Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 76 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 24 ESCAPE_HEADING 180 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 76 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 1970 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1994 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 375 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 220 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 275 CALL_TRIES 5 VBD_MAX 3936 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2917 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -108005.92 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

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

COURSE_BIAS 0 PITCH_MIN 409 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2542 PRESSURE_YINT -7.1530929 SEABIRD_T_G 0.00439469

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163939 SEABIRD_T_H 0.00064900791

MASS 51956 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5454905e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5957725e-06

FERRY_MAX 0 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.918622

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1128848

HD_A 0.0038360001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018190074

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019276177

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163939 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1530929 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 220

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -108005.92

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 275

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 24 SEABIRD_C_G -9.918622 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1128848 VBD_MAX 3936

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00019276177 VBD_MIN 746

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 XPDR_DEVICE -1

DIVE 76 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 085157,2154.422,-15943.844,40,2.4,59,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 750.000

_XMS_NAKs 0 KALMAN_CONTROL 0.293,-0.143

_XMS_TOUTs 0 KALMAN_X -97811.1,33.6,-323.5,98568.9,-1466.9

_SM_DEPTHo 1.35 KALMAN_Y 37262.6,100.1,-27.6,-39594.2,899.2

_SM_ANGLEo -51.6 MHEAD_RNG_PITCHd_Wd 106.2,3402,-13.9,-10.000

GPS2 090155,2154.489,-15944.038,17,1.6,34,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.5,0.999178 MM_CLLLayer 0.03

SM_CCo 12490,0.00,0.000,0,0,739,534.02 MM_CfgFile 0.30

SM_GC 1.39,10.95,0.00,0.00,0.025,0.000,0.000,399,1962,739,-9.78,-0.23,534.02 _24V_AH 23.7,18.828

IRIDIUM_FIX 2148.09,-15942.95,301098,050510 _10V_AH 9.7,8.250

TT8_MAMPS 0.062894 DATA_FILE_SIZE 37849,1161

HUMID 1981 CAP_FILE_SIZE 168323,0

INTERNAL_PRESSURE 7.46122 CFSIZE 260165632,250048512

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 050809,123206,2153.861,-15942.527,35,2.0,35,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 108.64 SBE_CT 819 24 465.95

Roll_motor 181 115 494.89 nil 0 0 0.00

VBD_pump_during_apogee 710 1076 18130.67 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.67 nil 0 0 0.00

Iridium_during_connect 26 160 101.43 GUMSTIX 189 1000 4482.55

Iridium_during_xfer 349 223 1849.52

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 309 1000 7337.92

GPS 35 50 17.20

TT8 2262 18 395.07

LPSleep 7060 0 26.71

TT8_Active 868 18 151.65

TT8_Sampling 2058 38 758.74

TT8_CF8 830 44 354.55

TT8_Kalman 33 80 25.88

Analog_circuits 2077 12 241.86

GPS_charging 0 0 0.00

Compass 1979 8 153.57

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.37 -243.3 0.0 0.0 0 117 0.00 0.00 -96.65 0.000 2 0.000 0.000 403 1957 3319

120 -1.37 -243.3 3.9 -8.1 16 147 11.00 2.53 -9.90 0.000 4 0.181 0.067 2239 568 3914

197 -1.37 -243.3 25.1 -19.8 27 204 0.00 2.38 0.00 0.000 6 0.000 0.028 2239 1965 3914

269 -1.37 -243.3 38.4 -19.6 34 270 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1970 3915

331 -1.37 -243.3 50.5 -18.6 40 335 0.00 2.47 0.00 0.000 4 0.000 0.049 2241 3366 3914

358 -1.37 -243.3 55.3 -17.1 42 366 0.00 2.40 0.00 0.000 6 0.000 0.032 2239 1966 3915

429 -1.37 -243.3 67.5 -18.5 49 430 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1966 3915

492 -1.37 -243.3 78.6 -16.3 55 494 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1966 3915

556 -1.37 -243.3 89.1 -16.2 61 560 0.00 2.53 0.00 0.000 4 0.000 0.058 2239 565 3915

629 -1.37 -243.3 100.4 -16.4 67 633 0.00 2.38 0.00 0.000 6 0.000 0.029 2239 1976 3916

705 -1.37 -243.3 112.1 -15.8 74 710 0.00 2.47 0.00 0.000 4 0.000 0.051 2239 3369 3916

727 -1.37 -243.3 116.0 -15.9 75 734 0.00 2.40 0.00 0.000 6 0.000 0.033 2239 1967 3916

797 -1.37 -243.3 126.3 -15.2 82 798 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1967 3916

861 -1.37 -243.3 135.3 -14.3 88 862 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1969 3917

925 -1.37 -243.3 144.1 -13.7 94 926 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1966 3917

