Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 54 * 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 54 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 10

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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 10 ALTIM_PULSE 2

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 3

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 0 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 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 60 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 0.15000001 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 30 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 783

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 8 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 783 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 3 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 10 GLIDE_SLOPE 30 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 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 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 60

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 54 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 10 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 010218,034555,-7409.2593,-11225.5703,11,0.7,34,53.4,0.5,160.0,10,2.1 SPEED_LIMITS 0.163,0.215

_CALLS 1 TGT_NAME ip1

_XMS_NAKs 0 TGT_LATLONG -7411.616,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 800.000

_SM_DEPTHo 0.31 MHEAD_RNG_PITCHd_Wd 154.6,4441,-23.3,-9.429,-30.00,1287

_SM_ANGLEo -65.4 D_GRID 912

GPS2 010218,035238,-7409.2852,-11225.6201,2,0.7,4,53.4,0.3,220.9,10,3.6

Post-dive calculations and measurements:

FREEZE -0.45,-1.299,-1.861,2,1,0 ALTIM_TOP_PING 30.0,31.5

FINISH -0.5,1.027297 _24V_AH 12.16,32.249

SM_CCo 10666,108.78,0.238,0,0,1489,300.00 _10V_AH 12.39,0.000

SM_GC 0.42,8.35,2.08,108.78,0.057,0.102,0.238,198,2484,1489,-7.76,0.17,300.00,0,0,0,0,0,0,14.92,14.86,14.62 FG_AHR_24Vo 0.000

RAFOS_CLK 385 FG_AHR_10Vo 0.000

RAFOS 0,1517464865,6.032778,6.018055,104,64,60,53,53,51,542,217,140,149,185,114 MEM 280332

RAFOS_FIX -7410.711914,-11226.742188,010218,060628,3,86,0.32 DATA_FILE_SIZE 33394,1011

IRIDIUM_FIX -7405.65,-11224.52,010218,010247 CAP_FILE_SIZE 137354,0

TT8_MAMPS 0.041195,0.253162 CFSIZE 1024409600,1013481472

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.48233 SOUNDSPEED 1450.9

TCM_TEMP 13.10 CURRENT 0.068,186.29,1

XPDR_PINGS 1 GPS 010218,065330,-7411.062,-11228.637,19,1.2,19,53.5,0.4,196.2,8,5.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 481 137.50 nil 0 0 0.00

Roll_motor 92 148 166.93 nil 0 0 0.00

VBD_pump_during_apogee 330 3103 12468.30 nil 0 0 0.00

VBD_pump_during_surface 108 237 314.69 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 10658 4 557.54

Iridium_during_xfer 317 154 596.09 nil 0 0 0.00

Transponder_ping 50 420 255.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.73

