Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 199 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 199 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 3 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 110 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 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 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 1.5 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 5 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -3 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.1 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 3 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 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 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 199 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 220218,060500,-7410.7710,-11246.9844,24,1.5,24,53.7,0.2,0.0,6,6.4 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME ip1

_XMS_NAKs 0 TGT_LATLONG -7411.300,-11245.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.11 MHEAD_RNG_PITCHd_Wd 51.0,1413,-43.6,-9.429,-45.00,352

_SM_ANGLEo -64.2 D_GRID 863

GPS2 220218,061055,-7410.7676,-11247.0049,2,1.3,4,53.7,0.5,11.5,7,5.8

Post-dive calculations and measurements:

FREEZE 0.36,-1.695,-1.861,2,1,0 ALTIM_BOTTOM_PING 857.3,38.7

FINISH 0.4,1.027309 _24V_AH 12.64,80.752

SM_CCo 11710,183.25,0.228,0,0,1352,350.04 _10V_AH 12.91,0.000

SM_GC 1.12,10.35,2.08,183.25,0.142,0.042,0.228,210,2293,1352,-8.03,0.93,350.04,0,0,0,0,0,0,14.80,14.85,14.47 FG_AHR_24Vo 0.000

RAFOS_CLK 440 FG_AHR_10Vo 0.000

RAFOS 0,1519279261,6.032778,6.016944,61,57,53,52,50,49,215,131,171,116,184,156 MEM 279712

RAFOS_FIX -7410.710449,-11243.220703,220218,090916,2,126,0.18 DATA_FILE_SIZE 36639,1012

IRIDIUM_FIX -7409.58,-11255.37,220218,025549 CAP_FILE_SIZE 144081,0

TT8_MAMPS 0.042693,0.286118 CFSIZE 1024409600,996687872

HUMID 45.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.07257 SOUNDSPEED 1450.1

TCM_TEMP 11.90 CURRENT 0.013,143.81,1

XPDR_PINGS 0 GPS 220218,093030,-7410.997,-11243.378,21,1.0,21,53.6,0.0,0.0,9,8.6

ALTIM_TOP_PING 11.9,11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 418 134.08 nil 0 0 0.00

Roll_motor 104 126 166.61 nil 0 0 0.00

VBD_pump_during_apogee 118 3051 4552.46 nil 0 0 0.00

VBD_pump_during_surface 183 227 528.04 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 11688 3 486.94

Iridium_during_xfer 233 193 570.93 nil 0 0 0.00

Transponder_ping 60 420 321.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.79

TT8 0 0 0.00

LPSleep 9134 2 272.41

TT8_Active 548 13 97.89

TT8_Sampling 2405 34 1080.63

TT8_CF8 166 52 113.59

TT8_Kalman 0 0 0.00

Analog_circuits 1526 10 214.81

GPS_charging 0 0 0.00

Compass 1448 7 140.02

RAFOS 960 1 18.59

Transponder 433 30 167.97

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

12.9 13.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.8 27.50 9000.00 0.0 0.00 0.00 27.50 0.0 1.06 1.00

