Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 90 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 42 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 38 ALTIM_PULSE 2

DIVE 90 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 178.0

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 178.0 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 90 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 42 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 200 R_STBD_OVSHOOT 38 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 070822,085101,4449.5127,-12457.8076,13,0.9,30,15.1,0.4,271.9,10,3.3 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4449.973,-12455.576

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 56.3,3440,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -64.0 D_GRID 752

GPS2 070822,090239,4449.3828,-12458.0596,3,0.6,4,15.1,0.7,228.4,12,7.5

Post-dive calculations and measurements:

NEWHEAD 207.600,0.68,14.51 _24V_AH 23.76,15.761

FINISH -0.1,1.023249 _10V_AH 10.22,12.850

SM_CCo 6140,106.97,0.704,0,0,927,500.17 FG_AHR_24Vo 0.000

SM_GC 0.57,7.78,0.32,106.97,0.053,0.049,0.704,168,2210,927,-7.48,-1.07,500.17,0,0,0,0,0,0,25.90,25.88,24.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.52,-12458.03,070822,065735 MEM 220776

TT8_MAMPS 0.023968,0.283122 DATA_FILE_SIZE 36660,1068

HUMID 37.75 CAP_FILE_SIZE 404139,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,230346752

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 070822,104831,4448.994,-12459.512,2,0.9,18,15.1,1.2,230.8,9,2.3

SC_FREEKB 3783936

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 103.11 nil 0 0 0.00

Roll_motor 122 74 215.94 nil 0 0 0.00

VBD_pump_during_apogee 466 1031 11434.27 nil 0 0 0.00

VBD_pump_during_surface 106 703 1788.87 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 6125 6 936.19

Iridium_during_xfer 519 99 1228.31 Edison 6585 10 1564.60

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 12 2.15

TT8 2443 13 348.81

LPSleep 511 2 11.45

TT8_Active 829 13 112.13

TT8_Sampling 2532 39 1020.58

TT8_CF8 619 49 315.81

TT8_Kalman 0 0 0.00

Analog_circuits 2405 10 245.80

GPS_charging 0 0 0.00

Compass 1663 8 140.05

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

12 -0.75 -194.6 172 2217 1057 794 0.0 0.0 0 117 0.00 0.00 -100.32 0.005 16386 0.000 0.000 172 2217 3378 3340 3416 0 0 0 0 0 0 26.01 28.83 26.01

119 -0.75 -194.6 171 2217 3341 3417 3.8 -7.9 16 141 8.57 1.70 -7.00 0.012 18724 0.212 0.074 2357 3252 3767 3723 3812 0 0 0 0 0 0 25.74 24.77 25.92

346 -0.78 -194.6 2356 3252 3736 3812 45.1 -13.1 58 353 0.00 1.62 0.00 0.000 1190 0.000 0.030 2363 2185 3774 3736 3812 0 0 0 0 0 0 26.12 26.08 26.13

418 -0.78 -194.6 2364 2181 3737 3812 54.8 -13.3 71 424 0.00 1.60 0.00 0.000 548 0.000 0.037 2370 1137 3775 3739 3812 0 0 0 0 0 0 26.14 26.09 26.15

527 -0.88 -194.6 2369 1137 3738 3812 66.8 -9.3 91 534 0.00 1.67 0.00 0.000 1190 0.000 0.041 2364 2196 3774 3739 3810 0 0 0 0 0 0 26.14 26.08 26.15

600 -0.91 -194.6 2363 2196 3739 3812 75.9 -13.6 104 607 0.00 1.67 0.00 0.000 388 0.000 0.048 2354 3265 3775 3739 3812 0 0 0 0 0 0 26.15 26.07 26.17

638 -0.95 -194.6 2354 3266 3739 3812 80.6 -12.7 110 645 0.10 1.62 0.00 0.000 5286 0.145 0.030 2332 2205 3775 3739 3812 0 0 0 0 0 0 25.99 26.08 26.10

711 -0.95 -194.6 2333 2199 3739 3810 90.8 -13.9 123 717 0.00 1.62 0.00 0.000 516 0.000 0.034 2339 1136 3775 3739 3811 0 0 0 0 0 0 26.16 26.08 26.17

730 -0.95 -194.6 2338 1136 3739 3812 93.6 -13.8 126 737 0.00 1.70 0.00 0.000 1030 0.000 0.040 2332 2213 3775 3739 3812 0 0 0 0 0 0 26.13 26.06 26.14

801 -0.95 -194.6 2331 2215 3739 3812 102.9 -14.0 139 808 0.00 1.62 0.00 0.000 260 0.000 0.048 2324 3256 3775 3739 3811 0 0 0 0 0 0 26.16 26.07 26.16

919 -1.01 -194.6 2323 3256 3739 3811 119.6 -12.4 161 926 0.00 1.62 0.00 0.000 1190 0.000 0.028 2330 2184 3775 3739 3811 0 0 0 0 0 0 26.15 26.10 26.16

992 -1.03 -194.6 2330 2179 3739 3811 129.0 -13.3 174 999 0.10 1.58 0.00 0.000 4772 0.129 0.031 2282 1145 3775 3739 3811 0 0 0 0 0 0 26.05 26.08 26.12

1018 -1.03 -194.6 2282 1145 3739 3811 132.9 -14.0 178 1026 0.00 1.67 0.00 0.000 1030 0.000 0.041 2277 2204 3775 3739 3811 0 0 0 0 0 0 26.15 26.08 26.15

1091 -0.95 -194.6 2276 2205 3739 3810 144.6 -17.6 191 1098 0.12 1.65 0.00 0.000 2436 0.190 0.045 2303 3256 3775 3740 3811 0 0 0 0 0 0 25.89 26.06 26.03

1136 -0.95 -194.6 2302 3257 3739 3810 152.0 -15.6 199 1145 0.00 1.65 0.00 0.000 1030 0.000 0.030 2309 2206 3773 3737 3810 0 0 0 0 0 0 26.13 26.09 26.14

1210 -0.95 -194.6 2304 2201 3739 3810 162.2 -13.6 212 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 2201 3772 3735 3810 0 0 0 0 0 0 26.15 26.16 26.17

