Glider dive log

NASCAR Mar17 * SG133 * Dive index * Mission links * Dive 56 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 133 HD_B 0.0082 ROLL_MIN 157 TCM_ROLL_OFFSET 0

MISSION 5 HD_C 4.2000001e-06 ROLL_MAX 3825 COMPASS_USE 4

DIVE 56 HEADING -1 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2310 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 TGT_DEFAULT_LAT 3235 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 990 TGT_DEFAULT_LON -11731 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 118 ALTIM_PING_DELTA 50

D_NO_BLEED 200 SM_CC 450 R_STBD_OVSHOOT 55 ALTIM_FREQUENCY 13

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 350 ALTIM_PULSE 3

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 PROTOCOL 9 VBD_MIN 480 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 INT_PRESSURE_YINT -0.090000004

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 3101 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 420 CALL_WAIT 60 VBD_TIMEOUT 720 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 DEVICE6 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 N_GPS 100440 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_RSLEEP 2 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

USE_BATHY -6 STROBE 0 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 DBDW 0 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 COMPASS_DEVICE 97

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_MMODEM 0 CF8_MAXERRORS 20 PHONE_DEVICE 49

RELAUNCH 1 PITCH_MIN 150 AH0_24V 350 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MAX 3830 AH0_10V 0 RAFOS_DEVICE -1

MAX_BUOY 150 C_PITCH 3170 MINV_24V 11 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 11 SIM_W 0

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SIM_PITCH 0

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0043768995

RHO 1.0275 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.00063528348

MASS 54382 PITCH_GAIN 15 FG_AHR_24V 0 SEABIRD_T_I 2.4782157e-05

MASS_COMP 0 PITCH_TIMEOUT 30 PHONE_SUPPLY -2 SEABIRD_T_J 2.6511516e-06

NAV_MODE 2 PITCH_AD_RATE 100 PRESSURE_YINT -18.083 SEABIRD_C_G -9.8739452

FERRY_MAX 45 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00011564888 SEABIRD_C_H 1.0990992

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 AD7714Ch0Gain 128 SEABIRD_C_I -0.0013875214

HD_A 0.0034 PITCH_ADJ_DBAND 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00019236583

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SEABIRD_T_J 2.6511516e-06

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_ADJ_GAIN 0.029999999 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 100 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 STOP_T 0

ALTIM_PING_DELTA 50 FERRY_MAX 45 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_GAIN 15 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3830 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 2 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 30 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0034 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 3235

CALL_NDIVES 1 HD_B 0.0082 PITCH_W_GAIN 0 TGT_DEFAULT_LON -11731

CALL_TRIES 5 HD_C 4.2000001e-06 PRESSURE_SLOPE 0.00011564888 T_ABORT 720

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -18.083 T_BOOST 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_DIVE 360

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_GPS 5

COMM_SEQ 0 ID 133 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.090000004 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RAFOS_MMODEM 0 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_PITCH 3170 LOGGERDEVICE2 -1 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2310 LOGGERDEVICE3 -1 RHO 1.0275 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_VBD 3101 LOGGERS 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 54382 ROLL_AD_RATE 350 USE_BATHY -6

DEEPGLIDER 0 MASS_COMP 0 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE1 2 MAXI_10V 0.80000001 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAX 3825 VBD_CNV -0.245296

DEVICE3 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 157 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 5 R_PORT_OVSHOOT 118 VBD_MAXERRORS 1

DIVE 56 MOTHERBOARD 4 R_STBD_OVSHOOT 55 VBD_MIN 480

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_G -9.8739452 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_H 1.0990992 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_DIVES 0 SEABIRD_C_I -0.0013875214 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SEABIRD_C_J 0.00019236583 W_ADJ_DBAND 0

D_FLARE 3 N_GPS 100440 SEABIRD_T_G 0.0043768995 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOCOMM 2 SEABIRD_T_H 0.00063528348 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_I 2.4782157e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 140317,215410,1404.7070,6054.8306,34,1.6,39,-0.7,0.0,0.0,8,9.7 SPEED_LIMITS 0.159,0.279

_CALLS 1 TGT_NAME SG133_TGT

_XMS_NAKs 0 TGT_LATLONG 1407.427,6056.149

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 33.4,5577,-18.9,-9.167,-21.50,1640

_SM_ANGLEo -68.7 D_GRID 1000

GPS2 140317,215836,1404.7054,6054.8198,14,1.3,19,-0.7,0.0,0.0,9,9.8

Post-dive calculations and measurements:

FINISH 0.3,1.002007 FG_AHR_24Vo 0.000

SM_CCo 17666,85.80,0.081,0,0,1265,450.12 FG_AHR_10Vo 0.000

SM_GC 1.20,9.48,0.47,85.80,0.073,0.057,0.081,140,2616,1265,-13.86,-1.22,450.12,0,0,0,0,0,0,14.85,14.92,14.82 MEM 193848

IRIDIUM_FIX 1358.61,6055.86,140317,172507 DATA_FILE_SIZE 56500,1342

TT8_MAMPS 0.024717,0.155792 CAP_FILE_SIZE 160837,0

HUMID 45.94 CFSIZE 260034560,254787584

INTERNAL_PRESSURE 8.97285 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.20 INTR 0,8289.47,0x233da8,1,24

XPDR_PINGS 0 CURRENT 0.042,314.63,1

_24V_AH 13.47,14.120 GPS 150317,025632,1407.040,6056.104,41,1.0,43,-0.7,0.0,0.0,7,9.2

_10V_AH 13.30,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 452 182.24 SBE_CT 651 75 664.11

Roll_motor 134 58 106.56 nil 0 0 0.00

VBD_pump_during_apogee 354 1989 9496.36 nil 0 0 0.00

VBD_pump_during_surface 85 81 93.72 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 179 163 396.66 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 19 5.45

TT8 2685 8 315.00

LPSleep 12554 2 365.67

TT8_Active 569 8 66.86

TT8_Sampling 2127 28 800.53

TT8_CF8 103 32 44.96

TT8_Kalman 0 0 0.00

Analog_circuits 1826 15 386.27

GPS_charging 0 0 0.00

Compass 1910 6 171.26

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.38 -97.8 136 2615 1216 1299 0.0 0.0 0 72 0.00 0.00 -63.15 0.000 16386 0.000 0.000 136 2615 3495 3545 3445 0 0 0 0 0 0 14.95 28.83 14.97

74 -1.43 -140.1 136 2615 3545 3446 3.2 -6.5 11 95 14.18 0.00 -2.53 0.000 18470 0.452 0.000 2850 2615 3675 3702 3649 0 0 0 0 0 0 14.53 13.94 14.71

