Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 83 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 47 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 48 ALTIM_PULSE 2

DIVE 83 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 100 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 200 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 164.0

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 164.0 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 100

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 83 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 47 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 200 R_STBD_OVSHOOT 48 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 060822,172704,4448.9214,-12457.5508,1,0.8,2,15.1,0.5,232.1,12,5.5 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4450.300,-12455.908

_XMS_TOUTs 0 TGT_RADIUS 400.000

_SM_DEPTHo 0.85 MHEAD_RNG_PITCHd_Wd 18.5,3432,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -67.4 D_GRID 681

GPS2 060822,172918,4448.8906,-12457.6055,2,0.9,3,15.1,0.8,258.5,12,7.2

Post-dive calculations and measurements:

FINISH -0.1,1.012811 _10V_AH 10.25,12.149

SM_CCo 6130,87.60,0.685,0,0,927,500.17 FG_AHR_24Vo 0.000

SM_GC 0.61,7.85,0.30,87.60,0.049,0.052,0.685,167,2197,927,-7.48,-1.22,500.17,0,0,0,0,0,0,25.76,25.68,24.78 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.14,-12453.80,060822,172515 MEM 220172

TT8_MAMPS 0.023968,0.282373 DATA_FILE_SIZE 36679,1037

HUMID 37.67 CAP_FILE_SIZE 469251,0

INTERNAL_PRESSURE 8.44372 CFSIZE 260030464,231460864

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.116,329.74,1

SC_FREEKB 3786176 GPS 060822,191501,4449.897,-12457.235,8,0.9,38,15.1,1.0,157.2,12,2.0

_24V_AH 23.94,14.588

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 222 102.99 nil 0 0 0.00

Roll_motor 118 52 147.67 nil 0 0 0.00

VBD_pump_during_apogee 479 1027 11786.32 nil 0 0 0.00

VBD_pump_during_surface 87 684 1435.86 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 6100 6 932.43

Iridium_during_xfer 0 0 0.00 Edison 0 10 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 12 1.95

TT8 2601 13 372.48

LPSleep 340 2 7.65

TT8_Active 873 13 118.41

TT8_Sampling 2012 39 813.34

TT8_CF8 479 49 245.27

TT8_Kalman 0 0 0.00

Analog_circuits 1902 10 195.03

GPS_charging 0 0 0.00

Compass 1613 8 136.26

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.75 -194.6 189 2220 1060 810 0.0 0.0 0 118 0.00 0.00 -101.07 0.005 16386 0.000 0.000 187 2221 3547 3505 3589 0 0 0 0 0 0 26.15 28.83 26.15

121 -0.75 -194.6 187 2221 3502 3585 4.7 -9.8 15 137 8.40 0.00 -3.65 0.020 18982 0.208 0.000 2360 2212 3763 3713 3814 0 0 0 0 0 0 25.79 24.91 25.98

202 -0.67 -194.6 2361 2215 3728 3809 25.6 -16.6 29 210 0.12 0.00 0.00 0.000 2182 0.166 0.000 2391 2215 3768 3724 3813 0 0 0 0 0 0 25.96 26.13 26.09

277 -0.67 -194.6 2390 2215 3728 3812 35.8 -13.3 42 283 0.00 0.00 0.00 0.000 38 0.000 0.000 2391 2216 3770 3728 3812 0 0 0 0 0 0 26.17 26.17 26.17

349 -0.72 -194.6 2390 2216 3729 3812 45.0 -11.4 55 356 0.00 1.60 0.00 0.000 420 0.000 0.047 2385 3242 3770 3729 3812 0 0 0 0 0 0 26.17 26.09 26.18

436 -0.81 -194.6 2384 3242 3730 3812 54.9 -10.8 71 444 0.00 1.58 0.00 0.000 1190 0.000 0.028 2390 2202 3770 3730 3811 0 0 0 0 0 0 26.20 26.16 26.20

511 -0.89 -194.6 2391 2195 3731 3812 63.3 -13.0 84 518 0.12 1.62 0.00 0.000 4772 0.112 0.033 2350 1129 3770 3730 3811 0 0 0 0 0 0 26.10 26.15 26.15

548 -0.92 -194.6 2350 1129 3730 3812 68.8 -14.1 90 555 0.00 1.65 0.00 0.000 1158 0.000 0.039 2344 2188 3770 3730 3811 0 0 0 0 0 0 26.20 26.10 26.18

621 -0.92 -194.6 2343 2188 3731 3812 78.3 -13.7 103 628 0.00 1.65 0.00 0.000 260 0.000 0.047 2336 3254 3771 3730 3812 0 0 0 0 0 0 26.20 26.10 26.21

709 -0.97 -194.6 2335 3255 3731 3811 90.1 -12.6 119 718 0.00 1.65 0.00 0.000 1190 0.000 0.030 2342 2197 3771 3731 3811 0 0 0 0 0 0 26.20 26.16 26.20

783 -1.00 -194.6 2341 2192 3731 3811 99.3 -13.2 132 792 0.10 1.65 0.00 0.000 4772 0.129 0.032 2293 1136 3771 3731 3811 0 0 0 0 0 0 26.07 26.13 26.16

811 -1.00 -194.6 2293 1136 3731 3810 103.3 -14.1 136 818 0.00 1.67 0.00 0.000 1030 0.000 0.039 2287 2211 3771 3732 3811 0 0 0 0 0 0 26.20 26.13 26.20

885 -0.93 -194.6 2287 2211 3731 3810 114.8 -16.5 149 894 0.10 1.62 0.00 0.000 2436 0.190 0.044 2300 3259 3770 3731 3810 0 0 0 0 0 0 25.97 26.13 26.14

919 -0.89 -194.6 2299 3259 3731 3810 120.1 -16.1 154 926 0.08 1.62 0.00 0.000 3206 0.223 0.029 2318 2184 3770 3731 3810 0 0 0 0 0 0 25.96 26.15 26.15

991 -0.89 -194.6 2318 2180 3731 3810 130.8 -14.0 167 998 0.00 1.58 0.00 0.000 516 0.000 0.035 2324 1138 3770 3731 3810 0 0 0 0 0 0 26.18 26.15 26.19

1038 -0.97 -194.6 2323 1138 3731 3810 137.0 -12.6 175 1046 0.00 1.70 0.00 0.000 1190 0.000 0.039 2318 2193 3770 3731 3810 0 0 0 0 0 0 26.14 26.10 26.16