988 -1.37 -243.3 152.8 -13.3 100 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1966 3917

1052 -1.37 -243.3 161.5 -13.3 106 1053 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1966 3917

1116 -1.37 -243.3 169.9 -12.9 112 1120 0.00 2.53 0.00 0.000 4 0.000 0.060 2239 572 3918

1137 -1.37 -243.3 172.8 -12.9 113 1144 0.00 2.38 0.00 0.000 6 0.000 0.031 2239 1973 3918

1207 -1.37 -243.3 181.0 -11.8 120 1211 0.00 2.47 0.00 0.000 4 0.000 0.053 2239 3360 3918

1239 -1.37 -243.3 185.0 -11.7 122 1246 0.00 2.40 0.00 0.000 6 0.000 0.035 2238 1966 3918

1309 -1.37 -243.3 193.2 -12.3 129 1310 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1966 3917

1373 -1.37 -243.3 201.6 -13.2 135 1377 0.00 2.55 0.00 0.000 4 0.000 0.061 2239 563 3918

1412 -1.37 -243.3 207.5 -15.0 138 1416 0.00 2.40 0.00 0.000 6 0.000 0.031 2239 1977 3918

1482 -1.37 -243.3 217.7 -15.2 144 1483 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1977 3918

1545 -1.37 -243.3 227.0 -14.5 150 1547 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 1982 3919

1609 -1.37 -243.3 236.6 -15.0 156 1611 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1981 3918

1673 -1.37 -243.3 245.3 -13.8 162 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1982 3919

1737 -1.37 -243.3 253.3 -12.1 168 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1982 3918

1800 -1.37 -243.3 260.1 -10.1 174 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1982 3918

1864 -1.37 -243.3 266.3 -10.0 180 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1982 3918

1928 -1.37 -243.3 272.9 -10.5 186 1932 0.00 2.58 0.00 0.000 4 0.000 0.061 2239 565 3918

1960 -1.37 -243.3 276.6 -11.2 188 1967 0.00 2.40 0.00 0.000 6 0.000 0.033 2239 1969 3919

2031 -1.37 -243.3 283.6 -10.0 195 2032 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1973 3919

2094 -1.37 -243.3 290.0 -10.1 201 2095 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1973 3918

2158 -1.37 -243.3 296.7 -10.4 207 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 1973 3918

2221 -1.37 -243.3 303.4 -10.5 213 2223 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1973 3918

2413 -1.37 -243.3 323.8 -11.1 231 2417 0.00 2.55 0.00 0.000 4 0.000 0.061 2239 3370 3918

2456 -1.37 -243.3 328.9 -11.1 234 2463 0.00 2.45 0.00 0.000 6 0.000 0.040 2239 1969 3917

2654 -1.37 -243.3 351.3 -11.3 253 2658 0.00 2.60 0.00 0.000 4 0.000 0.068 2239 562 3916

2682 -1.37 -243.3 354.6 -11.3 255 2686 0.00 2.45 0.00 0.000 6 0.000 0.037 2239 1978 3916

2884 -1.37 -243.3 376.4 -10.6 274 2886 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1980 3915

3076 -1.37 -243.3 394.8 -9.5 292 3077 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1980 3913

3267 -1.37 -243.3 413.1 -9.6 310 3271 0.00 2.55 0.00 0.000 4 0.000 0.067 2239 3365 3911

3295 -1.37 -243.3 415.9 -10.4 312 3299 0.00 2.47 0.00 0.000 6 0.000 0.043 2239 1960 3911

3498 -1.37 -243.3 437.4 -11.1 331 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1960 3910

3689 -1.37 -243.3 458.7 -11.3 349 3693 0.00 2.60 0.00 0.000 4 0.000 0.072 2239 567 3908

3755 -1.37 -243.3 466.3 -11.1 354 3762 0.00 2.45 0.00 0.000 6 0.000 0.039 2239 1971 3907

3952 -1.37 -243.3 487.8 -11.1 373 3956 0.00 2.58 0.00 0.000 4 0.000 0.067 2239 3367 3905

4007 -1.37 -243.3 493.6 -10.7 377 4014 0.00 2.47 0.00 0.000 6 0.000 0.044 2239 1970 3905

4205 -1.37 -243.3 513.3 -10.0 396 4206 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1970 3903

4396 -1.37 -243.3 531.5 -9.1 414 4400 0.00 2.62 0.00 0.000 4 0.000 0.073 2239 566 3901

4447 -1.37 -243.3 536.0 -8.4 418 4451 0.00 2.45 0.00 0.000 6 0.000 0.041 2239 1968 3901

4645 -1.37 -243.3 553.9 -9.2 436 4646 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1973 3899

4835 -1.37 -243.3 572.7 -9.9 454 4840 0.00 2.62 0.00 0.000 4 0.000 0.070 2239 561 3897

