Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 541 * 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 541 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 544.0

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 36 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 64 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 544.0 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 36 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 64 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 541 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 120918,184057,5829.1816,-2152.9006,70,0.9,70,-14.7,0.0,0.0,9,6.9 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME Z2

_XMS_NAKs 0 TGT_LATLONG 5825.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 312.8,36920,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -67.9 D_GRID 990

GPS2 120918,185135,5829.1196,-2152.7588,11,1.2,11,-14.7,0.0,0.0,5,9.3

Post-dive calculations and measurements:

FINISH 0.6,1.026522 _10V_AH 12.35,177.326

SM_CCo 19270,125.93,0.103,0,0,1256,350.04 FG_AHR_24Vo 0.000

SM_GC 1.13,6.40,0.00,125.93,0.069,0.000,0.103,29,1664,1256,-9.44,-0.99,350.04,0,0,0,0,0,0,14.54,14.90,14.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5842.76,-2606.11,120918,132028 MEM 333644

TT8_MAMPS 0.03745,0.779709 DATA_FILE_SIZE 46687,1330

HUMID 41.25 CAP_FILE_SIZE 157597,0

INTERNAL_PRESSURE 7.97882 CFSIZE 260165632,183398400

TCM_TEMP 19.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 INTR 0,15012.07,0x2146b8,1,24

SC_FREEKB 3702880 CURRENT 0.314,148.77,1

CP_FREE 15660875776.000000 GPS 130918,001633,5827.108,-2152.560,38,1.2,38,-14.7,0.0,0.0,6,9.1

_24V_AH 12.75,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 403 89.05 nil 0 0 0.00

Roll_motor 65 62 52.43 nil 0 0 0.00

VBD_pump_during_apogee 315 2160 8681.37 nil 0 0 0.00

VBD_pump_during_surface 125 103 165.81 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 19289 8 2176.77

Iridium_during_xfer 367 167 784.69 TMICL 0 0 0.00

Transponder_ping 0 420 4.02 NCP 9805 25 3125.34

GUMSTIX_24V 0 0 0.00

GPS 16 20 4.03

TT8 0 0 0.00

LPSleep 15861 2 429.01

TT8_Active 696 8 74.60

TT8_Sampling 2921 26 961.66

TT8_CF8 542 31 208.47

TT8_Kalman 0 0 0.00

Analog_circuits 2102 10 280.44

GPS_charging 0 0 0.00

Compass 1895 6 157.81

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.64 -170.3 15 1693 1412 1083 0.0 0.0 0 119 0.00 0.00 -95.80 0.006 16390 0.000 0.000 13 1668 3374 3316 3433 0 0 0 0 0 0 14.76 13.33 14.73

123 -0.64 -170.3 14 1669 3317 3434 5.0 -4.3 5 140 9.57 0.00 0.00 0.000 2086 0.403 0.000 1985 1666 3375 3328 3422 0 0 0 0 0 0 13.89 14.40 14.31

459 -0.64 -170.3 1983 1683 3345 3402 48.3 -12.3 22 464 0.00 0.93 0.00 0.000 516 0.000 0.051 1983 1163 3373 3345 3402 0 0 0 0 0 0 14.89 14.39 14.90

689 -0.64 -170.3 1984 1163 3347 3403 71.7 -9.4 68 694 0.00 0.93 0.00 0.000 1030 0.000 0.044 1981 1695 3374 3346 3402 0 0 0 0 0 0 14.54 14.50 14.57

1040 -0.64 -170.3 1981 1695 3347 3402 109.6 -11.2 85 1046 0.00 0.88 0.00 0.000 260 0.000 0.044 1976 2222 3373 3346 3401 0 0 0 0 0 0 14.95 14.34 14.98

1102 -0.64 -170.3 1976 2225 3350 3400 116.2 -10.4 97 1108 0.00 0.93 0.00 0.000 1030 0.000 0.046 1975 1694 3374 3349 3400 0 0 0 0 0 0 14.53 14.50 14.56

1444 -0.64 -170.3 1977 1694 3349 3399 156.9 -12.2 109 1449 0.00 0.90 0.00 0.000 516 0.000 0.054 1976 1181 3374 3349 3400 0 0 0 0 0 0 14.94 14.45 14.95

1675 -0.64 -170.3 1976 1180 3351 3400 185.4 -12.0 155 1680 0.00 0.95 0.00 0.000 1030 0.000 0.044 1974 1691 3374 3350 3399 0 0 0 0 0 0 14.49 14.45 14.52

2006 -0.64 -170.3 1974 1692 3351 3400 226.6 -12.4 165 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 1691 3374 3350 3399 0 0 0 0 0 0 14.99 15.00 15.00

2327 -0.64 -170.3 1974 1692 3351 3400 265.2 -11.9 173 2332 0.00 0.85 0.00 0.000 260 0.000 0.045 1970 2229 3374 3350 3399 0 0 0 0 0 0 15.02 14.54 15.04

2368 -0.64 -170.3 1969 2232 3352 3399 270.1 -11.2 181 2374 0.05 0.90 0.00 0.000 3078 0.218 0.047 1986 1690 3374 3350 3399 0 0 0 0 0 0 14.24 14.54 14.36

2730 -0.64 -170.3 1987 1690 3352 3399 306.4 -9.9 197 2736 0.00 0.98 0.00 0.000 516 0.000 0.053 1986 1169 3374 3351 3398 0 0 0 0 0 0 15.04 14.51 15.06

2962 -0.64 -170.3 1987 1169 3352 3398 329.1 -9.8 243 2967 0.00 0.95 0.00 0.000 1030 0.000 0.044 1984 1688 3374 3351 3398 0 0 0 0 0 0 14.61 14.58 14.63

3294 -0.64 -170.3 1984 1688 3352 3398 362.8 -10.2 253 3300 0.00 0.85 0.00 0.000 260 0.000 0.044 1980 2222 3374 3351 3397 0 0 0 0 0 0 15.04 14.54 15.07

