Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 676 * 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 676 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2303 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2303 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -75331.789 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 -75331.789

CAPMAXSIZE 100000 HD_C 3.2039999e-05 RHO 1.023 T_MISSION 630

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 57

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 144 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3809 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2000 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY -1

C_ROLL_CLIMB 2303 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2303 MASS 51458 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 32 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 676 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 045037,5002.724,-14330.784,38,1.3,38,18.7 TGT_NAME P20

_CALLS 1 TGT_LATLONG 4934.000,-13840.000

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.165,-0.032

_SM_DEPTHo 2.08 KALMAN_X -90797.6,124.5,-70.9,208649.6,63.6

_SM_ANGLEo -55.5 KALMAN_Y 32501.4,341.4,-165.2,-66442.1,242.1

GPS2 045814,5002.745,-14330.799,12,1.6,12,18.7 MHEAD_RNG_PITCHd_Wd 82.5,353323,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.4,1.014176 XPDR_PINGS 69

SM_CCo 29796,0.00,0.000,0,0,1678,307.36 _24V_AH 21.7,97.218

SM_GC 2.08,5.55,0.00,0.00,0.039,0.000,0.000,98,2290,1678,-8.63,-0.40,307.36 _10V_AH 10.3,83.562

IRIDIUM_FIX 4946.36,-14338.64,190499,202029 DATA_FILE_SIZE 44317,775

TT8_MAMPS 0.028379 CAP_FILE_SIZE 195077,0

HUMID 1746 CFSIZE 260165632,206032896

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

TCM_TEMP 15.60 GPS 240110,131726,5002.350,-14325.593,36,2.2,55,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 228 96.35 SBE_CT 545 24 283.94

Roll_motor 255 60 335.36 SBE_O2 633 19 261.07

VBD_pump_during_apogee 376 1281 10483.02 Optode 801 33 574.23

VBD_pump_during_surface 0 0 0.00 WL_BB2F 849 105 1935.71

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 65.10 nil 0 0 0.00

Iridium_during_connect 28 160 99.17 nil 0 0 0.00

Iridium_during_xfer 227 223 1101.97

Transponder_ping 17 420 157.22

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.99

TT8 1761 19 359.21

LPSleep 24680 2 556.73

TT8_Active 538 19 109.92

TT8_Sampling 2269 39 930.24

TT8_CF8 991 45 467.92

TT8_Kalman 33 81 28.13

Analog_circuits 1756 12 217.15

GPS_charging 0 0 0.00

Compass 2246 8 185.12

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.68 -117.3 0.0 0.0 0 59 0.00 0.00 -40.35 0.000 2 0.000 0.000 98 2317 2431

64 -0.68 -117.3 3.0 -4.0 2 107 7.25 2.40 -29.83 0.000 4 0.229 0.061 1845 896 3412

149 -0.66 -117.3 9.6 -9.1 6 153 0.00 2.28 0.00 0.000 6 0.000 0.044 1836 2303 3414

472 -0.60 -117.3 44.9 -10.5 22 476 0.12 2.28 0.00 0.000 4 0.133 0.041 1872 894 3414

505 -0.60 -117.3 48.2 -9.3 23 509 0.00 2.22 0.00 0.000 6 0.000 0.037 1864 2305 3414

829 -0.60 -117.3 76.3 -8.8 39 833 0.00 2.28 0.00 0.000 4 0.000 0.041 1864 892 3414

876 -0.63 -117.3 80.5 -9.0 41 880 0.00 2.25 0.00 0.000 6 0.000 0.038 1862 2305 3414

1208 -0.66 -117.3 105.8 -7.4 71 1214 0.00 0.00 0.00 0.000 6 0.000 0.000 1862 2305 3414

1535 -0.69 -117.3 129.3 -6.5 102 1539 0.00 2.25 0.00 0.000 4 0.000 0.048 1852 3708 3414

1575 -0.73 -117.3 132.3 -7.2 105 1581 0.00 2.22 0.00 0.000 6 0.000 0.033 1852 2298 3414

1923 -0.76 -117.3 156.3 -6.7 132 1927 0.00 2.22 0.00 0.000 4 0.000 0.042 1852 895 3414

2002 -0.81 -117.3 162.3 -7.1 134 2007 0.10 2.22 0.00 0.000 6 0.066 0.036 1777 2309 3414

2334 -0.72 -117.3 196.0 -10.7 145 2339 0.20 2.28 0.00 0.000 4 0.121 0.041 1843 896 3414

2374 -0.77 -117.3 199.7 -7.9 146 2378 0.00 2.25 0.00 0.000 6 0.000 0.041 1837 2307 3414

2699 -0.79 -117.3 221.7 -6.7 157 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2307 3414

3006 -0.81 -117.3 244.6 -7.8 167 3010 0.00 2.25 0.00 0.000 4 0.000 0.043 1837 899 3414

3040 -0.84 -117.3 247.5 -8.5 168 3044 0.00 2.25 0.00 0.000 6 0.000 0.039 1836 2308 3414

3371 -0.87 -117.3 271.8 -7.2 179 3375 0.10 2.28 0.00 0.000 4 0.065 0.049 1768 898 3414

3417 -0.77 -117.3 276.6 -11.1 180 3422 0.28 2.20 0.00 0.000 6 0.114 0.038 1837 2299 3414

3742 -0.80 -117.3 298.6 -6.3 191 3743 0.00 0.00 0.00 0.000 6 0.000 0.000 1838 2299 3414

4075 -0.84 -117.3 317.8 -5.6 197 4079 0.00 2.28 0.00 0.000 4 0.000 0.050 1838 903 3414

4110 -0.88 -117.3 319.8 -6.0 197 4115 0.10 2.25 0.00 0.000 6 0.065 0.041 1767 2306 3414

