Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 449 * 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 449 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 452.0

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 32 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 61 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 452.0 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 32 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 61 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 449 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 220818,061527,5833.0435,-2304.3286,35,1.0,58,-15.3,0.8,348.6,8,6.1 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME Z2

_XMS_NAKs 0 TGT_LATLONG 5825.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.13 MHEAD_RNG_PITCHd_Wd 127.1,36409,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -70.7 D_GRID 990

GPS2 220818,062946,5833.0078,-2304.2820,12,1.1,41,-15.3,0.5,126.2,7,6.8

Post-dive calculations and measurements:

FINISH 1.0,1.026705 _10V_AH 12.47,147.159

SM_CCo 18709,126.70,0.105,0,0,1254,350.04 FG_AHR_24Vo 0.000

SM_GC 1.03,6.30,0.90,126.70,0.062,0.044,0.105,49,1695,1254,-9.42,-1.70,350.04,0,0,0,0,0,0,14.52,14.57,14.39 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5834.24,-2257.83,220818,003425 MEM 333896

TT8_MAMPS 0.038199,0.901047 DATA_FILE_SIZE 46676,1357

HUMID 39.95 CAP_FILE_SIZE 162140,0

INTERNAL_PRESSURE 7.96906 CFSIZE 260165632,197218304

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

XPDR_PINGS 8 INTR 0,9558.52,0x235322,1,24

SC_FREEKB 3758272 CURRENT 0.070,295.16,1

CP_FREE 15723823104.000000 GPS 220818,114557,5832.895,-2302.746,37,1.8,72,-15.3,0.7,54.5,8,8.2

_24V_AH 12.68,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 406 88.76 nil 0 0 0.00

Roll_motor 72 66 61.54 nil 0 0 0.00

VBD_pump_during_apogee 312 2184 8647.73 nil 0 0 0.00

VBD_pump_during_surface 126 104 168.38 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 18734 10 2517.05

Iridium_during_xfer 536 181 1233.39 TMICL 0 0 0.00

Transponder_ping 2 420 10.65 NCP 9190 25 2913.23

GUMSTIX_24V 0 0 0.00

GPS 43 20 11.03

TT8 0 0 0.00

LPSleep 15305 2 418.00

TT8_Active 692 8 74.89

TT8_Sampling 3184 26 1058.41

TT8_CF8 507 31 197.06

TT8_Kalman 0 0 0.00

Analog_circuits 2283 10 307.54

GPS_charging 0 0 0.00

Compass 1933 6 162.54

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

30 -0.64 -170.3 17 1708 1434 1079 0.0 0.0 0 132 0.00 0.00 -96.00 0.006 16390 0.000 0.000 15 1709 3376 3314 3439 0 0 0 0 0 0 14.76 13.40 14.76

135 -0.64 -170.3 16 1710 3315 3439 5.2 -4.3 5 149 9.40 0.95 0.00 0.000 2596 0.407 0.035 1988 1126 3376 3322 3431 0 0 0 0 0 0 14.01 14.39 14.26

375 -0.64 -170.3 1988 1126 3339 3413 41.6 -12.5 53 380 0.00 0.98 0.00 0.000 1030 0.000 0.044 1985 1691 3376 3339 3413 0 0 0 0 0 0 14.48 14.46 14.51

715 -0.64 -170.3 1985 1691 3344 3409 82.4 -12.1 73 716 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 1691 3375 3343 3408 0 0 0 0 0 0 14.93 14.95 14.95

1036 -0.64 -170.3 1985 1689 3346 3407 121.7 -12.3 85 1041 0.00 0.85 0.00 0.000 260 0.000 0.046 1981 2222 3375 3344 3406 0 0 0 0 0 0 14.96 14.52 14.97

1096 -0.64 -170.3 1980 2226 3349 3403 129.0 -11.6 97 1101 0.00 0.90 0.00 0.000 1030 0.000 0.050 1979 1694 3375 3348 3403 0 0 0 0 0 0 14.58 14.52 14.59

1437 -0.64 -170.3 1980 1694 3349 3403 172.1 -12.6 109 1442 0.00 0.90 0.00 0.000 516 0.000 0.054 1979 1175 3375 3349 3402 0 0 0 0 0 0 14.95 14.46 14.96

1667 -0.64 -170.3 1980 1173 3350 3403 199.6 -11.5 155 1672 0.00 0.90 0.00 0.000 1030 0.000 0.046 1977 1697 3375 3349 3402 0 0 0 0 0 0 14.54 14.51 14.56

1998 -0.64 -170.3 1978 1697 3350 3402 239.6 -12.3 165 2003 0.00 0.85 0.00 0.000 260 0.000 0.046 1973 2229 3375 3349 3401 0 0 0 0 0 0 15.02 14.59 15.04

2059 -0.64 -170.3 1972 2232 3351 3401 246.7 -11.1 177 2064 0.00 0.90 0.00 0.000 1030 0.000 0.051 1972 1697 3375 3350 3400 0 0 0 0 0 0 14.62 14.58 14.65

2399 -0.64 -170.3 1972 1697 3352 3401 287.6 -12.0 189 2404 0.00 0.90 0.00 0.000 516 0.000 0.054 1972 1172 3375 3350 3401 0 0 0 0 0 0 15.06 14.57 15.07

2629 -0.64 -170.3 1972 1172 3351 3401 313.9 -10.7 235 2634 0.00 0.88 0.00 0.000 1030 0.000 0.046 1969 1687 3375 3350 3400 0 0 0 0 0 0 14.69 14.62 14.68

2960 -0.64 -170.3 1969 1687 3351 3400 351.6 -11.4 245 2965 0.00 0.85 0.00 0.000 260 0.000 0.047 1965 2222 3375 3350 3400 0 0 0 0 0 0 15.06 14.61 15.07

3025 -0.64 -170.3 1964 2226 3351 3400 358.8 -10.7 258 3030 0.08 0.93 0.00 0.000 3078 0.201 0.051 1989 1684 3374 3350 3399 0 0 0 0 0 0 14.15 14.45 14.28

