Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 339 * 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 339 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 0 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 342.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

HEADING 110 ROLL_TIMEOUT 15 ALTIM_PULSE 4

ESCAPE_HEADING 0 R_PORT_OVSHOOT 34 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 57 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 110 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 342.0 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 34 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 57 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 339 NAV_MODE 0 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 280718,053002,5848.2954,-2147.9597,39,1.6,44,-14.8,0.5,218.3,8,6.5 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 5844.645,-2128.389

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.07 MHEAD_RNG_PITCHd_Wd 124.8,20000,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -73.6 D_GRID 990

GPS2 280718,054251,5848.3379,-2147.9470,10,2.0,14,-14.8,0.7,296.7,8,6.8

Post-dive calculations and measurements:

FINISH 0.4,1.026733 _24V_AH 12.81,0.000

SM_CCo 18176,112.20,0.105,0,0,1256,350.04 _10V_AH 12.81,110.624

SM_GC 1.04,6.30,0.00,112.20,0.067,0.000,0.105,46,1726,1256,-9.46,0.74,350.04,0,0,0,0,0,0,14.52,14.92,14.45 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5848.96,-2151.17,280718,001748 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.824649 MEM 333992

HUMID 40.54 DATA_FILE_SIZE 46632,1294

INTERNAL_PRESSURE 7.96906 CAP_FILE_SIZE 154314,0

TCM_TEMP 19.00 CFSIZE 260165632,213733376

XPDR_PINGS 15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3823840 GPS 280718,104921,5846.859,-2140.542,25,1.1,42,-14.7,0.6,14.3,9,7.4

CP_FREE 15793258496.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 411 89.23 nil 0 0 0.00

Roll_motor 66 319 273.12 nil 0 0 0.00

VBD_pump_during_apogee 307 2213 8708.53 nil 0 0 0.00

VBD_pump_during_surface 112 104 150.63 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 18195 10 2534.49

Iridium_during_xfer 506 180 1171.10 TMICL 0 0 0.00

Transponder_ping 3 420 20.18 NCP 9315 25 2983.13

GUMSTIX_24V 0 0 0.00

GPS 17 20 4.43

TT8 0 0 0.00

LPSleep 15033 2 421.74

TT8_Active 648 8 72.03

TT8_Sampling 2954 26 1008.76

TT8_CF8 416 31 166.31

TT8_Kalman 0 0 0.00

Analog_circuits 2161 10 299.02

GPS_charging 0 0 0.00

Compass 1844 6 159.25

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.64 -170.3 23 1732 1386 1107 0.0 0.0 0 118 0.00 0.00 -98.85 0.006 16390 0.000 0.000 22 1731 3378 3320 3437 0 0 0 0 0 0 14.75 13.07 14.77

121 -0.64 -170.3 24 1732 3317 3437 4.2 -3.2 5 134 9.27 0.75 0.00 0.000 2340 0.412 0.038 1977 2248 3376 3320 3433 0 0 0 0 0 0 14.16 14.50 14.40

184 -0.64 -170.3 1976 2252 3340 3414 20.6 -14.0 18 189 0.00 0.95 0.00 0.000 1030 0.000 0.055 1980 1693 3376 3340 3413 0 0 0 0 0 0 14.54 14.50 14.57

519 -0.64 -170.3 1977 1693 3346 3407 66.8 -13.7 37 524 0.00 0.93 0.00 0.000 516 0.000 0.057 1976 1159 3376 3346 3406 0 0 0 0 0 0 14.94 14.54 14.96

750 -0.64 -170.3 1977 1159 3346 3406 96.2 -12.5 83 754 0.00 0.90 0.00 0.000 1030 0.000 0.047 1974 1683 3376 3346 3406 0 0 0 0 0 0 14.49 14.45 14.54

1100 -0.64 -170.3 1974 1684 3347 3406 144.7 -14.1 94 1104 0.00 0.88 0.00 0.000 260 0.000 0.047 1970 2233 3376 3347 3405 0 0 0 0 0 0 15.00 14.58 15.02

1155 -0.64 -170.3 1968 2237 3350 3403 151.9 -12.3 105 1159 0.00 0.93 0.00 0.000 1030 0.000 0.055 1968 1688 3375 3349 3402 0 0 0 0 0 0 14.61 14.55 14.63

1500 -0.64 -170.3 1969 1687 3351 3402 200.8 -14.4 118 1505 0.10 0.93 0.00 0.000 2564 0.275 0.052 1992 1160 3376 3350 3402 0 0 0 0 0 0 14.43 14.39 14.57

1731 -0.64 -170.3 1993 1159 3352 3402 227.1 -10.6 164 1735 0.00 0.90 0.00 0.000 1030 0.000 0.047 1989 1676 3376 3350 3402 0 0 0 0 0 0 14.46 14.42 14.50

2060 -0.64 -170.3 1990 1676 3351 3401 264.7 -11.5 174 2065 0.00 0.90 0.00 0.000 260 0.000 0.047 1985 2234 3375 3350 3401 0 0 0 0 0 0 15.04 14.41 15.06

2160 -0.64 -170.3 1984 2238 3352 3400 275.5 -10.5 194 2165 0.00 0.95 0.00 0.000 1030 0.000 0.052 1984 1681 3376 3352 3400 0 0 0 0 0 0 14.54 14.51 14.57

2501 -0.64 -170.3 1984 1680 3353 3400 315.8 -11.9 206 2506 0.00 0.90 0.00 0.000 516 0.000 0.057 1984 1158 3376 3352 3400 0 0 0 0 0 0 15.06 14.59 15.07

2731 -0.64 -170.3 1984 1157 3353 3400 341.1 -10.8 252 2736 0.00 0.90 0.00 0.000 1030 0.000 0.047 1981 1682 3375 3352 3399 0 0 0 0 0 0 14.66 14.64 14.69

