Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 565 * 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 565 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 583.0

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 47 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 61 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 583.0 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 47 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 61 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 565 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 180918,095933,5802.2407,-2328.6604,40,0.9,40,-15.3,0.0,0.0,10,6.7 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME Z3

_XMS_NAKs 0 TGT_LATLONG 5730.000,-2400.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.01 MHEAD_RNG_PITCHd_Wd 182.7,67283,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -75.3 D_GRID 990

GPS2 180918,101247,5802.2510,-2328.8708,14,1.2,14,-15.3,0.0,0.0,9,9.3

Post-dive calculations and measurements:

FINISH 0.8,1.026845 _24V_AH 12.61,0.000

SM_CCo 19249,86.35,0.103,0,0,1252,350.29 _10V_AH 12.30,185.143

SM_GC 1.01,6.30,0.00,86.35,0.060,0.000,0.103,62,1644,1252,-9.40,-1.58,350.29,0,0,0,0,0,0,14.40,14.88,14.32 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5804.94,-2406.43,180918,041758 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.784952 MEM 333700

HUMID 41.80 DATA_FILE_SIZE 46609,1374

INTERNAL_PRESSURE 7.97882 CAP_FILE_SIZE 165237,0

TCM_TEMP 19.30 CFSIZE 260165632,179900416

XPDR_PINGS 4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3689376 CURRENT 0.207,291.70,1

CP_FREE 15645147136.000000 GPS 180918,153651,5801.587,-2331.990,26,1.1,44,-15.3,0.2,264.0,8,5.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 407 88.57 nil 0 0 0.00

Roll_motor 75 854 809.50 nil 0 0 0.00

VBD_pump_during_apogee 366 2183 10095.13 nil 0 0 0.00

VBD_pump_during_surface 86 102 111.62 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 9786 9 1116.17

Iridium_during_xfer 477 176 1065.11 TMICL 0 0 0.00

Transponder_ping 1 420 5.30 NCP 9753 25 3074.63

GUMSTIX_24V 0 0 0.00

GPS 17 20 4.36

TT8 0 0 0.00

LPSleep 15692 2 422.72

TT8_Active 662 8 70.66

TT8_Sampling 3159 26 1035.55

TT8_CF8 607 31 232.67

TT8_Kalman 0 0 0.00

Analog_circuits 2260 10 300.32

GPS_charging 0 0 0.00

Compass 1954 6 162.03

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 39 1637 1382 1119 0.0 0.0 0 120 0.00 0.08 -99.25 0.006 16390 0.000 0.855 37 1699 3376 3315 3437 0 0 0 0 0 0 14.81 12.61 14.80

124 -0.64 -170.3 38 1700 3316 3438 3.7 -2.9 5 137 9.48 0.82 0.00 0.000 2340 0.408 0.030 1978 2239 3376 3322 3431 0 0 0 0 0 0 13.90 14.33 14.18

308 -0.64 -170.3 1978 2241 3345 3406 31.8 -10.6 42 313 0.00 0.98 0.00 0.000 1030 0.000 0.049 1978 1709 3374 3344 3405 0 0 0 0 0 0 14.52 14.48 14.54

644 -0.64 -170.3 1978 1709 3348 3404 72.3 -11.9 61 648 0.00 0.95 0.00 0.000 516 0.000 0.054 1978 1168 3375 3347 3403 0 0 0 0 0 0 15.09 14.47 15.09

875 -0.64 -170.3 1978 1168 3348 3404 99.8 -11.9 107 880 0.00 0.95 0.00 0.000 1030 0.000 0.043 1975 1687 3375 3348 3403 0 0 0 0 0 0 14.59 14.57 14.61

1205 -0.64 -170.3 1975 1686 3349 3403 142.2 -13.1 117 1210 0.00 0.85 0.00 0.000 260 0.000 0.044 1971 2222 3375 3348 3403 0 0 0 0 0 0 15.13 14.54 15.14

1252 -0.64 -170.3 1971 2224 3350 3402 148.1 -12.6 126 1257 0.00 0.98 0.00 0.000 1030 0.000 0.045 1971 1680 3375 3350 3401 0 0 0 0 0 0 14.57 14.54 14.60

1608 -0.64 -170.3 1971 1680 3352 3401 195.3 -13.2 141 1613 0.00 0.88 0.00 0.000 516 0.000 0.053 1971 1172 3375 3350 3401 0 0 0 0 0 0 15.14 14.50 15.15

1839 -0.64 -170.3 1971 1171 3351 3401 225.2 -12.9 187 1844 0.00 0.93 0.00 0.000 1030 0.000 0.043 1968 1677 3376 3351 3401 0 0 0 0 0 0 14.59 14.57 14.62

2170 -0.64 -170.3 1969 1677 3352 3401 270.8 -14.0 197 2175 0.10 0.88 0.00 0.000 2308 0.280 0.037 1987 2226 3376 3351 3401 0 0 0 0 0 0 14.46 14.53 14.56

2237 -0.64 -170.3 1987 2227 3352 3400 278.7 -11.3 210 2241 0.00 0.98 0.00 0.000 1030 0.000 0.044 1987 1682 3375 3351 3399 0 0 0 0 0 0 14.57 14.53 14.57

2572 -0.64 -170.3 1987 1682 3352 3399 318.0 -11.6 221 2577 0.00 0.88 0.00 0.000 516 0.000 0.053 1987 1172 3375 3352 3399 0 0 0 0 0 0 15.15 14.50 15.16

2804 -0.64 -170.3 1987 1172 3353 3400 344.0 -11.2 267 2809 0.00 0.93 0.00 0.000 1030 0.000 0.043 1984 1678 3375 3352 3399 0 0 0 0 0 0 14.58 14.56 14.62

3134 -0.64 -170.3 1985 1679 3353 3400 381.5 -11.2 277 3139 0.00 0.88 0.00 0.000 260 0.000 0.044 1980 2223 3375 3352 3399 0 0 0 0 0 0 15.16 14.53 15.16

3221 -0.64 -170.3 1980 2226 3353 3399 390.5 -10.2 294 3226 0.00 1.00 0.00 0.000 1030 0.000 0.045 1979 1673 3375 3352 3399 0 0 0 0 0 0 14.56 14.50 14.58