1112 -0.97 -194.6 2317 2194 3731 3809 146.7 -13.5 188 1120 0.00 1.70 0.00 0.000 260 0.000 0.047 2310 3261 3769 3731 3808 0 0 0 0 0 0 26.21 26.12 26.22

1170 -1.00 -194.6 2309 3261 3730 3809 154.8 -13.5 198 1177 0.00 1.60 0.00 0.000 1158 0.000 0.028 2316 2203 3769 3731 3808 0 0 0 0 0 0 26.20 26.15 26.20

1243 -1.00 -194.6 2315 2197 3731 3808 164.7 -13.9 211 1250 0.00 1.60 0.00 0.000 516 0.000 0.034 2324 1139 3769 3731 3807 0 0 0 0 0 0 26.19 26.14 26.20

1276 -1.04 -194.6 2322 1139 3730 3808 169.1 -13.6 216 1283 0.00 1.67 0.00 0.000 1158 0.000 0.040 2318 2210 3769 3731 3807 0 0 0 0 0 0 26.17 26.12 26.19

1349 -1.04 -194.6 2317 2210 3731 3806 178.8 -14.2 229 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2210 3769 3731 3807 0 0 0 0 0 0 26.18 26.18 26.18

1423 -1.06 -194.6 2317 2208 3731 3807 188.7 -13.6 242 1431 0.08 1.62 0.00 0.000 4484 0.138 0.047 2274 3254 3769 3731 3807 0 0 0 0 0 0 26.06 26.10 26.16

1455 -1.03 -194.6 2273 3254 3731 3806 193.5 -14.8 247 1463 0.00 1.60 0.00 0.000 1158 0.000 0.029 2280 2202 3768 3731 3806 0 0 0 0 0 0 26.17 26.13 26.17

1528 -0.99 -194.6 2279 2195 3731 3806 204.2 -14.9 260 1534 0.00 0.00 0.00 0.000 134 0.000 0.000 2280 2196 3768 3731 3806 0 0 0 0 0 0 26.20 26.21 26.20

1603 -0.95 -194.6 2279 2196 3731 3806 214.9 -14.7 273 1611 0.10 0.00 0.00 0.000 2182 0.184 0.000 2301 2196 3768 3731 3805 0 0 0 0 0 0 25.98 26.17 26.15

1677 -0.95 -194.6 2300 2196 3731 3805 225.1 -13.2 286 1683 0.00 0.00 0.00 0.000 38 0.000 0.000 2301 2195 3768 3731 3805 0 0 0 0 0 0 26.19 26.19 26.20

1750 -0.95 -194.6 2301 2195 3732 3804 234.6 -12.5 299 1757 0.00 1.65 0.00 0.000 292 0.000 0.047 2294 3249 3767 3731 3804 0 0 0 0 0 0 26.17 26.10 26.17

1787 -0.95 -194.6 2293 3249 3731 3803 239.7 -13.6 305 1795 0.00 1.60 0.00 0.000 1030 0.000 0.030 2300 2199 3770 3737 3804 0 0 0 0 0 0 26.17 26.13 26.18

1862 -0.95 -194.6 2299 2193 3731 3810 249.8 -14.5 318 1869 0.00 1.65 0.00 0.000 260 0.000 0.047 2293 3249 3767 3731 3804 0 0 0 0 0 0 26.19 26.08 26.20

1887 -0.95 -194.6 2294 3249 3731 3803 253.6 -13.8 322 1894 0.00 1.60 0.00 0.000 1030 0.000 0.030 2301 2199 3767 3731 3803 0 0 0 0 0 0 26.17 26.13 26.19

1961 -0.95 -194.6 2298 2193 3730 3803 263.4 -13.0 335 1968 0.00 1.60 0.00 0.000 548 0.000 0.034 2303 1137 3767 3731 3803 0 0 0 0 0 0 26.20 26.13 26.22

1992 -0.98 -194.6 2301 1136 3730 3803 267.5 -13.3 340 2000 0.00 1.67 0.00 0.000 1190 0.000 0.040 2297 2203 3767 3731 3803 0 0 0 0 0 0 26.17 26.12 26.19

2066 -0.98 -194.6 2296 2203 3731 3802 277.6 -13.8 353 2073 0.00 1.65 0.00 0.000 260 0.000 0.049 2289 3259 3766 3731 3801 0 0 0 0 0 0 26.18 26.09 26.19

2136 -1.01 -194.6 2288 3259 3731 3801 287.4 -13.1 365 2144 0.00 1.62 0.00 0.000 1190 0.000 0.029 2294 2191 3766 3731 3801 0 0 0 0 0 0 26.17 26.13 26.18

2212 -1.01 -194.6 2294 2185 3731 3800 298.2 -14.2 378 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2186 3765 3731 3800 0 0 0 0 0 0 26.20 26.21 26.20

2284 -1.01 -194.6 2294 2186 3731 3800 308.6 -14.1 391 2290 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2186 3765 3731 3800 0 0 0 0 0 0 26.19 26.18 26.17

2357 -1.01 -194.6 2293 2186 3731 3799 319.1 -14.3 404 2364 0.00 1.67 0.00 0.000 260 0.000 0.048 2288 3253 3764 3730 3798 0 0 0 0 0 0 26.17 26.08 26.18

2415 -1.03 -194.6 2287 3253 3731 3798 327.3 -14.0 414 2422 0.00 1.62 0.00 0.000 1158 0.000 0.031 2294 2189 3764 3731 3798 0 0 0 0 0 0 26.17 26.12 26.17

2489 -1.03 -194.6 2293 2184 3728 3797 337.7 -14.4 427 2495 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2184 3764 3731 3797 0 0 0 0 0 0 26.17 26.17 26.17

2562 -1.03 -194.6 2293 2184 3730 3797 347.4 -13.2 440 2569 0.00 0.00 0.00 0.000 38 0.000 0.000 2294 2180 3764 3731 3797 0 0 0 0 0 0 26.18 26.19 26.18

2636 -1.03 -194.6 2294 2184 3731 3797 357.4 -13.8 453 2644 0.00 1.70 0.00 0.000 260 0.000 0.048 2287 3259 3763 3730 3796 0 0 0 0 0 0 26.17 26.08 26.18

