Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 568 * 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 568 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 589.0

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 33 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 53 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 589.0 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 33 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 53 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 568 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 190918,030121,5800.2905,-2336.4158,24,1.0,41,-15.4,0.5,180.1,9,5.6 SPEED_LIMITS 0.173,0.275

_CALLS 2 TGT_NAME Z3

_XMS_NAKs 0 TGT_LATLONG 5730.000,-2400.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.97 MHEAD_RNG_PITCHd_Wd 181.1,60729,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -73.7 D_GRID 990

GPS2 190918,031459,5800.2856,-2336.6035,14,1.2,14,-15.4,0.0,0.0,8,9.5

Post-dive calculations and measurements:

FINISH 1.2,1.026867 _24V_AH 12.64,0.000

SM_CCo 19563,123.65,0.103,0,0,1257,350.04 _10V_AH 12.28,186.028

SM_GC 1.04,6.32,0.00,123.65,0.059,0.000,0.103,45,1680,1257,-9.44,-0.57,350.04,0,0,0,0,0,0,14.33,14.88,14.31 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5802.28,-2333.80,190918,030608 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.808171 MEM 333644

HUMID 41.57 DATA_FILE_SIZE 49996,1458

INTERNAL_PRESSURE 7.97882 CAP_FILE_SIZE 170336,0

TCM_TEMP 19.20 CFSIZE 260165632,179499008

XPDR_PINGS 4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3688256 CURRENT 0.142,289.25,1

CP_FREE 15643181056.000000 GPS 190918,084513,5759.371,-2338.083,42,1.4,51,-15.4,0.2,187.9,7,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 407 88.78 nil 0 0 0.00

Roll_motor 76 61 60.19 nil 0 0 0.00

VBD_pump_during_apogee 316 2181 8720.07 nil 0 0 0.00

VBD_pump_during_surface 123 102 160.22 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 9482 8 1005.08

Iridium_during_xfer 461 169 985.90 TMICL 0 0 0.00

Transponder_ping 1 420 5.31 NCP 9474 25 2993.78

GUMSTIX_24V 0 0 0.00

GPS 16 20 4.20

TT8 0 0 0.00

LPSleep 15950 2 428.95

TT8_Active 668 8 71.22

TT8_Sampling 3300 26 1080.07

TT8_CF8 589 31 225.56

TT8_Kalman 0 0 0.00

Analog_circuits 2290 10 303.82

GPS_charging 0 0 0.00

Compass 2073 6 171.58

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -0.64 -170.3 38 1644 1406 1098 0.0 0.0 0 121 0.00 0.00 -99.40 0.006 16390 0.000 0.000 33 1694 3376 3317 3436 0 0 0 0 0 0 14.79 12.64 14.77

124 -0.64 -170.3 34 1694 3318 3436 3.9 -3.2 5 138 9.50 0.95 0.00 0.000 2340 0.408 0.033 1978 2258 3377 3322 3432 0 0 0 0 0 0 13.91 14.33 14.18

365 -0.64 -170.3 1977 2260 3347 3407 37.6 -10.3 53 370 0.00 1.05 0.00 0.000 1030 0.000 0.047 1977 1685 3376 3347 3406 0 0 0 0 0 0 14.53 14.48 14.54

706 -0.64 -170.3 1978 1684 3349 3405 76.4 -11.4 73 711 0.00 0.90 0.00 0.000 516 0.000 0.053 1977 1165 3376 3348 3404 0 0 0 0 0 0 15.12 14.47 15.11

937 -0.64 -170.3 1978 1164 3350 3405 101.6 -10.7 119 942 0.00 0.98 0.00 0.000 1030 0.000 0.042 1975 1693 3376 3349 3404 0 0 0 0 0 0 14.59 14.56 14.60

1268 -0.64 -170.3 1975 1692 3350 3404 141.2 -12.3 129 1272 0.00 0.85 0.00 0.000 260 0.000 0.045 1971 2224 3376 3349 3404 0 0 0 0 0 0 15.16 14.54 15.15

1364 -0.64 -170.3 1971 2227 3352 3402 152.8 -11.9 148 1370 0.00 0.98 0.00 0.000 1030 0.000 0.046 1970 1688 3376 3351 3402 0 0 0 0 0 0 14.57 14.53 14.57

1711 -0.64 -170.3 1971 1687 3352 3402 197.8 -13.1 161 1715 0.00 0.90 0.00 0.000 516 0.000 0.053 1970 1165 3376 3351 3402 0 0 0 0 0 0 15.14 14.50 15.16

1941 -0.64 -170.3 1971 1165 3353 3402 227.2 -12.5 207 1946 0.00 0.95 0.00 0.000 1030 0.000 0.044 1968 1678 3376 3352 3401 0 0 0 0 0 0 14.59 14.56 14.64

2272 -0.64 -170.3 1968 1678 3353 3402 270.5 -13.0 217 2277 0.00 0.90 0.00 0.000 260 0.000 0.044 1964 2238 3376 3352 3401 0 0 0 0 0 0 15.15 14.53 15.16

2339 -0.64 -170.3 1964 2241 3353 3401 278.7 -12.0 230 2344 0.08 1.00 0.00 0.000 3078 0.206 0.046 1988 1684 3376 3352 3401 0 0 0 0 0 0 14.16 14.52 14.28

2675 -0.64 -170.3 1989 1686 3353 3402 315.5 -10.8 241 2680 0.00 0.88 0.00 0.000 516 0.000 0.053 1988 1177 3376 3352 3400 0 0 0 0 0 0 15.15 14.49 15.16

2907 -0.64 -170.3 1988 1176 3353 3401 338.9 -9.7 287 2911 0.00 0.95 0.00 0.000 1030 0.000 0.042 1986 1694 3376 3352 3400 0 0 0 0 0 0 14.58 14.55 14.60

3237 -0.64 -170.3 1986 1695 3353 3400 372.2 -10.0 297 3242 0.00 0.85 0.00 0.000 260 0.000 0.044 1981 2225 3376 3352 3400 0 0 0 0 0 0 15.15 14.53 15.16

