Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 281 * 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 281 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -66567.258 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 0.02 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 -66567.258

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 34 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 281 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 0.02 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 093431,5015.324,-14502.018,40,1.7,40,18.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5021.009,-14511.944

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.092,0.140

_SM_DEPTHo 1.97 KALMAN_X -29207.3,3.9,92.5,39201.6,-1852.7

_SM_ANGLEo -63.9 KALMAN_Y 12561.2,79.0,205.7,-23179.3,-458.9

GPS2 094001,5015.403,-14502.033,9,1.7,13,18.5 MHEAD_RNG_PITCHd_Wd 308.2,15651,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.9,1.024657 XPDR_PINGS 86

SM_CCo 30763,0.00,0.000,0,0,1365,384.14 _24V_AH 22.4,42.026

SM_GC 1.88,5.78,0.00,0.00,0.037,0.000,0.000,100,2316,1365,-8.62,0.34,384.14 _10V_AH 10.6,35.041

IRIDIUM_FIX 4956.40,-14457.45,071298,010145 DATA_FILE_SIZE 47506,793

TT8_MAMPS 0.029913 CAP_FILE_SIZE 190185,0

HUMID 1665 CFSIZE 260165632,236777472

INTERNAL_PRESSURE 7.41239 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 18.90 GPS 120909,181530,5018.180,-14505.244,62,1.5,74,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 243 97.93 SBE_CT 561 24 301.75

Roll_motor 235 59 311.42 SBE_O2 635 19 270.46

VBD_pump_during_apogee 435 1311 12801.97 Optode 816 33 603.82

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1360 105 3200.04

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 69.52 nil 0 0 0.00

Iridium_during_connect 26 160 93.97 nil 0 0 0.00

Iridium_during_xfer 146 223 731.70

Transponder_ping 21 420 202.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.90

TT8 1769 19 371.41

LPSleep 25804 2 599.02

TT8_Active 566 19 118.89

TT8_Sampling 2326 39 981.44

TT8_CF8 616 45 299.51

TT8_Kalman 33 81 28.94

Analog_circuits 1751 12 222.77

GPS_charging 0 0 0.00

Compass 2315 8 196.38

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.68 -117.3 0.0 0.0 0 51 0.00 0.00 -31.95 0.000 2 0.000 0.000 100 2311 2586

53 -0.68 -117.3 3.3 -6.3 3 88 7.25 2.30 -20.48 0.000 4 0.244 0.059 1845 890 3411

179 -0.60 -117.3 18.5 -11.6 14 184 0.12 2.28 0.00 0.000 6 0.143 0.040 1869 2304 3412

504 -0.60 -117.3 53.3 -8.4 44 508 0.00 2.25 0.00 0.000 4 0.000 0.041 1869 885 3413

621 -0.63 -117.3 63.4 -8.8 54 627 0.00 2.25 0.00 0.000 6 0.000 0.036 1863 2309 3414

942 -0.63 -117.3 91.1 -8.3 79 946 0.00 2.25 0.00 0.000 4 0.000 0.043 1863 891 3415

992 -0.63 -117.3 95.3 -7.9 81 996 0.00 2.25 0.00 0.000 6 0.000 0.038 1863 2306 3415

1314 -0.63 -117.3 119.9 -7.5 97 1318 0.00 2.25 0.00 0.000 4 0.000 0.047 1863 892 3415

1380 -0.66 -117.3 124.7 -6.8 100 1384 0.00 2.25 0.00 0.000 6 0.000 0.039 1863 2308 3415

1702 -0.69 -117.3 146.5 -6.9 116 1703 0.00 0.00 0.00 0.000 6 0.000 0.000 1863 2308 3415

2009 -0.74 -117.3 167.9 -6.8 127 2010 0.08 0.00 0.00 0.000 6 0.083 0.000 1801 2308 3415

2315 -0.67 -117.3 196.5 -9.2 137 2319 0.20 2.28 0.00 0.000 4 0.123 0.046 1866 891 3415

2355 -0.74 -117.3 199.2 -6.3 138 2360 0.10 2.25 0.00 0.000 6 0.065 0.039 1798 2306 3414

2684 -0.68 -117.3 230.2 -9.9 149 2686 0.20 0.00 0.00 0.000 6 0.124 0.000 1858 2306 3414

2990 -0.73 -117.3 251.2 -6.6 159 2994 0.00 2.25 0.00 0.000 4 0.000 0.044 1857 890 3414

3052 -0.80 -117.3 255.4 -6.9 160 3059 0.10 2.25 0.00 0.000 6 0.067 0.041 1787 2309 3413

3365 -0.72 -117.3 286.8 -10.5 171 3369 0.17 2.25 0.00 0.000 4 0.128 0.056 1836 3709 3413

3409 -0.76 -117.3 290.7 -7.8 172 3413 0.00 2.20 0.00 0.000 6 0.000 0.031 1836 2298 3413

3731 -0.78 -117.3 316.5 -8.1 180 3735 0.00 2.22 0.00 0.000 4 0.000 0.045 1836 895 3413

3770 -0.80 -117.3 320.1 -9.1 180 3774 0.00 2.22 0.00 0.000 6 0.000 0.043 1827 2303 3413

4096 -0.80 -117.3 347.9 -8.5 186 4100 0.00 2.25 0.00 0.000 4 0.000 0.050 1827 892 3412

4128 -0.80 -117.3 350.9 -9.4 186 4132 0.00 2.25 0.00 0.000 6 0.000 0.039 1821 2306 3412

4461 -0.80 -117.3 377.4 -7.8 192 4465 0.00 2.25 0.00 0.000 4 0.000 0.044 1821 893 3411

