Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 153 * 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 153 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 15 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 153 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 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 130218,121600,-7432.1401,-11235.0107,0,4161.7,0,53.5,0.0,0.0,0,0.0 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 343.43 MHEAD_RNG_PITCHd_Wd 126.5,10852,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.2 D_GRID 990

GPS2 130218,121600,-7432.1401,-11235.0107,0,4161.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 383.7,1.027430,4 _24V_AH 13.03,67.706

FINISH2 383.7 _10V_AH 12.45,0.000

RAFOS_CLK 421 FG_AHR_24Vo 0.000

RAFOS 0,1518534069,15.032778,15.019167,111,58,55,53,53,50,641,120,199,218,156,147 FG_AHR_10Vo 0.000

RAFOS_FIX -7433.990234,-11235.628906,130218,151512,3,139,0.32 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 36671,1022

TT8_MAMPS 0.041195,0.245672 CAP_FILE_SIZE 128595,0

HUMID 47.63 CFSIZE 1024409600,1002225664

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

TCM_TEMP 13.80 SOUNDSPEED 1458.2

XPDR_PINGS 0 GPS 130218,151512,-7433.990,-11235.629,0,4139.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 430.4,63.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 283 17.10 nil 0 0 0.00

Roll_motor 118 263 407.28 nil 0 0 0.00

VBD_pump_during_apogee 1055 1216 16725.89 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 11695 2 446.03

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 250.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8464 2 243.44

TT8_Active 1079 12 164.87

TT8_Sampling 2115 31 836.12

TT8_CF8 100 45 56.34

TT8_Kalman 0 0 0.00

Analog_circuits 1925 10 244.53

GPS_charging 0 0 0.00

Compass 1461 7 136.32

RAFOS 720 1 13.45

Transponder 325 30 121.56

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

350.4 11.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

357.0 18.40 9000.00 0.0 0.00 0.00 18.40 0.0 0.98 1.00

363.8 25.30 25.20 0.0 1.00 1.00 25.30 0.0 1.01 1.00

370.5 31.90 31.90 0.0 1.00 1.00 31.90 0.0 0.99 1.00

991.0 20.70 9000.00 0.0 -0.01 0.64 20.70 0.0 -0.02 1.00

984.4 21.00 9000.00 0.0 -0.02 1.00 21.00 0.0 -0.05 1.00

978.2 16.20 9000.00 0.0 0.35 0.69 16.20 962.0 0.77 1.00

971.9 18.60 9000.00 0.0 0.19 0.24 18.60 0.0 -0.38 1.00

965.3 22.00 9000.00 0.0 -0.45 0.99 22.00 0.0 -0.52 1.00

958.7 21.60 9000.00 0.0 -0.22 0.64 21.60 937.1 0.06 1.00

443.7 77.70 9000.00 0.0 -0.11 1.00 77.70 0.0 -0.11 1.00

436.8 70.20 9000.00 0.0 -0.10 0.98 70.20 366.6 1.09 1.00

430.4 63.20 63.20 367.2 1.10 1.00 63.20 367.2 1.09 1.00

423.7 53.30 9000.00 0.0 1.30 0.99 53.30 370.4 1.48 1.00

416.7 43.20 9000.00 0.0 1.45 1.00 43.20 373.5 1.44 1.00

402.6 19.90 9000.00 0.0 1.59 1.00 19.90 382.7 1.65 1.00

395.8 12.30 9000.00 0.0 1.51 0.99 12.30 383.5 1.12 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 2703 2512 2822 2600 0.0 0.0 0 11 0.00 0.00 -2.08 0.046 16390 0.000 0.000 2703 2512 3325 3463 3187 0 0 0 0 0 0 15.09 13.41 15.10

13 -0.88 -146.0 2703 2513 3461 3190 0.0 0.0 0 19 0.88 2.33 0.00 0.000 4356 0.112 0.151 2411 3750 3325 3456 3194 0 0 0 0 0 0 14.78 14.69 14.87

48 -0.88 -146.0 2412 3751 3450 3200 346.2 -8.4 7 55 0.00 2.28 0.00 0.000 1030 0.000 0.097 2411 2492 3324 3448 3201 0 0 0 0 0 0 14.85 14.78 14.90

353 -0.88 -146.0 2412 2492 3445 3205 379.4 -11.0 38 359 0.00 2.60 0.00 0.000 516 0.000 0.115 2412 1066 3324 3444 3205 0 0 0 0 0 0 15.11 14.74 15.14

