Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 197 * 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 197 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 17 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 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 -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 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 -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 197 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 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 190218,032138,-7410.8286,-11232.1133,28,1.2,28,53.5,0.4,355.6,8,8.4 SPEED_LIMITS 0.092,0.213

_CALLS 2 TGT_NAME EM0

_XMS_NAKs 0 TGT_LATLONG -7410.220,-11226.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.37 MHEAD_RNG_PITCHd_Wd 356.7,3082,-32.0,-9.167,-37.49,765

_SM_ANGLEo -64.8 D_GRID 993

GPS2 190218,033950,-7410.8618,-11232.2275,4,1.1,6,53.5,0.0,0.0,9,8.2

Post-dive calculations and measurements:

FREEZE -0.53,-1.672,-1.860,2,1,0 ALTIM_TOP_PING 12.5,13.1

FINISH -0.5,1.027306 _24V_AH 12.52,85.004

SM_CCo 10692,152.45,0.222,0,0,1489,300.00 _10V_AH 12.43,0.000

SM_GC 0.27,8.88,0.57,152.45,0.067,0.139,0.222,200,2500,1489,-7.75,-0.42,300.00,0,0,0,0,0,0,14.85,14.67,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 385 FG_AHR_10Vo 0.000

RAFOS 0,1519020064,6.032778,6.017778,123,59,55,54,54,54,535,211,166,127,145,154 MEM 279932

RAFOS_FIX -7411.145996,-11227.563477,190218,060628,3,114,0.26 DATA_FILE_SIZE 29991,872

IRIDIUM_FIX -7411.98,-11233.55,190218,032508 CAP_FILE_SIZE 143045,0

TT8_MAMPS 0.042693,0.291361 CFSIZE 1024409600,997212160

HUMID 44.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.47257 SOUNDSPEED 1452.2

TCM_TEMP 13.30 CURRENT 0.053,157.60,1

XPDR_PINGS 0 GPS 190218,064209,-7410.580,-11227.208,15,0.8,23,53.5,0.2,193.9,12,2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 475 147.45 nil 0 0 0.00

Roll_motor 106 215 287.79 nil 0 0 0.00

VBD_pump_during_apogee 549 1770 12175.81 nil 0 0 0.00

VBD_pump_during_surface 152 221 423.44 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 10694 3 435.94

Iridium_during_xfer 844 203 2150.51 nil 0 0 0.00

Transponder_ping 66 420 349.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 9 0.93

