Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 429 * 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 429 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 35 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 -69854.961 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 -69854.961

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 35 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 429 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 210907,5010.482,-14441.784,40,1.4,40,18.6 TGT_NAME NE

_CALLS 1 TGT_LATLONG 5021.009,-14429.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.118,0.119

_SM_DEPTHo 2.14 KALMAN_X -89516.6,-156.5,58.7,123626.4,-825.5

_SM_ANGLEo -63.3 KALMAN_Y 21518.2,100.9,-12.3,-40939.1,440.7

GPS2 211502,5010.542,-14441.776,13,1.4,13,18.6 MHEAD_RNG_PITCHd_Wd 26.3,23979,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.1,1.022921 XPDR_PINGS 71

SM_CCo 29189,0.00,0.000,0,0,1465,359.61 _24V_AH 22.0,62.648

SM_GC 2.08,5.55,0.00,0.00,0.037,0.000,0.000,98,2296,1465,-8.62,-0.23,359.61 _10V_AH 10.5,53.847

IRIDIUM_FIX 4953.05,-14447.27,260199,131345 DATA_FILE_SIZE 44416,753

TT8_MAMPS 0.029146 CAP_FILE_SIZE 191621,0

HUMID 1713 CFSIZE 260165632,225259520

INTERNAL_PRESSURE 7.41239 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 16.50 GPS 021109,052337,5012.869,-14438.217,32,1.3,32,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 233 93.28 SBE_CT 533 24 281.53

Roll_motor 252 64 358.15 SBE_O2 605 19 253.18

VBD_pump_during_apogee 424 1291 12073.17 Optode 778 33 565.10

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1292 105 2985.67

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 53.89 nil 0 0 0.00

Iridium_during_connect 30 160 108.54 nil 0 0 0.00

Iridium_during_xfer 157 223 770.96

Transponder_ping 17 420 164.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.65

TT8 1716 19 356.80

LPSleep 24104 2 554.28

TT8_Active 570 19 118.58

TT8_Sampling 2417 39 1010.32

TT8_CF8 721 45 346.79

TT8_Kalman 33 81 28.67

Analog_circuits 1808 12 227.89

GPS_charging 0 0 0.00

Compass 2406 8 202.15

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

18 -0.68 -117.3 0.0 0.0 0 51 0.00 0.00 -31.12 0.000 2 0.000 0.000 98 2292 2443

54 -0.68 -117.3 3.0 -3.6 3 99 7.18 2.33 -27.27 0.000 4 0.234 0.064 1843 891 3413

337 -0.63 -117.3 34.6 -11.7 28 341 0.12 2.25 0.00 0.000 6 0.133 0.043 1869 2312 3415

665 -0.65 -117.3 64.1 -8.0 58 669 0.00 2.25 0.00 0.000 4 0.000 0.048 1861 3712 3415

765 -0.69 -117.3 72.9 -8.0 66 772 0.00 2.20 0.00 0.000 6 0.000 0.029 1861 2290 3415

1084 -0.69 -117.3 100.4 -8.8 86 1087 0.00 2.22 0.00 0.000 4 0.000 0.041 1861 891 3416

1146 -0.73 -117.3 106.3 -9.1 88 1152 0.00 2.22 0.00 0.000 6 0.000 0.037 1853 2310 3416

1462 -0.73 -117.3 134.9 -8.2 104 1466 0.00 2.25 0.00 0.000 4 0.000 0.041 1853 891 3416

1513 -0.76 -117.3 138.9 -7.8 106 1517 0.00 2.20 0.00 0.000 6 0.000 0.037 1849 2302 3416

1838 -0.79 -117.3 161.2 -6.5 119 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 2303 3416

2144 -0.82 -117.3 180.8 -6.2 129 2148 0.10 2.28 0.00 0.000 4 0.064 0.047 1777 890 3416

2189 -0.73 -117.3 184.9 -10.3 130 2194 0.25 2.25 0.00 0.000 6 0.120 0.043 1843 2310 3416

2514 -0.76 -117.3 207.4 -7.0 141 2517 0.00 2.25 0.00 0.000 4 0.000 0.042 1843 890 3416

2549 -0.81 -117.3 210.2 -8.0 142 2553 0.00 2.20 0.00 0.000 6 0.000 0.038 1837 2309 3416

2890 -0.83 -117.3 236.9 -7.8 153 2891 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2309 3415

3197 -0.85 -117.3 259.6 -7.4 163 3201 0.08 2.25 0.00 0.000 4 0.081 0.043 1768 898 3415

3241 -0.75 -117.3 264.4 -11.3 164 3246 0.28 2.22 0.00 0.000 6 0.119 0.043 1840 2307 3415

3566 -0.79 -117.3 287.2 -6.9 175 3569 0.00 2.22 0.00 0.000 4 0.000 0.042 1840 895 3414

3601 -0.84 -117.3 289.8 -7.4 176 3605 0.00 2.20 0.00 0.000 6 0.000 0.038 1837 2312 3415

3941 -0.87 -117.3 315.0 -7.4 184 3943 0.10 0.00 0.00 0.000 6 0.065 0.000 1763 2312 3414

4244 -0.77 -117.3 347.7 -10.9 189 4249 0.20 2.28 0.00 0.000 4 0.127 0.048 1829 900 3413

4312 -0.80 -117.3 353.3 -7.1 190 4316 0.00 2.22 0.00 0.000 6 0.000 0.041 1823 2305 3413

4672 -0.80 -117.3 378.9 -7.1 196 4676 0.00 2.25 0.00 0.000 4 0.000 0.049 1822 891 3413

