Glider dive log

OcnStnPapa Aug08 * SG120 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 120 HD_C 8.0300997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 23 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3861 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 47.599998 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1090 TGT_DEFAULT_LON -122.3 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 608.58929 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 16 INT_PRESSURE_YINT -2.4000001

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 600 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 615 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 395 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3895 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2876 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18076.447 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 120 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 150 AH0_24V 147 SEABIRD_T_G 0.0043782545

SPEED_FACTOR 1 PITCH_MAX 3950 AH0_10V 122.2 SEABIRD_T_H 0.00063376746

RHO 1.023 C_PITCH 3317 PRESSURE_YINT -16.122175 SEABIRD_T_I 2.0789576e-05

MASS 51365 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 1.6847914e-06

NAV_MODE 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.138739

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1328104

KALMAN_USE 1 PITCH_GAIN 23 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00035406757

HD_A 0.0054608998 PITCH_TIMEOUT 19 COMPASS_USE 0 SEABIRD_C_J 0.00012259149

HD_B 0.011315 PITCH_AD_RATE 156 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 156 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.003125763 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 23 SM_CC 608.58929

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3950 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 150 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -16.122175 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 600

CALL_TRIES 5 HD_A 0.0054608998 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.011315 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 8.0300997e-06 RHO 1.023 T_GPS_CHARGE -18076.447

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 615

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 120 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3861 T_WATCHDOG 10

C_PITCH 3317 INT_PRESSURE_YINT -2.4000001 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 176 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2400 KERMIT 0 ROLL_TIMEOUT 16 USE_BATHY -1

C_VBD 2876 MASS 51365 R_PORT_OVSHOOT 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -10.138739 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1328104 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00035406757 VBD_MAX 3895

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00012259149 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043782545 VBD_MIN 395

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063376746 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.0789576e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 23 PHONE_DEVICE 48 SEABIRD_T_J 1.6847914e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 145438,4955.836,-14507.564,33,1.0,33,18.4 TGT_NAME C_NE

_CALLS 5 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.150,0.107

_SM_DEPTHo 1.44 KALMAN_X 17202.2,243.9,-378.0,-38297.1,528.3

_SM_ANGLEo -68.6 KALMAN_Y 15798.8,-252.0,-449.7,-32829.7,2544.6

GPS2 150856,4955.971,-14507.595,10,1.3,15,18.4 MHEAD_RNG_PITCHd_Wd 36.2,29157,-13.3,-5.500

SPEED_LIMITS 0.095,0.184 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.012062 XPDR_PINGS 891

SM_CCo 29851,235.60,0.802,0,0,395,608.59 _24V_AH 23.3,8.684

SM_GC 1.37,0.00,0.00,235.60,0.000,0.000,0.802,139,2411,395,-9.93,0.34,608.59 _10V_AH 10.6,3.628

IRIDIUM_FIX 4936.36,-14510.89,301197,151510 DATA_FILE_SIZE 44420,782

TT8_MAMPS 0.026845 CAP_FILE_SIZE 172121,0

HUMID 2048 CFSIZE 260165632,256770048

INTERNAL_PRESSURE 8.98716 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.50 GPS 050908,233232,4958.277,-14502.935,41,1.1,41,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 289 198.61 SBE_CT 600 24 335.56

Roll_motor 200 100 469.16 SBE_O2 575 19 254.62

VBD_pump_during_apogee 335 1512 11836.84 WL_BB2F 1330 105 3254.54

VBD_pump_during_surface 235 802 4404.11 Optode 271 33 209.01

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 151 103 363.64 nil 0 0 0.00

Iridium_during_connect 375 160 1400.98 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 222 420 2179.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.40

TT8 1677 19 352.04

LPSleep 25586 2 593.96

TT8_Active 800 19 167.97

TT8_Sampling 2207 39 931.24

TT8_CF8 674 45 327.52

TT8_Kalman 33 81 28.92

Analog_circuits 1886 12 240.00

GPS_charging 0 0 0.00

Compass 2180 8 184.93

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 17 begin dive

18 -0.72 -117.3 0.0 0.0 0 103 0.00 0.00 -82.88 0.000 2 0.000 0.000 148 2404 2428

105 -0.72 -117.3 3.0 -3.9 8 150 13.25 2.35 -23.45 0.000 4 0.290 0.100 3072 3811 3355

401 -0.44 -117.3 49.4 -14.5 34 409 0.32 2.30 0.00 0.000 6 0.163 0.058 3171 2395 3357

728 -0.49 -117.3 75.2 -7.1 65 732 0.00 2.35 0.00 0.000 4 0.000 0.080 3170 3814 3358

756 -0.55 -117.3 77.2 -7.2 67 760 0.00 2.25 0.00 0.000 6 0.000 0.058 3169 2396 3358

1072 -0.61 -117.3 98.2 -6.9 84 1074 0.15 0.00 0.00 0.000 6 0.077 0.000 3106 2396 3358

1382 -0.51 -117.3 131.4 -10.5 99 1386 0.15 2.30 0.00 0.000 4 0.164 0.073 3150 984 3358

1413 -0.51 -117.3 134.1 -7.2 100 1420 0.00 2.33 0.00 0.000 6 0.000 0.064 3150 2404 3358

1740 -0.58 -117.3 152.3 -5.0 116 1744 0.00 2.30 0.00 0.000 4 0.000 0.083 3150 3810 3358

