Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 218 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_INHIBIT 90

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

DIVE 218 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 1 INT_PRESSURE_YINT 0

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDER 0

STOP_T 0 SM_CC 350 VBD_MIN 550 MOTHERBOARD 4

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 DEVICE1 -1

D_FLARE 3 FILEMGR 0 C_VBD 2681 DEVICE2 -1

D_TGT 990 CALL_NDIVES 1 VBD_DBAND 2 DEVICE3 -1

D_ABORT 1030 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE4 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE5 -1

D_BOOST 2.5 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE6 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0014 LOGGERS 5

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE1 53

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 71

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 134

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 2 COMPASS2_DEVICE 149

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 PHONE_DEVICE 49

T_DIVE 330 T_GPS 5 LOITER_W_DBAND 0 GPS_DEVICE 32

T_MISSION 400 N_GPS 100440 LOITER_DBDW 0 RAFOS_DEVICE -1

T_ABORT 1440 T_RSLEEP 2 LOITER_D_NO_PUMP 500 XPDR_DEVICE 24

T_TURN 225 STROBE 0 LOITER_N_DIVE 0 SIM_W 0

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 2 SEABIRD_T_G 0.0043545738

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 SEABIRD_T_H 0.00062548259

T_LOITER 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

T_EPIRB 0 RAFOS_MMODEM 0 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_BATHY 0 PITCH_MIN 75 AH0_10V 350 SEABIRD_C_G -9.9945526

USE_ICE 0 PITCH_MAX 3750 MINV_24V 11 SEABIRD_C_H 1.1183146

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2130 MINV_10V 11 SEABIRD_C_I -0.0026370776

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_PROFILE 3.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_XMITPROFILE 3.0

MAX_BUOY 175 PITCH_GAIN 40 PHONE_SUPPLY -2 SC_NDIVE 1.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 COMPASS_USE 4 TM_NDIVE 1.0

MASS 55793 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

MASS_COMP 0 ROLL_MIN 180 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3850 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

FERRY_MAX 40 ROLL_DEG 15 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

KALMAN_USE 2 C_ROLL_DIVE 1700 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1720 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_B 0.0099999998 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10 CP_STARTS 221.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_PULSE 4

ESCAPE_HEADING 0 R_PORT_OVSHOOT 43 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 XPDR_VALID 5

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_10V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 350

AH0_24V 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_MAX 3750 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0014 TM_NDIVE 1.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0.5 TM_PROFILE 3.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 2 TM_RECORDABOVE 2000.0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPMAXSIZE 100000 HEADING -1 PROTOCOL 9 T_ABORT 1440

CAPUPLOAD 0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_BOOST 0

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_DIVE 330

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS2_DEVICE 149 ID 124 RAFOS_DEVICE -1 T_GPS 5

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_MISSION 400

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_NDIVE 1.0 LOGGERDEVICE1 53 RELAUNCH 1 T_RSLEEP 2

CP_PROFILE 2.0 LOGGERDEVICE2 71 RHO 1.0275 T_TURN 225

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT -5

CP_STARTS 221.0 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

CP_UPLOADMAX 100000.0 LOGGERS 5 ROLL_AD_RATE 250 UNCOM_BLEED 50

CP_XMITPROFILE 2.0 LOITER_DBDW 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_PITCH 2130 LOITER_D_NO_PUMP 500 ROLL_DEG 15 USE_BATHY 0

C_ROLL_CLIMB 1720 LOITER_N_DIVE 0 ROLL_MAX 3850 USE_ICE 0

C_ROLL_DIVE 1700 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

C_VBD 2681 MASS 55793 ROLL_MIN 180 VBD_CNV -0.24529999

DBDW 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEEPGLIDER 0 MAXI_10V 1.5 R_PORT_OVSHOOT 43 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 50 VBD_MAX 3990

DEVICE2 -1 MAX_BUOY 175 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE4 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

DIVE 218 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 2

D_ABORT 1030 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_BOOST 2.5 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_CALL 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FINISH 0 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

Pre-dive calculations and measurements:

GPS1 030718,010851,5747.9556,-2336.7700,28,1.2,45,-15.3,0.4,148.9,7,8.0 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME Z3

_XMS_NAKs 0 TGT_LATLONG 5730.000,-2400.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.34 MHEAD_RNG_PITCHd_Wd 195.5,40477,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -75.2 D_GRID 990

GPS2 030718,012044,5747.9854,-2336.8889,13,1.4,22,-15.3,0.5,11.7,6,8.2

Post-dive calculations and measurements:

FINISH 0.7,1.026930 _10V_AH 12.87,72.384

SM_CCo 16493,116.43,0.115,0,0,1254,350.29 FG_AHR_24Vo 0.000

SM_GC 1.37,6.18,0.05,116.43,0.065,0.216,0.115,57,1704,1254,-9.42,1.36,350.29,0,0,0,0,0,0,14.57,14.65,14.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5748.06,-2327.82,020718,201730 MEM 333824

TT8_MAMPS 0.038948,0.776713 DATA_FILE_SIZE 36682,1110

HUMID 39.95 CAP_FILE_SIZE 135015,0

INTERNAL_PRESSURE 7.90069 CFSIZE 260165632,229900288

TCM_TEMP 18.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 14 INTR 0,16483.25,0x2146b8,7,24

SC_FREEKB 3894784 CURRENT 0.110,297.49,1

CP_FREE 15845720064.000000 GPS 030718,055944,5746.744,-2337.611,33,1.2,73,-15.3,1.0,282.9,7,6.6

_24V_AH 12.81,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 410 87.06 nil 0 0 0.00

Roll_motor 55 215 152.20 nil 0 0 0.00

VBD_pump_during_apogee 307 2266 8933.76 nil 0 0 0.00

VBD_pump_during_surface 116 114 171.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 16509 11 2427.37

