Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 835 * 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 835 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 31 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 -78681.117 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 -78681.117

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 31 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 835 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 003908,4850.704,-12940.175,37,1.0,39,19.5 TGT_NAME P8

_CALLS 1 TGT_LATLONG 4849.000,-12840.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.163,0.037

_SM_DEPTHo 2.71 KALMAN_X -26688.5,-455.6,-143.3,1126917.6,2427.7

_SM_ANGLEo -67.2 KALMAN_Y 75712.9,234.2,149.5,-243315.8,-1715.8

GPS2 004637,4850.691,-12940.087,13,1.9,13,19.5 MHEAD_RNG_PITCHd_Wd 57.6,73342,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.9,1.024940 XPDR_PINGS 67

SM_CCo 29608,0.00,0.000,0,0,1517,346.85 _24V_AH 21.7,120.493

SM_GC 2.71,5.68,0.00,0.00,0.047,0.000,0.000,101,2298,1517,-8.62,-0.11,346.85 _10V_AH 10.2,101.575

IRIDIUM_FIX 4833.79,-12947.50,120699,171714 DATA_FILE_SIZE 44310,737

TT8_MAMPS 0.028379 CAP_FILE_SIZE 190342,0

HUMID 1778 CFSIZE 260165632,193716224

INTERNAL_PRESSURE 7.40263 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 GPS 190310,090230,4851.127,-12934.209,36,2.0,41,19.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 220 99.94 SBE_CT 519 24 270.73

Roll_motor 220 62 297.44 SBE_O2 618 19 255.02

VBD_pump_during_apogee 414 1276 11482.53 Optode 763 33 546.55

VBD_pump_during_surface 0 0 0.00 WL_BB2F 777 105 1771.39

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 65.53 nil 0 0 0.00

Iridium_during_connect 28 160 100.10 nil 0 0 0.00

Iridium_during_xfer 200 223 972.01

Transponder_ping 16 420 152.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.61

TT8 1700 19 343.49

LPSleep 24549 2 548.40

TT8_Active 576 19 116.38

TT8_Sampling 2154 39 874.67

TT8_CF8 1062 45 496.52

TT8_Kalman 33 81 27.87

Analog_circuits 1714 12 209.85

GPS_charging 0 0 0.00

Compass 2136 8 174.37

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.68 -117.2 0.0 0.0 0 59 0.00 0.00 -40.10 0.000 2 0.000 0.000 99 2300 2662

64 -0.68 -117.2 4.3 -7.2 2 94 6.95 2.33 -16.92 0.000 4 0.221 0.062 1848 902 3412

349 -0.66 -117.2 36.3 -10.7 14 356 0.00 2.25 0.00 0.000 6 0.000 0.043 1843 2309 3413

667 -0.61 -117.2 71.1 -9.9 30 672 0.10 2.30 0.00 0.000 4 0.139 0.038 1870 886 3413

720 -0.65 -117.2 76.1 -8.3 32 724 0.00 2.28 0.00 0.000 6 0.000 0.035 1863 2306 3413

1055 -0.68 -117.2 104.7 -7.9 61 1059 0.00 2.28 0.00 0.000 4 0.000 0.047 1854 3707 3413

1108 -0.75 -117.2 109.2 -7.9 65 1114 0.00 2.20 0.00 0.000 6 0.000 0.028 1854 2290 3413

1439 -0.78 -117.2 131.0 -6.7 96 1443 0.10 2.20 0.00 0.000 4 0.066 0.039 1775 900 3413

1569 -0.67 -117.2 146.7 -13.0 107 1576 0.30 2.25 0.00 0.000 6 0.114 0.036 1855 2311 3413

1885 -0.71 -117.2 168.9 -6.5 120 1887 0.00 0.00 0.00 0.000 6 0.000 0.000 1855 2311 3413

2192 -0.76 -117.2 188.4 -6.9 130 2196 0.00 2.28 0.00 0.000 4 0.000 0.039 1855 898 3413

2224 -0.82 -117.2 190.6 -7.6 131 2229 0.10 2.28 0.00 0.000 6 0.063 0.035 1778 2306 3413

2561 -0.72 -117.2 227.1 -11.0 142 2563 0.22 0.00 0.00 0.000 6 0.118 0.000 1846 2306 3413

2867 -0.77 -117.2 248.0 -6.6 152 2868 0.00 0.00 0.00 0.000 6 0.000 0.000 1846 2306 3414

3174 -0.81 -117.2 268.0 -6.5 162 3176 0.10 0.00 0.00 0.000 6 0.065 0.000 1767 2306 3414

3479 -0.70 -117.2 300.9 -11.0 172 3484 0.22 2.30 0.00 0.000 4 0.119 0.044 1842 905 3413

3520 -0.75 -117.2 304.8 -8.3 172 3525 0.00 2.28 0.00 0.000 6 0.000 0.036 1837 2305 3413

3850 -0.78 -117.2 330.3 -7.8 178 3851 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2305 3413

4152 -0.81 -117.2 352.9 -7.4 183 4155 0.00 2.28 0.00 0.000 4 0.000 0.048 1837 906 3413

4198 -0.85 -117.2 356.1 -6.5 183 4202 0.00 2.28 0.00 0.000 6 0.000 0.044 1837 2305 3412

4520 -0.89 -117.2 376.1 -6.2 189 4525 0.10 2.35 0.00 0.000 4 0.064 0.050 1757 3713 3412

