Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 151 * 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 151 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 14 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 280 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 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 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 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 10 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 0 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 20 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 0 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 0 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

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 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 20 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 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

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 151 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 14 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 280 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 0 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 130218,031408,-7427.8872,-11235.6914,0,4143.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 363.26 MHEAD_RNG_PITCHd_Wd 125.5,18731,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 1.9 D_GRID 990

GPS2 130218,031408,-7427.8872,-11235.6914,0,4143.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 349.7,1.027394,5 _24V_AH 13.03,66.943

FINISH2 348.7 _10V_AH 12.47,0.000

RAFOS_CLK 427 FG_AHR_24Vo 0.000

RAFOS 0,1518501665,6.032778,6.018055,142,59,59,56,55,54,628,211,196,174,225,138 FG_AHR_10Vo 0.000

RAFOS_FIX -7430.728027,-11232.693359,130218,090940,3,148,0.25 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33379,981

TT8_MAMPS 0.041195,0.296604 CAP_FILE_SIZE 121955,0

HUMID 48.11 CFSIZE 1024409600,1002455040

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1458.2

XPDR_PINGS 0 GPS 130218,091440,-7430.728,-11232.693,0,4148.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 353.2,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 14.83 nil 0 0 0.00

Roll_motor 84 348 383.74 nil 0 0 0.00

VBD_pump_during_apogee 1051 1308 17916.20 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 11800 3 461.57

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 247.64 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8700 2 250.63

TT8_Active 1030 12 157.60

TT8_Sampling 2041 31 807.92

TT8_CF8 95 45 53.83

TT8_Kalman 0 0 0.00

Analog_circuits 1829 10 232.74

GPS_charging 0 0 0.00

Compass 1404 7 131.16

RAFOS 1200 1 22.45

Transponder 321 30 120.19

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

363.6 10.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

369.8 16.90 9000.00 0.0 0.00 0.00 16.90 0.0 0.98 1.00

376.4 23.30 23.30 0.0 0.97 1.00 23.30 0.0 0.97 1.00

383.1 29.70 29.70 0.0 0.96 1.00 29.70 0.0 0.96 1.00

389.6 35.80 35.80 0.0 0.94 1.00 35.80 0.0 0.94 1.00

396.2 42.30 42.20 0.0 0.96 1.00 42.30 0.0 0.98 1.00

409.7 55.10 55.20 0.0 0.96 1.00 55.10 0.0 0.95 1.00

991.8 18.00 9000.00 0.0 -0.05 0.87 18.00 0.0 -0.06 1.00

985.5 23.40 9000.00 0.0 -0.06 0.98 23.40 0.0 -0.86 1.00

979.1 21.80 9000.00 0.0 -0.29 0.46 21.80 957.3 0.25 1.00

972.4 28.40 9000.00 0.0 -0.39 0.55 28.40 0.0 -0.99 1.00

966.3 17.90 9000.00 0.0 0.28 0.12 17.90 948.4 1.72 1.00

959.9 22.30 9000.00 0.0 0.48 0.33 22.30 0.0 -0.69 1.00

953.2 20.50 9000.00 0.0 -0.20 0.36 20.50 932.7 0.27 1.00

422.9 77.60 9000.00 0.0 -0.11 1.00 77.60 0.0 -0.11 1.00

415.8 70.30 9000.00 0.0 -0.10 0.98 70.30 345.5 1.03 1.00

408.8 62.90 63.00 345.8 1.04 1.00 62.90 345.9 1.06 1.00

401.7 56.00 55.90 345.8 1.01 1.00 56.00 345.7 0.97 1.00

395.6 49.80 49.90 345.7 0.99 1.00 49.80 345.8 1.02 1.00

388.5 43.10 43.10 345.4 0.97 1.00 43.10 345.4 0.94 1.00

381.4 39.30 9000.00 0.0 0.74 0.98 39.30 342.1 0.54 1.00

374.5 32.00 9000.00 0.0 0.80 0.96 32.00 342.5 1.06 1.00

367.4 24.50 24.50 342.9 1.06 1.00 24.50 342.9 1.06 1.00

360.3 17.00 17.00 343.3 1.06 1.00 17.00 343.3 1.06 1.00

353.2 9.80 9.80 343.4 1.04 1.00 9.80 343.4 1.01 1.00

Guidance and control:

