Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 159 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 15 ESCAPE_HEADING 0 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 159 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2303 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2303 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 600 UPLOAD_DIVES_MAX -1 VBD_MIN 480 DEVICE2 20

T_MISSION 630 CALL_TRIES 5 VBD_MAX 3950 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 2931 DEVICE4 35

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -1 T_GPS 10 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -64026.621 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 57 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 120 RAFOS_HIT_WINDOW 3600 AH0_24V 147 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 120 AH0_10V 122.2 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3976 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2000 PRESSURE_YINT -1.9652373 SEABIRD_T_G 0.0043441742

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_H 0.00062523223

MASS 51458 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 1.8114715e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.1782754e-06

FERRY_MAX 45 PITCH_GAIN 23 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.019677

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1227477

HD_A 0.0037098001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00077646878

HD_B 0.012019 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00015901824

HD_C 3.2039999e-05 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 23 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3976 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 120 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011159377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -1.9652373 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 600

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

CALL_TRIES 5 HD_A 0.0037098001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.012019 RELAUNCH 1 T_GPS_CHARGE -64026.621

CAPMAXSIZE 100000 HD_C 3.2039999e-05 RHO 1.023 T_MISSION 630

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 57

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 144 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3809 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2000 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY -1

C_ROLL_CLIMB 2303 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2303 MASS 51458 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 15 SEABIRD_C_G -10.019677 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1227477 VBD_MAX 3950

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00077646878 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00015901824 VBD_MIN 480

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0043441742 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.00062523223 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 1.8114715e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 1.1782754e-06 XPDR_DEVICE 24

DIVE 159 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 171337,4956.499,-14510.722,41,1.0,41,18.4 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4954.011,-14511.944

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.028,-0.158

_SM_DEPTHo 1.97 KALMAN_X -76003.2,396.5,-13.8,63854.1,-445.6

_SM_ANGLEo -67.6 KALMAN_Y 65342.7,-296.8,-111.2,-70836.8,1050.3

GPS2 171902,4956.507,-14510.729,10,1.2,10,18.4 MHEAD_RNG_PITCHd_Wd 171.6,4844,-13.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.9,1.011082 XPDR_PINGS 79

SM_CCo 28721,17.25,0.628,0,0,1708,300.00 _24V_AH 23.1,25.471

SM_GC 3.08,0.00,0.00,17.25,0.000,0.000,0.628,100,2301,1708,-8.74,-0.06,300.00 _10V_AH 10.7,20.272

IRIDIUM_FIX 4939.69,-14508.98,281098,090948 DATA_FILE_SIZE 47523,775

TT8_MAMPS 0.029146 CAP_FILE_SIZE 198111,0

HUMID 1664 CFSIZE 260165632,246329344

INTERNAL_PRESSURE 7.46122 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 17.10 GPS 040809,012007,4953.530,-14511.666,32,1.9,32,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 247 133.48 SBE_CT 546 24 302.92

Roll_motor 264 69 421.97 SBE_O2 615 19 270.33

VBD_pump_during_apogee 334 1332 10297.53 Optode 797 33 607.76

VBD_pump_during_surface 17 628 250.31 WL_BB2F 1330 105 3227.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.10 nil 0 0 0.00

Iridium_during_connect 27 160 101.90 nil 0 0 0.00

Iridium_during_xfer 147 223 757.63

Transponder_ping 19 420 191.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.42

TT8 1773 19 375.79

LPSleep 23775 2 557.14

TT8_Active 514 19 109.11

TT8_Sampling 2398 39 1021.43

TT8_CF8 592 45 290.55

TT8_Kalman 33 81 29.21

Analog_circuits 1739 12 223.36

GPS_charging 0 0 0.00

Compass 2383 8 204.04

RAFOS 0 0 0.00

Transponder 0 30 0.17

Guidance and control:

st_secs pitch_ctl vbd_ctl 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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.71 -104.1 0.0 0.0 0 51 0.00 0.00 -32.10 0.000 2 0.000 0.000 100 2303 2587

53 -0.71 -104.1 3.3 -6.6 3 88 7.12 2.30 -18.05 0.000 4 0.248 0.069 1829 3702 3358

111 -0.37 -104.1 12.4 -16.7 8 116 0.30 2.20 0.00 0.000 6 0.140 0.037 1917 2297 3359

438 -0.53 -104.1 37.2 -5.9 38 443 0.12 2.22 0.00 0.000 4 0.059 0.041 1840 889 3361

505 -0.42 -104.1 43.9 -10.6 43 512 0.20 2.25 0.00 0.000 6 0.126 0.040 1903 2291 3362

830 -0.57 -104.1 64.4 -6.4 74 834 0.10 2.20 0.00 0.000 4 0.067 0.041 1839 893 3363

874 -0.47 -104.1 68.9 -10.6 77 881 0.22 2.22 0.00 0.000 6 0.131 0.040 1901 2311 3363

1194 -0.61 -104.1 93.4 -7.4 100 1199 0.12 2.22 0.00 0.000 4 0.059 0.041 1829 893 3363

1244 -0.48 -104.1 98.7 -11.2 102 1249 0.25 2.22 0.00 0.000 6 0.127 0.040 1897 2308 3364

1561 -0.65 -117.3 116.6 -4.8 117 1566 0.12 2.25 -0.30 0.000 4 0.060 0.056 1820 887 3419

1633 -0.57 -117.3 122.9 -9.0 120 1638 0.22 2.25 0.00 0.000 6 0.123 0.044 1878 2314 3419

1949 -0.72 -117.3 140.9 -5.7 135 1954 0.12 2.22 0.00 0.000 4 0.058 0.042 1804 893 3419

1989 -0.59 -117.3 144.5 -10.2 136 1996 0.25 2.22 0.00 0.000 6 0.124 0.039 1871 2312 3419

2323 -0.73 -117.3 166.7 -6.5 149 2328 0.12 2.22 0.00 0.000 4 0.058 0.051 1786 3719 3418