4886 -1.37 -243.3 578.0 -10.1 458 4891 0.00 2.47 0.00 0.000 6 0.000 0.041 2239 1971 3897

5084 -1.37 -243.3 597.7 -9.4 476 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1976 3895

5275 -1.37 -243.3 616.7 -9.8 494 5276 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1976 3893

5466 -1.37 -243.3 635.2 -9.4 512 5470 0.00 2.60 0.00 0.000 4 0.000 0.067 2239 3377 3893

5512 -1.37 -243.3 639.3 -9.5 516 5516 0.00 2.50 0.00 0.000 6 0.000 0.046 2241 1965 3891

5709 -1.37 -243.3 657.8 -10.6 534 5710 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1965 3889

5728 end dive: TARGET_DEPTH_EXCEEDED

state 5728 begin apogee

5733 -0.38 0.0 660.1 10.7 536 5955 1.05 0.00 216.48 1.077 6 0.096 0.000 2451 1964 2917

5956 end apogee: CONTROL_FINISHED_OK

state 5956 begin climb

5959 1.37 243.3 671.8 0.0 558 6198 1.83 2.75 223.40 1.025 4 0.068 0.066 2836 3385 1924

6347 1.42 286.3 650.5 8.8 592 6394 0.00 2.50 41.03 0.987 6 0.000 0.045 2836 1993 1750

6585 1.43 295.8 629.3 9.7 614 6596 0.00 0.00 9.18 0.867 6 0.000 0.000 2836 1993 1711

6785 1.48 330.8 609.6 9.0 633 6828 0.12 2.67 34.90 0.992 4 0.051 0.067 2873 3390 1568

6844 1.48 330.8 603.2 10.6 638 6852 0.00 2.53 0.00 0.000 6 0.000 0.046 2873 1993 1566

7042 1.48 330.8 583.3 10.2 657 7044 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1993 1561

7234 1.48 332.4 564.1 10.0 675 7238 0.00 2.65 0.00 0.000 4 0.000 0.075 2873 591 1560

7266 1.48 332.4 560.3 11.7 677 7273 0.00 2.50 0.00 0.000 6 0.000 0.041 2873 2003 1560

7464 1.48 332.4 539.4 10.7 696 7465 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2007 1559

7654 1.48 332.4 518.6 11.2 714 7659 0.00 2.67 0.00 0.000 4 0.000 0.073 2873 589 1558

7710 1.48 332.4 511.8 12.3 718 7717 0.00 2.50 0.00 0.000 6 0.000 0.042 2873 2003 1557

7907 1.48 332.4 490.5 10.9 737 7912 0.00 2.60 0.00 0.000 4 0.000 0.070 2872 3396 1556

7940 1.48 332.4 486.9 11.3 739 7947 0.00 2.53 0.00 0.000 6 0.000 0.047 2873 1991 1557

8137 1.48 332.4 466.4 10.6 758 8138 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1991 1556

8329 1.48 332.4 446.3 10.7 776 8330 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1991 1555

8519 1.48 332.4 426.5 10.3 794 8521 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1991 1554

8711 1.51 359.4 407.5 9.3 812 8745 0.00 2.70 25.58 0.928 4 0.000 0.066 2873 3387 1452

8769 1.51 359.4 401.6 10.4 817 8773 0.00 2.53 0.00 0.000 6 0.000 0.046 2873 1988 1450

8966 1.51 360.7 381.9 10.0 835 8971 0.00 2.65 0.00 0.000 4 0.000 0.075 2873 582 1448

9006 1.51 360.7 377.6 10.9 838 9010 0.00 2.47 0.00 0.000 6 0.000 0.041 2873 1994 1447

9203 1.51 360.7 358.0 10.8 856 9208 0.00 2.60 0.00 0.000 4 0.000 0.067 2873 3398 1446

9247 1.51 360.7 352.8 12.4 859 9254 0.00 2.53 0.00 0.000 6 0.000 0.045 2873 1986 1446

9445 1.51 360.7 331.1 11.4 878 9446 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1986 1445

9636 1.51 360.7 308.9 10.9 896 9641 0.00 2.60 0.00 0.000 4 0.000 0.063 2872 3390 1444

9669 1.51 360.9 305.2 10.0 898 9676 0.00 2.50 0.00 0.000 6 0.000 0.044 2873 1988 1444

9867 1.51 360.9 284.2 11.2 917 9868 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1987 1444

9931 1.51 360.9 277.4 10.6 923 9935 0.00 2.62 0.00 0.000 4 0.000 0.071 2873 584 1444

9963 1.51 360.9 273.8 11.0 925 9970 0.00 2.47 0.00 0.000 6 0.000 0.038 2873 2000 1444