1281 -0.95 -194.6 2309 2201 3739 3810 171.9 -13.1 225 1288 0.00 0.00 0.00 0.000 38 0.000 0.000 2309 2201 3774 3739 3810 0 0 0 0 0 0 26.15 26.15 26.15

1353 -0.95 -194.6 2308 2206 3739 3810 181.2 -13.2 238 1360 0.00 1.67 0.00 0.000 292 0.000 0.047 2304 3262 3774 3739 3809 0 0 0 0 0 0 26.16 26.03 26.16

1393 -0.95 -194.6 2302 3263 3738 3809 186.8 -13.3 245 1400 0.00 1.62 0.00 0.000 1062 0.000 0.029 2309 2202 3774 3739 3809 0 0 0 0 0 0 26.14 26.10 26.15

1466 -0.95 -194.6 2308 2194 3739 3809 196.7 -13.8 258 1472 0.00 1.62 0.00 0.000 516 0.000 0.035 2318 1136 3774 3739 3809 0 0 0 0 0 0 26.14 26.08 26.15

1497 -1.00 -194.6 2316 1136 3739 3809 200.8 -13.3 263 1504 0.00 1.70 0.00 0.000 1190 0.000 0.041 2311 2211 3774 3739 3809 0 0 0 0 0 0 26.12 26.06 26.13

1568 -1.00 -194.6 2310 2211 3739 3808 210.2 -14.1 276 1574 0.00 1.62 0.00 0.000 260 0.000 0.048 2303 3253 3773 3739 3808 0 0 0 0 0 0 26.15 26.06 26.15

1635 -1.05 -194.6 2302 3253 3739 3808 219.7 -13.6 288 1642 0.00 1.62 0.00 0.000 1158 0.000 0.030 2309 2186 3773 3739 3807 0 0 0 0 0 0 26.13 26.09 26.14

1707 -1.05 -194.6 2308 2182 3739 3808 229.6 -13.8 301 1714 0.00 1.60 0.00 0.000 516 0.000 0.035 2317 1137 3772 3739 3806 0 0 0 0 0 0 26.14 26.07 26.14

1738 -1.10 -194.6 2316 1136 3739 3807 233.5 -13.1 306 1746 0.10 1.67 0.00 0.000 5286 0.107 0.040 2271 2201 3773 3739 3807 0 0 0 0 0 0 26.04 26.06 26.11

1810 -1.05 -194.6 2270 2197 3739 3807 244.5 -15.8 319 1817 0.00 1.65 0.00 0.000 388 0.000 0.047 2264 3254 3773 3739 3807 0 0 0 0 0 0 26.15 26.06 26.15

1856 -1.01 -194.6 2263 3253 3739 3806 251.8 -16.1 327 1864 0.08 1.62 0.00 0.000 3206 0.198 0.029 2282 2186 3773 3739 3807 0 0 0 0 0 0 25.91 26.07 26.07

1928 -0.98 -194.6 2281 2182 3739 3807 262.6 -15.1 340 1934 0.05 0.00 0.00 0.000 2182 0.227 0.000 2293 2182 3773 3739 3807 0 0 0 0 0 0 25.94 26.12 26.08

2001 -0.98 -194.6 2292 2182 3739 3806 273.4 -14.7 353 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2182 3772 3739 3806 0 0 0 0 0 0 26.15 26.15 26.15

2072 -0.98 -194.6 2292 2182 3739 3806 283.6 -13.8 366 2078 0.00 1.70 0.00 0.000 260 0.000 0.048 2288 3257 3772 3739 3806 0 0 0 0 0 0 26.12 26.04 26.13

2127 -0.98 -194.6 2282 3257 3739 3806 291.4 -13.6 376 2135 0.00 1.65 0.00 0.000 1030 0.000 0.030 2292 2206 3772 3739 3806 0 0 0 0 0 0 26.12 26.10 26.14

2200 -0.98 -194.6 2291 2202 3739 3806 301.2 -13.7 389 2207 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2202 3775 3739 3812 0 0 0 0 0 0 26.13 26.14 26.14

2272 -0.98 -194.6 2291 2202 3739 3805 311.4 -14.0 402 2278 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2202 3772 3739 3805 0 0 0 0 0 0 26.12 26.13 26.13

2343 -0.98 -194.6 2291 2202 3739 3805 321.7 -14.2 415 2350 0.00 1.67 0.00 0.000 260 0.000 0.048 2289 3261 3772 3739 3805 0 0 0 0 0 0 26.14 26.05 26.13

2378 -0.95 -194.6 2285 3261 3739 3805 327.1 -15.6 421 2385 0.00 1.62 0.00 0.000 1158 0.000 0.030 2291 2203 3772 3739 3805 0 0 0 0 0 0 26.13 26.07 26.13

2450 -0.95 -194.6 2291 2196 3739 3804 337.6 -14.5 434 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2196 3771 3738 3804 0 0 0 0 0 0 26.12 26.12 26.12

2521 -0.95 -194.6 2291 2196 3739 3804 347.8 -14.0 447 2528 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2196 3771 3739 3804 0 0 0 0 0 0 26.13 26.13 26.13

2593 -0.95 -194.6 2291 2196 3739 3804 357.8 -14.0 460 2599 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2196 3771 3739 3804 0 0 0 0 0 0 26.13 26.13 26.13

2665 -0.95 -194.6 2290 2196 3739 3803 367.5 -13.5 473 2671 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2198 3770 3738 3803 0 0 0 0 0 0 26.11 26.13 26.12

2737 -0.95 -194.6 2290 2196 3739 3803 376.8 -12.2 486 2743 0.00 0.00 0.00 0.000 38 0.000 0.000 2291 2196 3771 3739 3803 0 0 0 0 0 0 26.15 26.15 26.15

2808 -0.95 -194.6 2290 2196 3739 3803 385.9 -13.3 499 2815 0.00 1.67 0.00 0.000 292 0.000 0.048 2285 3254 3770 3739 3802 0 0 0 0 0 0 26.13 26.05 26.13

