Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 166 * 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 166 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 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 166 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 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 150218,001456,-7428.4458,-11229.8359,0,4129.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 357.11 MHEAD_RNG_PITCHd_Wd 308.4,32328,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 1.6 D_GRID 990

GPS2 150218,001456,-7428.4458,-11229.8359,0,4129.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 383.2,1.027445,3 _24V_AH 12.27,72.520

FINISH2 382.2 _10V_AH 12.28,0.000

RAFOS_CLK 407 FG_AHR_24Vo 0.000

RAFOS 0,1518663661,3.032778,3.016944,65,61,57,56,55,52,193,210,219,169,181,145 FG_AHR_10Vo 0.000

RAFOS_FIX -7427.266113,-11229.966797,150218,030316,1,2,0.20 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33348,933

TT8_MAMPS 0.040446,0.293608 CAP_FILE_SIZE 118198,0

HUMID 48.11 CFSIZE 1024409600,1000783872

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

TCM_TEMP 13.80 SOUNDSPEED 1458.3

XPDR_PINGS 0 GPS 150218,031616,-7427.266,-11229.967,0,2002.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 384.3,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 290 15.87 nil 0 0 0.00

Roll_motor 85 258 272.29 nil 0 0 0.00

VBD_pump_during_apogee 728 2324 20774.87 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 11132 6 837.84

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 225.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8414 2 238.71

TT8_Active 727 12 109.66

TT8_Sampling 1960 31 764.25

TT8_CF8 101 45 56.13

TT8_Kalman 0 0 0.00

Analog_circuits 1496 10 187.47

GPS_charging 0 0 0.00

Compass 1336 7 122.89

RAFOS 720 1 13.26

Transponder 309 30 114.19

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

369.7 17.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

376.4 24.60 9000.00 0.0 0.00 0.00 24.60 0.0 1.09 1.00

383.2 31.40 31.50 0.0 1.04 1.00 31.40 0.0 1.00 1.00

389.4 35.90 36.20 0.0 0.87 0.99 35.90 0.0 0.73 1.00

992.8 20.90 9000.00 0.0 -0.02 0.91 20.90 0.0 -0.02 1.00

986.4 16.20 9000.00 0.0 -0.03 0.94 16.20 970.2 0.73 1.00

980.3 22.30 9000.00 0.0 -0.11 0.04 22.30 0.0 -1.00 1.00

973.7 23.00 9000.00 0.0 -0.53 0.81 23.00 0.0 -0.11 1.00

967.7 14.10 9000.00 0.0 0.64 0.66 14.10 953.6 1.48 1.00

961.5 18.80 9000.00 0.0 0.34 0.22 18.80 0.0 -0.76 1.00

955.2 19.30 9000.00 0.0 -0.41 0.81 19.30 0.0 -0.08 1.00

949.1 16.90 9000.00 0.0 0.15 0.55 16.90 932.2 0.39 1.00

453.9 76.50 9000.00 0.0 -0.12 1.00 76.50 0.0 -0.12 1.00

447.4 69.90 9000.00 0.0 -0.11 0.99 69.90 377.5 1.02 1.00

441.1 63.50 63.50 377.6 1.01 1.00 63.50 377.6 1.02 1.00

434.1 56.50 56.50 377.6 1.01 1.00 56.50 377.6 1.00 1.00

426.9 49.30 49.30 377.6 1.00 1.00 49.30 377.6 1.00 1.00

419.7 42.30 42.30 377.4 0.99 1.00 42.30 377.4 0.97 1.00

412.6 35.70 35.60 377.0 0.96 1.00 35.70 376.9 0.93 1.00

405.4 28.40 28.50 376.9 0.97 1.00 28.40 377.0 1.01 1.00

398.4 21.80 21.70 376.7 0.97 1.00 21.80 376.6 0.94 1.00

391.3 14.30 14.40 376.9 0.99 1.00 14.30 377.0 1.06 1.00

384.3 8.00 7.80 376.5 0.98 1.00 8.00 376.3 0.90 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 2701 2509 2817 2600 0.0 0.0 0 12 0.00 0.00 -2.05 0.045 16390 0.000 0.000 2700 2508 3325 3464 3186 0 0 0 0 0 0 15.07 13.35 15.06

