Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 83 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 83 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2628 ALTIM_FREQUENCY 12

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2530 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 375 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 220 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 275 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 DEVICE4 -1

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 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -59191.215 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3095 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

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 220

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -59191.215

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 275

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2530 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 49 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 83 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 070101,2154.929,-15944.938,42,1.3,42,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 1000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.297,-0.131

_XMS_TOUTs 0 KALMAN_X -125283.0,-1046.2,94.4,120671.2,-1805.1

_SM_DEPTHo 0.72 KALMAN_Y 32025.9,602.3,-2.9,-34543.2,798.7

_SM_ANGLEo -68.1 MHEAD_RNG_PITCHd_Wd 104.1,5635,-13.1,-10.000

GPS2 071520,2155.023,-15945.205,12,1.6,12,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH -0.3,1.022904 MM_CLLLayer 0.03

SM_CCo 13563,0.00,0.000,0,0,1065,459.20 MM_CfgFile 0.30

SM_GC 0.82,14.88,0.00,0.00,0.044,0.000,0.000,124,2645,1065,-13.58,0.48,459.20 _24V_AH 23.1,23.557

IRIDIUM_FIX 2145.77,-15943.76,301098,030322 _10V_AH 10.0,8.352

TT8_MAMPS 0.055991 DATA_FILE_SIZE 40950,1247

HUMID 1881 CAP_FILE_SIZE 497719,0

INTERNAL_PRESSURE 11.3481 CFSIZE 260034560,247189504

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 050809,110331,2154.442,-15943.847,40,1.7,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 177 139.14 SBE_CT 836 24 463.72

Roll_motor 159 97 359.85 nil 0 0 0.00

VBD_pump_during_apogee 926 925 19795.96 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.62 nil 0 0 0.00

Iridium_during_connect 35 160 130.49 GUMSTIX 183 1000 4246.59

Iridium_during_xfer 589 223 3035.37

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 250 1000 5782.00

GPS 12 50 6.23

TT8 2548 18 458.78

LPSleep 7092 0 27.66

TT8_Active 975 18 175.58

TT8_Sampling 2262 38 859.57

TT8_CF8 1522 44 669.86

TT8_Kalman 33 80 26.69

Analog_circuits 2341 12 280.99

GPS_charging 0 0 0.00

Compass 2187 8 175.02

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.39 -243.3 0.0 0.0 0 102 0.00 0.00 -81.05 0.000 2 0.000 0.000 123 2633 3341

104 -1.39 -243.3 3.3 -7.6 12 133 15.95 0.00 -8.95 0.000 6 0.178 0.000 2787 2634 3931

204 -1.39 -243.3 30.8 -19.0 24 205 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2633 3921

269 -1.39 -243.3 41.6 -16.7 30 270 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2633 3930

332 -1.39 -243.3 52.6 -17.5 36 336 0.00 2.28 0.00 0.000 4 0.000 0.061 2788 3883 3927

372 -1.39 -243.3 59.7 -17.8 39 376 0.00 2.12 0.00 0.000 6 0.000 0.030 2788 2619 3930

447 -1.39 -243.3 72.0 -15.4 46 449 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2617 3928

512 -1.39 -243.3 80.9 -13.6 52 514 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2617 3922

578 -1.39 -243.3 89.0 -12.9 58 579 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2617 3916

640 -1.39 -243.3 97.7 -13.6 64 644 0.00 2.35 0.00 0.000 4 0.000 0.033 2787 1235 3926

696 -1.39 -243.3 106.0 -13.9 68 703 0.00 2.42 0.00 0.000 6 0.000 0.036 2788 2633 3928

766 -1.39 -243.3 115.9 -14.2 75 767 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2633 3928

831 -1.39 -243.3 124.0 -12.7 81 832 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2633 3927

894 -1.39 -243.3 131.3 -10.8 87 898 0.00 2.33 0.00 0.000 4 0.000 0.070 2788 3890 3927

945 -1.39 -243.3 137.1 -11.4 91 949 0.00 2.12 0.00 0.000 6 0.000 0.030 2788 2623 3928

1020 -1.39 -243.3 145.3 -10.8 98 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3927

1085 -1.39 -243.3 152.4 -11.1 104 1086 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3928

1149 -1.39 -243.3 159.6 -11.0 110 1150 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3928

1212 -1.39 -243.3 166.8 -11.3 116 1214 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3928

1276 -1.39 -243.3 173.7 -10.5 122 1278 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2622 3927

1340 -1.39 -243.3 180.4 -10.6 128 1341 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3928

