Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 150 * 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 150 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 13 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 150 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 13 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 130218,001456,-7426.3491,-11233.1377,0,4136.3,0,53.5,0.0,0.0,0,0.0 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 362.01 MHEAD_RNG_PITCHd_Wd 128.9,21596,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.3 D_GRID 990

GPS2 130218,001456,-7426.3491,-11233.1377,0,4136.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 364.1,1.027415,4 _24V_AH 12.29,66.527

FINISH2 363.1 _10V_AH 12.32,0.000

RAFOS_CLK 400 FG_AHR_24Vo 0.000

RAFOS 0,1518490860,3.032778,3.016667,125,68,66,54,52,51,651,180,195,162,214,147 FG_AHR_10Vo 0.000

RAFOS_FIX -7427.887207,-11235.691406,130218,030308,3,144,0.29 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 30052,923

TT8_MAMPS 0.044191,0.426181 CAP_FILE_SIZE 120952,0

HUMID 48.14 CFSIZE 1024409600,1002586112

INTERNAL_PRESSURE 7.62882 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.70 INTR 0,6422.38,0x234cda,1,24

XPDR_PINGS 0 SOUNDSPEED 1458.1

ALTIM_TOP_PING 367.7,9.9 GPS 130218,031408,-7427.887,-11235.691,0,4143.7,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 264 14.23 nil 0 0 0.00

Roll_motor 90 221 246.34 nil 0 0 0.00

VBD_pump_during_apogee 683 2343 19674.70 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 11184 2 409.19

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 232.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8511 2 242.22

TT8_Active 705 12 106.63

TT8_Sampling 1946 31 761.32

TT8_CF8 94 45 52.92

TT8_Kalman 0 0 0.00

Analog_circuits 1461 10 183.65

GPS_charging 0 0 0.00

Compass 1322 7 121.99

RAFOS 960 1 17.74

Transponder 316 30 117.14

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

362.3 8.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

368.4 14.00 9000.00 0.0 0.00 0.00 14.00 0.0 0.95 1.00

375.0 20.10 20.10 0.0 0.94 1.00 20.10 0.0 0.92 1.00

381.8 26.70 26.60 0.0 0.95 1.00 26.70 0.0 0.97 1.00

388.5 33.00 33.00 0.0 0.95 1.00 33.00 0.0 0.94 1.00

395.3 40.10 39.90 0.0 0.99 1.00 40.10 0.0 1.04 1.00

994.1 22.60 9000.00 0.0 -0.02 0.83 22.60 1016.7 -0.03 1.00

981.2 24.40 9000.00 0.0 -0.03 0.99 24.40 0.0 -0.14 1.00

975.1 19.00 9000.00 0.0 0.14 0.23 19.00 956.1 0.89 1.00

969.0 19.10 9000.00 0.0 0.44 0.74 19.10 0.0 -0.02 1.00

962.6 17.00 9000.00 0.0 0.16 0.74 17.00 945.6 0.33 1.00

956.5 20.50 9000.00 0.0 -0.11 0.16 20.50 0.0 -0.57 1.00

443.9 86.70 9000.00 0.0 -0.13 1.00 86.70 0.0 -0.13 1.00

436.6 79.20 9000.00 0.0 -0.12 0.99 79.20 357.4 1.03 1.00

430.0 72.20 72.30 357.7 1.04 1.00 72.20 357.8 1.06 1.00

423.5 65.90 65.80 357.7 1.02 1.00 65.90 357.6 0.97 1.00

417.1 59.30 59.30 357.8 1.01 1.00 59.30 357.8 1.03 1.00

410.8 52.90 52.90 357.9 1.02 1.00 52.90 357.9 1.02 1.00

404.5 46.60 46.60 357.9 1.01 1.00 46.60 357.9 1.00 1.00

398.2 39.90 40.00 358.2 1.03 1.00 39.90 358.3 1.06 1.00

392.2 33.80 33.80 358.4 1.03 1.00 33.80 358.4 1.02 1.00

386.1 27.80 27.80 358.3 1.00 1.00 27.80 358.3 0.98 1.00

380.0 21.80 21.80 358.2 0.98 1.00 21.80 358.2 0.98 1.00

373.8 15.60 15.70 358.1 0.99 1.00 15.60 358.2 1.00 1.00

367.7 10.00 9.90 357.8 0.96 1.00 10.00 357.7 0.92 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 2706 2487 2814 2596 0.0 0.0 0 11 0.00 0.00 -2.05 0.047 16390 0.000 0.000 2706 2487 3327 3465 3190 0 0 0 0 0 0 15.08 13.41 15.10