14 -0.88 -146.0 2701 2508 3465 3189 0.0 0.0 0 16 0.88 0.00 0.00 0.000 4102 0.112 0.000 2414 2508 3328 3468 3189 0 0 0 0 0 0 14.78 14.95 14.92

310 -0.88 -146.0 2413 2509 3448 3204 387.7 -11.2 30 316 0.00 2.42 0.00 0.000 260 0.000 0.154 2405 3755 3326 3446 3206 0 0 0 0 0 0 15.11 14.66 15.14

380 -0.88 -146.0 2405 3756 3446 3209 396.3 -12.6 44 386 0.00 2.30 0.00 0.000 1030 0.000 0.099 2405 2487 3327 3445 3209 0 0 0 0 0 0 14.85 14.77 14.89

690 -0.88 -146.0 2405 2488 3445 3210 431.7 -11.3 76 696 0.00 2.47 0.00 0.000 260 0.000 0.155 2396 3753 3326 3443 3209 0 0 0 0 0 0 15.11 14.66 15.14

745 -0.88 -146.0 2396 3753 3443 3210 438.3 -12.1 87 752 0.00 2.30 0.00 0.000 1030 0.000 0.097 2395 2490 3326 3442 3210 0 0 0 0 0 0 14.84 14.77 14.88

1050 -0.88 -146.0 2396 2491 3442 3211 472.8 -11.2 118 1056 0.00 2.47 0.00 0.000 260 0.000 0.154 2384 3754 3325 3441 3210 0 0 0 0 0 0 15.11 14.66 15.13

1090 -0.88 -146.0 2387 3755 3441 3212 477.6 -12.2 126 1096 0.00 2.28 0.00 0.000 1030 0.000 0.099 2386 2500 3326 3441 3211 0 0 0 0 0 0 14.83 14.76 14.88

1400 -0.88 -146.0 2387 2501 3440 3212 513.8 -11.6 158 1407 0.12 2.42 0.00 0.000 2308 0.291 0.157 2403 3756 3325 3439 3211 0 0 0 0 0 0 14.57 14.67 14.82

1445 -0.88 -146.0 2404 3756 3440 3211 518.9 -11.3 167 1453 0.00 2.30 0.00 0.000 1030 0.000 0.100 2403 2492 3327 3443 3211 0 0 0 0 0 0 14.83 14.76 14.88

1751 -0.88 -146.0 2403 2493 3440 3212 551.4 -10.5 198 1756 0.00 2.45 0.00 0.000 260 0.000 0.155 2394 3749 3324 3438 3211 0 0 0 0 0 0 15.11 14.64 15.14

1775 -0.88 -146.0 2395 3748 3439 3211 554.2 -11.6 203 1784 0.00 2.28 0.00 0.000 1030 0.000 0.098 2394 2496 3325 3438 3212 0 0 0 0 0 0 14.83 14.76 14.88

2082 -0.88 -146.0 2395 2496 3439 3211 587.4 -10.8 234 2087 0.00 2.40 0.00 0.000 260 0.000 0.156 2385 3750 3324 3437 3211 0 0 0 0 0 0 15.06 14.66 15.08

2116 -0.88 -146.0 2385 3751 3438 3213 591.4 -11.7 241 2124 0.10 2.28 0.00 0.000 3078 0.262 0.098 2412 2495 3324 3438 3211 0 0 0 0 0 0 14.52 14.74 14.70

2421 -0.88 -146.0 2412 2496 3438 3213 622.0 -9.9 272 2422 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2495 3324 3437 3211 0 0 0 0 0 0 15.09 15.12 15.11

2721 -0.88 -146.0 2412 2497 3438 3213 650.9 -9.5 302 2727 0.00 2.45 0.00 0.000 260 0.000 0.155 2404 3753 3324 3437 3212 0 0 0 0 0 0 15.10 14.63 15.12

