Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 84 * 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 84 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -59207.375 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 -59207.375

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 46 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 29 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 84 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 110331,2154.442,-15943.847,40,1.7,40,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 1000.000

_XMS_NAKs 9 KALMAN_CONTROL 0.300,-0.124

_XMS_TOUTs 0 KALMAN_X -128485.1,613.9,-314.4,124583.1,-1332.4

_SM_DEPTHo 0.83 KALMAN_Y 33360.9,28.8,65.1,-36276.3,495.9

_SM_ANGLEo -68.9 MHEAD_RNG_PITCHd_Wd 102.6,3476,-13.1,-10.000

GPS2 111555,2154.535,-15944.063,10,1.7,15,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH -0.3,1.023083 MM_CLLLayer 0.03

SM_CCo 14013,0.00,0.000,0,0,1026,468.52 MM_CfgFile 0.30

SM_GC 0.93,14.77,0.00,0.00,0.041,0.000,0.000,124,2636,1026,-13.58,0.23,468.52 _24V_AH 23.4,23.873

IRIDIUM_FIX 2145.77,-15940.77,301098,070710 _10V_AH 10.0,8.485

TT8_MAMPS 0.062894 DATA_FILE_SIZE 40969,1293

HUMID 1858 CAP_FILE_SIZE 510775,0

INTERNAL_PRESSURE 11.3383 CFSIZE 260034560,246992896

TCM_TEMP 23.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 050809,151137,2153.893,-15942.468,39,1.0,39,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 180 142.88 SBE_CT 866 24 486.80

Roll_motor 164 95 368.60 nil 0 0 0.00

VBD_pump_during_apogee 944 927 20484.29 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 61.07 nil 0 0 0.00

Iridium_during_connect 37 160 139.94 GUMSTIX 184 1000 4322.92

Iridium_during_xfer 491 223 2563.19

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 233 1000 5466.22

GPS 15 50 7.77

TT8 2619 18 471.56

LPSleep 7382 0 28.79

TT8_Active 1019 18 183.55

TT8_Sampling 2266 38 861.42

TT8_CF8 1445 44 636.17

TT8_Kalman 33 80 26.71

Analog_circuits 2396 12 287.61

GPS_charging 0 0 0.00

Compass 2203 8 176.28

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.39 -243.3 0.0 0.0 0 107 0.00 0.00 -87.40 0.000 2 0.000 0.000 124 2647 3575

110 -1.39 -243.3 4.7 -12.3 13 139 16.10 0.00 -4.95 0.000 6 0.180 0.000 2788 2647 3928

201 -1.39 -243.3 34.7 -18.0 23 202 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2647 3936

266 -1.39 -243.3 45.3 -16.9 29 270 0.00 2.25 0.00 0.000 4 0.000 0.061 2789 3881 3934

309 -1.39 -243.3 51.7 -13.1 32 317 0.00 2.15 0.00 0.000 6 0.000 0.029 2789 2616 3937

381 -1.39 -243.3 60.8 -13.3 39 385 0.00 2.35 0.00 0.000 4 0.000 0.033 2789 1240 3938

447 -1.39 -243.3 68.2 -10.2 44 455 0.00 2.40 0.00 0.000 6 0.000 0.035 2789 2624 3938

517 -1.39 -243.3 76.0 -12.0 51 518 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2624 3936

582 -1.39 -243.3 83.3 -11.3 57 583 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2624 3935

647 -1.39 -243.3 90.3 -10.8 63 648 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2624 3937

711 -1.39 -243.3 97.3 -10.7 69 712 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2624 3937

774 -1.39 -243.3 103.8 -10.3 75 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2624 3938

837 -1.39 -243.3 110.6 -10.8 81 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2624 3938

901 -1.39 -243.3 116.5 -9.2 87 905 0.00 2.33 0.00 0.000 4 0.000 0.066 2789 3885 3938

944 -1.39 -243.3 121.4 -10.5 90 952 0.00 2.12 0.00 0.000 6 0.000 0.029 2789 2638 3938

1014 -1.39 -243.3 128.9 -11.0 97 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2638 3938

1079 -1.39 -243.3 136.1 -11.6 103 1083 0.00 2.30 0.00 0.000 4 0.000 0.065 2789 3889 3938

1107 -1.39 -243.3 139.4 -11.8 105 1111 0.00 2.12 0.00 0.000 6 0.000 0.030 2789 2617 3938

1182 -1.39 -243.3 147.6 -11.0 112 1183 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2617 3938

1248 -1.39 -243.3 153.5 -8.3 118 1252 0.00 2.38 0.00 0.000 4 0.000 0.035 2789 1229 3938

