Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 712 * 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 712 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -76156.422 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 -76156.422

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 35 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 35 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 712 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 111613,4941.068,-14019.811,36,1.5,43,19.2 TGT_NAME P20

_CALLS 2 TGT_LATLONG 4934.000,-13840.000

_XMS_NAKs 9 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.166,-0.024

_SM_DEPTHo 1.97 KALMAN_X -76626.9,-134.9,-74.9,420485.1,1208.1

_SM_ANGLEo -63.1 KALMAN_Y 37699.1,54.2,45.9,-111644.1,69.2

GPS2 112656,4941.105,-14019.783,31,3.8,50,19.2 MHEAD_RNG_PITCHd_Wd 79.1,120574,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.1,1.025450 XPDR_PINGS 75

SM_CCo 29228,0.00,0.000,0,0,1706,300.49 _24V_AH 21.7,102.424

SM_GC 2.17,5.53,0.00,0.00,0.043,0.000,0.000,98,2296,1706,-8.61,-0.20,300.49 _10V_AH 10.3,87.613

IRIDIUM_FIX 4923.08,-14022.74,020599,111146 DATA_FILE_SIZE 44408,746

TT8_MAMPS 0.028379 CAP_FILE_SIZE 193756,0

HUMID 1741 CFSIZE 260165632,203243520

INTERNAL_PRESSURE 7.3831 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

TCM_TEMP 15.70 GPS 050210,193636,4940.614,-14014.812,52,1.1,52,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 233 101.19 SBE_CT 526 24 274.07

Roll_motor 241 66 348.97 SBE_O2 613 19 253.04

VBD_pump_during_apogee 380 1277 10556.92 Optode 774 33 554.42

VBD_pump_during_surface 0 0 0.00 WL_BB2F 815 105 1857.62

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 116.52 nil 0 0 0.00

Iridium_during_connect 52 160 181.54 nil 0 0 0.00

Iridium_during_xfer 260 223 1261.79

Transponder_ping 18 420 170.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 53 50 27.30

TT8 1709 19 348.58

LPSleep 24228 2 546.52

TT8_Active 546 19 111.45

TT8_Sampling 2283 39 936.24

TT8_CF8 1091 45 515.08

TT8_Kalman 33 81 28.15

Analog_circuits 1756 12 217.14

GPS_charging 0 0 0.00

Compass 2227 8 183.53

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.68 -117.3 0.0 0.0 0 59 0.00 0.00 -40.35 0.000 2 0.000 0.000 98 2305 2495

64 -0.68 -117.3 3.0 -4.9 2 107 7.30 2.38 -26.17 0.000 4 0.233 0.067 1839 3697 3412

316 -0.65 -117.3 29.6 -10.7 13 320 0.00 2.20 0.00 0.000 6 0.000 0.030 1839 2301 3413

639 -0.60 -117.3 65.1 -11.2 29 643 0.12 2.28 0.00 0.000 4 0.127 0.041 1878 897 3413

725 -0.65 -117.3 73.2 -8.8 33 729 0.00 2.22 0.00 0.000 6 0.000 0.038 1875 2300 3413

1055 -0.69 -117.3 102.1 -8.9 60 1061 0.10 0.00 0.00 0.000 6 0.062 0.000 1798 2301 3413

1385 -0.60 -117.3 139.9 -10.7 91 1390 0.20 2.28 0.00 0.000 4 0.121 0.040 1865 887 3413

1444 -0.67 -117.3 145.1 -7.5 95 1450 0.00 2.25 0.00 0.000 6 0.000 0.038 1863 2309 3413

1771 -0.72 -117.3 164.9 -5.9 111 1775 0.00 2.30 0.00 0.000 4 0.000 0.051 1853 3714 3413

1806 -0.78 -117.3 167.3 -6.5 112 1811 0.08 2.20 0.00 0.000 6 0.077 0.030 1790 2300 3413

2138 -0.71 -117.3 199.0 -9.8 123 2143 0.17 2.30 0.00 0.000 4 0.115 0.044 1850 896 3413

2229 -0.77 -117.3 206.0 -7.0 125 2235 0.00 2.25 0.00 0.000 6 0.000 0.037 1850 2304 3413

2544 -0.81 -117.3 226.3 -6.4 136 2549 0.10 2.30 0.00 0.000 4 0.064 0.050 1757 3707 3413

2573 -0.73 -117.3 229.2 -10.7 136 2580 0.22 2.22 0.00 0.000 6 0.114 0.030 1843 2304 3413

2887 -0.77 -117.3 251.7 -7.0 147 2891 0.00 2.28 0.00 0.000 4 0.000 0.043 1843 890 3413

2929 -0.83 -117.3 254.9 -7.8 148 2933 0.00 2.25 0.00 0.000 6 0.000 0.038 1837 2302 3413

3254 -0.86 -117.3 279.1 -7.4 159 3256 0.10 0.00 0.00 0.000 6 0.065 0.000 1756 2303 3413

3559 -0.73 -117.3 316.0 -12.4 167 3564 0.25 2.30 0.00 0.000 4 0.120 0.043 1839 897 3413

3629 -0.78 -117.3 322.1 -7.7 168 3634 0.00 2.28 0.00 0.000 6 0.000 0.044 1836 2313 3413

3991 -0.81 -117.3 349.2 -7.4 174 3992 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2313 3413

4294 -0.84 -117.3 369.5 -6.7 179 4298 0.00 2.30 0.00 0.000 4 0.000 0.045 1836 898 3412

4335 -0.89 -117.3 372.4 -7.3 179 4340 0.12 2.25 0.00 0.000 6 0.057 0.040 1754 2305 3412

