Glider dive log

SPURS Mar13 * SG120 * Dive index * Mission links * Dive 43 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 120 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_PULSE 5

MISSION 16 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

DIVE 43 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 16 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 4739.3799 R_PORT_OVSHOOT 26 XPDR_INHIBIT 99

D_SURF 1 TGT_DEFAULT_LON -12219.1 R_STBD_OVSHOOT 37 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 2 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -2.4000001

D_TGT 990 SM_CC 200 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_ABORT 1090 N_FILEKB 4 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_BOOST 0 CALL_NDIVES 1 VBD_MIN 395 DEVICE1 -1

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3895 DEVICE2 -1

D_FINISH 0 PROTOCOL 0 C_VBD 2468 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 0 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 67

T_DIVE 440 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 480 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_TURN 225 T_GPS 15 W_ADJ_DBAND 3 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 20 DBDW 0 PHONE_DEVICE 48

T_NO_W 300 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -40332.418 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 CF8_MAXERRORS 2 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 AH0_24V 350 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MINV_24V 12 SEABIRD_T_G 0.00438176

D_OFFGRID 1001 RAFOS_HIT_WINDOW 3600 MINV_10V 12 SEABIRD_T_H 0.00064101926

T_WATCHDOG 10 PITCH_MIN 115 FG_AHR_10V 0 SEABIRD_T_I 2.5489926e-05

RELAUNCH 1 PITCH_MAX 4069 FG_AHR_24V 0 SEABIRD_T_J 2.6782905e-06

APOGEE_PITCH -5 C_PITCH 2540 PHONE_SUPPLY 2 SEABIRD_C_G -10.157237

MAX_BUOY 150 PITCH_DBAND 0.1 PRESSURE_YINT -5.6651554 SEABIRD_C_H 1.1376933

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001164831 SEABIRD_C_I -0.0013911312

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.00019179068

SPEED_FACTOR 1 PITCH_GAIN 23 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 56148 PITCH_AD_RATE 156 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 1128.8 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_RECORDABOVE 250.0

NAV_MODE 0 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 22 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_XMITPROFILE 3.0

KALMAN_USE 1 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.003 ROLL_MAX 3894 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITRAW 0.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HD_C 1.6100001e-05 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 0

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

AH0_10V 0 D_SURF 1 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

AH0_24V 350 D_TGT 990 PITCH_GAIN 23 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 4069 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FERRY_MAX 22 PITCH_MIN 115 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 4739.3799

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12219.1

ALTIM_PULSE 5 FILEMGR 0 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001164831 TM_RECORDABOVE 250.0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PRESSURE_YINT -5.6651554 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PROTOCOL 0 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_NDIVES 1 HD_C 1.6100001e-05 RAFOS_CORR_THRESH 60 T_BOOST 0

CALL_TRIES 5 HEADING -1 RAFOS_DEVICE -1 T_DIVE 440

CALL_WAIT 60 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 2 ID 120 RHO 1.023 T_GPS_CHARGE -40332.418

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -2.4000001 ROLL_ADJ_GAIN 0 T_MISSION 480

COMPASS_DEVICE 33 KALMAN_USE 1 ROLL_AD_RATE 350 T_NO_W 300

COMPASS_USE 4 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE2 67 ROLL_DEG 40 T_TURN 225

C_PITCH 2540 LOGGERDEVICE3 -1 ROLL_MAX 3894 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2100 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 1900 LOGGERS 3 ROLL_MIN 294 UNCOM_BLEED 20

C_VBD 2468 MASS 56148 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 1128.8 R_PORT_OVSHOOT 26 USE_BATHY -6

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 12 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 12 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 16 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 SEABIRD_C_G -10.157237 VBD_MAX 3895

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_H 1.1376933 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 0 SEABIRD_C_I -0.0013911312 VBD_MIN 395

DEVICE6 -1 N_DIVES 0 SEABIRD_C_J 0.00019179068 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 43 N_FILEKB 4 SEABIRD_T_G 0.00438176 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 N_GPS 20 SEABIRD_T_H 0.00064101926 VBD_TIMEOUT 720

D_BOOST 0 N_NOCOMM 1 SEABIRD_T_I 2.5489926e-05 W_ADJ_DBAND 3

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_J 2.6782905e-06 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 48 SIM_PITCH 0 XPDR_INHIBIT 99

D_FLARE 2 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 5

D_NO_BLEED 200 PITCH_ADJ_DBAND 2 SM_CC 200

D_OFFGRID 1001 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

D_PITCH 0 PITCH_AD_RATE 156 STROBE 0

Pre-dive calculations and measurements:

GPS1 080413,223259,2422.305,-3816.731,40,1.9,46,-15.2 TGT_NAME SW

_CALLS 1 TGT_LATLONG 2420.500,-3816.840

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.060,-0.198

_SM_DEPTHo 1.27 KALMAN_X -33048.9,401.2,106.3,-12607.4,-1870.4

_SM_ANGLEo -63.1 KALMAN_Y 114292.3,219.6,302.8,-159578.3,1608.5

GPS2 080413,224713,2422.460,-3816.663,13,1.6,13,-15.2 MHEAD_RNG_PITCHd_Wd 199.9,3642,-25.2,-7.500,-28.53,945

SPEED_LIMITS 0.089,0.231 D_GRID 1001

Post-dive calculations and measurements:

FINISH -0.1,1.012869 _24V_AH 12.9,21.703

SM_CCo 21973,99.22,1.035,0,0,1651,200.16 _10V_AH 13.2,0.000

SM_GC 0.74,8.68,0.30,99.22,0.155,0.090,1.035,131,1896,1651,-7.53,1.02,200.16,2,0,0,0,0,0,13.69,14.59,13.76 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2415.74,-3817.41,080413,141458 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.023219 MEM 354032

HUMID 39.21 DATA_FILE_SIZE 33287,933

INTERNAL_PRESSURE 8.32307 CAP_FILE_SIZE 229877,0

TCM_TEMP 23.60 CFSIZE 260165632,252735488

XPDR_PINGS 187 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0

SC_FREEKB 4000672 GPS 090413,045735,2421.615,-3816.485,37,1.7,42,-15.2

TM_FREEKB 7530256

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 362 102.09 nil 0 0 0.00

Roll_motor 122 89 141.01 nil 0 0 0.00

VBD_pump_during_apogee 164 2452 5218.76 nil 0 0 0.00

VBD_pump_during_surface 99 1035 1324.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 32 12.64 nil 0 0 0.00

