Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 677 * 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 677 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 31 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 -75345.422 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 -75345.422

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 31 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 677 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 131726,5002.350,-14325.593,36,2.2,55,18.7 TGT_NAME P20

_CALLS 1 TGT_LATLONG 4934.000,-13840.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.145,-0.084

_SM_DEPTHo 2.11 KALMAN_X -90380.2,-195.8,2.6,214569.1,920.5

_SM_ANGLEo -51.5 KALMAN_Y 33611.4,-296.0,-185.1,-67623.6,2049.7

GPS2 132355,5002.355,-14325.649,11,1.2,11,18.7 MHEAD_RNG_PITCHd_Wd 101.2,347100,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.3,1.025582 XPDR_PINGS 66

SM_CCo 27903,0.00,0.000,0,0,1446,364.27 _24V_AH 22.2,97.367

SM_GC 2.05,5.85,0.00,0.00,0.036,0.000,0.000,99,2305,1446,-8.60,0.08,364.27 _10V_AH 10.3,83.670

IRIDIUM_FIX 4943.02,-14333.25,200499,050507 DATA_FILE_SIZE 41242,707

TT8_MAMPS 0.029146 CAP_FILE_SIZE 184404,0

HUMID 1764 CFSIZE 260165632,205959168

INTERNAL_PRESSURE 7.34403 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,3,0

TCM_TEMP 15.50 GPS 240110,211107,5001.245,-14321.590,31,2.0,31,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 230 106.86 SBE_CT 497 24 265.09

Roll_motor 236 58 306.63 SBE_O2 581 19 245.18

VBD_pump_during_apogee 442 1280 12576.00 Optode 734 33 538.09

VBD_pump_during_surface 0 0 0.00 WL_BB2F 758 105 1768.38

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.50 nil 0 0 0.00

Iridium_during_connect 25 160 89.07 nil 0 0 0.00

Iridium_during_xfer 163 223 807.65

Transponder_ping 16 420 153.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.69

TT8 1626 19 331.74

LPSleep 23086 2 520.76

TT8_Active 583 19 119.08

TT8_Sampling 2086 39 855.41

TT8_CF8 893 45 421.34

TT8_Kalman 33 81 28.13

Analog_circuits 1731 12 214.03

GPS_charging 0 0 0.00

Compass 2066 8 170.26

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -0.68 -117.3 0.0 0.0 0 62 0.00 0.00 -40.40 0.000 2 0.000 0.000 98 2289 2723

66 -0.68 -117.3 3.9 -7.4 2 96 7.12 2.38 -15.62 0.000 4 0.231 0.058 1847 890 3413

248 -0.68 -117.3 25.8 -9.4 10 252 0.00 2.25 0.00 0.000 6 0.000 0.041 1840 2299 3414

571 -0.63 -117.3 59.1 -9.8 26 575 0.10 2.28 0.00 0.000 4 0.137 0.040 1867 886 3414

606 -0.66 -117.3 62.3 -8.5 27 612 0.00 2.25 0.00 0.000 6 0.000 0.037 1863 2312 3414

926 -0.66 -117.3 89.8 -8.3 48 930 0.00 2.28 0.00 0.000 4 0.000 0.041 1863 889 3414

962 -0.68 -117.3 92.5 -8.3 51 966 0.00 2.25 0.00 0.000 6 0.000 0.038 1863 2308 3414

1292 -0.71 -117.3 116.9 -6.6 81 1296 0.00 2.28 0.00 0.000 4 0.000 0.041 1863 885 3414

1366 -0.75 -117.3 122.5 -7.4 87 1373 0.10 2.25 0.00 0.000 6 0.065 0.038 1789 2308 3414

1704 -0.67 -117.3 160.5 -11.5 113 1706 0.22 0.00 0.00 0.000 6 0.121 0.000 1857 2307 3414

2006 -0.73 -117.3 182.5 -6.8 123 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 2308 3415

2312 -0.79 -117.3 202.0 -6.1 133 2317 0.10 2.28 0.00 0.000 4 0.064 0.048 1767 3706 3414

2349 -0.69 -117.3 205.4 -10.6 134 2354 0.28 2.20 0.00 0.000 6 0.115 0.030 1850 2299 3414

2691 -0.75 -117.3 227.4 -6.1 145 2695 0.00 2.25 0.00 0.000 4 0.000 0.042 1850 893 3414

2737 -0.81 -117.3 230.4 -6.5 146 2742 0.10 2.28 0.00 0.000 6 0.064 0.038 1779 2311 3414

3063 -0.73 -117.3 261.9 -10.1 157 3068 0.17 2.30 0.00 0.000 4 0.118 0.041 1839 899 3414

3104 -0.78 -117.3 265.5 -7.3 158 3109 0.00 2.28 0.00 0.000 6 0.000 0.044 1836 2310 3415

3436 -0.81 -117.3 290.0 -7.6 169 3437 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 2311 3414

3771 -0.84 -117.3 315.9 -7.8 177 3775 0.00 2.30 0.00 0.000 4 0.000 0.043 1837 904 3415

3805 -0.88 -117.3 318.8 -8.3 177 3810 0.10 2.28 0.00 0.000 6 0.066 0.039 1766 2304 3414

4138 -0.78 -117.3 356.0 -11.3 183 4140 0.22 0.00 0.00 0.000 6 0.117 0.000 1834 2305 3414