3329 -0.64 -170.3 1982 2227 3353 3400 380.8 -9.2 315 3334 0.00 0.98 0.00 0.000 1030 0.000 0.046 1981 1689 3376 3352 3400 0 0 0 0 0 0 14.54 14.52 14.59

3680 -0.64 -170.3 1981 1688 3353 3400 415.8 -9.9 329 3684 0.00 0.90 0.00 0.000 516 0.000 0.054 1981 1168 3375 3352 3399 0 0 0 0 0 0 15.14 14.46 15.16

3911 -0.64 -170.3 1981 1168 3353 3400 437.5 -9.3 375 3917 0.00 0.93 0.00 0.000 1030 0.000 0.044 1978 1675 3376 3353 3399 0 0 0 0 0 0 14.57 14.54 14.60

4244 -0.64 -170.3 1979 1675 3353 3399 469.7 -9.7 385 4248 0.00 0.88 0.00 0.000 260 0.000 0.044 1974 2216 3376 3353 3399 0 0 0 0 0 0 15.15 14.51 15.16

4351 -0.64 -170.3 1974 2218 3354 3398 479.7 -9.2 406 4355 0.00 1.00 0.00 0.000 1030 0.000 0.047 1973 1673 3375 3353 3398 0 0 0 0 0 0 14.53 14.50 14.55

4686 -0.64 -170.3 1973 1674 3354 3399 514.6 -10.4 417 4691 0.00 0.85 0.00 0.000 516 0.000 0.054 1973 1177 3375 3353 3398 0 0 0 0 0 0 15.15 14.47 15.17

4918 -0.64 -170.3 1974 1177 3354 3398 539.3 -10.9 463 4922 0.00 0.88 0.00 0.000 1030 0.000 0.044 1972 1657 3375 3353 3397 0 0 0 0 0 0 14.55 14.53 14.57

5248 -0.64 -170.3 1972 1657 3354 3398 577.4 -11.5 473 5253 0.00 0.90 0.00 0.000 260 0.000 0.044 1967 2210 3375 3353 3397 0 0 0 0 0 0 15.15 14.50 15.17

5345 -0.64 -170.3 1967 2213 3354 3397 588.0 -10.7 492 5351 0.08 1.00 0.00 0.000 3078 0.200 0.046 1992 1675 3374 3353 3396 0 0 0 0 0 0 14.13 14.48 14.24

5693 -0.64 -170.3 1992 1674 3355 3396 622.0 -9.7 505 5697 0.00 0.88 0.00 0.000 516 0.000 0.054 1992 1167 3374 3354 3395 0 0 0 0 0 0 15.15 14.45 15.16

5914 -0.64 -170.3 1992 1168 3355 3395 642.3 -8.9 549 5919 0.00 0.90 0.00 0.000 1030 0.000 0.044 1989 1654 3374 3354 3395 0 0 0 0 0 0 14.54 14.52 14.57

6255 -0.64 -170.3 1990 1654 3354 3394 672.9 -8.8 561 6260 0.00 0.93 0.00 0.000 260 0.000 0.045 1985 2218 3374 3354 3394 0 0 0 0 0 0 15.14 14.47 15.16

6386 -0.64 -170.3 1986 2220 3355 3393 683.2 -7.8 586 6391 0.00 1.02 0.00 0.000 1062 0.000 0.045 1985 1665 3373 3354 3393 0 0 0 0 0 0 14.51 14.47 14.54

6742 -0.64 -170.3 1985 1665 3354 3393 711.9 -7.8 601 6746 0.00 0.85 0.00 0.000 548 0.000 0.054 1985 1168 3373 3355 3392 0 0 0 0 0 0 15.15 14.44 15.16

6958 -0.64 -170.3 1985 1168 3354 3392 727.4 -7.2 644 6964 0.00 0.90 0.00 0.000 1062 0.000 0.044 1983 1657 3372 3354 3391 0 0 0 0 0 0 14.53 14.50 14.55

7305 -0.64 -170.3 1983 1657 3354 3391 754.2 -7.8 657 7310 0.00 0.93 0.00 0.000 292 0.000 0.046 1978 2219 3372 3354 3391 0 0 0 0 0 0 15.14 14.45 15.16

7417 -0.64 -170.3 1978 2221 3355 3390 762.4 -7.3 679 7422 0.00 1.02 0.00 0.000 1062 0.000 0.047 1978 1670 3372 3354 3390 0 0 0 0 0 0 14.48 14.45 14.51

7748 -0.64 -170.3 1978 1670 3355 3390 789.8 -8.4 689 7753 0.00 0.88 0.00 0.000 516 0.000 0.055 1977 1162 3371 3354 3389 0 0 0 0 0 0 15.14 14.42 15.16

7970 -0.64 -170.3 1978 1161 3355 3390 807.8 -8.0 733 7974 0.00 0.90 0.00 0.000 1062 0.000 0.044 1975 1650 3371 3354 3389 0 0 0 0 0 0 14.52 14.49 14.54

8311 -0.64 -170.3 1976 1650 3354 3389 838.2 -9.2 745 8315 0.00 0.95 0.00 0.000 260 0.000 0.045 1971 2226 3371 3354 3388 0 0 0 0 0 0 15.14 14.44 15.16

8445 -0.64 -170.3 1972 2227 3355 3387 849.8 -8.6 771 8450 0.00 1.05 0.00 0.000 1030 0.000 0.047 1971 1663 3370 3354 3387 0 0 0 0 0 0 14.49 14.44 14.50

8796 -0.64 -170.3 1971 1662 3355 3387 884.8 -10.2 785 8801 0.00 0.85 0.00 0.000 516 0.000 0.055 1971 1168 3369 3353 3386 0 0 0 0 0 0 15.14 14.40 15.16

9028 -0.64 -170.3 1971 1168 3355 3387 908.5 -10.1 831 9033 0.00 0.90 0.00 0.000 1030 0.000 0.046 1969 1652 3369 3354 3385 0 0 0 0 0 0 14.49 14.46 14.52

9360 -0.64 -170.3 1969 1653 3354 3386 943.4 -10.5 841 9365 0.00 0.95 0.00 0.000 260 0.000 0.045 1965 2226 3369 3354 3385 0 0 0 0 0 0 15.12 14.45 15.14

