Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 95 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 43 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 34 ALTIM_PULSE 2

DIVE 95 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 400 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 600 CALL_NDIVES 1 C_VBD 2968 INT_PRESSURE_YINT -1.4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 4 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 100 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 160 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 144.89999 SEABIRD_T_G 0.0044052354

D_OFFGRID 1000 C_PITCH 2625 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 200 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 45 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12781 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 30 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0050118701 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0163117 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 188.0

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 188.0 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 95 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 43 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 200 R_STBD_OVSHOOT 34 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 2 SEABIRD_C_G -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 0 SEABIRD_C_I -0.0031189518

D_TGT 400 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 070822,195053,4450.3223,-12456.9746,1,1.0,2,15.1,0.3,0.0,8,8.9 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4449.972,-12455.426

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 91.4,2184,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -69.4 D_GRID 646

GPS2 070822,195409,4450.3081,-12457.0195,2,1.0,3,15.1,0.6,216.2,8,9.7

Post-dive calculations and measurements:

FINISH -0.2,1.022387 _10V_AH 10.21,13.342

SM_CCo 6217,80.75,0.688,0,0,928,500.17 FG_AHR_24Vo 0.000

SM_GC 0.59,7.82,2.05,80.75,0.051,0.033,0.688,162,2200,928,-7.48,-1.19,500.17,0,0,0,0,0,0,25.72,25.66,24.72 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4454.04,-12454.79,070822,194906 MEM 220748

TT8_MAMPS 0.023968,0.290612 DATA_FILE_SIZE 36685,1052

HUMID 36.25 CAP_FILE_SIZE 439412,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,229474304

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

XPDR_PINGS 0 CURRENT 0.119,21.16,1

SC_FREEKB 3782336 GPS 070822,214100,4450.447,-12455.810,27,1.0,27,15.1,0.8,281.0,8,5.7

_24V_AH 23.86,16.573

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 226 103.19 nil 0 0 0.00

Roll_motor 113 63 171.19 nil 0 0 0.00

VBD_pump_during_apogee 487 1030 11995.21 nil 0 0 0.00

VBD_pump_during_surface 80 687 1325.06 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 6187 6 959.54

Iridium_during_xfer 0 0 0.00 Edison 0 10 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 1.96

TT8 2653 13 378.49

LPSleep 327 2 7.33

TT8_Active 865 13 116.86

TT8_Sampling 2058 39 828.87

TT8_CF8 481 49 245.21

TT8_Kalman 0 0 0.00

Analog_circuits 1893 10 193.28

GPS_charging 0 0 0.00

Compass 1637 8 137.74

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 -194.6 190 2214 1047 804 0.0 0.0 0 123 0.00 0.00 -107.15 0.005 16386 0.000 0.000 189 2216 3672 3621 3724 0 0 0 0 0 0 26.06 28.83 26.07

126 -0.75 -194.6 191 2214 3622 3725 4.1 -8.2 16 141 8.38 1.70 -1.67 0.031 18980 0.207 0.063 2370 1140 3766 3720 3813 0 0 0 0 0 0 25.72 24.75 25.98

224 -0.78 -194.6 2370 1143 3730 3812 25.4 -12.7 33 231 0.00 1.67 0.00 0.000 1190 0.000 0.041 2364 2204 3769 3730 3809 0 0 0 0 0 0 26.06 26.00 26.07

300 -0.76 -194.6 2363 2204 3730 3811 36.4 -15.9 46 307 0.00 1.65 0.00 0.000 388 0.000 0.046 2356 3260 3771 3731 3811 0 0 0 0 0 0 26.08 26.00 26.08

356 -0.76 -194.6 2355 3260 3733 3811 43.9 -11.2 56 363 0.00 1.60 0.00 0.000 1062 0.000 0.028 2362 2203 3772 3734 3811 0 0 0 0 0 0 26.09 26.06 26.10

429 -0.76 -194.6 2362 2196 3735 3814 52.3 -13.0 69 436 0.00 1.60 0.00 0.000 548 0.000 0.033 2370 1136 3772 3734 3810 0 0 0 0 0 0 26.09 26.06 26.10

535 -0.81 -194.6 2369 1136 3736 3810 64.8 -11.1 88 542 0.00 1.67 0.00 0.000 1190 0.000 0.040 2364 2200 3773 3736 3810 0 0 0 0 0 0 26.08 26.03 26.09

609 -0.84 -194.6 2366 2199 3736 3810 73.7 -11.8 101 616 0.00 1.65 0.00 0.000 420 0.000 0.046 2356 3258 3774 3737 3811 0 0 0 0 0 0 26.10 26.01 26.10

662 -0.88 -194.6 2355 3258 3737 3810 80.5 -13.7 110 670 0.00 1.62 0.00 0.000 1158 0.000 0.028 2362 2186 3773 3737 3810 0 0 0 0 0 0 26.10 26.06 26.10

738 -0.92 -194.6 2361 2181 3737 3810 89.7 -11.9 123 744 0.00 0.00 0.00 0.000 166 0.000 0.000 2361 2181 3773 3736 3810 0 0 0 0 0 0 26.11 26.13 26.10

811 -0.97 -194.6 2362 2181 3737 3810 98.6 -12.3 136 819 0.12 1.70 0.00 0.000 4516 0.120 0.044 2307 3259 3773 3737 3810 0 0 0 0 0 0 26.00 26.02 26.06

870 -0.97 -194.6 2307 3260 3737 3809 106.4 -12.9 146 878 0.00 1.60 0.00 0.000 1062 0.000 0.028 2313 2203 3771 3737 3805 0 0 0 0 0 0 26.08 26.03 26.09

945 -0.94 -194.6 2313 2198 3737 3809 116.0 -13.0 159 951 0.00 0.00 0.00 0.000 166 0.000 0.000 2313 2198 3773 3737 3809 0 0 0 0 0 0 26.10 26.10 26.10

1017 -0.92 -194.6 2319 2198 3737 3809 125.2 -12.5 172 1024 0.00 0.00 0.00 0.000 166 0.000 0.000 2314 2198 3773 3737 3809 0 0 0 0 0 0 26.10 26.10 26.10

