Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 45 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 45 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 15 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 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2093487.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2093487.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 45 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 110207,6010.927,-617.850,41,1.0,41,-7.3 TGT_NAME WTB_2

_CALLS 4 TGT_LATLONG 6015.000,-645.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.137,0.174

_SM_DEPTHo 1.37 KALMAN_X -1636.9,-245.0,-1067.6,-52142.7,-726.3

_SM_ANGLEo -60.1 KALMAN_Y -37495.9,192.3,-132.1,-30781.4,-4080.9

GPS2 111844,6010.829,-617.970,10,1.8,15,-7.3 MHEAD_RNG_PITCHd_Wd 294.6,26014,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027045 ALTIM_TOP_PING 20.0,19.3

SM_CCo 26812,5.95,0.502,0,0,1558,300.00 _24V_AH 23.4,9.929

SM_GC 2.38,0.00,0.00,5.95,0.000,0.000,0.502,70,2306,1558,-10.25,0.14,300.00 _10V_AH 10.1,4.648

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 66203,1292

TT8_MAMPS 0.023777 CAP_FILE_SIZE 212370,1

HUMID 1830 CFSIZE 260165632,255733760

TCM_TEMP 18.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 124 GPS 140608,184756,6013.239,-625.015,40,1.2,40,-7.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 168 109.47 SBE_CT 959 24 538.62

Roll_motor 282 95 629.27 SBE_O2 887 19 394.41

VBD_pump_during_apogee 416 1295 12612.83 WL_BB2F 667 105 1641.18

VBD_pump_during_surface 5 501 69.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 179.88 nil 0 0 0.00

Iridium_during_connect 124 160 465.47 nil 0 0 0.00

Iridium_during_xfer 461 223 2405.68

Transponder_ping 39 420 390.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.90

TT8 2403 19 480.61

LPSleep 20862 2 461.46

TT8_Active 640 19 128.03

TT8_Sampling 2811 39 1129.98

TT8_CF8 1090 45 504.39

TT8_Kalman 33 81 27.56

Analog_circuits 2074 12 251.47

GPS_charging 0 0 0.00

Compass 2745 8 221.83

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 87 0.00 0.00 -61.42 0.000 2 0.000 0.000 69 2299 2743

91 -0.85 -146.6 3.0 -4.1 3 126 10.10 2.72 -18.80 0.000 4 0.169 0.090 1897 3709 3380

314 -0.05 -146.6 57.0 -26.8 13 322 2.00 2.60 0.00 0.000 6 0.117 0.058 2286 2301 3381

648 -0.66 -146.6 82.8 -8.3 29 650 0.60 0.00 0.00 0.000 6 0.053 0.000 2150 2301 3380

955 -0.80 -146.6 107.0 -7.7 44 957 0.12 0.00 0.00 0.000 6 0.048 0.000 2107 2301 3381

1264 -0.80 -146.6 135.9 -9.4 59 1269 0.00 2.70 0.00 0.000 4 0.000 0.079 2107 3707 3380

1292 -0.71 -146.6 138.6 -9.9 60 1297 0.20 2.60 0.00 0.000 6 0.088 0.055 2146 2294 3381

1608 -0.67 -146.6 164.6 -7.9 75 1612 0.00 2.62 0.00 0.000 4 0.000 0.067 2146 880 3381

1680 -0.67 -146.6 170.5 -8.2 78 1684 0.00 2.62 0.00 0.000 6 0.000 0.059 2146 2298 3381

1996 -0.62 -146.6 196.1 -8.4 93 2000 0.00 2.65 0.00 0.000 4 0.000 0.066 2146 877 3381

2045 -0.62 -146.6 200.7 -9.3 95 2050 0.00 2.65 0.00 0.000 6 0.000 0.060 2146 2303 3381

2361 -0.56 -146.6 229.2 -9.0 110 2366 0.15 2.65 0.00 0.000 4 0.084 0.066 2180 880 3381

2424 -0.67 -146.6 233.9 -7.4 113 2429 0.12 2.62 0.00 0.000 6 0.046 0.059 2137 2302 3381

2751 -0.59 -146.6 262.2 -8.4 129 2753 0.17 0.00 0.00 0.000 6 0.081 0.000 2172 2301 3381

3060 -0.59 -146.6 282.5 -6.4 144 3064 0.00 2.65 0.00 0.000 4 0.000 0.066 2172 876 3381

3110 -0.66 -146.6 286.0 -7.3 146 3114 0.00 2.62 0.00 0.000 6 0.000 0.060 2172 2300 3380

3426 -0.66 -146.6 308.4 -7.0 161 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2300 3381

3735 -0.66 -146.6 331.2 -7.5 176 3739 0.00 2.65 0.00 0.000 4 0.000 0.066 2172 874 3380

3784 -0.75 -146.6 334.7 -7.0 178 3790 0.17 2.62 0.00 0.000 6 0.040 0.059 2118 2302 3380

4101 -0.63 -146.6 362.3 -8.1 193 4102 0.22 0.00 0.00 0.000 6 0.082 0.000 2163 2301 3380

4409 -0.63 -146.6 382.2 -7.0 208 4414 0.00 2.65 0.00 0.000 4 0.000 0.066 2163 874 3380

