Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 180 * 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 180 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 22 ALTIM_FREQUENCY 13

D_TGT 600 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 10 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 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 200 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 240 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 2 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 -3 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 0.1 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 2 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 600 N_NOCOMM 3 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 200

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 0.1 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 240

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 2

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 -3

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 180 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 22 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 10 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 2 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 160218,203736,-7409.8838,-11228.4756,1,1.1,4,53.5,0.3,0.0,7,10.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME WMM0

_XMS_NAKs 0 TGT_LATLONG -7408.900,-11254.810

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.24 MHEAD_RNG_PITCHd_Wd 240.1,13390,-16.7,-10.000,-24.48,2160

_SM_ANGLEo -62.6 D_GRID 980

GPS2 160218,204635,-7409.8745,-11228.5820,4,1.1,8,53.5,0.1,0.0,7,9.1

Post-dive calculations and measurements:

FREEZE 0.85,-1.541,-1.862,2,1,0 ALTIM_TOP_PING 11.4,11.9

FINISH 0.9,1.027314 _24V_AH 13.02,77.768

SM_CCo 10139,114.68,0.231,0,0,1488,300.00 _10V_AH 12.33,0.000

SM_GC 0.31,8.77,0.62,114.68,0.119,0.139,0.231,198,2503,1488,-7.77,-0.31,300.00,0,0,0,0,0,0,14.86,14.71,14.47 FG_AHR_24Vo 0.000

RAFOS_CLK 365 FG_AHR_10Vo 0.000

RAFOS 0,1518814859,21.032778,21.016388,168,72,60,55,54,51,582,217,181,135,193,158 MEM 279916

RAFOS_FIX -7409.905762,-11229.871094,160218,212144,3,112,0.37 DATA_FILE_SIZE 33363,931

IRIDIUM_FIX -7412.77,-11226.25,160218,195649 CAP_FILE_SIZE 128652,0

TT8_MAMPS 0.041944,0.298102 CFSIZE 1024409600,999079936

HUMID 45.82 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.48233 SOUNDSPEED 1447.8

TCM_TEMP 13.20 CURRENT 0.075,264.68,1

XPDR_PINGS 1 GPS 160218,233900,-7409.319,-11233.939,30,0.7,30,53.5,0.2,314.6,11,3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 481 148.64 nil 0 0 0.00

Roll_motor 92 223 270.26 nil 0 0 0.00

VBD_pump_during_apogee 955 1319 16416.94 nil 0 0 0.00

VBD_pump_during_surface 114 231 344.94 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 10130 3 472.31

Iridium_during_xfer 403 185 971.87 nil 0 0 0.00

Transponder_ping 43 420 239.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 9 1.20