13 -0.88 -146.0 2707 2487 3465 3194 0.0 0.0 0 19 0.88 2.53 0.00 0.000 4612 0.118 0.117 2420 1078 3328 3460 3197 0 0 0 0 0 0 14.77 14.73 14.85

58 -0.88 -146.0 2420 1078 3454 3203 365.9 -9.0 9 66 0.00 2.70 0.00 0.000 1030 0.000 0.128 2411 2502 3328 3453 3203 0 0 0 0 0 0 14.81 14.71 14.87

363 -0.88 -146.0 2411 2502 3448 3209 399.6 -10.9 40 369 0.00 2.42 0.00 0.000 260 0.000 0.154 2402 3753 3327 3446 3209 0 0 0 0 0 0 15.09 14.67 15.12

413 -0.88 -146.0 2401 3754 3445 3212 405.7 -12.4 50 419 0.00 2.28 0.00 0.000 1030 0.000 0.100 2401 2498 3327 3444 3211 0 0 0 0 0 0 14.85 14.77 14.89

723 -0.88 -146.0 2402 2499 3444 3213 441.7 -11.6 82 732 0.00 2.45 0.00 0.000 260 0.000 0.156 2392 3753 3327 3443 3212 0 0 0 0 0 0 15.09 14.66 15.11

756 -0.88 -146.0 2392 3753 3443 3214 445.8 -12.8 88 762 0.00 2.28 0.00 0.000 1030 0.000 0.099 2392 2497 3327 3441 3213 0 0 0 0 0 0 14.84 14.76 14.89

1066 -0.88 -146.0 2392 2498 3442 3214 482.6 -11.8 120 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2497 3327 3442 3213 0 0 0 0 0 0 15.11 15.14 15.13

1366 -0.88 -146.0 2393 2498 3441 3214 517.7 -11.6 150 1373 0.00 2.42 0.00 0.000 260 0.000 0.155 2383 3748 3326 3440 3213 0 0 0 0 0 0 15.13 14.68 15.15

1408 -0.88 -146.0 2384 3749 3440 3214 522.7 -12.6 158 1414 0.10 2.28 0.00 0.000 3078 0.261 0.098 2410 2489 3326 3439 3214 0 0 0 0 0 0 14.57 14.78 14.75

1718 -0.88 -146.0 2410 2490 3439 3215 555.6 -10.3 190 1724 0.00 2.45 0.00 0.000 260 0.000 0.154 2401 3749 3326 3439 3214 0 0 0 0 0 0 15.11 14.66 15.14

1743 -0.88 -146.0 2402 3749 3439 3214 558.4 -11.7 195 1750 0.00 2.28 0.00 0.000 1030 0.000 0.099 2401 2491 3326 3438 3214 0 0 0 0 0 0 14.85 14.78 14.90

2048 -0.88 -146.0 2402 2492 3439 3215 591.4 -10.6 226 2048 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2491 3326 3438 3214 0 0 0 0 0 0 15.12 15.15 15.15

2348 -0.88 -146.0 2402 2492 3439 3214 623.1 -10.6 256 2354 0.00 2.42 0.00 0.000 260 0.000 0.152 2392 3749 3325 3436 3214 0 0 0 0 0 0 15.13 14.67 15.15

2403 -0.88 -146.0 2392 3749 3438 3214 629.5 -11.6 267 2410 0.00 2.28 0.00 0.000 1030 0.000 0.097 2392 2490 3325 3437 3214 0 0 0 0 0 0 14.85 14.78 14.90

2708 -0.88 -146.0 2392 2490 3437 3215 663.0 -11.1 298 2708 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2489 3326 3438 3214 0 0 0 0 0 0 15.12 15.16 15.15

