Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 31 * 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 31 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -61518.426 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 0.039999999 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 -61518.426

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 27 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 31 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 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 021906,5003.167,-14500.915,31,1.1,31,18.5 TGT_NAME C_NE

_CALLS 3 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.150,0.074

_SM_DEPTHo 1.86 KALMAN_X -20515.4,-124.2,423.5,20060.9,-2184.8

_SM_ANGLEo -60.1 KALMAN_Y 2862.7,203.0,77.3,3364.9,-537.5

GPS2 023126,5003.214,-14500.979,14,1.2,14,18.5 MHEAD_RNG_PITCHd_Wd 45.2,14382,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.0,1.024533 XPDR_PINGS 58

SM_CCo 29696,0.00,0.000,0,0,1585,330.17 _24V_AH 23.5,7.997

SM_GC 1.97,5.53,0.00,0.00,0.044,0.000,0.000,100,2302,1585,-8.62,-0.03,330.17 _10V_AH 10.7,4.405

IRIDIUM_FIX 4943.02,-14459.66,160998,020249 DATA_FILE_SIZE 44307,769

TT8_MAMPS 0.028379 CAP_FILE_SIZE 201188,0

HUMID 1585 CFSIZE 260165632,256602112

INTERNAL_PRESSURE 7.39286 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 16.10 GPS 220609,104831,5005.005,-14457.766,37,2.0,37,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 253 150.93 SBE_CT 547 24 308.54

Roll_motor 221 78 408.05 SBE_O2 618 19 276.30

VBD_pump_during_apogee 378 1343 11947.10 Optode 794 33 616.18

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1320 105 3258.93

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 85 103 205.80 nil 0 0 0.00

Iridium_during_connect 86 160 324.62 nil 0 0 0.00

Iridium_during_xfer 310 223 1624.67

Transponder_ping 14 420 143.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.50

TT8 1748 19 370.48

LPSleep 25000 2 585.83

TT8_Active 544 19 115.28

TT8_Sampling 2252 39 959.46

TT8_CF8 878 45 430.68

TT8_Kalman 33 81 29.20

Analog_circuits 1674 12 215.07

GPS_charging 0 0 0.00

Compass 2250 8 192.65

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

15 -0.68 -117.3 0.0 0.0 0 59 0.00 0.00 -41.72 0.000 2 0.000 0.000 102 2306 2707

62 -0.68 -117.3 3.4 -4.9 4 96 7.07 2.38 -17.23 0.000 4 0.253 0.078 1837 3719 3412

234 -0.48 -117.3 26.2 -13.6 19 239 0.20 2.25 0.00 0.000 6 0.139 0.041 1894 2298 3414

561 -0.54 -117.3 50.3 -6.8 49 565 0.00 2.25 0.00 0.000 4 0.000 0.053 1894 891 3414

599 -0.64 -117.3 53.3 -7.6 52 606 0.10 2.25 0.00 0.000 6 0.072 0.047 1832 2312 3415

934 -0.46 -117.3 90.6 -11.6 80 939 0.20 2.28 0.00 0.000 4 0.146 0.053 1895 892 3415

978 -0.57 -117.3 95.0 -8.3 82 982 0.00 2.25 0.00 0.000 6 0.000 0.048 1890 2309 3416

1300 -0.64 -117.3 118.5 -6.2 98 1302 0.10 0.00 0.00 0.000 6 0.074 0.000 1836 2309 3415

1610 -0.57 -117.3 147.3 -9.5 113 1614 0.15 2.25 0.00 0.000 4 0.136 0.061 1872 3710 3416

1642 -0.65 -117.3 149.7 -7.1 114 1649 0.00 2.20 0.00 0.000 6 0.000 0.041 1872 2293 3415

1955 -0.75 -117.3 169.3 -6.1 125 1959 0.12 2.20 0.00 0.000 4 0.064 0.053 1808 893 3415

2033 -0.60 -117.3 176.8 -10.1 127 2037 0.25 2.22 0.00 0.000 6 0.142 0.054 1874 2303 3415

2357 -0.72 -117.3 194.8 -4.9 138 2358 0.12 0.00 0.00 0.000 6 0.066 0.000 1810 2304 3415

2662 -0.59 -117.3 221.7 -9.4 148 2664 0.20 0.00 0.00 0.000 6 0.136 0.000 1868 2304 3414

2969 -0.71 -117.3 242.3 -6.6 158 2973 0.10 2.25 0.00 0.000 4 0.076 0.067 1809 3712 3414

3001 -0.62 -117.3 245.2 -9.8 159 3006 0.20 2.17 0.00 0.000 6 0.133 0.044 1868 2304 3414

3331 -0.74 -117.3 267.3 -6.7 170 3336 0.12 2.22 0.00 0.000 4 0.071 0.055 1809 897 3414

3360 -0.67 -117.3 269.6 -9.3 171 3364 0.20 2.22 0.00 0.000 6 0.146 0.051 1858 2308 3414

3694 -0.76 -117.3 293.7 -6.9 182 3699 0.10 2.25 0.00 0.000 4 0.081 0.054 1810 891 3413

3723 -0.70 -117.3 296.2 -9.4 183 3728 0.17 2.22 0.00 0.000 6 0.147 0.054 1852 2302 3413

4086 -0.76 -117.3 320.7 -6.5 190 4090 0.00 2.22 0.00 0.000 4 0.000 0.056 1852 897 3412

4119 -0.83 -117.3 323.1 -6.7 190 4123 0.10 2.20 0.00 0.000 6 0.080 0.051 1797 2302 3412

