Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 526 * 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 526 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -72206.664 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 0.02 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 -72206.664

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 33 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 526 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 0.02 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 180726,5000.958,-14430.897,52,2.9,71,18.5 TGT_NAME SE

_CALLS 3 TGT_LATLONG 4954.011,-14429.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.030,-0.165

_SM_DEPTHo 2.52 KALMAN_X -90169.3,-291.6,-240.3,137418.1,1734.1

_SM_ANGLEo -51.1 KALMAN_Y 24086.5,-69.4,9.3,-60833.6,-28.4

GPS2 182021,5001.107,-14431.054,14,2.6,33,18.5 MHEAD_RNG_PITCHd_Wd 171.9,13221,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.5,1.013280 XPDR_PINGS 67

SM_CCo 30036,0.00,0.000,0,0,1657,312.51 _24V_AH 21.9,76.371

SM_GC 2.30,5.38,0.00,0.00,0.028,0.000,0.000,97,2298,1657,-8.62,-0.14,312.51 _10V_AH 10.5,66.221

IRIDIUM_FIX 4943.02,-14435.52,280299,181844 DATA_FILE_SIZE 44391,754

TT8_MAMPS 0.028379 CAP_FILE_SIZE 200796,0

HUMID 1724 CFSIZE 260165632,217681920

INTERNAL_PRESSURE 7.37333 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 15.60 GPS 051209,024307,4958.120,-14432.724,36,1.1,36,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 240 96.61 SBE_CT 533 24 280.60

Roll_motor 258 62 351.61 SBE_O2 613 19 255.07

VBD_pump_during_apogee 397 1289 11211.91 Optode 779 33 563.50

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1294 105 2975.94

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 179.94 nil 0 0 0.00

Iridium_during_connect 155 160 544.80 nil 0 0 0.00

Iridium_during_xfer 240 223 1174.41

Transponder_ping 16 420 154.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.98

TT8 1744 19 362.63

LPSleep 25056 2 576.16

TT8_Active 549 19 114.19

TT8_Sampling 2365 39 988.71

TT8_CF8 1081 45 519.92

TT8_Kalman 33 81 28.67

Analog_circuits 1760 12 221.80

GPS_charging 0 0 0.00

Compass 2334 8 196.08

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.68 -117.2 0.0 0.0 0 59 0.00 0.00 -38.67 0.000 2 0.000 0.000 98 2302 2648

63 -0.68 -117.3 3.7 -4.8 4 97 7.30 2.40 -18.77 0.000 4 0.240 0.062 1846 895 3412

246 -0.65 -117.3 25.1 -13.4 20 250 0.10 2.28 0.00 0.000 6 0.130 0.039 1864 2303 3414

571 -0.65 -117.3 52.8 -8.7 50 575 0.00 2.25 0.00 0.000 4 0.000 0.043 1865 890 3414

617 -0.68 -117.3 56.7 -8.3 53 623 0.00 2.25 0.00 0.000 6 0.000 0.038 1859 2315 3414

940 -0.68 -117.3 90.7 -9.8 79 941 0.00 0.00 0.00 0.000 6 0.000 0.000 1859 2315 3414

1249 -0.70 -117.3 116.9 -8.5 94 1253 0.00 2.30 0.00 0.000 4 0.000 0.042 1859 885 3415

1306 -0.75 -117.3 122.3 -9.6 96 1312 0.00 2.25 0.00 0.000 6 0.000 0.038 1850 2305 3414

1622 -0.78 -117.3 147.4 -7.5 112 1626 0.00 2.28 0.00 0.000 4 0.000 0.054 1844 3715 3414

1680 -0.83 -117.3 151.6 -7.8 114 1687 0.10 2.20 0.00 0.000 6 0.061 0.030 1769 2294 3414

1993 -0.71 -117.3 189.0 -12.1 125 1998 0.22 2.22 0.00 0.000 4 0.123 0.042 1843 891 3414

2096 -0.75 -117.3 197.1 -7.2 128 2100 0.00 2.22 0.00 0.000 6 0.000 0.037 1837 2307 3415

2432 -0.75 -117.3 218.4 -6.1 139 2436 0.00 2.22 0.00 0.000 4 0.000 0.042 1836 901 3414

2468 -0.78 -117.3 220.8 -7.0 140 2472 0.00 2.22 0.00 0.000 6 0.000 0.044 1836 2305 3414

2803 -0.78 -117.3 244.6 -7.3 151 2807 0.00 2.25 0.00 0.000 4 0.000 0.043 1836 894 3414

2843 -0.81 -117.3 247.7 -8.3 152 2847 0.00 2.25 0.00 0.000 6 0.000 0.040 1836 2305 3414

3167 -0.83 -117.3 271.5 -7.2 163 3171 0.00 2.28 0.00 0.000 4 0.000 0.050 1826 3709 3414

3201 -0.86 -117.3 274.1 -7.3 164 3204 0.00 2.17 0.00 0.000 6 0.000 0.031 1826 2303 3414

3537 -0.86 -117.3 298.2 -6.9 175 3541 0.00 2.22 0.00 0.000 4 0.000 0.044 1826 898 3413

3576 -0.86 -117.3 301.2 -7.9 176 3580 0.00 2.25 0.00 0.000 6 0.000 0.040 1818 2309 3413

3903 -0.86 -117.3 323.4 -6.7 182 3904 0.00 0.00 0.00 0.000 6 0.000 0.000 1818 2310 3413

4206 -0.86 -117.3 345.0 -7.2 187 4210 0.00 2.30 0.00 0.000 4 0.000 0.050 1818 900 3413

4240 -0.86 -117.3 347.6 -7.5 187 4244 0.00 2.25 0.00 0.000 6 0.000 0.045 1809 2304 3413

4573 -0.86 -117.3 374.0 -8.0 193 4574 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2304 3412

