Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 577 * 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 577 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 607.0

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 45 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 65 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 607.0 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 45 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 65 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 577 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 210918,062802,5749.1636,-2354.4690,40,2.0,45,-15.4,0.3,294.1,8,6.0 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 1.21 MHEAD_RNG_PITCHd_Wd 164.0,35803,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -74.2 D_GRID 990

GPS2 210918,063915,5749.1128,-2354.5967,12,1.5,16,-15.4,0.4,332.5,7,7.6

Post-dive calculations and measurements:

FINISH 0.6,1.026890 _10V_AH 12.27,188.812

SM_CCo 19405,53.10,0.106,0,0,1252,350.04 FG_AHR_24Vo 0.000

SM_GC 1.23,6.32,0.00,53.10,0.058,0.000,0.106,55,1666,1252,-9.42,-0.96,350.04,0,0,0,0,0,0,14.42,14.87,14.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5752.23,-2352.82,210918,005633 MEM 333644

TT8_MAMPS 0.040446,0.836633 DATA_FILE_SIZE 53269,1529

HUMID 42.32 CAP_FILE_SIZE 169887,0

INTERNAL_PRESSURE 7.96906 CFSIZE 260165632,178286592

TCM_TEMP 19.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 4 INTR 0,19404.03,0x2146b0,7,24

SC_FREEKB 3684640 CURRENT 0.191,259.34,1

CP_FREE 15637184512.000000 GPS 210918,120521,5747.580,-2356.919,29,1.1,46,-15.4,0.6,204.3,9,5.6

_24V_AH 12.64,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 400 87.15 nil 0 0 0.00

Roll_motor 76 61 60.00 nil 0 0 0.00

VBD_pump_during_apogee 410 2188 11363.29 nil 0 0 0.00

VBD_pump_during_surface 53 105 70.86 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 9584 8 992.51

Iridium_during_xfer 368 171 797.68 TMICL 0 0 0.00

Transponder_ping 1 420 5.31 NCP 9564 25 3022.22

GUMSTIX_24V 0 0 0.00

GPS 19 20 4.79

TT8 0 0 0.00

LPSleep 15533 2 417.41

TT8_Active 668 8 71.09

TT8_Sampling 3308 26 1081.87

TT8_CF8 609 31 232.84

TT8_Kalman 0 0 0.00

Analog_circuits 2253 10 298.66

GPS_charging 0 0 0.00

Compass 2173 6 179.73

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 19 1679 1417 1087 0.0 0.0 0 120 0.00 0.00 -97.88 0.006 16390 0.000 0.000 18 1636 3377 3316 3438 0 0 0 0 0 0 14.78 12.65 14.76

124 -0.64 -170.3 19 1636 3317 3438 4.0 -3.1 5 138 9.40 0.95 0.00 0.000 2852 0.401 0.034 1975 2253 3377 3322 3433 0 0 0 0 0 0 13.91 14.33 14.17

335 -0.64 -170.3 1974 2256 3346 3407 36.8 -12.6 47 340 0.00 1.00 0.00 0.000 1030 0.000 0.049 1974 1704 3376 3346 3406 0 0 0 0 0 0 14.48 14.45 14.52

666 -0.64 -170.3 1974 1704 3348 3405 76.8 -10.9 65 670 0.00 0.85 0.00 0.000 260 0.000 0.037 1972 2203 3375 3347 3404 0 0 0 0 0 0 15.09 14.56 15.10

897 -0.64 -170.3 1972 2205 3351 3404 98.8 -9.8 111 901 0.00 0.95 0.00 0.000 1030 0.000 0.046 1971 1674 3376 3349 3403 0 0 0 0 0 0 14.52 14.49 14.57

1247 -0.64 -170.3 1972 1674 3351 3405 137.9 -11.3 122 1252 0.00 0.88 0.00 0.000 516 0.000 0.054 1972 1164 3376 3351 3402 0 0 0 0 0 0 15.13 14.49 15.14

1479 -0.64 -170.3 1972 1164 3352 3403 164.1 -11.3 168 1484 0.00 0.90 0.00 0.000 1030 0.000 0.044 1970 1657 3376 3350 3402 0 0 0 0 0 0 14.57 14.54 14.59

1810 -0.64 -170.3 1970 1657 3353 3403 203.5 -12.1 178 1815 0.00 0.93 0.00 0.000 260 0.000 0.044 1965 2225 3376 3351 3402 0 0 0 0 0 0 15.14 14.51 15.15

1922 -0.64 -170.3 1966 2227 3351 3401 216.2 -11.2 200 1928 0.08 1.02 0.00 0.000 3078 0.205 0.045 1989 1669 3376 3351 3401 0 0 0 0 0 0 14.14 14.49 14.26

2254 -0.64 -170.3 1990 1668 3354 3402 252.5 -11.2 210 2259 0.00 0.85 0.00 0.000 516 0.000 0.053 1989 1168 3376 3352 3401 0 0 0 0 0 0 15.14 14.47 15.15

2456 -0.64 -170.3 1990 1168 3353 3401 273.9 -10.1 250 2461 0.00 0.90 0.00 0.000 1030 0.000 0.043 1988 1657 3376 3352 3401 0 0 0 0 0 0 14.57 14.54 14.59

2817 -0.64 -170.3 1988 1656 3353 3401 312.7 -10.7 266 2821 0.00 0.93 0.00 0.000 260 0.000 0.044 1983 2225 3376 3352 3401 0 0 0 0 0 0 15.14 14.50 15.16

2961 -0.64 -170.3 1983 2228 3353 3401 327.2 -10.1 294 2966 0.00 1.02 0.00 0.000 1030 0.000 0.044 1982 1669 3376 3352 3400 0 0 0 0 0 0 14.54 14.50 14.56

3302 -0.64 -170.3 1983 1668 3353 3400 364.6 -10.9 306 3306 0.00 0.85 0.00 0.000 516 0.000 0.054 1982 1169 3376 3353 3399 0 0 0 0 0 0 15.15 14.47 15.16