TT8 0 0 0.00

LPSleep 8003 2 229.08

TT8_Active 648 12 98.55

TT8_Sampling 2450 31 963.83

TT8_CF8 87 45 49.25

TT8_Kalman 0 0 0.00

Analog_circuits 1727 10 218.37

GPS_charging 0 0 0.00

Compass 1448 7 134.43

RAFOS 720 1 13.38

Transponder 349 30 129.96

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

8.6 10.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

17.2 19.00 9000.00 0.0 0.00 0.00 19.00 0.0 0.99 1.00

25.2 9.40 9000.00 0.0 -0.05 0.01 9.40 34.6 -1.20 1.00

35.0 37.20 9000.00 0.0 1.09 0.47 37.20 0.0 2.84 1.00

44.8 47.40 9000.00 0.0 1.94 0.93 47.40 0.0 1.04 1.00

61.1 11.50 9000.00 0.0 -1.11 0.63 11.50 72.6 -2.20 1.00

69.1 10.10 9000.00 0.0 -1.63 0.91 10.10 79.2 -0.17 1.00

77.1 10.10 9000.00 0.0 -0.09 0.75 0.00 0.0 0.00 0.00

87.0 10.00 9000.00 0.0 0.00 0.00 10.00 97.0 -0.01 1.00

95.1 10.10 9000.00 0.0 0.00 0.00 10.10 0.0 0.01 1.00

105.1 10.00 9000.00 0.0 0.00 0.00 10.00 115.1 -0.01 1.00

115.0 16.80 9000.00 0.0 0.34 0.75 16.80 0.0 0.69 1.00

124.9 16.70 9000.00 0.0 0.34 0.74 16.70 141.6 -0.01 1.00

890.8 74.20 9000.00 0.0 0.07 1.00 74.20 0.0 0.08 1.00

909.7 53.00 9000.00 0.0 0.06 0.85 53.00 962.7 -1.12 1.00

118.9 124.00 9000.00 0.0 -0.08 0.93 124.00 0.0 -0.09 1.00

110.6 18.50 9000.00 0.0 -0.02 0.04 18.50 92.1 12.71 1.00

101.0 11.30 9000.00 0.0 6.14 0.76 11.30 89.7 0.75 1.00

91.4 10.20 9000.00 0.0 0.44 0.85 10.20 81.2 0.11 1.00

81.9 10.20 9000.00 0.0 0.06 0.70 0.00 0.0 0.00 0.00

73.9 11.50 9000.00 0.0 -0.07 0.75 11.50 0.0 -0.16 1.00

65.8 10.60 9000.00 0.0 -0.02 0.07 10.60 55.2 0.11 1.00

56.3 10.80 9000.00 0.0 0.04 0.47 10.80 0.0 -0.02 1.00

47.9 50.00 9000.00 0.0 -2.15 0.73 50.00 0.0 -4.67 1.00

38.8 41.30 9000.00 0.0 -1.71 0.53 41.30 -2.5 0.96 1.00

30.0 31.30 31.50 -1.5 1.05 1.00 31.30 -1.3 1.14 1.00

21.0 7.40 9000.00 0.0 1.90 0.95 7.40 13.6 2.66 1.00

11.9 6.40 9000.00 0.0 1.37 0.78 6.40 5.5 0.11 1.00

3.0 6.00 9000.00 0.0 0.07 0.96 6.00 -3.0 0.04 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

7 -1.16 -80.8 204 2498 1501 1446 0.0 0.0 0 101 0.00 0.00 -87.62 0.002 16390 0.000 0.000 203 2498 3045 3119 2972 0 0 0 0 0 0 14.79 13.62 14.82

103 -1.24 -146.0 204 2499 3120 2974 2.3 -3.6 9 127 11.50 2.67 -7.30 0.014 18980 0.481 0.134 2296 1088 3312 3403 3222 0 0 0 0 0 0 14.35 13.55 14.66

231 -1.24 -146.0 2297 1089 3404 3225 28.2 -19.4 34 238 0.00 2.70 0.00 0.000 1030 0.000 0.125 2288 2500 3313 3403 3224 0 0 0 0 0 0 14.66 14.57 14.70

536 -1.24 -146.0 2289 2502 3404 3222 89.0 -20.0 65 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2502 3313 3402 3224 0 0 0 0 0 0 14.93 14.96 14.96

836 -1.24 -146.0 2286 2502 3404 3225 149.1 -20.2 95 842 0.00 2.35 0.00 0.000 260 0.000 0.144 2278 3763 3313 3403 3224 0 0 0 0 0 0 14.95 14.71 14.97

870 -1.24 -146.0 2278 3763 3402 3226 156.5 -21.2 102 879 0.00 2.30 0.00 0.000 1030 0.000 0.097 2278 2495 3313 3401 3226 0 0 0 0 0 0 14.81 14.75 14.85

1176 -1.24 -146.0 2278 2496 3402 3227 217.9 -20.4 133 1177 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2494 3313 3401 3226 0 0 0 0 0 0 14.97 15.01 15.00

1475 -1.24 -146.0 2278 2495 3402 3227 277.4 -19.7 163 1482 0.00 2.40 0.00 0.000 260 0.000 0.148 2269 3753 3313 3401 3226 0 0 0 0 0 0 15.03 14.74 15.06

1550 -1.24 -146.0 2269 3754 3401 3228 293.4 -21.7 178 1558 0.12 2.28 0.00 0.000 3078 0.317 0.098 2298 2491 3314 3401 3227 0 0 0 0 0 0 14.62 14.81 14.79

1855 -1.24 -146.0 2300 2491 3402 3227 348.9 -18.0 209 1863 0.00 2.60 0.00 0.000 516 0.000 0.117 2299 1084 3313 3401 3226 0 0 0 0 0 0 15.05 14.77 15.07

1892 -1.24 -146.0 2299 1084 3401 3227 355.6 -18.6 216 1899 0.00 2.65 0.00 0.000 1030 0.000 0.125 2290 2513 3313 3400 3227 0 0 0 0 0 0 14.91 14.77 14.94

2196 -1.24 -146.0 2290 2513 3401 3227 410.8 -18.0 247 2197 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2514 3314 3401 3227 0 0 0 0 0 0 15.07 15.09 15.09

2496 -1.24 -146.0 2290 2514 3401 3224 464.7 -17.9 277 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2514 3313 3400 3227 0 0 0 0 0 0 15.07 15.10 15.10

