Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 197 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 197 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2079981.9 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 566.1524

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2079981.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 197 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 032627,6402.579,-706.701,36,3.6,55,-9.1 TGT_NAME NSEC_N

_CALLS 1 TGT_LATLONG 6430.000,-605.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.032,0.219

_SM_DEPTHo 1.81 KALMAN_X -96273.5,-398.9,225.2,201192.3,1931.2

_SM_ANGLEo -51.7 KALMAN_Y 84309.2,219.4,54.3,182840.5,-4441.2

GPS2 033303,6402.602,-706.569,14,1.8,14,-9.1 MHEAD_RNG_PITCHd_Wd 17.3,70601,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.027526 XPDR_PINGS 168

SM_CCo 29317,229.10,0.737,3,0,509,566.15 _24V_AH 23.2,34.168

SM_GC 1.83,0.00,0.00,229.10,0.000,0.000,0.737,74,2401,509,-10.75,0.03,566.15 _10V_AH 10.1,16.849

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 72548,1423

TT8_MAMPS 0.023777 CFSIZE 260165632,247808000

HUMID 2042 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,3,0

TCM_TEMP 14.60 GPS 191207,114807,6404.460,-703.797,48,1.7,53,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 178 107.69 SBE_CT 1056 24 588.37

Roll_motor 227 91 481.32 SBE_O2 980 19 432.14

VBD_pump_during_apogee 312 1384 10049.20 WL_BB2F 742 105 1808.93

VBD_pump_during_surface 229 737 3917.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.87 nil 0 0 0.00

Iridium_during_connect 34 160 129.47 nil 0 0 0.00

Iridium_during_xfer 207 223 1074.97

Transponder_ping 50 420 492.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.37

TT8 2513 19 502.65

LPSleep 23255 2 514.39

TT8_Active 821 19 164.34

TT8_Sampling 2808 39 1128.86

TT8_CF8 552 45 255.52

TT8_Kalman 33 81 27.58

Analog_circuits 2204 12 267.15

GPS_charging 0 0 0.00

Compass 2752 8 222.42

RAFOS 0 0 0.00

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -101.70 0.000 2 0.000 0.000 72 2403 2896

126 -0.85 -146.6 3.9 -2.6 5 161 12.38 2.72 -14.38 0.000 4 0.179 0.082 2222 980 3415

415 -0.85 -146.6 34.1 -6.4 18 419 0.00 2.67 0.00 0.000 6 0.000 0.061 2222 2405 3415

741 -0.85 -146.6 59.9 -7.2 34 745 0.00 2.72 0.00 0.000 4 0.000 0.071 2222 978 3416

789 -0.85 -146.6 64.3 -9.4 36 794 0.00 2.65 0.00 0.000 6 0.000 0.061 2222 2400 3416

1111 -0.85 -146.6 92.5 -7.7 52 1115 0.00 2.70 0.00 0.000 4 0.000 0.072 2222 982 3416

1173 -0.85 -146.6 97.3 -7.5 55 1177 0.00 2.67 0.00 0.000 6 0.000 0.061 2222 2405 3416

1500 -0.85 -146.6 123.9 -8.4 71 1504 0.00 2.72 0.00 0.000 4 0.000 0.074 2222 982 3416

1532 -0.85 -146.6 126.9 -8.6 72 1539 0.00 2.67 0.00 0.000 6 0.000 0.063 2222 2392 3416

1847 -0.85 -146.6 153.5 -8.7 88 1852 0.00 2.70 0.00 0.000 4 0.000 0.074 2222 980 3417

1918 -0.85 -146.6 159.8 -8.6 91 1923 0.00 2.67 0.00 0.000 6 0.000 0.064 2222 2406 3417

2239 -0.85 -146.6 186.1 -8.0 107 2241 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2405 3417

2549 -0.85 -146.6 210.6 -7.7 122 2554 0.00 2.67 0.00 0.000 4 0.000 0.091 2222 3768 3417

2569 -0.85 -146.6 212.4 -8.6 123 2574 0.00 2.60 0.00 0.000 6 0.000 0.064 2222 2403 3417

2896 -0.85 -146.6 237.2 -7.5 139 2901 0.00 2.72 0.00 0.000 4 0.000 0.081 2222 982 3417

2974 -0.85 -146.6 243.3 -7.6 142 2980 0.00 2.67 0.00 0.000 6 0.000 0.067 2222 2399 3417

3289 -0.85 -146.6 265.0 -6.5 158 3290 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2399 3417

3598 -0.85 -146.6 285.0 -6.4 173 3603 0.00 2.75 0.00 0.000 4 0.000 0.080 2222 977 3417

3647 -0.85 -146.6 288.2 -6.1 175 3652 0.00 2.70 0.00 0.000 6 0.000 0.068 2222 2403 3417