1783 -0.69 -117.3 154.6 -5.1 117 1788 0.17 2.28 0.00 0.000 6 0.075 0.061 3084 2379 3357

2106 -0.57 -117.3 181.2 -8.9 128 2111 0.15 2.25 0.00 0.000 4 0.165 0.075 3130 993 3357

2201 -0.57 -117.3 188.3 -7.4 131 2205 0.00 2.28 0.00 0.000 6 0.000 0.064 3129 2410 3357

2535 -0.57 -117.3 211.6 -7.0 142 2536 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2410 3356

2841 -0.57 -117.3 232.7 -7.0 152 2845 0.00 2.33 0.00 0.000 4 0.000 0.077 3129 987 3355

2889 -0.57 -117.3 236.6 -7.6 153 2894 0.00 2.33 0.00 0.000 6 0.000 0.067 3129 2408 3355

3208 -0.57 -117.3 259.3 -6.9 164 3209 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2408 3354

3514 -0.57 -117.3 278.1 -6.2 174 3518 0.00 2.33 0.00 0.000 4 0.000 0.078 3129 987 3353

3568 -0.57 -117.3 281.8 -6.8 175 3575 0.00 2.30 0.00 0.000 6 0.000 0.067 3129 2395 3353

3881 -0.61 -117.3 301.8 -6.7 186 3882 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2395 3352

4184 -0.61 -117.3 321.9 -6.6 191 4188 0.00 2.30 0.00 0.000 4 0.000 0.079 3129 991 3351

4255 -0.65 -117.3 327.1 -7.0 192 4260 0.00 2.30 0.00 0.000 6 0.000 0.068 3129 2400 3351

4615 -0.70 -117.3 352.6 -7.1 198 4617 0.12 0.00 0.00 0.000 6 0.090 0.000 3077 2400 3350

4919 -0.60 -117.3 379.0 -8.7 203 4923 0.15 2.30 0.00 0.000 4 0.164 0.079 3122 992 3350

4955 -0.60 -117.3 381.8 -7.3 203 4960 0.00 2.30 0.00 0.000 6 0.000 0.068 3122 2402 3350

5282 -0.65 -117.3 402.1 -6.2 209 5283 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2402 3349

5585 -0.69 -117.3 421.3 -6.4 214 5589 0.00 2.30 0.00 0.000 4 0.000 0.080 3122 994 3349

5633 -0.74 -117.3 424.7 -6.3 214 5638 0.10 2.30 0.00 0.000 6 0.074 0.069 3073 2400 3348

5949 -0.68 -117.3 449.2 -7.9 220 5950 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2400 3348

6252 -0.61 -117.3 472.1 -7.5 225 6254 0.15 0.00 0.00 0.000 6 0.142 0.000 3113 2401 3348

6555 -0.61 -117.3 490.3 -5.9 230 6559 0.00 2.33 0.00 0.000 4 0.000 0.081 3114 984 3348

6580 -0.61 -117.3 492.1 -6.9 230 6585 0.00 2.33 0.00 0.000 6 0.000 0.068 3114 2408 3347

6918 -0.61 -117.3 512.7 -6.1 236 6922 0.00 2.33 0.00 0.000 4 0.000 0.081 3114 988 3347

6950 -0.61 -117.3 514.9 -7.0 236 6955 0.00 2.30 0.00 0.000 6 0.000 0.069 3114 2395 3347

7282 -0.61 -117.3 535.3 -6.2 242 7286 0.00 2.30 0.00 0.000 4 0.000 0.081 3114 991 3347

7330 -0.61 -117.3 538.5 -6.7 242 7335 0.00 2.30 0.00 0.000 6 0.000 0.068 3114 2402 3347

7651 -0.61 -117.3 557.7 -5.9 248 7655 0.00 2.33 0.00 0.000 4 0.000 0.081 3114 984 3346

7682 -0.61 -117.3 559.6 -6.5 248 7687 0.00 2.33 0.00 0.000 6 0.000 0.069 3114 2403 3346

8015 -0.66 -117.3 579.8 -6.1 254 8016 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2403 3346

8318 -0.70 -117.3 598.4 -6.1 259 8322 0.00 2.33 0.00 0.000 4 0.000 0.081 3114 988 3346

8360 -0.70 -117.3 601.3 -6.5 259 8365 0.00 2.33 0.00 0.000 6 0.000 0.070 3114 2407 3346

8682 -0.75 -117.3 619.9 -5.8 265 8686 0.12 2.33 0.00 0.000 4 0.092 0.079 3064 987 3345

8719 -0.64 -117.3 622.9 -8.1 265 8724 0.12 2.30 0.00 0.000 6 0.170 0.069 3102 2395 3345

9045 -0.64 -117.3 642.4 -6.0 271 9049 0.00 2.30 0.00 0.000 4 0.000 0.081 3103 992 3345

9070 -0.64 -117.3 644.1 -5.9 271 9075 0.00 2.30 0.00 0.000 6 0.000 0.069 3103 2399 3345

9408 -0.64 -117.3 663.2 -5.6 277 9412 0.00 2.30 0.00 0.000 4 0.000 0.087 3100 3811 3345

9429 -0.64 -117.3 664.6 -6.3 277 9434 0.00 2.28 0.00 0.000 6 0.000 0.067 3100 2404 3345

9772 -0.64 -117.3 684.2 -5.8 283 9773 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2404 3345