4657 -0.77 -117.3 406.1 -10.7 185 4659 0.28 0.00 0.00 0.000 6 0.119 0.000 1839 2305 3411

4960 -0.82 -117.3 422.7 -5.2 190 4964 0.00 2.30 0.00 0.000 4 0.000 0.043 1839 891 3411

5006 -0.88 -117.3 425.4 -6.0 190 5011 0.10 2.30 0.00 0.000 6 0.064 0.044 1766 2312 3411

5323 -0.78 -117.3 455.4 -9.9 196 5325 0.22 0.00 0.00 0.000 6 0.117 0.000 1835 2312 3411

5626 -0.83 -117.3 474.3 -6.1 201 5627 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 2312 3411

5931 -0.87 -117.3 492.7 -6.0 206 5936 0.10 2.30 0.00 0.000 4 0.066 0.043 1764 900 3411

5983 -0.79 -117.3 497.6 -9.7 206 5988 0.25 2.28 0.00 0.000 6 0.120 0.041 1828 2313 3411

6295 -0.82 -117.3 518.1 -6.4 211 6296 0.00 0.00 0.00 0.000 6 0.000 0.000 1828 2313 3411

6597 -0.86 -117.3 536.8 -6.1 216 6601 0.00 2.28 0.00 0.000 4 0.000 0.045 1828 901 3411

6644 -0.91 -117.3 539.8 -6.9 216 6648 0.00 2.25 0.00 0.000 6 0.000 0.042 1823 2303 3411

6972 -0.93 -117.3 559.9 -6.1 222 6977 0.10 2.30 0.00 0.000 4 0.066 0.053 1742 3709 3410

7018 -0.81 -117.3 564.4 -11.5 222 7023 0.28 2.22 0.00 0.000 6 0.123 0.033 1823 2304 3410

7335 -0.84 -117.3 585.5 -6.5 228 7339 0.00 2.28 0.00 0.000 4 0.000 0.045 1823 898 3410

7386 -0.88 -117.3 589.2 -7.2 228 7390 0.00 2.28 0.00 0.000 6 0.000 0.043 1822 2309 3410

7697 -0.91 -117.3 609.7 -6.7 233 7698 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2309 3410

8000 -0.94 -117.3 629.1 -6.4 238 8005 0.10 2.30 0.00 0.000 4 0.066 0.048 1754 894 3410

8047 -0.84 -117.3 633.4 -10.4 238 8051 0.25 2.28 0.00 0.000 6 0.121 0.038 1817 2310 3409

8363 -0.86 -117.3 655.5 -6.8 244 8364 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 2311 3409

8666 -0.89 -117.3 675.7 -6.7 249 8670 0.00 2.30 0.00 0.000 4 0.000 0.047 1817 891 3409

8713 -0.93 -117.3 679.0 -7.4 249 8717 0.00 2.28 0.00 0.000 6 0.000 0.041 1810 2305 3409

9028 -0.93 -117.3 701.3 -7.1 255 9029 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2305 3408

9331 -0.93 -117.3 722.5 -7.0 260 9335 0.00 2.33 0.00 0.000 4 0.000 0.045 1810 892 3409

9377 -0.93 -117.3 726.0 -7.6 260 9381 0.00 2.28 0.00 0.000 6 0.000 0.041 1808 2301 3409

9705 -0.93 -117.3 747.3 -6.4 266 9707 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2302 3409

10007 -0.93 -117.3 765.5 -5.9 271 10008 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2302 3408

10310 -0.93 -117.3 782.8 -5.7 276 10314 0.00 2.35 0.00 0.000 4 0.000 0.047 1808 891 3408

10345 -0.93 -117.3 785.1 -6.5 276 10349 0.00 2.30 0.00 0.000 6 0.000 0.040 1806 2306 3408

10673 -0.93 -117.3 803.9 -5.8 282 10677 0.00 2.33 0.00 0.000 4 0.000 0.047 1806 889 3408

10736 -0.93 -117.3 807.8 -6.5 283 10740 0.00 2.30 0.00 0.000 6 0.000 0.038 1796 2313 3408

11103 -0.93 -117.3 831.3 -6.5 289 11107 0.00 2.33 0.00 0.000 4 0.000 0.049 1797 899 3408

11167 -0.93 -117.3 835.6 -7.2 290 11171 0.00 2.28 0.00 0.000 6 0.000 0.041 1794 2304 3408

11539 -0.93 -117.3 860.5 -6.7 296 11543 0.00 2.30 0.00 0.000 4 0.000 0.050 1794 898 3407

11602 -0.93 -117.3 865.2 -7.3 296 11608 0.00 2.30 0.00 0.000 6 0.000 0.039 1784 2314 3408

11914 -0.89 -117.3 888.1 -7.5 302 11918 0.00 2.35 0.00 0.000 4 0.000 0.046 1784 896 3408

11978 -0.87 -117.3 893.3 -7.6 303 11983 0.12 2.30 0.00 0.000 6 0.130 0.040 1816 2302 3408

12345 -0.91 -117.3 914.4 -5.7 309 12349 0.00 2.33 0.00 0.000 4 0.000 0.053 1816 899 3407

12403 -0.94 -117.3 918.2 -7.4 309 12409 0.00 2.28 0.00 0.000 6 0.000 0.043 1810 2301 3408

12714 -0.97 -117.3 938.1 -6.4 315 12718 0.00 2.33 0.00 0.000 4 0.000 0.051 1809 897 3407

