Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 84 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 41 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 33 ALTIM_PULSE 2

DIVE 84 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 166.0

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 166.0 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 84 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 41 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 200 R_STBD_OVSHOOT 33 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 060822,191501,4449.8975,-12457.2354,8,0.9,38,15.1,1.0,157.2,12,2.0 SPEED_LIMITS 0.231,0.259

_CALLS 2 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4450.300,-12455.908

_XMS_TOUTs 0 TGT_RADIUS 400.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 77.4,2300,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -66.4 D_GRID 672

GPS2 060822,192524,4449.7969,-12457.5098,3,0.9,4,15.1,0.5,248.3,10,8.4

Post-dive calculations and measurements:

FINISH -0.2,1.022981 _10V_AH 10.29,12.236

SM_CCo 5811,80.72,0.698,0,0,927,500.17 FG_AHR_24Vo 0.000

SM_GC 0.51,7.90,0.30,80.72,0.053,0.046,0.698,172,2221,927,-7.49,-0.85,500.17,0,0,0,0,0,0,25.75,25.73,24.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.39,-12455.54,060822,191809 MEM 220132

TT8_MAMPS 0.023968,0.23219 DATA_FILE_SIZE 33395,982

HUMID 38.38 CAP_FILE_SIZE 376271,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,231378944

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.067,359.96,1

SC_FREEKB 3785856 GPS 060822,210532,4449.924,-12456.387,28,1.0,29,15.1,0.3,0.0,8,4.5

_24V_AH 23.84,14.744

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 286 132.15 nil 0 0 0.00

Roll_motor 96 48 112.72 nil 0 0 0.00

VBD_pump_during_apogee 498 1035 12308.58 nil 0 0 0.00

VBD_pump_during_surface 80 698 1344.15 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 5796 6 882.40

Iridium_during_xfer 377 107 969.65 Edison 6926 10 1651.16

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.04

TT8 2470 13 355.08

LPSleep 372 2 8.39

TT8_Active 841 13 114.44

TT8_Sampling 2285 39 927.50

TT8_CF8 530 49 272.56

TT8_Kalman 0 0 0.00

Analog_circuits 2208 10 227.24

GPS_charging 0 0 0.00

Compass 1529 8 129.70

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 -0.75 -194.6 161 2204 1052 792 0.0 0.0 0 117 0.00 0.00 -100.38 0.005 16386 0.000 0.000 161 2205 3405 3368 3442 0 0 0 0 0 0 26.07 28.83 26.08

120 -0.75 -194.6 160 2204 3370 3443 4.5 -9.4 15 143 8.60 1.65 -6.12 0.014 18980 0.213 0.044 2370 1121 3768 3723 3814 0 0 0 0 0 0 25.78 25.29 25.95

214 -0.77 -194.6 2370 1122 3731 3813 28.3 -15.8 31 221 0.00 1.70 0.00 0.000 1158 0.000 0.041 2365 2195 3772 3731 3813 0 0 0 0 0 0 26.10 26.05 26.11

287 -0.74 -194.6 2364 2196 3734 3813 40.3 -17.0 44 294 0.00 1.67 0.00 0.000 388 0.000 0.047 2356 3268 3773 3734 3812 0 0 0 0 0 0 26.15 26.06 26.15

382 -0.77 -194.6 2355 3268 3736 3813 55.7 -13.3 61 390 0.00 1.62 0.00 0.000 1190 0.000 0.029 2362 2203 3775 3737 3813 0 0 0 0 0 0 26.15 26.10 26.15

457 -0.80 -194.6 2361 2198 3737 3812 64.5 -11.4 74 464 0.00 0.00 0.00 0.000 166 0.000 0.000 2362 2198 3773 3733 3813 0 0 0 0 0 0 26.16 26.17 26.17

530 -0.82 -194.6 2361 2198 3738 3813 73.9 -12.9 87 536 0.00 0.00 0.00 0.000 166 0.000 0.000 2362 2197 3775 3738 3813 0 0 0 0 0 0 26.17 26.18 26.18

602 -0.87 -194.6 2361 2198 3739 3813 82.3 -11.5 100 609 0.00 1.67 0.00 0.000 420 0.000 0.046 2353 3265 3775 3739 3812 0 0 0 0 0 0 26.19 26.10 26.20

634 -0.92 -194.6 2355 3265 3739 3812 86.1 -12.2 105 642 0.00 1.62 0.00 0.000 1190 0.000 0.029 2362 2199 3776 3739 3813 0 0 0 0 0 0 26.18 26.13 26.19

710 -0.99 -194.6 2361 2192 3739 3813 95.2 -12.1 118 717 0.12 0.00 0.00 0.000 4262 0.125 0.000 2297 2193 3775 3739 3812 0 0 0 0 0 0 26.05 26.13 26.11

782 -0.93 -194.6 2296 2193 3740 3813 106.1 -16.1 131 789 0.08 0.00 0.00 0.000 2182 0.197 0.000 2308 2193 3774 3736 3813 0 0 0 0 0 0 25.96 26.15 26.13

855 -0.90 -194.6 2308 2194 3740 3812 117.7 -16.3 144 861 0.00 0.00 0.00 0.000 134 0.000 0.000 2308 2194 3775 3739 3812 0 0 0 0 0 0 26.17 26.18 26.18

927 -0.90 -194.6 2308 2197 3738 3813 129.1 -15.5 157 935 0.00 1.62 0.00 0.000 516 0.000 0.034 2308 1132 3775 3739 3812 0 0 0 0 0 0 26.19 26.13 26.19

974 -0.92 -194.6 2307 1132 3739 3813 136.3 -14.3 165 983 0.00 1.70 0.00 0.000 1158 0.000 0.041 2302 2210 3776 3739 3813 0 0 0 0 0 0 26.15 26.09 26.16

1050 -0.92 -194.6 2301 2211 3738 3814 146.6 -14.6 178 1057 0.00 1.62 0.00 0.000 260 0.000 0.048 2294 3252 3776 3739 3813 0 0 0 0 0 0 26.17 26.08 26.17

