Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 86 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 49 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 36 ALTIM_PULSE 2

DIVE 86 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 0 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 170.0

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 170.0 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 86 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 49 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 200 R_STBD_OVSHOOT 36 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 0 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 070822,010031,4450.0107,-12457.8359,9,0.9,35,15.1,0.3,229.3,9,3.0 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.045,-12455.469

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.61 MHEAD_RNG_PITCHd_Wd 72.4,3250,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -64.5 D_GRID 736

GPS2 070822,011145,4449.9678,-12457.9404,2,0.7,4,15.1,0.2,61.8,12,7.8

Post-dive calculations and measurements:

NEWHEAD 356.400,267.77,4183.48 _24V_AH 23.94,15.127

FINISH 0.6,1.023264 _10V_AH 10.24,12.487

SM_CCo 6140,108.35,0.693,0,0,927,500.17 FG_AHR_24Vo 0.000

SM_GC 0.56,7.75,2.05,108.35,0.048,0.034,0.693,165,2209,927,-7.48,-1.05,500.17,0,0,0,0,0,0,25.80,25.77,24.75 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.89,-12502.26,060822,231420 MEM 220756

TT8_MAMPS 0.024717,0.281624 DATA_FILE_SIZE 36748,1077

HUMID 37.08 CAP_FILE_SIZE 406227,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,230977536

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

XPDR_PINGS 0 GPS 070822,025739,4450.474,-12457.399,6,0.9,18,15.1,0.5,193.9,10,2.7

SC_FREEKB 3785216

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 225 103.73 nil 0 0 0.00

Roll_motor 103 53 132.37 nil 0 0 0.00

VBD_pump_during_apogee 454 1038 11306.52 nil 0 0 0.00

VBD_pump_during_surface 108 693 1797.81 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 6126 6 935.81

Iridium_during_xfer 489 100 1174.38 Edison 6594 10 1578.60

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 12 2.13

TT8 2484 13 355.41

LPSleep 510 2 11.44

TT8_Active 787 13 106.58

TT8_Sampling 2527 39 1020.39

TT8_CF8 597 49 305.63

TT8_Kalman 0 0 0.00

Analog_circuits 2318 10 237.40

GPS_charging 0 0 0.00

Compass 1679 8 141.67

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 -194.6 157 2177 1050 793 0.0 0.0 0 122 0.00 0.00 -106.80 0.005 16386 0.000 0.000 160 2177 3579 3534 3625 0 0 0 0 0 0 26.10 28.83 26.08

125 -0.75 -194.6 158 2177 3536 3625 4.7 -11.3 17 146 8.57 1.62 -3.15 0.018 18980 0.211 0.054 2373 1143 3766 3718 3815 0 0 0 0 0 0 25.82 24.84 26.08

205 -0.80 -194.6 2372 1135 3729 3815 26.7 -14.4 31 212 0.00 1.67 0.00 0.000 1158 0.000 0.043 2367 2198 3772 3730 3815 0 0 0 0 0 0 26.16 26.10 26.17

277 -0.80 -194.6 2363 2198 3731 3814 36.8 -12.8 44 284 0.00 1.65 0.00 0.000 292 0.000 0.047 2359 3257 3772 3731 3814 0 0 0 0 0 0 26.18 26.10 26.18

324 -0.87 -194.6 2358 3259 3735 3813 43.3 -12.9 52 331 0.00 1.60 0.00 0.000 1190 0.000 0.030 2365 2211 3774 3735 3813 0 0 0 0 0 0 26.18 26.13 26.18

395 -0.87 -194.6 2364 2204 3736 3812 52.5 -14.9 65 402 0.00 1.62 0.00 0.000 516 0.000 0.034 2369 1135 3774 3736 3813 0 0 0 0 0 0 26.19 26.17 26.20

482 -0.97 -194.6 2371 1135 3738 3818 63.1 -10.6 81 490 0.12 1.67 0.00 0.000 5286 0.120 0.040 2324 2206 3775 3738 3813 0 0 0 0 0 0 26.07 26.13 26.16

555 -0.93 -194.6 2324 2207 3738 3812 72.6 -14.3 94 561 0.00 0.00 0.00 0.000 134 0.000 0.000 2324 2206 3775 3738 3812 0 0 0 0 0 0 26.20 26.21 26.21

626 -0.89 -194.6 2323 2206 3739 3812 83.6 -14.9 107 633 0.00 0.00 0.00 0.000 134 0.000 0.000 2324 2206 3775 3738 3812 0 0 0 0 0 0 26.20 26.21 26.21

698 -0.87 -194.6 2324 2206 3739 3813 94.4 -14.5 120 705 0.00 1.62 0.00 0.000 388 0.000 0.047 2316 3253 3775 3739 3812 0 0 0 0 0 0 26.22 26.12 26.22

744 -0.87 -194.6 2315 3252 3739 3812 100.8 -12.9 128 751 0.00 1.62 0.00 0.000 1062 0.000 0.030 2322 2184 3775 3739 3812 0 0 0 0 0 0 26.20 26.15 26.21

815 -0.87 -194.6 2322 2177 3739 3812 110.1 -13.6 141 822 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2177 3776 3740 3812 0 0 0 0 0 0 26.20 26.21 26.20

886 -0.87 -194.6 2322 2177 3739 3813 119.8 -14.0 154 892 0.00 1.70 0.00 0.000 260 0.000 0.046 2316 3262 3775 3739 3812 0 0 0 0 0 0 26.19 26.10 26.20

