Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 51 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 46 ALTIM_PULSE 2

DIVE 11 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 425 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 500 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 140 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 155 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 150 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 0.0035000001 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.01122 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 20.0

HD_C 9.9999997e-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 20.0 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 0.0035000001 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.01122 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 PITCH_W_GAIN 0 T_DIVE 140

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 155

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 11 MASS_COMP 0 ROLL_MIN 236 VBD_MIN 500

D_ABORT 500 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 1 R_PORT_OVSHOOT 51 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 46 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 425 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 300722,131550,4449.9312,-12456.5371,1,1.4,2,15.1,0.9,205.6,8,9.7 SPEED_LIMITS 0.175,0.248

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4449.962,-12455.470

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.88 MHEAD_RNG_PITCHd_Wd 68.3,1428,-18.9,-10.119,-22.20,2206

_SM_ANGLEo -71.6 D_GRID 578

GPS2 300722,131806,4449.9023,-12456.5537,2,1.4,4,15.1,0.4,262.0,8,7.5

Post-dive calculations and measurements:

NEWHEAD 70.000,0.16,8843.34 _24V_AH 24.35,4.164

FINISH 0.2,1.021483 _10V_AH 10.29,2.917

SM_CCo 8867,82.18,0.733,0,0,928,500.17 FG_AHR_24Vo 0.000

SM_GC 0.78,7.72,0.30,82.18,0.057,0.050,0.733,162,2220,928,-7.49,-1.07,500.17,0,0,0,0,0,0,25.96,25.96,24.77 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.01,-12451.31,300722,131400 MEM 220700

TT8_MAMPS 0.023968,0.290612 DATA_FILE_SIZE 56574,1616

HUMID 38.22 CAP_FILE_SIZE 244507,0

INTERNAL_PRESSURE 8.44372 CFSIZE 260030464,244273152

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.032,183.99,1

SC_FREEKB 3809216 GPS 300722,154919,4449.903,-12455.625,33,1.9,33,15.1,0.4,217.1,8,6.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 225 104.27 nil 0 0 0.00

Roll_motor 117 50 144.98 nil 0 0 0.00

VBD_pump_during_apogee 453 1062 11724.78 nil 0 0 0.00

VBD_pump_during_surface 82 732 1466.44 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 8839 22 4888.51

Iridium_during_xfer 0 0 0.00 Edison 9793 10 2384.60

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 12 2.11

TT8 4185 13 601.69

LPSleep 881 2 19.86

TT8_Active 821 13 111.70

TT8_Sampling 2779 39 1127.65

TT8_CF8 375 49 193.07

TT8_Kalman 0 0 0.00

Analog_circuits 2125 10 218.73

GPS_charging 0 0 0.00

Compass 2522 8 213.90

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.57 -146.0 186 2217 1049 816 0.0 0.0 0 100 0.00 0.00 -85.50 0.005 16386 0.000 0.000 186 2218 3223 3194 3253 0 0 0 0 0 0 26.15 28.83 26.15

102 -0.57 -146.0 185 2218 3196 3253 4.4 -9.8 13 124 8.52 1.62 -6.20 0.011 18980 0.207 0.047 2428 1126 3568 3546 3591 0 0 0 0 0 0 25.89 25.13 26.11

303 -0.57 -146.0 2428 1126 3553 3588 37.1 -10.8 51 310 0.00 1.65 0.00 0.000 1030 0.000 0.041 2422 2188 3570 3549 3591 0 0 0 0 0 0 26.18 26.13 26.18

435 -0.51 -146.0 2421 2188 3556 3591 50.0 -9.5 76 443 0.12 1.65 0.00 0.000 2468 0.212 0.044 2449 3260 3574 3558 3591 0 0 0 0 0 0 26.03 26.15 26.15

471 -0.56 -146.0 2448 3260 3556 3590 53.1 -7.6 82 478 0.00 1.58 0.00 0.000 1190 0.000 0.028 2454 2204 3573 3557 3590 0 0 0 0 0 0 26.20 26.17 26.21

601 -0.60 -146.0 2454 2199 3558 3590 61.6 -6.7 107 608 0.00 0.00 0.00 0.000 166 0.000 0.000 2455 2200 3574 3558 3590 0 0 0 0 0 0 26.20 26.21 26.21

733 -0.67 -146.0 2454 2199 3558 3590 70.9 -7.4 132 742 0.12 1.62 0.00 0.000 4772 0.136 0.032 2418 1143 3574 3558 3590 0 0 0 0 0 0 26.13 26.18 26.20

910 -0.72 -146.0 2418 1143 3554 3590 85.6 -8.1 165 917 0.00 1.65 0.00 0.000 1190 0.000 0.041 2412 2203 3575 3557 3594 0 0 0 0 0 0 26.21 26.17 26.22

1044 -0.75 -146.0 2412 2203 3558 3589 97.5 -9.3 190 1051 0.00 1.62 0.00 0.000 420 0.000 0.048 2404 3259 3574 3558 3590 0 0 0 0 0 0 26.20 26.15 26.21

1116 -0.79 -146.0 2404 3260 3558 3590 103.6 -7.9 203 1125 0.10 1.60 0.00 0.000 5286 0.112 0.029 2375 2193 3574 3558 3590 0 0 0 0 0 0 26.16 26.17 26.20

1250 -0.76 -146.0 2374 2191 3558 3589 116.2 -9.7 228 1258 0.00 1.62 0.00 0.000 676 0.000 0.036 2381 1141 3573 3557 3589 0 0 0 0 0 0 26.22 26.18 26.22

1301 -0.76 -146.0 2380 1140 3558 3589 121.0 -8.9 237 1308 0.00 1.65 0.00 0.000 1062 0.000 0.040 2375 2203 3573 3559 3588 0 0 0 0 0 0 26.22 26.17 26.22

1433 -0.76 -146.0 2375 2203 3557 3587 133.0 -8.8 262 1440 0.00 1.62 0.00 0.000 548 0.000 0.035 2381 1135 3572 3557 3588 0 0 0 0 0 0 26.22 26.17 26.22