4875 -0.86 -117.3 397.7 -7.8 198 4879 0.00 2.28 0.00 0.000 4 0.000 0.045 1810 898 3413

4909 -0.86 -117.3 400.6 -8.2 198 4913 0.00 2.28 0.00 0.000 6 0.000 0.046 1800 2311 3412

5237 -0.83 -117.3 427.0 -8.1 204 5241 0.00 2.30 0.00 0.000 4 0.000 0.048 1800 892 3412

5265 -0.80 -117.3 429.7 -8.9 204 5270 0.12 2.25 0.00 0.000 6 0.127 0.038 1824 2310 3412

5603 -0.82 -117.3 451.8 -6.3 210 5604 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 2311 3412

5907 -0.85 -117.3 469.1 -5.7 215 5908 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 2311 3412

6210 -0.87 -117.3 487.1 -6.0 220 6214 0.00 2.30 0.00 0.000 4 0.000 0.044 1824 893 3411

6243 -0.91 -117.3 489.4 -6.4 220 6247 0.00 2.28 0.00 0.000 6 0.000 0.046 1822 2308 3411

6577 -0.93 -117.3 511.5 -6.7 226 6579 0.10 0.00 0.00 0.000 6 0.065 0.000 1755 2310 3411

6880 -0.82 -117.3 542.7 -10.5 231 6885 0.20 2.30 0.00 0.000 4 0.124 0.045 1824 899 3411

6954 -0.86 -117.3 548.6 -7.0 232 6958 0.00 2.28 0.00 0.000 6 0.000 0.042 1822 2307 3411

7309 -0.89 -117.3 571.4 -6.4 238 7313 0.00 2.30 0.00 0.000 4 0.000 0.053 1812 3718 3411

7338 -0.91 -117.3 573.4 -7.4 238 7342 0.00 2.22 0.00 0.000 6 0.000 0.038 1812 2305 3411

7670 -0.91 -117.3 595.7 -6.7 244 7674 0.00 2.30 0.00 0.000 4 0.000 0.052 1812 889 3410

7698 -0.91 -117.3 597.7 -8.1 244 7702 0.00 2.28 0.00 0.000 6 0.000 0.040 1808 2305 3410

8031 -0.91 -117.3 621.2 -7.1 250 8032 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2305 3410

8333 -0.91 -117.3 641.2 -6.5 255 8337 0.00 2.28 0.00 0.000 4 0.000 0.045 1808 896 3410

8367 -0.91 -117.3 643.6 -7.1 255 8371 0.00 2.28 0.00 0.000 6 0.000 0.046 1806 2310 3410

8694 -0.91 -117.3 664.2 -6.3 261 8695 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2310 3410

8997 -0.91 -117.3 682.8 -6.1 266 9001 0.00 2.30 0.00 0.000 4 0.000 0.045 1807 894 3410

9070 -0.91 -117.3 687.4 -6.4 267 9074 0.00 2.28 0.00 0.000 6 0.000 0.044 1801 2304 3409

9424 -0.91 -117.3 707.7 -5.7 273 9426 0.00 0.00 0.00 0.000 6 0.000 0.000 1801 2304 3409

9728 -0.91 -117.3 725.1 -5.7 278 9732 0.00 2.30 0.00 0.000 4 0.000 0.045 1801 895 3409

9779 -0.91 -117.3 728.4 -6.5 278 9783 0.00 2.28 0.00 0.000 6 0.000 0.041 1795 2303 3408

10089 -0.91 -117.3 748.1 -6.3 283 10090 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2304 3409

10393 -0.91 -117.3 767.2 -6.3 288 10397 0.00 2.33 0.00 0.000 4 0.000 0.045 1794 888 3408

10449 -0.91 -117.3 771.2 -7.6 288 10455 0.00 2.30 0.00 0.000 6 0.000 0.047 1793 2302 3409

10760 -0.91 -117.3 791.5 -6.6 294 10761 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2303 3409

11062 -0.91 -117.3 811.3 -6.6 299 11063 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2303 3409

11365 -0.91 -117.3 832.1 -6.8 304 11369 0.00 2.33 0.00 0.000 4 0.000 0.050 1793 892 3408

11398 -0.91 -117.3 834.4 -7.0 304 11402 0.00 2.30 0.00 0.000 6 0.000 0.045 1783 2307 3408

11726 -0.88 -117.3 857.5 -7.1 310 11728 0.10 0.00 0.00 0.000 6 0.133 0.000 1812 2307 3408

12031 -0.92 -117.3 873.5 -5.2 315 12035 0.00 2.30 0.00 0.000 4 0.000 0.047 1812 897 3408

12060 -0.95 -117.3 875.3 -5.5 315 12064 0.00 2.25 0.00 0.000 6 0.000 0.041 1810 2304 3408

12400 -0.98 -117.3 892.3 -4.9 321 12401 0.08 0.00 0.00 0.000 6 0.091 0.000 1765 2304 3408

12701 -0.92 -117.3 912.9 -6.9 326 12703 0.12 0.00 0.00 0.000 6 0.128 0.000 1801 2304 3408

13004 -0.92 -117.3 929.3 -5.4 331 13005 0.00 0.00 0.00 0.000 6 0.000 0.000 1801 2304 3408

13308 -0.92 -117.3 945.7 -5.4 336 13312 0.00 2.30 0.00 0.000 4 0.000 0.048 1802 895 3408

13342 -0.92 -117.3 947.9 -5.8 336 13346 0.00 2.28 0.00 0.000 6 0.000 0.041 1795 2301 3408

13676 -0.92 -117.3 967.7 -6.0 342 13677 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2301 3407

13977 -0.92 -117.3 986.2 -6.1 347 13978 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2301 3407

14035 end dive: TARGET_DEPTH_EXCEEDED

state 14035 begin apogee

14042 -0.22 0.0 990.1 6.1 348 14144 0.50 0.00 98.88 1.289 6 0.110 0.000 1957 2301 2931