4545 -0.84 -117.2 378.2 -8.4 189 4550 0.22 2.20 0.00 0.000 6 0.117 0.029 1823 2305 3412

4883 -0.84 -117.2 401.8 -6.7 195 4887 0.00 2.30 0.00 0.000 4 0.000 0.049 1823 899 3412

4924 -0.86 -117.2 404.7 -6.6 195 4928 0.00 2.30 0.00 0.000 6 0.000 0.043 1821 2303 3412

5248 -0.86 -117.2 426.8 -7.0 201 5249 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2303 3411

5551 -0.86 -117.2 447.7 -6.9 206 5553 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2303 3411

5853 -0.86 -117.2 468.5 -6.8 211 5857 0.00 2.30 0.00 0.000 4 0.000 0.047 1821 901 3411

5911 -0.89 -117.2 472.6 -7.1 211 5917 0.00 2.30 0.00 0.000 6 0.000 0.038 1812 2303 3411

6223 -0.89 -117.2 494.1 -6.8 217 6227 0.00 2.35 0.00 0.000 4 0.000 0.048 1803 3708 3411

6252 -0.89 -117.2 496.2 -7.4 217 6256 0.00 2.22 0.00 0.000 6 0.000 0.038 1802 2303 3411

6586 -0.86 -117.2 520.3 -7.3 223 6590 0.00 2.30 0.00 0.000 4 0.000 0.045 1802 889 3410

6638 -0.86 -117.2 524.6 -8.1 223 6642 0.00 2.30 0.00 0.000 6 0.000 0.039 1794 2304 3410

6950 -0.82 -117.2 550.5 -8.4 228 6955 0.10 2.38 0.00 0.000 4 0.133 0.051 1814 3709 3410

6984 -0.82 -117.2 553.4 -7.8 228 6988 0.00 2.25 0.00 0.000 6 0.000 0.037 1814 2301 3410

7311 -0.82 -117.2 576.4 -7.0 234 7315 0.00 2.30 0.00 0.000 4 0.000 0.049 1813 898 3410

7347 -0.82 -117.2 578.9 -7.0 234 7351 0.00 2.30 0.00 0.000 6 0.000 0.041 1808 2303 3409

7675 -0.82 -117.2 601.3 -6.8 240 7676 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2303 3409

7978 -0.82 -117.2 621.3 -6.5 245 7982 0.00 2.35 0.00 0.000 4 0.000 0.046 1808 898 3409

8029 -0.82 -117.2 624.8 -6.9 245 8034 0.08 2.30 0.00 0.000 6 0.133 0.038 1820 2306 3409

8342 -0.85 -117.2 643.8 -6.1 250 8343 0.00 0.00 0.00 0.000 6 0.000 0.000 1820 2306 3408

8644 -0.88 -117.2 662.3 -6.0 255 8648 0.00 2.35 0.00 0.000 4 0.000 0.044 1821 898 3408

8690 -0.93 -117.2 665.2 -6.5 255 8694 0.00 2.30 0.00 0.000 6 0.000 0.044 1820 2303 3408

9009 -0.95 -117.2 683.1 -5.6 261 9011 0.10 0.00 0.00 0.000 6 0.064 0.000 1758 2304 3408

9311 -0.86 -117.2 708.0 -8.4 266 9313 0.20 0.00 0.00 0.000 6 0.118 0.000 1819 2304 3408

9614 -0.89 -117.3 722.1 -4.5 271 9615 0.00 0.00 0.00 0.000 6 0.000 0.000 1819 2304 3407

9917 -0.93 -117.3 735.8 -4.5 276 9921 0.00 2.35 0.00 0.000 4 0.000 0.049 1819 890 3407

9954 -0.97 -117.3 737.7 -4.9 276 9959 0.10 2.35 0.00 0.000 6 0.064 0.038 1752 2313 3407

10282 -0.87 -117.3 765.4 -8.8 282 10284 0.20 0.00 0.00 0.000 6 0.119 0.000 1813 2313 3407

10585 -0.89 -117.3 783.8 -5.9 287 10586 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2313 3407

10889 -0.92 -117.3 802.1 -6.1 292 10893 0.00 2.40 0.00 0.000 4 0.000 0.043 1813 892 3406

10946 -0.95 -117.3 805.9 -6.5 292 10952 0.00 2.38 0.00 0.000 6 0.000 0.043 1809 2310 3406

11257 -0.95 -117.3 824.4 -5.9 298 11258 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2311 3406

11560 -0.95 -117.3 842.5 -6.0 303 11564 0.00 2.35 0.00 0.000 4 0.000 0.044 1809 895 3406

11608 -0.97 -117.3 845.2 -5.7 303 11612 0.00 2.33 0.00 0.000 6 0.000 0.038 1808 2309 3406

11924 -0.97 -117.3 862.7 -5.5 309 11926 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2309 3406

12227 -0.97 -117.3 878.5 -5.2 314 12231 0.00 2.35 0.00 0.000 4 0.000 0.044 1808 898 3406

12273 -0.97 -117.3 881.4 -5.9 314 12278 0.00 2.35 0.00 0.000 6 0.000 0.039 1808 2307 3406

12591 -0.97 -117.3 898.5 -5.4 320 12593 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2307 3405

12894 -0.99 -117.3 916.1 -5.9 325 12898 0.10 2.35 0.00 0.000 4 0.074 0.050 1760 898 3405

12934 -0.91 -117.3 919.6 -10.0 325 12939 0.17 2.35 0.00 0.000 6 0.127 0.044 1803 2304 3405