2679 -1.03 -194.6 2287 3261 3731 3796 363.9 -14.5 460 2686 0.00 1.62 0.00 0.000 1030 0.000 0.030 2293 2201 3763 3730 3796 0 0 0 0 0 0 26.16 26.11 26.17

2753 -1.03 -194.6 2290 2195 3731 3795 375.2 -15.7 473 2760 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2195 3762 3730 3795 0 0 0 0 0 0 26.17 26.17 26.17

2826 -1.03 -194.6 2293 2195 3727 3794 385.9 -14.0 486 2833 0.00 1.67 0.00 0.000 260 0.000 0.048 2287 3257 3762 3731 3794 0 0 0 0 0 0 26.18 26.08 26.18

2857 -1.03 -194.6 2286 3258 3731 3794 390.5 -15.2 491 2864 0.00 1.62 0.00 0.000 1030 0.000 0.030 2292 2197 3762 3731 3794 0 0 0 0 0 0 26.15 26.10 26.16

2928 end dive: TARGET_DEPTH_EXCEEDED

state 2929 begin apogee

2934 -0.11 0.0 2294 1968 3731 3793 400.6 -13.6 504 3092 0.95 0.00 152.12 1.027 10246 0.160 0.000 2567 1968 2967 3034 2901 0 0 0 0 0 0 25.81 24.98 24.34

3094 end apogee: CONTROL_FINISHED_OK

state 3095 begin climb

3096 0.75 194.6 2567 1967 3033 2902 404.9 0.0 527 3270 0.90 1.70 159.80 0.991 10756 0.105 0.036 2852 971 2171 2293 2050 0 0 0 0 0 0 25.04 24.58 23.94

3304 0.75 194.6 2851 968 2287 2049 387.0 13.4 557 3312 0.00 1.67 0.00 0.000 1030 0.000 0.036 2845 2001 2167 2286 2049 0 0 0 0 0 0 25.20 25.15 25.20

3379 0.75 194.6 2845 2002 2282 2047 377.0 13.7 570 3386 0.00 1.67 0.00 0.000 260 0.000 0.044 2837 3061 2164 2282 2047 0 0 0 0 0 0 25.61 25.58 25.61

3431 0.76 209.5 2837 3061 2277 2052 370.1 12.7 579 3452 0.00 1.60 12.45 0.901 9254 0.000 0.028 2844 2017 2112 2232 1992 0 0 0 0 0 0 25.79 25.76 24.79

3518 0.76 209.5 2843 2013 2228 1996 358.5 13.4 594 3525 0.00 1.67 0.00 0.000 516 0.000 0.037 2852 940 2110 2228 1992 0 0 0 0 0 0 25.89 25.83 25.90

3537 0.76 209.5 2851 939 2228 1992 355.8 13.3 597 3545 0.00 1.67 0.00 0.000 1030 0.000 0.035 2845 2003 2109 2227 1992 0 0 0 0 0 0 25.91 25.87 25.92

3613 0.76 209.5 2844 2003 2225 1991 345.6 14.1 610 3620 0.00 1.62 0.00 0.000 260 0.000 0.043 2837 3054 2109 2226 1992 0 0 0 0 0 0 26.03 25.98 26.03

3682 0.76 209.5 2837 3054 2221 1991 335.7 15.0 622 3689 0.00 1.60 0.00 0.000 1030 0.000 0.028 2840 1999 2106 2221 1991 0 0 0 0 0 0 26.09 26.06 26.10

3756 0.76 209.5 2842 1994 2221 1991 325.1 13.9 635 3763 0.00 1.62 0.00 0.000 516 0.000 0.039 2852 943 2106 2220 1992 0 0 0 0 0 0 26.14 26.08 26.14

3781 0.76 209.5 2851 943 2221 1992 321.1 14.5 639 3789 0.00 1.70 0.00 0.000 1030 0.000 0.037 2845 1998 2106 2221 1992 0 0 0 0 0 0 26.13 26.08 26.14

3856 0.76 209.5 2844 1998 2220 1991 310.6 14.4 652 3864 0.00 1.67 0.00 0.000 260 0.000 0.044 2837 3054 2106 2221 1992 0 0 0 0 0 0 26.16 26.10 26.17

3912 0.76 209.5 2837 3055 2218 1991 302.4 13.7 662 3920 0.00 1.60 0.00 0.000 1030 0.000 0.029 2844 1995 2104 2218 1991 0 0 0 0 0 0 26.17 26.13 26.17

3985 0.76 209.5 2843 1992 2217 1991 292.2 14.4 675 3992 0.00 1.60 0.00 0.000 516 0.000 0.037 2852 953 2105 2218 1992 0 0 0 0 0 0 26.18 26.14 26.20

4011 0.76 209.5 2850 953 2212 1991 288.5 14.3 679 4018 0.00 1.65 0.00 0.000 1030 0.000 0.036 2845 2008 2104 2217 1991 0 0 0 0 0 0 26.19 26.13 26.20

4083 0.76 209.5 2841 2008 2217 1992 278.2 14.6 692 4090 0.00 1.62 0.00 0.000 260 0.000 0.042 2837 3061 2104 2217 1991 0 0 0 0 0 0 26.18 26.10 26.18

4124 0.76 209.5 2837 3061 2217 1991 272.2 14.2 699 4131 0.00 1.60 0.00 0.000 1030 0.000 0.029 2843 2003 2103 2217 1989 0 0 0 0 0 0 26.19 26.14 26.19

4197 0.76 209.5 2843 1997 2218 1992 261.6 14.1 712 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 1998 2103 2216 1991 0 0 0 0 0 0 26.20 26.23 26.19

4270 0.76 209.5 2840 1998 2217 1992 251.3 14.2 725 4277 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 1997 2104 2217 1991 0 0 0 0 0 0 26.19 26.20 26.20

4344 0.76 209.5 2843 1998 2217 1991 241.2 13.9 738 4350 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1998 2103 2217 1990 0 0 0 0 0 0 26.20 26.20 26.20

4417 0.76 213.0 2843 1998 2216 1990 231.2 13.2 751 4424 0.00 1.67 0.00 0.000 292 0.000 0.044 2837 3063 2103 2216 1991 0 0 0 0 0 0 26.19 26.10 26.19

4453 0.77 216.8 2838 3063 2215 1991 226.2 13.2 757 4469 0.00 1.62 6.47 0.770 9254 0.000 0.030 2843 1993 2081 2196 1967 0 0 0 0 0 0 26.20 26.15 25.18

