Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 79 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 34 ALTIM_PULSE 2

DIVE 79 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 400 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 130 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 160 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 156.0

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 156.0 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 130

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 160

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 79 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 39 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 400 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 060822,070439,4450.1987,-12455.8066,10,0.9,28,15.1,1.6,250.6,12,1.9 SPEED_LIMITS 0.178,0.210

_CALLS 2 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4450.300,-12455.908

_XMS_TOUTs 0 TGT_RADIUS 400.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 24.6,522,-27.4,-10.256,-30.00,1584

_SM_ANGLEo -64.4 D_GRID 582

GPS2 060822,072032,4450.1162,-12456.2100,3,0.9,4,15.1,0.3,0.0,12,6.3

Post-dive calculations and measurements:

FINISH 0.0,1.023333 _10V_AH 10.21,11.702

SM_CCo 6759,193.12,0.689,0,0,928,500.17 FG_AHR_24Vo 0.000

SM_GC 0.60,7.68,1.35,193.12,0.050,0.024,0.689,167,2196,928,-7.47,1.10,500.17,0,0,0,0,0,0,26.03,26.01,24.58 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.01,-12451.31,060822,044809 MEM 220340

TT8_MAMPS 0.023219,0.280126 DATA_FILE_SIZE 39961,1167

HUMID 36.25 CAP_FILE_SIZE 431555,0

INTERNAL_PRESSURE 8.44372 CFSIZE 260030464,232353792

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.039,316.89,1

SC_FREEKB 3787456 GPS 060822,091831,4450.727,-12455.785,33,0.9,39,15.1,0.5,224.9,11,2.4

_24V_AH 23.96,13.965

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 244 111.24 nil 0 0 0.00

Roll_motor 105 48 123.64 nil 0 0 0.00

VBD_pump_during_apogee 324 1041 8096.95 nil 0 0 0.00

VBD_pump_during_surface 193 688 3185.88 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 6745 6 1047.88

Iridium_during_xfer 687 108 1788.56 Edison 7969 10 1909.37

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.04

TT8 2990 13 426.59

LPSleep 464 2 10.38

TT8_Active 860 13 116.21

TT8_Sampling 2919 39 1175.52

TT8_CF8 654 49 333.37

TT8_Kalman 0 0 0.00

Analog_circuits 2625 10 268.06

GPS_charging 0 0 0.00

Compass 1822 8 153.30

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -0.71 -105.6 164 2210 1063 791 0.0 0.0 0 117 0.00 0.00 -98.78 0.005 16390 0.000 0.000 163 2208 3399 3364 3435 0 0 0 0 0 0 26.03 24.84 26.03

120 -0.71 -105.6 163 2208 3366 3435 4.9 -11.4 15 135 8.68 1.62 0.00 0.000 2564 0.213 0.027 2380 1122 3403 3371 3435 0 0 0 0 0 0 25.76 26.01 25.93

376 -0.77 -105.6 2380 1125 3386 3429 48.4 -12.2 62 383 0.00 1.67 0.00 0.000 1158 0.000 0.041 2374 2196 3407 3387 3428 0 0 0 0 0 0 26.14 26.08 26.13

449 -0.81 -107.1 2374 2196 3388 3426 55.9 -10.2 75 456 0.00 1.62 0.00 0.000 676 0.000 0.033 2380 1137 3408 3389 3427 0 0 0 0 0 0 26.15 26.10 26.16

681 -0.94 -132.7 2379 1137 3392 3426 77.7 -8.6 118 690 0.12 1.67 -0.77 0.064 21670 0.114 0.039 2337 2209 3514 3500 3529 0 0 0 0 0 0 26.06 26.10 26.16

757 -0.96 -132.7 2334 2209 3502 3529 86.4 -12.9 131 763 0.00 0.00 0.00 0.000 134 0.000 0.000 2335 2209 3515 3502 3529 0 0 0 0 0 0 26.15 26.16 26.16

828 -0.98 -132.7 2334 2209 3502 3529 96.4 -14.5 144 835 0.00 1.62 0.00 0.000 388 0.000 0.047 2326 3254 3516 3503 3529 0 0 0 0 0 0 26.16 26.06 26.18

870 -1.02 -132.7 2326 3254 3503 3529 102.5 -13.9 151 877 0.00 1.60 0.00 0.000 1158 0.000 0.028 2333 2194 3516 3503 3529 0 0 0 0 0 0 26.14 26.11 26.15

944 -1.06 -132.7 2332 2190 3503 3529 112.3 -13.4 164 951 0.12 0.00 0.00 0.000 4230 0.103 0.000 2271 2190 3516 3503 3529 0 0 0 0 0 0 26.13 26.15 26.15

1019 -1.01 -132.7 2270 2190 3503 3529 124.0 -16.5 177 1026 0.00 0.00 0.00 0.000 134 0.000 0.000 2271 2190 3516 3503 3529 0 0 0 0 0 0 26.17 26.16 26.17

1091 -0.95 -132.7 2270 2190 3503 3529 136.3 -17.3 190 1099 0.15 1.67 0.00 0.000 2436 0.175 0.044 2302 3256 3516 3504 3529 0 0 0 0 0 0 25.92 26.08 26.05

1133 -0.97 -132.7 2301 3257 3504 3529 143.5 -16.0 197 1142 0.00 1.60 0.00 0.000 1158 0.000 0.030 2307 2204 3514 3503 3525 0 0 0 0 0 0 26.15 26.10 26.15

1208 -1.00 -132.7 2307 2200 3503 3534 154.9 -14.7 210 1215 0.00 1.62 0.00 0.000 644 0.000 0.034 2315 1136 3513 3503 3524 0 0 0 0 0 0 26.15 26.10 26.17

1235 -1.04 -132.7 2315 1134 3503 3529 159.0 -14.7 214 1243 0.00 1.67 0.00 0.000 1158 0.000 0.039 2310 2203 3518 3508 3529 0 0 0 0 0 0 26.15 26.09 26.15

1308 -1.07 -132.7 2315 2203 3504 3529 169.3 -14.3 227 1315 0.00 1.65 0.00 0.000 388 0.000 0.047 2301 3260 3516 3504 3528 0 0 0 0 0 0 26.15 26.08 26.17