4504 -0.80 -117.3 381.0 -8.0 192 4508 0.00 2.25 0.00 0.000 6 0.000 0.039 1812 2312 3411

4826 -0.78 -117.3 405.9 -7.9 198 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2313 3411

5129 -0.76 -117.3 429.7 -7.9 203 5134 0.10 2.28 0.00 0.000 4 0.143 0.044 1839 892 3410

5173 -0.80 -117.3 433.0 -7.1 203 5177 0.00 2.25 0.00 0.000 6 0.000 0.044 1837 2304 3410

5488 -0.83 -117.3 454.4 -6.9 209 5489 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2304 3411

5791 -0.87 -117.3 475.5 -6.9 214 5796 0.10 2.25 0.00 0.000 4 0.069 0.048 1775 892 3410

5841 -0.78 -117.3 480.4 -10.5 214 5846 0.22 2.25 0.00 0.000 6 0.133 0.047 1833 2302 3410

6151 -0.80 -117.3 501.9 -6.8 219 6152 0.00 0.00 0.00 0.000 6 0.000 0.000 1833 2302 3409

6454 -0.83 -117.3 522.6 -6.8 224 6455 0.00 0.00 0.00 0.000 6 0.000 0.000 1833 2302 3408

6757 -0.86 -117.3 541.7 -6.2 229 6758 0.00 0.00 0.00 0.000 6 0.000 0.000 1833 2303 3408

7060 -0.89 -117.3 560.7 -6.3 234 7065 0.10 2.28 0.00 0.000 4 0.071 0.044 1775 892 3408

7100 -0.80 -117.3 564.3 -9.7 234 7105 0.20 2.28 0.00 0.000 6 0.134 0.044 1825 2309 3408

7420 -0.80 -117.3 586.4 -6.6 240 7424 0.00 2.28 0.00 0.000 4 0.000 0.047 1825 889 3407

7465 -0.82 -117.3 589.5 -7.1 240 7469 0.00 2.25 0.00 0.000 6 0.000 0.046 1823 2305 3408

7781 -0.82 -117.3 610.2 -6.5 246 7782 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2306 3408

8083 -0.82 -117.3 630.2 -6.6 251 8087 0.00 2.25 0.00 0.000 4 0.000 0.048 1823 892 3407

8115 -0.82 -117.3 632.6 -7.2 251 8119 0.00 2.25 0.00 0.000 6 0.000 0.041 1821 2302 3407

8448 -0.82 -117.3 655.5 -6.9 257 8449 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2303 3407

8751 -0.82 -117.3 676.4 -6.9 262 8755 0.00 2.25 0.00 0.000 4 0.000 0.049 1821 897 3407

8795 -0.82 -117.3 679.6 -6.9 262 8799 0.00 2.25 0.00 0.000 6 0.000 0.045 1820 2305 3407

9116 -0.82 -117.3 700.5 -6.5 268 9117 0.00 0.00 0.00 0.000 6 0.000 0.000 1820 2305 3406

9419 -0.82 -117.3 720.7 -6.7 273 9423 0.00 2.25 0.00 0.000 4 0.000 0.051 1820 895 3407

9452 -0.82 -117.3 723.1 -7.0 273 9456 0.00 2.25 0.00 0.000 6 0.000 0.044 1816 2307 3407

9790 -0.82 -117.3 744.5 -6.2 279 9791 0.00 0.00 0.00 0.000 6 0.000 0.000 1816 2308 3406

10093 -0.82 -117.3 762.0 -5.7 284 10097 0.00 2.25 0.00 0.000 4 0.000 0.047 1816 900 3406

10148 -0.82 -117.3 765.3 -5.9 284 10155 0.00 2.25 0.00 0.000 6 0.000 0.044 1810 2309 3406

10458 -0.82 -117.3 783.1 -5.8 290 10459 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2310 3406

10760 -0.82 -117.3 800.9 -5.9 295 10765 0.00 2.28 0.00 0.000 4 0.000 0.051 1810 890 3405

10799 -0.82 -117.3 803.5 -6.4 295 10803 0.00 2.28 0.00 0.000 6 0.000 0.041 1809 2307 3405

11126 -0.82 -117.3 823.7 -6.2 301 11130 0.00 2.28 0.00 0.000 4 0.000 0.051 1809 890 3405

11154 -0.82 -117.3 825.8 -8.1 301 11158 0.00 2.28 0.00 0.000 6 0.000 0.041 1808 2312 3405

11486 -0.82 -117.3 847.6 -6.6 307 11490 0.00 2.28 0.00 0.000 4 0.000 0.052 1808 896 3406

11519 -0.82 -117.3 850.0 -7.5 307 11523 0.00 2.25 0.00 0.000 6 0.000 0.043 1806 2310 3406

11852 -0.82 -117.3 871.6 -6.4 313 11853 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2310 3405

12154 -0.82 -117.3 890.8 -6.3 318 12155 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2310 3405

12457 -0.82 -117.3 909.2 -6.0 323 12458 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2310 3405

12760 -0.82 -117.3 927.5 -6.1 328 12764 0.00 2.30 0.00 0.000 4 0.000 0.049 1806 892 3405

12833 -0.82 -117.3 932.6 -7.1 329 12837 0.00 2.28 0.00 0.000 6 0.000 0.041 1804 2307 3405

13187 -0.82 -117.3 954.3 -6.1 335 13191 0.00 2.30 0.00 0.000 4 0.000 0.048 1804 892 3404

13220 -0.82 -117.3 956.4 -6.5 335 13225 0.10 2.28 0.00 0.000 6 0.147 0.041 1820 2305 3405

13553 -0.86 -117.3 973.0 -4.9 341 13554 0.00 0.00 0.00 0.000 6 0.000 0.000 1820 2305 3404