3518 -0.64 -170.3 1983 1169 3354 3400 387.2 -10.0 349 3522 0.00 0.90 0.00 0.000 1030 0.000 0.044 1980 1661 3376 3353 3399 0 0 0 0 0 0 14.57 14.53 14.59

3863 -0.64 -170.3 1980 1661 3354 3400 423.2 -10.3 362 3868 0.00 0.90 0.00 0.000 260 0.000 0.044 1976 2219 3376 3353 3399 0 0 0 0 0 0 15.14 14.50 15.16

4003 -0.64 -170.3 1976 2220 3355 3400 436.2 -9.2 389 4008 0.00 1.02 0.00 0.000 1030 0.000 0.046 1975 1668 3376 3354 3399 0 0 0 0 0 0 14.52 14.47 14.54

4349 -0.64 -170.3 1975 1667 3354 3399 470.0 -9.6 402 4354 0.00 0.85 0.00 0.000 516 0.000 0.054 1975 1169 3376 3353 3399 0 0 0 0 0 0 15.15 14.45 15.16

4516 -0.64 -170.3 1975 1169 3354 3400 485.7 -9.1 435 4520 0.00 0.88 0.00 0.000 1030 0.000 0.044 1973 1644 3376 3354 3398 0 0 0 0 0 0 14.54 14.51 14.55

4871 -0.64 -170.3 1974 1644 3355 3398 521.7 -10.4 450 4876 0.00 0.95 0.00 0.000 260 0.000 0.045 1969 2224 3375 3354 3397 0 0 0 0 0 0 15.15 14.48 15.16

5011 -0.64 -170.3 1969 2227 3355 3398 535.6 -10.2 477 5016 0.05 1.05 0.00 0.000 3078 0.217 0.047 1985 1662 3375 3353 3397 0 0 0 0 0 0 14.14 14.45 14.25

5357 -0.64 -170.3 1987 1661 3355 3397 571.5 -10.4 490 5361 0.00 0.85 0.00 0.000 516 0.000 0.054 1985 1163 3375 3354 3396 0 0 0 0 0 0 15.14 14.44 15.16

5578 -0.64 -170.3 1985 1162 3354 3397 594.3 -10.2 534 5583 0.00 0.88 0.00 0.000 1030 0.000 0.044 1983 1638 3375 3354 3396 0 0 0 0 0 0 14.53 14.52 14.55

5919 -0.64 -170.3 1983 1638 3354 3395 630.0 -10.4 546 5923 0.00 0.95 0.00 0.000 260 0.000 0.045 1979 2214 3374 3354 3394 0 0 0 0 0 0 15.14 14.46 15.16

6090 -0.64 -170.3 1979 2217 3354 3394 647.3 -10.1 580 6095 0.00 1.05 0.00 0.000 1030 0.000 0.046 1978 1653 3374 3354 3394 0 0 0 0 0 0 14.49 14.45 14.50

6441 -0.64 -170.3 1979 1653 3354 3394 685.5 -10.8 594 6446 0.00 0.82 0.00 0.000 516 0.000 0.055 1978 1167 3373 3354 3393 0 0 0 0 0 0 15.14 14.42 15.16

6674 -0.64 -170.3 1978 1168 3354 3393 709.9 -10.6 640 6679 0.00 0.88 0.00 0.000 1030 0.000 0.044 1977 1644 3373 3354 3392 0 0 0 0 0 0 14.51 14.48 14.54

7007 -0.64 -170.3 1976 1644 3355 3392 746.2 -11.0 650 7012 0.00 0.95 0.00 0.000 260 0.000 0.046 1972 2221 3372 3354 3391 0 0 0 0 0 0 15.13 14.45 15.15

7157 -0.64 -170.3 1972 2224 3356 3390 761.8 -9.9 680 7163 0.00 1.05 0.00 0.000 1030 0.000 0.045 1972 1658 3372 3354 3390 0 0 0 0 0 0 14.45 14.43 14.50

7490 -0.64 -170.3 1972 1657 3354 3390 796.1 -10.2 690 7495 0.00 0.85 0.00 0.000 516 0.000 0.055 1972 1159 3372 3354 3390 0 0 0 0 0 0 15.12 14.40 15.14

7676 -0.64 -170.3 1972 1159 3355 3390 813.4 -9.2 727 7680 0.00 0.90 0.00 0.000 1030 0.000 0.044 1969 1651 3371 3354 3389 0 0 0 0 0 0 14.49 14.45 14.52

8012 -0.64 -170.3 1970 1651 3354 3389 845.4 -9.6 738 8017 0.00 0.93 0.00 0.000 260 0.000 0.045 1965 2218 3371 3354 3388 0 0 0 0 0 0 15.13 14.42 15.15

8163 -0.64 -170.3 1965 2221 3354 3388 859.2 -8.9 768 8169 0.08 1.05 0.00 0.000 3078 0.194 0.050 1989 1662 3371 3354 3388 0 0 0 0 0 0 14.04 14.38 14.16

8496 -0.64 -170.3 1990 1662 3355 3387 885.7 -7.9 778 8501 0.00 0.85 0.00 0.000 548 0.000 0.056 1989 1167 3370 3354 3386 0 0 0 0 0 0 15.12 14.37 15.14

8667 -0.64 -170.3 1990 1167 3354 3387 899.7 -8.1 812 8672 0.00 0.90 0.00 0.000 1030 0.000 0.044 1987 1652 3370 3354 3386 0 0 0 0 0 0 14.48 14.45 14.50

9020 -0.64 -170.3 1987 1652 3354 3386 931.5 -9.2 826 9024 0.00 0.93 0.00 0.000 260 0.000 0.046 1983 2216 3369 3354 3385 0 0 0 0 0 0 15.12 14.40 15.14

9230 -0.64 -170.3 1983 2218 3354 3385 950.4 -8.8 868 9236 0.00 1.05 0.00 0.000 1030 0.000 0.046 1983 1655 3369 3353 3385 0 0 0 0 0 0 14.43 14.39 14.46

9583 -0.64 -170.3 1983 1655 3354 3384 982.5 -9.0 882 9588 0.00 0.82 0.00 0.000 516 0.000 0.055 1983 1172 3368 3354 3383 0 0 0 0 0 0 15.10 14.35 15.14