TT8 0 0 0.00

LPSleep 8079 2 231.99

TT8_Active 857 12 130.75

TT8_Sampling 2758 31 1088.41

TT8_CF8 249 45 140.04

TT8_Kalman 0 0 0.00

Analog_circuits 2424 10 307.41

GPS_charging 0 0 0.00

Compass 1248 7 116.27

RAFOS 720 1 13.42

Transponder 472 30 176.03

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

6.2 7.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

19.4 21.10 9000.00 0.0 0.00 0.00 21.10 0.0 1.00 1.00

26.0 28.80 28.50 0.0 1.05 1.00 28.80 0.0 1.17 1.00

32.3 35.00 35.20 0.0 1.07 1.00 35.00 0.0 0.98 1.00

45.6 50.10 50.00 0.0 1.09 1.00 50.10 0.0 1.14 1.00

988.1 14.90 9000.00 0.0 -0.03 0.81 14.90 0.0 -0.04 1.00

981.5 18.10 9000.00 0.0 -0.04 0.99 18.10 0.0 -0.48 1.00

975.3 16.80 9000.00 0.0 -0.15 0.36 16.80 958.5 0.21 1.00

969.3 17.30 9000.00 0.0 0.07 0.36 17.30 0.0 -0.08 1.00

962.5 16.00 9000.00 0.0 0.07 0.39 16.00 946.5 0.19 1.00

955.8 16.20 9000.00 0.0 0.09 0.64 16.20 0.0 -0.03 1.00

948.6 19.40 9000.00 0.0 -0.25 0.81 19.40 0.0 -0.44 1.00

942.5 24.80 9000.00 0.0 -0.65 0.96 24.80 0.0 -0.89 1.00

936.3 22.70 9000.00 0.0 -0.26 0.35 22.70 913.6 0.34 1.00

138.8 144.70 9000.00 0.0 -0.15 1.00 144.70 0.0 -0.15 1.00

131.2 136.50 9000.00 0.0 -0.15 1.00 136.50 -5.3 1.08 1.00

101.0 105.30 105.20 -4.2 1.04 1.00 105.30 -4.3 1.03 1.00

93.5 96.80 97.10 -3.6 1.05 1.00 96.80 -3.3 1.13 1.00

85.8 89.40 89.20 -3.4 1.04 1.00 89.40 -3.6 0.96 1.00

78.1 81.40 81.50 -3.4 1.00 1.00 81.40 -3.3 1.04 1.00

70.3 73.40 73.40 -3.1 1.03 1.00 73.40 -3.1 1.03 1.00

56.4 58.40 58.50 -2.1 1.06 1.00 58.40 -2.0 1.08 1.00

50.4 52.20 52.10 -1.7 1.07 1.00 52.20 -1.8 1.03 1.00

44.4 46.00 46.00 -1.6 1.02 1.00 46.00 -1.6 1.03 1.00

36.4 37.70 37.70 -1.3 1.03 1.00 37.70 -1.3 1.04 1.00

28.3 29.60 29.50 -1.2 1.03 1.00 29.60 -1.3 1.00 1.00

20.4 21.30 21.30 -0.9 1.03 1.00 21.30 -0.9 1.05 1.00

12.5 13.10 13.10 -0.6 1.04 1.00 13.10 -0.6 1.04 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.51 -46.2 194 2511 1502 1450 0.0 0.0 0 91 0.00 0.00 -79.53 0.003 16390 0.000 0.000 194 2510 2906 2985 2827 0 0 0 0 0 0 14.73 13.10 14.78

93 -1.58 -103.8 195 2510 2986 2827 1.1 -1.4 8 118 11.15 2.47 -9.10 0.011 18724 0.476 0.169 2177 3756 3139 3241 3038 0 0 0 0 0 0 14.16 13.23 14.55

342 -1.58 -103.8 2177 3757 3241 3043 50.1 -22.2 57 350 0.00 2.33 0.00 0.000 1030 0.000 0.091 2177 2494 3141 3240 3043 0 0 0 0 0 0 14.62 14.56 14.67

647 -1.58 -103.8 2177 2488 3241 3043 113.3 -20.8 88 653 0.00 2.42 0.00 0.000 260 0.000 0.147 2169 3750 3141 3240 3042 0 0 0 0 0 0 14.98 14.51 15.01

727 -1.58 -103.8 2169 3751 3239 3044 130.9 -22.4 104 733 0.00 2.30 0.00 0.000 1030 0.000 0.093 2175 2489 3140 3238 3043 0 0 0 0 0 0 14.69 14.62 14.73

1037 -1.58 -103.8 2169 2489 3240 3043 197.1 -21.7 136 1043 0.00 2.58 0.00 0.000 516 0.000 0.107 2169 1079 3141 3239 3043 0 0 0 0 0 0 15.03 14.62 15.05

1057 -1.58 -103.8 2169 1080 3239 3045 201.4 -21.6 140 1063 0.17 2.67 0.00 0.000 3078 0.383 0.121 2189 2506 3141 3239 3044 0 0 0 0 0 0 14.25 14.57 14.65

1367 -1.58 -103.8 2189 2507 3239 3044 262.1 -18.7 172 1373 0.00 2.38 0.00 0.000 260 0.000 0.145 2179 3754 3141 3239 3044 0 0 0 0 0 0 15.05 14.55 15.08

1422 -1.58 -103.8 2180 3755 3238 3044 272.9 -19.7 183 1429 0.00 2.30 0.00 0.000 1030 0.000 0.093 2180 2492 3141 3238 3044 0 0 0 0 0 0 14.69 14.62 14.73

1727 -1.58 -103.8 2180 2493 3239 3044 331.8 -19.4 206 1733 0.00 2.45 0.00 0.000 260 0.000 0.149 2171 3747 3141 3238 3045 0 0 0 0 0 0 15.07 14.52 15.10

1752 -1.58 -103.8 2171 3748 3238 3045 336.9 -20.2 211 1759 0.00 2.28 0.00 0.000 1030 0.000 0.093 2171 2493 3141 3238 3044 0 0 0 0 0 0 14.70 14.62 14.74

2069 -1.58 -103.8 2171 2493 3239 3048 396.0 -17.9 229 2074 0.00 2.42 0.00 0.000 260 0.000 0.151 2162 3753 3141 3238 3044 0 0 0 0 0 0 15.03 14.57 15.05

2129 -1.58 -103.8 2162 3753 3238 3044 407.5 -18.9 241 2136 0.10 2.30 0.00 0.000 3078 0.364 0.095 2182 2491 3141 3238 3044 0 0 0 0 0 0 14.26 14.67 14.51

2450 -1.58 -103.8 2183 2493 3238 3045 461.4 -16.3 260 2451 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2491 3141 3238 3044 0 0 0 0 0 0 15.09 15.12 15.11