Iridium_during_xfer 463 179 1063.38 TMICL 0 0 0.00

Transponder_ping 3 420 18.83 NCP 8463 25 2710.28

GUMSTIX_24V 0 0 0.00

GPS 24 20 6.50

TT8 0 0 0.00

LPSleep 13699 2 386.12

TT8_Active 640 8 71.50

TT8_Sampling 2615 26 897.13

TT8_CF8 364 31 146.27

TT8_Kalman 0 0 0.00

Analog_circuits 1969 10 273.77

GPS_charging 0 0 0.00

Compass 1584 6 137.41

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

14 -0.64 -170.3 19 1689 1375 1118 0.0 0.0 0 116 0.00 0.00 -99.50 0.006 16390 0.000 0.000 17 1687 3376 3318 3434 0 0 0 0 0 0 14.72 13.23 14.73

119 -0.64 -170.3 18 1687 3319 3434 4.2 -3.1 5 133 9.15 0.93 0.00 0.000 2852 0.410 0.044 1986 1159 3377 3326 3429 0 0 0 0 0 0 14.19 14.53 14.42

358 -0.64 -170.3 1986 1159 3362 3392 45.1 -13.1 53 363 0.00 0.95 0.00 0.000 1030 0.000 0.049 1983 1689 3376 3362 3391 0 0 0 0 0 0 14.61 14.58 14.64

698 -0.64 -170.3 1983 1689 3368 3386 94.6 -15.1 73 703 0.00 0.95 0.00 0.000 516 0.000 0.050 1983 1162 3378 3370 3386 0 0 0 0 0 0 14.91 14.63 14.93

849 -0.64 -170.3 1984 1164 3370 3386 116.5 -14.4 103 853 0.00 0.95 0.00 0.000 1030 0.000 0.047 1981 1700 3377 3369 3385 0 0 0 0 0 0 14.69 14.66 14.71

1179 -0.64 -170.3 1980 1717 3373 3382 166.5 -15.2 113 1183 0.00 0.98 0.00 0.000 516 0.000 0.054 1979 1164 3376 3371 3381 0 0 0 0 0 0 14.98 14.66 14.99

1343 -0.64 -170.3 1979 1164 3373 3382 190.4 -14.2 146 1348 0.00 0.93 0.00 0.000 1030 0.000 0.047 1976 1689 3376 3372 3381 0 0 0 0 0 0 14.76 14.69 14.76

1699 -0.64 -170.3 1975 1690 3374 3380 242.3 -14.4 161 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 1689 3376 3373 3380 0 0 0 0 0 0 14.99 15.00 15.01

2019 -0.64 -170.3 1975 1708 3375 3379 287.7 -14.2 169 2024 0.00 0.95 0.00 0.000 516 0.000 0.056 1975 1166 3376 3374 3379 0 0 0 0 0 0 15.01 14.71 15.04

2209 -0.64 -170.3 1976 1165 3376 3379 313.2 -13.1 207 2214 0.00 0.93 0.00 0.000 1030 0.000 0.048 1972 1689 3376 3374 3379 0 0 0 0 0 0 14.77 14.74 14.80

2539 -0.64 -170.3 1973 1689 3376 3379 359.8 -14.3 217 2540 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 1689 3377 3374 3380 0 0 0 0 0 0 15.04 15.05 15.06

2859 -0.64 -170.3 1972 1690 3375 3379 403.2 -13.4 225 2864 0.00 0.95 0.00 0.000 516 0.000 0.054 1972 1163 3375 3373 3378 0 0 0 0 0 0 15.05 14.73 15.07

2904 -0.64 -170.3 1972 1162 3376 3379 409.2 -12.9 234 2909 0.00 0.93 0.00 0.000 1030 0.000 0.049 1969 1687 3376 3374 3378 0 0 0 0 0 0 14.77 14.74 14.81

3260 -0.64 -170.3 1968 1687 3376 3379 456.8 -13.7 249 3265 0.10 0.95 0.00 0.000 2564 0.295 0.050 1990 1163 3376 3375 3378 0 0 0 0 0 0 14.54 14.73 14.71

3445 -0.64 -170.3 1991 1162 3377 3378 477.2 -11.2 286 3450 0.00 0.93 0.00 0.000 1030 0.000 0.050 1988 1684 3376 3375 3378 0 0 0 0 0 0 14.76 14.73 14.78

3781 -0.64 -170.3 1988 1684 3376 3377 513.2 -10.7 297 3786 0.00 0.85 0.00 0.000 260 0.000 0.050 1983 2233 3376 3375 3377 0 0 0 0 0 0 15.05 14.73 15.07

3861 -0.64 -170.3 1982 2237 3377 3374 521.6 -9.9 313 3866 0.00 0.93 0.00 0.000 1030 0.000 0.056 1982 1681 3375 3377 3373 0 0 0 0 0 0 14.77 14.73 14.81

4222 -0.64 -170.3 1982 1680 3378 3374 563.8 -11.6 329 4226 0.00 0.90 0.00 0.000 516 0.000 0.058 1982 1169 3375 3377 3373 0 0 0 0 0 0 15.04 14.71 15.06

4451 -0.64 -170.3 1981 1169 3377 3374 590.0 -11.1 375 4456 0.00 0.90 0.00 0.000 1030 0.000 0.049 1979 1681 3375 3377 3373 0 0 0 0 0 0 14.77 14.73 14.80

4782 -0.64 -170.3 1979 1681 3378 3373 628.9 -11.8 385 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 1680 3376 3380 3372 0 0 0 0 0 0 15.05 15.07 15.07

5101 -0.64 -170.3 1979 1680 3378 3371 666.2 -11.8 393 5106 0.00 0.85 0.00 0.000 260 0.000 0.050 1975 2225 3374 3377 3371 0 0 0 0 0 0 15.05 14.73 15.07

