Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 870 * 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 870 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 34 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 -79316.898 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 -79316.898

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 34 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 870 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 210045,4827.691,-12810.111,37,2.1,56,19.2 TGT_NAME P4

_CALLS 1 TGT_LATLONG 4839.000,-12640.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,-0.064

_SM_DEPTHo 2.32 KALMAN_X -72636.9,449.2,543.3,1277507.9,-5025.7

_SM_ANGLEo -62.3 KALMAN_Y 135256.4,-284.3,-196.3,-344481.8,2416.6

GPS2 211003,4827.738,-12810.143,14,1.7,15,19.2 MHEAD_RNG_PITCHd_Wd 93.2,112247,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.6,1.013862 XPDR_PINGS 91

SM_CCo 28435,0.00,0.000,0,0,1653,313.49 _24V_AH 21.5,125.503

SM_GC 2.25,5.70,0.00,0.00,0.038,0.000,0.000,98,2302,1653,-8.60,-0.03,313.49 _10V_AH 9.3,105.568

IRIDIUM_FIX 4811.07,-12831.48,240699,131348 DATA_FILE_SIZE 44370,713

TT8_MAMPS 0.029913 CAP_FILE_SIZE 200269,0

HUMID 1783 CFSIZE 260165632,190980096

INTERNAL_PRESSURE 7.44169 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 16.90 GPS 310310,050607,4826.582,-12808.730,30,1.8,30,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 95.06 SBE_CT 501 24 258.58

Roll_motor 287 59 364.71 SBE_O2 592 19 242.15

VBD_pump_during_apogee 381 1267 10396.35 Optode 739 33 524.94

VBD_pump_during_surface 0 0 0.00 WL_BB2F 759 105 1714.69

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 70.19 nil 0 0 0.00

Iridium_during_connect 25 160 88.64 nil 0 0 0.00

Iridium_during_xfer 305 223 1462.38

Transponder_ping 22 420 205.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.02

TT8 1704 19 313.95

LPSleep 23208 2 472.69

TT8_Active 554 19 102.05

TT8_Sampling 2293 39 849.02

TT8_CF8 1213 45 516.83

TT8_Kalman 33 81 25.40

Analog_circuits 1802 12 201.13

GPS_charging 0 0 0.00

Compass 2259 8 168.14

RAFOS 0 0 0.00

Transponder 0 5 0.02

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

21 -0.68 -117.3 0.0 0.0 0 63 0.00 0.00 -39.83 0.000 2 0.000 0.000 97 2307 2614

68 -0.68 -117.3 3.6 -5.3 2 99 7.03 2.38 -18.02 0.000 4 0.225 0.059 1838 3704 3411

286 -0.65 -117.3 30.7 -11.3 11 293 0.00 2.20 0.00 0.000 6 0.000 0.028 1838 2289 3412

606 -0.58 -117.3 69.4 -12.6 27 610 0.12 2.30 0.00 0.000 4 0.127 0.040 1873 891 3413

713 -0.60 -117.3 81.2 -9.7 31 720 0.00 2.28 0.00 0.000 6 0.000 0.035 1865 2301 3412

1046 -0.64 -117.3 107.3 -6.9 62 1051 0.00 0.00 0.00 0.000 6 0.000 0.000 1865 2301 3412

1373 -0.68 -117.3 130.9 -6.9 93 1377 0.00 2.28 0.00 0.000 4 0.000 0.038 1864 897 3412

1410 -0.74 -117.3 133.5 -7.7 96 1415 0.10 2.33 0.00 0.000 6 0.062 0.042 1787 2303 3413

1752 -0.65 -117.3 172.5 -11.6 116 1757 0.20 2.30 0.00 0.000 4 0.120 0.038 1854 889 3413

1799 -0.71 -117.3 177.0 -7.6 117 1803 0.00 2.30 0.00 0.000 6 0.000 0.041 1850 2304 3413

2126 -0.74 -117.3 201.4 -7.6 128 2130 0.00 2.28 0.00 0.000 4 0.000 0.039 1850 893 3413

2178 -0.80 -117.3 205.6 -8.0 129 2183 0.10 2.30 0.00 0.000 6 0.064 0.041 1779 2301 3413

2498 -0.71 -117.3 240.1 -10.9 140 2503 0.20 2.28 0.00 0.000 4 0.118 0.038 1846 899 3413

2557 -0.76 -117.3 245.1 -7.6 141 2561 0.00 2.28 0.00 0.000 6 0.000 0.040 1838 2307 3413

2872 -0.79 -117.3 267.7 -6.9 151 2873 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 2307 3413

3178 -0.81 -117.3 287.5 -6.5 161 3182 0.00 2.28 0.00 0.000 4 0.000 0.040 1839 900 3412

3231 -0.85 -117.3 291.3 -7.2 162 3235 0.00 2.30 0.00 0.000 6 0.000 0.037 1836 2304 3413

3549 -0.87 -117.3 313.8 -7.1 170 3554 0.10 2.30 0.00 0.000 4 0.063 0.041 1765 896 3412

3595 -0.77 -117.3 318.7 -11.3 170 3600 0.28 2.33 0.00 0.000 6 0.114 0.040 1835 2314 3413

3914 -0.80 -117.3 343.4 -7.6 176 3918 0.00 2.35 0.00 0.000 4 0.000 0.044 1836 893 3412

3955 -0.83 -117.3 347.0 -8.3 176 3959 0.00 2.30 0.00 0.000 6 0.000 0.044 1835 2304 3412

4277 -0.86 -117.3 371.0 -7.5 182 4279 0.10 0.00 0.00 0.000 6 0.064 0.000 1764 2304 3412

4581 -0.76 -117.3 404.3 -11.2 187 4585 0.20 2.35 0.00 0.000 4 0.116 0.048 1832 901 3411

