Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 470 * 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 470 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 473.0

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 52 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 473.0 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 52 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 470 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 270818,050850,5824.6675,-2235.2722,28,1.7,44,-15.0,0.9,58.1,10,5.1 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 1.01 MHEAD_RNG_PITCHd_Wd 213.1,131900,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -68.9 D_GRID 990

GPS2 270818,052233,5824.7866,-2235.3057,11,1.7,15,-15.0,0.4,15.4,9,5.6

Post-dive calculations and measurements:

FINISH 0.1,1.015056 _24V_AH 12.60,0.000

SM_CCo 19559,124.12,0.103,0,0,1253,350.29 _10V_AH 12.43,154.081

SM_GC 1.15,6.28,0.00,124.12,0.063,0.000,0.103,54,1637,1253,-9.40,-1.78,350.29,0,0,0,0,0,0,14.55,14.91,14.38 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5824.67,-2233.08,260818,232433 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.769223 MEM 333876

HUMID 40.70 DATA_FILE_SIZE 49908,1411

INTERNAL_PRESSURE 7.98859 CAP_FILE_SIZE 165834,0

TCM_TEMP 19.30 CFSIZE 260165632,194019328

XPDR_PINGS 9 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3745536 CURRENT 0.156,352.48,1

CP_FREE 15709634560.000000 GPS 270818,105227,5824.614,-2236.111,40,1.2,46,-15.0,0.4,285.7,7,6.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 413 89.40 nil 0 0 0.00

Roll_motor 72 67 61.88 nil 0 0 0.00

VBD_pump_during_apogee 314 2194 8709.72 nil 0 0 0.00

VBD_pump_during_surface 124 103 161.52 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 19582 9 2264.27

Iridium_during_xfer 524 180 1193.02 TMICL 0 0 0.00

Transponder_ping 2 420 11.91 NCP 9820 25 3093.30

GUMSTIX_24V 0 0 0.00

GPS 18 20 4.66

TT8 0 0 0.00

LPSleep 16030 2 436.38

TT8_Active 699 8 75.41

TT8_Sampling 3234 26 1071.31

TT8_CF8 534 31 206.84

TT8_Kalman 0 0 0.00

Analog_circuits 2317 10 311.07

GPS_charging 0 0 0.00

Compass 2010 6 168.41

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

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

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

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.64 -170.3 21 1696 1397 1111 0.0 0.0 0 119 0.00 0.00 -97.47 0.006 16390 0.000 0.000 16 1693 3376 3316 3436 0 0 0 0 0 0 14.78 12.80 14.75

123 -0.64 -170.3 17 1693 3318 3437 4.4 -3.6 5 138 9.65 0.00 0.00 0.000 2086 0.413 0.000 1981 1695 3377 3325 3430 0 0 0 0 0 0 13.97 14.43 14.38

459 -0.64 -170.3 1981 1695 3346 3408 58.5 -13.5 22 464 0.00 0.93 0.00 0.000 516 0.000 0.055 1981 1166 3376 3346 3407 0 0 0 0 0 0 14.91 14.48 14.92

690 -0.64 -170.3 1982 1166 3347 3407 87.3 -12.0 68 694 0.00 0.93 0.00 0.000 1030 0.000 0.046 1979 1697 3376 3346 3407 0 0 0 0 0 0 14.56 14.54 14.57

1041 -0.64 -170.3 1979 1698 3347 3407 131.5 -12.7 81 1046 0.00 0.85 0.00 0.000 260 0.000 0.046 1974 2231 3377 3348 3406 0 0 0 0 0 0 14.97 14.43 14.98

1101 -0.64 -170.3 1973 2235 3350 3404 138.8 -11.7 93 1106 0.00 0.93 0.00 0.000 1030 0.000 0.051 1973 1692 3376 3349 3403 0 0 0 0 0 0 14.45 14.42 14.49

1441 -0.64 -170.3 1974 1692 3351 3404 181.7 -12.6 105 1446 0.00 0.93 0.00 0.000 516 0.000 0.054 1973 1164 3376 3350 3403 0 0 0 0 0 0 14.98 14.40 15.00

1672 -0.64 -170.3 1974 1164 3352 3403 209.8 -11.8 151 1677 0.00 0.93 0.00 0.000 1030 0.000 0.045 1972 1693 3377 3350 3405 0 0 0 0 0 0 14.57 14.54 14.62

2003 -0.64 -170.3 1971 1693 3351 3403 252.3 -13.2 161 2008 0.00 0.85 0.00 0.000 260 0.000 0.047 1967 2226 3376 3350 3402 0 0 0 0 0 0 14.95 14.54 14.97

2048 -0.64 -170.3 1966 2230 3352 3402 258.0 -12.1 170 2054 0.08 0.93 0.00 0.000 3078 0.200 0.053 1990 1683 3375 3351 3400 0 0 0 0 0 0 14.27 14.55 14.37

2405 -0.64 -170.3 1990 1684 3352 3402 297.2 -10.8 185 2410 0.00 0.90 0.00 0.000 516 0.000 0.054 1988 1162 3376 3352 3401 0 0 0 0 0 0 15.04 14.54 15.06

2615 -0.64 -170.3 1991 1161 3353 3401 318.2 -9.8 227 2620 0.00 0.90 0.00 0.000 1030 0.000 0.046 1988 1683 3376 3352 3401 0 0 0 0 0 0 14.64 14.60 14.66

2965 -0.64 -170.3 1988 1684 3352 3401 354.5 -10.5 241 2970 0.00 0.88 0.00 0.000 260 0.000 0.047 1983 2231 3375 3351 3400 0 0 0 0 0 0 15.05 14.59 15.07

3104 -0.64 -170.3 1983 2236 3353 3400 367.5 -9.4 268 3109 0.00 0.93 0.00 0.000 1030 0.000 0.052 1982 1687 3375 3352 3399 0 0 0 0 0 0 14.60 14.57 14.64

3449 -0.64 -170.3 1982 1687 3354 3400 404.1 -10.4 281 3455 0.00 0.90 0.00 0.000 516 0.000 0.055 1982 1167 3375 3352 3399 0 0 0 0 0 0 15.05 14.57 15.07

