Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 63 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 63 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 33 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 ALTIM_PULSE 2

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 100 SM_CC 350 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 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2865 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.25119999 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 300 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 340 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 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 100000 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 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 0.30000001 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 30 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 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 3910 ALTIM_PING_FIT 783

AD7714Ch0Gain 1 D_TGT 800 N_NOCOMM 3 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 783 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 300

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 340

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 20

C_VBD 2865 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

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 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 63 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 33 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 50 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 0 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 310118,235419,-7359.0928,-11154.6660,3,1.5,7,52.8,0.7,60.8,5,7.6 SPEED_LIMITS 0.154,0.189

_CALLS 1 TGT_NAME E1

_XMS_NAKs 0 TGT_LATLONG -7406.000,-11154.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.76 MHEAD_RNG_PITCHd_Wd 127.6,12836,-16.9,-8.889,-25.24,1952

_SM_ANGLEo -62.4 D_GRID 503

GPS2 010218,000009,-7359.0718,-11154.7305,16,1.6,17,52.8,0.9,63.4,6,7.3

Post-dive calculations and measurements:

FREEZE 0.19,-1.392,-1.861,2,1,0 ALTIM_TOP_PING 9.6,9.8

FINISH 0.2,1.027294 _24V_AH 12.23,29.929

SM_CCo 9321,201.88,0.226,0,0,1469,350.17 _10V_AH 12.62,0.000

SM_GC 0.74,8.45,0.47,201.88,0.089,0.103,0.226,199,2806,1469,-7.88,-0.51,350.17,0,0,0,0,0,0,14.60,14.64,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 384 FG_AHR_10Vo 0.000

RAFOS 0,1517443266,0.032778,0.018333,82,62,59,58,55,55,586,215,192,158,181,115 MEM 280624

RAFOS_FIX -7358.895020,-11154.800781,010218,000056,3,87,0.37 DATA_FILE_SIZE 30056,865

IRIDIUM_FIX -7357.04,-11155.31,310118,205306 CAP_FILE_SIZE 116889,0

TT8_MAMPS 0.039697,0.289863 CFSIZE 1024409600,1012842496

HUMID 45.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1445.9

TCM_TEMP 12.90 CURRENT 0.041,253.97,1

XPDR_PINGS 0 GPS 010218,024025,-7400.103,-11155.664,34,1.8,35,52.9,1.0,275.0,6,4.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 485 137.76 nil 0 0 0.00

Roll_motor 84 103 106.60 nil 0 0 0.00

VBD_pump_during_apogee 259 2839 9002.70 nil 0 0 0.00

VBD_pump_during_surface 201 226 559.06 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 9304 4 514.21

Iridium_during_xfer 243 198 593.48 nil 0 0 0.00

Transponder_ping 29 420 148.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 8 2.18

TT8 0 0 0.00

LPSleep 7007 2 204.27

TT8_Active 734 10 100.74

TT8_Sampling 2064 30 790.67

TT8_CF8 76 51 49.38

TT8_Kalman 0 0 0.00

Analog_circuits 1623 10 206.99

GPS_charging 0 0 0.00

Compass 1240 6 105.55

RAFOS 720 1 13.63

Transponder 199 30 75.52

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

16.9 17.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.4 26.60 9000.00 0.0 0.00 0.00 26.60 0.0 1.02 1.00

