Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 865 * 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 865 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2303 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2303 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -79218.758 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 -79218.758

CAPMAXSIZE 100000 HD_C 3.2039999e-05 RHO 1.023 T_MISSION 630

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 57

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 144 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3809 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2000 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY -1

C_ROLL_CLIMB 2303 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2303 MASS 51458 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 29 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 865 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 043706,4833.449,-12818.491,37,1.8,42,19.2 TGT_NAME P4

_CALLS 1 TGT_LATLONG 4839.000,-12640.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.117,-0.120

_SM_DEPTHo 2.03 KALMAN_X -58758.1,500.6,4.7,1254272.4,-7545.0

_SM_ANGLEo -54.3 KALMAN_Y 129119.8,-589.2,-232.0,-327421.4,4008.6

GPS2 044438,4833.453,-12818.512,13,1.7,13,19.2 MHEAD_RNG_PITCHd_Wd 116.5,120970,-12.4,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.4,1.025099 XPDR_PINGS 89

SM_CCo 28996,0.00,0.000,0,0,1580,331.40 _24V_AH 21.6,124.754

SM_GC 2.20,5.62,0.00,0.00,0.030,0.000,0.000,97,2311,1580,-8.61,0.23,331.40 _10V_AH 10.0,104.995

IRIDIUM_FIX 4817.54,-12821.31,220699,202002 DATA_FILE_SIZE 44325,738

TT8_MAMPS 0.029146 CAP_FILE_SIZE 204496,0

HUMID 1778 CFSIZE 260165632,191373312

INTERNAL_PRESSURE 7.44169 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 290310,125038,4832.238,-12816.759,61,1.2,61,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 229 106.25 SBE_CT 515 24 267.46

Roll_motor 281 54 331.03 SBE_O2 603 19 247.86

VBD_pump_during_apogee 392 1267 10739.26 Optode 758 33 540.50

VBD_pump_during_surface 0 0 0.00 WL_BB2F 802 105 1819.66

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.10 nil 0 0 0.00

Iridium_during_connect 36 160 124.62 nil 0 0 0.00

Iridium_during_xfer 194 223 935.16

Transponder_ping 22 420 201.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.33

TT8 1755 19 347.52

LPSleep 23623 2 517.34

TT8_Active 563 19 111.52

TT8_Sampling 2386 39 949.75

TT8_CF8 1104 45 506.05

TT8_Kalman 33 81 27.31

Analog_circuits 1847 12 221.74

GPS_charging 0 0 0.00

Compass 2342 8 187.37

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 -116.1 0.0 0.0 0 79 0.00 0.00 -59.42 0.000 2 0.000 0.000 100 2297 2749

84 -0.68 -117.3 4.0 -4.5 3 108 7.05 0.00 -14.23 0.000 6 0.229 0.000 1845 2297 3412

418 -0.62 -117.3 47.5 -10.7 19 419 0.00 0.00 0.00 0.000 6 0.000 0.000 1845 2297 3414

727 -0.59 -117.3 84.3 -11.7 35 732 0.10 2.28 0.00 0.000 4 0.140 0.041 1875 896 3414

837 -0.64 -117.3 95.6 -8.9 44 844 0.00 2.28 0.00 0.000 6 0.000 0.036 1869 2309 3414

1168 -0.69 -117.3 120.3 -7.8 75 1172 0.00 2.30 0.00 0.000 4 0.000 0.045 1859 3705 3414

1217 -0.74 -117.3 124.5 -8.5 79 1221 0.00 2.17 0.00 0.000 6 0.000 0.028 1859 2294 3414

1556 -0.80 -117.3 148.4 -6.6 110 1562 0.12 0.00 0.00 0.000 6 0.056 0.000 1763 2293 3414

1882 -0.66 -117.3 191.8 -13.4 122 1887 0.28 2.30 0.00 0.000 4 0.126 0.038 1852 893 3414

1957 -0.72 -117.3 198.4 -7.6 124 1962 0.00 2.30 0.00 0.000 6 0.000 0.035 1850 2308 3414

2284 -0.76 -117.3 221.1 -7.2 135 2288 0.00 2.30 0.00 0.000 4 0.000 0.048 1843 3707 3414

2314 -0.81 -117.3 223.6 -7.9 135 2320 0.00 2.28 0.00 0.000 6 0.000 0.028 1842 2300 3414

2630 -0.84 -117.3 245.5 -6.8 146 2635 0.10 2.28 0.00 0.000 4 0.064 0.038 1766 898 3414

2721 -0.74 -117.3 255.7 -12.1 148 2728 0.28 2.30 0.00 0.000 6 0.114 0.043 1836 2305 3414

3037 -0.77 -117.3 279.2 -7.3 159 3041 0.00 2.25 0.00 0.000 4 0.000 0.040 1836 903 3414

3083 -0.81 -117.3 282.8 -7.3 160 3087 0.00 2.28 0.00 0.000 6 0.000 0.036 1836 2303 3414

3409 -0.83 -117.3 306.7 -7.4 170 3410 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 2303 3414

3712 -0.86 -117.3 330.7 -8.0 175 3716 0.10 2.33 0.00 0.000 4 0.064 0.042 1765 895 3413

3759 -0.75 -117.3 336.0 -12.3 175 3764 0.28 2.28 0.00 0.000 6 0.116 0.036 1834 2301 3413

4082 -0.78 -117.3 363.5 -8.3 181 4083 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 2301 3413

4385 -0.81 -117.3 388.4 -8.2 186 4386 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 2301 3413

4689 -0.85 -117.3 412.1 -7.8 191 4690 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 2301 3413

4991 -0.88 -117.3 433.6 -7.0 196 4996 0.10 2.33 0.00 0.000 4 0.066 0.048 1767 896 3412