9445 -0.64 -170.3 1965 2228 3354 3385 952.0 -9.5 858 9451 0.08 1.08 0.00 0.000 3078 0.193 0.047 1989 1652 3369 3354 3384 0 0 0 0 0 0 14.05 14.42 14.16

9802 -0.64 -170.3 1989 1651 3355 3384 980.6 -7.9 873 9807 0.00 0.85 0.00 0.000 548 0.000 0.055 1989 1157 3368 3354 3383 0 0 0 0 0 0 15.14 14.36 15.16

9933 end dive: TARGET_DEPTH_EXCEEDED

state 9933 begin apogee

9941 -0.12 0.0 1987 1726 3355 3383 990.3 -7.0 899 10099 0.40 0.00 156.00 2.182 10244 0.168 0.000 2107 1726 2680 2860 2501 0 0 0 0 0 0 14.07 13.91 12.74

10100 end apogee: CONTROL_FINISHED_OK

state 10100 begin climb

10103 0.64 170.3 2108 1727 2860 2501 994.0 0.0 903 10274 0.50 0.00 160.20 2.121 11270 0.099 0.000 2283 1785 1984 2230 1739 0 0 0 0 0 0 14.05 14.28 12.64

10620 0.64 170.3 2283 1784 2231 1740 941.9 11.8 935 10625 0.00 1.05 0.00 0.000 516 0.000 0.059 2287 1200 1985 2230 1740 0 0 0 0 0 0 14.88 14.47 14.90

10706 0.64 170.3 2288 1200 2231 1740 931.9 11.7 952 10712 0.00 0.98 0.00 0.000 1030 0.000 0.041 2288 1722 1985 2230 1740 0 0 0 0 0 0 14.42 14.38 14.46

11063 0.64 170.3 2288 1741 2231 1741 889.3 11.9 967 11063 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1741 1984 2230 1739 0 0 0 0 0 0 14.95 14.97 14.96

11382 0.64 170.3 2288 1741 2231 1740 851.1 12.0 975 11388 0.00 1.05 0.00 0.000 516 0.000 0.059 2291 1191 1985 2230 1740 0 0 0 0 0 0 14.97 14.46 15.00

11445 0.64 170.3 2291 1191 2231 1740 843.9 11.7 987 11450 0.00 0.95 0.00 0.000 1030 0.000 0.043 2290 1709 1985 2230 1740 0 0 0 0 0 0 14.57 14.55 14.61

11786 0.64 170.3 2291 1728 2230 1740 803.8 11.6 999 11790 0.00 0.85 0.00 0.000 260 0.000 0.040 2290 2255 1984 2229 1740 0 0 0 0 0 0 14.97 14.33 14.98

11821 0.64 170.3 2291 2258 2229 1740 799.7 11.5 1006 11827 0.08 1.00 0.00 0.000 5126 0.205 0.057 2269 1712 1984 2229 1740 0 0 0 0 0 0 14.15 14.46 14.30

12148 0.64 170.3 2270 1712 2231 1740 767.8 9.7 1015 12152 0.00 0.93 0.00 0.000 516 0.000 0.061 2273 1195 1985 2230 1740 0 0 0 0 0 0 14.96 14.42 14.97

12244 0.66 170.3 2274 1195 2231 1740 758.7 9.4 1034 12248 0.00 0.93 0.00 0.000 1094 0.000 0.042 2273 1712 1984 2229 1740 0 0 0 0 0 0 14.56 14.53 14.58

12591 0.66 170.3 2274 1727 2229 1740 725.3 9.6 1047 12595 0.00 1.02 0.00 0.000 516 0.000 0.058 2277 1190 1984 2229 1740 0 0 0 0 0 0 14.94 14.42 14.95

12618 0.67 170.3 2277 1191 2229 1740 722.6 9.4 1052 12623 0.00 0.80 0.00 0.000 1094 0.000 0.042 2277 1654 1984 2228 1740 0 0 0 0 0 0 14.57 14.54 14.59

12954 0.67 170.3 2276 1677 2229 1740 689.6 9.9 1063 12959 0.00 0.90 0.00 0.000 260 0.000 0.037 2276 2214 1983 2228 1739 0 0 0 0 0 0 14.97 14.42 14.99

13021 0.67 170.3 2277 2216 2229 1740 683.0 10.2 1076 13027 0.00 0.95 0.00 0.000 1030 0.000 0.058 2280 1693 1983 2228 1739 0 0 0 0 0 0 14.47 14.44 14.50

13358 0.67 170.3 2281 1693 2229 1740 649.1 10.1 1087 13362 0.00 0.90 0.00 0.000 516 0.000 0.060 2283 1189 1984 2228 1740 0 0 0 0 0 0 14.97 14.29 15.00

13410 0.67 170.3 2284 1189 2228 1740 644.1 9.9 1097 13414 0.00 0.90 0.00 0.000 1030 0.000 0.042 2284 1679 1983 2227 1740 0 0 0 0 0 0 14.52 14.49 14.55

13760 0.67 170.3 2284 1697 2228 1740 609.2 9.7 1111 13765 0.00 0.90 0.00 0.000 260 0.000 0.039 2284 2248 1983 2227 1740 0 0 0 0 0 0 14.95 14.51 14.95

13822 0.67 170.3 2285 2251 2228 1740 603.2 9.7 1123 13827 0.00 1.05 0.00 0.000 1030 0.000 0.058 2288 1691 1983 2227 1740 0 0 0 0 0 0 14.38 14.34 14.42

14165 0.68 170.3 2287 1691 2228 1741 570.2 9.5 1135 14169 0.00 0.90 0.00 0.000 580 0.000 0.060 2293 1184 1984 2227 1742 0 0 0 0 0 0 14.95 14.39 14.96

14240 0.68 170.3 2293 1185 2228 1740 562.7 9.5 1150 14246 0.00 0.93 0.00 0.000 1030 0.000 0.044 2292 1693 1983 2227 1740 0 0 0 0 0 0 14.50 14.48 14.54

14567 0.68 170.3 2292 1711 2228 1740 529.6 10.4 1159 14572 0.00 0.85 0.00 0.000 260 0.000 0.038 2291 2242 1983 2227 1739 0 0 0 0 0 0 14.95 14.51 14.96