Iridium_during_connect 42 160 86.97 SciCon 21977 8 2331.25

Iridium_during_xfer 471 223 1357.02 TMICL 6350 12 1044.50

Transponder_ping 46 420 253.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 23 4.25

TT8 3277 8 377.23

LPSleep 15564 2 449.93

TT8_Active 425 8 48.97

TT8_Sampling 3230 27 1170.14

TT8_CF8 417 31 176.19

TT8_Kalman 33 44 19.61

Analog_circuits 1675 16 353.93

GPS_charging 0 0 0.00

Compass 2511 15 521.43

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.15 -46.8 130 1901 1457 1406 0.0 0.0 0 68 0.00 0.00 -41.42 0.000 16390 0.000 0.000 130 1902 2660 2737 2583 0 0 0 0 0 0 28.83 28.83 14.74

71 -1.15 -46.8 132 1902 2736 2584 1.8 -1.7 3 86 8.85 2.38 0.00 0.000 2564 0.363 0.074 2175 492 2663 2742 2585 0 0 0 0 0 0 14.19 14.47 28.83

313 -0.97 -46.8 1288 492 2688 2574 18.9 -6.2 19 320 0.25 2.33 0.00 0.000 3078 0.285 0.042 2225 1910 2665 2745 2585 0 0 0 0 0 0 14.14 14.45 28.83

628 -0.92 -46.8 2225 1910 2746 2585 35.9 -5.4 40 629 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1910 2665 2746 2585 0 0 0 0 0 0 28.83 28.83 28.83

928 -0.86 -46.8 2225 1911 2746 2585 52.8 -5.5 60 934 0.12 2.28 0.00 0.000 2308 0.301 0.059 2250 3299 2666 2747 2585 0 0 0 0 0 0 14.28 14.52 28.83

1162 -0.86 -46.8 2249 3299 2747 2585 64.9 -5.3 75 1167 0.00 2.28 0.00 0.000 1030 0.000 0.047 2251 1891 2666 2747 2585 0 0 0 0 0 0 28.83 14.59 28.83

1475 -0.86 -46.8 2251 1891 2747 2584 79.4 -4.7 96 1476 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 1891 2666 2747 2585 0 0 0 0 0 0 28.83 28.83 28.83

1775 -0.90 -81.6 2251 1891 2747 2585 91.3 -3.7 116 1781 0.00 2.33 -0.95 0.000 16644 0.000 0.077 2243 3301 2806 2909 2704 0 0 0 0 0 0 28.83 14.61 14.78

2008 -0.90 -81.6 1352 3299 2867 2696 106.8 -7.6 131 2013 0.00 2.28 0.00 0.000 1030 0.000 0.050 2243 1906 2809 2914 2705 0 0 0 0 0 0 28.83 14.59 28.83

2321 -0.90 -81.6 2243 1906 2915 2705 127.7 -6.6 152 2322 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 1907 2809 2915 2704 0 0 0 0 0 0 28.83 28.83 28.83

2622 -0.90 -81.6 2243 1906 2916 2705 143.8 -4.7 172 2623 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 1906 2811 2917 2705 0 0 0 0 0 0 28.83 28.83 28.83

2921 -0.90 -81.6 2243 1906 2916 2705 159.6 -6.0 192 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 1906 2810 2916 2704 0 0 0 0 0 0 28.83 28.83 28.83

3221 -0.90 -81.6 2243 1906 2916 2705 180.4 -6.4 212 3227 0.00 2.38 0.00 0.000 516 0.000 0.076 2243 493 2810 2916 2705 0 0 0 0 0 0 28.83 14.55 28.83

3453 -0.86 -81.6 1344 493 2868 2696 199.0 -8.8 227 3459 0.00 2.30 0.00 0.000 1030 0.000 0.041 2233 1914 2810 2916 2705 0 0 0 0 0 0 28.83 14.54 28.83

3767 -0.86 -81.6 2233 1914 2919 2705 226.7 -8.8 248 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 1914 2810 2916 2705 0 0 0 0 0 0 28.83 28.83 28.83

4067 -0.86 -81.6 2233 1914 2916 2705 253.7 -8.9 267 4072 0.00 2.25 0.00 0.000 260 0.000 0.060 2222 3299 2810 2916 2705 0 0 0 0 0 0 28.83 14.65 28.83

4192 -0.86 -81.6 2222 3298 2916 2705 264.6 -8.9 271 4198 0.15 2.25 0.00 0.000 3078 0.258 0.047 2257 1891 2810 2916 2705 0 0 0 0 0 0 14.28 14.61 28.83

4526 -0.86 -81.6 2257 1891 2916 2705 292.0 -8.1 282 4531 0.00 2.30 0.00 0.000 260 0.000 0.061 2249 3295 2810 2916 2704 0 0 0 0 0 0 28.83 14.68 28.83

4613 -0.86 -81.6 2249 3295 2916 2705 297.1 -8.1 284 4620 0.00 2.25 0.00 0.000 1030 0.000 0.048 2249 1899 2810 2916 2705 0 0 0 0 0 0 28.83 14.62 28.83

4920 -0.86 -81.6 2249 1899 2916 2704 322.7 -7.5 295 4921 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1899 2810 2916 2705 0 0 0 0 0 0 28.83 28.83 28.83

5219 -0.86 -81.6 2249 1899 2916 2705 347.4 -8.1 305 5220 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1899 2810 2916 2705 0 0 0 0 0 0 28.83 28.83 28.83

5520 -0.90 -81.6 2249 1899 2916 2705 370.9 -7.8 315 5525 0.00 2.35 0.00 0.000 516 0.000 0.075 2252 496 2810 2916 2705 0 0 0 0 0 0 28.83 14.64 28.83

5697 -0.90 -81.6 2252 496 2915 2705 384.3 -8.7 320 5704 0.00 2.25 0.00 0.000 1030 0.000 0.042 2243 1907 2810 2915 2705 0 0 0 0 0 0 28.83 14.76 28.83

6003 -0.90 -81.6 2244 1907 2915 2705 413.2 -9.1 331 6004 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 1907 2810 2915 2705 0 0 0 0 0 0 28.83 28.83 28.83

6304 -0.94 -81.6 2244 1907 2914 2705 440.5 -9.1 341 6309 0.00 2.40 0.00 0.000 516 0.000 0.073 2244 491 2809 2913 2705 0 0 0 0 0 0 28.83 14.64 28.83