3661 -0.64 -170.3 1982 1167 3352 3400 424.5 -9.9 323 3666 0.00 0.90 0.00 0.000 1030 0.000 0.046 1980 1688 3375 3352 3399 0 0 0 0 0 0 14.63 14.59 14.65

4012 -0.64 -170.3 1980 1688 3353 3399 461.3 -10.7 337 4017 0.00 0.85 0.00 0.000 260 0.000 0.047 1975 2221 3375 3352 3399 0 0 0 0 0 0 15.04 14.58 15.06

4117 -0.64 -170.3 1975 2224 3354 3402 471.7 -9.5 358 4123 0.00 0.90 0.00 0.000 1030 0.000 0.052 1974 1691 3375 3352 3398 0 0 0 0 0 0 14.59 14.55 14.62

4453 -0.64 -170.3 1974 1690 3353 3398 507.9 -10.8 369 4458 0.00 0.90 0.00 0.000 516 0.000 0.055 1974 1170 3374 3352 3397 0 0 0 0 0 0 15.05 14.52 15.07

4684 -0.64 -170.3 1974 1170 3353 3398 531.7 -10.4 415 4688 0.00 0.88 0.00 0.000 1030 0.000 0.047 1971 1681 3374 3352 3397 0 0 0 0 0 0 14.60 14.59 14.64

5014 -0.64 -170.3 1972 1681 3353 3396 568.0 -11.0 425 5019 0.00 0.88 0.00 0.000 260 0.000 0.047 1966 2227 3373 3352 3395 0 0 0 0 0 0 15.06 14.56 15.06

5100 -0.64 -170.3 1968 2229 3353 3395 576.9 -10.2 442 5106 0.08 0.93 0.00 0.000 3078 0.200 0.053 1991 1687 3373 3352 3395 0 0 0 0 0 0 14.16 14.43 14.29

5457 -0.64 -170.3 1992 1687 3353 3394 609.6 -9.0 457 5462 0.00 0.90 0.00 0.000 516 0.000 0.056 1991 1169 3372 3352 3393 0 0 0 0 0 0 15.05 14.52 15.07

5642 -0.64 -170.3 1991 1170 3353 3394 624.8 -7.9 494 5648 0.00 0.88 0.00 0.000 1062 0.000 0.046 1989 1677 3372 3352 3393 0 0 0 0 0 0 14.60 14.57 14.62

5979 -0.64 -170.3 1989 1678 3353 3393 653.4 -8.5 505 5983 0.00 0.88 0.00 0.000 260 0.000 0.047 1984 2225 3372 3352 3392 0 0 0 0 0 0 15.04 14.54 15.06

6117 -0.64 -170.3 1984 2226 3353 3393 664.8 -8.6 532 6122 0.00 0.93 0.00 0.000 1030 0.000 0.049 1984 1679 3372 3352 3392 0 0 0 0 0 0 14.57 14.54 14.59

6463 -0.64 -170.3 1984 1679 3353 3391 697.7 -9.4 545 6468 0.00 0.88 0.00 0.000 516 0.000 0.057 1984 1174 3371 3352 3391 0 0 0 0 0 0 15.04 14.50 15.07

6689 -0.64 -170.3 1984 1174 3353 3391 718.5 -8.9 590 6695 0.00 0.88 0.00 0.000 1030 0.000 0.047 1981 1680 3371 3352 3390 0 0 0 0 0 0 14.59 14.55 14.62

7025 -0.64 -170.3 1982 1681 3353 3390 749.6 -9.2 601 7030 0.00 0.88 0.00 0.000 260 0.000 0.048 1977 2223 3370 3352 3389 0 0 0 0 0 0 15.04 14.51 15.06

7180 -0.64 -170.3 1977 2225 3353 3389 763.3 -8.6 632 7186 0.00 0.93 0.00 0.000 1030 0.000 0.050 1976 1684 3370 3352 3389 0 0 0 0 0 0 14.50 14.43 14.54

7506 -0.64 -170.3 1978 1684 3353 3388 794.9 -10.0 641 7511 0.00 0.90 0.00 0.000 516 0.000 0.057 1976 1169 3370 3352 3388 0 0 0 0 0 0 15.04 14.47 15.07

7686 -0.64 -170.3 1977 1170 3353 3388 812.5 -9.5 677 7691 0.00 0.88 0.00 0.000 1030 0.000 0.047 1974 1674 3370 3352 3388 0 0 0 0 0 0 14.57 14.54 14.59

8027 -0.64 -170.3 1974 1674 3353 3388 847.0 -10.3 689 8031 0.00 0.90 0.00 0.000 260 0.000 0.047 1970 2231 3369 3352 3386 0 0 0 0 0 0 15.03 14.50 15.05

8177 -0.64 -170.3 1969 2232 3353 3387 861.7 -9.2 719 8182 0.00 0.95 0.00 0.000 1030 0.000 0.050 1970 1678 3369 3352 3386 0 0 0 0 0 0 14.53 14.48 14.56

8507 -0.64 -170.3 1970 1678 3353 3387 894.4 -9.9 729 8512 0.00 0.90 0.00 0.000 516 0.000 0.058 1969 1164 3369 3352 3386 0 0 0 0 0 0 15.03 14.45 15.05

8733 -0.64 -170.3 1969 1164 3353 3389 915.9 -9.3 774 8739 0.05 0.88 0.00 0.000 3078 0.221 0.048 1985 1664 3368 3352 3385 0 0 0 0 0 0 14.19 14.51 14.29

9071 -0.64 -170.3 1985 1664 3353 3385 944.4 -8.5 785 9075 0.00 0.93 0.00 0.000 260 0.000 0.047 1980 2230 3368 3353 3383 0 0 0 0 0 0 15.04 14.48 15.04

9226 -0.64 -170.3 1981 2232 3353 3382 957.6 -8.4 816 9232 0.00 0.95 0.00 0.000 1030 0.000 0.050 1980 1677 3367 3353 3382 0 0 0 0 0 0 14.51 14.47 14.54