4442 -0.82 -117.3 375.7 -6.2 188 4446 0.00 2.30 0.00 0.000 4 0.000 0.044 1835 896 3413

4476 -0.86 -117.3 378.2 -7.2 188 4481 0.10 2.28 0.00 0.000 6 0.066 0.045 1766 2309 3413

4803 -0.77 -117.3 410.3 -10.0 194 4808 0.20 2.30 0.00 0.000 4 0.117 0.045 1831 904 3413

4838 -0.80 -117.3 413.3 -8.2 194 4842 0.00 2.25 0.00 0.000 6 0.000 0.042 1824 2303 3413

5165 -0.80 -117.3 435.8 -6.9 200 5166 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2304 3413

5468 -0.82 -117.3 457.0 -7.0 205 5469 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 2304 3413

5771 -0.84 -117.3 476.5 -6.3 210 5773 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 2304 3413

6075 -0.87 -117.3 494.7 -6.0 215 6077 0.00 0.00 0.00 0.000 6 0.000 0.000 1824 2304 3413

6378 -0.89 -117.3 512.1 -5.7 220 6382 0.00 2.33 0.00 0.000 4 0.000 0.044 1823 901 3412

6407 -0.92 -117.3 513.9 -6.7 220 6411 0.00 2.28 0.00 0.000 6 0.000 0.044 1817 2303 3412

6740 -0.92 -117.3 534.6 -6.3 226 6744 0.00 2.30 0.00 0.000 4 0.000 0.057 1806 3712 3412

6769 -0.92 -117.3 536.5 -7.5 226 6773 0.00 2.25 0.00 0.000 6 0.000 0.038 1806 2301 3412

7107 -0.92 -117.3 560.0 -7.0 232 7111 0.00 2.30 0.00 0.000 4 0.000 0.044 1806 891 3412

7176 -0.92 -117.3 565.4 -8.1 233 7180 0.00 2.28 0.00 0.000 6 0.000 0.038 1797 2303 3412

7544 -0.89 -117.3 594.4 -8.0 239 7548 0.00 2.33 0.00 0.000 4 0.000 0.048 1797 895 3412

7574 -0.89 -117.3 597.2 -9.4 239 7578 0.00 2.30 0.00 0.000 6 0.000 0.042 1788 2313 3412

7907 -0.85 -117.3 627.9 -9.3 245 7911 0.10 2.33 0.00 0.000 4 0.136 0.044 1817 893 3412

7947 -0.88 -117.3 631.6 -8.9 245 7951 0.00 2.28 0.00 0.000 6 0.000 0.041 1809 2309 3411

8270 -0.88 -117.3 657.8 -8.2 251 8274 0.00 2.33 0.00 0.000 4 0.000 0.045 1809 890 3411

8304 -0.88 -117.3 661.0 -8.9 251 8308 0.00 2.30 0.00 0.000 6 0.000 0.045 1807 2312 3411

8637 -0.88 -117.3 686.6 -7.6 257 8638 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2312 3411

8940 -0.88 -117.3 706.6 -6.5 262 8941 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2312 3411

9244 -0.88 -117.3 726.1 -6.4 267 9248 0.00 2.33 0.00 0.000 4 0.000 0.049 1807 889 3411

9289 -0.90 -117.3 729.2 -6.9 267 9293 0.00 2.28 0.00 0.000 6 0.000 0.039 1798 2306 3411

9605 -0.90 -117.3 750.8 -6.8 273 9607 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2306 3411

9908 -0.90 -117.3 771.4 -6.8 278 9912 0.00 2.30 0.00 0.000 4 0.000 0.044 1798 898 3410

9950 -0.90 -117.3 774.4 -8.4 278 9954 0.00 2.28 0.00 0.000 6 0.000 0.043 1794 2303 3411

10271 -0.90 -117.3 797.7 -7.3 284 10272 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2304 3410

10574 -0.90 -117.3 820.5 -7.5 289 10575 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2304 3410

10877 -0.90 -117.3 843.7 -7.7 294 10881 0.00 2.35 0.00 0.000 4 0.000 0.050 1794 891 3410

10906 -0.90 -117.3 846.2 -9.1 294 10910 0.00 2.33 0.00 0.000 6 0.000 0.042 1785 2313 3410

11239 -0.88 -117.3 872.3 -7.8 300 11244 0.10 2.35 0.00 0.000 4 0.133 0.051 1814 888 3410

11279 -0.91 -117.3 875.3 -7.7 300 11283 0.00 2.30 0.00 0.000 6 0.000 0.041 1809 2304 3410

11602 -0.94 -117.3 896.6 -6.6 306 11603 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2305 3410

11904 -0.96 -117.3 916.4 -6.6 311 11908 0.00 2.35 0.00 0.000 4 0.000 0.048 1809 897 3410

11928 -0.98 -117.3 918.2 -7.2 311 11933 0.08 2.30 0.00 0.000 6 0.088 0.041 1768 2304 3410

12267 -0.93 -117.3 947.4 -8.7 317 12271 0.12 2.35 0.00 0.000 4 0.128 0.051 1795 3713 3409

12318 -0.95 -117.3 951.4 -7.5 317 12322 0.00 2.28 0.00 0.000 6 0.000 0.035 1795 2294 3409

