Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 88 * 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 35 ALTIM_PULSE 2

DIVE 88 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 174.0

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 174.0 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 88 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 35 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 070822,045709,4450.7041,-12458.0469,20,0.9,29,15.1,1.2,186.9,11,2.7 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4449.929,-12455.533

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.65 MHEAD_RNG_PITCHd_Wd 94.2,3839,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -64.7 D_GRID 784

GPS2 070822,050923,4450.6157,-12458.2910,3,0.8,4,15.1,0.9,226.5,12,6.6

Post-dive calculations and measurements:

NEWHEAD 140.400,320.22,3769.07 _24V_AH 23.78,15.446

FINISH 0.0,1.018069 _10V_AH 10.20,12.670

SM_CCo 6084,121.80,0.717,0,0,929,500.41 FG_AHR_24Vo 0.000

SM_GC 0.57,7.80,0.30,121.80,0.048,0.051,0.717,171,2203,929,-7.49,-1.13,500.41,0,0,0,0,0,0,25.94,25.88,24.66 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.52,-12458.03,070822,030049 MEM 220792

TT8_MAMPS 0.023968,0.290612 DATA_FILE_SIZE 36695,1056

HUMID 37.04 CAP_FILE_SIZE 402652,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,230653952

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 070822,065439,4450.040,-12457.898,23,0.9,23,15.1,0.7,223.2,10,6.4

SC_FREEKB 3784576

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 250 116.30 nil 0 0 0.00

Roll_motor 116 51 142.03 nil 0 0 0.00

VBD_pump_during_apogee 452 1045 11251.55 nil 0 0 0.00

VBD_pump_during_surface 121 716 2076.16 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 6070 6 917.89

Iridium_during_xfer 550 100 1311.07 Edison 6790 10 1614.66

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 12 2.24

TT8 2433 13 346.78

LPSleep 509 2 11.38

TT8_Active 823 13 111.06

TT8_Sampling 2543 39 1023.08

TT8_CF8 620 49 315.71

TT8_Kalman 0 0 0.00

Analog_circuits 2419 10 246.75

GPS_charging 0 0 0.00

Compass 1645 8 138.27

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 -194.6 159 2180 1051 793 0.0 0.0 0 117 0.00 0.00 -100.75 0.005 16386 0.000 0.000 160 2181 3404 3367 3441 0 0 0 0 0 0 26.01 28.83 26.02

120 -0.75 -194.6 159 2181 3369 3441 3.7 -7.2 16 141 8.60 1.62 -6.47 0.011 18980 0.211 0.049 2375 1117 3764 3720 3809 0 0 0 0 0 0 25.75 24.76 26.00

206 -0.79 -194.6 2374 1116 3730 3813 24.6 -14.8 31 213 0.00 1.73 0.00 0.000 1158 0.000 0.041 2369 2206 3771 3730 3813 0 0 0 0 0 0 26.10 26.04 26.11

279 -0.73 -194.6 2368 2207 3732 3813 35.7 -18.3 44 286 0.00 1.65 0.00 0.000 388 0.000 0.048 2361 3258 3772 3732 3813 0 0 0 0 0 0 26.10 26.04 26.12

389 -0.81 -194.6 2360 3258 3736 3812 51.3 -11.3 64 396 0.00 1.62 0.00 0.000 1190 0.000 0.029 2367 2194 3774 3736 3812 0 0 0 0 0 0 26.14 26.10 26.14

462 -0.83 -194.6 2362 2189 3737 3812 59.6 -11.8 77 468 0.00 0.00 0.00 0.000 166 0.000 0.000 2366 2189 3774 3737 3812 0 0 0 0 0 0 26.14 26.15 26.15

534 -0.88 -194.6 2366 2189 3739 3812 67.9 -11.1 90 541 0.00 1.67 0.00 0.000 420 0.000 0.048 2360 3255 3775 3738 3813 0 0 0 0 0 0 26.17 26.06 26.16

561 -0.92 -194.6 2360 3256 3739 3812 70.8 -10.7 94 568 0.10 1.62 0.00 0.000 5286 0.148 0.030 2338 2196 3775 3739 3812 0 0 0 0 0 0 26.00 26.10 26.11

634 -0.92 -194.6 2337 2191 3738 3812 80.0 -13.7 107 641 0.00 1.62 0.00 0.000 516 0.000 0.035 2349 1132 3775 3738 3812 0 0 0 0 0 0 26.17 26.10 26.17

716 -1.00 -194.6 2344 1132 3739 3812 90.5 -12.5 122 724 0.08 1.70 0.00 0.000 5286 0.151 0.041 2303 2210 3775 3739 3812 0 0 0 0 0 0 26.01 26.08 26.12

789 -0.95 -194.6 2302 2210 3734 3812 101.1 -15.9 135 796 0.00 1.62 0.00 0.000 388 0.000 0.048 2294 3252 3775 3739 3812 0 0 0 0 0 0 26.15 26.08 26.16

875 -0.95 -194.6 2293 3252 3739 3812 114.8 -15.2 151 884 0.00 1.65 0.00 0.000 1030 0.000 0.030 2300 2203 3775 3739 3812 0 0 0 0 0 0 26.15 26.10 26.15

948 -0.91 -194.6 2299 2198 3739 3812 125.6 -15.4 164 957 0.08 1.67 0.00 0.000 2692 0.199 0.035 2315 1134 3775 3739 3812 0 0 0 0 0 0 25.96 26.11 26.11

970 -0.91 -194.6 2314 1133 3739 3812 129.0 -15.2 167 977 0.00 1.67 0.00 0.000 1030 0.000 0.041 2309 2194 3775 3739 3812 0 0 0 0 0 0 26.14 26.07 26.15

1043 -0.89 -194.6 2308 2194 3739 3812 139.0 -14.8 180 1050 0.00 1.67 0.00 0.000 388 0.000 0.047 2301 3264 3775 3739 3812 0 0 0 0 0 0 26.15 26.06 26.16