4717 -0.80 -117.3 382.3 -7.5 196 4721 0.00 2.25 0.00 0.000 6 0.000 0.038 1814 2313 3413

5032 -0.80 -117.3 405.2 -7.2 202 5034 0.00 0.00 0.00 0.000 6 0.000 0.000 1814 2313 3412

5336 -0.80 -117.3 426.8 -7.1 207 5340 0.00 2.25 0.00 0.000 4 0.000 0.044 1814 896 3412

5392 -0.80 -117.3 431.2 -7.8 207 5398 0.00 2.22 0.00 0.000 6 0.000 0.042 1807 2302 3412

5702 -0.80 -117.3 455.2 -7.8 213 5703 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2302 3412

6005 -0.80 -117.3 478.6 -7.7 218 6009 0.00 2.22 0.00 0.000 4 0.000 0.044 1807 900 3411

6044 -0.80 -117.3 482.1 -8.3 218 6049 0.10 2.22 0.00 0.000 6 0.127 0.047 1826 2303 3412

6365 -0.83 -117.3 503.3 -6.7 224 6367 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 2303 3411

6668 -0.86 -117.3 522.3 -6.2 229 6672 0.00 2.25 0.00 0.000 4 0.000 0.051 1826 900 3411

6707 -0.91 -117.3 524.8 -6.6 229 6711 0.00 2.22 0.00 0.000 6 0.000 0.044 1823 2305 3410

7029 -0.93 -117.3 544.5 -6.1 235 7031 0.10 0.00 0.00 0.000 6 0.064 0.000 1756 2305 3410

7332 -0.83 -117.3 574.2 -10.1 240 7337 0.20 2.28 0.00 0.000 4 0.125 0.045 1821 900 3410

7399 -0.87 -117.3 579.3 -6.8 241 7404 0.00 2.22 0.00 0.000 6 0.000 0.045 1821 2308 3410

7766 -0.89 -117.3 602.3 -6.3 247 7770 0.00 2.28 0.00 0.000 4 0.000 0.051 1820 894 3410

7799 -0.93 -117.3 604.6 -6.9 247 7804 0.00 2.25 0.00 0.000 6 0.000 0.042 1812 2312 3409

8127 -0.93 -117.3 625.2 -6.3 253 8128 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2313 3409

8429 -0.93 -117.3 644.1 -6.3 258 8433 0.00 2.28 0.00 0.000 4 0.000 0.045 1813 897 3409

8496 -0.96 -117.3 648.7 -6.6 259 8500 0.00 2.25 0.00 0.000 6 0.000 0.048 1808 2310 3409

8856 -0.96 -117.3 673.7 -7.1 265 8860 0.00 2.28 0.00 0.000 4 0.000 0.049 1808 893 3409

8901 -0.96 -117.3 677.2 -7.7 265 8905 0.00 2.25 0.00 0.000 6 0.000 0.044 1807 2306 3408

9216 -0.96 -117.3 698.9 -6.8 271 9217 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2306 3409

9519 -0.96 -117.3 716.5 -5.7 276 9523 0.00 2.28 0.00 0.000 4 0.000 0.045 1807 900 3408

9570 -0.98 -117.3 719.5 -6.2 276 9574 0.00 2.25 0.00 0.000 6 0.000 0.041 1799 2309 3408

9880 -0.98 -117.3 737.1 -5.7 281 9881 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2309 3408

10182 -0.98 -117.3 754.6 -5.8 286 10187 0.00 2.30 0.00 0.000 4 0.000 0.050 1799 891 3408

10245 -0.98 -117.3 758.7 -6.9 287 10249 0.00 2.25 0.00 0.000 6 0.000 0.047 1794 2305 3408

10618 -0.98 -117.3 783.3 -6.7 293 10622 0.00 2.28 0.00 0.000 4 0.000 0.046 1794 900 3407

10651 -0.98 -117.3 785.9 -7.3 293 10655 0.00 2.25 0.00 0.000 6 0.000 0.041 1785 2310 3408

10977 -0.95 -117.3 810.8 -7.7 299 10981 0.00 2.28 0.00 0.000 4 0.000 0.048 1785 900 3407

11029 -0.93 -117.3 815.2 -8.4 299 11033 0.00 2.25 0.00 0.000 6 0.000 0.041 1781 2305 3407

11339 -0.90 -117.3 840.4 -8.2 304 11344 0.10 2.28 0.00 0.000 4 0.139 0.050 1809 899 3407

11395 -0.94 -117.3 844.7 -7.6 304 11401 0.00 2.25 0.00 0.000 6 0.000 0.047 1809 2305 3407

11705 -0.96 -117.3 865.9 -6.9 310 11707 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2305 3407

12009 -0.99 -117.3 887.6 -7.2 315 12013 0.10 2.28 0.00 0.000 4 0.078 0.048 1763 901 3407

12072 -0.93 -117.3 893.7 -9.4 316 12077 0.15 2.25 0.00 0.000 6 0.133 0.042 1797 2305 3407

12438 -0.93 -117.3 922.4 -7.7 322 12442 0.00 2.28 0.00 0.000 4 0.000 0.048 1797 901 3407

12476 -0.93 -117.3 925.8 -8.7 322 12480 0.00 2.25 0.00 0.000 6 0.000 0.042 1795 2308 3407

12797 -0.93 -117.3 950.3 -7.7 328 12801 0.00 2.28 0.00 0.000 4 0.000 0.053 1795 901 3407

12831 -0.93 -117.3 953.0 -7.6 328 12835 0.00 2.25 0.00 0.000 6 0.000 0.043 1794 2305 3407

