Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 7 * 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 62 ALTIM_PULSE 2

DIVE 7 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 605.40039 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 360 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 120 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 140 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 40 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 12.0

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 12.0 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 605.40039

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 120

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 140

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 40 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 7 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 43 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 62 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 360 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 300722,024609,4448.3838,-12457.4648,14,0.8,24,15.1,0.5,252.0,10,2.7 SPEED_LIMITS 0.173,0.247

_CALLS 1 TGT_NAME CARBONATE

_XMS_NAKs 0 TGT_LATLONG 4450.000,-12455.500

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.61 MHEAD_RNG_PITCHd_Wd 28.5,4162,-18.7,-10.000,-22.04,2232

_SM_ANGLEo -64.0 D_GRID 696

GPS2 300722,025338,4448.3115,-12457.5918,3,0.8,4,15.1,1.1,183.9,10,9.4

Post-dive calculations and measurements:

FINISH -0.1,1.021962 _10V_AH 10.25,2.302

SM_CCo 7739,180.57,0.688,0,0,499,605.40 FG_AHR_24Vo 0.000

SM_GC 0.58,7.70,0.32,180.57,0.057,0.057,0.688,178,2213,499,-7.46,-0.76,605.40,0,0,0,0,0,0,26.02,25.99,24.84 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4447.11,-12500.52,300722,002826 MEM 220720

TT8_MAMPS 0.023968,0.295106 DATA_FILE_SIZE 49895,1408

HUMID 38.30 CAP_FILE_SIZE 165546,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,245047296

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.022,332.47,1

SC_FREEKB 3810496 GPS 300722,050732,4448.907,-12456.838,24,1.2,25,15.1,0.1,0.0,8,4.6

_24V_AH 24.56,3.554

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 268 127.94 nil 0 0 0.00

Roll_motor 160 57 225.46 nil 0 0 0.00

VBD_pump_during_apogee 443 947 10312.52 nil 0 0 0.00

VBD_pump_during_surface 180 687 3050.05 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 7722 22 4317.25

Iridium_during_xfer 298 112 823.53 Edison 8450 10 2075.32

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.04

TT8 3447 13 493.67

LPSleep 940 2 21.10

TT8_Active 898 13 121.68

TT8_Sampling 2706 39 1093.83

TT8_CF8 387 49 198.09

TT8_Kalman 0 0 0.00

Analog_circuits 2391 10 245.15

GPS_charging 0 0 0.00

Compass 2197 8 185.59

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 -0.56 -146.0 171 2237 691 301 0.0 0.0 0 121 0.00 0.00 -106.05 0.005 16386 0.000 0.000 171 2240 3162 3134 3190 0 0 0 0 0 0 26.10 28.83 26.10

124 -0.56 -146.0 171 2240 3135 3191 4.5 -10.7 17 146 8.62 2.28 -7.25 0.011 18948 0.210 0.051 2428 783 3568 3546 3590 0 0 0 0 0 0 25.88 25.10 26.11

169 -0.29 -146.0 2427 782 3552 3590 16.3 -19.0 24 176 0.35 2.20 0.00 0.000 3206 0.150 0.042 2516 2178 3571 3552 3590 0 0 0 0 0 0 26.01 26.10 26.13

301 -0.37 -146.0 2513 2178 3555 3589 26.9 -7.3 49 309 0.00 2.30 0.00 0.000 420 0.000 0.053 2507 3604 3573 3557 3589 0 0 0 0 0 0 26.20 26.15 26.20

345 -0.55 -146.0 2506 3605 3556 3589 29.7 -6.1 56 352 0.17 2.15 0.00 0.000 5286 0.106 0.030 2464 2194 3572 3556 3589 0 0 0 0 0 0 26.13 26.17 26.20

479 -0.57 -146.0 2463 2190 3557 3589 39.8 -8.0 81 485 0.00 2.25 0.00 0.000 420 0.000 0.052 2453 3609 3573 3558 3589 0 0 0 0 0 0 26.24 26.17 26.24

562 -0.64 -146.0 2453 3609 3558 3589 46.1 -7.5 96 569 0.10 2.15 0.00 0.000 5286 0.155 0.031 2435 2204 3573 3558 3589 0 0 0 0 0 0 26.13 26.20 26.22

695 -0.64 -146.0 2436 2198 3559 3589 57.3 -7.3 121 702 0.00 2.22 0.00 0.000 548 0.000 0.041 2441 786 3574 3559 3589 0 0 0 0 0 0 26.25 26.19 26.26

751 -0.72 -146.0 2444 786 3567 3589 60.9 -5.8 131 759 0.10 2.22 0.00 0.000 5286 0.125 0.041 2398 2209 3574 3560 3589 0 0 0 0 0 0 26.17 26.20 26.24

884 -0.68 -146.0 2397 2209 3560 3589 73.7 -10.8 156 891 0.00 2.20 0.00 0.000 388 0.000 0.050 2387 3609 3574 3560 3589 0 0 0 0 0 0 26.26 26.20 26.27

940 -0.68 -146.0 2386 3609 3560 3589 79.3 -9.3 166 947 0.00 2.15 0.00 0.000 1062 0.000 0.031 2394 2202 3574 3560 3589 0 0 0 0 0 0 26.25 26.22 26.27

1074 -0.66 -146.0 2396 2195 3561 3589 92.0 -9.4 191 1082 0.00 2.22 0.00 0.000 420 0.000 0.050 2386 3604 3574 3560 3589 0 0 0 0 0 0 26.26 26.19 26.27

