Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 781 * 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 781 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -77513.758 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 -77513.758

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 36 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 35 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 781 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 191900,4913.255,-13424.156,36,1.5,42,19.6 TGT_NAME P12

_CALLS 1 TGT_LATLONG 4858.200,-13040.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.137,-0.097

_SM_DEPTHo 2.19 KALMAN_X -50681.3,18.3,-180.8,814780.4,1573.2

_SM_ANGLEo -51.1 KALMAN_Y 78108.2,-106.0,-31.2,-203221.8,2801.0

GPS2 192631,4913.350,-13424.146,15,1.6,33,19.6 MHEAD_RNG_PITCHd_Wd 105.7,273946,-12.3,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.9,1.025295 XPDR_PINGS 77

SM_CCo 28877,0.00,0.000,0,0,1680,306.87 _24V_AH 22.4,112.436

SM_GC 2.18,5.60,0.00,0.00,0.040,0.000,0.000,98,2306,1680,-8.61,0.08,306.87 _10V_AH 10.3,95.427

IRIDIUM_FIX 4856.69,-13427.39,250599,111116 DATA_FILE_SIZE 44348,733

TT8_MAMPS 0.028379 CAP_FILE_SIZE 198446,0

HUMID 1766 CFSIZE 260165632,197898240

INTERNAL_PRESSURE 7.42216 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 18.60 GPS 010310,033036,4911.225,-13419.628,62,1.5,68,19.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 230 98.52 SBE_CT 516 24 277.60

Roll_motor 282 62 398.13 SBE_O2 597 19 254.10

VBD_pump_during_apogee 373 1274 10670.10 Optode 760 33 562.29

VBD_pump_during_surface 0 0 0.00 WL_BB2F 806 105 1897.48

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.18 nil 0 0 0.00

Iridium_during_connect 27 160 99.46 nil 0 0 0.00

Iridium_during_xfer 184 223 923.63

Transponder_ping 19 420 181.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.23

TT8 1741 19 355.13

LPSleep 23696 2 534.53

TT8_Active 531 19 108.36

TT8_Sampling 2299 39 942.62

TT8_CF8 1043 45 492.10

TT8_Kalman 33 81 28.12

Analog_circuits 1765 12 218.16

GPS_charging 0 0 0.00

Compass 2251 8 185.49

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.68 -117.3 0.0 0.0 0 60 0.00 0.00 -40.60 0.000 2 0.000 0.000 100 2293 2703

65 -0.68 -117.3 3.9 -7.1 2 95 7.12 2.38 -15.82 0.000 4 0.231 0.063 1838 3706 3414

142 -0.65 -117.3 17.0 -13.2 5 146 0.00 2.22 0.00 0.000 6 0.000 0.036 1838 2301 3414

460 -0.59 -117.3 54.3 -11.9 20 464 0.12 2.28 0.00 0.000 4 0.130 0.040 1873 886 3415

534 -0.62 -117.3 62.1 -9.4 23 538 0.00 2.25 0.00 0.000 6 0.000 0.035 1865 2306 3415

861 -0.62 -117.3 93.7 -9.9 45 865 0.00 2.25 0.00 0.000 4 0.000 0.040 1865 889 3415

930 -0.62 -117.3 100.5 -9.0 51 935 0.00 2.28 0.00 0.000 6 0.000 0.037 1863 2300 3416

1262 -0.66 -117.3 125.5 -7.4 81 1266 0.00 2.30 0.00 0.000 4 0.000 0.048 1853 3710 3416

1305 -0.70 -117.3 128.9 -7.4 84 1309 0.00 2.20 0.00 0.000 6 0.000 0.028 1853 2288 3415

1651 -0.75 -117.3 152.5 -6.9 114 1655 0.00 2.22 0.00 0.000 4 0.000 0.040 1852 890 3416

1692 -0.80 -117.3 155.8 -7.2 115 1697 0.10 2.28 0.00 0.000 6 0.063 0.041 1777 2305 3415

2023 -0.70 -117.3 192.3 -11.3 126 2028 0.20 2.28 0.00 0.000 4 0.125 0.039 1842 890 3416

2098 -0.73 -117.3 199.0 -8.0 128 2102 0.00 2.25 0.00 0.000 6 0.000 0.035 1837 2305 3415

2423 -0.73 -117.3 223.4 -7.1 139 2427 0.00 2.25 0.00 0.000 4 0.000 0.040 1836 901 3416

2460 -0.76 -117.3 226.1 -7.8 140 2464 0.00 2.28 0.00 0.000 6 0.000 0.042 1836 2306 3416

2797 -0.76 -117.3 250.2 -7.1 151 2801 0.00 2.28 0.00 0.000 4 0.000 0.041 1836 891 3416

2837 -0.79 -117.3 253.3 -7.5 152 2841 0.00 2.28 0.00 0.000 6 0.000 0.037 1836 2314 3415

3162 -0.79 -117.3 277.2 -7.5 163 3166 0.00 2.28 0.00 0.000 4 0.000 0.041 1836 900 3415

3209 -0.82 -117.3 280.8 -8.0 164 3213 0.00 2.28 0.00 0.000 6 0.000 0.038 1835 2314 3416

3559 -0.84 -117.3 306.5 -7.5 175 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 2315 3415

3862 -0.86 -117.3 329.5 -7.6 180 3866 0.08 2.30 0.00 0.000 4 0.081 0.048 1772 902 3415

3903 -0.77 -117.3 333.7 -11.6 180 3908 0.25 2.25 0.00 0.000 6 0.117 0.038 1834 2306 3415

4237 -0.80 -117.3 359.6 -7.5 186 4238 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 2306 3415

4540 -0.83 -117.3 381.7 -7.2 191 4544 0.00 2.28 0.00 0.000 4 0.000 0.050 1834 904 3415