14598 0.68 170.3 2292 2241 2228 1740 526.2 10.6 1165 14602 0.00 1.05 0.00 0.000 1030 0.000 0.057 2295 1680 1983 2227 1740 0 0 0 0 0 0 14.45 14.42 14.50

14928 0.68 170.3 2296 1679 2228 1740 489.9 11.2 1175 14933 0.00 0.88 0.00 0.000 516 0.000 0.062 2300 1189 1983 2227 1740 0 0 0 0 0 0 14.94 14.33 14.95

14985 0.68 170.3 2300 1190 2228 1740 483.8 10.9 1186 14990 0.00 0.88 0.00 0.000 1030 0.000 0.043 2299 1667 1983 2227 1740 0 0 0 0 0 0 14.52 14.50 14.55

15331 0.68 170.3 2300 1686 2228 1740 444.8 11.3 1199 15335 0.00 0.93 0.00 0.000 260 0.000 0.038 2299 2258 1983 2227 1740 0 0 0 0 0 0 14.95 14.50 14.97

15426 0.68 170.3 2300 2255 2228 1740 434.0 11.2 1218 15431 0.08 1.05 0.00 0.000 5126 0.211 0.053 2279 1684 1983 2227 1740 0 0 0 0 0 0 14.07 14.41 14.21

15773 0.68 170.3 2279 1684 2227 1740 401.0 9.5 1231 15779 0.00 0.88 0.00 0.000 516 0.000 0.060 2282 1196 1983 2227 1740 0 0 0 0 0 0 14.95 14.26 14.95

15829 0.69 170.3 2281 1197 2228 1740 395.7 9.3 1242 15834 0.00 0.80 0.00 0.000 1094 0.000 0.041 2282 1643 1983 2227 1740 0 0 0 0 0 0 14.52 14.52 14.56

16177 0.71 170.3 2283 1660 2228 1740 363.4 9.3 1255 16181 0.00 0.95 0.00 0.000 324 0.000 0.037 2282 2242 1983 2227 1740 0 0 0 0 0 0 14.90 14.49 14.91

16242 0.73 170.3 2283 2246 2228 1740 357.3 8.9 1268 16248 0.00 1.02 0.00 0.000 1094 0.000 0.057 2286 1689 1983 2227 1740 0 0 0 0 0 0 14.45 14.39 14.48

16579 0.76 170.3 2286 1689 2228 1741 327.5 8.7 1279 16584 0.00 0.90 0.00 0.000 580 0.000 0.060 2290 1180 1983 2227 1740 0 0 0 0 0 0 14.97 14.38 14.95

16646 0.79 170.3 2291 1180 2228 1740 322.1 8.2 1292 16652 0.00 0.90 0.00 0.000 1094 0.000 0.041 2290 1670 1983 2227 1740 0 0 0 0 0 0 14.44 14.41 14.47

16983 0.82 170.3 2290 1690 2228 1740 293.5 8.5 1303 16988 0.00 0.90 0.00 0.000 324 0.000 0.038 2290 2246 1984 2228 1740 0 0 0 0 0 0 14.96 14.47 15.00

17035 0.86 170.3 2291 2246 2228 1740 289.2 8.4 1313 17040 0.05 1.08 0.00 0.000 3142 0.121 0.051 2327 1669 1983 2227 1739 0 0 0 0 0 0 14.23 14.40 14.33

17386 0.86 170.3 2328 1668 2228 1740 248.4 11.9 1327 17387 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 1669 1983 2227 1740 0 0 0 0 0 0 14.96 15.00 14.97

17706 0.86 170.3 2328 1669 2228 1740 211.0 11.6 1335 17710 0.00 0.95 0.00 0.000 260 0.000 0.037 2327 2247 1983 2227 1740 0 0 0 0 0 0 14.96 14.47 14.97

17752 0.86 170.3 2328 2248 2228 1740 205.9 11.3 1344 17758 0.00 1.00 0.00 0.000 1030 0.000 0.056 2331 1687 1983 2227 1740 0 0 0 0 0 0 14.23 14.18 14.26

18110 0.86 170.3 2330 1687 2228 1740 164.2 11.6 1359 18115 0.00 0.90 0.00 0.000 516 0.000 0.059 2336 1185 1983 2227 1739 0 0 0 0 0 0 14.91 14.27 14.92

18136 0.86 170.3 2336 1185 2228 1740 161.1 11.5 1364 18141 0.00 0.93 0.00 0.000 1030 0.000 0.040 2335 1682 1983 2227 1740 0 0 0 0 0 0 14.35 14.32 14.38

18474 0.86 170.3 2335 1702 2228 1740 122.1 11.5 1375 18478 0.00 0.90 0.00 0.000 260 0.000 0.037 2333 2252 1983 2227 1740 0 0 0 0 0 0 14.90 14.35 14.92

18554 0.86 170.3 2336 2253 2228 1740 112.6 11.4 1391 18561 0.08 1.08 0.00 0.000 5126 0.250 0.050 2313 1682 1983 2230 1737 0 0 0 0 0 0 13.92 14.31 14.07

18901 0.86 170.3 2317 1682 2228 1740 75.0 12.2 1411 18905 0.00 0.88 0.00 0.000 516 0.000 0.059 2321 1190 1983 2227 1740 0 0 0 0 0 0 14.84 14.20 14.85

18926 0.86 170.3 2321 1191 2228 1740 71.7 10.4 1416 18932 0.00 0.93 0.00 0.000 1030 0.000 0.040 2320 1689 1983 2227 1740 0 0 0 0 0 0 14.30 14.26 14.31

19264 0.86 170.3 2321 1709 2229 1740 35.1 11.7 1435 19269 0.00 0.88 0.00 0.000 260 0.000 0.037 2320 2247 1983 2227 1739 0 0 0 0 0 0 14.89 14.38 14.88

19310 0.86 170.3 2321 2252 2228 1740 29.5 10.9 1444 19315 0.00 1.08 0.00 0.000 1030 0.000 0.056 2324 1680 1983 2227 1739 0 0 0 0 0 0 14.35 14.31 14.38

19523 end climb: SURFACE_DEPTH_REACHED

state 19523 begin surface coast

19543 end surface coast: CONTROL_FINISHED_OK

state 19543 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	568	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	589.0
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	33	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	53	XPDR_VALID	5