401 -1.43 -140.1 2850 2615 3702 3656 61.4 -15.6 68 406 0.00 1.92 0.00 0.000 260 0.000 0.058 2843 3805 3679 3702 3656 0 0 0 0 0 0 15.04 14.82 15.06

482 -1.43 -140.1 2843 3805 3702 3656 75.0 -17.3 84 487 0.00 1.73 0.00 0.000 1030 0.000 0.023 2843 2584 3679 3702 3656 0 0 0 0 0 0 14.93 14.90 14.94

794 -1.49 -140.1 2843 2585 3702 3658 123.8 -12.3 116 798 0.00 2.00 0.00 0.000 644 0.000 0.027 2843 1253 3680 3702 3658 0 0 0 0 0 0 15.11 14.92 15.12

845 -1.56 -140.1 2843 1253 3702 3659 129.0 -9.6 126 849 0.00 2.08 0.00 0.000 1158 0.000 0.035 2835 2592 3680 3702 3658 0 0 0 0 0 0 14.97 14.90 14.98

1151 -1.61 -140.1 2835 2592 3702 3662 158.4 -10.6 157 1155 0.00 1.95 0.00 0.000 388 0.000 0.057 2826 3807 3682 3702 3662 0 0 0 0 0 0 15.14 14.92 15.16

1374 -1.67 -140.1 2825 3808 3701 3664 186.0 -12.5 202 1382 0.00 1.75 0.00 0.000 1158 0.000 0.022 2826 2603 3682 3702 3663 0 0 0 0 0 0 15.00 14.99 15.01

1682 -1.76 -140.1 2826 2603 3702 3664 227.1 -13.6 233 1691 0.12 2.03 0.00 0.000 4740 0.124 0.024 2763 1249 3683 3702 3664 0 0 0 0 0 0 14.97 14.98 15.00

1746 -1.76 -140.1 2763 1249 3702 3664 237.4 -14.9 246 1754 0.12 2.15 0.00 0.000 3078 0.258 0.035 2785 2605 3683 3702 3664 0 0 0 0 0 0 14.81 14.96 14.93

2053 -1.76 -140.1 2785 2605 3702 3664 276.6 -12.2 263 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2605 3682 3701 3664 0 0 0 0 0 0 15.19 15.21 15.21

2354 -1.80 -140.1 2785 2605 3701 3664 311.5 -11.5 273 2358 0.00 2.05 0.00 0.000 644 0.000 0.027 2786 1243 3682 3701 3664 0 0 0 0 0 0 15.20 15.02 15.22

2434 -1.86 -140.1 2786 1243 3701 3664 320.5 -11.0 289 2438 0.00 2.10 0.00 0.000 1158 0.000 0.035 2780 2601 3682 3701 3664 0 0 0 0 0 0 15.05 15.00 15.07

2740 -1.89 -140.1 2780 2601 3698 3664 351.3 -9.8 300 2742 0.10 0.00 0.00 0.000 4230 0.154 0.000 2732 2602 3681 3698 3664 0 0 0 0 0 0 15.00 15.08 15.07

3040 -1.85 -140.1 2731 2602 3695 3663 389.7 -12.9 310 3045 0.15 1.95 0.00 0.000 2436 0.312 0.054 2758 3814 3679 3695 3664 0 0 0 0 0 0 14.84 15.00 14.97

3101 -1.85 -140.1 2758 3814 3695 3664 397.4 -11.9 322 3105 0.00 1.73 0.00 0.000 1030 0.000 0.024 2758 2594 3679 3694 3664 0 0 0 0 0 0 15.09 15.07 15.10

3432 -1.85 -140.1 2758 2592 3691 3664 435.1 -11.1 338 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2592 3677 3691 3664 0 0 0 0 0 0 15.22 15.25 15.24

3731 -1.85 -140.1 2758 2591 3689 3661 469.4 -11.5 348 3733 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2592 3674 3688 3661 0 0 0 0 0 0 15.23 15.25 15.25

4031 -1.85 -140.1 2758 2592 3687 3659 504.7 -12.0 358 4033 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2592 3673 3687 3659 0 0 0 0 0 0 15.23 15.25 15.25

4332 -1.85 -140.1 2758 2592 3685 3658 540.0 -11.6 368 4333 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2592 3671 3685 3658 0 0 0 0 0 0 15.23 15.25 15.25

4631 -1.85 -140.1 2758 2592 3683 3657 574.8 -11.6 378 4635 0.00 2.03 0.00 0.000 516 0.000 0.027 2758 1249 3669 3682 3657 0 0 0 0 0 0 15.23 15.04 15.25

4655 -1.85 -140.1 2758 1243 3683 3656 577.7 -11.5 383 4662 0.00 2.15 0.00 0.000 1030 0.000 0.035 2749 2597 3669 3683 3656 0 0 0 0 0 0 15.04 15.02 15.10

4962 -1.85 -140.1 2749 2597 3679 3654 614.7 -12.0 394 4963 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2596 3667 3681 3654 0 0 0 0 0 0 15.23 15.25 15.25

5262 -1.85 -140.1 2749 2597 3679 3652 651.9 -12.5 404 5266 0.00 1.95 0.00 0.000 260 0.000 0.057 2741 3816 3665 3679 3652 0 0 0 0 0 0 15.23 15.02 15.25

5311 -1.85 -140.1 2740 3816 3679 3652 658.6 -12.9 414 5316 0.10 1.77 0.00 0.000 3078 0.282 0.024 2764 2616 3665 3679 3652 0 0 0 0 0 0 14.85 15.06 14.98

5623 -1.89 -140.1 2764 2616 3677 3652 694.7 -11.3 426 5627 0.00 1.92 0.00 0.000 388 0.000 0.056 2759 3809 3664 3676 3652 0 0 0 0 0 0 15.23 15.01 15.25

5672 -1.89 -140.1 2758 3810 3676 3651 700.8 -12.1 436 5677 0.00 1.80 0.00 0.000 1030 0.000 0.024 2759 2600 3663 3676 3651 0 0 0 0 0 0 15.07 15.05 15.09

5984 -1.93 -140.1 2759 2600 3675 3649 735.4 -10.9 448 5988 0.00 2.05 0.00 0.000 644 0.000 0.027 2759 1240 3662 3675 3649 0 0 0 0 0 0 15.23 15.04 15.25