1104 -0.89 -194.6 2300 3263 3739 3812 148.4 -14.1 191 1112 0.05 1.62 0.00 0.000 3078 0.246 0.029 2316 2198 3775 3739 3812 0 0 0 0 0 0 25.92 26.10 26.09

1177 -0.89 -194.6 2315 2192 3739 3812 158.4 -14.3 204 1184 0.00 1.62 0.00 0.000 516 0.000 0.035 2323 1131 3775 3739 3812 0 0 0 0 0 0 26.15 26.09 26.16

1208 -0.93 -194.6 2323 1131 3739 3818 162.7 -14.3 209 1216 0.00 1.75 0.00 0.000 1158 0.000 0.041 2316 2210 3775 3739 3812 0 0 0 0 0 0 26.13 26.08 26.14

1281 -0.93 -194.6 2316 2210 3739 3811 172.2 -13.3 222 1289 0.00 1.67 0.00 0.000 292 0.000 0.049 2309 3252 3774 3738 3811 0 0 0 0 0 0 26.16 26.08 26.17

1350 -0.98 -194.6 2309 3252 3739 3811 181.3 -12.5 234 1357 0.00 1.62 0.00 0.000 1190 0.000 0.030 2315 2182 3774 3739 3810 0 0 0 0 0 0 26.13 26.09 26.14

1423 -1.00 -194.6 2315 2178 3739 3810 190.5 -12.5 247 1429 0.00 1.58 0.00 0.000 676 0.000 0.035 2323 1142 3774 3739 3810 0 0 0 0 0 0 26.15 26.10 26.15

1449 -1.04 -194.6 2322 1142 3739 3810 193.8 -12.6 251 1456 0.00 1.67 0.00 0.000 1190 0.000 0.041 2317 2203 3774 3739 3810 0 0 0 0 0 0 26.13 26.08 26.15

1522 -1.06 -194.6 2316 2204 3739 3810 202.8 -12.6 264 1529 0.00 1.67 0.00 0.000 420 0.000 0.049 2308 3263 3774 3739 3810 0 0 0 0 0 0 26.14 26.07 26.14

1589 -1.09 -194.6 2308 3264 3739 3809 211.3 -12.4 276 1597 0.10 1.62 0.00 0.000 5286 0.129 0.029 2276 2198 3773 3739 3808 0 0 0 0 0 0 26.06 26.11 26.14

1662 -1.04 -194.6 2275 2192 3739 3809 222.1 -14.7 289 1669 0.00 1.60 0.00 0.000 644 0.000 0.034 2282 1139 3774 3739 3809 0 0 0 0 0 0 26.15 26.08 26.15

1682 -1.00 -194.6 2281 1138 3739 3809 225.0 -14.8 292 1690 0.00 1.73 0.00 0.000 1158 0.000 0.040 2276 2202 3773 3739 3808 0 0 0 0 0 0 26.13 26.09 26.15

1757 -0.95 -194.6 2275 2205 3739 3808 235.5 -14.8 305 1765 0.12 1.70 0.00 0.000 2436 0.185 0.046 2296 3257 3773 3739 3808 0 0 0 0 0 0 25.93 26.07 26.09

1801 -0.95 -194.6 2294 3257 3739 3808 241.7 -13.5 312 1808 0.00 1.62 0.00 0.000 1030 0.000 0.030 2301 2187 3773 3739 3808 0 0 0 0 0 0 26.13 26.09 26.15

1874 -0.95 -194.6 2301 2183 3739 3807 251.2 -13.1 325 1881 0.00 1.58 0.00 0.000 548 0.000 0.035 2303 1142 3773 3739 3808 0 0 0 0 0 0 26.16 26.10 26.17

1906 -0.98 -194.6 2302 1142 3739 3807 255.4 -13.0 330 1914 0.00 1.73 0.00 0.000 1190 0.000 0.041 2297 2205 3773 3739 3807 0 0 0 0 0 0 26.11 26.07 26.13

1979 -0.98 -194.6 2296 2204 3738 3813 264.8 -12.9 343 1987 0.00 1.70 0.00 0.000 292 0.000 0.049 2288 3261 3773 3739 3807 0 0 0 0 0 0 26.15 26.06 26.13

2042 -0.98 -194.6 2289 3261 3740 3807 273.3 -12.8 354 2049 0.00 1.62 0.00 0.000 1062 0.000 0.030 2294 2196 3773 3739 3807 0 0 0 0 0 0 26.12 26.08 26.13

2116 -0.98 -194.6 2294 2189 3739 3807 283.2 -14.2 367 2122 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2190 3772 3739 3806 0 0 0 0 0 0 26.15 26.15 26.15

2187 -0.98 -194.6 2294 2190 3739 3807 293.0 -14.0 380 2193 0.00 1.67 0.00 0.000 260 0.000 0.049 2288 3257 3771 3736 3807 0 0 0 0 0 0 26.15 26.04 26.15

2240 -1.00 -194.6 2288 3256 3739 3806 300.3 -13.2 389 2247 0.00 1.62 0.00 0.000 1190 0.000 0.031 2294 2194 3772 3739 3806 0 0 0 0 0 0 26.15 26.10 26.15

2312 -1.00 -194.6 2293 2189 3739 3806 310.0 -13.5 402 2319 0.00 1.60 0.00 0.000 516 0.000 0.035 2298 1139 3771 3739 3803 0 0 0 0 0 0 26.13 26.07 26.13

2346 -1.03 -194.6 2298 1138 3739 3806 314.2 -13.2 407 2353 0.00 1.67 0.00 0.000 1190 0.000 0.041 2291 2199 3772 3739 3806 0 0 0 0 0 0 26.13 26.06 26.14

2421 -1.03 -194.6 2292 2201 3739 3805 324.3 -14.2 420 2428 0.00 1.65 0.00 0.000 260 0.000 0.049 2285 3257 3771 3738 3805 0 0 0 0 0 0 26.13 26.04 26.13

2476 -1.03 -194.6 2284 3257 3739 3805 332.3 -13.6 430 2483 0.00 1.62 0.00 0.000 1030 0.000 0.030 2290 2192 3772 3739 3805 0 0 0 0 0 0 26.12 26.07 26.13