1139 -0.66 -146.0 2385 3605 3561 3589 98.3 -8.8 203 1147 0.00 2.15 0.00 0.000 1062 0.000 0.031 2394 2197 3575 3561 3589 0 0 0 0 0 0 26.27 26.22 26.27

1272 -0.66 -146.0 2393 2193 3561 3589 109.5 -8.1 228 1278 0.00 2.17 0.00 0.000 548 0.000 0.041 2402 781 3575 3561 3589 0 0 0 0 0 0 26.27 26.21 26.27

1301 -0.66 -146.0 2401 782 3561 3589 112.0 -8.2 233 1308 0.00 2.22 0.00 0.000 1062 0.000 0.040 2393 2204 3575 3562 3589 0 0 0 0 0 0 26.26 26.20 26.27

1435 -0.66 -146.0 2393 2210 3561 3589 123.4 -8.9 258 1443 0.00 2.25 0.00 0.000 292 0.000 0.052 2382 3605 3575 3561 3589 0 0 0 0 0 0 26.27 26.20 26.27

1523 -0.70 -146.0 2382 3605 3560 3588 131.7 -9.4 274 1530 0.00 2.15 0.00 0.000 1190 0.000 0.030 2391 2194 3574 3561 3588 0 0 0 0 0 0 26.26 26.22 26.25

1656 -0.70 -146.0 2390 2190 3561 3588 144.3 -9.2 299 1664 0.00 2.15 0.00 0.000 548 0.000 0.039 2404 794 3574 3561 3588 0 0 0 0 0 0 26.27 26.20 26.27

1678 -0.70 -146.0 2398 794 3561 3588 146.3 -9.6 302 1685 0.00 2.20 0.00 0.000 1062 0.000 0.039 2391 2199 3574 3560 3588 0 0 0 0 0 0 26.26 26.21 26.27

1812 -0.70 -146.0 2390 2199 3561 3588 158.6 -8.9 327 1819 0.00 2.22 0.00 0.000 292 0.000 0.051 2380 3611 3574 3561 3588 0 0 0 0 0 0 26.25 26.20 26.25

1889 -0.75 -146.0 2379 3611 3561 3583 165.9 -9.0 341 1896 0.00 2.17 0.00 0.000 1190 0.000 0.031 2387 2184 3574 3561 3587 0 0 0 0 0 0 26.25 26.22 26.25

2023 -0.75 -146.0 2387 2180 3561 3586 178.0 -8.9 366 2031 0.00 2.17 0.00 0.000 548 0.000 0.040 2400 798 3574 3561 3587 0 0 0 0 0 0 26.25 26.21 26.26

2064 -0.81 -146.0 2394 798 3560 3587 181.5 -8.2 373 2072 0.00 2.25 0.00 0.000 1190 0.000 0.041 2387 2203 3573 3561 3586 0 0 0 0 0 0 26.23 26.18 26.25

2196 -0.83 -146.0 2386 2204 3561 3586 192.9 -8.9 398 2203 0.00 2.22 0.00 0.000 420 0.000 0.052 2376 3613 3573 3560 3586 0 0 0 0 0 0 26.25 26.21 26.25

2267 -0.86 -146.0 2375 3613 3561 3585 198.9 -8.3 411 2275 0.10 2.15 0.00 0.000 5286 0.145 0.031 2357 2205 3573 3561 3585 0 0 0 0 0 0 26.15 26.21 26.24

2399 -0.82 -146.0 2356 2200 3561 3585 212.4 -11.0 436 2405 0.00 0.00 0.00 0.000 134 0.000 0.000 2357 2201 3573 3561 3585 0 0 0 0 0 0 26.24 26.25 26.25

2530 -0.78 -146.0 2356 2200 3563 3584 226.4 -10.6 461 2536 0.00 2.25 0.00 0.000 388 0.000 0.051 2346 3619 3572 3560 3584 0 0 0 0 0 0 26.26 26.18 26.26

2594 -0.75 -146.0 2346 3620 3561 3584 233.8 -11.1 473 2602 0.03 2.17 0.00 0.000 3206 0.269 0.030 2362 2194 3572 3561 3584 0 0 0 0 0 0 26.10 26.21 26.23

2726 -0.72 -146.0 2361 2188 3561 3583 247.4 -10.1 498 2733 0.05 2.25 0.00 0.000 2436 0.216 0.052 2364 3608 3572 3561 3583 0 0 0 0 0 0 26.09 26.18 26.23

2804 -0.75 -146.0 2364 3609 3561 3587 255.1 -9.6 512 2811 0.00 2.15 0.00 0.000 1190 0.000 0.031 2373 2203 3571 3561 3582 0 0 0 0 0 0 26.25 26.21 26.26

2936 -0.75 -146.0 2372 2197 3561 3582 267.4 -9.4 537 2944 0.00 2.28 0.00 0.000 292 0.000 0.051 2364 3605 3571 3560 3582 0 0 0 0 0 0 26.25 26.17 26.25

2979 -0.75 -146.0 2363 3605 3560 3581 271.4 -9.4 544 2986 0.00 2.15 0.00 0.000 1062 0.000 0.029 2372 2196 3571 3561 3581 0 0 0 0 0 0 26.22 26.20 26.25

3111 -0.75 -146.0 2372 2190 3561 3581 283.4 -9.0 569 3117 0.00 2.25 0.00 0.000 292 0.000 0.051 2364 3609 3571 3561 3581 0 0 0 0 0 0 26.25 26.17 26.25

3150 -0.75 -146.0 2363 3609 3561 3580 287.1 -9.0 576 3157 0.00 2.15 0.00 0.000 1062 0.000 0.030 2372 2203 3570 3561 3580 0 0 0 0 0 0 26.24 26.20 26.25