2843 -0.95 -194.6 2284 3254 3739 3802 391.0 -13.5 505 2850 0.00 1.62 0.00 0.000 1030 0.000 0.031 2290 2195 3770 3739 3802 0 0 0 0 0 0 26.12 26.07 26.13

2914 end dive: TARGET_DEPTH_EXCEEDED

state 2914 begin apogee

2919 -0.11 0.0 2293 1969 3739 3802 400.6 -13.3 518 3080 0.95 0.00 155.07 1.032 10246 0.157 0.000 2562 1968 2967 3032 2903 0 0 0 0 0 0 25.76 24.79 24.10

3084 end apogee: CONTROL_FINISHED_OK

state 3084 begin climb

3086 0.75 194.6 2566 1968 3030 2902 404.1 0.0 543 3261 0.93 1.73 160.23 0.995 10756 0.106 0.037 2855 964 2170 2284 2056 0 0 0 0 0 0 24.84 24.44 23.76

3299 0.75 194.6 2855 964 2279 2056 383.9 14.7 576 3307 0.00 1.75 0.00 0.000 1030 0.000 0.036 2849 2003 2167 2279 2056 0 0 0 0 0 0 25.10 25.08 25.11

3372 0.75 194.6 2849 2003 2276 2055 373.5 14.1 589 3380 0.00 1.70 0.00 0.000 260 0.000 0.044 2842 3048 2164 2275 2054 0 0 0 0 0 0 25.51 25.47 25.51

3415 0.75 194.6 2841 3048 2271 2054 367.3 14.5 596 3422 0.00 1.60 0.00 0.000 1030 0.000 0.030 2848 2016 2162 2271 2054 0 0 0 0 0 0 25.67 25.63 25.68

3488 0.72 194.6 2847 2011 2270 2054 357.2 13.9 609 3495 0.00 1.67 0.00 0.000 644 0.000 0.037 2856 941 2160 2270 2051 0 0 0 0 0 0 25.85 25.81 25.85

3544 0.72 194.6 2855 940 2270 2054 349.0 13.5 619 3551 0.00 1.67 0.00 0.000 1030 0.000 0.036 2850 2008 2163 2271 2055 0 0 0 0 0 0 25.94 25.89 25.95

3617 0.70 194.6 2849 2003 2270 2054 339.1 13.9 632 3624 0.00 1.62 0.00 0.000 388 0.000 0.044 2842 3048 2162 2270 2055 0 0 0 0 0 0 26.03 25.98 26.03

3648 0.68 194.6 2841 3048 2262 2054 334.9 13.9 637 3655 0.00 1.60 0.00 0.000 1158 0.000 0.029 2848 1995 2160 2267 2054 0 0 0 0 0 0 26.06 26.00 26.06

3721 0.68 194.6 2847 1992 2267 2055 324.7 13.5 650 3728 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 1992 2160 2266 2055 0 0 0 0 0 0 26.07 26.09 26.08

3794 0.66 194.8 2852 1992 2267 2054 314.6 13.3 663 3801 0.00 1.62 0.00 0.000 676 0.000 0.038 2856 940 2161 2267 2055 0 0 0 0 0 0 26.12 26.06 26.12

3835 0.66 194.8 2856 940 2267 2055 308.7 13.9 670 3842 0.00 1.65 0.00 0.000 1030 0.000 0.035 2850 1992 2160 2267 2054 0 0 0 0 0 0 26.13 26.07 26.14

3908 0.66 194.8 2849 1992 2267 2054 298.7 13.7 683 3915 0.00 1.65 0.00 0.000 260 0.000 0.044 2841 3057 2160 2266 2054 0 0 0 0 0 0 26.13 26.06 26.14

3954 0.66 194.8 2841 3057 2264 2054 292.0 13.9 691 3961 0.00 1.60 0.00 0.000 1030 0.000 0.029 2848 2003 2158 2263 2054 0 0 0 0 0 0 26.13 26.07 26.13

4026 0.66 194.8 2847 2000 2264 2055 282.1 13.5 704 4032 0.00 1.62 0.00 0.000 516 0.000 0.040 2857 950 2159 2264 2054 0 0 0 0 0 0 26.13 26.09 26.14

4061 0.66 194.8 2855 950 2266 2055 276.8 13.9 710 4068 0.00 1.65 0.00 0.000 1030 0.000 0.036 2849 2002 2158 2264 2052 0 0 0 0 0 0 26.15 26.08 26.15

4134 0.66 194.8 2848 2003 2264 2055 267.1 14.4 723 4141 0.00 1.62 0.00 0.000 260 0.000 0.044 2842 3054 2158 2266 2050 0 0 0 0 0 0 26.13 26.08 26.14

4186 0.66 194.8 2842 3054 2262 2054 259.9 14.0 732 4193 0.00 1.60 0.00 0.000 1030 0.000 0.028 2848 1995 2158 2262 2054 0 0 0 0 0 0 26.15 26.10 26.15

4260 0.66 194.8 2848 1996 2262 2054 249.8 13.9 745 4267 0.00 1.62 0.00 0.000 516 0.000 0.038 2856 942 2158 2262 2055 0 0 0 0 0 0 26.15 26.08 26.15

4296 0.66 194.8 2855 941 2262 2055 244.4 14.1 751 4303 0.00 1.67 0.00 0.000 1030 0.000 0.037 2850 2005 2158 2262 2055 0 0 0 0 0 0 26.14 26.08 26.15

4369 0.66 194.8 2849 2005 2262 2054 233.9 14.2 764 4376 0.00 1.62 0.00 0.000 260 0.000 0.044 2841 3054 2158 2262 2054 0 0 0 0 0 0 26.16 26.08 26.17

4416 0.66 194.8 2841 3053 2261 2054 227.1 14.1 772 4423 0.00 1.60 0.00 0.000 1030 0.000 0.029 2848 2001 2157 2260 2054 0 0 0 0 0 0 26.13 26.09 26.15

4488 0.66 194.8 2847 1997 2261 2054 217.1 14.0 785 4494 0.00 1.65 0.00 0.000 516 0.000 0.039 2856 938 2157 2261 2054 0 0 0 0 0 0 26.16 26.08 26.17

