Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 745 * 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 745 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -76859.172 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 -76859.172

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 36 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 34 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 745 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 161025,4923.858,-13723.809,40,1.4,40,19.4 TGT_NAME P16

_CALLS 2 TGT_LATLONG 4917.000,-13440.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.168,-0.006

_SM_DEPTHo 2.29 KALMAN_X -60815.0,-527.0,-22.2,612926.8,1542.7

_SM_ANGLEo -58.3 KALMAN_Y 54850.0,71.8,-173.9,-160485.0,-291.5

GPS2 162055,4923.882,-13723.842,13,1.1,31,19.4 MHEAD_RNG_PITCHd_Wd 72.6,198346,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.7,1.025391 XPDR_PINGS 53

SM_CCo 28317,0.00,0.000,0,0,1591,328.70 _24V_AH 21.8,107.290

SM_GC 2.41,5.70,0.00,0.00,0.049,0.000,0.000,98,2304,1591,-8.60,0.03,328.70 _10V_AH 10.3,91.367

IRIDIUM_FIX 4906.56,-13722.67,130599,161600 DATA_FILE_SIZE 41110,714

TT8_MAMPS 0.028379 CAP_FILE_SIZE 183586,0

HUMID 1752 CFSIZE 260165632,200699904

INTERNAL_PRESSURE 7.37333 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.80 GPS 170210,001507,4924.202,-13719.015,35,1.1,35,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 225 96.23 SBE_CT 502 24 263.07

Roll_motor 223 63 310.00 SBE_O2 582 19 241.15

VBD_pump_during_apogee 396 1278 11064.28 Optode 733 33 527.49

VBD_pump_during_surface 0 0 0.00 WL_BB2F 760 105 1740.43

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 103 108.67 nil 0 0 0.00

Iridium_during_connect 50 160 176.81 nil 0 0 0.00

Iridium_during_xfer 267 223 1298.75

Transponder_ping 13 420 121.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.99

TT8 1633 19 333.14

LPSleep 23595 2 532.25

TT8_Active 553 19 112.79

TT8_Sampling 2088 39 856.13

TT8_CF8 1061 45 500.78

TT8_Kalman 33 81 28.13

Analog_circuits 1656 12 204.69

GPS_charging 0 0 0.00

Compass 2039 8 168.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.68 -117.3 0.0 0.0 0 79 0.00 0.00 -59.65 0.000 2 0.000 0.000 96 2313 2907

83 -0.68 -117.3 4.6 -5.5 3 106 7.05 2.38 -10.32 0.000 4 0.225 0.064 1838 3710 3413

270 -0.68 -117.3 32.0 -11.5 11 274 0.00 2.22 0.00 0.000 6 0.000 0.029 1838 2301 3414

593 -0.62 -117.3 70.8 -12.7 27 598 0.10 2.30 0.00 0.000 4 0.131 0.041 1867 894 3414

684 -0.64 -117.3 79.9 -9.8 31 688 0.00 2.22 0.00 0.000 6 0.000 0.037 1863 2299 3414

1016 -0.67 -117.3 108.3 -7.9 61 1020 0.00 2.28 0.00 0.000 4 0.000 0.041 1863 888 3414

1073 -0.73 -117.3 113.3 -8.0 65 1079 0.00 2.28 0.00 0.000 6 0.000 0.038 1863 2315 3414

1404 -0.78 -117.3 136.5 -6.6 96 1409 0.12 2.28 0.00 0.000 4 0.054 0.047 1767 3711 3414

1489 -0.66 -117.3 146.8 -12.9 103 1497 0.30 2.20 0.00 0.000 6 0.114 0.030 1858 2300 3414

1806 -0.72 -117.3 169.0 -6.6 116 1809 0.00 2.25 0.00 0.000 4 0.000 0.045 1857 900 3414

1852 -0.79 -117.3 172.5 -7.5 117 1856 0.08 2.22 0.00 0.000 6 0.077 0.035 1783 2308 3414

2183 -0.70 -117.3 208.5 -11.4 128 2187 0.20 2.28 0.00 0.000 4 0.120 0.040 1848 894 3414

2235 -0.76 -117.3 213.5 -8.9 129 2239 0.00 2.22 0.00 0.000 6 0.000 0.042 1847 2299 3414

2555 -0.81 -117.3 236.7 -7.1 140 2557 0.10 0.00 0.00 0.000 6 0.064 0.000 1770 2299 3414

2861 -0.70 -117.3 270.8 -11.3 150 2866 0.22 2.28 0.00 0.000 4 0.117 0.048 1845 901 3414

2936 -0.75 -117.3 276.9 -7.3 152 2940 0.00 2.22 0.00 0.000 6 0.000 0.036 1837 2309 3414

3262 -0.78 -117.3 300.0 -7.0 163 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2309 3414

3595 -0.81 -117.3 321.7 -6.4 169 3599 0.00 2.28 0.00 0.000 4 0.000 0.042 1837 897 3414

3636 -0.86 -117.3 324.4 -6.9 169 3640 0.10 2.28 0.00 0.000 6 0.065 0.044 1766 2313 3414

3957 -0.76 -117.3 357.8 -10.6 175 3959 0.22 0.00 0.00 0.000 6 0.118 0.000 1834 2313 3413