13158 -0.93 -117.3 976.2 -7.1 334 13159 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2305 3406

13397 end dive: TARGET_DEPTH_EXCEEDED

state 13397 begin apogee

13403 -0.22 0.0 991.8 6.4 338 13504 0.50 0.00 97.62 1.292 6 0.115 0.000 1954 2305 2931

13505 end apogee: CONTROL_FINISHED_OK

state 13505 begin climb

13507 0.68 117.3 992.7 0.0 339 13619 0.55 2.55 103.20 1.262 4 0.073 0.058 2148 3701 2451

13669 0.50 117.3 986.2 8.1 341 13674 0.20 2.35 0.00 0.000 6 0.166 0.034 2112 2310 2446

13996 0.46 117.3 964.6 6.6 347 14000 0.00 2.30 0.00 0.000 4 0.000 0.051 2111 3709 2441

14026 0.39 117.3 962.4 7.4 347 14031 0.15 2.25 0.00 0.000 6 0.160 0.040 2083 2297 2441

14359 0.40 124.3 944.3 5.3 353 14366 0.00 0.00 5.30 0.894 6 0.000 0.000 2083 2297 2424

14662 0.41 139.7 929.2 5.0 358 14682 0.00 2.33 14.95 1.151 4 0.000 0.054 2083 3714 2361

14722 0.41 139.7 925.9 5.9 359 14726 0.00 2.25 0.00 0.000 6 0.000 0.041 2091 2295 2359

15095 0.45 167.0 908.3 4.6 365 15124 0.00 2.35 24.60 1.190 4 0.000 0.054 2091 3709 2249

15147 0.46 178.9 905.7 5.1 365 15173 0.00 2.25 13.82 0.955 6 0.000 0.039 2101 2303 2201

15530 0.49 203.8 887.8 4.7 372 15559 0.00 2.38 22.70 1.167 4 0.000 0.055 2101 3710 2100

15583 0.50 207.1 884.9 5.4 372 15595 0.00 2.28 4.43 0.775 6 0.000 0.039 2111 2294 2087

15899 0.54 222.9 869.1 5.0 378 15916 0.00 0.00 15.38 1.117 6 0.000 0.000 2111 2294 2022

16203 0.58 237.4 853.9 5.0 383 16222 0.00 2.38 13.90 1.096 4 0.000 0.053 2111 3709 1963

16257 0.58 237.5 850.6 5.5 383 16261 0.00 2.25 0.00 0.000 6 0.000 0.041 2121 2304 1961

16567 0.58 237.5 832.9 5.8 388 16571 0.00 2.30 0.00 0.000 4 0.000 0.051 2121 3717 1958

16594 0.58 237.5 830.8 7.7 388 16598 0.00 2.22 0.00 0.000 6 0.000 0.033 2131 2304 1958

16927 0.58 237.5 807.8 7.0 394 16931 0.00 2.28 0.00 0.000 4 0.000 0.051 2131 3711 1957

16960 0.55 237.5 805.0 8.1 394 16965 0.10 2.22 0.00 0.000 6 0.155 0.036 2118 2295 1957

17286 0.55 237.5 784.0 6.4 400 17290 0.00 2.30 0.00 0.000 4 0.000 0.054 2118 3719 1957

17325 0.55 237.5 781.0 7.9 400 17329 0.00 2.22 0.00 0.000 6 0.000 0.041 2126 2297 1956

17645 0.55 237.5 758.1 7.2 406 17649 0.00 2.30 0.00 0.000 4 0.000 0.051 2126 3721 1956

17679 0.55 237.5 755.4 8.1 406 17683 0.00 2.22 0.00 0.000 6 0.000 0.038 2137 2303 1955

18006 0.52 237.5 729.9 7.8 412 18011 0.10 2.28 0.00 0.000 4 0.154 0.049 2112 3712 1956

18039 0.52 237.5 727.2 6.6 412 18043 0.00 2.20 0.00 0.000 6 0.000 0.033 2120 2301 1955

18367 0.52 237.5 705.3 6.7 418 18371 0.00 2.28 0.00 0.000 4 0.000 0.049 2120 3712 1956

18411 0.52 237.5 701.6 8.8 418 18415 0.00 2.22 0.00 0.000 6 0.000 0.032 2130 2298 1956

18727 0.52 237.5 677.6 7.7 424 18731 0.00 2.28 0.00 0.000 4 0.000 0.054 2130 3712 1955

18765 0.50 237.5 674.2 9.0 424 18770 0.12 2.22 0.00 0.000 6 0.139 0.033 2107 2292 1955

19087 0.56 237.5 655.0 5.8 430 19088 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2292 1955

19390 0.62 246.5 639.2 5.2 435 19401 0.10 0.00 8.48 0.905 6 0.069 0.000 2174 2291 1926

19693 0.53 246.5 611.9 9.3 440 19698 0.20 2.30 0.00 0.000 4 0.136 0.048 2113 3716 1924

19738 0.56 246.5 608.5 6.5 440 19742 0.00 2.22 0.00 0.000 6 0.000 0.033 2121 2295 1924

20055 0.59 250.4 591.5 5.4 446 20062 0.00 0.00 4.70 0.711 6 0.000 0.000 2121 2295 1910

20358 0.63 252.2 575.0 5.4 451 20362 0.00 2.30 0.00 0.000 4 0.000 0.053 2121 3718 1909

20402 0.63 252.2 572.0 6.9 451 20406 0.00 2.22 0.00 0.000 6 0.000 0.032 2131 2301 1909

20717 0.63 252.2 552.5 6.2 457 20718 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2302 1909