2796 -1.24 -146.0 2287 2515 3401 3228 518.8 -17.8 307 2803 0.00 2.35 0.00 0.000 260 0.000 0.148 2280 3752 3313 3400 3226 0 0 0 0 0 0 15.08 14.77 15.11

2826 -1.24 -146.0 2280 3754 3400 3228 524.4 -18.6 313 2834 0.00 2.28 0.00 0.000 1030 0.000 0.098 2280 2488 3313 3400 3227 0 0 0 0 0 0 14.89 14.84 14.93

3138 -1.24 -146.0 2280 2488 3401 3227 580.7 -18.1 345 3139 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2488 3314 3404 3224 0 0 0 0 0 0 15.08 15.11 15.11

3438 -1.24 -146.0 2280 2489 3401 3228 632.5 -17.2 375 3444 0.00 2.40 0.00 0.000 260 0.000 0.147 2270 3750 3313 3400 3227 0 0 0 0 0 0 15.09 14.78 15.11

3474 -1.24 -146.0 2269 3751 3401 3228 639.0 -18.7 382 3481 0.15 2.22 0.00 0.000 3078 0.335 0.097 2299 2485 3313 3400 3227 0 0 0 0 0 0 14.68 14.85 14.92

3779 -1.24 -146.0 2299 2486 3401 3228 689.3 -16.1 413 3780 0.00 0.00 0.00 0.000 6 0.000 0.000 2300 2485 3314 3401 3227 0 0 0 0 0 0 15.06 15.09 15.09

4089 -1.24 -146.0 2300 2485 3401 3228 740.1 -16.4 428 4094 0.00 2.40 0.00 0.000 260 0.000 0.147 2291 3749 3313 3399 3227 0 0 0 0 0 0 15.10 14.80 15.13

4123 -1.24 -146.0 2292 3748 3401 3228 746.2 -17.3 435 4129 0.00 2.25 0.00 0.000 1030 0.000 0.097 2291 2492 3314 3400 3228 0 0 0 0 0 0 14.92 14.85 14.95

4508 -1.24 -146.0 2291 2492 3403 3228 809.7 -16.3 452 4509 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2492 3314 3400 3228 0 0 0 0 0 0 15.11 15.14 15.14

4869 -1.24 -146.0 2292 2493 3401 3229 866.7 -15.9 464 4869 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2492 3314 3400 3228 0 0 0 0 0 0 15.11 15.14 15.14

5167 end dive: TARGET_DEPTH_EXCEEDED

state 5167 begin apogee

5170 -0.23 0.0 2292 2192 3401 3229 913.9 -15.6 474 5333 1.27 0.00 159.40 3.103 10246 0.282 0.000 2621 2191 2713 2774 2653 0 0 0 0 0 0 14.72 13.52 12.40

5334 end apogee: CONTROL_FINISHED_OK

state 5334 begin climb

5335 1.24 146.0 2623 2191 2774 2652 919.5 0.0 479 5516 1.67 2.95 170.98 3.104 10756 0.152 0.135 3103 796 2116 2175 2058 0 0 0 0 0 0 13.50 13.21 12.16

5550 1.24 146.0 3104 796 2170 2054 892.6 18.1 521 5557 0.00 2.88 0.00 0.000 1030 0.000 0.117 3103 2201 2111 2169 2053 0 0 0 0 0 0 13.67 13.60 13.71

5941 1.24 146.0 3103 2202 2165 2046 817.3 19.3 539 5947 0.00 2.72 0.00 0.000 516 0.000 0.135 3114 788 2105 2165 2045 0 0 0 0 0 0 14.60 14.34 14.62

5971 1.24 146.0 3115 788 2165 2045 811.2 20.1 545 5978 0.00 2.72 0.00 0.000 1030 0.000 0.119 3114 2208 2104 2164 2045 0 0 0 0 0 0 14.46 14.38 14.49

6363 1.24 146.0 3114 2208 2163 2043 734.1 19.6 563 6363 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2207 2103 2163 2043 0 0 0 0 0 0 14.81 14.83 14.83

6722 1.24 146.0 3114 2208 2163 2042 664.2 19.1 587 6723 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2207 2102 2163 2042 0 0 0 0 0 0 14.94 14.97 14.97

7022 1.24 146.0 3114 2208 2161 2042 606.5 19.2 617 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2207 2102 2162 2042 0 0 0 0 0 0 14.99 15.02 15.02

7322 1.24 146.0 3115 2208 2162 2042 549.1 19.0 647 7329 0.00 2.67 0.00 0.000 260 0.000 0.140 3114 3617 2101 2161 2042 0 0 0 0 0 0 15.03 14.76 15.05