13263 -0.91 -117.3 943.1 -7.2 331 13267 0.00 2.35 0.00 0.000 4 0.000 0.045 1803 899 3405

13300 -0.91 -117.3 946.0 -7.7 331 13304 0.00 2.33 0.00 0.000 6 0.000 0.039 1795 2308 3405

13628 -0.91 -117.3 972.2 -7.9 337 13632 0.00 2.38 0.00 0.000 4 0.000 0.048 1795 899 3405

13679 -0.91 -117.3 976.8 -8.8 337 13684 0.00 2.35 0.00 0.000 6 0.000 0.043 1794 2301 3405

13865 end dive: TARGET_DEPTH_EXCEEDED

state 13865 begin apogee

13876 -0.22 0.0 992.3 8.3 340 13976 0.50 0.00 97.53 1.276 6 0.109 0.000 1953 2301 2931

13977 end apogee: CONTROL_FINISHED_OK

state 13977 begin climb

13981 0.68 117.3 994.7 0.0 341 14092 0.57 2.62 103.70 1.249 4 0.067 0.054 2155 3707 2451

14129 0.49 117.3 995.5 5.6 344 14134 0.25 2.40 0.00 0.000 6 0.153 0.039 2106 2309 2447

14480 0.51 157.5 981.6 4.1 350 14516 0.00 0.00 34.33 1.219 6 0.000 0.000 2106 2309 2288

14783 0.52 164.0 965.8 5.3 355 14791 0.00 0.00 6.30 0.946 6 0.000 0.000 2106 2309 2262

15086 0.52 164.0 948.7 5.6 360 15088 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2309 2259

15390 0.52 164.0 931.2 5.8 365 15394 0.00 2.33 0.00 0.000 4 0.000 0.056 2105 3718 2259

15421 0.50 164.0 929.0 7.6 365 15425 0.00 2.25 0.00 0.000 6 0.000 0.038 2114 2299 2258

15755 0.50 164.0 909.5 5.7 371 15756 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2299 2257

16059 0.50 164.3 892.7 5.5 376 16063 0.00 2.35 0.00 0.000 4 0.000 0.055 2115 3716 2257

16099 0.44 164.3 889.9 6.5 376 16104 0.12 2.25 0.00 0.000 6 0.149 0.038 2095 2304 2256

16422 0.52 196.9 875.6 4.4 382 16453 0.00 0.00 29.33 1.165 6 0.000 0.000 2095 2304 2127

16726 0.65 201.8 860.1 5.3 387 16737 0.15 2.30 5.22 0.840 4 0.060 0.052 2162 3714 2109

16868 0.52 201.8 848.5 9.4 389 16873 0.22 2.25 0.00 0.000 6 0.141 0.034 2111 2293 2107

17231 0.56 206.7 828.1 5.3 395 17238 0.00 0.00 6.00 0.884 6 0.000 0.000 2111 2293 2088

17533 0.59 210.7 811.7 5.4 400 17539 0.00 0.00 5.00 0.805 6 0.000 0.000 2111 2293 2072

17836 0.63 218.2 795.8 5.2 405 17847 0.10 0.00 8.65 0.969 6 0.064 0.000 2166 2292 2041

18140 0.53 218.2 770.8 8.5 410 18144 0.20 2.35 0.00 0.000 4 0.130 0.050 2106 3714 2039

18191 0.56 218.2 767.0 7.3 410 18195 0.00 2.22 0.00 0.000 6 0.000 0.031 2114 2292 2038

18503 0.59 218.2 749.9 5.5 415 18504 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2291 2037

18807 0.63 219.7 733.5 5.4 420 18812 0.08 2.35 0.00 0.000 4 0.080 0.054 2171 3711 2037

18842 0.50 219.7 730.5 11.1 420 18847 0.28 2.20 0.00 0.000 6 0.138 0.032 2106 2304 2037

19171 0.58 235.9 713.5 5.0 426 19189 0.00 0.00 16.42 1.016 6 0.000 0.000 2106 2304 1969

19475 0.71 235.9 696.6 5.8 431 19479 0.15 2.28 0.00 0.000 4 0.058 0.044 2185 892 1965

19571 0.63 235.9 688.7 8.3 432 19576 0.17 2.28 0.00 0.000 6 0.133 0.043 2139 2307 1965

19904 0.63 235.9 665.7 6.9 438 19908 0.00 2.33 0.00 0.000 4 0.000 0.053 2138 3717 1965

19980 0.59 235.9 659.4 9.1 439 19984 0.00 2.25 0.00 0.000 6 0.000 0.033 2147 2294 1965

20336 0.56 235.9 631.5 7.8 445 20338 0.10 0.00 0.00 0.000 6 0.140 0.000 2121 2294 1965

20639 0.60 235.9 613.9 5.6 450 20643 0.00 2.35 0.00 0.000 4 0.000 0.054 2121 3717 1964

20664 0.62 235.9 612.2 6.7 450 20668 0.00 2.22 0.00 0.000 6 0.000 0.031 2129 2296 1965

21004 0.64 235.9 592.5 5.8 456 21008 0.00 2.33 0.00 0.000 4 0.000 0.051 2129 3711 1964

21033 0.64 235.9 590.4 6.7 456 21037 0.00 2.28 0.00 0.000 6 0.000 0.038 2138 2294 1965

21373 0.64 235.9 567.9 6.7 462 21377 0.00 2.33 0.00 0.000 4 0.000 0.051 2138 3711 1964

