Glider dive log

Cuddy Oct13 * SG194 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_C 9.9999997e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 37 ESCAPE_HEADING 0 C_ROLL_DIVE 2263 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2355 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 61 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 51 XPDR_VALID 3

D_BOOST 20 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.223

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 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2400 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4354.4795 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 100 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 199 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2785 FG_AHR_10V 0 SEABIRD_T_G 0.0044109076

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064730842

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.664891e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -53.385216 SEABIRD_T_J 3.309405e-06

MASS 58592 PITCH_GAIN 22.9 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_G -9.5383005

MASS_COMP 3867 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.0995622

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013844616

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017264462

KALMAN_USE 13 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 291 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0.5 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 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.9 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 199 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 50 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 0.003 PRESSURE_SLOPE 0.0001158091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -53.385216 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4354.4795

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 194 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 1.223 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2785 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2355 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2263 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2400 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 58592 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3867 ROLL_MIN 291 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 61 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 51 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.5383005 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0995622 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0013844616 VBD_TIMEOUT 720

DIVE 37 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017264462 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044109076 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.00064730842 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.664891e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.309405e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 011113,172058,4759.899,-12600.041,41,0.9,41,16.9 TGT_NAME SEARCH_B

_CALLS 3 TGT_LATLONG 4815.000,-12615.000

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.144,0.216

_SM_DEPTHo 1.91 KALMAN_X 2410.6,0.0,0.0,-57424.1,-1032.2

_SM_ANGLEo -69.1 KALMAN_Y 14846.1,0.0,0.0,71926.5,1482.3

GPS2 011113,173334,4759.935,-12600.049,5,0.9,5,16.9 MHEAD_RNG_PITCHd_Wd 309.4,33443,-17.5,-10.000,-21.03,2226

SPEED_LIMITS 0.084,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.023804 _10V_AH 10.3,5.273

SM_CCo 19264,0.00,0.000,0,0,1060,328.70 FG_AHR_24Vo 0.000

SM_GC 2.01,7.57,0.12,0.00,0.031,0.080,0.000,160,2262,1060,-8.04,1.55,328.70,0,0,0,0,0,0,26.24,26.24,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.30,-12600.70,011113,171735 MEM 311196

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 40255,539

HUMID 39.05 CAP_FILE_SIZE 150581,0

INTERNAL_PRESSURE 8.91861 CFSIZE 2097872896,2090762240

TCM_TEMP 14.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 INTR 0,13069.56,0x235a1e,1,24

_24V_AH 23.2,6.355 GPS 011113,225622,4802.818,-12602.603,44,0.8,44,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 199 95.54 SBE_CT 369 23 205.70

Roll_motor 118 83 229.82 AA4330 714 0 12.43

VBD_pump_during_apogee 376 1235 10796.64 WL_BB2FLVMT 347 105 846.99

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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 569 78 1040.57 nil 0 0 0.00

Transponder_ping 0 420 2.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.06

TT8 1635 14 252.04

LPSleep 15690 2 353.93

TT8_Active 453 14 69.85

TT8_Sampling 2164 43 967.93

TT8_CF8 81 53 44.47

TT8_Kalman 0 69 0.28

Analog_circuits 1903 15 294.11

GPS_charging 0 0 0.00

Compass 1578 8 146.15

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.6 126 2246 1392 1339 0.0 0.0 0 50 0.00 0.00 -33.45 0.000 16386 0.000 0.000 125 2247 2299 2299 2300 0 0 0 0 0 0 28.83 28.83 28.83

52 -0.76 -146.6 125 2247 2299 2300 3.0 -5.2 3 91 8.85 2.22 -19.10 0.000 18948 0.200 0.057 2527 881 2999 3059 2939 0 0 0 0 0 0 25.53 25.85 26.18

227 -0.60 -146.6 2527 881 3062 2939 30.8 -18.9 20 236 0.20 2.20 0.00 0.000 3078 0.124 0.039 2585 2248 3000 3062 2939 0 0 0 0 0 0 25.80 26.00 28.83

535 -0.56 -146.6 2584 2248 3065 2939 66.0 -11.6 51 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3002 3065 2939 0 0 0 0 0 0 28.83 28.83 28.83

834 -0.56 -146.6 2584 2248 3066 2939 99.6 -10.4 72 835 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2248 3002 3066 2939 0 0 0 0 0 0 28.83 28.83 28.83

1136 -0.59 -146.6 2584 2248 3066 2939 129.5 -9.9 87 1137 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3002 3065 2939 0 0 0 0 0 0 28.83 28.83 28.83

1435 -0.63 -146.6 2584 2248 3066 2939 155.6 -8.5 101 1437 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3002 3066 2939 0 0 0 0 0 0 28.83 28.83 28.83

1734 -0.68 -146.6 2584 2248 3066 2938 182.3 -9.0 111 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2248 3002 3066 2938 0 0 0 0 0 0 28.83 28.83 28.83

2035 -0.74 -146.6 2584 2248 3066 2938 208.0 -8.2 121 2037 0.12 0.00 0.00 0.000 4102 0.082 0.000 2501 2248 3001 3065 2938 0 0 0 0 0 0 26.58 28.83 28.83

2334 -0.70 -146.6 2502 2248 3066 2938 243.2 -12.0 131 2340 0.17 2.12 0.00 0.000 2564 0.132 0.042 2559 879 3001 3066 2937 0 0 0 0 0 0 26.37 26.49 28.83

2387 -0.66 -146.6 2559 879 3066 2937 246.5 -11.9 132 2395 0.00 2.17 0.00 0.000 1030 0.000 0.041 2556 2259 3001 3066 2937 0 0 0 0 0 0 28.83 26.51 28.83

2694 -0.70 -146.6 2556 2259 3065 2937 277.1 -9.1 143 2696 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2259 3001 3066 2936 0 0 0 0 0 0 28.83 28.83 28.83