7342 1.24 146.0 3114 3617 2162 2041 545.0 19.5 651 7349 0.00 2.58 0.00 0.000 1030 0.000 0.102 3125 2208 2101 2161 2041 0 0 0 0 0 0 14.85 14.78 14.88

7653 1.24 146.0 3125 2208 2161 2042 485.4 18.8 683 7659 0.00 2.67 0.00 0.000 516 0.000 0.134 3137 782 2101 2161 2041 0 0 0 0 0 0 15.04 14.76 15.07

7680 1.24 146.0 3137 782 2161 2041 480.6 18.8 688 7686 0.17 2.58 0.00 0.000 5126 0.308 0.114 3099 2205 2100 2160 2041 0 0 0 0 0 0 14.68 14.80 14.90

7984 1.24 146.0 3099 2205 2162 2041 427.6 17.1 719 7989 0.00 2.65 0.00 0.000 260 0.000 0.141 3099 3624 2100 2160 2041 0 0 0 0 0 0 15.02 14.78 15.05

8013 1.24 146.0 3099 3626 2161 2042 422.1 19.1 725 8020 0.00 2.62 0.00 0.000 1030 0.000 0.103 3109 2188 2100 2160 2041 0 0 0 0 0 0 14.88 14.81 14.91

8324 1.24 146.0 3109 2188 2161 2041 369.7 16.5 757 8331 0.00 2.62 0.00 0.000 516 0.000 0.135 3120 788 2100 2160 2040 0 0 0 0 0 0 15.07 14.79 15.09

8374 1.24 146.0 3120 789 2160 2042 361.3 16.8 767 8381 0.00 2.62 0.00 0.000 1030 0.000 0.115 3120 2208 2100 2160 2041 0 0 0 0 0 0 14.88 14.81 14.92

8685 1.24 146.0 3120 2209 2160 2041 308.2 17.0 799 8691 0.00 2.65 0.00 0.000 516 0.000 0.133 3131 779 2101 2159 2044 0 0 0 0 0 0 15.04 14.81 15.07

8709 1.24 146.0 3131 778 2160 2040 303.9 17.3 804 8717 0.12 2.65 0.00 0.000 5126 0.308 0.116 3099 2209 2099 2159 2040 0 0 0 0 0 0 14.69 14.81 14.83

9015 1.24 146.0 3099 2209 2160 2040 255.5 15.4 835 9015 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2209 2099 2159 2040 0 0 0 0 0 0 15.08 15.11 15.10

9315 1.24 146.0 3099 2209 2160 2034 209.0 15.4 865 9323 0.00 2.62 0.00 0.000 260 0.000 0.141 3099 3618 2099 2159 2039 0 0 0 0 0 0 15.08 14.82 15.11

9326 1.24 146.0 3099 3619 2160 2040 207.2 15.8 867 9333 0.00 2.60 0.00 0.000 1030 0.000 0.104 3109 2192 2099 2159 2039 0 0 0 0 0 0 14.90 14.83 14.94

9637 1.24 146.0 3109 2191 2159 2040 157.7 15.7 899 9638 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2190 2099 2159 2039 0 0 0 0 0 0 15.08 15.11 15.14

9937 1.24 146.0 3109 2191 2159 2040 111.2 15.4 929 9947 0.00 2.65 0.00 0.000 516 0.000 0.134 3120 776 2098 2158 2039 0 0 0 0 0 0 15.09 14.81 15.11

9971 1.24 146.0 3120 776 2159 2038 105.8 16.0 935 9977 0.00 2.65 0.00 0.000 1030 0.000 0.116 3120 2212 2098 2158 2039 0 0 0 0 0 0 14.90 14.83 14.92

10282 1.24 146.0 3118 2212 2159 2039 56.3 15.9 967 10287 0.00 2.62 0.00 0.000 260 0.000 0.143 3120 3620 2097 2157 2038 0 0 0 0 0 0 15.07 14.83 15.09

10321 1.24 146.0 3120 3621 2158 2040 49.5 17.3 975 10328 0.12 2.60 0.00 0.000 5126 0.298 0.105 3098 2193 2098 2157 2039 0 0 0 0 0 0 14.71 14.83 14.88

10633 1.24 146.0 3099 2189 2158 2038 3.0 14.7 1007 10638 0.00 2.67 0.00 0.000 260 0.000 0.142 3098 3623 2097 2157 2038 0 0 0 0 0 0 15.07 14.83 15.09