5146 -0.64 -170.3 1974 2229 3378 3371 671.3 -11.1 402 5151 0.00 0.93 0.00 0.000 1030 0.000 0.056 1974 1673 3374 3377 3371 0 0 0 0 0 0 14.77 14.73 14.78

5502 -0.64 -170.3 1974 1672 3378 3371 713.0 -11.8 417 5507 0.00 0.88 0.00 0.000 516 0.000 0.059 1972 1173 3373 3377 3370 0 0 0 0 0 0 15.04 14.71 15.06

5733 -0.64 -170.3 1974 1173 3378 3370 740.7 -11.9 463 5737 0.00 0.85 0.00 0.000 1030 0.000 0.050 1971 1659 3373 3377 3370 0 0 0 0 0 0 14.77 14.73 14.80

6063 -0.64 -170.3 1971 1659 3378 3370 781.6 -12.3 473 6063 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 1658 3373 3377 3369 0 0 0 0 0 0 15.05 15.07 15.07

6382 -0.64 -170.3 1971 1659 3378 3369 821.0 -12.3 481 6388 0.00 0.90 0.00 0.000 260 0.000 0.052 1967 2226 3372 3377 3368 0 0 0 0 0 0 15.06 14.72 15.07

6413 -0.64 -170.3 1966 2230 3378 3369 824.7 -12.3 487 6418 0.05 0.95 0.00 0.000 3078 0.228 0.057 1983 1664 3372 3377 3368 0 0 0 0 0 0 14.49 14.75 14.62

6744 -0.64 -170.3 1984 1664 3378 3368 860.9 -11.0 497 6749 0.00 0.88 0.00 0.000 516 0.000 0.060 1984 1164 3372 3377 3367 0 0 0 0 0 0 15.09 14.71 15.10

6965 -0.64 -170.3 1983 1163 3378 3368 885.1 -11.1 541 6970 0.00 0.88 0.00 0.000 1030 0.000 0.050 1981 1656 3372 3377 3367 0 0 0 0 0 0 14.75 14.75 14.78

7305 -0.64 -170.3 1981 1656 3377 3367 925.1 -11.8 553 7310 0.00 0.93 0.00 0.000 260 0.000 0.051 1977 2238 3371 3377 3366 0 0 0 0 0 0 15.08 14.73 15.10

7390 -0.64 -170.3 1976 2242 3378 3366 934.4 -10.9 570 7395 0.00 0.98 0.00 0.000 1030 0.000 0.057 1975 1663 3371 3377 3366 0 0 0 0 0 0 14.76 14.73 14.80

7746 -0.64 -170.3 1976 1663 3378 3365 975.7 -11.7 585 7750 0.00 0.88 0.00 0.000 516 0.000 0.060 1975 1167 3371 3377 3366 0 0 0 0 0 0 15.09 14.67 15.10

7870 end dive: TARGET_DEPTH_EXCEEDED

state 7870 begin apogee

7876 -0.12 0.0 1973 1731 3378 3365 990.2 -11.7 610 8032 0.45 0.00 150.23 2.267 10244 0.208 0.000 2104 1752 2681 2865 2497 0 0 0 0 0 0 14.51 13.97 13.16

8033 end apogee: CONTROL_FINISHED_OK

state 8033 begin climb

8036 0.64 170.3 2105 1752 2865 2497 995.1 0.0 614 8201 0.50 0.82 157.45 2.194 10500 0.124 0.045 2270 2256 1988 2207 1769 0 0 0 0 0 0 13.97 14.04 12.81

8326 0.64 170.3 2271 2256 2197 1768 966.4 12.9 670 8331 0.00 0.95 0.00 0.000 1030 0.000 0.061 2272 1718 1982 2196 1768 0 0 0 0 0 0 14.09 14.07 14.13

8686 0.64 170.3 2274 1718 2192 1762 917.4 13.8 686 8691 0.00 0.88 0.00 0.000 260 0.000 0.044 2274 2250 1977 2192 1762 0 0 0 0 0 0 14.75 14.52 14.79

8891 0.64 170.3 2274 2253 2192 1762 889.1 13.6 727 8896 0.00 0.90 0.00 0.000 1030 0.000 0.061 2277 1719 1976 2191 1762 0 0 0 0 0 0 14.62 14.57 14.64

9247 0.64 170.3 2278 1719 2191 1761 839.2 14.1 742 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 1718 1975 2190 1761 0 0 0 0 0 0 14.89 14.91 14.90

9567 0.64 170.3 2278 1717 2189 1760 793.7 14.2 750 9567 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 1718 1974 2188 1760 0 0 0 0 0 0 14.93 14.95 14.95

9886 0.64 170.3 2278 1718 2184 1760 748.9 13.9 758 9891 0.00 0.88 0.00 0.000 260 0.000 0.044 2277 2255 1973 2188 1759 0 0 0 0 0 0 14.97 14.67 14.97

9926 0.64 170.3 2277 2259 2188 1760 743.4 14.4 766 9931 0.00 0.93 0.00 0.000 1030 0.000 0.060 2280 1710 1973 2188 1759 0 0 0 0 0 0 14.70 14.66 14.73

10287 0.64 170.3 2281 1712 2188 1759 694.5 13.7 782 10292 0.00 0.88 0.00 0.000 260 0.000 0.044 2280 2257 1975 2192 1759 0 0 0 0 0 0 14.95 14.69 15.00

10317 0.64 170.3 2280 2260 2189 1756 690.4 12.9 788 10323 0.00 0.90 0.00 0.000 1030 0.000 0.060 2284 1724 1973 2187 1759 0 0 0 0 0 0 14.71 14.66 14.73

10648 0.64 170.3 2284 1723 2188 1759 647.5 12.8 798 10653 0.00 0.98 0.00 0.000 516 0.000 0.065 2288 1190 1972 2187 1758 0 0 0 0 0 0 14.97 14.63 14.99