5032 -0.79 -117.3 437.6 -10.2 196 5037 0.25 2.33 0.00 0.000 6 0.114 0.041 1829 2311 3412

5354 -0.81 -117.3 458.8 -6.3 202 5359 0.00 2.35 0.00 0.000 4 0.000 0.044 1830 897 3412

5385 -0.84 -117.3 460.7 -6.6 202 5389 0.00 2.33 0.00 0.000 6 0.000 0.042 1823 2310 3412

5719 -0.84 -117.3 482.0 -6.4 208 5720 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2311 3411

6022 -0.84 -117.3 501.9 -6.6 213 6026 0.00 2.38 0.00 0.000 4 0.000 0.046 1823 893 3411

6080 -0.84 -117.3 506.0 -7.4 213 6086 0.00 2.33 0.00 0.000 6 0.000 0.045 1821 2313 3410

6391 -0.84 -117.3 528.5 -7.3 219 6395 0.00 2.33 0.00 0.000 4 0.000 0.041 1820 893 3411

6426 -0.84 -117.3 531.3 -8.1 219 6430 0.00 2.35 0.00 0.000 6 0.000 0.042 1812 2305 3411

6753 -0.84 -117.3 559.0 -8.5 225 6754 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2305 3410

7056 -0.84 -117.3 583.9 -8.2 230 7060 0.00 2.35 0.00 0.000 4 0.000 0.047 1811 899 3409

7123 -0.84 -117.3 589.3 -9.0 231 7127 0.00 2.33 0.00 0.000 6 0.000 0.039 1808 2305 3409

7490 -0.84 -117.3 619.5 -8.1 237 7494 0.00 2.38 0.00 0.000 4 0.000 0.051 1798 3710 3409

7519 -0.84 -117.3 622.0 -9.0 237 7523 0.00 2.28 0.00 0.000 6 0.000 0.035 1798 2298 3409

7859 -0.84 -117.3 649.8 -8.3 243 7862 0.00 2.33 0.00 0.000 4 0.000 0.049 1798 898 3408

7899 -0.84 -117.3 653.5 -8.5 243 7904 0.10 2.35 0.00 0.000 6 0.128 0.041 1821 2309 3409

8227 -0.88 -117.3 675.6 -6.7 249 8228 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2309 3409

8531 -0.91 -117.3 695.3 -6.5 254 8532 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2309 3408

8833 -0.94 -117.3 714.4 -6.3 259 8838 0.10 2.33 0.00 0.000 4 0.066 0.043 1759 899 3407

8885 -0.85 -117.3 719.3 -9.6 259 8890 0.22 2.33 0.00 0.000 6 0.118 0.038 1819 2309 3407

9196 -0.88 -117.3 741.2 -6.9 264 9200 0.00 2.38 0.00 0.000 4 0.000 0.045 1819 889 3407

9233 -0.91 -117.3 743.9 -7.7 264 9237 0.00 2.38 0.00 0.000 6 0.000 0.043 1812 2311 3407

9560 -0.91 -117.3 767.8 -7.3 270 9561 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2311 3407

9864 -0.93 -117.3 789.9 -7.4 275 9865 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2311 3406

10166 -0.93 -117.3 812.3 -7.4 280 10167 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2311 3406

10470 -0.93 -117.3 835.0 -7.5 285 10474 0.00 2.38 0.00 0.000 4 0.000 0.046 1812 890 3406

10506 -0.95 -117.3 838.0 -8.2 285 10510 0.00 2.38 0.00 0.000 6 0.000 0.042 1809 2308 3406

10839 -0.95 -117.3 861.2 -6.9 291 10844 0.00 2.42 0.00 0.000 4 0.000 0.051 1799 3714 3406

10898 -0.95 -117.3 865.4 -8.0 291 10904 0.00 2.30 0.00 0.000 6 0.000 0.031 1799 2301 3406

11209 -0.95 -117.3 887.7 -7.2 297 11213 0.00 2.42 0.00 0.000 4 0.000 0.051 1790 3708 3406

11232 -0.95 -117.3 889.5 -6.9 297 11237 0.00 2.30 0.00 0.000 6 0.000 0.031 1790 2299 3405

11572 -0.93 -117.3 915.9 -7.8 303 11573 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 2299 3405

11876 -0.93 -117.3 938.7 -7.5 308 11880 0.00 2.47 0.00 0.000 4 0.000 0.050 1781 3714 3405

11922 -0.91 -117.3 942.4 -7.2 308 11926 0.00 2.30 0.00 0.000 6 0.000 0.033 1782 2305 3405

12238 -0.88 -117.3 966.4 -7.6 314 12240 0.10 0.00 0.00 0.000 6 0.128 0.000 1809 2305 3405

12542 -0.91 -117.3 985.3 -6.2 319 12547 0.00 2.40 0.00 0.000 4 0.000 0.045 1809 896 3405

12578 -0.93 -117.3 987.7 -6.3 319 12582 0.00 2.38 0.00 0.000 6 0.000 0.046 1809 2303 3404

12659 end dive: TARGET_DEPTH_EXCEEDED

state 12659 begin apogee

12669 -0.22 0.0 992.8 6.1 321 12769 0.45 0.00 97.15 1.268 6 0.108 0.000 1953 2303 2931

12770 end apogee: CONTROL_FINISHED_OK

state 12770 begin climb

12774 0.68 117.3 994.3 0.0 322 12886 0.60 2.65 103.80 1.240 4 0.068 0.054 2155 3704 2451

12924 0.49 117.3 991.9 7.1 325 12929 0.25 2.47 0.00 0.000 6 0.156 0.038 2109 2304 2448

13276 0.48 136.2 974.6 4.9 331 13296 0.00 2.35 15.95 1.144 4 0.000 0.048 2118 891 2374

