Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 580 * 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 580 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 613.0

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 37 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 60 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 613.0 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 37 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 60 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 580 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 2

D_ABORT 1030 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_BOOST 2.5 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_CALL 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FINISH 0 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

Pre-dive calculations and measurements:

GPS1 210918,232927,5743.6841,-2401.2036,39,1.8,44,-15.4,0.6,14.2,6,8.6 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 1.32 MHEAD_RNG_PITCHd_Wd 152.5,25295,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -78.1 D_GRID 990

GPS2 210918,234208,5743.6372,-2401.4167,15,1.6,24,-15.4,0.3,228.2,6,7.6

Post-dive calculations and measurements:

FINISH 0.5,1.017685 _24V_AH 12.59,0.000

SM_CCo 19580,140.20,0.106,0,0,1254,350.04 _10V_AH 12.26,189.699

SM_GC 1.30,6.45,0.00,140.20,0.070,0.000,0.106,50,1708,1254,-9.41,0.23,350.04,0,0,0,0,0,0,14.37,14.85,14.28 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5745.12,-2356.93,210918,175403 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.750498 MEM 333616

HUMID 41.33 DATA_FILE_SIZE 53245,1488

INTERNAL_PRESSURE 7.94952 CAP_FILE_SIZE 172659,0

TCM_TEMP 19.00 CFSIZE 260165632,177885184

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3683488 CURRENT 0.180,236.80,1

CP_FREE 15635251200.000000 GPS 220918,051233,5741.757,-2402.501,37,1.1,37,-15.4,0.0,0.0,8,8.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 412 90.20 nil 0 0 0.00

Roll_motor 79 61 61.33 nil 0 0 0.00

VBD_pump_during_apogee 316 2193 8733.33 nil 0 0 0.00

VBD_pump_during_surface 140 105 186.34 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 9847 8 1086.38

Iridium_during_xfer 438 176 975.65 TMICL 0 0 0.00

Transponder_ping 0 420 3.97 NCP 9820 25 3090.84

GUMSTIX_24V 0 0 0.00

GPS 27 20 6.89

TT8 0 0 0.00

LPSleep 15830 2 425.03

TT8_Active 700 8 74.42

TT8_Sampling 3325 26 1086.52

TT8_CF8 617 31 235.78

TT8_Kalman 0 0 0.00

Analog_circuits 2320 10 307.24

GPS_charging 0 0 0.00

Compass 2115 6 174.81

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 30 1695 1379 1128 0.0 0.0 0 119 0.00 0.00 -96.12 0.006 16390 0.000 0.000 27 1645 3371 3310 3433 0 0 0 0 0 0 14.80 13.33 14.77

123 -0.64 -170.3 28 1645 3311 3433 4.6 -3.6 5 137 9.65 0.93 0.00 0.000 2852 0.412 0.033 1977 2254 3372 3317 3427 0 0 0 0 0 0 13.88 14.31 14.15

318 -0.64 -170.3 1977 2258 3341 3402 34.8 -11.5 44 325 0.00 1.02 0.00 0.000 1030 0.000 0.049 1976 1692 3371 3340 3402 0 0 0 0 0 0 14.48 14.44 14.51

644 -0.64 -170.3 1977 1693 3342 3401 73.9 -11.5 61 648 0.00 0.90 0.00 0.000 516 0.000 0.054 1976 1169 3370 3341 3400 0 0 0 0 0 0 15.08 14.44 15.09

875 -0.64 -170.3 1977 1168 3343 3400 97.4 -9.9 107 880 0.00 0.93 0.00 0.000 1030 0.000 0.044 1974 1675 3371 3342 3400 0 0 0 0 0 0 14.55 14.52 14.57

1226 -0.64 -170.3 1975 1676 3343 3399 132.3 -10.4 118 1231 0.00 0.88 0.00 0.000 260 0.000 0.044 1970 2227 3370 3342 3399 0 0 0 0 0 0 15.11 14.50 15.13

1298 -0.64 -170.3 1970 2230 3346 3398 139.7 -10.2 132 1303 0.00 0.98 0.00 0.000 1030 0.000 0.045 1969 1689 3371 3345 3398 0 0 0 0 0 0 14.54 14.50 14.56

1629 -0.64 -170.3 1969 1689 3346 3399 178.8 -12.0 142 1634 0.10 0.88 0.00 0.000 2564 0.278 0.048 1993 1177 3372 3346 3398 0 0 0 0 0 0 14.45 14.45 14.54

1861 -0.64 -170.3 1993 1177 3348 3398 201.4 -9.6 188 1867 0.00 0.90 0.00 0.000 1030 0.000 0.043 1991 1675 3372 3346 3398 0 0 0 0 0 0 14.57 14.54 14.59

2193 -0.64 -170.3 1991 1675 3347 3398 234.8 -10.2 198 2197 0.00 0.88 0.00 0.000 260 0.000 0.044 1987 2226 3371 3346 3397 0 0 0 0 0 0 15.14 14.50 15.16

2310 -0.64 -170.3 1987 2229 3347 3396 246.7 -10.3 221 2316 0.00 1.00 0.00 0.000 1030 0.000 0.044 1986 1677 3371 3347 3396 0 0 0 0 0 0 14.53 14.47 14.55

2633 -0.64 -170.3 1986 1677 3348 3397 284.1 -11.6 230 2638 0.00 0.85 0.00 0.000 516 0.000 0.054 1986 1174 3372 3348 3396 0 0 0 0 0 0 15.14 14.46 15.16

2865 -0.64 -170.3 1986 1174 3348 3396 310.7 -11.7 276 2872 0.00 0.90 0.00 0.000 1030 0.000 0.044 1984 1672 3371 3348 3395 0 0 0 0 0 0 14.54 14.52 14.57

3198 -0.64 -170.3 1984 1671 3348 3396 351.5 -12.1 286 3203 0.00 0.88 0.00 0.000 260 0.000 0.045 1978 2223 3371 3348 3395 0 0 0 0 0 0 15.16 14.48 15.16

3315 -0.64 -170.3 1979 2225 3348 3395 364.3 -11.0 309 3321 0.00 1.00 0.00 0.000 1030 0.000 0.046 1978 1676 3371 3348 3394 0 0 0 0 0 0 14.50 14.47 14.57