9551 -0.64 -170.3 1981 1677 3352 3381 987.1 -9.2 825 9556 0.00 0.90 0.00 0.000 516 0.000 0.057 1981 1162 3366 3352 3381 0 0 0 0 0 0 15.03 14.43 15.04

9583 end dive: TARGET_DEPTH_EXCEEDED

state 9584 begin apogee

9592 -0.12 0.0 1978 1731 3353 3382 990.4 -9.1 832 9748 0.43 0.00 153.05 2.195 10244 0.177 0.000 2105 1751 2681 2858 2504 0 0 0 0 0 0 14.16 13.95 12.86

9749 end apogee: CONTROL_FINISHED_OK

state 9749 begin climb

9752 0.64 170.3 2106 1751 2860 2504 995.9 0.0 836 9923 0.47 0.85 161.90 2.123 10500 0.088 0.041 2277 2256 1983 2190 1776 0 0 0 0 0 0 14.00 14.06 12.60

10041 0.64 170.3 2277 2256 2191 1776 973.2 10.6 888 10045 0.00 0.95 0.00 0.000 1030 0.000 0.061 2281 1720 1983 2191 1776 0 0 0 0 0 0 14.30 14.25 14.33

10382 0.64 170.3 2282 1720 2191 1776 936.3 11.0 900 10387 0.00 0.88 0.00 0.000 260 0.000 0.040 2281 2266 1982 2190 1775 0 0 0 0 0 0 14.88 14.61 14.90

10482 0.64 170.3 2281 2268 2190 1776 924.8 11.2 920 10487 0.00 0.95 0.00 0.000 1030 0.000 0.061 2284 1716 1981 2189 1774 0 0 0 0 0 0 14.60 14.56 14.64

10824 0.64 170.3 2287 1716 2188 1776 886.1 11.4 932 10828 0.00 0.95 0.00 0.000 516 0.000 0.064 2289 1185 1981 2186 1776 0 0 0 0 0 0 14.95 14.55 14.97

10899 0.64 170.3 2289 1185 2188 1776 877.8 10.7 947 10905 0.00 0.93 0.00 0.000 1030 0.000 0.044 2289 1723 1980 2187 1774 0 0 0 0 0 0 14.66 14.62 14.71

11224 0.64 170.3 2289 1737 2187 1775 841.2 11.4 956 11225 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1737 1980 2186 1774 0 0 0 0 0 0 14.97 15.00 15.00

11545 0.64 170.3 2289 1737 2187 1774 806.8 10.6 964 11550 0.00 0.98 0.00 0.000 516 0.000 0.063 2292 1192 1980 2186 1774 0 0 0 0 0 0 14.97 14.54 14.98

11580 0.64 170.3 2293 1193 2187 1775 802.9 10.8 971 11587 0.08 0.88 0.00 0.000 5126 0.202 0.043 2270 1703 1979 2186 1773 0 0 0 0 0 0 13.70 14.37 13.78

11906 0.67 170.3 2270 1717 2186 1775 773.6 8.9 980 11907 0.00 0.00 0.00 0.000 70 0.000 0.000 2269 1717 1980 2186 1774 0 0 0 0 0 0 14.97 14.99 14.99

12227 0.68 170.3 2272 1717 2186 1775 744.2 9.2 988 12231 0.00 0.95 0.00 0.000 580 0.000 0.063 2274 1189 1979 2185 1774 0 0 0 0 0 0 14.97 14.44 14.99

12257 0.68 170.3 2274 1189 2186 1774 741.2 9.8 994 12263 0.00 0.88 0.00 0.000 1030 0.000 0.043 2274 1692 1979 2185 1773 0 0 0 0 0 0 14.47 14.42 14.52

12589 0.68 170.3 2275 1709 2186 1773 708.0 10.1 1004 12594 0.00 0.88 0.00 0.000 260 0.000 0.041 2274 2252 1979 2185 1773 0 0 0 0 0 0 14.99 14.59 15.00

12631 0.68 170.3 2274 2255 2186 1773 703.8 10.5 1012 12636 0.00 0.98 0.00 0.000 1030 0.000 0.062 2278 1704 1979 2185 1773 0 0 0 0 0 0 14.49 14.43 14.52

12991 0.68 170.3 2278 1704 2186 1774 668.0 9.6 1028 12996 0.00 0.95 0.00 0.000 516 0.000 0.064 2282 1182 1979 2185 1773 0 0 0 0 0 0 14.99 14.40 15.00

13052 0.68 170.3 2281 1182 2186 1773 662.2 9.6 1040 13057 0.00 0.90 0.00 0.000 1030 0.000 0.045 2281 1700 1978 2185 1772 0 0 0 0 0 0 14.52 14.46 14.55

13393 0.71 170.3 2280 1720 2185 1774 631.0 8.8 1052 13398 0.00 0.88 0.00 0.000 324 0.000 0.041 2282 2258 1978 2185 1772 0 0 0 0 0 0 14.97 14.60 14.99

13434 0.73 170.3 2282 2259 2186 1773 627.4 8.7 1060 13439 0.00 1.00 0.00 0.000 1094 0.000 0.060 2286 1692 1978 2185 1772 0 0 0 0 0 0 14.55 14.50 14.59

13795 0.73 170.3 2286 1691 2186 1773 592.3 10.0 1076 13800 0.00 0.93 0.00 0.000 516 0.000 0.067 2289 1184 1978 2185 1772 0 0 0 0 0 0 14.96 14.48 15.00

13841 0.73 170.3 2289 1184 2185 1773 587.5 10.3 1085 13846 0.00 0.88 0.00 0.000 1030 0.000 0.046 2289 1690 1978 2185 1772 0 0 0 0 0 0 14.60 14.57 14.62

14196 0.73 170.3 2290 1709 2186 1773 549.9 10.6 1100 14201 0.00 0.90 0.00 0.000 260 0.000 0.042 2289 2256 1978 2185 1772 0 0 0 0 0 0 14.98 14.50 15.00

14238 0.73 170.3 2290 2258 2186 1773 545.6 10.9 1108 14242 0.00 1.00 0.00 0.000 1030 0.000 0.060 2293 1692 1978 2185 1772 0 0 0 0 0 0 14.42 14.38 14.45