4451 -0.68 -117.3 352.9 -9.1 196 4453 0.20 0.00 0.00 0.000 6 0.145 0.000 1855 2302 3412

4754 -0.77 -117.3 369.4 -5.2 201 4758 0.10 2.25 0.00 0.000 4 0.081 0.057 1807 889 3412

4781 -0.71 -117.3 371.3 -7.2 201 4786 0.17 2.25 0.00 0.000 6 0.146 0.053 1849 2313 3411

5113 -0.77 -117.3 390.7 -5.8 207 5117 0.00 2.25 0.00 0.000 4 0.000 0.058 1849 897 3411

5151 -0.84 -117.3 393.3 -6.7 207 5156 0.12 2.22 0.00 0.000 6 0.071 0.053 1788 2306 3410

5472 -0.67 -117.3 424.5 -10.0 213 5474 0.22 0.00 0.00 0.000 6 0.146 0.000 1853 2306 3410

5775 -0.77 -117.3 444.6 -6.5 218 5779 0.00 2.25 0.00 0.000 4 0.000 0.058 1853 893 3410

5808 -0.89 -117.3 447.1 -7.1 218 5813 0.15 2.22 0.00 0.000 6 0.066 0.055 1779 2305 3410

6134 -0.68 -117.3 481.5 -10.8 224 6136 0.25 0.00 0.00 0.000 6 0.147 0.000 1852 2305 3410

6437 -0.78 -117.3 502.2 -6.7 229 6442 0.10 2.25 0.00 0.000 4 0.084 0.056 1807 898 3410

6470 -0.70 -117.3 505.2 -9.3 229 6474 0.17 2.22 0.00 0.000 6 0.144 0.053 1847 2306 3409

6796 -0.79 -117.3 525.8 -6.2 235 6797 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 2306 3409

7099 -0.89 -117.3 544.5 -6.1 240 7101 0.15 0.00 0.00 0.000 6 0.073 0.000 1785 2307 3409

7402 -0.72 -117.3 574.2 -10.0 245 7404 0.20 0.00 0.00 0.000 6 0.143 0.000 1843 2306 3409

7705 -0.79 -117.3 594.9 -6.6 250 7706 0.00 0.00 0.00 0.000 6 0.000 0.000 1843 2306 3409

8008 -0.87 -117.3 613.1 -5.9 255 8013 0.12 2.25 0.00 0.000 4 0.081 0.061 1793 895 3408

8041 -0.74 -117.3 615.8 -8.4 255 8045 0.20 2.22 0.00 0.000 6 0.146 0.055 1841 2303 3408

8367 -0.82 -117.3 634.2 -5.5 261 8368 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2304 3408

8670 -0.90 -117.3 650.0 -5.2 266 8672 0.12 0.00 0.00 0.000 6 0.084 0.000 1793 2303 3408

8973 -0.77 -117.3 671.9 -7.3 271 8975 0.15 0.00 0.00 0.000 6 0.148 0.000 1834 2304 3408

9276 -0.83 -117.3 688.1 -5.2 276 9280 0.00 2.25 0.00 0.000 4 0.000 0.060 1834 893 3408

9315 -0.88 -117.3 690.5 -6.4 276 9320 0.10 2.25 0.00 0.000 6 0.090 0.054 1793 2313 3408

9636 -0.75 -117.3 715.4 -7.9 282 9641 0.17 2.25 0.00 0.000 4 0.155 0.068 1839 3715 3407

9663 -0.75 -117.3 717.3 -6.8 282 9667 0.00 2.20 0.00 0.000 6 0.000 0.051 1838 2289 3407

10001 -0.83 -117.3 737.1 -5.8 288 10004 0.00 2.22 0.00 0.000 4 0.000 0.062 1838 893 3407

10041 -0.89 -117.3 739.6 -6.7 288 10046 0.12 2.25 0.00 0.000 6 0.086 0.056 1787 2311 3407

10367 -0.75 -117.3 766.5 -8.3 294 10372 0.17 2.25 0.00 0.000 4 0.154 0.065 1833 3712 3407

10430 -0.84 -117.3 770.7 -7.2 295 10434 0.00 2.20 0.00 0.000 6 0.000 0.051 1833 2294 3407

10796 -0.90 -117.3 791.5 -5.6 301 10797 0.10 0.00 0.00 0.000 6 0.100 0.000 1794 2294 3407

11099 -0.79 -117.3 813.1 -7.2 306 11101 0.12 0.00 0.00 0.000 6 0.153 0.000 1827 2294 3407

11402 -0.79 -117.3 829.8 -5.5 311 11403 0.00 0.00 0.00 0.000 6 0.000 0.000 1827 2294 3407

11705 -0.83 -117.3 846.2 -5.4 316 11709 0.00 2.25 0.00 0.000 4 0.000 0.064 1827 887 3407

11754 -0.83 -117.3 849.1 -6.0 316 11758 0.00 2.25 0.00 0.000 6 0.000 0.058 1820 2302 3407

12070 -0.83 -117.3 868.4 -6.3 322 12071 0.00 0.00 0.00 0.000 6 0.000 0.000 1820 2302 3406

12372 -0.83 -117.3 888.4 -6.6 327 12376 0.00 2.28 0.00 0.000 4 0.000 0.065 1820 886 3406

12405 -0.83 -117.3 890.9 -7.2 327 12409 0.00 2.25 0.00 0.000 6 0.000 0.061 1811 2302 3406

12737 -0.83 -117.3 915.0 -7.3 333 12739 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2302 3406

13041 -0.83 -117.3 936.4 -7.0 338 13045 0.00 2.28 0.00 0.000 4 0.000 0.069 1815 887 3406

