Glider dive log

HI Dec14 * SG203 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2950 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 6 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 28 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 77 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 35 ALTIM_SENSITIVITY 4

D_TGT 990 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1030 SM_CC 400 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 2 INT_PRESSURE_SLOPE 0.0093

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0.050000001 INT_PRESSURE_YINT -1

T_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2608 DEVICE1 2

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 4 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 0.001 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 60 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 20 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -3 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

USE_ICE 0 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

D_OFFGRID 1020 PITCH_MIN 202 MINV_24V 22.5 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3901 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2815 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043923887

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063351821

MAX_BUOY 175 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.5271875e-05

COURSE_BIAS 0 P_OVSHOOT 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.0515032e-06

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.7838888

SPEED_FACTOR 1 PITCH_GAIN 25 PRESSURE_YINT -63.024231 SEABIRD_C_H 1.1409903

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001160131 SEABIRD_C_I -0.00071586663

MASS 52103 PITCH_AD_RATE 160 AD7714Ch0Gain 128 SEABIRD_C_J 0.00012479167

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 302 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

HD_A 0.0065996498 ROLL_MAX 3859 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0098683201 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 1.5339499e-05 C_ROLL_DIVE 2800 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063351821

AH0_10V 97 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.5271875e-05

AH0_24V 150 D_TGT 990 PA_POWERSOURCE 0.0 SEABIRD_T_J 3.0515032e-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 400

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_GAIN 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0065996498 PITCH_MAX 3901 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0098683201 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 1.5339499e-05 PITCH_MIN 202 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 330

CF8_MAXERRORS 20 ID 203 PRESSURE_SLOPE 0.0001160131 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -63.024231 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.079999998 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 2

C_PITCH 2815 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2950 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2800 LOGGERS 0 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2608 MASS 52103 RELAUNCH 1 UNCOM_BLEED 60

DBDW 0 MASS_COMP 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0.050000001 USE_BATHY -3

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 2 USE_ICE 0

DEVICE2 -1 MAX_BUOY 175 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 22.5 ROLL_DEG 40 VBD_DBAND 4

DEVICE5 -1 MISSION 6 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 28 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 77 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 35 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 20 SEABIRD_C_G -9.7838888 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 1 SEABIRD_C_H 1.1409903 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.00071586663 XPDR_INHIBIT 90

D_OFFGRID 1020 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00012479167 XPDR_VALID 2

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 0.0 SEABIRD_T_G 0.0043923887

Pre-dive calculations and measurements:

GPS1 161214,073835,2024.4183,-15752.5000,25,1.0,25,9.6,0.0,0.0,8,17.3 SPEED_LIMITS 0.100,0.283

_CALLS 1 TGT_NAME H1

_XMS_NAKs 0 TGT_LATLONG 2015.120,-15751.550

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.04 MHEAD_RNG_PITCHd_Wd 165.0,17288,-17.8,-10.000,-19.47,2615

_SM_ANGLEo -61.4 D_GRID 1020

GPS2 161214,074225,2024.4141,-15752.4785,6,1.0,6,9.6,0.5,94.7,8,15.0

Post-dive calculations and measurements:

FINISH 1.2,1.007281 FG_AHR_24Vo 0.000

SM_CCo 17300,9.25,0.129,0,0,973,400.08 FG_AHR_10Vo 0.000

SM_GC 3.12,7.62,0.17,9.25,0.041,0.057,0.129,200,2793,973,-8.09,2.43,400.08,0,0,0,0,0,0,26.83,26.89,26.67 MEM 273132

IRIDIUM_FIX 2017.96,-15724.05,161214,034037 DATA_FILE_SIZE 40092,898

TT8_MAMPS 0.057673,0.057673 CAP_FILE_SIZE 152444,0

HUMID 39.32 CFSIZE 1024393216,1017495552

INTERNAL_PRESSURE 9.137 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 25.50 INTR 0,14341.60,0x236d6a,7,5

XPDR_PINGS 5 CURRENT 0.000,243.53,1

_24V_AH 24.03,8.154 GPS 161214,123159,2022.252,-15751.725,37,0.9,37,9.6,0.6,77.1,8,16.8

_10V_AH 10.45,7.122

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 221 99.08 SBE_CT 605 23 348.99

Roll_motor 114 72 199.61 nil 0 0 0.00

VBD_pump_during_apogee 431 1577 16345.86 nil 0 0 0.00

VBD_pump_during_surface 9 128 28.57 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 178 88 380.21 nil 0 0 0.00

Transponder_ping 1 420 12.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 26 2.18

TT8 0 0 0.00

LPSleep 14229 2 325.65

TT8_Active 633 18 122.13

TT8_Sampling 2604 43 1174.93

TT8_CF8 66 60 41.95

TT8_Kalman 0 0 0.00

Analog_circuits 1836 16 306.98

GPS_charging 0 0 0.00

Compass 1901 8 163.72

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.88 -170.3 179 2799 1028 913 0.0 0.0 0 52 0.00 0.00 -38.33 0.000 16386 0.000 0.000 177 2799 2103 2123 2084 0 0 0 0 0 0 26.91 28.83 26.99

53 -0.88 -170.3 177 2799 2124 2084 3.1 -4.3 6 99 8.73 2.08 -31.33 0.000 18948 0.221 0.044 2514 1404 3304 3363 3245 0 0 0 0 0 0 26.51 25.80 26.71

288 -0.88 -170.3 2515 1404 3366 3245 50.3 -23.4 52 292 0.00 2.12 0.00 0.000 1030 0.000 0.034 2508 2807 3305 3365 3245 0 0 0 0 0 0 26.86 26.83 26.89

598 -0.88 -170.3 2508 2806 3366 3248 120.9 -20.2 83 602 0.00 1.62 0.00 0.000 260 0.000 0.048 2499 3862 3306 3365 3248 0 0 0 0 0 0 27.15 26.92 27.21

703 -0.88 -170.3 2500 3863 3367 3252 140.9 -19.4 93 711 0.08 1.52 0.00 0.000 3078 0.193 0.025 2513 2803 3307 3365 3250 0 0 0 0 0 0 26.86 27.03 26.98

