Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 716 * 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 716 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 -76235.633 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 -76235.633

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 716 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 195818,4939.695,-13956.940,39,1.5,39,19.2 TGT_NAME P20

_CALLS 1 TGT_LATLONG 4934.000,-13840.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.161,-0.047

_SM_DEPTHo 2.33 KALMAN_X -73602.7,-48.1,73.5,444317.2,1602.5

_SM_ANGLEo -62.5 KALMAN_Y 39345.0,-56.6,37.0,-115742.1,835.1

GPS2 200514,4939.719,-13956.854,10,1.8,10,19.2 MHEAD_RNG_PITCHd_Wd 87.1,92917,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.5,1.025476 XPDR_PINGS 71

SM_CCo 29408,0.00,0.000,0,0,1580,331.65 _24V_AH 21.8,103.024

SM_GC 1.97,5.53,0.00,0.00,0.041,0.000,0.000,97,2298,1580,-8.62,-0.14,331.65 _10V_AH 10.3,88.078

IRIDIUM_FIX 4919.77,-14012.94,030599,121221 DATA_FILE_SIZE 44437,753

TT8_MAMPS 0.027612 CAP_FILE_SIZE 200264,0

HUMID 1770 CFSIZE 260165632,202924032

INTERNAL_PRESSURE 7.37333 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.70 GPS 070210,041736,4939.187,-13950.832,34,1.5,34,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 231 108.06 SBE_CT 534 24 279.51

Roll_motor 260 59 339.42 SBE_O2 619 19 256.64

VBD_pump_during_apogee 403 1280 11257.56 Optode 780 33 561.58

VBD_pump_during_surface 0 0 0.00 WL_BB2F 825 105 1889.79

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 65.16 nil 0 0 0.00

Iridium_during_connect 26 160 91.14 nil 0 0 0.00

Iridium_during_xfer 190 223 924.59

Transponder_ping 17 420 162.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.02

TT8 1758 19 358.54

LPSleep 24218 2 546.29

TT8_Active 547 19 111.57

TT8_Sampling 2314 39 948.83

TT8_CF8 974 45 459.58

TT8_Kalman 33 81 28.13

Analog_circuits 1793 12 221.67

GPS_charging 0 0 0.00

Compass 2290 8 188.71

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.68 -117.3 0.0 0.0 0 59 0.00 0.00 -40.05 0.000 2 0.000 0.000 99 2294 2770

63 -0.68 -117.3 4.2 -7.7 2 90 7.12 2.33 -14.40 0.000 4 0.232 0.060 1846 897 3412

344 -0.65 -117.3 35.9 -12.3 14 351 0.08 2.22 0.00 0.000 6 0.142 0.037 1858 2310 3413

662 -0.65 -117.3 64.7 -8.4 30 666 0.00 2.28 0.00 0.000 4 0.000 0.041 1858 894 3413

814 -0.65 -117.3 79.6 -9.7 36 820 0.00 2.22 0.00 0.000 6 0.000 0.036 1851 2311 3414

1140 -0.65 -117.3 109.6 -8.8 66 1144 0.00 2.25 0.00 0.000 4 0.000 0.041 1851 893 3413

1194 -0.68 -117.3 114.2 -9.0 70 1198 0.00 2.22 0.00 0.000 6 0.000 0.037 1850 2303 3414

1524 -0.68 -117.3 139.5 -6.9 100 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 1849 2303 3414

1865 -0.71 -117.3 162.4 -6.6 121 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 2303 3414

2170 -0.75 -117.3 183.0 -6.6 131 2174 0.00 2.22 0.00 0.000 4 0.000 0.042 1850 892 3414

2222 -0.81 -117.3 186.5 -6.7 132 2227 0.10 2.25 0.00 0.000 6 0.065 0.040 1777 2302 3413

2542 -0.72 -117.3 218.5 -10.1 143 2544 0.22 0.00 0.00 0.000 6 0.114 0.000 1845 2302 3414

2848 -0.76 -117.3 238.8 -7.0 153 2849 0.00 0.00 0.00 0.000 6 0.000 0.000 1846 2302 3414

3154 -0.81 -117.3 260.6 -6.8 163 3158 0.10 2.25 0.00 0.000 4 0.064 0.041 1768 886 3414

3247 -0.72 -117.3 270.4 -11.6 165 3252 0.30 2.28 0.00 0.000 6 0.114 0.039 1846 2311 3414

3561 -0.77 -117.3 291.7 -6.3 175 3565 0.00 2.30 0.00 0.000 4 0.000 0.049 1847 888 3413

3613 -0.83 -117.3 295.3 -7.0 176 3617 0.10 2.28 0.00 0.000 6 0.062 0.041 1775 2312 3413

3930 -0.75 -117.3 327.5 -10.5 183 3932 0.20 0.00 0.00 0.000 6 0.114 0.000 1836 2312 3413

4232 -0.79 -117.3 349.1 -6.9 188 4236 0.00 2.30 0.00 0.000 4 0.000 0.048 1835 888 3413

4267 -0.83 -117.3 351.9 -7.9 188 4271 0.00 2.30 0.00 0.000 6 0.000 0.038 1836 2310 3413

4595 -0.87 -117.3 375.5 -7.3 194 4597 0.10 0.00 0.00 0.000 6 0.064 0.000 1764 2310 3413

4897 -0.78 -117.3 408.9 -11.2 199 4899 0.22 0.00 0.00 0.000 6 0.114 0.000 1834 2310 3412

5201 -0.82 -117.3 430.2 -6.7 204 5205 0.00 2.30 0.00 0.000 4 0.000 0.047 1834 895 3412