6536 -0.94 -81.6 2244 491 2914 2704 460.6 -9.4 348 6541 0.00 2.25 0.00 0.000 1030 0.000 0.043 2234 1900 2808 2911 2705 0 0 0 0 0 0 28.83 14.74 28.83

6849 -0.94 -81.6 2234 1900 2909 2705 488.1 -7.8 359 6855 0.00 2.38 0.00 0.000 516 0.000 0.076 2234 499 2807 2909 2705 0 0 0 0 0 0 28.83 14.63 28.83

7082 -0.94 -81.6 2234 499 2908 2705 505.2 -8.1 366 7087 0.00 2.25 0.00 0.000 1030 0.000 0.044 2223 1903 2806 2908 2704 0 0 0 0 0 0 28.83 14.75 28.83

7396 -0.94 -81.6 2224 1903 2908 2705 531.9 -8.0 377 7401 0.00 2.40 0.00 0.000 516 0.000 0.074 2223 489 2806 2908 2704 0 0 0 0 0 0 28.83 14.64 28.83

7618 -0.94 -81.6 2223 489 2907 2705 552.6 -9.9 384 7624 0.00 2.28 0.00 0.000 1030 0.000 0.043 2213 1900 2805 2907 2704 0 0 0 0 0 0 28.83 14.74 28.83

7943 -0.94 -81.6 2213 1901 2905 2705 580.1 -8.0 395 7949 0.00 2.40 0.00 0.000 516 0.000 0.076 2213 497 2804 2905 2704 0 0 0 0 0 0 28.83 14.61 28.83

8069 -0.94 -81.6 2213 495 2904 2704 590.8 -8.6 399 8075 0.12 2.28 0.00 0.000 3078 0.280 0.045 2230 1908 2804 2904 2704 0 0 0 0 0 0 14.34 14.71 28.83

8405 -0.99 -81.6 2230 1908 2903 2704 617.1 -8.0 410 8406 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 1908 2803 2903 2704 0 0 0 0 0 0 28.83 28.83 28.83

8704 -1.04 -81.6 2230 1908 2901 2704 641.4 -8.2 420 8709 0.00 2.40 0.00 0.000 516 0.000 0.077 2230 500 2802 2900 2704 0 0 0 0 0 0 28.83 14.60 28.83

8936 -1.04 -81.6 2230 500 2899 2704 661.2 -9.4 427 8941 0.00 2.25 0.00 0.000 1030 0.000 0.047 2222 1897 2801 2899 2704 0 0 0 0 0 0 28.83 14.72 28.83

9252 -1.08 -81.6 2222 1897 2898 2704 688.3 -7.7 438 9253 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1898 2801 2898 2704 0 0 0 0 0 0 28.83 28.83 28.83

9550 -1.13 -81.6 2222 1897 2896 2704 710.5 -7.4 448 9556 0.12 2.33 0.00 0.000 4356 0.139 0.066 2148 3303 2799 2895 2704 0 0 0 0 0 0 14.71 14.62 28.83

9614 -1.13 -81.6 2148 3303 2894 2704 716.2 -8.1 450 9620 0.00 2.30 0.00 0.000 1030 0.000 0.057 2148 1908 2799 2894 2704 0 0 0 0 0 0 28.83 14.66 28.83

9950 -1.08 -81.6 2148 1910 2893 2704 749.0 -10.0 461 9952 0.17 0.00 0.00 0.000 2054 0.269 0.000 2189 1908 2798 2893 2704 0 0 0 0 0 0 14.27 28.83 28.83

10248 -1.08 -81.6 2189 1908 2892 2704 779.0 -10.3 471 10249 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1908 2798 2892 2704 0 0 0 0 0 0 28.83 28.83 28.83

10547 -1.08 -81.6 2189 1908 2891 2704 810.7 -10.6 481 10553 0.00 2.42 0.00 0.000 516 0.000 0.083 2190 491 2797 2890 2704 0 0 0 0 0 0 28.83 14.56 28.83

10781 -1.08 -81.6 2190 491 2890 2704 835.2 -11.7 488 10786 0.00 2.30 0.00 0.000 1030 0.000 0.047 2182 1902 2797 2890 2704 0 0 0 0 0 0 28.83 14.66 28.83

11094 -1.08 -81.6 2182 1902 2890 2702 871.0 -10.4 499 11096 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1902 2796 2890 2702 0 0 0 0 0 0 28.83 28.83 28.83

11394 -1.08 -81.6 2182 1902 2889 2701 900.7 -9.6 509 11395 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1902 2795 2889 2701 0 0 0 0 0 0 28.83 28.83 28.83

11694 -1.08 -81.6 2182 1902 2888 2700 927.7 -8.7 519 11700 0.00 2.35 0.00 0.000 260 0.000 0.073 2171 3294 2793 2887 2700 0 0 0 0 0 0 28.83 14.57 28.83

11913 -1.08 -81.6 2171 3295 2886 2700 945.1 -8.0 526 11918 0.00 2.33 0.00 0.000 1030 0.000 0.061 2171 1896 2793 2886 2700 0 0 0 0 0 0 28.83 14.60 28.83

12243 -1.08 -81.6 2171 1896 2886 2698 971.6 -8.0 537 12244 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 1896 2792 2886 2698 0 0 0 0 0 0 28.83 28.83 28.83

12479 end dive: TARGET_DEPTH_EXCEEDED

state 12479 begin apogee

12485 -0.22 0.0 2171 2098 2886 2697 992.4 -8.9 545 12571 1.00 0.00 77.38 2.453 10246 0.210 0.000 2464 2098 2467 2545 2389 0 0 0 0 0 0 14.29 28.83 12.99

12574 end apogee: CONTROL_FINISHED_OK

state 12574 begin climb

12577 1.19 81.6 2464 2098 2545 2388 994.2 0.0 548 12668 1.40 0.00 87.57 2.426 10246 0.112 0.000 2926 2098 2135 2187 2083 0 0 0 0 0 0 14.16 28.83 12.86

12961 1.10 81.6 2925 2098 2175 2083 948.6 13.6 561 12967 0.12 2.40 0.00 0.000 4356 0.322 0.076 2896 3496 2128 2173 2083 0 0 0 0 0 0 14.13 14.43 28.83

13035 1.00 81.6 2896 3495 2172 2081 939.7 13.7 563 13041 0.17 2.35 0.00 0.000 5126 0.318 0.060 2867 2097 2126 2172 2081 0 0 0 0 0 0 14.16 14.49 28.83