3639 -0.64 -170.3 1979 1676 3349 3394 403.4 -12.3 318 3644 0.00 0.85 0.00 0.000 516 0.000 0.054 1978 1173 3371 3348 3394 0 0 0 0 0 0 15.14 14.42 15.16

3871 -0.64 -170.3 1978 1173 3349 3394 430.4 -10.6 364 3877 0.00 0.88 0.00 0.000 1030 0.000 0.046 1976 1657 3370 3348 3393 0 0 0 0 0 0 14.52 14.48 14.54

4203 -0.64 -170.3 1976 1658 3349 3393 468.4 -11.2 374 4207 0.00 0.90 0.00 0.000 260 0.000 0.044 1972 2218 3370 3348 3392 0 0 0 0 0 0 15.14 14.47 15.15

4305 -0.64 -170.3 1972 2220 3350 3392 478.6 -9.7 394 4309 0.00 1.00 0.00 0.000 1030 0.000 0.047 1971 1676 3370 3348 3392 0 0 0 0 0 0 14.49 14.45 14.52

4645 -0.64 -170.3 1972 1676 3349 3392 514.4 -10.5 406 4650 0.00 0.88 0.00 0.000 516 0.000 0.055 1971 1158 3369 3348 3391 0 0 0 0 0 0 15.14 14.42 15.16

4877 -0.64 -170.3 1972 1158 3349 3391 536.4 -9.2 452 4883 0.00 0.90 0.00 0.000 1030 0.000 0.044 1969 1660 3370 3349 3391 0 0 0 0 0 0 14.52 14.48 14.54

5209 -0.64 -170.3 1969 1660 3349 3391 568.9 -9.8 462 5214 0.00 0.90 0.00 0.000 260 0.000 0.046 1965 2217 3369 3348 3390 0 0 0 0 0 0 15.14 14.47 15.14

5269 -0.64 -170.3 1965 2220 3350 3389 574.6 -9.1 474 5274 0.08 1.02 0.00 0.000 3078 0.198 0.047 1989 1662 3369 3348 3390 0 0 0 0 0 0 14.08 14.43 14.19

5612 -0.64 -170.3 1989 1662 3349 3390 603.7 -8.7 486 5617 0.00 0.82 0.00 0.000 516 0.000 0.055 1989 1171 3369 3349 3389 0 0 0 0 0 0 15.13 14.41 15.15

5768 -0.64 -170.3 1989 1171 3350 3389 616.7 -7.9 517 5774 0.00 0.88 0.00 0.000 1062 0.000 0.044 1987 1658 3368 3348 3388 0 0 0 0 0 0 14.50 14.47 14.53

6094 -0.64 -170.3 1987 1658 3350 3388 649.4 -10.5 526 6099 0.00 0.90 0.00 0.000 260 0.000 0.045 1982 2216 3368 3349 3387 0 0 0 0 0 0 15.12 14.43 15.14

6306 -0.64 -170.3 1983 2219 3350 3386 672.2 -10.7 568 6311 0.00 1.02 0.00 0.000 1030 0.000 0.046 1982 1663 3367 3349 3386 0 0 0 0 0 0 14.45 14.42 14.49

6659 -0.64 -170.3 1983 1662 3349 3386 711.7 -11.1 582 6663 0.00 0.82 0.00 0.000 516 0.000 0.056 1983 1172 3367 3349 3386 0 0 0 0 0 0 15.13 14.39 15.12

6870 -0.64 -170.3 1983 1172 3350 3386 733.5 -9.6 624 6876 0.00 0.88 0.00 0.000 1030 0.000 0.045 1980 1657 3367 3349 3385 0 0 0 0 0 0 14.47 14.46 14.51

7222 -0.64 -170.3 1982 1656 3350 3386 767.2 -9.3 638 7227 0.00 0.93 0.00 0.000 260 0.000 0.046 1976 2226 3366 3349 3384 0 0 0 0 0 0 15.13 14.42 15.13

7399 -0.64 -170.3 1976 2228 3349 3383 782.1 -8.4 673 7403 0.00 1.02 0.00 0.000 1030 0.000 0.046 1976 1671 3365 3348 3383 0 0 0 0 0 0 14.44 14.40 14.47

7744 -0.64 -170.3 1975 1671 3349 3382 813.7 -9.3 686 7749 0.00 0.85 0.00 0.000 516 0.000 0.055 1975 1168 3365 3349 3381 0 0 0 0 0 0 15.14 14.37 15.14

7916 -0.64 -170.3 1976 1168 3349 3382 829.5 -8.9 720 7921 0.00 0.90 0.00 0.000 1030 0.000 0.046 1973 1664 3365 3349 3381 0 0 0 0 0 0 14.47 14.44 14.49

8267 -0.64 -170.3 1974 1663 3349 3381 863.5 -9.8 734 8272 0.00 0.90 0.00 0.000 260 0.000 0.046 1969 2221 3364 3349 3380 0 0 0 0 0 0 15.14 14.40 15.15

8449 -0.64 -170.3 1969 2223 3350 3380 880.7 -9.4 770 8454 0.00 1.02 0.00 0.000 1030 0.000 0.047 1969 1669 3363 3348 3379 0 0 0 0 0 0 14.42 14.38 14.45

8790 -0.64 -170.3 1969 1668 3349 3380 915.8 -10.4 782 8794 0.00 0.85 0.00 0.000 516 0.000 0.056 1969 1167 3364 3349 3379 0 0 0 0 0 0 15.14 14.35 15.15

8976 -0.64 -170.3 1969 1168 3349 3379 935.2 -10.2 819 8981 0.05 0.90 0.00 0.000 3078 0.219 0.045 1985 1661 3364 3349 3379 0 0 0 0 0 0 14.06 14.42 14.16

9312 -0.64 -170.3 1985 1661 3349 3379 966.1 -9.1 830 9317 0.00 0.90 0.00 0.000 260 0.000 0.046 1981 2219 3364 3349 3379 0 0 0 0 0 0 15.14 14.38 15.15

9504 -0.64 -170.3 1981 2221 3349 3379 982.9 -8.6 868 9509 0.00 1.02 0.00 0.000 1030 0.000 0.047 1981 1668 3363 3349 3378 0 0 0 0 0 0 14.40 14.36 14.43

