Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 85 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 38 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 47 ALTIM_PULSE 2

DIVE 85 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 168.0

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 168.0 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 85 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 38 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 200 R_STBD_OVSHOOT 47 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 060822,231135,4449.5620,-12458.8818,1,0.9,2,15.1,1.0,192.8,9,6.5 SPEED_LIMITS 0.231,0.259

_CALLS 2 TGT_NAME NE

_XMS_NAKs 0 TGT_LATLONG 4450.300,-12455.158

_XMS_TOUTs 0 TGT_RADIUS 400.000

_SM_DEPTHo 0.85 MHEAD_RNG_PITCHd_Wd 74.0,5170,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -62.0 D_GRID 879

GPS2 060822,231556,4449.5615,-12458.9551,1,0.9,4,15.1,0.5,278.0,9,5.9

Post-dive calculations and measurements:

FINISH -0.1,1.023411 _10V_AH 10.43,12.396

SM_CCo 6055,96.78,0.689,0,0,926,500.17 FG_AHR_24Vo 0.000

SM_GC 0.61,7.78,1.38,96.78,0.052,0.028,0.689,159,2182,926,-7.48,0.96,500.17,0,0,0,0,0,0,25.91,25.86,24.87 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.76,-12459.77,060822,231214 MEM 220184

TT8_MAMPS 0.023968,0.257656 DATA_FILE_SIZE 36622,1028

HUMID 37.20 CAP_FILE_SIZE 495343,0

INTERNAL_PRESSURE 8.46326 CFSIZE 260030464,231067648

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 0.138,4.33,1

SC_FREEKB 3785536 GPS 070822,010031,4450.011,-12457.836,9,0.9,35,15.1,0.3,229.3,9,3.0

_24V_AH 24.13,14.973

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 237 111.23 nil 0 0 0.00

Roll_motor 104 47 119.68 nil 0 0 0.00

VBD_pump_during_apogee 463 1031 11544.62 nil 0 0 0.00

VBD_pump_during_surface 96 688 1607.77 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 6025 6 945.43

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 16 12 2.15

TT8 2594 13 377.97

LPSleep 326 2 7.46

TT8_Active 861 13 118.83

TT8_Sampling 1995 39 820.59

TT8_CF8 466 49 242.77

TT8_Kalman 0 0 0.00

Analog_circuits 1859 10 193.91

GPS_charging 0 0 0.00

Compass 1600 8 137.57

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 -194.6 186 2228 1056 805 0.0 0.0 0 112 0.00 0.00 -95.78 0.005 16386 0.000 0.000 185 2231 3369 3335 3404 0 0 0 0 0 0 26.19 28.83 26.20

115 -0.75 -194.6 185 2231 3336 3405 3.9 -7.5 14 139 8.38 1.73 -7.20 0.012 18980 0.207 0.047 2372 1117 3765 3723 3807 0 0 0 0 0 0 25.89 24.89 26.06

178 -0.80 -194.6 2374 1111 3730 3806 19.9 -14.4 24 187 0.00 1.73 0.00 0.000 1158 0.000 0.039 2366 2190 3768 3730 3807 0 0 0 0 0 0 26.17 26.15 26.20

253 -0.76 -194.6 2365 2189 3730 3807 30.2 -14.5 37 261 0.00 1.67 0.00 0.000 388 0.000 0.044 2357 3255 3769 3731 3807 0 0 0 0 0 0 26.22 26.15 26.22

304 -0.76 -194.6 2357 3256 3733 3807 37.9 -14.3 46 311 0.00 1.60 0.00 0.000 1030 0.000 0.028 2363 2189 3770 3733 3807 0 0 0 0 0 0 26.23 26.18 26.23

378 -0.76 -194.6 2363 2184 3734 3808 48.1 -13.9 59 385 0.00 1.58 0.00 0.000 516 0.000 0.034 2370 1139 3770 3734 3807 0 0 0 0 0 0 26.24 26.17 26.23

458 -0.87 -194.6 2371 1138 3736 3807 58.1 -10.6 73 465 0.00 1.65 0.00 0.000 1190 0.000 0.039 2364 2203 3771 3736 3806 0 0 0 0 0 0 26.22 26.20 26.24

531 -0.90 -194.6 2364 2203 3737 3807 67.0 -12.0 86 538 0.00 0.00 0.00 0.000 166 0.000 0.000 2364 2203 3772 3737 3807 0 0 0 0 0 0 26.25 26.26 26.29

604 -0.94 -194.6 2364 2203 3737 3806 76.1 -12.8 99 611 0.10 1.62 0.00 0.000 4516 0.135 0.044 2325 3253 3772 3737 3807 0 0 0 0 0 0 26.11 26.17 26.22

656 -0.94 -194.6 2324 3253 3737 3806 83.5 -14.7 108 665 0.00 1.58 0.00 0.000 1030 0.000 0.029 2331 2203 3772 3737 3807 0 0 0 0 0 0 26.24 26.20 26.25

732 -0.94 -194.6 2331 2196 3738 3807 93.5 -13.2 121 738 0.00 0.00 0.00 0.000 38 0.000 0.000 2331 2195 3772 3738 3807 0 0 0 0 0 0 26.23 26.25 26.24

806 -0.94 -194.6 2330 2197 3738 3806 103.2 -13.3 134 812 0.00 0.00 0.00 0.000 38 0.000 0.000 2331 2197 3772 3738 3807 0 0 0 0 0 0 26.26 26.26 26.26

879 -0.94 -194.6 2331 2197 3738 3807 112.6 -13.0 147 886 0.00 1.65 0.00 0.000 292 0.000 0.044 2325 3262 3772 3738 3807 0 0 0 0 0 0 26.25 26.17 26.25

911 -0.94 -194.6 2325 3262 3738 3807 116.9 -13.4 152 918 0.00 1.60 0.00 0.000 1030 0.000 0.028 2332 2199 3772 3738 3807 0 0 0 0 0 0 26.23 26.20 26.25

986 -0.96 -194.6 2330 2193 3738 3807 126.1 -12.4 165 993 0.00 0.00 0.00 0.000 166 0.000 0.000 2331 2193 3772 3738 3807 0 0 0 0 0 0 26.23 26.24 26.24