3355 -0.64 -170.3 1980 2224 3353 3398 368.7 -9.4 265 3361 0.00 0.95 0.00 0.000 1030 0.000 0.046 1979 1689 3374 3351 3397 0 0 0 0 0 0 14.56 14.53 14.59

3697 -0.64 -170.3 1979 1689 3352 3397 403.6 -10.5 277 3702 0.00 0.90 0.00 0.000 516 0.000 0.055 1979 1173 3374 3351 3397 0 0 0 0 0 0 15.06 14.51 15.08

3929 -0.64 -170.3 1980 1172 3352 3397 429.4 -11.3 323 3933 0.00 0.93 0.00 0.000 1030 0.000 0.044 1977 1678 3373 3351 3396 0 0 0 0 0 0 14.60 14.57 14.65

4259 -0.64 -170.3 1977 1678 3352 3400 470.7 -12.8 333 4265 0.00 0.88 0.00 0.000 260 0.000 0.044 1973 2226 3373 3351 3395 0 0 0 0 0 0 15.06 14.54 15.07

4312 -0.64 -170.3 1973 2228 3352 3395 477.3 -12.3 343 4317 0.00 0.98 0.00 0.000 1030 0.000 0.046 1972 1679 3373 3352 3395 0 0 0 0 0 0 14.57 14.56 14.60

4662 -0.64 -170.3 1973 1679 3353 3395 522.3 -12.8 357 4668 0.00 0.88 0.00 0.000 516 0.000 0.054 1972 1176 3373 3352 3394 0 0 0 0 0 0 15.04 14.50 15.07

4894 -0.64 -170.3 1972 1175 3353 3395 550.3 -11.7 403 4899 0.00 0.90 0.00 0.000 1030 0.000 0.044 1970 1669 3372 3351 3394 0 0 0 0 0 0 14.59 14.56 14.62

5225 -0.64 -170.3 1970 1668 3353 3394 589.7 -11.9 413 5230 0.00 0.90 0.00 0.000 260 0.000 0.045 1965 2226 3372 3351 3394 0 0 0 0 0 0 15.04 14.53 15.06

5302 -0.64 -170.3 1965 2230 3352 3394 598.1 -10.5 428 5308 0.08 0.98 0.00 0.000 3078 0.201 0.047 1990 1681 3372 3352 3393 0 0 0 0 0 0 14.17 14.50 14.29

5626 -0.64 -170.3 1990 1681 3353 3393 630.0 -9.9 437 5632 0.00 0.90 0.00 0.000 516 0.000 0.055 1990 1168 3372 3352 3393 0 0 0 0 0 0 15.07 14.47 15.06

5798 -0.64 -170.3 1990 1168 3353 3393 647.3 -9.8 471 5803 0.00 0.93 0.00 0.000 1030 0.000 0.044 1988 1672 3372 3352 3393 0 0 0 0 0 0 14.60 14.54 14.60

6149 -0.64 -170.3 1988 1673 3353 3393 681.7 -9.7 485 6154 0.00 0.90 0.00 0.000 260 0.000 0.046 1984 2230 3371 3352 3391 0 0 0 0 0 0 15.02 14.52 15.06

6337 -0.64 -170.3 1983 2233 3353 3392 698.4 -8.6 522 6342 0.00 1.00 0.00 0.000 1030 0.000 0.046 1983 1676 3371 3352 3391 0 0 0 0 0 0 14.54 14.51 14.57

6673 -0.64 -170.3 1984 1675 3352 3391 728.9 -9.1 533 6678 0.00 0.88 0.00 0.000 516 0.000 0.054 1983 1172 3371 3352 3391 0 0 0 0 0 0 15.00 14.47 15.02

6875 -0.64 -170.3 1983 1172 3353 3391 747.0 -8.8 573 6880 0.00 0.93 0.00 0.000 1030 0.000 0.044 1981 1670 3371 3352 3391 0 0 0 0 0 0 14.57 14.54 14.59

7236 -0.64 -170.3 1981 1670 3352 3391 782.2 -10.0 589 7241 0.00 0.90 0.00 0.000 260 0.000 0.045 1976 2227 3371 3352 3390 0 0 0 0 0 0 15.06 14.50 15.07

7433 -0.64 -170.3 1977 2229 3353 3390 801.3 -9.7 628 7439 0.00 1.00 0.00 0.000 1030 0.000 0.047 1976 1675 3371 3352 3390 0 0 0 0 0 0 14.52 14.49 14.55

7758 -0.64 -170.3 1976 1674 3352 3388 837.1 -11.2 637 7764 0.00 0.88 0.00 0.000 516 0.000 0.054 1976 1173 3370 3352 3389 0 0 0 0 0 0 15.05 14.46 15.07

7985 -0.64 -170.3 1976 1173 3353 3390 861.6 -10.1 682 7990 0.00 0.85 0.00 0.000 1030 0.000 0.044 1974 1666 3370 3352 3389 0 0 0 0 0 0 14.46 14.43 14.48

8321 -0.64 -170.3 1974 1666 3352 3389 896.6 -10.4 693 8326 0.00 0.95 0.00 0.000 260 0.000 0.045 1970 2225 3370 3353 3387 0 0 0 0 0 0 15.02 14.51 15.06

8498 -0.64 -170.3 1970 2226 3353 3387 913.7 -9.5 728 8503 0.00 0.98 0.00 0.000 1030 0.000 0.045 1969 1674 3369 3351 3387 0 0 0 0 0 0 14.52 14.48 14.55

8843 -0.64 -170.3 1970 1674 3353 3387 949.4 -10.3 741 8849 0.00 0.88 0.00 0.000 516 0.000 0.054 1969 1176 3369 3352 3386 0 0 0 0 0 0 15.04 14.44 15.05