2356 -0.60 -117.3 170.0 -10.9 150 2361 0.28 2.17 0.00 0.000 6 0.124 0.035 1870 2300 3418

2685 -0.75 -117.3 191.7 -6.2 161 2690 0.12 2.20 0.00 0.000 4 0.061 0.043 1796 895 3418

2706 -0.75 -117.3 193.6 -8.5 161 2713 0.17 2.20 0.00 0.000 6 0.133 0.039 1836 2307 3417

3019 -0.75 -117.3 218.1 -8.0 172 3020 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 2307 3417

3325 -0.75 -117.3 243.2 -8.4 182 3329 0.00 2.25 0.00 0.000 4 0.000 0.047 1837 891 3417

3353 -0.75 -117.3 245.7 -9.1 183 3357 0.00 2.22 0.00 0.000 6 0.000 0.044 1836 2303 3417

3688 -0.75 -117.3 274.1 -8.5 194 3691 0.00 2.22 0.00 0.000 4 0.000 0.051 1836 895 3416

3715 -0.75 -117.3 276.7 -9.4 194 3721 0.00 2.22 0.00 0.000 6 0.000 0.045 1835 2306 3416

4058 -0.75 -117.3 305.1 -8.2 205 4059 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 2306 3416

4361 -0.75 -117.3 328.4 -7.7 210 4364 0.00 2.22 0.00 0.000 4 0.000 0.049 1835 900 3415

4417 -0.81 -117.3 332.9 -7.7 210 4421 0.00 2.22 0.00 0.000 6 0.000 0.044 1828 2314 3414

4726 -0.81 -117.3 355.9 -7.4 215 4727 0.00 0.00 0.00 0.000 6 0.000 0.000 1829 2314 3413

5029 -0.81 -117.3 379.2 -7.7 220 5033 0.00 2.25 0.00 0.000 4 0.000 0.048 1828 890 3413

5102 -0.81 -117.3 385.5 -8.5 221 5106 0.00 2.22 0.00 0.000 6 0.000 0.042 1823 2305 3413

5462 -0.81 -117.3 414.7 -8.1 227 5463 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2306 3413

5765 -0.81 -117.3 439.0 -8.0 232 5768 0.00 2.22 0.00 0.000 4 0.000 0.053 1822 898 3412

5803 -0.81 -117.3 442.4 -8.8 232 5807 0.00 2.22 0.00 0.000 6 0.000 0.044 1819 2309 3412

6136 -0.81 -117.3 471.1 -8.8 238 6139 0.00 2.22 0.00 0.000 4 0.000 0.047 1819 900 3412

6174 -0.81 -117.3 474.8 -9.1 238 6178 0.00 2.20 0.00 0.000 6 0.000 0.044 1811 2306 3412

6506 -0.81 -117.3 505.0 -9.1 244 6507 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2306 3410

6809 -0.81 -117.3 531.7 -8.8 249 6810 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2306 3411

7113 -0.81 -117.3 556.8 -8.2 254 7117 0.00 2.25 0.00 0.000 4 0.000 0.049 1811 894 3411

7157 -0.81 -117.3 560.5 -8.4 254 7160 0.00 2.22 0.00 0.000 6 0.000 0.047 1808 2302 3411

7477 -0.81 -117.3 585.2 -7.6 260 7478 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2302 3410

7780 -0.81 -117.3 607.1 -7.1 265 7782 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2302 3410

8084 -0.81 -117.3 628.8 -7.1 270 8087 0.00 2.22 0.00 0.000 4 0.000 0.047 1807 897 3410

8128 -0.81 -117.3 632.2 -7.5 270 8132 0.00 2.22 0.00 0.000 6 0.000 0.044 1805 2305 3410

8448 -0.81 -117.3 656.6 -7.7 276 8450 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2305 3410

8751 -0.81 -117.3 680.3 -7.8 281 8752 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2305 3410

9054 -0.81 -117.3 704.4 -8.0 286 9055 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2305 3410

9358 -0.81 -117.3 728.5 -7.9 291 9359 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2305 3409

9660 -0.81 -117.3 752.7 -8.0 296 9664 0.00 2.22 0.00 0.000 4 0.000 0.052 1805 901 3409

9688 -0.81 -117.3 755.2 -8.6 296 9692 0.12 2.22 0.00 0.000 6 0.133 0.043 1830 2314 3409

10025 -0.91 -117.3 776.9 -6.3 302 10030 0.12 2.25 0.00 0.000 4 0.072 0.048 1776 900 3409

10046 -0.91 -117.3 778.8 -8.2 302 10051 0.12 2.20 0.00 0.000 6 0.149 0.048 1800 2301 3409

10389 -0.91 -117.3 805.4 -7.8 308 10391 0.00 0.00 0.00 0.000 6 0.000 0.000 1800 2301 3408

10692 -0.91 -117.3 828.0 -7.4 313 10696 0.00 2.25 0.00 0.000 4 0.000 0.049 1800 893 3408

10719 -0.91 -117.3 830.2 -7.8 313 10723 0.00 2.25 0.00 0.000 6 0.000 0.050 1794 2314 3408

11057 -0.86 -117.3 855.0 -7.3 319 11058 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2314 3408

11360 -0.80 -117.3 877.2 -7.3 324 11365 0.12 2.28 0.00 0.000 4 0.145 0.054 1827 900 3408

11387 -0.86 -117.3 879.2 -6.3 324 11391 0.00 2.22 0.00 0.000 6 0.000 0.047 1821 2304 3408

11719 -0.93 -117.3 898.4 -5.8 330 11724 0.10 2.25 0.00 0.000 4 0.084 0.049 1777 896 3408

11763 -0.81 -117.3 901.7 -8.3 330 11768 0.20 2.22 0.00 0.000 6 0.140 0.049 1825 2302 3407

12078 -0.90 -117.3 918.7 -5.3 336 12082 0.00 2.25 0.00 0.000 4 0.000 0.050 1827 899 3407