1060 -0.99 -194.6 2331 2193 3737 3806 135.2 -12.5 178 1066 0.00 0.00 0.00 0.000 166 0.000 0.000 2331 2193 3772 3737 3807 0 0 0 0 0 0 26.25 26.25 26.25

1134 -1.03 -194.6 2331 2193 3738 3806 144.3 -12.6 191 1142 0.10 1.65 0.00 0.000 4516 0.119 0.044 2271 3255 3772 3738 3806 0 0 0 0 0 0 26.14 26.15 26.20

1176 -0.97 -194.6 2270 3255 3738 3805 150.9 -15.5 198 1184 0.10 1.60 0.00 0.000 3206 0.189 0.029 2298 2194 3771 3738 3805 0 0 0 0 0 0 26.01 26.19 26.18

1250 -0.95 -194.6 2297 2189 3738 3805 162.4 -15.1 211 1257 0.00 0.00 0.00 0.000 134 0.000 0.000 2297 2189 3769 3734 3805 0 0 0 0 0 0 26.23 26.24 26.23

1322 -0.95 -194.6 2297 2190 3738 3804 173.2 -15.0 224 1330 0.00 1.65 0.00 0.000 260 0.000 0.046 2290 3253 3770 3737 3804 0 0 0 0 0 0 26.25 26.19 26.25

1359 -0.93 -194.6 2290 3253 3737 3804 178.9 -15.4 230 1367 0.08 1.60 0.00 0.000 3206 0.201 0.030 2305 2200 3771 3738 3804 0 0 0 0 0 0 26.01 26.18 26.18

1432 -0.93 -194.6 2304 2195 3738 3804 189.6 -14.3 243 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2195 3771 3738 3804 0 0 0 0 0 0 26.25 26.26 26.25

1504 -0.93 -194.6 2304 2194 3738 3803 200.0 -14.6 256 1511 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2195 3770 3738 3803 0 0 0 0 0 0 26.22 26.23 26.23

1578 -0.93 -194.6 2304 2195 3737 3803 210.9 -15.3 269 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2195 3770 3738 3803 0 0 0 0 0 0 26.23 26.25 26.24

1650 -0.93 -194.6 2304 2195 3738 3802 221.7 -14.8 282 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2195 3770 3738 3803 0 0 0 0 0 0 26.24 26.25 26.25

1721 -0.93 -194.6 2304 2194 3738 3801 232.5 -15.7 295 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2195 3768 3735 3801 0 0 0 0 0 0 26.24 26.23 26.24

1793 -0.93 -194.6 2303 2195 3738 3801 243.6 -15.3 308 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2195 3769 3737 3801 0 0 0 0 0 0 26.22 26.22 26.22

1867 -0.93 -194.6 2304 2195 3738 3799 254.3 -14.4 321 1874 0.00 1.67 0.00 0.000 260 0.000 0.047 2298 3264 3768 3737 3800 0 0 0 0 0 0 26.24 26.15 26.24

1898 -0.93 -194.6 2297 3264 3738 3799 258.8 -14.9 326 1905 0.00 1.62 0.00 0.000 1030 0.000 0.029 2303 2190 3768 3737 3799 0 0 0 0 0 0 26.20 26.16 26.19

1972 -0.93 -194.6 2310 2185 3738 3798 269.0 -13.7 339 1979 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2186 3768 3738 3799 0 0 0 0 0 0 26.25 26.25 26.25

2045 -0.93 -194.6 2304 2185 3737 3798 278.6 -13.5 352 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2185 3767 3737 3798 0 0 0 0 0 0 26.23 26.24 26.23

2119 -0.95 -194.6 2304 2185 3738 3797 288.4 -13.8 365 2126 0.00 1.67 0.00 0.000 388 0.000 0.047 2298 3255 3767 3738 3797 0 0 0 0 0 0 26.23 26.14 26.23

2154 -0.95 -194.6 2297 3254 3737 3796 293.6 -14.2 371 2162 0.00 1.60 0.00 0.000 1030 0.000 0.030 2303 2203 3769 3737 3801 0 0 0 0 0 0 26.22 26.17 26.21

2228 -0.97 -194.6 2303 2197 3737 3796 302.7 -12.2 384 2235 0.00 0.00 0.00 0.000 166 0.000 0.000 2304 2196 3766 3738 3795 0 0 0 0 0 0 26.22 26.23 26.23

2302 -1.00 -194.6 2303 2197 3737 3795 312.0 -12.9 397 2309 0.00 0.00 0.00 0.000 166 0.000 0.000 2304 2196 3766 3737 3795 0 0 0 0 0 0 26.21 26.22 26.21

2375 -1.02 -194.6 2303 2196 3737 3794 321.4 -13.5 410 2382 0.00 1.65 0.00 0.000 388 0.000 0.047 2297 3252 3768 3738 3798 0 0 0 0 0 0 26.22 26.13 26.25

2448 -1.06 -194.6 2297 3252 3737 3799 331.3 -13.1 423 2455 0.00 1.60 0.00 0.000 1190 0.000 0.030 2304 2200 3765 3737 3793 0 0 0 0 0 0 26.21 26.17 26.21

2522 -1.08 -194.6 2303 2194 3736 3793 340.9 -13.3 436 2529 0.00 0.00 0.00 0.000 166 0.000 0.000 2303 2194 3765 3737 3793 0 0 0 0 0 0 26.22 26.25 26.22

2596 -1.11 -194.6 2303 2194 3737 3792 350.3 -12.7 449 2604 0.00 1.67 0.00 0.000 420 0.000 0.047 2297 3261 3764 3737 3792 0 0 0 0 0 0 26.24 26.13 26.24

2638 -1.11 -194.6 2295 3261 3737 3791 355.8 -12.4 456 2646 0.00 1.62 0.00 0.000 1062 0.000 0.029 2302 2193 3764 3738 3791 0 0 0 0 0 0 26.22 26.17 26.23