14598 0.73 170.3 2294 1691 2185 1771 505.8 11.2 1124 14603 0.00 0.93 0.00 0.000 516 0.000 0.067 2297 1188 1978 2185 1772 0 0 0 0 0 0 14.99 14.36 15.00

14633 0.73 170.3 2297 1189 2185 1773 501.9 10.8 1131 14639 0.00 0.88 0.00 0.000 1030 0.000 0.045 2297 1696 1978 2185 1772 0 0 0 0 0 0 14.59 14.55 14.61

14959 0.73 170.3 2298 1716 2186 1773 468.6 10.1 1140 14964 0.00 0.88 0.00 0.000 260 0.000 0.041 2298 2249 1978 2185 1772 0 0 0 0 0 0 14.97 14.57 14.99

15009 0.73 170.3 2298 2251 2186 1772 463.4 10.0 1150 15015 0.00 1.00 0.00 0.000 1030 0.000 0.061 2302 1680 1977 2183 1772 0 0 0 0 0 0 14.53 14.48 14.57

15361 0.73 170.3 2302 1681 2185 1773 426.1 10.5 1164 15361 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 1680 1978 2185 1772 0 0 0 0 0 0 14.97 15.00 15.00

15682 0.73 170.3 2302 1680 2186 1772 392.2 10.5 1172 15683 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 1680 1978 2184 1772 0 0 0 0 0 0 14.96 14.99 14.99

16001 0.73 170.3 2302 1680 2185 1773 360.0 10.3 1180 16005 0.00 0.95 0.00 0.000 260 0.000 0.041 2301 2257 1978 2184 1772 0 0 0 0 0 0 14.97 14.56 14.98

16041 0.73 170.3 2301 2259 2185 1771 355.9 10.1 1188 16046 0.00 1.00 0.00 0.000 1030 0.000 0.060 2305 1684 1978 2185 1772 0 0 0 0 0 0 14.53 14.49 14.57

16402 0.73 170.3 2305 1684 2186 1772 316.9 11.0 1204 16407 0.00 0.88 0.00 0.000 516 0.000 0.063 2309 1192 1978 2184 1772 0 0 0 0 0 0 14.97 14.46 14.99

16423 0.73 170.3 2310 1193 2186 1773 314.6 10.7 1208 16428 0.00 0.85 0.00 0.000 1030 0.000 0.043 2309 1692 1978 2185 1772 0 0 0 0 0 0 14.59 14.57 14.62

16763 0.73 170.3 2309 1709 2186 1773 276.5 10.9 1220 16768 0.00 0.88 0.00 0.000 260 0.000 0.041 2309 2244 1978 2185 1772 0 0 0 0 0 0 14.97 14.57 14.99

16825 0.73 170.3 2309 2246 2186 1772 269.7 11.2 1232 16830 0.08 0.98 0.00 0.000 5126 0.230 0.060 2289 1685 1978 2185 1772 0 0 0 0 0 0 14.14 14.49 14.29

17166 0.73 170.3 2289 1685 2185 1773 236.1 9.8 1244 17170 0.00 0.90 0.00 0.000 516 0.000 0.064 2293 1186 1978 2184 1772 0 0 0 0 0 0 15.00 14.45 15.02

17212 0.73 170.3 2293 1186 2185 1773 231.7 9.8 1253 17216 0.00 0.88 0.00 0.000 1030 0.000 0.044 2292 1692 1978 2185 1772 0 0 0 0 0 0 14.35 14.31 14.38

17567 0.73 170.3 2293 1710 2186 1773 195.5 10.2 1268 17572 0.00 0.90 0.00 0.000 260 0.000 0.041 2292 2255 1978 2185 1772 0 0 0 0 0 0 15.01 14.47 15.01

17612 0.73 170.3 2293 2256 2185 1773 190.6 10.2 1277 17617 0.00 1.00 0.00 0.000 1030 0.000 0.058 2296 1691 1979 2185 1773 0 0 0 0 0 0 14.32 14.28 14.33

17970 0.73 170.3 2297 1691 2186 1773 154.4 10.1 1292 17974 0.00 0.90 0.00 0.000 516 0.000 0.063 2302 1193 1978 2185 1772 0 0 0 0 0 0 14.90 14.35 14.93

18025 0.74 170.3 2301 1193 2186 1771 149.1 9.4 1303 18030 0.00 0.85 0.00 0.000 1094 0.000 0.044 2299 1687 1978 2185 1772 0 0 0 0 0 0 14.48 14.45 14.50

18371 0.74 170.3 2301 1707 2184 1773 114.7 10.1 1316 18376 0.00 0.90 0.00 0.000 260 0.000 0.041 2300 2269 1978 2185 1772 0 0 0 0 0 0 14.95 14.27 14.97

18422 0.74 170.3 2300 2270 2185 1773 109.7 10.1 1326 18427 0.00 1.02 0.00 0.000 1030 0.000 0.058 2304 1696 1978 2185 1772 0 0 0 0 0 0 14.25 14.19 14.29

18755 0.74 170.3 2305 1696 2185 1772 75.6 11.2 1345 18760 0.00 0.93 0.00 0.000 516 0.000 0.063 2308 1186 1978 2185 1772 0 0 0 0 0 0 14.90 14.45 14.92

18817 0.74 170.3 2309 1186 2184 1774 68.7 10.5 1357 18822 0.00 0.88 0.00 0.000 1030 0.000 0.044 2308 1685 1978 2185 1772 0 0 0 0 0 0 14.31 14.27 14.33

19159 0.78 170.3 2309 1704 2186 1773 38.9 8.2 1377 19164 0.00 0.88 0.00 0.000 324 0.000 0.039 2309 2244 1979 2185 1773 0 0 0 0 0 0 14.90 14.50 14.92

19245 0.78 170.3 2309 2245 2185 1773 30.6 10.1 1394 19250 0.00 0.98 0.00 0.000 1030 0.000 0.057 2312 1685 1978 2184 1772 0 0 0 0 0 0 14.43 14.40 14.47

19518 end climb: SURFACE_DEPTH_REACHED

state 19518 begin surface coast

19538 end surface coast: CONTROL_FINISHED_OK

state 19540 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	470	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	473.0
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	52	XPDR_VALID	5