32.1 33.80 33.90 0.0 1.04 1.00 33.80 0.0 1.00 1.00

44.9 47.20 47.20 0.0 1.04 1.00 47.20 0.0 1.05 1.00

51.4 54.70 54.50 0.0 1.07 1.00 54.70 0.0 1.15 1.00

57.9 61.20 61.40 0.0 1.07 1.00 61.20 0.0 1.00 1.00

818.4 65.60 9000.00 0.0 0.01 0.66 65.60 0.0 0.01 1.00

825.5 66.10 9000.00 0.0 0.01 0.99 66.10 0.0 0.07 1.00

831.9 61.10 9000.00 0.0 -0.33 0.63 61.10 893.0 -0.78 1.00

844.5 51.30 9000.00 0.0 -0.78 1.00 51.30 895.8 -0.78 1.00

857.3 38.20 38.70 896.0 -0.90 0.99 38.20 895.5 -1.02 1.00

862.6 21.60 9000.00 0.0 -1.53 0.91 21.60 0.0 -3.13 1.00

119.3 123.50 9000.00 0.0 -0.13 0.98 123.50 0.0 -0.14 1.00

105.6 109.50 9000.00 0.0 -0.13 0.98 109.50 -3.9 1.02 1.00

98.9 102.80 102.70 -3.8 1.02 1.00 102.80 -3.9 1.00 1.00

92.6 96.20 96.30 -3.7 1.02 1.00 96.20 -3.6 1.05 1.00

72.6 74.90 74.90 -2.3 1.06 1.00 74.90 -2.3 1.07 1.00

65.6 68.50 68.10 -2.5 1.04 1.00 68.50 -2.9 0.91 1.00

58.7 60.60 60.80 -2.1 1.04 1.00 60.60 -1.9 1.14 1.00

45.1 46.20 46.10 -1.0 1.08 1.00 46.20 -1.1 1.06 1.00

38.4 39.40 39.40 -1.0 1.04 1.00 39.40 -1.0 1.01 1.00

31.4 32.00 32.00 -0.6 1.04 1.00 32.00 -0.6 1.06 1.00

25.4 25.90 25.80 -0.4 1.05 1.00 25.90 -0.5 1.02 1.00

18.3 18.30 18.30 0.0 1.05 1.00 18.30 0.0 1.07 1.00

11.9 11.60 11.60 0.3 1.06 1.00 11.60 0.3 1.05 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 -2.01 -21.5 215 2318 1372 1298 0.0 0.0 0 103 0.00 0.00 -88.65 0.002 16390 0.000 0.000 213 2317 2870 2859 2881 0 0 0 0 0 0 14.81 13.26 14.84

105 -2.04 -50.0 213 2318 2859 2882 1.8 -1.1 9 128 9.30 2.62 -5.25 0.018 18724 0.418 0.126 2129 3713 2986 2993 2980 0 0 0 0 0 0 14.28 13.37 14.64

352 -2.04 -50.0 2129 3714 2993 2980 48.1 -21.8 58 359 0.00 2.42 0.00 0.000 1030 0.000 0.046 2130 2287 2987 2995 2979 0 0 0 0 0 0 14.73 14.66 14.76

657 -2.04 -50.0 2131 2287 3005 2980 112.0 -20.4 89 664 0.00 2.60 0.00 0.000 260 0.000 0.100 2119 3713 2987 2995 2979 0 0 0 0 0 0 14.99 14.65 15.02

699 -2.04 -50.0 2116 3714 2997 2979 120.8 -21.7 97 705 0.00 2.42 0.00 0.000 1030 0.000 0.048 2119 2285 2987 2995 2979 0 0 0 0 0 0 14.83 14.74 14.85

1010 -2.04 -50.0 2118 2285 2995 2977 184.1 -20.2 129 1011 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2285 2987 2996 2978 0 0 0 0 0 0 14.99 15.02 15.01

1310 -2.04 -50.0 2118 2286 2995 2979 243.0 -19.5 159 1316 0.00 2.47 0.00 0.000 516 0.000 0.081 2119 887 2987 2996 2978 0 0 0 0 0 0 15.04 14.69 15.07

1336 -2.04 -50.0 2118 887 2995 2978 248.2 -19.9 164 1343 0.17 2.50 0.00 0.000 3078 0.389 0.075 2138 2302 2986 2996 2977 0 0 0 0 0 0 14.38 14.73 14.74

1641 -2.04 -50.0 2137 2302 2996 2978 305.0 -18.4 194 1642 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2302 2986 2996 2977 0 0 0 0 0 0 15.02 15.05 15.04

1940 -2.04 -50.0 2140 2303 2998 2978 358.6 -17.4 209 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2302 2986 2996 2977 0 0 0 0 0 0 15.09 15.11 15.11

2241 -2.04 -50.0 2139 2302 2998 2977 408.5 -16.0 224 2247 0.00 2.50 0.00 0.000 516 0.000 0.081 2138 896 2986 2996 2976 0 0 0 0 0 0 15.04 14.73 15.07

2446 -2.04 -50.0 2131 895 2996 2977 441.7 -15.8 265 2452 0.00 2.53 0.00 0.000 1030 0.000 0.072 2130 2305 2986 2996 2976 0 0 0 0 0 0 14.80 14.73 14.85

2761 -2.04 -50.0 2129 2304 2997 2977 489.0 -14.9 283 2770 0.00 2.50 0.00 0.000 516 0.000 0.077 2130 891 2986 2997 2976 0 0 0 0 0 0 15.11 14.73 15.13

2819 -2.04 -50.0 2131 892 2999 2977 497.5 -14.5 294 2826 0.00 2.53 0.00 0.000 1030 0.000 0.072 2120 2300 2986 2997 2976 0 0 0 0 0 0 14.81 14.73 14.85

3146 -2.04 -50.0 2121 2300 2999 2977 544.2 -14.3 306 3151 0.00 2.47 0.00 0.000 516 0.000 0.076 2119 898 2986 2997 2976 0 0 0 0 0 0 15.11 14.74 15.13

3305 -2.04 -50.0 2119 899 2997 2976 567.6 -14.2 338 3311 0.17 2.47 0.00 0.000 3078 0.384 0.069 2139 2312 2986 2997 2976 0 0 0 0 0 0 14.40 14.76 14.77