910 -0.87 -194.6 2316 3262 3739 3812 123.2 -13.9 158 917 0.00 1.62 0.00 0.000 1030 0.000 0.029 2322 2188 3775 3739 3812 0 0 0 0 0 0 26.18 26.15 26.20

982 -0.87 -194.6 2322 2183 3741 3812 132.6 -13.6 171 988 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2183 3775 3739 3812 0 0 0 0 0 0 26.21 26.21 26.21

1054 -0.87 -194.6 2322 2183 3739 3812 141.8 -12.7 184 1060 0.00 1.67 0.00 0.000 292 0.000 0.048 2316 3253 3775 3739 3812 0 0 0 0 0 0 26.19 26.12 26.19

1109 -0.92 -194.6 2315 3252 3739 3812 149.4 -13.2 194 1117 0.00 1.65 0.00 0.000 1190 0.000 0.030 2322 2203 3775 3739 3812 0 0 0 0 0 0 26.18 26.15 26.20

1184 -0.94 -194.6 2321 2197 3739 3812 159.1 -13.2 207 1192 0.00 1.67 0.00 0.000 676 0.000 0.036 2324 1133 3776 3739 3813 0 0 0 0 0 0 26.20 26.15 26.20

1216 -1.00 -194.6 2320 1135 3739 3812 163.2 -12.7 212 1223 0.00 1.67 0.00 0.000 1190 0.000 0.041 2318 2197 3773 3734 3812 0 0 0 0 0 0 26.18 26.13 26.19

1288 -1.02 -194.6 2317 2197 3739 3811 172.0 -12.1 225 1295 0.00 1.65 0.00 0.000 420 0.000 0.047 2309 3257 3775 3739 3811 0 0 0 0 0 0 26.20 26.11 26.20

1360 -1.06 -194.6 2309 3257 3739 3810 180.9 -11.5 238 1367 0.00 1.62 0.00 0.000 1190 0.000 0.030 2315 2187 3775 3739 3811 0 0 0 0 0 0 26.17 26.13 26.18

1433 -1.06 -194.6 2314 2182 3739 3811 189.9 -12.4 251 1440 0.08 0.00 0.00 0.000 4134 0.147 0.000 2279 2182 3775 3739 3811 0 0 0 0 0 0 26.06 26.18 26.16

1505 -1.01 -194.6 2279 2182 3739 3810 200.0 -14.2 264 1512 0.00 0.00 0.00 0.000 134 0.000 0.000 2279 2182 3774 3738 3810 0 0 0 0 0 0 26.24 26.22 26.21

1577 -0.96 -194.6 2279 2184 3739 3810 210.7 -14.0 277 1584 0.10 1.60 0.00 0.000 2692 0.186 0.034 2301 1137 3774 3739 3810 0 0 0 0 0 0 25.97 26.13 26.13

1599 -0.93 -194.6 2300 1138 3739 3810 213.6 -14.5 280 1607 0.08 1.67 0.00 0.000 3206 0.199 0.041 2308 2197 3774 3739 3810 0 0 0 0 0 0 25.98 26.12 26.13

1672 -0.93 -194.6 2308 2197 3739 3809 222.6 -12.0 293 1679 0.00 1.67 0.00 0.000 292 0.000 0.049 2302 3266 3773 3738 3809 0 0 0 0 0 0 26.21 26.10 26.21

1723 -0.97 -194.6 2301 3267 3739 3809 229.0 -12.0 302 1730 0.00 1.62 0.00 0.000 1190 0.000 0.030 2307 2204 3774 3740 3809 0 0 0 0 0 0 26.17 26.11 26.17

1796 -0.97 -194.6 2307 2199 3739 3809 238.2 -12.7 315 1802 0.00 0.00 0.00 0.000 38 0.000 0.000 2308 2199 3774 3739 3810 0 0 0 0 0 0 26.20 26.21 26.20

1867 -0.97 -194.6 2307 2199 3739 3808 247.3 -13.0 328 1874 0.00 0.00 0.00 0.000 38 0.000 0.000 2308 2199 3773 3739 3808 0 0 0 0 0 0 26.18 26.18 26.18

1938 -0.97 -194.6 2306 2198 3739 3808 256.8 -14.2 341 1945 0.00 1.62 0.00 0.000 516 0.000 0.035 2315 1136 3773 3739 3808 0 0 0 0 0 0 26.21 26.14 26.21

1960 -0.99 -194.6 2315 1136 3739 3808 259.5 -13.2 344 1967 0.00 1.70 0.00 0.000 1190 0.000 0.041 2309 2213 3773 3739 3808 0 0 0 0 0 0 26.17 26.11 26.18

2034 -1.01 -194.6 2309 2213 3739 3807 268.2 -12.5 357 2041 0.00 1.62 0.00 0.000 420 0.000 0.049 2302 3252 3773 3739 3807 0 0 0 0 0 0 26.17 26.07 26.17

2090 -1.06 -194.6 2301 3251 3739 3807 276.2 -13.3 367 2097 0.00 1.62 0.00 0.000 1190 0.000 0.030 2312 2183 3773 3739 3807 0 0 0 0 0 0 26.16 26.12 26.17

2162 -1.06 -194.6 2307 2179 3739 3807 286.2 -13.9 380 2169 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2178 3773 3739 3807 0 0 0 0 0 0 26.17 26.17 26.17

2235 -1.06 -194.6 2307 2178 3739 3807 296.0 -13.4 393 2242 0.00 1.70 0.00 0.000 260 0.000 0.048 2300 3252 3773 3739 3807 0 0 0 0 0 0 26.17 26.08 26.17