3025 -0.74 -146.6 2555 2259 3066 2936 305.9 -8.4 153 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2259 3001 3066 2936 0 0 0 0 0 0 28.83 28.83 28.83

3324 -0.79 -146.6 2556 2259 3065 2935 331.5 -8.5 158 3326 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2259 3000 3065 2935 0 0 0 0 0 0 28.83 28.83 28.83

3624 -0.84 -146.6 2556 2259 3066 2934 358.0 -8.9 163 3631 0.12 2.17 0.00 0.000 4356 0.080 0.047 2457 3669 3000 3066 2934 0 0 0 0 0 0 26.70 26.55 28.83

3677 -0.89 -146.6 2456 3668 3065 2934 358.0 -8.9 163 3685 0.15 2.10 0.00 0.000 3078 0.141 0.031 2498 2257 2999 3065 2934 0 0 0 0 0 0 26.41 26.63 28.83

3985 -0.87 -146.6 2498 2256 3065 2933 398.2 -10.6 169 3986 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2256 2999 3065 2933 0 0 0 0 0 0 28.83 28.83 28.83

4284 -0.86 -146.6 2498 2256 3065 2932 429.7 -10.5 174 4288 0.00 2.22 0.00 0.000 260 0.000 0.050 2490 3677 2998 3065 2932 0 0 0 0 0 0 28.83 26.57 28.83

4333 -0.85 -146.6 2490 3677 3065 2932 429.7 -10.5 174 4340 0.00 2.10 0.00 0.000 1030 0.000 0.031 2490 2263 2999 3066 2932 0 0 0 0 0 0 28.83 26.65 28.83

4640 -0.83 -146.6 2490 2263 3065 2931 470.2 -11.4 180 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2263 2998 3065 2932 0 0 0 0 0 0 28.83 28.83 28.83

4940 -0.83 -146.6 2490 2263 3065 2930 503.6 -11.1 185 4946 0.00 2.15 0.00 0.000 516 0.000 0.045 2490 865 2997 3065 2930 0 0 0 0 0 0 28.83 26.60 28.83

5008 -0.83 -146.6 2490 865 3065 2930 510.7 -11.3 186 5013 0.10 2.20 0.00 0.000 3078 0.117 0.042 2517 2262 2997 3065 2930 0 0 0 0 0 0 26.46 26.63 28.83

5360 -0.87 -146.6 2517 2261 3065 2929 544.9 -9.3 192 5362 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2261 2997 3065 2929 0 0 0 0 0 0 28.83 28.83 28.83

5660 -0.91 -146.6 2517 2262 3065 2928 571.5 -8.9 197 5666 0.00 2.17 0.00 0.000 260 0.000 0.050 2509 3670 2996 3065 2927 0 0 0 0 0 0 28.83 26.60 28.83

5713 -0.95 -146.6 2509 3671 3065 2928 571.5 -8.9 197 5720 0.00 2.10 0.00 0.000 1030 0.000 0.032 2509 2260 2996 3065 2928 0 0 0 0 0 0 28.83 26.69 28.83

6020 -0.98 -146.6 2509 2260 3065 2927 605.4 -9.5 203 6022 0.12 0.00 0.00 0.000 4102 0.082 0.000 2425 2260 2995 3065 2926 0 0 0 0 0 0 26.77 28.83 28.83

6320 -0.90 -146.6 2425 2260 3065 2927 645.0 -13.4 208 6327 0.20 2.15 0.00 0.000 2564 0.132 0.044 2491 867 2995 3065 2926 0 0 0 0 0 0 26.48 26.62 28.83

6393 -0.84 -146.6 2491 868 3065 2926 651.6 -12.8 209 6397 0.00 2.15 0.00 0.000 1030 0.000 0.043 2484 2264 2995 3065 2926 0 0 0 0 0 0 28.83 26.65 28.83

6741 -0.86 -146.6 2484 2264 3065 2925 685.9 -9.4 215 6742 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2263 2995 3065 2926 0 0 0 0 0 0 28.83 28.83 28.83

7041 -0.87 -146.6 2484 2264 3065 2925 713.1 -9.0 220 7042 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2264 2995 3065 2925 0 0 0 0 0 0 28.83 28.83 28.83

7341 -0.89 -146.6 2484 2264 3065 2924 741.1 -9.3 225 7343 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2264 2994 3065 2924 0 0 0 0 0 0 28.83 28.83 28.83

7641 -0.92 -146.6 2484 2264 3065 2924 769.9 -9.6 230 7646 0.00 2.17 0.00 0.000 260 0.000 0.051 2475 3667 2994 3065 2923 0 0 0 0 0 0 28.83 26.61 28.83

7739 -0.94 -146.6 2474 3667 3065 2923 776.1 -9.8 231 7743 0.00 2.10 0.00 0.000 1030 0.000 0.033 2475 2257 2994 3065 2923 0 0 0 0 0 0 28.83 26.70 28.83

8055 -0.96 -146.6 2474 2256 3065 2923 812.1 -10.0 237 8056 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2256 2994 3065 2923 0 0 0 0 0 0 28.83 28.83 28.83

8355 -0.97 -146.6 2474 2256 3066 2922 843.9 -10.6 242 8359 0.00 2.15 0.00 0.000 516 0.000 0.047 2475 864 2993 3065 2922 0 0 0 0 0 0 28.83 26.63 28.83

8399 -0.99 -146.6 2474 864 3065 2922 843.9 -10.6 242 8403 0.00 2.17 0.00 0.000 1030 0.000 0.044 2466 2268 2993 3065 2922 0 0 0 0 0 0 28.83 26.65 28.83

8711 -1.00 -146.6 2465 2269 3065 2921 886.1 -11.9 248 8715 0.00 2.17 0.00 0.000 260 0.000 0.051 2455 3674 2993 3065 2922 0 0 0 0 0 0 28.83 26.61 28.83