4608 -0.87 -117.3 387.1 -7.2 192 4613 0.10 2.28 0.00 0.000 6 0.065 0.039 1768 2309 3414

4970 -0.78 -117.3 424.2 -10.3 198 4975 0.17 2.30 0.00 0.000 4 0.127 0.044 1827 904 3414

5022 -0.81 -117.3 428.5 -7.2 198 5026 0.00 2.28 0.00 0.000 6 0.000 0.038 1821 2305 3413

5333 -0.81 -117.3 450.2 -7.0 203 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2305 3413

5637 -0.81 -117.3 472.0 -7.2 208 5641 0.00 2.30 0.00 0.000 4 0.000 0.049 1821 899 3413

5683 -0.83 -117.3 475.5 -7.9 208 5687 0.00 2.30 0.00 0.000 6 0.000 0.038 1812 2311 3413

5999 -0.83 -117.3 497.9 -7.1 214 6000 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2311 3412

6302 -0.83 -117.3 520.0 -7.3 219 6306 0.00 2.30 0.00 0.000 4 0.000 0.043 1812 904 3412

6354 -0.83 -117.3 524.0 -7.7 219 6358 0.00 2.28 0.00 0.000 6 0.000 0.038 1808 2301 3412

6665 -0.83 -117.3 547.6 -7.6 224 6666 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2302 3411

6968 -0.83 -117.3 570.1 -7.5 229 6972 0.00 2.30 0.00 0.000 4 0.000 0.043 1808 900 3411

7002 -0.83 -117.3 572.9 -8.5 229 7006 0.00 2.30 0.00 0.000 6 0.000 0.044 1806 2311 3411

7336 -0.83 -117.3 599.4 -8.0 235 7340 0.00 2.33 0.00 0.000 4 0.000 0.043 1806 896 3411

7388 -0.83 -117.3 603.8 -7.9 235 7393 0.10 2.30 0.00 0.000 6 0.122 0.039 1824 2305 3411

7711 -0.86 -117.3 624.5 -6.4 241 7715 0.00 2.30 0.00 0.000 4 0.000 0.049 1824 900 3410

7741 -0.90 -117.3 626.6 -7.1 241 7745 0.00 2.28 0.00 0.000 6 0.000 0.042 1823 2303 3410

8080 -0.93 -117.3 646.9 -5.9 247 8082 0.10 0.00 0.00 0.000 6 0.064 0.000 1754 2303 3410

8383 -0.83 -117.3 676.5 -10.0 252 8388 0.20 2.30 0.00 0.000 4 0.124 0.043 1818 901 3409

8443 -0.87 -117.3 681.0 -7.6 252 8447 0.00 2.30 0.00 0.000 6 0.000 0.043 1810 2310 3410

8753 -0.87 -117.3 703.4 -7.2 257 8757 0.00 2.33 0.00 0.000 4 0.000 0.044 1810 893 3409

8790 -0.87 -117.3 706.0 -7.3 257 8794 0.00 2.30 0.00 0.000 6 0.000 0.041 1809 2303 3409

9117 -0.87 -117.3 728.3 -6.6 263 9121 0.00 2.30 0.00 0.000 4 0.000 0.043 1808 900 3409

9159 -0.87 -117.3 731.0 -7.2 263 9163 0.00 2.30 0.00 0.000 6 0.000 0.040 1807 2303 3409

9481 -0.87 -117.3 751.9 -6.4 269 9485 0.00 2.30 0.00 0.000 4 0.000 0.050 1807 899 3409

9532 -0.87 -117.3 755.5 -6.8 269 9536 0.00 2.28 0.00 0.000 6 0.000 0.039 1798 2303 3409

9843 -0.87 -117.3 777.7 -7.1 274 9844 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2303 3409

10147 -0.87 -117.3 799.0 -7.0 279 10151 0.00 2.30 0.00 0.000 4 0.000 0.044 1798 902 3408

10187 -0.87 -117.3 802.2 -8.2 279 10191 0.00 2.30 0.00 0.000 6 0.000 0.044 1794 2303 3408

10509 -0.87 -117.3 824.7 -7.0 285 10510 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2303 3408

10812 -0.87 -117.3 846.6 -7.3 290 10816 0.00 2.33 0.00 0.000 4 0.000 0.051 1794 905 3408

10864 -0.87 -117.3 850.8 -8.0 290 10869 0.10 2.28 0.00 0.000 6 0.126 0.044 1810 2305 3408

11175 -0.90 -117.3 871.8 -6.7 295 11179 0.00 2.33 0.00 0.000 4 0.000 0.044 1811 902 3408

11216 -0.92 -117.3 874.9 -7.7 295 11220 0.00 2.30 0.00 0.000 6 0.000 0.045 1809 2304 3406

11540 -0.95 -117.3 897.7 -7.1 301 11541 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2304 3407

11842 -0.97 -117.3 917.9 -6.7 306 11846 0.00 2.35 0.00 0.000 4 0.000 0.051 1809 904 3407

11870 -0.97 -117.3 920.0 -7.2 306 11875 0.00 2.30 0.00 0.000 6 0.000 0.046 1809 2302 3407

12204 -0.97 -117.3 942.8 -6.8 312 12205 0.00 0.00 0.00 0.000 6 0.000 0.000 1808 2302 3407

12508 -0.99 -117.3 964.0 -7.0 317 12513 0.10 2.38 0.00 0.000 4 0.078 0.047 1764 894 3407

12560 -0.92 -117.3 968.9 -9.7 317 12565 0.17 2.33 0.00 0.000 6 0.130 0.046 1803 2305 3407

12866 end dive: TARGET_DEPTH_EXCEEDED

state 12867 begin apogee

12876 -0.22 0.0 992.3 7.5 322 12977 0.47 0.00 97.72 1.275 6 0.107 0.000 1958 2305 2931