1360 -1.10 -132.7 2301 3261 3504 3529 177.5 -15.9 236 1369 0.05 1.65 0.00 0.000 5254 0.099 0.030 2276 2204 3516 3504 3528 0 0 0 0 0 0 26.02 26.13 26.09

1434 -1.08 -132.7 2275 2201 3503 3529 189.7 -16.7 249 1442 0.00 0.00 0.00 0.000 134 0.000 0.000 2276 2201 3516 3503 3529 0 0 0 0 0 0 26.16 26.17 26.16

1509 -1.06 -132.7 2275 2201 3504 3528 202.0 -16.1 262 1516 0.00 1.65 0.00 0.000 388 0.000 0.047 2268 3254 3516 3504 3529 0 0 0 0 0 0 26.15 26.06 26.15

1577 -1.06 -132.7 2267 3254 3504 3528 213.1 -15.6 274 1584 0.00 1.60 0.00 0.000 1030 0.000 0.030 2274 2202 3516 3504 3529 0 0 0 0 0 0 26.14 26.13 26.15

1652 -1.03 -132.7 2273 2195 3504 3533 225.2 -17.3 287 1658 0.00 0.00 0.00 0.000 134 0.000 0.000 2274 2195 3516 3504 3528 0 0 0 0 0 0 26.15 26.15 26.16

1725 -1.03 -132.7 2273 2193 3504 3528 237.4 -16.0 300 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2195 3515 3504 3527 0 0 0 0 0 0 26.15 26.17 26.16

1798 -1.03 -132.7 2273 2195 3503 3527 249.0 -15.7 313 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2195 3515 3503 3527 0 0 0 0 0 0 26.15 26.15 26.15

1872 -1.03 -132.7 2273 2195 3503 3527 260.6 -15.9 326 1878 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2195 3515 3504 3526 0 0 0 0 0 0 26.17 26.17 26.17

1944 -1.03 -132.7 2273 2195 3504 3526 272.2 -16.1 339 1950 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2195 3515 3503 3527 0 0 0 0 0 0 26.14 26.13 26.14

2016 -1.03 -132.7 2273 2195 3502 3526 283.9 -16.6 352 2023 0.00 1.67 0.00 0.000 260 0.000 0.047 2267 3262 3514 3503 3526 0 0 0 0 0 0 26.15 26.06 26.15

2052 -1.00 -132.7 2267 3261 3504 3525 289.9 -16.1 358 2060 0.05 1.62 0.00 0.000 3206 0.230 0.030 2282 2197 3514 3503 3525 0 0 0 0 0 0 25.92 26.09 26.09

2125 -1.00 -132.7 2282 2192 3503 3525 300.9 -14.6 371 2131 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2192 3514 3503 3525 0 0 0 0 0 0 26.14 26.15 26.15

2198 -1.00 -132.7 2282 2193 3503 3524 311.1 -13.8 384 2204 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2192 3514 3504 3525 0 0 0 0 0 0 26.15 26.15 26.15

2270 -1.00 -132.7 2282 2192 3503 3526 321.3 -14.4 397 2278 0.00 1.67 0.00 0.000 260 0.000 0.047 2277 3257 3513 3503 3524 0 0 0 0 0 0 26.15 26.05 26.15

2307 -1.00 -132.7 2276 3257 3499 3524 326.9 -14.7 403 2314 0.00 1.62 0.00 0.000 1030 0.000 0.030 2282 2191 3514 3504 3524 0 0 0 0 0 0 26.13 26.08 26.14

2380 -1.00 -132.7 2281 2186 3504 3524 337.2 -14.2 416 2386 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2186 3513 3503 3523 0 0 0 0 0 0 26.15 26.13 26.14

2453 -1.00 -132.7 2282 2186 3503 3520 347.4 -14.3 429 2461 0.00 1.67 0.00 0.000 260 0.000 0.047 2276 3253 3513 3504 3523 0 0 0 0 0 0 26.15 26.07 26.15

2495 -1.00 -132.7 2277 3254 3503 3523 354.0 -15.4 436 2502 0.00 1.62 0.00 0.000 1030 0.000 0.030 2282 2190 3515 3503 3528 0 0 0 0 0 0 26.16 26.08 26.14

2569 -1.00 -132.7 2281 2185 3503 3522 364.9 -14.9 449 2576 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2185 3512 3503 3522 0 0 0 0 0 0 26.13 26.13 26.16

2642 -1.00 -132.7 2281 2185 3503 3522 375.4 -14.4 462 2649 0.00 1.67 0.00 0.000 260 0.000 0.047 2276 3253 3512 3503 3522 0 0 0 0 0 0 26.14 26.04 26.14

2667 -1.00 -132.7 2275 3254 3503 3522 379.4 -14.7 466 2674 0.00 1.62 0.00 0.000 1030 0.000 0.031 2281 2186 3512 3503 3522 0 0 0 0 0 0 26.13 26.08 26.13

2741 -1.00 -132.7 2282 2182 3503 3521 389.7 -14.3 479 2747 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2181 3512 3503 3521 0 0 0 0 0 0 26.14 26.13 26.13

2813 -1.00 -132.7 2281 2183 3503 3521 399.8 -14.0 492 2819 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2182 3512 3503 3521 0 0 0 0 0 0 26.13 26.13 26.11

2825 end dive: TARGET_DEPTH_EXCEEDED

state 2825 begin apogee

2830 -0.11 0.0 2283 1970 3503 3521 401.9 -14.1 494 2942 0.98 0.00 105.75 1.041 10246 0.161 0.000 2562 1970 2964 3020 2909 0 0 0 0 0 0 25.82 25.08 24.38

2944 end apogee: CONTROL_FINISHED_OK

state 2944 begin climb

2946 0.74 132.7 2562 1969 3020 2910 404.5 0.0 510 3065 0.90 1.67 108.82 1.001 10756 0.109 0.037 2848 972 2421 2510 2332 0 0 0 0 0 0 25.15 24.62 23.96