13856 -0.90 -117.3 988.0 -5.0 346 13857 0.00 0.00 0.00 0.000 6 0.000 0.000 1820 2305 3404

13913 end dive: TARGET_DEPTH_EXCEEDED

state 13913 begin apogee

13919 -0.22 0.0 991.0 4.9 347 14017 0.43 0.00 95.47 1.312 6 0.119 0.000 1957 2305 2931

14018 end apogee: CONTROL_FINISHED_OK

state 14018 begin climb

14021 0.68 117.3 991.9 0.0 348 14131 0.57 2.60 101.25 1.280 4 0.077 0.057 2152 3706 2451

14149 0.52 117.3 988.5 7.3 350 14154 0.22 2.40 0.00 0.000 6 0.175 0.038 2112 2316 2448

14459 0.46 117.3 970.0 5.9 355 14463 0.00 2.40 0.00 0.000 4 0.000 0.050 2121 888 2441

14492 0.41 117.3 967.8 6.4 355 14497 0.12 2.35 0.00 0.000 6 0.144 0.048 2091 2309 2440

14818 0.43 132.4 951.4 5.0 361 14837 0.00 2.38 12.20 1.141 4 0.000 0.057 2091 3716 2390

14890 0.39 132.4 947.2 6.0 362 14894 0.00 2.30 0.00 0.000 6 0.000 0.038 2099 2288 2388

15250 0.37 136.7 927.8 5.4 368 15257 0.00 0.00 5.07 0.890 6 0.000 0.000 2099 2288 2373

15553 0.35 136.7 911.0 5.6 373 15555 0.10 0.00 0.00 0.000 6 0.163 0.000 2075 2288 2371

15856 0.40 157.5 896.3 4.8 378 15881 0.00 2.35 19.12 1.184 4 0.000 0.059 2076 3716 2287

15915 0.40 157.5 892.9 6.2 378 15922 0.00 2.28 0.00 0.000 6 0.000 0.041 2083 2299 2285

16226 0.44 163.1 876.4 5.3 384 16233 0.00 0.00 5.75 0.925 6 0.000 0.000 2083 2299 2266

16529 0.47 163.9 860.0 5.5 389 16533 0.00 2.30 0.00 0.000 4 0.000 0.057 2084 3710 2264

16562 0.47 163.9 857.8 5.7 389 16565 0.00 2.25 0.00 0.000 6 0.000 0.035 2094 2293 2263

16895 0.47 163.9 839.3 5.6 395 16896 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 2293 2263

17196 0.47 163.9 822.1 5.7 400 17200 0.00 2.30 0.00 0.000 4 0.000 0.056 2094 3710 2263

17230 0.44 163.9 819.9 6.2 400 17234 0.00 2.22 0.00 0.000 6 0.000 0.035 2104 2305 2262

17557 0.44 163.9 800.2 6.0 406 17558 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2305 2262

17859 0.44 163.9 781.2 6.3 411 17863 0.00 2.30 0.00 0.000 4 0.000 0.056 2103 3720 2262

17897 0.40 163.9 778.5 6.6 411 17902 0.12 2.22 0.00 0.000 6 0.157 0.041 2083 2304 2262

18219 0.44 167.3 761.0 5.4 417 18225 0.00 0.00 4.65 0.794 6 0.000 0.000 2083 2305 2249

18521 0.49 173.4 744.9 5.3 422 18535 0.08 2.33 7.22 0.946 4 0.086 0.054 2141 891 2223

18558 0.44 173.4 742.3 6.8 422 18563 0.17 2.25 0.00 0.000 6 0.137 0.043 2092 2306 2223

18885 0.46 173.4 724.0 5.5 428 18889 0.00 2.28 0.00 0.000 4 0.000 0.050 2092 3719 2222

18923 0.46 173.4 721.5 6.5 428 18927 0.00 2.22 0.00 0.000 6 0.000 0.034 2101 2298 2221

19250 0.46 173.4 703.3 5.6 434 19251 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2298 2221

19553 0.48 182.9 687.4 5.2 439 19567 0.00 2.30 9.48 0.978 4 0.000 0.049 2100 3709 2184

19590 0.49 195.1 685.3 5.1 439 19609 0.00 2.22 12.12 1.002 6 0.000 0.040 2110 2303 2135

19920 0.49 197.6 667.6 5.4 445 19921 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2303 2132

20223 0.50 205.6 651.5 5.2 450 20238 0.00 2.33 10.32 0.967 4 0.000 0.051 2110 3719 2091

20261 0.51 207.3 649.2 5.4 450 20265 0.00 2.28 0.00 0.000 6 0.000 0.039 2120 2294 2090

20581 0.51 207.3 631.2 5.6 456 20582 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2294 2089

20884 0.52 216.0 615.5 5.2 461 20896 0.00 0.00 10.23 0.948 6 0.000 0.000 2120 2294 2049

21188 0.54 231.4 600.3 5.0 466 21204 0.00 0.00 14.62 0.975 6 0.000 0.000 2120 2294 1987

21491 0.54 238.9 584.5 5.2 471 21501 0.00 0.00 7.75 0.870 6 0.000 0.000 2120 2294 1957

21793 0.54 238.9 567.4 5.7 476 21794 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2294 1953

22096 0.54 238.9 548.6 6.2 481 22097 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2294 1953

22400 0.54 238.9 529.2 6.5 486 22401 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2294 1952

22703 0.57 238.9 509.5 6.5 491 22707 0.00 2.30 0.00 0.000 4 0.000 0.049 2120 3710 1952

22726 0.57 238.9 507.8 6.5 491 22730 0.00 2.22 0.00 0.000 6 0.000 0.032 2129 2297 1952

