Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 142 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 142 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 10 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 142 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 10 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 120218,031408,-7416.3223,-11227.2402,0,4117.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 300.08 MHEAD_RNG_PITCHd_Wd 131.9,40327,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.3 D_GRID 990

GPS2 120218,031408,-7416.3223,-11227.2402,0,4117.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 347.5,1.027419,4 _24V_AH 12.30,63.447

FINISH2 346.5 _10V_AH 12.33,0.000

RAFOS_CLK 428 FG_AHR_24Vo 0.000

RAFOS 0,1518415281,6.032778,6.022500,139,60,60,55,55,53,469,205,146,224,115,164 FG_AHR_10Vo 0.000

RAFOS_FIX -7417.953613,-11227.557617,120218,060628,3,130,0.28 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 36629,1031

TT8_MAMPS 0.038948,0.375998 CAP_FILE_SIZE 128600,0

HUMID 48.38 CFSIZE 1024409600,1003438080

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.50 SOUNDSPEED 1457.3

XPDR_PINGS 1 GPS 120218,061528,-7417.954,-11227.558,0,4130.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 355.0,14.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 298 16.51 nil 0 0 0.00

Roll_motor 99 2425 2982.07 nil 0 0 0.00

VBD_pump_during_apogee 685 2354 19858.10 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 11800 2 432.95

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 49 420 253.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8908 2 253.75

TT8_Active 711 12 107.63

TT8_Sampling 2150 31 841.75

TT8_CF8 94 45 52.83

TT8_Kalman 0 0 0.00

Analog_circuits 1536 10 193.30

GPS_charging 0 0 0.00

Compass 1476 7 136.37

RAFOS 720 1 13.32

Transponder 348 30 128.74

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

991.0 15.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

984.8 19.50 9000.00 0.0 0.00 0.00 19.50 0.0 -0.71 1.00

978.7 15.60 9000.00 0.0 -0.04 0.01 15.60 963.1 0.64 1.00

972.3 14.30 9000.00 0.0 0.42 0.92 14.30 958.0 0.20 1.00

965.8 17.40 9000.00 0.0 -0.15 0.34 17.40 0.0 -0.48 1.00

959.8 25.70 24.70 0.0 -0.91 0.92 25.70 0.0 -1.38 1.00

953.5 25.80 9000.00 0.0 -0.67 0.74 25.80 0.0 -0.02 1.00

432.7 96.30 9000.00 0.0 -0.13 1.00 96.30 0.0 -0.14 1.00

414.0 77.00 9000.00 0.0 -0.11 0.91 77.00 337.0 1.03 1.00

407.7 70.60 70.60 337.1 1.03 1.00 70.60 337.1 1.02 1.00

395.5 57.90 57.90 337.6 1.03 1.00 57.90 337.6 1.04 1.00

388.4 50.20 50.30 338.1 1.05 1.00 50.20 338.2 1.08 1.00

381.4 42.70 42.70 338.7 1.08 1.00 42.70 338.7 1.07 1.00

375.1 36.00 36.00 339.1 1.07 1.00 36.00 339.1 1.06 1.00

368.4 28.70 28.70 339.7 1.08 1.00 28.70 339.7 1.09 1.00

361.7 21.40 21.40 340.3 1.09 1.00 21.40 340.3 1.09 1.00

355.0 14.30 14.30 340.7 1.08 1.00 14.30 340.7 1.06 1.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.88 -146.0 2709 2489 2827 2606 0.0 0.0 0 11 0.00 0.03 -2.20 0.041 16390 0.000 2.425 2708 2497 3322 3456 3188 0 0 0 0 0 0 15.09 13.44 15.08

13 -0.88 -146.0 2708 2498 3455 3192 0.0 0.0 0 19 0.88 2.55 0.00 0.000 4612 0.117 0.119 2422 1079 3322 3450 3195 0 0 0 0 0 0 14.78 14.74 14.85

83 -0.88 -146.0 2422 1079 3445 3202 305.1 -9.7 14 89 0.00 2.70 0.00 0.000 1030 0.000 0.131 2413 2526 3322 3443 3202 0 0 0 0 0 0 14.90 14.71 14.95