1112 -0.95 -194.6 2293 3252 3739 3812 156.1 -14.5 189 1120 0.00 1.62 0.00 0.000 1158 0.000 0.031 2300 2185 3776 3739 3813 0 0 0 0 0 0 26.17 26.13 26.17

1187 -0.95 -194.6 2299 2180 3739 3812 167.2 -15.7 202 1194 0.00 1.58 0.00 0.000 516 0.000 0.034 2301 1140 3775 3738 3812 0 0 0 0 0 0 26.19 26.12 26.19

1201 -0.95 -194.6 2302 1140 3739 3812 169.8 -15.9 204 1209 0.00 1.70 0.00 0.000 1030 0.000 0.040 2297 2190 3775 3739 3812 0 0 0 0 0 0 26.14 26.10 26.17

1274 -0.92 -194.6 2297 2190 3747 3812 181.5 -16.9 217 1283 0.08 0.00 0.00 0.000 2182 0.212 0.000 2308 2190 3775 3739 3812 0 0 0 0 0 0 25.94 26.13 26.10

1349 -0.92 -194.6 2308 2191 3739 3812 193.5 -15.8 230 1357 0.00 1.70 0.00 0.000 260 0.000 0.047 2301 3252 3776 3740 3812 0 0 0 0 0 0 26.16 26.06 26.16

1380 -0.92 -194.6 2301 3249 3739 3812 198.6 -16.0 235 1387 0.00 1.60 0.00 0.000 1030 0.000 0.029 2307 2204 3773 3735 3811 0 0 0 0 0 0 26.16 26.11 26.16

1453 -0.92 -194.6 2307 2198 3739 3812 210.0 -15.9 248 1460 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 2198 3775 3739 3812 0 0 0 0 0 0 26.18 26.18 26.19

1525 -0.92 -194.6 2306 2200 3739 3812 220.7 -14.5 261 1533 0.00 1.67 0.00 0.000 260 0.000 0.047 2301 3260 3775 3739 3811 0 0 0 0 0 0 26.15 26.08 26.15

1568 -0.92 -194.6 2300 3261 3739 3810 227.2 -14.8 268 1575 0.00 1.62 0.00 0.000 1030 0.000 0.029 2306 2200 3775 3739 3812 0 0 0 0 0 0 26.17 26.13 26.17

1642 -0.94 -194.6 2306 2194 3739 3810 237.8 -14.2 281 1649 0.00 0.00 0.00 0.000 134 0.000 0.000 2307 2194 3774 3739 3810 0 0 0 0 0 0 26.15 26.16 26.15

1716 -0.97 -194.6 2306 2194 3739 3810 248.2 -14.1 294 1723 0.00 1.67 0.00 0.000 388 0.000 0.047 2301 3259 3774 3739 3809 0 0 0 0 0 0 26.16 26.08 26.17

1752 -0.99 -194.6 2300 3259 3739 3809 253.7 -14.3 300 1759 0.00 1.62 0.00 0.000 1158 0.000 0.029 2307 2202 3775 3740 3810 0 0 0 0 0 0 26.15 26.11 26.17

1825 -1.02 -194.6 2306 2195 3739 3809 263.7 -13.7 313 1833 0.00 0.00 0.00 0.000 134 0.000 0.000 2307 2193 3774 3740 3809 0 0 0 0 0 0 26.15 26.17 26.17

1899 -1.05 -194.6 2307 2195 3739 3804 274.1 -14.1 326 1906 0.00 1.67 0.00 0.000 388 0.000 0.048 2301 3259 3774 3739 3809 0 0 0 0 0 0 26.17 26.08 26.17

1946 -1.09 -194.6 2300 3259 3739 3808 280.7 -13.5 334 1954 0.00 1.67 0.00 0.000 1158 0.000 0.030 2307 2196 3774 3739 3809 0 0 0 0 0 0 26.14 26.10 26.14

2020 -1.12 -194.6 2306 2192 3741 3808 290.7 -13.9 347 2028 0.10 0.00 0.00 0.000 4230 0.123 0.000 2272 2191 3773 3739 3808 0 0 0 0 0 0 26.06 26.16 26.15

2094 -1.08 -194.6 2272 2192 3740 3807 302.4 -16.1 360 2102 0.00 1.73 0.00 0.000 388 0.000 0.048 2264 3256 3773 3739 3807 0 0 0 0 0 0 26.15 26.05 26.15

2137 -1.05 -194.6 2263 3257 3739 3807 309.3 -16.2 367 2144 0.00 1.62 0.00 0.000 1158 0.000 0.031 2269 2202 3772 3739 3806 0 0 0 0 0 0 26.14 26.09 26.13

2211 -1.01 -194.6 2269 2195 3739 3809 321.1 -16.1 380 2218 0.05 0.00 0.00 0.000 2182 0.232 0.000 2280 2195 3773 3739 3807 0 0 0 0 0 0 25.94 26.13 26.09

2286 -0.99 -194.6 2279 2191 3739 3807 332.7 -15.3 393 2294 0.00 1.67 0.00 0.000 388 0.000 0.049 2273 3258 3773 3739 3807 0 0 0 0 0 0 26.17 26.03 26.20

2324 -0.97 -194.6 2273 3258 3738 3807 338.7 -15.3 399 2332 0.10 1.62 0.00 0.000 3206 0.190 0.031 2296 2205 3773 3739 3807 0 0 0 0 0 0 25.91 26.09 26.08

2398 -0.97 -194.6 2299 2195 3739 3807 348.8 -13.6 412 2404 0.00 0.00 0.00 0.000 6 0.000 0.000 2300 2195 3772 3739 3806 0 0 0 0 0 0 26.14 26.15 26.14

2471 -0.99 -194.6 2299 2195 3739 3806 358.8 -13.8 425 2478 0.00 0.00 0.00 0.000 134 0.000 0.000 2300 2195 3775 3739 3811 0 0 0 0 0 0 26.15 26.15 26.15