12628 -0.95 -117.3 974.1 -7.3 322 12629 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2294 3409

12867 end dive: TARGET_DEPTH_EXCEEDED

state 12867 begin apogee

12876 -0.22 0.0 991.5 7.1 326 12978 0.50 0.00 99.28 1.280 6 0.105 0.000 1958 2294 2930

12979 end apogee: CONTROL_FINISHED_OK

state 12979 begin climb

12983 0.68 117.3 993.2 0.0 327 13091 0.55 0.00 104.62 1.253 6 0.067 0.000 2155 2294 2452

13350 0.56 117.3 977.4 6.3 333 13355 0.15 2.33 0.00 0.000 4 0.152 0.048 2126 890 2443

13414 0.53 122.9 973.6 5.3 334 13424 0.00 2.28 4.85 0.838 6 0.000 0.040 2126 2309 2429

13780 0.46 122.9 953.4 5.5 340 13785 0.12 2.28 0.00 0.000 4 0.146 0.054 2093 3708 2426

13871 0.44 135.5 948.4 5.1 341 13890 0.00 2.22 12.15 1.110 6 0.000 0.033 2101 2301 2378

14213 0.47 159.2 932.3 4.7 347 14242 0.00 2.38 21.62 1.173 4 0.000 0.056 2102 3714 2282

14267 0.44 159.2 929.4 5.6 347 14271 0.00 2.25 0.00 0.000 6 0.000 0.040 2112 2304 2280

14577 0.45 163.6 912.7 5.3 352 14584 0.00 0.00 5.00 0.844 6 0.000 0.000 2112 2304 2264

14881 0.45 168.6 896.5 5.3 357 14890 0.00 0.00 6.28 0.931 6 0.000 0.000 2112 2304 2243

15183 0.45 168.6 879.6 5.6 362 15187 0.00 2.33 0.00 0.000 4 0.000 0.050 2112 3708 2241

15218 0.41 168.6 877.2 7.3 362 15223 0.15 2.25 0.00 0.000 6 0.151 0.035 2084 2304 2240

15547 0.53 172.5 860.2 5.4 368 15557 0.12 2.30 4.88 0.821 4 0.066 0.046 2157 896 2227

15668 0.46 172.5 852.0 7.1 369 15673 0.20 2.25 0.00 0.000 6 0.139 0.042 2103 2303 2226

15985 0.50 183.2 835.2 5.1 375 16001 0.00 2.30 11.05 1.046 4 0.000 0.055 2103 3719 2182

16041 0.50 183.2 831.7 6.2 375 16048 0.00 2.28 0.00 0.000 6 0.000 0.038 2111 2304 2181

16353 0.50 189.4 815.0 5.3 381 16361 0.00 0.00 6.65 0.917 6 0.000 0.000 2111 2304 2159

16656 0.52 206.9 800.0 4.9 386 16680 0.00 2.38 17.25 1.079 4 0.000 0.053 2111 3711 2086

16700 0.54 216.0 797.6 5.2 386 16714 0.00 2.25 9.75 0.986 6 0.000 0.032 2121 2303 2050

17025 0.54 216.0 779.7 5.5 392 17029 0.00 2.30 0.00 0.000 4 0.000 0.046 2131 895 2046

17049 0.57 225.4 778.5 5.2 392 17063 0.00 2.25 9.40 0.979 6 0.000 0.041 2131 2304 2012

17392 0.57 225.4 757.6 6.1 398 17396 0.00 2.28 0.00 0.000 4 0.000 0.054 2131 3707 2009

17438 0.53 225.4 754.2 6.8 398 17443 0.12 2.22 0.00 0.000 6 0.140 0.032 2108 2301 2008

17766 0.60 243.4 737.8 4.9 404 17796 0.10 2.35 19.25 0.953 4 0.067 0.047 2182 889 1938

17827 0.54 243.4 733.3 7.5 404 17833 0.25 2.28 0.00 0.000 6 0.133 0.041 2111 2304 1935

18138 0.62 261.8 717.5 4.9 410 18162 0.10 2.33 17.60 1.025 4 0.064 0.050 2172 3701 1863

18210 0.51 261.8 711.0 9.7 411 18215 0.25 2.22 0.00 0.000 6 0.140 0.033 2113 2301 1861

18577 0.58 264.9 690.3 5.4 417 18581 0.00 2.30 0.00 0.000 4 0.000 0.046 2122 893 1858

18606 0.67 279.9 688.7 5.0 417 18638 0.08 2.28 19.17 0.923 6 0.081 0.039 2185 2314 1789

18943 0.57 279.9 655.0 10.4 423 18948 0.20 2.28 0.00 0.000 4 0.135 0.054 2124 3714 1785

18988 0.60 279.9 651.0 7.1 423 18992 0.00 2.22 0.00 0.000 6 0.000 0.032 2132 2298 1784

19305 0.63 279.9 631.9 6.0 429 19306 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2298 1784

19609 0.66 279.9 611.5 6.8 434 19610 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2297 1783

19911 0.69 279.9 589.2 7.5 439 19915 0.00 2.33 0.00 0.000 4 0.000 0.049 2132 3709 1783

19939 0.69 279.9 586.8 7.1 439 19943 0.00 2.22 0.00 0.000 6 0.000 0.031 2142 2295 1782

20277 0.69 279.9 559.7 8.0 445 20278 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2295 1782