8769 -1.00 -146.6 2455 3674 3065 2921 892.8 -11.8 249 8774 0.00 2.10 0.00 0.000 1030 0.000 0.034 2455 2263 2993 3065 2921 0 0 0 0 0 0 28.83 26.70 28.83

9127 -1.00 -146.6 2455 2262 3065 2921 931.6 -10.6 255 9131 0.00 2.15 0.00 0.000 516 0.000 0.047 2455 870 2992 3065 2920 0 0 0 0 0 0 28.83 26.62 28.83

9206 -1.00 -146.6 2455 871 3065 2921 937.5 -10.4 256 9210 0.00 2.20 0.00 0.000 1030 0.000 0.044 2447 2259 2993 3065 2921 0 0 0 0 0 0 28.83 26.65 28.83

9543 -1.00 -146.6 2447 2259 3065 2920 976.4 -10.7 262 9547 0.00 2.20 0.00 0.000 260 0.000 0.051 2436 3677 2992 3065 2920 0 0 0 0 0 0 28.83 26.60 28.83

9586 -1.00 -146.6 2436 3677 3065 2920 976.4 -10.7 262 9591 0.00 2.15 0.00 0.000 1030 0.000 0.034 2436 2267 2992 3065 2920 0 0 0 0 0 0 28.83 26.70 28.83

9718 end dive: TARGET_DEPTH_EXCEEDED

state 9718 begin apogee

9722 -0.22 0.0 2435 2374 3065 2920 996.6 -11.4 265 9843 0.80 0.00 115.93 1.235 10246 0.106 0.000 2709 2374 2400 2462 2338 0 0 0 0 0 0 26.43 28.83 23.71

9844 end apogee: CONTROL_FINISHED_OK

state 9844 begin climb

9845 0.76 146.6 2709 2374 2462 2338 999.5 0.0 267 9974 0.90 0.00 125.20 1.208 10246 0.044 0.000 3046 2374 1802 1860 1744 0 0 0 0 0 0 24.70 28.83 23.20

10254 0.61 146.6 3046 2374 1853 1737 951.8 15.0 274 10260 0.20 2.28 0.00 0.000 4356 0.145 0.050 2987 3762 1794 1852 1737 0 0 0 0 0 0 25.31 25.41 28.83

10307 0.46 146.6 2986 3762 1853 1737 951.8 15.0 274 10315 0.22 2.22 0.00 0.000 5126 0.137 0.034 2931 2349 1795 1853 1737 0 0 0 0 0 0 25.39 25.53 28.83

10614 0.46 155.1 2930 2349 1853 1735 913.8 9.6 280 10626 0.00 2.33 7.15 0.923 8708 0.000 0.048 2939 953 1767 1826 1708 0 0 0 0 0 0 28.83 25.68 24.79

10747 0.46 166.7 2939 953 1822 1708 902.5 9.5 282 10763 0.00 2.25 11.25 1.021 9222 0.000 0.043 2939 2361 1719 1778 1661 0 0 0 0 0 0 28.83 25.86 24.68

11090 0.46 166.7 2939 2361 1778 1658 866.2 10.4 288 11091 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2361 1718 1778 1658 0 0 0 0 0 0 28.83 28.83 28.83

11390 0.46 166.7 2939 2361 1778 1657 834.6 10.6 293 11391 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2361 1717 1778 1657 0 0 0 0 0 0 28.83 28.83 28.83

11690 0.46 178.0 2939 2361 1778 1657 805.8 9.5 298 11707 0.00 2.35 10.48 0.945 8708 0.000 0.048 2949 950 1674 1734 1614 0 0 0 0 0 0 28.83 25.98 25.02

11743 0.46 189.3 2949 950 1732 1613 805.8 9.5 298 11759 0.00 2.22 10.98 0.972 9222 0.000 0.043 2950 2354 1627 1688 1567 0 0 0 0 0 0 28.83 26.04 24.82

12108 0.46 200.7 2949 2354 1686 1563 766.5 9.5 305 12121 0.00 0.00 10.50 0.926 8198 0.000 0.000 2950 2354 1580 1641 1520 0 0 0 0 0 0 28.83 28.83 24.91

12406 0.47 207.2 2949 2354 1642 1517 737.5 9.7 310 12418 0.00 2.30 6.78 0.844 8708 0.000 0.048 2959 963 1555 1619 1492 0 0 0 0 0 0 28.83 25.93 24.98

12449 0.48 213.7 2959 962 1619 1491 737.5 9.7 310 12466 0.00 2.22 7.20 0.816 9222 0.000 0.043 2960 2358 1527 1590 1464 0 0 0 0 0 0 28.83 25.98 24.89

12766 0.49 213.7 2959 2358 1590 1463 700.6 10.5 316 12767 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2358 1526 1590 1462 0 0 0 0 0 0 28.83 28.83 28.83

13067 0.50 213.7 2959 2358 1590 1462 666.5 11.4 321 13074 0.00 2.22 0.00 0.000 516 0.000 0.048 2970 958 1525 1589 1462 0 0 0 0 0 0 28.83 26.20 28.83

13171 0.52 213.7 2969 958 1589 1461 659.2 11.6 322 13175 0.00 2.20 0.00 0.000 1030 0.000 0.043 2970 2361 1524 1588 1461 0 0 0 0 0 0 28.83 26.26 28.83

13481 0.52 213.7 2970 2361 1589 1461 617.4 11.7 328 13483 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2361 1525 1589 1461 0 0 0 0 0 0 28.83 28.83 28.83

13782 0.53 213.7 2969 2361 1589 1461 582.6 11.6 333 13786 0.00 2.22 0.00 0.000 516 0.000 0.048 2978 958 1525 1589 1461 0 0 0 0 0 0 28.83 26.36 28.83