21021 0.63 252.2 533.2 6.4 462 21025 0.00 2.28 0.00 0.000 4 0.000 0.048 2131 3717 1909

21071 0.63 252.2 529.4 8.0 462 21075 0.00 2.22 0.00 0.000 6 0.000 0.032 2141 2298 1909

21381 0.63 252.2 508.5 6.8 467 21385 0.00 2.28 0.00 0.000 4 0.000 0.048 2141 3719 1909

21420 0.60 252.2 505.4 7.6 467 21424 0.00 2.20 0.00 0.000 6 0.000 0.033 2151 2302 1909

21742 0.56 252.2 481.5 7.6 473 21747 0.12 2.28 0.00 0.000 4 0.142 0.048 2118 3721 1909

21775 0.56 252.2 478.9 7.4 473 21778 0.00 2.20 0.00 0.000 6 0.000 0.032 2125 2303 1909

22107 0.59 252.2 458.4 6.2 479 22109 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2303 1909

22411 0.62 252.2 439.7 6.1 484 22415 0.00 2.25 0.00 0.000 4 0.000 0.049 2126 3711 1909

22455 0.62 252.2 436.5 7.9 484 22459 0.00 2.20 0.00 0.000 6 0.000 0.033 2135 2292 1908

22777 0.62 252.2 415.5 6.6 490 22778 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2292 1908

23080 0.62 252.2 396.7 6.2 495 23084 0.00 2.28 0.00 0.000 4 0.000 0.048 2135 3716 1909

23136 0.62 252.2 392.6 8.2 495 23142 0.00 2.22 0.00 0.000 6 0.000 0.033 2145 2303 1909

23446 0.62 252.2 373.3 6.2 501 23450 0.00 2.25 0.00 0.000 4 0.000 0.048 2145 3716 1909

23470 0.59 253.2 371.7 5.5 501 23480 0.12 2.20 4.38 0.599 6 0.139 0.032 2122 2292 1898

23814 0.66 272.7 354.6 4.8 507 23835 0.08 0.00 18.67 0.828 6 0.077 0.000 2181 2292 1819

24116 0.59 272.7 329.4 8.6 512 24121 0.20 2.33 0.00 0.000 4 0.135 0.048 2120 3716 1815

24166 0.64 272.7 325.9 6.1 512 24171 0.00 2.25 0.00 0.000 6 0.000 0.032 2128 2296 1814

24478 0.70 275.2 309.2 5.4 517 24479 0.08 0.00 0.00 0.000 6 0.077 0.000 2188 2296 1813

24782 0.61 275.2 280.1 9.9 525 24786 0.17 2.30 0.00 0.000 4 0.137 0.047 2134 3715 1813

24820 0.63 275.2 276.6 8.1 526 24824 0.00 2.22 0.00 0.000 6 0.000 0.032 2141 2291 1813

25146 0.66 275.2 256.0 6.3 537 25147 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2291 1813

25451 0.68 275.2 237.7 5.8 547 25455 0.00 2.30 0.00 0.000 4 0.000 0.048 2142 3720 1813

25489 0.68 275.2 235.1 5.8 548 25494 0.00 2.22 0.00 0.000 6 0.000 0.032 2150 2298 1813

25814 0.68 275.2 214.0 6.6 559 25815 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2298 1812

26120 0.68 275.2 193.5 6.9 569 26124 0.00 2.28 0.00 0.000 4 0.000 0.048 2151 3719 1812

26159 0.68 275.2 190.3 7.2 570 26163 0.00 2.20 0.00 0.000 6 0.000 0.032 2160 2304 1812

26483 0.68 275.2 166.7 7.2 581 26484 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2304 1812

26800 0.68 275.2 147.2 5.6 592 26804 0.00 2.25 0.00 0.000 4 0.000 0.048 2160 3714 1812

26861 0.68 275.2 143.2 7.4 594 26867 0.00 2.20 0.00 0.000 6 0.000 0.032 2169 2295 1812

27177 0.68 275.2 125.7 5.8 610 27181 0.00 2.28 0.00 0.000 4 0.000 0.048 2169 3719 1812

27241 0.68 275.2 121.3 6.8 613 27246 0.12 2.20 0.00 0.000 6 0.121 0.031 2144 2294 1812

27568 0.85 275.2 103.0 5.7 629 27573 0.15 2.22 0.00 0.000 4 0.058 0.044 2210 886 1811

27692 0.85 275.2 95.4 5.6 634 27699 0.10 2.25 0.00 0.000 6 0.120 0.038 2182 2319 1811

28009 0.85 275.2 77.0 5.7 652 28012 0.00 2.22 0.00 0.000 4 0.000 0.048 2182 3714 1812

28066 0.86 291.2 73.6 5.0 657 28090 0.00 2.20 16.45 0.644 6 0.000 0.031 2189 2300 1742

28408 0.96 291.2 55.0 5.5 689 28412 0.00 2.25 0.00 0.000 4 0.000 0.044 2197 895 1738

28475 1.06 315.5 51.2 4.7 694 28505 0.12 2.20 21.50 0.631 6 0.060 0.037 2272 2305 1642

28823 0.94 315.5 17.0 9.5 727 28828 0.22 2.25 0.00 0.000 4 0.146 0.045 2203 3706 1638

28901 0.99 357.3 11.8 4.1 733 28942 0.00 2.20 34.80 0.607 6 0.000 0.036 2211 2296 1474