10033 1.51 360.9 266.7 10.3 932 10034 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2004 1443

10097 1.51 360.9 259.8 10.9 938 10101 0.00 2.55 0.00 0.000 4 0.000 0.062 2873 3389 1444

10129 1.51 360.9 256.2 11.4 940 10136 0.00 2.47 0.00 0.000 6 0.000 0.043 2873 1993 1444

10199 1.54 382.4 249.5 9.4 947 10222 0.00 0.00 21.12 0.802 6 0.000 0.000 2873 1993 1358

10282 1.59 422.4 242.1 8.9 955 10323 0.00 0.00 37.67 0.794 6 0.000 0.000 2873 1993 1195

10386 1.63 455.6 232.8 9.1 965 10420 0.10 0.00 30.75 0.769 6 0.054 0.000 2906 1993 1059

10479 1.63 455.6 222.1 12.0 974 10481 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1993 1056

10543 1.63 455.6 214.6 11.9 980 10547 0.00 2.62 0.00 0.000 4 0.000 0.070 2905 592 1054

10571 1.63 455.6 211.0 13.2 982 10575 0.00 2.45 0.00 0.000 6 0.000 0.035 2906 1999 1054

10641 1.63 455.6 202.1 12.6 988 10642 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2004 1053

10704 1.63 455.6 194.3 12.8 994 10705 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2004 1053

10768 1.63 455.6 186.6 12.3 1000 10772 0.00 2.62 0.00 0.000 4 0.000 0.065 2905 591 1052

10818 1.63 455.6 180.0 13.3 1004 10823 0.00 2.45 0.00 0.000 6 0.000 0.035 2906 2005 1052

10888 1.63 455.6 171.5 12.2 1010 10890 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2010 1052

10952 1.63 455.6 163.5 13.1 1016 10953 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2010 1052

11015 1.63 455.6 155.0 13.0 1022 11017 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2010 1052

11079 1.63 455.6 147.1 12.2 1028 11084 0.00 2.62 0.00 0.000 4 0.000 0.064 2905 590 1051

11118 1.63 455.6 141.8 13.2 1031 11122 0.00 2.42 0.00 0.000 6 0.000 0.034 2906 1995 1051

11188 1.63 455.6 132.8 12.9 1037 11192 0.00 2.53 0.00 0.000 4 0.000 0.057 2906 3389 1051

11232 1.63 455.6 126.6 13.4 1040 11239 0.00 2.47 0.00 0.000 6 0.000 0.038 2906 1987 1051

11302 1.63 455.6 116.6 14.5 1047 11304 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1987 1051

11366 1.63 455.6 108.6 12.6 1053 11371 0.00 2.58 0.00 0.000 4 0.000 0.064 2906 587 1051

11395 1.63 455.6 105.0 13.5 1055 11399 0.00 2.42 0.00 0.000 6 0.000 0.032 2906 2004 1050

11465 1.63 455.6 96.5 11.5 1061 11466 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2004 1051

11528 1.63 455.6 89.5 10.8 1067 11529 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2009 1051

11592 1.64 461.7 83.5 9.8 1073 11602 0.00 0.00 5.43 0.513 6 0.000 0.000 2906 2009 1034

11666 1.64 461.7 75.6 10.8 1080 11667 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2009 1033

11730 1.66 481.4 68.9 9.5 1086 11754 0.00 2.65 18.52 0.609 4 0.000 0.058 2906 584 953

11793 1.69 507.0 63.5 9.3 1091 11823 0.00 2.42 22.75 0.600 6 0.000 0.031 2906 1996 850

11886 1.77 571.5 55.6 8.2 1100 11916 0.00 0.00 23.60 0.584 6 0.000 0.000 2906 1996 745

11980 1.81 606.6 47.2 9.0 1109 11985 0.15 2.60 0.00 0.000 4 0.044 0.058 2959 585 743

12008 1.81 606.6 43.8 12.5 1111 12013 0.12 2.42 0.00 0.000 6 0.079 0.031 2933 2003 742

12078 1.81 606.6 35.8 10.7 1117 12082 0.00 2.50 0.00 0.000 4 0.000 0.053 2933 3390 741

12128 1.81 606.6 30.3 10.0 1121 12133 0.00 2.42 0.00 0.000 6 0.000 0.034 2933 1990 741

12198 1.81 606.6 22.8 10.8 1127 12199 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1989 741

12264 1.81 606.6 15.5 10.9 1136 12270 0.00 2.53 0.00 0.000 4 0.000 0.061 2933 594 741

12305 1.81 606.6 10.9 10.9 1143 12312 0.00 2.40 0.00 0.000 6 0.000 0.029 2933 2004 742

12380 1.81 606.6 2.7 10.2 1156 12386 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 2005 741

