Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 74 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 46 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 40 ALTIM_PULSE 2

DIVE 74 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 500 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 170 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 200 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 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 146.0

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 146.0 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 170

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 200

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 74 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 46 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 40 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 500 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 050822,165509,4449.6968,-12457.1367,6,0.7,26,15.1,1.7,182.9,12,2.4 SPEED_LIMITS 0.170,0.207

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.143,-12455.328

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.62 MHEAD_RNG_PITCHd_Wd 54.5,2818,-22.3,-9.804,-25.31,2293

_SM_ANGLEo -60.4 D_GRID 635

GPS2 050822,170732,4449.6128,-12457.3389,3,0.6,4,15.1,1.0,215.7,12,4.9

Post-dive calculations and measurements:

NEWHEAD 157.500,104.54,8594.76 _24V_AH 23.70,13.164

FINISH 0.2,1.023118 _10V_AH 10.23,11.080

SM_CCo 9771,109.62,0.685,0,0,929,500.17 FG_AHR_24Vo 0.000

SM_GC 0.54,7.82,0.30,109.62,0.055,0.047,0.685,170,2239,929,-7.47,-1.05,500.17,0,0,0,0,0,0,25.75,25.73,24.66 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.52,-12458.03,050822,144705 MEM 220756

TT8_MAMPS 0.023968,0.274134 DATA_FILE_SIZE 59858,1761

HUMID 37.59 CAP_FILE_SIZE 635973,0

INTERNAL_PRESSURE 8.43396 CFSIZE 260030464,233332736

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

XPDR_PINGS 0 GPS 050822,195402,4449.619,-12457.090,24,0.9,25,15.1,1.3,202.1,9,4.7

SC_FREEKB 3789056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 251 117.21 nil 0 0 0.00

Roll_motor 136 48 158.01 nil 0 0 0.00

VBD_pump_during_apogee 428 1139 11579.07 nil 0 0 0.00

VBD_pump_during_surface 109 685 1780.85 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 9759 6 1432.14

Iridium_during_xfer 554 105 1386.68 Edison 7533 10 1785.32

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.08

TT8 4186 13 598.36

LPSleep 846 2 18.96

TT8_Active 816 13 110.43

TT8_Sampling 3923 39 1582.81

TT8_CF8 833 49 425.65

TT8_Kalman 0 0 0.00

Analog_circuits 2836 10 290.21

GPS_charging 0 0 0.00

Compass 2751 8 231.96

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

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

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

Guidance and control:

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.64 -146.0 171 2223 1053 788 0.0 0.0 0 109 0.00 0.00 -92.80 0.005 16386 0.000 0.000 172 2224 3212 3179 3246 0 0 0 0 0 0 26.01 28.83 26.03

112 -0.64 -146.0 171 2224 3181 3246 3.9 -8.3 15 134 8.68 1.73 -6.38 0.013 18980 0.212 0.046 2403 1118 3568 3539 3598 0 0 0 0 0 0 25.77 24.80 25.95

158 -0.42 -146.0 2402 1111 3546 3598 18.4 -26.4 22 165 0.30 1.70 0.00 0.000 3206 0.157 0.041 2476 2190 3572 3547 3598 0 0 0 0 0 0 25.88 26.01 26.03

291 -0.52 -146.0 2476 2190 3551 3594 33.4 -10.3 47 298 0.00 1.67 0.00 0.000 388 0.000 0.048 2470 3263 3574 3552 3597 0 0 0 0 0 0 26.13 26.03 26.13

363 -0.68 -146.0 2469 3262 3554 3596 40.2 -8.5 60 371 0.20 1.60 0.00 0.000 5286 0.122 0.029 2414 2203 3575 3554 3597 0 0 0 0 0 0 26.00 26.10 26.13

498 -0.72 -146.0 2413 2200 3555 3597 52.3 -8.3 85 504 0.00 0.00 0.00 0.000 166 0.000 0.000 2413 2201 3576 3555 3597 0 0 0 0 0 0 26.17 26.17 26.17

630 -0.78 -146.0 2409 2200 3562 3597 63.2 -7.7 110 637 0.10 1.67 0.00 0.000 4516 0.108 0.044 2367 3266 3577 3557 3597 0 0 0 0 0 0 26.10 26.10 26.17

652 -0.80 -146.0 2366 3266 3557 3597 65.1 -8.6 113 660 0.00 1.67 0.00 0.000 1190 0.000 0.030 2373 2203 3577 3558 3596 0 0 0 0 0 0 26.19 26.13 26.17

784 -0.80 -146.0 2372 2195 3557 3597 78.8 -10.7 138 791 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2195 3578 3557 3600 0 0 0 0 0 0 26.17 26.19 26.18

916 -0.80 -146.0 2372 2194 3558 3597 92.1 -9.8 163 924 0.00 1.70 0.00 0.000 260 0.000 0.046 2366 3254 3577 3557 3597 0 0 0 0 0 0 26.18 26.10 26.18

936 -0.80 -146.0 2366 3254 3558 3597 94.2 -10.2 166 943 0.00 1.62 0.00 0.000 1030 0.000 0.030 2378 2181 3577 3558 3597 0 0 0 0 0 0 26.17 26.13 26.18

1071 -0.82 -146.0 2372 2177 3557 3597 107.4 -9.6 191 1078 0.00 1.58 0.00 0.000 676 0.000 0.036 2380 1140 3577 3558 3597 0 0 0 0 0 0 26.18 26.13 26.18

1104 -0.87 -146.0 2380 1139 3558 3597 110.4 -9.4 196 1111 0.00 1.67 0.00 0.000 1190 0.000 0.039 2375 2211 3577 3558 3597 0 0 0 0 0 0 26.17 26.10 26.17

1236 -0.91 -146.0 2374 2211 3558 3597 122.7 -9.0 221 1244 0.10 1.62 0.00 0.000 4516 0.130 0.046 2336 3252 3577 3558 3597 0 0 0 0 0 0 26.05 26.08 26.15

1299 -0.91 -146.0 2335 3252 3558 3597 129.5 -11.4 232 1306 0.00 1.60 0.00 0.000 1030 0.000 0.030 2342 2202 3578 3559 3597 0 0 0 0 0 0 26.16 26.12 26.17