3361 -0.64 -170.3 1989 1684 3352 3400 392.9 -10.4 269 3366 0.00 0.88 0.00 0.000 516 0.000 0.056 1991 1172 3375 3351 3399 0 0 0 0 0 0 15.06 14.57 15.07

3546 -0.64 -170.3 1989 1172 3352 3400 411.8 -10.1 306 3551 0.00 0.88 0.00 0.000 1030 0.000 0.045 1986 1680 3375 3351 3399 0 0 0 0 0 0 14.65 14.62 14.67

3881 -0.64 -170.3 1987 1679 3352 3400 449.8 -11.6 317 3886 0.00 0.88 0.00 0.000 260 0.000 0.047 1982 2227 3375 3351 3399 0 0 0 0 0 0 15.03 14.59 15.04

4014 -0.64 -170.3 1981 2229 3352 3398 464.4 -10.8 343 4019 0.00 0.93 0.00 0.000 1030 0.000 0.052 1981 1685 3374 3351 3398 0 0 0 0 0 0 14.52 14.47 14.53

4364 -0.64 -170.3 1981 1685 3352 3398 506.3 -11.7 357 4369 0.00 0.90 0.00 0.000 516 0.000 0.055 1980 1157 3374 3351 3397 0 0 0 0 0 0 15.05 14.54 15.04

4554 -0.64 -170.3 1980 1157 3351 3398 526.7 -10.4 395 4559 0.00 0.90 0.00 0.000 1030 0.000 0.045 1978 1683 3374 3351 3398 0 0 0 0 0 0 14.64 14.62 14.67

4885 -0.64 -170.3 1978 1683 3352 3397 561.5 -10.3 405 4890 0.00 0.88 0.00 0.000 260 0.000 0.047 1974 2225 3374 3351 3397 0 0 0 0 0 0 15.04 14.47 15.07

5013 -0.64 -170.3 1973 2228 3352 3396 573.7 -9.2 430 5018 0.00 0.93 0.00 0.000 1030 0.000 0.052 1972 1684 3373 3351 3396 0 0 0 0 0 0 14.61 14.57 14.64

5368 -0.64 -170.3 1973 1683 3352 3396 612.3 -10.9 445 5373 0.00 0.88 0.00 0.000 516 0.000 0.057 1973 1172 3373 3351 3396 0 0 0 0 0 0 15.09 14.54 15.10

5528 -0.64 -170.3 1973 1171 3352 3396 628.7 -10.0 477 5533 0.00 0.88 0.00 0.000 1030 0.000 0.047 1970 1679 3373 3351 3395 0 0 0 0 0 0 14.64 14.61 14.66

5888 -0.64 -170.3 1971 1679 3353 3394 669.2 -11.7 493 5893 0.00 0.88 0.00 0.000 260 0.000 0.047 1966 2226 3372 3351 3394 0 0 0 0 0 0 15.09 14.58 15.10

6026 -0.64 -170.3 1965 2230 3352 3394 683.7 -10.3 520 6032 0.08 0.93 0.00 0.000 3078 0.196 0.052 1990 1685 3372 3351 3393 0 0 0 0 0 0 14.23 14.54 14.37

6374 -0.64 -170.3 1990 1686 3353 3393 716.9 -9.4 533 6378 0.00 0.90 0.00 0.000 516 0.000 0.057 1990 1164 3372 3351 3393 0 0 0 0 0 0 15.08 14.54 15.10

6495 -0.64 -170.3 1990 1164 3352 3393 727.6 -8.7 557 6500 0.00 0.90 0.00 0.000 1030 0.000 0.045 1988 1683 3371 3351 3392 0 0 0 0 0 0 14.66 14.61 14.66

6855 -0.64 -170.3 1989 1683 3353 3391 761.3 -9.5 573 6860 0.00 0.88 0.00 0.000 260 0.000 0.047 1984 2227 3371 3351 3391 0 0 0 0 0 0 15.09 14.57 15.11

7060 -0.64 -170.3 1984 2228 3352 3391 779.6 -8.7 614 7065 0.00 0.93 0.00 0.000 1030 0.000 0.048 1984 1681 3371 3352 3390 0 0 0 0 0 0 14.60 14.56 14.63

7416 -0.64 -170.3 1984 1682 3352 3390 812.3 -9.2 629 7420 0.00 0.88 0.00 0.000 516 0.000 0.057 1984 1173 3371 3352 3390 0 0 0 0 0 0 15.08 14.52 15.09

7549 -0.64 -170.3 1984 1172 3352 3391 824.0 -8.7 655 7553 0.00 0.88 0.00 0.000 1030 0.000 0.046 1981 1685 3370 3351 3390 0 0 0 0 0 0 14.62 14.59 14.64

7899 -0.64 -170.3 1982 1685 3352 3389 855.8 -8.9 669 7904 0.00 0.88 0.00 0.000 260 0.000 0.048 1977 2228 3370 3352 3389 0 0 0 0 0 0 15.07 14.55 15.09

8074 -0.64 -170.3 1976 2230 3352 3388 870.5 -8.3 704 8080 0.00 0.93 0.00 0.000 1030 0.000 0.052 1976 1694 3370 3352 3388 0 0 0 0 0 0 14.57 14.53 14.60

8420 -0.64 -170.3 1976 1694 3352 3388 902.5 -9.4 717 8425 0.00 0.90 0.00 0.000 516 0.000 0.056 1976 1172 3369 3351 3387 0 0 0 0 0 0 15.07 14.50 15.08

8575 -0.64 -170.3 1976 1173 3352 3387 916.8 -9.0 748 8582 0.00 0.90 0.00 0.000 1030 0.000 0.046 1973 1688 3368 3349 3387 0 0 0 0 0 0 14.59 14.56 14.60

8901 -0.64 -170.3 1974 1688 3352 3386 947.3 -9.2 757 8905 0.00 0.88 0.00 0.000 260 0.000 0.047 1968 2229 3368 3351 3386 0 0 0 0 0 0 15.06 14.53 15.07