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.88 -146.0 2712 2507 2830 2607 0.0 0.0 0 12 0.00 0.00 -2.00 0.047 16390 0.000 0.000 2711 2506 3326 3464 3188 0 0 0 0 0 0 15.08 13.43 15.08

13 -0.88 -146.0 2712 2507 3462 3192 0.0 0.0 0 20 0.90 2.33 0.00 0.000 4356 0.109 0.153 2412 3755 3326 3456 3196 0 0 0 0 0 0 14.78 14.71 14.85

100 -0.88 -146.0 2413 3756 3447 3205 371.4 -10.8 17 107 0.00 2.25 0.00 0.000 1030 0.000 0.101 2412 2488 3325 3446 3205 0 0 0 0 0 0 14.92 14.81 14.96

404 -0.88 -146.0 2413 2489 3445 3208 405.2 -11.2 48 405 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2488 3326 3444 3208 0 0 0 0 0 0 15.11 15.14 15.14

704 -0.88 -146.0 2413 2488 3444 3209 438.2 -10.9 78 710 0.00 2.47 0.00 0.000 260 0.000 0.156 2403 3755 3325 3442 3208 0 0 0 0 0 0 15.11 14.68 15.14

749 -0.88 -146.0 2403 3756 3441 3211 443.4 -11.7 87 756 0.00 2.28 0.00 0.000 1030 0.000 0.099 2403 2499 3325 3440 3210 0 0 0 0 0 0 14.85 14.78 14.89

1055 -0.88 -146.0 2403 2498 3440 3210 477.6 -11.1 118 1055 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2498 3324 3439 3210 0 0 0 0 0 0 15.11 15.14 15.14

1354 -0.88 -146.0 2403 2499 3439 3211 511.0 -11.0 148 1360 0.00 2.42 0.00 0.000 260 0.000 0.157 2393 3747 3324 3438 3210 0 0 0 0 0 0 15.12 14.68 15.15

1399 -0.88 -146.0 2394 3747 3438 3212 516.2 -11.8 157 1407 0.00 2.28 0.00 0.000 1030 0.000 0.097 2394 2488 3324 3437 3211 0 0 0 0 0 0 14.85 14.78 14.90

1704 -0.88 -146.0 2394 2489 3438 3212 550.5 -11.2 188 1710 0.00 2.45 0.00 0.000 260 0.000 0.153 2385 3750 3324 3437 3212 0 0 0 0 0 0 15.12 14.68 15.16

1744 -0.88 -146.0 2385 3750 3437 3212 555.3 -12.1 196 1751 0.10 2.28 0.00 0.000 3078 0.262 0.098 2412 2492 3324 3436 3212 0 0 0 0 0 0 14.57 14.78 14.75

2055 -0.88 -146.0 2412 2493 3437 3213 587.0 -10.0 228 2055 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3324 3436 3212 0 0 0 0 0 0 15.12 15.15 15.15

2355 -0.88 -146.0 2411 2493 3437 3213 617.0 -9.9 258 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2492 3324 3436 3212 0 0 0 0 0 0 15.13 15.16 15.15

2655 -0.88 -146.0 2412 2492 3437 3212 646.9 -10.0 288 2660 0.00 2.45 0.00 0.000 260 0.000 0.154 2403 3755 3324 3436 3212 0 0 0 0 0 0 15.13 14.67 15.16

2689 -0.88 -146.0 2403 3757 3437 3213 650.6 -10.9 295 2698 0.00 2.30 0.00 0.000 1030 0.000 0.098 2399 2484 3323 3435 3212 0 0 0 0 0 0 14.86 14.78 14.90

2995 -0.88 -146.0 2404 2485 3436 3213 682.4 -10.4 326 2996 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2485 3323 3435 3212 0 0 0 0 0 0 15.09 15.11 15.11