4260 -0.79 -117.3 378.3 -6.6 180 4265 0.00 2.28 0.00 0.000 4 0.000 0.043 1835 899 3413

4307 -0.84 -117.3 381.6 -7.2 180 4311 0.00 2.28 0.00 0.000 6 0.000 0.038 1835 2311 3413

4625 -0.88 -117.3 401.9 -6.4 186 4629 0.10 2.30 0.00 0.000 4 0.067 0.048 1768 900 3413

4653 -0.82 -117.3 404.6 -9.9 186 4658 0.22 2.28 0.00 0.000 6 0.118 0.044 1824 2311 3413

4992 -0.82 -117.3 430.3 -7.6 192 4996 0.00 2.30 0.00 0.000 4 0.000 0.052 1816 3720 3412

5021 -0.82 -117.3 432.7 -8.8 192 5025 0.00 2.20 0.00 0.000 6 0.000 0.030 1816 2304 3412

5360 -0.82 -117.3 460.9 -8.3 198 5364 0.00 2.28 0.00 0.000 4 0.000 0.044 1815 891 3412

5388 -0.82 -117.3 463.7 -9.7 198 5392 0.00 2.28 0.00 0.000 6 0.000 0.041 1809 2306 3412

5727 -0.82 -117.3 492.7 -8.5 204 5731 0.00 2.28 0.00 0.000 4 0.000 0.048 1809 896 3412

5773 -0.82 -117.3 496.9 -9.1 204 5777 0.00 2.28 0.00 0.000 6 0.000 0.038 1800 2309 3412

6100 -0.80 -117.3 525.5 -8.7 210 6105 0.10 2.30 0.00 0.000 4 0.137 0.044 1828 894 3411

6146 -0.84 -117.3 529.0 -7.2 210 6150 0.00 2.25 0.00 0.000 6 0.000 0.041 1823 2302 3411

6475 -0.86 -117.3 550.8 -6.7 216 6476 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2302 3411

6777 -0.89 -117.3 569.5 -6.1 221 6781 0.00 2.28 0.00 0.000 4 0.000 0.047 1823 895 3411

6836 -0.93 -117.3 573.3 -6.6 221 6840 0.08 2.28 0.00 0.000 6 0.083 0.039 1763 2304 3411

7148 -0.84 -117.3 603.0 -9.8 226 7150 0.20 0.00 0.00 0.000 6 0.119 0.000 1824 2304 3411

7450 -0.88 -117.3 623.5 -6.6 231 7451 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 2304 3411

7753 -0.91 -117.3 643.0 -6.5 236 7755 0.10 0.00 0.00 0.000 6 0.067 0.000 1754 2304 3411

8057 -0.81 -117.3 673.2 -10.2 241 8062 0.20 2.33 0.00 0.000 4 0.123 0.048 1820 896 3410

8104 -0.85 -117.3 676.8 -6.6 241 8108 0.00 2.28 0.00 0.000 6 0.000 0.044 1820 2305 3410

8420 -0.88 -117.3 696.9 -6.2 247 8424 0.00 2.30 0.00 0.000 4 0.000 0.049 1819 895 3410

8466 -0.92 -117.3 700.1 -7.0 247 8470 0.00 2.28 0.00 0.000 6 0.000 0.039 1811 2308 3410

8783 -0.92 -117.3 721.5 -6.7 253 8784 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2308 3410

9087 -0.92 -117.3 741.3 -6.5 258 9088 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2308 3410

9389 -0.92 -117.3 762.2 -6.9 263 9393 0.00 2.30 0.00 0.000 4 0.000 0.048 1811 900 3409

9441 -0.94 -117.3 766.3 -8.4 263 9445 0.00 2.25 0.00 0.000 6 0.000 0.044 1809 2307 3409

9762 -0.94 -117.3 790.0 -7.4 269 9764 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2306 3409

10066 -0.94 -117.3 811.9 -7.3 274 10068 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2307 3409

10369 -0.94 -117.3 832.3 -6.6 279 10373 0.00 2.33 0.00 0.000 4 0.000 0.044 1808 899 3409

10410 -0.96 -117.3 835.0 -6.5 279 10414 0.00 2.30 0.00 0.000 6 0.000 0.040 1808 2312 3409

10732 -0.96 -117.3 853.0 -5.5 285 10733 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2312 3408

11038 -0.96 -117.3 868.2 -5.0 290 11042 0.00 2.35 0.00 0.000 4 0.000 0.050 1808 898 3408

11083 -0.96 -117.3 870.9 -5.9 290 11087 0.00 2.30 0.00 0.000 6 0.000 0.045 1798 2311 3408

11400 -0.96 -117.3 889.3 -5.9 296 11404 0.00 2.35 0.00 0.000 4 0.000 0.047 1798 901 3408

11434 -0.96 -117.3 891.7 -6.6 296 11438 0.00 2.30 0.00 0.000 6 0.000 0.046 1795 2307 3408

11762 -0.96 -117.3 912.1 -6.3 302 11763 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2307 3408

12064 -0.96 -117.3 932.0 -6.6 307 12065 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2307 3408

12368 -0.96 -117.3 952.1 -6.7 312 12370 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2307 3408

