Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 570 * 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 570 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 593.0

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 43 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 72 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 593.0 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 43 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 72 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 570 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 190918,142803,5758.3330,-2339.7747,31,0.9,31,-15.4,0.0,0.0,10,6.6 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 0.99 MHEAD_RNG_PITCHd_Wd 188.3,56078,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -69.4 D_GRID 990

GPS2 190918,143927,5758.2690,-2339.8066,11,1.5,15,-15.4,0.4,175.7,9,5.1

Post-dive calculations and measurements:

FINISH 1.0,1.026868 _24V_AH 12.61,0.000

SM_CCo 19590,128.35,0.103,0,0,1253,350.53 _10V_AH 12.28,186.611

SM_GC 1.12,6.28,0.08,128.35,0.057,0.151,0.103,42,1684,1253,-9.43,1.10,350.53,0,0,0,0,0,0,14.43,14.57,14.31 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5800.81,-2341.25,190918,085013 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.780458 MEM 333732

HUMID 41.69 DATA_FILE_SIZE 50005,1400

INTERNAL_PRESSURE 7.97882 CAP_FILE_SIZE 168540,0

TCM_TEMP 18.00 CFSIZE 260165632,179240960

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

SC_FREEKB 3687488 CURRENT 0.098,282.68,1

CP_FREE 15641837568.000000 GPS 190918,201026,5757.119,-2340.976,40,2.0,75,-15.4,0.3,85.3,8,6.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 409 88.38 nil 0 0 0.00

Roll_motor 80 151 154.24 nil 0 0 0.00

VBD_pump_during_apogee 316 2183 8713.73 nil 0 0 0.00

VBD_pump_during_surface 128 103 167.15 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 9654 8 1084.31

Iridium_during_xfer 382 172 833.14 TMICL 0 0 0.00

Transponder_ping 1 420 5.30 NCP 9648 25 3041.53

GUMSTIX_24V 0 0 0.00

GPS 18 20 4.57

TT8 0 0 0.00

LPSleep 15977 2 429.68

TT8_Active 690 8 73.52

TT8_Sampling 3132 26 1025.26

TT8_CF8 594 31 227.50

TT8_Kalman 0 0 0.00

Analog_circuits 2202 10 292.12

GPS_charging 0 0 0.00

Compass 1992 6 164.93

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

29 end surface: CONTROL_FINISHED_OK

state 29 begin dive

33 -0.64 -170.3 16 1690 1410 1099 0.0 0.0 0 134 0.00 0.00 -97.75 0.006 16390 0.000 0.000 14 1690 3376 3318 3435 0 0 0 0 0 0 14.82 12.61 14.79

138 -0.64 -170.3 15 1690 3319 3435 4.3 -3.6 5 152 9.60 0.88 0.00 0.000 2852 0.409 0.036 1984 1129 3377 3322 3432 0 0 0 0 0 0 13.91 14.33 14.18

158 -0.64 -170.3 1985 1129 3329 3427 12.9 -35.7 9 162 0.00 1.00 0.00 0.000 1030 0.000 0.038 1982 1677 3376 3331 3422 0 0 0 0 0 0 14.57 14.54 14.59

500 -0.64 -170.3 1981 1677 3345 3409 55.8 -12.6 29 504 0.00 0.88 0.00 0.000 260 0.000 0.039 1977 2240 3376 3344 3408 0 0 0 0 0 0 15.06 14.53 15.08

710 -0.64 -170.3 1976 2243 3348 3404 78.5 -10.1 71 715 0.00 0.98 0.00 0.000 1030 0.000 0.047 1977 1701 3376 3348 3404 0 0 0 0 0 0 14.54 14.50 14.56

1062 -0.64 -170.3 1977 1701 3350 3404 120.6 -12.4 86 1067 0.00 0.93 0.00 0.000 516 0.000 0.054 1977 1169 3376 3349 3403 0 0 0 0 0 0 15.11 14.48 15.13

1294 -0.64 -170.3 1977 1168 3351 3403 149.2 -12.0 132 1300 0.00 0.95 0.00 0.000 1030 0.000 0.044 1974 1686 3376 3349 3403 0 0 0 0 0 0 14.58 14.54 14.60

1626 -0.64 -170.3 1975 1687 3351 3403 189.3 -12.0 142 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 1687 3376 3349 3403 0 0 0 0 0 0 15.14 15.13 15.16

1946 -0.64 -170.3 1974 1687 3351 3403 227.2 -11.6 150 1950 0.00 0.85 0.00 0.000 260 0.000 0.045 1970 2221 3376 3350 3402 0 0 0 0 0 0 15.14 14.54 15.14

2027 -0.64 -170.3 1970 2224 3352 3401 236.1 -10.8 166 2032 0.00 0.98 0.00 0.000 1030 0.000 0.046 1970 1689 3376 3351 3401 0 0 0 0 0 0 14.56 14.52 14.59

2388 -0.64 -170.3 1970 1689 3353 3401 279.1 -11.9 182 2393 0.00 0.90 0.00 0.000 516 0.000 0.054 1970 1167 3376 3351 3401 0 0 0 0 0 0 15.14 14.48 15.16

2620 -0.64 -170.3 1970 1167 3353 3401 304.3 -10.5 228 2625 0.05 0.93 0.00 0.000 3078 0.235 0.044 1985 1674 3375 3351 3400 0 0 0 0 0 0 14.19 14.55 14.30

2951 -0.64 -170.3 1986 1674 3353 3400 336.9 -9.8 238 2956 0.00 0.88 0.00 0.000 260 0.000 0.044 1981 2219 3376 3352 3400 0 0 0 0 0 0 15.15 14.52 15.16

3002 -0.64 -170.3 1981 2222 3353 3400 341.6 -9.1 248 3008 0.00 0.98 0.00 0.000 1030 0.000 0.045 1981 1682 3375 3352 3399 0 0 0 0 0 0 14.56 14.52 14.57

3355 -0.64 -170.3 1982 1682 3353 3400 376.7 -10.1 262 3360 0.00 0.88 0.00 0.000 516 0.000 0.054 1981 1173 3375 3352 3399 0 0 0 0 0 0 15.14 14.47 15.15

3587 -0.64 -170.3 1981 1173 3353 3400 400.6 -10.2 308 3593 0.00 0.90 0.00 0.000 1030 0.000 0.044 1979 1667 3375 3352 3399 0 0 0 0 0 0 14.57 14.54 14.62