12977 end apogee: CONTROL_FINISHED_OK

state 12977 begin climb

12983 0.68 117.3 994.7 0.0 323 13090 0.55 0.00 103.43 1.251 6 0.070 0.000 2153 2305 2451

13350 0.59 133.2 984.5 5.0 329 13366 0.10 0.00 13.62 1.131 6 0.150 0.000 2130 2304 2388

13653 0.54 145.6 969.3 5.1 334 13671 0.00 2.38 11.95 1.110 4 0.000 0.053 2138 898 2336

13693 0.52 161.4 967.1 5.0 334 13713 0.10 2.28 15.15 1.137 6 0.139 0.041 2114 2309 2272

14019 0.52 164.4 949.6 5.4 339 14023 0.00 2.28 0.00 0.000 4 0.000 0.051 2114 3711 2267

14084 0.47 164.4 945.1 7.2 340 14088 0.00 2.20 0.00 0.000 6 0.000 0.036 2122 2312 2266

14457 0.44 164.4 920.2 6.7 346 14462 0.12 2.30 0.00 0.000 4 0.151 0.052 2085 3716 2265

14486 0.44 164.4 918.2 6.5 346 14490 0.00 2.22 0.00 0.000 6 0.000 0.038 2093 2304 2265

14826 0.47 167.7 899.9 5.4 352 14834 0.00 0.00 6.05 0.922 6 0.000 0.000 2093 2304 2247

15128 0.52 179.8 884.3 5.1 357 15142 0.00 0.00 12.15 1.081 6 0.000 0.000 2093 2304 2198

15431 0.62 196.3 869.3 4.9 362 15453 0.15 2.35 16.05 1.108 4 0.061 0.054 2162 3717 2129

15549 0.49 196.3 859.6 10.4 363 15554 0.25 2.25 0.00 0.000 6 0.148 0.033 2104 2304 2127

15866 0.54 208.6 842.7 5.1 369 15885 0.00 2.38 11.90 1.055 4 0.000 0.052 2113 892 2079

15910 0.60 212.1 840.2 5.4 369 15920 0.00 2.28 4.57 0.767 6 0.000 0.038 2113 2308 2066

16239 0.63 212.1 820.3 6.3 375 16244 0.08 2.30 0.00 0.000 4 0.087 0.054 2164 3716 2064

16279 0.51 212.1 816.5 10.3 375 16284 0.25 2.25 0.00 0.000 6 0.143 0.038 2106 2297 2064

16603 0.55 212.1 797.5 5.7 381 16607 0.00 2.28 0.00 0.000 4 0.000 0.050 2115 887 2063

16626 0.60 212.1 795.8 6.1 381 16630 0.00 2.30 0.00 0.000 6 0.000 0.037 2115 2314 2063

16971 0.63 212.1 774.8 6.1 387 16976 0.08 2.25 0.00 0.000 4 0.085 0.048 2169 3713 2063

17006 0.50 212.1 771.7 9.4 387 17011 0.25 2.22 0.00 0.000 6 0.143 0.033 2111 2296 2062

17340 0.54 212.1 749.9 6.4 393 17344 0.00 2.25 0.00 0.000 4 0.000 0.046 2120 894 2062

17364 0.58 212.1 748.1 7.2 393 17368 0.00 2.28 0.00 0.000 6 0.000 0.044 2121 2311 2062

17708 0.60 212.1 726.0 6.3 399 17712 0.00 2.30 0.00 0.000 4 0.000 0.051 2121 3715 2062

17755 0.60 212.1 722.5 8.6 399 17759 0.00 2.25 0.00 0.000 6 0.000 0.037 2131 2302 2062

18085 0.60 212.1 699.6 6.9 405 18086 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2302 2061

18386 0.60 212.1 680.7 6.1 410 18390 0.00 2.33 0.00 0.000 4 0.000 0.055 2130 3707 2062

18415 0.57 212.1 679.0 6.6 410 18419 0.00 2.22 0.00 0.000 6 0.000 0.031 2141 2295 2061

18750 0.57 212.1 658.6 6.1 416 18751 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2295 2061

19052 0.55 212.1 640.8 5.9 421 19056 0.00 2.38 0.00 0.000 4 0.000 0.050 2141 3712 2061

19092 0.49 212.1 637.7 7.5 421 19097 0.17 2.25 0.00 0.000 6 0.129 0.032 2102 2297 2060

19416 0.61 252.9 623.9 4.1 427 19455 0.10 0.00 36.58 1.011 6 0.070 0.000 2174 2296 1899

19785 0.53 252.9 594.9 8.2 433 19789 0.20 2.33 0.00 0.000 4 0.130 0.049 2110 3708 1893

19830 0.57 252.9 591.8 5.8 433 19834 0.00 2.20 0.00 0.000 6 0.000 0.031 2119 2303 1892

20160 0.62 252.9 573.6 5.7 439 20163 0.00 2.28 0.00 0.000 4 0.000 0.046 2129 894 1891

20200 0.69 252.9 570.9 7.4 439 20204 0.00 2.28 0.00 0.000 6 0.000 0.041 2129 2314 1891

20528 0.72 252.9 549.6 6.6 445 20533 0.10 2.30 0.00 0.000 4 0.064 0.051 2203 3716 1890

20575 0.56 252.9 544.5 11.4 445 20580 0.32 2.22 0.00 0.000 6 0.146 0.033 2123 2299 1890

20892 0.60 252.9 523.5 6.2 451 20896 0.00 2.28 0.00 0.000 4 0.000 0.046 2131 891 1890

20921 0.66 252.9 521.6 5.8 451 20925 0.00 2.28 0.00 0.000 6 0.000 0.037 2131 2304 1890

21261 0.69 252.9 500.2 6.3 457 21265 0.00 2.30 0.00 0.000 4 0.000 0.048 2132 3710 1890

21290 0.69 252.9 498.1 7.0 457 21293 0.00 2.20 0.00 0.000 6 0.000 0.031 2141 2299 1889

