Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 399 * 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 399 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 402.0

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 77 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 -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 402.0 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 77 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 399 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 100818,141721,5751.1367,-2328.6333,27,1.0,45,-15.2,0.2,246.9,8,6.5 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 1.17 MHEAD_RNG_PITCHd_Wd 205.6,50259,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -73.4 D_GRID 990

GPS2 100818,143014,5751.3135,-2328.7356,13,1.8,22,-15.2,0.9,246.6,7,9.3

Post-dive calculations and measurements:

FINISH 0.6,1.026743 _10V_AH 12.56,130.211

SM_CCo 18690,126.43,0.103,0,0,1253,350.29 FG_AHR_24Vo 0.000

SM_GC 1.12,6.32,0.10,126.43,0.072,0.168,0.103,44,1703,1253,-9.42,0.79,350.29,0,0,0,0,0,0,14.54,14.49,14.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5752.33,-2322.01,100818,090001 MEM 333808

TT8_MAMPS 0.038948,0.80143 DATA_FILE_SIZE 46597,1328

HUMID 39.68 CAP_FILE_SIZE 159266,0

INTERNAL_PRESSURE 7.97882 CFSIZE 260165632,204795904

TCM_TEMP 19.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 12 INTR 0,12952.15,0x235322,1,24

SC_FREEKB 3788160 CURRENT 0.200,330.38,1

CP_FREE 15755411456.000000 GPS 100818,194551,5751.303,-2330.742,41,1.0,58,-15.2,0.5,5.6,8,6.0

_24V_AH 12.66,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 409 88.21 nil 0 0 0.00

Roll_motor 69 168 147.55 nil 0 0 0.00

VBD_pump_during_apogee 313 2220 8804.07 nil 0 0 0.00

VBD_pump_during_surface 126 103 165.30 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 18711 10 2585.09

Iridium_during_xfer 494 180 1131.16 TMICL 0 0 0.00

Transponder_ping 3 420 15.95 NCP 9373 25 2966.55

GUMSTIX_24V 0 0 0.00

GPS 24 20 6.31

TT8 0 0 0.00

LPSleep 15370 2 422.77

TT8_Active 696 8 75.80

TT8_Sampling 3062 26 1025.10

TT8_CF8 459 31 179.57

TT8_Kalman 0 0 0.00

Analog_circuits 2221 10 301.40

GPS_charging 0 0 0.00

Compass 1895 6 160.44

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 14 begin dive

17 -0.64 -170.3 17 1702 1406 1091 0.0 0.0 0 118 0.00 0.00 -97.07 0.006 16390 0.000 0.000 15 1702 3376 3320 3432 0 0 0 0 0 0 14.76 12.90 14.74

121 -0.64 -170.3 16 1703 3321 3433 4.4 -3.2 5 135 9.40 0.00 0.00 0.000 2598 0.409 0.000 1982 1669 3376 3324 3429 0 0 0 0 0 0 14.09 14.48 14.35

460 -0.64 -170.3 1982 1677 3346 3406 57.4 -12.1 25 465 0.00 0.82 0.00 0.000 516 0.000 0.055 1981 1200 3375 3344 3406 0 0 0 0 0 0 14.93 14.35 14.95

585 -0.64 -170.3 1982 1200 3346 3406 73.9 -13.4 50 590 0.00 0.85 0.00 0.000 1030 0.000 0.047 1979 1687 3375 3345 3405 0 0 0 0 0 0 14.51 14.48 14.52

940 -0.64 -170.3 1979 1687 3347 3405 123.5 -13.9 66 945 0.00 0.88 0.00 0.000 260 0.000 0.047 1974 2229 3376 3347 3405 0 0 0 0 0 0 14.97 14.38 15.01

996 -0.64 -170.3 1975 2231 3351 3402 130.9 -12.6 77 1001 0.00 0.82 0.00 0.000 1030 0.000 0.051 1974 1735 3375 3349 3402 0 0 0 0 0 0 14.50 14.47 14.53

1341 -0.64 -170.3 1974 1734 3351 3402 177.1 -13.3 90 1346 0.00 1.00 0.00 0.000 516 0.000 0.056 1974 1169 3376 3350 3402 0 0 0 0 0 0 15.00 14.43 15.01

1571 -0.64 -170.3 1975 1169 3351 3400 206.0 -12.3 136 1577 0.00 0.90 0.00 0.000 1030 0.000 0.047 1972 1683 3374 3348 3401 0 0 0 0 0 0 14.49 14.46 14.52

1902 -0.64 -170.3 1972 1683 3351 3402 249.7 -13.4 146 1907 0.00 0.88 0.00 0.000 260 0.000 0.047 1967 2226 3376 3351 3401 0 0 0 0 0 0 15.03 14.50 15.04

1948 -0.64 -170.3 1967 2229 3352 3401 255.8 -13.0 155 1953 0.08 0.93 0.00 0.000 3078 0.207 0.051 1992 1679 3376 3351 3401 0 0 0 0 0 0 14.27 14.57 14.40

2303 -0.64 -170.3 1992 1679 3352 3401 298.1 -12.0 170 2308 0.00 0.88 0.00 0.000 516 0.000 0.059 1992 1170 3376 3352 3400 0 0 0 0 0 0 15.04 14.55 15.06

2483 -0.64 -170.3 1992 1171 3352 3400 318.1 -10.8 206 2488 0.00 0.88 0.00 0.000 1030 0.000 0.047 1989 1679 3375 3351 3400 0 0 0 0 0 0 14.64 14.59 14.66

2823 -0.64 -170.3 1990 1679 3353 3400 356.3 -11.1 218 2828 0.00 0.88 0.00 0.000 260 0.000 0.046 1985 2227 3375 3351 3399 0 0 0 0 0 0 15.05 14.59 15.07

2924 -0.64 -170.3 1985 2229 3353 3400 366.7 -10.3 238 2929 0.00 0.93 0.00 0.000 1030 0.000 0.049 1985 1677 3375 3352 3399 0 0 0 0 0 0 14.63 14.59 14.66

