Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 218 * 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 218 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 42 ALTIM_FREQUENCY 13

D_TGT 550 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.25119999 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 190 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 220 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 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 1 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 0.059999999 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 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 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 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 883

AD7714Ch0Gain 1 D_TGT 550 N_NOCOMM 0 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 10 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 0.0031300001 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 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 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 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 190

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 220

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 200

C_VBD 3400 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 1 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 5

DIVE 218 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 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 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 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 280218,093730,-7404.2373,-11251.6436,26,0.9,26,53.6,0.2,336.0,10,4.1 SPEED_LIMITS 0.096,0.195

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 80.0,13605,-18.7,-9.649,-26.34,1825

_SM_ANGLEo -60.8 D_GRID 743

GPS2 280218,094621,-7404.1846,-11251.7520,3,0.9,5,53.6,0.2,0.0,11,5.7

Post-dive calculations and measurements:

FREEZE 0.60,-1.764,-1.862,2,1,0 ALTIM_TOP_PING 9.8,9.9

FINISH 0.6,1.027314 _24V_AH 12.17,74.579

SM_CCo 9808,171.35,0.222,0,0,2203,300.18 _10V_AH 12.35,0.000

SM_GC 0.59,8.75,0.50,171.35,0.100,0.095,0.222,178,2808,2203,-7.90,-0.51,300.18,0,0,0,0,0,0,14.57,14.54,14.21 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

RAFOS 0,1519819259,12.032778,12.016389,68,59,59,56,52,51,620,611,205,129,186,140 MEM 280112

RAFOS_FIX -7405.055664,-11244.062500,280218,121200,3,84,0.47 DATA_FILE_SIZE 30048,872

IRIDIUM_FIX -7409.27,-11237.80,280218,043002 CAP_FILE_SIZE 115198,0

TT8_MAMPS 0.039697,0.444157 CFSIZE 1024409600,995573760

HUMID 44.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1446.7

TCM_TEMP 12.90 CURRENT 0.067,7.26,1

XPDR_PINGS 1 GPS 280218,123424,-7404.545,-11248.574,33,1.6,33,53.5,0.3,0.0,6,7.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 465 132.96 nil 0 0 0.00

Roll_motor 94 97 111.82 nil 0 0 0.00

VBD_pump_during_apogee 261 2991 9512.53 nil 0 0 0.00

VBD_pump_during_surface 171 221 462.63 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 9809 6 723.89

Iridium_during_xfer 383 219 1024.77 nil 0 0 0.00

Transponder_ping 25 420 130.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.83

TT8 0 0 0.00

LPSleep 7499 2 213.94

TT8_Active 654 10 87.91

TT8_Sampling 2189 30 820.85

TT8_CF8 182 51 115.95

TT8_Kalman 0 0 0.00

Analog_circuits 1711 10 213.48

GPS_charging 0 0 0.00

Compass 1250 6 104.11

RAFOS 720 1 13.34

Transponder 178 30 66.25

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

20.4 21.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

30.9 32.50 9000.00 0.0 0.00 0.00 32.50 0.0 1.03 1.00

41.8 44.10 44.10 0.0 1.05 1.00 44.10 0.0 1.06 1.00

52.1 54.80 54.80 0.0 1.05 1.00 54.80 0.0 1.04 1.00

62.5 65.90 65.90 0.0 1.05 1.00 65.90 0.0 1.07 1.00

551.3 21.10 9000.00 0.0 -0.08 0.93 21.10 572.4 -0.09 1.00

138.5 143.80 9000.00 0.0 -0.16 0.46 143.80 0.0 -0.30 1.00

127.8 132.60 9000.00 0.0 -0.28 0.99 132.60 -4.8 1.05 1.00

116.9 121.30 121.30 -4.4 1.04 1.00 121.30 -4.4 1.04 1.00

106.0 110.00 110.00 -4.0 1.04 1.00 110.00 -4.0 1.04 1.00

95.3 98.90 98.90 -3.6 1.03 1.00 98.90 -3.6 1.04 1.00

85.1 88.30 88.40 -3.3 1.03 1.00 88.30 -3.2 1.04 1.00

74.0 76.90 76.90 -2.9 1.04 1.00 76.90 -2.9 1.03 1.00

52.1 54.20 54.20 -2.1 1.04 1.00 54.20 -2.1 1.04 1.00

40.9 42.50 42.50 -1.6 1.04 1.00 42.50 -1.6 1.04 1.00

30.3 31.20 31.20 -0.9 1.06 1.00 31.20 -0.9 1.07 1.00

20.0 20.50 20.40 -0.4 1.06 1.00 20.50 -0.5 1.04 1.00

9.8 9.90 9.90 -0.1 1.04 1.00 9.90 -0.1 1.04 1.00

Guidance and control:

