Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 149 * 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 149 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 16 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 149 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 16 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 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 120218,211544,-7424.6665,-11232.2393,0,4132.3,0,53.5,0.0,0.0,0,0.0 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 341.96 MHEAD_RNG_PITCHd_Wd 129.7,24730,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.2 D_GRID 990

GPS2 120218,211544,-7424.6665,-11232.2393,0,4132.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 363.4,1.027393,5 _24V_AH 13.08,66.166

FINISH2 362.4 _10V_AH 12.46,0.000

RAFOS_CLK 420 FG_AHR_24Vo 0.000

RAFOS 0,1518480064,0.032778,0.017778,165,59,57,54,53,53,616,209,234,191,115,140 FG_AHR_10Vo 0.000

RAFOS_FIX -7426.349121,-11233.137695,130218,000056,3,136,0.29 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33340,1005

TT8_MAMPS 0.040446,0.290612 CAP_FILE_SIZE 122029,0

HUMID 47.51 CFSIZE 1024409600,1002684416

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1458.3

XPDR_PINGS 0 GPS 130218,001456,-7426.349,-11233.138,0,4136.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 366.8,10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 273 15.63 nil 0 0 0.00

Roll_motor 87 171 195.39 nil 0 0 0.00

VBD_pump_during_apogee 1050 1279 17584.09 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 11808 2 459.48

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 247.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8667 2 249.47

TT8_Active 1038 12 158.82

TT8_Sampling 2076 31 821.09

TT8_CF8 94 45 53.07

TT8_Kalman 0 0 0.00

Analog_circuits 1858 10 236.18

GPS_charging 0 0 0.00

Compass 1438 7 134.22

RAFOS 720 1 13.46

Transponder 319 30 119.48

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

348.0 13.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

354.7 16.00 9000.00 0.0 0.00 0.00 16.00 0.0 0.40 1.00

361.5 20.90 9000.00 0.0 0.56 0.97 20.90 0.0 0.72 1.00

368.4 25.70 9000.00 0.0 0.71 1.00 25.70 0.0 0.70 1.00

375.4 33.00 32.60 0.0 0.87 0.99 33.00 0.0 1.04 1.00

388.1 40.90 9000.00 0.0 0.75 0.98 40.90 0.0 0.62 1.00

993.0 14.90 9000.00 0.0 -0.04 0.90 14.90 1007.9 -0.04 1.00

986.6 23.00 9000.00 0.0 -0.04 0.91 23.00 0.0 -1.27 1.00

980.4 23.40 9000.00 0.0 -0.68 0.79 23.40 0.0 -0.06 1.00

974.2 16.70 9000.00 0.0 0.51 0.71 16.70 957.5 1.08 1.00

967.9 28.20 9000.00 0.0 -0.39 0.18 28.20 0.0 -1.83 1.00

961.8 22.60 9000.00 0.0 -0.48 0.27 22.60 939.2 0.92 1.00

955.6 19.70 9000.00 0.0 0.69 0.97 19.70 935.9 0.47 1.00

948.8 18.00 9000.00 0.0 0.36 0.97 18.00 930.8 0.25 1.00

440.7 84.60 9000.00 0.0 -0.13 1.00 84.60 0.0 -0.13 1.00

433.8 77.60 9000.00 0.0 -0.12 0.99 77.60 356.2 1.01 1.00

427.0 70.50 70.50 356.5 1.03 1.00 70.50 356.5 1.04 1.00

420.1 63.50 63.40 356.7 1.02 1.00 63.50 356.6 1.01 1.00

413.3 56.50 56.50 356.8 1.02 1.00 56.50 356.8 1.03 1.00

399.6 42.60 42.60 357.0 1.02 1.00 42.60 357.0 1.01 1.00

392.9 35.60 35.70 357.2 1.02 1.00 35.60 357.3 1.04 1.00

386.1 28.70 28.70 357.4 1.02 1.00 28.70 357.4 1.01 1.00

379.9 22.40 22.40 357.5 1.02 1.00 22.40 357.5 1.02 1.00

373.5 16.00 15.90 357.6 1.01 1.00 16.00 357.5 1.00 1.00

366.8 10.20 10.10 356.7 0.93 1.00 10.20 356.6 0.87 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.88 -146.0 2713 2505 2820 2601 0.0 0.0 0 12 0.00 0.00 -2.08 0.045 16390 0.000 0.000 2713 2505 3322 3459 3185 0 0 0 0 0 0 15.09 13.40 15.09