10673 0.64 170.3 2288 1192 2188 1756 644.4 12.3 803 10678 0.00 0.95 0.00 0.000 1030 0.000 0.047 2287 1722 1971 2187 1755 0 0 0 0 0 0 14.71 14.69 14.74

11008 0.64 170.3 2287 1741 2188 1755 601.6 12.9 814 11013 0.00 0.80 0.00 0.000 260 0.000 0.045 2287 2251 1971 2187 1756 0 0 0 0 0 0 14.96 14.66 14.98

11098 0.64 170.3 2288 2256 2187 1756 590.0 12.7 832 11104 0.00 0.90 0.00 0.000 1030 0.000 0.061 2291 1718 1971 2186 1756 0 0 0 0 0 0 14.72 14.68 14.75

11450 0.64 170.3 2291 1717 2188 1756 544.6 13.0 846 11455 0.00 0.85 0.00 0.000 260 0.000 0.045 2290 2250 1971 2187 1755 0 0 0 0 0 0 14.97 14.69 14.99

11490 0.64 170.3 2291 2253 2187 1756 539.2 13.2 854 11495 0.08 0.88 0.00 0.000 5126 0.233 0.060 2272 1730 1971 2187 1755 0 0 0 0 0 0 14.40 14.67 14.55

11851 0.64 170.3 2270 1732 2188 1756 497.7 11.6 870 11855 0.00 1.00 0.00 0.000 516 0.000 0.064 2275 1186 1970 2186 1755 0 0 0 0 0 0 14.99 14.62 15.00

11870 0.64 170.3 2275 1186 2188 1755 495.4 11.3 874 11875 0.00 0.98 0.00 0.000 1030 0.000 0.046 2274 1737 1970 2187 1754 0 0 0 0 0 0 14.76 14.72 14.77

12211 0.64 170.3 2273 1759 2187 1754 457.1 11.3 886 12211 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 1758 1970 2187 1754 0 0 0 0 0 0 15.00 15.02 15.02

12531 0.64 170.3 2275 1759 2188 1754 420.6 11.3 894 12532 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 1758 1970 2187 1754 0 0 0 0 0 0 15.00 15.04 15.01

12851 0.64 170.3 2275 1759 2188 1755 384.1 11.6 902 12852 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 1758 1970 2187 1754 0 0 0 0 0 0 15.01 15.00 15.00

13171 0.64 170.3 2274 1758 2188 1755 348.3 10.8 910 13175 0.00 1.05 0.00 0.000 516 0.000 0.063 2279 1190 1970 2186 1754 0 0 0 0 0 0 15.00 14.57 15.02

13211 0.64 170.3 2279 1190 2188 1754 344.3 9.6 918 13216 0.00 0.95 0.00 0.000 1030 0.000 0.048 2278 1715 1970 2187 1754 0 0 0 0 0 0 14.71 14.69 14.73

13571 0.64 170.3 2278 1735 2188 1754 306.3 10.4 934 13577 0.00 0.85 0.00 0.000 260 0.000 0.044 2278 2263 1970 2187 1753 0 0 0 0 0 0 14.98 14.64 15.00

13647 0.64 170.3 2279 2266 2188 1754 298.2 11.2 949 13653 0.00 0.90 0.00 0.000 1030 0.000 0.060 2282 1725 1970 2187 1753 0 0 0 0 0 0 14.71 14.67 14.76

13973 0.64 170.3 2282 1724 2188 1754 261.9 11.5 958 13977 0.00 0.98 0.00 0.000 516 0.000 0.065 2286 1191 1970 2187 1754 0 0 0 0 0 0 14.98 14.66 15.00

14013 0.64 170.3 2287 1191 2188 1754 257.2 11.6 966 14018 0.00 0.98 0.00 0.000 1030 0.000 0.047 2286 1729 1970 2187 1753 0 0 0 0 0 0 14.69 14.66 14.71

14373 0.64 170.3 2286 1749 2188 1754 213.9 12.0 982 14378 0.00 0.80 0.00 0.000 260 0.000 0.044 2286 2254 1970 2187 1753 0 0 0 0 0 0 14.97 14.46 14.99

14438 0.64 170.3 2287 2257 2188 1754 205.8 12.6 995 14443 0.00 0.90 0.00 0.000 1030 0.000 0.060 2290 1716 1970 2187 1753 0 0 0 0 0 0 14.71 14.66 14.74

14774 0.64 170.3 2290 1716 2188 1754 164.8 12.1 1006 14778 0.00 0.88 0.00 0.000 260 0.000 0.042 2289 2249 1969 2186 1753 0 0 0 0 0 0 14.95 14.65 14.96

14809 0.64 170.3 2289 2253 2188 1754 160.6 11.8 1013 14815 0.08 0.88 0.00 0.000 5126 0.227 0.059 2269 1731 1970 2187 1753 0 0 0 0 0 0 14.38 14.62 14.53

15134 0.66 170.3 2270 1731 2188 1754 130.1 9.3 1022 15139 0.00 1.00 0.00 0.000 580 0.000 0.063 2279 1186 1967 2186 1748 0 0 0 0 0 0 14.93 14.59 14.95

15175 0.67 170.3 2274 1185 2189 1756 126.3 9.3 1030 15179 0.00 0.98 0.00 0.000 1094 0.000 0.046 2273 1727 1970 2187 1753 0 0 0 0 0 0 14.66 14.65 14.70

15515 0.67 170.3 2274 1744 2187 1754 93.6 9.5 1047 15520 0.00 0.82 0.00 0.000 260 0.000 0.043 2273 2264 1970 2188 1753 0 0 0 0 0 0 14.94 14.68 14.96

15550 0.67 170.3 2274 2267 2188 1754 90.3 10.1 1054 15556 0.00 0.93 0.00 0.000 1030 0.000 0.060 2277 1715 1970 2187 1753 0 0 0 0 0 0 14.67 14.64 14.71

