Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 189 * 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 189 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 11 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 360 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 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 -1 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 990 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 360

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 420

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 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

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 189 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 11 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 170218,214327,-7408.3955,-11307.6768,12,1.1,13,53.8,0.3,15.9,7,9.7 SPEED_LIMITS 0.092,0.213

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.38 MHEAD_RNG_PITCHd_Wd 225.5,2201,-16.3,-9.167,-24.49,2071

_SM_ANGLEo -62.9 D_GRID 570

GPS2 170218,215514,-7408.3921,-11307.6982,3,1.1,5,53.8,0.3,277.3,7,5.5

Post-dive calculations and measurements:

FREEZE 0.47,-1.524,-1.862,2,1,0 ALTIM_TOP_PING 11.8,12.6

FINISH 0.5,1.027311 _24V_AH 12.39,81.395

SM_CCo 9693,121.12,0.224,0,0,1489,300.00 _10V_AH 12.26,0.000

SM_GC 0.35,8.15,0.60,121.12,0.060,0.140,0.224,196,2506,1489,-7.77,-0.25,300.00,0,0,0,0,0,0,14.85,14.69,14.48 FG_AHR_24Vo 0.000

RAFOS_CLK 350 FG_AHR_10Vo 0.000

RAFOS 0,1518912067,0.032778,0.018611,105,63,61,61,56,55,619,201,159,192,138,118 MEM 280020

RAFOS_FIX -7408.413574,-11309.767578,180218,000056,3,126,0.13 DATA_FILE_SIZE 33357,924

IRIDIUM_FIX -7408.77,-11302.62,170218,193641 CAP_FILE_SIZE 129049,0

TT8_MAMPS 0.041195,0.297353 CFSIZE 1024409600,998129664

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.48233 SOUNDSPEED 1448.3

TCM_TEMP 13.30 CURRENT 0.023,203.43,1

XPDR_PINGS 0 GPS 180218,004024,-7408.168,-11311.980,35,0.9,35,53.9,0.6,185.7,8,5.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 478 139.14 nil 0 0 0.00

Roll_motor 109 268 362.80 nil 0 0 0.00

VBD_pump_during_apogee 700 2085 18098.86 nil 0 0 0.00

VBD_pump_during_surface 121 224 336.38 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 9688 3 435.84

Iridium_during_xfer 556 191 1319.74 nil 0 0 0.00

Transponder_ping 42 420 218.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.77