1277 -1.39 -243.3 156.4 -9.6 120 1281 0.00 2.42 0.00 0.000 6 0.000 0.037 2789 2625 3939

1348 -1.39 -243.3 165.2 -12.1 126 1352 0.00 2.40 0.00 0.000 4 0.000 0.035 2789 1228 3938

1387 -1.39 -243.3 170.1 -11.2 129 1392 0.00 2.45 0.00 0.000 6 0.000 0.036 2789 2639 3938

1458 -1.39 -243.3 177.8 -10.3 135 1462 0.00 2.33 0.00 0.000 4 0.000 0.069 2788 3896 3938

1501 -1.39 -243.3 182.9 -11.7 138 1509 0.00 2.17 0.00 0.000 6 0.000 0.029 2789 2616 3938

1571 -1.39 -243.3 190.8 -11.7 145 1572 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2616 3938

1636 -1.39 -243.3 197.9 -10.9 151 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2616 3938

1700 -1.39 -243.3 205.1 -11.4 157 1701 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2616 3939

1763 -1.39 -243.3 212.3 -11.3 163 1767 0.00 2.38 0.00 0.000 4 0.000 0.037 2789 1235 3938

1795 -1.39 -243.3 216.2 -11.0 165 1803 0.00 2.45 0.00 0.000 6 0.000 0.038 2789 2623 3938

1867 -1.39 -243.3 223.9 -11.3 172 1869 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3938

1931 -1.39 -243.3 231.4 -11.6 178 1932 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2623 3938

1994 -1.39 -243.3 238.6 -11.4 184 1996 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2622 3938

2059 -1.39 -243.3 245.7 -10.9 190 2063 0.00 2.35 0.00 0.000 4 0.000 0.071 2789 3887 3939

2132 -1.39 -243.3 254.0 -10.9 196 2136 0.00 2.12 0.00 0.000 6 0.000 0.031 2789 2629 3939

2207 -1.39 -243.3 261.5 -9.8 203 2208 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3939

2272 -1.39 -243.3 267.5 -9.6 209 2273 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3939

2336 -1.39 -243.3 273.2 -9.0 215 2337 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3939

2399 -1.39 -243.3 278.4 -7.9 221 2400 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3939

2463 -1.39 -243.3 283.3 -7.7 227 2465 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3939

2527 -1.39 -243.3 288.2 -7.9 233 2528 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3940

2591 -1.39 -243.3 293.4 -8.2 239 2592 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3940

2655 -1.39 -243.3 298.6 -8.2 245 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3940

2718 -1.39 -243.3 303.5 -8.1 251 2719 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3941

2909 -1.39 -243.3 321.2 -9.7 269 2910 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3941

3099 -1.39 -243.3 338.8 -9.1 287 3103 0.00 2.38 0.00 0.000 4 0.000 0.074 2789 3889 3941

3165 -1.39 -243.3 345.8 -10.3 292 3173 0.00 2.17 0.00 0.000 6 0.000 0.035 2789 2636 3942

3364 -1.39 -243.3 364.0 -9.2 311 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2636 3940

3555 -1.39 -243.3 381.5 -8.6 329 3559 0.00 2.38 0.00 0.000 4 0.000 0.077 2789 3887 3939

3598 -1.39 -243.3 385.6 -9.4 332 3606 0.00 2.20 0.00 0.000 6 0.000 0.035 2789 2626 3940

3797 -1.39 -243.3 402.5 -8.7 351 3799 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2625 3941

3987 -1.39 -243.3 418.7 -8.2 369 3991 0.00 2.40 0.00 0.000 4 0.000 0.080 2789 3885 3942

4050 -1.39 -243.3 424.4 -9.1 374 4054 0.00 2.17 0.00 0.000 6 0.000 0.038 2789 2629 3942

4247 -1.39 -243.3 441.8 -9.1 392 4248 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2629 3942

4438 -1.39 -243.3 459.0 -9.0 410 4439 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2629 3941

4629 -1.39 -243.3 475.2 -8.0 428 4630 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2627 3940

4821 -1.39 -243.3 488.5 -6.6 446 4825 0.00 2.42 0.00 0.000 4 0.000 0.084 2789 3886 3939

4894 -1.39 -243.3 493.8 -7.0 452 4898 0.00 2.20 0.00 0.000 6 0.000 0.038 2789 2623 3939

5091 -1.39 -243.3 507.2 -7.1 470 5092 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2622 3939

5283 -1.39 -243.3 522.6 -8.3 488 5284 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3938

5474 -1.39 -243.3 538.6 -8.1 506 5475 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3937

5665 -1.39 -243.3 552.7 -6.6 524 5666 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3936

5856 -1.39 -243.3 566.9 -7.6 542 5857 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3935

6047 -1.39 -243.3 580.8 -7.1 560 6048 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3935