4658 -0.79 -117.3 410.2 -7.1 188 4662 0.00 2.28 0.00 0.000 6 0.000 0.040 1825 2306 3411

5014 -0.79 -117.3 432.7 -6.2 194 5015 0.00 0.00 0.00 0.000 6 0.000 0.000 1825 2306 3411

5317 -0.79 -117.3 451.2 -6.2 199 5321 0.00 2.38 0.00 0.000 4 0.000 0.046 1825 892 3411

5375 -0.82 -117.3 455.2 -6.9 199 5382 0.00 2.35 0.00 0.000 6 0.000 0.041 1822 2304 3410

5686 -0.82 -117.3 476.1 -6.7 205 5687 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2304 3410

5989 -0.82 -117.3 496.9 -6.9 210 5991 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2304 3410

6292 -0.82 -117.3 518.5 -7.2 215 6297 0.00 2.33 0.00 0.000 4 0.000 0.044 1822 894 3410

6340 -0.84 -117.3 522.1 -7.9 215 6344 0.00 2.38 0.00 0.000 6 0.000 0.038 1820 2310 3410

6657 -0.84 -117.3 545.5 -7.4 221 6661 0.00 2.38 0.00 0.000 4 0.000 0.048 1820 895 3409

6692 -0.84 -117.3 548.6 -8.6 221 6697 0.00 2.35 0.00 0.000 6 0.000 0.043 1810 2305 3409

7020 -0.84 -117.3 576.0 -8.5 227 7021 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2305 3408

7324 -0.84 -117.3 601.1 -8.2 232 7329 0.00 2.30 0.00 0.000 4 0.000 0.048 1811 900 3408

7365 -0.84 -117.3 604.6 -8.4 232 7369 0.00 2.33 0.00 0.000 6 0.000 0.041 1808 2301 3408

7687 -0.84 -117.3 629.5 -7.6 238 7691 0.00 2.30 0.00 0.000 4 0.000 0.047 1808 903 3408

7721 -0.84 -117.3 632.2 -8.2 238 7725 0.00 2.35 0.00 0.000 6 0.000 0.044 1799 2311 3408

8050 -0.84 -117.3 658.7 -8.0 244 8054 0.00 2.38 0.00 0.000 4 0.000 0.043 1799 897 3407

8102 -0.84 -117.3 663.2 -8.3 244 8107 0.10 2.33 0.00 0.000 6 0.125 0.041 1821 2303 3407

8414 -0.87 -117.3 684.1 -6.6 249 8418 0.00 2.38 0.00 0.000 4 0.000 0.043 1821 893 3407

8450 -0.91 -117.3 686.6 -7.3 249 8454 0.00 2.38 0.00 0.000 6 0.000 0.041 1821 2311 3407

8778 -0.94 -117.3 707.6 -6.4 255 8783 0.10 2.35 0.00 0.000 4 0.065 0.048 1757 901 3406

8807 -0.88 -117.3 710.1 -9.4 255 8812 0.20 2.33 0.00 0.000 6 0.122 0.044 1810 2312 3406

9142 -0.88 -117.3 733.7 -7.0 261 9146 0.00 2.38 0.00 0.000 4 0.000 0.044 1811 897 3406

9172 -0.88 -117.3 736.1 -8.1 261 9176 0.00 2.35 0.00 0.000 6 0.000 0.038 1809 2305 3406

9511 -0.88 -117.3 760.0 -7.1 267 9512 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2305 3406

9814 -0.88 -117.3 780.9 -6.9 272 9818 0.00 2.38 0.00 0.000 4 0.000 0.048 1809 903 3406

9878 -0.88 -117.3 785.4 -7.5 273 9883 0.00 2.35 0.00 0.000 6 0.000 0.044 1808 2306 3406

10251 -0.88 -117.3 811.1 -6.8 279 10255 0.00 2.38 0.00 0.000 4 0.000 0.044 1808 894 3406

10281 -0.88 -117.3 813.2 -7.6 279 10285 0.00 2.38 0.00 0.000 6 0.000 0.044 1808 2304 3405

10615 -0.88 -117.3 836.2 -6.9 285 10619 0.00 2.35 0.00 0.000 4 0.000 0.049 1808 903 3405

10656 -0.88 -117.3 839.3 -8.1 285 10660 0.00 2.33 0.00 0.000 6 0.000 0.045 1808 2303 3405

10984 -0.88 -117.3 861.1 -6.7 291 10985 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2303 3405

11287 -0.88 -117.3 880.6 -6.5 296 11291 0.00 2.35 0.00 0.000 4 0.000 0.050 1808 897 3404

11321 -0.88 -117.3 883.2 -7.4 296 11325 0.00 2.38 0.00 0.000 6 0.000 0.040 1807 2311 3404

11656 -0.88 -117.3 905.4 -6.7 302 11660 0.00 2.40 0.00 0.000 4 0.000 0.047 1808 902 3404

11719 -0.88 -117.3 909.9 -7.7 302 11725 0.00 2.38 0.00 0.000 6 0.000 0.044 1808 2307 3404

12030 -0.88 -117.3 930.5 -6.6 308 12034 0.00 2.38 0.00 0.000 4 0.000 0.050 1808 900 3404

12060 -0.88 -117.3 932.8 -8.0 308 12064 0.00 2.35 0.00 0.000 6 0.000 0.041 1807 2302 3404

12399 -0.88 -117.3 954.7 -6.4 314 12403 0.00 2.40 0.00 0.000 4 0.000 0.044 1807 896 3404

12444 -0.88 -117.3 957.9 -6.8 314 12449 0.00 2.38 0.00 0.000 6 0.000 0.045 1803 2303 3404

12761 -0.88 -117.3 978.1 -6.4 320 12765 0.00 2.40 0.00 0.000 4 0.000 0.048 1804 900 3403