3008 -0.88 -146.0 2392 2490 3438 3215 696.4 -10.8 328 3014 0.00 2.45 0.00 0.000 260 0.000 0.153 2384 3757 3325 3437 3214 0 0 0 0 0 0 15.13 14.66 15.15

3053 -0.88 -146.0 2384 3757 3437 3215 701.6 -11.7 337 3060 0.10 2.28 0.00 0.000 3078 0.265 0.098 2411 2499 3325 3437 3214 0 0 0 0 0 0 14.56 14.78 14.73

3429 -0.88 -146.0 2411 2500 3437 3215 739.1 -10.0 352 3430 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2499 3325 3437 3214 0 0 0 0 0 0 15.13 15.16 15.15

3791 -0.88 -146.0 2411 2499 3438 3214 775.4 -9.9 364 3795 0.00 2.40 0.00 0.000 260 0.000 0.155 2402 3757 3325 3437 3214 0 0 0 0 0 0 15.09 14.70 15.12

3829 -0.88 -146.0 2401 3758 3436 3215 779.6 -10.7 372 3835 0.00 2.30 0.00 0.000 1030 0.000 0.099 2402 2488 3325 3437 3214 0 0 0 0 0 0 14.85 14.78 14.90

4210 -0.88 -146.0 2401 2488 3437 3215 817.5 -10.0 388 4211 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2487 3325 3437 3214 0 0 0 0 0 0 15.14 15.16 15.16

4570 -0.88 -146.0 2402 2488 3438 3214 852.8 -9.7 400 4579 0.00 2.45 0.00 0.000 260 0.000 0.154 2393 3752 3325 3436 3215 0 0 0 0 0 0 15.14 14.67 15.17

4603 -0.88 -146.0 2393 3757 3437 3215 856.9 -10.1 406 4609 0.00 2.28 0.00 0.000 1030 0.000 0.097 2393 2491 3325 3436 3215 0 0 0 0 0 0 14.85 14.78 14.90

4993 -0.88 -146.0 2393 2491 3437 3215 895.3 -10.1 424 4994 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2491 3325 3436 3214 0 0 0 0 0 0 15.14 15.17 15.16

5355 -0.88 -146.0 2393 2492 3437 3215 931.4 -9.9 436 5359 0.00 2.40 0.00 0.000 260 0.000 0.153 2384 3754 3325 3436 3215 0 0 0 0 0 0 15.10 14.71 15.12

5398 -0.88 -146.0 2385 3755 3437 3216 936.3 -10.1 445 5407 0.10 2.28 0.00 0.000 3078 0.264 0.096 2411 2496 3325 3436 3215 0 0 0 0 0 0 14.55 14.78 14.73

5776 -0.88 -146.0 2411 2495 3438 3215 970.5 -9.0 460 5777 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2495 3325 3436 3215 0 0 0 0 0 0 15.14 15.17 15.16

6016 end dive: TARGET_DEPTH_EXCEEDED

state 6016 begin apogee

6019 -0.23 0.0 2412 2181 3437 3215 992.2 -9.1 468 6247 0.77 0.08 219.68 2.343 10246 0.228 0.222 2622 2207 2713 2766 2661 0 0 0 0 1 0 14.62 13.37 12.29

6248 end apogee: CONTROL_FINISHED_OK

state 6248 begin climb

6250 0.88 146.0 2623 2207 2767 2661 998.2 0.0 475 6730 1.25 2.90 463.52 1.271 10756 0.138 0.124 2990 796 2116 2147 2085 0 0 0 0 0 0 13.45 13.60 13.11

6759 0.88 146.0 2991 796 2143 2081 946.3 13.7 572 6765 0.00 2.83 0.00 0.000 1030 0.000 0.112 2990 2207 2111 2142 2080 0 0 0 0 0 0 13.93 13.78 13.95

7145 0.88 146.0 2990 2209 2140 2072 892.7 13.8 589 7146 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2208 2105 2139 2071 0 0 0 0 0 0 14.69 14.72 14.72

7506 0.88 146.0 2990 2209 2138 2070 843.5 13.6 601 7507 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2208 2103 2138 2069 0 0 0 0 0 0 14.90 14.92 14.92