3962 -0.85 -146.6 308.2 -6.6 190 3967 0.00 2.75 0.00 0.000 4 0.000 0.081 2222 976 3417

3995 -0.85 -146.6 310.5 -7.3 191 4001 0.00 2.70 0.00 0.000 6 0.000 0.068 2222 2398 3417

4310 -0.85 -146.6 330.0 -6.0 207 4315 0.00 2.75 0.00 0.000 4 0.000 0.081 2223 979 3417

4349 -0.85 -146.6 332.5 -7.0 209 4354 0.00 2.70 0.00 0.000 6 0.000 0.069 2222 2400 3417

4676 -0.85 -146.6 350.5 -5.3 225 4681 0.00 2.75 0.00 0.000 4 0.000 0.081 2222 977 3417

4720 -0.85 -146.6 353.1 -5.7 227 4725 0.00 2.70 0.00 0.000 6 0.000 0.069 2222 2405 3415

5041 -0.85 -146.6 369.7 -5.4 243 5045 0.00 2.75 0.00 0.000 4 0.000 0.081 2222 982 3416

5073 -0.85 -146.6 371.5 -5.6 244 5079 0.00 2.67 0.00 0.000 6 0.000 0.069 2222 2401 3416

5389 -0.85 -146.6 389.8 -5.7 260 5390 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3415

5697 -0.85 -146.6 407.6 -6.0 275 5702 0.00 2.75 0.00 0.000 4 0.000 0.081 2222 976 3416

5736 -0.85 -146.6 410.0 -6.1 277 5740 0.00 2.70 0.00 0.000 6 0.000 0.068 2222 2401 3414

6061 -0.85 -146.6 429.6 -6.3 293 6066 0.00 2.72 0.00 0.000 4 0.000 0.081 2222 982 3414

6100 -0.85 -146.6 432.1 -6.7 295 6105 0.00 2.67 0.00 0.000 6 0.000 0.069 2222 2402 3414

6426 -0.85 -146.6 453.9 -7.1 311 6431 0.00 2.75 0.00 0.000 4 0.000 0.081 2222 982 3413

6458 -0.85 -146.6 456.3 -7.6 312 6465 0.00 2.67 0.00 0.000 6 0.000 0.068 2222 2402 3413

6774 -0.85 -146.6 478.8 -7.1 328 6775 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3413

7084 -0.85 -146.6 500.7 -7.0 343 7088 0.00 2.75 0.00 0.000 4 0.000 0.081 2222 979 3412

7138 -0.85 -146.6 504.8 -7.9 345 7145 0.00 2.70 0.00 0.000 6 0.000 0.068 2223 2394 3412

7455 -0.85 -146.6 526.3 -6.7 361 7459 0.00 2.72 0.00 0.000 4 0.000 0.081 2222 982 3412

7480 -0.85 -146.6 528.3 -7.5 362 7485 0.00 2.67 0.00 0.000 6 0.000 0.067 2222 2402 3412

7803 -0.85 -146.6 550.1 -6.8 378 7807 0.00 2.72 0.00 0.000 4 0.000 0.081 2222 983 3412

7834 -0.85 -146.6 552.6 -6.8 379 7841 0.00 2.67 0.00 0.000 6 0.000 0.067 2222 2404 3413

8150 -0.85 -146.6 574.6 -6.9 395 8151 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3412

8460 -0.85 -146.6 596.9 -7.3 410 8464 0.00 2.75 0.00 0.000 4 0.000 0.079 2222 979 3411

8503 -0.85 -146.6 600.0 -7.1 412 8508 0.00 2.67 0.00 0.000 6 0.000 0.066 2222 2406 3411

8829 -0.85 -146.6 621.1 -6.3 428 8830 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2407 3411

9138 -0.85 -146.6 640.5 -6.4 443 9143 0.00 2.75 0.00 0.000 4 0.000 0.078 2222 978 3410

9165 -0.85 -146.6 642.3 -6.9 444 9170 0.00 2.67 0.00 0.000 6 0.000 0.065 2222 2409 3410

9486 -0.85 -146.6 663.6 -6.4 460 9491 0.00 2.72 0.00 0.000 4 0.000 0.078 2222 982 3410

9519 -0.85 -146.6 665.9 -7.4 461 9525 0.00 2.67 0.00 0.000 6 0.000 0.065 2222 2402 3410

9834 -0.85 -146.6 687.0 -6.7 477 9838 0.00 2.72 0.00 0.000 4 0.000 0.078 2222 983 3410

9854 -0.85 -146.6 688.4 -6.7 478 9859 0.00 2.65 0.00 0.000 6 0.000 0.065 2222 2400 3410

10181 -0.85 -146.6 708.8 -6.4 494 10182 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3410

10491 -0.85 -146.6 727.8 -5.8 509 10496 0.00 2.72 0.00 0.000 4 0.000 0.078 2222 983 3409