13359 1.00 81.6 2867 2097 2172 2077 900.2 11.7 574 13365 0.00 2.40 0.00 0.000 260 0.000 0.079 2867 3494 2124 2172 2077 0 0 0 0 0 0 28.83 14.52 28.83

13437 0.96 81.6 2867 3494 2170 2077 892.4 11.8 576 13442 0.00 2.33 0.00 0.000 1030 0.000 0.061 2874 2097 2123 2170 2077 0 0 0 0 0 0 28.83 14.44 28.83

13757 0.96 81.6 2874 2097 2170 2075 851.3 12.4 587 13763 0.00 2.40 0.00 0.000 260 0.000 0.080 2874 3493 2122 2170 2075 0 0 0 0 0 0 28.83 14.55 28.83

13942 0.89 81.6 2874 3493 2168 2075 826.6 13.4 593 13948 0.22 2.33 0.00 0.000 5126 0.298 0.063 2832 2100 2121 2168 2075 0 0 0 0 0 0 14.19 14.59 28.83

14276 0.89 81.6 2832 2100 2168 2074 791.3 10.6 604 14277 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2100 2121 2168 2074 0 0 0 0 0 0 28.83 28.83 28.83

14576 0.89 81.6 2832 2100 2168 2072 763.0 9.1 614 14577 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2100 2120 2168 2072 0 0 0 0 0 0 28.83 28.83 28.83

14876 0.89 81.6 2832 2100 2168 2070 736.7 8.7 624 14877 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2100 2119 2168 2070 0 0 0 0 0 0 28.83 28.83 28.83

15176 0.89 81.6 2833 2100 2168 2069 711.9 8.3 634 15182 0.00 2.40 0.00 0.000 260 0.000 0.083 2832 3493 2118 2168 2069 0 0 0 0 0 0 28.83 14.52 28.83

15325 0.89 81.6 2832 3493 2166 2068 700.4 9.3 638 15331 0.00 2.33 0.00 0.000 1030 0.000 0.062 2840 2101 2117 2166 2069 0 0 0 0 0 0 28.83 14.58 28.83

15631 0.89 81.6 2840 2101 2166 2068 670.7 9.1 649 15632 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2101 2117 2166 2069 0 0 0 0 0 0 28.83 28.83 28.83

15931 0.89 81.6 2840 2101 2166 2069 641.7 10.0 659 15932 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2101 2117 2166 2069 0 0 0 0 0 0 28.83 28.83 28.83

16231 0.89 81.6 2840 2101 2166 2069 610.1 10.9 669 16232 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2102 2117 2166 2069 0 0 0 0 0 0 28.83 28.83 28.83

16531 0.89 81.6 2840 2101 2166 2069 577.7 11.3 679 16537 0.00 2.40 0.00 0.000 260 0.000 0.082 2840 3493 2117 2166 2069 0 0 0 0 0 0 28.83 14.50 28.83

16765 0.89 81.6 2840 3495 2164 2069 552.1 11.9 686 16770 0.00 2.33 0.00 0.000 1030 0.000 0.060 2850 2101 2116 2164 2069 0 0 0 0 0 0 28.83 14.57 28.83

17078 0.89 81.6 2850 2101 2164 2069 519.0 9.3 697 17079 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 2101 2117 2165 2069 0 0 0 0 0 0 28.83 28.83 28.83

17378 0.89 81.6 2850 2101 2165 2069 491.9 8.6 707 17383 0.00 2.40 0.00 0.000 260 0.000 0.080 2850 3494 2117 2165 2069 0 0 0 0 0 0 28.83 14.50 28.83

17611 0.89 81.6 2850 3494 2164 2069 472.6 8.8 714 17617 0.15 2.33 0.00 0.000 5126 0.291 0.060 2827 2099 2116 2164 2069 0 0 0 0 0 0 14.16 14.56 28.83

17927 0.95 81.6 2827 2099 2165 2069 446.9 7.9 725 17929 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2099 2117 2166 2069 0 0 0 0 0 0 28.83 28.83 28.83

18226 1.01 81.6 2828 2099 2164 2068 423.0 8.3 735 18228 0.12 0.00 0.00 0.000 2054 0.137 0.000 2884 2099 2116 2164 2069 0 0 0 0 0 0 14.64 28.83 28.83

18525 1.01 81.6 2884 2099 2164 2069 390.9 11.3 745 18527 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2099 2116 2164 2069 0 0 0 0 0 0 28.83 28.83 28.83

18825 1.01 81.6 2884 2099 2164 2069 354.7 12.1 755 18830 0.00 2.40 0.00 0.000 260 0.000 0.077 2884 3502 2116 2164 2069 0 0 0 0 0 0 28.83 14.52 28.83

18958 1.01 81.6 2884 3502 2164 2069 338.8 12.9 759 18964 0.00 2.35 0.00 0.000 1030 0.000 0.056 2894 2093 2117 2165 2069 0 0 0 0 0 0 28.83 14.51 28.83

19283 1.01 81.6 2894 2093 2164 2069 296.9 12.7 770 19285 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2092 2117 2165 2069 0 0 0 0 0 0 28.83 28.83 28.83

19582 1.01 81.6 2894 2093 2164 2069 259.7 12.5 780 19587 0.00 2.40 0.00 0.000 260 0.000 0.075 2894 3500 2117 2165 2069 0 0 0 0 0 0 28.83 14.52 28.83

19733 1.01 81.6 2894 3500 2165 2069 241.0 12.8 786 19741 0.15 2.33 0.00 0.000 5126 0.285 0.054 2872 2091 2116 2164 2068 0 0 0 0 0 0 14.16 14.55 28.83

20040 1.01 81.6 2872 2090 2165 2069 209.3 8.7 807 20045 0.00 2.42 0.00 0.000 260 0.000 0.075 2871 3499 2117 2165 2069 0 0 0 0 0 0 28.83 14.45 28.83

20133 1.01 81.6 2871 3498 2167 2069 200.1 10.1 813 20139 0.00 2.33 0.00 0.000 1030 0.000 0.054 2879 2092 2117 2165 2069 0 0 0 0 0 0 28.83 14.54 28.83

20452 1.01 81.6 2878 2093 2165 2069 169.1 10.3 834 20457 0.00 2.40 0.00 0.000 260 0.000 0.073 2879 3496 2116 2164 2069 0 0 0 0 0 0 28.83 14.42 28.83

20576 1.01 81.6 2880 3495 2165 2069 154.8 12.0 842 20582 0.00 2.33 0.00 0.000 1030 0.000 0.052 2889 2092 2117 2165 2069 0 0 0 0 0 0 28.83 14.54 28.83