13851 0.54 213.7 2978 958 1588 1461 576.1 11.6 334 13855 0.00 2.20 0.00 0.000 1030 0.000 0.043 2978 2364 1524 1588 1461 0 0 0 0 0 0 28.83 26.39 28.83

14198 0.54 213.7 2978 2364 1588 1461 533.5 11.7 340 14199 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2364 1524 1588 1461 0 0 0 0 0 0 28.83 28.83 28.83

14499 0.56 213.7 2978 2364 1588 1461 500.5 10.9 345 14505 0.00 2.22 0.00 0.000 516 0.000 0.048 2987 953 1524 1588 1461 0 0 0 0 0 0 28.83 26.44 28.83

14531 0.57 213.7 2987 953 1588 1462 500.5 10.9 345 14535 0.00 2.20 0.00 0.000 1030 0.000 0.043 2987 2364 1524 1588 1461 0 0 0 0 0 0 28.83 26.47 28.83

14858 0.57 213.7 2986 2364 1588 1461 462.5 10.6 351 14862 0.00 2.22 0.00 0.000 516 0.000 0.047 2997 952 1524 1588 1461 0 0 0 0 0 0 28.83 26.47 28.83

14921 0.57 213.7 2997 951 1588 1461 456.3 10.8 352 14926 0.00 2.22 0.00 0.000 1030 0.000 0.042 2997 2360 1524 1588 1461 0 0 0 0 0 0 28.83 26.51 28.83

15273 0.57 213.7 2997 2359 1588 1461 413.5 11.9 358 15277 0.00 2.20 0.00 0.000 516 0.000 0.047 3008 957 1524 1588 1461 0 0 0 0 0 0 28.83 26.50 28.83

15322 0.57 213.7 3008 957 1588 1461 413.5 11.9 358 15330 0.10 2.20 0.00 0.000 5126 0.115 0.042 2972 2345 1524 1588 1461 0 0 0 0 0 0 26.39 26.53 28.83

15629 0.61 213.7 2972 2346 1588 1461 375.3 10.4 364 15631 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2346 1524 1588 1461 0 0 0 0 0 0 28.83 28.83 28.83

15930 0.66 213.7 2972 2345 1588 1461 343.8 10.5 369 15936 0.00 2.17 0.00 0.000 516 0.000 0.048 2978 958 1524 1588 1461 0 0 0 0 0 0 28.83 26.53 28.83

16007 0.71 213.7 2978 958 1588 1461 337.4 10.5 370 16012 0.10 2.17 0.00 0.000 3078 0.095 0.042 3038 2365 1524 1588 1461 0 0 0 0 0 0 26.55 26.57 28.83

16314 0.67 213.7 3038 2365 1588 1461 295.3 13.2 376 16321 0.12 2.22 0.00 0.000 4612 0.146 0.046 3005 948 1524 1588 1461 0 0 0 0 0 0 26.48 26.55 28.83

16378 0.65 213.7 2056 948 1557 1459 288.5 12.4 378 16382 0.00 2.17 0.00 0.000 1030 0.000 0.042 3005 2356 1524 1588 1461 0 0 0 0 0 0 28.83 26.58 28.83

16700 0.67 213.7 3004 2356 1588 1461 253.6 10.7 389 16702 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2356 1524 1588 1461 0 0 0 0 0 0 28.83 28.83 28.83

17000 0.69 213.7 3004 2355 1588 1461 221.9 10.3 399 17005 0.00 2.20 0.00 0.000 516 0.000 0.047 3015 957 1524 1588 1461 0 0 0 0 0 0 28.83 26.58 28.83

17052 0.71 213.7 3015 957 1588 1461 218.7 10.4 400 17060 0.00 2.20 0.00 0.000 1030 0.000 0.042 3016 2353 1524 1588 1461 0 0 0 0 0 0 28.83 26.60 28.83

17360 0.73 213.7 3015 2353 1588 1461 182.0 11.6 411 17361 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2353 1524 1588 1461 0 0 0 0 0 0 28.83 28.83 28.83

17660 0.75 213.7 3015 2353 1588 1461 150.2 10.2 421 17662 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2353 1524 1588 1461 0 0 0 0 0 0 28.83 28.83 28.83

17970 0.79 213.7 3015 2353 1588 1461 116.7 10.5 436 17974 0.00 2.17 0.00 0.000 516 0.000 0.047 3026 957 1524 1588 1461 0 0 0 0 0 0 28.83 26.60 28.83

18006 0.82 213.7 3026 957 1588 1461 112.7 10.4 438 18010 0.00 2.17 0.00 0.000 1030 0.000 0.041 3026 2366 1524 1588 1461 0 0 0 0 0 0 28.83 26.63 28.83

18322 0.86 222.5 3026 2366 1588 1461 78.9 9.6 454 18337 0.10 2.28 8.25 0.529 10756 0.096 0.046 3103 954 1491 1556 1427 0 0 0 0 0 0 26.74 26.51 25.75

18437 0.82 222.5 3102 953 1555 1426 64.8 12.7 465 18446 0.15 2.20 0.00 0.000 5126 0.113 0.041 3050 2351 1490 1555 1426 0 0 0 0 0 0 26.39 26.55 28.83

18745 0.86 274.3 3049 2351 1555 1427 37.7 7.6 496 18788 0.00 0.00 40.17 0.611 8454 0.000 0.000 3050 2351 1281 1353 1209 0 0 0 0 0 0 28.83 28.83 25.32

19090 0.94 327.0 3049 2351 1351 1203 11.0 7.6 530 19122 0.12 2.25 22.80 0.082 10756 0.080 0.044 3139 962 1066 1145 987 0 0 0 0 0 0 26.27 26.13 26.05

19134 0.94 327.0 3139 962 1143 986 6.1 11.0 534 19139 0.17 2.17 0.00 0.000 5126 0.130 0.039 3090 2361 1064 1143 986 0 0 0 0 0 0 26.01 26.17 28.83

