Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 109 * 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 43 ALTIM_PULSE 2

DIVE 109 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 216.0

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 216.0 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 109 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 43 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 080822,220649,4450.0459,-12455.6758,10,1.3,30,15.1,0.6,262.2,8,2.9 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4449.963,-12455.422

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.63 MHEAD_RNG_PITCHd_Wd 95.9,772,-27.7,-13.333,-30.00,1805

_SM_ANGLEo -68.8 D_GRID 552

GPS2 080822,222129,4450.1123,-12455.9707,3,0.6,4,15.1,0.7,257.3,12,7.0

Post-dive calculations and measurements:

NEWHEAD 127.100,-0.05,5525.33 _24V_AH 23.79,18.771

FINISH -0.1,1.015372 _10V_AH 10.24,14.571

SM_CCo 5548,144.80,0.690,0,0,928,500.17 FG_AHR_24Vo 0.000

SM_GC 0.53,7.90,0.30,144.80,0.055,0.044,0.690,171,2234,928,-7.48,-0.96,500.17,0,0,0,0,0,0,25.85,25.83,24.58 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4452.30,-12459.77,080822,201922 MEM 220788

TT8_MAMPS 0.023219,0.259154 DATA_FILE_SIZE 33365,944

HUMID 35.03 CAP_FILE_SIZE 402353,0

INTERNAL_PRESSURE 8.42419 CFSIZE 260030464,226840576

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 080822,235809,4450.043,-12455.541,7,0.9,20,15.1,0.4,250.2,12,3.9

SC_FREEKB 3777856

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 247 113.21 nil 0 0 0.00

Roll_motor 113 61 167.72 nil 0 0 0.00

VBD_pump_during_apogee 420 1025 10245.03 nil 0 0 0.00

VBD_pump_during_surface 144 690 2377.01 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 5534 6 853.12

Iridium_during_xfer 681 104 1699.57 Edison 6168 10 1467.37

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.08

TT8 2307 13 330.14

LPSleep 327 2 7.34

TT8_Active 823 13 111.48

TT8_Sampling 2499 39 1009.28

TT8_CF8 605 49 309.33

TT8_Kalman 0 0 0.00

Analog_circuits 2457 10 251.68

GPS_charging 0 0 0.00

Compass 1472 8 124.22

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -0.77 -156.4 161 2221 1044 796 0.0 0.0 0 123 0.00 0.00 -107.10 0.005 16386 0.000 0.000 161 2220 3509 3468 3551 0 0 0 0 0 0 25.95 28.83 25.96

126 -0.81 -194.6 161 2219 3470 3552 3.7 -7.5 17 147 8.55 1.73 -4.78 0.014 18980 0.212 0.062 2348 1146 3766 3720 3813 0 0 0 0 0 0 25.62 25.11 25.91

286 -0.89 -194.6 2348 1146 3730 3812 36.0 -12.0 46 293 0.00 1.67 0.00 0.000 1190 0.000 0.041 2343 2195 3771 3731 3812 0 0 0 0 0 0 26.03 25.97 26.02

358 -0.89 -194.6 2342 2195 3732 3812 44.4 -12.8 59 365 0.00 1.62 0.00 0.000 548 0.000 0.034 2348 1139 3772 3732 3812 0 0 0 0 0 0 26.06 26.01 26.06

503 -1.01 -194.6 2348 1139 3735 3812 61.4 -8.9 86 511 0.10 1.70 0.00 0.000 5286 0.139 0.040 2292 2213 3773 3735 3812 0 0 0 0 0 0 25.91 25.98 26.02

577 -0.95 -194.6 2291 2215 3735 3812 71.5 -15.2 99 584 0.00 1.65 0.00 0.000 644 0.000 0.032 2297 1138 3773 3735 3811 0 0 0 0 0 0 26.06 26.00 26.06

670 -0.99 -194.6 2294 1136 3736 3812 83.8 -12.5 116 677 0.00 1.67 0.00 0.000 1190 0.000 0.041 2291 2194 3774 3736 3812 0 0 0 0 0 0 26.06 25.99 26.08

743 -0.94 -194.6 2290 2195 3736 3812 94.2 -14.8 129 751 0.05 1.67 0.00 0.000 2436 0.248 0.047 2294 3262 3772 3736 3808 0 0 0 0 0 0 25.82 25.96 25.99

813 -1.00 -194.6 2293 3262 3736 3812 104.5 -13.1 141 821 0.00 1.67 0.00 0.000 1190 0.000 0.030 2298 2202 3774 3736 3812 0 0 0 0 0 0 26.04 26.01 26.07

887 -1.00 -194.6 2297 2197 3736 3812 115.7 -15.3 154 895 0.00 1.67 0.00 0.000 516 0.000 0.034 2299 1131 3774 3736 3812 0 0 0 0 0 0 26.05 26.01 26.06

970 -1.07 -194.6 2295 1133 3737 3812 128.1 -14.3 169 977 0.00 1.70 0.00 0.000 1158 0.000 0.041 2293 2205 3774 3736 3812 0 0 0 0 0 0 26.03 25.97 26.04

1045 -1.07 -194.6 2292 2203 3736 3811 139.7 -16.2 182 1052 0.00 1.65 0.00 0.000 260 0.000 0.048 2285 3254 3776 3736 3816 0 0 0 0 0 0 26.08 25.95 26.06

1081 -1.07 -194.6 2285 3254 3735 3810 145.9 -16.8 188 1088 0.00 1.62 0.00 0.000 1030 0.000 0.030 2290 2201 3773 3736 3810 0 0 0 0 0 0 26.03 25.98 26.04