TT8 0 0 0.00

LPSleep 6919 2 195.96

TT8_Active 941 12 141.57

TT8_Sampling 2480 31 965.38

TT8_CF8 192 45 106.95

TT8_Kalman 0 0 0.00

Analog_circuits 2270 10 283.94

GPS_charging 0 0 0.00

Compass 1324 7 121.60

RAFOS 720 1 13.24

Transponder 298 30 109.72

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

6.3 8.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

12.6 14.20 9000.00 0.0 0.00 0.00 14.20 0.0 0.94 1.00

19.3 20.80 20.80 0.0 0.96 1.00 20.80 0.0 0.99 1.00

25.8 27.70 27.60 0.0 1.02 1.00 27.70 0.0 1.06 1.00

32.4 34.50 34.50 0.0 1.05 1.00 34.50 0.0 1.03 1.00

39.6 42.70 42.60 0.0 1.09 1.00 42.70 0.0 1.14 1.00

46.8 49.90 50.00 0.0 1.07 1.00 49.90 0.0 1.00 1.00

53.7 57.30 57.20 0.0 1.03 1.00 57.30 0.0 1.07 1.00

88.1 94.00 94.00 0.0 1.07 1.00 94.00 0.0 1.07 1.00

563.9 66.00 9000.00 0.0 -0.02 0.05 66.00 629.9 -0.06 1.00

570.8 57.40 9000.00 0.0 -0.07 0.96 57.40 628.2 -1.25 1.00

566.4 23.70 9000.00 0.0 -0.24 0.00 23.70 542.7 7.66 1.00

553.3 23.50 9000.00 0.0 1.50 0.49 23.50 529.8 0.02 1.00

540.5 21.90 9000.00 0.0 0.07 0.85 21.90 518.6 0.13 1.00

117.3 122.00 9000.00 0.0 -0.23 1.00 122.00 0.0 -0.24 1.00

90.2 94.20 9000.00 0.0 -0.19 0.90 94.20 -4.0 1.03 1.00

83.3 86.60 86.80 -3.5 1.04 1.00 86.60 -3.3 1.10 1.00

70.7 73.30 73.30 -2.6 1.07 1.00 73.30 -2.6 1.06 1.00

64.0 67.10 66.90 -2.9 1.01 1.00 67.10 -3.1 0.93 1.00

57.3 59.70 59.90 -2.6 1.02 1.00 59.70 -2.4 1.10 1.00

50.9 53.50 53.30 -2.4 1.04 1.00 53.50 -2.6 0.97 1.00

44.6 46.20 46.40 -1.8 1.06 1.00 46.20 -1.6 1.16 1.00

38.3 39.70 39.60 -1.3 1.10 1.00 39.70 -1.4 1.03 1.00

31.4 32.90 32.80 -1.4 1.01 1.00 32.90 -1.5 0.99 1.00

24.8 25.80 25.90 -1.1 1.03 1.00 25.80 -1.0 1.08 1.00

18.3 19.40 19.30 -1.0 1.03 1.00 19.40 -1.1 0.98 1.00

11.8 12.50 12.60 -0.8 1.02 1.00 12.50 -0.7 1.06 1.00

5.2 12.60 9000.00 0.0 0.52 0.74 12.60 0.0 -0.02 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 -0.90 -128.7 204 2506 1488 1467 0.0 0.0 0 103 0.00 0.00 -92.85 0.002 16390 0.000 0.000 202 2506 3240 3318 3162 0 0 0 0 0 0 14.76 13.14 14.79

105 -0.92 -146.0 203 2506 3319 3164 2.0 -3.0 9 124 12.32 2.67 -1.98 0.056 18980 0.479 0.130 2395 1079 3313 3398 3229 0 0 0 0 0 0 14.21 13.31 14.46

209 -0.92 -146.0 2396 1076 3400 3229 19.3 -15.3 29 215 0.00 2.72 0.00 0.000 1030 0.000 0.126 2387 2512 3314 3400 3229 0 0 0 0 0 0 14.66 14.47 14.70

519 -0.92 -146.0 2387 2513 3400 3230 63.0 -13.5 61 526 0.00 2.65 0.00 0.000 516 0.000 0.110 2387 1075 3314 3400 3229 0 0 0 0 0 0 14.96 14.59 14.98

555 -0.92 -146.0 2387 1076 3400 3229 68.5 -15.8 68 562 0.00 2.72 0.00 0.000 1030 0.000 0.125 2379 2520 3315 3400 3230 0 0 0 0 0 0 14.74 14.55 14.79

860 -0.92 -146.0 2379 2520 3400 3230 112.7 -14.3 99 866 0.00 2.40 0.00 0.000 260 0.000 0.157 2371 3751 3314 3400 3229 0 0 0 0 0 0 15.02 14.54 15.03

905 -0.92 -146.0 2366 3752 3400 3231 119.2 -14.7 108 912 0.10 2.30 0.00 0.000 3078 0.279 0.098 2396 2491 3314 3399 3230 0 0 0 0 0 0 14.42 14.66 14.61

1210 -0.92 -146.0 2397 2491 3401 3230 158.9 -12.7 139 1211 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2491 3315 3400 3230 0 0 0 0 0 0 15.05 15.08 15.08

1510 -0.92 -146.0 2397 2491 3401 3230 197.2 -12.2 169 1517 0.00 2.47 0.00 0.000 260 0.000 0.155 2388 3751 3315 3400 3230 0 0 0 0 0 0 15.07 14.57 15.09

1582 -0.92 -146.0 2388 3752 3400 3231 206.3 -13.5 183 1587 0.00 2.25 0.00 0.000 1030 0.000 0.097 2388 2491 3313 3400 3226 0 0 0 0 0 0 14.87 14.74 14.90

1891 -0.92 -146.0 2388 2491 3401 3230 248.4 -13.7 215 1892 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2491 3314 3399 3230 0 0 0 0 0 0 15.09 15.12 15.11

2191 -0.92 -146.0 2388 2491 3401 3230 288.7 -13.2 245 2198 0.00 2.45 0.00 0.000 260 0.000 0.155 2379 3746 3315 3400 3230 0 0 0 0 0 0 15.10 14.59 15.12

2242 -0.92 -146.0 2380 3745 3400 3230 295.7 -13.7 255 2247 0.00 2.28 0.00 0.000 1030 0.000 0.096 2380 2494 3314 3399 3230 0 0 0 0 0 0 14.79 14.71 14.83

2563 -0.92 -146.0 2379 2493 3400 3231 335.7 -12.1 274 2568 0.00 2.42 0.00 0.000 260 0.000 0.155 2372 3754 3314 3399 3230 0 0 0 0 0 0 15.05 14.62 15.07