21408 0.61 235.9 565.0 7.9 462 21412 0.00 2.22 0.00 0.000 6 0.000 0.031 2148 2294 1964

21741 0.58 235.9 540.7 7.3 468 21743 0.10 0.00 0.00 0.000 6 0.142 0.000 2122 2294 1964

22044 0.62 235.9 521.6 6.3 473 22046 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2295 1964

22348 0.66 235.9 503.6 5.9 478 22353 0.08 2.40 0.00 0.000 4 0.075 0.046 2185 3711 1964

22384 0.54 235.9 500.5 10.7 478 22389 0.30 2.22 0.00 0.000 6 0.137 0.031 2113 2306 1964

22712 0.61 249.4 483.2 5.0 484 22727 0.00 0.00 12.57 0.851 6 0.000 0.000 2113 2306 1914

23079 0.78 250.7 464.0 5.5 490 23084 0.17 2.38 0.00 0.000 4 0.052 0.047 2195 3711 1911

23241 0.62 250.7 449.0 10.8 492 23246 0.28 2.22 0.00 0.000 6 0.140 0.032 2130 2305 1910

23582 0.69 274.0 431.4 4.7 498 23606 0.00 0.00 22.58 0.859 6 0.000 0.000 2130 2304 1814

23884 0.76 283.7 415.8 5.2 503 23896 0.12 0.00 9.60 0.768 6 0.057 0.000 2210 2304 1774

24187 0.62 283.7 382.8 11.3 508 24192 0.25 2.33 0.00 0.000 4 0.135 0.045 2132 3716 1771

24240 0.65 283.7 378.1 6.9 508 24244 0.00 2.22 0.00 0.000 6 0.000 0.031 2141 2297 1772

24551 0.69 283.7 357.7 6.5 513 24552 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2297 1770

24854 0.72 283.7 337.3 6.7 518 24858 0.00 2.33 0.00 0.000 4 0.000 0.048 2140 3707 1769

24885 0.75 283.7 335.1 7.7 518 24889 0.00 2.20 0.00 0.000 6 0.000 0.031 2150 2299 1770

25224 0.75 283.7 310.3 7.4 524 25227 0.00 2.28 0.00 0.000 4 0.000 0.044 2159 888 1769

25248 0.77 283.7 308.5 6.8 524 25252 0.00 2.28 0.00 0.000 6 0.000 0.039 2159 2312 1769

25570 0.77 283.7 284.5 7.4 532 25574 0.00 2.30 0.00 0.000 4 0.000 0.047 2159 3714 1768

25639 0.74 283.7 278.6 8.0 534 25643 0.00 2.22 0.00 0.000 6 0.000 0.030 2169 2297 1769

25971 0.71 283.7 252.3 7.8 545 25972 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2296 1769

26277 0.69 283.7 229.4 7.3 555 26281 0.00 2.33 0.00 0.000 4 0.000 0.046 2169 3707 1769

26314 0.65 283.7 226.4 8.4 556 26319 0.15 2.22 0.00 0.000 6 0.113 0.031 2136 2294 1768

26645 0.73 283.7 206.9 5.7 567 26650 0.08 2.28 0.00 0.000 4 0.074 0.042 2182 888 1769

26677 0.83 283.7 204.8 7.0 568 26681 0.00 2.30 0.00 0.000 6 0.000 0.036 2181 2309 1768

27014 0.92 283.7 180.7 6.8 579 27018 0.00 2.30 0.00 0.000 4 0.000 0.042 2189 896 1768

27127 0.92 283.7 172.8 6.6 582 27131 0.00 2.28 0.00 0.000 6 0.000 0.035 2189 2309 1768

27449 0.87 283.7 146.5 8.0 595 27453 0.00 2.30 0.00 0.000 4 0.000 0.046 2188 3711 1768

27531 0.79 283.7 139.1 9.0 602 27535 0.12 2.22 0.00 0.000 6 0.123 0.031 2165 2296 1768

27860 0.82 291.2 118.1 5.2 632 27869 0.00 0.00 7.60 0.574 6 0.000 0.000 2165 2296 1743

28191 0.86 291.2 98.6 5.8 663 28196 0.08 2.33 0.00 0.000 4 0.078 0.044 2233 3714 1742

28262 0.71 291.2 91.0 10.4 668 28269 0.32 2.22 0.00 0.000 6 0.124 0.031 2149 2305 1742

28600 0.92 296.6 73.2 5.3 694 28614 0.17 2.30 6.40 0.523 4 0.055 0.045 2228 3707 1720

28656 0.87 296.6 69.2 7.9 696 28661 0.17 2.20 0.00 0.000 6 0.118 0.029 2186 2301 1719

28975 0.94 318.3 53.0 4.8 711 29000 0.00 2.33 19.62 0.596 4 0.000 0.042 2195 902 1632

29038 1.05 344.8 49.8 4.6 713 29067 0.12 2.25 23.75 0.591 6 0.054 0.034 2284 2314 1524

29381 0.89 344.8 10.8 12.3 730 29385 0.28 2.30 0.00 0.000 4 0.127 0.048 2193 3711 1519

29438 0.94 344.8 5.2 7.0 732 29444 0.00 2.22 0.00 0.000 6 0.000 0.035 2201 2299 1519

