Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 87 * 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 39 ALTIM_PULSE 2

DIVE 87 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 400 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 600 CALL_NDIVES 1 C_VBD 2968 INT_PRESSURE_YINT -1.4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 4 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 100 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 160 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 144.89999 SEABIRD_T_G 0.0044052354

D_OFFGRID 1000 C_PITCH 2625 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 200 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 45 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12781 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 0 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 30 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0050118701 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0163117 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 172.0

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 172.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1599577e-06

ALTIM_FREQUENCY 13 ED_UPLOADMAX 0.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PING_DELTA 0 ED_XMITPROFILE 7.0 PITCH_ADJ_DBAND 1 SM_CC 500

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 160 STOP_T 0

ALTIM_PULSE 2 FERRY_MAX 45 PITCH_CNV 0.003125763 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_GAIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_TRIES 5 HD_A 0.0050118701 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0163117 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_W_GAIN 0 T_DIVE 100

CAPUPLOAD 0 HEADING -1 PRESSURE_SLOPE 0.00010934046 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -133.12781 T_GPS 15

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.079999998 T_MISSION 160

COMPASS_DEVICE 33 ID 204 P_OVSHOOT_WITHG 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_CORR_THRESH 60 T_RSLEEP 1

COURSE_BIAS 0 INT_PRESSURE_YINT -1.4 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2625 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RHO 1.0275 USE_BATHY -2

DEEPGLIDER 0 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE1 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 4

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 30 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MASS 54196 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 87 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 200 R_STBD_OVSHOOT 39 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 0 SEABIRD_C_G -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 0 SEABIRD_C_I -0.0031189518

D_TGT 400 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 070822,025739,4450.4736,-12457.3994,6,0.9,18,15.1,0.5,193.9,10,2.7 SPEED_LIMITS 0.231,0.259

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.017,-12455.452

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.63 MHEAD_RNG_PITCHd_Wd 89.1,2877,-24.8,-13.333,-27.27,2246

_SM_ANGLEo -64.9 D_GRID 703

GPS2 070822,030923,4450.3979,-12457.5762,3,1.0,5,15.1,0.7,253.1,10,7.4

Post-dive calculations and measurements:

NEWHEAD 316.700,258.02,4306.79 _24V_AH 23.84,15.284

FINISH -0.2,1.023265 _10V_AH 10.20,12.579

SM_CCo 6244,106.28,0.703,0,0,928,500.17 FG_AHR_24Vo 0.000

SM_GC 0.60,7.80,1.35,106.28,0.050,0.024,0.703,163,2203,928,-7.48,1.30,500.17,0,0,0,0,0,0,25.87,25.84,24.71 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.39,-12455.54,070822,010336 MEM 220800

TT8_MAMPS 0.023968,0.283871 DATA_FILE_SIZE 36597,1094

HUMID 37.43 CAP_FILE_SIZE 412338,0

INTERNAL_PRESSURE 8.44372 CFSIZE 260030464,230809600

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 070822,045709,4450.704,-12458.047,20,0.9,29,15.1,1.2,186.9,11,2.7

SC_FREEKB 3784896

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 286 133.02 nil 0 0 0.00

Roll_motor 109 55 143.72 nil 0 0 0.00

VBD_pump_during_apogee 461 1039 11439.47 nil 0 0 0.00

VBD_pump_during_surface 106 703 1781.21 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 6229 6 969.11

Iridium_during_xfer 519 102 1269.88 Edison 6683 10 1593.23

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 12 2.37

TT8 2526 13 360.02

LPSleep 516 2 11.54

TT8_Active 790 13 106.65

TT8_Sampling 2595 39 1044.04

TT8_CF8 614 49 312.80

TT8_Kalman 0 0 0.00

Analog_circuits 2369 10 241.65

GPS_charging 0 0 0.00

Compass 1705 8 143.35

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 -0.75 -194.6 162 2218 1051 793 0.0 0.0 0 122 0.00 0.00 -106.68 0.005 16386 0.000 0.000 163 2217 3570 3523 3617 0 0 0 0 0 0 26.06 28.83 26.06

125 -0.75 -194.6 162 2217 3526 3613 5.0 -12.0 17 146 8.57 1.73 -3.35 0.018 18980 0.212 0.055 2374 1139 3768 3722 3814 0 0 0 0 0 0 25.77 24.79 26.03

253 -0.84 -194.6 2374 1131 3731 3814 33.0 -13.0 40 260 0.00 1.67 0.00 0.000 1190 0.000 0.042 2368 2192 3772 3731 3814 0 0 0 0 0 0 26.13 26.08 26.15

324 -0.84 -194.6 2368 2192 3734 3812 42.2 -13.6 53 331 0.00 1.67 0.00 0.000 260 0.000 0.048 2360 3262 3773 3734 3813 0 0 0 0 0 0 26.13 26.06 26.15

361 -0.87 -194.6 2359 3260 3736 3812 46.8 -13.1 59 368 0.00 1.62 0.00 0.000 1190 0.000 0.030 2366 2200 3773 3735 3812 0 0 0 0 0 0 26.15 26.10 26.17

433 -0.87 -194.6 2365 2194 3737 3812 55.6 -11.7 72 440 0.00 1.62 0.00 0.000 548 0.000 0.033 2373 1127 3774 3737 3812 0 0 0 0 0 0 26.16 26.10 26.17

479 -0.97 -194.6 2372 1123 3738 3812 60.6 -9.7 80 488 0.10 1.75 0.00 0.000 5286 0.090 0.042 2324 2206 3775 3738 3813 0 0 0 0 0 0 26.06 26.10 26.13

552 -0.93 -194.6 2322 2205 3738 3812 69.9 -15.2 93 560 0.00 1.67 0.00 0.000 388 0.000 0.048 2315 3250 3775 3738 3813 0 0 0 0 0 0 26.16 26.09 26.17