2613 -0.92 -146.0 2372 3754 3400 3230 342.3 -13.3 284 2618 0.15 2.25 0.00 0.000 3078 0.299 0.098 2403 2493 3314 3399 3230 0 0 0 0 0 0 14.45 14.69 14.74

2923 -0.92 -146.0 2403 2493 3397 3230 376.1 -10.7 301 2924 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2493 3314 3398 3230 0 0 0 0 0 0 15.06 15.09 15.09

3224 -0.92 -146.0 2403 2493 3400 3231 409.0 -11.3 316 3229 0.00 2.42 0.00 0.000 260 0.000 0.157 2395 3751 3314 3399 3230 0 0 0 0 0 0 15.07 14.62 15.10

3284 -0.92 -146.0 2395 3752 3400 3231 416.3 -11.9 328 3289 0.00 2.30 0.00 0.000 1030 0.000 0.098 2395 2488 3314 3399 3230 0 0 0 0 0 0 14.79 14.74 14.85

3604 -0.92 -146.0 2395 2488 3400 3230 453.4 -11.9 347 3609 0.00 2.47 0.00 0.000 260 0.000 0.156 2387 3749 3314 3399 3230 0 0 0 0 0 0 15.12 14.58 15.14

3653 -0.92 -146.0 2387 3749 3400 3230 459.8 -12.9 357 3660 0.00 2.30 0.00 0.000 1030 0.000 0.098 2387 2488 3314 3399 3230 0 0 0 0 0 0 14.79 14.71 14.85

3964 -0.92 -146.0 2387 2489 3400 3230 496.3 -11.3 374 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2488 3314 3399 3230 0 0 0 0 0 0 15.11 15.14 15.14

4274 -0.92 -146.0 2387 2488 3401 3231 532.3 -11.5 385 4281 0.00 2.47 0.00 0.000 260 0.000 0.155 2378 3749 3314 3399 3230 0 0 0 0 0 0 15.11 14.56 15.13

4305 -0.92 -146.0 2378 3749 3400 3226 535.9 -11.7 391 4311 0.00 2.28 0.00 0.000 1030 0.000 0.096 2379 2499 3314 3399 3230 0 0 0 0 0 0 14.79 14.71 14.84

4605 end dive: TARGET_DEPTH_EXCEEDED

state 4605 begin apogee

4609 -0.23 0.0 2379 2186 3400 3230 570.8 -11.6 406 4865 0.95 0.05 246.85 2.085 10246 0.252 0.269 2626 2202 2715 2770 2660 0 0 0 0 1 0 14.45 13.37 12.39

4866 end apogee: CONTROL_FINISHED_OK

state 4866 begin climb

4867 0.92 146.0 2627 2203 2771 2659 578.4 0.0 414 5337 1.30 2.92 453.62 1.313 10756 0.154 0.124 3001 788 2115 2160 2071 0 0 0 0 0 0 13.45 13.57 13.09

5426 0.92 146.0 3001 788 2151 2064 524.5 12.2 523 5432 0.00 2.78 0.00 0.000 1030 0.000 0.111 3001 2216 2106 2150 2062 0 0 0 0 0 0 14.05 13.93 14.08

5791 0.92 146.0 3002 2216 2150 2057 477.5 13.0 542 5797 0.00 2.70 0.00 0.000 516 0.000 0.124 3012 788 2103 2149 2057 0 0 0 0 0 0 14.76 14.42 14.78

5816 0.92 146.0 3012 788 2149 2058 474.3 13.1 547 5822 0.00 2.67 0.00 0.000 1030 0.000 0.113 3012 2198 2102 2148 2057 0 0 0 0 0 0 14.64 14.44 14.66

6131 0.92 146.0 3012 2198 2149 2053 431.4 13.5 565 6138 0.00 2.72 0.00 0.000 260 0.000 0.145 3012 3621 2100 2148 2053 0 0 0 0 0 0 14.93 14.57 14.96

6177 0.92 146.0 3012 3621 2148 2053 424.3 15.5 574 6184 0.00 2.62 0.00 0.000 1030 0.000 0.100 3022 2206 2100 2147 2053 0 0 0 0 0 0 14.81 14.63 14.83

6493 0.92 146.0 3023 2207 2147 2053 378.6 14.0 592 6499 0.00 2.65 0.00 0.000 516 0.000 0.129 3033 779 2099 2147 2052 0 0 0 0 0 0 15.02 14.66 15.04