1154 -1.07 -194.6 2290 2195 3736 3810 157.7 -16.1 201 1161 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2195 3773 3737 3810 0 0 0 0 0 0 26.06 26.06 26.06

1228 -1.07 -194.6 2290 2195 3736 3810 169.7 -16.9 214 1236 0.00 1.67 0.00 0.000 260 0.000 0.047 2284 3254 3773 3736 3810 0 0 0 0 0 0 26.06 25.96 26.06

1269 -1.07 -194.6 2284 3254 3737 3810 177.0 -17.5 221 1277 0.00 1.62 0.00 0.000 1030 0.000 0.030 2286 2197 3773 3737 3810 0 0 0 0 0 0 26.04 26.00 26.05

1343 -1.07 -194.6 2290 2190 3737 3810 189.1 -15.6 234 1350 0.00 1.67 0.00 0.000 260 0.000 0.047 2284 3254 3775 3740 3810 0 0 0 0 0 0 26.05 25.97 26.06

1395 -1.07 -194.6 2283 3254 3737 3810 198.0 -17.2 243 1403 0.00 1.67 0.00 0.000 1030 0.000 0.031 2290 2203 3773 3737 3809 0 0 0 0 0 0 26.02 25.99 26.03

1469 -1.07 -194.6 2289 2198 3736 3810 209.9 -16.2 256 1476 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2198 3772 3736 3809 0 0 0 0 0 0 26.04 26.05 26.04

1541 -1.07 -194.6 2289 2194 3736 3809 221.1 -14.2 269 1550 0.00 1.73 0.00 0.000 260 0.000 0.047 2283 3258 3773 3737 3809 0 0 0 0 0 0 26.04 25.96 26.05

1580 -1.07 -194.6 2283 3258 3736 3809 226.4 -14.5 275 1588 0.00 1.65 0.00 0.000 1030 0.000 0.029 2289 2183 3772 3736 3809 0 0 0 0 0 0 26.03 25.98 26.03

1654 -1.10 -194.6 2288 2178 3736 3808 238.9 -17.0 288 1662 0.00 1.60 0.00 0.000 644 0.000 0.034 2296 1134 3775 3737 3813 0 0 0 0 0 0 26.04 25.98 26.04

1688 -1.15 -194.6 2296 1133 3736 3808 243.4 -14.9 293 1695 0.00 1.70 0.00 0.000 1158 0.000 0.041 2290 2204 3773 3736 3810 0 0 0 0 0 0 26.03 25.96 26.06

1762 -1.15 -194.6 2290 2204 3736 3807 255.0 -16.5 306 1770 0.08 1.65 0.00 0.000 4356 0.153 0.047 2263 3254 3771 3736 3807 0 0 0 0 0 0 25.89 25.96 26.01

1804 -1.15 -194.6 2263 3254 3736 3806 262.8 -17.5 313 1811 0.00 1.62 0.00 0.000 1030 0.000 0.030 2269 2202 3771 3735 3807 0 0 0 0 0 0 26.01 25.98 26.03

1878 -1.12 -194.6 2269 2196 3736 3807 275.5 -17.3 326 1886 0.00 1.62 0.00 0.000 644 0.000 0.034 2276 1136 3772 3737 3807 0 0 0 0 0 0 26.03 25.97 26.03

1916 -1.15 -194.6 2276 1136 3736 3807 281.3 -15.3 332 1923 0.00 1.70 0.00 0.000 1158 0.000 0.041 2271 2209 3771 3736 3807 0 0 0 0 0 0 26.03 25.97 26.04

1989 -1.15 -194.6 2276 2210 3736 3807 292.0 -15.2 345 1996 0.00 1.65 0.00 0.000 260 0.000 0.047 2263 3258 3771 3736 3806 0 0 0 0 0 0 26.06 25.95 26.06

2052 -1.15 -194.6 2262 3258 3737 3806 301.0 -14.0 356 2059 0.00 1.65 0.00 0.000 1030 0.000 0.029 2269 2182 3771 3736 3806 0 0 0 0 0 0 26.02 25.99 26.03

2127 -1.13 -194.6 2268 2178 3737 3806 311.5 -14.3 369 2134 0.00 1.60 0.00 0.000 644 0.000 0.034 2276 1134 3771 3737 3805 0 0 0 0 0 0 26.05 25.97 26.05

2153 -1.13 -194.6 2276 1134 3736 3806 315.3 -14.6 373 2160 0.00 1.70 0.00 0.000 1030 0.000 0.041 2271 2204 3771 3736 3807 0 0 0 0 0 0 26.01 25.95 26.01

2227 -1.13 -194.6 2270 2204 3736 3806 325.4 -14.6 386 2234 0.00 1.65 0.00 0.000 260 0.000 0.048 2262 3254 3770 3736 3805 0 0 0 0 0 0 26.03 25.95 26.03

2299 -1.13 -194.6 2262 3255 3736 3806 336.3 -14.5 399 2306 0.00 1.62 0.00 0.000 1030 0.000 0.030 2268 2203 3770 3736 3805 0 0 0 0 0 0 26.03 25.98 26.03

2372 -1.13 -194.6 2268 2196 3737 3805 347.4 -14.9 412 2379 0.00 1.62 0.00 0.000 516 0.000 0.034 2276 1136 3770 3735 3805 0 0 0 0 0 0 26.03 25.96 26.04

2409 -1.16 -194.6 2275 1136 3735 3805 353.0 -14.4 418 2416 0.00 1.70 0.00 0.000 1158 0.000 0.041 2271 2206 3770 3736 3805 0 0 0 0 0 0 26.03 25.97 26.04

2482 -1.16 -194.6 2270 2206 3736 3804 363.5 -15.4 431 2489 0.00 1.65 0.00 0.000 260 0.000 0.048 2262 3253 3770 3736 3804 0 0 0 0 0 0 26.04 25.96 26.05