2545 -1.01 -194.6 2299 2194 3739 3806 368.9 -14.1 438 2552 0.00 1.67 0.00 0.000 388 0.000 0.049 2292 3258 3772 3739 3806 0 0 0 0 0 0 26.15 26.05 26.15

2595 -1.06 -194.6 2289 3259 3739 3806 376.0 -13.4 447 2604 0.00 1.67 0.00 0.000 1158 0.000 0.031 2292 2202 3775 3739 3811 0 0 0 0 0 0 26.13 26.10 26.15

2669 -1.06 -194.6 2294 2195 3739 3805 386.1 -14.2 460 2676 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2195 3772 3739 3805 0 0 0 0 0 0 26.13 26.15 26.13

2742 -1.06 -194.6 2292 2200 3738 3805 396.6 -14.0 473 2751 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2195 3772 3739 3805 0 0 0 0 0 0 26.15 26.15 26.17

2766 end dive: TARGET_DEPTH_EXCEEDED

state 2766 begin apogee

2772 -0.11 0.0 2292 1969 3739 3805 400.3 -14.1 477 2937 0.95 0.00 156.10 1.036 10246 0.158 0.000 2571 1969 2967 3032 2902 0 0 0 0 0 0 25.77 24.87 24.19

2939 end apogee: CONTROL_FINISHED_OK

state 2939 begin climb

2941 0.75 194.6 2565 1969 3031 2903 404.3 0.0 501 3110 0.90 1.75 159.82 0.996 10756 0.105 0.037 2847 960 2172 2291 2053 0 0 0 0 0 0 24.94 24.49 23.84

3172 0.77 194.6 2846 959 2283 2053 383.1 13.4 535 3180 0.00 1.70 0.00 0.000 1158 0.000 0.036 2842 2003 2167 2282 2053 0 0 0 0 0 0 25.29 25.25 25.29

3245 0.77 194.6 2842 2002 2281 2052 372.8 14.3 548 3252 0.00 1.67 0.00 0.000 260 0.000 0.044 2834 3059 2165 2281 2049 0 0 0 0 0 0 25.64 25.59 25.65

3297 0.77 194.6 2834 3059 2276 2052 365.2 14.7 557 3305 0.00 1.60 0.00 0.000 1030 0.000 0.028 2840 2017 2164 2276 2052 0 0 0 0 0 0 25.78 25.75 25.79

3373 0.77 194.6 2840 2013 2276 2052 354.8 13.9 570 3381 0.05 1.65 0.00 0.000 2564 0.254 0.037 2858 952 2164 2276 2052 0 0 0 0 0 0 25.70 25.88 25.89

3399 0.77 194.6 2857 949 2276 2052 350.5 14.2 574 3408 0.00 1.70 0.00 0.000 1030 0.000 0.036 2851 2003 2164 2276 2052 0 0 0 0 0 0 25.95 25.91 25.96

3476 0.74 194.6 2851 2003 2275 2052 339.7 14.1 587 3484 0.00 1.67 0.00 0.000 388 0.000 0.044 2843 3055 2163 2275 2052 0 0 0 0 0 0 26.06 26.00 26.06

3523 0.71 194.6 2843 3055 2272 2052 332.7 14.6 595 3530 0.00 1.60 0.00 0.000 1158 0.000 0.029 2849 1999 2165 2278 2052 0 0 0 0 0 0 26.08 26.04 26.08

3597 0.68 194.6 2849 1995 2272 2052 322.5 14.0 608 3604 0.00 1.62 0.00 0.000 644 0.000 0.038 2858 949 2162 2272 2052 0 0 0 0 0 0 26.11 26.05 26.11

3624 0.66 194.6 2857 946 2273 2052 318.7 14.0 612 3631 0.00 1.65 0.00 0.000 1158 0.000 0.036 2851 2001 2162 2273 2052 0 0 0 0 0 0 26.11 26.06 26.13

3698 0.63 194.6 2854 2002 2272 2052 308.4 14.1 625 3705 0.00 1.62 0.00 0.000 388 0.000 0.043 2844 3053 2162 2273 2052 0 0 0 0 0 0 26.15 26.07 26.13

3749 0.60 194.6 2843 3054 2270 2052 300.8 14.3 634 3758 0.08 1.60 0.00 0.000 5254 0.286 0.029 2840 2001 2161 2270 2052 0 0 0 0 0 0 25.85 26.10 26.08

3825 0.60 197.9 2840 1996 2270 2052 290.8 13.2 647 3831 0.00 0.00 0.00 0.000 38 0.000 0.000 2840 1996 2161 2270 2052 0 0 0 0 0 0 26.15 26.17 26.16

3899 0.62 216.3 2840 1996 2269 2053 281.4 12.5 660 3922 0.00 1.75 17.70 0.912 8484 0.000 0.043 2833 3056 2083 2202 1965 0 0 0 0 0 0 26.16 25.80 25.06

3940 0.62 218.7 2832 3057 2197 1965 275.9 13.2 666 3948 0.00 1.62 0.00 0.000 1062 0.000 0.028 2840 1994 2081 2197 1965 0 0 0 0 0 0 25.94 25.91 25.94

4014 0.62 218.7 2838 1991 2202 1964 266.3 13.6 679 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1991 2080 2195 1965 0 0 0 0 0 0 26.06 26.06 26.06

4087 0.63 222.3 2838 1993 2195 1965 256.5 13.2 692 4100 0.00 0.00 6.68 0.785 8230 0.000 0.000 2839 1991 2057 2174 1940 0 0 0 0 0 0 26.12 25.73 25.12

4166 0.64 234.2 2838 1991 2172 1938 245.9 12.8 706 4183 0.00 1.70 11.62 0.860 8484 0.000 0.043 2833 3060 2008 2128 1889 0 0 0 0 0 0 26.07 25.83 25.05