4454 -0.68 -146.6 385.5 -7.5 210 4458 0.00 2.62 0.00 0.000 6 0.000 0.059 2163 2299 3380

4775 -0.68 -146.6 410.4 -8.3 226 4776 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2299 3380

5084 -0.68 -146.6 438.2 -8.7 241 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2299 3380

5394 -0.68 -146.6 464.3 -8.1 256 5398 0.00 2.62 0.00 0.000 4 0.000 0.065 2163 880 3380

5438 -0.74 -146.6 467.9 -8.0 258 5443 0.12 2.62 0.00 0.000 6 0.046 0.058 2121 2306 3380

5759 -0.63 -146.6 498.7 -9.3 274 5764 0.15 2.67 0.00 0.000 4 0.086 0.083 2156 3707 3380

5800 -0.63 -146.6 502.1 -7.9 276 5804 0.00 2.58 0.00 0.000 6 0.000 0.056 2156 2299 3380

6128 -0.63 -146.6 525.8 -7.0 292 6132 0.00 2.62 0.00 0.000 4 0.000 0.067 2156 881 3379

6195 -0.68 -146.6 530.3 -6.3 295 6199 0.00 2.62 0.00 0.000 6 0.000 0.059 2156 2302 3380

6516 -0.68 -146.6 555.7 -8.7 311 6517 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2302 3380

6825 -0.68 -146.6 579.2 -6.8 326 6826 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2302 3380

7136 -0.68 -146.6 601.0 -6.9 341 7141 0.00 2.65 0.00 0.000 4 0.000 0.067 2155 881 3378

7181 -0.74 -146.6 604.5 -7.7 343 7186 0.00 2.62 0.00 0.000 6 0.000 0.061 2156 2302 3379

7502 -0.74 -146.6 624.8 -6.1 359 7504 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2302 3378

7812 -0.74 -146.6 643.3 -5.7 374 7816 0.00 2.67 0.00 0.000 4 0.000 0.069 2156 876 3377

7856 -0.81 -146.6 646.2 -6.8 376 7862 0.15 2.67 0.00 0.000 6 0.048 0.064 2111 2304 3377

8178 -0.70 -146.6 674.1 -8.7 392 8183 0.15 2.67 0.00 0.000 4 0.092 0.071 2145 884 3376

8222 -0.70 -146.6 677.8 -7.9 394 8227 0.00 2.67 0.00 0.000 6 0.000 0.066 2144 2307 3376

8543 -0.70 -146.6 700.1 -6.8 410 8548 0.00 2.67 0.00 0.000 4 0.000 0.072 2144 885 3375

8593 -0.70 -146.6 703.6 -6.8 412 8597 0.00 2.67 0.00 0.000 6 0.000 0.067 2144 2303 3375

8908 -0.70 -146.6 724.5 -7.1 427 8910 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2303 3373

9218 -0.70 -146.6 747.0 -7.3 442 9222 0.00 2.70 0.00 0.000 4 0.000 0.075 2144 879 3372

9251 -0.70 -146.6 749.3 -7.7 443 9257 0.00 2.70 0.00 0.000 6 0.000 0.069 2144 2306 3372

9566 -0.70 -146.6 771.2 -7.0 459 9567 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2306 3370

9875 -0.70 -146.6 793.6 -7.4 474 9880 0.00 2.70 0.00 0.000 4 0.000 0.076 2144 885 3369

9909 -0.70 -146.6 796.2 -7.7 475 9915 0.00 2.67 0.00 0.000 6 0.000 0.071 2144 2300 3369

10225 -0.70 -146.6 819.1 -7.2 491 10226 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2300 3367

10534 -0.70 -146.6 840.1 -6.8 506 10538 0.00 2.70 0.00 0.000 4 0.000 0.077 2144 886 3366

10578 -0.70 -146.6 843.3 -7.6 508 10582 0.00 2.67 0.00 0.000 6 0.000 0.071 2144 2302 3366

10899 -0.70 -146.6 864.0 -6.5 524 10900 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2302 3364

11208 -0.70 -146.6 883.1 -6.0 539 11212 0.00 2.70 0.00 0.000 4 0.000 0.077 2144 883 3363

11258 -0.74 -146.6 886.4 -6.2 541 11262 0.00 2.67 0.00 0.000 6 0.000 0.070 2144 2298 3363

11574 -0.74 -146.6 905.8 -6.1 556 11575 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2298 3362

11883 -0.74 -146.6 924.9 -6.4 571 11884 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2298 3361

12192 -0.74 -146.6 944.0 -6.1 586 12197 0.00 2.67 0.00 0.000 4 0.000 0.076 2144 886 3360

12249 -0.78 -146.6 947.5 -5.7 588 12255 0.00 2.67 0.00 0.000 6 0.000 0.069 2144 2306 3360

12565 -0.78 -146.6 966.0 -5.9 604 12566 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2306 3360

12874 -0.78 -146.6 984.5 -6.1 619 12878 0.00 2.70 0.00 0.000 4 0.000 0.075 2144 884 3359

12918 -0.83 -146.6 987.5 -6.7 621 12923 0.12 2.67 0.00 0.000 6 0.061 0.068 2111 2305 3359