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.00 -121.7 192 2814 2232 2123 0.0 0.0 0 123 0.00 0.00 -109.53 0.003 16390 0.000 0.000 191 2814 3889 3900 3878 0 0 0 0 0 0 14.54 12.86 14.54

125 -1.00 -121.7 192 2815 3902 3879 2.4 -2.6 11 142 12.00 1.95 0.00 0.000 2340 0.466 0.076 2390 3923 3898 3903 3893 0 0 0 0 0 0 13.91 14.30 14.23

207 -1.00 -121.7 2391 3923 3904 3900 14.3 -11.3 27 212 0.00 1.95 0.00 0.000 1030 0.000 0.048 2391 2787 3901 3902 3900 0 0 0 0 0 0 14.41 14.38 14.42

516 -1.00 -121.7 2391 2788 3904 3906 49.8 -11.3 59 522 0.00 2.40 0.00 0.000 516 0.000 0.050 2391 1399 3904 3903 3905 0 0 0 0 0 0 14.72 14.38 14.72

576 -1.00 -121.7 2391 1400 3903 3906 56.6 -11.3 71 582 0.00 2.53 0.00 0.000 1030 0.000 0.070 2384 2835 3904 3903 3905 0 0 0 0 0 0 14.52 14.40 14.56

886 -1.00 -121.7 2384 2837 3904 3908 96.1 -12.9 103 892 0.00 2.45 0.00 0.000 516 0.000 0.051 2384 1397 3905 3904 3906 0 0 0 0 0 0 14.77 14.45 14.77

966 -1.00 -121.7 2388 1397 3904 3907 106.2 -12.6 119 972 0.00 2.53 0.00 0.000 1030 0.000 0.070 2383 2807 3905 3903 3907 0 0 0 0 0 0 14.50 14.41 14.53

1277 -1.00 -121.7 2383 2808 3904 3907 148.5 -14.1 151 1282 0.00 2.42 0.00 0.000 516 0.000 0.052 2383 1386 3905 3903 3907 0 0 0 0 0 0 14.76 14.48 14.76

1312 -1.00 -121.7 2383 1387 3904 3908 153.3 -13.5 158 1319 0.00 2.53 0.00 0.000 1030 0.000 0.070 2382 2799 3905 3903 3907 0 0 0 0 0 0 14.60 14.42 14.63

1617 -1.00 -121.7 2384 2801 3904 3908 193.8 -13.4 189 1623 0.00 2.00 0.00 0.000 260 0.000 0.091 2375 3910 3906 3903 3910 0 0 0 0 0 0 14.83 14.40 14.82

1663 -1.00 -121.7 2375 3911 3904 3906 200.1 -13.9 198 1669 0.10 1.90 0.00 0.000 3078 0.277 0.049 2400 2789 3905 3903 3907 0 0 0 0 0 0 14.15 14.54 14.38

1967 -1.00 -121.7 2401 2790 3904 3908 235.7 -11.1 229 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2789 3905 3903 3908 0 0 0 0 0 0 14.83 14.83 14.83

2268 -1.00 -121.7 2401 2790 3904 3908 265.4 -9.3 259 2269 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2790 3905 3903 3908 0 0 0 0 0 0 14.78 14.78 14.78

2567 -1.00 -121.7 2401 2790 3904 3908 292.8 -9.2 289 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2790 3903 3899 3908 0 0 0 0 0 0 14.85 14.85 14.85

2868 -1.00 -121.7 2400 2790 3904 3909 320.8 -9.2 308 2873 0.00 2.38 0.00 0.000 516 0.000 0.052 2401 1383 3905 3903 3908 0 0 0 0 0 0 14.85 14.51 14.85

2937 -1.00 -121.7 2401 1385 3904 3909 327.5 -9.6 322 2943 0.00 2.53 0.00 0.000 1030 0.000 0.071 2400 2801 3905 3903 3908 0 0 0 0 0 0 14.64 14.47 14.66