3264 -0.64 -170.3 1985 1677 3353 3399 405.2 -11.4 250 3269 0.00 0.88 0.00 0.000 516 0.000 0.056 1984 1164 3375 3352 3399 0 0 0 0 0 0 15.05 14.57 15.10

3455 -0.64 -170.3 1985 1163 3357 3400 425.3 -10.3 288 3460 0.00 0.88 0.00 0.000 1030 0.000 0.047 1982 1672 3375 3352 3399 0 0 0 0 0 0 14.64 14.62 14.70

3786 -0.64 -170.3 1982 1672 3355 3398 462.4 -11.1 298 3790 0.00 0.90 0.00 0.000 260 0.000 0.048 1978 2229 3374 3352 3397 0 0 0 0 0 0 15.06 14.58 15.08

3891 -0.64 -170.3 1978 2231 3353 3397 473.3 -10.2 319 3895 0.00 0.95 0.00 0.000 1030 0.000 0.050 1977 1673 3374 3352 3397 0 0 0 0 0 0 14.50 14.47 14.56

4227 -0.64 -170.3 1978 1673 3353 3396 512.5 -11.8 330 4231 0.00 0.88 0.00 0.000 516 0.000 0.055 1977 1157 3374 3352 3396 0 0 0 0 0 0 15.06 14.56 15.07

4407 -0.64 -170.3 1978 1157 3353 3397 533.6 -11.9 366 4412 0.00 0.90 0.00 0.000 1030 0.000 0.048 1974 1680 3374 3354 3394 0 0 0 0 0 0 14.62 14.58 14.64

4748 -0.64 -170.3 1975 1679 3353 3395 573.6 -11.7 378 4752 0.00 0.88 0.00 0.000 260 0.000 0.047 1970 2225 3373 3352 3394 0 0 0 0 0 0 15.06 14.58 15.07

4868 -0.64 -170.3 1970 2227 3353 3394 586.6 -10.1 402 4872 0.00 0.95 0.00 0.000 1030 0.000 0.050 1970 1675 3373 3352 3394 0 0 0 0 0 0 14.60 14.55 14.62

5229 -0.64 -170.3 1970 1675 3353 3394 625.6 -10.9 418 5233 0.00 0.88 0.00 0.000 516 0.000 0.057 1970 1162 3372 3352 3393 0 0 0 0 0 0 15.04 14.54 15.07

5403 -0.64 -170.3 1969 1161 3353 3393 642.9 -9.4 453 5408 0.08 0.88 0.00 0.000 3078 0.213 0.048 1992 1661 3372 3352 3392 0 0 0 0 0 0 14.21 14.57 14.31

5750 -0.64 -170.3 1993 1661 3353 3392 671.4 -8.4 466 5754 0.00 0.93 0.00 0.000 260 0.000 0.047 1988 2231 3371 3352 3391 0 0 0 0 0 0 15.02 14.56 15.04

5920 -0.64 -170.3 1988 2233 3354 3391 685.6 -8.3 500 5926 0.00 0.95 0.00 0.000 1030 0.000 0.050 1988 1675 3371 3352 3390 0 0 0 0 0 0 14.57 14.54 14.64

6272 -0.64 -170.3 1987 1674 3353 3390 717.9 -9.4 514 6277 0.00 0.88 0.00 0.000 516 0.000 0.056 1988 1162 3369 3349 3390 0 0 0 0 0 0 15.08 14.52 15.10

6387 -0.64 -170.3 1988 1162 3353 3390 728.9 -9.4 537 6393 0.00 0.90 0.00 0.000 1030 0.000 0.048 1985 1679 3370 3352 3389 0 0 0 0 0 0 14.61 14.58 14.63

6713 -0.64 -170.3 1985 1679 3357 3388 760.0 -9.8 546 6718 0.00 0.88 0.00 0.000 260 0.000 0.050 1981 2224 3370 3352 3388 0 0 0 0 0 0 15.08 14.54 15.08

6858 -0.64 -170.3 1981 2224 3353 3387 773.8 -9.4 575 6863 0.00 0.93 0.00 0.000 1030 0.000 0.050 1981 1682 3369 3352 3387 0 0 0 0 0 0 14.58 14.54 14.64

7194 -0.64 -170.3 1981 1682 3353 3385 807.8 -10.2 586 7199 0.00 0.90 0.00 0.000 516 0.000 0.057 1980 1161 3369 3352 3386 0 0 0 0 0 0 15.07 14.50 15.09

7369 -0.64 -170.3 1982 1161 3353 3385 824.2 -8.7 621 7373 0.00 0.90 0.00 0.000 1030 0.000 0.048 1978 1673 3369 3352 3386 0 0 0 0 0 0 14.60 14.57 14.62

7715 -0.64 -170.3 1978 1672 3353 3386 856.4 -9.4 634 7720 0.00 0.90 0.00 0.000 260 0.000 0.049 1974 2226 3368 3352 3385 0 0 0 0 0 0 15.06 14.52 15.08

7856 -0.64 -170.3 1973 2228 3353 3385 869.5 -9.1 662 7861 0.00 0.93 0.00 0.000 1030 0.000 0.051 1973 1682 3368 3352 3384 0 0 0 0 0 0 14.56 14.52 14.59

8197 -0.64 -170.3 1973 1682 3353 3383 903.8 -10.1 674 8202 0.00 0.90 0.00 0.000 516 0.000 0.057 1973 1164 3367 3352 3382 0 0 0 0 0 0 15.01 14.46 15.04

8324 -0.64 -170.3 1973 1163 3353 3382 915.8 -9.0 699 8329 0.00 0.90 0.00 0.000 1030 0.000 0.050 1970 1679 3367 3352 3382 0 0 0 0 0 0 14.57 14.50 14.60

8680 -0.64 -170.3 1971 1679 3353 3380 951.3 -10.0 714 8685 0.00 0.90 0.00 0.000 260 0.000 0.050 1967 2230 3366 3352 3380 0 0 0 0 0 0 15.04 14.50 15.06