12765 -0.99 -117.3 941.9 -7.4 315 12770 0.10 2.30 0.00 0.000 6 0.077 0.041 1764 2310 3407

13077 -0.93 -117.3 968.2 -8.6 320 13079 0.12 0.00 0.00 0.000 6 0.133 0.000 1798 2310 3407

13379 -0.93 -117.3 988.7 -6.6 325 13383 0.00 2.35 0.00 0.000 4 0.000 0.051 1799 901 3407

13397 end dive: TARGET_DEPTH_EXCEEDED

state 13398 begin apogee

13409 -0.22 0.0 990.2 6.2 325 13510 0.47 0.00 98.57 1.277 6 0.115 0.000 1952 2306 2931

13511 end apogee: CONTROL_FINISHED_OK

state 13511 begin climb

13516 0.68 117.3 993.6 0.0 327 13626 0.55 0.00 104.20 1.251 6 0.072 0.000 2148 2306 2452

13948 0.58 117.3 972.7 6.4 334 13950 0.10 0.00 0.00 0.000 6 0.150 0.000 2124 2306 2443

14248 0.52 117.3 955.3 5.7 339 14252 0.00 2.33 0.00 0.000 4 0.000 0.052 2125 3714 2441

14283 0.41 117.3 953.0 7.1 339 14288 0.17 2.25 0.00 0.000 6 0.154 0.035 2088 2307 2440

14611 0.44 143.1 937.6 4.6 345 14639 0.00 2.40 21.45 1.177 4 0.000 0.051 2088 3714 2346

14663 0.45 149.2 934.8 5.3 345 14676 0.00 2.28 6.95 0.963 6 0.000 0.035 2095 2298 2322

14980 0.45 149.2 917.3 5.6 351 14981 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 2298 2318

15283 0.46 159.1 901.2 5.2 356 15297 0.00 2.33 9.55 1.052 4 0.000 0.051 2096 3712 2282

15344 0.44 159.1 897.6 5.7 356 15350 0.00 2.22 0.00 0.000 6 0.000 0.034 2106 2301 2281

15656 0.46 174.2 881.9 5.0 362 15673 0.00 0.00 14.90 1.110 6 0.000 0.000 2106 2301 2220

15958 0.49 202.9 868.1 4.5 367 15997 0.00 2.35 28.27 1.083 4 0.000 0.052 2106 3704 2102

16039 0.49 202.9 863.8 6.4 368 16043 0.00 2.25 0.00 0.000 6 0.000 0.035 2116 2299 2101

16389 0.51 216.0 846.2 5.1 374 16404 0.00 0.00 12.82 1.067 6 0.000 0.000 2115 2300 2050

16692 0.55 226.0 830.5 5.2 379 16707 0.00 2.30 9.82 1.015 4 0.000 0.051 2116 3710 2009

16730 0.55 226.0 828.3 6.5 379 16734 0.00 2.22 0.00 0.000 6 0.000 0.033 2126 2295 2008

17057 0.55 226.0 807.3 6.5 385 17058 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2295 2007

17361 0.55 226.0 787.0 6.7 390 17365 0.00 2.33 0.00 0.000 4 0.000 0.051 2126 3723 2005

17406 0.52 226.0 783.3 8.4 390 17411 0.10 2.25 0.00 0.000 6 0.145 0.034 2111 2293 2005

17723 0.56 226.0 763.5 6.2 396 17724 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2292 2004

18027 0.61 226.0 744.4 6.3 401 18028 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2292 2004

18329 0.65 226.0 726.2 5.9 406 18331 0.10 0.00 0.00 0.000 6 0.068 0.000 2174 2293 2003

18632 0.55 226.0 698.9 9.3 411 18637 0.20 2.33 0.00 0.000 4 0.134 0.050 2112 3718 2003

18660 0.55 226.0 696.5 7.7 411 18664 0.00 2.22 0.00 0.000 6 0.000 0.035 2120 2304 2003

19000 0.58 235.5 678.4 5.2 417 19011 0.00 0.00 9.38 0.927 6 0.000 0.000 2120 2304 1970

19303 0.63 250.4 663.1 5.0 422 19319 0.00 0.00 14.62 0.978 6 0.000 0.000 2120 2305 1910

19606 0.68 254.4 646.9 5.4 427 19613 0.10 0.00 4.85 0.727 6 0.065 0.000 2189 2304 1893

19910 0.56 254.4 616.7 10.3 432 19914 0.22 2.33 0.00 0.000 4 0.135 0.048 2120 3712 1893

19944 0.56 254.4 613.5 7.7 432 19948 0.00 2.25 0.00 0.000 6 0.000 0.033 2129 2293 1892

20271 0.56 254.4 591.6 6.7 438 20272 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2294 1892

20574 0.56 254.4 570.1 7.1 443 20578 0.00 2.35 0.00 0.000 4 0.000 0.048 2129 3714 1892

20632 0.56 254.4 565.4 8.5 443 20638 0.00 2.25 0.00 0.000 6 0.000 0.032 2139 2298 1892

20942 0.56 254.4 542.1 7.5 449 20943 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2299 1891

21245 0.56 254.4 519.8 7.4 454 21249 0.00 2.30 0.00 0.000 4 0.000 0.047 2139 3721 1891

21291 0.54 254.4 516.0 8.7 454 21295 0.12 2.25 0.00 0.000 6 0.131 0.033 2116 2294 1891

21608 0.61 254.4 497.6 5.8 460 21612 0.00 2.28 0.00 0.000 4 0.000 0.049 2124 897 1891