6533 0.92 146.0 3034 779 2147 2052 373.0 14.1 600 6539 0.17 2.62 0.00 0.000 5126 0.233 0.115 2991 2210 2099 2146 2052 0 0 0 0 0 0 14.60 14.66 14.82

6853 0.92 146.0 2991 2210 2147 2051 333.9 12.1 619 6859 0.00 2.65 0.00 0.000 516 0.000 0.126 3000 783 2099 2146 2052 0 0 0 0 0 0 15.07 14.68 15.09

6878 0.92 146.0 3001 783 2147 2052 330.8 12.2 624 6884 0.00 2.65 0.00 0.000 1030 0.000 0.116 3000 2207 2099 2146 2052 0 0 0 0 0 0 14.90 14.67 14.92

7183 0.92 146.0 3001 2207 2147 2052 293.3 12.2 644 7189 0.00 2.67 0.00 0.000 260 0.000 0.148 3001 3617 2098 2146 2051 0 0 0 0 0 0 15.08 14.69 15.11

7239 0.92 146.0 3001 3617 2147 2052 285.9 13.5 655 7245 0.00 2.58 0.00 0.000 1030 0.000 0.102 3011 2190 2098 2146 2051 0 0 0 0 0 0 14.89 14.75 14.93

7544 0.92 146.0 3011 2190 2146 2052 247.1 12.4 686 7545 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2189 2098 2146 2051 0 0 0 0 0 0 15.04 15.07 15.07

7844 0.92 146.0 3011 2190 2146 2052 210.3 12.3 716 7850 0.00 2.72 0.00 0.000 260 0.000 0.147 3011 3618 2098 2146 2051 0 0 0 0 0 0 15.06 14.69 15.08

7874 0.92 146.0 3012 3622 2147 2051 206.2 13.8 722 7881 0.00 2.58 0.00 0.000 1030 0.000 0.102 3022 2189 2098 2146 2051 0 0 0 0 0 0 14.90 14.75 14.95

8185 0.92 146.0 3022 2188 2142 2051 168.1 12.0 754 8191 0.00 2.72 0.00 0.000 260 0.000 0.147 3022 3616 2098 2145 2051 0 0 0 0 0 0 15.10 14.69 15.12

8216 0.92 146.0 3022 3616 2146 2051 164.1 13.8 760 8221 0.15 2.58 0.00 0.000 5126 0.253 0.101 2997 2190 2098 2145 2051 0 0 0 0 0 0 14.62 14.76 14.88

8526 0.92 146.0 2998 2188 2146 2052 129.4 10.5 792 8531 0.00 2.62 0.00 0.000 516 0.000 0.130 3008 778 2098 2145 2051 0 0 0 0 0 0 15.10 14.69 15.12

8561 0.92 146.0 3008 778 2146 2051 125.6 11.0 799 8568 0.00 2.62 0.00 0.000 1030 0.000 0.116 3007 2207 2097 2144 2051 0 0 0 0 0 0 14.85 14.68 14.89

8866 0.92 146.0 3008 2207 2146 2050 90.7 11.3 830 8873 0.00 2.70 0.00 0.000 260 0.000 0.149 3007 3618 2098 2145 2051 0 0 0 0 0 0 15.11 14.67 15.13

8887 0.92 146.0 3008 3619 2145 2051 88.1 11.6 834 8893 0.00 2.58 0.00 0.000 1030 0.000 0.103 3018 2193 2098 2145 2051 0 0 0 0 0 0 14.89 14.75 14.93

9197 0.92 146.0 3019 2189 2146 2050 52.8 11.2 866 9203 0.00 2.75 0.00 0.000 260 0.000 0.149 3018 3621 2098 2145 2051 0 0 0 0 0 0 15.09 14.66 15.11

9217 0.92 146.0 3019 3621 2146 2051 50.3 12.8 870 9224 0.15 2.60 0.00 0.000 5126 0.251 0.104 2994 2188 2098 2145 2051 0 0 0 0 0 0 14.61 14.72 14.86

9529 0.92 146.0 2994 2185 2145 2052 18.3 11.1 902 9534 0.00 2.62 0.00 0.000 516 0.000 0.129 3005 777 2097 2145 2050 0 0 0 0 0 0 15.06 14.69 15.09

9588 0.92 146.0 3005 777 2145 2052 11.1 12.7 914 9594 0.00 2.62 0.00 0.000 1030 0.000 0.118 3005 2202 2097 2144 2051 0 0 0 0 0 0 14.88 14.70 14.92