3919 -0.64 -170.3 1979 1668 3353 3400 437.1 -11.0 318 3923 0.00 0.90 0.00 0.000 260 0.000 0.044 1974 2220 3375 3352 3399 0 0 0 0 0 0 15.14 14.51 15.16

4019 -0.64 -170.3 1974 2223 3353 3399 447.4 -10.0 338 4024 0.00 1.00 0.00 0.000 1030 0.000 0.045 1974 1676 3375 3352 3399 0 0 0 0 0 0 14.54 14.50 14.57

4361 -0.64 -170.3 1974 1676 3353 3399 484.3 -10.8 350 4366 0.00 0.88 0.00 0.000 516 0.000 0.054 1973 1167 3375 3352 3398 0 0 0 0 0 0 15.14 14.46 15.18

4593 -0.64 -170.3 1974 1167 3353 3399 509.1 -10.6 396 4598 0.00 0.90 0.00 0.000 1030 0.000 0.044 1972 1655 3375 3352 3398 0 0 0 0 0 0 14.55 14.52 14.57

4924 -0.64 -170.3 1972 1655 3353 3398 546.7 -11.3 406 4929 0.00 0.95 0.00 0.000 260 0.000 0.044 1967 2234 3374 3352 3397 0 0 0 0 0 0 15.15 14.50 15.16

5000 -0.64 -170.3 1967 2238 3352 3398 554.9 -10.5 421 5006 0.05 1.05 0.00 0.000 3078 0.214 0.046 1985 1666 3374 3352 3397 0 0 0 0 0 0 14.16 14.48 14.30

5327 -0.64 -170.3 1986 1666 3354 3397 586.6 -9.6 430 5331 0.00 0.85 0.00 0.000 516 0.000 0.055 1985 1170 3375 3353 3397 0 0 0 0 0 0 15.14 14.45 15.16

5542 -0.64 -170.3 1985 1169 3354 3397 606.0 -8.5 473 5547 0.00 0.90 0.00 0.000 1030 0.000 0.044 1983 1663 3374 3353 3396 0 0 0 0 0 0 14.54 14.51 14.57

5889 -0.64 -170.3 1984 1662 3353 3396 638.2 -9.4 486 5894 0.00 0.93 0.00 0.000 260 0.000 0.045 1979 2228 3373 3352 3394 0 0 0 0 0 0 15.14 14.48 15.15

5994 -0.64 -170.3 1978 2230 3354 3394 647.5 -8.5 507 5999 0.00 1.05 0.00 0.000 1030 0.000 0.046 1978 1664 3373 3352 3394 0 0 0 0 0 0 14.50 14.46 14.53

6333 -0.64 -170.3 1978 1663 3354 3394 678.7 -9.3 518 6338 0.00 0.85 0.00 0.000 516 0.000 0.055 1978 1167 3373 3353 3393 0 0 0 0 0 0 15.14 14.44 15.19

6565 -0.64 -170.3 1978 1166 3354 3394 700.3 -9.3 564 6570 0.00 0.90 0.00 0.000 1030 0.000 0.044 1975 1659 3373 3353 3393 0 0 0 0 0 0 14.53 14.50 14.55

6896 -0.64 -170.3 1976 1658 3354 3393 732.8 -10.0 574 6901 0.00 0.93 0.00 0.000 260 0.000 0.044 1972 2222 3372 3353 3392 0 0 0 0 0 0 15.15 14.47 15.16

6977 -0.64 -170.3 1972 2225 3354 3392 740.7 -9.4 590 6981 0.00 1.08 0.00 0.000 1030 0.000 0.046 1971 1653 3372 3353 3391 0 0 0 0 0 0 14.48 14.45 14.52

7338 -0.64 -170.3 1971 1652 3354 3391 777.3 -10.2 606 7343 0.00 0.82 0.00 0.000 516 0.000 0.054 1971 1168 3372 3353 3391 0 0 0 0 0 0 15.14 14.42 15.16

7569 -0.64 -170.3 1971 1168 3354 3391 800.1 -9.7 652 7574 0.00 0.88 0.00 0.000 1030 0.000 0.045 1969 1644 3371 3353 3390 0 0 0 0 0 0 14.52 14.49 14.54

7900 -0.64 -170.3 1969 1644 3354 3390 834.2 -10.3 662 7905 0.00 0.95 0.00 0.000 260 0.000 0.045 1965 2221 3371 3353 3390 0 0 0 0 0 0 15.14 14.45 15.16

7966 -0.64 -170.3 1965 2224 3354 3390 840.8 -9.9 675 7971 0.08 1.08 0.00 0.000 3078 0.191 0.047 1989 1646 3371 3353 3389 0 0 0 0 0 0 14.09 14.43 14.20

8304 -0.64 -170.3 1990 1645 3354 3389 869.8 -8.6 686 8308 0.00 0.82 0.00 0.000 516 0.000 0.056 1989 1164 3370 3353 3388 0 0 0 0 0 0 15.14 14.40 15.15

8494 -0.64 -170.3 1990 1163 3354 3389 885.7 -8.3 724 8499 0.00 0.85 0.00 0.000 1030 0.000 0.045 1987 1628 3370 3353 3388 0 0 0 0 0 0 14.49 14.47 14.53

8827 -0.64 -170.3 1988 1628 3354 3387 913.1 -8.0 734 8831 0.00 0.98 0.00 0.000 260 0.000 0.046 1983 2214 3370 3353 3387 0 0 0 0 0 0 15.14 14.42 15.15

8945 -0.64 -170.3 1983 2217 3354 3386 922.0 -7.5 757 8951 0.00 1.08 0.00 0.000 1062 0.000 0.046 1982 1641 3369 3353 3386 0 0 0 0 0 0 14.48 14.42 14.48

9267 -0.64 -170.3 1983 1641 3354 3386 948.6 -8.2 766 9272 0.00 0.82 0.00 0.000 516 0.000 0.056 1982 1158 3369 3353 3386 0 0 0 0 0 0 15.14 14.39 15.16

9424 -0.64 -170.3 1983 1157 3354 3386 961.0 -8.0 797 9430 0.00 0.88 0.00 0.000 1030 0.000 0.044 1980 1633 3369 3353 3385 0 0 0 0 0 0 14.48 14.45 14.51