3061 -0.64 -170.3 1981 1682 3353 3400 380.7 -12.2 262 3066 0.00 0.88 0.00 0.000 260 0.000 0.048 1977 2231 3375 3352 3399 0 0 0 0 0 0 15.07 14.61 15.07

3131 -0.64 -170.3 1976 2235 3353 3399 388.8 -11.0 276 3136 0.00 0.95 0.00 0.000 1030 0.000 0.054 1976 1678 3375 3352 3399 0 0 0 0 0 0 14.62 14.59 14.66

3462 -0.64 -170.3 1976 1678 3353 3399 430.1 -12.5 286 3466 0.00 0.88 0.00 0.000 516 0.000 0.057 1975 1167 3375 3352 3399 0 0 0 0 0 0 15.06 14.58 15.08

3691 -0.64 -170.3 1975 1167 3354 3399 457.9 -12.1 332 3696 0.00 0.88 0.00 0.000 1030 0.000 0.047 1973 1672 3375 3352 3399 0 0 0 0 0 0 14.66 14.63 14.69

4022 -0.64 -170.3 1973 1672 3353 3399 500.6 -13.1 342 4027 0.00 0.88 0.00 0.000 260 0.000 0.047 1969 2224 3375 3352 3398 0 0 0 0 0 0 15.07 14.61 15.07

4102 -0.64 -170.3 1968 2229 3353 3398 510.5 -11.7 358 4107 0.05 0.95 0.00 0.000 3078 0.216 0.054 1986 1674 3375 3352 3398 0 0 0 0 0 0 14.32 14.59 14.42

4462 -0.64 -170.3 1986 1673 3353 3398 552.7 -11.7 374 4467 0.00 0.88 0.00 0.000 516 0.000 0.057 1984 1160 3374 3352 3397 0 0 0 0 0 0 15.05 14.57 15.07

4692 -0.64 -170.3 1986 1160 3353 3398 577.7 -10.7 420 4697 0.00 0.85 0.00 0.000 1030 0.000 0.047 1983 1660 3374 3352 3397 0 0 0 0 0 0 14.66 14.62 14.69

5023 -0.64 -170.3 1983 1660 3353 3397 615.5 -11.3 430 5028 0.00 0.90 0.00 0.000 260 0.000 0.047 1979 2225 3374 3352 3396 0 0 0 0 0 0 15.04 14.59 15.07

5128 -0.64 -170.3 1978 2230 3353 3396 626.9 -10.5 451 5132 0.00 0.95 0.00 0.000 1030 0.000 0.054 1977 1672 3374 3353 3396 0 0 0 0 0 0 14.62 14.57 14.66

5463 -0.64 -170.3 1977 1672 3353 3396 665.3 -11.5 462 5468 0.00 0.88 0.00 0.000 516 0.000 0.057 1977 1157 3374 3353 3395 0 0 0 0 0 0 15.02 14.54 15.04

5693 -0.64 -170.3 1977 1158 3353 3396 689.3 -9.8 508 5698 0.00 0.85 0.00 0.000 1030 0.000 0.047 1975 1654 3374 3353 3395 0 0 0 0 0 0 14.64 14.60 14.66

6024 -0.64 -170.3 1975 1654 3353 3395 724.8 -11.2 518 6029 0.00 0.93 0.00 0.000 260 0.000 0.047 1971 2226 3373 3352 3394 0 0 0 0 0 0 15.04 14.57 15.04

6129 -0.64 -170.3 1970 2230 3354 3394 736.2 -10.6 539 6134 0.00 0.98 0.00 0.000 1030 0.000 0.053 1969 1666 3372 3351 3394 0 0 0 0 0 0 14.61 14.57 14.62

6465 -0.64 -170.3 1970 1665 3354 3393 779.5 -13.4 550 6470 0.00 0.85 0.00 0.000 516 0.000 0.057 1969 1165 3372 3352 3393 0 0 0 0 0 0 15.07 14.55 15.09

6685 -0.64 -170.3 1970 1165 3354 3393 806.2 -11.2 594 6690 0.08 0.82 0.00 0.000 3078 0.216 0.048 1992 1644 3372 3352 3393 0 0 0 0 0 0 14.23 14.61 14.37

7026 -0.64 -170.3 1990 1644 3353 3393 835.7 -8.2 606 7031 0.00 0.93 0.00 0.000 260 0.000 0.048 1988 2213 3371 3352 3391 0 0 0 0 0 0 15.03 14.54 15.05

7153 -0.64 -170.3 1987 2215 3353 3392 845.7 -7.9 631 7157 0.00 0.95 0.00 0.000 1062 0.000 0.054 1986 1664 3372 3352 3392 0 0 0 0 0 0 14.61 14.57 14.65

7508 -0.64 -170.3 1987 1663 3354 3390 878.5 -9.3 646 7512 0.00 0.85 0.00 0.000 516 0.000 0.058 1987 1165 3372 3353 3391 0 0 0 0 0 0 15.03 14.53 15.04

7662 -0.64 -170.3 1987 1164 3354 3391 892.5 -8.7 677 7668 0.00 0.85 0.00 0.000 1030 0.000 0.048 1984 1655 3372 3353 3391 0 0 0 0 0 0 14.62 14.59 14.64

7989 -0.64 -170.3 1984 1655 3354 3390 923.0 -9.2 686 7993 0.00 0.93 0.00 0.000 260 0.000 0.049 1980 2225 3371 3353 3390 0 0 0 0 0 0 15.03 14.55 15.05

8108 -0.64 -170.3 1980 2229 3353 3390 934.0 -9.0 710 8113 0.00 0.98 0.00 0.000 1030 0.000 0.054 1979 1668 3371 3353 3390 0 0 0 0 0 0 14.59 14.55 14.64

8468 -0.64 -170.3 1979 1668 3353 3390 970.5 -10.2 726 8473 0.00 0.88 0.00 0.000 516 0.000 0.058 1979 1157 3371 3353 3389 0 0 0 0 0 0 15.09 14.52 15.09