12390 end climb: SURFACE_DEPTH_REACHED

state 12390 begin surface coast

12408 end surface coast: CONTROL_FINISHED_OK

state 12408 begin surface

ID	117	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	24	ESCAPE_HEADING	180	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	76	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	1970	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1994	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	375	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	275	CALL_TRIES	5	VBD_MAX	3936	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2917	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-108005.92	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	409	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2542	PRESSURE_YINT	-7.1530929	SEABIRD_T_G	0.00439469
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163939	SEABIRD_T_H	0.00064900791
MASS	51956	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5454905e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5957725e-06
FERRY_MAX	0	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.918622
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1128848
HD_A	0.0038360001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018190074
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019276177
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	085157,2154.422,-15943.844,40,2.4,59,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	750.000
_XMS_NAKs	0	KALMAN_CONTROL	0.293,-0.143
_XMS_TOUTs	0	KALMAN_X	-97811.1,33.6,-323.5,98568.9,-1466.9
_SM_DEPTHo	1.35	KALMAN_Y	37262.6,100.1,-27.6,-39594.2,899.2
_SM_ANGLEo	-51.6	MHEAD_RNG_PITCHd_Wd	106.2,3402,-13.9,-10.000
GPS2	090155,2154.489,-15944.038,17,1.6,34,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.5,0.999178	MM_CLLLayer	0.03
SM_CCo	12490,0.00,0.000,0,0,739,534.02	MM_CfgFile	0.30
SM_GC	1.39,10.95,0.00,0.00,0.025,0.000,0.000,399,1962,739,-9.78,-0.23,534.02	_24V_AH	23.7,18.828
IRIDIUM_FIX	2148.09,-15942.95,301098,050510	_10V_AH	9.7,8.250
TT8_MAMPS	0.062894	DATA_FILE_SIZE	37849,1161
HUMID	1981	CAP_FILE_SIZE	168323,0
INTERNAL_PRESSURE	7.46122	CFSIZE	260165632,250048512
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	050809,123206,2153.861,-15942.527,35,2.0,35,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	108.64	SBE_CT	819	24	465.95
Roll_motor	181	115	494.89	nil	0	0	0.00
VBD_pump_during_apogee	710	1076	18130.67	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.67	nil	0	0	0.00
Iridium_during_connect	26	160	101.43	GUMSTIX	189	1000	4482.55
Iridium_during_xfer	349	223	1849.52
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	309	1000	7337.92
GPS	35	50	17.20
TT8	2262	18	395.07
LPSleep	7060	0	26.71
TT8_Active	868	18	151.65
TT8_Sampling	2058	38	758.74
TT8_CF8	830	44	354.55
TT8_Kalman	33	80	25.88
Analog_circuits	2077	12	241.86
GPS_charging	0	0	0.00
Compass	1979	8	153.57
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.37	-243.3	0.0	0.0	0	117	0.00	0.00	-96.65	0.000	2	0.000	0.000	403	1957	3319
120	-1.37	-243.3	3.9	-8.1	16	147	11.00	2.53	-9.90	0.000	4	0.181	0.067	2239	568	3914
197	-1.37	-243.3	25.1	-19.8	27	204	0.00	2.38	0.00	0.000	6	0.000	0.028	2239	1965	3914
269	-1.37	-243.3	38.4	-19.6	34	270	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1970	3915
331	-1.37	-243.3	50.5	-18.6	40	335	0.00	2.47	0.00	0.000	4	0.000	0.049	2241	3366	3914
358	-1.37	-243.3	55.3	-17.1	42	366	0.00	2.40	0.00	0.000	6	0.000	0.032	2239	1966	3915
429	-1.37	-243.3	67.5	-18.5	49	430	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1966	3915
492	-1.37	-243.3	78.6	-16.3	55	494	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1966	3915
556	-1.37	-243.3	89.1	-16.2	61	560	0.00	2.53	0.00	0.000	4	0.000	0.058	2239	565	3915