23064 0.57 238.9 484.4 6.9 497 23068 0.00 2.25 0.00 0.000 4 0.000 0.048 2141 890 1952

23092 0.57 238.9 482.3 8.0 497 23096 0.00 2.25 0.00 0.000 6 0.000 0.038 2140 2308 1951

23424 0.57 238.9 458.2 7.2 503 23428 0.00 2.25 0.00 0.000 4 0.000 0.056 2141 3709 1952

23451 0.53 238.9 455.8 7.6 503 23456 0.15 2.20 0.00 0.000 6 0.144 0.032 2110 2303 1951

23789 0.58 238.9 436.9 5.5 509 23792 0.00 2.25 0.00 0.000 4 0.000 0.054 2118 898 1951

23828 0.65 238.9 434.6 5.8 509 23833 0.08 2.25 0.00 0.000 6 0.081 0.041 2173 2314 1950

24154 0.55 238.9 403.9 9.7 515 24159 0.17 2.25 0.00 0.000 4 0.143 0.050 2119 3712 1951

24226 0.55 238.9 398.1 7.4 516 24230 0.00 2.20 0.00 0.000 6 0.000 0.032 2127 2296 1951

24586 0.55 238.9 373.7 6.8 522 24590 0.00 2.22 0.00 0.000 4 0.000 0.047 2137 897 1950

24614 0.57 238.9 371.6 7.0 522 24618 0.00 2.22 0.00 0.000 6 0.000 0.038 2137 2311 1950

24951 0.57 238.9 347.3 7.2 528 24955 0.00 2.25 0.00 0.000 4 0.000 0.050 2138 3715 1950

24974 0.55 238.9 345.4 8.0 528 24978 0.12 2.20 0.00 0.000 6 0.143 0.032 2117 2299 1950

25317 0.59 239.3 326.0 5.5 534 25320 0.00 2.22 0.00 0.000 4 0.000 0.046 2125 895 1951

25350 0.66 241.9 324.1 5.4 534 25354 0.00 2.22 0.00 0.000 6 0.000 0.043 2125 2306 1950

25683 0.68 241.9 304.3 6.0 540 25688 0.08 2.25 0.00 0.000 4 0.078 0.048 2182 3709 1951

25716 0.57 241.9 301.1 10.3 540 25720 0.25 2.20 0.00 0.000 6 0.147 0.032 2123 2293 1951

26045 0.61 241.9 281.6 5.6 551 26048 0.00 2.22 0.00 0.000 4 0.000 0.048 2132 897 1951

26080 0.65 241.9 279.8 6.0 552 26084 0.00 2.22 0.00 0.000 6 0.000 0.039 2132 2310 1950

26414 0.65 241.9 259.1 6.3 563 26416 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2310 1951

26721 0.65 241.9 238.8 6.5 573 26722 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2310 1951

27027 0.65 241.9 220.9 5.5 583 27030 0.00 2.25 0.00 0.000 4 0.000 0.048 2133 3719 1951

27049 0.65 241.9 219.4 5.7 583 27053 0.00 2.22 0.00 0.000 6 0.000 0.035 2141 2296 1950

27361 0.65 241.9 201.3 5.6 593 27363 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2296 1951

27668 0.67 253.2 185.4 5.1 603 27683 0.00 0.00 12.95 0.723 6 0.000 0.000 2142 2295 1898

27974 0.67 253.2 168.4 5.8 613 27975 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2295 1895

28282 0.70 260.7 151.6 5.2 623 28295 0.00 2.35 7.45 0.644 4 0.000 0.048 2141 3716 1867

28319 0.70 260.7 149.1 5.9 624 28325 0.00 2.25 0.00 0.000 6 0.000 0.032 2151 2297 1867

28636 0.73 260.7 129.8 5.7 640 28640 0.00 2.25 0.00 0.000 4 0.000 0.045 2159 890 1865

28661 0.77 260.7 128.3 6.1 641 28665 0.00 2.25 0.00 0.000 6 0.000 0.037 2160 2312 1865

28988 0.80 260.7 106.5 6.2 657 28992 0.00 2.25 0.00 0.000 4 0.000 0.055 2160 3713 1865

29028 0.80 260.7 103.6 6.6 658 29035 0.00 2.20 0.00 0.000 6 0.000 0.031 2169 2302 1865

29344 0.80 260.7 83.7 5.8 674 29348 0.00 2.22 0.00 0.000 4 0.000 0.045 2178 892 1864

29367 0.86 295.0 82.4 4.3 675 29402 0.00 2.22 29.40 0.682 6 0.000 0.037 2178 2309 1727

29729 0.88 295.0 60.6 6.0 707 29733 0.00 2.25 0.00 0.000 4 0.000 0.048 2178 3711 1721

29769 0.88 295.0 58.1 7.9 710 29772 0.00 2.20 0.00 0.000 6 0.000 0.031 2187 2300 1721

30102 0.98 328.8 39.7 4.4 741 30137 0.08 2.30 27.83 0.642 4 0.080 0.047 2250 3716 1589

30250 0.90 328.8 26.8 9.4 754 30255 0.22 2.25 0.00 0.000 6 0.127 0.031 2194 2297 1586

30577 0.96 328.8 7.9 6.2 784 30581 0.00 2.25 0.00 0.000 4 0.000 0.044 2203 895 1583

30617 1.11 383.4 6.1 3.7 787 30666 0.12 2.28 42.85 0.612 2 0.061 0.042 2271 2315 1370