15875 0.67 170.3 2278 1715 2186 1753 57.5 9.7 1071 15876 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 1715 1969 2186 1753 0 0 0 0 0 0 14.94 14.96 14.97

16196 0.67 170.3 2277 1716 2187 1754 26.3 9.8 1087 16201 0.00 0.95 0.00 0.000 516 0.000 0.062 2282 1195 1970 2187 1753 0 0 0 0 0 0 14.90 14.44 14.91

16241 0.68 170.3 2285 1194 2184 1754 22.2 9.5 1096 16247 0.00 0.98 0.00 0.000 1094 0.000 0.045 2280 1731 1970 2187 1754 0 0 0 0 0 0 14.54 14.51 14.56

16455 end climb: SURFACE_DEPTH_REACHED

state 16455 begin surface coast

16475 end surface coast: CONTROL_FINISHED_OK

state 16475 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_INHIBIT	90
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
DIVE	218	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	1	INT_PRESSURE_YINT	0
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDER	0
STOP_T	0	SM_CC	350	VBD_MIN	550	MOTHERBOARD	4
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	DEVICE1	-1
D_FLARE	3	FILEMGR	0	C_VBD	2681	DEVICE2	-1
D_TGT	990	CALL_NDIVES	1	VBD_DBAND	2	DEVICE3	-1
D_ABORT	1030	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE4	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE5	-1
D_BOOST	2.5	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE6	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0014	LOGGERS	5
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE1	53
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	71
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	134
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	2	COMPASS2_DEVICE	149
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	PHONE_DEVICE	49
T_DIVE	330	T_GPS	5	LOITER_W_DBAND	0	GPS_DEVICE	32
T_MISSION	400	N_GPS	100440	LOITER_DBDW	0	RAFOS_DEVICE	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_D_NO_PUMP	500	XPDR_DEVICE	24
T_TURN	225	STROBE	0	LOITER_N_DIVE	0	SIM_W	0
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	2	SEABIRD_T_G	0.0043545738
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	SEABIRD_T_H	0.00062548259
T_LOITER	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
T_EPIRB	0	RAFOS_MMODEM	0	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_BATHY	0	PITCH_MIN	75	AH0_10V	350	SEABIRD_C_G	-9.9945526
USE_ICE	0	PITCH_MAX	3750	MINV_24V	11	SEABIRD_C_H	1.1183146
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2130	MINV_10V	11	SEABIRD_C_I	-0.0026370776
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_PROFILE	3.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_XMITPROFILE	3.0
MAX_BUOY	175	PITCH_GAIN	40	PHONE_SUPPLY	-2	SC_NDIVE	1.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	COMPASS_USE	4	TM_NDIVE	1.0
MASS	55793	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
MASS_COMP	0	ROLL_MIN	180	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3850	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
FERRY_MAX	40	ROLL_DEG	15	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
KALMAN_USE	2	C_ROLL_DIVE	1700	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1720	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_B	0.0099999998	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10	CP_STARTS	221.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_PULSE	4
ESCAPE_HEADING	0	R_PORT_OVSHOOT	43	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	XPDR_VALID	5

GPS1	030718,010851,5747.9556,-2336.7700,28,1.2,45,-15.3,0.4,148.9,7,8.0	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	Z3
_XMS_NAKs	0	TGT_LATLONG	5730.000,-2400.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.34	MHEAD_RNG_PITCHd_Wd	195.5,40477,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-75.2	D_GRID	990
GPS2	030718,012044,5747.9854,-2336.8889,13,1.4,22,-15.3,0.5,11.7,6,8.2