29087 end climb: SURFACE_DEPTH_REACHED

state 29087 begin surface coast

29113 end surface coast: CONTROL_FINISHED_OK

state 29113 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	429	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	35	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	-69854.961	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	210907,5010.482,-14441.784,40,1.4,40,18.6	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	5021.009,-14429.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.118,0.119
_SM_DEPTHo	2.14	KALMAN_X	-89516.6,-156.5,58.7,123626.4,-825.5
_SM_ANGLEo	-63.3	KALMAN_Y	21518.2,100.9,-12.3,-40939.1,440.7
GPS2	211502,5010.542,-14441.776,13,1.4,13,18.6	MHEAD_RNG_PITCHd_Wd	26.3,23979,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.1,1.022921	XPDR_PINGS	71
SM_CCo	29189,0.00,0.000,0,0,1465,359.61	_24V_AH	22.0,62.648
SM_GC	2.08,5.55,0.00,0.00,0.037,0.000,0.000,98,2296,1465,-8.62,-0.23,359.61	_10V_AH	10.5,53.847
IRIDIUM_FIX	4953.05,-14447.27,260199,131345	DATA_FILE_SIZE	44416,753
TT8_MAMPS	0.029146	CAP_FILE_SIZE	191621,0
HUMID	1713	CFSIZE	260165632,225259520
INTERNAL_PRESSURE	7.41239	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	16.50	GPS	021109,052337,5012.869,-14438.217,32,1.3,32,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	233	93.28	SBE_CT	533	24	281.53
Roll_motor	252	64	358.15	SBE_O2	605	19	253.18
VBD_pump_during_apogee	424	1291	12073.17	Optode	778	33	565.10
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1292	105	2985.67
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	53.89	nil	0	0	0.00
Iridium_during_connect	30	160	108.54	nil	0	0	0.00
Iridium_during_xfer	157	223	770.96
Transponder_ping	17	420	164.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.65
TT8	1716	19	356.80
LPSleep	24104	2	554.28
TT8_Active	570	19	118.58
TT8_Sampling	2417	39	1010.32
TT8_CF8	721	45	346.79
TT8_Kalman	33	81	28.67
Analog_circuits	1808	12	227.89
GPS_charging	0	0	0.00
Compass	2406	8	202.15
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
18	-0.68	-117.3	0.0	0.0	0	51	0.00	0.00	-31.12	0.000	2	0.000	0.000	98	2292	2443
54	-0.68	-117.3	3.0	-3.6	3	99	7.18	2.33	-27.27	0.000	4	0.234	0.064	1843	891	3413
337	-0.63	-117.3	34.6	-11.7	28	341	0.12	2.25	0.00	0.000	6	0.133	0.043	1869	2312	3415
665	-0.65	-117.3	64.1	-8.0	58	669	0.00	2.25	0.00	0.000	4	0.000	0.048	1861	3712	3415
765	-0.69	-117.3	72.9	-8.0	66	772	0.00	2.20	0.00	0.000	6	0.000	0.029	1861	2290	3415
1084	-0.69	-117.3	100.4	-8.8	86	1087	0.00	2.22	0.00	0.000	4	0.000	0.041	1861	891	3416
1146	-0.73	-117.3	106.3	-9.1	88	1152	0.00	2.22	0.00	0.000	6	0.000	0.037	1853	2310	3416
1462	-0.73	-117.3	134.9	-8.2	104	1466	0.00	2.25	0.00	0.000	4	0.000	0.041	1853	891	3416
1513	-0.76	-117.3	138.9	-7.8	106	1517	0.00	2.20	0.00	0.000	6	0.000	0.037	1849	2302	3416
1838	-0.79	-117.3	161.2	-6.5	119	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	1850	2303	3416
2144	-0.82	-117.3	180.8	-6.2	129	2148	0.10	2.28	0.00	0.000	4	0.064	0.047	1777	890	3416
2189	-0.73	-117.3	184.9	-10.3	130	2194	0.25	2.25	0.00	0.000	6	0.120	0.043	1843	2310	3416
2514	-0.76	-117.3	207.4	-7.0	141	2517	0.00	2.25	0.00	0.000	4	0.000	0.042	1843	890	3416
2549	-0.81	-117.3	210.2	-8.0	142	2553	0.00	2.20	0.00	0.000	6	0.000	0.038	1837	2309	3416
2890	-0.83	-117.3	236.9	-7.8	153	2891	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2309	3415
3197	-0.85	-117.3	259.6	-7.4	163	3201	0.08	2.25	0.00	0.000	4	0.081	0.043	1768	898	3415
3241	-0.75	-117.3	264.4	-11.3	164	3246	0.28	2.22	0.00	0.000	6	0.119	0.043	1840	2307	3415
3566	-0.79	-117.3	287.2	-6.9	175	3569	0.00	2.22	0.00	0.000	4	0.000	0.042	1840	895	3414