389 -0.88 -146.0 2412 1066 3444 3206 383.4 -11.5 45 396 0.00 2.67 0.00 0.000 1030 0.000 0.127 2402 2505 3324 3443 3206 0 0 0 0 0 0 14.91 14.73 14.96

693 -0.88 -146.0 2402 2506 3442 3208 418.4 -11.2 76 699 0.00 2.40 0.00 0.000 260 0.000 0.152 2393 3749 3324 3442 3207 0 0 0 0 0 0 15.12 14.69 15.15

758 -0.88 -146.0 2393 3749 3439 3210 426.3 -12.3 89 766 0.00 2.28 0.00 0.000 1030 0.000 0.098 2393 2492 3323 3438 3208 0 0 0 0 0 0 14.86 14.79 14.90

1064 -0.88 -146.0 2393 2493 3441 3210 463.0 -11.9 120 1069 0.00 2.40 0.00 0.000 260 0.000 0.153 2384 3751 3323 3437 3209 0 0 0 0 0 0 15.08 14.71 15.11

1093 -0.88 -146.0 2384 3751 3438 3214 466.8 -12.8 126 1099 0.10 2.28 0.00 0.000 3078 0.258 0.097 2411 2494 3323 3437 3209 0 0 0 0 0 0 14.58 14.79 14.76

1404 -0.88 -146.0 2411 2494 3438 3210 500.8 -10.8 158 1409 0.00 2.45 0.00 0.000 260 0.000 0.154 2400 3757 3323 3436 3210 0 0 0 0 0 0 15.11 14.67 15.13

1433 -0.88 -146.0 2402 3757 3436 3210 504.3 -11.4 164 1439 0.00 2.30 0.00 0.000 1030 0.000 0.099 2402 2487 3323 3436 3210 0 0 0 0 0 0 14.86 14.78 14.90

1744 -0.88 -146.0 2402 2487 3437 3210 539.1 -11.5 196 1749 0.00 2.45 0.00 0.000 260 0.000 0.155 2393 3748 3323 3436 3210 0 0 0 0 0 0 15.12 14.66 15.15

1783 -0.88 -146.0 2393 3749 3436 3210 543.9 -12.1 204 1789 0.00 2.28 0.00 0.000 1030 0.000 0.099 2392 2495 3322 3435 3210 0 0 0 0 0 0 14.85 14.78 14.90

2093 -0.88 -146.0 2393 2495 3436 3210 579.6 -11.3 236 2094 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2495 3322 3435 3210 0 0 0 0 0 0 15.12 15.15 15.15

2394 -0.88 -146.0 2392 2496 3436 3211 613.6 -11.2 266 2399 0.00 2.45 0.00 0.000 260 0.000 0.154 2384 3780 3322 3435 3210 0 0 0 0 0 0 15.13 14.69 15.15

2464 -0.88 -146.0 2384 3780 3436 3211 622.1 -12.2 280 2471 0.15 2.30 0.00 0.000 3078 0.284 0.098 2416 2485 3322 3435 3210 0 0 0 0 0 0 14.58 14.80 14.85

2775 -0.88 -146.0 2417 2485 3435 3210 654.2 -10.2 312 2776 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2485 3323 3435 3211 0 0 0 0 0 0 15.12 15.15 15.15

3075 -0.88 -146.0 2416 2486 3435 3211 684.1 -9.9 342 3081 0.00 2.42 0.00 0.000 260 0.000 0.155 2407 3757 3322 3434 3210 0 0 0 0 0 0 15.12 14.69 15.14

3120 -0.88 -146.0 2407 3757 3435 3211 688.8 -10.6 351 3127 0.00 2.28 0.00 0.000 1030 0.000 0.099 2407 2498 3322 3434 3210 0 0 0 0 0 0 14.85 14.76 14.89

3445 -0.88 -146.0 2407 2499 3435 3212 721.4 -9.9 370 3446 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2498 3322 3434 3210 0 0 0 0 0 0 15.13 15.16 15.16

3805 -0.88 -146.0 2407 2499 3435 3211 757.7 -9.8 382 3812 0.00 2.40 0.00 0.000 260 0.000 0.155 2398 3758 3322 3434 3210 0 0 0 0 0 0 15.14 14.69 15.16