629	-1.37	-243.3	100.4	-16.4	67	633	0.00	2.38	0.00	0.000	6	0.000	0.029	2239	1976	3916
705	-1.37	-243.3	112.1	-15.8	74	710	0.00	2.47	0.00	0.000	4	0.000	0.051	2239	3369	3916
727	-1.37	-243.3	116.0	-15.9	75	734	0.00	2.40	0.00	0.000	6	0.000	0.033	2239	1967	3916
797	-1.37	-243.3	126.3	-15.2	82	798	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1967	3916
861	-1.37	-243.3	135.3	-14.3	88	862	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1969	3917
925	-1.37	-243.3	144.1	-13.7	94	926	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1966	3917
988	-1.37	-243.3	152.8	-13.3	100	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1966	3917
1052	-1.37	-243.3	161.5	-13.3	106	1053	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1966	3917
1116	-1.37	-243.3	169.9	-12.9	112	1120	0.00	2.53	0.00	0.000	4	0.000	0.060	2239	572	3918
1137	-1.37	-243.3	172.8	-12.9	113	1144	0.00	2.38	0.00	0.000	6	0.000	0.031	2239	1973	3918
1207	-1.37	-243.3	181.0	-11.8	120	1211	0.00	2.47	0.00	0.000	4	0.000	0.053	2239	3360	3918
1239	-1.37	-243.3	185.0	-11.7	122	1246	0.00	2.40	0.00	0.000	6	0.000	0.035	2238	1966	3918
1309	-1.37	-243.3	193.2	-12.3	129	1310	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1966	3917
1373	-1.37	-243.3	201.6	-13.2	135	1377	0.00	2.55	0.00	0.000	4	0.000	0.061	2239	563	3918
1412	-1.37	-243.3	207.5	-15.0	138	1416	0.00	2.40	0.00	0.000	6	0.000	0.031	2239	1977	3918
1482	-1.37	-243.3	217.7	-15.2	144	1483	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1977	3918
1545	-1.37	-243.3	227.0	-14.5	150	1547	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	1982	3919
1609	-1.37	-243.3	236.6	-15.0	156	1611	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1981	3918
1673	-1.37	-243.3	245.3	-13.8	162	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1982	3919
1737	-1.37	-243.3	253.3	-12.1	168	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1982	3918
1800	-1.37	-243.3	260.1	-10.1	174	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1982	3918
1864	-1.37	-243.3	266.3	-10.0	180	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1982	3918
1928	-1.37	-243.3	272.9	-10.5	186	1932	0.00	2.58	0.00	0.000	4	0.000	0.061	2239	565	3918
1960	-1.37	-243.3	276.6	-11.2	188	1967	0.00	2.40	0.00	0.000	6	0.000	0.033	2239	1969	3919
2031	-1.37	-243.3	283.6	-10.0	195	2032	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1973	3919
2094	-1.37	-243.3	290.0	-10.1	201	2095	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1973	3918
2158	-1.37	-243.3	296.7	-10.4	207	2159	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	1973	3918
2221	-1.37	-243.3	303.4	-10.5	213	2223	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1973	3918
2413	-1.37	-243.3	323.8	-11.1	231	2417	0.00	2.55	0.00	0.000	4	0.000	0.061	2239	3370	3918
2456	-1.37	-243.3	328.9	-11.1	234	2463	0.00	2.45	0.00	0.000	6	0.000	0.040	2239	1969	3917
2654	-1.37	-243.3	351.3	-11.3	253	2658	0.00	2.60	0.00	0.000	4	0.000	0.068	2239	562	3916
2682	-1.37	-243.3	354.6	-11.3	255	2686	0.00	2.45	0.00	0.000	6	0.000	0.037	2239	1978	3916
2884	-1.37	-243.3	376.4	-10.6	274	2886	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1980	3915
3076	-1.37	-243.3	394.8	-9.5	292	3077	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1980	3913
3267	-1.37	-243.3	413.1	-9.6	310	3271	0.00	2.55	0.00	0.000	4	0.000	0.067	2239	3365	3911
3295	-1.37	-243.3	415.9	-10.4	312	3299	0.00	2.47	0.00	0.000	6	0.000	0.043	2239	1960	3911
3498	-1.37	-243.3	437.4	-11.1	331	3499	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1960	3910
3689	-1.37	-243.3	458.7	-11.3	349	3693	0.00	2.60	0.00	0.000	4	0.000	0.072	2239	567	3908
3755	-1.37	-243.3	466.3	-11.1	354	3762	0.00	2.45	0.00	0.000	6	0.000	0.039	2239	1971	3907
3952	-1.37	-243.3	487.8	-11.1	373	3956	0.00	2.58	0.00	0.000	4	0.000	0.067	2239	3367	3905