13073 -0.83 -117.3 938.8 -7.8 338 13078 0.00 2.28 0.00 0.000 6 0.000 0.062 1807 2298 3406

13406 -0.79 -117.3 961.3 -6.7 344 13408 0.08 0.00 0.00 0.000 6 0.189 0.000 1824 2299 3406

13709 -0.83 -117.3 978.6 -5.6 349 13713 0.00 2.28 0.00 0.000 4 0.000 0.066 1827 896 3406

13747 -0.88 -117.3 980.9 -5.6 349 13751 0.00 2.25 0.00 0.000 6 0.000 0.061 1821 2306 3406

13944 end dive: TARGET_DEPTH_EXCEEDED

state 13944 begin apogee

13950 -0.22 0.0 992.6 5.9 353 14046 0.43 0.00 93.22 1.344 6 0.153 0.000 1949 2306 2931

14046 end apogee: CONTROL_FINISHED_OK

state 14046 begin climb

14049 0.68 117.3 993.9 0.0 354 14154 0.65 2.50 98.43 1.316 4 0.117 0.073 2150 3710 2450

14184 0.25 117.3 989.2 8.2 356 14191 0.43 2.38 0.00 0.000 6 0.198 0.048 2056 2304 2446

14494 0.43 137.2 973.8 4.8 362 14513 0.12 0.00 16.35 1.217 6 0.100 0.000 2096 2304 2371

14798 0.54 137.2 955.0 6.3 367 14802 0.00 2.38 0.00 0.000 4 0.000 0.064 2102 880 2366

14942 0.54 137.2 945.6 6.0 369 14946 0.00 2.35 0.00 0.000 6 0.000 0.054 2104 2309 2365

15297 0.45 137.2 921.5 6.9 375 15301 0.00 2.33 0.00 0.000 4 0.000 0.067 2103 3717 2364

15331 0.27 137.2 918.9 7.8 375 15336 0.20 2.28 0.00 0.000 6 0.172 0.051 2061 2299 2363

15657 0.44 137.2 900.9 5.5 381 15662 0.12 2.30 0.00 0.000 4 0.096 0.067 2105 893 2362

15695 0.44 137.2 898.6 6.1 381 15699 0.00 2.30 0.00 0.000 6 0.000 0.055 2105 2310 2362

16022 0.34 137.2 878.9 6.1 387 16027 0.12 2.30 0.00 0.000 4 0.170 0.065 2072 3717 2362

16077 0.34 140.2 875.7 5.4 387 16084 0.00 2.28 0.00 0.000 6 0.000 0.048 2081 2303 2361

16387 0.38 167.7 861.3 4.6 393 16414 0.00 0.00 25.35 1.223 6 0.000 0.000 2081 2303 2247

16691 0.45 187.8 846.7 4.8 398 16715 0.00 2.42 17.85 1.176 4 0.000 0.071 2081 3709 2164

16732 0.45 187.8 844.2 5.6 398 16736 0.00 2.30 0.00 0.000 6 0.000 0.051 2090 2305 2162

17059 0.50 187.8 826.0 5.6 404 17060 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2304 2159

17362 0.54 187.8 808.5 5.8 409 17364 0.10 0.00 0.00 0.000 6 0.095 0.000 2130 2304 2159

17665 0.39 187.8 784.5 8.0 414 17670 0.17 2.33 0.00 0.000 4 0.164 0.070 2078 3713 2158

17692 0.39 187.8 782.4 6.7 414 17696 0.00 2.30 0.00 0.000 6 0.000 0.049 2085 2298 2158

18031 0.46 187.8 761.7 6.2 420 18035 0.00 2.33 0.00 0.000 4 0.000 0.067 2085 3716 2158

18052 0.46 187.8 760.0 6.5 420 18056 0.00 2.25 0.00 0.000 6 0.000 0.048 2096 2303 2157

18395 0.46 187.8 736.5 6.9 426 18399 0.00 2.30 0.00 0.000 4 0.000 0.064 2096 3713 2157

18417 0.46 187.8 734.8 7.8 426 18421 0.00 2.25 0.00 0.000 6 0.000 0.047 2106 2296 2157

18761 0.46 187.8 710.4 7.0 432 18765 0.00 2.30 0.00 0.000 4 0.000 0.065 2106 3713 2157

18782 0.40 187.8 708.7 7.5 432 18787 0.12 2.22 0.00 0.000 6 0.171 0.046 2085 2304 2156

19120 0.48 187.8 689.4 5.7 438 19121 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 2304 2156

19423 0.58 198.3 673.7 5.1 443 19438 0.15 2.30 9.12 0.998 4 0.074 0.063 2156 893 2121

19455 0.42 198.3 671.4 8.2 443 19460 0.25 2.28 0.00 0.000 6 0.159 0.058 2087 2305 2121

19787 0.53 218.5 655.0 4.8 449 19812 0.10 2.38 18.23 1.068 4 0.080 0.071 2132 3713 2039

19853 0.37 218.5 650.2 8.4 450 19857 0.25 2.28 0.00 0.000 6 0.167 0.050 2075 2298 2037

20224 0.76 223.8 631.5 5.3 456 20235 0.25 2.33 5.40 0.828 4 0.078 0.067 2170 3710 2017

20364 0.42 223.8 618.0 11.3 458 20369 0.32 2.25 0.00 0.000 6 0.176 0.047 2092 2303 2016

20719 0.56 255.4 601.3 4.4 464 20749 0.12 0.00 27.77 1.052 6 0.073 0.000 2146 2303 1889