21653 0.68 254.4 494.5 7.1 460 21658 0.10 2.25 0.00 0.000 6 0.065 0.036 2195 2313 1890

21970 0.56 254.4 462.7 10.4 466 21975 0.22 2.28 0.00 0.000 4 0.139 0.048 2126 3707 1890

22056 0.56 254.4 455.6 6.8 467 22060 0.00 2.20 0.00 0.000 6 0.000 0.032 2134 2300 1890

22400 0.58 254.4 433.0 6.6 473 22404 0.00 2.28 0.00 0.000 4 0.000 0.048 2144 896 1890

22423 0.61 254.4 431.5 5.9 473 22427 0.00 2.25 0.00 0.000 6 0.000 0.039 2145 2313 1890

22762 0.61 254.4 406.3 7.5 479 22766 0.00 2.28 0.00 0.000 4 0.000 0.054 2144 3708 1890

22826 0.58 254.4 400.8 8.3 480 22830 0.12 2.20 0.00 0.000 6 0.134 0.032 2121 2298 1889

23199 0.63 254.4 378.9 5.6 486 23203 0.00 2.25 0.00 0.000 4 0.000 0.046 2129 895 1890

23245 0.71 254.4 376.3 5.7 486 23249 0.08 2.22 0.00 0.000 6 0.072 0.041 2187 2310 1889

23572 0.61 254.4 346.9 9.3 492 23577 0.17 2.30 0.00 0.000 4 0.133 0.050 2131 3718 1890

23646 0.61 254.4 340.9 7.4 493 23650 0.00 2.20 0.00 0.000 6 0.000 0.031 2139 2302 1890

24001 0.63 254.4 318.1 6.3 499 24003 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2302 1889

24304 0.63 254.4 299.1 6.2 504 24308 0.00 2.28 0.00 0.000 4 0.000 0.048 2139 3719 1890

24339 0.63 254.4 296.8 6.9 505 24344 0.00 2.20 0.00 0.000 6 0.000 0.031 2149 2297 1889

24682 0.63 254.4 274.0 6.5 516 24683 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2297 1889

24988 0.63 254.4 256.0 5.7 526 24989 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2297 1889

25294 0.65 272.3 240.1 4.9 536 25327 0.00 2.35 18.70 0.680 4 0.000 0.048 2149 3708 1820

25357 0.65 276.6 236.5 5.4 537 25368 0.00 2.22 5.55 0.591 6 0.000 0.031 2157 2306 1802

25705 0.65 276.6 214.7 6.6 549 25709 0.00 2.30 0.00 0.000 4 0.000 0.044 2167 886 1800

25728 0.65 276.6 212.9 6.8 549 25735 0.10 2.25 0.00 0.000 6 0.110 0.036 2140 2309 1799

26043 0.70 276.6 195.3 5.6 560 26047 0.00 2.22 0.00 0.000 4 0.000 0.047 2140 3710 1799

26072 0.75 276.6 193.3 6.7 560 26079 0.00 2.20 0.00 0.000 6 0.000 0.031 2145 2300 1799

26387 0.79 276.6 175.0 5.5 571 26391 0.10 2.25 0.00 0.000 4 0.064 0.044 2227 890 1798

26424 0.71 276.6 172.1 9.4 572 26428 0.25 2.22 0.00 0.000 6 0.123 0.036 2153 2305 1798

26766 0.74 276.6 152.5 5.5 583 26770 0.00 2.25 0.00 0.000 4 0.000 0.047 2153 3714 1798

26811 0.74 276.6 149.5 5.8 584 26815 0.00 2.20 0.00 0.000 6 0.000 0.031 2160 2298 1798

27143 0.77 276.6 129.6 6.8 614 27147 0.00 2.25 0.00 0.000 4 0.000 0.044 2169 886 1798

27167 0.81 276.6 127.8 6.1 616 27171 0.00 2.22 0.00 0.000 6 0.000 0.035 2169 2310 1798

27506 0.85 276.6 107.1 5.7 647 27509 0.00 2.25 0.00 0.000 4 0.000 0.047 2169 3714 1797

27564 0.85 276.6 102.9 7.3 652 27568 0.00 2.20 0.00 0.000 6 0.000 0.031 2177 2294 1798

27896 0.91 294.0 86.9 4.9 682 27919 0.00 2.25 15.77 0.634 4 0.000 0.044 2186 895 1731

27967 0.99 295.9 82.8 5.4 688 27972 0.10 2.22 0.00 0.000 6 0.064 0.035 2255 2306 1729

28297 0.86 295.9 53.3 9.4 705 28301 0.20 2.28 0.00 0.000 4 0.128 0.045 2189 3712 1729

28370 0.86 295.9 47.3 6.8 708 28374 0.00 2.20 0.00 0.000 6 0.000 0.031 2196 2298 1728

28695 0.86 295.9 28.0 6.6 724 28699 0.00 2.28 0.00 0.000 4 0.000 0.046 2197 3708 1728

28737 0.86 295.9 24.5 8.0 726 28741 0.00 2.20 0.00 0.000 6 0.000 0.031 2207 2304 1728

29065 0.87 299.2 5.3 5.4 742 29075 0.00 2.30 5.53 0.489 4 0.000 0.048 2207 3713 1710

29099 0.87 299.2 3.2 6.7 743 29106 0.08 2.25 0.00 0.000 6 0.134 0.034 2191 2297 1709