584 -0.87 -194.6 2314 3250 3738 3812 74.6 -15.7 98 592 0.00 1.65 0.00 0.000 1158 0.000 0.031 2321 2203 3777 3739 3815 0 0 0 0 0 0 26.15 26.12 26.16

657 -0.85 -194.6 2320 2197 3739 3812 84.3 -13.1 111 665 0.05 1.67 0.00 0.000 2724 0.246 0.036 2337 1135 3775 3739 3812 0 0 0 0 0 0 25.93 26.10 26.10

694 -0.87 -194.6 2337 1135 3739 3812 89.1 -12.4 117 702 0.00 1.73 0.00 0.000 1190 0.000 0.041 2332 2196 3775 3739 3812 0 0 0 0 0 0 26.15 26.10 26.17

767 -0.87 -194.6 2331 2196 3738 3812 98.1 -12.3 130 775 0.00 1.70 0.00 0.000 292 0.000 0.048 2323 3257 3775 3739 3812 0 0 0 0 0 0 26.16 26.08 26.17

813 -0.87 -194.6 2322 3257 3739 3812 104.2 -12.5 138 820 0.00 1.62 0.00 0.000 1062 0.000 0.030 2329 2189 3775 3739 3812 0 0 0 0 0 0 26.16 26.13 26.20

886 -0.87 -194.6 2329 2184 3739 3809 113.2 -12.4 151 892 0.00 0.00 0.00 0.000 38 0.000 0.000 2330 2183 3775 3739 3812 0 0 0 0 0 0 26.17 26.17 26.17

959 -0.90 -194.6 2329 2184 3739 3812 121.9 -12.2 164 965 0.00 0.00 0.00 0.000 166 0.000 0.000 2329 2184 3778 3743 3813 0 0 0 0 0 0 26.17 26.17 26.17

1032 -0.93 -194.6 2329 2184 3739 3812 130.3 -11.4 177 1039 0.00 1.73 0.00 0.000 420 0.000 0.048 2323 3266 3773 3738 3809 0 0 0 0 0 0 26.17 26.08 26.17

1080 -0.96 -194.6 2322 3266 3739 3812 136.2 -11.7 185 1087 0.00 1.62 0.00 0.000 1190 0.000 0.031 2329 2204 3775 3739 3812 0 0 0 0 0 0 26.16 26.11 26.17

1152 -0.99 -194.6 2329 2199 3739 3812 144.2 -11.0 198 1158 0.00 0.00 0.00 0.000 166 0.000 0.000 2329 2198 3775 3738 3812 0 0 0 0 0 0 26.17 26.17 26.17

1224 -1.03 -194.6 2328 2199 3739 3812 152.4 -11.5 211 1230 0.08 0.00 0.00 0.000 4262 0.166 0.000 2285 2199 3775 3739 3812 0 0 0 0 0 0 26.05 26.16 26.13

1298 -0.99 -194.6 2285 2199 3739 3811 162.2 -14.1 224 1305 0.00 1.67 0.00 0.000 388 0.000 0.047 2277 3262 3775 3739 3811 0 0 0 0 0 0 26.17 26.07 26.17

1353 -0.97 -194.6 2276 3262 3739 3810 170.5 -13.9 234 1360 0.05 1.62 0.00 0.000 3206 0.233 0.029 2293 2198 3774 3739 3810 0 0 0 0 0 0 25.96 26.13 26.12

1425 -0.95 -194.6 2292 2192 3739 3810 180.4 -13.6 247 1431 0.00 0.00 0.00 0.000 134 0.000 0.000 2293 2192 3774 3739 3810 0 0 0 0 0 0 26.17 26.17 26.17

1496 -0.93 -194.6 2293 2192 3739 3810 189.7 -13.7 260 1503 0.08 0.00 0.00 0.000 2182 0.202 0.000 2307 2192 3774 3739 3810 0 0 0 0 0 0 25.96 26.15 26.12

1569 -0.93 -194.6 2306 2192 3739 3810 199.0 -13.1 273 1575 0.00 0.00 0.00 0.000 38 0.000 0.000 2307 2192 3774 3739 3810 0 0 0 0 0 0 26.15 26.15 26.15

1641 -0.93 -194.6 2306 2192 3739 3809 208.2 -12.5 286 1648 0.00 1.70 0.00 0.000 292 0.000 0.048 2300 3266 3773 3738 3809 0 0 0 0 0 0 26.17 26.06 26.17

1686 -0.93 -194.6 2299 3265 3739 3809 214.2 -13.2 294 1694 0.00 1.67 0.00 0.000 1062 0.000 0.030 2306 2203 3774 3739 3809 0 0 0 0 0 0 26.13 26.10 26.15

1759 -0.93 -194.6 2305 2195 3739 3809 223.9 -13.4 307 1767 0.00 1.67 0.00 0.000 516 0.000 0.034 2314 1136 3774 3739 3809 0 0 0 0 0 0 26.16 26.10 26.17

1781 -0.96 -194.6 2313 1136 3739 3809 226.7 -13.1 310 1788 0.00 1.70 0.00 0.000 1190 0.000 0.040 2308 2214 3774 3739 3809 0 0 0 0 0 0 26.15 26.08 26.16

1854 -0.98 -194.6 2307 2214 3739 3807 236.0 -13.2 323 1860 0.00 1.62 0.00 0.000 420 0.000 0.048 2299 3254 3773 3739 3808 0 0 0 0 0 0 26.14 26.06 26.15

2004 -1.04 -194.6 2299 3254 3739 3807 255.1 -12.3 351 2011 0.00 1.62 0.00 0.000 1190 0.000 0.030 2306 2187 3773 3739 3807 0 0 0 0 0 0 26.14 26.10 26.15

2078 -1.04 -194.6 2305 2182 3739 3807 265.3 -13.9 364 2085 0.00 1.58 0.00 0.000 516 0.000 0.034 2313 1142 3773 3739 3807 0 0 0 0 0 0 26.13 26.08 26.13