393 -0.88 -146.0 2413 2533 3439 3206 341.3 -12.3 46 399 0.00 2.38 0.00 0.000 260 0.000 0.155 2404 3753 3322 3437 3207 0 0 0 0 0 0 15.11 14.69 15.13

463 -0.88 -146.0 2404 3753 3436 3209 350.1 -12.3 60 469 0.00 2.28 0.00 0.000 1030 0.000 0.101 2404 2498 3322 3435 3209 0 0 0 0 0 0 14.85 14.78 14.90

774 -0.88 -146.0 2404 2499 3435 3210 385.7 -11.8 92 774 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2497 3322 3435 3209 0 0 0 0 0 0 15.09 15.12 15.12

1075 -0.88 -146.0 2404 2498 3435 3209 420.1 -11.7 122 1080 0.00 2.40 0.00 0.000 260 0.000 0.156 2394 3758 3321 3434 3208 0 0 0 0 0 0 15.07 14.71 15.11

1104 -0.88 -146.0 2394 3759 3433 3211 424.0 -13.7 128 1110 0.00 2.30 0.00 0.000 1030 0.000 0.100 2394 2492 3321 3432 3210 0 0 0 0 0 0 14.85 14.78 14.90

1414 -0.88 -146.0 2395 2491 3433 3210 462.5 -11.8 160 1420 0.00 2.45 0.00 0.000 260 0.000 0.154 2385 3752 3321 3432 3210 0 0 0 0 0 0 15.11 14.69 15.14

1438 -0.88 -146.0 2385 3752 3432 3211 465.6 -12.7 165 1447 0.10 2.28 0.00 0.000 3078 0.261 0.099 2412 2497 3320 3431 3210 0 0 0 0 0 0 14.57 14.78 14.75

1744 -0.88 -146.0 2412 2497 3431 3211 497.5 -10.3 196 1750 0.00 2.62 0.00 0.000 516 0.000 0.117 2412 1061 3321 3431 3211 0 0 0 0 0 0 15.09 14.71 15.12

1764 -0.88 -146.0 2413 1061 3432 3211 499.7 -11.0 200 1770 0.00 2.72 0.00 0.000 1030 0.000 0.128 2403 2520 3321 3431 3211 0 0 0 0 0 0 14.89 14.71 14.94

2074 -0.88 -146.0 2403 2520 3431 3211 534.1 -11.5 232 2081 0.00 2.38 0.00 0.000 260 0.000 0.155 2394 3751 3320 3430 3211 0 0 0 0 0 0 15.11 14.67 15.14

2115 -0.88 -146.0 2394 3752 3430 3212 539.2 -12.3 240 2121 0.00 2.28 0.00 0.000 1030 0.000 0.101 2394 2497 3320 3430 3211 0 0 0 0 0 0 14.85 14.77 14.90

2425 -0.88 -146.0 2395 2498 3431 3212 573.8 -10.6 272 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2497 3320 3430 3211 0 0 0 0 0 0 15.11 15.14 15.14

2725 -0.88 -146.0 2393 2498 3430 3212 606.6 -10.5 302 2731 0.00 2.42 0.00 0.000 260 0.000 0.156 2385 3747 3320 3430 3211 0 0 0 0 0 0 15.11 14.67 15.14

2791 -0.88 -146.0 2385 3748 3430 3212 613.9 -11.4 315 2797 0.15 2.22 0.00 0.000 3078 0.288 0.099 2417 2494 3320 3429 3211 0 0 0 0 0 0 14.59 14.81 14.85

3095 -0.88 -146.0 2417 2494 3430 3212 644.6 -10.4 346 3096 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2493 3320 3429 3212 0 0 0 0 0 0 15.11 15.14 15.14

3395 -0.88 -146.0 2418 2494 3430 3213 673.9 -9.9 376 3401 0.00 2.45 0.00 0.000 260 0.000 0.155 2409 3755 3320 3429 3212 0 0 0 0 0 0 15.11 14.66 15.14

3425 -0.88 -146.0 2409 3756 3430 3212 677.1 -11.7 382 3431 0.00 2.30 0.00 0.000 1030 0.000 0.101 2409 2492 3320 3429 3212 0 0 0 0 0 0 14.85 14.77 14.90