TT8 0 0 0.00

LPSleep 7125 2 202.95

TT8_Active 1167 12 176.62

TT8_Sampling 2340 31 915.93

TT8_CF8 183 45 102.42

TT8_Kalman 0 0 0.00

Analog_circuits 2346 10 295.06

GPS_charging 0 0 0.00

Compass 1334 7 123.20

RAFOS 720 1 13.32

Transponder 310 30 114.79

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

7.1 10.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

13.3 15.00 9000.00 0.0 0.00 0.00 15.00 0.0 0.66 1.00

19.5 20.90 20.60 0.0 0.81 0.99 20.90 0.0 0.95 1.00

25.6 27.50 27.40 0.0 1.02 1.00 27.50 0.0 1.08 1.00

31.8 34.10 34.10 0.0 1.07 1.00 34.10 0.0 1.06 1.00

44.1 46.90 46.90 0.0 1.05 1.00 46.90 0.0 1.04 1.00

57.7 61.70 61.60 0.0 1.06 1.00 61.70 0.0 1.09 1.00

64.5 68.60 68.70 0.0 1.06 1.00 68.60 0.0 1.01 1.00

71.4 75.60 75.60 0.0 1.01 1.00 75.60 0.0 1.01 1.00

84.7 90.00 89.90 0.0 1.06 1.00 90.00 0.0 1.08 1.00

105.2 111.20 111.30 0.0 1.05 1.00 111.20 0.0 1.03 1.00

597.0 24.20 9000.00 0.0 -0.15 0.93 24.20 0.0 -0.18 1.00

590.5 28.90 9000.00 0.0 -0.17 1.00 28.90 0.0 -0.72 1.00

584.4 19.00 9000.00 0.0 0.40 0.25 19.00 565.4 1.62 1.00

578.1 20.10 9000.00 0.0 0.71 0.65 20.10 0.0 -0.17 1.00

571.9 17.80 9000.00 0.0 0.10 0.27 17.80 554.1 0.37 1.00

565.3 24.70 9000.00 0.0 -0.36 0.43 24.70 0.0 -1.05 1.00

148.6 154.60 9000.00 0.0 -0.32 1.00 154.60 0.0 -0.31 1.00

104.5 109.30 9000.00 0.0 -0.23 0.82 109.30 -4.8 1.03 1.00

97.3 101.60 101.70 -4.4 1.03 1.00 101.60 -4.3 1.07 1.00

90.1 94.90 94.70 -4.6 1.00 1.00 94.90 -4.8 0.93 1.00

84.0 87.50 87.80 -3.8 1.06 0.99 87.50 -3.5 1.21 1.00

70.8 75.20 75.00 -4.2 1.01 1.00 75.20 -4.4 0.93 1.00

64.0 66.90 67.50 -3.5 1.02 0.99 66.90 -2.9 1.22 1.00

57.4 59.80 59.60 -2.2 1.15 1.00 59.80 -2.4 1.08 1.00

51.0 53.10 53.10 -2.1 1.06 1.00 53.10 -2.1 1.05 1.00

44.9 47.00 46.90 -2.0 1.03 1.00 47.00 -2.1 1.00 1.00

38.6 40.20 40.20 -1.6 1.04 1.00 40.20 -1.6 1.08 1.00

31.4 32.70 32.70 -1.3 1.05 1.00 32.70 -1.3 1.04 1.00

24.8 25.80 25.80 -1.0 1.04 1.00 25.80 -1.0 1.05 1.00

18.3 18.90 18.90 -0.6 1.05 1.00 18.90 -0.6 1.06 1.00

11.4 12.00 11.90 -0.5 1.03 1.00 12.00 -0.6 1.00 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

9 -0.94 -146.0 205 2508 1486 1468 0.0 0.0 0 113 0.00 0.00 -98.60 0.002 16390 0.000 0.000 204 2507 3312 3388 3237 0 0 0 0 0 0 14.77 13.16 14.80

115 -0.94 -146.0 205 2509 3388 3239 3.2 -5.3 10 132 12.27 2.65 0.00 0.000 2596 0.481 0.104 2393 1081 3314 3390 3239 0 0 0 0 0 0 14.19 14.50 14.43

341 -0.94 -146.0 2392 1082 3392 3240 40.7 -13.8 55 348 0.00 2.75 0.00 0.000 1030 0.000 0.129 2385 2501 3314 3391 3238 0 0 0 0 0 0 14.60 14.49 14.66

646 -0.94 -146.0 2384 2501 3393 3239 82.5 -13.9 86 652 0.00 2.45 0.00 0.000 260 0.000 0.157 2378 3774 3315 3392 3239 0 0 0 0 0 0 14.99 14.54 15.01

691 -0.94 -146.0 2378 3775 3392 3240 89.1 -14.7 95 698 0.00 2.33 0.00 0.000 1030 0.000 0.098 2378 2503 3315 3392 3238 0 0 0 0 0 0 14.73 14.65 14.77

996 -0.94 -146.0 2378 2504 3392 3240 131.7 -13.9 126 997 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2503 3315 3392 3238 0 0 0 0 0 0 15.02 15.04 15.04

1296 -0.94 -146.0 2379 2504 3401 3239 173.4 -13.6 156 1302 0.00 2.45 0.00 0.000 260 0.000 0.158 2371 3750 3315 3392 3239 0 0 0 0 0 0 15.04 14.57 15.07

1326 -0.94 -146.0 2371 3751 3392 3240 177.7 -14.2 162 1332 0.00 2.30 0.00 0.000 1030 0.000 0.098 2371 2470 3315 3392 3239 0 0 0 0 0 0 14.83 14.71 14.88

1636 -0.94 -146.0 2371 2471 3392 3240 222.1 -14.2 194 1642 0.00 2.50 0.00 0.000 260 0.000 0.157 2362 3763 3315 3392 3239 0 0 0 0 0 0 15.05 14.59 15.07

1696 -0.94 -146.0 2362 3762 3393 3239 231.1 -15.2 206 1702 0.10 2.33 0.00 0.000 3078 0.277 0.099 2394 2492 3315 3392 3239 0 0 0 0 0 0 14.47 14.69 14.76

2006 -0.94 -146.0 2394 2492 3392 3240 270.2 -12.4 238 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2491 3315 3392 3239 0 0 0 0 0 0 15.07 15.09 15.09