5269 -0.87 -117.3 435.1 -6.6 205 5274 0.10 2.28 0.00 0.000 6 0.065 0.041 1765 2305 3412

5631 -0.78 -117.3 470.2 -9.9 211 5633 0.22 0.00 0.00 0.000 6 0.115 0.000 1834 2305 3412

5934 -0.83 -117.3 488.4 -5.7 216 5938 0.00 2.30 0.00 0.000 4 0.000 0.043 1834 888 3412

5974 -0.88 -117.3 491.0 -6.0 216 5979 0.10 2.30 0.00 0.000 6 0.065 0.039 1766 2306 3412

6297 -0.80 -117.3 521.2 -9.7 222 6302 0.17 2.35 0.00 0.000 4 0.118 0.049 1826 889 3412

6332 -0.83 -117.3 524.2 -7.6 222 6336 0.00 2.30 0.00 0.000 6 0.000 0.042 1822 2310 3412

6659 -0.85 -117.3 546.2 -6.8 228 6663 0.00 2.30 0.00 0.000 4 0.000 0.044 1823 896 3411

6695 -0.88 -117.3 548.8 -7.5 228 6699 0.00 2.30 0.00 0.000 6 0.000 0.044 1821 2314 3411

7022 -0.90 -117.3 570.4 -6.6 234 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2315 3411

7325 -0.93 -117.3 590.6 -6.7 239 7330 0.08 2.33 0.00 0.000 4 0.081 0.043 1763 894 3411

7394 -0.85 -117.3 597.3 -9.8 240 7399 0.20 2.30 0.00 0.000 6 0.120 0.040 1813 2312 3411

7756 -0.85 -117.3 623.6 -7.1 246 7760 0.00 2.35 0.00 0.000 4 0.000 0.050 1814 888 3411

7801 -0.88 -117.3 627.1 -7.7 246 7806 0.00 2.30 0.00 0.000 6 0.000 0.041 1809 2311 3411

8119 -0.88 -117.3 648.3 -6.7 252 8120 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2312 3411

8421 -0.88 -117.3 668.1 -6.5 257 8425 0.00 2.33 0.00 0.000 4 0.000 0.044 1809 889 3411

8457 -0.88 -117.3 670.7 -7.6 257 8461 0.00 2.30 0.00 0.000 6 0.000 0.047 1807 2311 3410

8784 -0.88 -117.3 692.5 -6.6 263 8788 0.00 2.33 0.00 0.000 4 0.000 0.044 1807 888 3410

8830 -0.88 -117.3 695.7 -7.4 263 8834 0.00 2.30 0.00 0.000 6 0.000 0.041 1798 2313 3410

9146 -0.88 -117.3 716.5 -6.5 269 9150 0.00 2.33 0.00 0.000 4 0.000 0.045 1799 887 3410

9180 -0.88 -117.3 719.0 -7.4 269 9184 0.00 2.30 0.00 0.000 6 0.000 0.046 1794 2303 3410

9507 -0.88 -117.3 741.7 -7.0 275 9511 0.00 2.30 0.00 0.000 4 0.000 0.048 1794 886 3410

9541 -0.88 -117.3 744.4 -8.4 275 9546 0.00 2.30 0.00 0.000 6 0.000 0.046 1792 2305 3410

9870 -0.86 -117.3 768.9 -7.5 281 9874 0.00 2.28 0.00 0.000 4 0.000 0.051 1792 895 3410

9909 -0.86 -117.3 772.4 -8.1 281 9914 0.12 2.28 0.00 0.000 6 0.117 0.044 1818 2303 3410

10238 -0.90 -117.3 794.4 -6.7 287 10242 0.00 2.28 0.00 0.000 4 0.000 0.051 1817 890 3410

10273 -0.94 -117.3 797.0 -7.7 287 10277 0.00 2.30 0.00 0.000 6 0.000 0.040 1811 2310 3409

10606 -0.96 -117.3 821.6 -7.4 293 10607 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2310 3409

10910 -0.99 -117.3 843.9 -7.4 298 10915 0.10 2.33 0.00 0.000 4 0.072 0.049 1753 889 3409

10996 -0.91 -117.3 852.9 -10.5 299 11001 0.22 2.30 0.00 0.000 6 0.120 0.041 1807 2311 3409

11340 -0.93 -117.3 877.5 -6.8 305 11344 0.00 2.33 0.00 0.000 4 0.000 0.051 1808 898 3409

11387 -0.96 -117.3 880.8 -7.4 305 11391 0.00 2.30 0.00 0.000 6 0.000 0.040 1807 2306 3409

11716 -0.98 -117.3 901.4 -6.2 311 11717 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2307 3409

12019 -1.00 -117.3 918.9 -5.8 316 12023 0.10 2.35 0.00 0.000 4 0.075 0.050 1759 889 3409

12059 -0.92 -117.3 922.2 -9.3 316 12064 0.17 2.33 0.00 0.000 6 0.126 0.044 1804 2311 3408

12392 -0.92 -117.3 943.1 -6.1 322 12396 0.00 2.33 0.00 0.000 4 0.000 0.052 1804 898 3409

12437 -0.92 -117.3 946.2 -7.1 322 12441 0.00 2.28 0.00 0.000 6 0.000 0.041 1797 2303 3409

12753 -0.92 -117.3 967.0 -6.6 328 12757 0.00 2.33 0.00 0.000 4 0.000 0.053 1797 888 3408

12788 -0.92 -117.3 969.6 -7.4 328 12792 0.00 2.33 0.00 0.000 6 0.000 0.041 1795 2310 3408

13112 end dive: TARGET_DEPTH_EXCEEDED

state 13112 begin apogee

13121 -0.22 0.0 991.8 6.6 334 13222 0.50 0.00 98.78 1.280 6 0.110 0.000 1955 2310 2931

