Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 53 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 48 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 37 ALTIM_PULSE 2

DIVE 53 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 500 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 600 CALL_NDIVES 1 C_VBD 2968 INT_PRESSURE_YINT -1.4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 4 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 166 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 190 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 144.89999 SEABIRD_T_G 0.0044052354

D_OFFGRID 1000 C_PITCH 2625 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 45 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12781 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 30 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0050118701 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0163117 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 104.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 ED_NDIVE 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 32 ED_NDIVE 1.0 N_GPS 100840 SEABIRD_T_G 0.0044052354

AH0_10V 100 ED_PROFILE 7.0 N_NOCOMM 1 SEABIRD_T_H 0.00063728914

AH0_24V 144.89999 ED_RECORDABOVE 1000.0 N_NOSURFACE 0 SEABIRD_T_I 2.5929839e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ED_STARTS 104.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1599577e-06

ALTIM_FREQUENCY 13 ED_UPLOADMAX 0.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PING_DELTA 0 ED_XMITPROFILE 7.0 PITCH_ADJ_DBAND 1 SM_CC 500

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 160 STOP_T 0

ALTIM_PULSE 2 FERRY_MAX 45 PITCH_CNV 0.003125763 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_GAIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_TRIES 5 HD_A 0.0050118701 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0163117 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_W_GAIN 0 T_DIVE 166

CAPUPLOAD 0 HEADING -1 PRESSURE_SLOPE 0.00010934046 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -133.12781 T_GPS 15

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.079999998 T_MISSION 190

COMPASS_DEVICE 33 ID 204 P_OVSHOOT_WITHG 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_CORR_THRESH 60 T_RSLEEP 1

COURSE_BIAS 0 INT_PRESSURE_YINT -1.4 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2625 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RHO 1.0275 USE_BATHY -2

DEEPGLIDER 0 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE1 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 4

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 30 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MASS 54196 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 53 MASS_COMP 0 ROLL_MIN 236 VBD_MIN 500

D_ABORT 600 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 1 R_PORT_OVSHOOT 48 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 2 SEABIRD_C_G -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 0 SEABIRD_C_I -0.0031189518

D_TGT 500 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 030822,131531,4449.8452,-12457.4844,36,1.0,36,15.1,0.7,271.4,9,3.5 SPEED_LIMITS 0.174,0.208

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.030,-12457.812

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 317.1,508,-27.3,-10.040,-30.00,1567

_SM_ANGLEo -71.4 D_GRID 710

GPS2 030822,132252,4449.8149,-12457.5713,3,0.7,3,15.1,0.3,276.9,12,8.5

Post-dive calculations and measurements:

FINISH -0.1,1.021596 _10V_AH 10.17,8.521

SM_CCo 8182,118.57,0.676,0,0,928,500.17 FG_AHR_24Vo 0.000

SM_GC 0.82,8.07,0.28,118.57,0.057,0.050,0.676,171,2212,928,-7.46,-1.22,500.17,0,0,0,0,0,0,25.77,25.76,24.66 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.39,-12455.54,030822,104722 MEM 220720

TT8_MAMPS 0.023219,0.307839 DATA_FILE_SIZE 53299,1503

HUMID 36.80 CAP_FILE_SIZE 161498,0

INTERNAL_PRESSURE 8.48279 CFSIZE 260030464,237662208

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.092,297.08,1

SC_FREEKB 3795776 GPS 030822,154309,4450.829,-12458.604,6,0.8,26,15.1,0.9,158.7,12,1.8

_24V_AH 23.80,10.070

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 214 105.39 nil 0 0 0.00

Roll_motor 105 61 155.11 nil 0 0 0.00

VBD_pump_during_apogee 403 1123 10773.34 nil 0 0 0.00

VBD_pump_during_surface 118 676 1908.46 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 8168 22 4424.70

Iridium_during_xfer 280 109 730.77 Edison 9060 10 2156.28

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 12 1.92

TT8 3678 13 522.69

LPSleep 999 2 22.27

TT8_Active 797 13 107.24

TT8_Sampling 2844 39 1140.49

TT8_CF8 427 49 217.25

TT8_Kalman 0 0 0.00

Analog_circuits 2314 10 235.40

GPS_charging 0 0 0.00

Compass 2349 8 196.89

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.71 -102.3 169 2220 1041 797 0.0 0.0 0 95 0.00 0.00 -80.55 0.005 16386 0.000 0.000 169 2220 2943 2910 2976 0 0 0 0 0 0 26.02 28.83 26.03

97 -0.74 -133.2 169 2219 2912 2976 3.7 -8.0 13 124 8.60 1.62 -11.00 0.008 19236 0.215 0.062 2357 3258 3513 3492 3535 0 0 0 0 0 0 25.77 25.26 26.01

132 -0.20 -133.2 2357 3258 3495 3535 12.6 -22.8 18 140 0.68 1.60 0.00 0.000 3206 0.181 0.026 2541 2183 3516 3498 3535 0 0 0 0 0 0 25.76 26.06 25.99

267 -0.50 -146.0 2540 2182 3504 3534 23.2 -5.4 43 276 0.17 1.58 -0.57 0.109 21156 0.106 0.052 2483 1147 3567 3552 3582 0 0 0 0 0 0 26.06 25.38 26.11

300 -0.74 -146.0 2482 1147 3553 3584 25.3 -6.7 48 307 0.25 1.65 0.00 0.000 5286 0.094 0.040 2386 2200 3566 3553 3580 0 0 0 0 0 0 26.07 26.06 26.13

431 -0.79 -146.0 2386 2201 3556 3580 40.4 -12.4 73 439 0.00 1.67 0.00 0.000 388 0.000 0.047 2378 3253 3568 3556 3580 0 0 0 0 0 0 26.15 26.08 26.15