3112 0.74 132.7 2847 972 2508 2336 393.0 11.5 534 3120 0.00 1.67 0.00 0.000 1030 0.000 0.036 2841 2004 2421 2507 2335 0 0 0 0 0 0 25.25 25.21 25.26

3186 0.74 132.7 2841 2004 2505 2334 383.9 12.2 547 3193 0.00 1.67 0.00 0.000 260 0.000 0.044 2833 3062 2419 2504 2334 0 0 0 0 0 0 25.60 25.55 25.61

3249 0.74 132.7 2832 3063 2498 2334 375.9 12.9 558 3256 0.00 1.60 0.00 0.000 1030 0.000 0.028 2839 2019 2416 2498 2335 0 0 0 0 0 0 25.78 25.77 25.78

3323 0.74 132.7 2839 2015 2498 2335 366.6 12.6 571 3330 0.00 1.67 0.00 0.000 516 0.000 0.037 2848 935 2416 2498 2335 0 0 0 0 0 0 25.94 25.86 25.94

3353 0.74 132.7 2847 935 2498 2333 362.3 13.2 576 3362 0.00 1.73 0.00 0.000 1030 0.000 0.037 2841 2003 2419 2498 2340 0 0 0 0 0 0 25.94 25.90 25.96

3426 0.74 132.7 2841 2003 2500 2335 353.4 12.3 589 3435 0.00 1.67 0.00 0.000 260 0.000 0.044 2833 3054 2415 2497 2333 0 0 0 0 0 0 26.04 25.98 26.05

3485 0.72 132.7 2833 3054 2490 2334 346.0 12.3 599 3492 0.00 1.60 0.00 0.000 1158 0.000 0.028 2840 1995 2415 2495 2335 0 0 0 0 0 0 26.06 26.01 26.06

3560 0.72 132.7 2839 1991 2495 2335 337.0 12.2 612 3566 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1991 2414 2495 2334 0 0 0 0 0 0 26.10 26.10 26.10

3633 0.72 132.7 2839 1991 2495 2335 328.3 11.4 625 3640 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1993 2414 2495 2334 0 0 0 0 0 0 26.13 26.14 26.14

3707 0.72 132.7 2839 1990 2495 2335 319.9 11.4 638 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1991 2415 2495 2335 0 0 0 0 0 0 26.13 26.13 26.13

3780 0.72 132.7 2839 1991 2495 2335 311.4 11.4 651 3786 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1990 2418 2501 2335 0 0 0 0 0 0 26.13 26.15 26.13

3853 0.72 132.7 2839 1990 2494 2335 303.1 11.2 664 3860 0.00 1.65 0.00 0.000 260 0.000 0.044 2833 3055 2414 2494 2334 0 0 0 0 0 0 26.15 26.08 26.15

3884 0.72 132.7 2832 3056 2492 2334 299.3 12.0 669 3892 0.00 1.60 0.00 0.000 1030 0.000 0.028 2839 1995 2413 2492 2335 0 0 0 0 0 0 26.15 26.10 26.15

3958 0.72 132.7 2838 1991 2492 2335 291.0 11.4 682 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1991 2414 2493 2335 0 0 0 0 0 0 26.15 26.15 26.15

4030 0.72 132.7 2839 1992 2492 2335 283.0 10.8 695 4037 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1991 2413 2492 2334 0 0 0 0 0 0 26.17 26.17 26.17

4102 0.72 132.7 2839 1991 2492 2334 275.5 10.6 708 4109 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1991 2413 2492 2335 0 0 0 0 0 0 26.16 26.16 26.16

4175 0.72 132.7 2839 1992 2492 2335 267.6 11.0 721 4183 0.00 1.65 0.00 0.000 260 0.000 0.043 2833 3056 2412 2491 2334 0 0 0 0 0 0 26.15 26.08 26.16

4211 0.72 132.7 2833 3056 2490 2334 263.1 11.7 727 4218 0.00 1.60 0.00 0.000 1030 0.000 0.028 2840 1997 2410 2490 2330 0 0 0 0 0 0 26.14 26.09 26.15

4284 0.72 132.7 2839 1992 2491 2335 254.6 11.7 740 4291 0.00 1.60 0.00 0.000 516 0.000 0.038 2848 952 2413 2491 2335 0 0 0 0 0 0 26.15 26.10 26.15

4309 0.72 132.7 2847 952 2491 2335 251.6 11.3 744 4316 0.00 1.65 0.00 0.000 1030 0.000 0.036 2841 2008 2413 2491 2335 0 0 0 0 0 0 26.15 26.08 26.15

4381 0.72 132.7 2841 2005 2490 2334 243.8 11.1 757 4389 0.00 1.62 0.00 0.000 260 0.000 0.044 2833 3058 2412 2490 2334 0 0 0 0 0 0 26.15 26.08 26.15

4435 0.72 132.7 2833 3059 2490 2334 237.8 10.8 766 4443 0.00 1.65 0.00 0.000 1030 0.000 0.028 2840 1996 2412 2489 2335 0 0 0 0 0 0 26.13 26.10 26.14

4508 0.72 136.2 2839 1991 2490 2335 230.3 10.0 779 4516 0.00 0.00 0.00 0.000 38 0.000 0.000 2839 1991 2414 2490 2338 0 0 0 0 0 0 26.16 26.17 26.17

4581 0.72 136.2 2839 1991 2489 2335 222.7 10.8 792 4588 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1991 2412 2489 2335 0 0 0 0 0 0 26.15 26.15 26.15

4654 0.72 136.2 2839 1991 2489 2334 214.9 10.7 805 4662 0.00 1.65 0.00 0.000 260 0.000 0.044 2833 3053 2411 2489 2334 0 0 0 0 0 0 26.16 26.06 26.16

4745 0.72 136.2 2832 3053 2489 2334 205.3 10.6 821 4753 0.00 1.60 0.00 0.000 1030 0.000 0.028 2840 1996 2411 2489 2334 0 0 0 0 0 0 26.14 26.09 26.14

4819 0.72 136.2 2839 1991 2488 2335 197.9 10.3 834 4826 0.00 1.65 0.00 0.000 260 0.000 0.043 2833 3052 2415 2489 2341 0 0 0 0 0 0 26.14 26.07 26.13