20581 0.69 279.9 535.8 7.8 450 20582 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2295 1781

20883 0.69 279.9 514.2 7.1 455 20884 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2295 1782

21186 0.69 279.9 494.4 6.5 460 21190 0.00 2.33 0.00 0.000 4 0.000 0.048 2142 3712 1782

21208 0.69 279.9 492.9 6.1 460 21212 0.00 2.25 0.00 0.000 6 0.000 0.032 2152 2293 1782

21554 0.69 279.9 468.6 7.1 466 21555 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2292 1781

21856 0.69 279.9 447.2 7.0 471 21860 0.00 2.30 0.00 0.000 4 0.000 0.048 2152 3708 1781

21891 0.66 279.9 444.3 8.7 471 21895 0.00 2.20 0.00 0.000 6 0.000 0.032 2162 2302 1781

22224 0.62 279.9 418.1 8.0 477 22228 0.12 2.28 0.00 0.000 4 0.137 0.045 2136 895 1781

22259 0.68 279.9 415.8 5.9 477 22263 0.00 2.22 0.00 0.000 6 0.000 0.036 2136 2309 1781

22587 0.71 279.9 395.4 6.3 483 22590 0.00 2.28 0.00 0.000 4 0.000 0.048 2136 3712 1780

22632 0.71 279.9 392.0 7.9 483 22636 0.00 2.22 0.00 0.000 6 0.000 0.031 2146 2297 1780

22955 0.71 279.9 369.2 7.1 489 22956 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2297 1781

23257 0.71 279.9 347.6 7.1 494 23261 0.00 2.30 0.00 0.000 4 0.000 0.051 2146 3707 1781

23285 0.71 279.9 345.3 6.6 494 23289 0.00 2.17 0.00 0.000 6 0.000 0.031 2156 2302 1780

23623 0.71 279.9 320.7 7.2 500 23626 0.00 2.28 0.00 0.000 4 0.000 0.045 2166 886 1780

23647 0.71 279.9 319.1 6.4 500 23651 0.00 2.22 0.00 0.000 6 0.000 0.037 2166 2303 1780

23967 0.68 279.9 294.6 7.8 506 23971 0.00 2.28 0.00 0.000 4 0.000 0.048 2166 3707 1780

24008 0.62 279.9 290.8 8.3 507 24012 0.15 2.22 0.00 0.000 6 0.127 0.031 2134 2294 1779

24334 0.68 279.9 270.7 6.0 518 24337 0.00 2.30 0.00 0.000 4 0.000 0.045 2143 891 1780

24374 0.75 279.9 267.9 6.1 519 24378 0.00 2.25 0.00 0.000 6 0.000 0.035 2143 2315 1780

24704 0.79 279.9 247.4 6.1 530 24709 0.10 2.25 0.00 0.000 4 0.064 0.047 2215 3711 1779

24756 0.63 279.9 242.0 12.2 531 24761 0.32 2.22 0.00 0.000 6 0.132 0.032 2132 2294 1780

25076 0.73 300.1 224.9 4.8 542 25109 0.10 2.30 19.98 0.680 4 0.063 0.044 2209 894 1705

25149 0.67 300.1 218.6 9.6 544 25154 0.22 2.22 0.00 0.000 6 0.120 0.036 2143 2304 1704

25487 0.73 300.1 198.2 5.8 555 25491 0.00 2.25 0.00 0.000 4 0.000 0.048 2143 3707 1702

25516 0.78 301.0 196.0 5.5 555 25523 0.08 2.20 0.00 0.000 6 0.074 0.031 2211 2300 1702

25831 0.68 301.0 162.9 10.9 566 25836 0.20 2.28 0.00 0.000 4 0.123 0.044 2154 888 1702

25882 0.75 301.0 158.8 8.0 567 25886 0.00 2.22 0.00 0.000 6 0.000 0.036 2155 2304 1701

26213 0.96 335.3 138.7 4.3 590 26250 0.17 2.35 30.67 0.693 4 0.057 0.048 2242 3707 1563

26376 0.84 335.3 123.9 9.3 604 26383 0.25 2.22 0.00 0.000 6 0.128 0.031 2178 2306 1562

26703 0.95 361.7 108.3 4.6 635 26736 0.10 2.38 23.08 0.660 4 0.064 0.044 2264 886 1454

26766 0.90 361.7 102.8 8.2 640 26773 0.25 2.25 0.00 0.000 6 0.116 0.037 2187 2306 1452

27092 0.97 361.7 83.0 6.9 671 27097 0.10 2.28 0.00 0.000 4 0.062 0.046 2265 3717 1449

27139 0.85 361.7 77.8 12.2 675 27144 0.32 2.22 0.00 0.000 6 0.126 0.031 2177 2293 1449

27473 1.12 361.7 54.3 7.1 691 27477 0.17 2.25 0.00 0.000 4 0.069 0.042 2246 889 1448

27485 1.41 361.7 53.4 6.8 691 27490 0.20 2.22 0.00 0.000 6 0.066 0.035 2329 2306 1447