1008 -0.88 -170.3 2513 2804 3369 3253 194.7 -17.9 124 1012 0.00 1.60 0.00 0.000 260 0.000 0.047 2508 3851 3310 3368 3252 0 0 0 0 0 0 27.24 27.02 27.30

1073 -0.88 -170.3 2509 3852 3369 3253 205.7 -18.5 130 1081 0.00 1.50 0.00 0.000 1030 0.000 0.025 2508 2809 3310 3368 3252 0 0 0 0 0 0 27.13 27.10 27.14

1378 -0.88 -170.3 2508 2809 3370 3254 255.3 -14.7 159 1382 0.00 2.03 0.00 0.000 516 0.000 0.025 2508 1408 3311 3369 3254 0 0 0 0 0 0 27.29 27.12 27.35

1403 -0.88 -170.3 2508 1409 3370 3255 255.3 -14.7 159 1411 0.05 2.10 0.00 0.000 3078 0.155 0.034 2514 2807 3311 3369 3254 0 0 0 0 0 0 26.96 27.08 27.05

1708 -0.88 -170.3 2514 2806 3371 3254 299.5 -12.7 170 1712 0.00 1.58 0.00 0.000 260 0.000 0.049 2509 3848 3311 3369 3254 0 0 0 0 0 0 27.32 27.10 27.39

1738 -0.88 -170.3 2509 3847 3371 3254 303.7 -12.8 171 1742 0.00 1.50 0.00 0.000 1030 0.000 0.026 2509 2803 3312 3370 3254 0 0 0 0 0 0 27.20 27.17 27.22

2068 -0.88 -170.3 2509 2803 3371 3253 349.0 -14.2 182 2072 0.00 1.62 0.00 0.000 260 0.000 0.048 2501 3856 3311 3370 3253 0 0 0 0 0 0 27.34 27.13 27.41

2118 -0.88 -170.3 2501 3855 3371 3253 353.5 -14.4 183 2122 0.00 1.52 0.00 0.000 1030 0.000 0.026 2501 2794 3311 3369 3253 0 0 0 0 0 0 27.23 27.20 27.24

2428 -0.88 -170.3 2501 2796 3369 3255 397.0 -12.7 194 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2794 3310 3368 3253 0 0 0 0 0 0 27.36 27.44 27.43

2728 -0.88 -170.3 2501 2795 3364 3254 435.3 -12.5 204 2732 0.00 1.62 0.00 0.000 260 0.000 0.050 2495 3854 3308 3364 3253 0 0 0 0 0 0 27.37 27.15 27.44

2778 -0.88 -170.3 2495 3857 3363 3254 439.1 -12.4 205 2782 0.10 1.52 0.00 0.000 3078 0.172 0.028 2517 2800 3308 3363 3253 0 0 0 0 0 0 27.07 27.23 27.20

3088 -0.88 -170.3 2517 2801 3360 3255 478.1 -12.0 216 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2800 3306 3360 3253 0 0 0 0 0 0 27.39 27.46 27.45

3388 -0.88 -170.3 2518 2800 3358 3251 516.0 -12.5 226 3389 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2800 3303 3356 3251 0 0 0 0 0 0 27.39 27.47 27.46

3688 -0.88 -170.3 2518 2801 3355 3250 552.7 -12.4 236 3693 0.00 1.62 0.00 0.000 260 0.000 0.053 2513 3850 3300 3353 3248 0 0 0 0 0 0 27.39 27.17 27.46

3738 -0.88 -170.3 2512 3850 3353 3248 556.4 -12.5 237 3742 0.00 1.55 0.00 0.000 1030 0.000 0.028 2512 2786 3300 3353 3248 0 0 0 0 0 0 27.29 27.25 27.29

4048 -0.88 -170.3 2513 2787 3352 3247 595.2 -11.4 248 4052 0.00 1.65 0.00 0.000 260 0.000 0.053 2504 3853 3298 3350 3246 0 0 0 0 0 0 27.40 27.18 27.46

4133 -0.88 -170.3 2505 3853 3350 3244 602.3 -11.7 250 4141 0.00 1.55 0.00 0.000 1030 0.000 0.029 2504 2789 3297 3350 3245 0 0 0 0 0 0 27.29 27.25 27.30

4438 -0.88 -170.3 2505 2789 3348 3243 643.8 -12.7 261 4443 0.00 2.03 0.00 0.000 516 0.000 0.028 2504 1394 3294 3346 3243 0 0 0 0 0 0 27.41 27.24 27.47

4483 -0.88 -170.3 2505 1395 3347 3245 647.7 -12.8 262 4489 0.05 2.12 0.00 0.000 3078 0.161 0.037 2513 2790 3294 3346 3243 0 0 0 0 0 0 27.08 27.20 27.17

4798 -0.88 -170.3 2513 2791 3345 3243 687.2 -11.5 273 4802 0.00 1.62 0.00 0.000 260 0.000 0.054 2510 3847 3292 3344 3241 0 0 0 0 0 0 27.41 27.18 27.47

4858 -0.88 -170.3 2509 3847 3346 3241 694.0 -11.2 275 4862 0.00 1.52 0.00 0.000 1030 0.000 0.029 2510 2801 3291 3343 3240 0 0 0 0 0 0 27.29 27.25 27.30

5188 -0.88 -170.3 2511 2801 3340 3239 726.4 -9.6 286 5192 0.00 1.62 0.00 0.000 260 0.000 0.054 2502 3848 3289 3340 3239 0 0 0 0 0 0 27.41 27.19 27.48

5218 -0.88 -170.3 2502 3847 3341 3239 729.3 -9.7 287 5222 0.00 1.55 0.00 0.000 1030 0.000 0.029 2503 2790 3289 3340 3239 0 0 0 0 0 0 27.28 27.25 27.30

5548 -0.88 -170.3 2503 2790 3339 3237 764.8 -11.1 298 5549 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2790 3287 3338 3237 0 0 0 0 0 0 27.41 27.49 27.48

5848 -0.88 -170.3 2503 2792 3337 3237 798.1 -10.8 308 5849 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2790 3286 3336 3236 0 0 0 0 0 0 27.41 27.49 27.48

6148 -0.88 -170.3 2503 2791 3335 3235 829.3 -10.2 318 6152 0.00 1.67 0.00 0.000 260 0.000 0.055 2497 3860 3284 3333 3235 0 0 0 0 0 0 27.42 27.19 27.48