7866 0.88 146.0 2990 2209 2139 2069 794.9 13.4 613 7872 0.00 2.62 0.00 0.000 516 0.000 0.126 3001 792 2102 2137 2068 0 0 0 0 0 0 14.98 14.69 15.01

7885 0.88 146.0 3001 793 2138 2069 792.0 13.2 617 7892 0.00 2.62 0.00 0.000 1030 0.000 0.115 3000 2201 2102 2137 2068 0 0 0 0 0 0 14.78 14.69 14.83

8257 0.88 146.0 3001 2202 2138 2068 740.3 14.1 631 8258 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2201 2102 2137 2067 0 0 0 0 0 0 15.06 15.09 15.09

8616 0.88 146.0 3001 2202 2137 2067 690.5 13.8 647 8623 0.00 2.60 0.00 0.000 516 0.000 0.125 3011 791 2100 2135 2066 0 0 0 0 0 0 15.09 14.75 15.11

8637 0.88 146.0 3011 792 2137 2067 687.6 13.7 651 8644 0.00 2.62 0.00 0.000 1030 0.000 0.115 3011 2206 2101 2136 2066 0 0 0 0 0 0 14.85 14.76 14.89

8948 0.88 146.0 3011 2207 2137 2067 643.2 14.2 683 8948 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2207 2101 2136 2066 0 0 0 0 0 0 15.10 15.13 15.12

9248 0.88 146.0 3011 2208 2138 2067 601.7 13.7 713 9248 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2207 2101 2136 2066 0 0 0 0 0 0 15.11 15.14 15.14

9548 0.88 146.0 3012 2207 2138 2065 560.5 13.9 743 9554 0.00 2.65 0.00 0.000 516 0.000 0.126 3021 766 2100 2136 2065 0 0 0 0 0 0 15.11 14.76 15.14

9583 0.88 146.0 3022 766 2137 2065 555.5 14.1 750 9590 0.12 2.65 0.00 0.000 5126 0.223 0.113 2973 2199 2100 2136 2065 0 0 0 0 0 0 14.69 14.76 14.92

9888 0.88 146.0 2973 2200 2137 2064 519.5 11.7 781 9894 0.00 2.67 0.00 0.000 260 0.000 0.145 2973 3624 2100 2136 2064 0 0 0 0 0 0 15.11 14.75 15.14

9923 0.88 146.0 2973 3624 2138 2065 514.9 12.9 788 9931 0.00 2.60 0.00 0.000 1030 0.000 0.102 2983 2194 2100 2135 2065 0 0 0 0 0 0 14.86 14.79 14.91

10228 0.88 146.0 2983 2194 2137 2066 478.9 11.6 819 10234 0.00 2.62 0.00 0.000 516 0.000 0.129 2993 765 2100 2136 2065 0 0 0 0 0 0 15.12 14.75 15.15

10268 0.88 146.0 2995 765 2137 2064 474.2 11.8 827 10274 0.00 2.67 0.00 0.000 1030 0.000 0.116 2993 2207 2100 2135 2065 0 0 0 0 0 0 14.85 14.74 14.90

10579 0.88 146.0 2994 2207 2137 2065 436.6 12.3 859 10585 0.00 2.67 0.00 0.000 260 0.000 0.147 2993 3622 2099 2135 2064 0 0 0 0 0 0 15.08 14.74 15.11

10614 0.88 146.0 2994 3623 2136 2064 432.0 13.5 866 10621 0.00 2.62 0.00 0.000 1030 0.000 0.103 3004 2189 2099 2135 2064 0 0 0 0 0 0 14.86 14.77 14.91

10919 0.88 146.0 3004 2189 2136 2065 393.3 12.2 897 10920 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2188 2099 2135 2064 0 0 0 0 0 0 15.12 15.15 15.15

11157 end climb: SURFACE_OBSTACLE_DETECTED

state 11157 begin subsurface finish

11161 0.01 4.3 3005 2188 2136 2064 364.1 11.8 921 11173 1.05 2.67 -2.12 0.054 20996 0.210 0.151 2711 776 2716 2829 2604 0 0 0 0 0 0 14.66 13.42 14.81