2298 -1.11 -194.6 2301 3253 3739 3807 304.3 -12.5 404 2306 0.10 1.60 0.00 0.000 5286 0.125 0.031 2273 2205 3772 3739 3806 0 0 0 0 0 0 26.07 26.10 26.15

2374 -1.07 -194.6 2273 2200 3739 3806 315.5 -15.9 417 2381 0.00 1.62 0.00 0.000 644 0.000 0.036 2279 1136 3772 3739 3806 0 0 0 0 0 0 26.16 26.13 26.17

2405 -1.07 -194.6 2279 1136 3739 3807 320.4 -15.2 422 2412 0.00 1.67 0.00 0.000 1030 0.000 0.041 2273 2196 3772 3738 3806 0 0 0 0 0 0 26.15 26.08 26.15

2478 -1.03 -194.6 2273 2196 3739 3806 331.4 -15.5 435 2485 0.00 1.67 0.00 0.000 388 0.000 0.049 2264 3263 3772 3739 3805 0 0 0 0 0 0 26.14 26.06 26.15

2592 -1.03 -194.6 2265 3263 3739 3805 348.5 -13.7 456 2599 0.00 1.62 0.00 0.000 1030 0.000 0.030 2271 2202 3772 3740 3805 0 0 0 0 0 0 26.15 26.10 26.16

2668 -0.99 -194.6 2270 2196 3738 3805 359.1 -14.0 469 2676 0.08 1.62 0.00 0.000 2692 0.202 0.034 2293 1134 3772 3739 3805 0 0 0 0 0 0 25.95 26.13 26.11

2783 -1.06 -194.6 2292 1134 3739 3804 373.5 -12.1 490 2790 0.00 1.70 0.00 0.000 1190 0.000 0.042 2287 2210 3772 3739 3805 0 0 0 0 0 0 26.15 26.08 26.17

2856 -1.06 -194.6 2287 2211 3739 3804 383.1 -14.0 503 2863 0.00 1.65 0.00 0.000 260 0.000 0.049 2279 3257 3771 3739 3804 0 0 0 0 0 0 26.17 26.06 26.17

2979 end dive: TARGET_DEPTH_EXCEEDED

state 2979 begin apogee

2986 -0.11 0.0 2286 1995 3739 3803 400.2 -12.9 526 3153 0.98 0.00 155.77 1.038 10246 0.161 0.000 2564 1991 2966 3030 2902 0 0 0 0 0 0 25.79 24.84 24.28

3157 end apogee: CONTROL_FINISHED_OK

state 3157 begin climb

3159 0.75 194.6 2564 1991 3031 2902 405.2 0.0 552 3328 0.90 1.80 158.60 0.995 10500 0.104 0.044 2835 3053 2171 2288 2054 0 0 0 0 0 0 25.08 24.58 23.94

3414 0.75 194.6 2834 3054 2273 2054 381.1 14.6 593 3421 0.00 1.65 0.00 0.000 1030 0.000 0.028 2841 1996 2164 2273 2055 0 0 0 0 0 0 25.51 25.48 25.51

3487 0.75 194.6 2840 1992 2272 2054 370.8 14.1 606 3494 0.00 1.62 0.00 0.000 516 0.000 0.037 2848 953 2163 2272 2054 0 0 0 0 0 0 25.77 25.75 25.78

3554 0.77 194.6 2849 952 2272 2054 361.3 13.9 618 3562 0.00 1.70 0.00 0.000 1158 0.000 0.036 2843 2000 2164 2274 2054 0 0 0 0 0 0 25.93 25.89 25.94

3628 0.77 194.6 2842 2001 2270 2054 350.4 14.0 631 3636 0.00 1.67 0.00 0.000 260 0.000 0.043 2834 3053 2162 2270 2054 0 0 0 0 0 0 26.03 25.96 26.03

3738 0.77 194.6 2834 3053 2265 2054 334.3 14.7 651 3745 0.00 1.60 0.00 0.000 1030 0.000 0.029 2841 1997 2159 2265 2054 0 0 0 0 0 0 26.10 26.06 26.11

3811 0.77 194.6 2840 1994 2265 2054 323.7 14.1 664 3818 0.00 1.62 0.00 0.000 516 0.000 0.038 2849 942 2159 2265 2054 0 0 0 0 0 0 26.13 26.08 26.14

3898 0.80 194.6 2848 942 2265 2054 311.6 13.7 680 3907 0.05 1.70 0.00 0.000 3206 0.203 0.038 2859 1992 2160 2266 2054 0 0 0 0 0 0 25.93 26.12 26.06

3972 0.77 194.6 2858 1992 2265 2054 300.5 15.9 693 3980 0.00 1.67 0.00 0.000 644 0.000 0.037 2867 943 2159 2265 2054 0 0 0 0 0 0 26.18 26.12 26.18

4117 0.77 194.6 2866 943 2265 2054 278.6 15.3 720 4124 0.00 1.67 0.00 0.000 1030 0.000 0.038 2861 2007 2159 2265 2054 0 0 0 0 0 0 26.15 26.10 26.17

4189 0.73 194.6 2860 2007 2265 2054 267.8 15.3 733 4196 0.00 1.62 0.00 0.000 388 0.000 0.043 2853 3058 2159 2265 2054 0 0 0 0 0 0 26.18 26.11 26.20

4380 0.71 194.6 2852 3058 2261 2054 237.7 15.6 769 4387 0.00 1.60 0.00 0.000 1158 0.000 0.029 2860 2001 2156 2258 2054 0 0 0 0 0 0 26.17 26.13 26.18