1433 -0.91 -146.0 2341 2195 3557 3592 144.7 -11.2 257 1441 0.00 1.65 0.00 0.000 516 0.000 0.037 2350 1139 3576 3556 3597 0 0 0 0 0 0 26.17 26.10 26.17

1485 -0.94 -146.0 2349 1139 3561 3596 150.3 -10.2 266 1492 0.00 1.67 0.00 0.000 1158 0.000 0.040 2344 2208 3577 3558 3596 0 0 0 0 0 0 26.17 26.10 26.17

1619 -0.94 -146.0 2343 2209 3557 3596 164.7 -11.0 291 1626 0.00 1.62 0.00 0.000 260 0.000 0.048 2335 3252 3577 3558 3596 0 0 0 0 0 0 26.17 26.08 26.17

1693 -0.94 -146.0 2335 3252 3558 3596 172.6 -10.9 304 1700 0.00 1.60 0.00 0.000 1030 0.000 0.030 2342 2198 3577 3557 3597 0 0 0 0 0 0 26.17 26.13 26.18

1825 -0.94 -146.0 2341 2192 3558 3596 186.8 -10.3 329 1831 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2192 3575 3558 3592 0 0 0 0 0 0 26.18 26.18 26.18

1958 -0.94 -146.0 2341 2195 3558 3596 200.7 -10.3 354 1964 0.00 1.67 0.00 0.000 260 0.000 0.047 2336 3260 3576 3557 3595 0 0 0 0 0 0 26.17 26.10 26.18

2013 -0.94 -146.0 2335 3260 3558 3595 206.8 -10.5 364 2020 0.00 1.62 0.00 0.000 1030 0.000 0.029 2342 2185 3576 3557 3595 0 0 0 0 0 0 26.16 26.11 26.16

2149 -0.94 -146.0 2341 2181 3557 3594 220.3 -10.2 389 2156 0.00 1.67 0.00 0.000 260 0.000 0.047 2336 3251 3576 3558 3594 0 0 0 0 0 0 26.18 26.09 26.18

2195 -0.96 -146.0 2335 3252 3557 3595 224.9 -9.9 397 2202 0.00 1.60 0.00 0.000 1158 0.000 0.030 2342 2208 3576 3558 3595 0 0 0 0 0 0 26.15 26.10 26.16

2332 -0.96 -146.0 2340 2198 3557 3594 238.6 -10.2 422 2339 0.00 1.65 0.00 0.000 260 0.000 0.047 2336 3253 3575 3557 3594 0 0 0 0 0 0 26.16 26.07 26.16

2431 -0.96 -146.0 2340 3253 3557 3593 247.9 -9.8 440 2438 0.00 1.62 0.00 0.000 1030 0.000 0.031 2342 2184 3573 3557 3590 0 0 0 0 0 0 26.15 26.10 26.16

2564 -0.96 -146.0 2341 2179 3558 3592 260.7 -9.3 465 2570 0.00 1.70 0.00 0.000 292 0.000 0.047 2335 3260 3574 3557 3592 0 0 0 0 0 0 26.17 26.08 26.19

2627 -0.99 -146.0 2335 3260 3558 3592 266.5 -9.1 476 2635 0.10 1.62 0.00 0.000 5286 0.142 0.030 2298 2195 3574 3558 3591 0 0 0 0 0 0 26.03 26.11 26.13

2765 -0.92 -146.0 2297 2190 3558 3591 283.1 -13.3 501 2773 0.05 1.67 0.00 0.000 2436 0.232 0.047 2301 3257 3574 3558 3590 0 0 0 0 0 0 25.96 26.08 26.11

2899 -0.88 -146.0 2300 3257 3558 3590 299.9 -11.8 526 2907 0.08 1.62 0.00 0.000 3206 0.234 0.031 2320 2197 3574 3558 3590 0 0 0 0 0 0 25.89 26.10 26.08

3036 -0.86 -146.0 2319 2191 3558 3589 315.1 -10.9 551 3043 0.00 1.62 0.00 0.000 644 0.000 0.037 2328 1136 3573 3558 3589 0 0 0 0 0 0 26.15 26.09 26.15

3077 -0.86 -146.0 2327 1135 3557 3589 319.6 -10.3 558 3085 0.00 1.67 0.00 0.000 1030 0.000 0.040 2324 2195 3573 3558 3589 0 0 0 0 0 0 26.15 26.08 26.15

3211 -0.86 -146.0 2321 2196 3558 3588 334.5 -11.7 583 3218 0.00 1.67 0.00 0.000 260 0.000 0.048 2313 3268 3572 3558 3587 0 0 0 0 0 0 26.16 26.07 26.19

3347 -0.86 -146.0 2312 3268 3558 3587 349.8 -10.9 608 3355 0.00 1.67 0.00 0.000 1030 0.000 0.031 2319 2198 3572 3558 3587 0 0 0 0 0 0 26.12 26.09 26.13

3483 -0.86 -146.0 2318 2195 3558 3586 365.5 -11.6 633 3491 0.00 1.67 0.00 0.000 260 0.000 0.047 2313 3262 3572 3558 3586 0 0 0 0 0 0 26.15 26.05 26.15

3576 -0.86 -146.0 2312 3263 3557 3585 376.0 -11.6 650 3584 0.05 1.62 0.00 0.000 3078 0.252 0.029 2327 2193 3571 3558 3585 0 0 0 0 0 0 25.89 26.07 26.08

3712 -0.86 -146.0 2326 2187 3558 3585 392.0 -11.6 675 3721 0.00 1.75 0.00 0.000 260 0.000 0.049 2319 3267 3571 3557 3585 0 0 0 0 0 0 26.15 26.06 26.15

3812 -0.86 -146.0 2320 3267 3558 3584 403.5 -11.7 693 3819 0.00 1.62 0.00 0.000 1030 0.000 0.031 2326 2203 3570 3557 3584 0 0 0 0 0 0 26.13 26.08 26.17

3949 -0.86 -146.0 2325 2198 3557 3583 419.6 -11.4 718 3957 0.00 1.67 0.00 0.000 260 0.000 0.047 2319 3263 3570 3558 3582 0 0 0 0 0 0 26.13 26.02 26.12

4055 -0.86 -146.0 2319 3263 3557 3582 431.5 -11.1 737 4062 0.00 1.62 0.00 0.000 1030 0.000 0.029 2328 2197 3570 3558 3582 0 0 0 0 0 0 26.13 26.06 26.14