11174 end subsurface finish: CONTROL_FINISHED_OK

state 11174 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	150	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	13	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	130218,001456,-7426.3491,-11233.1377,0,4136.3,0,53.5,0.0,0.0,0,0.0	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	362.01	MHEAD_RNG_PITCHd_Wd	128.9,21596,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.3	D_GRID	990
GPS2	130218,001456,-7426.3491,-11233.1377,0,4136.3,0,53.5,0.0,0.0,0,0.0

FINISH1	364.1,1.027415,4	_24V_AH	12.29,66.527
FINISH2	363.1	_10V_AH	12.32,0.000
RAFOS_CLK	400	FG_AHR_24Vo	0.000
RAFOS	0,1518490860,3.032778,3.016667,125,68,66,54,52,51,651,180,195,162,214,147	FG_AHR_10Vo	0.000
RAFOS_FIX	-7427.887207,-11235.691406,130218,030308,3,144,0.29	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	30052,923
TT8_MAMPS	0.044191,0.426181	CAP_FILE_SIZE	120952,0
HUMID	48.14	CFSIZE	1024409600,1002586112
INTERNAL_PRESSURE	7.62882	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.70	INTR	0,6422.38,0x234cda,1,24
XPDR_PINGS	0	SOUNDSPEED	1458.1
ALTIM_TOP_PING	367.7,9.9	GPS	130218,031408,-7427.887,-11235.691,0,4143.7,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	264	14.23	nil	0	0	0.00
Roll_motor	90	221	246.34	nil	0	0	0.00
VBD_pump_during_apogee	683	2343	19674.70	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	11184	2	409.19
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	232.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8511	2	242.22
TT8_Active	705	12	106.63
TT8_Sampling	1946	31	761.32
TT8_CF8	94	45	52.92
TT8_Kalman	0	0	0.00
Analog_circuits	1461	10	183.65
GPS_charging	0	0	0.00
Compass	1322	7	121.99
RAFOS	960	1	17.74
Transponder	316	30	117.14

		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
362.3	8.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
368.4	14.00	9000.00	0.0	0.00	0.00	14.00	0.0	0.95	1.00
375.0	20.10	20.10	0.0	0.94	1.00	20.10	0.0	0.92	1.00
381.8	26.70	26.60	0.0	0.95	1.00	26.70	0.0	0.97	1.00
388.5	33.00	33.00	0.0	0.95	1.00	33.00	0.0	0.94	1.00
395.3	40.10	39.90	0.0	0.99	1.00	40.10	0.0	1.04	1.00
994.1	22.60	9000.00	0.0	-0.02	0.83	22.60	1016.7	-0.03	1.00