4452 0.68 194.6 2858 1995 2261 2054 226.6 15.8 782 4458 0.00 0.00 0.00 0.000 134 0.000 0.000 2859 1997 2156 2259 2054 0 0 0 0 0 0 26.17 26.18 26.17

4525 0.65 194.6 2858 1997 2261 2054 215.3 15.2 795 4531 0.00 0.00 0.00 0.000 134 0.000 0.000 2859 1997 2157 2261 2054 0 0 0 0 0 0 26.17 26.18 26.17

4597 0.62 194.6 2859 1997 2261 2054 204.3 15.9 808 4604 0.10 0.00 0.00 0.000 4230 0.226 0.000 2839 1995 2157 2261 2054 0 0 0 0 0 0 25.89 26.17 26.11

4669 0.62 194.6 2842 1995 2261 2054 193.7 14.4 821 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1993 2157 2261 2054 0 0 0 0 0 0 26.20 26.20 26.20

4743 0.62 194.6 2842 1994 2261 2054 183.3 13.6 834 4749 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1995 2157 2261 2053 0 0 0 0 0 0 26.17 26.17 26.17

4816 0.62 195.8 2842 1995 2261 2054 173.6 13.3 847 4822 0.00 1.65 0.00 0.000 292 0.000 0.044 2835 3056 2157 2261 2054 0 0 0 0 0 0 26.18 26.10 26.18

4845 0.62 195.8 2834 3056 2259 2054 169.3 13.8 852 4852 0.00 1.60 0.00 0.000 1030 0.000 0.029 2841 1998 2156 2259 2054 0 0 0 0 0 0 26.16 26.12 26.17

4918 0.63 205.0 2837 1994 2259 2054 159.7 12.9 865 4932 0.00 1.67 7.97 0.786 8740 0.000 0.039 2848 945 2128 2236 2021 0 0 0 0 0 0 26.18 26.01 25.24

4962 0.68 223.1 2848 943 2236 2021 154.1 12.5 872 4983 0.00 1.67 16.67 0.833 9382 0.000 0.037 2843 2006 2057 2171 1943 0 0 0 0 0 0 26.09 26.03 25.06

5047 0.71 223.1 2842 2006 2164 1939 142.7 13.5 887 5054 0.00 1.62 0.00 0.000 388 0.000 0.044 2835 3055 2051 2164 1939 0 0 0 0 0 0 26.01 25.94 26.01

5093 0.74 223.1 2834 3055 2159 1939 136.6 13.4 895 5101 0.00 1.65 0.00 0.000 1158 0.000 0.029 2841 2003 2049 2159 1939 0 0 0 0 0 0 26.06 26.04 26.08

5166 0.78 226.8 2840 1998 2159 1939 127.2 13.2 908 5174 0.08 0.00 0.00 0.000 2214 0.216 0.000 2855 1995 2049 2159 1939 0 0 0 0 0 0 25.89 26.08 26.06

5238 0.78 226.8 2855 1997 2159 1944 117.1 14.5 921 5246 0.00 1.67 0.00 0.000 516 0.000 0.040 2865 948 2048 2159 1938 0 0 0 0 0 0 26.15 26.08 26.16

5273 0.81 226.8 2862 949 2165 1939 112.1 13.9 927 5281 0.00 1.70 0.00 0.000 1158 0.000 0.037 2857 2002 2049 2159 1939 0 0 0 0 0 0 26.13 26.08 26.14

5346 0.81 226.8 2856 2002 2158 1939 102.1 13.9 940 5354 0.00 1.67 0.00 0.000 260 0.000 0.044 2852 3054 2048 2158 1938 0 0 0 0 0 0 26.17 26.08 26.18

5419 0.81 226.8 2854 3054 2156 1939 91.2 14.9 953 5427 0.00 1.65 0.00 0.000 1030 0.000 0.030 2855 1997 2047 2156 1939 0 0 0 0 0 0 26.16 26.13 26.17

5493 0.81 226.8 2855 1993 2156 1938 80.7 14.5 966 5500 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 1992 2047 2156 1939 0 0 0 0 0 0 26.17 26.17 26.17

5565 0.81 226.8 2855 1992 2156 1939 70.4 13.6 979 5572 0.00 1.62 0.00 0.000 516 0.000 0.039 2863 946 2046 2153 1939 0 0 0 0 0 0 26.16 26.10 26.17

5610 0.86 226.8 2863 946 2156 1939 64.0 13.7 987 5618 0.08 1.70 0.00 0.000 3206 0.097 0.037 2891 1999 2047 2156 1939 0 0 0 0 0 0 26.05 26.10 26.10

5683 0.82 226.8 2890 2000 2156 1939 53.4 14.6 1000 5691 0.00 1.67 0.00 0.000 388 0.000 0.044 2885 3051 2047 2156 1939 0 0 0 0 0 0 26.16 26.08 26.16

5891 0.91 311.5 2884 3051 2153 1939 27.4 9.5 1039 5968 0.00 1.60 70.68 0.731 9254 0.000 0.031 2891 1995 1692 1813 1572 0 0 0 0 0 0 26.15 26.10 24.91

6034 1.04 368.4 2889 1995 1801 1572 11.4 10.7 1063 6088 0.15 1.67 45.25 0.695 10916 0.105 0.035 2945 952 1461 1579 1344 0 0 0 0 0 0 25.77 25.36 24.94