4190 -0.86 -146.0 2326 2192 3557 3582 446.8 -11.3 762 4198 0.00 1.70 0.00 0.000 260 0.000 0.049 2320 3268 3570 3558 3582 0 0 0 0 0 0 26.15 26.05 26.15

4305 -0.86 -146.0 2320 3268 3557 3581 459.2 -10.3 783 4312 0.00 1.65 0.00 0.000 1030 0.000 0.031 2326 2187 3567 3553 3581 0 0 0 0 0 0 26.13 26.08 26.14

4440 -0.86 -146.0 2326 2183 3564 3580 472.8 -9.7 808 4448 0.00 1.70 0.00 0.000 292 0.000 0.048 2320 3263 3568 3557 3580 0 0 0 0 0 0 26.14 26.03 26.13

4560 -0.86 -146.0 2320 3263 3558 3579 483.9 -10.0 830 4567 0.00 1.62 0.00 0.000 1030 0.000 0.030 2326 2200 3569 3560 3579 0 0 0 0 0 0 26.14 26.08 26.14

4697 -0.86 -146.0 2326 2195 3557 3579 497.8 -10.8 855 4704 0.00 1.62 0.00 0.000 516 0.000 0.037 2331 1138 3568 3557 3579 0 0 0 0 0 0 26.12 26.07 26.13

4723 end dive: TARGET_DEPTH_EXCEEDED

state 4723 begin apogee

4730 -0.11 0.0 2330 2008 3558 3578 500.4 -10.1 859 4855 0.82 0.00 118.68 1.140 10246 0.156 0.000 2567 2009 2967 3025 2909 0 0 0 0 0 0 25.81 24.92 24.19

4857 end apogee: CONTROL_FINISHED_OK

state 4857 begin climb

4859 0.64 146.0 2566 2009 3025 2909 503.0 0.0 877 4992 0.80 1.85 122.18 1.096 10756 0.102 0.036 2823 949 2368 2464 2273 0 0 0 0 0 0 25.03 24.39 23.70

5062 0.61 146.0 2822 948 2461 2273 485.8 12.5 908 5069 0.00 1.73 0.00 0.000 1158 0.000 0.036 2817 2010 2366 2461 2272 0 0 0 0 0 0 25.27 25.22 25.27

5197 0.56 146.0 2816 2010 2455 2271 468.9 12.1 933 5204 0.00 1.67 0.00 0.000 644 0.000 0.037 2822 944 2363 2455 2271 0 0 0 0 0 0 25.77 25.72 25.77

5229 0.52 146.0 2822 944 2456 2271 465.3 11.5 938 5236 0.00 1.67 0.00 0.000 1158 0.000 0.037 2818 2004 2363 2455 2271 0 0 0 0 0 0 25.84 25.79 25.84

5363 0.48 146.0 2816 2004 2454 2271 449.0 12.0 963 5371 0.10 0.00 0.00 0.000 4230 0.181 0.000 2795 2004 2362 2453 2271 0 0 0 0 0 0 25.82 25.99 25.96

5501 0.48 146.0 2792 2004 2453 2270 433.1 11.3 988 5508 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 938 2362 2453 2271 0 0 0 0 0 0 26.10 26.04 26.10

5520 0.48 146.0 2801 938 2452 2270 431.0 11.1 991 5528 0.00 1.70 0.00 0.000 1030 0.000 0.036 2796 1993 2362 2453 2271 0 0 0 0 0 0 26.07 26.03 26.09

5657 0.48 146.0 2795 1993 2451 2270 416.1 11.1 1016 5664 0.00 1.62 0.00 0.000 516 0.000 0.037 2802 940 2361 2452 2270 0 0 0 0 0 0 26.13 26.08 26.13

5710 0.48 146.0 2802 940 2452 2270 410.3 11.0 1025 5717 0.00 1.67 0.00 0.000 1030 0.000 0.036 2796 2010 2360 2451 2270 0 0 0 0 0 0 26.13 26.08 26.13

5846 0.48 146.0 2795 2010 2450 2270 394.8 11.0 1050 5853 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 940 2360 2450 2271 0 0 0 0 0 0 26.14 26.08 26.15

5927 0.48 146.0 2802 940 2450 2270 385.5 11.6 1065 5935 0.00 1.70 0.00 0.000 1030 0.000 0.037 2796 1996 2359 2450 2268 0 0 0 0 0 0 26.12 26.08 26.13

6064 0.48 146.0 2795 1996 2449 2270 369.5 12.1 1090 6071 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 933 2360 2451 2270 0 0 0 0 0 0 26.15 26.09 26.15

6139 0.48 146.0 2802 936 2449 2270 361.0 10.8 1104 6146 0.00 1.67 0.00 0.000 1030 0.000 0.036 2796 2006 2359 2449 2270 0 0 0 0 0 0 26.15 26.07 26.16

6274 0.48 146.0 2795 2007 2448 2269 346.6 10.6 1129 6282 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 936 2359 2449 2269 0 0 0 0 0 0 26.16 26.10 26.16

6341 0.48 151.4 2802 936 2448 2269 339.9 9.6 1141 6348 0.00 1.67 0.00 0.000 1062 0.000 0.037 2797 2008 2358 2448 2269 0 0 0 0 0 0 26.14 26.08 26.14

6478 0.48 151.4 2796 2008 2447 2269 326.0 10.3 1166 6485 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 938 2358 2447 2269 0 0 0 0 0 0 26.15 26.09 26.15

6545 0.48 151.4 2802 938 2447 2269 318.8 10.4 1178 6553 0.00 1.70 0.00 0.000 1030 0.000 0.037 2796 1995 2358 2447 2269 0 0 0 0 0 0 26.10 26.06 26.12

6683 0.48 151.4 2796 1995 2446 2268 304.3 10.5 1203 6690 0.00 1.62 0.00 0.000 516 0.000 0.037 2802 940 2357 2447 2268 0 0 0 0 0 0 26.15 26.06 26.15

6776 0.48 154.5 2802 941 2446 2269 295.1 9.7 1220 6789 0.00 1.67 6.57 0.845 9254 0.000 0.037 2796 2008 2334 2429 2240 0 0 0 0 0 0 26.14 26.08 25.10