10523 -0.85 -146.6 729.9 -6.1 510 10530 0.00 2.67 0.00 0.000 6 0.000 0.066 2222 2397 3409

10839 -0.85 -146.6 748.6 -5.9 526 10840 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2397 3409

11149 -0.85 -146.6 765.8 -5.4 541 11154 0.00 2.72 0.00 0.000 4 0.000 0.077 2222 982 3409

11176 -0.85 -146.6 767.5 -6.1 542 11180 0.00 2.67 0.00 0.000 6 0.000 0.065 2222 2395 3409

11497 -0.85 -146.6 784.8 -5.4 558 11499 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2395 3409

11807 -0.85 -146.6 802.2 -5.6 573 11811 0.00 2.72 0.00 0.000 4 0.000 0.078 2222 980 3409

11833 -0.85 -146.6 803.9 -5.7 574 11838 0.00 2.65 0.00 0.000 6 0.000 0.065 2222 2398 3409

12149 -0.85 -146.6 822.7 -6.0 589 12150 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3409

12458 -0.85 -146.6 841.4 -6.1 604 12463 0.00 2.72 0.00 0.000 4 0.000 0.077 2222 985 3409

12490 -0.85 -146.6 843.5 -6.4 605 12497 0.00 2.65 0.00 0.000 6 0.000 0.065 2222 2404 3409

12806 -0.85 -146.6 862.4 -6.0 621 12807 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3409

13116 -0.85 -146.6 880.9 -6.1 636 13120 0.00 2.75 0.00 0.000 4 0.000 0.077 2222 979 3409

13154 -0.85 -146.6 883.4 -6.8 638 13159 0.00 2.67 0.00 0.000 6 0.000 0.064 2222 2406 3409

13480 -0.85 -146.6 902.1 -5.6 654 13481 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3409

13789 -0.85 -146.6 919.1 -5.5 669 13793 0.00 2.72 0.00 0.000 4 0.000 0.076 2222 979 3409

13821 -0.85 -146.6 920.8 -5.4 670 13828 0.00 2.67 0.00 0.000 6 0.000 0.062 2222 2401 3409

14137 -0.85 -146.6 937.4 -5.3 686 14138 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3408

14446 -0.85 -146.6 954.3 -5.6 701 14450 0.00 2.70 0.00 0.000 4 0.000 0.073 2222 984 3408

14485 -0.85 -146.6 956.4 -5.6 703 14489 0.00 2.65 0.00 0.000 6 0.000 0.061 2222 2404 3408

14811 -0.85 -146.6 973.9 -5.5 719 14812 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3408

15117 end dive: TARGET_DEPTH_EXCEEDED

state 15118 begin apogee

15123 -0.31 0.0 990.3 5.4 734 15250 0.60 0.00 124.10 1.384 6 0.118 0.000 2338 2183 2817

15251 end apogee: CONTROL_FINISHED_OK

state 15251 begin climb

15253 0.85 146.6 993.6 0.0 740 15381 1.23 0.00 123.30 1.365 6 0.087 0.000 2587 2183 2219

15684 0.85 146.6 966.8 7.3 761 15688 0.00 2.78 0.00 0.000 4 0.000 0.079 2587 3614 2217

15710 0.85 146.6 964.6 8.0 762 15714 0.00 2.62 0.00 0.000 6 0.000 0.057 2587 2207 2217

16031 0.85 146.6 940.8 7.5 778 16036 0.00 2.72 0.00 0.000 4 0.000 0.077 2587 789 2217

16070 0.85 146.6 937.7 7.9 780 16074 0.00 2.60 0.00 0.000 6 0.000 0.052 2587 2202 2216

16395 0.85 146.6 913.4 7.4 796 16400 0.00 2.70 0.00 0.000 4 0.000 0.079 2588 3607 2216

16445 0.85 146.6 909.4 8.8 798 16449 0.00 2.60 0.00 0.000 6 0.000 0.058 2586 2200 2216

16760 0.85 146.6 886.2 7.5 813 16761 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2200 2216

17069 0.85 146.6 863.0 7.6 828 17070 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2200 2216

17379 0.85 146.6 840.1 7.3 843 17380 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2200 2216

17688 0.85 146.6 818.0 7.1 858 17692 0.00 2.72 0.00 0.000 4 0.000 0.081 2587 3607 2216

17726 0.85 146.6 815.2 7.8 860 17731 0.00 2.65 0.00 0.000 6 0.000 0.062 2587 2196 2216

18052 0.85 146.6 792.3 6.9 876 18053 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2196 2216

18361 0.85 146.6 770.6 7.0 891 18362 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2196 2216

18670 0.85 146.6 750.3 6.4 906 18671 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2196 2216

18980 0.85 146.6 730.3 6.2 921 18981 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2194 2216