4007	-1.37	-243.3	493.6	-10.7	377	4014	0.00	2.47	0.00	0.000	6	0.000	0.044	2239	1970	3905
4205	-1.37	-243.3	513.3	-10.0	396	4206	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1970	3903
4396	-1.37	-243.3	531.5	-9.1	414	4400	0.00	2.62	0.00	0.000	4	0.000	0.073	2239	566	3901
4447	-1.37	-243.3	536.0	-8.4	418	4451	0.00	2.45	0.00	0.000	6	0.000	0.041	2239	1968	3901
4645	-1.37	-243.3	553.9	-9.2	436	4646	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1973	3899
4835	-1.37	-243.3	572.7	-9.9	454	4840	0.00	2.62	0.00	0.000	4	0.000	0.070	2239	561	3897
4886	-1.37	-243.3	578.0	-10.1	458	4891	0.00	2.47	0.00	0.000	6	0.000	0.041	2239	1971	3897
5084	-1.37	-243.3	597.7	-9.4	476	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1976	3895
5275	-1.37	-243.3	616.7	-9.8	494	5276	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1976	3893
5466	-1.37	-243.3	635.2	-9.4	512	5470	0.00	2.60	0.00	0.000	4	0.000	0.067	2239	3377	3893
5512	-1.37	-243.3	639.3	-9.5	516	5516	0.00	2.50	0.00	0.000	6	0.000	0.046	2241	1965	3891
5709	-1.37	-243.3	657.8	-10.6	534	5710	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1965	3889
5728	end dive: TARGET_DEPTH_EXCEEDED
state	5728	begin apogee
5733	-0.38	0.0	660.1	10.7	536	5955	1.05	0.00	216.48	1.077	6	0.096	0.000	2451	1964	2917
5956	end apogee: CONTROL_FINISHED_OK
state	5956	begin climb
5959	1.37	243.3	671.8	0.0	558	6198	1.83	2.75	223.40	1.025	4	0.068	0.066	2836	3385	1924
6347	1.42	286.3	650.5	8.8	592	6394	0.00	2.50	41.03	0.987	6	0.000	0.045	2836	1993	1750
6585	1.43	295.8	629.3	9.7	614	6596	0.00	0.00	9.18	0.867	6	0.000	0.000	2836	1993	1711
6785	1.48	330.8	609.6	9.0	633	6828	0.12	2.67	34.90	0.992	4	0.051	0.067	2873	3390	1568
6844	1.48	330.8	603.2	10.6	638	6852	0.00	2.53	0.00	0.000	6	0.000	0.046	2873	1993	1566
7042	1.48	330.8	583.3	10.2	657	7044	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1993	1561
7234	1.48	332.4	564.1	10.0	675	7238	0.00	2.65	0.00	0.000	4	0.000	0.075	2873	591	1560
7266	1.48	332.4	560.3	11.7	677	7273	0.00	2.50	0.00	0.000	6	0.000	0.041	2873	2003	1560
7464	1.48	332.4	539.4	10.7	696	7465	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2007	1559
7654	1.48	332.4	518.6	11.2	714	7659	0.00	2.67	0.00	0.000	4	0.000	0.073	2873	589	1558
7710	1.48	332.4	511.8	12.3	718	7717	0.00	2.50	0.00	0.000	6	0.000	0.042	2873	2003	1557
7907	1.48	332.4	490.5	10.9	737	7912	0.00	2.60	0.00	0.000	4	0.000	0.070	2872	3396	1556
7940	1.48	332.4	486.9	11.3	739	7947	0.00	2.53	0.00	0.000	6	0.000	0.047	2873	1991	1557
8137	1.48	332.4	466.4	10.6	758	8138	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1991	1556
8329	1.48	332.4	446.3	10.7	776	8330	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1991	1555
8519	1.48	332.4	426.5	10.3	794	8521	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1991	1554
8711	1.51	359.4	407.5	9.3	812	8745	0.00	2.70	25.58	0.928	4	0.000	0.066	2873	3387	1452
8769	1.51	359.4	401.6	10.4	817	8773	0.00	2.53	0.00	0.000	6	0.000	0.046	2873	1988	1450
8966	1.51	360.7	381.9	10.0	835	8971	0.00	2.65	0.00	0.000	4	0.000	0.075	2873	582	1448
9006	1.51	360.7	377.6	10.9	838	9010	0.00	2.47	0.00	0.000	6	0.000	0.041	2873	1994	1447
9203	1.51	360.7	358.0	10.8	856	9208	0.00	2.60	0.00	0.000	4	0.000	0.067	2873	3398	1446
9247	1.51	360.7	352.8	12.4	859	9254	0.00	2.53	0.00	0.000	6	0.000	0.045	2873	1986	1446
9445	1.51	360.7	331.1	11.4	878	9446	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1986	1445
9636	1.51	360.7	308.9	10.9	896	9641	0.00	2.60	0.00	0.000	4	0.000	0.063	2872	3390	1444
9669	1.51	360.9	305.2	10.0	898	9676	0.00	2.50	0.00	0.000	6	0.000	0.044	2873	1988	1444
9867	1.51	360.9	284.2	11.2	917	9868	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1987	1444
9931	1.51	360.9	277.4	10.6	923	9935	0.00	2.62	0.00	0.000	4	0.000	0.071	2873	584	1444