2548 -1.03 -194.6 2289 2185 3739 3805 341.9 -13.8 443 2554 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2185 3772 3739 3805 0 0 0 0 0 0 26.13 26.14 26.13

2619 -1.03 -194.6 2289 2185 3737 3804 351.7 -14.0 456 2625 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2185 3771 3739 3804 0 0 0 0 0 0 26.13 26.13 26.13

2691 -1.03 -194.6 2288 2185 3738 3804 361.4 -13.7 469 2697 0.00 1.70 0.00 0.000 260 0.000 0.049 2284 3258 3771 3739 3804 0 0 0 0 0 0 26.15 26.06 26.15

2753 -1.03 -194.6 2283 3258 3739 3803 370.2 -13.5 480 2760 0.00 1.62 0.00 0.000 1030 0.000 0.031 2290 2201 3768 3734 3803 0 0 0 0 0 0 26.13 26.08 26.13

2825 -1.03 -194.6 2289 2200 3739 3803 379.8 -13.2 493 2831 0.00 0.00 0.00 0.000 38 0.000 0.000 2290 2194 3771 3739 3803 0 0 0 0 0 0 26.14 26.14 26.14

2896 -1.03 -194.6 2289 2195 3737 3803 389.2 -13.8 506 2902 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2195 3771 3739 3803 0 0 0 0 0 0 26.12 26.13 26.15

2968 -1.03 -194.6 2288 2195 3739 3802 398.6 -12.6 519 2975 0.00 1.70 0.00 0.000 292 0.000 0.049 2284 3270 3770 3739 3802 0 0 0 0 0 0 26.13 26.02 26.13

2980 end dive: TARGET_DEPTH_EXCEEDED

state 2980 begin apogee

2987 -0.11 0.0 2290 1993 3739 3802 400.6 -13.0 521 3154 0.98 0.00 156.00 1.046 10246 0.168 0.000 2565 1988 2965 3030 2901 0 0 0 0 0 0 25.75 24.68 24.11

3157 end apogee: CONTROL_FINISHED_OK

state 3158 begin climb

3159 0.75 194.6 2563 1989 3029 2901 403.7 0.0 547 3330 0.90 1.77 159.80 1.008 10756 0.104 0.037 2853 939 2170 2285 2056 0 0 0 0 0 0 24.94 24.46 23.78

3467 0.78 194.6 2844 939 2276 2056 368.3 13.8 598 3475 0.08 1.73 0.00 0.000 3206 0.250 0.037 2854 2010 2165 2276 2055 0 0 0 0 0 0 25.41 25.58 25.59

3540 0.76 194.6 2853 2010 2273 2054 357.2 16.2 611 3547 0.00 1.65 0.00 0.000 388 0.000 0.044 2847 3059 2164 2274 2054 0 0 0 0 0 0 25.84 25.78 25.84

3713 0.76 194.6 2847 3060 2266 2054 329.9 15.9 644 3720 0.00 1.65 0.00 0.000 1030 0.000 0.029 2854 1977 2160 2267 2054 0 0 0 0 0 0 26.06 26.01 26.06

3786 0.73 194.6 2853 1975 2266 2054 318.6 15.7 657 3793 0.00 1.60 0.00 0.000 644 0.000 0.038 2861 938 2159 2265 2054 0 0 0 0 0 0 26.10 26.04 26.10

3855 0.73 194.6 2861 936 2266 2053 308.7 14.0 669 3862 0.00 1.70 0.00 0.000 1030 0.000 0.037 2855 2018 2160 2266 2054 0 0 0 0 0 0 26.10 26.04 26.11

3928 0.71 194.6 2855 2018 2266 2054 298.3 14.2 682 3935 0.00 1.60 0.00 0.000 388 0.000 0.044 2847 3054 2160 2266 2054 0 0 0 0 0 0 26.13 26.09 26.14

3954 0.68 194.6 2847 3054 2264 2059 294.2 14.9 686 3962 0.00 1.65 0.00 0.000 1158 0.000 0.029 2853 1997 2159 2264 2054 0 0 0 0 0 0 26.12 26.09 26.13

4027 0.65 194.6 2853 1992 2264 2054 283.8 14.0 699 4034 0.00 0.00 0.00 0.000 134 0.000 0.000 2853 1992 2158 2264 2053 0 0 0 0 0 0 26.16 26.17 26.17

4098 0.63 194.6 2853 1992 2264 2051 273.8 13.8 712 4105 0.00 0.00 0.00 0.000 134 0.000 0.000 2854 1991 2159 2264 2054 0 0 0 0 0 0 26.15 26.15 26.15

4170 0.60 194.6 2854 1991 2264 2054 263.8 14.0 725 4177 0.10 0.00 0.00 0.000 4230 0.234 0.000 2837 1992 2159 2265 2054 0 0 0 0 0 0 25.88 26.13 26.10

4242 0.62 215.2 2836 1991 2264 2054 254.6 12.4 738 4263 0.00 1.75 16.90 0.913 8484 0.000 0.044 2829 3054 2086 2199 1974 0 0 0 0 0 0 26.17 25.81 25.03

4287 0.63 221.6 2826 3053 2189 1974 248.8 13.0 745 4301 0.00 1.62 6.45 0.775 9254 0.000 0.028 2835 1992 2061 2174 1948 0 0 0 0 0 0 25.95 25.91 24.99

4367 0.66 235.4 2835 1989 2171 1949 238.8 12.7 759 4387 0.00 0.00 13.48 0.877 8870 0.000 0.000 2835 1988 2002 2120 1884 0 0 0 0 0 0 26.03 25.55 24.98

4451 0.71 249.4 2835 1989 2116 1886 228.3 12.7 774 4471 0.00 0.00 12.90 0.862 8358 0.000 0.000 2836 1989 1946 2064 1829 0 0 0 0 0 0 25.98 25.53 24.96

4536 0.77 271.1 2835 1989 2061 1828 217.8 12.3 789 4564 0.08 1.65 19.08 0.877 10916 0.220 0.036 2857 946 1861 1986 1736 0 0 0 0 0 0 25.75 25.48 24.89