3249 -1.00 -121.7 2400 2802 3904 3909 357.0 -9.6 339 3249 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2801 3905 3903 3908 0 0 0 0 0 0 14.85 14.85 14.85

3548 -1.00 -121.7 2400 2801 3901 3910 387.7 -10.7 354 3553 0.00 2.40 0.00 0.000 516 0.000 0.051 2397 1388 3906 3903 3909 0 0 0 0 0 0 14.86 14.54 14.86

3578 -1.00 -121.7 2400 1388 3904 3910 390.9 -10.6 360 3583 0.00 2.47 0.00 0.000 1030 0.000 0.071 2399 2804 3906 3904 3909 0 0 0 0 0 0 14.62 14.50 14.66

3888 -1.00 -121.7 2399 2805 3904 3911 424.9 -10.5 377 3894 0.00 2.40 0.00 0.000 516 0.000 0.051 2399 1384 3906 3903 3910 0 0 0 0 0 0 14.86 14.52 14.86

3924 -1.00 -121.7 2400 1384 3904 3911 428.6 -10.2 384 3932 0.00 2.50 0.00 0.000 1030 0.000 0.070 2399 2815 3906 3903 3910 0 0 0 0 0 0 14.62 14.50 14.66

4229 -1.00 -121.7 2399 2816 3904 3912 456.6 -8.7 400 4235 0.00 2.42 0.00 0.000 516 0.000 0.050 2399 1391 3906 3902 3911 0 0 0 0 0 0 14.87 14.53 14.87

4299 -1.00 -121.7 2399 1392 3904 3912 462.7 -8.5 414 4305 0.00 2.53 0.00 0.000 1030 0.000 0.071 2398 2810 3907 3904 3910 0 0 0 0 0 0 14.65 14.46 14.69

4609 -1.00 -121.7 2399 2809 3905 3911 488.9 -8.5 431 4610 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2810 3907 3904 3911 0 0 0 0 0 0 14.85 14.85 14.86

4930 -1.00 -121.7 2397 2811 3903 3913 514.3 -7.4 444 4935 0.00 1.92 0.00 0.000 292 0.000 0.093 2396 3908 3908 3905 3911 0 0 0 0 0 0 14.83 14.47 14.83

4984 -1.00 -121.7 2396 3907 3906 3912 519.0 -8.7 455 4991 0.00 1.88 0.00 0.000 1030 0.000 0.050 2396 2801 3907 3904 3911 0 0 0 0 0 0 14.59 14.56 14.61

5349 -1.00 -121.7 2396 2801 3907 3913 548.1 -8.0 468 5355 0.00 2.40 0.00 0.000 516 0.000 0.050 2396 1391 3909 3906 3912 0 0 0 0 0 0 14.87 14.47 14.87

5373 end dive: TARGET_DEPTH_EXCEEDED

state 5373 begin apogee

5378 -0.23 0.0 2397 2560 3907 3914 550.2 -8.7 473 5513 1.00 0.00 132.20 2.992 10246 0.258 0.000 2656 2558 3400 3405 3396 0 0 0 0 0 0 14.20 13.44 12.37

5514 end apogee: CONTROL_FINISHED_OK

state 5514 begin climb

5516 1.00 121.7 2657 2560 3404 3396 551.9 0.0 477 5650 1.38 0.00 129.05 2.901 10758 0.155 0.000 3047 2558 2914 2921 2908 0 0 0 0 0 0 13.37 13.18 12.17

6004 1.00 121.7 3047 2558 2909 2896 489.1 14.4 515 6005 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2558 2901 2907 2896 0 0 0 0 0 0 14.40 14.41 14.40

6305 1.00 121.7 3047 2559 2907 2897 447.0 14.1 530 6311 0.00 2.47 0.00 0.000 516 0.000 0.067 3063 1151 2900 2906 2895 0 0 0 0 0 0 14.61 14.32 14.61

6345 1.00 121.7 3058 1150 2907 2895 441.5 13.4 538 6352 0.00 2.47 0.00 0.000 1030 0.000 0.070 3061 2557 2900 2907 2894 0 0 0 0 0 0 14.47 14.35 14.50

6667 1.00 121.7 3058 2557 2908 2895 396.8 13.9 557 6672 0.00 2.42 0.00 0.000 260 0.000 0.096 3057 3907 2900 2906 2894 0 0 0 0 0 0 14.75 14.40 14.74