2766 -0.88 -146.0 2404 3754 3438 3213 655.5 -10.5 311 2773 0.00 2.30 0.00 0.000 1030 0.000 0.098 2404 2489 3324 3437 3212 0 0 0 0 0 0 14.82 14.74 14.87

3072 -0.88 -146.0 2404 2491 3438 3213 686.2 -10.0 342 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2490 3324 3437 3212 0 0 0 0 0 0 15.04 15.08 15.07

3392 -0.88 -146.0 2410 2491 3437 3213 718.4 -10.2 362 3397 0.00 2.42 0.00 0.000 260 0.000 0.155 2394 3754 3324 3437 3212 0 0 0 0 0 0 15.06 14.66 15.09

3431 -0.88 -146.0 2395 3754 3435 3212 722.8 -11.2 370 3437 0.00 2.30 0.00 0.000 1030 0.000 0.098 2394 2487 3324 3437 3212 0 0 0 0 0 0 14.83 14.74 14.87

3812 -0.88 -146.0 2395 2487 3438 3212 763.1 -10.6 386 3817 0.00 2.42 0.00 0.000 260 0.000 0.155 2385 3751 3324 3437 3212 0 0 0 0 0 0 15.07 14.66 15.09

3851 -0.88 -146.0 2386 3751 3438 3212 767.7 -11.3 394 3857 0.08 2.28 0.00 0.000 3078 0.270 0.098 2406 2498 3324 3437 3212 0 0 0 0 0 0 14.52 14.75 14.89

4231 -0.88 -146.0 2406 2498 3437 3212 804.7 -9.7 410 4232 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2498 3324 3437 3212 0 0 0 0 0 0 15.13 15.16 15.16

4591 -0.88 -146.0 2406 2498 3437 3213 838.7 -9.4 422 4592 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2497 3321 3431 3212 0 0 0 0 0 0 15.14 15.16 15.16

4951 -0.88 -146.0 2406 2499 3438 3213 872.8 -9.5 434 4957 0.00 2.45 0.00 0.000 260 0.000 0.155 2397 3753 3324 3437 3212 0 0 0 0 0 0 15.14 14.64 15.16

4991 -0.88 -146.0 2398 3753 3437 3213 876.6 -10.2 442 4997 0.00 2.28 0.00 0.000 1030 0.000 0.097 2397 2497 3324 3436 3212 0 0 0 0 0 0 14.83 14.76 14.88

5373 -0.88 -146.0 2398 2498 3437 3213 913.4 -9.7 458 5373 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2497 3324 3436 3213 0 0 0 0 0 0 15.13 15.16 15.16

5732 -0.88 -146.0 2398 2498 3437 3213 947.8 -9.5 470 5732 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2497 3325 3436 3215 0 0 0 0 0 0 15.14 15.18 15.16

6092 -0.88 -146.0 2398 2497 3438 3212 981.6 -9.3 482 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2497 3324 3436 3213 0 0 0 0 0 0 15.14 15.18 15.17

6210 end dive: TARGET_DEPTH_EXCEEDED

state 6210 begin apogee

6214 -0.23 0.0 2398 2182 3437 3214 992.7 -9.3 486 6440 0.85 0.05 217.88 2.324 10246 0.234 0.259 2625 2198 2714 2767 2662 0 0 0 0 1 0 14.57 13.35 12.27

6441 end apogee: CONTROL_FINISHED_OK

state 6441 begin climb

6443 0.88 146.0 2626 2199 2769 2663 997.3 0.0 493 6968 1.23 2.88 510.65 1.288 10756 0.135 0.123 2987 787 2113 2144 2083 0 0 0 0 0 0 13.45 13.57 13.04

6997 0.88 146.0 2987 788 2128 2070 938.8 12.8 599 7003 0.00 2.80 0.00 0.000 1030 0.000 0.112 2987 2208 2099 2127 2072 0 0 0 0 0 0 13.88 13.76 13.90

7367 0.88 146.0 2987 2208 2124 2060 888.0 13.8 613 7373 0.00 2.72 0.00 0.000 516 0.000 0.125 2993 793 2091 2123 2060 0 0 0 0 0 0 14.73 14.38 14.74