19169 end climb: SURFACE_DEPTH_REACHED

state 19169 begin surface coast

19190 end surface coast: CONTROL_FINISHED_OK

state 19190 begin surface

ID	194	HD_C	9.9999997e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	37	ESCAPE_HEADING	0	C_ROLL_DIVE	2263	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2355	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	61	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	51	XPDR_VALID	3
D_BOOST	20	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.223
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	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2400	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4354.4795	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	100	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	199	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2785	FG_AHR_10V	0	SEABIRD_T_G	0.0044109076
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064730842
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.664891e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-53.385216	SEABIRD_T_J	3.309405e-06
MASS	58592	PITCH_GAIN	22.9	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_G	-9.5383005
MASS_COMP	3867	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.0995622
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013844616
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017264462
KALMAN_USE	13	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	291	ALTIM_TOP_PING_RANGE	0

GPS1	011113,172058,4759.899,-12600.041,41,0.9,41,16.9	TGT_NAME	SEARCH_B
_CALLS	3	TGT_LATLONG	4815.000,-12615.000
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.144,0.216
_SM_DEPTHo	1.91	KALMAN_X	2410.6,0.0,0.0,-57424.1,-1032.2
_SM_ANGLEo	-69.1	KALMAN_Y	14846.1,0.0,0.0,71926.5,1482.3
GPS2	011113,173334,4759.935,-12600.049,5,0.9,5,16.9	MHEAD_RNG_PITCHd_Wd	309.4,33443,-17.5,-10.000,-21.03,2226
SPEED_LIMITS	0.084,0.260	D_GRID	990