29123 end climb: SURFACE_DEPTH_REACHED

state 29123 begin surface coast

29147 end surface coast: CONTROL_FINISHED_OK

state 29147 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	712	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-76156.422	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	111613,4941.068,-14019.811,36,1.5,43,19.2	TGT_NAME	P20
_CALLS	2	TGT_LATLONG	4934.000,-13840.000
_XMS_NAKs	9	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.166,-0.024
_SM_DEPTHo	1.97	KALMAN_X	-76626.9,-134.9,-74.9,420485.1,1208.1
_SM_ANGLEo	-63.1	KALMAN_Y	37699.1,54.2,45.9,-111644.1,69.2
GPS2	112656,4941.105,-14019.783,31,3.8,50,19.2	MHEAD_RNG_PITCHd_Wd	79.1,120574,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.1,1.025450	XPDR_PINGS	75
SM_CCo	29228,0.00,0.000,0,0,1706,300.49	_24V_AH	21.7,102.424
SM_GC	2.17,5.53,0.00,0.00,0.043,0.000,0.000,98,2296,1706,-8.61,-0.20,300.49	_10V_AH	10.3,87.613
IRIDIUM_FIX	4923.08,-14022.74,020599,111146	DATA_FILE_SIZE	44408,746
TT8_MAMPS	0.028379	CAP_FILE_SIZE	193756,0
HUMID	1741	CFSIZE	260165632,203243520
INTERNAL_PRESSURE	7.3831	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
TCM_TEMP	15.70	GPS	050210,193636,4940.614,-14014.812,52,1.1,52,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	233	101.19	SBE_CT	526	24	274.07
Roll_motor	241	66	348.97	SBE_O2	613	19	253.04
VBD_pump_during_apogee	380	1277	10556.92	Optode	774	33	554.42
VBD_pump_during_surface	0	0	0.00	WL_BB2F	815	105	1857.62
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	116.52	nil	0	0	0.00
Iridium_during_connect	52	160	181.54	nil	0	0	0.00
Iridium_during_xfer	260	223	1261.79
Transponder_ping	18	420	170.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	53	50	27.30
TT8	1709	19	348.58
LPSleep	24228	2	546.52
TT8_Active	546	19	111.45
TT8_Sampling	2283	39	936.24
TT8_CF8	1091	45	515.08
TT8_Kalman	33	81	28.15
Analog_circuits	1756	12	217.14
GPS_charging	0	0	0.00
Compass	2227	8	183.53
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.68	-117.3	0.0	0.0	0	59	0.00	0.00	-40.35	0.000	2	0.000	0.000	98	2305	2495
64	-0.68	-117.3	3.0	-4.9	2	107	7.30	2.38	-26.17	0.000	4	0.233	0.067	1839	3697	3412
316	-0.65	-117.3	29.6	-10.7	13	320	0.00	2.20	0.00	0.000	6	0.000	0.030	1839	2301	3413
639	-0.60	-117.3	65.1	-11.2	29	643	0.12	2.28	0.00	0.000	4	0.127	0.041	1878	897	3413
725	-0.65	-117.3	73.2	-8.8	33	729	0.00	2.22	0.00	0.000	6	0.000	0.038	1875	2300	3413
1055	-0.69	-117.3	102.1	-8.9	60	1061	0.10	0.00	0.00	0.000	6	0.062	0.000	1798	2301	3413
1385	-0.60	-117.3	139.9	-10.7	91	1390	0.20	2.28	0.00	0.000	4	0.121	0.040	1865	887	3413
1444	-0.67	-117.3	145.1	-7.5	95	1450	0.00	2.25	0.00	0.000	6	0.000	0.038	1863	2309	3413
1771	-0.72	-117.3	164.9	-5.9	111	1775	0.00	2.30	0.00	0.000	4	0.000	0.051	1853	3714	3413
1806	-0.78	-117.3	167.3	-6.5	112	1811	0.08	2.20	0.00	0.000	6	0.077	0.030	1790	2300	3413
2138	-0.71	-117.3	199.0	-9.8	123	2143	0.17	2.30	0.00	0.000	4	0.115	0.044	1850	896	3413
2229	-0.77	-117.3	206.0	-7.0	125	2235	0.00	2.25	0.00	0.000	6	0.000	0.037	1850	2304	3413
2544	-0.81	-117.3	226.3	-6.4	136	2549	0.10	2.30	0.00	0.000	4	0.064	0.050	1757	3707	3413
2573	-0.73	-117.3	229.2	-10.7	136	2580	0.22	2.22	0.00	0.000	6	0.114	0.030	1843	2304	3413
2887	-0.77	-117.3	251.7	-7.0	147	2891	0.00	2.28	0.00	0.000	4	0.000	0.043	1843	890	3413
2929	-0.83	-117.3	254.9	-7.8	148	2933	0.00	2.25	0.00	0.000	6	0.000	0.038	1837	2302	3413
3254	-0.86	-117.3	279.1	-7.4	159	3256	0.10	0.00	0.00	0.000	6	0.065	0.000	1756	2303	3413
3559	-0.73	-117.3	316.0	-12.4	167	3564	0.25	2.30	0.00	0.000	4	0.120	0.043	1839	897	3413
3629	-0.78	-117.3	322.1	-7.7	168	3634	0.00	2.28	0.00	0.000	6	0.000	0.044	1836	2313	3413
