Glider dive log

SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 413 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 413 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1890 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1572 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1100 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 200 R_STBD_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2862 DEVICE4 134

T_DIVE 340 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 355 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 4.9999999e-05 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -5644.3682 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 170 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3052 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -87.947678 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52752 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 18 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 0 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 392

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4235

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION 392 PITCH_TIMEOUT 16 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 4.9999999e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -87.947678 T_DIVE 340

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -5644.3682

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_MISSION 355

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 3

C_PITCH 3052 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1572 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1890 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2862 KALMAN_USE 0 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0.5 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 25 VBD_MAX 3959

DEVICE6 -1 MASS 52752 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 170 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 413 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1100 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 4 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 311212,231407,-4209.423,-455.512,35,1.7,35,-22.2 TGT_NAME ACC_WP1

_CALLS 1 TGT_LATLONG -4220.000,-430.000

_XMS_NAKs 0 TGT_RADIUS 6000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.236,-0.138

_SM_DEPTHo 2.86 KALMAN_X -15085.1,321.8,-872.7,106220.9,-1320.6

_SM_ANGLEo -64.9 KALMAN_Y -102356.6,-124.0,-704.4,76573.5,882.5

GPS2 311212,232200,-4209.541,-455.354,44,1.6,44,-22.2 MHEAD_RNG_PITCHd_Wd 142.6,39750,-16.8,-9.804

SPEED_LIMITS 0.170,0.273 D_GRID 1000

Post-dive calculations and measurements:

FINISH 2.1,1.018325 _10V_AH 9.9,56.493

SM_CCo 20502,0.00,0.000,0,0,994,458.21 FG_AHR_24Vo 0.000

SM_GC 3.00,8.73,0.00,0.00,0.037,0.000,0.000,79,1889,994,-9.20,-0.03,458.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4152.48,-456.42,311212,171719 MEM 354608

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57000,959

HUMID 47.59 CAP_FILE_SIZE 186209,0

INTERNAL_PRESSURE 9.05974 CFSIZE 2097086464,2039742464

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 1 GPS 010113,050605,-4209.873,-453.493,54,1.0,54,-22.2

_24V_AH 22.3,68.152

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 223 115.94 SBE_CT 642 24 344.13

Roll_motor 128 72 208.13 WL_BB2FLVMT 895 105 2096.72

VBD_pump_during_apogee 562 1257 15786.99 SBE_O2 656 19 277.97

VBD_pump_during_surface 0 0 0.00 QSP2150 75 4 7.39

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 66.66 nil 0 0 0.00

Iridium_during_connect 39 160 141.81 nil 0 0 0.00

Iridium_during_xfer 237 223 1179.60 nil 0 0 0.00

Transponder_ping 0 420 2.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 26 12.49

TT8 2518 14 372.96

LPSleep 14527 2 314.97

TT8_Active 621 14 87.46

TT8_Sampling 3040 37 1126.77

TT8_CF8 259 47 121.23

TT8_Kalman 33 59 19.54

Analog_circuits 1912 12 227.18

GPS_charging 0 0 0.00

Compass 2671 15 416.09

RAFOS 0 0 0.00

Transponder 1 5 0.05

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -0.94 -165.4 0.0 0.0 0 64 0.00 0.00 -36.22 0.000 2 0.000 0.000 81 1900 1730 0 0 0 0 0 0

67 -0.94 -165.4 3.1 -0.6 6 158 10.77 2.38 -74.15 0.000 4 0.223 0.073 2745 472 3537 0 0 0 0 0 0

259 -0.94 -165.4 19.3 -11.2 38 266 0.00 2.30 0.00 0.000 6 0.000 0.049 2734 1884 3539 0 0 0 0 0 0

340 -0.92 -165.4 27.8 -10.2 51 347 0.08 1.52 0.00 0.000 4 0.199 0.060 2746 2816 3539 0 0 0 0 0 0

395 -0.94 -165.4 33.6 -10.0 60 402 0.00 1.50 0.00 0.000 6 0.000 0.053 2746 1889 3539 0 0 0 0 0 0

634 -0.96 -165.4 56.6 -9.8 101 639 0.00 1.58 0.00 0.000 4 0.000 0.062 2739 2858 3540 0 0 0 0 0 0

701 -0.98 -165.4 63.9 -10.3 110 705 0.00 1.58 0.00 0.000 6 0.000 0.051 2739 1877 3540 0 0 0 0 0 0

1032 -1.02 -165.4 95.5 -8.9 141 1036 0.00 0.82 0.00 0.000 4 0.000 0.060 2739 1354 3540 0 0 0 0 0 0

1080 -1.04 -165.4 99.5 -9.0 145 1084 0.03 0.85 0.00 0.000 6 0.093 0.053 2700 1893 3540 0 0 0 0 0 0

1405 -1.02 -165.4 131.1 -10.2 166 1409 0.08 1.27 0.00 0.000 4 0.187 0.059 2713 2687 3540 0 0 0 0 0 0

1477 -1.02 -165.4 138.4 -9.5 170 1480 0.00 1.27 0.00 0.000 6 0.000 0.050 2713 1887 3540 0 0 0 0 0 0

1803 -1.02 -165.4 170.6 -10.2 191 1807 0.00 0.85 0.00 0.000 4 0.000 0.058 2709 2431 3540 0 0 0 0 0 0

1856 -1.02 -165.4 175.9 -9.7 194 1860 0.00 0.85 0.00 0.000 6 0.000 0.053 2709 1887 3540 0 0 0 0 0 0