3282 -0.75 -146.0 2371 2196 3561 3579 298.7 -8.9 601 3290 0.00 2.28 0.00 0.000 292 0.000 0.052 2363 3603 3570 3561 3580 0 0 0 0 0 0 26.24 26.17 26.25

3312 -0.75 -146.0 2369 3603 3560 3579 301.6 -9.4 606 3319 0.00 2.15 0.00 0.000 1062 0.000 0.029 2372 2192 3570 3561 3579 0 0 0 0 0 0 26.23 26.21 26.25

3446 -0.75 -146.0 2371 2187 3560 3579 313.5 -9.1 631 3454 0.00 0.00 0.00 0.000 38 0.000 0.000 2372 2187 3569 3560 3579 0 0 0 0 0 0 26.23 26.24 26.24

3577 -0.75 -146.0 2377 2184 3561 3578 325.4 -8.6 656 3584 0.00 2.28 0.00 0.000 292 0.000 0.052 2363 3618 3569 3561 3577 0 0 0 0 0 0 26.22 26.17 26.23

3663 -0.79 -146.0 2362 3618 3562 3577 332.7 -7.9 672 3669 0.00 2.17 0.00 0.000 1190 0.000 0.031 2371 2197 3569 3561 3577 0 0 0 0 0 0 26.24 26.20 26.24

3794 -0.79 -146.0 2371 2192 3561 3577 343.9 -9.0 697 3801 0.00 0.00 0.00 0.000 38 0.000 0.000 2372 2193 3568 3561 3576 0 0 0 0 0 0 26.22 26.24 26.23

3927 -0.79 -146.0 2371 2192 3560 3576 355.5 -8.7 722 3934 0.00 2.25 0.00 0.000 292 0.000 0.052 2364 3609 3568 3561 3576 0 0 0 0 0 0 26.24 26.16 26.24

3975 end dive: TARGET_DEPTH_EXCEEDED

state 3975 begin apogee

3982 -0.11 0.0 2373 1999 3561 3576 360.2 -8.9 731 4108 0.65 0.00 120.30 0.948 10246 0.153 0.000 2564 1994 2967 3027 2907 0 0 0 0 0 0 26.02 25.28 24.60

4110 end apogee: CONTROL_FINISHED_OK

state 4110 begin climb

4113 0.56 146.0 2564 1994 3025 2906 362.5 0.0 751 4242 0.73 2.30 116.62 0.947 10756 0.109 0.042 2797 589 2369 2465 2274 0 0 0 0 0 0 25.39 25.19 24.56

4291 0.56 146.0 2796 590 2461 2273 350.6 10.1 779 4298 0.00 2.25 0.00 0.000 1030 0.000 0.037 2788 2006 2367 2461 2273 0 0 0 0 0 0 25.76 25.71 25.76

4425 0.52 146.0 2792 2007 2457 2271 337.0 10.2 804 4432 0.00 2.22 0.00 0.000 388 0.000 0.048 2778 3415 2365 2455 2275 0 0 0 0 0 0 26.03 25.97 26.03

4497 0.47 146.0 2775 3415 2449 2273 328.6 11.4 817 4504 0.00 2.17 0.00 0.000 1158 0.000 0.031 2786 2002 2360 2450 2271 0 0 0 0 0 0 26.09 26.06 26.10

4631 0.43 146.0 2786 1998 2450 2271 314.4 10.6 842 4637 0.00 0.00 0.00 0.000 134 0.000 0.000 2786 1996 2360 2449 2272 0 0 0 0 0 0 26.15 26.15 26.15

4760 0.38 146.0 2785 1996 2449 2271 300.5 10.6 867 4769 0.10 2.25 0.00 0.000 4740 0.209 0.041 2776 589 2360 2449 2271 0 0 0 0 0 0 26.02 26.15 26.17

4797 0.39 155.1 2776 590 2450 2272 296.9 9.6 873 4812 0.00 2.25 7.55 0.810 9254 0.000 0.037 2767 2002 2332 2425 2239 0 0 0 0 0 0 26.18 26.15 25.26

4936 0.39 155.1 2766 2002 2426 2239 283.2 10.1 899 4943 0.00 2.25 0.00 0.000 260 0.000 0.048 2757 3406 2331 2424 2239 0 0 0 0 0 0 26.17 26.12 26.17

4965 0.39 155.1 2756 3406 2421 2239 280.1 10.3 904 4973 0.00 2.17 0.00 0.000 1030 0.000 0.031 2766 1990 2329 2421 2238 0 0 0 0 0 0 26.18 26.15 26.20

5097 0.40 169.6 2765 1986 2416 2239 267.6 9.3 929 5118 0.00 2.25 13.98 0.873 8740 0.000 0.043 2776 586 2272 2377 2167 0 0 0 0 0 0 26.22 25.89 25.20

5157 0.47 193.4 2776 586 2377 2166 261.9 8.9 939 5184 0.00 2.22 20.73 0.874 9382 0.000 0.036 2767 2003 2177 2293 2062 0 0 0 0 0 0 26.06 26.01 25.02

5309 0.52 210.5 2766 2003 2286 2061 247.5 9.2 967 5330 0.00 2.28 15.55 0.860 8612 0.000 0.048 2757 3412 2105 2220 1990 0 0 0 0 0 0 26.10 25.77 25.10

5390 0.60 231.9 2757 3412 2214 1988 240.0 9.0 981 5418 0.12 2.20 19.00 0.859 11430 0.148 0.031 2798 1989 2018 2136 1900 0 0 0 0 0 0 25.91 25.98 25.01