34.0 35.60 35.60 0.0 1.04 1.00 35.60 0.0 1.05 1.00

43.0 45.80 45.70 0.0 1.10 1.00 45.80 0.0 1.13 1.00

51.6 54.20 54.50 0.0 1.06 1.00 54.20 0.0 0.98 1.00

59.6 62.40 62.40 0.0 1.00 1.00 62.40 0.0 1.03 1.00

68.8 73.00 72.80 0.0 1.09 1.00 73.00 0.0 1.15 1.00

95.5 7.40 9000.00 0.0 -1.74 0.85 7.40 102.9 -2.46 1.00

104.6 9.60 9000.00 0.0 -1.93 0.93 9.60 0.0 0.24 1.00

113.6 9.50 9000.00 0.0 0.11 0.71 9.50 123.1 -0.01 1.00

122.2 9.40 9000.00 0.0 -0.01 0.89 9.40 131.6 -0.01 1.00

130.9 7.40 9000.00 0.0 -0.12 0.76 7.40 138.3 -0.23 1.00

139.7 11.40 9000.00 0.0 0.11 0.25 11.40 0.0 0.45 1.00

148.7 11.20 9000.00 0.0 0.21 0.71 11.20 159.9 -0.02 1.00

157.0 11.10 9000.00 0.0 -0.02 1.00 11.10 168.1 -0.01 1.00

165.0 11.20 9000.00 0.0 0.00 0.11 11.20 0.0 0.01 1.00

173.2 11.20 9000.00 0.0 0.00 0.73 0.00 0.0 0.00 0.00

163.3 11.10 9000.00 0.0 0.01 0.40 11.10 152.2 0.01 1.00

154.3 11.40 9000.00 0.0 -0.01 0.22 11.40 0.0 -0.03 1.00

145.7 11.50 9000.00 0.0 -0.03 0.98 11.50 0.0 -0.01 1.00

136.8 9.40 9000.00 0.0 0.11 0.69 9.40 127.4 0.24 1.00

128.3 7.30 9000.00 0.0 0.24 1.00 7.30 121.0 0.25 1.00

119.9 7.40 9000.00 0.0 0.12 0.73 7.40 0.0 -0.01 1.00

111.5 7.40 9000.00 0.0 -0.01 0.97 0.00 0.0 0.00 0.00

103.5 9.70 9000.00 0.0 -0.14 0.76 9.70 0.0 -0.29 1.00

94.5 7.50 9000.00 0.0 0.00 0.00 7.50 87.0 0.24 1.00

85.7 7.80 9000.00 0.0 0.10 0.63 7.80 0.0 -0.03 1.00

76.9 80.40 9000.00 0.0 -4.13 0.75 80.40 0.0 -8.25 1.00

68.8 72.30 9000.00 0.0 -3.89 0.68 72.30 -3.5 1.00 1.00

60.7 63.00 63.20 -2.5 1.07 1.00 63.00 -2.3 1.15 1.00

52.4 54.50 54.30 -1.9 1.09 1.00 54.50 -2.1 1.02 1.00

43.8 44.80 45.00 -1.2 1.08 1.00 44.80 -1.0 1.13 1.00

35.5 36.30 36.10 -0.6 1.08 1.00 36.30 -0.8 1.02 1.00

26.7 27.40 27.40 -0.7 1.02 1.00 27.40 -0.7 1.01 1.00

18.1 18.50 18.50 -0.4 1.02 1.00 18.50 -0.4 1.03 1.00

9.6 9.80 9.80 -0.2 1.03 1.00 9.80 -0.2 1.02 1.00

1.2 9.20 9000.00 0.0 0.55 0.80 9.20 -8.0 0.07 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 -0.92 -121.7 196 2809 1497 1401 0.0 0.0 0 131 0.00 0.00 -116.30 0.003 16390 0.000 0.000 195 2809 3353 3364 3342 0 0 0 0 0 0 14.56 13.34 14.57

133 -0.92 -121.7 196 2810 3365 3342 3.5 -4.6 12 151 12.25 2.40 0.00 0.000 2596 0.485 0.045 2424 1396 3356 3363 3350 0 0 0 0 0 0 14.11 14.35 14.34

305 -0.92 -121.7 2425 1395 3362 3355 27.6 -10.6 46 311 0.00 2.53 0.00 0.000 1030 0.000 0.074 2424 2796 3357 3361 3354 0 0 0 0 0 0 14.47 14.40 14.50

615 -0.92 -121.7 2425 2797 3359 3358 60.7 -9.9 78 621 0.00 2.00 0.00 0.000 260 0.000 0.096 2417 3906 3358 3360 3357 0 0 0 0 0 0 14.73 14.47 14.73

665 -0.92 -121.7 2417 3907 3360 3357 66.4 -11.8 88 671 0.00 1.90 0.00 0.000 1030 0.000 0.049 2417 2784 3355 3360 3350 0 0 0 0 0 0 14.58 14.55 14.60

975 -0.92 -121.7 2417 2785 3360 3358 103.3 -13.1 120 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2784 3358 3360 3357 0 0 0 0 0 0 14.78 14.78 14.78

1275 -0.92 -121.7 2417 2785 3360 3358 140.9 -12.6 150 1281 0.00 2.03 0.00 0.000 260 0.000 0.095 2415 3906 3358 3360 3357 0 0 0 0 0 0 14.81 14.54 14.81

1315 -0.92 -121.7 2416 3906 3361 3357 146.1 -13.2 158 1321 0.00 1.88 0.00 0.000 1030 0.000 0.050 2415 2797 3359 3360 3358 0 0 0 0 0 0 14.65 14.62 14.65

1625 -0.92 -121.7 2416 2796 3361 3357 183.0 -12.2 190 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2797 3358 3360 3357 0 0 0 0 0 0 14.83 14.83 14.83

1925 -0.92 -121.7 2416 2797 3361 3357 219.3 -11.8 220 1931 0.00 2.00 0.00 0.000 260 0.000 0.095 2415 3907 3358 3359 3357 0 0 0 0 0 0 14.85 14.59 14.85