21022 0.43 255.4 577.1 8.3 469 21027 0.20 2.33 0.00 0.000 4 0.150 0.061 2086 3712 1883

21055 0.52 257.5 574.6 5.4 469 21059 0.00 2.25 0.00 0.000 6 0.000 0.043 2094 2294 1882

21387 0.66 258.7 556.8 5.5 475 21389 0.15 0.00 0.00 0.000 6 0.068 0.000 2160 2294 1881

21690 0.48 258.7 527.6 9.9 480 21695 0.20 2.33 0.00 0.000 4 0.155 0.060 2101 3719 1880

21717 0.48 258.7 525.1 8.6 480 21721 0.00 2.25 0.00 0.000 6 0.000 0.044 2109 2298 1880

22055 0.55 258.7 503.2 6.6 486 22056 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2298 1879

22358 0.63 258.7 483.3 6.6 491 22362 0.10 2.30 0.00 0.000 4 0.082 0.060 2162 3715 1879

22379 0.55 258.7 481.4 8.5 491 22384 0.20 2.22 0.00 0.000 6 0.166 0.044 2120 2305 1879

22716 0.55 258.7 457.5 6.8 497 22718 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2305 1879

23019 0.55 258.7 438.0 6.5 502 23021 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2305 1879

23323 0.60 258.7 418.9 6.2 507 23324 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2305 1879

23626 0.64 258.7 401.1 5.9 512 23630 0.00 2.28 0.00 0.000 4 0.000 0.061 2120 3720 1879

23653 0.64 258.7 399.2 6.4 512 23657 0.00 2.22 0.00 0.000 6 0.000 0.044 2127 2297 1879

23991 0.64 258.7 377.7 6.3 518 23992 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2297 1879

24294 0.64 258.7 357.7 6.6 523 24298 0.00 2.28 0.00 0.000 4 0.000 0.059 2127 3716 1879

24332 0.60 258.7 354.6 8.7 523 24336 0.00 2.20 0.00 0.000 6 0.000 0.044 2136 2303 1879

24653 0.60 258.7 331.6 7.2 529 24654 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2303 1879

24956 0.60 258.7 308.7 7.6 534 24960 0.00 2.28 0.00 0.000 4 0.000 0.059 2136 3723 1879

24983 0.54 258.7 306.2 8.5 534 24988 0.12 2.22 0.00 0.000 6 0.161 0.044 2114 2297 1879

25317 0.64 258.7 283.8 6.8 543 25318 0.10 0.00 0.00 0.000 6 0.078 0.000 2167 2297 1879

25623 0.47 258.7 253.6 10.1 553 25627 0.20 2.25 0.00 0.000 4 0.156 0.058 2106 3713 1879

25678 0.55 258.7 249.0 8.6 554 25682 0.00 2.20 0.00 0.000 6 0.000 0.042 2114 2300 1878

25991 0.64 258.7 230.0 5.9 564 25995 0.08 2.25 0.00 0.000 4 0.093 0.058 2167 887 1879

26023 0.59 258.7 227.5 9.3 565 26028 0.15 2.22 0.00 0.000 6 0.150 0.047 2127 2306 1878

26353 0.65 263.3 208.7 5.3 576 26364 0.00 2.25 6.32 0.688 4 0.000 0.059 2127 3713 1856

26382 0.71 277.4 207.0 5.0 577 26401 0.00 2.20 13.00 0.762 6 0.000 0.042 2134 2303 1799

26721 0.71 277.4 187.3 6.0 588 26722 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2303 1795

27028 0.76 277.4 168.2 6.4 598 27033 0.10 2.28 0.00 0.000 4 0.079 0.058 2187 3712 1794

27056 0.60 277.4 165.6 10.2 599 27061 0.25 2.22 0.00 0.000 6 0.166 0.043 2130 2297 1794

27372 0.72 284.7 147.4 5.3 610 27385 0.10 2.33 6.68 0.663 4 0.073 0.056 2194 887 1769

27402 0.64 284.7 145.2 6.9 611 27407 0.20 2.25 0.00 0.000 6 0.150 0.047 2139 2309 1769

27718 0.77 296.2 127.1 5.1 626 27732 0.10 0.00 10.95 0.704 6 0.075 0.000 2195 2309 1724

28028 0.67 296.2 103.6 7.5 641 28030 0.17 0.00 0.00 0.000 6 0.143 0.000 2147 2309 1720

28337 0.82 302.6 87.9 5.3 656 28346 0.12 0.00 6.32 0.618 6 0.069 0.000 2212 2309 1697

28654 0.66 302.6 59.5 8.8 681 28659 0.20 2.25 0.00 0.000 4 0.144 0.058 2148 3711 1694

28705 0.77 304.9 55.8 5.4 685 28709 0.00 2.20 0.00 0.000 6 0.000 0.041 2154 2301 1694

29033 1.02 306.2 38.7 5.5 715 29045 0.17 2.28 4.25 0.507 4 0.066 0.057 2237 898 1682

29073 0.92 306.2 35.5 6.8 718 29080 0.15 2.20 0.00 0.000 6 0.144 0.047 2195 2303 1681

29398 0.95 328.1 15.2 4.8 749 29422 0.00 2.35 19.08 0.653 4 0.000 0.061 2195 3719 1592

29446 0.95 328.1 11.6 6.0 753 29450 0.00 2.22 0.00 0.000 6 0.000 0.042 2202 2304 1591