4855 0.72 137.8 2833 3053 2489 2334 194.1 10.2 840 4862 0.00 1.60 0.00 0.000 1062 0.000 0.028 2839 1995 2411 2488 2334 0 0 0 0 0 0 26.13 26.08 26.15

4930 0.73 142.5 2839 1990 2488 2334 186.8 10.0 853 4945 0.00 1.62 7.50 0.797 8740 0.000 0.034 2848 949 2385 2468 2303 0 0 0 0 0 0 26.15 25.78 25.15

4986 0.75 142.5 2844 948 2468 2304 180.6 10.8 862 4994 0.00 1.70 0.00 0.000 1158 0.000 0.037 2841 2001 2385 2468 2303 0 0 0 0 0 0 26.06 26.02 26.07

5059 0.75 142.5 2841 2001 2468 2303 172.4 11.4 875 5067 0.00 1.67 0.00 0.000 260 0.000 0.045 2833 3049 2384 2467 2302 0 0 0 0 0 0 26.11 26.02 26.12

5179 0.75 142.5 2833 3049 2464 2302 158.9 11.4 897 5187 0.00 1.60 0.00 0.000 1030 0.000 0.029 2839 1994 2385 2464 2306 0 0 0 0 0 0 26.13 26.08 26.14

5254 0.75 142.5 2839 1990 2464 2303 151.1 10.6 910 5260 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1990 2383 2464 2302 0 0 0 0 0 0 26.14 26.13 26.13

5326 0.75 142.5 2839 1988 2464 2303 143.2 11.0 923 5332 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1990 2383 2464 2303 0 0 0 0 0 0 26.13 26.13 26.13

5397 0.75 142.5 2840 1990 2464 2303 135.1 11.1 936 5404 0.00 1.65 0.00 0.000 260 0.000 0.044 2833 3050 2383 2464 2303 0 0 0 0 0 0 26.13 26.03 26.14

5434 0.75 142.5 2833 3053 2463 2302 130.8 11.5 942 5442 0.00 1.60 0.00 0.000 1030 0.000 0.029 2839 1995 2382 2463 2302 0 0 0 0 0 0 26.13 26.09 26.12

5507 0.75 142.5 2839 1992 2464 2302 123.2 10.7 955 5514 0.00 1.60 0.00 0.000 516 0.000 0.037 2848 955 2383 2463 2303 0 0 0 0 0 0 26.13 26.05 26.14

5544 0.77 142.5 2847 955 2463 2303 119.4 10.4 961 5552 0.00 1.65 0.00 0.000 1158 0.000 0.036 2841 2007 2381 2464 2299 0 0 0 0 0 0 26.11 26.06 26.13

5618 0.78 150.9 2841 2007 2463 2303 112.2 9.7 974 5634 0.08 1.70 9.00 0.772 10532 0.244 0.044 2847 3052 2348 2437 2260 0 0 0 0 0 0 25.86 25.93 25.15

5685 0.78 150.9 2847 3057 2434 2260 105.1 11.3 985 5693 0.00 1.60 0.00 0.000 1030 0.000 0.029 2853 2000 2347 2434 2260 0 0 0 0 0 0 26.04 25.99 26.06

5760 0.78 150.9 2853 1996 2434 2260 96.3 12.1 998 5767 0.00 1.62 0.00 0.000 516 0.000 0.037 2862 949 2347 2434 2261 0 0 0 0 0 0 26.10 26.02 26.09

5829 0.78 150.9 2866 949 2434 2261 88.0 12.0 1010 5836 0.00 1.65 0.00 0.000 1030 0.000 0.037 2856 1998 2347 2434 2260 0 0 0 0 0 0 26.08 26.03 26.09

5902 0.78 150.9 2855 1999 2434 2260 79.0 12.1 1023 5909 0.00 1.65 0.00 0.000 260 0.000 0.044 2847 3061 2346 2433 2260 0 0 0 0 0 0 26.10 26.03 26.11

6044 0.78 150.9 2847 3061 2431 2260 62.8 11.3 1049 6052 0.00 1.62 0.00 0.000 1030 0.000 0.028 2860 1990 2345 2431 2260 0 0 0 0 0 0 26.13 26.06 26.14

6119 0.79 160.9 2854 1986 2430 2260 55.3 9.6 1062 6134 0.00 1.70 9.57 0.731 8484 0.000 0.043 2848 3054 2308 2403 2213 0 0 0 0 0 0 26.14 25.94 25.20

6222 0.79 163.0 2847 3054 2400 2213 45.5 10.1 1080 6229 0.00 1.60 0.00 0.000 1062 0.000 0.028 2854 2001 2306 2400 2213 0 0 0 0 0 0 26.08 26.03 26.08

6297 0.85 197.5 2853 1998 2400 2213 39.2 8.0 1093 6336 0.10 1.73 31.20 0.744 10916 0.138 0.035 2895 946 2159 2276 2042 0 0 0 0 0 0 25.98 25.66 25.03

6386 0.89 208.7 2894 946 2274 2042 30.8 9.5 1107 6400 0.00 1.67 10.25 0.688 9382 0.000 0.034 2890 2009 2117 2239 1996 0 0 0 0 0 0 25.92 25.86 25.08

6469 0.98 252.5 2890 2008 2234 1996 24.3 7.4 1121 6514 0.12 1.77 36.12 0.712 10916 0.128 0.037 2939 940 1933 2065 1802 0 0 0 0 0 0 25.86 25.53 24.94

6538 0.98 254.7 2939 940 2062 1802 18.0 10.1 1131 6546 0.00 1.70 0.00 0.000 1062 0.000 0.037 2933 2005 1931 2062 1801 0 0 0 0 0 0 25.79 25.77 25.79

6613 0.98 259.4 2933 2005 2058 1800 10.0 9.9 1144 6628 0.00 1.67 6.35 0.610 8484 0.000 0.041 2925 3050 1905 2037 1773 0 0 0 0 0 0 25.94 25.63 25.13