2175 -1.02 -165.4 209.0 -10.4 213 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1886 3541 0 0 0 0 0 0

2484 -1.02 -165.4 240.9 -10.3 228 2488 0.00 0.45 0.00 0.000 4 0.000 0.062 2707 2187 3540 0 0 0 0 0 0

2552 -1.02 -165.4 247.7 -10.6 231 2556 0.00 0.45 0.00 0.000 6 0.000 0.059 2707 1886 3541 0 0 0 0 0 0

2887 -1.02 -165.4 280.1 -9.6 247 2891 0.05 0.75 0.00 0.000 4 0.221 0.060 2715 2359 3541 0 0 0 0 0 0

2958 -1.02 -165.4 287.1 -8.9 250 2962 0.00 0.73 0.00 0.000 6 0.000 0.054 2715 1890 3541 0 0 0 0 0 0

3274 -1.02 -165.4 315.9 -9.4 263 3278 0.00 0.62 0.00 0.000 4 0.000 0.059 2712 2301 3541 0 0 0 0 0 0

3363 -1.02 -165.4 324.2 -8.8 265 3367 0.00 0.65 0.00 0.000 6 0.000 0.054 2713 1877 3541 0 0 0 0 0 0

3682 -1.02 -165.4 351.4 -8.5 276 3685 0.00 1.27 0.00 0.000 4 0.000 0.059 2707 2673 3540 0 0 0 0 0 0

3731 -1.02 -165.4 355.8 -8.1 277 3736 0.03 1.25 0.00 0.000 6 0.170 0.050 2717 1883 3540 0 0 0 0 0 0

4055 -1.02 -165.4 383.4 -9.2 288 4059 0.00 0.90 0.00 0.000 4 0.000 0.059 2712 2449 3540 0 0 0 0 0 0

4093 -1.02 -165.4 387.1 -9.5 289 4097 0.00 0.88 0.00 0.000 6 0.000 0.051 2713 1887 3540 0 0 0 0 0 0

4429 -1.02 -165.4 420.4 -10.3 300 4433 0.00 0.65 0.00 0.000 4 0.000 0.058 2713 1463 3540 0 0 0 0 0 0

4478 -1.02 -165.4 425.7 -9.9 301 4483 0.00 0.68 0.00 0.000 6 0.000 0.052 2709 1893 3540 0 0 0 0 0 0

4802 -1.02 -165.4 459.2 -10.5 312 4806 0.00 1.58 0.00 0.000 4 0.000 0.058 2702 2876 3540 0 0 0 0 0 0

4870 -1.02 -165.4 466.2 -10.0 314 4874 0.05 1.58 0.00 0.000 6 0.138 0.050 2721 1886 3540 0 0 0 0 0 0

5210 -1.05 -165.4 501.4 -10.4 325 5214 0.00 1.30 0.00 0.000 4 0.000 0.060 2715 2694 3539 0 0 0 0 0 0

5265 -1.05 -165.4 507.4 -9.9 326 5270 0.00 1.27 0.00 0.000 6 0.000 0.050 2715 1890 3539 0 0 0 0 0 0

5584 -1.05 -165.4 540.5 -10.5 337 5588 0.00 1.10 0.00 0.000 4 0.000 0.060 2710 2582 3539 0 0 0 0 0 0

5651 -1.05 -165.4 547.6 -10.7 339 5655 0.00 1.10 0.00 0.000 6 0.000 0.052 2710 1886 3538 0 0 0 0 0 0

5992 -1.05 -165.4 583.5 -10.6 350 5996 0.00 2.03 0.00 0.000 4 0.000 0.061 2701 3146 3538 0 0 0 0 0 0

6047 -1.05 -165.4 589.6 -11.2 351 6051 0.00 2.00 0.00 0.000 6 0.000 0.049 2701 1893 3538 0 0 0 0 0 0

6365 -1.05 -165.4 622.5 -10.5 362 6369 0.00 0.45 0.00 0.000 4 0.000 0.060 2699 2194 3537 0 0 0 0 0 0

6448 -1.05 -165.4 631.4 -10.5 364 6453 0.05 0.47 0.00 0.000 6 0.206 0.057 2712 1887 3537 0 0 0 0 0 0

6772 -1.05 -165.4 663.4 -9.7 375 6776 0.00 0.52 0.00 0.000 4 0.000 0.060 2709 2232 3536 0 0 0 0 0 0

6855 -1.05 -165.4 671.4 -10.1 377 6859 0.00 0.55 0.00 0.000 6 0.000 0.057 2710 1881 3536 0 0 0 0 0 0

7180 -1.05 -165.4 702.4 -9.7 388 7184 0.00 0.85 0.00 0.000 4 0.000 0.059 2706 2417 3535 0 0 0 0 0 0

7229 -1.05 -165.4 707.5 -9.6 389 7234 0.00 0.82 0.00 0.000 6 0.000 0.053 2706 1891 3535 0 0 0 0 0 0

7554 -1.05 -165.4 740.1 -10.2 400 7558 0.00 0.80 0.00 0.000 4 0.000 0.060 2702 2396 3534 0 0 0 0 0 0

7625 -1.05 -165.4 747.7 -10.0 402 7630 0.00 0.82 0.00 0.000 6 0.000 0.054 2703 1878 3534 0 0 0 0 0 0