12670 -0.96 -117.3 972.1 -6.6 317 12671 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2307 3408

12969 end dive: TARGET_DEPTH_EXCEEDED

state 12969 begin apogee

12980 -0.22 0.0 992.0 6.5 322 13081 0.50 0.00 98.35 1.279 6 0.111 0.000 1954 2307 2931

13081 end apogee: CONTROL_FINISHED_OK

state 13081 begin climb

13086 0.68 117.3 993.4 0.0 323 13197 0.55 2.58 103.88 1.250 4 0.070 0.054 2149 3703 2451

13233 0.50 117.3 990.6 6.9 326 13238 0.20 2.38 0.00 0.000 6 0.153 0.036 2111 2305 2447

13583 0.49 138.7 973.5 4.8 332 13607 0.00 2.38 17.88 1.165 4 0.000 0.056 2111 3708 2364

13650 0.42 138.7 969.7 6.0 333 13655 0.12 2.25 0.00 0.000 6 0.158 0.035 2089 2298 2362

14019 0.49 175.0 953.6 4.3 339 14053 0.00 0.00 32.42 1.205 6 0.000 0.000 2089 2298 2217

14321 0.60 178.7 937.9 5.4 344 14330 0.15 2.35 4.12 0.751 4 0.062 0.051 2156 3717 2202

14473 0.46 178.7 924.6 9.1 346 14478 0.25 2.25 0.00 0.000 6 0.153 0.033 2100 2300 2200

14823 0.50 188.0 906.0 5.2 352 14837 0.00 2.30 9.62 1.049 4 0.000 0.053 2108 896 2163

14857 0.55 189.0 904.1 5.5 352 14861 0.00 2.25 0.00 0.000 6 0.000 0.044 2109 2306 2162

15192 0.57 189.6 886.0 5.5 358 15196 0.00 2.30 0.00 0.000 4 0.000 0.051 2109 3718 2161

15221 0.57 193.6 884.1 5.4 358 15232 0.00 2.25 6.30 0.926 6 0.000 0.040 2118 2304 2141

15554 0.57 193.6 864.7 5.8 364 15555 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 2139

15858 0.57 193.6 847.0 5.9 369 15862 0.00 2.35 0.00 0.000 4 0.000 0.048 2119 3716 2139

15915 0.53 193.6 842.9 8.0 369 15921 0.00 2.25 0.00 0.000 6 0.000 0.032 2129 2296 2138

16226 0.51 193.6 823.3 6.2 375 16230 0.00 2.33 0.00 0.000 4 0.000 0.049 2129 3708 2138

16256 0.47 193.6 821.2 6.9 375 16260 0.15 2.25 0.00 0.000 6 0.143 0.040 2099 2300 2138

16589 0.53 211.0 804.6 4.9 381 16608 0.00 0.00 16.55 1.080 6 0.000 0.000 2099 2300 2070

16893 0.61 234.5 790.3 4.7 386 16917 0.12 0.00 21.80 1.088 6 0.061 0.000 2166 2300 1975

17196 0.53 234.5 765.6 8.4 391 17201 0.20 2.30 0.00 0.000 4 0.136 0.047 2105 3714 1970

17236 0.56 234.5 762.7 6.1 391 17240 0.00 2.25 0.00 0.000 6 0.000 0.033 2113 2303 1970

17559 0.63 259.0 747.4 4.7 397 17584 0.08 0.00 22.70 1.065 6 0.081 0.000 2170 2303 1874

17863 0.56 259.0 721.9 8.7 402 17867 0.17 2.30 0.00 0.000 4 0.130 0.051 2114 3708 1869

17891 0.56 259.0 719.5 7.3 402 17895 0.00 2.22 0.00 0.000 6 0.000 0.032 2122 2301 1869

18224 0.60 259.0 699.9 5.8 408 18226 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2301 1868

18527 0.63 259.0 682.3 5.8 413 18531 0.00 2.30 0.00 0.000 4 0.000 0.048 2122 3708 1868

18574 0.66 259.0 679.4 6.1 413 18578 0.00 2.22 0.00 0.000 6 0.000 0.031 2131 2303 1868

18891 0.66 259.0 658.7 6.6 419 18895 0.00 2.30 0.00 0.000 4 0.000 0.048 2131 3709 1868

18914 0.66 259.0 657.0 6.7 419 18918 0.00 2.22 0.00 0.000 6 0.000 0.032 2141 2294 1867

19253 0.66 259.0 630.7 7.9 425 19254 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2294 1867

19555 0.66 259.0 606.4 8.0 430 19559 0.00 2.35 0.00 0.000 4 0.000 0.053 2141 3717 1866

19591 0.63 259.0 603.0 8.3 430 19595 0.00 2.25 0.00 0.000 6 0.000 0.032 2151 2293 1867

19919 0.61 259.0 573.7 8.9 436 19923 0.00 2.33 0.00 0.000 4 0.000 0.053 2151 3711 1866

19948 0.57 259.0 570.7 9.6 436 19953 0.15 2.22 0.00 0.000 6 0.131 0.032 2120 2294 1866

20281 0.62 259.0 547.8 6.7 442 20285 0.00 2.28 0.00 0.000 4 0.000 0.045 2128 892 1866