2316 -0.94 -146.0 2395 2492 3393 3240 308.8 -12.7 266 2322 0.00 2.42 0.00 0.000 260 0.000 0.156 2385 3751 3315 3392 3239 0 0 0 0 0 0 15.08 14.60 15.10

2386 -0.94 -146.0 2386 3752 3392 3240 318.1 -13.3 280 2392 0.00 2.30 0.00 0.000 1030 0.000 0.098 2386 2493 3313 3392 3234 0 0 0 0 0 0 14.78 14.71 14.83

2697 -0.94 -146.0 2386 2493 3392 3240 357.7 -12.5 297 2698 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2492 3315 3392 3239 0 0 0 0 0 0 15.04 15.07 15.07

2998 -0.94 -146.0 2386 2492 3393 3239 395.3 -12.5 312 3003 0.00 2.45 0.00 0.000 260 0.000 0.155 2378 3760 3315 3392 3239 0 0 0 0 0 0 15.06 14.62 15.09

3043 -0.94 -146.0 2379 3761 3393 3240 401.3 -13.4 321 3049 0.00 2.28 0.00 0.000 1030 0.000 0.099 2378 2491 3315 3392 3239 0 0 0 0 0 0 14.88 14.76 14.92

3358 -0.94 -146.0 2379 2491 3392 3240 440.7 -12.2 339 3364 0.00 2.47 0.00 0.000 260 0.000 0.156 2371 3748 3315 3391 3239 0 0 0 0 0 0 15.11 14.59 15.14

3434 -0.94 -146.0 2371 3749 3392 3239 450.8 -13.2 354 3440 0.00 2.25 0.00 0.000 1030 0.000 0.098 2371 2493 3316 3393 3239 0 0 0 0 0 0 14.88 14.75 14.91

3740 -0.94 -146.0 2371 2493 3393 3239 490.2 -12.9 370 3740 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2493 3315 3392 3239 0 0 0 0 0 0 15.06 15.09 15.09

4058 -0.94 -146.0 2371 2493 3392 3239 530.5 -12.3 382 4064 0.00 2.47 0.00 0.000 260 0.000 0.156 2362 3753 3315 3392 3239 0 0 0 0 0 0 15.12 14.58 15.14

4138 -0.94 -146.0 2362 3753 3392 3240 541.2 -13.9 398 4144 0.12 2.30 0.00 0.000 3078 0.269 0.097 2394 2492 3315 3391 3239 0 0 0 0 0 0 14.45 14.71 14.64

4509 -0.94 -146.0 2395 2492 3392 3239 582.0 -10.6 412 4514 0.00 2.45 0.00 0.000 260 0.000 0.156 2386 3760 3315 3392 3239 0 0 0 0 0 0 15.12 14.61 15.14

4553 -0.94 -146.0 2386 3760 3393 3239 587.2 -11.7 421 4560 0.00 2.30 0.00 0.000 1030 0.000 0.098 2386 2504 3315 3392 3239 0 0 0 0 0 0 14.79 14.71 14.84

4688 end dive: TARGET_DEPTH_EXCEEDED

state 4688 begin apogee

4692 -0.23 0.0 2386 2181 3393 3240 602.0 -10.8 428 5213 0.90 0.08 516.47 1.275 10246 0.245 0.223 2624 2208 2715 2773 2657 0 0 0 0 0 0 14.50 13.57 13.08

5215 end apogee: CONTROL_FINISHED_OK

state 5215 begin climb

5216 0.94 146.0 2624 2209 2773 2656 609.9 0.0 445 5671 1.30 2.90 439.02 1.320 10756 0.151 0.125 3005 789 2111 2153 2070 0 0 0 0 0 0 13.62 13.56 13.02

5760 0.94 146.0 3005 789 2142 2060 550.7 13.8 549 5766 0.00 2.78 0.00 0.000 1030 0.000 0.112 3005 2213 2100 2141 2060 0 0 0 0 0 0 14.04 13.93 14.08

6141 0.94 146.0 3005 2212 2140 2052 498.0 13.8 565 6146 0.00 2.72 0.00 0.000 260 0.000 0.145 3005 3617 2097 2139 2055 0 0 0 0 0 0 14.76 14.42 14.78

6161 0.94 146.0 3005 3618 2139 2053 495.2 14.1 569 6166 0.00 2.62 0.00 0.000 1030 0.000 0.100 3015 2193 2095 2138 2052 0 0 0 0 0 0 14.62 14.49 14.65