3601	-0.84	-117.3	289.8	-7.4	176	3605	0.00	2.20	0.00	0.000	6	0.000	0.038	1837	2312	3415
3941	-0.87	-117.3	315.0	-7.4	184	3943	0.10	0.00	0.00	0.000	6	0.065	0.000	1763	2312	3414
4244	-0.77	-117.3	347.7	-10.9	189	4249	0.20	2.28	0.00	0.000	4	0.127	0.048	1829	900	3413
4312	-0.80	-117.3	353.3	-7.1	190	4316	0.00	2.22	0.00	0.000	6	0.000	0.041	1823	2305	3413
4672	-0.80	-117.3	378.9	-7.1	196	4676	0.00	2.25	0.00	0.000	4	0.000	0.049	1822	891	3413
4717	-0.80	-117.3	382.3	-7.5	196	4721	0.00	2.25	0.00	0.000	6	0.000	0.038	1814	2313	3413
5032	-0.80	-117.3	405.2	-7.2	202	5034	0.00	0.00	0.00	0.000	6	0.000	0.000	1814	2313	3412
5336	-0.80	-117.3	426.8	-7.1	207	5340	0.00	2.25	0.00	0.000	4	0.000	0.044	1814	896	3412
5392	-0.80	-117.3	431.2	-7.8	207	5398	0.00	2.22	0.00	0.000	6	0.000	0.042	1807	2302	3412
5702	-0.80	-117.3	455.2	-7.8	213	5703	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2302	3412
6005	-0.80	-117.3	478.6	-7.7	218	6009	0.00	2.22	0.00	0.000	4	0.000	0.044	1807	900	3411
6044	-0.80	-117.3	482.1	-8.3	218	6049	0.10	2.22	0.00	0.000	6	0.127	0.047	1826	2303	3412
6365	-0.83	-117.3	503.3	-6.7	224	6367	0.00	0.00	0.00	0.000	6	0.000	0.000	1826	2303	3411
6668	-0.86	-117.3	522.3	-6.2	229	6672	0.00	2.25	0.00	0.000	4	0.000	0.051	1826	900	3411
6707	-0.91	-117.3	524.8	-6.6	229	6711	0.00	2.22	0.00	0.000	6	0.000	0.044	1823	2305	3410
7029	-0.93	-117.3	544.5	-6.1	235	7031	0.10	0.00	0.00	0.000	6	0.064	0.000	1756	2305	3410
7332	-0.83	-117.3	574.2	-10.1	240	7337	0.20	2.28	0.00	0.000	4	0.125	0.045	1821	900	3410
7399	-0.87	-117.3	579.3	-6.8	241	7404	0.00	2.22	0.00	0.000	6	0.000	0.045	1821	2308	3410
7766	-0.89	-117.3	602.3	-6.3	247	7770	0.00	2.28	0.00	0.000	4	0.000	0.051	1820	894	3410
7799	-0.93	-117.3	604.6	-6.9	247	7804	0.00	2.25	0.00	0.000	6	0.000	0.042	1812	2312	3409
8127	-0.93	-117.3	625.2	-6.3	253	8128	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2313	3409
8429	-0.93	-117.3	644.1	-6.3	258	8433	0.00	2.28	0.00	0.000	4	0.000	0.045	1813	897	3409
8496	-0.96	-117.3	648.7	-6.6	259	8500	0.00	2.25	0.00	0.000	6	0.000	0.048	1808	2310	3409
8856	-0.96	-117.3	673.7	-7.1	265	8860	0.00	2.28	0.00	0.000	4	0.000	0.049	1808	893	3409
8901	-0.96	-117.3	677.2	-7.7	265	8905	0.00	2.25	0.00	0.000	6	0.000	0.044	1807	2306	3408
9216	-0.96	-117.3	698.9	-6.8	271	9217	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2306	3409
9519	-0.96	-117.3	716.5	-5.7	276	9523	0.00	2.28	0.00	0.000	4	0.000	0.045	1807	900	3408
9570	-0.98	-117.3	719.5	-6.2	276	9574	0.00	2.25	0.00	0.000	6	0.000	0.041	1799	2309	3408
9880	-0.98	-117.3	737.1	-5.7	281	9881	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2309	3408
10182	-0.98	-117.3	754.6	-5.8	286	10187	0.00	2.30	0.00	0.000	4	0.000	0.050	1799	891	3408
10245	-0.98	-117.3	758.7	-6.9	287	10249	0.00	2.25	0.00	0.000	6	0.000	0.047	1794	2305	3408
10618	-0.98	-117.3	783.3	-6.7	293	10622	0.00	2.28	0.00	0.000	4	0.000	0.046	1794	900	3407
10651	-0.98	-117.3	785.9	-7.3	293	10655	0.00	2.25	0.00	0.000	6	0.000	0.041	1785	2310	3408
10977	-0.95	-117.3	810.8	-7.7	299	10981	0.00	2.28	0.00	0.000	4	0.000	0.048	1785	900	3407
11029	-0.93	-117.3	815.2	-8.4	299	11033	0.00	2.25	0.00	0.000	6	0.000	0.041	1781	2305	3407
11339	-0.90	-117.3	840.4	-8.2	304	11344	0.10	2.28	0.00	0.000	4	0.139	0.050	1809	899	3407
11395	-0.94	-117.3	844.7	-7.6	304	11401	0.00	2.25	0.00	0.000	6	0.000	0.047	1809	2305	3407
11705	-0.96	-117.3	865.9	-6.9	310	11707	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2305	3407
12009	-0.99	-117.3	887.6	-7.2	315	12013	0.10	2.28	0.00	0.000	4	0.078	0.048	1763	901	3407
12072	-0.93	-117.3	893.7	-9.4	316	12077	0.15	2.25	0.00	0.000	6	0.133	0.042	1797	2305	3407
12438	-0.93	-117.3	922.4	-7.7	322	12442	0.00	2.28	0.00	0.000	4	0.000	0.048	1797	901	3407