9075 -0.64 -170.3 1970 1176 3353 3386 972.4 -10.4 787 9080 0.05 0.90 0.00 0.000 3078 0.219 0.044 1985 1665 3368 3351 3386 0 0 0 0 0 0 14.14 14.50 14.26

9283 end dive: TARGET_DEPTH_EXCEEDED

state 9283 begin apogee

9291 -0.12 0.0 1986 1665 3353 3386 990.3 -8.4 794 9449 0.40 0.00 155.68 2.160 10244 0.177 0.000 2106 1664 2680 2859 2501 0 0 0 0 0 0 14.13 13.98 12.86

9450 end apogee: CONTROL_FINISHED_OK

state 9450 begin climb

9453 0.64 170.3 2106 1665 2860 2501 995.1 0.0 798 9623 0.47 0.95 159.50 2.105 10756 0.099 0.050 2273 1194 1984 2248 1720 0 0 0 0 0 0 14.04 14.10 12.75

9748 0.66 170.3 2273 1194 2248 1721 973.6 9.3 850 9754 0.00 0.93 0.00 0.000 1094 0.000 0.041 2273 1717 1983 2247 1720 0 0 0 0 0 0 14.45 14.43 14.48

10090 0.66 170.3 2273 1737 2245 1721 938.3 10.3 862 10095 0.00 0.82 0.00 0.000 260 0.000 0.041 2272 2268 1981 2242 1720 0 0 0 0 0 0 14.93 14.60 14.95

10229 0.66 170.3 2273 2270 2243 1721 924.5 10.1 889 10235 0.00 0.95 0.00 0.000 1030 0.000 0.060 2276 1717 1981 2243 1720 0 0 0 0 0 0 14.59 14.54 14.63

10576 0.66 170.3 2276 1717 2242 1720 888.5 10.4 902 10581 0.00 0.95 0.00 0.000 516 0.000 0.061 2281 1185 1981 2242 1720 0 0 0 0 0 0 14.97 14.53 14.99

10693 0.66 170.3 2282 1185 2241 1720 876.6 10.1 925 10699 0.00 0.90 0.00 0.000 1030 0.000 0.042 2281 1699 1980 2240 1721 0 0 0 0 0 0 14.64 14.60 14.64

11017 0.66 170.3 2280 1718 2240 1721 844.2 9.7 934 11018 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 1718 1979 2239 1720 0 0 0 0 0 0 14.97 15.00 14.97

11336 0.66 170.3 2281 1718 2239 1720 812.8 10.3 942 11341 0.00 0.95 0.00 0.000 516 0.000 0.060 2285 1195 1979 2238 1720 0 0 0 0 0 0 14.99 14.43 15.01

11368 0.66 170.3 2285 1195 2239 1721 809.5 10.7 948 11373 0.00 0.88 0.00 0.000 1030 0.000 0.041 2284 1695 1979 2238 1720 0 0 0 0 0 0 14.64 14.60 14.64

11699 0.66 170.3 2285 1714 2238 1721 772.4 11.1 958 11704 0.00 0.88 0.00 0.000 260 0.000 0.039 2284 2269 1978 2237 1720 0 0 0 0 0 0 14.99 14.60 15.00

11724 0.66 170.3 2285 2270 2238 1720 769.6 11.3 963 11729 0.00 1.00 0.00 0.000 1030 0.000 0.057 2288 1696 1978 2237 1720 0 0 0 0 0 0 14.45 14.43 14.47

12061 0.66 170.3 2289 1695 2238 1720 733.0 10.9 974 12066 0.00 0.93 0.00 0.000 516 0.000 0.063 2292 1190 1978 2236 1720 0 0 0 0 0 0 14.97 14.45 15.00

12116 0.66 170.3 2293 1189 2238 1721 726.7 11.1 985 12122 0.00 0.88 0.00 0.000 1030 0.000 0.042 2292 1694 1978 2236 1720 0 0 0 0 0 0 14.52 14.49 14.54

12464 0.66 170.3 2292 1713 2237 1721 688.0 11.2 998 12465 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1713 1977 2234 1720 0 0 0 0 0 0 14.97 14.99 14.99

12783 0.66 170.3 2292 1714 2236 1721 651.9 11.2 1006 12784 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1712 1977 2235 1720 0 0 0 0 0 0 14.97 14.98 14.97

13103 0.66 170.3 2292 1713 2236 1721 618.8 10.0 1014 13104 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1712 1977 2235 1720 0 0 0 0 0 0 14.97 15.00 15.00

13423 0.68 170.3 2293 1713 2237 1721 589.4 9.0 1022 13428 0.00 0.95 0.00 0.000 580 0.000 0.060 2296 1192 1978 2236 1720 0 0 0 0 0 0 14.99 14.44 15.00

13465 0.70 170.3 2296 1193 2236 1719 585.8 8.9 1030 13470 0.00 0.88 0.00 0.000 1094 0.000 0.042 2296 1695 1978 2236 1720 0 0 0 0 0 0 14.52 14.49 14.56

13826 0.71 170.3 2296 1712 2236 1721 552.3 9.4 1046 13830 0.00 0.85 0.00 0.000 324 0.000 0.037 2295 2247 1977 2235 1720 0 0 0 0 0 0 14.95 14.32 14.99

13856 0.71 170.3 2296 2251 2237 1720 549.3 9.8 1052 13861 0.00 0.98 0.00 0.000 1030 0.000 0.058 2300 1690 1977 2235 1720 0 0 0 0 0 0 14.42 14.38 14.47

14188 0.71 170.3 2300 1690 2236 1721 516.8 9.9 1062 14193 0.00 0.90 0.00 0.000 516 0.000 0.063 2304 1195 1977 2235 1720 0 0 0 0 0 0 14.99 14.42 15.00

14248 0.71 170.3 2305 1195 2236 1720 510.4 10.2 1074 14253 0.00 0.90 0.00 0.000 1030 0.000 0.044 2304 1688 1977 2235 1720 0 0 0 0 0 0 14.57 14.53 14.59