6481 0.94 146.0 3016 2192 2139 2052 449.1 14.1 588 6487 0.00 2.65 0.00 0.000 516 0.000 0.129 3026 779 2095 2138 2052 0 0 0 0 0 0 14.93 14.59 14.96

6512 0.94 146.0 3026 780 2132 2053 444.6 14.8 594 6518 0.00 2.65 0.00 0.000 1030 0.000 0.116 3026 2209 2094 2137 2051 0 0 0 0 0 0 14.76 14.61 14.80

6822 0.94 146.0 3027 2210 2138 2051 399.8 14.5 611 6829 0.00 2.67 0.00 0.000 260 0.000 0.147 3027 3613 2094 2137 2051 0 0 0 0 0 0 15.01 14.64 15.04

6873 0.94 146.0 3026 3614 2137 2052 391.7 16.0 621 6880 0.15 2.58 0.00 0.000 5126 0.259 0.102 3003 2190 2094 2137 2051 0 0 0 0 0 0 14.58 14.71 14.82

7184 0.94 146.0 3003 2187 2137 2051 352.2 12.4 638 7184 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2188 2094 2137 2051 0 0 0 0 0 0 15.06 15.09 15.08

7485 0.94 146.0 3004 2188 2138 2051 314.2 12.6 653 7485 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2187 2093 2136 2051 0 0 0 0 0 0 15.07 15.11 15.11

7785 0.94 146.0 3003 2188 2138 2051 276.8 12.1 677 7785 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2188 2093 2136 2050 0 0 0 0 0 0 15.04 15.07 15.07

8084 0.94 146.0 3005 2187 2138 2050 240.5 12.0 707 8090 0.00 2.72 0.00 0.000 260 0.000 0.147 3003 3614 2091 2133 2050 0 0 0 0 0 0 15.09 14.70 15.12

8119 0.94 146.0 3002 3615 2137 2051 236.0 13.3 714 8127 0.00 2.60 0.00 0.000 1030 0.000 0.100 3012 2196 2093 2136 2050 0 0 0 0 0 0 14.83 14.74 14.95

8424 0.94 146.0 3013 2196 2137 2051 198.5 12.1 745 8425 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2195 2092 2136 2049 0 0 0 0 0 0 15.10 15.12 15.12

8724 0.94 146.0 3013 2195 2138 2050 163.2 11.3 775 8731 0.00 2.72 0.00 0.000 260 0.000 0.147 3012 3620 2093 2136 2050 0 0 0 0 0 0 15.11 14.69 15.13

8755 0.94 146.0 3013 3621 2137 2050 159.4 12.7 781 8761 0.00 2.62 0.00 0.000 1030 0.000 0.102 3023 2170 2093 2136 2050 0 0 0 0 0 0 14.90 14.74 14.95

9065 0.94 146.0 3023 2169 2137 2050 121.6 11.9 813 9066 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2168 2092 2136 2049 0 0 0 0 0 0 15.11 15.13 15.13

9365 0.94 146.0 3023 2169 2137 2050 85.2 12.1 843 9371 0.00 2.78 0.00 0.000 260 0.000 0.147 3023 3620 2092 2136 2049 0 0 0 0 0 0 15.11 14.68 15.14

9390 0.94 146.0 3023 3621 2137 2050 81.9 14.1 848 9397 0.10 2.62 0.00 0.000 5126 0.223 0.103 2998 2197 2092 2136 2049 0 0 0 0 0 0 14.59 14.70 14.84

9695 0.94 146.0 2997 2195 2136 2049 47.9 10.4 879 9701 0.00 2.65 0.00 0.000 516 0.000 0.131 3008 776 2091 2135 2048 0 0 0 0 0 0 15.11 14.69 15.13

9725 0.94 146.0 3008 777 2135 2048 44.4 11.9 885 9731 0.00 2.62 0.00 0.000 1030 0.000 0.116 3008 2211 2091 2135 2047 0 0 0 0 0 0 14.88 14.70 14.93

10036 0.94 146.0 3008 2208 2136 2048 11.4 11.6 917 10041 0.00 2.67 0.00 0.000 260 0.000 0.148 3008 3614 2091 2135 2047 0 0 0 0 0 0 15.06 14.66 15.09

10075 0.94 146.0 3008 3614 2136 2047 6.6 12.5 925 10081 0.00 2.58 0.00 0.000 1030 0.000 0.104 3018 2194 2091 2135 2047 0 0 0 0 0 0 14.88 14.73 14.93