2750 -1.58 -103.8 2183 2491 3239 3044 510.0 -16.1 274 2756 0.00 2.42 0.00 0.000 260 0.000 0.148 2174 3762 3141 3238 3045 0 0 0 0 0 0 15.10 14.58 15.13

2851 -1.58 -103.8 2174 3757 3238 3046 527.5 -18.0 294 2856 0.00 2.28 0.00 0.000 1030 0.000 0.094 2174 2485 3141 3238 3044 0 0 0 0 0 0 14.85 14.72 14.89

3232 -1.58 -103.8 2174 2486 3238 3046 589.5 -16.1 310 3237 0.00 2.45 0.00 0.000 260 0.000 0.151 2165 3757 3141 3238 3045 0 0 0 0 0 0 15.05 14.57 15.07

3361 -1.58 -103.8 2165 3757 3238 3045 611.8 -17.1 336 3367 0.00 2.30 0.00 0.000 1030 0.000 0.094 2165 2495 3141 3237 3045 0 0 0 0 0 0 14.75 14.67 14.79

3741 -1.58 -103.8 2165 2495 3237 3045 672.5 -15.8 352 3746 0.00 2.45 0.00 0.000 260 0.000 0.149 2156 3771 3141 3238 3045 0 0 0 0 0 0 15.11 14.59 15.14

3821 -1.58 -103.8 2156 3772 3238 3046 686.3 -17.4 368 3827 0.17 2.28 0.00 0.000 3078 0.373 0.093 2187 2495 3141 3237 3045 0 0 0 0 0 0 14.28 14.72 14.61

4191 -1.58 -103.8 2187 2495 3239 3046 743.0 -15.2 382 4197 0.00 2.42 0.00 0.000 260 0.000 0.149 2177 3758 3141 3236 3046 0 0 0 0 0 0 15.12 14.55 15.14

4247 -1.58 -103.8 2174 3759 3239 3047 751.9 -16.6 393 4254 0.00 2.25 0.00 0.000 1030 0.000 0.094 2178 2494 3142 3239 3046 0 0 0 0 0 0 14.85 14.71 14.89

4614 -1.58 -103.8 2178 2494 3239 3046 807.0 -14.9 406 4614 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2494 3142 3238 3046 0 0 0 0 0 0 15.07 15.09 15.09

4973 -1.58 -103.8 2178 2495 3238 3047 858.5 -14.0 418 4974 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2494 3142 3238 3047 0 0 0 0 0 0 15.07 15.09 15.10

5333 -1.58 -103.8 2178 2495 3239 3048 908.5 -13.6 430 5338 0.00 2.58 0.00 0.000 516 0.000 0.106 2178 1079 3142 3238 3047 0 0 0 0 0 0 15.07 14.65 15.09

5357 -1.58 -103.8 2178 1080 3238 3048 912.1 -13.0 435 5364 0.00 2.67 0.00 0.000 1030 0.000 0.122 2168 2503 3143 3238 3048 0 0 0 0 0 0 14.77 14.56 14.83

5723 -1.58 -103.8 2168 2503 3239 3048 964.3 -14.1 448 5728 0.00 2.40 0.00 0.000 260 0.000 0.151 2158 3755 3142 3237 3048 0 0 0 0 0 0 15.12 14.57 15.15

5767 -1.58 -103.8 2159 3756 3238 3048 969.9 -16.7 457 5775 0.12 2.30 0.00 0.000 3078 0.369 0.094 2185 2494 3143 3238 3048 0 0 0 0 0 0 14.23 14.68 14.50

5932 end dive: TARGET_DEPTH_EXCEEDED

state 5932 begin apogee

5936 -0.23 0.0 2185 2184 3238 3050 992.1 -13.2 465 6147 1.83 0.03 197.48 1.770 10246 0.317 0.216 2620 2196 2713 2781 2646 0 0 0 0 1 0 14.33 13.54 12.52

6148 end apogee: CONTROL_FINISHED_OK

state 6148 begin climb

6149 1.58 103.8 2621 2196 2782 2647 996.1 0.0 472 6514 2.00 2.85 351.90 1.373 10756 0.144 0.124 3215 789 2289 2337 2242 0 0 0 0 0 0 13.74 13.56 13.01

6553 1.58 103.8 3215 790 2323 2233 918.4 26.5 548 6562 0.00 2.80 0.00 0.000 1030 0.000 0.111 3215 2209 2275 2321 2230 0 0 0 0 0 0 13.88 13.76 13.92