19289 0.85 147.2 711.6 6.0 936 19293 0.00 2.75 0.00 0.000 4 0.000 0.086 2587 3607 2216

19332 0.85 147.2 708.8 6.3 938 19336 0.00 2.65 0.00 0.000 6 0.000 0.064 2587 2194 2216

19659 0.85 147.2 688.9 6.0 954 19660 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2194 2216

19968 0.85 152.3 670.3 5.9 969 19976 0.00 0.00 6.18 0.996 6 0.000 0.000 2587 2194 2196

20277 0.85 152.3 651.6 6.0 984 20278 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2194 2196

20587 0.85 152.3 633.0 6.1 999 20591 0.00 2.75 0.00 0.000 4 0.000 0.087 2587 3608 2196

20626 0.85 152.3 630.2 7.9 1001 20630 0.00 2.67 0.00 0.000 6 0.000 0.067 2588 2196 2196

20951 0.85 152.3 609.6 6.6 1017 20952 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2196 2196

21260 0.85 152.3 590.2 6.3 1032 21262 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2196 2197

21570 0.86 160.8 572.0 5.8 1047 21581 0.00 0.00 8.57 1.034 6 0.000 0.000 2587 2196 2161

21879 0.89 185.4 554.7 5.3 1062 21902 0.00 0.00 21.73 1.141 6 0.000 0.000 2587 2196 2060

22209 0.93 219.3 537.1 5.1 1078 22240 0.12 0.00 29.00 1.136 6 0.077 0.000 2617 2196 1923

22537 0.93 219.3 516.0 6.6 1094 22538 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2196 1922

22847 0.93 219.3 495.7 6.5 1109 22848 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2196 1922

23156 0.93 219.3 476.1 6.3 1124 23160 0.00 2.72 0.00 0.000 4 0.000 0.082 2617 788 1922

23187 0.93 219.3 473.9 6.2 1125 23195 0.00 2.65 0.00 0.000 6 0.000 0.058 2617 2194 1921

23503 0.93 219.3 452.7 7.0 1141 23504 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1921

23813 0.93 219.3 430.0 7.6 1156 23814 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1921

24122 0.93 219.3 405.9 8.0 1171 24126 0.00 2.72 0.00 0.000 4 0.000 0.078 2617 785 1921

24160 0.93 219.3 402.6 8.6 1173 24164 0.00 2.65 0.00 0.000 6 0.000 0.058 2617 2202 1920

24486 0.93 219.3 376.2 8.1 1189 24487 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1920

24794 0.93 219.3 350.0 8.9 1204 24799 0.00 2.72 0.00 0.000 4 0.000 0.078 2617 788 1920

24833 0.93 219.3 346.2 8.8 1206 24838 0.00 2.65 0.00 0.000 6 0.000 0.059 2617 2201 1920

25159 0.93 219.3 315.4 9.5 1222 25161 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1920

25468 0.93 219.3 286.8 9.2 1237 25469 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1920

25778 0.93 219.3 260.8 7.9 1252 25779 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1920

26087 0.93 219.3 237.6 7.2 1267 26092 0.00 2.72 0.00 0.000 4 0.000 0.077 2617 785 1921

26136 0.93 219.3 233.7 7.9 1269 26141 0.00 2.65 0.00 0.000 6 0.000 0.059 2617 2201 1920

26458 0.93 219.3 210.8 7.4 1285 26459 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1920

26767 0.93 219.3 188.3 7.2 1300 26772 0.00 2.72 0.00 0.000 4 0.000 0.077 2617 781 1921

26856 0.93 219.3 181.3 7.5 1304 26861 0.00 2.65 0.00 0.000 6 0.000 0.058 2617 2203 1920

27176 0.93 219.3 158.1 7.2 1320 27177 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1920

27486 0.93 219.3 136.4 7.4 1335 27491 0.00 2.72 0.00 0.000 4 0.000 0.075 2617 784 1921

27530 0.93 219.3 132.7 8.4 1337 27534 0.00 2.62 0.00 0.000 6 0.000 0.057 2617 2200 1921

27857 0.93 219.3 107.7 7.8 1353 27858 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2199 1921

28167 0.93 219.3 83.2 7.7 1368 28168 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2199 1921

28475 0.93 219.3 58.6 7.5 1383 28477 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2200 1921

28786 0.93 219.3 34.8 8.2 1398 28787 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2199 1922

29095 0.93 219.3 11.9 6.7 1413 29099 0.00 2.72 0.00 0.000 4 0.000 0.076 2617 781 1923

29126 0.93 219.3 10.1 6.3 1414 29133 0.00 2.65 0.00 0.000 6 0.000 0.055 2617 2196 1923