10075 -0.64 -117.3 701.8 -5.8 288 10079 0.00 2.30 0.00 0.000 4 0.000 0.082 3100 991 3345

10103 -0.64 -117.3 703.5 -6.7 288 10107 0.00 2.28 0.00 0.000 6 0.000 0.070 3100 2403 3344

10433 -0.64 -117.3 723.0 -5.9 294 10435 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2403 3344

10736 -0.64 -117.3 741.9 -6.2 299 10738 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2403 3344

11040 -0.64 -117.3 761.8 -6.6 304 11041 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2403 3344

11343 -0.64 -117.3 780.5 -6.1 309 11347 0.00 2.33 0.00 0.000 4 0.000 0.082 3100 988 3344

11391 -0.64 -117.3 783.8 -7.1 309 11396 0.00 2.30 0.00 0.000 6 0.000 0.071 3100 2396 3343

11712 -0.64 -117.3 802.7 -5.9 315 11713 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3343

12015 -0.64 -117.3 820.4 -5.8 320 12016 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3343

12318 -0.64 -117.3 838.3 -5.9 325 12319 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3344

12621 -0.64 -117.3 857.1 -6.2 330 12622 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3343

12924 -0.64 -117.3 876.5 -6.4 335 12926 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3343

13227 -0.64 -117.3 896.0 -6.4 340 13229 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3343

13531 -0.64 -117.3 915.6 -6.5 345 13534 0.00 2.30 0.00 0.000 4 0.000 0.083 3100 991 3342

13568 -0.68 -117.3 918.3 -6.5 345 13573 0.00 2.30 0.00 0.000 6 0.000 0.071 3100 2396 3342

13900 -0.68 -117.3 939.2 -6.3 351 13901 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3342

14203 -0.72 -117.3 958.8 -6.5 356 14205 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3342

14507 -0.77 -117.3 977.1 -6.0 361 14508 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2396 3342

14748 end dive: TARGET_DEPTH_EXCEEDED

state 14748 begin apogee

14751 -0.22 0.0 991.1 5.8 365 14852 0.47 0.00 97.62 1.513 6 0.162 0.000 3244 2199 2876

14853 end apogee: CONTROL_FINISHED_OK

state 14853 begin climb

14854 0.72 117.3 992.9 0.0 366 14965 0.95 2.62 102.80 1.461 4 0.107 0.086 3546 789 2396

14986 0.33 117.3 993.3 5.5 368 14994 0.40 2.50 0.00 0.000 6 0.196 0.067 3429 2202 2395

15296 0.28 117.3 975.6 5.8 374 15299 0.00 2.40 0.00 0.000 4 0.000 0.084 3429 3618 2393

15346 0.16 117.3 972.3 6.6 374 15351 0.25 2.40 0.00 0.000 6 0.185 0.074 3372 2192 2393

15660 0.33 153.1 958.4 4.4 380 15694 0.17 0.00 31.00 1.438 6 0.090 0.000 3434 2192 2251

15963 0.33 153.1 938.1 7.0 385 15964 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2192 2248

16266 0.33 153.1 917.2 6.9 390 16267 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2192 2248

16569 0.33 153.1 895.9 7.0 395 16570 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2193 2248

16872 0.33 153.1 873.8 7.4 400 16873 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2192 2248

17175 0.33 153.1 851.9 7.2 405 17176 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2192 2247

17478 0.33 153.1 830.2 7.2 410 17479 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 2192 2247

17781 0.33 153.1 809.5 6.7 415 17782 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2192 2247

18084 0.33 153.1 790.9 6.1 420 18088 0.00 2.35 0.00 0.000 4 0.000 0.088 3434 3610 2247

18135 0.25 153.1 787.6 5.9 420 18139 0.15 2.30 0.00 0.000 6 0.185 0.074 3398 2197 2247

18449 0.41 199.6 774.4 4.0 426 18490 0.15 0.00 39.03 1.372 6 0.093 0.000 3452 2197 2061

18751 0.41 199.6 756.6 6.0 431 18752 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2197 2057

19054 0.41 199.6 738.0 6.2 436 19058 0.00 2.38 0.00 0.000 4 0.000 0.085 3452 3611 2057

19086 0.35 199.6 735.6 8.2 436 19091 0.00 2.38 0.00 0.000 6 0.000 0.073 3453 2194 2057

19423 0.35 199.6 710.9 7.5 442 19425 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2194 2056

19726 0.35 199.6 685.6 8.4 447 19730 0.00 2.35 0.00 0.000 4 0.000 0.084 3452 3611 2056

19759 0.29 199.6 682.3 9.7 447 19764 0.12 2.35 0.00 0.000 6 0.178 0.074 3415 2194 2056

20091 0.41 199.6 658.4 7.1 453 20095 0.00 2.35 0.00 0.000 4 0.000 0.082 3415 3612 2056

20117 0.48 199.6 656.3 7.5 453 20122 0.10 2.33 0.00 0.000 6 0.080 0.071 3482 2202 2056

20455 0.41 199.6 626.0 9.0 459 20459 0.12 2.35 0.00 0.000 4 0.167 0.087 3452 789 2056

20486 0.41 199.6 623.5 8.4 459 20491 0.00 2.33 0.00 0.000 6 0.000 0.066 3452 2206 2056

20818 0.41 199.6 600.7 6.8 465 20819 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2206 2056