13322 0.49 145.0 972.1 5.2 331 13338 0.00 2.33 9.15 1.037 6 0.000 0.044 2118 2304 2338

13643 0.46 145.0 954.3 5.6 337 13648 0.00 2.33 0.00 0.000 4 0.000 0.049 2118 3714 2333

13708 0.38 145.0 950.0 7.3 338 13713 0.17 2.28 0.00 0.000 6 0.150 0.034 2084 2292 2333

14077 0.49 157.2 931.9 5.1 344 14093 0.08 2.35 10.95 1.077 4 0.090 0.049 2122 3717 2289

14207 0.41 157.2 923.7 6.3 345 14214 0.17 2.28 0.00 0.000 6 0.150 0.035 2087 2296 2287

14519 0.51 178.1 908.5 4.8 351 14544 0.08 2.38 18.80 1.139 4 0.090 0.050 2129 3704 2205

14610 0.42 178.1 902.6 7.4 352 14615 0.17 2.25 0.00 0.000 6 0.146 0.033 2094 2293 2203

14956 0.50 209.6 886.7 4.4 358 14986 0.00 0.00 28.38 1.156 6 0.000 0.000 2094 2294 2075

15258 0.66 213.5 870.9 5.4 363 15268 0.15 2.28 4.22 0.739 4 0.066 0.050 2159 896 2060

15376 0.61 213.5 863.5 6.5 364 15380 0.12 2.28 0.00 0.000 6 0.130 0.038 2128 2309 2059

15703 0.61 213.5 844.4 5.7 370 15707 0.00 2.33 0.00 0.000 4 0.000 0.054 2128 3714 2058

15762 0.57 213.5 840.4 7.1 370 15766 0.00 2.22 0.00 0.000 6 0.000 0.031 2136 2302 2057

16074 0.55 213.5 820.1 6.5 375 16078 0.00 2.35 0.00 0.000 4 0.000 0.048 2136 3716 2057

16104 0.50 213.5 817.6 7.8 375 16109 0.15 2.22 0.00 0.000 6 0.140 0.032 2108 2304 2057

16445 0.55 221.8 799.6 5.2 381 16459 0.00 2.33 8.62 0.964 4 0.000 0.048 2116 900 2026

16484 0.62 221.8 797.2 5.8 381 16488 0.00 2.28 0.00 0.000 6 0.000 0.038 2116 2303 2025

16814 0.65 221.8 776.6 6.3 387 16818 0.10 2.33 0.00 0.000 4 0.071 0.048 2175 3714 2024

16849 0.52 221.8 773.2 10.5 387 16854 0.28 2.22 0.00 0.000 6 0.147 0.032 2112 2304 2023

17178 0.57 221.8 751.2 6.4 393 17182 0.00 2.28 0.00 0.000 4 0.000 0.045 2121 897 2023

17208 0.62 221.8 749.0 6.6 393 17212 0.00 2.28 0.00 0.000 6 0.000 0.037 2121 2306 2023

17547 0.65 221.8 728.0 6.2 399 17551 0.00 2.30 0.00 0.000 4 0.000 0.051 2121 3714 2023

17593 0.65 221.8 724.7 6.9 399 17598 0.00 2.22 0.00 0.000 6 0.000 0.031 2130 2295 2022

17922 0.65 221.8 704.6 6.1 405 17926 0.00 2.33 0.00 0.000 4 0.000 0.047 2141 895 2023

17946 0.65 221.8 703.1 6.1 405 17950 0.00 2.30 0.00 0.000 6 0.000 0.037 2141 2313 2022

18291 0.65 221.8 681.0 6.4 411 18295 0.00 2.33 0.00 0.000 4 0.000 0.054 2141 3714 2022

18356 0.58 221.8 676.1 7.5 412 18361 0.12 2.25 0.00 0.000 6 0.133 0.038 2121 2304 2022

18724 0.61 221.8 654.7 5.8 418 18728 0.00 2.33 0.00 0.000 4 0.000 0.044 2130 890 2022

18759 0.65 221.8 652.4 5.9 418 18763 0.00 2.33 0.00 0.000 6 0.000 0.036 2130 2313 2021

19087 0.65 221.8 632.0 6.3 424 19091 0.00 2.33 0.00 0.000 4 0.000 0.050 2130 3708 2022

19117 0.65 221.8 629.7 7.1 424 19121 0.00 2.22 0.00 0.000 6 0.000 0.031 2140 2298 2022

19450 0.65 221.8 607.5 6.6 430 19454 0.00 2.35 0.00 0.000 4 0.000 0.049 2140 3710 2022

19474 0.62 221.8 605.6 7.3 430 19479 0.00 2.25 0.00 0.000 6 0.000 0.033 2151 2299 2021

19815 0.59 221.8 581.7 7.0 436 19820 0.10 2.33 0.00 0.000 4 0.146 0.046 2124 3704 2021

19839 0.59 221.8 579.9 7.0 436 19843 0.00 2.28 0.00 0.000 6 0.000 0.031 2133 2302 2021

20183 0.59 221.8 558.8 6.2 442 20185 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2303 2022

20487 0.59 221.8 540.1 6.1 447 20492 0.00 2.38 0.00 0.000 4 0.000 0.052 2132 3710 2021

20517 0.59 221.8 537.9 7.1 447 20521 0.00 2.25 0.00 0.000 6 0.000 0.031 2143 2295 2021

20850 0.59 221.8 516.0 6.5 453 20854 0.00 2.38 0.00 0.000 4 0.000 0.052 2143 3713 2021

20880 0.54 221.8 513.8 8.0 453 20885 0.15 2.25 0.00 0.000 6 0.128 0.031 2113 2292 2021

21215 0.61 237.3 497.0 5.0 459 21234 0.00 2.30 14.15 0.863 4 0.000 0.046 2122 887 1963

