Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 33 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2250 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2350 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 79 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 54 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_PULSE 3

T_BOOST 5 SM_CC 450 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3346 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 360 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 430 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2760 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 200 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 40 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 990 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 450

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1440

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 360

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 0

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 430

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2760 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 2250 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3346 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 350 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 33 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 79 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 54 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 210118,110307,-309.0239,5545.0161,33,0.9,35,-4.6,1.6,45.2,9,9.3 SPEED_LIMITS 0.159,0.245

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG -300.000,5535.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.72 MHEAD_RNG_PITCHd_Wd 305.9,25137,-14.5,-9.167,-20.51,3205

_SM_ANGLEo -73.0 D_GRID 1000

GPS2 210118,110803,-309.0405,5545.1377,18,0.9,21,-4.6,0.7,114.3,8,9.8

Post-dive calculations and measurements:

FINISH -0.3,1.012679 _10V_AH 13.60,0.000

SM_CCo 18143,24.23,0.080,0,0,1510,450.12 FG_AHR_24Vo 0.000

SM_GC 1.08,8.30,0.15,24.23,0.091,0.102,0.080,251,2216,1510,-7.80,0.96,450.12,0,0,0,0,0,0,14.66,14.75,14.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX -309.00,5546.84,210118,055303 MEM 304600

TT8_MAMPS 0.018725,0.156541 DATA_FILE_SIZE 56642,1346

HUMID 61.89 CAP_FILE_SIZE 157739,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260034560,255938560

TCM_TEMP 22.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,3,0

XPDR_PINGS 0 CURRENT 0.136,123.85,1

_24V_AH 13.29,13.892 GPS 210118,161237,-308.513,5544.403,34,1.0,36,-4.6,0.6,111.3,7,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 439 126.49 SBE_CT 622 23 198.40

Roll_motor 170 177 402.75 nil 0 0 0.00

VBD_pump_during_apogee 590 1870 14689.18 nil 0 0 0.00

VBD_pump_during_surface 24 80 25.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 202 134 361.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 20 6.15

TT8 2800 9 360.65

LPSleep 12669 2 377.34

TT8_Active 729 9 93.94

TT8_Sampling 2156 28 826.87

TT8_CF8 115 34 53.65

TT8_Kalman 0 0 0.00

Analog_circuits 2044 16 444.89

GPS_charging 0 0 0.00

Compass 1916 17 449.13

RAFOS 0 0 0.00

Transponder 0 5 0.04

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.60 -194.6 244 2279 1519 1505 0.0 0.0 0 83 0.00 0.00 -72.93 0.003 16386 0.000 0.000 242 2284 3691 3672 3711 0 0 0 0 0 0 14.87 28.83 14.89

85 -0.60 -194.6 242 2284 3672 3711 4.1 -11.0 12 107 11.68 2.38 -3.25 0.028 18948 0.439 0.078 2556 872 3905 3897 3914 0 0 0 0 0 0 14.45 13.82 14.70

190 -0.60 -194.6 2556 871 3902 3914 44.0 -27.4 31 197 0.00 2.22 0.00 0.000 1030 0.000 0.054 2556 2230 3908 3902 3914 0 0 0 0 0 0 14.76 14.69 14.78

503 -0.60 -194.6 2556 2231 3908 3914 97.0 -14.2 64 507 0.00 2.40 0.00 0.000 260 0.000 0.086 2557 3660 3911 3908 3914 0 0 0 0 0 0 15.00 14.75 15.02

532 -0.60 -194.6 2556 3659 3908 3914 101.3 -14.3 70 541 0.00 2.22 0.00 0.000 1030 0.000 0.044 2557 2289 3911 3908 3914 0 0 0 0 0 0 14.83 14.80 14.85

839 -0.60 -194.6 2556 2287 3910 3916 144.9 -15.1 101 840 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2287 3913 3910 3916 0 0 0 0 0 0 15.05 15.08 15.07

1140 -0.60 -194.6 2556 2287 3910 3916 185.4 -13.5 131 1144 0.00 2.30 0.00 0.000 260 0.000 0.083 2556 3659 3914 3911 3917 0 0 0 0 0 0 15.09 14.84 15.11

1174 -0.60 -194.6 2556 3659 3911 3917 190.3 -13.3 138 1182 0.00 2.28 0.00 0.000 1030 0.000 0.044 2556 2245 3913 3911 3916 0 0 0 0 0 0 14.92 14.88 14.94

1481 -0.60 -194.6 2556 2244 3910 3916 229.0 -12.8 169 1485 0.00 2.38 0.00 0.000 260 0.000 0.084 2557 3658 3913 3911 3916 0 0 0 0 0 0 15.11 14.86 15.13

1514 -0.60 -194.6 2556 3658 3911 3916 233.5 -12.3 176 1522 0.00 2.28 0.00 0.000 1030 0.000 0.046 2556 2253 3913 3911 3916 0 0 0 0 0 0 14.94 14.90 14.96

1832 -0.60 -194.6 2556 2249 3910 3916 277.5 -14.8 196 1833 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2249 3913 3910 3916 0 0 0 0 0 0 15.14 15.16 15.16

2132 -0.60 -194.6 2556 2249 3910 3916 314.3 -11.3 206 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2249 3913 3910 3916 0 0 0 0 0 0 15.16 15.19 15.18

2432 -0.60 -194.6 2556 2249 3909 3915 350.3 -12.2 216 2436 0.00 2.38 0.00 0.000 260 0.000 0.087 2557 3659 3912 3909 3915 0 0 0 0 0 0 15.17 14.92 15.19

2507 -0.60 -194.6 2556 3659 3908 3915 359.2 -11.2 231 2511 0.00 2.22 0.00 0.000 1030 0.000 0.046 2557 2247 3911 3908 3915 0 0 0 0 0 0 15.03 14.97 15.04

2823 -0.60 -194.6 2556 2242 3907 3914 395.9 -12.2 244 2826 0.00 2.40 0.00 0.000 260 0.000 0.086 2557 3667 3910 3907 3914 0 0 0 0 0 0 15.19 14.93 15.21