12968 end dive: TARGET_DEPTH_EXCEEDED

state 12968 begin apogee

12975 -0.31 0.0 991.4 7.4 624 13112 0.60 0.00 131.45 1.295 6 0.105 0.000 2228 2305 2781

13112 end apogee: CONTROL_FINISHED_OK

state 13112 begin climb

13115 0.85 146.6 996.3 0.0 631 13261 1.25 2.88 135.85 1.253 4 0.089 0.095 2482 3719 2183

13297 0.79 146.9 991.8 6.0 640 13302 0.00 2.72 0.00 0.000 6 0.000 0.067 2482 2297 2183

13624 0.80 159.0 973.8 5.7 656 13645 0.00 2.80 13.25 1.187 4 0.000 0.076 2482 889 2132

13696 0.82 176.3 969.4 5.5 659 13720 0.00 2.70 17.42 1.222 6 0.000 0.064 2482 2305 2062

14043 0.87 217.4 951.4 4.9 676 14088 0.00 2.80 38.75 1.282 4 0.000 0.075 2482 896 1894

14122 0.89 236.0 946.9 5.5 679 14149 0.00 2.70 18.88 1.220 6 0.000 0.066 2482 2305 1818

14459 0.94 236.0 926.1 6.5 696 14464 0.00 2.72 0.00 0.000 4 0.000 0.077 2482 890 1818

14499 0.98 236.0 923.5 6.5 698 14504 0.15 2.65 0.00 0.000 6 0.081 0.066 2512 2300 1817

14825 0.98 236.0 899.2 7.4 714 14827 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2300 1817

15135 0.98 236.0 876.1 7.5 729 15139 0.00 2.72 0.00 0.000 4 0.000 0.077 2513 884 1816

15202 0.94 236.0 871.0 7.4 732 15206 0.00 2.70 0.00 0.000 6 0.000 0.067 2513 2305 1816

15522 0.94 236.0 846.1 8.1 748 15527 0.00 2.72 0.00 0.000 4 0.000 0.077 2513 888 1816

15566 0.90 236.0 842.4 8.4 750 15571 0.00 2.67 0.00 0.000 6 0.000 0.067 2513 2300 1816

15888 0.90 236.0 815.4 8.8 766 15889 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2300 1816

16198 0.84 236.0 787.0 9.2 781 16203 0.15 2.72 0.00 0.000 4 0.103 0.079 2481 887 1815

16260 0.84 236.0 781.4 8.2 784 16264 0.00 2.67 0.00 0.000 6 0.000 0.067 2481 2301 1815

16586 0.84 236.0 755.2 7.7 800 16587 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2300 1815

16895 0.84 236.0 733.0 7.1 815 16900 0.00 2.72 0.00 0.000 4 0.000 0.078 2481 883 1815

16962 0.84 240.8 728.4 5.9 818 16972 0.00 2.70 5.53 0.920 6 0.000 0.067 2480 2307 1799

17282 0.84 240.8 707.4 6.7 833 17287 0.00 2.72 0.00 0.000 4 0.000 0.078 2480 890 1799

17315 0.84 240.8 705.0 6.8 834 17322 0.00 2.65 0.00 0.000 6 0.000 0.067 2480 2301 1798

17631 0.84 240.8 685.0 6.3 850 17636 0.00 2.72 0.00 0.000 4 0.000 0.078 2481 886 1798

17675 0.84 240.8 682.1 6.7 852 17679 0.00 2.65 0.00 0.000 6 0.000 0.066 2480 2300 1798

17995 0.84 240.8 661.8 6.2 868 18000 0.00 2.70 0.00 0.000 4 0.000 0.077 2481 889 1799

18045 0.84 240.8 658.5 6.9 870 18049 0.00 2.67 0.00 0.000 6 0.000 0.065 2480 2306 1798

18360 0.84 240.8 637.5 7.0 885 18365 0.00 2.72 0.00 0.000 4 0.000 0.078 2481 889 1798

18404 0.84 240.8 634.4 7.1 887 18409 0.00 2.67 0.00 0.000 6 0.000 0.065 2481 2308 1798

18726 0.86 253.2 615.1 5.7 903 18744 0.00 0.00 12.70 1.043 6 0.000 0.000 2480 2308 1748

19054 0.87 263.5 596.9 5.7 919 19070 0.00 2.78 10.90 1.006 4 0.000 0.077 2480 888 1706

19122 0.87 263.5 592.6 6.7 921 19127 0.00 2.67 0.00 0.000 6 0.000 0.063 2481 2302 1706

19444 0.87 263.5 570.9 7.2 937 19448 0.00 2.72 0.00 0.000 4 0.000 0.077 2481 883 1706

19538 0.87 263.5 563.3 8.8 941 19543 0.00 2.65 0.00 0.000 6 0.000 0.063 2480 2303 1706

19854 0.91 263.5 539.6 7.3 956 19859 0.00 2.70 0.00 0.000 4 0.000 0.075 2480 889 1706

19894 0.95 263.5 536.5 7.3 958 19899 0.12 2.62 0.00 0.000 6 0.059 0.061 2512 2303 1706

20221 0.91 263.5 507.9 8.9 974 20226 0.00 2.72 0.00 0.000 4 0.000 0.087 2512 3707 1706