29276 end climb: SURFACE_DEPTH_REACHED

state 29276 begin surface coast

29297 end surface coast: CONTROL_FINISHED_OK

state 29298 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	197	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2079981.9	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	032627,6402.579,-706.701,36,3.6,55,-9.1	TGT_NAME	NSEC_N
_CALLS	1	TGT_LATLONG	6430.000,-605.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.032,0.219
_SM_DEPTHo	1.81	KALMAN_X	-96273.5,-398.9,225.2,201192.3,1931.2
_SM_ANGLEo	-51.7	KALMAN_Y	84309.2,219.4,54.3,182840.5,-4441.2
GPS2	033303,6402.602,-706.569,14,1.8,14,-9.1	MHEAD_RNG_PITCHd_Wd	17.3,70601,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	1.2,1.027526	XPDR_PINGS	168
SM_CCo	29317,229.10,0.737,3,0,509,566.15	_24V_AH	23.2,34.168
SM_GC	1.83,0.00,0.00,229.10,0.000,0.000,0.737,74,2401,509,-10.75,0.03,566.15	_10V_AH	10.1,16.849
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	72548,1423
TT8_MAMPS	0.023777	CFSIZE	260165632,247808000
HUMID	2042	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,3,0
TCM_TEMP	14.60	GPS	191207,114807,6404.460,-703.797,48,1.7,53,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	178	107.69	SBE_CT	1056	24	588.37
Roll_motor	227	91	481.32	SBE_O2	980	19	432.14
VBD_pump_during_apogee	312	1384	10049.20	WL_BB2F	742	105	1808.93
VBD_pump_during_surface	229	737	3917.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.87	nil	0	0	0.00
Iridium_during_connect	34	160	129.47	nil	0	0	0.00
Iridium_during_xfer	207	223	1074.97
Transponder_ping	50	420	492.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.37
TT8	2513	19	502.65
LPSleep	23255	2	514.39
TT8_Active	821	19	164.34
TT8_Sampling	2808	39	1128.86
TT8_CF8	552	45	255.52
TT8_Kalman	33	81	27.58
Analog_circuits	2204	12	267.15
GPS_charging	0	0	0.00
Compass	2752	8	222.42
RAFOS	0	0	0.00