21121 0.41 199.6 581.5 6.3 470 21122 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2206 2056

21424 0.41 199.6 561.4 6.7 475 21428 0.00 2.35 0.00 0.000 4 0.000 0.087 3452 786 2056

21456 0.46 199.6 559.2 7.9 475 21460 0.00 2.30 0.00 0.000 6 0.000 0.066 3452 2197 2056

21793 0.46 199.6 535.3 7.2 481 21797 0.00 2.30 0.00 0.000 4 0.000 0.083 3452 3608 2056

21829 0.46 199.6 532.3 7.6 481 21835 0.00 2.33 0.00 0.000 6 0.000 0.072 3452 2192 2056

22156 0.46 199.6 509.3 7.0 487 22157 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2192 2056

22459 0.46 199.6 488.2 7.1 492 22463 0.00 2.33 0.00 0.000 4 0.000 0.087 3452 783 2056

22497 0.52 199.6 485.4 7.3 492 22501 0.00 2.30 0.00 0.000 6 0.000 0.066 3451 2195 2056

22823 0.52 199.6 460.3 7.8 498 22827 0.00 2.30 0.00 0.000 4 0.000 0.081 3452 3611 2056

22854 0.52 199.6 457.5 9.0 498 22859 0.00 2.30 0.00 0.000 6 0.000 0.072 3452 2201 2056

23186 0.52 199.6 432.0 7.7 504 23187 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2201 2056

23489 0.52 199.6 411.9 6.5 509 23493 0.10 2.33 0.00 0.000 4 0.104 0.087 3489 779 2056

23527 0.47 199.6 409.3 7.2 509 23531 0.00 2.33 0.00 0.000 6 0.000 0.067 3489 2207 2056

23859 0.40 199.6 387.7 6.4 515 23864 0.15 2.35 0.00 0.000 4 0.173 0.085 3450 790 2056

23891 0.48 206.7 385.8 5.3 515 23902 0.00 2.30 6.60 0.969 6 0.000 0.066 3450 2201 2032

24217 0.53 206.7 367.8 5.6 521 24221 0.12 2.30 0.00 0.000 4 0.097 0.083 3499 3607 2032

24254 0.36 206.7 364.6 8.4 521 24259 0.22 2.33 0.00 0.000 6 0.186 0.073 3437 2196 2031

24580 0.45 206.7 345.4 5.9 527 24582 0.00 0.00 0.00 0.000 6 0.000 0.000 3437 2196 2032

24883 0.56 206.7 325.7 6.5 532 24888 0.15 2.35 0.00 0.000 4 0.092 0.084 3500 3618 2032

24926 0.39 206.7 321.7 8.8 532 24931 0.17 2.33 0.00 0.000 6 0.186 0.071 3452 2197 2032

25247 0.44 206.7 299.6 6.7 538 25248 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2197 2032

25553 0.51 206.7 280.4 5.8 548 25557 0.00 2.33 0.00 0.000 4 0.000 0.087 3452 786 2032

25597 0.64 234.3 278.1 4.6 549 25628 0.22 2.30 23.38 1.049 6 0.087 0.064 3535 2220 1919

25951 0.51 234.3 249.2 8.2 561 25953 0.20 0.00 0.00 0.000 6 0.174 0.000 3482 2220 1916

26257 0.51 234.3 228.6 6.6 571 26258 0.00 0.00 0.00 0.000 6 0.000 0.000 3482 2220 1916

26563 0.51 234.3 209.2 6.4 581 26565 0.00 0.00 0.00 0.000 6 0.000 0.000 3482 2220 1916

26869 0.51 234.3 188.1 7.2 591 26873 0.00 2.28 0.00 0.000 4 0.000 0.081 3482 3614 1916

26901 0.46 234.3 185.4 8.7 592 26906 0.00 2.33 0.00 0.000 6 0.000 0.071 3490 2199 1915

27236 0.46 234.3 160.0 7.7 603 27240 0.00 2.35 0.00 0.000 4 0.000 0.085 3490 777 1916

27290 0.46 234.3 156.3 6.8 604 27298 0.00 2.33 0.00 0.000 6 0.000 0.064 3490 2201 1916

27605 0.46 234.3 136.3 7.4 618 27609 0.00 2.30 0.00 0.000 4 0.000 0.084 3490 3608 1915

27631 0.46 234.3 134.1 6.8 619 27636 0.00 2.33 0.00 0.000 6 0.000 0.071 3490 2192 1916

27953 0.53 236.0 114.8 5.4 635 27957 0.00 2.33 0.00 0.000 4 0.000 0.086 3490 784 1916

28046 0.61 236.0 109.6 5.7 639 28051 0.00 2.30 0.00 0.000 6 0.000 0.064 3490 2200 1916

28368 0.69 236.0 91.4 5.6 655 28373 0.15 2.30 0.00 0.000 4 0.094 0.082 3548 3608 1915

28406 0.51 236.0 88.6 7.5 657 28411 0.25 2.30 0.00 0.000 6 0.190 0.072 3481 2189 1916

28726 0.65 263.7 72.4 4.6 679 28753 0.15 0.00 23.58 0.918 6 0.091 0.000 3545 2189 1801

29066 0.65 263.7 46.6 8.9 711 29067 0.00 0.00 0.00 0.000 6 0.000 0.000 3545 2189 1796