2591 -1.16 -194.6 2262 3254 3736 3805 380.8 -15.0 451 2598 0.00 1.62 0.00 0.000 1030 0.000 0.031 2267 2193 3770 3736 3804 0 0 0 0 0 0 26.02 25.99 26.03

2665 -1.16 -194.6 2267 2188 3737 3804 391.5 -14.8 464 2672 0.00 1.62 0.00 0.000 516 0.000 0.034 2275 1136 3770 3736 3804 0 0 0 0 0 0 26.01 25.97 26.03

2681 -1.16 -194.6 2275 1136 3736 3804 393.7 -15.0 466 2687 0.00 1.70 0.00 0.000 1030 0.000 0.040 2270 2206 3770 3736 3804 0 0 0 0 0 0 26.01 25.96 26.02

2725 end dive: TARGET_DEPTH_EXCEEDED

state 2725 begin apogee

2730 -0.11 0.0 2269 1978 3736 3802 400.4 -15.4 474 2899 1.05 0.00 156.62 1.025 10246 0.161 0.000 2568 1971 2966 3030 2903 0 0 0 0 0 0 25.66 24.59 24.01

2901 end apogee: CONTROL_FINISHED_OK

state 2901 begin climb

2903 0.81 194.6 2567 1974 3030 2903 399.4 0.0 498 3072 0.98 1.75 159.45 0.977 10756 0.108 0.037 2876 964 2171 2278 2064 0 0 0 0 0 0 24.82 24.44 23.79

3112 0.84 194.6 2875 963 2272 2063 375.5 15.2 528 3120 0.00 1.75 0.00 0.000 1158 0.000 0.037 2875 1996 2167 2272 2063 0 0 0 0 0 0 25.06 25.06 25.07

3186 0.82 194.6 2875 1996 2268 2062 364.3 14.7 541 3194 0.00 0.00 0.00 0.000 134 0.000 0.000 2876 1996 2165 2267 2063 0 0 0 0 0 0 25.52 25.54 25.51

3260 0.79 194.6 2875 1994 2265 2063 353.7 14.5 554 3269 0.00 1.73 0.00 0.000 388 0.000 0.044 2867 3060 2163 2264 2063 0 0 0 0 0 0 25.75 25.70 25.75

3293 0.76 194.6 2868 3060 2261 2062 348.7 16.1 559 3301 0.00 1.65 0.00 0.000 1158 0.000 0.029 2875 2019 2162 2262 2062 0 0 0 0 0 0 25.81 25.78 25.82

3368 0.73 194.6 2874 2013 2262 2062 337.2 14.7 572 3377 0.00 1.70 0.00 0.000 644 0.000 0.037 2883 952 2162 2262 2063 0 0 0 0 0 0 25.94 25.89 25.94

3415 0.73 194.6 2883 951 2262 2062 330.2 14.5 580 3422 0.00 1.67 0.00 0.000 1030 0.000 0.037 2881 2009 2162 2262 2062 0 0 0 0 0 0 25.97 25.91 25.98

3489 0.70 194.6 2880 2009 2260 2062 319.4 15.3 593 3496 0.08 1.62 0.00 0.000 4484 0.210 0.043 2871 3056 2161 2261 2062 0 0 0 0 0 0 25.81 25.95 25.96

3540 0.70 194.6 2866 3052 2258 2063 311.5 15.2 602 3547 0.00 1.62 0.00 0.000 1030 0.000 0.028 2873 1993 2159 2257 2062 0 0 0 0 0 0 26.03 25.98 26.03

3614 0.67 194.6 2872 1989 2257 2064 299.8 17.7 615 3622 0.10 1.62 0.00 0.000 4740 0.200 0.034 2861 941 2159 2257 2062 0 0 0 0 0 0 25.83 26.00 26.00

3630 0.67 194.6 2861 941 2258 2062 297.0 16.9 617 3637 0.00 1.67 0.00 0.000 1030 0.000 0.036 2855 2004 2160 2258 2062 0 0 0 0 0 0 26.05 25.98 26.06

3704 0.67 194.6 2854 2005 2258 2063 284.8 16.4 630 3711 0.00 1.62 0.00 0.000 260 0.000 0.043 2847 3053 2159 2257 2062 0 0 0 0 0 0 26.06 25.98 26.06

3744 0.70 194.6 2846 3053 2255 2062 277.9 16.1 637 3751 0.00 1.62 0.00 0.000 1158 0.000 0.029 2853 1991 2158 2255 2062 0 0 0 0 0 0 26.08 26.03 26.08

3819 0.72 194.6 2852 1986 2255 2061 265.9 17.2 650 3826 0.00 1.62 0.00 0.000 644 0.000 0.038 2861 941 2159 2255 2063 0 0 0 0 0 0 26.07 26.01 26.07

3845 0.72 194.6 2861 941 2255 2063 261.7 16.9 654 3853 0.00 1.73 0.00 0.000 1030 0.000 0.037 2855 2006 2159 2256 2063 0 0 0 0 0 0 26.03 25.99 26.05

3919 0.72 194.6 2853 2006 2255 2063 249.5 16.8 667 3927 0.00 1.70 0.00 0.000 260 0.000 0.044 2847 3058 2159 2255 2063 0 0 0 0 0 0 26.07 25.99 26.10

3958 0.72 194.6 2846 3058 2254 2062 243.4 16.1 673 3965 0.00 1.62 0.00 0.000 1030 0.000 0.028 2854 1996 2158 2254 2062 0 0 0 0 0 0 26.08 26.01 26.06