13223 end apogee: CONTROL_FINISHED_OK

state 13223 begin climb

13227 0.68 117.3 993.3 0.0 335 13339 0.55 2.55 104.38 1.253 4 0.067 0.054 2152 3706 2451

13362 0.55 117.3 992.2 5.9 337 13367 0.17 2.40 0.00 0.000 6 0.159 0.035 2122 2304 2448

13723 0.49 118.4 972.4 5.5 343 13727 0.00 2.30 0.00 0.000 4 0.000 0.049 2131 888 2441

13753 0.45 130.5 970.8 5.1 343 13769 0.12 2.30 10.82 1.093 6 0.143 0.044 2099 2315 2399

14086 0.49 161.4 955.5 4.5 349 14120 0.00 2.35 27.95 1.198 4 0.000 0.051 2099 3707 2273

14179 0.49 161.4 950.6 5.9 350 14183 0.00 2.25 0.00 0.000 6 0.000 0.041 2107 2295 2270

14524 0.51 178.7 933.6 4.9 356 14542 0.00 0.00 16.10 1.141 6 0.000 0.000 2107 2295 2202

14826 0.54 196.2 918.6 4.9 361 14848 0.00 2.35 16.38 1.136 4 0.000 0.049 2107 3716 2131

14889 0.54 196.2 914.9 6.7 362 14893 0.00 2.28 0.00 0.000 6 0.000 0.033 2117 2294 2129

15256 0.54 199.7 895.3 5.4 368 15265 0.00 2.33 4.50 0.791 4 0.000 0.049 2117 3709 2116

15300 0.51 199.7 892.5 6.5 368 15304 0.00 2.22 0.00 0.000 6 0.000 0.032 2128 2293 2116

15622 0.51 199.7 873.5 6.0 374 15626 0.00 2.33 0.00 0.000 4 0.000 0.050 2128 3718 2115

15652 0.46 199.7 871.3 6.9 374 15657 0.15 2.25 0.00 0.000 6 0.146 0.035 2099 2304 2114

15985 0.51 199.7 853.0 5.6 380 15989 0.00 2.28 0.00 0.000 4 0.000 0.048 2108 893 2114

16015 0.56 199.7 851.2 5.7 380 16019 0.00 2.28 0.00 0.000 6 0.000 0.040 2107 2313 2113

16349 0.59 199.7 830.9 6.1 386 16354 0.08 2.28 0.00 0.000 4 0.086 0.050 2159 3714 2113

16389 0.47 199.7 827.3 9.5 386 16394 0.25 2.22 0.00 0.000 6 0.146 0.033 2102 2304 2112

16717 0.51 203.9 808.9 5.4 392 16725 0.00 0.00 5.00 0.816 6 0.000 0.000 2102 2304 2099

17090 0.57 213.2 789.6 5.2 398 17103 0.08 0.00 10.02 1.002 6 0.079 0.000 2155 2304 2061

17392 0.51 213.2 765.4 8.2 403 17397 0.17 2.33 0.00 0.000 4 0.132 0.054 2099 3714 2059

17420 0.51 213.2 763.2 6.7 403 17425 0.00 2.22 0.00 0.000 6 0.000 0.032 2107 2306 2058

17755 0.55 219.2 745.3 5.3 409 17768 0.00 2.30 6.82 0.891 4 0.000 0.045 2118 887 2036

17788 0.61 219.2 743.4 5.6 409 17792 0.00 2.28 0.00 0.000 6 0.000 0.038 2118 2310 2035

18121 0.64 219.2 724.7 5.7 415 18126 0.08 2.28 0.00 0.000 4 0.082 0.048 2179 3709 2035

18167 0.49 219.2 720.5 10.0 415 18173 0.30 2.22 0.00 0.000 6 0.146 0.033 2106 2290 2034

18484 0.56 228.8 703.3 5.2 421 18496 0.00 0.00 9.70 0.947 6 0.000 0.000 2105 2289 1998

18788 0.61 230.1 686.7 5.5 426 18790 0.10 0.00 0.00 0.000 6 0.067 0.000 2172 2289 1996

19092 0.52 230.1 658.7 9.5 431 19097 0.17 2.33 0.00 0.000 4 0.131 0.048 2116 3708 1996

19137 0.52 230.1 654.8 6.9 431 19141 0.00 2.20 0.00 0.000 6 0.000 0.032 2123 2298 1995

19453 0.54 230.1 635.7 6.0 437 19454 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2298 1995

19757 0.57 230.1 617.7 5.9 442 19758 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2298 1995

20059 0.60 230.1 598.6 6.3 447 20063 0.00 2.30 0.00 0.000 4 0.000 0.047 2124 3715 1995

20087 0.60 230.1 596.5 6.8 447 20091 0.00 2.25 0.00 0.000 6 0.000 0.032 2134 2295 1995

20426 0.60 230.1 574.0 6.7 453 20427 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2295 1995

20730 0.60 230.1 554.7 6.3 458 20734 0.00 2.35 0.00 0.000 4 0.000 0.048 2133 3716 1995

20758 0.60 230.1 552.5 6.9 458 20762 0.00 2.25 0.00 0.000 6 0.000 0.031 2143 2292 1995

21091 0.60 230.1 529.4 7.0 464 21092 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2292 1995

21394 0.60 230.1 507.4 7.3 469 21398 0.00 2.30 0.00 0.000 4 0.000 0.048 2144 3712 1995

21424 0.55 230.1 504.9 8.5 469 21429 0.15 2.22 0.00 0.000 6 0.131 0.032 2112 2295 1995