4578 0.80 273.9 2856 946 1976 1736 212.4 13.2 795 4585 0.00 1.67 0.00 0.000 1190 0.000 0.037 2850 1999 1855 1976 1735 0 0 0 0 0 0 25.80 25.75 25.81

4652 0.82 276.6 2850 1999 1974 1735 203.1 13.2 808 4659 0.10 1.65 0.00 0.000 2468 0.164 0.041 2873 3055 1856 1973 1739 0 0 0 0 0 0 25.84 25.91 25.96

4693 0.82 276.6 2872 3054 1968 1731 196.5 16.0 815 4700 0.00 1.62 0.00 0.000 1030 0.000 0.029 2880 1995 1851 1967 1735 0 0 0 0 0 0 26.03 25.98 26.03

4764 0.80 276.6 2880 1992 1967 1735 185.7 15.0 828 4772 0.00 1.62 0.00 0.000 644 0.000 0.038 2887 944 1852 1969 1735 0 0 0 0 0 0 26.08 26.03 26.08

4806 0.80 276.6 2887 943 1965 1735 179.2 14.5 835 4813 0.00 1.67 0.00 0.000 1030 0.000 0.037 2882 2009 1849 1966 1733 0 0 0 0 0 0 26.10 26.03 26.11

4879 0.77 276.6 2881 2010 1965 1735 168.7 15.0 848 4886 0.00 1.62 0.00 0.000 388 0.000 0.044 2874 3057 1850 1965 1735 0 0 0 0 0 0 26.13 26.06 26.13

4920 0.77 276.6 2874 3054 1962 1735 162.2 15.1 855 4927 0.00 1.62 0.00 0.000 1030 0.000 0.028 2880 1991 1848 1962 1735 0 0 0 0 0 0 26.11 26.07 26.13

4992 0.75 276.6 2880 1990 1962 1735 151.4 16.0 868 4998 0.00 1.62 0.00 0.000 644 0.000 0.037 2888 934 1848 1962 1735 0 0 0 0 0 0 26.15 26.09 26.15

5031 0.75 276.6 2888 934 1962 1735 145.2 14.5 875 5038 0.00 1.67 0.00 0.000 1030 0.000 0.036 2883 2003 1848 1962 1735 0 0 0 0 0 0 26.17 26.08 26.15

5104 0.72 276.6 2882 2004 1962 1735 134.7 15.2 888 5111 0.00 1.62 0.00 0.000 388 0.000 0.043 2875 3056 1848 1962 1735 0 0 0 0 0 0 26.15 26.08 26.15

5134 0.72 276.6 2874 3057 1960 1735 129.6 16.3 893 5141 0.00 1.62 0.00 0.000 1030 0.000 0.029 2881 1990 1849 1960 1738 0 0 0 0 0 0 26.15 26.11 26.15

5206 0.72 276.6 2880 1985 1960 1735 118.4 15.9 906 5212 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 1985 1847 1959 1735 0 0 0 0 0 0 26.14 26.15 26.15

5279 0.70 276.6 2880 1986 1959 1735 107.3 15.5 919 5286 0.00 0.00 0.00 0.000 134 0.000 0.000 2881 1986 1847 1960 1735 0 0 0 0 0 0 26.15 26.16 26.15

5351 0.68 276.6 2880 1986 1959 1735 96.1 15.5 932 5357 0.10 0.00 0.00 0.000 4230 0.199 0.000 2861 1985 1847 1959 1735 0 0 0 0 0 0 25.92 26.14 26.10

5424 0.70 276.6 2863 1989 1959 1735 85.3 14.3 945 5431 0.00 1.67 0.00 0.000 388 0.000 0.044 2861 3056 1847 1959 1735 0 0 0 0 0 0 26.13 26.08 26.13

5455 0.73 276.6 2860 3057 1957 1735 80.7 15.2 950 5462 0.00 1.62 0.00 0.000 1158 0.000 0.031 2867 1994 1844 1957 1732 0 0 0 0 0 0 26.13 26.08 26.14

5527 0.73 276.6 2866 1991 1957 1735 70.8 14.4 963 5534 0.00 1.62 0.00 0.000 516 0.000 0.037 2875 936 1846 1957 1735 0 0 0 0 0 0 26.16 26.07 26.17

5604 0.78 276.6 2874 935 1957 1735 59.5 14.1 977 5610 0.00 1.67 0.00 0.000 1158 0.000 0.037 2875 2003 1846 1957 1735 0 0 0 0 0 0 26.13 26.07 26.13

5675 0.78 276.6 2874 2003 1957 1735 48.9 14.9 990 5682 0.00 1.62 0.00 0.000 260 0.000 0.043 2867 3057 1845 1956 1735 0 0 0 0 0 0 26.15 26.07 26.15

5701 0.81 276.6 2867 3057 1955 1735 44.8 16.1 994 5708 0.00 1.62 0.00 0.000 1158 0.000 0.029 2873 1993 1845 1955 1735 0 0 0 0 0 0 26.14 26.10 26.14

5774 0.88 293.1 2873 1990 1955 1735 34.4 12.6 1007 5802 0.08 1.67 17.30 0.757 10916 0.159 0.037 2903 948 1769 1884 1655 0 0 0 0 0 0 25.98 25.83 25.13

5842 0.98 339.3 2902 948 1883 1655 26.3 11.2 1018 5891 0.08 1.70 39.03 0.744 11430 0.099 0.035 2925 2003 1579 1696 1462 0 0 0 0 0 0 25.88 25.94 24.92

5955 0.98 339.3 2925 2003 1687 1462 11.4 13.9 1037 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2003 1574 1686 1463 0 0 0 0 0 0 25.89 25.89 25.89

6028 1.14 408.2 2925 2003 1684 1461 3.1 10.2 1050 6043 0.15 0.00 11.52 0.689 10914 0.153 0.000 2969 2000 1527 1640 1414 0 0 0 0 0 0 25.82 28.83 25.92