4535 0.77 216.8 2843 1990 2193 1966 215.1 13.7 771 4542 0.00 1.62 0.00 0.000 516 0.000 0.037 2852 939 2081 2196 1967 0 0 0 0 0 0 26.14 26.08 26.14

4566 0.77 216.8 2851 939 2195 1966 211.1 13.5 776 4573 0.00 1.67 0.00 0.000 1030 0.000 0.037 2845 2005 2081 2196 1966 0 0 0 0 0 0 26.13 26.07 26.13

4640 0.77 216.8 2844 2005 2195 1967 201.4 13.6 789 4647 0.00 1.62 0.00 0.000 260 0.000 0.043 2837 3058 2080 2195 1966 0 0 0 0 0 0 26.17 26.09 26.18

4677 0.77 216.8 2833 3059 2192 1966 196.2 13.6 795 4684 0.00 1.60 0.00 0.000 1030 0.000 0.028 2843 1998 2079 2192 1966 0 0 0 0 0 0 26.16 26.12 26.17

4749 0.77 216.8 2843 1994 2192 1966 186.6 13.4 808 4757 0.00 1.62 0.00 0.000 516 0.000 0.037 2851 940 2080 2193 1967 0 0 0 0 0 0 26.17 26.11 26.17

4775 0.77 218.1 2850 940 2192 1966 183.1 13.3 812 4783 0.00 1.67 0.00 0.000 1062 0.000 0.036 2845 2007 2079 2192 1966 0 0 0 0 0 0 26.15 26.10 26.17

4849 0.77 220.8 2844 2007 2192 1966 173.5 13.2 825 4857 0.00 0.00 0.00 0.000 38 0.000 0.000 2845 2007 2079 2192 1966 0 0 0 0 0 0 26.17 26.18 26.18

4923 0.77 220.8 2844 2006 2192 1969 163.6 13.6 838 4929 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2006 2079 2192 1966 0 0 0 0 0 0 26.20 26.20 26.20

4996 0.77 223.2 2844 2006 2192 1966 153.6 13.2 851 5010 0.00 1.62 7.35 0.763 8484 0.000 0.041 2837 3056 2053 2169 1937 0 0 0 0 0 0 26.20 25.79 25.20

5030 0.77 223.2 2833 3055 2167 1937 148.8 14.3 856 5037 0.00 1.60 0.00 0.000 1030 0.000 0.028 2843 2003 2052 2167 1937 0 0 0 0 0 0 26.08 26.04 26.10

5103 0.77 223.2 2843 1998 2167 1937 138.2 14.9 869 5110 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1998 2052 2167 1937 0 0 0 0 0 0 26.13 26.13 26.13

5177 0.77 223.2 2843 1996 2166 1937 126.6 16.3 882 5184 0.00 1.62 0.00 0.000 516 0.000 0.039 2852 951 2051 2167 1936 0 0 0 0 0 0 26.15 26.10 26.15

5213 0.81 223.2 2851 950 2167 1937 120.9 15.0 888 5221 0.10 1.65 0.00 0.000 3206 0.197 0.036 2877 2006 2052 2167 1938 0 0 0 0 0 0 25.96 26.08 26.11

5287 0.77 223.2 2877 2006 2166 1935 109.0 16.3 901 5295 0.00 1.62 0.00 0.000 388 0.000 0.043 2871 3058 2051 2166 1937 0 0 0 0 0 0 26.18 26.10 26.19

5350 0.74 223.2 2871 3058 2163 1937 98.2 16.7 912 5358 0.00 1.60 0.00 0.000 1158 0.000 0.028 2877 1997 2049 2162 1937 0 0 0 0 0 0 26.15 26.11 26.16

5424 0.70 223.2 2877 1995 2162 1937 86.2 15.7 925 5432 0.00 1.62 0.00 0.000 644 0.000 0.038 2885 941 2050 2163 1937 0 0 0 0 0 0 26.15 26.10 26.16

5451 0.67 223.2 2885 941 2162 1937 81.7 16.8 929 5460 0.10 1.67 0.00 0.000 5254 0.193 0.037 2859 2007 2049 2162 1937 0 0 0 0 0 0 25.94 26.10 26.11

5525 0.67 223.2 2858 2007 2163 1936 70.7 14.0 942 5532 0.00 1.62 0.00 0.000 260 0.000 0.042 2856 3061 2050 2163 1937 0 0 0 0 0 0 26.17 26.10 26.17

5551 0.67 223.2 2852 3061 2161 1937 67.1 14.6 946 5558 0.00 1.60 0.00 0.000 1030 0.000 0.029 2862 2002 2048 2160 1937 0 0 0 0 0 0 26.17 26.11 26.17

5625 0.67 223.2 2862 1997 2160 1937 57.2 13.5 959 5632 0.00 1.65 0.00 0.000 260 0.000 0.043 2862 3057 2048 2161 1936 0 0 0 0 0 0 26.16 26.08 26.16

5699 0.67 223.2 2861 3057 2159 1937 46.7 14.1 972 5706 0.00 1.60 0.00 0.000 1030 0.000 0.029 2869 2001 2047 2159 1936 0 0 0 0 0 0 26.15 26.10 26.15

5774 0.72 270.9 2866 1997 2159 1937 37.7 11.2 985 5823 0.00 1.73 39.17 0.752 8484 0.000 0.044 2867 3048 1858 1983 1733 0 0 0 0 0 0 26.19 25.65 25.02

5879 0.81 308.9 2866 3049 1975 1732 25.3 11.6 1002 5921 0.00 1.60 31.35 0.718 9382 0.000 0.029 2873 2001 1704 1827 1581 0 0 0 0 0 0 25.95 25.91 25.00

5990 0.97 365.5 2872 2000 1817 1581 12.5 10.7 1020 6042 0.15 1.67 45.35 0.700 10916 0.111 0.036 2928 949 1474 1595 1353 0 0 0 0 0 0 25.85 25.38 24.95

6062 1.12 420.0 2928 947 1591 1352 4.8 10.8 1030 6093 0.17 1.67 25.12 0.676 11426 0.164 0.035 2965 2002 1358 1484 1233 0 0 0 0 0 0 25.59 25.70 25.74