FINISH	0.7,1.026930	_10V_AH	12.87,72.384
SM_CCo	16493,116.43,0.115,0,0,1254,350.29	FG_AHR_24Vo	0.000
SM_GC	1.37,6.18,0.05,116.43,0.065,0.216,0.115,57,1704,1254,-9.42,1.36,350.29,0,0,0,0,0,0,14.57,14.65,14.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5748.06,-2327.82,020718,201730	MEM	333824
TT8_MAMPS	0.038948,0.776713	DATA_FILE_SIZE	36682,1110
HUMID	39.95	CAP_FILE_SIZE	135015,0
INTERNAL_PRESSURE	7.90069	CFSIZE	260165632,229900288
TCM_TEMP	18.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	14	INTR	0,16483.25,0x2146b8,7,24
SC_FREEKB	3894784	CURRENT	0.110,297.49,1
CP_FREE	15845720064.000000	GPS	030718,055944,5746.744,-2337.611,33,1.2,73,-15.3,1.0,282.9,7,6.6
_24V_AH	12.81,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	410	87.06	nil	0	0	0.00
Roll_motor	55	215	152.20	nil	0	0	0.00
VBD_pump_during_apogee	307	2266	8933.76	nil	0	0	0.00
VBD_pump_during_surface	116	114	171.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	16509	11	2427.37
Iridium_during_xfer	463	179	1063.38	TMICL	0	0	0.00
Transponder_ping	3	420	18.83	NCP	8463	25	2710.28
GUMSTIX_24V	0	0	0.00
GPS	24	20	6.50
TT8	0	0	0.00
LPSleep	13699	2	386.12
TT8_Active	640	8	71.50
TT8_Sampling	2615	26	897.13
TT8_CF8	364	31	146.27
TT8_Kalman	0	0	0.00
Analog_circuits	1969	10	273.77
GPS_charging	0	0	0.00
Compass	1584	6	137.41
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
14	-0.64	-170.3	19	1689	1375	1118	0.0	0.0	0	116	0.00	0.00	-99.50	0.006	16390	0.000	0.000	17	1687	3376	3318	3434	0	0	0	0	0	0	14.72	13.23	14.73
119	-0.64	-170.3	18	1687	3319	3434	4.2	-3.1	5	133	9.15	0.93	0.00	0.000	2852	0.410	0.044	1986	1159	3377	3326	3429	0	0	0	0	0	0	14.19	14.53	14.42
358	-0.64	-170.3	1986	1159	3362	3392	45.1	-13.1	53	363	0.00	0.95	0.00	0.000	1030	0.000	0.049	1983	1689	3376	3362	3391	0	0	0	0	0	0	14.61	14.58	14.64
698	-0.64	-170.3	1983	1689	3368	3386	94.6	-15.1	73	703	0.00	0.95	0.00	0.000	516	0.000	0.050	1983	1162	3378	3370	3386	0	0	0	0	0	0	14.91	14.63	14.93
849	-0.64	-170.3	1984	1164	3370	3386	116.5	-14.4	103	853	0.00	0.95	0.00	0.000	1030	0.000	0.047	1981	1700	3377	3369	3385	0	0	0	0	0	0	14.69	14.66	14.71
1179	-0.64	-170.3	1980	1717	3373	3382	166.5	-15.2	113	1183	0.00	0.98	0.00	0.000	516	0.000	0.054	1979	1164	3376	3371	3381	0	0	0	0	0	0	14.98	14.66	14.99
1343	-0.64	-170.3	1979	1164	3373	3382	190.4	-14.2	146	1348	0.00	0.93	0.00	0.000	1030	0.000	0.047	1976	1689	3376	3372	3381	0	0	0	0	0	0	14.76	14.69	14.76
1699	-0.64	-170.3	1975	1690	3374	3380	242.3	-14.4	161	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	1689	3376	3373	3380	0	0	0	0	0	0	14.99	15.00	15.01
2019	-0.64	-170.3	1975	1708	3375	3379	287.7	-14.2	169	2024	0.00	0.95	0.00	0.000	516	0.000	0.056	1975	1166	3376	3374	3379	0	0	0	0	0	0	15.01	14.71	15.04
2209	-0.64	-170.3	1976	1165	3376	3379	313.2	-13.1	207	2214	0.00	0.93	0.00	0.000	1030	0.000	0.048	1972	1689	3376	3374	3379	0	0	0	0	0	0	14.77	14.74	14.80
2539	-0.64	-170.3	1973	1689	3376	3379	359.8	-14.3	217	2540	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	1689	3377	3374	3380	0	0	0	0	0	0	15.04	15.05	15.06
2859	-0.64	-170.3	1972	1690	3375	3379	403.2	-13.4	225	2864	0.00	0.95	0.00	0.000	516	0.000	0.054	1972	1163	3375	3373	3378	0	0	0	0	0	0	15.05	14.73	15.07
2904	-0.64	-170.3	1972	1162	3376	3379	409.2	-12.9	234	2909	0.00	0.93	0.00	0.000	1030	0.000	0.049	1969	1687	3376	3374	3378	0	0	0	0	0	0	14.77	14.74	14.81
3260	-0.64	-170.3	1968	1687	3376	3379	456.8	-13.7	249	3265	0.10	0.95	0.00	0.000	2564	0.295	0.050	1990	1163	3376	3375	3378	0	0	0	0	0	0	14.54	14.73	14.71
3445	-0.64	-170.3	1991	1162	3377	3378	477.2	-11.2	286	3450	0.00	0.93	0.00	0.000	1030	0.000	0.050	1988	1684	3376	3375	3378	0	0	0	0	0	0	14.76	14.73	14.78
3781	-0.64	-170.3	1988	1684	3376	3377	513.2	-10.7	297	3786	0.00	0.85	0.00	0.000	260	0.000	0.050	1983	2233	3376	3375	3377	0	0	0	0	0	0	15.05	14.73	15.07
3861	-0.64	-170.3	1982	2237	3377	3374	521.6	-9.9	313	3866	0.00	0.93	0.00	0.000	1030	0.000	0.056	1982	1681	3375	3377	3373	0	0	0	0	0	0	14.77	14.73	14.81
4222	-0.64	-170.3	1982	1680	3378	3374	563.8	-11.6	329	4226	0.00	0.90	0.00	0.000	516	0.000	0.058	1982	1169	3375	3377	3373	0	0	0	0	0	0	15.04	14.71	15.06