20895 1.01 81.6 2889 2092 2165 2069 120.5 12.0 863 20896 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2093 2117 2165 2069 0 0 0 0 0 0 28.83 28.83 28.83

21195 1.01 81.6 2889 2093 2165 2069 86.1 11.6 883 21196 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2093 2117 2165 2069 0 0 0 0 0 0 28.83 28.83 28.83

21495 1.05 81.6 2889 2093 2165 2069 51.1 11.1 903 21496 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2092 2116 2164 2069 0 0 0 0 0 0 28.83 28.83 28.83

21795 1.10 81.6 2889 2092 2165 2069 18.0 10.3 923 21801 0.00 2.40 0.00 0.000 260 0.000 0.068 2889 3497 2117 2165 2069 0 0 0 0 0 0 28.83 14.40 28.83

21909 1.10 81.6 1824 3496 2105 2059 4.4 13.2 930 21914 0.00 2.30 0.00 0.000 1030 0.000 0.047 2899 2091 2117 2165 2069 0 0 0 0 0 0 28.83 14.50 28.83

21934 end climb: SURFACE_DEPTH_REACHED

state 21934 begin surface coast

21951 end surface coast: CONTROL_FINISHED_OK

state 21951 begin surface

ID	120	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_PULSE	5
MISSION	16	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
DIVE	43	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	16	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	4739.3799	R_PORT_OVSHOOT	26	XPDR_INHIBIT	99
D_SURF	1	TGT_DEFAULT_LON	-12219.1	R_STBD_OVSHOOT	37	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	2	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-2.4000001
D_TGT	990	SM_CC	200	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_ABORT	1090	N_FILEKB	4	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_BOOST	0	CALL_NDIVES	1	VBD_MIN	395	DEVICE1	-1
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3895	DEVICE2	-1
D_FINISH	0	PROTOCOL	0	C_VBD	2468	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	67
T_DIVE	440	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	480	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_TURN	225	T_GPS	15	W_ADJ_DBAND	3	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	20	DBDW	0	PHONE_DEVICE	48
T_NO_W	300	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-40332.418	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	CF8_MAXERRORS	2	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	AH0_24V	350	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MINV_24V	12	SEABIRD_T_G	0.00438176
D_OFFGRID	1001	RAFOS_HIT_WINDOW	3600	MINV_10V	12	SEABIRD_T_H	0.00064101926
T_WATCHDOG	10	PITCH_MIN	115	FG_AHR_10V	0	SEABIRD_T_I	2.5489926e-05
RELAUNCH	1	PITCH_MAX	4069	FG_AHR_24V	0	SEABIRD_T_J	2.6782905e-06
APOGEE_PITCH	-5	C_PITCH	2540	PHONE_SUPPLY	2	SEABIRD_C_G	-10.157237
MAX_BUOY	150	PITCH_DBAND	0.1	PRESSURE_YINT	-5.6651554	SEABIRD_C_H	1.1376933
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001164831	SEABIRD_C_I	-0.0013911312
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.00019179068
SPEED_FACTOR	1	PITCH_GAIN	23	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	56148	PITCH_AD_RATE	156	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	1128.8	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_RECORDABOVE	250.0
NAV_MODE	0	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	22	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.003	ROLL_MAX	3894	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITRAW	0.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HD_C	1.6100001e-05	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	0
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_FREQUENCY	13

GPS1	080413,223259,2422.305,-3816.731,40,1.9,46,-15.2	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	2420.500,-3816.840
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.060,-0.198
_SM_DEPTHo	1.27	KALMAN_X	-33048.9,401.2,106.3,-12607.4,-1870.4
_SM_ANGLEo	-63.1	KALMAN_Y	114292.3,219.6,302.8,-159578.3,1608.5
GPS2	080413,224713,2422.460,-3816.663,13,1.6,13,-15.2	MHEAD_RNG_PITCHd_Wd	199.9,3642,-25.2,-7.500,-28.53,945
SPEED_LIMITS	0.089,0.231	D_GRID	1001

FINISH	-0.1,1.012869	_24V_AH	12.9,21.703
SM_CCo	21973,99.22,1.035,0,0,1651,200.16	_10V_AH	13.2,0.000
SM_GC	0.74,8.68,0.30,99.22,0.155,0.090,1.035,131,1896,1651,-7.53,1.02,200.16,2,0,0,0,0,0,13.69,14.59,13.76	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2415.74,-3817.41,080413,141458	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.023219	MEM	354032
HUMID	39.21	DATA_FILE_SIZE	33287,933
INTERNAL_PRESSURE	8.32307	CAP_FILE_SIZE	229877,0
TCM_TEMP	23.60	CFSIZE	260165632,252735488
XPDR_PINGS	187	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0
SC_FREEKB	4000672	GPS	090413,045735,2421.615,-3816.485,37,1.7,42,-15.2
TM_FREEKB	7530256