9963	1.51	360.9	273.8	11.0	925	9970	0.00	2.47	0.00	0.000	6	0.000	0.038	2873	2000	1444
10033	1.51	360.9	266.7	10.3	932	10034	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2004	1443
10097	1.51	360.9	259.8	10.9	938	10101	0.00	2.55	0.00	0.000	4	0.000	0.062	2873	3389	1444
10129	1.51	360.9	256.2	11.4	940	10136	0.00	2.47	0.00	0.000	6	0.000	0.043	2873	1993	1444
10199	1.54	382.4	249.5	9.4	947	10222	0.00	0.00	21.12	0.802	6	0.000	0.000	2873	1993	1358
10282	1.59	422.4	242.1	8.9	955	10323	0.00	0.00	37.67	0.794	6	0.000	0.000	2873	1993	1195
10386	1.63	455.6	232.8	9.1	965	10420	0.10	0.00	30.75	0.769	6	0.054	0.000	2906	1993	1059
10479	1.63	455.6	222.1	12.0	974	10481	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1993	1056
10543	1.63	455.6	214.6	11.9	980	10547	0.00	2.62	0.00	0.000	4	0.000	0.070	2905	592	1054
10571	1.63	455.6	211.0	13.2	982	10575	0.00	2.45	0.00	0.000	6	0.000	0.035	2906	1999	1054
10641	1.63	455.6	202.1	12.6	988	10642	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2004	1053
10704	1.63	455.6	194.3	12.8	994	10705	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2004	1053
10768	1.63	455.6	186.6	12.3	1000	10772	0.00	2.62	0.00	0.000	4	0.000	0.065	2905	591	1052
10818	1.63	455.6	180.0	13.3	1004	10823	0.00	2.45	0.00	0.000	6	0.000	0.035	2906	2005	1052
10888	1.63	455.6	171.5	12.2	1010	10890	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2010	1052
10952	1.63	455.6	163.5	13.1	1016	10953	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2010	1052
11015	1.63	455.6	155.0	13.0	1022	11017	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2010	1052
11079	1.63	455.6	147.1	12.2	1028	11084	0.00	2.62	0.00	0.000	4	0.000	0.064	2905	590	1051
11118	1.63	455.6	141.8	13.2	1031	11122	0.00	2.42	0.00	0.000	6	0.000	0.034	2906	1995	1051
11188	1.63	455.6	132.8	12.9	1037	11192	0.00	2.53	0.00	0.000	4	0.000	0.057	2906	3389	1051
11232	1.63	455.6	126.6	13.4	1040	11239	0.00	2.47	0.00	0.000	6	0.000	0.038	2906	1987	1051
11302	1.63	455.6	116.6	14.5	1047	11304	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1987	1051
11366	1.63	455.6	108.6	12.6	1053	11371	0.00	2.58	0.00	0.000	4	0.000	0.064	2906	587	1051
11395	1.63	455.6	105.0	13.5	1055	11399	0.00	2.42	0.00	0.000	6	0.000	0.032	2906	2004	1050
11465	1.63	455.6	96.5	11.5	1061	11466	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2004	1051
11528	1.63	455.6	89.5	10.8	1067	11529	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2009	1051
11592	1.64	461.7	83.5	9.8	1073	11602	0.00	0.00	5.43	0.513	6	0.000	0.000	2906	2009	1034
11666	1.64	461.7	75.6	10.8	1080	11667	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2009	1033
11730	1.66	481.4	68.9	9.5	1086	11754	0.00	2.65	18.52	0.609	4	0.000	0.058	2906	584	953
11793	1.69	507.0	63.5	9.3	1091	11823	0.00	2.42	22.75	0.600	6	0.000	0.031	2906	1996	850
11886	1.77	571.5	55.6	8.2	1100	11916	0.00	0.00	23.60	0.584	6	0.000	0.000	2906	1996	745
11980	1.81	606.6	47.2	9.0	1109	11985	0.15	2.60	0.00	0.000	4	0.044	0.058	2959	585	743
12008	1.81	606.6	43.8	12.5	1111	12013	0.12	2.42	0.00	0.000	6	0.079	0.031	2933	2003	742
12078	1.81	606.6	35.8	10.7	1117	12082	0.00	2.50	0.00	0.000	4	0.000	0.053	2933	3390	741
12128	1.81	606.6	30.3	10.0	1121	12133	0.00	2.42	0.00	0.000	6	0.000	0.034	2933	1990	741
12198	1.81	606.6	22.8	10.8	1127	12199	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	1989	741
12264	1.81	606.6	15.5	10.9	1136	12270	0.00	2.53	0.00	0.000	4	0.000	0.061	2933	594	741
12305	1.81	606.6	10.9	10.9	1143	12312	0.00	2.40	0.00	0.000	6	0.000	0.029	2933	2004	742
12380	1.81	606.6	2.7	10.2	1156	12386	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	2005	741
12390	end climb: SURFACE_DEPTH_REACHED
state	12390	begin surface coast
12408	end surface coast: CONTROL_FINISHED_OK
state	12408	begin surface