1405 -1.39 -243.3 186.8 -9.8 134 1409 0.00 2.38 0.00 0.000 4 0.000 0.037 2788 1235 3928

1471 -1.39 -243.3 193.6 -10.1 139 1479 0.00 2.45 0.00 0.000 6 0.000 0.038 2788 2625 3928

1543 -1.39 -243.3 200.1 -9.5 146 1544 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2625 3928

1607 -1.39 -243.3 206.2 -9.5 152 1611 0.00 2.35 0.00 0.000 4 0.000 0.070 2788 3895 3928

1659 -1.39 -243.3 211.7 -10.9 156 1662 0.00 2.15 0.00 0.000 6 0.000 0.031 2787 2620 3928

1734 -1.39 -243.3 220.2 -11.4 163 1735 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3928

1799 -1.39 -243.3 227.5 -12.1 169 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3928

1862 -1.39 -243.3 235.2 -11.6 175 1863 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3928

1926 -1.39 -243.3 242.2 -11.3 181 1927 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3928

1990 -1.39 -243.3 249.7 -11.8 187 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3929

2053 -1.39 -243.3 256.4 -10.2 193 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3930

2117 -1.39 -243.3 263.1 -10.6 199 2118 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2619 3930

2181 -1.39 -243.3 270.0 -10.7 205 2182 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3930

2246 -1.39 -243.3 276.9 -10.8 211 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2619 3929

2309 -1.39 -243.3 283.6 -10.5 217 2313 0.00 2.38 0.00 0.000 4 0.000 0.071 2788 3889 3929

2361 -1.39 -243.3 289.3 -11.1 221 2365 0.00 2.15 0.00 0.000 6 0.000 0.035 2787 2627 3929

2436 -1.39 -243.3 296.9 -9.6 228 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2627 3928

2501 -1.39 -243.3 303.0 -9.6 234 2502 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2627 3928

2691 -1.39 -243.3 322.3 -10.2 252 2692 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2627 3932

2882 -1.39 -243.3 341.6 -9.7 270 2886 0.00 2.38 0.00 0.000 4 0.000 0.075 2788 3887 3929

2915 -1.39 -243.3 345.3 -10.5 272 2923 0.00 2.17 0.00 0.000 6 0.000 0.036 2788 2633 3930

3114 -1.39 -243.3 363.7 -9.5 291 3115 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2633 3930

3304 -1.39 -243.3 380.9 -8.7 309 3308 0.00 2.38 0.00 0.000 4 0.000 0.078 2788 3890 3928

3372 -1.39 -243.3 387.2 -8.9 315 3376 0.00 2.17 0.00 0.000 6 0.000 0.037 2788 2625 3926

3570 -1.39 -243.3 404.3 -8.6 333 3571 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2624 3927

3761 -1.39 -243.3 421.0 -8.6 351 3765 0.00 2.45 0.00 0.000 4 0.000 0.048 2787 1234 3926

3813 -1.39 -243.3 425.1 -7.4 355 3817 0.00 2.47 0.00 0.000 6 0.000 0.047 2788 2626 3926

4010 -1.39 -243.3 439.5 -7.0 373 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2626 3925

4201 -1.39 -243.3 452.8 -6.9 391 4205 0.00 2.40 0.00 0.000 4 0.000 0.081 2788 3892 3924

4244 -1.39 -243.3 456.0 -7.6 394 4252 0.00 2.20 0.00 0.000 6 0.000 0.039 2788 2622 3923

4443 -1.39 -243.3 468.9 -6.7 413 4444 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2622 3922

4634 -1.39 -243.3 482.4 -7.7 431 4638 0.00 2.42 0.00 0.000 4 0.000 0.082 2788 3890 3920

4700 -1.39 -243.3 488.2 -9.0 436 4707 0.00 2.20 0.00 0.000 6 0.000 0.039 2788 2625 3920

4898 -1.39 -243.3 504.6 -8.8 455 4899 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2625 3918

5088 -1.39 -243.3 520.6 -8.7 473 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2625 3917

5280 -1.39 -243.3 537.4 -8.9 491 5284 0.00 2.50 0.00 0.000 4 0.000 0.054 2788 1231 3915

5335 -1.39 -243.3 542.4 -8.9 495 5342 0.00 2.53 0.00 0.000 6 0.000 0.051 2788 2632 3915

5534 -1.39 -243.3 557.9 -7.0 514 5538 0.00 2.42 0.00 0.000 4 0.000 0.090 2788 3890 3914