10641 end climb: SURFACE_DEPTH_REACHED

state 10641 begin surface coast

10651 end surface coast: CONTROL_FINISHED_OK

state 10651 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	54	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	10
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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	10	ALTIM_PULSE	2
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	3
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	0	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	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	60	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	0.15000001	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	30	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	783

GPS1	010218,034555,-7409.2593,-11225.5703,11,0.7,34,53.4,0.5,160.0,10,2.1	SPEED_LIMITS	0.163,0.215
_CALLS	1	TGT_NAME	ip1
_XMS_NAKs	0	TGT_LATLONG	-7411.616,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	800.000
_SM_DEPTHo	0.31	MHEAD_RNG_PITCHd_Wd	154.6,4441,-23.3,-9.429,-30.00,1287
_SM_ANGLEo	-65.4	D_GRID	912
GPS2	010218,035238,-7409.2852,-11225.6201,2,0.7,4,53.4,0.3,220.9,10,3.6

FREEZE	-0.45,-1.299,-1.861,2,1,0	ALTIM_TOP_PING	30.0,31.5
FINISH	-0.5,1.027297	_24V_AH	12.16,32.249
SM_CCo	10666,108.78,0.238,0,0,1489,300.00	_10V_AH	12.39,0.000
SM_GC	0.42,8.35,2.08,108.78,0.057,0.102,0.238,198,2484,1489,-7.76,0.17,300.00,0,0,0,0,0,0,14.92,14.86,14.62	FG_AHR_24Vo	0.000
RAFOS_CLK	385	FG_AHR_10Vo	0.000
RAFOS	0,1517464865,6.032778,6.018055,104,64,60,53,53,51,542,217,140,149,185,114	MEM	280332
RAFOS_FIX	-7410.711914,-11226.742188,010218,060628,3,86,0.32	DATA_FILE_SIZE	33394,1011
IRIDIUM_FIX	-7405.65,-11224.52,010218,010247	CAP_FILE_SIZE	137354,0
TT8_MAMPS	0.041195,0.253162	CFSIZE	1024409600,1013481472
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.48233	SOUNDSPEED	1450.9
TCM_TEMP	13.10	CURRENT	0.068,186.29,1
XPDR_PINGS	1	GPS	010218,065330,-7411.062,-11228.637,19,1.2,19,53.5,0.4,196.2,8,5.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	481	137.50	nil	0	0	0.00
Roll_motor	92	148	166.93	nil	0	0	0.00
VBD_pump_during_apogee	330	3103	12468.30	nil	0	0	0.00
VBD_pump_during_surface	108	237	314.69	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	10658	4	557.54
Iridium_during_xfer	317	154	596.09	nil	0	0	0.00
Transponder_ping	50	420	255.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.73
TT8	0	0	0.00
LPSleep	8003	2	229.08
TT8_Active	648	12	98.55
TT8_Sampling	2450	31	963.83
TT8_CF8	87	45	49.25
TT8_Kalman	0	0	0.00
Analog_circuits	1727	10	218.37
GPS_charging	0	0	0.00
Compass	1448	7	134.43
RAFOS	720	1	13.38
Transponder	349	30	129.96

		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
8.6	10.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
17.2	19.00	9000.00	0.0	0.00	0.00	19.00	0.0	0.99	1.00
25.2	9.40	9000.00	0.0	-0.05	0.01	9.40	34.6	-1.20	1.00
35.0	37.20	9000.00	0.0	1.09	0.47	37.20	0.0	2.84	1.00
44.8	47.40	9000.00	0.0	1.94	0.93	47.40	0.0	1.04	1.00
61.1	11.50	9000.00	0.0	-1.11	0.63	11.50	72.6	-2.20	1.00
69.1	10.10	9000.00	0.0	-1.63	0.91	10.10	79.2	-0.17	1.00
77.1	10.10	9000.00	0.0	-0.09	0.75	0.00	0.0	0.00	0.00
87.0	10.00	9000.00	0.0	0.00	0.00	10.00	97.0	-0.01	1.00
95.1	10.10	9000.00	0.0	0.00	0.00	10.10	0.0	0.01	1.00
105.1	10.00	9000.00	0.0	0.00	0.00	10.00	115.1	-0.01	1.00
115.0	16.80	9000.00	0.0	0.34	0.75	16.80	0.0	0.69	1.00
124.9	16.70	9000.00	0.0	0.34	0.74	16.70	141.6	-0.01	1.00
890.8	74.20	9000.00	0.0	0.07	1.00	74.20	0.0	0.08	1.00
909.7	53.00	9000.00	0.0	0.06	0.85	53.00	962.7	-1.12	1.00

