Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 572 * 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 572 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 597.0

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 27 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 60 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 597.0 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 27 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 60 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 572 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 200918,014733,5755.8760,-2342.5020,33,1.6,33,-15.4,0.0,0.0,9,7.2 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 1.07 MHEAD_RNG_PITCHd_Wd 192.4,50876,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -76.5 D_GRID 990

GPS2 200918,020458,5755.8438,-2342.6667,9,1.9,15,-15.4,0.4,77.0,6,8.7

Post-dive calculations and measurements:

FINISH 0.1,1.015199 _24V_AH 12.61,0.000

SM_CCo 19703,128.60,0.103,0,0,1253,350.53 _10V_AH 12.28,187.215

SM_GC 1.03,6.55,0.00,128.60,0.080,0.000,0.103,45,1690,1253,-9.45,-0.28,350.53,0,0,0,0,0,0,14.40,14.86,14.31 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5757.26,-2343.34,190918,201527 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.777462 MEM 333748

HUMID 41.33 DATA_FILE_SIZE 49926,1425

INTERNAL_PRESSURE 7.96906 CAP_FILE_SIZE 171259,0

TCM_TEMP 19.10 CFSIZE 260165632,178970624

XPDR_PINGS 6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3686752 CURRENT 0.148,280.18,1

CP_FREE 15640494080.000000 GPS 200918,073713,5754.508,-2344.734,26,1.5,36,-15.4,0.3,250.6,6,7.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 408 89.12 nil 0 0 0.00

Roll_motor 78 209 208.08 nil 0 0 0.00

VBD_pump_during_apogee 319 2176 8769.96 nil 0 0 0.00

VBD_pump_during_surface 128 103 167.48 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 9777 8 992.71

Iridium_during_xfer 735 175 1625.83 TMICL 0 0 0.00

Transponder_ping 1 420 7.94 NCP 9811 25 3092.92

GUMSTIX_24V 0 0 0.00

GPS 17 20 4.46

TT8 0 0 0.00

LPSleep 16104 2 433.10

TT8_Active 607 8 64.66

TT8_Sampling 3456 26 1131.12

TT8_CF8 702 31 268.76

TT8_Kalman 0 0 0.00

Analog_circuits 2543 10 337.28

GPS_charging 0 0 0.00

Compass 2026 6 167.74

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

18 -0.64 -170.3 15 1697 1424 1080 0.0 0.0 0 119 0.00 0.00 -98.20 0.006 16390 0.000 0.000 14 1697 3376 3307 3445 0 0 0 0 0 0 14.79 12.61 14.78

123 -0.64 -170.3 15 1698 3311 3442 3.9 -3.1 5 137 9.60 0.93 0.00 0.000 2852 0.409 0.033 1980 2244 3376 3317 3435 0 0 0 0 0 0 13.89 14.33 14.16

241 -0.64 -170.3 1979 2247 3341 3411 25.5 -11.8 28 248 0.00 1.02 0.00 0.000 1030 0.000 0.046 1979 1688 3375 3341 3410 0 0 0 0 0 0 14.52 14.48 14.54

563 -0.64 -170.3 1979 1688 3345 3407 64.2 -11.2 45 568 0.00 0.90 0.00 0.000 516 0.000 0.052 1979 1167 3375 3345 3406 0 0 0 0 0 0 15.06 14.47 15.09

794 -0.64 -170.3 1980 1167 3346 3406 91.6 -12.1 91 799 0.00 0.95 0.00 0.000 1030 0.000 0.043 1976 1684 3375 3345 3405 0 0 0 0 0 0 14.59 14.58 14.59

1146 -0.64 -170.3 1977 1684 3347 3406 135.9 -12.5 103 1151 0.00 0.88 0.00 0.000 260 0.000 0.045 1972 2227 3375 3346 3405 0 0 0 0 0 0 15.11 14.53 15.11

1207 -0.64 -170.3 1973 2229 3350 3401 143.3 -11.5 115 1212 0.00 0.98 0.00 0.000 1030 0.000 0.044 1972 1688 3375 3349 3402 0 0 0 0 0 0 14.57 14.54 14.60

1548 -0.64 -170.3 1973 1688 3350 3402 185.4 -12.4 127 1552 0.00 0.88 0.00 0.000 516 0.000 0.053 1973 1175 3375 3349 3402 0 0 0 0 0 0 15.15 14.50 15.15

1779 -0.64 -170.3 1972 1175 3350 3402 213.5 -11.9 173 1784 0.00 0.93 0.00 0.000 1030 0.000 0.041 1970 1680 3375 3349 3402 0 0 0 0 0 0 14.59 14.57 14.61

2110 -0.64 -170.3 1971 1680 3350 3402 255.0 -12.7 183 2115 0.00 0.88 0.00 0.000 260 0.000 0.044 1966 2225 3375 3349 3401 0 0 0 0 0 0 15.14 14.52 15.16

2202 -0.64 -170.3 1966 2227 3350 3401 265.9 -11.7 201 2207 0.08 1.00 0.00 0.000 3078 0.202 0.045 1990 1677 3375 3350 3400 0 0 0 0 0 0 14.16 14.52 14.29

2552 -0.64 -170.3 1990 1677 3352 3401 303.3 -10.5 215 2557 0.00 0.85 0.00 0.000 516 0.000 0.054 1990 1177 3375 3351 3400 0 0 0 0 0 0 15.15 14.50 15.16

2784 -0.64 -170.3 1990 1177 3352 3400 327.0 -10.1 261 2788 0.00 0.90 0.00 0.000 1030 0.000 0.043 1988 1672 3375 3351 3400 0 0 0 0 0 0 14.59 14.57 14.61

3115 -0.64 -170.3 1988 1672 3352 3400 362.5 -10.8 271 3119 0.00 0.90 0.00 0.000 260 0.000 0.044 1983 2228 3374 3350 3399 0 0 0 0 0 0 15.13 14.52 15.16

3231 -0.64 -170.3 1984 2228 3352 3399 374.3 -9.9 294 3237 0.00 1.00 0.00 0.000 1030 0.000 0.046 1983 1681 3375 3351 3399 0 0 0 0 0 0 14.54 14.51 14.57