3295 -0.88 -146.0 2403 2486 3442 3214 713.1 -10.2 348 3301 0.00 2.40 0.00 0.000 260 0.000 0.155 2393 3750 3324 3435 3213 0 0 0 0 0 0 15.09 14.70 15.10

3329 -0.88 -146.0 2394 3750 3436 3213 716.8 -10.8 355 3336 0.00 2.28 0.00 0.000 1030 0.000 0.097 2393 2490 3323 3435 3212 0 0 0 0 0 0 14.85 14.78 14.90

3715 -0.88 -146.0 2394 2490 3436 3213 757.5 -10.6 372 3716 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2490 3324 3435 3213 0 0 0 0 0 0 15.09 15.12 15.11

4075 -0.88 -146.0 2394 2491 3436 3214 794.8 -10.1 384 4081 0.00 2.42 0.00 0.000 260 0.000 0.152 2385 3748 3324 3435 3213 0 0 0 0 0 0 15.14 14.68 15.17

4125 -0.88 -146.0 2385 3749 3435 3214 800.3 -10.5 394 4131 0.10 2.28 0.00 0.000 3078 0.263 0.096 2412 2489 3324 3435 3213 0 0 0 0 0 0 14.56 14.78 14.73

4496 -0.88 -146.0 2412 2493 3435 3214 835.6 -9.3 408 4496 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2488 3323 3434 3213 0 0 0 0 0 0 15.14 15.17 15.16

4855 -0.88 -146.0 2413 2489 3434 3214 869.2 -9.4 420 4856 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2488 3324 3435 3213 0 0 0 0 0 0 15.15 15.18 15.17

5215 -0.88 -146.0 2412 2488 3436 3213 902.0 -9.1 432 5216 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2488 3323 3435 3212 0 0 0 0 0 0 15.15 15.18 15.18

5575 -0.88 -146.0 2412 2488 3435 3213 934.6 -9.1 444 5576 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2488 3324 3435 3213 0 0 0 0 0 0 15.15 15.18 15.18

5935 -0.88 -146.0 2412 2489 3436 3214 967.3 -9.1 456 5936 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2489 3324 3435 3213 0 0 0 0 0 0 15.16 15.19 15.18

6204 end dive: TARGET_DEPTH_EXCEEDED

state 6204 begin apogee

6207 -0.23 0.0 2413 2186 3436 3213 991.2 -8.8 465 6783 0.77 0.03 570.95 1.159 10246 0.226 0.349 2624 2195 2714 2771 2658 0 0 0 0 0 0 14.63 13.65 13.24

6784 end apogee: CONTROL_FINISHED_OK

state 6784 begin climb

6786 0.88 146.0 2624 2197 2769 2658 999.3 0.0 484 7280 1.20 2.85 480.15 1.308 11012 0.129 0.125 2990 792 2115 2147 2083 0 0 0 0 0 0 13.72 13.60 13.03

7465 0.88 146.0 2990 792 2128 2069 922.0 13.5 614 7470 0.00 2.72 0.00 0.000 1030 0.000 0.112 2990 2219 2097 2127 2067 0 0 0 0 0 0 14.28 14.16 14.31

7836 0.88 146.0 2991 2219 2128 2062 870.9 13.8 628 7841 0.00 2.70 0.00 0.000 260 0.000 0.144 2990 3624 2094 2127 2062 0 0 0 0 0 0 14.79 14.51 14.81

7855 0.88 146.0 2990 3624 2128 2063 867.8 13.3 632 7861 0.00 2.62 0.00 0.000 1030 0.000 0.099 3001 2205 2095 2128 2062 0 0 0 0 0 0 14.63 14.55 14.66

8225 0.88 146.0 3001 2204 2128 2062 815.0 14.2 646 8231 0.00 2.65 0.00 0.000 516 0.000 0.129 3012 776 2093 2126 2061 0 0 0 0 0 0 14.97 14.65 15.00

8265 0.88 146.0 3013 776 2128 2061 809.2 14.6 654 8271 0.00 2.62 0.00 0.000 1030 0.000 0.116 3012 2208 2093 2126 2061 0 0 0 0 0 0 14.81 14.67 14.85