4443 -0.78 -117.3 350.7 -9.5 203 4445 0.22 0.00 0.00 0.000 6 0.116 0.000 1836 2306 3413

4746 -0.82 -117.3 369.0 -5.9 208 4750 0.00 2.30 0.00 0.000 4 0.000 0.048 1836 895 3413

4775 -0.86 -117.3 371.0 -7.3 208 4780 0.08 2.28 0.00 0.000 6 0.079 0.046 1777 2311 3413

5108 -0.78 -117.3 403.6 -10.0 214 5110 0.17 0.00 0.00 0.000 6 0.117 0.000 1829 2311 3412

5411 -0.81 -117.3 424.5 -6.7 219 5412 0.00 0.00 0.00 0.000 6 0.000 0.000 1830 2311 3413

5714 -0.84 -117.3 444.1 -6.4 224 5718 0.00 2.30 0.00 0.000 4 0.000 0.044 1830 903 3412

5783 -0.89 -117.3 449.0 -6.9 225 5787 0.00 2.25 0.00 0.000 6 0.000 0.042 1824 2303 3412

6144 -0.89 -117.3 474.3 -7.0 231 6148 0.00 2.28 0.00 0.000 4 0.000 0.051 1824 901 3412

6184 -0.91 -117.3 477.5 -7.9 231 6188 0.00 2.25 0.00 0.000 6 0.000 0.046 1818 2303 3412

6507 -0.91 -117.3 501.3 -7.4 237 6508 0.00 0.00 0.00 0.000 6 0.000 0.000 1818 2303 3412

6809 -0.91 -117.3 521.3 -6.5 242 6813 0.00 2.30 0.00 0.000 4 0.000 0.049 1817 901 3412

6854 -0.91 -117.3 524.5 -7.2 242 6858 0.00 2.28 0.00 0.000 6 0.000 0.040 1809 2311 3412

7169 -0.91 -117.3 545.0 -6.6 248 7171 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2311 3411

7473 -0.91 -117.3 564.6 -6.5 253 7477 0.00 2.28 0.00 0.000 4 0.000 0.044 1809 902 3411

7513 -0.91 -117.3 567.6 -7.6 253 7517 0.00 2.28 0.00 0.000 6 0.000 0.044 1800 2309 3411

7840 -0.91 -117.3 591.2 -7.3 259 7844 0.00 2.30 0.00 0.000 4 0.000 0.045 1800 901 3411

7868 -0.91 -117.3 593.6 -8.7 259 7872 0.00 2.25 0.00 0.000 6 0.000 0.040 1794 2301 3411

8202 -0.88 -117.3 619.0 -7.6 265 8206 0.00 2.28 0.00 0.000 4 0.000 0.044 1794 902 3411

8266 -0.88 -117.3 623.9 -7.6 266 8271 0.10 2.25 0.00 0.000 6 0.127 0.041 1812 2305 3411

8633 -0.88 -117.3 646.8 -6.1 272 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2306 3410

8936 -0.88 -117.3 665.6 -6.2 277 8940 0.00 2.28 0.00 0.000 4 0.000 0.049 1813 901 3410

8971 -0.90 -117.3 667.9 -6.6 277 8975 0.00 2.28 0.00 0.000 6 0.000 0.039 1808 2311 3410

9298 -0.90 -117.3 688.7 -6.3 283 9299 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2311 3410

9601 -0.90 -117.3 707.3 -6.1 288 9605 0.00 2.33 0.00 0.000 4 0.000 0.051 1808 903 3410

9658 -0.90 -117.3 710.9 -6.3 288 9664 0.00 2.28 0.00 0.000 6 0.000 0.039 1800 2306 3410

9968 -0.90 -117.3 729.2 -5.9 294 9970 0.00 0.00 0.00 0.000 6 0.000 0.000 1800 2306 3410

10272 -0.90 -117.3 746.4 -5.7 299 10276 0.00 2.35 0.00 0.000 4 0.000 0.045 1800 895 3410

10300 -0.90 -117.3 748.1 -6.3 299 10304 0.00 2.30 0.00 0.000 6 0.000 0.041 1794 2310 3410

10639 -0.90 -117.3 769.0 -6.3 305 10640 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2310 3409

10941 -0.90 -117.3 788.5 -6.4 310 10945 0.00 2.33 0.00 0.000 4 0.000 0.049 1794 890 3409

10980 -0.90 -117.3 791.3 -7.1 310 10985 0.00 2.30 0.00 0.000 6 0.000 0.044 1785 2306 3409

11310 -0.87 -117.3 814.7 -7.2 316 11312 0.10 0.00 0.00 0.000 6 0.137 0.000 1814 2307 3409

11612 -0.90 -117.3 832.3 -5.7 321 11616 0.00 2.30 0.00 0.000 4 0.000 0.053 1813 905 3409

11647 -0.93 -117.3 834.7 -6.8 321 11651 0.00 2.28 0.00 0.000 6 0.000 0.041 1809 2309 3409

11980 -0.96 -117.3 855.9 -6.4 327 11981 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2309 3409

12284 -0.98 -117.3 875.4 -6.5 332 12285 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2309 3409

12586 -1.00 -117.3 895.9 -6.7 337 12591 0.10 2.35 0.00 0.000 4 0.074 0.053 1755 897 3409

12626 -0.91 -117.3 899.7 -10.2 337 12630 0.17 2.30 0.00 0.000 6 0.128 0.048 1803 2307 3409

12947 -0.91 -117.3 922.3 -6.9 343 12951 0.00 2.33 0.00 0.000 4 0.000 0.049 1803 898 3409

12976 -0.91 -117.3 924.5 -8.1 343 12980 0.00 2.28 0.00 0.000 6 0.000 0.039 1796 2305 3409