2155 -0.92 -121.7 2415 3907 3361 3357 244.2 -12.4 266 2161 0.00 1.85 0.00 0.000 1030 0.000 0.050 2415 2801 3357 3358 3357 0 0 0 0 0 0 14.69 14.66 14.71

2465 -0.92 -121.7 2415 2802 3361 3357 279.9 -11.5 298 2471 0.00 2.00 0.00 0.000 260 0.000 0.094 2414 3913 3358 3359 3357 0 0 0 0 0 0 14.86 14.59 14.87

2510 -0.92 -121.7 2415 3913 3361 3357 285.3 -12.2 307 2518 0.00 1.88 0.00 0.000 1030 0.000 0.050 2413 2796 3358 3359 3357 0 0 0 0 0 0 14.71 14.67 14.71

2825 -0.92 -121.7 2415 2795 3361 3360 320.5 -11.2 330 2831 0.00 2.38 0.00 0.000 516 0.000 0.051 2414 1399 3358 3359 3357 0 0 0 0 0 0 14.88 14.63 14.87

2855 -0.92 -121.7 2415 1400 3360 3358 323.9 -11.0 336 2861 0.00 2.47 0.00 0.000 1030 0.000 0.073 2415 2798 3357 3359 3356 0 0 0 0 0 0 14.69 14.62 14.71

3165 -0.92 -121.7 2415 2799 3359 3358 359.0 -11.2 353 3166 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2798 3358 3359 3357 0 0 0 0 0 0 14.88 14.88 14.88

3465 -0.92 -121.7 2415 2798 3360 3357 391.0 -10.5 368 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2798 3357 3358 3357 0 0 0 0 0 0 14.88 14.89 14.89

3765 -0.92 -121.7 2415 2798 3360 3357 421.4 -10.1 383 3766 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2798 3357 3358 3357 0 0 0 0 0 0 14.89 14.90 14.89

4065 -0.92 -121.7 2414 2799 3359 3358 451.9 -10.0 398 4071 0.00 2.38 0.00 0.000 516 0.000 0.051 2414 1405 3357 3358 3357 0 0 0 0 0 0 14.90 14.69 14.90

4125 -0.92 -121.7 2415 1405 3359 3357 457.8 -9.7 410 4132 0.00 2.45 0.00 0.000 1030 0.000 0.073 2414 2795 3357 3358 3357 0 0 0 0 0 0 14.70 14.64 14.73

4446 -0.92 -121.7 2415 2795 3359 3357 488.1 -9.2 429 4446 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2795 3357 3358 3357 0 0 0 0 0 0 14.89 14.90 14.90

4615 end dive: TARGET_DEPTH_EXCEEDED

state 4615 begin apogee

4618 -0.23 0.0 2415 2547 3359 3357 503.5 -9.0 437 4748 0.88 0.00 126.78 2.840 10246 0.262 0.000 2647 2546 2863 2861 2866 0 0 0 0 0 0 14.50 13.66 12.69

4749 end apogee: CONTROL_FINISHED_OK

state 4749 begin climb

4750 0.92 121.7 2648 2547 2859 2867 506.1 0.0 441 4886 1.33 0.00 132.45 2.743 10246 0.174 0.000 3017 2546 2378 2364 2392 0 0 0 0 0 0 13.61 13.16 12.23

5175 0.92 121.7 3017 2547 2352 2382 459.7 12.1 461 5182 0.00 2.58 0.00 0.000 260 0.000 0.095 3017 3907 2366 2351 2381 0 0 0 0 0 0 14.26 14.02 14.26

5210 0.92 121.7 3017 3908 2353 2382 455.1 13.6 468 5218 0.00 2.40 0.00 0.000 1030 0.000 0.056 3027 2556 2366 2352 2381 0 0 0 0 0 0 14.13 14.11 14.16

5517 0.92 121.7 3028 2556 2351 2380 418.8 11.7 484 5522 0.00 2.47 0.00 0.000 516 0.000 0.068 3038 1149 2364 2350 2379 0 0 0 0 0 0 14.51 14.29 14.51

5540 0.92 121.7 3039 1146 2350 2380 415.9 11.4 489 5547 0.00 2.53 0.00 0.000 1030 0.000 0.072 3038 2544 2364 2350 2378 0 0 0 0 0 0 14.36 14.30 14.38

5856 0.92 121.7 3039 2545 2350 2380 378.3 11.8 507 5862 0.00 2.45 0.00 0.000 260 0.000 0.098 3039 3907 2364 2350 2378 0 0 0 0 0 0 14.66 14.41 14.66