20278 0.87 263.5 502.7 8.7 976 20285 0.12 2.65 0.00 0.000 6 0.109 0.066 2490 2301 1706

20594 0.87 263.5 478.8 7.3 992 20598 0.00 2.67 0.00 0.000 4 0.000 0.073 2490 878 1706

20683 0.87 263.5 471.9 7.4 996 20687 0.00 2.62 0.00 0.000 6 0.000 0.055 2490 2298 1706

21003 0.87 263.5 449.3 7.0 1012 21008 0.00 2.67 0.00 0.000 4 0.000 0.068 2490 878 1707

21043 0.87 263.5 446.3 6.9 1014 21048 0.00 2.62 0.00 0.000 6 0.000 0.054 2490 2304 1707

21369 0.87 263.5 422.3 7.8 1030 21374 0.00 2.67 0.00 0.000 4 0.000 0.068 2490 880 1709

21409 0.87 263.5 419.1 8.1 1032 21414 0.00 2.62 0.00 0.000 6 0.000 0.054 2489 2305 1709

21735 0.87 263.5 391.0 8.4 1048 21740 0.00 2.67 0.00 0.000 4 0.000 0.067 2490 878 1710

21780 0.87 263.5 387.2 9.4 1050 21784 0.00 2.60 0.00 0.000 6 0.000 0.052 2489 2304 1710

22101 0.87 263.5 360.8 7.9 1066 22105 0.00 2.67 0.00 0.000 4 0.000 0.068 2490 877 1711

22146 0.87 263.5 357.3 8.1 1068 22150 0.00 2.60 0.00 0.000 6 0.000 0.052 2490 2295 1712

22467 0.87 263.5 332.1 7.9 1084 22471 0.00 2.65 0.00 0.000 4 0.000 0.067 2490 881 1713

22506 0.87 263.5 328.7 9.6 1086 22511 0.00 2.62 0.00 0.000 6 0.000 0.053 2490 2307 1713

22833 0.87 263.5 301.1 8.5 1102 22837 0.00 2.67 0.00 0.000 4 0.000 0.067 2490 878 1714

22872 0.87 263.5 297.7 9.5 1104 22877 0.00 2.62 0.00 0.000 6 0.000 0.052 2490 2303 1714

23199 0.87 263.5 269.4 8.5 1120 23203 0.00 2.65 0.00 0.000 4 0.000 0.066 2490 881 1715

23238 0.87 263.5 266.3 8.0 1122 23243 0.00 2.60 0.00 0.000 6 0.000 0.052 2490 2302 1714

23565 0.87 263.5 240.2 7.7 1138 23574 0.00 2.65 3.90 0.515 4 0.000 0.066 2490 881 1706

23604 0.91 263.5 237.1 8.0 1139 23610 0.00 2.62 0.00 0.000 6 0.000 0.053 2490 2308 1707

23919 0.91 263.5 214.9 7.0 1155 23924 0.00 2.67 0.00 0.000 4 0.000 0.066 2490 874 1706

23963 0.91 263.5 211.7 6.9 1157 23968 0.00 2.62 0.00 0.000 6 0.000 0.053 2490 2309 1706

24284 0.91 263.5 188.1 7.8 1173 24288 0.00 2.67 0.00 0.000 4 0.000 0.067 2489 874 1707

24333 0.91 263.5 184.0 9.0 1175 24337 0.00 2.60 0.00 0.000 6 0.000 0.053 2490 2302 1707

24649 0.91 263.5 159.4 7.7 1190 24653 0.00 2.65 0.00 0.000 4 0.000 0.067 2490 880 1708

24704 0.95 263.5 155.0 7.8 1192 24710 0.00 2.60 0.00 0.000 6 0.000 0.054 2490 2304 1708

25020 0.95 263.5 132.9 6.7 1208 25025 0.00 2.65 0.00 0.000 4 0.000 0.067 2489 880 1708

25070 0.95 263.5 129.3 7.0 1210 25075 0.00 2.60 0.00 0.000 6 0.000 0.054 2490 2306 1708

25387 0.97 273.5 109.8 5.7 1225 25402 0.00 2.70 10.38 0.634 4 0.000 0.065 2490 874 1665

25442 1.02 281.2 106.8 5.8 1226 25457 0.15 2.62 8.00 0.598 6 0.058 0.054 2523 2302 1634

25782 0.98 281.2 82.4 8.3 1243 25786 0.00 2.65 0.00 0.000 4 0.000 0.066 2522 880 1634

25844 0.98 281.2 76.8 9.7 1246 25848 0.00 2.60 0.00 0.000 6 0.000 0.054 2522 2301 1633

26171 0.98 281.2 47.9 8.7 1262 26172 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2301 1633

26480 0.98 281.2 24.3 7.1 1277 26484 0.00 2.65 0.00 0.000 4 0.000 0.064 2522 872 1634

26569 0.99 290.2 17.7 5.8 1281 26586 0.00 2.62 9.07 0.562 6 0.000 0.054 2523 2305 1596