1091 -0.89 -194.6 2312 2198 3737 3808 134.8 -12.8 185 1097 0.00 0.00 0.00 0.000 166 0.000 0.000 2313 2198 3772 3737 3808 0 0 0 0 0 0 26.10 26.12 26.11

1165 -0.89 -194.6 2313 2198 3737 3808 144.0 -12.3 198 1172 0.00 1.65 0.00 0.000 292 0.000 0.044 2307 3256 3772 3737 3807 0 0 0 0 0 0 26.10 26.01 26.10

1185 -0.89 -194.6 2306 3256 3737 3807 146.9 -12.8 201 1193 0.00 1.62 0.00 0.000 1062 0.000 0.028 2313 2187 3772 3737 3808 0 0 0 0 0 0 26.10 26.06 26.11

1258 -0.89 -194.6 2313 2182 3737 3814 156.0 -12.2 214 1265 0.00 0.00 0.00 0.000 38 0.000 0.000 2313 2182 3772 3737 3807 0 0 0 0 0 0 26.10 26.10 26.10

1332 -0.89 -194.6 2312 2182 3737 3807 165.1 -12.3 227 1339 0.00 1.58 0.00 0.000 548 0.000 0.034 2321 1140 3772 3737 3807 0 0 0 0 0 0 26.10 26.03 26.10

1353 -0.89 -194.6 2320 1140 3737 3807 167.7 -12.3 230 1362 0.00 1.73 0.00 0.000 1062 0.000 0.041 2315 2204 3772 3737 3807 0 0 0 0 0 0 26.06 26.03 26.08

1430 -0.89 -194.6 2311 2205 3737 3806 176.8 -12.8 243 1438 0.00 1.70 0.00 0.000 292 0.000 0.047 2307 3260 3771 3737 3806 0 0 0 0 0 0 26.09 26.01 26.10

1473 -0.89 -194.6 2306 3260 3737 3806 182.3 -12.2 250 1481 0.00 1.62 0.00 0.000 1062 0.000 0.029 2313 2192 3773 3737 3809 0 0 0 0 0 0 26.09 26.04 26.09

1549 -0.89 -194.6 2312 2187 3737 3806 191.5 -12.6 263 1556 0.00 1.60 0.00 0.000 548 0.000 0.034 2320 1138 3771 3737 3806 0 0 0 0 0 0 26.10 26.03 26.10

1591 -0.94 -194.6 2320 1138 3737 3807 196.9 -11.4 270 1599 0.00 1.67 0.00 0.000 1190 0.000 0.040 2314 2199 3771 3737 3805 0 0 0 0 0 0 26.09 26.03 26.10

1668 -0.94 -194.6 2314 2200 3733 3804 205.9 -12.7 283 1675 0.00 1.65 0.00 0.000 292 0.000 0.047 2306 3254 3771 3737 3805 0 0 0 0 0 0 26.09 26.01 26.10

1725 -0.97 -194.6 2306 3254 3737 3804 213.3 -13.0 293 1732 0.00 1.62 0.00 0.000 1190 0.000 0.028 2312 2186 3769 3736 3802 0 0 0 0 0 0 26.09 26.04 26.09

1798 -0.97 -194.6 2313 2182 3737 3804 222.6 -12.9 306 1806 0.00 1.58 0.00 0.000 548 0.000 0.035 2321 1142 3770 3737 3804 0 0 0 0 0 0 26.08 26.01 26.08

1827 -1.00 -194.6 2319 1141 3736 3804 226.2 -13.3 310 1835 0.00 1.67 0.00 0.000 1190 0.000 0.041 2314 2201 3770 3737 3804 0 0 0 0 0 0 26.06 25.99 26.06

1901 -1.00 -194.6 2313 2201 3736 3803 236.2 -13.5 323 1909 0.00 1.65 0.00 0.000 260 0.000 0.049 2306 3257 3770 3737 3803 0 0 0 0 0 0 26.10 25.99 26.10

1943 -1.00 -194.6 2306 3254 3737 3802 242.1 -14.2 330 1951 0.00 1.60 0.00 0.000 1030 0.000 0.030 2312 2204 3769 3737 3801 0 0 0 0 0 0 26.07 26.03 26.08

2019 -1.00 -194.6 2308 2199 3737 3802 251.8 -13.0 343 2026 0.00 1.67 0.00 0.000 292 0.000 0.047 2306 3261 3769 3737 3801 0 0 0 0 0 0 26.09 25.99 26.10

2055 -1.03 -194.6 2303 3261 3737 3801 256.9 -13.8 349 2062 0.00 1.62 0.00 0.000 1158 0.000 0.029 2312 2203 3769 3737 3801 0 0 0 0 0 0 26.07 26.02 26.08

2128 -1.05 -194.6 2311 2197 3737 3801 266.5 -13.7 362 2135 0.00 0.00 0.00 0.000 134 0.000 0.000 2312 2196 3769 3737 3801 0 0 0 0 0 0 26.10 26.10 26.10

2202 -1.05 -194.6 2311 2197 3737 3800 276.2 -13.0 375 2209 0.00 1.67 0.00 0.000 292 0.000 0.047 2305 3254 3768 3737 3799 0 0 0 0 0 0 26.08 25.98 26.08

2238 -1.05 -194.6 2305 3257 3737 3799 281.3 -13.5 381 2245 0.00 1.62 0.00 0.000 1030 0.000 0.029 2311 2200 3768 3737 3800 0 0 0 0 0 0 26.06 26.02 26.07

2312 -1.07 -194.6 2311 2195 3737 3799 290.7 -12.6 394 2319 0.00 0.00 0.00 0.000 166 0.000 0.000 2312 2195 3768 3737 3799 0 0 0 0 0 0 26.07 26.08 26.07

2386 -1.10 -194.6 2311 2196 3737 3798 299.9 -11.6 407 2393 0.10 0.00 0.00 0.000 4262 0.126 0.000 2274 2196 3767 3737 3798 0 0 0 0 0 0 25.97 26.06 26.05

2459 -1.05 -194.6 2273 2196 3737 3797 309.9 -14.5 420 2466 0.00 0.00 0.00 0.000 134 0.000 0.000 2274 2196 3767 3737 3797 0 0 0 0 0 0 26.08 26.08 26.08