2713 -1.13 -194.6 2303 2188 3737 3789 364.7 -12.0 469 2720 0.10 0.00 0.00 0.000 4262 0.118 0.000 2269 2188 3763 3737 3790 0 0 0 0 0 0 26.10 26.18 26.19

2786 -1.08 -194.6 2269 2188 3737 3789 375.5 -15.5 482 2792 0.00 0.00 0.00 0.000 134 0.000 0.000 2270 2188 3763 3737 3789 0 0 0 0 0 0 26.21 26.22 26.22

2857 -1.05 -194.6 2268 2188 3737 3788 386.9 -16.1 495 2864 0.00 1.67 0.00 0.000 388 0.000 0.047 2261 3257 3762 3737 3788 0 0 0 0 0 0 26.22 26.10 26.22

2894 -1.00 -194.6 2261 3257 3737 3787 392.8 -16.3 501 2901 0.10 1.62 0.00 0.000 3206 0.183 0.031 2288 2184 3764 3737 3792 0 0 0 0 0 0 25.98 26.15 26.14

2945 end dive: TARGET_DEPTH_EXCEEDED

state 2945 begin apogee

2950 -0.11 0.0 2289 1967 3737 3787 400.3 -13.1 510 3113 0.95 0.00 152.73 1.031 10246 0.156 0.000 2565 1967 2964 3030 2899 0 0 0 0 0 0 25.85 24.99 24.44

3115 end apogee: CONTROL_FINISHED_OK

state 3115 begin climb

3117 0.75 194.6 2564 1967 3026 2899 403.5 0.0 534 3286 0.90 1.70 156.82 0.993 10756 0.110 0.036 2848 980 2170 2288 2053 0 0 0 0 0 0 25.21 24.76 24.13

3358 0.77 194.6 2847 974 2280 2049 378.8 14.5 570 3365 0.00 1.65 0.00 0.000 1158 0.000 0.037 2842 2003 2166 2280 2053 0 0 0 0 0 0 25.57 25.53 25.58

3431 0.77 194.6 2841 2003 2276 2052 368.3 15.4 583 3438 0.00 1.65 0.00 0.000 260 0.000 0.043 2834 3059 2164 2276 2052 0 0 0 0 0 0 25.86 25.81 25.88

3472 0.77 194.6 2834 3059 2273 2052 361.8 16.3 590 3479 0.08 1.58 0.00 0.000 3078 0.207 0.028 2854 2021 2162 2272 2052 0 0 0 0 0 0 25.77 25.93 25.92

3545 0.74 194.6 2854 2015 2272 2052 350.0 16.9 603 3551 0.00 0.00 0.00 0.000 134 0.000 0.000 2854 2016 2162 2272 2052 0 0 0 0 0 0 26.08 26.09 26.09

3618 0.72 194.6 2854 2015 2272 2052 339.0 15.1 616 3625 0.00 0.00 0.00 0.000 134 0.000 0.000 2855 2015 2162 2272 2052 0 0 0 0 0 0 26.15 26.15 26.15

3692 0.70 194.6 2854 2015 2271 2052 327.8 15.1 629 3699 0.00 1.60 0.00 0.000 388 0.000 0.043 2849 3056 2161 2270 2052 0 0 0 0 0 0 26.18 26.13 26.19

3733 0.66 194.6 2848 3056 2268 2052 321.4 15.4 636 3741 0.00 1.60 0.00 0.000 1158 0.000 0.029 2855 1995 2160 2268 2052 0 0 0 0 0 0 26.17 26.15 26.20

3807 0.64 194.6 2854 1990 2268 2048 310.3 15.2 649 3814 0.00 0.00 0.00 0.000 134 0.000 0.000 2855 1990 2159 2268 2051 0 0 0 0 0 0 26.22 26.22 26.22

3879 0.64 194.6 2854 1990 2268 2052 299.3 14.7 662 3886 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 1990 2160 2268 2052 0 0 0 0 0 0 26.24 26.25 26.25

3952 0.61 194.6 2854 1990 2268 2051 288.5 15.6 675 3959 0.10 1.65 0.00 0.000 4484 0.238 0.040 2831 3055 2159 2268 2051 0 0 0 0 0 0 25.96 26.17 26.18

4010 0.61 194.6 2830 3056 2264 2051 279.8 14.8 685 4017 0.00 1.60 0.00 0.000 1030 0.000 0.029 2837 1994 2158 2265 2051 0 0 0 0 0 0 26.22 26.18 26.23

4082 0.61 199.7 2836 1990 2264 2051 270.0 13.1 698 4089 0.00 1.60 0.00 0.000 548 0.000 0.037 2845 947 2157 2264 2051 0 0 0 0 0 0 26.24 26.18 26.24

4108 0.61 199.7 2844 948 2265 2052 266.4 13.4 702 4115 0.00 1.65 0.00 0.000 1030 0.000 0.035 2842 2004 2157 2264 2051 0 0 0 0 0 0 26.22 26.16 26.22

4182 0.62 206.5 2838 2008 2264 2051 257.1 13.0 715 4198 0.00 1.65 9.10 0.839 8484 0.000 0.044 2830 3058 2122 2234 2011 0 0 0 0 0 0 26.22 26.03 25.26

4254 0.62 206.5 2830 3058 2231 2012 246.9 13.8 727 4261 0.00 1.60 0.00 0.000 1030 0.000 0.028 2836 1998 2120 2229 2011 0 0 0 0 0 0 26.19 26.12 26.18

4329 0.65 211.8 2836 1994 2229 2007 237.1 13.1 740 4337 0.00 1.60 0.00 0.000 676 0.000 0.037 2845 954 2120 2229 2011 0 0 0 0 0 0 26.22 26.15 26.20

4367 0.68 213.9 2844 954 2229 2011 231.9 13.2 746 4381 0.00 1.65 7.32 0.792 9382 0.000 0.036 2838 2010 2093 2205 1981 0 0 0 0 0 0 26.19 26.14 25.22

4449 0.71 218.1 2838 2010 2204 1977 221.3 13.1 760 4457 0.00 1.62 0.00 0.000 420 0.000 0.043 2830 3062 2092 2203 1981 0 0 0 0 0 0 26.16 26.09 26.16