9749 -0.64 -170.3 1980 1633 3353 3385 986.9 -7.9 806 9754 0.00 0.95 0.00 0.000 292 0.000 0.046 1976 2207 3368 3353 3384 0 0 0 0 0 0 15.14 14.41 15.15

9787 end dive: TARGET_DEPTH_EXCEEDED

state 9787 begin apogee

9796 -0.12 0.0 1977 1711 3354 3384 990.1 -8.0 814 9954 0.45 0.00 155.45 2.183 10244 0.180 0.000 2109 1710 2683 2860 2507 0 0 0 0 0 0 14.00 13.93 12.75

9954 end apogee: CONTROL_FINISHED_OK

state 9954 begin climb

9957 0.64 170.3 2110 1711 2860 2505 993.4 0.0 818 10132 0.47 0.95 161.05 2.123 10756 0.093 0.057 2280 1198 1984 2259 1710 0 0 0 0 0 0 14.01 14.07 12.69

10173 0.64 170.3 2280 1198 2260 1711 978.1 10.1 846 10177 0.00 0.98 0.00 0.000 1030 0.000 0.041 2280 1710 1985 2260 1711 0 0 0 0 0 0 14.16 14.12 14.19

10513 0.64 170.3 2281 1730 2261 1711 940.2 11.2 858 10518 0.00 0.85 0.00 0.000 260 0.000 0.039 2280 2263 1985 2259 1711 0 0 0 0 0 0 14.88 14.56 14.88

10665 0.64 170.3 2281 2263 2261 1711 923.6 10.9 888 10670 0.00 1.00 0.00 0.000 1030 0.000 0.054 2283 1723 1985 2259 1711 0 0 0 0 0 0 14.55 14.50 14.58

10996 0.64 170.3 2283 1723 2260 1711 886.6 11.2 898 11001 0.00 0.95 0.00 0.000 516 0.000 0.061 2288 1191 1985 2259 1711 0 0 0 0 0 0 14.95 14.47 14.95

11079 0.64 170.3 2288 1190 2260 1711 877.6 10.8 914 11083 0.00 0.98 0.00 0.000 1030 0.000 0.043 2287 1715 1984 2258 1711 0 0 0 0 0 0 14.59 14.57 14.62

11440 0.64 170.3 2288 1735 2259 1711 836.8 11.3 930 11444 0.00 1.02 0.00 0.000 516 0.000 0.057 2292 1197 1984 2258 1711 0 0 0 0 0 0 14.97 14.45 14.98

11465 0.64 170.3 2292 1197 2258 1710 833.8 11.0 935 11470 0.00 0.85 0.00 0.000 1030 0.000 0.041 2291 1671 1984 2257 1711 0 0 0 0 0 0 14.57 14.55 14.58

11802 0.64 170.3 2291 1706 2258 1712 794.7 11.8 946 11807 0.00 0.93 0.00 0.000 260 0.000 0.039 2291 2283 1983 2256 1711 0 0 0 0 0 0 14.93 14.46 14.97

11848 0.64 170.3 2291 2286 2257 1711 789.1 11.7 955 11853 0.08 1.00 0.00 0.000 5126 0.205 0.059 2271 1712 1983 2256 1711 0 0 0 0 0 0 14.16 14.46 14.29

12206 0.64 170.3 2271 1712 2257 1711 753.7 9.6 970 12212 0.00 0.95 0.00 0.000 516 0.000 0.062 2275 1182 1983 2256 1711 0 0 0 0 0 0 14.95 14.42 14.97

12303 0.66 170.3 2276 1182 2257 1711 744.7 9.2 989 12307 0.00 1.02 0.00 0.000 1094 0.000 0.043 2275 1730 1983 2255 1711 0 0 0 0 0 0 14.38 14.37 14.41

12650 0.67 170.3 2274 1750 2255 1711 712.4 9.2 1002 12655 0.00 1.10 0.00 0.000 580 0.000 0.057 2278 1179 1983 2255 1711 0 0 0 0 0 0 14.95 14.33 14.97

12701 0.69 170.3 2279 1179 2256 1711 707.6 9.2 1012 12707 0.00 0.95 0.00 0.000 1094 0.000 0.041 2278 1694 1982 2254 1711 0 0 0 0 0 0 14.52 14.50 14.54

13053 0.71 170.3 2279 1713 2255 1711 675.3 9.0 1026 13057 0.00 0.88 0.00 0.000 324 0.000 0.037 2278 2254 1982 2254 1711 0 0 0 0 0 0 14.99 14.43 15.01

13090 0.73 170.3 2278 2255 2254 1711 672.1 9.0 1033 13096 0.00 1.05 0.00 0.000 1094 0.000 0.051 2282 1685 1982 2254 1710 0 0 0 0 0 0 14.49 14.45 14.52

13414 0.75 170.3 2282 1685 2255 1711 642.0 9.2 1042 13418 0.00 0.90 0.00 0.000 580 0.000 0.060 2286 1191 1982 2254 1711 0 0 0 0 0 0 14.99 14.26 15.00

13469 0.76 170.3 2286 1190 2255 1711 636.9 9.1 1053 13474 0.00 0.93 0.00 0.000 1094 0.000 0.042 2285 1702 1982 2254 1711 0 0 0 0 0 0 14.54 14.51 14.56

13816 0.78 170.3 2286 1720 2254 1711 605.2 9.1 1066 13817 0.00 0.00 0.00 0.000 70 0.000 0.000 2285 1720 1982 2253 1711 0 0 0 0 0 0 14.93 14.95 14.95

14135 0.79 170.3 2284 1720 2254 1711 575.5 9.4 1074 14140 0.00 1.00 0.00 0.000 580 0.000 0.059 2289 1194 1982 2253 1711 0 0 0 0 0 0 14.97 14.28 14.97

14167 0.79 170.3 2289 1194 2254 1711 572.5 9.7 1080 14172 0.00 0.88 0.00 0.000 1030 0.000 0.041 2289 1668 1982 2253 1711 0 0 0 0 0 0 14.51 14.47 14.53

14498 0.79 170.3 2289 1686 2254 1712 538.4 10.5 1090 14503 0.00 0.90 0.00 0.000 260 0.000 0.038 2288 2242 1982 2253 1711 0 0 0 0 0 0 14.97 14.50 14.99

14574 0.79 170.3 2289 2242 2254 1711 530.3 10.7 1105 14580 0.00 1.02 0.00 0.000 1030 0.000 0.051 2292 1688 1982 2253 1711 0 0 0 0 0 0 14.45 14.40 14.49