12112 -1.00 -117.3 920.7 -5.8 336 12116 0.12 2.22 0.00 0.000 6 0.077 0.044 1769 2303 3407

12438 -0.86 -117.3 948.1 -8.6 342 12440 0.15 0.00 0.00 0.000 6 0.150 0.000 1810 2304 3407

12740 -0.86 -117.3 970.0 -7.1 347 12742 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2304 3407

13042 end dive: TARGET_DEPTH_EXCEEDED

state 13042 begin apogee

13048 -0.22 0.0 992.1 7.2 352 13144 0.45 0.00 93.32 1.332 6 0.128 0.000 1954 2304 2931

13144 end apogee: CONTROL_FINISHED_OK

state 13144 begin climb

13147 0.72 117.3 993.7 0.0 353 13253 0.60 2.55 98.45 1.304 4 0.079 0.060 2161 3706 2450

13304 0.29 117.3 988.8 8.8 355 13310 0.43 2.35 0.00 0.000 6 0.185 0.038 2067 2310 2446

13637 0.41 155.7 975.0 4.1 361 13676 0.08 2.47 31.98 1.261 4 0.091 0.058 2109 894 2295

13687 0.44 175.3 972.1 4.8 361 13712 0.00 2.38 18.27 1.200 6 0.000 0.048 2109 2309 2215

14069 0.44 175.3 947.1 6.6 368 14073 0.00 2.30 0.00 0.000 4 0.000 0.053 2109 3710 2209

14096 0.36 175.3 945.0 7.5 368 14101 0.15 2.28 0.00 0.000 6 0.166 0.037 2081 2294 2208

14428 0.48 185.8 927.6 5.1 374 14442 0.08 2.30 9.25 1.105 4 0.089 0.054 2126 894 2173

14459 0.48 185.8 925.6 6.6 374 14464 0.10 2.30 0.00 0.000 6 0.147 0.048 2102 2314 2171

14791 0.48 185.8 906.1 5.9 380 14795 0.00 2.28 0.00 0.000 4 0.000 0.058 2102 3718 2170

14836 0.43 185.8 903.0 7.9 380 14840 0.00 2.25 0.00 0.000 6 0.000 0.036 2110 2294 2169

15151 0.43 185.8 882.6 6.5 386 15152 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 2294 2169

15454 0.43 185.8 863.0 6.5 391 15458 0.00 2.30 0.00 0.000 4 0.000 0.055 2110 3715 2169

15492 0.35 185.8 860.0 7.9 391 15497 0.17 2.22 0.00 0.000 6 0.162 0.038 2073 2301 2168

15814 0.52 204.8 844.7 4.8 397 15838 0.12 2.35 16.90 1.167 4 0.068 0.059 2139 891 2095

15855 0.45 204.8 841.6 7.2 397 15860 0.15 2.28 0.00 0.000 6 0.143 0.048 2099 2306 2094

16176 0.52 204.8 822.4 6.0 403 16180 0.00 2.28 0.00 0.000 4 0.000 0.054 2099 3710 2091

16209 0.52 204.8 819.9 6.9 403 16213 0.00 2.22 0.00 0.000 6 0.000 0.036 2107 2302 2091

16542 0.52 204.8 798.3 6.5 409 16543 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2302 2091

16844 0.52 204.8 778.9 6.4 414 16848 0.00 2.30 0.00 0.000 4 0.000 0.054 2107 3721 2091

16876 0.52 204.8 776.4 8.0 414 16880 0.00 2.22 0.00 0.000 6 0.000 0.035 2117 2302 2090

17209 0.52 204.8 753.2 6.9 420 17213 0.00 2.25 0.00 0.000 4 0.000 0.051 2128 894 2090

17241 0.52 204.8 750.7 7.5 420 17245 0.00 2.25 0.00 0.000 6 0.000 0.044 2128 2310 2090

17574 0.45 204.8 725.3 7.7 426 17578 0.12 2.25 0.00 0.000 4 0.157 0.053 2096 3713 2090

17607 0.45 204.8 722.8 7.5 426 17611 0.00 2.22 0.00 0.000 6 0.000 0.039 2103 2294 2089

17934 0.50 204.8 703.2 6.0 432 17938 0.00 2.25 0.00 0.000 4 0.000 0.052 2114 887 2089

17967 0.57 205.0 701.2 5.5 432 17971 0.00 2.22 0.00 0.000 6 0.000 0.041 2114 2307 2089

18300 0.57 205.0 681.9 5.7 438 18301 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2307 2089

18602 0.58 208.0 665.6 5.4 443 18603 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2307 2089

18904 0.58 208.0 647.9 5.9 448 18908 0.00 2.22 0.00 0.000 4 0.000 0.054 2114 3710 2089

18931 0.58 208.0 645.8 6.4 448 18935 0.00 2.20 0.00 0.000 6 0.000 0.038 2124 2289 2089

19275 0.58 208.0 623.3 6.6 454 19278 0.00 2.22 0.00 0.000 4 0.000 0.050 2135 891 2089

19308 0.58 208.0 620.9 7.1 454 19312 0.00 2.22 0.00 0.000 6 0.000 0.041 2135 2303 2089

19646 0.48 208.0 596.3 7.4 460 19651 0.12 2.25 0.00 0.000 4 0.150 0.058 2103 3708 2089

19690 0.48 208.0 593.2 7.2 460 19694 0.00 2.20 0.00 0.000 6 0.000 0.035 2110 2296 2089

20011 0.48 208.0 574.9 5.6 466 20012 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 2295 2089

20314 0.52 208.0 558.3 5.5 471 20318 0.00 2.22 0.00 0.000 4 0.000 0.050 2120 897 2088

20342 0.60 225.0 556.8 4.9 471 20366 0.00 2.22 17.48 0.998 6 0.000 0.044 2120 2313 2012

20682 0.60 225.0 535.0 6.5 477 20684 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2313 2008

20986 0.60 225.0 514.2 6.9 482 20990 0.00 2.28 0.00 0.000 4 0.000 0.048 2130 897 2008