8646 0.88 146.0 3012 2209 2127 2061 753.6 14.8 670 8647 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2208 2093 2126 2060 0 0 0 0 0 0 15.01 15.04 15.03

9006 0.88 146.0 3012 2209 2126 2060 700.9 14.6 682 9011 0.00 2.65 0.00 0.000 516 0.000 0.128 3022 775 2092 2126 2059 0 0 0 0 0 0 15.04 14.74 15.07

9035 0.88 146.0 3022 775 2127 2060 696.4 14.4 688 9042 0.10 2.65 0.00 0.000 5126 0.226 0.114 2981 2205 2092 2125 2059 0 0 0 0 0 0 14.68 14.73 14.90

9347 0.88 146.0 2981 2205 2127 2059 656.6 12.8 720 9352 0.00 2.67 0.00 0.000 260 0.000 0.146 2981 3623 2091 2125 2058 0 0 0 0 0 0 15.05 14.73 15.08

9386 0.88 146.0 2985 3623 2127 2058 650.9 14.4 728 9393 0.00 2.60 0.00 0.000 1030 0.000 0.101 2990 2198 2092 2126 2058 0 0 0 0 0 0 14.85 14.78 14.89

9697 0.88 146.0 2990 2198 2126 2058 609.1 13.4 760 9703 0.00 2.60 0.00 0.000 516 0.000 0.129 3001 787 2091 2125 2057 0 0 0 0 0 0 15.11 14.74 15.14

9722 0.88 146.0 3001 787 2126 2058 605.7 13.5 765 9730 0.00 2.62 0.00 0.000 1030 0.000 0.116 3001 2201 2091 2125 2057 0 0 0 0 0 0 14.84 14.76 14.88

10027 0.88 146.0 3002 2201 2126 2057 564.0 13.6 796 10028 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2201 2091 2125 2057 0 0 0 0 0 0 15.11 15.14 15.14

10327 0.88 146.0 3001 2201 2126 2057 523.9 12.9 826 10333 0.00 2.67 0.00 0.000 260 0.000 0.147 3001 3623 2091 2125 2057 0 0 0 0 0 0 15.12 14.75 15.15

10347 0.88 146.0 3001 3623 2126 2057 521.2 13.4 830 10353 0.00 2.60 0.00 0.000 1030 0.000 0.101 3012 2195 2090 2124 2057 0 0 0 0 0 0 14.97 14.79 15.00

10657 0.88 146.0 3012 2194 2125 2057 481.1 12.9 862 10663 0.00 2.60 0.00 0.000 516 0.000 0.129 3023 781 2090 2124 2056 0 0 0 0 0 0 15.12 14.76 15.14

10682 0.88 146.0 3023 781 2125 2056 477.8 12.8 867 10691 0.12 2.65 0.00 0.000 5126 0.226 0.116 2987 2208 2090 2124 2056 0 0 0 0 0 0 14.66 14.75 14.81

10987 0.88 146.0 2987 2209 2126 2056 442.9 11.3 898 10993 0.00 2.62 0.00 0.000 516 0.000 0.128 2997 785 2089 2124 2055 0 0 0 0 0 0 15.12 14.75 15.14

11007 0.88 146.0 2997 785 2125 2056 440.6 11.4 902 11013 0.00 2.60 0.00 0.000 1030 0.000 0.116 2996 2211 2090 2124 2056 0 0 0 0 0 0 14.92 14.77 14.97

11317 0.88 146.0 2997 2212 2125 2056 404.1 11.8 934 11318 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2211 2089 2124 2055 0 0 0 0 0 0 15.12 15.15 15.15

11617 0.88 146.0 2997 2212 2124 2055 368.6 11.8 964 11618 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2211 2088 2124 2053 0 0 0 0 0 0 15.14 15.16 15.16

11777 end climb: SURFACE_OBSTACLE_DETECTED

state 11777 begin subsurface finish

11780 0.01 5.4 2997 2211 2125 2055 349.7 11.8 980 11790 1.02 0.00 -2.25 0.041 20486 0.202 0.000 2704 2211 2706 2818 2594 0 0 0 0 0 0 14.69 13.45 14.92