6928 1.58 103.8 3215 2210 2320 2222 824.4 24.9 562 6933 0.00 2.70 0.00 0.000 516 0.000 0.121 3225 786 2270 2320 2221 0 0 0 0 0 0 14.69 14.38 14.71

7008 1.58 103.8 3226 786 2318 2220 804.0 25.0 578 7014 0.00 2.65 0.00 0.000 1030 0.000 0.112 3225 2211 2268 2317 2220 0 0 0 0 0 0 14.60 14.45 14.64

7380 1.58 103.8 3225 2212 2317 2218 712.5 24.4 592 7385 0.00 2.65 0.00 0.000 516 0.000 0.121 3235 788 2267 2316 2218 0 0 0 0 0 0 14.92 14.58 14.95

7434 1.58 103.8 3235 787 2317 2218 699.1 24.3 603 7441 0.00 2.60 0.00 0.000 1030 0.000 0.110 3235 2204 2267 2317 2218 0 0 0 0 0 0 14.77 14.62 14.81

7800 1.58 103.8 3235 2205 2317 2217 609.3 24.9 616 7805 0.00 2.62 0.00 0.000 516 0.000 0.122 3245 788 2266 2317 2216 0 0 0 0 0 0 14.99 14.65 15.02

7844 1.58 103.8 3245 789 2317 2217 598.1 24.8 625 7853 0.17 2.62 0.00 0.000 5126 0.328 0.109 3210 2227 2266 2316 2216 0 0 0 0 0 0 14.42 14.66 14.78

8224 1.58 103.8 3214 2228 2317 2216 510.2 22.7 640 8229 0.00 2.67 0.00 0.000 516 0.000 0.122 3221 785 2265 2316 2215 0 0 0 0 0 0 15.03 14.67 15.06

8248 1.58 103.8 3221 785 2317 2215 504.3 23.2 645 8256 0.00 2.60 0.00 0.000 1030 0.000 0.111 3221 2211 2265 2316 2215 0 0 0 0 0 0 14.85 14.69 14.90

8623 1.58 103.8 3222 2212 2317 2214 419.6 23.1 664 8629 0.00 2.62 0.00 0.000 516 0.000 0.122 3231 794 2265 2316 2214 0 0 0 0 0 0 15.08 14.68 15.11

8673 1.58 103.8 3231 794 2317 2214 407.9 23.4 674 8680 0.00 2.58 0.00 0.000 1030 0.000 0.111 3231 2204 2265 2316 2214 0 0 0 0 0 0 14.85 14.69 14.91

8985 1.58 103.8 3232 2205 2317 2214 337.3 22.0 691 8986 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 2205 2265 2316 2214 0 0 0 0 0 0 15.04 15.07 15.07

9284 1.58 103.8 3232 2205 2317 2214 273.9 21.1 712 9290 0.00 2.62 0.00 0.000 516 0.000 0.121 3241 785 2265 2316 2214 0 0 0 0 0 0 15.10 14.68 15.12

9339 1.58 103.8 3241 786 2317 2215 261.8 22.4 723 9346 0.15 2.60 0.00 0.000 5126 0.328 0.110 3213 2212 2265 2315 2215 0 0 0 0 0 0 14.43 14.69 14.80

9644 1.58 103.8 3213 2212 2316 2214 199.2 20.3 754 9650 0.00 2.62 0.00 0.000 516 0.000 0.122 3223 792 2265 2316 2214 0 0 0 0 0 0 15.11 14.67 15.14

9705 1.58 103.8 3223 792 2317 2214 187.2 19.8 766 9712 0.00 2.62 0.00 0.000 1030 0.000 0.111 3222 2205 2265 2316 2214 0 0 0 0 0 0 14.76 14.64 14.82

10016 1.58 103.8 3223 2206 2317 2213 127.4 18.8 798 10017 0.00 0.00 0.00 0.000 6 0.000 0.000 3222 2205 2264 2316 2213 0 0 0 0 0 0 15.10 15.13 15.12

10317 1.58 103.8 3223 2206 2316 2215 70.3 19.4 828 10322 0.00 2.62 0.00 0.000 516 0.000 0.122 3233 787 2264 2315 2213 0 0 0 0 0 0 15.05 14.66 15.08

10387 1.58 103.8 3233 789 2316 2214 56.4 19.8 842 10393 0.00 2.60 0.00 0.000 1030 0.000 0.109 3233 2210 2264 2316 2213 0 0 0 0 0 0 14.85 14.69 14.91