3577 -0.64 -170.3 1980 1672 3353 3399 429.1 -10.7 309 3581 0.00 0.85 0.00 0.000 516 0.000 0.054 1980 1176 3375 3352 3399 0 0 0 0 0 0 15.14 14.49 15.16

3808 -0.64 -170.3 1979 1176 3353 3399 451.7 -9.5 355 3813 0.00 0.90 0.00 0.000 1030 0.000 0.044 1977 1671 3375 3352 3398 0 0 0 0 0 0 14.59 14.56 14.61

4139 -0.64 -170.3 1977 1671 3353 3398 484.3 -9.9 365 4143 0.00 0.88 0.00 0.000 260 0.000 0.044 1973 2215 3374 3352 3397 0 0 0 0 0 0 15.15 14.52 15.16

4235 -0.64 -170.3 1973 2218 3353 3398 493.2 -8.9 384 4241 0.00 0.98 0.00 0.000 1030 0.000 0.045 1973 1679 3374 3352 3397 0 0 0 0 0 0 14.54 14.50 14.57

4582 -0.64 -170.3 1973 1679 3353 3397 526.8 -9.7 397 4587 0.00 0.88 0.00 0.000 516 0.000 0.054 1972 1172 3374 3352 3396 0 0 0 0 0 0 15.18 14.47 15.16

4814 -0.64 -170.3 1973 1171 3353 3396 547.8 -9.1 443 4818 0.00 0.90 0.00 0.000 1030 0.000 0.044 1970 1666 3374 3353 3396 0 0 0 0 0 0 14.56 14.53 14.58

5145 -0.64 -170.3 1971 1666 3353 3395 583.2 -11.1 453 5145 0.00 0.00 0.00 0.000 6 0.000 0.000 1970 1665 3373 3352 3395 0 0 0 0 0 0 15.16 15.16 15.16

5464 -0.64 -170.3 1970 1666 3353 3395 622.0 -12.3 461 5469 0.00 0.90 0.00 0.000 260 0.000 0.044 1966 2222 3373 3352 3394 0 0 0 0 0 0 15.16 14.50 15.17

5561 -0.64 -170.3 1966 2225 3353 3394 633.5 -11.8 480 5567 0.08 1.02 0.00 0.000 3078 0.197 0.047 1991 1664 3373 3353 3393 0 0 0 0 0 0 14.13 14.49 14.24

5908 -0.64 -170.3 1990 1664 3353 3393 671.6 -10.9 493 5913 0.00 0.85 0.00 0.000 516 0.000 0.054 1991 1167 3372 3352 3392 0 0 0 0 0 0 15.13 14.45 15.16

6059 -0.64 -170.3 1991 1167 3353 3393 687.4 -10.8 523 6064 0.00 0.93 0.00 0.000 1030 0.000 0.044 1988 1671 3372 3352 3392 0 0 0 0 0 0 14.54 14.52 14.57

6392 -0.64 -170.3 1989 1670 3354 3391 723.0 -10.7 533 6396 0.00 0.90 0.00 0.000 260 0.000 0.045 1984 2223 3371 3352 3391 0 0 0 0 0 0 15.15 14.48 15.15

6538 -0.64 -170.3 1984 2225 3353 3391 737.6 -9.6 562 6543 0.00 1.02 0.00 0.000 1030 0.000 0.044 1984 1665 3371 3353 3390 0 0 0 0 0 0 14.50 14.47 14.54

6874 -0.64 -170.3 1984 1665 3353 3390 772.2 -10.1 573 6878 0.00 0.85 0.00 0.000 516 0.000 0.054 1984 1168 3371 3352 3390 0 0 0 0 0 0 15.15 14.47 15.16

7050 -0.64 -170.3 1983 1168 3353 3390 789.2 -9.3 608 7056 0.00 0.90 0.00 0.000 1030 0.000 0.045 1982 1657 3371 3353 3390 0 0 0 0 0 0 14.53 14.50 14.54

7397 -0.64 -170.3 1982 1657 3353 3389 820.6 -8.7 621 7402 0.00 0.93 0.00 0.000 260 0.000 0.045 1977 2224 3370 3352 3389 0 0 0 0 0 0 15.14 14.47 15.16

7583 -0.64 -170.3 1977 2226 3353 3388 835.0 -7.6 658 7590 0.00 1.02 0.00 0.000 1062 0.000 0.046 1977 1667 3370 3352 3388 0 0 0 0 0 0 14.50 14.45 14.52

7921 -0.64 -170.3 1977 1667 3353 3387 862.9 -8.3 669 7925 0.00 0.85 0.00 0.000 516 0.000 0.055 1977 1170 3369 3352 3387 0 0 0 0 0 0 15.14 14.45 15.16

8060 -0.64 -170.3 1977 1170 3354 3387 873.6 -7.7 696 8065 0.00 0.90 0.00 0.000 1062 0.000 0.045 1975 1659 3369 3352 3386 0 0 0 0 0 0 14.51 14.47 14.53

8406 -0.64 -170.3 1975 1659 3353 3386 904.3 -9.1 709 8411 0.00 0.93 0.00 0.000 260 0.000 0.047 1971 2223 3369 3352 3386 0 0 0 0 0 0 15.15 14.44 15.16

8603 -0.64 -170.3 1971 2226 3353 3386 921.9 -8.9 748 8610 0.00 1.02 0.00 0.000 1030 0.000 0.046 1970 1668 3368 3352 3385 0 0 0 0 0 0 14.47 14.44 14.50

8929 -0.64 -170.3 1970 1668 3353 3385 954.1 -10.1 757 8933 0.00 0.85 0.00 0.000 516 0.000 0.054 1970 1172 3368 3352 3384 0 0 0 0 0 0 15.14 14.40 15.16

9111 -0.64 -170.3 1970 1171 3353 3385 971.7 -9.4 793 9115 0.00 0.90 0.00 0.000 1030 0.000 0.044 1968 1662 3367 3352 3383 0 0 0 0 0 0 14.50 14.47 14.52

9328 end dive: TARGET_DEPTH_EXCEEDED

state 9328 begin apogee

9335 -0.12 0.0 1968 1663 3353 3383 993.6 -10.0 802 9492 0.47 0.00 155.32 2.183 10244 0.186 0.000 2106 1662 2681 2860 2503 0 0 0 0 0 0 13.98 13.94 12.80