4513 0.66 194.8 2851 938 2261 2055 213.5 14.3 789 4520 0.00 1.67 0.00 0.000 1030 0.000 0.036 2850 2004 2158 2261 2055 0 0 0 0 0 0 26.13 26.07 26.13

4587 0.66 194.8 2849 2004 2261 2055 203.4 13.8 802 4594 0.00 1.62 0.00 0.000 260 0.000 0.043 2842 3054 2157 2261 2054 0 0 0 0 0 0 26.16 26.06 26.16

4627 0.66 194.8 2841 3054 2260 2055 197.3 13.7 809 4634 0.00 1.60 0.00 0.000 1030 0.000 0.029 2848 1999 2157 2260 2054 0 0 0 0 0 0 26.15 26.10 26.15

4701 0.66 194.8 2848 1995 2260 2054 187.5 13.3 822 4708 0.00 1.62 0.00 0.000 516 0.000 0.038 2856 952 2158 2260 2056 0 0 0 0 0 0 26.13 26.08 26.14

4733 0.66 200.8 2855 952 2260 2055 183.2 13.1 827 4741 0.00 1.65 0.00 0.000 1062 0.000 0.036 2849 2004 2157 2260 2054 0 0 0 0 0 0 26.15 26.08 26.16

4806 0.67 208.7 2850 2004 2260 2055 173.4 13.0 840 4826 0.00 1.70 11.05 0.836 8484 0.000 0.044 2841 3055 2114 2222 2006 0 0 0 0 0 0 26.13 25.91 25.13

4886 0.67 208.7 2841 3054 2217 2006 162.4 13.5 854 4893 0.00 1.62 0.00 0.000 1030 0.000 0.030 2848 1994 2111 2217 2006 0 0 0 0 0 0 26.05 26.00 26.06

4960 0.67 208.7 2847 1990 2217 2006 152.7 13.6 867 4967 0.00 1.62 0.00 0.000 516 0.000 0.038 2856 941 2111 2217 2006 0 0 0 0 0 0 26.10 26.05 26.11

5006 0.70 214.5 2855 938 2217 2006 146.6 13.1 875 5020 0.00 1.67 6.78 0.744 9382 0.000 0.036 2850 2003 2088 2197 1979 0 0 0 0 0 0 26.08 26.03 25.13

5085 0.71 226.6 2855 2003 2195 1979 136.0 12.8 889 5106 0.00 1.70 11.27 0.805 8484 0.000 0.044 2842 3051 2040 2152 1928 0 0 0 0 0 0 26.08 25.83 25.06

5123 0.71 226.6 2841 3051 2149 1928 130.7 13.8 895 5130 0.00 1.62 0.00 0.000 1030 0.000 0.028 2848 1992 2038 2149 1927 0 0 0 0 0 0 25.95 25.91 25.96

5196 0.71 226.6 2847 1990 2149 1927 120.8 13.9 908 5203 0.00 1.62 0.00 0.000 516 0.000 0.037 2856 942 2037 2148 1927 0 0 0 0 0 0 26.03 25.98 26.05

5236 0.75 226.6 2855 942 2148 1927 115.1 13.4 915 5243 0.00 1.67 0.00 0.000 1158 0.000 0.037 2850 2004 2038 2148 1928 0 0 0 0 0 0 26.06 26.01 26.07

5309 0.75 226.6 2849 2005 2147 1926 105.1 14.0 928 5316 0.00 1.65 0.00 0.000 260 0.000 0.044 2842 3059 2036 2147 1926 0 0 0 0 0 0 26.10 26.03 26.10

5368 0.79 232.9 2841 3059 2144 1927 97.4 13.0 938 5381 0.00 1.62 5.85 0.689 9382 0.000 0.028 2848 1990 2017 2128 1906 0 0 0 0 0 0 26.12 26.08 25.15

5448 0.83 248.3 2847 1987 2127 1905 87.0 12.6 952 5468 0.10 0.00 15.23 0.778 10406 0.164 0.000 2880 1986 1951 2065 1837 0 0 0 0 0 0 25.91 25.76 25.08

5533 0.79 248.3 2878 1986 2061 1836 74.4 15.8 967 5540 0.00 1.67 0.00 0.000 388 0.000 0.043 2873 3057 1948 2061 1836 0 0 0 0 0 0 25.98 25.94 25.98

5558 0.79 248.3 2872 3057 2057 1836 70.4 15.8 971 5565 0.00 1.62 0.00 0.000 1030 0.000 0.030 2879 1997 1946 2057 1836 0 0 0 0 0 0 26.01 25.96 26.02

5631 0.77 248.3 2879 1994 2057 1836 59.1 16.0 984 5638 0.00 1.62 0.00 0.000 644 0.000 0.037 2888 944 1946 2057 1836 0 0 0 0 0 0 26.07 26.01 26.07

5673 0.80 248.3 2887 943 2057 1836 52.5 14.5 991 5680 0.00 1.67 0.00 0.000 1158 0.000 0.037 2882 2010 1946 2056 1836 0 0 0 0 0 0 26.08 26.01 26.08

5746 0.79 262.2 2881 2010 2056 1836 43.6 12.7 1004 5765 0.00 1.67 12.35 0.738 8868 0.000 0.035 2888 949 1893 2010 1777 0 0 0 0 0 0 26.13 25.70 25.15

5848 0.93 343.6 2888 949 2006 1777 32.0 9.6 1022 5921 0.10 1.65 65.22 0.739 11430 0.148 0.034 2914 2004 1565 1683 1448 0 0 0 0 0 0 25.91 25.98 24.82

5986 0.96 343.6 2913 2004 1671 1447 14.8 14.1 1045 5993 0.00 1.65 0.00 0.000 388 0.000 0.043 2907 3056 1559 1671 1447 0 0 0 0 0 0 25.82 25.77 25.82

6013 1.05 371.2 2907 3056 1669 1447 11.7 12.1 1049 6047 0.12 1.62 23.27 0.696 11430 0.155 0.029 2942 1993 1450 1565 1335 0 0 0 0 0 0 25.70 25.83 24.96