3991	-0.81	-117.3	349.2	-7.4	174	3992	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2313	3413
4294	-0.84	-117.3	369.5	-6.7	179	4298	0.00	2.30	0.00	0.000	4	0.000	0.045	1836	898	3412
4335	-0.89	-117.3	372.4	-7.3	179	4340	0.12	2.25	0.00	0.000	6	0.057	0.040	1754	2305	3412
4657	-0.77	-117.3	406.1	-10.7	185	4659	0.28	0.00	0.00	0.000	6	0.119	0.000	1839	2305	3411
4960	-0.82	-117.3	422.7	-5.2	190	4964	0.00	2.30	0.00	0.000	4	0.000	0.043	1839	891	3411
5006	-0.88	-117.3	425.4	-6.0	190	5011	0.10	2.30	0.00	0.000	6	0.064	0.044	1766	2312	3411
5323	-0.78	-117.3	455.4	-9.9	196	5325	0.22	0.00	0.00	0.000	6	0.117	0.000	1835	2312	3411
5626	-0.83	-117.3	474.3	-6.1	201	5627	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	2312	3411
5931	-0.87	-117.3	492.7	-6.0	206	5936	0.10	2.30	0.00	0.000	4	0.066	0.043	1764	900	3411
5983	-0.79	-117.3	497.6	-9.7	206	5988	0.25	2.28	0.00	0.000	6	0.120	0.041	1828	2313	3411
6295	-0.82	-117.3	518.1	-6.4	211	6296	0.00	0.00	0.00	0.000	6	0.000	0.000	1828	2313	3411
6597	-0.86	-117.3	536.8	-6.1	216	6601	0.00	2.28	0.00	0.000	4	0.000	0.045	1828	901	3411
6644	-0.91	-117.3	539.8	-6.9	216	6648	0.00	2.25	0.00	0.000	6	0.000	0.042	1823	2303	3411
6972	-0.93	-117.3	559.9	-6.1	222	6977	0.10	2.30	0.00	0.000	4	0.066	0.053	1742	3709	3410
7018	-0.81	-117.3	564.4	-11.5	222	7023	0.28	2.22	0.00	0.000	6	0.123	0.033	1823	2304	3410
7335	-0.84	-117.3	585.5	-6.5	228	7339	0.00	2.28	0.00	0.000	4	0.000	0.045	1823	898	3410
7386	-0.88	-117.3	589.2	-7.2	228	7390	0.00	2.28	0.00	0.000	6	0.000	0.043	1822	2309	3410
7697	-0.91	-117.3	609.7	-6.7	233	7698	0.00	0.00	0.00	0.000	6	0.000	0.000	1822	2309	3410
8000	-0.94	-117.3	629.1	-6.4	238	8005	0.10	2.30	0.00	0.000	4	0.066	0.048	1754	894	3410
8047	-0.84	-117.3	633.4	-10.4	238	8051	0.25	2.28	0.00	0.000	6	0.121	0.038	1817	2310	3409
8363	-0.86	-117.3	655.5	-6.8	244	8364	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	2311	3409
8666	-0.89	-117.3	675.7	-6.7	249	8670	0.00	2.30	0.00	0.000	4	0.000	0.047	1817	891	3409
8713	-0.93	-117.3	679.0	-7.4	249	8717	0.00	2.28	0.00	0.000	6	0.000	0.041	1810	2305	3409
9028	-0.93	-117.3	701.3	-7.1	255	9029	0.00	0.00	0.00	0.000	6	0.000	0.000	1810	2305	3408
9331	-0.93	-117.3	722.5	-7.0	260	9335	0.00	2.33	0.00	0.000	4	0.000	0.045	1810	892	3409
9377	-0.93	-117.3	726.0	-7.6	260	9381	0.00	2.28	0.00	0.000	6	0.000	0.041	1808	2301	3409
9705	-0.93	-117.3	747.3	-6.4	266	9707	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2302	3409
10007	-0.93	-117.3	765.5	-5.9	271	10008	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2302	3408
10310	-0.93	-117.3	782.8	-5.7	276	10314	0.00	2.35	0.00	0.000	4	0.000	0.047	1808	891	3408
10345	-0.93	-117.3	785.1	-6.5	276	10349	0.00	2.30	0.00	0.000	6	0.000	0.040	1806	2306	3408
10673	-0.93	-117.3	803.9	-5.8	282	10677	0.00	2.33	0.00	0.000	4	0.000	0.047	1806	889	3408
10736	-0.93	-117.3	807.8	-6.5	283	10740	0.00	2.30	0.00	0.000	6	0.000	0.038	1796	2313	3408
11103	-0.93	-117.3	831.3	-6.5	289	11107	0.00	2.33	0.00	0.000	4	0.000	0.049	1797	899	3408
11167	-0.93	-117.3	835.6	-7.2	290	11171	0.00	2.28	0.00	0.000	6	0.000	0.041	1794	2304	3408
11539	-0.93	-117.3	860.5	-6.7	296	11543	0.00	2.30	0.00	0.000	4	0.000	0.050	1794	898	3407
11602	-0.93	-117.3	865.2	-7.3	296	11608	0.00	2.30	0.00	0.000	6	0.000	0.039	1784	2314	3408
11914	-0.89	-117.3	888.1	-7.5	302	11918	0.00	2.35	0.00	0.000	4	0.000	0.046	1784	896	3408
11978	-0.87	-117.3	893.3	-7.6	303	11983	0.12	2.30	0.00	0.000	6	0.130	0.040	1816	2302	3408
12345	-0.91	-117.3	914.4	-5.7	309	12349	0.00	2.33	0.00	0.000	4	0.000	0.053	1816	899	3407
12403	-0.94	-117.3	918.2	-7.4	309	12409	0.00	2.28	0.00	0.000	6	0.000	0.043	1810	2301	3408