9670 end dive: TARGET_DEPTH_EXCEEDED

state 9670 begin apogee

9678 -0.12 0.0 1980 1726 3354 3383 990.4 -8.2 900 9836 0.43 0.00 155.57 2.189 10244 0.175 0.000 2107 1725 2681 2861 2501 0 0 0 0 0 0 14.00 13.92 12.74

9837 end apogee: CONTROL_FINISHED_OK

state 9837 begin climb

9841 0.64 170.3 2107 1725 2860 2501 994.7 0.0 904 10010 0.50 0.00 160.15 2.128 11270 0.101 0.000 2282 1785 1983 2227 1740 0 0 0 0 0 0 14.05 14.27 12.64

10357 0.64 170.3 2283 1788 2228 1740 947.6 10.7 936 10362 0.00 1.08 0.00 0.000 516 0.000 0.059 2287 1196 1983 2226 1740 0 0 0 0 0 0 14.86 14.26 14.88

10444 0.64 170.3 2288 1196 2227 1741 938.0 10.9 953 10450 0.00 0.95 0.00 0.000 1030 0.000 0.041 2286 1721 1983 2226 1740 0 0 0 0 0 0 14.58 14.54 14.59

10801 0.64 170.3 2287 1767 2226 1740 898.5 11.0 968 10805 0.00 1.02 0.00 0.000 516 0.000 0.058 2291 1195 1983 2226 1740 0 0 0 0 0 0 14.93 14.47 14.95

10848 0.64 170.3 2291 1195 2227 1740 893.4 11.2 977 10853 0.05 0.93 0.00 0.000 5126 0.213 0.044 2274 1697 1983 2226 1740 0 0 0 0 0 0 14.25 14.54 14.36

11204 0.64 170.3 2274 1751 2227 1740 858.5 9.6 992 11209 0.00 1.00 0.00 0.000 516 0.000 0.058 2278 1193 1983 2226 1740 0 0 0 0 0 0 14.95 14.45 14.97

11255 0.64 170.3 2278 1193 2227 1740 853.7 9.5 1002 11260 0.00 0.93 0.00 0.000 1030 0.000 0.043 2278 1685 1983 2226 1740 0 0 0 0 0 0 14.57 14.54 14.60

11607 0.64 170.3 2278 1704 2227 1739 819.9 9.7 1016 11612 0.00 0.90 0.00 0.000 260 0.000 0.039 2278 2257 1983 2226 1740 0 0 0 0 0 0 14.95 14.52 14.96

11663 0.64 170.3 2278 2258 2227 1741 814.2 10.0 1027 11668 0.00 1.08 0.00 0.000 1030 0.000 0.052 2281 1685 1983 2226 1740 0 0 0 0 0 0 14.41 14.37 14.45

12010 0.64 170.3 2281 1685 2227 1740 779.5 9.9 1040 12014 0.00 0.88 0.00 0.000 516 0.000 0.060 2285 1194 1983 2226 1740 0 0 0 0 0 0 14.95 14.31 14.99

12060 0.64 170.3 2285 1194 2227 1739 774.4 9.8 1050 12065 0.00 0.93 0.00 0.000 1030 0.000 0.041 2285 1693 1983 2226 1740 0 0 0 0 0 0 14.54 14.52 14.57

12411 0.64 170.3 2285 1710 2227 1740 736.9 10.7 1064 12416 0.00 0.88 0.00 0.000 260 0.000 0.040 2285 2254 1983 2226 1740 0 0 0 0 0 0 14.95 14.52 14.96

12453 0.64 170.3 2285 2257 2226 1740 732.6 10.7 1072 12458 0.00 1.08 0.00 0.000 1030 0.000 0.058 2292 1688 1983 2226 1740 0 0 0 0 0 0 14.47 14.42 14.50

12815 0.64 170.3 2290 1688 2227 1740 693.2 11.0 1088 12820 0.00 0.90 0.00 0.000 516 0.000 0.061 2292 1183 1983 2226 1740 0 0 0 0 0 0 14.97 14.39 14.99

12892 0.64 170.3 2293 1184 2226 1740 685.3 10.3 1103 12899 0.08 0.95 0.00 0.000 5126 0.193 0.044 2270 1697 1984 2225 1744 0 0 0 0 0 0 13.59 14.35 13.59

13216 0.67 170.3 2271 1710 2226 1740 657.3 8.6 1112 13221 0.00 1.00 0.00 0.000 580 0.000 0.059 2274 1189 1983 2226 1740 0 0 0 0 0 0 14.93 14.38 14.95

13257 0.70 170.3 2274 1189 2226 1740 653.8 8.7 1120 13262 0.00 0.80 0.00 0.000 1094 0.000 0.042 2274 1621 1982 2225 1740 0 0 0 0 0 0 14.51 14.50 14.55

13619 0.71 170.3 2274 1656 2226 1740 620.0 9.5 1136 13624 0.00 0.98 0.00 0.000 324 0.000 0.037 2274 2233 1982 2225 1740 0 0 0 0 0 0 14.97 14.50 14.97

13705 0.71 170.3 2274 2234 2226 1740 611.4 9.7 1153 13710 0.00 1.05 0.00 0.000 1030 0.000 0.057 2278 1676 1982 2225 1740 0 0 0 0 0 0 14.37 14.33 14.44

14063 0.71 170.3 2278 1675 2226 1741 575.2 10.3 1168 14068 0.00 0.88 0.00 0.000 516 0.000 0.060 2282 1188 1981 2225 1738 0 0 0 0 0 0 14.93 14.30 14.95

14149 0.71 170.3 2282 1188 2226 1739 566.1 10.2 1185 14154 0.00 0.88 0.00 0.000 1030 0.000 0.043 2281 1659 1982 2225 1740 0 0 0 0 0 0 14.51 14.48 14.53

14505 0.71 170.3 2282 1680 2226 1740 530.6 9.9 1200 14510 0.00 0.93 0.00 0.000 260 0.000 0.038 2281 2243 1983 2226 1740 0 0 0 0 0 0 14.95 14.48 14.95