2281 -1.13 -194.6 2312 1142 3746 3807 288.0 -10.4 402 2289 0.10 1.67 0.00 0.000 5286 0.106 0.042 2270 2201 3772 3739 3806 0 0 0 0 0 0 26.04 26.06 26.10

2355 -1.09 -194.6 2269 2203 3739 3806 298.2 -14.1 415 2362 0.00 1.62 0.00 0.000 644 0.000 0.033 2276 1140 3772 3739 3806 0 0 0 0 0 0 26.15 26.07 26.15

2502 -1.12 -194.6 2274 1140 3739 3806 318.1 -14.0 442 2508 0.00 1.67 0.00 0.000 1158 0.000 0.041 2269 2201 3772 3739 3805 0 0 0 0 0 0 26.13 26.06 26.14

2574 -1.07 -194.6 2275 2205 3739 3805 329.0 -15.4 455 2581 0.00 1.65 0.00 0.000 388 0.000 0.048 2261 3255 3772 3739 3805 0 0 0 0 0 0 26.15 26.07 26.15

2774 -1.07 -194.6 2261 3257 3738 3804 360.2 -14.8 493 2781 0.00 1.60 0.00 0.000 1030 0.000 0.031 2267 2205 3771 3739 3804 0 0 0 0 0 0 26.14 26.10 26.15

2848 -1.03 -194.6 2266 2201 3739 3804 371.4 -15.7 506 2855 0.00 1.62 0.00 0.000 644 0.000 0.034 2275 1136 3772 3740 3804 0 0 0 0 0 0 26.14 26.08 26.14

3009 -1.05 -194.6 2274 1136 3739 3803 392.9 -12.4 536 3016 0.00 1.70 0.00 0.000 1190 0.000 0.041 2269 2210 3771 3739 3803 0 0 0 0 0 0 26.13 26.06 26.14

3064 end dive: TARGET_DEPTH_EXCEEDED

state 3064 begin apogee

3069 -0.11 0.0 2268 1977 3735 3802 400.7 -14.0 546 3231 1.02 0.00 155.75 1.040 10246 0.158 0.000 2564 1973 2968 3033 2904 0 0 0 0 0 0 25.75 24.85 24.18

3234 end apogee: CONTROL_FINISHED_OK

state 3234 begin climb

3236 0.75 194.6 2564 1973 3030 2901 403.7 0.0 571 3411 0.93 1.88 159.57 0.998 10500 0.112 0.044 2837 3052 2169 2284 2054 0 0 0 0 0 0 24.91 24.49 23.84

3584 0.75 194.6 2837 3052 2268 2054 362.0 15.4 630 3591 0.00 1.60 0.00 0.000 1030 0.000 0.029 2843 2016 2161 2268 2054 0 0 0 0 0 0 25.77 25.72 25.77

3658 0.75 194.6 2842 2010 2268 2053 350.9 15.0 643 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2010 2161 2268 2054 0 0 0 0 0 0 25.91 25.93 25.92

3729 0.75 194.6 2842 2011 2267 2054 340.6 14.6 656 3736 0.00 1.62 0.00 0.000 260 0.000 0.043 2837 3057 2161 2268 2054 0 0 0 0 0 0 26.03 25.96 26.04

3862 0.75 194.6 2836 3057 2264 2054 321.8 14.1 681 3870 0.00 1.65 0.00 0.000 1030 0.000 0.029 2843 2000 2159 2264 2054 0 0 0 0 0 0 26.08 26.06 26.10

3935 0.75 194.6 2842 1995 2264 2054 311.5 14.3 694 3943 0.00 1.65 0.00 0.000 516 0.000 0.037 2851 956 2159 2264 2054 0 0 0 0 0 0 26.13 26.08 26.14

3971 0.75 194.6 2850 956 2264 2054 306.3 13.6 700 3979 0.00 1.67 0.00 0.000 1030 0.000 0.036 2845 1996 2159 2264 2054 0 0 0 0 0 0 26.11 26.06 26.13

4044 0.75 194.6 2844 1997 2265 2054 296.0 13.9 713 4053 0.00 1.67 0.00 0.000 516 0.000 0.037 2851 949 2159 2264 2054 0 0 0 0 0 0 26.15 26.09 26.15

4124 0.77 194.6 2850 949 2263 2054 285.0 13.5 727 4131 0.00 1.65 0.00 0.000 1158 0.000 0.037 2845 2003 2159 2264 2054 0 0 0 0 0 0 26.14 26.10 26.15

4197 0.77 194.6 2844 2003 2264 2054 275.0 13.9 740 4205 0.00 1.62 0.00 0.000 260 0.000 0.044 2837 3055 2159 2264 2054 0 0 0 0 0 0 26.17 26.09 26.17

4233 0.77 194.6 2836 3055 2261 2054 269.4 14.8 746 4240 0.00 1.60 0.00 0.000 1030 0.000 0.028 2843 1997 2158 2262 2054 0 0 0 0 0 0 26.15 26.10 26.14

4306 0.77 194.6 2842 1993 2262 2053 259.1 14.1 759 4313 0.00 1.67 0.00 0.000 260 0.000 0.042 2837 3061 2158 2262 2054 0 0 0 0 0 0 26.17 26.10 26.17

4389 0.77 194.6 2836 3061 2260 2054 246.9 14.6 774 4396 0.00 1.60 0.00 0.000 1030 0.000 0.028 2843 2003 2157 2260 2054 0 0 0 0 0 0 26.15 26.12 26.16

4460 0.77 194.6 2842 1997 2261 2054 236.9 14.0 787 4467 0.03 0.00 0.00 0.000 2054 0.287 0.000 2844 1993 2157 2261 2054 0 0 0 0 0 0 25.98 26.16 26.14