9592 end dive: TARGET_DEPTH_EXCEEDED

state 9592 begin apogee

9599 -0.12 0.0 1981 1668 3349 3378 991.3 -9.2 872 9756 0.43 0.00 154.57 2.193 10244 0.181 0.000 2106 1668 2680 2858 2502 0 0 0 0 0 0 13.97 13.90 12.74

9757 end apogee: CONTROL_FINISHED_OK

state 9757 begin climb

9761 0.64 170.3 2105 1668 2859 2503 996.1 0.0 876 9932 0.47 1.10 161.70 2.132 10500 0.088 0.039 2277 2256 1988 2198 1779 0 0 0 0 0 0 14.03 14.09 12.59

10018 0.66 170.3 2278 2257 2193 1775 979.4 9.1 912 10022 0.00 1.02 0.00 0.000 1094 0.000 0.057 2281 1717 1983 2192 1775 0 0 0 0 0 0 14.29 14.24 14.32

10360 0.66 170.3 2282 1716 2193 1775 944.9 10.1 924 10364 0.00 0.88 0.00 0.000 260 0.000 0.040 2281 2263 1983 2192 1775 0 0 0 0 0 0 14.88 14.55 14.88

10450 0.66 170.3 2280 2265 2193 1773 935.6 9.9 942 10455 0.00 0.95 0.00 0.000 1030 0.000 0.060 2285 1718 1983 2192 1775 0 0 0 0 0 0 14.52 14.46 14.56

10802 0.66 170.3 2285 1718 2192 1776 898.0 10.7 956 10807 0.00 0.98 0.00 0.000 516 0.000 0.060 2289 1176 1983 2191 1775 0 0 0 0 0 0 14.92 14.00 14.93

10874 0.66 170.3 2290 1176 2192 1775 890.2 11.1 970 10878 0.00 0.98 0.00 0.000 1030 0.000 0.044 2289 1713 1983 2191 1775 0 0 0 0 0 0 14.57 14.54 14.59

11204 0.66 170.3 2289 1735 2192 1775 853.9 10.9 980 11209 0.00 0.82 0.00 0.000 260 0.000 0.041 2289 2257 1982 2190 1775 0 0 0 0 0 0 14.95 14.54 14.96

11236 0.66 170.3 2290 2260 2192 1775 850.5 10.7 986 11241 0.00 1.05 0.00 0.000 1030 0.000 0.057 2293 1695 1982 2190 1775 0 0 0 0 0 0 14.43 14.39 14.47

11567 0.66 170.3 2293 1695 2191 1775 813.4 11.0 996 11572 0.00 0.90 0.00 0.000 516 0.000 0.061 2297 1186 1981 2188 1775 0 0 0 0 0 0 14.96 14.14 14.97

11618 0.66 170.3 2297 1186 2191 1776 807.6 11.5 1006 11623 0.08 0.93 0.00 0.000 5126 0.194 0.043 2273 1702 1982 2190 1775 0 0 0 0 0 0 14.17 14.51 14.30

11970 0.67 170.3 2273 1719 2190 1775 773.8 9.4 1020 11975 0.00 0.85 0.00 0.000 324 0.000 0.040 2273 2250 1981 2189 1774 0 0 0 0 0 0 14.92 14.52 14.94

12001 0.69 170.3 2273 2251 2190 1774 770.8 9.2 1026 12006 0.00 1.02 0.00 0.000 1094 0.000 0.052 2276 1694 1981 2189 1774 0 0 0 0 0 0 14.48 14.45 14.51

12334 0.69 170.3 2276 1694 2190 1775 738.5 9.8 1036 12339 0.00 0.88 0.00 0.000 516 0.000 0.060 2279 1197 1981 2189 1774 0 0 0 0 0 0 14.90 14.28 14.92

12410 0.69 170.3 2279 1196 2189 1774 730.8 10.1 1051 12416 0.00 0.80 0.00 0.000 1030 0.000 0.043 2280 1641 1980 2188 1773 0 0 0 0 0 0 14.40 14.36 14.42

12735 0.69 170.3 2280 1658 2189 1774 698.5 9.7 1060 12740 0.00 0.98 0.00 0.000 260 0.000 0.038 2283 2260 1981 2188 1774 0 0 0 0 0 0 14.90 14.50 14.92

12822 0.70 170.3 2280 2263 2190 1773 690.2 9.5 1077 12828 0.00 1.02 0.00 0.000 1094 0.000 0.057 2283 1704 1981 2188 1774 0 0 0 0 0 0 14.45 14.40 14.50

13179 0.71 170.3 2284 1705 2189 1774 656.0 9.5 1092 13184 0.00 0.90 0.00 0.000 580 0.000 0.060 2288 1193 1981 2188 1774 0 0 0 0 0 0 14.97 14.37 14.98

13246 0.72 170.3 2288 1194 2189 1774 649.7 9.4 1105 13252 0.00 0.90 0.00 0.000 1094 0.000 0.043 2287 1689 1980 2188 1773 0 0 0 0 0 0 14.35 14.33 14.37

13583 0.72 170.3 2288 1707 2189 1774 616.7 10.1 1116 13588 0.00 0.88 0.00 0.000 260 0.000 0.040 2288 2253 1980 2188 1773 0 0 0 0 0 0 14.95 14.48 14.97

13643 0.72 170.3 2288 2254 2189 1774 610.6 10.2 1128 13648 0.00 1.02 0.00 0.000 1030 0.000 0.058 2291 1704 1981 2188 1774 0 0 0 0 0 0 14.42 14.38 14.47

13985 0.72 170.3 2292 1705 2188 1774 576.8 9.8 1140 13990 0.00 0.93 0.00 0.000 516 0.000 0.061 2295 1185 1980 2188 1773 0 0 0 0 0 0 14.93 14.28 14.94

14081 0.72 170.3 2296 1185 2189 1774 566.6 10.6 1159 14086 0.00 0.93 0.00 0.000 1030 0.000 0.044 2295 1691 1980 2188 1773 0 0 0 0 0 0 14.48 14.45 14.51

14428 0.72 170.3 2296 1709 2189 1774 528.5 10.9 1172 14433 0.00 0.88 0.00 0.000 260 0.000 0.040 2295 2260 1980 2188 1773 0 0 0 0 0 0 14.92 14.48 14.93

14483 0.72 170.3 2296 2260 2189 1774 522.4 10.7 1183 14488 0.00 1.08 0.00 0.000 1030 0.000 0.055 2299 1683 1980 2188 1773 0 0 0 0 0 0 14.43 14.39 14.47