9066 -0.64 -170.3 1968 2232 3352 3386 961.3 -8.3 790 9071 0.00 0.93 0.00 0.000 1030 0.000 0.053 1968 1695 3368 3351 3385 0 0 0 0 0 0 14.54 14.50 14.57

9379 end dive: TARGET_DEPTH_EXCEEDED

state 9379 begin apogee

9385 -0.12 0.0 1969 1694 3352 3385 990.8 -9.3 804 9543 0.47 0.00 152.32 2.185 10244 0.191 0.000 2106 1694 2680 2858 2502 0 0 0 0 0 0 14.03 13.96 12.92

9544 end apogee: CONTROL_FINISHED_OK

state 9544 begin climb

9547 0.64 170.3 2106 1694 2861 2503 993.8 0.0 808 9717 0.47 0.98 159.82 2.114 10500 0.086 0.041 2278 2270 1982 2190 1775 0 0 0 0 0 0 14.03 14.09 12.68

9839 0.64 170.3 2279 2269 2191 1776 967.2 11.6 861 9844 0.00 0.98 0.00 0.000 1030 0.000 0.061 2282 1717 1982 2190 1775 0 0 0 0 0 0 14.33 14.29 14.36

10175 0.64 170.3 2282 1717 2190 1776 928.0 11.4 872 10179 0.00 0.88 0.00 0.000 260 0.000 0.039 2282 2249 1982 2190 1775 0 0 0 0 0 0 14.91 14.27 14.92

10276 0.64 170.3 2282 2251 2191 1776 916.8 11.3 892 10280 0.00 0.93 0.00 0.000 1030 0.000 0.062 2286 1717 1982 2189 1775 0 0 0 0 0 0 14.63 14.59 14.66

10616 0.64 170.3 2286 1716 2188 1776 878.6 11.2 904 10620 0.00 0.93 0.00 0.000 516 0.000 0.063 2290 1193 1981 2187 1775 0 0 0 0 0 0 14.97 14.57 15.00

10696 0.64 170.3 2290 1193 2188 1775 869.8 10.8 920 10701 0.00 0.90 0.00 0.000 1030 0.000 0.044 2290 1709 1980 2187 1774 0 0 0 0 0 0 14.68 14.66 14.70

11057 0.64 170.3 2289 1727 2187 1775 830.3 11.0 936 11062 0.00 0.85 0.00 0.000 260 0.000 0.039 2290 2260 1980 2186 1774 0 0 0 0 0 0 14.98 14.68 15.00

11087 0.64 170.3 2290 2262 2187 1774 826.9 11.1 942 11092 0.08 0.98 0.00 0.000 5126 0.212 0.060 2269 1699 1980 2186 1775 0 0 0 0 0 0 14.33 14.60 14.47

11418 0.66 170.3 2268 1699 2186 1774 796.9 9.2 952 11423 0.00 0.93 0.00 0.000 580 0.000 0.066 2273 1182 1980 2186 1774 0 0 0 0 0 0 15.00 14.57 15.04

11499 0.66 170.3 2274 1182 2186 1774 789.1 10.0 968 11504 0.00 0.90 0.00 0.000 1030 0.000 0.043 2273 1698 1979 2185 1773 0 0 0 0 0 0 14.68 14.64 14.68

11859 0.66 170.3 2273 1715 2186 1774 753.0 10.1 984 11860 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 1714 1979 2185 1773 0 0 0 0 0 0 14.99 15.00 15.00

12180 0.66 170.3 2273 1715 2185 1774 721.4 9.8 992 12185 0.00 0.93 0.00 0.000 516 0.000 0.061 2273 1197 1979 2185 1774 0 0 0 0 0 0 14.87 14.45 14.89

12225 0.66 170.3 2282 1197 2186 1774 716.8 10.0 1001 12231 0.00 0.88 0.00 0.000 1030 0.000 0.043 2276 1702 1978 2184 1773 0 0 0 0 0 0 14.57 14.54 14.59

12582 0.66 170.3 2277 1721 2185 1774 680.0 10.6 1016 12587 0.00 0.88 0.00 0.000 260 0.000 0.041 2276 2253 1978 2184 1773 0 0 0 0 0 0 14.88 14.54 14.90

12613 0.66 170.3 2276 2254 2185 1774 676.8 11.4 1022 12618 0.00 1.00 0.00 0.000 1030 0.000 0.059 2279 1690 1978 2184 1773 0 0 0 0 0 0 14.41 14.36 14.45

12944 0.66 170.3 2277 1691 2185 1774 641.8 10.3 1032 12949 0.00 0.90 0.00 0.000 516 0.000 0.063 2285 1192 1978 2184 1773 0 0 0 0 0 0 14.88 14.44 14.89

12979 0.66 170.3 2284 1192 2185 1774 638.3 10.0 1039 12985 0.00 0.88 0.00 0.000 1030 0.000 0.044 2284 1698 1978 2184 1773 0 0 0 0 0 0 14.54 14.50 14.57

13305 0.66 170.3 2285 1715 2185 1774 602.6 11.1 1048 13310 0.00 0.90 0.00 0.000 260 0.000 0.040 2285 2260 1978 2184 1773 0 0 0 0 0 0 14.85 14.52 14.88

13340 0.66 170.3 2285 2258 2185 1774 598.4 11.6 1055 13346 0.00 1.00 0.00 0.000 1030 0.000 0.060 2288 1691 1978 2184 1773 0 0 0 0 0 0 14.50 14.45 14.53

13665 0.66 170.3 2289 1691 2186 1777 562.0 11.0 1064 13670 0.00 0.93 0.00 0.000 516 0.000 0.063 2295 1178 1978 2184 1773 0 0 0 0 0 0 14.86 14.41 14.88

13737 0.66 170.3 2293 1180 2183 1773 554.2 10.7 1078 13741 0.00 0.85 0.00 0.000 1030 0.000 0.043 2292 1675 1978 2184 1773 0 0 0 0 0 0 14.54 14.51 14.57

14067 0.66 170.3 2292 1694 2185 1774 518.6 10.7 1088 14072 0.00 0.93 0.00 0.000 260 0.000 0.039 2292 2257 1978 2184 1773 0 0 0 0 0 0 14.86 14.52 14.88

