Glider dive log

NISKINE May19 * SG527 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 32 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 25 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 16 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 250 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 450 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3925 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2900 INT_PRESSURE_YINT 0.38999999

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00065 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

T_DIVE 300 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 330 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1000 PITCH_MIN 180 PITCH_W_GAIN 2 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3650 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2730 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 0 SEABIRD_T_G 0.004412075

MAX_BUOY 170 PITCH_CNV 0.003125763 AH0_10V 350 SEABIRD_T_H 0.00063827372

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.254017e-06

SPEED_FACTOR 1 PITCH_GAIN 50 MAXI_24V 0.60000002 SEABIRD_C_G -9.9840622

RHO 1.0275 PITCH_TIMEOUT 16 MAXI_10V 1.4 SEABIRD_C_H 1.1688964

MASS 55590 PITCH_AD_RATE 150 FG_AHR_10V 0 SEABIRD_C_I -0.0016958674

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00021397673

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -173.77016 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 270 PRESSURE_SLOPE 0.00010843292 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3850 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.010078 ROLL_DEG 30 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 2850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.00063827372

AH0_24V 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6317541e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.254017e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 150 SM_CC 250

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 50 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3650 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.010078 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.00065 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010843292 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -173.77016 T_DIVE 300

CAPUPLOAD 0 ID 527 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 0.38999999 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 330

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE -1 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2730 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2850 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 2900 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55590 ROLL_DEG 30 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3850 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 270 VBD_MAX 3925

DEVICE6 -1 MAX_BUOY 170 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 32 MINV_10V 11 R_PORT_OVSHOOT 25 VBD_MIN 450

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 16 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 2 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_G -9.9840622 XPDR_INHIBIT 90

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_C_H 1.1688964 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0016958674

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00021397673

Pre-dive calculations and measurements:

GPS1 220519,034233,5923.8892,-2126.7273,48,1.0,56,-12.6,0.6,11.4,8,9.9 SPEED_LIMITS 0.191,0.285

_CALLS 1 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 5920.000,-2127.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.85 MHEAD_RNG_PITCHd_Wd 212.0,7324,-18.5,-11.000,-21.07,2319

_SM_ANGLEo -74.2 D_GRID 1000

GPS2 220519,034910,5923.9497,-2126.6274,10,1.0,23,-12.6,0.0,127.8,8,9.3

Post-dive calculations and measurements:

FINISH 0.2,1.027045 _10V_AH 12.54,16.655

SM_CCo 17018,91.03,0.866,1,0,1880,250.20 FG_AHR_24Vo 0.000

SM_GC 0.80,7.75,0.47,91.03,0.060,0.115,0.866,171,2860,1880,-7.94,-0.42,250.20,0,0,0,0,1,0,14.61,14.58,13.51 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5929.18,-2038.82,210519,224448 MEM 304320

TT8_MAMPS 0.02247,0.604443 DATA_FILE_SIZE 46639,1335

HUMID 37.55 CAP_FILE_SIZE 160286,0

INTERNAL_PRESSURE 8.81806 CFSIZE 2097872896,2089680896

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.147,54.95,1

SC_FREEKB 3886464 GPS 220519,083630,5922.522,-2126.369,40,0.9,46,-12.6,0.5,145.3,10,9.3

_24V_AH 12.26,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 405 107.12 nil 0 0 0.00

Roll_motor 125 218 336.33 nil 0 0 0.00

VBD_pump_during_apogee 329 2354 9518.59 nil 0 0 0.00

VBD_pump_during_surface 91 865 966.40 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 7826 18 1765.80

Iridium_during_xfer 271 194 647.61 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 11 4.64

TT8 3251 10 447.28

LPSleep 11204 2 307.70

TT8_Active 672 10 92.52

TT8_Sampling 2298 30 877.58

TT8_CF8 92 36 42.39

TT8_Kalman 0 0 0.00

Analog_circuits 2021 10 253.47

GPS_charging 0 0 0.00

Compass 1907 6 161.22

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 16 begin dive

18 -0.48 -165.5 153 2865 1840 1906 0.0 0.0 0 112 0.00 0.00 -85.70 0.008 16390 0.000 0.000 152 2864 3576 3751 3402 0 0 0 0 0 0 14.62 13.09 14.65

114 -0.48 -165.5 152 2864 3751 3403 5.1 -9.6 9 131 11.77 1.92 0.00 0.000 2564 0.405 0.096 2572 1794 3577 3751 3403 0 0 0 0 0 0 14.13 14.39 14.33

192 -0.48 -165.5 2571 1790 3753 3402 23.3 -11.3 24 200 0.00 2.08 0.00 0.000 1030 0.000 0.155 2565 2851 3578 3753 3403 0 0 0 0 0 0 14.52 14.35 14.54

378 -0.48 -165.5 2565 2851 3753 3403 46.2 -12.4 43 383 0.00 1.95 0.00 0.000 260 0.000 0.179 2558 3844 3578 3753 3403 0 0 0 0 0 0 14.80 14.32 14.81

491 -0.48 -165.5 2557 3844 3753 3403 60.1 -12.4 65 496 0.00 1.75 0.00 0.000 1030 0.000 0.094 2558 2855 3578 3754 3403 0 0 0 0 0 0 14.66 14.57 14.68

684 -0.48 -165.5 2558 2854 3753 3403 85.7 -13.4 85 685 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2854 3578 3753 3403 0 0 0 0 0 0 14.88 14.90 14.90

864 -0.48 -165.5 2557 2854 3753 3403 108.8 -12.9 103 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2854 3578 3753 3403 0 0 0 0 0 0 14.91 14.94 14.93

1044 -0.48 -165.5 2558 2854 3753 3403 131.1 -12.5 121 1045 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2854 3577 3752 3403 0 0 0 0 0 0 14.95 14.97 14.96

1223 -0.48 -165.5 2558 2854 3753 3403 153.8 -12.5 139 1229 0.00 1.92 0.00 0.000 260 0.000 0.171 2551 3844 3578 3753 3403 0 0 0 0 0 0 14.97 14.49 14.98

1256 -0.48 -165.5 2550 3844 3753 3403 157.9 -13.2 145 1261 0.00 1.75 0.00 0.000 1030 0.000 0.093 2551 2841 3578 3753 3403 0 0 0 0 0 0 14.78 14.69 14.81

1448 -0.48 -165.5 2550 2840 3753 3403 182.9 -13.2 165 1450 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2841 3578 3753 3403 0 0 0 0 0 0 14.97 15.00 15.00