7392 0.88 146.0 2997 794 2123 2061 884.3 17.2 618 7401 0.00 2.67 0.00 0.000 1030 0.000 0.113 2997 2199 2091 2122 2060 0 0 0 0 0 0 14.51 14.42 14.56

7758 0.88 146.0 2997 2200 2123 2059 832.5 14.1 631 7759 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2199 2090 2122 2058 0 0 0 0 0 0 14.94 14.97 14.97

8118 0.88 146.0 2997 2199 2123 2056 781.7 13.9 643 8124 0.00 2.60 0.00 0.000 516 0.000 0.126 3007 795 2089 2122 2057 0 0 0 0 0 0 15.02 14.69 15.04

8153 0.88 146.0 3006 796 2123 2058 776.5 13.8 650 8159 0.00 2.62 0.00 0.000 1030 0.000 0.115 3008 2204 2089 2121 2057 0 0 0 0 0 0 14.78 14.69 14.83

8540 0.88 146.0 3008 2204 2122 2055 719.7 14.7 667 8540 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2204 2088 2121 2055 0 0 0 0 0 0 15.03 15.06 15.06

8898 0.88 146.0 3008 2204 2122 2054 668.1 14.3 693 8908 0.00 2.60 0.00 0.000 516 0.000 0.125 3018 793 2087 2121 2054 0 0 0 0 0 0 15.10 14.73 15.13

8936 0.88 146.0 3018 794 2121 2054 662.7 14.5 700 8944 0.12 2.62 0.00 0.000 5126 0.211 0.115 2982 2207 2087 2121 2054 0 0 0 0 0 0 14.65 14.73 14.79

9242 0.88 146.0 2982 2207 2122 2053 623.3 12.9 731 9247 0.00 2.67 0.00 0.000 260 0.000 0.146 2982 3622 2086 2120 2053 0 0 0 0 0 0 15.10 14.73 15.13

9272 0.88 146.0 2983 3622 2121 2053 619.1 14.8 737 9278 0.00 2.60 0.00 0.000 1030 0.000 0.100 2992 2199 2087 2121 2053 0 0 0 0 0 0 14.85 14.77 14.90

9582 0.88 146.0 2991 2198 2121 2053 577.7 13.2 769 9587 0.00 2.62 0.00 0.000 516 0.000 0.129 3002 779 2086 2120 2052 0 0 0 0 0 0 15.11 14.73 15.13

9632 0.88 146.0 3003 779 2120 2053 571.0 13.5 779 9638 0.00 2.62 0.00 0.000 1030 0.000 0.116 3002 2216 2085 2120 2050 0 0 0 0 0 0 14.91 14.76 14.95

9942 0.88 146.0 3003 2217 2120 2053 528.1 13.7 811 9942 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2216 2086 2120 2052 0 0 0 0 0 0 15.11 15.14 15.14

10242 0.88 146.0 3003 2216 2121 2052 488.0 13.5 841 10242 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2216 2086 2120 2052 0 0 0 0 0 0 15.11 15.14 15.14

10542 0.88 146.0 3002 2217 2121 2053 450.1 12.8 871 10547 0.00 2.65 0.00 0.000 516 0.000 0.127 3013 783 2085 2120 2051 0 0 0 0 0 0 15.12 14.74 15.15

10586 0.88 146.0 3013 783 2120 2052 444.1 13.2 880 10594 0.10 2.65 0.00 0.000 5126 0.213 0.115 2984 2210 2085 2119 2051 0 0 0 0 0 0 14.64 14.73 14.78

10892 0.88 146.0 2984 2211 2120 2049 407.8 12.0 911 10893 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2210 2085 2119 2051 0 0 0 0 0 0 15.12 15.15 15.14

11100 end climb: SURFACE_OBSTACLE_DETECTED

state 11100 begin subsurface finish

11104 0.00 2.8 2985 2210 2121 2051 383.2 11.4 932 11113 0.98 0.00 -2.22 0.041 20486 0.200 0.000 2705 2211 2724 2839 2610 0 0 0 0 0 0 14.66 13.40 14.92