6034 -1.96 -140.1 2758 1240 3675 3648 741.2 -11.5 458 6038 0.00 2.12 0.00 0.000 1158 0.000 0.035 2750 2605 3662 3675 3649 0 0 0 0 0 0 15.07 15.02 15.09

6341 -1.96 -140.1 2750 2605 3674 3648 776.8 -11.8 469 6344 0.00 1.92 0.00 0.000 260 0.000 0.057 2742 3808 3661 3674 3648 0 0 0 0 0 0 15.23 15.01 15.24

6409 -1.96 -140.1 2742 3808 3674 3647 785.6 -12.9 483 6413 0.00 1.80 0.00 0.000 1030 0.000 0.024 2742 2595 3660 3674 3647 0 0 0 0 0 0 15.07 15.05 15.07

6732 -1.96 -140.1 2742 2596 3672 3646 825.6 -12.5 497 6735 0.00 2.05 0.00 0.000 516 0.000 0.028 2742 1255 3659 3672 3646 0 0 0 0 0 0 15.22 15.03 15.24

6792 -1.96 -140.1 2742 1242 3672 3646 833.0 -11.7 509 6796 0.00 2.12 0.00 0.000 1030 0.000 0.035 2733 2605 3658 3672 3645 0 0 0 0 0 0 15.07 15.01 15.09

7118 -1.96 -140.1 2733 2605 3670 3645 875.3 -12.6 524 7119 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2605 3657 3670 3645 0 0 0 0 0 0 15.22 15.24 15.24

7418 -1.96 -140.1 2732 2605 3669 3644 914.3 -13.1 534 7419 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2605 3656 3669 3644 0 0 0 0 0 0 15.22 15.24 15.24

7718 -1.96 -140.1 2733 2605 3668 3642 953.7 -12.9 544 7722 0.00 1.95 0.00 0.000 260 0.000 0.058 2724 3817 3655 3668 3642 0 0 0 0 0 0 15.22 15.00 15.24

7752 -1.92 -140.1 2724 3817 3668 3642 958.6 -13.5 551 7757 0.15 1.77 0.00 0.000 3206 0.305 0.025 2752 2604 3655 3668 3642 0 0 0 0 0 0 14.84 15.06 15.03

8048 end dive: TARGET_DEPTH_EXCEEDED

state 8048 begin apogee

8052 -0.33 0.0 2753 2271 3667 3642 992.9 -11.4 565 8183 1.20 0.00 126.70 1.989 10246 0.235 0.000 3093 2271 3100 3081 3119 0 0 0 0 0 0 14.87 14.18 13.53

8184 end apogee: CONTROL_FINISHED_OK

state 8184 begin climb

8185 1.43 140.1 3093 2271 3076 3116 994.7 0.0 569 8328 1.23 2.20 131.65 1.949 10756 0.114 0.036 3489 991 2521 2475 2568 0 0 0 0 0 0 14.16 14.11 13.47

8364 1.27 140.1 3489 990 2471 2560 979.6 14.2 608 8369 0.20 2.17 0.00 0.000 5254 0.314 0.034 3449 2314 2515 2471 2560 0 0 0 0 0 0 14.19 14.33 14.36

8682 1.17 140.1 3448 2314 2464 2553 935.6 13.7 621 8684 0.12 0.00 0.00 0.000 4230 0.350 0.000 3424 2314 2508 2464 2553 0 0 0 0 0 0 14.57 14.78 14.75

8981 1.10 140.1 3424 2314 2462 2550 899.0 12.0 631 8982 0.00 0.00 0.00 0.000 134 0.000 0.000 3424 2314 2506 2462 2550 0 0 0 0 0 0 15.02 15.04 15.04

9282 1.03 140.1 3424 2314 2462 2548 863.6 11.9 641 9288 0.12 2.28 0.00 0.000 4484 0.340 0.054 3396 3711 2505 2462 2548 0 0 0 0 0 0 14.72 14.86 14.85

9315 0.94 140.1 3395 3711 2461 2548 859.1 12.8 648 9320 0.15 2.05 0.00 0.000 5254 0.333 0.027 3374 2352 2504 2461 2547 0 0 0 0 0 0 14.72 14.92 14.92

9642 0.94 140.1 3374 2352 2459 2547 826.2 10.2 663 9646 0.00 2.22 0.00 0.000 516 0.000 0.036 3381 944 2503 2459 2547 0 0 0 0 0 0 15.11 14.92 15.14

9716 0.94 140.1 3381 944 2459 2546 818.4 9.9 678 9720 0.00 2.15 0.00 0.000 1030 0.000 0.034 3382 2311 2502 2459 2546 0 0 0 0 0 0 14.97 14.93 15.00

10027 0.94 140.1 3381 2311 2459 2545 785.1 11.1 690 10031 0.00 2.15 0.00 0.000 516 0.000 0.037 3390 947 2502 2459 2545 0 0 0 0 0 0 15.14 14.94 15.16

10053 0.94 140.1 3390 947 2459 2543 782.3 10.6 695 10057 0.00 2.15 0.00 0.000 1030 0.000 0.035 3390 2316 2501 2459 2543 0 0 0 0 0 0 15.00 14.95 15.02

10379 0.94 140.1 3390 2315 2457 2543 746.0 10.9 710 10383 0.00 2.28 0.00 0.000 260 0.000 0.059 3391 3712 2500 2458 2542 0 0 0 0 0 0 15.16 14.94 15.18

10436 0.87 140.1 3390 3712 2457 2542 739.1 12.4 721 10442 0.20 2.12 0.00 0.000 5254 0.311 0.027 3358 2306 2499 2457 2542 0 0 0 0 0 0 14.80 15.00 14.99

10766 0.91 140.1 3358 2306 2458 2542 707.4 9.4 737 10770 0.00 2.17 0.00 0.000 644 0.000 0.037 3366 926 2499 2457 2542 0 0 0 0 0 0 15.16 14.97 15.19

10829 0.97 140.1 3365 926 2457 2540 701.6 9.3 749 10834 0.00 2.17 0.00 0.000 1158 0.000 0.034 3366 2311 2499 2457 2541 0 0 0 0 0 0 15.02 14.98 15.04

11158 1.00 140.1 3366 2311 2457 2541 667.9 10.4 765 11164 0.10 2.28 0.00 0.000 2436 0.150 0.054 3421 3717 2498 2457 2540 0 0 0 0 0 0 14.97 14.96 15.02

11210 0.87 140.1 3420 3717 2457 2540 660.4 14.5 776 11218 0.32 2.12 0.00 0.000 5254 0.306 0.027 3356 2309 2498 2457 2540 0 0 0 0 0 0 14.81 15.01 15.00