6719 end climb: SURFACE_DEPTH_REACHED

state 6719 begin surface coast

6740 end surface coast: CONTROL_FINISHED_OK

state 6741 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	34	ALTIM_PULSE	2
DIVE	79	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	400	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	130	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	160	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	156.0
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	060822,070439,4450.1987,-12455.8066,10,0.9,28,15.1,1.6,250.6,12,1.9	SPEED_LIMITS	0.178,0.210
_CALLS	2	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4450.300,-12455.908
_XMS_TOUTs	0	TGT_RADIUS	400.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	24.6,522,-27.4,-10.256,-30.00,1584
_SM_ANGLEo	-64.4	D_GRID	582
GPS2	060822,072032,4450.1162,-12456.2100,3,0.9,4,15.1,0.3,0.0,12,6.3

FINISH	0.0,1.023333	_10V_AH	10.21,11.702
SM_CCo	6759,193.12,0.689,0,0,928,500.17	FG_AHR_24Vo	0.000
SM_GC	0.60,7.68,1.35,193.12,0.050,0.024,0.689,167,2196,928,-7.47,1.10,500.17,0,0,0,0,0,0,26.03,26.01,24.58	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.01,-12451.31,060822,044809	MEM	220340
TT8_MAMPS	0.023219,0.280126	DATA_FILE_SIZE	39961,1167
HUMID	36.25	CAP_FILE_SIZE	431555,0
INTERNAL_PRESSURE	8.44372	CFSIZE	260030464,232353792
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.039,316.89,1
SC_FREEKB	3787456	GPS	060822,091831,4450.727,-12455.785,33,0.9,39,15.1,0.5,224.9,11,2.4
_24V_AH	23.96,13.965