4224 0.67 245.3 2832 3064 2123 1888 238.7 12.8 715 4240 0.00 1.67 10.52 0.835 9382 0.000 0.029 2839 1994 1965 2083 1847 0 0 0 0 0 0 25.99 25.98 25.01

4307 0.72 265.0 2838 1991 2080 1846 228.1 12.4 729 4329 0.00 0.00 17.55 0.870 8870 0.000 0.000 2839 1991 1883 2010 1757 0 0 0 0 0 0 25.99 25.65 24.94

4395 0.76 277.9 2838 1991 2004 1761 216.8 12.7 744 4410 0.00 0.00 11.68 0.829 8358 0.000 0.000 2839 1991 1832 1956 1708 0 0 0 0 0 0 25.96 25.69 24.98

4478 0.79 283.5 2838 1991 1949 1707 206.2 13.1 758 4487 0.10 0.00 6.10 0.724 10406 0.194 0.000 2866 1991 1811 1932 1690 0 0 0 0 0 0 25.78 25.79 25.03

4553 0.77 283.5 2866 1991 1926 1687 194.9 16.0 771 4559 0.00 0.00 0.00 0.000 134 0.000 0.000 2866 1991 1807 1926 1688 0 0 0 0 0 0 26.02 26.02 26.02

4626 0.77 283.5 2865 1991 1925 1688 183.0 17.0 784 4633 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1991 1806 1925 1687 0 0 0 0 0 0 26.08 26.08 26.08

4698 0.77 283.5 2865 1991 1923 1687 171.1 16.9 797 4706 0.00 1.62 0.00 0.000 516 0.000 0.040 2873 945 1805 1923 1688 0 0 0 0 0 0 26.12 26.05 26.12

4724 0.77 283.5 2873 944 1922 1687 166.5 16.9 801 4731 0.00 1.65 0.00 0.000 1030 0.000 0.035 2868 2002 1804 1922 1687 0 0 0 0 0 0 26.11 26.05 26.12

4797 0.77 283.5 2867 2002 1920 1687 154.5 16.4 814 4804 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2002 1803 1920 1687 0 0 0 0 0 0 26.14 26.14 26.14

4870 0.77 283.5 2867 2002 1920 1688 142.3 16.2 827 4877 0.00 1.62 0.00 0.000 260 0.000 0.043 2860 3054 1803 1919 1687 0 0 0 0 0 0 26.14 26.07 26.15

4912 0.77 283.5 2859 3054 1915 1688 135.1 17.1 834 4920 0.00 1.62 0.00 0.000 1030 0.000 0.030 2863 1993 1801 1916 1687 0 0 0 0 0 0 26.15 26.10 26.15

4987 0.77 283.5 2866 1992 1915 1687 122.5 17.0 847 4994 0.00 1.62 0.00 0.000 516 0.000 0.038 2874 937 1801 1916 1687 0 0 0 0 0 0 26.15 26.08 26.15

5055 0.80 283.5 2874 940 1916 1688 111.3 16.5 859 5062 0.00 1.67 0.00 0.000 1158 0.000 0.035 2874 2007 1802 1916 1688 0 0 0 0 0 0 26.15 26.09 26.15

5128 0.80 283.5 2874 2007 1916 1688 98.2 17.7 872 5135 0.00 1.62 0.00 0.000 260 0.000 0.042 2869 3059 1801 1916 1687 0 0 0 0 0 0 26.15 26.10 26.16

5154 0.80 283.5 2869 3060 1914 1687 93.4 18.3 876 5161 0.00 1.62 0.00 0.000 1030 0.000 0.031 2875 1996 1800 1914 1687 0 0 0 0 0 0 26.17 26.12 26.17

5227 0.78 283.5 2874 1993 1914 1687 80.6 18.2 889 5234 0.00 1.62 0.00 0.000 644 0.000 0.039 2884 942 1801 1914 1688 0 0 0 0 0 0 26.15 26.09 26.15

5253 0.78 283.5 2883 942 1914 1688 75.7 18.2 893 5260 0.00 1.67 0.00 0.000 1030 0.000 0.036 2878 2009 1803 1914 1693 0 0 0 0 0 0 26.16 26.10 26.17

5327 0.78 283.5 2878 2009 1914 1687 63.0 18.0 906 5334 0.00 1.62 0.00 0.000 260 0.000 0.041 2871 3063 1800 1914 1687 0 0 0 0 0 0 26.15 26.08 26.15

5361 0.78 283.5 2869 3062 1913 1688 57.2 17.4 911 5368 0.00 1.62 0.00 0.000 1030 0.000 0.031 2876 1999 1800 1914 1687 0 0 0 0 0 0 26.16 26.11 26.17

5433 0.78 283.5 2876 1995 1913 1687 44.5 15.9 924 5441 0.00 1.62 0.00 0.000 516 0.000 0.037 2884 942 1800 1913 1688 0 0 0 0 0 0 26.15 26.10 26.15

5448 0.78 283.5 2884 942 1913 1688 41.9 15.7 926 5456 0.00 1.67 0.00 0.000 1030 0.000 0.034 2879 2012 1800 1913 1688 0 0 0 0 0 0 26.14 26.09 26.15

5523 0.80 298.4 2878 2009 1913 1688 32.6 12.7 939 5545 0.00 1.73 12.90 0.729 8740 0.000 0.038 2885 948 1747 1862 1633 0 0 0 0 0 0 26.16 25.90 25.19

5607 0.97 360.6 2885 948 1860 1633 22.6 10.5 953 5664 0.15 1.67 51.55 0.729 11430 0.126 0.035 2921 2014 1495 1614 1377 0 0 0 0 0 0 25.96 26.00 24.90

5730 1.08 404.0 2921 2013 1602 1374 7.1 11.3 973 5774 0.12 0.00 36.22 0.697 10662 0.154 0.000 2961 2015 1314 1444 1185 0 0 0 0 0 0 25.71 25.48 24.92