12832 -0.90 -117.3 982.9 -7.1 321 12836 0.00 2.38 0.00 0.000 6 0.000 0.041 1795 2308 3403

12946 end dive: TARGET_DEPTH_EXCEEDED

state 12946 begin apogee

12956 -0.22 0.0 990.8 6.7 323 13056 0.50 0.00 97.35 1.267 6 0.107 0.000 1954 2307 2931

13057 end apogee: CONTROL_FINISHED_OK

state 13057 begin climb

13062 0.68 117.3 992.3 0.0 324 13173 0.60 2.65 104.55 1.237 4 0.066 0.052 2157 3707 2451

13194 0.53 117.3 991.1 5.7 327 13200 0.22 2.47 0.00 0.000 6 0.151 0.036 2118 2315 2448

13562 0.48 117.3 970.7 5.6 333 13566 0.00 2.38 0.00 0.000 4 0.000 0.050 2127 884 2441

13649 0.44 117.3 965.6 6.1 334 13654 0.12 2.33 0.00 0.000 6 0.138 0.044 2097 2307 2441

13994 0.45 128.2 947.9 5.1 340 14008 0.00 2.33 8.57 1.032 4 0.000 0.050 2097 3703 2407

14033 0.41 128.2 945.5 6.0 340 14038 0.00 2.25 0.00 0.000 6 0.000 0.035 2105 2298 2406

14363 0.41 128.2 927.2 5.5 346 14364 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2297 2405

14665 0.43 142.1 911.8 5.0 351 14685 0.00 2.35 13.15 1.101 4 0.000 0.051 2105 3708 2350

14710 0.39 142.1 909.0 6.7 351 14715 0.12 2.25 0.00 0.000 6 0.154 0.033 2085 2303 2349

15034 0.47 162.9 893.5 4.8 357 15058 0.00 2.38 18.88 1.132 4 0.000 0.050 2085 3711 2266

15117 0.52 163.2 888.8 5.5 358 15122 0.08 2.22 0.00 0.000 6 0.080 0.031 2138 2300 2263

15474 0.46 163.2 866.0 6.5 364 15479 0.15 2.35 0.00 0.000 4 0.135 0.046 2106 888 2262

15560 0.50 165.9 861.1 5.4 365 15565 0.00 2.33 0.00 0.000 6 0.000 0.044 2106 2310 2261

15906 0.52 183.5 844.0 4.9 371 15931 0.00 2.35 18.10 1.100 4 0.000 0.052 2106 3703 2182

15974 0.52 183.5 840.4 5.9 372 15979 0.00 2.25 0.00 0.000 6 0.000 0.032 2116 2299 2181

16342 0.53 184.6 820.4 5.5 378 16346 0.00 2.33 0.00 0.000 4 0.000 0.047 2126 888 2179

16376 0.53 184.6 818.3 6.0 378 16380 0.00 2.33 0.00 0.000 6 0.000 0.041 2127 2307 2179

16706 0.53 184.6 798.9 6.0 384 16709 0.00 2.33 0.00 0.000 4 0.000 0.049 2127 3717 2178

16735 0.48 184.6 796.8 7.9 384 16740 0.12 2.28 0.00 0.000 6 0.142 0.033 2105 2295 2178

17075 0.52 192.4 779.0 5.2 390 17089 0.00 2.33 8.70 0.953 4 0.000 0.053 2114 892 2146

17116 0.57 203.5 776.8 5.1 390 17132 0.00 2.30 11.40 0.994 6 0.000 0.039 2114 2304 2100

17444 0.59 203.5 755.7 6.5 396 17448 0.00 2.28 0.00 0.000 4 0.000 0.048 2114 3708 2097

17495 0.59 203.5 751.9 7.2 396 17499 0.00 2.22 0.00 0.000 6 0.000 0.031 2124 2295 2096

17819 0.59 203.5 730.0 6.8 402 17820 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2295 2097

18121 0.59 203.5 710.1 6.6 407 18125 0.00 2.38 0.00 0.000 4 0.000 0.048 2124 3709 2096

18156 0.57 203.5 707.5 6.7 407 18160 0.00 2.22 0.00 0.000 6 0.000 0.031 2133 2293 2095

18485 0.57 203.5 685.8 6.6 413 18487 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2293 2095

18788 0.57 203.5 665.3 6.8 418 18789 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2293 2095

19090 0.57 203.5 645.5 6.5 423 19094 0.00 2.38 0.00 0.000 4 0.000 0.046 2134 3708 2095

19136 0.51 203.5 642.1 7.2 423 19141 0.15 2.25 0.00 0.000 6 0.135 0.033 2106 2300 2095

19465 0.56 206.1 623.9 5.4 429 19469 0.00 2.33 0.00 0.000 4 0.000 0.045 2115 887 2095

19508 0.62 208.6 621.5 5.4 429 19518 0.00 2.33 5.10 0.732 6 0.000 0.038 2115 2309 2080

19830 0.66 214.7 604.1 5.3 435 19844 0.10 2.38 7.25 0.823 4 0.067 0.049 2186 3717 2055

19886 0.49 214.7 599.1 9.5 435 19891 0.35 2.25 0.00 0.000 6 0.144 0.031 2104 2291 2053

20199 0.60 256.6 585.4 4.1 440 20244 0.10 2.38 37.15 0.972 4 0.064 0.046 2184 891 1883

20257 0.53 256.6 581.3 7.4 440 20265 0.25 2.33 0.00 0.000 6 0.127 0.043 2115 2308 1881

20571 0.64 286.6 566.8 4.5 446 20603 0.10 2.30 26.20 0.940 4 0.062 0.048 2180 3716 1763

20639 0.53 286.6 561.2 9.6 447 20643 0.28 2.25 0.00 0.000 6 0.131 0.032 2115 2298 1761

