Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 607 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_VALID 5

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 607 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 1 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0

STOP_T 0 SM_CC 350 VBD_MIN 550 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 2681 DEVICE1 -1

D_TGT 990 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1030 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2.5 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 5

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 71

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 134

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 2 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 330 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 400 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 500 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM -6.8056469e+38 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 2 SEABIRD_T_G 0.0043545738

T_LOITER 0 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0.5 SEABIRD_T_H 0.00062548259

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

USE_BATHY 0 PITCH_MIN 75 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_ICE 0 PITCH_MAX 3750 AH0_10V 350 SEABIRD_C_G -9.9945526

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2130 MINV_24V 11 SEABIRD_C_H 1.1183146

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.0026370776

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 175 PITCH_GAIN 40 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

MASS 55793 PITCH_ADJ_DBAND 0 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 180 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 3850 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 40 ROLL_DEG 15 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 1700 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1720 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_B 0.0099999998 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_STARTS 667.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 31 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 16 ALTIM_SENSITIVITY 4

AD7714Ch0Gain 1 D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

AH0_10V 350 D_PITCH 0 PHONE_DEVICE 49 SIM_W 0

AH0_24V 0 D_SAFE 0 PHONE_SUPPLY -2 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAX 3750 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0014 TM_NDIVE 1.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_DBAND 0.5 TM_PROFILE 3.0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_GAIN 2 TM_RECORDABOVE 2000.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PROTOCOL 9 T_ABORT 1440

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_BOOST 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_DIVE 330

COMPASS2_DEVICE 149 ID 124 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_GPS 5

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 400

CP_NDIVE 1.0 LOGGERDEVICE1 53 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_PROFILE 2.0 LOGGERDEVICE2 71 RELAUNCH 1 T_RSLEEP 2

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 RHO 1.0275 T_TURN 225

CP_STARTS 667.0 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT -5

CP_UPLOADMAX 100000.0 LOGGERS 5 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

CP_XMITPROFILE 2.0 LOITER_DBDW 0 ROLL_AD_RATE 250 UNCOM_BLEED 50

C_PITCH 2130 LOITER_D_BOTTOM -6.8056469e+38 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1720 LOITER_D_TOP 500 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1700 LOITER_N_DIVE 0 ROLL_MAX 3850 USE_ICE 0

C_VBD 2681 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 55793 ROLL_MIN 180 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 R_PORT_OVSHOOT 31 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 16 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 175 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE5 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DIVE 607 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

D_ABORT 1030 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 2

D_BOOST 2.5 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

Pre-dive calculations and measurements:

GPS1 280918,100952,5813.1162,-2402.8538,121,1.0,121,-15.7,0.0,0.0,10,6.7 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.31 MHEAD_RNG_PITCHd_Wd 41.4,536867,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -62.7 D_GRID 990

GPS2 280918,102516,5813.1914,-2402.7815,10,1.0,15,-15.7,0.3,43.4,9,5.7

Post-dive calculations and measurements:

FINISH 1.9,1.026948 CP_POWER1 0.000000

SM_CCo 19637,140.30,0.106,0,0,1255,350.04 _24V_AH 12.70,0.000

SM_GC 1.22,6.45,0.00,140.30,0.071,0.000,0.106,64,1685,1255,-9.43,-0.42,350.04,0,0,0,0,0,0,14.15,14.86,14.27 _10V_AH 12.31,198.733

IRIDIUM_FIX 5810.91,-2402.31,280918,041717 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.780458 FG_AHR_10Vo 0.000

HUMID 41.25 MEM 333916

INTERNAL_PRESSURE 7.98859 DATA_FILE_SIZE 50015,1417

TCM_TEMP 19.10 CAP_FILE_SIZE 165502,0

XPDR_PINGS 7 CFSIZE 260165632,172994560

SC_FREEKB 3668992 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

CP_FREE 15617884160.000000 CURRENT 0.078,335.14,1

CP_POWER 293.060000 GPS 280918,155803,5815.118,-2402.179,67,1.6,73,-15.7,0.7,71.8,6,7.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 400 87.78 nil 0 0 0.00

Roll_motor 75 179 171.46 nil 0 0 0.00

VBD_pump_during_apogee 313 2193 8735.12 nil 0 0 0.00

VBD_pump_during_surface 140 105 188.11 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 19661 8 2235.27

Iridium_during_xfer 560 179 1279.70 TMICL 0 0 0.00

Transponder_ping 1 420 9.33 NCP 9666 25 3068.95

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.42

TT8 3009 8 321.20

LPSleep 13601 2 366.68

TT8_Active 668 8 71.36

TT8_Sampling 2760 26 905.65

TT8_CF8 679 31 260.29

TT8_Kalman 0 0 0.00

Analog_circuits 2404 10 319.62

GPS_charging 0 0 0.00

Compass 2022 6 167.83

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

21 -0.64 -170.3 13 1673 1429 1077 0.0 0.0 0 114 0.00 0.00 -90.82 0.006 16390 0.000 0.000 13 1730 3377 3316 3439 0 0 0 0 0 0 14.79 12.74 14.69

118 -0.64 -170.3 13 1730 3316 3439 3.1 -2.1 4 134 9.45 0.95 0.00 0.000 2820 0.400 0.038 1986 1139 3377 3326 3429 0 0 0 0 0 0 13.81 14.22 14.08

143 -0.64 -170.3 1985 1139 3333 3422 14.0 -26.9 8 148 0.00 1.10 0.00 0.000 1030 0.000 0.037 1983 1741 3377 3334 3420 0 0 0 0 0 0 14.42 14.40 14.44

489 -0.64 -170.3 1980 1762 3346 3405 59.3 -12.1 28 494 0.00 0.75 0.00 0.000 260 0.000 0.039 1978 2256 3376 3346 3407 0 0 0 0 0 0 14.80 14.40 14.81

563 -0.64 -170.3 1978 2257 3347 3405 67.7 -10.8 42 569 0.00 1.08 0.00 0.000 1030 0.000 0.045 1978 1679 3376 3348 3405 0 0 0 0 0 0 14.31 14.27 14.32

920 -0.64 -170.3 1978 1676 3348 3404 111.0 -11.4 59 925 0.00 0.88 0.00 0.000 516 0.000 0.054 1978 1162 3376 3348 3405 0 0 0 0 0 0 14.85 14.34 14.88

1155 -0.64 -170.3 1978 1162 3349 3404 136.8 -11.0 105 1161 0.00 0.93 0.00 0.000 1030 0.000 0.044 1976 1665 3377 3349 3405 0 0 0 0 0 0 14.38 14.35 14.40