14829 0.72 170.3 2299 1683 2189 1773 483.8 11.3 1196 14834 0.00 0.88 0.00 0.000 516 0.000 0.061 2303 1184 1980 2187 1773 0 0 0 0 0 0 14.94 14.33 14.96

14880 0.72 170.3 2303 1184 2188 1774 477.9 11.5 1206 14885 0.00 0.93 0.00 0.000 1030 0.000 0.044 2303 1695 1980 2188 1773 0 0 0 0 0 0 14.50 14.47 14.52

15231 0.72 170.3 2303 1714 2188 1774 438.4 11.0 1220 15236 0.00 0.85 0.00 0.000 260 0.000 0.039 2302 2243 1980 2188 1773 0 0 0 0 0 0 14.94 14.46 14.96

15267 0.72 170.3 2303 2243 2188 1773 434.6 10.7 1227 15272 0.00 1.05 0.00 0.000 1030 0.000 0.050 2306 1680 1980 2187 1773 0 0 0 0 0 0 14.34 14.30 14.38

15593 0.72 170.3 2306 1680 2188 1774 400.4 10.5 1236 15598 0.00 0.93 0.00 0.000 260 0.000 0.038 2305 2244 1980 2187 1773 0 0 0 0 0 0 14.94 14.47 14.95

15619 0.72 170.3 2306 2246 2189 1774 397.5 10.3 1241 15624 0.08 0.98 0.00 0.000 5126 0.219 0.056 2286 1692 1980 2187 1773 0 0 0 0 0 0 14.00 14.31 14.14

15957 0.74 170.3 2286 1691 2193 1773 367.5 9.0 1252 15962 0.00 0.90 0.00 0.000 580 0.000 0.060 2290 1179 1980 2187 1773 0 0 0 0 0 0 14.92 14.35 14.94

16008 0.76 170.3 2291 1180 2189 1774 362.7 9.1 1262 16012 0.00 0.82 0.00 0.000 1094 0.000 0.042 2290 1636 1980 2187 1774 0 0 0 0 0 0 14.38 14.35 14.40

16358 0.76 170.3 2290 1655 2189 1774 329.0 9.7 1276 16363 0.00 0.98 0.00 0.000 260 0.000 0.037 2290 2249 1980 2188 1773 0 0 0 0 0 0 14.97 14.46 14.99

16459 0.76 170.3 2289 2250 2189 1775 319.2 9.6 1296 16464 0.00 1.05 0.00 0.000 1030 0.000 0.057 2293 1688 1980 2187 1773 0 0 0 0 0 0 14.39 14.35 14.40

16800 0.76 170.3 2294 1688 2189 1773 285.6 9.9 1308 16805 0.00 0.88 0.00 0.000 516 0.000 0.060 2297 1189 1980 2187 1773 0 0 0 0 0 0 14.93 14.33 14.95

16847 0.76 170.3 2298 1188 2188 1774 281.0 10.0 1317 16852 0.00 0.82 0.00 0.000 1030 0.000 0.041 2297 1646 1980 2187 1774 0 0 0 0 0 0 14.29 14.28 14.32

17204 0.76 170.3 2298 1663 2189 1774 245.7 9.8 1332 17208 0.00 0.95 0.00 0.000 260 0.000 0.037 2297 2242 1980 2187 1773 0 0 0 0 0 0 14.93 14.35 14.95

17279 0.76 170.3 2298 2244 2188 1774 238.2 9.8 1347 17285 0.00 1.02 0.00 0.000 1030 0.000 0.056 2301 1699 1980 2187 1774 0 0 0 0 0 0 14.14 14.12 14.19

17606 0.78 170.3 2301 1699 2188 1774 207.4 9.3 1356 17611 0.00 0.90 0.00 0.000 580 0.000 0.060 2305 1186 1981 2188 1774 0 0 0 0 0 0 14.94 14.32 14.95

17672 0.80 170.3 2306 1187 2189 1774 201.3 8.7 1369 17677 0.00 0.93 0.00 0.000 1094 0.000 0.043 2305 1702 1980 2187 1774 0 0 0 0 0 0 14.36 14.31 14.38

18010 0.82 170.3 2305 1718 2188 1774 171.5 8.9 1380 18014 0.00 0.85 0.00 0.000 324 0.000 0.037 2305 2242 1980 2187 1773 0 0 0 0 0 0 14.88 14.28 14.90

18056 0.84 170.3 2305 2242 2188 1774 167.4 9.1 1389 18061 0.00 1.02 0.00 0.000 1094 0.000 0.050 2308 1687 1981 2188 1774 0 0 0 0 0 0 14.40 14.35 14.42

18412 0.84 170.3 2308 1688 2188 1774 131.8 10.5 1404 18417 0.00 0.88 0.00 0.000 516 0.000 0.059 2312 1192 1980 2187 1774 0 0 0 0 0 0 14.90 14.21 14.92

18434 0.84 170.3 2309 1193 2189 1774 129.4 11.3 1408 18439 0.00 0.88 0.00 0.000 1030 0.000 0.040 2312 1662 1980 2187 1774 0 0 0 0 0 0 14.26 14.21 14.30

18775 0.84 170.3 2312 1682 2188 1775 87.7 13.2 1422 18780 0.00 0.93 0.00 0.000 260 0.000 0.037 2312 2243 1980 2187 1773 0 0 0 0 0 0 14.88 14.21 14.89

18887 0.84 170.3 2313 2243 2189 1773 74.0 11.7 1444 18892 0.00 1.00 0.00 0.000 1030 0.000 0.049 2315 1698 1980 2187 1774 0 0 0 0 0 0 14.46 14.39 14.46

19218 0.84 170.3 2316 1699 2189 1774 36.1 11.3 1462 19222 0.00 0.88 0.00 0.000 516 0.000 0.059 2320 1199 1980 2187 1774 0 0 0 0 0 0 14.85 14.35 14.88

19259 0.84 170.3 2320 1199 2189 1773 31.7 10.8 1470 19263 0.00 0.82 0.00 0.000 1030 0.000 0.040 2319 1670 1980 2187 1773 0 0 0 0 0 0 14.16 14.16 14.18