6188 -0.88 -170.3 2497 3861 3334 3236 832.4 -10.2 319 6193 0.10 1.58 0.00 0.000 3078 0.178 0.030 2519 2791 3284 3333 3235 0 0 0 0 0 0 27.10 27.26 27.22

6508 -0.88 -170.3 2519 2792 3333 3233 863.3 -9.3 330 6512 0.00 1.65 0.00 0.000 260 0.000 0.056 2513 3852 3282 3332 3233 0 0 0 0 0 0 27.41 27.18 27.47

6558 -0.88 -170.3 2514 3851 3333 3232 866.3 -9.4 331 6562 0.00 1.58 0.00 0.000 1030 0.000 0.031 2513 2781 3281 3331 3232 0 0 0 0 0 0 27.29 27.26 27.31

6868 -0.88 -170.3 2514 2782 3331 3230 899.6 -10.1 342 6872 0.00 1.67 0.00 0.000 260 0.000 0.055 2507 3857 3279 3329 3230 0 0 0 0 0 0 27.41 27.18 27.48

6903 -0.88 -170.3 2507 3857 3331 3230 902.9 -10.3 343 6907 0.00 1.55 0.00 0.000 1030 0.000 0.031 2507 2804 3280 3329 3231 0 0 0 0 0 0 27.29 27.25 27.31

7228 -0.88 -170.3 2508 2804 3329 3229 937.5 -10.5 354 7229 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2804 3278 3328 3229 0 0 0 0 0 0 27.40 27.49 27.48

7528 -0.88 -170.3 2507 2804 3328 3228 967.0 -9.7 364 7532 0.00 1.65 0.00 0.000 260 0.000 0.056 2500 3857 3277 3327 3228 0 0 0 0 0 0 27.41 27.18 27.48

7553 -0.88 -170.3 2500 3859 3327 3230 967.0 -9.7 364 7561 0.08 1.58 0.00 0.000 3078 0.195 0.031 2513 2793 3277 3327 3228 0 0 0 0 0 0 27.10 27.25 27.22

7797 end dive: TARGET_DEPTH_EXCEEDED

state 7797 begin apogee

7800 -0.20 0.0 2513 2954 3326 3229 992.4 -9.4 373 7950 0.68 0.00 138.05 1.577 10244 0.130 0.000 2733 2953 2613 2667 2559 0 0 0 0 1 0 27.09 24.96 24.03

7951 end apogee: CONTROL_FINISHED_OK

state 7951 begin climb

7952 0.88 170.3 2734 2954 2670 2560 997.4 0.0 378 8101 1.02 1.52 142.82 1.044 10500 0.086 0.057 3085 3847 1909 1961 1858 0 0 0 0 0 0 25.24 25.26 24.41

8325 0.88 170.3 3085 3849 1944 1843 966.1 12.0 390 8330 0.00 1.38 0.00 0.000 1030 0.000 0.029 3093 2939 1892 1943 1841 0 0 0 0 0 0 26.27 26.23 26.29

8640 0.88 170.3 3093 2940 1943 1841 929.3 11.2 401 8644 0.00 2.08 0.00 0.000 516 0.000 0.028 3101 1548 1890 1941 1840 0 0 0 0 0 0 26.74 26.55 26.82

8795 0.88 170.3 3102 1548 1942 1842 912.4 11.3 406 8800 0.00 2.17 0.00 0.000 1030 0.000 0.037 3101 2949 1890 1940 1840 0 0 0 0 0 0 26.68 26.64 26.71

9120 0.88 170.3 3101 2949 1941 1838 872.5 12.1 417 9124 0.00 1.45 0.00 0.000 260 0.000 0.054 3102 3863 1889 1940 1838 0 0 0 0 0 0 26.98 26.77 27.06

9170 0.88 170.3 3102 3863 1942 1838 868.5 12.3 418 9174 0.00 1.35 0.00 0.000 1030 0.000 0.030 3108 2948 1888 1939 1838 0 0 0 0 0 0 26.89 26.85 26.91

9480 0.88 170.3 3109 2949 1940 1839 827.6 12.2 429 9481 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2948 1888 1938 1838 0 0 0 0 0 0 27.09 27.17 27.15

9780 0.88 170.3 3109 2949 1939 1839 791.8 12.1 439 9781 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2947 1887 1938 1837 0 0 0 0 0 0 27.14 27.22 27.22

10080 0.88 170.3 3108 2948 1939 1837 755.5 12.1 449 10084 0.00 1.45 0.00 0.000 260 0.000 0.053 3108 3860 1887 1938 1837 0 0 0 0 0 0 27.19 26.97 27.26

10135 0.88 170.3 3108 3859 1938 1836 751.6 12.4 450 10143 0.00 1.33 0.00 0.000 1030 0.000 0.031 3114 2954 1887 1938 1837 0 0 0 0 0 0 27.08 27.04 27.10

10440 0.88 170.3 3114 2955 1938 1838 710.1 12.5 461 10444 0.00 2.08 0.00 0.000 516 0.000 0.028 3123 1541 1886 1937 1836 0 0 0 0 0 0 27.22 27.04 27.30

10505 0.88 170.3 3123 1542 1938 1838 703.2 12.0 463 10510 0.00 2.15 0.00 0.000 1030 0.000 0.037 3123 2947 1887 1937 1837 0 0 0 0 0 0 27.06 27.03 27.10

10830 0.88 170.3 3123 2947 1937 1837 665.7 11.0 474 10835 0.00 1.45 0.00 0.000 260 0.000 0.054 3123 3869 1886 1936 1836 0 0 0 0 0 0 27.25 27.03 27.33

10985 0.88 170.3 3123 3868 1937 1836 648.1 11.7 479 10989 0.00 1.33 0.00 0.000 1030 0.000 0.030 3128 2956 1884 1935 1834 0 0 0 0 0 0 27.15 27.11 27.17

11310 0.89 175.1 3129 2956 1937 1835 615.2 9.8 490 11314 0.00 2.05 0.00 0.000 516 0.000 0.028 3137 1555 1885 1935 1836 0 0 0 0 0 0 27.29 27.12 27.35