5586 -1.39 -243.3 561.7 -7.1 518 5590 0.00 2.20 0.00 0.000 6 0.000 0.041 2788 2630 3913

5783 -1.39 -243.3 574.9 -6.3 536 5784 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2630 3912

5974 -1.39 -243.3 589.3 -7.9 554 5978 0.00 2.45 0.00 0.000 4 0.000 0.090 2788 3890 3911

6026 -1.39 -243.3 593.8 -8.8 558 6030 0.00 2.22 0.00 0.000 6 0.000 0.041 2787 2623 3911

6224 -1.39 -243.3 612.1 -9.2 576 6225 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3910

6414 -1.39 -243.3 629.7 -9.2 594 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2623 3909

6606 -1.39 -243.3 645.3 -7.7 612 6607 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2623 3908

6797 -1.39 -243.3 659.5 -8.3 630 6801 0.00 2.25 0.00 0.000 3 0.000 0.097 2787 3762 3907

6801 end dive: TARGET_DEPTH_EXCEEDED

state 6801 begin apogee

6808 -0.42 0.0 660.1 8.4 630 7136 1.00 0.00 315.52 0.925 6 0.079 0.000 3001 2536 2937

7138 end apogee: CONTROL_FINISHED_OK

state 7138 begin climb

7140 1.39 243.3 677.7 0.0 663 7483 1.80 2.83 326.10 0.881 4 0.053 0.096 3396 3893 1944

7567 1.39 243.3 651.0 10.0 699 7575 0.00 2.47 0.00 0.000 6 0.000 0.042 3396 2530 1940

7766 1.39 243.3 628.5 11.3 718 7767 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2529 1939

7956 1.39 243.3 606.2 12.6 736 7958 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2529 1937

8148 1.39 243.3 583.8 11.5 754 8152 0.00 2.70 0.00 0.000 4 0.000 0.087 3396 3893 1936

8199 1.39 243.3 577.7 12.1 758 8203 0.00 2.45 0.00 0.000 6 0.000 0.042 3396 2515 1936

8396 1.39 243.3 555.9 10.7 776 8400 0.00 2.55 0.00 0.000 4 0.000 0.058 3396 1121 1935

8436 1.39 243.3 551.5 10.6 779 8440 0.00 2.58 0.00 0.000 6 0.000 0.050 3396 2538 1935

8633 1.39 243.3 530.6 11.0 797 8638 0.00 2.58 0.00 0.000 4 0.000 0.052 3396 1125 1934

8890 1.39 243.3 501.1 12.3 819 8898 0.00 2.55 0.00 0.000 6 0.000 0.048 3396 2533 1934

9088 1.39 243.3 478.5 11.3 838 9092 0.00 2.62 0.00 0.000 4 0.000 0.085 3396 3897 1933

9294 1.39 243.3 453.8 13.3 856 9299 0.00 2.42 0.00 0.000 6 0.000 0.041 3396 2516 1933

9492 1.42 273.7 433.7 9.2 874 9539 0.00 2.60 37.72 0.858 4 0.000 0.053 3396 1126 1820

9579 1.45 291.7 425.5 9.5 881 9612 0.00 2.55 25.83 0.827 6 0.000 0.045 3396 2537 1746

9800 1.45 291.7 403.7 10.4 902 9805 0.00 2.58 0.00 0.000 4 0.000 0.080 3396 3888 1743

9840 1.45 291.7 399.1 12.6 905 9844 0.00 2.40 0.00 0.000 6 0.000 0.041 3396 2527 1742

10037 1.45 291.7 378.2 10.8 923 10041 0.00 2.60 0.00 0.000 4 0.000 0.075 3396 3890 1741

10068 1.45 291.7 374.4 11.6 925 10076 0.00 2.45 0.00 0.000 6 0.000 0.041 3396 2528 1741

10268 1.45 291.7 353.6 10.1 944 10269 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2528 1740

10458 1.46 298.9 335.2 9.8 962 10470 0.00 0.00 9.40 0.733 6 0.000 0.000 3396 2526 1717

10660 1.46 298.9 314.8 10.5 981 10661 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2526 1717

10850 1.46 298.9 294.5 10.6 999 10854 0.00 2.58 0.00 0.000 4 0.000 0.073 3396 3889 1716

10905 1.46 298.9 288.5 10.9 1003 10912 0.00 2.38 0.00 0.000 6 0.000 0.038 3396 2529 1716

10975 1.46 298.9 281.2 10.2 1010 10976 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2529 1716

11039 1.46 298.9 274.4 10.2 1016 11040 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2526 1716