2866 -0.60 -194.6 2556 3667 3906 3913 401.6 -12.5 253 2871 0.00 2.22 0.00 0.000 1030 0.000 0.044 2557 2248 3909 3906 3913 0 0 0 0 0 0 15.04 14.99 15.05

3183 -0.60 -194.6 2556 2243 3906 3910 441.5 -13.0 266 3188 0.00 2.40 0.00 0.000 260 0.000 0.088 2557 3666 3908 3906 3910 0 0 0 0 0 0 15.19 14.94 15.21

3218 -0.60 -194.6 2556 3665 3904 3910 446.3 -13.6 273 3223 0.00 2.28 0.00 0.000 1030 0.000 0.046 2557 2256 3907 3905 3910 0 0 0 0 0 0 15.01 14.97 15.03

3545 -0.60 -194.6 2556 2251 3904 3908 488.7 -12.9 288 3546 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2252 3906 3904 3908 0 0 0 0 0 0 15.19 15.21 15.21

3845 -0.60 -194.6 2556 2252 3902 3906 526.0 -12.4 298 3850 0.00 2.38 0.00 0.000 260 0.000 0.089 2556 3657 3904 3902 3906 0 0 0 0 0 0 15.20 14.95 15.22

3895 -0.60 -194.6 2556 3657 3901 3906 532.3 -11.8 308 3900 0.00 2.25 0.00 0.000 1030 0.000 0.048 2557 2242 3903 3901 3905 0 0 0 0 0 0 15.06 15.00 15.07

4207 -0.60 -194.6 2556 2238 3901 3903 565.8 -10.2 320 4211 0.00 2.40 0.00 0.000 260 0.000 0.089 2557 3658 3902 3901 3903 0 0 0 0 0 0 15.21 14.95 15.22

4238 -0.60 -194.6 2556 3658 3900 3902 568.9 -10.5 326 4243 0.00 2.22 0.00 0.000 1030 0.000 0.049 2556 2251 3901 3900 3902 0 0 0 0 0 0 15.06 15.00 15.07

4570 -0.60 -194.6 2556 2246 3900 3901 599.6 -9.2 342 4574 0.00 2.40 0.00 0.000 260 0.000 0.090 2557 3659 3900 3900 3901 0 0 0 0 0 0 15.21 14.95 15.23

4624 -0.60 -194.6 2556 3659 3899 3901 605.1 -9.6 353 4632 0.00 2.25 0.00 0.000 1030 0.000 0.048 2556 2240 3900 3899 3901 0 0 0 0 0 0 15.06 15.00 15.07

4931 -0.60 -194.6 2556 2239 3898 3899 634.3 -9.6 364 4933 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2239 3898 3898 3899 0 0 0 0 0 0 15.20 15.23 15.22

5231 -0.60 -194.6 2556 2239 3898 3897 665.7 -10.8 374 5236 0.00 2.40 0.00 0.000 260 0.000 0.090 2557 3658 3897 3898 3897 0 0 0 0 0 0 15.21 14.95 15.23

5281 -0.60 -194.6 2556 3658 3898 3897 671.3 -10.9 384 5286 0.00 2.25 0.00 0.000 1030 0.000 0.049 2556 2246 3898 3898 3898 0 0 0 0 0 0 15.07 15.00 15.08

5593 -0.60 -194.6 2556 2240 3897 3895 705.7 -11.1 396 5597 0.00 2.40 0.00 0.000 260 0.000 0.091 2557 3665 3896 3897 3895 0 0 0 0 0 0 15.21 14.95 15.23

5669 -0.60 -194.6 2556 3665 3896 3894 714.4 -11.2 411 5673 0.00 2.25 0.00 0.000 1030 0.000 0.047 2557 2237 3895 3896 3894 0 0 0 0 0 0 15.07 15.01 15.08

5985 -0.60 -194.6 2556 2233 3896 3892 749.9 -11.2 424 5988 0.00 2.40 0.00 0.000 260 0.000 0.090 2557 3657 3894 3896 3892 0 0 0 0 0 0 15.21 14.95 15.23

6024 -0.60 -194.6 2556 3658 3896 3892 754.5 -11.0 432 6028 0.00 2.25 0.00 0.000 1030 0.000 0.050 2557 2246 3894 3896 3892 0 0 0 0 0 0 15.07 15.00 15.08

6345 -0.60 -194.6 2557 2242 3895 3891 787.7 -10.1 446 6350 0.00 2.40 0.00 0.000 260 0.000 0.092 2557 3658 3893 3895 3891 0 0 0 0 0 0 15.21 14.95 15.23

6395 -0.60 -194.6 2557 3658 3895 3890 793.0 -10.1 456 6399 0.00 2.25 0.00 0.000 1030 0.000 0.051 2557 2249 3892 3895 3890 0 0 0 0 0 0 15.06 15.00 15.07

6707 -0.60 -194.6 2557 2245 3895 3889 822.7 -9.4 468 6711 0.00 2.40 0.00 0.000 260 0.000 0.093 2557 3656 3892 3895 3889 0 0 0 0 0 0 15.21 14.95 15.22

6746 -0.60 -194.6 2557 3656 3894 3889 826.7 -9.7 476 6750 0.00 2.25 0.00 0.000 1030 0.000 0.051 2557 2250 3892 3895 3889 0 0 0 0 0 0 15.07 15.00 15.07

7068 -0.60 -194.6 2556 2246 3895 3887 856.8 -9.4 490 7073 0.00 2.40 0.00 0.000 260 0.000 0.093 2557 3657 3890 3894 3887 0 0 0 0 0 0 15.21 14.95 15.23

7143 -0.60 -194.6 2556 3657 3893 3886 864.4 -9.7 505 7147 0.00 2.25 0.00 0.000 1030 0.000 0.050 2557 2249 3889 3893 3886 0 0 0 0 0 0 15.06 15.00 15.07

7459 -0.60 -194.6 2556 2244 3893 3886 894.9 -9.8 518 7464 0.00 2.42 0.00 0.000 260 0.000 0.093 2557 3667 3889 3893 3886 0 0 0 0 0 0 15.21 14.95 15.22

7539 -0.60 -194.6 2556 3666 3892 3885 903.2 -10.2 534 7544 0.00 2.30 0.00 0.000 1030 0.000 0.049 2557 2253 3888 3892 3885 0 0 0 0 0 0 15.05 14.99 15.08