4470 0.71 218.1 2830 3063 2202 1980 218.3 13.6 763 4477 0.00 1.60 0.00 0.000 1030 0.000 0.029 2837 2001 2091 2202 1981 0 0 0 0 0 0 26.17 26.14 26.21

4543 0.74 218.1 2836 1997 2202 1981 208.5 13.5 776 4551 0.00 1.62 0.00 0.000 644 0.000 0.038 2845 940 2091 2202 1981 0 0 0 0 0 0 26.20 26.15 26.20

4580 0.78 218.1 2847 940 2202 1981 203.2 13.9 782 4588 0.10 1.67 0.00 0.000 3206 0.211 0.037 2861 2008 2091 2202 1981 0 0 0 0 0 0 25.98 26.13 26.15

4653 0.76 218.1 2860 2008 2202 1981 192.2 15.3 795 4660 0.00 1.62 0.00 0.000 388 0.000 0.042 2854 3064 2091 2201 1981 0 0 0 0 0 0 26.22 26.15 26.22

4690 0.76 218.1 2854 3064 2200 1981 186.5 15.8 801 4697 0.00 1.62 0.00 0.000 1030 0.000 0.031 2859 1995 2089 2197 1981 0 0 0 0 0 0 26.20 26.16 26.21

4762 0.76 218.1 2861 1991 2198 1980 175.4 15.3 814 4769 0.00 1.60 0.00 0.000 516 0.000 0.038 2870 949 2087 2193 1981 0 0 0 0 0 0 26.23 26.20 26.24

4793 0.76 218.1 2869 949 2198 1981 170.7 15.4 819 4800 0.00 1.65 0.00 0.000 1030 0.000 0.037 2871 2005 2090 2198 1982 0 0 0 0 0 0 26.21 26.15 26.22

4867 0.73 218.1 2869 2005 2197 1981 159.6 15.3 832 4874 0.00 1.62 0.00 0.000 388 0.000 0.043 2866 3060 2089 2197 1981 0 0 0 0 0 0 26.22 26.15 26.22

4909 0.70 218.1 2866 3061 2195 1981 153.0 15.9 839 4916 0.00 1.62 0.00 0.000 1158 0.000 0.029 2873 1998 2088 2195 1981 0 0 0 0 0 0 26.21 26.17 26.22

4982 0.67 218.1 2872 1989 2191 1981 142.0 15.7 852 4990 0.08 1.62 0.00 0.000 4740 0.224 0.037 2872 932 2088 2195 1981 0 0 0 0 0 0 25.99 26.16 26.16

5000 0.64 218.1 2866 932 2195 1981 139.3 15.4 854 5007 0.10 1.67 0.00 0.000 5254 0.184 0.036 2847 2005 2087 2195 1979 0 0 0 0 0 0 25.98 26.14 26.13

5074 0.64 218.1 2847 2005 2195 1981 128.8 13.7 867 5081 0.00 1.60 0.00 0.000 260 0.000 0.044 2840 3054 2088 2195 1981 0 0 0 0 0 0 26.21 26.14 26.22

5145 0.64 218.1 2839 3054 2194 1981 119.0 14.1 880 5153 0.00 1.62 0.00 0.000 1030 0.000 0.030 2846 1978 2087 2194 1981 0 0 0 0 0 0 26.22 26.18 26.23

5221 0.66 218.1 2845 1977 2194 1981 108.6 13.9 893 5228 0.00 1.58 0.00 0.000 644 0.000 0.037 2854 952 2087 2194 1981 0 0 0 0 0 0 26.22 26.16 26.22

5249 0.69 218.1 2852 952 2193 1981 104.9 13.6 897 5256 0.00 1.65 0.00 0.000 1158 0.000 0.036 2848 2006 2087 2193 1981 0 0 0 0 0 0 26.20 26.14 26.21

5322 0.69 218.1 2847 2007 2193 1981 94.5 13.6 910 5329 0.00 1.62 0.00 0.000 260 0.000 0.044 2840 3060 2087 2194 1981 0 0 0 0 0 0 26.21 26.13 26.23

5381 0.73 218.1 2839 3060 2192 1981 86.2 14.3 920 5389 0.00 1.60 0.00 0.000 1158 0.000 0.029 2846 2003 2086 2192 1981 0 0 0 0 0 0 26.20 26.15 26.20

5457 0.80 255.2 2845 1997 2192 1981 76.6 11.6 933 5500 0.08 1.67 34.40 0.786 11172 0.202 0.041 2859 3053 1924 2046 1803 0 0 0 0 0 0 25.99 25.57 25.07

5509 0.80 255.2 2856 3053 2037 1803 69.4 13.7 940 5517 0.00 1.62 0.00 0.000 1030 0.000 0.031 2866 1999 1920 2037 1803 0 0 0 0 0 0 25.86 25.85 25.86

5585 0.80 255.2 2866 1997 2035 1803 58.6 14.9 953 5592 0.00 1.62 0.00 0.000 516 0.000 0.038 2874 949 1917 2034 1801 0 0 0 0 0 0 26.04 25.98 26.04

5669 0.90 294.4 2873 949 2032 1801 47.7 11.5 968 5707 0.10 1.65 31.83 0.747 11430 0.139 0.037 2902 2002 1766 1887 1646 0 0 0 0 0 0 26.01 26.07 25.07

5774 0.90 294.4 2904 2003 1875 1642 33.4 14.8 985 5781 0.00 1.65 0.00 0.000 516 0.000 0.037 2910 939 1758 1875 1642 0 0 0 0 0 0 26.01 25.96 26.01

5847 0.98 337.3 2910 939 1866 1642 23.9 11.4 998 5890 0.10 1.67 34.58 0.718 11430 0.151 0.036 2928 2008 1588 1705 1471 0 0 0 0 0 0 25.96 26.01 25.06

5958 1.06 382.4 2928 2008 1696 1470 9.8 11.3 1016 6003 0.08 1.67 37.17 0.690 10660 0.193 0.044 2937 3052 1405 1523 1287 0 0 0 0 0 0 25.81 25.62 25.04