5876 0.92 121.7 3038 3908 2351 2379 375.7 12.8 511 5882 0.00 2.35 0.00 0.000 1030 0.000 0.057 3049 2550 2366 2355 2378 0 0 0 0 0 0 14.51 14.47 14.52

6196 0.92 121.7 3049 2551 2351 2379 337.6 11.7 530 6203 0.00 2.45 0.00 0.000 516 0.000 0.068 3059 1160 2363 2349 2378 0 0 0 0 0 0 14.73 14.48 14.73

6216 0.92 121.7 3059 1161 2349 2379 335.2 11.0 534 6224 0.10 2.47 0.00 0.000 5126 0.259 0.073 3032 2547 2363 2349 2378 0 0 0 0 0 0 14.39 14.50 14.53

6538 0.92 121.7 3032 2548 2350 2379 299.7 11.1 553 6543 0.00 2.45 0.00 0.000 260 0.000 0.096 3032 3901 2364 2350 2378 0 0 0 0 0 0 14.83 14.52 14.78

6562 0.92 121.7 3032 3902 2351 2379 296.7 12.3 558 6571 0.00 2.33 0.00 0.000 1030 0.000 0.057 3042 2548 2364 2350 2378 0 0 0 0 0 0 14.62 14.59 14.64

6867 0.92 121.7 3042 2548 2350 2378 261.2 11.8 589 6873 0.00 2.45 0.00 0.000 516 0.000 0.067 3052 1153 2363 2349 2378 0 0 0 0 0 0 14.81 14.56 14.81

6938 0.92 121.7 3052 1154 2349 2378 253.0 11.5 603 6944 0.00 2.45 0.00 0.000 1030 0.000 0.074 3052 2559 2363 2349 2377 0 0 0 0 0 0 14.67 14.58 14.69

7247 0.92 121.7 3052 2558 2350 2376 216.4 11.5 635 7254 0.00 2.45 0.00 0.000 260 0.000 0.098 3052 3908 2363 2349 2377 0 0 0 0 0 0 14.83 14.57 14.83

7282 0.92 121.7 3053 3910 2351 2371 211.8 13.4 642 7291 0.12 2.33 0.00 0.000 5126 0.290 0.058 3029 2551 2363 2349 2377 0 0 0 0 0 0 14.45 14.63 14.62

7587 0.92 121.7 3030 2554 2350 2378 179.0 10.7 673 7588 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2553 2363 2349 2377 0 0 0 0 0 0 14.85 14.85 14.83

7888 0.92 121.7 3030 2552 2350 2377 145.7 10.8 703 7894 0.00 2.40 0.00 0.000 260 0.000 0.096 3029 3906 2363 2349 2377 0 0 0 0 0 0 14.83 14.61 14.83

7912 0.92 121.7 3030 3906 2351 2377 142.7 12.1 708 7920 0.00 2.30 0.00 0.000 1030 0.000 0.057 3039 2555 2363 2350 2376 0 0 0 0 0 0 14.70 14.66 14.71

8217 0.92 121.7 3040 2556 2350 2377 110.5 10.5 739 8218 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2556 2363 2349 2377 0 0 0 0 0 0 14.87 14.87 14.87

8517 0.92 121.7 3040 2556 2350 2377 80.8 9.7 769 8523 0.00 2.45 0.00 0.000 516 0.000 0.067 3050 1153 2363 2349 2377 0 0 0 0 0 0 14.88 14.62 14.88

8542 0.92 121.7 3050 1152 2349 2376 78.4 9.4 774 8551 0.00 2.45 0.00 0.000 1030 0.000 0.072 3050 2546 2362 2349 2376 0 0 0 0 0 0 14.69 14.63 14.71

8847 0.92 121.7 3050 2547 2347 2377 47.3 10.2 805 8854 0.00 2.45 0.00 0.000 260 0.000 0.098 3050 3904 2362 2349 2376 0 0 0 0 0 0 14.88 14.59 14.88

8942 0.92 121.7 3051 3904 2351 2376 36.0 11.9 824 8954 0.10 2.30 0.00 0.000 5126 0.285 0.057 3034 2555 2362 2349 2376 0 0 0 0 0 0 14.47 14.66 14.65

9248 0.92 121.7 3032 2555 2348 2376 6.2 8.6 855 9254 0.00 2.45 0.00 0.000 516 0.000 0.069 3043 1157 2362 2349 2376 0 0 0 0 0 0 14.88 14.62 14.88

9278 0.92 121.7 3044 1158 2349 2376 3.1 10.2 861 9284 0.00 2.45 0.00 0.000 1030 0.000 0.073 3043 2546 2361 2348 2374 0 0 0 0 0 0 14.70 14.63 14.72