1628 -0.48 -165.5 2550 2840 3753 3403 206.3 -13.1 183 1634 0.00 1.95 0.00 0.000 260 0.000 0.171 2543 3844 3578 3753 3403 0 0 0 0 0 0 15.00 14.51 15.02

1664 -0.48 -165.5 2543 3844 3753 3403 211.3 -13.7 190 1672 0.12 1.75 0.00 0.000 3078 0.251 0.093 2571 2840 3578 3753 3403 0 0 0 0 0 0 14.59 14.72 14.77

1851 -0.48 -165.5 2570 2841 3753 3403 232.7 -11.6 209 1852 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2841 3578 3753 3403 0 0 0 0 0 0 15.00 15.02 15.02

2030 -0.48 -165.5 2570 2841 3753 3403 253.5 -11.5 226 2036 0.00 1.95 0.00 0.000 260 0.000 0.171 2565 3844 3578 3753 3403 0 0 0 0 0 0 15.02 14.52 15.04

2082 -0.48 -165.5 2565 3844 3753 3403 259.6 -11.5 236 2088 0.00 1.73 0.00 0.000 1030 0.000 0.093 2566 2851 3578 3753 3403 0 0 0 0 0 0 14.83 14.73 14.86

2396 -0.48 -165.5 2565 2852 3753 3403 295.6 -11.2 253 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2852 3578 3753 3403 0 0 0 0 0 0 15.04 15.06 15.05

2695 -0.48 -165.5 2565 2851 3753 3403 329.3 -11.3 268 2702 0.00 1.92 0.00 0.000 260 0.000 0.173 2558 3844 3578 3753 3403 0 0 0 0 0 0 15.06 14.56 15.07

2769 -0.48 -165.5 2558 3844 3753 3403 337.4 -10.9 282 2774 0.00 1.73 0.00 0.000 1030 0.000 0.093 2558 2850 3578 3753 3403 0 0 0 0 0 0 14.87 14.78 14.89

3081 -0.48 -165.5 2558 2850 3753 3403 373.0 -11.5 299 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2850 3578 3753 3403 0 0 0 0 0 0 15.07 15.09 15.08

3381 -0.48 -165.5 2558 2850 3753 3403 408.0 -11.5 314 3386 0.00 1.92 0.00 0.000 260 0.000 0.175 2551 3846 3578 3753 3403 0 0 0 0 0 0 15.08 14.57 15.09

3447 -0.48 -165.5 2551 3846 3752 3403 415.8 -11.4 327 3453 0.00 1.77 0.00 0.000 1030 0.000 0.094 2551 2853 3577 3752 3403 0 0 0 0 0 0 14.90 14.77 14.91

3766 -0.48 -165.5 2551 2853 3753 3403 454.1 -12.0 345 3771 0.00 1.92 0.00 0.000 260 0.000 0.175 2544 3844 3577 3752 3403 0 0 0 0 0 0 15.08 14.57 15.10

3829 -0.48 -165.5 2543 3844 3752 3403 461.7 -11.4 357 3835 0.12 1.73 0.00 0.000 3078 0.245 0.093 2571 2846 3577 3752 3403 0 0 0 0 0 0 14.66 14.80 14.85

4152 -0.48 -165.5 2571 2846 3752 3403 492.7 -9.5 376 4158 0.00 1.80 0.00 0.000 516 0.000 0.091 2572 1789 3577 3752 3403 0 0 0 0 0 0 15.09 14.78 15.11

4184 -0.48 -165.5 2572 1788 3752 3403 495.8 -8.9 382 4190 0.00 2.00 0.00 0.000 1062 0.000 0.142 2566 2861 3577 3752 3403 0 0 0 0 0 0 14.87 14.71 14.90

4497 -0.48 -165.5 2566 2861 3752 3402 528.6 -10.7 399 4502 0.00 1.88 0.00 0.000 260 0.000 0.178 2559 3842 3577 3752 3403 0 0 0 0 0 0 15.09 14.59 15.11

4583 -0.48 -165.5 2558 3842 3752 3403 537.9 -10.5 416 4589 0.00 1.73 0.00 0.000 1030 0.000 0.093 2559 2852 3577 3752 3403 0 0 0 0 0 0 14.90 14.79 14.92

4901 -0.48 -165.5 2558 2852 3751 3403 574.2 -11.6 434 4902 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2851 3577 3752 3403 0 0 0 0 0 0 15.09 15.11 15.11

5202 -0.48 -165.5 2558 2851 3752 3402 609.5 -12.1 449 5207 0.00 1.95 0.00 0.000 260 0.000 0.183 2552 3845 3577 3751 3403 0 0 0 0 0 0 15.10 14.58 15.11

5233 -0.48 -165.5 2552 3845 3750 3403 613.5 -12.2 455 5239 0.00 1.75 0.00 0.000 1030 0.000 0.096 2552 2845 3576 3749 3403 0 0 0 0 0 0 14.90 14.80 14.92

5546 -0.48 -165.5 2551 2845 3749 3403 649.3 -11.2 472 5552 0.00 1.95 0.00 0.000 260 0.000 0.181 2544 3842 3576 3749 3403 0 0 0 0 0 0 15.10 14.59 15.12

5589 -0.48 -165.5 2544 3842 3749 3403 654.3 -11.5 480 5596 0.12 1.73 0.00 0.000 3078 0.242 0.095 2572 2849 3576 3749 3403 0 0 0 0 0 0 14.67 14.81 14.86

5913 -0.48 -165.5 2572 2849 3749 3403 685.2 -9.5 499 5914 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2849 3576 3749 3403 0 0 0 0 0 0 15.10 15.13 15.12

6213 -0.48 -165.5 2572 2849 3749 3403 715.2 -10.2 514 6219 0.00 1.95 0.00 0.000 260 0.000 0.184 2567 3842 3576 3749 3403 0 0 0 0 0 0 15.11 14.58 15.13

6290 -0.48 -165.5 2567 3843 3748 3403 723.2 -10.1 529 6297 0.00 1.73 0.00 0.000 1030 0.000 0.095 2567 2849 3575 3748 3403 0 0 0 0 0 0 14.90 14.81 14.93

6596 -0.48 -165.5 2567 2847 3746 3402 755.4 -10.7 545 6597 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2847 3574 3746 3402 0 0 0 0 0 0 15.11 15.13 15.12