6095 end climb: SURFACE_DEPTH_REACHED

state 6095 begin surface coast

6112 end surface coast: CONTROL_FINISHED_OK

state 6112 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	47	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	48	ALTIM_PULSE	2
DIVE	83	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	100	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	200	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	164.0
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	060822,172704,4448.9214,-12457.5508,1,0.8,2,15.1,0.5,232.1,12,5.5	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4450.300,-12455.908
_XMS_TOUTs	0	TGT_RADIUS	400.000
_SM_DEPTHo	0.85	MHEAD_RNG_PITCHd_Wd	18.5,3432,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-67.4	D_GRID	681
GPS2	060822,172918,4448.8906,-12457.6055,2,0.9,3,15.1,0.8,258.5,12,7.2

FINISH	-0.1,1.012811	_10V_AH	10.25,12.149
SM_CCo	6130,87.60,0.685,0,0,927,500.17	FG_AHR_24Vo	0.000
SM_GC	0.61,7.85,0.30,87.60,0.049,0.052,0.685,167,2197,927,-7.48,-1.22,500.17,0,0,0,0,0,0,25.76,25.68,24.78	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.14,-12453.80,060822,172515	MEM	220172
TT8_MAMPS	0.023968,0.282373	DATA_FILE_SIZE	36679,1037
HUMID	37.67	CAP_FILE_SIZE	469251,0
INTERNAL_PRESSURE	8.44372	CFSIZE	260030464,231460864
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.116,329.74,1
SC_FREEKB	3786176	GPS	060822,191501,4449.897,-12457.235,8,0.9,38,15.1,1.0,157.2,12,2.0
_24V_AH	23.94,14.588