11390 0.89 181.2 3136 1555 1937 1836 609.3 9.8 492 11396 0.05 2.12 2.33 0.339 13318 0.165 0.037 3122 2950 1867 1917 1817 0 0 0 0 0 0 26.96 27.08 26.09

11695 0.89 181.2 3122 2951 1935 1829 575.1 10.9 502 11696 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2950 1881 1934 1828 0 0 0 0 0 0 27.29 27.36 27.36

11995 0.89 181.2 3122 2950 1935 1828 542.5 10.7 512 11999 0.00 2.05 0.00 0.000 516 0.000 0.028 3126 1556 1881 1934 1828 0 0 0 0 0 0 27.30 27.10 27.37

12050 0.89 181.2 3126 1557 1935 1829 539.4 10.5 513 12057 0.00 2.12 0.00 0.000 1030 0.000 0.037 3126 2943 1880 1934 1827 0 0 0 0 0 0 27.14 27.10 27.16

12355 0.91 197.0 3126 2943 1935 1828 508.6 9.4 524 12380 0.00 1.45 19.02 0.786 8452 0.000 0.054 3125 3854 1795 1846 1745 0 0 0 0 0 0 27.32 26.72 26.14

12445 0.91 197.0 3126 3856 1839 1741 499.0 10.4 527 12449 0.00 1.35 0.00 0.000 1030 0.000 0.030 3133 2939 1789 1839 1739 0 0 0 0 0 0 26.91 26.87 26.92

12775 0.91 197.0 3133 2939 1839 1738 462.2 11.7 538 12779 0.00 2.05 0.00 0.000 516 0.000 0.028 3137 1555 1787 1837 1738 0 0 0 0 0 0 27.12 26.94 27.19

12820 0.91 197.0 3137 1554 1838 1738 458.9 11.5 539 12824 0.00 2.12 0.00 0.000 1030 0.000 0.037 3137 2937 1788 1838 1738 0 0 0 0 0 0 26.96 26.92 26.99

13135 0.91 197.0 3137 2937 1838 1738 421.6 11.2 550 13136 0.00 0.00 0.00 0.000 6 0.000 0.000 3137 2937 1787 1837 1737 0 0 0 0 0 0 27.18 27.27 27.26

13435 0.91 197.0 3137 2937 1838 1738 390.3 10.0 560 13436 0.00 0.00 0.00 0.000 6 0.000 0.000 3137 2937 1787 1837 1738 0 0 0 0 0 0 27.22 27.30 27.30

13735 0.91 197.0 3137 2936 1839 1738 355.9 11.5 570 13740 0.00 1.45 0.00 0.000 260 0.000 0.054 3137 3860 1787 1837 1738 0 0 0 0 0 0 27.25 27.03 27.32

13840 0.91 197.0 3137 3860 1838 1737 344.7 12.3 573 13844 0.10 1.35 0.00 0.000 5126 0.203 0.029 3122 2933 1787 1837 1738 0 0 0 0 0 0 26.91 27.11 27.08

14155 0.95 240.5 3122 2934 1838 1739 313.6 8.3 584 14193 0.00 0.00 36.67 0.651 8198 0.000 0.000 3123 2933 1625 1679 1572 0 0 0 0 0 0 27.29 26.48 25.99

14485 0.95 240.5 3122 2933 1662 1553 280.7 10.3 595 14486 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2933 1606 1660 1553 0 0 0 0 0 0 26.96 27.04 27.04

14785 0.95 240.5 3122 2933 1661 1550 250.5 10.3 605 14789 0.00 1.48 0.00 0.000 260 0.000 0.053 3123 3857 1605 1660 1551 0 0 0 0 0 0 27.07 26.84 27.14

14900 0.95 240.5 3123 3858 1661 1552 238.2 10.8 614 14907 0.00 1.30 0.00 0.000 1030 0.000 0.029 3127 2965 1605 1659 1551 0 0 0 0 0 0 26.98 26.95 27.00

15205 0.95 241.1 3127 2967 1661 1552 208.9 10.0 645 15209 0.00 2.08 0.00 0.000 516 0.000 0.026 3137 1544 1605 1660 1551 0 0 0 0 0 0 27.16 26.96 27.23

15255 0.97 257.9 3138 1545 1661 1553 204.2 9.3 650 15277 0.00 2.17 13.23 0.617 9222 0.000 0.035 3137 2968 1547 1603 1491 0 0 0 0 0 0 26.99 26.96 26.25

15575 0.97 257.9 3137 2969 1598 1486 172.1 10.7 682 15576 0.00 0.00 0.00 0.000 6 0.000 0.000 3137 2969 1541 1598 1485 0 0 0 0 0 0 27.09 27.17 27.16

15875 0.97 257.9 3138 2968 1599 1484 138.6 10.4 712 15879 0.00 2.08 0.00 0.000 516 0.000 0.024 3145 1550 1541 1598 1485 0 0 0 0 0 0 27.16 26.96 27.22

16030 0.98 261.8 3145 1550 1598 1484 123.8 9.8 727 16037 0.00 2.12 0.00 0.000 1030 0.000 0.034 3146 2957 1541 1598 1485 0 0 0 0 0 0 27.01 26.98 27.04

16335 1.01 293.9 3145 2957 1599 1485 95.5 8.7 758 16368 0.00 1.42 28.17 0.481 8452 0.000 0.048 3146 3866 1399 1461 1337 0 0 0 0 0 0 27.23 26.68 26.29

16461 1.01 300.0 3146 3866 1453 1331 84.7 9.8 770 16468 0.00 1.30 0.00 0.000 1030 0.000 0.026 3150 2962 1390 1451 1329 0 0 0 0 0 0 26.88 26.84 26.89

16767 1.05 341.4 3150 2962 1453 1329 54.6 8.4 801 16810 0.00 2.03 36.70 0.429 8708 0.000 0.023 3150 1550 1204 1272 1137 0 0 0 0 0 0 27.10 26.41 26.17

16849 1.09 374.0 3151 1551 1266 1133 47.5 8.7 811 16867 0.00 2.17 11.77 0.216 9222 0.000 0.031 3150 2970 1083 1158 1008 0 0 0 0 0 0 26.65 26.61 26.32