5542 0.60 231.9 2798 1988 2129 1899 223.5 11.3 1009 5550 0.00 2.25 0.00 0.000 516 0.000 0.044 2809 585 2011 2124 1899 0 0 0 0 0 0 26.09 26.03 26.09

5582 0.64 231.9 2808 592 2127 1899 219.2 10.6 1016 5591 0.00 2.25 0.00 0.000 1158 0.000 0.037 2801 1995 2013 2127 1900 0 0 0 0 0 0 26.10 26.06 26.10

5715 0.64 231.9 2800 1994 2125 1899 205.3 10.6 1041 5722 0.00 2.22 0.00 0.000 260 0.000 0.049 2789 3409 2011 2125 1898 0 0 0 0 0 0 26.18 26.11 26.18

5765 0.68 239.7 2789 3409 2122 1898 200.0 9.6 1050 5779 0.10 2.17 6.68 0.742 11430 0.157 0.032 2822 1994 1992 2110 1875 0 0 0 0 0 0 26.06 26.15 25.31

5904 0.65 239.7 2821 1990 2101 1875 184.3 11.4 1076 5913 0.00 2.22 0.00 0.000 644 0.000 0.044 2831 595 1988 2101 1875 0 0 0 0 0 0 26.17 26.13 26.18

5930 0.65 239.7 2831 595 2100 1875 181.3 11.7 1080 5938 0.00 2.20 0.00 0.000 1030 0.000 0.036 2824 2004 1987 2100 1875 0 0 0 0 0 0 26.17 26.12 26.18

6062 0.62 239.7 2823 2005 2098 1875 166.3 11.6 1105 6070 0.00 2.25 0.00 0.000 388 0.000 0.049 2813 3407 1986 2098 1874 0 0 0 0 0 0 26.21 26.15 26.22

6098 0.60 239.7 2812 3407 2096 1871 162.1 11.4 1111 6105 0.00 2.20 0.00 0.000 1158 0.000 0.032 2821 2004 1988 2103 1874 0 0 0 0 0 0 26.17 26.16 26.20

6231 0.56 239.7 2821 2000 2097 1871 147.6 11.1 1136 6239 0.00 2.20 0.00 0.000 644 0.000 0.045 2832 592 1985 2096 1874 0 0 0 0 0 0 26.22 26.17 26.22

6277 0.56 239.7 2832 592 2096 1875 142.5 10.1 1144 6285 0.00 2.20 0.00 0.000 1030 0.000 0.038 2823 1999 1985 2096 1875 0 0 0 0 0 0 26.21 26.16 26.22

6410 0.54 239.7 2823 1999 2096 1875 128.5 10.7 1169 6418 0.00 2.25 0.00 0.000 388 0.000 0.049 2812 3402 1985 2096 1874 0 0 0 0 0 0 26.22 26.15 26.23

6471 0.54 239.7 2812 3402 2094 1875 121.3 11.5 1180 6479 0.00 2.17 0.00 0.000 1030 0.000 0.033 2822 1993 1984 2094 1874 0 0 0 0 0 0 26.22 26.18 26.23

6605 0.51 239.7 2821 1989 2094 1875 105.7 11.9 1205 6613 0.00 2.22 0.00 0.000 644 0.000 0.044 2832 594 1984 2094 1874 0 0 0 0 0 0 26.22 26.17 26.22

6640 0.51 239.7 2832 594 2094 1875 101.2 12.2 1211 6649 0.05 2.25 0.00 0.000 5126 0.171 0.037 2808 2007 1984 2094 1875 0 0 0 0 0 0 26.07 26.17 26.16

6772 0.51 239.7 2807 2008 2093 1870 86.3 11.0 1236 6780 0.00 2.20 0.00 0.000 260 0.000 0.047 2797 3407 1983 2093 1874 0 0 0 0 0 0 26.22 26.16 26.22

6818 0.54 239.7 2796 3409 2092 1874 81.6 10.3 1244 6826 0.00 2.17 0.00 0.000 1158 0.000 0.031 2806 1994 1982 2091 1874 0 0 0 0 0 0 26.21 26.18 26.22

6951 0.56 259.7 2805 1990 2091 1874 68.9 9.1 1269 6977 0.00 2.22 17.67 0.760 8740 0.000 0.044 2817 592 1904 2018 1791 0 0 0 0 0 0 26.22 25.87 25.24

7047 0.69 312.3 2816 590 2016 1791 61.0 7.6 1286 7100 0.10 2.20 43.67 0.749 11430 0.161 0.036 2831 1998 1690 1803 1578 0 0 0 0 0 0 25.97 26.04 24.98

7226 0.73 324.7 2826 1998 1794 1574 42.9 9.4 1318 7241 0.00 2.25 10.32 0.681 8612 0.000 0.046 2822 3407 1641 1753 1530 0 0 0 0 0 0 26.06 25.81 25.25

7291 0.80 324.7 2821 3408 1755 1530 36.4 10.3 1329 7298 0.12 2.17 0.00 0.000 3206 0.172 0.031 2862 1998 1639 1749 1529 0 0 0 0 0 0 25.89 25.98 26.00

7425 0.82 324.7 2862 1993 1748 1524 21.8 10.0 1354 7431 0.00 2.20 0.00 0.000 644 0.000 0.044 2873 592 1635 1747 1524 0 0 0 0 0 0 26.13 26.08 26.13

7544 0.99 388.0 2873 591 1743 1524 12.0 7.1 1376 7604 0.20 2.20 50.92 0.695 11430 0.112 0.037 2922 2002 1382 1507 1257 0 0 0 0 0 0 26.08 26.11 25.02