6895 -0.48 -165.5 2567 2847 3746 3402 786.8 -10.2 560 6902 0.00 1.98 0.00 0.000 260 0.000 0.188 2560 3844 3574 3746 3402 0 0 0 0 0 0 15.11 14.57 15.14

6939 -0.48 -165.5 2560 3845 3745 3403 791.2 -10.0 568 6945 0.00 1.75 0.00 0.000 1030 0.000 0.096 2560 2837 3574 3746 3403 0 0 0 0 0 0 14.90 14.80 14.93

7262 -0.48 -165.5 2560 2836 3745 3402 822.0 -9.4 587 7263 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2837 3573 3745 3402 0 0 0 0 0 0 15.11 15.13 15.13

7562 -0.48 -165.5 2560 2837 3745 3402 849.7 -9.1 602 7568 0.00 2.00 0.00 0.000 260 0.000 0.191 2553 3843 3574 3745 3403 0 0 0 0 0 0 15.11 14.57 15.14

7619 -0.48 -165.5 2553 3843 3744 3403 855.2 -9.6 613 7626 0.00 1.73 0.00 0.000 1030 0.000 0.096 2553 2852 3573 3744 3402 0 0 0 0 0 0 14.90 14.80 14.92

7925 -0.48 -165.5 2553 2852 3744 3402 884.8 -9.7 629 7926 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2852 3572 3743 3402 0 0 0 0 0 0 15.11 15.14 15.13

8224 -0.48 -165.5 2553 2852 3743 3402 914.5 -9.9 644 8231 0.00 2.00 0.00 0.000 260 0.000 0.197 2546 3848 3572 3743 3402 0 0 0 0 0 0 15.11 14.53 15.14

8287 -0.48 -165.5 2546 3848 3742 3402 920.8 -9.9 656 8294 0.00 1.75 0.00 0.000 1030 0.000 0.097 2546 2846 3572 3742 3402 0 0 0 0 0 0 14.90 14.80 14.93

8610 -0.48 -165.5 2545 2846 3742 3402 954.3 -10.6 675 8616 0.00 1.83 0.00 0.000 516 0.000 0.093 2545 1781 3572 3742 3402 0 0 0 0 0 0 15.11 14.78 15.13

8637 -0.48 -165.5 2545 1777 3742 3402 957.2 -10.7 680 8644 0.15 2.03 0.00 0.000 3078 0.248 0.148 2572 2854 3572 3742 3402 0 0 0 0 0 0 14.63 14.68 14.84

8957 -0.48 -165.5 2572 2854 3742 3402 984.0 -8.4 698 8962 0.00 1.92 0.00 0.000 292 0.000 0.190 2567 3842 3571 3741 3402 0 0 0 0 0 0 15.11 14.53 15.13

9019 -0.48 -165.5 2567 3842 3741 3403 989.4 -8.4 710 9024 0.00 1.75 0.00 0.000 1062 0.000 0.096 2567 2839 3571 3741 3402 0 0 0 0 0 0 14.89 14.78 14.92

9029 end dive: TARGET_DEPTH_EXCEEDED

state 9029 begin apogee

9033 -0.10 0.0 2567 2601 3741 3402 990.3 -8.0 712 9199 0.45 0.00 163.18 2.355 10246 0.192 0.000 2696 2601 2900 2923 2877 0 0 0 0 0 0 14.65 13.67 12.48

9200 end apogee: CONTROL_FINISHED_OK

state 9200 begin climb

9202 0.48 165.5 2696 2600 2922 2876 993.5 0.0 720 9378 0.60 2.10 166.55 2.297 10756 0.118 0.096 2887 1545 2225 2222 2229 0 0 0 0 0 0 13.75 13.38 12.26

9440 0.48 165.5 2887 1545 2219 2227 975.0 10.5 764 9446 0.00 2.12 0.00 0.000 1030 0.000 0.127 2887 2601 2222 2219 2226 0 0 0 0 0 0 13.88 13.76 13.90

9763 0.48 165.5 2887 2601 2220 2219 937.7 11.5 783 9764 0.00 0.00 0.00 0.000 6 0.000 0.000 2887 2601 2219 2219 2219 0 0 0 0 0 0 14.55 14.57 14.57

10064 0.48 165.5 2887 2601 2220 2217 902.1 12.0 798 10069 0.00 1.90 0.00 0.000 516 0.000 0.094 2893 1540 2218 2220 2217 0 0 0 0 0 0 14.73 14.47 14.74

10089 0.48 165.5 2892 1540 2219 2217 898.9 11.6 803 10095 0.00 2.03 0.00 0.000 1030 0.000 0.129 2893 2608 2218 2220 2217 0 0 0 0 0 0 14.56 14.42 14.59

10407 0.48 165.5 2893 2608 2220 2217 859.3 12.5 821 10414 0.00 2.12 0.00 0.000 260 0.000 0.197 2893 3670 2218 2220 2217 0 0 0 0 0 0 14.82 14.45 14.83

10440 0.48 165.5 2893 3670 2220 2216 854.8 14.2 827 10445 0.00 1.90 0.00 0.000 1030 0.000 0.090 2900 2596 2218 2220 2216 0 0 0 0 0 0 14.66 14.57 14.68

10752 0.48 165.5 2901 2594 2220 2216 813.3 13.2 844 10758 0.00 1.83 0.00 0.000 516 0.000 0.093 2908 1531 2217 2220 2215 0 0 0 0 0 0 14.85 14.59 14.86

10828 0.48 165.5 2908 1531 2220 2216 803.5 12.7 859 10835 0.00 2.03 0.00 0.000 1030 0.000 0.126 2908 2600 2217 2220 2215 0 0 0 0 0 0 14.67 14.54 14.69

11135 0.48 165.5 2908 2600 2220 2215 760.9 14.0 875 11136 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2600 2217 2220 2215 0 0 0 0 0 0 14.88 14.90 14.90

11435 0.48 165.5 2908 2600 2220 2214 718.9 13.7 890 11436 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2600 2217 2220 2214 0 0 0 0 0 0 14.90 14.92 14.92

11734 0.48 165.5 2908 2600 2220 2213 676.5 14.2 905 11736 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2601 2216 2220 2212 0 0 0 0 0 0 14.90 14.92 14.92

12034 0.48 165.5 2908 2600 2220 2213 634.2 13.8 920 12036 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2600 2216 2220 2213 0 0 0 0 0 0 14.90 14.92 14.92

12334 0.48 165.5 2908 2600 2220 2212 592.7 13.9 935 12336 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2600 2216 2220 2212 0 0 0 0 0 0 14.91 14.94 14.93