21272 0.69 238.4 493.8 5.5 459 21276 0.10 2.33 0.00 0.000 6 0.061 0.037 2188 2311 1962

21584 0.57 238.4 464.5 9.7 464 21589 0.20 2.33 0.00 0.000 4 0.136 0.052 2126 3708 1961

21658 0.57 238.4 458.7 6.3 465 21662 0.00 2.22 0.00 0.000 6 0.000 0.031 2134 2298 1961

22015 0.57 238.4 437.8 5.9 471 22019 0.00 2.30 0.00 0.000 4 0.000 0.044 2144 888 1961

22045 0.60 238.4 435.9 6.2 471 22049 0.00 2.30 0.00 0.000 6 0.000 0.036 2144 2309 1960

22384 0.60 238.4 414.2 6.3 477 22388 0.00 2.30 0.00 0.000 4 0.000 0.048 2144 3709 1960

22426 0.56 238.4 411.1 8.4 477 22430 0.12 2.22 0.00 0.000 6 0.133 0.030 2122 2294 1960

22753 0.61 238.4 392.5 5.6 483 22757 0.00 2.30 0.00 0.000 4 0.000 0.044 2130 889 1960

22790 0.67 238.4 390.2 7.0 483 22794 0.00 2.30 0.00 0.000 6 0.000 0.042 2130 2304 1960

23123 0.70 238.4 370.4 5.8 489 23128 0.08 2.33 0.00 0.000 4 0.074 0.051 2193 3708 1960

23164 0.55 238.4 366.8 9.6 489 23169 0.32 2.22 0.00 0.000 6 0.137 0.031 2115 2295 1960

23493 0.68 238.4 348.3 5.6 495 23497 0.12 2.28 0.00 0.000 4 0.057 0.041 2183 893 1959

23578 0.63 238.4 342.2 7.1 496 23583 0.17 2.28 0.00 0.000 6 0.127 0.037 2137 2304 1960

23930 0.65 238.4 321.9 5.7 502 23934 0.00 2.30 0.00 0.000 4 0.000 0.047 2137 3707 1959

23993 0.65 238.4 317.6 7.7 503 23997 0.00 2.20 0.00 0.000 6 0.000 0.031 2145 2304 1960

24337 0.65 238.4 295.8 6.5 509 24341 0.00 2.30 0.00 0.000 4 0.000 0.049 2154 897 1960

24369 0.65 238.4 293.7 5.5 510 24373 0.00 2.28 0.00 0.000 6 0.000 0.038 2155 2307 1959

24706 0.65 238.4 269.1 7.3 521 24710 0.00 2.33 0.00 0.000 4 0.000 0.048 2155 3716 1960

24757 0.60 238.4 264.8 9.6 522 24762 0.15 2.20 0.00 0.000 6 0.118 0.030 2123 2302 1960

25079 0.68 253.9 247.6 5.0 533 25100 0.10 2.30 15.60 0.716 4 0.064 0.043 2204 890 1894

25130 0.60 253.9 243.5 8.4 534 25135 0.28 2.28 0.00 0.000 6 0.122 0.035 2127 2306 1891

25445 0.72 253.9 226.7 5.5 544 25450 0.10 2.30 0.00 0.000 4 0.062 0.044 2175 3707 1889

25526 0.63 253.9 220.5 9.4 546 25531 0.17 2.22 0.00 0.000 6 0.122 0.030 2137 2297 1890

25858 0.68 259.1 201.7 5.3 557 25868 0.00 2.30 5.30 0.555 4 0.000 0.041 2145 891 1873

25910 0.74 259.1 198.7 6.7 558 25915 0.00 2.28 0.00 0.000 6 0.000 0.034 2145 2312 1873

26231 0.88 262.8 181.0 5.4 569 26242 0.15 2.33 4.82 0.518 4 0.052 0.041 2225 893 1859

26317 0.78 262.8 174.6 7.1 571 26322 0.20 2.28 0.00 0.000 6 0.123 0.035 2168 2314 1858

26633 0.78 262.8 153.8 6.8 581 26637 0.00 2.28 0.00 0.000 4 0.000 0.045 2168 3707 1858

26680 0.74 262.8 150.2 8.0 582 26684 0.00 2.22 0.00 0.000 6 0.000 0.030 2176 2292 1858

27008 0.71 262.8 127.3 6.6 612 27011 0.00 2.28 0.00 0.000 4 0.000 0.042 2186 898 1858

27060 0.71 262.8 123.8 7.0 616 27067 0.12 2.25 0.00 0.000 6 0.110 0.035 2151 2312 1856

27387 0.85 328.0 108.9 3.3 647 27448 0.12 2.33 55.25 0.646 4 0.056 0.044 2240 3707 1593

27494 0.70 328.0 99.6 11.7 655 27501 0.28 2.28 0.00 0.000 6 0.123 0.030 2151 2301 1591

27821 0.95 328.0 80.0 6.1 686 27826 0.17 2.33 0.00 0.000 4 0.059 0.045 2218 3707 1585

27856 1.11 328.0 77.8 6.6 687 27863 0.00 2.25 0.00 0.000 6 0.000 0.028 2218 2292 1586

28176 1.22 328.0 59.4 6.6 703 28180 0.15 2.35 0.00 0.000 4 0.052 0.044 2308 3711 1584

28315 0.97 328.0 41.2 15.2 709 28320 0.38 2.20 0.00 0.000 6 0.146 0.029 2214 2308 1585

28641 1.00 328.0 17.0 8.6 725 28645 0.00 2.35 0.00 0.000 4 0.000 0.049 2222 888 1584

28677 1.02 328.0 13.8 7.9 726 28681 0.00 2.30 0.00 0.000 6 0.000 0.040 2222 2311 1583