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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-101.70	0.000	2	0.000	0.000	72	2403	2896
126	-0.85	-146.6	3.9	-2.6	5	161	12.38	2.72	-14.38	0.000	4	0.179	0.082	2222	980	3415
415	-0.85	-146.6	34.1	-6.4	18	419	0.00	2.67	0.00	0.000	6	0.000	0.061	2222	2405	3415
741	-0.85	-146.6	59.9	-7.2	34	745	0.00	2.72	0.00	0.000	4	0.000	0.071	2222	978	3416
789	-0.85	-146.6	64.3	-9.4	36	794	0.00	2.65	0.00	0.000	6	0.000	0.061	2222	2400	3416
1111	-0.85	-146.6	92.5	-7.7	52	1115	0.00	2.70	0.00	0.000	4	0.000	0.072	2222	982	3416
1173	-0.85	-146.6	97.3	-7.5	55	1177	0.00	2.67	0.00	0.000	6	0.000	0.061	2222	2405	3416
1500	-0.85	-146.6	123.9	-8.4	71	1504	0.00	2.72	0.00	0.000	4	0.000	0.074	2222	982	3416
1532	-0.85	-146.6	126.9	-8.6	72	1539	0.00	2.67	0.00	0.000	6	0.000	0.063	2222	2392	3416
1847	-0.85	-146.6	153.5	-8.7	88	1852	0.00	2.70	0.00	0.000	4	0.000	0.074	2222	980	3417
1918	-0.85	-146.6	159.8	-8.6	91	1923	0.00	2.67	0.00	0.000	6	0.000	0.064	2222	2406	3417
2239	-0.85	-146.6	186.1	-8.0	107	2241	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2405	3417
2549	-0.85	-146.6	210.6	-7.7	122	2554	0.00	2.67	0.00	0.000	4	0.000	0.091	2222	3768	3417
2569	-0.85	-146.6	212.4	-8.6	123	2574	0.00	2.60	0.00	0.000	6	0.000	0.064	2222	2403	3417
2896	-0.85	-146.6	237.2	-7.5	139	2901	0.00	2.72	0.00	0.000	4	0.000	0.081	2222	982	3417
2974	-0.85	-146.6	243.3	-7.6	142	2980	0.00	2.67	0.00	0.000	6	0.000	0.067	2222	2399	3417
3289	-0.85	-146.6	265.0	-6.5	158	3290	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2399	3417
3598	-0.85	-146.6	285.0	-6.4	173	3603	0.00	2.75	0.00	0.000	4	0.000	0.080	2222	977	3417
3647	-0.85	-146.6	288.2	-6.1	175	3652	0.00	2.70	0.00	0.000	6	0.000	0.068	2222	2403	3417
3962	-0.85	-146.6	308.2	-6.6	190	3967	0.00	2.75	0.00	0.000	4	0.000	0.081	2222	976	3417
3995	-0.85	-146.6	310.5	-7.3	191	4001	0.00	2.70	0.00	0.000	6	0.000	0.068	2222	2398	3417
4310	-0.85	-146.6	330.0	-6.0	207	4315	0.00	2.75	0.00	0.000	4	0.000	0.081	2223	979	3417
4349	-0.85	-146.6	332.5	-7.0	209	4354	0.00	2.70	0.00	0.000	6	0.000	0.069	2222	2400	3417
4676	-0.85	-146.6	350.5	-5.3	225	4681	0.00	2.75	0.00	0.000	4	0.000	0.081	2222	977	3417
4720	-0.85	-146.6	353.1	-5.7	227	4725	0.00	2.70	0.00	0.000	6	0.000	0.069	2222	2405	3415
5041	-0.85	-146.6	369.7	-5.4	243	5045	0.00	2.75	0.00	0.000	4	0.000	0.081	2222	982	3416
5073	-0.85	-146.6	371.5	-5.6	244	5079	0.00	2.67	0.00	0.000	6	0.000	0.069	2222	2401	3416
5389	-0.85	-146.6	389.8	-5.7	260	5390	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3415
5697	-0.85	-146.6	407.6	-6.0	275	5702	0.00	2.75	0.00	0.000	4	0.000	0.081	2222	976	3416
5736	-0.85	-146.6	410.0	-6.1	277	5740	0.00	2.70	0.00	0.000	6	0.000	0.068	2222	2401	3414
6061	-0.85	-146.6	429.6	-6.3	293	6066	0.00	2.72	0.00	0.000	4	0.000	0.081	2222	982	3414
6100	-0.85	-146.6	432.1	-6.7	295	6105	0.00	2.67	0.00	0.000	6	0.000	0.069	2222	2402	3414
6426	-0.85	-146.6	453.9	-7.1	311	6431	0.00	2.75	0.00	0.000	4	0.000	0.081	2222	982	3413
6458	-0.85	-146.6	456.3	-7.6	312	6465	0.00	2.67	0.00	0.000	6	0.000	0.068	2222	2402	3413
6774	-0.85	-146.6	478.8	-7.1	328	6775	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3413
7084	-0.85	-146.6	500.7	-7.0	343	7088	0.00	2.75	0.00	0.000	4	0.000	0.081	2222	979	3412
7138	-0.85	-146.6	504.8	-7.9	345	7145	0.00	2.70	0.00	0.000	6	0.000	0.068	2223	2394	3412
7455	-0.85	-146.6	526.3	-6.7	361	7459	0.00	2.72	0.00	0.000	4	0.000	0.081	2222	982	3412
7480	-0.85	-146.6	528.3	-7.5	362	7485	0.00	2.67	0.00	0.000	6	0.000	0.067	2222	2402	3412
7803	-0.85	-146.6	550.1	-6.8	378	7807	0.00	2.72	0.00	0.000	4	0.000	0.081	2222	983	3412
7834	-0.85	-146.6	552.6	-6.8	379	7841	0.00	2.67	0.00	0.000	6	0.000	0.067	2222	2404	3413
8150	-0.85	-146.6	574.6	-6.9	395	8151	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3412
8460	-0.85	-146.6	596.9	-7.3	410	8464	0.00	2.75	0.00	0.000	4	0.000	0.079	2222	979	3411
8503	-0.85	-146.6	600.0	-7.1	412	8508	0.00	2.67	0.00	0.000	6	0.000	0.066	2222	2406	3411
8829	-0.85	-146.6	621.1	-6.3	428	8830	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2407	3411