6105 end climb: SURFACE_DEPTH_REACHED

state 6105 begin surface coast

6122 end surface coast: CONTROL_FINISHED_OK

state 6123 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	42	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	38	ALTIM_PULSE	2
DIVE	90	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	178.0
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	070822,085101,4449.5127,-12457.8076,13,0.9,30,15.1,0.4,271.9,10,3.3	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4449.973,-12455.576
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	56.3,3440,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-64.0	D_GRID	752
GPS2	070822,090239,4449.3828,-12458.0596,3,0.6,4,15.1,0.7,228.4,12,7.5

NEWHEAD	207.600,0.68,14.51	_24V_AH	23.76,15.761
FINISH	-0.1,1.023249	_10V_AH	10.22,12.850
SM_CCo	6140,106.97,0.704,0,0,927,500.17	FG_AHR_24Vo	0.000
SM_GC	0.57,7.78,0.32,106.97,0.053,0.049,0.704,168,2210,927,-7.48,-1.07,500.17,0,0,0,0,0,0,25.90,25.88,24.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.52,-12458.03,070822,065735	MEM	220776
TT8_MAMPS	0.023968,0.283122	DATA_FILE_SIZE	36660,1068
HUMID	37.75	CAP_FILE_SIZE	404139,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,230346752
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	070822,104831,4448.994,-12459.512,2,0.9,18,15.1,1.2,230.8,9,2.3
SC_FREEKB	3783936