11114 end subsurface finish: CONTROL_FINISHED_OK

state 11114 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	166	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	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	150218,001456,-7428.4458,-11229.8359,0,4129.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	357.11	MHEAD_RNG_PITCHd_Wd	308.4,32328,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	1.6	D_GRID	990
GPS2	150218,001456,-7428.4458,-11229.8359,0,4129.0,0,53.5,0.0,0.0,0,0.0

FINISH1	383.2,1.027445,3	_24V_AH	12.27,72.520
FINISH2	382.2	_10V_AH	12.28,0.000
RAFOS_CLK	407	FG_AHR_24Vo	0.000
RAFOS	0,1518663661,3.032778,3.016944,65,61,57,56,55,52,193,210,219,169,181,145	FG_AHR_10Vo	0.000
RAFOS_FIX	-7427.266113,-11229.966797,150218,030316,1,2,0.20	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33348,933
TT8_MAMPS	0.040446,0.293608	CAP_FILE_SIZE	118198,0
HUMID	48.11	CFSIZE	1024409600,1000783872
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.80	SOUNDSPEED	1458.3
XPDR_PINGS	0	GPS	150218,031616,-7427.266,-11229.967,0,2002.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	384.3,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	290	15.87	nil	0	0	0.00
Roll_motor	85	258	272.29	nil	0	0	0.00
VBD_pump_during_apogee	728	2324	20774.87	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	11132	6	837.84
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	225.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8414	2	238.71
TT8_Active	727	12	109.66
TT8_Sampling	1960	31	764.25
TT8_CF8	101	45	56.13
TT8_Kalman	0	0	0.00
Analog_circuits	1496	10	187.47
GPS_charging	0	0	0.00
Compass	1336	7	122.89
RAFOS	720	1	13.26
Transponder	309	30	114.19

		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
369.7	17.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
376.4	24.60	9000.00	0.0	0.00	0.00	24.60	0.0	1.09	1.00
383.2	31.40	31.50	0.0	1.04	1.00	31.40	0.0	1.00	1.00
389.4	35.90	36.20	0.0	0.87	0.99	35.90	0.0	0.73	1.00