29504 end climb: SURFACE_DEPTH_REACHED

state 29504 begin surface coast

29526 end surface coast: CONTROL_FINISHED_OK

state 29526 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	835	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	31	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	-78681.117	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	003908,4850.704,-12940.175,37,1.0,39,19.5	TGT_NAME	P8
_CALLS	1	TGT_LATLONG	4849.000,-12840.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.163,0.037
_SM_DEPTHo	2.71	KALMAN_X	-26688.5,-455.6,-143.3,1126917.6,2427.7
_SM_ANGLEo	-67.2	KALMAN_Y	75712.9,234.2,149.5,-243315.8,-1715.8
GPS2	004637,4850.691,-12940.087,13,1.9,13,19.5	MHEAD_RNG_PITCHd_Wd	57.6,73342,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.9,1.024940	XPDR_PINGS	67
SM_CCo	29608,0.00,0.000,0,0,1517,346.85	_24V_AH	21.7,120.493
SM_GC	2.71,5.68,0.00,0.00,0.047,0.000,0.000,101,2298,1517,-8.62,-0.11,346.85	_10V_AH	10.2,101.575
IRIDIUM_FIX	4833.79,-12947.50,120699,171714	DATA_FILE_SIZE	44310,737
TT8_MAMPS	0.028379	CAP_FILE_SIZE	190342,0
HUMID	1778	CFSIZE	260165632,193716224
INTERNAL_PRESSURE	7.40263	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	GPS	190310,090230,4851.127,-12934.209,36,2.0,41,19.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	220	99.94	SBE_CT	519	24	270.73
Roll_motor	220	62	297.44	SBE_O2	618	19	255.02
VBD_pump_during_apogee	414	1276	11482.53	Optode	763	33	546.55
VBD_pump_during_surface	0	0	0.00	WL_BB2F	777	105	1771.39
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	65.53	nil	0	0	0.00
Iridium_during_connect	28	160	100.10	nil	0	0	0.00
Iridium_during_xfer	200	223	972.01
Transponder_ping	16	420	152.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.61
TT8	1700	19	343.49
LPSleep	24549	2	548.40
TT8_Active	576	19	116.38
TT8_Sampling	2154	39	874.67
TT8_CF8	1062	45	496.52
TT8_Kalman	33	81	27.87
Analog_circuits	1714	12	209.85
GPS_charging	0	0	0.00
Compass	2136	8	174.37
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.68	-117.2	0.0	0.0	0	59	0.00	0.00	-40.10	0.000	2	0.000	0.000	99	2300	2662
64	-0.68	-117.2	4.3	-7.2	2	94	6.95	2.33	-16.92	0.000	4	0.221	0.062	1848	902	3412
349	-0.66	-117.2	36.3	-10.7	14	356	0.00	2.25	0.00	0.000	6	0.000	0.043	1843	2309	3413
667	-0.61	-117.2	71.1	-9.9	30	672	0.10	2.30	0.00	0.000	4	0.139	0.038	1870	886	3413
720	-0.65	-117.2	76.1	-8.3	32	724	0.00	2.28	0.00	0.000	6	0.000	0.035	1863	2306	3413
1055	-0.68	-117.2	104.7	-7.9	61	1059	0.00	2.28	0.00	0.000	4	0.000	0.047	1854	3707	3413
1108	-0.75	-117.2	109.2	-7.9	65	1114	0.00	2.20	0.00	0.000	6	0.000	0.028	1854	2290	3413
1439	-0.78	-117.2	131.0	-6.7	96	1443	0.10	2.20	0.00	0.000	4	0.066	0.039	1775	900	3413
1569	-0.67	-117.2	146.7	-13.0	107	1576	0.30	2.25	0.00	0.000	6	0.114	0.036	1855	2311	3413
1885	-0.71	-117.2	168.9	-6.5	120	1887	0.00	0.00	0.00	0.000	6	0.000	0.000	1855	2311	3413
2192	-0.76	-117.2	188.4	-6.9	130	2196	0.00	2.28	0.00	0.000	4	0.000	0.039	1855	898	3413
2224	-0.82	-117.2	190.6	-7.6	131	2229	0.10	2.28	0.00	0.000	6	0.063	0.035	1778	2306	3413
2561	-0.72	-117.2	227.1	-11.0	142	2563	0.22	0.00	0.00	0.000	6	0.118	0.000	1846	2306	3413
2867	-0.77	-117.2	248.0	-6.6	152	2868	0.00	0.00	0.00	0.000	6	0.000	0.000	1846	2306	3414
3174	-0.81	-117.2	268.0	-6.5	162	3176	0.10	0.00	0.00	0.000	6	0.065	0.000	1767	2306	3414
3479	-0.70	-117.2	300.9	-11.0	172	3484	0.22	2.30	0.00	0.000	4	0.119	0.044	1842	905	3413
3520	-0.75	-117.2	304.8	-8.3	172	3525	0.00	2.28	0.00	0.000	6	0.000	0.036	1837	2305	3413
3850	-0.78	-117.2	330.3	-7.8	178	3851	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2305	3413