3745 -0.88 -146.0 2409 2496 3430 3213 709.1 -9.5 409 3746 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2492 3320 3429 3212 0 0 0 0 0 0 15.11 15.15 15.14

4105 -0.88 -146.0 2410 2492 3430 3211 743.4 -9.3 421 4111 0.00 2.42 0.00 0.000 260 0.000 0.154 2400 3746 3320 3429 3212 0 0 0 0 0 0 15.13 14.67 15.16

4136 -0.88 -146.0 2400 3746 3430 3212 746.6 -11.6 427 4141 0.00 2.22 0.00 0.000 1030 0.000 0.098 2401 2491 3323 3429 3218 0 0 0 0 0 0 14.94 14.82 14.97

4525 -0.88 -146.0 2401 2491 3430 3212 786.6 -10.5 445 4533 0.00 2.42 0.00 0.000 260 0.000 0.154 2391 3746 3320 3429 3212 0 0 0 0 0 0 15.14 14.67 15.16

4558 -0.88 -146.0 2392 3746 3430 3212 789.7 -11.5 451 4563 0.00 2.22 0.00 0.000 1030 0.000 0.098 2391 2490 3320 3429 3212 0 0 0 0 0 0 14.94 14.82 14.97

4947 -0.88 -146.0 2391 2490 3430 3212 831.4 -10.6 469 4948 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2490 3320 3429 3212 0 0 0 0 0 0 15.13 15.16 15.16

5308 -0.88 -146.0 2391 2491 3430 3214 868.3 -10.5 481 5309 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2490 3321 3429 3213 0 0 0 0 0 0 15.10 15.13 15.12

5668 -0.88 -146.0 2391 2491 3430 3214 904.4 -10.0 493 5674 0.00 2.40 0.00 0.000 260 0.000 0.152 2384 3756 3320 3429 3211 0 0 0 0 0 0 15.09 14.71 15.12

5737 -0.88 -146.0 2384 3757 3429 3214 912.3 -10.9 507 5744 0.00 2.28 0.00 0.000 1030 0.000 0.099 2383 2498 3320 3428 3213 0 0 0 0 0 0 14.85 14.77 14.90

6120 -0.88 -146.0 2384 2498 3429 3222 951.2 -10.1 523 6125 0.12 2.40 0.00 0.000 2308 0.298 0.151 2405 3760 3321 3429 3213 0 0 0 0 0 0 14.57 14.71 14.74

6149 -0.88 -146.0 2405 3761 3429 3214 953.7 -5.6 529 6156 0.00 2.30 0.00 0.000 1062 0.000 0.099 2405 2490 3321 3429 3213 0 0 0 0 0 0 14.86 14.78 14.90

6539 end dive: TARGET_DEPTH_EXCEEDED

state 6539 begin apogee

6543 -0.23 0.0 2406 2190 3430 3213 991.3 -9.8 547 6772 0.80 0.00 220.98 2.355 10246 0.226 0.000 2623 2190 2713 2767 2660 0 0 0 0 1 0 14.62 13.43 12.30

6773 end apogee: CONTROL_FINISHED_OK

state 6773 begin climb

6774 0.88 146.0 2624 2190 2769 2659 998.1 0.0 554 7255 1.25 2.88 464.67 1.383 10756 0.138 0.126 2991 796 2114 2150 2079 0 0 0 0 0 0 13.45 13.58 13.08

7304 0.88 146.0 2991 798 2144 2075 943.4 14.8 656 7310 0.00 2.80 0.00 0.000 1030 0.000 0.114 2991 2205 2108 2143 2073 0 0 0 0 0 0 13.92 13.83 13.95

7694 0.88 146.0 2991 2206 2142 2067 884.8 14.9 674 7695 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2205 2104 2142 2066 0 0 0 0 0 0 14.73 14.76 14.76

8055 0.88 146.0 2992 2205 2142 2064 836.1 13.3 686 8060 0.00 2.62 0.00 0.000 516 0.000 0.128 3002 793 2102 2141 2064 0 0 0 0 0 0 14.92 14.62 14.95