1492 -0.64 -170.3 1976 1665 3349 3404 176.6 -12.0 115 1497 0.00 0.90 0.00 0.000 260 0.000 0.045 1972 2219 3376 3349 3404 0 0 0 0 0 0 14.90 14.26 14.92

1611 -0.64 -170.3 1971 2221 3351 3402 190.4 -11.2 138 1618 0.00 1.02 0.00 0.000 1030 0.000 0.046 1971 1674 3376 3352 3401 0 0 0 0 0 0 14.34 14.31 14.35

1939 -0.64 -170.3 1971 1673 3351 3401 230.2 -12.4 147 1944 0.00 0.85 0.00 0.000 516 0.000 0.055 1971 1169 3376 3351 3401 0 0 0 0 0 0 14.91 14.35 14.93

2155 -0.64 -170.3 1971 1169 3351 3401 256.1 -11.5 189 2161 0.00 0.93 0.00 0.000 1030 0.000 0.044 1969 1676 3376 3351 3402 0 0 0 0 0 0 14.49 14.47 14.52

2512 -0.64 -170.3 1969 1675 3352 3401 299.7 -12.5 203 2518 0.00 0.88 0.00 0.000 260 0.000 0.047 1965 2217 3376 3352 3401 0 0 0 0 0 0 15.00 14.43 15.00

2666 -0.64 -170.3 1964 2219 3352 3400 318.7 -12.2 233 2672 0.08 1.00 0.00 0.000 3078 0.202 0.047 1989 1677 3376 3352 3400 0 0 0 0 0 0 14.08 14.42 14.19

3003 -0.64 -170.3 1989 1676 3352 3400 354.4 -10.4 243 3009 0.00 0.85 0.00 0.000 516 0.000 0.054 1989 1173 3376 3352 3400 0 0 0 0 0 0 15.02 14.40 15.02

3194 -0.64 -170.3 1989 1173 3352 3400 372.8 -9.4 280 3200 0.00 0.90 0.00 0.000 1030 0.000 0.044 1987 1663 3376 3352 3400 0 0 0 0 0 0 14.53 14.47 14.52

3536 -0.64 -170.3 1987 1663 3352 3399 405.1 -9.6 291 3541 0.00 0.90 0.00 0.000 260 0.000 0.046 1982 2222 3375 3352 3399 0 0 0 0 0 0 15.01 14.43 15.02

3702 -0.64 -170.3 1982 2224 3352 3399 420.7 -9.0 323 3707 0.00 1.00 0.00 0.000 1030 0.000 0.047 1982 1682 3376 3353 3400 0 0 0 0 0 0 14.45 14.42 14.49

4068 -0.64 -170.3 1982 1682 3353 3398 456.5 -9.7 339 4074 0.00 0.88 0.00 0.000 516 0.000 0.055 1982 1164 3377 3355 3399 0 0 0 0 0 0 15.00 14.38 15.02

4306 -0.64 -170.3 1981 1164 3353 3399 478.2 -9.0 385 4311 0.00 0.93 0.00 0.000 1030 0.000 0.045 1979 1666 3375 3352 3398 0 0 0 0 0 0 14.48 14.45 14.52

4641 -0.64 -170.3 1979 1666 3353 3398 512.2 -10.6 395 4647 0.00 0.90 0.00 0.000 260 0.000 0.046 1975 2223 3375 3353 3397 0 0 0 0 0 0 15.02 14.42 15.03

4801 -0.64 -170.3 1975 2226 3353 3396 528.5 -9.6 426 4809 0.00 1.02 0.00 0.000 1030 0.000 0.047 1974 1676 3374 3352 3397 0 0 0 0 0 0 14.45 14.40 14.47

5129 -0.64 -170.3 1974 1675 3353 3396 565.4 -11.5 435 5135 0.00 0.88 0.00 0.000 516 0.000 0.056 1974 1158 3374 3352 3396 0 0 0 0 0 0 15.00 14.37 15.02

5317 -0.64 -170.3 1974 1157 3353 3396 585.5 -10.3 471 5322 0.00 0.95 0.00 0.000 1030 0.000 0.044 1972 1673 3374 3353 3396 0 0 0 0 0 0 14.46 14.44 14.50

5664 -0.64 -170.3 1972 1673 3352 3395 621.2 -10.2 483 5669 0.00 0.90 0.00 0.000 260 0.000 0.047 1968 2228 3373 3353 3394 0 0 0 0 0 0 15.00 14.38 15.02

5830 -0.64 -170.3 1968 2230 3353 3394 637.1 -8.9 515 5836 0.05 1.02 0.00 0.000 3078 0.207 0.047 1985 1682 3373 3353 3394 0 0 0 0 0 0 14.00 14.31 14.10

6197 -0.64 -170.3 1985 1682 3353 3393 670.3 -9.4 531 6203 0.00 0.88 0.00 0.000 516 0.000 0.057 1985 1172 3373 3353 3393 0 0 0 0 0 0 14.99 14.35 15.01

6436 -0.64 -170.3 1985 1172 3353 3392 692.0 -8.7 577 6442 0.00 0.93 0.00 0.000 1030 0.000 0.044 1983 1675 3372 3353 3392 0 0 0 0 0 0 14.45 14.41 14.47

6771 -0.64 -170.3 1983 1676 3352 3391 721.8 -8.9 587 6777 0.00 0.88 0.00 0.000 260 0.000 0.046 1979 2217 3372 3353 3391 0 0 0 0 0 0 15.01 14.38 15.02

6865 -0.64 -170.3 1978 2220 3353 3391 729.9 -8.1 605 6871 0.00 1.02 0.00 0.000 1030 0.000 0.047 1978 1673 3371 3353 3390 0 0 0 0 0 0 14.40 14.36 14.43

7222 -0.64 -170.3 1978 1672 3353 3389 761.6 -8.9 619 7227 0.00 0.85 0.00 0.000 516 0.000 0.056 1978 1169 3371 3353 3390 0 0 0 0 0 0 14.99 14.33 15.00

7460 -0.64 -170.3 1977 1169 3353 3390 782.8 -8.7 665 7465 0.00 0.93 0.00 0.000 1030 0.000 0.044 1976 1671 3371 3353 3389 0 0 0 0 0 0 14.46 14.40 14.46

7795 -0.64 -170.3 1975 1671 3353 3388 813.3 -9.2 675 7801 0.00 0.90 0.00 0.000 260 0.000 0.047 1972 2225 3370 3353 3388 0 0 0 0 0 0 15.00 14.36 15.01