8822 -0.64 -170.3 1967 2232 3352 3380 964.4 -9.1 742 8827 0.08 0.95 0.00 0.000 3078 0.195 0.052 1991 1676 3365 3352 3379 0 0 0 0 0 0 14.09 14.40 14.21

9161 end dive: TARGET_DEPTH_EXCEEDED

state 9161 begin apogee

9167 -0.12 0.0 1991 1676 3353 3380 991.6 -7.8 754 9324 0.38 0.00 153.50 2.220 10244 0.186 0.000 2103 1676 2679 2860 2498 0 0 0 0 0 0 14.21 13.93 12.95

9325 end apogee: CONTROL_FINISHED_OK

state 9325 begin climb

9327 0.64 170.3 2103 1676 2860 2499 995.3 0.0 758 9496 0.50 1.02 159.75 2.139 10500 0.092 0.042 2280 2261 1985 2198 1772 0 0 0 0 0 0 13.97 14.02 12.66

9618 0.64 170.3 2280 2261 2197 1771 967.2 12.3 812 9623 0.00 0.98 0.00 0.000 1030 0.000 0.062 2284 1714 1983 2196 1771 0 0 0 0 0 0 14.23 14.19 14.26

9949 0.64 170.3 2283 1714 2192 1771 925.5 12.6 822 9953 0.00 0.88 0.00 0.000 260 0.000 0.041 2283 2250 1981 2192 1770 0 0 0 0 0 0 14.87 14.59 14.88

10128 0.64 170.3 2287 2252 2191 1771 903.5 12.0 858 10133 0.00 0.93 0.00 0.000 1030 0.000 0.061 2288 1717 1980 2191 1770 0 0 0 0 0 0 14.63 14.58 14.66

10469 0.64 170.3 2288 1717 2190 1770 861.6 12.3 870 10469 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1717 1979 2189 1770 0 0 0 0 0 0 14.95 14.97 14.97

10789 0.64 170.3 2288 1717 2188 1771 823.1 12.0 878 10790 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1717 1978 2187 1770 0 0 0 0 0 0 14.97 15.00 15.00

11109 0.64 170.3 2288 1717 2188 1770 784.7 11.9 886 11113 0.00 0.95 0.00 0.000 516 0.000 0.065 2292 1190 1978 2186 1770 0 0 0 0 0 0 15.00 14.53 15.02

11144 0.64 170.3 2292 1190 2187 1769 780.6 11.7 893 11150 0.05 0.93 0.00 0.000 5126 0.215 0.046 2275 1731 1977 2186 1769 0 0 0 0 0 0 14.35 14.62 14.48

11470 0.64 170.3 2275 1748 2187 1769 745.8 10.8 902 11474 0.00 0.80 0.00 0.000 260 0.000 0.041 2274 2245 1977 2186 1769 0 0 0 0 0 0 15.00 14.65 15.01

11504 0.64 170.3 2275 2246 2187 1769 741.8 11.2 909 11510 0.00 0.90 0.00 0.000 1030 0.000 0.062 2278 1725 1978 2187 1769 0 0 0 0 0 0 14.62 14.57 14.66

11830 0.64 170.3 2278 1726 2187 1769 705.5 11.3 918 11834 0.00 0.98 0.00 0.000 516 0.000 0.064 2283 1185 1977 2186 1769 0 0 0 0 0 0 15.00 14.54 15.02

11880 0.64 170.3 2283 1184 2187 1769 699.9 11.2 928 11886 0.00 0.93 0.00 0.000 1030 0.000 0.044 2282 1723 1977 2186 1768 0 0 0 0 0 0 14.66 14.61 14.68

12231 0.64 170.3 2282 1743 2186 1769 662.1 10.5 942 12232 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1743 1977 2186 1768 0 0 0 0 0 0 15.01 15.02 15.01

12551 0.64 170.3 2282 1743 2184 1769 628.7 10.3 950 12556 0.00 1.00 0.00 0.000 516 0.000 0.063 2287 1190 1976 2185 1768 0 0 0 0 0 0 15.00 14.52 15.01

12592 0.64 170.3 2287 1190 2186 1768 624.6 10.4 958 12597 0.00 0.93 0.00 0.000 1030 0.000 0.046 2286 1712 1976 2185 1768 0 0 0 0 0 0 14.62 14.58 14.63

12952 0.64 170.3 2288 1731 2184 1768 586.0 10.6 974 12960 0.00 0.82 0.00 0.000 260 0.000 0.041 2287 2250 1977 2186 1768 0 0 0 0 0 0 15.00 14.59 15.01

13072 0.64 170.3 2288 2251 2187 1768 572.7 11.5 997 13078 0.00 0.90 0.00 0.000 1030 0.000 0.060 2290 1729 1976 2185 1768 0 0 0 0 0 0 14.51 14.47 14.50

13395 0.64 170.3 2291 1729 2186 1768 535.6 11.4 1006 13400 0.10 0.98 0.00 0.000 4612 0.265 0.055 2272 1183 1976 2185 1768 0 0 0 0 0 0 14.42 14.50 14.54

13446 0.64 170.3 2272 1182 2186 1768 530.5 9.6 1016 13451 0.00 0.98 0.00 0.000 1030 0.000 0.043 2271 1735 1976 2185 1768 0 0 0 0 0 0 14.51 14.47 14.55

13798 0.64 170.3 2272 1756 2186 1768 496.3 9.7 1030 13803 0.00 0.80 0.00 0.000 260 0.000 0.042 2271 2251 1977 2185 1769 0 0 0 0 0 0 14.97 14.58 15.00

13838 0.67 170.3 2272 2252 2186 1768 492.6 8.8 1038 13843 0.00 0.93 0.00 0.000 1094 0.000 0.057 2274 1720 1976 2185 1768 0 0 0 0 0 0 14.49 14.45 14.52