4532 0.77 194.9 2848 1997 2261 2054 227.2 13.3 800 4539 0.00 1.65 0.00 0.000 292 0.000 0.044 2841 3053 2158 2263 2054 0 0 0 0 0 0 26.16 26.10 26.17

4563 0.77 194.9 2841 3053 2260 2054 222.9 14.0 805 4570 0.00 1.60 0.00 0.000 1030 0.000 0.030 2848 1997 2155 2257 2054 0 0 0 0 0 0 26.15 26.10 26.15

4636 0.77 194.9 2847 1993 2260 2053 212.5 14.4 818 4643 0.00 1.62 0.00 0.000 516 0.000 0.038 2856 951 2157 2260 2054 0 0 0 0 0 0 26.14 26.10 26.15

4660 0.77 194.9 2856 951 2260 2053 208.7 14.5 822 4668 0.00 1.67 0.00 0.000 1030 0.000 0.035 2850 1991 2157 2260 2054 0 0 0 0 0 0 26.13 26.09 26.16

4733 0.77 194.9 2849 1990 2260 2053 198.6 13.9 835 4741 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1990 2157 2260 2054 0 0 0 0 0 0 26.20 26.17 26.17

4806 0.77 194.9 2849 1990 2260 2053 188.8 14.0 848 4812 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1991 2157 2260 2054 0 0 0 0 0 0 26.15 26.17 26.16

4878 0.77 196.9 2849 1990 2260 2054 178.9 13.2 861 4885 0.00 1.67 0.00 0.000 292 0.000 0.044 2842 3070 2157 2261 2054 0 0 0 0 0 0 26.16 26.08 26.16

4918 0.77 196.9 2841 3070 2258 2054 173.1 13.5 868 4925 0.00 1.62 0.00 0.000 1030 0.000 0.030 2853 2000 2156 2258 2055 0 0 0 0 0 0 26.15 26.10 26.15

4990 0.77 196.9 2851 1995 2258 2054 163.7 13.5 881 4996 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 1995 2156 2258 2054 0 0 0 0 0 0 26.15 26.16 26.16

5063 0.78 207.9 2847 1995 2258 2054 154.3 12.8 894 5083 0.00 1.70 10.35 0.813 8740 0.000 0.038 2856 948 2117 2226 2008 0 0 0 0 0 0 26.15 25.94 25.18

5102 0.78 209.8 2855 947 2223 2007 148.8 13.2 900 5109 0.00 1.67 0.00 0.000 1062 0.000 0.037 2850 2008 2116 2224 2009 0 0 0 0 0 0 26.02 25.97 26.03

5174 0.78 209.8 2849 2008 2223 2008 139.3 13.9 913 5181 0.00 1.62 0.00 0.000 260 0.000 0.043 2842 3056 2115 2223 2008 0 0 0 0 0 0 26.10 26.03 26.11

5204 0.78 209.8 2841 3057 2220 2008 134.9 13.8 918 5211 0.00 1.60 0.00 0.000 1030 0.000 0.029 2848 2001 2114 2220 2008 0 0 0 0 0 0 26.10 26.06 26.10

5277 0.78 209.8 2844 1997 2220 2008 124.7 14.5 931 5284 0.00 1.62 0.00 0.000 516 0.000 0.038 2856 949 2114 2221 2008 0 0 0 0 0 0 26.13 26.06 26.13

5318 0.81 209.8 2856 949 2220 2008 118.8 13.9 938 5326 0.10 1.65 0.00 0.000 3206 0.176 0.037 2882 2004 2114 2220 2008 0 0 0 0 0 0 25.96 26.04 26.08

5391 0.76 209.8 2882 2004 2220 2008 107.4 16.5 951 5398 0.00 1.62 0.00 0.000 388 0.000 0.044 2876 3056 2112 2217 2008 0 0 0 0 0 0 26.15 26.07 26.15

5438 0.71 209.8 2877 3056 2216 2008 99.9 16.5 959 5445 0.00 1.60 0.00 0.000 1158 0.000 0.029 2881 2003 2112 2217 2008 0 0 0 0 0 0 26.13 26.08 26.13

5510 0.67 209.8 2882 1998 2217 2008 88.7 15.1 972 5518 0.15 1.62 0.00 0.000 4740 0.186 0.035 2852 948 2111 2215 2008 0 0 0 0 0 0 25.89 26.08 26.03

5537 0.67 209.8 2851 944 2217 2008 84.9 13.8 976 5544 0.00 1.65 0.00 0.000 1030 0.000 0.036 2845 2004 2112 2217 2008 0 0 0 0 0 0 26.13 26.07 26.14

5609 0.71 234.5 2844 1999 2217 2008 76.1 12.2 989 5636 0.00 1.73 22.95 0.787 8612 0.000 0.044 2838 3048 2008 2123 1894 0 0 0 0 0 0 26.15 25.77 25.09

5754 0.79 251.9 2837 3054 2111 1893 58.3 12.5 1015 5776 0.08 1.60 15.38 0.750 11430 0.193 0.028 2860 1993 1934 2052 1816 0 0 0 0 0 0 25.84 25.99 25.10

5843 0.87 293.8 2860 1990 2048 1817 47.4 11.4 1030 5884 0.10 1.75 34.47 0.750 10660 0.133 0.041 2886 3047 1763 1886 1641 0 0 0 0 0 0 25.89 25.57 24.94

5914 0.92 315.4 2885 3049 1877 1644 38.8 12.3 1041 5940 0.00 1.62 18.45 0.718 9382 0.000 0.029 2891 1995 1676 1790 1562 0 0 0 0 0 0 25.82 25.77 24.95

6007 0.97 316.8 2891 1994 1782 1561 25.7 13.3 1057 6015 0.10 1.65 0.00 0.000 2724 0.132 0.035 2929 935 1671 1782 1561 0 0 0 0 0 0 25.79 25.86 25.89