1584 -0.79 -146.0 2380 1134 3558 3587 144.6 -7.7 290 1590 0.00 1.67 0.00 0.000 1190 0.000 0.041 2376 2212 3571 3557 3586 0 0 0 0 0 0 26.21 26.16 26.22

1715 -0.79 -146.0 2375 2211 3557 3586 156.9 -10.6 315 1723 0.00 1.62 0.00 0.000 260 0.000 0.048 2367 3256 3571 3558 3585 0 0 0 0 0 0 26.21 26.16 26.21

1812 -0.79 -146.0 2369 3261 3558 3584 167.1 -10.3 333 1818 0.00 1.60 0.00 0.000 1030 0.000 0.030 2373 2195 3571 3558 3585 0 0 0 0 0 0 26.21 26.18 26.21

1946 -0.79 -146.0 2371 2190 3557 3584 181.3 -10.6 358 1952 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2190 3571 3558 3584 0 0 0 0 0 0 26.20 26.20 26.21

2074 -0.79 -146.0 2373 2190 3558 3583 195.4 -11.4 383 2082 0.00 1.65 0.00 0.000 260 0.000 0.049 2373 3253 3569 3557 3582 0 0 0 0 0 0 26.20 26.16 26.21

2125 -0.79 -146.0 2366 3252 3554 3582 201.0 -11.4 392 2133 0.00 1.62 0.00 0.000 1030 0.000 0.030 2373 2203 3570 3558 3582 0 0 0 0 0 0 26.20 26.15 26.20

2259 -0.79 -146.0 2372 2199 3558 3581 215.7 -10.6 417 2266 0.00 1.65 0.00 0.000 260 0.000 0.048 2367 3259 3569 3557 3581 0 0 0 0 0 0 26.20 26.15 26.24

2289 -0.79 -146.0 2366 3259 3558 3580 219.0 -10.7 422 2296 0.00 1.60 0.00 0.000 1030 0.000 0.030 2373 2203 3569 3558 3581 0 0 0 0 0 0 26.22 26.17 26.22

2420 -0.79 -146.0 2372 2196 3558 3579 233.1 -10.8 447 2427 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2198 3568 3556 3580 0 0 0 0 0 0 26.20 26.21 26.20

2552 -0.79 -146.0 2372 2196 3557 3578 246.8 -10.2 472 2559 0.00 1.65 0.00 0.000 260 0.000 0.049 2367 3255 3568 3558 3578 0 0 0 0 0 0 26.21 26.15 26.22

2608 -0.81 -146.0 2366 3255 3558 3578 252.2 -9.9 482 2615 0.00 1.60 0.00 0.000 1190 0.000 0.029 2372 2191 3568 3558 3578 0 0 0 0 0 0 26.20 26.17 26.20

2742 -0.81 -146.0 2368 2185 3557 3576 265.3 -9.6 507 2750 0.00 1.67 0.00 0.000 292 0.000 0.049 2366 3261 3566 3557 3576 0 0 0 0 0 0 26.20 26.15 26.21

2798 -0.85 -146.0 2366 3258 3557 3576 270.8 -9.3 517 2806 0.00 1.65 0.00 0.000 1190 0.000 0.030 2372 2193 3567 3558 3576 0 0 0 0 0 0 26.20 26.18 26.21

2931 -0.85 -146.0 2372 2190 3557 3571 283.0 -9.1 542 2939 0.00 1.60 0.00 0.000 548 0.000 0.037 2380 1138 3566 3558 3575 0 0 0 0 0 0 26.19 26.16 26.19

2967 -0.90 -146.0 2379 1138 3556 3575 286.0 -8.3 548 2975 0.10 1.65 0.00 0.000 5286 0.135 0.040 2346 2197 3566 3557 3575 0 0 0 0 0 0 26.11 26.15 26.18

3100 -0.86 -146.0 2345 2197 3557 3575 298.9 -10.2 573 3107 0.00 1.65 0.00 0.000 388 0.000 0.049 2338 3263 3566 3557 3575 0 0 0 0 0 0 26.20 26.14 26.20

3202 -0.84 -146.0 2337 3263 3555 3574 308.4 -8.9 592 3208 0.00 1.60 0.00 0.000 1190 0.000 0.029 2344 2199 3565 3557 3574 0 0 0 0 0 0 26.20 26.16 26.20

3334 -0.80 -146.0 2343 2193 3557 3572 321.3 -9.9 617 3341 0.00 1.60 0.00 0.000 676 0.000 0.036 2352 1139 3565 3557 3573 0 0 0 0 0 0 26.19 26.15 26.19

3369 -0.80 -146.0 2351 1139 3557 3572 324.9 -9.6 623 3377 0.00 1.67 0.00 0.000 1062 0.000 0.041 2346 2211 3568 3557 3579 0 0 0 0 0 0 26.16 26.11 26.17

3503 -0.76 -146.0 2345 2211 3557 3571 338.3 -9.9 648 3512 0.10 1.65 0.00 0.000 2468 0.197 0.046 2360 3249 3564 3557 3571 0 0 0 0 0 0 26.04 26.14 26.17

3556 -0.76 -146.0 2359 3247 3557 3571 343.3 -8.4 657 3563 0.00 1.58 0.00 0.000 1062 0.000 0.029 2366 2202 3564 3557 3571 0 0 0 0 0 0 26.19 26.15 26.19

3688 -0.76 -146.0 2365 2197 3557 3570 354.4 -8.1 682 3695 0.00 1.65 0.00 0.000 292 0.000 0.048 2360 3255 3563 3557 3569 0 0 0 0 0 0 26.17 26.13 26.17

3735 -0.78 -146.0 2359 3256 3552 3570 358.3 -8.4 690 3742 0.00 1.60 0.00 0.000 1190 0.000 0.029 2366 2192 3563 3557 3570 0 0 0 0 0 0 26.17 26.15 26.18