6238 -1.39 -243.3 593.8 -6.7 578 6239 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2622 3931

6429 -1.39 -243.3 606.6 -7.0 596 6433 0.00 2.47 0.00 0.000 4 0.000 0.094 2789 3884 3930

6517 -1.39 -243.3 613.4 -7.9 603 6524 0.00 2.22 0.00 0.000 6 0.000 0.041 2789 2637 3929

6716 -1.39 -243.3 628.2 -7.1 622 6717 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2637 3928

6906 -1.39 -243.3 641.7 -7.1 640 6910 0.00 2.45 0.00 0.000 4 0.000 0.096 2789 3885 3927

6961 -1.39 -243.3 646.1 -8.1 644 6969 0.00 2.22 0.00 0.000 6 0.000 0.041 2789 2623 3927

7135 end dive: TARGET_DEPTH_EXCEEDED

state 7135 begin apogee

7140 -0.42 0.0 660.2 7.9 661 7470 1.02 0.00 322.17 0.927 6 0.077 0.000 3005 2521 2936

7473 end apogee: CONTROL_FINISHED_OK

state 7473 begin climb

7474 1.39 243.3 674.1 0.0 694 7813 1.77 2.65 326.40 0.877 4 0.052 0.067 3395 1128 1944

7836 1.39 243.3 650.4 10.9 724 7840 0.00 2.60 0.00 0.000 6 0.000 0.057 3395 2526 1942

8033 1.39 243.3 628.7 10.9 742 8037 0.00 2.70 0.00 0.000 4 0.000 0.094 3394 3896 1938

8076 1.39 243.3 623.4 12.3 745 8083 0.00 2.45 0.00 0.000 6 0.000 0.042 3394 2521 1938

8274 1.39 243.3 600.8 11.3 764 8278 0.00 2.67 0.00 0.000 4 0.000 0.087 3394 3891 1937

8305 1.39 243.3 596.8 12.0 766 8313 0.00 2.42 0.00 0.000 6 0.000 0.041 3394 2521 1937

8504 1.39 243.3 576.0 10.1 785 8505 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2521 1936

8695 1.40 255.5 556.9 9.7 803 8717 0.00 2.58 15.23 0.833 4 0.000 0.057 3395 1126 1894

8744 1.40 255.5 551.9 10.0 807 8752 0.00 2.58 0.00 0.000 6 0.000 0.051 3394 2535 1894

8943 1.41 260.8 532.4 9.9 826 8953 0.00 0.00 8.40 0.765 6 0.000 0.000 3395 2535 1873

9143 1.41 260.8 512.0 10.5 845 9144 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2535 1871

9334 1.41 260.8 492.1 10.7 863 9335 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 2535 1871

9525 1.41 265.0 472.3 9.9 881 9539 0.00 2.62 6.78 0.726 4 0.000 0.082 3394 3891 1855

9588 1.41 265.0 465.0 11.3 886 9596 0.00 2.45 0.00 0.000 6 0.000 0.041 3394 2524 1855

9787 1.41 265.0 444.8 10.3 905 9788 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2524 1854

9977 1.41 265.0 424.1 11.1 923 9981 0.00 2.53 0.00 0.000 4 0.000 0.054 3395 1119 1854

10016 1.41 265.0 419.7 11.0 926 10021 0.00 2.55 0.00 0.000 6 0.000 0.046 3395 2539 1854

10213 1.41 265.0 398.6 10.9 944 10218 0.00 2.58 0.00 0.000 4 0.000 0.081 3394 3895 1853

10257 1.41 265.0 393.4 11.8 947 10265 0.00 2.42 0.00 0.000 6 0.000 0.041 3395 2529 1853

10456 1.43 273.9 373.1 9.8 966 10476 0.00 0.00 12.65 0.781 6 0.000 0.000 3394 2528 1819

10667 1.44 289.3 352.3 9.6 986 10697 0.00 0.00 22.12 0.792 6 0.000 0.000 3395 2528 1756

10887 1.44 289.3 330.1 10.3 1007 10888 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2527 1754

11078 1.45 294.4 310.8 9.9 1025 11092 0.00 2.60 7.85 0.686 4 0.000 0.074 3394 3889 1735

11119 1.45 294.4 306.3 11.1 1028 11127 0.00 2.42 0.00 0.000 6 0.000 0.039 3394 2526 1735

11318 1.45 294.4 286.4 10.3 1047 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2526 1734

11382 1.45 294.4 279.6 10.7 1053 11383 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 2526 1734

11445 1.45 294.4 272.8 10.3 1059 11450 0.00 2.50 0.00 0.000 4 0.000 0.049 3395 1124 1734