6020 end climb: SURFACE_DEPTH_REACHED

state 6020 begin surface coast

6036 end surface coast: CONTROL_FINISHED_OK

state 6036 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	47	ALTIM_PULSE	2
DIVE	85	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	168.0
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	060822,231135,4449.5620,-12458.8818,1,0.9,2,15.1,1.0,192.8,9,6.5	SPEED_LIMITS	0.231,0.259
_CALLS	2	TGT_NAME	NE
_XMS_NAKs	0	TGT_LATLONG	4450.300,-12455.158
_XMS_TOUTs	0	TGT_RADIUS	400.000
_SM_DEPTHo	0.85	MHEAD_RNG_PITCHd_Wd	74.0,5170,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-62.0	D_GRID	879
GPS2	060822,231556,4449.5615,-12458.9551,1,0.9,4,15.1,0.5,278.0,9,5.9

FINISH	-0.1,1.023411	_10V_AH	10.43,12.396
SM_CCo	6055,96.78,0.689,0,0,926,500.17	FG_AHR_24Vo	0.000
SM_GC	0.61,7.78,1.38,96.78,0.052,0.028,0.689,159,2182,926,-7.48,0.96,500.17,0,0,0,0,0,0,25.91,25.86,24.87	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.76,-12459.77,060822,231214	MEM	220184
TT8_MAMPS	0.023968,0.257656	DATA_FILE_SIZE	36622,1028
HUMID	37.20	CAP_FILE_SIZE	495343,0
INTERNAL_PRESSURE	8.46326	CFSIZE	260030464,231067648
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	0.138,4.33,1
SC_FREEKB	3785536	GPS	070822,010031,4450.011,-12457.836,9,0.9,35,15.1,0.3,229.3,9,3.0
_24V_AH	24.13,14.973