4031 0.72 194.6 2853 1986 2254 2062 231.2 16.0 686 4038 0.00 0.00 0.00 0.000 6 0.000 0.000 2852 1991 2158 2255 2062 0 0 0 0 0 0 26.06 26.06 26.06

4105 0.74 194.6 2852 1985 2255 2063 219.1 16.7 699 4112 0.00 1.70 0.00 0.000 388 0.000 0.044 2847 3063 2158 2254 2063 0 0 0 0 0 0 26.06 25.98 26.06

4141 0.77 194.6 2846 3063 2253 2062 213.0 16.9 705 4148 0.00 1.62 0.00 0.000 1158 0.000 0.030 2853 1996 2157 2254 2061 0 0 0 0 0 0 26.06 26.01 26.06

4216 0.77 194.6 2852 1988 2253 2062 200.8 15.9 718 4222 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 1991 2157 2253 2062 0 0 0 0 0 0 26.06 26.07 26.07

4290 0.79 194.6 2852 1991 2252 2062 188.4 16.6 731 4298 0.00 1.70 0.00 0.000 388 0.000 0.042 2846 3068 2157 2253 2062 0 0 0 0 0 0 26.08 26.00 26.09

4310 0.82 194.6 2846 3068 2253 2062 184.9 16.5 734 4318 0.08 1.62 0.00 0.000 3206 0.164 0.028 2876 1997 2157 2252 2062 0 0 0 0 0 0 25.89 26.00 26.03

4384 0.82 194.6 2875 1992 2251 2062 172.3 17.7 747 4391 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 1992 2157 2252 2062 0 0 0 0 0 0 26.06 26.04 26.06

4456 0.79 194.6 2875 1992 2252 2062 158.8 18.7 760 4463 0.00 0.00 0.00 0.000 134 0.000 0.000 2880 1992 2157 2252 2062 0 0 0 0 0 0 26.05 26.09 26.06

4529 0.79 194.6 2875 1992 2251 2062 145.4 18.0 773 4536 0.00 1.67 0.00 0.000 260 0.000 0.043 2871 3056 2157 2253 2062 0 0 0 0 0 0 26.06 25.94 26.07

4549 0.79 194.6 2870 3055 2252 2062 141.8 18.1 776 4556 0.00 1.60 0.00 0.000 1030 0.000 0.029 2876 2009 2160 2252 2068 0 0 0 0 0 0 26.03 25.99 26.06

4623 0.77 194.6 2876 2003 2252 2062 129.0 17.8 789 4630 0.00 1.67 0.00 0.000 644 0.000 0.037 2885 933 2157 2252 2062 0 0 0 0 0 0 26.04 25.98 26.05

4671 0.80 194.6 2883 933 2252 2062 121.0 15.5 797 4678 0.00 1.70 0.00 0.000 1158 0.000 0.036 2877 2009 2157 2252 2062 0 0 0 0 0 0 26.03 25.97 26.03

4744 0.80 194.6 2879 2009 2250 2063 109.7 14.4 810 4751 0.00 1.65 0.00 0.000 260 0.000 0.042 2872 3062 2157 2251 2063 0 0 0 0 0 0 26.05 25.96 26.06

4796 0.80 194.6 2871 3062 2251 2062 102.3 14.0 819 4803 0.00 1.62 0.00 0.000 1030 0.000 0.029 2878 1994 2156 2250 2062 0 0 0 0 0 0 26.05 26.01 26.06

4869 0.80 194.6 2877 1990 2251 2062 92.4 13.7 832 4875 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1990 2156 2251 2062 0 0 0 0 0 0 26.05 26.06 26.06

4942 0.81 199.5 2878 1990 2251 2062 82.9 13.1 845 4949 0.00 1.62 0.00 0.000 548 0.000 0.037 2886 943 2156 2251 2062 0 0 0 0 0 0 26.05 25.98 26.08

5005 0.88 241.7 2886 943 2250 2061 75.5 10.9 856 5048 0.00 1.67 37.62 0.773 9382 0.000 0.034 2881 2010 1976 2086 1867 0 0 0 0 0 0 26.05 25.99 24.89

5115 0.94 298.9 2880 2009 2078 1867 63.9 10.1 874 5167 0.12 1.75 46.25 0.742 10532 0.114 0.040 2914 3065 1745 1859 1632 0 0 0 0 0 0 25.77 25.40 24.77

5186 0.94 298.9 2914 3066 1849 1633 53.2 16.7 884 5193 0.00 1.67 0.00 0.000 1030 0.000 0.030 2917 1994 1740 1848 1633 0 0 0 0 0 0 25.62 25.58 25.63

5259 0.94 298.9 2920 1990 1843 1632 41.0 17.8 897 5266 0.00 1.65 0.00 0.000 516 0.000 0.037 2928 935 1737 1841 1633 0 0 0 0 0 0 25.83 25.77 25.83

5342 0.98 298.9 2927 934 1839 1628 26.7 17.3 912 5349 0.00 1.70 0.00 0.000 1158 0.000 0.037 2922 2007 1736 1840 1632 0 0 0 0 0 0 25.96 25.89 25.96

5416 1.01 298.9 2921 2007 1839 1631 13.5 17.6 925 5422 0.00 0.00 0.00 0.000 134 0.000 0.000 2923 2007 1734 1838 1631 0 0 0 0 0 0 26.01 26.01 26.01

5489 1.12 330.5 2922 2007 1836 1631 3.8 11.5 938 5512 0.12 0.00 20.15 0.679 10914 0.164 0.000 2958 2008 1645 1752 1539 0 0 0 0 0 0 25.83 28.83 25.94