5780 end climb: SURFACE_DEPTH_REACHED

state 5780 begin surface coast

5792 end surface coast: CONTROL_FINISHED_OK

state 5792 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	41	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	33	ALTIM_PULSE	2
DIVE	84	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	166.0
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	060822,191501,4449.8975,-12457.2354,8,0.9,38,15.1,1.0,157.2,12,2.0	SPEED_LIMITS	0.231,0.259
_CALLS	2	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4450.300,-12455.908
_XMS_TOUTs	0	TGT_RADIUS	400.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	77.4,2300,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-66.4	D_GRID	672
GPS2	060822,192524,4449.7969,-12457.5098,3,0.9,4,15.1,0.5,248.3,10,8.4

FINISH	-0.2,1.022981	_10V_AH	10.29,12.236
SM_CCo	5811,80.72,0.698,0,0,927,500.17	FG_AHR_24Vo	0.000
SM_GC	0.51,7.90,0.30,80.72,0.053,0.046,0.698,172,2221,927,-7.49,-0.85,500.17,0,0,0,0,0,0,25.75,25.73,24.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.39,-12455.54,060822,191809	MEM	220132
TT8_MAMPS	0.023968,0.23219	DATA_FILE_SIZE	33395,982
HUMID	38.38	CAP_FILE_SIZE	376271,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,231378944
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.067,359.96,1
SC_FREEKB	3785856	GPS	060822,210532,4449.924,-12456.387,28,1.0,29,15.1,0.3,0.0,8,4.5
_24V_AH	23.84,14.744