GPS1	190918,030121,5800.2905,-2336.4158,24,1.0,41,-15.4,0.5,180.1,9,5.6	SPEED_LIMITS	0.173,0.275
_CALLS	2	TGT_NAME	Z3
_XMS_NAKs	0	TGT_LATLONG	5730.000,-2400.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.97	MHEAD_RNG_PITCHd_Wd	181.1,60729,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-73.7	D_GRID	990
GPS2	190918,031459,5800.2856,-2336.6035,14,1.2,14,-15.4,0.0,0.0,8,9.5

FINISH	1.2,1.026867	_24V_AH	12.64,0.000
SM_CCo	19563,123.65,0.103,0,0,1257,350.04	_10V_AH	12.28,186.028
SM_GC	1.04,6.32,0.00,123.65,0.059,0.000,0.103,45,1680,1257,-9.44,-0.57,350.04,0,0,0,0,0,0,14.33,14.88,14.31	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5802.28,-2333.80,190918,030608	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.808171	MEM	333644
HUMID	41.57	DATA_FILE_SIZE	49996,1458
INTERNAL_PRESSURE	7.97882	CAP_FILE_SIZE	170336,0
TCM_TEMP	19.20	CFSIZE	260165632,179499008
XPDR_PINGS	4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3688256	CURRENT	0.142,289.25,1
CP_FREE	15643181056.000000	GPS	190918,084513,5759.371,-2338.083,42,1.4,51,-15.4,0.2,187.9,7,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	407	88.78	nil	0	0	0.00
Roll_motor	76	61	60.19	nil	0	0	0.00
VBD_pump_during_apogee	316	2181	8720.07	nil	0	0	0.00
VBD_pump_during_surface	123	102	160.22	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	9482	8	1005.08
Iridium_during_xfer	461	169	985.90	TMICL	0	0	0.00
Transponder_ping	1	420	5.31	NCP	9474	25	2993.78
GUMSTIX_24V	0	0	0.00
GPS	16	20	4.20
TT8	0	0	0.00
LPSleep	15950	2	428.95
TT8_Active	668	8	71.22
TT8_Sampling	3300	26	1080.07
TT8_CF8	589	31	225.56
TT8_Kalman	0	0	0.00
Analog_circuits	2290	10	303.82
GPS_charging	0	0	0.00
Compass	2073	6	171.58
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-0.64	-170.3	38	1644	1406	1098	0.0	0.0	0	121	0.00	0.00	-99.40	0.006	16390	0.000	0.000	33	1694	3376	3317	3436	0	0	0	0	0	0	14.79	12.64	14.77
124	-0.64	-170.3	34	1694	3318	3436	3.9	-3.2	5	138	9.50	0.95	0.00	0.000	2340	0.408	0.033	1978	2258	3377	3322	3432	0	0	0	0	0	0	13.91	14.33	14.18
365	-0.64	-170.3	1977	2260	3347	3407	37.6	-10.3	53	370	0.00	1.05	0.00	0.000	1030	0.000	0.047	1977	1685	3376	3347	3406	0	0	0	0	0	0	14.53	14.48	14.54
706	-0.64	-170.3	1978	1684	3349	3405	76.4	-11.4	73	711	0.00	0.90	0.00	0.000	516	0.000	0.053	1977	1165	3376	3348	3404	0	0	0	0	0	0	15.12	14.47	15.11
937	-0.64	-170.3	1978	1164	3350	3405	101.6	-10.7	119	942	0.00	0.98	0.00	0.000	1030	0.000	0.042	1975	1693	3376	3349	3404	0	0	0	0	0	0	14.59	14.56	14.60
1268	-0.64	-170.3	1975	1692	3350	3404	141.2	-12.3	129	1272	0.00	0.85	0.00	0.000	260	0.000	0.045	1971	2224	3376	3349	3404	0	0	0	0	0	0	15.16	14.54	15.15
1364	-0.64	-170.3	1971	2227	3352	3402	152.8	-11.9	148	1370	0.00	0.98	0.00	0.000	1030	0.000	0.046	1970	1688	3376	3351	3402	0	0	0	0	0	0	14.57	14.53	14.57
1711	-0.64	-170.3	1971	1687	3352	3402	197.8	-13.1	161	1715	0.00	0.90	0.00	0.000	516	0.000	0.053	1970	1165	3376	3351	3402	0	0	0	0	0	0	15.14	14.50	15.16
1941	-0.64	-170.3	1971	1165	3353	3402	227.2	-12.5	207	1946	0.00	0.95	0.00	0.000	1030	0.000	0.044	1968	1678	3376	3352	3401	0	0	0	0	0	0	14.59	14.56	14.64
2272	-0.64	-170.3	1968	1678	3353	3402	270.5	-13.0	217	2277	0.00	0.90	0.00	0.000	260	0.000	0.044	1964	2238	3376	3352	3401	0	0	0	0	0	0	15.15	14.53	15.16
2339	-0.64	-170.3	1964	2241	3353	3401	278.7	-12.0	230	2344	0.08	1.00	0.00	0.000	3078	0.206	0.046	1988	1684	3376	3352	3401	0	0	0	0	0	0	14.16	14.52	14.28
2675	-0.64	-170.3	1989	1686	3353	3402	315.5	-10.8	241	2680	0.00	0.88	0.00	0.000	516	0.000	0.053	1988	1177	3376	3352	3400	0	0	0	0	0	0	15.15	14.49	15.16
2907	-0.64	-170.3	1988	1176	3353	3401	338.9	-9.7	287	2911	0.00	0.95	0.00	0.000	1030	0.000	0.042	1986	1694	3376	3352	3400	0	0	0	0	0	0	14.58	14.55	14.60