11485 1.45 294.4 268.4 11.1 1062 11490 0.00 2.50 0.00 0.000 6 0.000 0.043 3395 2531 1734

11556 1.45 294.4 261.1 10.3 1068 11557 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2531 1734

11620 1.47 311.1 255.1 9.5 1074 11650 0.00 0.00 23.55 0.732 6 0.000 0.000 3395 2531 1667

11713 1.47 311.1 245.3 10.4 1083 11717 0.00 2.55 0.00 0.000 4 0.000 0.074 3394 3887 1666

11764 1.47 311.1 239.4 12.3 1087 11768 0.00 2.38 0.00 0.000 6 0.000 0.037 3394 2521 1665

11835 1.47 311.1 231.4 11.3 1093 11836 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2521 1665

11899 1.47 311.1 224.5 10.7 1099 11900 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2521 1665

11962 1.47 311.1 217.6 10.9 1105 11963 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 2521 1665

12026 1.49 330.1 211.4 9.5 1111 12057 0.12 0.00 25.88 0.701 6 0.054 0.000 3433 2519 1590

12119 1.49 330.1 200.9 11.4 1120 12120 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2519 1589

12183 1.49 330.1 193.6 11.5 1126 12187 0.00 2.47 0.00 0.000 4 0.000 0.046 3433 1128 1588

12222 1.49 330.1 188.6 11.9 1129 12227 0.00 2.50 0.00 0.000 6 0.000 0.041 3433 2534 1588

12293 1.49 330.1 180.2 12.2 1135 12294 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2534 1588

12357 1.49 330.1 172.9 11.8 1141 12358 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2534 1588

12420 1.49 330.1 164.8 12.5 1147 12425 0.00 2.53 0.00 0.000 4 0.000 0.071 3433 3890 1587

12484 1.49 330.1 157.1 12.4 1152 12488 0.00 2.35 0.00 0.000 6 0.000 0.035 3433 2523 1588

12555 1.49 330.1 149.3 10.6 1158 12559 0.00 2.45 0.00 0.000 4 0.000 0.043 3433 1129 1587

12588 1.49 330.1 145.3 11.3 1160 12595 0.00 2.50 0.00 0.000 6 0.000 0.041 3433 2540 1587

12657 1.49 330.1 138.0 10.5 1167 12661 0.00 2.50 0.00 0.000 4 0.000 0.069 3433 3889 1587

12697 1.49 330.1 133.5 10.9 1170 12701 0.00 2.35 0.00 0.000 6 0.000 0.035 3433 2524 1587

12768 1.49 330.1 125.5 11.7 1176 12772 0.00 2.55 0.00 0.000 4 0.000 0.065 3433 3895 1587

12807 1.49 330.1 120.4 13.1 1179 12811 0.00 2.35 0.00 0.000 6 0.000 0.034 3433 2524 1586

12877 1.49 330.1 111.3 12.9 1185 12879 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2522 1586

12941 1.49 330.1 103.5 12.2 1191 12945 0.00 2.42 0.00 0.000 4 0.000 0.041 3433 1134 1586

12997 1.49 330.1 96.6 12.8 1195 13004 0.00 2.45 0.00 0.000 6 0.000 0.038 3433 2532 1586

13066 1.49 330.1 87.8 12.7 1202 13067 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2532 1586

13131 1.49 330.1 80.6 11.4 1208 13132 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2532 1586

13195 1.49 330.1 74.0 10.6 1214 13196 0.00 0.00 0.00 0.000 6 0.000 0.000 3433 2532 1586

13259 1.49 330.1 67.0 11.1 1220 13263 0.00 2.50 0.00 0.000 4 0.000 0.065 3433 3891 1586

13298 1.49 330.1 62.2 11.6 1223 13302 0.00 2.33 0.00 0.000 6 0.000 0.032 3433 2525 1586

13369 1.49 330.1 54.9 10.3 1229 13373 0.00 2.53 0.00 0.000 4 0.000 0.062 3433 3894 1586

13479 1.55 374.6 44.2 8.8 1238 13547 0.00 2.33 57.47 0.576 6 0.000 0.031 3433 2523 1407

13610 1.66 466.9 34.8 7.4 1250 13732 0.08 2.50 115.53 0.551 4 0.061 0.038 3463 1142 1031

13768 1.66 466.9 17.9 12.0 1265 13776 0.00 2.45 0.00 0.000 6 0.000 0.035 3463 2539 1030

13844 1.66 466.9 10.1 11.9 1278 13850 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2539 1029