4451	-0.64	-170.3	1981	1169	3377	3374	590.0	-11.1	375	4456	0.00	0.90	0.00	0.000	1030	0.000	0.049	1979	1681	3375	3377	3373	0	0	0	0	0	0	14.77	14.73	14.80
4782	-0.64	-170.3	1979	1681	3378	3373	628.9	-11.8	385	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	1680	3376	3380	3372	0	0	0	0	0	0	15.05	15.07	15.07
5101	-0.64	-170.3	1979	1680	3378	3371	666.2	-11.8	393	5106	0.00	0.85	0.00	0.000	260	0.000	0.050	1975	2225	3374	3377	3371	0	0	0	0	0	0	15.05	14.73	15.07
5146	-0.64	-170.3	1974	2229	3378	3371	671.3	-11.1	402	5151	0.00	0.93	0.00	0.000	1030	0.000	0.056	1974	1673	3374	3377	3371	0	0	0	0	0	0	14.77	14.73	14.78
5502	-0.64	-170.3	1974	1672	3378	3371	713.0	-11.8	417	5507	0.00	0.88	0.00	0.000	516	0.000	0.059	1972	1173	3373	3377	3370	0	0	0	0	0	0	15.04	14.71	15.06
5733	-0.64	-170.3	1974	1173	3378	3370	740.7	-11.9	463	5737	0.00	0.85	0.00	0.000	1030	0.000	0.050	1971	1659	3373	3377	3370	0	0	0	0	0	0	14.77	14.73	14.80
6063	-0.64	-170.3	1971	1659	3378	3370	781.6	-12.3	473	6063	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	1658	3373	3377	3369	0	0	0	0	0	0	15.05	15.07	15.07
6382	-0.64	-170.3	1971	1659	3378	3369	821.0	-12.3	481	6388	0.00	0.90	0.00	0.000	260	0.000	0.052	1967	2226	3372	3377	3368	0	0	0	0	0	0	15.06	14.72	15.07
6413	-0.64	-170.3	1966	2230	3378	3369	824.7	-12.3	487	6418	0.05	0.95	0.00	0.000	3078	0.228	0.057	1983	1664	3372	3377	3368	0	0	0	0	0	0	14.49	14.75	14.62
6744	-0.64	-170.3	1984	1664	3378	3368	860.9	-11.0	497	6749	0.00	0.88	0.00	0.000	516	0.000	0.060	1984	1164	3372	3377	3367	0	0	0	0	0	0	15.09	14.71	15.10
6965	-0.64	-170.3	1983	1163	3378	3368	885.1	-11.1	541	6970	0.00	0.88	0.00	0.000	1030	0.000	0.050	1981	1656	3372	3377	3367	0	0	0	0	0	0	14.75	14.75	14.78
7305	-0.64	-170.3	1981	1656	3377	3367	925.1	-11.8	553	7310	0.00	0.93	0.00	0.000	260	0.000	0.051	1977	2238	3371	3377	3366	0	0	0	0	0	0	15.08	14.73	15.10
7390	-0.64	-170.3	1976	2242	3378	3366	934.4	-10.9	570	7395	0.00	0.98	0.00	0.000	1030	0.000	0.057	1975	1663	3371	3377	3366	0	0	0	0	0	0	14.76	14.73	14.80
7746	-0.64	-170.3	1976	1663	3378	3365	975.7	-11.7	585	7750	0.00	0.88	0.00	0.000	516	0.000	0.060	1975	1167	3371	3377	3366	0	0	0	0	0	0	15.09	14.67	15.10
7870	end dive: TARGET_DEPTH_EXCEEDED
state	7870	begin apogee
7876	-0.12	0.0	1973	1731	3378	3365	990.2	-11.7	610	8032	0.45	0.00	150.23	2.267	10244	0.208	0.000	2104	1752	2681	2865	2497	0	0	0	0	0	0	14.51	13.97	13.16
8033	end apogee: CONTROL_FINISHED_OK
state	8033	begin climb
8036	0.64	170.3	2105	1752	2865	2497	995.1	0.0	614	8201	0.50	0.82	157.45	2.194	10500	0.124	0.045	2270	2256	1988	2207	1769	0	0	0	0	0	0	13.97	14.04	12.81
8326	0.64	170.3	2271	2256	2197	1768	966.4	12.9	670	8331	0.00	0.95	0.00	0.000	1030	0.000	0.061	2272	1718	1982	2196	1768	0	0	0	0	0	0	14.09	14.07	14.13
8686	0.64	170.3	2274	1718	2192	1762	917.4	13.8	686	8691	0.00	0.88	0.00	0.000	260	0.000	0.044	2274	2250	1977	2192	1762	0	0	0	0	0	0	14.75	14.52	14.79
8891	0.64	170.3	2274	2253	2192	1762	889.1	13.6	727	8896	0.00	0.90	0.00	0.000	1030	0.000	0.061	2277	1719	1976	2191	1762	0	0	0	0	0	0	14.62	14.57	14.64
9247	0.64	170.3	2278	1719	2191	1761	839.2	14.1	742	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	1718	1975	2190	1761	0	0	0	0	0	0	14.89	14.91	14.90
9567	0.64	170.3	2278	1717	2189	1760	793.7	14.2	750	9567	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	1718	1974	2188	1760	0	0	0	0	0	0	14.93	14.95	14.95
9886	0.64	170.3	2278	1718	2184	1760	748.9	13.9	758	9891	0.00	0.88	0.00	0.000	260	0.000	0.044	2277	2255	1973	2188	1759	0	0	0	0	0	0	14.97	14.67	14.97
9926	0.64	170.3	2277	2259	2188	1760	743.4	14.4	766	9931	0.00	0.93	0.00	0.000	1030	0.000	0.060	2280	1710	1973	2188	1759	0	0	0	0	0	0	14.70	14.66	14.73
10287	0.64	170.3	2281	1712	2188	1759	694.5	13.7	782	10292	0.00	0.88	0.00	0.000	260	0.000	0.044	2280	2257	1975	2192	1759	0	0	0	0	0	0	14.95	14.69	15.00
10317	0.64	170.3	2280	2260	2189	1756	690.4	12.9	788	10323	0.00	0.90	0.00	0.000	1030	0.000	0.060	2284	1724	1973	2187	1759	0	0	0	0	0	0	14.71	14.66	14.73
10648	0.64	170.3	2284	1723	2188	1759	647.5	12.8	798	10653	0.00	0.98	0.00	0.000	516	0.000	0.065	2288	1190	1972	2187	1758	0	0	0	0	0	0	14.97	14.63	14.99
10673	0.64	170.3	2288	1192	2188	1756	644.4	12.3	803	10678	0.00	0.95	0.00	0.000	1030	0.000	0.047	2287	1722	1971	2187	1755	0	0	0	0	0	0	14.71	14.69	14.74