13308 -0.91 -117.3 948.7 -7.4 349 13309 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2305 3409

13611 -0.91 -117.3 970.4 -7.2 354 13612 0.00 0.00 0.00 0.000 6 0.000 0.000 1796 2305 3408

13911 end dive: TARGET_DEPTH_EXCEEDED

state 13911 begin apogee

13920 -0.22 0.0 992.4 7.3 359 14022 0.50 0.00 99.18 1.282 6 0.109 0.000 1956 2305 2931

14023 end apogee: CONTROL_FINISHED_OK

state 14023 begin climb

14027 0.68 117.3 994.3 0.0 360 14138 0.55 2.60 104.32 1.253 4 0.067 0.052 2155 3698 2451

14201 0.49 117.3 991.0 6.9 362 14206 0.22 2.35 0.00 0.000 6 0.156 0.041 2110 2314 2446

14518 0.48 139.3 975.8 4.8 368 14541 0.00 0.00 18.83 1.170 6 0.000 0.000 2110 2314 2362

14888 0.46 139.3 954.7 5.8 374 14892 0.00 2.30 0.00 0.000 4 0.000 0.051 2110 3711 2357

14924 0.40 139.3 952.2 6.6 374 14929 0.12 2.25 0.00 0.000 6 0.159 0.040 2088 2299 2356

15251 0.42 139.3 933.7 5.6 380 15253 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2299 2355

15555 0.48 139.3 915.8 6.0 385 15559 0.00 2.33 0.00 0.000 4 0.000 0.051 2088 3714 2354

15578 0.54 139.3 914.3 6.3 385 15583 0.08 2.22 0.00 0.000 6 0.074 0.041 2138 2302 2354

15923 0.46 139.3 888.7 7.6 391 15928 0.15 2.33 0.00 0.000 4 0.142 0.048 2105 889 2354

15968 0.49 139.3 885.6 6.2 391 15973 0.00 2.28 0.00 0.000 6 0.000 0.041 2105 2308 2354

16284 0.49 139.3 867.4 5.7 397 16288 0.00 2.28 0.00 0.000 4 0.000 0.051 2105 3711 2353

16331 0.43 139.3 864.3 6.4 397 16336 0.10 2.22 0.00 0.000 6 0.158 0.033 2093 2294 2353

16647 0.46 162.0 849.1 4.7 403 16669 0.00 0.00 19.83 1.128 6 0.000 0.000 2093 2294 2270

16951 0.53 189.2 835.1 4.6 408 16981 0.08 2.35 24.98 1.131 4 0.081 0.050 2142 3708 2158

17017 0.43 189.2 830.5 7.0 409 17022 0.22 2.25 0.00 0.000 6 0.146 0.034 2093 2301 2156

17378 0.53 201.8 812.1 5.1 415 17397 0.10 2.38 12.05 1.042 4 0.071 0.051 2154 886 2107

17446 0.50 201.8 807.7 6.5 416 17451 0.17 2.28 0.00 0.000 6 0.134 0.044 2107 2306 2105

17819 0.54 211.7 788.2 5.2 422 17833 0.00 2.30 9.77 0.998 4 0.000 0.054 2108 3716 2067

17879 0.54 211.7 784.5 6.1 422 17885 0.00 2.22 0.00 0.000 6 0.000 0.033 2115 2303 2067

18191 0.57 211.7 766.6 5.8 428 18195 0.00 2.28 0.00 0.000 4 0.000 0.054 2125 896 2065

18214 0.60 211.7 765.0 6.2 428 18218 0.00 2.25 0.00 0.000 6 0.000 0.042 2125 2305 2064

18552 0.60 211.7 742.5 6.8 434 18556 0.00 2.30 0.00 0.000 4 0.000 0.050 2125 3714 2065

18593 0.56 211.7 739.3 7.9 434 18597 0.00 2.25 0.00 0.000 6 0.000 0.033 2135 2294 2064

18914 0.56 211.7 714.4 7.7 440 18918 0.00 2.30 0.00 0.000 4 0.000 0.053 2146 888 2064

18937 0.56 211.7 712.3 8.9 440 18942 0.10 2.25 0.00 0.000 6 0.126 0.043 2121 2299 2064

19277 0.56 211.7 689.4 6.7 446 19280 0.00 2.30 0.00 0.000 4 0.000 0.050 2122 3719 2064

19322 0.56 211.7 685.6 9.2 446 19326 0.00 2.22 0.00 0.000 6 0.000 0.031 2130 2298 2063

19649 0.56 211.7 663.2 6.8 452 19650 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2298 2063

19952 0.56 211.7 643.0 6.6 457 19953 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2298 2063

20255 0.56 211.7 622.7 6.7 462 20259 0.00 2.35 0.00 0.000 4 0.000 0.051 2129 3712 2063

20290 0.53 211.7 620.0 7.0 462 20295 0.10 2.25 0.00 0.000 6 0.142 0.032 2114 2295 2063

20618 0.56 211.8 601.5 5.5 468 20619 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2295 2062

20921 0.63 235.8 587.1 4.7 473 20946 0.08 0.00 22.27 0.973 6 0.077 0.000 2173 2295 1969

21224 0.53 235.8 563.0 8.2 478 21229 0.20 2.35 0.00 0.000 4 0.135 0.047 2110 3714 1964

21264 0.55 235.8 560.2 5.5 478 21268 0.00 2.28 0.00 0.000 6 0.000 0.032 2119 2295 1964

21586 0.60 246.6 543.9 5.1 484 21601 0.00 2.30 10.27 0.868 4 0.000 0.047 2130 893 1924