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	237	111.23	nil	0	0	0.00
Roll_motor	104	47	119.68	nil	0	0	0.00
VBD_pump_during_apogee	463	1031	11544.62	nil	0	0	0.00
VBD_pump_during_surface	96	688	1607.77	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	6025	6	945.43
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	16	12	2.15
TT8	2594	13	377.97
LPSleep	326	2	7.46
TT8_Active	861	13	118.83
TT8_Sampling	1995	39	820.59
TT8_CF8	466	49	242.77
TT8_Kalman	0	0	0.00
Analog_circuits	1859	10	193.91
GPS_charging	0	0	0.00
Compass	1600	8	137.57
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	186	2228	1056	805	0.0	0.0	0	112	0.00	0.00	-95.78	0.005	16386	0.000	0.000	185	2231	3369	3335	3404	0	0	0	0	0	0	26.19	28.83	26.20
115	-0.75	-194.6	185	2231	3336	3405	3.9	-7.5	14	139	8.38	1.73	-7.20	0.012	18980	0.207	0.047	2372	1117	3765	3723	3807	0	0	0	0	0	0	25.89	24.89	26.06
178	-0.80	-194.6	2374	1111	3730	3806	19.9	-14.4	24	187	0.00	1.73	0.00	0.000	1158	0.000	0.039	2366	2190	3768	3730	3807	0	0	0	0	0	0	26.17	26.15	26.20
253	-0.76	-194.6	2365	2189	3730	3807	30.2	-14.5	37	261	0.00	1.67	0.00	0.000	388	0.000	0.044	2357	3255	3769	3731	3807	0	0	0	0	0	0	26.22	26.15	26.22
304	-0.76	-194.6	2357	3256	3733	3807	37.9	-14.3	46	311	0.00	1.60	0.00	0.000	1030	0.000	0.028	2363	2189	3770	3733	3807	0	0	0	0	0	0	26.23	26.18	26.23
378	-0.76	-194.6	2363	2184	3734	3808	48.1	-13.9	59	385	0.00	1.58	0.00	0.000	516	0.000	0.034	2370	1139	3770	3734	3807	0	0	0	0	0	0	26.24	26.17	26.23
458	-0.87	-194.6	2371	1138	3736	3807	58.1	-10.6	73	465	0.00	1.65	0.00	0.000	1190	0.000	0.039	2364	2203	3771	3736	3806	0	0	0	0	0	0	26.22	26.20	26.24
531	-0.90	-194.6	2364	2203	3737	3807	67.0	-12.0	86	538	0.00	0.00	0.00	0.000	166	0.000	0.000	2364	2203	3772	3737	3807	0	0	0	0	0	0	26.25	26.26	26.29
604	-0.94	-194.6	2364	2203	3737	3806	76.1	-12.8	99	611	0.10	1.62	0.00	0.000	4516	0.135	0.044	2325	3253	3772	3737	3807	0	0	0	0	0	0	26.11	26.17	26.22
656	-0.94	-194.6	2324	3253	3737	3806	83.5	-14.7	108	665	0.00	1.58	0.00	0.000	1030	0.000	0.029	2331	2203	3772	3737	3807	0	0	0	0	0	0	26.24	26.20	26.25
732	-0.94	-194.6	2331	2196	3738	3807	93.5	-13.2	121	738	0.00	0.00	0.00	0.000	38	0.000	0.000	2331	2195	3772	3738	3807	0	0	0	0	0	0	26.23	26.25	26.24
806	-0.94	-194.6	2330	2197	3738	3806	103.2	-13.3	134	812	0.00	0.00	0.00	0.000	38	0.000	0.000	2331	2197	3772	3738	3807	0	0	0	0	0	0	26.26	26.26	26.26
879	-0.94	-194.6	2331	2197	3738	3807	112.6	-13.0	147	886	0.00	1.65	0.00	0.000	292	0.000	0.044	2325	3262	3772	3738	3807	0	0	0	0	0	0	26.25	26.17	26.25
911	-0.94	-194.6	2325	3262	3738	3807	116.9	-13.4	152	918	0.00	1.60	0.00	0.000	1030	0.000	0.028	2332	2199	3772	3738	3807	0	0	0	0	0	0	26.23	26.20	26.25
986	-0.96	-194.6	2330	2193	3738	3807	126.1	-12.4	165	993	0.00	0.00	0.00	0.000	166	0.000	0.000	2331	2193	3772	3738	3807	0	0	0	0	0	0	26.23	26.24	26.24
1060	-0.99	-194.6	2331	2193	3737	3806	135.2	-12.5	178	1066	0.00	0.00	0.00	0.000	166	0.000	0.000	2331	2193	3772	3737	3807	0	0	0	0	0	0	26.25	26.25	26.25
1134	-1.03	-194.6	2331	2193	3738	3806	144.3	-12.6	191	1142	0.10	1.65	0.00	0.000	4516	0.119	0.044	2271	3255	3772	3738	3806	0	0	0	0	0	0	26.14	26.15	26.20
1176	-0.97	-194.6	2270	3255	3738	3805	150.9	-15.5	198	1184	0.10	1.60	0.00	0.000	3206	0.189	0.029	2298	2194	3771	3738	3805	0	0	0	0	0	0	26.01	26.19	26.18
1250	-0.95	-194.6	2297	2189	3738	3805	162.4	-15.1	211	1257	0.00	0.00	0.00	0.000	134	0.000	0.000	2297	2189	3769	3734	3805	0	0	0	0	0	0	26.23	26.24	26.23
1322	-0.95	-194.6	2297	2190	3738	3804	173.2	-15.0	224	1330	0.00	1.65	0.00	0.000	260	0.000	0.046	2290	3253	3770	3737	3804	0	0	0	0	0	0	26.25	26.19	26.25
1359	-0.93	-194.6	2290	3253	3737	3804	178.9	-15.4	230	1367	0.08	1.60	0.00	0.000	3206	0.201	0.030	2305	2200	3771	3738	3804	0	0	0	0	0	0	26.01	26.18	26.18
1432	-0.93	-194.6	2304	2195	3738	3804	189.6	-14.3	243	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2195	3771	3738	3804	0	0	0	0	0	0	26.25	26.26	26.25
1504	-0.93	-194.6	2304	2194	3738	3803	200.0	-14.6	256	1511	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2195	3770	3738	3803	0	0	0	0	0	0	26.22	26.23	26.23
1578	-0.93	-194.6	2304	2195	3737	3803	210.9	-15.3	269	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2195	3770	3738	3803	0	0	0	0	0	0	26.23	26.25	26.24
1650	-0.93	-194.6	2304	2195	3738	3802	221.7	-14.8	282	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2195	3770	3738	3803	0	0	0	0	0	0	26.24	26.25	26.25
1721	-0.93	-194.6	2304	2194	3738	3801	232.5	-15.7	295	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2195	3768	3735	3801	0	0	0	0	0	0	26.24	26.23	26.24
1793	-0.93	-194.6	2303	2195	3738	3801	243.6	-15.3	308	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2195	3769	3737	3801	0	0	0	0	0	0	26.22	26.22	26.22