981.2	24.40	9000.00	0.0	-0.03	0.99	24.40	0.0	-0.14	1.00
975.1	19.00	9000.00	0.0	0.14	0.23	19.00	956.1	0.89	1.00
969.0	19.10	9000.00	0.0	0.44	0.74	19.10	0.0	-0.02	1.00
962.6	17.00	9000.00	0.0	0.16	0.74	17.00	945.6	0.33	1.00
956.5	20.50	9000.00	0.0	-0.11	0.16	20.50	0.0	-0.57	1.00
443.9	86.70	9000.00	0.0	-0.13	1.00	86.70	0.0	-0.13	1.00
436.6	79.20	9000.00	0.0	-0.12	0.99	79.20	357.4	1.03	1.00
430.0	72.20	72.30	357.7	1.04	1.00	72.20	357.8	1.06	1.00
423.5	65.90	65.80	357.7	1.02	1.00	65.90	357.6	0.97	1.00
417.1	59.30	59.30	357.8	1.01	1.00	59.30	357.8	1.03	1.00
410.8	52.90	52.90	357.9	1.02	1.00	52.90	357.9	1.02	1.00
404.5	46.60	46.60	357.9	1.01	1.00	46.60	357.9	1.00	1.00
398.2	39.90	40.00	358.2	1.03	1.00	39.90	358.3	1.06	1.00
392.2	33.80	33.80	358.4	1.03	1.00	33.80	358.4	1.02	1.00
386.1	27.80	27.80	358.3	1.00	1.00	27.80	358.3	0.98	1.00
380.0	21.80	21.80	358.2	0.98	1.00	21.80	358.2	0.98	1.00
373.8	15.60	15.70	358.1	0.99	1.00	15.60	358.2	1.00	1.00
367.7	10.00	9.90	357.8	0.96	1.00	10.00	357.7	0.92	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	2706	2487	2814	2596	0.0	0.0	0	11	0.00	0.00	-2.05	0.047	16390	0.000	0.000	2706	2487	3327	3465	3190	0	0	0	0	0	0	15.08	13.41	15.10
13	-0.88	-146.0	2707	2487	3465	3194	0.0	0.0	0	19	0.88	2.53	0.00	0.000	4612	0.118	0.117	2420	1078	3328	3460	3197	0	0	0	0	0	0	14.77	14.73	14.85
58	-0.88	-146.0	2420	1078	3454	3203	365.9	-9.0	9	66	0.00	2.70	0.00	0.000	1030	0.000	0.128	2411	2502	3328	3453	3203	0	0	0	0	0	0	14.81	14.71	14.87
363	-0.88	-146.0	2411	2502	3448	3209	399.6	-10.9	40	369	0.00	2.42	0.00	0.000	260	0.000	0.154	2402	3753	3327	3446	3209	0	0	0	0	0	0	15.09	14.67	15.12
413	-0.88	-146.0	2401	3754	3445	3212	405.7	-12.4	50	419	0.00	2.28	0.00	0.000	1030	0.000	0.100	2401	2498	3327	3444	3211	0	0	0	0	0	0	14.85	14.77	14.89
723	-0.88	-146.0	2402	2499	3444	3213	441.7	-11.6	82	732	0.00	2.45	0.00	0.000	260	0.000	0.156	2392	3753	3327	3443	3212	0	0	0	0	0	0	15.09	14.66	15.11
756	-0.88	-146.0	2392	3753	3443	3214	445.8	-12.8	88	762	0.00	2.28	0.00	0.000	1030	0.000	0.099	2392	2497	3327	3441	3213	0	0	0	0	0	0	14.84	14.76	14.89
1066	-0.88	-146.0	2392	2498	3442	3214	482.6	-11.8	120	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2497	3327	3442	3213	0	0	0	0	0	0	15.11	15.14	15.13
1366	-0.88	-146.0	2393	2498	3441	3214	517.7	-11.6	150	1373	0.00	2.42	0.00	0.000	260	0.000	0.155	2383	3748	3326	3440	3213	0	0	0	0	0	0	15.13	14.68	15.15
1408	-0.88	-146.0	2384	3749	3440	3214	522.7	-12.6	158	1414	0.10	2.28	0.00	0.000	3078	0.261	0.098	2410	2489	3326	3439	3214	0	0	0	0	0	0	14.57	14.78	14.75
1718	-0.88	-146.0	2410	2490	3439	3215	555.6	-10.3	190	1724	0.00	2.45	0.00	0.000	260	0.000	0.154	2401	3749	3326	3439	3214	0	0	0	0	0	0	15.11	14.66	15.14
1743	-0.88	-146.0	2402	3749	3439	3214	558.4	-11.7	195	1750	0.00	2.28	0.00	0.000	1030	0.000	0.099	2401	2491	3326	3438	3214	0	0	0	0	0	0	14.85	14.78	14.90
2048	-0.88	-146.0	2402	2492	3439	3215	591.4	-10.6	226	2048	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2491	3326	3438	3214	0	0	0	0	0	0	15.12	15.15	15.15