14562 0.71 170.3 2282 2245 2227 1741 525.0 9.9 1211 14567 0.00 1.08 0.00 0.000 1030 0.000 0.057 2285 1674 1982 2225 1740 0 0 0 0 0 0 14.43 14.38 14.46

14908 0.71 170.3 2285 1674 2226 1740 491.1 9.7 1224 14913 0.00 0.88 0.00 0.000 516 0.000 0.060 2289 1178 1982 2225 1740 0 0 0 0 0 0 14.95 14.35 14.95

14955 0.72 170.3 2290 1178 2226 1740 486.7 9.2 1233 14960 0.00 0.90 0.00 0.000 1094 0.000 0.042 2288 1672 1982 2225 1740 0 0 0 0 0 0 14.51 14.47 14.53

15311 0.72 170.3 2289 1689 2226 1740 451.9 10.0 1248 15316 0.00 0.90 0.00 0.000 260 0.000 0.039 2289 2253 1982 2225 1740 0 0 0 0 0 0 14.96 14.48 14.97

15377 0.72 170.3 2289 2253 2226 1741 445.5 9.6 1261 15382 0.00 1.10 0.00 0.000 1030 0.000 0.053 2292 1667 1982 2225 1740 0 0 0 0 0 0 14.44 14.40 14.47

15715 0.72 170.3 2293 1667 2226 1740 411.9 10.1 1272 15720 0.00 0.98 0.00 0.000 260 0.000 0.037 2292 2224 1982 2225 1740 0 0 0 0 0 0 14.90 14.38 14.91

15761 0.72 170.3 2292 2225 2226 1741 407.2 10.1 1281 15766 0.00 1.00 0.00 0.000 1030 0.000 0.054 2296 1684 1982 2225 1740 0 0 0 0 0 0 14.35 14.31 14.39

16117 0.72 170.3 2296 1684 2226 1740 370.1 10.4 1296 16122 0.00 0.90 0.00 0.000 516 0.000 0.060 2300 1191 1982 2225 1740 0 0 0 0 0 0 14.98 14.01 15.00

16188 0.72 170.3 2300 1192 2227 1740 363.0 9.9 1310 16193 0.00 0.90 0.00 0.000 1030 0.000 0.044 2299 1682 1982 2225 1740 0 0 0 0 0 0 14.50 14.46 14.52

16519 0.72 170.3 2300 1704 2226 1741 328.5 10.5 1320 16523 0.00 0.88 0.00 0.000 260 0.000 0.038 2300 2245 1982 2225 1740 0 0 0 0 0 0 14.93 14.48 14.95

16571 0.72 170.3 2300 2246 2226 1741 323.3 10.1 1330 16576 0.00 1.05 0.00 0.000 1030 0.000 0.050 2303 1680 1982 2225 1740 0 0 0 0 0 0 14.42 14.42 14.46

16921 0.72 170.3 2303 1680 2226 1740 287.4 10.4 1344 16926 0.00 0.88 0.00 0.000 516 0.000 0.060 2307 1187 1982 2225 1740 0 0 0 0 0 0 14.95 14.35 14.97

16947 0.72 170.3 2307 1187 2226 1741 284.7 10.6 1349 16953 0.00 0.82 0.00 0.000 1030 0.000 0.042 2306 1635 1982 2225 1740 0 0 0 0 0 0 14.50 14.47 14.52

17285 0.72 170.3 2307 1653 2226 1740 247.8 10.7 1360 17290 0.00 0.98 0.00 0.000 260 0.000 0.036 2307 2249 1982 2225 1740 0 0 0 0 0 0 14.92 14.45 14.94

17403 0.72 170.3 2307 2249 2225 1740 235.6 10.1 1383 17411 0.08 1.05 0.00 0.000 5126 0.214 0.050 2285 1683 1983 2228 1738 0 0 0 0 0 0 14.01 14.36 14.15

17727 0.80 227.6 2286 1683 2226 1741 210.0 7.7 1392 17781 0.00 0.90 49.85 1.195 8740 0.000 0.061 2290 1189 1750 2002 1498 0 0 0 0 0 0 14.90 14.39 13.52

17847 0.88 281.5 2290 1189 2000 1498 200.3 7.8 1416 17898 0.08 0.82 45.17 1.157 11302 0.092 0.039 2332 1694 1532 1783 1281 0 0 0 0 0 0 14.29 14.42 13.47

18250 0.88 281.5 2338 1695 1774 1281 144.6 14.4 1440 18255 0.00 0.93 0.00 0.000 516 0.000 0.058 2337 1185 1526 1774 1278 0 0 0 0 0 0 14.85 14.22 14.86

18296 0.88 281.5 2340 1184 1773 1281 138.1 14.0 1449 18302 0.00 0.80 0.00 0.000 1030 0.000 0.041 2340 1637 1526 1771 1281 0 0 0 0 0 0 14.45 14.44 14.45

18634 0.88 281.5 2341 1666 1770 1281 89.4 14.5 1465 18639 0.00 0.93 0.00 0.000 260 0.000 0.037 2340 2241 1525 1769 1281 0 0 0 0 0 0 14.90 14.33 14.92

18655 0.88 281.5 2340 2244 1771 1282 86.2 13.4 1469 18661 0.08 1.00 0.00 0.000 5126 0.230 0.057 2322 1683 1525 1770 1280 0 0 0 0 0 0 13.93 14.23 14.08

19000 0.88 281.5 2322 1683 1770 1281 44.1 11.6 1489 19006 0.00 0.90 0.00 0.000 516 0.000 0.062 2326 1189 1525 1769 1281 0 0 0 0 0 0 14.83 14.21 14.83

19125 0.88 281.5 2326 1190 1767 1282 30.9 10.3 1513 19131 0.00 0.75 0.00 0.000 1030 0.000 0.041 2325 1655 1523 1766 1281 0 0 0 0 0 0 14.34 14.32 14.35

19364 end climb: SURFACE_DEPTH_REACHED

state 19364 begin surface coast

19384 end surface coast: CONTROL_FINISHED_OK

state 19384 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	577	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	607.0
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	45	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	65	XPDR_VALID	5