2532 -1.00 -194.6 2279 2196 3737 3797 320.5 -14.8 433 2539 0.08 1.67 0.00 0.000 2436 0.202 0.047 2279 3254 3767 3737 3797 0 0 0 0 0 0 25.84 25.98 26.01

2574 -0.97 -194.6 2276 3254 3737 3796 327.0 -14.0 440 2581 0.00 1.62 0.00 0.000 1158 0.000 0.030 2284 2195 3766 3737 3796 0 0 0 0 0 0 26.07 26.03 26.08

2648 -0.94 -194.6 2284 2190 3737 3796 336.8 -12.8 453 2656 0.10 1.62 0.00 0.000 2724 0.181 0.031 2306 1136 3766 3737 3796 0 0 0 0 0 0 25.84 26.01 26.01

2669 -0.94 -194.6 2305 1134 3737 3796 339.9 -13.4 456 2676 0.00 1.70 0.00 0.000 1030 0.000 0.041 2299 2206 3766 3737 3796 0 0 0 0 0 0 26.06 25.99 26.07

2744 -0.94 -194.6 2298 2209 3737 3794 349.2 -12.3 469 2751 0.00 1.65 0.00 0.000 292 0.000 0.049 2290 3257 3765 3737 3794 0 0 0 0 0 0 26.08 25.98 26.09

2812 -0.94 -194.6 2290 3257 3737 3794 357.8 -12.9 481 2819 0.00 1.62 0.00 0.000 1062 0.000 0.030 2291 2201 3765 3737 3794 0 0 0 0 0 0 26.05 26.00 26.06

2885 -0.94 -194.6 2290 2195 3737 3796 367.3 -13.2 494 2892 0.05 0.00 0.00 0.000 2086 0.226 0.000 2301 2195 3765 3737 3793 0 0 0 0 0 0 25.86 26.05 26.01

2960 -0.94 -194.6 2301 2195 3738 3793 376.9 -13.0 507 2967 0.00 0.00 0.00 0.000 38 0.000 0.000 2301 2195 3763 3737 3790 0 0 0 0 0 0 26.06 26.07 26.06

3033 -0.94 -194.6 2300 2195 3737 3792 385.9 -12.4 520 3039 0.00 0.00 0.00 0.000 38 0.000 0.000 2301 2195 3762 3737 3788 0 0 0 0 0 0 26.08 26.10 26.09

3105 -0.94 -194.6 2301 2195 3737 3791 394.7 -12.0 533 3112 0.00 1.67 0.00 0.000 292 0.000 0.048 2293 3255 3763 3736 3791 0 0 0 0 0 0 26.06 25.97 26.06

3144 end dive: TARGET_DEPTH_EXCEEDED

state 3144 begin apogee

3151 -0.11 0.0 2301 2000 3737 3790 400.0 -12.0 540 3313 0.95 0.00 154.40 1.030 10246 0.168 0.000 2566 1994 2966 3032 2901 0 0 0 0 0 0 25.70 24.82 24.15

3315 end apogee: CONTROL_FINISHED_OK

state 3315 begin climb

3317 0.75 194.6 2566 1994 3032 2901 402.5 0.0 563 3492 0.90 1.83 159.15 0.985 10756 0.102 0.037 2851 945 2171 2284 2058 0 0 0 0 0 0 24.89 24.50 23.86

3539 0.77 194.6 2850 945 2275 2058 379.8 15.8 595 3546 0.00 1.73 0.00 0.000 1158 0.000 0.036 2844 2005 2167 2278 2057 0 0 0 0 0 0 25.22 25.18 25.22

3613 0.77 194.6 2843 2005 2275 2057 367.6 17.3 608 3620 0.00 1.67 0.00 0.000 260 0.000 0.044 2837 3060 2166 2275 2057 0 0 0 0 0 0 25.60 25.55 25.60

3663 0.77 194.6 2836 3059 2270 2056 358.5 16.7 617 3671 0.00 1.65 0.00 0.000 1030 0.000 0.028 2842 1990 2163 2270 2056 0 0 0 0 0 0 25.77 25.72 25.77

3737 0.77 194.6 2842 1985 2269 2057 346.6 16.1 630 3744 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1986 2161 2270 2053 0 0 0 0 0 0 25.90 25.90 25.91

3810 0.77 194.6 2842 1985 2269 2057 335.3 15.1 643 3817 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1985 2163 2270 2056 0 0 0 0 0 0 26.00 26.01 26.01

3883 0.77 194.6 2842 1986 2269 2056 324.5 15.0 656 3889 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1986 2163 2269 2058 0 0 0 0 0 0 26.03 26.05 26.03

3956 0.77 194.6 2842 1991 2269 2056 313.5 15.1 669 3962 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1985 2162 2268 2056 0 0 0 0 0 0 26.08 26.07 26.08

4030 0.74 194.6 2842 1988 2269 2056 302.5 15.4 682 4037 0.00 0.00 0.00 0.000 134 0.000 0.000 2844 1985 2162 2268 2056 0 0 0 0 0 0 26.10 26.10 26.10

4103 0.74 194.6 2842 1985 2267 2056 291.2 15.9 695 4110 0.00 1.67 0.00 0.000 260 0.000 0.043 2836 3058 2161 2268 2055 0 0 0 0 0 0 26.08 26.04 26.09

4128 0.74 194.6 2836 3058 2264 2056 286.9 15.3 699 4135 0.00 1.62 0.00 0.000 1030 0.000 0.028 2842 1989 2160 2264 2056 0 0 0 0 0 0 26.10 26.06 26.11

4201 0.74 194.6 2842 1985 2264 2056 275.9 14.4 712 4208 0.00 1.62 0.00 0.000 516 0.000 0.038 2851 935 2160 2264 2057 0 0 0 0 0 0 26.09 26.03 26.09

4227 0.74 194.6 2849 934 2265 2056 272.0 15.1 716 4234 0.00 1.67 0.00 0.000 1030 0.000 0.036 2844 2002 2160 2265 2056 0 0 0 0 0 0 26.08 26.03 26.09

4301 0.74 194.6 2844 2002 2264 2056 261.1 16.2 729 4308 0.00 1.62 0.00 0.000 260 0.000 0.044 2837 3052 2160 2264 2056 0 0 0 0 0 0 26.10 26.03 26.10