9667 end climb: SURFACE_DEPTH_REACHED

state 9667 begin surface coast

9678 end surface coast: CONTROL_FINISHED_OK

state 9678 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	189	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	11	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	360	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	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	-1	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	170218,214327,-7408.3955,-11307.6768,12,1.1,13,53.8,0.3,15.9,7,9.7	SPEED_LIMITS	0.092,0.213
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.38	MHEAD_RNG_PITCHd_Wd	225.5,2201,-16.3,-9.167,-24.49,2071
_SM_ANGLEo	-62.9	D_GRID	570
GPS2	170218,215514,-7408.3921,-11307.6982,3,1.1,5,53.8,0.3,277.3,7,5.5

FREEZE	0.47,-1.524,-1.862,2,1,0	ALTIM_TOP_PING	11.8,12.6
FINISH	0.5,1.027311	_24V_AH	12.39,81.395
SM_CCo	9693,121.12,0.224,0,0,1489,300.00	_10V_AH	12.26,0.000
SM_GC	0.35,8.15,0.60,121.12,0.060,0.140,0.224,196,2506,1489,-7.77,-0.25,300.00,0,0,0,0,0,0,14.85,14.69,14.48	FG_AHR_24Vo	0.000
RAFOS_CLK	350	FG_AHR_10Vo	0.000
RAFOS	0,1518912067,0.032778,0.018611,105,63,61,61,56,55,619,201,159,192,138,118	MEM	280020
RAFOS_FIX	-7408.413574,-11309.767578,180218,000056,3,126,0.13	DATA_FILE_SIZE	33357,924
IRIDIUM_FIX	-7408.77,-11302.62,170218,193641	CAP_FILE_SIZE	129049,0
TT8_MAMPS	0.041195,0.297353	CFSIZE	1024409600,998129664
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.48233	SOUNDSPEED	1448.3
TCM_TEMP	13.30	CURRENT	0.023,203.43,1
XPDR_PINGS	0	GPS	180218,004024,-7408.168,-11311.980,35,0.9,35,53.9,0.6,185.7,8,5.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	478	139.14	nil	0	0	0.00
Roll_motor	109	268	362.80	nil	0	0	0.00
VBD_pump_during_apogee	700	2085	18098.86	nil	0	0	0.00
VBD_pump_during_surface	121	224	336.38	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	9688	3	435.84
Iridium_during_xfer	556	191	1319.74	nil	0	0	0.00
Transponder_ping	42	420	218.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.77
TT8	0	0	0.00
LPSleep	6919	2	195.96
TT8_Active	941	12	141.57
TT8_Sampling	2480	31	965.38
TT8_CF8	192	45	106.95
TT8_Kalman	0	0	0.00
Analog_circuits	2270	10	283.94
GPS_charging	0	0	0.00
Compass	1324	7	121.60
RAFOS	720	1	13.24
Transponder	298	30	109.72

		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
6.3	8.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
12.6	14.20	9000.00	0.0	0.00	0.00	14.20	0.0	0.94	1.00
19.3	20.80	20.80	0.0	0.96	1.00	20.80	0.0	0.99	1.00
25.8	27.70	27.60	0.0	1.02	1.00	27.70	0.0	1.06	1.00
32.4	34.50	34.50	0.0	1.05	1.00	34.50	0.0	1.03	1.00
39.6	42.70	42.60	0.0	1.09	1.00	42.70	0.0	1.14	1.00
46.8	49.90	50.00	0.0	1.07	1.00	49.90	0.0	1.00	1.00
53.7	57.30	57.20	0.0	1.03	1.00	57.30	0.0	1.07	1.00
88.1	94.00	94.00	0.0	1.07	1.00	94.00	0.0	1.07	1.00
563.9	66.00	9000.00	0.0	-0.02	0.05	66.00	629.9	-0.06	1.00
570.8	57.40	9000.00	0.0	-0.07	0.96	57.40	628.2	-1.25	1.00