12635 0.48 165.5 2908 2600 2220 2212 552.2 13.1 950 12641 0.00 1.88 0.00 0.000 516 0.000 0.093 2915 1538 2216 2220 2212 0 0 0 0 0 0 14.91 14.65 14.93

12698 0.48 165.5 2915 1538 2220 2212 543.7 11.9 962 12704 0.15 1.98 0.00 0.000 5126 0.288 0.129 2885 2603 2216 2220 2212 0 0 0 0 0 0 14.48 14.59 14.71

13021 0.48 165.5 2885 2603 2220 2212 505.3 11.9 981 13028 0.00 1.98 0.00 0.000 260 0.000 0.155 2885 3662 2216 2220 2212 0 0 0 0 0 0 14.92 14.58 14.95

13074 0.48 165.5 2884 3662 2220 2212 498.5 13.7 991 13079 0.00 1.85 0.00 0.000 1030 0.000 0.083 2889 2600 2216 2220 2212 0 0 0 0 0 0 14.76 14.66 14.79

13386 0.48 165.5 2890 2588 2220 2211 461.5 11.2 1008 13392 0.00 1.80 0.00 0.000 516 0.000 0.085 2897 1532 2216 2221 2211 0 0 0 0 0 0 14.91 14.59 14.94

13443 0.49 165.5 2898 1533 2220 2211 455.4 10.4 1019 13450 0.00 1.98 0.00 0.000 1094 0.000 0.122 2898 2604 2216 2221 2212 0 0 0 0 0 0 14.73 14.60 14.77

13749 0.49 165.5 2897 2604 2221 2212 419.6 12.4 1035 13754 0.00 1.98 0.00 0.000 260 0.000 0.151 2898 3666 2216 2221 2211 0 0 0 0 0 0 14.92 14.58 14.95

13786 0.49 165.5 2898 3666 2221 2211 414.4 14.5 1042 13793 0.00 1.88 0.00 0.000 1030 0.000 0.083 2905 2588 2216 2221 2211 0 0 0 0 0 0 14.69 14.59 14.71

14091 0.49 165.5 2906 2578 2221 2211 374.9 13.2 1058 14093 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2578 2216 2221 2211 0 0 0 0 0 0 14.90 14.92 14.92

14391 0.49 165.5 2906 2578 2221 2212 335.1 13.0 1073 14392 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2578 2216 2221 2211 0 0 0 0 0 0 14.90 14.92 14.92

14691 0.49 165.5 2906 2578 2221 2211 297.0 12.5 1088 14697 0.00 1.80 0.00 0.000 516 0.000 0.087 2913 1528 2216 2221 2211 0 0 0 0 0 0 14.90 14.66 14.92

14718 0.49 165.5 2913 1528 2221 2211 293.6 12.1 1093 14724 0.00 1.98 0.00 0.000 1030 0.000 0.121 2914 2601 2216 2221 2211 0 0 0 0 0 0 14.73 14.60 14.77

15036 0.49 165.5 2913 2601 2220 2211 253.3 12.4 1111 15042 0.00 1.98 0.00 0.000 260 0.000 0.149 2914 3667 2216 2222 2211 0 0 0 0 0 0 14.92 14.54 14.94

15082 0.49 165.5 2913 3667 2222 2211 247.0 14.0 1120 15090 0.15 1.88 0.00 0.000 5126 0.302 0.083 2889 2588 2217 2223 2212 0 0 0 0 0 0 14.47 14.64 14.71

15269 0.49 165.5 2889 2578 2223 2211 226.5 11.0 1139 15275 0.00 1.80 0.00 0.000 516 0.000 0.086 2895 1531 2216 2222 2211 0 0 0 0 0 0 14.91 14.65 14.93

15315 0.50 165.5 2894 1531 2222 2211 221.7 10.2 1148 15322 0.00 1.98 0.00 0.000 1094 0.000 0.122 2895 2604 2216 2222 2211 0 0 0 0 0 0 14.69 14.55 14.71

15501 0.50 165.5 2895 2604 2222 2211 201.0 11.1 1167 15507 0.00 1.95 0.00 0.000 260 0.000 0.148 2895 3660 2217 2223 2211 0 0 0 0 0 0 14.89 14.54 14.91

15538 0.50 165.5 2895 3660 2223 2211 196.2 13.2 1174 15545 0.00 1.85 0.00 0.000 1030 0.000 0.083 2902 2590 2217 2223 2211 0 0 0 0 0 0 14.72 14.62 14.75

15724 0.50 165.5 2903 2589 2223 2211 172.6 13.0 1193 15730 0.00 1.80 0.00 0.000 516 0.000 0.085 2910 1537 2217 2223 2211 0 0 0 0 0 0 14.88 14.62 14.90

15771 0.50 165.5 2910 1532 2223 2211 166.3 12.5 1202 15778 0.00 1.98 0.00 0.000 1030 0.000 0.122 2911 2606 2217 2223 2211 0 0 0 0 0 0 14.69 14.55 14.73

15957 0.50 165.5 2910 2605 2223 2211 140.9 13.7 1221 15963 0.00 1.98 0.00 0.000 260 0.000 0.148 2911 3661 2217 2223 2211 0 0 0 0 0 0 14.88 14.50 14.90

15994 0.50 165.5 2910 3661 2223 2211 135.4 15.4 1228 16001 0.00 1.85 0.00 0.000 1030 0.000 0.084 2917 2603 2217 2223 2211 0 0 0 0 0 0 14.70 14.59 14.73

16180 0.50 165.5 2918 2590 2225 2211 108.5 14.3 1247 16181 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2590 2217 2223 2211 0 0 0 0 0 0 14.85 14.87 14.87

16360 0.50 165.5 2918 2590 2223 2211 83.1 13.6 1265 16361 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2590 2217 2223 2211 0 0 0 0 0 0 14.85 14.87 14.86

16540 0.50 165.5 2918 2590 2223 2211 58.7 13.6 1283 16541 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2590 2217 2223 2211 0 0 0 0 0 0 14.85 14.87 14.86

16720 0.50 165.5 2918 2590 2223 2211 34.6 13.3 1301 16722 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2590 2217 2223 2211 0 0 0 0 0 0 14.84 14.86 14.86

16900 0.50 165.5 2918 2590 2223 2212 11.7 13.8 1319 16906 0.00 1.83 0.00 0.000 516 0.000 0.086 2925 1527 2217 2223 2211 0 0 0 0 0 0 14.84 14.59 14.86