573 -0.86 -146.0 2378 3251 3557 3580 56.7 -12.4 100 580 0.08 1.58 0.00 0.000 5254 0.174 0.030 2363 2211 3569 3558 3580 0 0 0 0 0 0 26.03 26.13 26.15

705 -0.92 -146.0 2363 2205 3558 3580 71.9 -11.0 125 713 0.08 1.67 0.00 0.000 4484 0.164 0.048 2333 3250 3569 3558 3580 0 0 0 0 0 0 26.05 26.12 26.15

771 -0.96 -146.0 2332 3250 3559 3582 79.2 -10.2 137 778 0.00 1.60 0.00 0.000 1158 0.000 0.031 2339 2196 3569 3559 3580 0 0 0 0 0 0 26.18 26.14 26.19

905 -1.00 -146.0 2338 2190 3560 3580 94.9 -12.0 162 913 0.08 1.70 0.00 0.000 4484 0.157 0.047 2294 3253 3570 3559 3581 0 0 0 0 0 0 26.06 26.11 26.15

1034 -0.98 -146.0 2294 3253 3559 3581 113.4 -14.8 186 1041 0.00 1.60 0.00 0.000 1158 0.000 0.031 2300 2204 3569 3559 3580 0 0 0 0 0 0 26.19 26.15 26.20

1167 -0.98 -146.0 2300 2198 3566 3581 131.2 -13.2 211 1175 0.00 1.65 0.00 0.000 260 0.000 0.047 2294 3258 3570 3560 3581 0 0 0 0 0 0 26.20 26.13 26.20

1192 -0.98 -146.0 2294 3258 3560 3580 134.8 -13.8 215 1200 0.00 1.62 0.00 0.000 1030 0.000 0.030 2301 2180 3570 3560 3581 0 0 0 0 0 0 26.19 26.15 26.20

1326 -0.98 -146.0 2300 2180 3560 3580 151.9 -12.7 240 1333 0.00 1.58 0.00 0.000 516 0.000 0.036 2303 1139 3570 3560 3581 0 0 0 0 0 0 26.18 26.14 26.20

1382 -1.01 -146.0 2302 1139 3560 3581 158.9 -11.6 250 1389 0.00 1.67 0.00 0.000 1158 0.000 0.039 2297 2214 3571 3561 3581 0 0 0 0 0 0 26.17 26.13 26.18

1516 -1.01 -146.0 2296 2215 3560 3581 175.4 -12.9 275 1523 0.00 1.60 0.00 0.000 260 0.000 0.047 2289 3252 3568 3555 3581 0 0 0 0 0 0 26.18 26.11 26.19

1588 -1.01 -146.0 2288 3252 3560 3580 185.1 -13.0 288 1595 0.00 1.60 0.00 0.000 1030 0.000 0.030 2294 2188 3570 3560 3581 0 0 0 0 0 0 26.20 26.15 26.20

1719 -1.01 -146.0 2293 2183 3560 3580 201.9 -13.1 313 1725 0.00 1.67 0.00 0.000 260 0.000 0.047 2288 3258 3570 3560 3580 0 0 0 0 0 0 26.18 26.11 26.19

1768 -1.01 -146.0 2287 3258 3560 3580 208.8 -13.9 322 1776 0.00 1.62 0.00 0.000 1030 0.000 0.029 2294 2210 3570 3560 3580 0 0 0 0 0 0 26.18 26.15 26.20

1900 -1.01 -146.0 2293 2203 3560 3580 227.0 -14.3 347 1907 0.00 1.65 0.00 0.000 260 0.000 0.047 2287 3260 3570 3560 3580 0 0 0 0 0 0 26.20 26.11 26.19

1973 -1.01 -146.0 2287 3260 3560 3580 237.6 -14.3 360 1980 0.00 1.60 0.00 0.000 1030 0.000 0.030 2293 2203 3570 3561 3580 0 0 0 0 0 0 26.19 26.15 26.20

2104 -1.03 -146.0 2292 2198 3560 3580 255.1 -12.9 385 2111 0.00 1.65 0.00 0.000 388 0.000 0.046 2287 3258 3568 3560 3576 0 0 0 0 0 0 26.20 26.11 26.20

2148 -1.03 -146.0 2286 3258 3560 3580 261.3 -13.3 393 2155 0.00 1.62 0.00 0.000 1030 0.000 0.031 2293 2186 3570 3560 3580 0 0 0 0 0 0 26.19 26.14 26.20

2282 -1.06 -146.0 2292 2180 3560 3580 278.3 -12.0 418 2289 0.00 0.00 0.00 0.000 134 0.000 0.000 2293 2181 3570 3560 3580 0 0 0 0 0 0 26.20 26.20 26.21

2413 -1.08 -146.0 2292 2181 3564 3580 292.8 -11.5 443 2421 0.00 1.67 0.00 0.000 388 0.000 0.047 2286 3252 3569 3560 3579 0 0 0 0 0 0 26.20 26.12 26.20

2509 -1.11 -146.0 2286 3252 3560 3579 304.0 -10.8 461 2516 0.00 1.60 0.00 0.000 1158 0.000 0.031 2292 2203 3569 3560 3579 0 0 0 0 0 0 26.17 26.14 26.18

2644 -1.14 -146.0 2292 2196 3560 3579 320.0 -12.7 486 2650 0.00 0.00 0.00 0.000 134 0.000 0.000 2292 2196 3569 3560 3579 0 0 0 0 0 0 26.18 26.18 26.18

2773 -1.17 -146.0 2292 2197 3567 3578 336.5 -12.2 511 2781 0.10 1.67 0.00 0.000 4484 0.134 0.046 2255 3260 3568 3560 3577 0 0 0 0 0 0 26.06 26.10 26.16