7851 -0.60 -194.6 2556 2249 3892 3883 934.2 -10.0 546 7856 0.00 2.42 0.00 0.000 260 0.000 0.096 2557 3667 3887 3892 3883 0 0 0 0 0 0 15.20 14.94 15.22

7883 -0.60 -194.6 2557 3667 3892 3883 937.4 -10.6 552 7887 0.00 2.28 0.00 0.000 1030 0.000 0.050 2557 2243 3887 3892 3883 0 0 0 0 0 0 15.06 15.00 15.07

8214 -0.60 -194.6 2557 2239 3891 3881 970.1 -9.9 568 8220 0.00 2.42 0.00 0.000 260 0.000 0.094 2557 3657 3885 3890 3881 0 0 0 0 0 0 15.20 14.94 15.22

8252 -0.60 -194.6 2556 3657 3891 3881 974.1 -10.1 576 8256 0.00 2.25 0.00 0.000 1030 0.000 0.052 2556 2251 3885 3890 3881 0 0 0 0 0 0 15.06 15.00 15.07

8422 end dive: TARGET_DEPTH_EXCEEDED

state 8422 begin apogee

8426 -0.12 0.0 2557 2368 3890 3881 990.9 -9.9 585 8619 0.55 0.00 189.12 1.595 10246 0.239 0.000 2712 2368 3346 3367 3325 0 0 0 0 0 0 14.87 14.12 13.51

8620 end apogee: CONTROL_FINISHED_OK

state 8620 begin climb

8621 0.60 194.6 2712 2368 3360 3322 998.7 0.0 591 8828 0.80 2.50 197.70 1.870 10756 0.154 0.062 2949 959 2545 2594 2497 0 0 0 0 0 0 14.08 13.85 13.29

8844 0.62 194.6 2949 959 2587 2493 988.5 8.2 639 8848 0.00 2.40 0.00 0.000 1094 0.000 0.061 2949 2333 2539 2587 2492 0 0 0 0 0 0 14.16 14.09 14.19

9165 0.62 194.6 2949 2333 2575 2487 957.3 9.9 653 9169 0.00 2.35 0.00 0.000 260 0.000 0.090 2949 3694 2530 2574 2487 0 0 0 0 0 0 14.80 14.56 14.82

9229 0.62 194.6 2949 3694 2571 2486 949.9 11.7 666 9235 0.00 2.25 0.00 0.000 1030 0.000 0.051 2949 2363 2528 2571 2486 0 0 0 0 0 0 14.66 14.62 14.68

9556 0.62 194.6 2949 2362 2569 2485 915.5 10.6 681 9557 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2362 2527 2569 2485 0 0 0 0 0 0 14.95 14.97 14.97

9857 0.62 194.6 2949 2362 2567 2486 884.2 10.2 691 9861 0.00 2.30 0.00 0.000 260 0.000 0.089 2949 3698 2526 2567 2486 0 0 0 0 0 0 15.02 14.77 15.04

9888 0.62 194.6 2949 3697 2566 2485 880.8 11.3 697 9892 0.00 2.20 0.00 0.000 1030 0.000 0.052 2949 2348 2525 2566 2485 0 0 0 0 0 0 14.88 14.81 14.90

10218 0.62 194.6 2949 2348 2564 2485 849.1 9.2 713 10222 0.00 2.33 0.00 0.000 260 0.000 0.088 2949 3703 2524 2564 2485 0 0 0 0 0 0 15.07 14.81 15.09

10250 0.62 194.6 2948 3703 2562 2485 845.9 10.3 719 10254 0.00 2.22 0.00 0.000 1030 0.000 0.055 2949 2346 2524 2563 2485 0 0 0 0 0 0 14.92 14.85 14.94

10582 0.62 194.6 2949 2344 2561 2485 815.4 9.3 735 10583 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2344 2523 2562 2484 0 0 0 0 0 0 15.09 15.11 15.11

10881 0.62 194.6 2949 2344 2562 2484 788.7 8.8 745 10882 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2344 2523 2562 2484 0 0 0 0 0 0 15.11 15.14 15.14

11182 0.62 194.6 2949 2343 2561 2484 762.7 8.7 755 11186 0.00 2.30 0.00 0.000 260 0.000 0.090 2949 3697 2522 2561 2484 0 0 0 0 0 0 15.13 14.88 15.15

11226 0.62 194.6 2949 3698 2560 2484 758.0 10.3 764 11231 0.00 2.20 0.00 0.000 1030 0.000 0.053 2949 2343 2522 2560 2484 0 0 0 0 0 0 14.99 14.92 15.00

11543 0.62 194.6 2949 2341 2560 2483 729.2 9.3 777 11544 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2341 2522 2560 2484 0 0 0 0 0 0 15.14 15.16 15.16

11844 0.62 194.6 2949 2341 2558 2483 700.6 9.5 787 11848 0.00 2.35 0.00 0.000 260 0.000 0.089 2949 3703 2520 2558 2483 0 0 0 0 0 0 15.15 14.90 15.17

11884 0.62 194.6 2949 3703 2558 2483 696.2 10.8 795 11888 0.00 2.22 0.00 0.000 1030 0.000 0.054 2949 2343 2520 2557 2483 0 0 0 0 0 0 15.01 14.94 15.03

12205 0.63 194.6 2949 2340 2558 2483 668.0 8.4 809 12209 0.00 2.30 0.00 0.000 324 0.000 0.088 2949 3695 2520 2558 2483 0 0 0 0 0 0 15.16 14.91 15.17

12250 0.63 194.6 2949 3695 2557 2482 663.7 9.6 818 12255 0.00 2.20 0.00 0.000 1030 0.000 0.051 2949 2339 2519 2557 2482 0 0 0 0 0 0 15.01 14.95 15.03

12568 0.64 194.6 2949 2336 2557 2482 636.8 8.6 831 12569 0.00 0.00 0.00 0.000 70 0.000 0.000 2949 2336 2519 2557 2482 0 0 0 0 0 0 15.16 15.18 15.18