29588 end climb: SURFACE_DEPTH_REACHED

state 29588 begin surface coast

29621 end surface coast: CONTROL_FINISHED_OK

state 29621 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	31	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-61518.426	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	021906,5003.167,-14500.915,31,1.1,31,18.5	TGT_NAME	C_NE
_CALLS	3	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.150,0.074
_SM_DEPTHo	1.86	KALMAN_X	-20515.4,-124.2,423.5,20060.9,-2184.8
_SM_ANGLEo	-60.1	KALMAN_Y	2862.7,203.0,77.3,3364.9,-537.5
GPS2	023126,5003.214,-14500.979,14,1.2,14,18.5	MHEAD_RNG_PITCHd_Wd	45.2,14382,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.0,1.024533	XPDR_PINGS	58
SM_CCo	29696,0.00,0.000,0,0,1585,330.17	_24V_AH	23.5,7.997
SM_GC	1.97,5.53,0.00,0.00,0.044,0.000,0.000,100,2302,1585,-8.62,-0.03,330.17	_10V_AH	10.7,4.405
IRIDIUM_FIX	4943.02,-14459.66,160998,020249	DATA_FILE_SIZE	44307,769
TT8_MAMPS	0.028379	CAP_FILE_SIZE	201188,0
HUMID	1585	CFSIZE	260165632,256602112
INTERNAL_PRESSURE	7.39286	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	16.10	GPS	220609,104831,5005.005,-14457.766,37,2.0,37,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	253	150.93	SBE_CT	547	24	308.54
Roll_motor	221	78	408.05	SBE_O2	618	19	276.30
VBD_pump_during_apogee	378	1343	11947.10	Optode	794	33	616.18
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1320	105	3258.93
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	85	103	205.80	nil	0	0	0.00
Iridium_during_connect	86	160	324.62	nil	0	0	0.00
Iridium_during_xfer	310	223	1624.67
Transponder_ping	14	420	143.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.50
TT8	1748	19	370.48
LPSleep	25000	2	585.83
TT8_Active	544	19	115.28
TT8_Sampling	2252	39	959.46
TT8_CF8	878	45	430.68
TT8_Kalman	33	81	29.20
Analog_circuits	1674	12	215.07
GPS_charging	0	0	0.00
Compass	2250	8	192.65
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
15	-0.68	-117.3	0.0	0.0	0	59	0.00	0.00	-41.72	0.000	2	0.000	0.000	102	2306	2707
62	-0.68	-117.3	3.4	-4.9	4	96	7.07	2.38	-17.23	0.000	4	0.253	0.078	1837	3719	3412
234	-0.48	-117.3	26.2	-13.6	19	239	0.20	2.25	0.00	0.000	6	0.139	0.041	1894	2298	3414
561	-0.54	-117.3	50.3	-6.8	49	565	0.00	2.25	0.00	0.000	4	0.000	0.053	1894	891	3414
599	-0.64	-117.3	53.3	-7.6	52	606	0.10	2.25	0.00	0.000	6	0.072	0.047	1832	2312	3415
934	-0.46	-117.3	90.6	-11.6	80	939	0.20	2.28	0.00	0.000	4	0.146	0.053	1895	892	3415
978	-0.57	-117.3	95.0	-8.3	82	982	0.00	2.25	0.00	0.000	6	0.000	0.048	1890	2309	3416
1300	-0.64	-117.3	118.5	-6.2	98	1302	0.10	0.00	0.00	0.000	6	0.074	0.000	1836	2309	3415
1610	-0.57	-117.3	147.3	-9.5	113	1614	0.15	2.25	0.00	0.000	4	0.136	0.061	1872	3710	3416
1642	-0.65	-117.3	149.7	-7.1	114	1649	0.00	2.20	0.00	0.000	6	0.000	0.041	1872	2293	3415
1955	-0.75	-117.3	169.3	-6.1	125	1959	0.12	2.20	0.00	0.000	4	0.064	0.053	1808	893	3415
2033	-0.60	-117.3	176.8	-10.1	127	2037	0.25	2.22	0.00	0.000	6	0.142	0.054	1874	2303	3415
2357	-0.72	-117.3	194.8	-4.9	138	2358	0.12	0.00	0.00	0.000	6	0.066	0.000	1810	2304	3415
2662	-0.59	-117.3	221.7	-9.4	148	2664	0.20	0.00	0.00	0.000	6	0.136	0.000	1868	2304	3414
2969	-0.71	-117.3	242.3	-6.6	158	2973	0.10	2.25	0.00	0.000	4	0.076	0.067	1809	3712	3414
3001	-0.62	-117.3	245.2	-9.8	159	3006	0.20	2.17	0.00	0.000	6	0.133	0.044	1868	2304	3414
3331	-0.74	-117.3	267.3	-6.7	170	3336	0.12	2.22	0.00	0.000	4	0.071	0.055	1809	897	3414
3360	-0.67	-117.3	269.6	-9.3	171	3364	0.20	2.22	0.00	0.000	6	0.146	0.051	1858	2308	3414
3694	-0.76	-117.3	293.7	-6.9	182	3699	0.10	2.25	0.00	0.000	4	0.081	0.054	1810	891	3413