GPS1	270818,050850,5824.6675,-2235.2722,28,1.7,44,-15.0,0.9,58.1,10,5.1	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	1.01	MHEAD_RNG_PITCHd_Wd	213.1,131900,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-68.9	D_GRID	990
GPS2	270818,052233,5824.7866,-2235.3057,11,1.7,15,-15.0,0.4,15.4,9,5.6

FINISH	0.1,1.015056	_24V_AH	12.60,0.000
SM_CCo	19559,124.12,0.103,0,0,1253,350.29	_10V_AH	12.43,154.081
SM_GC	1.15,6.28,0.00,124.12,0.063,0.000,0.103,54,1637,1253,-9.40,-1.78,350.29,0,0,0,0,0,0,14.55,14.91,14.38	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5824.67,-2233.08,260818,232433	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.769223	MEM	333876
HUMID	40.70	DATA_FILE_SIZE	49908,1411
INTERNAL_PRESSURE	7.98859	CAP_FILE_SIZE	165834,0
TCM_TEMP	19.30	CFSIZE	260165632,194019328
XPDR_PINGS	9	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3745536	CURRENT	0.156,352.48,1
CP_FREE	15709634560.000000	GPS	270818,105227,5824.614,-2236.111,40,1.2,46,-15.0,0.4,285.7,7,6.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	413	89.40	nil	0	0	0.00
Roll_motor	72	67	61.88	nil	0	0	0.00
VBD_pump_during_apogee	314	2194	8709.72	nil	0	0	0.00
VBD_pump_during_surface	124	103	161.52	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	19582	9	2264.27
Iridium_during_xfer	524	180	1193.02	TMICL	0	0	0.00
Transponder_ping	2	420	11.91	NCP	9820	25	3093.30
GUMSTIX_24V	0	0	0.00
GPS	18	20	4.66
TT8	0	0	0.00
LPSleep	16030	2	436.38
TT8_Active	699	8	75.41
TT8_Sampling	3234	26	1071.31
TT8_CF8	534	31	206.84
TT8_Kalman	0	0	0.00
Analog_circuits	2317	10	311.07
GPS_charging	0	0	0.00
Compass	2010	6	168.41
RAFOS	0	0	0.00
Transponder	0	5	0.03