21763 0.62 244.6 487.1 5.0 475 21784 0.08 2.33 15.30 0.877 4 0.077 0.047 2181 887 1932

21814 0.57 244.6 483.4 8.3 475 21819 0.20 2.28 0.00 0.000 6 0.133 0.038 2126 2303 1930

22126 0.62 244.6 465.7 5.6 480 22130 0.00 2.28 0.00 0.000 4 0.000 0.049 2126 3708 1929

22177 0.62 244.6 462.1 6.6 480 22181 0.00 2.20 0.00 0.000 6 0.000 0.032 2133 2302 1928

22488 0.64 244.6 441.1 6.9 485 22492 0.00 2.30 0.00 0.000 4 0.000 0.051 2144 888 1928

22523 0.67 244.6 438.4 8.9 485 22527 0.00 2.28 0.00 0.000 6 0.000 0.041 2143 2309 1928

22850 0.67 244.6 413.8 7.4 491 22854 0.00 2.25 0.00 0.000 4 0.000 0.048 2143 3708 1928

22896 0.64 244.6 409.8 9.0 491 22900 0.00 2.20 0.00 0.000 6 0.000 0.031 2153 2294 1928

23225 0.61 244.6 385.9 7.2 497 23229 0.00 2.28 0.00 0.000 4 0.000 0.046 2164 897 1928

23253 0.61 244.6 383.8 5.9 497 23258 0.12 2.22 0.00 0.000 6 0.123 0.037 2130 2309 1927

23592 0.65 244.6 364.7 5.6 503 23596 0.00 2.28 0.00 0.000 4 0.000 0.055 2130 3708 1927

23620 0.65 244.6 362.8 5.9 503 23624 0.00 2.20 0.00 0.000 6 0.000 0.031 2138 2297 1927

23960 0.65 244.6 341.6 6.3 509 23964 0.00 2.30 0.00 0.000 4 0.000 0.045 2149 890 1927

23989 0.67 244.6 339.7 6.9 509 23993 0.00 2.28 0.00 0.000 6 0.000 0.040 2149 2313 1927

24327 0.67 244.6 316.8 6.7 515 24331 0.00 2.25 0.00 0.000 4 0.000 0.048 2149 3708 1927

24380 0.63 244.6 312.8 7.8 515 24384 0.00 2.20 0.00 0.000 6 0.000 0.031 2159 2304 1927

24698 0.61 244.6 288.4 7.8 523 24699 0.12 0.00 0.00 0.000 6 0.132 0.000 2123 2304 1927

25004 0.66 244.6 270.0 5.7 533 25005 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2304 1927

25311 0.72 247.1 253.4 5.4 543 25316 0.12 2.33 0.00 0.000 4 0.056 0.046 2211 3710 1927

25334 0.66 247.1 251.4 7.1 543 25339 0.28 2.22 0.00 0.000 6 0.137 0.031 2143 2303 1927

25649 0.67 256.6 233.4 5.2 553 25664 0.00 2.28 10.80 0.698 4 0.000 0.044 2152 896 1885

25689 0.70 256.6 231.0 5.8 554 25693 0.00 2.22 0.00 0.000 6 0.000 0.035 2152 2306 1884

26014 0.70 256.6 211.0 6.5 565 26017 0.00 2.25 0.00 0.000 4 0.000 0.047 2152 3707 1884

26065 0.67 256.6 206.9 7.8 566 26070 0.00 2.20 0.00 0.000 6 0.000 0.031 2162 2298 1883

26386 0.67 256.6 184.5 6.9 577 26387 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2298 1883

26691 0.67 256.6 165.2 6.1 587 26695 0.00 2.28 0.00 0.000 4 0.000 0.047 2162 3707 1883

26715 0.65 256.6 163.5 7.0 587 26722 0.12 2.20 0.00 0.000 6 0.121 0.031 2137 2294 1883

27031 0.71 263.4 147.3 5.3 600 27044 0.00 2.30 7.43 0.603 4 0.000 0.044 2145 896 1857

27082 0.79 263.4 144.3 5.5 604 27086 0.10 2.22 0.00 0.000 6 0.063 0.035 2216 2311 1855

27410 0.69 263.4 115.5 7.6 634 27415 0.20 2.28 0.00 0.000 4 0.120 0.042 2160 896 1855

27453 0.77 265.8 113.2 5.4 637 27457 0.00 2.22 0.00 0.000 6 0.000 0.035 2160 2304 1855

27788 0.91 280.7 98.5 5.0 668 27812 0.12 2.30 16.33 0.637 4 0.058 0.046 2238 3717 1786

27828 0.85 280.7 95.7 8.3 671 27833 0.22 2.22 0.00 0.000 6 0.130 0.031 2183 2295 1785

28167 0.95 280.7 75.0 6.0 698 28171 0.10 2.30 0.00 0.000 4 0.063 0.046 2251 3714 1782

28337 0.80 280.7 58.7 9.2 705 28344 0.30 2.20 0.00 0.000 6 0.124 0.031 2172 2301 1782

28654 0.91 320.9 43.6 4.1 721 28698 0.10 2.38 34.85 0.619 4 0.061 0.045 2260 893 1621

28717 0.83 320.9 38.4 8.9 723 28725 0.28 2.25 0.00 0.000 6 0.114 0.035 2174 2307 1619

29035 0.94 330.1 18.9 5.2 739 29050 0.10 2.33 8.25 0.535 4 0.063 0.049 2251 3705 1584

29105 0.83 330.1 12.7 9.6 742 29110 0.28 2.22 0.00 0.000 6 0.130 0.032 2180 2300 1583