21007 0.60 225.0 512.6 6.0 482 21011 0.00 2.22 0.00 0.000 6 0.000 0.045 2130 2305 2007

21350 0.60 225.0 486.5 7.7 488 21354 0.00 2.25 0.00 0.000 4 0.000 0.053 2131 3709 2007

21400 0.51 225.0 481.9 10.5 488 21405 0.12 2.20 0.00 0.000 6 0.155 0.035 2109 2298 2007

21716 0.60 225.0 461.3 6.4 494 21720 0.08 2.25 0.00 0.000 4 0.077 0.048 2169 887 2007

21765 0.49 225.0 456.9 9.4 494 21770 0.22 2.25 0.00 0.000 6 0.140 0.045 2104 2307 2006

22075 0.59 225.0 437.7 6.1 499 22080 0.10 2.25 0.00 0.000 4 0.067 0.057 2163 3712 2006

22115 0.36 225.0 433.9 11.3 499 22120 0.32 2.20 0.00 0.000 6 0.153 0.035 2081 2300 2007

22436 0.74 225.0 414.9 5.9 505 22441 0.20 2.22 0.00 0.000 4 0.057 0.046 2172 892 2006

22553 0.62 225.0 405.6 9.1 506 22558 0.15 2.22 0.00 0.000 6 0.141 0.044 2133 2304 2006

22864 0.62 225.0 382.3 7.5 511 22867 0.00 2.25 0.00 0.000 4 0.000 0.054 2133 3714 2006

22919 0.55 225.0 377.1 10.5 511 22923 0.00 2.20 0.00 0.000 6 0.000 0.034 2141 2294 2006

23236 0.48 225.0 350.8 8.5 517 23240 0.15 2.28 0.00 0.000 4 0.150 0.050 2100 3716 2006

23262 0.52 225.0 348.4 7.9 517 23266 0.00 2.20 0.00 0.000 6 0.000 0.034 2108 2293 2006

23601 0.62 225.0 327.8 6.0 523 23605 0.10 2.22 0.00 0.000 4 0.071 0.048 2182 890 2006

23634 0.49 225.0 325.1 7.2 523 23638 0.28 2.22 0.00 0.000 6 0.141 0.041 2103 2314 2007

23966 0.62 228.9 306.9 5.4 529 23975 0.12 2.25 3.85 0.568 4 0.057 0.051 2177 3709 1997

24003 0.35 228.9 303.3 9.5 529 24008 0.38 2.17 0.00 0.000 6 0.151 0.035 2079 2302 1997

24332 0.80 228.9 284.0 5.9 539 24337 0.25 2.22 0.00 0.000 4 0.058 0.046 2184 892 1996

24434 0.66 228.9 276.1 8.3 542 24439 0.15 2.22 0.00 0.000 6 0.144 0.040 2144 2312 1996

24769 0.61 228.9 253.0 6.6 553 24772 0.00 2.22 0.00 0.000 4 0.000 0.050 2145 3716 1996

24824 0.52 228.9 248.6 9.3 554 24829 0.15 2.20 0.00 0.000 6 0.144 0.034 2111 2296 1996

25138 0.67 245.6 233.6 4.9 564 25158 0.12 2.22 15.50 0.794 4 0.055 0.048 2196 895 1928

25204 0.52 245.6 227.9 9.1 566 25209 0.30 2.22 0.00 0.000 6 0.135 0.039 2107 2306 1926

25533 0.69 245.6 208.3 6.1 577 25538 0.15 2.25 0.00 0.000 4 0.051 0.051 2197 3712 1924

25555 0.62 245.6 206.3 10.2 577 25562 0.20 2.22 0.00 0.000 6 0.146 0.034 2130 2305 1924

25868 0.68 245.6 184.2 6.5 588 25871 0.00 2.25 0.00 0.000 4 0.000 0.049 2139 889 1923

25923 0.78 245.6 180.6 5.8 589 25928 0.10 2.22 0.00 0.000 6 0.064 0.038 2204 2306 1923

26236 0.53 245.6 150.1 9.5 599 26241 0.28 2.22 0.00 0.000 4 0.140 0.049 2118 3707 1923

26286 0.63 245.6 146.8 5.6 601 26290 0.00 2.17 0.00 0.000 6 0.000 0.032 2126 2298 1923

26613 1.00 245.6 127.3 6.2 617 26618 0.25 2.22 0.00 0.000 4 0.053 0.046 2238 888 1922

26760 0.78 245.6 114.9 7.9 623 26767 0.17 2.25 0.00 0.000 6 0.133 0.041 2164 2304 1922

27076 0.84 262.4 98.1 4.9 639 27098 0.00 2.28 14.30 0.700 4 0.000 0.051 2164 3708 1860

27137 0.84 262.4 94.5 5.6 641 27144 0.00 2.20 0.00 0.000 6 0.000 0.033 2172 2310 1859

27455 0.84 266.7 76.3 5.3 660 27467 0.00 2.25 4.97 0.548 4 0.000 0.047 2182 891 1842

27484 0.90 266.7 74.6 5.7 662 27490 0.00 2.22 0.00 0.000 6 0.000 0.039 2182 2307 1841

27811 0.90 266.7 54.8 7.6 693 27815 0.00 2.25 0.00 0.000 4 0.000 0.050 2182 3716 1841

27866 0.85 266.7 50.1 7.6 697 27873 0.00 2.20 0.00 0.000 6 0.000 0.032 2192 2295 1840

28193 0.85 266.7 28.0 6.6 728 28197 0.00 2.22 0.00 0.000 4 0.000 0.048 2202 890 1840

28217 0.92 266.7 26.2 5.8 730 28221 0.00 2.22 0.00 0.000 6 0.000 0.039 2203 2309 1839

28544 0.93 278.1 8.9 5.1 760 28559 0.00 2.28 10.32 0.613 4 0.000 0.052 2212 889 1796

28605 1.00 279.2 5.3 5.5 765 28612 0.00 2.25 0.00 0.000 6 0.000 0.039 2212 2299 1794