12867 0.64 194.6 2949 2336 2557 2482 609.5 9.3 841 12871 0.00 2.30 0.00 0.000 260 0.000 0.087 2949 3696 2519 2557 2482 0 0 0 0 0 0 15.16 14.92 15.18

12937 0.64 194.6 2949 3696 2556 2482 601.8 10.9 855 12941 0.00 2.17 0.00 0.000 1030 0.000 0.050 2949 2349 2519 2556 2482 0 0 0 0 0 0 15.02 14.95 15.04

13258 0.64 194.6 2949 2347 2556 2482 570.9 9.3 869 13262 0.00 2.28 0.00 0.000 516 0.000 0.066 2949 944 2519 2556 2482 0 0 0 0 0 0 15.17 14.94 15.19

13289 0.64 194.6 2948 944 2556 2482 568.1 8.9 875 13294 0.00 2.30 0.00 0.000 1030 0.000 0.062 2949 2352 2519 2556 2482 0 0 0 0 0 0 15.02 14.93 15.04

13621 0.67 194.6 2949 2352 2556 2482 540.1 7.9 891 13625 0.00 2.25 0.00 0.000 324 0.000 0.090 2949 3699 2518 2556 2481 0 0 0 0 0 0 15.17 14.92 15.19

13744 0.69 194.6 2949 3699 2555 2481 529.7 8.2 915 13748 0.00 2.17 0.00 0.000 1094 0.000 0.050 2949 2346 2518 2556 2481 0 0 0 0 0 0 15.02 14.96 15.04

14076 0.82 300.9 2948 2343 2555 2481 509.2 5.8 931 14204 0.22 2.40 120.55 1.331 10532 0.122 0.086 3026 3692 2112 2156 2068 0 0 1 0 0 0 14.94 14.25 13.74

14226 0.82 300.9 3026 3692 2153 2068 492.6 13.6 951 14231 0.00 2.28 0.00 0.000 1030 0.000 0.054 3026 2347 2110 2152 2068 0 0 0 0 0 0 14.42 14.34 14.45

14558 0.82 300.9 3026 2347 2145 2062 447.3 14.1 967 14562 0.00 2.35 0.00 0.000 516 0.000 0.073 3026 946 2103 2145 2062 0 0 0 0 0 0 14.87 14.63 14.89

14642 0.82 300.9 3026 946 2143 2062 435.7 13.6 984 14649 0.00 2.35 0.00 0.000 1030 0.000 0.057 3026 2362 2102 2143 2062 0 0 0 0 0 0 14.76 14.67 14.78

14949 0.82 300.9 3026 2362 2142 2061 390.7 15.0 995 14951 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2362 2101 2142 2061 0 0 0 0 0 0 14.98 15.00 15.00

15249 0.82 300.9 3026 2362 2141 2061 347.3 13.9 1005 15253 0.00 2.22 0.00 0.000 260 0.000 0.083 3026 3690 2101 2141 2061 0 0 0 0 0 0 15.04 14.79 15.06

15303 0.82 300.9 3025 3690 2141 2061 339.1 15.1 1016 15310 0.00 2.20 0.00 0.000 1030 0.000 0.052 3026 2338 2100 2140 2061 0 0 0 0 0 0 14.89 14.81 14.91

15610 0.82 300.9 3026 2336 2140 2061 296.1 14.4 1027 15614 0.00 2.30 0.00 0.000 516 0.000 0.070 3026 946 2100 2140 2061 0 0 0 0 0 0 15.07 14.83 15.09

15742 0.82 300.9 3026 946 2138 2061 279.2 12.4 1053 15746 0.00 2.30 0.00 0.000 1030 0.000 0.057 3026 2353 2099 2138 2061 0 0 0 0 0 0 14.92 14.85 14.95

16053 0.82 300.9 3026 2352 2138 2060 238.0 13.6 1072 16054 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2352 2099 2138 2061 0 0 0 0 0 0 15.09 15.11 15.11

16353 0.82 300.9 3026 2352 2138 2062 194.3 16.3 1102 16358 0.00 2.22 0.00 0.000 260 0.000 0.083 3026 3692 2099 2138 2061 0 0 0 0 0 0 15.11 14.86 15.12

16404 0.82 300.9 3026 3692 2137 2061 185.1 17.5 1112 16409 0.00 2.17 0.00 0.000 1030 0.000 0.051 3027 2341 2099 2138 2060 0 0 0 0 0 0 14.96 14.89 14.98

16715 0.82 300.9 3026 2340 2138 2061 136.8 14.0 1144 16719 0.00 2.28 0.00 0.000 516 0.000 0.067 3026 944 2099 2138 2061 0 0 0 0 0 0 15.11 14.87 15.13

16766 0.82 300.9 3026 943 2137 2061 130.2 12.3 1154 16771 0.00 2.30 0.00 0.000 1030 0.000 0.057 3027 2349 2098 2136 2061 0 0 0 0 0 0 14.96 14.88 14.98

17078 0.82 300.9 3026 2349 2136 2061 94.9 10.5 1186 17079 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2349 2099 2137 2061 0 0 0 0 0 0 15.11 15.14 15.14

17379 0.83 300.9 3026 2349 2137 2061 67.2 8.3 1216 17383 0.00 2.30 0.00 0.000 580 0.000 0.061 3027 949 2098 2136 2061 0 0 0 0 0 0 15.12 14.89 15.14

17414 0.85 300.9 3026 948 2136 2061 64.2 8.2 1223 17421 0.00 2.28 0.00 0.000 1094 0.000 0.057 3026 2349 2098 2136 2060 0 0 0 0 0 0 14.97 14.90 14.99

17722 0.96 389.5 3026 2350 2136 2060 40.5 6.3 1270 17816 0.12 2.33 83.55 0.871 10532 0.160 0.083 3079 3683 1750 1796 1705 0 0 0 0 0 0 14.87 14.50 14.16

17929 0.96 389.5 3079 3683 1789 1705 21.1 11.5 1307 17936 0.00 2.17 0.00 0.000 1030 0.000 0.047 3080 2351 1746 1789 1704 0 0 0 0 0 0 14.71 14.64 14.72