FINISH	0.8,1.023804	_10V_AH	10.3,5.273
SM_CCo	19264,0.00,0.000,0,0,1060,328.70	FG_AHR_24Vo	0.000
SM_GC	2.01,7.57,0.12,0.00,0.031,0.080,0.000,160,2262,1060,-8.04,1.55,328.70,0,0,0,0,0,0,26.24,26.24,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.30,-12600.70,011113,171735	MEM	311196
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	40255,539
HUMID	39.05	CAP_FILE_SIZE	150581,0
INTERNAL_PRESSURE	8.91861	CFSIZE	2097872896,2090762240
TCM_TEMP	14.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	INTR	0,13069.56,0x235a1e,1,24
_24V_AH	23.2,6.355	GPS	011113,225622,4802.818,-12602.603,44,0.8,44,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	199	95.54	SBE_CT	369	23	205.70
Roll_motor	118	83	229.82	AA4330	714	0	12.43
VBD_pump_during_apogee	376	1235	10796.64	WL_BB2FLVMT	347	105	846.99
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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	569	78	1040.57	nil	0	0	0.00
Transponder_ping	0	420	2.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.06
TT8	1635	14	252.04
LPSleep	15690	2	353.93
TT8_Active	453	14	69.85
TT8_Sampling	2164	43	967.93
TT8_CF8	81	53	44.47
TT8_Kalman	0	69	0.28
Analog_circuits	1903	15	294.11
GPS_charging	0	0	0.00
Compass	1578	8	146.15
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.6	126	2246	1392	1339	0.0	0.0	0	50	0.00	0.00	-33.45	0.000	16386	0.000	0.000	125	2247	2299	2299	2300	0	0	0	0	0	0	28.83	28.83	28.83
52	-0.76	-146.6	125	2247	2299	2300	3.0	-5.2	3	91	8.85	2.22	-19.10	0.000	18948	0.200	0.057	2527	881	2999	3059	2939	0	0	0	0	0	0	25.53	25.85	26.18
227	-0.60	-146.6	2527	881	3062	2939	30.8	-18.9	20	236	0.20	2.20	0.00	0.000	3078	0.124	0.039	2585	2248	3000	3062	2939	0	0	0	0	0	0	25.80	26.00	28.83
535	-0.56	-146.6	2584	2248	3065	2939	66.0	-11.6	51	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3002	3065	2939	0	0	0	0	0	0	28.83	28.83	28.83
834	-0.56	-146.6	2584	2248	3066	2939	99.6	-10.4	72	835	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2248	3002	3066	2939	0	0	0	0	0	0	28.83	28.83	28.83
1136	-0.59	-146.6	2584	2248	3066	2939	129.5	-9.9	87	1137	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3002	3065	2939	0	0	0	0	0	0	28.83	28.83	28.83
1435	-0.63	-146.6	2584	2248	3066	2939	155.6	-8.5	101	1437	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3002	3066	2939	0	0	0	0	0	0	28.83	28.83	28.83
1734	-0.68	-146.6	2584	2248	3066	2938	182.3	-9.0	111	1736	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2248	3002	3066	2938	0	0	0	0	0	0	28.83	28.83	28.83
2035	-0.74	-146.6	2584	2248	3066	2938	208.0	-8.2	121	2037	0.12	0.00	0.00	0.000	4102	0.082	0.000	2501	2248	3001	3065	2938	0	0	0	0	0	0	26.58	28.83	28.83
2334	-0.70	-146.6	2502	2248	3066	2938	243.2	-12.0	131	2340	0.17	2.12	0.00	0.000	2564	0.132	0.042	2559	879	3001	3066	2937	0	0	0	0	0	0	26.37	26.49	28.83
2387	-0.66	-146.6	2559	879	3066	2937	246.5	-11.9	132	2395	0.00	2.17	0.00	0.000	1030	0.000	0.041	2556	2259	3001	3066	2937	0	0	0	0	0	0	28.83	26.51	28.83
2694	-0.70	-146.6	2556	2259	3065	2937	277.1	-9.1	143	2696	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2259	3001	3066	2936	0	0	0	0	0	0	28.83	28.83	28.83
3025	-0.74	-146.6	2555	2259	3066	2936	305.9	-8.4	153	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2259	3001	3066	2936	0	0	0	0	0	0	28.83	28.83	28.83
3324	-0.79	-146.6	2556	2259	3065	2935	331.5	-8.5	158	3326	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2259	3000	3065	2935	0	0	0	0	0	0	28.83	28.83	28.83
3624	-0.84	-146.6	2556	2259	3066	2934	358.0	-8.9	163	3631	0.12	2.17	0.00	0.000	4356	0.080	0.047	2457	3669	3000	3066	2934	0	0	0	0	0	0	26.70	26.55	28.83
3677	-0.89	-146.6	2456	3668	3065	2934	358.0	-8.9	163	3685	0.15	2.10	0.00	0.000	3078	0.141	0.031	2498	2257	2999	3065	2934	0	0	0	0	0	0	26.41	26.63	28.83
3985	-0.87	-146.6	2498	2256	3065	2933	398.2	-10.6	169	3986	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2256	2999	3065	2933	0	0	0	0	0	0	28.83	28.83	28.83
4284	-0.86	-146.6	2498	2256	3065	2932	429.7	-10.5	174	4288	0.00	2.22	0.00	0.000	260	0.000	0.050	2490	3677	2998	3065	2932	0	0	0	0	0	0	28.83	26.57	28.83
4333	-0.85	-146.6	2490	3677	3065	2932	429.7	-10.5	174	4340	0.00	2.10	0.00	0.000	1030	0.000	0.031	2490	2263	2999	3066	2932	0	0	0	0	0	0	28.83	26.65	28.83
4640	-0.83	-146.6	2490	2263	3065	2931	470.2	-11.4	180	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2263	2998	3065	2932	0	0	0	0	0	0	28.83	28.83	28.83
4940	-0.83	-146.6	2490	2263	3065	2930	503.6	-11.1	185	4946	0.00	2.15	0.00	0.000	516	0.000	0.045	2490	865	2997	3065	2930	0	0	0	0	0	0	28.83	26.60	28.83
5008	-0.83	-146.6	2490	865	3065	2930	510.7	-11.3	186	5013	0.10	2.20	0.00	0.000	3078	0.117	0.042	2517	2262	2997	3065	2930	0	0	0	0	0	0	26.46	26.63	28.83
5360	-0.87	-146.6	2517	2261	3065	2929	544.9	-9.3	192	5362	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2261	2997	3065	2929	0	0	0	0	0	0	28.83	28.83	28.83