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.64	-170.3	21	1696	1397	1111	0.0	0.0	0	119	0.00	0.00	-97.47	0.006	16390	0.000	0.000	16	1693	3376	3316	3436	0	0	0	0	0	0	14.78	12.80	14.75
123	-0.64	-170.3	17	1693	3318	3437	4.4	-3.6	5	138	9.65	0.00	0.00	0.000	2086	0.413	0.000	1981	1695	3377	3325	3430	0	0	0	0	0	0	13.97	14.43	14.38
459	-0.64	-170.3	1981	1695	3346	3408	58.5	-13.5	22	464	0.00	0.93	0.00	0.000	516	0.000	0.055	1981	1166	3376	3346	3407	0	0	0	0	0	0	14.91	14.48	14.92
690	-0.64	-170.3	1982	1166	3347	3407	87.3	-12.0	68	694	0.00	0.93	0.00	0.000	1030	0.000	0.046	1979	1697	3376	3346	3407	0	0	0	0	0	0	14.56	14.54	14.57
1041	-0.64	-170.3	1979	1698	3347	3407	131.5	-12.7	81	1046	0.00	0.85	0.00	0.000	260	0.000	0.046	1974	2231	3377	3348	3406	0	0	0	0	0	0	14.97	14.43	14.98
1101	-0.64	-170.3	1973	2235	3350	3404	138.8	-11.7	93	1106	0.00	0.93	0.00	0.000	1030	0.000	0.051	1973	1692	3376	3349	3403	0	0	0	0	0	0	14.45	14.42	14.49
1441	-0.64	-170.3	1974	1692	3351	3404	181.7	-12.6	105	1446	0.00	0.93	0.00	0.000	516	0.000	0.054	1973	1164	3376	3350	3403	0	0	0	0	0	0	14.98	14.40	15.00
1672	-0.64	-170.3	1974	1164	3352	3403	209.8	-11.8	151	1677	0.00	0.93	0.00	0.000	1030	0.000	0.045	1972	1693	3377	3350	3405	0	0	0	0	0	0	14.57	14.54	14.62
2003	-0.64	-170.3	1971	1693	3351	3403	252.3	-13.2	161	2008	0.00	0.85	0.00	0.000	260	0.000	0.047	1967	2226	3376	3350	3402	0	0	0	0	0	0	14.95	14.54	14.97
2048	-0.64	-170.3	1966	2230	3352	3402	258.0	-12.1	170	2054	0.08	0.93	0.00	0.000	3078	0.200	0.053	1990	1683	3375	3351	3400	0	0	0	0	0	0	14.27	14.55	14.37
2405	-0.64	-170.3	1990	1684	3352	3402	297.2	-10.8	185	2410	0.00	0.90	0.00	0.000	516	0.000	0.054	1988	1162	3376	3352	3401	0	0	0	0	0	0	15.04	14.54	15.06
2615	-0.64	-170.3	1991	1161	3353	3401	318.2	-9.8	227	2620	0.00	0.90	0.00	0.000	1030	0.000	0.046	1988	1683	3376	3352	3401	0	0	0	0	0	0	14.64	14.60	14.66
2965	-0.64	-170.3	1988	1684	3352	3401	354.5	-10.5	241	2970	0.00	0.88	0.00	0.000	260	0.000	0.047	1983	2231	3375	3351	3400	0	0	0	0	0	0	15.05	14.59	15.07
3104	-0.64	-170.3	1983	2236	3353	3400	367.5	-9.4	268	3109	0.00	0.93	0.00	0.000	1030	0.000	0.052	1982	1687	3375	3352	3399	0	0	0	0	0	0	14.60	14.57	14.64
3449	-0.64	-170.3	1982	1687	3354	3400	404.1	-10.4	281	3455	0.00	0.90	0.00	0.000	516	0.000	0.055	1982	1167	3375	3352	3399	0	0	0	0	0	0	15.05	14.57	15.07
3661	-0.64	-170.3	1982	1167	3352	3400	424.5	-9.9	323	3666	0.00	0.90	0.00	0.000	1030	0.000	0.046	1980	1688	3375	3352	3399	0	0	0	0	0	0	14.63	14.59	14.65
4012	-0.64	-170.3	1980	1688	3353	3399	461.3	-10.7	337	4017	0.00	0.85	0.00	0.000	260	0.000	0.047	1975	2221	3375	3352	3399	0	0	0	0	0	0	15.04	14.58	15.06
4117	-0.64	-170.3	1975	2224	3354	3402	471.7	-9.5	358	4123	0.00	0.90	0.00	0.000	1030	0.000	0.052	1974	1691	3375	3352	3398	0	0	0	0	0	0	14.59	14.55	14.62
4453	-0.64	-170.3	1974	1690	3353	3398	507.9	-10.8	369	4458	0.00	0.90	0.00	0.000	516	0.000	0.055	1974	1170	3374	3352	3397	0	0	0	0	0	0	15.05	14.52	15.07
4684	-0.64	-170.3	1974	1170	3353	3398	531.7	-10.4	415	4688	0.00	0.88	0.00	0.000	1030	0.000	0.047	1971	1681	3374	3352	3397	0	0	0	0	0	0	14.60	14.59	14.64
5014	-0.64	-170.3	1972	1681	3353	3396	568.0	-11.0	425	5019	0.00	0.88	0.00	0.000	260	0.000	0.047	1966	2227	3373	3352	3395	0	0	0	0	0	0	15.06	14.56	15.06
5100	-0.64	-170.3	1968	2229	3353	3395	576.9	-10.2	442	5106	0.08	0.93	0.00	0.000	3078	0.200	0.053	1991	1687	3373	3352	3395	0	0	0	0	0	0	14.16	14.43	14.29
5457	-0.64	-170.3	1992	1687	3353	3394	609.6	-9.0	457	5462	0.00	0.90	0.00	0.000	516	0.000	0.056	1991	1169	3372	3352	3393	0	0	0	0	0	0	15.05	14.52	15.07
5642	-0.64	-170.3	1991	1170	3353	3394	624.8	-7.9	494	5648	0.00	0.88	0.00	0.000	1062	0.000	0.046	1989	1677	3372	3352	3393	0	0	0	0	0	0	14.60	14.57	14.62
5979	-0.64	-170.3	1989	1678	3353	3393	653.4	-8.5	505	5983	0.00	0.88	0.00	0.000	260	0.000	0.047	1984	2225	3372	3352	3392	0	0	0	0	0	0	15.04	14.54	15.06
6117	-0.64	-170.3	1984	2226	3353	3393	664.8	-8.6	532	6122	0.00	0.93	0.00	0.000	1030	0.000	0.049	1984	1679	3372	3352	3392	0	0	0	0	0	0	14.57	14.54	14.59
6463	-0.64	-170.3	1984	1679	3353	3391	697.7	-9.4	545	6468	0.00	0.88	0.00	0.000	516	0.000	0.057	1984	1174	3371	3352	3391	0	0	0	0	0	0	15.04	14.50	15.07
6689	-0.64	-170.3	1984	1174	3353	3391	718.5	-8.9	590	6695	0.00	0.88	0.00	0.000	1030	0.000	0.047	1981	1680	3371	3352	3390	0	0	0	0	0	0	14.59	14.55	14.62
7025	-0.64	-170.3	1982	1681	3353	3390	749.6	-9.2	601	7030	0.00	0.88	0.00	0.000	260	0.000	0.048	1977	2223	3370	3352	3389	0	0	0	0	0	0	15.04	14.51	15.06