12476	-0.93	-117.3	925.8	-8.7	322	12480	0.00	2.25	0.00	0.000	6	0.000	0.042	1795	2308	3407
12797	-0.93	-117.3	950.3	-7.7	328	12801	0.00	2.28	0.00	0.000	4	0.000	0.053	1795	901	3407
12831	-0.93	-117.3	953.0	-7.6	328	12835	0.00	2.25	0.00	0.000	6	0.000	0.043	1794	2305	3407
13158	-0.93	-117.3	976.2	-7.1	334	13159	0.00	0.00	0.00	0.000	6	0.000	0.000	1794	2305	3406
13397	end dive: TARGET_DEPTH_EXCEEDED
state	13397	begin apogee
13403	-0.22	0.0	991.8	6.4	338	13504	0.50	0.00	97.62	1.292	6	0.115	0.000	1954	2305	2931
13505	end apogee: CONTROL_FINISHED_OK
state	13505	begin climb
13507	0.68	117.3	992.7	0.0	339	13619	0.55	2.55	103.20	1.262	4	0.073	0.058	2148	3701	2451
13669	0.50	117.3	986.2	8.1	341	13674	0.20	2.35	0.00	0.000	6	0.166	0.034	2112	2310	2446
13996	0.46	117.3	964.6	6.6	347	14000	0.00	2.30	0.00	0.000	4	0.000	0.051	2111	3709	2441
14026	0.39	117.3	962.4	7.4	347	14031	0.15	2.25	0.00	0.000	6	0.160	0.040	2083	2297	2441
14359	0.40	124.3	944.3	5.3	353	14366	0.00	0.00	5.30	0.894	6	0.000	0.000	2083	2297	2424
14662	0.41	139.7	929.2	5.0	358	14682	0.00	2.33	14.95	1.151	4	0.000	0.054	2083	3714	2361
14722	0.41	139.7	925.9	5.9	359	14726	0.00	2.25	0.00	0.000	6	0.000	0.041	2091	2295	2359
15095	0.45	167.0	908.3	4.6	365	15124	0.00	2.35	24.60	1.190	4	0.000	0.054	2091	3709	2249
15147	0.46	178.9	905.7	5.1	365	15173	0.00	2.25	13.82	0.955	6	0.000	0.039	2101	2303	2201
15530	0.49	203.8	887.8	4.7	372	15559	0.00	2.38	22.70	1.167	4	0.000	0.055	2101	3710	2100
15583	0.50	207.1	884.9	5.4	372	15595	0.00	2.28	4.43	0.775	6	0.000	0.039	2111	2294	2087
15899	0.54	222.9	869.1	5.0	378	15916	0.00	0.00	15.38	1.117	6	0.000	0.000	2111	2294	2022
16203	0.58	237.4	853.9	5.0	383	16222	0.00	2.38	13.90	1.096	4	0.000	0.053	2111	3709	1963
16257	0.58	237.5	850.6	5.5	383	16261	0.00	2.25	0.00	0.000	6	0.000	0.041	2121	2304	1961
16567	0.58	237.5	832.9	5.8	388	16571	0.00	2.30	0.00	0.000	4	0.000	0.051	2121	3717	1958
16594	0.58	237.5	830.8	7.7	388	16598	0.00	2.22	0.00	0.000	6	0.000	0.033	2131	2304	1958
16927	0.58	237.5	807.8	7.0	394	16931	0.00	2.28	0.00	0.000	4	0.000	0.051	2131	3711	1957
16960	0.55	237.5	805.0	8.1	394	16965	0.10	2.22	0.00	0.000	6	0.155	0.036	2118	2295	1957
17286	0.55	237.5	784.0	6.4	400	17290	0.00	2.30	0.00	0.000	4	0.000	0.054	2118	3719	1957
17325	0.55	237.5	781.0	7.9	400	17329	0.00	2.22	0.00	0.000	6	0.000	0.041	2126	2297	1956
17645	0.55	237.5	758.1	7.2	406	17649	0.00	2.30	0.00	0.000	4	0.000	0.051	2126	3721	1956
17679	0.55	237.5	755.4	8.1	406	17683	0.00	2.22	0.00	0.000	6	0.000	0.038	2137	2303	1955
18006	0.52	237.5	729.9	7.8	412	18011	0.10	2.28	0.00	0.000	4	0.154	0.049	2112	3712	1956
18039	0.52	237.5	727.2	6.6	412	18043	0.00	2.20	0.00	0.000	6	0.000	0.033	2120	2301	1955
18367	0.52	237.5	705.3	6.7	418	18371	0.00	2.28	0.00	0.000	4	0.000	0.049	2120	3712	1956
18411	0.52	237.5	701.6	8.8	418	18415	0.00	2.22	0.00	0.000	6	0.000	0.032	2130	2298	1956
18727	0.52	237.5	677.6	7.7	424	18731	0.00	2.28	0.00	0.000	4	0.000	0.054	2130	3712	1955
18765	0.50	237.5	674.2	9.0	424	18770	0.12	2.22	0.00	0.000	6	0.139	0.033	2107	2292	1955
19087	0.56	237.5	655.0	5.8	430	19088	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2292	1955
19390	0.62	246.5	639.2	5.2	435	19401	0.10	0.00	8.48	0.905	6	0.069	0.000	2174	2291	1926
19693	0.53	246.5	611.9	9.3	440	19698	0.20	2.30	0.00	0.000	4	0.136	0.048	2113	3716	1924
19738	0.56	246.5	608.5	6.5	440	19742	0.00	2.22	0.00	0.000	6	0.000	0.033	2121	2295	1924
20055	0.59	250.4	591.5	5.4	446	20062	0.00	0.00	4.70	0.711	6	0.000	0.000	2121	2295	1910
20358	0.63	252.2	575.0	5.4	451	20362	0.00	2.30	0.00	0.000	4	0.000	0.053	2121	3718	1909
20402	0.63	252.2	572.0	6.9	451	20406	0.00	2.22	0.00	0.000	6	0.000	0.032	2131	2301	1909