28893 end climb: SURFACE_DEPTH_REACHED

state 28893 begin surface coast

28914 end surface coast: CONTROL_FINISHED_OK

state 28914 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	865	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2303	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2303	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-79218.758	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	043706,4833.449,-12818.491,37,1.8,42,19.2	TGT_NAME	P4
_CALLS	1	TGT_LATLONG	4839.000,-12640.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.117,-0.120
_SM_DEPTHo	2.03	KALMAN_X	-58758.1,500.6,4.7,1254272.4,-7545.0
_SM_ANGLEo	-54.3	KALMAN_Y	129119.8,-589.2,-232.0,-327421.4,4008.6
GPS2	044438,4833.453,-12818.512,13,1.7,13,19.2	MHEAD_RNG_PITCHd_Wd	116.5,120970,-12.4,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.4,1.025099	XPDR_PINGS	89
SM_CCo	28996,0.00,0.000,0,0,1580,331.40	_24V_AH	21.6,124.754
SM_GC	2.20,5.62,0.00,0.00,0.030,0.000,0.000,97,2311,1580,-8.61,0.23,331.40	_10V_AH	10.0,104.995
IRIDIUM_FIX	4817.54,-12821.31,220699,202002	DATA_FILE_SIZE	44325,738
TT8_MAMPS	0.029146	CAP_FILE_SIZE	204496,0
HUMID	1778	CFSIZE	260165632,191373312
INTERNAL_PRESSURE	7.44169	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	290310,125038,4832.238,-12816.759,61,1.2,61,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	229	106.25	SBE_CT	515	24	267.46
Roll_motor	281	54	331.03	SBE_O2	603	19	247.86
VBD_pump_during_apogee	392	1267	10739.26	Optode	758	33	540.50
VBD_pump_during_surface	0	0	0.00	WL_BB2F	802	105	1819.66
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.10	nil	0	0	0.00
Iridium_during_connect	36	160	124.62	nil	0	0	0.00
Iridium_during_xfer	194	223	935.16
Transponder_ping	22	420	201.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.33
TT8	1755	19	347.52
LPSleep	23623	2	517.34
TT8_Active	563	19	111.52
TT8_Sampling	2386	39	949.75
TT8_CF8	1104	45	506.05
TT8_Kalman	33	81	27.31
Analog_circuits	1847	12	221.74
GPS_charging	0	0	0.00
Compass	2342	8	187.37
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	-116.1	0.0	0.0	0	79	0.00	0.00	-59.42	0.000	2	0.000	0.000	100	2297	2749
84	-0.68	-117.3	4.0	-4.5	3	108	7.05	0.00	-14.23	0.000	6	0.229	0.000	1845	2297	3412
418	-0.62	-117.3	47.5	-10.7	19	419	0.00	0.00	0.00	0.000	6	0.000	0.000	1845	2297	3414
727	-0.59	-117.3	84.3	-11.7	35	732	0.10	2.28	0.00	0.000	4	0.140	0.041	1875	896	3414
837	-0.64	-117.3	95.6	-8.9	44	844	0.00	2.28	0.00	0.000	6	0.000	0.036	1869	2309	3414
1168	-0.69	-117.3	120.3	-7.8	75	1172	0.00	2.30	0.00	0.000	4	0.000	0.045	1859	3705	3414
1217	-0.74	-117.3	124.5	-8.5	79	1221	0.00	2.17	0.00	0.000	6	0.000	0.028	1859	2294	3414
1556	-0.80	-117.3	148.4	-6.6	110	1562	0.12	0.00	0.00	0.000	6	0.056	0.000	1763	2293	3414
1882	-0.66	-117.3	191.8	-13.4	122	1887	0.28	2.30	0.00	0.000	4	0.126	0.038	1852	893	3414
1957	-0.72	-117.3	198.4	-7.6	124	1962	0.00	2.30	0.00	0.000	6	0.000	0.035	1850	2308	3414
2284	-0.76	-117.3	221.1	-7.2	135	2288	0.00	2.30	0.00	0.000	4	0.000	0.048	1843	3707	3414
2314	-0.81	-117.3	223.6	-7.9	135	2320	0.00	2.28	0.00	0.000	6	0.000	0.028	1842	2300	3414
2630	-0.84	-117.3	245.5	-6.8	146	2635	0.10	2.28	0.00	0.000	4	0.064	0.038	1766	898	3414
2721	-0.74	-117.3	255.7	-12.1	148	2728	0.28	2.30	0.00	0.000	6	0.114	0.043	1836	2305	3414
3037	-0.77	-117.3	279.2	-7.3	159	3041	0.00	2.25	0.00	0.000	4	0.000	0.040	1836	903	3414
3083	-0.81	-117.3	282.8	-7.3	160	3087	0.00	2.28	0.00	0.000	6	0.000	0.036	1836	2303	3414
3409	-0.83	-117.3	306.7	-7.4	170	3410	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	2303	3414
3712	-0.86	-117.3	330.7	-8.0	175	3716	0.10	2.33	0.00	0.000	4	0.064	0.042	1765	895	3413
3759	-0.75	-117.3	336.0	-12.3	175	3764	0.28	2.28	0.00	0.000	6	0.116	0.036	1834	2301	3413