3685 -2.04 -50.0 2138 2312 2999 2976 618.8 -13.2 354 3691 0.00 2.53 0.00 0.000 516 0.000 0.076 2139 902 2984 2993 2976 0 0 0 0 0 0 15.11 14.70 15.14

3807 -2.04 -50.0 2141 903 3000 2977 634.7 -13.2 378 3812 0.00 2.47 0.00 0.000 1030 0.000 0.070 2131 2312 2987 2998 2976 0 0 0 0 0 0 14.90 14.78 14.93

4196 -2.04 -50.0 2130 2312 2999 2976 683.2 -12.1 396 4202 0.00 2.50 0.00 0.000 516 0.000 0.076 2131 895 2987 2999 2976 0 0 0 0 0 0 15.14 14.73 15.13

4386 -2.04 -50.0 2130 895 2998 2976 706.6 -11.9 434 4392 0.00 2.47 0.00 0.000 1030 0.000 0.067 2120 2311 2987 2999 2975 0 0 0 0 0 0 14.90 14.77 14.92

4766 -2.04 -50.0 2120 2312 2999 2976 750.9 -11.7 450 4772 0.00 2.50 0.00 0.000 516 0.000 0.076 2120 888 2987 2999 2976 0 0 0 0 0 0 15.11 14.73 15.14

4951 -2.04 -50.0 2119 889 2999 2976 772.7 -11.9 487 4958 0.10 2.53 0.00 0.000 3078 0.368 0.069 2140 2306 2988 2999 2977 0 0 0 0 0 0 14.38 14.73 14.76

5338 -2.04 -50.0 2142 2307 3003 2976 816.0 -11.4 504 5343 0.00 2.47 0.00 0.000 516 0.000 0.074 2141 898 2988 3001 2975 0 0 0 0 0 0 15.11 14.72 15.14

5372 -2.04 -50.0 2142 899 3003 2976 819.6 -8.8 511 5378 0.00 2.53 0.00 0.000 1030 0.000 0.071 2132 2310 2987 3001 2974 0 0 0 0 0 0 14.78 14.70 14.82

5757 -2.04 -50.0 2133 2310 3003 2976 860.9 -10.6 528 5763 0.00 2.50 0.00 0.000 516 0.000 0.076 2132 891 2988 3001 2975 0 0 0 0 0 0 15.12 14.73 15.15

5776 end dive: TARGET_DEPTH_EXCEEDED

state 5776 begin apogee

5782 -0.23 0.0 2125 2113 3003 2975 863.2 -12.4 532 5843 2.50 0.00 57.55 3.047 10246 0.331 0.000 2728 2112 2781 2805 2757 0 0 0 0 0 0 14.43 14.20 13.09

5844 end apogee: CONTROL_FINISHED_OK

state 5844 begin climb

5846 2.04 50.0 2722 2112 2805 2757 864.5 0.0 534 5915 2.42 2.70 60.47 3.052 10500 0.138 0.093 3458 3507 2577 2603 2551 0 0 0 0 0 0 14.17 13.66 12.64

5934 2.04 50.0 3459 3507 2602 2550 854.0 20.5 547 5940 0.00 2.58 0.00 0.000 1030 0.000 0.046 3469 2091 2574 2600 2549 0 0 0 0 0 0 13.87 13.80 13.88

6326 2.04 50.0 3468 2091 2590 2541 775.2 20.3 565 6332 0.00 2.62 0.00 0.000 260 0.000 0.090 3469 3517 2563 2587 2540 0 0 0 0 0 0 14.65 14.40 14.67

6376 2.04 50.0 3469 3517 2590 2542 764.3 21.6 575 6382 0.00 2.50 0.00 0.000 1030 0.000 0.045 3479 2089 2564 2590 2539 0 0 0 0 0 0 14.53 14.48 14.62

6747 2.04 50.0 3480 2090 2590 2539 688.2 20.4 589 6753 0.00 2.50 0.00 0.000 516 0.000 0.087 3490 693 2563 2588 2538 0 0 0 0 0 0 14.88 14.62 14.91

6782 2.04 50.0 3488 694 2587 2539 680.9 20.4 596 6788 0.15 2.50 0.00 0.000 5126 0.366 0.060 3451 2110 2563 2588 2538 0 0 0 0 0 0 14.35 14.65 14.71

7168 2.04 50.0 3452 2111 2588 2539 607.9 18.7 613 7169 0.00 0.00 0.00 0.000 6 0.000 0.000 3451 2111 2561 2586 2537 0 0 0 0 0 0 14.97 15.00 15.00

7528 2.04 50.0 3452 2111 2590 2537 544.1 17.6 625 7529 0.00 0.00 0.00 0.000 6 0.000 0.000 3451 2110 2564 2586 2542 0 0 0 0 0 0 15.02 15.04 15.04