3556 -0.64 -170.3 1983 1681 3352 3399 409.1 -10.7 303 3560 0.00 0.88 0.00 0.000 516 0.000 0.054 1982 1172 3374 3351 3398 0 0 0 0 0 0 15.15 14.48 15.16

3777 -0.64 -170.3 1983 1172 3352 3399 432.0 -10.3 347 3782 0.00 0.90 0.00 0.000 1030 0.000 0.044 1980 1665 3375 3352 3398 0 0 0 0 0 0 14.57 14.54 14.59

4118 -0.64 -170.3 1981 1665 3352 3399 469.5 -11.2 359 4123 0.00 0.90 0.00 0.000 260 0.000 0.045 1976 2218 3374 3351 3398 0 0 0 0 0 0 15.14 14.51 15.16

4247 -0.64 -170.3 1976 2221 3353 3398 483.0 -10.9 384 4253 0.00 1.00 0.00 0.000 1030 0.000 0.044 1975 1676 3374 3352 3397 0 0 0 0 0 0 14.53 14.50 14.56

4604 -0.64 -170.3 1976 1677 3353 3398 524.2 -11.3 399 4608 0.00 0.88 0.00 0.000 516 0.000 0.054 1975 1167 3374 3352 3397 0 0 0 0 0 0 15.14 14.47 15.19

4835 -0.64 -170.3 1976 1167 3352 3397 549.1 -10.4 445 4840 0.00 0.90 0.00 0.000 1030 0.000 0.044 1974 1657 3374 3352 3397 0 0 0 0 0 0 14.56 14.52 14.61

5166 -0.64 -170.3 1974 1656 3353 3396 585.3 -11.1 455 5171 0.00 0.93 0.00 0.000 260 0.000 0.044 1969 2221 3374 3352 3396 0 0 0 0 0 0 15.14 14.50 15.15

5277 -0.64 -170.3 1969 2224 3353 3395 597.1 -10.4 477 5282 0.00 1.02 0.00 0.000 1030 0.000 0.045 1969 1668 3373 3352 3395 0 0 0 0 0 0 14.52 14.48 14.55

5608 -0.64 -170.3 1969 1669 3353 3395 633.8 -11.0 487 5612 0.00 0.85 0.00 0.000 516 0.000 0.054 1969 1169 3373 3352 3394 0 0 0 0 0 0 15.14 14.45 15.16

5839 -0.64 -170.3 1969 1169 3353 3395 657.8 -10.2 533 5844 0.05 0.90 0.00 0.000 3078 0.230 0.044 1984 1660 3373 3352 3394 0 0 0 0 0 0 14.16 14.51 14.26

6170 -0.64 -170.3 1985 1660 3353 3394 687.7 -9.0 543 6175 0.00 0.93 0.00 0.000 260 0.000 0.045 1980 2224 3372 3352 3393 0 0 0 0 0 0 15.14 14.47 15.16

6306 -0.64 -170.3 1980 2226 3352 3393 698.8 -8.1 569 6311 0.00 1.05 0.00 0.000 1030 0.000 0.045 1979 1661 3372 3351 3393 0 0 0 0 0 0 14.50 14.46 14.53

6657 -0.64 -170.3 1980 1660 3353 3392 729.0 -8.5 583 6662 0.00 0.85 0.00 0.000 516 0.000 0.055 1980 1162 3372 3352 3392 0 0 0 0 0 0 15.14 14.45 15.16

6843 -0.64 -170.3 1980 1161 3353 3392 745.2 -8.7 620 6849 0.00 0.90 0.00 0.000 1030 0.000 0.044 1977 1656 3371 3351 3391 0 0 0 0 0 0 14.51 14.50 14.54

7180 -0.64 -170.3 1978 1656 3353 3391 776.1 -9.2 631 7185 0.00 0.93 0.00 0.000 260 0.000 0.044 1973 2221 3370 3352 3389 0 0 0 0 0 0 15.14 14.46 15.16

7297 -0.64 -170.3 1973 2223 3352 3390 786.3 -8.7 654 7303 0.00 1.05 0.00 0.000 1030 0.000 0.045 1972 1656 3371 3352 3390 0 0 0 0 0 0 14.52 14.45 14.51

7621 -0.64 -170.3 1973 1656 3353 3390 817.8 -9.7 663 7625 0.00 0.82 0.00 0.000 516 0.000 0.054 1972 1172 3370 3352 3389 0 0 0 0 0 0 15.14 14.42 15.16

7807 -0.64 -170.3 1973 1172 3353 3389 835.1 -9.1 700 7812 0.00 0.90 0.00 0.000 1030 0.000 0.044 1970 1658 3370 3352 3389 0 0 0 0 0 0 14.49 14.48 14.53

8143 -0.64 -170.3 1971 1658 3352 3389 867.5 -9.7 711 8148 0.00 0.93 0.00 0.000 260 0.000 0.046 1967 2221 3370 3352 3388 0 0 0 0 0 0 15.13 14.45 15.16

8245 -0.64 -170.3 1966 2223 3353 3388 876.8 -9.0 731 8250 0.08 1.05 0.00 0.000 3078 0.192 0.047 1991 1658 3370 3352 3388 0 0 0 0 0 0 14.08 14.43 14.19

8587 -0.64 -170.3 1992 1658 3352 3387 902.0 -7.2 743 8591 0.00 0.82 0.00 0.000 548 0.000 0.055 1991 1174 3369 3352 3386 0 0 0 0 0 0 15.14 14.40 15.19

8769 -0.64 -170.3 1992 1175 3353 3387 914.6 -6.8 779 8773 0.00 0.88 0.00 0.000 1062 0.000 0.044 1989 1651 3369 3352 3386 0 0 0 0 0 0 14.53 14.47 14.52

9109 -0.64 -170.3 1990 1651 3353 3386 939.9 -7.6 791 9114 0.00 0.93 0.00 0.000 292 0.000 0.045 1985 2215 3368 3351 3385 0 0 0 0 0 0 15.14 14.45 15.16

9234 -0.64 -170.3 1985 2218 3353 3385 949.0 -7.4 815 9239 0.00 1.05 0.00 0.000 1062 0.000 0.045 1985 1659 3368 3352 3385 0 0 0 0 0 0 14.45 14.41 14.48

