Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 138 * 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 138 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 20

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 42 ALTIM_FREQUENCY 13

D_TGT 900 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 27 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 100 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 3645 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 320 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 1140 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 43200 T_GPS 5 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 300 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 300 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 0.30000001 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 900 N_NOCOMM 3 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 20 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 320

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 43200

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 1140

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 3645 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 300 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 300 ROLL_AD_RATE 300 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 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 138 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 27 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 0 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 160218,181330,-7403.7188,-11223.9102,21,0.8,21,53.3,0.2,255.6,10,3.9 SPEED_LIMITS 0.094,0.193

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.70 MHEAD_RNG_PITCHd_Wd 183.7,717,-40.7,-9.375,-45.00,530

_SM_ANGLEo -59.3 D_GRID 826

GPS2 160218,181938,-7403.7490,-11223.9258,2,0.7,3,53.3,0.2,286.1,12,4.6

Post-dive calculations and measurements:

FREEZE 3.32,-1.564,-1.864,2,1,0 _24V_AH 12.72,53.341

FINISH1 3.3,1.027307,10 _10V_AH 12.11,0.000

FINISH2 2.2 FG_AHR_24Vo 0.000

RAFOS_CLK 2253 FG_AHR_10Vo 0.000

RAFOS 0,1518814917,21.032778,21.032499,117,55,53,51,51,49,282,198,214,149,119,164 MEM 280760

RAFOS_FIX -7404.403320,-83224.351562,160218,212136,2,149,2103.92 DATA_FILE_SIZE 36732,1052

IRIDIUM_FIX -7404.65,-11313.97,160218,092509 CAP_FILE_SIZE 159249,0

TT8_MAMPS 0.038199,0.130326 CFSIZE 1024409600,1003651072

HUMID 48.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.89988 SOUNDSPEED 1451.7

TCM_TEMP 13.10 CURRENT 0.000,0.00,1

XPDR_PINGS 0 GPS 160218,181938,-7403.749,-11223.926,2,0.7,3,53.3,0.2,286.1,12,4.6

ALTIM_TOP_PING 21.9,22.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 468 104.69 nil 0 0 0.00

Roll_motor 56 89 64.58 nil 0 0 0.00

VBD_pump_during_apogee 157 3068 6165.80 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 7769 3 349.14

Iridium_during_xfer 258 191 628.37 nil 0 0 0.00

Transponder_ping 19 420 104.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.56

TT8 0 0 0.00

LPSleep 48326 2 1351.88

TT8_Active 388 10 51.16

TT8_Sampling 2457 30 903.26

TT8_CF8 155 51 96.42

TT8_Kalman 0 0 0.00

Analog_circuits 1451 10 177.55

GPS_charging 0 0 0.00

Compass 1501 6 122.56

RAFOS 1920 1 34.88

Transponder 140 30 50.93

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

20.5 21.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.3 44.40 9000.00 0.0 0.00 0.00 44.40 0.0 1.08 1.00

820.4 10.40 9000.00 0.0 -0.03 0.56 10.40 830.8 -0.04 1.00

809.3 23.00 9000.00 0.0 -0.04 0.87 23.00 832.3 -1.14 1.00

788.6 54.30 9000.00 0.0 -1.40 1.00 54.30 842.9 -1.51 1.00

104.3 109.60 9000.00 0.0 -0.10 0.89 109.60 0.0 -0.08 1.00

63.4 65.50 9000.00 0.0 -0.04 0.38 65.50 -2.1 1.08 1.00

43.0 44.30 44.10 -1.1 1.07 1.00 44.30 -1.3 1.04 1.00

21.9 22.00 22.10 -0.2 1.05 1.00 22.00 -0.1 1.06 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 -1.89 -32.7 199 2806 2266 2172 0.0 0.0 0 113 0.00 0.00 -98.88 0.003 16390 0.000 0.000 198 2806 3779 3790 3768 0 0 0 0 0 0 14.57 13.00 14.57

114 -1.94 -73.3 199 2806 3793 3769 1.8 -1.5 10 138 10.25 2.47 -6.78 0.015 18980 0.469 0.071 2098 1401 3941 3941 3942 0 0 0 0 0 0 14.00 13.14 14.37

362 -1.94 -73.3 2099 1402 3952 3954 53.3 -23.8 59 369 0.00 2.47 0.00 0.000 1030 0.000 0.065 2098 2791 3950 3949 3952 0 0 0 0 0 0 14.40 14.35 14.42