14590 0.71 170.3 2304 1707 2236 1721 474.6 10.6 1086 14595 0.00 0.85 0.00 0.000 260 0.000 0.038 2303 2249 1977 2235 1720 0 0 0 0 0 0 15.01 14.51 15.01

14626 0.71 170.3 2304 2249 2236 1721 470.5 11.1 1093 14633 0.05 1.02 0.00 0.000 5126 0.238 0.057 2291 1683 1977 2235 1720 0 0 0 0 0 0 14.14 14.46 14.28

14951 0.71 170.3 2290 1683 2236 1721 437.0 10.4 1102 14956 0.00 0.90 0.00 0.000 516 0.000 0.061 2294 1191 1977 2235 1720 0 0 0 0 0 0 15.00 14.34 15.01

15008 0.71 170.3 2295 1191 2236 1720 431.2 10.5 1113 15013 0.00 0.85 0.00 0.000 1030 0.000 0.042 2293 1688 1977 2235 1720 0 0 0 0 0 0 14.50 14.47 14.52

15354 0.71 170.3 2294 1704 2236 1721 392.2 11.5 1126 15359 0.00 0.88 0.00 0.000 260 0.000 0.037 2293 2255 1977 2235 1720 0 0 0 0 0 0 14.97 14.46 15.02

15389 0.71 170.3 2294 2259 2236 1721 388.0 12.0 1133 15396 0.00 1.00 0.00 0.000 1030 0.000 0.058 2298 1681 1977 2235 1720 0 0 0 0 0 0 14.53 14.45 14.52

15716 0.71 170.3 2298 1681 2237 1721 349.1 12.0 1142 15721 0.00 0.90 0.00 0.000 516 0.000 0.061 2302 1191 1977 2235 1720 0 0 0 0 0 0 14.97 14.22 14.99

15771 0.71 170.3 2302 1191 2236 1721 342.2 12.2 1153 15777 0.00 0.82 0.00 0.000 1030 0.000 0.043 2302 1682 1977 2235 1720 0 0 0 0 0 0 14.57 14.54 14.59

16119 0.71 170.3 2302 1702 2236 1721 301.7 11.4 1166 16124 0.00 0.88 0.00 0.000 260 0.000 0.038 2302 2241 1978 2235 1721 0 0 0 0 0 0 14.97 14.49 14.97

16150 0.71 170.3 2302 2243 2235 1721 298.1 10.9 1172 16154 0.00 1.00 0.00 0.000 1030 0.000 0.056 2306 1669 1977 2234 1720 0 0 0 0 0 0 14.44 14.37 14.49

16480 0.71 170.3 2306 1670 2237 1721 261.1 11.1 1182 16485 0.00 0.88 0.00 0.000 516 0.000 0.061 2310 1189 1977 2235 1720 0 0 0 0 0 0 14.99 14.41 15.01

16506 0.71 170.3 2310 1189 2237 1721 258.2 10.7 1187 16511 0.08 0.80 0.00 0.000 5126 0.176 0.041 2283 1660 1977 2235 1720 0 0 0 0 0 0 14.23 14.57 14.33

16843 0.73 170.3 2283 1679 2236 1721 227.8 8.9 1198 16844 0.00 0.00 0.00 0.000 70 0.000 0.000 2283 1679 1977 2235 1720 0 0 0 0 0 0 14.98 15.00 15.00

17162 0.76 170.3 2283 1679 2236 1721 200.0 8.6 1206 17168 0.00 0.93 0.00 0.000 324 0.000 0.037 2283 2249 1977 2235 1720 0 0 0 0 0 0 14.95 14.50 14.97

17195 0.79 170.3 2283 2251 2237 1721 197.3 8.5 1212 17200 0.00 1.00 0.00 0.000 1094 0.000 0.053 2286 1669 1977 2235 1720 0 0 0 0 0 0 14.49 14.45 14.54

17526 0.83 170.3 2286 1669 2237 1721 169.5 8.2 1222 17531 0.10 0.85 0.00 0.000 2628 0.154 0.053 2337 1193 1977 2235 1720 0 0 0 0 0 0 14.59 14.42 14.62

17577 0.83 170.3 2338 1193 2236 1721 164.0 11.9 1232 17582 0.08 0.80 0.00 0.000 5126 0.196 0.041 2312 1664 1978 2236 1720 0 0 0 0 0 0 14.16 14.47 14.32

17929 0.83 170.3 2311 1681 2236 1721 129.5 9.6 1246 17933 0.00 0.93 0.00 0.000 260 0.000 0.037 2311 2244 1978 2236 1720 0 0 0 0 0 0 14.93 14.41 14.95

17990 0.83 170.3 2312 2247 2237 1721 123.3 9.8 1258 17995 0.00 1.02 0.00 0.000 1030 0.000 0.057 2315 1662 1978 2236 1720 0 0 0 0 0 0 14.46 14.40 14.50

18332 0.83 170.3 2316 1662 2237 1721 88.8 10.3 1272 18333 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 1662 1977 2235 1720 0 0 0 0 0 0 14.89 14.89 14.90

18651 0.83 170.3 2315 1662 2236 1721 56.6 9.9 1288 18652 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 1661 1977 2235 1720 0 0 0 0 0 0 14.89 14.91 14.91

18971 0.84 170.3 2316 1661 2237 1721 26.6 9.1 1304 18976 0.00 0.85 0.00 0.000 580 0.000 0.061 2319 1193 1978 2235 1721 0 0 0 0 0 0 14.89 14.29 14.90

19043 0.84 170.3 2318 1193 2236 1721 19.8 9.9 1318 19047 0.00 0.80 0.00 0.000 1030 0.000 0.044 2319 1655 1978 2236 1720 0 0 0 0 0 0 14.25 14.22 14.27

19230 end climb: SURFACE_DEPTH_REACHED

state 19230 begin surface coast

19250 end surface coast: CONTROL_FINISHED_OK

state 19250 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	541	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	544.0
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	36	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	64	XPDR_VALID	5