9493 end apogee: CONTROL_FINISHED_OK

state 9493 begin climb

9497 0.64 170.3 2107 1663 2860 2502 997.8 0.0 806 9668 0.47 0.95 159.65 2.118 10756 0.099 0.047 2273 1187 1985 2258 1712 0 0 0 0 0 0 14.02 14.09 12.68

9774 0.66 170.3 2273 1188 2259 1713 979.0 9.1 846 9778 0.00 1.00 0.00 0.000 1094 0.000 0.041 2273 1723 1986 2259 1713 0 0 0 0 0 0 14.40 14.38 14.42

10134 0.66 170.3 2274 1743 2259 1713 942.2 10.4 862 10139 0.00 0.80 0.00 0.000 260 0.000 0.040 2273 2253 1985 2258 1713 0 0 0 0 0 0 14.92 14.58 14.93

10281 0.66 170.3 2274 2257 2256 1713 926.3 10.7 891 10286 0.00 1.00 0.00 0.000 1030 0.000 0.058 2277 1715 1985 2258 1713 0 0 0 0 0 0 14.50 14.44 14.52

10617 0.66 170.3 2278 1715 2259 1713 888.8 11.1 902 10622 0.00 0.93 0.00 0.000 516 0.000 0.060 2281 1195 1985 2257 1713 0 0 0 0 0 0 14.97 14.49 14.96

10718 0.66 170.3 2282 1195 2258 1713 878.0 10.6 922 10722 0.00 0.93 0.00 0.000 1030 0.000 0.041 2281 1697 1984 2256 1713 0 0 0 0 0 0 14.59 14.57 14.62

11058 0.66 170.3 2282 1716 2257 1713 840.9 10.9 934 11063 0.00 0.88 0.00 0.000 260 0.000 0.040 2282 2256 1984 2256 1713 0 0 0 0 0 0 14.97 14.47 14.99

11084 0.66 170.3 2281 2257 2256 1713 838.1 10.6 939 11089 0.00 1.02 0.00 0.000 1030 0.000 0.052 2284 1698 1984 2256 1713 0 0 0 0 0 0 14.52 14.49 14.57

11420 0.66 170.3 2285 1698 2256 1713 801.9 10.7 950 11425 0.00 0.90 0.00 0.000 516 0.000 0.061 2288 1196 1983 2254 1713 0 0 0 0 0 0 14.97 14.38 14.98

11472 0.66 170.3 2289 1197 2255 1713 796.5 10.8 960 11478 0.00 0.93 0.00 0.000 1030 0.000 0.041 2288 1699 1983 2254 1713 0 0 0 0 0 0 14.59 14.54 14.60

11824 0.66 170.3 2289 1718 2256 1713 758.2 10.9 974 11824 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1718 1983 2253 1713 0 0 0 0 0 0 14.97 14.99 14.99

12143 0.66 170.3 2289 1718 2254 1713 724.3 10.6 982 12148 0.00 1.00 0.00 0.000 516 0.000 0.058 2292 1195 1982 2252 1713 0 0 0 0 0 0 14.97 14.42 14.99

12190 0.66 170.3 2293 1195 2254 1713 719.6 10.3 991 12195 0.00 0.93 0.00 0.000 1030 0.000 0.041 2292 1698 1983 2253 1713 0 0 0 0 0 0 14.56 14.54 14.58

12547 0.66 170.3 2292 1717 2253 1714 683.0 10.1 1006 12552 0.00 0.85 0.00 0.000 260 0.000 0.040 2292 2246 1982 2252 1713 0 0 0 0 0 0 14.97 14.52 14.99

12573 0.66 170.3 2292 2248 2253 1713 680.4 9.9 1011 12578 0.08 1.05 0.00 0.000 5126 0.209 0.050 2272 1686 1982 2252 1713 0 0 0 0 0 0 14.05 14.37 14.19

12910 0.74 226.6 2272 1686 2252 1713 653.6 7.8 1022 12965 0.10 0.93 51.70 1.760 10788 0.153 0.061 2320 1189 1756 2012 1500 0 0 0 0 0 0 14.60 14.31 13.28

13009 0.74 226.6 2320 1189 2012 1501 642.5 12.4 1041 13014 0.08 0.82 0.00 0.000 5126 0.188 0.041 2295 1674 1755 2011 1500 0 0 0 0 0 0 14.15 14.41 14.28

13356 0.74 226.6 2294 1692 2011 1500 606.8 10.2 1054 13361 0.00 0.90 0.00 0.000 516 0.000 0.060 2297 1186 1755 2010 1500 0 0 0 0 0 0 14.91 14.44 14.92

13381 0.74 226.6 2298 1186 2010 1501 604.0 10.6 1059 13386 0.00 0.82 0.00 0.000 1030 0.000 0.041 2297 1659 1754 2009 1500 0 0 0 0 0 0 14.54 14.52 14.55

13718 0.74 226.6 2298 1675 2010 1500 566.5 11.3 1070 13723 0.00 0.90 0.00 0.000 516 0.000 0.060 2301 1185 1754 2008 1500 0 0 0 0 0 0 14.95 14.45 14.96

13744 0.74 226.6 2300 1185 2009 1501 563.4 11.4 1075 13748 0.00 0.82 0.00 0.000 1030 0.000 0.041 2301 1670 1754 2008 1500 0 0 0 0 0 0 14.51 14.45 14.53

14079 0.74 226.6 2301 1687 2009 1500 524.1 11.8 1086 14084 0.00 0.88 0.00 0.000 516 0.000 0.060 2304 1197 1753 2007 1500 0 0 0 0 0 0 14.96 14.45 14.97

14106 0.74 226.6 2305 1197 2009 1501 521.0 12.0 1091 14111 0.00 0.77 0.00 0.000 1030 0.000 0.042 2304 1670 1754 2007 1501 0 0 0 0 0 0 14.58 14.55 14.60

14442 0.74 226.6 2304 1682 2008 1501 479.9 12.0 1102 14443 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 1681 1753 2007 1500 0 0 0 0 0 0 14.95 14.96 14.95