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	362	102.09	nil	0	0	0.00
Roll_motor	122	89	141.01	nil	0	0	0.00
VBD_pump_during_apogee	164	2452	5218.76	nil	0	0	0.00
VBD_pump_during_surface	99	1035	1324.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	32	12.64	nil	0	0	0.00
Iridium_during_connect	42	160	86.97	SciCon	21977	8	2331.25
Iridium_during_xfer	471	223	1357.02	TMICL	6350	12	1044.50
Transponder_ping	46	420	253.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	23	4.25
TT8	3277	8	377.23
LPSleep	15564	2	449.93
TT8_Active	425	8	48.97
TT8_Sampling	3230	27	1170.14
TT8_CF8	417	31	176.19
TT8_Kalman	33	44	19.61
Analog_circuits	1675	16	353.93
GPS_charging	0	0	0.00
Compass	2511	15	521.43
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.15	-46.8	130	1901	1457	1406	0.0	0.0	0	68	0.00	0.00	-41.42	0.000	16390	0.000	0.000	130	1902	2660	2737	2583	0	0	0	0	0	0	28.83	28.83	14.74
71	-1.15	-46.8	132	1902	2736	2584	1.8	-1.7	3	86	8.85	2.38	0.00	0.000	2564	0.363	0.074	2175	492	2663	2742	2585	0	0	0	0	0	0	14.19	14.47	28.83
313	-0.97	-46.8	1288	492	2688	2574	18.9	-6.2	19	320	0.25	2.33	0.00	0.000	3078	0.285	0.042	2225	1910	2665	2745	2585	0	0	0	0	0	0	14.14	14.45	28.83
628	-0.92	-46.8	2225	1910	2746	2585	35.9	-5.4	40	629	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1910	2665	2746	2585	0	0	0	0	0	0	28.83	28.83	28.83
928	-0.86	-46.8	2225	1911	2746	2585	52.8	-5.5	60	934	0.12	2.28	0.00	0.000	2308	0.301	0.059	2250	3299	2666	2747	2585	0	0	0	0	0	0	14.28	14.52	28.83
1162	-0.86	-46.8	2249	3299	2747	2585	64.9	-5.3	75	1167	0.00	2.28	0.00	0.000	1030	0.000	0.047	2251	1891	2666	2747	2585	0	0	0	0	0	0	28.83	14.59	28.83
1475	-0.86	-46.8	2251	1891	2747	2584	79.4	-4.7	96	1476	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	1891	2666	2747	2585	0	0	0	0	0	0	28.83	28.83	28.83
1775	-0.90	-81.6	2251	1891	2747	2585	91.3	-3.7	116	1781	0.00	2.33	-0.95	0.000	16644	0.000	0.077	2243	3301	2806	2909	2704	0	0	0	0	0	0	28.83	14.61	14.78
2008	-0.90	-81.6	1352	3299	2867	2696	106.8	-7.6	131	2013	0.00	2.28	0.00	0.000	1030	0.000	0.050	2243	1906	2809	2914	2705	0	0	0	0	0	0	28.83	14.59	28.83
2321	-0.90	-81.6	2243	1906	2915	2705	127.7	-6.6	152	2322	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	1907	2809	2915	2704	0	0	0	0	0	0	28.83	28.83	28.83
2622	-0.90	-81.6	2243	1906	2916	2705	143.8	-4.7	172	2623	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	1906	2811	2917	2705	0	0	0	0	0	0	28.83	28.83	28.83
2921	-0.90	-81.6	2243	1906	2916	2705	159.6	-6.0	192	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	1906	2810	2916	2704	0	0	0	0	0	0	28.83	28.83	28.83
3221	-0.90	-81.6	2243	1906	2916	2705	180.4	-6.4	212	3227	0.00	2.38	0.00	0.000	516	0.000	0.076	2243	493	2810	2916	2705	0	0	0	0	0	0	28.83	14.55	28.83
3453	-0.86	-81.6	1344	493	2868	2696	199.0	-8.8	227	3459	0.00	2.30	0.00	0.000	1030	0.000	0.041	2233	1914	2810	2916	2705	0	0	0	0	0	0	28.83	14.54	28.83
3767	-0.86	-81.6	2233	1914	2919	2705	226.7	-8.8	248	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	1914	2810	2916	2705	0	0	0	0	0	0	28.83	28.83	28.83
4067	-0.86	-81.6	2233	1914	2916	2705	253.7	-8.9	267	4072	0.00	2.25	0.00	0.000	260	0.000	0.060	2222	3299	2810	2916	2705	0	0	0	0	0	0	28.83	14.65	28.83
4192	-0.86	-81.6	2222	3298	2916	2705	264.6	-8.9	271	4198	0.15	2.25	0.00	0.000	3078	0.258	0.047	2257	1891	2810	2916	2705	0	0	0	0	0	0	14.28	14.61	28.83
4526	-0.86	-81.6	2257	1891	2916	2705	292.0	-8.1	282	4531	0.00	2.30	0.00	0.000	260	0.000	0.061	2249	3295	2810	2916	2704	0	0	0	0	0	0	28.83	14.68	28.83
4613	-0.86	-81.6	2249	3295	2916	2705	297.1	-8.1	284	4620	0.00	2.25	0.00	0.000	1030	0.000	0.048	2249	1899	2810	2916	2705	0	0	0	0	0	0	28.83	14.62	28.83
4920	-0.86	-81.6	2249	1899	2916	2704	322.7	-7.5	295	4921	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1899	2810	2916	2705	0	0	0	0	0	0	28.83	28.83	28.83
5219	-0.86	-81.6	2249	1899	2916	2705	347.4	-8.1	305	5220	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1899	2810	2916	2705	0	0	0	0	0	0	28.83	28.83	28.83
5520	-0.90	-81.6	2249	1899	2916	2705	370.9	-7.8	315	5525	0.00	2.35	0.00	0.000	516	0.000	0.075	2252	496	2810	2916	2705	0	0	0	0	0	0	28.83	14.64	28.83
5697	-0.90	-81.6	2252	496	2915	2705	384.3	-8.7	320	5704	0.00	2.25	0.00	0.000	1030	0.000	0.042	2243	1907	2810	2915	2705	0	0	0	0	0	0	28.83	14.76	28.83
6003	-0.90	-81.6	2244	1907	2915	2705	413.2	-9.1	331	6004	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	1907	2810	2915	2705	0	0	0	0	0	0	28.83	28.83	28.83
6304	-0.94	-81.6	2244	1907	2914	2705	440.5	-9.1	341	6309	0.00	2.40	0.00	0.000	516	0.000	0.073	2244	491	2809	2913	2705	0	0	0	0	0	0	28.83	14.64	28.83
6536	-0.94	-81.6	2244	491	2914	2704	460.6	-9.4	348	6541	0.00	2.25	0.00	0.000	1030	0.000	0.043	2234	1900	2808	2911	2705	0	0	0	0	0	0	28.83	14.74	28.83