8089 0.88 146.0 3002 794 2141 2065 831.4 13.4 693 8095 0.00 2.65 0.00 0.000 1030 0.000 0.114 3002 2209 2102 2141 2063 0 0 0 0 0 0 14.71 14.62 14.76

8474 0.88 146.0 3002 2211 2140 2064 778.4 14.0 710 8475 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2210 2101 2140 2062 0 0 0 0 0 0 15.02 15.04 15.04

8835 0.88 146.0 3002 2210 2141 2063 728.0 13.9 722 8840 0.00 2.62 0.00 0.000 516 0.000 0.127 3012 788 2101 2140 2062 0 0 0 0 0 0 15.05 14.73 15.08

8889 0.88 146.0 3013 789 2140 2063 720.2 14.5 733 8898 0.00 2.62 0.00 0.000 1030 0.000 0.112 3013 2205 2100 2139 2062 0 0 0 0 0 0 14.83 14.74 14.88

9254 0.88 146.0 3013 2206 2140 2062 667.5 14.5 760 9261 0.00 2.65 0.00 0.000 260 0.000 0.143 3013 3615 2100 2139 2061 0 0 0 0 0 0 15.09 14.75 15.11

9290 0.88 146.0 3013 3617 2140 2061 661.8 16.1 767 9299 0.12 2.58 0.00 0.000 5126 0.234 0.101 2989 2206 2100 2139 2062 0 0 0 0 0 0 14.65 14.78 14.78

9595 0.88 146.0 2989 2204 2140 2061 621.7 12.8 798 9601 0.00 2.65 0.00 0.000 516 0.000 0.132 2999 766 2100 2139 2061 0 0 0 0 0 0 15.09 14.75 15.12

9635 0.88 146.0 2999 767 2139 2062 616.5 13.1 806 9641 0.00 2.67 0.00 0.000 1030 0.000 0.116 2999 2210 2099 2138 2061 0 0 0 0 0 0 14.85 14.75 14.97

9945 0.88 146.0 2999 2210 2140 2061 575.1 13.3 838 9946 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2209 2099 2138 2061 0 0 0 0 0 0 15.11 15.14 15.14

10245 0.88 146.0 2999 2210 2139 2060 535.6 12.8 868 10246 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2209 2097 2134 2060 0 0 0 0 0 0 15.12 15.15 15.15

10545 0.88 146.0 2999 2210 2139 2060 497.0 13.2 898 10546 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2209 2096 2138 2055 0 0 0 0 0 0 15.14 15.16 15.16

10845 0.88 146.0 2999 2209 2140 2058 458.6 12.0 928 10846 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2209 2099 2139 2059 0 0 0 0 0 0 15.14 15.16 15.16

11145 0.88 146.0 2999 2209 2139 2059 421.6 12.5 958 11151 0.00 2.65 0.00 0.000 516 0.000 0.127 3009 769 2098 2138 2059 0 0 0 0 0 0 15.14 14.77 15.16

11175 0.88 146.0 3010 769 2139 2059 417.8 12.3 964 11181 0.00 2.65 0.00 0.000 1030 0.000 0.113 3009 2202 2099 2138 2060 0 0 0 0 0 0 14.87 14.77 15.00

11485 0.88 146.0 3009 2203 2139 2060 380.2 11.6 996 11491 0.00 2.65 0.00 0.000 260 0.000 0.145 3009 3616 2098 2138 2059 0 0 0 0 0 0 15.13 14.77 15.16

11515 0.88 146.0 3010 3616 2139 2059 376.4 12.7 1002 11522 0.12 2.58 0.00 0.000 5126 0.232 0.101 2984 2197 2098 2138 2059 0 0 0 0 0 0 14.66 14.80 14.97

11774 end climb: SURFACE_OBSTACLE_DETECTED

state 11774 begin subsurface finish

11778 0.01 4.1 2986 2195 2139 2059 347.5 10.6 1029 11789 0.95 2.65 -2.17 0.053 20996 0.203 0.153 2716 788 2718 2833 2603 0 0 0 0 0 0 14.69 13.46 14.83