28672 end climb: SURFACE_DEPTH_REACHED

state 28673 begin surface coast

28706 end surface coast: CONTROL_FINISHED_OK

state 28706 begin surface

ID	144	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	15	ESCAPE_HEADING	0	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	159	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2303	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2303	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	600	UPLOAD_DIVES_MAX	-1	VBD_MIN	480	DEVICE2	20
T_MISSION	630	CALL_TRIES	5	VBD_MAX	3950	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	2931	DEVICE4	35
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-1	T_GPS	10	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-64026.621	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	57	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	120	RAFOS_HIT_WINDOW	3600	AH0_24V	147	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	120	AH0_10V	122.2	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3976	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2000	PRESSURE_YINT	-1.9652373	SEABIRD_T_G	0.0043441742
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_H	0.00062523223
MASS	51458	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	1.8114715e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.1782754e-06
FERRY_MAX	45	PITCH_GAIN	23	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.019677
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1227477
HD_A	0.0037098001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00077646878
HD_B	0.012019	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00015901824
HD_C	3.2039999e-05	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	171337,4956.499,-14510.722,41,1.0,41,18.4	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4954.011,-14511.944
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.028,-0.158
_SM_DEPTHo	1.97	KALMAN_X	-76003.2,396.5,-13.8,63854.1,-445.6
_SM_ANGLEo	-67.6	KALMAN_Y	65342.7,-296.8,-111.2,-70836.8,1050.3
GPS2	171902,4956.507,-14510.729,10,1.2,10,18.4	MHEAD_RNG_PITCHd_Wd	171.6,4844,-13.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	0.9,1.011082	XPDR_PINGS	79
SM_CCo	28721,17.25,0.628,0,0,1708,300.00	_24V_AH	23.1,25.471
SM_GC	3.08,0.00,0.00,17.25,0.000,0.000,0.628,100,2301,1708,-8.74,-0.06,300.00	_10V_AH	10.7,20.272
IRIDIUM_FIX	4939.69,-14508.98,281098,090948	DATA_FILE_SIZE	47523,775
TT8_MAMPS	0.029146	CAP_FILE_SIZE	198111,0
HUMID	1664	CFSIZE	260165632,246329344
INTERNAL_PRESSURE	7.46122	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	17.10	GPS	040809,012007,4953.530,-14511.666,32,1.9,32,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	247	133.48	SBE_CT	546	24	302.92
Roll_motor	264	69	421.97	SBE_O2	615	19	270.33
VBD_pump_during_apogee	334	1332	10297.53	Optode	797	33	607.76
VBD_pump_during_surface	17	628	250.31	WL_BB2F	1330	105	3227.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.10	nil	0	0	0.00
Iridium_during_connect	27	160	101.90	nil	0	0	0.00
Iridium_during_xfer	147	223	757.63
Transponder_ping	19	420	191.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.42
TT8	1773	19	375.79
LPSleep	23775	2	557.14
TT8_Active	514	19	109.11
TT8_Sampling	2398	39	1021.43
TT8_CF8	592	45	290.55
TT8_Kalman	33	81	29.21
Analog_circuits	1739	12	223.36
GPS_charging	0	0	0.00
Compass	2383	8	204.04
RAFOS	0	0	0.00
Transponder	0	30	0.17