4082	-0.78	-117.3	363.5	-8.3	181	4083	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	2301	3413
4385	-0.81	-117.3	388.4	-8.2	186	4386	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	2301	3413
4689	-0.85	-117.3	412.1	-7.8	191	4690	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	2301	3413
4991	-0.88	-117.3	433.6	-7.0	196	4996	0.10	2.33	0.00	0.000	4	0.066	0.048	1767	896	3412
5032	-0.79	-117.3	437.6	-10.2	196	5037	0.25	2.33	0.00	0.000	6	0.114	0.041	1829	2311	3412
5354	-0.81	-117.3	458.8	-6.3	202	5359	0.00	2.35	0.00	0.000	4	0.000	0.044	1830	897	3412
5385	-0.84	-117.3	460.7	-6.6	202	5389	0.00	2.33	0.00	0.000	6	0.000	0.042	1823	2310	3412
5719	-0.84	-117.3	482.0	-6.4	208	5720	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2311	3411
6022	-0.84	-117.3	501.9	-6.6	213	6026	0.00	2.38	0.00	0.000	4	0.000	0.046	1823	893	3411
6080	-0.84	-117.3	506.0	-7.4	213	6086	0.00	2.33	0.00	0.000	6	0.000	0.045	1821	2313	3410
6391	-0.84	-117.3	528.5	-7.3	219	6395	0.00	2.33	0.00	0.000	4	0.000	0.041	1820	893	3411
6426	-0.84	-117.3	531.3	-8.1	219	6430	0.00	2.35	0.00	0.000	6	0.000	0.042	1812	2305	3411
6753	-0.84	-117.3	559.0	-8.5	225	6754	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2305	3410
7056	-0.84	-117.3	583.9	-8.2	230	7060	0.00	2.35	0.00	0.000	4	0.000	0.047	1811	899	3409
7123	-0.84	-117.3	589.3	-9.0	231	7127	0.00	2.33	0.00	0.000	6	0.000	0.039	1808	2305	3409
7490	-0.84	-117.3	619.5	-8.1	237	7494	0.00	2.38	0.00	0.000	4	0.000	0.051	1798	3710	3409
7519	-0.84	-117.3	622.0	-9.0	237	7523	0.00	2.28	0.00	0.000	6	0.000	0.035	1798	2298	3409
7859	-0.84	-117.3	649.8	-8.3	243	7862	0.00	2.33	0.00	0.000	4	0.000	0.049	1798	898	3408
7899	-0.84	-117.3	653.5	-8.5	243	7904	0.10	2.35	0.00	0.000	6	0.128	0.041	1821	2309	3409
8227	-0.88	-117.3	675.6	-6.7	249	8228	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2309	3409
8531	-0.91	-117.3	695.3	-6.5	254	8532	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2309	3408
8833	-0.94	-117.3	714.4	-6.3	259	8838	0.10	2.33	0.00	0.000	4	0.066	0.043	1759	899	3407
8885	-0.85	-117.3	719.3	-9.6	259	8890	0.22	2.33	0.00	0.000	6	0.118	0.038	1819	2309	3407
9196	-0.88	-117.3	741.2	-6.9	264	9200	0.00	2.38	0.00	0.000	4	0.000	0.045	1819	889	3407
9233	-0.91	-117.3	743.9	-7.7	264	9237	0.00	2.38	0.00	0.000	6	0.000	0.043	1812	2311	3407
9560	-0.91	-117.3	767.8	-7.3	270	9561	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2311	3407
9864	-0.93	-117.3	789.9	-7.4	275	9865	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2311	3406
10166	-0.93	-117.3	812.3	-7.4	280	10167	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2311	3406
10470	-0.93	-117.3	835.0	-7.5	285	10474	0.00	2.38	0.00	0.000	4	0.000	0.046	1812	890	3406
10506	-0.95	-117.3	838.0	-8.2	285	10510	0.00	2.38	0.00	0.000	6	0.000	0.042	1809	2308	3406
10839	-0.95	-117.3	861.2	-6.9	291	10844	0.00	2.42	0.00	0.000	4	0.000	0.051	1799	3714	3406
10898	-0.95	-117.3	865.4	-8.0	291	10904	0.00	2.30	0.00	0.000	6	0.000	0.031	1799	2301	3406
11209	-0.95	-117.3	887.7	-7.2	297	11213	0.00	2.42	0.00	0.000	4	0.000	0.051	1790	3708	3406
11232	-0.95	-117.3	889.5	-6.9	297	11237	0.00	2.30	0.00	0.000	6	0.000	0.031	1790	2299	3405
11572	-0.93	-117.3	915.9	-7.8	303	11573	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	2299	3405
11876	-0.93	-117.3	938.7	-7.5	308	11880	0.00	2.47	0.00	0.000	4	0.000	0.050	1781	3714	3405
11922	-0.91	-117.3	942.4	-7.2	308	11926	0.00	2.30	0.00	0.000	6	0.000	0.033	1782	2305	3405
12238	-0.88	-117.3	966.4	-7.6	314	12240	0.10	0.00	0.00	0.000	6	0.128	0.000	1809	2305	3405
12542	-0.91	-117.3	985.3	-6.2	319	12547	0.00	2.40	0.00	0.000	4	0.000	0.045	1809	896	3405
12578	-0.93	-117.3	987.7	-6.3	319	12582	0.00	2.38	0.00	0.000	6	0.000	0.046	1809	2303	3404
12659	end dive: TARGET_DEPTH_EXCEEDED