6918 0.48 154.5 2796 2008 2429 2245 280.2 11.0 1246 6925 0.00 1.65 0.00 0.000 516 0.000 0.036 2802 941 2334 2429 2239 0 0 0 0 0 0 26.11 26.06 26.10

6960 0.51 154.5 2802 940 2429 2240 275.8 10.4 1253 6967 0.00 1.67 0.00 0.000 1158 0.000 0.037 2796 2008 2333 2429 2238 0 0 0 0 0 0 26.12 26.06 26.13

7097 0.51 154.5 2796 2007 2427 2239 261.3 10.6 1278 7103 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 940 2333 2428 2239 0 0 0 0 0 0 26.15 26.08 26.15

7189 0.53 154.5 2802 940 2428 2239 251.3 10.5 1295 7198 0.00 1.70 0.00 0.000 1158 0.000 0.037 2800 1992 2334 2428 2240 0 0 0 0 0 0 26.12 26.08 26.13

7328 0.53 154.5 2796 1992 2426 2238 236.9 10.1 1320 7335 0.00 1.62 0.00 0.000 516 0.000 0.037 2802 940 2333 2428 2239 0 0 0 0 0 0 26.12 26.07 26.13

7422 0.55 156.0 2802 940 2428 2239 227.7 9.7 1337 7429 0.00 1.67 0.00 0.000 1190 0.000 0.037 2797 2006 2333 2428 2238 0 0 0 0 0 0 26.11 26.05 26.13

7559 0.55 156.0 2796 2007 2428 2239 214.5 10.2 1362 7566 0.00 1.65 0.00 0.000 516 0.000 0.037 2802 938 2333 2428 2238 0 0 0 0 0 0 26.13 26.08 26.14

7653 0.58 158.0 2802 937 2427 2238 204.8 9.7 1379 7659 0.00 1.67 0.00 0.000 1190 0.000 0.037 2797 2006 2335 2432 2239 0 0 0 0 0 0 26.13 26.07 26.13

7787 0.58 158.0 2796 2006 2427 2238 191.4 10.5 1404 7793 0.00 1.62 0.00 0.000 260 0.000 0.044 2788 3055 2332 2426 2238 0 0 0 0 0 0 26.14 26.05 26.14

7848 0.58 158.0 2788 3055 2424 2238 185.0 10.7 1415 7855 0.00 1.60 0.00 0.000 1030 0.000 0.028 2794 1995 2329 2421 2238 0 0 0 0 0 0 26.13 26.08 26.15

7980 0.58 159.7 2794 1991 2424 2238 171.4 9.7 1440 7994 0.00 1.67 5.82 0.756 8484 0.000 0.044 2788 3057 2313 2410 2217 0 0 0 0 0 0 26.13 25.97 25.12

8022 0.58 159.7 2788 3057 2408 2216 167.0 10.4 1447 8029 0.00 1.60 0.00 0.000 1030 0.000 0.028 2794 2001 2315 2415 2216 0 0 0 0 0 0 26.08 26.02 26.08

8155 0.58 159.7 2794 1996 2408 2217 153.2 10.9 1472 8162 0.00 1.62 0.00 0.000 516 0.000 0.038 2802 944 2312 2408 2216 0 0 0 0 0 0 26.12 26.05 26.13

8264 0.62 159.7 2802 944 2408 2217 141.6 10.7 1492 8272 0.00 1.70 0.00 0.000 1158 0.000 0.037 2796 2000 2312 2408 2217 0 0 0 0 0 0 26.09 26.05 26.09

8401 0.65 159.7 2796 2000 2409 2217 126.9 10.5 1517 8409 0.08 1.65 0.00 0.000 2692 0.171 0.037 2822 947 2312 2408 2217 0 0 0 0 0 0 25.97 26.06 26.08

8459 0.65 159.7 2824 946 2408 2216 120.4 11.1 1527 8466 0.00 1.65 0.00 0.000 1030 0.000 0.037 2819 2002 2312 2408 2217 0 0 0 0 0 0 26.10 26.04 26.12

8594 0.65 159.7 2818 2003 2408 2217 105.3 10.8 1552 8601 0.00 1.62 0.00 0.000 516 0.000 0.036 2825 951 2312 2408 2217 0 0 0 0 0 0 26.12 26.06 26.12

8691 0.65 159.7 2824 952 2410 2217 94.9 10.6 1570 8698 0.00 1.65 0.00 0.000 1030 0.000 0.037 2819 2007 2312 2408 2217 0 0 0 0 0 0 26.12 26.06 26.13

8824 0.65 159.7 2818 2006 2408 2216 81.1 10.0 1595 8830 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2006 2312 2407 2217 0 0 0 0 0 0 26.12 26.13 26.13

8956 0.66 172.5 2818 2007 2408 2213 68.6 9.2 1620 8975 0.00 0.00 12.57 0.773 8230 0.000 0.000 2819 2006 2258 2365 2152 0 0 0 0 0 0 26.13 25.70 25.15

9102 0.66 172.5 2819 2007 2363 2150 54.0 11.4 1647 9109 0.00 1.65 0.00 0.000 516 0.000 0.035 2825 942 2257 2364 2151 0 0 0 0 0 0 26.08 26.01 26.08

9242 0.71 180.9 2825 942 2364 2151 39.7 9.4 1673 9258 0.03 1.70 8.20 0.704 11430 0.195 0.037 2827 1996 2226 2339 2114 0 0 0 0 0 0 25.88 26.03 25.18

9387 0.82 275.6 2826 1995 2336 2114 29.9 5.6 1699 9472 0.15 1.70 75.82 0.741 11172 0.164 0.038 2880 954 1840 1972 1708 0 0 0 0 0 0 25.89 25.38 24.81

9485 0.85 305.7 2879 954 1966 1708 22.8 8.5 1714 9519 0.00 1.67 24.65 0.701 9254 0.000 0.035 2874 2003 1721 1850 1592 0 0 0 0 0 0 25.62 25.57 24.80

9646 1.02 373.2 2874 2004 1827 1592 10.6 6.8 1743 9704 0.20 0.00 54.12 0.698 10662 0.120 0.000 2933 2006 1441 1561 1321 0 0 0 0 0 0 25.77 25.37 24.83