13 -0.88 -146.0 2714 2505 3458 3188 0.0 0.0 0 20 0.90 2.35 0.00 0.000 4356 0.109 0.153 2415 3750 3322 3452 3193 0 0 0 0 0 0 14.78 14.69 14.85

88 -0.88 -146.0 2415 3751 3444 3203 348.5 -11.0 15 96 0.00 2.28 0.00 0.000 1030 0.000 0.101 2415 2497 3322 3443 3202 0 0 0 0 0 0 14.85 14.77 14.90

394 -0.88 -146.0 2415 2496 3442 3204 383.0 -10.5 46 400 0.00 2.58 0.00 0.000 516 0.000 0.118 2415 1088 3322 3440 3204 0 0 0 0 0 0 15.11 14.73 15.14

439 -0.88 -146.0 2414 1089 3440 3205 388.1 -11.4 55 446 0.00 2.65 0.00 0.000 1030 0.000 0.129 2406 2511 3322 3439 3205 0 0 0 0 0 0 14.90 14.72 14.95

744 -0.88 -146.0 2406 2512 3438 3205 423.4 -11.6 86 750 0.00 2.40 0.00 0.000 260 0.000 0.153 2396 3754 3321 3437 3205 0 0 0 0 0 0 15.11 14.67 15.14

818 -0.88 -146.0 2397 3754 3436 3208 432.6 -12.3 101 827 0.00 2.30 0.00 0.000 1030 0.000 0.102 2396 2490 3321 3435 3208 0 0 0 0 0 0 14.85 14.75 14.90

1124 -0.88 -146.0 2397 2490 3436 3207 467.9 -11.8 132 1124 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2490 3321 3435 3207 0 0 0 0 0 0 15.11 15.15 15.14

1424 -0.88 -146.0 2397 2490 3435 3208 503.2 -11.6 162 1431 0.00 2.45 0.00 0.000 260 0.000 0.155 2387 3752 3319 3430 3208 0 0 0 0 0 0 15.11 14.67 15.11

1465 -0.88 -146.0 2387 3753 3434 3209 508.1 -12.2 170 1471 0.00 2.30 0.00 0.000 1030 0.000 0.101 2387 2483 3321 3434 3209 0 0 0 0 0 0 14.84 14.76 14.90

1775 -0.88 -146.0 2387 2483 3434 3209 543.8 -11.6 202 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2483 3321 3433 3209 0 0 0 0 0 0 15.10 15.13 15.13

2075 -0.88 -146.0 2387 2482 3434 3208 578.9 -11.7 232 2082 0.00 2.42 0.00 0.000 260 0.000 0.155 2378 3755 3320 3432 3209 0 0 0 0 0 0 15.11 14.69 15.13

2131 -0.88 -146.0 2378 3756 3433 3209 585.9 -12.7 243 2138 0.17 2.25 0.00 0.000 3078 0.273 0.100 2417 2492 3320 3432 3209 0 0 0 0 0 0 14.59 14.80 14.85

2437 -0.88 -146.0 2418 2492 3433 3209 617.3 -10.0 274 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2492 3320 3432 3209 0 0 0 0 0 0 15.07 15.09 15.07

2736 -0.88 -146.0 2418 2493 3433 3209 647.2 -9.7 304 2737 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2492 3320 3432 3209 0 0 0 0 0 0 15.11 15.14 15.13

3037 -0.88 -146.0 2417 2493 3433 3210 676.4 -9.7 334 3037 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2492 3320 3432 3209 0 0 0 0 0 0 15.07 15.10 15.09

3346 -0.88 -146.0 2417 2493 3432 3210 706.6 -9.8 361 3352 0.00 2.40 0.00 0.000 260 0.000 0.154 2408 3755 3320 3432 3209 0 0 0 0 0 0 15.12 14.68 15.15