16957 0.50 165.5 2926 1523 2223 2211 5.3 11.0 1330 16965 0.15 1.98 0.00 0.000 5126 0.280 0.116 2895 2600 2217 2223 2211 0 0 0 0 0 0 14.41 14.52 14.66

16981 end climb: SURFACE_DEPTH_REACHED

state 16981 begin surface coast

17003 end surface coast: CONTROL_FINISHED_OK

state 17003 begin surface

ID	527	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	32	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	25	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	16	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	250	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	450	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3925	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2900	INT_PRESSURE_YINT	0.38999999
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00065	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
T_DIVE	300	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	330	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1000	PITCH_MIN	180	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3650	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2730	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	0	SEABIRD_T_G	0.004412075
MAX_BUOY	170	PITCH_CNV	0.003125763	AH0_10V	350	SEABIRD_T_H	0.00063827372
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.254017e-06
SPEED_FACTOR	1	PITCH_GAIN	50	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9840622
RHO	1.0275	PITCH_TIMEOUT	16	MAXI_10V	1.4	SEABIRD_C_H	1.1688964
MASS	55590	PITCH_AD_RATE	150	FG_AHR_10V	0	SEABIRD_C_I	-0.0016958674
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00021397673
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-173.77016	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	270	PRESSURE_SLOPE	0.00010843292	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3850	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.010078	ROLL_DEG	30	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	2850	ALTIM_PING_FIT	0

GPS1	220519,034233,5923.8892,-2126.7273,48,1.0,56,-12.6,0.6,11.4,8,9.9	SPEED_LIMITS	0.191,0.285
_CALLS	1	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	5920.000,-2127.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.85	MHEAD_RNG_PITCHd_Wd	212.0,7324,-18.5,-11.000,-21.07,2319
_SM_ANGLEo	-74.2	D_GRID	1000
GPS2	220519,034910,5923.9497,-2126.6274,10,1.0,23,-12.6,0.0,127.8,8,9.3