14762 0.74 226.6 2305 1681 2008 1500 443.5 11.2 1110 14768 0.00 0.88 0.00 0.000 516 0.000 0.060 2308 1192 1753 2007 1500 0 0 0 0 0 0 14.97 14.32 14.97

14789 0.74 226.6 2308 1191 2007 1500 440.5 11.0 1115 14794 0.00 0.77 0.00 0.000 1030 0.000 0.041 2308 1657 1753 2006 1500 0 0 0 0 0 0 14.59 14.56 14.60

15126 0.74 226.6 2308 1675 2007 1501 405.1 10.3 1126 15131 0.00 0.93 0.00 0.000 260 0.000 0.037 2307 2243 1753 2006 1500 0 0 0 0 0 0 14.95 14.53 14.97

15152 0.74 226.6 2309 2246 2008 1500 402.3 10.0 1131 15156 0.00 1.02 0.00 0.000 1030 0.000 0.057 2312 1666 1753 2007 1500 0 0 0 0 0 0 14.39 14.34 14.42

15487 0.74 226.6 2312 1666 2009 1500 366.7 10.9 1142 15492 0.00 0.85 0.00 0.000 516 0.000 0.061 2316 1184 1753 2006 1500 0 0 0 0 0 0 14.98 14.41 14.99

15564 0.74 226.6 2316 1184 2007 1500 358.3 11.1 1157 15571 0.08 0.85 0.00 0.000 5126 0.173 0.044 2289 1652 1753 2006 1500 0 0 0 0 0 0 14.22 14.51 14.34

15888 0.77 226.6 2288 1668 2004 1500 329.6 8.7 1166 15893 0.00 0.95 0.00 0.000 324 0.000 0.036 2288 2251 1753 2006 1500 0 0 0 0 0 0 14.96 14.44 14.97

15915 0.79 226.6 2287 2254 2006 1501 327.2 8.7 1171 15920 0.00 1.12 0.00 0.000 1094 0.000 0.056 2292 1652 1752 2005 1500 0 0 0 0 0 0 14.48 14.43 14.52

16251 0.80 226.6 2293 1652 2007 1500 295.8 9.4 1182 16256 0.00 0.80 0.00 0.000 580 0.000 0.061 2296 1194 1753 2006 1500 0 0 0 0 0 0 15.00 14.41 15.02

16334 0.81 226.6 2297 1194 2007 1500 288.1 9.5 1198 16338 0.00 0.75 0.00 0.000 1094 0.000 0.042 2296 1636 1753 2006 1500 0 0 0 0 0 0 14.57 14.54 14.59

16695 0.81 226.6 2296 1659 2007 1500 252.1 10.0 1214 16700 0.00 1.00 0.00 0.000 260 0.000 0.037 2295 2253 1753 2006 1500 0 0 0 0 0 0 14.94 14.52 14.96

16736 0.81 226.6 2296 2255 2007 1500 247.8 10.2 1222 16741 0.00 1.12 0.00 0.000 1030 0.000 0.056 2299 1651 1753 2006 1500 0 0 0 0 0 0 14.40 14.35 14.43

17098 0.81 226.6 2300 1651 2007 1500 211.7 9.7 1238 17103 0.00 0.80 0.00 0.000 516 0.000 0.061 2303 1195 1753 2006 1500 0 0 0 0 0 0 14.92 14.40 14.94

17164 0.83 226.6 2303 1195 2007 1501 205.6 9.0 1251 17168 0.00 0.75 0.00 0.000 1094 0.000 0.041 2303 1648 1753 2006 1500 0 0 0 0 0 0 14.41 14.38 14.45

17499 0.83 226.6 2303 1665 2007 1500 173.9 9.5 1262 17504 0.00 0.98 0.00 0.000 260 0.000 0.036 2303 2251 1752 2005 1500 0 0 0 0 0 0 14.95 14.42 14.97

17532 0.83 226.6 2303 2252 2006 1503 170.8 9.7 1268 17538 0.00 1.12 0.00 0.000 1030 0.000 0.055 2307 1644 1753 2006 1500 0 0 0 0 0 0 14.19 14.14 14.23

17864 0.83 226.6 2307 1645 2006 1501 139.0 9.6 1278 17869 0.00 0.80 0.00 0.000 516 0.000 0.060 2311 1192 1753 2006 1500 0 0 0 0 0 0 14.92 14.26 14.94

17925 0.85 226.6 2311 1192 2007 1500 133.3 9.1 1290 17930 0.00 0.73 0.00 0.000 1094 0.000 0.042 2311 1639 1752 2005 1500 0 0 0 0 0 0 14.45 14.42 14.46

18267 0.87 226.6 2312 1654 2007 1501 101.3 9.3 1302 18272 0.00 1.00 0.00 0.000 324 0.000 0.036 2311 2248 1753 2006 1500 0 0 0 0 0 0 14.92 14.31 14.93

18323 0.89 226.6 2311 2250 2007 1500 96.2 8.8 1313 18329 0.00 1.12 0.00 0.000 1094 0.000 0.056 2315 1637 1753 2006 1500 0 0 0 0 0 0 14.38 14.31 14.42

18649 0.89 226.6 2315 1637 2007 1500 65.6 10.2 1330 18654 0.00 0.77 0.00 0.000 516 0.000 0.060 2318 1191 1753 2006 1500 0 0 0 0 0 0 14.90 14.40 14.92

18685 0.89 226.6 2319 1191 2006 1500 61.3 10.7 1337 18691 0.00 0.73 0.00 0.000 1030 0.000 0.041 2318 1650 1753 2006 1500 0 0 0 0 0 0 14.53 14.51 14.54

19010 0.89 226.6 2318 1660 2007 1500 25.0 11.1 1354 19015 0.00 0.98 0.00 0.000 260 0.000 0.034 2318 2252 1751 2006 1497 0 0 0 0 0 0 14.86 14.40 14.88

19057 0.89 226.6 2319 2255 2007 1500 19.9 11.0 1363 19062 0.00 1.12 0.00 0.000 1030 0.000 0.055 2321 1644 1753 2006 1500 0 0 0 0 0 0 14.14 14.08 14.19

19209 end climb: SURFACE_DEPTH_REACHED

state 19210 begin surface coast

19230 end surface coast: CONTROL_FINISHED_OK

state 19230 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	565	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	583.0
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	47	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	61	XPDR_VALID	5