2886 -1.14 -146.0 2254 3260 3560 3577 352.4 -14.8 532 2893 0.00 1.62 0.00 0.000 1158 0.000 0.031 2261 2191 3568 3560 3577 0 0 0 0 0 0 26.19 26.14 26.19

3017 -1.11 -146.0 2261 2186 3560 3572 371.1 -13.8 557 3024 0.00 1.60 0.00 0.000 644 0.000 0.037 2269 1136 3568 3560 3576 0 0 0 0 0 0 26.19 26.14 26.20

3041 -1.11 -146.0 2268 1136 3556 3577 374.7 -14.0 561 3048 0.00 1.65 0.00 0.000 1030 0.000 0.039 2263 2194 3568 3560 3576 0 0 0 0 0 0 26.18 26.13 26.19

3173 -1.09 -146.0 2263 2195 3560 3575 392.6 -13.8 586 3180 0.00 1.65 0.00 0.000 388 0.000 0.047 2255 3258 3568 3560 3576 0 0 0 0 0 0 26.18 26.10 26.17

3285 -1.09 -146.0 2254 3258 3560 3575 408.9 -14.3 607 3292 0.00 1.60 0.00 0.000 1030 0.000 0.030 2261 2202 3567 3560 3575 0 0 0 0 0 0 26.17 26.13 26.18

3420 -1.07 -146.0 2260 2196 3560 3575 428.7 -15.0 632 3427 0.00 0.00 0.00 0.000 134 0.000 0.000 2261 2197 3567 3561 3574 0 0 0 0 0 0 26.18 26.19 26.19

3551 -1.05 -146.0 2260 2197 3559 3574 447.3 -14.1 657 3558 0.00 1.67 0.00 0.000 388 0.000 0.047 2255 3266 3567 3560 3574 0 0 0 0 0 0 26.18 26.13 26.19

3601 -1.01 -146.0 2254 3267 3560 3574 454.9 -14.8 666 3608 0.10 1.62 0.00 0.000 3206 0.183 0.031 2282 2198 3566 3559 3574 0 0 0 0 0 0 25.98 26.12 26.14

3733 -1.01 -146.0 2282 2190 3559 3573 472.6 -12.7 691 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2193 3564 3555 3573 0 0 0 0 0 0 26.18 26.19 26.21

3866 -1.04 -146.0 2280 2193 3560 3572 489.3 -12.6 716 3872 0.00 0.00 0.00 0.000 134 0.000 0.000 2281 2193 3565 3559 3572 0 0 0 0 0 0 26.17 26.18 26.18

3943 end dive: TARGET_DEPTH_EXCEEDED

state 3943 begin apogee

3949 -0.11 0.0 2283 1967 3560 3572 500.0 -13.3 731 4078 0.98 0.00 119.60 1.123 10246 0.162 0.000 2562 1967 2964 3025 2904 0 0 0 0 0 0 25.88 24.89 24.29

4080 end apogee: CONTROL_FINISHED_OK

state 4081 begin climb

4083 0.75 146.0 2562 1967 3025 2904 503.2 0.0 752 4219 0.93 1.70 121.18 1.081 10756 0.109 0.037 2853 973 2368 2464 2273 0 0 0 0 0 0 25.14 24.49 23.80

4237 0.75 146.0 2852 974 2462 2273 490.4 12.5 775 4245 0.00 1.70 0.00 0.000 1030 0.000 0.036 2847 2010 2367 2462 2272 0 0 0 0 0 0 24.95 24.91 24.96

4370 0.75 146.0 2846 2010 2455 2271 470.8 14.9 800 4377 0.00 1.65 0.00 0.000 260 0.000 0.044 2839 3060 2362 2454 2271 0 0 0 0 0 0 25.63 25.57 25.63

4403 0.75 146.0 2838 3060 2451 2271 465.4 15.2 806 4410 0.00 1.60 0.00 0.000 1030 0.000 0.029 2842 2014 2361 2451 2271 0 0 0 0 0 0 25.71 25.67 25.72

4534 0.75 146.0 2844 2013 2451 2271 446.4 15.1 831 4541 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2012 2361 2451 2272 0 0 0 0 0 0 25.91 25.92 25.92

4665 0.75 146.0 2844 2013 2449 2272 426.3 15.6 856 4673 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 2012 2360 2450 2271 0 0 0 0 0 0 26.03 26.04 26.04

4796 0.75 146.0 2841 2012 2448 2271 406.0 16.0 881 4803 0.00 1.62 0.00 0.000 260 0.000 0.044 2839 3064 2358 2446 2271 0 0 0 0 0 0 26.11 26.05 26.11

4826 0.75 146.0 2839 3063 2446 2271 401.1 16.3 886 4834 0.00 1.65 0.00 0.000 1030 0.000 0.030 2845 2005 2358 2446 2271 0 0 0 0 0 0 26.10 26.07 26.12

4959 0.75 146.0 2844 2000 2445 2271 380.7 14.5 911 4967 0.00 1.65 0.00 0.000 260 0.000 0.044 2839 3070 2358 2446 2271 0 0 0 0 0 0 26.15 26.08 26.15

4994 0.75 146.0 2839 3065 2444 2271 375.1 15.3 917 5001 0.00 1.62 0.00 0.000 1030 0.000 0.031 2845 1994 2357 2443 2271 0 0 0 0 0 0 26.15 26.11 26.16

5126 0.75 146.0 2844 1989 2445 2269 355.2 14.9 942 5132 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 1987 2357 2444 2271 0 0 0 0 0 0 26.17 26.17 26.17

5255 0.75 146.0 2844 1989 2444 2271 335.3 15.1 967 5262 0.00 1.60 0.00 0.000 516 0.000 0.039 2853 946 2357 2444 2271 0 0 0 0 0 0 26.17 26.11 26.17