14899 0.79 170.3 2293 1688 2254 1711 494.8 10.9 1114 14904 0.00 0.90 0.00 0.000 516 0.000 0.060 2296 1183 1982 2253 1711 0 0 0 0 0 0 14.95 14.31 14.96

14940 0.79 170.3 2296 1184 2253 1711 490.5 10.7 1122 14945 0.00 0.93 0.00 0.000 1030 0.000 0.043 2294 1678 1982 2253 1711 0 0 0 0 0 0 14.51 14.49 14.54

15300 0.79 170.3 2296 1699 2253 1711 453.7 9.9 1138 15306 0.00 0.90 0.00 0.000 260 0.000 0.039 2295 2257 1982 2253 1711 0 0 0 0 0 0 14.95 14.50 14.97

15353 0.79 170.3 2296 2258 2254 1711 448.6 10.0 1148 15358 0.00 1.08 0.00 0.000 1030 0.000 0.055 2299 1681 1981 2253 1710 0 0 0 0 0 0 14.43 14.42 14.48

15704 0.79 170.3 2300 1681 2254 1711 411.6 10.6 1162 15709 0.00 0.88 0.00 0.000 516 0.000 0.061 2304 1188 1982 2253 1711 0 0 0 0 0 0 14.95 14.38 14.95

15756 0.79 170.3 2303 1187 2254 1711 406.2 10.6 1172 15762 0.00 0.93 0.00 0.000 1030 0.000 0.041 2303 1692 1982 2253 1711 0 0 0 0 0 0 14.42 14.40 14.45

16108 0.79 170.3 2304 1710 2254 1711 368.0 10.8 1186 16113 0.00 0.88 0.00 0.000 260 0.000 0.038 2302 2255 1982 2253 1711 0 0 0 0 0 0 14.92 14.51 14.95

16158 0.79 170.3 2303 2255 2254 1711 362.5 10.7 1196 16164 0.00 1.08 0.00 0.000 1030 0.000 0.050 2307 1680 1982 2253 1711 0 0 0 0 0 0 14.33 14.26 14.37

16512 0.79 170.3 2307 1681 2253 1712 325.2 10.5 1210 16516 0.00 0.88 0.00 0.000 516 0.000 0.060 2310 1186 1982 2253 1711 0 0 0 0 0 0 14.91 14.36 14.92

16547 0.79 170.3 2309 1185 2253 1712 321.2 10.5 1217 16553 0.00 0.90 0.00 0.000 1030 0.000 0.041 2310 1681 1982 2253 1711 0 0 0 0 0 0 14.45 14.43 14.47

16872 0.79 170.3 2310 1700 2253 1712 286.8 10.7 1226 16877 0.00 0.88 0.00 0.000 260 0.000 0.037 2310 2243 1982 2253 1711 0 0 0 0 0 0 14.97 14.51 14.96

16919 0.79 170.3 2310 2246 2254 1712 282.0 10.4 1235 16924 0.00 1.05 0.00 0.000 1030 0.000 0.057 2314 1681 1982 2253 1711 0 0 0 0 0 0 14.45 14.40 14.52

17275 0.79 170.3 2314 1681 2254 1712 243.2 11.0 1250 17280 0.00 0.88 0.00 0.000 516 0.000 0.060 2317 1187 1982 2253 1711 0 0 0 0 0 0 14.97 14.35 15.02

17312 0.79 170.3 2318 1188 2254 1712 239.2 10.9 1257 17318 0.00 0.93 0.00 0.000 1030 0.000 0.041 2318 1684 1982 2253 1711 0 0 0 0 0 0 14.44 14.41 14.47

17638 0.79 170.3 2318 1702 2254 1712 203.3 11.1 1266 17643 0.00 0.90 0.00 0.000 260 0.000 0.037 2317 2260 1981 2252 1711 0 0 0 0 0 0 14.90 14.47 14.91

17704 0.79 170.3 2318 2260 2254 1711 195.7 11.0 1279 17708 0.00 1.10 0.00 0.000 1030 0.000 0.050 2322 1672 1982 2253 1711 0 0 0 0 0 0 14.37 14.34 14.40

18040 0.79 170.3 2321 1670 2254 1711 156.6 11.8 1290 18044 0.00 0.98 0.00 0.000 260 0.000 0.037 2320 2261 1985 2259 1711 0 0 0 0 0 0 14.91 14.38 14.92

18075 0.79 170.3 2321 2262 2254 1711 152.3 11.8 1297 18081 0.08 1.02 0.00 0.000 5126 0.241 0.055 2302 1686 1982 2253 1711 0 0 0 0 0 0 13.84 14.20 14.00

18401 0.79 170.3 2303 1686 2254 1711 119.7 9.8 1306 18405 0.00 0.90 0.00 0.000 516 0.000 0.058 2307 1190 1981 2252 1711 0 0 0 0 0 0 14.90 14.04 14.92

18458 0.79 170.3 2307 1190 2259 1712 114.4 10.0 1317 18463 0.00 0.85 0.00 0.000 1030 0.000 0.040 2305 1651 1982 2253 1711 0 0 0 0 0 0 14.38 14.33 14.40

18783 0.79 170.3 2306 1688 2254 1712 78.8 11.1 1334 18789 0.00 0.90 0.00 0.000 260 0.000 0.037 2305 2235 1982 2253 1711 0 0 0 0 0 0 14.93 14.40 14.95

18849 0.79 170.3 2306 2234 2254 1711 71.6 10.5 1347 18854 0.00 1.00 0.00 0.000 1030 0.000 0.056 2310 1687 1982 2253 1711 0 0 0 0 0 0 14.38 14.35 14.43

19187 0.82 170.3 2310 1687 2254 1712 39.8 8.5 1366 19192 0.00 0.90 0.00 0.000 580 0.000 0.059 2313 1186 1981 2252 1711 0 0 0 0 0 0 14.85 14.20 14.85

19268 0.82 170.3 2314 1186 2254 1713 30.9 10.8 1382 19272 0.00 0.95 0.00 0.000 1030 0.000 0.041 2313 1698 1983 2253 1713 0 0 0 0 0 0 14.36 14.34 14.40

19545 end climb: SURFACE_DEPTH_REACHED

state 19545 begin surface coast

19570 end surface coast: CONTROL_FINISHED_OK

state 19570 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	570	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	593.0
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	43	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	72	XPDR_VALID	5