30667 end climb: SURFACE_DEPTH_REACHED

state 30667 begin surface coast

30687 end surface coast: CONTROL_FINISHED_OK

state 30687 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	281	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-66567.258	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	0.02	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	093431,5015.324,-14502.018,40,1.7,40,18.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5021.009,-14511.944
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.092,0.140
_SM_DEPTHo	1.97	KALMAN_X	-29207.3,3.9,92.5,39201.6,-1852.7
_SM_ANGLEo	-63.9	KALMAN_Y	12561.2,79.0,205.7,-23179.3,-458.9
GPS2	094001,5015.403,-14502.033,9,1.7,13,18.5	MHEAD_RNG_PITCHd_Wd	308.2,15651,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	0.9,1.024657	XPDR_PINGS	86
SM_CCo	30763,0.00,0.000,0,0,1365,384.14	_24V_AH	22.4,42.026
SM_GC	1.88,5.78,0.00,0.00,0.037,0.000,0.000,100,2316,1365,-8.62,0.34,384.14	_10V_AH	10.6,35.041
IRIDIUM_FIX	4956.40,-14457.45,071298,010145	DATA_FILE_SIZE	47506,793
TT8_MAMPS	0.029913	CAP_FILE_SIZE	190185,0
HUMID	1665	CFSIZE	260165632,236777472
INTERNAL_PRESSURE	7.41239	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	18.90	GPS	120909,181530,5018.180,-14505.244,62,1.5,74,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	243	97.93	SBE_CT	561	24	301.75
Roll_motor	235	59	311.42	SBE_O2	635	19	270.46
VBD_pump_during_apogee	435	1311	12801.97	Optode	816	33	603.82
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1360	105	3200.04
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	69.52	nil	0	0	0.00
Iridium_during_connect	26	160	93.97	nil	0	0	0.00
Iridium_during_xfer	146	223	731.70
Transponder_ping	21	420	202.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.90
TT8	1769	19	371.41
LPSleep	25804	2	599.02
TT8_Active	566	19	118.89
TT8_Sampling	2326	39	981.44
TT8_CF8	616	45	299.51
TT8_Kalman	33	81	28.94
Analog_circuits	1751	12	222.77
GPS_charging	0	0	0.00
Compass	2315	8	196.38
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.68	-117.3	0.0	0.0	0	51	0.00	0.00	-31.95	0.000	2	0.000	0.000	100	2311	2586
53	-0.68	-117.3	3.3	-6.3	3	88	7.25	2.30	-20.48	0.000	4	0.244	0.059	1845	890	3411
179	-0.60	-117.3	18.5	-11.6	14	184	0.12	2.28	0.00	0.000	6	0.143	0.040	1869	2304	3412
504	-0.60	-117.3	53.3	-8.4	44	508	0.00	2.25	0.00	0.000	4	0.000	0.041	1869	885	3413
621	-0.63	-117.3	63.4	-8.8	54	627	0.00	2.25	0.00	0.000	6	0.000	0.036	1863	2309	3414
942	-0.63	-117.3	91.1	-8.3	79	946	0.00	2.25	0.00	0.000	4	0.000	0.043	1863	891	3415
992	-0.63	-117.3	95.3	-7.9	81	996	0.00	2.25	0.00	0.000	6	0.000	0.038	1863	2306	3415
1314	-0.63	-117.3	119.9	-7.5	97	1318	0.00	2.25	0.00	0.000	4	0.000	0.047	1863	892	3415
1380	-0.66	-117.3	124.7	-6.8	100	1384	0.00	2.25	0.00	0.000	6	0.000	0.039	1863	2308	3415
1702	-0.69	-117.3	146.5	-6.9	116	1703	0.00	0.00	0.00	0.000	6	0.000	0.000	1863	2308	3415
2009	-0.74	-117.3	167.9	-6.8	127	2010	0.08	0.00	0.00	0.000	6	0.083	0.000	1801	2308	3415
2315	-0.67	-117.3	196.5	-9.2	137	2319	0.20	2.28	0.00	0.000	4	0.123	0.046	1866	891	3415
2355	-0.74	-117.3	199.2	-6.3	138	2360	0.10	2.25	0.00	0.000	6	0.065	0.039	1798	2306	3414
2684	-0.68	-117.3	230.2	-9.9	149	2686	0.20	0.00	0.00	0.000	6	0.124	0.000	1858	2306	3414
2990	-0.73	-117.3	251.2	-6.6	159	2994	0.00	2.25	0.00	0.000	4	0.000	0.044	1857	890	3414
3052	-0.80	-117.3	255.4	-6.9	160	3059	0.10	2.25	0.00	0.000	6	0.067	0.041	1787	2309	3413
3365	-0.72	-117.3	286.8	-10.5	171	3369	0.17	2.25	0.00	0.000	4	0.128	0.056	1836	3709	3413
3409	-0.76	-117.3	290.7	-7.8	172	3413	0.00	2.20	0.00	0.000	6	0.000	0.031	1836	2298	3413
3731	-0.78	-117.3	316.5	-8.1	180	3735	0.00	2.22	0.00	0.000	4	0.000	0.045	1836	895	3413
3770	-0.80	-117.3	320.1	-9.1	180	3774	0.00	2.22	0.00	0.000	6	0.000	0.043	1827	2303	3413