7937 -0.64 -170.3 1971 2227 3352 3387 826.2 -8.9 702 7943 0.00 1.02 0.00 0.000 1030 0.000 0.047 1971 1677 3370 3353 3387 0 0 0 0 0 0 14.38 14.34 14.40

8289 -0.64 -170.3 1970 1677 3353 3387 859.4 -9.5 715 8295 0.00 0.88 0.00 0.000 516 0.000 0.056 1971 1164 3369 3353 3386 0 0 0 0 0 0 14.99 14.30 15.00

8527 -0.64 -170.3 1970 1163 3353 3386 881.7 -9.1 761 8533 0.00 0.93 0.00 0.000 1030 0.000 0.045 1969 1667 3369 3353 3386 0 0 0 0 0 0 14.40 14.37 14.42

8863 -0.64 -170.3 1969 1667 3353 3385 913.5 -9.6 771 8868 0.00 0.90 0.00 0.000 260 0.000 0.047 1965 2219 3369 3353 3385 0 0 0 0 0 0 14.99 14.34 15.01

9039 -0.64 -170.3 1965 2222 3353 3384 930.1 -9.3 805 9045 0.08 1.02 0.00 0.000 3078 0.189 0.047 1989 1677 3368 3353 3384 0 0 0 0 0 0 13.97 14.31 14.08

9396 -0.64 -170.3 1989 1676 3353 3383 958.6 -7.9 819 9401 0.00 0.88 0.00 0.000 548 0.000 0.057 1989 1163 3368 3353 3383 0 0 0 0 0 0 14.99 14.27 15.00

9592 -0.64 -170.3 1989 1163 3353 3383 974.3 -7.9 857 9598 0.00 0.95 0.00 0.000 1062 0.000 0.044 1987 1677 3367 3353 3382 0 0 0 0 0 0 14.37 14.35 14.40

9803 end dive: TARGET_DEPTH_EXCEEDED

state 9803 begin apogee

9811 -0.12 0.0 1987 1678 3353 3381 992.3 -8.5 864 9969 0.40 0.00 154.05 2.193 10244 0.173 0.000 2106 1678 2683 2865 2501 0 0 0 0 0 0 13.94 13.92 12.79

9970 end apogee: CONTROL_FINISHED_OK

state 9970 begin climb

9975 0.64 170.3 2106 1678 2865 2500 998.3 0.0 868 10146 0.47 1.00 159.55 2.129 10756 0.098 0.049 2275 1183 1985 2262 1709 0 0 0 0 0 0 14.03 14.11 12.70

10257 0.68 170.3 2275 1183 2259 1709 979.8 8.4 908 10262 0.00 1.00 0.00 0.000 1094 0.000 0.043 2275 1721 1984 2260 1709 0 0 0 0 0 0 14.42 14.39 14.44

10622 0.68 170.3 2276 1741 2260 1709 945.4 9.6 924 10627 0.00 0.82 0.00 0.000 260 0.000 0.040 2275 2259 1984 2259 1709 0 0 0 0 0 0 14.90 14.54 14.91

10779 0.68 170.3 2276 2261 2259 1709 930.1 9.6 954 10786 0.00 1.02 0.00 0.000 1030 0.000 0.058 2280 1716 1984 2259 1709 0 0 0 0 0 0 14.43 14.38 14.47

11115 0.68 170.3 2279 1716 2259 1709 895.6 10.5 964 11121 0.00 0.93 0.00 0.000 516 0.000 0.062 2284 1192 1984 2259 1709 0 0 0 0 0 0 14.95 14.42 14.95

11209 0.68 170.3 2284 1192 2259 1709 885.6 10.2 982 11215 0.00 0.95 0.00 0.000 1030 0.000 0.043 2284 1713 1984 2259 1709 0 0 0 0 0 0 14.57 14.52 14.58

11566 0.68 170.3 2284 1731 2258 1709 847.3 10.8 996 11567 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1731 1983 2258 1709 0 0 0 0 0 0 14.92 14.94 14.94

11885 0.68 170.3 2283 1730 2257 1709 811.6 11.2 1004 11890 0.00 1.05 0.00 0.000 516 0.000 0.060 2288 1181 1983 2257 1709 0 0 0 0 0 0 14.96 14.38 14.98

11938 0.68 170.3 2287 1181 2257 1710 805.4 11.4 1014 11945 0.00 0.95 0.00 0.000 1030 0.000 0.042 2287 1703 1983 2257 1709 0 0 0 0 0 0 14.52 14.48 14.54

12295 0.68 170.3 2286 1719 2255 1709 766.3 10.9 1028 12301 0.00 1.02 0.00 0.000 516 0.000 0.060 2291 1186 1983 2257 1709 0 0 0 0 0 0 14.95 14.35 14.95

12324 0.68 170.3 2291 1186 2257 1709 762.9 10.9 1033 12329 0.00 0.93 0.00 0.000 1030 0.000 0.041 2289 1687 1982 2256 1709 0 0 0 0 0 0 14.41 14.38 14.43

12665 0.68 170.3 2290 1706 2256 1709 724.8 11.2 1044 12670 0.00 0.90 0.00 0.000 260 0.000 0.039 2290 2259 1982 2256 1709 0 0 0 0 0 0 14.96 14.47 14.97

12711 0.68 170.3 2291 2259 2256 1709 719.7 11.2 1052 12716 0.00 1.08 0.00 0.000 1030 0.000 0.053 2294 1690 1982 2256 1709 0 0 0 0 0 0 14.34 14.30 14.38

13075 0.68 170.3 2293 1690 2256 1708 678.8 11.1 1068 13081 0.00 0.88 0.00 0.000 516 0.000 0.063 2298 1192 1982 2256 1709 0 0 0 0 0 0 14.95 14.34 14.95

13151 0.68 170.3 2298 1192 2256 1709 671.0 10.4 1082 13157 0.00 0.95 0.00 0.000 1030 0.000 0.042 2297 1708 1982 2255 1709 0 0 0 0 0 0 14.47 14.46 14.50

13486 0.68 170.3 2297 1726 2255 1709 636.3 10.2 1092 13487 0.00 0.00 0.00 0.000 6 0.000 0.000 2297 1726 1982 2255 1709 0 0 0 0 0 0 14.92 14.95 14.95

13806 0.68 170.3 2297 1726 2254 1709 603.9 10.0 1100 13812 0.00 1.05 0.00 0.000 516 0.000 0.059 2301 1187 1981 2254 1709 0 0 0 0 0 0 14.95 13.62 14.97