GPS1	190918,142803,5758.3330,-2339.7747,31,0.9,31,-15.4,0.0,0.0,10,6.6	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	0.99	MHEAD_RNG_PITCHd_Wd	188.3,56078,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-69.4	D_GRID	990
GPS2	190918,143927,5758.2690,-2339.8066,11,1.5,15,-15.4,0.4,175.7,9,5.1

FINISH	1.0,1.026868	_24V_AH	12.61,0.000
SM_CCo	19590,128.35,0.103,0,0,1253,350.53	_10V_AH	12.28,186.611
SM_GC	1.12,6.28,0.08,128.35,0.057,0.151,0.103,42,1684,1253,-9.43,1.10,350.53,0,0,0,0,0,0,14.43,14.57,14.31	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5800.81,-2341.25,190918,085013	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.780458	MEM	333732
HUMID	41.69	DATA_FILE_SIZE	50005,1400
INTERNAL_PRESSURE	7.97882	CAP_FILE_SIZE	168540,0
TCM_TEMP	18.00	CFSIZE	260165632,179240960
XPDR_PINGS	4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3687488	CURRENT	0.098,282.68,1
CP_FREE	15641837568.000000	GPS	190918,201026,5757.119,-2340.976,40,2.0,75,-15.4,0.3,85.3,8,6.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	409	88.38	nil	0	0	0.00
Roll_motor	80	151	154.24	nil	0	0	0.00
VBD_pump_during_apogee	316	2183	8713.73	nil	0	0	0.00
VBD_pump_during_surface	128	103	167.15	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	9654	8	1084.31
Iridium_during_xfer	382	172	833.14	TMICL	0	0	0.00
Transponder_ping	1	420	5.30	NCP	9648	25	3041.53
GUMSTIX_24V	0	0	0.00
GPS	18	20	4.57
TT8	0	0	0.00
LPSleep	15977	2	429.68
TT8_Active	690	8	73.52
TT8_Sampling	3132	26	1025.26
TT8_CF8	594	31	227.50
TT8_Kalman	0	0	0.00
Analog_circuits	2202	10	292.12
GPS_charging	0	0	0.00
Compass	1992	6	164.93
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
29	end surface: CONTROL_FINISHED_OK
state	29	begin dive
33	-0.64	-170.3	16	1690	1410	1099	0.0	0.0	0	134	0.00	0.00	-97.75	0.006	16390	0.000	0.000	14	1690	3376	3318	3435	0	0	0	0	0	0	14.82	12.61	14.79
138	-0.64	-170.3	15	1690	3319	3435	4.3	-3.6	5	152	9.60	0.88	0.00	0.000	2852	0.409	0.036	1984	1129	3377	3322	3432	0	0	0	0	0	0	13.91	14.33	14.18
158	-0.64	-170.3	1985	1129	3329	3427	12.9	-35.7	9	162	0.00	1.00	0.00	0.000	1030	0.000	0.038	1982	1677	3376	3331	3422	0	0	0	0	0	0	14.57	14.54	14.59
500	-0.64	-170.3	1981	1677	3345	3409	55.8	-12.6	29	504	0.00	0.88	0.00	0.000	260	0.000	0.039	1977	2240	3376	3344	3408	0	0	0	0	0	0	15.06	14.53	15.08
710	-0.64	-170.3	1976	2243	3348	3404	78.5	-10.1	71	715	0.00	0.98	0.00	0.000	1030	0.000	0.047	1977	1701	3376	3348	3404	0	0	0	0	0	0	14.54	14.50	14.56
1062	-0.64	-170.3	1977	1701	3350	3404	120.6	-12.4	86	1067	0.00	0.93	0.00	0.000	516	0.000	0.054	1977	1169	3376	3349	3403	0	0	0	0	0	0	15.11	14.48	15.13
1294	-0.64	-170.3	1977	1168	3351	3403	149.2	-12.0	132	1300	0.00	0.95	0.00	0.000	1030	0.000	0.044	1974	1686	3376	3349	3403	0	0	0	0	0	0	14.58	14.54	14.60
1626	-0.64	-170.3	1975	1687	3351	3403	189.3	-12.0	142	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	1687	3376	3349	3403	0	0	0	0	0	0	15.14	15.13	15.16
1946	-0.64	-170.3	1974	1687	3351	3403	227.2	-11.6	150	1950	0.00	0.85	0.00	0.000	260	0.000	0.045	1970	2221	3376	3350	3402	0	0	0	0	0	0	15.14	14.54	15.14
2027	-0.64	-170.3	1970	2224	3352	3401	236.1	-10.8	166	2032	0.00	0.98	0.00	0.000	1030	0.000	0.046	1970	1689	3376	3351	3401	0	0	0	0	0	0	14.56	14.52	14.59
2388	-0.64	-170.3	1970	1689	3353	3401	279.1	-11.9	182	2393	0.00	0.90	0.00	0.000	516	0.000	0.054	1970	1167	3376	3351	3401	0	0	0	0	0	0	15.14	14.48	15.16
2620	-0.64	-170.3	1970	1167	3353	3401	304.3	-10.5	228	2625	0.05	0.93	0.00	0.000	3078	0.235	0.044	1985	1674	3375	3351	3400	0	0	0	0	0	0	14.19	14.55	14.30
2951	-0.64	-170.3	1986	1674	3353	3400	336.9	-9.8	238	2956	0.00	0.88	0.00	0.000	260	0.000	0.044	1981	2219	3376	3352	3400	0	0	0	0	0	0	15.15	14.52	15.16
3002	-0.64	-170.3	1981	2222	3353	3400	341.6	-9.1	248	3008	0.00	0.98	0.00	0.000	1030	0.000	0.045	1981	1682	3375	3352	3399	0	0	0	0	0	0	14.56	14.52	14.57