9736 end climb: SURFACE_DEPTH_REACHED

state 9736 begin surface coast

9754 end surface coast: CONTROL_FINISHED_OK

state 9754 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	46	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	40	ALTIM_PULSE	2
DIVE	74	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	500	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	170	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	200	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	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	146.0
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	050822,165509,4449.6968,-12457.1367,6,0.7,26,15.1,1.7,182.9,12,2.4	SPEED_LIMITS	0.170,0.207
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.143,-12455.328
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.62	MHEAD_RNG_PITCHd_Wd	54.5,2818,-22.3,-9.804,-25.31,2293
_SM_ANGLEo	-60.4	D_GRID	635
GPS2	050822,170732,4449.6128,-12457.3389,3,0.6,4,15.1,1.0,215.7,12,4.9

NEWHEAD	157.500,104.54,8594.76	_24V_AH	23.70,13.164
FINISH	0.2,1.023118	_10V_AH	10.23,11.080
SM_CCo	9771,109.62,0.685,0,0,929,500.17	FG_AHR_24Vo	0.000
SM_GC	0.54,7.82,0.30,109.62,0.055,0.047,0.685,170,2239,929,-7.47,-1.05,500.17,0,0,0,0,0,0,25.75,25.73,24.66	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.52,-12458.03,050822,144705	MEM	220756
TT8_MAMPS	0.023968,0.274134	DATA_FILE_SIZE	59858,1761
HUMID	37.59	CAP_FILE_SIZE	635973,0
INTERNAL_PRESSURE	8.43396	CFSIZE	260030464,233332736
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	050822,195402,4449.619,-12457.090,24,0.9,25,15.1,1.3,202.1,9,4.7
SC_FREEKB	3789056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	251	117.21	nil	0	0	0.00
Roll_motor	136	48	158.01	nil	0	0	0.00
VBD_pump_during_apogee	428	1139	11579.07	nil	0	0	0.00
VBD_pump_during_surface	109	685	1780.85	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	9759	6	1432.14
Iridium_during_xfer	554	105	1386.68	Edison	7533	10	1785.32
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.08
TT8	4186	13	598.36
LPSleep	846	2	18.96
TT8_Active	816	13	110.43
TT8_Sampling	3923	39	1582.81
TT8_CF8	833	49	425.65
TT8_Kalman	0	0	0.00
Analog_circuits	2836	10	290.21
GPS_charging	0	0	0.00
Compass	2751	8	231.96
RAFOS	0	0	0.00
Transponder	0	5	0.03