21620 0.67 261.5 542.0 5.0 484 21640 0.00 2.28 14.80 0.900 6 0.000 0.037 2130 2315 1864

21951 0.70 261.5 521.9 6.2 490 21956 0.08 2.28 0.00 0.000 4 0.077 0.054 2189 3718 1860

21986 0.58 261.5 518.7 10.3 490 21990 0.28 2.25 0.00 0.000 6 0.146 0.033 2124 2295 1860

22314 0.63 261.5 497.9 6.2 496 22318 0.00 2.25 0.00 0.000 4 0.000 0.047 2132 886 1859

22354 0.69 261.5 495.0 6.2 496 22359 0.00 2.28 0.00 0.000 6 0.000 0.038 2132 2314 1858

22682 0.71 261.5 471.8 7.1 502 22687 0.08 2.22 0.00 0.000 4 0.075 0.048 2195 3715 1858

22723 0.56 261.5 467.3 12.7 502 22728 0.30 2.22 0.00 0.000 6 0.144 0.033 2121 2299 1857

23050 0.62 261.5 443.4 7.0 508 23054 0.00 2.28 0.00 0.000 4 0.000 0.047 2130 895 1857

23090 0.69 261.5 440.4 6.7 508 23094 0.00 2.22 0.00 0.000 6 0.000 0.036 2130 2304 1857

23418 0.73 261.5 416.4 7.3 514 23423 0.10 2.30 0.00 0.000 4 0.067 0.052 2202 3718 1857

23458 0.57 261.5 411.8 11.8 514 23463 0.32 2.25 0.00 0.000 6 0.144 0.033 2122 2299 1857

23780 0.63 261.5 390.2 6.3 520 23784 0.00 2.30 0.00 0.000 4 0.000 0.046 2130 889 1857

23820 0.70 261.5 387.7 5.9 520 23825 0.08 2.25 0.00 0.000 6 0.074 0.035 2192 2304 1856

24142 0.60 261.5 357.3 9.6 526 24147 0.20 2.28 0.00 0.000 4 0.137 0.047 2131 3709 1857

24181 0.60 261.5 354.1 6.3 526 24185 0.00 2.22 0.00 0.000 6 0.000 0.032 2139 2294 1856

24510 0.63 274.1 337.1 5.1 532 24528 0.00 2.35 11.52 0.768 4 0.000 0.047 2149 886 1812

24559 0.69 279.0 334.5 5.3 532 24570 0.00 2.25 5.85 0.645 6 0.000 0.036 2149 2308 1793

24875 0.69 279.0 317.2 5.5 537 24878 0.00 2.25 0.00 0.000 4 0.000 0.048 2150 3711 1791

24921 0.69 279.0 313.9 6.2 537 24925 0.00 2.20 0.00 0.000 6 0.000 0.032 2158 2301 1790

25250 0.69 279.0 292.3 6.6 544 25251 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2301 1790

25556 0.69 279.0 270.8 7.3 554 25560 0.00 2.30 0.00 0.000 4 0.000 0.047 2159 3708 1790

25586 0.66 279.0 268.3 8.3 555 25590 0.10 2.22 0.00 0.000 6 0.130 0.031 2142 2301 1790

25923 0.70 279.0 247.1 6.3 566 25927 0.00 2.33 0.00 0.000 4 0.000 0.045 2150 885 1790

25963 0.76 279.0 244.4 8.0 567 25967 0.00 2.25 0.00 0.000 6 0.000 0.035 2150 2305 1789

26289 0.78 279.0 223.5 6.2 578 26293 0.00 2.28 0.00 0.000 4 0.000 0.048 2150 3717 1789

26323 0.78 279.0 220.9 6.5 579 26327 0.00 2.22 0.00 0.000 6 0.000 0.031 2160 2299 1789

26653 0.78 279.0 198.6 6.3 590 26655 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2298 1789

26960 0.78 279.0 180.1 6.0 600 26964 0.00 2.33 0.00 0.000 4 0.000 0.047 2159 3712 1789

26991 0.78 279.0 177.9 6.8 601 26995 0.00 2.22 0.00 0.000 6 0.000 0.031 2169 2302 1789

27327 0.78 279.0 153.2 7.3 612 27328 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2302 1789

27643 0.78 279.0 132.7 6.4 638 27647 0.00 2.33 0.00 0.000 4 0.000 0.047 2169 3718 1789

27707 0.78 279.0 128.1 6.8 643 27711 0.00 2.25 0.00 0.000 6 0.000 0.031 2179 2292 1789

28042 0.79 281.1 107.3 5.4 674 28046 0.00 2.25 0.00 0.000 4 0.000 0.045 2189 895 1789

28072 0.79 281.1 105.4 5.6 676 28078 0.00 2.22 0.00 0.000 6 0.000 0.035 2189 2309 1788

28402 0.90 305.0 88.2 4.7 707 28435 0.00 2.35 23.25 0.644 4 0.000 0.043 2196 894 1685

28547 1.00 305.0 80.7 5.8 719 28554 0.00 2.22 0.00 0.000 6 0.000 0.035 2196 2308 1682

28876 1.11 305.0 61.0 5.9 736 28881 0.15 2.30 0.00 0.000 4 0.052 0.043 2281 892 1682

29021 0.99 305.0 47.6 8.8 742 29026 0.22 2.25 0.00 0.000 6 0.133 0.036 2215 2312 1681

29338 0.96 305.0 26.7 6.1 757 29342 0.00 2.25 0.00 0.000 4 0.000 0.047 2215 3707 1681

29367 0.92 305.0 24.7 7.6 758 29372 0.10 2.20 0.00 0.000 6 0.130 0.030 2195 2291 1681