11789 end subsurface finish: CONTROL_FINISHED_OK

state 11790 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	142	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	10	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	120218,031408,-7416.3223,-11227.2402,0,4117.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	300.08	MHEAD_RNG_PITCHd_Wd	131.9,40327,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.3	D_GRID	990
GPS2	120218,031408,-7416.3223,-11227.2402,0,4117.7,0,53.5,0.0,0.0,0,0.0

FINISH1	347.5,1.027419,4	_24V_AH	12.30,63.447
FINISH2	346.5	_10V_AH	12.33,0.000
RAFOS_CLK	428	FG_AHR_24Vo	0.000
RAFOS	0,1518415281,6.032778,6.022500,139,60,60,55,55,53,469,205,146,224,115,164	FG_AHR_10Vo	0.000
RAFOS_FIX	-7417.953613,-11227.557617,120218,060628,3,130,0.28	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	36629,1031
TT8_MAMPS	0.038948,0.375998	CAP_FILE_SIZE	128600,0
HUMID	48.38	CFSIZE	1024409600,1003438080
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.50	SOUNDSPEED	1457.3
XPDR_PINGS	1	GPS	120218,061528,-7417.954,-11227.558,0,4130.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	355.0,14.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	298	16.51	nil	0	0	0.00
Roll_motor	99	2425	2982.07	nil	0	0	0.00
VBD_pump_during_apogee	685	2354	19858.10	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	11800	2	432.95
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	49	420	253.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8908	2	253.75
TT8_Active	711	12	107.63
TT8_Sampling	2150	31	841.75
TT8_CF8	94	45	52.83
TT8_Kalman	0	0	0.00
Analog_circuits	1536	10	193.30
GPS_charging	0	0	0.00
Compass	1476	7	136.37
RAFOS	720	1	13.32
Transponder	348	30	128.74

		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

991.0	15.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
984.8	19.50	9000.00	0.0	0.00	0.00	19.50	0.0	-0.71	1.00
978.7	15.60	9000.00	0.0	-0.04	0.01	15.60	963.1	0.64	1.00
972.3	14.30	9000.00	0.0	0.42	0.92	14.30	958.0	0.20	1.00
965.8	17.40	9000.00	0.0	-0.15	0.34	17.40	0.0	-0.48	1.00
959.8	25.70	24.70	0.0	-0.91	0.92	25.70	0.0	-1.38	1.00
953.5	25.80	9000.00	0.0	-0.67	0.74	25.80	0.0	-0.02	1.00
432.7	96.30	9000.00	0.0	-0.13	1.00	96.30	0.0	-0.14	1.00
414.0	77.00	9000.00	0.0	-0.11	0.91	77.00	337.0	1.03	1.00
407.7	70.60	70.60	337.1	1.03	1.00	70.60	337.1	1.02	1.00
395.5	57.90	57.90	337.6	1.03	1.00	57.90	337.6	1.04	1.00
388.4	50.20	50.30	338.1	1.05	1.00	50.20	338.2	1.08	1.00
381.4	42.70	42.70	338.7	1.08	1.00	42.70	338.7	1.07	1.00
375.1	36.00	36.00	339.1	1.07	1.00	36.00	339.1	1.06	1.00
368.4	28.70	28.70	339.7	1.08	1.00	28.70	339.7	1.09	1.00
361.7	21.40	21.40	340.3	1.09	1.00	21.40	340.3	1.09	1.00
355.0	14.30	14.30	340.7	1.08	1.00	14.30	340.7	1.06	1.00