21634 0.69 252.9 475.5 6.5 463 21638 0.00 2.28 0.00 0.000 4 0.000 0.046 2152 894 1890

21663 0.69 252.9 473.5 7.3 463 21667 0.00 2.25 0.00 0.000 6 0.000 0.036 2152 2308 1889

22004 0.67 252.9 449.5 7.2 469 22008 0.00 2.28 0.00 0.000 4 0.000 0.048 2151 3715 1889

22063 0.62 252.9 444.5 8.8 469 22068 0.12 2.22 0.00 0.000 6 0.131 0.031 2129 2289 1889

22374 0.66 252.9 425.8 5.9 474 22378 0.00 2.28 0.00 0.000 4 0.000 0.051 2137 898 1889

22393 0.70 252.9 424.7 5.6 474 22398 0.00 2.22 0.00 0.000 6 0.000 0.036 2138 2305 1888

22750 0.73 252.9 403.0 6.1 480 22753 0.00 2.28 0.00 0.000 4 0.000 0.048 2138 3708 1888

22790 0.73 252.9 400.0 7.2 480 22794 0.00 2.20 0.00 0.000 6 0.000 0.031 2147 2300 1889

23125 0.73 252.9 375.4 7.5 486 23129 0.00 2.30 0.00 0.000 4 0.000 0.047 2147 3711 1888

23160 0.69 252.9 372.0 9.0 486 23163 0.00 2.20 0.00 0.000 6 0.000 0.031 2157 2304 1888

23499 0.67 252.9 343.1 8.5 492 23503 0.00 2.30 0.00 0.000 4 0.000 0.045 2168 885 1888

23544 0.67 252.9 339.3 8.5 492 23549 0.10 2.25 0.00 0.000 6 0.128 0.036 2143 2304 1888

23873 0.69 252.9 318.0 6.3 498 23877 0.00 2.30 0.00 0.000 4 0.000 0.047 2143 3717 1888

23903 0.69 252.9 316.0 6.8 498 23907 0.00 2.22 0.00 0.000 6 0.000 0.031 2150 2295 1888

24237 0.69 252.9 294.4 6.3 505 24238 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2295 1888

24543 0.69 252.9 276.4 5.8 515 24547 0.00 2.33 0.00 0.000 4 0.000 0.048 2151 3705 1888

24594 0.66 252.9 272.8 7.1 516 24599 0.00 2.22 0.00 0.000 6 0.000 0.031 2160 2295 1888

24915 0.64 252.9 252.6 6.3 527 24919 0.00 2.33 0.00 0.000 4 0.000 0.046 2160 3715 1888

24945 0.60 252.9 250.4 7.8 527 24952 0.12 2.30 0.00 0.000 6 0.109 0.033 2129 2306 1888

25260 0.66 252.9 233.4 5.7 538 25264 0.00 2.33 0.00 0.000 4 0.000 0.044 2136 894 1888

25306 0.73 252.9 230.2 6.8 539 25311 0.08 2.28 0.00 0.000 6 0.071 0.038 2197 2303 1888

25627 0.63 252.9 199.1 9.6 550 25632 0.17 2.30 0.00 0.000 4 0.124 0.045 2139 3707 1888

25683 0.63 252.9 194.6 7.7 551 25690 0.00 2.22 0.00 0.000 6 0.000 0.031 2147 2290 1888

26000 0.67 262.3 177.1 5.2 562 26014 0.00 2.35 7.88 0.618 4 0.000 0.046 2147 3701 1861

26046 0.69 262.3 174.4 5.7 563 26049 0.00 2.20 0.00 0.000 6 0.000 0.030 2154 2299 1861

26377 0.72 262.3 154.8 6.1 574 26381 0.00 2.30 0.00 0.000 4 0.000 0.043 2163 893 1860

26409 0.81 303.6 152.9 4.1 575 26450 0.00 2.25 36.62 0.687 6 0.000 0.035 2163 2305 1693

26778 0.86 303.6 130.9 5.6 606 26783 0.08 2.30 0.00 0.000 4 0.074 0.045 2231 3705 1687

26820 0.74 303.6 127.1 9.6 609 26825 0.28 2.22 0.00 0.000 6 0.126 0.031 2159 2302 1686

27154 0.82 303.6 108.3 6.0 640 27158 0.00 2.30 0.00 0.000 4 0.000 0.042 2167 890 1685

27200 0.92 303.6 105.1 6.8 643 27207 0.10 2.25 0.00 0.000 6 0.067 0.035 2225 2310 1684

27529 0.97 303.6 81.2 6.9 674 27533 0.00 2.28 0.00 0.000 4 0.000 0.045 2225 3708 1684

27558 0.97 303.6 78.7 7.2 675 27562 0.10 2.22 0.00 0.000 6 0.132 0.030 2207 2291 1684

27876 0.97 303.6 58.6 6.7 690 27880 0.00 2.25 0.00 0.000 4 0.000 0.042 2216 899 1684

27904 0.97 303.6 56.6 5.7 691 27908 0.00 2.22 0.00 0.000 6 0.000 0.035 2217 2304 1683

28233 0.97 303.6 34.1 7.5 707 28237 0.00 2.25 0.00 0.000 4 0.000 0.045 2216 3711 1683

28297 0.92 303.6 29.0 7.3 709 28304 0.08 2.25 0.00 0.000 6 0.121 0.029 2200 2305 1683

28614 0.96 303.6 9.7 6.8 725 28618 0.00 2.28 0.00 0.000 4 0.000 0.040 2209 885 1683