11790 end subsurface finish: CONTROL_FINISHED_OK

state 11790 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	151	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	14	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	280	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	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	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	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	10	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	0	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	20	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	0	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	130218,031408,-7427.8872,-11235.6914,0,4143.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	363.26	MHEAD_RNG_PITCHd_Wd	125.5,18731,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	1.9	D_GRID	990
GPS2	130218,031408,-7427.8872,-11235.6914,0,4143.7,0,53.5,0.0,0.0,0,0.0

FINISH1	349.7,1.027394,5	_24V_AH	13.03,66.943
FINISH2	348.7	_10V_AH	12.47,0.000
RAFOS_CLK	427	FG_AHR_24Vo	0.000
RAFOS	0,1518501665,6.032778,6.018055,142,59,59,56,55,54,628,211,196,174,225,138	FG_AHR_10Vo	0.000
RAFOS_FIX	-7430.728027,-11232.693359,130218,090940,3,148,0.25	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33379,981
TT8_MAMPS	0.041195,0.296604	CAP_FILE_SIZE	121955,0
HUMID	48.11	CFSIZE	1024409600,1002455040
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.2
XPDR_PINGS	0	GPS	130218,091440,-7430.728,-11232.693,0,4148.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	353.2,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	14.83	nil	0	0	0.00
Roll_motor	84	348	383.74	nil	0	0	0.00
VBD_pump_during_apogee	1051	1308	17916.20	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	11800	3	461.57
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	247.64	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8700	2	250.63
TT8_Active	1030	12	157.60
TT8_Sampling	2041	31	807.92
TT8_CF8	95	45	53.83
TT8_Kalman	0	0	0.00
Analog_circuits	1829	10	232.74
GPS_charging	0	0	0.00
Compass	1404	7	131.16
RAFOS	1200	1	22.45
Transponder	321	30	120.19

		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
363.6	10.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
369.8	16.90	9000.00	0.0	0.00	0.00	16.90	0.0	0.98	1.00
376.4	23.30	23.30	0.0	0.97	1.00	23.30	0.0	0.97	1.00
383.1	29.70	29.70	0.0	0.96	1.00	29.70	0.0	0.96	1.00
389.6	35.80	35.80	0.0	0.94	1.00	35.80	0.0	0.94	1.00
396.2	42.30	42.20	0.0	0.96	1.00	42.30	0.0	0.98	1.00
409.7	55.10	55.20	0.0	0.96	1.00	55.10	0.0	0.95	1.00