3377 -0.88 -146.0 2412 3756 3432 3210 709.8 -11.2 367 3382 0.00 2.25 0.00 0.000 1030 0.000 0.100 2408 2494 3320 3431 3209 0 0 0 0 0 0 14.93 14.81 14.96

3766 -0.88 -146.0 2408 2494 3432 3210 749.1 -9.9 385 3767 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2493 3320 3431 3209 0 0 0 0 0 0 15.14 15.16 15.16

4127 -0.88 -146.0 2409 2494 3432 3211 784.5 -9.9 397 4127 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2494 3320 3431 3210 0 0 0 0 0 0 15.14 15.16 15.16

4487 -0.88 -146.0 2409 2494 3432 3209 820.2 -10.0 409 4487 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2494 3320 3431 3209 0 0 0 0 0 0 15.14 15.17 15.16

4846 -0.88 -146.0 2409 2493 3432 3209 855.8 -9.9 421 4853 0.00 2.42 0.00 0.000 260 0.000 0.154 2399 3749 3323 3438 3209 0 0 0 0 0 0 15.15 14.66 15.17

4907 -0.88 -146.0 2400 3749 3432 3209 862.1 -10.5 433 4914 0.00 2.28 0.00 0.000 1030 0.000 0.098 2399 2487 3320 3431 3209 0 0 0 0 0 0 14.86 14.78 14.90

5298 -0.88 -146.0 2399 2487 3432 3210 901.6 -10.0 451 5299 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2487 3320 3431 3210 0 0 0 0 0 0 15.15 15.17 15.17

5658 -0.88 -146.0 2399 2488 3432 3211 937.1 -9.8 463 5659 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2487 3320 3431 3210 0 0 0 0 0 0 15.15 15.18 15.17

6018 -0.88 -146.0 2400 2487 3432 3210 970.9 -9.3 475 6025 0.00 2.45 0.00 0.000 260 0.000 0.153 2390 3753 3320 3431 3210 0 0 0 0 0 0 15.15 14.66 15.18

6059 -0.88 -146.0 2390 3753 3431 3210 975.1 -10.4 483 6065 0.00 2.28 0.00 0.000 1030 0.000 0.097 2390 2493 3320 3431 3210 0 0 0 0 0 0 14.86 14.78 14.90

6227 end dive: TARGET_DEPTH_EXCEEDED

state 6227 begin apogee

6231 -0.23 0.0 2391 2192 3432 3210 991.1 -9.8 492 6802 0.88 0.00 562.60 1.139 10246 0.236 0.000 2625 2192 2714 2770 2658 0 0 0 0 0 0 14.59 13.63 13.21

6804 end apogee: CONTROL_FINISHED_OK

state 6804 begin climb

6805 0.88 146.0 2625 2193 2768 2658 1000.3 0.0 511 7310 1.20 2.88 487.80 1.280 11012 0.130 0.125 2993 795 2112 2145 2080 0 0 0 0 0 0 13.74 13.58 13.08

7499 0.88 146.0 2993 795 2135 2072 921.1 12.9 645 7505 0.00 2.72 0.00 0.000 1030 0.000 0.112 2993 2200 2103 2134 2072 0 0 0 0 0 0 14.23 14.16 14.33

7879 0.88 146.0 2993 2201 2134 2067 868.6 13.7 661 7885 0.00 2.72 0.00 0.000 260 0.000 0.145 2993 3626 2100 2133 2067 0 0 0 0 0 0 14.83 14.51 14.85

7904 0.88 146.0 2993 3626 2133 2068 864.8 15.7 666 7912 0.00 2.65 0.00 0.000 1030 0.000 0.099 3003 2196 2099 2132 2067 0 0 0 0 0 0 14.64 14.56 14.69

8270 0.88 146.0 3003 2197 2134 2066 813.1 14.2 679 8271 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2196 2098 2132 2065 0 0 0 0 0 0 14.97 15.00 15.00

8630 0.88 146.0 3003 2197 2133 2065 761.6 14.2 691 8635 0.00 2.62 0.00 0.000 516 0.000 0.129 3014 776 2098 2132 2065 0 0 0 0 0 0 15.03 14.71 15.06