2348	-0.88	-146.0	2402	2492	3439	3214	623.1	-10.6	256	2354	0.00	2.42	0.00	0.000	260	0.000	0.152	2392	3749	3325	3436	3214	0	0	0	0	0	0	15.13	14.67	15.15
2403	-0.88	-146.0	2392	3749	3438	3214	629.5	-11.6	267	2410	0.00	2.28	0.00	0.000	1030	0.000	0.097	2392	2490	3325	3437	3214	0	0	0	0	0	0	14.85	14.78	14.90
2708	-0.88	-146.0	2392	2490	3437	3215	663.0	-11.1	298	2708	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2489	3326	3438	3214	0	0	0	0	0	0	15.12	15.16	15.15
3008	-0.88	-146.0	2392	2490	3438	3215	696.4	-10.8	328	3014	0.00	2.45	0.00	0.000	260	0.000	0.153	2384	3757	3325	3437	3214	0	0	0	0	0	0	15.13	14.66	15.15
3053	-0.88	-146.0	2384	3757	3437	3215	701.6	-11.7	337	3060	0.10	2.28	0.00	0.000	3078	0.265	0.098	2411	2499	3325	3437	3214	0	0	0	0	0	0	14.56	14.78	14.73
3429	-0.88	-146.0	2411	2500	3437	3215	739.1	-10.0	352	3430	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2499	3325	3437	3214	0	0	0	0	0	0	15.13	15.16	15.15
3791	-0.88	-146.0	2411	2499	3438	3214	775.4	-9.9	364	3795	0.00	2.40	0.00	0.000	260	0.000	0.155	2402	3757	3325	3437	3214	0	0	0	0	0	0	15.09	14.70	15.12
3829	-0.88	-146.0	2401	3758	3436	3215	779.6	-10.7	372	3835	0.00	2.30	0.00	0.000	1030	0.000	0.099	2402	2488	3325	3437	3214	0	0	0	0	0	0	14.85	14.78	14.90
4210	-0.88	-146.0	2401	2488	3437	3215	817.5	-10.0	388	4211	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2487	3325	3437	3214	0	0	0	0	0	0	15.14	15.16	15.16
4570	-0.88	-146.0	2402	2488	3438	3214	852.8	-9.7	400	4579	0.00	2.45	0.00	0.000	260	0.000	0.154	2393	3752	3325	3436	3215	0	0	0	0	0	0	15.14	14.67	15.17
4603	-0.88	-146.0	2393	3757	3437	3215	856.9	-10.1	406	4609	0.00	2.28	0.00	0.000	1030	0.000	0.097	2393	2491	3325	3436	3215	0	0	0	0	0	0	14.85	14.78	14.90
4993	-0.88	-146.0	2393	2491	3437	3215	895.3	-10.1	424	4994	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2491	3325	3436	3214	0	0	0	0	0	0	15.14	15.17	15.16
5355	-0.88	-146.0	2393	2492	3437	3215	931.4	-9.9	436	5359	0.00	2.40	0.00	0.000	260	0.000	0.153	2384	3754	3325	3436	3215	0	0	0	0	0	0	15.10	14.71	15.12
5398	-0.88	-146.0	2385	3755	3437	3216	936.3	-10.1	445	5407	0.10	2.28	0.00	0.000	3078	0.264	0.096	2411	2496	3325	3436	3215	0	0	0	0	0	0	14.55	14.78	14.73
5776	-0.88	-146.0	2411	2495	3438	3215	970.5	-9.0	460	5777	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2495	3325	3436	3215	0	0	0	0	0	0	15.14	15.17	15.16
6016	end dive: TARGET_DEPTH_EXCEEDED
state	6016	begin apogee
6019	-0.23	0.0	2412	2181	3437	3215	992.2	-9.1	468	6247	0.77	0.08	219.68	2.343	10246	0.228	0.222	2622	2207	2713	2766	2661	0	0	0	0	1	0	14.62	13.37	12.29
6248	end apogee: CONTROL_FINISHED_OK
state	6248	begin climb
6250	0.88	146.0	2623	2207	2767	2661	998.2	0.0	475	6730	1.25	2.90	463.52	1.271	10756	0.138	0.124	2990	796	2116	2147	2085	0	0	0	0	0	0	13.45	13.60	13.11
6759	0.88	146.0	2991	796	2143	2081	946.3	13.7	572	6765	0.00	2.83	0.00	0.000	1030	0.000	0.112	2990	2207	2111	2142	2080	0	0	0	0	0	0	13.93	13.78	13.95