7961 -1.05 -165.4 783.5 -10.8 413 7965 0.00 0.98 0.00 0.000 4 0.000 0.060 2698 2487 3533 0 0 0 0 0 0

8010 -1.05 -165.4 788.9 -10.9 414 8015 0.05 0.98 0.00 0.000 6 0.207 0.053 2711 1883 3534 0 0 0 0 0 0

8333 -1.05 -165.4 822.8 -10.4 425 8335 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 1883 3533 0 0 0 0 0 0

8640 -1.07 -165.4 853.5 -9.8 435 8644 0.00 1.45 0.00 0.000 4 0.000 0.061 2704 2778 3531 0 0 0 0 0 0

8695 -1.07 -165.4 859.0 -10.1 436 8699 0.00 1.42 0.00 0.000 6 0.000 0.052 2704 1891 3531 0 0 0 0 0 0

9014 -1.07 -165.4 888.3 -9.1 447 9015 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1891 3531 0 0 0 0 0 0

9320 -1.07 -165.4 915.2 -8.6 457 9324 0.00 1.83 0.00 0.000 4 0.000 0.062 2696 3000 3531 0 0 0 0 0 0

9376 -1.07 -165.4 920.1 -9.2 458 9380 0.00 1.77 0.00 0.000 6 0.000 0.050 2696 1893 3531 0 0 0 0 0 0

9694 -1.07 -165.4 948.4 -9.2 469 9698 0.00 1.88 0.00 0.000 4 0.000 0.063 2688 3045 3530 0 0 0 0 0 0

9744 -1.03 -165.4 953.0 -8.5 470 9749 0.10 1.85 0.00 0.000 6 0.168 0.050 2714 1878 3529 0 0 0 0 0 0

10069 -1.06 -165.4 983.1 -9.8 481 10073 0.00 2.28 0.00 0.000 4 0.000 0.062 2714 484 3529 0 0 0 0 0 0

10157 -1.06 -165.4 992.7 -11.0 483 10163 0.00 2.28 0.00 0.000 6 0.000 0.050 2704 1886 3529 0 0 0 0 0 0

10254 end dive: TARGET_DEPTH_EXCEEDED

state 10254 begin apogee

10259 -0.28 0.0 1002.4 10.0 487 10406 0.80 0.00 143.43 1.258 6 0.118 0.000 2959 1563 2862 0 0 0 0 0 0

10407 end apogee: CONTROL_FINISHED_OK

state 10407 begin climb

10409 0.94 165.4 1013.6 0.0 492 10569 1.15 2.45 149.75 1.220 4 0.065 0.057 3356 2895 2186 0 0 0 0 0 0

10642 0.79 268.8 1013.0 5.7 499 10746 0.22 2.25 96.05 1.203 6 0.163 0.050 3308 1572 1765 0 0 0 0 0 0

11050 0.80 364.1 988.7 6.0 512 11144 0.00 1.25 88.10 1.206 4 0.000 0.065 3313 882 1376 0 0 0 0 0 0

11185 0.87 422.1 979.6 7.5 516 11245 0.03 1.17 55.53 1.180 6 0.095 0.050 3340 1569 1142 0 0 0 0 0 0

11571 0.96 422.1 941.6 10.3 529 11575 0.05 2.00 0.00 0.000 4 0.161 0.058 3379 2805 1129 0 0 0 0 0 0

11614 0.96 422.1 936.5 11.0 530 11619 0.05 2.03 0.00 0.000 6 0.147 0.055 3369 1580 1129 0 0 0 0 0 0

11944 1.00 422.1 899.9 11.2 541 11945 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1580 1127 0 0 0 0 0 0

12250 1.04 422.1 866.7 10.7 551 12251 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 1580 1127 0 0 0 0 0 0

12556 1.08 422.1 835.7 9.9 561 12560 0.08 0.80 0.00 0.000 4 0.121 0.067 3416 1084 1126 0 0 0 0 0 0

12640 1.05 422.1 826.7 10.2 563 12644 0.08 0.77 0.00 0.000 6 0.148 0.052 3392 1569 1125 0 0 0 0 0 0

12963 1.05 422.1 793.7 10.3 574 12967 0.00 2.28 0.00 0.000 4 0.000 0.061 3392 2980 1125 0 0 0 0 0 0

13012 1.02 422.1 788.4 10.7 575 13017 0.08 2.25 0.00 0.000 6 0.196 0.053 3384 1564 1125 0 0 0 0 0 0

13331 1.02 424.0 756.8 9.7 586 13334 0.00 1.27 0.00 0.000 4 0.000 0.066 3390 793 1125 0 0 0 0 0 0

13399 1.02 424.0 749.9 10.3 588 13402 0.00 1.25 0.00 0.000 6 0.000 0.052 3390 1567 1124 0 0 0 0 0 0

13739 1.04 424.0 713.6 10.9 599 13743 0.00 2.08 0.00 0.000 4 0.000 0.068 3399 321 1124 0 0 0 0 0 0

13783 1.04 424.0 708.4 10.6 600 13787 0.00 2.03 0.00 0.000 6 0.000 0.050 3399 1570 1124 0 0 0 0 0 0

14113 1.04 424.0 670.5 11.7 611 14117 0.00 2.35 0.00 0.000 4 0.000 0.070 3410 167 1123 0 0 0 0 0 0

14180 1.00 424.0 662.3 12.1 613 14185 0.12 2.28 0.00 0.000 6 0.166 0.050 3376 1586 1124 0 0 0 0 0 0