26770 end climb: SURFACE_DEPTH_REACHED

state 26770 begin surface coast

26790 end surface coast: CONTROL_FINISHED_OK

state 26791 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	45	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	15	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	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2093487.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	110207,6010.927,-617.850,41,1.0,41,-7.3	TGT_NAME	WTB_2
_CALLS	4	TGT_LATLONG	6015.000,-645.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.137,0.174
_SM_DEPTHo	1.37	KALMAN_X	-1636.9,-245.0,-1067.6,-52142.7,-726.3
_SM_ANGLEo	-60.1	KALMAN_Y	-37495.9,192.3,-132.1,-30781.4,-4080.9
GPS2	111844,6010.829,-617.970,10,1.8,15,-7.3	MHEAD_RNG_PITCHd_Wd	294.6,26014,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027045	ALTIM_TOP_PING	20.0,19.3
SM_CCo	26812,5.95,0.502,0,0,1558,300.00	_24V_AH	23.4,9.929
SM_GC	2.38,0.00,0.00,5.95,0.000,0.000,0.502,70,2306,1558,-10.25,0.14,300.00	_10V_AH	10.1,4.648
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	66203,1292
TT8_MAMPS	0.023777	CAP_FILE_SIZE	212370,1
HUMID	1830	CFSIZE	260165632,255733760
TCM_TEMP	18.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	124	GPS	140608,184756,6013.239,-625.015,40,1.2,40,-7.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	168	109.47	SBE_CT	959	24	538.62
Roll_motor	282	95	629.27	SBE_O2	887	19	394.41
VBD_pump_during_apogee	416	1295	12612.83	WL_BB2F	667	105	1641.18
VBD_pump_during_surface	5	501	69.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	179.88	nil	0	0	0.00
Iridium_during_connect	124	160	465.47	nil	0	0	0.00
Iridium_during_xfer	461	223	2405.68
Transponder_ping	39	420	390.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.90
TT8	2403	19	480.61
LPSleep	20862	2	461.46
TT8_Active	640	19	128.03
TT8_Sampling	2811	39	1129.98
TT8_CF8	1090	45	504.39
TT8_Kalman	33	81	27.56
Analog_circuits	2074	12	251.47
GPS_charging	0	0	0.00
Compass	2745	8	221.83
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	87	0.00	0.00	-61.42	0.000	2	0.000	0.000	69	2299	2743
91	-0.85	-146.6	3.0	-4.1	3	126	10.10	2.72	-18.80	0.000	4	0.169	0.090	1897	3709	3380
314	-0.05	-146.6	57.0	-26.8	13	322	2.00	2.60	0.00	0.000	6	0.117	0.058	2286	2301	3381
648	-0.66	-146.6	82.8	-8.3	29	650	0.60	0.00	0.00	0.000	6	0.053	0.000	2150	2301	3380
955	-0.80	-146.6	107.0	-7.7	44	957	0.12	0.00	0.00	0.000	6	0.048	0.000	2107	2301	3381
1264	-0.80	-146.6	135.9	-9.4	59	1269	0.00	2.70	0.00	0.000	4	0.000	0.079	2107	3707	3380
1292	-0.71	-146.6	138.6	-9.9	60	1297	0.20	2.60	0.00	0.000	6	0.088	0.055	2146	2294	3381
1608	-0.67	-146.6	164.6	-7.9	75	1612	0.00	2.62	0.00	0.000	4	0.000	0.067	2146	880	3381
1680	-0.67	-146.6	170.5	-8.2	78	1684	0.00	2.62	0.00	0.000	6	0.000	0.059	2146	2298	3381
1996	-0.62	-146.6	196.1	-8.4	93	2000	0.00	2.65	0.00	0.000	4	0.000	0.066	2146	877	3381
2045	-0.62	-146.6	200.7	-9.3	95	2050	0.00	2.65	0.00	0.000	6	0.000	0.060	2146	2303	3381
2361	-0.56	-146.6	229.2	-9.0	110	2366	0.15	2.65	0.00	0.000	4	0.084	0.066	2180	880	3381
2424	-0.67	-146.6	233.9	-7.4	113	2429	0.12	2.62	0.00	0.000	6	0.046	0.059	2137	2302	3381
2751	-0.59	-146.6	262.2	-8.4	129	2753	0.17	0.00	0.00	0.000	6	0.081	0.000	2172	2301	3381
3060	-0.59	-146.6	282.5	-6.4	144	3064	0.00	2.65	0.00	0.000	4	0.000	0.066	2172	876	3381
3110	-0.66	-146.6	286.0	-7.3	146	3114	0.00	2.62	0.00	0.000	6	0.000	0.060	2172	2300	3380
3426	-0.66	-146.6	308.4	-7.0	161	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2300	3381