28746 end climb: SURFACE_DEPTH_REACHED

state 28746 begin surface coast

28793 end surface coast: CONTROL_FINISHED_OK

state 28793 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	781	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-77513.758	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	191900,4913.255,-13424.156,36,1.5,42,19.6	TGT_NAME	P12
_CALLS	1	TGT_LATLONG	4858.200,-13040.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.137,-0.097
_SM_DEPTHo	2.19	KALMAN_X	-50681.3,18.3,-180.8,814780.4,1573.2
_SM_ANGLEo	-51.1	KALMAN_Y	78108.2,-106.0,-31.2,-203221.8,2801.0
GPS2	192631,4913.350,-13424.146,15,1.6,33,19.6	MHEAD_RNG_PITCHd_Wd	105.7,273946,-12.3,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.9,1.025295	XPDR_PINGS	77
SM_CCo	28877,0.00,0.000,0,0,1680,306.87	_24V_AH	22.4,112.436
SM_GC	2.18,5.60,0.00,0.00,0.040,0.000,0.000,98,2306,1680,-8.61,0.08,306.87	_10V_AH	10.3,95.427
IRIDIUM_FIX	4856.69,-13427.39,250599,111116	DATA_FILE_SIZE	44348,733
TT8_MAMPS	0.028379	CAP_FILE_SIZE	198446,0
HUMID	1766	CFSIZE	260165632,197898240
INTERNAL_PRESSURE	7.42216	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	18.60	GPS	010310,033036,4911.225,-13419.628,62,1.5,68,19.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	230	98.52	SBE_CT	516	24	277.60
Roll_motor	282	62	398.13	SBE_O2	597	19	254.10
VBD_pump_during_apogee	373	1274	10670.10	Optode	760	33	562.29
VBD_pump_during_surface	0	0	0.00	WL_BB2F	806	105	1897.48
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.18	nil	0	0	0.00
Iridium_during_connect	27	160	99.46	nil	0	0	0.00
Iridium_during_xfer	184	223	923.63
Transponder_ping	19	420	181.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.23
TT8	1741	19	355.13
LPSleep	23696	2	534.53
TT8_Active	531	19	108.36
TT8_Sampling	2299	39	942.62
TT8_CF8	1043	45	492.10
TT8_Kalman	33	81	28.12
Analog_circuits	1765	12	218.16
GPS_charging	0	0	0.00
Compass	2251	8	185.49
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.68	-117.3	0.0	0.0	0	60	0.00	0.00	-40.60	0.000	2	0.000	0.000	100	2293	2703
65	-0.68	-117.3	3.9	-7.1	2	95	7.12	2.38	-15.82	0.000	4	0.231	0.063	1838	3706	3414
142	-0.65	-117.3	17.0	-13.2	5	146	0.00	2.22	0.00	0.000	6	0.000	0.036	1838	2301	3414
460	-0.59	-117.3	54.3	-11.9	20	464	0.12	2.28	0.00	0.000	4	0.130	0.040	1873	886	3415
534	-0.62	-117.3	62.1	-9.4	23	538	0.00	2.25	0.00	0.000	6	0.000	0.035	1865	2306	3415
861	-0.62	-117.3	93.7	-9.9	45	865	0.00	2.25	0.00	0.000	4	0.000	0.040	1865	889	3415
930	-0.62	-117.3	100.5	-9.0	51	935	0.00	2.28	0.00	0.000	6	0.000	0.037	1863	2300	3416
1262	-0.66	-117.3	125.5	-7.4	81	1266	0.00	2.30	0.00	0.000	4	0.000	0.048	1853	3710	3416
1305	-0.70	-117.3	128.9	-7.4	84	1309	0.00	2.20	0.00	0.000	6	0.000	0.028	1853	2288	3415
1651	-0.75	-117.3	152.5	-6.9	114	1655	0.00	2.22	0.00	0.000	4	0.000	0.040	1852	890	3416
1692	-0.80	-117.3	155.8	-7.2	115	1697	0.10	2.28	0.00	0.000	6	0.063	0.041	1777	2305	3415
2023	-0.70	-117.3	192.3	-11.3	126	2028	0.20	2.28	0.00	0.000	4	0.125	0.039	1842	890	3416
2098	-0.73	-117.3	199.0	-8.0	128	2102	0.00	2.25	0.00	0.000	6	0.000	0.035	1837	2305	3415
2423	-0.73	-117.3	223.4	-7.1	139	2427	0.00	2.25	0.00	0.000	4	0.000	0.040	1836	901	3416
2460	-0.76	-117.3	226.1	-7.8	140	2464	0.00	2.28	0.00	0.000	6	0.000	0.042	1836	2306	3416
2797	-0.76	-117.3	250.2	-7.1	151	2801	0.00	2.28	0.00	0.000	4	0.000	0.041	1836	891	3416
2837	-0.79	-117.3	253.3	-7.5	152	2841	0.00	2.28	0.00	0.000	6	0.000	0.037	1836	2314	3415
3162	-0.79	-117.3	277.2	-7.5	163	3166	0.00	2.28	0.00	0.000	4	0.000	0.041	1836	900	3415
3209	-0.82	-117.3	280.8	-8.0	164	3213	0.00	2.28	0.00	0.000	6	0.000	0.038	1835	2314	3416
3559	-0.84	-117.3	306.5	-7.5	175	3560	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	2315	3415