3861 -0.88 -146.0 2398 3758 3435 3211 763.6 -10.8 393 3869 0.00 2.28 0.00 0.000 1030 0.000 0.098 2398 2497 3322 3434 3211 0 0 0 0 0 0 14.85 14.77 14.90

4227 -0.88 -146.0 2399 2497 3435 3211 801.0 -10.3 406 4228 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2497 3322 3434 3211 0 0 0 0 0 0 15.13 15.16 15.16

4587 -0.88 -146.0 2399 2496 3435 3211 837.4 -10.0 418 4592 0.00 2.40 0.00 0.000 260 0.000 0.154 2389 3758 3322 3434 3211 0 0 0 0 0 0 15.14 14.69 15.16

4616 -0.88 -146.0 2389 3759 3435 3211 840.6 -9.2 424 4623 0.00 2.28 0.00 0.000 1030 0.000 0.097 2389 2497 3322 3434 3211 0 0 0 0 0 0 14.85 14.78 14.90

5007 -0.88 -146.0 2389 2497 3435 3211 881.0 -10.2 442 5008 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2497 3322 3434 3211 0 0 0 0 0 0 15.14 15.17 15.16

5368 -0.88 -146.0 2389 2497 3435 3212 917.5 -10.2 454 5373 0.00 2.40 0.00 0.000 260 0.000 0.153 2381 3758 3322 3434 3211 0 0 0 0 0 0 15.13 14.69 15.16

5422 -0.88 -146.0 2381 3759 3434 3212 923.4 -10.8 465 5430 0.12 2.30 0.00 0.000 3078 0.260 0.096 2414 2487 3323 3434 3212 0 0 0 0 0 0 14.55 14.78 14.73

5788 -0.88 -146.0 2415 2487 3435 3212 956.1 -8.9 478 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2487 3322 3433 3211 0 0 0 0 0 0 15.14 15.16 15.16

6147 -0.88 -146.0 2414 2488 3434 3213 987.8 -8.9 490 6153 0.00 2.40 0.00 0.000 260 0.000 0.155 2406 3750 3322 3434 3211 0 0 0 0 0 0 15.14 14.69 15.17

6170 end dive: TARGET_DEPTH_EXCEEDED

state 6171 begin apogee

6176 -0.23 0.0 2406 2188 3434 3213 990.2 -8.3 495 6762 0.80 0.05 581.42 1.127 10246 0.233 0.263 2621 2199 2715 2772 2659 0 0 0 0 0 0 14.59 13.65 13.24

6764 end apogee: CONTROL_FINISHED_OK

state 6764 begin climb

6765 0.88 146.0 2622 2200 2769 2658 1002.9 0.0 514 7256 1.23 3.00 473.90 1.216 10500 0.132 0.144 2982 3617 2114 2146 2083 0 0 0 0 0 0 13.72 13.60 13.03

7400 0.88 146.0 2983 3617 2141 2072 929.5 15.2 642 7406 0.00 2.72 0.00 0.000 1030 0.000 0.098 2992 2194 2105 2140 2071 0 0 0 0 0 0 14.23 14.09 14.26

7781 0.88 146.0 2993 2194 2137 2068 875.5 13.9 658 7786 0.00 2.65 0.00 0.000 516 0.000 0.129 3004 782 2102 2137 2067 0 0 0 0 0 0 14.77 14.50 14.80

7835 0.88 146.0 3005 782 2137 2067 867.6 14.2 669 7843 0.00 2.70 0.00 0.000 1030 0.000 0.115 3004 2214 2101 2136 2067 0 0 0 0 0 0 14.71 14.52 14.73

8201 0.88 146.0 3004 2214 2136 2064 815.3 14.3 682 8202 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2214 2100 2135 2066 0 0 0 0 0 0 14.97 15.00 14.99

8561 0.88 146.0 3004 2215 2135 2066 763.8 14.4 694 8566 0.00 2.65 0.00 0.000 516 0.000 0.129 3014 785 2100 2135 2065 0 0 0 0 0 0 15.02 14.70 15.05

8600 0.88 146.0 3015 785 2135 2065 758.1 14.4 702 8606 0.10 2.65 0.00 0.000 5126 0.230 0.116 2987 2208 2099 2134 2065 0 0 0 0 0 0 14.61 14.71 14.76

8981 0.88 146.0 2987 2209 2135 2065 707.8 13.2 718 8986 0.00 2.67 0.00 0.000 260 0.000 0.147 2987 3622 2099 2134 2064 0 0 0 0 0 0 15.03 14.73 15.06