14145 end apogee: CONTROL_FINISHED_OK

state 14145 begin climb

14149 0.68 117.3 991.4 0.0 349 14260 0.55 2.58 104.07 1.259 4 0.071 0.054 2151 3699 2451

14294 0.49 117.3 988.1 6.2 351 14299 0.22 2.38 0.00 0.000 6 0.162 0.039 2107 2310 2447

14645 0.48 132.2 970.3 5.0 357 14659 0.00 0.00 12.52 1.128 6 0.000 0.000 2107 2309 2392

14947 0.47 141.9 954.8 5.2 362 14959 0.00 0.00 10.07 1.085 6 0.000 0.000 2108 2309 2352

15250 0.47 145.4 938.7 5.4 367 15256 0.00 0.00 4.35 0.792 6 0.000 0.000 2108 2309 2338

15552 0.47 145.4 921.2 5.8 372 15556 0.00 2.33 0.00 0.000 4 0.000 0.051 2108 3710 2336

15583 0.43 145.4 919.3 6.5 372 15588 0.10 2.28 0.00 0.000 6 0.155 0.035 2093 2294 2336

15916 0.44 150.5 901.2 5.3 378 15923 0.00 0.00 6.00 0.928 6 0.000 0.000 2093 2294 2317

16220 0.48 162.8 885.8 5.1 383 16239 0.00 2.40 12.38 1.099 4 0.000 0.051 2093 3721 2266

16269 0.48 163.2 882.9 5.5 383 16273 0.00 2.28 0.00 0.000 6 0.000 0.033 2101 2302 2265

16585 0.49 176.9 866.7 5.0 389 16600 0.00 0.00 13.82 1.101 6 0.000 0.000 2101 2302 2209

16889 0.54 194.9 851.9 4.9 394 16913 0.00 2.38 17.08 1.116 4 0.000 0.052 2101 3711 2136

16937 0.54 194.9 849.2 6.4 394 16941 0.00 2.28 0.00 0.000 6 0.000 0.033 2111 2293 2134

17253 0.54 198.6 832.3 5.4 400 17262 0.00 2.35 4.50 0.779 4 0.000 0.054 2111 3722 2121

17286 0.54 198.6 830.0 7.0 400 17290 0.00 2.25 0.00 0.000 6 0.000 0.033 2122 2298 2120

17620 0.54 198.6 810.1 6.0 406 17624 0.00 2.30 0.00 0.000 4 0.000 0.049 2122 3713 2119

17654 0.50 198.6 807.5 6.7 406 17659 0.10 2.22 0.00 0.000 6 0.156 0.033 2108 2295 2119

17981 0.54 204.2 789.9 5.3 412 17995 0.00 2.38 6.47 0.904 4 0.000 0.050 2108 3721 2098

18013 0.54 204.2 787.9 6.2 412 18018 0.00 2.22 0.00 0.000 6 0.000 0.032 2116 2297 2097

18346 0.54 204.2 768.4 5.9 418 18350 0.00 2.28 0.00 0.000 4 0.000 0.049 2116 3713 2096

18375 0.54 204.2 766.7 6.1 418 18379 0.00 2.20 0.00 0.000 6 0.000 0.033 2127 2303 2096

18707 0.54 204.2 743.3 7.1 424 18708 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2303 2096

19011 0.54 204.2 721.2 7.3 429 19015 0.00 2.28 0.00 0.000 4 0.000 0.056 2127 3714 2095

19044 0.49 204.2 718.3 8.5 429 19049 0.12 2.20 0.00 0.000 6 0.143 0.033 2104 2301 2095

19372 0.54 204.2 697.4 6.3 435 19373 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2301 2095

19675 0.58 204.2 679.2 5.9 440 19677 0.08 0.00 0.00 0.000 6 0.079 0.000 2164 2301 2094

19978 0.49 204.2 653.3 8.7 445 19983 0.20 2.30 0.00 0.000 4 0.136 0.048 2104 3722 2094

20011 0.49 204.2 650.6 6.9 445 20015 0.00 2.20 0.00 0.000 6 0.000 0.032 2113 2296 2094

20344 0.51 209.3 632.7 5.3 451 20352 0.00 0.00 5.85 0.801 6 0.000 0.000 2112 2296 2077

20648 0.55 213.5 616.6 5.4 456 20659 0.00 2.30 5.55 0.777 4 0.000 0.051 2113 3714 2060

20687 0.55 213.5 614.0 5.7 456 20691 0.00 2.20 0.00 0.000 6 0.000 0.032 2122 2302 2059

21008 0.55 213.5 595.5 5.8 462 21012 0.00 2.25 0.00 0.000 4 0.000 0.047 2132 890 2058

21032 0.57 213.5 594.0 6.3 462 21036 0.00 2.25 0.00 0.000 6 0.000 0.038 2132 2318 2058

21381 0.57 213.5 572.2 6.3 468 21385 0.00 2.22 0.00 0.000 4 0.000 0.048 2133 3713 2058

21427 0.52 213.5 568.7 7.8 468 21432 0.12 2.20 0.00 0.000 6 0.143 0.032 2109 2293 2058

21750 0.57 216.2 551.2 5.4 474 21756 0.00 0.00 3.90 0.610 6 0.000 0.000 2110 2293 2049

22052 0.64 232.6 536.0 4.9 479 22074 0.10 2.33 16.20 0.923 4 0.067 0.048 2179 3713 1981

22091 0.52 232.6 532.8 8.4 479 22096 0.28 2.25 0.00 0.000 6 0.147 0.034 2113 2294 1980

22414 0.58 241.2 515.6 5.2 485 22428 0.00 2.30 8.45 0.827 4 0.000 0.048 2121 896 1947