3862	-0.86	-117.3	329.5	-7.6	180	3866	0.08	2.30	0.00	0.000	4	0.081	0.048	1772	902	3415
3903	-0.77	-117.3	333.7	-11.6	180	3908	0.25	2.25	0.00	0.000	6	0.117	0.038	1834	2306	3415
4237	-0.80	-117.3	359.6	-7.5	186	4238	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	2306	3415
4540	-0.83	-117.3	381.7	-7.2	191	4544	0.00	2.28	0.00	0.000	4	0.000	0.050	1834	904	3415
4608	-0.87	-117.3	387.1	-7.2	192	4613	0.10	2.28	0.00	0.000	6	0.065	0.039	1768	2309	3414
4970	-0.78	-117.3	424.2	-10.3	198	4975	0.17	2.30	0.00	0.000	4	0.127	0.044	1827	904	3414
5022	-0.81	-117.3	428.5	-7.2	198	5026	0.00	2.28	0.00	0.000	6	0.000	0.038	1821	2305	3413
5333	-0.81	-117.3	450.2	-7.0	203	5334	0.00	0.00	0.00	0.000	6	0.000	0.000	1821	2305	3413
5637	-0.81	-117.3	472.0	-7.2	208	5641	0.00	2.30	0.00	0.000	4	0.000	0.049	1821	899	3413
5683	-0.83	-117.3	475.5	-7.9	208	5687	0.00	2.30	0.00	0.000	6	0.000	0.038	1812	2311	3413
5999	-0.83	-117.3	497.9	-7.1	214	6000	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2311	3412
6302	-0.83	-117.3	520.0	-7.3	219	6306	0.00	2.30	0.00	0.000	4	0.000	0.043	1812	904	3412
6354	-0.83	-117.3	524.0	-7.7	219	6358	0.00	2.28	0.00	0.000	6	0.000	0.038	1808	2301	3412
6665	-0.83	-117.3	547.6	-7.6	224	6666	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2302	3411
6968	-0.83	-117.3	570.1	-7.5	229	6972	0.00	2.30	0.00	0.000	4	0.000	0.043	1808	900	3411
7002	-0.83	-117.3	572.9	-8.5	229	7006	0.00	2.30	0.00	0.000	6	0.000	0.044	1806	2311	3411
7336	-0.83	-117.3	599.4	-8.0	235	7340	0.00	2.33	0.00	0.000	4	0.000	0.043	1806	896	3411
7388	-0.83	-117.3	603.8	-7.9	235	7393	0.10	2.30	0.00	0.000	6	0.122	0.039	1824	2305	3411
7711	-0.86	-117.3	624.5	-6.4	241	7715	0.00	2.30	0.00	0.000	4	0.000	0.049	1824	900	3410
7741	-0.90	-117.3	626.6	-7.1	241	7745	0.00	2.28	0.00	0.000	6	0.000	0.042	1823	2303	3410
8080	-0.93	-117.3	646.9	-5.9	247	8082	0.10	0.00	0.00	0.000	6	0.064	0.000	1754	2303	3410
8383	-0.83	-117.3	676.5	-10.0	252	8388	0.20	2.30	0.00	0.000	4	0.124	0.043	1818	901	3409
8443	-0.87	-117.3	681.0	-7.6	252	8447	0.00	2.30	0.00	0.000	6	0.000	0.043	1810	2310	3410
8753	-0.87	-117.3	703.4	-7.2	257	8757	0.00	2.33	0.00	0.000	4	0.000	0.044	1810	893	3409
8790	-0.87	-117.3	706.0	-7.3	257	8794	0.00	2.30	0.00	0.000	6	0.000	0.041	1809	2303	3409
9117	-0.87	-117.3	728.3	-6.6	263	9121	0.00	2.30	0.00	0.000	4	0.000	0.043	1808	900	3409
9159	-0.87	-117.3	731.0	-7.2	263	9163	0.00	2.30	0.00	0.000	6	0.000	0.040	1807	2303	3409
9481	-0.87	-117.3	751.9	-6.4	269	9485	0.00	2.30	0.00	0.000	4	0.000	0.050	1807	899	3409
9532	-0.87	-117.3	755.5	-6.8	269	9536	0.00	2.28	0.00	0.000	6	0.000	0.039	1798	2303	3409
9843	-0.87	-117.3	777.7	-7.1	274	9844	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2303	3409
10147	-0.87	-117.3	799.0	-7.0	279	10151	0.00	2.30	0.00	0.000	4	0.000	0.044	1798	902	3408
10187	-0.87	-117.3	802.2	-8.2	279	10191	0.00	2.30	0.00	0.000	6	0.000	0.044	1794	2303	3408
10509	-0.87	-117.3	824.7	-7.0	285	10510	0.00	0.00	0.00	0.000	6	0.000	0.000	1794	2303	3408
10812	-0.87	-117.3	846.6	-7.3	290	10816	0.00	2.33	0.00	0.000	4	0.000	0.051	1794	905	3408
10864	-0.87	-117.3	850.8	-8.0	290	10869	0.10	2.28	0.00	0.000	6	0.126	0.044	1810	2305	3408
11175	-0.90	-117.3	871.8	-6.7	295	11179	0.00	2.33	0.00	0.000	4	0.000	0.044	1811	902	3408
11216	-0.92	-117.3	874.9	-7.7	295	11220	0.00	2.30	0.00	0.000	6	0.000	0.045	1809	2304	3406
11540	-0.95	-117.3	897.7	-7.1	301	11541	0.00	0.00	0.00	0.000	6	0.000	0.000	1809	2304	3407
11842	-0.97	-117.3	917.9	-6.7	306	11846	0.00	2.35	0.00	0.000	4	0.000	0.051	1809	904	3407
11870	-0.97	-117.3	920.0	-7.2	306	11875	0.00	2.30	0.00	0.000	6	0.000	0.046	1809	2302	3407
12204	-0.97	-117.3	942.8	-6.8	312	12205	0.00	0.00	0.00	0.000	6	0.000	0.000	1808	2302	3407