9005 0.88 146.0 2987 3623 2134 2065 704.2 13.8 723 9013 0.00 2.62 0.00 0.000 1030 0.000 0.101 2996 2188 2099 2134 2064 0 0 0 0 0 0 14.85 14.75 14.88

9371 0.88 146.0 2997 2186 2134 2064 654.8 13.5 758 9376 0.00 2.60 0.00 0.000 516 0.000 0.131 3007 778 2098 2133 2063 0 0 0 0 0 0 15.08 14.75 15.11

9415 0.88 146.0 3014 778 2134 2064 648.7 13.8 767 9422 0.00 2.65 0.00 0.000 1030 0.000 0.116 3007 2205 2098 2133 2063 0 0 0 0 0 0 14.83 14.73 14.88

9720 0.88 146.0 3007 2205 2134 2063 606.3 13.8 798 9730 0.00 2.67 0.00 0.000 260 0.000 0.147 3007 3621 2098 2133 2063 0 0 0 0 0 0 15.10 14.73 15.12

9744 0.88 146.0 3008 3621 2133 2063 602.9 14.9 802 9750 0.15 2.62 0.00 0.000 5126 0.262 0.103 2985 2188 2098 2133 2063 0 0 0 0 0 0 14.66 14.77 14.90

10054 0.88 146.0 2985 2185 2134 2062 564.0 12.4 834 10060 0.00 2.60 0.00 0.000 516 0.000 0.132 2995 776 2098 2133 2063 0 0 0 0 0 0 15.10 14.74 15.13

10089 0.88 146.0 2995 777 2133 2064 559.6 12.6 841 10097 0.00 2.65 0.00 0.000 1030 0.000 0.117 2994 2201 2097 2132 2062 0 0 0 0 0 0 14.83 14.73 14.89

10394 0.88 146.0 2995 2201 2133 2063 520.9 12.3 872 10400 0.00 2.67 0.00 0.000 260 0.000 0.147 2994 3619 2097 2132 2062 0 0 0 0 0 0 15.11 14.73 15.13

10444 0.88 146.0 2995 3619 2133 2064 514.0 14.3 882 10450 0.00 2.60 0.00 0.000 1030 0.000 0.103 3005 2195 2097 2132 2062 0 0 0 0 0 0 14.85 14.76 14.97

10754 0.88 146.0 3006 2193 2133 2063 473.8 13.0 914 10760 0.00 2.62 0.00 0.000 516 0.000 0.132 3016 775 2097 2132 2062 0 0 0 0 0 0 15.11 14.74 15.13

10794 0.88 146.0 3016 775 2132 2062 468.5 13.4 922 10800 0.15 2.62 0.00 0.000 5126 0.241 0.116 2981 2212 2096 2131 2062 0 0 0 0 0 0 14.68 14.75 14.90

11104 0.88 146.0 2982 2212 2132 2062 432.2 11.4 954 11110 0.00 2.65 0.00 0.000 260 0.000 0.147 2981 3615 2096 2131 2062 0 0 0 0 0 0 15.14 14.73 15.14

11139 0.88 146.0 2982 3615 2132 2062 427.9 12.7 961 11147 0.00 2.60 0.00 0.000 1030 0.000 0.103 2990 2192 2096 2131 2062 0 0 0 0 0 0 14.84 14.76 14.90

11444 0.88 146.0 2990 2192 2132 2062 392.3 11.5 992 11450 0.00 2.62 0.00 0.000 516 0.000 0.132 3001 776 2096 2131 2062 0 0 0 0 0 0 15.13 14.73 15.15

11494 0.88 146.0 3002 775 2132 2061 386.4 12.0 1002 11500 0.00 2.65 0.00 0.000 1030 0.000 0.118 3001 2225 2096 2131 2062 0 0 0 0 0 0 14.92 14.75 14.96

11673 end climb: NO_VERTICAL_VELOCITY

state 11673 begin subsurface finish

11677 0.00 3.5 3002 2193 2131 2062 383.7 -0.0 1021 11684 0.95 2.08 -2.08 0.056 20739 0.138 0.177 2699 3263 2717 2831 2603 0 0 0 0 0 0 14.73 13.38 14.84