GPS1	210918,062802,5749.1636,-2354.4690,40,2.0,45,-15.4,0.3,294.1,8,6.0	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	1.21	MHEAD_RNG_PITCHd_Wd	164.0,35803,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-74.2	D_GRID	990
GPS2	210918,063915,5749.1128,-2354.5967,12,1.5,16,-15.4,0.4,332.5,7,7.6

FINISH	0.6,1.026890	_10V_AH	12.27,188.812
SM_CCo	19405,53.10,0.106,0,0,1252,350.04	FG_AHR_24Vo	0.000
SM_GC	1.23,6.32,0.00,53.10,0.058,0.000,0.106,55,1666,1252,-9.42,-0.96,350.04,0,0,0,0,0,0,14.42,14.87,14.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5752.23,-2352.82,210918,005633	MEM	333644
TT8_MAMPS	0.040446,0.836633	DATA_FILE_SIZE	53269,1529
HUMID	42.32	CAP_FILE_SIZE	169887,0
INTERNAL_PRESSURE	7.96906	CFSIZE	260165632,178286592
TCM_TEMP	19.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	4	INTR	0,19404.03,0x2146b0,7,24
SC_FREEKB	3684640	CURRENT	0.191,259.34,1
CP_FREE	15637184512.000000	GPS	210918,120521,5747.580,-2356.919,29,1.1,46,-15.4,0.6,204.3,9,5.6
_24V_AH	12.64,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	400	87.15	nil	0	0	0.00
Roll_motor	76	61	60.00	nil	0	0	0.00
VBD_pump_during_apogee	410	2188	11363.29	nil	0	0	0.00
VBD_pump_during_surface	53	105	70.86	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	9584	8	992.51
Iridium_during_xfer	368	171	797.68	TMICL	0	0	0.00
Transponder_ping	1	420	5.31	NCP	9564	25	3022.22
GUMSTIX_24V	0	0	0.00
GPS	19	20	4.79
TT8	0	0	0.00
LPSleep	15533	2	417.41
TT8_Active	668	8	71.09
TT8_Sampling	3308	26	1081.87
TT8_CF8	609	31	232.84
TT8_Kalman	0	0	0.00
Analog_circuits	2253	10	298.66
GPS_charging	0	0	0.00
Compass	2173	6	179.73
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	19	1679	1417	1087	0.0	0.0	0	120	0.00	0.00	-97.88	0.006	16390	0.000	0.000	18	1636	3377	3316	3438	0	0	0	0	0	0	14.78	12.65	14.76
124	-0.64	-170.3	19	1636	3317	3438	4.0	-3.1	5	138	9.40	0.95	0.00	0.000	2852	0.401	0.034	1975	2253	3377	3322	3433	0	0	0	0	0	0	13.91	14.33	14.17
335	-0.64	-170.3	1974	2256	3346	3407	36.8	-12.6	47	340	0.00	1.00	0.00	0.000	1030	0.000	0.049	1974	1704	3376	3346	3406	0	0	0	0	0	0	14.48	14.45	14.52
666	-0.64	-170.3	1974	1704	3348	3405	76.8	-10.9	65	670	0.00	0.85	0.00	0.000	260	0.000	0.037	1972	2203	3375	3347	3404	0	0	0	0	0	0	15.09	14.56	15.10
897	-0.64	-170.3	1972	2205	3351	3404	98.8	-9.8	111	901	0.00	0.95	0.00	0.000	1030	0.000	0.046	1971	1674	3376	3349	3403	0	0	0	0	0	0	14.52	14.49	14.57
1247	-0.64	-170.3	1972	1674	3351	3405	137.9	-11.3	122	1252	0.00	0.88	0.00	0.000	516	0.000	0.054	1972	1164	3376	3351	3402	0	0	0	0	0	0	15.13	14.49	15.14
1479	-0.64	-170.3	1972	1164	3352	3403	164.1	-11.3	168	1484	0.00	0.90	0.00	0.000	1030	0.000	0.044	1970	1657	3376	3350	3402	0	0	0	0	0	0	14.57	14.54	14.59
1810	-0.64	-170.3	1970	1657	3353	3403	203.5	-12.1	178	1815	0.00	0.93	0.00	0.000	260	0.000	0.044	1965	2225	3376	3351	3402	0	0	0	0	0	0	15.14	14.51	15.15
1922	-0.64	-170.3	1966	2227	3351	3401	216.2	-11.2	200	1928	0.08	1.02	0.00	0.000	3078	0.205	0.045	1989	1669	3376	3351	3401	0	0	0	0	0	0	14.14	14.49	14.26
2254	-0.64	-170.3	1990	1668	3354	3402	252.5	-11.2	210	2259	0.00	0.85	0.00	0.000	516	0.000	0.053	1989	1168	3376	3352	3401	0	0	0	0	0	0	15.14	14.47	15.15
2456	-0.64	-170.3	1990	1168	3353	3401	273.9	-10.1	250	2461	0.00	0.90	0.00	0.000	1030	0.000	0.043	1988	1657	3376	3352	3401	0	0	0	0	0	0	14.57	14.54	14.59
2817	-0.64	-170.3	1988	1656	3353	3401	312.7	-10.7	266	2821	0.00	0.93	0.00	0.000	260	0.000	0.044	1983	2225	3376	3352	3401	0	0	0	0	0	0	15.14	14.50	15.16
2961	-0.64	-170.3	1983	2228	3353	3401	327.2	-10.1	294	2966	0.00	1.02	0.00	0.000	1030	0.000	0.044	1982	1669	3376	3352	3400	0	0	0	0	0	0	14.54	14.50	14.56