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	222	102.99	nil	0	0	0.00
Roll_motor	118	52	147.67	nil	0	0	0.00
VBD_pump_during_apogee	479	1027	11786.32	nil	0	0	0.00
VBD_pump_during_surface	87	684	1435.86	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	6100	6	932.43
Iridium_during_xfer	0	0	0.00	Edison	0	10	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	12	1.95
TT8	2601	13	372.48
LPSleep	340	2	7.65
TT8_Active	873	13	118.41
TT8_Sampling	2012	39	813.34
TT8_CF8	479	49	245.27
TT8_Kalman	0	0	0.00
Analog_circuits	1902	10	195.03
GPS_charging	0	0	0.00
Compass	1613	8	136.26
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.75	-194.6	189	2220	1060	810	0.0	0.0	0	118	0.00	0.00	-101.07	0.005	16386	0.000	0.000	187	2221	3547	3505	3589	0	0	0	0	0	0	26.15	28.83	26.15
121	-0.75	-194.6	187	2221	3502	3585	4.7	-9.8	15	137	8.40	0.00	-3.65	0.020	18982	0.208	0.000	2360	2212	3763	3713	3814	0	0	0	0	0	0	25.79	24.91	25.98
202	-0.67	-194.6	2361	2215	3728	3809	25.6	-16.6	29	210	0.12	0.00	0.00	0.000	2182	0.166	0.000	2391	2215	3768	3724	3813	0	0	0	0	0	0	25.96	26.13	26.09
277	-0.67	-194.6	2390	2215	3728	3812	35.8	-13.3	42	283	0.00	0.00	0.00	0.000	38	0.000	0.000	2391	2216	3770	3728	3812	0	0	0	0	0	0	26.17	26.17	26.17
349	-0.72	-194.6	2390	2216	3729	3812	45.0	-11.4	55	356	0.00	1.60	0.00	0.000	420	0.000	0.047	2385	3242	3770	3729	3812	0	0	0	0	0	0	26.17	26.09	26.18
436	-0.81	-194.6	2384	3242	3730	3812	54.9	-10.8	71	444	0.00	1.58	0.00	0.000	1190	0.000	0.028	2390	2202	3770	3730	3811	0	0	0	0	0	0	26.20	26.16	26.20
511	-0.89	-194.6	2391	2195	3731	3812	63.3	-13.0	84	518	0.12	1.62	0.00	0.000	4772	0.112	0.033	2350	1129	3770	3730	3811	0	0	0	0	0	0	26.10	26.15	26.15
548	-0.92	-194.6	2350	1129	3730	3812	68.8	-14.1	90	555	0.00	1.65	0.00	0.000	1158	0.000	0.039	2344	2188	3770	3730	3811	0	0	0	0	0	0	26.20	26.10	26.18
621	-0.92	-194.6	2343	2188	3731	3812	78.3	-13.7	103	628	0.00	1.65	0.00	0.000	260	0.000	0.047	2336	3254	3771	3730	3812	0	0	0	0	0	0	26.20	26.10	26.21
709	-0.97	-194.6	2335	3255	3731	3811	90.1	-12.6	119	718	0.00	1.65	0.00	0.000	1190	0.000	0.030	2342	2197	3771	3731	3811	0	0	0	0	0	0	26.20	26.16	26.20
783	-1.00	-194.6	2341	2192	3731	3811	99.3	-13.2	132	792	0.10	1.65	0.00	0.000	4772	0.129	0.032	2293	1136	3771	3731	3811	0	0	0	0	0	0	26.07	26.13	26.16
811	-1.00	-194.6	2293	1136	3731	3810	103.3	-14.1	136	818	0.00	1.67	0.00	0.000	1030	0.000	0.039	2287	2211	3771	3732	3811	0	0	0	0	0	0	26.20	26.13	26.20
885	-0.93	-194.6	2287	2211	3731	3810	114.8	-16.5	149	894	0.10	1.62	0.00	0.000	2436	0.190	0.044	2300	3259	3770	3731	3810	0	0	0	0	0	0	25.97	26.13	26.14
919	-0.89	-194.6	2299	3259	3731	3810	120.1	-16.1	154	926	0.08	1.62	0.00	0.000	3206	0.223	0.029	2318	2184	3770	3731	3810	0	0	0	0	0	0	25.96	26.15	26.15
991	-0.89	-194.6	2318	2180	3731	3810	130.8	-14.0	167	998	0.00	1.58	0.00	0.000	516	0.000	0.035	2324	1138	3770	3731	3810	0	0	0	0	0	0	26.18	26.15	26.19
1038	-0.97	-194.6	2323	1138	3731	3810	137.0	-12.6	175	1046	0.00	1.70	0.00	0.000	1190	0.000	0.039	2318	2193	3770	3731	3810	0	0	0	0	0	0	26.14	26.10	26.16
1112	-0.97	-194.6	2317	2194	3731	3809	146.7	-13.5	188	1120	0.00	1.70	0.00	0.000	260	0.000	0.047	2310	3261	3769	3731	3808	0	0	0	0	0	0	26.21	26.12	26.22
1170	-1.00	-194.6	2309	3261	3730	3809	154.8	-13.5	198	1177	0.00	1.60	0.00	0.000	1158	0.000	0.028	2316	2203	3769	3731	3808	0	0	0	0	0	0	26.20	26.15	26.20
1243	-1.00	-194.6	2315	2197	3731	3808	164.7	-13.9	211	1250	0.00	1.60	0.00	0.000	516	0.000	0.034	2324	1139	3769	3731	3807	0	0	0	0	0	0	26.19	26.14	26.20
1276	-1.04	-194.6	2322	1139	3730	3808	169.1	-13.6	216	1283	0.00	1.67	0.00	0.000	1158	0.000	0.040	2318	2210	3769	3731	3807	0	0	0	0	0	0	26.17	26.12	26.19
1349	-1.04	-194.6	2317	2210	3731	3806	178.8	-14.2	229	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2210	3769	3731	3807	0	0	0	0	0	0	26.18	26.18	26.18
1423	-1.06	-194.6	2317	2208	3731	3807	188.7	-13.6	242	1431	0.08	1.62	0.00	0.000	4484	0.138	0.047	2274	3254	3769	3731	3807	0	0	0	0	0	0	26.06	26.10	26.16
1455	-1.03	-194.6	2273	3254	3731	3806	193.5	-14.8	247	1463	0.00	1.60	0.00	0.000	1158	0.000	0.029	2280	2202	3768	3731	3806	0	0	0	0	0	0	26.17	26.13	26.17
1528	-0.99	-194.6	2279	2195	3731	3806	204.2	-14.9	260	1534	0.00	0.00	0.00	0.000	134	0.000	0.000	2280	2196	3768	3731	3806	0	0	0	0	0	0	26.20	26.21	26.20
1603	-0.95	-194.6	2279	2196	3731	3806	214.9	-14.7	273	1611	0.10	0.00	0.00	0.000	2182	0.184	0.000	2301	2196	3768	3731	3805	0	0	0	0	0	0	25.98	26.17	26.15
1677	-0.95	-194.6	2300	2196	3731	3805	225.1	-13.2	286	1683	0.00	0.00	0.00	0.000	38	0.000	0.000	2301	2195	3768	3731	3805	0	0	0	0	0	0	26.19	26.19	26.20
1750	-0.95	-194.6	2301	2195	3732	3804	234.6	-12.5	299	1757	0.00	1.65	0.00	0.000	292	0.000	0.047	2294	3249	3767	3731	3804	0	0	0	0	0	0	26.17	26.10	26.17
1787	-0.95	-194.6	2293	3249	3731	3803	239.7	-13.6	305	1795	0.00	1.60	0.00	0.000	1030	0.000	0.030	2300	2199	3770	3737	3804	0	0	0	0	0	0	26.17	26.13	26.18