GPS1	120918,184057,5829.1816,-2152.9006,70,0.9,70,-14.7,0.0,0.0,9,6.9	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	Z2
_XMS_NAKs	0	TGT_LATLONG	5825.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	312.8,36920,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-67.9	D_GRID	990
GPS2	120918,185135,5829.1196,-2152.7588,11,1.2,11,-14.7,0.0,0.0,5,9.3

FINISH	0.6,1.026522	_10V_AH	12.35,177.326
SM_CCo	19270,125.93,0.103,0,0,1256,350.04	FG_AHR_24Vo	0.000
SM_GC	1.13,6.40,0.00,125.93,0.069,0.000,0.103,29,1664,1256,-9.44,-0.99,350.04,0,0,0,0,0,0,14.54,14.90,14.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5842.76,-2606.11,120918,132028	MEM	333644
TT8_MAMPS	0.03745,0.779709	DATA_FILE_SIZE	46687,1330
HUMID	41.25	CAP_FILE_SIZE	157597,0
INTERNAL_PRESSURE	7.97882	CFSIZE	260165632,183398400
TCM_TEMP	19.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	INTR	0,15012.07,0x2146b8,1,24
SC_FREEKB	3702880	CURRENT	0.314,148.77,1
CP_FREE	15660875776.000000	GPS	130918,001633,5827.108,-2152.560,38,1.2,38,-14.7,0.0,0.0,6,9.1
_24V_AH	12.75,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	403	89.05	nil	0	0	0.00
Roll_motor	65	62	52.43	nil	0	0	0.00
VBD_pump_during_apogee	315	2160	8681.37	nil	0	0	0.00
VBD_pump_during_surface	125	103	165.81	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	19289	8	2176.77
Iridium_during_xfer	367	167	784.69	TMICL	0	0	0.00
Transponder_ping	0	420	4.02	NCP	9805	25	3125.34
GUMSTIX_24V	0	0	0.00
GPS	16	20	4.03
TT8	0	0	0.00
LPSleep	15861	2	429.01
TT8_Active	696	8	74.60
TT8_Sampling	2921	26	961.66
TT8_CF8	542	31	208.47
TT8_Kalman	0	0	0.00
Analog_circuits	2102	10	280.44
GPS_charging	0	0	0.00
Compass	1895	6	157.81
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.64	-170.3	15	1693	1412	1083	0.0	0.0	0	119	0.00	0.00	-95.80	0.006	16390	0.000	0.000	13	1668	3374	3316	3433	0	0	0	0	0	0	14.76	13.33	14.73
123	-0.64	-170.3	14	1669	3317	3434	5.0	-4.3	5	140	9.57	0.00	0.00	0.000	2086	0.403	0.000	1985	1666	3375	3328	3422	0	0	0	0	0	0	13.89	14.40	14.31
459	-0.64	-170.3	1983	1683	3345	3402	48.3	-12.3	22	464	0.00	0.93	0.00	0.000	516	0.000	0.051	1983	1163	3373	3345	3402	0	0	0	0	0	0	14.89	14.39	14.90
689	-0.64	-170.3	1984	1163	3347	3403	71.7	-9.4	68	694	0.00	0.93	0.00	0.000	1030	0.000	0.044	1981	1695	3374	3346	3402	0	0	0	0	0	0	14.54	14.50	14.57
1040	-0.64	-170.3	1981	1695	3347	3402	109.6	-11.2	85	1046	0.00	0.88	0.00	0.000	260	0.000	0.044	1976	2222	3373	3346	3401	0	0	0	0	0	0	14.95	14.34	14.98
1102	-0.64	-170.3	1976	2225	3350	3400	116.2	-10.4	97	1108	0.00	0.93	0.00	0.000	1030	0.000	0.046	1975	1694	3374	3349	3400	0	0	0	0	0	0	14.53	14.50	14.56
1444	-0.64	-170.3	1977	1694	3349	3399	156.9	-12.2	109	1449	0.00	0.90	0.00	0.000	516	0.000	0.054	1976	1181	3374	3349	3400	0	0	0	0	0	0	14.94	14.45	14.95
1675	-0.64	-170.3	1976	1180	3351	3400	185.4	-12.0	155	1680	0.00	0.95	0.00	0.000	1030	0.000	0.044	1974	1691	3374	3350	3399	0	0	0	0	0	0	14.49	14.45	14.52
2006	-0.64	-170.3	1974	1692	3351	3400	226.6	-12.4	165	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	1691	3374	3350	3399	0	0	0	0	0	0	14.99	15.00	15.00
2327	-0.64	-170.3	1974	1692	3351	3400	265.2	-11.9	173	2332	0.00	0.85	0.00	0.000	260	0.000	0.045	1970	2229	3374	3350	3399	0	0	0	0	0	0	15.02	14.54	15.04
2368	-0.64	-170.3	1969	2232	3352	3399	270.1	-11.2	181	2374	0.05	0.90	0.00	0.000	3078	0.218	0.047	1986	1690	3374	3350	3399	0	0	0	0	0	0	14.24	14.54	14.36
2730	-0.64	-170.3	1987	1690	3352	3399	306.4	-9.9	197	2736	0.00	0.98	0.00	0.000	516	0.000	0.053	1986	1169	3374	3351	3398	0	0	0	0	0	0	15.04	14.51	15.06
2962	-0.64	-170.3	1987	1169	3352	3398	329.1	-9.8	243	2967	0.00	0.95	0.00	0.000	1030	0.000	0.044	1984	1688	3374	3351	3398	0	0	0	0	0	0	14.61	14.58	14.63