18096 end climb: SURFACE_DEPTH_REACHED

state 18096 begin surface coast

18128 end surface coast: CONTROL_FINISHED_OK

state 18128 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	33	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2250	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2350	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	79	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	54	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_PULSE	3
T_BOOST	5	SM_CC	450	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3346	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	360	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	430	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2760	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	200	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	40	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	210118,110307,-309.0239,5545.0161,33,0.9,35,-4.6,1.6,45.2,9,9.3	SPEED_LIMITS	0.159,0.245
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	-300.000,5535.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.72	MHEAD_RNG_PITCHd_Wd	305.9,25137,-14.5,-9.167,-20.51,3205
_SM_ANGLEo	-73.0	D_GRID	1000
GPS2	210118,110803,-309.0405,5545.1377,18,0.9,21,-4.6,0.7,114.3,8,9.8

FINISH	-0.3,1.012679	_10V_AH	13.60,0.000
SM_CCo	18143,24.23,0.080,0,0,1510,450.12	FG_AHR_24Vo	0.000
SM_GC	1.08,8.30,0.15,24.23,0.091,0.102,0.080,251,2216,1510,-7.80,0.96,450.12,0,0,0,0,0,0,14.66,14.75,14.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-309.00,5546.84,210118,055303	MEM	304600
TT8_MAMPS	0.018725,0.156541	DATA_FILE_SIZE	56642,1346
HUMID	61.89	CAP_FILE_SIZE	157739,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260034560,255938560
TCM_TEMP	22.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,3,0
XPDR_PINGS	0	CURRENT	0.136,123.85,1
_24V_AH	13.29,13.892	GPS	210118,161237,-308.513,5544.403,34,1.0,36,-4.6,0.6,111.3,7,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	439	126.49	SBE_CT	622	23	198.40
Roll_motor	170	177	402.75	nil	0	0	0.00
VBD_pump_during_apogee	590	1870	14689.18	nil	0	0	0.00
VBD_pump_during_surface	24	80	25.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	202	134	361.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	20	6.15
TT8	2800	9	360.65
LPSleep	12669	2	377.34
TT8_Active	729	9	93.94
TT8_Sampling	2156	28	826.87
TT8_CF8	115	34	53.65
TT8_Kalman	0	0	0.00
Analog_circuits	2044	16	444.89
GPS_charging	0	0	0.00
Compass	1916	17	449.13
RAFOS	0	0	0.00
Transponder	0	5	0.04