13851 0.68 170.3 2301 1187 2254 1709 599.4 10.2 1108 13859 0.08 0.93 0.00 0.000 5126 0.196 0.042 2277 1693 1981 2254 1709 0 0 0 0 0 0 14.02 14.31 14.14

14222 0.70 170.3 2276 1701 2254 1709 567.7 8.7 1124 14227 0.00 0.88 0.00 0.000 324 0.000 0.038 2276 2243 1981 2254 1709 0 0 0 0 0 0 14.90 14.46 14.91

14276 0.72 170.3 2276 2243 2254 1709 562.6 8.9 1134 14282 0.00 1.02 0.00 0.000 1094 0.000 0.052 2280 1694 1981 2254 1709 0 0 0 0 0 0 14.43 14.37 14.45

14633 0.74 170.3 2280 1694 2254 1709 530.7 9.1 1148 14639 0.00 0.88 0.00 0.000 580 0.000 0.061 2284 1198 1981 2254 1709 0 0 0 0 0 0 14.94 14.23 14.95

14682 0.76 170.3 2284 1198 2254 1709 526.0 9.4 1157 14688 0.00 0.90 0.00 0.000 1094 0.000 0.042 2284 1686 1981 2254 1709 0 0 0 0 0 0 14.45 14.44 14.50

15044 0.78 170.3 2284 1704 2254 1709 493.5 8.9 1172 15046 0.00 0.00 0.00 0.000 70 0.000 0.000 2284 1704 1981 2254 1709 0 0 0 0 0 0 14.92 14.93 14.92

15363 0.81 170.3 2284 1704 2254 1709 466.0 8.5 1180 15369 0.10 0.98 0.00 0.000 2628 0.162 0.053 2331 1195 1981 2254 1709 0 0 0 0 0 0 14.53 14.33 14.58

15398 0.81 170.3 2331 1195 2254 1709 462.3 11.2 1186 15405 0.08 0.93 0.00 0.000 5126 0.195 0.042 2306 1704 1981 2254 1709 0 0 0 0 0 0 14.04 14.36 14.16

15735 0.81 170.3 2306 1710 2254 1709 427.1 10.6 1196 15741 0.00 0.82 0.00 0.000 260 0.000 0.039 2306 2235 1981 2254 1709 0 0 0 0 0 0 14.92 14.46 14.93

15794 0.81 170.3 2305 2236 2254 1709 420.4 11.2 1207 15800 0.00 1.02 0.00 0.000 1030 0.000 0.052 2309 1688 1981 2254 1709 0 0 0 0 0 0 14.42 14.38 14.45

16144 0.81 170.3 2309 1688 2254 1709 381.4 11.1 1220 16150 0.00 0.88 0.00 0.000 516 0.000 0.062 2313 1189 1981 2254 1709 0 0 0 0 0 0 14.95 14.32 14.97

16185 0.81 170.3 2313 1190 2254 1709 377.1 10.9 1227 16192 0.00 0.90 0.00 0.000 1030 0.000 0.043 2313 1677 1981 2254 1709 0 0 0 0 0 0 14.46 14.43 14.49

16510 0.81 170.3 2313 1696 2254 1709 341.5 10.9 1236 16515 0.00 0.90 0.00 0.000 260 0.000 0.038 2313 2269 1981 2254 1709 0 0 0 0 0 0 14.95 14.36 14.97

16585 0.81 170.3 2313 2269 2254 1709 333.5 10.7 1250 16591 0.00 1.10 0.00 0.000 1030 0.000 0.051 2316 1684 1981 2254 1709 0 0 0 0 0 0 14.40 14.35 14.43

16921 0.81 170.3 2316 1683 2253 1709 297.2 10.6 1260 16926 0.00 0.88 0.00 0.000 516 0.000 0.061 2320 1184 1981 2254 1709 0 0 0 0 0 0 14.92 14.24 14.95

16949 0.81 170.3 2320 1183 2254 1709 294.0 10.8 1265 16955 0.00 0.93 0.00 0.000 1030 0.000 0.042 2320 1696 1981 2254 1709 0 0 0 0 0 0 14.47 14.44 14.51

17290 0.81 170.3 2320 1712 2253 1709 256.2 11.4 1276 17296 0.00 0.85 0.00 0.000 260 0.000 0.038 2320 2240 1981 2254 1709 0 0 0 0 0 0 14.95 14.45 14.96

17360 0.81 170.3 2320 2241 2254 1709 247.8 11.7 1289 17366 0.00 1.05 0.00 0.000 1030 0.000 0.050 2323 1684 1981 2254 1709 0 0 0 0 0 0 14.26 14.23 14.30

17700 0.81 170.3 2323 1683 2254 1709 207.5 11.9 1300 17705 0.00 0.88 0.00 0.000 516 0.000 0.060 2328 1181 1981 2254 1709 0 0 0 0 0 0 14.92 14.35 14.93

17730 0.81 170.3 2327 1181 2254 1709 203.9 11.8 1305 17736 0.05 0.90 0.00 0.000 5126 0.201 0.042 2308 1685 1981 2254 1709 0 0 0 0 0 0 14.14 14.45 14.23

18071 0.81 170.3 2308 1701 2254 1709 168.8 10.1 1316 18076 0.00 0.90 0.00 0.000 260 0.000 0.037 2308 2249 1981 2254 1709 0 0 0 0 0 0 14.92 14.25 14.94

18131 0.81 170.3 2312 2249 2254 1705 162.8 10.1 1327 18136 0.00 1.08 0.00 0.000 1030 0.000 0.051 2311 1683 1981 2254 1709 0 0 0 0 0 0 14.28 14.23 14.31

18482 0.81 170.3 2311 1682 2253 1709 125.9 10.6 1340 18487 0.00 0.88 0.00 0.000 516 0.000 0.060 2315 1187 1981 2253 1709 0 0 0 0 0 0 14.69 14.17 14.73

18517 0.81 170.3 2315 1187 2257 1709 122.2 10.0 1346 18524 0.00 0.93 0.00 0.000 1030 0.000 0.041 2315 1692 1984 2260 1709 0 0 0 0 0 0 14.29 14.26 14.31

18853 0.81 170.3 2315 1711 2254 1709 86.0 9.7 1359 18859 0.00 0.88 0.00 0.000 260 0.000 0.037 2315 2238 1980 2254 1707 0 0 0 0 0 0 14.71 14.15 14.73

18903 0.81 170.3 2315 2238 2254 1709 81.3 10.7 1368 18908 0.00 1.08 0.00 0.000 1030 0.000 0.054 2319 1685 1981 2254 1709 0 0 0 0 0 0 14.04 14.00 14.07