29691 end climb: SURFACE_DEPTH_REACHED

state 29691 begin surface coast

29717 end surface coast: CONTROL_FINISHED_OK

state 29717 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	676	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2303	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2303	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-75331.789	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	045037,5002.724,-14330.784,38,1.3,38,18.7	TGT_NAME	P20
_CALLS	1	TGT_LATLONG	4934.000,-13840.000
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.165,-0.032
_SM_DEPTHo	2.08	KALMAN_X	-90797.6,124.5,-70.9,208649.6,63.6
_SM_ANGLEo	-55.5	KALMAN_Y	32501.4,341.4,-165.2,-66442.1,242.1
GPS2	045814,5002.745,-14330.799,12,1.6,12,18.7	MHEAD_RNG_PITCHd_Wd	82.5,353323,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.4,1.014176	XPDR_PINGS	69
SM_CCo	29796,0.00,0.000,0,0,1678,307.36	_24V_AH	21.7,97.218
SM_GC	2.08,5.55,0.00,0.00,0.039,0.000,0.000,98,2290,1678,-8.63,-0.40,307.36	_10V_AH	10.3,83.562
IRIDIUM_FIX	4946.36,-14338.64,190499,202029	DATA_FILE_SIZE	44317,775
TT8_MAMPS	0.028379	CAP_FILE_SIZE	195077,0
HUMID	1746	CFSIZE	260165632,206032896
INTERNAL_PRESSURE	7.37333	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	GPS	240110,131726,5002.350,-14325.593,36,2.2,55,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	228	96.35	SBE_CT	545	24	283.94
Roll_motor	255	60	335.36	SBE_O2	633	19	261.07
VBD_pump_during_apogee	376	1281	10483.02	Optode	801	33	574.23
VBD_pump_during_surface	0	0	0.00	WL_BB2F	849	105	1935.71
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	65.10	nil	0	0	0.00
Iridium_during_connect	28	160	99.17	nil	0	0	0.00
Iridium_during_xfer	227	223	1101.97
Transponder_ping	17	420	157.22
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.99
TT8	1761	19	359.21
LPSleep	24680	2	556.73
TT8_Active	538	19	109.92
TT8_Sampling	2269	39	930.24
TT8_CF8	991	45	467.92
TT8_Kalman	33	81	28.13
Analog_circuits	1756	12	217.15
GPS_charging	0	0	0.00
Compass	2246	8	185.12
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.68	-117.3	0.0	0.0	0	59	0.00	0.00	-40.35	0.000	2	0.000	0.000	98	2317	2431
64	-0.68	-117.3	3.0	-4.0	2	107	7.25	2.40	-29.83	0.000	4	0.229	0.061	1845	896	3412
149	-0.66	-117.3	9.6	-9.1	6	153	0.00	2.28	0.00	0.000	6	0.000	0.044	1836	2303	3414
472	-0.60	-117.3	44.9	-10.5	22	476	0.12	2.28	0.00	0.000	4	0.133	0.041	1872	894	3414
505	-0.60	-117.3	48.2	-9.3	23	509	0.00	2.22	0.00	0.000	6	0.000	0.037	1864	2305	3414
829	-0.60	-117.3	76.3	-8.8	39	833	0.00	2.28	0.00	0.000	4	0.000	0.041	1864	892	3414
876	-0.63	-117.3	80.5	-9.0	41	880	0.00	2.25	0.00	0.000	6	0.000	0.038	1862	2305	3414
1208	-0.66	-117.3	105.8	-7.4	71	1214	0.00	0.00	0.00	0.000	6	0.000	0.000	1862	2305	3414
1535	-0.69	-117.3	129.3	-6.5	102	1539	0.00	2.25	0.00	0.000	4	0.000	0.048	1852	3708	3414
1575	-0.73	-117.3	132.3	-7.2	105	1581	0.00	2.22	0.00	0.000	6	0.000	0.033	1852	2298	3414
1923	-0.76	-117.3	156.3	-6.7	132	1927	0.00	2.22	0.00	0.000	4	0.000	0.042	1852	895	3414
2002	-0.81	-117.3	162.3	-7.1	134	2007	0.10	2.22	0.00	0.000	6	0.066	0.036	1777	2309	3414
2334	-0.72	-117.3	196.0	-10.7	145	2339	0.20	2.28	0.00	0.000	4	0.121	0.041	1843	896	3414
2374	-0.77	-117.3	199.7	-7.9	146	2378	0.00	2.25	0.00	0.000	6	0.000	0.041	1837	2307	3414
2699	-0.79	-117.3	221.7	-6.7	157	2700	0.00	0.00	0.00	0.000	6	0.000	0.000	1837	2307	3414
3006	-0.81	-117.3	244.6	-7.8	167	3010	0.00	2.25	0.00	0.000	4	0.000	0.043	1837	899	3414
3040	-0.84	-117.3	247.5	-8.5	168	3044	0.00	2.25	0.00	0.000	6	0.000	0.039	1836	2308	3414
3371	-0.87	-117.3	271.8	-7.2	179	3375	0.10	2.28	0.00	0.000	4	0.065	0.049	1768	898	3414
3417	-0.77	-117.3	276.6	-11.1	180	3422	0.28	2.20	0.00	0.000	6	0.114	0.038	1837	2299	3414