12508	-0.99	-117.3	964.0	-7.0	317	12513	0.10	2.38	0.00	0.000	4	0.078	0.047	1764	894	3407
12560	-0.92	-117.3	968.9	-9.7	317	12565	0.17	2.33	0.00	0.000	6	0.130	0.046	1803	2305	3407
12866	end dive: TARGET_DEPTH_EXCEEDED
state	12867	begin apogee
12876	-0.22	0.0	992.3	7.5	322	12977	0.47	0.00	97.72	1.275	6	0.107	0.000	1958	2305	2931
12977	end apogee: CONTROL_FINISHED_OK
state	12977	begin climb
12983	0.68	117.3	994.7	0.0	323	13090	0.55	0.00	103.43	1.251	6	0.070	0.000	2153	2305	2451
13350	0.59	133.2	984.5	5.0	329	13366	0.10	0.00	13.62	1.131	6	0.150	0.000	2130	2304	2388
13653	0.54	145.6	969.3	5.1	334	13671	0.00	2.38	11.95	1.110	4	0.000	0.053	2138	898	2336
13693	0.52	161.4	967.1	5.0	334	13713	0.10	2.28	15.15	1.137	6	0.139	0.041	2114	2309	2272
14019	0.52	164.4	949.6	5.4	339	14023	0.00	2.28	0.00	0.000	4	0.000	0.051	2114	3711	2267
14084	0.47	164.4	945.1	7.2	340	14088	0.00	2.20	0.00	0.000	6	0.000	0.036	2122	2312	2266
14457	0.44	164.4	920.2	6.7	346	14462	0.12	2.30	0.00	0.000	4	0.151	0.052	2085	3716	2265
14486	0.44	164.4	918.2	6.5	346	14490	0.00	2.22	0.00	0.000	6	0.000	0.038	2093	2304	2265
14826	0.47	167.7	899.9	5.4	352	14834	0.00	0.00	6.05	0.922	6	0.000	0.000	2093	2304	2247
15128	0.52	179.8	884.3	5.1	357	15142	0.00	0.00	12.15	1.081	6	0.000	0.000	2093	2304	2198
15431	0.62	196.3	869.3	4.9	362	15453	0.15	2.35	16.05	1.108	4	0.061	0.054	2162	3717	2129
15549	0.49	196.3	859.6	10.4	363	15554	0.25	2.25	0.00	0.000	6	0.148	0.033	2104	2304	2127
15866	0.54	208.6	842.7	5.1	369	15885	0.00	2.38	11.90	1.055	4	0.000	0.052	2113	892	2079
15910	0.60	212.1	840.2	5.4	369	15920	0.00	2.28	4.57	0.767	6	0.000	0.038	2113	2308	2066
16239	0.63	212.1	820.3	6.3	375	16244	0.08	2.30	0.00	0.000	4	0.087	0.054	2164	3716	2064
16279	0.51	212.1	816.5	10.3	375	16284	0.25	2.25	0.00	0.000	6	0.143	0.038	2106	2297	2064
16603	0.55	212.1	797.5	5.7	381	16607	0.00	2.28	0.00	0.000	4	0.000	0.050	2115	887	2063
16626	0.60	212.1	795.8	6.1	381	16630	0.00	2.30	0.00	0.000	6	0.000	0.037	2115	2314	2063
16971	0.63	212.1	774.8	6.1	387	16976	0.08	2.25	0.00	0.000	4	0.085	0.048	2169	3713	2063
17006	0.50	212.1	771.7	9.4	387	17011	0.25	2.22	0.00	0.000	6	0.143	0.033	2111	2296	2062
17340	0.54	212.1	749.9	6.4	393	17344	0.00	2.25	0.00	0.000	4	0.000	0.046	2120	894	2062
17364	0.58	212.1	748.1	7.2	393	17368	0.00	2.28	0.00	0.000	6	0.000	0.044	2121	2311	2062
17708	0.60	212.1	726.0	6.3	399	17712	0.00	2.30	0.00	0.000	4	0.000	0.051	2121	3715	2062
17755	0.60	212.1	722.5	8.6	399	17759	0.00	2.25	0.00	0.000	6	0.000	0.037	2131	2302	2062
18085	0.60	212.1	699.6	6.9	405	18086	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2302	2061
18386	0.60	212.1	680.7	6.1	410	18390	0.00	2.33	0.00	0.000	4	0.000	0.055	2130	3707	2062
18415	0.57	212.1	679.0	6.6	410	18419	0.00	2.22	0.00	0.000	6	0.000	0.031	2141	2295	2061
18750	0.57	212.1	658.6	6.1	416	18751	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2295	2061
19052	0.55	212.1	640.8	5.9	421	19056	0.00	2.38	0.00	0.000	4	0.000	0.050	2141	3712	2061
19092	0.49	212.1	637.7	7.5	421	19097	0.17	2.25	0.00	0.000	6	0.129	0.032	2102	2297	2060
19416	0.61	252.9	623.9	4.1	427	19455	0.10	0.00	36.58	1.011	6	0.070	0.000	2174	2296	1899
19785	0.53	252.9	594.9	8.2	433	19789	0.20	2.33	0.00	0.000	4	0.130	0.049	2110	3708	1893
19830	0.57	252.9	591.8	5.8	433	19834	0.00	2.20	0.00	0.000	6	0.000	0.031	2119	2303	1892
20160	0.62	252.9	573.6	5.7	439	20163	0.00	2.28	0.00	0.000	4	0.000	0.046	2129	894	1891
20200	0.69	252.9	570.9	7.4	439	20204	0.00	2.28	0.00	0.000	6	0.000	0.041	2129	2314	1891
20528	0.72	252.9	549.6	6.6	445	20533	0.10	2.30	0.00	0.000	4	0.064	0.051	2203	3716	1890
20575	0.56	252.9	544.5	11.4	445	20580	0.32	2.22	0.00	0.000	6	0.146	0.033	2123	2299	1890
20892	0.60	252.9	523.5	6.2	451	20896	0.00	2.28	0.00	0.000	4	0.000	0.046	2131	891	1890