20316 0.69 259.0 545.4 6.5 442 20321 0.08 2.25 0.00 0.000 6 0.077 0.038 2188 2305 1866

20651 0.58 259.0 513.0 9.8 448 20656 0.20 2.33 0.00 0.000 4 0.133 0.049 2125 3712 1866

20720 0.58 259.0 507.8 6.1 449 20725 0.00 2.22 0.00 0.000 6 0.000 0.031 2133 2303 1866

21082 0.58 259.0 487.4 5.6 455 21083 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2303 1866

21386 0.58 261.3 471.0 5.4 460 21387 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2303 1866

21688 0.61 261.3 454.0 5.6 465 21692 0.00 2.33 0.00 0.000 4 0.000 0.048 2133 3715 1866

21734 0.61 261.3 450.9 6.5 465 21738 0.00 2.25 0.00 0.000 6 0.000 0.031 2142 2293 1865

22050 0.61 261.3 430.3 6.6 471 22051 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2293 1865

22354 0.61 261.3 410.8 6.4 476 22358 0.00 2.30 0.00 0.000 4 0.000 0.047 2142 3709 1866

22395 0.61 261.3 407.7 8.2 476 22399 0.00 2.22 0.00 0.000 6 0.000 0.031 2152 2295 1865

22716 0.61 261.3 386.0 6.8 482 22718 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2295 1866

23020 0.59 261.3 364.8 6.9 487 23024 0.10 2.30 0.00 0.000 4 0.143 0.047 2126 3718 1866

23066 0.62 261.3 361.5 8.5 487 23070 0.00 2.22 0.00 0.000 6 0.000 0.031 2133 2295 1865

23394 0.64 261.3 341.6 6.0 493 23398 0.00 2.25 0.00 0.000 4 0.000 0.045 2143 895 1865

23431 0.69 261.3 339.4 5.7 493 23435 0.00 2.25 0.00 0.000 6 0.000 0.037 2143 2305 1865

23765 0.69 261.3 318.3 6.3 499 23769 0.00 2.28 0.00 0.000 4 0.000 0.048 2143 3717 1865

23816 0.69 261.3 314.5 8.1 499 23820 0.00 2.20 0.00 0.000 6 0.000 0.031 2153 2301 1865

24128 0.69 261.3 293.2 6.9 505 24129 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2301 1865

24434 0.69 261.3 271.0 7.4 515 24438 0.00 2.30 0.00 0.000 4 0.000 0.047 2153 3707 1865

24471 0.66 261.3 268.0 9.7 516 24475 0.00 2.22 0.00 0.000 6 0.000 0.031 2162 2294 1865

24813 0.64 261.3 242.0 7.1 527 24815 0.10 0.00 0.00 0.000 6 0.137 0.000 2136 2294 1865

25120 0.70 277.5 226.3 5.0 537 25141 0.00 2.38 16.33 0.723 4 0.000 0.046 2135 3712 1797

25172 0.76 287.1 223.5 5.2 538 25187 0.10 2.25 9.45 0.666 6 0.062 0.031 2211 2300 1761

25525 0.65 287.1 188.7 10.6 550 25527 0.25 0.00 0.00 0.000 6 0.127 0.000 2138 2299 1756

25832 0.72 292.9 171.3 5.3 560 25843 0.00 2.35 6.18 0.584 4 0.000 0.045 2137 3717 1736

25867 0.79 292.9 169.2 5.6 561 25872 0.10 2.25 0.00 0.000 6 0.063 0.030 2210 2297 1736

26192 0.70 292.9 137.4 10.5 579 26197 0.20 2.30 0.00 0.000 4 0.122 0.042 2154 886 1735

26235 0.78 292.9 134.1 7.3 582 26239 0.00 2.25 0.00 0.000 6 0.000 0.036 2154 2309 1734

26565 0.93 292.9 114.4 6.0 612 26570 0.15 2.30 0.00 0.000 4 0.058 0.042 2233 890 1734

26636 0.86 292.9 108.6 10.4 618 26641 0.17 2.25 0.00 0.000 6 0.120 0.035 2182 2305 1733

26963 0.90 307.2 88.6 5.0 648 26986 0.00 2.30 13.52 0.619 4 0.000 0.046 2183 3703 1677

27016 0.97 326.1 85.6 4.9 652 27040 0.08 2.20 17.85 0.622 6 0.077 0.030 2252 2295 1601

27356 0.87 326.1 58.5 8.9 672 27361 0.20 2.28 0.00 0.000 4 0.127 0.041 2197 889 1596

27376 0.82 326.1 56.5 9.9 673 27380 0.00 2.22 0.00 0.000 6 0.000 0.035 2196 2305 1595

27705 0.86 326.1 33.3 6.1 689 27709 0.00 2.28 0.00 0.000 4 0.000 0.046 2197 3710 1595

27757 0.89 326.1 29.8 6.6 691 27761 0.00 2.20 0.00 0.000 6 0.000 0.030 2204 2305 1595

28075 0.89 326.1 9.7 7.1 706 28076 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2304 1594