12714	-0.97	-117.3	938.1	-6.4	315	12718	0.00	2.33	0.00	0.000	4	0.000	0.051	1809	897	3407
12765	-0.99	-117.3	941.9	-7.4	315	12770	0.10	2.30	0.00	0.000	6	0.077	0.041	1764	2310	3407
13077	-0.93	-117.3	968.2	-8.6	320	13079	0.12	0.00	0.00	0.000	6	0.133	0.000	1798	2310	3407
13379	-0.93	-117.3	988.7	-6.6	325	13383	0.00	2.35	0.00	0.000	4	0.000	0.051	1799	901	3407
13397	end dive: TARGET_DEPTH_EXCEEDED
state	13398	begin apogee
13409	-0.22	0.0	990.2	6.2	325	13510	0.47	0.00	98.57	1.277	6	0.115	0.000	1952	2306	2931
13511	end apogee: CONTROL_FINISHED_OK
state	13511	begin climb
13516	0.68	117.3	993.6	0.0	327	13626	0.55	0.00	104.20	1.251	6	0.072	0.000	2148	2306	2452
13948	0.58	117.3	972.7	6.4	334	13950	0.10	0.00	0.00	0.000	6	0.150	0.000	2124	2306	2443
14248	0.52	117.3	955.3	5.7	339	14252	0.00	2.33	0.00	0.000	4	0.000	0.052	2125	3714	2441
14283	0.41	117.3	953.0	7.1	339	14288	0.17	2.25	0.00	0.000	6	0.154	0.035	2088	2307	2440
14611	0.44	143.1	937.6	4.6	345	14639	0.00	2.40	21.45	1.177	4	0.000	0.051	2088	3714	2346
14663	0.45	149.2	934.8	5.3	345	14676	0.00	2.28	6.95	0.963	6	0.000	0.035	2095	2298	2322
14980	0.45	149.2	917.3	5.6	351	14981	0.00	0.00	0.00	0.000	6	0.000	0.000	2095	2298	2318
15283	0.46	159.1	901.2	5.2	356	15297	0.00	2.33	9.55	1.052	4	0.000	0.051	2096	3712	2282
15344	0.44	159.1	897.6	5.7	356	15350	0.00	2.22	0.00	0.000	6	0.000	0.034	2106	2301	2281
15656	0.46	174.2	881.9	5.0	362	15673	0.00	0.00	14.90	1.110	6	0.000	0.000	2106	2301	2220
15958	0.49	202.9	868.1	4.5	367	15997	0.00	2.35	28.27	1.083	4	0.000	0.052	2106	3704	2102
16039	0.49	202.9	863.8	6.4	368	16043	0.00	2.25	0.00	0.000	6	0.000	0.035	2116	2299	2101
16389	0.51	216.0	846.2	5.1	374	16404	0.00	0.00	12.82	1.067	6	0.000	0.000	2115	2300	2050
16692	0.55	226.0	830.5	5.2	379	16707	0.00	2.30	9.82	1.015	4	0.000	0.051	2116	3710	2009
16730	0.55	226.0	828.3	6.5	379	16734	0.00	2.22	0.00	0.000	6	0.000	0.033	2126	2295	2008
17057	0.55	226.0	807.3	6.5	385	17058	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2295	2007
17361	0.55	226.0	787.0	6.7	390	17365	0.00	2.33	0.00	0.000	4	0.000	0.051	2126	3723	2005
17406	0.52	226.0	783.3	8.4	390	17411	0.10	2.25	0.00	0.000	6	0.145	0.034	2111	2293	2005
17723	0.56	226.0	763.5	6.2	396	17724	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2292	2004
18027	0.61	226.0	744.4	6.3	401	18028	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2292	2004
18329	0.65	226.0	726.2	5.9	406	18331	0.10	0.00	0.00	0.000	6	0.068	0.000	2174	2293	2003
18632	0.55	226.0	698.9	9.3	411	18637	0.20	2.33	0.00	0.000	4	0.134	0.050	2112	3718	2003
18660	0.55	226.0	696.5	7.7	411	18664	0.00	2.22	0.00	0.000	6	0.000	0.035	2120	2304	2003
19000	0.58	235.5	678.4	5.2	417	19011	0.00	0.00	9.38	0.927	6	0.000	0.000	2120	2304	1970
19303	0.63	250.4	663.1	5.0	422	19319	0.00	0.00	14.62	0.978	6	0.000	0.000	2120	2305	1910
19606	0.68	254.4	646.9	5.4	427	19613	0.10	0.00	4.85	0.727	6	0.065	0.000	2189	2304	1893
19910	0.56	254.4	616.7	10.3	432	19914	0.22	2.33	0.00	0.000	4	0.135	0.048	2120	3712	1893
19944	0.56	254.4	613.5	7.7	432	19948	0.00	2.25	0.00	0.000	6	0.000	0.033	2129	2293	1892
20271	0.56	254.4	591.6	6.7	438	20272	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2294	1892
20574	0.56	254.4	570.1	7.1	443	20578	0.00	2.35	0.00	0.000	4	0.000	0.048	2129	3714	1892
20632	0.56	254.4	565.4	8.5	443	20638	0.00	2.25	0.00	0.000	6	0.000	0.032	2139	2298	1892
20942	0.56	254.4	542.1	7.5	449	20943	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2299	1891
21245	0.56	254.4	519.8	7.4	454	21249	0.00	2.30	0.00	0.000	4	0.000	0.047	2139	3721	1891
21291	0.54	254.4	516.0	8.7	454	21295	0.12	2.25	0.00	0.000	6	0.131	0.033	2116	2294	1891