3294	-0.64	-170.3	1984	1688	3352	3398	362.8	-10.2	253	3300	0.00	0.85	0.00	0.000	260	0.000	0.044	1980	2222	3374	3351	3397	0	0	0	0	0	0	15.04	14.54	15.07
3355	-0.64	-170.3	1980	2224	3353	3398	368.7	-9.4	265	3361	0.00	0.95	0.00	0.000	1030	0.000	0.046	1979	1689	3374	3351	3397	0	0	0	0	0	0	14.56	14.53	14.59
3697	-0.64	-170.3	1979	1689	3352	3397	403.6	-10.5	277	3702	0.00	0.90	0.00	0.000	516	0.000	0.055	1979	1173	3374	3351	3397	0	0	0	0	0	0	15.06	14.51	15.08
3929	-0.64	-170.3	1980	1172	3352	3397	429.4	-11.3	323	3933	0.00	0.93	0.00	0.000	1030	0.000	0.044	1977	1678	3373	3351	3396	0	0	0	0	0	0	14.60	14.57	14.65
4259	-0.64	-170.3	1977	1678	3352	3400	470.7	-12.8	333	4265	0.00	0.88	0.00	0.000	260	0.000	0.044	1973	2226	3373	3351	3395	0	0	0	0	0	0	15.06	14.54	15.07
4312	-0.64	-170.3	1973	2228	3352	3395	477.3	-12.3	343	4317	0.00	0.98	0.00	0.000	1030	0.000	0.046	1972	1679	3373	3352	3395	0	0	0	0	0	0	14.57	14.56	14.60
4662	-0.64	-170.3	1973	1679	3353	3395	522.3	-12.8	357	4668	0.00	0.88	0.00	0.000	516	0.000	0.054	1972	1176	3373	3352	3394	0	0	0	0	0	0	15.04	14.50	15.07
4894	-0.64	-170.3	1972	1175	3353	3395	550.3	-11.7	403	4899	0.00	0.90	0.00	0.000	1030	0.000	0.044	1970	1669	3372	3351	3394	0	0	0	0	0	0	14.59	14.56	14.62
5225	-0.64	-170.3	1970	1668	3353	3394	589.7	-11.9	413	5230	0.00	0.90	0.00	0.000	260	0.000	0.045	1965	2226	3372	3351	3394	0	0	0	0	0	0	15.04	14.53	15.06
5302	-0.64	-170.3	1965	2230	3352	3394	598.1	-10.5	428	5308	0.08	0.98	0.00	0.000	3078	0.201	0.047	1990	1681	3372	3352	3393	0	0	0	0	0	0	14.17	14.50	14.29
5626	-0.64	-170.3	1990	1681	3353	3393	630.0	-9.9	437	5632	0.00	0.90	0.00	0.000	516	0.000	0.055	1990	1168	3372	3352	3393	0	0	0	0	0	0	15.07	14.47	15.06
5798	-0.64	-170.3	1990	1168	3353	3393	647.3	-9.8	471	5803	0.00	0.93	0.00	0.000	1030	0.000	0.044	1988	1672	3372	3352	3393	0	0	0	0	0	0	14.60	14.54	14.60
6149	-0.64	-170.3	1988	1673	3353	3393	681.7	-9.7	485	6154	0.00	0.90	0.00	0.000	260	0.000	0.046	1984	2230	3371	3352	3391	0	0	0	0	0	0	15.02	14.52	15.06
6337	-0.64	-170.3	1983	2233	3353	3392	698.4	-8.6	522	6342	0.00	1.00	0.00	0.000	1030	0.000	0.046	1983	1676	3371	3352	3391	0	0	0	0	0	0	14.54	14.51	14.57
6673	-0.64	-170.3	1984	1675	3352	3391	728.9	-9.1	533	6678	0.00	0.88	0.00	0.000	516	0.000	0.054	1983	1172	3371	3352	3391	0	0	0	0	0	0	15.00	14.47	15.02
6875	-0.64	-170.3	1983	1172	3353	3391	747.0	-8.8	573	6880	0.00	0.93	0.00	0.000	1030	0.000	0.044	1981	1670	3371	3352	3391	0	0	0	0	0	0	14.57	14.54	14.59
7236	-0.64	-170.3	1981	1670	3352	3391	782.2	-10.0	589	7241	0.00	0.90	0.00	0.000	260	0.000	0.045	1976	2227	3371	3352	3390	0	0	0	0	0	0	15.06	14.50	15.07
7433	-0.64	-170.3	1977	2229	3353	3390	801.3	-9.7	628	7439	0.00	1.00	0.00	0.000	1030	0.000	0.047	1976	1675	3371	3352	3390	0	0	0	0	0	0	14.52	14.49	14.55
7758	-0.64	-170.3	1976	1674	3352	3388	837.1	-11.2	637	7764	0.00	0.88	0.00	0.000	516	0.000	0.054	1976	1173	3370	3352	3389	0	0	0	0	0	0	15.05	14.46	15.07
7985	-0.64	-170.3	1976	1173	3353	3390	861.6	-10.1	682	7990	0.00	0.85	0.00	0.000	1030	0.000	0.044	1974	1666	3370	3352	3389	0	0	0	0	0	0	14.46	14.43	14.48
8321	-0.64	-170.3	1974	1666	3352	3389	896.6	-10.4	693	8326	0.00	0.95	0.00	0.000	260	0.000	0.045	1970	2225	3370	3353	3387	0	0	0	0	0	0	15.02	14.51	15.06
8498	-0.64	-170.3	1970	2226	3353	3387	913.7	-9.5	728	8503	0.00	0.98	0.00	0.000	1030	0.000	0.045	1969	1674	3369	3351	3387	0	0	0	0	0	0	14.52	14.48	14.55
8843	-0.64	-170.3	1970	1674	3353	3387	949.4	-10.3	741	8849	0.00	0.88	0.00	0.000	516	0.000	0.054	1969	1176	3369	3352	3386	0	0	0	0	0	0	15.04	14.44	15.05
9075	-0.64	-170.3	1970	1176	3353	3386	972.4	-10.4	787	9080	0.05	0.90	0.00	0.000	3078	0.219	0.044	1985	1665	3368	3351	3386	0	0	0	0	0	0	14.14	14.50	14.26