14199 0.67 170.3 2275 1720 2186 1768 458.1 9.7 1054 14204 0.00 0.95 0.00 0.000 516 0.000 0.063 2279 1200 1976 2185 1767 0 0 0 0 0 0 14.83 14.40 14.84

14244 0.67 170.3 2278 1198 2186 1768 453.5 9.6 1063 14249 0.00 0.95 0.00 0.000 1030 0.000 0.044 2278 1731 1976 2185 1767 0 0 0 0 0 0 14.52 14.51 14.53

14599 0.67 170.3 2279 1751 2186 1768 419.0 9.7 1078 14600 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 1751 1976 2185 1767 0 0 0 0 0 0 14.81 14.83 14.83

14920 0.69 170.3 2279 1751 2186 1768 389.8 9.0 1086 14925 0.00 1.02 0.00 0.000 580 0.000 0.061 2282 1193 1976 2185 1767 0 0 0 0 0 0 14.81 14.38 14.83

14956 0.71 170.3 2283 1193 2185 1768 386.5 8.9 1093 14961 0.00 0.93 0.00 0.000 1094 0.000 0.044 2281 1718 1976 2185 1768 0 0 0 0 0 0 14.47 14.45 14.50

15281 0.72 170.3 2282 1738 2186 1768 356.2 9.4 1102 15285 0.00 0.85 0.00 0.000 324 0.000 0.043 2282 2261 1976 2185 1768 0 0 0 0 0 0 14.82 14.45 14.83

15361 0.72 170.3 2283 2262 2186 1768 348.4 9.9 1118 15365 0.00 0.95 0.00 0.000 1030 0.000 0.058 2285 1719 1976 2185 1767 0 0 0 0 0 0 14.43 14.37 14.46

15721 0.72 170.3 2286 1719 2186 1768 312.3 10.2 1134 15726 0.00 0.95 0.00 0.000 516 0.000 0.063 2290 1198 1979 2185 1773 0 0 0 0 0 0 14.83 14.38 14.85

15772 0.72 170.3 2290 1197 2186 1769 307.2 10.2 1144 15777 0.00 0.93 0.00 0.000 1030 0.000 0.045 2290 1724 1976 2185 1768 0 0 0 0 0 0 14.50 14.45 14.51

16122 0.72 170.3 2290 1746 2183 1768 270.1 10.5 1158 16127 0.00 0.82 0.00 0.000 260 0.000 0.041 2290 2249 1976 2185 1768 0 0 0 0 0 0 14.83 14.40 14.88

16177 0.72 170.3 2290 2250 2186 1768 264.5 10.1 1169 16182 0.00 0.93 0.00 0.000 1030 0.000 0.057 2293 1718 1976 2185 1767 0 0 0 0 0 0 14.44 14.42 14.48

16524 0.72 170.3 2295 1722 2186 1768 228.5 10.3 1182 16528 0.00 0.95 0.00 0.000 516 0.000 0.060 2296 1195 1978 2185 1771 0 0 0 0 0 0 14.83 14.28 14.85

16553 0.72 170.3 2304 1195 2186 1768 225.3 10.3 1188 16559 0.00 0.95 0.00 0.000 1030 0.000 0.043 2296 1725 1979 2192 1767 0 0 0 0 0 0 14.42 14.35 14.42

16884 0.72 170.3 2298 1747 2186 1777 190.2 10.9 1198 16889 0.00 0.82 0.00 0.000 260 0.000 0.040 2297 2255 1976 2185 1768 0 0 0 0 0 0 14.82 14.46 14.83

16944 0.72 170.3 2298 2257 2191 1768 183.4 11.2 1210 16949 0.00 0.93 0.00 0.000 1030 0.000 0.059 2302 1729 1976 2185 1768 0 0 0 0 0 0 14.45 14.39 14.48

17284 0.72 170.3 2302 1729 2186 1768 143.9 11.8 1222 17289 0.00 0.98 0.00 0.000 516 0.000 0.060 2306 1196 1976 2185 1767 0 0 0 0 0 0 14.81 14.38 14.82

17321 0.72 170.3 2306 1196 2186 1768 139.8 12.0 1229 17327 0.00 0.93 0.00 0.000 1030 0.000 0.044 2308 1719 1978 2189 1768 0 0 0 0 0 0 14.47 14.44 14.49

17645 0.72 170.3 2306 1742 2186 1768 101.1 11.9 1238 17649 0.00 0.85 0.00 0.000 260 0.000 0.041 2305 2258 1976 2185 1768 0 0 0 0 0 0 14.79 14.45 14.81

17705 0.72 170.3 2306 2261 2185 1764 93.8 11.9 1250 17710 0.05 0.95 0.00 0.000 5126 0.246 0.059 2293 1715 1976 2185 1768 0 0 0 0 0 0 14.12 14.40 14.26

18048 0.72 170.3 2293 1715 2186 1768 56.2 11.4 1270 18053 0.00 0.98 0.00 0.000 516 0.000 0.060 2297 1186 1976 2185 1768 0 0 0 0 0 0 14.77 14.27 14.80

18068 0.72 170.3 2297 1185 2186 1768 53.7 11.2 1274 18073 0.00 0.98 0.00 0.000 1030 0.000 0.042 2297 1737 1976 2185 1768 0 0 0 0 0 0 14.40 14.36 14.42

18412 0.75 170.3 2297 1758 2187 1768 19.3 8.5 1294 18416 0.00 0.77 0.00 0.000 324 0.000 0.041 2297 2243 1976 2185 1768 0 0 0 0 0 0 14.78 14.42 14.78

18539 0.75 170.3 2298 2247 2186 1768 10.1 10.3 1319 18543 0.00 0.90 0.00 0.000 1030 0.000 0.060 2300 1730 1976 2185 1768 0 0 0 0 0 0 14.33 14.29 14.36

18631 end climb: SURFACE_DEPTH_REACHED

state 18631 begin surface coast

18671 end surface coast: CONTROL_FINISHED_OK

state 18671 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	399	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	402.0
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	77	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	57	XPDR_VALID	5