29385 0.65 266.5 25.3 5.4 741 29389 0.00 2.33 0.00 0.000 4 0.000 0.084 3545 790 1796

29573 0.67 277.4 15.6 5.2 757 29592 0.00 2.33 11.88 0.844 6 0.000 0.064 3545 2206 1743

29814 end climb: SURFACE_DEPTH_REACHED

state 29814 begin surface coast

29835 end surface coast: CONTROL_FINISHED_OK

state 29835 begin surface

ID	120	HD_C	8.0300997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	23	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3861	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	47.599998	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	608.58929	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	-2.4000001
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	600	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	615	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	395	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3895	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2876	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18076.447	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	120	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	150	AH0_24V	147	SEABIRD_T_G	0.0043782545
SPEED_FACTOR	1	PITCH_MAX	3950	AH0_10V	122.2	SEABIRD_T_H	0.00063376746
RHO	1.023	C_PITCH	3317	PRESSURE_YINT	-16.122175	SEABIRD_T_I	2.0789576e-05
MASS	51365	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	1.6847914e-06
NAV_MODE	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.138739
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1328104
KALMAN_USE	1	PITCH_GAIN	23	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00035406757
HD_A	0.0054608998	PITCH_TIMEOUT	19	COMPASS_USE	0	SEABIRD_C_J	0.00012259149
HD_B	0.011315	PITCH_AD_RATE	156	ALTIM_BOTTOM_PING_RANGE	0

GPS1	145438,4955.836,-14507.564,33,1.0,33,18.4	TGT_NAME	C_NE
_CALLS	5	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.150,0.107
_SM_DEPTHo	1.44	KALMAN_X	17202.2,243.9,-378.0,-38297.1,528.3
_SM_ANGLEo	-68.6	KALMAN_Y	15798.8,-252.0,-449.7,-32829.7,2544.6
GPS2	150856,4955.971,-14507.595,10,1.3,15,18.4	MHEAD_RNG_PITCHd_Wd	36.2,29157,-13.3,-5.500
SPEED_LIMITS	0.095,0.184	D_GRID	1001