6109 end climb: SURFACE_DEPTH_REACHED

state 6110 begin surface coast

6121 end surface coast: CONTROL_FINISHED_OK

state 6121 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	49	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	36	ALTIM_PULSE	2
DIVE	86	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	0	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	170.0
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	070822,010031,4450.0107,-12457.8359,9,0.9,35,15.1,0.3,229.3,9,3.0	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.045,-12455.469
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.61	MHEAD_RNG_PITCHd_Wd	72.4,3250,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-64.5	D_GRID	736
GPS2	070822,011145,4449.9678,-12457.9404,2,0.7,4,15.1,0.2,61.8,12,7.8

NEWHEAD	356.400,267.77,4183.48	_24V_AH	23.94,15.127
FINISH	0.6,1.023264	_10V_AH	10.24,12.487
SM_CCo	6140,108.35,0.693,0,0,927,500.17	FG_AHR_24Vo	0.000
SM_GC	0.56,7.75,2.05,108.35,0.048,0.034,0.693,165,2209,927,-7.48,-1.05,500.17,0,0,0,0,0,0,25.80,25.77,24.75	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.89,-12502.26,060822,231420	MEM	220756
TT8_MAMPS	0.024717,0.281624	DATA_FILE_SIZE	36748,1077
HUMID	37.08	CAP_FILE_SIZE	406227,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,230977536
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	070822,025739,4450.474,-12457.399,6,0.9,18,15.1,0.5,193.9,10,2.7
SC_FREEKB	3785216