5660	-0.91	-146.6	2517	2262	3065	2928	571.5	-8.9	197	5666	0.00	2.17	0.00	0.000	260	0.000	0.050	2509	3670	2996	3065	2927	0	0	0	0	0	0	28.83	26.60	28.83
5713	-0.95	-146.6	2509	3671	3065	2928	571.5	-8.9	197	5720	0.00	2.10	0.00	0.000	1030	0.000	0.032	2509	2260	2996	3065	2928	0	0	0	0	0	0	28.83	26.69	28.83
6020	-0.98	-146.6	2509	2260	3065	2927	605.4	-9.5	203	6022	0.12	0.00	0.00	0.000	4102	0.082	0.000	2425	2260	2995	3065	2926	0	0	0	0	0	0	26.77	28.83	28.83
6320	-0.90	-146.6	2425	2260	3065	2927	645.0	-13.4	208	6327	0.20	2.15	0.00	0.000	2564	0.132	0.044	2491	867	2995	3065	2926	0	0	0	0	0	0	26.48	26.62	28.83
6393	-0.84	-146.6	2491	868	3065	2926	651.6	-12.8	209	6397	0.00	2.15	0.00	0.000	1030	0.000	0.043	2484	2264	2995	3065	2926	0	0	0	0	0	0	28.83	26.65	28.83
6741	-0.86	-146.6	2484	2264	3065	2925	685.9	-9.4	215	6742	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2263	2995	3065	2926	0	0	0	0	0	0	28.83	28.83	28.83
7041	-0.87	-146.6	2484	2264	3065	2925	713.1	-9.0	220	7042	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2264	2995	3065	2925	0	0	0	0	0	0	28.83	28.83	28.83
7341	-0.89	-146.6	2484	2264	3065	2924	741.1	-9.3	225	7343	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2264	2994	3065	2924	0	0	0	0	0	0	28.83	28.83	28.83
7641	-0.92	-146.6	2484	2264	3065	2924	769.9	-9.6	230	7646	0.00	2.17	0.00	0.000	260	0.000	0.051	2475	3667	2994	3065	2923	0	0	0	0	0	0	28.83	26.61	28.83
7739	-0.94	-146.6	2474	3667	3065	2923	776.1	-9.8	231	7743	0.00	2.10	0.00	0.000	1030	0.000	0.033	2475	2257	2994	3065	2923	0	0	0	0	0	0	28.83	26.70	28.83
8055	-0.96	-146.6	2474	2256	3065	2923	812.1	-10.0	237	8056	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2256	2994	3065	2923	0	0	0	0	0	0	28.83	28.83	28.83
8355	-0.97	-146.6	2474	2256	3066	2922	843.9	-10.6	242	8359	0.00	2.15	0.00	0.000	516	0.000	0.047	2475	864	2993	3065	2922	0	0	0	0	0	0	28.83	26.63	28.83
8399	-0.99	-146.6	2474	864	3065	2922	843.9	-10.6	242	8403	0.00	2.17	0.00	0.000	1030	0.000	0.044	2466	2268	2993	3065	2922	0	0	0	0	0	0	28.83	26.65	28.83
8711	-1.00	-146.6	2465	2269	3065	2921	886.1	-11.9	248	8715	0.00	2.17	0.00	0.000	260	0.000	0.051	2455	3674	2993	3065	2922	0	0	0	0	0	0	28.83	26.61	28.83
8769	-1.00	-146.6	2455	3674	3065	2921	892.8	-11.8	249	8774	0.00	2.10	0.00	0.000	1030	0.000	0.034	2455	2263	2993	3065	2921	0	0	0	0	0	0	28.83	26.70	28.83
9127	-1.00	-146.6	2455	2262	3065	2921	931.6	-10.6	255	9131	0.00	2.15	0.00	0.000	516	0.000	0.047	2455	870	2992	3065	2920	0	0	0	0	0	0	28.83	26.62	28.83
9206	-1.00	-146.6	2455	871	3065	2921	937.5	-10.4	256	9210	0.00	2.20	0.00	0.000	1030	0.000	0.044	2447	2259	2993	3065	2921	0	0	0	0	0	0	28.83	26.65	28.83
9543	-1.00	-146.6	2447	2259	3065	2920	976.4	-10.7	262	9547	0.00	2.20	0.00	0.000	260	0.000	0.051	2436	3677	2992	3065	2920	0	0	0	0	0	0	28.83	26.60	28.83
9586	-1.00	-146.6	2436	3677	3065	2920	976.4	-10.7	262	9591	0.00	2.15	0.00	0.000	1030	0.000	0.034	2436	2267	2992	3065	2920	0	0	0	0	0	0	28.83	26.70	28.83
9718	end dive: TARGET_DEPTH_EXCEEDED
state	9718	begin apogee
9722	-0.22	0.0	2435	2374	3065	2920	996.6	-11.4	265	9843	0.80	0.00	115.93	1.235	10246	0.106	0.000	2709	2374	2400	2462	2338	0	0	0	0	0	0	26.43	28.83	23.71
9844	end apogee: CONTROL_FINISHED_OK
state	9844	begin climb
9845	0.76	146.6	2709	2374	2462	2338	999.5	0.0	267	9974	0.90	0.00	125.20	1.208	10246	0.044	0.000	3046	2374	1802	1860	1744	0	0	0	0	0	0	24.70	28.83	23.20
10254	0.61	146.6	3046	2374	1853	1737	951.8	15.0	274	10260	0.20	2.28	0.00	0.000	4356	0.145	0.050	2987	3762	1794	1852	1737	0	0	0	0	0	0	25.31	25.41	28.83
10307	0.46	146.6	2986	3762	1853	1737	951.8	15.0	274	10315	0.22	2.22	0.00	0.000	5126	0.137	0.034	2931	2349	1795	1853	1737	0	0	0	0	0	0	25.39	25.53	28.83
10614	0.46	155.1	2930	2349	1853	1735	913.8	9.6	280	10626	0.00	2.33	7.15	0.923	8708	0.000	0.048	2939	953	1767	1826	1708	0	0	0	0	0	0	28.83	25.68	24.79
10747	0.46	166.7	2939	953	1822	1708	902.5	9.5	282	10763	0.00	2.25	11.25	1.021	9222	0.000	0.043	2939	2361	1719	1778	1661	0	0	0	0	0	0	28.83	25.86	24.68
11090	0.46	166.7	2939	2361	1778	1658	866.2	10.4	288	11091	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2361	1718	1778	1658	0	0	0	0	0	0	28.83	28.83	28.83
11390	0.46	166.7	2939	2361	1778	1657	834.6	10.6	293	11391	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2361	1717	1778	1657	0	0	0	0	0	0	28.83	28.83	28.83
11690	0.46	178.0	2939	2361	1778	1657	805.8	9.5	298	11707	0.00	2.35	10.48	0.945	8708	0.000	0.048	2949	950	1674	1734	1614	0	0	0	0	0	0	28.83	25.98	25.02
11743	0.46	189.3	2949	950	1732	1613	805.8	9.5	298	11759	0.00	2.22	10.98	0.972	9222	0.000	0.043	2950	2354	1627	1688	1567	0	0	0	0	0	0	28.83	26.04	24.82
12108	0.46	200.7	2949	2354	1686	1563	766.5	9.5	305	12121	0.00	0.00	10.50	0.926	8198	0.000	0.000	2950	2354	1580	1641	1520	0	0	0	0	0	0	28.83	28.83	24.91
12406	0.47	207.2	2949	2354	1642	1517	737.5	9.7	310	12418	0.00	2.30	6.78	0.844	8708	0.000	0.048	2959	963	1555	1619	1492	0	0	0	0	0	0	28.83	25.93	24.98