21001 0.71 286.6 539.5 6.3 453 21006 0.12 2.33 0.00 0.000 4 0.064 0.050 2164 3711 1756

21053 0.74 286.6 535.5 7.1 453 21057 0.00 2.22 0.00 0.000 6 0.000 0.035 2171 2301 1756

21365 0.69 286.6 508.2 9.0 458 21369 0.00 2.28 0.00 0.000 4 0.000 0.046 2182 895 1756

21388 0.65 286.6 506.1 9.0 458 21393 0.15 2.25 0.00 0.000 6 0.123 0.036 2142 2307 1755

21729 0.67 286.6 482.7 6.8 464 21733 0.00 2.30 0.00 0.000 4 0.000 0.047 2142 3714 1754

21769 0.67 286.6 479.3 8.1 464 21773 0.00 2.22 0.00 0.000 6 0.000 0.031 2150 2296 1754

22096 0.67 286.6 454.4 7.6 470 22100 0.00 2.30 0.00 0.000 4 0.000 0.046 2160 897 1754

22127 0.69 286.6 452.1 7.0 470 22131 0.00 2.28 0.00 0.000 6 0.000 0.035 2160 2309 1753

22467 0.69 286.6 426.5 7.6 476 22471 0.00 2.33 0.00 0.000 4 0.000 0.048 2160 3713 1753

22514 0.66 286.6 422.5 7.8 476 22519 0.12 2.22 0.00 0.000 6 0.132 0.031 2138 2302 1753

22832 0.71 291.4 405.1 5.3 482 22841 0.00 2.30 4.38 0.588 4 0.000 0.045 2146 894 1743

22862 0.78 306.2 403.4 5.0 482 22882 0.08 2.28 14.80 0.804 6 0.071 0.042 2204 2305 1682

23205 0.67 306.2 369.0 10.4 488 23210 0.20 2.30 0.00 0.000 4 0.130 0.045 2140 3718 1678

23258 0.70 306.2 364.6 7.9 488 23262 0.00 2.22 0.00 0.000 6 0.000 0.031 2148 2298 1678

23580 0.73 306.2 343.9 6.4 494 23581 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2298 1677

23883 0.75 306.2 323.9 6.5 499 23884 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2298 1676

24187 0.79 306.2 303.7 6.7 504 24192 0.08 2.35 0.00 0.000 4 0.075 0.044 2213 3716 1676

24223 0.66 306.2 299.9 13.4 504 24228 0.30 2.25 0.00 0.000 6 0.130 0.031 2140 2295 1676

24554 0.73 306.2 276.8 6.7 515 24558 0.00 2.30 0.00 0.000 4 0.000 0.044 2148 897 1676

24585 0.81 306.2 274.6 6.5 515 24593 0.05 2.30 0.00 0.000 6 0.051 0.035 2203 2308 1675

24900 0.71 306.2 240.2 11.1 526 24905 0.17 2.35 0.00 0.000 4 0.128 0.049 2147 3704 1675

24947 0.74 306.2 235.9 7.7 527 24951 0.00 2.22 0.00 0.000 6 0.000 0.029 2154 2291 1675

25268 0.77 306.2 213.9 6.9 538 25269 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2291 1675

25573 0.81 306.2 193.1 6.9 548 25577 0.00 2.38 0.00 0.000 4 0.000 0.045 2154 3711 1675

25608 0.84 306.2 190.4 7.3 549 25612 0.00 2.22 0.00 0.000 6 0.000 0.029 2162 2302 1675

25939 0.86 306.2 166.9 6.7 560 25944 0.08 2.33 0.00 0.000 4 0.077 0.042 2241 890 1675

25963 0.82 306.2 164.8 8.8 560 25970 0.22 2.28 0.00 0.000 6 0.120 0.035 2176 2303 1675

26283 0.82 306.2 139.9 7.0 579 26287 0.00 2.33 0.00 0.000 4 0.000 0.044 2176 3707 1675

26337 0.80 306.2 135.5 9.4 583 26341 0.00 2.25 0.00 0.000 6 0.000 0.030 2184 2300 1675

26668 0.80 306.2 112.7 6.9 613 26672 0.00 2.28 0.00 0.000 4 0.000 0.042 2194 898 1675

26711 0.82 306.2 109.3 8.5 616 26717 0.00 2.25 0.00 0.000 6 0.000 0.034 2194 2305 1675

27042 0.82 306.2 86.4 6.0 647 27046 0.00 2.30 0.00 0.000 4 0.000 0.044 2194 3712 1675

27122 0.82 306.2 80.2 7.9 653 27129 0.08 2.22 0.00 0.000 6 0.105 0.029 2176 2306 1675

27441 0.95 312.4 64.3 5.3 669 27453 0.12 2.25 6.05 0.498 4 0.058 0.041 2234 898 1656

27489 1.00 312.4 61.3 7.2 671 27493 0.00 2.25 0.00 0.000 6 0.000 0.034 2234 2307 1656

27813 1.06 312.4 39.1 6.8 687 27817 0.00 2.28 0.00 0.000 4 0.000 0.042 2240 893 1656

27866 1.04 312.4 34.9 6.9 689 27870 0.00 2.28 0.00 0.000 6 0.000 0.038 2241 2304 1655

28189 0.98 312.4 9.3 8.2 705 28194 0.12 2.35 0.00 0.000 4 0.127 0.046 2204 3706 1655

28255 0.98 312.4 4.6 7.6 708 28259 0.00 2.25 0.00 0.000 6 0.000 0.031 2211 2304 1655