14510 1.03 424.0 626.1 10.9 624 14514 0.00 2.25 0.00 0.000 4 0.000 0.062 3377 2977 1124 0 0 0 0 0 0

14587 1.06 424.0 617.2 11.3 626 14592 0.00 2.22 0.00 0.000 6 0.000 0.054 3386 1574 1124 0 0 0 0 0 0

14912 1.08 424.0 581.8 10.9 637 14916 0.00 2.28 0.00 0.000 4 0.000 0.063 3386 2982 1124 0 0 0 0 0 0

14960 1.08 424.0 576.3 10.6 638 14965 0.00 2.30 0.00 0.000 6 0.000 0.054 3396 1565 1124 0 0 0 0 0 0

15279 1.08 424.0 542.8 10.3 649 15283 0.00 1.20 0.00 0.000 4 0.000 0.067 3402 840 1124 0 0 0 0 0 0

15319 1.08 424.0 538.8 10.1 650 15322 0.00 1.17 0.00 0.000 6 0.000 0.052 3402 1566 1124 0 0 0 0 0 0

15654 1.08 433.9 506.7 9.4 661 15665 0.00 0.00 9.45 0.890 6 0.000 0.000 3402 1566 1091 0 0 0 0 0 0

15960 1.08 439.3 477.6 9.6 671 15973 0.00 2.42 6.62 0.771 4 0.000 0.070 3412 157 1070 0 0 0 0 0 0

16013 1.08 439.3 472.2 9.8 672 16017 0.00 2.33 0.00 0.000 6 0.000 0.050 3412 1576 1070 0 0 0 0 0 0

16332 1.08 439.3 439.4 10.7 683 16335 0.00 0.73 0.00 0.000 4 0.000 0.056 3413 2045 1070 0 0 0 0 0 0

16371 1.08 439.3 435.1 11.2 684 16375 0.03 0.77 0.00 0.000 6 0.191 0.063 3406 1565 1070 0 0 0 0 0 0

16705 1.08 439.3 396.6 12.0 695 16709 0.00 2.35 0.00 0.000 4 0.000 0.070 3417 159 1069 0 0 0 0 0 0

16772 1.08 439.3 388.6 11.1 697 16776 0.05 2.28 0.00 0.000 6 0.220 0.050 3406 1574 1069 0 0 0 0 0 0

17107 1.08 439.3 349.8 11.1 708 17111 0.00 1.92 0.00 0.000 4 0.000 0.059 3405 2785 1069 0 0 0 0 0 0

17151 1.06 439.3 344.7 11.1 709 17156 0.05 1.98 0.00 0.000 6 0.158 0.057 3397 1579 1069 0 0 0 0 0 0

17481 1.10 439.3 309.1 10.8 720 17485 0.00 0.68 0.00 0.000 4 0.000 0.067 3400 1157 1069 0 0 0 0 0 0

17521 1.12 439.3 304.7 10.7 721 17524 0.00 0.65 0.00 0.000 6 0.000 0.056 3400 1565 1069 0 0 0 0 0 0

17851 1.15 439.3 269.3 10.6 736 17855 0.08 1.88 0.00 0.000 4 0.123 0.060 3440 2728 1069 0 0 0 0 0 0

17896 1.08 439.3 263.9 10.5 738 17900 0.17 1.85 0.00 0.000 6 0.159 0.054 3401 1559 1069 0 0 0 0 0 0

18229 1.08 439.3 227.6 10.8 754 18231 0.00 0.00 0.00 0.000 6 0.000 0.000 3401 1559 1069 0 0 0 0 0 0

18543 1.10 439.3 194.6 10.5 770 18544 0.00 0.00 0.00 0.000 6 0.000 0.000 3401 1559 1069 0 0 0 0 0 0

18855 1.13 439.3 161.7 10.9 790 18859 0.00 0.47 0.00 0.000 4 0.000 0.059 3401 1870 1069 0 0 0 0 0 0

18900 1.16 439.3 156.8 9.9 792 18908 0.05 0.50 0.00 0.000 6 0.163 0.065 3434 1567 1069 0 0 0 0 0 0

19222 1.13 439.3 121.6 10.7 813 19227 0.08 0.75 0.00 0.000 4 0.187 0.064 3419 1106 1069 0 0 0 0 0 0

19260 1.13 439.3 117.3 10.3 815 19264 0.00 0.75 0.00 0.000 6 0.000 0.051 3419 1572 1069 0 0 0 0 0 0

19587 1.13 447.9 87.1 9.5 840 19599 0.00 0.00 9.85 0.605 6 0.000 0.000 3419 1572 1035 0 0 0 0 0 0

19921 1.13 447.9 52.4 10.5 876 19928 0.00 0.98 0.00 0.000 4 0.000 0.063 3423 987 1034 0 0 0 0 0 0

19965 1.13 447.9 47.6 10.9 883 19970 0.00 0.95 0.00 0.000 6 0.000 0.051 3423 1577 1034 0 0 0 0 0 0

20205 1.11 447.9 20.1 13.0 924 20212 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 1577 1034 0 0 0 0 0 0

20285 1.05 447.9 11.6 11.7 937 20293 0.12 1.67 0.00 0.000 4 0.162 0.067 3396 588 1033 0 0 0 0 0 0

20337 1.05 456.6 6.0 9.5 945 20345 0.00 1.58 4.12 0.389 6 0.000 0.047 3396 1569 999 0 0 0 0 0 0