11104 1.47 312.6 268.2 9.6 1022 11125 0.00 0.00 19.38 0.752 6 0.000 0.000 3396 2526 1661

11186 1.49 323.8 260.2 9.7 1030 11208 0.10 0.00 16.38 0.738 6 0.059 0.000 3422 2526 1615

11270 1.49 323.8 251.4 10.3 1038 11271 0.00 0.00 0.00 0.000 6 0.000 0.000 3422 2526 1614

11335 1.51 345.9 245.2 9.4 1044 11371 0.00 2.55 30.00 0.748 4 0.000 0.048 3423 1126 1525

11398 1.57 389.5 239.2 8.8 1049 11467 0.00 2.53 58.30 0.726 6 0.000 0.041 3423 2533 1348

11529 1.58 403.4 227.3 9.6 1061 11553 0.00 0.00 19.35 0.680 6 0.000 0.000 3423 2534 1291

11616 1.58 403.4 217.9 11.3 1069 11617 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2534 1289

11680 1.58 403.4 210.5 11.7 1075 11681 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2533 1289

11744 1.58 403.4 203.3 11.6 1081 11749 0.00 2.53 0.00 0.000 4 0.000 0.043 3423 1120 1288

11784 1.58 403.4 198.4 12.0 1084 11788 0.00 2.53 0.00 0.000 6 0.000 0.040 3423 2542 1287

11855 1.58 403.4 190.4 11.1 1090 11859 0.00 2.53 0.00 0.000 4 0.000 0.070 3423 3891 1287

11894 1.58 403.4 185.5 11.7 1093 11898 0.00 2.38 0.00 0.000 6 0.000 0.035 3423 2517 1286

11965 1.58 403.4 177.3 11.7 1099 11966 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2516 1286

12029 1.58 403.4 169.4 12.2 1105 12033 0.00 2.45 0.00 0.000 4 0.000 0.043 3423 1131 1286

12080 1.58 403.4 163.8 10.2 1109 12084 0.00 2.47 0.00 0.000 6 0.000 0.037 3423 2537 1286

12151 1.58 403.4 155.6 11.5 1115 12152 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2537 1286

12214 1.58 403.4 147.5 11.7 1121 12216 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2537 1286

12278 1.58 403.4 139.5 12.4 1127 12282 0.00 2.50 0.00 0.000 4 0.000 0.067 3423 3887 1286

12340 1.58 403.4 131.4 13.3 1132 12345 0.00 2.33 0.00 0.000 6 0.000 0.032 3423 2523 1285

12411 1.58 403.4 123.0 11.3 1138 12412 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2521 1285

12477 1.58 403.4 115.8 11.1 1144 12478 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2521 1285

12540 1.58 403.4 109.3 10.5 1150 12541 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2521 1285

12602 1.58 403.4 102.2 11.0 1156 12604 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2521 1286

12666 1.58 403.4 95.4 10.7 1162 12671 0.00 2.53 0.00 0.000 4 0.000 0.062 3423 3890 1286

12698 1.58 403.4 91.1 11.9 1164 12707 0.00 2.35 0.00 0.000 6 0.000 0.032 3423 2528 1285

12769 1.58 403.4 83.6 10.6 1171 12773 0.00 2.42 0.00 0.000 4 0.000 0.040 3423 1138 1285

12801 1.58 403.4 79.8 11.2 1173 12808 0.00 2.45 0.00 0.000 6 0.000 0.035 3423 2527 1285

12871 1.58 403.4 72.1 10.9 1180 12872 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2528 1285

12938 1.65 457.6 66.5 8.5 1186 13014 0.12 2.50 68.47 0.585 4 0.046 0.038 3465 1143 1069

13036 1.65 457.6 54.8 13.0 1194 13043 0.00 2.45 0.00 0.000 6 0.000 0.035 3465 2526 1068

13106 1.65 457.6 45.8 12.9 1201 13110 0.00 2.50 0.00 0.000 4 0.000 0.063 3465 3888 1068

13158 1.65 457.6 39.2 13.1 1205 13162 0.00 2.33 0.00 0.000 6 0.000 0.031 3465 2518 1067

13228 1.65 457.6 30.5 12.2 1211 13229 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2517 1067

13292 1.65 457.6 22.7 11.9 1217 13293 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2517 1067

13357 1.65 457.6 14.6 12.7 1226 13363 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2517 1067

13432 1.65 457.6 5.3 12.7 1239 13439 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2517 1067