22452 0.65 241.2 513.4 5.9 485 22456 0.00 2.25 0.00 0.000 6 0.000 0.044 2122 2306 1945

22779 0.69 241.2 494.8 5.7 491 22784 0.10 2.28 0.00 0.000 4 0.067 0.048 2198 3721 1945

22819 0.52 241.2 491.0 10.8 491 22824 0.35 2.22 0.00 0.000 6 0.149 0.033 2111 2301 1945

23140 0.60 248.3 473.0 5.3 497 23155 0.00 2.30 7.75 0.792 4 0.000 0.047 2119 896 1917

23173 0.67 248.3 471.1 6.7 497 23178 0.10 2.22 0.00 0.000 6 0.065 0.037 2190 2306 1916

23507 0.56 248.3 437.5 10.4 503 23511 0.22 2.28 0.00 0.000 4 0.138 0.048 2121 3714 1916

23585 0.56 248.3 431.0 7.0 504 23589 0.00 2.20 0.00 0.000 6 0.000 0.032 2129 2299 1915

23935 0.59 248.3 410.1 5.8 510 23939 0.00 2.28 0.00 0.000 4 0.000 0.047 2140 888 1914

23958 0.63 252.0 408.7 5.4 510 23967 0.00 2.25 4.35 0.604 6 0.000 0.038 2140 2305 1903

24302 0.63 252.0 387.4 6.3 516 24305 0.00 2.25 0.00 0.000 4 0.000 0.048 2140 3709 1902

24353 0.61 252.0 383.4 8.2 516 24356 0.00 2.20 0.00 0.000 6 0.000 0.033 2150 2302 1902

24675 0.61 252.0 359.4 7.5 522 24678 0.00 2.25 0.00 0.000 4 0.000 0.048 2159 896 1902

24714 0.61 252.0 356.2 8.2 522 24719 0.12 2.22 0.00 0.000 6 0.122 0.037 2126 2307 1901

25041 0.66 252.0 335.2 6.5 528 25045 0.00 2.28 0.00 0.000 4 0.000 0.048 2126 3713 1901

25075 0.69 252.0 332.7 6.0 528 25079 0.00 2.22 0.00 0.000 6 0.000 0.032 2133 2297 1901

25403 0.73 252.0 309.8 7.0 534 25407 0.08 2.28 0.00 0.000 4 0.076 0.046 2205 891 1901

25431 0.67 252.0 307.0 9.0 534 25435 0.22 2.25 0.00 0.000 6 0.138 0.038 2141 2308 1901

25766 0.69 252.0 284.1 6.3 543 25769 0.00 2.25 0.00 0.000 4 0.000 0.048 2142 3706 1901

25805 0.69 252.0 281.2 7.0 544 25809 0.00 2.22 0.00 0.000 6 0.000 0.032 2149 2291 1901

26135 0.70 256.9 262.5 5.3 555 26145 0.00 2.25 5.75 0.630 4 0.000 0.047 2159 888 1883

26169 0.70 256.9 260.4 5.6 556 26173 0.00 2.25 0.00 0.000 6 0.000 0.037 2159 2308 1882

26499 0.67 256.9 239.8 6.5 567 26503 0.00 2.25 0.00 0.000 4 0.000 0.048 2160 3713 1882

26550 0.63 256.9 235.9 7.5 568 26555 0.12 2.20 0.00 0.000 6 0.130 0.032 2135 2294 1882

26875 0.69 265.4 219.3 5.2 579 26890 0.00 2.30 9.20 0.683 4 0.000 0.047 2143 894 1848

26914 0.77 283.5 216.9 4.9 580 26940 0.08 2.25 16.95 0.723 6 0.074 0.037 2204 2307 1775

27248 0.67 283.5 184.5 9.9 591 27252 0.20 2.28 0.00 0.000 4 0.123 0.047 2139 3712 1770

27309 0.70 283.5 179.8 6.7 592 27316 0.00 2.20 0.00 0.000 6 0.000 0.031 2146 2305 1770

27623 0.76 283.5 162.6 5.8 603 27627 0.00 2.28 0.00 0.000 4 0.000 0.048 2146 3712 1769

27652 0.79 283.5 160.6 6.8 603 27658 0.00 2.25 0.00 0.000 6 0.000 0.031 2154 2299 1769

27978 0.83 285.3 139.4 5.4 617 27982 0.10 2.25 0.00 0.000 4 0.064 0.044 2236 889 1768

28011 0.74 285.3 137.2 6.6 618 28016 0.25 2.25 0.00 0.000 6 0.121 0.037 2160 2307 1768

28334 0.79 285.3 118.5 6.2 634 28338 0.00 2.28 0.00 0.000 4 0.000 0.048 2160 3715 1768

28378 0.79 285.3 115.6 6.2 636 28382 0.00 2.22 0.00 0.000 6 0.000 0.031 2167 2292 1768

28701 0.90 285.3 98.7 5.8 652 28706 0.10 2.22 0.00 0.000 4 0.065 0.044 2223 893 1768

28769 0.93 310.1 94.5 4.7 655 28799 0.00 2.22 22.98 0.660 6 0.000 0.036 2223 2304 1665

29123 1.04 310.1 68.2 8.3 678 29127 0.00 2.25 0.00 0.000 4 0.000 0.044 2223 894 1660

29243 1.04 310.1 58.3 7.2 688 29247 0.00 2.25 0.00 0.000 6 0.000 0.037 2222 2312 1660

29571 1.00 310.1 27.3 8.8 718 29575 0.00 2.22 0.00 0.000 4 0.000 0.048 2223 3712 1660

29619 0.93 310.1 22.2 10.7 722 29624 0.12 2.20 0.00 0.000 6 0.127 0.037 2198 2299 1660