4152	-0.81	-117.2	352.9	-7.4	183	4155	0.00	2.28	0.00	0.000	4	0.000	0.048	1837	906	3413
4198	-0.85	-117.2	356.1	-6.5	183	4202	0.00	2.28	0.00	0.000	6	0.000	0.044	1837	2305	3412
4520	-0.89	-117.2	376.1	-6.2	189	4525	0.10	2.35	0.00	0.000	4	0.064	0.050	1757	3713	3412
4545	-0.84	-117.2	378.2	-8.4	189	4550	0.22	2.20	0.00	0.000	6	0.117	0.029	1823	2305	3412
4883	-0.84	-117.2	401.8	-6.7	195	4887	0.00	2.30	0.00	0.000	4	0.000	0.049	1823	899	3412
4924	-0.86	-117.2	404.7	-6.6	195	4928	0.00	2.30	0.00	0.000	6	0.000	0.043	1821	2303	3412
5248	-0.86	-117.2	426.8	-7.0	201	5249	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2303	3411
5551	-0.86	-117.2	447.7	-6.9	206	5553	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2303	3411
5853	-0.86	-117.2	468.5	-6.8	211	5857	0.00	2.30	0.00	0.000	4	0.000	0.047	1821	901	3411
5911	-0.89	-117.2	472.6	-7.1	211	5917	0.00	2.30	0.00	0.000	6	0.000	0.038	1812	2303	3411
6223	-0.89	-117.2	494.1	-6.8	217	6227	0.00	2.35	0.00	0.000	4	0.000	0.048	1803	3708	3411
6252	-0.89	-117.2	496.2	-7.4	217	6256	0.00	2.22	0.00	0.000	6	0.000	0.038	1802	2303	3411
6586	-0.86	-117.2	520.3	-7.3	223	6590	0.00	2.30	0.00	0.000	4	0.000	0.045	1802	889	3410
6638	-0.86	-117.2	524.6	-8.1	223	6642	0.00	2.30	0.00	0.000	6	0.000	0.039	1794	2304	3410
6950	-0.82	-117.2	550.5	-8.4	228	6955	0.10	2.38	0.00	0.000	4	0.133	0.051	1814	3709	3410
6984	-0.82	-117.2	553.4	-7.8	228	6988	0.00	2.25	0.00	0.000	6	0.000	0.037	1814	2301	3410
7311	-0.82	-117.2	576.4	-7.0	234	7315	0.00	2.30	0.00	0.000	4	0.000	0.049	1813	898	3410
7347	-0.82	-117.2	578.9	-7.0	234	7351	0.00	2.30	0.00	0.000	6	0.000	0.041	1808	2303	3409
7675	-0.82	-117.2	601.3	-6.8	240	7676	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2303	3409
7978	-0.82	-117.2	621.3	-6.5	245	7982	0.00	2.35	0.00	0.000	4	0.000	0.046	1808	898	3409
8029	-0.82	-117.2	624.8	-6.9	245	8034	0.08	2.30	0.00	0.000	6	0.133	0.038	1820	2306	3409
8342	-0.85	-117.2	643.8	-6.1	250	8343	0.00	0.00	0.00	0.000	6	0.000	0.000	1820	2306	3408
8644	-0.88	-117.2	662.3	-6.0	255	8648	0.00	2.35	0.00	0.000	4	0.000	0.044	1821	898	3408
8690	-0.93	-117.2	665.2	-6.5	255	8694	0.00	2.30	0.00	0.000	6	0.000	0.044	1820	2303	3408
9009	-0.95	-117.2	683.1	-5.6	261	9011	0.10	0.00	0.00	0.000	6	0.064	0.000	1758	2304	3408
9311	-0.86	-117.2	708.0	-8.4	266	9313	0.20	0.00	0.00	0.000	6	0.118	0.000	1819	2304	3408
9614	-0.89	-117.3	722.1	-4.5	271	9615	0.00	0.00	0.00	0.000	6	0.000	0.000	1819	2304	3407
9917	-0.93	-117.3	735.8	-4.5	276	9921	0.00	2.35	0.00	0.000	4	0.000	0.049	1819	890	3407
9954	-0.97	-117.3	737.7	-4.9	276	9959	0.10	2.35	0.00	0.000	6	0.064	0.038	1752	2313	3407
10282	-0.87	-117.3	765.4	-8.8	282	10284	0.20	0.00	0.00	0.000	6	0.119	0.000	1813	2313	3407
10585	-0.89	-117.3	783.8	-5.9	287	10586	0.00	0.00	0.00	0.000	6	0.000	0.000	1813	2313	3407
10889	-0.92	-117.3	802.1	-6.1	292	10893	0.00	2.40	0.00	0.000	4	0.000	0.043	1813	892	3406
10946	-0.95	-117.3	805.9	-6.5	292	10952	0.00	2.38	0.00	0.000	6	0.000	0.043	1809	2310	3406
11257	-0.95	-117.3	824.4	-5.9	298	11258	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2311	3406
11560	-0.95	-117.3	842.5	-6.0	303	11564	0.00	2.35	0.00	0.000	4	0.000	0.044	1809	895	3406
11608	-0.97	-117.3	845.2	-5.7	303	11612	0.00	2.33	0.00	0.000	6	0.000	0.038	1808	2309	3406
11924	-0.97	-117.3	862.7	-5.5	309	11926	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2309	3406
12227	-0.97	-117.3	878.5	-5.2	314	12231	0.00	2.35	0.00	0.000	4	0.000	0.044	1808	898	3406
12273	-0.97	-117.3	881.4	-5.9	314	12278	0.00	2.35	0.00	0.000	6	0.000	0.039	1808	2307	3406