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	225	103.73	nil	0	0	0.00
Roll_motor	103	53	132.37	nil	0	0	0.00
VBD_pump_during_apogee	454	1038	11306.52	nil	0	0	0.00
VBD_pump_during_surface	108	693	1797.81	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	6126	6	935.81
Iridium_during_xfer	489	100	1174.38	Edison	6594	10	1578.60
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	12	2.13
TT8	2484	13	355.41
LPSleep	510	2	11.44
TT8_Active	787	13	106.58
TT8_Sampling	2527	39	1020.39
TT8_CF8	597	49	305.63
TT8_Kalman	0	0	0.00
Analog_circuits	2318	10	237.40
GPS_charging	0	0	0.00
Compass	1679	8	141.67
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	157	2177	1050	793	0.0	0.0	0	122	0.00	0.00	-106.80	0.005	16386	0.000	0.000	160	2177	3579	3534	3625	0	0	0	0	0	0	26.10	28.83	26.08
125	-0.75	-194.6	158	2177	3536	3625	4.7	-11.3	17	146	8.57	1.62	-3.15	0.018	18980	0.211	0.054	2373	1143	3766	3718	3815	0	0	0	0	0	0	25.82	24.84	26.08
205	-0.80	-194.6	2372	1135	3729	3815	26.7	-14.4	31	212	0.00	1.67	0.00	0.000	1158	0.000	0.043	2367	2198	3772	3730	3815	0	0	0	0	0	0	26.16	26.10	26.17
277	-0.80	-194.6	2363	2198	3731	3814	36.8	-12.8	44	284	0.00	1.65	0.00	0.000	292	0.000	0.047	2359	3257	3772	3731	3814	0	0	0	0	0	0	26.18	26.10	26.18
324	-0.87	-194.6	2358	3259	3735	3813	43.3	-12.9	52	331	0.00	1.60	0.00	0.000	1190	0.000	0.030	2365	2211	3774	3735	3813	0	0	0	0	0	0	26.18	26.13	26.18
395	-0.87	-194.6	2364	2204	3736	3812	52.5	-14.9	65	402	0.00	1.62	0.00	0.000	516	0.000	0.034	2369	1135	3774	3736	3813	0	0	0	0	0	0	26.19	26.17	26.20
482	-0.97	-194.6	2371	1135	3738	3818	63.1	-10.6	81	490	0.12	1.67	0.00	0.000	5286	0.120	0.040	2324	2206	3775	3738	3813	0	0	0	0	0	0	26.07	26.13	26.16
555	-0.93	-194.6	2324	2207	3738	3812	72.6	-14.3	94	561	0.00	0.00	0.00	0.000	134	0.000	0.000	2324	2206	3775	3738	3812	0	0	0	0	0	0	26.20	26.21	26.21
626	-0.89	-194.6	2323	2206	3739	3812	83.6	-14.9	107	633	0.00	0.00	0.00	0.000	134	0.000	0.000	2324	2206	3775	3738	3812	0	0	0	0	0	0	26.20	26.21	26.21
698	-0.87	-194.6	2324	2206	3739	3813	94.4	-14.5	120	705	0.00	1.62	0.00	0.000	388	0.000	0.047	2316	3253	3775	3739	3812	0	0	0	0	0	0	26.22	26.12	26.22
744	-0.87	-194.6	2315	3252	3739	3812	100.8	-12.9	128	751	0.00	1.62	0.00	0.000	1062	0.000	0.030	2322	2184	3775	3739	3812	0	0	0	0	0	0	26.20	26.15	26.21
815	-0.87	-194.6	2322	2177	3739	3812	110.1	-13.6	141	822	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2177	3776	3740	3812	0	0	0	0	0	0	26.20	26.21	26.20
886	-0.87	-194.6	2322	2177	3739	3813	119.8	-14.0	154	892	0.00	1.70	0.00	0.000	260	0.000	0.046	2316	3262	3775	3739	3812	0	0	0	0	0	0	26.19	26.10	26.20
910	-0.87	-194.6	2316	3262	3739	3812	123.2	-13.9	158	917	0.00	1.62	0.00	0.000	1030	0.000	0.029	2322	2188	3775	3739	3812	0	0	0	0	0	0	26.18	26.15	26.20
982	-0.87	-194.6	2322	2183	3741	3812	132.6	-13.6	171	988	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2183	3775	3739	3812	0	0	0	0	0	0	26.21	26.21	26.21
1054	-0.87	-194.6	2322	2183	3739	3812	141.8	-12.7	184	1060	0.00	1.67	0.00	0.000	292	0.000	0.048	2316	3253	3775	3739	3812	0	0	0	0	0	0	26.19	26.12	26.19
1109	-0.92	-194.6	2315	3252	3739	3812	149.4	-13.2	194	1117	0.00	1.65	0.00	0.000	1190	0.000	0.030	2322	2203	3775	3739	3812	0	0	0	0	0	0	26.18	26.15	26.20
1184	-0.94	-194.6	2321	2197	3739	3812	159.1	-13.2	207	1192	0.00	1.67	0.00	0.000	676	0.000	0.036	2324	1133	3776	3739	3813	0	0	0	0	0	0	26.20	26.15	26.20
1216	-1.00	-194.6	2320	1135	3739	3812	163.2	-12.7	212	1223	0.00	1.67	0.00	0.000	1190	0.000	0.041	2318	2197	3773	3734	3812	0	0	0	0	0	0	26.18	26.13	26.19
1288	-1.02	-194.6	2317	2197	3739	3811	172.0	-12.1	225	1295	0.00	1.65	0.00	0.000	420	0.000	0.047	2309	3257	3775	3739	3811	0	0	0	0	0	0	26.20	26.11	26.20
1360	-1.06	-194.6	2309	3257	3739	3810	180.9	-11.5	238	1367	0.00	1.62	0.00	0.000	1190	0.000	0.030	2315	2187	3775	3739	3811	0	0	0	0	0	0	26.17	26.13	26.18
1433	-1.06	-194.6	2314	2182	3739	3811	189.9	-12.4	251	1440	0.08	0.00	0.00	0.000	4134	0.147	0.000	2279	2182	3775	3739	3811	0	0	0	0	0	0	26.06	26.18	26.16
1505	-1.01	-194.6	2279	2182	3739	3810	200.0	-14.2	264	1512	0.00	0.00	0.00	0.000	134	0.000	0.000	2279	2182	3774	3738	3810	0	0	0	0	0	0	26.24	26.22	26.21
1577	-0.96	-194.6	2279	2184	3739	3810	210.7	-14.0	277	1584	0.10	1.60	0.00	0.000	2692	0.186	0.034	2301	1137	3774	3739	3810	0	0	0	0	0	0	25.97	26.13	26.13