8653 -0.64 -170.3 1979 1156 3353 3389 988.0 -9.4 763 8658 0.00 0.88 0.00 0.000 1030 0.000 0.049 1976 1662 3370 3352 3389 0 0 0 0 0 0 14.62 14.59 14.68

8706 end dive: TARGET_DEPTH_EXCEEDED

state 8706 begin apogee

8713 -0.12 0.0 1975 1720 3353 3389 993.3 -9.7 767 8869 0.43 0.00 150.62 2.213 10244 0.195 0.000 2100 1735 2679 2858 2501 0 0 0 0 0 0 14.31 13.83 13.12

8870 end apogee: CONTROL_FINISHED_OK

state 8870 begin climb

8873 0.64 170.3 2101 1736 2860 2502 997.0 0.0 771 9036 0.55 0.00 156.55 2.140 11270 0.123 0.000 2280 1736 1985 2233 1737 0 0 0 0 0 0 14.00 14.23 12.81

9392 0.64 170.3 2280 1736 2228 1737 935.3 13.4 819 9393 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 1736 1981 2226 1737 0 0 0 0 0 0 14.78 14.80 14.80

9711 0.64 170.3 2280 1737 2226 1737 893.3 13.0 827 9716 0.00 0.82 0.00 0.000 260 0.000 0.042 2279 2254 1981 2225 1737 0 0 0 0 0 0 14.90 14.62 14.92

9741 0.64 170.3 2280 2258 2226 1737 889.2 13.3 833 9746 0.00 0.93 0.00 0.000 1030 0.000 0.060 2283 1718 1981 2225 1737 0 0 0 0 0 0 14.62 14.58 14.66

10071 0.64 170.3 2284 1719 2224 1737 846.5 12.6 843 10076 0.00 0.95 0.00 0.000 516 0.000 0.066 2288 1189 1980 2223 1737 0 0 0 0 0 0 14.95 14.57 14.97

10106 0.64 170.3 2288 1189 2223 1735 842.1 12.4 850 10112 0.00 0.95 0.00 0.000 1030 0.000 0.045 2288 1747 1979 2222 1737 0 0 0 0 0 0 14.60 14.56 14.62

10431 0.64 170.3 2288 1763 2222 1737 804.8 11.1 859 10436 0.00 1.05 0.00 0.000 516 0.000 0.063 2292 1182 1978 2220 1737 0 0 0 0 0 0 14.97 14.54 14.99

10462 0.64 170.3 2293 1182 2221 1737 801.6 10.4 865 10466 0.08 0.90 0.00 0.000 5126 0.210 0.045 2269 1718 1979 2221 1737 0 0 0 0 0 0 14.34 14.63 14.47

10792 0.64 170.3 2269 1726 2221 1737 770.0 10.1 875 10796 0.00 0.82 0.00 0.000 260 0.000 0.041 2268 2247 1978 2219 1737 0 0 0 0 0 0 14.98 14.66 15.00

10852 0.64 170.3 2269 2251 2221 1736 763.4 11.1 887 10856 0.00 0.93 0.00 0.000 1030 0.000 0.060 2272 1714 1977 2219 1736 0 0 0 0 0 0 14.64 14.59 14.66

11192 0.64 170.3 2273 1715 2220 1737 723.4 11.9 899 11197 0.00 0.95 0.00 0.000 516 0.000 0.064 2276 1185 1977 2219 1736 0 0 0 0 0 0 14.99 14.53 15.00

11252 0.64 170.3 2277 1184 2220 1737 716.3 11.7 911 11257 0.00 0.90 0.00 0.000 1030 0.000 0.045 2276 1706 1978 2219 1737 0 0 0 0 0 0 14.68 14.63 14.69

11593 0.64 170.3 2277 1726 2219 1737 676.4 11.5 923 11597 0.00 0.85 0.00 0.000 260 0.000 0.041 2276 2255 1977 2218 1737 0 0 0 0 0 0 14.98 14.61 15.00

11647 0.64 170.3 2276 2259 2219 1737 669.8 11.2 934 11652 0.00 0.95 0.00 0.000 1030 0.000 0.060 2280 1709 1977 2218 1737 0 0 0 0 0 0 14.62 14.57 14.65

11993 0.64 170.3 2280 1709 2219 1737 630.4 11.3 947 11994 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 1709 1977 2218 1737 0 0 0 0 0 0 14.99 15.01 15.00

12314 0.64 170.3 2280 1709 2218 1737 595.7 10.5 955 12315 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 1708 1976 2217 1736 0 0 0 0 0 0 15.00 15.01 15.01

12633 0.64 170.3 2280 1709 2218 1737 564.4 9.6 963 12634 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 1709 1977 2217 1737 0 0 0 0 0 0 14.99 15.01 15.00

12953 0.64 170.3 2281 1710 2219 1737 533.0 9.8 971 12958 0.00 0.90 0.00 0.000 260 0.000 0.041 2280 2262 1977 2217 1737 0 0 0 0 0 0 14.98 14.62 15.01

12988 0.64 170.3 2281 2263 2218 1737 529.5 9.8 978 12994 0.00 0.95 0.00 0.000 1030 0.000 0.059 2284 1711 1977 2217 1737 0 0 0 0 0 0 14.63 14.55 14.64

13314 0.64 170.3 2284 1711 2218 1737 496.6 10.3 987 13319 0.00 0.95 0.00 0.000 516 0.000 0.063 2288 1182 1976 2217 1736 0 0 0 0 0 0 14.99 14.53 15.00

13339 0.64 170.3 2288 1182 2218 1737 494.0 11.0 992 13343 0.00 0.93 0.00 0.000 1030 0.000 0.044 2288 1726 1977 2217 1737 0 0 0 0 0 0 14.57 14.52 14.62