118.9	124.00	9000.00	0.0	-0.08	0.93	124.00	0.0	-0.09	1.00
110.6	18.50	9000.00	0.0	-0.02	0.04	18.50	92.1	12.71	1.00
101.0	11.30	9000.00	0.0	6.14	0.76	11.30	89.7	0.75	1.00
91.4	10.20	9000.00	0.0	0.44	0.85	10.20	81.2	0.11	1.00
81.9	10.20	9000.00	0.0	0.06	0.70	0.00	0.0	0.00	0.00
73.9	11.50	9000.00	0.0	-0.07	0.75	11.50	0.0	-0.16	1.00
65.8	10.60	9000.00	0.0	-0.02	0.07	10.60	55.2	0.11	1.00
56.3	10.80	9000.00	0.0	0.04	0.47	10.80	0.0	-0.02	1.00
47.9	50.00	9000.00	0.0	-2.15	0.73	50.00	0.0	-4.67	1.00
38.8	41.30	9000.00	0.0	-1.71	0.53	41.30	-2.5	0.96	1.00
30.0	31.30	31.50	-1.5	1.05	1.00	31.30	-1.3	1.14	1.00
21.0	7.40	9000.00	0.0	1.90	0.95	7.40	13.6	2.66	1.00
11.9	6.40	9000.00	0.0	1.37	0.78	6.40	5.5	0.11	1.00
3.0	6.00	9000.00	0.0	0.07	0.96	6.00	-3.0	0.04	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
7	-1.16	-80.8	204	2498	1501	1446	0.0	0.0	0	101	0.00	0.00	-87.62	0.002	16390	0.000	0.000	203	2498	3045	3119	2972	0	0	0	0	0	0	14.79	13.62	14.82
103	-1.24	-146.0	204	2499	3120	2974	2.3	-3.6	9	127	11.50	2.67	-7.30	0.014	18980	0.481	0.134	2296	1088	3312	3403	3222	0	0	0	0	0	0	14.35	13.55	14.66
231	-1.24	-146.0	2297	1089	3404	3225	28.2	-19.4	34	238	0.00	2.70	0.00	0.000	1030	0.000	0.125	2288	2500	3313	3403	3224	0	0	0	0	0	0	14.66	14.57	14.70
536	-1.24	-146.0	2289	2502	3404	3222	89.0	-20.0	65	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2502	3313	3402	3224	0	0	0	0	0	0	14.93	14.96	14.96
836	-1.24	-146.0	2286	2502	3404	3225	149.1	-20.2	95	842	0.00	2.35	0.00	0.000	260	0.000	0.144	2278	3763	3313	3403	3224	0	0	0	0	0	0	14.95	14.71	14.97
870	-1.24	-146.0	2278	3763	3402	3226	156.5	-21.2	102	879	0.00	2.30	0.00	0.000	1030	0.000	0.097	2278	2495	3313	3401	3226	0	0	0	0	0	0	14.81	14.75	14.85
1176	-1.24	-146.0	2278	2496	3402	3227	217.9	-20.4	133	1177	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2494	3313	3401	3226	0	0	0	0	0	0	14.97	15.01	15.00
1475	-1.24	-146.0	2278	2495	3402	3227	277.4	-19.7	163	1482	0.00	2.40	0.00	0.000	260	0.000	0.148	2269	3753	3313	3401	3226	0	0	0	0	0	0	15.03	14.74	15.06
1550	-1.24	-146.0	2269	3754	3401	3228	293.4	-21.7	178	1558	0.12	2.28	0.00	0.000	3078	0.317	0.098	2298	2491	3314	3401	3227	0	0	0	0	0	0	14.62	14.81	14.79
1855	-1.24	-146.0	2300	2491	3402	3227	348.9	-18.0	209	1863	0.00	2.60	0.00	0.000	516	0.000	0.117	2299	1084	3313	3401	3226	0	0	0	0	0	0	15.05	14.77	15.07
1892	-1.24	-146.0	2299	1084	3401	3227	355.6	-18.6	216	1899	0.00	2.65	0.00	0.000	1030	0.000	0.125	2290	2513	3313	3400	3227	0	0	0	0	0	0	14.91	14.77	14.94
2196	-1.24	-146.0	2290	2513	3401	3227	410.8	-18.0	247	2197	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2514	3314	3401	3227	0	0	0	0	0	0	15.07	15.09	15.09
2496	-1.24	-146.0	2290	2514	3401	3224	464.7	-17.9	277	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2514	3313	3400	3227	0	0	0	0	0	0	15.07	15.10	15.10
2796	-1.24	-146.0	2287	2515	3401	3228	518.8	-17.8	307	2803	0.00	2.35	0.00	0.000	260	0.000	0.148	2280	3752	3313	3400	3226	0	0	0	0	0	0	15.08	14.77	15.11