3868 -0.78 -146.0 2365 2188 3557 3570 368.8 -7.9 715 3877 0.00 0.00 0.00 0.000 38 0.000 0.000 2366 2187 3563 3557 3569 0 0 0 0 0 0 26.18 26.18 26.18

4002 -0.78 -146.0 2364 2188 3557 3568 379.1 -7.7 740 4009 0.00 1.67 0.00 0.000 292 0.000 0.049 2360 3257 3562 3556 3568 0 0 0 0 0 0 26.17 26.12 26.18

4073 -0.81 -146.0 2359 3257 3556 3567 384.6 -7.8 753 4080 0.00 1.60 0.00 0.000 1190 0.000 0.031 2366 2202 3561 3556 3567 0 0 0 0 0 0 26.20 26.17 26.20

4206 -0.81 -146.0 2365 2195 3556 3566 396.2 -9.0 778 4212 0.00 1.60 0.00 0.000 548 0.000 0.037 2374 1140 3561 3556 3566 0 0 0 0 0 0 26.17 26.13 26.16

4266 -0.86 -146.0 2373 1139 3555 3566 401.4 -8.2 789 4273 0.00 1.65 0.00 0.000 1190 0.000 0.041 2368 2197 3561 3556 3567 0 0 0 0 0 0 26.18 26.13 26.18

4400 -0.86 -146.0 2369 2197 3555 3566 412.9 -9.0 814 4407 0.00 1.65 0.00 0.000 292 0.000 0.049 2359 3260 3560 3556 3565 0 0 0 0 0 0 26.17 26.13 26.18

4486 -0.88 -146.0 2359 3258 3555 3565 420.4 -8.7 830 4493 0.00 1.60 0.00 0.000 1190 0.000 0.029 2365 2192 3560 3555 3565 0 0 0 0 0 0 26.18 26.15 26.17

4542 end dive: TARGET_DEPTH_EXCEEDED

state 4542 begin apogee

4547 -0.11 0.0 2367 1973 3555 3565 425.2 -8.6 840 4669 0.68 0.00 114.10 1.063 10246 0.157 0.000 2565 1970 2965 3028 2903 0 0 0 0 0 0 25.98 25.18 24.47

4671 end apogee: CONTROL_FINISHED_OK

state 4671 begin climb

4673 0.57 146.0 2564 1970 3029 2903 427.5 0.0 858 4805 0.75 1.67 119.20 1.030 10756 0.108 0.038 2803 976 2369 2472 2267 0 0 0 0 0 0 25.32 25.03 24.35

4843 0.50 146.0 2802 975 2467 2267 417.9 10.2 883 4851 0.00 1.65 0.00 0.000 1158 0.000 0.037 2798 2010 2366 2467 2266 0 0 0 0 0 0 25.56 25.51 25.56

4978 0.41 146.0 2797 2010 2462 2265 402.8 11.7 908 4987 0.12 1.65 0.00 0.000 4484 0.198 0.043 2763 3044 2362 2460 2265 0 0 0 0 0 0 25.72 25.85 25.86

5080 0.37 157.5 2763 3045 2455 2265 392.2 9.6 927 5096 0.00 1.55 9.88 0.929 9382 0.000 0.030 2770 2016 2322 2425 2219 0 0 0 0 0 0 26.01 25.96 24.99

5221 0.35 157.5 2769 2013 2424 2219 377.8 11.1 953 5229 0.08 1.67 0.00 0.000 4740 0.226 0.039 2765 958 2321 2423 2219 0 0 0 0 0 0 25.85 25.98 26.00

5272 0.36 171.1 2765 960 2424 2219 372.6 9.5 962 5293 0.00 1.62 13.18 0.957 9254 0.000 0.037 2759 2004 2267 2381 2153 0 0 0 0 0 0 26.06 26.01 25.00

5418 0.38 192.6 2758 2003 2379 2151 358.7 9.1 989 5447 0.00 1.70 19.17 0.968 8484 0.000 0.045 2751 3050 2179 2300 2058 0 0 0 0 0 0 26.06 25.62 24.91

5500 0.41 196.8 2750 3055 2295 2057 350.9 9.9 1003 5508 0.00 1.60 0.00 0.000 1190 0.000 0.029 2757 1994 2175 2293 2058 0 0 0 0 0 0 25.92 25.89 25.92

5636 0.45 214.1 2756 1991 2294 2053 337.8 9.3 1028 5657 0.00 0.00 18.80 0.960 8870 0.000 0.000 2757 1991 2093 2217 1969 0 0 0 0 0 0 26.08 25.63 24.93

5785 0.49 216.9 2756 1991 2211 1967 323.5 10.0 1055 5794 0.00 1.65 0.00 0.000 676 0.000 0.041 2765 956 2089 2211 1967 0 0 0 0 0 0 26.03 26.00 26.03

5829 0.56 233.1 2765 956 2210 1967 319.2 9.4 1062 5852 0.12 1.62 17.23 0.946 11430 0.145 0.036 2793 2002 2017 2138 1896 0 0 0 0 0 0 25.98 26.04 24.97

5977 0.56 233.1 2793 2002 2130 1893 301.5 12.0 1089 5985 0.00 1.67 0.00 0.000 260 0.000 0.046 2787 3055 2010 2129 1891 0 0 0 0 0 0 26.03 25.99 26.04

6033 0.56 233.1 2786 3055 2128 1891 294.5 12.6 1099 6040 0.00 1.60 0.00 0.000 1030 0.000 0.030 2793 1996 2009 2128 1890 0 0 0 0 0 0 26.08 26.06 26.08

6165 0.56 233.1 2793 1988 2127 1890 278.8 11.6 1124 6172 0.00 1.65 0.00 0.000 260 0.000 0.044 2787 3059 2008 2127 1890 0 0 0 0 0 0 26.13 26.08 26.14