5513 end climb: SURFACE_DEPTH_REACHED

state 5513 begin surface coast

5530 end surface coast: CONTROL_FINISHED_OK

state 5531 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	43	ALTIM_PULSE	2
DIVE	109	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	216.0
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	080822,220649,4450.0459,-12455.6758,10,1.3,30,15.1,0.6,262.2,8,2.9	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4449.963,-12455.422
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.63	MHEAD_RNG_PITCHd_Wd	95.9,772,-27.7,-13.333,-30.00,1805
_SM_ANGLEo	-68.8	D_GRID	552
GPS2	080822,222129,4450.1123,-12455.9707,3,0.6,4,15.1,0.7,257.3,12,7.0

NEWHEAD	127.100,-0.05,5525.33	_24V_AH	23.79,18.771
FINISH	-0.1,1.015372	_10V_AH	10.24,14.571
SM_CCo	5548,144.80,0.690,0,0,928,500.17	FG_AHR_24Vo	0.000
SM_GC	0.53,7.90,0.30,144.80,0.055,0.044,0.690,171,2234,928,-7.48,-0.96,500.17,0,0,0,0,0,0,25.85,25.83,24.58	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4452.30,-12459.77,080822,201922	MEM	220788
TT8_MAMPS	0.023219,0.259154	DATA_FILE_SIZE	33365,944
HUMID	35.03	CAP_FILE_SIZE	402353,0
INTERNAL_PRESSURE	8.42419	CFSIZE	260030464,226840576
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	080822,235809,4450.043,-12455.541,7,0.9,20,15.1,0.4,250.2,12,3.9
SC_FREEKB	3777856