9595 -0.64 -170.3 1985 1659 3353 3384 979.5 -8.4 831 9600 0.00 0.85 0.00 0.000 516 0.000 0.056 1984 1164 3367 3352 3383 0 0 0 0 0 0 15.14 14.36 15.15

9725 end dive: TARGET_DEPTH_EXCEEDED

state 9725 begin apogee

9733 -0.12 0.0 1983 1715 3353 3383 990.2 -8.0 857 9891 0.40 0.00 155.62 2.176 10244 0.172 0.000 2102 1715 2680 2860 2500 0 0 0 0 0 0 14.04 13.93 12.76

9891 end apogee: CONTROL_FINISHED_OK

state 9891 begin climb

9894 0.64 170.3 2102 1715 2860 2500 994.5 0.0 861 10063 0.47 0.88 163.93 2.119 10500 0.092 0.041 2274 2240 1983 2194 1773 0 0 0 0 0 0 14.02 14.12 12.67

10141 0.64 170.3 2274 2240 2195 1773 977.9 9.6 912 10146 0.00 1.00 0.00 0.000 1030 0.000 0.057 2277 1722 1983 2193 1773 0 0 0 0 0 0 14.26 14.22 14.29

10489 0.64 170.3 2277 1722 2194 1773 944.0 9.8 925 10493 0.00 0.88 0.00 0.000 260 0.000 0.039 2277 2262 1983 2193 1773 0 0 0 0 0 0 14.88 14.50 14.90

10549 0.64 170.3 2277 2265 2193 1774 938.2 9.6 937 10554 0.00 0.98 0.00 0.000 1030 0.000 0.060 2280 1710 1983 2193 1773 0 0 0 0 0 0 14.49 14.44 14.53

10891 0.64 170.3 2280 1710 2194 1773 905.1 9.5 949 10896 0.00 0.93 0.00 0.000 516 0.000 0.060 2285 1194 1983 2193 1773 0 0 0 0 0 0 14.93 14.42 14.95

10982 0.66 170.3 2285 1193 2193 1773 896.3 9.4 967 10987 0.00 0.93 0.00 0.000 1094 0.000 0.041 2284 1691 1982 2192 1773 0 0 0 0 0 0 14.56 14.53 14.59

11333 0.66 170.3 2285 1707 2193 1774 862.4 9.6 981 11333 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1707 1982 2192 1773 0 0 0 0 0 0 14.95 14.97 14.97

11654 0.66 170.3 2285 1707 2193 1773 831.1 9.8 989 11659 0.00 1.00 0.00 0.000 516 0.000 0.058 2289 1188 1982 2192 1773 0 0 0 0 0 0 14.92 14.41 14.94

11679 0.66 170.3 2289 1189 2193 1773 828.4 9.9 994 11684 0.00 0.88 0.00 0.000 1030 0.000 0.041 2288 1673 1982 2192 1773 0 0 0 0 0 0 14.21 14.22 14.26

12015 0.66 170.3 2289 1716 2193 1773 793.9 10.2 1005 12016 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1714 1982 2192 1772 0 0 0 0 0 0 14.99 15.02 15.00

12337 0.66 170.3 2289 1714 2193 1774 761.0 10.4 1013 12341 0.00 0.95 0.00 0.000 516 0.000 0.060 2292 1182 1982 2192 1772 0 0 0 0 0 0 14.93 14.42 14.94

12368 0.66 170.3 2293 1182 2193 1773 757.4 10.8 1019 12373 0.00 1.02 0.00 0.000 1030 0.000 0.041 2292 1730 1982 2192 1772 0 0 0 0 0 0 14.47 14.44 14.49

12699 0.66 170.3 2292 1748 2192 1772 722.8 10.4 1029 12700 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1748 1982 2191 1773 0 0 0 0 0 0 14.96 14.99 14.98

13020 0.66 170.3 2293 1748 2192 1772 689.2 10.6 1037 13025 0.00 1.08 0.00 0.000 516 0.000 0.057 2296 1189 1982 2191 1773 0 0 0 0 0 0 14.95 14.40 14.99

13091 0.66 170.3 2296 1189 2192 1773 681.4 10.8 1051 13096 0.08 0.93 0.00 0.000 5126 0.197 0.042 2272 1694 1982 2191 1773 0 0 0 0 0 0 14.14 14.47 14.25

13422 0.68 170.3 2272 1710 2192 1773 651.4 8.9 1061 13427 0.00 1.00 0.00 0.000 580 0.000 0.057 2276 1193 1982 2191 1773 0 0 0 0 0 0 14.96 14.32 14.97

13449 0.71 170.3 2276 1193 2192 1774 649.1 8.6 1066 13454 0.00 0.82 0.00 0.000 1094 0.000 0.041 2274 1656 1982 2191 1773 0 0 0 0 0 0 14.45 14.42 14.45

13785 0.72 170.3 2276 1689 2192 1773 617.8 9.3 1077 13790 0.00 0.93 0.00 0.000 324 0.000 0.038 2275 2230 1982 2191 1773 0 0 0 0 0 0 14.96 14.42 14.97

13846 0.72 170.3 2275 2232 2192 1773 612.0 9.8 1089 13850 0.00 1.02 0.00 0.000 1030 0.000 0.058 2279 1680 1982 2191 1773 0 0 0 0 0 0 14.46 14.40 14.49

14188 0.72 170.3 2279 1679 2192 1773 579.1 9.5 1101 14192 0.00 0.90 0.00 0.000 516 0.000 0.062 2283 1182 1982 2191 1773 0 0 0 0 0 0 14.98 14.34 14.97

14258 0.73 170.3 2283 1183 2192 1772 572.3 9.2 1115 14265 0.00 0.93 0.00 0.000 1094 0.000 0.042 2283 1688 1982 2191 1773 0 0 0 0 0 0 14.44 14.41 14.47

14592 0.73 170.3 2283 1704 2192 1773 539.8 9.8 1125 14597 0.00 0.88 0.00 0.000 260 0.000 0.038 2283 2256 1982 2191 1773 0 0 0 0 0 0 14.94 14.42 14.96

14628 0.73 170.3 2284 2255 2192 1774 536.1 9.8 1132 14635 0.00 1.10 0.00 0.000 1030 0.000 0.053 2286 1669 1981 2190 1773 0 0 0 0 0 0 14.47 14.41 14.50