19243 0.81 170.3 2319 1686 2254 1709 41.8 12.7 1387 19249 0.00 0.90 0.00 0.000 516 0.000 0.055 2323 1177 1981 2254 1709 0 0 0 0 0 0 14.73 13.94 14.74

19310 0.81 170.3 2322 1176 2252 1710 34.6 9.9 1399 19315 0.00 0.93 0.00 0.000 1030 0.000 0.039 2323 1678 1982 2254 1710 0 0 0 0 0 0 14.25 14.21 14.26

19591 end climb: SURFACE_DEPTH_REACHED

state 19591 begin surface coast

19612 end surface coast: CONTROL_FINISHED_OK

state 19615 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_VALID	5
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	607	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	1	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0
STOP_T	0	SM_CC	350	VBD_MIN	550	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	2681	DEVICE1	-1
D_TGT	990	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1030	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2.5	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	5
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	71
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	134
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	2	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	330	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	400	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	500	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	-6.8056469e+38	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	2	SEABIRD_T_G	0.0043545738
T_LOITER	0	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0.5	SEABIRD_T_H	0.00062548259
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
USE_BATHY	0	PITCH_MIN	75	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_ICE	0	PITCH_MAX	3750	AH0_10V	350	SEABIRD_C_G	-9.9945526
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2130	MINV_24V	11	SEABIRD_C_H	1.1183146
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.0026370776
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	175	PITCH_GAIN	40	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
MASS	55793	PITCH_ADJ_DBAND	0	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	180	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	3850	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	40	ROLL_DEG	15	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	1700	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1720	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_B	0.0099999998	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_STARTS	667.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	31	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	16	ALTIM_SENSITIVITY	4

GPS1	280918,100952,5813.1162,-2402.8538,121,1.0,121,-15.7,0.0,0.0,10,6.7	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.31	MHEAD_RNG_PITCHd_Wd	41.4,536867,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-62.7	D_GRID	990
GPS2	280918,102516,5813.1914,-2402.7815,10,1.0,15,-15.7,0.3,43.4,9,5.7