17166 1.09 377.5 3151 2971 1166 1015 12.7 9.9 874 17174 0.00 2.03 2.45 0.171 8708 0.000 0.022 3159 1548 1065 1143 988 0 0 0 0 0 0 26.98 26.72 26.63

17263 1.09 377.5 3160 1549 1151 995 2.4 10.3 893 17270 0.00 2.12 0.00 0.000 1030 0.000 0.031 3159 2961 1074 1154 995 0 0 0 0 0 0 26.85 26.82 26.88

17272 end climb: SURFACE_DEPTH_REACHED

state 17273 begin surface coast

17288 end surface coast: CONTROL_FINISHED_OK

state 17288 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2950	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	6	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	28	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	77	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	4
D_TGT	990	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1030	SM_CC	400	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	2	INT_PRESSURE_SLOPE	0.0093
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0.050000001	INT_PRESSURE_YINT	-1
T_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2608	DEVICE1	2
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	4	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	0.001	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	60	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	20	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-3	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
USE_ICE	0	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
D_OFFGRID	1020	PITCH_MIN	202	MINV_24V	22.5	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3901	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2815	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043923887
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063351821
MAX_BUOY	175	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.5271875e-05
COURSE_BIAS	0	P_OVSHOOT	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.0515032e-06
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.7838888
SPEED_FACTOR	1	PITCH_GAIN	25	PRESSURE_YINT	-63.024231	SEABIRD_C_H	1.1409903
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001160131	SEABIRD_C_I	-0.00071586663
MASS	52103	PITCH_AD_RATE	160	AD7714Ch0Gain	128	SEABIRD_C_J	0.00012479167
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	302	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
HD_A	0.0065996498	ROLL_MAX	3859	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0098683201	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	1.5339499e-05	C_ROLL_DIVE	2800	ALTIM_TOP_TURN_MARGIN	0

GPS1	161214,073835,2024.4183,-15752.5000,25,1.0,25,9.6,0.0,0.0,8,17.3	SPEED_LIMITS	0.100,0.283
_CALLS	1	TGT_NAME	H1
_XMS_NAKs	0	TGT_LATLONG	2015.120,-15751.550
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.04	MHEAD_RNG_PITCHd_Wd	165.0,17288,-17.8,-10.000,-19.47,2615
_SM_ANGLEo	-61.4	D_GRID	1020
GPS2	161214,074225,2024.4141,-15752.4785,6,1.0,6,9.6,0.5,94.7,8,15.0

FINISH	1.2,1.007281	FG_AHR_24Vo	0.000
SM_CCo	17300,9.25,0.129,0,0,973,400.08	FG_AHR_10Vo	0.000
SM_GC	3.12,7.62,0.17,9.25,0.041,0.057,0.129,200,2793,973,-8.09,2.43,400.08,0,0,0,0,0,0,26.83,26.89,26.67	MEM	273132
IRIDIUM_FIX	2017.96,-15724.05,161214,034037	DATA_FILE_SIZE	40092,898
TT8_MAMPS	0.057673,0.057673	CAP_FILE_SIZE	152444,0
HUMID	39.32	CFSIZE	1024393216,1017495552
INTERNAL_PRESSURE	9.137	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	25.50	INTR	0,14341.60,0x236d6a,7,5
XPDR_PINGS	5	CURRENT	0.000,243.53,1
_24V_AH	24.03,8.154	GPS	161214,123159,2022.252,-15751.725,37,0.9,37,9.6,0.6,77.1,8,16.8
_10V_AH	10.45,7.122