GPS1	180918,095933,5802.2407,-2328.6604,40,0.9,40,-15.3,0.0,0.0,10,6.7	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	Z3
_XMS_NAKs	0	TGT_LATLONG	5730.000,-2400.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.01	MHEAD_RNG_PITCHd_Wd	182.7,67283,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-75.3	D_GRID	990
GPS2	180918,101247,5802.2510,-2328.8708,14,1.2,14,-15.3,0.0,0.0,9,9.3

FINISH	0.8,1.026845	_24V_AH	12.61,0.000
SM_CCo	19249,86.35,0.103,0,0,1252,350.29	_10V_AH	12.30,185.143
SM_GC	1.01,6.30,0.00,86.35,0.060,0.000,0.103,62,1644,1252,-9.40,-1.58,350.29,0,0,0,0,0,0,14.40,14.88,14.32	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5804.94,-2406.43,180918,041758	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.784952	MEM	333700
HUMID	41.80	DATA_FILE_SIZE	46609,1374
INTERNAL_PRESSURE	7.97882	CAP_FILE_SIZE	165237,0
TCM_TEMP	19.30	CFSIZE	260165632,179900416
XPDR_PINGS	4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3689376	CURRENT	0.207,291.70,1
CP_FREE	15645147136.000000	GPS	180918,153651,5801.587,-2331.990,26,1.1,44,-15.3,0.2,264.0,8,5.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	407	88.57	nil	0	0	0.00
Roll_motor	75	854	809.50	nil	0	0	0.00
VBD_pump_during_apogee	366	2183	10095.13	nil	0	0	0.00
VBD_pump_during_surface	86	102	111.62	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	9786	9	1116.17
Iridium_during_xfer	477	176	1065.11	TMICL	0	0	0.00
Transponder_ping	1	420	5.30	NCP	9753	25	3074.63
GUMSTIX_24V	0	0	0.00
GPS	17	20	4.36
TT8	0	0	0.00
LPSleep	15692	2	422.72
TT8_Active	662	8	70.66
TT8_Sampling	3159	26	1035.55
TT8_CF8	607	31	232.67
TT8_Kalman	0	0	0.00
Analog_circuits	2260	10	300.32
GPS_charging	0	0	0.00
Compass	1954	6	162.03
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	39	1637	1382	1119	0.0	0.0	0	120	0.00	0.08	-99.25	0.006	16390	0.000	0.855	37	1699	3376	3315	3437	0	0	0	0	0	0	14.81	12.61	14.80
124	-0.64	-170.3	38	1700	3316	3438	3.7	-2.9	5	137	9.48	0.82	0.00	0.000	2340	0.408	0.030	1978	2239	3376	3322	3431	0	0	0	0	0	0	13.90	14.33	14.18
308	-0.64	-170.3	1978	2241	3345	3406	31.8	-10.6	42	313	0.00	0.98	0.00	0.000	1030	0.000	0.049	1978	1709	3374	3344	3405	0	0	0	0	0	0	14.52	14.48	14.54
644	-0.64	-170.3	1978	1709	3348	3404	72.3	-11.9	61	648	0.00	0.95	0.00	0.000	516	0.000	0.054	1978	1168	3375	3347	3403	0	0	0	0	0	0	15.09	14.47	15.09
875	-0.64	-170.3	1978	1168	3348	3404	99.8	-11.9	107	880	0.00	0.95	0.00	0.000	1030	0.000	0.043	1975	1687	3375	3348	3403	0	0	0	0	0	0	14.59	14.57	14.61
1205	-0.64	-170.3	1975	1686	3349	3403	142.2	-13.1	117	1210	0.00	0.85	0.00	0.000	260	0.000	0.044	1971	2222	3375	3348	3403	0	0	0	0	0	0	15.13	14.54	15.14
1252	-0.64	-170.3	1971	2224	3350	3402	148.1	-12.6	126	1257	0.00	0.98	0.00	0.000	1030	0.000	0.045	1971	1680	3375	3350	3401	0	0	0	0	0	0	14.57	14.54	14.60
1608	-0.64	-170.3	1971	1680	3352	3401	195.3	-13.2	141	1613	0.00	0.88	0.00	0.000	516	0.000	0.053	1971	1172	3375	3350	3401	0	0	0	0	0	0	15.14	14.50	15.15
1839	-0.64	-170.3	1971	1171	3351	3401	225.2	-12.9	187	1844	0.00	0.93	0.00	0.000	1030	0.000	0.043	1968	1677	3376	3351	3401	0	0	0	0	0	0	14.59	14.57	14.62
2170	-0.64	-170.3	1969	1677	3352	3401	270.8	-14.0	197	2175	0.10	0.88	0.00	0.000	2308	0.280	0.037	1987	2226	3376	3351	3401	0	0	0	0	0	0	14.46	14.53	14.56
2237	-0.64	-170.3	1987	2227	3352	3400	278.7	-11.3	210	2241	0.00	0.98	0.00	0.000	1030	0.000	0.044	1987	1682	3375	3351	3399	0	0	0	0	0	0	14.57	14.53	14.57
2572	-0.64	-170.3	1987	1682	3352	3399	318.0	-11.6	221	2577	0.00	0.88	0.00	0.000	516	0.000	0.053	1987	1172	3375	3352	3399	0	0	0	0	0	0	15.15	14.50	15.16
2804	-0.64	-170.3	1987	1172	3353	3400	344.0	-11.2	267	2809	0.00	0.93	0.00	0.000	1030	0.000	0.043	1984	1678	3375	3352	3399	0	0	0	0	0	0	14.58	14.56	14.62
3134	-0.64	-170.3	1985	1679	3353	3400	381.5	-11.2	277	3139	0.00	0.88	0.00	0.000	260	0.000	0.044	1980	2223	3375	3352	3399	0	0	0	0	0	0	15.16	14.53	15.16