6053 1.03 316.8 2929 935 1780 1561 19.4 13.6 1065 6061 0.00 1.73 0.00 0.000 1158 0.000 0.035 2923 2000 1670 1780 1561 0 0 0 0 0 0 25.95 25.95 25.95

6127 1.08 371.0 2923 1999 1783 1561 10.0 10.9 1078 6181 0.12 1.67 44.62 0.708 10532 0.171 0.041 2946 3052 1448 1562 1334 0 0 0 0 0 0 25.84 25.44 24.94

6208 end climb: SURFACE_DEPTH_REACHED

state 6208 begin surface coast

6225 end surface coast: CONTROL_FINISHED_OK

state 6225 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	46	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	39	ALTIM_PULSE	2
DIVE	87	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	400	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	600	CALL_NDIVES	1	C_VBD	2968	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	4	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	100	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	160	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	144.89999	SEABIRD_T_G	0.0044052354
D_OFFGRID	1000	C_PITCH	2625	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	200	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	45	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12781	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	0	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	30	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0050118701	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0163117	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	172.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	070822,025739,4450.4736,-12457.3994,6,0.9,18,15.1,0.5,193.9,10,2.7	SPEED_LIMITS	0.231,0.259
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.017,-12455.452
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.63	MHEAD_RNG_PITCHd_Wd	89.1,2877,-24.8,-13.333,-27.27,2246
_SM_ANGLEo	-64.9	D_GRID	703
GPS2	070822,030923,4450.3979,-12457.5762,3,1.0,5,15.1,0.7,253.1,10,7.4

NEWHEAD	316.700,258.02,4306.79	_24V_AH	23.84,15.284
FINISH	-0.2,1.023265	_10V_AH	10.20,12.579
SM_CCo	6244,106.28,0.703,0,0,928,500.17	FG_AHR_24Vo	0.000
SM_GC	0.60,7.80,1.35,106.28,0.050,0.024,0.703,163,2203,928,-7.48,1.30,500.17,0,0,0,0,0,0,25.87,25.84,24.71	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.39,-12455.54,070822,010336	MEM	220800
TT8_MAMPS	0.023968,0.283871	DATA_FILE_SIZE	36597,1094
HUMID	37.43	CAP_FILE_SIZE	412338,0
INTERNAL_PRESSURE	8.44372	CFSIZE	260030464,230809600
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	070822,045709,4450.704,-12458.047,20,0.9,29,15.1,1.2,186.9,11,2.7
SC_FREEKB	3784896