10666 end climb: SURFACE_DEPTH_REACHED

state 10666 begin surface coast

10676 end surface coast: CONTROL_FINISHED_OK

state 10676 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	197	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	17	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	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	-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	190218,032138,-7410.8286,-11232.1133,28,1.2,28,53.5,0.4,355.6,8,8.4	SPEED_LIMITS	0.092,0.213
_CALLS	2	TGT_NAME	EM0
_XMS_NAKs	0	TGT_LATLONG	-7410.220,-11226.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.37	MHEAD_RNG_PITCHd_Wd	356.7,3082,-32.0,-9.167,-37.49,765
_SM_ANGLEo	-64.8	D_GRID	993
GPS2	190218,033950,-7410.8618,-11232.2275,4,1.1,6,53.5,0.0,0.0,9,8.2

FREEZE	-0.53,-1.672,-1.860,2,1,0	ALTIM_TOP_PING	12.5,13.1
FINISH	-0.5,1.027306	_24V_AH	12.52,85.004
SM_CCo	10692,152.45,0.222,0,0,1489,300.00	_10V_AH	12.43,0.000
SM_GC	0.27,8.88,0.57,152.45,0.067,0.139,0.222,200,2500,1489,-7.75,-0.42,300.00,0,0,0,0,0,0,14.85,14.67,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	385	FG_AHR_10Vo	0.000
RAFOS	0,1519020064,6.032778,6.017778,123,59,55,54,54,54,535,211,166,127,145,154	MEM	279932
RAFOS_FIX	-7411.145996,-11227.563477,190218,060628,3,114,0.26	DATA_FILE_SIZE	29991,872
IRIDIUM_FIX	-7411.98,-11233.55,190218,032508	CAP_FILE_SIZE	143045,0
TT8_MAMPS	0.042693,0.291361	CFSIZE	1024409600,997212160
HUMID	44.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.47257	SOUNDSPEED	1452.2
TCM_TEMP	13.30	CURRENT	0.053,157.60,1
XPDR_PINGS	0	GPS	190218,064209,-7410.580,-11227.208,15,0.8,23,53.5,0.2,193.9,12,2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	475	147.45	nil	0	0	0.00
Roll_motor	106	215	287.79	nil	0	0	0.00
VBD_pump_during_apogee	549	1770	12175.81	nil	0	0	0.00
VBD_pump_during_surface	152	221	423.44	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	10694	3	435.94
Iridium_during_xfer	844	203	2150.51	nil	0	0	0.00
Transponder_ping	66	420	349.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	9	0.93
TT8	0	0	0.00
LPSleep	8079	2	231.99
TT8_Active	857	12	130.75
TT8_Sampling	2758	31	1088.41
TT8_CF8	249	45	140.04
TT8_Kalman	0	0	0.00
Analog_circuits	2424	10	307.41
GPS_charging	0	0	0.00
Compass	1248	7	116.27
RAFOS	720	1	13.42
Transponder	472	30	176.03

		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
6.2	7.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
19.4	21.10	9000.00	0.0	0.00	0.00	21.10	0.0	1.00	1.00
26.0	28.80	28.50	0.0	1.05	1.00	28.80	0.0	1.17	1.00
32.3	35.00	35.20	0.0	1.07	1.00	35.00	0.0	0.98	1.00
45.6	50.10	50.00	0.0	1.09	1.00	50.10	0.0	1.14	1.00