2826	-1.24	-146.0	2280	3754	3400	3228	524.4	-18.6	313	2834	0.00	2.28	0.00	0.000	1030	0.000	0.098	2280	2488	3313	3400	3227	0	0	0	0	0	0	14.89	14.84	14.93
3138	-1.24	-146.0	2280	2488	3401	3227	580.7	-18.1	345	3139	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2488	3314	3404	3224	0	0	0	0	0	0	15.08	15.11	15.11
3438	-1.24	-146.0	2280	2489	3401	3228	632.5	-17.2	375	3444	0.00	2.40	0.00	0.000	260	0.000	0.147	2270	3750	3313	3400	3227	0	0	0	0	0	0	15.09	14.78	15.11
3474	-1.24	-146.0	2269	3751	3401	3228	639.0	-18.7	382	3481	0.15	2.22	0.00	0.000	3078	0.335	0.097	2299	2485	3313	3400	3227	0	0	0	0	0	0	14.68	14.85	14.92
3779	-1.24	-146.0	2299	2486	3401	3228	689.3	-16.1	413	3780	0.00	0.00	0.00	0.000	6	0.000	0.000	2300	2485	3314	3401	3227	0	0	0	0	0	0	15.06	15.09	15.09
4089	-1.24	-146.0	2300	2485	3401	3228	740.1	-16.4	428	4094	0.00	2.40	0.00	0.000	260	0.000	0.147	2291	3749	3313	3399	3227	0	0	0	0	0	0	15.10	14.80	15.13
4123	-1.24	-146.0	2292	3748	3401	3228	746.2	-17.3	435	4129	0.00	2.25	0.00	0.000	1030	0.000	0.097	2291	2492	3314	3400	3228	0	0	0	0	0	0	14.92	14.85	14.95
4508	-1.24	-146.0	2291	2492	3403	3228	809.7	-16.3	452	4509	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2492	3314	3400	3228	0	0	0	0	0	0	15.11	15.14	15.14
4869	-1.24	-146.0	2292	2493	3401	3229	866.7	-15.9	464	4869	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2492	3314	3400	3228	0	0	0	0	0	0	15.11	15.14	15.14
5167	end dive: TARGET_DEPTH_EXCEEDED
state	5167	begin apogee
5170	-0.23	0.0	2292	2192	3401	3229	913.9	-15.6	474	5333	1.27	0.00	159.40	3.103	10246	0.282	0.000	2621	2191	2713	2774	2653	0	0	0	0	0	0	14.72	13.52	12.40
5334	end apogee: CONTROL_FINISHED_OK
state	5334	begin climb
5335	1.24	146.0	2623	2191	2774	2652	919.5	0.0	479	5516	1.67	2.95	170.98	3.104	10756	0.152	0.135	3103	796	2116	2175	2058	0	0	0	0	0	0	13.50	13.21	12.16
5550	1.24	146.0	3104	796	2170	2054	892.6	18.1	521	5557	0.00	2.88	0.00	0.000	1030	0.000	0.117	3103	2201	2111	2169	2053	0	0	0	0	0	0	13.67	13.60	13.71
5941	1.24	146.0	3103	2202	2165	2046	817.3	19.3	539	5947	0.00	2.72	0.00	0.000	516	0.000	0.135	3114	788	2105	2165	2045	0	0	0	0	0	0	14.60	14.34	14.62
5971	1.24	146.0	3115	788	2165	2045	811.2	20.1	545	5978	0.00	2.72	0.00	0.000	1030	0.000	0.119	3114	2208	2104	2164	2045	0	0	0	0	0	0	14.46	14.38	14.49
6363	1.24	146.0	3114	2208	2163	2043	734.1	19.6	563	6363	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2207	2103	2163	2043	0	0	0	0	0	0	14.81	14.83	14.83
6722	1.24	146.0	3114	2208	2163	2042	664.2	19.1	587	6723	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2207	2102	2163	2042	0	0	0	0	0	0	14.94	14.97	14.97
7022	1.24	146.0	3114	2208	2161	2042	606.5	19.2	617	7023	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2207	2102	2162	2042	0	0	0	0	0	0	14.99	15.02	15.02
7322	1.24	146.0	3115	2208	2162	2042	549.1	19.0	647	7329	0.00	2.67	0.00	0.000	260	0.000	0.140	3114	3617	2101	2161	2042	0	0	0	0	0	0	15.03	14.76	15.05