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	221	99.08	SBE_CT	605	23	348.99
Roll_motor	114	72	199.61	nil	0	0	0.00
VBD_pump_during_apogee	431	1577	16345.86	nil	0	0	0.00
VBD_pump_during_surface	9	128	28.57	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	178	88	380.21	nil	0	0	0.00
Transponder_ping	1	420	12.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	26	2.18
TT8	0	0	0.00
LPSleep	14229	2	325.65
TT8_Active	633	18	122.13
TT8_Sampling	2604	43	1174.93
TT8_CF8	66	60	41.95
TT8_Kalman	0	0	0.00
Analog_circuits	1836	16	306.98
GPS_charging	0	0	0.00
Compass	1901	8	163.72
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.88	-170.3	179	2799	1028	913	0.0	0.0	0	52	0.00	0.00	-38.33	0.000	16386	0.000	0.000	177	2799	2103	2123	2084	0	0	0	0	0	0	26.91	28.83	26.99
53	-0.88	-170.3	177	2799	2124	2084	3.1	-4.3	6	99	8.73	2.08	-31.33	0.000	18948	0.221	0.044	2514	1404	3304	3363	3245	0	0	0	0	0	0	26.51	25.80	26.71
288	-0.88	-170.3	2515	1404	3366	3245	50.3	-23.4	52	292	0.00	2.12	0.00	0.000	1030	0.000	0.034	2508	2807	3305	3365	3245	0	0	0	0	0	0	26.86	26.83	26.89
598	-0.88	-170.3	2508	2806	3366	3248	120.9	-20.2	83	602	0.00	1.62	0.00	0.000	260	0.000	0.048	2499	3862	3306	3365	3248	0	0	0	0	0	0	27.15	26.92	27.21
703	-0.88	-170.3	2500	3863	3367	3252	140.9	-19.4	93	711	0.08	1.52	0.00	0.000	3078	0.193	0.025	2513	2803	3307	3365	3250	0	0	0	0	0	0	26.86	27.03	26.98
1008	-0.88	-170.3	2513	2804	3369	3253	194.7	-17.9	124	1012	0.00	1.60	0.00	0.000	260	0.000	0.047	2508	3851	3310	3368	3252	0	0	0	0	0	0	27.24	27.02	27.30
1073	-0.88	-170.3	2509	3852	3369	3253	205.7	-18.5	130	1081	0.00	1.50	0.00	0.000	1030	0.000	0.025	2508	2809	3310	3368	3252	0	0	0	0	0	0	27.13	27.10	27.14
1378	-0.88	-170.3	2508	2809	3370	3254	255.3	-14.7	159	1382	0.00	2.03	0.00	0.000	516	0.000	0.025	2508	1408	3311	3369	3254	0	0	0	0	0	0	27.29	27.12	27.35
1403	-0.88	-170.3	2508	1409	3370	3255	255.3	-14.7	159	1411	0.05	2.10	0.00	0.000	3078	0.155	0.034	2514	2807	3311	3369	3254	0	0	0	0	0	0	26.96	27.08	27.05
1708	-0.88	-170.3	2514	2806	3371	3254	299.5	-12.7	170	1712	0.00	1.58	0.00	0.000	260	0.000	0.049	2509	3848	3311	3369	3254	0	0	0	0	0	0	27.32	27.10	27.39
1738	-0.88	-170.3	2509	3847	3371	3254	303.7	-12.8	171	1742	0.00	1.50	0.00	0.000	1030	0.000	0.026	2509	2803	3312	3370	3254	0	0	0	0	0	0	27.20	27.17	27.22
2068	-0.88	-170.3	2509	2803	3371	3253	349.0	-14.2	182	2072	0.00	1.62	0.00	0.000	260	0.000	0.048	2501	3856	3311	3370	3253	0	0	0	0	0	0	27.34	27.13	27.41
2118	-0.88	-170.3	2501	3855	3371	3253	353.5	-14.4	183	2122	0.00	1.52	0.00	0.000	1030	0.000	0.026	2501	2794	3311	3369	3253	0	0	0	0	0	0	27.23	27.20	27.24
2428	-0.88	-170.3	2501	2796	3369	3255	397.0	-12.7	194	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2794	3310	3368	3253	0	0	0	0	0	0	27.36	27.44	27.43
2728	-0.88	-170.3	2501	2795	3364	3254	435.3	-12.5	204	2732	0.00	1.62	0.00	0.000	260	0.000	0.050	2495	3854	3308	3364	3253	0	0	0	0	0	0	27.37	27.15	27.44
2778	-0.88	-170.3	2495	3857	3363	3254	439.1	-12.4	205	2782	0.10	1.52	0.00	0.000	3078	0.172	0.028	2517	2800	3308	3363	3253	0	0	0	0	0	0	27.07	27.23	27.20
3088	-0.88	-170.3	2517	2801	3360	3255	478.1	-12.0	216	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2800	3306	3360	3253	0	0	0	0	0	0	27.39	27.46	27.45
3388	-0.88	-170.3	2518	2800	3358	3251	516.0	-12.5	226	3389	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2800	3303	3356	3251	0	0	0	0	0	0	27.39	27.47	27.46
3688	-0.88	-170.3	2518	2801	3355	3250	552.7	-12.4	236	3693	0.00	1.62	0.00	0.000	260	0.000	0.053	2513	3850	3300	3353	3248	0	0	0	0	0	0	27.39	27.17	27.46
3738	-0.88	-170.3	2512	3850	3353	3248	556.4	-12.5	237	3742	0.00	1.55	0.00	0.000	1030	0.000	0.028	2512	2786	3300	3353	3248	0	0	0	0	0	0	27.29	27.25	27.29
4048	-0.88	-170.3	2513	2787	3352	3247	595.2	-11.4	248	4052	0.00	1.65	0.00	0.000	260	0.000	0.053	2504	3853	3298	3350	3246	0	0	0	0	0	0	27.40	27.18	27.46
4133	-0.88	-170.3	2505	3853	3350	3244	602.3	-11.7	250	4141	0.00	1.55	0.00	0.000	1030	0.000	0.029	2504	2789	3297	3350	3245	0	0	0	0	0	0	27.29	27.25	27.30
4438	-0.88	-170.3	2505	2789	3348	3243	643.8	-12.7	261	4443	0.00	2.03	0.00	0.000	516	0.000	0.028	2504	1394	3294	3346	3243	0	0	0	0	0	0	27.41	27.24	27.47
4483	-0.88	-170.3	2505	1395	3347	3245	647.7	-12.8	262	4489	0.05	2.12	0.00	0.000	3078	0.161	0.037	2513	2790	3294	3346	3243	0	0	0	0	0	0	27.08	27.20	27.17
4798	-0.88	-170.3	2513	2791	3345	3243	687.2	-11.5	273	4802	0.00	1.62	0.00	0.000	260	0.000	0.054	2510	3847	3292	3344	3241	0	0	0	0	0	0	27.41	27.18	27.47