988.1	14.90	9000.00	0.0	-0.03	0.81	14.90	0.0	-0.04	1.00
981.5	18.10	9000.00	0.0	-0.04	0.99	18.10	0.0	-0.48	1.00
975.3	16.80	9000.00	0.0	-0.15	0.36	16.80	958.5	0.21	1.00
969.3	17.30	9000.00	0.0	0.07	0.36	17.30	0.0	-0.08	1.00
962.5	16.00	9000.00	0.0	0.07	0.39	16.00	946.5	0.19	1.00
955.8	16.20	9000.00	0.0	0.09	0.64	16.20	0.0	-0.03	1.00
948.6	19.40	9000.00	0.0	-0.25	0.81	19.40	0.0	-0.44	1.00
942.5	24.80	9000.00	0.0	-0.65	0.96	24.80	0.0	-0.89	1.00
936.3	22.70	9000.00	0.0	-0.26	0.35	22.70	913.6	0.34	1.00
138.8	144.70	9000.00	0.0	-0.15	1.00	144.70	0.0	-0.15	1.00
131.2	136.50	9000.00	0.0	-0.15	1.00	136.50	-5.3	1.08	1.00
101.0	105.30	105.20	-4.2	1.04	1.00	105.30	-4.3	1.03	1.00
93.5	96.80	97.10	-3.6	1.05	1.00	96.80	-3.3	1.13	1.00
85.8	89.40	89.20	-3.4	1.04	1.00	89.40	-3.6	0.96	1.00
78.1	81.40	81.50	-3.4	1.00	1.00	81.40	-3.3	1.04	1.00
70.3	73.40	73.40	-3.1	1.03	1.00	73.40	-3.1	1.03	1.00
56.4	58.40	58.50	-2.1	1.06	1.00	58.40	-2.0	1.08	1.00
50.4	52.20	52.10	-1.7	1.07	1.00	52.20	-1.8	1.03	1.00
44.4	46.00	46.00	-1.6	1.02	1.00	46.00	-1.6	1.03	1.00
36.4	37.70	37.70	-1.3	1.03	1.00	37.70	-1.3	1.04	1.00
28.3	29.60	29.50	-1.2	1.03	1.00	29.60	-1.3	1.00	1.00
20.4	21.30	21.30	-0.9	1.03	1.00	21.30	-0.9	1.05	1.00
12.5	13.10	13.10	-0.6	1.04	1.00	13.10	-0.6	1.04	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.51	-46.2	194	2511	1502	1450	0.0	0.0	0	91	0.00	0.00	-79.53	0.003	16390	0.000	0.000	194	2510	2906	2985	2827	0	0	0	0	0	0	14.73	13.10	14.78
93	-1.58	-103.8	195	2510	2986	2827	1.1	-1.4	8	118	11.15	2.47	-9.10	0.011	18724	0.476	0.169	2177	3756	3139	3241	3038	0	0	0	0	0	0	14.16	13.23	14.55
342	-1.58	-103.8	2177	3757	3241	3043	50.1	-22.2	57	350	0.00	2.33	0.00	0.000	1030	0.000	0.091	2177	2494	3141	3240	3043	0	0	0	0	0	0	14.62	14.56	14.67
647	-1.58	-103.8	2177	2488	3241	3043	113.3	-20.8	88	653	0.00	2.42	0.00	0.000	260	0.000	0.147	2169	3750	3141	3240	3042	0	0	0	0	0	0	14.98	14.51	15.01
727	-1.58	-103.8	2169	3751	3239	3044	130.9	-22.4	104	733	0.00	2.30	0.00	0.000	1030	0.000	0.093	2175	2489	3140	3238	3043	0	0	0	0	0	0	14.69	14.62	14.73
1037	-1.58	-103.8	2169	2489	3240	3043	197.1	-21.7	136	1043	0.00	2.58	0.00	0.000	516	0.000	0.107	2169	1079	3141	3239	3043	0	0	0	0	0	0	15.03	14.62	15.05
1057	-1.58	-103.8	2169	1080	3239	3045	201.4	-21.6	140	1063	0.17	2.67	0.00	0.000	3078	0.383	0.121	2189	2506	3141	3239	3044	0	0	0	0	0	0	14.25	14.57	14.65
1367	-1.58	-103.8	2189	2507	3239	3044	262.1	-18.7	172	1373	0.00	2.38	0.00	0.000	260	0.000	0.145	2179	3754	3141	3239	3044	0	0	0	0	0	0	15.05	14.55	15.08
1422	-1.58	-103.8	2180	3755	3238	3044	272.9	-19.7	183	1429	0.00	2.30	0.00	0.000	1030	0.000	0.093	2180	2492	3141	3238	3044	0	0	0	0	0	0	14.69	14.62	14.73
1727	-1.58	-103.8	2180	2493	3239	3044	331.8	-19.4	206	1733	0.00	2.45	0.00	0.000	260	0.000	0.149	2171	3747	3141	3238	3045	0	0	0	0	0	0	15.07	14.52	15.10
1752	-1.58	-103.8	2171	3748	3238	3045	336.9	-20.2	211	1759	0.00	2.28	0.00	0.000	1030	0.000	0.093	2171	2493	3141	3238	3044	0	0	0	0	0	0	14.70	14.62	14.74