3735	-0.66	-146.6	331.2	-7.5	176	3739	0.00	2.65	0.00	0.000	4	0.000	0.066	2172	874	3380
3784	-0.75	-146.6	334.7	-7.0	178	3790	0.17	2.62	0.00	0.000	6	0.040	0.059	2118	2302	3380
4101	-0.63	-146.6	362.3	-8.1	193	4102	0.22	0.00	0.00	0.000	6	0.082	0.000	2163	2301	3380
4409	-0.63	-146.6	382.2	-7.0	208	4414	0.00	2.65	0.00	0.000	4	0.000	0.066	2163	874	3380
4454	-0.68	-146.6	385.5	-7.5	210	4458	0.00	2.62	0.00	0.000	6	0.000	0.059	2163	2299	3380
4775	-0.68	-146.6	410.4	-8.3	226	4776	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2299	3380
5084	-0.68	-146.6	438.2	-8.7	241	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2299	3380
5394	-0.68	-146.6	464.3	-8.1	256	5398	0.00	2.62	0.00	0.000	4	0.000	0.065	2163	880	3380
5438	-0.74	-146.6	467.9	-8.0	258	5443	0.12	2.62	0.00	0.000	6	0.046	0.058	2121	2306	3380
5759	-0.63	-146.6	498.7	-9.3	274	5764	0.15	2.67	0.00	0.000	4	0.086	0.083	2156	3707	3380
5800	-0.63	-146.6	502.1	-7.9	276	5804	0.00	2.58	0.00	0.000	6	0.000	0.056	2156	2299	3380
6128	-0.63	-146.6	525.8	-7.0	292	6132	0.00	2.62	0.00	0.000	4	0.000	0.067	2156	881	3379
6195	-0.68	-146.6	530.3	-6.3	295	6199	0.00	2.62	0.00	0.000	6	0.000	0.059	2156	2302	3380
6516	-0.68	-146.6	555.7	-8.7	311	6517	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2302	3380
6825	-0.68	-146.6	579.2	-6.8	326	6826	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2302	3380
7136	-0.68	-146.6	601.0	-6.9	341	7141	0.00	2.65	0.00	0.000	4	0.000	0.067	2155	881	3378
7181	-0.74	-146.6	604.5	-7.7	343	7186	0.00	2.62	0.00	0.000	6	0.000	0.061	2156	2302	3379
7502	-0.74	-146.6	624.8	-6.1	359	7504	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2302	3378
7812	-0.74	-146.6	643.3	-5.7	374	7816	0.00	2.67	0.00	0.000	4	0.000	0.069	2156	876	3377
7856	-0.81	-146.6	646.2	-6.8	376	7862	0.15	2.67	0.00	0.000	6	0.048	0.064	2111	2304	3377
8178	-0.70	-146.6	674.1	-8.7	392	8183	0.15	2.67	0.00	0.000	4	0.092	0.071	2145	884	3376
8222	-0.70	-146.6	677.8	-7.9	394	8227	0.00	2.67	0.00	0.000	6	0.000	0.066	2144	2307	3376
8543	-0.70	-146.6	700.1	-6.8	410	8548	0.00	2.67	0.00	0.000	4	0.000	0.072	2144	885	3375
8593	-0.70	-146.6	703.6	-6.8	412	8597	0.00	2.67	0.00	0.000	6	0.000	0.067	2144	2303	3375
8908	-0.70	-146.6	724.5	-7.1	427	8910	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2303	3373
9218	-0.70	-146.6	747.0	-7.3	442	9222	0.00	2.70	0.00	0.000	4	0.000	0.075	2144	879	3372
9251	-0.70	-146.6	749.3	-7.7	443	9257	0.00	2.70	0.00	0.000	6	0.000	0.069	2144	2306	3372
9566	-0.70	-146.6	771.2	-7.0	459	9567	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2306	3370
9875	-0.70	-146.6	793.6	-7.4	474	9880	0.00	2.70	0.00	0.000	4	0.000	0.076	2144	885	3369
9909	-0.70	-146.6	796.2	-7.7	475	9915	0.00	2.67	0.00	0.000	6	0.000	0.071	2144	2300	3369
10225	-0.70	-146.6	819.1	-7.2	491	10226	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2300	3367
10534	-0.70	-146.6	840.1	-6.8	506	10538	0.00	2.70	0.00	0.000	4	0.000	0.077	2144	886	3366
10578	-0.70	-146.6	843.3	-7.6	508	10582	0.00	2.67	0.00	0.000	6	0.000	0.071	2144	2302	3366
10899	-0.70	-146.6	864.0	-6.5	524	10900	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2302	3364
11208	-0.70	-146.6	883.1	-6.0	539	11212	0.00	2.70	0.00	0.000	4	0.000	0.077	2144	883	3363
11258	-0.74	-146.6	886.4	-6.2	541	11262	0.00	2.67	0.00	0.000	6	0.000	0.070	2144	2298	3363
11574	-0.74	-146.6	905.8	-6.1	556	11575	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2298	3362
11883	-0.74	-146.6	924.9	-6.4	571	11884	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2298	3361