4858	-0.88	-170.3	2509	3847	3346	3241	694.0	-11.2	275	4862	0.00	1.52	0.00	0.000	1030	0.000	0.029	2510	2801	3291	3343	3240	0	0	0	0	0	0	27.29	27.25	27.30
5188	-0.88	-170.3	2511	2801	3340	3239	726.4	-9.6	286	5192	0.00	1.62	0.00	0.000	260	0.000	0.054	2502	3848	3289	3340	3239	0	0	0	0	0	0	27.41	27.19	27.48
5218	-0.88	-170.3	2502	3847	3341	3239	729.3	-9.7	287	5222	0.00	1.55	0.00	0.000	1030	0.000	0.029	2503	2790	3289	3340	3239	0	0	0	0	0	0	27.28	27.25	27.30
5548	-0.88	-170.3	2503	2790	3339	3237	764.8	-11.1	298	5549	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2790	3287	3338	3237	0	0	0	0	0	0	27.41	27.49	27.48
5848	-0.88	-170.3	2503	2792	3337	3237	798.1	-10.8	308	5849	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2790	3286	3336	3236	0	0	0	0	0	0	27.41	27.49	27.48
6148	-0.88	-170.3	2503	2791	3335	3235	829.3	-10.2	318	6152	0.00	1.67	0.00	0.000	260	0.000	0.055	2497	3860	3284	3333	3235	0	0	0	0	0	0	27.42	27.19	27.48
6188	-0.88	-170.3	2497	3861	3334	3236	832.4	-10.2	319	6193	0.10	1.58	0.00	0.000	3078	0.178	0.030	2519	2791	3284	3333	3235	0	0	0	0	0	0	27.10	27.26	27.22
6508	-0.88	-170.3	2519	2792	3333	3233	863.3	-9.3	330	6512	0.00	1.65	0.00	0.000	260	0.000	0.056	2513	3852	3282	3332	3233	0	0	0	0	0	0	27.41	27.18	27.47
6558	-0.88	-170.3	2514	3851	3333	3232	866.3	-9.4	331	6562	0.00	1.58	0.00	0.000	1030	0.000	0.031	2513	2781	3281	3331	3232	0	0	0	0	0	0	27.29	27.26	27.31
6868	-0.88	-170.3	2514	2782	3331	3230	899.6	-10.1	342	6872	0.00	1.67	0.00	0.000	260	0.000	0.055	2507	3857	3279	3329	3230	0	0	0	0	0	0	27.41	27.18	27.48
6903	-0.88	-170.3	2507	3857	3331	3230	902.9	-10.3	343	6907	0.00	1.55	0.00	0.000	1030	0.000	0.031	2507	2804	3280	3329	3231	0	0	0	0	0	0	27.29	27.25	27.31
7228	-0.88	-170.3	2508	2804	3329	3229	937.5	-10.5	354	7229	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2804	3278	3328	3229	0	0	0	0	0	0	27.40	27.49	27.48
7528	-0.88	-170.3	2507	2804	3328	3228	967.0	-9.7	364	7532	0.00	1.65	0.00	0.000	260	0.000	0.056	2500	3857	3277	3327	3228	0	0	0	0	0	0	27.41	27.18	27.48
7553	-0.88	-170.3	2500	3859	3327	3230	967.0	-9.7	364	7561	0.08	1.58	0.00	0.000	3078	0.195	0.031	2513	2793	3277	3327	3228	0	0	0	0	0	0	27.10	27.25	27.22
7797	end dive: TARGET_DEPTH_EXCEEDED
state	7797	begin apogee
7800	-0.20	0.0	2513	2954	3326	3229	992.4	-9.4	373	7950	0.68	0.00	138.05	1.577	10244	0.130	0.000	2733	2953	2613	2667	2559	0	0	0	0	1	0	27.09	24.96	24.03
7951	end apogee: CONTROL_FINISHED_OK
state	7951	begin climb
7952	0.88	170.3	2734	2954	2670	2560	997.4	0.0	378	8101	1.02	1.52	142.82	1.044	10500	0.086	0.057	3085	3847	1909	1961	1858	0	0	0	0	0	0	25.24	25.26	24.41
8325	0.88	170.3	3085	3849	1944	1843	966.1	12.0	390	8330	0.00	1.38	0.00	0.000	1030	0.000	0.029	3093	2939	1892	1943	1841	0	0	0	0	0	0	26.27	26.23	26.29
8640	0.88	170.3	3093	2940	1943	1841	929.3	11.2	401	8644	0.00	2.08	0.00	0.000	516	0.000	0.028	3101	1548	1890	1941	1840	0	0	0	0	0	0	26.74	26.55	26.82
8795	0.88	170.3	3102	1548	1942	1842	912.4	11.3	406	8800	0.00	2.17	0.00	0.000	1030	0.000	0.037	3101	2949	1890	1940	1840	0	0	0	0	0	0	26.68	26.64	26.71
9120	0.88	170.3	3101	2949	1941	1838	872.5	12.1	417	9124	0.00	1.45	0.00	0.000	260	0.000	0.054	3102	3863	1889	1940	1838	0	0	0	0	0	0	26.98	26.77	27.06
9170	0.88	170.3	3102	3863	1942	1838	868.5	12.3	418	9174	0.00	1.35	0.00	0.000	1030	0.000	0.030	3108	2948	1888	1939	1838	0	0	0	0	0	0	26.89	26.85	26.91
9480	0.88	170.3	3109	2949	1940	1839	827.6	12.2	429	9481	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2948	1888	1938	1838	0	0	0	0	0	0	27.09	27.17	27.15
9780	0.88	170.3	3109	2949	1939	1839	791.8	12.1	439	9781	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2947	1887	1938	1837	0	0	0	0	0	0	27.14	27.22	27.22
10080	0.88	170.3	3108	2948	1939	1837	755.5	12.1	449	10084	0.00	1.45	0.00	0.000	260	0.000	0.053	3108	3860	1887	1938	1837	0	0	0	0	0	0	27.19	26.97	27.26
10135	0.88	170.3	3108	3859	1938	1836	751.6	12.4	450	10143	0.00	1.33	0.00	0.000	1030	0.000	0.031	3114	2954	1887	1938	1837	0	0	0	0	0	0	27.08	27.04	27.10
10440	0.88	170.3	3114	2955	1938	1838	710.1	12.5	461	10444	0.00	2.08	0.00	0.000	516	0.000	0.028	3123	1541	1886	1937	1836	0	0	0	0	0	0	27.22	27.04	27.30
10505	0.88	170.3	3123	1542	1938	1838	703.2	12.0	463	10510	0.00	2.15	0.00	0.000	1030	0.000	0.037	3123	2947	1887	1937	1837	0	0	0	0	0	0	27.06	27.03	27.10
10830	0.88	170.3	3123	2947	1937	1837	665.7	11.0	474	10835	0.00	1.45	0.00	0.000	260	0.000	0.054	3123	3869	1886	1936	1836	0	0	0	0	0	0	27.25	27.03	27.33