6849	-0.94	-81.6	2234	1900	2909	2705	488.1	-7.8	359	6855	0.00	2.38	0.00	0.000	516	0.000	0.076	2234	499	2807	2909	2705	0	0	0	0	0	0	28.83	14.63	28.83
7082	-0.94	-81.6	2234	499	2908	2705	505.2	-8.1	366	7087	0.00	2.25	0.00	0.000	1030	0.000	0.044	2223	1903	2806	2908	2704	0	0	0	0	0	0	28.83	14.75	28.83
7396	-0.94	-81.6	2224	1903	2908	2705	531.9	-8.0	377	7401	0.00	2.40	0.00	0.000	516	0.000	0.074	2223	489	2806	2908	2704	0	0	0	0	0	0	28.83	14.64	28.83
7618	-0.94	-81.6	2223	489	2907	2705	552.6	-9.9	384	7624	0.00	2.28	0.00	0.000	1030	0.000	0.043	2213	1900	2805	2907	2704	0	0	0	0	0	0	28.83	14.74	28.83
7943	-0.94	-81.6	2213	1901	2905	2705	580.1	-8.0	395	7949	0.00	2.40	0.00	0.000	516	0.000	0.076	2213	497	2804	2905	2704	0	0	0	0	0	0	28.83	14.61	28.83
8069	-0.94	-81.6	2213	495	2904	2704	590.8	-8.6	399	8075	0.12	2.28	0.00	0.000	3078	0.280	0.045	2230	1908	2804	2904	2704	0	0	0	0	0	0	14.34	14.71	28.83
8405	-0.99	-81.6	2230	1908	2903	2704	617.1	-8.0	410	8406	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	1908	2803	2903	2704	0	0	0	0	0	0	28.83	28.83	28.83
8704	-1.04	-81.6	2230	1908	2901	2704	641.4	-8.2	420	8709	0.00	2.40	0.00	0.000	516	0.000	0.077	2230	500	2802	2900	2704	0	0	0	0	0	0	28.83	14.60	28.83
8936	-1.04	-81.6	2230	500	2899	2704	661.2	-9.4	427	8941	0.00	2.25	0.00	0.000	1030	0.000	0.047	2222	1897	2801	2899	2704	0	0	0	0	0	0	28.83	14.72	28.83
9252	-1.08	-81.6	2222	1897	2898	2704	688.3	-7.7	438	9253	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1898	2801	2898	2704	0	0	0	0	0	0	28.83	28.83	28.83
9550	-1.13	-81.6	2222	1897	2896	2704	710.5	-7.4	448	9556	0.12	2.33	0.00	0.000	4356	0.139	0.066	2148	3303	2799	2895	2704	0	0	0	0	0	0	14.71	14.62	28.83
9614	-1.13	-81.6	2148	3303	2894	2704	716.2	-8.1	450	9620	0.00	2.30	0.00	0.000	1030	0.000	0.057	2148	1908	2799	2894	2704	0	0	0	0	0	0	28.83	14.66	28.83
9950	-1.08	-81.6	2148	1910	2893	2704	749.0	-10.0	461	9952	0.17	0.00	0.00	0.000	2054	0.269	0.000	2189	1908	2798	2893	2704	0	0	0	0	0	0	14.27	28.83	28.83
10248	-1.08	-81.6	2189	1908	2892	2704	779.0	-10.3	471	10249	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	1908	2798	2892	2704	0	0	0	0	0	0	28.83	28.83	28.83
10547	-1.08	-81.6	2189	1908	2891	2704	810.7	-10.6	481	10553	0.00	2.42	0.00	0.000	516	0.000	0.083	2190	491	2797	2890	2704	0	0	0	0	0	0	28.83	14.56	28.83
10781	-1.08	-81.6	2190	491	2890	2704	835.2	-11.7	488	10786	0.00	2.30	0.00	0.000	1030	0.000	0.047	2182	1902	2797	2890	2704	0	0	0	0	0	0	28.83	14.66	28.83
11094	-1.08	-81.6	2182	1902	2890	2702	871.0	-10.4	499	11096	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1902	2796	2890	2702	0	0	0	0	0	0	28.83	28.83	28.83
11394	-1.08	-81.6	2182	1902	2889	2701	900.7	-9.6	509	11395	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1902	2795	2889	2701	0	0	0	0	0	0	28.83	28.83	28.83
11694	-1.08	-81.6	2182	1902	2888	2700	927.7	-8.7	519	11700	0.00	2.35	0.00	0.000	260	0.000	0.073	2171	3294	2793	2887	2700	0	0	0	0	0	0	28.83	14.57	28.83
11913	-1.08	-81.6	2171	3295	2886	2700	945.1	-8.0	526	11918	0.00	2.33	0.00	0.000	1030	0.000	0.061	2171	1896	2793	2886	2700	0	0	0	0	0	0	28.83	14.60	28.83
12243	-1.08	-81.6	2171	1896	2886	2698	971.6	-8.0	537	12244	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	1896	2792	2886	2698	0	0	0	0	0	0	28.83	28.83	28.83
12479	end dive: TARGET_DEPTH_EXCEEDED
state	12479	begin apogee
12485	-0.22	0.0	2171	2098	2886	2697	992.4	-8.9	545	12571	1.00	0.00	77.38	2.453	10246	0.210	0.000	2464	2098	2467	2545	2389	0	0	0	0	0	0	14.29	28.83	12.99
12574	end apogee: CONTROL_FINISHED_OK
state	12574	begin climb
12577	1.19	81.6	2464	2098	2545	2388	994.2	0.0	548	12668	1.40	0.00	87.57	2.426	10246	0.112	0.000	2926	2098	2135	2187	2083	0	0	0	0	0	0	14.16	28.83	12.86
12961	1.10	81.6	2925	2098	2175	2083	948.6	13.6	561	12967	0.12	2.40	0.00	0.000	4356	0.322	0.076	2896	3496	2128	2173	2083	0	0	0	0	0	0	14.13	14.43	28.83
13035	1.00	81.6	2896	3495	2172	2081	939.7	13.7	563	13041	0.17	2.35	0.00	0.000	5126	0.318	0.060	2867	2097	2126	2172	2081	0	0	0	0	0	0	14.16	14.49	28.83
13359	1.00	81.6	2867	2097	2172	2077	900.2	11.7	574	13365	0.00	2.40	0.00	0.000	260	0.000	0.079	2867	3494	2124	2172	2077	0	0	0	0	0	0	28.83	14.52	28.83
13437	0.96	81.6	2867	3494	2170	2077	892.4	11.8	576	13442	0.00	2.33	0.00	0.000	1030	0.000	0.061	2874	2097	2123	2170	2077	0	0	0	0	0	0	28.83	14.44	28.83
13757	0.96	81.6	2874	2097	2170	2075	851.3	12.4	587	13763	0.00	2.40	0.00	0.000	260	0.000	0.080	2874	3493	2122	2170	2075	0	0	0	0	0	0	28.83	14.55	28.83
13942	0.89	81.6	2874	3493	2168	2075	826.6	13.4	593	13948	0.22	2.33	0.00	0.000	5126	0.298	0.063	2832	2100	2121	2168	2075	0	0	0	0	0	0	14.19	14.59	28.83
14276	0.89	81.6	2832	2100	2168	2074	791.3	10.6	604	14277	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2100	2121	2168	2074	0	0	0	0	0	0	28.83	28.83	28.83