3742	-0.80	-117.3	298.6	-6.3	191	3743	0.00	0.00	0.00	0.000	6	0.000	0.000	1838	2299	3414
4075	-0.84	-117.3	317.8	-5.6	197	4079	0.00	2.28	0.00	0.000	4	0.000	0.050	1838	903	3414
4110	-0.88	-117.3	319.8	-6.0	197	4115	0.10	2.25	0.00	0.000	6	0.065	0.041	1767	2306	3414
4443	-0.78	-117.3	350.7	-9.5	203	4445	0.22	0.00	0.00	0.000	6	0.116	0.000	1836	2306	3413
4746	-0.82	-117.3	369.0	-5.9	208	4750	0.00	2.30	0.00	0.000	4	0.000	0.048	1836	895	3413
4775	-0.86	-117.3	371.0	-7.3	208	4780	0.08	2.28	0.00	0.000	6	0.079	0.046	1777	2311	3413
5108	-0.78	-117.3	403.6	-10.0	214	5110	0.17	0.00	0.00	0.000	6	0.117	0.000	1829	2311	3412
5411	-0.81	-117.3	424.5	-6.7	219	5412	0.00	0.00	0.00	0.000	6	0.000	0.000	1830	2311	3413
5714	-0.84	-117.3	444.1	-6.4	224	5718	0.00	2.30	0.00	0.000	4	0.000	0.044	1830	903	3412
5783	-0.89	-117.3	449.0	-6.9	225	5787	0.00	2.25	0.00	0.000	6	0.000	0.042	1824	2303	3412
6144	-0.89	-117.3	474.3	-7.0	231	6148	0.00	2.28	0.00	0.000	4	0.000	0.051	1824	901	3412
6184	-0.91	-117.3	477.5	-7.9	231	6188	0.00	2.25	0.00	0.000	6	0.000	0.046	1818	2303	3412
6507	-0.91	-117.3	501.3	-7.4	237	6508	0.00	0.00	0.00	0.000	6	0.000	0.000	1818	2303	3412
6809	-0.91	-117.3	521.3	-6.5	242	6813	0.00	2.30	0.00	0.000	4	0.000	0.049	1817	901	3412
6854	-0.91	-117.3	524.5	-7.2	242	6858	0.00	2.28	0.00	0.000	6	0.000	0.040	1809	2311	3412
7169	-0.91	-117.3	545.0	-6.6	248	7171	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2311	3411
7473	-0.91	-117.3	564.6	-6.5	253	7477	0.00	2.28	0.00	0.000	4	0.000	0.044	1809	902	3411
7513	-0.91	-117.3	567.6	-7.6	253	7517	0.00	2.28	0.00	0.000	6	0.000	0.044	1800	2309	3411
7840	-0.91	-117.3	591.2	-7.3	259	7844	0.00	2.30	0.00	0.000	4	0.000	0.045	1800	901	3411
7868	-0.91	-117.3	593.6	-8.7	259	7872	0.00	2.25	0.00	0.000	6	0.000	0.040	1794	2301	3411
8202	-0.88	-117.3	619.0	-7.6	265	8206	0.00	2.28	0.00	0.000	4	0.000	0.044	1794	902	3411
8266	-0.88	-117.3	623.9	-7.6	266	8271	0.10	2.25	0.00	0.000	6	0.127	0.041	1812	2305	3411
8633	-0.88	-117.3	646.8	-6.1	272	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	1813	2306	3410
8936	-0.88	-117.3	665.6	-6.2	277	8940	0.00	2.28	0.00	0.000	4	0.000	0.049	1813	901	3410
8971	-0.90	-117.3	667.9	-6.6	277	8975	0.00	2.28	0.00	0.000	6	0.000	0.039	1808	2311	3410
9298	-0.90	-117.3	688.7	-6.3	283	9299	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2311	3410
9601	-0.90	-117.3	707.3	-6.1	288	9605	0.00	2.33	0.00	0.000	4	0.000	0.051	1808	903	3410
9658	-0.90	-117.3	710.9	-6.3	288	9664	0.00	2.28	0.00	0.000	6	0.000	0.039	1800	2306	3410
9968	-0.90	-117.3	729.2	-5.9	294	9970	0.00	0.00	0.00	0.000	6	0.000	0.000	1800	2306	3410
10272	-0.90	-117.3	746.4	-5.7	299	10276	0.00	2.35	0.00	0.000	4	0.000	0.045	1800	895	3410
10300	-0.90	-117.3	748.1	-6.3	299	10304	0.00	2.30	0.00	0.000	6	0.000	0.041	1794	2310	3410
10639	-0.90	-117.3	769.0	-6.3	305	10640	0.00	0.00	0.00	0.000	6	0.000	0.000	1794	2310	3409
10941	-0.90	-117.3	788.5	-6.4	310	10945	0.00	2.33	0.00	0.000	4	0.000	0.049	1794	890	3409
10980	-0.90	-117.3	791.3	-7.1	310	10985	0.00	2.30	0.00	0.000	6	0.000	0.044	1785	2306	3409
11310	-0.87	-117.3	814.7	-7.2	316	11312	0.10	0.00	0.00	0.000	6	0.137	0.000	1814	2307	3409
11612	-0.90	-117.3	832.3	-5.7	321	11616	0.00	2.30	0.00	0.000	4	0.000	0.053	1813	905	3409
11647	-0.93	-117.3	834.7	-6.8	321	11651	0.00	2.28	0.00	0.000	6	0.000	0.041	1809	2309	3409
11980	-0.96	-117.3	855.9	-6.4	327	11981	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2309	3409
12284	-0.98	-117.3	875.4	-6.5	332	12285	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2309	3409
12586	-1.00	-117.3	895.9	-6.7	337	12591	0.10	2.35	0.00	0.000	4	0.074	0.053	1755	897	3409
12626	-0.91	-117.3	899.7	-10.2	337	12630	0.17	2.30	0.00	0.000	6	0.128	0.048	1803	2307	3409