3221	-0.64	-170.3	1980	2226	3353	3399	390.5	-10.2	294	3226	0.00	1.00	0.00	0.000	1030	0.000	0.045	1979	1673	3375	3352	3399	0	0	0	0	0	0	14.56	14.50	14.58
3577	-0.64	-170.3	1980	1672	3353	3399	429.1	-10.7	309	3581	0.00	0.85	0.00	0.000	516	0.000	0.054	1980	1176	3375	3352	3399	0	0	0	0	0	0	15.14	14.49	15.16
3808	-0.64	-170.3	1979	1176	3353	3399	451.7	-9.5	355	3813	0.00	0.90	0.00	0.000	1030	0.000	0.044	1977	1671	3375	3352	3398	0	0	0	0	0	0	14.59	14.56	14.61
4139	-0.64	-170.3	1977	1671	3353	3398	484.3	-9.9	365	4143	0.00	0.88	0.00	0.000	260	0.000	0.044	1973	2215	3374	3352	3397	0	0	0	0	0	0	15.15	14.52	15.16
4235	-0.64	-170.3	1973	2218	3353	3398	493.2	-8.9	384	4241	0.00	0.98	0.00	0.000	1030	0.000	0.045	1973	1679	3374	3352	3397	0	0	0	0	0	0	14.54	14.50	14.57
4582	-0.64	-170.3	1973	1679	3353	3397	526.8	-9.7	397	4587	0.00	0.88	0.00	0.000	516	0.000	0.054	1972	1172	3374	3352	3396	0	0	0	0	0	0	15.18	14.47	15.16
4814	-0.64	-170.3	1973	1171	3353	3396	547.8	-9.1	443	4818	0.00	0.90	0.00	0.000	1030	0.000	0.044	1970	1666	3374	3353	3396	0	0	0	0	0	0	14.56	14.53	14.58
5145	-0.64	-170.3	1971	1666	3353	3395	583.2	-11.1	453	5145	0.00	0.00	0.00	0.000	6	0.000	0.000	1970	1665	3373	3352	3395	0	0	0	0	0	0	15.16	15.16	15.16
5464	-0.64	-170.3	1970	1666	3353	3395	622.0	-12.3	461	5469	0.00	0.90	0.00	0.000	260	0.000	0.044	1966	2222	3373	3352	3394	0	0	0	0	0	0	15.16	14.50	15.17
5561	-0.64	-170.3	1966	2225	3353	3394	633.5	-11.8	480	5567	0.08	1.02	0.00	0.000	3078	0.197	0.047	1991	1664	3373	3353	3393	0	0	0	0	0	0	14.13	14.49	14.24
5908	-0.64	-170.3	1990	1664	3353	3393	671.6	-10.9	493	5913	0.00	0.85	0.00	0.000	516	0.000	0.054	1991	1167	3372	3352	3392	0	0	0	0	0	0	15.13	14.45	15.16
6059	-0.64	-170.3	1991	1167	3353	3393	687.4	-10.8	523	6064	0.00	0.93	0.00	0.000	1030	0.000	0.044	1988	1671	3372	3352	3392	0	0	0	0	0	0	14.54	14.52	14.57
6392	-0.64	-170.3	1989	1670	3354	3391	723.0	-10.7	533	6396	0.00	0.90	0.00	0.000	260	0.000	0.045	1984	2223	3371	3352	3391	0	0	0	0	0	0	15.15	14.48	15.15
6538	-0.64	-170.3	1984	2225	3353	3391	737.6	-9.6	562	6543	0.00	1.02	0.00	0.000	1030	0.000	0.044	1984	1665	3371	3353	3390	0	0	0	0	0	0	14.50	14.47	14.54
6874	-0.64	-170.3	1984	1665	3353	3390	772.2	-10.1	573	6878	0.00	0.85	0.00	0.000	516	0.000	0.054	1984	1168	3371	3352	3390	0	0	0	0	0	0	15.15	14.47	15.16
7050	-0.64	-170.3	1983	1168	3353	3390	789.2	-9.3	608	7056	0.00	0.90	0.00	0.000	1030	0.000	0.045	1982	1657	3371	3353	3390	0	0	0	0	0	0	14.53	14.50	14.54
7397	-0.64	-170.3	1982	1657	3353	3389	820.6	-8.7	621	7402	0.00	0.93	0.00	0.000	260	0.000	0.045	1977	2224	3370	3352	3389	0	0	0	0	0	0	15.14	14.47	15.16
7583	-0.64	-170.3	1977	2226	3353	3388	835.0	-7.6	658	7590	0.00	1.02	0.00	0.000	1062	0.000	0.046	1977	1667	3370	3352	3388	0	0	0	0	0	0	14.50	14.45	14.52
7921	-0.64	-170.3	1977	1667	3353	3387	862.9	-8.3	669	7925	0.00	0.85	0.00	0.000	516	0.000	0.055	1977	1170	3369	3352	3387	0	0	0	0	0	0	15.14	14.45	15.16
8060	-0.64	-170.3	1977	1170	3354	3387	873.6	-7.7	696	8065	0.00	0.90	0.00	0.000	1062	0.000	0.045	1975	1659	3369	3352	3386	0	0	0	0	0	0	14.51	14.47	14.53
8406	-0.64	-170.3	1975	1659	3353	3386	904.3	-9.1	709	8411	0.00	0.93	0.00	0.000	260	0.000	0.047	1971	2223	3369	3352	3386	0	0	0	0	0	0	15.15	14.44	15.16
8603	-0.64	-170.3	1971	2226	3353	3386	921.9	-8.9	748	8610	0.00	1.02	0.00	0.000	1030	0.000	0.046	1970	1668	3368	3352	3385	0	0	0	0	0	0	14.47	14.44	14.50
8929	-0.64	-170.3	1970	1668	3353	3385	954.1	-10.1	757	8933	0.00	0.85	0.00	0.000	516	0.000	0.054	1970	1172	3368	3352	3384	0	0	0	0	0	0	15.14	14.40	15.16
9111	-0.64	-170.3	1970	1171	3353	3385	971.7	-9.4	793	9115	0.00	0.90	0.00	0.000	1030	0.000	0.044	1968	1662	3367	3352	3383	0	0	0	0	0	0	14.50	14.47	14.52
9328	end dive: TARGET_DEPTH_EXCEEDED
state	9328	begin apogee