13674 0.64 170.3 2288 1743 2219 1737 458.7 10.5 1003 13678 0.00 0.77 0.00 0.000 260 0.000 0.041 2288 2237 1977 2217 1737 0 0 0 0 0 0 14.96 14.57 14.98

13729 0.64 170.3 2287 2240 2217 1737 452.9 10.5 1014 13734 0.08 0.90 0.00 0.000 5126 0.209 0.060 2267 1717 1977 2218 1737 0 0 0 0 0 0 14.22 14.49 14.36

14075 0.68 170.3 2268 1717 2218 1737 424.0 8.3 1027 14079 0.00 0.95 0.00 0.000 580 0.000 0.064 2271 1191 1975 2218 1732 0 0 0 0 0 0 14.97 14.47 14.98

14130 0.71 170.3 2271 1191 2217 1737 419.4 8.4 1038 14135 0.00 0.88 0.00 0.000 1094 0.000 0.045 2271 1709 1975 2217 1733 0 0 0 0 0 0 14.57 14.53 14.60

14475 0.72 170.3 2272 1725 2218 1737 387.9 9.2 1051 14480 0.00 0.82 0.00 0.000 324 0.000 0.041 2271 2242 1974 2213 1736 0 0 0 0 0 0 14.95 14.56 14.96

14525 0.72 170.3 2272 2246 2218 1737 383.2 9.5 1061 14529 0.00 0.93 0.00 0.000 1030 0.000 0.060 2275 1710 1975 2217 1734 0 0 0 0 0 0 14.54 14.50 14.59

14876 0.72 170.3 2276 1710 2218 1737 348.7 10.2 1075 14880 0.00 0.95 0.00 0.000 516 0.000 0.062 2279 1181 1978 2217 1739 0 0 0 0 0 0 14.96 14.47 14.97

14915 0.72 170.3 2280 1181 2219 1737 344.6 10.3 1083 14920 0.00 0.90 0.00 0.000 1030 0.000 0.044 2279 1708 1977 2217 1737 0 0 0 0 0 0 14.58 14.55 14.61

15277 0.72 170.3 2277 1726 2218 1737 306.4 10.6 1099 15281 0.00 0.82 0.00 0.000 260 0.000 0.041 2279 2246 1977 2217 1737 0 0 0 0 0 0 14.95 14.56 14.97

15351 0.72 170.3 2279 2249 2219 1737 298.1 10.8 1114 15357 0.00 0.93 0.00 0.000 1030 0.000 0.060 2282 1713 1977 2217 1737 0 0 0 0 0 0 14.59 14.54 14.62

15676 0.72 170.3 2283 1713 2218 1737 263.3 10.7 1123 15681 0.00 0.93 0.00 0.000 516 0.000 0.063 2287 1194 1977 2217 1737 0 0 0 0 0 0 14.97 14.53 14.98

15717 0.72 170.3 2287 1194 2218 1737 259.1 10.6 1131 15721 0.00 0.90 0.00 0.000 1030 0.000 0.044 2286 1710 1977 2217 1737 0 0 0 0 0 0 14.64 14.60 14.68

16077 0.72 170.3 2287 1730 2218 1737 221.7 10.0 1147 16081 0.00 0.85 0.00 0.000 260 0.000 0.041 2287 2256 1977 2217 1737 0 0 0 0 0 0 14.99 14.62 15.00

16167 0.72 170.3 2287 2261 2218 1737 212.5 10.0 1165 16172 0.00 0.93 0.00 0.000 1030 0.000 0.060 2290 1718 1977 2217 1737 0 0 0 0 0 0 14.62 14.56 14.64

16517 0.72 170.3 2291 1718 2218 1737 176.6 10.2 1179 16521 0.00 0.95 0.00 0.000 516 0.000 0.063 2294 1188 1977 2218 1737 0 0 0 0 0 0 14.98 14.52 14.99

16557 0.72 170.3 2295 1187 2218 1737 172.6 10.3 1187 16562 0.00 0.93 0.00 0.000 1030 0.000 0.045 2294 1722 1977 2217 1737 0 0 0 0 0 0 14.66 14.61 14.67

16917 0.72 170.3 2295 1743 2218 1737 135.2 10.2 1203 16921 0.00 0.82 0.00 0.000 260 0.000 0.041 2295 2253 1977 2217 1737 0 0 0 0 0 0 14.97 14.59 15.00

16992 0.72 170.3 2295 2256 2218 1737 127.6 10.2 1218 16998 0.00 0.93 0.00 0.000 1030 0.000 0.059 2298 1717 1977 2218 1737 0 0 0 0 0 0 14.59 14.54 14.62

17317 0.72 170.3 2298 1718 2218 1737 93.3 10.5 1228 17318 0.00 0.00 0.00 0.000 6 0.000 0.000 2298 1717 1977 2217 1737 0 0 0 0 0 0 14.96 14.98 14.98

17638 0.72 170.3 2298 1717 2218 1737 61.2 10.6 1244 17642 0.00 0.85 0.00 0.000 260 0.000 0.041 2298 2243 1977 2217 1737 0 0 0 0 0 0 14.97 14.47 14.99

17682 0.72 170.3 2299 2247 2218 1737 55.7 12.3 1253 17687 0.00 0.90 0.00 0.000 1030 0.000 0.060 2302 1723 1976 2217 1736 0 0 0 0 0 0 14.60 14.56 14.64

18018 0.72 170.3 2302 1723 2219 1737 15.5 11.2 1272 18023 0.00 0.88 0.00 0.000 260 0.000 0.041 2301 2254 1976 2217 1736 0 0 0 0 0 0 14.90 14.37 14.92

18098 0.72 170.3 2303 2256 2218 1737 6.9 10.7 1288 18104 0.00 0.93 0.00 0.000 1030 0.000 0.060 2306 1726 1977 2217 1737 0 0 0 0 0 0 14.38 14.33 14.41