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.60	-194.6	244	2279	1519	1505	0.0	0.0	0	83	0.00	0.00	-72.93	0.003	16386	0.000	0.000	242	2284	3691	3672	3711	0	0	0	0	0	0	14.87	28.83	14.89
85	-0.60	-194.6	242	2284	3672	3711	4.1	-11.0	12	107	11.68	2.38	-3.25	0.028	18948	0.439	0.078	2556	872	3905	3897	3914	0	0	0	0	0	0	14.45	13.82	14.70
190	-0.60	-194.6	2556	871	3902	3914	44.0	-27.4	31	197	0.00	2.22	0.00	0.000	1030	0.000	0.054	2556	2230	3908	3902	3914	0	0	0	0	0	0	14.76	14.69	14.78
503	-0.60	-194.6	2556	2231	3908	3914	97.0	-14.2	64	507	0.00	2.40	0.00	0.000	260	0.000	0.086	2557	3660	3911	3908	3914	0	0	0	0	0	0	15.00	14.75	15.02
532	-0.60	-194.6	2556	3659	3908	3914	101.3	-14.3	70	541	0.00	2.22	0.00	0.000	1030	0.000	0.044	2557	2289	3911	3908	3914	0	0	0	0	0	0	14.83	14.80	14.85
839	-0.60	-194.6	2556	2287	3910	3916	144.9	-15.1	101	840	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2287	3913	3910	3916	0	0	0	0	0	0	15.05	15.08	15.07
1140	-0.60	-194.6	2556	2287	3910	3916	185.4	-13.5	131	1144	0.00	2.30	0.00	0.000	260	0.000	0.083	2556	3659	3914	3911	3917	0	0	0	0	0	0	15.09	14.84	15.11
1174	-0.60	-194.6	2556	3659	3911	3917	190.3	-13.3	138	1182	0.00	2.28	0.00	0.000	1030	0.000	0.044	2556	2245	3913	3911	3916	0	0	0	0	0	0	14.92	14.88	14.94
1481	-0.60	-194.6	2556	2244	3910	3916	229.0	-12.8	169	1485	0.00	2.38	0.00	0.000	260	0.000	0.084	2557	3658	3913	3911	3916	0	0	0	0	0	0	15.11	14.86	15.13
1514	-0.60	-194.6	2556	3658	3911	3916	233.5	-12.3	176	1522	0.00	2.28	0.00	0.000	1030	0.000	0.046	2556	2253	3913	3911	3916	0	0	0	0	0	0	14.94	14.90	14.96
1832	-0.60	-194.6	2556	2249	3910	3916	277.5	-14.8	196	1833	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2249	3913	3910	3916	0	0	0	0	0	0	15.14	15.16	15.16
2132	-0.60	-194.6	2556	2249	3910	3916	314.3	-11.3	206	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2249	3913	3910	3916	0	0	0	0	0	0	15.16	15.19	15.18
2432	-0.60	-194.6	2556	2249	3909	3915	350.3	-12.2	216	2436	0.00	2.38	0.00	0.000	260	0.000	0.087	2557	3659	3912	3909	3915	0	0	0	0	0	0	15.17	14.92	15.19
2507	-0.60	-194.6	2556	3659	3908	3915	359.2	-11.2	231	2511	0.00	2.22	0.00	0.000	1030	0.000	0.046	2557	2247	3911	3908	3915	0	0	0	0	0	0	15.03	14.97	15.04
2823	-0.60	-194.6	2556	2242	3907	3914	395.9	-12.2	244	2826	0.00	2.40	0.00	0.000	260	0.000	0.086	2557	3667	3910	3907	3914	0	0	0	0	0	0	15.19	14.93	15.21
2866	-0.60	-194.6	2556	3667	3906	3913	401.6	-12.5	253	2871	0.00	2.22	0.00	0.000	1030	0.000	0.044	2557	2248	3909	3906	3913	0	0	0	0	0	0	15.04	14.99	15.05
3183	-0.60	-194.6	2556	2243	3906	3910	441.5	-13.0	266	3188	0.00	2.40	0.00	0.000	260	0.000	0.088	2557	3666	3908	3906	3910	0	0	0	0	0	0	15.19	14.94	15.21
3218	-0.60	-194.6	2556	3665	3904	3910	446.3	-13.6	273	3223	0.00	2.28	0.00	0.000	1030	0.000	0.046	2557	2256	3907	3905	3910	0	0	0	0	0	0	15.01	14.97	15.03
3545	-0.60	-194.6	2556	2251	3904	3908	488.7	-12.9	288	3546	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2252	3906	3904	3908	0	0	0	0	0	0	15.19	15.21	15.21
3845	-0.60	-194.6	2556	2252	3902	3906	526.0	-12.4	298	3850	0.00	2.38	0.00	0.000	260	0.000	0.089	2556	3657	3904	3902	3906	0	0	0	0	0	0	15.20	14.95	15.22
3895	-0.60	-194.6	2556	3657	3901	3906	532.3	-11.8	308	3900	0.00	2.25	0.00	0.000	1030	0.000	0.048	2557	2242	3903	3901	3905	0	0	0	0	0	0	15.06	15.00	15.07
4207	-0.60	-194.6	2556	2238	3901	3903	565.8	-10.2	320	4211	0.00	2.40	0.00	0.000	260	0.000	0.089	2557	3658	3902	3901	3903	0	0	0	0	0	0	15.21	14.95	15.22
4238	-0.60	-194.6	2556	3658	3900	3902	568.9	-10.5	326	4243	0.00	2.22	0.00	0.000	1030	0.000	0.049	2556	2251	3901	3900	3902	0	0	0	0	0	0	15.06	15.00	15.07
4570	-0.60	-194.6	2556	2246	3900	3901	599.6	-9.2	342	4574	0.00	2.40	0.00	0.000	260	0.000	0.090	2557	3659	3900	3900	3901	0	0	0	0	0	0	15.21	14.95	15.23
4624	-0.60	-194.6	2556	3659	3899	3901	605.1	-9.6	353	4632	0.00	2.25	0.00	0.000	1030	0.000	0.048	2556	2240	3900	3899	3901	0	0	0	0	0	0	15.06	15.00	15.07
4931	-0.60	-194.6	2556	2239	3898	3899	634.3	-9.6	364	4933	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2239	3898	3898	3899	0	0	0	0	0	0	15.20	15.23	15.22
5231	-0.60	-194.6	2556	2239	3898	3897	665.7	-10.8	374	5236	0.00	2.40	0.00	0.000	260	0.000	0.090	2557	3658	3897	3898	3897	0	0	0	0	0	0	15.21	14.95	15.23
5281	-0.60	-194.6	2556	3658	3898	3897	671.3	-10.9	384	5286	0.00	2.25	0.00	0.000	1030	0.000	0.049	2556	2246	3898	3898	3898	0	0	0	0	0	0	15.07	15.00	15.08
5593	-0.60	-194.6	2556	2240	3897	3895	705.7	-11.1	396	5597	0.00	2.40	0.00	0.000	260	0.000	0.091	2557	3665	3896	3897	3895	0	0	0	0	0	0	15.21	14.95	15.23
5669	-0.60	-194.6	2556	3665	3896	3894	714.4	-11.2	411	5673	0.00	2.25	0.00	0.000	1030	0.000	0.047	2557	2237	3895	3896	3894	0	0	0	0	0	0	15.07	15.01	15.08