FINISH	0.8,1.012062	XPDR_PINGS	891
SM_CCo	29851,235.60,0.802,0,0,395,608.59	_24V_AH	23.3,8.684
SM_GC	1.37,0.00,0.00,235.60,0.000,0.000,0.802,139,2411,395,-9.93,0.34,608.59	_10V_AH	10.6,3.628
IRIDIUM_FIX	4936.36,-14510.89,301197,151510	DATA_FILE_SIZE	44420,782
TT8_MAMPS	0.026845	CAP_FILE_SIZE	172121,0
HUMID	2048	CFSIZE	260165632,256770048
INTERNAL_PRESSURE	8.98716	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.50	GPS	050908,233232,4958.277,-14502.935,41,1.1,41,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	289	198.61	SBE_CT	600	24	335.56
Roll_motor	200	100	469.16	SBE_O2	575	19	254.62
VBD_pump_during_apogee	335	1512	11836.84	WL_BB2F	1330	105	3254.54
VBD_pump_during_surface	235	802	4404.11	Optode	271	33	209.01
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	151	103	363.64	nil	0	0	0.00
Iridium_during_connect	375	160	1400.98	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	222	420	2179.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.40
TT8	1677	19	352.04
LPSleep	25586	2	593.96
TT8_Active	800	19	167.97
TT8_Sampling	2207	39	931.24
TT8_CF8	674	45	327.52
TT8_Kalman	33	81	28.92
Analog_circuits	1886	12	240.00
GPS_charging	0	0	0.00
Compass	2180	8	184.93
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	17	begin dive
18	-0.72	-117.3	0.0	0.0	0	103	0.00	0.00	-82.88	0.000	2	0.000	0.000	148	2404	2428
105	-0.72	-117.3	3.0	-3.9	8	150	13.25	2.35	-23.45	0.000	4	0.290	0.100	3072	3811	3355
401	-0.44	-117.3	49.4	-14.5	34	409	0.32	2.30	0.00	0.000	6	0.163	0.058	3171	2395	3357
728	-0.49	-117.3	75.2	-7.1	65	732	0.00	2.35	0.00	0.000	4	0.000	0.080	3170	3814	3358
756	-0.55	-117.3	77.2	-7.2	67	760	0.00	2.25	0.00	0.000	6	0.000	0.058	3169	2396	3358
1072	-0.61	-117.3	98.2	-6.9	84	1074	0.15	0.00	0.00	0.000	6	0.077	0.000	3106	2396	3358
1382	-0.51	-117.3	131.4	-10.5	99	1386	0.15	2.30	0.00	0.000	4	0.164	0.073	3150	984	3358
1413	-0.51	-117.3	134.1	-7.2	100	1420	0.00	2.33	0.00	0.000	6	0.000	0.064	3150	2404	3358
1740	-0.58	-117.3	152.3	-5.0	116	1744	0.00	2.30	0.00	0.000	4	0.000	0.083	3150	3810	3358
1783	-0.69	-117.3	154.6	-5.1	117	1788	0.17	2.28	0.00	0.000	6	0.075	0.061	3084	2379	3357
2106	-0.57	-117.3	181.2	-8.9	128	2111	0.15	2.25	0.00	0.000	4	0.165	0.075	3130	993	3357
2201	-0.57	-117.3	188.3	-7.4	131	2205	0.00	2.28	0.00	0.000	6	0.000	0.064	3129	2410	3357
2535	-0.57	-117.3	211.6	-7.0	142	2536	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2410	3356
2841	-0.57	-117.3	232.7	-7.0	152	2845	0.00	2.33	0.00	0.000	4	0.000	0.077	3129	987	3355
2889	-0.57	-117.3	236.6	-7.6	153	2894	0.00	2.33	0.00	0.000	6	0.000	0.067	3129	2408	3355
3208	-0.57	-117.3	259.3	-6.9	164	3209	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2408	3354
3514	-0.57	-117.3	278.1	-6.2	174	3518	0.00	2.33	0.00	0.000	4	0.000	0.078	3129	987	3353
3568	-0.57	-117.3	281.8	-6.8	175	3575	0.00	2.30	0.00	0.000	6	0.000	0.067	3129	2395	3353
3881	-0.61	-117.3	301.8	-6.7	186	3882	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2395	3352
4184	-0.61	-117.3	321.9	-6.6	191	4188	0.00	2.30	0.00	0.000	4	0.000	0.079	3129	991	3351
4255	-0.65	-117.3	327.1	-7.0	192	4260	0.00	2.30	0.00	0.000	6	0.000	0.068	3129	2400	3351
4615	-0.70	-117.3	352.6	-7.1	198	4617	0.12	0.00	0.00	0.000	6	0.090	0.000	3077	2400	3350
4919	-0.60	-117.3	379.0	-8.7	203	4923	0.15	2.30	0.00	0.000	4	0.164	0.079	3122	992	3350
4955	-0.60	-117.3	381.8	-7.3	203	4960	0.00	2.30	0.00	0.000	6	0.000	0.068	3122	2402	3350
5282	-0.65	-117.3	402.1	-6.2	209	5283	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2402	3349
5585	-0.69	-117.3	421.3	-6.4	214	5589	0.00	2.30	0.00	0.000	4	0.000	0.080	3122	994	3349
5633	-0.74	-117.3	424.7	-6.3	214	5638	0.10	2.30	0.00	0.000	6	0.074	0.069	3073	2400	3348
5949	-0.68	-117.3	449.2	-7.9	220	5950	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2400	3348
6252	-0.61	-117.3	472.1	-7.5	225	6254	0.15	0.00	0.00	0.000	6	0.142	0.000	3113	2401	3348
6555	-0.61	-117.3	490.3	-5.9	230	6559	0.00	2.33	0.00	0.000	4	0.000	0.081	3114	984	3348
6580	-0.61	-117.3	492.1	-6.9	230	6585	0.00	2.33	0.00	0.000	6	0.000	0.068	3114	2408	3347
6918	-0.61	-117.3	512.7	-6.1	236	6922	0.00	2.33	0.00	0.000	4	0.000	0.081	3114	988	3347
6950	-0.61	-117.3	514.9	-7.0	236	6955	0.00	2.30	0.00	0.000	6	0.000	0.069	3114	2395	3347
7282	-0.61	-117.3	535.3	-6.2	242	7286	0.00	2.30	0.00	0.000	4	0.000	0.081	3114	991	3347
7330	-0.61	-117.3	538.5	-6.7	242	7335	0.00	2.30	0.00	0.000	6	0.000	0.068	3114	2402	3347
7651	-0.61	-117.3	557.7	-5.9	248	7655	0.00	2.33	0.00	0.000	4	0.000	0.081	3114	984	3346