state	12659	begin apogee
12669	-0.22	0.0	992.8	6.1	321	12769	0.45	0.00	97.15	1.268	6	0.108	0.000	1953	2303	2931
12770	end apogee: CONTROL_FINISHED_OK
state	12770	begin climb
12774	0.68	117.3	994.3	0.0	322	12886	0.60	2.65	103.80	1.240	4	0.068	0.054	2155	3704	2451
12924	0.49	117.3	991.9	7.1	325	12929	0.25	2.47	0.00	0.000	6	0.156	0.038	2109	2304	2448
13276	0.48	136.2	974.6	4.9	331	13296	0.00	2.35	15.95	1.144	4	0.000	0.048	2118	891	2374
13322	0.49	145.0	972.1	5.2	331	13338	0.00	2.33	9.15	1.037	6	0.000	0.044	2118	2304	2338
13643	0.46	145.0	954.3	5.6	337	13648	0.00	2.33	0.00	0.000	4	0.000	0.049	2118	3714	2333
13708	0.38	145.0	950.0	7.3	338	13713	0.17	2.28	0.00	0.000	6	0.150	0.034	2084	2292	2333
14077	0.49	157.2	931.9	5.1	344	14093	0.08	2.35	10.95	1.077	4	0.090	0.049	2122	3717	2289
14207	0.41	157.2	923.7	6.3	345	14214	0.17	2.28	0.00	0.000	6	0.150	0.035	2087	2296	2287
14519	0.51	178.1	908.5	4.8	351	14544	0.08	2.38	18.80	1.139	4	0.090	0.050	2129	3704	2205
14610	0.42	178.1	902.6	7.4	352	14615	0.17	2.25	0.00	0.000	6	0.146	0.033	2094	2293	2203
14956	0.50	209.6	886.7	4.4	358	14986	0.00	0.00	28.38	1.156	6	0.000	0.000	2094	2294	2075
15258	0.66	213.5	870.9	5.4	363	15268	0.15	2.28	4.22	0.739	4	0.066	0.050	2159	896	2060
15376	0.61	213.5	863.5	6.5	364	15380	0.12	2.28	0.00	0.000	6	0.130	0.038	2128	2309	2059
15703	0.61	213.5	844.4	5.7	370	15707	0.00	2.33	0.00	0.000	4	0.000	0.054	2128	3714	2058
15762	0.57	213.5	840.4	7.1	370	15766	0.00	2.22	0.00	0.000	6	0.000	0.031	2136	2302	2057
16074	0.55	213.5	820.1	6.5	375	16078	0.00	2.35	0.00	0.000	4	0.000	0.048	2136	3716	2057
16104	0.50	213.5	817.6	7.8	375	16109	0.15	2.22	0.00	0.000	6	0.140	0.032	2108	2304	2057
16445	0.55	221.8	799.6	5.2	381	16459	0.00	2.33	8.62	0.964	4	0.000	0.048	2116	900	2026
16484	0.62	221.8	797.2	5.8	381	16488	0.00	2.28	0.00	0.000	6	0.000	0.038	2116	2303	2025
16814	0.65	221.8	776.6	6.3	387	16818	0.10	2.33	0.00	0.000	4	0.071	0.048	2175	3714	2024
16849	0.52	221.8	773.2	10.5	387	16854	0.28	2.22	0.00	0.000	6	0.147	0.032	2112	2304	2023
17178	0.57	221.8	751.2	6.4	393	17182	0.00	2.28	0.00	0.000	4	0.000	0.045	2121	897	2023
17208	0.62	221.8	749.0	6.6	393	17212	0.00	2.28	0.00	0.000	6	0.000	0.037	2121	2306	2023
17547	0.65	221.8	728.0	6.2	399	17551	0.00	2.30	0.00	0.000	4	0.000	0.051	2121	3714	2023
17593	0.65	221.8	724.7	6.9	399	17598	0.00	2.22	0.00	0.000	6	0.000	0.031	2130	2295	2022
17922	0.65	221.8	704.6	6.1	405	17926	0.00	2.33	0.00	0.000	4	0.000	0.047	2141	895	2023
17946	0.65	221.8	703.1	6.1	405	17950	0.00	2.30	0.00	0.000	6	0.000	0.037	2141	2313	2022
18291	0.65	221.8	681.0	6.4	411	18295	0.00	2.33	0.00	0.000	4	0.000	0.054	2141	3714	2022
18356	0.58	221.8	676.1	7.5	412	18361	0.12	2.25	0.00	0.000	6	0.133	0.038	2121	2304	2022
18724	0.61	221.8	654.7	5.8	418	18728	0.00	2.33	0.00	0.000	4	0.000	0.044	2130	890	2022
18759	0.65	221.8	652.4	5.9	418	18763	0.00	2.33	0.00	0.000	6	0.000	0.036	2130	2313	2021
19087	0.65	221.8	632.0	6.3	424	19091	0.00	2.33	0.00	0.000	4	0.000	0.050	2130	3708	2022
19117	0.65	221.8	629.7	7.1	424	19121	0.00	2.22	0.00	0.000	6	0.000	0.031	2140	2298	2022
19450	0.65	221.8	607.5	6.6	430	19454	0.00	2.35	0.00	0.000	4	0.000	0.049	2140	3710	2022
19474	0.62	221.8	605.6	7.3	430	19479	0.00	2.25	0.00	0.000	6	0.000	0.033	2151	2299	2021
19815	0.59	221.8	581.7	7.0	436	19820	0.10	2.33	0.00	0.000	4	0.146	0.046	2124	3704	2021
19839	0.59	221.8	579.9	7.0	436	19843	0.00	2.28	0.00	0.000	6	0.000	0.031	2133	2302	2021
20183	0.59	221.8	558.8	6.2	442	20185	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2303	2022
20487	0.59	221.8	540.1	6.1	447	20492	0.00	2.38	0.00	0.000	4	0.000	0.052	2132	3710	2021
20517	0.59	221.8	537.9	7.1	447	20521	0.00	2.25	0.00	0.000	6	0.000	0.031	2143	2295	2021
20850	0.59	221.8	516.0	6.5	453	20854	0.00	2.38	0.00	0.000	4	0.000	0.052	2143	3713	2021