28214 end climb: SURFACE_DEPTH_REACHED

state 28215 begin surface coast

28236 end surface coast: CONTROL_FINISHED_OK

state 28237 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	745	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-76859.172	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	161025,4923.858,-13723.809,40,1.4,40,19.4	TGT_NAME	P16
_CALLS	2	TGT_LATLONG	4917.000,-13440.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.168,-0.006
_SM_DEPTHo	2.29	KALMAN_X	-60815.0,-527.0,-22.2,612926.8,1542.7
_SM_ANGLEo	-58.3	KALMAN_Y	54850.0,71.8,-173.9,-160485.0,-291.5
GPS2	162055,4923.882,-13723.842,13,1.1,31,19.4	MHEAD_RNG_PITCHd_Wd	72.6,198346,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.7,1.025391	XPDR_PINGS	53
SM_CCo	28317,0.00,0.000,0,0,1591,328.70	_24V_AH	21.8,107.290
SM_GC	2.41,5.70,0.00,0.00,0.049,0.000,0.000,98,2304,1591,-8.60,0.03,328.70	_10V_AH	10.3,91.367
IRIDIUM_FIX	4906.56,-13722.67,130599,161600	DATA_FILE_SIZE	41110,714
TT8_MAMPS	0.028379	CAP_FILE_SIZE	183586,0
HUMID	1752	CFSIZE	260165632,200699904
INTERNAL_PRESSURE	7.37333	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.80	GPS	170210,001507,4924.202,-13719.015,35,1.1,35,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	225	96.23	SBE_CT	502	24	263.07
Roll_motor	223	63	310.00	SBE_O2	582	19	241.15
VBD_pump_during_apogee	396	1278	11064.28	Optode	733	33	527.49
VBD_pump_during_surface	0	0	0.00	WL_BB2F	760	105	1740.43
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	103	108.67	nil	0	0	0.00
Iridium_during_connect	50	160	176.81	nil	0	0	0.00
Iridium_during_xfer	267	223	1298.75
Transponder_ping	13	420	121.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.99
TT8	1633	19	333.14
LPSleep	23595	2	532.25
TT8_Active	553	19	112.79
TT8_Sampling	2088	39	856.13
TT8_CF8	1061	45	500.78
TT8_Kalman	33	81	28.13
Analog_circuits	1656	12	204.69
GPS_charging	0	0	0.00
Compass	2039	8	168.03
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.68	-117.3	0.0	0.0	0	79	0.00	0.00	-59.65	0.000	2	0.000	0.000	96	2313	2907
83	-0.68	-117.3	4.6	-5.5	3	106	7.05	2.38	-10.32	0.000	4	0.225	0.064	1838	3710	3413
270	-0.68	-117.3	32.0	-11.5	11	274	0.00	2.22	0.00	0.000	6	0.000	0.029	1838	2301	3414
593	-0.62	-117.3	70.8	-12.7	27	598	0.10	2.30	0.00	0.000	4	0.131	0.041	1867	894	3414
684	-0.64	-117.3	79.9	-9.8	31	688	0.00	2.22	0.00	0.000	6	0.000	0.037	1863	2299	3414
1016	-0.67	-117.3	108.3	-7.9	61	1020	0.00	2.28	0.00	0.000	4	0.000	0.041	1863	888	3414
1073	-0.73	-117.3	113.3	-8.0	65	1079	0.00	2.28	0.00	0.000	6	0.000	0.038	1863	2315	3414
1404	-0.78	-117.3	136.5	-6.6	96	1409	0.12	2.28	0.00	0.000	4	0.054	0.047	1767	3711	3414
1489	-0.66	-117.3	146.8	-12.9	103	1497	0.30	2.20	0.00	0.000	6	0.114	0.030	1858	2300	3414
1806	-0.72	-117.3	169.0	-6.6	116	1809	0.00	2.25	0.00	0.000	4	0.000	0.045	1857	900	3414
1852	-0.79	-117.3	172.5	-7.5	117	1856	0.08	2.22	0.00	0.000	6	0.077	0.035	1783	2308	3414
2183	-0.70	-117.3	208.5	-11.4	128	2187	0.20	2.28	0.00	0.000	4	0.120	0.040	1848	894	3414
2235	-0.76	-117.3	213.5	-8.9	129	2239	0.00	2.22	0.00	0.000	6	0.000	0.042	1847	2299	3414
2555	-0.81	-117.3	236.7	-7.1	140	2557	0.10	0.00	0.00	0.000	6	0.064	0.000	1770	2299	3414
2861	-0.70	-117.3	270.8	-11.3	150	2866	0.22	2.28	0.00	0.000	4	0.117	0.048	1845	901	3414
2936	-0.75	-117.3	276.9	-7.3	152	2940	0.00	2.22	0.00	0.000	6	0.000	0.036	1837	2309	3414
3262	-0.78	-117.3	300.0	-7.0	163	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2309	3414
3595	-0.81	-117.3	321.7	-6.4	169	3599	0.00	2.28	0.00	0.000	4	0.000	0.042	1837	897	3414