13893 end climb: SURFACE_DEPTH_REACHED

state 13894 begin surface coast

13928 end surface coast: CONTROL_FINISHED_OK

state 13928 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	84	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-59207.375	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	110331,2154.442,-15943.847,40,1.7,40,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	1000.000
_XMS_NAKs	9	KALMAN_CONTROL	0.300,-0.124
_XMS_TOUTs	0	KALMAN_X	-128485.1,613.9,-314.4,124583.1,-1332.4
_SM_DEPTHo	0.83	KALMAN_Y	33360.9,28.8,65.1,-36276.3,495.9
_SM_ANGLEo	-68.9	MHEAD_RNG_PITCHd_Wd	102.6,3476,-13.1,-10.000
GPS2	111555,2154.535,-15944.063,10,1.7,15,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	-0.3,1.023083	MM_CLLLayer	0.03
SM_CCo	14013,0.00,0.000,0,0,1026,468.52	MM_CfgFile	0.30
SM_GC	0.93,14.77,0.00,0.00,0.041,0.000,0.000,124,2636,1026,-13.58,0.23,468.52	_24V_AH	23.4,23.873
IRIDIUM_FIX	2145.77,-15940.77,301098,070710	_10V_AH	10.0,8.485
TT8_MAMPS	0.062894	DATA_FILE_SIZE	40969,1293
HUMID	1858	CAP_FILE_SIZE	510775,0
INTERNAL_PRESSURE	11.3383	CFSIZE	260034560,246992896
TCM_TEMP	23.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	050809,151137,2153.893,-15942.468,39,1.0,39,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	180	142.88	SBE_CT	866	24	486.80
Roll_motor	164	95	368.60	nil	0	0	0.00
VBD_pump_during_apogee	944	927	20484.29	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	61.07	nil	0	0	0.00
Iridium_during_connect	37	160	139.94	GUMSTIX	184	1000	4322.92
Iridium_during_xfer	491	223	2563.19
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	233	1000	5466.22
GPS	15	50	7.77
TT8	2619	18	471.56
LPSleep	7382	0	28.79
TT8_Active	1019	18	183.55
TT8_Sampling	2266	38	861.42
TT8_CF8	1445	44	636.17
TT8_Kalman	33	80	26.71
Analog_circuits	2396	12	287.61
GPS_charging	0	0	0.00
Compass	2203	8	176.28
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.39	-243.3	0.0	0.0	0	107	0.00	0.00	-87.40	0.000	2	0.000	0.000	124	2647	3575
110	-1.39	-243.3	4.7	-12.3	13	139	16.10	0.00	-4.95	0.000	6	0.180	0.000	2788	2647	3928
201	-1.39	-243.3	34.7	-18.0	23	202	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2647	3936
266	-1.39	-243.3	45.3	-16.9	29	270	0.00	2.25	0.00	0.000	4	0.000	0.061	2789	3881	3934
309	-1.39	-243.3	51.7	-13.1	32	317	0.00	2.15	0.00	0.000	6	0.000	0.029	2789	2616	3937
381	-1.39	-243.3	60.8	-13.3	39	385	0.00	2.35	0.00	0.000	4	0.000	0.033	2789	1240	3938
447	-1.39	-243.3	68.2	-10.2	44	455	0.00	2.40	0.00	0.000	6	0.000	0.035	2789	2624	3938
517	-1.39	-243.3	76.0	-12.0	51	518	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2624	3936
582	-1.39	-243.3	83.3	-11.3	57	583	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2624	3935
647	-1.39	-243.3	90.3	-10.8	63	648	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2624	3937
711	-1.39	-243.3	97.3	-10.7	69	712	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2624	3937
774	-1.39	-243.3	103.8	-10.3	75	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2624	3938
837	-1.39	-243.3	110.6	-10.8	81	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2624	3938
901	-1.39	-243.3	116.5	-9.2	87	905	0.00	2.33	0.00	0.000	4	0.000	0.066	2789	3885	3938
944	-1.39	-243.3	121.4	-10.5	90	952	0.00	2.12	0.00	0.000	6	0.000	0.029	2789	2638	3938
1014	-1.39	-243.3	128.9	-11.0	97	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2638	3938
1079	-1.39	-243.3	136.1	-11.6	103	1083	0.00	2.30	0.00	0.000	4	0.000	0.065	2789	3889	3938
1107	-1.39	-243.3	139.4	-11.8	105	1111	0.00	2.12	0.00	0.000	6	0.000	0.030	2789	2617	3938
1182	-1.39	-243.3	147.6	-11.0	112	1183	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2617	3938