11517 0.92 140.1 3356 2309 2456 2540 626.4 11.1 787 11518 0.00 0.00 0.00 0.000 134 0.000 0.000 3356 2308 2497 2455 2540 0 0 0 0 0 0 15.18 15.21 15.20

11818 0.97 140.1 3356 2309 2455 2540 593.4 10.9 797 11820 0.12 0.00 0.00 0.000 2182 0.125 0.000 3414 2309 2497 2454 2540 0 0 0 0 0 0 15.00 15.06 15.05

12117 0.92 140.1 3414 2308 2455 2540 554.1 13.0 807 12124 0.17 2.15 0.00 0.000 4740 0.293 0.033 3380 929 2497 2455 2540 0 0 0 0 0 0 14.83 15.00 14.95

12170 0.92 140.1 3380 929 2455 2539 547.6 12.0 818 12177 0.00 2.17 0.00 0.000 1030 0.000 0.033 3379 2323 2497 2455 2539 0 0 0 0 0 0 15.04 14.99 15.07

12477 0.92 140.1 3379 2323 2456 2539 513.8 11.0 829 12478 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2323 2497 2455 2539 0 0 0 0 0 0 15.19 15.21 15.21

12777 0.92 140.1 3379 2323 2456 2539 480.8 10.9 839 12781 0.00 2.17 0.00 0.000 516 0.000 0.035 3388 926 2497 2455 2539 0 0 0 0 0 0 15.20 15.00 15.22

12805 0.92 140.1 3389 926 2455 2538 477.5 10.8 845 12810 0.00 2.20 0.00 0.000 1030 0.000 0.033 3389 2313 2496 2455 2538 0 0 0 0 0 0 15.07 14.99 15.07

13132 0.92 140.1 3388 2313 2455 2538 441.9 10.7 860 13134 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 2313 2497 2455 2539 0 0 0 0 0 0 15.20 15.22 15.22

13432 0.92 140.1 3389 2313 2455 2539 410.4 10.7 870 13436 0.00 2.15 0.00 0.000 516 0.000 0.035 3398 934 2497 2456 2538 0 0 0 0 0 0 15.20 15.00 15.23

13476 0.92 140.1 3398 934 2455 2538 405.4 11.3 879 13481 0.15 2.15 0.00 0.000 5126 0.278 0.033 3368 2313 2496 2455 2538 0 0 0 0 0 0 14.84 15.00 15.03

13788 0.97 140.1 3367 2313 2457 2538 373.3 10.4 891 13795 0.00 2.28 0.00 0.000 388 0.000 0.058 3368 3713 2497 2455 2539 0 0 0 0 0 0 15.20 14.98 15.22

13837 0.97 140.1 3367 3714 2455 2538 367.6 11.5 901 13841 0.00 2.12 0.00 0.000 1030 0.000 0.026 3374 2295 2496 2455 2538 0 0 0 0 0 0 15.07 15.04 15.08

14149 1.01 147.2 3374 2293 2455 2538 338.8 8.7 913 14150 0.00 0.00 0.00 0.000 166 0.000 0.000 3374 2292 2497 2455 2539 0 0 0 0 0 0 15.20 15.22 15.22

14449 1.08 177.4 3373 2292 2455 2538 315.7 7.3 923 14487 0.12 2.38 30.83 1.257 10660 0.126 0.057 3440 3705 2373 2328 2419 0 0 0 0 0 0 15.01 14.78 14.31

14562 0.96 177.4 3440 3705 2324 2418 302.4 13.2 946 14570 0.30 2.12 0.00 0.000 5254 0.273 0.026 3380 2300 2371 2324 2418 0 0 0 0 0 0 14.69 14.85 14.85

14869 1.01 177.4 3379 2300 2322 2414 271.6 10.8 957 14873 0.00 2.12 0.00 0.000 644 0.000 0.035 3386 955 2367 2321 2414 0 0 0 0 0 0 15.09 14.89 15.11

14960 1.07 177.4 3386 945 2321 2413 261.2 11.0 975 14964 0.00 2.12 0.00 0.000 1158 0.000 0.032 3386 2309 2366 2321 2412 0 0 0 0 0 0 14.95 14.91 14.97

15267 1.11 181.1 3386 2309 2321 2413 228.2 8.9 1002 15276 0.10 2.12 0.00 0.000 2724 0.153 0.031 3448 948 2367 2322 2412 0 0 0 0 0 0 14.92 14.92 14.97

15342 1.07 181.1 3448 948 2322 2412 220.8 9.7 1017 15349 0.20 2.12 0.00 0.000 5254 0.277 0.032 3403 2312 2366 2321 2412 0 0 0 0 0 0 14.76 14.94 14.94

15648 1.08 181.9 3403 2311 2321 2412 194.0 9.1 1048 15652 0.00 2.28 0.00 0.000 292 0.000 0.057 3403 3716 2367 2322 2412 0 0 0 0 0 0 15.14 14.91 15.16

15729 1.08 181.9 3402 3716 2321 2412 185.2 11.4 1064 15734 0.00 2.12 0.00 0.000 1030 0.000 0.025 3410 2299 2366 2321 2412 0 0 0 0 0 0 15.00 14.97 15.02

16041 1.10 201.2 3410 2297 2321 2412 154.9 8.0 1096 16071 0.00 2.17 21.33 1.086 8740 0.000 0.035 3419 949 2276 2228 2325 0 0 0 0 0 0 15.14 14.82 14.36

16194 1.17 230.1 3419 948 2227 2319 143.1 7.4 1126 16228 0.00 2.15 26.75 1.071 9382 0.000 0.032 3419 2325 2158 2107 2210 0 0 0 0 0 0 14.90 14.85 14.26

16535 1.25 250.1 3419 2325 2101 2205 116.0 7.9 1164 16560 0.10 2.30 17.20 1.040 10660 0.148 0.057 3472 3697 2077 2021 2133 0 0 0 0 0 0 14.81 14.71 14.29

16677 1.18 250.1 3472 3698 2018 2131 99.6 12.4 1192 16682 0.22 2.08 0.00 0.000 5254 0.267 0.024 3427 2311 2074 2018 2131 0 0 0 0 0 0 14.64 14.81 14.80

16989 1.24 250.1 3427 2310 2017 2130 71.3 9.4 1224 16994 0.00 2.12 0.00 0.000 644 0.000 0.034 3434 948 2073 2017 2130 0 0 0 0 0 0 15.04 14.85 15.07