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	247	113.21	nil	0	0	0.00
Roll_motor	113	61	167.72	nil	0	0	0.00
VBD_pump_during_apogee	420	1025	10245.03	nil	0	0	0.00
VBD_pump_during_surface	144	690	2377.01	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	5534	6	853.12
Iridium_during_xfer	681	104	1699.57	Edison	6168	10	1467.37
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.08
TT8	2307	13	330.14
LPSleep	327	2	7.34
TT8_Active	823	13	111.48
TT8_Sampling	2499	39	1009.28
TT8_CF8	605	49	309.33
TT8_Kalman	0	0	0.00
Analog_circuits	2457	10	251.68
GPS_charging	0	0	0.00
Compass	1472	8	124.22
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-0.77	-156.4	161	2221	1044	796	0.0	0.0	0	123	0.00	0.00	-107.10	0.005	16386	0.000	0.000	161	2220	3509	3468	3551	0	0	0	0	0	0	25.95	28.83	25.96
126	-0.81	-194.6	161	2219	3470	3552	3.7	-7.5	17	147	8.55	1.73	-4.78	0.014	18980	0.212	0.062	2348	1146	3766	3720	3813	0	0	0	0	0	0	25.62	25.11	25.91
286	-0.89	-194.6	2348	1146	3730	3812	36.0	-12.0	46	293	0.00	1.67	0.00	0.000	1190	0.000	0.041	2343	2195	3771	3731	3812	0	0	0	0	0	0	26.03	25.97	26.02
358	-0.89	-194.6	2342	2195	3732	3812	44.4	-12.8	59	365	0.00	1.62	0.00	0.000	548	0.000	0.034	2348	1139	3772	3732	3812	0	0	0	0	0	0	26.06	26.01	26.06
503	-1.01	-194.6	2348	1139	3735	3812	61.4	-8.9	86	511	0.10	1.70	0.00	0.000	5286	0.139	0.040	2292	2213	3773	3735	3812	0	0	0	0	0	0	25.91	25.98	26.02
577	-0.95	-194.6	2291	2215	3735	3812	71.5	-15.2	99	584	0.00	1.65	0.00	0.000	644	0.000	0.032	2297	1138	3773	3735	3811	0	0	0	0	0	0	26.06	26.00	26.06
670	-0.99	-194.6	2294	1136	3736	3812	83.8	-12.5	116	677	0.00	1.67	0.00	0.000	1190	0.000	0.041	2291	2194	3774	3736	3812	0	0	0	0	0	0	26.06	25.99	26.08
743	-0.94	-194.6	2290	2195	3736	3812	94.2	-14.8	129	751	0.05	1.67	0.00	0.000	2436	0.248	0.047	2294	3262	3772	3736	3808	0	0	0	0	0	0	25.82	25.96	25.99
813	-1.00	-194.6	2293	3262	3736	3812	104.5	-13.1	141	821	0.00	1.67	0.00	0.000	1190	0.000	0.030	2298	2202	3774	3736	3812	0	0	0	0	0	0	26.04	26.01	26.07
887	-1.00	-194.6	2297	2197	3736	3812	115.7	-15.3	154	895	0.00	1.67	0.00	0.000	516	0.000	0.034	2299	1131	3774	3736	3812	0	0	0	0	0	0	26.05	26.01	26.06
970	-1.07	-194.6	2295	1133	3737	3812	128.1	-14.3	169	977	0.00	1.70	0.00	0.000	1158	0.000	0.041	2293	2205	3774	3736	3812	0	0	0	0	0	0	26.03	25.97	26.04
1045	-1.07	-194.6	2292	2203	3736	3811	139.7	-16.2	182	1052	0.00	1.65	0.00	0.000	260	0.000	0.048	2285	3254	3776	3736	3816	0	0	0	0	0	0	26.08	25.95	26.06
1081	-1.07	-194.6	2285	3254	3735	3810	145.9	-16.8	188	1088	0.00	1.62	0.00	0.000	1030	0.000	0.030	2290	2201	3773	3736	3810	0	0	0	0	0	0	26.03	25.98	26.04
1154	-1.07	-194.6	2290	2195	3736	3810	157.7	-16.1	201	1161	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2195	3773	3737	3810	0	0	0	0	0	0	26.06	26.06	26.06
1228	-1.07	-194.6	2290	2195	3736	3810	169.7	-16.9	214	1236	0.00	1.67	0.00	0.000	260	0.000	0.047	2284	3254	3773	3736	3810	0	0	0	0	0	0	26.06	25.96	26.06
1269	-1.07	-194.6	2284	3254	3737	3810	177.0	-17.5	221	1277	0.00	1.62	0.00	0.000	1030	0.000	0.030	2286	2197	3773	3737	3810	0	0	0	0	0	0	26.04	26.00	26.05
1343	-1.07	-194.6	2290	2190	3737	3810	189.1	-15.6	234	1350	0.00	1.67	0.00	0.000	260	0.000	0.047	2284	3254	3775	3740	3810	0	0	0	0	0	0	26.05	25.97	26.06
1395	-1.07	-194.6	2283	3254	3737	3810	198.0	-17.2	243	1403	0.00	1.67	0.00	0.000	1030	0.000	0.031	2290	2203	3773	3737	3809	0	0	0	0	0	0	26.02	25.99	26.03
1469	-1.07	-194.6	2289	2198	3736	3810	209.9	-16.2	256	1476	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2198	3772	3736	3809	0	0	0	0	0	0	26.04	26.05	26.04
1541	-1.07	-194.6	2289	2194	3736	3809	221.1	-14.2	269	1550	0.00	1.73	0.00	0.000	260	0.000	0.047	2283	3258	3773	3737	3809	0	0	0	0	0	0	26.04	25.96	26.05
1580	-1.07	-194.6	2283	3258	3736	3809	226.4	-14.5	275	1588	0.00	1.65	0.00	0.000	1030	0.000	0.029	2289	2183	3772	3736	3809	0	0	0	0	0	0	26.03	25.98	26.03
1654	-1.10	-194.6	2288	2178	3736	3808	238.9	-17.0	288	1662	0.00	1.60	0.00	0.000	644	0.000	0.034	2296	1134	3775	3737	3813	0	0	0	0	0	0	26.04	25.98	26.04
1688	-1.15	-194.6	2296	1133	3736	3808	243.4	-14.9	293	1695	0.00	1.70	0.00	0.000	1158	0.000	0.041	2290	2204	3773	3736	3810	0	0	0	0	0	0	26.03	25.96	26.06
1762	-1.15	-194.6	2290	2204	3736	3807	255.0	-16.5	306	1770	0.08	1.65	0.00	0.000	4356	0.153	0.047	2263	3254	3771	3736	3807	0	0	0	0	0	0	25.89	25.96	26.01