14953 0.73 170.3 2286 1669 2191 1773 504.2 9.8 1141 14958 0.00 0.85 0.00 0.000 516 0.000 0.060 2290 1186 1982 2191 1773 0 0 0 0 0 0 14.95 14.30 14.97

15005 0.74 170.3 2291 1186 2192 1772 499.3 9.5 1151 15010 0.00 0.90 0.00 0.000 1094 0.000 0.041 2290 1676 1982 2191 1773 0 0 0 0 0 0 14.42 14.40 14.45

15356 0.74 170.3 2290 1693 2192 1773 465.5 9.6 1165 15361 0.00 0.90 0.00 0.000 260 0.000 0.038 2290 2254 1981 2190 1773 0 0 0 0 0 0 14.97 14.46 15.00

15428 0.76 170.3 2290 2255 2192 1773 458.8 9.4 1179 15433 0.00 1.08 0.00 0.000 1094 0.000 0.054 2293 1680 1982 2191 1773 0 0 0 0 0 0 14.37 14.33 14.40

15759 0.76 170.3 2293 1680 2192 1773 426.3 9.8 1189 15764 0.00 0.90 0.00 0.000 516 0.000 0.060 2297 1182 1982 2191 1773 0 0 0 0 0 0 14.96 14.02 14.98

15805 0.76 170.3 2299 1182 2192 1773 421.9 9.6 1198 15810 0.00 0.93 0.00 0.000 1030 0.000 0.041 2297 1671 1981 2191 1772 0 0 0 0 0 0 14.35 14.32 14.37

16162 0.78 170.3 2297 1689 2192 1773 389.2 8.9 1213 16167 0.00 0.93 0.00 0.000 324 0.000 0.038 2297 2279 1982 2191 1773 0 0 0 0 0 0 14.95 14.48 14.96

16208 0.80 170.3 2298 2280 2192 1772 385.0 8.8 1222 16213 0.00 1.15 0.00 0.000 1094 0.000 0.051 2301 1666 1982 2191 1773 0 0 0 0 0 0 14.38 14.35 14.42

16564 0.81 170.3 2301 1665 2192 1774 351.7 9.4 1237 16569 0.00 0.85 0.00 0.000 580 0.000 0.060 2305 1180 1982 2191 1773 0 0 0 0 0 0 14.94 14.38 14.95

16591 0.82 170.3 2305 1180 2192 1773 349.2 9.5 1242 16596 0.00 0.93 0.00 0.000 1094 0.000 0.040 2305 1683 1981 2191 1772 0 0 0 0 0 0 14.50 14.47 14.54

16927 0.82 170.3 2305 1700 2193 1774 316.5 9.7 1253 16932 0.00 0.88 0.00 0.000 260 0.000 0.038 2304 2244 1982 2191 1773 0 0 0 0 0 0 14.97 14.50 14.96

16972 0.82 170.3 2305 2244 2192 1773 312.1 9.6 1262 16977 0.00 1.08 0.00 0.000 1030 0.000 0.051 2308 1670 1982 2191 1773 0 0 0 0 0 0 14.46 14.42 14.50

17330 0.82 170.3 2308 1669 2192 1773 275.9 10.4 1277 17334 0.00 0.98 0.00 0.000 260 0.000 0.036 2308 2261 1982 2191 1773 0 0 0 0 0 0 14.93 14.53 14.97

17355 0.82 170.3 2308 2263 2193 1774 273.0 10.4 1282 17360 0.00 1.05 0.00 0.000 1030 0.000 0.055 2312 1670 1982 2191 1773 0 0 0 0 0 0 14.45 14.40 14.48

17693 0.82 170.3 2313 1669 2192 1774 235.7 11.3 1293 17698 0.00 0.88 0.00 0.000 516 0.000 0.059 2316 1181 1982 2191 1773 0 0 0 0 0 0 14.90 14.26 14.92

17729 0.82 170.3 2317 1181 2192 1774 231.6 11.3 1300 17736 0.00 0.90 0.00 0.000 1030 0.000 0.041 2316 1673 1982 2191 1773 0 0 0 0 0 0 14.34 14.33 14.38

18054 0.82 170.3 2316 1690 2192 1774 193.9 11.6 1309 18059 0.00 0.93 0.00 0.000 260 0.000 0.036 2316 2253 1982 2191 1773 0 0 0 0 0 0 14.92 14.19 14.94

18126 0.82 170.3 2317 2253 2191 1773 185.6 11.7 1323 18131 0.00 1.08 0.00 0.000 1030 0.000 0.050 2319 1674 1982 2191 1773 0 0 0 0 0 0 14.42 14.41 14.46

18457 0.82 170.3 2323 1674 2192 1773 145.6 12.0 1333 18462 0.00 0.85 0.00 0.000 516 0.000 0.059 2323 1201 1982 2191 1773 0 0 0 0 0 0 14.88 14.26 14.89

18487 0.82 170.3 2324 1197 2192 1773 142.0 11.8 1339 18492 0.00 0.80 0.00 0.000 1030 0.000 0.041 2324 1636 1982 2191 1773 0 0 0 0 0 0 14.19 14.17 14.21

18820 0.82 170.3 2324 1655 2192 1774 101.1 12.4 1349 18825 0.00 1.00 0.00 0.000 260 0.000 0.036 2323 2259 1982 2191 1773 0 0 0 0 0 0 14.94 14.31 14.95

18921 0.82 170.3 2324 2259 2192 1773 87.9 12.5 1369 18925 0.00 1.05 0.00 0.000 1030 0.000 0.051 2324 1692 1984 2191 1778 0 0 0 0 0 0 14.36 14.31 14.39

19261 0.82 170.3 2327 1691 2192 1773 45.8 11.7 1389 19266 0.00 0.90 0.00 0.000 516 0.000 0.058 2330 1190 1982 2191 1773 0 0 0 0 0 0 14.90 14.26 14.91

19347 0.82 170.3 2331 1190 2192 1773 36.2 10.8 1406 19352 0.00 0.82 0.00 0.000 1030 0.000 0.041 2331 1638 1982 2191 1773 0 0 0 0 0 0 14.47 14.47 14.47

19659 end climb: SURFACE_DEPTH_REACHED

state 19659 begin surface coast

19684 end surface coast: CONTROL_FINISHED_OK

state 19684 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	572	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	597.0
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	27	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	60	XPDR_VALID	5