12947	-0.91	-117.3	922.3	-6.9	343	12951	0.00	2.33	0.00	0.000	4	0.000	0.049	1803	898	3409
12976	-0.91	-117.3	924.5	-8.1	343	12980	0.00	2.28	0.00	0.000	6	0.000	0.039	1796	2305	3409
13308	-0.91	-117.3	948.7	-7.4	349	13309	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2305	3409
13611	-0.91	-117.3	970.4	-7.2	354	13612	0.00	0.00	0.00	0.000	6	0.000	0.000	1796	2305	3408
13911	end dive: TARGET_DEPTH_EXCEEDED
state	13911	begin apogee
13920	-0.22	0.0	992.4	7.3	359	14022	0.50	0.00	99.18	1.282	6	0.109	0.000	1956	2305	2931
14023	end apogee: CONTROL_FINISHED_OK
state	14023	begin climb
14027	0.68	117.3	994.3	0.0	360	14138	0.55	2.60	104.32	1.253	4	0.067	0.052	2155	3698	2451
14201	0.49	117.3	991.0	6.9	362	14206	0.22	2.35	0.00	0.000	6	0.156	0.041	2110	2314	2446
14518	0.48	139.3	975.8	4.8	368	14541	0.00	0.00	18.83	1.170	6	0.000	0.000	2110	2314	2362
14888	0.46	139.3	954.7	5.8	374	14892	0.00	2.30	0.00	0.000	4	0.000	0.051	2110	3711	2357
14924	0.40	139.3	952.2	6.6	374	14929	0.12	2.25	0.00	0.000	6	0.159	0.040	2088	2299	2356
15251	0.42	139.3	933.7	5.6	380	15253	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2299	2355
15555	0.48	139.3	915.8	6.0	385	15559	0.00	2.33	0.00	0.000	4	0.000	0.051	2088	3714	2354
15578	0.54	139.3	914.3	6.3	385	15583	0.08	2.22	0.00	0.000	6	0.074	0.041	2138	2302	2354
15923	0.46	139.3	888.7	7.6	391	15928	0.15	2.33	0.00	0.000	4	0.142	0.048	2105	889	2354
15968	0.49	139.3	885.6	6.2	391	15973	0.00	2.28	0.00	0.000	6	0.000	0.041	2105	2308	2354
16284	0.49	139.3	867.4	5.7	397	16288	0.00	2.28	0.00	0.000	4	0.000	0.051	2105	3711	2353
16331	0.43	139.3	864.3	6.4	397	16336	0.10	2.22	0.00	0.000	6	0.158	0.033	2093	2294	2353
16647	0.46	162.0	849.1	4.7	403	16669	0.00	0.00	19.83	1.128	6	0.000	0.000	2093	2294	2270
16951	0.53	189.2	835.1	4.6	408	16981	0.08	2.35	24.98	1.131	4	0.081	0.050	2142	3708	2158
17017	0.43	189.2	830.5	7.0	409	17022	0.22	2.25	0.00	0.000	6	0.146	0.034	2093	2301	2156
17378	0.53	201.8	812.1	5.1	415	17397	0.10	2.38	12.05	1.042	4	0.071	0.051	2154	886	2107
17446	0.50	201.8	807.7	6.5	416	17451	0.17	2.28	0.00	0.000	6	0.134	0.044	2107	2306	2105
17819	0.54	211.7	788.2	5.2	422	17833	0.00	2.30	9.77	0.998	4	0.000	0.054	2108	3716	2067
17879	0.54	211.7	784.5	6.1	422	17885	0.00	2.22	0.00	0.000	6	0.000	0.033	2115	2303	2067
18191	0.57	211.7	766.6	5.8	428	18195	0.00	2.28	0.00	0.000	4	0.000	0.054	2125	896	2065
18214	0.60	211.7	765.0	6.2	428	18218	0.00	2.25	0.00	0.000	6	0.000	0.042	2125	2305	2064
18552	0.60	211.7	742.5	6.8	434	18556	0.00	2.30	0.00	0.000	4	0.000	0.050	2125	3714	2065
18593	0.56	211.7	739.3	7.9	434	18597	0.00	2.25	0.00	0.000	6	0.000	0.033	2135	2294	2064
18914	0.56	211.7	714.4	7.7	440	18918	0.00	2.30	0.00	0.000	4	0.000	0.053	2146	888	2064
18937	0.56	211.7	712.3	8.9	440	18942	0.10	2.25	0.00	0.000	6	0.126	0.043	2121	2299	2064
19277	0.56	211.7	689.4	6.7	446	19280	0.00	2.30	0.00	0.000	4	0.000	0.050	2122	3719	2064
19322	0.56	211.7	685.6	9.2	446	19326	0.00	2.22	0.00	0.000	6	0.000	0.031	2130	2298	2063
19649	0.56	211.7	663.2	6.8	452	19650	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2298	2063
19952	0.56	211.7	643.0	6.6	457	19953	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2298	2063
20255	0.56	211.7	622.7	6.7	462	20259	0.00	2.35	0.00	0.000	4	0.000	0.051	2129	3712	2063
20290	0.53	211.7	620.0	7.0	462	20295	0.10	2.25	0.00	0.000	6	0.142	0.032	2114	2295	2063
20618	0.56	211.8	601.5	5.5	468	20619	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2295	2062
20921	0.63	235.8	587.1	4.7	473	20946	0.08	0.00	22.27	0.973	6	0.077	0.000	2173	2295	1969
21224	0.53	235.8	563.0	8.2	478	21229	0.20	2.35	0.00	0.000	4	0.135	0.047	2110	3714	1964
21264	0.55	235.8	560.2	5.5	478	21268	0.00	2.28	0.00	0.000	6	0.000	0.032	2119	2295	1964