7145	0.88	146.0	2990	2209	2140	2072	892.7	13.8	589	7146	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2208	2105	2139	2071	0	0	0	0	0	0	14.69	14.72	14.72
7506	0.88	146.0	2990	2209	2138	2070	843.5	13.6	601	7507	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2208	2103	2138	2069	0	0	0	0	0	0	14.90	14.92	14.92
7866	0.88	146.0	2990	2209	2139	2069	794.9	13.4	613	7872	0.00	2.62	0.00	0.000	516	0.000	0.126	3001	792	2102	2137	2068	0	0	0	0	0	0	14.98	14.69	15.01
7885	0.88	146.0	3001	793	2138	2069	792.0	13.2	617	7892	0.00	2.62	0.00	0.000	1030	0.000	0.115	3000	2201	2102	2137	2068	0	0	0	0	0	0	14.78	14.69	14.83
8257	0.88	146.0	3001	2202	2138	2068	740.3	14.1	631	8258	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2201	2102	2137	2067	0	0	0	0	0	0	15.06	15.09	15.09
8616	0.88	146.0	3001	2202	2137	2067	690.5	13.8	647	8623	0.00	2.60	0.00	0.000	516	0.000	0.125	3011	791	2100	2135	2066	0	0	0	0	0	0	15.09	14.75	15.11
8637	0.88	146.0	3011	792	2137	2067	687.6	13.7	651	8644	0.00	2.62	0.00	0.000	1030	0.000	0.115	3011	2206	2101	2136	2066	0	0	0	0	0	0	14.85	14.76	14.89
8948	0.88	146.0	3011	2207	2137	2067	643.2	14.2	683	8948	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2207	2101	2136	2066	0	0	0	0	0	0	15.10	15.13	15.12
9248	0.88	146.0	3011	2208	2138	2067	601.7	13.7	713	9248	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2207	2101	2136	2066	0	0	0	0	0	0	15.11	15.14	15.14
9548	0.88	146.0	3012	2207	2138	2065	560.5	13.9	743	9554	0.00	2.65	0.00	0.000	516	0.000	0.126	3021	766	2100	2136	2065	0	0	0	0	0	0	15.11	14.76	15.14
9583	0.88	146.0	3022	766	2137	2065	555.5	14.1	750	9590	0.12	2.65	0.00	0.000	5126	0.223	0.113	2973	2199	2100	2136	2065	0	0	0	0	0	0	14.69	14.76	14.92
9888	0.88	146.0	2973	2200	2137	2064	519.5	11.7	781	9894	0.00	2.67	0.00	0.000	260	0.000	0.145	2973	3624	2100	2136	2064	0	0	0	0	0	0	15.11	14.75	15.14
9923	0.88	146.0	2973	3624	2138	2065	514.9	12.9	788	9931	0.00	2.60	0.00	0.000	1030	0.000	0.102	2983	2194	2100	2135	2065	0	0	0	0	0	0	14.86	14.79	14.91
10228	0.88	146.0	2983	2194	2137	2066	478.9	11.6	819	10234	0.00	2.62	0.00	0.000	516	0.000	0.129	2993	765	2100	2136	2065	0	0	0	0	0	0	15.12	14.75	15.15
10268	0.88	146.0	2995	765	2137	2064	474.2	11.8	827	10274	0.00	2.67	0.00	0.000	1030	0.000	0.116	2993	2207	2100	2135	2065	0	0	0	0	0	0	14.85	14.74	14.90
10579	0.88	146.0	2994	2207	2137	2065	436.6	12.3	859	10585	0.00	2.67	0.00	0.000	260	0.000	0.147	2993	3622	2099	2135	2064	0	0	0	0	0	0	15.08	14.74	15.11
10614	0.88	146.0	2994	3623	2136	2064	432.0	13.5	866	10621	0.00	2.62	0.00	0.000	1030	0.000	0.103	3004	2189	2099	2135	2064	0	0	0	0	0	0	14.86	14.77	14.91
10919	0.88	146.0	3004	2189	2136	2065	393.3	12.2	897	10920	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2188	2099	2135	2064	0	0	0	0	0	0	15.12	15.15	15.15
11157	end climb: SURFACE_OBSTACLE_DETECTED
state	11157	begin subsurface finish
11161	0.01	4.3	3005	2188	2136	2064	364.1	11.8	921	11173	1.05	2.67	-2.12	0.054	20996	0.210	0.151	2711	776	2716	2829	2604	0	0	0	0	0	0	14.66	13.42	14.81
11174	end subsurface finish: CONTROL_FINISHED_OK
state	11174	begin surface