11684 end subsurface finish: NO_VERTICAL_VELOCITY

state 11684 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	153	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	15	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	130218,121600,-7432.1401,-11235.0107,0,4161.7,0,53.5,0.0,0.0,0,0.0	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	343.43	MHEAD_RNG_PITCHd_Wd	126.5,10852,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.2	D_GRID	990
GPS2	130218,121600,-7432.1401,-11235.0107,0,4161.7,0,53.5,0.0,0.0,0,0.0

FINISH1	383.7,1.027430,4	_24V_AH	13.03,67.706
FINISH2	383.7	_10V_AH	12.45,0.000
RAFOS_CLK	421	FG_AHR_24Vo	0.000
RAFOS	0,1518534069,15.032778,15.019167,111,58,55,53,53,50,641,120,199,218,156,147	FG_AHR_10Vo	0.000
RAFOS_FIX	-7433.990234,-11235.628906,130218,151512,3,139,0.32	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	36671,1022
TT8_MAMPS	0.041195,0.245672	CAP_FILE_SIZE	128595,0
HUMID	47.63	CFSIZE	1024409600,1002225664
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1458.2
XPDR_PINGS	0	GPS	130218,151512,-7433.990,-11235.629,0,4139.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	430.4,63.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	283	17.10	nil	0	0	0.00
Roll_motor	118	263	407.28	nil	0	0	0.00
VBD_pump_during_apogee	1055	1216	16725.89	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	11695	2	446.03
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	250.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8464	2	243.44
TT8_Active	1079	12	164.87
TT8_Sampling	2115	31	836.12
TT8_CF8	100	45	56.34
TT8_Kalman	0	0	0.00
Analog_circuits	1925	10	244.53
GPS_charging	0	0	0.00
Compass	1461	7	136.32
RAFOS	720	1	13.45
Transponder	325	30	121.56

		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
350.4	11.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
357.0	18.40	9000.00	0.0	0.00	0.00	18.40	0.0	0.98	1.00
363.8	25.30	25.20	0.0	1.00	1.00	25.30	0.0	1.01	1.00
370.5	31.90	31.90	0.0	1.00	1.00	31.90	0.0	0.99	1.00