1248	-1.39	-243.3	153.5	-8.3	118	1252	0.00	2.38	0.00	0.000	4	0.000	0.035	2789	1229	3938
1277	-1.39	-243.3	156.4	-9.6	120	1281	0.00	2.42	0.00	0.000	6	0.000	0.037	2789	2625	3939
1348	-1.39	-243.3	165.2	-12.1	126	1352	0.00	2.40	0.00	0.000	4	0.000	0.035	2789	1228	3938
1387	-1.39	-243.3	170.1	-11.2	129	1392	0.00	2.45	0.00	0.000	6	0.000	0.036	2789	2639	3938
1458	-1.39	-243.3	177.8	-10.3	135	1462	0.00	2.33	0.00	0.000	4	0.000	0.069	2788	3896	3938
1501	-1.39	-243.3	182.9	-11.7	138	1509	0.00	2.17	0.00	0.000	6	0.000	0.029	2789	2616	3938
1571	-1.39	-243.3	190.8	-11.7	145	1572	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2616	3938
1636	-1.39	-243.3	197.9	-10.9	151	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2616	3938
1700	-1.39	-243.3	205.1	-11.4	157	1701	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2616	3939
1763	-1.39	-243.3	212.3	-11.3	163	1767	0.00	2.38	0.00	0.000	4	0.000	0.037	2789	1235	3938
1795	-1.39	-243.3	216.2	-11.0	165	1803	0.00	2.45	0.00	0.000	6	0.000	0.038	2789	2623	3938
1867	-1.39	-243.3	223.9	-11.3	172	1869	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3938
1931	-1.39	-243.3	231.4	-11.6	178	1932	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2623	3938
1994	-1.39	-243.3	238.6	-11.4	184	1996	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2622	3938
2059	-1.39	-243.3	245.7	-10.9	190	2063	0.00	2.35	0.00	0.000	4	0.000	0.071	2789	3887	3939
2132	-1.39	-243.3	254.0	-10.9	196	2136	0.00	2.12	0.00	0.000	6	0.000	0.031	2789	2629	3939
2207	-1.39	-243.3	261.5	-9.8	203	2208	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3939
2272	-1.39	-243.3	267.5	-9.6	209	2273	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3939
2336	-1.39	-243.3	273.2	-9.0	215	2337	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3939
2399	-1.39	-243.3	278.4	-7.9	221	2400	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3939
2463	-1.39	-243.3	283.3	-7.7	227	2465	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3939
2527	-1.39	-243.3	288.2	-7.9	233	2528	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3940
2591	-1.39	-243.3	293.4	-8.2	239	2592	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3940
2655	-1.39	-243.3	298.6	-8.2	245	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3940
2718	-1.39	-243.3	303.5	-8.1	251	2719	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3941
2909	-1.39	-243.3	321.2	-9.7	269	2910	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3941
3099	-1.39	-243.3	338.8	-9.1	287	3103	0.00	2.38	0.00	0.000	4	0.000	0.074	2789	3889	3941
3165	-1.39	-243.3	345.8	-10.3	292	3173	0.00	2.17	0.00	0.000	6	0.000	0.035	2789	2636	3942
3364	-1.39	-243.3	364.0	-9.2	311	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2636	3940
3555	-1.39	-243.3	381.5	-8.6	329	3559	0.00	2.38	0.00	0.000	4	0.000	0.077	2789	3887	3939
3598	-1.39	-243.3	385.6	-9.4	332	3606	0.00	2.20	0.00	0.000	6	0.000	0.035	2789	2626	3940
3797	-1.39	-243.3	402.5	-8.7	351	3799	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2625	3941
3987	-1.39	-243.3	418.7	-8.2	369	3991	0.00	2.40	0.00	0.000	4	0.000	0.080	2789	3885	3942
4050	-1.39	-243.3	424.4	-9.1	374	4054	0.00	2.17	0.00	0.000	6	0.000	0.038	2789	2629	3942
4247	-1.39	-243.3	441.8	-9.1	392	4248	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2629	3942
4438	-1.39	-243.3	459.0	-9.0	410	4439	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2629	3941
4629	-1.39	-243.3	475.2	-8.0	428	4630	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2627	3940
4821	-1.39	-243.3	488.5	-6.6	446	4825	0.00	2.42	0.00	0.000	4	0.000	0.084	2789	3886	3939