28311 end climb: SURFACE_DEPTH_REACHED

state 28311 begin surface coast

28353 end surface coast: CONTROL_FINISHED_OK

state 28353 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	870	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	34	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	-79316.898	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	210045,4827.691,-12810.111,37,2.1,56,19.2	TGT_NAME	P4
_CALLS	1	TGT_LATLONG	4839.000,-12640.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,-0.064
_SM_DEPTHo	2.32	KALMAN_X	-72636.9,449.2,543.3,1277507.9,-5025.7
_SM_ANGLEo	-62.3	KALMAN_Y	135256.4,-284.3,-196.3,-344481.8,2416.6
GPS2	211003,4827.738,-12810.143,14,1.7,15,19.2	MHEAD_RNG_PITCHd_Wd	93.2,112247,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.6,1.013862	XPDR_PINGS	91
SM_CCo	28435,0.00,0.000,0,0,1653,313.49	_24V_AH	21.5,125.503
SM_GC	2.25,5.70,0.00,0.00,0.038,0.000,0.000,98,2302,1653,-8.60,-0.03,313.49	_10V_AH	9.3,105.568
IRIDIUM_FIX	4811.07,-12831.48,240699,131348	DATA_FILE_SIZE	44370,713
TT8_MAMPS	0.029913	CAP_FILE_SIZE	200269,0
HUMID	1783	CFSIZE	260165632,190980096
INTERNAL_PRESSURE	7.44169	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	16.90	GPS	310310,050607,4826.582,-12808.730,30,1.8,30,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	95.06	SBE_CT	501	24	258.58
Roll_motor	287	59	364.71	SBE_O2	592	19	242.15
VBD_pump_during_apogee	381	1267	10396.35	Optode	739	33	524.94
VBD_pump_during_surface	0	0	0.00	WL_BB2F	759	105	1714.69
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	70.19	nil	0	0	0.00
Iridium_during_connect	25	160	88.64	nil	0	0	0.00
Iridium_during_xfer	305	223	1462.38
Transponder_ping	22	420	205.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.02
TT8	1704	19	313.95
LPSleep	23208	2	472.69
TT8_Active	554	19	102.05
TT8_Sampling	2293	39	849.02
TT8_CF8	1213	45	516.83
TT8_Kalman	33	81	25.40
Analog_circuits	1802	12	201.13
GPS_charging	0	0	0.00
Compass	2259	8	168.14
RAFOS	0	0	0.00
Transponder	0	5	0.02