3636	-0.86	-117.3	324.4	-6.9	169	3640	0.10	2.28	0.00	0.000	6	0.065	0.044	1766	2313	3414
3957	-0.76	-117.3	357.8	-10.6	175	3959	0.22	0.00	0.00	0.000	6	0.118	0.000	1834	2313	3413
4260	-0.79	-117.3	378.3	-6.6	180	4265	0.00	2.28	0.00	0.000	4	0.000	0.043	1835	899	3413
4307	-0.84	-117.3	381.6	-7.2	180	4311	0.00	2.28	0.00	0.000	6	0.000	0.038	1835	2311	3413
4625	-0.88	-117.3	401.9	-6.4	186	4629	0.10	2.30	0.00	0.000	4	0.067	0.048	1768	900	3413
4653	-0.82	-117.3	404.6	-9.9	186	4658	0.22	2.28	0.00	0.000	6	0.118	0.044	1824	2311	3413
4992	-0.82	-117.3	430.3	-7.6	192	4996	0.00	2.30	0.00	0.000	4	0.000	0.052	1816	3720	3412
5021	-0.82	-117.3	432.7	-8.8	192	5025	0.00	2.20	0.00	0.000	6	0.000	0.030	1816	2304	3412
5360	-0.82	-117.3	460.9	-8.3	198	5364	0.00	2.28	0.00	0.000	4	0.000	0.044	1815	891	3412
5388	-0.82	-117.3	463.7	-9.7	198	5392	0.00	2.28	0.00	0.000	6	0.000	0.041	1809	2306	3412
5727	-0.82	-117.3	492.7	-8.5	204	5731	0.00	2.28	0.00	0.000	4	0.000	0.048	1809	896	3412
5773	-0.82	-117.3	496.9	-9.1	204	5777	0.00	2.28	0.00	0.000	6	0.000	0.038	1800	2309	3412
6100	-0.80	-117.3	525.5	-8.7	210	6105	0.10	2.30	0.00	0.000	4	0.137	0.044	1828	894	3411
6146	-0.84	-117.3	529.0	-7.2	210	6150	0.00	2.25	0.00	0.000	6	0.000	0.041	1823	2302	3411
6475	-0.86	-117.3	550.8	-6.7	216	6476	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2302	3411
6777	-0.89	-117.3	569.5	-6.1	221	6781	0.00	2.28	0.00	0.000	4	0.000	0.047	1823	895	3411
6836	-0.93	-117.3	573.3	-6.6	221	6840	0.08	2.28	0.00	0.000	6	0.083	0.039	1763	2304	3411
7148	-0.84	-117.3	603.0	-9.8	226	7150	0.20	0.00	0.00	0.000	6	0.119	0.000	1824	2304	3411
7450	-0.88	-117.3	623.5	-6.6	231	7451	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	2304	3411
7753	-0.91	-117.3	643.0	-6.5	236	7755	0.10	0.00	0.00	0.000	6	0.067	0.000	1754	2304	3411
8057	-0.81	-117.3	673.2	-10.2	241	8062	0.20	2.33	0.00	0.000	4	0.123	0.048	1820	896	3410
8104	-0.85	-117.3	676.8	-6.6	241	8108	0.00	2.28	0.00	0.000	6	0.000	0.044	1820	2305	3410
8420	-0.88	-117.3	696.9	-6.2	247	8424	0.00	2.30	0.00	0.000	4	0.000	0.049	1819	895	3410
8466	-0.92	-117.3	700.1	-7.0	247	8470	0.00	2.28	0.00	0.000	6	0.000	0.039	1811	2308	3410
8783	-0.92	-117.3	721.5	-6.7	253	8784	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2308	3410
9087	-0.92	-117.3	741.3	-6.5	258	9088	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2308	3410
9389	-0.92	-117.3	762.2	-6.9	263	9393	0.00	2.30	0.00	0.000	4	0.000	0.048	1811	900	3409
9441	-0.94	-117.3	766.3	-8.4	263	9445	0.00	2.25	0.00	0.000	6	0.000	0.044	1809	2307	3409
9762	-0.94	-117.3	790.0	-7.4	269	9764	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2306	3409
10066	-0.94	-117.3	811.9	-7.3	274	10068	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2307	3409
10369	-0.94	-117.3	832.3	-6.6	279	10373	0.00	2.33	0.00	0.000	4	0.000	0.044	1808	899	3409
10410	-0.96	-117.3	835.0	-6.5	279	10414	0.00	2.30	0.00	0.000	6	0.000	0.040	1808	2312	3409
10732	-0.96	-117.3	853.0	-5.5	285	10733	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2312	3408
11038	-0.96	-117.3	868.2	-5.0	290	11042	0.00	2.35	0.00	0.000	4	0.000	0.050	1808	898	3408
11083	-0.96	-117.3	870.9	-5.9	290	11087	0.00	2.30	0.00	0.000	6	0.000	0.045	1798	2311	3408
11400	-0.96	-117.3	889.3	-5.9	296	11404	0.00	2.35	0.00	0.000	4	0.000	0.047	1798	901	3408
11434	-0.96	-117.3	891.7	-6.6	296	11438	0.00	2.30	0.00	0.000	6	0.000	0.046	1795	2307	3408
11762	-0.96	-117.3	912.1	-6.3	302	11763	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2307	3408