4358 0.74 194.6 2836 3054 2262 2056 251.8 15.8 739 4365 0.00 1.60 0.00 0.000 1030 0.000 0.029 2842 1997 2159 2262 2056 0 0 0 0 0 0 26.09 26.06 26.09

4431 0.74 194.6 2842 1992 2262 2056 240.6 15.3 752 4437 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1992 2158 2261 2056 0 0 0 0 0 0 26.09 26.12 26.09

4502 0.74 194.6 2843 1992 2262 2056 229.7 15.8 765 4509 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1992 2159 2262 2056 0 0 0 0 0 0 26.10 26.10 26.11

4575 0.74 194.6 2842 1992 2262 2056 218.8 14.7 778 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1992 2159 2262 2056 0 0 0 0 0 0 26.10 26.10 26.10

4648 0.74 194.6 2842 1991 2262 2056 208.2 14.7 791 4655 0.00 1.65 0.00 0.000 260 0.000 0.042 2836 3054 2159 2262 2056 0 0 0 0 0 0 26.10 26.02 26.12

4684 0.74 194.6 2836 3055 2260 2055 202.8 14.4 797 4691 0.00 1.60 0.00 0.000 1030 0.000 0.030 2842 2000 2157 2260 2055 0 0 0 0 0 0 26.08 26.05 26.10

4756 0.74 194.6 2842 1997 2259 2056 192.6 14.2 810 4764 0.00 1.62 0.00 0.000 516 0.000 0.038 2852 954 2158 2260 2056 0 0 0 0 0 0 26.08 26.03 26.08

4820 0.78 194.6 2850 953 2260 2056 183.9 13.3 821 4827 0.00 1.65 0.00 0.000 1158 0.000 0.035 2844 2003 2158 2260 2056 0 0 0 0 0 0 26.07 26.01 26.08

4893 0.78 194.6 2844 2005 2260 2056 173.7 14.3 834 4901 0.00 1.65 0.00 0.000 260 0.000 0.044 2836 3065 2157 2259 2056 0 0 0 0 0 0 26.09 26.02 26.09

4952 0.78 194.6 2835 3060 2258 2056 164.9 14.0 844 4959 0.00 1.62 0.00 0.000 1030 0.000 0.029 2843 1991 2157 2258 2056 0 0 0 0 0 0 26.08 26.03 26.09

5026 0.78 194.6 2842 1986 2260 2056 155.1 13.5 857 5034 0.00 1.62 0.00 0.000 516 0.000 0.037 2851 944 2158 2258 2059 0 0 0 0 0 0 26.08 26.05 26.10

5046 0.80 224.0 2850 944 2258 2056 152.4 12.0 860 5076 0.10 1.67 23.42 0.840 11302 0.203 0.037 2879 2009 2050 2160 1941 0 0 0 0 0 0 25.89 26.02 24.98

5144 0.75 232.6 2877 2010 2156 1939 140.4 12.9 876 5159 0.00 1.67 8.38 0.750 8868 0.000 0.035 2885 949 2016 2127 1905 0 0 0 0 0 0 25.94 25.60 25.03

5194 0.72 232.6 2884 949 2124 1905 133.0 15.0 884 5202 0.00 1.67 0.00 0.000 1158 0.000 0.037 2877 2007 2015 2125 1905 0 0 0 0 0 0 25.93 25.87 25.96

5270 0.67 232.6 2880 2007 2122 1905 121.1 16.0 897 5277 0.10 0.00 0.00 0.000 4230 0.187 0.000 2859 2009 2014 2123 1905 0 0 0 0 0 0 25.79 25.99 25.96

5343 0.67 232.6 2859 2009 2121 1903 109.8 15.1 910 5351 0.00 1.65 0.00 0.000 260 0.000 0.044 2859 3058 2012 2121 1904 0 0 0 0 0 0 26.04 25.97 26.04

5381 0.65 232.6 2858 3058 2118 1904 104.3 13.9 916 5389 0.08 1.62 0.00 0.000 5254 0.213 0.029 2853 1993 2011 2118 1904 0 0 0 0 0 0 25.84 26.00 26.01

5456 0.65 232.6 2853 1989 2117 1904 94.1 13.7 929 5463 0.00 1.62 0.00 0.000 516 0.000 0.037 2860 939 2011 2118 1904 0 0 0 0 0 0 26.07 26.01 26.08

5497 0.69 240.1 2860 938 2118 1905 88.7 13.0 936 5513 0.00 1.67 7.18 0.699 9382 0.000 0.038 2859 2001 1986 2096 1876 0 0 0 0 0 0 26.08 26.01 25.15

5579 0.70 243.6 2853 2001 2094 1876 78.4 13.2 950 5587 0.00 1.65 0.00 0.000 292 0.000 0.044 2847 3060 1984 2094 1875 0 0 0 0 0 0 26.03 25.95 26.04

5649 0.76 267.5 2845 3060 2089 1875 69.7 12.2 962 5678 0.00 1.62 23.67 0.763 9382 0.000 0.030 2852 1994 1872 1989 1756 0 0 0 0 0 0 26.06 26.01 25.03

5747 0.82 289.1 2851 1990 1985 1753 57.2 12.3 978 5770 0.08 1.73 18.48 0.737 10916 0.168 0.037 2885 940 1785 1904 1667 0 0 0 0 0 0 25.79 25.65 24.98

5828 0.88 289.1 2885 940 1897 1667 46.3 13.7 991 5836 0.00 1.67 0.00 0.000 1158 0.000 0.037 2880 1999 1782 1897 1667 0 0 0 0 0 0 25.89 25.84 25.91

5902 0.88 289.1 2878 1999 1894 1666 35.5 14.7 1004 5910 0.00 1.65 0.00 0.000 260 0.000 0.043 2871 3061 1780 1894 1666 0 0 0 0 0 0 25.99 25.94 26.00

5997 0.98 335.0 2871 3061 1887 1666 23.5 11.2 1021 6042 0.17 1.62 37.22 0.718 11430 0.112 0.030 2927 1994 1599 1712 1486 0 0 0 0 0 0 25.93 25.99 24.98

6109 1.05 403.1 2927 1992 1704 1484 9.2 10.2 1039 6173 0.08 1.67 55.97 0.691 10788 0.176 0.036 2949 948 1319 1445 1193 0 0 0 0 0 0 25.72 25.29 24.85