5295 0.78 146.0 2852 946 2443 2271 329.4 14.4 974 5302 0.00 1.65 0.00 0.000 1158 0.000 0.037 2846 2007 2357 2444 2271 0 0 0 0 0 0 26.17 26.12 26.18

5431 0.78 146.0 2846 2006 2444 2271 310.5 14.3 999 5438 0.00 1.60 0.00 0.000 260 0.000 0.044 2840 3053 2356 2443 2270 0 0 0 0 0 0 26.17 26.12 26.18

5496 0.78 146.0 2838 3054 2448 2270 300.6 14.3 1011 5503 0.00 1.60 0.00 0.000 1030 0.000 0.029 2845 1991 2355 2441 2270 0 0 0 0 0 0 26.17 26.14 26.18

5627 0.78 146.0 2845 1988 2441 2271 281.9 14.8 1036 5635 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 1988 2355 2441 2270 0 0 0 0 0 0 26.17 26.18 26.17

5760 0.78 146.0 2844 1988 2441 2270 262.7 14.0 1061 5766 0.00 1.65 0.00 0.000 260 0.000 0.044 2839 3053 2355 2441 2270 0 0 0 0 0 0 26.18 26.12 26.19

5814 0.78 146.0 2838 3054 2438 2270 254.9 14.4 1071 5822 0.00 1.60 0.00 0.000 1030 0.000 0.030 2845 1993 2356 2439 2273 0 0 0 0 0 0 26.18 26.13 26.19

5948 0.78 146.0 2844 1989 2439 2270 237.1 13.8 1096 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 1989 2354 2438 2270 0 0 0 0 0 0 26.17 26.17 26.17

6078 0.78 146.0 2845 1989 2439 2270 219.4 13.2 1121 6084 0.00 1.65 0.00 0.000 260 0.000 0.043 2839 3054 2354 2438 2270 0 0 0 0 0 0 26.18 26.11 26.19

6127 0.78 146.0 2839 3054 2439 2270 212.5 14.0 1130 6134 0.00 1.60 0.00 0.000 1030 0.000 0.030 2845 1995 2353 2437 2270 0 0 0 0 0 0 26.17 26.13 26.17

6263 0.80 146.0 2843 1990 2437 2270 194.3 14.2 1155 6271 0.08 0.00 0.00 0.000 2182 0.212 0.000 2862 1989 2356 2437 2276 0 0 0 0 0 0 25.97 26.17 26.14

6397 0.80 146.0 2864 1990 2437 2270 173.8 14.6 1180 6403 0.00 1.65 0.00 0.000 260 0.000 0.043 2856 3054 2353 2437 2270 0 0 0 0 0 0 26.18 26.11 26.18

6443 0.80 146.0 2855 3054 2436 2271 166.8 15.2 1188 6449 0.00 1.60 0.00 0.000 1030 0.000 0.031 2862 1997 2353 2436 2270 0 0 0 0 0 0 26.16 26.11 26.17

6574 0.80 146.0 2862 1997 2436 2270 148.0 13.5 1213 6582 0.00 1.65 0.00 0.000 516 0.000 0.039 2876 956 2353 2436 2270 0 0 0 0 0 0 26.16 26.11 26.17

6595 0.80 146.0 2870 955 2433 2271 145.2 13.4 1216 6601 0.00 1.62 0.00 0.000 1030 0.000 0.036 2861 2002 2353 2436 2270 0 0 0 0 0 0 26.16 26.11 26.17

6726 0.80 146.0 2864 2002 2436 2270 127.9 13.1 1241 6734 0.00 1.67 0.00 0.000 260 0.000 0.045 2857 3055 2353 2436 2271 0 0 0 0 0 0 26.16 26.10 26.17

6761 0.80 146.0 2856 3054 2435 2270 123.2 13.0 1247 6770 0.00 1.65 0.00 0.000 1030 0.000 0.029 2868 1992 2352 2435 2270 0 0 0 0 0 0 26.15 26.13 26.17

6895 0.80 146.0 2862 1988 2434 2270 104.5 13.9 1272 6901 0.00 1.60 0.00 0.000 516 0.000 0.037 2871 944 2352 2435 2270 0 0 0 0 0 0 26.17 26.11 26.17

6914 0.80 146.0 2870 947 2435 2267 101.7 13.4 1275 6923 0.00 1.67 0.00 0.000 1030 0.000 0.036 2865 1997 2352 2435 2270 0 0 0 0 0 0 26.13 26.10 26.15

7048 0.80 146.0 2865 1997 2436 2270 83.7 13.9 1300 7054 0.00 1.65 0.00 0.000 260 0.000 0.044 2857 3064 2352 2434 2270 0 0 0 0 0 0 26.17 26.10 26.17

7106 0.80 146.0 2857 3064 2434 2270 74.6 14.9 1311 7114 0.00 1.62 0.00 0.000 1030 0.000 0.030 2864 1989 2352 2434 2270 0 0 0 0 0 0 26.16 26.12 26.17

7240 0.80 149.7 2863 1986 2434 2269 59.4 9.8 1336 7248 0.00 1.65 0.00 0.000 548 0.000 0.039 2872 940 2352 2434 2271 0 0 0 0 0 0 26.15 26.10 26.16

7302 0.83 149.7 2871 940 2434 2270 52.5 10.7 1347 7310 0.00 1.65 0.00 0.000 1158 0.000 0.037 2872 2002 2352 2434 2270 0 0 0 0 0 0 26.16 26.10 26.19

7436 0.83 152.6 2872 2002 2434 2270 39.1 9.8 1372 7444 0.00 1.65 0.00 0.000 292 0.000 0.044 2865 3051 2352 2434 2270 0 0 0 0 0 0 26.15 26.08 26.15