17081 1.31 250.1 3434 948 2017 2129 62.4 10.1 1242 17085 0.00 2.12 0.00 0.000 1158 0.000 0.031 3434 2304 2073 2017 2129 0 0 0 0 0 0 14.92 14.88 14.94

17386 1.37 250.1 3434 2304 2017 2129 31.4 10.3 1291 17394 0.12 2.28 0.00 0.000 2436 0.129 0.054 3504 3712 2073 2017 2129 0 0 0 0 0 0 14.88 14.87 14.90

17411 1.31 250.1 3504 3712 2017 2129 28.0 13.8 1295 17418 0.25 2.08 0.00 0.000 5254 0.276 0.024 3454 2306 2072 2016 2129 0 0 0 0 0 0 14.74 14.93 14.92

17624 end climb: SURFACE_DEPTH_REACHED

state 17624 begin surface coast

17650 end surface coast: CONTROL_FINISHED_OK

state 17650 begin surface

ID	133	HD_B	0.0082	ROLL_MIN	157	TCM_ROLL_OFFSET	0
MISSION	5	HD_C	4.2000001e-06	ROLL_MAX	3825	COMPASS_USE	4
DIVE	56	HEADING	-1	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2310	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	TGT_DEFAULT_LAT	3235	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	990	TGT_DEFAULT_LON	-11731	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	118	ALTIM_PING_DELTA	50
D_NO_BLEED	200	SM_CC	450	R_STBD_OVSHOOT	55	ALTIM_FREQUENCY	13
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	350	ALTIM_PULSE	3
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	PROTOCOL	9	VBD_MIN	480	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	INT_PRESSURE_YINT	-0.090000004
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	3101	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	420	CALL_WAIT	60	VBD_TIMEOUT	720	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	DEVICE6	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	N_GPS	100440	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_RSLEEP	2	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
USE_BATHY	-6	STROBE	0	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	DBDW	0	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	COMPASS_DEVICE	97
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_MMODEM	0	CF8_MAXERRORS	20	PHONE_DEVICE	49
RELAUNCH	1	PITCH_MIN	150	AH0_24V	350	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MAX	3830	AH0_10V	0	RAFOS_DEVICE	-1
MAX_BUOY	150	C_PITCH	3170	MINV_24V	11	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	11	SIM_W	0
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SIM_PITCH	0
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0043768995
RHO	1.0275	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.00063528348
MASS	54382	PITCH_GAIN	15	FG_AHR_24V	0	SEABIRD_T_I	2.4782157e-05
MASS_COMP	0	PITCH_TIMEOUT	30	PHONE_SUPPLY	-2	SEABIRD_T_J	2.6511516e-06
NAV_MODE	2	PITCH_AD_RATE	100	PRESSURE_YINT	-18.083	SEABIRD_C_G	-9.8739452
FERRY_MAX	45	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00011564888	SEABIRD_C_H	1.0990992
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0013875214
HD_A	0.0034	PITCH_ADJ_DBAND	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00019236583

GPS1	140317,215410,1404.7070,6054.8306,34,1.6,39,-0.7,0.0,0.0,8,9.7	SPEED_LIMITS	0.159,0.279
_CALLS	1	TGT_NAME	SG133_TGT
_XMS_NAKs	0	TGT_LATLONG	1407.427,6056.149
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	33.4,5577,-18.9,-9.167,-21.50,1640
_SM_ANGLEo	-68.7	D_GRID	1000
GPS2	140317,215836,1404.7054,6054.8198,14,1.3,19,-0.7,0.0,0.0,9,9.8