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	103.11	nil	0	0	0.00
Roll_motor	122	74	215.94	nil	0	0	0.00
VBD_pump_during_apogee	466	1031	11434.27	nil	0	0	0.00
VBD_pump_during_surface	106	703	1788.87	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	6125	6	936.19
Iridium_during_xfer	519	99	1228.31	Edison	6585	10	1564.60
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	12	2.15
TT8	2443	13	348.81
LPSleep	511	2	11.45
TT8_Active	829	13	112.13
TT8_Sampling	2532	39	1020.58
TT8_CF8	619	49	315.81
TT8_Kalman	0	0	0.00
Analog_circuits	2405	10	245.80
GPS_charging	0	0	0.00
Compass	1663	8	140.05
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
12	-0.75	-194.6	172	2217	1057	794	0.0	0.0	0	117	0.00	0.00	-100.32	0.005	16386	0.000	0.000	172	2217	3378	3340	3416	0	0	0	0	0	0	26.01	28.83	26.01
119	-0.75	-194.6	171	2217	3341	3417	3.8	-7.9	16	141	8.57	1.70	-7.00	0.012	18724	0.212	0.074	2357	3252	3767	3723	3812	0	0	0	0	0	0	25.74	24.77	25.92
346	-0.78	-194.6	2356	3252	3736	3812	45.1	-13.1	58	353	0.00	1.62	0.00	0.000	1190	0.000	0.030	2363	2185	3774	3736	3812	0	0	0	0	0	0	26.12	26.08	26.13
418	-0.78	-194.6	2364	2181	3737	3812	54.8	-13.3	71	424	0.00	1.60	0.00	0.000	548	0.000	0.037	2370	1137	3775	3739	3812	0	0	0	0	0	0	26.14	26.09	26.15
527	-0.88	-194.6	2369	1137	3738	3812	66.8	-9.3	91	534	0.00	1.67	0.00	0.000	1190	0.000	0.041	2364	2196	3774	3739	3810	0	0	0	0	0	0	26.14	26.08	26.15
600	-0.91	-194.6	2363	2196	3739	3812	75.9	-13.6	104	607	0.00	1.67	0.00	0.000	388	0.000	0.048	2354	3265	3775	3739	3812	0	0	0	0	0	0	26.15	26.07	26.17
638	-0.95	-194.6	2354	3266	3739	3812	80.6	-12.7	110	645	0.10	1.62	0.00	0.000	5286	0.145	0.030	2332	2205	3775	3739	3812	0	0	0	0	0	0	25.99	26.08	26.10
711	-0.95	-194.6	2333	2199	3739	3810	90.8	-13.9	123	717	0.00	1.62	0.00	0.000	516	0.000	0.034	2339	1136	3775	3739	3811	0	0	0	0	0	0	26.16	26.08	26.17
730	-0.95	-194.6	2338	1136	3739	3812	93.6	-13.8	126	737	0.00	1.70	0.00	0.000	1030	0.000	0.040	2332	2213	3775	3739	3812	0	0	0	0	0	0	26.13	26.06	26.14
801	-0.95	-194.6	2331	2215	3739	3812	102.9	-14.0	139	808	0.00	1.62	0.00	0.000	260	0.000	0.048	2324	3256	3775	3739	3811	0	0	0	0	0	0	26.16	26.07	26.16
919	-1.01	-194.6	2323	3256	3739	3811	119.6	-12.4	161	926	0.00	1.62	0.00	0.000	1190	0.000	0.028	2330	2184	3775	3739	3811	0	0	0	0	0	0	26.15	26.10	26.16
992	-1.03	-194.6	2330	2179	3739	3811	129.0	-13.3	174	999	0.10	1.58	0.00	0.000	4772	0.129	0.031	2282	1145	3775	3739	3811	0	0	0	0	0	0	26.05	26.08	26.12
1018	-1.03	-194.6	2282	1145	3739	3811	132.9	-14.0	178	1026	0.00	1.67	0.00	0.000	1030	0.000	0.041	2277	2204	3775	3739	3811	0	0	0	0	0	0	26.15	26.08	26.15
1091	-0.95	-194.6	2276	2205	3739	3810	144.6	-17.6	191	1098	0.12	1.65	0.00	0.000	2436	0.190	0.045	2303	3256	3775	3740	3811	0	0	0	0	0	0	25.89	26.06	26.03
1136	-0.95	-194.6	2302	3257	3739	3810	152.0	-15.6	199	1145	0.00	1.65	0.00	0.000	1030	0.000	0.030	2309	2206	3773	3737	3810	0	0	0	0	0	0	26.13	26.09	26.14
1210	-0.95	-194.6	2304	2201	3739	3810	162.2	-13.6	212	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2309	2201	3772	3735	3810	0	0	0	0	0	0	26.15	26.16	26.17
1281	-0.95	-194.6	2309	2201	3739	3810	171.9	-13.1	225	1288	0.00	0.00	0.00	0.000	38	0.000	0.000	2309	2201	3774	3739	3810	0	0	0	0	0	0	26.15	26.15	26.15
1353	-0.95	-194.6	2308	2206	3739	3810	181.2	-13.2	238	1360	0.00	1.67	0.00	0.000	292	0.000	0.047	2304	3262	3774	3739	3809	0	0	0	0	0	0	26.16	26.03	26.16
1393	-0.95	-194.6	2302	3263	3738	3809	186.8	-13.3	245	1400	0.00	1.62	0.00	0.000	1062	0.000	0.029	2309	2202	3774	3739	3809	0	0	0	0	0	0	26.14	26.10	26.15
1466	-0.95	-194.6	2308	2194	3739	3809	196.7	-13.8	258	1472	0.00	1.62	0.00	0.000	516	0.000	0.035	2318	1136	3774	3739	3809	0	0	0	0	0	0	26.14	26.08	26.15
1497	-1.00	-194.6	2316	1136	3739	3809	200.8	-13.3	263	1504	0.00	1.70	0.00	0.000	1190	0.000	0.041	2311	2211	3774	3739	3809	0	0	0	0	0	0	26.12	26.06	26.13
1568	-1.00	-194.6	2310	2211	3739	3808	210.2	-14.1	276	1574	0.00	1.62	0.00	0.000	260	0.000	0.048	2303	3253	3773	3739	3808	0	0	0	0	0	0	26.15	26.06	26.15
1635	-1.05	-194.6	2302	3253	3739	3808	219.7	-13.6	288	1642	0.00	1.62	0.00	0.000	1158	0.000	0.030	2309	2186	3773	3739	3807	0	0	0	0	0	0	26.13	26.09	26.14
1707	-1.05	-194.6	2308	2182	3739	3808	229.6	-13.8	301	1714	0.00	1.60	0.00	0.000	516	0.000	0.035	2317	1137	3772	3739	3806	0	0	0	0	0	0	26.14	26.07	26.14
1738	-1.10	-194.6	2316	1136	3739	3807	233.5	-13.1	306	1746	0.10	1.67	0.00	0.000	5286	0.107	0.040	2271	2201	3773	3739	3807	0	0	0	0	0	0	26.04	26.06	26.11
1810	-1.05	-194.6	2270	2197	3739	3807	244.5	-15.8	319	1817	0.00	1.65	0.00	0.000	388	0.000	0.047	2264	3254	3773	3739	3807	0	0	0	0	0	0	26.15	26.06	26.15
1856	-1.01	-194.6	2263	3253	3739	3806	251.8	-16.1	327	1864	0.08	1.62	0.00	0.000	3206	0.198	0.029	2282	2186	3773	3739	3807	0	0	0	0	0	0	25.91	26.07	26.07