8649 0.88 146.0 3015 776 2133 2064 758.8 13.8 695 8655 0.08 2.67 0.00 0.000 5126 0.230 0.115 2980 2214 2098 2132 2065 0 0 0 0 0 0 14.64 14.71 14.86

9019 0.88 146.0 2981 2215 2132 2064 710.7 12.8 709 9025 0.00 2.65 0.00 0.000 260 0.000 0.145 2980 3620 2097 2131 2063 0 0 0 0 0 0 15.08 14.73 15.10

9054 0.88 146.0 2980 3621 2133 2064 705.8 14.3 716 9060 0.00 2.60 0.00 0.000 1030 0.000 0.102 2989 2197 2097 2131 2063 0 0 0 0 0 0 14.85 14.77 14.90

9419 0.88 146.0 2990 2197 2132 2064 657.1 13.1 753 9425 0.00 2.60 0.00 0.000 516 0.000 0.130 3000 785 2097 2131 2063 0 0 0 0 0 0 15.12 14.75 15.12

9454 0.88 146.0 3002 785 2132 2063 652.5 13.3 760 9463 0.00 2.62 0.00 0.000 1030 0.000 0.116 3000 2199 2097 2131 2063 0 0 0 0 0 0 14.85 14.75 14.89

9760 0.88 146.0 3001 2200 2132 2062 611.7 13.4 791 9761 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2199 2096 2131 2062 0 0 0 0 0 0 15.07 15.09 15.09

10060 0.88 146.0 3000 2201 2132 2063 571.5 13.2 821 10066 0.00 2.67 0.00 0.000 260 0.000 0.146 3000 3618 2096 2131 2062 0 0 0 0 0 0 15.07 14.76 15.10

10090 0.88 146.0 3000 3617 2131 2063 567.2 14.8 827 10096 0.00 2.60 0.00 0.000 1030 0.000 0.103 3011 2198 2096 2130 2062 0 0 0 0 0 0 14.97 14.78 14.99

10400 0.88 146.0 3011 2197 2131 2063 524.7 13.7 859 10409 0.00 2.60 0.00 0.000 516 0.000 0.131 3022 783 2096 2130 2062 0 0 0 0 0 0 15.12 14.76 15.14

10423 0.88 146.0 3022 784 2131 2062 521.5 13.8 863 10429 0.17 2.65 0.00 0.000 5126 0.240 0.117 2980 2236 2095 2130 2061 0 0 0 0 0 0 14.70 14.77 14.92

10733 0.88 146.0 2981 2236 2131 2061 484.8 11.8 895 10734 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2236 2096 2131 2061 0 0 0 0 0 0 15.11 15.14 15.14

11033 0.88 146.0 2979 2237 2131 2061 448.9 12.0 925 11034 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2236 2095 2130 2061 0 0 0 0 0 0 15.11 15.14 15.14

11333 0.88 146.0 2980 2237 2131 2061 414.4 11.4 955 11334 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2236 2095 2130 2060 0 0 0 0 0 0 15.12 15.15 15.14

11633 0.88 146.0 2981 2236 2131 2060 380.4 11.3 985 11641 0.00 2.67 0.00 0.000 516 0.000 0.127 2990 785 2095 2130 2060 0 0 0 0 0 0 15.12 14.72 15.15

11655 0.88 146.0 2990 785 2131 2060 377.9 11.1 989 11661 0.00 2.62 0.00 0.000 1030 0.000 0.115 2990 2204 2095 2130 2060 0 0 0 0 0 0 14.84 14.74 14.90

11784 end climb: SURFACE_OBSTACLE_DETECTED

state 11785 begin subsurface finish

11788 0.01 5.4 2991 2204 2131 2060 363.4 11.2 1003 11799 0.98 2.72 -2.10 0.054 20740 0.200 0.171 2706 3613 2705 2817 2594 0 0 0 0 0 0 14.66 13.41 14.80