29936 end climb: SURFACE_DEPTH_REACHED

state 29936 begin surface coast

29958 end surface coast: CONTROL_FINISHED_OK

state 29959 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	526	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-72206.664	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	0.02	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	180726,5000.958,-14430.897,52,2.9,71,18.5	TGT_NAME	SE
_CALLS	3	TGT_LATLONG	4954.011,-14429.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.030,-0.165
_SM_DEPTHo	2.52	KALMAN_X	-90169.3,-291.6,-240.3,137418.1,1734.1
_SM_ANGLEo	-51.1	KALMAN_Y	24086.5,-69.4,9.3,-60833.6,-28.4
GPS2	182021,5001.107,-14431.054,14,2.6,33,18.5	MHEAD_RNG_PITCHd_Wd	171.9,13221,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.5,1.013280	XPDR_PINGS	67
SM_CCo	30036,0.00,0.000,0,0,1657,312.51	_24V_AH	21.9,76.371
SM_GC	2.30,5.38,0.00,0.00,0.028,0.000,0.000,97,2298,1657,-8.62,-0.14,312.51	_10V_AH	10.5,66.221
IRIDIUM_FIX	4943.02,-14435.52,280299,181844	DATA_FILE_SIZE	44391,754
TT8_MAMPS	0.028379	CAP_FILE_SIZE	200796,0
HUMID	1724	CFSIZE	260165632,217681920
INTERNAL_PRESSURE	7.37333	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	15.60	GPS	051209,024307,4958.120,-14432.724,36,1.1,36,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	240	96.61	SBE_CT	533	24	280.60
Roll_motor	258	62	351.61	SBE_O2	613	19	255.07
VBD_pump_during_apogee	397	1289	11211.91	Optode	779	33	563.50
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1294	105	2975.94
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	179.94	nil	0	0	0.00
Iridium_during_connect	155	160	544.80	nil	0	0	0.00
Iridium_during_xfer	240	223	1174.41
Transponder_ping	16	420	154.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.98
TT8	1744	19	362.63
LPSleep	25056	2	576.16
TT8_Active	549	19	114.19
TT8_Sampling	2365	39	988.71
TT8_CF8	1081	45	519.92
TT8_Kalman	33	81	28.67
Analog_circuits	1760	12	221.80
GPS_charging	0	0	0.00
Compass	2334	8	196.08
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.68	-117.2	0.0	0.0	0	59	0.00	0.00	-38.67	0.000	2	0.000	0.000	98	2302	2648
63	-0.68	-117.3	3.7	-4.8	4	97	7.30	2.40	-18.77	0.000	4	0.240	0.062	1846	895	3412
246	-0.65	-117.3	25.1	-13.4	20	250	0.10	2.28	0.00	0.000	6	0.130	0.039	1864	2303	3414
571	-0.65	-117.3	52.8	-8.7	50	575	0.00	2.25	0.00	0.000	4	0.000	0.043	1865	890	3414
617	-0.68	-117.3	56.7	-8.3	53	623	0.00	2.25	0.00	0.000	6	0.000	0.038	1859	2315	3414
940	-0.68	-117.3	90.7	-9.8	79	941	0.00	0.00	0.00	0.000	6	0.000	0.000	1859	2315	3414
1249	-0.70	-117.3	116.9	-8.5	94	1253	0.00	2.30	0.00	0.000	4	0.000	0.042	1859	885	3415
1306	-0.75	-117.3	122.3	-9.6	96	1312	0.00	2.25	0.00	0.000	6	0.000	0.038	1850	2305	3414
1622	-0.78	-117.3	147.4	-7.5	112	1626	0.00	2.28	0.00	0.000	4	0.000	0.054	1844	3715	3414
1680	-0.83	-117.3	151.6	-7.8	114	1687	0.10	2.20	0.00	0.000	6	0.061	0.030	1769	2294	3414
1993	-0.71	-117.3	189.0	-12.1	125	1998	0.22	2.22	0.00	0.000	4	0.123	0.042	1843	891	3414
2096	-0.75	-117.3	197.1	-7.2	128	2100	0.00	2.22	0.00	0.000	6	0.000	0.037	1837	2307	3415
2432	-0.75	-117.3	218.4	-6.1	139	2436	0.00	2.22	0.00	0.000	4	0.000	0.042	1836	901	3414
2468	-0.78	-117.3	220.8	-7.0	140	2472	0.00	2.22	0.00	0.000	6	0.000	0.044	1836	2305	3414
2803	-0.78	-117.3	244.6	-7.3	151	2807	0.00	2.25	0.00	0.000	4	0.000	0.043	1836	894	3414
2843	-0.81	-117.3	247.7	-8.3	152	2847	0.00	2.25	0.00	0.000	6	0.000	0.040	1836	2305	3414
3167	-0.83	-117.3	271.5	-7.2	163	3171	0.00	2.28	0.00	0.000	4	0.000	0.050	1826	3709	3414
3201	-0.86	-117.3	274.1	-7.3	164	3204	0.00	2.17	0.00	0.000	6	0.000	0.031	1826	2303	3414
3537	-0.86	-117.3	298.2	-6.9	175	3541	0.00	2.22	0.00	0.000	4	0.000	0.044	1826	898	3413
3576	-0.86	-117.3	301.2	-7.9	176	3580	0.00	2.25	0.00	0.000	6	0.000	0.040	1818	2309	3413