6691 1.00 121.7 3058 3908 2908 2896 393.0 15.1 562 6699 0.00 2.35 0.00 0.000 1030 0.000 0.056 3067 2520 2900 2907 2894 0 0 0 0 0 0 14.59 14.51 14.61

7011 1.00 121.7 3067 2520 2907 2896 348.3 14.1 580 7016 0.00 2.38 0.00 0.000 516 0.000 0.067 3078 1150 2900 2907 2894 0 0 0 0 0 0 14.77 14.47 14.78

7040 1.00 121.7 3078 1150 2908 2894 344.0 13.7 586 7047 0.00 2.50 0.00 0.000 1030 0.000 0.072 3078 2557 2900 2906 2894 0 0 0 0 0 0 14.63 14.47 14.65

7352 1.00 121.7 3078 2558 2907 2896 300.7 13.6 603 7357 0.00 2.42 0.00 0.000 260 0.000 0.097 3078 3911 2900 2906 2894 0 0 0 0 0 0 14.83 14.49 14.83

7366 1.00 121.7 3079 3911 2908 2895 298.5 13.8 606 7375 0.12 2.35 0.00 0.000 5126 0.286 0.057 3056 2542 2901 2907 2895 0 0 0 0 0 0 14.23 14.56 14.46

7671 1.00 121.7 3056 2542 2909 2895 260.4 12.4 637 7672 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2542 2900 2907 2894 0 0 0 0 0 0 14.85 14.85 14.85

7971 1.00 121.7 3055 2542 2908 2896 223.6 12.1 667 7972 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2542 2900 2907 2894 0 0 0 0 0 0 14.87 14.87 14.87

8271 1.00 121.7 3057 2542 2909 2894 187.6 11.9 697 8277 0.00 2.45 0.00 0.000 260 0.000 0.094 3054 3912 2901 2908 2895 0 0 0 0 0 0 14.87 14.50 14.87

8292 1.00 121.7 3057 3911 2910 2895 185.0 13.1 701 8297 0.00 2.30 0.00 0.000 1030 0.000 0.057 3065 2543 2901 2908 2895 0 0 0 0 0 0 14.69 14.62 14.71

8601 1.00 121.7 3065 2544 2909 2895 146.8 12.3 733 8607 0.00 2.45 0.00 0.000 516 0.000 0.067 3074 1150 2901 2908 2894 0 0 0 0 0 0 14.87 14.47 14.87

8641 1.00 121.7 3074 1151 2913 2896 142.0 11.6 741 8647 0.00 2.47 0.00 0.000 1030 0.000 0.070 3075 2572 2901 2908 2895 0 0 0 0 0 0 14.65 14.52 14.69

8952 1.00 121.7 3075 2573 2909 2896 104.8 12.3 773 8957 0.00 2.40 0.00 0.000 260 0.000 0.097 3074 3917 2900 2905 2895 0 0 0 0 0 0 14.86 14.52 14.87

8992 1.00 121.7 3075 3917 2910 2894 99.1 14.4 781 8998 0.10 2.35 0.00 0.000 5126 0.291 0.057 3059 2550 2901 2908 2894 0 0 0 0 0 0 14.22 14.57 14.46

9303 1.00 121.7 3060 2550 2909 2894 63.1 10.1 813 9308 0.00 2.42 0.00 0.000 516 0.000 0.070 3067 1145 2901 2908 2894 0 0 0 0 0 0 14.83 14.50 14.83

9347 1.00 121.7 3068 1146 2910 2895 58.6 10.9 822 9355 0.00 2.50 0.00 0.000 1030 0.000 0.071 3067 2558 2901 2908 2895 0 0 0 0 0 0 14.58 14.50 14.64

9653 1.00 121.7 3067 2560 2909 2896 20.0 13.0 853 9658 0.00 2.42 0.00 0.000 260 0.000 0.097 3067 3920 2901 2908 2895 0 0 0 0 0 0 14.83 14.49 14.83

9692 1.00 121.7 3067 3921 2909 2896 14.0 16.1 861 9698 0.00 2.38 0.00 0.000 1030 0.000 0.057 3078 2537 2901 2908 2895 0 0 0 0 0 0 14.62 14.57 14.64