29306 end climb: SURFACE_DEPTH_REACHED

state 29306 begin surface coast

29328 end surface coast: CONTROL_FINISHED_OK

state 29328 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	716	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	-76235.633	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	195818,4939.695,-13956.940,39,1.5,39,19.2	TGT_NAME	P20
_CALLS	1	TGT_LATLONG	4934.000,-13840.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.161,-0.047
_SM_DEPTHo	2.33	KALMAN_X	-73602.7,-48.1,73.5,444317.2,1602.5
_SM_ANGLEo	-62.5	KALMAN_Y	39345.0,-56.6,37.0,-115742.1,835.1
GPS2	200514,4939.719,-13956.854,10,1.8,10,19.2	MHEAD_RNG_PITCHd_Wd	87.1,92917,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.5,1.025476	XPDR_PINGS	71
SM_CCo	29408,0.00,0.000,0,0,1580,331.65	_24V_AH	21.8,103.024
SM_GC	1.97,5.53,0.00,0.00,0.041,0.000,0.000,97,2298,1580,-8.62,-0.14,331.65	_10V_AH	10.3,88.078
IRIDIUM_FIX	4919.77,-14012.94,030599,121221	DATA_FILE_SIZE	44437,753
TT8_MAMPS	0.027612	CAP_FILE_SIZE	200264,0
HUMID	1770	CFSIZE	260165632,202924032
INTERNAL_PRESSURE	7.37333	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.70	GPS	070210,041736,4939.187,-13950.832,34,1.5,34,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	231	108.06	SBE_CT	534	24	279.51
Roll_motor	260	59	339.42	SBE_O2	619	19	256.64
VBD_pump_during_apogee	403	1280	11257.56	Optode	780	33	561.58
VBD_pump_during_surface	0	0	0.00	WL_BB2F	825	105	1889.79
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	65.16	nil	0	0	0.00
Iridium_during_connect	26	160	91.14	nil	0	0	0.00
Iridium_during_xfer	190	223	924.59
Transponder_ping	17	420	162.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.02
TT8	1758	19	358.54
LPSleep	24218	2	546.29
TT8_Active	547	19	111.57
TT8_Sampling	2314	39	948.83
TT8_CF8	974	45	459.58
TT8_Kalman	33	81	28.13
Analog_circuits	1793	12	221.67
GPS_charging	0	0	0.00
Compass	2290	8	188.71
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.68	-117.3	0.0	0.0	0	59	0.00	0.00	-40.05	0.000	2	0.000	0.000	99	2294	2770
63	-0.68	-117.3	4.2	-7.7	2	90	7.12	2.33	-14.40	0.000	4	0.232	0.060	1846	897	3412
344	-0.65	-117.3	35.9	-12.3	14	351	0.08	2.22	0.00	0.000	6	0.142	0.037	1858	2310	3413
662	-0.65	-117.3	64.7	-8.4	30	666	0.00	2.28	0.00	0.000	4	0.000	0.041	1858	894	3413
814	-0.65	-117.3	79.6	-9.7	36	820	0.00	2.22	0.00	0.000	6	0.000	0.036	1851	2311	3414
1140	-0.65	-117.3	109.6	-8.8	66	1144	0.00	2.25	0.00	0.000	4	0.000	0.041	1851	893	3413
1194	-0.68	-117.3	114.2	-9.0	70	1198	0.00	2.22	0.00	0.000	6	0.000	0.037	1850	2303	3414
1524	-0.68	-117.3	139.5	-6.9	100	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	1849	2303	3414
1865	-0.71	-117.3	162.4	-6.6	121	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	1850	2303	3414
2170	-0.75	-117.3	183.0	-6.6	131	2174	0.00	2.22	0.00	0.000	4	0.000	0.042	1850	892	3414
2222	-0.81	-117.3	186.5	-6.7	132	2227	0.10	2.25	0.00	0.000	6	0.065	0.040	1777	2302	3413
2542	-0.72	-117.3	218.5	-10.1	143	2544	0.22	0.00	0.00	0.000	6	0.114	0.000	1845	2302	3414
2848	-0.76	-117.3	238.8	-7.0	153	2849	0.00	0.00	0.00	0.000	6	0.000	0.000	1846	2302	3414
3154	-0.81	-117.3	260.6	-6.8	163	3158	0.10	2.25	0.00	0.000	4	0.064	0.041	1768	886	3414
3247	-0.72	-117.3	270.4	-11.6	165	3252	0.30	2.28	0.00	0.000	6	0.114	0.039	1846	2311	3414
3561	-0.77	-117.3	291.7	-6.3	175	3565	0.00	2.30	0.00	0.000	4	0.000	0.049	1847	888	3413
3613	-0.83	-117.3	295.3	-7.0	176	3617	0.10	2.28	0.00	0.000	6	0.062	0.041	1775	2312	3413
3930	-0.75	-117.3	327.5	-10.5	183	3932	0.20	0.00	0.00	0.000	6	0.114	0.000	1836	2312	3413
4232	-0.79	-117.3	349.1	-6.9	188	4236	0.00	2.30	0.00	0.000	4	0.000	0.048	1835	888	3413