7899 2.04 50.0 3451 2110 2585 2537 482.6 16.0 639 7904 0.00 2.55 0.00 0.000 516 0.000 0.090 3460 693 2561 2586 2536 0 0 0 0 0 0 15.04 14.76 15.07

7939 2.04 50.0 3461 694 2588 2537 476.2 15.8 647 7944 0.00 2.42 0.00 0.000 1030 0.000 0.061 3460 2108 2561 2587 2536 0 0 0 0 0 0 14.91 14.81 14.95

8258 2.04 50.0 3461 2108 2588 2535 426.7 15.1 666 8259 0.00 0.00 0.00 0.000 6 0.000 0.000 3459 2108 2561 2586 2536 0 0 0 0 0 0 15.10 15.13 15.12

8560 2.04 50.0 3459 2108 2585 2537 385.4 13.2 681 8566 0.00 2.53 0.00 0.000 516 0.000 0.087 3470 693 2561 2586 2536 0 0 0 0 0 0 15.06 14.78 15.09

8621 2.04 50.0 3469 694 2585 2534 376.9 13.7 693 8627 0.00 2.47 0.00 0.000 1030 0.000 0.060 3470 2108 2561 2586 2536 0 0 0 0 0 0 14.85 14.80 14.89

8942 2.04 50.0 3469 2107 2585 2536 333.7 13.0 712 8947 0.00 2.50 0.00 0.000 260 0.000 0.091 3470 3518 2560 2585 2536 0 0 0 0 0 0 15.12 14.78 15.15

8962 2.04 50.0 3471 3518 2587 2537 331.0 13.3 716 8967 0.00 2.40 0.00 0.000 1030 0.000 0.044 3481 2083 2560 2585 2536 0 0 0 0 0 0 14.94 14.85 14.97

9272 2.04 50.0 3480 2083 2585 2537 289.6 12.9 738 9273 0.00 0.00 0.00 0.000 6 0.000 0.000 3480 2082 2560 2585 2536 0 0 0 0 0 0 15.13 15.16 15.16

9572 2.04 50.0 3480 2083 2585 2536 252.0 12.6 768 9577 0.00 2.47 0.00 0.000 516 0.000 0.088 3490 685 2560 2585 2535 0 0 0 0 0 0 15.13 14.76 15.16

9633 2.04 50.0 3493 686 2587 2536 244.1 13.1 780 9638 0.17 2.45 0.00 0.000 5126 0.377 0.060 3460 2115 2560 2585 2535 0 0 0 0 0 0 14.45 14.78 14.85

9942 2.04 50.0 3461 2115 2587 2536 205.8 12.4 812 9943 0.00 0.00 0.00 0.000 6 0.000 0.000 3459 2114 2560 2585 2535 0 0 0 0 0 0 15.11 15.16 15.15

10242 2.04 50.0 3461 2115 2586 2535 169.7 11.9 842 10248 0.00 2.50 0.00 0.000 260 0.000 0.095 3460 3515 2559 2584 2535 0 0 0 0 0 0 15.11 14.73 15.14

10272 2.04 50.0 3461 3516 2585 2536 165.9 12.9 848 10278 0.00 2.42 0.00 0.000 1030 0.000 0.047 3468 2096 2557 2583 2531 0 0 0 0 0 0 14.82 14.76 14.85

10583 2.04 50.0 3467 2096 2583 2535 129.5 11.4 880 10583 0.00 0.00 0.00 0.000 6 0.000 0.000 3468 2095 2557 2580 2535 0 0 0 0 0 0 15.11 15.14 15.14

10882 2.04 50.0 3469 2096 2585 2536 95.6 11.1 910 10888 0.00 2.58 0.00 0.000 260 0.000 0.093 3468 3506 2558 2583 2534 0 0 0 0 0 0 15.12 14.70 15.14

10947 2.04 50.0 3469 3507 2584 2535 87.9 11.8 923 10954 0.00 2.40 0.00 0.000 1030 0.000 0.045 3478 2099 2558 2583 2534 0 0 0 0 0 0 14.85 14.81 14.88

11252 2.04 50.0 3480 2099 2585 2535 53.0 11.4 954 11253 0.00 0.00 0.00 0.000 6 0.000 0.000 3478 2098 2558 2582 2534 0 0 0 0 0 0 15.12 15.15 15.14

11553 2.04 50.0 3479 2100 2585 2535 18.3 11.7 984 11558 0.00 2.53 0.00 0.000 260 0.000 0.092 3478 3508 2558 2582 2534 0 0 0 0 0 0 15.07 14.76 15.10