7180	-0.64	-170.3	1977	2225	3353	3389	763.3	-8.6	632	7186	0.00	0.93	0.00	0.000	1030	0.000	0.050	1976	1684	3370	3352	3389	0	0	0	0	0	0	14.50	14.43	14.54
7506	-0.64	-170.3	1978	1684	3353	3388	794.9	-10.0	641	7511	0.00	0.90	0.00	0.000	516	0.000	0.057	1976	1169	3370	3352	3388	0	0	0	0	0	0	15.04	14.47	15.07
7686	-0.64	-170.3	1977	1170	3353	3388	812.5	-9.5	677	7691	0.00	0.88	0.00	0.000	1030	0.000	0.047	1974	1674	3370	3352	3388	0	0	0	0	0	0	14.57	14.54	14.59
8027	-0.64	-170.3	1974	1674	3353	3388	847.0	-10.3	689	8031	0.00	0.90	0.00	0.000	260	0.000	0.047	1970	2231	3369	3352	3386	0	0	0	0	0	0	15.03	14.50	15.05
8177	-0.64	-170.3	1969	2232	3353	3387	861.7	-9.2	719	8182	0.00	0.95	0.00	0.000	1030	0.000	0.050	1970	1678	3369	3352	3386	0	0	0	0	0	0	14.53	14.48	14.56
8507	-0.64	-170.3	1970	1678	3353	3387	894.4	-9.9	729	8512	0.00	0.90	0.00	0.000	516	0.000	0.058	1969	1164	3369	3352	3386	0	0	0	0	0	0	15.03	14.45	15.05
8733	-0.64	-170.3	1969	1164	3353	3389	915.9	-9.3	774	8739	0.05	0.88	0.00	0.000	3078	0.221	0.048	1985	1664	3368	3352	3385	0	0	0	0	0	0	14.19	14.51	14.29
9071	-0.64	-170.3	1985	1664	3353	3385	944.4	-8.5	785	9075	0.00	0.93	0.00	0.000	260	0.000	0.047	1980	2230	3368	3353	3383	0	0	0	0	0	0	15.04	14.48	15.04
9226	-0.64	-170.3	1981	2232	3353	3382	957.6	-8.4	816	9232	0.00	0.95	0.00	0.000	1030	0.000	0.050	1980	1677	3367	3353	3382	0	0	0	0	0	0	14.51	14.47	14.54
9551	-0.64	-170.3	1981	1677	3352	3381	987.1	-9.2	825	9556	0.00	0.90	0.00	0.000	516	0.000	0.057	1981	1162	3366	3352	3381	0	0	0	0	0	0	15.03	14.43	15.04
9583	end dive: TARGET_DEPTH_EXCEEDED
state	9584	begin apogee
9592	-0.12	0.0	1978	1731	3353	3382	990.4	-9.1	832	9748	0.43	0.00	153.05	2.195	10244	0.177	0.000	2105	1751	2681	2858	2504	0	0	0	0	0	0	14.16	13.95	12.86
9749	end apogee: CONTROL_FINISHED_OK
state	9749	begin climb
9752	0.64	170.3	2106	1751	2860	2504	995.9	0.0	836	9923	0.47	0.85	161.90	2.123	10500	0.088	0.041	2277	2256	1983	2190	1776	0	0	0	0	0	0	14.00	14.06	12.60
10041	0.64	170.3	2277	2256	2191	1776	973.2	10.6	888	10045	0.00	0.95	0.00	0.000	1030	0.000	0.061	2281	1720	1983	2191	1776	0	0	0	0	0	0	14.30	14.25	14.33
10382	0.64	170.3	2282	1720	2191	1776	936.3	11.0	900	10387	0.00	0.88	0.00	0.000	260	0.000	0.040	2281	2266	1982	2190	1775	0	0	0	0	0	0	14.88	14.61	14.90
10482	0.64	170.3	2281	2268	2190	1776	924.8	11.2	920	10487	0.00	0.95	0.00	0.000	1030	0.000	0.061	2284	1716	1981	2189	1774	0	0	0	0	0	0	14.60	14.56	14.64
10824	0.64	170.3	2287	1716	2188	1776	886.1	11.4	932	10828	0.00	0.95	0.00	0.000	516	0.000	0.064	2289	1185	1981	2186	1776	0	0	0	0	0	0	14.95	14.55	14.97
10899	0.64	170.3	2289	1185	2188	1776	877.8	10.7	947	10905	0.00	0.93	0.00	0.000	1030	0.000	0.044	2289	1723	1980	2187	1774	0	0	0	0	0	0	14.66	14.62	14.71
11224	0.64	170.3	2289	1737	2187	1775	841.2	11.4	956	11225	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1737	1980	2186	1774	0	0	0	0	0	0	14.97	15.00	15.00
11545	0.64	170.3	2289	1737	2187	1774	806.8	10.6	964	11550	0.00	0.98	0.00	0.000	516	0.000	0.063	2292	1192	1980	2186	1774	0	0	0	0	0	0	14.97	14.54	14.98
11580	0.64	170.3	2293	1193	2187	1775	802.9	10.8	971	11587	0.08	0.88	0.00	0.000	5126	0.202	0.043	2270	1703	1979	2186	1773	0	0	0	0	0	0	13.70	14.37	13.78
11906	0.67	170.3	2270	1717	2186	1775	773.6	8.9	980	11907	0.00	0.00	0.00	0.000	70	0.000	0.000	2269	1717	1980	2186	1774	0	0	0	0	0	0	14.97	14.99	14.99
12227	0.68	170.3	2272	1717	2186	1775	744.2	9.2	988	12231	0.00	0.95	0.00	0.000	580	0.000	0.063	2274	1189	1979	2185	1774	0	0	0	0	0	0	14.97	14.44	14.99
12257	0.68	170.3	2274	1189	2186	1774	741.2	9.8	994	12263	0.00	0.88	0.00	0.000	1030	0.000	0.043	2274	1692	1979	2185	1773	0	0	0	0	0	0	14.47	14.42	14.52
12589	0.68	170.3	2275	1709	2186	1773	708.0	10.1	1004	12594	0.00	0.88	0.00	0.000	260	0.000	0.041	2274	2252	1979	2185	1773	0	0	0	0	0	0	14.99	14.59	15.00
12631	0.68	170.3	2274	2255	2186	1773	703.8	10.5	1012	12636	0.00	0.98	0.00	0.000	1030	0.000	0.062	2278	1704	1979	2185	1773	0	0	0	0	0	0	14.49	14.43	14.52
12991	0.68	170.3	2278	1704	2186	1774	668.0	9.6	1028	12996	0.00	0.95	0.00	0.000	516	0.000	0.064	2282	1182	1979	2185	1773	0	0	0	0	0	0	14.99	14.40	15.00
13052	0.68	170.3	2281	1182	2186	1773	662.2	9.6	1040	13057	0.00	0.90	0.00	0.000	1030	0.000	0.045	2281	1700	1978	2185	1772	0	0	0	0	0	0	14.52	14.46	14.55
13393	0.71	170.3	2280	1720	2185	1774	631.0	8.8	1052	13398	0.00	0.88	0.00	0.000	324	0.000	0.041	2282	2258	1978	2185	1772	0	0	0	0	0	0	14.97	14.60	14.99
13434	0.73	170.3	2282	2259	2186	1773	627.4	8.7	1060	13439	0.00	1.00	0.00	0.000	1094	0.000	0.060	2286	1692	1978	2185	1772	0	0	0	0	0	0	14.55	14.50	14.59