FINISH	1.9,1.026948	CP_POWER1	0.000000
SM_CCo	19637,140.30,0.106,0,0,1255,350.04	_24V_AH	12.70,0.000
SM_GC	1.22,6.45,0.00,140.30,0.071,0.000,0.106,64,1685,1255,-9.43,-0.42,350.04,0,0,0,0,0,0,14.15,14.86,14.27	_10V_AH	12.31,198.733
IRIDIUM_FIX	5810.91,-2402.31,280918,041717	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.780458	FG_AHR_10Vo	0.000
HUMID	41.25	MEM	333916
INTERNAL_PRESSURE	7.98859	DATA_FILE_SIZE	50015,1417
TCM_TEMP	19.10	CAP_FILE_SIZE	165502,0
XPDR_PINGS	7	CFSIZE	260165632,172994560
SC_FREEKB	3668992	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
CP_FREE	15617884160.000000	CURRENT	0.078,335.14,1
CP_POWER	293.060000	GPS	280918,155803,5815.118,-2402.179,67,1.6,73,-15.7,0.7,71.8,6,7.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	400	87.78	nil	0	0	0.00
Roll_motor	75	179	171.46	nil	0	0	0.00
VBD_pump_during_apogee	313	2193	8735.12	nil	0	0	0.00
VBD_pump_during_surface	140	105	188.11	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	19661	8	2235.27
Iridium_during_xfer	560	179	1279.70	TMICL	0	0	0.00
Transponder_ping	1	420	9.33	NCP	9666	25	3068.95
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.42
TT8	3009	8	321.20
LPSleep	13601	2	366.68
TT8_Active	668	8	71.36
TT8_Sampling	2760	26	905.65
TT8_CF8	679	31	260.29
TT8_Kalman	0	0	0.00
Analog_circuits	2404	10	319.62
GPS_charging	0	0	0.00
Compass	2022	6	167.83
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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
21	-0.64	-170.3	13	1673	1429	1077	0.0	0.0	0	114	0.00	0.00	-90.82	0.006	16390	0.000	0.000	13	1730	3377	3316	3439	0	0	0	0	0	0	14.79	12.74	14.69
118	-0.64	-170.3	13	1730	3316	3439	3.1	-2.1	4	134	9.45	0.95	0.00	0.000	2820	0.400	0.038	1986	1139	3377	3326	3429	0	0	0	0	0	0	13.81	14.22	14.08
143	-0.64	-170.3	1985	1139	3333	3422	14.0	-26.9	8	148	0.00	1.10	0.00	0.000	1030	0.000	0.037	1983	1741	3377	3334	3420	0	0	0	0	0	0	14.42	14.40	14.44
489	-0.64	-170.3	1980	1762	3346	3405	59.3	-12.1	28	494	0.00	0.75	0.00	0.000	260	0.000	0.039	1978	2256	3376	3346	3407	0	0	0	0	0	0	14.80	14.40	14.81
563	-0.64	-170.3	1978	2257	3347	3405	67.7	-10.8	42	569	0.00	1.08	0.00	0.000	1030	0.000	0.045	1978	1679	3376	3348	3405	0	0	0	0	0	0	14.31	14.27	14.32
920	-0.64	-170.3	1978	1676	3348	3404	111.0	-11.4	59	925	0.00	0.88	0.00	0.000	516	0.000	0.054	1978	1162	3376	3348	3405	0	0	0	0	0	0	14.85	14.34	14.88
1155	-0.64	-170.3	1978	1162	3349	3404	136.8	-11.0	105	1161	0.00	0.93	0.00	0.000	1030	0.000	0.044	1976	1665	3377	3349	3405	0	0	0	0	0	0	14.38	14.35	14.40
1492	-0.64	-170.3	1976	1665	3349	3404	176.6	-12.0	115	1497	0.00	0.90	0.00	0.000	260	0.000	0.045	1972	2219	3376	3349	3404	0	0	0	0	0	0	14.90	14.26	14.92
1611	-0.64	-170.3	1971	2221	3351	3402	190.4	-11.2	138	1618	0.00	1.02	0.00	0.000	1030	0.000	0.046	1971	1674	3376	3352	3401	0	0	0	0	0	0	14.34	14.31	14.35
1939	-0.64	-170.3	1971	1673	3351	3401	230.2	-12.4	147	1944	0.00	0.85	0.00	0.000	516	0.000	0.055	1971	1169	3376	3351	3401	0	0	0	0	0	0	14.91	14.35	14.93
2155	-0.64	-170.3	1971	1169	3351	3401	256.1	-11.5	189	2161	0.00	0.93	0.00	0.000	1030	0.000	0.044	1969	1676	3376	3351	3402	0	0	0	0	0	0	14.49	14.47	14.52
2512	-0.64	-170.3	1969	1675	3352	3401	299.7	-12.5	203	2518	0.00	0.88	0.00	0.000	260	0.000	0.047	1965	2217	3376	3352	3401	0	0	0	0	0	0	15.00	14.43	15.00
2666	-0.64	-170.3	1964	2219	3352	3400	318.7	-12.2	233	2672	0.08	1.00	0.00	0.000	3078	0.202	0.047	1989	1677	3376	3352	3400	0	0	0	0	0	0	14.08	14.42	14.19
3003	-0.64	-170.3	1989	1676	3352	3400	354.4	-10.4	243	3009	0.00	0.85	0.00	0.000	516	0.000	0.054	1989	1173	3376	3352	3400	0	0	0	0	0	0	15.02	14.40	15.02
3194	-0.64	-170.3	1989	1173	3352	3400	372.8	-9.4	280	3200	0.00	0.90	0.00	0.000	1030	0.000	0.044	1987	1663	3376	3352	3400	0	0	0	0	0	0	14.53	14.47	14.52
3536	-0.64	-170.3	1987	1663	3352	3399	405.1	-9.6	291	3541	0.00	0.90	0.00	0.000	260	0.000	0.046	1982	2222	3375	3352	3399	0	0	0	0	0	0	15.01	14.43	15.02
3702	-0.64	-170.3	1982	2224	3352	3399	420.7	-9.0	323	3707	0.00	1.00	0.00	0.000	1030	0.000	0.047	1982	1682	3376	3353	3400	0	0	0	0	0	0	14.45	14.42	14.49
4068	-0.64	-170.3	1982	1682	3353	3398	456.5	-9.7	339	4074	0.00	0.88	0.00	0.000	516	0.000	0.055	1982	1164	3377	3355	3399	0	0	0	0	0	0	15.00	14.38	15.02
4306	-0.64	-170.3	1981	1164	3353	3399	478.2	-9.0	385	4311	0.00	0.93	0.00	0.000	1030	0.000	0.045	1979	1666	3375	3352	3398	0	0	0	0	0	0	14.48	14.45	14.52
4641	-0.64	-170.3	1979	1666	3353	3398	512.2	-10.6	395	4647	0.00	0.90	0.00	0.000	260	0.000	0.046	1975	2223	3375	3353	3397	0	0	0	0	0	0	15.02	14.42	15.03
4801	-0.64	-170.3	1975	2226	3353	3396	528.5	-9.6	426	4809	0.00	1.02	0.00	0.000	1030	0.000	0.047	1974	1676	3374	3352	3397	0	0	0	0	0	0	14.45	14.40	14.47
5129	-0.64	-170.3	1974	1675	3353	3396	565.4	-11.5	435	5135	0.00	0.88	0.00	0.000	516	0.000	0.056	1974	1158	3374	3352	3396	0	0	0	0	0	0	15.00	14.37	15.02
5317	-0.64	-170.3	1974	1157	3353	3396	585.5	-10.3	471	5322	0.00	0.95	0.00	0.000	1030	0.000	0.044	1972	1673	3374	3353	3396	0	0	0	0	0	0	14.46	14.44	14.50