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.88	-146.0	2709	2489	2827	2606	0.0	0.0	0	11	0.00	0.03	-2.20	0.041	16390	0.000	2.425	2708	2497	3322	3456	3188	0	0	0	0	0	0	15.09	13.44	15.08
13	-0.88	-146.0	2708	2498	3455	3192	0.0	0.0	0	19	0.88	2.55	0.00	0.000	4612	0.117	0.119	2422	1079	3322	3450	3195	0	0	0	0	0	0	14.78	14.74	14.85
83	-0.88	-146.0	2422	1079	3445	3202	305.1	-9.7	14	89	0.00	2.70	0.00	0.000	1030	0.000	0.131	2413	2526	3322	3443	3202	0	0	0	0	0	0	14.90	14.71	14.95
393	-0.88	-146.0	2413	2533	3439	3206	341.3	-12.3	46	399	0.00	2.38	0.00	0.000	260	0.000	0.155	2404	3753	3322	3437	3207	0	0	0	0	0	0	15.11	14.69	15.13
463	-0.88	-146.0	2404	3753	3436	3209	350.1	-12.3	60	469	0.00	2.28	0.00	0.000	1030	0.000	0.101	2404	2498	3322	3435	3209	0	0	0	0	0	0	14.85	14.78	14.90
774	-0.88	-146.0	2404	2499	3435	3210	385.7	-11.8	92	774	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2497	3322	3435	3209	0	0	0	0	0	0	15.09	15.12	15.12
1075	-0.88	-146.0	2404	2498	3435	3209	420.1	-11.7	122	1080	0.00	2.40	0.00	0.000	260	0.000	0.156	2394	3758	3321	3434	3208	0	0	0	0	0	0	15.07	14.71	15.11
1104	-0.88	-146.0	2394	3759	3433	3211	424.0	-13.7	128	1110	0.00	2.30	0.00	0.000	1030	0.000	0.100	2394	2492	3321	3432	3210	0	0	0	0	0	0	14.85	14.78	14.90
1414	-0.88	-146.0	2395	2491	3433	3210	462.5	-11.8	160	1420	0.00	2.45	0.00	0.000	260	0.000	0.154	2385	3752	3321	3432	3210	0	0	0	0	0	0	15.11	14.69	15.14
1438	-0.88	-146.0	2385	3752	3432	3211	465.6	-12.7	165	1447	0.10	2.28	0.00	0.000	3078	0.261	0.099	2412	2497	3320	3431	3210	0	0	0	0	0	0	14.57	14.78	14.75
1744	-0.88	-146.0	2412	2497	3431	3211	497.5	-10.3	196	1750	0.00	2.62	0.00	0.000	516	0.000	0.117	2412	1061	3321	3431	3211	0	0	0	0	0	0	15.09	14.71	15.12
1764	-0.88	-146.0	2413	1061	3432	3211	499.7	-11.0	200	1770	0.00	2.72	0.00	0.000	1030	0.000	0.128	2403	2520	3321	3431	3211	0	0	0	0	0	0	14.89	14.71	14.94
2074	-0.88	-146.0	2403	2520	3431	3211	534.1	-11.5	232	2081	0.00	2.38	0.00	0.000	260	0.000	0.155	2394	3751	3320	3430	3211	0	0	0	0	0	0	15.11	14.67	15.14
2115	-0.88	-146.0	2394	3752	3430	3212	539.2	-12.3	240	2121	0.00	2.28	0.00	0.000	1030	0.000	0.101	2394	2497	3320	3430	3211	0	0	0	0	0	0	14.85	14.77	14.90
2425	-0.88	-146.0	2395	2498	3431	3212	573.8	-10.6	272	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2497	3320	3430	3211	0	0	0	0	0	0	15.11	15.14	15.14
2725	-0.88	-146.0	2393	2498	3430	3212	606.6	-10.5	302	2731	0.00	2.42	0.00	0.000	260	0.000	0.156	2385	3747	3320	3430	3211	0	0	0	0	0	0	15.11	14.67	15.14
2791	-0.88	-146.0	2385	3748	3430	3212	613.9	-11.4	315	2797	0.15	2.22	0.00	0.000	3078	0.288	0.099	2417	2494	3320	3429	3211	0	0	0	0	0	0	14.59	14.81	14.85
3095	-0.88	-146.0	2417	2494	3430	3212	644.6	-10.4	346	3096	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2493	3320	3429	3212	0	0	0	0	0	0	15.11	15.14	15.14