10985	0.88	170.3	3123	3868	1937	1836	648.1	11.7	479	10989	0.00	1.33	0.00	0.000	1030	0.000	0.030	3128	2956	1884	1935	1834	0	0	0	0	0	0	27.15	27.11	27.17
11310	0.89	175.1	3129	2956	1937	1835	615.2	9.8	490	11314	0.00	2.05	0.00	0.000	516	0.000	0.028	3137	1555	1885	1935	1836	0	0	0	0	0	0	27.29	27.12	27.35
11390	0.89	181.2	3136	1555	1937	1836	609.3	9.8	492	11396	0.05	2.12	2.33	0.339	13318	0.165	0.037	3122	2950	1867	1917	1817	0	0	0	0	0	0	26.96	27.08	26.09
11695	0.89	181.2	3122	2951	1935	1829	575.1	10.9	502	11696	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2950	1881	1934	1828	0	0	0	0	0	0	27.29	27.36	27.36
11995	0.89	181.2	3122	2950	1935	1828	542.5	10.7	512	11999	0.00	2.05	0.00	0.000	516	0.000	0.028	3126	1556	1881	1934	1828	0	0	0	0	0	0	27.30	27.10	27.37
12050	0.89	181.2	3126	1557	1935	1829	539.4	10.5	513	12057	0.00	2.12	0.00	0.000	1030	0.000	0.037	3126	2943	1880	1934	1827	0	0	0	0	0	0	27.14	27.10	27.16
12355	0.91	197.0	3126	2943	1935	1828	508.6	9.4	524	12380	0.00	1.45	19.02	0.786	8452	0.000	0.054	3125	3854	1795	1846	1745	0	0	0	0	0	0	27.32	26.72	26.14
12445	0.91	197.0	3126	3856	1839	1741	499.0	10.4	527	12449	0.00	1.35	0.00	0.000	1030	0.000	0.030	3133	2939	1789	1839	1739	0	0	0	0	0	0	26.91	26.87	26.92
12775	0.91	197.0	3133	2939	1839	1738	462.2	11.7	538	12779	0.00	2.05	0.00	0.000	516	0.000	0.028	3137	1555	1787	1837	1738	0	0	0	0	0	0	27.12	26.94	27.19
12820	0.91	197.0	3137	1554	1838	1738	458.9	11.5	539	12824	0.00	2.12	0.00	0.000	1030	0.000	0.037	3137	2937	1788	1838	1738	0	0	0	0	0	0	26.96	26.92	26.99
13135	0.91	197.0	3137	2937	1838	1738	421.6	11.2	550	13136	0.00	0.00	0.00	0.000	6	0.000	0.000	3137	2937	1787	1837	1737	0	0	0	0	0	0	27.18	27.27	27.26
13435	0.91	197.0	3137	2937	1838	1738	390.3	10.0	560	13436	0.00	0.00	0.00	0.000	6	0.000	0.000	3137	2937	1787	1837	1738	0	0	0	0	0	0	27.22	27.30	27.30
13735	0.91	197.0	3137	2936	1839	1738	355.9	11.5	570	13740	0.00	1.45	0.00	0.000	260	0.000	0.054	3137	3860	1787	1837	1738	0	0	0	0	0	0	27.25	27.03	27.32
13840	0.91	197.0	3137	3860	1838	1737	344.7	12.3	573	13844	0.10	1.35	0.00	0.000	5126	0.203	0.029	3122	2933	1787	1837	1738	0	0	0	0	0	0	26.91	27.11	27.08
14155	0.95	240.5	3122	2934	1838	1739	313.6	8.3	584	14193	0.00	0.00	36.67	0.651	8198	0.000	0.000	3123	2933	1625	1679	1572	0	0	0	0	0	0	27.29	26.48	25.99
14485	0.95	240.5	3122	2933	1662	1553	280.7	10.3	595	14486	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2933	1606	1660	1553	0	0	0	0	0	0	26.96	27.04	27.04
14785	0.95	240.5	3122	2933	1661	1550	250.5	10.3	605	14789	0.00	1.48	0.00	0.000	260	0.000	0.053	3123	3857	1605	1660	1551	0	0	0	0	0	0	27.07	26.84	27.14
14900	0.95	240.5	3123	3858	1661	1552	238.2	10.8	614	14907	0.00	1.30	0.00	0.000	1030	0.000	0.029	3127	2965	1605	1659	1551	0	0	0	0	0	0	26.98	26.95	27.00
15205	0.95	241.1	3127	2967	1661	1552	208.9	10.0	645	15209	0.00	2.08	0.00	0.000	516	0.000	0.026	3137	1544	1605	1660	1551	0	0	0	0	0	0	27.16	26.96	27.23
15255	0.97	257.9	3138	1545	1661	1553	204.2	9.3	650	15277	0.00	2.17	13.23	0.617	9222	0.000	0.035	3137	2968	1547	1603	1491	0	0	0	0	0	0	26.99	26.96	26.25
15575	0.97	257.9	3137	2969	1598	1486	172.1	10.7	682	15576	0.00	0.00	0.00	0.000	6	0.000	0.000	3137	2969	1541	1598	1485	0	0	0	0	0	0	27.09	27.17	27.16
15875	0.97	257.9	3138	2968	1599	1484	138.6	10.4	712	15879	0.00	2.08	0.00	0.000	516	0.000	0.024	3145	1550	1541	1598	1485	0	0	0	0	0	0	27.16	26.96	27.22
16030	0.98	261.8	3145	1550	1598	1484	123.8	9.8	727	16037	0.00	2.12	0.00	0.000	1030	0.000	0.034	3146	2957	1541	1598	1485	0	0	0	0	0	0	27.01	26.98	27.04
16335	1.01	293.9	3145	2957	1599	1485	95.5	8.7	758	16368	0.00	1.42	28.17	0.481	8452	0.000	0.048	3146	3866	1399	1461	1337	0	0	0	0	0	0	27.23	26.68	26.29
16461	1.01	300.0	3146	3866	1453	1331	84.7	9.8	770	16468	0.00	1.30	0.00	0.000	1030	0.000	0.026	3150	2962	1390	1451	1329	0	0	0	0	0	0	26.88	26.84	26.89
16767	1.05	341.4	3150	2962	1453	1329	54.6	8.4	801	16810	0.00	2.03	36.70	0.429	8708	0.000	0.023	3150	1550	1204	1272	1137	0	0	0	0	0	0	27.10	26.41	26.17
16849	1.09	374.0	3151	1551	1266	1133	47.5	8.7	811	16867	0.00	2.17	11.77	0.216	9222	0.000	0.031	3150	2970	1083	1158	1008	0	0	0	0	0	0	26.65	26.61	26.32
17166	1.09	377.5	3151	2971	1166	1015	12.7	9.9	874	17174	0.00	2.03	2.45	0.171	8708	0.000	0.022	3159	1548	1065	1143	988	0	0	0	0	0	0	26.98	26.72	26.63
17263	1.09	377.5	3160	1549	1151	995	2.4	10.3	893	17270	0.00	2.12	0.00	0.000	1030	0.000	0.031	3159	2961	1074	1154	995	0	0	0	0	0	0	26.85	26.82	26.88
17272	end climb: SURFACE_DEPTH_REACHED
state	17273	begin surface coast
17288	end surface coast: CONTROL_FINISHED_OK
state	17288	begin surface