5664	-0.64	-170.3	1972	1673	3352	3395	621.2	-10.2	483	5669	0.00	0.90	0.00	0.000	260	0.000	0.047	1968	2228	3373	3353	3394	0	0	0	0	0	0	15.00	14.38	15.02
5830	-0.64	-170.3	1968	2230	3353	3394	637.1	-8.9	515	5836	0.05	1.02	0.00	0.000	3078	0.207	0.047	1985	1682	3373	3353	3394	0	0	0	0	0	0	14.00	14.31	14.10
6197	-0.64	-170.3	1985	1682	3353	3393	670.3	-9.4	531	6203	0.00	0.88	0.00	0.000	516	0.000	0.057	1985	1172	3373	3353	3393	0	0	0	0	0	0	14.99	14.35	15.01
6436	-0.64	-170.3	1985	1172	3353	3392	692.0	-8.7	577	6442	0.00	0.93	0.00	0.000	1030	0.000	0.044	1983	1675	3372	3353	3392	0	0	0	0	0	0	14.45	14.41	14.47
6771	-0.64	-170.3	1983	1676	3352	3391	721.8	-8.9	587	6777	0.00	0.88	0.00	0.000	260	0.000	0.046	1979	2217	3372	3353	3391	0	0	0	0	0	0	15.01	14.38	15.02
6865	-0.64	-170.3	1978	2220	3353	3391	729.9	-8.1	605	6871	0.00	1.02	0.00	0.000	1030	0.000	0.047	1978	1673	3371	3353	3390	0	0	0	0	0	0	14.40	14.36	14.43
7222	-0.64	-170.3	1978	1672	3353	3389	761.6	-8.9	619	7227	0.00	0.85	0.00	0.000	516	0.000	0.056	1978	1169	3371	3353	3390	0	0	0	0	0	0	14.99	14.33	15.00
7460	-0.64	-170.3	1977	1169	3353	3390	782.8	-8.7	665	7465	0.00	0.93	0.00	0.000	1030	0.000	0.044	1976	1671	3371	3353	3389	0	0	0	0	0	0	14.46	14.40	14.46
7795	-0.64	-170.3	1975	1671	3353	3388	813.3	-9.2	675	7801	0.00	0.90	0.00	0.000	260	0.000	0.047	1972	2225	3370	3353	3388	0	0	0	0	0	0	15.00	14.36	15.01
7937	-0.64	-170.3	1971	2227	3352	3387	826.2	-8.9	702	7943	0.00	1.02	0.00	0.000	1030	0.000	0.047	1971	1677	3370	3353	3387	0	0	0	0	0	0	14.38	14.34	14.40
8289	-0.64	-170.3	1970	1677	3353	3387	859.4	-9.5	715	8295	0.00	0.88	0.00	0.000	516	0.000	0.056	1971	1164	3369	3353	3386	0	0	0	0	0	0	14.99	14.30	15.00
8527	-0.64	-170.3	1970	1163	3353	3386	881.7	-9.1	761	8533	0.00	0.93	0.00	0.000	1030	0.000	0.045	1969	1667	3369	3353	3386	0	0	0	0	0	0	14.40	14.37	14.42
8863	-0.64	-170.3	1969	1667	3353	3385	913.5	-9.6	771	8868	0.00	0.90	0.00	0.000	260	0.000	0.047	1965	2219	3369	3353	3385	0	0	0	0	0	0	14.99	14.34	15.01
9039	-0.64	-170.3	1965	2222	3353	3384	930.1	-9.3	805	9045	0.08	1.02	0.00	0.000	3078	0.189	0.047	1989	1677	3368	3353	3384	0	0	0	0	0	0	13.97	14.31	14.08
9396	-0.64	-170.3	1989	1676	3353	3383	958.6	-7.9	819	9401	0.00	0.88	0.00	0.000	548	0.000	0.057	1989	1163	3368	3353	3383	0	0	0	0	0	0	14.99	14.27	15.00
9592	-0.64	-170.3	1989	1163	3353	3383	974.3	-7.9	857	9598	0.00	0.95	0.00	0.000	1062	0.000	0.044	1987	1677	3367	3353	3382	0	0	0	0	0	0	14.37	14.35	14.40
9803	end dive: TARGET_DEPTH_EXCEEDED
state	9803	begin apogee
9811	-0.12	0.0	1987	1678	3353	3381	992.3	-8.5	864	9969	0.40	0.00	154.05	2.193	10244	0.173	0.000	2106	1678	2683	2865	2501	0	0	0	0	0	0	13.94	13.92	12.79
9970	end apogee: CONTROL_FINISHED_OK
state	9970	begin climb
9975	0.64	170.3	2106	1678	2865	2500	998.3	0.0	868	10146	0.47	1.00	159.55	2.129	10756	0.098	0.049	2275	1183	1985	2262	1709	0	0	0	0	0	0	14.03	14.11	12.70
10257	0.68	170.3	2275	1183	2259	1709	979.8	8.4	908	10262	0.00	1.00	0.00	0.000	1094	0.000	0.043	2275	1721	1984	2260	1709	0	0	0	0	0	0	14.42	14.39	14.44
10622	0.68	170.3	2276	1741	2260	1709	945.4	9.6	924	10627	0.00	0.82	0.00	0.000	260	0.000	0.040	2275	2259	1984	2259	1709	0	0	0	0	0	0	14.90	14.54	14.91
10779	0.68	170.3	2276	2261	2259	1709	930.1	9.6	954	10786	0.00	1.02	0.00	0.000	1030	0.000	0.058	2280	1716	1984	2259	1709	0	0	0	0	0	0	14.43	14.38	14.47
11115	0.68	170.3	2279	1716	2259	1709	895.6	10.5	964	11121	0.00	0.93	0.00	0.000	516	0.000	0.062	2284	1192	1984	2259	1709	0	0	0	0	0	0	14.95	14.42	14.95
11209	0.68	170.3	2284	1192	2259	1709	885.6	10.2	982	11215	0.00	0.95	0.00	0.000	1030	0.000	0.043	2284	1713	1984	2259	1709	0	0	0	0	0	0	14.57	14.52	14.58
11566	0.68	170.3	2284	1731	2258	1709	847.3	10.8	996	11567	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1731	1983	2258	1709	0	0	0	0	0	0	14.92	14.94	14.94
11885	0.68	170.3	2283	1730	2257	1709	811.6	11.2	1004	11890	0.00	1.05	0.00	0.000	516	0.000	0.060	2288	1181	1983	2257	1709	0	0	0	0	0	0	14.96	14.38	14.98
11938	0.68	170.3	2287	1181	2257	1710	805.4	11.4	1014	11945	0.00	0.95	0.00	0.000	1030	0.000	0.042	2287	1703	1983	2257	1709	0	0	0	0	0	0	14.52	14.48	14.54
12295	0.68	170.3	2286	1719	2255	1709	766.3	10.9	1028	12301	0.00	1.02	0.00	0.000	516	0.000	0.060	2291	1186	1983	2257	1709	0	0	0	0	0	0	14.95	14.35	14.95
12324	0.68	170.3	2291	1186	2257	1709	762.9	10.9	1033	12329	0.00	0.93	0.00	0.000	1030	0.000	0.041	2289	1687	1982	2256	1709	0	0	0	0	0	0	14.41	14.38	14.43
12665	0.68	170.3	2290	1706	2256	1709	724.8	11.2	1044	12670	0.00	0.90	0.00	0.000	260	0.000	0.039	2290	2259	1982	2256	1709	0	0	0	0	0	0	14.96	14.47	14.97
12711	0.68	170.3	2291	2259	2256	1709	719.7	11.2	1052	12716	0.00	1.08	0.00	0.000	1030	0.000	0.053	2294	1690	1982	2256	1709	0	0	0	0	0	0	14.34	14.30	14.38
13075	0.68	170.3	2293	1690	2256	1708	678.8	11.1	1068	13081	0.00	0.88	0.00	0.000	516	0.000	0.063	2298	1192	1982	2256	1709	0	0	0	0	0	0	14.95	14.34	14.95