GPS1	200918,014733,5755.8760,-2342.5020,33,1.6,33,-15.4,0.0,0.0,9,7.2	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	1.07	MHEAD_RNG_PITCHd_Wd	192.4,50876,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-76.5	D_GRID	990
GPS2	200918,020458,5755.8438,-2342.6667,9,1.9,15,-15.4,0.4,77.0,6,8.7

FINISH	0.1,1.015199	_24V_AH	12.61,0.000
SM_CCo	19703,128.60,0.103,0,0,1253,350.53	_10V_AH	12.28,187.215
SM_GC	1.03,6.55,0.00,128.60,0.080,0.000,0.103,45,1690,1253,-9.45,-0.28,350.53,0,0,0,0,0,0,14.40,14.86,14.31	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5757.26,-2343.34,190918,201527	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.777462	MEM	333748
HUMID	41.33	DATA_FILE_SIZE	49926,1425
INTERNAL_PRESSURE	7.96906	CAP_FILE_SIZE	171259,0
TCM_TEMP	19.10	CFSIZE	260165632,178970624
XPDR_PINGS	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3686752	CURRENT	0.148,280.18,1
CP_FREE	15640494080.000000	GPS	200918,073713,5754.508,-2344.734,26,1.5,36,-15.4,0.3,250.6,6,7.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	408	89.12	nil	0	0	0.00
Roll_motor	78	209	208.08	nil	0	0	0.00
VBD_pump_during_apogee	319	2176	8769.96	nil	0	0	0.00
VBD_pump_during_surface	128	103	167.48	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	9777	8	992.71
Iridium_during_xfer	735	175	1625.83	TMICL	0	0	0.00
Transponder_ping	1	420	7.94	NCP	9811	25	3092.92
GUMSTIX_24V	0	0	0.00
GPS	17	20	4.46
TT8	0	0	0.00
LPSleep	16104	2	433.10
TT8_Active	607	8	64.66
TT8_Sampling	3456	26	1131.12
TT8_CF8	702	31	268.76
TT8_Kalman	0	0	0.00
Analog_circuits	2543	10	337.28
GPS_charging	0	0	0.00
Compass	2026	6	167.74
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
18	-0.64	-170.3	15	1697	1424	1080	0.0	0.0	0	119	0.00	0.00	-98.20	0.006	16390	0.000	0.000	14	1697	3376	3307	3445	0	0	0	0	0	0	14.79	12.61	14.78
123	-0.64	-170.3	15	1698	3311	3442	3.9	-3.1	5	137	9.60	0.93	0.00	0.000	2852	0.409	0.033	1980	2244	3376	3317	3435	0	0	0	0	0	0	13.89	14.33	14.16
241	-0.64	-170.3	1979	2247	3341	3411	25.5	-11.8	28	248	0.00	1.02	0.00	0.000	1030	0.000	0.046	1979	1688	3375	3341	3410	0	0	0	0	0	0	14.52	14.48	14.54
563	-0.64	-170.3	1979	1688	3345	3407	64.2	-11.2	45	568	0.00	0.90	0.00	0.000	516	0.000	0.052	1979	1167	3375	3345	3406	0	0	0	0	0	0	15.06	14.47	15.09
794	-0.64	-170.3	1980	1167	3346	3406	91.6	-12.1	91	799	0.00	0.95	0.00	0.000	1030	0.000	0.043	1976	1684	3375	3345	3405	0	0	0	0	0	0	14.59	14.58	14.59
1146	-0.64	-170.3	1977	1684	3347	3406	135.9	-12.5	103	1151	0.00	0.88	0.00	0.000	260	0.000	0.045	1972	2227	3375	3346	3405	0	0	0	0	0	0	15.11	14.53	15.11
1207	-0.64	-170.3	1973	2229	3350	3401	143.3	-11.5	115	1212	0.00	0.98	0.00	0.000	1030	0.000	0.044	1972	1688	3375	3349	3402	0	0	0	0	0	0	14.57	14.54	14.60
1548	-0.64	-170.3	1973	1688	3350	3402	185.4	-12.4	127	1552	0.00	0.88	0.00	0.000	516	0.000	0.053	1973	1175	3375	3349	3402	0	0	0	0	0	0	15.15	14.50	15.15
1779	-0.64	-170.3	1972	1175	3350	3402	213.5	-11.9	173	1784	0.00	0.93	0.00	0.000	1030	0.000	0.041	1970	1680	3375	3349	3402	0	0	0	0	0	0	14.59	14.57	14.61
2110	-0.64	-170.3	1971	1680	3350	3402	255.0	-12.7	183	2115	0.00	0.88	0.00	0.000	260	0.000	0.044	1966	2225	3375	3349	3401	0	0	0	0	0	0	15.14	14.52	15.16
2202	-0.64	-170.3	1966	2227	3350	3401	265.9	-11.7	201	2207	0.08	1.00	0.00	0.000	3078	0.202	0.045	1990	1677	3375	3350	3400	0	0	0	0	0	0	14.16	14.52	14.29
2552	-0.64	-170.3	1990	1677	3352	3401	303.3	-10.5	215	2557	0.00	0.85	0.00	0.000	516	0.000	0.054	1990	1177	3375	3351	3400	0	0	0	0	0	0	15.15	14.50	15.16
2784	-0.64	-170.3	1990	1177	3352	3400	327.0	-10.1	261	2788	0.00	0.90	0.00	0.000	1030	0.000	0.043	1988	1672	3375	3351	3400	0	0	0	0	0	0	14.59	14.57	14.61
3115	-0.64	-170.3	1988	1672	3352	3400	362.5	-10.8	271	3119	0.00	0.90	0.00	0.000	260	0.000	0.044	1983	2228	3374	3350	3399	0	0	0	0	0	0	15.13	14.52	15.16