FINISH	0.2,1.027045	_10V_AH	12.54,16.655
SM_CCo	17018,91.03,0.866,1,0,1880,250.20	FG_AHR_24Vo	0.000
SM_GC	0.80,7.75,0.47,91.03,0.060,0.115,0.866,171,2860,1880,-7.94,-0.42,250.20,0,0,0,0,1,0,14.61,14.58,13.51	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5929.18,-2038.82,210519,224448	MEM	304320
TT8_MAMPS	0.02247,0.604443	DATA_FILE_SIZE	46639,1335
HUMID	37.55	CAP_FILE_SIZE	160286,0
INTERNAL_PRESSURE	8.81806	CFSIZE	2097872896,2089680896
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.147,54.95,1
SC_FREEKB	3886464	GPS	220519,083630,5922.522,-2126.369,40,0.9,46,-12.6,0.5,145.3,10,9.3
_24V_AH	12.26,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	405	107.12	nil	0	0	0.00
Roll_motor	125	218	336.33	nil	0	0	0.00
VBD_pump_during_apogee	329	2354	9518.59	nil	0	0	0.00
VBD_pump_during_surface	91	865	966.40	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	7826	18	1765.80
Iridium_during_xfer	271	194	647.61	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	11	4.64
TT8	3251	10	447.28
LPSleep	11204	2	307.70
TT8_Active	672	10	92.52
TT8_Sampling	2298	30	877.58
TT8_CF8	92	36	42.39
TT8_Kalman	0	0	0.00
Analog_circuits	2021	10	253.47
GPS_charging	0	0	0.00
Compass	1907	6	161.22
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	16	begin dive
18	-0.48	-165.5	153	2865	1840	1906	0.0	0.0	0	112	0.00	0.00	-85.70	0.008	16390	0.000	0.000	152	2864	3576	3751	3402	0	0	0	0	0	0	14.62	13.09	14.65
114	-0.48	-165.5	152	2864	3751	3403	5.1	-9.6	9	131	11.77	1.92	0.00	0.000	2564	0.405	0.096	2572	1794	3577	3751	3403	0	0	0	0	0	0	14.13	14.39	14.33
192	-0.48	-165.5	2571	1790	3753	3402	23.3	-11.3	24	200	0.00	2.08	0.00	0.000	1030	0.000	0.155	2565	2851	3578	3753	3403	0	0	0	0	0	0	14.52	14.35	14.54
378	-0.48	-165.5	2565	2851	3753	3403	46.2	-12.4	43	383	0.00	1.95	0.00	0.000	260	0.000	0.179	2558	3844	3578	3753	3403	0	0	0	0	0	0	14.80	14.32	14.81
491	-0.48	-165.5	2557	3844	3753	3403	60.1	-12.4	65	496	0.00	1.75	0.00	0.000	1030	0.000	0.094	2558	2855	3578	3754	3403	0	0	0	0	0	0	14.66	14.57	14.68
684	-0.48	-165.5	2558	2854	3753	3403	85.7	-13.4	85	685	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2854	3578	3753	3403	0	0	0	0	0	0	14.88	14.90	14.90
864	-0.48	-165.5	2557	2854	3753	3403	108.8	-12.9	103	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2854	3578	3753	3403	0	0	0	0	0	0	14.91	14.94	14.93
1044	-0.48	-165.5	2558	2854	3753	3403	131.1	-12.5	121	1045	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2854	3577	3752	3403	0	0	0	0	0	0	14.95	14.97	14.96
1223	-0.48	-165.5	2558	2854	3753	3403	153.8	-12.5	139	1229	0.00	1.92	0.00	0.000	260	0.000	0.171	2551	3844	3578	3753	3403	0	0	0	0	0	0	14.97	14.49	14.98
1256	-0.48	-165.5	2550	3844	3753	3403	157.9	-13.2	145	1261	0.00	1.75	0.00	0.000	1030	0.000	0.093	2551	2841	3578	3753	3403	0	0	0	0	0	0	14.78	14.69	14.81
1448	-0.48	-165.5	2550	2840	3753	3403	182.9	-13.2	165	1450	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2841	3578	3753	3403	0	0	0	0	0	0	14.97	15.00	15.00
1628	-0.48	-165.5	2550	2840	3753	3403	206.3	-13.1	183	1634	0.00	1.95	0.00	0.000	260	0.000	0.171	2543	3844	3578	3753	3403	0	0	0	0	0	0	15.00	14.51	15.02
1664	-0.48	-165.5	2543	3844	3753	3403	211.3	-13.7	190	1672	0.12	1.75	0.00	0.000	3078	0.251	0.093	2571	2840	3578	3753	3403	0	0	0	0	0	0	14.59	14.72	14.77
1851	-0.48	-165.5	2570	2841	3753	3403	232.7	-11.6	209	1852	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2841	3578	3753	3403	0	0	0	0	0	0	15.00	15.02	15.02
2030	-0.48	-165.5	2570	2841	3753	3403	253.5	-11.5	226	2036	0.00	1.95	0.00	0.000	260	0.000	0.171	2565	3844	3578	3753	3403	0	0	0	0	0	0	15.02	14.52	15.04
2082	-0.48	-165.5	2565	3844	3753	3403	259.6	-11.5	236	2088	0.00	1.73	0.00	0.000	1030	0.000	0.093	2566	2851	3578	3753	3403	0	0	0	0	0	0	14.83	14.73	14.86
2396	-0.48	-165.5	2565	2852	3753	3403	295.6	-11.2	253	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2852	3578	3753	3403	0	0	0	0	0	0	15.04	15.06	15.05
2695	-0.48	-165.5	2565	2851	3753	3403	329.3	-11.3	268	2702	0.00	1.92	0.00	0.000	260	0.000	0.173	2558	3844	3578	3753	3403	0	0	0	0	0	0	15.06	14.56	15.07
2769	-0.48	-165.5	2558	3844	3753	3403	337.4	-10.9	282	2774	0.00	1.73	0.00	0.000	1030	0.000	0.093	2558	2850	3578	3753	3403	0	0	0	0	0	0	14.87	14.78	14.89
3081	-0.48	-165.5	2558	2850	3753	3403	373.0	-11.5	299	3082	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2850	3578	3753	3403	0	0	0	0	0	0	15.07	15.09	15.08
3381	-0.48	-165.5	2558	2850	3753	3403	408.0	-11.5	314	3386	0.00	1.92	0.00	0.000	260	0.000	0.175	2551	3846	3578	3753	3403	0	0	0	0	0	0	15.08	14.57	15.09
3447	-0.48	-165.5	2551	3846	3752	3403	415.8	-11.4	327	3453	0.00	1.77	0.00	0.000	1030	0.000	0.094	2551	2853	3577	3752	3403	0	0	0	0	0	0	14.90	14.77	14.91
3766	-0.48	-165.5	2551	2853	3753	3403	454.1	-12.0	345	3771	0.00	1.92	0.00	0.000	260	0.000	0.175	2544	3844	3577	3752	3403	0	0	0	0	0	0	15.08	14.57	15.10
3829	-0.48	-165.5	2543	3844	3752	3403	461.7	-11.4	357	3835	0.12	1.73	0.00	0.000	3078	0.245	0.093	2571	2846	3577	3752	3403	0	0	0	0	0	0	14.66	14.80	14.85
4152	-0.48	-165.5	2571	2846	3752	3403	492.7	-9.5	376	4158	0.00	1.80	0.00	0.000	516	0.000	0.091	2572	1789	3577	3752	3403	0	0	0	0	0	0	15.09	14.78	15.11
4184	-0.48	-165.5	2572	1788	3752	3403	495.8	-8.9	382	4190	0.00	2.00	0.00	0.000	1062	0.000	0.142	2566	2861	3577	3752	3403	0	0	0	0	0	0	14.87	14.71	14.90