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
21	-0.68	-117.3	0.0	0.0	0	63	0.00	0.00	-39.83	0.000	2	0.000	0.000	97	2307	2614
68	-0.68	-117.3	3.6	-5.3	2	99	7.03	2.38	-18.02	0.000	4	0.225	0.059	1838	3704	3411
286	-0.65	-117.3	30.7	-11.3	11	293	0.00	2.20	0.00	0.000	6	0.000	0.028	1838	2289	3412
606	-0.58	-117.3	69.4	-12.6	27	610	0.12	2.30	0.00	0.000	4	0.127	0.040	1873	891	3413
713	-0.60	-117.3	81.2	-9.7	31	720	0.00	2.28	0.00	0.000	6	0.000	0.035	1865	2301	3412
1046	-0.64	-117.3	107.3	-6.9	62	1051	0.00	0.00	0.00	0.000	6	0.000	0.000	1865	2301	3412
1373	-0.68	-117.3	130.9	-6.9	93	1377	0.00	2.28	0.00	0.000	4	0.000	0.038	1864	897	3412
1410	-0.74	-117.3	133.5	-7.7	96	1415	0.10	2.33	0.00	0.000	6	0.062	0.042	1787	2303	3413
1752	-0.65	-117.3	172.5	-11.6	116	1757	0.20	2.30	0.00	0.000	4	0.120	0.038	1854	889	3413
1799	-0.71	-117.3	177.0	-7.6	117	1803	0.00	2.30	0.00	0.000	6	0.000	0.041	1850	2304	3413
2126	-0.74	-117.3	201.4	-7.6	128	2130	0.00	2.28	0.00	0.000	4	0.000	0.039	1850	893	3413
2178	-0.80	-117.3	205.6	-8.0	129	2183	0.10	2.30	0.00	0.000	6	0.064	0.041	1779	2301	3413
2498	-0.71	-117.3	240.1	-10.9	140	2503	0.20	2.28	0.00	0.000	4	0.118	0.038	1846	899	3413
2557	-0.76	-117.3	245.1	-7.6	141	2561	0.00	2.28	0.00	0.000	6	0.000	0.040	1838	2307	3413
2872	-0.79	-117.3	267.7	-6.9	151	2873	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	2307	3413
3178	-0.81	-117.3	287.5	-6.5	161	3182	0.00	2.28	0.00	0.000	4	0.000	0.040	1839	900	3412
3231	-0.85	-117.3	291.3	-7.2	162	3235	0.00	2.30	0.00	0.000	6	0.000	0.037	1836	2304	3413
3549	-0.87	-117.3	313.8	-7.1	170	3554	0.10	2.30	0.00	0.000	4	0.063	0.041	1765	896	3412
3595	-0.77	-117.3	318.7	-11.3	170	3600	0.28	2.33	0.00	0.000	6	0.114	0.040	1835	2314	3413
3914	-0.80	-117.3	343.4	-7.6	176	3918	0.00	2.35	0.00	0.000	4	0.000	0.044	1836	893	3412
3955	-0.83	-117.3	347.0	-8.3	176	3959	0.00	2.30	0.00	0.000	6	0.000	0.044	1835	2304	3412
4277	-0.86	-117.3	371.0	-7.5	182	4279	0.10	0.00	0.00	0.000	6	0.064	0.000	1764	2304	3412
4581	-0.76	-117.3	404.3	-11.2	187	4585	0.20	2.35	0.00	0.000	4	0.116	0.048	1832	901	3411
4658	-0.79	-117.3	410.2	-7.1	188	4662	0.00	2.28	0.00	0.000	6	0.000	0.040	1825	2306	3411
5014	-0.79	-117.3	432.7	-6.2	194	5015	0.00	0.00	0.00	0.000	6	0.000	0.000	1825	2306	3411
5317	-0.79	-117.3	451.2	-6.2	199	5321	0.00	2.38	0.00	0.000	4	0.000	0.046	1825	892	3411
5375	-0.82	-117.3	455.2	-6.9	199	5382	0.00	2.35	0.00	0.000	6	0.000	0.041	1822	2304	3410
5686	-0.82	-117.3	476.1	-6.7	205	5687	0.00	0.00	0.00	0.000	6	0.000	0.000	1822	2304	3410
5989	-0.82	-117.3	496.9	-6.9	210	5991	0.00	0.00	0.00	0.000	6	0.000	0.000	1822	2304	3410
6292	-0.82	-117.3	518.5	-7.2	215	6297	0.00	2.33	0.00	0.000	4	0.000	0.044	1822	894	3410
6340	-0.84	-117.3	522.1	-7.9	215	6344	0.00	2.38	0.00	0.000	6	0.000	0.038	1820	2310	3410
6657	-0.84	-117.3	545.5	-7.4	221	6661	0.00	2.38	0.00	0.000	4	0.000	0.048	1820	895	3409
6692	-0.84	-117.3	548.6	-8.6	221	6697	0.00	2.35	0.00	0.000	6	0.000	0.043	1810	2305	3409
7020	-0.84	-117.3	576.0	-8.5	227	7021	0.00	0.00	0.00	0.000	6	0.000	0.000	1810	2305	3408
7324	-0.84	-117.3	601.1	-8.2	232	7329	0.00	2.30	0.00	0.000	4	0.000	0.048	1811	900	3408
7365	-0.84	-117.3	604.6	-8.4	232	7369	0.00	2.33	0.00	0.000	6	0.000	0.041	1808	2301	3408
7687	-0.84	-117.3	629.5	-7.6	238	7691	0.00	2.30	0.00	0.000	4	0.000	0.047	1808	903	3408
7721	-0.84	-117.3	632.2	-8.2	238	7725	0.00	2.35	0.00	0.000	6	0.000	0.044	1799	2311	3408
8050	-0.84	-117.3	658.7	-8.0	244	8054	0.00	2.38	0.00	0.000	4	0.000	0.043	1799	897	3407
8102	-0.84	-117.3	663.2	-8.3	244	8107	0.10	2.33	0.00	0.000	6	0.125	0.041	1821	2303	3407
8414	-0.87	-117.3	684.1	-6.6	249	8418	0.00	2.38	0.00	0.000	4	0.000	0.043	1821	893	3407
8450	-0.91	-117.3	686.6	-7.3	249	8454	0.00	2.38	0.00	0.000	6	0.000	0.041	1821	2311	3407
8778	-0.94	-117.3	707.6	-6.4	255	8783	0.10	2.35	0.00	0.000	4	0.065	0.048	1757	901	3406
8807	-0.88	-117.3	710.1	-9.4	255	8812	0.20	2.33	0.00	0.000	6	0.122	0.044	1810	2312	3406
9142	-0.88	-117.3	733.7	-7.0	261	9146	0.00	2.38	0.00	0.000	4	0.000	0.044	1811	897	3406
9172	-0.88	-117.3	736.1	-8.1	261	9176	0.00	2.35	0.00	0.000	6	0.000	0.038	1809	2305	3406
9511	-0.88	-117.3	760.0	-7.1	267	9512	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2305	3406
9814	-0.88	-117.3	780.9	-6.9	272	9818	0.00	2.38	0.00	0.000	4	0.000	0.048	1809	903	3406