FINISH	0.3,1.002007	FG_AHR_24Vo	0.000
SM_CCo	17666,85.80,0.081,0,0,1265,450.12	FG_AHR_10Vo	0.000
SM_GC	1.20,9.48,0.47,85.80,0.073,0.057,0.081,140,2616,1265,-13.86,-1.22,450.12,0,0,0,0,0,0,14.85,14.92,14.82	MEM	193848
IRIDIUM_FIX	1358.61,6055.86,140317,172507	DATA_FILE_SIZE	56500,1342
TT8_MAMPS	0.024717,0.155792	CAP_FILE_SIZE	160837,0
HUMID	45.94	CFSIZE	260034560,254787584
INTERNAL_PRESSURE	8.97285	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.20	INTR	0,8289.47,0x233da8,1,24
XPDR_PINGS	0	CURRENT	0.042,314.63,1
_24V_AH	13.47,14.120	GPS	150317,025632,1407.040,6056.104,41,1.0,43,-0.7,0.0,0.0,7,9.2
_10V_AH	13.30,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	452	182.24	SBE_CT	651	75	664.11
Roll_motor	134	58	106.56	nil	0	0	0.00
VBD_pump_during_apogee	354	1989	9496.36	nil	0	0	0.00
VBD_pump_during_surface	85	81	93.72	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	179	163	396.66	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	19	5.45
TT8	2685	8	315.00
LPSleep	12554	2	365.67
TT8_Active	569	8	66.86
TT8_Sampling	2127	28	800.53
TT8_CF8	103	32	44.96
TT8_Kalman	0	0	0.00
Analog_circuits	1826	15	386.27
GPS_charging	0	0	0.00
Compass	1910	6	171.26
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.38	-97.8	136	2615	1216	1299	0.0	0.0	0	72	0.00	0.00	-63.15	0.000	16386	0.000	0.000	136	2615	3495	3545	3445	0	0	0	0	0	0	14.95	28.83	14.97
74	-1.43	-140.1	136	2615	3545	3446	3.2	-6.5	11	95	14.18	0.00	-2.53	0.000	18470	0.452	0.000	2850	2615	3675	3702	3649	0	0	0	0	0	0	14.53	13.94	14.71
401	-1.43	-140.1	2850	2615	3702	3656	61.4	-15.6	68	406	0.00	1.92	0.00	0.000	260	0.000	0.058	2843	3805	3679	3702	3656	0	0	0	0	0	0	15.04	14.82	15.06
482	-1.43	-140.1	2843	3805	3702	3656	75.0	-17.3	84	487	0.00	1.73	0.00	0.000	1030	0.000	0.023	2843	2584	3679	3702	3656	0	0	0	0	0	0	14.93	14.90	14.94
794	-1.49	-140.1	2843	2585	3702	3658	123.8	-12.3	116	798	0.00	2.00	0.00	0.000	644	0.000	0.027	2843	1253	3680	3702	3658	0	0	0	0	0	0	15.11	14.92	15.12
845	-1.56	-140.1	2843	1253	3702	3659	129.0	-9.6	126	849	0.00	2.08	0.00	0.000	1158	0.000	0.035	2835	2592	3680	3702	3658	0	0	0	0	0	0	14.97	14.90	14.98
1151	-1.61	-140.1	2835	2592	3702	3662	158.4	-10.6	157	1155	0.00	1.95	0.00	0.000	388	0.000	0.057	2826	3807	3682	3702	3662	0	0	0	0	0	0	15.14	14.92	15.16
1374	-1.67	-140.1	2825	3808	3701	3664	186.0	-12.5	202	1382	0.00	1.75	0.00	0.000	1158	0.000	0.022	2826	2603	3682	3702	3663	0	0	0	0	0	0	15.00	14.99	15.01
1682	-1.76	-140.1	2826	2603	3702	3664	227.1	-13.6	233	1691	0.12	2.03	0.00	0.000	4740	0.124	0.024	2763	1249	3683	3702	3664	0	0	0	0	0	0	14.97	14.98	15.00
1746	-1.76	-140.1	2763	1249	3702	3664	237.4	-14.9	246	1754	0.12	2.15	0.00	0.000	3078	0.258	0.035	2785	2605	3683	3702	3664	0	0	0	0	0	0	14.81	14.96	14.93
2053	-1.76	-140.1	2785	2605	3702	3664	276.6	-12.2	263	2054	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2605	3682	3701	3664	0	0	0	0	0	0	15.19	15.21	15.21
2354	-1.80	-140.1	2785	2605	3701	3664	311.5	-11.5	273	2358	0.00	2.05	0.00	0.000	644	0.000	0.027	2786	1243	3682	3701	3664	0	0	0	0	0	0	15.20	15.02	15.22
2434	-1.86	-140.1	2786	1243	3701	3664	320.5	-11.0	289	2438	0.00	2.10	0.00	0.000	1158	0.000	0.035	2780	2601	3682	3701	3664	0	0	0	0	0	0	15.05	15.00	15.07
2740	-1.89	-140.1	2780	2601	3698	3664	351.3	-9.8	300	2742	0.10	0.00	0.00	0.000	4230	0.154	0.000	2732	2602	3681	3698	3664	0	0	0	0	0	0	15.00	15.08	15.07
3040	-1.85	-140.1	2731	2602	3695	3663	389.7	-12.9	310	3045	0.15	1.95	0.00	0.000	2436	0.312	0.054	2758	3814	3679	3695	3664	0	0	0	0	0	0	14.84	15.00	14.97
3101	-1.85	-140.1	2758	3814	3695	3664	397.4	-11.9	322	3105	0.00	1.73	0.00	0.000	1030	0.000	0.024	2758	2594	3679	3694	3664	0	0	0	0	0	0	15.09	15.07	15.10
3432	-1.85	-140.1	2758	2592	3691	3664	435.1	-11.1	338	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2592	3677	3691	3664	0	0	0	0	0	0	15.22	15.25	15.24
3731	-1.85	-140.1	2758	2591	3689	3661	469.4	-11.5	348	3733	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2592	3674	3688	3661	0	0	0	0	0	0	15.23	15.25	15.25
4031	-1.85	-140.1	2758	2592	3687	3659	504.7	-12.0	358	4033	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2592	3673	3687	3659	0	0	0	0	0	0	15.23	15.25	15.25
4332	-1.85	-140.1	2758	2592	3685	3658	540.0	-11.6	368	4333	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2592	3671	3685	3658	0	0	0	0	0	0	15.23	15.25	15.25
4631	-1.85	-140.1	2758	2592	3683	3657	574.8	-11.6	378	4635	0.00	2.03	0.00	0.000	516	0.000	0.027	2758	1249	3669	3682	3657	0	0	0	0	0	0	15.23	15.04	15.25
4655	-1.85	-140.1	2758	1243	3683	3656	577.7	-11.5	383	4662	0.00	2.15	0.00	0.000	1030	0.000	0.035	2749	2597	3669	3683	3656	0	0	0	0	0	0	15.04	15.02	15.10
4962	-1.85	-140.1	2749	2597	3679	3654	614.7	-12.0	394	4963	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2596	3667	3681	3654	0	0	0	0	0	0	15.23	15.25	15.25