3903	-0.86	-117.3	323.4	-6.7	182	3904	0.00	0.00	0.00	0.000	6	0.000	0.000	1818	2310	3413
4206	-0.86	-117.3	345.0	-7.2	187	4210	0.00	2.30	0.00	0.000	4	0.000	0.050	1818	900	3413
4240	-0.86	-117.3	347.6	-7.5	187	4244	0.00	2.25	0.00	0.000	6	0.000	0.045	1809	2304	3413
4573	-0.86	-117.3	374.0	-8.0	193	4574	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2304	3412
4875	-0.86	-117.3	397.7	-7.8	198	4879	0.00	2.28	0.00	0.000	4	0.000	0.045	1810	898	3413
4909	-0.86	-117.3	400.6	-8.2	198	4913	0.00	2.28	0.00	0.000	6	0.000	0.046	1800	2311	3412
5237	-0.83	-117.3	427.0	-8.1	204	5241	0.00	2.30	0.00	0.000	4	0.000	0.048	1800	892	3412
5265	-0.80	-117.3	429.7	-8.9	204	5270	0.12	2.25	0.00	0.000	6	0.127	0.038	1824	2310	3412
5603	-0.82	-117.3	451.8	-6.3	210	5604	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	2311	3412
5907	-0.85	-117.3	469.1	-5.7	215	5908	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	2311	3412
6210	-0.87	-117.3	487.1	-6.0	220	6214	0.00	2.30	0.00	0.000	4	0.000	0.044	1824	893	3411
6243	-0.91	-117.3	489.4	-6.4	220	6247	0.00	2.28	0.00	0.000	6	0.000	0.046	1822	2308	3411
6577	-0.93	-117.3	511.5	-6.7	226	6579	0.10	0.00	0.00	0.000	6	0.065	0.000	1755	2310	3411
6880	-0.82	-117.3	542.7	-10.5	231	6885	0.20	2.30	0.00	0.000	4	0.124	0.045	1824	899	3411
6954	-0.86	-117.3	548.6	-7.0	232	6958	0.00	2.28	0.00	0.000	6	0.000	0.042	1822	2307	3411
7309	-0.89	-117.3	571.4	-6.4	238	7313	0.00	2.30	0.00	0.000	4	0.000	0.053	1812	3718	3411
7338	-0.91	-117.3	573.4	-7.4	238	7342	0.00	2.22	0.00	0.000	6	0.000	0.038	1812	2305	3411
7670	-0.91	-117.3	595.7	-6.7	244	7674	0.00	2.30	0.00	0.000	4	0.000	0.052	1812	889	3410
7698	-0.91	-117.3	597.7	-8.1	244	7702	0.00	2.28	0.00	0.000	6	0.000	0.040	1808	2305	3410
8031	-0.91	-117.3	621.2	-7.1	250	8032	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2305	3410
8333	-0.91	-117.3	641.2	-6.5	255	8337	0.00	2.28	0.00	0.000	4	0.000	0.045	1808	896	3410
8367	-0.91	-117.3	643.6	-7.1	255	8371	0.00	2.28	0.00	0.000	6	0.000	0.046	1806	2310	3410
8694	-0.91	-117.3	664.2	-6.3	261	8695	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2310	3410
8997	-0.91	-117.3	682.8	-6.1	266	9001	0.00	2.30	0.00	0.000	4	0.000	0.045	1807	894	3410
9070	-0.91	-117.3	687.4	-6.4	267	9074	0.00	2.28	0.00	0.000	6	0.000	0.044	1801	2304	3409
9424	-0.91	-117.3	707.7	-5.7	273	9426	0.00	0.00	0.00	0.000	6	0.000	0.000	1801	2304	3409
9728	-0.91	-117.3	725.1	-5.7	278	9732	0.00	2.30	0.00	0.000	4	0.000	0.045	1801	895	3409
9779	-0.91	-117.3	728.4	-6.5	278	9783	0.00	2.28	0.00	0.000	6	0.000	0.041	1795	2303	3408
10089	-0.91	-117.3	748.1	-6.3	283	10090	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2304	3409
10393	-0.91	-117.3	767.2	-6.3	288	10397	0.00	2.33	0.00	0.000	4	0.000	0.045	1794	888	3408
10449	-0.91	-117.3	771.2	-7.6	288	10455	0.00	2.30	0.00	0.000	6	0.000	0.047	1793	2302	3409
10760	-0.91	-117.3	791.5	-6.6	294	10761	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2303	3409
11062	-0.91	-117.3	811.3	-6.6	299	11063	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2303	3409
11365	-0.91	-117.3	832.1	-6.8	304	11369	0.00	2.33	0.00	0.000	4	0.000	0.050	1793	892	3408
11398	-0.91	-117.3	834.4	-7.0	304	11402	0.00	2.30	0.00	0.000	6	0.000	0.045	1783	2307	3408
11726	-0.88	-117.3	857.5	-7.1	310	11728	0.10	0.00	0.00	0.000	6	0.133	0.000	1812	2307	3408
12031	-0.92	-117.3	873.5	-5.2	315	12035	0.00	2.30	0.00	0.000	4	0.000	0.047	1812	897	3408
12060	-0.95	-117.3	875.3	-5.5	315	12064	0.00	2.25	0.00	0.000	6	0.000	0.041	1810	2304	3408
12400	-0.98	-117.3	892.3	-4.9	321	12401	0.08	0.00	0.00	0.000	6	0.091	0.000	1765	2304	3408
12701	-0.92	-117.3	912.9	-6.9	326	12703	0.12	0.00	0.00	0.000	6	0.128	0.000	1801	2304	3408
13004	-0.92	-117.3	929.3	-5.4	331	13005	0.00	0.00	0.00	0.000	6	0.000	0.000	1801	2304	3408