9283	end dive: TARGET_DEPTH_EXCEEDED
state	9283	begin apogee
9291	-0.12	0.0	1986	1665	3353	3386	990.3	-8.4	794	9449	0.40	0.00	155.68	2.160	10244	0.177	0.000	2106	1664	2680	2859	2501	0	0	0	0	0	0	14.13	13.98	12.86
9450	end apogee: CONTROL_FINISHED_OK
state	9450	begin climb
9453	0.64	170.3	2106	1665	2860	2501	995.1	0.0	798	9623	0.47	0.95	159.50	2.105	10756	0.099	0.050	2273	1194	1984	2248	1720	0	0	0	0	0	0	14.04	14.10	12.75
9748	0.66	170.3	2273	1194	2248	1721	973.6	9.3	850	9754	0.00	0.93	0.00	0.000	1094	0.000	0.041	2273	1717	1983	2247	1720	0	0	0	0	0	0	14.45	14.43	14.48
10090	0.66	170.3	2273	1737	2245	1721	938.3	10.3	862	10095	0.00	0.82	0.00	0.000	260	0.000	0.041	2272	2268	1981	2242	1720	0	0	0	0	0	0	14.93	14.60	14.95
10229	0.66	170.3	2273	2270	2243	1721	924.5	10.1	889	10235	0.00	0.95	0.00	0.000	1030	0.000	0.060	2276	1717	1981	2243	1720	0	0	0	0	0	0	14.59	14.54	14.63
10576	0.66	170.3	2276	1717	2242	1720	888.5	10.4	902	10581	0.00	0.95	0.00	0.000	516	0.000	0.061	2281	1185	1981	2242	1720	0	0	0	0	0	0	14.97	14.53	14.99
10693	0.66	170.3	2282	1185	2241	1720	876.6	10.1	925	10699	0.00	0.90	0.00	0.000	1030	0.000	0.042	2281	1699	1980	2240	1721	0	0	0	0	0	0	14.64	14.60	14.64
11017	0.66	170.3	2280	1718	2240	1721	844.2	9.7	934	11018	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	1718	1979	2239	1720	0	0	0	0	0	0	14.97	15.00	14.97
11336	0.66	170.3	2281	1718	2239	1720	812.8	10.3	942	11341	0.00	0.95	0.00	0.000	516	0.000	0.060	2285	1195	1979	2238	1720	0	0	0	0	0	0	14.99	14.43	15.01
11368	0.66	170.3	2285	1195	2239	1721	809.5	10.7	948	11373	0.00	0.88	0.00	0.000	1030	0.000	0.041	2284	1695	1979	2238	1720	0	0	0	0	0	0	14.64	14.60	14.64
11699	0.66	170.3	2285	1714	2238	1721	772.4	11.1	958	11704	0.00	0.88	0.00	0.000	260	0.000	0.039	2284	2269	1978	2237	1720	0	0	0	0	0	0	14.99	14.60	15.00
11724	0.66	170.3	2285	2270	2238	1720	769.6	11.3	963	11729	0.00	1.00	0.00	0.000	1030	0.000	0.057	2288	1696	1978	2237	1720	0	0	0	0	0	0	14.45	14.43	14.47
12061	0.66	170.3	2289	1695	2238	1720	733.0	10.9	974	12066	0.00	0.93	0.00	0.000	516	0.000	0.063	2292	1190	1978	2236	1720	0	0	0	0	0	0	14.97	14.45	15.00
12116	0.66	170.3	2293	1189	2238	1721	726.7	11.1	985	12122	0.00	0.88	0.00	0.000	1030	0.000	0.042	2292	1694	1978	2236	1720	0	0	0	0	0	0	14.52	14.49	14.54
12464	0.66	170.3	2292	1713	2237	1721	688.0	11.2	998	12465	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1713	1977	2234	1720	0	0	0	0	0	0	14.97	14.99	14.99
12783	0.66	170.3	2292	1714	2236	1721	651.9	11.2	1006	12784	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1712	1977	2235	1720	0	0	0	0	0	0	14.97	14.98	14.97
13103	0.66	170.3	2292	1713	2236	1721	618.8	10.0	1014	13104	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1712	1977	2235	1720	0	0	0	0	0	0	14.97	15.00	15.00
13423	0.68	170.3	2293	1713	2237	1721	589.4	9.0	1022	13428	0.00	0.95	0.00	0.000	580	0.000	0.060	2296	1192	1978	2236	1720	0	0	0	0	0	0	14.99	14.44	15.00
13465	0.70	170.3	2296	1193	2236	1719	585.8	8.9	1030	13470	0.00	0.88	0.00	0.000	1094	0.000	0.042	2296	1695	1978	2236	1720	0	0	0	0	0	0	14.52	14.49	14.56
13826	0.71	170.3	2296	1712	2236	1721	552.3	9.4	1046	13830	0.00	0.85	0.00	0.000	324	0.000	0.037	2295	2247	1977	2235	1720	0	0	0	0	0	0	14.95	14.32	14.99
13856	0.71	170.3	2296	2251	2237	1720	549.3	9.8	1052	13861	0.00	0.98	0.00	0.000	1030	0.000	0.058	2300	1690	1977	2235	1720	0	0	0	0	0	0	14.42	14.38	14.47
14188	0.71	170.3	2300	1690	2236	1721	516.8	9.9	1062	14193	0.00	0.90	0.00	0.000	516	0.000	0.063	2304	1195	1977	2235	1720	0	0	0	0	0	0	14.99	14.42	15.00
14248	0.71	170.3	2305	1195	2236	1720	510.4	10.2	1074	14253	0.00	0.90	0.00	0.000	1030	0.000	0.044	2304	1688	1977	2235	1720	0	0	0	0	0	0	14.57	14.53	14.59