11681 end climb: SURFACE_DEPTH_REACHED

state 11681 begin surface coast

11691 end surface coast: CONTROL_FINISHED_OK

state 11691 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	199	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	3	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	110	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	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	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	1.5	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	5	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-3	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.1	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	220218,060500,-7410.7710,-11246.9844,24,1.5,24,53.7,0.2,0.0,6,6.4	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	ip1
_XMS_NAKs	0	TGT_LATLONG	-7411.300,-11245.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.11	MHEAD_RNG_PITCHd_Wd	51.0,1413,-43.6,-9.429,-45.00,352
_SM_ANGLEo	-64.2	D_GRID	863
GPS2	220218,061055,-7410.7676,-11247.0049,2,1.3,4,53.7,0.5,11.5,7,5.8

FREEZE	0.36,-1.695,-1.861,2,1,0	ALTIM_BOTTOM_PING	857.3,38.7
FINISH	0.4,1.027309	_24V_AH	12.64,80.752
SM_CCo	11710,183.25,0.228,0,0,1352,350.04	_10V_AH	12.91,0.000
SM_GC	1.12,10.35,2.08,183.25,0.142,0.042,0.228,210,2293,1352,-8.03,0.93,350.04,0,0,0,0,0,0,14.80,14.85,14.47	FG_AHR_24Vo	0.000
RAFOS_CLK	440	FG_AHR_10Vo	0.000
RAFOS	0,1519279261,6.032778,6.016944,61,57,53,52,50,49,215,131,171,116,184,156	MEM	279712
RAFOS_FIX	-7410.710449,-11243.220703,220218,090916,2,126,0.18	DATA_FILE_SIZE	36639,1012
IRIDIUM_FIX	-7409.58,-11255.37,220218,025549	CAP_FILE_SIZE	144081,0
TT8_MAMPS	0.042693,0.286118	CFSIZE	1024409600,996687872
HUMID	45.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.07257	SOUNDSPEED	1450.1
TCM_TEMP	11.90	CURRENT	0.013,143.81,1
XPDR_PINGS	0	GPS	220218,093030,-7410.997,-11243.378,21,1.0,21,53.6,0.0,0.0,9,8.6
ALTIM_TOP_PING	11.9,11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	418	134.08	nil	0	0	0.00
Roll_motor	104	126	166.61	nil	0	0	0.00
VBD_pump_during_apogee	118	3051	4552.46	nil	0	0	0.00
VBD_pump_during_surface	183	227	528.04	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	11688	3	486.94
Iridium_during_xfer	233	193	570.93	nil	0	0	0.00
Transponder_ping	60	420	321.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.79
TT8	0	0	0.00
LPSleep	9134	2	272.41
TT8_Active	548	13	97.89
TT8_Sampling	2405	34	1080.63
TT8_CF8	166	52	113.59
TT8_Kalman	0	0	0.00
Analog_circuits	1526	10	214.81
GPS_charging	0	0	0.00
Compass	1448	7	140.02
RAFOS	960	1	18.59
Transponder	433	30	167.97

		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
12.9	13.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.8	27.50	9000.00	0.0	0.00	0.00	27.50	0.0	1.06	1.00
32.1	33.80	33.90	0.0	1.04	1.00	33.80	0.0	1.00	1.00
44.9	47.20	47.20	0.0	1.04	1.00	47.20	0.0	1.05	1.00
51.4	54.70	54.50	0.0	1.07	1.00	54.70	0.0	1.15	1.00
57.9	61.20	61.40	0.0	1.07	1.00	61.20	0.0	1.00	1.00
818.4	65.60	9000.00	0.0	0.01	0.66	65.60	0.0	0.01	1.00
825.5	66.10	9000.00	0.0	0.01	0.99	66.10	0.0	0.07	1.00
831.9	61.10	9000.00	0.0	-0.33	0.63	61.10	893.0	-0.78	1.00
844.5	51.30	9000.00	0.0	-0.78	1.00	51.30	895.8	-0.78	1.00
857.3	38.20	38.70	896.0	-0.90	0.99	38.20	895.5	-1.02	1.00