9781 end climb: SURFACE_DEPTH_REACHED

state 9781 begin surface coast

9792 end surface coast: CONTROL_FINISHED_OK

state 9792 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	218	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	42	ALTIM_FREQUENCY	13
D_TGT	550	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.25119999	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	190	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	220	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	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	1	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	0.059999999	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	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	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	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	883

GPS1	280218,093730,-7404.2373,-11251.6436,26,0.9,26,53.6,0.2,336.0,10,4.1	SPEED_LIMITS	0.096,0.195
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	80.0,13605,-18.7,-9.649,-26.34,1825
_SM_ANGLEo	-60.8	D_GRID	743
GPS2	280218,094621,-7404.1846,-11251.7520,3,0.9,5,53.6,0.2,0.0,11,5.7

FREEZE	0.60,-1.764,-1.862,2,1,0	ALTIM_TOP_PING	9.8,9.9
FINISH	0.6,1.027314	_24V_AH	12.17,74.579
SM_CCo	9808,171.35,0.222,0,0,2203,300.18	_10V_AH	12.35,0.000
SM_GC	0.59,8.75,0.50,171.35,0.100,0.095,0.222,178,2808,2203,-7.90,-0.51,300.18,0,0,0,0,0,0,14.57,14.54,14.21	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
RAFOS	0,1519819259,12.032778,12.016389,68,59,59,56,52,51,620,611,205,129,186,140	MEM	280112
RAFOS_FIX	-7405.055664,-11244.062500,280218,121200,3,84,0.47	DATA_FILE_SIZE	30048,872
IRIDIUM_FIX	-7409.27,-11237.80,280218,043002	CAP_FILE_SIZE	115198,0
TT8_MAMPS	0.039697,0.444157	CFSIZE	1024409600,995573760
HUMID	44.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1446.7
TCM_TEMP	12.90	CURRENT	0.067,7.26,1
XPDR_PINGS	1	GPS	280218,123424,-7404.545,-11248.574,33,1.6,33,53.5,0.3,0.0,6,7.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	465	132.96	nil	0	0	0.00
Roll_motor	94	97	111.82	nil	0	0	0.00
VBD_pump_during_apogee	261	2991	9512.53	nil	0	0	0.00
VBD_pump_during_surface	171	221	462.63	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	9809	6	723.89
Iridium_during_xfer	383	219	1024.77	nil	0	0	0.00
Transponder_ping	25	420	130.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.83
TT8	0	0	0.00
LPSleep	7499	2	213.94
TT8_Active	654	10	87.91
TT8_Sampling	2189	30	820.85
TT8_CF8	182	51	115.95
TT8_Kalman	0	0	0.00
Analog_circuits	1711	10	213.48
GPS_charging	0	0	0.00
Compass	1250	6	104.11
RAFOS	720	1	13.34
Transponder	178	30	66.25

		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
20.4	21.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
30.9	32.50	9000.00	0.0	0.00	0.00	32.50	0.0	1.03	1.00
41.8	44.10	44.10	0.0	1.05	1.00	44.10	0.0	1.06	1.00
52.1	54.80	54.80	0.0	1.05	1.00	54.80	0.0	1.04	1.00
62.5	65.90	65.90	0.0	1.05	1.00	65.90	0.0	1.07	1.00
551.3	21.10	9000.00	0.0	-0.08	0.93	21.10	572.4	-0.09	1.00