11800 end subsurface finish: CONTROL_FINISHED_OK

state 11800 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	149	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	16	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	120218,211544,-7424.6665,-11232.2393,0,4132.3,0,53.5,0.0,0.0,0,0.0	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	341.96	MHEAD_RNG_PITCHd_Wd	129.7,24730,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.2	D_GRID	990
GPS2	120218,211544,-7424.6665,-11232.2393,0,4132.3,0,53.5,0.0,0.0,0,0.0

FINISH1	363.4,1.027393,5	_24V_AH	13.08,66.166
FINISH2	362.4	_10V_AH	12.46,0.000
RAFOS_CLK	420	FG_AHR_24Vo	0.000
RAFOS	0,1518480064,0.032778,0.017778,165,59,57,54,53,53,616,209,234,191,115,140	FG_AHR_10Vo	0.000
RAFOS_FIX	-7426.349121,-11233.137695,130218,000056,3,136,0.29	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33340,1005
TT8_MAMPS	0.040446,0.290612	CAP_FILE_SIZE	122029,0
HUMID	47.51	CFSIZE	1024409600,1002684416
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.3
XPDR_PINGS	0	GPS	130218,001456,-7426.349,-11233.138,0,4136.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	366.8,10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	273	15.63	nil	0	0	0.00
Roll_motor	87	171	195.39	nil	0	0	0.00
VBD_pump_during_apogee	1050	1279	17584.09	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	11808	2	459.48
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	247.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8667	2	249.47
TT8_Active	1038	12	158.82
TT8_Sampling	2076	31	821.09
TT8_CF8	94	45	53.07
TT8_Kalman	0	0	0.00
Analog_circuits	1858	10	236.18
GPS_charging	0	0	0.00
Compass	1438	7	134.22
RAFOS	720	1	13.46
Transponder	319	30	119.48

		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
348.0	13.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
354.7	16.00	9000.00	0.0	0.00	0.00	16.00	0.0	0.40	1.00
361.5	20.90	9000.00	0.0	0.56	0.97	20.90	0.0	0.72	1.00
368.4	25.70	9000.00	0.0	0.71	1.00	25.70	0.0	0.70	1.00
375.4	33.00	32.60	0.0	0.87	0.99	33.00	0.0	1.04	1.00
388.1	40.90	9000.00	0.0	0.75	0.98	40.90	0.0	0.62	1.00
993.0	14.90	9000.00	0.0	-0.04	0.90	14.90	1007.9	-0.04	1.00