14576	0.89	81.6	2832	2100	2168	2072	763.0	9.1	614	14577	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2100	2120	2168	2072	0	0	0	0	0	0	28.83	28.83	28.83
14876	0.89	81.6	2832	2100	2168	2070	736.7	8.7	624	14877	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2100	2119	2168	2070	0	0	0	0	0	0	28.83	28.83	28.83
15176	0.89	81.6	2833	2100	2168	2069	711.9	8.3	634	15182	0.00	2.40	0.00	0.000	260	0.000	0.083	2832	3493	2118	2168	2069	0	0	0	0	0	0	28.83	14.52	28.83
15325	0.89	81.6	2832	3493	2166	2068	700.4	9.3	638	15331	0.00	2.33	0.00	0.000	1030	0.000	0.062	2840	2101	2117	2166	2069	0	0	0	0	0	0	28.83	14.58	28.83
15631	0.89	81.6	2840	2101	2166	2068	670.7	9.1	649	15632	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2101	2117	2166	2069	0	0	0	0	0	0	28.83	28.83	28.83
15931	0.89	81.6	2840	2101	2166	2069	641.7	10.0	659	15932	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2101	2117	2166	2069	0	0	0	0	0	0	28.83	28.83	28.83
16231	0.89	81.6	2840	2101	2166	2069	610.1	10.9	669	16232	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2102	2117	2166	2069	0	0	0	0	0	0	28.83	28.83	28.83
16531	0.89	81.6	2840	2101	2166	2069	577.7	11.3	679	16537	0.00	2.40	0.00	0.000	260	0.000	0.082	2840	3493	2117	2166	2069	0	0	0	0	0	0	28.83	14.50	28.83
16765	0.89	81.6	2840	3495	2164	2069	552.1	11.9	686	16770	0.00	2.33	0.00	0.000	1030	0.000	0.060	2850	2101	2116	2164	2069	0	0	0	0	0	0	28.83	14.57	28.83
17078	0.89	81.6	2850	2101	2164	2069	519.0	9.3	697	17079	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	2101	2117	2165	2069	0	0	0	0	0	0	28.83	28.83	28.83
17378	0.89	81.6	2850	2101	2165	2069	491.9	8.6	707	17383	0.00	2.40	0.00	0.000	260	0.000	0.080	2850	3494	2117	2165	2069	0	0	0	0	0	0	28.83	14.50	28.83
17611	0.89	81.6	2850	3494	2164	2069	472.6	8.8	714	17617	0.15	2.33	0.00	0.000	5126	0.291	0.060	2827	2099	2116	2164	2069	0	0	0	0	0	0	14.16	14.56	28.83
17927	0.95	81.6	2827	2099	2165	2069	446.9	7.9	725	17929	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2099	2117	2166	2069	0	0	0	0	0	0	28.83	28.83	28.83
18226	1.01	81.6	2828	2099	2164	2068	423.0	8.3	735	18228	0.12	0.00	0.00	0.000	2054	0.137	0.000	2884	2099	2116	2164	2069	0	0	0	0	0	0	14.64	28.83	28.83
18525	1.01	81.6	2884	2099	2164	2069	390.9	11.3	745	18527	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2099	2116	2164	2069	0	0	0	0	0	0	28.83	28.83	28.83
18825	1.01	81.6	2884	2099	2164	2069	354.7	12.1	755	18830	0.00	2.40	0.00	0.000	260	0.000	0.077	2884	3502	2116	2164	2069	0	0	0	0	0	0	28.83	14.52	28.83
18958	1.01	81.6	2884	3502	2164	2069	338.8	12.9	759	18964	0.00	2.35	0.00	0.000	1030	0.000	0.056	2894	2093	2117	2165	2069	0	0	0	0	0	0	28.83	14.51	28.83
19283	1.01	81.6	2894	2093	2164	2069	296.9	12.7	770	19285	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2092	2117	2165	2069	0	0	0	0	0	0	28.83	28.83	28.83
19582	1.01	81.6	2894	2093	2164	2069	259.7	12.5	780	19587	0.00	2.40	0.00	0.000	260	0.000	0.075	2894	3500	2117	2165	2069	0	0	0	0	0	0	28.83	14.52	28.83
19733	1.01	81.6	2894	3500	2165	2069	241.0	12.8	786	19741	0.15	2.33	0.00	0.000	5126	0.285	0.054	2872	2091	2116	2164	2068	0	0	0	0	0	0	14.16	14.55	28.83
20040	1.01	81.6	2872	2090	2165	2069	209.3	8.7	807	20045	0.00	2.42	0.00	0.000	260	0.000	0.075	2871	3499	2117	2165	2069	0	0	0	0	0	0	28.83	14.45	28.83
20133	1.01	81.6	2871	3498	2167	2069	200.1	10.1	813	20139	0.00	2.33	0.00	0.000	1030	0.000	0.054	2879	2092	2117	2165	2069	0	0	0	0	0	0	28.83	14.54	28.83
20452	1.01	81.6	2878	2093	2165	2069	169.1	10.3	834	20457	0.00	2.40	0.00	0.000	260	0.000	0.073	2879	3496	2116	2164	2069	0	0	0	0	0	0	28.83	14.42	28.83
20576	1.01	81.6	2880	3495	2165	2069	154.8	12.0	842	20582	0.00	2.33	0.00	0.000	1030	0.000	0.052	2889	2092	2117	2165	2069	0	0	0	0	0	0	28.83	14.54	28.83
20895	1.01	81.6	2889	2092	2165	2069	120.5	12.0	863	20896	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2093	2117	2165	2069	0	0	0	0	0	0	28.83	28.83	28.83
21195	1.01	81.6	2889	2093	2165	2069	86.1	11.6	883	21196	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2093	2117	2165	2069	0	0	0	0	0	0	28.83	28.83	28.83
21495	1.05	81.6	2889	2093	2165	2069	51.1	11.1	903	21496	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2092	2116	2164	2069	0	0	0	0	0	0	28.83	28.83	28.83
21795	1.10	81.6	2889	2092	2165	2069	18.0	10.3	923	21801	0.00	2.40	0.00	0.000	260	0.000	0.068	2889	3497	2117	2165	2069	0	0	0	0	0	0	28.83	14.40	28.83
21909	1.10	81.6	1824	3496	2105	2059	4.4	13.2	930	21914	0.00	2.30	0.00	0.000	1030	0.000	0.047	2899	2091	2117	2165	2069	0	0	0	0	0	0	28.83	14.50	28.83
21934	end climb: SURFACE_DEPTH_REACHED
state	21934	begin surface coast
21951	end surface coast: CONTROL_FINISHED_OK
state	21951	begin surface