12591	-0.97	-117.3	898.5	-5.4	320	12593	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2307	3405
12894	-0.99	-117.3	916.1	-5.9	325	12898	0.10	2.35	0.00	0.000	4	0.074	0.050	1760	898	3405
12934	-0.91	-117.3	919.6	-10.0	325	12939	0.17	2.35	0.00	0.000	6	0.127	0.044	1803	2304	3405
13263	-0.91	-117.3	943.1	-7.2	331	13267	0.00	2.35	0.00	0.000	4	0.000	0.045	1803	899	3405
13300	-0.91	-117.3	946.0	-7.7	331	13304	0.00	2.33	0.00	0.000	6	0.000	0.039	1795	2308	3405
13628	-0.91	-117.3	972.2	-7.9	337	13632	0.00	2.38	0.00	0.000	4	0.000	0.048	1795	899	3405
13679	-0.91	-117.3	976.8	-8.8	337	13684	0.00	2.35	0.00	0.000	6	0.000	0.043	1794	2301	3405
13865	end dive: TARGET_DEPTH_EXCEEDED
state	13865	begin apogee
13876	-0.22	0.0	992.3	8.3	340	13976	0.50	0.00	97.53	1.276	6	0.109	0.000	1953	2301	2931
13977	end apogee: CONTROL_FINISHED_OK
state	13977	begin climb
13981	0.68	117.3	994.7	0.0	341	14092	0.57	2.62	103.70	1.249	4	0.067	0.054	2155	3707	2451
14129	0.49	117.3	995.5	5.6	344	14134	0.25	2.40	0.00	0.000	6	0.153	0.039	2106	2309	2447
14480	0.51	157.5	981.6	4.1	350	14516	0.00	0.00	34.33	1.219	6	0.000	0.000	2106	2309	2288
14783	0.52	164.0	965.8	5.3	355	14791	0.00	0.00	6.30	0.946	6	0.000	0.000	2106	2309	2262
15086	0.52	164.0	948.7	5.6	360	15088	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2309	2259
15390	0.52	164.0	931.2	5.8	365	15394	0.00	2.33	0.00	0.000	4	0.000	0.056	2105	3718	2259
15421	0.50	164.0	929.0	7.6	365	15425	0.00	2.25	0.00	0.000	6	0.000	0.038	2114	2299	2258
15755	0.50	164.0	909.5	5.7	371	15756	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	2299	2257
16059	0.50	164.3	892.7	5.5	376	16063	0.00	2.35	0.00	0.000	4	0.000	0.055	2115	3716	2257
16099	0.44	164.3	889.9	6.5	376	16104	0.12	2.25	0.00	0.000	6	0.149	0.038	2095	2304	2256
16422	0.52	196.9	875.6	4.4	382	16453	0.00	0.00	29.33	1.165	6	0.000	0.000	2095	2304	2127
16726	0.65	201.8	860.1	5.3	387	16737	0.15	2.30	5.22	0.840	4	0.060	0.052	2162	3714	2109
16868	0.52	201.8	848.5	9.4	389	16873	0.22	2.25	0.00	0.000	6	0.141	0.034	2111	2293	2107
17231	0.56	206.7	828.1	5.3	395	17238	0.00	0.00	6.00	0.884	6	0.000	0.000	2111	2293	2088
17533	0.59	210.7	811.7	5.4	400	17539	0.00	0.00	5.00	0.805	6	0.000	0.000	2111	2293	2072
17836	0.63	218.2	795.8	5.2	405	17847	0.10	0.00	8.65	0.969	6	0.064	0.000	2166	2292	2041
18140	0.53	218.2	770.8	8.5	410	18144	0.20	2.35	0.00	0.000	4	0.130	0.050	2106	3714	2039
18191	0.56	218.2	767.0	7.3	410	18195	0.00	2.22	0.00	0.000	6	0.000	0.031	2114	2292	2038
18503	0.59	218.2	749.9	5.5	415	18504	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2291	2037
18807	0.63	219.7	733.5	5.4	420	18812	0.08	2.35	0.00	0.000	4	0.080	0.054	2171	3711	2037
18842	0.50	219.7	730.5	11.1	420	18847	0.28	2.20	0.00	0.000	6	0.138	0.032	2106	2304	2037
19171	0.58	235.9	713.5	5.0	426	19189	0.00	0.00	16.42	1.016	6	0.000	0.000	2106	2304	1969
19475	0.71	235.9	696.6	5.8	431	19479	0.15	2.28	0.00	0.000	4	0.058	0.044	2185	892	1965
19571	0.63	235.9	688.7	8.3	432	19576	0.17	2.28	0.00	0.000	6	0.133	0.043	2139	2307	1965
19904	0.63	235.9	665.7	6.9	438	19908	0.00	2.33	0.00	0.000	4	0.000	0.053	2138	3717	1965
19980	0.59	235.9	659.4	9.1	439	19984	0.00	2.25	0.00	0.000	6	0.000	0.033	2147	2294	1965
20336	0.56	235.9	631.5	7.8	445	20338	0.10	0.00	0.00	0.000	6	0.140	0.000	2121	2294	1965
20639	0.60	235.9	613.9	5.6	450	20643	0.00	2.35	0.00	0.000	4	0.000	0.054	2121	3717	1964
20664	0.62	235.9	612.2	6.7	450	20668	0.00	2.22	0.00	0.000	6	0.000	0.031	2129	2296	1965
21004	0.64	235.9	592.5	5.8	456	21008	0.00	2.33	0.00	0.000	4	0.000	0.051	2129	3711	1964