6044 end climb: SURFACE_DEPTH_REACHED

state 6044 begin surface coast

6066 end surface coast: CONTROL_FINISHED_OK

state 6066 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	35	ALTIM_PULSE	2
DIVE	88	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	174.0
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	070822,045709,4450.7041,-12458.0469,20,0.9,29,15.1,1.2,186.9,11,2.7	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4449.929,-12455.533
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.65	MHEAD_RNG_PITCHd_Wd	94.2,3839,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-64.7	D_GRID	784
GPS2	070822,050923,4450.6157,-12458.2910,3,0.8,4,15.1,0.9,226.5,12,6.6

NEWHEAD	140.400,320.22,3769.07	_24V_AH	23.78,15.446
FINISH	0.0,1.018069	_10V_AH	10.20,12.670
SM_CCo	6084,121.80,0.717,0,0,929,500.41	FG_AHR_24Vo	0.000
SM_GC	0.57,7.80,0.30,121.80,0.048,0.051,0.717,171,2203,929,-7.49,-1.13,500.41,0,0,0,0,0,0,25.94,25.88,24.66	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.52,-12458.03,070822,030049	MEM	220792
TT8_MAMPS	0.023968,0.290612	DATA_FILE_SIZE	36695,1056
HUMID	37.04	CAP_FILE_SIZE	402652,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,230653952
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	070822,065439,4450.040,-12457.898,23,0.9,23,15.1,0.7,223.2,10,6.4
SC_FREEKB	3784576