6180 end climb: SURFACE_DEPTH_REACHED

state 6182 begin surface coast

6198 end surface coast: CONTROL_FINISHED_OK

state 6199 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	34	ALTIM_PULSE	2
DIVE	95	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	400	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	600	CALL_NDIVES	1	C_VBD	2968	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	4	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	100	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	160	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	144.89999	SEABIRD_T_G	0.0044052354
D_OFFGRID	1000	C_PITCH	2625	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	200	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	45	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12781	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	30	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0050118701	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0163117	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	188.0
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	070822,195053,4450.3223,-12456.9746,1,1.0,2,15.1,0.3,0.0,8,8.9	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4449.972,-12455.426
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	91.4,2184,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-69.4	D_GRID	646
GPS2	070822,195409,4450.3081,-12457.0195,2,1.0,3,15.1,0.6,216.2,8,9.7

FINISH	-0.2,1.022387	_10V_AH	10.21,13.342
SM_CCo	6217,80.75,0.688,0,0,928,500.17	FG_AHR_24Vo	0.000
SM_GC	0.59,7.82,2.05,80.75,0.051,0.033,0.688,162,2200,928,-7.48,-1.19,500.17,0,0,0,0,0,0,25.72,25.66,24.72	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4454.04,-12454.79,070822,194906	MEM	220748
TT8_MAMPS	0.023968,0.290612	DATA_FILE_SIZE	36685,1052
HUMID	36.25	CAP_FILE_SIZE	439412,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,229474304
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.119,21.16,1
SC_FREEKB	3782336	GPS	070822,214100,4450.447,-12455.810,27,1.0,27,15.1,0.8,281.0,8,5.7
_24V_AH	23.86,16.573