12192	-0.74	-146.6	944.0	-6.1	586	12197	0.00	2.67	0.00	0.000	4	0.000	0.076	2144	886	3360
12249	-0.78	-146.6	947.5	-5.7	588	12255	0.00	2.67	0.00	0.000	6	0.000	0.069	2144	2306	3360
12565	-0.78	-146.6	966.0	-5.9	604	12566	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2306	3360
12874	-0.78	-146.6	984.5	-6.1	619	12878	0.00	2.70	0.00	0.000	4	0.000	0.075	2144	884	3359
12918	-0.83	-146.6	987.5	-6.7	621	12923	0.12	2.67	0.00	0.000	6	0.061	0.068	2111	2305	3359
12968	end dive: TARGET_DEPTH_EXCEEDED
state	12968	begin apogee
12975	-0.31	0.0	991.4	7.4	624	13112	0.60	0.00	131.45	1.295	6	0.105	0.000	2228	2305	2781
13112	end apogee: CONTROL_FINISHED_OK
state	13112	begin climb
13115	0.85	146.6	996.3	0.0	631	13261	1.25	2.88	135.85	1.253	4	0.089	0.095	2482	3719	2183
13297	0.79	146.9	991.8	6.0	640	13302	0.00	2.72	0.00	0.000	6	0.000	0.067	2482	2297	2183
13624	0.80	159.0	973.8	5.7	656	13645	0.00	2.80	13.25	1.187	4	0.000	0.076	2482	889	2132
13696	0.82	176.3	969.4	5.5	659	13720	0.00	2.70	17.42	1.222	6	0.000	0.064	2482	2305	2062
14043	0.87	217.4	951.4	4.9	676	14088	0.00	2.80	38.75	1.282	4	0.000	0.075	2482	896	1894
14122	0.89	236.0	946.9	5.5	679	14149	0.00	2.70	18.88	1.220	6	0.000	0.066	2482	2305	1818
14459	0.94	236.0	926.1	6.5	696	14464	0.00	2.72	0.00	0.000	4	0.000	0.077	2482	890	1818
14499	0.98	236.0	923.5	6.5	698	14504	0.15	2.65	0.00	0.000	6	0.081	0.066	2512	2300	1817
14825	0.98	236.0	899.2	7.4	714	14827	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2300	1817
15135	0.98	236.0	876.1	7.5	729	15139	0.00	2.72	0.00	0.000	4	0.000	0.077	2513	884	1816
15202	0.94	236.0	871.0	7.4	732	15206	0.00	2.70	0.00	0.000	6	0.000	0.067	2513	2305	1816
15522	0.94	236.0	846.1	8.1	748	15527	0.00	2.72	0.00	0.000	4	0.000	0.077	2513	888	1816
15566	0.90	236.0	842.4	8.4	750	15571	0.00	2.67	0.00	0.000	6	0.000	0.067	2513	2300	1816
15888	0.90	236.0	815.4	8.8	766	15889	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2300	1816
16198	0.84	236.0	787.0	9.2	781	16203	0.15	2.72	0.00	0.000	4	0.103	0.079	2481	887	1815
16260	0.84	236.0	781.4	8.2	784	16264	0.00	2.67	0.00	0.000	6	0.000	0.067	2481	2301	1815
16586	0.84	236.0	755.2	7.7	800	16587	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2300	1815
16895	0.84	236.0	733.0	7.1	815	16900	0.00	2.72	0.00	0.000	4	0.000	0.078	2481	883	1815
16962	0.84	240.8	728.4	5.9	818	16972	0.00	2.70	5.53	0.920	6	0.000	0.067	2480	2307	1799
17282	0.84	240.8	707.4	6.7	833	17287	0.00	2.72	0.00	0.000	4	0.000	0.078	2480	890	1799
17315	0.84	240.8	705.0	6.8	834	17322	0.00	2.65	0.00	0.000	6	0.000	0.067	2480	2301	1798
17631	0.84	240.8	685.0	6.3	850	17636	0.00	2.72	0.00	0.000	4	0.000	0.078	2481	886	1798
17675	0.84	240.8	682.1	6.7	852	17679	0.00	2.65	0.00	0.000	6	0.000	0.066	2480	2300	1798
17995	0.84	240.8	661.8	6.2	868	18000	0.00	2.70	0.00	0.000	4	0.000	0.077	2481	889	1799
18045	0.84	240.8	658.5	6.9	870	18049	0.00	2.67	0.00	0.000	6	0.000	0.065	2480	2306	1798
18360	0.84	240.8	637.5	7.0	885	18365	0.00	2.72	0.00	0.000	4	0.000	0.078	2481	889	1798
18404	0.84	240.8	634.4	7.1	887	18409	0.00	2.67	0.00	0.000	6	0.000	0.065	2481	2308	1798
18726	0.86	253.2	615.1	5.7	903	18744	0.00	0.00	12.70	1.043	6	0.000	0.000	2480	2308	1748
19054	0.87	263.5	596.9	5.7	919	19070	0.00	2.78	10.90	1.006	4	0.000	0.077	2480	888	1706
19122	0.87	263.5	592.6	6.7	921	19127	0.00	2.67	0.00	0.000	6	0.000	0.063	2481	2302	1706
19444	0.87	263.5	570.9	7.2	937	19448	0.00	2.72	0.00	0.000	4	0.000	0.077	2481	883	1706