27799 end climb: SURFACE_DEPTH_REACHED

state 27799 begin surface coast

27823 end surface coast: CONTROL_FINISHED_OK

state 27824 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	677	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	31	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	-75345.422	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	131726,5002.350,-14325.593,36,2.2,55,18.7	TGT_NAME	P20
_CALLS	1	TGT_LATLONG	4934.000,-13840.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.145,-0.084
_SM_DEPTHo	2.11	KALMAN_X	-90380.2,-195.8,2.6,214569.1,920.5
_SM_ANGLEo	-51.5	KALMAN_Y	33611.4,-296.0,-185.1,-67623.6,2049.7
GPS2	132355,5002.355,-14325.649,11,1.2,11,18.7	MHEAD_RNG_PITCHd_Wd	101.2,347100,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.3,1.025582	XPDR_PINGS	66
SM_CCo	27903,0.00,0.000,0,0,1446,364.27	_24V_AH	22.2,97.367
SM_GC	2.05,5.85,0.00,0.00,0.036,0.000,0.000,99,2305,1446,-8.60,0.08,364.27	_10V_AH	10.3,83.670
IRIDIUM_FIX	4943.02,-14333.25,200499,050507	DATA_FILE_SIZE	41242,707
TT8_MAMPS	0.029146	CAP_FILE_SIZE	184404,0
HUMID	1764	CFSIZE	260165632,205959168
INTERNAL_PRESSURE	7.34403	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
TCM_TEMP	15.50	GPS	240110,211107,5001.245,-14321.590,31,2.0,31,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	230	106.86	SBE_CT	497	24	265.09
Roll_motor	236	58	306.63	SBE_O2	581	19	245.18
VBD_pump_during_apogee	442	1280	12576.00	Optode	734	33	538.09
VBD_pump_during_surface	0	0	0.00	WL_BB2F	758	105	1768.38
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.50	nil	0	0	0.00
Iridium_during_connect	25	160	89.07	nil	0	0	0.00
Iridium_during_xfer	163	223	807.65
Transponder_ping	16	420	153.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.69
TT8	1626	19	331.74
LPSleep	23086	2	520.76
TT8_Active	583	19	119.08
TT8_Sampling	2086	39	855.41
TT8_CF8	893	45	421.34
TT8_Kalman	33	81	28.13
Analog_circuits	1731	12	214.03
GPS_charging	0	0	0.00
Compass	2066	8	170.26
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-0.68	-117.3	0.0	0.0	0	62	0.00	0.00	-40.40	0.000	2	0.000	0.000	98	2289	2723
66	-0.68	-117.3	3.9	-7.4	2	96	7.12	2.38	-15.62	0.000	4	0.231	0.058	1847	890	3413
248	-0.68	-117.3	25.8	-9.4	10	252	0.00	2.25	0.00	0.000	6	0.000	0.041	1840	2299	3414
571	-0.63	-117.3	59.1	-9.8	26	575	0.10	2.28	0.00	0.000	4	0.137	0.040	1867	886	3414
606	-0.66	-117.3	62.3	-8.5	27	612	0.00	2.25	0.00	0.000	6	0.000	0.037	1863	2312	3414
926	-0.66	-117.3	89.8	-8.3	48	930	0.00	2.28	0.00	0.000	4	0.000	0.041	1863	889	3414
962	-0.68	-117.3	92.5	-8.3	51	966	0.00	2.25	0.00	0.000	6	0.000	0.038	1863	2308	3414
1292	-0.71	-117.3	116.9	-6.6	81	1296	0.00	2.28	0.00	0.000	4	0.000	0.041	1863	885	3414
1366	-0.75	-117.3	122.5	-7.4	87	1373	0.10	2.25	0.00	0.000	6	0.065	0.038	1789	2308	3414
1704	-0.67	-117.3	160.5	-11.5	113	1706	0.22	0.00	0.00	0.000	6	0.121	0.000	1857	2307	3414
2006	-0.73	-117.3	182.5	-6.8	123	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	1857	2308	3415
2312	-0.79	-117.3	202.0	-6.1	133	2317	0.10	2.28	0.00	0.000	4	0.064	0.048	1767	3706	3414
2349	-0.69	-117.3	205.4	-10.6	134	2354	0.28	2.20	0.00	0.000	6	0.115	0.030	1850	2299	3414
2691	-0.75	-117.3	227.4	-6.1	145	2695	0.00	2.25	0.00	0.000	4	0.000	0.042	1850	893	3414
2737	-0.81	-117.3	230.4	-6.5	146	2742	0.10	2.28	0.00	0.000	6	0.064	0.038	1779	2311	3414
3063	-0.73	-117.3	261.9	-10.1	157	3068	0.17	2.30	0.00	0.000	4	0.118	0.041	1839	899	3414
3104	-0.78	-117.3	265.5	-7.3	158	3109	0.00	2.28	0.00	0.000	6	0.000	0.044	1836	2310	3415