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	226	103.19	nil	0	0	0.00
Roll_motor	113	63	171.19	nil	0	0	0.00
VBD_pump_during_apogee	487	1030	11995.21	nil	0	0	0.00
VBD_pump_during_surface	80	687	1325.06	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	6187	6	959.54
Iridium_during_xfer	0	0	0.00	Edison	0	10	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	1.96
TT8	2653	13	378.49
LPSleep	327	2	7.33
TT8_Active	865	13	116.86
TT8_Sampling	2058	39	828.87
TT8_CF8	481	49	245.21
TT8_Kalman	0	0	0.00
Analog_circuits	1893	10	193.28
GPS_charging	0	0	0.00
Compass	1637	8	137.74
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	190	2214	1047	804	0.0	0.0	0	123	0.00	0.00	-107.15	0.005	16386	0.000	0.000	189	2216	3672	3621	3724	0	0	0	0	0	0	26.06	28.83	26.07
126	-0.75	-194.6	191	2214	3622	3725	4.1	-8.2	16	141	8.38	1.70	-1.67	0.031	18980	0.207	0.063	2370	1140	3766	3720	3813	0	0	0	0	0	0	25.72	24.75	25.98
224	-0.78	-194.6	2370	1143	3730	3812	25.4	-12.7	33	231	0.00	1.67	0.00	0.000	1190	0.000	0.041	2364	2204	3769	3730	3809	0	0	0	0	0	0	26.06	26.00	26.07
300	-0.76	-194.6	2363	2204	3730	3811	36.4	-15.9	46	307	0.00	1.65	0.00	0.000	388	0.000	0.046	2356	3260	3771	3731	3811	0	0	0	0	0	0	26.08	26.00	26.08
356	-0.76	-194.6	2355	3260	3733	3811	43.9	-11.2	56	363	0.00	1.60	0.00	0.000	1062	0.000	0.028	2362	2203	3772	3734	3811	0	0	0	0	0	0	26.09	26.06	26.10
429	-0.76	-194.6	2362	2196	3735	3814	52.3	-13.0	69	436	0.00	1.60	0.00	0.000	548	0.000	0.033	2370	1136	3772	3734	3810	0	0	0	0	0	0	26.09	26.06	26.10
535	-0.81	-194.6	2369	1136	3736	3810	64.8	-11.1	88	542	0.00	1.67	0.00	0.000	1190	0.000	0.040	2364	2200	3773	3736	3810	0	0	0	0	0	0	26.08	26.03	26.09
609	-0.84	-194.6	2366	2199	3736	3810	73.7	-11.8	101	616	0.00	1.65	0.00	0.000	420	0.000	0.046	2356	3258	3774	3737	3811	0	0	0	0	0	0	26.10	26.01	26.10
662	-0.88	-194.6	2355	3258	3737	3810	80.5	-13.7	110	670	0.00	1.62	0.00	0.000	1158	0.000	0.028	2362	2186	3773	3737	3810	0	0	0	0	0	0	26.10	26.06	26.10
738	-0.92	-194.6	2361	2181	3737	3810	89.7	-11.9	123	744	0.00	0.00	0.00	0.000	166	0.000	0.000	2361	2181	3773	3736	3810	0	0	0	0	0	0	26.11	26.13	26.10
811	-0.97	-194.6	2362	2181	3737	3810	98.6	-12.3	136	819	0.12	1.70	0.00	0.000	4516	0.120	0.044	2307	3259	3773	3737	3810	0	0	0	0	0	0	26.00	26.02	26.06
870	-0.97	-194.6	2307	3260	3737	3809	106.4	-12.9	146	878	0.00	1.60	0.00	0.000	1062	0.000	0.028	2313	2203	3771	3737	3805	0	0	0	0	0	0	26.08	26.03	26.09
945	-0.94	-194.6	2313	2198	3737	3809	116.0	-13.0	159	951	0.00	0.00	0.00	0.000	166	0.000	0.000	2313	2198	3773	3737	3809	0	0	0	0	0	0	26.10	26.10	26.10
1017	-0.92	-194.6	2319	2198	3737	3809	125.2	-12.5	172	1024	0.00	0.00	0.00	0.000	166	0.000	0.000	2314	2198	3773	3737	3809	0	0	0	0	0	0	26.10	26.10	26.10
1091	-0.89	-194.6	2312	2198	3737	3808	134.8	-12.8	185	1097	0.00	0.00	0.00	0.000	166	0.000	0.000	2313	2198	3772	3737	3808	0	0	0	0	0	0	26.10	26.12	26.11
1165	-0.89	-194.6	2313	2198	3737	3808	144.0	-12.3	198	1172	0.00	1.65	0.00	0.000	292	0.000	0.044	2307	3256	3772	3737	3807	0	0	0	0	0	0	26.10	26.01	26.10
1185	-0.89	-194.6	2306	3256	3737	3807	146.9	-12.8	201	1193	0.00	1.62	0.00	0.000	1062	0.000	0.028	2313	2187	3772	3737	3808	0	0	0	0	0	0	26.10	26.06	26.11
1258	-0.89	-194.6	2313	2182	3737	3814	156.0	-12.2	214	1265	0.00	0.00	0.00	0.000	38	0.000	0.000	2313	2182	3772	3737	3807	0	0	0	0	0	0	26.10	26.10	26.10
1332	-0.89	-194.6	2312	2182	3737	3807	165.1	-12.3	227	1339	0.00	1.58	0.00	0.000	548	0.000	0.034	2321	1140	3772	3737	3807	0	0	0	0	0	0	26.10	26.03	26.10
1353	-0.89	-194.6	2320	1140	3737	3807	167.7	-12.3	230	1362	0.00	1.73	0.00	0.000	1062	0.000	0.041	2315	2204	3772	3737	3807	0	0	0	0	0	0	26.06	26.03	26.08
1430	-0.89	-194.6	2311	2205	3737	3806	176.8	-12.8	243	1438	0.00	1.70	0.00	0.000	292	0.000	0.047	2307	3260	3771	3737	3806	0	0	0	0	0	0	26.09	26.01	26.10
1473	-0.89	-194.6	2306	3260	3737	3806	182.3	-12.2	250	1481	0.00	1.62	0.00	0.000	1062	0.000	0.029	2313	2192	3773	3737	3809	0	0	0	0	0	0	26.09	26.04	26.09
1549	-0.89	-194.6	2312	2187	3737	3806	191.5	-12.6	263	1556	0.00	1.60	0.00	0.000	548	0.000	0.034	2320	1138	3771	3737	3806	0	0	0	0	0	0	26.10	26.03	26.10
1591	-0.94	-194.6	2320	1138	3737	3807	196.9	-11.4	270	1599	0.00	1.67	0.00	0.000	1190	0.000	0.040	2314	2199	3771	3737	3805	0	0	0	0	0	0	26.09	26.03	26.10
1668	-0.94	-194.6	2314	2200	3733	3804	205.9	-12.7	283	1675	0.00	1.65	0.00	0.000	292	0.000	0.047	2306	3254	3771	3737	3805	0	0	0	0	0	0	26.09	26.01	26.10
1725	-0.97	-194.6	2306	3254	3737	3804	213.3	-13.0	293	1732	0.00	1.62	0.00	0.000	1190	0.000	0.028	2312	2186	3769	3736	3802	0	0	0	0	0	0	26.09	26.04	26.09
1798	-0.97	-194.6	2313	2182	3737	3804	222.6	-12.9	306	1806	0.00	1.58	0.00	0.000	548	0.000	0.035	2321	1142	3770	3737	3804	0	0	0	0	0	0	26.08	26.01	26.08
1827	-1.00	-194.6	2319	1141	3736	3804	226.2	-13.3	310	1835	0.00	1.67	0.00	0.000	1190	0.000	0.041	2314	2201	3770	3737	3804	0	0	0	0	0	0	26.06	25.99	26.06