2069	-1.58	-103.8	2171	2493	3239	3048	396.0	-17.9	229	2074	0.00	2.42	0.00	0.000	260	0.000	0.151	2162	3753	3141	3238	3044	0	0	0	0	0	0	15.03	14.57	15.05
2129	-1.58	-103.8	2162	3753	3238	3044	407.5	-18.9	241	2136	0.10	2.30	0.00	0.000	3078	0.364	0.095	2182	2491	3141	3238	3044	0	0	0	0	0	0	14.26	14.67	14.51
2450	-1.58	-103.8	2183	2493	3238	3045	461.4	-16.3	260	2451	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2491	3141	3238	3044	0	0	0	0	0	0	15.09	15.12	15.11
2750	-1.58	-103.8	2183	2491	3239	3044	510.0	-16.1	274	2756	0.00	2.42	0.00	0.000	260	0.000	0.148	2174	3762	3141	3238	3045	0	0	0	0	0	0	15.10	14.58	15.13
2851	-1.58	-103.8	2174	3757	3238	3046	527.5	-18.0	294	2856	0.00	2.28	0.00	0.000	1030	0.000	0.094	2174	2485	3141	3238	3044	0	0	0	0	0	0	14.85	14.72	14.89
3232	-1.58	-103.8	2174	2486	3238	3046	589.5	-16.1	310	3237	0.00	2.45	0.00	0.000	260	0.000	0.151	2165	3757	3141	3238	3045	0	0	0	0	0	0	15.05	14.57	15.07
3361	-1.58	-103.8	2165	3757	3238	3045	611.8	-17.1	336	3367	0.00	2.30	0.00	0.000	1030	0.000	0.094	2165	2495	3141	3237	3045	0	0	0	0	0	0	14.75	14.67	14.79
3741	-1.58	-103.8	2165	2495	3237	3045	672.5	-15.8	352	3746	0.00	2.45	0.00	0.000	260	0.000	0.149	2156	3771	3141	3238	3045	0	0	0	0	0	0	15.11	14.59	15.14
3821	-1.58	-103.8	2156	3772	3238	3046	686.3	-17.4	368	3827	0.17	2.28	0.00	0.000	3078	0.373	0.093	2187	2495	3141	3237	3045	0	0	0	0	0	0	14.28	14.72	14.61
4191	-1.58	-103.8	2187	2495	3239	3046	743.0	-15.2	382	4197	0.00	2.42	0.00	0.000	260	0.000	0.149	2177	3758	3141	3236	3046	0	0	0	0	0	0	15.12	14.55	15.14
4247	-1.58	-103.8	2174	3759	3239	3047	751.9	-16.6	393	4254	0.00	2.25	0.00	0.000	1030	0.000	0.094	2178	2494	3142	3239	3046	0	0	0	0	0	0	14.85	14.71	14.89
4614	-1.58	-103.8	2178	2494	3239	3046	807.0	-14.9	406	4614	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2494	3142	3238	3046	0	0	0	0	0	0	15.07	15.09	15.09
4973	-1.58	-103.8	2178	2495	3238	3047	858.5	-14.0	418	4974	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2494	3142	3238	3047	0	0	0	0	0	0	15.07	15.09	15.10
5333	-1.58	-103.8	2178	2495	3239	3048	908.5	-13.6	430	5338	0.00	2.58	0.00	0.000	516	0.000	0.106	2178	1079	3142	3238	3047	0	0	0	0	0	0	15.07	14.65	15.09
5357	-1.58	-103.8	2178	1080	3238	3048	912.1	-13.0	435	5364	0.00	2.67	0.00	0.000	1030	0.000	0.122	2168	2503	3143	3238	3048	0	0	0	0	0	0	14.77	14.56	14.83
5723	-1.58	-103.8	2168	2503	3239	3048	964.3	-14.1	448	5728	0.00	2.40	0.00	0.000	260	0.000	0.151	2158	3755	3142	3237	3048	0	0	0	0	0	0	15.12	14.57	15.15
5767	-1.58	-103.8	2159	3756	3238	3048	969.9	-16.7	457	5775	0.12	2.30	0.00	0.000	3078	0.369	0.094	2185	2494	3143	3238	3048	0	0	0	0	0	0	14.23	14.68	14.50
5932	end dive: TARGET_DEPTH_EXCEEDED
state	5932	begin apogee
5936	-0.23	0.0	2185	2184	3238	3050	992.1	-13.2	465	6147	1.83	0.03	197.48	1.770	10246	0.317	0.216	2620	2196	2713	2781	2646	0	0	0	0	1	0	14.33	13.54	12.52
6148	end apogee: CONTROL_FINISHED_OK
state	6148	begin climb
6149	1.58	103.8	2621	2196	2782	2647	996.1	0.0	472	6514	2.00	2.85	351.90	1.373	10756	0.144	0.124	3215	789	2289	2337	2242	0	0	0	0	0	0	13.74	13.56	13.01