138.5	143.80	9000.00	0.0	-0.16	0.46	143.80	0.0	-0.30	1.00
127.8	132.60	9000.00	0.0	-0.28	0.99	132.60	-4.8	1.05	1.00
116.9	121.30	121.30	-4.4	1.04	1.00	121.30	-4.4	1.04	1.00
106.0	110.00	110.00	-4.0	1.04	1.00	110.00	-4.0	1.04	1.00
95.3	98.90	98.90	-3.6	1.03	1.00	98.90	-3.6	1.04	1.00
85.1	88.30	88.40	-3.3	1.03	1.00	88.30	-3.2	1.04	1.00
74.0	76.90	76.90	-2.9	1.04	1.00	76.90	-2.9	1.03	1.00
52.1	54.20	54.20	-2.1	1.04	1.00	54.20	-2.1	1.04	1.00
40.9	42.50	42.50	-1.6	1.04	1.00	42.50	-1.6	1.04	1.00
30.3	31.20	31.20	-0.9	1.06	1.00	31.20	-0.9	1.07	1.00
20.0	20.50	20.40	-0.4	1.06	1.00	20.50	-0.5	1.04	1.00
9.8	9.90	9.90	-0.1	1.04	1.00	9.90	-0.1	1.04	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.00	-121.7	192	2814	2232	2123	0.0	0.0	0	123	0.00	0.00	-109.53	0.003	16390	0.000	0.000	191	2814	3889	3900	3878	0	0	0	0	0	0	14.54	12.86	14.54
125	-1.00	-121.7	192	2815	3902	3879	2.4	-2.6	11	142	12.00	1.95	0.00	0.000	2340	0.466	0.076	2390	3923	3898	3903	3893	0	0	0	0	0	0	13.91	14.30	14.23
207	-1.00	-121.7	2391	3923	3904	3900	14.3	-11.3	27	212	0.00	1.95	0.00	0.000	1030	0.000	0.048	2391	2787	3901	3902	3900	0	0	0	0	0	0	14.41	14.38	14.42
516	-1.00	-121.7	2391	2788	3904	3906	49.8	-11.3	59	522	0.00	2.40	0.00	0.000	516	0.000	0.050	2391	1399	3904	3903	3905	0	0	0	0	0	0	14.72	14.38	14.72
576	-1.00	-121.7	2391	1400	3903	3906	56.6	-11.3	71	582	0.00	2.53	0.00	0.000	1030	0.000	0.070	2384	2835	3904	3903	3905	0	0	0	0	0	0	14.52	14.40	14.56
886	-1.00	-121.7	2384	2837	3904	3908	96.1	-12.9	103	892	0.00	2.45	0.00	0.000	516	0.000	0.051	2384	1397	3905	3904	3906	0	0	0	0	0	0	14.77	14.45	14.77
966	-1.00	-121.7	2388	1397	3904	3907	106.2	-12.6	119	972	0.00	2.53	0.00	0.000	1030	0.000	0.070	2383	2807	3905	3903	3907	0	0	0	0	0	0	14.50	14.41	14.53
1277	-1.00	-121.7	2383	2808	3904	3907	148.5	-14.1	151	1282	0.00	2.42	0.00	0.000	516	0.000	0.052	2383	1386	3905	3903	3907	0	0	0	0	0	0	14.76	14.48	14.76
1312	-1.00	-121.7	2383	1387	3904	3908	153.3	-13.5	158	1319	0.00	2.53	0.00	0.000	1030	0.000	0.070	2382	2799	3905	3903	3907	0	0	0	0	0	0	14.60	14.42	14.63
1617	-1.00	-121.7	2384	2801	3904	3908	193.8	-13.4	189	1623	0.00	2.00	0.00	0.000	260	0.000	0.091	2375	3910	3906	3903	3910	0	0	0	0	0	0	14.83	14.40	14.82
1663	-1.00	-121.7	2375	3911	3904	3906	200.1	-13.9	198	1669	0.10	1.90	0.00	0.000	3078	0.277	0.049	2400	2789	3905	3903	3907	0	0	0	0	0	0	14.15	14.54	14.38
1967	-1.00	-121.7	2401	2790	3904	3908	235.7	-11.1	229	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2789	3905	3903	3908	0	0	0	0	0	0	14.83	14.83	14.83
2268	-1.00	-121.7	2401	2790	3904	3908	265.4	-9.3	259	2269	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2790	3905	3903	3908	0	0	0	0	0	0	14.78	14.78	14.78
2567	-1.00	-121.7	2401	2790	3904	3908	292.8	-9.2	289	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2790	3903	3899	3908	0	0	0	0	0	0	14.85	14.85	14.85