7561 0.91 230.4 2865 3051 2433 2269 30.6 4.9 1395 7635 0.08 1.62 65.95 0.742 11302 0.083 0.029 2909 1992 2024 2148 1900 0 0 0 0 0 0 26.06 26.11 24.86

7761 0.96 230.4 2908 1993 2137 1895 11.5 11.7 1430 7769 0.00 1.65 0.00 0.000 644 0.000 0.038 2916 956 2016 2137 1895 0 0 0 0 0 0 25.97 25.94 25.98

8002 1.26 391.9 2916 955 2130 1893 3.6 -0.5 1476 8106 0.35 1.62 96.35 0.689 11426 0.126 0.031 3014 2015 1520 1640 1400 0 0 0 0 0 0 26.00 26.07 26.10

8106 end climb: SURFACE_DEPTH_REACHED

state 8107 begin surface coast

8165 end surface coast: CONTROL_FINISHED_OK

state 8165 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	48	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	37	ALTIM_PULSE	2
DIVE	53	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	500	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	600	CALL_NDIVES	1	C_VBD	2968	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	4	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	166	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	190	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	144.89999	SEABIRD_T_G	0.0044052354
D_OFFGRID	1000	C_PITCH	2625	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	45	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12781	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	30	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0050118701	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0163117	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	104.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	030822,131531,4449.8452,-12457.4844,36,1.0,36,15.1,0.7,271.4,9,3.5	SPEED_LIMITS	0.174,0.208
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.030,-12457.812
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	317.1,508,-27.3,-10.040,-30.00,1567
_SM_ANGLEo	-71.4	D_GRID	710
GPS2	030822,132252,4449.8149,-12457.5713,3,0.7,3,15.1,0.3,276.9,12,8.5

FINISH	-0.1,1.021596	_10V_AH	10.17,8.521
SM_CCo	8182,118.57,0.676,0,0,928,500.17	FG_AHR_24Vo	0.000
SM_GC	0.82,8.07,0.28,118.57,0.057,0.050,0.676,171,2212,928,-7.46,-1.22,500.17,0,0,0,0,0,0,25.77,25.76,24.66	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.39,-12455.54,030822,104722	MEM	220720
TT8_MAMPS	0.023219,0.307839	DATA_FILE_SIZE	53299,1503
HUMID	36.80	CAP_FILE_SIZE	161498,0
INTERNAL_PRESSURE	8.48279	CFSIZE	260030464,237662208
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.092,297.08,1
SC_FREEKB	3795776	GPS	030822,154309,4450.829,-12458.604,6,0.8,26,15.1,0.9,158.7,12,1.8
_24V_AH	23.80,10.070