9298 end climb: SURFACE_DEPTH_REACHED

state 9298 begin surface coast

9307 end surface coast: CONTROL_FINISHED_OK

state 9307 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	63	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	33	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	ALTIM_PULSE	2
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	100	SM_CC	350	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	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2865	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.25119999	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	300	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	340	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	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	100000	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	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	0.30000001	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	30	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	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	3910	ALTIM_PING_FIT	783

GPS1	310118,235419,-7359.0928,-11154.6660,3,1.5,7,52.8,0.7,60.8,5,7.6	SPEED_LIMITS	0.154,0.189
_CALLS	1	TGT_NAME	E1
_XMS_NAKs	0	TGT_LATLONG	-7406.000,-11154.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.76	MHEAD_RNG_PITCHd_Wd	127.6,12836,-16.9,-8.889,-25.24,1952
_SM_ANGLEo	-62.4	D_GRID	503
GPS2	010218,000009,-7359.0718,-11154.7305,16,1.6,17,52.8,0.9,63.4,6,7.3

FREEZE	0.19,-1.392,-1.861,2,1,0	ALTIM_TOP_PING	9.6,9.8
FINISH	0.2,1.027294	_24V_AH	12.23,29.929
SM_CCo	9321,201.88,0.226,0,0,1469,350.17	_10V_AH	12.62,0.000
SM_GC	0.74,8.45,0.47,201.88,0.089,0.103,0.226,199,2806,1469,-7.88,-0.51,350.17,0,0,0,0,0,0,14.60,14.64,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	384	FG_AHR_10Vo	0.000
RAFOS	0,1517443266,0.032778,0.018333,82,62,59,58,55,55,586,215,192,158,181,115	MEM	280624
RAFOS_FIX	-7358.895020,-11154.800781,010218,000056,3,87,0.37	DATA_FILE_SIZE	30056,865
IRIDIUM_FIX	-7357.04,-11155.31,310118,205306	CAP_FILE_SIZE	116889,0
TT8_MAMPS	0.039697,0.289863	CFSIZE	1024409600,1012842496
HUMID	45.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1445.9
TCM_TEMP	12.90	CURRENT	0.041,253.97,1
XPDR_PINGS	0	GPS	010218,024025,-7400.103,-11155.664,34,1.8,35,52.9,1.0,275.0,6,4.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	485	137.76	nil	0	0	0.00
Roll_motor	84	103	106.60	nil	0	0	0.00
VBD_pump_during_apogee	259	2839	9002.70	nil	0	0	0.00
VBD_pump_during_surface	201	226	559.06	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	9304	4	514.21
Iridium_during_xfer	243	198	593.48	nil	0	0	0.00
Transponder_ping	29	420	148.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	8	2.18
TT8	0	0	0.00
LPSleep	7007	2	204.27
TT8_Active	734	10	100.74
TT8_Sampling	2064	30	790.67
TT8_CF8	76	51	49.38
TT8_Kalman	0	0	0.00
Analog_circuits	1623	10	206.99
GPS_charging	0	0	0.00
Compass	1240	6	105.55
RAFOS	720	1	13.63
Transponder	199	30	75.52

		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
16.9	17.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.4	26.60	9000.00	0.0	0.00	0.00	26.60	0.0	1.02	1.00
34.0	35.60	35.60	0.0	1.04	1.00	35.60	0.0	1.05	1.00
43.0	45.80	45.70	0.0	1.10	1.00	45.80	0.0	1.13	1.00
51.6	54.20	54.50	0.0	1.06	1.00	54.20	0.0	0.98	1.00
59.6	62.40	62.40	0.0	1.00	1.00	62.40	0.0	1.03	1.00
68.8	73.00	72.80	0.0	1.09	1.00	73.00	0.0	1.15	1.00
95.5	7.40	9000.00	0.0	-1.74	0.85	7.40	102.9	-2.46	1.00
104.6	9.60	9000.00	0.0	-1.93	0.93	9.60	0.0	0.24	1.00
113.6	9.50	9000.00	0.0	0.11	0.71	9.50	123.1	-0.01	1.00
122.2	9.40	9000.00	0.0	-0.01	0.89	9.40	131.6	-0.01	1.00
130.9	7.40	9000.00	0.0	-0.12	0.76	7.40	138.3	-0.23	1.00
139.7	11.40	9000.00	0.0	0.11	0.25	11.40	0.0	0.45	1.00
148.7	11.20	9000.00	0.0	0.21	0.71	11.20	159.9	-0.02	1.00
157.0	11.10	9000.00	0.0	-0.02	1.00	11.10	168.1	-0.01	1.00
165.0	11.20	9000.00	0.0	0.00	0.11	11.20	0.0	0.01	1.00
173.2	11.20	9000.00	0.0	0.00	0.73	0.00	0.0	0.00	0.00