6204 0.56 233.1 2786 3059 2126 1890 274.2 11.4 1131 6212 0.00 1.60 0.00 0.000 1030 0.000 0.029 2793 1995 2008 2126 1890 0 0 0 0 0 0 26.13 26.09 26.13

6337 0.56 233.1 2793 1991 2125 1890 258.9 12.0 1156 6345 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1991 2007 2126 1888 0 0 0 0 0 0 26.16 26.16 26.16

6470 0.56 233.1 2792 1991 2125 1890 243.5 11.7 1181 6476 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1991 2007 2125 1890 0 0 0 0 0 0 26.16 26.17 26.17

6600 0.56 233.1 2793 1991 2124 1889 228.5 11.2 1206 6607 0.00 1.60 0.00 0.000 516 0.000 0.039 2802 948 2007 2124 1890 0 0 0 0 0 0 26.16 26.15 26.17

6620 0.56 233.1 2801 947 2124 1890 226.2 11.4 1209 6627 0.00 1.62 0.00 0.000 1030 0.000 0.037 2795 2001 2006 2124 1889 0 0 0 0 0 0 26.16 26.10 26.17

6752 0.56 233.1 2795 2001 2122 1890 211.6 11.1 1234 6759 0.00 1.62 0.00 0.000 260 0.000 0.045 2787 3060 2006 2123 1890 0 0 0 0 0 0 26.16 26.12 26.17

6813 0.56 233.1 2787 3060 2122 1889 204.7 11.5 1245 6819 0.00 1.60 0.00 0.000 1030 0.000 0.030 2793 1994 2005 2122 1889 0 0 0 0 0 0 26.19 26.15 26.19

6947 0.56 233.1 2793 1990 2122 1889 190.1 10.4 1270 6955 0.00 1.65 0.00 0.000 260 0.000 0.044 2787 3064 2003 2118 1889 0 0 0 0 0 0 26.17 26.13 26.18

6977 0.56 233.1 2786 3063 2122 1889 186.9 10.6 1275 6985 0.00 1.60 0.00 0.000 1030 0.000 0.031 2791 1999 2005 2122 1889 0 0 0 0 0 0 26.18 26.13 26.19

7111 0.56 233.1 2793 1995 2123 1889 172.9 10.6 1300 7118 0.00 1.60 0.00 0.000 516 0.000 0.041 2802 951 2006 2122 1890 0 0 0 0 0 0 26.17 26.13 26.18

7146 0.56 233.1 2801 950 2117 1889 169.1 10.9 1306 7153 0.00 1.62 0.00 0.000 1030 0.000 0.037 2795 2002 2005 2122 1889 0 0 0 0 0 0 26.17 26.13 26.17

7280 0.57 239.5 2795 2002 2122 1889 155.7 9.8 1331 7289 0.00 1.65 0.00 0.000 292 0.000 0.047 2787 3050 2005 2122 1889 0 0 0 0 0 0 26.17 26.10 26.18

7332 0.57 244.1 2787 3050 2120 1890 150.5 9.9 1340 7347 0.00 1.58 9.40 0.807 9254 0.000 0.030 2793 1999 1970 2090 1851 0 0 0 0 0 0 26.17 26.14 25.21

7472 0.59 263.3 2793 1995 2086 1851 137.1 9.2 1366 7494 0.00 0.00 17.50 0.833 8230 0.000 0.000 2793 1994 1889 2010 1769 0 0 0 0 0 0 26.13 25.74 25.08

7619 0.60 273.5 2793 1994 2006 1775 122.6 9.6 1393 7634 0.00 1.67 9.68 0.775 8484 0.000 0.045 2788 3053 1850 1973 1728 0 0 0 0 0 0 26.06 25.84 25.17

7695 0.63 273.6 2786 3054 1967 1726 115.1 10.1 1406 7702 0.08 1.60 0.00 0.000 3238 0.162 0.031 2811 1996 1846 1967 1726 0 0 0 0 0 0 25.91 25.99 26.03

7828 0.63 273.6 2810 1991 1966 1725 100.2 11.0 1431 7836 0.00 1.65 0.00 0.000 260 0.000 0.045 2805 3059 1845 1966 1725 0 0 0 0 0 0 26.10 26.06 26.10

7939 0.63 273.6 2805 3059 1964 1725 87.3 11.1 1452 7945 0.00 1.60 0.00 0.000 1030 0.000 0.030 2811 1994 1844 1964 1725 0 0 0 0 0 0 26.13 26.10 26.14

8073 0.65 273.6 2810 1990 1964 1725 72.2 11.0 1477 8080 0.00 1.65 0.00 0.000 388 0.000 0.045 2805 3058 1844 1964 1725 0 0 0 0 0 0 26.15 26.09 26.15

8179 0.71 304.8 2804 3059 1961 1724 61.5 8.7 1497 8215 0.10 1.60 26.80 0.776 11430 0.153 0.031 2833 1990 1720 1843 1597 0 0 0 0 0 0 26.02 26.12 25.06

8343 0.71 304.8 2835 1990 1839 1595 44.6 11.0 1526 8351 0.00 1.60 0.00 0.000 516 0.000 0.041 2841 955 1716 1839 1594 0 0 0 0 0 0 26.04 26.00 26.04

8389 0.75 304.8 2840 955 1836 1594 39.4 10.6 1534 8396 0.00 1.62 0.00 0.000 1158 0.000 0.036 2835 2004 1715 1836 1595 0 0 0 0 0 0 26.05 26.01 26.06

8524 0.84 357.9 2834 2004 1835 1597 28.1 7.6 1559 8575 0.12 1.73 43.60 0.735 10916 0.177 0.040 2882 955 1503 1632 1374 0 0 0 0 0 0 26.01 25.53 24.95

8690 0.93 399.8 2881 955 1623 1374 12.7 8.2 1588 8733 0.12 1.62 34.62 0.718 11430 0.138 0.036 2911 2002 1333 1469 1198 0 0 0 0 0 0 25.90 25.94 24.96