9878	-0.88	-117.3	785.4	-7.5	273	9883	0.00	2.35	0.00	0.000	6	0.000	0.044	1808	2306	3406
10251	-0.88	-117.3	811.1	-6.8	279	10255	0.00	2.38	0.00	0.000	4	0.000	0.044	1808	894	3406
10281	-0.88	-117.3	813.2	-7.6	279	10285	0.00	2.38	0.00	0.000	6	0.000	0.044	1808	2304	3405
10615	-0.88	-117.3	836.2	-6.9	285	10619	0.00	2.35	0.00	0.000	4	0.000	0.049	1808	903	3405
10656	-0.88	-117.3	839.3	-8.1	285	10660	0.00	2.33	0.00	0.000	6	0.000	0.045	1808	2303	3405
10984	-0.88	-117.3	861.1	-6.7	291	10985	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2303	3405
11287	-0.88	-117.3	880.6	-6.5	296	11291	0.00	2.35	0.00	0.000	4	0.000	0.050	1808	897	3404
11321	-0.88	-117.3	883.2	-7.4	296	11325	0.00	2.38	0.00	0.000	6	0.000	0.040	1807	2311	3404
11656	-0.88	-117.3	905.4	-6.7	302	11660	0.00	2.40	0.00	0.000	4	0.000	0.047	1808	902	3404
11719	-0.88	-117.3	909.9	-7.7	302	11725	0.00	2.38	0.00	0.000	6	0.000	0.044	1808	2307	3404
12030	-0.88	-117.3	930.5	-6.6	308	12034	0.00	2.38	0.00	0.000	4	0.000	0.050	1808	900	3404
12060	-0.88	-117.3	932.8	-8.0	308	12064	0.00	2.35	0.00	0.000	6	0.000	0.041	1807	2302	3404
12399	-0.88	-117.3	954.7	-6.4	314	12403	0.00	2.40	0.00	0.000	4	0.000	0.044	1807	896	3404
12444	-0.88	-117.3	957.9	-6.8	314	12449	0.00	2.38	0.00	0.000	6	0.000	0.045	1803	2303	3404
12761	-0.88	-117.3	978.1	-6.4	320	12765	0.00	2.40	0.00	0.000	4	0.000	0.048	1804	900	3403
12832	-0.90	-117.3	982.9	-7.1	321	12836	0.00	2.38	0.00	0.000	6	0.000	0.041	1795	2308	3403
12946	end dive: TARGET_DEPTH_EXCEEDED
state	12946	begin apogee
12956	-0.22	0.0	990.8	6.7	323	13056	0.50	0.00	97.35	1.267	6	0.107	0.000	1954	2307	2931
13057	end apogee: CONTROL_FINISHED_OK
state	13057	begin climb
13062	0.68	117.3	992.3	0.0	324	13173	0.60	2.65	104.55	1.237	4	0.066	0.052	2157	3707	2451
13194	0.53	117.3	991.1	5.7	327	13200	0.22	2.47	0.00	0.000	6	0.151	0.036	2118	2315	2448
13562	0.48	117.3	970.7	5.6	333	13566	0.00	2.38	0.00	0.000	4	0.000	0.050	2127	884	2441
13649	0.44	117.3	965.6	6.1	334	13654	0.12	2.33	0.00	0.000	6	0.138	0.044	2097	2307	2441
13994	0.45	128.2	947.9	5.1	340	14008	0.00	2.33	8.57	1.032	4	0.000	0.050	2097	3703	2407
14033	0.41	128.2	945.5	6.0	340	14038	0.00	2.25	0.00	0.000	6	0.000	0.035	2105	2298	2406
14363	0.41	128.2	927.2	5.5	346	14364	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2297	2405
14665	0.43	142.1	911.8	5.0	351	14685	0.00	2.35	13.15	1.101	4	0.000	0.051	2105	3708	2350
14710	0.39	142.1	909.0	6.7	351	14715	0.12	2.25	0.00	0.000	6	0.154	0.033	2085	2303	2349
15034	0.47	162.9	893.5	4.8	357	15058	0.00	2.38	18.88	1.132	4	0.000	0.050	2085	3711	2266
15117	0.52	163.2	888.8	5.5	358	15122	0.08	2.22	0.00	0.000	6	0.080	0.031	2138	2300	2263
15474	0.46	163.2	866.0	6.5	364	15479	0.15	2.35	0.00	0.000	4	0.135	0.046	2106	888	2262
15560	0.50	165.9	861.1	5.4	365	15565	0.00	2.33	0.00	0.000	6	0.000	0.044	2106	2310	2261
15906	0.52	183.5	844.0	4.9	371	15931	0.00	2.35	18.10	1.100	4	0.000	0.052	2106	3703	2182
15974	0.52	183.5	840.4	5.9	372	15979	0.00	2.25	0.00	0.000	6	0.000	0.032	2116	2299	2181
16342	0.53	184.6	820.4	5.5	378	16346	0.00	2.33	0.00	0.000	4	0.000	0.047	2126	888	2179
16376	0.53	184.6	818.3	6.0	378	16380	0.00	2.33	0.00	0.000	6	0.000	0.041	2127	2307	2179
16706	0.53	184.6	798.9	6.0	384	16709	0.00	2.33	0.00	0.000	4	0.000	0.049	2127	3717	2178
16735	0.48	184.6	796.8	7.9	384	16740	0.12	2.28	0.00	0.000	6	0.142	0.033	2105	2295	2178
17075	0.52	192.4	779.0	5.2	390	17089	0.00	2.33	8.70	0.953	4	0.000	0.053	2114	892	2146
17116	0.57	203.5	776.8	5.1	390	17132	0.00	2.30	11.40	0.994	6	0.000	0.039	2114	2304	2100
17444	0.59	203.5	755.7	6.5	396	17448	0.00	2.28	0.00	0.000	4	0.000	0.048	2114	3708	2097
17495	0.59	203.5	751.9	7.2	396	17499	0.00	2.22	0.00	0.000	6	0.000	0.031	2124	2295	2096
17819	0.59	203.5	730.0	6.8	402	17820	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2295	2097
18121	0.59	203.5	710.1	6.6	407	18125	0.00	2.38	0.00	0.000	4	0.000	0.048	2124	3709	2096
18156	0.57	203.5	707.5	6.7	407	18160	0.00	2.22	0.00	0.000	6	0.000	0.031	2133	2293	2095
18485	0.57	203.5	685.8	6.6	413	18487	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2293	2095
18788	0.57	203.5	665.3	6.8	418	18789	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2293	2095
19090	0.57	203.5	645.5	6.5	423	19094	0.00	2.38	0.00	0.000	4	0.000	0.046	2134	3708	2095
19136	0.51	203.5	642.1	7.2	423	19141	0.15	2.25	0.00	0.000	6	0.135	0.033	2106	2300	2095