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	214	105.39	nil	0	0	0.00
Roll_motor	105	61	155.11	nil	0	0	0.00
VBD_pump_during_apogee	403	1123	10773.34	nil	0	0	0.00
VBD_pump_during_surface	118	676	1908.46	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	8168	22	4424.70
Iridium_during_xfer	280	109	730.77	Edison	9060	10	2156.28
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	12	1.92
TT8	3678	13	522.69
LPSleep	999	2	22.27
TT8_Active	797	13	107.24
TT8_Sampling	2844	39	1140.49
TT8_CF8	427	49	217.25
TT8_Kalman	0	0	0.00
Analog_circuits	2314	10	235.40
GPS_charging	0	0	0.00
Compass	2349	8	196.89
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.71	-102.3	169	2220	1041	797	0.0	0.0	0	95	0.00	0.00	-80.55	0.005	16386	0.000	0.000	169	2220	2943	2910	2976	0	0	0	0	0	0	26.02	28.83	26.03
97	-0.74	-133.2	169	2219	2912	2976	3.7	-8.0	13	124	8.60	1.62	-11.00	0.008	19236	0.215	0.062	2357	3258	3513	3492	3535	0	0	0	0	0	0	25.77	25.26	26.01
132	-0.20	-133.2	2357	3258	3495	3535	12.6	-22.8	18	140	0.68	1.60	0.00	0.000	3206	0.181	0.026	2541	2183	3516	3498	3535	0	0	0	0	0	0	25.76	26.06	25.99
267	-0.50	-146.0	2540	2182	3504	3534	23.2	-5.4	43	276	0.17	1.58	-0.57	0.109	21156	0.106	0.052	2483	1147	3567	3552	3582	0	0	0	0	0	0	26.06	25.38	26.11
300	-0.74	-146.0	2482	1147	3553	3584	25.3	-6.7	48	307	0.25	1.65	0.00	0.000	5286	0.094	0.040	2386	2200	3566	3553	3580	0	0	0	0	0	0	26.07	26.06	26.13
431	-0.79	-146.0	2386	2201	3556	3580	40.4	-12.4	73	439	0.00	1.67	0.00	0.000	388	0.000	0.047	2378	3253	3568	3556	3580	0	0	0	0	0	0	26.15	26.08	26.15
573	-0.86	-146.0	2378	3251	3557	3580	56.7	-12.4	100	580	0.08	1.58	0.00	0.000	5254	0.174	0.030	2363	2211	3569	3558	3580	0	0	0	0	0	0	26.03	26.13	26.15
705	-0.92	-146.0	2363	2205	3558	3580	71.9	-11.0	125	713	0.08	1.67	0.00	0.000	4484	0.164	0.048	2333	3250	3569	3558	3580	0	0	0	0	0	0	26.05	26.12	26.15
771	-0.96	-146.0	2332	3250	3559	3582	79.2	-10.2	137	778	0.00	1.60	0.00	0.000	1158	0.000	0.031	2339	2196	3569	3559	3580	0	0	0	0	0	0	26.18	26.14	26.19
905	-1.00	-146.0	2338	2190	3560	3580	94.9	-12.0	162	913	0.08	1.70	0.00	0.000	4484	0.157	0.047	2294	3253	3570	3559	3581	0	0	0	0	0	0	26.06	26.11	26.15
1034	-0.98	-146.0	2294	3253	3559	3581	113.4	-14.8	186	1041	0.00	1.60	0.00	0.000	1158	0.000	0.031	2300	2204	3569	3559	3580	0	0	0	0	0	0	26.19	26.15	26.20
1167	-0.98	-146.0	2300	2198	3566	3581	131.2	-13.2	211	1175	0.00	1.65	0.00	0.000	260	0.000	0.047	2294	3258	3570	3560	3581	0	0	0	0	0	0	26.20	26.13	26.20
1192	-0.98	-146.0	2294	3258	3560	3580	134.8	-13.8	215	1200	0.00	1.62	0.00	0.000	1030	0.000	0.030	2301	2180	3570	3560	3581	0	0	0	0	0	0	26.19	26.15	26.20
1326	-0.98	-146.0	2300	2180	3560	3580	151.9	-12.7	240	1333	0.00	1.58	0.00	0.000	516	0.000	0.036	2303	1139	3570	3560	3581	0	0	0	0	0	0	26.18	26.14	26.20
1382	-1.01	-146.0	2302	1139	3560	3581	158.9	-11.6	250	1389	0.00	1.67	0.00	0.000	1158	0.000	0.039	2297	2214	3571	3561	3581	0	0	0	0	0	0	26.17	26.13	26.18
1516	-1.01	-146.0	2296	2215	3560	3581	175.4	-12.9	275	1523	0.00	1.60	0.00	0.000	260	0.000	0.047	2289	3252	3568	3555	3581	0	0	0	0	0	0	26.18	26.11	26.19
1588	-1.01	-146.0	2288	3252	3560	3580	185.1	-13.0	288	1595	0.00	1.60	0.00	0.000	1030	0.000	0.030	2294	2188	3570	3560	3581	0	0	0	0	0	0	26.20	26.15	26.20
1719	-1.01	-146.0	2293	2183	3560	3580	201.9	-13.1	313	1725	0.00	1.67	0.00	0.000	260	0.000	0.047	2288	3258	3570	3560	3580	0	0	0	0	0	0	26.18	26.11	26.19
1768	-1.01	-146.0	2287	3258	3560	3580	208.8	-13.9	322	1776	0.00	1.62	0.00	0.000	1030	0.000	0.029	2294	2210	3570	3560	3580	0	0	0	0	0	0	26.18	26.15	26.20
1900	-1.01	-146.0	2293	2203	3560	3580	227.0	-14.3	347	1907	0.00	1.65	0.00	0.000	260	0.000	0.047	2287	3260	3570	3560	3580	0	0	0	0	0	0	26.20	26.11	26.19
1973	-1.01	-146.0	2287	3260	3560	3580	237.6	-14.3	360	1980	0.00	1.60	0.00	0.000	1030	0.000	0.030	2293	2203	3570	3561	3580	0	0	0	0	0	0	26.19	26.15	26.20
2104	-1.03	-146.0	2292	2198	3560	3580	255.1	-12.9	385	2111	0.00	1.65	0.00	0.000	388	0.000	0.046	2287	3258	3568	3560	3576	0	0	0	0	0	0	26.20	26.11	26.20
2148	-1.03	-146.0	2286	3258	3560	3580	261.3	-13.3	393	2155	0.00	1.62	0.00	0.000	1030	0.000	0.031	2293	2186	3570	3560	3580	0	0	0	0	0	0	26.19	26.14	26.20