20717	0.63	252.2	552.5	6.2	457	20718	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2302	1909
21021	0.63	252.2	533.2	6.4	462	21025	0.00	2.28	0.00	0.000	4	0.000	0.048	2131	3717	1909
21071	0.63	252.2	529.4	8.0	462	21075	0.00	2.22	0.00	0.000	6	0.000	0.032	2141	2298	1909
21381	0.63	252.2	508.5	6.8	467	21385	0.00	2.28	0.00	0.000	4	0.000	0.048	2141	3719	1909
21420	0.60	252.2	505.4	7.6	467	21424	0.00	2.20	0.00	0.000	6	0.000	0.033	2151	2302	1909
21742	0.56	252.2	481.5	7.6	473	21747	0.12	2.28	0.00	0.000	4	0.142	0.048	2118	3721	1909
21775	0.56	252.2	478.9	7.4	473	21778	0.00	2.20	0.00	0.000	6	0.000	0.032	2125	2303	1909
22107	0.59	252.2	458.4	6.2	479	22109	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2303	1909
22411	0.62	252.2	439.7	6.1	484	22415	0.00	2.25	0.00	0.000	4	0.000	0.049	2126	3711	1909
22455	0.62	252.2	436.5	7.9	484	22459	0.00	2.20	0.00	0.000	6	0.000	0.033	2135	2292	1908
22777	0.62	252.2	415.5	6.6	490	22778	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2292	1908
23080	0.62	252.2	396.7	6.2	495	23084	0.00	2.28	0.00	0.000	4	0.000	0.048	2135	3716	1909
23136	0.62	252.2	392.6	8.2	495	23142	0.00	2.22	0.00	0.000	6	0.000	0.033	2145	2303	1909
23446	0.62	252.2	373.3	6.2	501	23450	0.00	2.25	0.00	0.000	4	0.000	0.048	2145	3716	1909
23470	0.59	253.2	371.7	5.5	501	23480	0.12	2.20	4.38	0.599	6	0.139	0.032	2122	2292	1898
23814	0.66	272.7	354.6	4.8	507	23835	0.08	0.00	18.67	0.828	6	0.077	0.000	2181	2292	1819
24116	0.59	272.7	329.4	8.6	512	24121	0.20	2.33	0.00	0.000	4	0.135	0.048	2120	3716	1815
24166	0.64	272.7	325.9	6.1	512	24171	0.00	2.25	0.00	0.000	6	0.000	0.032	2128	2296	1814
24478	0.70	275.2	309.2	5.4	517	24479	0.08	0.00	0.00	0.000	6	0.077	0.000	2188	2296	1813
24782	0.61	275.2	280.1	9.9	525	24786	0.17	2.30	0.00	0.000	4	0.137	0.047	2134	3715	1813
24820	0.63	275.2	276.6	8.1	526	24824	0.00	2.22	0.00	0.000	6	0.000	0.032	2141	2291	1813
25146	0.66	275.2	256.0	6.3	537	25147	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2291	1813
25451	0.68	275.2	237.7	5.8	547	25455	0.00	2.30	0.00	0.000	4	0.000	0.048	2142	3720	1813
25489	0.68	275.2	235.1	5.8	548	25494	0.00	2.22	0.00	0.000	6	0.000	0.032	2150	2298	1813
25814	0.68	275.2	214.0	6.6	559	25815	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2298	1812
26120	0.68	275.2	193.5	6.9	569	26124	0.00	2.28	0.00	0.000	4	0.000	0.048	2151	3719	1812
26159	0.68	275.2	190.3	7.2	570	26163	0.00	2.20	0.00	0.000	6	0.000	0.032	2160	2304	1812
26483	0.68	275.2	166.7	7.2	581	26484	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2304	1812
26800	0.68	275.2	147.2	5.6	592	26804	0.00	2.25	0.00	0.000	4	0.000	0.048	2160	3714	1812
26861	0.68	275.2	143.2	7.4	594	26867	0.00	2.20	0.00	0.000	6	0.000	0.032	2169	2295	1812
27177	0.68	275.2	125.7	5.8	610	27181	0.00	2.28	0.00	0.000	4	0.000	0.048	2169	3719	1812
27241	0.68	275.2	121.3	6.8	613	27246	0.12	2.20	0.00	0.000	6	0.121	0.031	2144	2294	1812
27568	0.85	275.2	103.0	5.7	629	27573	0.15	2.22	0.00	0.000	4	0.058	0.044	2210	886	1811
27692	0.85	275.2	95.4	5.6	634	27699	0.10	2.25	0.00	0.000	6	0.120	0.038	2182	2319	1811
28009	0.85	275.2	77.0	5.7	652	28012	0.00	2.22	0.00	0.000	4	0.000	0.048	2182	3714	1812
28066	0.86	291.2	73.6	5.0	657	28090	0.00	2.20	16.45	0.644	6	0.000	0.031	2189	2300	1742
28408	0.96	291.2	55.0	5.5	689	28412	0.00	2.25	0.00	0.000	4	0.000	0.044	2197	895	1738
28475	1.06	315.5	51.2	4.7	694	28505	0.12	2.20	21.50	0.631	6	0.060	0.037	2272	2305	1642
28823	0.94	315.5	17.0	9.5	727	28828	0.22	2.25	0.00	0.000	4	0.146	0.045	2203	3706	1638
28901	0.99	357.3	11.8	4.1	733	28942	0.00	2.20	34.80	0.607	6	0.000	0.036	2211	2296	1474
29087	end climb: SURFACE_DEPTH_REACHED
state	29087	begin surface coast
29113	end surface coast: CONTROL_FINISHED_OK
state	29113	begin surface