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	250	116.30	nil	0	0	0.00
Roll_motor	116	51	142.03	nil	0	0	0.00
VBD_pump_during_apogee	452	1045	11251.55	nil	0	0	0.00
VBD_pump_during_surface	121	716	2076.16	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	6070	6	917.89
Iridium_during_xfer	550	100	1311.07	Edison	6790	10	1614.66
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	12	2.24
TT8	2433	13	346.78
LPSleep	509	2	11.38
TT8_Active	823	13	111.06
TT8_Sampling	2543	39	1023.08
TT8_CF8	620	49	315.71
TT8_Kalman	0	0	0.00
Analog_circuits	2419	10	246.75
GPS_charging	0	0	0.00
Compass	1645	8	138.27
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	159	2180	1051	793	0.0	0.0	0	117	0.00	0.00	-100.75	0.005	16386	0.000	0.000	160	2181	3404	3367	3441	0	0	0	0	0	0	26.01	28.83	26.02
120	-0.75	-194.6	159	2181	3369	3441	3.7	-7.2	16	141	8.60	1.62	-6.47	0.011	18980	0.211	0.049	2375	1117	3764	3720	3809	0	0	0	0	0	0	25.75	24.76	26.00
206	-0.79	-194.6	2374	1116	3730	3813	24.6	-14.8	31	213	0.00	1.73	0.00	0.000	1158	0.000	0.041	2369	2206	3771	3730	3813	0	0	0	0	0	0	26.10	26.04	26.11
279	-0.73	-194.6	2368	2207	3732	3813	35.7	-18.3	44	286	0.00	1.65	0.00	0.000	388	0.000	0.048	2361	3258	3772	3732	3813	0	0	0	0	0	0	26.10	26.04	26.12
389	-0.81	-194.6	2360	3258	3736	3812	51.3	-11.3	64	396	0.00	1.62	0.00	0.000	1190	0.000	0.029	2367	2194	3774	3736	3812	0	0	0	0	0	0	26.14	26.10	26.14
462	-0.83	-194.6	2362	2189	3737	3812	59.6	-11.8	77	468	0.00	0.00	0.00	0.000	166	0.000	0.000	2366	2189	3774	3737	3812	0	0	0	0	0	0	26.14	26.15	26.15
534	-0.88	-194.6	2366	2189	3739	3812	67.9	-11.1	90	541	0.00	1.67	0.00	0.000	420	0.000	0.048	2360	3255	3775	3738	3813	0	0	0	0	0	0	26.17	26.06	26.16
561	-0.92	-194.6	2360	3256	3739	3812	70.8	-10.7	94	568	0.10	1.62	0.00	0.000	5286	0.148	0.030	2338	2196	3775	3739	3812	0	0	0	0	0	0	26.00	26.10	26.11
634	-0.92	-194.6	2337	2191	3738	3812	80.0	-13.7	107	641	0.00	1.62	0.00	0.000	516	0.000	0.035	2349	1132	3775	3738	3812	0	0	0	0	0	0	26.17	26.10	26.17
716	-1.00	-194.6	2344	1132	3739	3812	90.5	-12.5	122	724	0.08	1.70	0.00	0.000	5286	0.151	0.041	2303	2210	3775	3739	3812	0	0	0	0	0	0	26.01	26.08	26.12
789	-0.95	-194.6	2302	2210	3734	3812	101.1	-15.9	135	796	0.00	1.62	0.00	0.000	388	0.000	0.048	2294	3252	3775	3739	3812	0	0	0	0	0	0	26.15	26.08	26.16
875	-0.95	-194.6	2293	3252	3739	3812	114.8	-15.2	151	884	0.00	1.65	0.00	0.000	1030	0.000	0.030	2300	2203	3775	3739	3812	0	0	0	0	0	0	26.15	26.10	26.15
948	-0.91	-194.6	2299	2198	3739	3812	125.6	-15.4	164	957	0.08	1.67	0.00	0.000	2692	0.199	0.035	2315	1134	3775	3739	3812	0	0	0	0	0	0	25.96	26.11	26.11
970	-0.91	-194.6	2314	1133	3739	3812	129.0	-15.2	167	977	0.00	1.67	0.00	0.000	1030	0.000	0.041	2309	2194	3775	3739	3812	0	0	0	0	0	0	26.14	26.07	26.15
1043	-0.89	-194.6	2308	2194	3739	3812	139.0	-14.8	180	1050	0.00	1.67	0.00	0.000	388	0.000	0.047	2301	3264	3775	3739	3812	0	0	0	0	0	0	26.15	26.06	26.16
1104	-0.89	-194.6	2300	3263	3739	3812	148.4	-14.1	191	1112	0.05	1.62	0.00	0.000	3078	0.246	0.029	2316	2198	3775	3739	3812	0	0	0	0	0	0	25.92	26.10	26.09
1177	-0.89	-194.6	2315	2192	3739	3812	158.4	-14.3	204	1184	0.00	1.62	0.00	0.000	516	0.000	0.035	2323	1131	3775	3739	3812	0	0	0	0	0	0	26.15	26.09	26.16
1208	-0.93	-194.6	2323	1131	3739	3818	162.7	-14.3	209	1216	0.00	1.75	0.00	0.000	1158	0.000	0.041	2316	2210	3775	3739	3812	0	0	0	0	0	0	26.13	26.08	26.14
1281	-0.93	-194.6	2316	2210	3739	3811	172.2	-13.3	222	1289	0.00	1.67	0.00	0.000	292	0.000	0.049	2309	3252	3774	3738	3811	0	0	0	0	0	0	26.16	26.08	26.17
1350	-0.98	-194.6	2309	3252	3739	3811	181.3	-12.5	234	1357	0.00	1.62	0.00	0.000	1190	0.000	0.030	2315	2182	3774	3739	3810	0	0	0	0	0	0	26.13	26.09	26.14
1423	-1.00	-194.6	2315	2178	3739	3810	190.5	-12.5	247	1429	0.00	1.58	0.00	0.000	676	0.000	0.035	2323	1142	3774	3739	3810	0	0	0	0	0	0	26.15	26.10	26.15
1449	-1.04	-194.6	2322	1142	3739	3810	193.8	-12.6	251	1456	0.00	1.67	0.00	0.000	1190	0.000	0.041	2317	2203	3774	3739	3810	0	0	0	0	0	0	26.13	26.08	26.15
1522	-1.06	-194.6	2316	2204	3739	3810	202.8	-12.6	264	1529	0.00	1.67	0.00	0.000	420	0.000	0.049	2308	3263	3774	3739	3810	0	0	0	0	0	0	26.14	26.07	26.14
1589	-1.09	-194.6	2308	3264	3739	3809	211.3	-12.4	276	1597	0.10	1.62	0.00	0.000	5286	0.129	0.029	2276	2198	3773	3739	3808	0	0	0	0	0	0	26.06	26.11	26.14
1662	-1.04	-194.6	2275	2192	3739	3809	222.1	-14.7	289	1669	0.00	1.60	0.00	0.000	644	0.000	0.034	2282	1139	3774	3739	3809	0	0	0	0	0	0	26.15	26.08	26.15
1682	-1.00	-194.6	2281	1138	3739	3809	225.0	-14.8	292	1690	0.00	1.73	0.00	0.000	1158	0.000	0.040	2276	2202	3773	3739	3808	0	0	0	0	0	0	26.13	26.09	26.15
1757	-0.95	-194.6	2275	2205	3739	3808	235.5	-14.8	305	1765	0.12	1.70	0.00	0.000	2436	0.185	0.046	2296	3257	3773	3739	3808	0	0	0	0	0	0	25.93	26.07	26.09