10114 end climb: SURFACE_DEPTH_REACHED

state 10114 begin surface coast

10124 end surface coast: CONTROL_FINISHED_OK

state 10124 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	180	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	22	ALTIM_FREQUENCY	13
D_TGT	600	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	10	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	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	200	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	240	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	2	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	-3	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	0.1	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	2	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	160218,203736,-7409.8838,-11228.4756,1,1.1,4,53.5,0.3,0.0,7,10.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	WMM0
_XMS_NAKs	0	TGT_LATLONG	-7408.900,-11254.810
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.24	MHEAD_RNG_PITCHd_Wd	240.1,13390,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	-62.6	D_GRID	980
GPS2	160218,204635,-7409.8745,-11228.5820,4,1.1,8,53.5,0.1,0.0,7,9.1

FREEZE	0.85,-1.541,-1.862,2,1,0	ALTIM_TOP_PING	11.4,11.9
FINISH	0.9,1.027314	_24V_AH	13.02,77.768
SM_CCo	10139,114.68,0.231,0,0,1488,300.00	_10V_AH	12.33,0.000
SM_GC	0.31,8.77,0.62,114.68,0.119,0.139,0.231,198,2503,1488,-7.77,-0.31,300.00,0,0,0,0,0,0,14.86,14.71,14.47	FG_AHR_24Vo	0.000
RAFOS_CLK	365	FG_AHR_10Vo	0.000
RAFOS	0,1518814859,21.032778,21.016388,168,72,60,55,54,51,582,217,181,135,193,158	MEM	279916
RAFOS_FIX	-7409.905762,-11229.871094,160218,212144,3,112,0.37	DATA_FILE_SIZE	33363,931
IRIDIUM_FIX	-7412.77,-11226.25,160218,195649	CAP_FILE_SIZE	128652,0
TT8_MAMPS	0.041944,0.298102	CFSIZE	1024409600,999079936
HUMID	45.82	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.48233	SOUNDSPEED	1447.8
TCM_TEMP	13.20	CURRENT	0.075,264.68,1
XPDR_PINGS	1	GPS	160218,233900,-7409.319,-11233.939,30,0.7,30,53.5,0.2,314.6,11,3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	481	148.64	nil	0	0	0.00
Roll_motor	92	223	270.26	nil	0	0	0.00
VBD_pump_during_apogee	955	1319	16416.94	nil	0	0	0.00
VBD_pump_during_surface	114	231	344.94	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	10130	3	472.31
Iridium_during_xfer	403	185	971.87	nil	0	0	0.00
Transponder_ping	43	420	239.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	9	1.20
TT8	0	0	0.00
LPSleep	7125	2	202.95
TT8_Active	1167	12	176.62
TT8_Sampling	2340	31	915.93
TT8_CF8	183	45	102.42
TT8_Kalman	0	0	0.00
Analog_circuits	2346	10	295.06
GPS_charging	0	0	0.00
Compass	1334	7	123.20
RAFOS	720	1	13.32
Transponder	310	30	114.79

		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
7.1	10.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
13.3	15.00	9000.00	0.0	0.00	0.00	15.00	0.0	0.66	1.00
19.5	20.90	20.60	0.0	0.81	0.99	20.90	0.0	0.95	1.00
25.6	27.50	27.40	0.0	1.02	1.00	27.50	0.0	1.08	1.00
31.8	34.10	34.10	0.0	1.07	1.00	34.10	0.0	1.06	1.00
44.1	46.90	46.90	0.0	1.05	1.00	46.90	0.0	1.04	1.00
57.7	61.70	61.60	0.0	1.06	1.00	61.70	0.0	1.09	1.00
64.5	68.60	68.70	0.0	1.06	1.00	68.60	0.0	1.01	1.00
71.4	75.60	75.60	0.0	1.01	1.00	75.60	0.0	1.01	1.00
84.7	90.00	89.90	0.0	1.06	1.00	90.00	0.0	1.08	1.00
105.2	111.20	111.30	0.0	1.05	1.00	111.20	0.0	1.03	1.00