19536 end climb: SURFACE_DEPTH_REACHED

state 19536 begin surface coast

19560 end surface coast: CONTROL_FINISHED_OK

state 19560 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	580	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	613.0
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	37	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	60	XPDR_VALID	5

GPS1	210918,232927,5743.6841,-2401.2036,39,1.8,44,-15.4,0.6,14.2,6,8.6	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	1.32	MHEAD_RNG_PITCHd_Wd	152.5,25295,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-78.1	D_GRID	990
GPS2	210918,234208,5743.6372,-2401.4167,15,1.6,24,-15.4,0.3,228.2,6,7.6

FINISH	0.5,1.017685	_24V_AH	12.59,0.000
SM_CCo	19580,140.20,0.106,0,0,1254,350.04	_10V_AH	12.26,189.699
SM_GC	1.30,6.45,0.00,140.20,0.070,0.000,0.106,50,1708,1254,-9.41,0.23,350.04,0,0,0,0,0,0,14.37,14.85,14.28	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5745.12,-2356.93,210918,175403	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.750498	MEM	333616
HUMID	41.33	DATA_FILE_SIZE	53245,1488
INTERNAL_PRESSURE	7.94952	CAP_FILE_SIZE	172659,0
TCM_TEMP	19.00	CFSIZE	260165632,177885184
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3683488	CURRENT	0.180,236.80,1
CP_FREE	15635251200.000000	GPS	220918,051233,5741.757,-2402.501,37,1.1,37,-15.4,0.0,0.0,8,8.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	412	90.20	nil	0	0	0.00
Roll_motor	79	61	61.33	nil	0	0	0.00
VBD_pump_during_apogee	316	2193	8733.33	nil	0	0	0.00
VBD_pump_during_surface	140	105	186.34	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	9847	8	1086.38
Iridium_during_xfer	438	176	975.65	TMICL	0	0	0.00
Transponder_ping	0	420	3.97	NCP	9820	25	3090.84
GUMSTIX_24V	0	0	0.00
GPS	27	20	6.89
TT8	0	0	0.00
LPSleep	15830	2	425.03
TT8_Active	700	8	74.42
TT8_Sampling	3325	26	1086.52
TT8_CF8	617	31	235.78
TT8_Kalman	0	0	0.00
Analog_circuits	2320	10	307.24
GPS_charging	0	0	0.00
Compass	2115	6	174.81
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	30	1695	1379	1128	0.0	0.0	0	119	0.00	0.00	-96.12	0.006	16390	0.000	0.000	27	1645	3371	3310	3433	0	0	0	0	0	0	14.80	13.33	14.77
123	-0.64	-170.3	28	1645	3311	3433	4.6	-3.6	5	137	9.65	0.93	0.00	0.000	2852	0.412	0.033	1977	2254	3372	3317	3427	0	0	0	0	0	0	13.88	14.31	14.15
318	-0.64	-170.3	1977	2258	3341	3402	34.8	-11.5	44	325	0.00	1.02	0.00	0.000	1030	0.000	0.049	1976	1692	3371	3340	3402	0	0	0	0	0	0	14.48	14.44	14.51
644	-0.64	-170.3	1977	1693	3342	3401	73.9	-11.5	61	648	0.00	0.90	0.00	0.000	516	0.000	0.054	1976	1169	3370	3341	3400	0	0	0	0	0	0	15.08	14.44	15.09
875	-0.64	-170.3	1977	1168	3343	3400	97.4	-9.9	107	880	0.00	0.93	0.00	0.000	1030	0.000	0.044	1974	1675	3371	3342	3400	0	0	0	0	0	0	14.55	14.52	14.57
1226	-0.64	-170.3	1975	1676	3343	3399	132.3	-10.4	118	1231	0.00	0.88	0.00	0.000	260	0.000	0.044	1970	2227	3370	3342	3399	0	0	0	0	0	0	15.11	14.50	15.13
1298	-0.64	-170.3	1970	2230	3346	3398	139.7	-10.2	132	1303	0.00	0.98	0.00	0.000	1030	0.000	0.045	1969	1689	3371	3345	3398	0	0	0	0	0	0	14.54	14.50	14.56
1629	-0.64	-170.3	1969	1689	3346	3399	178.8	-12.0	142	1634	0.10	0.88	0.00	0.000	2564	0.278	0.048	1993	1177	3372	3346	3398	0	0	0	0	0	0	14.45	14.45	14.54
1861	-0.64	-170.3	1993	1177	3348	3398	201.4	-9.6	188	1867	0.00	0.90	0.00	0.000	1030	0.000	0.043	1991	1675	3372	3346	3398	0	0	0	0	0	0	14.57	14.54	14.59
2193	-0.64	-170.3	1991	1675	3347	3398	234.8	-10.2	198	2197	0.00	0.88	0.00	0.000	260	0.000	0.044	1987	2226	3371	3346	3397	0	0	0	0	0	0	15.14	14.50	15.16
2310	-0.64	-170.3	1987	2229	3347	3396	246.7	-10.3	221	2316	0.00	1.00	0.00	0.000	1030	0.000	0.044	1986	1677	3371	3347	3396	0	0	0	0	0	0	14.53	14.47	14.55
2633	-0.64	-170.3	1986	1677	3348	3397	284.1	-11.6	230	2638	0.00	0.85	0.00	0.000	516	0.000	0.054	1986	1174	3372	3348	3396	0	0	0	0	0	0	15.14	14.46	15.16
2865	-0.64	-170.3	1986	1174	3348	3396	310.7	-11.7	276	2872	0.00	0.90	0.00	0.000	1030	0.000	0.044	1984	1672	3371	3348	3395	0	0	0	0	0	0	14.54	14.52	14.57