1801	-0.95	-194.6	2294	3257	3739	3808	241.7	-13.5	312	1808	0.00	1.62	0.00	0.000	1030	0.000	0.030	2301	2187	3773	3739	3808	0	0	0	0	0	0	26.13	26.09	26.15
1874	-0.95	-194.6	2301	2183	3739	3807	251.2	-13.1	325	1881	0.00	1.58	0.00	0.000	548	0.000	0.035	2303	1142	3773	3739	3808	0	0	0	0	0	0	26.16	26.10	26.17
1906	-0.98	-194.6	2302	1142	3739	3807	255.4	-13.0	330	1914	0.00	1.73	0.00	0.000	1190	0.000	0.041	2297	2205	3773	3739	3807	0	0	0	0	0	0	26.11	26.07	26.13
1979	-0.98	-194.6	2296	2204	3738	3813	264.8	-12.9	343	1987	0.00	1.70	0.00	0.000	292	0.000	0.049	2288	3261	3773	3739	3807	0	0	0	0	0	0	26.15	26.06	26.13
2042	-0.98	-194.6	2289	3261	3740	3807	273.3	-12.8	354	2049	0.00	1.62	0.00	0.000	1062	0.000	0.030	2294	2196	3773	3739	3807	0	0	0	0	0	0	26.12	26.08	26.13
2116	-0.98	-194.6	2294	2189	3739	3807	283.2	-14.2	367	2122	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2190	3772	3739	3806	0	0	0	0	0	0	26.15	26.15	26.15
2187	-0.98	-194.6	2294	2190	3739	3807	293.0	-14.0	380	2193	0.00	1.67	0.00	0.000	260	0.000	0.049	2288	3257	3771	3736	3807	0	0	0	0	0	0	26.15	26.04	26.15
2240	-1.00	-194.6	2288	3256	3739	3806	300.3	-13.2	389	2247	0.00	1.62	0.00	0.000	1190	0.000	0.031	2294	2194	3772	3739	3806	0	0	0	0	0	0	26.15	26.10	26.15
2312	-1.00	-194.6	2293	2189	3739	3806	310.0	-13.5	402	2319	0.00	1.60	0.00	0.000	516	0.000	0.035	2298	1139	3771	3739	3803	0	0	0	0	0	0	26.13	26.07	26.13
2346	-1.03	-194.6	2298	1138	3739	3806	314.2	-13.2	407	2353	0.00	1.67	0.00	0.000	1190	0.000	0.041	2291	2199	3772	3739	3806	0	0	0	0	0	0	26.13	26.06	26.14
2421	-1.03	-194.6	2292	2201	3739	3805	324.3	-14.2	420	2428	0.00	1.65	0.00	0.000	260	0.000	0.049	2285	3257	3771	3738	3805	0	0	0	0	0	0	26.13	26.04	26.13
2476	-1.03	-194.6	2284	3257	3739	3805	332.3	-13.6	430	2483	0.00	1.62	0.00	0.000	1030	0.000	0.030	2290	2192	3772	3739	3805	0	0	0	0	0	0	26.12	26.07	26.13
2548	-1.03	-194.6	2289	2185	3739	3805	341.9	-13.8	443	2554	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	2185	3772	3739	3805	0	0	0	0	0	0	26.13	26.14	26.13
2619	-1.03	-194.6	2289	2185	3737	3804	351.7	-14.0	456	2625	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2185	3771	3739	3804	0	0	0	0	0	0	26.13	26.13	26.13
2691	-1.03	-194.6	2288	2185	3738	3804	361.4	-13.7	469	2697	0.00	1.70	0.00	0.000	260	0.000	0.049	2284	3258	3771	3739	3804	0	0	0	0	0	0	26.15	26.06	26.15
2753	-1.03	-194.6	2283	3258	3739	3803	370.2	-13.5	480	2760	0.00	1.62	0.00	0.000	1030	0.000	0.031	2290	2201	3768	3734	3803	0	0	0	0	0	0	26.13	26.08	26.13
2825	-1.03	-194.6	2289	2200	3739	3803	379.8	-13.2	493	2831	0.00	0.00	0.00	0.000	38	0.000	0.000	2290	2194	3771	3739	3803	0	0	0	0	0	0	26.14	26.14	26.14
2896	-1.03	-194.6	2289	2195	3737	3803	389.2	-13.8	506	2902	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2195	3771	3739	3803	0	0	0	0	0	0	26.12	26.13	26.15
2968	-1.03	-194.6	2288	2195	3739	3802	398.6	-12.6	519	2975	0.00	1.70	0.00	0.000	292	0.000	0.049	2284	3270	3770	3739	3802	0	0	0	0	0	0	26.13	26.02	26.13
2980	end dive: TARGET_DEPTH_EXCEEDED
state	2980	begin apogee
2987	-0.11	0.0	2290	1993	3739	3802	400.6	-13.0	521	3154	0.98	0.00	156.00	1.046	10246	0.168	0.000	2565	1988	2965	3030	2901	0	0	0	0	0	0	25.75	24.68	24.11
3157	end apogee: CONTROL_FINISHED_OK
state	3158	begin climb
3159	0.75	194.6	2563	1989	3029	2901	403.7	0.0	547	3330	0.90	1.77	159.80	1.008	10756	0.104	0.037	2853	939	2170	2285	2056	0	0	0	0	0	0	24.94	24.46	23.78
3467	0.78	194.6	2844	939	2276	2056	368.3	13.8	598	3475	0.08	1.73	0.00	0.000	3206	0.250	0.037	2854	2010	2165	2276	2055	0	0	0	0	0	0	25.41	25.58	25.59
3540	0.76	194.6	2853	2010	2273	2054	357.2	16.2	611	3547	0.00	1.65	0.00	0.000	388	0.000	0.044	2847	3059	2164	2274	2054	0	0	0	0	0	0	25.84	25.78	25.84
3713	0.76	194.6	2847	3060	2266	2054	329.9	15.9	644	3720	0.00	1.65	0.00	0.000	1030	0.000	0.029	2854	1977	2160	2267	2054	0	0	0	0	0	0	26.06	26.01	26.06
3786	0.73	194.6	2853	1975	2266	2054	318.6	15.7	657	3793	0.00	1.60	0.00	0.000	644	0.000	0.038	2861	938	2159	2265	2054	0	0	0	0	0	0	26.10	26.04	26.10
3855	0.73	194.6	2861	936	2266	2053	308.7	14.0	669	3862	0.00	1.70	0.00	0.000	1030	0.000	0.037	2855	2018	2160	2266	2054	0	0	0	0	0	0	26.10	26.04	26.11
3928	0.71	194.6	2855	2018	2266	2054	298.3	14.2	682	3935	0.00	1.60	0.00	0.000	388	0.000	0.044	2847	3054	2160	2266	2054	0	0	0	0	0	0	26.13	26.09	26.14
3954	0.68	194.6	2847	3054	2264	2059	294.2	14.9	686	3962	0.00	1.65	0.00	0.000	1158	0.000	0.029	2853	1997	2159	2264	2054	0	0	0	0	0	0	26.12	26.09	26.13
4027	0.65	194.6	2853	1992	2264	2054	283.8	14.0	699	4034	0.00	0.00	0.00	0.000	134	0.000	0.000	2853	1992	2158	2264	2053	0	0	0	0	0	0	26.16	26.17	26.17
4098	0.63	194.6	2853	1992	2264	2051	273.8	13.8	712	4105	0.00	0.00	0.00	0.000	134	0.000	0.000	2854	1991	2159	2264	2054	0	0	0	0	0	0	26.15	26.15	26.15