7686 end climb: SURFACE_DEPTH_REACHED

state 7687 begin surface coast

7723 end surface coast: CONTROL_FINISHED_OK

state 7723 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	62	ALTIM_PULSE	2
DIVE	7	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	605.40039	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	360	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	120	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	140	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	40	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	12.0
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	300722,024609,4448.3838,-12457.4648,14,0.8,24,15.1,0.5,252.0,10,2.7	SPEED_LIMITS	0.173,0.247
_CALLS	1	TGT_NAME	CARBONATE
_XMS_NAKs	0	TGT_LATLONG	4450.000,-12455.500
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.61	MHEAD_RNG_PITCHd_Wd	28.5,4162,-18.7,-10.000,-22.04,2232
_SM_ANGLEo	-64.0	D_GRID	696
GPS2	300722,025338,4448.3115,-12457.5918,3,0.8,4,15.1,1.1,183.9,10,9.4

FINISH	-0.1,1.021962	_10V_AH	10.25,2.302
SM_CCo	7739,180.57,0.688,0,0,499,605.40	FG_AHR_24Vo	0.000
SM_GC	0.58,7.70,0.32,180.57,0.057,0.057,0.688,178,2213,499,-7.46,-0.76,605.40,0,0,0,0,0,0,26.02,25.99,24.84	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4447.11,-12500.52,300722,002826	MEM	220720
TT8_MAMPS	0.023968,0.295106	DATA_FILE_SIZE	49895,1408
HUMID	38.30	CAP_FILE_SIZE	165546,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,245047296
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.022,332.47,1
SC_FREEKB	3810496	GPS	300722,050732,4448.907,-12456.838,24,1.2,25,15.1,0.1,0.0,8,4.6
_24V_AH	24.56,3.554