4894	-1.39	-243.3	493.8	-7.0	452	4898	0.00	2.20	0.00	0.000	6	0.000	0.038	2789	2623	3939
5091	-1.39	-243.3	507.2	-7.1	470	5092	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2622	3939
5283	-1.39	-243.3	522.6	-8.3	488	5284	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3938
5474	-1.39	-243.3	538.6	-8.1	506	5475	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3937
5665	-1.39	-243.3	552.7	-6.6	524	5666	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3936
5856	-1.39	-243.3	566.9	-7.6	542	5857	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3935
6047	-1.39	-243.3	580.8	-7.1	560	6048	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3935
6238	-1.39	-243.3	593.8	-6.7	578	6239	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2622	3931
6429	-1.39	-243.3	606.6	-7.0	596	6433	0.00	2.47	0.00	0.000	4	0.000	0.094	2789	3884	3930
6517	-1.39	-243.3	613.4	-7.9	603	6524	0.00	2.22	0.00	0.000	6	0.000	0.041	2789	2637	3929
6716	-1.39	-243.3	628.2	-7.1	622	6717	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2637	3928
6906	-1.39	-243.3	641.7	-7.1	640	6910	0.00	2.45	0.00	0.000	4	0.000	0.096	2789	3885	3927
6961	-1.39	-243.3	646.1	-8.1	644	6969	0.00	2.22	0.00	0.000	6	0.000	0.041	2789	2623	3927
7135	end dive: TARGET_DEPTH_EXCEEDED
state	7135	begin apogee
7140	-0.42	0.0	660.2	7.9	661	7470	1.02	0.00	322.17	0.927	6	0.077	0.000	3005	2521	2936
7473	end apogee: CONTROL_FINISHED_OK
state	7473	begin climb
7474	1.39	243.3	674.1	0.0	694	7813	1.77	2.65	326.40	0.877	4	0.052	0.067	3395	1128	1944
7836	1.39	243.3	650.4	10.9	724	7840	0.00	2.60	0.00	0.000	6	0.000	0.057	3395	2526	1942
8033	1.39	243.3	628.7	10.9	742	8037	0.00	2.70	0.00	0.000	4	0.000	0.094	3394	3896	1938
8076	1.39	243.3	623.4	12.3	745	8083	0.00	2.45	0.00	0.000	6	0.000	0.042	3394	2521	1938
8274	1.39	243.3	600.8	11.3	764	8278	0.00	2.67	0.00	0.000	4	0.000	0.087	3394	3891	1937
8305	1.39	243.3	596.8	12.0	766	8313	0.00	2.42	0.00	0.000	6	0.000	0.041	3394	2521	1937
8504	1.39	243.3	576.0	10.1	785	8505	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2521	1936
8695	1.40	255.5	556.9	9.7	803	8717	0.00	2.58	15.23	0.833	4	0.000	0.057	3395	1126	1894
8744	1.40	255.5	551.9	10.0	807	8752	0.00	2.58	0.00	0.000	6	0.000	0.051	3394	2535	1894
8943	1.41	260.8	532.4	9.9	826	8953	0.00	0.00	8.40	0.765	6	0.000	0.000	3395	2535	1873
9143	1.41	260.8	512.0	10.5	845	9144	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2535	1871
9334	1.41	260.8	492.1	10.7	863	9335	0.00	0.00	0.00	0.000	6	0.000	0.000	3395	2535	1871
9525	1.41	265.0	472.3	9.9	881	9539	0.00	2.62	6.78	0.726	4	0.000	0.082	3394	3891	1855
9588	1.41	265.0	465.0	11.3	886	9596	0.00	2.45	0.00	0.000	6	0.000	0.041	3394	2524	1855
9787	1.41	265.0	444.8	10.3	905	9788	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2524	1854
9977	1.41	265.0	424.1	11.1	923	9981	0.00	2.53	0.00	0.000	4	0.000	0.054	3395	1119	1854
10016	1.41	265.0	419.7	11.0	926	10021	0.00	2.55	0.00	0.000	6	0.000	0.046	3395	2539	1854
10213	1.41	265.0	398.6	10.9	944	10218	0.00	2.58	0.00	0.000	4	0.000	0.081	3394	3895	1853
10257	1.41	265.0	393.4	11.8	947	10265	0.00	2.42	0.00	0.000	6	0.000	0.041	3395	2529	1853
10456	1.43	273.9	373.1	9.8	966	10476	0.00	0.00	12.65	0.781	6	0.000	0.000	3394	2528	1819
10667	1.44	289.3	352.3	9.6	986	10697	0.00	0.00	22.12	0.792	6	0.000	0.000	3395	2528	1756
10887	1.44	289.3	330.1	10.3	1007	10888	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2527	1754
11078	1.45	294.4	310.8	9.9	1025	11092	0.00	2.60	7.85	0.686	4	0.000	0.074	3394	3889	1735
11119	1.45	294.4	306.3	11.1	1028	11127	0.00	2.42	0.00	0.000	6	0.000	0.039	3394	2526	1735
11318	1.45	294.4	286.4	10.3	1047	11320	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2526	1734