7342	1.24	146.0	3114	3617	2162	2041	545.0	19.5	651	7349	0.00	2.58	0.00	0.000	1030	0.000	0.102	3125	2208	2101	2161	2041	0	0	0	0	0	0	14.85	14.78	14.88
7653	1.24	146.0	3125	2208	2161	2042	485.4	18.8	683	7659	0.00	2.67	0.00	0.000	516	0.000	0.134	3137	782	2101	2161	2041	0	0	0	0	0	0	15.04	14.76	15.07
7680	1.24	146.0	3137	782	2161	2041	480.6	18.8	688	7686	0.17	2.58	0.00	0.000	5126	0.308	0.114	3099	2205	2100	2160	2041	0	0	0	0	0	0	14.68	14.80	14.90
7984	1.24	146.0	3099	2205	2162	2041	427.6	17.1	719	7989	0.00	2.65	0.00	0.000	260	0.000	0.141	3099	3624	2100	2160	2041	0	0	0	0	0	0	15.02	14.78	15.05
8013	1.24	146.0	3099	3626	2161	2042	422.1	19.1	725	8020	0.00	2.62	0.00	0.000	1030	0.000	0.103	3109	2188	2100	2160	2041	0	0	0	0	0	0	14.88	14.81	14.91
8324	1.24	146.0	3109	2188	2161	2041	369.7	16.5	757	8331	0.00	2.62	0.00	0.000	516	0.000	0.135	3120	788	2100	2160	2040	0	0	0	0	0	0	15.07	14.79	15.09
8374	1.24	146.0	3120	789	2160	2042	361.3	16.8	767	8381	0.00	2.62	0.00	0.000	1030	0.000	0.115	3120	2208	2100	2160	2041	0	0	0	0	0	0	14.88	14.81	14.92
8685	1.24	146.0	3120	2209	2160	2041	308.2	17.0	799	8691	0.00	2.65	0.00	0.000	516	0.000	0.133	3131	779	2101	2159	2044	0	0	0	0	0	0	15.04	14.81	15.07
8709	1.24	146.0	3131	778	2160	2040	303.9	17.3	804	8717	0.12	2.65	0.00	0.000	5126	0.308	0.116	3099	2209	2099	2159	2040	0	0	0	0	0	0	14.69	14.81	14.83
9015	1.24	146.0	3099	2209	2160	2040	255.5	15.4	835	9015	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2209	2099	2159	2040	0	0	0	0	0	0	15.08	15.11	15.10
9315	1.24	146.0	3099	2209	2160	2034	209.0	15.4	865	9323	0.00	2.62	0.00	0.000	260	0.000	0.141	3099	3618	2099	2159	2039	0	0	0	0	0	0	15.08	14.82	15.11
9326	1.24	146.0	3099	3619	2160	2040	207.2	15.8	867	9333	0.00	2.60	0.00	0.000	1030	0.000	0.104	3109	2192	2099	2159	2039	0	0	0	0	0	0	14.90	14.83	14.94
9637	1.24	146.0	3109	2191	2159	2040	157.7	15.7	899	9638	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2190	2099	2159	2039	0	0	0	0	0	0	15.08	15.11	15.14
9937	1.24	146.0	3109	2191	2159	2040	111.2	15.4	929	9947	0.00	2.65	0.00	0.000	516	0.000	0.134	3120	776	2098	2158	2039	0	0	0	0	0	0	15.09	14.81	15.11
9971	1.24	146.0	3120	776	2159	2038	105.8	16.0	935	9977	0.00	2.65	0.00	0.000	1030	0.000	0.116	3120	2212	2098	2158	2039	0	0	0	0	0	0	14.90	14.83	14.92
10282	1.24	146.0	3118	2212	2159	2039	56.3	15.9	967	10287	0.00	2.62	0.00	0.000	260	0.000	0.143	3120	3620	2097	2157	2038	0	0	0	0	0	0	15.07	14.83	15.09
10321	1.24	146.0	3120	3621	2158	2040	49.5	17.3	975	10328	0.12	2.60	0.00	0.000	5126	0.298	0.105	3098	2193	2098	2157	2039	0	0	0	0	0	0	14.71	14.83	14.88
10633	1.24	146.0	3099	2189	2158	2038	3.0	14.7	1007	10638	0.00	2.67	0.00	0.000	260	0.000	0.142	3098	3623	2097	2157	2038	0	0	0	0	0	0	15.07	14.83	15.09
10641	end climb: SURFACE_DEPTH_REACHED
state	10641	begin surface coast
10651	end surface coast: CONTROL_FINISHED_OK
state	10651	begin surface