20921	0.66	252.9	521.6	5.8	451	20925	0.00	2.28	0.00	0.000	6	0.000	0.037	2131	2304	1890
21261	0.69	252.9	500.2	6.3	457	21265	0.00	2.30	0.00	0.000	4	0.000	0.048	2132	3710	1890
21290	0.69	252.9	498.1	7.0	457	21293	0.00	2.20	0.00	0.000	6	0.000	0.031	2141	2299	1889
21634	0.69	252.9	475.5	6.5	463	21638	0.00	2.28	0.00	0.000	4	0.000	0.046	2152	894	1890
21663	0.69	252.9	473.5	7.3	463	21667	0.00	2.25	0.00	0.000	6	0.000	0.036	2152	2308	1889
22004	0.67	252.9	449.5	7.2	469	22008	0.00	2.28	0.00	0.000	4	0.000	0.048	2151	3715	1889
22063	0.62	252.9	444.5	8.8	469	22068	0.12	2.22	0.00	0.000	6	0.131	0.031	2129	2289	1889
22374	0.66	252.9	425.8	5.9	474	22378	0.00	2.28	0.00	0.000	4	0.000	0.051	2137	898	1889
22393	0.70	252.9	424.7	5.6	474	22398	0.00	2.22	0.00	0.000	6	0.000	0.036	2138	2305	1888
22750	0.73	252.9	403.0	6.1	480	22753	0.00	2.28	0.00	0.000	4	0.000	0.048	2138	3708	1888
22790	0.73	252.9	400.0	7.2	480	22794	0.00	2.20	0.00	0.000	6	0.000	0.031	2147	2300	1889
23125	0.73	252.9	375.4	7.5	486	23129	0.00	2.30	0.00	0.000	4	0.000	0.047	2147	3711	1888
23160	0.69	252.9	372.0	9.0	486	23163	0.00	2.20	0.00	0.000	6	0.000	0.031	2157	2304	1888
23499	0.67	252.9	343.1	8.5	492	23503	0.00	2.30	0.00	0.000	4	0.000	0.045	2168	885	1888
23544	0.67	252.9	339.3	8.5	492	23549	0.10	2.25	0.00	0.000	6	0.128	0.036	2143	2304	1888
23873	0.69	252.9	318.0	6.3	498	23877	0.00	2.30	0.00	0.000	4	0.000	0.047	2143	3717	1888
23903	0.69	252.9	316.0	6.8	498	23907	0.00	2.22	0.00	0.000	6	0.000	0.031	2150	2295	1888
24237	0.69	252.9	294.4	6.3	505	24238	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2295	1888
24543	0.69	252.9	276.4	5.8	515	24547	0.00	2.33	0.00	0.000	4	0.000	0.048	2151	3705	1888
24594	0.66	252.9	272.8	7.1	516	24599	0.00	2.22	0.00	0.000	6	0.000	0.031	2160	2295	1888
24915	0.64	252.9	252.6	6.3	527	24919	0.00	2.33	0.00	0.000	4	0.000	0.046	2160	3715	1888
24945	0.60	252.9	250.4	7.8	527	24952	0.12	2.30	0.00	0.000	6	0.109	0.033	2129	2306	1888
25260	0.66	252.9	233.4	5.7	538	25264	0.00	2.33	0.00	0.000	4	0.000	0.044	2136	894	1888
25306	0.73	252.9	230.2	6.8	539	25311	0.08	2.28	0.00	0.000	6	0.071	0.038	2197	2303	1888
25627	0.63	252.9	199.1	9.6	550	25632	0.17	2.30	0.00	0.000	4	0.124	0.045	2139	3707	1888
25683	0.63	252.9	194.6	7.7	551	25690	0.00	2.22	0.00	0.000	6	0.000	0.031	2147	2290	1888
26000	0.67	262.3	177.1	5.2	562	26014	0.00	2.35	7.88	0.618	4	0.000	0.046	2147	3701	1861
26046	0.69	262.3	174.4	5.7	563	26049	0.00	2.20	0.00	0.000	6	0.000	0.030	2154	2299	1861
26377	0.72	262.3	154.8	6.1	574	26381	0.00	2.30	0.00	0.000	4	0.000	0.043	2163	893	1860
26409	0.81	303.6	152.9	4.1	575	26450	0.00	2.25	36.62	0.687	6	0.000	0.035	2163	2305	1693
26778	0.86	303.6	130.9	5.6	606	26783	0.08	2.30	0.00	0.000	4	0.074	0.045	2231	3705	1687
26820	0.74	303.6	127.1	9.6	609	26825	0.28	2.22	0.00	0.000	6	0.126	0.031	2159	2302	1686
27154	0.82	303.6	108.3	6.0	640	27158	0.00	2.30	0.00	0.000	4	0.000	0.042	2167	890	1685
27200	0.92	303.6	105.1	6.8	643	27207	0.10	2.25	0.00	0.000	6	0.067	0.035	2225	2310	1684
27529	0.97	303.6	81.2	6.9	674	27533	0.00	2.28	0.00	0.000	4	0.000	0.045	2225	3708	1684
27558	0.97	303.6	78.7	7.2	675	27562	0.10	2.22	0.00	0.000	6	0.132	0.030	2207	2291	1684
27876	0.97	303.6	58.6	6.7	690	27880	0.00	2.25	0.00	0.000	4	0.000	0.042	2216	899	1684
27904	0.97	303.6	56.6	5.7	691	27908	0.00	2.22	0.00	0.000	6	0.000	0.035	2217	2304	1683
28233	0.97	303.6	34.1	7.5	707	28237	0.00	2.25	0.00	0.000	4	0.000	0.045	2216	3711	1683
28297	0.92	303.6	29.0	7.3	709	28304	0.08	2.25	0.00	0.000	6	0.121	0.029	2200	2305	1683
28614	0.96	303.6	9.7	6.8	725	28618	0.00	2.28	0.00	0.000	4	0.000	0.040	2209	885	1683
28746	end climb: SURFACE_DEPTH_REACHED
state	28746	begin surface coast
28793	end surface coast: CONTROL_FINISHED_OK
state	28793	begin surface