8817 end climb: SURFACE_DEPTH_REACHED

state 8817 begin surface coast

8850 end surface coast: CONTROL_FINISHED_OK

state 8850 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	51	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	46	ALTIM_PULSE	2
DIVE	11	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	425	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	500	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	140	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	155	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	150	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	0.0035000001	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.01122	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	20.0
HD_C	9.9999997e-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	300722,131550,4449.9312,-12456.5371,1,1.4,2,15.1,0.9,205.6,8,9.7	SPEED_LIMITS	0.175,0.248
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4449.962,-12455.470
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.88	MHEAD_RNG_PITCHd_Wd	68.3,1428,-18.9,-10.119,-22.20,2206
_SM_ANGLEo	-71.6	D_GRID	578
GPS2	300722,131806,4449.9023,-12456.5537,2,1.4,4,15.1,0.4,262.0,8,7.5

NEWHEAD	70.000,0.16,8843.34	_24V_AH	24.35,4.164
FINISH	0.2,1.021483	_10V_AH	10.29,2.917
SM_CCo	8867,82.18,0.733,0,0,928,500.17	FG_AHR_24Vo	0.000
SM_GC	0.78,7.72,0.30,82.18,0.057,0.050,0.733,162,2220,928,-7.49,-1.07,500.17,0,0,0,0,0,0,25.96,25.96,24.77	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.01,-12451.31,300722,131400	MEM	220700
TT8_MAMPS	0.023968,0.290612	DATA_FILE_SIZE	56574,1616
HUMID	38.22	CAP_FILE_SIZE	244507,0
INTERNAL_PRESSURE	8.44372	CFSIZE	260030464,244273152
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.032,183.99,1
SC_FREEKB	3809216	GPS	300722,154919,4449.903,-12455.625,33,1.9,33,15.1,0.4,217.1,8,6.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	225	104.27	nil	0	0	0.00
Roll_motor	117	50	144.98	nil	0	0	0.00
VBD_pump_during_apogee	453	1062	11724.78	nil	0	0	0.00
VBD_pump_during_surface	82	732	1466.44	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	8839	22	4888.51
Iridium_during_xfer	0	0	0.00	Edison	9793	10	2384.60
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	12	2.11
TT8	4185	13	601.69
LPSleep	881	2	19.86
TT8_Active	821	13	111.70
TT8_Sampling	2779	39	1127.65
TT8_CF8	375	49	193.07
TT8_Kalman	0	0	0.00
Analog_circuits	2125	10	218.73
GPS_charging	0	0	0.00
Compass	2522	8	213.90
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.57	-146.0	186	2217	1049	816	0.0	0.0	0	100	0.00	0.00	-85.50	0.005	16386	0.000	0.000	186	2218	3223	3194	3253	0	0	0	0	0	0	26.15	28.83	26.15
102	-0.57	-146.0	185	2218	3196	3253	4.4	-9.8	13	124	8.52	1.62	-6.20	0.011	18980	0.207	0.047	2428	1126	3568	3546	3591	0	0	0	0	0	0	25.89	25.13	26.11
303	-0.57	-146.0	2428	1126	3553	3588	37.1	-10.8	51	310	0.00	1.65	0.00	0.000	1030	0.000	0.041	2422	2188	3570	3549	3591	0	0	0	0	0	0	26.18	26.13	26.18
435	-0.51	-146.0	2421	2188	3556	3591	50.0	-9.5	76	443	0.12	1.65	0.00	0.000	2468	0.212	0.044	2449	3260	3574	3558	3591	0	0	0	0	0	0	26.03	26.15	26.15
471	-0.56	-146.0	2448	3260	3556	3590	53.1	-7.6	82	478	0.00	1.58	0.00	0.000	1190	0.000	0.028	2454	2204	3573	3557	3590	0	0	0	0	0	0	26.20	26.17	26.21
601	-0.60	-146.0	2454	2199	3558	3590	61.6	-6.7	107	608	0.00	0.00	0.00	0.000	166	0.000	0.000	2455	2200	3574	3558	3590	0	0	0	0	0	0	26.20	26.21	26.21
733	-0.67	-146.0	2454	2199	3558	3590	70.9	-7.4	132	742	0.12	1.62	0.00	0.000	4772	0.136	0.032	2418	1143	3574	3558	3590	0	0	0	0	0	0	26.13	26.18	26.20
910	-0.72	-146.0	2418	1143	3554	3590	85.6	-8.1	165	917	0.00	1.65	0.00	0.000	1190	0.000	0.041	2412	2203	3575	3557	3594	0	0	0	0	0	0	26.21	26.17	26.22
1044	-0.75	-146.0	2412	2203	3558	3589	97.5	-9.3	190	1051	0.00	1.62	0.00	0.000	420	0.000	0.048	2404	3259	3574	3558	3590	0	0	0	0	0	0	26.20	26.15	26.21