20375 end climb: SURFACE_DEPTH_REACHED

state 20375 begin surface coast

20424 end surface coast: CONTROL_FINISHED_OK

state 20425 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	413	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1890	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1572	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1100	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	200	R_STBD_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2862	DEVICE4	134
T_DIVE	340	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	355	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-5644.3682	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	170	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3052	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-87.947678	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52752	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	18	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	0	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	392

GPS1	311212,231407,-4209.423,-455.512,35,1.7,35,-22.2	TGT_NAME	ACC_WP1
_CALLS	1	TGT_LATLONG	-4220.000,-430.000
_XMS_NAKs	0	TGT_RADIUS	6000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.236,-0.138
_SM_DEPTHo	2.86	KALMAN_X	-15085.1,321.8,-872.7,106220.9,-1320.6
_SM_ANGLEo	-64.9	KALMAN_Y	-102356.6,-124.0,-704.4,76573.5,882.5
GPS2	311212,232200,-4209.541,-455.354,44,1.6,44,-22.2	MHEAD_RNG_PITCHd_Wd	142.6,39750,-16.8,-9.804
SPEED_LIMITS	0.170,0.273	D_GRID	1000

FINISH	2.1,1.018325	_10V_AH	9.9,56.493
SM_CCo	20502,0.00,0.000,0,0,994,458.21	FG_AHR_24Vo	0.000
SM_GC	3.00,8.73,0.00,0.00,0.037,0.000,0.000,79,1889,994,-9.20,-0.03,458.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4152.48,-456.42,311212,171719	MEM	354608
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57000,959
HUMID	47.59	CAP_FILE_SIZE	186209,0
INTERNAL_PRESSURE	9.05974	CFSIZE	2097086464,2039742464
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	1	GPS	010113,050605,-4209.873,-453.493,54,1.0,54,-22.2
_24V_AH	22.3,68.152

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	223	115.94	SBE_CT	642	24	344.13
Roll_motor	128	72	208.13	WL_BB2FLVMT	895	105	2096.72
VBD_pump_during_apogee	562	1257	15786.99	SBE_O2	656	19	277.97
VBD_pump_during_surface	0	0	0.00	QSP2150	75	4	7.39
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	66.66	nil	0	0	0.00
Iridium_during_connect	39	160	141.81	nil	0	0	0.00
Iridium_during_xfer	237	223	1179.60	nil	0	0	0.00
Transponder_ping	0	420	2.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	26	12.49
TT8	2518	14	372.96
LPSleep	14527	2	314.97
TT8_Active	621	14	87.46
TT8_Sampling	3040	37	1126.77
TT8_CF8	259	47	121.23
TT8_Kalman	33	59	19.54
Analog_circuits	1912	12	227.18
GPS_charging	0	0	0.00
Compass	2671	15	416.09
RAFOS	0	0	0.00
Transponder	1	5	0.05