9335	-0.12	0.0	1968	1663	3353	3383	993.6	-10.0	802	9492	0.47	0.00	155.32	2.183	10244	0.186	0.000	2106	1662	2681	2860	2503	0	0	0	0	0	0	13.98	13.94	12.80
9493	end apogee: CONTROL_FINISHED_OK
state	9493	begin climb
9497	0.64	170.3	2107	1663	2860	2502	997.8	0.0	806	9668	0.47	0.95	159.65	2.118	10756	0.099	0.047	2273	1187	1985	2258	1712	0	0	0	0	0	0	14.02	14.09	12.68
9774	0.66	170.3	2273	1188	2259	1713	979.0	9.1	846	9778	0.00	1.00	0.00	0.000	1094	0.000	0.041	2273	1723	1986	2259	1713	0	0	0	0	0	0	14.40	14.38	14.42
10134	0.66	170.3	2274	1743	2259	1713	942.2	10.4	862	10139	0.00	0.80	0.00	0.000	260	0.000	0.040	2273	2253	1985	2258	1713	0	0	0	0	0	0	14.92	14.58	14.93
10281	0.66	170.3	2274	2257	2256	1713	926.3	10.7	891	10286	0.00	1.00	0.00	0.000	1030	0.000	0.058	2277	1715	1985	2258	1713	0	0	0	0	0	0	14.50	14.44	14.52
10617	0.66	170.3	2278	1715	2259	1713	888.8	11.1	902	10622	0.00	0.93	0.00	0.000	516	0.000	0.060	2281	1195	1985	2257	1713	0	0	0	0	0	0	14.97	14.49	14.96
10718	0.66	170.3	2282	1195	2258	1713	878.0	10.6	922	10722	0.00	0.93	0.00	0.000	1030	0.000	0.041	2281	1697	1984	2256	1713	0	0	0	0	0	0	14.59	14.57	14.62
11058	0.66	170.3	2282	1716	2257	1713	840.9	10.9	934	11063	0.00	0.88	0.00	0.000	260	0.000	0.040	2282	2256	1984	2256	1713	0	0	0	0	0	0	14.97	14.47	14.99
11084	0.66	170.3	2281	2257	2256	1713	838.1	10.6	939	11089	0.00	1.02	0.00	0.000	1030	0.000	0.052	2284	1698	1984	2256	1713	0	0	0	0	0	0	14.52	14.49	14.57
11420	0.66	170.3	2285	1698	2256	1713	801.9	10.7	950	11425	0.00	0.90	0.00	0.000	516	0.000	0.061	2288	1196	1983	2254	1713	0	0	0	0	0	0	14.97	14.38	14.98
11472	0.66	170.3	2289	1197	2255	1713	796.5	10.8	960	11478	0.00	0.93	0.00	0.000	1030	0.000	0.041	2288	1699	1983	2254	1713	0	0	0	0	0	0	14.59	14.54	14.60
11824	0.66	170.3	2289	1718	2256	1713	758.2	10.9	974	11824	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1718	1983	2253	1713	0	0	0	0	0	0	14.97	14.99	14.99
12143	0.66	170.3	2289	1718	2254	1713	724.3	10.6	982	12148	0.00	1.00	0.00	0.000	516	0.000	0.058	2292	1195	1982	2252	1713	0	0	0	0	0	0	14.97	14.42	14.99
12190	0.66	170.3	2293	1195	2254	1713	719.6	10.3	991	12195	0.00	0.93	0.00	0.000	1030	0.000	0.041	2292	1698	1983	2253	1713	0	0	0	0	0	0	14.56	14.54	14.58
12547	0.66	170.3	2292	1717	2253	1714	683.0	10.1	1006	12552	0.00	0.85	0.00	0.000	260	0.000	0.040	2292	2246	1982	2252	1713	0	0	0	0	0	0	14.97	14.52	14.99
12573	0.66	170.3	2292	2248	2253	1713	680.4	9.9	1011	12578	0.08	1.05	0.00	0.000	5126	0.209	0.050	2272	1686	1982	2252	1713	0	0	0	0	0	0	14.05	14.37	14.19
12910	0.74	226.6	2272	1686	2252	1713	653.6	7.8	1022	12965	0.10	0.93	51.70	1.760	10788	0.153	0.061	2320	1189	1756	2012	1500	0	0	0	0	0	0	14.60	14.31	13.28
13009	0.74	226.6	2320	1189	2012	1501	642.5	12.4	1041	13014	0.08	0.82	0.00	0.000	5126	0.188	0.041	2295	1674	1755	2011	1500	0	0	0	0	0	0	14.15	14.41	14.28
13356	0.74	226.6	2294	1692	2011	1500	606.8	10.2	1054	13361	0.00	0.90	0.00	0.000	516	0.000	0.060	2297	1186	1755	2010	1500	0	0	0	0	0	0	14.91	14.44	14.92
13381	0.74	226.6	2298	1186	2010	1501	604.0	10.6	1059	13386	0.00	0.82	0.00	0.000	1030	0.000	0.041	2297	1659	1754	2009	1500	0	0	0	0	0	0	14.54	14.52	14.55
13718	0.74	226.6	2298	1675	2010	1500	566.5	11.3	1070	13723	0.00	0.90	0.00	0.000	516	0.000	0.060	2301	1185	1754	2008	1500	0	0	0	0	0	0	14.95	14.45	14.96
13744	0.74	226.6	2300	1185	2009	1501	563.4	11.4	1075	13748	0.00	0.82	0.00	0.000	1030	0.000	0.041	2301	1670	1754	2008	1500	0	0	0	0	0	0	14.51	14.45	14.53
14079	0.74	226.6	2301	1687	2009	1500	524.1	11.8	1086	14084	0.00	0.88	0.00	0.000	516	0.000	0.060	2304	1197	1753	2007	1500	0	0	0	0	0	0	14.96	14.45	14.97
14106	0.74	226.6	2305	1197	2009	1501	521.0	12.0	1091	14111	0.00	0.77	0.00	0.000	1030	0.000	0.042	2304	1670	1754	2007	1501	0	0	0	0	0	0	14.58	14.55	14.60
14442	0.74	226.6	2304	1682	2008	1501	479.9	12.0	1102	14443	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	1681	1753	2007	1500	0	0	0	0	0	0	14.95	14.96	14.95