9138	-0.85	-146.6	640.5	-6.4	443	9143	0.00	2.75	0.00	0.000	4	0.000	0.078	2222	978	3410
9165	-0.85	-146.6	642.3	-6.9	444	9170	0.00	2.67	0.00	0.000	6	0.000	0.065	2222	2409	3410
9486	-0.85	-146.6	663.6	-6.4	460	9491	0.00	2.72	0.00	0.000	4	0.000	0.078	2222	982	3410
9519	-0.85	-146.6	665.9	-7.4	461	9525	0.00	2.67	0.00	0.000	6	0.000	0.065	2222	2402	3410
9834	-0.85	-146.6	687.0	-6.7	477	9838	0.00	2.72	0.00	0.000	4	0.000	0.078	2222	983	3410
9854	-0.85	-146.6	688.4	-6.7	478	9859	0.00	2.65	0.00	0.000	6	0.000	0.065	2222	2400	3410
10181	-0.85	-146.6	708.8	-6.4	494	10182	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3410
10491	-0.85	-146.6	727.8	-5.8	509	10496	0.00	2.72	0.00	0.000	4	0.000	0.078	2222	983	3409
10523	-0.85	-146.6	729.9	-6.1	510	10530	0.00	2.67	0.00	0.000	6	0.000	0.066	2222	2397	3409
10839	-0.85	-146.6	748.6	-5.9	526	10840	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2397	3409
11149	-0.85	-146.6	765.8	-5.4	541	11154	0.00	2.72	0.00	0.000	4	0.000	0.077	2222	982	3409
11176	-0.85	-146.6	767.5	-6.1	542	11180	0.00	2.67	0.00	0.000	6	0.000	0.065	2222	2395	3409
11497	-0.85	-146.6	784.8	-5.4	558	11499	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2395	3409
11807	-0.85	-146.6	802.2	-5.6	573	11811	0.00	2.72	0.00	0.000	4	0.000	0.078	2222	980	3409
11833	-0.85	-146.6	803.9	-5.7	574	11838	0.00	2.65	0.00	0.000	6	0.000	0.065	2222	2398	3409
12149	-0.85	-146.6	822.7	-6.0	589	12150	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3409
12458	-0.85	-146.6	841.4	-6.1	604	12463	0.00	2.72	0.00	0.000	4	0.000	0.077	2222	985	3409
12490	-0.85	-146.6	843.5	-6.4	605	12497	0.00	2.65	0.00	0.000	6	0.000	0.065	2222	2404	3409
12806	-0.85	-146.6	862.4	-6.0	621	12807	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3409
13116	-0.85	-146.6	880.9	-6.1	636	13120	0.00	2.75	0.00	0.000	4	0.000	0.077	2222	979	3409
13154	-0.85	-146.6	883.4	-6.8	638	13159	0.00	2.67	0.00	0.000	6	0.000	0.064	2222	2406	3409
13480	-0.85	-146.6	902.1	-5.6	654	13481	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3409
13789	-0.85	-146.6	919.1	-5.5	669	13793	0.00	2.72	0.00	0.000	4	0.000	0.076	2222	979	3409
13821	-0.85	-146.6	920.8	-5.4	670	13828	0.00	2.67	0.00	0.000	6	0.000	0.062	2222	2401	3409
14137	-0.85	-146.6	937.4	-5.3	686	14138	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3408
14446	-0.85	-146.6	954.3	-5.6	701	14450	0.00	2.70	0.00	0.000	4	0.000	0.073	2222	984	3408
14485	-0.85	-146.6	956.4	-5.6	703	14489	0.00	2.65	0.00	0.000	6	0.000	0.061	2222	2404	3408
14811	-0.85	-146.6	973.9	-5.5	719	14812	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3408
15117	end dive: TARGET_DEPTH_EXCEEDED
state	15118	begin apogee
15123	-0.31	0.0	990.3	5.4	734	15250	0.60	0.00	124.10	1.384	6	0.118	0.000	2338	2183	2817
15251	end apogee: CONTROL_FINISHED_OK
state	15251	begin climb
15253	0.85	146.6	993.6	0.0	740	15381	1.23	0.00	123.30	1.365	6	0.087	0.000	2587	2183	2219
15684	0.85	146.6	966.8	7.3	761	15688	0.00	2.78	0.00	0.000	4	0.000	0.079	2587	3614	2217
15710	0.85	146.6	964.6	8.0	762	15714	0.00	2.62	0.00	0.000	6	0.000	0.057	2587	2207	2217
16031	0.85	146.6	940.8	7.5	778	16036	0.00	2.72	0.00	0.000	4	0.000	0.077	2587	789	2217
16070	0.85	146.6	937.7	7.9	780	16074	0.00	2.60	0.00	0.000	6	0.000	0.052	2587	2202	2216
16395	0.85	146.6	913.4	7.4	796	16400	0.00	2.70	0.00	0.000	4	0.000	0.079	2588	3607	2216
16445	0.85	146.6	909.4	8.8	798	16449	0.00	2.60	0.00	0.000	6	0.000	0.058	2586	2200	2216
16760	0.85	146.6	886.2	7.5	813	16761	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2200	2216
17069	0.85	146.6	863.0	7.6	828	17070	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2200	2216
17379	0.85	146.6	840.1	7.3	843	17380	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2200	2216
17688	0.85	146.6	818.0	7.1	858	17692	0.00	2.72	0.00	0.000	4	0.000	0.081	2587	3607	2216
17726	0.85	146.6	815.2	7.8	860	17731	0.00	2.65	0.00	0.000	6	0.000	0.062	2587	2196	2216
18052	0.85	146.6	792.3	6.9	876	18053	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2196	2216
18361	0.85	146.6	770.6	7.0	891	18362	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2196	2216