986.6	23.00	9000.00	0.0	-0.04	0.91	23.00	0.0	-1.27	1.00
980.4	23.40	9000.00	0.0	-0.68	0.79	23.40	0.0	-0.06	1.00
974.2	16.70	9000.00	0.0	0.51	0.71	16.70	957.5	1.08	1.00
967.9	28.20	9000.00	0.0	-0.39	0.18	28.20	0.0	-1.83	1.00
961.8	22.60	9000.00	0.0	-0.48	0.27	22.60	939.2	0.92	1.00
955.6	19.70	9000.00	0.0	0.69	0.97	19.70	935.9	0.47	1.00
948.8	18.00	9000.00	0.0	0.36	0.97	18.00	930.8	0.25	1.00
440.7	84.60	9000.00	0.0	-0.13	1.00	84.60	0.0	-0.13	1.00
433.8	77.60	9000.00	0.0	-0.12	0.99	77.60	356.2	1.01	1.00
427.0	70.50	70.50	356.5	1.03	1.00	70.50	356.5	1.04	1.00
420.1	63.50	63.40	356.7	1.02	1.00	63.50	356.6	1.01	1.00
413.3	56.50	56.50	356.8	1.02	1.00	56.50	356.8	1.03	1.00
399.6	42.60	42.60	357.0	1.02	1.00	42.60	357.0	1.01	1.00
392.9	35.60	35.70	357.2	1.02	1.00	35.60	357.3	1.04	1.00
386.1	28.70	28.70	357.4	1.02	1.00	28.70	357.4	1.01	1.00
379.9	22.40	22.40	357.5	1.02	1.00	22.40	357.5	1.02	1.00
373.5	16.00	15.90	357.6	1.01	1.00	16.00	357.5	1.00	1.00
366.8	10.20	10.10	356.7	0.93	1.00	10.20	356.6	0.87	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.88	-146.0	2713	2505	2820	2601	0.0	0.0	0	12	0.00	0.00	-2.08	0.045	16390	0.000	0.000	2713	2505	3322	3459	3185	0	0	0	0	0	0	15.09	13.40	15.09
13	-0.88	-146.0	2714	2505	3458	3188	0.0	0.0	0	20	0.90	2.35	0.00	0.000	4356	0.109	0.153	2415	3750	3322	3452	3193	0	0	0	0	0	0	14.78	14.69	14.85
88	-0.88	-146.0	2415	3751	3444	3203	348.5	-11.0	15	96	0.00	2.28	0.00	0.000	1030	0.000	0.101	2415	2497	3322	3443	3202	0	0	0	0	0	0	14.85	14.77	14.90
394	-0.88	-146.0	2415	2496	3442	3204	383.0	-10.5	46	400	0.00	2.58	0.00	0.000	516	0.000	0.118	2415	1088	3322	3440	3204	0	0	0	0	0	0	15.11	14.73	15.14
439	-0.88	-146.0	2414	1089	3440	3205	388.1	-11.4	55	446	0.00	2.65	0.00	0.000	1030	0.000	0.129	2406	2511	3322	3439	3205	0	0	0	0	0	0	14.90	14.72	14.95
744	-0.88	-146.0	2406	2512	3438	3205	423.4	-11.6	86	750	0.00	2.40	0.00	0.000	260	0.000	0.153	2396	3754	3321	3437	3205	0	0	0	0	0	0	15.11	14.67	15.14
818	-0.88	-146.0	2397	3754	3436	3208	432.6	-12.3	101	827	0.00	2.30	0.00	0.000	1030	0.000	0.102	2396	2490	3321	3435	3208	0	0	0	0	0	0	14.85	14.75	14.90
1124	-0.88	-146.0	2397	2490	3436	3207	467.9	-11.8	132	1124	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2490	3321	3435	3207	0	0	0	0	0	0	15.11	15.15	15.14
1424	-0.88	-146.0	2397	2490	3435	3208	503.2	-11.6	162	1431	0.00	2.45	0.00	0.000	260	0.000	0.155	2387	3752	3319	3430	3208	0	0	0	0	0	0	15.11	14.67	15.11
1465	-0.88	-146.0	2387	3753	3434	3209	508.1	-12.2	170	1471	0.00	2.30	0.00	0.000	1030	0.000	0.101	2387	2483	3321	3434	3209	0	0	0	0	0	0	14.84	14.76	14.90
1775	-0.88	-146.0	2387	2483	3434	3209	543.8	-11.6	202	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2483	3321	3433	3209	0	0	0	0	0	0	15.10	15.13	15.13
2075	-0.88	-146.0	2387	2482	3434	3208	578.9	-11.7	232	2082	0.00	2.42	0.00	0.000	260	0.000	0.155	2378	3755	3320	3432	3209	0	0	0	0	0	0	15.11	14.69	15.13
2131	-0.88	-146.0	2378	3756	3433	3209	585.9	-12.7	243	2138	0.17	2.25	0.00	0.000	3078	0.273	0.100	2417	2492	3320	3432	3209	0	0	0	0	0	0	14.59	14.80	14.85