13443 end climb: SURFACE_DEPTH_REACHED

state 13443 begin surface coast

13478 end surface coast: CONTROL_FINISHED_OK

state 13478 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	83	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2628	ALTIM_FREQUENCY	12
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2530	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	375	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	275	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	DEVICE4	-1
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	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-59191.215	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3095	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	070101,2154.929,-15944.938,42,1.3,42,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	1000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.297,-0.131
_XMS_TOUTs	0	KALMAN_X	-125283.0,-1046.2,94.4,120671.2,-1805.1
_SM_DEPTHo	0.72	KALMAN_Y	32025.9,602.3,-2.9,-34543.2,798.7
_SM_ANGLEo	-68.1	MHEAD_RNG_PITCHd_Wd	104.1,5635,-13.1,-10.000
GPS2	071520,2155.023,-15945.205,12,1.6,12,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	-0.3,1.022904	MM_CLLLayer	0.03
SM_CCo	13563,0.00,0.000,0,0,1065,459.20	MM_CfgFile	0.30
SM_GC	0.82,14.88,0.00,0.00,0.044,0.000,0.000,124,2645,1065,-13.58,0.48,459.20	_24V_AH	23.1,23.557
IRIDIUM_FIX	2145.77,-15943.76,301098,030322	_10V_AH	10.0,8.352
TT8_MAMPS	0.055991	DATA_FILE_SIZE	40950,1247
HUMID	1881	CAP_FILE_SIZE	497719,0
INTERNAL_PRESSURE	11.3481	CFSIZE	260034560,247189504
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	050809,110331,2154.442,-15943.847,40,1.7,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	177	139.14	SBE_CT	836	24	463.72
Roll_motor	159	97	359.85	nil	0	0	0.00
VBD_pump_during_apogee	926	925	19795.96	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.62	nil	0	0	0.00
Iridium_during_connect	35	160	130.49	GUMSTIX	183	1000	4246.59
Iridium_during_xfer	589	223	3035.37
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	250	1000	5782.00
GPS	12	50	6.23
TT8	2548	18	458.78
LPSleep	7092	0	27.66
TT8_Active	975	18	175.58
TT8_Sampling	2262	38	859.57
TT8_CF8	1522	44	669.86
TT8_Kalman	33	80	26.69
Analog_circuits	2341	12	280.99
GPS_charging	0	0	0.00
Compass	2187	8	175.02
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.39	-243.3	0.0	0.0	0	102	0.00	0.00	-81.05	0.000	2	0.000	0.000	123	2633	3341
104	-1.39	-243.3	3.3	-7.6	12	133	15.95	0.00	-8.95	0.000	6	0.178	0.000	2787	2634	3931
204	-1.39	-243.3	30.8	-19.0	24	205	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2633	3921
269	-1.39	-243.3	41.6	-16.7	30	270	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2633	3930
332	-1.39	-243.3	52.6	-17.5	36	336	0.00	2.28	0.00	0.000	4	0.000	0.061	2788	3883	3927
372	-1.39	-243.3	59.7	-17.8	39	376	0.00	2.12	0.00	0.000	6	0.000	0.030	2788	2619	3930
447	-1.39	-243.3	72.0	-15.4	46	449	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2617	3928
512	-1.39	-243.3	80.9	-13.6	52	514	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2617	3922
578	-1.39	-243.3	89.0	-12.9	58	579	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2617	3916
640	-1.39	-243.3	97.7	-13.6	64	644	0.00	2.35	0.00	0.000	4	0.000	0.033	2787	1235	3926
696	-1.39	-243.3	106.0	-13.9	68	703	0.00	2.42	0.00	0.000	6	0.000	0.036	2788	2633	3928
766	-1.39	-243.3	115.9	-14.2	75	767	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2633	3928
831	-1.39	-243.3	124.0	-12.7	81	832	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2633	3927
894	-1.39	-243.3	131.3	-10.8	87	898	0.00	2.33	0.00	0.000	4	0.000	0.070	2788	3890	3927