992.8	20.90	9000.00	0.0	-0.02	0.91	20.90	0.0	-0.02	1.00
986.4	16.20	9000.00	0.0	-0.03	0.94	16.20	970.2	0.73	1.00
980.3	22.30	9000.00	0.0	-0.11	0.04	22.30	0.0	-1.00	1.00
973.7	23.00	9000.00	0.0	-0.53	0.81	23.00	0.0	-0.11	1.00
967.7	14.10	9000.00	0.0	0.64	0.66	14.10	953.6	1.48	1.00
961.5	18.80	9000.00	0.0	0.34	0.22	18.80	0.0	-0.76	1.00
955.2	19.30	9000.00	0.0	-0.41	0.81	19.30	0.0	-0.08	1.00
949.1	16.90	9000.00	0.0	0.15	0.55	16.90	932.2	0.39	1.00
453.9	76.50	9000.00	0.0	-0.12	1.00	76.50	0.0	-0.12	1.00
447.4	69.90	9000.00	0.0	-0.11	0.99	69.90	377.5	1.02	1.00
441.1	63.50	63.50	377.6	1.01	1.00	63.50	377.6	1.02	1.00
434.1	56.50	56.50	377.6	1.01	1.00	56.50	377.6	1.00	1.00
426.9	49.30	49.30	377.6	1.00	1.00	49.30	377.6	1.00	1.00
419.7	42.30	42.30	377.4	0.99	1.00	42.30	377.4	0.97	1.00
412.6	35.70	35.60	377.0	0.96	1.00	35.70	376.9	0.93	1.00
405.4	28.40	28.50	376.9	0.97	1.00	28.40	377.0	1.01	1.00
398.4	21.80	21.70	376.7	0.97	1.00	21.80	376.6	0.94	1.00
391.3	14.30	14.40	376.9	0.99	1.00	14.30	377.0	1.06	1.00
384.3	8.00	7.80	376.5	0.98	1.00	8.00	376.3	0.90	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	2701	2509	2817	2600	0.0	0.0	0	12	0.00	0.00	-2.05	0.045	16390	0.000	0.000	2700	2508	3325	3464	3186	0	0	0	0	0	0	15.07	13.35	15.06
14	-0.88	-146.0	2701	2508	3465	3189	0.0	0.0	0	16	0.88	0.00	0.00	0.000	4102	0.112	0.000	2414	2508	3328	3468	3189	0	0	0	0	0	0	14.78	14.95	14.92
310	-0.88	-146.0	2413	2509	3448	3204	387.7	-11.2	30	316	0.00	2.42	0.00	0.000	260	0.000	0.154	2405	3755	3326	3446	3206	0	0	0	0	0	0	15.11	14.66	15.14
380	-0.88	-146.0	2405	3756	3446	3209	396.3	-12.6	44	386	0.00	2.30	0.00	0.000	1030	0.000	0.099	2405	2487	3327	3445	3209	0	0	0	0	0	0	14.85	14.77	14.89
690	-0.88	-146.0	2405	2488	3445	3210	431.7	-11.3	76	696	0.00	2.47	0.00	0.000	260	0.000	0.155	2396	3753	3326	3443	3209	0	0	0	0	0	0	15.11	14.66	15.14
745	-0.88	-146.0	2396	3753	3443	3210	438.3	-12.1	87	752	0.00	2.30	0.00	0.000	1030	0.000	0.097	2395	2490	3326	3442	3210	0	0	0	0	0	0	14.84	14.77	14.88
1050	-0.88	-146.0	2396	2491	3442	3211	472.8	-11.2	118	1056	0.00	2.47	0.00	0.000	260	0.000	0.154	2384	3754	3325	3441	3210	0	0	0	0	0	0	15.11	14.66	15.13
1090	-0.88	-146.0	2387	3755	3441	3212	477.6	-12.2	126	1096	0.00	2.28	0.00	0.000	1030	0.000	0.099	2386	2500	3326	3441	3211	0	0	0	0	0	0	14.83	14.76	14.88
1400	-0.88	-146.0	2387	2501	3440	3212	513.8	-11.6	158	1407	0.12	2.42	0.00	0.000	2308	0.291	0.157	2403	3756	3325	3439	3211	0	0	0	0	0	0	14.57	14.67	14.82
1445	-0.88	-146.0	2404	3756	3440	3211	518.9	-11.3	167	1453	0.00	2.30	0.00	0.000	1030	0.000	0.100	2403	2492	3327	3443	3211	0	0	0	0	0	0	14.83	14.76	14.88
1751	-0.88	-146.0	2403	2493	3440	3212	551.4	-10.5	198	1756	0.00	2.45	0.00	0.000	260	0.000	0.155	2394	3749	3324	3438	3211	0	0	0	0	0	0	15.11	14.64	15.14
1775	-0.88	-146.0	2395	3748	3439	3211	554.2	-11.6	203	1784	0.00	2.28	0.00	0.000	1030	0.000	0.098	2394	2496	3325	3438	3212	0	0	0	0	0	0	14.83	14.76	14.88
2082	-0.88	-146.0	2395	2496	3439	3211	587.4	-10.8	234	2087	0.00	2.40	0.00	0.000	260	0.000	0.156	2385	3750	3324	3437	3211	0	0	0	0	0	0	15.06	14.66	15.08