991.8	18.00	9000.00	0.0	-0.05	0.87	18.00	0.0	-0.06	1.00
985.5	23.40	9000.00	0.0	-0.06	0.98	23.40	0.0	-0.86	1.00
979.1	21.80	9000.00	0.0	-0.29	0.46	21.80	957.3	0.25	1.00
972.4	28.40	9000.00	0.0	-0.39	0.55	28.40	0.0	-0.99	1.00
966.3	17.90	9000.00	0.0	0.28	0.12	17.90	948.4	1.72	1.00
959.9	22.30	9000.00	0.0	0.48	0.33	22.30	0.0	-0.69	1.00
953.2	20.50	9000.00	0.0	-0.20	0.36	20.50	932.7	0.27	1.00
422.9	77.60	9000.00	0.0	-0.11	1.00	77.60	0.0	-0.11	1.00
415.8	70.30	9000.00	0.0	-0.10	0.98	70.30	345.5	1.03	1.00
408.8	62.90	63.00	345.8	1.04	1.00	62.90	345.9	1.06	1.00
401.7	56.00	55.90	345.8	1.01	1.00	56.00	345.7	0.97	1.00
395.6	49.80	49.90	345.7	0.99	1.00	49.80	345.8	1.02	1.00
388.5	43.10	43.10	345.4	0.97	1.00	43.10	345.4	0.94	1.00
381.4	39.30	9000.00	0.0	0.74	0.98	39.30	342.1	0.54	1.00
374.5	32.00	9000.00	0.0	0.80	0.96	32.00	342.5	1.06	1.00
367.4	24.50	24.50	342.9	1.06	1.00	24.50	342.9	1.06	1.00
360.3	17.00	17.00	343.3	1.06	1.00	17.00	343.3	1.06	1.00
353.2	9.80	9.80	343.4	1.04	1.00	9.80	343.4	1.01	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.88	-146.0	2712	2507	2830	2607	0.0	0.0	0	12	0.00	0.00	-2.00	0.047	16390	0.000	0.000	2711	2506	3326	3464	3188	0	0	0	0	0	0	15.08	13.43	15.08
13	-0.88	-146.0	2712	2507	3462	3192	0.0	0.0	0	20	0.90	2.33	0.00	0.000	4356	0.109	0.153	2412	3755	3326	3456	3196	0	0	0	0	0	0	14.78	14.71	14.85
100	-0.88	-146.0	2413	3756	3447	3205	371.4	-10.8	17	107	0.00	2.25	0.00	0.000	1030	0.000	0.101	2412	2488	3325	3446	3205	0	0	0	0	0	0	14.92	14.81	14.96
404	-0.88	-146.0	2413	2489	3445	3208	405.2	-11.2	48	405	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2488	3326	3444	3208	0	0	0	0	0	0	15.11	15.14	15.14
704	-0.88	-146.0	2413	2488	3444	3209	438.2	-10.9	78	710	0.00	2.47	0.00	0.000	260	0.000	0.156	2403	3755	3325	3442	3208	0	0	0	0	0	0	15.11	14.68	15.14
749	-0.88	-146.0	2403	3756	3441	3211	443.4	-11.7	87	756	0.00	2.28	0.00	0.000	1030	0.000	0.099	2403	2499	3325	3440	3210	0	0	0	0	0	0	14.85	14.78	14.89
1055	-0.88	-146.0	2403	2498	3440	3210	477.6	-11.1	118	1055	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2498	3324	3439	3210	0	0	0	0	0	0	15.11	15.14	15.14
1354	-0.88	-146.0	2403	2499	3439	3211	511.0	-11.0	148	1360	0.00	2.42	0.00	0.000	260	0.000	0.157	2393	3747	3324	3438	3210	0	0	0	0	0	0	15.12	14.68	15.15
1399	-0.88	-146.0	2394	3747	3438	3212	516.2	-11.8	157	1407	0.00	2.28	0.00	0.000	1030	0.000	0.097	2394	2488	3324	3437	3211	0	0	0	0	0	0	14.85	14.78	14.90
1704	-0.88	-146.0	2394	2489	3438	3212	550.5	-11.2	188	1710	0.00	2.45	0.00	0.000	260	0.000	0.153	2385	3750	3324	3437	3212	0	0	0	0	0	0	15.12	14.68	15.16
1744	-0.88	-146.0	2385	3750	3437	3212	555.3	-12.1	196	1751	0.10	2.28	0.00	0.000	3078	0.262	0.098	2412	2492	3324	3436	3212	0	0	0	0	0	0	14.57	14.78	14.75
2055	-0.88	-146.0	2412	2493	3437	3213	587.0	-10.0	228	2055	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3324	3436	3212	0	0	0	0	0	0	15.12	15.15	15.15
2355	-0.88	-146.0	2411	2493	3437	3213	617.0	-9.9	258	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2492	3324	3436	3212	0	0	0	0	0	0	15.13	15.16	15.15