GPS1	100818,141721,5751.1367,-2328.6333,27,1.0,45,-15.2,0.2,246.9,8,6.5	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	1.17	MHEAD_RNG_PITCHd_Wd	205.6,50259,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-73.4	D_GRID	990
GPS2	100818,143014,5751.3135,-2328.7356,13,1.8,22,-15.2,0.9,246.6,7,9.3

FINISH	0.6,1.026743	_10V_AH	12.56,130.211
SM_CCo	18690,126.43,0.103,0,0,1253,350.29	FG_AHR_24Vo	0.000
SM_GC	1.12,6.32,0.10,126.43,0.072,0.168,0.103,44,1703,1253,-9.42,0.79,350.29,0,0,0,0,0,0,14.54,14.49,14.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5752.33,-2322.01,100818,090001	MEM	333808
TT8_MAMPS	0.038948,0.80143	DATA_FILE_SIZE	46597,1328
HUMID	39.68	CAP_FILE_SIZE	159266,0
INTERNAL_PRESSURE	7.97882	CFSIZE	260165632,204795904
TCM_TEMP	19.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	12	INTR	0,12952.15,0x235322,1,24
SC_FREEKB	3788160	CURRENT	0.200,330.38,1
CP_FREE	15755411456.000000	GPS	100818,194551,5751.303,-2330.742,41,1.0,58,-15.2,0.5,5.6,8,6.0
_24V_AH	12.66,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	409	88.21	nil	0	0	0.00
Roll_motor	69	168	147.55	nil	0	0	0.00
VBD_pump_during_apogee	313	2220	8804.07	nil	0	0	0.00
VBD_pump_during_surface	126	103	165.30	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	18711	10	2585.09
Iridium_during_xfer	494	180	1131.16	TMICL	0	0	0.00
Transponder_ping	3	420	15.95	NCP	9373	25	2966.55
GUMSTIX_24V	0	0	0.00
GPS	24	20	6.31
TT8	0	0	0.00
LPSleep	15370	2	422.77
TT8_Active	696	8	75.80
TT8_Sampling	3062	26	1025.10
TT8_CF8	459	31	179.57
TT8_Kalman	0	0	0.00
Analog_circuits	2221	10	301.40
GPS_charging	0	0	0.00
Compass	1895	6	160.44
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	14	begin dive
17	-0.64	-170.3	17	1702	1406	1091	0.0	0.0	0	118	0.00	0.00	-97.07	0.006	16390	0.000	0.000	15	1702	3376	3320	3432	0	0	0	0	0	0	14.76	12.90	14.74
121	-0.64	-170.3	16	1703	3321	3433	4.4	-3.2	5	135	9.40	0.00	0.00	0.000	2598	0.409	0.000	1982	1669	3376	3324	3429	0	0	0	0	0	0	14.09	14.48	14.35
460	-0.64	-170.3	1982	1677	3346	3406	57.4	-12.1	25	465	0.00	0.82	0.00	0.000	516	0.000	0.055	1981	1200	3375	3344	3406	0	0	0	0	0	0	14.93	14.35	14.95
585	-0.64	-170.3	1982	1200	3346	3406	73.9	-13.4	50	590	0.00	0.85	0.00	0.000	1030	0.000	0.047	1979	1687	3375	3345	3405	0	0	0	0	0	0	14.51	14.48	14.52
940	-0.64	-170.3	1979	1687	3347	3405	123.5	-13.9	66	945	0.00	0.88	0.00	0.000	260	0.000	0.047	1974	2229	3376	3347	3405	0	0	0	0	0	0	14.97	14.38	15.01
996	-0.64	-170.3	1975	2231	3351	3402	130.9	-12.6	77	1001	0.00	0.82	0.00	0.000	1030	0.000	0.051	1974	1735	3375	3349	3402	0	0	0	0	0	0	14.50	14.47	14.53
1341	-0.64	-170.3	1974	1734	3351	3402	177.1	-13.3	90	1346	0.00	1.00	0.00	0.000	516	0.000	0.056	1974	1169	3376	3350	3402	0	0	0	0	0	0	15.00	14.43	15.01
1571	-0.64	-170.3	1975	1169	3351	3400	206.0	-12.3	136	1577	0.00	0.90	0.00	0.000	1030	0.000	0.047	1972	1683	3374	3348	3401	0	0	0	0	0	0	14.49	14.46	14.52
1902	-0.64	-170.3	1972	1683	3351	3402	249.7	-13.4	146	1907	0.00	0.88	0.00	0.000	260	0.000	0.047	1967	2226	3376	3351	3401	0	0	0	0	0	0	15.03	14.50	15.04
1948	-0.64	-170.3	1967	2229	3352	3401	255.8	-13.0	155	1953	0.08	0.93	0.00	0.000	3078	0.207	0.051	1992	1679	3376	3351	3401	0	0	0	0	0	0	14.27	14.57	14.40
2303	-0.64	-170.3	1992	1679	3352	3401	298.1	-12.0	170	2308	0.00	0.88	0.00	0.000	516	0.000	0.059	1992	1170	3376	3352	3400	0	0	0	0	0	0	15.04	14.55	15.06
2483	-0.64	-170.3	1992	1171	3352	3400	318.1	-10.8	206	2488	0.00	0.88	0.00	0.000	1030	0.000	0.047	1989	1679	3375	3351	3400	0	0	0	0	0	0	14.64	14.59	14.66
2823	-0.64	-170.3	1990	1679	3353	3400	356.3	-11.1	218	2828	0.00	0.88	0.00	0.000	260	0.000	0.046	1985	2227	3375	3351	3399	0	0	0	0	0	0	15.05	14.59	15.07