20880	0.54	221.8	513.8	8.0	453	20885	0.15	2.25	0.00	0.000	6	0.128	0.031	2113	2292	2021
21215	0.61	237.3	497.0	5.0	459	21234	0.00	2.30	14.15	0.863	4	0.000	0.046	2122	887	1963
21272	0.69	238.4	493.8	5.5	459	21276	0.10	2.33	0.00	0.000	6	0.061	0.037	2188	2311	1962
21584	0.57	238.4	464.5	9.7	464	21589	0.20	2.33	0.00	0.000	4	0.136	0.052	2126	3708	1961
21658	0.57	238.4	458.7	6.3	465	21662	0.00	2.22	0.00	0.000	6	0.000	0.031	2134	2298	1961
22015	0.57	238.4	437.8	5.9	471	22019	0.00	2.30	0.00	0.000	4	0.000	0.044	2144	888	1961
22045	0.60	238.4	435.9	6.2	471	22049	0.00	2.30	0.00	0.000	6	0.000	0.036	2144	2309	1960
22384	0.60	238.4	414.2	6.3	477	22388	0.00	2.30	0.00	0.000	4	0.000	0.048	2144	3709	1960
22426	0.56	238.4	411.1	8.4	477	22430	0.12	2.22	0.00	0.000	6	0.133	0.030	2122	2294	1960
22753	0.61	238.4	392.5	5.6	483	22757	0.00	2.30	0.00	0.000	4	0.000	0.044	2130	889	1960
22790	0.67	238.4	390.2	7.0	483	22794	0.00	2.30	0.00	0.000	6	0.000	0.042	2130	2304	1960
23123	0.70	238.4	370.4	5.8	489	23128	0.08	2.33	0.00	0.000	4	0.074	0.051	2193	3708	1960
23164	0.55	238.4	366.8	9.6	489	23169	0.32	2.22	0.00	0.000	6	0.137	0.031	2115	2295	1960
23493	0.68	238.4	348.3	5.6	495	23497	0.12	2.28	0.00	0.000	4	0.057	0.041	2183	893	1959
23578	0.63	238.4	342.2	7.1	496	23583	0.17	2.28	0.00	0.000	6	0.127	0.037	2137	2304	1960
23930	0.65	238.4	321.9	5.7	502	23934	0.00	2.30	0.00	0.000	4	0.000	0.047	2137	3707	1959
23993	0.65	238.4	317.6	7.7	503	23997	0.00	2.20	0.00	0.000	6	0.000	0.031	2145	2304	1960
24337	0.65	238.4	295.8	6.5	509	24341	0.00	2.30	0.00	0.000	4	0.000	0.049	2154	897	1960
24369	0.65	238.4	293.7	5.5	510	24373	0.00	2.28	0.00	0.000	6	0.000	0.038	2155	2307	1959
24706	0.65	238.4	269.1	7.3	521	24710	0.00	2.33	0.00	0.000	4	0.000	0.048	2155	3716	1960
24757	0.60	238.4	264.8	9.6	522	24762	0.15	2.20	0.00	0.000	6	0.118	0.030	2123	2302	1960
25079	0.68	253.9	247.6	5.0	533	25100	0.10	2.30	15.60	0.716	4	0.064	0.043	2204	890	1894
25130	0.60	253.9	243.5	8.4	534	25135	0.28	2.28	0.00	0.000	6	0.122	0.035	2127	2306	1891
25445	0.72	253.9	226.7	5.5	544	25450	0.10	2.30	0.00	0.000	4	0.062	0.044	2175	3707	1889
25526	0.63	253.9	220.5	9.4	546	25531	0.17	2.22	0.00	0.000	6	0.122	0.030	2137	2297	1890
25858	0.68	259.1	201.7	5.3	557	25868	0.00	2.30	5.30	0.555	4	0.000	0.041	2145	891	1873
25910	0.74	259.1	198.7	6.7	558	25915	0.00	2.28	0.00	0.000	6	0.000	0.034	2145	2312	1873
26231	0.88	262.8	181.0	5.4	569	26242	0.15	2.33	4.82	0.518	4	0.052	0.041	2225	893	1859
26317	0.78	262.8	174.6	7.1	571	26322	0.20	2.28	0.00	0.000	6	0.123	0.035	2168	2314	1858
26633	0.78	262.8	153.8	6.8	581	26637	0.00	2.28	0.00	0.000	4	0.000	0.045	2168	3707	1858
26680	0.74	262.8	150.2	8.0	582	26684	0.00	2.22	0.00	0.000	6	0.000	0.030	2176	2292	1858
27008	0.71	262.8	127.3	6.6	612	27011	0.00	2.28	0.00	0.000	4	0.000	0.042	2186	898	1858
27060	0.71	262.8	123.8	7.0	616	27067	0.12	2.25	0.00	0.000	6	0.110	0.035	2151	2312	1856
27387	0.85	328.0	108.9	3.3	647	27448	0.12	2.33	55.25	0.646	4	0.056	0.044	2240	3707	1593
27494	0.70	328.0	99.6	11.7	655	27501	0.28	2.28	0.00	0.000	6	0.123	0.030	2151	2301	1591
27821	0.95	328.0	80.0	6.1	686	27826	0.17	2.33	0.00	0.000	4	0.059	0.045	2218	3707	1585
27856	1.11	328.0	77.8	6.6	687	27863	0.00	2.25	0.00	0.000	6	0.000	0.028	2218	2292	1586
28176	1.22	328.0	59.4	6.6	703	28180	0.15	2.35	0.00	0.000	4	0.052	0.044	2308	3711	1584
28315	0.97	328.0	41.2	15.2	709	28320	0.38	2.20	0.00	0.000	6	0.146	0.029	2214	2308	1585
28641	1.00	328.0	17.0	8.6	725	28645	0.00	2.35	0.00	0.000	4	0.000	0.049	2222	888	1584
28677	1.02	328.0	13.8	7.9	726	28681	0.00	2.30	0.00	0.000	6	0.000	0.040	2222	2311	1583
28893	end climb: SURFACE_DEPTH_REACHED
state	28893	begin surface coast
28914	end surface coast: CONTROL_FINISHED_OK
state	28914	begin surface