18137 end climb: SURFACE_DEPTH_REACHED

state 18137 begin surface coast

18157 end surface coast: CONTROL_FINISHED_OK

state 18157 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	339	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	0	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	342.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
HEADING	110	ROLL_TIMEOUT	15	ALTIM_PULSE	4
ESCAPE_HEADING	0	R_PORT_OVSHOOT	34	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	57	XPDR_VALID	5

GPS1	280718,053002,5848.2954,-2147.9597,39,1.6,44,-14.8,0.5,218.3,8,6.5	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	5844.645,-2128.389
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.07	MHEAD_RNG_PITCHd_Wd	124.8,20000,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-73.6	D_GRID	990
GPS2	280718,054251,5848.3379,-2147.9470,10,2.0,14,-14.8,0.7,296.7,8,6.8

FINISH	0.4,1.026733	_24V_AH	12.81,0.000
SM_CCo	18176,112.20,0.105,0,0,1256,350.04	_10V_AH	12.81,110.624
SM_GC	1.04,6.30,0.00,112.20,0.067,0.000,0.105,46,1726,1256,-9.46,0.74,350.04,0,0,0,0,0,0,14.52,14.92,14.45	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5848.96,-2151.17,280718,001748	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.824649	MEM	333992
HUMID	40.54	DATA_FILE_SIZE	46632,1294
INTERNAL_PRESSURE	7.96906	CAP_FILE_SIZE	154314,0
TCM_TEMP	19.00	CFSIZE	260165632,213733376
XPDR_PINGS	15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3823840	GPS	280718,104921,5846.859,-2140.542,25,1.1,42,-14.7,0.6,14.3,9,7.4
CP_FREE	15793258496.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	411	89.23	nil	0	0	0.00
Roll_motor	66	319	273.12	nil	0	0	0.00
VBD_pump_during_apogee	307	2213	8708.53	nil	0	0	0.00
VBD_pump_during_surface	112	104	150.63	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	18195	10	2534.49
Iridium_during_xfer	506	180	1171.10	TMICL	0	0	0.00
Transponder_ping	3	420	20.18	NCP	9315	25	2983.13
GUMSTIX_24V	0	0	0.00
GPS	17	20	4.43
TT8	0	0	0.00
LPSleep	15033	2	421.74
TT8_Active	648	8	72.03
TT8_Sampling	2954	26	1008.76
TT8_CF8	416	31	166.31
TT8_Kalman	0	0	0.00
Analog_circuits	2161	10	299.02
GPS_charging	0	0	0.00
Compass	1844	6	159.25
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.64	-170.3	23	1732	1386	1107	0.0	0.0	0	118	0.00	0.00	-98.85	0.006	16390	0.000	0.000	22	1731	3378	3320	3437	0	0	0	0	0	0	14.75	13.07	14.77
121	-0.64	-170.3	24	1732	3317	3437	4.2	-3.2	5	134	9.27	0.75	0.00	0.000	2340	0.412	0.038	1977	2248	3376	3320	3433	0	0	0	0	0	0	14.16	14.50	14.40
184	-0.64	-170.3	1976	2252	3340	3414	20.6	-14.0	18	189	0.00	0.95	0.00	0.000	1030	0.000	0.055	1980	1693	3376	3340	3413	0	0	0	0	0	0	14.54	14.50	14.57
519	-0.64	-170.3	1977	1693	3346	3407	66.8	-13.7	37	524	0.00	0.93	0.00	0.000	516	0.000	0.057	1976	1159	3376	3346	3406	0	0	0	0	0	0	14.94	14.54	14.96
750	-0.64	-170.3	1977	1159	3346	3406	96.2	-12.5	83	754	0.00	0.90	0.00	0.000	1030	0.000	0.047	1974	1683	3376	3346	3406	0	0	0	0	0	0	14.49	14.45	14.54
1100	-0.64	-170.3	1974	1684	3347	3406	144.7	-14.1	94	1104	0.00	0.88	0.00	0.000	260	0.000	0.047	1970	2233	3376	3347	3405	0	0	0	0	0	0	15.00	14.58	15.02
1155	-0.64	-170.3	1968	2237	3350	3403	151.9	-12.3	105	1159	0.00	0.93	0.00	0.000	1030	0.000	0.055	1968	1688	3375	3349	3402	0	0	0	0	0	0	14.61	14.55	14.63
1500	-0.64	-170.3	1969	1687	3351	3402	200.8	-14.4	118	1505	0.10	0.93	0.00	0.000	2564	0.275	0.052	1992	1160	3376	3350	3402	0	0	0	0	0	0	14.43	14.39	14.57
1731	-0.64	-170.3	1993	1159	3352	3402	227.1	-10.6	164	1735	0.00	0.90	0.00	0.000	1030	0.000	0.047	1989	1676	3376	3350	3402	0	0	0	0	0	0	14.46	14.42	14.50
2060	-0.64	-170.3	1990	1676	3351	3401	264.7	-11.5	174	2065	0.00	0.90	0.00	0.000	260	0.000	0.047	1985	2234	3375	3350	3401	0	0	0	0	0	0	15.04	14.41	15.06