991.0	20.70	9000.00	0.0	-0.01	0.64	20.70	0.0	-0.02	1.00
984.4	21.00	9000.00	0.0	-0.02	1.00	21.00	0.0	-0.05	1.00
978.2	16.20	9000.00	0.0	0.35	0.69	16.20	962.0	0.77	1.00
971.9	18.60	9000.00	0.0	0.19	0.24	18.60	0.0	-0.38	1.00
965.3	22.00	9000.00	0.0	-0.45	0.99	22.00	0.0	-0.52	1.00
958.7	21.60	9000.00	0.0	-0.22	0.64	21.60	937.1	0.06	1.00
443.7	77.70	9000.00	0.0	-0.11	1.00	77.70	0.0	-0.11	1.00
436.8	70.20	9000.00	0.0	-0.10	0.98	70.20	366.6	1.09	1.00
430.4	63.20	63.20	367.2	1.10	1.00	63.20	367.2	1.09	1.00
423.7	53.30	9000.00	0.0	1.30	0.99	53.30	370.4	1.48	1.00
416.7	43.20	9000.00	0.0	1.45	1.00	43.20	373.5	1.44	1.00
402.6	19.90	9000.00	0.0	1.59	1.00	19.90	382.7	1.65	1.00
395.8	12.30	9000.00	0.0	1.51	0.99	12.30	383.5	1.12	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	2703	2512	2822	2600	0.0	0.0	0	11	0.00	0.00	-2.08	0.046	16390	0.000	0.000	2703	2512	3325	3463	3187	0	0	0	0	0	0	15.09	13.41	15.10
13	-0.88	-146.0	2703	2513	3461	3190	0.0	0.0	0	19	0.88	2.33	0.00	0.000	4356	0.112	0.151	2411	3750	3325	3456	3194	0	0	0	0	0	0	14.78	14.69	14.87
48	-0.88	-146.0	2412	3751	3450	3200	346.2	-8.4	7	55	0.00	2.28	0.00	0.000	1030	0.000	0.097	2411	2492	3324	3448	3201	0	0	0	0	0	0	14.85	14.78	14.90
353	-0.88	-146.0	2412	2492	3445	3205	379.4	-11.0	38	359	0.00	2.60	0.00	0.000	516	0.000	0.115	2412	1066	3324	3444	3205	0	0	0	0	0	0	15.11	14.74	15.14
389	-0.88	-146.0	2412	1066	3444	3206	383.4	-11.5	45	396	0.00	2.67	0.00	0.000	1030	0.000	0.127	2402	2505	3324	3443	3206	0	0	0	0	0	0	14.91	14.73	14.96
693	-0.88	-146.0	2402	2506	3442	3208	418.4	-11.2	76	699	0.00	2.40	0.00	0.000	260	0.000	0.152	2393	3749	3324	3442	3207	0	0	0	0	0	0	15.12	14.69	15.15
758	-0.88	-146.0	2393	3749	3439	3210	426.3	-12.3	89	766	0.00	2.28	0.00	0.000	1030	0.000	0.098	2393	2492	3323	3438	3208	0	0	0	0	0	0	14.86	14.79	14.90
1064	-0.88	-146.0	2393	2493	3441	3210	463.0	-11.9	120	1069	0.00	2.40	0.00	0.000	260	0.000	0.153	2384	3751	3323	3437	3209	0	0	0	0	0	0	15.08	14.71	15.11
1093	-0.88	-146.0	2384	3751	3438	3214	466.8	-12.8	126	1099	0.10	2.28	0.00	0.000	3078	0.258	0.097	2411	2494	3323	3437	3209	0	0	0	0	0	0	14.58	14.79	14.76
1404	-0.88	-146.0	2411	2494	3438	3210	500.8	-10.8	158	1409	0.00	2.45	0.00	0.000	260	0.000	0.154	2400	3757	3323	3436	3210	0	0	0	0	0	0	15.11	14.67	15.13
1433	-0.88	-146.0	2402	3757	3436	3210	504.3	-11.4	164	1439	0.00	2.30	0.00	0.000	1030	0.000	0.099	2402	2487	3323	3436	3210	0	0	0	0	0	0	14.86	14.78	14.90
1744	-0.88	-146.0	2402	2487	3437	3210	539.1	-11.5	196	1749	0.00	2.45	0.00	0.000	260	0.000	0.155	2393	3748	3323	3436	3210	0	0	0	0	0	0	15.12	14.66	15.15
1783	-0.88	-146.0	2393	3749	3436	3210	543.9	-12.1	204	1789	0.00	2.28	0.00	0.000	1030	0.000	0.099	2392	2495	3322	3435	3210	0	0	0	0	0	0	14.85	14.78	14.90
2093	-0.88	-146.0	2393	2495	3436	3210	579.6	-11.3	236	2094	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2495	3322	3435	3210	0	0	0	0	0	0	15.12	15.15	15.15
2394	-0.88	-146.0	2392	2496	3436	3211	613.6	-11.2	266	2399	0.00	2.45	0.00	0.000	260	0.000	0.154	2384	3780	3322	3435	3210	0	0	0	0	0	0	15.13	14.69	15.15
2464	-0.88	-146.0	2384	3780	3436	3211	622.1	-12.2	280	2471	0.15	2.30	0.00	0.000	3078	0.284	0.098	2416	2485	3322	3435	3210	0	0	0	0	0	0	14.58	14.80	14.85