1862	-0.95	-194.6	2299	2193	3731	3810	249.8	-14.5	318	1869	0.00	1.65	0.00	0.000	260	0.000	0.047	2293	3249	3767	3731	3804	0	0	0	0	0	0	26.19	26.08	26.20
1887	-0.95	-194.6	2294	3249	3731	3803	253.6	-13.8	322	1894	0.00	1.60	0.00	0.000	1030	0.000	0.030	2301	2199	3767	3731	3803	0	0	0	0	0	0	26.17	26.13	26.19
1961	-0.95	-194.6	2298	2193	3730	3803	263.4	-13.0	335	1968	0.00	1.60	0.00	0.000	548	0.000	0.034	2303	1137	3767	3731	3803	0	0	0	0	0	0	26.20	26.13	26.22
1992	-0.98	-194.6	2301	1136	3730	3803	267.5	-13.3	340	2000	0.00	1.67	0.00	0.000	1190	0.000	0.040	2297	2203	3767	3731	3803	0	0	0	0	0	0	26.17	26.12	26.19
2066	-0.98	-194.6	2296	2203	3731	3802	277.6	-13.8	353	2073	0.00	1.65	0.00	0.000	260	0.000	0.049	2289	3259	3766	3731	3801	0	0	0	0	0	0	26.18	26.09	26.19
2136	-1.01	-194.6	2288	3259	3731	3801	287.4	-13.1	365	2144	0.00	1.62	0.00	0.000	1190	0.000	0.029	2294	2191	3766	3731	3801	0	0	0	0	0	0	26.17	26.13	26.18
2212	-1.01	-194.6	2294	2185	3731	3800	298.2	-14.2	378	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2186	3765	3731	3800	0	0	0	0	0	0	26.20	26.21	26.20
2284	-1.01	-194.6	2294	2186	3731	3800	308.6	-14.1	391	2290	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2186	3765	3731	3800	0	0	0	0	0	0	26.19	26.18	26.17
2357	-1.01	-194.6	2293	2186	3731	3799	319.1	-14.3	404	2364	0.00	1.67	0.00	0.000	260	0.000	0.048	2288	3253	3764	3730	3798	0	0	0	0	0	0	26.17	26.08	26.18
2415	-1.03	-194.6	2287	3253	3731	3798	327.3	-14.0	414	2422	0.00	1.62	0.00	0.000	1158	0.000	0.031	2294	2189	3764	3731	3798	0	0	0	0	0	0	26.17	26.12	26.17
2489	-1.03	-194.6	2293	2184	3728	3797	337.7	-14.4	427	2495	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2184	3764	3731	3797	0	0	0	0	0	0	26.17	26.17	26.17
2562	-1.03	-194.6	2293	2184	3730	3797	347.4	-13.2	440	2569	0.00	0.00	0.00	0.000	38	0.000	0.000	2294	2180	3764	3731	3797	0	0	0	0	0	0	26.18	26.19	26.18
2636	-1.03	-194.6	2294	2184	3731	3797	357.4	-13.8	453	2644	0.00	1.70	0.00	0.000	260	0.000	0.048	2287	3259	3763	3730	3796	0	0	0	0	0	0	26.17	26.08	26.18
2679	-1.03	-194.6	2287	3261	3731	3796	363.9	-14.5	460	2686	0.00	1.62	0.00	0.000	1030	0.000	0.030	2293	2201	3763	3730	3796	0	0	0	0	0	0	26.16	26.11	26.17
2753	-1.03	-194.6	2290	2195	3731	3795	375.2	-15.7	473	2760	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2195	3762	3730	3795	0	0	0	0	0	0	26.17	26.17	26.17
2826	-1.03	-194.6	2293	2195	3727	3794	385.9	-14.0	486	2833	0.00	1.67	0.00	0.000	260	0.000	0.048	2287	3257	3762	3731	3794	0	0	0	0	0	0	26.18	26.08	26.18
2857	-1.03	-194.6	2286	3258	3731	3794	390.5	-15.2	491	2864	0.00	1.62	0.00	0.000	1030	0.000	0.030	2292	2197	3762	3731	3794	0	0	0	0	0	0	26.15	26.10	26.16
2928	end dive: TARGET_DEPTH_EXCEEDED
state	2929	begin apogee
2934	-0.11	0.0	2294	1968	3731	3793	400.6	-13.6	504	3092	0.95	0.00	152.12	1.027	10246	0.160	0.000	2567	1968	2967	3034	2901	0	0	0	0	0	0	25.81	24.98	24.34
3094	end apogee: CONTROL_FINISHED_OK
state	3095	begin climb
3096	0.75	194.6	2567	1967	3033	2902	404.9	0.0	527	3270	0.90	1.70	159.80	0.991	10756	0.105	0.036	2852	971	2171	2293	2050	0	0	0	0	0	0	25.04	24.58	23.94
3304	0.75	194.6	2851	968	2287	2049	387.0	13.4	557	3312	0.00	1.67	0.00	0.000	1030	0.000	0.036	2845	2001	2167	2286	2049	0	0	0	0	0	0	25.20	25.15	25.20
3379	0.75	194.6	2845	2002	2282	2047	377.0	13.7	570	3386	0.00	1.67	0.00	0.000	260	0.000	0.044	2837	3061	2164	2282	2047	0	0	0	0	0	0	25.61	25.58	25.61
3431	0.76	209.5	2837	3061	2277	2052	370.1	12.7	579	3452	0.00	1.60	12.45	0.901	9254	0.000	0.028	2844	2017	2112	2232	1992	0	0	0	0	0	0	25.79	25.76	24.79
3518	0.76	209.5	2843	2013	2228	1996	358.5	13.4	594	3525	0.00	1.67	0.00	0.000	516	0.000	0.037	2852	940	2110	2228	1992	0	0	0	0	0	0	25.89	25.83	25.90
3537	0.76	209.5	2851	939	2228	1992	355.8	13.3	597	3545	0.00	1.67	0.00	0.000	1030	0.000	0.035	2845	2003	2109	2227	1992	0	0	0	0	0	0	25.91	25.87	25.92
3613	0.76	209.5	2844	2003	2225	1991	345.6	14.1	610	3620	0.00	1.62	0.00	0.000	260	0.000	0.043	2837	3054	2109	2226	1992	0	0	0	0	0	0	26.03	25.98	26.03
3682	0.76	209.5	2837	3054	2221	1991	335.7	15.0	622	3689	0.00	1.60	0.00	0.000	1030	0.000	0.028	2840	1999	2106	2221	1991	0	0	0	0	0	0	26.09	26.06	26.10
3756	0.76	209.5	2842	1994	2221	1991	325.1	13.9	635	3763	0.00	1.62	0.00	0.000	516	0.000	0.039	2852	943	2106	2220	1992	0	0	0	0	0	0	26.14	26.08	26.14
3781	0.76	209.5	2851	943	2221	1992	321.1	14.5	639	3789	0.00	1.70	0.00	0.000	1030	0.000	0.037	2845	1998	2106	2221	1992	0	0	0	0	0	0	26.13	26.08	26.14
3856	0.76	209.5	2844	1998	2220	1991	310.6	14.4	652	3864	0.00	1.67	0.00	0.000	260	0.000	0.044	2837	3054	2106	2221	1992	0	0	0	0	0	0	26.16	26.10	26.17
3912	0.76	209.5	2837	3055	2218	1991	302.4	13.7	662	3920	0.00	1.60	0.00	0.000	1030	0.000	0.029	2844	1995	2104	2218	1991	0	0	0	0	0	0	26.17	26.13	26.17
3985	0.76	209.5	2843	1992	2217	1991	292.2	14.4	675	3992	0.00	1.60	0.00	0.000	516	0.000	0.037	2852	953	2105	2218	1992	0	0	0	0	0	0	26.18	26.14	26.20
4011	0.76	209.5	2850	953	2212	1991	288.5	14.3	679	4018	0.00	1.65	0.00	0.000	1030	0.000	0.036	2845	2008	2104	2217	1991	0	0	0	0	0	0	26.19	26.13	26.20