3237	-0.64	-170.3	1986	1695	3353	3400	372.2	-10.0	297	3242	0.00	0.85	0.00	0.000	260	0.000	0.044	1981	2225	3376	3352	3400	0	0	0	0	0	0	15.15	14.53	15.16
3329	-0.64	-170.3	1982	2227	3353	3400	380.8	-9.2	315	3334	0.00	0.98	0.00	0.000	1030	0.000	0.046	1981	1689	3376	3352	3400	0	0	0	0	0	0	14.54	14.52	14.59
3680	-0.64	-170.3	1981	1688	3353	3400	415.8	-9.9	329	3684	0.00	0.90	0.00	0.000	516	0.000	0.054	1981	1168	3375	3352	3399	0	0	0	0	0	0	15.14	14.46	15.16
3911	-0.64	-170.3	1981	1168	3353	3400	437.5	-9.3	375	3917	0.00	0.93	0.00	0.000	1030	0.000	0.044	1978	1675	3376	3353	3399	0	0	0	0	0	0	14.57	14.54	14.60
4244	-0.64	-170.3	1979	1675	3353	3399	469.7	-9.7	385	4248	0.00	0.88	0.00	0.000	260	0.000	0.044	1974	2216	3376	3353	3399	0	0	0	0	0	0	15.15	14.51	15.16
4351	-0.64	-170.3	1974	2218	3354	3398	479.7	-9.2	406	4355	0.00	1.00	0.00	0.000	1030	0.000	0.047	1973	1673	3375	3353	3398	0	0	0	0	0	0	14.53	14.50	14.55
4686	-0.64	-170.3	1973	1674	3354	3399	514.6	-10.4	417	4691	0.00	0.85	0.00	0.000	516	0.000	0.054	1973	1177	3375	3353	3398	0	0	0	0	0	0	15.15	14.47	15.17
4918	-0.64	-170.3	1974	1177	3354	3398	539.3	-10.9	463	4922	0.00	0.88	0.00	0.000	1030	0.000	0.044	1972	1657	3375	3353	3397	0	0	0	0	0	0	14.55	14.53	14.57
5248	-0.64	-170.3	1972	1657	3354	3398	577.4	-11.5	473	5253	0.00	0.90	0.00	0.000	260	0.000	0.044	1967	2210	3375	3353	3397	0	0	0	0	0	0	15.15	14.50	15.17
5345	-0.64	-170.3	1967	2213	3354	3397	588.0	-10.7	492	5351	0.08	1.00	0.00	0.000	3078	0.200	0.046	1992	1675	3374	3353	3396	0	0	0	0	0	0	14.13	14.48	14.24
5693	-0.64	-170.3	1992	1674	3355	3396	622.0	-9.7	505	5697	0.00	0.88	0.00	0.000	516	0.000	0.054	1992	1167	3374	3354	3395	0	0	0	0	0	0	15.15	14.45	15.16
5914	-0.64	-170.3	1992	1168	3355	3395	642.3	-8.9	549	5919	0.00	0.90	0.00	0.000	1030	0.000	0.044	1989	1654	3374	3354	3395	0	0	0	0	0	0	14.54	14.52	14.57
6255	-0.64	-170.3	1990	1654	3354	3394	672.9	-8.8	561	6260	0.00	0.93	0.00	0.000	260	0.000	0.045	1985	2218	3374	3354	3394	0	0	0	0	0	0	15.14	14.47	15.16
6386	-0.64	-170.3	1986	2220	3355	3393	683.2	-7.8	586	6391	0.00	1.02	0.00	0.000	1062	0.000	0.045	1985	1665	3373	3354	3393	0	0	0	0	0	0	14.51	14.47	14.54
6742	-0.64	-170.3	1985	1665	3354	3393	711.9	-7.8	601	6746	0.00	0.85	0.00	0.000	548	0.000	0.054	1985	1168	3373	3355	3392	0	0	0	0	0	0	15.15	14.44	15.16
6958	-0.64	-170.3	1985	1168	3354	3392	727.4	-7.2	644	6964	0.00	0.90	0.00	0.000	1062	0.000	0.044	1983	1657	3372	3354	3391	0	0	0	0	0	0	14.53	14.50	14.55
7305	-0.64	-170.3	1983	1657	3354	3391	754.2	-7.8	657	7310	0.00	0.93	0.00	0.000	292	0.000	0.046	1978	2219	3372	3354	3391	0	0	0	0	0	0	15.14	14.45	15.16
7417	-0.64	-170.3	1978	2221	3355	3390	762.4	-7.3	679	7422	0.00	1.02	0.00	0.000	1062	0.000	0.047	1978	1670	3372	3354	3390	0	0	0	0	0	0	14.48	14.45	14.51
7748	-0.64	-170.3	1978	1670	3355	3390	789.8	-8.4	689	7753	0.00	0.88	0.00	0.000	516	0.000	0.055	1977	1162	3371	3354	3389	0	0	0	0	0	0	15.14	14.42	15.16
7970	-0.64	-170.3	1978	1161	3355	3390	807.8	-8.0	733	7974	0.00	0.90	0.00	0.000	1062	0.000	0.044	1975	1650	3371	3354	3389	0	0	0	0	0	0	14.52	14.49	14.54
8311	-0.64	-170.3	1976	1650	3354	3389	838.2	-9.2	745	8315	0.00	0.95	0.00	0.000	260	0.000	0.045	1971	2226	3371	3354	3388	0	0	0	0	0	0	15.14	14.44	15.16
8445	-0.64	-170.3	1972	2227	3355	3387	849.8	-8.6	771	8450	0.00	1.05	0.00	0.000	1030	0.000	0.047	1971	1663	3370	3354	3387	0	0	0	0	0	0	14.49	14.44	14.50
8796	-0.64	-170.3	1971	1662	3355	3387	884.8	-10.2	785	8801	0.00	0.85	0.00	0.000	516	0.000	0.055	1971	1168	3369	3353	3386	0	0	0	0	0	0	15.14	14.40	15.16
9028	-0.64	-170.3	1971	1168	3355	3387	908.5	-10.1	831	9033	0.00	0.90	0.00	0.000	1030	0.000	0.046	1969	1652	3369	3354	3385	0	0	0	0	0	0	14.49	14.46	14.52
9360	-0.64	-170.3	1969	1653	3354	3386	943.4	-10.5	841	9365	0.00	0.95	0.00	0.000	260	0.000	0.045	1965	2226	3369	3354	3385	0	0	0	0	0	0	15.12	14.45	15.14