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	268	127.94	nil	0	0	0.00
Roll_motor	160	57	225.46	nil	0	0	0.00
VBD_pump_during_apogee	443	947	10312.52	nil	0	0	0.00
VBD_pump_during_surface	180	687	3050.05	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	7722	22	4317.25
Iridium_during_xfer	298	112	823.53	Edison	8450	10	2075.32
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.04
TT8	3447	13	493.67
LPSleep	940	2	21.10
TT8_Active	898	13	121.68
TT8_Sampling	2706	39	1093.83
TT8_CF8	387	49	198.09
TT8_Kalman	0	0	0.00
Analog_circuits	2391	10	245.15
GPS_charging	0	0	0.00
Compass	2197	8	185.59
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	-0.56	-146.0	171	2237	691	301	0.0	0.0	0	121	0.00	0.00	-106.05	0.005	16386	0.000	0.000	171	2240	3162	3134	3190	0	0	0	0	0	0	26.10	28.83	26.10
124	-0.56	-146.0	171	2240	3135	3191	4.5	-10.7	17	146	8.62	2.28	-7.25	0.011	18948	0.210	0.051	2428	783	3568	3546	3590	0	0	0	0	0	0	25.88	25.10	26.11
169	-0.29	-146.0	2427	782	3552	3590	16.3	-19.0	24	176	0.35	2.20	0.00	0.000	3206	0.150	0.042	2516	2178	3571	3552	3590	0	0	0	0	0	0	26.01	26.10	26.13
301	-0.37	-146.0	2513	2178	3555	3589	26.9	-7.3	49	309	0.00	2.30	0.00	0.000	420	0.000	0.053	2507	3604	3573	3557	3589	0	0	0	0	0	0	26.20	26.15	26.20
345	-0.55	-146.0	2506	3605	3556	3589	29.7	-6.1	56	352	0.17	2.15	0.00	0.000	5286	0.106	0.030	2464	2194	3572	3556	3589	0	0	0	0	0	0	26.13	26.17	26.20
479	-0.57	-146.0	2463	2190	3557	3589	39.8	-8.0	81	485	0.00	2.25	0.00	0.000	420	0.000	0.052	2453	3609	3573	3558	3589	0	0	0	0	0	0	26.24	26.17	26.24
562	-0.64	-146.0	2453	3609	3558	3589	46.1	-7.5	96	569	0.10	2.15	0.00	0.000	5286	0.155	0.031	2435	2204	3573	3558	3589	0	0	0	0	0	0	26.13	26.20	26.22
695	-0.64	-146.0	2436	2198	3559	3589	57.3	-7.3	121	702	0.00	2.22	0.00	0.000	548	0.000	0.041	2441	786	3574	3559	3589	0	0	0	0	0	0	26.25	26.19	26.26
751	-0.72	-146.0	2444	786	3567	3589	60.9	-5.8	131	759	0.10	2.22	0.00	0.000	5286	0.125	0.041	2398	2209	3574	3560	3589	0	0	0	0	0	0	26.17	26.20	26.24
884	-0.68	-146.0	2397	2209	3560	3589	73.7	-10.8	156	891	0.00	2.20	0.00	0.000	388	0.000	0.050	2387	3609	3574	3560	3589	0	0	0	0	0	0	26.26	26.20	26.27
940	-0.68	-146.0	2386	3609	3560	3589	79.3	-9.3	166	947	0.00	2.15	0.00	0.000	1062	0.000	0.031	2394	2202	3574	3560	3589	0	0	0	0	0	0	26.25	26.22	26.27
1074	-0.66	-146.0	2396	2195	3561	3589	92.0	-9.4	191	1082	0.00	2.22	0.00	0.000	420	0.000	0.050	2386	3604	3574	3560	3589	0	0	0	0	0	0	26.26	26.19	26.27
1139	-0.66	-146.0	2385	3605	3561	3589	98.3	-8.8	203	1147	0.00	2.15	0.00	0.000	1062	0.000	0.031	2394	2197	3575	3561	3589	0	0	0	0	0	0	26.27	26.22	26.27
1272	-0.66	-146.0	2393	2193	3561	3589	109.5	-8.1	228	1278	0.00	2.17	0.00	0.000	548	0.000	0.041	2402	781	3575	3561	3589	0	0	0	0	0	0	26.27	26.21	26.27
1301	-0.66	-146.0	2401	782	3561	3589	112.0	-8.2	233	1308	0.00	2.22	0.00	0.000	1062	0.000	0.040	2393	2204	3575	3562	3589	0	0	0	0	0	0	26.26	26.20	26.27
1435	-0.66	-146.0	2393	2210	3561	3589	123.4	-8.9	258	1443	0.00	2.25	0.00	0.000	292	0.000	0.052	2382	3605	3575	3561	3589	0	0	0	0	0	0	26.27	26.20	26.27
1523	-0.70	-146.0	2382	3605	3560	3588	131.7	-9.4	274	1530	0.00	2.15	0.00	0.000	1190	0.000	0.030	2391	2194	3574	3561	3588	0	0	0	0	0	0	26.26	26.22	26.25
1656	-0.70	-146.0	2390	2190	3561	3588	144.3	-9.2	299	1664	0.00	2.15	0.00	0.000	548	0.000	0.039	2404	794	3574	3561	3588	0	0	0	0	0	0	26.27	26.20	26.27
1678	-0.70	-146.0	2398	794	3561	3588	146.3	-9.6	302	1685	0.00	2.20	0.00	0.000	1062	0.000	0.039	2391	2199	3574	3560	3588	0	0	0	0	0	0	26.26	26.21	26.27
1812	-0.70	-146.0	2390	2199	3561	3588	158.6	-8.9	327	1819	0.00	2.22	0.00	0.000	292	0.000	0.051	2380	3611	3574	3561	3588	0	0	0	0	0	0	26.25	26.20	26.25
1889	-0.75	-146.0	2379	3611	3561	3583	165.9	-9.0	341	1896	0.00	2.17	0.00	0.000	1190	0.000	0.031	2387	2184	3574	3561	3587	0	0	0	0	0	0	26.25	26.22	26.25
2023	-0.75	-146.0	2387	2180	3561	3586	178.0	-8.9	366	2031	0.00	2.17	0.00	0.000	548	0.000	0.040	2400	798	3574	3561	3587	0	0	0	0	0	0	26.25	26.21	26.26
2064	-0.81	-146.0	2394	798	3560	3587	181.5	-8.2	373	2072	0.00	2.25	0.00	0.000	1190	0.000	0.041	2387	2203	3573	3561	3586	0	0	0	0	0	0	26.23	26.18	26.25