2868	-1.00	-121.7	2400	2790	3904	3909	320.8	-9.2	308	2873	0.00	2.38	0.00	0.000	516	0.000	0.052	2401	1383	3905	3903	3908	0	0	0	0	0	0	14.85	14.51	14.85
2937	-1.00	-121.7	2401	1385	3904	3909	327.5	-9.6	322	2943	0.00	2.53	0.00	0.000	1030	0.000	0.071	2400	2801	3905	3903	3908	0	0	0	0	0	0	14.64	14.47	14.66
3249	-1.00	-121.7	2400	2802	3904	3909	357.0	-9.6	339	3249	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2801	3905	3903	3908	0	0	0	0	0	0	14.85	14.85	14.85
3548	-1.00	-121.7	2400	2801	3901	3910	387.7	-10.7	354	3553	0.00	2.40	0.00	0.000	516	0.000	0.051	2397	1388	3906	3903	3909	0	0	0	0	0	0	14.86	14.54	14.86
3578	-1.00	-121.7	2400	1388	3904	3910	390.9	-10.6	360	3583	0.00	2.47	0.00	0.000	1030	0.000	0.071	2399	2804	3906	3904	3909	0	0	0	0	0	0	14.62	14.50	14.66
3888	-1.00	-121.7	2399	2805	3904	3911	424.9	-10.5	377	3894	0.00	2.40	0.00	0.000	516	0.000	0.051	2399	1384	3906	3903	3910	0	0	0	0	0	0	14.86	14.52	14.86
3924	-1.00	-121.7	2400	1384	3904	3911	428.6	-10.2	384	3932	0.00	2.50	0.00	0.000	1030	0.000	0.070	2399	2815	3906	3903	3910	0	0	0	0	0	0	14.62	14.50	14.66
4229	-1.00	-121.7	2399	2816	3904	3912	456.6	-8.7	400	4235	0.00	2.42	0.00	0.000	516	0.000	0.050	2399	1391	3906	3902	3911	0	0	0	0	0	0	14.87	14.53	14.87
4299	-1.00	-121.7	2399	1392	3904	3912	462.7	-8.5	414	4305	0.00	2.53	0.00	0.000	1030	0.000	0.071	2398	2810	3907	3904	3910	0	0	0	0	0	0	14.65	14.46	14.69
4609	-1.00	-121.7	2399	2809	3905	3911	488.9	-8.5	431	4610	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2810	3907	3904	3911	0	0	0	0	0	0	14.85	14.85	14.86
4930	-1.00	-121.7	2397	2811	3903	3913	514.3	-7.4	444	4935	0.00	1.92	0.00	0.000	292	0.000	0.093	2396	3908	3908	3905	3911	0	0	0	0	0	0	14.83	14.47	14.83
4984	-1.00	-121.7	2396	3907	3906	3912	519.0	-8.7	455	4991	0.00	1.88	0.00	0.000	1030	0.000	0.050	2396	2801	3907	3904	3911	0	0	0	0	0	0	14.59	14.56	14.61
5349	-1.00	-121.7	2396	2801	3907	3913	548.1	-8.0	468	5355	0.00	2.40	0.00	0.000	516	0.000	0.050	2396	1391	3909	3906	3912	0	0	0	0	0	0	14.87	14.47	14.87
5373	end dive: TARGET_DEPTH_EXCEEDED
state	5373	begin apogee
5378	-0.23	0.0	2397	2560	3907	3914	550.2	-8.7	473	5513	1.00	0.00	132.20	2.992	10246	0.258	0.000	2656	2558	3400	3405	3396	0	0	0	0	0	0	14.20	13.44	12.37
5514	end apogee: CONTROL_FINISHED_OK
state	5514	begin climb
5516	1.00	121.7	2657	2560	3404	3396	551.9	0.0	477	5650	1.38	0.00	129.05	2.901	10758	0.155	0.000	3047	2558	2914	2921	2908	0	0	0	0	0	0	13.37	13.18	12.17
6004	1.00	121.7	3047	2558	2909	2896	489.1	14.4	515	6005	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2558	2901	2907	2896	0	0	0	0	0	0	14.40	14.41	14.40
6305	1.00	121.7	3047	2559	2907	2897	447.0	14.1	530	6311	0.00	2.47	0.00	0.000	516	0.000	0.067	3063	1151	2900	2906	2895	0	0	0	0	0	0	14.61	14.32	14.61
6345	1.00	121.7	3058	1150	2907	2895	441.5	13.4	538	6352	0.00	2.47	0.00	0.000	1030	0.000	0.070	3061	2557	2900	2907	2894	0	0	0	0	0	0	14.47	14.35	14.50