945	-1.39	-243.3	137.1	-11.4	91	949	0.00	2.12	0.00	0.000	6	0.000	0.030	2788	2623	3928
1020	-1.39	-243.3	145.3	-10.8	98	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3927
1085	-1.39	-243.3	152.4	-11.1	104	1086	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3928
1149	-1.39	-243.3	159.6	-11.0	110	1150	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3928
1212	-1.39	-243.3	166.8	-11.3	116	1214	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3928
1276	-1.39	-243.3	173.7	-10.5	122	1278	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2622	3927
1340	-1.39	-243.3	180.4	-10.6	128	1341	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3928
1405	-1.39	-243.3	186.8	-9.8	134	1409	0.00	2.38	0.00	0.000	4	0.000	0.037	2788	1235	3928
1471	-1.39	-243.3	193.6	-10.1	139	1479	0.00	2.45	0.00	0.000	6	0.000	0.038	2788	2625	3928
1543	-1.39	-243.3	200.1	-9.5	146	1544	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2625	3928
1607	-1.39	-243.3	206.2	-9.5	152	1611	0.00	2.35	0.00	0.000	4	0.000	0.070	2788	3895	3928
1659	-1.39	-243.3	211.7	-10.9	156	1662	0.00	2.15	0.00	0.000	6	0.000	0.031	2787	2620	3928
1734	-1.39	-243.3	220.2	-11.4	163	1735	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3928
1799	-1.39	-243.3	227.5	-12.1	169	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3928
1862	-1.39	-243.3	235.2	-11.6	175	1863	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3928
1926	-1.39	-243.3	242.2	-11.3	181	1927	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3928
1990	-1.39	-243.3	249.7	-11.8	187	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3929
2053	-1.39	-243.3	256.4	-10.2	193	2054	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3930
2117	-1.39	-243.3	263.1	-10.6	199	2118	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2619	3930
2181	-1.39	-243.3	270.0	-10.7	205	2182	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3930
2246	-1.39	-243.3	276.9	-10.8	211	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2619	3929
2309	-1.39	-243.3	283.6	-10.5	217	2313	0.00	2.38	0.00	0.000	4	0.000	0.071	2788	3889	3929
2361	-1.39	-243.3	289.3	-11.1	221	2365	0.00	2.15	0.00	0.000	6	0.000	0.035	2787	2627	3929
2436	-1.39	-243.3	296.9	-9.6	228	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2627	3928
2501	-1.39	-243.3	303.0	-9.6	234	2502	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2627	3928
2691	-1.39	-243.3	322.3	-10.2	252	2692	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2627	3932
2882	-1.39	-243.3	341.6	-9.7	270	2886	0.00	2.38	0.00	0.000	4	0.000	0.075	2788	3887	3929
2915	-1.39	-243.3	345.3	-10.5	272	2923	0.00	2.17	0.00	0.000	6	0.000	0.036	2788	2633	3930
3114	-1.39	-243.3	363.7	-9.5	291	3115	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2633	3930
3304	-1.39	-243.3	380.9	-8.7	309	3308	0.00	2.38	0.00	0.000	4	0.000	0.078	2788	3890	3928
3372	-1.39	-243.3	387.2	-8.9	315	3376	0.00	2.17	0.00	0.000	6	0.000	0.037	2788	2625	3926
3570	-1.39	-243.3	404.3	-8.6	333	3571	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2624	3927
3761	-1.39	-243.3	421.0	-8.6	351	3765	0.00	2.45	0.00	0.000	4	0.000	0.048	2787	1234	3926
3813	-1.39	-243.3	425.1	-7.4	355	3817	0.00	2.47	0.00	0.000	6	0.000	0.047	2788	2626	3926
4010	-1.39	-243.3	439.5	-7.0	373	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2626	3925
4201	-1.39	-243.3	452.8	-6.9	391	4205	0.00	2.40	0.00	0.000	4	0.000	0.081	2788	3892	3924
4244	-1.39	-243.3	456.0	-7.6	394	4252	0.00	2.20	0.00	0.000	6	0.000	0.039	2788	2622	3923
4443	-1.39	-243.3	468.9	-6.7	413	4444	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2622	3922
4634	-1.39	-243.3	482.4	-7.7	431	4638	0.00	2.42	0.00	0.000	4	0.000	0.082	2788	3890	3920