2160	-0.64	-170.3	1984	2238	3352	3400	275.5	-10.5	194	2165	0.00	0.95	0.00	0.000	1030	0.000	0.052	1984	1681	3376	3352	3400	0	0	0	0	0	0	14.54	14.51	14.57
2501	-0.64	-170.3	1984	1680	3353	3400	315.8	-11.9	206	2506	0.00	0.90	0.00	0.000	516	0.000	0.057	1984	1158	3376	3352	3400	0	0	0	0	0	0	15.06	14.59	15.07
2731	-0.64	-170.3	1984	1157	3353	3400	341.1	-10.8	252	2736	0.00	0.90	0.00	0.000	1030	0.000	0.047	1981	1682	3375	3352	3399	0	0	0	0	0	0	14.66	14.64	14.69
3061	-0.64	-170.3	1981	1682	3353	3400	380.7	-12.2	262	3066	0.00	0.88	0.00	0.000	260	0.000	0.048	1977	2231	3375	3352	3399	0	0	0	0	0	0	15.07	14.61	15.07
3131	-0.64	-170.3	1976	2235	3353	3399	388.8	-11.0	276	3136	0.00	0.95	0.00	0.000	1030	0.000	0.054	1976	1678	3375	3352	3399	0	0	0	0	0	0	14.62	14.59	14.66
3462	-0.64	-170.3	1976	1678	3353	3399	430.1	-12.5	286	3466	0.00	0.88	0.00	0.000	516	0.000	0.057	1975	1167	3375	3352	3399	0	0	0	0	0	0	15.06	14.58	15.08
3691	-0.64	-170.3	1975	1167	3354	3399	457.9	-12.1	332	3696	0.00	0.88	0.00	0.000	1030	0.000	0.047	1973	1672	3375	3352	3399	0	0	0	0	0	0	14.66	14.63	14.69
4022	-0.64	-170.3	1973	1672	3353	3399	500.6	-13.1	342	4027	0.00	0.88	0.00	0.000	260	0.000	0.047	1969	2224	3375	3352	3398	0	0	0	0	0	0	15.07	14.61	15.07
4102	-0.64	-170.3	1968	2229	3353	3398	510.5	-11.7	358	4107	0.05	0.95	0.00	0.000	3078	0.216	0.054	1986	1674	3375	3352	3398	0	0	0	0	0	0	14.32	14.59	14.42
4462	-0.64	-170.3	1986	1673	3353	3398	552.7	-11.7	374	4467	0.00	0.88	0.00	0.000	516	0.000	0.057	1984	1160	3374	3352	3397	0	0	0	0	0	0	15.05	14.57	15.07
4692	-0.64	-170.3	1986	1160	3353	3398	577.7	-10.7	420	4697	0.00	0.85	0.00	0.000	1030	0.000	0.047	1983	1660	3374	3352	3397	0	0	0	0	0	0	14.66	14.62	14.69
5023	-0.64	-170.3	1983	1660	3353	3397	615.5	-11.3	430	5028	0.00	0.90	0.00	0.000	260	0.000	0.047	1979	2225	3374	3352	3396	0	0	0	0	0	0	15.04	14.59	15.07
5128	-0.64	-170.3	1978	2230	3353	3396	626.9	-10.5	451	5132	0.00	0.95	0.00	0.000	1030	0.000	0.054	1977	1672	3374	3353	3396	0	0	0	0	0	0	14.62	14.57	14.66
5463	-0.64	-170.3	1977	1672	3353	3396	665.3	-11.5	462	5468	0.00	0.88	0.00	0.000	516	0.000	0.057	1977	1157	3374	3353	3395	0	0	0	0	0	0	15.02	14.54	15.04
5693	-0.64	-170.3	1977	1158	3353	3396	689.3	-9.8	508	5698	0.00	0.85	0.00	0.000	1030	0.000	0.047	1975	1654	3374	3353	3395	0	0	0	0	0	0	14.64	14.60	14.66
6024	-0.64	-170.3	1975	1654	3353	3395	724.8	-11.2	518	6029	0.00	0.93	0.00	0.000	260	0.000	0.047	1971	2226	3373	3352	3394	0	0	0	0	0	0	15.04	14.57	15.04
6129	-0.64	-170.3	1970	2230	3354	3394	736.2	-10.6	539	6134	0.00	0.98	0.00	0.000	1030	0.000	0.053	1969	1666	3372	3351	3394	0	0	0	0	0	0	14.61	14.57	14.62
6465	-0.64	-170.3	1970	1665	3354	3393	779.5	-13.4	550	6470	0.00	0.85	0.00	0.000	516	0.000	0.057	1969	1165	3372	3352	3393	0	0	0	0	0	0	15.07	14.55	15.09
6685	-0.64	-170.3	1970	1165	3354	3393	806.2	-11.2	594	6690	0.08	0.82	0.00	0.000	3078	0.216	0.048	1992	1644	3372	3352	3393	0	0	0	0	0	0	14.23	14.61	14.37
7026	-0.64	-170.3	1990	1644	3353	3393	835.7	-8.2	606	7031	0.00	0.93	0.00	0.000	260	0.000	0.048	1988	2213	3371	3352	3391	0	0	0	0	0	0	15.03	14.54	15.05
7153	-0.64	-170.3	1987	2215	3353	3392	845.7	-7.9	631	7157	0.00	0.95	0.00	0.000	1062	0.000	0.054	1986	1664	3372	3352	3392	0	0	0	0	0	0	14.61	14.57	14.65
7508	-0.64	-170.3	1987	1663	3354	3390	878.5	-9.3	646	7512	0.00	0.85	0.00	0.000	516	0.000	0.058	1987	1165	3372	3353	3391	0	0	0	0	0	0	15.03	14.53	15.04
7662	-0.64	-170.3	1987	1164	3354	3391	892.5	-8.7	677	7668	0.00	0.85	0.00	0.000	1030	0.000	0.048	1984	1655	3372	3353	3391	0	0	0	0	0	0	14.62	14.59	14.64
7989	-0.64	-170.3	1984	1655	3354	3390	923.0	-9.2	686	7993	0.00	0.93	0.00	0.000	260	0.000	0.049	1980	2225	3371	3353	3390	0	0	0	0	0	0	15.03	14.55	15.05
8108	-0.64	-170.3	1980	2229	3353	3390	934.0	-9.0	710	8113	0.00	0.98	0.00	0.000	1030	0.000	0.054	1979	1668	3371	3353	3390	0	0	0	0	0	0	14.59	14.55	14.64