3436	-0.81	-117.3	290.0	-7.6	169	3437	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	2311	3414
3771	-0.84	-117.3	315.9	-7.8	177	3775	0.00	2.30	0.00	0.000	4	0.000	0.043	1837	904	3415
3805	-0.88	-117.3	318.8	-8.3	177	3810	0.10	2.28	0.00	0.000	6	0.066	0.039	1766	2304	3414
4138	-0.78	-117.3	356.0	-11.3	183	4140	0.22	0.00	0.00	0.000	6	0.117	0.000	1834	2305	3414
4442	-0.82	-117.3	375.7	-6.2	188	4446	0.00	2.30	0.00	0.000	4	0.000	0.044	1835	896	3413
4476	-0.86	-117.3	378.2	-7.2	188	4481	0.10	2.28	0.00	0.000	6	0.066	0.045	1766	2309	3413
4803	-0.77	-117.3	410.3	-10.0	194	4808	0.20	2.30	0.00	0.000	4	0.117	0.045	1831	904	3413
4838	-0.80	-117.3	413.3	-8.2	194	4842	0.00	2.25	0.00	0.000	6	0.000	0.042	1824	2303	3413
5165	-0.80	-117.3	435.8	-6.9	200	5166	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2304	3413
5468	-0.82	-117.3	457.0	-7.0	205	5469	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	2304	3413
5771	-0.84	-117.3	476.5	-6.3	210	5773	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	2304	3413
6075	-0.87	-117.3	494.7	-6.0	215	6077	0.00	0.00	0.00	0.000	6	0.000	0.000	1824	2304	3413
6378	-0.89	-117.3	512.1	-5.7	220	6382	0.00	2.33	0.00	0.000	4	0.000	0.044	1823	901	3412
6407	-0.92	-117.3	513.9	-6.7	220	6411	0.00	2.28	0.00	0.000	6	0.000	0.044	1817	2303	3412
6740	-0.92	-117.3	534.6	-6.3	226	6744	0.00	2.30	0.00	0.000	4	0.000	0.057	1806	3712	3412
6769	-0.92	-117.3	536.5	-7.5	226	6773	0.00	2.25	0.00	0.000	6	0.000	0.038	1806	2301	3412
7107	-0.92	-117.3	560.0	-7.0	232	7111	0.00	2.30	0.00	0.000	4	0.000	0.044	1806	891	3412
7176	-0.92	-117.3	565.4	-8.1	233	7180	0.00	2.28	0.00	0.000	6	0.000	0.038	1797	2303	3412
7544	-0.89	-117.3	594.4	-8.0	239	7548	0.00	2.33	0.00	0.000	4	0.000	0.048	1797	895	3412
7574	-0.89	-117.3	597.2	-9.4	239	7578	0.00	2.30	0.00	0.000	6	0.000	0.042	1788	2313	3412
7907	-0.85	-117.3	627.9	-9.3	245	7911	0.10	2.33	0.00	0.000	4	0.136	0.044	1817	893	3412
7947	-0.88	-117.3	631.6	-8.9	245	7951	0.00	2.28	0.00	0.000	6	0.000	0.041	1809	2309	3411
8270	-0.88	-117.3	657.8	-8.2	251	8274	0.00	2.33	0.00	0.000	4	0.000	0.045	1809	890	3411
8304	-0.88	-117.3	661.0	-8.9	251	8308	0.00	2.30	0.00	0.000	6	0.000	0.045	1807	2312	3411
8637	-0.88	-117.3	686.6	-7.6	257	8638	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2312	3411
8940	-0.88	-117.3	706.6	-6.5	262	8941	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2312	3411
9244	-0.88	-117.3	726.1	-6.4	267	9248	0.00	2.33	0.00	0.000	4	0.000	0.049	1807	889	3411
9289	-0.90	-117.3	729.2	-6.9	267	9293	0.00	2.28	0.00	0.000	6	0.000	0.039	1798	2306	3411
9605	-0.90	-117.3	750.8	-6.8	273	9607	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2306	3411
9908	-0.90	-117.3	771.4	-6.8	278	9912	0.00	2.30	0.00	0.000	4	0.000	0.044	1798	898	3410
9950	-0.90	-117.3	774.4	-8.4	278	9954	0.00	2.28	0.00	0.000	6	0.000	0.043	1794	2303	3411
10271	-0.90	-117.3	797.7	-7.3	284	10272	0.00	0.00	0.00	0.000	6	0.000	0.000	1794	2304	3410
10574	-0.90	-117.3	820.5	-7.5	289	10575	0.00	0.00	0.00	0.000	6	0.000	0.000	1794	2304	3410
10877	-0.90	-117.3	843.7	-7.7	294	10881	0.00	2.35	0.00	0.000	4	0.000	0.050	1794	891	3410
10906	-0.90	-117.3	846.2	-9.1	294	10910	0.00	2.33	0.00	0.000	6	0.000	0.042	1785	2313	3410
11239	-0.88	-117.3	872.3	-7.8	300	11244	0.10	2.35	0.00	0.000	4	0.133	0.051	1814	888	3410
11279	-0.91	-117.3	875.3	-7.7	300	11283	0.00	2.30	0.00	0.000	6	0.000	0.041	1809	2304	3410
11602	-0.94	-117.3	896.6	-6.6	306	11603	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2305	3410
11904	-0.96	-117.3	916.4	-6.6	311	11908	0.00	2.35	0.00	0.000	4	0.000	0.048	1809	897	3410