21608	0.61	254.4	497.6	5.8	460	21612	0.00	2.28	0.00	0.000	4	0.000	0.049	2124	897	1891
21653	0.68	254.4	494.5	7.1	460	21658	0.10	2.25	0.00	0.000	6	0.065	0.036	2195	2313	1890
21970	0.56	254.4	462.7	10.4	466	21975	0.22	2.28	0.00	0.000	4	0.139	0.048	2126	3707	1890
22056	0.56	254.4	455.6	6.8	467	22060	0.00	2.20	0.00	0.000	6	0.000	0.032	2134	2300	1890
22400	0.58	254.4	433.0	6.6	473	22404	0.00	2.28	0.00	0.000	4	0.000	0.048	2144	896	1890
22423	0.61	254.4	431.5	5.9	473	22427	0.00	2.25	0.00	0.000	6	0.000	0.039	2145	2313	1890
22762	0.61	254.4	406.3	7.5	479	22766	0.00	2.28	0.00	0.000	4	0.000	0.054	2144	3708	1890
22826	0.58	254.4	400.8	8.3	480	22830	0.12	2.20	0.00	0.000	6	0.134	0.032	2121	2298	1889
23199	0.63	254.4	378.9	5.6	486	23203	0.00	2.25	0.00	0.000	4	0.000	0.046	2129	895	1890
23245	0.71	254.4	376.3	5.7	486	23249	0.08	2.22	0.00	0.000	6	0.072	0.041	2187	2310	1889
23572	0.61	254.4	346.9	9.3	492	23577	0.17	2.30	0.00	0.000	4	0.133	0.050	2131	3718	1890
23646	0.61	254.4	340.9	7.4	493	23650	0.00	2.20	0.00	0.000	6	0.000	0.031	2139	2302	1890
24001	0.63	254.4	318.1	6.3	499	24003	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2302	1889
24304	0.63	254.4	299.1	6.2	504	24308	0.00	2.28	0.00	0.000	4	0.000	0.048	2139	3719	1890
24339	0.63	254.4	296.8	6.9	505	24344	0.00	2.20	0.00	0.000	6	0.000	0.031	2149	2297	1889
24682	0.63	254.4	274.0	6.5	516	24683	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2297	1889
24988	0.63	254.4	256.0	5.7	526	24989	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2297	1889
25294	0.65	272.3	240.1	4.9	536	25327	0.00	2.35	18.70	0.680	4	0.000	0.048	2149	3708	1820
25357	0.65	276.6	236.5	5.4	537	25368	0.00	2.22	5.55	0.591	6	0.000	0.031	2157	2306	1802
25705	0.65	276.6	214.7	6.6	549	25709	0.00	2.30	0.00	0.000	4	0.000	0.044	2167	886	1800
25728	0.65	276.6	212.9	6.8	549	25735	0.10	2.25	0.00	0.000	6	0.110	0.036	2140	2309	1799
26043	0.70	276.6	195.3	5.6	560	26047	0.00	2.22	0.00	0.000	4	0.000	0.047	2140	3710	1799
26072	0.75	276.6	193.3	6.7	560	26079	0.00	2.20	0.00	0.000	6	0.000	0.031	2145	2300	1799
26387	0.79	276.6	175.0	5.5	571	26391	0.10	2.25	0.00	0.000	4	0.064	0.044	2227	890	1798
26424	0.71	276.6	172.1	9.4	572	26428	0.25	2.22	0.00	0.000	6	0.123	0.036	2153	2305	1798
26766	0.74	276.6	152.5	5.5	583	26770	0.00	2.25	0.00	0.000	4	0.000	0.047	2153	3714	1798
26811	0.74	276.6	149.5	5.8	584	26815	0.00	2.20	0.00	0.000	6	0.000	0.031	2160	2298	1798
27143	0.77	276.6	129.6	6.8	614	27147	0.00	2.25	0.00	0.000	4	0.000	0.044	2169	886	1798
27167	0.81	276.6	127.8	6.1	616	27171	0.00	2.22	0.00	0.000	6	0.000	0.035	2169	2310	1798
27506	0.85	276.6	107.1	5.7	647	27509	0.00	2.25	0.00	0.000	4	0.000	0.047	2169	3714	1797
27564	0.85	276.6	102.9	7.3	652	27568	0.00	2.20	0.00	0.000	6	0.000	0.031	2177	2294	1798
27896	0.91	294.0	86.9	4.9	682	27919	0.00	2.25	15.77	0.634	4	0.000	0.044	2186	895	1731
27967	0.99	295.9	82.8	5.4	688	27972	0.10	2.22	0.00	0.000	6	0.064	0.035	2255	2306	1729
28297	0.86	295.9	53.3	9.4	705	28301	0.20	2.28	0.00	0.000	4	0.128	0.045	2189	3712	1729
28370	0.86	295.9	47.3	6.8	708	28374	0.00	2.20	0.00	0.000	6	0.000	0.031	2196	2298	1728
28695	0.86	295.9	28.0	6.6	724	28699	0.00	2.28	0.00	0.000	4	0.000	0.046	2197	3708	1728
28737	0.86	295.9	24.5	8.0	726	28741	0.00	2.20	0.00	0.000	6	0.000	0.031	2207	2304	1728
29065	0.87	299.2	5.3	5.4	742	29075	0.00	2.30	5.53	0.489	4	0.000	0.048	2207	3713	1710
29099	0.87	299.2	3.2	6.7	743	29106	0.08	2.25	0.00	0.000	6	0.134	0.034	2191	2297	1709
29123	end climb: SURFACE_DEPTH_REACHED
state	29123	begin surface coast
29147	end surface coast: CONTROL_FINISHED_OK
state	29147	begin surface