3231	-0.64	-170.3	1984	2228	3352	3399	374.3	-9.9	294	3237	0.00	1.00	0.00	0.000	1030	0.000	0.046	1983	1681	3375	3351	3399	0	0	0	0	0	0	14.54	14.51	14.57
3556	-0.64	-170.3	1983	1681	3352	3399	409.1	-10.7	303	3560	0.00	0.88	0.00	0.000	516	0.000	0.054	1982	1172	3374	3351	3398	0	0	0	0	0	0	15.15	14.48	15.16
3777	-0.64	-170.3	1983	1172	3352	3399	432.0	-10.3	347	3782	0.00	0.90	0.00	0.000	1030	0.000	0.044	1980	1665	3375	3352	3398	0	0	0	0	0	0	14.57	14.54	14.59
4118	-0.64	-170.3	1981	1665	3352	3399	469.5	-11.2	359	4123	0.00	0.90	0.00	0.000	260	0.000	0.045	1976	2218	3374	3351	3398	0	0	0	0	0	0	15.14	14.51	15.16
4247	-0.64	-170.3	1976	2221	3353	3398	483.0	-10.9	384	4253	0.00	1.00	0.00	0.000	1030	0.000	0.044	1975	1676	3374	3352	3397	0	0	0	0	0	0	14.53	14.50	14.56
4604	-0.64	-170.3	1976	1677	3353	3398	524.2	-11.3	399	4608	0.00	0.88	0.00	0.000	516	0.000	0.054	1975	1167	3374	3352	3397	0	0	0	0	0	0	15.14	14.47	15.19
4835	-0.64	-170.3	1976	1167	3352	3397	549.1	-10.4	445	4840	0.00	0.90	0.00	0.000	1030	0.000	0.044	1974	1657	3374	3352	3397	0	0	0	0	0	0	14.56	14.52	14.61
5166	-0.64	-170.3	1974	1656	3353	3396	585.3	-11.1	455	5171	0.00	0.93	0.00	0.000	260	0.000	0.044	1969	2221	3374	3352	3396	0	0	0	0	0	0	15.14	14.50	15.15
5277	-0.64	-170.3	1969	2224	3353	3395	597.1	-10.4	477	5282	0.00	1.02	0.00	0.000	1030	0.000	0.045	1969	1668	3373	3352	3395	0	0	0	0	0	0	14.52	14.48	14.55
5608	-0.64	-170.3	1969	1669	3353	3395	633.8	-11.0	487	5612	0.00	0.85	0.00	0.000	516	0.000	0.054	1969	1169	3373	3352	3394	0	0	0	0	0	0	15.14	14.45	15.16
5839	-0.64	-170.3	1969	1169	3353	3395	657.8	-10.2	533	5844	0.05	0.90	0.00	0.000	3078	0.230	0.044	1984	1660	3373	3352	3394	0	0	0	0	0	0	14.16	14.51	14.26
6170	-0.64	-170.3	1985	1660	3353	3394	687.7	-9.0	543	6175	0.00	0.93	0.00	0.000	260	0.000	0.045	1980	2224	3372	3352	3393	0	0	0	0	0	0	15.14	14.47	15.16
6306	-0.64	-170.3	1980	2226	3352	3393	698.8	-8.1	569	6311	0.00	1.05	0.00	0.000	1030	0.000	0.045	1979	1661	3372	3351	3393	0	0	0	0	0	0	14.50	14.46	14.53
6657	-0.64	-170.3	1980	1660	3353	3392	729.0	-8.5	583	6662	0.00	0.85	0.00	0.000	516	0.000	0.055	1980	1162	3372	3352	3392	0	0	0	0	0	0	15.14	14.45	15.16
6843	-0.64	-170.3	1980	1161	3353	3392	745.2	-8.7	620	6849	0.00	0.90	0.00	0.000	1030	0.000	0.044	1977	1656	3371	3351	3391	0	0	0	0	0	0	14.51	14.50	14.54
7180	-0.64	-170.3	1978	1656	3353	3391	776.1	-9.2	631	7185	0.00	0.93	0.00	0.000	260	0.000	0.044	1973	2221	3370	3352	3389	0	0	0	0	0	0	15.14	14.46	15.16
7297	-0.64	-170.3	1973	2223	3352	3390	786.3	-8.7	654	7303	0.00	1.05	0.00	0.000	1030	0.000	0.045	1972	1656	3371	3352	3390	0	0	0	0	0	0	14.52	14.45	14.51
7621	-0.64	-170.3	1973	1656	3353	3390	817.8	-9.7	663	7625	0.00	0.82	0.00	0.000	516	0.000	0.054	1972	1172	3370	3352	3389	0	0	0	0	0	0	15.14	14.42	15.16
7807	-0.64	-170.3	1973	1172	3353	3389	835.1	-9.1	700	7812	0.00	0.90	0.00	0.000	1030	0.000	0.044	1970	1658	3370	3352	3389	0	0	0	0	0	0	14.49	14.48	14.53
8143	-0.64	-170.3	1971	1658	3352	3389	867.5	-9.7	711	8148	0.00	0.93	0.00	0.000	260	0.000	0.046	1967	2221	3370	3352	3388	0	0	0	0	0	0	15.13	14.45	15.16
8245	-0.64	-170.3	1966	2223	3353	3388	876.8	-9.0	731	8250	0.08	1.05	0.00	0.000	3078	0.192	0.047	1991	1658	3370	3352	3388	0	0	0	0	0	0	14.08	14.43	14.19
8587	-0.64	-170.3	1992	1658	3352	3387	902.0	-7.2	743	8591	0.00	0.82	0.00	0.000	548	0.000	0.055	1991	1174	3369	3352	3386	0	0	0	0	0	0	15.14	14.40	15.19
8769	-0.64	-170.3	1992	1175	3353	3387	914.6	-6.8	779	8773	0.00	0.88	0.00	0.000	1062	0.000	0.044	1989	1651	3369	3352	3386	0	0	0	0	0	0	14.53	14.47	14.52
9109	-0.64	-170.3	1990	1651	3353	3386	939.9	-7.6	791	9114	0.00	0.93	0.00	0.000	292	0.000	0.045	1985	2215	3368	3351	3385	0	0	0	0	0	0	15.14	14.45	15.16
9234	-0.64	-170.3	1985	2218	3353	3385	949.0	-7.4	815	9239	0.00	1.05	0.00	0.000	1062	0.000	0.045	1985	1659	3368	3352	3385	0	0	0	0	0	0	14.45	14.41	14.48
9595	-0.64	-170.3	1985	1659	3353	3384	979.5	-8.4	831	9600	0.00	0.85	0.00	0.000	516	0.000	0.056	1984	1164	3367	3352	3383	0	0	0	0	0	0	15.14	14.36	15.15