4700	-1.39	-243.3	488.2	-9.0	436	4707	0.00	2.20	0.00	0.000	6	0.000	0.039	2788	2625	3920
4898	-1.39	-243.3	504.6	-8.8	455	4899	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2625	3918
5088	-1.39	-243.3	520.6	-8.7	473	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2625	3917
5280	-1.39	-243.3	537.4	-8.9	491	5284	0.00	2.50	0.00	0.000	4	0.000	0.054	2788	1231	3915
5335	-1.39	-243.3	542.4	-8.9	495	5342	0.00	2.53	0.00	0.000	6	0.000	0.051	2788	2632	3915
5534	-1.39	-243.3	557.9	-7.0	514	5538	0.00	2.42	0.00	0.000	4	0.000	0.090	2788	3890	3914
5586	-1.39	-243.3	561.7	-7.1	518	5590	0.00	2.20	0.00	0.000	6	0.000	0.041	2788	2630	3913
5783	-1.39	-243.3	574.9	-6.3	536	5784	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2630	3912
5974	-1.39	-243.3	589.3	-7.9	554	5978	0.00	2.45	0.00	0.000	4	0.000	0.090	2788	3890	3911
6026	-1.39	-243.3	593.8	-8.8	558	6030	0.00	2.22	0.00	0.000	6	0.000	0.041	2787	2623	3911
6224	-1.39	-243.3	612.1	-9.2	576	6225	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3910
6414	-1.39	-243.3	629.7	-9.2	594	6415	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2623	3909
6606	-1.39	-243.3	645.3	-7.7	612	6607	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2623	3908
6797	-1.39	-243.3	659.5	-8.3	630	6801	0.00	2.25	0.00	0.000	3	0.000	0.097	2787	3762	3907
6801	end dive: TARGET_DEPTH_EXCEEDED
state	6801	begin apogee
6808	-0.42	0.0	660.1	8.4	630	7136	1.00	0.00	315.52	0.925	6	0.079	0.000	3001	2536	2937
7138	end apogee: CONTROL_FINISHED_OK
state	7138	begin climb
7140	1.39	243.3	677.7	0.0	663	7483	1.80	2.83	326.10	0.881	4	0.053	0.096	3396	3893	1944
7567	1.39	243.3	651.0	10.0	699	7575	0.00	2.47	0.00	0.000	6	0.000	0.042	3396	2530	1940
7766	1.39	243.3	628.5	11.3	718	7767	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2529	1939
7956	1.39	243.3	606.2	12.6	736	7958	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2529	1937
8148	1.39	243.3	583.8	11.5	754	8152	0.00	2.70	0.00	0.000	4	0.000	0.087	3396	3893	1936
8199	1.39	243.3	577.7	12.1	758	8203	0.00	2.45	0.00	0.000	6	0.000	0.042	3396	2515	1936
8396	1.39	243.3	555.9	10.7	776	8400	0.00	2.55	0.00	0.000	4	0.000	0.058	3396	1121	1935
8436	1.39	243.3	551.5	10.6	779	8440	0.00	2.58	0.00	0.000	6	0.000	0.050	3396	2538	1935
8633	1.39	243.3	530.6	11.0	797	8638	0.00	2.58	0.00	0.000	4	0.000	0.052	3396	1125	1934
8890	1.39	243.3	501.1	12.3	819	8898	0.00	2.55	0.00	0.000	6	0.000	0.048	3396	2533	1934
9088	1.39	243.3	478.5	11.3	838	9092	0.00	2.62	0.00	0.000	4	0.000	0.085	3396	3897	1933
9294	1.39	243.3	453.8	13.3	856	9299	0.00	2.42	0.00	0.000	6	0.000	0.041	3396	2516	1933
9492	1.42	273.7	433.7	9.2	874	9539	0.00	2.60	37.72	0.858	4	0.000	0.053	3396	1126	1820
9579	1.45	291.7	425.5	9.5	881	9612	0.00	2.55	25.83	0.827	6	0.000	0.045	3396	2537	1746
9800	1.45	291.7	403.7	10.4	902	9805	0.00	2.58	0.00	0.000	4	0.000	0.080	3396	3888	1743
9840	1.45	291.7	399.1	12.6	905	9844	0.00	2.40	0.00	0.000	6	0.000	0.041	3396	2527	1742
10037	1.45	291.7	378.2	10.8	923	10041	0.00	2.60	0.00	0.000	4	0.000	0.075	3396	3890	1741
10068	1.45	291.7	374.4	11.6	925	10076	0.00	2.45	0.00	0.000	6	0.000	0.041	3396	2528	1741
10268	1.45	291.7	353.6	10.1	944	10269	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2528	1740
10458	1.46	298.9	335.2	9.8	962	10470	0.00	0.00	9.40	0.733	6	0.000	0.000	3396	2526	1717
10660	1.46	298.9	314.8	10.5	981	10661	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2526	1717
10850	1.46	298.9	294.5	10.6	999	10854	0.00	2.58	0.00	0.000	4	0.000	0.073	3396	3889	1716
10905	1.46	298.9	288.5	10.9	1003	10912	0.00	2.38	0.00	0.000	6	0.000	0.038	3396	2529	1716
10975	1.46	298.9	281.2	10.2	1010	10976	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2529	1716