1116	-0.79	-146.0	2404	3260	3558	3590	103.6	-7.9	203	1125	0.10	1.60	0.00	0.000	5286	0.112	0.029	2375	2193	3574	3558	3590	0	0	0	0	0	0	26.16	26.17	26.20
1250	-0.76	-146.0	2374	2191	3558	3589	116.2	-9.7	228	1258	0.00	1.62	0.00	0.000	676	0.000	0.036	2381	1141	3573	3557	3589	0	0	0	0	0	0	26.22	26.18	26.22
1301	-0.76	-146.0	2380	1140	3558	3589	121.0	-8.9	237	1308	0.00	1.65	0.00	0.000	1062	0.000	0.040	2375	2203	3573	3559	3588	0	0	0	0	0	0	26.22	26.17	26.22
1433	-0.76	-146.0	2375	2203	3557	3587	133.0	-8.8	262	1440	0.00	1.62	0.00	0.000	548	0.000	0.035	2381	1135	3572	3557	3588	0	0	0	0	0	0	26.22	26.17	26.22
1584	-0.79	-146.0	2380	1134	3558	3587	144.6	-7.7	290	1590	0.00	1.67	0.00	0.000	1190	0.000	0.041	2376	2212	3571	3557	3586	0	0	0	0	0	0	26.21	26.16	26.22
1715	-0.79	-146.0	2375	2211	3557	3586	156.9	-10.6	315	1723	0.00	1.62	0.00	0.000	260	0.000	0.048	2367	3256	3571	3558	3585	0	0	0	0	0	0	26.21	26.16	26.21
1812	-0.79	-146.0	2369	3261	3558	3584	167.1	-10.3	333	1818	0.00	1.60	0.00	0.000	1030	0.000	0.030	2373	2195	3571	3558	3585	0	0	0	0	0	0	26.21	26.18	26.21
1946	-0.79	-146.0	2371	2190	3557	3584	181.3	-10.6	358	1952	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2190	3571	3558	3584	0	0	0	0	0	0	26.20	26.20	26.21
2074	-0.79	-146.0	2373	2190	3558	3583	195.4	-11.4	383	2082	0.00	1.65	0.00	0.000	260	0.000	0.049	2373	3253	3569	3557	3582	0	0	0	0	0	0	26.20	26.16	26.21
2125	-0.79	-146.0	2366	3252	3554	3582	201.0	-11.4	392	2133	0.00	1.62	0.00	0.000	1030	0.000	0.030	2373	2203	3570	3558	3582	0	0	0	0	0	0	26.20	26.15	26.20
2259	-0.79	-146.0	2372	2199	3558	3581	215.7	-10.6	417	2266	0.00	1.65	0.00	0.000	260	0.000	0.048	2367	3259	3569	3557	3581	0	0	0	0	0	0	26.20	26.15	26.24
2289	-0.79	-146.0	2366	3259	3558	3580	219.0	-10.7	422	2296	0.00	1.60	0.00	0.000	1030	0.000	0.030	2373	2203	3569	3558	3581	0	0	0	0	0	0	26.22	26.17	26.22
2420	-0.79	-146.0	2372	2196	3558	3579	233.1	-10.8	447	2427	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2198	3568	3556	3580	0	0	0	0	0	0	26.20	26.21	26.20
2552	-0.79	-146.0	2372	2196	3557	3578	246.8	-10.2	472	2559	0.00	1.65	0.00	0.000	260	0.000	0.049	2367	3255	3568	3558	3578	0	0	0	0	0	0	26.21	26.15	26.22
2608	-0.81	-146.0	2366	3255	3558	3578	252.2	-9.9	482	2615	0.00	1.60	0.00	0.000	1190	0.000	0.029	2372	2191	3568	3558	3578	0	0	0	0	0	0	26.20	26.17	26.20
2742	-0.81	-146.0	2368	2185	3557	3576	265.3	-9.6	507	2750	0.00	1.67	0.00	0.000	292	0.000	0.049	2366	3261	3566	3557	3576	0	0	0	0	0	0	26.20	26.15	26.21
2798	-0.85	-146.0	2366	3258	3557	3576	270.8	-9.3	517	2806	0.00	1.65	0.00	0.000	1190	0.000	0.030	2372	2193	3567	3558	3576	0	0	0	0	0	0	26.20	26.18	26.21
2931	-0.85	-146.0	2372	2190	3557	3571	283.0	-9.1	542	2939	0.00	1.60	0.00	0.000	548	0.000	0.037	2380	1138	3566	3558	3575	0	0	0	0	0	0	26.19	26.16	26.19
2967	-0.90	-146.0	2379	1138	3556	3575	286.0	-8.3	548	2975	0.10	1.65	0.00	0.000	5286	0.135	0.040	2346	2197	3566	3557	3575	0	0	0	0	0	0	26.11	26.15	26.18
3100	-0.86	-146.0	2345	2197	3557	3575	298.9	-10.2	573	3107	0.00	1.65	0.00	0.000	388	0.000	0.049	2338	3263	3566	3557	3575	0	0	0	0	0	0	26.20	26.14	26.20
3202	-0.84	-146.0	2337	3263	3555	3574	308.4	-8.9	592	3208	0.00	1.60	0.00	0.000	1190	0.000	0.029	2344	2199	3565	3557	3574	0	0	0	0	0	0	26.20	26.16	26.20
3334	-0.80	-146.0	2343	2193	3557	3572	321.3	-9.9	617	3341	0.00	1.60	0.00	0.000	676	0.000	0.036	2352	1139	3565	3557	3573	0	0	0	0	0	0	26.19	26.15	26.19
3369	-0.80	-146.0	2351	1139	3557	3572	324.9	-9.6	623	3377	0.00	1.67	0.00	0.000	1062	0.000	0.041	2346	2211	3568	3557	3579	0	0	0	0	0	0	26.16	26.11	26.17
3503	-0.76	-146.0	2345	2211	3557	3571	338.3	-9.9	648	3512	0.10	1.65	0.00	0.000	2468	0.197	0.046	2360	3249	3564	3557	3571	0	0	0	0	0	0	26.04	26.14	26.17
3556	-0.76	-146.0	2359	3247	3557	3571	343.3	-8.4	657	3563	0.00	1.58	0.00	0.000	1062	0.000	0.029	2366	2202	3564	3557	3571	0	0	0	0	0	0	26.19	26.15	26.19