13308	-0.92	-117.3	945.7	-5.4	336	13312	0.00	2.30	0.00	0.000	4	0.000	0.048	1802	895	3408
13342	-0.92	-117.3	947.9	-5.8	336	13346	0.00	2.28	0.00	0.000	6	0.000	0.041	1795	2301	3408
13676	-0.92	-117.3	967.7	-6.0	342	13677	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2301	3407
13977	-0.92	-117.3	986.2	-6.1	347	13978	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2301	3407
14035	end dive: TARGET_DEPTH_EXCEEDED
state	14035	begin apogee
14042	-0.22	0.0	990.1	6.1	348	14144	0.50	0.00	98.88	1.289	6	0.110	0.000	1957	2301	2931
14145	end apogee: CONTROL_FINISHED_OK
state	14145	begin climb
14149	0.68	117.3	991.4	0.0	349	14260	0.55	2.58	104.07	1.259	4	0.071	0.054	2151	3699	2451
14294	0.49	117.3	988.1	6.2	351	14299	0.22	2.38	0.00	0.000	6	0.162	0.039	2107	2310	2447
14645	0.48	132.2	970.3	5.0	357	14659	0.00	0.00	12.52	1.128	6	0.000	0.000	2107	2309	2392
14947	0.47	141.9	954.8	5.2	362	14959	0.00	0.00	10.07	1.085	6	0.000	0.000	2108	2309	2352
15250	0.47	145.4	938.7	5.4	367	15256	0.00	0.00	4.35	0.792	6	0.000	0.000	2108	2309	2338
15552	0.47	145.4	921.2	5.8	372	15556	0.00	2.33	0.00	0.000	4	0.000	0.051	2108	3710	2336
15583	0.43	145.4	919.3	6.5	372	15588	0.10	2.28	0.00	0.000	6	0.155	0.035	2093	2294	2336
15916	0.44	150.5	901.2	5.3	378	15923	0.00	0.00	6.00	0.928	6	0.000	0.000	2093	2294	2317
16220	0.48	162.8	885.8	5.1	383	16239	0.00	2.40	12.38	1.099	4	0.000	0.051	2093	3721	2266
16269	0.48	163.2	882.9	5.5	383	16273	0.00	2.28	0.00	0.000	6	0.000	0.033	2101	2302	2265
16585	0.49	176.9	866.7	5.0	389	16600	0.00	0.00	13.82	1.101	6	0.000	0.000	2101	2302	2209
16889	0.54	194.9	851.9	4.9	394	16913	0.00	2.38	17.08	1.116	4	0.000	0.052	2101	3711	2136
16937	0.54	194.9	849.2	6.4	394	16941	0.00	2.28	0.00	0.000	6	0.000	0.033	2111	2293	2134
17253	0.54	198.6	832.3	5.4	400	17262	0.00	2.35	4.50	0.779	4	0.000	0.054	2111	3722	2121
17286	0.54	198.6	830.0	7.0	400	17290	0.00	2.25	0.00	0.000	6	0.000	0.033	2122	2298	2120
17620	0.54	198.6	810.1	6.0	406	17624	0.00	2.30	0.00	0.000	4	0.000	0.049	2122	3713	2119
17654	0.50	198.6	807.5	6.7	406	17659	0.10	2.22	0.00	0.000	6	0.156	0.033	2108	2295	2119
17981	0.54	204.2	789.9	5.3	412	17995	0.00	2.38	6.47	0.904	4	0.000	0.050	2108	3721	2098
18013	0.54	204.2	787.9	6.2	412	18018	0.00	2.22	0.00	0.000	6	0.000	0.032	2116	2297	2097
18346	0.54	204.2	768.4	5.9	418	18350	0.00	2.28	0.00	0.000	4	0.000	0.049	2116	3713	2096
18375	0.54	204.2	766.7	6.1	418	18379	0.00	2.20	0.00	0.000	6	0.000	0.033	2127	2303	2096
18707	0.54	204.2	743.3	7.1	424	18708	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2303	2096
19011	0.54	204.2	721.2	7.3	429	19015	0.00	2.28	0.00	0.000	4	0.000	0.056	2127	3714	2095
19044	0.49	204.2	718.3	8.5	429	19049	0.12	2.20	0.00	0.000	6	0.143	0.033	2104	2301	2095
19372	0.54	204.2	697.4	6.3	435	19373	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2301	2095
19675	0.58	204.2	679.2	5.9	440	19677	0.08	0.00	0.00	0.000	6	0.079	0.000	2164	2301	2094
19978	0.49	204.2	653.3	8.7	445	19983	0.20	2.30	0.00	0.000	4	0.136	0.048	2104	3722	2094
20011	0.49	204.2	650.6	6.9	445	20015	0.00	2.20	0.00	0.000	6	0.000	0.032	2113	2296	2094
20344	0.51	209.3	632.7	5.3	451	20352	0.00	0.00	5.85	0.801	6	0.000	0.000	2112	2296	2077
20648	0.55	213.5	616.6	5.4	456	20659	0.00	2.30	5.55	0.777	4	0.000	0.051	2113	3714	2060
20687	0.55	213.5	614.0	5.7	456	20691	0.00	2.20	0.00	0.000	6	0.000	0.032	2122	2302	2059
21008	0.55	213.5	595.5	5.8	462	21012	0.00	2.25	0.00	0.000	4	0.000	0.047	2132	890	2058
21032	0.57	213.5	594.0	6.3	462	21036	0.00	2.25	0.00	0.000	6	0.000	0.038	2132	2318	2058
21381	0.57	213.5	572.2	6.3	468	21385	0.00	2.22	0.00	0.000	4	0.000	0.048	2133	3713	2058
21427	0.52	213.5	568.7	7.8	468	21432	0.12	2.20	0.00	0.000	6	0.143	0.032	2109	2293	2058
21750	0.57	216.2	551.2	5.4	474	21756	0.00	0.00	3.90	0.610	6	0.000	0.000	2110	2293	2049