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	286	132.15	nil	0	0	0.00
Roll_motor	96	48	112.72	nil	0	0	0.00
VBD_pump_during_apogee	498	1035	12308.58	nil	0	0	0.00
VBD_pump_during_surface	80	698	1344.15	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	5796	6	882.40
Iridium_during_xfer	377	107	969.65	Edison	6926	10	1651.16
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.04
TT8	2470	13	355.08
LPSleep	372	2	8.39
TT8_Active	841	13	114.44
TT8_Sampling	2285	39	927.50
TT8_CF8	530	49	272.56
TT8_Kalman	0	0	0.00
Analog_circuits	2208	10	227.24
GPS_charging	0	0	0.00
Compass	1529	8	129.70
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	-0.75	-194.6	161	2204	1052	792	0.0	0.0	0	117	0.00	0.00	-100.38	0.005	16386	0.000	0.000	161	2205	3405	3368	3442	0	0	0	0	0	0	26.07	28.83	26.08
120	-0.75	-194.6	160	2204	3370	3443	4.5	-9.4	15	143	8.60	1.65	-6.12	0.014	18980	0.213	0.044	2370	1121	3768	3723	3814	0	0	0	0	0	0	25.78	25.29	25.95
214	-0.77	-194.6	2370	1122	3731	3813	28.3	-15.8	31	221	0.00	1.70	0.00	0.000	1158	0.000	0.041	2365	2195	3772	3731	3813	0	0	0	0	0	0	26.10	26.05	26.11
287	-0.74	-194.6	2364	2196	3734	3813	40.3	-17.0	44	294	0.00	1.67	0.00	0.000	388	0.000	0.047	2356	3268	3773	3734	3812	0	0	0	0	0	0	26.15	26.06	26.15
382	-0.77	-194.6	2355	3268	3736	3813	55.7	-13.3	61	390	0.00	1.62	0.00	0.000	1190	0.000	0.029	2362	2203	3775	3737	3813	0	0	0	0	0	0	26.15	26.10	26.15
457	-0.80	-194.6	2361	2198	3737	3812	64.5	-11.4	74	464	0.00	0.00	0.00	0.000	166	0.000	0.000	2362	2198	3773	3733	3813	0	0	0	0	0	0	26.16	26.17	26.17
530	-0.82	-194.6	2361	2198	3738	3813	73.9	-12.9	87	536	0.00	0.00	0.00	0.000	166	0.000	0.000	2362	2197	3775	3738	3813	0	0	0	0	0	0	26.17	26.18	26.18
602	-0.87	-194.6	2361	2198	3739	3813	82.3	-11.5	100	609	0.00	1.67	0.00	0.000	420	0.000	0.046	2353	3265	3775	3739	3812	0	0	0	0	0	0	26.19	26.10	26.20
634	-0.92	-194.6	2355	3265	3739	3812	86.1	-12.2	105	642	0.00	1.62	0.00	0.000	1190	0.000	0.029	2362	2199	3776	3739	3813	0	0	0	0	0	0	26.18	26.13	26.19
710	-0.99	-194.6	2361	2192	3739	3813	95.2	-12.1	118	717	0.12	0.00	0.00	0.000	4262	0.125	0.000	2297	2193	3775	3739	3812	0	0	0	0	0	0	26.05	26.13	26.11
782	-0.93	-194.6	2296	2193	3740	3813	106.1	-16.1	131	789	0.08	0.00	0.00	0.000	2182	0.197	0.000	2308	2193	3774	3736	3813	0	0	0	0	0	0	25.96	26.15	26.13
855	-0.90	-194.6	2308	2194	3740	3812	117.7	-16.3	144	861	0.00	0.00	0.00	0.000	134	0.000	0.000	2308	2194	3775	3739	3812	0	0	0	0	0	0	26.17	26.18	26.18
927	-0.90	-194.6	2308	2197	3738	3813	129.1	-15.5	157	935	0.00	1.62	0.00	0.000	516	0.000	0.034	2308	1132	3775	3739	3812	0	0	0	0	0	0	26.19	26.13	26.19
974	-0.92	-194.6	2307	1132	3739	3813	136.3	-14.3	165	983	0.00	1.70	0.00	0.000	1158	0.000	0.041	2302	2210	3776	3739	3813	0	0	0	0	0	0	26.15	26.09	26.16
1050	-0.92	-194.6	2301	2211	3738	3814	146.6	-14.6	178	1057	0.00	1.62	0.00	0.000	260	0.000	0.048	2294	3252	3776	3739	3813	0	0	0	0	0	0	26.17	26.08	26.17
1112	-0.95	-194.6	2293	3252	3739	3812	156.1	-14.5	189	1120	0.00	1.62	0.00	0.000	1158	0.000	0.031	2300	2185	3776	3739	3813	0	0	0	0	0	0	26.17	26.13	26.17
1187	-0.95	-194.6	2299	2180	3739	3812	167.2	-15.7	202	1194	0.00	1.58	0.00	0.000	516	0.000	0.034	2301	1140	3775	3738	3812	0	0	0	0	0	0	26.19	26.12	26.19
1201	-0.95	-194.6	2302	1140	3739	3812	169.8	-15.9	204	1209	0.00	1.70	0.00	0.000	1030	0.000	0.040	2297	2190	3775	3739	3812	0	0	0	0	0	0	26.14	26.10	26.17
1274	-0.92	-194.6	2297	2190	3747	3812	181.5	-16.9	217	1283	0.08	0.00	0.00	0.000	2182	0.212	0.000	2308	2190	3775	3739	3812	0	0	0	0	0	0	25.94	26.13	26.10
1349	-0.92	-194.6	2308	2191	3739	3812	193.5	-15.8	230	1357	0.00	1.70	0.00	0.000	260	0.000	0.047	2301	3252	3776	3740	3812	0	0	0	0	0	0	26.16	26.06	26.16
1380	-0.92	-194.6	2301	3249	3739	3812	198.6	-16.0	235	1387	0.00	1.60	0.00	0.000	1030	0.000	0.029	2307	2204	3773	3735	3811	0	0	0	0	0	0	26.16	26.11	26.16
1453	-0.92	-194.6	2307	2198	3739	3812	210.0	-15.9	248	1460	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	2198	3775	3739	3812	0	0	0	0	0	0	26.18	26.18	26.19
1525	-0.92	-194.6	2306	2200	3739	3812	220.7	-14.5	261	1533	0.00	1.67	0.00	0.000	260	0.000	0.047	2301	3260	3775	3739	3811	0	0	0	0	0	0	26.15	26.08	26.15
1568	-0.92	-194.6	2300	3261	3739	3810	227.2	-14.8	268	1575	0.00	1.62	0.00	0.000	1030	0.000	0.029	2306	2200	3775	3739	3812	0	0	0	0	0	0	26.17	26.13	26.17
1642	-0.94	-194.6	2306	2194	3739	3810	237.8	-14.2	281	1649	0.00	0.00	0.00	0.000	134	0.000	0.000	2307	2194	3774	3739	3810	0	0	0	0	0	0	26.15	26.16	26.15
1716	-0.97	-194.6	2306	2194	3739	3810	248.2	-14.1	294	1723	0.00	1.67	0.00	0.000	388	0.000	0.047	2301	3259	3774	3739	3809	0	0	0	0	0	0	26.16	26.08	26.17