3302	-0.64	-170.3	1983	1668	3353	3400	364.6	-10.9	306	3306	0.00	0.85	0.00	0.000	516	0.000	0.054	1982	1169	3376	3353	3399	0	0	0	0	0	0	15.15	14.47	15.16
3518	-0.64	-170.3	1983	1169	3354	3400	387.2	-10.0	349	3522	0.00	0.90	0.00	0.000	1030	0.000	0.044	1980	1661	3376	3353	3399	0	0	0	0	0	0	14.57	14.53	14.59
3863	-0.64	-170.3	1980	1661	3354	3400	423.2	-10.3	362	3868	0.00	0.90	0.00	0.000	260	0.000	0.044	1976	2219	3376	3353	3399	0	0	0	0	0	0	15.14	14.50	15.16
4003	-0.64	-170.3	1976	2220	3355	3400	436.2	-9.2	389	4008	0.00	1.02	0.00	0.000	1030	0.000	0.046	1975	1668	3376	3354	3399	0	0	0	0	0	0	14.52	14.47	14.54
4349	-0.64	-170.3	1975	1667	3354	3399	470.0	-9.6	402	4354	0.00	0.85	0.00	0.000	516	0.000	0.054	1975	1169	3376	3353	3399	0	0	0	0	0	0	15.15	14.45	15.16
4516	-0.64	-170.3	1975	1169	3354	3400	485.7	-9.1	435	4520	0.00	0.88	0.00	0.000	1030	0.000	0.044	1973	1644	3376	3354	3398	0	0	0	0	0	0	14.54	14.51	14.55
4871	-0.64	-170.3	1974	1644	3355	3398	521.7	-10.4	450	4876	0.00	0.95	0.00	0.000	260	0.000	0.045	1969	2224	3375	3354	3397	0	0	0	0	0	0	15.15	14.48	15.16
5011	-0.64	-170.3	1969	2227	3355	3398	535.6	-10.2	477	5016	0.05	1.05	0.00	0.000	3078	0.217	0.047	1985	1662	3375	3353	3397	0	0	0	0	0	0	14.14	14.45	14.25
5357	-0.64	-170.3	1987	1661	3355	3397	571.5	-10.4	490	5361	0.00	0.85	0.00	0.000	516	0.000	0.054	1985	1163	3375	3354	3396	0	0	0	0	0	0	15.14	14.44	15.16
5578	-0.64	-170.3	1985	1162	3354	3397	594.3	-10.2	534	5583	0.00	0.88	0.00	0.000	1030	0.000	0.044	1983	1638	3375	3354	3396	0	0	0	0	0	0	14.53	14.52	14.55
5919	-0.64	-170.3	1983	1638	3354	3395	630.0	-10.4	546	5923	0.00	0.95	0.00	0.000	260	0.000	0.045	1979	2214	3374	3354	3394	0	0	0	0	0	0	15.14	14.46	15.16
6090	-0.64	-170.3	1979	2217	3354	3394	647.3	-10.1	580	6095	0.00	1.05	0.00	0.000	1030	0.000	0.046	1978	1653	3374	3354	3394	0	0	0	0	0	0	14.49	14.45	14.50
6441	-0.64	-170.3	1979	1653	3354	3394	685.5	-10.8	594	6446	0.00	0.82	0.00	0.000	516	0.000	0.055	1978	1167	3373	3354	3393	0	0	0	0	0	0	15.14	14.42	15.16
6674	-0.64	-170.3	1978	1168	3354	3393	709.9	-10.6	640	6679	0.00	0.88	0.00	0.000	1030	0.000	0.044	1977	1644	3373	3354	3392	0	0	0	0	0	0	14.51	14.48	14.54
7007	-0.64	-170.3	1976	1644	3355	3392	746.2	-11.0	650	7012	0.00	0.95	0.00	0.000	260	0.000	0.046	1972	2221	3372	3354	3391	0	0	0	0	0	0	15.13	14.45	15.15
7157	-0.64	-170.3	1972	2224	3356	3390	761.8	-9.9	680	7163	0.00	1.05	0.00	0.000	1030	0.000	0.045	1972	1658	3372	3354	3390	0	0	0	0	0	0	14.45	14.43	14.50
7490	-0.64	-170.3	1972	1657	3354	3390	796.1	-10.2	690	7495	0.00	0.85	0.00	0.000	516	0.000	0.055	1972	1159	3372	3354	3390	0	0	0	0	0	0	15.12	14.40	15.14
7676	-0.64	-170.3	1972	1159	3355	3390	813.4	-9.2	727	7680	0.00	0.90	0.00	0.000	1030	0.000	0.044	1969	1651	3371	3354	3389	0	0	0	0	0	0	14.49	14.45	14.52
8012	-0.64	-170.3	1970	1651	3354	3389	845.4	-9.6	738	8017	0.00	0.93	0.00	0.000	260	0.000	0.045	1965	2218	3371	3354	3388	0	0	0	0	0	0	15.13	14.42	15.15
8163	-0.64	-170.3	1965	2221	3354	3388	859.2	-8.9	768	8169	0.08	1.05	0.00	0.000	3078	0.194	0.050	1989	1662	3371	3354	3388	0	0	0	0	0	0	14.04	14.38	14.16
8496	-0.64	-170.3	1990	1662	3355	3387	885.7	-7.9	778	8501	0.00	0.85	0.00	0.000	548	0.000	0.056	1989	1167	3370	3354	3386	0	0	0	0	0	0	15.12	14.37	15.14
8667	-0.64	-170.3	1990	1167	3354	3387	899.7	-8.1	812	8672	0.00	0.90	0.00	0.000	1030	0.000	0.044	1987	1652	3370	3354	3386	0	0	0	0	0	0	14.48	14.45	14.50
9020	-0.64	-170.3	1987	1652	3354	3386	931.5	-9.2	826	9024	0.00	0.93	0.00	0.000	260	0.000	0.046	1983	2216	3369	3354	3385	0	0	0	0	0	0	15.12	14.40	15.14
9230	-0.64	-170.3	1983	2218	3354	3385	950.4	-8.8	868	9236	0.00	1.05	0.00	0.000	1030	0.000	0.046	1983	1655	3369	3353	3385	0	0	0	0	0	0	14.43	14.39	14.46