5985	-0.60	-194.6	2556	2233	3896	3892	749.9	-11.2	424	5988	0.00	2.40	0.00	0.000	260	0.000	0.090	2557	3657	3894	3896	3892	0	0	0	0	0	0	15.21	14.95	15.23
6024	-0.60	-194.6	2556	3658	3896	3892	754.5	-11.0	432	6028	0.00	2.25	0.00	0.000	1030	0.000	0.050	2557	2246	3894	3896	3892	0	0	0	0	0	0	15.07	15.00	15.08
6345	-0.60	-194.6	2557	2242	3895	3891	787.7	-10.1	446	6350	0.00	2.40	0.00	0.000	260	0.000	0.092	2557	3658	3893	3895	3891	0	0	0	0	0	0	15.21	14.95	15.23
6395	-0.60	-194.6	2557	3658	3895	3890	793.0	-10.1	456	6399	0.00	2.25	0.00	0.000	1030	0.000	0.051	2557	2249	3892	3895	3890	0	0	0	0	0	0	15.06	15.00	15.07
6707	-0.60	-194.6	2557	2245	3895	3889	822.7	-9.4	468	6711	0.00	2.40	0.00	0.000	260	0.000	0.093	2557	3656	3892	3895	3889	0	0	0	0	0	0	15.21	14.95	15.22
6746	-0.60	-194.6	2557	3656	3894	3889	826.7	-9.7	476	6750	0.00	2.25	0.00	0.000	1030	0.000	0.051	2557	2250	3892	3895	3889	0	0	0	0	0	0	15.07	15.00	15.07
7068	-0.60	-194.6	2556	2246	3895	3887	856.8	-9.4	490	7073	0.00	2.40	0.00	0.000	260	0.000	0.093	2557	3657	3890	3894	3887	0	0	0	0	0	0	15.21	14.95	15.23
7143	-0.60	-194.6	2556	3657	3893	3886	864.4	-9.7	505	7147	0.00	2.25	0.00	0.000	1030	0.000	0.050	2557	2249	3889	3893	3886	0	0	0	0	0	0	15.06	15.00	15.07
7459	-0.60	-194.6	2556	2244	3893	3886	894.9	-9.8	518	7464	0.00	2.42	0.00	0.000	260	0.000	0.093	2557	3667	3889	3893	3886	0	0	0	0	0	0	15.21	14.95	15.22
7539	-0.60	-194.6	2556	3666	3892	3885	903.2	-10.2	534	7544	0.00	2.30	0.00	0.000	1030	0.000	0.049	2557	2253	3888	3892	3885	0	0	0	0	0	0	15.05	14.99	15.08
7851	-0.60	-194.6	2556	2249	3892	3883	934.2	-10.0	546	7856	0.00	2.42	0.00	0.000	260	0.000	0.096	2557	3667	3887	3892	3883	0	0	0	0	0	0	15.20	14.94	15.22
7883	-0.60	-194.6	2557	3667	3892	3883	937.4	-10.6	552	7887	0.00	2.28	0.00	0.000	1030	0.000	0.050	2557	2243	3887	3892	3883	0	0	0	0	0	0	15.06	15.00	15.07
8214	-0.60	-194.6	2557	2239	3891	3881	970.1	-9.9	568	8220	0.00	2.42	0.00	0.000	260	0.000	0.094	2557	3657	3885	3890	3881	0	0	0	0	0	0	15.20	14.94	15.22
8252	-0.60	-194.6	2556	3657	3891	3881	974.1	-10.1	576	8256	0.00	2.25	0.00	0.000	1030	0.000	0.052	2556	2251	3885	3890	3881	0	0	0	0	0	0	15.06	15.00	15.07
8422	end dive: TARGET_DEPTH_EXCEEDED
state	8422	begin apogee
8426	-0.12	0.0	2557	2368	3890	3881	990.9	-9.9	585	8619	0.55	0.00	189.12	1.595	10246	0.239	0.000	2712	2368	3346	3367	3325	0	0	0	0	0	0	14.87	14.12	13.51
8620	end apogee: CONTROL_FINISHED_OK
state	8620	begin climb
8621	0.60	194.6	2712	2368	3360	3322	998.7	0.0	591	8828	0.80	2.50	197.70	1.870	10756	0.154	0.062	2949	959	2545	2594	2497	0	0	0	0	0	0	14.08	13.85	13.29
8844	0.62	194.6	2949	959	2587	2493	988.5	8.2	639	8848	0.00	2.40	0.00	0.000	1094	0.000	0.061	2949	2333	2539	2587	2492	0	0	0	0	0	0	14.16	14.09	14.19
9165	0.62	194.6	2949	2333	2575	2487	957.3	9.9	653	9169	0.00	2.35	0.00	0.000	260	0.000	0.090	2949	3694	2530	2574	2487	0	0	0	0	0	0	14.80	14.56	14.82
9229	0.62	194.6	2949	3694	2571	2486	949.9	11.7	666	9235	0.00	2.25	0.00	0.000	1030	0.000	0.051	2949	2363	2528	2571	2486	0	0	0	0	0	0	14.66	14.62	14.68
9556	0.62	194.6	2949	2362	2569	2485	915.5	10.6	681	9557	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2362	2527	2569	2485	0	0	0	0	0	0	14.95	14.97	14.97
9857	0.62	194.6	2949	2362	2567	2486	884.2	10.2	691	9861	0.00	2.30	0.00	0.000	260	0.000	0.089	2949	3698	2526	2567	2486	0	0	0	0	0	0	15.02	14.77	15.04
9888	0.62	194.6	2949	3697	2566	2485	880.8	11.3	697	9892	0.00	2.20	0.00	0.000	1030	0.000	0.052	2949	2348	2525	2566	2485	0	0	0	0	0	0	14.88	14.81	14.90
10218	0.62	194.6	2949	2348	2564	2485	849.1	9.2	713	10222	0.00	2.33	0.00	0.000	260	0.000	0.088	2949	3703	2524	2564	2485	0	0	0	0	0	0	15.07	14.81	15.09
10250	0.62	194.6	2948	3703	2562	2485	845.9	10.3	719	10254	0.00	2.22	0.00	0.000	1030	0.000	0.055	2949	2346	2524	2563	2485	0	0	0	0	0	0	14.92	14.85	14.94
10582	0.62	194.6	2949	2344	2561	2485	815.4	9.3	735	10583	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2344	2523	2562	2484	0	0	0	0	0	0	15.09	15.11	15.11
10881	0.62	194.6	2949	2344	2562	2484	788.7	8.8	745	10882	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2344	2523	2562	2484	0	0	0	0	0	0	15.11	15.14	15.14
11182	0.62	194.6	2949	2343	2561	2484	762.7	8.7	755	11186	0.00	2.30	0.00	0.000	260	0.000	0.090	2949	3697	2522	2561	2484	0	0	0	0	0	0	15.13	14.88	15.15
11226	0.62	194.6	2949	3698	2560	2484	758.0	10.3	764	11231	0.00	2.20	0.00	0.000	1030	0.000	0.053	2949	2343	2522	2560	2484	0	0	0	0	0	0	14.99	14.92	15.00
11543	0.62	194.6	2949	2341	2560	2483	729.2	9.3	777	11544	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2341	2522	2560	2484	0	0	0	0	0	0	15.14	15.16	15.16
11844	0.62	194.6	2949	2341	2558	2483	700.6	9.5	787	11848	0.00	2.35	0.00	0.000	260	0.000	0.089	2949	3703	2520	2558	2483	0	0	0	0	0	0	15.15	14.90	15.17