5262	-1.85	-140.1	2749	2597	3679	3652	651.9	-12.5	404	5266	0.00	1.95	0.00	0.000	260	0.000	0.057	2741	3816	3665	3679	3652	0	0	0	0	0	0	15.23	15.02	15.25
5311	-1.85	-140.1	2740	3816	3679	3652	658.6	-12.9	414	5316	0.10	1.77	0.00	0.000	3078	0.282	0.024	2764	2616	3665	3679	3652	0	0	0	0	0	0	14.85	15.06	14.98
5623	-1.89	-140.1	2764	2616	3677	3652	694.7	-11.3	426	5627	0.00	1.92	0.00	0.000	388	0.000	0.056	2759	3809	3664	3676	3652	0	0	0	0	0	0	15.23	15.01	15.25
5672	-1.89	-140.1	2758	3810	3676	3651	700.8	-12.1	436	5677	0.00	1.80	0.00	0.000	1030	0.000	0.024	2759	2600	3663	3676	3651	0	0	0	0	0	0	15.07	15.05	15.09
5984	-1.93	-140.1	2759	2600	3675	3649	735.4	-10.9	448	5988	0.00	2.05	0.00	0.000	644	0.000	0.027	2759	1240	3662	3675	3649	0	0	0	0	0	0	15.23	15.04	15.25
6034	-1.96	-140.1	2758	1240	3675	3648	741.2	-11.5	458	6038	0.00	2.12	0.00	0.000	1158	0.000	0.035	2750	2605	3662	3675	3649	0	0	0	0	0	0	15.07	15.02	15.09
6341	-1.96	-140.1	2750	2605	3674	3648	776.8	-11.8	469	6344	0.00	1.92	0.00	0.000	260	0.000	0.057	2742	3808	3661	3674	3648	0	0	0	0	0	0	15.23	15.01	15.24
6409	-1.96	-140.1	2742	3808	3674	3647	785.6	-12.9	483	6413	0.00	1.80	0.00	0.000	1030	0.000	0.024	2742	2595	3660	3674	3647	0	0	0	0	0	0	15.07	15.05	15.07
6732	-1.96	-140.1	2742	2596	3672	3646	825.6	-12.5	497	6735	0.00	2.05	0.00	0.000	516	0.000	0.028	2742	1255	3659	3672	3646	0	0	0	0	0	0	15.22	15.03	15.24
6792	-1.96	-140.1	2742	1242	3672	3646	833.0	-11.7	509	6796	0.00	2.12	0.00	0.000	1030	0.000	0.035	2733	2605	3658	3672	3645	0	0	0	0	0	0	15.07	15.01	15.09
7118	-1.96	-140.1	2733	2605	3670	3645	875.3	-12.6	524	7119	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2605	3657	3670	3645	0	0	0	0	0	0	15.22	15.24	15.24
7418	-1.96	-140.1	2732	2605	3669	3644	914.3	-13.1	534	7419	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2605	3656	3669	3644	0	0	0	0	0	0	15.22	15.24	15.24
7718	-1.96	-140.1	2733	2605	3668	3642	953.7	-12.9	544	7722	0.00	1.95	0.00	0.000	260	0.000	0.058	2724	3817	3655	3668	3642	0	0	0	0	0	0	15.22	15.00	15.24
7752	-1.92	-140.1	2724	3817	3668	3642	958.6	-13.5	551	7757	0.15	1.77	0.00	0.000	3206	0.305	0.025	2752	2604	3655	3668	3642	0	0	0	0	0	0	14.84	15.06	15.03
8048	end dive: TARGET_DEPTH_EXCEEDED
state	8048	begin apogee
8052	-0.33	0.0	2753	2271	3667	3642	992.9	-11.4	565	8183	1.20	0.00	126.70	1.989	10246	0.235	0.000	3093	2271	3100	3081	3119	0	0	0	0	0	0	14.87	14.18	13.53
8184	end apogee: CONTROL_FINISHED_OK
state	8184	begin climb
8185	1.43	140.1	3093	2271	3076	3116	994.7	0.0	569	8328	1.23	2.20	131.65	1.949	10756	0.114	0.036	3489	991	2521	2475	2568	0	0	0	0	0	0	14.16	14.11	13.47
8364	1.27	140.1	3489	990	2471	2560	979.6	14.2	608	8369	0.20	2.17	0.00	0.000	5254	0.314	0.034	3449	2314	2515	2471	2560	0	0	0	0	0	0	14.19	14.33	14.36
8682	1.17	140.1	3448	2314	2464	2553	935.6	13.7	621	8684	0.12	0.00	0.00	0.000	4230	0.350	0.000	3424	2314	2508	2464	2553	0	0	0	0	0	0	14.57	14.78	14.75
8981	1.10	140.1	3424	2314	2462	2550	899.0	12.0	631	8982	0.00	0.00	0.00	0.000	134	0.000	0.000	3424	2314	2506	2462	2550	0	0	0	0	0	0	15.02	15.04	15.04
9282	1.03	140.1	3424	2314	2462	2548	863.6	11.9	641	9288	0.12	2.28	0.00	0.000	4484	0.340	0.054	3396	3711	2505	2462	2548	0	0	0	0	0	0	14.72	14.86	14.85
9315	0.94	140.1	3395	3711	2461	2548	859.1	12.8	648	9320	0.15	2.05	0.00	0.000	5254	0.333	0.027	3374	2352	2504	2461	2547	0	0	0	0	0	0	14.72	14.92	14.92
9642	0.94	140.1	3374	2352	2459	2547	826.2	10.2	663	9646	0.00	2.22	0.00	0.000	516	0.000	0.036	3381	944	2503	2459	2547	0	0	0	0	0	0	15.11	14.92	15.14
9716	0.94	140.1	3381	944	2459	2546	818.4	9.9	678	9720	0.00	2.15	0.00	0.000	1030	0.000	0.034	3382	2311	2502	2459	2546	0	0	0	0	0	0	14.97	14.93	15.00
10027	0.94	140.1	3381	2311	2459	2545	785.1	11.1	690	10031	0.00	2.15	0.00	0.000	516	0.000	0.037	3390	947	2502	2459	2545	0	0	0	0	0	0	15.14	14.94	15.16
10053	0.94	140.1	3390	947	2459	2543	782.3	10.6	695	10057	0.00	2.15	0.00	0.000	1030	0.000	0.035	3390	2316	2501	2459	2543	0	0	0	0	0	0	15.00	14.95	15.02
10379	0.94	140.1	3390	2315	2457	2543	746.0	10.9	710	10383	0.00	2.28	0.00	0.000	260	0.000	0.059	3391	3712	2500	2458	2542	0	0	0	0	0	0	15.16	14.94	15.18
10436	0.87	140.1	3390	3712	2457	2542	739.1	12.4	721	10442	0.20	2.12	0.00	0.000	5254	0.311	0.027	3358	2306	2499	2457	2542	0	0	0	0	0	0	14.80	15.00	14.99
10766	0.91	140.1	3358	2306	2458	2542	707.4	9.4	737	10770	0.00	2.17	0.00	0.000	644	0.000	0.037	3366	926	2499	2457	2542	0	0	0	0	0	0	15.16	14.97	15.19
10829	0.97	140.1	3365	926	2457	2540	701.6	9.3	749	10834	0.00	2.17	0.00	0.000	1158	0.000	0.034	3366	2311	2499	2457	2541	0	0	0	0	0	0	15.02	14.98	15.04
11158	1.00	140.1	3366	2311	2457	2541	667.9	10.4	765	11164	0.10	2.28	0.00	0.000	2436	0.150	0.054	3421	3717	2498	2457	2540	0	0	0	0	0	0	14.97	14.96	15.02