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-0.94	-165.4	0.0	0.0	0	64	0.00	0.00	-36.22	0.000	2	0.000	0.000	81	1900	1730	0	0	0	0	0	0
67	-0.94	-165.4	3.1	-0.6	6	158	10.77	2.38	-74.15	0.000	4	0.223	0.073	2745	472	3537	0	0	0	0	0	0
259	-0.94	-165.4	19.3	-11.2	38	266	0.00	2.30	0.00	0.000	6	0.000	0.049	2734	1884	3539	0	0	0	0	0	0
340	-0.92	-165.4	27.8	-10.2	51	347	0.08	1.52	0.00	0.000	4	0.199	0.060	2746	2816	3539	0	0	0	0	0	0
395	-0.94	-165.4	33.6	-10.0	60	402	0.00	1.50	0.00	0.000	6	0.000	0.053	2746	1889	3539	0	0	0	0	0	0
634	-0.96	-165.4	56.6	-9.8	101	639	0.00	1.58	0.00	0.000	4	0.000	0.062	2739	2858	3540	0	0	0	0	0	0
701	-0.98	-165.4	63.9	-10.3	110	705	0.00	1.58	0.00	0.000	6	0.000	0.051	2739	1877	3540	0	0	0	0	0	0
1032	-1.02	-165.4	95.5	-8.9	141	1036	0.00	0.82	0.00	0.000	4	0.000	0.060	2739	1354	3540	0	0	0	0	0	0
1080	-1.04	-165.4	99.5	-9.0	145	1084	0.03	0.85	0.00	0.000	6	0.093	0.053	2700	1893	3540	0	0	0	0	0	0
1405	-1.02	-165.4	131.1	-10.2	166	1409	0.08	1.27	0.00	0.000	4	0.187	0.059	2713	2687	3540	0	0	0	0	0	0
1477	-1.02	-165.4	138.4	-9.5	170	1480	0.00	1.27	0.00	0.000	6	0.000	0.050	2713	1887	3540	0	0	0	0	0	0
1803	-1.02	-165.4	170.6	-10.2	191	1807	0.00	0.85	0.00	0.000	4	0.000	0.058	2709	2431	3540	0	0	0	0	0	0
1856	-1.02	-165.4	175.9	-9.7	194	1860	0.00	0.85	0.00	0.000	6	0.000	0.053	2709	1887	3540	0	0	0	0	0	0
2175	-1.02	-165.4	209.0	-10.4	213	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1886	3541	0	0	0	0	0	0
2484	-1.02	-165.4	240.9	-10.3	228	2488	0.00	0.45	0.00	0.000	4	0.000	0.062	2707	2187	3540	0	0	0	0	0	0
2552	-1.02	-165.4	247.7	-10.6	231	2556	0.00	0.45	0.00	0.000	6	0.000	0.059	2707	1886	3541	0	0	0	0	0	0
2887	-1.02	-165.4	280.1	-9.6	247	2891	0.05	0.75	0.00	0.000	4	0.221	0.060	2715	2359	3541	0	0	0	0	0	0
2958	-1.02	-165.4	287.1	-8.9	250	2962	0.00	0.73	0.00	0.000	6	0.000	0.054	2715	1890	3541	0	0	0	0	0	0
3274	-1.02	-165.4	315.9	-9.4	263	3278	0.00	0.62	0.00	0.000	4	0.000	0.059	2712	2301	3541	0	0	0	0	0	0
3363	-1.02	-165.4	324.2	-8.8	265	3367	0.00	0.65	0.00	0.000	6	0.000	0.054	2713	1877	3541	0	0	0	0	0	0
3682	-1.02	-165.4	351.4	-8.5	276	3685	0.00	1.27	0.00	0.000	4	0.000	0.059	2707	2673	3540	0	0	0	0	0	0
3731	-1.02	-165.4	355.8	-8.1	277	3736	0.03	1.25	0.00	0.000	6	0.170	0.050	2717	1883	3540	0	0	0	0	0	0
4055	-1.02	-165.4	383.4	-9.2	288	4059	0.00	0.90	0.00	0.000	4	0.000	0.059	2712	2449	3540	0	0	0	0	0	0
4093	-1.02	-165.4	387.1	-9.5	289	4097	0.00	0.88	0.00	0.000	6	0.000	0.051	2713	1887	3540	0	0	0	0	0	0
4429	-1.02	-165.4	420.4	-10.3	300	4433	0.00	0.65	0.00	0.000	4	0.000	0.058	2713	1463	3540	0	0	0	0	0	0
4478	-1.02	-165.4	425.7	-9.9	301	4483	0.00	0.68	0.00	0.000	6	0.000	0.052	2709	1893	3540	0	0	0	0	0	0
4802	-1.02	-165.4	459.2	-10.5	312	4806	0.00	1.58	0.00	0.000	4	0.000	0.058	2702	2876	3540	0	0	0	0	0	0
4870	-1.02	-165.4	466.2	-10.0	314	4874	0.05	1.58	0.00	0.000	6	0.138	0.050	2721	1886	3540	0	0	0	0	0	0
5210	-1.05	-165.4	501.4	-10.4	325	5214	0.00	1.30	0.00	0.000	4	0.000	0.060	2715	2694	3539	0	0	0	0	0	0
5265	-1.05	-165.4	507.4	-9.9	326	5270	0.00	1.27	0.00	0.000	6	0.000	0.050	2715	1890	3539	0	0	0	0	0	0
5584	-1.05	-165.4	540.5	-10.5	337	5588	0.00	1.10	0.00	0.000	4	0.000	0.060	2710	2582	3539	0	0	0	0	0	0
5651	-1.05	-165.4	547.6	-10.7	339	5655	0.00	1.10	0.00	0.000	6	0.000	0.052	2710	1886	3538	0	0	0	0	0	0
5992	-1.05	-165.4	583.5	-10.6	350	5996	0.00	2.03	0.00	0.000	4	0.000	0.061	2701	3146	3538	0	0	0	0	0	0
6047	-1.05	-165.4	589.6	-11.2	351	6051	0.00	2.00	0.00	0.000	6	0.000	0.049	2701	1893	3538	0	0	0	0	0	0
6365	-1.05	-165.4	622.5	-10.5	362	6369	0.00	0.45	0.00	0.000	4	0.000	0.060	2699	2194	3537	0	0	0	0	0	0