3355	-0.64	-170.3	1982	1682	3353	3400	376.7	-10.1	262	3360	0.00	0.88	0.00	0.000	516	0.000	0.054	1981	1173	3375	3352	3399	0	0	0	0	0	0	15.14	14.47	15.15
3587	-0.64	-170.3	1981	1173	3353	3400	400.6	-10.2	308	3593	0.00	0.90	0.00	0.000	1030	0.000	0.044	1979	1667	3375	3352	3399	0	0	0	0	0	0	14.57	14.54	14.62
3919	-0.64	-170.3	1979	1668	3353	3400	437.1	-11.0	318	3923	0.00	0.90	0.00	0.000	260	0.000	0.044	1974	2220	3375	3352	3399	0	0	0	0	0	0	15.14	14.51	15.16
4019	-0.64	-170.3	1974	2223	3353	3399	447.4	-10.0	338	4024	0.00	1.00	0.00	0.000	1030	0.000	0.045	1974	1676	3375	3352	3399	0	0	0	0	0	0	14.54	14.50	14.57
4361	-0.64	-170.3	1974	1676	3353	3399	484.3	-10.8	350	4366	0.00	0.88	0.00	0.000	516	0.000	0.054	1973	1167	3375	3352	3398	0	0	0	0	0	0	15.14	14.46	15.18
4593	-0.64	-170.3	1974	1167	3353	3399	509.1	-10.6	396	4598	0.00	0.90	0.00	0.000	1030	0.000	0.044	1972	1655	3375	3352	3398	0	0	0	0	0	0	14.55	14.52	14.57
4924	-0.64	-170.3	1972	1655	3353	3398	546.7	-11.3	406	4929	0.00	0.95	0.00	0.000	260	0.000	0.044	1967	2234	3374	3352	3397	0	0	0	0	0	0	15.15	14.50	15.16
5000	-0.64	-170.3	1967	2238	3352	3398	554.9	-10.5	421	5006	0.05	1.05	0.00	0.000	3078	0.214	0.046	1985	1666	3374	3352	3397	0	0	0	0	0	0	14.16	14.48	14.30
5327	-0.64	-170.3	1986	1666	3354	3397	586.6	-9.6	430	5331	0.00	0.85	0.00	0.000	516	0.000	0.055	1985	1170	3375	3353	3397	0	0	0	0	0	0	15.14	14.45	15.16
5542	-0.64	-170.3	1985	1169	3354	3397	606.0	-8.5	473	5547	0.00	0.90	0.00	0.000	1030	0.000	0.044	1983	1663	3374	3353	3396	0	0	0	0	0	0	14.54	14.51	14.57
5889	-0.64	-170.3	1984	1662	3353	3396	638.2	-9.4	486	5894	0.00	0.93	0.00	0.000	260	0.000	0.045	1979	2228	3373	3352	3394	0	0	0	0	0	0	15.14	14.48	15.15
5994	-0.64	-170.3	1978	2230	3354	3394	647.5	-8.5	507	5999	0.00	1.05	0.00	0.000	1030	0.000	0.046	1978	1664	3373	3352	3394	0	0	0	0	0	0	14.50	14.46	14.53
6333	-0.64	-170.3	1978	1663	3354	3394	678.7	-9.3	518	6338	0.00	0.85	0.00	0.000	516	0.000	0.055	1978	1167	3373	3353	3393	0	0	0	0	0	0	15.14	14.44	15.19
6565	-0.64	-170.3	1978	1166	3354	3394	700.3	-9.3	564	6570	0.00	0.90	0.00	0.000	1030	0.000	0.044	1975	1659	3373	3353	3393	0	0	0	0	0	0	14.53	14.50	14.55
6896	-0.64	-170.3	1976	1658	3354	3393	732.8	-10.0	574	6901	0.00	0.93	0.00	0.000	260	0.000	0.044	1972	2222	3372	3353	3392	0	0	0	0	0	0	15.15	14.47	15.16
6977	-0.64	-170.3	1972	2225	3354	3392	740.7	-9.4	590	6981	0.00	1.08	0.00	0.000	1030	0.000	0.046	1971	1653	3372	3353	3391	0	0	0	0	0	0	14.48	14.45	14.52
7338	-0.64	-170.3	1971	1652	3354	3391	777.3	-10.2	606	7343	0.00	0.82	0.00	0.000	516	0.000	0.054	1971	1168	3372	3353	3391	0	0	0	0	0	0	15.14	14.42	15.16
7569	-0.64	-170.3	1971	1168	3354	3391	800.1	-9.7	652	7574	0.00	0.88	0.00	0.000	1030	0.000	0.045	1969	1644	3371	3353	3390	0	0	0	0	0	0	14.52	14.49	14.54
7900	-0.64	-170.3	1969	1644	3354	3390	834.2	-10.3	662	7905	0.00	0.95	0.00	0.000	260	0.000	0.045	1965	2221	3371	3353	3390	0	0	0	0	0	0	15.14	14.45	15.16
7966	-0.64	-170.3	1965	2224	3354	3390	840.8	-9.9	675	7971	0.08	1.08	0.00	0.000	3078	0.191	0.047	1989	1646	3371	3353	3389	0	0	0	0	0	0	14.09	14.43	14.20
8304	-0.64	-170.3	1990	1645	3354	3389	869.8	-8.6	686	8308	0.00	0.82	0.00	0.000	516	0.000	0.056	1989	1164	3370	3353	3388	0	0	0	0	0	0	15.14	14.40	15.15
8494	-0.64	-170.3	1990	1163	3354	3389	885.7	-8.3	724	8499	0.00	0.85	0.00	0.000	1030	0.000	0.045	1987	1628	3370	3353	3388	0	0	0	0	0	0	14.49	14.47	14.53
8827	-0.64	-170.3	1988	1628	3354	3387	913.1	-8.0	734	8831	0.00	0.98	0.00	0.000	260	0.000	0.046	1983	2214	3370	3353	3387	0	0	0	0	0	0	15.14	14.42	15.15
8945	-0.64	-170.3	1983	2217	3354	3386	922.0	-7.5	757	8951	0.00	1.08	0.00	0.000	1062	0.000	0.046	1982	1641	3369	3353	3386	0	0	0	0	0	0	14.48	14.42	14.48
9267	-0.64	-170.3	1983	1641	3354	3386	948.6	-8.2	766	9272	0.00	0.82	0.00	0.000	516	0.000	0.056	1982	1158	3369	3353	3386	0	0	0	0	0	0	15.14	14.39	15.16
9424	-0.64	-170.3	1983	1157	3354	3386	961.0	-8.0	797	9430	0.00	0.88	0.00	0.000	1030	0.000	0.044	1980	1633	3369	3353	3385	0	0	0	0	0	0	14.48	14.45	14.51