14132 0.66 170.3 2292 2260 2190 1774 511.6 10.7 1101 14138 0.08 1.02 0.00 0.000 5126 0.207 0.060 2272 1680 1982 2191 1773 0 0 0 0 0 0 14.07 14.37 14.22

14468 0.69 170.3 2273 1680 2185 1774 482.6 8.5 1112 14473 0.00 0.90 0.00 0.000 580 0.000 0.065 2275 1181 1981 2189 1773 0 0 0 0 0 0 14.83 14.41 14.87

14529 0.73 170.3 2277 1181 2185 1774 477.5 8.2 1124 14533 0.00 0.88 0.00 0.000 1094 0.000 0.042 2276 1684 1978 2184 1773 0 0 0 0 0 0 14.50 14.47 14.52

14870 0.76 170.3 2276 1702 2184 1777 448.9 8.3 1136 14875 0.00 0.90 0.00 0.000 324 0.000 0.040 2276 2262 1978 2184 1773 0 0 0 0 0 0 14.83 14.48 14.85

14905 0.78 170.3 2276 2264 2192 1774 445.8 8.8 1143 14911 0.00 1.02 0.00 0.000 1094 0.000 0.059 2280 1682 1978 2184 1773 0 0 0 0 0 0 14.47 14.42 14.51

15230 0.81 170.3 2281 1682 2184 1774 417.7 8.6 1152 15235 0.10 0.90 0.00 0.000 2628 0.158 0.057 2327 1179 1978 2184 1773 0 0 0 0 0 0 14.52 14.38 14.57

15277 0.81 170.3 2328 1179 2183 1774 412.5 12.5 1161 15282 0.00 0.88 0.00 0.000 1030 0.000 0.043 2326 1692 1981 2183 1779 0 0 0 0 0 0 14.50 14.46 14.52

15633 0.81 170.3 2328 1708 2185 1775 366.3 13.1 1176 15638 0.00 0.90 0.00 0.000 260 0.000 0.039 2327 2249 1979 2184 1774 0 0 0 0 0 0 14.85 14.32 14.87

15729 0.81 170.3 2327 2250 2184 1773 354.0 12.6 1195 15734 0.08 1.00 0.00 0.000 5126 0.256 0.058 2309 1685 1978 2184 1773 0 0 0 0 0 0 14.04 14.42 14.18

16074 0.81 170.3 2310 1685 2184 1774 313.2 11.8 1208 16079 0.00 0.90 0.00 0.000 516 0.000 0.063 2314 1185 1978 2184 1772 0 0 0 0 0 0 14.85 14.38 14.87

16099 0.81 170.3 2314 1181 2184 1774 310.3 11.4 1213 16105 0.00 0.85 0.00 0.000 1030 0.000 0.042 2314 1674 1978 2184 1773 0 0 0 0 0 0 14.53 14.49 14.55

16437 0.81 170.3 2312 1692 2191 1773 270.1 12.0 1224 16441 0.00 0.95 0.00 0.000 260 0.000 0.039 2313 2267 1978 2184 1773 0 0 0 0 0 0 14.83 14.48 14.85

16507 0.81 170.3 2313 2269 2184 1774 261.3 12.1 1238 16512 0.00 1.02 0.00 0.000 1030 0.000 0.059 2317 1685 1978 2184 1773 0 0 0 0 0 0 14.47 14.41 14.50

16838 0.81 170.3 2317 1685 2184 1775 220.3 12.3 1248 16843 0.00 0.90 0.00 0.000 516 0.000 0.063 2321 1185 1981 2189 1773 0 0 0 0 0 0 14.86 14.38 14.86

16858 0.81 170.3 2318 1189 2185 1774 217.9 11.5 1252 16863 0.00 0.90 0.00 0.000 1030 0.000 0.042 2321 1715 1979 2184 1774 0 0 0 0 0 0 14.51 14.49 14.52

17198 0.81 170.3 2320 1727 2185 1774 175.5 12.5 1264 17203 0.00 0.85 0.00 0.000 260 0.000 0.038 2320 2246 1978 2184 1772 0 0 0 0 0 0 14.84 14.35 14.85

17238 0.81 170.3 2321 2248 2185 1774 170.6 12.3 1272 17243 0.00 1.00 0.00 0.000 1030 0.000 0.057 2325 1689 1981 2189 1773 0 0 0 0 0 0 14.42 14.37 14.47

17601 0.81 170.3 2325 1689 2185 1774 124.9 12.5 1288 17601 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 1688 1978 2184 1773 0 0 0 0 0 0 14.80 14.81 14.81

17919 0.81 170.3 2324 1689 2184 1774 84.4 12.8 1299 17924 0.00 0.93 0.00 0.000 260 0.000 0.039 2324 2249 1978 2184 1773 0 0 0 0 0 0 14.78 14.42 14.81

17965 0.81 170.3 2329 2254 2184 1774 78.8 12.1 1308 17970 0.00 0.98 0.00 0.000 1030 0.000 0.057 2328 1693 1978 2183 1773 0 0 0 0 0 0 14.44 14.40 14.47

18300 0.81 170.3 2328 1694 2185 1774 38.3 10.6 1327 18305 0.00 0.93 0.00 0.000 260 0.000 0.039 2332 2252 1978 2184 1773 0 0 0 0 0 0 14.77 14.45 14.79

18336 0.81 170.3 2328 2253 2185 1773 34.2 11.5 1334 18342 0.08 0.98 0.00 0.000 5126 0.246 0.057 2309 1701 1978 2183 1773 0 0 0 0 0 0 14.00 14.31 14.18

18662 0.81 170.3 2310 1701 2185 1774 3.2 10.0 1351 18667 0.00 0.95 0.00 0.000 516 0.000 0.067 2313 1188 1978 2184 1773 0 0 0 0 0 0 14.76 14.21 14.78

18669 end climb: SURFACE_DEPTH_REACHED

state 18669 begin surface coast

18690 end surface coast: CONTROL_FINISHED_OK

state 18690 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	449	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	452.0
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	32	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	61	XPDR_VALID	5