1867	-0.93	-194.6	2304	2195	3738	3799	254.3	-14.4	321	1874	0.00	1.67	0.00	0.000	260	0.000	0.047	2298	3264	3768	3737	3800	0	0	0	0	0	0	26.24	26.15	26.24
1898	-0.93	-194.6	2297	3264	3738	3799	258.8	-14.9	326	1905	0.00	1.62	0.00	0.000	1030	0.000	0.029	2303	2190	3768	3737	3799	0	0	0	0	0	0	26.20	26.16	26.19
1972	-0.93	-194.6	2310	2185	3738	3798	269.0	-13.7	339	1979	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2186	3768	3738	3799	0	0	0	0	0	0	26.25	26.25	26.25
2045	-0.93	-194.6	2304	2185	3737	3798	278.6	-13.5	352	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2185	3767	3737	3798	0	0	0	0	0	0	26.23	26.24	26.23
2119	-0.95	-194.6	2304	2185	3738	3797	288.4	-13.8	365	2126	0.00	1.67	0.00	0.000	388	0.000	0.047	2298	3255	3767	3738	3797	0	0	0	0	0	0	26.23	26.14	26.23
2154	-0.95	-194.6	2297	3254	3737	3796	293.6	-14.2	371	2162	0.00	1.60	0.00	0.000	1030	0.000	0.030	2303	2203	3769	3737	3801	0	0	0	0	0	0	26.22	26.17	26.21
2228	-0.97	-194.6	2303	2197	3737	3796	302.7	-12.2	384	2235	0.00	0.00	0.00	0.000	166	0.000	0.000	2304	2196	3766	3738	3795	0	0	0	0	0	0	26.22	26.23	26.23
2302	-1.00	-194.6	2303	2197	3737	3795	312.0	-12.9	397	2309	0.00	0.00	0.00	0.000	166	0.000	0.000	2304	2196	3766	3737	3795	0	0	0	0	0	0	26.21	26.22	26.21
2375	-1.02	-194.6	2303	2196	3737	3794	321.4	-13.5	410	2382	0.00	1.65	0.00	0.000	388	0.000	0.047	2297	3252	3768	3738	3798	0	0	0	0	0	0	26.22	26.13	26.25
2448	-1.06	-194.6	2297	3252	3737	3799	331.3	-13.1	423	2455	0.00	1.60	0.00	0.000	1190	0.000	0.030	2304	2200	3765	3737	3793	0	0	0	0	0	0	26.21	26.17	26.21
2522	-1.08	-194.6	2303	2194	3736	3793	340.9	-13.3	436	2529	0.00	0.00	0.00	0.000	166	0.000	0.000	2303	2194	3765	3737	3793	0	0	0	0	0	0	26.22	26.25	26.22
2596	-1.11	-194.6	2303	2194	3737	3792	350.3	-12.7	449	2604	0.00	1.67	0.00	0.000	420	0.000	0.047	2297	3261	3764	3737	3792	0	0	0	0	0	0	26.24	26.13	26.24
2638	-1.11	-194.6	2295	3261	3737	3791	355.8	-12.4	456	2646	0.00	1.62	0.00	0.000	1062	0.000	0.029	2302	2193	3764	3738	3791	0	0	0	0	0	0	26.22	26.17	26.23
2713	-1.13	-194.6	2303	2188	3737	3789	364.7	-12.0	469	2720	0.10	0.00	0.00	0.000	4262	0.118	0.000	2269	2188	3763	3737	3790	0	0	0	0	0	0	26.10	26.18	26.19
2786	-1.08	-194.6	2269	2188	3737	3789	375.5	-15.5	482	2792	0.00	0.00	0.00	0.000	134	0.000	0.000	2270	2188	3763	3737	3789	0	0	0	0	0	0	26.21	26.22	26.22
2857	-1.05	-194.6	2268	2188	3737	3788	386.9	-16.1	495	2864	0.00	1.67	0.00	0.000	388	0.000	0.047	2261	3257	3762	3737	3788	0	0	0	0	0	0	26.22	26.10	26.22
2894	-1.00	-194.6	2261	3257	3737	3787	392.8	-16.3	501	2901	0.10	1.62	0.00	0.000	3206	0.183	0.031	2288	2184	3764	3737	3792	0	0	0	0	0	0	25.98	26.15	26.14
2945	end dive: TARGET_DEPTH_EXCEEDED
state	2945	begin apogee
2950	-0.11	0.0	2289	1967	3737	3787	400.3	-13.1	510	3113	0.95	0.00	152.73	1.031	10246	0.156	0.000	2565	1967	2964	3030	2899	0	0	0	0	0	0	25.85	24.99	24.44
3115	end apogee: CONTROL_FINISHED_OK
state	3115	begin climb
3117	0.75	194.6	2564	1967	3026	2899	403.5	0.0	534	3286	0.90	1.70	156.82	0.993	10756	0.110	0.036	2848	980	2170	2288	2053	0	0	0	0	0	0	25.21	24.76	24.13
3358	0.77	194.6	2847	974	2280	2049	378.8	14.5	570	3365	0.00	1.65	0.00	0.000	1158	0.000	0.037	2842	2003	2166	2280	2053	0	0	0	0	0	0	25.57	25.53	25.58
3431	0.77	194.6	2841	2003	2276	2052	368.3	15.4	583	3438	0.00	1.65	0.00	0.000	260	0.000	0.043	2834	3059	2164	2276	2052	0	0	0	0	0	0	25.86	25.81	25.88
3472	0.77	194.6	2834	3059	2273	2052	361.8	16.3	590	3479	0.08	1.58	0.00	0.000	3078	0.207	0.028	2854	2021	2162	2272	2052	0	0	0	0	0	0	25.77	25.93	25.92
3545	0.74	194.6	2854	2015	2272	2052	350.0	16.9	603	3551	0.00	0.00	0.00	0.000	134	0.000	0.000	2854	2016	2162	2272	2052	0	0	0	0	0	0	26.08	26.09	26.09
3618	0.72	194.6	2854	2015	2272	2052	339.0	15.1	616	3625	0.00	0.00	0.00	0.000	134	0.000	0.000	2855	2015	2162	2272	2052	0	0	0	0	0	0	26.15	26.15	26.15
3692	0.70	194.6	2854	2015	2271	2052	327.8	15.1	629	3699	0.00	1.60	0.00	0.000	388	0.000	0.043	2849	3056	2161	2270	2052	0	0	0	0	0	0	26.18	26.13	26.19
3733	0.66	194.6	2848	3056	2268	2052	321.4	15.4	636	3741	0.00	1.60	0.00	0.000	1158	0.000	0.029	2855	1995	2160	2268	2052	0	0	0	0	0	0	26.17	26.15	26.20
3807	0.64	194.6	2854	1990	2268	2048	310.3	15.2	649	3814	0.00	0.00	0.00	0.000	134	0.000	0.000	2855	1990	2159	2268	2051	0	0	0	0	0	0	26.22	26.22	26.22
3879	0.64	194.6	2854	1990	2268	2052	299.3	14.7	662	3886	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	1990	2160	2268	2052	0	0	0	0	0	0	26.24	26.25	26.25
3952	0.61	194.6	2854	1990	2268	2051	288.5	15.6	675	3959	0.10	1.65	0.00	0.000	4484	0.238	0.040	2831	3055	2159	2268	2051	0	0	0	0	0	0	25.96	26.17	26.18
4010	0.61	194.6	2830	3056	2264	2051	279.8	14.8	685	4017	0.00	1.60	0.00	0.000	1030	0.000	0.029	2837	1994	2158	2265	2051	0	0	0	0	0	0	26.22	26.18	26.23