13151	0.68	170.3	2298	1192	2256	1709	671.0	10.4	1082	13157	0.00	0.95	0.00	0.000	1030	0.000	0.042	2297	1708	1982	2255	1709	0	0	0	0	0	0	14.47	14.46	14.50
13486	0.68	170.3	2297	1726	2255	1709	636.3	10.2	1092	13487	0.00	0.00	0.00	0.000	6	0.000	0.000	2297	1726	1982	2255	1709	0	0	0	0	0	0	14.92	14.95	14.95
13806	0.68	170.3	2297	1726	2254	1709	603.9	10.0	1100	13812	0.00	1.05	0.00	0.000	516	0.000	0.059	2301	1187	1981	2254	1709	0	0	0	0	0	0	14.95	13.62	14.97
13851	0.68	170.3	2301	1187	2254	1709	599.4	10.2	1108	13859	0.08	0.93	0.00	0.000	5126	0.196	0.042	2277	1693	1981	2254	1709	0	0	0	0	0	0	14.02	14.31	14.14
14222	0.70	170.3	2276	1701	2254	1709	567.7	8.7	1124	14227	0.00	0.88	0.00	0.000	324	0.000	0.038	2276	2243	1981	2254	1709	0	0	0	0	0	0	14.90	14.46	14.91
14276	0.72	170.3	2276	2243	2254	1709	562.6	8.9	1134	14282	0.00	1.02	0.00	0.000	1094	0.000	0.052	2280	1694	1981	2254	1709	0	0	0	0	0	0	14.43	14.37	14.45
14633	0.74	170.3	2280	1694	2254	1709	530.7	9.1	1148	14639	0.00	0.88	0.00	0.000	580	0.000	0.061	2284	1198	1981	2254	1709	0	0	0	0	0	0	14.94	14.23	14.95
14682	0.76	170.3	2284	1198	2254	1709	526.0	9.4	1157	14688	0.00	0.90	0.00	0.000	1094	0.000	0.042	2284	1686	1981	2254	1709	0	0	0	0	0	0	14.45	14.44	14.50
15044	0.78	170.3	2284	1704	2254	1709	493.5	8.9	1172	15046	0.00	0.00	0.00	0.000	70	0.000	0.000	2284	1704	1981	2254	1709	0	0	0	0	0	0	14.92	14.93	14.92
15363	0.81	170.3	2284	1704	2254	1709	466.0	8.5	1180	15369	0.10	0.98	0.00	0.000	2628	0.162	0.053	2331	1195	1981	2254	1709	0	0	0	0	0	0	14.53	14.33	14.58
15398	0.81	170.3	2331	1195	2254	1709	462.3	11.2	1186	15405	0.08	0.93	0.00	0.000	5126	0.195	0.042	2306	1704	1981	2254	1709	0	0	0	0	0	0	14.04	14.36	14.16
15735	0.81	170.3	2306	1710	2254	1709	427.1	10.6	1196	15741	0.00	0.82	0.00	0.000	260	0.000	0.039	2306	2235	1981	2254	1709	0	0	0	0	0	0	14.92	14.46	14.93
15794	0.81	170.3	2305	2236	2254	1709	420.4	11.2	1207	15800	0.00	1.02	0.00	0.000	1030	0.000	0.052	2309	1688	1981	2254	1709	0	0	0	0	0	0	14.42	14.38	14.45
16144	0.81	170.3	2309	1688	2254	1709	381.4	11.1	1220	16150	0.00	0.88	0.00	0.000	516	0.000	0.062	2313	1189	1981	2254	1709	0	0	0	0	0	0	14.95	14.32	14.97
16185	0.81	170.3	2313	1190	2254	1709	377.1	10.9	1227	16192	0.00	0.90	0.00	0.000	1030	0.000	0.043	2313	1677	1981	2254	1709	0	0	0	0	0	0	14.46	14.43	14.49
16510	0.81	170.3	2313	1696	2254	1709	341.5	10.9	1236	16515	0.00	0.90	0.00	0.000	260	0.000	0.038	2313	2269	1981	2254	1709	0	0	0	0	0	0	14.95	14.36	14.97
16585	0.81	170.3	2313	2269	2254	1709	333.5	10.7	1250	16591	0.00	1.10	0.00	0.000	1030	0.000	0.051	2316	1684	1981	2254	1709	0	0	0	0	0	0	14.40	14.35	14.43
16921	0.81	170.3	2316	1683	2253	1709	297.2	10.6	1260	16926	0.00	0.88	0.00	0.000	516	0.000	0.061	2320	1184	1981	2254	1709	0	0	0	0	0	0	14.92	14.24	14.95
16949	0.81	170.3	2320	1183	2254	1709	294.0	10.8	1265	16955	0.00	0.93	0.00	0.000	1030	0.000	0.042	2320	1696	1981	2254	1709	0	0	0	0	0	0	14.47	14.44	14.51
17290	0.81	170.3	2320	1712	2253	1709	256.2	11.4	1276	17296	0.00	0.85	0.00	0.000	260	0.000	0.038	2320	2240	1981	2254	1709	0	0	0	0	0	0	14.95	14.45	14.96
17360	0.81	170.3	2320	2241	2254	1709	247.8	11.7	1289	17366	0.00	1.05	0.00	0.000	1030	0.000	0.050	2323	1684	1981	2254	1709	0	0	0	0	0	0	14.26	14.23	14.30
17700	0.81	170.3	2323	1683	2254	1709	207.5	11.9	1300	17705	0.00	0.88	0.00	0.000	516	0.000	0.060	2328	1181	1981	2254	1709	0	0	0	0	0	0	14.92	14.35	14.93
17730	0.81	170.3	2327	1181	2254	1709	203.9	11.8	1305	17736	0.05	0.90	0.00	0.000	5126	0.201	0.042	2308	1685	1981	2254	1709	0	0	0	0	0	0	14.14	14.45	14.23
18071	0.81	170.3	2308	1701	2254	1709	168.8	10.1	1316	18076	0.00	0.90	0.00	0.000	260	0.000	0.037	2308	2249	1981	2254	1709	0	0	0	0	0	0	14.92	14.25	14.94
18131	0.81	170.3	2312	2249	2254	1705	162.8	10.1	1327	18136	0.00	1.08	0.00	0.000	1030	0.000	0.051	2311	1683	1981	2254	1709	0	0	0	0	0	0	14.28	14.23	14.31
18482	0.81	170.3	2311	1682	2253	1709	125.9	10.6	1340	18487	0.00	0.88	0.00	0.000	516	0.000	0.060	2315	1187	1981	2253	1709	0	0	0	0	0	0	14.69	14.17	14.73
18517	0.81	170.3	2315	1187	2257	1709	122.2	10.0	1346	18524	0.00	0.93	0.00	0.000	1030	0.000	0.041	2315	1692	1984	2260	1709	0	0	0	0	0	0	14.29	14.26	14.31
18853	0.81	170.3	2315	1711	2254	1709	86.0	9.7	1359	18859	0.00	0.88	0.00	0.000	260	0.000	0.037	2315	2238	1980	2254	1707	0	0	0	0	0	0	14.71	14.15	14.73
18903	0.81	170.3	2315	2238	2254	1709	81.3	10.7	1368	18908	0.00	1.08	0.00	0.000	1030	0.000	0.054	2319	1685	1981	2254	1709	0	0	0	0	0	0	14.04	14.00	14.07
19243	0.81	170.3	2319	1686	2254	1709	41.8	12.7	1387	19249	0.00	0.90	0.00	0.000	516	0.000	0.055	2323	1177	1981	2254	1709	0	0	0	0	0	0	14.73	13.94	14.74
19310	0.81	170.3	2322	1176	2252	1710	34.6	9.9	1399	19315	0.00	0.93	0.00	0.000	1030	0.000	0.039	2323	1678	1982	2254	1710	0	0	0	0	0	0	14.25	14.21	14.26
19591	end climb: SURFACE_DEPTH_REACHED
state	19591	begin surface coast
19612	end surface coast: CONTROL_FINISHED_OK
state	19615	begin surface