6553	1.58	103.8	3215	790	2323	2233	918.4	26.5	548	6562	0.00	2.80	0.00	0.000	1030	0.000	0.111	3215	2209	2275	2321	2230	0	0	0	0	0	0	13.88	13.76	13.92
6928	1.58	103.8	3215	2210	2320	2222	824.4	24.9	562	6933	0.00	2.70	0.00	0.000	516	0.000	0.121	3225	786	2270	2320	2221	0	0	0	0	0	0	14.69	14.38	14.71
7008	1.58	103.8	3226	786	2318	2220	804.0	25.0	578	7014	0.00	2.65	0.00	0.000	1030	0.000	0.112	3225	2211	2268	2317	2220	0	0	0	0	0	0	14.60	14.45	14.64
7380	1.58	103.8	3225	2212	2317	2218	712.5	24.4	592	7385	0.00	2.65	0.00	0.000	516	0.000	0.121	3235	788	2267	2316	2218	0	0	0	0	0	0	14.92	14.58	14.95
7434	1.58	103.8	3235	787	2317	2218	699.1	24.3	603	7441	0.00	2.60	0.00	0.000	1030	0.000	0.110	3235	2204	2267	2317	2218	0	0	0	0	0	0	14.77	14.62	14.81
7800	1.58	103.8	3235	2205	2317	2217	609.3	24.9	616	7805	0.00	2.62	0.00	0.000	516	0.000	0.122	3245	788	2266	2317	2216	0	0	0	0	0	0	14.99	14.65	15.02
7844	1.58	103.8	3245	789	2317	2217	598.1	24.8	625	7853	0.17	2.62	0.00	0.000	5126	0.328	0.109	3210	2227	2266	2316	2216	0	0	0	0	0	0	14.42	14.66	14.78
8224	1.58	103.8	3214	2228	2317	2216	510.2	22.7	640	8229	0.00	2.67	0.00	0.000	516	0.000	0.122	3221	785	2265	2316	2215	0	0	0	0	0	0	15.03	14.67	15.06
8248	1.58	103.8	3221	785	2317	2215	504.3	23.2	645	8256	0.00	2.60	0.00	0.000	1030	0.000	0.111	3221	2211	2265	2316	2215	0	0	0	0	0	0	14.85	14.69	14.90
8623	1.58	103.8	3222	2212	2317	2214	419.6	23.1	664	8629	0.00	2.62	0.00	0.000	516	0.000	0.122	3231	794	2265	2316	2214	0	0	0	0	0	0	15.08	14.68	15.11
8673	1.58	103.8	3231	794	2317	2214	407.9	23.4	674	8680	0.00	2.58	0.00	0.000	1030	0.000	0.111	3231	2204	2265	2316	2214	0	0	0	0	0	0	14.85	14.69	14.91
8985	1.58	103.8	3232	2205	2317	2214	337.3	22.0	691	8986	0.00	0.00	0.00	0.000	6	0.000	0.000	3231	2205	2265	2316	2214	0	0	0	0	0	0	15.04	15.07	15.07
9284	1.58	103.8	3232	2205	2317	2214	273.9	21.1	712	9290	0.00	2.62	0.00	0.000	516	0.000	0.121	3241	785	2265	2316	2214	0	0	0	0	0	0	15.10	14.68	15.12
9339	1.58	103.8	3241	786	2317	2215	261.8	22.4	723	9346	0.15	2.60	0.00	0.000	5126	0.328	0.110	3213	2212	2265	2315	2215	0	0	0	0	0	0	14.43	14.69	14.80
9644	1.58	103.8	3213	2212	2316	2214	199.2	20.3	754	9650	0.00	2.62	0.00	0.000	516	0.000	0.122	3223	792	2265	2316	2214	0	0	0	0	0	0	15.11	14.67	15.14
9705	1.58	103.8	3223	792	2317	2214	187.2	19.8	766	9712	0.00	2.62	0.00	0.000	1030	0.000	0.111	3222	2205	2265	2316	2214	0	0	0	0	0	0	14.76	14.64	14.82
10016	1.58	103.8	3223	2206	2317	2213	127.4	18.8	798	10017	0.00	0.00	0.00	0.000	6	0.000	0.000	3222	2205	2264	2316	2213	0	0	0	0	0	0	15.10	15.13	15.12
10317	1.58	103.8	3223	2206	2316	2215	70.3	19.4	828	10322	0.00	2.62	0.00	0.000	516	0.000	0.122	3233	787	2264	2315	2213	0	0	0	0	0	0	15.05	14.66	15.08
10387	1.58	103.8	3233	789	2316	2214	56.4	19.8	842	10393	0.00	2.60	0.00	0.000	1030	0.000	0.109	3233	2210	2264	2316	2213	0	0	0	0	0	0	14.85	14.69	14.91
10666	end climb: SURFACE_DEPTH_REACHED
state	10666	begin surface coast
10676	end surface coast: CONTROL_FINISHED_OK
state	10676	begin surface