8468	-0.64	-170.3	1979	1668	3353	3390	970.5	-10.2	726	8473	0.00	0.88	0.00	0.000	516	0.000	0.058	1979	1157	3371	3353	3389	0	0	0	0	0	0	15.09	14.52	15.09
8653	-0.64	-170.3	1979	1156	3353	3389	988.0	-9.4	763	8658	0.00	0.88	0.00	0.000	1030	0.000	0.049	1976	1662	3370	3352	3389	0	0	0	0	0	0	14.62	14.59	14.68
8706	end dive: TARGET_DEPTH_EXCEEDED
state	8706	begin apogee
8713	-0.12	0.0	1975	1720	3353	3389	993.3	-9.7	767	8869	0.43	0.00	150.62	2.213	10244	0.195	0.000	2100	1735	2679	2858	2501	0	0	0	0	0	0	14.31	13.83	13.12
8870	end apogee: CONTROL_FINISHED_OK
state	8870	begin climb
8873	0.64	170.3	2101	1736	2860	2502	997.0	0.0	771	9036	0.55	0.00	156.55	2.140	11270	0.123	0.000	2280	1736	1985	2233	1737	0	0	0	0	0	0	14.00	14.23	12.81
9392	0.64	170.3	2280	1736	2228	1737	935.3	13.4	819	9393	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	1736	1981	2226	1737	0	0	0	0	0	0	14.78	14.80	14.80
9711	0.64	170.3	2280	1737	2226	1737	893.3	13.0	827	9716	0.00	0.82	0.00	0.000	260	0.000	0.042	2279	2254	1981	2225	1737	0	0	0	0	0	0	14.90	14.62	14.92
9741	0.64	170.3	2280	2258	2226	1737	889.2	13.3	833	9746	0.00	0.93	0.00	0.000	1030	0.000	0.060	2283	1718	1981	2225	1737	0	0	0	0	0	0	14.62	14.58	14.66
10071	0.64	170.3	2284	1719	2224	1737	846.5	12.6	843	10076	0.00	0.95	0.00	0.000	516	0.000	0.066	2288	1189	1980	2223	1737	0	0	0	0	0	0	14.95	14.57	14.97
10106	0.64	170.3	2288	1189	2223	1735	842.1	12.4	850	10112	0.00	0.95	0.00	0.000	1030	0.000	0.045	2288	1747	1979	2222	1737	0	0	0	0	0	0	14.60	14.56	14.62
10431	0.64	170.3	2288	1763	2222	1737	804.8	11.1	859	10436	0.00	1.05	0.00	0.000	516	0.000	0.063	2292	1182	1978	2220	1737	0	0	0	0	0	0	14.97	14.54	14.99
10462	0.64	170.3	2293	1182	2221	1737	801.6	10.4	865	10466	0.08	0.90	0.00	0.000	5126	0.210	0.045	2269	1718	1979	2221	1737	0	0	0	0	0	0	14.34	14.63	14.47
10792	0.64	170.3	2269	1726	2221	1737	770.0	10.1	875	10796	0.00	0.82	0.00	0.000	260	0.000	0.041	2268	2247	1978	2219	1737	0	0	0	0	0	0	14.98	14.66	15.00
10852	0.64	170.3	2269	2251	2221	1736	763.4	11.1	887	10856	0.00	0.93	0.00	0.000	1030	0.000	0.060	2272	1714	1977	2219	1736	0	0	0	0	0	0	14.64	14.59	14.66
11192	0.64	170.3	2273	1715	2220	1737	723.4	11.9	899	11197	0.00	0.95	0.00	0.000	516	0.000	0.064	2276	1185	1977	2219	1736	0	0	0	0	0	0	14.99	14.53	15.00
11252	0.64	170.3	2277	1184	2220	1737	716.3	11.7	911	11257	0.00	0.90	0.00	0.000	1030	0.000	0.045	2276	1706	1978	2219	1737	0	0	0	0	0	0	14.68	14.63	14.69
11593	0.64	170.3	2277	1726	2219	1737	676.4	11.5	923	11597	0.00	0.85	0.00	0.000	260	0.000	0.041	2276	2255	1977	2218	1737	0	0	0	0	0	0	14.98	14.61	15.00
11647	0.64	170.3	2276	2259	2219	1737	669.8	11.2	934	11652	0.00	0.95	0.00	0.000	1030	0.000	0.060	2280	1709	1977	2218	1737	0	0	0	0	0	0	14.62	14.57	14.65
11993	0.64	170.3	2280	1709	2219	1737	630.4	11.3	947	11994	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	1709	1977	2218	1737	0	0	0	0	0	0	14.99	15.01	15.00
12314	0.64	170.3	2280	1709	2218	1737	595.7	10.5	955	12315	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	1708	1976	2217	1736	0	0	0	0	0	0	15.00	15.01	15.01
12633	0.64	170.3	2280	1709	2218	1737	564.4	9.6	963	12634	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	1709	1977	2217	1737	0	0	0	0	0	0	14.99	15.01	15.00
12953	0.64	170.3	2281	1710	2219	1737	533.0	9.8	971	12958	0.00	0.90	0.00	0.000	260	0.000	0.041	2280	2262	1977	2217	1737	0	0	0	0	0	0	14.98	14.62	15.01
12988	0.64	170.3	2281	2263	2218	1737	529.5	9.8	978	12994	0.00	0.95	0.00	0.000	1030	0.000	0.059	2284	1711	1977	2217	1737	0	0	0	0	0	0	14.63	14.55	14.64
13314	0.64	170.3	2284	1711	2218	1737	496.6	10.3	987	13319	0.00	0.95	0.00	0.000	516	0.000	0.063	2288	1182	1976	2217	1736	0	0	0	0	0	0	14.99	14.53	15.00