GPS1	220818,061527,5833.0435,-2304.3286,35,1.0,58,-15.3,0.8,348.6,8,6.1	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	Z2
_XMS_NAKs	0	TGT_LATLONG	5825.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.13	MHEAD_RNG_PITCHd_Wd	127.1,36409,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-70.7	D_GRID	990
GPS2	220818,062946,5833.0078,-2304.2820,12,1.1,41,-15.3,0.5,126.2,7,6.8

FINISH	1.0,1.026705	_10V_AH	12.47,147.159
SM_CCo	18709,126.70,0.105,0,0,1254,350.04	FG_AHR_24Vo	0.000
SM_GC	1.03,6.30,0.90,126.70,0.062,0.044,0.105,49,1695,1254,-9.42,-1.70,350.04,0,0,0,0,0,0,14.52,14.57,14.39	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5834.24,-2257.83,220818,003425	MEM	333896
TT8_MAMPS	0.038199,0.901047	DATA_FILE_SIZE	46676,1357
HUMID	39.95	CAP_FILE_SIZE	162140,0
INTERNAL_PRESSURE	7.96906	CFSIZE	260165632,197218304
TCM_TEMP	19.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	8	INTR	0,9558.52,0x235322,1,24
SC_FREEKB	3758272	CURRENT	0.070,295.16,1
CP_FREE	15723823104.000000	GPS	220818,114557,5832.895,-2302.746,37,1.8,72,-15.3,0.7,54.5,8,8.2
_24V_AH	12.68,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	406	88.76	nil	0	0	0.00
Roll_motor	72	66	61.54	nil	0	0	0.00
VBD_pump_during_apogee	312	2184	8647.73	nil	0	0	0.00
VBD_pump_during_surface	126	104	168.38	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	18734	10	2517.05
Iridium_during_xfer	536	181	1233.39	TMICL	0	0	0.00
Transponder_ping	2	420	10.65	NCP	9190	25	2913.23
GUMSTIX_24V	0	0	0.00
GPS	43	20	11.03
TT8	0	0	0.00
LPSleep	15305	2	418.00
TT8_Active	692	8	74.89
TT8_Sampling	3184	26	1058.41
TT8_CF8	507	31	197.06
TT8_Kalman	0	0	0.00
Analog_circuits	2283	10	307.54
GPS_charging	0	0	0.00
Compass	1933	6	162.54
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
30	-0.64	-170.3	17	1708	1434	1079	0.0	0.0	0	132	0.00	0.00	-96.00	0.006	16390	0.000	0.000	15	1709	3376	3314	3439	0	0	0	0	0	0	14.76	13.40	14.76
135	-0.64	-170.3	16	1710	3315	3439	5.2	-4.3	5	149	9.40	0.95	0.00	0.000	2596	0.407	0.035	1988	1126	3376	3322	3431	0	0	0	0	0	0	14.01	14.39	14.26
375	-0.64	-170.3	1988	1126	3339	3413	41.6	-12.5	53	380	0.00	0.98	0.00	0.000	1030	0.000	0.044	1985	1691	3376	3339	3413	0	0	0	0	0	0	14.48	14.46	14.51
715	-0.64	-170.3	1985	1691	3344	3409	82.4	-12.1	73	716	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	1691	3375	3343	3408	0	0	0	0	0	0	14.93	14.95	14.95
1036	-0.64	-170.3	1985	1689	3346	3407	121.7	-12.3	85	1041	0.00	0.85	0.00	0.000	260	0.000	0.046	1981	2222	3375	3344	3406	0	0	0	0	0	0	14.96	14.52	14.97
1096	-0.64	-170.3	1980	2226	3349	3403	129.0	-11.6	97	1101	0.00	0.90	0.00	0.000	1030	0.000	0.050	1979	1694	3375	3348	3403	0	0	0	0	0	0	14.58	14.52	14.59
1437	-0.64	-170.3	1980	1694	3349	3403	172.1	-12.6	109	1442	0.00	0.90	0.00	0.000	516	0.000	0.054	1979	1175	3375	3349	3402	0	0	0	0	0	0	14.95	14.46	14.96
1667	-0.64	-170.3	1980	1173	3350	3403	199.6	-11.5	155	1672	0.00	0.90	0.00	0.000	1030	0.000	0.046	1977	1697	3375	3349	3402	0	0	0	0	0	0	14.54	14.51	14.56
1998	-0.64	-170.3	1978	1697	3350	3402	239.6	-12.3	165	2003	0.00	0.85	0.00	0.000	260	0.000	0.046	1973	2229	3375	3349	3401	0	0	0	0	0	0	15.02	14.59	15.04
2059	-0.64	-170.3	1972	2232	3351	3401	246.7	-11.1	177	2064	0.00	0.90	0.00	0.000	1030	0.000	0.051	1972	1697	3375	3350	3400	0	0	0	0	0	0	14.62	14.58	14.65
2399	-0.64	-170.3	1972	1697	3352	3401	287.6	-12.0	189	2404	0.00	0.90	0.00	0.000	516	0.000	0.054	1972	1172	3375	3350	3401	0	0	0	0	0	0	15.06	14.57	15.07
2629	-0.64	-170.3	1972	1172	3351	3401	313.9	-10.7	235	2634	0.00	0.88	0.00	0.000	1030	0.000	0.046	1969	1687	3375	3350	3400	0	0	0	0	0	0	14.69	14.62	14.68
2960	-0.64	-170.3	1969	1687	3351	3400	351.6	-11.4	245	2965	0.00	0.85	0.00	0.000	260	0.000	0.047	1965	2222	3375	3350	3400	0	0	0	0	0	0	15.06	14.61	15.07