21586	0.60	246.6	543.9	5.1	484	21601	0.00	2.30	10.27	0.868	4	0.000	0.047	2130	893	1924
21620	0.67	261.5	542.0	5.0	484	21640	0.00	2.28	14.80	0.900	6	0.000	0.037	2130	2315	1864
21951	0.70	261.5	521.9	6.2	490	21956	0.08	2.28	0.00	0.000	4	0.077	0.054	2189	3718	1860
21986	0.58	261.5	518.7	10.3	490	21990	0.28	2.25	0.00	0.000	6	0.146	0.033	2124	2295	1860
22314	0.63	261.5	497.9	6.2	496	22318	0.00	2.25	0.00	0.000	4	0.000	0.047	2132	886	1859
22354	0.69	261.5	495.0	6.2	496	22359	0.00	2.28	0.00	0.000	6	0.000	0.038	2132	2314	1858
22682	0.71	261.5	471.8	7.1	502	22687	0.08	2.22	0.00	0.000	4	0.075	0.048	2195	3715	1858
22723	0.56	261.5	467.3	12.7	502	22728	0.30	2.22	0.00	0.000	6	0.144	0.033	2121	2299	1857
23050	0.62	261.5	443.4	7.0	508	23054	0.00	2.28	0.00	0.000	4	0.000	0.047	2130	895	1857
23090	0.69	261.5	440.4	6.7	508	23094	0.00	2.22	0.00	0.000	6	0.000	0.036	2130	2304	1857
23418	0.73	261.5	416.4	7.3	514	23423	0.10	2.30	0.00	0.000	4	0.067	0.052	2202	3718	1857
23458	0.57	261.5	411.8	11.8	514	23463	0.32	2.25	0.00	0.000	6	0.144	0.033	2122	2299	1857
23780	0.63	261.5	390.2	6.3	520	23784	0.00	2.30	0.00	0.000	4	0.000	0.046	2130	889	1857
23820	0.70	261.5	387.7	5.9	520	23825	0.08	2.25	0.00	0.000	6	0.074	0.035	2192	2304	1856
24142	0.60	261.5	357.3	9.6	526	24147	0.20	2.28	0.00	0.000	4	0.137	0.047	2131	3709	1857
24181	0.60	261.5	354.1	6.3	526	24185	0.00	2.22	0.00	0.000	6	0.000	0.032	2139	2294	1856
24510	0.63	274.1	337.1	5.1	532	24528	0.00	2.35	11.52	0.768	4	0.000	0.047	2149	886	1812
24559	0.69	279.0	334.5	5.3	532	24570	0.00	2.25	5.85	0.645	6	0.000	0.036	2149	2308	1793
24875	0.69	279.0	317.2	5.5	537	24878	0.00	2.25	0.00	0.000	4	0.000	0.048	2150	3711	1791
24921	0.69	279.0	313.9	6.2	537	24925	0.00	2.20	0.00	0.000	6	0.000	0.032	2158	2301	1790
25250	0.69	279.0	292.3	6.6	544	25251	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2301	1790
25556	0.69	279.0	270.8	7.3	554	25560	0.00	2.30	0.00	0.000	4	0.000	0.047	2159	3708	1790
25586	0.66	279.0	268.3	8.3	555	25590	0.10	2.22	0.00	0.000	6	0.130	0.031	2142	2301	1790
25923	0.70	279.0	247.1	6.3	566	25927	0.00	2.33	0.00	0.000	4	0.000	0.045	2150	885	1790
25963	0.76	279.0	244.4	8.0	567	25967	0.00	2.25	0.00	0.000	6	0.000	0.035	2150	2305	1789
26289	0.78	279.0	223.5	6.2	578	26293	0.00	2.28	0.00	0.000	4	0.000	0.048	2150	3717	1789
26323	0.78	279.0	220.9	6.5	579	26327	0.00	2.22	0.00	0.000	6	0.000	0.031	2160	2299	1789
26653	0.78	279.0	198.6	6.3	590	26655	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2298	1789
26960	0.78	279.0	180.1	6.0	600	26964	0.00	2.33	0.00	0.000	4	0.000	0.047	2159	3712	1789
26991	0.78	279.0	177.9	6.8	601	26995	0.00	2.22	0.00	0.000	6	0.000	0.031	2169	2302	1789
27327	0.78	279.0	153.2	7.3	612	27328	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2302	1789
27643	0.78	279.0	132.7	6.4	638	27647	0.00	2.33	0.00	0.000	4	0.000	0.047	2169	3718	1789
27707	0.78	279.0	128.1	6.8	643	27711	0.00	2.25	0.00	0.000	6	0.000	0.031	2179	2292	1789
28042	0.79	281.1	107.3	5.4	674	28046	0.00	2.25	0.00	0.000	4	0.000	0.045	2189	895	1789
28072	0.79	281.1	105.4	5.6	676	28078	0.00	2.22	0.00	0.000	6	0.000	0.035	2189	2309	1788
28402	0.90	305.0	88.2	4.7	707	28435	0.00	2.35	23.25	0.644	4	0.000	0.043	2196	894	1685
28547	1.00	305.0	80.7	5.8	719	28554	0.00	2.22	0.00	0.000	6	0.000	0.035	2196	2308	1682
28876	1.11	305.0	61.0	5.9	736	28881	0.15	2.30	0.00	0.000	4	0.052	0.043	2281	892	1682
29021	0.99	305.0	47.6	8.8	742	29026	0.22	2.25	0.00	0.000	6	0.133	0.036	2215	2312	1681
29338	0.96	305.0	26.7	6.1	757	29342	0.00	2.25	0.00	0.000	4	0.000	0.047	2215	3707	1681
29367	0.92	305.0	24.7	7.6	758	29372	0.10	2.20	0.00	0.000	6	0.130	0.030	2195	2291	1681
29691	end climb: SURFACE_DEPTH_REACHED
state	29691	begin surface coast
29717	end surface coast: CONTROL_FINISHED_OK
state	29717	begin surface