2437	-0.88	-146.0	2418	2492	3433	3209	617.3	-10.0	274	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2492	3320	3432	3209	0	0	0	0	0	0	15.07	15.09	15.07
2736	-0.88	-146.0	2418	2493	3433	3209	647.2	-9.7	304	2737	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2492	3320	3432	3209	0	0	0	0	0	0	15.11	15.14	15.13
3037	-0.88	-146.0	2417	2493	3433	3210	676.4	-9.7	334	3037	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2492	3320	3432	3209	0	0	0	0	0	0	15.07	15.10	15.09
3346	-0.88	-146.0	2417	2493	3432	3210	706.6	-9.8	361	3352	0.00	2.40	0.00	0.000	260	0.000	0.154	2408	3755	3320	3432	3209	0	0	0	0	0	0	15.12	14.68	15.15
3377	-0.88	-146.0	2412	3756	3432	3210	709.8	-11.2	367	3382	0.00	2.25	0.00	0.000	1030	0.000	0.100	2408	2494	3320	3431	3209	0	0	0	0	0	0	14.93	14.81	14.96
3766	-0.88	-146.0	2408	2494	3432	3210	749.1	-9.9	385	3767	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2493	3320	3431	3209	0	0	0	0	0	0	15.14	15.16	15.16
4127	-0.88	-146.0	2409	2494	3432	3211	784.5	-9.9	397	4127	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2494	3320	3431	3210	0	0	0	0	0	0	15.14	15.16	15.16
4487	-0.88	-146.0	2409	2494	3432	3209	820.2	-10.0	409	4487	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2494	3320	3431	3209	0	0	0	0	0	0	15.14	15.17	15.16
4846	-0.88	-146.0	2409	2493	3432	3209	855.8	-9.9	421	4853	0.00	2.42	0.00	0.000	260	0.000	0.154	2399	3749	3323	3438	3209	0	0	0	0	0	0	15.15	14.66	15.17
4907	-0.88	-146.0	2400	3749	3432	3209	862.1	-10.5	433	4914	0.00	2.28	0.00	0.000	1030	0.000	0.098	2399	2487	3320	3431	3209	0	0	0	0	0	0	14.86	14.78	14.90
5298	-0.88	-146.0	2399	2487	3432	3210	901.6	-10.0	451	5299	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2487	3320	3431	3210	0	0	0	0	0	0	15.15	15.17	15.17
5658	-0.88	-146.0	2399	2488	3432	3211	937.1	-9.8	463	5659	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2487	3320	3431	3210	0	0	0	0	0	0	15.15	15.18	15.17
6018	-0.88	-146.0	2400	2487	3432	3210	970.9	-9.3	475	6025	0.00	2.45	0.00	0.000	260	0.000	0.153	2390	3753	3320	3431	3210	0	0	0	0	0	0	15.15	14.66	15.18
6059	-0.88	-146.0	2390	3753	3431	3210	975.1	-10.4	483	6065	0.00	2.28	0.00	0.000	1030	0.000	0.097	2390	2493	3320	3431	3210	0	0	0	0	0	0	14.86	14.78	14.90
6227	end dive: TARGET_DEPTH_EXCEEDED
state	6227	begin apogee
6231	-0.23	0.0	2391	2192	3432	3210	991.1	-9.8	492	6802	0.88	0.00	562.60	1.139	10246	0.236	0.000	2625	2192	2714	2770	2658	0	0	0	0	0	0	14.59	13.63	13.21
6804	end apogee: CONTROL_FINISHED_OK
state	6804	begin climb
6805	0.88	146.0	2625	2193	2768	2658	1000.3	0.0	511	7310	1.20	2.88	487.80	1.280	11012	0.130	0.125	2993	795	2112	2145	2080	0	0	0	0	0	0	13.74	13.58	13.08
7499	0.88	146.0	2993	795	2135	2072	921.1	12.9	645	7505	0.00	2.72	0.00	0.000	1030	0.000	0.112	2993	2200	2103	2134	2072	0	0	0	0	0	0	14.23	14.16	14.33
7879	0.88	146.0	2993	2201	2134	2067	868.6	13.7	661	7885	0.00	2.72	0.00	0.000	260	0.000	0.145	2993	3626	2100	2133	2067	0	0	0	0	0	0	14.83	14.51	14.85