2924	-0.64	-170.3	1985	2229	3353	3400	366.7	-10.3	238	2929	0.00	0.93	0.00	0.000	1030	0.000	0.049	1985	1677	3375	3352	3399	0	0	0	0	0	0	14.63	14.59	14.66
3264	-0.64	-170.3	1985	1677	3353	3399	405.2	-11.4	250	3269	0.00	0.88	0.00	0.000	516	0.000	0.056	1984	1164	3375	3352	3399	0	0	0	0	0	0	15.05	14.57	15.10
3455	-0.64	-170.3	1985	1163	3357	3400	425.3	-10.3	288	3460	0.00	0.88	0.00	0.000	1030	0.000	0.047	1982	1672	3375	3352	3399	0	0	0	0	0	0	14.64	14.62	14.70
3786	-0.64	-170.3	1982	1672	3355	3398	462.4	-11.1	298	3790	0.00	0.90	0.00	0.000	260	0.000	0.048	1978	2229	3374	3352	3397	0	0	0	0	0	0	15.06	14.58	15.08
3891	-0.64	-170.3	1978	2231	3353	3397	473.3	-10.2	319	3895	0.00	0.95	0.00	0.000	1030	0.000	0.050	1977	1673	3374	3352	3397	0	0	0	0	0	0	14.50	14.47	14.56
4227	-0.64	-170.3	1978	1673	3353	3396	512.5	-11.8	330	4231	0.00	0.88	0.00	0.000	516	0.000	0.055	1977	1157	3374	3352	3396	0	0	0	0	0	0	15.06	14.56	15.07
4407	-0.64	-170.3	1978	1157	3353	3397	533.6	-11.9	366	4412	0.00	0.90	0.00	0.000	1030	0.000	0.048	1974	1680	3374	3354	3394	0	0	0	0	0	0	14.62	14.58	14.64
4748	-0.64	-170.3	1975	1679	3353	3395	573.6	-11.7	378	4752	0.00	0.88	0.00	0.000	260	0.000	0.047	1970	2225	3373	3352	3394	0	0	0	0	0	0	15.06	14.58	15.07
4868	-0.64	-170.3	1970	2227	3353	3394	586.6	-10.1	402	4872	0.00	0.95	0.00	0.000	1030	0.000	0.050	1970	1675	3373	3352	3394	0	0	0	0	0	0	14.60	14.55	14.62
5229	-0.64	-170.3	1970	1675	3353	3394	625.6	-10.9	418	5233	0.00	0.88	0.00	0.000	516	0.000	0.057	1970	1162	3372	3352	3393	0	0	0	0	0	0	15.04	14.54	15.07
5403	-0.64	-170.3	1969	1161	3353	3393	642.9	-9.4	453	5408	0.08	0.88	0.00	0.000	3078	0.213	0.048	1992	1661	3372	3352	3392	0	0	0	0	0	0	14.21	14.57	14.31
5750	-0.64	-170.3	1993	1661	3353	3392	671.4	-8.4	466	5754	0.00	0.93	0.00	0.000	260	0.000	0.047	1988	2231	3371	3352	3391	0	0	0	0	0	0	15.02	14.56	15.04
5920	-0.64	-170.3	1988	2233	3354	3391	685.6	-8.3	500	5926	0.00	0.95	0.00	0.000	1030	0.000	0.050	1988	1675	3371	3352	3390	0	0	0	0	0	0	14.57	14.54	14.64
6272	-0.64	-170.3	1987	1674	3353	3390	717.9	-9.4	514	6277	0.00	0.88	0.00	0.000	516	0.000	0.056	1988	1162	3369	3349	3390	0	0	0	0	0	0	15.08	14.52	15.10
6387	-0.64	-170.3	1988	1162	3353	3390	728.9	-9.4	537	6393	0.00	0.90	0.00	0.000	1030	0.000	0.048	1985	1679	3370	3352	3389	0	0	0	0	0	0	14.61	14.58	14.63
6713	-0.64	-170.3	1985	1679	3357	3388	760.0	-9.8	546	6718	0.00	0.88	0.00	0.000	260	0.000	0.050	1981	2224	3370	3352	3388	0	0	0	0	0	0	15.08	14.54	15.08
6858	-0.64	-170.3	1981	2224	3353	3387	773.8	-9.4	575	6863	0.00	0.93	0.00	0.000	1030	0.000	0.050	1981	1682	3369	3352	3387	0	0	0	0	0	0	14.58	14.54	14.64
7194	-0.64	-170.3	1981	1682	3353	3385	807.8	-10.2	586	7199	0.00	0.90	0.00	0.000	516	0.000	0.057	1980	1161	3369	3352	3386	0	0	0	0	0	0	15.07	14.50	15.09
7369	-0.64	-170.3	1982	1161	3353	3385	824.2	-8.7	621	7373	0.00	0.90	0.00	0.000	1030	0.000	0.048	1978	1673	3369	3352	3386	0	0	0	0	0	0	14.60	14.57	14.62
7715	-0.64	-170.3	1978	1672	3353	3386	856.4	-9.4	634	7720	0.00	0.90	0.00	0.000	260	0.000	0.049	1974	2226	3368	3352	3385	0	0	0	0	0	0	15.06	14.52	15.08
7856	-0.64	-170.3	1973	2228	3353	3385	869.5	-9.1	662	7861	0.00	0.93	0.00	0.000	1030	0.000	0.051	1973	1682	3368	3352	3384	0	0	0	0	0	0	14.56	14.52	14.59
8197	-0.64	-170.3	1973	1682	3353	3383	903.8	-10.1	674	8202	0.00	0.90	0.00	0.000	516	0.000	0.057	1973	1164	3367	3352	3382	0	0	0	0	0	0	15.01	14.46	15.04
8324	-0.64	-170.3	1973	1163	3353	3382	915.8	-9.0	699	8329	0.00	0.90	0.00	0.000	1030	0.000	0.050	1970	1679	3367	3352	3382	0	0	0	0	0	0	14.57	14.50	14.60
8680	-0.64	-170.3	1971	1679	3353	3380	951.3	-10.0	714	8685	0.00	0.90	0.00	0.000	260	0.000	0.050	1967	2230	3366	3352	3380	0	0	0	0	0	0	15.04	14.50	15.06