862.6	21.60	9000.00	0.0	-1.53	0.91	21.60	0.0	-3.13	1.00
119.3	123.50	9000.00	0.0	-0.13	0.98	123.50	0.0	-0.14	1.00
105.6	109.50	9000.00	0.0	-0.13	0.98	109.50	-3.9	1.02	1.00
98.9	102.80	102.70	-3.8	1.02	1.00	102.80	-3.9	1.00	1.00
92.6	96.20	96.30	-3.7	1.02	1.00	96.20	-3.6	1.05	1.00
72.6	74.90	74.90	-2.3	1.06	1.00	74.90	-2.3	1.07	1.00
65.6	68.50	68.10	-2.5	1.04	1.00	68.50	-2.9	0.91	1.00
58.7	60.60	60.80	-2.1	1.04	1.00	60.60	-1.9	1.14	1.00
45.1	46.20	46.10	-1.0	1.08	1.00	46.20	-1.1	1.06	1.00
38.4	39.40	39.40	-1.0	1.04	1.00	39.40	-1.0	1.01	1.00
31.4	32.00	32.00	-0.6	1.04	1.00	32.00	-0.6	1.06	1.00
25.4	25.90	25.80	-0.4	1.05	1.00	25.90	-0.5	1.02	1.00
18.3	18.30	18.30	0.0	1.05	1.00	18.30	0.0	1.07	1.00
11.9	11.60	11.60	0.3	1.06	1.00	11.60	0.3	1.05	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	-2.01	-21.5	215	2318	1372	1298	0.0	0.0	0	103	0.00	0.00	-88.65	0.002	16390	0.000	0.000	213	2317	2870	2859	2881	0	0	0	0	0	0	14.81	13.26	14.84
105	-2.04	-50.0	213	2318	2859	2882	1.8	-1.1	9	128	9.30	2.62	-5.25	0.018	18724	0.418	0.126	2129	3713	2986	2993	2980	0	0	0	0	0	0	14.28	13.37	14.64
352	-2.04	-50.0	2129	3714	2993	2980	48.1	-21.8	58	359	0.00	2.42	0.00	0.000	1030	0.000	0.046	2130	2287	2987	2995	2979	0	0	0	0	0	0	14.73	14.66	14.76
657	-2.04	-50.0	2131	2287	3005	2980	112.0	-20.4	89	664	0.00	2.60	0.00	0.000	260	0.000	0.100	2119	3713	2987	2995	2979	0	0	0	0	0	0	14.99	14.65	15.02
699	-2.04	-50.0	2116	3714	2997	2979	120.8	-21.7	97	705	0.00	2.42	0.00	0.000	1030	0.000	0.048	2119	2285	2987	2995	2979	0	0	0	0	0	0	14.83	14.74	14.85
1010	-2.04	-50.0	2118	2285	2995	2977	184.1	-20.2	129	1011	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2285	2987	2996	2978	0	0	0	0	0	0	14.99	15.02	15.01
1310	-2.04	-50.0	2118	2286	2995	2979	243.0	-19.5	159	1316	0.00	2.47	0.00	0.000	516	0.000	0.081	2119	887	2987	2996	2978	0	0	0	0	0	0	15.04	14.69	15.07
1336	-2.04	-50.0	2118	887	2995	2978	248.2	-19.9	164	1343	0.17	2.50	0.00	0.000	3078	0.389	0.075	2138	2302	2986	2996	2977	0	0	0	0	0	0	14.38	14.73	14.74
1641	-2.04	-50.0	2137	2302	2996	2978	305.0	-18.4	194	1642	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2302	2986	2996	2977	0	0	0	0	0	0	15.02	15.05	15.04
1940	-2.04	-50.0	2140	2303	2998	2978	358.6	-17.4	209	1941	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2302	2986	2996	2977	0	0	0	0	0	0	15.09	15.11	15.11
2241	-2.04	-50.0	2139	2302	2998	2977	408.5	-16.0	224	2247	0.00	2.50	0.00	0.000	516	0.000	0.081	2138	896	2986	2996	2976	0	0	0	0	0	0	15.04	14.73	15.07
2446	-2.04	-50.0	2131	895	2996	2977	441.7	-15.8	265	2452	0.00	2.53	0.00	0.000	1030	0.000	0.072	2130	2305	2986	2996	2976	0	0	0	0	0	0	14.80	14.73	14.85
2761	-2.04	-50.0	2129	2304	2997	2977	489.0	-14.9	283	2770	0.00	2.50	0.00	0.000	516	0.000	0.077	2130	891	2986	2997	2976	0	0	0	0	0	0	15.11	14.73	15.13
2819	-2.04	-50.0	2131	892	2999	2977	497.5	-14.5	294	2826	0.00	2.53	0.00	0.000	1030	0.000	0.072	2120	2300	2986	2997	2976	0	0	0	0	0	0	14.81	14.73	14.85