9725	end dive: TARGET_DEPTH_EXCEEDED
state	9725	begin apogee
9733	-0.12	0.0	1983	1715	3353	3383	990.2	-8.0	857	9891	0.40	0.00	155.62	2.176	10244	0.172	0.000	2102	1715	2680	2860	2500	0	0	0	0	0	0	14.04	13.93	12.76
9891	end apogee: CONTROL_FINISHED_OK
state	9891	begin climb
9894	0.64	170.3	2102	1715	2860	2500	994.5	0.0	861	10063	0.47	0.88	163.93	2.119	10500	0.092	0.041	2274	2240	1983	2194	1773	0	0	0	0	0	0	14.02	14.12	12.67
10141	0.64	170.3	2274	2240	2195	1773	977.9	9.6	912	10146	0.00	1.00	0.00	0.000	1030	0.000	0.057	2277	1722	1983	2193	1773	0	0	0	0	0	0	14.26	14.22	14.29
10489	0.64	170.3	2277	1722	2194	1773	944.0	9.8	925	10493	0.00	0.88	0.00	0.000	260	0.000	0.039	2277	2262	1983	2193	1773	0	0	0	0	0	0	14.88	14.50	14.90
10549	0.64	170.3	2277	2265	2193	1774	938.2	9.6	937	10554	0.00	0.98	0.00	0.000	1030	0.000	0.060	2280	1710	1983	2193	1773	0	0	0	0	0	0	14.49	14.44	14.53
10891	0.64	170.3	2280	1710	2194	1773	905.1	9.5	949	10896	0.00	0.93	0.00	0.000	516	0.000	0.060	2285	1194	1983	2193	1773	0	0	0	0	0	0	14.93	14.42	14.95
10982	0.66	170.3	2285	1193	2193	1773	896.3	9.4	967	10987	0.00	0.93	0.00	0.000	1094	0.000	0.041	2284	1691	1982	2192	1773	0	0	0	0	0	0	14.56	14.53	14.59
11333	0.66	170.3	2285	1707	2193	1774	862.4	9.6	981	11333	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1707	1982	2192	1773	0	0	0	0	0	0	14.95	14.97	14.97
11654	0.66	170.3	2285	1707	2193	1773	831.1	9.8	989	11659	0.00	1.00	0.00	0.000	516	0.000	0.058	2289	1188	1982	2192	1773	0	0	0	0	0	0	14.92	14.41	14.94
11679	0.66	170.3	2289	1189	2193	1773	828.4	9.9	994	11684	0.00	0.88	0.00	0.000	1030	0.000	0.041	2288	1673	1982	2192	1773	0	0	0	0	0	0	14.21	14.22	14.26
12015	0.66	170.3	2289	1716	2193	1773	793.9	10.2	1005	12016	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1714	1982	2192	1772	0	0	0	0	0	0	14.99	15.02	15.00
12337	0.66	170.3	2289	1714	2193	1774	761.0	10.4	1013	12341	0.00	0.95	0.00	0.000	516	0.000	0.060	2292	1182	1982	2192	1772	0	0	0	0	0	0	14.93	14.42	14.94
12368	0.66	170.3	2293	1182	2193	1773	757.4	10.8	1019	12373	0.00	1.02	0.00	0.000	1030	0.000	0.041	2292	1730	1982	2192	1772	0	0	0	0	0	0	14.47	14.44	14.49
12699	0.66	170.3	2292	1748	2192	1772	722.8	10.4	1029	12700	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1748	1982	2191	1773	0	0	0	0	0	0	14.96	14.99	14.98
13020	0.66	170.3	2293	1748	2192	1772	689.2	10.6	1037	13025	0.00	1.08	0.00	0.000	516	0.000	0.057	2296	1189	1982	2191	1773	0	0	0	0	0	0	14.95	14.40	14.99
13091	0.66	170.3	2296	1189	2192	1773	681.4	10.8	1051	13096	0.08	0.93	0.00	0.000	5126	0.197	0.042	2272	1694	1982	2191	1773	0	0	0	0	0	0	14.14	14.47	14.25
13422	0.68	170.3	2272	1710	2192	1773	651.4	8.9	1061	13427	0.00	1.00	0.00	0.000	580	0.000	0.057	2276	1193	1982	2191	1773	0	0	0	0	0	0	14.96	14.32	14.97
13449	0.71	170.3	2276	1193	2192	1774	649.1	8.6	1066	13454	0.00	0.82	0.00	0.000	1094	0.000	0.041	2274	1656	1982	2191	1773	0	0	0	0	0	0	14.45	14.42	14.45
13785	0.72	170.3	2276	1689	2192	1773	617.8	9.3	1077	13790	0.00	0.93	0.00	0.000	324	0.000	0.038	2275	2230	1982	2191	1773	0	0	0	0	0	0	14.96	14.42	14.97
13846	0.72	170.3	2275	2232	2192	1773	612.0	9.8	1089	13850	0.00	1.02	0.00	0.000	1030	0.000	0.058	2279	1680	1982	2191	1773	0	0	0	0	0	0	14.46	14.40	14.49
14188	0.72	170.3	2279	1679	2192	1773	579.1	9.5	1101	14192	0.00	0.90	0.00	0.000	516	0.000	0.062	2283	1182	1982	2191	1773	0	0	0	0	0	0	14.98	14.34	14.97
14258	0.73	170.3	2283	1183	2192	1772	572.3	9.2	1115	14265	0.00	0.93	0.00	0.000	1094	0.000	0.042	2283	1688	1982	2191	1773	0	0	0	0	0	0	14.44	14.41	14.47
14592	0.73	170.3	2283	1704	2192	1773	539.8	9.8	1125	14597	0.00	0.88	0.00	0.000	260	0.000	0.038	2283	2256	1982	2191	1773	0	0	0	0	0	0	14.94	14.42	14.96
14628	0.73	170.3	2284	2255	2192	1774	536.1	9.8	1132	14635	0.00	1.10	0.00	0.000	1030	0.000	0.053	2286	1669	1981	2190	1773	0	0	0	0	0	0	14.47	14.41	14.50