1901	-1.00	-194.6	2313	2201	3736	3803	236.2	-13.5	323	1909	0.00	1.65	0.00	0.000	260	0.000	0.049	2306	3257	3770	3737	3803	0	0	0	0	0	0	26.10	25.99	26.10
1943	-1.00	-194.6	2306	3254	3737	3802	242.1	-14.2	330	1951	0.00	1.60	0.00	0.000	1030	0.000	0.030	2312	2204	3769	3737	3801	0	0	0	0	0	0	26.07	26.03	26.08
2019	-1.00	-194.6	2308	2199	3737	3802	251.8	-13.0	343	2026	0.00	1.67	0.00	0.000	292	0.000	0.047	2306	3261	3769	3737	3801	0	0	0	0	0	0	26.09	25.99	26.10
2055	-1.03	-194.6	2303	3261	3737	3801	256.9	-13.8	349	2062	0.00	1.62	0.00	0.000	1158	0.000	0.029	2312	2203	3769	3737	3801	0	0	0	0	0	0	26.07	26.02	26.08
2128	-1.05	-194.6	2311	2197	3737	3801	266.5	-13.7	362	2135	0.00	0.00	0.00	0.000	134	0.000	0.000	2312	2196	3769	3737	3801	0	0	0	0	0	0	26.10	26.10	26.10
2202	-1.05	-194.6	2311	2197	3737	3800	276.2	-13.0	375	2209	0.00	1.67	0.00	0.000	292	0.000	0.047	2305	3254	3768	3737	3799	0	0	0	0	0	0	26.08	25.98	26.08
2238	-1.05	-194.6	2305	3257	3737	3799	281.3	-13.5	381	2245	0.00	1.62	0.00	0.000	1030	0.000	0.029	2311	2200	3768	3737	3800	0	0	0	0	0	0	26.06	26.02	26.07
2312	-1.07	-194.6	2311	2195	3737	3799	290.7	-12.6	394	2319	0.00	0.00	0.00	0.000	166	0.000	0.000	2312	2195	3768	3737	3799	0	0	0	0	0	0	26.07	26.08	26.07
2386	-1.10	-194.6	2311	2196	3737	3798	299.9	-11.6	407	2393	0.10	0.00	0.00	0.000	4262	0.126	0.000	2274	2196	3767	3737	3798	0	0	0	0	0	0	25.97	26.06	26.05
2459	-1.05	-194.6	2273	2196	3737	3797	309.9	-14.5	420	2466	0.00	0.00	0.00	0.000	134	0.000	0.000	2274	2196	3767	3737	3797	0	0	0	0	0	0	26.08	26.08	26.08
2532	-1.00	-194.6	2279	2196	3737	3797	320.5	-14.8	433	2539	0.08	1.67	0.00	0.000	2436	0.202	0.047	2279	3254	3767	3737	3797	0	0	0	0	0	0	25.84	25.98	26.01
2574	-0.97	-194.6	2276	3254	3737	3796	327.0	-14.0	440	2581	0.00	1.62	0.00	0.000	1158	0.000	0.030	2284	2195	3766	3737	3796	0	0	0	0	0	0	26.07	26.03	26.08
2648	-0.94	-194.6	2284	2190	3737	3796	336.8	-12.8	453	2656	0.10	1.62	0.00	0.000	2724	0.181	0.031	2306	1136	3766	3737	3796	0	0	0	0	0	0	25.84	26.01	26.01
2669	-0.94	-194.6	2305	1134	3737	3796	339.9	-13.4	456	2676	0.00	1.70	0.00	0.000	1030	0.000	0.041	2299	2206	3766	3737	3796	0	0	0	0	0	0	26.06	25.99	26.07
2744	-0.94	-194.6	2298	2209	3737	3794	349.2	-12.3	469	2751	0.00	1.65	0.00	0.000	292	0.000	0.049	2290	3257	3765	3737	3794	0	0	0	0	0	0	26.08	25.98	26.09
2812	-0.94	-194.6	2290	3257	3737	3794	357.8	-12.9	481	2819	0.00	1.62	0.00	0.000	1062	0.000	0.030	2291	2201	3765	3737	3794	0	0	0	0	0	0	26.05	26.00	26.06
2885	-0.94	-194.6	2290	2195	3737	3796	367.3	-13.2	494	2892	0.05	0.00	0.00	0.000	2086	0.226	0.000	2301	2195	3765	3737	3793	0	0	0	0	0	0	25.86	26.05	26.01
2960	-0.94	-194.6	2301	2195	3738	3793	376.9	-13.0	507	2967	0.00	0.00	0.00	0.000	38	0.000	0.000	2301	2195	3763	3737	3790	0	0	0	0	0	0	26.06	26.07	26.06
3033	-0.94	-194.6	2300	2195	3737	3792	385.9	-12.4	520	3039	0.00	0.00	0.00	0.000	38	0.000	0.000	2301	2195	3762	3737	3788	0	0	0	0	0	0	26.08	26.10	26.09
3105	-0.94	-194.6	2301	2195	3737	3791	394.7	-12.0	533	3112	0.00	1.67	0.00	0.000	292	0.000	0.048	2293	3255	3763	3736	3791	0	0	0	0	0	0	26.06	25.97	26.06
3144	end dive: TARGET_DEPTH_EXCEEDED
state	3144	begin apogee
3151	-0.11	0.0	2301	2000	3737	3790	400.0	-12.0	540	3313	0.95	0.00	154.40	1.030	10246	0.168	0.000	2566	1994	2966	3032	2901	0	0	0	0	0	0	25.70	24.82	24.15
3315	end apogee: CONTROL_FINISHED_OK
state	3315	begin climb
3317	0.75	194.6	2566	1994	3032	2901	402.5	0.0	563	3492	0.90	1.83	159.15	0.985	10756	0.102	0.037	2851	945	2171	2284	2058	0	0	0	0	0	0	24.89	24.50	23.86
3539	0.77	194.6	2850	945	2275	2058	379.8	15.8	595	3546	0.00	1.73	0.00	0.000	1158	0.000	0.036	2844	2005	2167	2278	2057	0	0	0	0	0	0	25.22	25.18	25.22
3613	0.77	194.6	2843	2005	2275	2057	367.6	17.3	608	3620	0.00	1.67	0.00	0.000	260	0.000	0.044	2837	3060	2166	2275	2057	0	0	0	0	0	0	25.60	25.55	25.60
3663	0.77	194.6	2836	3059	2270	2056	358.5	16.7	617	3671	0.00	1.65	0.00	0.000	1030	0.000	0.028	2842	1990	2163	2270	2056	0	0	0	0	0	0	25.77	25.72	25.77
3737	0.77	194.6	2842	1985	2269	2057	346.6	16.1	630	3744	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1986	2161	2270	2053	0	0	0	0	0	0	25.90	25.90	25.91
3810	0.77	194.6	2842	1985	2269	2057	335.3	15.1	643	3817	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1985	2163	2270	2056	0	0	0	0	0	0	26.00	26.01	26.01
3883	0.77	194.6	2842	1986	2269	2056	324.5	15.0	656	3889	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1986	2163	2269	2058	0	0	0	0	0	0	26.03	26.05	26.03
3956	0.77	194.6	2842	1991	2269	2056	313.5	15.1	669	3962	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1985	2162	2268	2056	0	0	0	0	0	0	26.08	26.07	26.08
4030	0.74	194.6	2842	1988	2269	2056	302.5	15.4	682	4037	0.00	0.00	0.00	0.000	134	0.000	0.000	2844	1985	2162	2268	2056	0	0	0	0	0	0	26.10	26.10	26.10