597.0	24.20	9000.00	0.0	-0.15	0.93	24.20	0.0	-0.18	1.00
590.5	28.90	9000.00	0.0	-0.17	1.00	28.90	0.0	-0.72	1.00
584.4	19.00	9000.00	0.0	0.40	0.25	19.00	565.4	1.62	1.00
578.1	20.10	9000.00	0.0	0.71	0.65	20.10	0.0	-0.17	1.00
571.9	17.80	9000.00	0.0	0.10	0.27	17.80	554.1	0.37	1.00
565.3	24.70	9000.00	0.0	-0.36	0.43	24.70	0.0	-1.05	1.00
148.6	154.60	9000.00	0.0	-0.32	1.00	154.60	0.0	-0.31	1.00
104.5	109.30	9000.00	0.0	-0.23	0.82	109.30	-4.8	1.03	1.00
97.3	101.60	101.70	-4.4	1.03	1.00	101.60	-4.3	1.07	1.00
90.1	94.90	94.70	-4.6	1.00	1.00	94.90	-4.8	0.93	1.00
84.0	87.50	87.80	-3.8	1.06	0.99	87.50	-3.5	1.21	1.00
70.8	75.20	75.00	-4.2	1.01	1.00	75.20	-4.4	0.93	1.00
64.0	66.90	67.50	-3.5	1.02	0.99	66.90	-2.9	1.22	1.00
57.4	59.80	59.60	-2.2	1.15	1.00	59.80	-2.4	1.08	1.00
51.0	53.10	53.10	-2.1	1.06	1.00	53.10	-2.1	1.05	1.00
44.9	47.00	46.90	-2.0	1.03	1.00	47.00	-2.1	1.00	1.00
38.6	40.20	40.20	-1.6	1.04	1.00	40.20	-1.6	1.08	1.00
31.4	32.70	32.70	-1.3	1.05	1.00	32.70	-1.3	1.04	1.00
24.8	25.80	25.80	-1.0	1.04	1.00	25.80	-1.0	1.05	1.00
18.3	18.90	18.90	-0.6	1.05	1.00	18.90	-0.6	1.06	1.00
11.4	12.00	11.90	-0.5	1.03	1.00	12.00	-0.6	1.00	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
9	-0.94	-146.0	205	2508	1486	1468	0.0	0.0	0	113	0.00	0.00	-98.60	0.002	16390	0.000	0.000	204	2507	3312	3388	3237	0	0	0	0	0	0	14.77	13.16	14.80
115	-0.94	-146.0	205	2509	3388	3239	3.2	-5.3	10	132	12.27	2.65	0.00	0.000	2596	0.481	0.104	2393	1081	3314	3390	3239	0	0	0	0	0	0	14.19	14.50	14.43
341	-0.94	-146.0	2392	1082	3392	3240	40.7	-13.8	55	348	0.00	2.75	0.00	0.000	1030	0.000	0.129	2385	2501	3314	3391	3238	0	0	0	0	0	0	14.60	14.49	14.66
646	-0.94	-146.0	2384	2501	3393	3239	82.5	-13.9	86	652	0.00	2.45	0.00	0.000	260	0.000	0.157	2378	3774	3315	3392	3239	0	0	0	0	0	0	14.99	14.54	15.01
691	-0.94	-146.0	2378	3775	3392	3240	89.1	-14.7	95	698	0.00	2.33	0.00	0.000	1030	0.000	0.098	2378	2503	3315	3392	3238	0	0	0	0	0	0	14.73	14.65	14.77
996	-0.94	-146.0	2378	2504	3392	3240	131.7	-13.9	126	997	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2503	3315	3392	3238	0	0	0	0	0	0	15.02	15.04	15.04
1296	-0.94	-146.0	2379	2504	3401	3239	173.4	-13.6	156	1302	0.00	2.45	0.00	0.000	260	0.000	0.158	2371	3750	3315	3392	3239	0	0	0	0	0	0	15.04	14.57	15.07
1326	-0.94	-146.0	2371	3751	3392	3240	177.7	-14.2	162	1332	0.00	2.30	0.00	0.000	1030	0.000	0.098	2371	2470	3315	3392	3239	0	0	0	0	0	0	14.83	14.71	14.88
1636	-0.94	-146.0	2371	2471	3392	3240	222.1	-14.2	194	1642	0.00	2.50	0.00	0.000	260	0.000	0.157	2362	3763	3315	3392	3239	0	0	0	0	0	0	15.05	14.59	15.07
1696	-0.94	-146.0	2362	3762	3393	3239	231.1	-15.2	206	1702	0.10	2.33	0.00	0.000	3078	0.277	0.099	2394	2492	3315	3392	3239	0	0	0	0	0	0	14.47	14.69	14.76
2006	-0.94	-146.0	2394	2492	3392	3240	270.2	-12.4	238	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2491	3315	3392	3239	0	0	0	0	0	0	15.07	15.09	15.09