9445	-0.64	-170.3	1965	2228	3354	3385	952.0	-9.5	858	9451	0.08	1.08	0.00	0.000	3078	0.193	0.047	1989	1652	3369	3354	3384	0	0	0	0	0	0	14.05	14.42	14.16
9802	-0.64	-170.3	1989	1651	3355	3384	980.6	-7.9	873	9807	0.00	0.85	0.00	0.000	548	0.000	0.055	1989	1157	3368	3354	3383	0	0	0	0	0	0	15.14	14.36	15.16
9933	end dive: TARGET_DEPTH_EXCEEDED
state	9933	begin apogee
9941	-0.12	0.0	1987	1726	3355	3383	990.3	-7.0	899	10099	0.40	0.00	156.00	2.182	10244	0.168	0.000	2107	1726	2680	2860	2501	0	0	0	0	0	0	14.07	13.91	12.74
10100	end apogee: CONTROL_FINISHED_OK
state	10100	begin climb
10103	0.64	170.3	2108	1727	2860	2501	994.0	0.0	903	10274	0.50	0.00	160.20	2.121	11270	0.099	0.000	2283	1785	1984	2230	1739	0	0	0	0	0	0	14.05	14.28	12.64
10620	0.64	170.3	2283	1784	2231	1740	941.9	11.8	935	10625	0.00	1.05	0.00	0.000	516	0.000	0.059	2287	1200	1985	2230	1740	0	0	0	0	0	0	14.88	14.47	14.90
10706	0.64	170.3	2288	1200	2231	1740	931.9	11.7	952	10712	0.00	0.98	0.00	0.000	1030	0.000	0.041	2288	1722	1985	2230	1740	0	0	0	0	0	0	14.42	14.38	14.46
11063	0.64	170.3	2288	1741	2231	1741	889.3	11.9	967	11063	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1741	1984	2230	1739	0	0	0	0	0	0	14.95	14.97	14.96
11382	0.64	170.3	2288	1741	2231	1740	851.1	12.0	975	11388	0.00	1.05	0.00	0.000	516	0.000	0.059	2291	1191	1985	2230	1740	0	0	0	0	0	0	14.97	14.46	15.00
11445	0.64	170.3	2291	1191	2231	1740	843.9	11.7	987	11450	0.00	0.95	0.00	0.000	1030	0.000	0.043	2290	1709	1985	2230	1740	0	0	0	0	0	0	14.57	14.55	14.61
11786	0.64	170.3	2291	1728	2230	1740	803.8	11.6	999	11790	0.00	0.85	0.00	0.000	260	0.000	0.040	2290	2255	1984	2229	1740	0	0	0	0	0	0	14.97	14.33	14.98
11821	0.64	170.3	2291	2258	2229	1740	799.7	11.5	1006	11827	0.08	1.00	0.00	0.000	5126	0.205	0.057	2269	1712	1984	2229	1740	0	0	0	0	0	0	14.15	14.46	14.30
12148	0.64	170.3	2270	1712	2231	1740	767.8	9.7	1015	12152	0.00	0.93	0.00	0.000	516	0.000	0.061	2273	1195	1985	2230	1740	0	0	0	0	0	0	14.96	14.42	14.97
12244	0.66	170.3	2274	1195	2231	1740	758.7	9.4	1034	12248	0.00	0.93	0.00	0.000	1094	0.000	0.042	2273	1712	1984	2229	1740	0	0	0	0	0	0	14.56	14.53	14.58
12591	0.66	170.3	2274	1727	2229	1740	725.3	9.6	1047	12595	0.00	1.02	0.00	0.000	516	0.000	0.058	2277	1190	1984	2229	1740	0	0	0	0	0	0	14.94	14.42	14.95
12618	0.67	170.3	2277	1191	2229	1740	722.6	9.4	1052	12623	0.00	0.80	0.00	0.000	1094	0.000	0.042	2277	1654	1984	2228	1740	0	0	0	0	0	0	14.57	14.54	14.59
12954	0.67	170.3	2276	1677	2229	1740	689.6	9.9	1063	12959	0.00	0.90	0.00	0.000	260	0.000	0.037	2276	2214	1983	2228	1739	0	0	0	0	0	0	14.97	14.42	14.99
13021	0.67	170.3	2277	2216	2229	1740	683.0	10.2	1076	13027	0.00	0.95	0.00	0.000	1030	0.000	0.058	2280	1693	1983	2228	1739	0	0	0	0	0	0	14.47	14.44	14.50
13358	0.67	170.3	2281	1693	2229	1740	649.1	10.1	1087	13362	0.00	0.90	0.00	0.000	516	0.000	0.060	2283	1189	1984	2228	1740	0	0	0	0	0	0	14.97	14.29	15.00
13410	0.67	170.3	2284	1189	2228	1740	644.1	9.9	1097	13414	0.00	0.90	0.00	0.000	1030	0.000	0.042	2284	1679	1983	2227	1740	0	0	0	0	0	0	14.52	14.49	14.55
13760	0.67	170.3	2284	1697	2228	1740	609.2	9.7	1111	13765	0.00	0.90	0.00	0.000	260	0.000	0.039	2284	2248	1983	2227	1740	0	0	0	0	0	0	14.95	14.51	14.95
13822	0.67	170.3	2285	2251	2228	1740	603.2	9.7	1123	13827	0.00	1.05	0.00	0.000	1030	0.000	0.058	2288	1691	1983	2227	1740	0	0	0	0	0	0	14.38	14.34	14.42
14165	0.68	170.3	2287	1691	2228	1741	570.2	9.5	1135	14169	0.00	0.90	0.00	0.000	580	0.000	0.060	2293	1184	1984	2227	1742	0	0	0	0	0	0	14.95	14.39	14.96
14240	0.68	170.3	2293	1185	2228	1740	562.7	9.5	1150	14246	0.00	0.93	0.00	0.000	1030	0.000	0.044	2292	1693	1983	2227	1740	0	0	0	0	0	0	14.50	14.48	14.54
14567	0.68	170.3	2292	1711	2228	1740	529.6	10.4	1159	14572	0.00	0.85	0.00	0.000	260	0.000	0.038	2291	2242	1983	2227	1739	0	0	0	0	0	0	14.95	14.51	14.96