11884	0.62	194.6	2949	3703	2558	2483	696.2	10.8	795	11888	0.00	2.22	0.00	0.000	1030	0.000	0.054	2949	2343	2520	2557	2483	0	0	0	0	0	0	15.01	14.94	15.03
12205	0.63	194.6	2949	2340	2558	2483	668.0	8.4	809	12209	0.00	2.30	0.00	0.000	324	0.000	0.088	2949	3695	2520	2558	2483	0	0	0	0	0	0	15.16	14.91	15.17
12250	0.63	194.6	2949	3695	2557	2482	663.7	9.6	818	12255	0.00	2.20	0.00	0.000	1030	0.000	0.051	2949	2339	2519	2557	2482	0	0	0	0	0	0	15.01	14.95	15.03
12568	0.64	194.6	2949	2336	2557	2482	636.8	8.6	831	12569	0.00	0.00	0.00	0.000	70	0.000	0.000	2949	2336	2519	2557	2482	0	0	0	0	0	0	15.16	15.18	15.18
12867	0.64	194.6	2949	2336	2557	2482	609.5	9.3	841	12871	0.00	2.30	0.00	0.000	260	0.000	0.087	2949	3696	2519	2557	2482	0	0	0	0	0	0	15.16	14.92	15.18
12937	0.64	194.6	2949	3696	2556	2482	601.8	10.9	855	12941	0.00	2.17	0.00	0.000	1030	0.000	0.050	2949	2349	2519	2556	2482	0	0	0	0	0	0	15.02	14.95	15.04
13258	0.64	194.6	2949	2347	2556	2482	570.9	9.3	869	13262	0.00	2.28	0.00	0.000	516	0.000	0.066	2949	944	2519	2556	2482	0	0	0	0	0	0	15.17	14.94	15.19
13289	0.64	194.6	2948	944	2556	2482	568.1	8.9	875	13294	0.00	2.30	0.00	0.000	1030	0.000	0.062	2949	2352	2519	2556	2482	0	0	0	0	0	0	15.02	14.93	15.04
13621	0.67	194.6	2949	2352	2556	2482	540.1	7.9	891	13625	0.00	2.25	0.00	0.000	324	0.000	0.090	2949	3699	2518	2556	2481	0	0	0	0	0	0	15.17	14.92	15.19
13744	0.69	194.6	2949	3699	2555	2481	529.7	8.2	915	13748	0.00	2.17	0.00	0.000	1094	0.000	0.050	2949	2346	2518	2556	2481	0	0	0	0	0	0	15.02	14.96	15.04
14076	0.82	300.9	2948	2343	2555	2481	509.2	5.8	931	14204	0.22	2.40	120.55	1.331	10532	0.122	0.086	3026	3692	2112	2156	2068	0	0	1	0	0	0	14.94	14.25	13.74
14226	0.82	300.9	3026	3692	2153	2068	492.6	13.6	951	14231	0.00	2.28	0.00	0.000	1030	0.000	0.054	3026	2347	2110	2152	2068	0	0	0	0	0	0	14.42	14.34	14.45
14558	0.82	300.9	3026	2347	2145	2062	447.3	14.1	967	14562	0.00	2.35	0.00	0.000	516	0.000	0.073	3026	946	2103	2145	2062	0	0	0	0	0	0	14.87	14.63	14.89
14642	0.82	300.9	3026	946	2143	2062	435.7	13.6	984	14649	0.00	2.35	0.00	0.000	1030	0.000	0.057	3026	2362	2102	2143	2062	0	0	0	0	0	0	14.76	14.67	14.78
14949	0.82	300.9	3026	2362	2142	2061	390.7	15.0	995	14951	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2362	2101	2142	2061	0	0	0	0	0	0	14.98	15.00	15.00
15249	0.82	300.9	3026	2362	2141	2061	347.3	13.9	1005	15253	0.00	2.22	0.00	0.000	260	0.000	0.083	3026	3690	2101	2141	2061	0	0	0	0	0	0	15.04	14.79	15.06
15303	0.82	300.9	3025	3690	2141	2061	339.1	15.1	1016	15310	0.00	2.20	0.00	0.000	1030	0.000	0.052	3026	2338	2100	2140	2061	0	0	0	0	0	0	14.89	14.81	14.91
15610	0.82	300.9	3026	2336	2140	2061	296.1	14.4	1027	15614	0.00	2.30	0.00	0.000	516	0.000	0.070	3026	946	2100	2140	2061	0	0	0	0	0	0	15.07	14.83	15.09
15742	0.82	300.9	3026	946	2138	2061	279.2	12.4	1053	15746	0.00	2.30	0.00	0.000	1030	0.000	0.057	3026	2353	2099	2138	2061	0	0	0	0	0	0	14.92	14.85	14.95
16053	0.82	300.9	3026	2352	2138	2060	238.0	13.6	1072	16054	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2352	2099	2138	2061	0	0	0	0	0	0	15.09	15.11	15.11
16353	0.82	300.9	3026	2352	2138	2062	194.3	16.3	1102	16358	0.00	2.22	0.00	0.000	260	0.000	0.083	3026	3692	2099	2138	2061	0	0	0	0	0	0	15.11	14.86	15.12
16404	0.82	300.9	3026	3692	2137	2061	185.1	17.5	1112	16409	0.00	2.17	0.00	0.000	1030	0.000	0.051	3027	2341	2099	2138	2060	0	0	0	0	0	0	14.96	14.89	14.98
16715	0.82	300.9	3026	2340	2138	2061	136.8	14.0	1144	16719	0.00	2.28	0.00	0.000	516	0.000	0.067	3026	944	2099	2138	2061	0	0	0	0	0	0	15.11	14.87	15.13
16766	0.82	300.9	3026	943	2137	2061	130.2	12.3	1154	16771	0.00	2.30	0.00	0.000	1030	0.000	0.057	3027	2349	2098	2136	2061	0	0	0	0	0	0	14.96	14.88	14.98
17078	0.82	300.9	3026	2349	2136	2061	94.9	10.5	1186	17079	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2349	2099	2137	2061	0	0	0	0	0	0	15.11	15.14	15.14
17379	0.83	300.9	3026	2349	2137	2061	67.2	8.3	1216	17383	0.00	2.30	0.00	0.000	580	0.000	0.061	3027	949	2098	2136	2061	0	0	0	0	0	0	15.12	14.89	15.14
17414	0.85	300.9	3026	948	2136	2061	64.2	8.2	1223	17421	0.00	2.28	0.00	0.000	1094	0.000	0.057	3026	2349	2098	2136	2060	0	0	0	0	0	0	14.97	14.90	14.99
17722	0.96	389.5	3026	2350	2136	2060	40.5	6.3	1270	17816	0.12	2.33	83.55	0.871	10532	0.160	0.083	3079	3683	1750	1796	1705	0	0	0	0	0	0	14.87	14.50	14.16
17929	0.96	389.5	3079	3683	1789	1705	21.1	11.5	1307	17936	0.00	2.17	0.00	0.000	1030	0.000	0.047	3080	2351	1746	1789	1704	0	0	0	0	0	0	14.71	14.64	14.72
18096	end climb: SURFACE_DEPTH_REACHED
state	18096	begin surface coast
18128	end surface coast: CONTROL_FINISHED_OK
state	18128	begin surface