13795	0.73	170.3	2286	1691	2186	1773	592.3	10.0	1076	13800	0.00	0.93	0.00	0.000	516	0.000	0.067	2289	1184	1978	2185	1772	0	0	0	0	0	0	14.96	14.48	15.00
13841	0.73	170.3	2289	1184	2185	1773	587.5	10.3	1085	13846	0.00	0.88	0.00	0.000	1030	0.000	0.046	2289	1690	1978	2185	1772	0	0	0	0	0	0	14.60	14.57	14.62
14196	0.73	170.3	2290	1709	2186	1773	549.9	10.6	1100	14201	0.00	0.90	0.00	0.000	260	0.000	0.042	2289	2256	1978	2185	1772	0	0	0	0	0	0	14.98	14.50	15.00
14238	0.73	170.3	2290	2258	2186	1773	545.6	10.9	1108	14242	0.00	1.00	0.00	0.000	1030	0.000	0.060	2293	1692	1978	2185	1772	0	0	0	0	0	0	14.42	14.38	14.45
14598	0.73	170.3	2294	1691	2185	1771	505.8	11.2	1124	14603	0.00	0.93	0.00	0.000	516	0.000	0.067	2297	1188	1978	2185	1772	0	0	0	0	0	0	14.99	14.36	15.00
14633	0.73	170.3	2297	1189	2185	1773	501.9	10.8	1131	14639	0.00	0.88	0.00	0.000	1030	0.000	0.045	2297	1696	1978	2185	1772	0	0	0	0	0	0	14.59	14.55	14.61
14959	0.73	170.3	2298	1716	2186	1773	468.6	10.1	1140	14964	0.00	0.88	0.00	0.000	260	0.000	0.041	2298	2249	1978	2185	1772	0	0	0	0	0	0	14.97	14.57	14.99
15009	0.73	170.3	2298	2251	2186	1772	463.4	10.0	1150	15015	0.00	1.00	0.00	0.000	1030	0.000	0.061	2302	1680	1977	2183	1772	0	0	0	0	0	0	14.53	14.48	14.57
15361	0.73	170.3	2302	1681	2185	1773	426.1	10.5	1164	15361	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	1680	1978	2185	1772	0	0	0	0	0	0	14.97	15.00	15.00
15682	0.73	170.3	2302	1680	2186	1772	392.2	10.5	1172	15683	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	1680	1978	2184	1772	0	0	0	0	0	0	14.96	14.99	14.99
16001	0.73	170.3	2302	1680	2185	1773	360.0	10.3	1180	16005	0.00	0.95	0.00	0.000	260	0.000	0.041	2301	2257	1978	2184	1772	0	0	0	0	0	0	14.97	14.56	14.98
16041	0.73	170.3	2301	2259	2185	1771	355.9	10.1	1188	16046	0.00	1.00	0.00	0.000	1030	0.000	0.060	2305	1684	1978	2185	1772	0	0	0	0	0	0	14.53	14.49	14.57
16402	0.73	170.3	2305	1684	2186	1772	316.9	11.0	1204	16407	0.00	0.88	0.00	0.000	516	0.000	0.063	2309	1192	1978	2184	1772	0	0	0	0	0	0	14.97	14.46	14.99
16423	0.73	170.3	2310	1193	2186	1773	314.6	10.7	1208	16428	0.00	0.85	0.00	0.000	1030	0.000	0.043	2309	1692	1978	2185	1772	0	0	0	0	0	0	14.59	14.57	14.62
16763	0.73	170.3	2309	1709	2186	1773	276.5	10.9	1220	16768	0.00	0.88	0.00	0.000	260	0.000	0.041	2309	2244	1978	2185	1772	0	0	0	0	0	0	14.97	14.57	14.99
16825	0.73	170.3	2309	2246	2186	1772	269.7	11.2	1232	16830	0.08	0.98	0.00	0.000	5126	0.230	0.060	2289	1685	1978	2185	1772	0	0	0	0	0	0	14.14	14.49	14.29
17166	0.73	170.3	2289	1685	2185	1773	236.1	9.8	1244	17170	0.00	0.90	0.00	0.000	516	0.000	0.064	2293	1186	1978	2184	1772	0	0	0	0	0	0	15.00	14.45	15.02
17212	0.73	170.3	2293	1186	2185	1773	231.7	9.8	1253	17216	0.00	0.88	0.00	0.000	1030	0.000	0.044	2292	1692	1978	2185	1772	0	0	0	0	0	0	14.35	14.31	14.38
17567	0.73	170.3	2293	1710	2186	1773	195.5	10.2	1268	17572	0.00	0.90	0.00	0.000	260	0.000	0.041	2292	2255	1978	2185	1772	0	0	0	0	0	0	15.01	14.47	15.01
17612	0.73	170.3	2293	2256	2185	1773	190.6	10.2	1277	17617	0.00	1.00	0.00	0.000	1030	0.000	0.058	2296	1691	1979	2185	1773	0	0	0	0	0	0	14.32	14.28	14.33
17970	0.73	170.3	2297	1691	2186	1773	154.4	10.1	1292	17974	0.00	0.90	0.00	0.000	516	0.000	0.063	2302	1193	1978	2185	1772	0	0	0	0	0	0	14.90	14.35	14.93
18025	0.74	170.3	2301	1193	2186	1771	149.1	9.4	1303	18030	0.00	0.85	0.00	0.000	1094	0.000	0.044	2299	1687	1978	2185	1772	0	0	0	0	0	0	14.48	14.45	14.50
18371	0.74	170.3	2301	1707	2184	1773	114.7	10.1	1316	18376	0.00	0.90	0.00	0.000	260	0.000	0.041	2300	2269	1978	2185	1772	0	0	0	0	0	0	14.95	14.27	14.97
18422	0.74	170.3	2300	2270	2185	1773	109.7	10.1	1326	18427	0.00	1.02	0.00	0.000	1030	0.000	0.058	2304	1696	1978	2185	1772	0	0	0	0	0	0	14.25	14.19	14.29
18755	0.74	170.3	2305	1696	2185	1772	75.6	11.2	1345	18760	0.00	0.93	0.00	0.000	516	0.000	0.063	2308	1186	1978	2185	1772	0	0	0	0	0	0	14.90	14.45	14.92
18817	0.74	170.3	2309	1186	2184	1774	68.7	10.5	1357	18822	0.00	0.88	0.00	0.000	1030	0.000	0.044	2308	1685	1978	2185	1772	0	0	0	0	0	0	14.31	14.27	14.33
19159	0.78	170.3	2309	1704	2186	1773	38.9	8.2	1377	19164	0.00	0.88	0.00	0.000	324	0.000	0.039	2309	2244	1979	2185	1773	0	0	0	0	0	0	14.90	14.50	14.92
19245	0.78	170.3	2309	2245	2185	1773	30.6	10.1	1394	19250	0.00	0.98	0.00	0.000	1030	0.000	0.057	2312	1685	1978	2184	1772	0	0	0	0	0	0	14.43	14.40	14.47
19518	end climb: SURFACE_DEPTH_REACHED
state	19518	begin surface coast
19538	end surface coast: CONTROL_FINISHED_OK
state	19540	begin surface