18670	0.85	146.6	750.3	6.4	906	18671	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2196	2216
18980	0.85	146.6	730.3	6.2	921	18981	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2194	2216
19289	0.85	147.2	711.6	6.0	936	19293	0.00	2.75	0.00	0.000	4	0.000	0.086	2587	3607	2216
19332	0.85	147.2	708.8	6.3	938	19336	0.00	2.65	0.00	0.000	6	0.000	0.064	2587	2194	2216
19659	0.85	147.2	688.9	6.0	954	19660	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2194	2216
19968	0.85	152.3	670.3	5.9	969	19976	0.00	0.00	6.18	0.996	6	0.000	0.000	2587	2194	2196
20277	0.85	152.3	651.6	6.0	984	20278	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2194	2196
20587	0.85	152.3	633.0	6.1	999	20591	0.00	2.75	0.00	0.000	4	0.000	0.087	2587	3608	2196
20626	0.85	152.3	630.2	7.9	1001	20630	0.00	2.67	0.00	0.000	6	0.000	0.067	2588	2196	2196
20951	0.85	152.3	609.6	6.6	1017	20952	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2196	2196
21260	0.85	152.3	590.2	6.3	1032	21262	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2196	2197
21570	0.86	160.8	572.0	5.8	1047	21581	0.00	0.00	8.57	1.034	6	0.000	0.000	2587	2196	2161
21879	0.89	185.4	554.7	5.3	1062	21902	0.00	0.00	21.73	1.141	6	0.000	0.000	2587	2196	2060
22209	0.93	219.3	537.1	5.1	1078	22240	0.12	0.00	29.00	1.136	6	0.077	0.000	2617	2196	1923
22537	0.93	219.3	516.0	6.6	1094	22538	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2196	1922
22847	0.93	219.3	495.7	6.5	1109	22848	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2196	1922
23156	0.93	219.3	476.1	6.3	1124	23160	0.00	2.72	0.00	0.000	4	0.000	0.082	2617	788	1922
23187	0.93	219.3	473.9	6.2	1125	23195	0.00	2.65	0.00	0.000	6	0.000	0.058	2617	2194	1921
23503	0.93	219.3	452.7	7.0	1141	23504	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1921
23813	0.93	219.3	430.0	7.6	1156	23814	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1921
24122	0.93	219.3	405.9	8.0	1171	24126	0.00	2.72	0.00	0.000	4	0.000	0.078	2617	785	1921
24160	0.93	219.3	402.6	8.6	1173	24164	0.00	2.65	0.00	0.000	6	0.000	0.058	2617	2202	1920
24486	0.93	219.3	376.2	8.1	1189	24487	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1920
24794	0.93	219.3	350.0	8.9	1204	24799	0.00	2.72	0.00	0.000	4	0.000	0.078	2617	788	1920
24833	0.93	219.3	346.2	8.8	1206	24838	0.00	2.65	0.00	0.000	6	0.000	0.059	2617	2201	1920
25159	0.93	219.3	315.4	9.5	1222	25161	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1920
25468	0.93	219.3	286.8	9.2	1237	25469	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1920
25778	0.93	219.3	260.8	7.9	1252	25779	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1920
26087	0.93	219.3	237.6	7.2	1267	26092	0.00	2.72	0.00	0.000	4	0.000	0.077	2617	785	1921
26136	0.93	219.3	233.7	7.9	1269	26141	0.00	2.65	0.00	0.000	6	0.000	0.059	2617	2201	1920
26458	0.93	219.3	210.8	7.4	1285	26459	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1920
26767	0.93	219.3	188.3	7.2	1300	26772	0.00	2.72	0.00	0.000	4	0.000	0.077	2617	781	1921
26856	0.93	219.3	181.3	7.5	1304	26861	0.00	2.65	0.00	0.000	6	0.000	0.058	2617	2203	1920
27176	0.93	219.3	158.1	7.2	1320	27177	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1920
27486	0.93	219.3	136.4	7.4	1335	27491	0.00	2.72	0.00	0.000	4	0.000	0.075	2617	784	1921
27530	0.93	219.3	132.7	8.4	1337	27534	0.00	2.62	0.00	0.000	6	0.000	0.057	2617	2200	1921
27857	0.93	219.3	107.7	7.8	1353	27858	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2199	1921
28167	0.93	219.3	83.2	7.7	1368	28168	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2199	1921
28475	0.93	219.3	58.6	7.5	1383	28477	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2200	1921
28786	0.93	219.3	34.8	8.2	1398	28787	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2199	1922
29095	0.93	219.3	11.9	6.7	1413	29099	0.00	2.72	0.00	0.000	4	0.000	0.076	2617	781	1923
29126	0.93	219.3	10.1	6.3	1414	29133	0.00	2.65	0.00	0.000	6	0.000	0.055	2617	2196	1923
29276	end climb: SURFACE_DEPTH_REACHED
state	29276	begin surface coast
29297	end surface coast: CONTROL_FINISHED_OK
state	29298	begin surface