566.4	23.70	9000.00	0.0	-0.24	0.00	23.70	542.7	7.66	1.00
553.3	23.50	9000.00	0.0	1.50	0.49	23.50	529.8	0.02	1.00
540.5	21.90	9000.00	0.0	0.07	0.85	21.90	518.6	0.13	1.00
117.3	122.00	9000.00	0.0	-0.23	1.00	122.00	0.0	-0.24	1.00
90.2	94.20	9000.00	0.0	-0.19	0.90	94.20	-4.0	1.03	1.00
83.3	86.60	86.80	-3.5	1.04	1.00	86.60	-3.3	1.10	1.00
70.7	73.30	73.30	-2.6	1.07	1.00	73.30	-2.6	1.06	1.00
64.0	67.10	66.90	-2.9	1.01	1.00	67.10	-3.1	0.93	1.00
57.3	59.70	59.90	-2.6	1.02	1.00	59.70	-2.4	1.10	1.00
50.9	53.50	53.30	-2.4	1.04	1.00	53.50	-2.6	0.97	1.00
44.6	46.20	46.40	-1.8	1.06	1.00	46.20	-1.6	1.16	1.00
38.3	39.70	39.60	-1.3	1.10	1.00	39.70	-1.4	1.03	1.00
31.4	32.90	32.80	-1.4	1.01	1.00	32.90	-1.5	0.99	1.00
24.8	25.80	25.90	-1.1	1.03	1.00	25.80	-1.0	1.08	1.00
18.3	19.40	19.30	-1.0	1.03	1.00	19.40	-1.1	0.98	1.00
11.8	12.50	12.60	-0.8	1.02	1.00	12.50	-0.7	1.06	1.00
5.2	12.60	9000.00	0.0	0.52	0.74	12.60	0.0	-0.02	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	-0.90	-128.7	204	2506	1488	1467	0.0	0.0	0	103	0.00	0.00	-92.85	0.002	16390	0.000	0.000	202	2506	3240	3318	3162	0	0	0	0	0	0	14.76	13.14	14.79
105	-0.92	-146.0	203	2506	3319	3164	2.0	-3.0	9	124	12.32	2.67	-1.98	0.056	18980	0.479	0.130	2395	1079	3313	3398	3229	0	0	0	0	0	0	14.21	13.31	14.46
209	-0.92	-146.0	2396	1076	3400	3229	19.3	-15.3	29	215	0.00	2.72	0.00	0.000	1030	0.000	0.126	2387	2512	3314	3400	3229	0	0	0	0	0	0	14.66	14.47	14.70
519	-0.92	-146.0	2387	2513	3400	3230	63.0	-13.5	61	526	0.00	2.65	0.00	0.000	516	0.000	0.110	2387	1075	3314	3400	3229	0	0	0	0	0	0	14.96	14.59	14.98
555	-0.92	-146.0	2387	1076	3400	3229	68.5	-15.8	68	562	0.00	2.72	0.00	0.000	1030	0.000	0.125	2379	2520	3315	3400	3230	0	0	0	0	0	0	14.74	14.55	14.79
860	-0.92	-146.0	2379	2520	3400	3230	112.7	-14.3	99	866	0.00	2.40	0.00	0.000	260	0.000	0.157	2371	3751	3314	3400	3229	0	0	0	0	0	0	15.02	14.54	15.03
905	-0.92	-146.0	2366	3752	3400	3231	119.2	-14.7	108	912	0.10	2.30	0.00	0.000	3078	0.279	0.098	2396	2491	3314	3399	3230	0	0	0	0	0	0	14.42	14.66	14.61
1210	-0.92	-146.0	2397	2491	3401	3230	158.9	-12.7	139	1211	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2491	3315	3400	3230	0	0	0	0	0	0	15.05	15.08	15.08
1510	-0.92	-146.0	2397	2491	3401	3230	197.2	-12.2	169	1517	0.00	2.47	0.00	0.000	260	0.000	0.155	2388	3751	3315	3400	3230	0	0	0	0	0	0	15.07	14.57	15.09
1582	-0.92	-146.0	2388	3752	3400	3231	206.3	-13.5	183	1587	0.00	2.25	0.00	0.000	1030	0.000	0.097	2388	2491	3313	3400	3226	0	0	0	0	0	0	14.87	14.74	14.90
1891	-0.92	-146.0	2388	2491	3401	3230	248.4	-13.7	215	1892	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2491	3314	3399	3230	0	0	0	0	0	0	15.09	15.12	15.11
2191	-0.92	-146.0	2388	2491	3401	3230	288.7	-13.2	245	2198	0.00	2.45	0.00	0.000	260	0.000	0.155	2379	3746	3315	3400	3230	0	0	0	0	0	0	15.10	14.59	15.12
2242	-0.92	-146.0	2380	3745	3400	3230	295.7	-13.7	255	2247	0.00	2.28	0.00	0.000	1030	0.000	0.096	2380	2494	3314	3399	3230	0	0	0	0	0	0	14.79	14.71	14.83