14590	0.71	170.3	2304	1707	2236	1721	474.6	10.6	1086	14595	0.00	0.85	0.00	0.000	260	0.000	0.038	2303	2249	1977	2235	1720	0	0	0	0	0	0	15.01	14.51	15.01
14626	0.71	170.3	2304	2249	2236	1721	470.5	11.1	1093	14633	0.05	1.02	0.00	0.000	5126	0.238	0.057	2291	1683	1977	2235	1720	0	0	0	0	0	0	14.14	14.46	14.28
14951	0.71	170.3	2290	1683	2236	1721	437.0	10.4	1102	14956	0.00	0.90	0.00	0.000	516	0.000	0.061	2294	1191	1977	2235	1720	0	0	0	0	0	0	15.00	14.34	15.01
15008	0.71	170.3	2295	1191	2236	1720	431.2	10.5	1113	15013	0.00	0.85	0.00	0.000	1030	0.000	0.042	2293	1688	1977	2235	1720	0	0	0	0	0	0	14.50	14.47	14.52
15354	0.71	170.3	2294	1704	2236	1721	392.2	11.5	1126	15359	0.00	0.88	0.00	0.000	260	0.000	0.037	2293	2255	1977	2235	1720	0	0	0	0	0	0	14.97	14.46	15.02
15389	0.71	170.3	2294	2259	2236	1721	388.0	12.0	1133	15396	0.00	1.00	0.00	0.000	1030	0.000	0.058	2298	1681	1977	2235	1720	0	0	0	0	0	0	14.53	14.45	14.52
15716	0.71	170.3	2298	1681	2237	1721	349.1	12.0	1142	15721	0.00	0.90	0.00	0.000	516	0.000	0.061	2302	1191	1977	2235	1720	0	0	0	0	0	0	14.97	14.22	14.99
15771	0.71	170.3	2302	1191	2236	1721	342.2	12.2	1153	15777	0.00	0.82	0.00	0.000	1030	0.000	0.043	2302	1682	1977	2235	1720	0	0	0	0	0	0	14.57	14.54	14.59
16119	0.71	170.3	2302	1702	2236	1721	301.7	11.4	1166	16124	0.00	0.88	0.00	0.000	260	0.000	0.038	2302	2241	1978	2235	1721	0	0	0	0	0	0	14.97	14.49	14.97
16150	0.71	170.3	2302	2243	2235	1721	298.1	10.9	1172	16154	0.00	1.00	0.00	0.000	1030	0.000	0.056	2306	1669	1977	2234	1720	0	0	0	0	0	0	14.44	14.37	14.49
16480	0.71	170.3	2306	1670	2237	1721	261.1	11.1	1182	16485	0.00	0.88	0.00	0.000	516	0.000	0.061	2310	1189	1977	2235	1720	0	0	0	0	0	0	14.99	14.41	15.01
16506	0.71	170.3	2310	1189	2237	1721	258.2	10.7	1187	16511	0.08	0.80	0.00	0.000	5126	0.176	0.041	2283	1660	1977	2235	1720	0	0	0	0	0	0	14.23	14.57	14.33
16843	0.73	170.3	2283	1679	2236	1721	227.8	8.9	1198	16844	0.00	0.00	0.00	0.000	70	0.000	0.000	2283	1679	1977	2235	1720	0	0	0	0	0	0	14.98	15.00	15.00
17162	0.76	170.3	2283	1679	2236	1721	200.0	8.6	1206	17168	0.00	0.93	0.00	0.000	324	0.000	0.037	2283	2249	1977	2235	1720	0	0	0	0	0	0	14.95	14.50	14.97
17195	0.79	170.3	2283	2251	2237	1721	197.3	8.5	1212	17200	0.00	1.00	0.00	0.000	1094	0.000	0.053	2286	1669	1977	2235	1720	0	0	0	0	0	0	14.49	14.45	14.54
17526	0.83	170.3	2286	1669	2237	1721	169.5	8.2	1222	17531	0.10	0.85	0.00	0.000	2628	0.154	0.053	2337	1193	1977	2235	1720	0	0	0	0	0	0	14.59	14.42	14.62
17577	0.83	170.3	2338	1193	2236	1721	164.0	11.9	1232	17582	0.08	0.80	0.00	0.000	5126	0.196	0.041	2312	1664	1978	2236	1720	0	0	0	0	0	0	14.16	14.47	14.32
17929	0.83	170.3	2311	1681	2236	1721	129.5	9.6	1246	17933	0.00	0.93	0.00	0.000	260	0.000	0.037	2311	2244	1978	2236	1720	0	0	0	0	0	0	14.93	14.41	14.95
17990	0.83	170.3	2312	2247	2237	1721	123.3	9.8	1258	17995	0.00	1.02	0.00	0.000	1030	0.000	0.057	2315	1662	1978	2236	1720	0	0	0	0	0	0	14.46	14.40	14.50
18332	0.83	170.3	2316	1662	2237	1721	88.8	10.3	1272	18333	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	1662	1977	2235	1720	0	0	0	0	0	0	14.89	14.89	14.90
18651	0.83	170.3	2315	1662	2236	1721	56.6	9.9	1288	18652	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	1661	1977	2235	1720	0	0	0	0	0	0	14.89	14.91	14.91
18971	0.84	170.3	2316	1661	2237	1721	26.6	9.1	1304	18976	0.00	0.85	0.00	0.000	580	0.000	0.061	2319	1193	1978	2235	1721	0	0	0	0	0	0	14.89	14.29	14.90
19043	0.84	170.3	2318	1193	2236	1721	19.8	9.9	1318	19047	0.00	0.80	0.00	0.000	1030	0.000	0.044	2319	1655	1978	2236	1720	0	0	0	0	0	0	14.25	14.22	14.27
19230	end climb: SURFACE_DEPTH_REACHED
state	19230	begin surface coast
19250	end surface coast: CONTROL_FINISHED_OK
state	19250	begin surface