163.3	11.10	9000.00	0.0	0.01	0.40	11.10	152.2	0.01	1.00
154.3	11.40	9000.00	0.0	-0.01	0.22	11.40	0.0	-0.03	1.00
145.7	11.50	9000.00	0.0	-0.03	0.98	11.50	0.0	-0.01	1.00
136.8	9.40	9000.00	0.0	0.11	0.69	9.40	127.4	0.24	1.00
128.3	7.30	9000.00	0.0	0.24	1.00	7.30	121.0	0.25	1.00
119.9	7.40	9000.00	0.0	0.12	0.73	7.40	0.0	-0.01	1.00
111.5	7.40	9000.00	0.0	-0.01	0.97	0.00	0.0	0.00	0.00
103.5	9.70	9000.00	0.0	-0.14	0.76	9.70	0.0	-0.29	1.00
94.5	7.50	9000.00	0.0	0.00	0.00	7.50	87.0	0.24	1.00
85.7	7.80	9000.00	0.0	0.10	0.63	7.80	0.0	-0.03	1.00
76.9	80.40	9000.00	0.0	-4.13	0.75	80.40	0.0	-8.25	1.00
68.8	72.30	9000.00	0.0	-3.89	0.68	72.30	-3.5	1.00	1.00
60.7	63.00	63.20	-2.5	1.07	1.00	63.00	-2.3	1.15	1.00
52.4	54.50	54.30	-1.9	1.09	1.00	54.50	-2.1	1.02	1.00
43.8	44.80	45.00	-1.2	1.08	1.00	44.80	-1.0	1.13	1.00
35.5	36.30	36.10	-0.6	1.08	1.00	36.30	-0.8	1.02	1.00
26.7	27.40	27.40	-0.7	1.02	1.00	27.40	-0.7	1.01	1.00
18.1	18.50	18.50	-0.4	1.02	1.00	18.50	-0.4	1.03	1.00
9.6	9.80	9.80	-0.2	1.03	1.00	9.80	-0.2	1.02	1.00
1.2	9.20	9000.00	0.0	0.55	0.80	9.20	-8.0	0.07	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	-0.92	-121.7	196	2809	1497	1401	0.0	0.0	0	131	0.00	0.00	-116.30	0.003	16390	0.000	0.000	195	2809	3353	3364	3342	0	0	0	0	0	0	14.56	13.34	14.57
133	-0.92	-121.7	196	2810	3365	3342	3.5	-4.6	12	151	12.25	2.40	0.00	0.000	2596	0.485	0.045	2424	1396	3356	3363	3350	0	0	0	0	0	0	14.11	14.35	14.34
305	-0.92	-121.7	2425	1395	3362	3355	27.6	-10.6	46	311	0.00	2.53	0.00	0.000	1030	0.000	0.074	2424	2796	3357	3361	3354	0	0	0	0	0	0	14.47	14.40	14.50
615	-0.92	-121.7	2425	2797	3359	3358	60.7	-9.9	78	621	0.00	2.00	0.00	0.000	260	0.000	0.096	2417	3906	3358	3360	3357	0	0	0	0	0	0	14.73	14.47	14.73
665	-0.92	-121.7	2417	3907	3360	3357	66.4	-11.8	88	671	0.00	1.90	0.00	0.000	1030	0.000	0.049	2417	2784	3355	3360	3350	0	0	0	0	0	0	14.58	14.55	14.60
975	-0.92	-121.7	2417	2785	3360	3358	103.3	-13.1	120	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2784	3358	3360	3357	0	0	0	0	0	0	14.78	14.78	14.78
1275	-0.92	-121.7	2417	2785	3360	3358	140.9	-12.6	150	1281	0.00	2.03	0.00	0.000	260	0.000	0.095	2415	3906	3358	3360	3357	0	0	0	0	0	0	14.81	14.54	14.81
1315	-0.92	-121.7	2416	3906	3361	3357	146.1	-13.2	158	1321	0.00	1.88	0.00	0.000	1030	0.000	0.050	2415	2797	3359	3360	3358	0	0	0	0	0	0	14.65	14.62	14.65
1625	-0.92	-121.7	2416	2796	3361	3357	183.0	-12.2	190	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2797	3358	3360	3357	0	0	0	0	0	0	14.83	14.83	14.83
1925	-0.92	-121.7	2416	2797	3361	3357	219.3	-11.8	220	1931	0.00	2.00	0.00	0.000	260	0.000	0.095	2415	3907	3358	3359	3357	0	0	0	0	0	0	14.85	14.59	14.85
2155	-0.92	-121.7	2415	3907	3361	3357	244.2	-12.4	266	2161	0.00	1.85	0.00	0.000	1030	0.000	0.050	2415	2801	3357	3358	3357	0	0	0	0	0	0	14.69	14.66	14.71