14598	0.68	170.3	2292	2241	2228	1740	526.2	10.6	1165	14602	0.00	1.05	0.00	0.000	1030	0.000	0.057	2295	1680	1983	2227	1740	0	0	0	0	0	0	14.45	14.42	14.50
14928	0.68	170.3	2296	1679	2228	1740	489.9	11.2	1175	14933	0.00	0.88	0.00	0.000	516	0.000	0.062	2300	1189	1983	2227	1740	0	0	0	0	0	0	14.94	14.33	14.95
14985	0.68	170.3	2300	1190	2228	1740	483.8	10.9	1186	14990	0.00	0.88	0.00	0.000	1030	0.000	0.043	2299	1667	1983	2227	1740	0	0	0	0	0	0	14.52	14.50	14.55
15331	0.68	170.3	2300	1686	2228	1740	444.8	11.3	1199	15335	0.00	0.93	0.00	0.000	260	0.000	0.038	2299	2258	1983	2227	1740	0	0	0	0	0	0	14.95	14.50	14.97
15426	0.68	170.3	2300	2255	2228	1740	434.0	11.2	1218	15431	0.08	1.05	0.00	0.000	5126	0.211	0.053	2279	1684	1983	2227	1740	0	0	0	0	0	0	14.07	14.41	14.21
15773	0.68	170.3	2279	1684	2227	1740	401.0	9.5	1231	15779	0.00	0.88	0.00	0.000	516	0.000	0.060	2282	1196	1983	2227	1740	0	0	0	0	0	0	14.95	14.26	14.95
15829	0.69	170.3	2281	1197	2228	1740	395.7	9.3	1242	15834	0.00	0.80	0.00	0.000	1094	0.000	0.041	2282	1643	1983	2227	1740	0	0	0	0	0	0	14.52	14.52	14.56
16177	0.71	170.3	2283	1660	2228	1740	363.4	9.3	1255	16181	0.00	0.95	0.00	0.000	324	0.000	0.037	2282	2242	1983	2227	1740	0	0	0	0	0	0	14.90	14.49	14.91
16242	0.73	170.3	2283	2246	2228	1740	357.3	8.9	1268	16248	0.00	1.02	0.00	0.000	1094	0.000	0.057	2286	1689	1983	2227	1740	0	0	0	0	0	0	14.45	14.39	14.48
16579	0.76	170.3	2286	1689	2228	1741	327.5	8.7	1279	16584	0.00	0.90	0.00	0.000	580	0.000	0.060	2290	1180	1983	2227	1740	0	0	0	0	0	0	14.97	14.38	14.95
16646	0.79	170.3	2291	1180	2228	1740	322.1	8.2	1292	16652	0.00	0.90	0.00	0.000	1094	0.000	0.041	2290	1670	1983	2227	1740	0	0	0	0	0	0	14.44	14.41	14.47
16983	0.82	170.3	2290	1690	2228	1740	293.5	8.5	1303	16988	0.00	0.90	0.00	0.000	324	0.000	0.038	2290	2246	1984	2228	1740	0	0	0	0	0	0	14.96	14.47	15.00
17035	0.86	170.3	2291	2246	2228	1740	289.2	8.4	1313	17040	0.05	1.08	0.00	0.000	3142	0.121	0.051	2327	1669	1983	2227	1739	0	0	0	0	0	0	14.23	14.40	14.33
17386	0.86	170.3	2328	1668	2228	1740	248.4	11.9	1327	17387	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	1669	1983	2227	1740	0	0	0	0	0	0	14.96	15.00	14.97
17706	0.86	170.3	2328	1669	2228	1740	211.0	11.6	1335	17710	0.00	0.95	0.00	0.000	260	0.000	0.037	2327	2247	1983	2227	1740	0	0	0	0	0	0	14.96	14.47	14.97
17752	0.86	170.3	2328	2248	2228	1740	205.9	11.3	1344	17758	0.00	1.00	0.00	0.000	1030	0.000	0.056	2331	1687	1983	2227	1740	0	0	0	0	0	0	14.23	14.18	14.26
18110	0.86	170.3	2330	1687	2228	1740	164.2	11.6	1359	18115	0.00	0.90	0.00	0.000	516	0.000	0.059	2336	1185	1983	2227	1739	0	0	0	0	0	0	14.91	14.27	14.92
18136	0.86	170.3	2336	1185	2228	1740	161.1	11.5	1364	18141	0.00	0.93	0.00	0.000	1030	0.000	0.040	2335	1682	1983	2227	1740	0	0	0	0	0	0	14.35	14.32	14.38
18474	0.86	170.3	2335	1702	2228	1740	122.1	11.5	1375	18478	0.00	0.90	0.00	0.000	260	0.000	0.037	2333	2252	1983	2227	1740	0	0	0	0	0	0	14.90	14.35	14.92
18554	0.86	170.3	2336	2253	2228	1740	112.6	11.4	1391	18561	0.08	1.08	0.00	0.000	5126	0.250	0.050	2313	1682	1983	2230	1737	0	0	0	0	0	0	13.92	14.31	14.07
18901	0.86	170.3	2317	1682	2228	1740	75.0	12.2	1411	18905	0.00	0.88	0.00	0.000	516	0.000	0.059	2321	1190	1983	2227	1740	0	0	0	0	0	0	14.84	14.20	14.85
18926	0.86	170.3	2321	1191	2228	1740	71.7	10.4	1416	18932	0.00	0.93	0.00	0.000	1030	0.000	0.040	2320	1689	1983	2227	1740	0	0	0	0	0	0	14.30	14.26	14.31
19264	0.86	170.3	2321	1709	2229	1740	35.1	11.7	1435	19269	0.00	0.88	0.00	0.000	260	0.000	0.037	2320	2247	1983	2227	1739	0	0	0	0	0	0	14.89	14.38	14.88
19310	0.86	170.3	2321	2252	2228	1740	29.5	10.9	1444	19315	0.00	1.08	0.00	0.000	1030	0.000	0.056	2324	1680	1983	2227	1739	0	0	0	0	0	0	14.35	14.31	14.38
19523	end climb: SURFACE_DEPTH_REACHED
state	19523	begin surface coast
19543	end surface coast: CONTROL_FINISHED_OK
state	19543	begin surface