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.64	-146.0	171	2223	1053	788	0.0	0.0	0	109	0.00	0.00	-92.80	0.005	16386	0.000	0.000	172	2224	3212	3179	3246	0	0	0	0	0	0	26.01	28.83	26.03
112	-0.64	-146.0	171	2224	3181	3246	3.9	-8.3	15	134	8.68	1.73	-6.38	0.013	18980	0.212	0.046	2403	1118	3568	3539	3598	0	0	0	0	0	0	25.77	24.80	25.95
158	-0.42	-146.0	2402	1111	3546	3598	18.4	-26.4	22	165	0.30	1.70	0.00	0.000	3206	0.157	0.041	2476	2190	3572	3547	3598	0	0	0	0	0	0	25.88	26.01	26.03
291	-0.52	-146.0	2476	2190	3551	3594	33.4	-10.3	47	298	0.00	1.67	0.00	0.000	388	0.000	0.048	2470	3263	3574	3552	3597	0	0	0	0	0	0	26.13	26.03	26.13
363	-0.68	-146.0	2469	3262	3554	3596	40.2	-8.5	60	371	0.20	1.60	0.00	0.000	5286	0.122	0.029	2414	2203	3575	3554	3597	0	0	0	0	0	0	26.00	26.10	26.13
498	-0.72	-146.0	2413	2200	3555	3597	52.3	-8.3	85	504	0.00	0.00	0.00	0.000	166	0.000	0.000	2413	2201	3576	3555	3597	0	0	0	0	0	0	26.17	26.17	26.17
630	-0.78	-146.0	2409	2200	3562	3597	63.2	-7.7	110	637	0.10	1.67	0.00	0.000	4516	0.108	0.044	2367	3266	3577	3557	3597	0	0	0	0	0	0	26.10	26.10	26.17
652	-0.80	-146.0	2366	3266	3557	3597	65.1	-8.6	113	660	0.00	1.67	0.00	0.000	1190	0.000	0.030	2373	2203	3577	3558	3596	0	0	0	0	0	0	26.19	26.13	26.17
784	-0.80	-146.0	2372	2195	3557	3597	78.8	-10.7	138	791	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2195	3578	3557	3600	0	0	0	0	0	0	26.17	26.19	26.18
916	-0.80	-146.0	2372	2194	3558	3597	92.1	-9.8	163	924	0.00	1.70	0.00	0.000	260	0.000	0.046	2366	3254	3577	3557	3597	0	0	0	0	0	0	26.18	26.10	26.18
936	-0.80	-146.0	2366	3254	3558	3597	94.2	-10.2	166	943	0.00	1.62	0.00	0.000	1030	0.000	0.030	2378	2181	3577	3558	3597	0	0	0	0	0	0	26.17	26.13	26.18
1071	-0.82	-146.0	2372	2177	3557	3597	107.4	-9.6	191	1078	0.00	1.58	0.00	0.000	676	0.000	0.036	2380	1140	3577	3558	3597	0	0	0	0	0	0	26.18	26.13	26.18
1104	-0.87	-146.0	2380	1139	3558	3597	110.4	-9.4	196	1111	0.00	1.67	0.00	0.000	1190	0.000	0.039	2375	2211	3577	3558	3597	0	0	0	0	0	0	26.17	26.10	26.17
1236	-0.91	-146.0	2374	2211	3558	3597	122.7	-9.0	221	1244	0.10	1.62	0.00	0.000	4516	0.130	0.046	2336	3252	3577	3558	3597	0	0	0	0	0	0	26.05	26.08	26.15
1299	-0.91	-146.0	2335	3252	3558	3597	129.5	-11.4	232	1306	0.00	1.60	0.00	0.000	1030	0.000	0.030	2342	2202	3578	3559	3597	0	0	0	0	0	0	26.16	26.12	26.17
1433	-0.91	-146.0	2341	2195	3557	3592	144.7	-11.2	257	1441	0.00	1.65	0.00	0.000	516	0.000	0.037	2350	1139	3576	3556	3597	0	0	0	0	0	0	26.17	26.10	26.17
1485	-0.94	-146.0	2349	1139	3561	3596	150.3	-10.2	266	1492	0.00	1.67	0.00	0.000	1158	0.000	0.040	2344	2208	3577	3558	3596	0	0	0	0	0	0	26.17	26.10	26.17
1619	-0.94	-146.0	2343	2209	3557	3596	164.7	-11.0	291	1626	0.00	1.62	0.00	0.000	260	0.000	0.048	2335	3252	3577	3558	3596	0	0	0	0	0	0	26.17	26.08	26.17
1693	-0.94	-146.0	2335	3252	3558	3596	172.6	-10.9	304	1700	0.00	1.60	0.00	0.000	1030	0.000	0.030	2342	2198	3577	3557	3597	0	0	0	0	0	0	26.17	26.13	26.18
1825	-0.94	-146.0	2341	2192	3558	3596	186.8	-10.3	329	1831	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2192	3575	3558	3592	0	0	0	0	0	0	26.18	26.18	26.18
1958	-0.94	-146.0	2341	2195	3558	3596	200.7	-10.3	354	1964	0.00	1.67	0.00	0.000	260	0.000	0.047	2336	3260	3576	3557	3595	0	0	0	0	0	0	26.17	26.10	26.18
2013	-0.94	-146.0	2335	3260	3558	3595	206.8	-10.5	364	2020	0.00	1.62	0.00	0.000	1030	0.000	0.029	2342	2185	3576	3557	3595	0	0	0	0	0	0	26.16	26.11	26.16
2149	-0.94	-146.0	2341	2181	3557	3594	220.3	-10.2	389	2156	0.00	1.67	0.00	0.000	260	0.000	0.047	2336	3251	3576	3558	3594	0	0	0	0	0	0	26.18	26.09	26.18
2195	-0.96	-146.0	2335	3252	3557	3595	224.9	-9.9	397	2202	0.00	1.60	0.00	0.000	1158	0.000	0.030	2342	2208	3576	3558	3595	0	0	0	0	0	0	26.15	26.10	26.16
2332	-0.96	-146.0	2340	2198	3557	3594	238.6	-10.2	422	2339	0.00	1.65	0.00	0.000	260	0.000	0.047	2336	3253	3575	3557	3594	0	0	0	0	0	0	26.16	26.07	26.16
2431	-0.96	-146.0	2340	3253	3557	3593	247.9	-9.8	440	2438	0.00	1.62	0.00	0.000	1030	0.000	0.031	2342	2184	3573	3557	3590	0	0	0	0	0	0	26.15	26.10	26.16
2564	-0.96	-146.0	2341	2179	3558	3592	260.7	-9.3	465	2570	0.00	1.70	0.00	0.000	292	0.000	0.047	2335	3260	3574	3557	3592	0	0	0	0	0	0	26.17	26.08	26.19
2627	-0.99	-146.0	2335	3260	3558	3592	266.5	-9.1	476	2635	0.10	1.62	0.00	0.000	5286	0.142	0.030	2298	2195	3574	3558	3591	0	0	0	0	0	0	26.03	26.11	26.13
2765	-0.92	-146.0	2297	2190	3558	3591	283.1	-13.3	501	2773	0.05	1.67	0.00	0.000	2436	0.232	0.047	2301	3257	3574	3558	3590	0	0	0	0	0	0	25.96	26.08	26.11
2899	-0.88	-146.0	2300	3257	3558	3590	299.9	-11.8	526	2907	0.08	1.62	0.00	0.000	3206	0.234	0.031	2320	2197	3574	3558	3590	0	0	0	0	0	0	25.89	26.10	26.08