4497	-0.48	-165.5	2566	2861	3752	3402	528.6	-10.7	399	4502	0.00	1.88	0.00	0.000	260	0.000	0.178	2559	3842	3577	3752	3403	0	0	0	0	0	0	15.09	14.59	15.11
4583	-0.48	-165.5	2558	3842	3752	3403	537.9	-10.5	416	4589	0.00	1.73	0.00	0.000	1030	0.000	0.093	2559	2852	3577	3752	3403	0	0	0	0	0	0	14.90	14.79	14.92
4901	-0.48	-165.5	2558	2852	3751	3403	574.2	-11.6	434	4902	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2851	3577	3752	3403	0	0	0	0	0	0	15.09	15.11	15.11
5202	-0.48	-165.5	2558	2851	3752	3402	609.5	-12.1	449	5207	0.00	1.95	0.00	0.000	260	0.000	0.183	2552	3845	3577	3751	3403	0	0	0	0	0	0	15.10	14.58	15.11
5233	-0.48	-165.5	2552	3845	3750	3403	613.5	-12.2	455	5239	0.00	1.75	0.00	0.000	1030	0.000	0.096	2552	2845	3576	3749	3403	0	0	0	0	0	0	14.90	14.80	14.92
5546	-0.48	-165.5	2551	2845	3749	3403	649.3	-11.2	472	5552	0.00	1.95	0.00	0.000	260	0.000	0.181	2544	3842	3576	3749	3403	0	0	0	0	0	0	15.10	14.59	15.12
5589	-0.48	-165.5	2544	3842	3749	3403	654.3	-11.5	480	5596	0.12	1.73	0.00	0.000	3078	0.242	0.095	2572	2849	3576	3749	3403	0	0	0	0	0	0	14.67	14.81	14.86
5913	-0.48	-165.5	2572	2849	3749	3403	685.2	-9.5	499	5914	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2849	3576	3749	3403	0	0	0	0	0	0	15.10	15.13	15.12
6213	-0.48	-165.5	2572	2849	3749	3403	715.2	-10.2	514	6219	0.00	1.95	0.00	0.000	260	0.000	0.184	2567	3842	3576	3749	3403	0	0	0	0	0	0	15.11	14.58	15.13
6290	-0.48	-165.5	2567	3843	3748	3403	723.2	-10.1	529	6297	0.00	1.73	0.00	0.000	1030	0.000	0.095	2567	2849	3575	3748	3403	0	0	0	0	0	0	14.90	14.81	14.93
6596	-0.48	-165.5	2567	2847	3746	3402	755.4	-10.7	545	6597	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2847	3574	3746	3402	0	0	0	0	0	0	15.11	15.13	15.12
6895	-0.48	-165.5	2567	2847	3746	3402	786.8	-10.2	560	6902	0.00	1.98	0.00	0.000	260	0.000	0.188	2560	3844	3574	3746	3402	0	0	0	0	0	0	15.11	14.57	15.14
6939	-0.48	-165.5	2560	3845	3745	3403	791.2	-10.0	568	6945	0.00	1.75	0.00	0.000	1030	0.000	0.096	2560	2837	3574	3746	3403	0	0	0	0	0	0	14.90	14.80	14.93
7262	-0.48	-165.5	2560	2836	3745	3402	822.0	-9.4	587	7263	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2837	3573	3745	3402	0	0	0	0	0	0	15.11	15.13	15.13
7562	-0.48	-165.5	2560	2837	3745	3402	849.7	-9.1	602	7568	0.00	2.00	0.00	0.000	260	0.000	0.191	2553	3843	3574	3745	3403	0	0	0	0	0	0	15.11	14.57	15.14
7619	-0.48	-165.5	2553	3843	3744	3403	855.2	-9.6	613	7626	0.00	1.73	0.00	0.000	1030	0.000	0.096	2553	2852	3573	3744	3402	0	0	0	0	0	0	14.90	14.80	14.92
7925	-0.48	-165.5	2553	2852	3744	3402	884.8	-9.7	629	7926	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2852	3572	3743	3402	0	0	0	0	0	0	15.11	15.14	15.13
8224	-0.48	-165.5	2553	2852	3743	3402	914.5	-9.9	644	8231	0.00	2.00	0.00	0.000	260	0.000	0.197	2546	3848	3572	3743	3402	0	0	0	0	0	0	15.11	14.53	15.14
8287	-0.48	-165.5	2546	3848	3742	3402	920.8	-9.9	656	8294	0.00	1.75	0.00	0.000	1030	0.000	0.097	2546	2846	3572	3742	3402	0	0	0	0	0	0	14.90	14.80	14.93
8610	-0.48	-165.5	2545	2846	3742	3402	954.3	-10.6	675	8616	0.00	1.83	0.00	0.000	516	0.000	0.093	2545	1781	3572	3742	3402	0	0	0	0	0	0	15.11	14.78	15.13
8637	-0.48	-165.5	2545	1777	3742	3402	957.2	-10.7	680	8644	0.15	2.03	0.00	0.000	3078	0.248	0.148	2572	2854	3572	3742	3402	0	0	0	0	0	0	14.63	14.68	14.84
8957	-0.48	-165.5	2572	2854	3742	3402	984.0	-8.4	698	8962	0.00	1.92	0.00	0.000	292	0.000	0.190	2567	3842	3571	3741	3402	0	0	0	0	0	0	15.11	14.53	15.13
9019	-0.48	-165.5	2567	3842	3741	3403	989.4	-8.4	710	9024	0.00	1.75	0.00	0.000	1062	0.000	0.096	2567	2839	3571	3741	3402	0	0	0	0	0	0	14.89	14.78	14.92
9029	end dive: TARGET_DEPTH_EXCEEDED
state	9029	begin apogee
9033	-0.10	0.0	2567	2601	3741	3402	990.3	-8.0	712	9199	0.45	0.00	163.18	2.355	10246	0.192	0.000	2696	2601	2900	2923	2877	0	0	0	0	0	0	14.65	13.67	12.48
9200	end apogee: CONTROL_FINISHED_OK
state	9200	begin climb
9202	0.48	165.5	2696	2600	2922	2876	993.5	0.0	720	9378	0.60	2.10	166.55	2.297	10756	0.118	0.096	2887	1545	2225	2222	2229	0	0	0	0	0	0	13.75	13.38	12.26
9440	0.48	165.5	2887	1545	2219	2227	975.0	10.5	764	9446	0.00	2.12	0.00	0.000	1030	0.000	0.127	2887	2601	2222	2219	2226	0	0	0	0	0	0	13.88	13.76	13.90
9763	0.48	165.5	2887	2601	2220	2219	937.7	11.5	783	9764	0.00	0.00	0.00	0.000	6	0.000	0.000	2887	2601	2219	2219	2219	0	0	0	0	0	0	14.55	14.57	14.57
10064	0.48	165.5	2887	2601	2220	2217	902.1	12.0	798	10069	0.00	1.90	0.00	0.000	516	0.000	0.094	2893	1540	2218	2220	2217	0	0	0	0	0	0	14.73	14.47	14.74
10089	0.48	165.5	2892	1540	2219	2217	898.9	11.6	803	10095	0.00	2.03	0.00	0.000	1030	0.000	0.129	2893	2608	2218	2220	2217	0	0	0	0	0	0	14.56	14.42	14.59
10407	0.48	165.5	2893	2608	2220	2217	859.3	12.5	821	10414	0.00	2.12	0.00	0.000	260	0.000	0.197	2893	3670	2218	2220	2217	0	0	0	0	0	0	14.82	14.45	14.83
10440	0.48	165.5	2893	3670	2220	2216	854.8	14.2	827	10445	0.00	1.90	0.00	0.000	1030	0.000	0.090	2900	2596	2218	2220	2216	0	0	0	0	0	0	14.66	14.57	14.68
10752	0.48	165.5	2901	2594	2220	2216	813.3	13.2	844	10758	0.00	1.83	0.00	0.000	516	0.000	0.093	2908	1531	2217	2220	2215	0	0	0	0	0	0	14.85	14.59	14.86
10828	0.48	165.5	2908	1531	2220	2216	803.5	12.7	859	10835	0.00	2.03	0.00	0.000	1030	0.000	0.126	2908	2600	2217	2220	2215	0	0	0	0	0	0	14.67	14.54	14.69