21033	0.64	235.9	590.4	6.7	456	21037	0.00	2.28	0.00	0.000	6	0.000	0.038	2138	2294	1965
21373	0.64	235.9	567.9	6.7	462	21377	0.00	2.33	0.00	0.000	4	0.000	0.051	2138	3711	1964
21408	0.61	235.9	565.0	7.9	462	21412	0.00	2.22	0.00	0.000	6	0.000	0.031	2148	2294	1964
21741	0.58	235.9	540.7	7.3	468	21743	0.10	0.00	0.00	0.000	6	0.142	0.000	2122	2294	1964
22044	0.62	235.9	521.6	6.3	473	22046	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2295	1964
22348	0.66	235.9	503.6	5.9	478	22353	0.08	2.40	0.00	0.000	4	0.075	0.046	2185	3711	1964
22384	0.54	235.9	500.5	10.7	478	22389	0.30	2.22	0.00	0.000	6	0.137	0.031	2113	2306	1964
22712	0.61	249.4	483.2	5.0	484	22727	0.00	0.00	12.57	0.851	6	0.000	0.000	2113	2306	1914
23079	0.78	250.7	464.0	5.5	490	23084	0.17	2.38	0.00	0.000	4	0.052	0.047	2195	3711	1911
23241	0.62	250.7	449.0	10.8	492	23246	0.28	2.22	0.00	0.000	6	0.140	0.032	2130	2305	1910
23582	0.69	274.0	431.4	4.7	498	23606	0.00	0.00	22.58	0.859	6	0.000	0.000	2130	2304	1814
23884	0.76	283.7	415.8	5.2	503	23896	0.12	0.00	9.60	0.768	6	0.057	0.000	2210	2304	1774
24187	0.62	283.7	382.8	11.3	508	24192	0.25	2.33	0.00	0.000	4	0.135	0.045	2132	3716	1771
24240	0.65	283.7	378.1	6.9	508	24244	0.00	2.22	0.00	0.000	6	0.000	0.031	2141	2297	1772
24551	0.69	283.7	357.7	6.5	513	24552	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2297	1770
24854	0.72	283.7	337.3	6.7	518	24858	0.00	2.33	0.00	0.000	4	0.000	0.048	2140	3707	1769
24885	0.75	283.7	335.1	7.7	518	24889	0.00	2.20	0.00	0.000	6	0.000	0.031	2150	2299	1770
25224	0.75	283.7	310.3	7.4	524	25227	0.00	2.28	0.00	0.000	4	0.000	0.044	2159	888	1769
25248	0.77	283.7	308.5	6.8	524	25252	0.00	2.28	0.00	0.000	6	0.000	0.039	2159	2312	1769
25570	0.77	283.7	284.5	7.4	532	25574	0.00	2.30	0.00	0.000	4	0.000	0.047	2159	3714	1768
25639	0.74	283.7	278.6	8.0	534	25643	0.00	2.22	0.00	0.000	6	0.000	0.030	2169	2297	1769
25971	0.71	283.7	252.3	7.8	545	25972	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2296	1769
26277	0.69	283.7	229.4	7.3	555	26281	0.00	2.33	0.00	0.000	4	0.000	0.046	2169	3707	1769
26314	0.65	283.7	226.4	8.4	556	26319	0.15	2.22	0.00	0.000	6	0.113	0.031	2136	2294	1768
26645	0.73	283.7	206.9	5.7	567	26650	0.08	2.28	0.00	0.000	4	0.074	0.042	2182	888	1769
26677	0.83	283.7	204.8	7.0	568	26681	0.00	2.30	0.00	0.000	6	0.000	0.036	2181	2309	1768
27014	0.92	283.7	180.7	6.8	579	27018	0.00	2.30	0.00	0.000	4	0.000	0.042	2189	896	1768
27127	0.92	283.7	172.8	6.6	582	27131	0.00	2.28	0.00	0.000	6	0.000	0.035	2189	2309	1768
27449	0.87	283.7	146.5	8.0	595	27453	0.00	2.30	0.00	0.000	4	0.000	0.046	2188	3711	1768
27531	0.79	283.7	139.1	9.0	602	27535	0.12	2.22	0.00	0.000	6	0.123	0.031	2165	2296	1768
27860	0.82	291.2	118.1	5.2	632	27869	0.00	0.00	7.60	0.574	6	0.000	0.000	2165	2296	1743
28191	0.86	291.2	98.6	5.8	663	28196	0.08	2.33	0.00	0.000	4	0.078	0.044	2233	3714	1742
28262	0.71	291.2	91.0	10.4	668	28269	0.32	2.22	0.00	0.000	6	0.124	0.031	2149	2305	1742
28600	0.92	296.6	73.2	5.3	694	28614	0.17	2.30	6.40	0.523	4	0.055	0.045	2228	3707	1720
28656	0.87	296.6	69.2	7.9	696	28661	0.17	2.20	0.00	0.000	6	0.118	0.029	2186	2301	1719
28975	0.94	318.3	53.0	4.8	711	29000	0.00	2.33	19.62	0.596	4	0.000	0.042	2195	902	1632
29038	1.05	344.8	49.8	4.6	713	29067	0.12	2.25	23.75	0.591	6	0.054	0.034	2284	2314	1524
29381	0.89	344.8	10.8	12.3	730	29385	0.28	2.30	0.00	0.000	4	0.127	0.048	2193	3711	1519
29438	0.94	344.8	5.2	7.0	732	29444	0.00	2.22	0.00	0.000	6	0.000	0.035	2201	2299	1519
29504	end climb: SURFACE_DEPTH_REACHED
state	29504	begin surface coast
29526	end surface coast: CONTROL_FINISHED_OK
state	29526	begin surface