4103	0.74	194.6	2842	1985	2267	2056	291.2	15.9	695	4110	0.00	1.67	0.00	0.000	260	0.000	0.043	2836	3058	2161	2268	2055	0	0	0	0	0	0	26.08	26.04	26.09
4128	0.74	194.6	2836	3058	2264	2056	286.9	15.3	699	4135	0.00	1.62	0.00	0.000	1030	0.000	0.028	2842	1989	2160	2264	2056	0	0	0	0	0	0	26.10	26.06	26.11
4201	0.74	194.6	2842	1985	2264	2056	275.9	14.4	712	4208	0.00	1.62	0.00	0.000	516	0.000	0.038	2851	935	2160	2264	2057	0	0	0	0	0	0	26.09	26.03	26.09
4227	0.74	194.6	2849	934	2265	2056	272.0	15.1	716	4234	0.00	1.67	0.00	0.000	1030	0.000	0.036	2844	2002	2160	2265	2056	0	0	0	0	0	0	26.08	26.03	26.09
4301	0.74	194.6	2844	2002	2264	2056	261.1	16.2	729	4308	0.00	1.62	0.00	0.000	260	0.000	0.044	2837	3052	2160	2264	2056	0	0	0	0	0	0	26.10	26.03	26.10
4358	0.74	194.6	2836	3054	2262	2056	251.8	15.8	739	4365	0.00	1.60	0.00	0.000	1030	0.000	0.029	2842	1997	2159	2262	2056	0	0	0	0	0	0	26.09	26.06	26.09
4431	0.74	194.6	2842	1992	2262	2056	240.6	15.3	752	4437	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1992	2158	2261	2056	0	0	0	0	0	0	26.09	26.12	26.09
4502	0.74	194.6	2843	1992	2262	2056	229.7	15.8	765	4509	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1992	2159	2262	2056	0	0	0	0	0	0	26.10	26.10	26.11
4575	0.74	194.6	2842	1992	2262	2056	218.8	14.7	778	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1992	2159	2262	2056	0	0	0	0	0	0	26.10	26.10	26.10
4648	0.74	194.6	2842	1991	2262	2056	208.2	14.7	791	4655	0.00	1.65	0.00	0.000	260	0.000	0.042	2836	3054	2159	2262	2056	0	0	0	0	0	0	26.10	26.02	26.12
4684	0.74	194.6	2836	3055	2260	2055	202.8	14.4	797	4691	0.00	1.60	0.00	0.000	1030	0.000	0.030	2842	2000	2157	2260	2055	0	0	0	0	0	0	26.08	26.05	26.10
4756	0.74	194.6	2842	1997	2259	2056	192.6	14.2	810	4764	0.00	1.62	0.00	0.000	516	0.000	0.038	2852	954	2158	2260	2056	0	0	0	0	0	0	26.08	26.03	26.08
4820	0.78	194.6	2850	953	2260	2056	183.9	13.3	821	4827	0.00	1.65	0.00	0.000	1158	0.000	0.035	2844	2003	2158	2260	2056	0	0	0	0	0	0	26.07	26.01	26.08
4893	0.78	194.6	2844	2005	2260	2056	173.7	14.3	834	4901	0.00	1.65	0.00	0.000	260	0.000	0.044	2836	3065	2157	2259	2056	0	0	0	0	0	0	26.09	26.02	26.09
4952	0.78	194.6	2835	3060	2258	2056	164.9	14.0	844	4959	0.00	1.62	0.00	0.000	1030	0.000	0.029	2843	1991	2157	2258	2056	0	0	0	0	0	0	26.08	26.03	26.09
5026	0.78	194.6	2842	1986	2260	2056	155.1	13.5	857	5034	0.00	1.62	0.00	0.000	516	0.000	0.037	2851	944	2158	2258	2059	0	0	0	0	0	0	26.08	26.05	26.10
5046	0.80	224.0	2850	944	2258	2056	152.4	12.0	860	5076	0.10	1.67	23.42	0.840	11302	0.203	0.037	2879	2009	2050	2160	1941	0	0	0	0	0	0	25.89	26.02	24.98
5144	0.75	232.6	2877	2010	2156	1939	140.4	12.9	876	5159	0.00	1.67	8.38	0.750	8868	0.000	0.035	2885	949	2016	2127	1905	0	0	0	0	0	0	25.94	25.60	25.03
5194	0.72	232.6	2884	949	2124	1905	133.0	15.0	884	5202	0.00	1.67	0.00	0.000	1158	0.000	0.037	2877	2007	2015	2125	1905	0	0	0	0	0	0	25.93	25.87	25.96
5270	0.67	232.6	2880	2007	2122	1905	121.1	16.0	897	5277	0.10	0.00	0.00	0.000	4230	0.187	0.000	2859	2009	2014	2123	1905	0	0	0	0	0	0	25.79	25.99	25.96
5343	0.67	232.6	2859	2009	2121	1903	109.8	15.1	910	5351	0.00	1.65	0.00	0.000	260	0.000	0.044	2859	3058	2012	2121	1904	0	0	0	0	0	0	26.04	25.97	26.04
5381	0.65	232.6	2858	3058	2118	1904	104.3	13.9	916	5389	0.08	1.62	0.00	0.000	5254	0.213	0.029	2853	1993	2011	2118	1904	0	0	0	0	0	0	25.84	26.00	26.01
5456	0.65	232.6	2853	1989	2117	1904	94.1	13.7	929	5463	0.00	1.62	0.00	0.000	516	0.000	0.037	2860	939	2011	2118	1904	0	0	0	0	0	0	26.07	26.01	26.08
5497	0.69	240.1	2860	938	2118	1905	88.7	13.0	936	5513	0.00	1.67	7.18	0.699	9382	0.000	0.038	2859	2001	1986	2096	1876	0	0	0	0	0	0	26.08	26.01	25.15
5579	0.70	243.6	2853	2001	2094	1876	78.4	13.2	950	5587	0.00	1.65	0.00	0.000	292	0.000	0.044	2847	3060	1984	2094	1875	0	0	0	0	0	0	26.03	25.95	26.04
5649	0.76	267.5	2845	3060	2089	1875	69.7	12.2	962	5678	0.00	1.62	23.67	0.763	9382	0.000	0.030	2852	1994	1872	1989	1756	0	0	0	0	0	0	26.06	26.01	25.03
5747	0.82	289.1	2851	1990	1985	1753	57.2	12.3	978	5770	0.08	1.73	18.48	0.737	10916	0.168	0.037	2885	940	1785	1904	1667	0	0	0	0	0	0	25.79	25.65	24.98
5828	0.88	289.1	2885	940	1897	1667	46.3	13.7	991	5836	0.00	1.67	0.00	0.000	1158	0.000	0.037	2880	1999	1782	1897	1667	0	0	0	0	0	0	25.89	25.84	25.91
5902	0.88	289.1	2878	1999	1894	1666	35.5	14.7	1004	5910	0.00	1.65	0.00	0.000	260	0.000	0.043	2871	3061	1780	1894	1666	0	0	0	0	0	0	25.99	25.94	26.00
5997	0.98	335.0	2871	3061	1887	1666	23.5	11.2	1021	6042	0.17	1.62	37.22	0.718	11430	0.112	0.030	2927	1994	1599	1712	1486	0	0	0	0	0	0	25.93	25.99	24.98
6109	1.05	403.1	2927	1992	1704	1484	9.2	10.2	1039	6173	0.08	1.67	55.97	0.691	10788	0.176	0.036	2949	948	1319	1445	1193	0	0	0	0	0	0	25.72	25.29	24.85
6180	end climb: SURFACE_DEPTH_REACHED
state	6182	begin surface coast
6198	end surface coast: CONTROL_FINISHED_OK
state	6199	begin surface