4267	-0.83	-117.3	351.9	-7.9	188	4271	0.00	2.30	0.00	0.000	6	0.000	0.038	1836	2310	3413
4595	-0.87	-117.3	375.5	-7.3	194	4597	0.10	0.00	0.00	0.000	6	0.064	0.000	1764	2310	3413
4897	-0.78	-117.3	408.9	-11.2	199	4899	0.22	0.00	0.00	0.000	6	0.114	0.000	1834	2310	3412
5201	-0.82	-117.3	430.2	-6.7	204	5205	0.00	2.30	0.00	0.000	4	0.000	0.047	1834	895	3412
5269	-0.87	-117.3	435.1	-6.6	205	5274	0.10	2.28	0.00	0.000	6	0.065	0.041	1765	2305	3412
5631	-0.78	-117.3	470.2	-9.9	211	5633	0.22	0.00	0.00	0.000	6	0.115	0.000	1834	2305	3412
5934	-0.83	-117.3	488.4	-5.7	216	5938	0.00	2.30	0.00	0.000	4	0.000	0.043	1834	888	3412
5974	-0.88	-117.3	491.0	-6.0	216	5979	0.10	2.30	0.00	0.000	6	0.065	0.039	1766	2306	3412
6297	-0.80	-117.3	521.2	-9.7	222	6302	0.17	2.35	0.00	0.000	4	0.118	0.049	1826	889	3412
6332	-0.83	-117.3	524.2	-7.6	222	6336	0.00	2.30	0.00	0.000	6	0.000	0.042	1822	2310	3412
6659	-0.85	-117.3	546.2	-6.8	228	6663	0.00	2.30	0.00	0.000	4	0.000	0.044	1823	896	3411
6695	-0.88	-117.3	548.8	-7.5	228	6699	0.00	2.30	0.00	0.000	6	0.000	0.044	1821	2314	3411
7022	-0.90	-117.3	570.4	-6.6	234	7023	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2315	3411
7325	-0.93	-117.3	590.6	-6.7	239	7330	0.08	2.33	0.00	0.000	4	0.081	0.043	1763	894	3411
7394	-0.85	-117.3	597.3	-9.8	240	7399	0.20	2.30	0.00	0.000	6	0.120	0.040	1813	2312	3411
7756	-0.85	-117.3	623.6	-7.1	246	7760	0.00	2.35	0.00	0.000	4	0.000	0.050	1814	888	3411
7801	-0.88	-117.3	627.1	-7.7	246	7806	0.00	2.30	0.00	0.000	6	0.000	0.041	1809	2311	3411
8119	-0.88	-117.3	648.3	-6.7	252	8120	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2312	3411
8421	-0.88	-117.3	668.1	-6.5	257	8425	0.00	2.33	0.00	0.000	4	0.000	0.044	1809	889	3411
8457	-0.88	-117.3	670.7	-7.6	257	8461	0.00	2.30	0.00	0.000	6	0.000	0.047	1807	2311	3410
8784	-0.88	-117.3	692.5	-6.6	263	8788	0.00	2.33	0.00	0.000	4	0.000	0.044	1807	888	3410
8830	-0.88	-117.3	695.7	-7.4	263	8834	0.00	2.30	0.00	0.000	6	0.000	0.041	1798	2313	3410
9146	-0.88	-117.3	716.5	-6.5	269	9150	0.00	2.33	0.00	0.000	4	0.000	0.045	1799	887	3410
9180	-0.88	-117.3	719.0	-7.4	269	9184	0.00	2.30	0.00	0.000	6	0.000	0.046	1794	2303	3410
9507	-0.88	-117.3	741.7	-7.0	275	9511	0.00	2.30	0.00	0.000	4	0.000	0.048	1794	886	3410
9541	-0.88	-117.3	744.4	-8.4	275	9546	0.00	2.30	0.00	0.000	6	0.000	0.046	1792	2305	3410
9870	-0.86	-117.3	768.9	-7.5	281	9874	0.00	2.28	0.00	0.000	4	0.000	0.051	1792	895	3410
9909	-0.86	-117.3	772.4	-8.1	281	9914	0.12	2.28	0.00	0.000	6	0.117	0.044	1818	2303	3410
10238	-0.90	-117.3	794.4	-6.7	287	10242	0.00	2.28	0.00	0.000	4	0.000	0.051	1817	890	3410
10273	-0.94	-117.3	797.0	-7.7	287	10277	0.00	2.30	0.00	0.000	6	0.000	0.040	1811	2310	3409
10606	-0.96	-117.3	821.6	-7.4	293	10607	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2310	3409
10910	-0.99	-117.3	843.9	-7.4	298	10915	0.10	2.33	0.00	0.000	4	0.072	0.049	1753	889	3409
10996	-0.91	-117.3	852.9	-10.5	299	11001	0.22	2.30	0.00	0.000	6	0.120	0.041	1807	2311	3409
11340	-0.93	-117.3	877.5	-6.8	305	11344	0.00	2.33	0.00	0.000	4	0.000	0.051	1808	898	3409
11387	-0.96	-117.3	880.8	-7.4	305	11391	0.00	2.30	0.00	0.000	6	0.000	0.040	1807	2306	3409
11716	-0.98	-117.3	901.4	-6.2	311	11717	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2307	3409
12019	-1.00	-117.3	918.9	-5.8	316	12023	0.10	2.35	0.00	0.000	4	0.075	0.050	1759	889	3409
12059	-0.92	-117.3	922.2	-9.3	316	12064	0.17	2.33	0.00	0.000	6	0.126	0.044	1804	2311	3408
12392	-0.92	-117.3	943.1	-6.1	322	12396	0.00	2.33	0.00	0.000	4	0.000	0.052	1804	898	3409
12437	-0.92	-117.3	946.2	-7.1	322	12441	0.00	2.28	0.00	0.000	6	0.000	0.041	1797	2303	3409
12753	-0.92	-117.3	967.0	-6.6	328	12757	0.00	2.33	0.00	0.000	4	0.000	0.053	1797	888	3408