3723	-0.70	-117.3	296.2	-9.4	183	3728	0.17	2.22	0.00	0.000	6	0.147	0.054	1852	2302	3413
4086	-0.76	-117.3	320.7	-6.5	190	4090	0.00	2.22	0.00	0.000	4	0.000	0.056	1852	897	3412
4119	-0.83	-117.3	323.1	-6.7	190	4123	0.10	2.20	0.00	0.000	6	0.080	0.051	1797	2302	3412
4451	-0.68	-117.3	352.9	-9.1	196	4453	0.20	0.00	0.00	0.000	6	0.145	0.000	1855	2302	3412
4754	-0.77	-117.3	369.4	-5.2	201	4758	0.10	2.25	0.00	0.000	4	0.081	0.057	1807	889	3412
4781	-0.71	-117.3	371.3	-7.2	201	4786	0.17	2.25	0.00	0.000	6	0.146	0.053	1849	2313	3411
5113	-0.77	-117.3	390.7	-5.8	207	5117	0.00	2.25	0.00	0.000	4	0.000	0.058	1849	897	3411
5151	-0.84	-117.3	393.3	-6.7	207	5156	0.12	2.22	0.00	0.000	6	0.071	0.053	1788	2306	3410
5472	-0.67	-117.3	424.5	-10.0	213	5474	0.22	0.00	0.00	0.000	6	0.146	0.000	1853	2306	3410
5775	-0.77	-117.3	444.6	-6.5	218	5779	0.00	2.25	0.00	0.000	4	0.000	0.058	1853	893	3410
5808	-0.89	-117.3	447.1	-7.1	218	5813	0.15	2.22	0.00	0.000	6	0.066	0.055	1779	2305	3410
6134	-0.68	-117.3	481.5	-10.8	224	6136	0.25	0.00	0.00	0.000	6	0.147	0.000	1852	2305	3410
6437	-0.78	-117.3	502.2	-6.7	229	6442	0.10	2.25	0.00	0.000	4	0.084	0.056	1807	898	3410
6470	-0.70	-117.3	505.2	-9.3	229	6474	0.17	2.22	0.00	0.000	6	0.144	0.053	1847	2306	3409
6796	-0.79	-117.3	525.8	-6.2	235	6797	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	2306	3409
7099	-0.89	-117.3	544.5	-6.1	240	7101	0.15	0.00	0.00	0.000	6	0.073	0.000	1785	2307	3409
7402	-0.72	-117.3	574.2	-10.0	245	7404	0.20	0.00	0.00	0.000	6	0.143	0.000	1843	2306	3409
7705	-0.79	-117.3	594.9	-6.6	250	7706	0.00	0.00	0.00	0.000	6	0.000	0.000	1843	2306	3409
8008	-0.87	-117.3	613.1	-5.9	255	8013	0.12	2.25	0.00	0.000	4	0.081	0.061	1793	895	3408
8041	-0.74	-117.3	615.8	-8.4	255	8045	0.20	2.22	0.00	0.000	6	0.146	0.055	1841	2303	3408
8367	-0.82	-117.3	634.2	-5.5	261	8368	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	2304	3408
8670	-0.90	-117.3	650.0	-5.2	266	8672	0.12	0.00	0.00	0.000	6	0.084	0.000	1793	2303	3408
8973	-0.77	-117.3	671.9	-7.3	271	8975	0.15	0.00	0.00	0.000	6	0.148	0.000	1834	2304	3408
9276	-0.83	-117.3	688.1	-5.2	276	9280	0.00	2.25	0.00	0.000	4	0.000	0.060	1834	893	3408
9315	-0.88	-117.3	690.5	-6.4	276	9320	0.10	2.25	0.00	0.000	6	0.090	0.054	1793	2313	3408
9636	-0.75	-117.3	715.4	-7.9	282	9641	0.17	2.25	0.00	0.000	4	0.155	0.068	1839	3715	3407
9663	-0.75	-117.3	717.3	-6.8	282	9667	0.00	2.20	0.00	0.000	6	0.000	0.051	1838	2289	3407
10001	-0.83	-117.3	737.1	-5.8	288	10004	0.00	2.22	0.00	0.000	4	0.000	0.062	1838	893	3407
10041	-0.89	-117.3	739.6	-6.7	288	10046	0.12	2.25	0.00	0.000	6	0.086	0.056	1787	2311	3407
10367	-0.75	-117.3	766.5	-8.3	294	10372	0.17	2.25	0.00	0.000	4	0.154	0.065	1833	3712	3407
10430	-0.84	-117.3	770.7	-7.2	295	10434	0.00	2.20	0.00	0.000	6	0.000	0.051	1833	2294	3407
10796	-0.90	-117.3	791.5	-5.6	301	10797	0.10	0.00	0.00	0.000	6	0.100	0.000	1794	2294	3407
11099	-0.79	-117.3	813.1	-7.2	306	11101	0.12	0.00	0.00	0.000	6	0.153	0.000	1827	2294	3407
11402	-0.79	-117.3	829.8	-5.5	311	11403	0.00	0.00	0.00	0.000	6	0.000	0.000	1827	2294	3407
11705	-0.83	-117.3	846.2	-5.4	316	11709	0.00	2.25	0.00	0.000	4	0.000	0.064	1827	887	3407
11754	-0.83	-117.3	849.1	-6.0	316	11758	0.00	2.25	0.00	0.000	6	0.000	0.058	1820	2302	3407
12070	-0.83	-117.3	868.4	-6.3	322	12071	0.00	0.00	0.00	0.000	6	0.000	0.000	1820	2302	3406
12372	-0.83	-117.3	888.4	-6.6	327	12376	0.00	2.28	0.00	0.000	4	0.000	0.065	1820	886	3406
12405	-0.83	-117.3	890.9	-7.2	327	12409	0.00	2.25	0.00	0.000	6	0.000	0.061	1811	2302	3406
12737	-0.83	-117.3	915.0	-7.3	333	12739	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2302	3406