3025	-0.64	-170.3	1964	2226	3351	3400	358.8	-10.7	258	3030	0.08	0.93	0.00	0.000	3078	0.201	0.051	1989	1684	3374	3350	3399	0	0	0	0	0	0	14.15	14.45	14.28
3361	-0.64	-170.3	1989	1684	3352	3400	392.9	-10.4	269	3366	0.00	0.88	0.00	0.000	516	0.000	0.056	1991	1172	3375	3351	3399	0	0	0	0	0	0	15.06	14.57	15.07
3546	-0.64	-170.3	1989	1172	3352	3400	411.8	-10.1	306	3551	0.00	0.88	0.00	0.000	1030	0.000	0.045	1986	1680	3375	3351	3399	0	0	0	0	0	0	14.65	14.62	14.67
3881	-0.64	-170.3	1987	1679	3352	3400	449.8	-11.6	317	3886	0.00	0.88	0.00	0.000	260	0.000	0.047	1982	2227	3375	3351	3399	0	0	0	0	0	0	15.03	14.59	15.04
4014	-0.64	-170.3	1981	2229	3352	3398	464.4	-10.8	343	4019	0.00	0.93	0.00	0.000	1030	0.000	0.052	1981	1685	3374	3351	3398	0	0	0	0	0	0	14.52	14.47	14.53
4364	-0.64	-170.3	1981	1685	3352	3398	506.3	-11.7	357	4369	0.00	0.90	0.00	0.000	516	0.000	0.055	1980	1157	3374	3351	3397	0	0	0	0	0	0	15.05	14.54	15.04
4554	-0.64	-170.3	1980	1157	3351	3398	526.7	-10.4	395	4559	0.00	0.90	0.00	0.000	1030	0.000	0.045	1978	1683	3374	3351	3398	0	0	0	0	0	0	14.64	14.62	14.67
4885	-0.64	-170.3	1978	1683	3352	3397	561.5	-10.3	405	4890	0.00	0.88	0.00	0.000	260	0.000	0.047	1974	2225	3374	3351	3397	0	0	0	0	0	0	15.04	14.47	15.07
5013	-0.64	-170.3	1973	2228	3352	3396	573.7	-9.2	430	5018	0.00	0.93	0.00	0.000	1030	0.000	0.052	1972	1684	3373	3351	3396	0	0	0	0	0	0	14.61	14.57	14.64
5368	-0.64	-170.3	1973	1683	3352	3396	612.3	-10.9	445	5373	0.00	0.88	0.00	0.000	516	0.000	0.057	1973	1172	3373	3351	3396	0	0	0	0	0	0	15.09	14.54	15.10
5528	-0.64	-170.3	1973	1171	3352	3396	628.7	-10.0	477	5533	0.00	0.88	0.00	0.000	1030	0.000	0.047	1970	1679	3373	3351	3395	0	0	0	0	0	0	14.64	14.61	14.66
5888	-0.64	-170.3	1971	1679	3353	3394	669.2	-11.7	493	5893	0.00	0.88	0.00	0.000	260	0.000	0.047	1966	2226	3372	3351	3394	0	0	0	0	0	0	15.09	14.58	15.10
6026	-0.64	-170.3	1965	2230	3352	3394	683.7	-10.3	520	6032	0.08	0.93	0.00	0.000	3078	0.196	0.052	1990	1685	3372	3351	3393	0	0	0	0	0	0	14.23	14.54	14.37
6374	-0.64	-170.3	1990	1686	3353	3393	716.9	-9.4	533	6378	0.00	0.90	0.00	0.000	516	0.000	0.057	1990	1164	3372	3351	3393	0	0	0	0	0	0	15.08	14.54	15.10
6495	-0.64	-170.3	1990	1164	3352	3393	727.6	-8.7	557	6500	0.00	0.90	0.00	0.000	1030	0.000	0.045	1988	1683	3371	3351	3392	0	0	0	0	0	0	14.66	14.61	14.66
6855	-0.64	-170.3	1989	1683	3353	3391	761.3	-9.5	573	6860	0.00	0.88	0.00	0.000	260	0.000	0.047	1984	2227	3371	3351	3391	0	0	0	0	0	0	15.09	14.57	15.11
7060	-0.64	-170.3	1984	2228	3352	3391	779.6	-8.7	614	7065	0.00	0.93	0.00	0.000	1030	0.000	0.048	1984	1681	3371	3352	3390	0	0	0	0	0	0	14.60	14.56	14.63
7416	-0.64	-170.3	1984	1682	3352	3390	812.3	-9.2	629	7420	0.00	0.88	0.00	0.000	516	0.000	0.057	1984	1173	3371	3352	3390	0	0	0	0	0	0	15.08	14.52	15.09
7549	-0.64	-170.3	1984	1172	3352	3391	824.0	-8.7	655	7553	0.00	0.88	0.00	0.000	1030	0.000	0.046	1981	1685	3370	3351	3390	0	0	0	0	0	0	14.62	14.59	14.64
7899	-0.64	-170.3	1982	1685	3352	3389	855.8	-8.9	669	7904	0.00	0.88	0.00	0.000	260	0.000	0.048	1977	2228	3370	3352	3389	0	0	0	0	0	0	15.07	14.55	15.09
8074	-0.64	-170.3	1976	2230	3352	3388	870.5	-8.3	704	8080	0.00	0.93	0.00	0.000	1030	0.000	0.052	1976	1694	3370	3352	3388	0	0	0	0	0	0	14.57	14.53	14.60
8420	-0.64	-170.3	1976	1694	3352	3388	902.5	-9.4	717	8425	0.00	0.90	0.00	0.000	516	0.000	0.056	1976	1172	3369	3351	3387	0	0	0	0	0	0	15.07	14.50	15.08
8575	-0.64	-170.3	1976	1173	3352	3387	916.8	-9.0	748	8582	0.00	0.90	0.00	0.000	1030	0.000	0.046	1973	1688	3368	3349	3387	0	0	0	0	0	0	14.59	14.56	14.60
8901	-0.64	-170.3	1974	1688	3352	3386	947.3	-9.2	757	8905	0.00	0.88	0.00	0.000	260	0.000	0.047	1968	2229	3368	3351	3386	0	0	0	0	0	0	15.06	14.53	15.07