7682	-0.61	-117.3	559.6	-6.5	248	7687	0.00	2.33	0.00	0.000	6	0.000	0.069	3114	2403	3346
8015	-0.66	-117.3	579.8	-6.1	254	8016	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2403	3346
8318	-0.70	-117.3	598.4	-6.1	259	8322	0.00	2.33	0.00	0.000	4	0.000	0.081	3114	988	3346
8360	-0.70	-117.3	601.3	-6.5	259	8365	0.00	2.33	0.00	0.000	6	0.000	0.070	3114	2407	3346
8682	-0.75	-117.3	619.9	-5.8	265	8686	0.12	2.33	0.00	0.000	4	0.092	0.079	3064	987	3345
8719	-0.64	-117.3	622.9	-8.1	265	8724	0.12	2.30	0.00	0.000	6	0.170	0.069	3102	2395	3345
9045	-0.64	-117.3	642.4	-6.0	271	9049	0.00	2.30	0.00	0.000	4	0.000	0.081	3103	992	3345
9070	-0.64	-117.3	644.1	-5.9	271	9075	0.00	2.30	0.00	0.000	6	0.000	0.069	3103	2399	3345
9408	-0.64	-117.3	663.2	-5.6	277	9412	0.00	2.30	0.00	0.000	4	0.000	0.087	3100	3811	3345
9429	-0.64	-117.3	664.6	-6.3	277	9434	0.00	2.28	0.00	0.000	6	0.000	0.067	3100	2404	3345
9772	-0.64	-117.3	684.2	-5.8	283	9773	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2404	3345
10075	-0.64	-117.3	701.8	-5.8	288	10079	0.00	2.30	0.00	0.000	4	0.000	0.082	3100	991	3345
10103	-0.64	-117.3	703.5	-6.7	288	10107	0.00	2.28	0.00	0.000	6	0.000	0.070	3100	2403	3344
10433	-0.64	-117.3	723.0	-5.9	294	10435	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2403	3344
10736	-0.64	-117.3	741.9	-6.2	299	10738	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2403	3344
11040	-0.64	-117.3	761.8	-6.6	304	11041	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2403	3344
11343	-0.64	-117.3	780.5	-6.1	309	11347	0.00	2.33	0.00	0.000	4	0.000	0.082	3100	988	3344
11391	-0.64	-117.3	783.8	-7.1	309	11396	0.00	2.30	0.00	0.000	6	0.000	0.071	3100	2396	3343
11712	-0.64	-117.3	802.7	-5.9	315	11713	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3343
12015	-0.64	-117.3	820.4	-5.8	320	12016	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3343
12318	-0.64	-117.3	838.3	-5.9	325	12319	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3344
12621	-0.64	-117.3	857.1	-6.2	330	12622	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3343
12924	-0.64	-117.3	876.5	-6.4	335	12926	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3343
13227	-0.64	-117.3	896.0	-6.4	340	13229	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3343
13531	-0.64	-117.3	915.6	-6.5	345	13534	0.00	2.30	0.00	0.000	4	0.000	0.083	3100	991	3342
13568	-0.68	-117.3	918.3	-6.5	345	13573	0.00	2.30	0.00	0.000	6	0.000	0.071	3100	2396	3342
13900	-0.68	-117.3	939.2	-6.3	351	13901	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3342
14203	-0.72	-117.3	958.8	-6.5	356	14205	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3342
14507	-0.77	-117.3	977.1	-6.0	361	14508	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2396	3342
14748	end dive: TARGET_DEPTH_EXCEEDED
state	14748	begin apogee
14751	-0.22	0.0	991.1	5.8	365	14852	0.47	0.00	97.62	1.513	6	0.162	0.000	3244	2199	2876
14853	end apogee: CONTROL_FINISHED_OK
state	14853	begin climb
14854	0.72	117.3	992.9	0.0	366	14965	0.95	2.62	102.80	1.461	4	0.107	0.086	3546	789	2396
14986	0.33	117.3	993.3	5.5	368	14994	0.40	2.50	0.00	0.000	6	0.196	0.067	3429	2202	2395
15296	0.28	117.3	975.6	5.8	374	15299	0.00	2.40	0.00	0.000	4	0.000	0.084	3429	3618	2393
15346	0.16	117.3	972.3	6.6	374	15351	0.25	2.40	0.00	0.000	6	0.185	0.074	3372	2192	2393
15660	0.33	153.1	958.4	4.4	380	15694	0.17	0.00	31.00	1.438	6	0.090	0.000	3434	2192	2251
15963	0.33	153.1	938.1	7.0	385	15964	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2192	2248
16266	0.33	153.1	917.2	6.9	390	16267	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2192	2248
16569	0.33	153.1	895.9	7.0	395	16570	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2193	2248
16872	0.33	153.1	873.8	7.4	400	16873	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2192	2248
17175	0.33	153.1	851.9	7.2	405	17176	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2192	2247
17478	0.33	153.1	830.2	7.2	410	17479	0.00	0.00	0.00	0.000	6	0.000	0.000	3435	2192	2247
17781	0.33	153.1	809.5	6.7	415	17782	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2192	2247
18084	0.33	153.1	790.9	6.1	420	18088	0.00	2.35	0.00	0.000	4	0.000	0.088	3434	3610	2247
18135	0.25	153.1	787.6	5.9	420	18139	0.15	2.30	0.00	0.000	6	0.185	0.074	3398	2197	2247
18449	0.41	199.6	774.4	4.0	426	18490	0.15	0.00	39.03	1.372	6	0.093	0.000	3452	2197	2061
18751	0.41	199.6	756.6	6.0	431	18752	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2197	2057
19054	0.41	199.6	738.0	6.2	436	19058	0.00	2.38	0.00	0.000	4	0.000	0.085	3452	3611	2057