4170	0.60	194.6	2854	1991	2264	2054	263.8	14.0	725	4177	0.10	0.00	0.00	0.000	4230	0.234	0.000	2837	1992	2159	2265	2054	0	0	0	0	0	0	25.88	26.13	26.10
4242	0.62	215.2	2836	1991	2264	2054	254.6	12.4	738	4263	0.00	1.75	16.90	0.913	8484	0.000	0.044	2829	3054	2086	2199	1974	0	0	0	0	0	0	26.17	25.81	25.03
4287	0.63	221.6	2826	3053	2189	1974	248.8	13.0	745	4301	0.00	1.62	6.45	0.775	9254	0.000	0.028	2835	1992	2061	2174	1948	0	0	0	0	0	0	25.95	25.91	24.99
4367	0.66	235.4	2835	1989	2171	1949	238.8	12.7	759	4387	0.00	0.00	13.48	0.877	8870	0.000	0.000	2835	1988	2002	2120	1884	0	0	0	0	0	0	26.03	25.55	24.98
4451	0.71	249.4	2835	1989	2116	1886	228.3	12.7	774	4471	0.00	0.00	12.90	0.862	8358	0.000	0.000	2836	1989	1946	2064	1829	0	0	0	0	0	0	25.98	25.53	24.96
4536	0.77	271.1	2835	1989	2061	1828	217.8	12.3	789	4564	0.08	1.65	19.08	0.877	10916	0.220	0.036	2857	946	1861	1986	1736	0	0	0	0	0	0	25.75	25.48	24.89
4578	0.80	273.9	2856	946	1976	1736	212.4	13.2	795	4585	0.00	1.67	0.00	0.000	1190	0.000	0.037	2850	1999	1855	1976	1735	0	0	0	0	0	0	25.80	25.75	25.81
4652	0.82	276.6	2850	1999	1974	1735	203.1	13.2	808	4659	0.10	1.65	0.00	0.000	2468	0.164	0.041	2873	3055	1856	1973	1739	0	0	0	0	0	0	25.84	25.91	25.96
4693	0.82	276.6	2872	3054	1968	1731	196.5	16.0	815	4700	0.00	1.62	0.00	0.000	1030	0.000	0.029	2880	1995	1851	1967	1735	0	0	0	0	0	0	26.03	25.98	26.03
4764	0.80	276.6	2880	1992	1967	1735	185.7	15.0	828	4772	0.00	1.62	0.00	0.000	644	0.000	0.038	2887	944	1852	1969	1735	0	0	0	0	0	0	26.08	26.03	26.08
4806	0.80	276.6	2887	943	1965	1735	179.2	14.5	835	4813	0.00	1.67	0.00	0.000	1030	0.000	0.037	2882	2009	1849	1966	1733	0	0	0	0	0	0	26.10	26.03	26.11
4879	0.77	276.6	2881	2010	1965	1735	168.7	15.0	848	4886	0.00	1.62	0.00	0.000	388	0.000	0.044	2874	3057	1850	1965	1735	0	0	0	0	0	0	26.13	26.06	26.13
4920	0.77	276.6	2874	3054	1962	1735	162.2	15.1	855	4927	0.00	1.62	0.00	0.000	1030	0.000	0.028	2880	1991	1848	1962	1735	0	0	0	0	0	0	26.11	26.07	26.13
4992	0.75	276.6	2880	1990	1962	1735	151.4	16.0	868	4998	0.00	1.62	0.00	0.000	644	0.000	0.037	2888	934	1848	1962	1735	0	0	0	0	0	0	26.15	26.09	26.15
5031	0.75	276.6	2888	934	1962	1735	145.2	14.5	875	5038	0.00	1.67	0.00	0.000	1030	0.000	0.036	2883	2003	1848	1962	1735	0	0	0	0	0	0	26.17	26.08	26.15
5104	0.72	276.6	2882	2004	1962	1735	134.7	15.2	888	5111	0.00	1.62	0.00	0.000	388	0.000	0.043	2875	3056	1848	1962	1735	0	0	0	0	0	0	26.15	26.08	26.15
5134	0.72	276.6	2874	3057	1960	1735	129.6	16.3	893	5141	0.00	1.62	0.00	0.000	1030	0.000	0.029	2881	1990	1849	1960	1738	0	0	0	0	0	0	26.15	26.11	26.15
5206	0.72	276.6	2880	1985	1960	1735	118.4	15.9	906	5212	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	1985	1847	1959	1735	0	0	0	0	0	0	26.14	26.15	26.15
5279	0.70	276.6	2880	1986	1959	1735	107.3	15.5	919	5286	0.00	0.00	0.00	0.000	134	0.000	0.000	2881	1986	1847	1960	1735	0	0	0	0	0	0	26.15	26.16	26.15
5351	0.68	276.6	2880	1986	1959	1735	96.1	15.5	932	5357	0.10	0.00	0.00	0.000	4230	0.199	0.000	2861	1985	1847	1959	1735	0	0	0	0	0	0	25.92	26.14	26.10
5424	0.70	276.6	2863	1989	1959	1735	85.3	14.3	945	5431	0.00	1.67	0.00	0.000	388	0.000	0.044	2861	3056	1847	1959	1735	0	0	0	0	0	0	26.13	26.08	26.13
5455	0.73	276.6	2860	3057	1957	1735	80.7	15.2	950	5462	0.00	1.62	0.00	0.000	1158	0.000	0.031	2867	1994	1844	1957	1732	0	0	0	0	0	0	26.13	26.08	26.14
5527	0.73	276.6	2866	1991	1957	1735	70.8	14.4	963	5534	0.00	1.62	0.00	0.000	516	0.000	0.037	2875	936	1846	1957	1735	0	0	0	0	0	0	26.16	26.07	26.17
5604	0.78	276.6	2874	935	1957	1735	59.5	14.1	977	5610	0.00	1.67	0.00	0.000	1158	0.000	0.037	2875	2003	1846	1957	1735	0	0	0	0	0	0	26.13	26.07	26.13
5675	0.78	276.6	2874	2003	1957	1735	48.9	14.9	990	5682	0.00	1.62	0.00	0.000	260	0.000	0.043	2867	3057	1845	1956	1735	0	0	0	0	0	0	26.15	26.07	26.15
5701	0.81	276.6	2867	3057	1955	1735	44.8	16.1	994	5708	0.00	1.62	0.00	0.000	1158	0.000	0.029	2873	1993	1845	1955	1735	0	0	0	0	0	0	26.14	26.10	26.14
5774	0.88	293.1	2873	1990	1955	1735	34.4	12.6	1007	5802	0.08	1.67	17.30	0.757	10916	0.159	0.037	2903	948	1769	1884	1655	0	0	0	0	0	0	25.98	25.83	25.13
5842	0.98	339.3	2902	948	1883	1655	26.3	11.2	1018	5891	0.08	1.70	39.03	0.744	11430	0.099	0.035	2925	2003	1579	1696	1462	0	0	0	0	0	0	25.88	25.94	24.92
5955	0.98	339.3	2925	2003	1687	1462	11.4	13.9	1037	5961	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2003	1574	1686	1463	0	0	0	0	0	0	25.89	25.89	25.89
6028	1.14	408.2	2925	2003	1684	1461	3.1	10.2	1050	6043	0.15	0.00	11.52	0.689	10914	0.153	0.000	2969	2000	1527	1640	1414	0	0	0	0	0	0	25.82	28.83	25.92
6044	end climb: SURFACE_DEPTH_REACHED
state	6044	begin surface coast
6066	end surface coast: CONTROL_FINISHED_OK
state	6066	begin surface