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	244	111.24	nil	0	0	0.00
Roll_motor	105	48	123.64	nil	0	0	0.00
VBD_pump_during_apogee	324	1041	8096.95	nil	0	0	0.00
VBD_pump_during_surface	193	688	3185.88	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	6745	6	1047.88
Iridium_during_xfer	687	108	1788.56	Edison	7969	10	1909.37
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.04
TT8	2990	13	426.59
LPSleep	464	2	10.38
TT8_Active	860	13	116.21
TT8_Sampling	2919	39	1175.52
TT8_CF8	654	49	333.37
TT8_Kalman	0	0	0.00
Analog_circuits	2625	10	268.06
GPS_charging	0	0	0.00
Compass	1822	8	153.30
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-0.71	-105.6	164	2210	1063	791	0.0	0.0	0	117	0.00	0.00	-98.78	0.005	16390	0.000	0.000	163	2208	3399	3364	3435	0	0	0	0	0	0	26.03	24.84	26.03
120	-0.71	-105.6	163	2208	3366	3435	4.9	-11.4	15	135	8.68	1.62	0.00	0.000	2564	0.213	0.027	2380	1122	3403	3371	3435	0	0	0	0	0	0	25.76	26.01	25.93
376	-0.77	-105.6	2380	1125	3386	3429	48.4	-12.2	62	383	0.00	1.67	0.00	0.000	1158	0.000	0.041	2374	2196	3407	3387	3428	0	0	0	0	0	0	26.14	26.08	26.13
449	-0.81	-107.1	2374	2196	3388	3426	55.9	-10.2	75	456	0.00	1.62	0.00	0.000	676	0.000	0.033	2380	1137	3408	3389	3427	0	0	0	0	0	0	26.15	26.10	26.16
681	-0.94	-132.7	2379	1137	3392	3426	77.7	-8.6	118	690	0.12	1.67	-0.77	0.064	21670	0.114	0.039	2337	2209	3514	3500	3529	0	0	0	0	0	0	26.06	26.10	26.16
757	-0.96	-132.7	2334	2209	3502	3529	86.4	-12.9	131	763	0.00	0.00	0.00	0.000	134	0.000	0.000	2335	2209	3515	3502	3529	0	0	0	0	0	0	26.15	26.16	26.16
828	-0.98	-132.7	2334	2209	3502	3529	96.4	-14.5	144	835	0.00	1.62	0.00	0.000	388	0.000	0.047	2326	3254	3516	3503	3529	0	0	0	0	0	0	26.16	26.06	26.18
870	-1.02	-132.7	2326	3254	3503	3529	102.5	-13.9	151	877	0.00	1.60	0.00	0.000	1158	0.000	0.028	2333	2194	3516	3503	3529	0	0	0	0	0	0	26.14	26.11	26.15
944	-1.06	-132.7	2332	2190	3503	3529	112.3	-13.4	164	951	0.12	0.00	0.00	0.000	4230	0.103	0.000	2271	2190	3516	3503	3529	0	0	0	0	0	0	26.13	26.15	26.15
1019	-1.01	-132.7	2270	2190	3503	3529	124.0	-16.5	177	1026	0.00	0.00	0.00	0.000	134	0.000	0.000	2271	2190	3516	3503	3529	0	0	0	0	0	0	26.17	26.16	26.17
1091	-0.95	-132.7	2270	2190	3503	3529	136.3	-17.3	190	1099	0.15	1.67	0.00	0.000	2436	0.175	0.044	2302	3256	3516	3504	3529	0	0	0	0	0	0	25.92	26.08	26.05
1133	-0.97	-132.7	2301	3257	3504	3529	143.5	-16.0	197	1142	0.00	1.60	0.00	0.000	1158	0.000	0.030	2307	2204	3514	3503	3525	0	0	0	0	0	0	26.15	26.10	26.15
1208	-1.00	-132.7	2307	2200	3503	3534	154.9	-14.7	210	1215	0.00	1.62	0.00	0.000	644	0.000	0.034	2315	1136	3513	3503	3524	0	0	0	0	0	0	26.15	26.10	26.17
1235	-1.04	-132.7	2315	1134	3503	3529	159.0	-14.7	214	1243	0.00	1.67	0.00	0.000	1158	0.000	0.039	2310	2203	3518	3508	3529	0	0	0	0	0	0	26.15	26.09	26.15
1308	-1.07	-132.7	2315	2203	3504	3529	169.3	-14.3	227	1315	0.00	1.65	0.00	0.000	388	0.000	0.047	2301	3260	3516	3504	3528	0	0	0	0	0	0	26.15	26.08	26.17
1360	-1.10	-132.7	2301	3261	3504	3529	177.5	-15.9	236	1369	0.05	1.65	0.00	0.000	5254	0.099	0.030	2276	2204	3516	3504	3528	0	0	0	0	0	0	26.02	26.13	26.09
1434	-1.08	-132.7	2275	2201	3503	3529	189.7	-16.7	249	1442	0.00	0.00	0.00	0.000	134	0.000	0.000	2276	2201	3516	3503	3529	0	0	0	0	0	0	26.16	26.17	26.16
1509	-1.06	-132.7	2275	2201	3504	3528	202.0	-16.1	262	1516	0.00	1.65	0.00	0.000	388	0.000	0.047	2268	3254	3516	3504	3529	0	0	0	0	0	0	26.15	26.06	26.15
1577	-1.06	-132.7	2267	3254	3504	3528	213.1	-15.6	274	1584	0.00	1.60	0.00	0.000	1030	0.000	0.030	2274	2202	3516	3504	3529	0	0	0	0	0	0	26.14	26.13	26.15
1652	-1.03	-132.7	2273	2195	3504	3533	225.2	-17.3	287	1658	0.00	0.00	0.00	0.000	134	0.000	0.000	2274	2195	3516	3504	3528	0	0	0	0	0	0	26.15	26.15	26.16
1725	-1.03	-132.7	2273	2193	3504	3528	237.4	-16.0	300	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2195	3515	3504	3527	0	0	0	0	0	0	26.15	26.17	26.16
1798	-1.03	-132.7	2273	2195	3503	3527	249.0	-15.7	313	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2195	3515	3503	3527	0	0	0	0	0	0	26.15	26.15	26.15
1872	-1.03	-132.7	2273	2195	3503	3527	260.6	-15.9	326	1878	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2195	3515	3504	3526	0	0	0	0	0	0	26.17	26.17	26.17
1944	-1.03	-132.7	2273	2195	3504	3526	272.2	-16.1	339	1950	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2195	3515	3503	3527	0	0	0	0	0	0	26.14	26.13	26.14
2016	-1.03	-132.7	2273	2195	3502	3526	283.9	-16.6	352	2023	0.00	1.67	0.00	0.000	260	0.000	0.047	2267	3262	3514	3503	3526	0	0	0	0	0	0	26.15	26.06	26.15
2052	-1.00	-132.7	2267	3261	3504	3525	289.9	-16.1	358	2060	0.05	1.62	0.00	0.000	3206	0.230	0.030	2282	2197	3514	3503	3525	0	0	0	0	0	0	25.92	26.09	26.09
2125	-1.00	-132.7	2282	2192	3503	3525	300.9	-14.6	371	2131	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2192	3514	3503	3525	0	0	0	0	0	0	26.14	26.15	26.15
2198	-1.00	-132.7	2282	2193	3503	3524	311.1	-13.8	384	2204	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2192	3514	3504	3525	0	0	0	0	0	0	26.15	26.15	26.15