1599	-0.93	-194.6	2300	1138	3739	3810	213.6	-14.5	280	1607	0.08	1.67	0.00	0.000	3206	0.199	0.041	2308	2197	3774	3739	3810	0	0	0	0	0	0	25.98	26.12	26.13
1672	-0.93	-194.6	2308	2197	3739	3809	222.6	-12.0	293	1679	0.00	1.67	0.00	0.000	292	0.000	0.049	2302	3266	3773	3738	3809	0	0	0	0	0	0	26.21	26.10	26.21
1723	-0.97	-194.6	2301	3267	3739	3809	229.0	-12.0	302	1730	0.00	1.62	0.00	0.000	1190	0.000	0.030	2307	2204	3774	3740	3809	0	0	0	0	0	0	26.17	26.11	26.17
1796	-0.97	-194.6	2307	2199	3739	3809	238.2	-12.7	315	1802	0.00	0.00	0.00	0.000	38	0.000	0.000	2308	2199	3774	3739	3810	0	0	0	0	0	0	26.20	26.21	26.20
1867	-0.97	-194.6	2307	2199	3739	3808	247.3	-13.0	328	1874	0.00	0.00	0.00	0.000	38	0.000	0.000	2308	2199	3773	3739	3808	0	0	0	0	0	0	26.18	26.18	26.18
1938	-0.97	-194.6	2306	2198	3739	3808	256.8	-14.2	341	1945	0.00	1.62	0.00	0.000	516	0.000	0.035	2315	1136	3773	3739	3808	0	0	0	0	0	0	26.21	26.14	26.21
1960	-0.99	-194.6	2315	1136	3739	3808	259.5	-13.2	344	1967	0.00	1.70	0.00	0.000	1190	0.000	0.041	2309	2213	3773	3739	3808	0	0	0	0	0	0	26.17	26.11	26.18
2034	-1.01	-194.6	2309	2213	3739	3807	268.2	-12.5	357	2041	0.00	1.62	0.00	0.000	420	0.000	0.049	2302	3252	3773	3739	3807	0	0	0	0	0	0	26.17	26.07	26.17
2090	-1.06	-194.6	2301	3251	3739	3807	276.2	-13.3	367	2097	0.00	1.62	0.00	0.000	1190	0.000	0.030	2312	2183	3773	3739	3807	0	0	0	0	0	0	26.16	26.12	26.17
2162	-1.06	-194.6	2307	2179	3739	3807	286.2	-13.9	380	2169	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2178	3773	3739	3807	0	0	0	0	0	0	26.17	26.17	26.17
2235	-1.06	-194.6	2307	2178	3739	3807	296.0	-13.4	393	2242	0.00	1.70	0.00	0.000	260	0.000	0.048	2300	3252	3773	3739	3807	0	0	0	0	0	0	26.17	26.08	26.17
2298	-1.11	-194.6	2301	3253	3739	3807	304.3	-12.5	404	2306	0.10	1.60	0.00	0.000	5286	0.125	0.031	2273	2205	3772	3739	3806	0	0	0	0	0	0	26.07	26.10	26.15
2374	-1.07	-194.6	2273	2200	3739	3806	315.5	-15.9	417	2381	0.00	1.62	0.00	0.000	644	0.000	0.036	2279	1136	3772	3739	3806	0	0	0	0	0	0	26.16	26.13	26.17
2405	-1.07	-194.6	2279	1136	3739	3807	320.4	-15.2	422	2412	0.00	1.67	0.00	0.000	1030	0.000	0.041	2273	2196	3772	3738	3806	0	0	0	0	0	0	26.15	26.08	26.15
2478	-1.03	-194.6	2273	2196	3739	3806	331.4	-15.5	435	2485	0.00	1.67	0.00	0.000	388	0.000	0.049	2264	3263	3772	3739	3805	0	0	0	0	0	0	26.14	26.06	26.15
2592	-1.03	-194.6	2265	3263	3739	3805	348.5	-13.7	456	2599	0.00	1.62	0.00	0.000	1030	0.000	0.030	2271	2202	3772	3740	3805	0	0	0	0	0	0	26.15	26.10	26.16
2668	-0.99	-194.6	2270	2196	3738	3805	359.1	-14.0	469	2676	0.08	1.62	0.00	0.000	2692	0.202	0.034	2293	1134	3772	3739	3805	0	0	0	0	0	0	25.95	26.13	26.11
2783	-1.06	-194.6	2292	1134	3739	3804	373.5	-12.1	490	2790	0.00	1.70	0.00	0.000	1190	0.000	0.042	2287	2210	3772	3739	3805	0	0	0	0	0	0	26.15	26.08	26.17
2856	-1.06	-194.6	2287	2211	3739	3804	383.1	-14.0	503	2863	0.00	1.65	0.00	0.000	260	0.000	0.049	2279	3257	3771	3739	3804	0	0	0	0	0	0	26.17	26.06	26.17
2979	end dive: TARGET_DEPTH_EXCEEDED
state	2979	begin apogee
2986	-0.11	0.0	2286	1995	3739	3803	400.2	-12.9	526	3153	0.98	0.00	155.77	1.038	10246	0.161	0.000	2564	1991	2966	3030	2902	0	0	0	0	0	0	25.79	24.84	24.28
3157	end apogee: CONTROL_FINISHED_OK
state	3157	begin climb
3159	0.75	194.6	2564	1991	3031	2902	405.2	0.0	552	3328	0.90	1.80	158.60	0.995	10500	0.104	0.044	2835	3053	2171	2288	2054	0	0	0	0	0	0	25.08	24.58	23.94
3414	0.75	194.6	2834	3054	2273	2054	381.1	14.6	593	3421	0.00	1.65	0.00	0.000	1030	0.000	0.028	2841	1996	2164	2273	2055	0	0	0	0	0	0	25.51	25.48	25.51
3487	0.75	194.6	2840	1992	2272	2054	370.8	14.1	606	3494	0.00	1.62	0.00	0.000	516	0.000	0.037	2848	953	2163	2272	2054	0	0	0	0	0	0	25.77	25.75	25.78
3554	0.77	194.6	2849	952	2272	2054	361.3	13.9	618	3562	0.00	1.70	0.00	0.000	1158	0.000	0.036	2843	2000	2164	2274	2054	0	0	0	0	0	0	25.93	25.89	25.94
3628	0.77	194.6	2842	2001	2270	2054	350.4	14.0	631	3636	0.00	1.67	0.00	0.000	260	0.000	0.043	2834	3053	2162	2270	2054	0	0	0	0	0	0	26.03	25.96	26.03
3738	0.77	194.6	2834	3053	2265	2054	334.3	14.7	651	3745	0.00	1.60	0.00	0.000	1030	0.000	0.029	2841	1997	2159	2265	2054	0	0	0	0	0	0	26.10	26.06	26.11
3811	0.77	194.6	2840	1994	2265	2054	323.7	14.1	664	3818	0.00	1.62	0.00	0.000	516	0.000	0.038	2849	942	2159	2265	2054	0	0	0	0	0	0	26.13	26.08	26.14