6448	-1.05	-165.4	631.4	-10.5	364	6453	0.05	0.47	0.00	0.000	6	0.206	0.057	2712	1887	3537	0	0	0	0	0	0
6772	-1.05	-165.4	663.4	-9.7	375	6776	0.00	0.52	0.00	0.000	4	0.000	0.060	2709	2232	3536	0	0	0	0	0	0
6855	-1.05	-165.4	671.4	-10.1	377	6859	0.00	0.55	0.00	0.000	6	0.000	0.057	2710	1881	3536	0	0	0	0	0	0
7180	-1.05	-165.4	702.4	-9.7	388	7184	0.00	0.85	0.00	0.000	4	0.000	0.059	2706	2417	3535	0	0	0	0	0	0
7229	-1.05	-165.4	707.5	-9.6	389	7234	0.00	0.82	0.00	0.000	6	0.000	0.053	2706	1891	3535	0	0	0	0	0	0
7554	-1.05	-165.4	740.1	-10.2	400	7558	0.00	0.80	0.00	0.000	4	0.000	0.060	2702	2396	3534	0	0	0	0	0	0
7625	-1.05	-165.4	747.7	-10.0	402	7630	0.00	0.82	0.00	0.000	6	0.000	0.054	2703	1878	3534	0	0	0	0	0	0
7961	-1.05	-165.4	783.5	-10.8	413	7965	0.00	0.98	0.00	0.000	4	0.000	0.060	2698	2487	3533	0	0	0	0	0	0
8010	-1.05	-165.4	788.9	-10.9	414	8015	0.05	0.98	0.00	0.000	6	0.207	0.053	2711	1883	3534	0	0	0	0	0	0
8333	-1.05	-165.4	822.8	-10.4	425	8335	0.00	0.00	0.00	0.000	6	0.000	0.000	2711	1883	3533	0	0	0	0	0	0
8640	-1.07	-165.4	853.5	-9.8	435	8644	0.00	1.45	0.00	0.000	4	0.000	0.061	2704	2778	3531	0	0	0	0	0	0
8695	-1.07	-165.4	859.0	-10.1	436	8699	0.00	1.42	0.00	0.000	6	0.000	0.052	2704	1891	3531	0	0	0	0	0	0
9014	-1.07	-165.4	888.3	-9.1	447	9015	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1891	3531	0	0	0	0	0	0
9320	-1.07	-165.4	915.2	-8.6	457	9324	0.00	1.83	0.00	0.000	4	0.000	0.062	2696	3000	3531	0	0	0	0	0	0
9376	-1.07	-165.4	920.1	-9.2	458	9380	0.00	1.77	0.00	0.000	6	0.000	0.050	2696	1893	3531	0	0	0	0	0	0
9694	-1.07	-165.4	948.4	-9.2	469	9698	0.00	1.88	0.00	0.000	4	0.000	0.063	2688	3045	3530	0	0	0	0	0	0
9744	-1.03	-165.4	953.0	-8.5	470	9749	0.10	1.85	0.00	0.000	6	0.168	0.050	2714	1878	3529	0	0	0	0	0	0
10069	-1.06	-165.4	983.1	-9.8	481	10073	0.00	2.28	0.00	0.000	4	0.000	0.062	2714	484	3529	0	0	0	0	0	0
10157	-1.06	-165.4	992.7	-11.0	483	10163	0.00	2.28	0.00	0.000	6	0.000	0.050	2704	1886	3529	0	0	0	0	0	0
10254	end dive: TARGET_DEPTH_EXCEEDED
state	10254	begin apogee
10259	-0.28	0.0	1002.4	10.0	487	10406	0.80	0.00	143.43	1.258	6	0.118	0.000	2959	1563	2862	0	0	0	0	0	0
10407	end apogee: CONTROL_FINISHED_OK
state	10407	begin climb
10409	0.94	165.4	1013.6	0.0	492	10569	1.15	2.45	149.75	1.220	4	0.065	0.057	3356	2895	2186	0	0	0	0	0	0
10642	0.79	268.8	1013.0	5.7	499	10746	0.22	2.25	96.05	1.203	6	0.163	0.050	3308	1572	1765	0	0	0	0	0	0
11050	0.80	364.1	988.7	6.0	512	11144	0.00	1.25	88.10	1.206	4	0.000	0.065	3313	882	1376	0	0	0	0	0	0
11185	0.87	422.1	979.6	7.5	516	11245	0.03	1.17	55.53	1.180	6	0.095	0.050	3340	1569	1142	0	0	0	0	0	0
11571	0.96	422.1	941.6	10.3	529	11575	0.05	2.00	0.00	0.000	4	0.161	0.058	3379	2805	1129	0	0	0	0	0	0
11614	0.96	422.1	936.5	11.0	530	11619	0.05	2.03	0.00	0.000	6	0.147	0.055	3369	1580	1129	0	0	0	0	0	0
11944	1.00	422.1	899.9	11.2	541	11945	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	1580	1127	0	0	0	0	0	0
12250	1.04	422.1	866.7	10.7	551	12251	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	1580	1127	0	0	0	0	0	0
12556	1.08	422.1	835.7	9.9	561	12560	0.08	0.80	0.00	0.000	4	0.121	0.067	3416	1084	1126	0	0	0	0	0	0
12640	1.05	422.1	826.7	10.2	563	12644	0.08	0.77	0.00	0.000	6	0.148	0.052	3392	1569	1125	0	0	0	0	0	0
12963	1.05	422.1	793.7	10.3	574	12967	0.00	2.28	0.00	0.000	4	0.000	0.061	3392	2980	1125	0	0	0	0	0	0
13012	1.02	422.1	788.4	10.7	575	13017	0.08	2.25	0.00	0.000	6	0.196	0.053	3384	1564	1125	0	0	0	0	0	0
13331	1.02	424.0	756.8	9.7	586	13334	0.00	1.27	0.00	0.000	4	0.000	0.066	3390	793	1125	0	0	0	0	0	0
13399	1.02	424.0	749.9	10.3	588	13402	0.00	1.25	0.00	0.000	6	0.000	0.052	3390	1567	1124	0	0	0	0	0	0