3688	-0.76	-146.0	2365	2197	3557	3570	354.4	-8.1	682	3695	0.00	1.65	0.00	0.000	292	0.000	0.048	2360	3255	3563	3557	3569	0	0	0	0	0	0	26.17	26.13	26.17
3735	-0.78	-146.0	2359	3256	3552	3570	358.3	-8.4	690	3742	0.00	1.60	0.00	0.000	1190	0.000	0.029	2366	2192	3563	3557	3570	0	0	0	0	0	0	26.17	26.15	26.18
3868	-0.78	-146.0	2365	2188	3557	3570	368.8	-7.9	715	3877	0.00	0.00	0.00	0.000	38	0.000	0.000	2366	2187	3563	3557	3569	0	0	0	0	0	0	26.18	26.18	26.18
4002	-0.78	-146.0	2364	2188	3557	3568	379.1	-7.7	740	4009	0.00	1.67	0.00	0.000	292	0.000	0.049	2360	3257	3562	3556	3568	0	0	0	0	0	0	26.17	26.12	26.18
4073	-0.81	-146.0	2359	3257	3556	3567	384.6	-7.8	753	4080	0.00	1.60	0.00	0.000	1190	0.000	0.031	2366	2202	3561	3556	3567	0	0	0	0	0	0	26.20	26.17	26.20
4206	-0.81	-146.0	2365	2195	3556	3566	396.2	-9.0	778	4212	0.00	1.60	0.00	0.000	548	0.000	0.037	2374	1140	3561	3556	3566	0	0	0	0	0	0	26.17	26.13	26.16
4266	-0.86	-146.0	2373	1139	3555	3566	401.4	-8.2	789	4273	0.00	1.65	0.00	0.000	1190	0.000	0.041	2368	2197	3561	3556	3567	0	0	0	0	0	0	26.18	26.13	26.18
4400	-0.86	-146.0	2369	2197	3555	3566	412.9	-9.0	814	4407	0.00	1.65	0.00	0.000	292	0.000	0.049	2359	3260	3560	3556	3565	0	0	0	0	0	0	26.17	26.13	26.18
4486	-0.88	-146.0	2359	3258	3555	3565	420.4	-8.7	830	4493	0.00	1.60	0.00	0.000	1190	0.000	0.029	2365	2192	3560	3555	3565	0	0	0	0	0	0	26.18	26.15	26.17
4542	end dive: TARGET_DEPTH_EXCEEDED
state	4542	begin apogee
4547	-0.11	0.0	2367	1973	3555	3565	425.2	-8.6	840	4669	0.68	0.00	114.10	1.063	10246	0.157	0.000	2565	1970	2965	3028	2903	0	0	0	0	0	0	25.98	25.18	24.47
4671	end apogee: CONTROL_FINISHED_OK
state	4671	begin climb
4673	0.57	146.0	2564	1970	3029	2903	427.5	0.0	858	4805	0.75	1.67	119.20	1.030	10756	0.108	0.038	2803	976	2369	2472	2267	0	0	0	0	0	0	25.32	25.03	24.35
4843	0.50	146.0	2802	975	2467	2267	417.9	10.2	883	4851	0.00	1.65	0.00	0.000	1158	0.000	0.037	2798	2010	2366	2467	2266	0	0	0	0	0	0	25.56	25.51	25.56
4978	0.41	146.0	2797	2010	2462	2265	402.8	11.7	908	4987	0.12	1.65	0.00	0.000	4484	0.198	0.043	2763	3044	2362	2460	2265	0	0	0	0	0	0	25.72	25.85	25.86
5080	0.37	157.5	2763	3045	2455	2265	392.2	9.6	927	5096	0.00	1.55	9.88	0.929	9382	0.000	0.030	2770	2016	2322	2425	2219	0	0	0	0	0	0	26.01	25.96	24.99
5221	0.35	157.5	2769	2013	2424	2219	377.8	11.1	953	5229	0.08	1.67	0.00	0.000	4740	0.226	0.039	2765	958	2321	2423	2219	0	0	0	0	0	0	25.85	25.98	26.00
5272	0.36	171.1	2765	960	2424	2219	372.6	9.5	962	5293	0.00	1.62	13.18	0.957	9254	0.000	0.037	2759	2004	2267	2381	2153	0	0	0	0	0	0	26.06	26.01	25.00
5418	0.38	192.6	2758	2003	2379	2151	358.7	9.1	989	5447	0.00	1.70	19.17	0.968	8484	0.000	0.045	2751	3050	2179	2300	2058	0	0	0	0	0	0	26.06	25.62	24.91
5500	0.41	196.8	2750	3055	2295	2057	350.9	9.9	1003	5508	0.00	1.60	0.00	0.000	1190	0.000	0.029	2757	1994	2175	2293	2058	0	0	0	0	0	0	25.92	25.89	25.92
5636	0.45	214.1	2756	1991	2294	2053	337.8	9.3	1028	5657	0.00	0.00	18.80	0.960	8870	0.000	0.000	2757	1991	2093	2217	1969	0	0	0	0	0	0	26.08	25.63	24.93
5785	0.49	216.9	2756	1991	2211	1967	323.5	10.0	1055	5794	0.00	1.65	0.00	0.000	676	0.000	0.041	2765	956	2089	2211	1967	0	0	0	0	0	0	26.03	26.00	26.03
5829	0.56	233.1	2765	956	2210	1967	319.2	9.4	1062	5852	0.12	1.62	17.23	0.946	11430	0.145	0.036	2793	2002	2017	2138	1896	0	0	0	0	0	0	25.98	26.04	24.97
5977	0.56	233.1	2793	2002	2130	1893	301.5	12.0	1089	5985	0.00	1.67	0.00	0.000	260	0.000	0.046	2787	3055	2010	2129	1891	0	0	0	0	0	0	26.03	25.99	26.04
6033	0.56	233.1	2786	3055	2128	1891	294.5	12.6	1099	6040	0.00	1.60	0.00	0.000	1030	0.000	0.030	2793	1996	2009	2128	1890	0	0	0	0	0	0	26.08	26.06	26.08
6165	0.56	233.1	2793	1988	2127	1890	278.8	11.6	1124	6172	0.00	1.65	0.00	0.000	260	0.000	0.044	2787	3059	2008	2127	1890	0	0	0	0	0	0	26.13	26.08	26.14