2282	-1.06	-146.0	2292	2180	3560	3580	278.3	-12.0	418	2289	0.00	0.00	0.00	0.000	134	0.000	0.000	2293	2181	3570	3560	3580	0	0	0	0	0	0	26.20	26.20	26.21
2413	-1.08	-146.0	2292	2181	3564	3580	292.8	-11.5	443	2421	0.00	1.67	0.00	0.000	388	0.000	0.047	2286	3252	3569	3560	3579	0	0	0	0	0	0	26.20	26.12	26.20
2509	-1.11	-146.0	2286	3252	3560	3579	304.0	-10.8	461	2516	0.00	1.60	0.00	0.000	1158	0.000	0.031	2292	2203	3569	3560	3579	0	0	0	0	0	0	26.17	26.14	26.18
2644	-1.14	-146.0	2292	2196	3560	3579	320.0	-12.7	486	2650	0.00	0.00	0.00	0.000	134	0.000	0.000	2292	2196	3569	3560	3579	0	0	0	0	0	0	26.18	26.18	26.18
2773	-1.17	-146.0	2292	2197	3567	3578	336.5	-12.2	511	2781	0.10	1.67	0.00	0.000	4484	0.134	0.046	2255	3260	3568	3560	3577	0	0	0	0	0	0	26.06	26.10	26.16
2886	-1.14	-146.0	2254	3260	3560	3577	352.4	-14.8	532	2893	0.00	1.62	0.00	0.000	1158	0.000	0.031	2261	2191	3568	3560	3577	0	0	0	0	0	0	26.19	26.14	26.19
3017	-1.11	-146.0	2261	2186	3560	3572	371.1	-13.8	557	3024	0.00	1.60	0.00	0.000	644	0.000	0.037	2269	1136	3568	3560	3576	0	0	0	0	0	0	26.19	26.14	26.20
3041	-1.11	-146.0	2268	1136	3556	3577	374.7	-14.0	561	3048	0.00	1.65	0.00	0.000	1030	0.000	0.039	2263	2194	3568	3560	3576	0	0	0	0	0	0	26.18	26.13	26.19
3173	-1.09	-146.0	2263	2195	3560	3575	392.6	-13.8	586	3180	0.00	1.65	0.00	0.000	388	0.000	0.047	2255	3258	3568	3560	3576	0	0	0	0	0	0	26.18	26.10	26.17
3285	-1.09	-146.0	2254	3258	3560	3575	408.9	-14.3	607	3292	0.00	1.60	0.00	0.000	1030	0.000	0.030	2261	2202	3567	3560	3575	0	0	0	0	0	0	26.17	26.13	26.18
3420	-1.07	-146.0	2260	2196	3560	3575	428.7	-15.0	632	3427	0.00	0.00	0.00	0.000	134	0.000	0.000	2261	2197	3567	3561	3574	0	0	0	0	0	0	26.18	26.19	26.19
3551	-1.05	-146.0	2260	2197	3559	3574	447.3	-14.1	657	3558	0.00	1.67	0.00	0.000	388	0.000	0.047	2255	3266	3567	3560	3574	0	0	0	0	0	0	26.18	26.13	26.19
3601	-1.01	-146.0	2254	3267	3560	3574	454.9	-14.8	666	3608	0.10	1.62	0.00	0.000	3206	0.183	0.031	2282	2198	3566	3559	3574	0	0	0	0	0	0	25.98	26.12	26.14
3733	-1.01	-146.0	2282	2190	3559	3573	472.6	-12.7	691	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	2193	3564	3555	3573	0	0	0	0	0	0	26.18	26.19	26.21
3866	-1.04	-146.0	2280	2193	3560	3572	489.3	-12.6	716	3872	0.00	0.00	0.00	0.000	134	0.000	0.000	2281	2193	3565	3559	3572	0	0	0	0	0	0	26.17	26.18	26.18
3943	end dive: TARGET_DEPTH_EXCEEDED
state	3943	begin apogee
3949	-0.11	0.0	2283	1967	3560	3572	500.0	-13.3	731	4078	0.98	0.00	119.60	1.123	10246	0.162	0.000	2562	1967	2964	3025	2904	0	0	0	0	0	0	25.88	24.89	24.29
4080	end apogee: CONTROL_FINISHED_OK
state	4081	begin climb
4083	0.75	146.0	2562	1967	3025	2904	503.2	0.0	752	4219	0.93	1.70	121.18	1.081	10756	0.109	0.037	2853	973	2368	2464	2273	0	0	0	0	0	0	25.14	24.49	23.80
4237	0.75	146.0	2852	974	2462	2273	490.4	12.5	775	4245	0.00	1.70	0.00	0.000	1030	0.000	0.036	2847	2010	2367	2462	2272	0	0	0	0	0	0	24.95	24.91	24.96
4370	0.75	146.0	2846	2010	2455	2271	470.8	14.9	800	4377	0.00	1.65	0.00	0.000	260	0.000	0.044	2839	3060	2362	2454	2271	0	0	0	0	0	0	25.63	25.57	25.63
4403	0.75	146.0	2838	3060	2451	2271	465.4	15.2	806	4410	0.00	1.60	0.00	0.000	1030	0.000	0.029	2842	2014	2361	2451	2271	0	0	0	0	0	0	25.71	25.67	25.72
4534	0.75	146.0	2844	2013	2451	2271	446.4	15.1	831	4541	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2012	2361	2451	2272	0	0	0	0	0	0	25.91	25.92	25.92
4665	0.75	146.0	2844	2013	2449	2272	426.3	15.6	856	4673	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	2012	2360	2450	2271	0	0	0	0	0	0	26.03	26.04	26.04
4796	0.75	146.0	2841	2012	2448	2271	406.0	16.0	881	4803	0.00	1.62	0.00	0.000	260	0.000	0.044	2839	3064	2358	2446	2271	0	0	0	0	0	0	26.11	26.05	26.11
4826	0.75	146.0	2839	3063	2446	2271	401.1	16.3	886	4834	0.00	1.65	0.00	0.000	1030	0.000	0.030	2845	2005	2358	2446	2271	0	0	0	0	0	0	26.10	26.07	26.12
4959	0.75	146.0	2844	2000	2445	2271	380.7	14.5	911	4967	0.00	1.65	0.00	0.000	260	0.000	0.044	2839	3070	2358	2446	2271	0	0	0	0	0	0	26.15	26.08	26.15
4994	0.75	146.0	2839	3065	2444	2271	375.1	15.3	917	5001	0.00	1.62	0.00	0.000	1030	0.000	0.031	2845	1994	2357	2443	2271	0	0	0	0	0	0	26.15	26.11	26.16
5126	0.75	146.0	2844	1989	2445	2269	355.2	14.9	942	5132	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	1987	2357	2444	2271	0	0	0	0	0	0	26.17	26.17	26.17
