	24.72
14951	0.44	251.1	2637	669	2028	1839	565.0	9.7	349	14963	0.00	2.30	7.18	1.200	13318	0.000	0.030	2638	2121	1906	2000	1813	0	0	0	0	0	0	28.83	25.79	24.70
15272	0.44	251.1	2638	2121	2000	1813	527.2	10.8	355	15278	0.00	2.35	0.00	0.000	4612	0.000	0.047	2648	676	1906	2000	1813	0	0	0	0	0	0	28.83	25.84	28.83
15409	0.44	251.1	2648	676	1999	1813	513.5	11.2	357	15414	0.08	2.30	0.00	0.000	5126	0.153	0.031	2624	2133	1906	1999	1813	0	0	0	0	0	0	25.84	25.94	28.83
15744	0.51	251.1	2623	2133	1999	1814	477.6	10.1	363	15749	0.08	2.30	0.00	0.000	2564	0.109	0.047	2679	672	1906	1999	1813	0	0	0	0	0	0	26.06	26.02	28.83
15961	0.51	251.1	2679	672	1999	1814	453.3	12.7	366	15966	0.10	2.28	0.00	0.000	5126	0.146	0.031	2647	2124	1905	1998	1813	0	0	0	0	0	0	26.01	26.11	28.83
16274	0.51	251.1	2647	2124	1998	1813	412.6	11.2	372	16279	0.00	2.35	0.00	0.000	2564	0.000	0.047	2656	672	1905	1998	1813	0	0	0	0	0	0	28.83	26.14	28.83
16421	0.51	251.1	2656	672	1997	1813	399.2	11.2	374	16426	0.00	2.28	0.00	0.000	5126	0.000	0.031	2657	2129	1905	1998	1813	0	0	0	0	0	0	28.83	26.20	28.83
16745	0.51	251.1	2656	2128	1997	1814	359.7	11.2	380	16750	0.00	2.33	0.00	0.000	4612	0.000	0.047	2667	676	1905	1997	1814	0	0	0	0	0	0	28.83	26.21	28.83
16881	0.51	251.1	2666	676	1997	1813	345.5	11.5	382	16886	0.05	2.25	0.00	0.000	5126	0.181	0.031	2650	2124	1905	1998	1813	0	0	0	0	0	0	26.16	26.26	28.83
17215	0.58	258.1	2650	2124	1998	1813	310.6	9.7	388	17228	0.08	2.35	7.12	1.092	10756	0.109	0.047	2708	677	1877	1970	1784	0	0	0	0	0	0	26.30	26.09	25.28
17387	0.58	258.1	2707	676	1969	1785	288.0	13.2	392	17393	0.10	2.25	0.00	0.000	5126	0.124	0.031	2673	2123	1877	1969	1785	0	0	0	0	0	0	26.07	26.17	28.83
17716	0.58	258.1	2672	2123	1969	1785	252.0	10.7	403	17722	0.00	2.35	0.00	0.000	4612	0.000	0.047	2682	671	1877	1969	1785	0	0	0	0	0	0	28.83	26.20	28.83
17853	0.58	258.1	2682	670	1969	1785	238.6	11.2	407	17857	0.00	2.28	0.00	0.000	5126	0.000	0.031	2682	2130	1877	1969	1785	0	0	0	0	0	0	28.83	26.25	28.83
18158	0.58	258.1	2682	2130	1969	1785	199.5	12.6	417	18162	0.00	2.28	0.00	0.000	4612	0.000	0.047	2693	675	1876	1968	1785	0	0	0	0	0	0	28.83	26.25	28.83
18293	0.58	258.1	2693	675	1969	1785	183.5	13.4	421	18298	0.08	2.25	0.00	0.000	5126	0.151	0.031	2667	2124	1877	1969	1785	0	0	0	0	0	0	26.20	26.29	28.83
18596	0.66	258.1	2667	2123	1969	1785	147.5	10.3	431	18602	0.10	2.30	0.00	0.000	2564	0.090	0.047	2734	676	1877	1969	1785	0	0	0	0	0	0	26.33	26.29	28.83
18763	0.66	258.1	2734	676	1969	1785	127.1	12.8	439	18768	0.12	2.25	0.00	0.000	5126	0.139	0.031	2692	2129	1877	1969	1785	0	0	0	0	0	0	26.23	26.34	28.83
19066	0.72	258.1	2692	2128	1969	1785	93.5	11.2	454	19072	0.08	2.30	0.00	0.000	2564	0.108	0.047	2749	673	1877	1969	1785	0	0	0	0	0	0	26.37	26.33	28.83
19266	0.72	258.1	2749	673	1969	1785	67.0	11.8	469	19276	0.10	2.22	0.00	0.000	5126	0.129	0.031	2714	2116	1877	1969	1785	0	0	0	0	0	0	26.27	26.37	28.83
19576	0.78	274.5	2713	2116	1969	1785	35.9	9.2	500	19589	0.08	2.33	6.82	0.262	10756	0.108	0.047	2772	669	1810	1908	1712	0	0	0	0	0	0	26.40	26.32	26.13
19627	0.78	274.5	2772	669	1907	1712	29.8	12.3	505	19637	0.10	2.22	0.00	0.000	5126	0.129	0.031	2738	2117	1809	1907	1712	0	0	0	0	0	0	26.25	26.34	28.83
19876	end climb: SURFACE_DEPTH_REACHED
state	19876	begin surface coast
19896	end surface coast: CONTROL_FINISHED_OK
state	19896	begin surface