11135	0.48	165.5	2908	2600	2220	2215	760.9	14.0	875	11136	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2600	2217	2220	2215	0	0	0	0	0	0	14.88	14.90	14.90
11435	0.48	165.5	2908	2600	2220	2214	718.9	13.7	890	11436	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2600	2217	2220	2214	0	0	0	0	0	0	14.90	14.92	14.92
11734	0.48	165.5	2908	2600	2220	2213	676.5	14.2	905	11736	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2601	2216	2220	2212	0	0	0	0	0	0	14.90	14.92	14.92
12034	0.48	165.5	2908	2600	2220	2213	634.2	13.8	920	12036	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2600	2216	2220	2213	0	0	0	0	0	0	14.90	14.92	14.92
12334	0.48	165.5	2908	2600	2220	2212	592.7	13.9	935	12336	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2600	2216	2220	2212	0	0	0	0	0	0	14.91	14.94	14.93
12635	0.48	165.5	2908	2600	2220	2212	552.2	13.1	950	12641	0.00	1.88	0.00	0.000	516	0.000	0.093	2915	1538	2216	2220	2212	0	0	0	0	0	0	14.91	14.65	14.93
12698	0.48	165.5	2915	1538	2220	2212	543.7	11.9	962	12704	0.15	1.98	0.00	0.000	5126	0.288	0.129	2885	2603	2216	2220	2212	0	0	0	0	0	0	14.48	14.59	14.71
13021	0.48	165.5	2885	2603	2220	2212	505.3	11.9	981	13028	0.00	1.98	0.00	0.000	260	0.000	0.155	2885	3662	2216	2220	2212	0	0	0	0	0	0	14.92	14.58	14.95
13074	0.48	165.5	2884	3662	2220	2212	498.5	13.7	991	13079	0.00	1.85	0.00	0.000	1030	0.000	0.083	2889	2600	2216	2220	2212	0	0	0	0	0	0	14.76	14.66	14.79
13386	0.48	165.5	2890	2588	2220	2211	461.5	11.2	1008	13392	0.00	1.80	0.00	0.000	516	0.000	0.085	2897	1532	2216	2221	2211	0	0	0	0	0	0	14.91	14.59	14.94
13443	0.49	165.5	2898	1533	2220	2211	455.4	10.4	1019	13450	0.00	1.98	0.00	0.000	1094	0.000	0.122	2898	2604	2216	2221	2212	0	0	0	0	0	0	14.73	14.60	14.77
13749	0.49	165.5	2897	2604	2221	2212	419.6	12.4	1035	13754	0.00	1.98	0.00	0.000	260	0.000	0.151	2898	3666	2216	2221	2211	0	0	0	0	0	0	14.92	14.58	14.95
13786	0.49	165.5	2898	3666	2221	2211	414.4	14.5	1042	13793	0.00	1.88	0.00	0.000	1030	0.000	0.083	2905	2588	2216	2221	2211	0	0	0	0	0	0	14.69	14.59	14.71
14091	0.49	165.5	2906	2578	2221	2211	374.9	13.2	1058	14093	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2578	2216	2221	2211	0	0	0	0	0	0	14.90	14.92	14.92
14391	0.49	165.5	2906	2578	2221	2212	335.1	13.0	1073	14392	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2578	2216	2221	2211	0	0	0	0	0	0	14.90	14.92	14.92
14691	0.49	165.5	2906	2578	2221	2211	297.0	12.5	1088	14697	0.00	1.80	0.00	0.000	516	0.000	0.087	2913	1528	2216	2221	2211	0	0	0	0	0	0	14.90	14.66	14.92
14718	0.49	165.5	2913	1528	2221	2211	293.6	12.1	1093	14724	0.00	1.98	0.00	0.000	1030	0.000	0.121	2914	2601	2216	2221	2211	0	0	0	0	0	0	14.73	14.60	14.77
15036	0.49	165.5	2913	2601	2220	2211	253.3	12.4	1111	15042	0.00	1.98	0.00	0.000	260	0.000	0.149	2914	3667	2216	2222	2211	0	0	0	0	0	0	14.92	14.54	14.94
15082	0.49	165.5	2913	3667	2222	2211	247.0	14.0	1120	15090	0.15	1.88	0.00	0.000	5126	0.302	0.083	2889	2588	2217	2223	2212	0	0	0	0	0	0	14.47	14.64	14.71
15269	0.49	165.5	2889	2578	2223	2211	226.5	11.0	1139	15275	0.00	1.80	0.00	0.000	516	0.000	0.086	2895	1531	2216	2222	2211	0	0	0	0	0	0	14.91	14.65	14.93
15315	0.50	165.5	2894	1531	2222	2211	221.7	10.2	1148	15322	0.00	1.98	0.00	0.000	1094	0.000	0.122	2895	2604	2216	2222	2211	0	0	0	0	0	0	14.69	14.55	14.71
15501	0.50	165.5	2895	2604	2222	2211	201.0	11.1	1167	15507	0.00	1.95	0.00	0.000	260	0.000	0.148	2895	3660	2217	2223	2211	0	0	0	0	0	0	14.89	14.54	14.91
15538	0.50	165.5	2895	3660	2223	2211	196.2	13.2	1174	15545	0.00	1.85	0.00	0.000	1030	0.000	0.083	2902	2590	2217	2223	2211	0	0	0	0	0	0	14.72	14.62	14.75
15724	0.50	165.5	2903	2589	2223	2211	172.6	13.0	1193	15730	0.00	1.80	0.00	0.000	516	0.000	0.085	2910	1537	2217	2223	2211	0	0	0	0	0	0	14.88	14.62	14.90
15771	0.50	165.5	2910	1532	2223	2211	166.3	12.5	1202	15778	0.00	1.98	0.00	0.000	1030	0.000	0.122	2911	2606	2217	2223	2211	0	0	0	0	0	0	14.69	14.55	14.73
15957	0.50	165.5	2910	2605	2223	2211	140.9	13.7	1221	15963	0.00	1.98	0.00	0.000	260	0.000	0.148	2911	3661	2217	2223	2211	0	0	0	0	0	0	14.88	14.50	14.90
15994	0.50	165.5	2910	3661	2223	2211	135.4	15.4	1228	16001	0.00	1.85	0.00	0.000	1030	0.000	0.084	2917	2603	2217	2223	2211	0	0	0	0	0	0	14.70	14.59	14.73
16180	0.50	165.5	2918	2590	2225	2211	108.5	14.3	1247	16181	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2590	2217	2223	2211	0	0	0	0	0	0	14.85	14.87	14.87
16360	0.50	165.5	2918	2590	2223	2211	83.1	13.6	1265	16361	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2590	2217	2223	2211	0	0	0	0	0	0	14.85	14.87	14.86
16540	0.50	165.5	2918	2590	2223	2211	58.7	13.6	1283	16541	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2590	2217	2223	2211	0	0	0	0	0	0	14.85	14.87	14.86
16720	0.50	165.5	2918	2590	2223	2211	34.6	13.3	1301	16722	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2590	2217	2223	2211	0	0	0	0	0	0	14.84	14.86	14.86
16900	0.50	165.5	2918	2590	2223	2212	11.7	13.8	1319	16906	0.00	1.83	0.00	0.000	516	0.000	0.086	2925	1527	2217	2223	2211	0	0	0	0	0	0	14.84	14.59	14.86
16957	0.50	165.5	2926	1523	2223	2211	5.3	11.0	1330	16965	0.15	1.98	0.00	0.000	5126	0.280	0.116	2895	2600	2217	2223	2211	0	0	0	0	0	0	14.41	14.52	14.66
16981	end climb: SURFACE_DEPTH_REACHED
state	16981	begin surface coast
17003	end surface coast: CONTROL_FINISHED_OK
state	17003	begin surface