1752	-0.99	-194.6	2300	3259	3739	3809	253.7	-14.3	300	1759	0.00	1.62	0.00	0.000	1158	0.000	0.029	2307	2202	3775	3740	3810	0	0	0	0	0	0	26.15	26.11	26.17
1825	-1.02	-194.6	2306	2195	3739	3809	263.7	-13.7	313	1833	0.00	0.00	0.00	0.000	134	0.000	0.000	2307	2193	3774	3740	3809	0	0	0	0	0	0	26.15	26.17	26.17
1899	-1.05	-194.6	2307	2195	3739	3804	274.1	-14.1	326	1906	0.00	1.67	0.00	0.000	388	0.000	0.048	2301	3259	3774	3739	3809	0	0	0	0	0	0	26.17	26.08	26.17
1946	-1.09	-194.6	2300	3259	3739	3808	280.7	-13.5	334	1954	0.00	1.67	0.00	0.000	1158	0.000	0.030	2307	2196	3774	3739	3809	0	0	0	0	0	0	26.14	26.10	26.14
2020	-1.12	-194.6	2306	2192	3741	3808	290.7	-13.9	347	2028	0.10	0.00	0.00	0.000	4230	0.123	0.000	2272	2191	3773	3739	3808	0	0	0	0	0	0	26.06	26.16	26.15
2094	-1.08	-194.6	2272	2192	3740	3807	302.4	-16.1	360	2102	0.00	1.73	0.00	0.000	388	0.000	0.048	2264	3256	3773	3739	3807	0	0	0	0	0	0	26.15	26.05	26.15
2137	-1.05	-194.6	2263	3257	3739	3807	309.3	-16.2	367	2144	0.00	1.62	0.00	0.000	1158	0.000	0.031	2269	2202	3772	3739	3806	0	0	0	0	0	0	26.14	26.09	26.13
2211	-1.01	-194.6	2269	2195	3739	3809	321.1	-16.1	380	2218	0.05	0.00	0.00	0.000	2182	0.232	0.000	2280	2195	3773	3739	3807	0	0	0	0	0	0	25.94	26.13	26.09
2286	-0.99	-194.6	2279	2191	3739	3807	332.7	-15.3	393	2294	0.00	1.67	0.00	0.000	388	0.000	0.049	2273	3258	3773	3739	3807	0	0	0	0	0	0	26.17	26.03	26.20
2324	-0.97	-194.6	2273	3258	3738	3807	338.7	-15.3	399	2332	0.10	1.62	0.00	0.000	3206	0.190	0.031	2296	2205	3773	3739	3807	0	0	0	0	0	0	25.91	26.09	26.08
2398	-0.97	-194.6	2299	2195	3739	3807	348.8	-13.6	412	2404	0.00	0.00	0.00	0.000	6	0.000	0.000	2300	2195	3772	3739	3806	0	0	0	0	0	0	26.14	26.15	26.14
2471	-0.99	-194.6	2299	2195	3739	3806	358.8	-13.8	425	2478	0.00	0.00	0.00	0.000	134	0.000	0.000	2300	2195	3775	3739	3811	0	0	0	0	0	0	26.15	26.15	26.15
2545	-1.01	-194.6	2299	2194	3739	3806	368.9	-14.1	438	2552	0.00	1.67	0.00	0.000	388	0.000	0.049	2292	3258	3772	3739	3806	0	0	0	0	0	0	26.15	26.05	26.15
2595	-1.06	-194.6	2289	3259	3739	3806	376.0	-13.4	447	2604	0.00	1.67	0.00	0.000	1158	0.000	0.031	2292	2202	3775	3739	3811	0	0	0	0	0	0	26.13	26.10	26.15
2669	-1.06	-194.6	2294	2195	3739	3805	386.1	-14.2	460	2676	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2195	3772	3739	3805	0	0	0	0	0	0	26.13	26.15	26.13
2742	-1.06	-194.6	2292	2200	3738	3805	396.6	-14.0	473	2751	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2195	3772	3739	3805	0	0	0	0	0	0	26.15	26.15	26.17
2766	end dive: TARGET_DEPTH_EXCEEDED
state	2766	begin apogee
2772	-0.11	0.0	2292	1969	3739	3805	400.3	-14.1	477	2937	0.95	0.00	156.10	1.036	10246	0.158	0.000	2571	1969	2967	3032	2902	0	0	0	0	0	0	25.77	24.87	24.19
2939	end apogee: CONTROL_FINISHED_OK
state	2939	begin climb
2941	0.75	194.6	2565	1969	3031	2903	404.3	0.0	501	3110	0.90	1.75	159.82	0.996	10756	0.105	0.037	2847	960	2172	2291	2053	0	0	0	0	0	0	24.94	24.49	23.84
3172	0.77	194.6	2846	959	2283	2053	383.1	13.4	535	3180	0.00	1.70	0.00	0.000	1158	0.000	0.036	2842	2003	2167	2282	2053	0	0	0	0	0	0	25.29	25.25	25.29
3245	0.77	194.6	2842	2002	2281	2052	372.8	14.3	548	3252	0.00	1.67	0.00	0.000	260	0.000	0.044	2834	3059	2165	2281	2049	0	0	0	0	0	0	25.64	25.59	25.65
3297	0.77	194.6	2834	3059	2276	2052	365.2	14.7	557	3305	0.00	1.60	0.00	0.000	1030	0.000	0.028	2840	2017	2164	2276	2052	0	0	0	0	0	0	25.78	25.75	25.79
3373	0.77	194.6	2840	2013	2276	2052	354.8	13.9	570	3381	0.05	1.65	0.00	0.000	2564	0.254	0.037	2858	952	2164	2276	2052	0	0	0	0	0	0	25.70	25.88	25.89
3399	0.77	194.6	2857	949	2276	2052	350.5	14.2	574	3408	0.00	1.70	0.00	0.000	1030	0.000	0.036	2851	2003	2164	2276	2052	0	0	0	0	0	0	25.95	25.91	25.96
3476	0.74	194.6	2851	2003	2275	2052	339.7	14.1	587	3484	0.00	1.67	0.00	0.000	388	0.000	0.044	2843	3055	2163	2275	2052	0	0	0	0	0	0	26.06	26.00	26.06
3523	0.71	194.6	2843	3055	2272	2052	332.7	14.6	595	3530	0.00	1.60	0.00	0.000	1158	0.000	0.029	2849	1999	2165	2278	2052	0	0	0	0	0	0	26.08	26.04	26.08
3597	0.68	194.6	2849	1995	2272	2052	322.5	14.0	608	3604	0.00	1.62	0.00	0.000	644	0.000	0.038	2858	949	2162	2272	2052	0	0	0	0	0	0	26.11	26.05	26.11
3624	0.66	194.6	2857	946	2273	2052	318.7	14.0	612	3631	0.00	1.65	0.00	0.000	1158	0.000	0.036	2851	2001	2162	2273	2052	0	0	0	0	0	0	26.11	26.06	26.13
3698	0.63	194.6	2854	2002	2272	2052	308.4	14.1	625	3705	0.00	1.62	0.00	0.000	388	0.000	0.043	2844	3053	2162	2273	2052	0	0	0	0	0	0	26.15	26.07	26.13
3749	0.60	194.6	2843	3054	2270	2052	300.8	14.3	634	3758	0.08	1.60	0.00	0.000	5254	0.286	0.029	2840	2001	2161	2270	2052	0	0	0	0	0	0	25.85	26.10	26.08