2270	-1.00	-132.7	2282	2192	3503	3526	321.3	-14.4	397	2278	0.00	1.67	0.00	0.000	260	0.000	0.047	2277	3257	3513	3503	3524	0	0	0	0	0	0	26.15	26.05	26.15
2307	-1.00	-132.7	2276	3257	3499	3524	326.9	-14.7	403	2314	0.00	1.62	0.00	0.000	1030	0.000	0.030	2282	2191	3514	3504	3524	0	0	0	0	0	0	26.13	26.08	26.14
2380	-1.00	-132.7	2281	2186	3504	3524	337.2	-14.2	416	2386	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2186	3513	3503	3523	0	0	0	0	0	0	26.15	26.13	26.14
2453	-1.00	-132.7	2282	2186	3503	3520	347.4	-14.3	429	2461	0.00	1.67	0.00	0.000	260	0.000	0.047	2276	3253	3513	3504	3523	0	0	0	0	0	0	26.15	26.07	26.15
2495	-1.00	-132.7	2277	3254	3503	3523	354.0	-15.4	436	2502	0.00	1.62	0.00	0.000	1030	0.000	0.030	2282	2190	3515	3503	3528	0	0	0	0	0	0	26.16	26.08	26.14
2569	-1.00	-132.7	2281	2185	3503	3522	364.9	-14.9	449	2576	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2185	3512	3503	3522	0	0	0	0	0	0	26.13	26.13	26.16
2642	-1.00	-132.7	2281	2185	3503	3522	375.4	-14.4	462	2649	0.00	1.67	0.00	0.000	260	0.000	0.047	2276	3253	3512	3503	3522	0	0	0	0	0	0	26.14	26.04	26.14
2667	-1.00	-132.7	2275	3254	3503	3522	379.4	-14.7	466	2674	0.00	1.62	0.00	0.000	1030	0.000	0.031	2281	2186	3512	3503	3522	0	0	0	0	0	0	26.13	26.08	26.13
2741	-1.00	-132.7	2282	2182	3503	3521	389.7	-14.3	479	2747	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2181	3512	3503	3521	0	0	0	0	0	0	26.14	26.13	26.13
2813	-1.00	-132.7	2281	2183	3503	3521	399.8	-14.0	492	2819	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2182	3512	3503	3521	0	0	0	0	0	0	26.13	26.13	26.11
2825	end dive: TARGET_DEPTH_EXCEEDED
state	2825	begin apogee
2830	-0.11	0.0	2283	1970	3503	3521	401.9	-14.1	494	2942	0.98	0.00	105.75	1.041	10246	0.161	0.000	2562	1970	2964	3020	2909	0	0	0	0	0	0	25.82	25.08	24.38
2944	end apogee: CONTROL_FINISHED_OK
state	2944	begin climb
2946	0.74	132.7	2562	1969	3020	2910	404.5	0.0	510	3065	0.90	1.67	108.82	1.001	10756	0.109	0.037	2848	972	2421	2510	2332	0	0	0	0	0	0	25.15	24.62	23.96
3112	0.74	132.7	2847	972	2508	2336	393.0	11.5	534	3120	0.00	1.67	0.00	0.000	1030	0.000	0.036	2841	2004	2421	2507	2335	0	0	0	0	0	0	25.25	25.21	25.26
3186	0.74	132.7	2841	2004	2505	2334	383.9	12.2	547	3193	0.00	1.67	0.00	0.000	260	0.000	0.044	2833	3062	2419	2504	2334	0	0	0	0	0	0	25.60	25.55	25.61
3249	0.74	132.7	2832	3063	2498	2334	375.9	12.9	558	3256	0.00	1.60	0.00	0.000	1030	0.000	0.028	2839	2019	2416	2498	2335	0	0	0	0	0	0	25.78	25.77	25.78
3323	0.74	132.7	2839	2015	2498	2335	366.6	12.6	571	3330	0.00	1.67	0.00	0.000	516	0.000	0.037	2848	935	2416	2498	2335	0	0	0	0	0	0	25.94	25.86	25.94
3353	0.74	132.7	2847	935	2498	2333	362.3	13.2	576	3362	0.00	1.73	0.00	0.000	1030	0.000	0.037	2841	2003	2419	2498	2340	0	0	0	0	0	0	25.94	25.90	25.96
3426	0.74	132.7	2841	2003	2500	2335	353.4	12.3	589	3435	0.00	1.67	0.00	0.000	260	0.000	0.044	2833	3054	2415	2497	2333	0	0	0	0	0	0	26.04	25.98	26.05
3485	0.72	132.7	2833	3054	2490	2334	346.0	12.3	599	3492	0.00	1.60	0.00	0.000	1158	0.000	0.028	2840	1995	2415	2495	2335	0	0	0	0	0	0	26.06	26.01	26.06
3560	0.72	132.7	2839	1991	2495	2335	337.0	12.2	612	3566	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1991	2414	2495	2334	0	0	0	0	0	0	26.10	26.10	26.10
3633	0.72	132.7	2839	1991	2495	2335	328.3	11.4	625	3640	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1993	2414	2495	2334	0	0	0	0	0	0	26.13	26.14	26.14
3707	0.72	132.7	2839	1990	2495	2335	319.9	11.4	638	3713	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1991	2415	2495	2335	0	0	0	0	0	0	26.13	26.13	26.13
3780	0.72	132.7	2839	1991	2495	2335	311.4	11.4	651	3786	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1990	2418	2501	2335	0	0	0	0	0	0	26.13	26.15	26.13
3853	0.72	132.7	2839	1990	2494	2335	303.1	11.2	664	3860	0.00	1.65	0.00	0.000	260	0.000	0.044	2833	3055	2414	2494	2334	0	0	0	0	0	0	26.15	26.08	26.15
3884	0.72	132.7	2832	3056	2492	2334	299.3	12.0	669	3892	0.00	1.60	0.00	0.000	1030	0.000	0.028	2839	1995	2413	2492	2335	0	0	0	0	0	0	26.15	26.10	26.15
3958	0.72	132.7	2838	1991	2492	2335	291.0	11.4	682	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1991	2414	2493	2335	0	0	0	0	0	0	26.15	26.15	26.15
4030	0.72	132.7	2839	1992	2492	2335	283.0	10.8	695	4037	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1991	2413	2492	2334	0	0	0	0	0	0	26.17	26.17	26.17
4102	0.72	132.7	2839	1991	2492	2334	275.5	10.6	708	4109	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1991	2413	2492	2335	0	0	0	0	0	0	26.16	26.16	26.16
4175	0.72	132.7	2839	1992	2492	2335	267.6	11.0	721	4183	0.00	1.65	0.00	0.000	260	0.000	0.043	2833	3056	2412	2491	2334	0	0	0	0	0	0	26.15	26.08	26.16
4211	0.72	132.7	2833	3056	2490	2334	263.1	11.7	727	4218	0.00	1.60	0.00	0.000	1030	0.000	0.028	2840	1997	2410	2490	2330	0	0	0	0	0	0	26.14	26.09	26.15
4284	0.72	132.7	2839	1992	2491	2335	254.6	11.7	740	4291	0.00	1.60	0.00	0.000	516	0.000	0.038	2848	952	2413	2491	2335	0	0	0	0	0	0	26.15	26.10	26.15