11928	-0.98	-117.3	918.2	-7.2	311	11933	0.08	2.30	0.00	0.000	6	0.088	0.041	1768	2304	3410
12267	-0.93	-117.3	947.4	-8.7	317	12271	0.12	2.35	0.00	0.000	4	0.128	0.051	1795	3713	3409
12318	-0.95	-117.3	951.4	-7.5	317	12322	0.00	2.28	0.00	0.000	6	0.000	0.035	1795	2294	3409
12628	-0.95	-117.3	974.1	-7.3	322	12629	0.00	0.00	0.00	0.000	6	0.000	0.000	1795	2294	3409
12867	end dive: TARGET_DEPTH_EXCEEDED
state	12867	begin apogee
12876	-0.22	0.0	991.5	7.1	326	12978	0.50	0.00	99.28	1.280	6	0.105	0.000	1958	2294	2930
12979	end apogee: CONTROL_FINISHED_OK
state	12979	begin climb
12983	0.68	117.3	993.2	0.0	327	13091	0.55	0.00	104.62	1.253	6	0.067	0.000	2155	2294	2452
13350	0.56	117.3	977.4	6.3	333	13355	0.15	2.33	0.00	0.000	4	0.152	0.048	2126	890	2443
13414	0.53	122.9	973.6	5.3	334	13424	0.00	2.28	4.85	0.838	6	0.000	0.040	2126	2309	2429
13780	0.46	122.9	953.4	5.5	340	13785	0.12	2.28	0.00	0.000	4	0.146	0.054	2093	3708	2426
13871	0.44	135.5	948.4	5.1	341	13890	0.00	2.22	12.15	1.110	6	0.000	0.033	2101	2301	2378
14213	0.47	159.2	932.3	4.7	347	14242	0.00	2.38	21.62	1.173	4	0.000	0.056	2102	3714	2282
14267	0.44	159.2	929.4	5.6	347	14271	0.00	2.25	0.00	0.000	6	0.000	0.040	2112	2304	2280
14577	0.45	163.6	912.7	5.3	352	14584	0.00	0.00	5.00	0.844	6	0.000	0.000	2112	2304	2264
14881	0.45	168.6	896.5	5.3	357	14890	0.00	0.00	6.28	0.931	6	0.000	0.000	2112	2304	2243
15183	0.45	168.6	879.6	5.6	362	15187	0.00	2.33	0.00	0.000	4	0.000	0.050	2112	3708	2241
15218	0.41	168.6	877.2	7.3	362	15223	0.15	2.25	0.00	0.000	6	0.151	0.035	2084	2304	2240
15547	0.53	172.5	860.2	5.4	368	15557	0.12	2.30	4.88	0.821	4	0.066	0.046	2157	896	2227
15668	0.46	172.5	852.0	7.1	369	15673	0.20	2.25	0.00	0.000	6	0.139	0.042	2103	2303	2226
15985	0.50	183.2	835.2	5.1	375	16001	0.00	2.30	11.05	1.046	4	0.000	0.055	2103	3719	2182
16041	0.50	183.2	831.7	6.2	375	16048	0.00	2.28	0.00	0.000	6	0.000	0.038	2111	2304	2181
16353	0.50	189.4	815.0	5.3	381	16361	0.00	0.00	6.65	0.917	6	0.000	0.000	2111	2304	2159
16656	0.52	206.9	800.0	4.9	386	16680	0.00	2.38	17.25	1.079	4	0.000	0.053	2111	3711	2086
16700	0.54	216.0	797.6	5.2	386	16714	0.00	2.25	9.75	0.986	6	0.000	0.032	2121	2303	2050
17025	0.54	216.0	779.7	5.5	392	17029	0.00	2.30	0.00	0.000	4	0.000	0.046	2131	895	2046
17049	0.57	225.4	778.5	5.2	392	17063	0.00	2.25	9.40	0.979	6	0.000	0.041	2131	2304	2012
17392	0.57	225.4	757.6	6.1	398	17396	0.00	2.28	0.00	0.000	4	0.000	0.054	2131	3707	2009
17438	0.53	225.4	754.2	6.8	398	17443	0.12	2.22	0.00	0.000	6	0.140	0.032	2108	2301	2008
17766	0.60	243.4	737.8	4.9	404	17796	0.10	2.35	19.25	0.953	4	0.067	0.047	2182	889	1938
17827	0.54	243.4	733.3	7.5	404	17833	0.25	2.28	0.00	0.000	6	0.133	0.041	2111	2304	1935
18138	0.62	261.8	717.5	4.9	410	18162	0.10	2.33	17.60	1.025	4	0.064	0.050	2172	3701	1863
18210	0.51	261.8	711.0	9.7	411	18215	0.25	2.22	0.00	0.000	6	0.140	0.033	2113	2301	1861
18577	0.58	264.9	690.3	5.4	417	18581	0.00	2.30	0.00	0.000	4	0.000	0.046	2122	893	1858
18606	0.67	279.9	688.7	5.0	417	18638	0.08	2.28	19.17	0.923	6	0.081	0.039	2185	2314	1789
18943	0.57	279.9	655.0	10.4	423	18948	0.20	2.28	0.00	0.000	4	0.135	0.054	2124	3714	1785
18988	0.60	279.9	651.0	7.1	423	18992	0.00	2.22	0.00	0.000	6	0.000	0.032	2132	2298	1784
19305	0.63	279.9	631.9	6.0	429	19306	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2298	1784
19609	0.66	279.9	611.5	6.8	434	19610	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2297	1783
19911	0.69	279.9	589.2	7.5	439	19915	0.00	2.33	0.00	0.000	4	0.000	0.049	2132	3709	1783