19086	0.35	199.6	735.6	8.2	436	19091	0.00	2.38	0.00	0.000	6	0.000	0.073	3453	2194	2057
19423	0.35	199.6	710.9	7.5	442	19425	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2194	2056
19726	0.35	199.6	685.6	8.4	447	19730	0.00	2.35	0.00	0.000	4	0.000	0.084	3452	3611	2056
19759	0.29	199.6	682.3	9.7	447	19764	0.12	2.35	0.00	0.000	6	0.178	0.074	3415	2194	2056
20091	0.41	199.6	658.4	7.1	453	20095	0.00	2.35	0.00	0.000	4	0.000	0.082	3415	3612	2056
20117	0.48	199.6	656.3	7.5	453	20122	0.10	2.33	0.00	0.000	6	0.080	0.071	3482	2202	2056
20455	0.41	199.6	626.0	9.0	459	20459	0.12	2.35	0.00	0.000	4	0.167	0.087	3452	789	2056
20486	0.41	199.6	623.5	8.4	459	20491	0.00	2.33	0.00	0.000	6	0.000	0.066	3452	2206	2056
20818	0.41	199.6	600.7	6.8	465	20819	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2206	2056
21121	0.41	199.6	581.5	6.3	470	21122	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2206	2056
21424	0.41	199.6	561.4	6.7	475	21428	0.00	2.35	0.00	0.000	4	0.000	0.087	3452	786	2056
21456	0.46	199.6	559.2	7.9	475	21460	0.00	2.30	0.00	0.000	6	0.000	0.066	3452	2197	2056
21793	0.46	199.6	535.3	7.2	481	21797	0.00	2.30	0.00	0.000	4	0.000	0.083	3452	3608	2056
21829	0.46	199.6	532.3	7.6	481	21835	0.00	2.33	0.00	0.000	6	0.000	0.072	3452	2192	2056
22156	0.46	199.6	509.3	7.0	487	22157	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2192	2056
22459	0.46	199.6	488.2	7.1	492	22463	0.00	2.33	0.00	0.000	4	0.000	0.087	3452	783	2056
22497	0.52	199.6	485.4	7.3	492	22501	0.00	2.30	0.00	0.000	6	0.000	0.066	3451	2195	2056
22823	0.52	199.6	460.3	7.8	498	22827	0.00	2.30	0.00	0.000	4	0.000	0.081	3452	3611	2056
22854	0.52	199.6	457.5	9.0	498	22859	0.00	2.30	0.00	0.000	6	0.000	0.072	3452	2201	2056
23186	0.52	199.6	432.0	7.7	504	23187	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2201	2056
23489	0.52	199.6	411.9	6.5	509	23493	0.10	2.33	0.00	0.000	4	0.104	0.087	3489	779	2056
23527	0.47	199.6	409.3	7.2	509	23531	0.00	2.33	0.00	0.000	6	0.000	0.067	3489	2207	2056
23859	0.40	199.6	387.7	6.4	515	23864	0.15	2.35	0.00	0.000	4	0.173	0.085	3450	790	2056
23891	0.48	206.7	385.8	5.3	515	23902	0.00	2.30	6.60	0.969	6	0.000	0.066	3450	2201	2032
24217	0.53	206.7	367.8	5.6	521	24221	0.12	2.30	0.00	0.000	4	0.097	0.083	3499	3607	2032
24254	0.36	206.7	364.6	8.4	521	24259	0.22	2.33	0.00	0.000	6	0.186	0.073	3437	2196	2031
24580	0.45	206.7	345.4	5.9	527	24582	0.00	0.00	0.00	0.000	6	0.000	0.000	3437	2196	2032
24883	0.56	206.7	325.7	6.5	532	24888	0.15	2.35	0.00	0.000	4	0.092	0.084	3500	3618	2032
24926	0.39	206.7	321.7	8.8	532	24931	0.17	2.33	0.00	0.000	6	0.186	0.071	3452	2197	2032
25247	0.44	206.7	299.6	6.7	538	25248	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2197	2032
25553	0.51	206.7	280.4	5.8	548	25557	0.00	2.33	0.00	0.000	4	0.000	0.087	3452	786	2032
25597	0.64	234.3	278.1	4.6	549	25628	0.22	2.30	23.38	1.049	6	0.087	0.064	3535	2220	1919
25951	0.51	234.3	249.2	8.2	561	25953	0.20	0.00	0.00	0.000	6	0.174	0.000	3482	2220	1916
26257	0.51	234.3	228.6	6.6	571	26258	0.00	0.00	0.00	0.000	6	0.000	0.000	3482	2220	1916
26563	0.51	234.3	209.2	6.4	581	26565	0.00	0.00	0.00	0.000	6	0.000	0.000	3482	2220	1916
26869	0.51	234.3	188.1	7.2	591	26873	0.00	2.28	0.00	0.000	4	0.000	0.081	3482	3614	1916
26901	0.46	234.3	185.4	8.7	592	26906	0.00	2.33	0.00	0.000	6	0.000	0.071	3490	2199	1915
27236	0.46	234.3	160.0	7.7	603	27240	0.00	2.35	0.00	0.000	4	0.000	0.085	3490	777	1916
27290	0.46	234.3	156.3	6.8	604	27298	0.00	2.33	0.00	0.000	6	0.000	0.064	3490	2201	1916
27605	0.46	234.3	136.3	7.4	618	27609	0.00	2.30	0.00	0.000	4	0.000	0.084	3490	3608	1915
27631	0.46	234.3	134.1	6.8	619	27636	0.00	2.33	0.00	0.000	6	0.000	0.071	3490	2192	1916
27953	0.53	236.0	114.8	5.4	635	27957	0.00	2.33	0.00	0.000	4	0.000	0.086	3490	784	1916
28046	0.61	236.0	109.6	5.7	639	28051	0.00	2.30	0.00	0.000	6	0.000	0.064	3490	2200	1916
28368	0.69	236.0	91.4	5.6	655	28373	0.15	2.30	0.00	0.000	4	0.094	0.082	3548	3608	1915
28406	0.51	236.0	88.6	7.5	657	28411	0.25	2.30	0.00	0.000	6	0.190	0.072	3481	2189	1916
28726	0.65	263.7	72.4	4.6	679	28753	0.15	0.00	23.58	0.918	6	0.091	0.000	3545	2189	1801
29066	0.65	263.7	46.6	8.9	711	29067	0.00	0.00	0.00	0.000	6	0.000	0.000	3545	2189	1796
29385	0.65	266.5	25.3	5.4	741	29389	0.00	2.33	0.00	0.000	4	0.000	0.084	3545	790	1796
29573	0.67	277.4	15.6	5.2	757	29592	0.00	2.33	11.88	0.844	6	0.000	0.064	3545	2206	1743
29814	end climb: SURFACE_DEPTH_REACHED
state	29814	begin surface coast
29835	end surface coast: CONTROL_FINISHED_OK
state	29835	begin surface