12788	-0.92	-117.3	969.6	-7.4	328	12792	0.00	2.33	0.00	0.000	6	0.000	0.041	1795	2310	3408
13112	end dive: TARGET_DEPTH_EXCEEDED
state	13112	begin apogee
13121	-0.22	0.0	991.8	6.6	334	13222	0.50	0.00	98.78	1.280	6	0.110	0.000	1955	2310	2931
13223	end apogee: CONTROL_FINISHED_OK
state	13223	begin climb
13227	0.68	117.3	993.3	0.0	335	13339	0.55	2.55	104.38	1.253	4	0.067	0.054	2152	3706	2451
13362	0.55	117.3	992.2	5.9	337	13367	0.17	2.40	0.00	0.000	6	0.159	0.035	2122	2304	2448
13723	0.49	118.4	972.4	5.5	343	13727	0.00	2.30	0.00	0.000	4	0.000	0.049	2131	888	2441
13753	0.45	130.5	970.8	5.1	343	13769	0.12	2.30	10.82	1.093	6	0.143	0.044	2099	2315	2399
14086	0.49	161.4	955.5	4.5	349	14120	0.00	2.35	27.95	1.198	4	0.000	0.051	2099	3707	2273
14179	0.49	161.4	950.6	5.9	350	14183	0.00	2.25	0.00	0.000	6	0.000	0.041	2107	2295	2270
14524	0.51	178.7	933.6	4.9	356	14542	0.00	0.00	16.10	1.141	6	0.000	0.000	2107	2295	2202
14826	0.54	196.2	918.6	4.9	361	14848	0.00	2.35	16.38	1.136	4	0.000	0.049	2107	3716	2131
14889	0.54	196.2	914.9	6.7	362	14893	0.00	2.28	0.00	0.000	6	0.000	0.033	2117	2294	2129
15256	0.54	199.7	895.3	5.4	368	15265	0.00	2.33	4.50	0.791	4	0.000	0.049	2117	3709	2116
15300	0.51	199.7	892.5	6.5	368	15304	0.00	2.22	0.00	0.000	6	0.000	0.032	2128	2293	2116
15622	0.51	199.7	873.5	6.0	374	15626	0.00	2.33	0.00	0.000	4	0.000	0.050	2128	3718	2115
15652	0.46	199.7	871.3	6.9	374	15657	0.15	2.25	0.00	0.000	6	0.146	0.035	2099	2304	2114
15985	0.51	199.7	853.0	5.6	380	15989	0.00	2.28	0.00	0.000	4	0.000	0.048	2108	893	2114
16015	0.56	199.7	851.2	5.7	380	16019	0.00	2.28	0.00	0.000	6	0.000	0.040	2107	2313	2113
16349	0.59	199.7	830.9	6.1	386	16354	0.08	2.28	0.00	0.000	4	0.086	0.050	2159	3714	2113
16389	0.47	199.7	827.3	9.5	386	16394	0.25	2.22	0.00	0.000	6	0.146	0.033	2102	2304	2112
16717	0.51	203.9	808.9	5.4	392	16725	0.00	0.00	5.00	0.816	6	0.000	0.000	2102	2304	2099
17090	0.57	213.2	789.6	5.2	398	17103	0.08	0.00	10.02	1.002	6	0.079	0.000	2155	2304	2061
17392	0.51	213.2	765.4	8.2	403	17397	0.17	2.33	0.00	0.000	4	0.132	0.054	2099	3714	2059
17420	0.51	213.2	763.2	6.7	403	17425	0.00	2.22	0.00	0.000	6	0.000	0.032	2107	2306	2058
17755	0.55	219.2	745.3	5.3	409	17768	0.00	2.30	6.82	0.891	4	0.000	0.045	2118	887	2036
17788	0.61	219.2	743.4	5.6	409	17792	0.00	2.28	0.00	0.000	6	0.000	0.038	2118	2310	2035
18121	0.64	219.2	724.7	5.7	415	18126	0.08	2.28	0.00	0.000	4	0.082	0.048	2179	3709	2035
18167	0.49	219.2	720.5	10.0	415	18173	0.30	2.22	0.00	0.000	6	0.146	0.033	2106	2290	2034
18484	0.56	228.8	703.3	5.2	421	18496	0.00	0.00	9.70	0.947	6	0.000	0.000	2105	2289	1998
18788	0.61	230.1	686.7	5.5	426	18790	0.10	0.00	0.00	0.000	6	0.067	0.000	2172	2289	1996
19092	0.52	230.1	658.7	9.5	431	19097	0.17	2.33	0.00	0.000	4	0.131	0.048	2116	3708	1996
19137	0.52	230.1	654.8	6.9	431	19141	0.00	2.20	0.00	0.000	6	0.000	0.032	2123	2298	1995
19453	0.54	230.1	635.7	6.0	437	19454	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2298	1995
19757	0.57	230.1	617.7	5.9	442	19758	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2298	1995
20059	0.60	230.1	598.6	6.3	447	20063	0.00	2.30	0.00	0.000	4	0.000	0.047	2124	3715	1995
20087	0.60	230.1	596.5	6.8	447	20091	0.00	2.25	0.00	0.000	6	0.000	0.032	2134	2295	1995
20426	0.60	230.1	574.0	6.7	453	20427	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2295	1995
20730	0.60	230.1	554.7	6.3	458	20734	0.00	2.35	0.00	0.000	4	0.000	0.048	2133	3716	1995
20758	0.60	230.1	552.5	6.9	458	20762	0.00	2.25	0.00	0.000	6	0.000	0.031	2143	2292	1995
21091	0.60	230.1	529.4	7.0	464	21092	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2292	1995
21394	0.60	230.1	507.4	7.3	469	21398	0.00	2.30	0.00	0.000	4	0.000	0.048	2144	3712	1995