st_secs	pitch_ctl	vbd_ctl	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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.71	-104.1	0.0	0.0	0	51	0.00	0.00	-32.10	0.000	2	0.000	0.000	100	2303	2587
53	-0.71	-104.1	3.3	-6.6	3	88	7.12	2.30	-18.05	0.000	4	0.248	0.069	1829	3702	3358
111	-0.37	-104.1	12.4	-16.7	8	116	0.30	2.20	0.00	0.000	6	0.140	0.037	1917	2297	3359
438	-0.53	-104.1	37.2	-5.9	38	443	0.12	2.22	0.00	0.000	4	0.059	0.041	1840	889	3361
505	-0.42	-104.1	43.9	-10.6	43	512	0.20	2.25	0.00	0.000	6	0.126	0.040	1903	2291	3362
830	-0.57	-104.1	64.4	-6.4	74	834	0.10	2.20	0.00	0.000	4	0.067	0.041	1839	893	3363
874	-0.47	-104.1	68.9	-10.6	77	881	0.22	2.22	0.00	0.000	6	0.131	0.040	1901	2311	3363
1194	-0.61	-104.1	93.4	-7.4	100	1199	0.12	2.22	0.00	0.000	4	0.059	0.041	1829	893	3363
1244	-0.48	-104.1	98.7	-11.2	102	1249	0.25	2.22	0.00	0.000	6	0.127	0.040	1897	2308	3364
1561	-0.65	-117.3	116.6	-4.8	117	1566	0.12	2.25	-0.30	0.000	4	0.060	0.056	1820	887	3419
1633	-0.57	-117.3	122.9	-9.0	120	1638	0.22	2.25	0.00	0.000	6	0.123	0.044	1878	2314	3419
1949	-0.72	-117.3	140.9	-5.7	135	1954	0.12	2.22	0.00	0.000	4	0.058	0.042	1804	893	3419
1989	-0.59	-117.3	144.5	-10.2	136	1996	0.25	2.22	0.00	0.000	6	0.124	0.039	1871	2312	3419
2323	-0.73	-117.3	166.7	-6.5	149	2328	0.12	2.22	0.00	0.000	4	0.058	0.051	1786	3719	3418
2356	-0.60	-117.3	170.0	-10.9	150	2361	0.28	2.17	0.00	0.000	6	0.124	0.035	1870	2300	3418
2685	-0.75	-117.3	191.7	-6.2	161	2690	0.12	2.20	0.00	0.000	4	0.061	0.043	1796	895	3418
2706	-0.75	-117.3	193.6	-8.5	161	2713	0.17	2.20	0.00	0.000	6	0.133	0.039	1836	2307	3417
3019	-0.75	-117.3	218.1	-8.0	172	3020	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	2307	3417
3325	-0.75	-117.3	243.2	-8.4	182	3329	0.00	2.25	0.00	0.000	4	0.000	0.047	1837	891	3417
3353	-0.75	-117.3	245.7	-9.1	183	3357	0.00	2.22	0.00	0.000	6	0.000	0.044	1836	2303	3417
3688	-0.75	-117.3	274.1	-8.5	194	3691	0.00	2.22	0.00	0.000	4	0.000	0.051	1836	895	3416
3715	-0.75	-117.3	276.7	-9.4	194	3721	0.00	2.22	0.00	0.000	6	0.000	0.045	1835	2306	3416
4058	-0.75	-117.3	305.1	-8.2	205	4059	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	2306	3416
4361	-0.75	-117.3	328.4	-7.7	210	4364	0.00	2.22	0.00	0.000	4	0.000	0.049	1835	900	3415
4417	-0.81	-117.3	332.9	-7.7	210	4421	0.00	2.22	0.00	0.000	6	0.000	0.044	1828	2314	3414
4726	-0.81	-117.3	355.9	-7.4	215	4727	0.00	0.00	0.00	0.000	6	0.000	0.000	1829	2314	3413
5029	-0.81	-117.3	379.2	-7.7	220	5033	0.00	2.25	0.00	0.000	4	0.000	0.048	1828	890	3413
5102	-0.81	-117.3	385.5	-8.5	221	5106	0.00	2.22	0.00	0.000	6	0.000	0.042	1823	2305	3413
5462	-0.81	-117.3	414.7	-8.1	227	5463	0.00	0.00	0.00	0.000	6	0.000	0.000	1822	2306	3413
5765	-0.81	-117.3	439.0	-8.0	232	5768	0.00	2.22	0.00	0.000	4	0.000	0.053	1822	898	3412
5803	-0.81	-117.3	442.4	-8.8	232	5807	0.00	2.22	0.00	0.000	6	0.000	0.044	1819	2309	3412
6136	-0.81	-117.3	471.1	-8.8	238	6139	0.00	2.22	0.00	0.000	4	0.000	0.047	1819	900	3412
6174	-0.81	-117.3	474.8	-9.1	238	6178	0.00	2.20	0.00	0.000	6	0.000	0.044	1811	2306	3412
6506	-0.81	-117.3	505.0	-9.1	244	6507	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2306	3410
6809	-0.81	-117.3	531.7	-8.8	249	6810	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2306	3411
7113	-0.81	-117.3	556.8	-8.2	254	7117	0.00	2.25	0.00	0.000	4	0.000	0.049	1811	894	3411
7157	-0.81	-117.3	560.5	-8.4	254	7160	0.00	2.22	0.00	0.000	6	0.000	0.047	1808	2302	3411
7477	-0.81	-117.3	585.2	-7.6	260	7478	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2302	3410
7780	-0.81	-117.3	607.1	-7.1	265	7782	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2302	3410
8084	-0.81	-117.3	628.8	-7.1	270	8087	0.00	2.22	0.00	0.000	4	0.000	0.047	1807	897	3410
8128	-0.81	-117.3	632.2	-7.5	270	8132	0.00	2.22	0.00	0.000	6	0.000	0.044	1805	2305	3410
8448	-0.81	-117.3	656.6	-7.7	276	8450	0.00	0.00	0.00	0.000	6	0.000	0.000	1805	2305	3410
8751	-0.81	-117.3	680.3	-7.8	281	8752	0.00	0.00	0.00	0.000	6	0.000	0.000	1805	2305	3410
9054	-0.81	-117.3	704.4	-8.0	286	9055	0.00	0.00	0.00	0.000	6	0.000	0.000	1805	2305	3410
9358	-0.81	-117.3	728.5	-7.9	291	9359	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2305	3409
9660	-0.81	-117.3	752.7	-8.0	296	9664	0.00	2.22	0.00	0.000	4	0.000	0.052	1805	901	3409
9688	-0.81	-117.3	755.2	-8.6	296	9692	0.12	2.22	0.00	0.000	6	0.133	0.043	1830	2314	3409