3146	-2.04	-50.0	2121	2300	2999	2977	544.2	-14.3	306	3151	0.00	2.47	0.00	0.000	516	0.000	0.076	2119	898	2986	2997	2976	0	0	0	0	0	0	15.11	14.74	15.13
3305	-2.04	-50.0	2119	899	2997	2976	567.6	-14.2	338	3311	0.17	2.47	0.00	0.000	3078	0.384	0.069	2139	2312	2986	2997	2976	0	0	0	0	0	0	14.40	14.76	14.77
3685	-2.04	-50.0	2138	2312	2999	2976	618.8	-13.2	354	3691	0.00	2.53	0.00	0.000	516	0.000	0.076	2139	902	2984	2993	2976	0	0	0	0	0	0	15.11	14.70	15.14
3807	-2.04	-50.0	2141	903	3000	2977	634.7	-13.2	378	3812	0.00	2.47	0.00	0.000	1030	0.000	0.070	2131	2312	2987	2998	2976	0	0	0	0	0	0	14.90	14.78	14.93
4196	-2.04	-50.0	2130	2312	2999	2976	683.2	-12.1	396	4202	0.00	2.50	0.00	0.000	516	0.000	0.076	2131	895	2987	2999	2976	0	0	0	0	0	0	15.14	14.73	15.13
4386	-2.04	-50.0	2130	895	2998	2976	706.6	-11.9	434	4392	0.00	2.47	0.00	0.000	1030	0.000	0.067	2120	2311	2987	2999	2975	0	0	0	0	0	0	14.90	14.77	14.92
4766	-2.04	-50.0	2120	2312	2999	2976	750.9	-11.7	450	4772	0.00	2.50	0.00	0.000	516	0.000	0.076	2120	888	2987	2999	2976	0	0	0	0	0	0	15.11	14.73	15.14
4951	-2.04	-50.0	2119	889	2999	2976	772.7	-11.9	487	4958	0.10	2.53	0.00	0.000	3078	0.368	0.069	2140	2306	2988	2999	2977	0	0	0	0	0	0	14.38	14.73	14.76
5338	-2.04	-50.0	2142	2307	3003	2976	816.0	-11.4	504	5343	0.00	2.47	0.00	0.000	516	0.000	0.074	2141	898	2988	3001	2975	0	0	0	0	0	0	15.11	14.72	15.14
5372	-2.04	-50.0	2142	899	3003	2976	819.6	-8.8	511	5378	0.00	2.53	0.00	0.000	1030	0.000	0.071	2132	2310	2987	3001	2974	0	0	0	0	0	0	14.78	14.70	14.82
5757	-2.04	-50.0	2133	2310	3003	2976	860.9	-10.6	528	5763	0.00	2.50	0.00	0.000	516	0.000	0.076	2132	891	2988	3001	2975	0	0	0	0	0	0	15.12	14.73	15.15
5776	end dive: TARGET_DEPTH_EXCEEDED
state	5776	begin apogee
5782	-0.23	0.0	2125	2113	3003	2975	863.2	-12.4	532	5843	2.50	0.00	57.55	3.047	10246	0.331	0.000	2728	2112	2781	2805	2757	0	0	0	0	0	0	14.43	14.20	13.09
5844	end apogee: CONTROL_FINISHED_OK
state	5844	begin climb
5846	2.04	50.0	2722	2112	2805	2757	864.5	0.0	534	5915	2.42	2.70	60.47	3.052	10500	0.138	0.093	3458	3507	2577	2603	2551	0	0	0	0	0	0	14.17	13.66	12.64
5934	2.04	50.0	3459	3507	2602	2550	854.0	20.5	547	5940	0.00	2.58	0.00	0.000	1030	0.000	0.046	3469	2091	2574	2600	2549	0	0	0	0	0	0	13.87	13.80	13.88
6326	2.04	50.0	3468	2091	2590	2541	775.2	20.3	565	6332	0.00	2.62	0.00	0.000	260	0.000	0.090	3469	3517	2563	2587	2540	0	0	0	0	0	0	14.65	14.40	14.67
6376	2.04	50.0	3469	3517	2590	2542	764.3	21.6	575	6382	0.00	2.50	0.00	0.000	1030	0.000	0.045	3479	2089	2564	2590	2539	0	0	0	0	0	0	14.53	14.48	14.62
6747	2.04	50.0	3480	2090	2590	2539	688.2	20.4	589	6753	0.00	2.50	0.00	0.000	516	0.000	0.087	3490	693	2563	2588	2538	0	0	0	0	0	0	14.88	14.62	14.91
6782	2.04	50.0	3488	694	2587	2539	680.9	20.4	596	6788	0.15	2.50	0.00	0.000	5126	0.366	0.060	3451	2110	2563	2588	2538	0	0	0	0	0	0	14.35	14.65	14.71
7168	2.04	50.0	3452	2111	2588	2539	607.9	18.7	613	7169	0.00	0.00	0.00	0.000	6	0.000	0.000	3451	2111	2561	2586	2537	0	0	0	0	0	0	14.97	15.00	15.00