19465	0.56	206.1	623.9	5.4	429	19469	0.00	2.33	0.00	0.000	4	0.000	0.045	2115	887	2095
19508	0.62	208.6	621.5	5.4	429	19518	0.00	2.33	5.10	0.732	6	0.000	0.038	2115	2309	2080
19830	0.66	214.7	604.1	5.3	435	19844	0.10	2.38	7.25	0.823	4	0.067	0.049	2186	3717	2055
19886	0.49	214.7	599.1	9.5	435	19891	0.35	2.25	0.00	0.000	6	0.144	0.031	2104	2291	2053
20199	0.60	256.6	585.4	4.1	440	20244	0.10	2.38	37.15	0.972	4	0.064	0.046	2184	891	1883
20257	0.53	256.6	581.3	7.4	440	20265	0.25	2.33	0.00	0.000	6	0.127	0.043	2115	2308	1881
20571	0.64	286.6	566.8	4.5	446	20603	0.10	2.30	26.20	0.940	4	0.062	0.048	2180	3716	1763
20639	0.53	286.6	561.2	9.6	447	20643	0.28	2.25	0.00	0.000	6	0.131	0.032	2115	2298	1761
21001	0.71	286.6	539.5	6.3	453	21006	0.12	2.33	0.00	0.000	4	0.064	0.050	2164	3711	1756
21053	0.74	286.6	535.5	7.1	453	21057	0.00	2.22	0.00	0.000	6	0.000	0.035	2171	2301	1756
21365	0.69	286.6	508.2	9.0	458	21369	0.00	2.28	0.00	0.000	4	0.000	0.046	2182	895	1756
21388	0.65	286.6	506.1	9.0	458	21393	0.15	2.25	0.00	0.000	6	0.123	0.036	2142	2307	1755
21729	0.67	286.6	482.7	6.8	464	21733	0.00	2.30	0.00	0.000	4	0.000	0.047	2142	3714	1754
21769	0.67	286.6	479.3	8.1	464	21773	0.00	2.22	0.00	0.000	6	0.000	0.031	2150	2296	1754
22096	0.67	286.6	454.4	7.6	470	22100	0.00	2.30	0.00	0.000	4	0.000	0.046	2160	897	1754
22127	0.69	286.6	452.1	7.0	470	22131	0.00	2.28	0.00	0.000	6	0.000	0.035	2160	2309	1753
22467	0.69	286.6	426.5	7.6	476	22471	0.00	2.33	0.00	0.000	4	0.000	0.048	2160	3713	1753
22514	0.66	286.6	422.5	7.8	476	22519	0.12	2.22	0.00	0.000	6	0.132	0.031	2138	2302	1753
22832	0.71	291.4	405.1	5.3	482	22841	0.00	2.30	4.38	0.588	4	0.000	0.045	2146	894	1743
22862	0.78	306.2	403.4	5.0	482	22882	0.08	2.28	14.80	0.804	6	0.071	0.042	2204	2305	1682
23205	0.67	306.2	369.0	10.4	488	23210	0.20	2.30	0.00	0.000	4	0.130	0.045	2140	3718	1678
23258	0.70	306.2	364.6	7.9	488	23262	0.00	2.22	0.00	0.000	6	0.000	0.031	2148	2298	1678
23580	0.73	306.2	343.9	6.4	494	23581	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2298	1677
23883	0.75	306.2	323.9	6.5	499	23884	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2298	1676
24187	0.79	306.2	303.7	6.7	504	24192	0.08	2.35	0.00	0.000	4	0.075	0.044	2213	3716	1676
24223	0.66	306.2	299.9	13.4	504	24228	0.30	2.25	0.00	0.000	6	0.130	0.031	2140	2295	1676
24554	0.73	306.2	276.8	6.7	515	24558	0.00	2.30	0.00	0.000	4	0.000	0.044	2148	897	1676
24585	0.81	306.2	274.6	6.5	515	24593	0.05	2.30	0.00	0.000	6	0.051	0.035	2203	2308	1675
24900	0.71	306.2	240.2	11.1	526	24905	0.17	2.35	0.00	0.000	4	0.128	0.049	2147	3704	1675
24947	0.74	306.2	235.9	7.7	527	24951	0.00	2.22	0.00	0.000	6	0.000	0.029	2154	2291	1675
25268	0.77	306.2	213.9	6.9	538	25269	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2291	1675
25573	0.81	306.2	193.1	6.9	548	25577	0.00	2.38	0.00	0.000	4	0.000	0.045	2154	3711	1675
25608	0.84	306.2	190.4	7.3	549	25612	0.00	2.22	0.00	0.000	6	0.000	0.029	2162	2302	1675
25939	0.86	306.2	166.9	6.7	560	25944	0.08	2.33	0.00	0.000	4	0.077	0.042	2241	890	1675
25963	0.82	306.2	164.8	8.8	560	25970	0.22	2.28	0.00	0.000	6	0.120	0.035	2176	2303	1675
26283	0.82	306.2	139.9	7.0	579	26287	0.00	2.33	0.00	0.000	4	0.000	0.044	2176	3707	1675
26337	0.80	306.2	135.5	9.4	583	26341	0.00	2.25	0.00	0.000	6	0.000	0.030	2184	2300	1675
26668	0.80	306.2	112.7	6.9	613	26672	0.00	2.28	0.00	0.000	4	0.000	0.042	2194	898	1675
26711	0.82	306.2	109.3	8.5	616	26717	0.00	2.25	0.00	0.000	6	0.000	0.034	2194	2305	1675
27042	0.82	306.2	86.4	6.0	647	27046	0.00	2.30	0.00	0.000	4	0.000	0.044	2194	3712	1675
27122	0.82	306.2	80.2	7.9	653	27129	0.08	2.22	0.00	0.000	6	0.105	0.029	2176	2306	1675
27441	0.95	312.4	64.3	5.3	669	27453	0.12	2.25	6.05	0.498	4	0.058	0.041	2234	898	1656
27489	1.00	312.4	61.3	7.2	671	27493	0.00	2.25	0.00	0.000	6	0.000	0.034	2234	2307	1656
27813	1.06	312.4	39.1	6.8	687	27817	0.00	2.28	0.00	0.000	4	0.000	0.042	2240	893	1656
27866	1.04	312.4	34.9	6.9	689	27870	0.00	2.28	0.00	0.000	6	0.000	0.038	2241	2304	1655
28189	0.98	312.4	9.3	8.2	705	28194	0.12	2.35	0.00	0.000	4	0.127	0.046	2204	3706	1655
28255	0.98	312.4	4.6	7.6	708	28259	0.00	2.25	0.00	0.000	6	0.000	0.031	2211	2304	1655
28311	end climb: SURFACE_DEPTH_REACHED
state	28311	begin surface coast
28353	end surface coast: CONTROL_FINISHED_OK
state	28353	begin surface