2116	-0.88	-146.0	2385	3751	3438	3213	591.4	-11.7	241	2124	0.10	2.28	0.00	0.000	3078	0.262	0.098	2412	2495	3324	3438	3211	0	0	0	0	0	0	14.52	14.74	14.70
2421	-0.88	-146.0	2412	2496	3438	3213	622.0	-9.9	272	2422	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2495	3324	3437	3211	0	0	0	0	0	0	15.09	15.12	15.11
2721	-0.88	-146.0	2412	2497	3438	3213	650.9	-9.5	302	2727	0.00	2.45	0.00	0.000	260	0.000	0.155	2404	3753	3324	3437	3212	0	0	0	0	0	0	15.10	14.63	15.12
2766	-0.88	-146.0	2404	3754	3438	3213	655.5	-10.5	311	2773	0.00	2.30	0.00	0.000	1030	0.000	0.098	2404	2489	3324	3437	3212	0	0	0	0	0	0	14.82	14.74	14.87
3072	-0.88	-146.0	2404	2491	3438	3213	686.2	-10.0	342	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2490	3324	3437	3212	0	0	0	0	0	0	15.04	15.08	15.07
3392	-0.88	-146.0	2410	2491	3437	3213	718.4	-10.2	362	3397	0.00	2.42	0.00	0.000	260	0.000	0.155	2394	3754	3324	3437	3212	0	0	0	0	0	0	15.06	14.66	15.09
3431	-0.88	-146.0	2395	3754	3435	3212	722.8	-11.2	370	3437	0.00	2.30	0.00	0.000	1030	0.000	0.098	2394	2487	3324	3437	3212	0	0	0	0	0	0	14.83	14.74	14.87
3812	-0.88	-146.0	2395	2487	3438	3212	763.1	-10.6	386	3817	0.00	2.42	0.00	0.000	260	0.000	0.155	2385	3751	3324	3437	3212	0	0	0	0	0	0	15.07	14.66	15.09
3851	-0.88	-146.0	2386	3751	3438	3212	767.7	-11.3	394	3857	0.08	2.28	0.00	0.000	3078	0.270	0.098	2406	2498	3324	3437	3212	0	0	0	0	0	0	14.52	14.75	14.89
4231	-0.88	-146.0	2406	2498	3437	3212	804.7	-9.7	410	4232	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2498	3324	3437	3212	0	0	0	0	0	0	15.13	15.16	15.16
4591	-0.88	-146.0	2406	2498	3437	3213	838.7	-9.4	422	4592	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2497	3321	3431	3212	0	0	0	0	0	0	15.14	15.16	15.16
4951	-0.88	-146.0	2406	2499	3438	3213	872.8	-9.5	434	4957	0.00	2.45	0.00	0.000	260	0.000	0.155	2397	3753	3324	3437	3212	0	0	0	0	0	0	15.14	14.64	15.16
4991	-0.88	-146.0	2398	3753	3437	3213	876.6	-10.2	442	4997	0.00	2.28	0.00	0.000	1030	0.000	0.097	2397	2497	3324	3436	3212	0	0	0	0	0	0	14.83	14.76	14.88
5373	-0.88	-146.0	2398	2498	3437	3213	913.4	-9.7	458	5373	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2497	3324	3436	3213	0	0	0	0	0	0	15.13	15.16	15.16
5732	-0.88	-146.0	2398	2498	3437	3213	947.8	-9.5	470	5732	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2497	3325	3436	3215	0	0	0	0	0	0	15.14	15.18	15.16
6092	-0.88	-146.0	2398	2497	3438	3212	981.6	-9.3	482	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2497	3324	3436	3213	0	0	0	0	0	0	15.14	15.18	15.17
6210	end dive: TARGET_DEPTH_EXCEEDED
state	6210	begin apogee
6214	-0.23	0.0	2398	2182	3437	3214	992.7	-9.3	486	6440	0.85	0.05	217.88	2.324	10246	0.234	0.259	2625	2198	2714	2767	2662	0	0	0	0	1	0	14.57	13.35	12.27
6441	end apogee: CONTROL_FINISHED_OK
state	6441	begin climb
6443	0.88	146.0	2626	2199	2769	2663	997.3	0.0	493	6968	1.23	2.88	510.65	1.288	10756	0.135	0.123	2987	787	2113	2144	2083	0	0	0	0	0	0	13.45	13.57	13.04