3198	-0.64	-170.3	1984	1671	3348	3396	351.5	-12.1	286	3203	0.00	0.88	0.00	0.000	260	0.000	0.045	1978	2223	3371	3348	3395	0	0	0	0	0	0	15.16	14.48	15.16
3315	-0.64	-170.3	1979	2225	3348	3395	364.3	-11.0	309	3321	0.00	1.00	0.00	0.000	1030	0.000	0.046	1978	1676	3371	3348	3394	0	0	0	0	0	0	14.50	14.47	14.57
3639	-0.64	-170.3	1979	1676	3349	3394	403.4	-12.3	318	3644	0.00	0.85	0.00	0.000	516	0.000	0.054	1978	1173	3371	3348	3394	0	0	0	0	0	0	15.14	14.42	15.16
3871	-0.64	-170.3	1978	1173	3349	3394	430.4	-10.6	364	3877	0.00	0.88	0.00	0.000	1030	0.000	0.046	1976	1657	3370	3348	3393	0	0	0	0	0	0	14.52	14.48	14.54
4203	-0.64	-170.3	1976	1658	3349	3393	468.4	-11.2	374	4207	0.00	0.90	0.00	0.000	260	0.000	0.044	1972	2218	3370	3348	3392	0	0	0	0	0	0	15.14	14.47	15.15
4305	-0.64	-170.3	1972	2220	3350	3392	478.6	-9.7	394	4309	0.00	1.00	0.00	0.000	1030	0.000	0.047	1971	1676	3370	3348	3392	0	0	0	0	0	0	14.49	14.45	14.52
4645	-0.64	-170.3	1972	1676	3349	3392	514.4	-10.5	406	4650	0.00	0.88	0.00	0.000	516	0.000	0.055	1971	1158	3369	3348	3391	0	0	0	0	0	0	15.14	14.42	15.16
4877	-0.64	-170.3	1972	1158	3349	3391	536.4	-9.2	452	4883	0.00	0.90	0.00	0.000	1030	0.000	0.044	1969	1660	3370	3349	3391	0	0	0	0	0	0	14.52	14.48	14.54
5209	-0.64	-170.3	1969	1660	3349	3391	568.9	-9.8	462	5214	0.00	0.90	0.00	0.000	260	0.000	0.046	1965	2217	3369	3348	3390	0	0	0	0	0	0	15.14	14.47	15.14
5269	-0.64	-170.3	1965	2220	3350	3389	574.6	-9.1	474	5274	0.08	1.02	0.00	0.000	3078	0.198	0.047	1989	1662	3369	3348	3390	0	0	0	0	0	0	14.08	14.43	14.19
5612	-0.64	-170.3	1989	1662	3349	3390	603.7	-8.7	486	5617	0.00	0.82	0.00	0.000	516	0.000	0.055	1989	1171	3369	3349	3389	0	0	0	0	0	0	15.13	14.41	15.15
5768	-0.64	-170.3	1989	1171	3350	3389	616.7	-7.9	517	5774	0.00	0.88	0.00	0.000	1062	0.000	0.044	1987	1658	3368	3348	3388	0	0	0	0	0	0	14.50	14.47	14.53
6094	-0.64	-170.3	1987	1658	3350	3388	649.4	-10.5	526	6099	0.00	0.90	0.00	0.000	260	0.000	0.045	1982	2216	3368	3349	3387	0	0	0	0	0	0	15.12	14.43	15.14
6306	-0.64	-170.3	1983	2219	3350	3386	672.2	-10.7	568	6311	0.00	1.02	0.00	0.000	1030	0.000	0.046	1982	1663	3367	3349	3386	0	0	0	0	0	0	14.45	14.42	14.49
6659	-0.64	-170.3	1983	1662	3349	3386	711.7	-11.1	582	6663	0.00	0.82	0.00	0.000	516	0.000	0.056	1983	1172	3367	3349	3386	0	0	0	0	0	0	15.13	14.39	15.12
6870	-0.64	-170.3	1983	1172	3350	3386	733.5	-9.6	624	6876	0.00	0.88	0.00	0.000	1030	0.000	0.045	1980	1657	3367	3349	3385	0	0	0	0	0	0	14.47	14.46	14.51
7222	-0.64	-170.3	1982	1656	3350	3386	767.2	-9.3	638	7227	0.00	0.93	0.00	0.000	260	0.000	0.046	1976	2226	3366	3349	3384	0	0	0	0	0	0	15.13	14.42	15.13
7399	-0.64	-170.3	1976	2228	3349	3383	782.1	-8.4	673	7403	0.00	1.02	0.00	0.000	1030	0.000	0.046	1976	1671	3365	3348	3383	0	0	0	0	0	0	14.44	14.40	14.47
7744	-0.64	-170.3	1975	1671	3349	3382	813.7	-9.3	686	7749	0.00	0.85	0.00	0.000	516	0.000	0.055	1975	1168	3365	3349	3381	0	0	0	0	0	0	15.14	14.37	15.14
7916	-0.64	-170.3	1976	1168	3349	3382	829.5	-8.9	720	7921	0.00	0.90	0.00	0.000	1030	0.000	0.046	1973	1664	3365	3349	3381	0	0	0	0	0	0	14.47	14.44	14.49
8267	-0.64	-170.3	1974	1663	3349	3381	863.5	-9.8	734	8272	0.00	0.90	0.00	0.000	260	0.000	0.046	1969	2221	3364	3349	3380	0	0	0	0	0	0	15.14	14.40	15.15
8449	-0.64	-170.3	1969	2223	3350	3380	880.7	-9.4	770	8454	0.00	1.02	0.00	0.000	1030	0.000	0.047	1969	1669	3363	3348	3379	0	0	0	0	0	0	14.42	14.38	14.45
8790	-0.64	-170.3	1969	1668	3349	3380	915.8	-10.4	782	8794	0.00	0.85	0.00	0.000	516	0.000	0.056	1969	1167	3364	3349	3379	0	0	0	0	0	0	15.14	14.35	15.15
8976	-0.64	-170.3	1969	1168	3349	3379	935.2	-10.2	819	8981	0.05	0.90	0.00	0.000	3078	0.219	0.045	1985	1661	3364	3349	3379	0	0	0	0	0	0	14.06	14.42	14.16
9312	-0.64	-170.3	1985	1661	3349	3379	966.1	-9.1	830	9317	0.00	0.90	0.00	0.000	260	0.000	0.046	1981	2219	3364	3349	3379	0	0	0	0	0	0	15.14	14.38	15.15