2465	-0.92	-121.7	2415	2802	3361	3357	279.9	-11.5	298	2471	0.00	2.00	0.00	0.000	260	0.000	0.094	2414	3913	3358	3359	3357	0	0	0	0	0	0	14.86	14.59	14.87
2510	-0.92	-121.7	2415	3913	3361	3357	285.3	-12.2	307	2518	0.00	1.88	0.00	0.000	1030	0.000	0.050	2413	2796	3358	3359	3357	0	0	0	0	0	0	14.71	14.67	14.71
2825	-0.92	-121.7	2415	2795	3361	3360	320.5	-11.2	330	2831	0.00	2.38	0.00	0.000	516	0.000	0.051	2414	1399	3358	3359	3357	0	0	0	0	0	0	14.88	14.63	14.87
2855	-0.92	-121.7	2415	1400	3360	3358	323.9	-11.0	336	2861	0.00	2.47	0.00	0.000	1030	0.000	0.073	2415	2798	3357	3359	3356	0	0	0	0	0	0	14.69	14.62	14.71
3165	-0.92	-121.7	2415	2799	3359	3358	359.0	-11.2	353	3166	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2798	3358	3359	3357	0	0	0	0	0	0	14.88	14.88	14.88
3465	-0.92	-121.7	2415	2798	3360	3357	391.0	-10.5	368	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2798	3357	3358	3357	0	0	0	0	0	0	14.88	14.89	14.89
3765	-0.92	-121.7	2415	2798	3360	3357	421.4	-10.1	383	3766	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2798	3357	3358	3357	0	0	0	0	0	0	14.89	14.90	14.89
4065	-0.92	-121.7	2414	2799	3359	3358	451.9	-10.0	398	4071	0.00	2.38	0.00	0.000	516	0.000	0.051	2414	1405	3357	3358	3357	0	0	0	0	0	0	14.90	14.69	14.90
4125	-0.92	-121.7	2415	1405	3359	3357	457.8	-9.7	410	4132	0.00	2.45	0.00	0.000	1030	0.000	0.073	2414	2795	3357	3358	3357	0	0	0	0	0	0	14.70	14.64	14.73
4446	-0.92	-121.7	2415	2795	3359	3357	488.1	-9.2	429	4446	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2795	3357	3358	3357	0	0	0	0	0	0	14.89	14.90	14.90
4615	end dive: TARGET_DEPTH_EXCEEDED
state	4615	begin apogee
4618	-0.23	0.0	2415	2547	3359	3357	503.5	-9.0	437	4748	0.88	0.00	126.78	2.840	10246	0.262	0.000	2647	2546	2863	2861	2866	0	0	0	0	0	0	14.50	13.66	12.69
4749	end apogee: CONTROL_FINISHED_OK
state	4749	begin climb
4750	0.92	121.7	2648	2547	2859	2867	506.1	0.0	441	4886	1.33	0.00	132.45	2.743	10246	0.174	0.000	3017	2546	2378	2364	2392	0	0	0	0	0	0	13.61	13.16	12.23
5175	0.92	121.7	3017	2547	2352	2382	459.7	12.1	461	5182	0.00	2.58	0.00	0.000	260	0.000	0.095	3017	3907	2366	2351	2381	0	0	0	0	0	0	14.26	14.02	14.26
5210	0.92	121.7	3017	3908	2353	2382	455.1	13.6	468	5218	0.00	2.40	0.00	0.000	1030	0.000	0.056	3027	2556	2366	2352	2381	0	0	0	0	0	0	14.13	14.11	14.16
5517	0.92	121.7	3028	2556	2351	2380	418.8	11.7	484	5522	0.00	2.47	0.00	0.000	516	0.000	0.068	3038	1149	2364	2350	2379	0	0	0	0	0	0	14.51	14.29	14.51
5540	0.92	121.7	3039	1146	2350	2380	415.9	11.4	489	5547	0.00	2.53	0.00	0.000	1030	0.000	0.072	3038	2544	2364	2350	2378	0	0	0	0	0	0	14.36	14.30	14.38
5856	0.92	121.7	3039	2545	2350	2380	378.3	11.8	507	5862	0.00	2.45	0.00	0.000	260	0.000	0.098	3039	3907	2364	2350	2378	0	0	0	0	0	0	14.66	14.41	14.66
5876	0.92	121.7	3038	3908	2351	2379	375.7	12.8	511	5882	0.00	2.35	0.00	0.000	1030	0.000	0.057	3049	2550	2366	2355	2378	0	0	0	0	0	0	14.51	14.47	14.52