6997	0.88	146.0	2987	788	2128	2070	938.8	12.8	599	7003	0.00	2.80	0.00	0.000	1030	0.000	0.112	2987	2208	2099	2127	2072	0	0	0	0	0	0	13.88	13.76	13.90
7367	0.88	146.0	2987	2208	2124	2060	888.0	13.8	613	7373	0.00	2.72	0.00	0.000	516	0.000	0.125	2993	793	2091	2123	2060	0	0	0	0	0	0	14.73	14.38	14.74
7392	0.88	146.0	2997	794	2123	2061	884.3	17.2	618	7401	0.00	2.67	0.00	0.000	1030	0.000	0.113	2997	2199	2091	2122	2060	0	0	0	0	0	0	14.51	14.42	14.56
7758	0.88	146.0	2997	2200	2123	2059	832.5	14.1	631	7759	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2199	2090	2122	2058	0	0	0	0	0	0	14.94	14.97	14.97
8118	0.88	146.0	2997	2199	2123	2056	781.7	13.9	643	8124	0.00	2.60	0.00	0.000	516	0.000	0.126	3007	795	2089	2122	2057	0	0	0	0	0	0	15.02	14.69	15.04
8153	0.88	146.0	3006	796	2123	2058	776.5	13.8	650	8159	0.00	2.62	0.00	0.000	1030	0.000	0.115	3008	2204	2089	2121	2057	0	0	0	0	0	0	14.78	14.69	14.83
8540	0.88	146.0	3008	2204	2122	2055	719.7	14.7	667	8540	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2204	2088	2121	2055	0	0	0	0	0	0	15.03	15.06	15.06
8898	0.88	146.0	3008	2204	2122	2054	668.1	14.3	693	8908	0.00	2.60	0.00	0.000	516	0.000	0.125	3018	793	2087	2121	2054	0	0	0	0	0	0	15.10	14.73	15.13
8936	0.88	146.0	3018	794	2121	2054	662.7	14.5	700	8944	0.12	2.62	0.00	0.000	5126	0.211	0.115	2982	2207	2087	2121	2054	0	0	0	0	0	0	14.65	14.73	14.79
9242	0.88	146.0	2982	2207	2122	2053	623.3	12.9	731	9247	0.00	2.67	0.00	0.000	260	0.000	0.146	2982	3622	2086	2120	2053	0	0	0	0	0	0	15.10	14.73	15.13
9272	0.88	146.0	2983	3622	2121	2053	619.1	14.8	737	9278	0.00	2.60	0.00	0.000	1030	0.000	0.100	2992	2199	2087	2121	2053	0	0	0	0	0	0	14.85	14.77	14.90
9582	0.88	146.0	2991	2198	2121	2053	577.7	13.2	769	9587	0.00	2.62	0.00	0.000	516	0.000	0.129	3002	779	2086	2120	2052	0	0	0	0	0	0	15.11	14.73	15.13
9632	0.88	146.0	3003	779	2120	2053	571.0	13.5	779	9638	0.00	2.62	0.00	0.000	1030	0.000	0.116	3002	2216	2085	2120	2050	0	0	0	0	0	0	14.91	14.76	14.95
9942	0.88	146.0	3003	2217	2120	2053	528.1	13.7	811	9942	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2216	2086	2120	2052	0	0	0	0	0	0	15.11	15.14	15.14
10242	0.88	146.0	3003	2216	2121	2052	488.0	13.5	841	10242	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2216	2086	2120	2052	0	0	0	0	0	0	15.11	15.14	15.14
10542	0.88	146.0	3002	2217	2121	2053	450.1	12.8	871	10547	0.00	2.65	0.00	0.000	516	0.000	0.127	3013	783	2085	2120	2051	0	0	0	0	0	0	15.12	14.74	15.15
10586	0.88	146.0	3013	783	2120	2052	444.1	13.2	880	10594	0.10	2.65	0.00	0.000	5126	0.213	0.115	2984	2210	2085	2119	2051	0	0	0	0	0	0	14.64	14.73	14.78
10892	0.88	146.0	2984	2211	2120	2049	407.8	12.0	911	10893	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2210	2085	2119	2051	0	0	0	0	0	0	15.12	15.15	15.14
11100	end climb: SURFACE_OBSTACLE_DETECTED
state	11100	begin subsurface finish
11104	0.00	2.8	2985	2210	2121	2051	383.2	11.4	932	11113	0.98	0.00	-2.22	0.041	20486	0.200	0.000	2705	2211	2724	2839	2610	0	0	0	0	0	0	14.66	13.40	14.92
11114	end subsurface finish: CONTROL_FINISHED_OK
state	11114	begin surface