9583	-0.64	-170.3	1983	1655	3354	3384	982.5	-9.0	882	9588	0.00	0.82	0.00	0.000	516	0.000	0.055	1983	1172	3368	3354	3383	0	0	0	0	0	0	15.10	14.35	15.14
9670	end dive: TARGET_DEPTH_EXCEEDED
state	9670	begin apogee
9678	-0.12	0.0	1980	1726	3354	3383	990.4	-8.2	900	9836	0.43	0.00	155.57	2.189	10244	0.175	0.000	2107	1725	2681	2861	2501	0	0	0	0	0	0	14.00	13.92	12.74
9837	end apogee: CONTROL_FINISHED_OK
state	9837	begin climb
9841	0.64	170.3	2107	1725	2860	2501	994.7	0.0	904	10010	0.50	0.00	160.15	2.128	11270	0.101	0.000	2282	1785	1983	2227	1740	0	0	0	0	0	0	14.05	14.27	12.64
10357	0.64	170.3	2283	1788	2228	1740	947.6	10.7	936	10362	0.00	1.08	0.00	0.000	516	0.000	0.059	2287	1196	1983	2226	1740	0	0	0	0	0	0	14.86	14.26	14.88
10444	0.64	170.3	2288	1196	2227	1741	938.0	10.9	953	10450	0.00	0.95	0.00	0.000	1030	0.000	0.041	2286	1721	1983	2226	1740	0	0	0	0	0	0	14.58	14.54	14.59
10801	0.64	170.3	2287	1767	2226	1740	898.5	11.0	968	10805	0.00	1.02	0.00	0.000	516	0.000	0.058	2291	1195	1983	2226	1740	0	0	0	0	0	0	14.93	14.47	14.95
10848	0.64	170.3	2291	1195	2227	1740	893.4	11.2	977	10853	0.05	0.93	0.00	0.000	5126	0.213	0.044	2274	1697	1983	2226	1740	0	0	0	0	0	0	14.25	14.54	14.36
11204	0.64	170.3	2274	1751	2227	1740	858.5	9.6	992	11209	0.00	1.00	0.00	0.000	516	0.000	0.058	2278	1193	1983	2226	1740	0	0	0	0	0	0	14.95	14.45	14.97
11255	0.64	170.3	2278	1193	2227	1740	853.7	9.5	1002	11260	0.00	0.93	0.00	0.000	1030	0.000	0.043	2278	1685	1983	2226	1740	0	0	0	0	0	0	14.57	14.54	14.60
11607	0.64	170.3	2278	1704	2227	1739	819.9	9.7	1016	11612	0.00	0.90	0.00	0.000	260	0.000	0.039	2278	2257	1983	2226	1740	0	0	0	0	0	0	14.95	14.52	14.96
11663	0.64	170.3	2278	2258	2227	1741	814.2	10.0	1027	11668	0.00	1.08	0.00	0.000	1030	0.000	0.052	2281	1685	1983	2226	1740	0	0	0	0	0	0	14.41	14.37	14.45
12010	0.64	170.3	2281	1685	2227	1740	779.5	9.9	1040	12014	0.00	0.88	0.00	0.000	516	0.000	0.060	2285	1194	1983	2226	1740	0	0	0	0	0	0	14.95	14.31	14.99
12060	0.64	170.3	2285	1194	2227	1739	774.4	9.8	1050	12065	0.00	0.93	0.00	0.000	1030	0.000	0.041	2285	1693	1983	2226	1740	0	0	0	0	0	0	14.54	14.52	14.57
12411	0.64	170.3	2285	1710	2227	1740	736.9	10.7	1064	12416	0.00	0.88	0.00	0.000	260	0.000	0.040	2285	2254	1983	2226	1740	0	0	0	0	0	0	14.95	14.52	14.96
12453	0.64	170.3	2285	2257	2226	1740	732.6	10.7	1072	12458	0.00	1.08	0.00	0.000	1030	0.000	0.058	2292	1688	1983	2226	1740	0	0	0	0	0	0	14.47	14.42	14.50
12815	0.64	170.3	2290	1688	2227	1740	693.2	11.0	1088	12820	0.00	0.90	0.00	0.000	516	0.000	0.061	2292	1183	1983	2226	1740	0	0	0	0	0	0	14.97	14.39	14.99
12892	0.64	170.3	2293	1184	2226	1740	685.3	10.3	1103	12899	0.08	0.95	0.00	0.000	5126	0.193	0.044	2270	1697	1984	2225	1744	0	0	0	0	0	0	13.59	14.35	13.59
13216	0.67	170.3	2271	1710	2226	1740	657.3	8.6	1112	13221	0.00	1.00	0.00	0.000	580	0.000	0.059	2274	1189	1983	2226	1740	0	0	0	0	0	0	14.93	14.38	14.95
13257	0.70	170.3	2274	1189	2226	1740	653.8	8.7	1120	13262	0.00	0.80	0.00	0.000	1094	0.000	0.042	2274	1621	1982	2225	1740	0	0	0	0	0	0	14.51	14.50	14.55
13619	0.71	170.3	2274	1656	2226	1740	620.0	9.5	1136	13624	0.00	0.98	0.00	0.000	324	0.000	0.037	2274	2233	1982	2225	1740	0	0	0	0	0	0	14.97	14.50	14.97
13705	0.71	170.3	2274	2234	2226	1740	611.4	9.7	1153	13710	0.00	1.05	0.00	0.000	1030	0.000	0.057	2278	1676	1982	2225	1740	0	0	0	0	0	0	14.37	14.33	14.44
14063	0.71	170.3	2278	1675	2226	1741	575.2	10.3	1168	14068	0.00	0.88	0.00	0.000	516	0.000	0.060	2282	1188	1981	2225	1738	0	0	0	0	0	0	14.93	14.30	14.95
14149	0.71	170.3	2282	1188	2226	1739	566.1	10.2	1185	14154	0.00	0.88	0.00	0.000	1030	0.000	0.043	2281	1659	1982	2225	1740	0	0	0	0	0	0	14.51	14.48	14.53
14505	0.71	170.3	2282	1680	2226	1740	530.6	9.9	1200	14510	0.00	0.93	0.00	0.000	260	0.000	0.038	2281	2243	1983	2226	1740	0	0	0	0	0	0	14.95	14.48	14.95