14953	0.73	170.3	2286	1669	2191	1773	504.2	9.8	1141	14958	0.00	0.85	0.00	0.000	516	0.000	0.060	2290	1186	1982	2191	1773	0	0	0	0	0	0	14.95	14.30	14.97
15005	0.74	170.3	2291	1186	2192	1772	499.3	9.5	1151	15010	0.00	0.90	0.00	0.000	1094	0.000	0.041	2290	1676	1982	2191	1773	0	0	0	0	0	0	14.42	14.40	14.45
15356	0.74	170.3	2290	1693	2192	1773	465.5	9.6	1165	15361	0.00	0.90	0.00	0.000	260	0.000	0.038	2290	2254	1981	2190	1773	0	0	0	0	0	0	14.97	14.46	15.00
15428	0.76	170.3	2290	2255	2192	1773	458.8	9.4	1179	15433	0.00	1.08	0.00	0.000	1094	0.000	0.054	2293	1680	1982	2191	1773	0	0	0	0	0	0	14.37	14.33	14.40
15759	0.76	170.3	2293	1680	2192	1773	426.3	9.8	1189	15764	0.00	0.90	0.00	0.000	516	0.000	0.060	2297	1182	1982	2191	1773	0	0	0	0	0	0	14.96	14.02	14.98
15805	0.76	170.3	2299	1182	2192	1773	421.9	9.6	1198	15810	0.00	0.93	0.00	0.000	1030	0.000	0.041	2297	1671	1981	2191	1772	0	0	0	0	0	0	14.35	14.32	14.37
16162	0.78	170.3	2297	1689	2192	1773	389.2	8.9	1213	16167	0.00	0.93	0.00	0.000	324	0.000	0.038	2297	2279	1982	2191	1773	0	0	0	0	0	0	14.95	14.48	14.96
16208	0.80	170.3	2298	2280	2192	1772	385.0	8.8	1222	16213	0.00	1.15	0.00	0.000	1094	0.000	0.051	2301	1666	1982	2191	1773	0	0	0	0	0	0	14.38	14.35	14.42
16564	0.81	170.3	2301	1665	2192	1774	351.7	9.4	1237	16569	0.00	0.85	0.00	0.000	580	0.000	0.060	2305	1180	1982	2191	1773	0	0	0	0	0	0	14.94	14.38	14.95
16591	0.82	170.3	2305	1180	2192	1773	349.2	9.5	1242	16596	0.00	0.93	0.00	0.000	1094	0.000	0.040	2305	1683	1981	2191	1772	0	0	0	0	0	0	14.50	14.47	14.54
16927	0.82	170.3	2305	1700	2193	1774	316.5	9.7	1253	16932	0.00	0.88	0.00	0.000	260	0.000	0.038	2304	2244	1982	2191	1773	0	0	0	0	0	0	14.97	14.50	14.96
16972	0.82	170.3	2305	2244	2192	1773	312.1	9.6	1262	16977	0.00	1.08	0.00	0.000	1030	0.000	0.051	2308	1670	1982	2191	1773	0	0	0	0	0	0	14.46	14.42	14.50
17330	0.82	170.3	2308	1669	2192	1773	275.9	10.4	1277	17334	0.00	0.98	0.00	0.000	260	0.000	0.036	2308	2261	1982	2191	1773	0	0	0	0	0	0	14.93	14.53	14.97
17355	0.82	170.3	2308	2263	2193	1774	273.0	10.4	1282	17360	0.00	1.05	0.00	0.000	1030	0.000	0.055	2312	1670	1982	2191	1773	0	0	0	0	0	0	14.45	14.40	14.48
17693	0.82	170.3	2313	1669	2192	1774	235.7	11.3	1293	17698	0.00	0.88	0.00	0.000	516	0.000	0.059	2316	1181	1982	2191	1773	0	0	0	0	0	0	14.90	14.26	14.92
17729	0.82	170.3	2317	1181	2192	1774	231.6	11.3	1300	17736	0.00	0.90	0.00	0.000	1030	0.000	0.041	2316	1673	1982	2191	1773	0	0	0	0	0	0	14.34	14.33	14.38
18054	0.82	170.3	2316	1690	2192	1774	193.9	11.6	1309	18059	0.00	0.93	0.00	0.000	260	0.000	0.036	2316	2253	1982	2191	1773	0	0	0	0	0	0	14.92	14.19	14.94
18126	0.82	170.3	2317	2253	2191	1773	185.6	11.7	1323	18131	0.00	1.08	0.00	0.000	1030	0.000	0.050	2319	1674	1982	2191	1773	0	0	0	0	0	0	14.42	14.41	14.46
18457	0.82	170.3	2323	1674	2192	1773	145.6	12.0	1333	18462	0.00	0.85	0.00	0.000	516	0.000	0.059	2323	1201	1982	2191	1773	0	0	0	0	0	0	14.88	14.26	14.89
18487	0.82	170.3	2324	1197	2192	1773	142.0	11.8	1339	18492	0.00	0.80	0.00	0.000	1030	0.000	0.041	2324	1636	1982	2191	1773	0	0	0	0	0	0	14.19	14.17	14.21
18820	0.82	170.3	2324	1655	2192	1774	101.1	12.4	1349	18825	0.00	1.00	0.00	0.000	260	0.000	0.036	2323	2259	1982	2191	1773	0	0	0	0	0	0	14.94	14.31	14.95
18921	0.82	170.3	2324	2259	2192	1773	87.9	12.5	1369	18925	0.00	1.05	0.00	0.000	1030	0.000	0.051	2324	1692	1984	2191	1778	0	0	0	0	0	0	14.36	14.31	14.39
19261	0.82	170.3	2327	1691	2192	1773	45.8	11.7	1389	19266	0.00	0.90	0.00	0.000	516	0.000	0.058	2330	1190	1982	2191	1773	0	0	0	0	0	0	14.90	14.26	14.91
19347	0.82	170.3	2331	1190	2192	1773	36.2	10.8	1406	19352	0.00	0.82	0.00	0.000	1030	0.000	0.041	2331	1638	1982	2191	1773	0	0	0	0	0	0	14.47	14.47	14.47
19659	end climb: SURFACE_DEPTH_REACHED
state	19659	begin surface coast
19684	end surface coast: CONTROL_FINISHED_OK
state	19684	begin surface