11039	1.46	298.9	274.4	10.2	1016	11040	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2526	1716
11104	1.47	312.6	268.2	9.6	1022	11125	0.00	0.00	19.38	0.752	6	0.000	0.000	3396	2526	1661
11186	1.49	323.8	260.2	9.7	1030	11208	0.10	0.00	16.38	0.738	6	0.059	0.000	3422	2526	1615
11270	1.49	323.8	251.4	10.3	1038	11271	0.00	0.00	0.00	0.000	6	0.000	0.000	3422	2526	1614
11335	1.51	345.9	245.2	9.4	1044	11371	0.00	2.55	30.00	0.748	4	0.000	0.048	3423	1126	1525
11398	1.57	389.5	239.2	8.8	1049	11467	0.00	2.53	58.30	0.726	6	0.000	0.041	3423	2533	1348
11529	1.58	403.4	227.3	9.6	1061	11553	0.00	0.00	19.35	0.680	6	0.000	0.000	3423	2534	1291
11616	1.58	403.4	217.9	11.3	1069	11617	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2534	1289
11680	1.58	403.4	210.5	11.7	1075	11681	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2533	1289
11744	1.58	403.4	203.3	11.6	1081	11749	0.00	2.53	0.00	0.000	4	0.000	0.043	3423	1120	1288
11784	1.58	403.4	198.4	12.0	1084	11788	0.00	2.53	0.00	0.000	6	0.000	0.040	3423	2542	1287
11855	1.58	403.4	190.4	11.1	1090	11859	0.00	2.53	0.00	0.000	4	0.000	0.070	3423	3891	1287
11894	1.58	403.4	185.5	11.7	1093	11898	0.00	2.38	0.00	0.000	6	0.000	0.035	3423	2517	1286
11965	1.58	403.4	177.3	11.7	1099	11966	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2516	1286
12029	1.58	403.4	169.4	12.2	1105	12033	0.00	2.45	0.00	0.000	4	0.000	0.043	3423	1131	1286
12080	1.58	403.4	163.8	10.2	1109	12084	0.00	2.47	0.00	0.000	6	0.000	0.037	3423	2537	1286
12151	1.58	403.4	155.6	11.5	1115	12152	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2537	1286
12214	1.58	403.4	147.5	11.7	1121	12216	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2537	1286
12278	1.58	403.4	139.5	12.4	1127	12282	0.00	2.50	0.00	0.000	4	0.000	0.067	3423	3887	1286
12340	1.58	403.4	131.4	13.3	1132	12345	0.00	2.33	0.00	0.000	6	0.000	0.032	3423	2523	1285
12411	1.58	403.4	123.0	11.3	1138	12412	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2521	1285
12477	1.58	403.4	115.8	11.1	1144	12478	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2521	1285
12540	1.58	403.4	109.3	10.5	1150	12541	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2521	1285
12602	1.58	403.4	102.2	11.0	1156	12604	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2521	1286
12666	1.58	403.4	95.4	10.7	1162	12671	0.00	2.53	0.00	0.000	4	0.000	0.062	3423	3890	1286
12698	1.58	403.4	91.1	11.9	1164	12707	0.00	2.35	0.00	0.000	6	0.000	0.032	3423	2528	1285
12769	1.58	403.4	83.6	10.6	1171	12773	0.00	2.42	0.00	0.000	4	0.000	0.040	3423	1138	1285
12801	1.58	403.4	79.8	11.2	1173	12808	0.00	2.45	0.00	0.000	6	0.000	0.035	3423	2527	1285
12871	1.58	403.4	72.1	10.9	1180	12872	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2528	1285
12938	1.65	457.6	66.5	8.5	1186	13014	0.12	2.50	68.47	0.585	4	0.046	0.038	3465	1143	1069
13036	1.65	457.6	54.8	13.0	1194	13043	0.00	2.45	0.00	0.000	6	0.000	0.035	3465	2526	1068
13106	1.65	457.6	45.8	12.9	1201	13110	0.00	2.50	0.00	0.000	4	0.000	0.063	3465	3888	1068
13158	1.65	457.6	39.2	13.1	1205	13162	0.00	2.33	0.00	0.000	6	0.000	0.031	3465	2518	1067
13228	1.65	457.6	30.5	12.2	1211	13229	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2517	1067
13292	1.65	457.6	22.7	11.9	1217	13293	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2517	1067
13357	1.65	457.6	14.6	12.7	1226	13363	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2517	1067
13432	1.65	457.6	5.3	12.7	1239	13439	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2517	1067
13443	end climb: SURFACE_DEPTH_REACHED
state	13443	begin surface coast
13478	end surface coast: CONTROL_FINISHED_OK
state	13478	begin surface