14562	0.71	170.3	2282	2245	2227	1741	525.0	9.9	1211	14567	0.00	1.08	0.00	0.000	1030	0.000	0.057	2285	1674	1982	2225	1740	0	0	0	0	0	0	14.43	14.38	14.46
14908	0.71	170.3	2285	1674	2226	1740	491.1	9.7	1224	14913	0.00	0.88	0.00	0.000	516	0.000	0.060	2289	1178	1982	2225	1740	0	0	0	0	0	0	14.95	14.35	14.95
14955	0.72	170.3	2290	1178	2226	1740	486.7	9.2	1233	14960	0.00	0.90	0.00	0.000	1094	0.000	0.042	2288	1672	1982	2225	1740	0	0	0	0	0	0	14.51	14.47	14.53
15311	0.72	170.3	2289	1689	2226	1740	451.9	10.0	1248	15316	0.00	0.90	0.00	0.000	260	0.000	0.039	2289	2253	1982	2225	1740	0	0	0	0	0	0	14.96	14.48	14.97
15377	0.72	170.3	2289	2253	2226	1741	445.5	9.6	1261	15382	0.00	1.10	0.00	0.000	1030	0.000	0.053	2292	1667	1982	2225	1740	0	0	0	0	0	0	14.44	14.40	14.47
15715	0.72	170.3	2293	1667	2226	1740	411.9	10.1	1272	15720	0.00	0.98	0.00	0.000	260	0.000	0.037	2292	2224	1982	2225	1740	0	0	0	0	0	0	14.90	14.38	14.91
15761	0.72	170.3	2292	2225	2226	1741	407.2	10.1	1281	15766	0.00	1.00	0.00	0.000	1030	0.000	0.054	2296	1684	1982	2225	1740	0	0	0	0	0	0	14.35	14.31	14.39
16117	0.72	170.3	2296	1684	2226	1740	370.1	10.4	1296	16122	0.00	0.90	0.00	0.000	516	0.000	0.060	2300	1191	1982	2225	1740	0	0	0	0	0	0	14.98	14.01	15.00
16188	0.72	170.3	2300	1192	2227	1740	363.0	9.9	1310	16193	0.00	0.90	0.00	0.000	1030	0.000	0.044	2299	1682	1982	2225	1740	0	0	0	0	0	0	14.50	14.46	14.52
16519	0.72	170.3	2300	1704	2226	1741	328.5	10.5	1320	16523	0.00	0.88	0.00	0.000	260	0.000	0.038	2300	2245	1982	2225	1740	0	0	0	0	0	0	14.93	14.48	14.95
16571	0.72	170.3	2300	2246	2226	1741	323.3	10.1	1330	16576	0.00	1.05	0.00	0.000	1030	0.000	0.050	2303	1680	1982	2225	1740	0	0	0	0	0	0	14.42	14.42	14.46
16921	0.72	170.3	2303	1680	2226	1740	287.4	10.4	1344	16926	0.00	0.88	0.00	0.000	516	0.000	0.060	2307	1187	1982	2225	1740	0	0	0	0	0	0	14.95	14.35	14.97
16947	0.72	170.3	2307	1187	2226	1741	284.7	10.6	1349	16953	0.00	0.82	0.00	0.000	1030	0.000	0.042	2306	1635	1982	2225	1740	0	0	0	0	0	0	14.50	14.47	14.52
17285	0.72	170.3	2307	1653	2226	1740	247.8	10.7	1360	17290	0.00	0.98	0.00	0.000	260	0.000	0.036	2307	2249	1982	2225	1740	0	0	0	0	0	0	14.92	14.45	14.94
17403	0.72	170.3	2307	2249	2225	1740	235.6	10.1	1383	17411	0.08	1.05	0.00	0.000	5126	0.214	0.050	2285	1683	1983	2228	1738	0	0	0	0	0	0	14.01	14.36	14.15
17727	0.80	227.6	2286	1683	2226	1741	210.0	7.7	1392	17781	0.00	0.90	49.85	1.195	8740	0.000	0.061	2290	1189	1750	2002	1498	0	0	0	0	0	0	14.90	14.39	13.52
17847	0.88	281.5	2290	1189	2000	1498	200.3	7.8	1416	17898	0.08	0.82	45.17	1.157	11302	0.092	0.039	2332	1694	1532	1783	1281	0	0	0	0	0	0	14.29	14.42	13.47
18250	0.88	281.5	2338	1695	1774	1281	144.6	14.4	1440	18255	0.00	0.93	0.00	0.000	516	0.000	0.058	2337	1185	1526	1774	1278	0	0	0	0	0	0	14.85	14.22	14.86
18296	0.88	281.5	2340	1184	1773	1281	138.1	14.0	1449	18302	0.00	0.80	0.00	0.000	1030	0.000	0.041	2340	1637	1526	1771	1281	0	0	0	0	0	0	14.45	14.44	14.45
18634	0.88	281.5	2341	1666	1770	1281	89.4	14.5	1465	18639	0.00	0.93	0.00	0.000	260	0.000	0.037	2340	2241	1525	1769	1281	0	0	0	0	0	0	14.90	14.33	14.92
18655	0.88	281.5	2340	2244	1771	1282	86.2	13.4	1469	18661	0.08	1.00	0.00	0.000	5126	0.230	0.057	2322	1683	1525	1770	1280	0	0	0	0	0	0	13.93	14.23	14.08
19000	0.88	281.5	2322	1683	1770	1281	44.1	11.6	1489	19006	0.00	0.90	0.00	0.000	516	0.000	0.062	2326	1189	1525	1769	1281	0	0	0	0	0	0	14.83	14.21	14.83
19125	0.88	281.5	2326	1190	1767	1282	30.9	10.3	1513	19131	0.00	0.75	0.00	0.000	1030	0.000	0.041	2325	1655	1523	1766	1281	0	0	0	0	0	0	14.34	14.32	14.35
19364	end climb: SURFACE_DEPTH_REACHED
state	19364	begin surface coast
19384	end surface coast: CONTROL_FINISHED_OK
state	19384	begin surface