9504	-0.64	-170.3	1981	2221	3349	3379	982.9	-8.6	868	9509	0.00	1.02	0.00	0.000	1030	0.000	0.047	1981	1668	3363	3349	3378	0	0	0	0	0	0	14.40	14.36	14.43
9592	end dive: TARGET_DEPTH_EXCEEDED
state	9592	begin apogee
9599	-0.12	0.0	1981	1668	3349	3378	991.3	-9.2	872	9756	0.43	0.00	154.57	2.193	10244	0.181	0.000	2106	1668	2680	2858	2502	0	0	0	0	0	0	13.97	13.90	12.74
9757	end apogee: CONTROL_FINISHED_OK
state	9757	begin climb
9761	0.64	170.3	2105	1668	2859	2503	996.1	0.0	876	9932	0.47	1.10	161.70	2.132	10500	0.088	0.039	2277	2256	1988	2198	1779	0	0	0	0	0	0	14.03	14.09	12.59
10018	0.66	170.3	2278	2257	2193	1775	979.4	9.1	912	10022	0.00	1.02	0.00	0.000	1094	0.000	0.057	2281	1717	1983	2192	1775	0	0	0	0	0	0	14.29	14.24	14.32
10360	0.66	170.3	2282	1716	2193	1775	944.9	10.1	924	10364	0.00	0.88	0.00	0.000	260	0.000	0.040	2281	2263	1983	2192	1775	0	0	0	0	0	0	14.88	14.55	14.88
10450	0.66	170.3	2280	2265	2193	1773	935.6	9.9	942	10455	0.00	0.95	0.00	0.000	1030	0.000	0.060	2285	1718	1983	2192	1775	0	0	0	0	0	0	14.52	14.46	14.56
10802	0.66	170.3	2285	1718	2192	1776	898.0	10.7	956	10807	0.00	0.98	0.00	0.000	516	0.000	0.060	2289	1176	1983	2191	1775	0	0	0	0	0	0	14.92	14.00	14.93
10874	0.66	170.3	2290	1176	2192	1775	890.2	11.1	970	10878	0.00	0.98	0.00	0.000	1030	0.000	0.044	2289	1713	1983	2191	1775	0	0	0	0	0	0	14.57	14.54	14.59
11204	0.66	170.3	2289	1735	2192	1775	853.9	10.9	980	11209	0.00	0.82	0.00	0.000	260	0.000	0.041	2289	2257	1982	2190	1775	0	0	0	0	0	0	14.95	14.54	14.96
11236	0.66	170.3	2290	2260	2192	1775	850.5	10.7	986	11241	0.00	1.05	0.00	0.000	1030	0.000	0.057	2293	1695	1982	2190	1775	0	0	0	0	0	0	14.43	14.39	14.47
11567	0.66	170.3	2293	1695	2191	1775	813.4	11.0	996	11572	0.00	0.90	0.00	0.000	516	0.000	0.061	2297	1186	1981	2188	1775	0	0	0	0	0	0	14.96	14.14	14.97
11618	0.66	170.3	2297	1186	2191	1776	807.6	11.5	1006	11623	0.08	0.93	0.00	0.000	5126	0.194	0.043	2273	1702	1982	2190	1775	0	0	0	0	0	0	14.17	14.51	14.30
11970	0.67	170.3	2273	1719	2190	1775	773.8	9.4	1020	11975	0.00	0.85	0.00	0.000	324	0.000	0.040	2273	2250	1981	2189	1774	0	0	0	0	0	0	14.92	14.52	14.94
12001	0.69	170.3	2273	2251	2190	1774	770.8	9.2	1026	12006	0.00	1.02	0.00	0.000	1094	0.000	0.052	2276	1694	1981	2189	1774	0	0	0	0	0	0	14.48	14.45	14.51
12334	0.69	170.3	2276	1694	2190	1775	738.5	9.8	1036	12339	0.00	0.88	0.00	0.000	516	0.000	0.060	2279	1197	1981	2189	1774	0	0	0	0	0	0	14.90	14.28	14.92
12410	0.69	170.3	2279	1196	2189	1774	730.8	10.1	1051	12416	0.00	0.80	0.00	0.000	1030	0.000	0.043	2280	1641	1980	2188	1773	0	0	0	0	0	0	14.40	14.36	14.42
12735	0.69	170.3	2280	1658	2189	1774	698.5	9.7	1060	12740	0.00	0.98	0.00	0.000	260	0.000	0.038	2283	2260	1981	2188	1774	0	0	0	0	0	0	14.90	14.50	14.92
12822	0.70	170.3	2280	2263	2190	1773	690.2	9.5	1077	12828	0.00	1.02	0.00	0.000	1094	0.000	0.057	2283	1704	1981	2188	1774	0	0	0	0	0	0	14.45	14.40	14.50
13179	0.71	170.3	2284	1705	2189	1774	656.0	9.5	1092	13184	0.00	0.90	0.00	0.000	580	0.000	0.060	2288	1193	1981	2188	1774	0	0	0	0	0	0	14.97	14.37	14.98
13246	0.72	170.3	2288	1194	2189	1774	649.7	9.4	1105	13252	0.00	0.90	0.00	0.000	1094	0.000	0.043	2287	1689	1980	2188	1773	0	0	0	0	0	0	14.35	14.33	14.37
13583	0.72	170.3	2288	1707	2189	1774	616.7	10.1	1116	13588	0.00	0.88	0.00	0.000	260	0.000	0.040	2288	2253	1980	2188	1773	0	0	0	0	0	0	14.95	14.48	14.97
13643	0.72	170.3	2288	2254	2189	1774	610.6	10.2	1128	13648	0.00	1.02	0.00	0.000	1030	0.000	0.058	2291	1704	1981	2188	1774	0	0	0	0	0	0	14.42	14.38	14.47
13985	0.72	170.3	2292	1705	2188	1774	576.8	9.8	1140	13990	0.00	0.93	0.00	0.000	516	0.000	0.061	2295	1185	1980	2188	1773	0	0	0	0	0	0	14.93	14.28	14.94
14081	0.72	170.3	2296	1185	2189	1774	566.6	10.6	1159	14086	0.00	0.93	0.00	0.000	1030	0.000	0.044	2295	1691	1980	2188	1773	0	0	0	0	0	0	14.48	14.45	14.51
14428	0.72	170.3	2296	1709	2189	1774	528.5	10.9	1172	14433	0.00	0.88	0.00	0.000	260	0.000	0.040	2295	2260	1980	2188	1773	0	0	0	0	0	0	14.92	14.48	14.93