13041	-0.83	-117.3	936.4	-7.0	338	13045	0.00	2.28	0.00	0.000	4	0.000	0.069	1815	887	3406
13073	-0.83	-117.3	938.8	-7.8	338	13078	0.00	2.28	0.00	0.000	6	0.000	0.062	1807	2298	3406
13406	-0.79	-117.3	961.3	-6.7	344	13408	0.08	0.00	0.00	0.000	6	0.189	0.000	1824	2299	3406
13709	-0.83	-117.3	978.6	-5.6	349	13713	0.00	2.28	0.00	0.000	4	0.000	0.066	1827	896	3406
13747	-0.88	-117.3	980.9	-5.6	349	13751	0.00	2.25	0.00	0.000	6	0.000	0.061	1821	2306	3406
13944	end dive: TARGET_DEPTH_EXCEEDED
state	13944	begin apogee
13950	-0.22	0.0	992.6	5.9	353	14046	0.43	0.00	93.22	1.344	6	0.153	0.000	1949	2306	2931
14046	end apogee: CONTROL_FINISHED_OK
state	14046	begin climb
14049	0.68	117.3	993.9	0.0	354	14154	0.65	2.50	98.43	1.316	4	0.117	0.073	2150	3710	2450
14184	0.25	117.3	989.2	8.2	356	14191	0.43	2.38	0.00	0.000	6	0.198	0.048	2056	2304	2446
14494	0.43	137.2	973.8	4.8	362	14513	0.12	0.00	16.35	1.217	6	0.100	0.000	2096	2304	2371
14798	0.54	137.2	955.0	6.3	367	14802	0.00	2.38	0.00	0.000	4	0.000	0.064	2102	880	2366
14942	0.54	137.2	945.6	6.0	369	14946	0.00	2.35	0.00	0.000	6	0.000	0.054	2104	2309	2365
15297	0.45	137.2	921.5	6.9	375	15301	0.00	2.33	0.00	0.000	4	0.000	0.067	2103	3717	2364
15331	0.27	137.2	918.9	7.8	375	15336	0.20	2.28	0.00	0.000	6	0.172	0.051	2061	2299	2363
15657	0.44	137.2	900.9	5.5	381	15662	0.12	2.30	0.00	0.000	4	0.096	0.067	2105	893	2362
15695	0.44	137.2	898.6	6.1	381	15699	0.00	2.30	0.00	0.000	6	0.000	0.055	2105	2310	2362
16022	0.34	137.2	878.9	6.1	387	16027	0.12	2.30	0.00	0.000	4	0.170	0.065	2072	3717	2362
16077	0.34	140.2	875.7	5.4	387	16084	0.00	2.28	0.00	0.000	6	0.000	0.048	2081	2303	2361
16387	0.38	167.7	861.3	4.6	393	16414	0.00	0.00	25.35	1.223	6	0.000	0.000	2081	2303	2247
16691	0.45	187.8	846.7	4.8	398	16715	0.00	2.42	17.85	1.176	4	0.000	0.071	2081	3709	2164
16732	0.45	187.8	844.2	5.6	398	16736	0.00	2.30	0.00	0.000	6	0.000	0.051	2090	2305	2162
17059	0.50	187.8	826.0	5.6	404	17060	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2304	2159
17362	0.54	187.8	808.5	5.8	409	17364	0.10	0.00	0.00	0.000	6	0.095	0.000	2130	2304	2159
17665	0.39	187.8	784.5	8.0	414	17670	0.17	2.33	0.00	0.000	4	0.164	0.070	2078	3713	2158
17692	0.39	187.8	782.4	6.7	414	17696	0.00	2.30	0.00	0.000	6	0.000	0.049	2085	2298	2158
18031	0.46	187.8	761.7	6.2	420	18035	0.00	2.33	0.00	0.000	4	0.000	0.067	2085	3716	2158
18052	0.46	187.8	760.0	6.5	420	18056	0.00	2.25	0.00	0.000	6	0.000	0.048	2096	2303	2157
18395	0.46	187.8	736.5	6.9	426	18399	0.00	2.30	0.00	0.000	4	0.000	0.064	2096	3713	2157
18417	0.46	187.8	734.8	7.8	426	18421	0.00	2.25	0.00	0.000	6	0.000	0.047	2106	2296	2157
18761	0.46	187.8	710.4	7.0	432	18765	0.00	2.30	0.00	0.000	4	0.000	0.065	2106	3713	2157
18782	0.40	187.8	708.7	7.5	432	18787	0.12	2.22	0.00	0.000	6	0.171	0.046	2085	2304	2156
19120	0.48	187.8	689.4	5.7	438	19121	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	2304	2156
19423	0.58	198.3	673.7	5.1	443	19438	0.15	2.30	9.12	0.998	4	0.074	0.063	2156	893	2121
19455	0.42	198.3	671.4	8.2	443	19460	0.25	2.28	0.00	0.000	6	0.159	0.058	2087	2305	2121
19787	0.53	218.5	655.0	4.8	449	19812	0.10	2.38	18.23	1.068	4	0.080	0.071	2132	3713	2039
19853	0.37	218.5	650.2	8.4	450	19857	0.25	2.28	0.00	0.000	6	0.167	0.050	2075	2298	2037
20224	0.76	223.8	631.5	5.3	456	20235	0.25	2.33	5.40	0.828	4	0.078	0.067	2170	3710	2017
20364	0.42	223.8	618.0	11.3	458	20369	0.32	2.25	0.00	0.000	6	0.176	0.047	2092	2303	2016
20719	0.56	255.4	601.3	4.4	464	20749	0.12	0.00	27.77	1.052	6	0.073	0.000	2146	2303	1889
21022	0.43	255.4	577.1	8.3	469	21027	0.20	2.33	0.00	0.000	4	0.150	0.061	2086	3712	1883