2563	-0.92	-146.0	2379	2493	3400	3231	335.7	-12.1	274	2568	0.00	2.42	0.00	0.000	260	0.000	0.155	2372	3754	3314	3399	3230	0	0	0	0	0	0	15.05	14.62	15.07
2613	-0.92	-146.0	2372	3754	3400	3230	342.3	-13.3	284	2618	0.15	2.25	0.00	0.000	3078	0.299	0.098	2403	2493	3314	3399	3230	0	0	0	0	0	0	14.45	14.69	14.74
2923	-0.92	-146.0	2403	2493	3397	3230	376.1	-10.7	301	2924	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2493	3314	3398	3230	0	0	0	0	0	0	15.06	15.09	15.09
3224	-0.92	-146.0	2403	2493	3400	3231	409.0	-11.3	316	3229	0.00	2.42	0.00	0.000	260	0.000	0.157	2395	3751	3314	3399	3230	0	0	0	0	0	0	15.07	14.62	15.10
3284	-0.92	-146.0	2395	3752	3400	3231	416.3	-11.9	328	3289	0.00	2.30	0.00	0.000	1030	0.000	0.098	2395	2488	3314	3399	3230	0	0	0	0	0	0	14.79	14.74	14.85
3604	-0.92	-146.0	2395	2488	3400	3230	453.4	-11.9	347	3609	0.00	2.47	0.00	0.000	260	0.000	0.156	2387	3749	3314	3399	3230	0	0	0	0	0	0	15.12	14.58	15.14
3653	-0.92	-146.0	2387	3749	3400	3230	459.8	-12.9	357	3660	0.00	2.30	0.00	0.000	1030	0.000	0.098	2387	2488	3314	3399	3230	0	0	0	0	0	0	14.79	14.71	14.85
3964	-0.92	-146.0	2387	2489	3400	3230	496.3	-11.3	374	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2488	3314	3399	3230	0	0	0	0	0	0	15.11	15.14	15.14
4274	-0.92	-146.0	2387	2488	3401	3231	532.3	-11.5	385	4281	0.00	2.47	0.00	0.000	260	0.000	0.155	2378	3749	3314	3399	3230	0	0	0	0	0	0	15.11	14.56	15.13
4305	-0.92	-146.0	2378	3749	3400	3226	535.9	-11.7	391	4311	0.00	2.28	0.00	0.000	1030	0.000	0.096	2379	2499	3314	3399	3230	0	0	0	0	0	0	14.79	14.71	14.84
4605	end dive: TARGET_DEPTH_EXCEEDED
state	4605	begin apogee
4609	-0.23	0.0	2379	2186	3400	3230	570.8	-11.6	406	4865	0.95	0.05	246.85	2.085	10246	0.252	0.269	2626	2202	2715	2770	2660	0	0	0	0	1	0	14.45	13.37	12.39
4866	end apogee: CONTROL_FINISHED_OK
state	4866	begin climb
4867	0.92	146.0	2627	2203	2771	2659	578.4	0.0	414	5337	1.30	2.92	453.62	1.313	10756	0.154	0.124	3001	788	2115	2160	2071	0	0	0	0	0	0	13.45	13.57	13.09
5426	0.92	146.0	3001	788	2151	2064	524.5	12.2	523	5432	0.00	2.78	0.00	0.000	1030	0.000	0.111	3001	2216	2106	2150	2062	0	0	0	0	0	0	14.05	13.93	14.08
5791	0.92	146.0	3002	2216	2150	2057	477.5	13.0	542	5797	0.00	2.70	0.00	0.000	516	0.000	0.124	3012	788	2103	2149	2057	0	0	0	0	0	0	14.76	14.42	14.78
5816	0.92	146.0	3012	788	2149	2058	474.3	13.1	547	5822	0.00	2.67	0.00	0.000	1030	0.000	0.113	3012	2198	2102	2148	2057	0	0	0	0	0	0	14.64	14.44	14.66
6131	0.92	146.0	3012	2198	2149	2053	431.4	13.5	565	6138	0.00	2.72	0.00	0.000	260	0.000	0.145	3012	3621	2100	2148	2053	0	0	0	0	0	0	14.93	14.57	14.96
6177	0.92	146.0	3012	3621	2148	2053	424.3	15.5	574	6184	0.00	2.62	0.00	0.000	1030	0.000	0.100	3022	2206	2100	2147	2053	0	0	0	0	0	0	14.81	14.63	14.83
6493	0.92	146.0	3023	2207	2147	2053	378.6	14.0	592	6499	0.00	2.65	0.00	0.000	516	0.000	0.129	3033	779	2099	2147	2052	0	0	0	0	0	0	15.02	14.66	15.04