12449	0.48	213.7	2959	962	1619	1491	737.5	9.7	310	12466	0.00	2.22	7.20	0.816	9222	0.000	0.043	2960	2358	1527	1590	1464	0	0	0	0	0	0	28.83	25.98	24.89
12766	0.49	213.7	2959	2358	1590	1463	700.6	10.5	316	12767	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2358	1526	1590	1462	0	0	0	0	0	0	28.83	28.83	28.83
13067	0.50	213.7	2959	2358	1590	1462	666.5	11.4	321	13074	0.00	2.22	0.00	0.000	516	0.000	0.048	2970	958	1525	1589	1462	0	0	0	0	0	0	28.83	26.20	28.83
13171	0.52	213.7	2969	958	1589	1461	659.2	11.6	322	13175	0.00	2.20	0.00	0.000	1030	0.000	0.043	2970	2361	1524	1588	1461	0	0	0	0	0	0	28.83	26.26	28.83
13481	0.52	213.7	2970	2361	1589	1461	617.4	11.7	328	13483	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2361	1525	1589	1461	0	0	0	0	0	0	28.83	28.83	28.83
13782	0.53	213.7	2969	2361	1589	1461	582.6	11.6	333	13786	0.00	2.22	0.00	0.000	516	0.000	0.048	2978	958	1525	1589	1461	0	0	0	0	0	0	28.83	26.36	28.83
13851	0.54	213.7	2978	958	1588	1461	576.1	11.6	334	13855	0.00	2.20	0.00	0.000	1030	0.000	0.043	2978	2364	1524	1588	1461	0	0	0	0	0	0	28.83	26.39	28.83
14198	0.54	213.7	2978	2364	1588	1461	533.5	11.7	340	14199	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2364	1524	1588	1461	0	0	0	0	0	0	28.83	28.83	28.83
14499	0.56	213.7	2978	2364	1588	1461	500.5	10.9	345	14505	0.00	2.22	0.00	0.000	516	0.000	0.048	2987	953	1524	1588	1461	0	0	0	0	0	0	28.83	26.44	28.83
14531	0.57	213.7	2987	953	1588	1462	500.5	10.9	345	14535	0.00	2.20	0.00	0.000	1030	0.000	0.043	2987	2364	1524	1588	1461	0	0	0	0	0	0	28.83	26.47	28.83
14858	0.57	213.7	2986	2364	1588	1461	462.5	10.6	351	14862	0.00	2.22	0.00	0.000	516	0.000	0.047	2997	952	1524	1588	1461	0	0	0	0	0	0	28.83	26.47	28.83
14921	0.57	213.7	2997	951	1588	1461	456.3	10.8	352	14926	0.00	2.22	0.00	0.000	1030	0.000	0.042	2997	2360	1524	1588	1461	0	0	0	0	0	0	28.83	26.51	28.83
15273	0.57	213.7	2997	2359	1588	1461	413.5	11.9	358	15277	0.00	2.20	0.00	0.000	516	0.000	0.047	3008	957	1524	1588	1461	0	0	0	0	0	0	28.83	26.50	28.83
15322	0.57	213.7	3008	957	1588	1461	413.5	11.9	358	15330	0.10	2.20	0.00	0.000	5126	0.115	0.042	2972	2345	1524	1588	1461	0	0	0	0	0	0	26.39	26.53	28.83
15629	0.61	213.7	2972	2346	1588	1461	375.3	10.4	364	15631	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2346	1524	1588	1461	0	0	0	0	0	0	28.83	28.83	28.83
15930	0.66	213.7	2972	2345	1588	1461	343.8	10.5	369	15936	0.00	2.17	0.00	0.000	516	0.000	0.048	2978	958	1524	1588	1461	0	0	0	0	0	0	28.83	26.53	28.83
16007	0.71	213.7	2978	958	1588	1461	337.4	10.5	370	16012	0.10	2.17	0.00	0.000	3078	0.095	0.042	3038	2365	1524	1588	1461	0	0	0	0	0	0	26.55	26.57	28.83
16314	0.67	213.7	3038	2365	1588	1461	295.3	13.2	376	16321	0.12	2.22	0.00	0.000	4612	0.146	0.046	3005	948	1524	1588	1461	0	0	0	0	0	0	26.48	26.55	28.83
16378	0.65	213.7	2056	948	1557	1459	288.5	12.4	378	16382	0.00	2.17	0.00	0.000	1030	0.000	0.042	3005	2356	1524	1588	1461	0	0	0	0	0	0	28.83	26.58	28.83
16700	0.67	213.7	3004	2356	1588	1461	253.6	10.7	389	16702	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2356	1524	1588	1461	0	0	0	0	0	0	28.83	28.83	28.83
17000	0.69	213.7	3004	2355	1588	1461	221.9	10.3	399	17005	0.00	2.20	0.00	0.000	516	0.000	0.047	3015	957	1524	1588	1461	0	0	0	0	0	0	28.83	26.58	28.83
17052	0.71	213.7	3015	957	1588	1461	218.7	10.4	400	17060	0.00	2.20	0.00	0.000	1030	0.000	0.042	3016	2353	1524	1588	1461	0	0	0	0	0	0	28.83	26.60	28.83
17360	0.73	213.7	3015	2353	1588	1461	182.0	11.6	411	17361	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2353	1524	1588	1461	0	0	0	0	0	0	28.83	28.83	28.83
17660	0.75	213.7	3015	2353	1588	1461	150.2	10.2	421	17662	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2353	1524	1588	1461	0	0	0	0	0	0	28.83	28.83	28.83
17970	0.79	213.7	3015	2353	1588	1461	116.7	10.5	436	17974	0.00	2.17	0.00	0.000	516	0.000	0.047	3026	957	1524	1588	1461	0	0	0	0	0	0	28.83	26.60	28.83
18006	0.82	213.7	3026	957	1588	1461	112.7	10.4	438	18010	0.00	2.17	0.00	0.000	1030	0.000	0.041	3026	2366	1524	1588	1461	0	0	0	0	0	0	28.83	26.63	28.83
18322	0.86	222.5	3026	2366	1588	1461	78.9	9.6	454	18337	0.10	2.28	8.25	0.529	10756	0.096	0.046	3103	954	1491	1556	1427	0	0	0	0	0	0	26.74	26.51	25.75
18437	0.82	222.5	3102	953	1555	1426	64.8	12.7	465	18446	0.15	2.20	0.00	0.000	5126	0.113	0.041	3050	2351	1490	1555	1426	0	0	0	0	0	0	26.39	26.55	28.83
18745	0.86	274.3	3049	2351	1555	1427	37.7	7.6	496	18788	0.00	0.00	40.17	0.611	8454	0.000	0.000	3050	2351	1281	1353	1209	0	0	0	0	0	0	28.83	28.83	25.32
19090	0.94	327.0	3049	2351	1351	1203	11.0	7.6	530	19122	0.12	2.25	22.80	0.082	10756	0.080	0.044	3139	962	1066	1145	987	0	0	0	0	0	0	26.27	26.13	26.05
19134	0.94	327.0	3139	962	1143	986	6.1	11.0	534	19139	0.17	2.17	0.00	0.000	5126	0.130	0.039	3090	2361	1064	1143	986	0	0	0	0	0	0	26.01	26.17	28.83
19169	end climb: SURFACE_DEPTH_REACHED
state	19169	begin surface coast
19190	end surface coast: CONTROL_FINISHED_OK
state	19190	begin surface