11008	0.64	170.3	2287	1741	2188	1755	601.6	12.9	814	11013	0.00	0.80	0.00	0.000	260	0.000	0.045	2287	2251	1971	2187	1756	0	0	0	0	0	0	14.96	14.66	14.98
11098	0.64	170.3	2288	2256	2187	1756	590.0	12.7	832	11104	0.00	0.90	0.00	0.000	1030	0.000	0.061	2291	1718	1971	2186	1756	0	0	0	0	0	0	14.72	14.68	14.75
11450	0.64	170.3	2291	1717	2188	1756	544.6	13.0	846	11455	0.00	0.85	0.00	0.000	260	0.000	0.045	2290	2250	1971	2187	1755	0	0	0	0	0	0	14.97	14.69	14.99
11490	0.64	170.3	2291	2253	2187	1756	539.2	13.2	854	11495	0.08	0.88	0.00	0.000	5126	0.233	0.060	2272	1730	1971	2187	1755	0	0	0	0	0	0	14.40	14.67	14.55
11851	0.64	170.3	2270	1732	2188	1756	497.7	11.6	870	11855	0.00	1.00	0.00	0.000	516	0.000	0.064	2275	1186	1970	2186	1755	0	0	0	0	0	0	14.99	14.62	15.00
11870	0.64	170.3	2275	1186	2188	1755	495.4	11.3	874	11875	0.00	0.98	0.00	0.000	1030	0.000	0.046	2274	1737	1970	2187	1754	0	0	0	0	0	0	14.76	14.72	14.77
12211	0.64	170.3	2273	1759	2187	1754	457.1	11.3	886	12211	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	1758	1970	2187	1754	0	0	0	0	0	0	15.00	15.02	15.02
12531	0.64	170.3	2275	1759	2188	1754	420.6	11.3	894	12532	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	1758	1970	2187	1754	0	0	0	0	0	0	15.00	15.04	15.01
12851	0.64	170.3	2275	1759	2188	1755	384.1	11.6	902	12852	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	1758	1970	2187	1754	0	0	0	0	0	0	15.01	15.00	15.00
13171	0.64	170.3	2274	1758	2188	1755	348.3	10.8	910	13175	0.00	1.05	0.00	0.000	516	0.000	0.063	2279	1190	1970	2186	1754	0	0	0	0	0	0	15.00	14.57	15.02
13211	0.64	170.3	2279	1190	2188	1754	344.3	9.6	918	13216	0.00	0.95	0.00	0.000	1030	0.000	0.048	2278	1715	1970	2187	1754	0	0	0	0	0	0	14.71	14.69	14.73
13571	0.64	170.3	2278	1735	2188	1754	306.3	10.4	934	13577	0.00	0.85	0.00	0.000	260	0.000	0.044	2278	2263	1970	2187	1753	0	0	0	0	0	0	14.98	14.64	15.00
13647	0.64	170.3	2279	2266	2188	1754	298.2	11.2	949	13653	0.00	0.90	0.00	0.000	1030	0.000	0.060	2282	1725	1970	2187	1753	0	0	0	0	0	0	14.71	14.67	14.76
13973	0.64	170.3	2282	1724	2188	1754	261.9	11.5	958	13977	0.00	0.98	0.00	0.000	516	0.000	0.065	2286	1191	1970	2187	1754	0	0	0	0	0	0	14.98	14.66	15.00
14013	0.64	170.3	2287	1191	2188	1754	257.2	11.6	966	14018	0.00	0.98	0.00	0.000	1030	0.000	0.047	2286	1729	1970	2187	1753	0	0	0	0	0	0	14.69	14.66	14.71
14373	0.64	170.3	2286	1749	2188	1754	213.9	12.0	982	14378	0.00	0.80	0.00	0.000	260	0.000	0.044	2286	2254	1970	2187	1753	0	0	0	0	0	0	14.97	14.46	14.99
14438	0.64	170.3	2287	2257	2188	1754	205.8	12.6	995	14443	0.00	0.90	0.00	0.000	1030	0.000	0.060	2290	1716	1970	2187	1753	0	0	0	0	0	0	14.71	14.66	14.74
14774	0.64	170.3	2290	1716	2188	1754	164.8	12.1	1006	14778	0.00	0.88	0.00	0.000	260	0.000	0.042	2289	2249	1969	2186	1753	0	0	0	0	0	0	14.95	14.65	14.96
14809	0.64	170.3	2289	2253	2188	1754	160.6	11.8	1013	14815	0.08	0.88	0.00	0.000	5126	0.227	0.059	2269	1731	1970	2187	1753	0	0	0	0	0	0	14.38	14.62	14.53
15134	0.66	170.3	2270	1731	2188	1754	130.1	9.3	1022	15139	0.00	1.00	0.00	0.000	580	0.000	0.063	2279	1186	1967	2186	1748	0	0	0	0	0	0	14.93	14.59	14.95
15175	0.67	170.3	2274	1185	2189	1756	126.3	9.3	1030	15179	0.00	0.98	0.00	0.000	1094	0.000	0.046	2273	1727	1970	2187	1753	0	0	0	0	0	0	14.66	14.65	14.70
15515	0.67	170.3	2274	1744	2187	1754	93.6	9.5	1047	15520	0.00	0.82	0.00	0.000	260	0.000	0.043	2273	2264	1970	2188	1753	0	0	0	0	0	0	14.94	14.68	14.96
15550	0.67	170.3	2274	2267	2188	1754	90.3	10.1	1054	15556	0.00	0.93	0.00	0.000	1030	0.000	0.060	2277	1715	1970	2187	1753	0	0	0	0	0	0	14.67	14.64	14.71
15875	0.67	170.3	2278	1715	2186	1753	57.5	9.7	1071	15876	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	1715	1969	2186	1753	0	0	0	0	0	0	14.94	14.96	14.97
16196	0.67	170.3	2277	1716	2187	1754	26.3	9.8	1087	16201	0.00	0.95	0.00	0.000	516	0.000	0.062	2282	1195	1970	2187	1753	0	0	0	0	0	0	14.90	14.44	14.91
16241	0.68	170.3	2285	1194	2184	1754	22.2	9.5	1096	16247	0.00	0.98	0.00	0.000	1094	0.000	0.045	2280	1731	1970	2187	1754	0	0	0	0	0	0	14.54	14.51	14.56
16455	end climb: SURFACE_DEPTH_REACHED
state	16455	begin surface coast
16475	end surface coast: CONTROL_FINISHED_OK
state	16475	begin surface