9066	-0.64	-170.3	1968	2232	3352	3386	961.3	-8.3	790	9071	0.00	0.93	0.00	0.000	1030	0.000	0.053	1968	1695	3368	3351	3385	0	0	0	0	0	0	14.54	14.50	14.57
9379	end dive: TARGET_DEPTH_EXCEEDED
state	9379	begin apogee
9385	-0.12	0.0	1969	1694	3352	3385	990.8	-9.3	804	9543	0.47	0.00	152.32	2.185	10244	0.191	0.000	2106	1694	2680	2858	2502	0	0	0	0	0	0	14.03	13.96	12.92
9544	end apogee: CONTROL_FINISHED_OK
state	9544	begin climb
9547	0.64	170.3	2106	1694	2861	2503	993.8	0.0	808	9717	0.47	0.98	159.82	2.114	10500	0.086	0.041	2278	2270	1982	2190	1775	0	0	0	0	0	0	14.03	14.09	12.68
9839	0.64	170.3	2279	2269	2191	1776	967.2	11.6	861	9844	0.00	0.98	0.00	0.000	1030	0.000	0.061	2282	1717	1982	2190	1775	0	0	0	0	0	0	14.33	14.29	14.36
10175	0.64	170.3	2282	1717	2190	1776	928.0	11.4	872	10179	0.00	0.88	0.00	0.000	260	0.000	0.039	2282	2249	1982	2190	1775	0	0	0	0	0	0	14.91	14.27	14.92
10276	0.64	170.3	2282	2251	2191	1776	916.8	11.3	892	10280	0.00	0.93	0.00	0.000	1030	0.000	0.062	2286	1717	1982	2189	1775	0	0	0	0	0	0	14.63	14.59	14.66
10616	0.64	170.3	2286	1716	2188	1776	878.6	11.2	904	10620	0.00	0.93	0.00	0.000	516	0.000	0.063	2290	1193	1981	2187	1775	0	0	0	0	0	0	14.97	14.57	15.00
10696	0.64	170.3	2290	1193	2188	1775	869.8	10.8	920	10701	0.00	0.90	0.00	0.000	1030	0.000	0.044	2290	1709	1980	2187	1774	0	0	0	0	0	0	14.68	14.66	14.70
11057	0.64	170.3	2289	1727	2187	1775	830.3	11.0	936	11062	0.00	0.85	0.00	0.000	260	0.000	0.039	2290	2260	1980	2186	1774	0	0	0	0	0	0	14.98	14.68	15.00
11087	0.64	170.3	2290	2262	2187	1774	826.9	11.1	942	11092	0.08	0.98	0.00	0.000	5126	0.212	0.060	2269	1699	1980	2186	1775	0	0	0	0	0	0	14.33	14.60	14.47
11418	0.66	170.3	2268	1699	2186	1774	796.9	9.2	952	11423	0.00	0.93	0.00	0.000	580	0.000	0.066	2273	1182	1980	2186	1774	0	0	0	0	0	0	15.00	14.57	15.04
11499	0.66	170.3	2274	1182	2186	1774	789.1	10.0	968	11504	0.00	0.90	0.00	0.000	1030	0.000	0.043	2273	1698	1979	2185	1773	0	0	0	0	0	0	14.68	14.64	14.68
11859	0.66	170.3	2273	1715	2186	1774	753.0	10.1	984	11860	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	1714	1979	2185	1773	0	0	0	0	0	0	14.99	15.00	15.00
12180	0.66	170.3	2273	1715	2185	1774	721.4	9.8	992	12185	0.00	0.93	0.00	0.000	516	0.000	0.061	2273	1197	1979	2185	1774	0	0	0	0	0	0	14.87	14.45	14.89
12225	0.66	170.3	2282	1197	2186	1774	716.8	10.0	1001	12231	0.00	0.88	0.00	0.000	1030	0.000	0.043	2276	1702	1978	2184	1773	0	0	0	0	0	0	14.57	14.54	14.59
12582	0.66	170.3	2277	1721	2185	1774	680.0	10.6	1016	12587	0.00	0.88	0.00	0.000	260	0.000	0.041	2276	2253	1978	2184	1773	0	0	0	0	0	0	14.88	14.54	14.90
12613	0.66	170.3	2276	2254	2185	1774	676.8	11.4	1022	12618	0.00	1.00	0.00	0.000	1030	0.000	0.059	2279	1690	1978	2184	1773	0	0	0	0	0	0	14.41	14.36	14.45
12944	0.66	170.3	2277	1691	2185	1774	641.8	10.3	1032	12949	0.00	0.90	0.00	0.000	516	0.000	0.063	2285	1192	1978	2184	1773	0	0	0	0	0	0	14.88	14.44	14.89
12979	0.66	170.3	2284	1192	2185	1774	638.3	10.0	1039	12985	0.00	0.88	0.00	0.000	1030	0.000	0.044	2284	1698	1978	2184	1773	0	0	0	0	0	0	14.54	14.50	14.57
13305	0.66	170.3	2285	1715	2185	1774	602.6	11.1	1048	13310	0.00	0.90	0.00	0.000	260	0.000	0.040	2285	2260	1978	2184	1773	0	0	0	0	0	0	14.85	14.52	14.88
13340	0.66	170.3	2285	2258	2185	1774	598.4	11.6	1055	13346	0.00	1.00	0.00	0.000	1030	0.000	0.060	2288	1691	1978	2184	1773	0	0	0	0	0	0	14.50	14.45	14.53
13665	0.66	170.3	2289	1691	2186	1777	562.0	11.0	1064	13670	0.00	0.93	0.00	0.000	516	0.000	0.063	2295	1178	1978	2184	1773	0	0	0	0	0	0	14.86	14.41	14.88
13737	0.66	170.3	2293	1180	2183	1773	554.2	10.7	1078	13741	0.00	0.85	0.00	0.000	1030	0.000	0.043	2292	1675	1978	2184	1773	0	0	0	0	0	0	14.54	14.51	14.57
14067	0.66	170.3	2292	1694	2185	1774	518.6	10.7	1088	14072	0.00	0.93	0.00	0.000	260	0.000	0.039	2292	2257	1978	2184	1773	0	0	0	0	0	0	14.86	14.52	14.88