4309	0.72	132.7	2847	952	2491	2335	251.6	11.3	744	4316	0.00	1.65	0.00	0.000	1030	0.000	0.036	2841	2008	2413	2491	2335	0	0	0	0	0	0	26.15	26.08	26.15
4381	0.72	132.7	2841	2005	2490	2334	243.8	11.1	757	4389	0.00	1.62	0.00	0.000	260	0.000	0.044	2833	3058	2412	2490	2334	0	0	0	0	0	0	26.15	26.08	26.15
4435	0.72	132.7	2833	3059	2490	2334	237.8	10.8	766	4443	0.00	1.65	0.00	0.000	1030	0.000	0.028	2840	1996	2412	2489	2335	0	0	0	0	0	0	26.13	26.10	26.14
4508	0.72	136.2	2839	1991	2490	2335	230.3	10.0	779	4516	0.00	0.00	0.00	0.000	38	0.000	0.000	2839	1991	2414	2490	2338	0	0	0	0	0	0	26.16	26.17	26.17
4581	0.72	136.2	2839	1991	2489	2335	222.7	10.8	792	4588	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1991	2412	2489	2335	0	0	0	0	0	0	26.15	26.15	26.15
4654	0.72	136.2	2839	1991	2489	2334	214.9	10.7	805	4662	0.00	1.65	0.00	0.000	260	0.000	0.044	2833	3053	2411	2489	2334	0	0	0	0	0	0	26.16	26.06	26.16
4745	0.72	136.2	2832	3053	2489	2334	205.3	10.6	821	4753	0.00	1.60	0.00	0.000	1030	0.000	0.028	2840	1996	2411	2489	2334	0	0	0	0	0	0	26.14	26.09	26.14
4819	0.72	136.2	2839	1991	2488	2335	197.9	10.3	834	4826	0.00	1.65	0.00	0.000	260	0.000	0.043	2833	3052	2415	2489	2341	0	0	0	0	0	0	26.14	26.07	26.13
4855	0.72	137.8	2833	3053	2489	2334	194.1	10.2	840	4862	0.00	1.60	0.00	0.000	1062	0.000	0.028	2839	1995	2411	2488	2334	0	0	0	0	0	0	26.13	26.08	26.15
4930	0.73	142.5	2839	1990	2488	2334	186.8	10.0	853	4945	0.00	1.62	7.50	0.797	8740	0.000	0.034	2848	949	2385	2468	2303	0	0	0	0	0	0	26.15	25.78	25.15
4986	0.75	142.5	2844	948	2468	2304	180.6	10.8	862	4994	0.00	1.70	0.00	0.000	1158	0.000	0.037	2841	2001	2385	2468	2303	0	0	0	0	0	0	26.06	26.02	26.07
5059	0.75	142.5	2841	2001	2468	2303	172.4	11.4	875	5067	0.00	1.67	0.00	0.000	260	0.000	0.045	2833	3049	2384	2467	2302	0	0	0	0	0	0	26.11	26.02	26.12
5179	0.75	142.5	2833	3049	2464	2302	158.9	11.4	897	5187	0.00	1.60	0.00	0.000	1030	0.000	0.029	2839	1994	2385	2464	2306	0	0	0	0	0	0	26.13	26.08	26.14
5254	0.75	142.5	2839	1990	2464	2303	151.1	10.6	910	5260	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1990	2383	2464	2302	0	0	0	0	0	0	26.14	26.13	26.13
5326	0.75	142.5	2839	1988	2464	2303	143.2	11.0	923	5332	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1990	2383	2464	2303	0	0	0	0	0	0	26.13	26.13	26.13
5397	0.75	142.5	2840	1990	2464	2303	135.1	11.1	936	5404	0.00	1.65	0.00	0.000	260	0.000	0.044	2833	3050	2383	2464	2303	0	0	0	0	0	0	26.13	26.03	26.14
5434	0.75	142.5	2833	3053	2463	2302	130.8	11.5	942	5442	0.00	1.60	0.00	0.000	1030	0.000	0.029	2839	1995	2382	2463	2302	0	0	0	0	0	0	26.13	26.09	26.12
5507	0.75	142.5	2839	1992	2464	2302	123.2	10.7	955	5514	0.00	1.60	0.00	0.000	516	0.000	0.037	2848	955	2383	2463	2303	0	0	0	0	0	0	26.13	26.05	26.14
5544	0.77	142.5	2847	955	2463	2303	119.4	10.4	961	5552	0.00	1.65	0.00	0.000	1158	0.000	0.036	2841	2007	2381	2464	2299	0	0	0	0	0	0	26.11	26.06	26.13
5618	0.78	150.9	2841	2007	2463	2303	112.2	9.7	974	5634	0.08	1.70	9.00	0.772	10532	0.244	0.044	2847	3052	2348	2437	2260	0	0	0	0	0	0	25.86	25.93	25.15
5685	0.78	150.9	2847	3057	2434	2260	105.1	11.3	985	5693	0.00	1.60	0.00	0.000	1030	0.000	0.029	2853	2000	2347	2434	2260	0	0	0	0	0	0	26.04	25.99	26.06
5760	0.78	150.9	2853	1996	2434	2260	96.3	12.1	998	5767	0.00	1.62	0.00	0.000	516	0.000	0.037	2862	949	2347	2434	2261	0	0	0	0	0	0	26.10	26.02	26.09
5829	0.78	150.9	2866	949	2434	2261	88.0	12.0	1010	5836	0.00	1.65	0.00	0.000	1030	0.000	0.037	2856	1998	2347	2434	2260	0	0	0	0	0	0	26.08	26.03	26.09
5902	0.78	150.9	2855	1999	2434	2260	79.0	12.1	1023	5909	0.00	1.65	0.00	0.000	260	0.000	0.044	2847	3061	2346	2433	2260	0	0	0	0	0	0	26.10	26.03	26.11
6044	0.78	150.9	2847	3061	2431	2260	62.8	11.3	1049	6052	0.00	1.62	0.00	0.000	1030	0.000	0.028	2860	1990	2345	2431	2260	0	0	0	0	0	0	26.13	26.06	26.14
6119	0.79	160.9	2854	1986	2430	2260	55.3	9.6	1062	6134	0.00	1.70	9.57	0.731	8484	0.000	0.043	2848	3054	2308	2403	2213	0	0	0	0	0	0	26.14	25.94	25.20
6222	0.79	163.0	2847	3054	2400	2213	45.5	10.1	1080	6229	0.00	1.60	0.00	0.000	1062	0.000	0.028	2854	2001	2306	2400	2213	0	0	0	0	0	0	26.08	26.03	26.08
6297	0.85	197.5	2853	1998	2400	2213	39.2	8.0	1093	6336	0.10	1.73	31.20	0.744	10916	0.138	0.035	2895	946	2159	2276	2042	0	0	0	0	0	0	25.98	25.66	25.03
6386	0.89	208.7	2894	946	2274	2042	30.8	9.5	1107	6400	0.00	1.67	10.25	0.688	9382	0.000	0.034	2890	2009	2117	2239	1996	0	0	0	0	0	0	25.92	25.86	25.08
6469	0.98	252.5	2890	2008	2234	1996	24.3	7.4	1121	6514	0.12	1.77	36.12	0.712	10916	0.128	0.037	2939	940	1933	2065	1802	0	0	0	0	0	0	25.86	25.53	24.94
6538	0.98	254.7	2939	940	2062	1802	18.0	10.1	1131	6546	0.00	1.70	0.00	0.000	1062	0.000	0.037	2933	2005	1931	2062	1801	0	0	0	0	0	0	25.79	25.77	25.79
6613	0.98	259.4	2933	2005	2058	1800	10.0	9.9	1144	6628	0.00	1.67	6.35	0.610	8484	0.000	0.041	2925	3050	1905	2037	1773	0	0	0	0	0	0	25.94	25.63	25.13
6719	end climb: SURFACE_DEPTH_REACHED
state	6719	begin surface coast
6740	end surface coast: CONTROL_FINISHED_OK
state	6741	begin surface