3395	-0.88	-146.0	2418	2494	3430	3213	673.9	-9.9	376	3401	0.00	2.45	0.00	0.000	260	0.000	0.155	2409	3755	3320	3429	3212	0	0	0	0	0	0	15.11	14.66	15.14
3425	-0.88	-146.0	2409	3756	3430	3212	677.1	-11.7	382	3431	0.00	2.30	0.00	0.000	1030	0.000	0.101	2409	2492	3320	3429	3212	0	0	0	0	0	0	14.85	14.77	14.90
3745	-0.88	-146.0	2409	2496	3430	3213	709.1	-9.5	409	3746	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2492	3320	3429	3212	0	0	0	0	0	0	15.11	15.15	15.14
4105	-0.88	-146.0	2410	2492	3430	3211	743.4	-9.3	421	4111	0.00	2.42	0.00	0.000	260	0.000	0.154	2400	3746	3320	3429	3212	0	0	0	0	0	0	15.13	14.67	15.16
4136	-0.88	-146.0	2400	3746	3430	3212	746.6	-11.6	427	4141	0.00	2.22	0.00	0.000	1030	0.000	0.098	2401	2491	3323	3429	3218	0	0	0	0	0	0	14.94	14.82	14.97
4525	-0.88	-146.0	2401	2491	3430	3212	786.6	-10.5	445	4533	0.00	2.42	0.00	0.000	260	0.000	0.154	2391	3746	3320	3429	3212	0	0	0	0	0	0	15.14	14.67	15.16
4558	-0.88	-146.0	2392	3746	3430	3212	789.7	-11.5	451	4563	0.00	2.22	0.00	0.000	1030	0.000	0.098	2391	2490	3320	3429	3212	0	0	0	0	0	0	14.94	14.82	14.97
4947	-0.88	-146.0	2391	2490	3430	3212	831.4	-10.6	469	4948	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2490	3320	3429	3212	0	0	0	0	0	0	15.13	15.16	15.16
5308	-0.88	-146.0	2391	2491	3430	3214	868.3	-10.5	481	5309	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2490	3321	3429	3213	0	0	0	0	0	0	15.10	15.13	15.12
5668	-0.88	-146.0	2391	2491	3430	3214	904.4	-10.0	493	5674	0.00	2.40	0.00	0.000	260	0.000	0.152	2384	3756	3320	3429	3211	0	0	0	0	0	0	15.09	14.71	15.12
5737	-0.88	-146.0	2384	3757	3429	3214	912.3	-10.9	507	5744	0.00	2.28	0.00	0.000	1030	0.000	0.099	2383	2498	3320	3428	3213	0	0	0	0	0	0	14.85	14.77	14.90
6120	-0.88	-146.0	2384	2498	3429	3222	951.2	-10.1	523	6125	0.12	2.40	0.00	0.000	2308	0.298	0.151	2405	3760	3321	3429	3213	0	0	0	0	0	0	14.57	14.71	14.74
6149	-0.88	-146.0	2405	3761	3429	3214	953.7	-5.6	529	6156	0.00	2.30	0.00	0.000	1062	0.000	0.099	2405	2490	3321	3429	3213	0	0	0	0	0	0	14.86	14.78	14.90
6539	end dive: TARGET_DEPTH_EXCEEDED
state	6539	begin apogee
6543	-0.23	0.0	2406	2190	3430	3213	991.3	-9.8	547	6772	0.80	0.00	220.98	2.355	10246	0.226	0.000	2623	2190	2713	2767	2660	0	0	0	0	1	0	14.62	13.43	12.30
6773	end apogee: CONTROL_FINISHED_OK
state	6773	begin climb
6774	0.88	146.0	2624	2190	2769	2659	998.1	0.0	554	7255	1.25	2.88	464.67	1.383	10756	0.138	0.126	2991	796	2114	2150	2079	0	0	0	0	0	0	13.45	13.58	13.08
7304	0.88	146.0	2991	798	2144	2075	943.4	14.8	656	7310	0.00	2.80	0.00	0.000	1030	0.000	0.114	2991	2205	2108	2143	2073	0	0	0	0	0	0	13.92	13.83	13.95
7694	0.88	146.0	2991	2206	2142	2067	884.8	14.9	674	7695	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2205	2104	2142	2066	0	0	0	0	0	0	14.73	14.76	14.76
8055	0.88	146.0	2992	2205	2142	2064	836.1	13.3	686	8060	0.00	2.62	0.00	0.000	516	0.000	0.128	3002	793	2102	2141	2064	0	0	0	0	0	0	14.92	14.62	14.95