4096	-0.80	-117.3	347.9	-8.5	186	4100	0.00	2.25	0.00	0.000	4	0.000	0.050	1827	892	3412
4128	-0.80	-117.3	350.9	-9.4	186	4132	0.00	2.25	0.00	0.000	6	0.000	0.039	1821	2306	3412
4461	-0.80	-117.3	377.4	-7.8	192	4465	0.00	2.25	0.00	0.000	4	0.000	0.044	1821	893	3411
4504	-0.80	-117.3	381.0	-8.0	192	4508	0.00	2.25	0.00	0.000	6	0.000	0.039	1812	2312	3411
4826	-0.78	-117.3	405.9	-7.9	198	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	1813	2313	3411
5129	-0.76	-117.3	429.7	-7.9	203	5134	0.10	2.28	0.00	0.000	4	0.143	0.044	1839	892	3410
5173	-0.80	-117.3	433.0	-7.1	203	5177	0.00	2.25	0.00	0.000	6	0.000	0.044	1837	2304	3410
5488	-0.83	-117.3	454.4	-6.9	209	5489	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2304	3411
5791	-0.87	-117.3	475.5	-6.9	214	5796	0.10	2.25	0.00	0.000	4	0.069	0.048	1775	892	3410
5841	-0.78	-117.3	480.4	-10.5	214	5846	0.22	2.25	0.00	0.000	6	0.133	0.047	1833	2302	3410
6151	-0.80	-117.3	501.9	-6.8	219	6152	0.00	0.00	0.00	0.000	6	0.000	0.000	1833	2302	3409
6454	-0.83	-117.3	522.6	-6.8	224	6455	0.00	0.00	0.00	0.000	6	0.000	0.000	1833	2302	3408
6757	-0.86	-117.3	541.7	-6.2	229	6758	0.00	0.00	0.00	0.000	6	0.000	0.000	1833	2303	3408
7060	-0.89	-117.3	560.7	-6.3	234	7065	0.10	2.28	0.00	0.000	4	0.071	0.044	1775	892	3408
7100	-0.80	-117.3	564.3	-9.7	234	7105	0.20	2.28	0.00	0.000	6	0.134	0.044	1825	2309	3408
7420	-0.80	-117.3	586.4	-6.6	240	7424	0.00	2.28	0.00	0.000	4	0.000	0.047	1825	889	3407
7465	-0.82	-117.3	589.5	-7.1	240	7469	0.00	2.25	0.00	0.000	6	0.000	0.046	1823	2305	3408
7781	-0.82	-117.3	610.2	-6.5	246	7782	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2306	3408
8083	-0.82	-117.3	630.2	-6.6	251	8087	0.00	2.25	0.00	0.000	4	0.000	0.048	1823	892	3407
8115	-0.82	-117.3	632.6	-7.2	251	8119	0.00	2.25	0.00	0.000	6	0.000	0.041	1821	2302	3407
8448	-0.82	-117.3	655.5	-6.9	257	8449	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2303	3407
8751	-0.82	-117.3	676.4	-6.9	262	8755	0.00	2.25	0.00	0.000	4	0.000	0.049	1821	897	3407
8795	-0.82	-117.3	679.6	-6.9	262	8799	0.00	2.25	0.00	0.000	6	0.000	0.045	1820	2305	3407
9116	-0.82	-117.3	700.5	-6.5	268	9117	0.00	0.00	0.00	0.000	6	0.000	0.000	1820	2305	3406
9419	-0.82	-117.3	720.7	-6.7	273	9423	0.00	2.25	0.00	0.000	4	0.000	0.051	1820	895	3407
9452	-0.82	-117.3	723.1	-7.0	273	9456	0.00	2.25	0.00	0.000	6	0.000	0.044	1816	2307	3407
9790	-0.82	-117.3	744.5	-6.2	279	9791	0.00	0.00	0.00	0.000	6	0.000	0.000	1816	2308	3406
10093	-0.82	-117.3	762.0	-5.7	284	10097	0.00	2.25	0.00	0.000	4	0.000	0.047	1816	900	3406
10148	-0.82	-117.3	765.3	-5.9	284	10155	0.00	2.25	0.00	0.000	6	0.000	0.044	1810	2309	3406
10458	-0.82	-117.3	783.1	-5.8	290	10459	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2310	3406
10760	-0.82	-117.3	800.9	-5.9	295	10765	0.00	2.28	0.00	0.000	4	0.000	0.051	1810	890	3405
10799	-0.82	-117.3	803.5	-6.4	295	10803	0.00	2.28	0.00	0.000	6	0.000	0.041	1809	2307	3405
11126	-0.82	-117.3	823.7	-6.2	301	11130	0.00	2.28	0.00	0.000	4	0.000	0.051	1809	890	3405
11154	-0.82	-117.3	825.8	-8.1	301	11158	0.00	2.28	0.00	0.000	6	0.000	0.041	1808	2312	3405
11486	-0.82	-117.3	847.6	-6.6	307	11490	0.00	2.28	0.00	0.000	4	0.000	0.052	1808	896	3406
11519	-0.82	-117.3	850.0	-7.5	307	11523	0.00	2.25	0.00	0.000	6	0.000	0.043	1806	2310	3406
11852	-0.82	-117.3	871.6	-6.4	313	11853	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2310	3405
12154	-0.82	-117.3	890.8	-6.3	318	12155	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2310	3405
12457	-0.82	-117.3	909.2	-6.0	323	12458	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2310	3405
12760	-0.82	-117.3	927.5	-6.1	328	12764	0.00	2.30	0.00	0.000	4	0.000	0.049	1806	892	3405
12833	-0.82	-117.3	932.6	-7.1	329	12837	0.00	2.28	0.00	0.000	6	0.000	0.041	1804	2307	3405
13187	-0.82	-117.3	954.3	-6.1	335	13191	0.00	2.30	0.00	0.000	4	0.000	0.048	1804	892	3404