1928	-0.98	-194.6	2281	2182	3739	3807	262.6	-15.1	340	1934	0.05	0.00	0.00	0.000	2182	0.227	0.000	2293	2182	3773	3739	3807	0	0	0	0	0	0	25.94	26.12	26.08
2001	-0.98	-194.6	2292	2182	3739	3806	273.4	-14.7	353	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2182	3772	3739	3806	0	0	0	0	0	0	26.15	26.15	26.15
2072	-0.98	-194.6	2292	2182	3739	3806	283.6	-13.8	366	2078	0.00	1.70	0.00	0.000	260	0.000	0.048	2288	3257	3772	3739	3806	0	0	0	0	0	0	26.12	26.04	26.13
2127	-0.98	-194.6	2282	3257	3739	3806	291.4	-13.6	376	2135	0.00	1.65	0.00	0.000	1030	0.000	0.030	2292	2206	3772	3739	3806	0	0	0	0	0	0	26.12	26.10	26.14
2200	-0.98	-194.6	2291	2202	3739	3806	301.2	-13.7	389	2207	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2202	3775	3739	3812	0	0	0	0	0	0	26.13	26.14	26.14
2272	-0.98	-194.6	2291	2202	3739	3805	311.4	-14.0	402	2278	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2202	3772	3739	3805	0	0	0	0	0	0	26.12	26.13	26.13
2343	-0.98	-194.6	2291	2202	3739	3805	321.7	-14.2	415	2350	0.00	1.67	0.00	0.000	260	0.000	0.048	2289	3261	3772	3739	3805	0	0	0	0	0	0	26.14	26.05	26.13
2378	-0.95	-194.6	2285	3261	3739	3805	327.1	-15.6	421	2385	0.00	1.62	0.00	0.000	1158	0.000	0.030	2291	2203	3772	3739	3805	0	0	0	0	0	0	26.13	26.07	26.13
2450	-0.95	-194.6	2291	2196	3739	3804	337.6	-14.5	434	2456	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2196	3771	3738	3804	0	0	0	0	0	0	26.12	26.12	26.12
2521	-0.95	-194.6	2291	2196	3739	3804	347.8	-14.0	447	2528	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2196	3771	3739	3804	0	0	0	0	0	0	26.13	26.13	26.13
2593	-0.95	-194.6	2291	2196	3739	3804	357.8	-14.0	460	2599	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2196	3771	3739	3804	0	0	0	0	0	0	26.13	26.13	26.13
2665	-0.95	-194.6	2290	2196	3739	3803	367.5	-13.5	473	2671	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2198	3770	3738	3803	0	0	0	0	0	0	26.11	26.13	26.12
2737	-0.95	-194.6	2290	2196	3739	3803	376.8	-12.2	486	2743	0.00	0.00	0.00	0.000	38	0.000	0.000	2291	2196	3771	3739	3803	0	0	0	0	0	0	26.15	26.15	26.15
2808	-0.95	-194.6	2290	2196	3739	3803	385.9	-13.3	499	2815	0.00	1.67	0.00	0.000	292	0.000	0.048	2285	3254	3770	3739	3802	0	0	0	0	0	0	26.13	26.05	26.13
2843	-0.95	-194.6	2284	3254	3739	3802	391.0	-13.5	505	2850	0.00	1.62	0.00	0.000	1030	0.000	0.031	2290	2195	3770	3739	3802	0	0	0	0	0	0	26.12	26.07	26.13
2914	end dive: TARGET_DEPTH_EXCEEDED
state	2914	begin apogee
2919	-0.11	0.0	2293	1969	3739	3802	400.6	-13.3	518	3080	0.95	0.00	155.07	1.032	10246	0.157	0.000	2562	1968	2967	3032	2903	0	0	0	0	0	0	25.76	24.79	24.10
3084	end apogee: CONTROL_FINISHED_OK
state	3084	begin climb
3086	0.75	194.6	2566	1968	3030	2902	404.1	0.0	543	3261	0.93	1.73	160.23	0.995	10756	0.106	0.037	2855	964	2170	2284	2056	0	0	0	0	0	0	24.84	24.44	23.76
3299	0.75	194.6	2855	964	2279	2056	383.9	14.7	576	3307	0.00	1.75	0.00	0.000	1030	0.000	0.036	2849	2003	2167	2279	2056	0	0	0	0	0	0	25.10	25.08	25.11
3372	0.75	194.6	2849	2003	2276	2055	373.5	14.1	589	3380	0.00	1.70	0.00	0.000	260	0.000	0.044	2842	3048	2164	2275	2054	0	0	0	0	0	0	25.51	25.47	25.51
3415	0.75	194.6	2841	3048	2271	2054	367.3	14.5	596	3422	0.00	1.60	0.00	0.000	1030	0.000	0.030	2848	2016	2162	2271	2054	0	0	0	0	0	0	25.67	25.63	25.68
3488	0.72	194.6	2847	2011	2270	2054	357.2	13.9	609	3495	0.00	1.67	0.00	0.000	644	0.000	0.037	2856	941	2160	2270	2051	0	0	0	0	0	0	25.85	25.81	25.85
3544	0.72	194.6	2855	940	2270	2054	349.0	13.5	619	3551	0.00	1.67	0.00	0.000	1030	0.000	0.036	2850	2008	2163	2271	2055	0	0	0	0	0	0	25.94	25.89	25.95
3617	0.70	194.6	2849	2003	2270	2054	339.1	13.9	632	3624	0.00	1.62	0.00	0.000	388	0.000	0.044	2842	3048	2162	2270	2055	0	0	0	0	0	0	26.03	25.98	26.03
3648	0.68	194.6	2841	3048	2262	2054	334.9	13.9	637	3655	0.00	1.60	0.00	0.000	1158	0.000	0.029	2848	1995	2160	2267	2054	0	0	0	0	0	0	26.06	26.00	26.06
3721	0.68	194.6	2847	1992	2267	2055	324.7	13.5	650	3728	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	1992	2160	2266	2055	0	0	0	0	0	0	26.07	26.09	26.08
3794	0.66	194.8	2852	1992	2267	2054	314.6	13.3	663	3801	0.00	1.62	0.00	0.000	676	0.000	0.038	2856	940	2161	2267	2055	0	0	0	0	0	0	26.12	26.06	26.12
3835	0.66	194.8	2856	940	2267	2055	308.7	13.9	670	3842	0.00	1.65	0.00	0.000	1030	0.000	0.035	2850	1992	2160	2267	2054	0	0	0	0	0	0	26.13	26.07	26.14
3908	0.66	194.8	2849	1992	2267	2054	298.7	13.7	683	3915	0.00	1.65	0.00	0.000	260	0.000	0.044	2841	3057	2160	2266	2054	0	0	0	0	0	0	26.13	26.06	26.14
3954	0.66	194.8	2841	3057	2264	2054	292.0	13.9	691	3961	0.00	1.60	0.00	0.000	1030	0.000	0.029	2848	2003	2158	2263	2054	0	0	0	0	0	0	26.13	26.07	26.13
4026	0.66	194.8	2847	2000	2264	2055	282.1	13.5	704	4032	0.00	1.62	0.00	0.000	516	0.000	0.040	2857	950	2159	2264	2054	0	0	0	0	0	0	26.13	26.09	26.14
4061	0.66	194.8	2855	950	2266	2055	276.8	13.9	710	4068	0.00	1.65	0.00	0.000	1030	0.000	0.036	2849	2002	2158	2264	2052	0	0	0	0	0	0	26.15	26.08	26.15