1804	-1.15	-194.6	2263	3254	3736	3806	262.8	-17.5	313	1811	0.00	1.62	0.00	0.000	1030	0.000	0.030	2269	2202	3771	3735	3807	0	0	0	0	0	0	26.01	25.98	26.03
1878	-1.12	-194.6	2269	2196	3736	3807	275.5	-17.3	326	1886	0.00	1.62	0.00	0.000	644	0.000	0.034	2276	1136	3772	3737	3807	0	0	0	0	0	0	26.03	25.97	26.03
1916	-1.15	-194.6	2276	1136	3736	3807	281.3	-15.3	332	1923	0.00	1.70	0.00	0.000	1158	0.000	0.041	2271	2209	3771	3736	3807	0	0	0	0	0	0	26.03	25.97	26.04
1989	-1.15	-194.6	2276	2210	3736	3807	292.0	-15.2	345	1996	0.00	1.65	0.00	0.000	260	0.000	0.047	2263	3258	3771	3736	3806	0	0	0	0	0	0	26.06	25.95	26.06
2052	-1.15	-194.6	2262	3258	3737	3806	301.0	-14.0	356	2059	0.00	1.65	0.00	0.000	1030	0.000	0.029	2269	2182	3771	3736	3806	0	0	0	0	0	0	26.02	25.99	26.03
2127	-1.13	-194.6	2268	2178	3737	3806	311.5	-14.3	369	2134	0.00	1.60	0.00	0.000	644	0.000	0.034	2276	1134	3771	3737	3805	0	0	0	0	0	0	26.05	25.97	26.05
2153	-1.13	-194.6	2276	1134	3736	3806	315.3	-14.6	373	2160	0.00	1.70	0.00	0.000	1030	0.000	0.041	2271	2204	3771	3736	3807	0	0	0	0	0	0	26.01	25.95	26.01
2227	-1.13	-194.6	2270	2204	3736	3806	325.4	-14.6	386	2234	0.00	1.65	0.00	0.000	260	0.000	0.048	2262	3254	3770	3736	3805	0	0	0	0	0	0	26.03	25.95	26.03
2299	-1.13	-194.6	2262	3255	3736	3806	336.3	-14.5	399	2306	0.00	1.62	0.00	0.000	1030	0.000	0.030	2268	2203	3770	3736	3805	0	0	0	0	0	0	26.03	25.98	26.03
2372	-1.13	-194.6	2268	2196	3737	3805	347.4	-14.9	412	2379	0.00	1.62	0.00	0.000	516	0.000	0.034	2276	1136	3770	3735	3805	0	0	0	0	0	0	26.03	25.96	26.04
2409	-1.16	-194.6	2275	1136	3735	3805	353.0	-14.4	418	2416	0.00	1.70	0.00	0.000	1158	0.000	0.041	2271	2206	3770	3736	3805	0	0	0	0	0	0	26.03	25.97	26.04
2482	-1.16	-194.6	2270	2206	3736	3804	363.5	-15.4	431	2489	0.00	1.65	0.00	0.000	260	0.000	0.048	2262	3253	3770	3736	3804	0	0	0	0	0	0	26.04	25.96	26.05
2591	-1.16	-194.6	2262	3254	3736	3805	380.8	-15.0	451	2598	0.00	1.62	0.00	0.000	1030	0.000	0.031	2267	2193	3770	3736	3804	0	0	0	0	0	0	26.02	25.99	26.03
2665	-1.16	-194.6	2267	2188	3737	3804	391.5	-14.8	464	2672	0.00	1.62	0.00	0.000	516	0.000	0.034	2275	1136	3770	3736	3804	0	0	0	0	0	0	26.01	25.97	26.03
2681	-1.16	-194.6	2275	1136	3736	3804	393.7	-15.0	466	2687	0.00	1.70	0.00	0.000	1030	0.000	0.040	2270	2206	3770	3736	3804	0	0	0	0	0	0	26.01	25.96	26.02
2725	end dive: TARGET_DEPTH_EXCEEDED
state	2725	begin apogee
2730	-0.11	0.0	2269	1978	3736	3802	400.4	-15.4	474	2899	1.05	0.00	156.62	1.025	10246	0.161	0.000	2568	1971	2966	3030	2903	0	0	0	0	0	0	25.66	24.59	24.01
2901	end apogee: CONTROL_FINISHED_OK
state	2901	begin climb
2903	0.81	194.6	2567	1974	3030	2903	399.4	0.0	498	3072	0.98	1.75	159.45	0.977	10756	0.108	0.037	2876	964	2171	2278	2064	0	0	0	0	0	0	24.82	24.44	23.79
3112	0.84	194.6	2875	963	2272	2063	375.5	15.2	528	3120	0.00	1.75	0.00	0.000	1158	0.000	0.037	2875	1996	2167	2272	2063	0	0	0	0	0	0	25.06	25.06	25.07
3186	0.82	194.6	2875	1996	2268	2062	364.3	14.7	541	3194	0.00	0.00	0.00	0.000	134	0.000	0.000	2876	1996	2165	2267	2063	0	0	0	0	0	0	25.52	25.54	25.51
3260	0.79	194.6	2875	1994	2265	2063	353.7	14.5	554	3269	0.00	1.73	0.00	0.000	388	0.000	0.044	2867	3060	2163	2264	2063	0	0	0	0	0	0	25.75	25.70	25.75
3293	0.76	194.6	2868	3060	2261	2062	348.7	16.1	559	3301	0.00	1.65	0.00	0.000	1158	0.000	0.029	2875	2019	2162	2262	2062	0	0	0	0	0	0	25.81	25.78	25.82
3368	0.73	194.6	2874	2013	2262	2062	337.2	14.7	572	3377	0.00	1.70	0.00	0.000	644	0.000	0.037	2883	952	2162	2262	2063	0	0	0	0	0	0	25.94	25.89	25.94
3415	0.73	194.6	2883	951	2262	2062	330.2	14.5	580	3422	0.00	1.67	0.00	0.000	1030	0.000	0.037	2881	2009	2162	2262	2062	0	0	0	0	0	0	25.97	25.91	25.98
3489	0.70	194.6	2880	2009	2260	2062	319.4	15.3	593	3496	0.08	1.62	0.00	0.000	4484	0.210	0.043	2871	3056	2161	2261	2062	0	0	0	0	0	0	25.81	25.95	25.96
3540	0.70	194.6	2866	3052	2258	2063	311.5	15.2	602	3547	0.00	1.62	0.00	0.000	1030	0.000	0.028	2873	1993	2159	2257	2062	0	0	0	0	0	0	26.03	25.98	26.03
3614	0.67	194.6	2872	1989	2257	2064	299.8	17.7	615	3622	0.10	1.62	0.00	0.000	4740	0.200	0.034	2861	941	2159	2257	2062	0	0	0	0	0	0	25.83	26.00	26.00
3630	0.67	194.6	2861	941	2258	2062	297.0	16.9	617	3637	0.00	1.67	0.00	0.000	1030	0.000	0.036	2855	2004	2160	2258	2062	0	0	0	0	0	0	26.05	25.98	26.06
3704	0.67	194.6	2854	2005	2258	2063	284.8	16.4	630	3711	0.00	1.62	0.00	0.000	260	0.000	0.043	2847	3053	2159	2257	2062	0	0	0	0	0	0	26.06	25.98	26.06