12064	-0.96	-117.3	932.0	-6.6	307	12065	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2307	3408
12368	-0.96	-117.3	952.1	-6.7	312	12370	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2307	3408
12670	-0.96	-117.3	972.1	-6.6	317	12671	0.00	0.00	0.00	0.000	6	0.000	0.000	1794	2307	3408
12969	end dive: TARGET_DEPTH_EXCEEDED
state	12969	begin apogee
12980	-0.22	0.0	992.0	6.5	322	13081	0.50	0.00	98.35	1.279	6	0.111	0.000	1954	2307	2931
13081	end apogee: CONTROL_FINISHED_OK
state	13081	begin climb
13086	0.68	117.3	993.4	0.0	323	13197	0.55	2.58	103.88	1.250	4	0.070	0.054	2149	3703	2451
13233	0.50	117.3	990.6	6.9	326	13238	0.20	2.38	0.00	0.000	6	0.153	0.036	2111	2305	2447
13583	0.49	138.7	973.5	4.8	332	13607	0.00	2.38	17.88	1.165	4	0.000	0.056	2111	3708	2364
13650	0.42	138.7	969.7	6.0	333	13655	0.12	2.25	0.00	0.000	6	0.158	0.035	2089	2298	2362
14019	0.49	175.0	953.6	4.3	339	14053	0.00	0.00	32.42	1.205	6	0.000	0.000	2089	2298	2217
14321	0.60	178.7	937.9	5.4	344	14330	0.15	2.35	4.12	0.751	4	0.062	0.051	2156	3717	2202
14473	0.46	178.7	924.6	9.1	346	14478	0.25	2.25	0.00	0.000	6	0.153	0.033	2100	2300	2200
14823	0.50	188.0	906.0	5.2	352	14837	0.00	2.30	9.62	1.049	4	0.000	0.053	2108	896	2163
14857	0.55	189.0	904.1	5.5	352	14861	0.00	2.25	0.00	0.000	6	0.000	0.044	2109	2306	2162
15192	0.57	189.6	886.0	5.5	358	15196	0.00	2.30	0.00	0.000	4	0.000	0.051	2109	3718	2161
15221	0.57	193.6	884.1	5.4	358	15232	0.00	2.25	6.30	0.926	6	0.000	0.040	2118	2304	2141
15554	0.57	193.6	864.7	5.8	364	15555	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	2139
15858	0.57	193.6	847.0	5.9	369	15862	0.00	2.35	0.00	0.000	4	0.000	0.048	2119	3716	2139
15915	0.53	193.6	842.9	8.0	369	15921	0.00	2.25	0.00	0.000	6	0.000	0.032	2129	2296	2138
16226	0.51	193.6	823.3	6.2	375	16230	0.00	2.33	0.00	0.000	4	0.000	0.049	2129	3708	2138
16256	0.47	193.6	821.2	6.9	375	16260	0.15	2.25	0.00	0.000	6	0.143	0.040	2099	2300	2138
16589	0.53	211.0	804.6	4.9	381	16608	0.00	0.00	16.55	1.080	6	0.000	0.000	2099	2300	2070
16893	0.61	234.5	790.3	4.7	386	16917	0.12	0.00	21.80	1.088	6	0.061	0.000	2166	2300	1975
17196	0.53	234.5	765.6	8.4	391	17201	0.20	2.30	0.00	0.000	4	0.136	0.047	2105	3714	1970
17236	0.56	234.5	762.7	6.1	391	17240	0.00	2.25	0.00	0.000	6	0.000	0.033	2113	2303	1970
17559	0.63	259.0	747.4	4.7	397	17584	0.08	0.00	22.70	1.065	6	0.081	0.000	2170	2303	1874
17863	0.56	259.0	721.9	8.7	402	17867	0.17	2.30	0.00	0.000	4	0.130	0.051	2114	3708	1869
17891	0.56	259.0	719.5	7.3	402	17895	0.00	2.22	0.00	0.000	6	0.000	0.032	2122	2301	1869
18224	0.60	259.0	699.9	5.8	408	18226	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2301	1868
18527	0.63	259.0	682.3	5.8	413	18531	0.00	2.30	0.00	0.000	4	0.000	0.048	2122	3708	1868
18574	0.66	259.0	679.4	6.1	413	18578	0.00	2.22	0.00	0.000	6	0.000	0.031	2131	2303	1868
18891	0.66	259.0	658.7	6.6	419	18895	0.00	2.30	0.00	0.000	4	0.000	0.048	2131	3709	1868
18914	0.66	259.0	657.0	6.7	419	18918	0.00	2.22	0.00	0.000	6	0.000	0.032	2141	2294	1867
19253	0.66	259.0	630.7	7.9	425	19254	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2294	1867
19555	0.66	259.0	606.4	8.0	430	19559	0.00	2.35	0.00	0.000	4	0.000	0.053	2141	3717	1866
19591	0.63	259.0	603.0	8.3	430	19595	0.00	2.25	0.00	0.000	6	0.000	0.032	2151	2293	1867
19919	0.61	259.0	573.7	8.9	436	19923	0.00	2.33	0.00	0.000	4	0.000	0.053	2151	3711	1866
19948	0.57	259.0	570.7	9.6	436	19953	0.15	2.22	0.00	0.000	6	0.131	0.032	2120	2294	1866