9749	-0.64	-170.3	1980	1633	3353	3385	986.9	-7.9	806	9754	0.00	0.95	0.00	0.000	292	0.000	0.046	1976	2207	3368	3353	3384	0	0	0	0	0	0	15.14	14.41	15.15
9787	end dive: TARGET_DEPTH_EXCEEDED
state	9787	begin apogee
9796	-0.12	0.0	1977	1711	3354	3384	990.1	-8.0	814	9954	0.45	0.00	155.45	2.183	10244	0.180	0.000	2109	1710	2683	2860	2507	0	0	0	0	0	0	14.00	13.93	12.75
9954	end apogee: CONTROL_FINISHED_OK
state	9954	begin climb
9957	0.64	170.3	2110	1711	2860	2505	993.4	0.0	818	10132	0.47	0.95	161.05	2.123	10756	0.093	0.057	2280	1198	1984	2259	1710	0	0	0	0	0	0	14.01	14.07	12.69
10173	0.64	170.3	2280	1198	2260	1711	978.1	10.1	846	10177	0.00	0.98	0.00	0.000	1030	0.000	0.041	2280	1710	1985	2260	1711	0	0	0	0	0	0	14.16	14.12	14.19
10513	0.64	170.3	2281	1730	2261	1711	940.2	11.2	858	10518	0.00	0.85	0.00	0.000	260	0.000	0.039	2280	2263	1985	2259	1711	0	0	0	0	0	0	14.88	14.56	14.88
10665	0.64	170.3	2281	2263	2261	1711	923.6	10.9	888	10670	0.00	1.00	0.00	0.000	1030	0.000	0.054	2283	1723	1985	2259	1711	0	0	0	0	0	0	14.55	14.50	14.58
10996	0.64	170.3	2283	1723	2260	1711	886.6	11.2	898	11001	0.00	0.95	0.00	0.000	516	0.000	0.061	2288	1191	1985	2259	1711	0	0	0	0	0	0	14.95	14.47	14.95
11079	0.64	170.3	2288	1190	2260	1711	877.6	10.8	914	11083	0.00	0.98	0.00	0.000	1030	0.000	0.043	2287	1715	1984	2258	1711	0	0	0	0	0	0	14.59	14.57	14.62
11440	0.64	170.3	2288	1735	2259	1711	836.8	11.3	930	11444	0.00	1.02	0.00	0.000	516	0.000	0.057	2292	1197	1984	2258	1711	0	0	0	0	0	0	14.97	14.45	14.98
11465	0.64	170.3	2292	1197	2258	1710	833.8	11.0	935	11470	0.00	0.85	0.00	0.000	1030	0.000	0.041	2291	1671	1984	2257	1711	0	0	0	0	0	0	14.57	14.55	14.58
11802	0.64	170.3	2291	1706	2258	1712	794.7	11.8	946	11807	0.00	0.93	0.00	0.000	260	0.000	0.039	2291	2283	1983	2256	1711	0	0	0	0	0	0	14.93	14.46	14.97
11848	0.64	170.3	2291	2286	2257	1711	789.1	11.7	955	11853	0.08	1.00	0.00	0.000	5126	0.205	0.059	2271	1712	1983	2256	1711	0	0	0	0	0	0	14.16	14.46	14.29
12206	0.64	170.3	2271	1712	2257	1711	753.7	9.6	970	12212	0.00	0.95	0.00	0.000	516	0.000	0.062	2275	1182	1983	2256	1711	0	0	0	0	0	0	14.95	14.42	14.97
12303	0.66	170.3	2276	1182	2257	1711	744.7	9.2	989	12307	0.00	1.02	0.00	0.000	1094	0.000	0.043	2275	1730	1983	2255	1711	0	0	0	0	0	0	14.38	14.37	14.41
12650	0.67	170.3	2274	1750	2255	1711	712.4	9.2	1002	12655	0.00	1.10	0.00	0.000	580	0.000	0.057	2278	1179	1983	2255	1711	0	0	0	0	0	0	14.95	14.33	14.97
12701	0.69	170.3	2279	1179	2256	1711	707.6	9.2	1012	12707	0.00	0.95	0.00	0.000	1094	0.000	0.041	2278	1694	1982	2254	1711	0	0	0	0	0	0	14.52	14.50	14.54
13053	0.71	170.3	2279	1713	2255	1711	675.3	9.0	1026	13057	0.00	0.88	0.00	0.000	324	0.000	0.037	2278	2254	1982	2254	1711	0	0	0	0	0	0	14.99	14.43	15.01
13090	0.73	170.3	2278	2255	2254	1711	672.1	9.0	1033	13096	0.00	1.05	0.00	0.000	1094	0.000	0.051	2282	1685	1982	2254	1710	0	0	0	0	0	0	14.49	14.45	14.52
13414	0.75	170.3	2282	1685	2255	1711	642.0	9.2	1042	13418	0.00	0.90	0.00	0.000	580	0.000	0.060	2286	1191	1982	2254	1711	0	0	0	0	0	0	14.99	14.26	15.00
13469	0.76	170.3	2286	1190	2255	1711	636.9	9.1	1053	13474	0.00	0.93	0.00	0.000	1094	0.000	0.042	2285	1702	1982	2254	1711	0	0	0	0	0	0	14.54	14.51	14.56
13816	0.78	170.3	2286	1720	2254	1711	605.2	9.1	1066	13817	0.00	0.00	0.00	0.000	70	0.000	0.000	2285	1720	1982	2253	1711	0	0	0	0	0	0	14.93	14.95	14.95
14135	0.79	170.3	2284	1720	2254	1711	575.5	9.4	1074	14140	0.00	1.00	0.00	0.000	580	0.000	0.059	2289	1194	1982	2253	1711	0	0	0	0	0	0	14.97	14.28	14.97
14167	0.79	170.3	2289	1194	2254	1711	572.5	9.7	1080	14172	0.00	0.88	0.00	0.000	1030	0.000	0.041	2289	1668	1982	2253	1711	0	0	0	0	0	0	14.51	14.47	14.53
14498	0.79	170.3	2289	1686	2254	1712	538.4	10.5	1090	14503	0.00	0.90	0.00	0.000	260	0.000	0.038	2288	2242	1982	2253	1711	0	0	0	0	0	0	14.97	14.50	14.99