14762	0.74	226.6	2305	1681	2008	1500	443.5	11.2	1110	14768	0.00	0.88	0.00	0.000	516	0.000	0.060	2308	1192	1753	2007	1500	0	0	0	0	0	0	14.97	14.32	14.97
14789	0.74	226.6	2308	1191	2007	1500	440.5	11.0	1115	14794	0.00	0.77	0.00	0.000	1030	0.000	0.041	2308	1657	1753	2006	1500	0	0	0	0	0	0	14.59	14.56	14.60
15126	0.74	226.6	2308	1675	2007	1501	405.1	10.3	1126	15131	0.00	0.93	0.00	0.000	260	0.000	0.037	2307	2243	1753	2006	1500	0	0	0	0	0	0	14.95	14.53	14.97
15152	0.74	226.6	2309	2246	2008	1500	402.3	10.0	1131	15156	0.00	1.02	0.00	0.000	1030	0.000	0.057	2312	1666	1753	2007	1500	0	0	0	0	0	0	14.39	14.34	14.42
15487	0.74	226.6	2312	1666	2009	1500	366.7	10.9	1142	15492	0.00	0.85	0.00	0.000	516	0.000	0.061	2316	1184	1753	2006	1500	0	0	0	0	0	0	14.98	14.41	14.99
15564	0.74	226.6	2316	1184	2007	1500	358.3	11.1	1157	15571	0.08	0.85	0.00	0.000	5126	0.173	0.044	2289	1652	1753	2006	1500	0	0	0	0	0	0	14.22	14.51	14.34
15888	0.77	226.6	2288	1668	2004	1500	329.6	8.7	1166	15893	0.00	0.95	0.00	0.000	324	0.000	0.036	2288	2251	1753	2006	1500	0	0	0	0	0	0	14.96	14.44	14.97
15915	0.79	226.6	2287	2254	2006	1501	327.2	8.7	1171	15920	0.00	1.12	0.00	0.000	1094	0.000	0.056	2292	1652	1752	2005	1500	0	0	0	0	0	0	14.48	14.43	14.52
16251	0.80	226.6	2293	1652	2007	1500	295.8	9.4	1182	16256	0.00	0.80	0.00	0.000	580	0.000	0.061	2296	1194	1753	2006	1500	0	0	0	0	0	0	15.00	14.41	15.02
16334	0.81	226.6	2297	1194	2007	1500	288.1	9.5	1198	16338	0.00	0.75	0.00	0.000	1094	0.000	0.042	2296	1636	1753	2006	1500	0	0	0	0	0	0	14.57	14.54	14.59
16695	0.81	226.6	2296	1659	2007	1500	252.1	10.0	1214	16700	0.00	1.00	0.00	0.000	260	0.000	0.037	2295	2253	1753	2006	1500	0	0	0	0	0	0	14.94	14.52	14.96
16736	0.81	226.6	2296	2255	2007	1500	247.8	10.2	1222	16741	0.00	1.12	0.00	0.000	1030	0.000	0.056	2299	1651	1753	2006	1500	0	0	0	0	0	0	14.40	14.35	14.43
17098	0.81	226.6	2300	1651	2007	1500	211.7	9.7	1238	17103	0.00	0.80	0.00	0.000	516	0.000	0.061	2303	1195	1753	2006	1500	0	0	0	0	0	0	14.92	14.40	14.94
17164	0.83	226.6	2303	1195	2007	1501	205.6	9.0	1251	17168	0.00	0.75	0.00	0.000	1094	0.000	0.041	2303	1648	1753	2006	1500	0	0	0	0	0	0	14.41	14.38	14.45
17499	0.83	226.6	2303	1665	2007	1500	173.9	9.5	1262	17504	0.00	0.98	0.00	0.000	260	0.000	0.036	2303	2251	1752	2005	1500	0	0	0	0	0	0	14.95	14.42	14.97
17532	0.83	226.6	2303	2252	2006	1503	170.8	9.7	1268	17538	0.00	1.12	0.00	0.000	1030	0.000	0.055	2307	1644	1753	2006	1500	0	0	0	0	0	0	14.19	14.14	14.23
17864	0.83	226.6	2307	1645	2006	1501	139.0	9.6	1278	17869	0.00	0.80	0.00	0.000	516	0.000	0.060	2311	1192	1753	2006	1500	0	0	0	0	0	0	14.92	14.26	14.94
17925	0.85	226.6	2311	1192	2007	1500	133.3	9.1	1290	17930	0.00	0.73	0.00	0.000	1094	0.000	0.042	2311	1639	1752	2005	1500	0	0	0	0	0	0	14.45	14.42	14.46
18267	0.87	226.6	2312	1654	2007	1501	101.3	9.3	1302	18272	0.00	1.00	0.00	0.000	324	0.000	0.036	2311	2248	1753	2006	1500	0	0	0	0	0	0	14.92	14.31	14.93
18323	0.89	226.6	2311	2250	2007	1500	96.2	8.8	1313	18329	0.00	1.12	0.00	0.000	1094	0.000	0.056	2315	1637	1753	2006	1500	0	0	0	0	0	0	14.38	14.31	14.42
18649	0.89	226.6	2315	1637	2007	1500	65.6	10.2	1330	18654	0.00	0.77	0.00	0.000	516	0.000	0.060	2318	1191	1753	2006	1500	0	0	0	0	0	0	14.90	14.40	14.92
18685	0.89	226.6	2319	1191	2006	1500	61.3	10.7	1337	18691	0.00	0.73	0.00	0.000	1030	0.000	0.041	2318	1650	1753	2006	1500	0	0	0	0	0	0	14.53	14.51	14.54
19010	0.89	226.6	2318	1660	2007	1500	25.0	11.1	1354	19015	0.00	0.98	0.00	0.000	260	0.000	0.034	2318	2252	1751	2006	1497	0	0	0	0	0	0	14.86	14.40	14.88
19057	0.89	226.6	2319	2255	2007	1500	19.9	11.0	1363	19062	0.00	1.12	0.00	0.000	1030	0.000	0.055	2321	1644	1753	2006	1500	0	0	0	0	0	0	14.14	14.08	14.19
19209	end climb: SURFACE_DEPTH_REACHED
state	19210	begin surface coast
19230	end surface coast: CONTROL_FINISHED_OK
state	19230	begin surface