7528	2.04	50.0	3452	2111	2590	2537	544.1	17.6	625	7529	0.00	0.00	0.00	0.000	6	0.000	0.000	3451	2110	2564	2586	2542	0	0	0	0	0	0	15.02	15.04	15.04
7899	2.04	50.0	3451	2110	2585	2537	482.6	16.0	639	7904	0.00	2.55	0.00	0.000	516	0.000	0.090	3460	693	2561	2586	2536	0	0	0	0	0	0	15.04	14.76	15.07
7939	2.04	50.0	3461	694	2588	2537	476.2	15.8	647	7944	0.00	2.42	0.00	0.000	1030	0.000	0.061	3460	2108	2561	2587	2536	0	0	0	0	0	0	14.91	14.81	14.95
8258	2.04	50.0	3461	2108	2588	2535	426.7	15.1	666	8259	0.00	0.00	0.00	0.000	6	0.000	0.000	3459	2108	2561	2586	2536	0	0	0	0	0	0	15.10	15.13	15.12
8560	2.04	50.0	3459	2108	2585	2537	385.4	13.2	681	8566	0.00	2.53	0.00	0.000	516	0.000	0.087	3470	693	2561	2586	2536	0	0	0	0	0	0	15.06	14.78	15.09
8621	2.04	50.0	3469	694	2585	2534	376.9	13.7	693	8627	0.00	2.47	0.00	0.000	1030	0.000	0.060	3470	2108	2561	2586	2536	0	0	0	0	0	0	14.85	14.80	14.89
8942	2.04	50.0	3469	2107	2585	2536	333.7	13.0	712	8947	0.00	2.50	0.00	0.000	260	0.000	0.091	3470	3518	2560	2585	2536	0	0	0	0	0	0	15.12	14.78	15.15
8962	2.04	50.0	3471	3518	2587	2537	331.0	13.3	716	8967	0.00	2.40	0.00	0.000	1030	0.000	0.044	3481	2083	2560	2585	2536	0	0	0	0	0	0	14.94	14.85	14.97
9272	2.04	50.0	3480	2083	2585	2537	289.6	12.9	738	9273	0.00	0.00	0.00	0.000	6	0.000	0.000	3480	2082	2560	2585	2536	0	0	0	0	0	0	15.13	15.16	15.16
9572	2.04	50.0	3480	2083	2585	2536	252.0	12.6	768	9577	0.00	2.47	0.00	0.000	516	0.000	0.088	3490	685	2560	2585	2535	0	0	0	0	0	0	15.13	14.76	15.16
9633	2.04	50.0	3493	686	2587	2536	244.1	13.1	780	9638	0.17	2.45	0.00	0.000	5126	0.377	0.060	3460	2115	2560	2585	2535	0	0	0	0	0	0	14.45	14.78	14.85
9942	2.04	50.0	3461	2115	2587	2536	205.8	12.4	812	9943	0.00	0.00	0.00	0.000	6	0.000	0.000	3459	2114	2560	2585	2535	0	0	0	0	0	0	15.11	15.16	15.15
10242	2.04	50.0	3461	2115	2586	2535	169.7	11.9	842	10248	0.00	2.50	0.00	0.000	260	0.000	0.095	3460	3515	2559	2584	2535	0	0	0	0	0	0	15.11	14.73	15.14
10272	2.04	50.0	3461	3516	2585	2536	165.9	12.9	848	10278	0.00	2.42	0.00	0.000	1030	0.000	0.047	3468	2096	2557	2583	2531	0	0	0	0	0	0	14.82	14.76	14.85
10583	2.04	50.0	3467	2096	2583	2535	129.5	11.4	880	10583	0.00	0.00	0.00	0.000	6	0.000	0.000	3468	2095	2557	2580	2535	0	0	0	0	0	0	15.11	15.14	15.14
10882	2.04	50.0	3469	2096	2585	2536	95.6	11.1	910	10888	0.00	2.58	0.00	0.000	260	0.000	0.093	3468	3506	2558	2583	2534	0	0	0	0	0	0	15.12	14.70	15.14
10947	2.04	50.0	3469	3507	2584	2535	87.9	11.8	923	10954	0.00	2.40	0.00	0.000	1030	0.000	0.045	3478	2099	2558	2583	2534	0	0	0	0	0	0	14.85	14.81	14.88
11252	2.04	50.0	3480	2099	2585	2535	53.0	11.4	954	11253	0.00	0.00	0.00	0.000	6	0.000	0.000	3478	2098	2558	2582	2534	0	0	0	0	0	0	15.12	15.15	15.14
11553	2.04	50.0	3479	2100	2585	2535	18.3	11.7	984	11558	0.00	2.53	0.00	0.000	260	0.000	0.092	3478	3508	2558	2582	2534	0	0	0	0	0	0	15.07	14.76	15.10
11681	end climb: SURFACE_DEPTH_REACHED
state	11681	begin surface coast
11691	end surface coast: CONTROL_FINISHED_OK
state	11691	begin surface