4082	0.61	199.7	2836	1990	2264	2051	270.0	13.1	698	4089	0.00	1.60	0.00	0.000	548	0.000	0.037	2845	947	2157	2264	2051	0	0	0	0	0	0	26.24	26.18	26.24
4108	0.61	199.7	2844	948	2265	2052	266.4	13.4	702	4115	0.00	1.65	0.00	0.000	1030	0.000	0.035	2842	2004	2157	2264	2051	0	0	0	0	0	0	26.22	26.16	26.22
4182	0.62	206.5	2838	2008	2264	2051	257.1	13.0	715	4198	0.00	1.65	9.10	0.839	8484	0.000	0.044	2830	3058	2122	2234	2011	0	0	0	0	0	0	26.22	26.03	25.26
4254	0.62	206.5	2830	3058	2231	2012	246.9	13.8	727	4261	0.00	1.60	0.00	0.000	1030	0.000	0.028	2836	1998	2120	2229	2011	0	0	0	0	0	0	26.19	26.12	26.18
4329	0.65	211.8	2836	1994	2229	2007	237.1	13.1	740	4337	0.00	1.60	0.00	0.000	676	0.000	0.037	2845	954	2120	2229	2011	0	0	0	0	0	0	26.22	26.15	26.20
4367	0.68	213.9	2844	954	2229	2011	231.9	13.2	746	4381	0.00	1.65	7.32	0.792	9382	0.000	0.036	2838	2010	2093	2205	1981	0	0	0	0	0	0	26.19	26.14	25.22
4449	0.71	218.1	2838	2010	2204	1977	221.3	13.1	760	4457	0.00	1.62	0.00	0.000	420	0.000	0.043	2830	3062	2092	2203	1981	0	0	0	0	0	0	26.16	26.09	26.16
4470	0.71	218.1	2830	3063	2202	1980	218.3	13.6	763	4477	0.00	1.60	0.00	0.000	1030	0.000	0.029	2837	2001	2091	2202	1981	0	0	0	0	0	0	26.17	26.14	26.21
4543	0.74	218.1	2836	1997	2202	1981	208.5	13.5	776	4551	0.00	1.62	0.00	0.000	644	0.000	0.038	2845	940	2091	2202	1981	0	0	0	0	0	0	26.20	26.15	26.20
4580	0.78	218.1	2847	940	2202	1981	203.2	13.9	782	4588	0.10	1.67	0.00	0.000	3206	0.211	0.037	2861	2008	2091	2202	1981	0	0	0	0	0	0	25.98	26.13	26.15
4653	0.76	218.1	2860	2008	2202	1981	192.2	15.3	795	4660	0.00	1.62	0.00	0.000	388	0.000	0.042	2854	3064	2091	2201	1981	0	0	0	0	0	0	26.22	26.15	26.22
4690	0.76	218.1	2854	3064	2200	1981	186.5	15.8	801	4697	0.00	1.62	0.00	0.000	1030	0.000	0.031	2859	1995	2089	2197	1981	0	0	0	0	0	0	26.20	26.16	26.21
4762	0.76	218.1	2861	1991	2198	1980	175.4	15.3	814	4769	0.00	1.60	0.00	0.000	516	0.000	0.038	2870	949	2087	2193	1981	0	0	0	0	0	0	26.23	26.20	26.24
4793	0.76	218.1	2869	949	2198	1981	170.7	15.4	819	4800	0.00	1.65	0.00	0.000	1030	0.000	0.037	2871	2005	2090	2198	1982	0	0	0	0	0	0	26.21	26.15	26.22
4867	0.73	218.1	2869	2005	2197	1981	159.6	15.3	832	4874	0.00	1.62	0.00	0.000	388	0.000	0.043	2866	3060	2089	2197	1981	0	0	0	0	0	0	26.22	26.15	26.22
4909	0.70	218.1	2866	3061	2195	1981	153.0	15.9	839	4916	0.00	1.62	0.00	0.000	1158	0.000	0.029	2873	1998	2088	2195	1981	0	0	0	0	0	0	26.21	26.17	26.22
4982	0.67	218.1	2872	1989	2191	1981	142.0	15.7	852	4990	0.08	1.62	0.00	0.000	4740	0.224	0.037	2872	932	2088	2195	1981	0	0	0	0	0	0	25.99	26.16	26.16
5000	0.64	218.1	2866	932	2195	1981	139.3	15.4	854	5007	0.10	1.67	0.00	0.000	5254	0.184	0.036	2847	2005	2087	2195	1979	0	0	0	0	0	0	25.98	26.14	26.13
5074	0.64	218.1	2847	2005	2195	1981	128.8	13.7	867	5081	0.00	1.60	0.00	0.000	260	0.000	0.044	2840	3054	2088	2195	1981	0	0	0	0	0	0	26.21	26.14	26.22
5145	0.64	218.1	2839	3054	2194	1981	119.0	14.1	880	5153	0.00	1.62	0.00	0.000	1030	0.000	0.030	2846	1978	2087	2194	1981	0	0	0	0	0	0	26.22	26.18	26.23
5221	0.66	218.1	2845	1977	2194	1981	108.6	13.9	893	5228	0.00	1.58	0.00	0.000	644	0.000	0.037	2854	952	2087	2194	1981	0	0	0	0	0	0	26.22	26.16	26.22
5249	0.69	218.1	2852	952	2193	1981	104.9	13.6	897	5256	0.00	1.65	0.00	0.000	1158	0.000	0.036	2848	2006	2087	2193	1981	0	0	0	0	0	0	26.20	26.14	26.21
5322	0.69	218.1	2847	2007	2193	1981	94.5	13.6	910	5329	0.00	1.62	0.00	0.000	260	0.000	0.044	2840	3060	2087	2194	1981	0	0	0	0	0	0	26.21	26.13	26.23
5381	0.73	218.1	2839	3060	2192	1981	86.2	14.3	920	5389	0.00	1.60	0.00	0.000	1158	0.000	0.029	2846	2003	2086	2192	1981	0	0	0	0	0	0	26.20	26.15	26.20
5457	0.80	255.2	2845	1997	2192	1981	76.6	11.6	933	5500	0.08	1.67	34.40	0.786	11172	0.202	0.041	2859	3053	1924	2046	1803	0	0	0	0	0	0	25.99	25.57	25.07
5509	0.80	255.2	2856	3053	2037	1803	69.4	13.7	940	5517	0.00	1.62	0.00	0.000	1030	0.000	0.031	2866	1999	1920	2037	1803	0	0	0	0	0	0	25.86	25.85	25.86
5585	0.80	255.2	2866	1997	2035	1803	58.6	14.9	953	5592	0.00	1.62	0.00	0.000	516	0.000	0.038	2874	949	1917	2034	1801	0	0	0	0	0	0	26.04	25.98	26.04
5669	0.90	294.4	2873	949	2032	1801	47.7	11.5	968	5707	0.10	1.65	31.83	0.747	11430	0.139	0.037	2902	2002	1766	1887	1646	0	0	0	0	0	0	26.01	26.07	25.07
5774	0.90	294.4	2904	2003	1875	1642	33.4	14.8	985	5781	0.00	1.65	0.00	0.000	516	0.000	0.037	2910	939	1758	1875	1642	0	0	0	0	0	0	26.01	25.96	26.01
5847	0.98	337.3	2910	939	1866	1642	23.9	11.4	998	5890	0.10	1.67	34.58	0.718	11430	0.151	0.036	2928	2008	1588	1705	1471	0	0	0	0	0	0	25.96	26.01	25.06
5958	1.06	382.4	2928	2008	1696	1470	9.8	11.3	1016	6003	0.08	1.67	37.17	0.690	10660	0.193	0.044	2937	3052	1405	1523	1287	0	0	0	0	0	0	25.81	25.62	25.04
6020	end climb: SURFACE_DEPTH_REACHED
state	6020	begin surface coast
6036	end surface coast: CONTROL_FINISHED_OK
state	6036	begin surface