6533	0.92	146.0	3034	779	2147	2052	373.0	14.1	600	6539	0.17	2.62	0.00	0.000	5126	0.233	0.115	2991	2210	2099	2146	2052	0	0	0	0	0	0	14.60	14.66	14.82
6853	0.92	146.0	2991	2210	2147	2051	333.9	12.1	619	6859	0.00	2.65	0.00	0.000	516	0.000	0.126	3000	783	2099	2146	2052	0	0	0	0	0	0	15.07	14.68	15.09
6878	0.92	146.0	3001	783	2147	2052	330.8	12.2	624	6884	0.00	2.65	0.00	0.000	1030	0.000	0.116	3000	2207	2099	2146	2052	0	0	0	0	0	0	14.90	14.67	14.92
7183	0.92	146.0	3001	2207	2147	2052	293.3	12.2	644	7189	0.00	2.67	0.00	0.000	260	0.000	0.148	3001	3617	2098	2146	2051	0	0	0	0	0	0	15.08	14.69	15.11
7239	0.92	146.0	3001	3617	2147	2052	285.9	13.5	655	7245	0.00	2.58	0.00	0.000	1030	0.000	0.102	3011	2190	2098	2146	2051	0	0	0	0	0	0	14.89	14.75	14.93
7544	0.92	146.0	3011	2190	2146	2052	247.1	12.4	686	7545	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2189	2098	2146	2051	0	0	0	0	0	0	15.04	15.07	15.07
7844	0.92	146.0	3011	2190	2146	2052	210.3	12.3	716	7850	0.00	2.72	0.00	0.000	260	0.000	0.147	3011	3618	2098	2146	2051	0	0	0	0	0	0	15.06	14.69	15.08
7874	0.92	146.0	3012	3622	2147	2051	206.2	13.8	722	7881	0.00	2.58	0.00	0.000	1030	0.000	0.102	3022	2189	2098	2146	2051	0	0	0	0	0	0	14.90	14.75	14.95
8185	0.92	146.0	3022	2188	2142	2051	168.1	12.0	754	8191	0.00	2.72	0.00	0.000	260	0.000	0.147	3022	3616	2098	2145	2051	0	0	0	0	0	0	15.10	14.69	15.12
8216	0.92	146.0	3022	3616	2146	2051	164.1	13.8	760	8221	0.15	2.58	0.00	0.000	5126	0.253	0.101	2997	2190	2098	2145	2051	0	0	0	0	0	0	14.62	14.76	14.88
8526	0.92	146.0	2998	2188	2146	2052	129.4	10.5	792	8531	0.00	2.62	0.00	0.000	516	0.000	0.130	3008	778	2098	2145	2051	0	0	0	0	0	0	15.10	14.69	15.12
8561	0.92	146.0	3008	778	2146	2051	125.6	11.0	799	8568	0.00	2.62	0.00	0.000	1030	0.000	0.116	3007	2207	2097	2144	2051	0	0	0	0	0	0	14.85	14.68	14.89
8866	0.92	146.0	3008	2207	2146	2050	90.7	11.3	830	8873	0.00	2.70	0.00	0.000	260	0.000	0.149	3007	3618	2098	2145	2051	0	0	0	0	0	0	15.11	14.67	15.13
8887	0.92	146.0	3008	3619	2145	2051	88.1	11.6	834	8893	0.00	2.58	0.00	0.000	1030	0.000	0.103	3018	2193	2098	2145	2051	0	0	0	0	0	0	14.89	14.75	14.93
9197	0.92	146.0	3019	2189	2146	2050	52.8	11.2	866	9203	0.00	2.75	0.00	0.000	260	0.000	0.149	3018	3621	2098	2145	2051	0	0	0	0	0	0	15.09	14.66	15.11
9217	0.92	146.0	3019	3621	2146	2051	50.3	12.8	870	9224	0.15	2.60	0.00	0.000	5126	0.251	0.104	2994	2188	2098	2145	2051	0	0	0	0	0	0	14.61	14.72	14.86
9529	0.92	146.0	2994	2185	2145	2052	18.3	11.1	902	9534	0.00	2.62	0.00	0.000	516	0.000	0.129	3005	777	2097	2145	2050	0	0	0	0	0	0	15.06	14.69	15.09
9588	0.92	146.0	3005	777	2145	2052	11.1	12.7	914	9594	0.00	2.62	0.00	0.000	1030	0.000	0.118	3005	2202	2097	2144	2051	0	0	0	0	0	0	14.88	14.70	14.92
9667	end climb: SURFACE_DEPTH_REACHED
state	9667	begin surface coast
9678	end surface coast: CONTROL_FINISHED_OK
state	9678	begin surface