21055	0.52	257.5	574.6	5.4	469	21059	0.00	2.25	0.00	0.000	6	0.000	0.043	2094	2294	1882
21387	0.66	258.7	556.8	5.5	475	21389	0.15	0.00	0.00	0.000	6	0.068	0.000	2160	2294	1881
21690	0.48	258.7	527.6	9.9	480	21695	0.20	2.33	0.00	0.000	4	0.155	0.060	2101	3719	1880
21717	0.48	258.7	525.1	8.6	480	21721	0.00	2.25	0.00	0.000	6	0.000	0.044	2109	2298	1880
22055	0.55	258.7	503.2	6.6	486	22056	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2298	1879
22358	0.63	258.7	483.3	6.6	491	22362	0.10	2.30	0.00	0.000	4	0.082	0.060	2162	3715	1879
22379	0.55	258.7	481.4	8.5	491	22384	0.20	2.22	0.00	0.000	6	0.166	0.044	2120	2305	1879
22716	0.55	258.7	457.5	6.8	497	22718	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2305	1879
23019	0.55	258.7	438.0	6.5	502	23021	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2305	1879
23323	0.60	258.7	418.9	6.2	507	23324	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2305	1879
23626	0.64	258.7	401.1	5.9	512	23630	0.00	2.28	0.00	0.000	4	0.000	0.061	2120	3720	1879
23653	0.64	258.7	399.2	6.4	512	23657	0.00	2.22	0.00	0.000	6	0.000	0.044	2127	2297	1879
23991	0.64	258.7	377.7	6.3	518	23992	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2297	1879
24294	0.64	258.7	357.7	6.6	523	24298	0.00	2.28	0.00	0.000	4	0.000	0.059	2127	3716	1879
24332	0.60	258.7	354.6	8.7	523	24336	0.00	2.20	0.00	0.000	6	0.000	0.044	2136	2303	1879
24653	0.60	258.7	331.6	7.2	529	24654	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2303	1879
24956	0.60	258.7	308.7	7.6	534	24960	0.00	2.28	0.00	0.000	4	0.000	0.059	2136	3723	1879
24983	0.54	258.7	306.2	8.5	534	24988	0.12	2.22	0.00	0.000	6	0.161	0.044	2114	2297	1879
25317	0.64	258.7	283.8	6.8	543	25318	0.10	0.00	0.00	0.000	6	0.078	0.000	2167	2297	1879
25623	0.47	258.7	253.6	10.1	553	25627	0.20	2.25	0.00	0.000	4	0.156	0.058	2106	3713	1879
25678	0.55	258.7	249.0	8.6	554	25682	0.00	2.20	0.00	0.000	6	0.000	0.042	2114	2300	1878
25991	0.64	258.7	230.0	5.9	564	25995	0.08	2.25	0.00	0.000	4	0.093	0.058	2167	887	1879
26023	0.59	258.7	227.5	9.3	565	26028	0.15	2.22	0.00	0.000	6	0.150	0.047	2127	2306	1878
26353	0.65	263.3	208.7	5.3	576	26364	0.00	2.25	6.32	0.688	4	0.000	0.059	2127	3713	1856
26382	0.71	277.4	207.0	5.0	577	26401	0.00	2.20	13.00	0.762	6	0.000	0.042	2134	2303	1799
26721	0.71	277.4	187.3	6.0	588	26722	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2303	1795
27028	0.76	277.4	168.2	6.4	598	27033	0.10	2.28	0.00	0.000	4	0.079	0.058	2187	3712	1794
27056	0.60	277.4	165.6	10.2	599	27061	0.25	2.22	0.00	0.000	6	0.166	0.043	2130	2297	1794
27372	0.72	284.7	147.4	5.3	610	27385	0.10	2.33	6.68	0.663	4	0.073	0.056	2194	887	1769
27402	0.64	284.7	145.2	6.9	611	27407	0.20	2.25	0.00	0.000	6	0.150	0.047	2139	2309	1769
27718	0.77	296.2	127.1	5.1	626	27732	0.10	0.00	10.95	0.704	6	0.075	0.000	2195	2309	1724
28028	0.67	296.2	103.6	7.5	641	28030	0.17	0.00	0.00	0.000	6	0.143	0.000	2147	2309	1720
28337	0.82	302.6	87.9	5.3	656	28346	0.12	0.00	6.32	0.618	6	0.069	0.000	2212	2309	1697
28654	0.66	302.6	59.5	8.8	681	28659	0.20	2.25	0.00	0.000	4	0.144	0.058	2148	3711	1694
28705	0.77	304.9	55.8	5.4	685	28709	0.00	2.20	0.00	0.000	6	0.000	0.041	2154	2301	1694
29033	1.02	306.2	38.7	5.5	715	29045	0.17	2.28	4.25	0.507	4	0.066	0.057	2237	898	1682
29073	0.92	306.2	35.5	6.8	718	29080	0.15	2.20	0.00	0.000	6	0.144	0.047	2195	2303	1681
29398	0.95	328.1	15.2	4.8	749	29422	0.00	2.35	19.08	0.653	4	0.000	0.061	2195	3719	1592
29446	0.95	328.1	11.6	6.0	753	29450	0.00	2.22	0.00	0.000	6	0.000	0.042	2202	2304	1591
29588	end climb: SURFACE_DEPTH_REACHED
state	29588	begin surface coast
29621	end surface coast: CONTROL_FINISHED_OK
state	29621	begin surface