2316	-0.94	-146.0	2395	2492	3393	3240	308.8	-12.7	266	2322	0.00	2.42	0.00	0.000	260	0.000	0.156	2385	3751	3315	3392	3239	0	0	0	0	0	0	15.08	14.60	15.10
2386	-0.94	-146.0	2386	3752	3392	3240	318.1	-13.3	280	2392	0.00	2.30	0.00	0.000	1030	0.000	0.098	2386	2493	3313	3392	3234	0	0	0	0	0	0	14.78	14.71	14.83
2697	-0.94	-146.0	2386	2493	3392	3240	357.7	-12.5	297	2698	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2492	3315	3392	3239	0	0	0	0	0	0	15.04	15.07	15.07
2998	-0.94	-146.0	2386	2492	3393	3239	395.3	-12.5	312	3003	0.00	2.45	0.00	0.000	260	0.000	0.155	2378	3760	3315	3392	3239	0	0	0	0	0	0	15.06	14.62	15.09
3043	-0.94	-146.0	2379	3761	3393	3240	401.3	-13.4	321	3049	0.00	2.28	0.00	0.000	1030	0.000	0.099	2378	2491	3315	3392	3239	0	0	0	0	0	0	14.88	14.76	14.92
3358	-0.94	-146.0	2379	2491	3392	3240	440.7	-12.2	339	3364	0.00	2.47	0.00	0.000	260	0.000	0.156	2371	3748	3315	3391	3239	0	0	0	0	0	0	15.11	14.59	15.14
3434	-0.94	-146.0	2371	3749	3392	3239	450.8	-13.2	354	3440	0.00	2.25	0.00	0.000	1030	0.000	0.098	2371	2493	3316	3393	3239	0	0	0	0	0	0	14.88	14.75	14.91
3740	-0.94	-146.0	2371	2493	3393	3239	490.2	-12.9	370	3740	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2493	3315	3392	3239	0	0	0	0	0	0	15.06	15.09	15.09
4058	-0.94	-146.0	2371	2493	3392	3239	530.5	-12.3	382	4064	0.00	2.47	0.00	0.000	260	0.000	0.156	2362	3753	3315	3392	3239	0	0	0	0	0	0	15.12	14.58	15.14
4138	-0.94	-146.0	2362	3753	3392	3240	541.2	-13.9	398	4144	0.12	2.30	0.00	0.000	3078	0.269	0.097	2394	2492	3315	3391	3239	0	0	0	0	0	0	14.45	14.71	14.64
4509	-0.94	-146.0	2395	2492	3392	3239	582.0	-10.6	412	4514	0.00	2.45	0.00	0.000	260	0.000	0.156	2386	3760	3315	3392	3239	0	0	0	0	0	0	15.12	14.61	15.14
4553	-0.94	-146.0	2386	3760	3393	3239	587.2	-11.7	421	4560	0.00	2.30	0.00	0.000	1030	0.000	0.098	2386	2504	3315	3392	3239	0	0	0	0	0	0	14.79	14.71	14.84
4688	end dive: TARGET_DEPTH_EXCEEDED
state	4688	begin apogee
4692	-0.23	0.0	2386	2181	3393	3240	602.0	-10.8	428	5213	0.90	0.08	516.47	1.275	10246	0.245	0.223	2624	2208	2715	2773	2657	0	0	0	0	0	0	14.50	13.57	13.08
5215	end apogee: CONTROL_FINISHED_OK
state	5215	begin climb
5216	0.94	146.0	2624	2209	2773	2656	609.9	0.0	445	5671	1.30	2.90	439.02	1.320	10756	0.151	0.125	3005	789	2111	2153	2070	0	0	0	0	0	0	13.62	13.56	13.02
5760	0.94	146.0	3005	789	2142	2060	550.7	13.8	549	5766	0.00	2.78	0.00	0.000	1030	0.000	0.112	3005	2213	2100	2141	2060	0	0	0	0	0	0	14.04	13.93	14.08
6141	0.94	146.0	3005	2212	2140	2052	498.0	13.8	565	6146	0.00	2.72	0.00	0.000	260	0.000	0.145	3005	3617	2097	2139	2055	0	0	0	0	0	0	14.76	14.42	14.78
6161	0.94	146.0	3005	3618	2139	2053	495.2	14.1	569	6166	0.00	2.62	0.00	0.000	1030	0.000	0.100	3015	2193	2095	2138	2052	0	0	0	0	0	0	14.62	14.49	14.65
6481	0.94	146.0	3016	2192	2139	2052	449.1	14.1	588	6487	0.00	2.65	0.00	0.000	516	0.000	0.129	3026	779	2095	2138	2052	0	0	0	0	0	0	14.93	14.59	14.96