10025	-0.91	-117.3	776.9	-6.3	302	10030	0.12	2.25	0.00	0.000	4	0.072	0.048	1776	900	3409
10046	-0.91	-117.3	778.8	-8.2	302	10051	0.12	2.20	0.00	0.000	6	0.149	0.048	1800	2301	3409
10389	-0.91	-117.3	805.4	-7.8	308	10391	0.00	0.00	0.00	0.000	6	0.000	0.000	1800	2301	3408
10692	-0.91	-117.3	828.0	-7.4	313	10696	0.00	2.25	0.00	0.000	4	0.000	0.049	1800	893	3408
10719	-0.91	-117.3	830.2	-7.8	313	10723	0.00	2.25	0.00	0.000	6	0.000	0.050	1794	2314	3408
11057	-0.86	-117.3	855.0	-7.3	319	11058	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2314	3408
11360	-0.80	-117.3	877.2	-7.3	324	11365	0.12	2.28	0.00	0.000	4	0.145	0.054	1827	900	3408
11387	-0.86	-117.3	879.2	-6.3	324	11391	0.00	2.22	0.00	0.000	6	0.000	0.047	1821	2304	3408
11719	-0.93	-117.3	898.4	-5.8	330	11724	0.10	2.25	0.00	0.000	4	0.084	0.049	1777	896	3408
11763	-0.81	-117.3	901.7	-8.3	330	11768	0.20	2.22	0.00	0.000	6	0.140	0.049	1825	2302	3407
12078	-0.90	-117.3	918.7	-5.3	336	12082	0.00	2.25	0.00	0.000	4	0.000	0.050	1827	899	3407
12112	-1.00	-117.3	920.7	-5.8	336	12116	0.12	2.22	0.00	0.000	6	0.077	0.044	1769	2303	3407
12438	-0.86	-117.3	948.1	-8.6	342	12440	0.15	0.00	0.00	0.000	6	0.150	0.000	1810	2304	3407
12740	-0.86	-117.3	970.0	-7.1	347	12742	0.00	0.00	0.00	0.000	6	0.000	0.000	1810	2304	3407
13042	end dive: TARGET_DEPTH_EXCEEDED
state	13042	begin apogee
13048	-0.22	0.0	992.1	7.2	352	13144	0.45	0.00	93.32	1.332	6	0.128	0.000	1954	2304	2931
13144	end apogee: CONTROL_FINISHED_OK
state	13144	begin climb
13147	0.72	117.3	993.7	0.0	353	13253	0.60	2.55	98.45	1.304	4	0.079	0.060	2161	3706	2450
13304	0.29	117.3	988.8	8.8	355	13310	0.43	2.35	0.00	0.000	6	0.185	0.038	2067	2310	2446
13637	0.41	155.7	975.0	4.1	361	13676	0.08	2.47	31.98	1.261	4	0.091	0.058	2109	894	2295
13687	0.44	175.3	972.1	4.8	361	13712	0.00	2.38	18.27	1.200	6	0.000	0.048	2109	2309	2215
14069	0.44	175.3	947.1	6.6	368	14073	0.00	2.30	0.00	0.000	4	0.000	0.053	2109	3710	2209
14096	0.36	175.3	945.0	7.5	368	14101	0.15	2.28	0.00	0.000	6	0.166	0.037	2081	2294	2208
14428	0.48	185.8	927.6	5.1	374	14442	0.08	2.30	9.25	1.105	4	0.089	0.054	2126	894	2173
14459	0.48	185.8	925.6	6.6	374	14464	0.10	2.30	0.00	0.000	6	0.147	0.048	2102	2314	2171
14791	0.48	185.8	906.1	5.9	380	14795	0.00	2.28	0.00	0.000	4	0.000	0.058	2102	3718	2170
14836	0.43	185.8	903.0	7.9	380	14840	0.00	2.25	0.00	0.000	6	0.000	0.036	2110	2294	2169
15151	0.43	185.8	882.6	6.5	386	15152	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	2294	2169
15454	0.43	185.8	863.0	6.5	391	15458	0.00	2.30	0.00	0.000	4	0.000	0.055	2110	3715	2169
15492	0.35	185.8	860.0	7.9	391	15497	0.17	2.22	0.00	0.000	6	0.162	0.038	2073	2301	2168
15814	0.52	204.8	844.7	4.8	397	15838	0.12	2.35	16.90	1.167	4	0.068	0.059	2139	891	2095
15855	0.45	204.8	841.6	7.2	397	15860	0.15	2.28	0.00	0.000	6	0.143	0.048	2099	2306	2094
16176	0.52	204.8	822.4	6.0	403	16180	0.00	2.28	0.00	0.000	4	0.000	0.054	2099	3710	2091
16209	0.52	204.8	819.9	6.9	403	16213	0.00	2.22	0.00	0.000	6	0.000	0.036	2107	2302	2091
16542	0.52	204.8	798.3	6.5	409	16543	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2302	2091
16844	0.52	204.8	778.9	6.4	414	16848	0.00	2.30	0.00	0.000	4	0.000	0.054	2107	3721	2091
16876	0.52	204.8	776.4	8.0	414	16880	0.00	2.22	0.00	0.000	6	0.000	0.035	2117	2302	2090
17209	0.52	204.8	753.2	6.9	420	17213	0.00	2.25	0.00	0.000	4	0.000	0.051	2128	894	2090
17241	0.52	204.8	750.7	7.5	420	17245	0.00	2.25	0.00	0.000	6	0.000	0.044	2128	2310	2090
17574	0.45	204.8	725.3	7.7	426	17578	0.12	2.25	0.00	0.000	4	0.157	0.053	2096	3713	2090
17607	0.45	204.8	722.8	7.5	426	17611	0.00	2.22	0.00	0.000	6	0.000	0.039	2103	2294	2089
17934	0.50	204.8	703.2	6.0	432	17938	0.00	2.25	0.00	0.000	4	0.000	0.052	2114	887	2089
17967	0.57	205.0	701.2	5.5	432	17971	0.00	2.22	0.00	0.000	6	0.000	0.041	2114	2307	2089
18300	0.57	205.0	681.9	5.7	438	18301	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2307	2089
18602	0.58	208.0	665.6	5.4	443	18603	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2307	2089
18904	0.58	208.0	647.9	5.9	448	18908	0.00	2.22	0.00	0.000	4	0.000	0.054	2114	3710	2089
18931	0.58	208.0	645.8	6.4	448	18935	0.00	2.20	0.00	0.000	6	0.000	0.038	2124	2289	2089
19275	0.58	208.0	623.3	6.6	454	19278	0.00	2.22	0.00	0.000	4	0.000	0.050	2135	891	2089
19308	0.58	208.0	620.9	7.1	454	19312	0.00	2.22	0.00	0.000	6	0.000	0.041	2135	2303	2089