6204	0.56	233.1	2786	3059	2126	1890	274.2	11.4	1131	6212	0.00	1.60	0.00	0.000	1030	0.000	0.029	2793	1995	2008	2126	1890	0	0	0	0	0	0	26.13	26.09	26.13
6337	0.56	233.1	2793	1991	2125	1890	258.9	12.0	1156	6345	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1991	2007	2126	1888	0	0	0	0	0	0	26.16	26.16	26.16
6470	0.56	233.1	2792	1991	2125	1890	243.5	11.7	1181	6476	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1991	2007	2125	1890	0	0	0	0	0	0	26.16	26.17	26.17
6600	0.56	233.1	2793	1991	2124	1889	228.5	11.2	1206	6607	0.00	1.60	0.00	0.000	516	0.000	0.039	2802	948	2007	2124	1890	0	0	0	0	0	0	26.16	26.15	26.17
6620	0.56	233.1	2801	947	2124	1890	226.2	11.4	1209	6627	0.00	1.62	0.00	0.000	1030	0.000	0.037	2795	2001	2006	2124	1889	0	0	0	0	0	0	26.16	26.10	26.17
6752	0.56	233.1	2795	2001	2122	1890	211.6	11.1	1234	6759	0.00	1.62	0.00	0.000	260	0.000	0.045	2787	3060	2006	2123	1890	0	0	0	0	0	0	26.16	26.12	26.17
6813	0.56	233.1	2787	3060	2122	1889	204.7	11.5	1245	6819	0.00	1.60	0.00	0.000	1030	0.000	0.030	2793	1994	2005	2122	1889	0	0	0	0	0	0	26.19	26.15	26.19
6947	0.56	233.1	2793	1990	2122	1889	190.1	10.4	1270	6955	0.00	1.65	0.00	0.000	260	0.000	0.044	2787	3064	2003	2118	1889	0	0	0	0	0	0	26.17	26.13	26.18
6977	0.56	233.1	2786	3063	2122	1889	186.9	10.6	1275	6985	0.00	1.60	0.00	0.000	1030	0.000	0.031	2791	1999	2005	2122	1889	0	0	0	0	0	0	26.18	26.13	26.19
7111	0.56	233.1	2793	1995	2123	1889	172.9	10.6	1300	7118	0.00	1.60	0.00	0.000	516	0.000	0.041	2802	951	2006	2122	1890	0	0	0	0	0	0	26.17	26.13	26.18
7146	0.56	233.1	2801	950	2117	1889	169.1	10.9	1306	7153	0.00	1.62	0.00	0.000	1030	0.000	0.037	2795	2002	2005	2122	1889	0	0	0	0	0	0	26.17	26.13	26.17
7280	0.57	239.5	2795	2002	2122	1889	155.7	9.8	1331	7289	0.00	1.65	0.00	0.000	292	0.000	0.047	2787	3050	2005	2122	1889	0	0	0	0	0	0	26.17	26.10	26.18
7332	0.57	244.1	2787	3050	2120	1890	150.5	9.9	1340	7347	0.00	1.58	9.40	0.807	9254	0.000	0.030	2793	1999	1970	2090	1851	0	0	0	0	0	0	26.17	26.14	25.21
7472	0.59	263.3	2793	1995	2086	1851	137.1	9.2	1366	7494	0.00	0.00	17.50	0.833	8230	0.000	0.000	2793	1994	1889	2010	1769	0	0	0	0	0	0	26.13	25.74	25.08
7619	0.60	273.5	2793	1994	2006	1775	122.6	9.6	1393	7634	0.00	1.67	9.68	0.775	8484	0.000	0.045	2788	3053	1850	1973	1728	0	0	0	0	0	0	26.06	25.84	25.17
7695	0.63	273.6	2786	3054	1967	1726	115.1	10.1	1406	7702	0.08	1.60	0.00	0.000	3238	0.162	0.031	2811	1996	1846	1967	1726	0	0	0	0	0	0	25.91	25.99	26.03
7828	0.63	273.6	2810	1991	1966	1725	100.2	11.0	1431	7836	0.00	1.65	0.00	0.000	260	0.000	0.045	2805	3059	1845	1966	1725	0	0	0	0	0	0	26.10	26.06	26.10
7939	0.63	273.6	2805	3059	1964	1725	87.3	11.1	1452	7945	0.00	1.60	0.00	0.000	1030	0.000	0.030	2811	1994	1844	1964	1725	0	0	0	0	0	0	26.13	26.10	26.14
8073	0.65	273.6	2810	1990	1964	1725	72.2	11.0	1477	8080	0.00	1.65	0.00	0.000	388	0.000	0.045	2805	3058	1844	1964	1725	0	0	0	0	0	0	26.15	26.09	26.15
8179	0.71	304.8	2804	3059	1961	1724	61.5	8.7	1497	8215	0.10	1.60	26.80	0.776	11430	0.153	0.031	2833	1990	1720	1843	1597	0	0	0	0	0	0	26.02	26.12	25.06
8343	0.71	304.8	2835	1990	1839	1595	44.6	11.0	1526	8351	0.00	1.60	0.00	0.000	516	0.000	0.041	2841	955	1716	1839	1594	0	0	0	0	0	0	26.04	26.00	26.04
8389	0.75	304.8	2840	955	1836	1594	39.4	10.6	1534	8396	0.00	1.62	0.00	0.000	1158	0.000	0.036	2835	2004	1715	1836	1595	0	0	0	0	0	0	26.05	26.01	26.06
8524	0.84	357.9	2834	2004	1835	1597	28.1	7.6	1559	8575	0.12	1.73	43.60	0.735	10916	0.177	0.040	2882	955	1503	1632	1374	0	0	0	0	0	0	26.01	25.53	24.95
8690	0.93	399.8	2881	955	1623	1374	12.7	8.2	1588	8733	0.12	1.62	34.62	0.718	11430	0.138	0.036	2911	2002	1333	1469	1198	0	0	0	0	0	0	25.90	25.94	24.96
8817	end climb: SURFACE_DEPTH_REACHED
state	8817	begin surface coast
8850	end surface coast: CONTROL_FINISHED_OK
state	8850	begin surface