14483	0.72	170.3	2296	2260	2189	1774	522.4	10.7	1183	14488	0.00	1.08	0.00	0.000	1030	0.000	0.055	2299	1683	1980	2188	1773	0	0	0	0	0	0	14.43	14.39	14.47
14829	0.72	170.3	2299	1683	2189	1773	483.8	11.3	1196	14834	0.00	0.88	0.00	0.000	516	0.000	0.061	2303	1184	1980	2187	1773	0	0	0	0	0	0	14.94	14.33	14.96
14880	0.72	170.3	2303	1184	2188	1774	477.9	11.5	1206	14885	0.00	0.93	0.00	0.000	1030	0.000	0.044	2303	1695	1980	2188	1773	0	0	0	0	0	0	14.50	14.47	14.52
15231	0.72	170.3	2303	1714	2188	1774	438.4	11.0	1220	15236	0.00	0.85	0.00	0.000	260	0.000	0.039	2302	2243	1980	2188	1773	0	0	0	0	0	0	14.94	14.46	14.96
15267	0.72	170.3	2303	2243	2188	1773	434.6	10.7	1227	15272	0.00	1.05	0.00	0.000	1030	0.000	0.050	2306	1680	1980	2187	1773	0	0	0	0	0	0	14.34	14.30	14.38
15593	0.72	170.3	2306	1680	2188	1774	400.4	10.5	1236	15598	0.00	0.93	0.00	0.000	260	0.000	0.038	2305	2244	1980	2187	1773	0	0	0	0	0	0	14.94	14.47	14.95
15619	0.72	170.3	2306	2246	2189	1774	397.5	10.3	1241	15624	0.08	0.98	0.00	0.000	5126	0.219	0.056	2286	1692	1980	2187	1773	0	0	0	0	0	0	14.00	14.31	14.14
15957	0.74	170.3	2286	1691	2193	1773	367.5	9.0	1252	15962	0.00	0.90	0.00	0.000	580	0.000	0.060	2290	1179	1980	2187	1773	0	0	0	0	0	0	14.92	14.35	14.94
16008	0.76	170.3	2291	1180	2189	1774	362.7	9.1	1262	16012	0.00	0.82	0.00	0.000	1094	0.000	0.042	2290	1636	1980	2187	1774	0	0	0	0	0	0	14.38	14.35	14.40
16358	0.76	170.3	2290	1655	2189	1774	329.0	9.7	1276	16363	0.00	0.98	0.00	0.000	260	0.000	0.037	2290	2249	1980	2188	1773	0	0	0	0	0	0	14.97	14.46	14.99
16459	0.76	170.3	2289	2250	2189	1775	319.2	9.6	1296	16464	0.00	1.05	0.00	0.000	1030	0.000	0.057	2293	1688	1980	2187	1773	0	0	0	0	0	0	14.39	14.35	14.40
16800	0.76	170.3	2294	1688	2189	1773	285.6	9.9	1308	16805	0.00	0.88	0.00	0.000	516	0.000	0.060	2297	1189	1980	2187	1773	0	0	0	0	0	0	14.93	14.33	14.95
16847	0.76	170.3	2298	1188	2188	1774	281.0	10.0	1317	16852	0.00	0.82	0.00	0.000	1030	0.000	0.041	2297	1646	1980	2187	1774	0	0	0	0	0	0	14.29	14.28	14.32
17204	0.76	170.3	2298	1663	2189	1774	245.7	9.8	1332	17208	0.00	0.95	0.00	0.000	260	0.000	0.037	2297	2242	1980	2187	1773	0	0	0	0	0	0	14.93	14.35	14.95
17279	0.76	170.3	2298	2244	2188	1774	238.2	9.8	1347	17285	0.00	1.02	0.00	0.000	1030	0.000	0.056	2301	1699	1980	2187	1774	0	0	0	0	0	0	14.14	14.12	14.19
17606	0.78	170.3	2301	1699	2188	1774	207.4	9.3	1356	17611	0.00	0.90	0.00	0.000	580	0.000	0.060	2305	1186	1981	2188	1774	0	0	0	0	0	0	14.94	14.32	14.95
17672	0.80	170.3	2306	1187	2189	1774	201.3	8.7	1369	17677	0.00	0.93	0.00	0.000	1094	0.000	0.043	2305	1702	1980	2187	1774	0	0	0	0	0	0	14.36	14.31	14.38
18010	0.82	170.3	2305	1718	2188	1774	171.5	8.9	1380	18014	0.00	0.85	0.00	0.000	324	0.000	0.037	2305	2242	1980	2187	1773	0	0	0	0	0	0	14.88	14.28	14.90
18056	0.84	170.3	2305	2242	2188	1774	167.4	9.1	1389	18061	0.00	1.02	0.00	0.000	1094	0.000	0.050	2308	1687	1981	2188	1774	0	0	0	0	0	0	14.40	14.35	14.42
18412	0.84	170.3	2308	1688	2188	1774	131.8	10.5	1404	18417	0.00	0.88	0.00	0.000	516	0.000	0.059	2312	1192	1980	2187	1774	0	0	0	0	0	0	14.90	14.21	14.92
18434	0.84	170.3	2309	1193	2189	1774	129.4	11.3	1408	18439	0.00	0.88	0.00	0.000	1030	0.000	0.040	2312	1662	1980	2187	1774	0	0	0	0	0	0	14.26	14.21	14.30
18775	0.84	170.3	2312	1682	2188	1775	87.7	13.2	1422	18780	0.00	0.93	0.00	0.000	260	0.000	0.037	2312	2243	1980	2187	1773	0	0	0	0	0	0	14.88	14.21	14.89
18887	0.84	170.3	2313	2243	2189	1773	74.0	11.7	1444	18892	0.00	1.00	0.00	0.000	1030	0.000	0.049	2315	1698	1980	2187	1774	0	0	0	0	0	0	14.46	14.39	14.46
19218	0.84	170.3	2316	1699	2189	1774	36.1	11.3	1462	19222	0.00	0.88	0.00	0.000	516	0.000	0.059	2320	1199	1980	2187	1774	0	0	0	0	0	0	14.85	14.35	14.88
19259	0.84	170.3	2320	1199	2189	1773	31.7	10.8	1470	19263	0.00	0.82	0.00	0.000	1030	0.000	0.040	2319	1670	1980	2187	1773	0	0	0	0	0	0	14.16	14.16	14.18
19536	end climb: SURFACE_DEPTH_REACHED
state	19536	begin surface coast
19560	end surface coast: CONTROL_FINISHED_OK
state	19560	begin surface