3036	-0.86	-146.0	2319	2191	3558	3589	315.1	-10.9	551	3043	0.00	1.62	0.00	0.000	644	0.000	0.037	2328	1136	3573	3558	3589	0	0	0	0	0	0	26.15	26.09	26.15
3077	-0.86	-146.0	2327	1135	3557	3589	319.6	-10.3	558	3085	0.00	1.67	0.00	0.000	1030	0.000	0.040	2324	2195	3573	3558	3589	0	0	0	0	0	0	26.15	26.08	26.15
3211	-0.86	-146.0	2321	2196	3558	3588	334.5	-11.7	583	3218	0.00	1.67	0.00	0.000	260	0.000	0.048	2313	3268	3572	3558	3587	0	0	0	0	0	0	26.16	26.07	26.19
3347	-0.86	-146.0	2312	3268	3558	3587	349.8	-10.9	608	3355	0.00	1.67	0.00	0.000	1030	0.000	0.031	2319	2198	3572	3558	3587	0	0	0	0	0	0	26.12	26.09	26.13
3483	-0.86	-146.0	2318	2195	3558	3586	365.5	-11.6	633	3491	0.00	1.67	0.00	0.000	260	0.000	0.047	2313	3262	3572	3558	3586	0	0	0	0	0	0	26.15	26.05	26.15
3576	-0.86	-146.0	2312	3263	3557	3585	376.0	-11.6	650	3584	0.05	1.62	0.00	0.000	3078	0.252	0.029	2327	2193	3571	3558	3585	0	0	0	0	0	0	25.89	26.07	26.08
3712	-0.86	-146.0	2326	2187	3558	3585	392.0	-11.6	675	3721	0.00	1.75	0.00	0.000	260	0.000	0.049	2319	3267	3571	3557	3585	0	0	0	0	0	0	26.15	26.06	26.15
3812	-0.86	-146.0	2320	3267	3558	3584	403.5	-11.7	693	3819	0.00	1.62	0.00	0.000	1030	0.000	0.031	2326	2203	3570	3557	3584	0	0	0	0	0	0	26.13	26.08	26.17
3949	-0.86	-146.0	2325	2198	3557	3583	419.6	-11.4	718	3957	0.00	1.67	0.00	0.000	260	0.000	0.047	2319	3263	3570	3558	3582	0	0	0	0	0	0	26.13	26.02	26.12
4055	-0.86	-146.0	2319	3263	3557	3582	431.5	-11.1	737	4062	0.00	1.62	0.00	0.000	1030	0.000	0.029	2328	2197	3570	3558	3582	0	0	0	0	0	0	26.13	26.06	26.14
4190	-0.86	-146.0	2326	2192	3557	3582	446.8	-11.3	762	4198	0.00	1.70	0.00	0.000	260	0.000	0.049	2320	3268	3570	3558	3582	0	0	0	0	0	0	26.15	26.05	26.15
4305	-0.86	-146.0	2320	3268	3557	3581	459.2	-10.3	783	4312	0.00	1.65	0.00	0.000	1030	0.000	0.031	2326	2187	3567	3553	3581	0	0	0	0	0	0	26.13	26.08	26.14
4440	-0.86	-146.0	2326	2183	3564	3580	472.8	-9.7	808	4448	0.00	1.70	0.00	0.000	292	0.000	0.048	2320	3263	3568	3557	3580	0	0	0	0	0	0	26.14	26.03	26.13
4560	-0.86	-146.0	2320	3263	3558	3579	483.9	-10.0	830	4567	0.00	1.62	0.00	0.000	1030	0.000	0.030	2326	2200	3569	3560	3579	0	0	0	0	0	0	26.14	26.08	26.14
4697	-0.86	-146.0	2326	2195	3557	3579	497.8	-10.8	855	4704	0.00	1.62	0.00	0.000	516	0.000	0.037	2331	1138	3568	3557	3579	0	0	0	0	0	0	26.12	26.07	26.13
4723	end dive: TARGET_DEPTH_EXCEEDED
state	4723	begin apogee
4730	-0.11	0.0	2330	2008	3558	3578	500.4	-10.1	859	4855	0.82	0.00	118.68	1.140	10246	0.156	0.000	2567	2009	2967	3025	2909	0	0	0	0	0	0	25.81	24.92	24.19
4857	end apogee: CONTROL_FINISHED_OK
state	4857	begin climb
4859	0.64	146.0	2566	2009	3025	2909	503.0	0.0	877	4992	0.80	1.85	122.18	1.096	10756	0.102	0.036	2823	949	2368	2464	2273	0	0	0	0	0	0	25.03	24.39	23.70
5062	0.61	146.0	2822	948	2461	2273	485.8	12.5	908	5069	0.00	1.73	0.00	0.000	1158	0.000	0.036	2817	2010	2366	2461	2272	0	0	0	0	0	0	25.27	25.22	25.27
5197	0.56	146.0	2816	2010	2455	2271	468.9	12.1	933	5204	0.00	1.67	0.00	0.000	644	0.000	0.037	2822	944	2363	2455	2271	0	0	0	0	0	0	25.77	25.72	25.77
5229	0.52	146.0	2822	944	2456	2271	465.3	11.5	938	5236	0.00	1.67	0.00	0.000	1158	0.000	0.037	2818	2004	2363	2455	2271	0	0	0	0	0	0	25.84	25.79	25.84
5363	0.48	146.0	2816	2004	2454	2271	449.0	12.0	963	5371	0.10	0.00	0.00	0.000	4230	0.181	0.000	2795	2004	2362	2453	2271	0	0	0	0	0	0	25.82	25.99	25.96
5501	0.48	146.0	2792	2004	2453	2270	433.1	11.3	988	5508	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	938	2362	2453	2271	0	0	0	0	0	0	26.10	26.04	26.10
5520	0.48	146.0	2801	938	2452	2270	431.0	11.1	991	5528	0.00	1.70	0.00	0.000	1030	0.000	0.036	2796	1993	2362	2453	2271	0	0	0	0	0	0	26.07	26.03	26.09
5657	0.48	146.0	2795	1993	2451	2270	416.1	11.1	1016	5664	0.00	1.62	0.00	0.000	516	0.000	0.037	2802	940	2361	2452	2270	0	0	0	0	0	0	26.13	26.08	26.13
5710	0.48	146.0	2802	940	2452	2270	410.3	11.0	1025	5717	0.00	1.67	0.00	0.000	1030	0.000	0.036	2796	2010	2360	2451	2270	0	0	0	0	0	0	26.13	26.08	26.13
5846	0.48	146.0	2795	2010	2450	2270	394.8	11.0	1050	5853	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	940	2360	2450	2271	0	0	0	0	0	0	26.14	26.08	26.15
5927	0.48	146.0	2802	940	2450	2270	385.5	11.6	1065	5935	0.00	1.70	0.00	0.000	1030	0.000	0.037	2796	1996	2359	2450	2268	0	0	0	0	0	0	26.12	26.08	26.13
6064	0.48	146.0	2795	1996	2449	2270	369.5	12.1	1090	6071	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	933	2360	2451	2270	0	0	0	0	0	0	26.15	26.09	26.15
6139	0.48	146.0	2802	936	2449	2270	361.0	10.8	1104	6146	0.00	1.67	0.00	0.000	1030	0.000	0.036	2796	2006	2359	2449	2270	0	0	0	0	0	0	26.15	26.07	26.16
6274	0.48	146.0	2795	2007	2448	2269	346.6	10.6	1129	6282	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	936	2359	2449	2269	0	0	0	0	0	0	26.16	26.10	26.16