21424	0.55	230.1	504.9	8.5	469	21429	0.15	2.22	0.00	0.000	6	0.131	0.032	2112	2295	1995
21763	0.62	244.6	487.1	5.0	475	21784	0.08	2.33	15.30	0.877	4	0.077	0.047	2181	887	1932
21814	0.57	244.6	483.4	8.3	475	21819	0.20	2.28	0.00	0.000	6	0.133	0.038	2126	2303	1930
22126	0.62	244.6	465.7	5.6	480	22130	0.00	2.28	0.00	0.000	4	0.000	0.049	2126	3708	1929
22177	0.62	244.6	462.1	6.6	480	22181	0.00	2.20	0.00	0.000	6	0.000	0.032	2133	2302	1928
22488	0.64	244.6	441.1	6.9	485	22492	0.00	2.30	0.00	0.000	4	0.000	0.051	2144	888	1928
22523	0.67	244.6	438.4	8.9	485	22527	0.00	2.28	0.00	0.000	6	0.000	0.041	2143	2309	1928
22850	0.67	244.6	413.8	7.4	491	22854	0.00	2.25	0.00	0.000	4	0.000	0.048	2143	3708	1928
22896	0.64	244.6	409.8	9.0	491	22900	0.00	2.20	0.00	0.000	6	0.000	0.031	2153	2294	1928
23225	0.61	244.6	385.9	7.2	497	23229	0.00	2.28	0.00	0.000	4	0.000	0.046	2164	897	1928
23253	0.61	244.6	383.8	5.9	497	23258	0.12	2.22	0.00	0.000	6	0.123	0.037	2130	2309	1927
23592	0.65	244.6	364.7	5.6	503	23596	0.00	2.28	0.00	0.000	4	0.000	0.055	2130	3708	1927
23620	0.65	244.6	362.8	5.9	503	23624	0.00	2.20	0.00	0.000	6	0.000	0.031	2138	2297	1927
23960	0.65	244.6	341.6	6.3	509	23964	0.00	2.30	0.00	0.000	4	0.000	0.045	2149	890	1927
23989	0.67	244.6	339.7	6.9	509	23993	0.00	2.28	0.00	0.000	6	0.000	0.040	2149	2313	1927
24327	0.67	244.6	316.8	6.7	515	24331	0.00	2.25	0.00	0.000	4	0.000	0.048	2149	3708	1927
24380	0.63	244.6	312.8	7.8	515	24384	0.00	2.20	0.00	0.000	6	0.000	0.031	2159	2304	1927
24698	0.61	244.6	288.4	7.8	523	24699	0.12	0.00	0.00	0.000	6	0.132	0.000	2123	2304	1927
25004	0.66	244.6	270.0	5.7	533	25005	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2304	1927
25311	0.72	247.1	253.4	5.4	543	25316	0.12	2.33	0.00	0.000	4	0.056	0.046	2211	3710	1927
25334	0.66	247.1	251.4	7.1	543	25339	0.28	2.22	0.00	0.000	6	0.137	0.031	2143	2303	1927
25649	0.67	256.6	233.4	5.2	553	25664	0.00	2.28	10.80	0.698	4	0.000	0.044	2152	896	1885
25689	0.70	256.6	231.0	5.8	554	25693	0.00	2.22	0.00	0.000	6	0.000	0.035	2152	2306	1884
26014	0.70	256.6	211.0	6.5	565	26017	0.00	2.25	0.00	0.000	4	0.000	0.047	2152	3707	1884
26065	0.67	256.6	206.9	7.8	566	26070	0.00	2.20	0.00	0.000	6	0.000	0.031	2162	2298	1883
26386	0.67	256.6	184.5	6.9	577	26387	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2298	1883
26691	0.67	256.6	165.2	6.1	587	26695	0.00	2.28	0.00	0.000	4	0.000	0.047	2162	3707	1883
26715	0.65	256.6	163.5	7.0	587	26722	0.12	2.20	0.00	0.000	6	0.121	0.031	2137	2294	1883
27031	0.71	263.4	147.3	5.3	600	27044	0.00	2.30	7.43	0.603	4	0.000	0.044	2145	896	1857
27082	0.79	263.4	144.3	5.5	604	27086	0.10	2.22	0.00	0.000	6	0.063	0.035	2216	2311	1855
27410	0.69	263.4	115.5	7.6	634	27415	0.20	2.28	0.00	0.000	4	0.120	0.042	2160	896	1855
27453	0.77	265.8	113.2	5.4	637	27457	0.00	2.22	0.00	0.000	6	0.000	0.035	2160	2304	1855
27788	0.91	280.7	98.5	5.0	668	27812	0.12	2.30	16.33	0.637	4	0.058	0.046	2238	3717	1786
27828	0.85	280.7	95.7	8.3	671	27833	0.22	2.22	0.00	0.000	6	0.130	0.031	2183	2295	1785
28167	0.95	280.7	75.0	6.0	698	28171	0.10	2.30	0.00	0.000	4	0.063	0.046	2251	3714	1782
28337	0.80	280.7	58.7	9.2	705	28344	0.30	2.20	0.00	0.000	6	0.124	0.031	2172	2301	1782
28654	0.91	320.9	43.6	4.1	721	28698	0.10	2.38	34.85	0.619	4	0.061	0.045	2260	893	1621
28717	0.83	320.9	38.4	8.9	723	28725	0.28	2.25	0.00	0.000	6	0.114	0.035	2174	2307	1619
29035	0.94	330.1	18.9	5.2	739	29050	0.10	2.33	8.25	0.535	4	0.063	0.049	2251	3705	1584
29105	0.83	330.1	12.7	9.6	742	29110	0.28	2.22	0.00	0.000	6	0.130	0.032	2180	2300	1583
29306	end climb: SURFACE_DEPTH_REACHED
state	29306	begin surface coast
29328	end surface coast: CONTROL_FINISHED_OK
state	29328	begin surface