13339	0.64	170.3	2288	1182	2218	1737	494.0	11.0	992	13343	0.00	0.93	0.00	0.000	1030	0.000	0.044	2288	1726	1977	2217	1737	0	0	0	0	0	0	14.57	14.52	14.62
13674	0.64	170.3	2288	1743	2219	1737	458.7	10.5	1003	13678	0.00	0.77	0.00	0.000	260	0.000	0.041	2288	2237	1977	2217	1737	0	0	0	0	0	0	14.96	14.57	14.98
13729	0.64	170.3	2287	2240	2217	1737	452.9	10.5	1014	13734	0.08	0.90	0.00	0.000	5126	0.209	0.060	2267	1717	1977	2218	1737	0	0	0	0	0	0	14.22	14.49	14.36
14075	0.68	170.3	2268	1717	2218	1737	424.0	8.3	1027	14079	0.00	0.95	0.00	0.000	580	0.000	0.064	2271	1191	1975	2218	1732	0	0	0	0	0	0	14.97	14.47	14.98
14130	0.71	170.3	2271	1191	2217	1737	419.4	8.4	1038	14135	0.00	0.88	0.00	0.000	1094	0.000	0.045	2271	1709	1975	2217	1733	0	0	0	0	0	0	14.57	14.53	14.60
14475	0.72	170.3	2272	1725	2218	1737	387.9	9.2	1051	14480	0.00	0.82	0.00	0.000	324	0.000	0.041	2271	2242	1974	2213	1736	0	0	0	0	0	0	14.95	14.56	14.96
14525	0.72	170.3	2272	2246	2218	1737	383.2	9.5	1061	14529	0.00	0.93	0.00	0.000	1030	0.000	0.060	2275	1710	1975	2217	1734	0	0	0	0	0	0	14.54	14.50	14.59
14876	0.72	170.3	2276	1710	2218	1737	348.7	10.2	1075	14880	0.00	0.95	0.00	0.000	516	0.000	0.062	2279	1181	1978	2217	1739	0	0	0	0	0	0	14.96	14.47	14.97
14915	0.72	170.3	2280	1181	2219	1737	344.6	10.3	1083	14920	0.00	0.90	0.00	0.000	1030	0.000	0.044	2279	1708	1977	2217	1737	0	0	0	0	0	0	14.58	14.55	14.61
15277	0.72	170.3	2277	1726	2218	1737	306.4	10.6	1099	15281	0.00	0.82	0.00	0.000	260	0.000	0.041	2279	2246	1977	2217	1737	0	0	0	0	0	0	14.95	14.56	14.97
15351	0.72	170.3	2279	2249	2219	1737	298.1	10.8	1114	15357	0.00	0.93	0.00	0.000	1030	0.000	0.060	2282	1713	1977	2217	1737	0	0	0	0	0	0	14.59	14.54	14.62
15676	0.72	170.3	2283	1713	2218	1737	263.3	10.7	1123	15681	0.00	0.93	0.00	0.000	516	0.000	0.063	2287	1194	1977	2217	1737	0	0	0	0	0	0	14.97	14.53	14.98
15717	0.72	170.3	2287	1194	2218	1737	259.1	10.6	1131	15721	0.00	0.90	0.00	0.000	1030	0.000	0.044	2286	1710	1977	2217	1737	0	0	0	0	0	0	14.64	14.60	14.68
16077	0.72	170.3	2287	1730	2218	1737	221.7	10.0	1147	16081	0.00	0.85	0.00	0.000	260	0.000	0.041	2287	2256	1977	2217	1737	0	0	0	0	0	0	14.99	14.62	15.00
16167	0.72	170.3	2287	2261	2218	1737	212.5	10.0	1165	16172	0.00	0.93	0.00	0.000	1030	0.000	0.060	2290	1718	1977	2217	1737	0	0	0	0	0	0	14.62	14.56	14.64
16517	0.72	170.3	2291	1718	2218	1737	176.6	10.2	1179	16521	0.00	0.95	0.00	0.000	516	0.000	0.063	2294	1188	1977	2218	1737	0	0	0	0	0	0	14.98	14.52	14.99
16557	0.72	170.3	2295	1187	2218	1737	172.6	10.3	1187	16562	0.00	0.93	0.00	0.000	1030	0.000	0.045	2294	1722	1977	2217	1737	0	0	0	0	0	0	14.66	14.61	14.67
16917	0.72	170.3	2295	1743	2218	1737	135.2	10.2	1203	16921	0.00	0.82	0.00	0.000	260	0.000	0.041	2295	2253	1977	2217	1737	0	0	0	0	0	0	14.97	14.59	15.00
16992	0.72	170.3	2295	2256	2218	1737	127.6	10.2	1218	16998	0.00	0.93	0.00	0.000	1030	0.000	0.059	2298	1717	1977	2218	1737	0	0	0	0	0	0	14.59	14.54	14.62
17317	0.72	170.3	2298	1718	2218	1737	93.3	10.5	1228	17318	0.00	0.00	0.00	0.000	6	0.000	0.000	2298	1717	1977	2217	1737	0	0	0	0	0	0	14.96	14.98	14.98
17638	0.72	170.3	2298	1717	2218	1737	61.2	10.6	1244	17642	0.00	0.85	0.00	0.000	260	0.000	0.041	2298	2243	1977	2217	1737	0	0	0	0	0	0	14.97	14.47	14.99
17682	0.72	170.3	2299	2247	2218	1737	55.7	12.3	1253	17687	0.00	0.90	0.00	0.000	1030	0.000	0.060	2302	1723	1976	2217	1736	0	0	0	0	0	0	14.60	14.56	14.64
18018	0.72	170.3	2302	1723	2219	1737	15.5	11.2	1272	18023	0.00	0.88	0.00	0.000	260	0.000	0.041	2301	2254	1976	2217	1736	0	0	0	0	0	0	14.90	14.37	14.92
18098	0.72	170.3	2303	2256	2218	1737	6.9	10.7	1288	18104	0.00	0.93	0.00	0.000	1030	0.000	0.060	2306	1726	1977	2217	1737	0	0	0	0	0	0	14.38	14.33	14.41
18137	end climb: SURFACE_DEPTH_REACHED
state	18137	begin surface coast
18157	end surface coast: CONTROL_FINISHED_OK
state	18157	begin surface