13739	1.04	424.0	713.6	10.9	599	13743	0.00	2.08	0.00	0.000	4	0.000	0.068	3399	321	1124	0	0	0	0	0	0
13783	1.04	424.0	708.4	10.6	600	13787	0.00	2.03	0.00	0.000	6	0.000	0.050	3399	1570	1124	0	0	0	0	0	0
14113	1.04	424.0	670.5	11.7	611	14117	0.00	2.35	0.00	0.000	4	0.000	0.070	3410	167	1123	0	0	0	0	0	0
14180	1.00	424.0	662.3	12.1	613	14185	0.12	2.28	0.00	0.000	6	0.166	0.050	3376	1586	1124	0	0	0	0	0	0
14510	1.03	424.0	626.1	10.9	624	14514	0.00	2.25	0.00	0.000	4	0.000	0.062	3377	2977	1124	0	0	0	0	0	0
14587	1.06	424.0	617.2	11.3	626	14592	0.00	2.22	0.00	0.000	6	0.000	0.054	3386	1574	1124	0	0	0	0	0	0
14912	1.08	424.0	581.8	10.9	637	14916	0.00	2.28	0.00	0.000	4	0.000	0.063	3386	2982	1124	0	0	0	0	0	0
14960	1.08	424.0	576.3	10.6	638	14965	0.00	2.30	0.00	0.000	6	0.000	0.054	3396	1565	1124	0	0	0	0	0	0
15279	1.08	424.0	542.8	10.3	649	15283	0.00	1.20	0.00	0.000	4	0.000	0.067	3402	840	1124	0	0	0	0	0	0
15319	1.08	424.0	538.8	10.1	650	15322	0.00	1.17	0.00	0.000	6	0.000	0.052	3402	1566	1124	0	0	0	0	0	0
15654	1.08	433.9	506.7	9.4	661	15665	0.00	0.00	9.45	0.890	6	0.000	0.000	3402	1566	1091	0	0	0	0	0	0
15960	1.08	439.3	477.6	9.6	671	15973	0.00	2.42	6.62	0.771	4	0.000	0.070	3412	157	1070	0	0	0	0	0	0
16013	1.08	439.3	472.2	9.8	672	16017	0.00	2.33	0.00	0.000	6	0.000	0.050	3412	1576	1070	0	0	0	0	0	0
16332	1.08	439.3	439.4	10.7	683	16335	0.00	0.73	0.00	0.000	4	0.000	0.056	3413	2045	1070	0	0	0	0	0	0
16371	1.08	439.3	435.1	11.2	684	16375	0.03	0.77	0.00	0.000	6	0.191	0.063	3406	1565	1070	0	0	0	0	0	0
16705	1.08	439.3	396.6	12.0	695	16709	0.00	2.35	0.00	0.000	4	0.000	0.070	3417	159	1069	0	0	0	0	0	0
16772	1.08	439.3	388.6	11.1	697	16776	0.05	2.28	0.00	0.000	6	0.220	0.050	3406	1574	1069	0	0	0	0	0	0
17107	1.08	439.3	349.8	11.1	708	17111	0.00	1.92	0.00	0.000	4	0.000	0.059	3405	2785	1069	0	0	0	0	0	0
17151	1.06	439.3	344.7	11.1	709	17156	0.05	1.98	0.00	0.000	6	0.158	0.057	3397	1579	1069	0	0	0	0	0	0
17481	1.10	439.3	309.1	10.8	720	17485	0.00	0.68	0.00	0.000	4	0.000	0.067	3400	1157	1069	0	0	0	0	0	0
17521	1.12	439.3	304.7	10.7	721	17524	0.00	0.65	0.00	0.000	6	0.000	0.056	3400	1565	1069	0	0	0	0	0	0
17851	1.15	439.3	269.3	10.6	736	17855	0.08	1.88	0.00	0.000	4	0.123	0.060	3440	2728	1069	0	0	0	0	0	0
17896	1.08	439.3	263.9	10.5	738	17900	0.17	1.85	0.00	0.000	6	0.159	0.054	3401	1559	1069	0	0	0	0	0	0
18229	1.08	439.3	227.6	10.8	754	18231	0.00	0.00	0.00	0.000	6	0.000	0.000	3401	1559	1069	0	0	0	0	0	0
18543	1.10	439.3	194.6	10.5	770	18544	0.00	0.00	0.00	0.000	6	0.000	0.000	3401	1559	1069	0	0	0	0	0	0
18855	1.13	439.3	161.7	10.9	790	18859	0.00	0.47	0.00	0.000	4	0.000	0.059	3401	1870	1069	0	0	0	0	0	0
18900	1.16	439.3	156.8	9.9	792	18908	0.05	0.50	0.00	0.000	6	0.163	0.065	3434	1567	1069	0	0	0	0	0	0
19222	1.13	439.3	121.6	10.7	813	19227	0.08	0.75	0.00	0.000	4	0.187	0.064	3419	1106	1069	0	0	0	0	0	0
19260	1.13	439.3	117.3	10.3	815	19264	0.00	0.75	0.00	0.000	6	0.000	0.051	3419	1572	1069	0	0	0	0	0	0
19587	1.13	447.9	87.1	9.5	840	19599	0.00	0.00	9.85	0.605	6	0.000	0.000	3419	1572	1035	0	0	0	0	0	0
19921	1.13	447.9	52.4	10.5	876	19928	0.00	0.98	0.00	0.000	4	0.000	0.063	3423	987	1034	0	0	0	0	0	0
19965	1.13	447.9	47.6	10.9	883	19970	0.00	0.95	0.00	0.000	6	0.000	0.051	3423	1577	1034	0	0	0	0	0	0
20205	1.11	447.9	20.1	13.0	924	20212	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	1577	1034	0	0	0	0	0	0
20285	1.05	447.9	11.6	11.7	937	20293	0.12	1.67	0.00	0.000	4	0.162	0.067	3396	588	1033	0	0	0	0	0	0
20337	1.05	456.6	6.0	9.5	945	20345	0.00	1.58	4.12	0.389	6	0.000	0.047	3396	1569	999	0	0	0	0	0	0
20375	end climb: SURFACE_DEPTH_REACHED
state	20375	begin surface coast
20424	end surface coast: CONTROL_FINISHED_OK
state	20425	begin surface