22052	0.64	232.6	536.0	4.9	479	22074	0.10	2.33	16.20	0.923	4	0.067	0.048	2179	3713	1981
22091	0.52	232.6	532.8	8.4	479	22096	0.28	2.25	0.00	0.000	6	0.147	0.034	2113	2294	1980
22414	0.58	241.2	515.6	5.2	485	22428	0.00	2.30	8.45	0.827	4	0.000	0.048	2121	896	1947
22452	0.65	241.2	513.4	5.9	485	22456	0.00	2.25	0.00	0.000	6	0.000	0.044	2122	2306	1945
22779	0.69	241.2	494.8	5.7	491	22784	0.10	2.28	0.00	0.000	4	0.067	0.048	2198	3721	1945
22819	0.52	241.2	491.0	10.8	491	22824	0.35	2.22	0.00	0.000	6	0.149	0.033	2111	2301	1945
23140	0.60	248.3	473.0	5.3	497	23155	0.00	2.30	7.75	0.792	4	0.000	0.047	2119	896	1917
23173	0.67	248.3	471.1	6.7	497	23178	0.10	2.22	0.00	0.000	6	0.065	0.037	2190	2306	1916
23507	0.56	248.3	437.5	10.4	503	23511	0.22	2.28	0.00	0.000	4	0.138	0.048	2121	3714	1916
23585	0.56	248.3	431.0	7.0	504	23589	0.00	2.20	0.00	0.000	6	0.000	0.032	2129	2299	1915
23935	0.59	248.3	410.1	5.8	510	23939	0.00	2.28	0.00	0.000	4	0.000	0.047	2140	888	1914
23958	0.63	252.0	408.7	5.4	510	23967	0.00	2.25	4.35	0.604	6	0.000	0.038	2140	2305	1903
24302	0.63	252.0	387.4	6.3	516	24305	0.00	2.25	0.00	0.000	4	0.000	0.048	2140	3709	1902
24353	0.61	252.0	383.4	8.2	516	24356	0.00	2.20	0.00	0.000	6	0.000	0.033	2150	2302	1902
24675	0.61	252.0	359.4	7.5	522	24678	0.00	2.25	0.00	0.000	4	0.000	0.048	2159	896	1902
24714	0.61	252.0	356.2	8.2	522	24719	0.12	2.22	0.00	0.000	6	0.122	0.037	2126	2307	1901
25041	0.66	252.0	335.2	6.5	528	25045	0.00	2.28	0.00	0.000	4	0.000	0.048	2126	3713	1901
25075	0.69	252.0	332.7	6.0	528	25079	0.00	2.22	0.00	0.000	6	0.000	0.032	2133	2297	1901
25403	0.73	252.0	309.8	7.0	534	25407	0.08	2.28	0.00	0.000	4	0.076	0.046	2205	891	1901
25431	0.67	252.0	307.0	9.0	534	25435	0.22	2.25	0.00	0.000	6	0.138	0.038	2141	2308	1901
25766	0.69	252.0	284.1	6.3	543	25769	0.00	2.25	0.00	0.000	4	0.000	0.048	2142	3706	1901
25805	0.69	252.0	281.2	7.0	544	25809	0.00	2.22	0.00	0.000	6	0.000	0.032	2149	2291	1901
26135	0.70	256.9	262.5	5.3	555	26145	0.00	2.25	5.75	0.630	4	0.000	0.047	2159	888	1883
26169	0.70	256.9	260.4	5.6	556	26173	0.00	2.25	0.00	0.000	6	0.000	0.037	2159	2308	1882
26499	0.67	256.9	239.8	6.5	567	26503	0.00	2.25	0.00	0.000	4	0.000	0.048	2160	3713	1882
26550	0.63	256.9	235.9	7.5	568	26555	0.12	2.20	0.00	0.000	6	0.130	0.032	2135	2294	1882
26875	0.69	265.4	219.3	5.2	579	26890	0.00	2.30	9.20	0.683	4	0.000	0.047	2143	894	1848
26914	0.77	283.5	216.9	4.9	580	26940	0.08	2.25	16.95	0.723	6	0.074	0.037	2204	2307	1775
27248	0.67	283.5	184.5	9.9	591	27252	0.20	2.28	0.00	0.000	4	0.123	0.047	2139	3712	1770
27309	0.70	283.5	179.8	6.7	592	27316	0.00	2.20	0.00	0.000	6	0.000	0.031	2146	2305	1770
27623	0.76	283.5	162.6	5.8	603	27627	0.00	2.28	0.00	0.000	4	0.000	0.048	2146	3712	1769
27652	0.79	283.5	160.6	6.8	603	27658	0.00	2.25	0.00	0.000	6	0.000	0.031	2154	2299	1769
27978	0.83	285.3	139.4	5.4	617	27982	0.10	2.25	0.00	0.000	4	0.064	0.044	2236	889	1768
28011	0.74	285.3	137.2	6.6	618	28016	0.25	2.25	0.00	0.000	6	0.121	0.037	2160	2307	1768
28334	0.79	285.3	118.5	6.2	634	28338	0.00	2.28	0.00	0.000	4	0.000	0.048	2160	3715	1768
28378	0.79	285.3	115.6	6.2	636	28382	0.00	2.22	0.00	0.000	6	0.000	0.031	2167	2292	1768
28701	0.90	285.3	98.7	5.8	652	28706	0.10	2.22	0.00	0.000	4	0.065	0.044	2223	893	1768
28769	0.93	310.1	94.5	4.7	655	28799	0.00	2.22	22.98	0.660	6	0.000	0.036	2223	2304	1665
29123	1.04	310.1	68.2	8.3	678	29127	0.00	2.25	0.00	0.000	4	0.000	0.044	2223	894	1660
29243	1.04	310.1	58.3	7.2	688	29247	0.00	2.25	0.00	0.000	6	0.000	0.037	2222	2312	1660
29571	1.00	310.1	27.3	8.8	718	29575	0.00	2.22	0.00	0.000	4	0.000	0.048	2223	3712	1660
29619	0.93	310.1	22.2	10.7	722	29624	0.12	2.20	0.00	0.000	6	0.127	0.037	2198	2299	1660
29936	end climb: SURFACE_DEPTH_REACHED
state	29936	begin surface coast
29958	end surface coast: CONTROL_FINISHED_OK
state	29959	begin surface