2655	-0.88	-146.0	2412	2492	3437	3212	646.9	-10.0	288	2660	0.00	2.45	0.00	0.000	260	0.000	0.154	2403	3755	3324	3436	3212	0	0	0	0	0	0	15.13	14.67	15.16
2689	-0.88	-146.0	2403	3757	3437	3213	650.6	-10.9	295	2698	0.00	2.30	0.00	0.000	1030	0.000	0.098	2399	2484	3323	3435	3212	0	0	0	0	0	0	14.86	14.78	14.90
2995	-0.88	-146.0	2404	2485	3436	3213	682.4	-10.4	326	2996	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2485	3323	3435	3212	0	0	0	0	0	0	15.09	15.11	15.11
3295	-0.88	-146.0	2403	2486	3442	3214	713.1	-10.2	348	3301	0.00	2.40	0.00	0.000	260	0.000	0.155	2393	3750	3324	3435	3213	0	0	0	0	0	0	15.09	14.70	15.10
3329	-0.88	-146.0	2394	3750	3436	3213	716.8	-10.8	355	3336	0.00	2.28	0.00	0.000	1030	0.000	0.097	2393	2490	3323	3435	3212	0	0	0	0	0	0	14.85	14.78	14.90
3715	-0.88	-146.0	2394	2490	3436	3213	757.5	-10.6	372	3716	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2490	3324	3435	3213	0	0	0	0	0	0	15.09	15.12	15.11
4075	-0.88	-146.0	2394	2491	3436	3214	794.8	-10.1	384	4081	0.00	2.42	0.00	0.000	260	0.000	0.152	2385	3748	3324	3435	3213	0	0	0	0	0	0	15.14	14.68	15.17
4125	-0.88	-146.0	2385	3749	3435	3214	800.3	-10.5	394	4131	0.10	2.28	0.00	0.000	3078	0.263	0.096	2412	2489	3324	3435	3213	0	0	0	0	0	0	14.56	14.78	14.73
4496	-0.88	-146.0	2412	2493	3435	3214	835.6	-9.3	408	4496	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2488	3323	3434	3213	0	0	0	0	0	0	15.14	15.17	15.16
4855	-0.88	-146.0	2413	2489	3434	3214	869.2	-9.4	420	4856	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2488	3324	3435	3213	0	0	0	0	0	0	15.15	15.18	15.17
5215	-0.88	-146.0	2412	2488	3436	3213	902.0	-9.1	432	5216	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2488	3323	3435	3212	0	0	0	0	0	0	15.15	15.18	15.18
5575	-0.88	-146.0	2412	2488	3435	3213	934.6	-9.1	444	5576	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2488	3324	3435	3213	0	0	0	0	0	0	15.15	15.18	15.18
5935	-0.88	-146.0	2412	2489	3436	3214	967.3	-9.1	456	5936	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2489	3324	3435	3213	0	0	0	0	0	0	15.16	15.19	15.18
6204	end dive: TARGET_DEPTH_EXCEEDED
state	6204	begin apogee
6207	-0.23	0.0	2413	2186	3436	3213	991.2	-8.8	465	6783	0.77	0.03	570.95	1.159	10246	0.226	0.349	2624	2195	2714	2771	2658	0	0	0	0	0	0	14.63	13.65	13.24
6784	end apogee: CONTROL_FINISHED_OK
state	6784	begin climb
6786	0.88	146.0	2624	2197	2769	2658	999.3	0.0	484	7280	1.20	2.85	480.15	1.308	11012	0.129	0.125	2990	792	2115	2147	2083	0	0	0	0	0	0	13.72	13.60	13.03
7465	0.88	146.0	2990	792	2128	2069	922.0	13.5	614	7470	0.00	2.72	0.00	0.000	1030	0.000	0.112	2990	2219	2097	2127	2067	0	0	0	0	0	0	14.28	14.16	14.31
7836	0.88	146.0	2991	2219	2128	2062	870.9	13.8	628	7841	0.00	2.70	0.00	0.000	260	0.000	0.144	2990	3624	2094	2127	2062	0	0	0	0	0	0	14.79	14.51	14.81
7855	0.88	146.0	2990	3624	2128	2063	867.8	13.3	632	7861	0.00	2.62	0.00	0.000	1030	0.000	0.099	3001	2205	2095	2128	2062	0	0	0	0	0	0	14.63	14.55	14.66