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	286	133.02	nil	0	0	0.00
Roll_motor	109	55	143.72	nil	0	0	0.00
VBD_pump_during_apogee	461	1039	11439.47	nil	0	0	0.00
VBD_pump_during_surface	106	703	1781.21	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	6229	6	969.11
Iridium_during_xfer	519	102	1269.88	Edison	6683	10	1593.23
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	12	2.37
TT8	2526	13	360.02
LPSleep	516	2	11.54
TT8_Active	790	13	106.65
TT8_Sampling	2595	39	1044.04
TT8_CF8	614	49	312.80
TT8_Kalman	0	0	0.00
Analog_circuits	2369	10	241.65
GPS_charging	0	0	0.00
Compass	1705	8	143.35
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	-0.75	-194.6	162	2218	1051	793	0.0	0.0	0	122	0.00	0.00	-106.68	0.005	16386	0.000	0.000	163	2217	3570	3523	3617	0	0	0	0	0	0	26.06	28.83	26.06
125	-0.75	-194.6	162	2217	3526	3613	5.0	-12.0	17	146	8.57	1.73	-3.35	0.018	18980	0.212	0.055	2374	1139	3768	3722	3814	0	0	0	0	0	0	25.77	24.79	26.03
253	-0.84	-194.6	2374	1131	3731	3814	33.0	-13.0	40	260	0.00	1.67	0.00	0.000	1190	0.000	0.042	2368	2192	3772	3731	3814	0	0	0	0	0	0	26.13	26.08	26.15
324	-0.84	-194.6	2368	2192	3734	3812	42.2	-13.6	53	331	0.00	1.67	0.00	0.000	260	0.000	0.048	2360	3262	3773	3734	3813	0	0	0	0	0	0	26.13	26.06	26.15
361	-0.87	-194.6	2359	3260	3736	3812	46.8	-13.1	59	368	0.00	1.62	0.00	0.000	1190	0.000	0.030	2366	2200	3773	3735	3812	0	0	0	0	0	0	26.15	26.10	26.17
433	-0.87	-194.6	2365	2194	3737	3812	55.6	-11.7	72	440	0.00	1.62	0.00	0.000	548	0.000	0.033	2373	1127	3774	3737	3812	0	0	0	0	0	0	26.16	26.10	26.17
479	-0.97	-194.6	2372	1123	3738	3812	60.6	-9.7	80	488	0.10	1.75	0.00	0.000	5286	0.090	0.042	2324	2206	3775	3738	3813	0	0	0	0	0	0	26.06	26.10	26.13
552	-0.93	-194.6	2322	2205	3738	3812	69.9	-15.2	93	560	0.00	1.67	0.00	0.000	388	0.000	0.048	2315	3250	3775	3738	3813	0	0	0	0	0	0	26.16	26.09	26.17
584	-0.87	-194.6	2314	3250	3738	3812	74.6	-15.7	98	592	0.00	1.65	0.00	0.000	1158	0.000	0.031	2321	2203	3777	3739	3815	0	0	0	0	0	0	26.15	26.12	26.16
657	-0.85	-194.6	2320	2197	3739	3812	84.3	-13.1	111	665	0.05	1.67	0.00	0.000	2724	0.246	0.036	2337	1135	3775	3739	3812	0	0	0	0	0	0	25.93	26.10	26.10
694	-0.87	-194.6	2337	1135	3739	3812	89.1	-12.4	117	702	0.00	1.73	0.00	0.000	1190	0.000	0.041	2332	2196	3775	3739	3812	0	0	0	0	0	0	26.15	26.10	26.17
767	-0.87	-194.6	2331	2196	3738	3812	98.1	-12.3	130	775	0.00	1.70	0.00	0.000	292	0.000	0.048	2323	3257	3775	3739	3812	0	0	0	0	0	0	26.16	26.08	26.17
813	-0.87	-194.6	2322	3257	3739	3812	104.2	-12.5	138	820	0.00	1.62	0.00	0.000	1062	0.000	0.030	2329	2189	3775	3739	3812	0	0	0	0	0	0	26.16	26.13	26.20
886	-0.87	-194.6	2329	2184	3739	3809	113.2	-12.4	151	892	0.00	0.00	0.00	0.000	38	0.000	0.000	2330	2183	3775	3739	3812	0	0	0	0	0	0	26.17	26.17	26.17
959	-0.90	-194.6	2329	2184	3739	3812	121.9	-12.2	164	965	0.00	0.00	0.00	0.000	166	0.000	0.000	2329	2184	3778	3743	3813	0	0	0	0	0	0	26.17	26.17	26.17
1032	-0.93	-194.6	2329	2184	3739	3812	130.3	-11.4	177	1039	0.00	1.73	0.00	0.000	420	0.000	0.048	2323	3266	3773	3738	3809	0	0	0	0	0	0	26.17	26.08	26.17
1080	-0.96	-194.6	2322	3266	3739	3812	136.2	-11.7	185	1087	0.00	1.62	0.00	0.000	1190	0.000	0.031	2329	2204	3775	3739	3812	0	0	0	0	0	0	26.16	26.11	26.17
1152	-0.99	-194.6	2329	2199	3739	3812	144.2	-11.0	198	1158	0.00	0.00	0.00	0.000	166	0.000	0.000	2329	2198	3775	3738	3812	0	0	0	0	0	0	26.17	26.17	26.17
1224	-1.03	-194.6	2328	2199	3739	3812	152.4	-11.5	211	1230	0.08	0.00	0.00	0.000	4262	0.166	0.000	2285	2199	3775	3739	3812	0	0	0	0	0	0	26.05	26.16	26.13
1298	-0.99	-194.6	2285	2199	3739	3811	162.2	-14.1	224	1305	0.00	1.67	0.00	0.000	388	0.000	0.047	2277	3262	3775	3739	3811	0	0	0	0	0	0	26.17	26.07	26.17
1353	-0.97	-194.6	2276	3262	3739	3810	170.5	-13.9	234	1360	0.05	1.62	0.00	0.000	3206	0.233	0.029	2293	2198	3774	3739	3810	0	0	0	0	0	0	25.96	26.13	26.12
1425	-0.95	-194.6	2292	2192	3739	3810	180.4	-13.6	247	1431	0.00	0.00	0.00	0.000	134	0.000	0.000	2293	2192	3774	3739	3810	0	0	0	0	0	0	26.17	26.17	26.17
1496	-0.93	-194.6	2293	2192	3739	3810	189.7	-13.7	260	1503	0.08	0.00	0.00	0.000	2182	0.202	0.000	2307	2192	3774	3739	3810	0	0	0	0	0	0	25.96	26.15	26.12
1569	-0.93	-194.6	2306	2192	3739	3810	199.0	-13.1	273	1575	0.00	0.00	0.00	0.000	38	0.000	0.000	2307	2192	3774	3739	3810	0	0	0	0	0	0	26.15	26.15	26.15