2775	-0.88	-146.0	2417	2485	3435	3210	654.2	-10.2	312	2776	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2485	3323	3435	3211	0	0	0	0	0	0	15.12	15.15	15.15
3075	-0.88	-146.0	2416	2486	3435	3211	684.1	-9.9	342	3081	0.00	2.42	0.00	0.000	260	0.000	0.155	2407	3757	3322	3434	3210	0	0	0	0	0	0	15.12	14.69	15.14
3120	-0.88	-146.0	2407	3757	3435	3211	688.8	-10.6	351	3127	0.00	2.28	0.00	0.000	1030	0.000	0.099	2407	2498	3322	3434	3210	0	0	0	0	0	0	14.85	14.76	14.89
3445	-0.88	-146.0	2407	2499	3435	3212	721.4	-9.9	370	3446	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2498	3322	3434	3210	0	0	0	0	0	0	15.13	15.16	15.16
3805	-0.88	-146.0	2407	2499	3435	3211	757.7	-9.8	382	3812	0.00	2.40	0.00	0.000	260	0.000	0.155	2398	3758	3322	3434	3210	0	0	0	0	0	0	15.14	14.69	15.16
3861	-0.88	-146.0	2398	3758	3435	3211	763.6	-10.8	393	3869	0.00	2.28	0.00	0.000	1030	0.000	0.098	2398	2497	3322	3434	3211	0	0	0	0	0	0	14.85	14.77	14.90
4227	-0.88	-146.0	2399	2497	3435	3211	801.0	-10.3	406	4228	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2497	3322	3434	3211	0	0	0	0	0	0	15.13	15.16	15.16
4587	-0.88	-146.0	2399	2496	3435	3211	837.4	-10.0	418	4592	0.00	2.40	0.00	0.000	260	0.000	0.154	2389	3758	3322	3434	3211	0	0	0	0	0	0	15.14	14.69	15.16
4616	-0.88	-146.0	2389	3759	3435	3211	840.6	-9.2	424	4623	0.00	2.28	0.00	0.000	1030	0.000	0.097	2389	2497	3322	3434	3211	0	0	0	0	0	0	14.85	14.78	14.90
5007	-0.88	-146.0	2389	2497	3435	3211	881.0	-10.2	442	5008	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2497	3322	3434	3211	0	0	0	0	0	0	15.14	15.17	15.16
5368	-0.88	-146.0	2389	2497	3435	3212	917.5	-10.2	454	5373	0.00	2.40	0.00	0.000	260	0.000	0.153	2381	3758	3322	3434	3211	0	0	0	0	0	0	15.13	14.69	15.16
5422	-0.88	-146.0	2381	3759	3434	3212	923.4	-10.8	465	5430	0.12	2.30	0.00	0.000	3078	0.260	0.096	2414	2487	3323	3434	3212	0	0	0	0	0	0	14.55	14.78	14.73
5788	-0.88	-146.0	2415	2487	3435	3212	956.1	-8.9	478	5788	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2487	3322	3433	3211	0	0	0	0	0	0	15.14	15.16	15.16
6147	-0.88	-146.0	2414	2488	3434	3213	987.8	-8.9	490	6153	0.00	2.40	0.00	0.000	260	0.000	0.155	2406	3750	3322	3434	3211	0	0	0	0	0	0	15.14	14.69	15.17
6170	end dive: TARGET_DEPTH_EXCEEDED
state	6171	begin apogee
6176	-0.23	0.0	2406	2188	3434	3213	990.2	-8.3	495	6762	0.80	0.05	581.42	1.127	10246	0.233	0.263	2621	2199	2715	2772	2659	0	0	0	0	0	0	14.59	13.65	13.24
6764	end apogee: CONTROL_FINISHED_OK
state	6764	begin climb
6765	0.88	146.0	2622	2200	2769	2658	1002.9	0.0	514	7256	1.23	3.00	473.90	1.216	10500	0.132	0.144	2982	3617	2114	2146	2083	0	0	0	0	0	0	13.72	13.60	13.03
7400	0.88	146.0	2983	3617	2141	2072	929.5	15.2	642	7406	0.00	2.72	0.00	0.000	1030	0.000	0.098	2992	2194	2105	2140	2071	0	0	0	0	0	0	14.23	14.09	14.26
7781	0.88	146.0	2993	2194	2137	2068	875.5	13.9	658	7786	0.00	2.65	0.00	0.000	516	0.000	0.129	3004	782	2102	2137	2067	0	0	0	0	0	0	14.77	14.50	14.80
7835	0.88	146.0	3005	782	2137	2067	867.6	14.2	669	7843	0.00	2.70	0.00	0.000	1030	0.000	0.115	3004	2214	2101	2136	2067	0	0	0	0	0	0	14.71	14.52	14.73