14132	0.66	170.3	2292	2260	2190	1774	511.6	10.7	1101	14138	0.08	1.02	0.00	0.000	5126	0.207	0.060	2272	1680	1982	2191	1773	0	0	0	0	0	0	14.07	14.37	14.22
14468	0.69	170.3	2273	1680	2185	1774	482.6	8.5	1112	14473	0.00	0.90	0.00	0.000	580	0.000	0.065	2275	1181	1981	2189	1773	0	0	0	0	0	0	14.83	14.41	14.87
14529	0.73	170.3	2277	1181	2185	1774	477.5	8.2	1124	14533	0.00	0.88	0.00	0.000	1094	0.000	0.042	2276	1684	1978	2184	1773	0	0	0	0	0	0	14.50	14.47	14.52
14870	0.76	170.3	2276	1702	2184	1777	448.9	8.3	1136	14875	0.00	0.90	0.00	0.000	324	0.000	0.040	2276	2262	1978	2184	1773	0	0	0	0	0	0	14.83	14.48	14.85
14905	0.78	170.3	2276	2264	2192	1774	445.8	8.8	1143	14911	0.00	1.02	0.00	0.000	1094	0.000	0.059	2280	1682	1978	2184	1773	0	0	0	0	0	0	14.47	14.42	14.51
15230	0.81	170.3	2281	1682	2184	1774	417.7	8.6	1152	15235	0.10	0.90	0.00	0.000	2628	0.158	0.057	2327	1179	1978	2184	1773	0	0	0	0	0	0	14.52	14.38	14.57
15277	0.81	170.3	2328	1179	2183	1774	412.5	12.5	1161	15282	0.00	0.88	0.00	0.000	1030	0.000	0.043	2326	1692	1981	2183	1779	0	0	0	0	0	0	14.50	14.46	14.52
15633	0.81	170.3	2328	1708	2185	1775	366.3	13.1	1176	15638	0.00	0.90	0.00	0.000	260	0.000	0.039	2327	2249	1979	2184	1774	0	0	0	0	0	0	14.85	14.32	14.87
15729	0.81	170.3	2327	2250	2184	1773	354.0	12.6	1195	15734	0.08	1.00	0.00	0.000	5126	0.256	0.058	2309	1685	1978	2184	1773	0	0	0	0	0	0	14.04	14.42	14.18
16074	0.81	170.3	2310	1685	2184	1774	313.2	11.8	1208	16079	0.00	0.90	0.00	0.000	516	0.000	0.063	2314	1185	1978	2184	1772	0	0	0	0	0	0	14.85	14.38	14.87
16099	0.81	170.3	2314	1181	2184	1774	310.3	11.4	1213	16105	0.00	0.85	0.00	0.000	1030	0.000	0.042	2314	1674	1978	2184	1773	0	0	0	0	0	0	14.53	14.49	14.55
16437	0.81	170.3	2312	1692	2191	1773	270.1	12.0	1224	16441	0.00	0.95	0.00	0.000	260	0.000	0.039	2313	2267	1978	2184	1773	0	0	0	0	0	0	14.83	14.48	14.85
16507	0.81	170.3	2313	2269	2184	1774	261.3	12.1	1238	16512	0.00	1.02	0.00	0.000	1030	0.000	0.059	2317	1685	1978	2184	1773	0	0	0	0	0	0	14.47	14.41	14.50
16838	0.81	170.3	2317	1685	2184	1775	220.3	12.3	1248	16843	0.00	0.90	0.00	0.000	516	0.000	0.063	2321	1185	1981	2189	1773	0	0	0	0	0	0	14.86	14.38	14.86
16858	0.81	170.3	2318	1189	2185	1774	217.9	11.5	1252	16863	0.00	0.90	0.00	0.000	1030	0.000	0.042	2321	1715	1979	2184	1774	0	0	0	0	0	0	14.51	14.49	14.52
17198	0.81	170.3	2320	1727	2185	1774	175.5	12.5	1264	17203	0.00	0.85	0.00	0.000	260	0.000	0.038	2320	2246	1978	2184	1772	0	0	0	0	0	0	14.84	14.35	14.85
17238	0.81	170.3	2321	2248	2185	1774	170.6	12.3	1272	17243	0.00	1.00	0.00	0.000	1030	0.000	0.057	2325	1689	1981	2189	1773	0	0	0	0	0	0	14.42	14.37	14.47
17601	0.81	170.3	2325	1689	2185	1774	124.9	12.5	1288	17601	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	1688	1978	2184	1773	0	0	0	0	0	0	14.80	14.81	14.81
17919	0.81	170.3	2324	1689	2184	1774	84.4	12.8	1299	17924	0.00	0.93	0.00	0.000	260	0.000	0.039	2324	2249	1978	2184	1773	0	0	0	0	0	0	14.78	14.42	14.81
17965	0.81	170.3	2329	2254	2184	1774	78.8	12.1	1308	17970	0.00	0.98	0.00	0.000	1030	0.000	0.057	2328	1693	1978	2183	1773	0	0	0	0	0	0	14.44	14.40	14.47
18300	0.81	170.3	2328	1694	2185	1774	38.3	10.6	1327	18305	0.00	0.93	0.00	0.000	260	0.000	0.039	2332	2252	1978	2184	1773	0	0	0	0	0	0	14.77	14.45	14.79
18336	0.81	170.3	2328	2253	2185	1773	34.2	11.5	1334	18342	0.08	0.98	0.00	0.000	5126	0.246	0.057	2309	1701	1978	2183	1773	0	0	0	0	0	0	14.00	14.31	14.18
18662	0.81	170.3	2310	1701	2185	1774	3.2	10.0	1351	18667	0.00	0.95	0.00	0.000	516	0.000	0.067	2313	1188	1978	2184	1773	0	0	0	0	0	0	14.76	14.21	14.78
18669	end climb: SURFACE_DEPTH_REACHED
state	18669	begin surface coast
18690	end surface coast: CONTROL_FINISHED_OK
state	18690	begin surface