19646	0.48	208.0	596.3	7.4	460	19651	0.12	2.25	0.00	0.000	4	0.150	0.058	2103	3708	2089
19690	0.48	208.0	593.2	7.2	460	19694	0.00	2.20	0.00	0.000	6	0.000	0.035	2110	2296	2089
20011	0.48	208.0	574.9	5.6	466	20012	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	2295	2089
20314	0.52	208.0	558.3	5.5	471	20318	0.00	2.22	0.00	0.000	4	0.000	0.050	2120	897	2088
20342	0.60	225.0	556.8	4.9	471	20366	0.00	2.22	17.48	0.998	6	0.000	0.044	2120	2313	2012
20682	0.60	225.0	535.0	6.5	477	20684	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2313	2008
20986	0.60	225.0	514.2	6.9	482	20990	0.00	2.28	0.00	0.000	4	0.000	0.048	2130	897	2008
21007	0.60	225.0	512.6	6.0	482	21011	0.00	2.22	0.00	0.000	6	0.000	0.045	2130	2305	2007
21350	0.60	225.0	486.5	7.7	488	21354	0.00	2.25	0.00	0.000	4	0.000	0.053	2131	3709	2007
21400	0.51	225.0	481.9	10.5	488	21405	0.12	2.20	0.00	0.000	6	0.155	0.035	2109	2298	2007
21716	0.60	225.0	461.3	6.4	494	21720	0.08	2.25	0.00	0.000	4	0.077	0.048	2169	887	2007
21765	0.49	225.0	456.9	9.4	494	21770	0.22	2.25	0.00	0.000	6	0.140	0.045	2104	2307	2006
22075	0.59	225.0	437.7	6.1	499	22080	0.10	2.25	0.00	0.000	4	0.067	0.057	2163	3712	2006
22115	0.36	225.0	433.9	11.3	499	22120	0.32	2.20	0.00	0.000	6	0.153	0.035	2081	2300	2007
22436	0.74	225.0	414.9	5.9	505	22441	0.20	2.22	0.00	0.000	4	0.057	0.046	2172	892	2006
22553	0.62	225.0	405.6	9.1	506	22558	0.15	2.22	0.00	0.000	6	0.141	0.044	2133	2304	2006
22864	0.62	225.0	382.3	7.5	511	22867	0.00	2.25	0.00	0.000	4	0.000	0.054	2133	3714	2006
22919	0.55	225.0	377.1	10.5	511	22923	0.00	2.20	0.00	0.000	6	0.000	0.034	2141	2294	2006
23236	0.48	225.0	350.8	8.5	517	23240	0.15	2.28	0.00	0.000	4	0.150	0.050	2100	3716	2006
23262	0.52	225.0	348.4	7.9	517	23266	0.00	2.20	0.00	0.000	6	0.000	0.034	2108	2293	2006
23601	0.62	225.0	327.8	6.0	523	23605	0.10	2.22	0.00	0.000	4	0.071	0.048	2182	890	2006
23634	0.49	225.0	325.1	7.2	523	23638	0.28	2.22	0.00	0.000	6	0.141	0.041	2103	2314	2007
23966	0.62	228.9	306.9	5.4	529	23975	0.12	2.25	3.85	0.568	4	0.057	0.051	2177	3709	1997
24003	0.35	228.9	303.3	9.5	529	24008	0.38	2.17	0.00	0.000	6	0.151	0.035	2079	2302	1997
24332	0.80	228.9	284.0	5.9	539	24337	0.25	2.22	0.00	0.000	4	0.058	0.046	2184	892	1996
24434	0.66	228.9	276.1	8.3	542	24439	0.15	2.22	0.00	0.000	6	0.144	0.040	2144	2312	1996
24769	0.61	228.9	253.0	6.6	553	24772	0.00	2.22	0.00	0.000	4	0.000	0.050	2145	3716	1996
24824	0.52	228.9	248.6	9.3	554	24829	0.15	2.20	0.00	0.000	6	0.144	0.034	2111	2296	1996
25138	0.67	245.6	233.6	4.9	564	25158	0.12	2.22	15.50	0.794	4	0.055	0.048	2196	895	1928
25204	0.52	245.6	227.9	9.1	566	25209	0.30	2.22	0.00	0.000	6	0.135	0.039	2107	2306	1926
25533	0.69	245.6	208.3	6.1	577	25538	0.15	2.25	0.00	0.000	4	0.051	0.051	2197	3712	1924
25555	0.62	245.6	206.3	10.2	577	25562	0.20	2.22	0.00	0.000	6	0.146	0.034	2130	2305	1924
25868	0.68	245.6	184.2	6.5	588	25871	0.00	2.25	0.00	0.000	4	0.000	0.049	2139	889	1923
25923	0.78	245.6	180.6	5.8	589	25928	0.10	2.22	0.00	0.000	6	0.064	0.038	2204	2306	1923
26236	0.53	245.6	150.1	9.5	599	26241	0.28	2.22	0.00	0.000	4	0.140	0.049	2118	3707	1923
26286	0.63	245.6	146.8	5.6	601	26290	0.00	2.17	0.00	0.000	6	0.000	0.032	2126	2298	1923
26613	1.00	245.6	127.3	6.2	617	26618	0.25	2.22	0.00	0.000	4	0.053	0.046	2238	888	1922
26760	0.78	245.6	114.9	7.9	623	26767	0.17	2.25	0.00	0.000	6	0.133	0.041	2164	2304	1922
27076	0.84	262.4	98.1	4.9	639	27098	0.00	2.28	14.30	0.700	4	0.000	0.051	2164	3708	1860
27137	0.84	262.4	94.5	5.6	641	27144	0.00	2.20	0.00	0.000	6	0.000	0.033	2172	2310	1859
27455	0.84	266.7	76.3	5.3	660	27467	0.00	2.25	4.97	0.548	4	0.000	0.047	2182	891	1842
27484	0.90	266.7	74.6	5.7	662	27490	0.00	2.22	0.00	0.000	6	0.000	0.039	2182	2307	1841
27811	0.90	266.7	54.8	7.6	693	27815	0.00	2.25	0.00	0.000	4	0.000	0.050	2182	3716	1841
27866	0.85	266.7	50.1	7.6	697	27873	0.00	2.20	0.00	0.000	6	0.000	0.032	2192	2295	1840
28193	0.85	266.7	28.0	6.6	728	28197	0.00	2.22	0.00	0.000	4	0.000	0.048	2202	890	1840
28217	0.92	266.7	26.2	5.8	730	28221	0.00	2.22	0.00	0.000	6	0.000	0.039	2203	2309	1839
28544	0.93	278.1	8.9	5.1	760	28559	0.00	2.28	10.32	0.613	4	0.000	0.052	2212	889	1796
28605	1.00	279.2	5.3	5.5	765	28612	0.00	2.25	0.00	0.000	6	0.000	0.039	2212	2299	1794
28672	end climb: SURFACE_DEPTH_REACHED
state	28673	begin surface coast
28706	end surface coast: CONTROL_FINISHED_OK
state	28706	begin surface