8201	0.88	146.0	3004	2214	2136	2064	815.3	14.3	682	8202	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2214	2100	2135	2066	0	0	0	0	0	0	14.97	15.00	14.99
8561	0.88	146.0	3004	2215	2135	2066	763.8	14.4	694	8566	0.00	2.65	0.00	0.000	516	0.000	0.129	3014	785	2100	2135	2065	0	0	0	0	0	0	15.02	14.70	15.05
8600	0.88	146.0	3015	785	2135	2065	758.1	14.4	702	8606	0.10	2.65	0.00	0.000	5126	0.230	0.116	2987	2208	2099	2134	2065	0	0	0	0	0	0	14.61	14.71	14.76
8981	0.88	146.0	2987	2209	2135	2065	707.8	13.2	718	8986	0.00	2.67	0.00	0.000	260	0.000	0.147	2987	3622	2099	2134	2064	0	0	0	0	0	0	15.03	14.73	15.06
9005	0.88	146.0	2987	3623	2134	2065	704.2	13.8	723	9013	0.00	2.62	0.00	0.000	1030	0.000	0.101	2996	2188	2099	2134	2064	0	0	0	0	0	0	14.85	14.75	14.88
9371	0.88	146.0	2997	2186	2134	2064	654.8	13.5	758	9376	0.00	2.60	0.00	0.000	516	0.000	0.131	3007	778	2098	2133	2063	0	0	0	0	0	0	15.08	14.75	15.11
9415	0.88	146.0	3014	778	2134	2064	648.7	13.8	767	9422	0.00	2.65	0.00	0.000	1030	0.000	0.116	3007	2205	2098	2133	2063	0	0	0	0	0	0	14.83	14.73	14.88
9720	0.88	146.0	3007	2205	2134	2063	606.3	13.8	798	9730	0.00	2.67	0.00	0.000	260	0.000	0.147	3007	3621	2098	2133	2063	0	0	0	0	0	0	15.10	14.73	15.12
9744	0.88	146.0	3008	3621	2133	2063	602.9	14.9	802	9750	0.15	2.62	0.00	0.000	5126	0.262	0.103	2985	2188	2098	2133	2063	0	0	0	0	0	0	14.66	14.77	14.90
10054	0.88	146.0	2985	2185	2134	2062	564.0	12.4	834	10060	0.00	2.60	0.00	0.000	516	0.000	0.132	2995	776	2098	2133	2063	0	0	0	0	0	0	15.10	14.74	15.13
10089	0.88	146.0	2995	777	2133	2064	559.6	12.6	841	10097	0.00	2.65	0.00	0.000	1030	0.000	0.117	2994	2201	2097	2132	2062	0	0	0	0	0	0	14.83	14.73	14.89
10394	0.88	146.0	2995	2201	2133	2063	520.9	12.3	872	10400	0.00	2.67	0.00	0.000	260	0.000	0.147	2994	3619	2097	2132	2062	0	0	0	0	0	0	15.11	14.73	15.13
10444	0.88	146.0	2995	3619	2133	2064	514.0	14.3	882	10450	0.00	2.60	0.00	0.000	1030	0.000	0.103	3005	2195	2097	2132	2062	0	0	0	0	0	0	14.85	14.76	14.97
10754	0.88	146.0	3006	2193	2133	2063	473.8	13.0	914	10760	0.00	2.62	0.00	0.000	516	0.000	0.132	3016	775	2097	2132	2062	0	0	0	0	0	0	15.11	14.74	15.13
10794	0.88	146.0	3016	775	2132	2062	468.5	13.4	922	10800	0.15	2.62	0.00	0.000	5126	0.241	0.116	2981	2212	2096	2131	2062	0	0	0	0	0	0	14.68	14.75	14.90
11104	0.88	146.0	2982	2212	2132	2062	432.2	11.4	954	11110	0.00	2.65	0.00	0.000	260	0.000	0.147	2981	3615	2096	2131	2062	0	0	0	0	0	0	15.14	14.73	15.14
11139	0.88	146.0	2982	3615	2132	2062	427.9	12.7	961	11147	0.00	2.60	0.00	0.000	1030	0.000	0.103	2990	2192	2096	2131	2062	0	0	0	0	0	0	14.84	14.76	14.90
11444	0.88	146.0	2990	2192	2132	2062	392.3	11.5	992	11450	0.00	2.62	0.00	0.000	516	0.000	0.132	3001	776	2096	2131	2062	0	0	0	0	0	0	15.13	14.73	15.15
11494	0.88	146.0	3002	775	2132	2061	386.4	12.0	1002	11500	0.00	2.65	0.00	0.000	1030	0.000	0.118	3001	2225	2096	2131	2062	0	0	0	0	0	0	14.92	14.75	14.96
11673	end climb: NO_VERTICAL_VELOCITY
state	11673	begin subsurface finish
11677	0.00	3.5	3002	2193	2131	2062	383.7	-0.0	1021	11684	0.95	2.08	-2.08	0.056	20739	0.138	0.177	2699	3263	2717	2831	2603	0	0	0	0	0	0	14.73	13.38	14.84
11684	end subsurface finish: NO_VERTICAL_VELOCITY
state	11684	begin surface