14574	0.79	170.3	2289	2242	2254	1711	530.3	10.7	1105	14580	0.00	1.02	0.00	0.000	1030	0.000	0.051	2292	1688	1982	2253	1711	0	0	0	0	0	0	14.45	14.40	14.49
14899	0.79	170.3	2293	1688	2254	1711	494.8	10.9	1114	14904	0.00	0.90	0.00	0.000	516	0.000	0.060	2296	1183	1982	2253	1711	0	0	0	0	0	0	14.95	14.31	14.96
14940	0.79	170.3	2296	1184	2253	1711	490.5	10.7	1122	14945	0.00	0.93	0.00	0.000	1030	0.000	0.043	2294	1678	1982	2253	1711	0	0	0	0	0	0	14.51	14.49	14.54
15300	0.79	170.3	2296	1699	2253	1711	453.7	9.9	1138	15306	0.00	0.90	0.00	0.000	260	0.000	0.039	2295	2257	1982	2253	1711	0	0	0	0	0	0	14.95	14.50	14.97
15353	0.79	170.3	2296	2258	2254	1711	448.6	10.0	1148	15358	0.00	1.08	0.00	0.000	1030	0.000	0.055	2299	1681	1981	2253	1710	0	0	0	0	0	0	14.43	14.42	14.48
15704	0.79	170.3	2300	1681	2254	1711	411.6	10.6	1162	15709	0.00	0.88	0.00	0.000	516	0.000	0.061	2304	1188	1982	2253	1711	0	0	0	0	0	0	14.95	14.38	14.95
15756	0.79	170.3	2303	1187	2254	1711	406.2	10.6	1172	15762	0.00	0.93	0.00	0.000	1030	0.000	0.041	2303	1692	1982	2253	1711	0	0	0	0	0	0	14.42	14.40	14.45
16108	0.79	170.3	2304	1710	2254	1711	368.0	10.8	1186	16113	0.00	0.88	0.00	0.000	260	0.000	0.038	2302	2255	1982	2253	1711	0	0	0	0	0	0	14.92	14.51	14.95
16158	0.79	170.3	2303	2255	2254	1711	362.5	10.7	1196	16164	0.00	1.08	0.00	0.000	1030	0.000	0.050	2307	1680	1982	2253	1711	0	0	0	0	0	0	14.33	14.26	14.37
16512	0.79	170.3	2307	1681	2253	1712	325.2	10.5	1210	16516	0.00	0.88	0.00	0.000	516	0.000	0.060	2310	1186	1982	2253	1711	0	0	0	0	0	0	14.91	14.36	14.92
16547	0.79	170.3	2309	1185	2253	1712	321.2	10.5	1217	16553	0.00	0.90	0.00	0.000	1030	0.000	0.041	2310	1681	1982	2253	1711	0	0	0	0	0	0	14.45	14.43	14.47
16872	0.79	170.3	2310	1700	2253	1712	286.8	10.7	1226	16877	0.00	0.88	0.00	0.000	260	0.000	0.037	2310	2243	1982	2253	1711	0	0	0	0	0	0	14.97	14.51	14.96
16919	0.79	170.3	2310	2246	2254	1712	282.0	10.4	1235	16924	0.00	1.05	0.00	0.000	1030	0.000	0.057	2314	1681	1982	2253	1711	0	0	0	0	0	0	14.45	14.40	14.52
17275	0.79	170.3	2314	1681	2254	1712	243.2	11.0	1250	17280	0.00	0.88	0.00	0.000	516	0.000	0.060	2317	1187	1982	2253	1711	0	0	0	0	0	0	14.97	14.35	15.02
17312	0.79	170.3	2318	1188	2254	1712	239.2	10.9	1257	17318	0.00	0.93	0.00	0.000	1030	0.000	0.041	2318	1684	1982	2253	1711	0	0	0	0	0	0	14.44	14.41	14.47
17638	0.79	170.3	2318	1702	2254	1712	203.3	11.1	1266	17643	0.00	0.90	0.00	0.000	260	0.000	0.037	2317	2260	1981	2252	1711	0	0	0	0	0	0	14.90	14.47	14.91
17704	0.79	170.3	2318	2260	2254	1711	195.7	11.0	1279	17708	0.00	1.10	0.00	0.000	1030	0.000	0.050	2322	1672	1982	2253	1711	0	0	0	0	0	0	14.37	14.34	14.40
18040	0.79	170.3	2321	1670	2254	1711	156.6	11.8	1290	18044	0.00	0.98	0.00	0.000	260	0.000	0.037	2320	2261	1985	2259	1711	0	0	0	0	0	0	14.91	14.38	14.92
18075	0.79	170.3	2321	2262	2254	1711	152.3	11.8	1297	18081	0.08	1.02	0.00	0.000	5126	0.241	0.055	2302	1686	1982	2253	1711	0	0	0	0	0	0	13.84	14.20	14.00
18401	0.79	170.3	2303	1686	2254	1711	119.7	9.8	1306	18405	0.00	0.90	0.00	0.000	516	0.000	0.058	2307	1190	1981	2252	1711	0	0	0	0	0	0	14.90	14.04	14.92
18458	0.79	170.3	2307	1190	2259	1712	114.4	10.0	1317	18463	0.00	0.85	0.00	0.000	1030	0.000	0.040	2305	1651	1982	2253	1711	0	0	0	0	0	0	14.38	14.33	14.40
18783	0.79	170.3	2306	1688	2254	1712	78.8	11.1	1334	18789	0.00	0.90	0.00	0.000	260	0.000	0.037	2305	2235	1982	2253	1711	0	0	0	0	0	0	14.93	14.40	14.95
18849	0.79	170.3	2306	2234	2254	1711	71.6	10.5	1347	18854	0.00	1.00	0.00	0.000	1030	0.000	0.056	2310	1687	1982	2253	1711	0	0	0	0	0	0	14.38	14.35	14.43
19187	0.82	170.3	2310	1687	2254	1712	39.8	8.5	1366	19192	0.00	0.90	0.00	0.000	580	0.000	0.059	2313	1186	1981	2252	1711	0	0	0	0	0	0	14.85	14.20	14.85
19268	0.82	170.3	2314	1186	2254	1713	30.9	10.8	1382	19272	0.00	0.95	0.00	0.000	1030	0.000	0.041	2313	1698	1983	2253	1713	0	0	0	0	0	0	14.36	14.34	14.40
19545	end climb: SURFACE_DEPTH_REACHED
state	19545	begin surface coast
19570	end surface coast: CONTROL_FINISHED_OK
state	19570	begin surface