3744	0.70	194.6	2846	3053	2255	2062	277.9	16.1	637	3751	0.00	1.62	0.00	0.000	1158	0.000	0.029	2853	1991	2158	2255	2062	0	0	0	0	0	0	26.08	26.03	26.08
3819	0.72	194.6	2852	1986	2255	2061	265.9	17.2	650	3826	0.00	1.62	0.00	0.000	644	0.000	0.038	2861	941	2159	2255	2063	0	0	0	0	0	0	26.07	26.01	26.07
3845	0.72	194.6	2861	941	2255	2063	261.7	16.9	654	3853	0.00	1.73	0.00	0.000	1030	0.000	0.037	2855	2006	2159	2256	2063	0	0	0	0	0	0	26.03	25.99	26.05
3919	0.72	194.6	2853	2006	2255	2063	249.5	16.8	667	3927	0.00	1.70	0.00	0.000	260	0.000	0.044	2847	3058	2159	2255	2063	0	0	0	0	0	0	26.07	25.99	26.10
3958	0.72	194.6	2846	3058	2254	2062	243.4	16.1	673	3965	0.00	1.62	0.00	0.000	1030	0.000	0.028	2854	1996	2158	2254	2062	0	0	0	0	0	0	26.08	26.01	26.06
4031	0.72	194.6	2853	1986	2254	2062	231.2	16.0	686	4038	0.00	0.00	0.00	0.000	6	0.000	0.000	2852	1991	2158	2255	2062	0	0	0	0	0	0	26.06	26.06	26.06
4105	0.74	194.6	2852	1985	2255	2063	219.1	16.7	699	4112	0.00	1.70	0.00	0.000	388	0.000	0.044	2847	3063	2158	2254	2063	0	0	0	0	0	0	26.06	25.98	26.06
4141	0.77	194.6	2846	3063	2253	2062	213.0	16.9	705	4148	0.00	1.62	0.00	0.000	1158	0.000	0.030	2853	1996	2157	2254	2061	0	0	0	0	0	0	26.06	26.01	26.06
4216	0.77	194.6	2852	1988	2253	2062	200.8	15.9	718	4222	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	1991	2157	2253	2062	0	0	0	0	0	0	26.06	26.07	26.07
4290	0.79	194.6	2852	1991	2252	2062	188.4	16.6	731	4298	0.00	1.70	0.00	0.000	388	0.000	0.042	2846	3068	2157	2253	2062	0	0	0	0	0	0	26.08	26.00	26.09
4310	0.82	194.6	2846	3068	2253	2062	184.9	16.5	734	4318	0.08	1.62	0.00	0.000	3206	0.164	0.028	2876	1997	2157	2252	2062	0	0	0	0	0	0	25.89	26.00	26.03
4384	0.82	194.6	2875	1992	2251	2062	172.3	17.7	747	4391	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	1992	2157	2252	2062	0	0	0	0	0	0	26.06	26.04	26.06
4456	0.79	194.6	2875	1992	2252	2062	158.8	18.7	760	4463	0.00	0.00	0.00	0.000	134	0.000	0.000	2880	1992	2157	2252	2062	0	0	0	0	0	0	26.05	26.09	26.06
4529	0.79	194.6	2875	1992	2251	2062	145.4	18.0	773	4536	0.00	1.67	0.00	0.000	260	0.000	0.043	2871	3056	2157	2253	2062	0	0	0	0	0	0	26.06	25.94	26.07
4549	0.79	194.6	2870	3055	2252	2062	141.8	18.1	776	4556	0.00	1.60	0.00	0.000	1030	0.000	0.029	2876	2009	2160	2252	2068	0	0	0	0	0	0	26.03	25.99	26.06
4623	0.77	194.6	2876	2003	2252	2062	129.0	17.8	789	4630	0.00	1.67	0.00	0.000	644	0.000	0.037	2885	933	2157	2252	2062	0	0	0	0	0	0	26.04	25.98	26.05
4671	0.80	194.6	2883	933	2252	2062	121.0	15.5	797	4678	0.00	1.70	0.00	0.000	1158	0.000	0.036	2877	2009	2157	2252	2062	0	0	0	0	0	0	26.03	25.97	26.03
4744	0.80	194.6	2879	2009	2250	2063	109.7	14.4	810	4751	0.00	1.65	0.00	0.000	260	0.000	0.042	2872	3062	2157	2251	2063	0	0	0	0	0	0	26.05	25.96	26.06
4796	0.80	194.6	2871	3062	2251	2062	102.3	14.0	819	4803	0.00	1.62	0.00	0.000	1030	0.000	0.029	2878	1994	2156	2250	2062	0	0	0	0	0	0	26.05	26.01	26.06
4869	0.80	194.6	2877	1990	2251	2062	92.4	13.7	832	4875	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1990	2156	2251	2062	0	0	0	0	0	0	26.05	26.06	26.06
4942	0.81	199.5	2878	1990	2251	2062	82.9	13.1	845	4949	0.00	1.62	0.00	0.000	548	0.000	0.037	2886	943	2156	2251	2062	0	0	0	0	0	0	26.05	25.98	26.08
5005	0.88	241.7	2886	943	2250	2061	75.5	10.9	856	5048	0.00	1.67	37.62	0.773	9382	0.000	0.034	2881	2010	1976	2086	1867	0	0	0	0	0	0	26.05	25.99	24.89
5115	0.94	298.9	2880	2009	2078	1867	63.9	10.1	874	5167	0.12	1.75	46.25	0.742	10532	0.114	0.040	2914	3065	1745	1859	1632	0	0	0	0	0	0	25.77	25.40	24.77
5186	0.94	298.9	2914	3066	1849	1633	53.2	16.7	884	5193	0.00	1.67	0.00	0.000	1030	0.000	0.030	2917	1994	1740	1848	1633	0	0	0	0	0	0	25.62	25.58	25.63
5259	0.94	298.9	2920	1990	1843	1632	41.0	17.8	897	5266	0.00	1.65	0.00	0.000	516	0.000	0.037	2928	935	1737	1841	1633	0	0	0	0	0	0	25.83	25.77	25.83
5342	0.98	298.9	2927	934	1839	1628	26.7	17.3	912	5349	0.00	1.70	0.00	0.000	1158	0.000	0.037	2922	2007	1736	1840	1632	0	0	0	0	0	0	25.96	25.89	25.96
5416	1.01	298.9	2921	2007	1839	1631	13.5	17.6	925	5422	0.00	0.00	0.00	0.000	134	0.000	0.000	2923	2007	1734	1838	1631	0	0	0	0	0	0	26.01	26.01	26.01
5489	1.12	330.5	2922	2007	1836	1631	3.8	11.5	938	5512	0.12	0.00	20.15	0.679	10914	0.164	0.000	2958	2008	1645	1752	1539	0	0	0	0	0	0	25.83	28.83	25.94
5513	end climb: SURFACE_DEPTH_REACHED
state	5513	begin surface coast
5530	end surface coast: CONTROL_FINISHED_OK
state	5531	begin surface