8822	-0.64	-170.3	1967	2232	3352	3380	964.4	-9.1	742	8827	0.08	0.95	0.00	0.000	3078	0.195	0.052	1991	1676	3365	3352	3379	0	0	0	0	0	0	14.09	14.40	14.21
9161	end dive: TARGET_DEPTH_EXCEEDED
state	9161	begin apogee
9167	-0.12	0.0	1991	1676	3353	3380	991.6	-7.8	754	9324	0.38	0.00	153.50	2.220	10244	0.186	0.000	2103	1676	2679	2860	2498	0	0	0	0	0	0	14.21	13.93	12.95
9325	end apogee: CONTROL_FINISHED_OK
state	9325	begin climb
9327	0.64	170.3	2103	1676	2860	2499	995.3	0.0	758	9496	0.50	1.02	159.75	2.139	10500	0.092	0.042	2280	2261	1985	2198	1772	0	0	0	0	0	0	13.97	14.02	12.66
9618	0.64	170.3	2280	2261	2197	1771	967.2	12.3	812	9623	0.00	0.98	0.00	0.000	1030	0.000	0.062	2284	1714	1983	2196	1771	0	0	0	0	0	0	14.23	14.19	14.26
9949	0.64	170.3	2283	1714	2192	1771	925.5	12.6	822	9953	0.00	0.88	0.00	0.000	260	0.000	0.041	2283	2250	1981	2192	1770	0	0	0	0	0	0	14.87	14.59	14.88
10128	0.64	170.3	2287	2252	2191	1771	903.5	12.0	858	10133	0.00	0.93	0.00	0.000	1030	0.000	0.061	2288	1717	1980	2191	1770	0	0	0	0	0	0	14.63	14.58	14.66
10469	0.64	170.3	2288	1717	2190	1770	861.6	12.3	870	10469	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1717	1979	2189	1770	0	0	0	0	0	0	14.95	14.97	14.97
10789	0.64	170.3	2288	1717	2188	1771	823.1	12.0	878	10790	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1717	1978	2187	1770	0	0	0	0	0	0	14.97	15.00	15.00
11109	0.64	170.3	2288	1717	2188	1770	784.7	11.9	886	11113	0.00	0.95	0.00	0.000	516	0.000	0.065	2292	1190	1978	2186	1770	0	0	0	0	0	0	15.00	14.53	15.02
11144	0.64	170.3	2292	1190	2187	1769	780.6	11.7	893	11150	0.05	0.93	0.00	0.000	5126	0.215	0.046	2275	1731	1977	2186	1769	0	0	0	0	0	0	14.35	14.62	14.48
11470	0.64	170.3	2275	1748	2187	1769	745.8	10.8	902	11474	0.00	0.80	0.00	0.000	260	0.000	0.041	2274	2245	1977	2186	1769	0	0	0	0	0	0	15.00	14.65	15.01
11504	0.64	170.3	2275	2246	2187	1769	741.8	11.2	909	11510	0.00	0.90	0.00	0.000	1030	0.000	0.062	2278	1725	1978	2187	1769	0	0	0	0	0	0	14.62	14.57	14.66
11830	0.64	170.3	2278	1726	2187	1769	705.5	11.3	918	11834	0.00	0.98	0.00	0.000	516	0.000	0.064	2283	1185	1977	2186	1769	0	0	0	0	0	0	15.00	14.54	15.02
11880	0.64	170.3	2283	1184	2187	1769	699.9	11.2	928	11886	0.00	0.93	0.00	0.000	1030	0.000	0.044	2282	1723	1977	2186	1768	0	0	0	0	0	0	14.66	14.61	14.68
12231	0.64	170.3	2282	1743	2186	1769	662.1	10.5	942	12232	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1743	1977	2186	1768	0	0	0	0	0	0	15.01	15.02	15.01
12551	0.64	170.3	2282	1743	2184	1769	628.7	10.3	950	12556	0.00	1.00	0.00	0.000	516	0.000	0.063	2287	1190	1976	2185	1768	0	0	0	0	0	0	15.00	14.52	15.01
12592	0.64	170.3	2287	1190	2186	1768	624.6	10.4	958	12597	0.00	0.93	0.00	0.000	1030	0.000	0.046	2286	1712	1976	2185	1768	0	0	0	0	0	0	14.62	14.58	14.63
12952	0.64	170.3	2288	1731	2184	1768	586.0	10.6	974	12960	0.00	0.82	0.00	0.000	260	0.000	0.041	2287	2250	1977	2186	1768	0	0	0	0	0	0	15.00	14.59	15.01
13072	0.64	170.3	2288	2251	2187	1768	572.7	11.5	997	13078	0.00	0.90	0.00	0.000	1030	0.000	0.060	2290	1729	1976	2185	1768	0	0	0	0	0	0	14.51	14.47	14.50
13395	0.64	170.3	2291	1729	2186	1768	535.6	11.4	1006	13400	0.10	0.98	0.00	0.000	4612	0.265	0.055	2272	1183	1976	2185	1768	0	0	0	0	0	0	14.42	14.50	14.54
13446	0.64	170.3	2272	1182	2186	1768	530.5	9.6	1016	13451	0.00	0.98	0.00	0.000	1030	0.000	0.043	2271	1735	1976	2185	1768	0	0	0	0	0	0	14.51	14.47	14.55
13798	0.64	170.3	2272	1756	2186	1768	496.3	9.7	1030	13803	0.00	0.80	0.00	0.000	260	0.000	0.042	2271	2251	1977	2185	1769	0	0	0	0	0	0	14.97	14.58	15.00
13838	0.67	170.3	2272	2252	2186	1768	492.6	8.8	1038	13843	0.00	0.93	0.00	0.000	1094	0.000	0.057	2274	1720	1976	2185	1768	0	0	0	0	0	0	14.49	14.45	14.52