8225	0.88	146.0	3001	2204	2128	2062	815.0	14.2	646	8231	0.00	2.65	0.00	0.000	516	0.000	0.129	3012	776	2093	2126	2061	0	0	0	0	0	0	14.97	14.65	15.00
8265	0.88	146.0	3013	776	2128	2061	809.2	14.6	654	8271	0.00	2.62	0.00	0.000	1030	0.000	0.116	3012	2208	2093	2126	2061	0	0	0	0	0	0	14.81	14.67	14.85
8646	0.88	146.0	3012	2209	2127	2061	753.6	14.8	670	8647	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2208	2093	2126	2060	0	0	0	0	0	0	15.01	15.04	15.03
9006	0.88	146.0	3012	2209	2126	2060	700.9	14.6	682	9011	0.00	2.65	0.00	0.000	516	0.000	0.128	3022	775	2092	2126	2059	0	0	0	0	0	0	15.04	14.74	15.07
9035	0.88	146.0	3022	775	2127	2060	696.4	14.4	688	9042	0.10	2.65	0.00	0.000	5126	0.226	0.114	2981	2205	2092	2125	2059	0	0	0	0	0	0	14.68	14.73	14.90
9347	0.88	146.0	2981	2205	2127	2059	656.6	12.8	720	9352	0.00	2.67	0.00	0.000	260	0.000	0.146	2981	3623	2091	2125	2058	0	0	0	0	0	0	15.05	14.73	15.08
9386	0.88	146.0	2985	3623	2127	2058	650.9	14.4	728	9393	0.00	2.60	0.00	0.000	1030	0.000	0.101	2990	2198	2092	2126	2058	0	0	0	0	0	0	14.85	14.78	14.89
9697	0.88	146.0	2990	2198	2126	2058	609.1	13.4	760	9703	0.00	2.60	0.00	0.000	516	0.000	0.129	3001	787	2091	2125	2057	0	0	0	0	0	0	15.11	14.74	15.14
9722	0.88	146.0	3001	787	2126	2058	605.7	13.5	765	9730	0.00	2.62	0.00	0.000	1030	0.000	0.116	3001	2201	2091	2125	2057	0	0	0	0	0	0	14.84	14.76	14.88
10027	0.88	146.0	3002	2201	2126	2057	564.0	13.6	796	10028	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2201	2091	2125	2057	0	0	0	0	0	0	15.11	15.14	15.14
10327	0.88	146.0	3001	2201	2126	2057	523.9	12.9	826	10333	0.00	2.67	0.00	0.000	260	0.000	0.147	3001	3623	2091	2125	2057	0	0	0	0	0	0	15.12	14.75	15.15
10347	0.88	146.0	3001	3623	2126	2057	521.2	13.4	830	10353	0.00	2.60	0.00	0.000	1030	0.000	0.101	3012	2195	2090	2124	2057	0	0	0	0	0	0	14.97	14.79	15.00
10657	0.88	146.0	3012	2194	2125	2057	481.1	12.9	862	10663	0.00	2.60	0.00	0.000	516	0.000	0.129	3023	781	2090	2124	2056	0	0	0	0	0	0	15.12	14.76	15.14
10682	0.88	146.0	3023	781	2125	2056	477.8	12.8	867	10691	0.12	2.65	0.00	0.000	5126	0.226	0.116	2987	2208	2090	2124	2056	0	0	0	0	0	0	14.66	14.75	14.81
10987	0.88	146.0	2987	2209	2126	2056	442.9	11.3	898	10993	0.00	2.62	0.00	0.000	516	0.000	0.128	2997	785	2089	2124	2055	0	0	0	0	0	0	15.12	14.75	15.14
11007	0.88	146.0	2997	785	2125	2056	440.6	11.4	902	11013	0.00	2.60	0.00	0.000	1030	0.000	0.116	2996	2211	2090	2124	2056	0	0	0	0	0	0	14.92	14.77	14.97
11317	0.88	146.0	2997	2212	2125	2056	404.1	11.8	934	11318	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2211	2089	2124	2055	0	0	0	0	0	0	15.12	15.15	15.15
11617	0.88	146.0	2997	2212	2124	2055	368.6	11.8	964	11618	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2211	2088	2124	2053	0	0	0	0	0	0	15.14	15.16	15.16
11777	end climb: SURFACE_OBSTACLE_DETECTED
state	11777	begin subsurface finish
11780	0.01	5.4	2997	2211	2125	2055	349.7	11.8	980	11790	1.02	0.00	-2.25	0.041	20486	0.202	0.000	2704	2211	2706	2818	2594	0	0	0	0	0	0	14.69	13.45	14.92
11790	end subsurface finish: CONTROL_FINISHED_OK
state	11790	begin surface