13220	-0.82	-117.3	956.4	-6.5	335	13225	0.10	2.28	0.00	0.000	6	0.147	0.041	1820	2305	3405
13553	-0.86	-117.3	973.0	-4.9	341	13554	0.00	0.00	0.00	0.000	6	0.000	0.000	1820	2305	3404
13856	-0.90	-117.3	988.0	-5.0	346	13857	0.00	0.00	0.00	0.000	6	0.000	0.000	1820	2305	3404
13913	end dive: TARGET_DEPTH_EXCEEDED
state	13913	begin apogee
13919	-0.22	0.0	991.0	4.9	347	14017	0.43	0.00	95.47	1.312	6	0.119	0.000	1957	2305	2931
14018	end apogee: CONTROL_FINISHED_OK
state	14018	begin climb
14021	0.68	117.3	991.9	0.0	348	14131	0.57	2.60	101.25	1.280	4	0.077	0.057	2152	3706	2451
14149	0.52	117.3	988.5	7.3	350	14154	0.22	2.40	0.00	0.000	6	0.175	0.038	2112	2316	2448
14459	0.46	117.3	970.0	5.9	355	14463	0.00	2.40	0.00	0.000	4	0.000	0.050	2121	888	2441
14492	0.41	117.3	967.8	6.4	355	14497	0.12	2.35	0.00	0.000	6	0.144	0.048	2091	2309	2440
14818	0.43	132.4	951.4	5.0	361	14837	0.00	2.38	12.20	1.141	4	0.000	0.057	2091	3716	2390
14890	0.39	132.4	947.2	6.0	362	14894	0.00	2.30	0.00	0.000	6	0.000	0.038	2099	2288	2388
15250	0.37	136.7	927.8	5.4	368	15257	0.00	0.00	5.07	0.890	6	0.000	0.000	2099	2288	2373
15553	0.35	136.7	911.0	5.6	373	15555	0.10	0.00	0.00	0.000	6	0.163	0.000	2075	2288	2371
15856	0.40	157.5	896.3	4.8	378	15881	0.00	2.35	19.12	1.184	4	0.000	0.059	2076	3716	2287
15915	0.40	157.5	892.9	6.2	378	15922	0.00	2.28	0.00	0.000	6	0.000	0.041	2083	2299	2285
16226	0.44	163.1	876.4	5.3	384	16233	0.00	0.00	5.75	0.925	6	0.000	0.000	2083	2299	2266
16529	0.47	163.9	860.0	5.5	389	16533	0.00	2.30	0.00	0.000	4	0.000	0.057	2084	3710	2264
16562	0.47	163.9	857.8	5.7	389	16565	0.00	2.25	0.00	0.000	6	0.000	0.035	2094	2293	2263
16895	0.47	163.9	839.3	5.6	395	16896	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	2293	2263
17196	0.47	163.9	822.1	5.7	400	17200	0.00	2.30	0.00	0.000	4	0.000	0.056	2094	3710	2263
17230	0.44	163.9	819.9	6.2	400	17234	0.00	2.22	0.00	0.000	6	0.000	0.035	2104	2305	2262
17557	0.44	163.9	800.2	6.0	406	17558	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2305	2262
17859	0.44	163.9	781.2	6.3	411	17863	0.00	2.30	0.00	0.000	4	0.000	0.056	2103	3720	2262
17897	0.40	163.9	778.5	6.6	411	17902	0.12	2.22	0.00	0.000	6	0.157	0.041	2083	2304	2262
18219	0.44	167.3	761.0	5.4	417	18225	0.00	0.00	4.65	0.794	6	0.000	0.000	2083	2305	2249
18521	0.49	173.4	744.9	5.3	422	18535	0.08	2.33	7.22	0.946	4	0.086	0.054	2141	891	2223
18558	0.44	173.4	742.3	6.8	422	18563	0.17	2.25	0.00	0.000	6	0.137	0.043	2092	2306	2223
18885	0.46	173.4	724.0	5.5	428	18889	0.00	2.28	0.00	0.000	4	0.000	0.050	2092	3719	2222
18923	0.46	173.4	721.5	6.5	428	18927	0.00	2.22	0.00	0.000	6	0.000	0.034	2101	2298	2221
19250	0.46	173.4	703.3	5.6	434	19251	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2298	2221
19553	0.48	182.9	687.4	5.2	439	19567	0.00	2.30	9.48	0.978	4	0.000	0.049	2100	3709	2184
19590	0.49	195.1	685.3	5.1	439	19609	0.00	2.22	12.12	1.002	6	0.000	0.040	2110	2303	2135
19920	0.49	197.6	667.6	5.4	445	19921	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2303	2132
20223	0.50	205.6	651.5	5.2	450	20238	0.00	2.33	10.32	0.967	4	0.000	0.051	2110	3719	2091
20261	0.51	207.3	649.2	5.4	450	20265	0.00	2.28	0.00	0.000	6	0.000	0.039	2120	2294	2090
20581	0.51	207.3	631.2	5.6	456	20582	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2294	2089
20884	0.52	216.0	615.5	5.2	461	20896	0.00	0.00	10.23	0.948	6	0.000	0.000	2120	2294	2049
21188	0.54	231.4	600.3	5.0	466	21204	0.00	0.00	14.62	0.975	6	0.000	0.000	2120	2294	1987
21491	0.54	238.9	584.5	5.2	471	21501	0.00	0.00	7.75	0.870	6	0.000	0.000	2120	2294	1957
21793	0.54	238.9	567.4	5.7	476	21794	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2294	1953
22096	0.54	238.9	548.6	6.2	481	22097	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2294	1953
22400	0.54	238.9	529.2	6.5	486	22401	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2294	1952