1641	-0.93	-194.6	2306	2192	3739	3809	208.2	-12.5	286	1648	0.00	1.70	0.00	0.000	292	0.000	0.048	2300	3266	3773	3738	3809	0	0	0	0	0	0	26.17	26.06	26.17
1686	-0.93	-194.6	2299	3265	3739	3809	214.2	-13.2	294	1694	0.00	1.67	0.00	0.000	1062	0.000	0.030	2306	2203	3774	3739	3809	0	0	0	0	0	0	26.13	26.10	26.15
1759	-0.93	-194.6	2305	2195	3739	3809	223.9	-13.4	307	1767	0.00	1.67	0.00	0.000	516	0.000	0.034	2314	1136	3774	3739	3809	0	0	0	0	0	0	26.16	26.10	26.17
1781	-0.96	-194.6	2313	1136	3739	3809	226.7	-13.1	310	1788	0.00	1.70	0.00	0.000	1190	0.000	0.040	2308	2214	3774	3739	3809	0	0	0	0	0	0	26.15	26.08	26.16
1854	-0.98	-194.6	2307	2214	3739	3807	236.0	-13.2	323	1860	0.00	1.62	0.00	0.000	420	0.000	0.048	2299	3254	3773	3739	3808	0	0	0	0	0	0	26.14	26.06	26.15
2004	-1.04	-194.6	2299	3254	3739	3807	255.1	-12.3	351	2011	0.00	1.62	0.00	0.000	1190	0.000	0.030	2306	2187	3773	3739	3807	0	0	0	0	0	0	26.14	26.10	26.15
2078	-1.04	-194.6	2305	2182	3739	3807	265.3	-13.9	364	2085	0.00	1.58	0.00	0.000	516	0.000	0.034	2313	1142	3773	3739	3807	0	0	0	0	0	0	26.13	26.08	26.13
2281	-1.13	-194.6	2312	1142	3746	3807	288.0	-10.4	402	2289	0.10	1.67	0.00	0.000	5286	0.106	0.042	2270	2201	3772	3739	3806	0	0	0	0	0	0	26.04	26.06	26.10
2355	-1.09	-194.6	2269	2203	3739	3806	298.2	-14.1	415	2362	0.00	1.62	0.00	0.000	644	0.000	0.033	2276	1140	3772	3739	3806	0	0	0	0	0	0	26.15	26.07	26.15
2502	-1.12	-194.6	2274	1140	3739	3806	318.1	-14.0	442	2508	0.00	1.67	0.00	0.000	1158	0.000	0.041	2269	2201	3772	3739	3805	0	0	0	0	0	0	26.13	26.06	26.14
2574	-1.07	-194.6	2275	2205	3739	3805	329.0	-15.4	455	2581	0.00	1.65	0.00	0.000	388	0.000	0.048	2261	3255	3772	3739	3805	0	0	0	0	0	0	26.15	26.07	26.15
2774	-1.07	-194.6	2261	3257	3738	3804	360.2	-14.8	493	2781	0.00	1.60	0.00	0.000	1030	0.000	0.031	2267	2205	3771	3739	3804	0	0	0	0	0	0	26.14	26.10	26.15
2848	-1.03	-194.6	2266	2201	3739	3804	371.4	-15.7	506	2855	0.00	1.62	0.00	0.000	644	0.000	0.034	2275	1136	3772	3740	3804	0	0	0	0	0	0	26.14	26.08	26.14
3009	-1.05	-194.6	2274	1136	3739	3803	392.9	-12.4	536	3016	0.00	1.70	0.00	0.000	1190	0.000	0.041	2269	2210	3771	3739	3803	0	0	0	0	0	0	26.13	26.06	26.14
3064	end dive: TARGET_DEPTH_EXCEEDED
state	3064	begin apogee
3069	-0.11	0.0	2268	1977	3735	3802	400.7	-14.0	546	3231	1.02	0.00	155.75	1.040	10246	0.158	0.000	2564	1973	2968	3033	2904	0	0	0	0	0	0	25.75	24.85	24.18
3234	end apogee: CONTROL_FINISHED_OK
state	3234	begin climb
3236	0.75	194.6	2564	1973	3030	2901	403.7	0.0	571	3411	0.93	1.88	159.57	0.998	10500	0.112	0.044	2837	3052	2169	2284	2054	0	0	0	0	0	0	24.91	24.49	23.84
3584	0.75	194.6	2837	3052	2268	2054	362.0	15.4	630	3591	0.00	1.60	0.00	0.000	1030	0.000	0.029	2843	2016	2161	2268	2054	0	0	0	0	0	0	25.77	25.72	25.77
3658	0.75	194.6	2842	2010	2268	2053	350.9	15.0	643	3664	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2010	2161	2268	2054	0	0	0	0	0	0	25.91	25.93	25.92
3729	0.75	194.6	2842	2011	2267	2054	340.6	14.6	656	3736	0.00	1.62	0.00	0.000	260	0.000	0.043	2837	3057	2161	2268	2054	0	0	0	0	0	0	26.03	25.96	26.04
3862	0.75	194.6	2836	3057	2264	2054	321.8	14.1	681	3870	0.00	1.65	0.00	0.000	1030	0.000	0.029	2843	2000	2159	2264	2054	0	0	0	0	0	0	26.08	26.06	26.10
3935	0.75	194.6	2842	1995	2264	2054	311.5	14.3	694	3943	0.00	1.65	0.00	0.000	516	0.000	0.037	2851	956	2159	2264	2054	0	0	0	0	0	0	26.13	26.08	26.14
3971	0.75	194.6	2850	956	2264	2054	306.3	13.6	700	3979	0.00	1.67	0.00	0.000	1030	0.000	0.036	2845	1996	2159	2264	2054	0	0	0	0	0	0	26.11	26.06	26.13
4044	0.75	194.6	2844	1997	2265	2054	296.0	13.9	713	4053	0.00	1.67	0.00	0.000	516	0.000	0.037	2851	949	2159	2264	2054	0	0	0	0	0	0	26.15	26.09	26.15
4124	0.77	194.6	2850	949	2263	2054	285.0	13.5	727	4131	0.00	1.65	0.00	0.000	1158	0.000	0.037	2845	2003	2159	2264	2054	0	0	0	0	0	0	26.14	26.10	26.15
4197	0.77	194.6	2844	2003	2264	2054	275.0	13.9	740	4205	0.00	1.62	0.00	0.000	260	0.000	0.044	2837	3055	2159	2264	2054	0	0	0	0	0	0	26.17	26.09	26.17
4233	0.77	194.6	2836	3055	2261	2054	269.4	14.8	746	4240	0.00	1.60	0.00	0.000	1030	0.000	0.028	2843	1997	2158	2262	2054	0	0	0	0	0	0	26.15	26.10	26.14
4306	0.77	194.6	2842	1993	2262	2053	259.1	14.1	759	4313	0.00	1.67	0.00	0.000	260	0.000	0.042	2837	3061	2158	2262	2054	0	0	0	0	0	0	26.17	26.10	26.17
4389	0.77	194.6	2836	3061	2260	2054	246.9	14.6	774	4396	0.00	1.60	0.00	0.000	1030	0.000	0.028	2843	2003	2157	2260	2054	0	0	0	0	0	0	26.15	26.12	26.16