14199	0.67	170.3	2275	1720	2186	1768	458.1	9.7	1054	14204	0.00	0.95	0.00	0.000	516	0.000	0.063	2279	1200	1976	2185	1767	0	0	0	0	0	0	14.83	14.40	14.84
14244	0.67	170.3	2278	1198	2186	1768	453.5	9.6	1063	14249	0.00	0.95	0.00	0.000	1030	0.000	0.044	2278	1731	1976	2185	1767	0	0	0	0	0	0	14.52	14.51	14.53
14599	0.67	170.3	2279	1751	2186	1768	419.0	9.7	1078	14600	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	1751	1976	2185	1767	0	0	0	0	0	0	14.81	14.83	14.83
14920	0.69	170.3	2279	1751	2186	1768	389.8	9.0	1086	14925	0.00	1.02	0.00	0.000	580	0.000	0.061	2282	1193	1976	2185	1767	0	0	0	0	0	0	14.81	14.38	14.83
14956	0.71	170.3	2283	1193	2185	1768	386.5	8.9	1093	14961	0.00	0.93	0.00	0.000	1094	0.000	0.044	2281	1718	1976	2185	1768	0	0	0	0	0	0	14.47	14.45	14.50
15281	0.72	170.3	2282	1738	2186	1768	356.2	9.4	1102	15285	0.00	0.85	0.00	0.000	324	0.000	0.043	2282	2261	1976	2185	1768	0	0	0	0	0	0	14.82	14.45	14.83
15361	0.72	170.3	2283	2262	2186	1768	348.4	9.9	1118	15365	0.00	0.95	0.00	0.000	1030	0.000	0.058	2285	1719	1976	2185	1767	0	0	0	0	0	0	14.43	14.37	14.46
15721	0.72	170.3	2286	1719	2186	1768	312.3	10.2	1134	15726	0.00	0.95	0.00	0.000	516	0.000	0.063	2290	1198	1979	2185	1773	0	0	0	0	0	0	14.83	14.38	14.85
15772	0.72	170.3	2290	1197	2186	1769	307.2	10.2	1144	15777	0.00	0.93	0.00	0.000	1030	0.000	0.045	2290	1724	1976	2185	1768	0	0	0	0	0	0	14.50	14.45	14.51
16122	0.72	170.3	2290	1746	2183	1768	270.1	10.5	1158	16127	0.00	0.82	0.00	0.000	260	0.000	0.041	2290	2249	1976	2185	1768	0	0	0	0	0	0	14.83	14.40	14.88
16177	0.72	170.3	2290	2250	2186	1768	264.5	10.1	1169	16182	0.00	0.93	0.00	0.000	1030	0.000	0.057	2293	1718	1976	2185	1767	0	0	0	0	0	0	14.44	14.42	14.48
16524	0.72	170.3	2295	1722	2186	1768	228.5	10.3	1182	16528	0.00	0.95	0.00	0.000	516	0.000	0.060	2296	1195	1978	2185	1771	0	0	0	0	0	0	14.83	14.28	14.85
16553	0.72	170.3	2304	1195	2186	1768	225.3	10.3	1188	16559	0.00	0.95	0.00	0.000	1030	0.000	0.043	2296	1725	1979	2192	1767	0	0	0	0	0	0	14.42	14.35	14.42
16884	0.72	170.3	2298	1747	2186	1777	190.2	10.9	1198	16889	0.00	0.82	0.00	0.000	260	0.000	0.040	2297	2255	1976	2185	1768	0	0	0	0	0	0	14.82	14.46	14.83
16944	0.72	170.3	2298	2257	2191	1768	183.4	11.2	1210	16949	0.00	0.93	0.00	0.000	1030	0.000	0.059	2302	1729	1976	2185	1768	0	0	0	0	0	0	14.45	14.39	14.48
17284	0.72	170.3	2302	1729	2186	1768	143.9	11.8	1222	17289	0.00	0.98	0.00	0.000	516	0.000	0.060	2306	1196	1976	2185	1767	0	0	0	0	0	0	14.81	14.38	14.82
17321	0.72	170.3	2306	1196	2186	1768	139.8	12.0	1229	17327	0.00	0.93	0.00	0.000	1030	0.000	0.044	2308	1719	1978	2189	1768	0	0	0	0	0	0	14.47	14.44	14.49
17645	0.72	170.3	2306	1742	2186	1768	101.1	11.9	1238	17649	0.00	0.85	0.00	0.000	260	0.000	0.041	2305	2258	1976	2185	1768	0	0	0	0	0	0	14.79	14.45	14.81
17705	0.72	170.3	2306	2261	2185	1764	93.8	11.9	1250	17710	0.05	0.95	0.00	0.000	5126	0.246	0.059	2293	1715	1976	2185	1768	0	0	0	0	0	0	14.12	14.40	14.26
18048	0.72	170.3	2293	1715	2186	1768	56.2	11.4	1270	18053	0.00	0.98	0.00	0.000	516	0.000	0.060	2297	1186	1976	2185	1768	0	0	0	0	0	0	14.77	14.27	14.80
18068	0.72	170.3	2297	1185	2186	1768	53.7	11.2	1274	18073	0.00	0.98	0.00	0.000	1030	0.000	0.042	2297	1737	1976	2185	1768	0	0	0	0	0	0	14.40	14.36	14.42
18412	0.75	170.3	2297	1758	2187	1768	19.3	8.5	1294	18416	0.00	0.77	0.00	0.000	324	0.000	0.041	2297	2243	1976	2185	1768	0	0	0	0	0	0	14.78	14.42	14.78
18539	0.75	170.3	2298	2247	2186	1768	10.1	10.3	1319	18543	0.00	0.90	0.00	0.000	1030	0.000	0.060	2300	1730	1976	2185	1768	0	0	0	0	0	0	14.33	14.29	14.36
18631	end climb: SURFACE_DEPTH_REACHED
state	18631	begin surface coast
18671	end surface coast: CONTROL_FINISHED_OK
state	18671	begin surface