22703	0.57	238.9	509.5	6.5	491	22707	0.00	2.30	0.00	0.000	4	0.000	0.049	2120	3710	1952
22726	0.57	238.9	507.8	6.5	491	22730	0.00	2.22	0.00	0.000	6	0.000	0.032	2129	2297	1952
23064	0.57	238.9	484.4	6.9	497	23068	0.00	2.25	0.00	0.000	4	0.000	0.048	2141	890	1952
23092	0.57	238.9	482.3	8.0	497	23096	0.00	2.25	0.00	0.000	6	0.000	0.038	2140	2308	1951
23424	0.57	238.9	458.2	7.2	503	23428	0.00	2.25	0.00	0.000	4	0.000	0.056	2141	3709	1952
23451	0.53	238.9	455.8	7.6	503	23456	0.15	2.20	0.00	0.000	6	0.144	0.032	2110	2303	1951
23789	0.58	238.9	436.9	5.5	509	23792	0.00	2.25	0.00	0.000	4	0.000	0.054	2118	898	1951
23828	0.65	238.9	434.6	5.8	509	23833	0.08	2.25	0.00	0.000	6	0.081	0.041	2173	2314	1950
24154	0.55	238.9	403.9	9.7	515	24159	0.17	2.25	0.00	0.000	4	0.143	0.050	2119	3712	1951
24226	0.55	238.9	398.1	7.4	516	24230	0.00	2.20	0.00	0.000	6	0.000	0.032	2127	2296	1951
24586	0.55	238.9	373.7	6.8	522	24590	0.00	2.22	0.00	0.000	4	0.000	0.047	2137	897	1950
24614	0.57	238.9	371.6	7.0	522	24618	0.00	2.22	0.00	0.000	6	0.000	0.038	2137	2311	1950
24951	0.57	238.9	347.3	7.2	528	24955	0.00	2.25	0.00	0.000	4	0.000	0.050	2138	3715	1950
24974	0.55	238.9	345.4	8.0	528	24978	0.12	2.20	0.00	0.000	6	0.143	0.032	2117	2299	1950
25317	0.59	239.3	326.0	5.5	534	25320	0.00	2.22	0.00	0.000	4	0.000	0.046	2125	895	1951
25350	0.66	241.9	324.1	5.4	534	25354	0.00	2.22	0.00	0.000	6	0.000	0.043	2125	2306	1950
25683	0.68	241.9	304.3	6.0	540	25688	0.08	2.25	0.00	0.000	4	0.078	0.048	2182	3709	1951
25716	0.57	241.9	301.1	10.3	540	25720	0.25	2.20	0.00	0.000	6	0.147	0.032	2123	2293	1951
26045	0.61	241.9	281.6	5.6	551	26048	0.00	2.22	0.00	0.000	4	0.000	0.048	2132	897	1951
26080	0.65	241.9	279.8	6.0	552	26084	0.00	2.22	0.00	0.000	6	0.000	0.039	2132	2310	1950
26414	0.65	241.9	259.1	6.3	563	26416	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2310	1951
26721	0.65	241.9	238.8	6.5	573	26722	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2310	1951
27027	0.65	241.9	220.9	5.5	583	27030	0.00	2.25	0.00	0.000	4	0.000	0.048	2133	3719	1951
27049	0.65	241.9	219.4	5.7	583	27053	0.00	2.22	0.00	0.000	6	0.000	0.035	2141	2296	1950
27361	0.65	241.9	201.3	5.6	593	27363	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2296	1951
27668	0.67	253.2	185.4	5.1	603	27683	0.00	0.00	12.95	0.723	6	0.000	0.000	2142	2295	1898
27974	0.67	253.2	168.4	5.8	613	27975	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2295	1895
28282	0.70	260.7	151.6	5.2	623	28295	0.00	2.35	7.45	0.644	4	0.000	0.048	2141	3716	1867
28319	0.70	260.7	149.1	5.9	624	28325	0.00	2.25	0.00	0.000	6	0.000	0.032	2151	2297	1867
28636	0.73	260.7	129.8	5.7	640	28640	0.00	2.25	0.00	0.000	4	0.000	0.045	2159	890	1865
28661	0.77	260.7	128.3	6.1	641	28665	0.00	2.25	0.00	0.000	6	0.000	0.037	2160	2312	1865
28988	0.80	260.7	106.5	6.2	657	28992	0.00	2.25	0.00	0.000	4	0.000	0.055	2160	3713	1865
29028	0.80	260.7	103.6	6.6	658	29035	0.00	2.20	0.00	0.000	6	0.000	0.031	2169	2302	1865
29344	0.80	260.7	83.7	5.8	674	29348	0.00	2.22	0.00	0.000	4	0.000	0.045	2178	892	1864
29367	0.86	295.0	82.4	4.3	675	29402	0.00	2.22	29.40	0.682	6	0.000	0.037	2178	2309	1727
29729	0.88	295.0	60.6	6.0	707	29733	0.00	2.25	0.00	0.000	4	0.000	0.048	2178	3711	1721
29769	0.88	295.0	58.1	7.9	710	29772	0.00	2.20	0.00	0.000	6	0.000	0.031	2187	2300	1721
30102	0.98	328.8	39.7	4.4	741	30137	0.08	2.30	27.83	0.642	4	0.080	0.047	2250	3716	1589
30250	0.90	328.8	26.8	9.4	754	30255	0.22	2.25	0.00	0.000	6	0.127	0.031	2194	2297	1586
30577	0.96	328.8	7.9	6.2	784	30581	0.00	2.25	0.00	0.000	4	0.000	0.044	2203	895	1583
30617	1.11	383.4	6.1	3.7	787	30666	0.12	2.28	42.85	0.612	2	0.061	0.042	2271	2315	1370
30667	end climb: SURFACE_DEPTH_REACHED
state	30667	begin surface coast
30687	end surface coast: CONTROL_FINISHED_OK
state	30687	begin surface