6667	1.00	121.7	3058	2557	2908	2895	396.8	13.9	557	6672	0.00	2.42	0.00	0.000	260	0.000	0.096	3057	3907	2900	2906	2894	0	0	0	0	0	0	14.75	14.40	14.74
6691	1.00	121.7	3058	3908	2908	2896	393.0	15.1	562	6699	0.00	2.35	0.00	0.000	1030	0.000	0.056	3067	2520	2900	2907	2894	0	0	0	0	0	0	14.59	14.51	14.61
7011	1.00	121.7	3067	2520	2907	2896	348.3	14.1	580	7016	0.00	2.38	0.00	0.000	516	0.000	0.067	3078	1150	2900	2907	2894	0	0	0	0	0	0	14.77	14.47	14.78
7040	1.00	121.7	3078	1150	2908	2894	344.0	13.7	586	7047	0.00	2.50	0.00	0.000	1030	0.000	0.072	3078	2557	2900	2906	2894	0	0	0	0	0	0	14.63	14.47	14.65
7352	1.00	121.7	3078	2558	2907	2896	300.7	13.6	603	7357	0.00	2.42	0.00	0.000	260	0.000	0.097	3078	3911	2900	2906	2894	0	0	0	0	0	0	14.83	14.49	14.83
7366	1.00	121.7	3079	3911	2908	2895	298.5	13.8	606	7375	0.12	2.35	0.00	0.000	5126	0.286	0.057	3056	2542	2901	2907	2895	0	0	0	0	0	0	14.23	14.56	14.46
7671	1.00	121.7	3056	2542	2909	2895	260.4	12.4	637	7672	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2542	2900	2907	2894	0	0	0	0	0	0	14.85	14.85	14.85
7971	1.00	121.7	3055	2542	2908	2896	223.6	12.1	667	7972	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2542	2900	2907	2894	0	0	0	0	0	0	14.87	14.87	14.87
8271	1.00	121.7	3057	2542	2909	2894	187.6	11.9	697	8277	0.00	2.45	0.00	0.000	260	0.000	0.094	3054	3912	2901	2908	2895	0	0	0	0	0	0	14.87	14.50	14.87
8292	1.00	121.7	3057	3911	2910	2895	185.0	13.1	701	8297	0.00	2.30	0.00	0.000	1030	0.000	0.057	3065	2543	2901	2908	2895	0	0	0	0	0	0	14.69	14.62	14.71
8601	1.00	121.7	3065	2544	2909	2895	146.8	12.3	733	8607	0.00	2.45	0.00	0.000	516	0.000	0.067	3074	1150	2901	2908	2894	0	0	0	0	0	0	14.87	14.47	14.87
8641	1.00	121.7	3074	1151	2913	2896	142.0	11.6	741	8647	0.00	2.47	0.00	0.000	1030	0.000	0.070	3075	2572	2901	2908	2895	0	0	0	0	0	0	14.65	14.52	14.69
8952	1.00	121.7	3075	2573	2909	2896	104.8	12.3	773	8957	0.00	2.40	0.00	0.000	260	0.000	0.097	3074	3917	2900	2905	2895	0	0	0	0	0	0	14.86	14.52	14.87
8992	1.00	121.7	3075	3917	2910	2894	99.1	14.4	781	8998	0.10	2.35	0.00	0.000	5126	0.291	0.057	3059	2550	2901	2908	2894	0	0	0	0	0	0	14.22	14.57	14.46
9303	1.00	121.7	3060	2550	2909	2894	63.1	10.1	813	9308	0.00	2.42	0.00	0.000	516	0.000	0.070	3067	1145	2901	2908	2894	0	0	0	0	0	0	14.83	14.50	14.83
9347	1.00	121.7	3068	1146	2910	2895	58.6	10.9	822	9355	0.00	2.50	0.00	0.000	1030	0.000	0.071	3067	2558	2901	2908	2895	0	0	0	0	0	0	14.58	14.50	14.64
9653	1.00	121.7	3067	2560	2909	2896	20.0	13.0	853	9658	0.00	2.42	0.00	0.000	260	0.000	0.097	3067	3920	2901	2908	2895	0	0	0	0	0	0	14.83	14.49	14.83
9692	1.00	121.7	3067	3921	2909	2896	14.0	16.1	861	9698	0.00	2.38	0.00	0.000	1030	0.000	0.057	3078	2537	2901	2908	2895	0	0	0	0	0	0	14.62	14.57	14.64
9781	end climb: SURFACE_DEPTH_REACHED
state	9781	begin surface coast
9792	end surface coast: CONTROL_FINISHED_OK
state	9792	begin surface