7904	0.88	146.0	2993	3626	2133	2068	864.8	15.7	666	7912	0.00	2.65	0.00	0.000	1030	0.000	0.099	3003	2196	2099	2132	2067	0	0	0	0	0	0	14.64	14.56	14.69
8270	0.88	146.0	3003	2197	2134	2066	813.1	14.2	679	8271	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2196	2098	2132	2065	0	0	0	0	0	0	14.97	15.00	15.00
8630	0.88	146.0	3003	2197	2133	2065	761.6	14.2	691	8635	0.00	2.62	0.00	0.000	516	0.000	0.129	3014	776	2098	2132	2065	0	0	0	0	0	0	15.03	14.71	15.06
8649	0.88	146.0	3015	776	2133	2064	758.8	13.8	695	8655	0.08	2.67	0.00	0.000	5126	0.230	0.115	2980	2214	2098	2132	2065	0	0	0	0	0	0	14.64	14.71	14.86
9019	0.88	146.0	2981	2215	2132	2064	710.7	12.8	709	9025	0.00	2.65	0.00	0.000	260	0.000	0.145	2980	3620	2097	2131	2063	0	0	0	0	0	0	15.08	14.73	15.10
9054	0.88	146.0	2980	3621	2133	2064	705.8	14.3	716	9060	0.00	2.60	0.00	0.000	1030	0.000	0.102	2989	2197	2097	2131	2063	0	0	0	0	0	0	14.85	14.77	14.90
9419	0.88	146.0	2990	2197	2132	2064	657.1	13.1	753	9425	0.00	2.60	0.00	0.000	516	0.000	0.130	3000	785	2097	2131	2063	0	0	0	0	0	0	15.12	14.75	15.12
9454	0.88	146.0	3002	785	2132	2063	652.5	13.3	760	9463	0.00	2.62	0.00	0.000	1030	0.000	0.116	3000	2199	2097	2131	2063	0	0	0	0	0	0	14.85	14.75	14.89
9760	0.88	146.0	3001	2200	2132	2062	611.7	13.4	791	9761	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2199	2096	2131	2062	0	0	0	0	0	0	15.07	15.09	15.09
10060	0.88	146.0	3000	2201	2132	2063	571.5	13.2	821	10066	0.00	2.67	0.00	0.000	260	0.000	0.146	3000	3618	2096	2131	2062	0	0	0	0	0	0	15.07	14.76	15.10
10090	0.88	146.0	3000	3617	2131	2063	567.2	14.8	827	10096	0.00	2.60	0.00	0.000	1030	0.000	0.103	3011	2198	2096	2130	2062	0	0	0	0	0	0	14.97	14.78	14.99
10400	0.88	146.0	3011	2197	2131	2063	524.7	13.7	859	10409	0.00	2.60	0.00	0.000	516	0.000	0.131	3022	783	2096	2130	2062	0	0	0	0	0	0	15.12	14.76	15.14
10423	0.88	146.0	3022	784	2131	2062	521.5	13.8	863	10429	0.17	2.65	0.00	0.000	5126	0.240	0.117	2980	2236	2095	2130	2061	0	0	0	0	0	0	14.70	14.77	14.92
10733	0.88	146.0	2981	2236	2131	2061	484.8	11.8	895	10734	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2236	2096	2131	2061	0	0	0	0	0	0	15.11	15.14	15.14
11033	0.88	146.0	2979	2237	2131	2061	448.9	12.0	925	11034	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	2236	2095	2130	2061	0	0	0	0	0	0	15.11	15.14	15.14
11333	0.88	146.0	2980	2237	2131	2061	414.4	11.4	955	11334	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2236	2095	2130	2060	0	0	0	0	0	0	15.12	15.15	15.14
11633	0.88	146.0	2981	2236	2131	2060	380.4	11.3	985	11641	0.00	2.67	0.00	0.000	516	0.000	0.127	2990	785	2095	2130	2060	0	0	0	0	0	0	15.12	14.72	15.15
11655	0.88	146.0	2990	785	2131	2060	377.9	11.1	989	11661	0.00	2.62	0.00	0.000	1030	0.000	0.115	2990	2204	2095	2130	2060	0	0	0	0	0	0	14.84	14.74	14.90
11784	end climb: SURFACE_OBSTACLE_DETECTED
state	11785	begin subsurface finish
11788	0.01	5.4	2991	2204	2131	2060	363.4	11.2	1003	11799	0.98	2.72	-2.10	0.054	20740	0.200	0.171	2706	3613	2705	2817	2594	0	0	0	0	0	0	14.66	13.41	14.80
11800	end subsurface finish: CONTROL_FINISHED_OK
state	11800	begin surface