3898	0.80	194.6	2848	942	2265	2054	311.6	13.7	680	3907	0.05	1.70	0.00	0.000	3206	0.203	0.038	2859	1992	2160	2266	2054	0	0	0	0	0	0	25.93	26.12	26.06
3972	0.77	194.6	2858	1992	2265	2054	300.5	15.9	693	3980	0.00	1.67	0.00	0.000	644	0.000	0.037	2867	943	2159	2265	2054	0	0	0	0	0	0	26.18	26.12	26.18
4117	0.77	194.6	2866	943	2265	2054	278.6	15.3	720	4124	0.00	1.67	0.00	0.000	1030	0.000	0.038	2861	2007	2159	2265	2054	0	0	0	0	0	0	26.15	26.10	26.17
4189	0.73	194.6	2860	2007	2265	2054	267.8	15.3	733	4196	0.00	1.62	0.00	0.000	388	0.000	0.043	2853	3058	2159	2265	2054	0	0	0	0	0	0	26.18	26.11	26.20
4380	0.71	194.6	2852	3058	2261	2054	237.7	15.6	769	4387	0.00	1.60	0.00	0.000	1158	0.000	0.029	2860	2001	2156	2258	2054	0	0	0	0	0	0	26.17	26.13	26.18
4452	0.68	194.6	2858	1995	2261	2054	226.6	15.8	782	4458	0.00	0.00	0.00	0.000	134	0.000	0.000	2859	1997	2156	2259	2054	0	0	0	0	0	0	26.17	26.18	26.17
4525	0.65	194.6	2858	1997	2261	2054	215.3	15.2	795	4531	0.00	0.00	0.00	0.000	134	0.000	0.000	2859	1997	2157	2261	2054	0	0	0	0	0	0	26.17	26.18	26.17
4597	0.62	194.6	2859	1997	2261	2054	204.3	15.9	808	4604	0.10	0.00	0.00	0.000	4230	0.226	0.000	2839	1995	2157	2261	2054	0	0	0	0	0	0	25.89	26.17	26.11
4669	0.62	194.6	2842	1995	2261	2054	193.7	14.4	821	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1993	2157	2261	2054	0	0	0	0	0	0	26.20	26.20	26.20
4743	0.62	194.6	2842	1994	2261	2054	183.3	13.6	834	4749	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1995	2157	2261	2053	0	0	0	0	0	0	26.17	26.17	26.17
4816	0.62	195.8	2842	1995	2261	2054	173.6	13.3	847	4822	0.00	1.65	0.00	0.000	292	0.000	0.044	2835	3056	2157	2261	2054	0	0	0	0	0	0	26.18	26.10	26.18
4845	0.62	195.8	2834	3056	2259	2054	169.3	13.8	852	4852	0.00	1.60	0.00	0.000	1030	0.000	0.029	2841	1998	2156	2259	2054	0	0	0	0	0	0	26.16	26.12	26.17
4918	0.63	205.0	2837	1994	2259	2054	159.7	12.9	865	4932	0.00	1.67	7.97	0.786	8740	0.000	0.039	2848	945	2128	2236	2021	0	0	0	0	0	0	26.18	26.01	25.24
4962	0.68	223.1	2848	943	2236	2021	154.1	12.5	872	4983	0.00	1.67	16.67	0.833	9382	0.000	0.037	2843	2006	2057	2171	1943	0	0	0	0	0	0	26.09	26.03	25.06
5047	0.71	223.1	2842	2006	2164	1939	142.7	13.5	887	5054	0.00	1.62	0.00	0.000	388	0.000	0.044	2835	3055	2051	2164	1939	0	0	0	0	0	0	26.01	25.94	26.01
5093	0.74	223.1	2834	3055	2159	1939	136.6	13.4	895	5101	0.00	1.65	0.00	0.000	1158	0.000	0.029	2841	2003	2049	2159	1939	0	0	0	0	0	0	26.06	26.04	26.08
5166	0.78	226.8	2840	1998	2159	1939	127.2	13.2	908	5174	0.08	0.00	0.00	0.000	2214	0.216	0.000	2855	1995	2049	2159	1939	0	0	0	0	0	0	25.89	26.08	26.06
5238	0.78	226.8	2855	1997	2159	1944	117.1	14.5	921	5246	0.00	1.67	0.00	0.000	516	0.000	0.040	2865	948	2048	2159	1938	0	0	0	0	0	0	26.15	26.08	26.16
5273	0.81	226.8	2862	949	2165	1939	112.1	13.9	927	5281	0.00	1.70	0.00	0.000	1158	0.000	0.037	2857	2002	2049	2159	1939	0	0	0	0	0	0	26.13	26.08	26.14
5346	0.81	226.8	2856	2002	2158	1939	102.1	13.9	940	5354	0.00	1.67	0.00	0.000	260	0.000	0.044	2852	3054	2048	2158	1938	0	0	0	0	0	0	26.17	26.08	26.18
5419	0.81	226.8	2854	3054	2156	1939	91.2	14.9	953	5427	0.00	1.65	0.00	0.000	1030	0.000	0.030	2855	1997	2047	2156	1939	0	0	0	0	0	0	26.16	26.13	26.17
5493	0.81	226.8	2855	1993	2156	1938	80.7	14.5	966	5500	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	1992	2047	2156	1939	0	0	0	0	0	0	26.17	26.17	26.17
5565	0.81	226.8	2855	1992	2156	1939	70.4	13.6	979	5572	0.00	1.62	0.00	0.000	516	0.000	0.039	2863	946	2046	2153	1939	0	0	0	0	0	0	26.16	26.10	26.17
5610	0.86	226.8	2863	946	2156	1939	64.0	13.7	987	5618	0.08	1.70	0.00	0.000	3206	0.097	0.037	2891	1999	2047	2156	1939	0	0	0	0	0	0	26.05	26.10	26.10
5683	0.82	226.8	2890	2000	2156	1939	53.4	14.6	1000	5691	0.00	1.67	0.00	0.000	388	0.000	0.044	2885	3051	2047	2156	1939	0	0	0	0	0	0	26.16	26.08	26.16
5891	0.91	311.5	2884	3051	2153	1939	27.4	9.5	1039	5968	0.00	1.60	70.68	0.731	9254	0.000	0.031	2891	1995	1692	1813	1572	0	0	0	0	0	0	26.15	26.10	24.91
6034	1.04	368.4	2889	1995	1801	1572	11.4	10.7	1063	6088	0.15	1.67	45.25	0.695	10916	0.105	0.035	2945	952	1461	1579	1344	0	0	0	0	0	0	25.77	25.36	24.94
6109	end climb: SURFACE_DEPTH_REACHED
state	6110	begin surface coast
6121	end surface coast: CONTROL_FINISHED_OK
state	6121	begin surface