11210	0.87	140.1	3420	3717	2457	2540	660.4	14.5	776	11218	0.32	2.12	0.00	0.000	5254	0.306	0.027	3356	2309	2498	2457	2540	0	0	0	0	0	0	14.81	15.01	15.00
11517	0.92	140.1	3356	2309	2456	2540	626.4	11.1	787	11518	0.00	0.00	0.00	0.000	134	0.000	0.000	3356	2308	2497	2455	2540	0	0	0	0	0	0	15.18	15.21	15.20
11818	0.97	140.1	3356	2309	2455	2540	593.4	10.9	797	11820	0.12	0.00	0.00	0.000	2182	0.125	0.000	3414	2309	2497	2454	2540	0	0	0	0	0	0	15.00	15.06	15.05
12117	0.92	140.1	3414	2308	2455	2540	554.1	13.0	807	12124	0.17	2.15	0.00	0.000	4740	0.293	0.033	3380	929	2497	2455	2540	0	0	0	0	0	0	14.83	15.00	14.95
12170	0.92	140.1	3380	929	2455	2539	547.6	12.0	818	12177	0.00	2.17	0.00	0.000	1030	0.000	0.033	3379	2323	2497	2455	2539	0	0	0	0	0	0	15.04	14.99	15.07
12477	0.92	140.1	3379	2323	2456	2539	513.8	11.0	829	12478	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2323	2497	2455	2539	0	0	0	0	0	0	15.19	15.21	15.21
12777	0.92	140.1	3379	2323	2456	2539	480.8	10.9	839	12781	0.00	2.17	0.00	0.000	516	0.000	0.035	3388	926	2497	2455	2539	0	0	0	0	0	0	15.20	15.00	15.22
12805	0.92	140.1	3389	926	2455	2538	477.5	10.8	845	12810	0.00	2.20	0.00	0.000	1030	0.000	0.033	3389	2313	2496	2455	2538	0	0	0	0	0	0	15.07	14.99	15.07
13132	0.92	140.1	3388	2313	2455	2538	441.9	10.7	860	13134	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	2313	2497	2455	2539	0	0	0	0	0	0	15.20	15.22	15.22
13432	0.92	140.1	3389	2313	2455	2539	410.4	10.7	870	13436	0.00	2.15	0.00	0.000	516	0.000	0.035	3398	934	2497	2456	2538	0	0	0	0	0	0	15.20	15.00	15.23
13476	0.92	140.1	3398	934	2455	2538	405.4	11.3	879	13481	0.15	2.15	0.00	0.000	5126	0.278	0.033	3368	2313	2496	2455	2538	0	0	0	0	0	0	14.84	15.00	15.03
13788	0.97	140.1	3367	2313	2457	2538	373.3	10.4	891	13795	0.00	2.28	0.00	0.000	388	0.000	0.058	3368	3713	2497	2455	2539	0	0	0	0	0	0	15.20	14.98	15.22
13837	0.97	140.1	3367	3714	2455	2538	367.6	11.5	901	13841	0.00	2.12	0.00	0.000	1030	0.000	0.026	3374	2295	2496	2455	2538	0	0	0	0	0	0	15.07	15.04	15.08
14149	1.01	147.2	3374	2293	2455	2538	338.8	8.7	913	14150	0.00	0.00	0.00	0.000	166	0.000	0.000	3374	2292	2497	2455	2539	0	0	0	0	0	0	15.20	15.22	15.22
14449	1.08	177.4	3373	2292	2455	2538	315.7	7.3	923	14487	0.12	2.38	30.83	1.257	10660	0.126	0.057	3440	3705	2373	2328	2419	0	0	0	0	0	0	15.01	14.78	14.31
14562	0.96	177.4	3440	3705	2324	2418	302.4	13.2	946	14570	0.30	2.12	0.00	0.000	5254	0.273	0.026	3380	2300	2371	2324	2418	0	0	0	0	0	0	14.69	14.85	14.85
14869	1.01	177.4	3379	2300	2322	2414	271.6	10.8	957	14873	0.00	2.12	0.00	0.000	644	0.000	0.035	3386	955	2367	2321	2414	0	0	0	0	0	0	15.09	14.89	15.11
14960	1.07	177.4	3386	945	2321	2413	261.2	11.0	975	14964	0.00	2.12	0.00	0.000	1158	0.000	0.032	3386	2309	2366	2321	2412	0	0	0	0	0	0	14.95	14.91	14.97
15267	1.11	181.1	3386	2309	2321	2413	228.2	8.9	1002	15276	0.10	2.12	0.00	0.000	2724	0.153	0.031	3448	948	2367	2322	2412	0	0	0	0	0	0	14.92	14.92	14.97
15342	1.07	181.1	3448	948	2322	2412	220.8	9.7	1017	15349	0.20	2.12	0.00	0.000	5254	0.277	0.032	3403	2312	2366	2321	2412	0	0	0	0	0	0	14.76	14.94	14.94
15648	1.08	181.9	3403	2311	2321	2412	194.0	9.1	1048	15652	0.00	2.28	0.00	0.000	292	0.000	0.057	3403	3716	2367	2322	2412	0	0	0	0	0	0	15.14	14.91	15.16
15729	1.08	181.9	3402	3716	2321	2412	185.2	11.4	1064	15734	0.00	2.12	0.00	0.000	1030	0.000	0.025	3410	2299	2366	2321	2412	0	0	0	0	0	0	15.00	14.97	15.02
16041	1.10	201.2	3410	2297	2321	2412	154.9	8.0	1096	16071	0.00	2.17	21.33	1.086	8740	0.000	0.035	3419	949	2276	2228	2325	0	0	0	0	0	0	15.14	14.82	14.36
16194	1.17	230.1	3419	948	2227	2319	143.1	7.4	1126	16228	0.00	2.15	26.75	1.071	9382	0.000	0.032	3419	2325	2158	2107	2210	0	0	0	0	0	0	14.90	14.85	14.26
16535	1.25	250.1	3419	2325	2101	2205	116.0	7.9	1164	16560	0.10	2.30	17.20	1.040	10660	0.148	0.057	3472	3697	2077	2021	2133	0	0	0	0	0	0	14.81	14.71	14.29
16677	1.18	250.1	3472	3698	2018	2131	99.6	12.4	1192	16682	0.22	2.08	0.00	0.000	5254	0.267	0.024	3427	2311	2074	2018	2131	0	0	0	0	0	0	14.64	14.81	14.80
16989	1.24	250.1	3427	2310	2017	2130	71.3	9.4	1224	16994	0.00	2.12	0.00	0.000	644	0.000	0.034	3434	948	2073	2017	2130	0	0	0	0	0	0	15.04	14.85	15.07
17081	1.31	250.1	3434	948	2017	2129	62.4	10.1	1242	17085	0.00	2.12	0.00	0.000	1158	0.000	0.031	3434	2304	2073	2017	2129	0	0	0	0	0	0	14.92	14.88	14.94
17386	1.37	250.1	3434	2304	2017	2129	31.4	10.3	1291	17394	0.12	2.28	0.00	0.000	2436	0.129	0.054	3504	3712	2073	2017	2129	0	0	0	0	0	0	14.88	14.87	14.90
17411	1.31	250.1	3504	3712	2017	2129	28.0	13.8	1295	17418	0.25	2.08	0.00	0.000	5254	0.276	0.024	3454	2306	2072	2016	2129	0	0	0	0	0	0	14.74	14.93	14.92
17624	end climb: SURFACE_DEPTH_REACHED
state	17624	begin surface coast
17650	end surface coast: CONTROL_FINISHED_OK
state	17650	begin surface