20281	0.62	259.0	547.8	6.7	442	20285	0.00	2.28	0.00	0.000	4	0.000	0.045	2128	892	1866
20316	0.69	259.0	545.4	6.5	442	20321	0.08	2.25	0.00	0.000	6	0.077	0.038	2188	2305	1866
20651	0.58	259.0	513.0	9.8	448	20656	0.20	2.33	0.00	0.000	4	0.133	0.049	2125	3712	1866
20720	0.58	259.0	507.8	6.1	449	20725	0.00	2.22	0.00	0.000	6	0.000	0.031	2133	2303	1866
21082	0.58	259.0	487.4	5.6	455	21083	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2303	1866
21386	0.58	261.3	471.0	5.4	460	21387	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2303	1866
21688	0.61	261.3	454.0	5.6	465	21692	0.00	2.33	0.00	0.000	4	0.000	0.048	2133	3715	1866
21734	0.61	261.3	450.9	6.5	465	21738	0.00	2.25	0.00	0.000	6	0.000	0.031	2142	2293	1865
22050	0.61	261.3	430.3	6.6	471	22051	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2293	1865
22354	0.61	261.3	410.8	6.4	476	22358	0.00	2.30	0.00	0.000	4	0.000	0.047	2142	3709	1866
22395	0.61	261.3	407.7	8.2	476	22399	0.00	2.22	0.00	0.000	6	0.000	0.031	2152	2295	1865
22716	0.61	261.3	386.0	6.8	482	22718	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2295	1866
23020	0.59	261.3	364.8	6.9	487	23024	0.10	2.30	0.00	0.000	4	0.143	0.047	2126	3718	1866
23066	0.62	261.3	361.5	8.5	487	23070	0.00	2.22	0.00	0.000	6	0.000	0.031	2133	2295	1865
23394	0.64	261.3	341.6	6.0	493	23398	0.00	2.25	0.00	0.000	4	0.000	0.045	2143	895	1865
23431	0.69	261.3	339.4	5.7	493	23435	0.00	2.25	0.00	0.000	6	0.000	0.037	2143	2305	1865
23765	0.69	261.3	318.3	6.3	499	23769	0.00	2.28	0.00	0.000	4	0.000	0.048	2143	3717	1865
23816	0.69	261.3	314.5	8.1	499	23820	0.00	2.20	0.00	0.000	6	0.000	0.031	2153	2301	1865
24128	0.69	261.3	293.2	6.9	505	24129	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2301	1865
24434	0.69	261.3	271.0	7.4	515	24438	0.00	2.30	0.00	0.000	4	0.000	0.047	2153	3707	1865
24471	0.66	261.3	268.0	9.7	516	24475	0.00	2.22	0.00	0.000	6	0.000	0.031	2162	2294	1865
24813	0.64	261.3	242.0	7.1	527	24815	0.10	0.00	0.00	0.000	6	0.137	0.000	2136	2294	1865
25120	0.70	277.5	226.3	5.0	537	25141	0.00	2.38	16.33	0.723	4	0.000	0.046	2135	3712	1797
25172	0.76	287.1	223.5	5.2	538	25187	0.10	2.25	9.45	0.666	6	0.062	0.031	2211	2300	1761
25525	0.65	287.1	188.7	10.6	550	25527	0.25	0.00	0.00	0.000	6	0.127	0.000	2138	2299	1756
25832	0.72	292.9	171.3	5.3	560	25843	0.00	2.35	6.18	0.584	4	0.000	0.045	2137	3717	1736
25867	0.79	292.9	169.2	5.6	561	25872	0.10	2.25	0.00	0.000	6	0.063	0.030	2210	2297	1736
26192	0.70	292.9	137.4	10.5	579	26197	0.20	2.30	0.00	0.000	4	0.122	0.042	2154	886	1735
26235	0.78	292.9	134.1	7.3	582	26239	0.00	2.25	0.00	0.000	6	0.000	0.036	2154	2309	1734
26565	0.93	292.9	114.4	6.0	612	26570	0.15	2.30	0.00	0.000	4	0.058	0.042	2233	890	1734
26636	0.86	292.9	108.6	10.4	618	26641	0.17	2.25	0.00	0.000	6	0.120	0.035	2182	2305	1733
26963	0.90	307.2	88.6	5.0	648	26986	0.00	2.30	13.52	0.619	4	0.000	0.046	2183	3703	1677
27016	0.97	326.1	85.6	4.9	652	27040	0.08	2.20	17.85	0.622	6	0.077	0.030	2252	2295	1601
27356	0.87	326.1	58.5	8.9	672	27361	0.20	2.28	0.00	0.000	4	0.127	0.041	2197	889	1596
27376	0.82	326.1	56.5	9.9	673	27380	0.00	2.22	0.00	0.000	6	0.000	0.035	2196	2305	1595
27705	0.86	326.1	33.3	6.1	689	27709	0.00	2.28	0.00	0.000	4	0.000	0.046	2197	3710	1595
27757	0.89	326.1	29.8	6.6	691	27761	0.00	2.20	0.00	0.000	6	0.000	0.030	2204	2305	1595
28075	0.89	326.1	9.7	7.1	706	28076	0.00	0.00	0.00	0.000	6	0.000	0.000	2204	2304	1594
28214	end climb: SURFACE_DEPTH_REACHED
state	28215	begin surface coast
28236	end surface coast: CONTROL_FINISHED_OK
state	28237	begin surface