2196	-0.83	-146.0	2386	2204	3561	3586	192.9	-8.9	398	2203	0.00	2.22	0.00	0.000	420	0.000	0.052	2376	3613	3573	3560	3586	0	0	0	0	0	0	26.25	26.21	26.25
2267	-0.86	-146.0	2375	3613	3561	3585	198.9	-8.3	411	2275	0.10	2.15	0.00	0.000	5286	0.145	0.031	2357	2205	3573	3561	3585	0	0	0	0	0	0	26.15	26.21	26.24
2399	-0.82	-146.0	2356	2200	3561	3585	212.4	-11.0	436	2405	0.00	0.00	0.00	0.000	134	0.000	0.000	2357	2201	3573	3561	3585	0	0	0	0	0	0	26.24	26.25	26.25
2530	-0.78	-146.0	2356	2200	3563	3584	226.4	-10.6	461	2536	0.00	2.25	0.00	0.000	388	0.000	0.051	2346	3619	3572	3560	3584	0	0	0	0	0	0	26.26	26.18	26.26
2594	-0.75	-146.0	2346	3620	3561	3584	233.8	-11.1	473	2602	0.03	2.17	0.00	0.000	3206	0.269	0.030	2362	2194	3572	3561	3584	0	0	0	0	0	0	26.10	26.21	26.23
2726	-0.72	-146.0	2361	2188	3561	3583	247.4	-10.1	498	2733	0.05	2.25	0.00	0.000	2436	0.216	0.052	2364	3608	3572	3561	3583	0	0	0	0	0	0	26.09	26.18	26.23
2804	-0.75	-146.0	2364	3609	3561	3587	255.1	-9.6	512	2811	0.00	2.15	0.00	0.000	1190	0.000	0.031	2373	2203	3571	3561	3582	0	0	0	0	0	0	26.25	26.21	26.26
2936	-0.75	-146.0	2372	2197	3561	3582	267.4	-9.4	537	2944	0.00	2.28	0.00	0.000	292	0.000	0.051	2364	3605	3571	3560	3582	0	0	0	0	0	0	26.25	26.17	26.25
2979	-0.75	-146.0	2363	3605	3560	3581	271.4	-9.4	544	2986	0.00	2.15	0.00	0.000	1062	0.000	0.029	2372	2196	3571	3561	3581	0	0	0	0	0	0	26.22	26.20	26.25
3111	-0.75	-146.0	2372	2190	3561	3581	283.4	-9.0	569	3117	0.00	2.25	0.00	0.000	292	0.000	0.051	2364	3609	3571	3561	3581	0	0	0	0	0	0	26.25	26.17	26.25
3150	-0.75	-146.0	2363	3609	3561	3580	287.1	-9.0	576	3157	0.00	2.15	0.00	0.000	1062	0.000	0.030	2372	2203	3570	3561	3580	0	0	0	0	0	0	26.24	26.20	26.25
3282	-0.75	-146.0	2371	2196	3561	3579	298.7	-8.9	601	3290	0.00	2.28	0.00	0.000	292	0.000	0.052	2363	3603	3570	3561	3580	0	0	0	0	0	0	26.24	26.17	26.25
3312	-0.75	-146.0	2369	3603	3560	3579	301.6	-9.4	606	3319	0.00	2.15	0.00	0.000	1062	0.000	0.029	2372	2192	3570	3561	3579	0	0	0	0	0	0	26.23	26.21	26.25
3446	-0.75	-146.0	2371	2187	3560	3579	313.5	-9.1	631	3454	0.00	0.00	0.00	0.000	38	0.000	0.000	2372	2187	3569	3560	3579	0	0	0	0	0	0	26.23	26.24	26.24
3577	-0.75	-146.0	2377	2184	3561	3578	325.4	-8.6	656	3584	0.00	2.28	0.00	0.000	292	0.000	0.052	2363	3618	3569	3561	3577	0	0	0	0	0	0	26.22	26.17	26.23
3663	-0.79	-146.0	2362	3618	3562	3577	332.7	-7.9	672	3669	0.00	2.17	0.00	0.000	1190	0.000	0.031	2371	2197	3569	3561	3577	0	0	0	0	0	0	26.24	26.20	26.24
3794	-0.79	-146.0	2371	2192	3561	3577	343.9	-9.0	697	3801	0.00	0.00	0.00	0.000	38	0.000	0.000	2372	2193	3568	3561	3576	0	0	0	0	0	0	26.22	26.24	26.23
3927	-0.79	-146.0	2371	2192	3560	3576	355.5	-8.7	722	3934	0.00	2.25	0.00	0.000	292	0.000	0.052	2364	3609	3568	3561	3576	0	0	0	0	0	0	26.24	26.16	26.24
3975	end dive: TARGET_DEPTH_EXCEEDED
state	3975	begin apogee
3982	-0.11	0.0	2373	1999	3561	3576	360.2	-8.9	731	4108	0.65	0.00	120.30	0.948	10246	0.153	0.000	2564	1994	2967	3027	2907	0	0	0	0	0	0	26.02	25.28	24.60
4110	end apogee: CONTROL_FINISHED_OK
state	4110	begin climb
4113	0.56	146.0	2564	1994	3025	2906	362.5	0.0	751	4242	0.73	2.30	116.62	0.947	10756	0.109	0.042	2797	589	2369	2465	2274	0	0	0	0	0	0	25.39	25.19	24.56
4291	0.56	146.0	2796	590	2461	2273	350.6	10.1	779	4298	0.00	2.25	0.00	0.000	1030	0.000	0.037	2788	2006	2367	2461	2273	0	0	0	0	0	0	25.76	25.71	25.76
4425	0.52	146.0	2792	2007	2457	2271	337.0	10.2	804	4432	0.00	2.22	0.00	0.000	388	0.000	0.048	2778	3415	2365	2455	2275	0	0	0	0	0	0	26.03	25.97	26.03
4497	0.47	146.0	2775	3415	2449	2273	328.6	11.4	817	4504	0.00	2.17	0.00	0.000	1158	0.000	0.031	2786	2002	2360	2450	2271	0	0	0	0	0	0	26.09	26.06	26.10
4631	0.43	146.0	2786	1998	2450	2271	314.4	10.6	842	4637	0.00	0.00	0.00	0.000	134	0.000	0.000	2786	1996	2360	2449	2272	0	0	0	0	0	0	26.15	26.15	26.15
4760	0.38	146.0	2785	1996	2449	2271	300.5	10.6	867	4769	0.10	2.25	0.00	0.000	4740	0.209	0.041	2776	589	2360	2449	2271	0	0	0	0	0	0	26.02	26.15	26.17
4797	0.39	155.1	2776	590	2450	2272	296.9	9.6	873	4812	0.00	2.25	7.55	0.810	9254	0.000	0.037	2767	2002	2332	2425	2239	0	0	0	0	0	0	26.18	26.15	25.26
4936	0.39	155.1	2766	2002	2426	2239	283.2	10.1	899	4943	0.00	2.25	0.00	0.000	260	0.000	0.048	2757	3406	2331	2424	2239	0	0	0	0	0	0	26.17	26.12	26.17