4134	0.66	194.8	2848	2003	2264	2055	267.1	14.4	723	4141	0.00	1.62	0.00	0.000	260	0.000	0.044	2842	3054	2158	2266	2050	0	0	0	0	0	0	26.13	26.08	26.14
4186	0.66	194.8	2842	3054	2262	2054	259.9	14.0	732	4193	0.00	1.60	0.00	0.000	1030	0.000	0.028	2848	1995	2158	2262	2054	0	0	0	0	0	0	26.15	26.10	26.15
4260	0.66	194.8	2848	1996	2262	2054	249.8	13.9	745	4267	0.00	1.62	0.00	0.000	516	0.000	0.038	2856	942	2158	2262	2055	0	0	0	0	0	0	26.15	26.08	26.15
4296	0.66	194.8	2855	941	2262	2055	244.4	14.1	751	4303	0.00	1.67	0.00	0.000	1030	0.000	0.037	2850	2005	2158	2262	2055	0	0	0	0	0	0	26.14	26.08	26.15
4369	0.66	194.8	2849	2005	2262	2054	233.9	14.2	764	4376	0.00	1.62	0.00	0.000	260	0.000	0.044	2841	3054	2158	2262	2054	0	0	0	0	0	0	26.16	26.08	26.17
4416	0.66	194.8	2841	3053	2261	2054	227.1	14.1	772	4423	0.00	1.60	0.00	0.000	1030	0.000	0.029	2848	2001	2157	2260	2054	0	0	0	0	0	0	26.13	26.09	26.15
4488	0.66	194.8	2847	1997	2261	2054	217.1	14.0	785	4494	0.00	1.65	0.00	0.000	516	0.000	0.039	2856	938	2157	2261	2054	0	0	0	0	0	0	26.16	26.08	26.17
4513	0.66	194.8	2851	938	2261	2055	213.5	14.3	789	4520	0.00	1.67	0.00	0.000	1030	0.000	0.036	2850	2004	2158	2261	2055	0	0	0	0	0	0	26.13	26.07	26.13
4587	0.66	194.8	2849	2004	2261	2055	203.4	13.8	802	4594	0.00	1.62	0.00	0.000	260	0.000	0.043	2842	3054	2157	2261	2054	0	0	0	0	0	0	26.16	26.06	26.16
4627	0.66	194.8	2841	3054	2260	2055	197.3	13.7	809	4634	0.00	1.60	0.00	0.000	1030	0.000	0.029	2848	1999	2157	2260	2054	0	0	0	0	0	0	26.15	26.10	26.15
4701	0.66	194.8	2848	1995	2260	2054	187.5	13.3	822	4708	0.00	1.62	0.00	0.000	516	0.000	0.038	2856	952	2158	2260	2056	0	0	0	0	0	0	26.13	26.08	26.14
4733	0.66	200.8	2855	952	2260	2055	183.2	13.1	827	4741	0.00	1.65	0.00	0.000	1062	0.000	0.036	2849	2004	2157	2260	2054	0	0	0	0	0	0	26.15	26.08	26.16
4806	0.67	208.7	2850	2004	2260	2055	173.4	13.0	840	4826	0.00	1.70	11.05	0.836	8484	0.000	0.044	2841	3055	2114	2222	2006	0	0	0	0	0	0	26.13	25.91	25.13
4886	0.67	208.7	2841	3054	2217	2006	162.4	13.5	854	4893	0.00	1.62	0.00	0.000	1030	0.000	0.030	2848	1994	2111	2217	2006	0	0	0	0	0	0	26.05	26.00	26.06
4960	0.67	208.7	2847	1990	2217	2006	152.7	13.6	867	4967	0.00	1.62	0.00	0.000	516	0.000	0.038	2856	941	2111	2217	2006	0	0	0	0	0	0	26.10	26.05	26.11
5006	0.70	214.5	2855	938	2217	2006	146.6	13.1	875	5020	0.00	1.67	6.78	0.744	9382	0.000	0.036	2850	2003	2088	2197	1979	0	0	0	0	0	0	26.08	26.03	25.13
5085	0.71	226.6	2855	2003	2195	1979	136.0	12.8	889	5106	0.00	1.70	11.27	0.805	8484	0.000	0.044	2842	3051	2040	2152	1928	0	0	0	0	0	0	26.08	25.83	25.06
5123	0.71	226.6	2841	3051	2149	1928	130.7	13.8	895	5130	0.00	1.62	0.00	0.000	1030	0.000	0.028	2848	1992	2038	2149	1927	0	0	0	0	0	0	25.95	25.91	25.96
5196	0.71	226.6	2847	1990	2149	1927	120.8	13.9	908	5203	0.00	1.62	0.00	0.000	516	0.000	0.037	2856	942	2037	2148	1927	0	0	0	0	0	0	26.03	25.98	26.05
5236	0.75	226.6	2855	942	2148	1927	115.1	13.4	915	5243	0.00	1.67	0.00	0.000	1158	0.000	0.037	2850	2004	2038	2148	1928	0	0	0	0	0	0	26.06	26.01	26.07
5309	0.75	226.6	2849	2005	2147	1926	105.1	14.0	928	5316	0.00	1.65	0.00	0.000	260	0.000	0.044	2842	3059	2036	2147	1926	0	0	0	0	0	0	26.10	26.03	26.10
5368	0.79	232.9	2841	3059	2144	1927	97.4	13.0	938	5381	0.00	1.62	5.85	0.689	9382	0.000	0.028	2848	1990	2017	2128	1906	0	0	0	0	0	0	26.12	26.08	25.15
5448	0.83	248.3	2847	1987	2127	1905	87.0	12.6	952	5468	0.10	0.00	15.23	0.778	10406	0.164	0.000	2880	1986	1951	2065	1837	0	0	0	0	0	0	25.91	25.76	25.08
5533	0.79	248.3	2878	1986	2061	1836	74.4	15.8	967	5540	0.00	1.67	0.00	0.000	388	0.000	0.043	2873	3057	1948	2061	1836	0	0	0	0	0	0	25.98	25.94	25.98
5558	0.79	248.3	2872	3057	2057	1836	70.4	15.8	971	5565	0.00	1.62	0.00	0.000	1030	0.000	0.030	2879	1997	1946	2057	1836	0	0	0	0	0	0	26.01	25.96	26.02
5631	0.77	248.3	2879	1994	2057	1836	59.1	16.0	984	5638	0.00	1.62	0.00	0.000	644	0.000	0.037	2888	944	1946	2057	1836	0	0	0	0	0	0	26.07	26.01	26.07
5673	0.80	248.3	2887	943	2057	1836	52.5	14.5	991	5680	0.00	1.67	0.00	0.000	1158	0.000	0.037	2882	2010	1946	2056	1836	0	0	0	0	0	0	26.08	26.01	26.08
5746	0.79	262.2	2881	2010	2056	1836	43.6	12.7	1004	5765	0.00	1.67	12.35	0.738	8868	0.000	0.035	2888	949	1893	2010	1777	0	0	0	0	0	0	26.13	25.70	25.15
5848	0.93	343.6	2888	949	2006	1777	32.0	9.6	1022	5921	0.10	1.65	65.22	0.739	11430	0.148	0.034	2914	2004	1565	1683	1448	0	0	0	0	0	0	25.91	25.98	24.82
5986	0.96	343.6	2913	2004	1671	1447	14.8	14.1	1045	5993	0.00	1.65	0.00	0.000	388	0.000	0.043	2907	3056	1559	1671	1447	0	0	0	0	0	0	25.82	25.77	25.82
6013	1.05	371.2	2907	3056	1669	1447	11.7	12.1	1049	6047	0.12	1.62	23.27	0.696	11430	0.155	0.029	2942	1993	1450	1565	1335	0	0	0	0	0	0	25.70	25.83	24.96
6105	end climb: SURFACE_DEPTH_REACHED
state	6105	begin surface coast
6122	end surface coast: CONTROL_FINISHED_OK
state	6123	begin surface