6196	0.92	121.7	3049	2551	2351	2379	337.6	11.7	530	6203	0.00	2.45	0.00	0.000	516	0.000	0.068	3059	1160	2363	2349	2378	0	0	0	0	0	0	14.73	14.48	14.73
6216	0.92	121.7	3059	1161	2349	2379	335.2	11.0	534	6224	0.10	2.47	0.00	0.000	5126	0.259	0.073	3032	2547	2363	2349	2378	0	0	0	0	0	0	14.39	14.50	14.53
6538	0.92	121.7	3032	2548	2350	2379	299.7	11.1	553	6543	0.00	2.45	0.00	0.000	260	0.000	0.096	3032	3901	2364	2350	2378	0	0	0	0	0	0	14.83	14.52	14.78
6562	0.92	121.7	3032	3902	2351	2379	296.7	12.3	558	6571	0.00	2.33	0.00	0.000	1030	0.000	0.057	3042	2548	2364	2350	2378	0	0	0	0	0	0	14.62	14.59	14.64
6867	0.92	121.7	3042	2548	2350	2378	261.2	11.8	589	6873	0.00	2.45	0.00	0.000	516	0.000	0.067	3052	1153	2363	2349	2378	0	0	0	0	0	0	14.81	14.56	14.81
6938	0.92	121.7	3052	1154	2349	2378	253.0	11.5	603	6944	0.00	2.45	0.00	0.000	1030	0.000	0.074	3052	2559	2363	2349	2377	0	0	0	0	0	0	14.67	14.58	14.69
7247	0.92	121.7	3052	2558	2350	2376	216.4	11.5	635	7254	0.00	2.45	0.00	0.000	260	0.000	0.098	3052	3908	2363	2349	2377	0	0	0	0	0	0	14.83	14.57	14.83
7282	0.92	121.7	3053	3910	2351	2371	211.8	13.4	642	7291	0.12	2.33	0.00	0.000	5126	0.290	0.058	3029	2551	2363	2349	2377	0	0	0	0	0	0	14.45	14.63	14.62
7587	0.92	121.7	3030	2554	2350	2378	179.0	10.7	673	7588	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2553	2363	2349	2377	0	0	0	0	0	0	14.85	14.85	14.83
7888	0.92	121.7	3030	2552	2350	2377	145.7	10.8	703	7894	0.00	2.40	0.00	0.000	260	0.000	0.096	3029	3906	2363	2349	2377	0	0	0	0	0	0	14.83	14.61	14.83
7912	0.92	121.7	3030	3906	2351	2377	142.7	12.1	708	7920	0.00	2.30	0.00	0.000	1030	0.000	0.057	3039	2555	2363	2350	2376	0	0	0	0	0	0	14.70	14.66	14.71
8217	0.92	121.7	3040	2556	2350	2377	110.5	10.5	739	8218	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	2556	2363	2349	2377	0	0	0	0	0	0	14.87	14.87	14.87
8517	0.92	121.7	3040	2556	2350	2377	80.8	9.7	769	8523	0.00	2.45	0.00	0.000	516	0.000	0.067	3050	1153	2363	2349	2377	0	0	0	0	0	0	14.88	14.62	14.88
8542	0.92	121.7	3050	1152	2349	2376	78.4	9.4	774	8551	0.00	2.45	0.00	0.000	1030	0.000	0.072	3050	2546	2362	2349	2376	0	0	0	0	0	0	14.69	14.63	14.71
8847	0.92	121.7	3050	2547	2347	2377	47.3	10.2	805	8854	0.00	2.45	0.00	0.000	260	0.000	0.098	3050	3904	2362	2349	2376	0	0	0	0	0	0	14.88	14.59	14.88
8942	0.92	121.7	3051	3904	2351	2376	36.0	11.9	824	8954	0.10	2.30	0.00	0.000	5126	0.285	0.057	3034	2555	2362	2349	2376	0	0	0	0	0	0	14.47	14.66	14.65
9248	0.92	121.7	3032	2555	2348	2376	6.2	8.6	855	9254	0.00	2.45	0.00	0.000	516	0.000	0.069	3043	1157	2362	2349	2376	0	0	0	0	0	0	14.88	14.62	14.88
9278	0.92	121.7	3044	1158	2349	2376	3.1	10.2	861	9284	0.00	2.45	0.00	0.000	1030	0.000	0.073	3043	2546	2361	2348	2374	0	0	0	0	0	0	14.70	14.63	14.72
9298	end climb: SURFACE_DEPTH_REACHED
state	9298	begin surface coast
9307	end surface coast: CONTROL_FINISHED_OK
state	9307	begin surface