4965	0.39	155.1	2756	3406	2421	2239	280.1	10.3	904	4973	0.00	2.17	0.00	0.000	1030	0.000	0.031	2766	1990	2329	2421	2238	0	0	0	0	0	0	26.18	26.15	26.20
5097	0.40	169.6	2765	1986	2416	2239	267.6	9.3	929	5118	0.00	2.25	13.98	0.873	8740	0.000	0.043	2776	586	2272	2377	2167	0	0	0	0	0	0	26.22	25.89	25.20
5157	0.47	193.4	2776	586	2377	2166	261.9	8.9	939	5184	0.00	2.22	20.73	0.874	9382	0.000	0.036	2767	2003	2177	2293	2062	0	0	0	0	0	0	26.06	26.01	25.02
5309	0.52	210.5	2766	2003	2286	2061	247.5	9.2	967	5330	0.00	2.28	15.55	0.860	8612	0.000	0.048	2757	3412	2105	2220	1990	0	0	0	0	0	0	26.10	25.77	25.10
5390	0.60	231.9	2757	3412	2214	1988	240.0	9.0	981	5418	0.12	2.20	19.00	0.859	11430	0.148	0.031	2798	1989	2018	2136	1900	0	0	0	0	0	0	25.91	25.98	25.01
5542	0.60	231.9	2798	1988	2129	1899	223.5	11.3	1009	5550	0.00	2.25	0.00	0.000	516	0.000	0.044	2809	585	2011	2124	1899	0	0	0	0	0	0	26.09	26.03	26.09
5582	0.64	231.9	2808	592	2127	1899	219.2	10.6	1016	5591	0.00	2.25	0.00	0.000	1158	0.000	0.037	2801	1995	2013	2127	1900	0	0	0	0	0	0	26.10	26.06	26.10
5715	0.64	231.9	2800	1994	2125	1899	205.3	10.6	1041	5722	0.00	2.22	0.00	0.000	260	0.000	0.049	2789	3409	2011	2125	1898	0	0	0	0	0	0	26.18	26.11	26.18
5765	0.68	239.7	2789	3409	2122	1898	200.0	9.6	1050	5779	0.10	2.17	6.68	0.742	11430	0.157	0.032	2822	1994	1992	2110	1875	0	0	0	0	0	0	26.06	26.15	25.31
5904	0.65	239.7	2821	1990	2101	1875	184.3	11.4	1076	5913	0.00	2.22	0.00	0.000	644	0.000	0.044	2831	595	1988	2101	1875	0	0	0	0	0	0	26.17	26.13	26.18
5930	0.65	239.7	2831	595	2100	1875	181.3	11.7	1080	5938	0.00	2.20	0.00	0.000	1030	0.000	0.036	2824	2004	1987	2100	1875	0	0	0	0	0	0	26.17	26.12	26.18
6062	0.62	239.7	2823	2005	2098	1875	166.3	11.6	1105	6070	0.00	2.25	0.00	0.000	388	0.000	0.049	2813	3407	1986	2098	1874	0	0	0	0	0	0	26.21	26.15	26.22
6098	0.60	239.7	2812	3407	2096	1871	162.1	11.4	1111	6105	0.00	2.20	0.00	0.000	1158	0.000	0.032	2821	2004	1988	2103	1874	0	0	0	0	0	0	26.17	26.16	26.20
6231	0.56	239.7	2821	2000	2097	1871	147.6	11.1	1136	6239	0.00	2.20	0.00	0.000	644	0.000	0.045	2832	592	1985	2096	1874	0	0	0	0	0	0	26.22	26.17	26.22
6277	0.56	239.7	2832	592	2096	1875	142.5	10.1	1144	6285	0.00	2.20	0.00	0.000	1030	0.000	0.038	2823	1999	1985	2096	1875	0	0	0	0	0	0	26.21	26.16	26.22
6410	0.54	239.7	2823	1999	2096	1875	128.5	10.7	1169	6418	0.00	2.25	0.00	0.000	388	0.000	0.049	2812	3402	1985	2096	1874	0	0	0	0	0	0	26.22	26.15	26.23
6471	0.54	239.7	2812	3402	2094	1875	121.3	11.5	1180	6479	0.00	2.17	0.00	0.000	1030	0.000	0.033	2822	1993	1984	2094	1874	0	0	0	0	0	0	26.22	26.18	26.23
6605	0.51	239.7	2821	1989	2094	1875	105.7	11.9	1205	6613	0.00	2.22	0.00	0.000	644	0.000	0.044	2832	594	1984	2094	1874	0	0	0	0	0	0	26.22	26.17	26.22
6640	0.51	239.7	2832	594	2094	1875	101.2	12.2	1211	6649	0.05	2.25	0.00	0.000	5126	0.171	0.037	2808	2007	1984	2094	1875	0	0	0	0	0	0	26.07	26.17	26.16
6772	0.51	239.7	2807	2008	2093	1870	86.3	11.0	1236	6780	0.00	2.20	0.00	0.000	260	0.000	0.047	2797	3407	1983	2093	1874	0	0	0	0	0	0	26.22	26.16	26.22
6818	0.54	239.7	2796	3409	2092	1874	81.6	10.3	1244	6826	0.00	2.17	0.00	0.000	1158	0.000	0.031	2806	1994	1982	2091	1874	0	0	0	0	0	0	26.21	26.18	26.22
6951	0.56	259.7	2805	1990	2091	1874	68.9	9.1	1269	6977	0.00	2.22	17.67	0.760	8740	0.000	0.044	2817	592	1904	2018	1791	0	0	0	0	0	0	26.22	25.87	25.24
7047	0.69	312.3	2816	590	2016	1791	61.0	7.6	1286	7100	0.10	2.20	43.67	0.749	11430	0.161	0.036	2831	1998	1690	1803	1578	0	0	0	0	0	0	25.97	26.04	24.98
7226	0.73	324.7	2826	1998	1794	1574	42.9	9.4	1318	7241	0.00	2.25	10.32	0.681	8612	0.000	0.046	2822	3407	1641	1753	1530	0	0	0	0	0	0	26.06	25.81	25.25
7291	0.80	324.7	2821	3408	1755	1530	36.4	10.3	1329	7298	0.12	2.17	0.00	0.000	3206	0.172	0.031	2862	1998	1639	1749	1529	0	0	0	0	0	0	25.89	25.98	26.00
7425	0.82	324.7	2862	1993	1748	1524	21.8	10.0	1354	7431	0.00	2.20	0.00	0.000	644	0.000	0.044	2873	592	1635	1747	1524	0	0	0	0	0	0	26.13	26.08	26.13
7544	0.99	388.0	2873	591	1743	1524	12.0	7.1	1376	7604	0.20	2.20	50.92	0.695	11430	0.112	0.037	2922	2002	1382	1507	1257	0	0	0	0	0	0	26.08	26.11	25.02
7686	end climb: SURFACE_DEPTH_REACHED
state	7687	begin surface coast
7723	end surface coast: CONTROL_FINISHED_OK
state	7723	begin surface