4083	0.76	209.5	2841	2008	2217	1992	278.2	14.6	692	4090	0.00	1.62	0.00	0.000	260	0.000	0.042	2837	3061	2104	2217	1991	0	0	0	0	0	0	26.18	26.10	26.18
4124	0.76	209.5	2837	3061	2217	1991	272.2	14.2	699	4131	0.00	1.60	0.00	0.000	1030	0.000	0.029	2843	2003	2103	2217	1989	0	0	0	0	0	0	26.19	26.14	26.19
4197	0.76	209.5	2843	1997	2218	1992	261.6	14.1	712	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	1998	2103	2216	1991	0	0	0	0	0	0	26.20	26.23	26.19
4270	0.76	209.5	2840	1998	2217	1992	251.3	14.2	725	4277	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	1997	2104	2217	1991	0	0	0	0	0	0	26.19	26.20	26.20
4344	0.76	209.5	2843	1998	2217	1991	241.2	13.9	738	4350	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1998	2103	2217	1990	0	0	0	0	0	0	26.20	26.20	26.20
4417	0.76	213.0	2843	1998	2216	1990	231.2	13.2	751	4424	0.00	1.67	0.00	0.000	292	0.000	0.044	2837	3063	2103	2216	1991	0	0	0	0	0	0	26.19	26.10	26.19
4453	0.77	216.8	2838	3063	2215	1991	226.2	13.2	757	4469	0.00	1.62	6.47	0.770	9254	0.000	0.030	2843	1993	2081	2196	1967	0	0	0	0	0	0	26.20	26.15	25.18
4535	0.77	216.8	2843	1990	2193	1966	215.1	13.7	771	4542	0.00	1.62	0.00	0.000	516	0.000	0.037	2852	939	2081	2196	1967	0	0	0	0	0	0	26.14	26.08	26.14
4566	0.77	216.8	2851	939	2195	1966	211.1	13.5	776	4573	0.00	1.67	0.00	0.000	1030	0.000	0.037	2845	2005	2081	2196	1966	0	0	0	0	0	0	26.13	26.07	26.13
4640	0.77	216.8	2844	2005	2195	1967	201.4	13.6	789	4647	0.00	1.62	0.00	0.000	260	0.000	0.043	2837	3058	2080	2195	1966	0	0	0	0	0	0	26.17	26.09	26.18
4677	0.77	216.8	2833	3059	2192	1966	196.2	13.6	795	4684	0.00	1.60	0.00	0.000	1030	0.000	0.028	2843	1998	2079	2192	1966	0	0	0	0	0	0	26.16	26.12	26.17
4749	0.77	216.8	2843	1994	2192	1966	186.6	13.4	808	4757	0.00	1.62	0.00	0.000	516	0.000	0.037	2851	940	2080	2193	1967	0	0	0	0	0	0	26.17	26.11	26.17
4775	0.77	218.1	2850	940	2192	1966	183.1	13.3	812	4783	0.00	1.67	0.00	0.000	1062	0.000	0.036	2845	2007	2079	2192	1966	0	0	0	0	0	0	26.15	26.10	26.17
4849	0.77	220.8	2844	2007	2192	1966	173.5	13.2	825	4857	0.00	0.00	0.00	0.000	38	0.000	0.000	2845	2007	2079	2192	1966	0	0	0	0	0	0	26.17	26.18	26.18
4923	0.77	220.8	2844	2006	2192	1969	163.6	13.6	838	4929	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2006	2079	2192	1966	0	0	0	0	0	0	26.20	26.20	26.20
4996	0.77	223.2	2844	2006	2192	1966	153.6	13.2	851	5010	0.00	1.62	7.35	0.763	8484	0.000	0.041	2837	3056	2053	2169	1937	0	0	0	0	0	0	26.20	25.79	25.20
5030	0.77	223.2	2833	3055	2167	1937	148.8	14.3	856	5037	0.00	1.60	0.00	0.000	1030	0.000	0.028	2843	2003	2052	2167	1937	0	0	0	0	0	0	26.08	26.04	26.10
5103	0.77	223.2	2843	1998	2167	1937	138.2	14.9	869	5110	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1998	2052	2167	1937	0	0	0	0	0	0	26.13	26.13	26.13
5177	0.77	223.2	2843	1996	2166	1937	126.6	16.3	882	5184	0.00	1.62	0.00	0.000	516	0.000	0.039	2852	951	2051	2167	1936	0	0	0	0	0	0	26.15	26.10	26.15
5213	0.81	223.2	2851	950	2167	1937	120.9	15.0	888	5221	0.10	1.65	0.00	0.000	3206	0.197	0.036	2877	2006	2052	2167	1938	0	0	0	0	0	0	25.96	26.08	26.11
5287	0.77	223.2	2877	2006	2166	1935	109.0	16.3	901	5295	0.00	1.62	0.00	0.000	388	0.000	0.043	2871	3058	2051	2166	1937	0	0	0	0	0	0	26.18	26.10	26.19
5350	0.74	223.2	2871	3058	2163	1937	98.2	16.7	912	5358	0.00	1.60	0.00	0.000	1158	0.000	0.028	2877	1997	2049	2162	1937	0	0	0	0	0	0	26.15	26.11	26.16
5424	0.70	223.2	2877	1995	2162	1937	86.2	15.7	925	5432	0.00	1.62	0.00	0.000	644	0.000	0.038	2885	941	2050	2163	1937	0	0	0	0	0	0	26.15	26.10	26.16
5451	0.67	223.2	2885	941	2162	1937	81.7	16.8	929	5460	0.10	1.67	0.00	0.000	5254	0.193	0.037	2859	2007	2049	2162	1937	0	0	0	0	0	0	25.94	26.10	26.11
5525	0.67	223.2	2858	2007	2163	1936	70.7	14.0	942	5532	0.00	1.62	0.00	0.000	260	0.000	0.042	2856	3061	2050	2163	1937	0	0	0	0	0	0	26.17	26.10	26.17
5551	0.67	223.2	2852	3061	2161	1937	67.1	14.6	946	5558	0.00	1.60	0.00	0.000	1030	0.000	0.029	2862	2002	2048	2160	1937	0	0	0	0	0	0	26.17	26.11	26.17
5625	0.67	223.2	2862	1997	2160	1937	57.2	13.5	959	5632	0.00	1.65	0.00	0.000	260	0.000	0.043	2862	3057	2048	2161	1936	0	0	0	0	0	0	26.16	26.08	26.16
5699	0.67	223.2	2861	3057	2159	1937	46.7	14.1	972	5706	0.00	1.60	0.00	0.000	1030	0.000	0.029	2869	2001	2047	2159	1936	0	0	0	0	0	0	26.15	26.10	26.15
5774	0.72	270.9	2866	1997	2159	1937	37.7	11.2	985	5823	0.00	1.73	39.17	0.752	8484	0.000	0.044	2867	3048	1858	1983	1733	0	0	0	0	0	0	26.19	25.65	25.02
5879	0.81	308.9	2866	3049	1975	1732	25.3	11.6	1002	5921	0.00	1.60	31.35	0.718	9382	0.000	0.029	2873	2001	1704	1827	1581	0	0	0	0	0	0	25.95	25.91	25.00
5990	0.97	365.5	2872	2000	1817	1581	12.5	10.7	1020	6042	0.15	1.67	45.35	0.700	10916	0.111	0.036	2928	949	1474	1595	1353	0	0	0	0	0	0	25.85	25.38	24.95
6062	1.12	420.0	2928	947	1591	1352	4.8	10.8	1030	6093	0.17	1.67	25.12	0.676	11426	0.164	0.035	2965	2002	1358	1484	1233	0	0	0	0	0	0	25.59	25.70	25.74
6095	end climb: SURFACE_DEPTH_REACHED
state	6095	begin surface coast
6112	end surface coast: CONTROL_FINISHED_OK
state	6112	begin surface