5255	0.75	146.0	2844	1989	2444	2271	335.3	15.1	967	5262	0.00	1.60	0.00	0.000	516	0.000	0.039	2853	946	2357	2444	2271	0	0	0	0	0	0	26.17	26.11	26.17
5295	0.78	146.0	2852	946	2443	2271	329.4	14.4	974	5302	0.00	1.65	0.00	0.000	1158	0.000	0.037	2846	2007	2357	2444	2271	0	0	0	0	0	0	26.17	26.12	26.18
5431	0.78	146.0	2846	2006	2444	2271	310.5	14.3	999	5438	0.00	1.60	0.00	0.000	260	0.000	0.044	2840	3053	2356	2443	2270	0	0	0	0	0	0	26.17	26.12	26.18
5496	0.78	146.0	2838	3054	2448	2270	300.6	14.3	1011	5503	0.00	1.60	0.00	0.000	1030	0.000	0.029	2845	1991	2355	2441	2270	0	0	0	0	0	0	26.17	26.14	26.18
5627	0.78	146.0	2845	1988	2441	2271	281.9	14.8	1036	5635	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	1988	2355	2441	2270	0	0	0	0	0	0	26.17	26.18	26.17
5760	0.78	146.0	2844	1988	2441	2270	262.7	14.0	1061	5766	0.00	1.65	0.00	0.000	260	0.000	0.044	2839	3053	2355	2441	2270	0	0	0	0	0	0	26.18	26.12	26.19
5814	0.78	146.0	2838	3054	2438	2270	254.9	14.4	1071	5822	0.00	1.60	0.00	0.000	1030	0.000	0.030	2845	1993	2356	2439	2273	0	0	0	0	0	0	26.18	26.13	26.19
5948	0.78	146.0	2844	1989	2439	2270	237.1	13.8	1096	5954	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	1989	2354	2438	2270	0	0	0	0	0	0	26.17	26.17	26.17
6078	0.78	146.0	2845	1989	2439	2270	219.4	13.2	1121	6084	0.00	1.65	0.00	0.000	260	0.000	0.043	2839	3054	2354	2438	2270	0	0	0	0	0	0	26.18	26.11	26.19
6127	0.78	146.0	2839	3054	2439	2270	212.5	14.0	1130	6134	0.00	1.60	0.00	0.000	1030	0.000	0.030	2845	1995	2353	2437	2270	0	0	0	0	0	0	26.17	26.13	26.17
6263	0.80	146.0	2843	1990	2437	2270	194.3	14.2	1155	6271	0.08	0.00	0.00	0.000	2182	0.212	0.000	2862	1989	2356	2437	2276	0	0	0	0	0	0	25.97	26.17	26.14
6397	0.80	146.0	2864	1990	2437	2270	173.8	14.6	1180	6403	0.00	1.65	0.00	0.000	260	0.000	0.043	2856	3054	2353	2437	2270	0	0	0	0	0	0	26.18	26.11	26.18
6443	0.80	146.0	2855	3054	2436	2271	166.8	15.2	1188	6449	0.00	1.60	0.00	0.000	1030	0.000	0.031	2862	1997	2353	2436	2270	0	0	0	0	0	0	26.16	26.11	26.17
6574	0.80	146.0	2862	1997	2436	2270	148.0	13.5	1213	6582	0.00	1.65	0.00	0.000	516	0.000	0.039	2876	956	2353	2436	2270	0	0	0	0	0	0	26.16	26.11	26.17
6595	0.80	146.0	2870	955	2433	2271	145.2	13.4	1216	6601	0.00	1.62	0.00	0.000	1030	0.000	0.036	2861	2002	2353	2436	2270	0	0	0	0	0	0	26.16	26.11	26.17
6726	0.80	146.0	2864	2002	2436	2270	127.9	13.1	1241	6734	0.00	1.67	0.00	0.000	260	0.000	0.045	2857	3055	2353	2436	2271	0	0	0	0	0	0	26.16	26.10	26.17
6761	0.80	146.0	2856	3054	2435	2270	123.2	13.0	1247	6770	0.00	1.65	0.00	0.000	1030	0.000	0.029	2868	1992	2352	2435	2270	0	0	0	0	0	0	26.15	26.13	26.17
6895	0.80	146.0	2862	1988	2434	2270	104.5	13.9	1272	6901	0.00	1.60	0.00	0.000	516	0.000	0.037	2871	944	2352	2435	2270	0	0	0	0	0	0	26.17	26.11	26.17
6914	0.80	146.0	2870	947	2435	2267	101.7	13.4	1275	6923	0.00	1.67	0.00	0.000	1030	0.000	0.036	2865	1997	2352	2435	2270	0	0	0	0	0	0	26.13	26.10	26.15
7048	0.80	146.0	2865	1997	2436	2270	83.7	13.9	1300	7054	0.00	1.65	0.00	0.000	260	0.000	0.044	2857	3064	2352	2434	2270	0	0	0	0	0	0	26.17	26.10	26.17
7106	0.80	146.0	2857	3064	2434	2270	74.6	14.9	1311	7114	0.00	1.62	0.00	0.000	1030	0.000	0.030	2864	1989	2352	2434	2270	0	0	0	0	0	0	26.16	26.12	26.17
7240	0.80	149.7	2863	1986	2434	2269	59.4	9.8	1336	7248	0.00	1.65	0.00	0.000	548	0.000	0.039	2872	940	2352	2434	2271	0	0	0	0	0	0	26.15	26.10	26.16
7302	0.83	149.7	2871	940	2434	2270	52.5	10.7	1347	7310	0.00	1.65	0.00	0.000	1158	0.000	0.037	2872	2002	2352	2434	2270	0	0	0	0	0	0	26.16	26.10	26.19
7436	0.83	152.6	2872	2002	2434	2270	39.1	9.8	1372	7444	0.00	1.65	0.00	0.000	292	0.000	0.044	2865	3051	2352	2434	2270	0	0	0	0	0	0	26.15	26.08	26.15
7561	0.91	230.4	2865	3051	2433	2269	30.6	4.9	1395	7635	0.08	1.62	65.95	0.742	11302	0.083	0.029	2909	1992	2024	2148	1900	0	0	0	0	0	0	26.06	26.11	24.86
7761	0.96	230.4	2908	1993	2137	1895	11.5	11.7	1430	7769	0.00	1.65	0.00	0.000	644	0.000	0.038	2916	956	2016	2137	1895	0	0	0	0	0	0	25.97	25.94	25.98
8002	1.26	391.9	2916	955	2130	1893	3.6	-0.5	1476	8106	0.35	1.62	96.35	0.689	11426	0.126	0.031	3014	2015	1520	1640	1400	0	0	0	0	0	0	26.00	26.07	26.10
8106	end climb: SURFACE_DEPTH_REACHED
state	8107	begin surface coast
8165	end surface coast: CONTROL_FINISHED_OK
state	8165	begin surface