8089	0.88	146.0	3002	794	2141	2065	831.4	13.4	693	8095	0.00	2.65	0.00	0.000	1030	0.000	0.114	3002	2209	2102	2141	2063	0	0	0	0	0	0	14.71	14.62	14.76
8474	0.88	146.0	3002	2211	2140	2064	778.4	14.0	710	8475	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2210	2101	2140	2062	0	0	0	0	0	0	15.02	15.04	15.04
8835	0.88	146.0	3002	2210	2141	2063	728.0	13.9	722	8840	0.00	2.62	0.00	0.000	516	0.000	0.127	3012	788	2101	2140	2062	0	0	0	0	0	0	15.05	14.73	15.08
8889	0.88	146.0	3013	789	2140	2063	720.2	14.5	733	8898	0.00	2.62	0.00	0.000	1030	0.000	0.112	3013	2205	2100	2139	2062	0	0	0	0	0	0	14.83	14.74	14.88
9254	0.88	146.0	3013	2206	2140	2062	667.5	14.5	760	9261	0.00	2.65	0.00	0.000	260	0.000	0.143	3013	3615	2100	2139	2061	0	0	0	0	0	0	15.09	14.75	15.11
9290	0.88	146.0	3013	3617	2140	2061	661.8	16.1	767	9299	0.12	2.58	0.00	0.000	5126	0.234	0.101	2989	2206	2100	2139	2062	0	0	0	0	0	0	14.65	14.78	14.78
9595	0.88	146.0	2989	2204	2140	2061	621.7	12.8	798	9601	0.00	2.65	0.00	0.000	516	0.000	0.132	2999	766	2100	2139	2061	0	0	0	0	0	0	15.09	14.75	15.12
9635	0.88	146.0	2999	767	2139	2062	616.5	13.1	806	9641	0.00	2.67	0.00	0.000	1030	0.000	0.116	2999	2210	2099	2138	2061	0	0	0	0	0	0	14.85	14.75	14.97
9945	0.88	146.0	2999	2210	2140	2061	575.1	13.3	838	9946	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2209	2099	2138	2061	0	0	0	0	0	0	15.11	15.14	15.14
10245	0.88	146.0	2999	2210	2139	2060	535.6	12.8	868	10246	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2209	2097	2134	2060	0	0	0	0	0	0	15.12	15.15	15.15
10545	0.88	146.0	2999	2210	2139	2060	497.0	13.2	898	10546	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2209	2096	2138	2055	0	0	0	0	0	0	15.14	15.16	15.16
10845	0.88	146.0	2999	2209	2140	2058	458.6	12.0	928	10846	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2209	2099	2139	2059	0	0	0	0	0	0	15.14	15.16	15.16
11145	0.88	146.0	2999	2209	2139	2059	421.6	12.5	958	11151	0.00	2.65	0.00	0.000	516	0.000	0.127	3009	769	2098	2138	2059	0	0	0	0	0	0	15.14	14.77	15.16
11175	0.88	146.0	3010	769	2139	2059	417.8	12.3	964	11181	0.00	2.65	0.00	0.000	1030	0.000	0.113	3009	2202	2099	2138	2060	0	0	0	0	0	0	14.87	14.77	15.00
11485	0.88	146.0	3009	2203	2139	2060	380.2	11.6	996	11491	0.00	2.65	0.00	0.000	260	0.000	0.145	3009	3616	2098	2138	2059	0	0	0	0	0	0	15.13	14.77	15.16
11515	0.88	146.0	3010	3616	2139	2059	376.4	12.7	1002	11522	0.12	2.58	0.00	0.000	5126	0.232	0.101	2984	2197	2098	2138	2059	0	0	0	0	0	0	14.66	14.80	14.97
11774	end climb: SURFACE_OBSTACLE_DETECTED
state	11774	begin subsurface finish
11778	0.01	4.1	2986	2195	2139	2059	347.5	10.6	1029	11789	0.95	2.65	-2.17	0.053	20996	0.203	0.153	2716	788	2718	2833	2603	0	0	0	0	0	0	14.69	13.46	14.83
11789	end subsurface finish: CONTROL_FINISHED_OK
state	11790	begin surface