6512	0.94	146.0	3026	780	2132	2053	444.6	14.8	594	6518	0.00	2.65	0.00	0.000	1030	0.000	0.116	3026	2209	2094	2137	2051	0	0	0	0	0	0	14.76	14.61	14.80
6822	0.94	146.0	3027	2210	2138	2051	399.8	14.5	611	6829	0.00	2.67	0.00	0.000	260	0.000	0.147	3027	3613	2094	2137	2051	0	0	0	0	0	0	15.01	14.64	15.04
6873	0.94	146.0	3026	3614	2137	2052	391.7	16.0	621	6880	0.15	2.58	0.00	0.000	5126	0.259	0.102	3003	2190	2094	2137	2051	0	0	0	0	0	0	14.58	14.71	14.82
7184	0.94	146.0	3003	2187	2137	2051	352.2	12.4	638	7184	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2188	2094	2137	2051	0	0	0	0	0	0	15.06	15.09	15.08
7485	0.94	146.0	3004	2188	2138	2051	314.2	12.6	653	7485	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2187	2093	2136	2051	0	0	0	0	0	0	15.07	15.11	15.11
7785	0.94	146.0	3003	2188	2138	2051	276.8	12.1	677	7785	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2188	2093	2136	2050	0	0	0	0	0	0	15.04	15.07	15.07
8084	0.94	146.0	3005	2187	2138	2050	240.5	12.0	707	8090	0.00	2.72	0.00	0.000	260	0.000	0.147	3003	3614	2091	2133	2050	0	0	0	0	0	0	15.09	14.70	15.12
8119	0.94	146.0	3002	3615	2137	2051	236.0	13.3	714	8127	0.00	2.60	0.00	0.000	1030	0.000	0.100	3012	2196	2093	2136	2050	0	0	0	0	0	0	14.83	14.74	14.95
8424	0.94	146.0	3013	2196	2137	2051	198.5	12.1	745	8425	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2195	2092	2136	2049	0	0	0	0	0	0	15.10	15.12	15.12
8724	0.94	146.0	3013	2195	2138	2050	163.2	11.3	775	8731	0.00	2.72	0.00	0.000	260	0.000	0.147	3012	3620	2093	2136	2050	0	0	0	0	0	0	15.11	14.69	15.13
8755	0.94	146.0	3013	3621	2137	2050	159.4	12.7	781	8761	0.00	2.62	0.00	0.000	1030	0.000	0.102	3023	2170	2093	2136	2050	0	0	0	0	0	0	14.90	14.74	14.95
9065	0.94	146.0	3023	2169	2137	2050	121.6	11.9	813	9066	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2168	2092	2136	2049	0	0	0	0	0	0	15.11	15.13	15.13
9365	0.94	146.0	3023	2169	2137	2050	85.2	12.1	843	9371	0.00	2.78	0.00	0.000	260	0.000	0.147	3023	3620	2092	2136	2049	0	0	0	0	0	0	15.11	14.68	15.14
9390	0.94	146.0	3023	3621	2137	2050	81.9	14.1	848	9397	0.10	2.62	0.00	0.000	5126	0.223	0.103	2998	2197	2092	2136	2049	0	0	0	0	0	0	14.59	14.70	14.84
9695	0.94	146.0	2997	2195	2136	2049	47.9	10.4	879	9701	0.00	2.65	0.00	0.000	516	0.000	0.131	3008	776	2091	2135	2048	0	0	0	0	0	0	15.11	14.69	15.13
9725	0.94	146.0	3008	777	2135	2048	44.4	11.9	885	9731	0.00	2.62	0.00	0.000	1030	0.000	0.116	3008	2211	2091	2135	2047	0	0	0	0	0	0	14.88	14.70	14.93
10036	0.94	146.0	3008	2208	2136	2048	11.4	11.6	917	10041	0.00	2.67	0.00	0.000	260	0.000	0.148	3008	3614	2091	2135	2047	0	0	0	0	0	0	15.06	14.66	15.09
10075	0.94	146.0	3008	3614	2136	2047	6.6	12.5	925	10081	0.00	2.58	0.00	0.000	1030	0.000	0.104	3018	2194	2091	2135	2047	0	0	0	0	0	0	14.88	14.73	14.93
10114	end climb: SURFACE_DEPTH_REACHED
state	10114	begin surface coast
10124	end surface coast: CONTROL_FINISHED_OK
state	10124	begin surface