6341	0.48	151.4	2802	936	2448	2269	339.9	9.6	1141	6348	0.00	1.67	0.00	0.000	1062	0.000	0.037	2797	2008	2358	2448	2269	0	0	0	0	0	0	26.14	26.08	26.14
6478	0.48	151.4	2796	2008	2447	2269	326.0	10.3	1166	6485	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	938	2358	2447	2269	0	0	0	0	0	0	26.15	26.09	26.15
6545	0.48	151.4	2802	938	2447	2269	318.8	10.4	1178	6553	0.00	1.70	0.00	0.000	1030	0.000	0.037	2796	1995	2358	2447	2269	0	0	0	0	0	0	26.10	26.06	26.12
6683	0.48	151.4	2796	1995	2446	2268	304.3	10.5	1203	6690	0.00	1.62	0.00	0.000	516	0.000	0.037	2802	940	2357	2447	2268	0	0	0	0	0	0	26.15	26.06	26.15
6776	0.48	154.5	2802	941	2446	2269	295.1	9.7	1220	6789	0.00	1.67	6.57	0.845	9254	0.000	0.037	2796	2008	2334	2429	2240	0	0	0	0	0	0	26.14	26.08	25.10
6918	0.48	154.5	2796	2008	2429	2245	280.2	11.0	1246	6925	0.00	1.65	0.00	0.000	516	0.000	0.036	2802	941	2334	2429	2239	0	0	0	0	0	0	26.11	26.06	26.10
6960	0.51	154.5	2802	940	2429	2240	275.8	10.4	1253	6967	0.00	1.67	0.00	0.000	1158	0.000	0.037	2796	2008	2333	2429	2238	0	0	0	0	0	0	26.12	26.06	26.13
7097	0.51	154.5	2796	2007	2427	2239	261.3	10.6	1278	7103	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	940	2333	2428	2239	0	0	0	0	0	0	26.15	26.08	26.15
7189	0.53	154.5	2802	940	2428	2239	251.3	10.5	1295	7198	0.00	1.70	0.00	0.000	1158	0.000	0.037	2800	1992	2334	2428	2240	0	0	0	0	0	0	26.12	26.08	26.13
7328	0.53	154.5	2796	1992	2426	2238	236.9	10.1	1320	7335	0.00	1.62	0.00	0.000	516	0.000	0.037	2802	940	2333	2428	2239	0	0	0	0	0	0	26.12	26.07	26.13
7422	0.55	156.0	2802	940	2428	2239	227.7	9.7	1337	7429	0.00	1.67	0.00	0.000	1190	0.000	0.037	2797	2006	2333	2428	2238	0	0	0	0	0	0	26.11	26.05	26.13
7559	0.55	156.0	2796	2007	2428	2239	214.5	10.2	1362	7566	0.00	1.65	0.00	0.000	516	0.000	0.037	2802	938	2333	2428	2238	0	0	0	0	0	0	26.13	26.08	26.14
7653	0.58	158.0	2802	937	2427	2238	204.8	9.7	1379	7659	0.00	1.67	0.00	0.000	1190	0.000	0.037	2797	2006	2335	2432	2239	0	0	0	0	0	0	26.13	26.07	26.13
7787	0.58	158.0	2796	2006	2427	2238	191.4	10.5	1404	7793	0.00	1.62	0.00	0.000	260	0.000	0.044	2788	3055	2332	2426	2238	0	0	0	0	0	0	26.14	26.05	26.14
7848	0.58	158.0	2788	3055	2424	2238	185.0	10.7	1415	7855	0.00	1.60	0.00	0.000	1030	0.000	0.028	2794	1995	2329	2421	2238	0	0	0	0	0	0	26.13	26.08	26.15
7980	0.58	159.7	2794	1991	2424	2238	171.4	9.7	1440	7994	0.00	1.67	5.82	0.756	8484	0.000	0.044	2788	3057	2313	2410	2217	0	0	0	0	0	0	26.13	25.97	25.12
8022	0.58	159.7	2788	3057	2408	2216	167.0	10.4	1447	8029	0.00	1.60	0.00	0.000	1030	0.000	0.028	2794	2001	2315	2415	2216	0	0	0	0	0	0	26.08	26.02	26.08
8155	0.58	159.7	2794	1996	2408	2217	153.2	10.9	1472	8162	0.00	1.62	0.00	0.000	516	0.000	0.038	2802	944	2312	2408	2216	0	0	0	0	0	0	26.12	26.05	26.13
8264	0.62	159.7	2802	944	2408	2217	141.6	10.7	1492	8272	0.00	1.70	0.00	0.000	1158	0.000	0.037	2796	2000	2312	2408	2217	0	0	0	0	0	0	26.09	26.05	26.09
8401	0.65	159.7	2796	2000	2409	2217	126.9	10.5	1517	8409	0.08	1.65	0.00	0.000	2692	0.171	0.037	2822	947	2312	2408	2217	0	0	0	0	0	0	25.97	26.06	26.08
8459	0.65	159.7	2824	946	2408	2216	120.4	11.1	1527	8466	0.00	1.65	0.00	0.000	1030	0.000	0.037	2819	2002	2312	2408	2217	0	0	0	0	0	0	26.10	26.04	26.12
8594	0.65	159.7	2818	2003	2408	2217	105.3	10.8	1552	8601	0.00	1.62	0.00	0.000	516	0.000	0.036	2825	951	2312	2408	2217	0	0	0	0	0	0	26.12	26.06	26.12
8691	0.65	159.7	2824	952	2410	2217	94.9	10.6	1570	8698	0.00	1.65	0.00	0.000	1030	0.000	0.037	2819	2007	2312	2408	2217	0	0	0	0	0	0	26.12	26.06	26.13
8824	0.65	159.7	2818	2006	2408	2216	81.1	10.0	1595	8830	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2006	2312	2407	2217	0	0	0	0	0	0	26.12	26.13	26.13
8956	0.66	172.5	2818	2007	2408	2213	68.6	9.2	1620	8975	0.00	0.00	12.57	0.773	8230	0.000	0.000	2819	2006	2258	2365	2152	0	0	0	0	0	0	26.13	25.70	25.15
9102	0.66	172.5	2819	2007	2363	2150	54.0	11.4	1647	9109	0.00	1.65	0.00	0.000	516	0.000	0.035	2825	942	2257	2364	2151	0	0	0	0	0	0	26.08	26.01	26.08
9242	0.71	180.9	2825	942	2364	2151	39.7	9.4	1673	9258	0.03	1.70	8.20	0.704	11430	0.195	0.037	2827	1996	2226	2339	2114	0	0	0	0	0	0	25.88	26.03	25.18
9387	0.82	275.6	2826	1995	2336	2114	29.9	5.6	1699	9472	0.15	1.70	75.82	0.741	11172	0.164	0.038	2880	954	1840	1972	1708	0	0	0	0	0	0	25.89	25.38	24.81
9485	0.85	305.7	2879	954	1966	1708	22.8	8.5	1714	9519	0.00	1.67	24.65	0.701	9254	0.000	0.035	2874	2003	1721	1850	1592	0	0	0	0	0	0	25.62	25.57	24.80
9646	1.02	373.2	2874	2004	1827	1592	10.6	6.8	1743	9704	0.20	0.00	54.12	0.698	10662	0.120	0.000	2933	2006	1441	1561	1321	0	0	0	0	0	0	25.77	25.37	24.83
9736	end climb: SURFACE_DEPTH_REACHED
state	9736	begin surface coast
9754	end surface coast: CONTROL_FINISHED_OK
state	9754	begin surface