3825	0.60	197.9	2840	1996	2270	2052	290.8	13.2	647	3831	0.00	0.00	0.00	0.000	38	0.000	0.000	2840	1996	2161	2270	2052	0	0	0	0	0	0	26.15	26.17	26.16
3899	0.62	216.3	2840	1996	2269	2053	281.4	12.5	660	3922	0.00	1.75	17.70	0.912	8484	0.000	0.043	2833	3056	2083	2202	1965	0	0	0	0	0	0	26.16	25.80	25.06
3940	0.62	218.7	2832	3057	2197	1965	275.9	13.2	666	3948	0.00	1.62	0.00	0.000	1062	0.000	0.028	2840	1994	2081	2197	1965	0	0	0	0	0	0	25.94	25.91	25.94
4014	0.62	218.7	2838	1991	2202	1964	266.3	13.6	679	4021	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1991	2080	2195	1965	0	0	0	0	0	0	26.06	26.06	26.06
4087	0.63	222.3	2838	1993	2195	1965	256.5	13.2	692	4100	0.00	0.00	6.68	0.785	8230	0.000	0.000	2839	1991	2057	2174	1940	0	0	0	0	0	0	26.12	25.73	25.12
4166	0.64	234.2	2838	1991	2172	1938	245.9	12.8	706	4183	0.00	1.70	11.62	0.860	8484	0.000	0.043	2833	3060	2008	2128	1889	0	0	0	0	0	0	26.07	25.83	25.05
4224	0.67	245.3	2832	3064	2123	1888	238.7	12.8	715	4240	0.00	1.67	10.52	0.835	9382	0.000	0.029	2839	1994	1965	2083	1847	0	0	0	0	0	0	25.99	25.98	25.01
4307	0.72	265.0	2838	1991	2080	1846	228.1	12.4	729	4329	0.00	0.00	17.55	0.870	8870	0.000	0.000	2839	1991	1883	2010	1757	0	0	0	0	0	0	25.99	25.65	24.94
4395	0.76	277.9	2838	1991	2004	1761	216.8	12.7	744	4410	0.00	0.00	11.68	0.829	8358	0.000	0.000	2839	1991	1832	1956	1708	0	0	0	0	0	0	25.96	25.69	24.98
4478	0.79	283.5	2838	1991	1949	1707	206.2	13.1	758	4487	0.10	0.00	6.10	0.724	10406	0.194	0.000	2866	1991	1811	1932	1690	0	0	0	0	0	0	25.78	25.79	25.03
4553	0.77	283.5	2866	1991	1926	1687	194.9	16.0	771	4559	0.00	0.00	0.00	0.000	134	0.000	0.000	2866	1991	1807	1926	1688	0	0	0	0	0	0	26.02	26.02	26.02
4626	0.77	283.5	2865	1991	1925	1688	183.0	17.0	784	4633	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	1991	1806	1925	1687	0	0	0	0	0	0	26.08	26.08	26.08
4698	0.77	283.5	2865	1991	1923	1687	171.1	16.9	797	4706	0.00	1.62	0.00	0.000	516	0.000	0.040	2873	945	1805	1923	1688	0	0	0	0	0	0	26.12	26.05	26.12
4724	0.77	283.5	2873	944	1922	1687	166.5	16.9	801	4731	0.00	1.65	0.00	0.000	1030	0.000	0.035	2868	2002	1804	1922	1687	0	0	0	0	0	0	26.11	26.05	26.12
4797	0.77	283.5	2867	2002	1920	1687	154.5	16.4	814	4804	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2002	1803	1920	1687	0	0	0	0	0	0	26.14	26.14	26.14
4870	0.77	283.5	2867	2002	1920	1688	142.3	16.2	827	4877	0.00	1.62	0.00	0.000	260	0.000	0.043	2860	3054	1803	1919	1687	0	0	0	0	0	0	26.14	26.07	26.15
4912	0.77	283.5	2859	3054	1915	1688	135.1	17.1	834	4920	0.00	1.62	0.00	0.000	1030	0.000	0.030	2863	1993	1801	1916	1687	0	0	0	0	0	0	26.15	26.10	26.15
4987	0.77	283.5	2866	1992	1915	1687	122.5	17.0	847	4994	0.00	1.62	0.00	0.000	516	0.000	0.038	2874	937	1801	1916	1687	0	0	0	0	0	0	26.15	26.08	26.15
5055	0.80	283.5	2874	940	1916	1688	111.3	16.5	859	5062	0.00	1.67	0.00	0.000	1158	0.000	0.035	2874	2007	1802	1916	1688	0	0	0	0	0	0	26.15	26.09	26.15
5128	0.80	283.5	2874	2007	1916	1688	98.2	17.7	872	5135	0.00	1.62	0.00	0.000	260	0.000	0.042	2869	3059	1801	1916	1687	0	0	0	0	0	0	26.15	26.10	26.16
5154	0.80	283.5	2869	3060	1914	1687	93.4	18.3	876	5161	0.00	1.62	0.00	0.000	1030	0.000	0.031	2875	1996	1800	1914	1687	0	0	0	0	0	0	26.17	26.12	26.17
5227	0.78	283.5	2874	1993	1914	1687	80.6	18.2	889	5234	0.00	1.62	0.00	0.000	644	0.000	0.039	2884	942	1801	1914	1688	0	0	0	0	0	0	26.15	26.09	26.15
5253	0.78	283.5	2883	942	1914	1688	75.7	18.2	893	5260	0.00	1.67	0.00	0.000	1030	0.000	0.036	2878	2009	1803	1914	1693	0	0	0	0	0	0	26.16	26.10	26.17
5327	0.78	283.5	2878	2009	1914	1687	63.0	18.0	906	5334	0.00	1.62	0.00	0.000	260	0.000	0.041	2871	3063	1800	1914	1687	0	0	0	0	0	0	26.15	26.08	26.15
5361	0.78	283.5	2869	3062	1913	1688	57.2	17.4	911	5368	0.00	1.62	0.00	0.000	1030	0.000	0.031	2876	1999	1800	1914	1687	0	0	0	0	0	0	26.16	26.11	26.17
5433	0.78	283.5	2876	1995	1913	1687	44.5	15.9	924	5441	0.00	1.62	0.00	0.000	516	0.000	0.037	2884	942	1800	1913	1688	0	0	0	0	0	0	26.15	26.10	26.15
5448	0.78	283.5	2884	942	1913	1688	41.9	15.7	926	5456	0.00	1.67	0.00	0.000	1030	0.000	0.034	2879	2012	1800	1913	1688	0	0	0	0	0	0	26.14	26.09	26.15
5523	0.80	298.4	2878	2009	1913	1688	32.6	12.7	939	5545	0.00	1.73	12.90	0.729	8740	0.000	0.038	2885	948	1747	1862	1633	0	0	0	0	0	0	26.16	25.90	25.19
5607	0.97	360.6	2885	948	1860	1633	22.6	10.5	953	5664	0.15	1.67	51.55	0.729	11430	0.126	0.035	2921	2014	1495	1614	1377	0	0	0	0	0	0	25.96	26.00	24.90
5730	1.08	404.0	2921	2013	1602	1374	7.1	11.3	973	5774	0.12	0.00	36.22	0.697	10662	0.154	0.000	2961	2015	1314	1444	1185	0	0	0	0	0	0	25.71	25.48	24.92
5780	end climb: SURFACE_DEPTH_REACHED
state	5780	begin surface coast
5792	end surface coast: CONTROL_FINISHED_OK
state	5792	begin surface