11382	1.45	294.4	279.6	10.7	1053	11383	0.00	0.00	0.00	0.000	6	0.000	0.000	3395	2526	1734
11445	1.45	294.4	272.8	10.3	1059	11450	0.00	2.50	0.00	0.000	4	0.000	0.049	3395	1124	1734
11485	1.45	294.4	268.4	11.1	1062	11490	0.00	2.50	0.00	0.000	6	0.000	0.043	3395	2531	1734
11556	1.45	294.4	261.1	10.3	1068	11557	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2531	1734
11620	1.47	311.1	255.1	9.5	1074	11650	0.00	0.00	23.55	0.732	6	0.000	0.000	3395	2531	1667
11713	1.47	311.1	245.3	10.4	1083	11717	0.00	2.55	0.00	0.000	4	0.000	0.074	3394	3887	1666
11764	1.47	311.1	239.4	12.3	1087	11768	0.00	2.38	0.00	0.000	6	0.000	0.037	3394	2521	1665
11835	1.47	311.1	231.4	11.3	1093	11836	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2521	1665
11899	1.47	311.1	224.5	10.7	1099	11900	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2521	1665
11962	1.47	311.1	217.6	10.9	1105	11963	0.00	0.00	0.00	0.000	6	0.000	0.000	3395	2521	1665
12026	1.49	330.1	211.4	9.5	1111	12057	0.12	0.00	25.88	0.701	6	0.054	0.000	3433	2519	1590
12119	1.49	330.1	200.9	11.4	1120	12120	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2519	1589
12183	1.49	330.1	193.6	11.5	1126	12187	0.00	2.47	0.00	0.000	4	0.000	0.046	3433	1128	1588
12222	1.49	330.1	188.6	11.9	1129	12227	0.00	2.50	0.00	0.000	6	0.000	0.041	3433	2534	1588
12293	1.49	330.1	180.2	12.2	1135	12294	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2534	1588
12357	1.49	330.1	172.9	11.8	1141	12358	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2534	1588
12420	1.49	330.1	164.8	12.5	1147	12425	0.00	2.53	0.00	0.000	4	0.000	0.071	3433	3890	1587
12484	1.49	330.1	157.1	12.4	1152	12488	0.00	2.35	0.00	0.000	6	0.000	0.035	3433	2523	1588
12555	1.49	330.1	149.3	10.6	1158	12559	0.00	2.45	0.00	0.000	4	0.000	0.043	3433	1129	1587
12588	1.49	330.1	145.3	11.3	1160	12595	0.00	2.50	0.00	0.000	6	0.000	0.041	3433	2540	1587
12657	1.49	330.1	138.0	10.5	1167	12661	0.00	2.50	0.00	0.000	4	0.000	0.069	3433	3889	1587
12697	1.49	330.1	133.5	10.9	1170	12701	0.00	2.35	0.00	0.000	6	0.000	0.035	3433	2524	1587
12768	1.49	330.1	125.5	11.7	1176	12772	0.00	2.55	0.00	0.000	4	0.000	0.065	3433	3895	1587
12807	1.49	330.1	120.4	13.1	1179	12811	0.00	2.35	0.00	0.000	6	0.000	0.034	3433	2524	1586
12877	1.49	330.1	111.3	12.9	1185	12879	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2522	1586
12941	1.49	330.1	103.5	12.2	1191	12945	0.00	2.42	0.00	0.000	4	0.000	0.041	3433	1134	1586
12997	1.49	330.1	96.6	12.8	1195	13004	0.00	2.45	0.00	0.000	6	0.000	0.038	3433	2532	1586
13066	1.49	330.1	87.8	12.7	1202	13067	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2532	1586
13131	1.49	330.1	80.6	11.4	1208	13132	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2532	1586
13195	1.49	330.1	74.0	10.6	1214	13196	0.00	0.00	0.00	0.000	6	0.000	0.000	3433	2532	1586
13259	1.49	330.1	67.0	11.1	1220	13263	0.00	2.50	0.00	0.000	4	0.000	0.065	3433	3891	1586
13298	1.49	330.1	62.2	11.6	1223	13302	0.00	2.33	0.00	0.000	6	0.000	0.032	3433	2525	1586
13369	1.49	330.1	54.9	10.3	1229	13373	0.00	2.53	0.00	0.000	4	0.000	0.062	3433	3894	1586
13479	1.55	374.6	44.2	8.8	1238	13547	0.00	2.33	57.47	0.576	6	0.000	0.031	3433	2523	1407
13610	1.66	466.9	34.8	7.4	1250	13732	0.08	2.50	115.53	0.551	4	0.061	0.038	3463	1142	1031
13768	1.66	466.9	17.9	12.0	1265	13776	0.00	2.45	0.00	0.000	6	0.000	0.035	3463	2539	1030
13844	1.66	466.9	10.1	11.9	1278	13850	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2539	1029
13893	end climb: SURFACE_DEPTH_REACHED
state	13894	begin surface coast
13928	end surface coast: CONTROL_FINISHED_OK
state	13928	begin surface