4460	0.77	194.6	2842	1997	2261	2054	236.9	14.0	787	4467	0.03	0.00	0.00	0.000	2054	0.287	0.000	2844	1993	2157	2261	2054	0	0	0	0	0	0	25.98	26.16	26.14
4532	0.77	194.9	2848	1997	2261	2054	227.2	13.3	800	4539	0.00	1.65	0.00	0.000	292	0.000	0.044	2841	3053	2158	2263	2054	0	0	0	0	0	0	26.16	26.10	26.17
4563	0.77	194.9	2841	3053	2260	2054	222.9	14.0	805	4570	0.00	1.60	0.00	0.000	1030	0.000	0.030	2848	1997	2155	2257	2054	0	0	0	0	0	0	26.15	26.10	26.15
4636	0.77	194.9	2847	1993	2260	2053	212.5	14.4	818	4643	0.00	1.62	0.00	0.000	516	0.000	0.038	2856	951	2157	2260	2054	0	0	0	0	0	0	26.14	26.10	26.15
4660	0.77	194.9	2856	951	2260	2053	208.7	14.5	822	4668	0.00	1.67	0.00	0.000	1030	0.000	0.035	2850	1991	2157	2260	2054	0	0	0	0	0	0	26.13	26.09	26.16
4733	0.77	194.9	2849	1990	2260	2053	198.6	13.9	835	4741	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1990	2157	2260	2054	0	0	0	0	0	0	26.20	26.17	26.17
4806	0.77	194.9	2849	1990	2260	2053	188.8	14.0	848	4812	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1991	2157	2260	2054	0	0	0	0	0	0	26.15	26.17	26.16
4878	0.77	196.9	2849	1990	2260	2054	178.9	13.2	861	4885	0.00	1.67	0.00	0.000	292	0.000	0.044	2842	3070	2157	2261	2054	0	0	0	0	0	0	26.16	26.08	26.16
4918	0.77	196.9	2841	3070	2258	2054	173.1	13.5	868	4925	0.00	1.62	0.00	0.000	1030	0.000	0.030	2853	2000	2156	2258	2055	0	0	0	0	0	0	26.15	26.10	26.15
4990	0.77	196.9	2851	1995	2258	2054	163.7	13.5	881	4996	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	1995	2156	2258	2054	0	0	0	0	0	0	26.15	26.16	26.16
5063	0.78	207.9	2847	1995	2258	2054	154.3	12.8	894	5083	0.00	1.70	10.35	0.813	8740	0.000	0.038	2856	948	2117	2226	2008	0	0	0	0	0	0	26.15	25.94	25.18
5102	0.78	209.8	2855	947	2223	2007	148.8	13.2	900	5109	0.00	1.67	0.00	0.000	1062	0.000	0.037	2850	2008	2116	2224	2009	0	0	0	0	0	0	26.02	25.97	26.03
5174	0.78	209.8	2849	2008	2223	2008	139.3	13.9	913	5181	0.00	1.62	0.00	0.000	260	0.000	0.043	2842	3056	2115	2223	2008	0	0	0	0	0	0	26.10	26.03	26.11
5204	0.78	209.8	2841	3057	2220	2008	134.9	13.8	918	5211	0.00	1.60	0.00	0.000	1030	0.000	0.029	2848	2001	2114	2220	2008	0	0	0	0	0	0	26.10	26.06	26.10
5277	0.78	209.8	2844	1997	2220	2008	124.7	14.5	931	5284	0.00	1.62	0.00	0.000	516	0.000	0.038	2856	949	2114	2221	2008	0	0	0	0	0	0	26.13	26.06	26.13
5318	0.81	209.8	2856	949	2220	2008	118.8	13.9	938	5326	0.10	1.65	0.00	0.000	3206	0.176	0.037	2882	2004	2114	2220	2008	0	0	0	0	0	0	25.96	26.04	26.08
5391	0.76	209.8	2882	2004	2220	2008	107.4	16.5	951	5398	0.00	1.62	0.00	0.000	388	0.000	0.044	2876	3056	2112	2217	2008	0	0	0	0	0	0	26.15	26.07	26.15
5438	0.71	209.8	2877	3056	2216	2008	99.9	16.5	959	5445	0.00	1.60	0.00	0.000	1158	0.000	0.029	2881	2003	2112	2217	2008	0	0	0	0	0	0	26.13	26.08	26.13
5510	0.67	209.8	2882	1998	2217	2008	88.7	15.1	972	5518	0.15	1.62	0.00	0.000	4740	0.186	0.035	2852	948	2111	2215	2008	0	0	0	0	0	0	25.89	26.08	26.03
5537	0.67	209.8	2851	944	2217	2008	84.9	13.8	976	5544	0.00	1.65	0.00	0.000	1030	0.000	0.036	2845	2004	2112	2217	2008	0	0	0	0	0	0	26.13	26.07	26.14
5609	0.71	234.5	2844	1999	2217	2008	76.1	12.2	989	5636	0.00	1.73	22.95	0.787	8612	0.000	0.044	2838	3048	2008	2123	1894	0	0	0	0	0	0	26.15	25.77	25.09
5754	0.79	251.9	2837	3054	2111	1893	58.3	12.5	1015	5776	0.08	1.60	15.38	0.750	11430	0.193	0.028	2860	1993	1934	2052	1816	0	0	0	0	0	0	25.84	25.99	25.10
5843	0.87	293.8	2860	1990	2048	1817	47.4	11.4	1030	5884	0.10	1.75	34.47	0.750	10660	0.133	0.041	2886	3047	1763	1886	1641	0	0	0	0	0	0	25.89	25.57	24.94
5914	0.92	315.4	2885	3049	1877	1644	38.8	12.3	1041	5940	0.00	1.62	18.45	0.718	9382	0.000	0.029	2891	1995	1676	1790	1562	0	0	0	0	0	0	25.82	25.77	24.95
6007	0.97	316.8	2891	1994	1782	1561	25.7	13.3	1057	6015	0.10	1.65	0.00	0.000	2724	0.132	0.035	2929	935	1671	1782	1561	0	0	0	0	0	0	25.79	25.86	25.89
6053	1.03	316.8	2929	935	1780	1561	19.4	13.6	1065	6061	0.00	1.73	0.00	0.000	1158	0.000	0.035	2923	2000	1670	1780	1561	0	0	0	0	0	0	25.95	25.95	25.95
6127	1.08	371.0	2923	1999	1783	1561	10.0	10.9	1078	6181	0.12	1.67	44.62	0.708	10532	0.171	0.041	2946	3052	1448	1562	1334	0	0	0	0	0	0	25.84	25.44	24.94
6208	end climb: SURFACE_DEPTH_REACHED
state	6208	begin surface coast
6225	end surface coast: CONTROL_FINISHED_OK
state	6225	begin surface