19538	0.87	263.5	563.3	8.8	941	19543	0.00	2.65	0.00	0.000	6	0.000	0.063	2480	2303	1706
19854	0.91	263.5	539.6	7.3	956	19859	0.00	2.70	0.00	0.000	4	0.000	0.075	2480	889	1706
19894	0.95	263.5	536.5	7.3	958	19899	0.12	2.62	0.00	0.000	6	0.059	0.061	2512	2303	1706
20221	0.91	263.5	507.9	8.9	974	20226	0.00	2.72	0.00	0.000	4	0.000	0.087	2512	3707	1706
20278	0.87	263.5	502.7	8.7	976	20285	0.12	2.65	0.00	0.000	6	0.109	0.066	2490	2301	1706
20594	0.87	263.5	478.8	7.3	992	20598	0.00	2.67	0.00	0.000	4	0.000	0.073	2490	878	1706
20683	0.87	263.5	471.9	7.4	996	20687	0.00	2.62	0.00	0.000	6	0.000	0.055	2490	2298	1706
21003	0.87	263.5	449.3	7.0	1012	21008	0.00	2.67	0.00	0.000	4	0.000	0.068	2490	878	1707
21043	0.87	263.5	446.3	6.9	1014	21048	0.00	2.62	0.00	0.000	6	0.000	0.054	2490	2304	1707
21369	0.87	263.5	422.3	7.8	1030	21374	0.00	2.67	0.00	0.000	4	0.000	0.068	2490	880	1709
21409	0.87	263.5	419.1	8.1	1032	21414	0.00	2.62	0.00	0.000	6	0.000	0.054	2489	2305	1709
21735	0.87	263.5	391.0	8.4	1048	21740	0.00	2.67	0.00	0.000	4	0.000	0.067	2490	878	1710
21780	0.87	263.5	387.2	9.4	1050	21784	0.00	2.60	0.00	0.000	6	0.000	0.052	2489	2304	1710
22101	0.87	263.5	360.8	7.9	1066	22105	0.00	2.67	0.00	0.000	4	0.000	0.068	2490	877	1711
22146	0.87	263.5	357.3	8.1	1068	22150	0.00	2.60	0.00	0.000	6	0.000	0.052	2490	2295	1712
22467	0.87	263.5	332.1	7.9	1084	22471	0.00	2.65	0.00	0.000	4	0.000	0.067	2490	881	1713
22506	0.87	263.5	328.7	9.6	1086	22511	0.00	2.62	0.00	0.000	6	0.000	0.053	2490	2307	1713
22833	0.87	263.5	301.1	8.5	1102	22837	0.00	2.67	0.00	0.000	4	0.000	0.067	2490	878	1714
22872	0.87	263.5	297.7	9.5	1104	22877	0.00	2.62	0.00	0.000	6	0.000	0.052	2490	2303	1714
23199	0.87	263.5	269.4	8.5	1120	23203	0.00	2.65	0.00	0.000	4	0.000	0.066	2490	881	1715
23238	0.87	263.5	266.3	8.0	1122	23243	0.00	2.60	0.00	0.000	6	0.000	0.052	2490	2302	1714
23565	0.87	263.5	240.2	7.7	1138	23574	0.00	2.65	3.90	0.515	4	0.000	0.066	2490	881	1706
23604	0.91	263.5	237.1	8.0	1139	23610	0.00	2.62	0.00	0.000	6	0.000	0.053	2490	2308	1707
23919	0.91	263.5	214.9	7.0	1155	23924	0.00	2.67	0.00	0.000	4	0.000	0.066	2490	874	1706
23963	0.91	263.5	211.7	6.9	1157	23968	0.00	2.62	0.00	0.000	6	0.000	0.053	2490	2309	1706
24284	0.91	263.5	188.1	7.8	1173	24288	0.00	2.67	0.00	0.000	4	0.000	0.067	2489	874	1707
24333	0.91	263.5	184.0	9.0	1175	24337	0.00	2.60	0.00	0.000	6	0.000	0.053	2490	2302	1707
24649	0.91	263.5	159.4	7.7	1190	24653	0.00	2.65	0.00	0.000	4	0.000	0.067	2490	880	1708
24704	0.95	263.5	155.0	7.8	1192	24710	0.00	2.60	0.00	0.000	6	0.000	0.054	2490	2304	1708
25020	0.95	263.5	132.9	6.7	1208	25025	0.00	2.65	0.00	0.000	4	0.000	0.067	2489	880	1708
25070	0.95	263.5	129.3	7.0	1210	25075	0.00	2.60	0.00	0.000	6	0.000	0.054	2490	2306	1708
25387	0.97	273.5	109.8	5.7	1225	25402	0.00	2.70	10.38	0.634	4	0.000	0.065	2490	874	1665
25442	1.02	281.2	106.8	5.8	1226	25457	0.15	2.62	8.00	0.598	6	0.058	0.054	2523	2302	1634
25782	0.98	281.2	82.4	8.3	1243	25786	0.00	2.65	0.00	0.000	4	0.000	0.066	2522	880	1634
25844	0.98	281.2	76.8	9.7	1246	25848	0.00	2.60	0.00	0.000	6	0.000	0.054	2522	2301	1633
26171	0.98	281.2	47.9	8.7	1262	26172	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2301	1633
26480	0.98	281.2	24.3	7.1	1277	26484	0.00	2.65	0.00	0.000	4	0.000	0.064	2522	872	1634
26569	0.99	290.2	17.7	5.8	1281	26586	0.00	2.62	9.07	0.562	6	0.000	0.054	2523	2305	1596
26770	end climb: SURFACE_DEPTH_REACHED
state	26770	begin surface coast
26790	end surface coast: CONTROL_FINISHED_OK
state	26791	begin surface