19939	0.69	279.9	586.8	7.1	439	19943	0.00	2.22	0.00	0.000	6	0.000	0.031	2142	2295	1782
20277	0.69	279.9	559.7	8.0	445	20278	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2295	1782
20581	0.69	279.9	535.8	7.8	450	20582	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2295	1781
20883	0.69	279.9	514.2	7.1	455	20884	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2295	1782
21186	0.69	279.9	494.4	6.5	460	21190	0.00	2.33	0.00	0.000	4	0.000	0.048	2142	3712	1782
21208	0.69	279.9	492.9	6.1	460	21212	0.00	2.25	0.00	0.000	6	0.000	0.032	2152	2293	1782
21554	0.69	279.9	468.6	7.1	466	21555	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2292	1781
21856	0.69	279.9	447.2	7.0	471	21860	0.00	2.30	0.00	0.000	4	0.000	0.048	2152	3708	1781
21891	0.66	279.9	444.3	8.7	471	21895	0.00	2.20	0.00	0.000	6	0.000	0.032	2162	2302	1781
22224	0.62	279.9	418.1	8.0	477	22228	0.12	2.28	0.00	0.000	4	0.137	0.045	2136	895	1781
22259	0.68	279.9	415.8	5.9	477	22263	0.00	2.22	0.00	0.000	6	0.000	0.036	2136	2309	1781
22587	0.71	279.9	395.4	6.3	483	22590	0.00	2.28	0.00	0.000	4	0.000	0.048	2136	3712	1780
22632	0.71	279.9	392.0	7.9	483	22636	0.00	2.22	0.00	0.000	6	0.000	0.031	2146	2297	1780
22955	0.71	279.9	369.2	7.1	489	22956	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2297	1781
23257	0.71	279.9	347.6	7.1	494	23261	0.00	2.30	0.00	0.000	4	0.000	0.051	2146	3707	1781
23285	0.71	279.9	345.3	6.6	494	23289	0.00	2.17	0.00	0.000	6	0.000	0.031	2156	2302	1780
23623	0.71	279.9	320.7	7.2	500	23626	0.00	2.28	0.00	0.000	4	0.000	0.045	2166	886	1780
23647	0.71	279.9	319.1	6.4	500	23651	0.00	2.22	0.00	0.000	6	0.000	0.037	2166	2303	1780
23967	0.68	279.9	294.6	7.8	506	23971	0.00	2.28	0.00	0.000	4	0.000	0.048	2166	3707	1780
24008	0.62	279.9	290.8	8.3	507	24012	0.15	2.22	0.00	0.000	6	0.127	0.031	2134	2294	1779
24334	0.68	279.9	270.7	6.0	518	24337	0.00	2.30	0.00	0.000	4	0.000	0.045	2143	891	1780
24374	0.75	279.9	267.9	6.1	519	24378	0.00	2.25	0.00	0.000	6	0.000	0.035	2143	2315	1780
24704	0.79	279.9	247.4	6.1	530	24709	0.10	2.25	0.00	0.000	4	0.064	0.047	2215	3711	1779
24756	0.63	279.9	242.0	12.2	531	24761	0.32	2.22	0.00	0.000	6	0.132	0.032	2132	2294	1780
25076	0.73	300.1	224.9	4.8	542	25109	0.10	2.30	19.98	0.680	4	0.063	0.044	2209	894	1705
25149	0.67	300.1	218.6	9.6	544	25154	0.22	2.22	0.00	0.000	6	0.120	0.036	2143	2304	1704
25487	0.73	300.1	198.2	5.8	555	25491	0.00	2.25	0.00	0.000	4	0.000	0.048	2143	3707	1702
25516	0.78	301.0	196.0	5.5	555	25523	0.08	2.20	0.00	0.000	6	0.074	0.031	2211	2300	1702
25831	0.68	301.0	162.9	10.9	566	25836	0.20	2.28	0.00	0.000	4	0.123	0.044	2154	888	1702
25882	0.75	301.0	158.8	8.0	567	25886	0.00	2.22	0.00	0.000	6	0.000	0.036	2155	2304	1701
26213	0.96	335.3	138.7	4.3	590	26250	0.17	2.35	30.67	0.693	4	0.057	0.048	2242	3707	1563
26376	0.84	335.3	123.9	9.3	604	26383	0.25	2.22	0.00	0.000	6	0.128	0.031	2178	2306	1562
26703	0.95	361.7	108.3	4.6	635	26736	0.10	2.38	23.08	0.660	4	0.064	0.044	2264	886	1454
26766	0.90	361.7	102.8	8.2	640	26773	0.25	2.25	0.00	0.000	6	0.116	0.037	2187	2306	1452
27092	0.97	361.7	83.0	6.9	671	27097	0.10	2.28	0.00	0.000	4	0.062	0.046	2265	3717	1449
27139	0.85	361.7	77.8	12.2	675	27144	0.32	2.22	0.00	0.000	6	0.126	0.031	2177	2293	1449
27473	1.12	361.7	54.3	7.1	691	27477	0.17	2.25	0.00	0.000	4	0.069	0.042	2246	889	1448
27485	1.41	361.7	53.4	6.8	691	27490	0.20	2.22	0.00	0.000	6	0.066	0.035	2329	2306	1447
27799	end climb: SURFACE_DEPTH_REACHED
state	27799	begin surface coast
27823	end surface coast: CONTROL_FINISHED_OK
state	27824	begin surface