668 -1.94 -73.3 2098 2792 3952 3954 125.7 -23.4 90 673 0.00 2.38 0.00 0.000 516 0.000 0.047 2098 1389 3952 3951 3953 0 0 0 0 0 0 14.71 14.45 14.71

747 -1.94 -73.3 2098 1389 3952 3954 144.0 -22.7 106 753 0.00 2.50 0.00 0.000 1030 0.000 0.065 2096 2799 3952 3952 3953 0 0 0 0 0 0 14.49 14.41 14.52

1057 -1.94 -73.3 2097 2799 3953 3952 216.0 -22.9 138 1058 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2799 3952 3952 3953 0 0 0 0 0 0 14.80 14.80 14.80

1357 -1.94 -73.3 2097 2799 3953 3954 282.7 -22.1 168 1363 0.00 2.40 0.00 0.000 516 0.000 0.047 2097 1404 3953 3952 3954 0 0 0 0 0 0 14.82 14.47 14.82

1377 -1.94 -73.3 2097 1403 3952 3954 287.0 -21.8 172 1383 0.00 2.47 0.00 0.000 1030 0.000 0.065 2096 2799 3952 3951 3954 0 0 0 0 0 0 14.54 14.46 14.57

1687 -1.94 -73.3 2096 2801 3953 3955 354.9 -21.8 192 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2799 3953 3952 3954 0 0 0 0 0 0 14.85 14.85 14.85

1987 -1.94 -73.3 2095 2799 3953 3954 417.4 -21.0 207 1993 0.00 2.40 0.00 0.000 516 0.000 0.045 2096 1371 3953 3952 3954 0 0 0 0 0 0 14.87 14.52 14.86

2002 -1.94 -73.3 2096 1372 3953 3955 420.7 -21.3 210 2010 0.00 2.53 0.00 0.000 1030 0.000 0.064 2095 2799 3953 3952 3954 0 0 0 0 0 0 14.56 14.48 14.59

2309 -1.94 -73.3 2096 2799 3953 3954 483.8 -20.7 226 2314 0.00 1.92 0.00 0.000 260 0.000 0.082 2086 3909 3953 3952 3954 0 0 0 0 0 0 14.83 14.51 14.83

2358 -1.94 -73.3 2087 3909 3954 3954 494.2 -20.8 236 2364 0.00 1.88 0.00 0.000 1030 0.000 0.042 2085 2778 3953 3952 3954 0 0 0 0 0 0 14.64 14.60 14.64

2688 -1.94 -73.3 2086 2779 3952 3955 557.1 -19.3 249 2688 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2778 3953 3953 3954 0 0 0 0 0 0 14.88 14.88 14.88

3048 -1.94 -73.3 2087 2778 3953 3954 625.8 -19.0 261 3055 0.00 2.03 0.00 0.000 260 0.000 0.080 2078 3912 3953 3952 3954 0 0 0 0 0 0 14.90 14.49 14.90

3124 -1.94 -73.3 2078 3913 3953 3954 640.7 -19.8 276 3130 0.10 1.85 0.00 0.000 3078 0.369 0.042 2101 2800 3952 3952 3953 0 0 0 0 0 0 14.10 14.62 14.39

3500 -1.94 -73.3 2101 2801 3953 3954 707.3 -17.8 291 3505 0.00 2.33 0.00 0.000 516 0.000 0.045 2101 1407 3951 3952 3950 0 0 0 0 0 0 14.84 14.58 14.84

3549 -1.94 -73.3 2101 1406 3953 3953 716.2 -17.5 301 3556 0.00 2.47 0.00 0.000 1030 0.000 0.065 2100 2808 3952 3952 3953 0 0 0 0 0 0 14.59 14.51 14.62

3920 -1.94 -73.3 2100 2808 3953 3954 779.5 -17.0 315 3921 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2807 3952 3952 3953 0 0 0 0 0 0 14.90 14.90 14.90

4219 end dive: TARGET_DEPTH_EXCEEDED

state 4219 begin apogee

4223 -0.23 0.0 2101 2552 3953 3954 829.9 -16.7 325 4313 2.25 0.00 83.28 3.068 10246 0.314 0.000 2649 2552 3642 3644 3640 0 0 0 0 0 0 14.23 13.81 12.72

4314 end apogee: CONTROL_FINISHED_OK

state 4314 begin loiter

4670 -0.23 0.0 2649 2552 3637 3636 822.8 2.1 331 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 14.64 14.64 14.64

5270 -0.23 0.0 2649 2551 3634 3637 814.8 1.3 336 5271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3634 3633 3635 0 0 0 0 0 0 14.86 14.86 14.85

5871 -0.23 0.0 2648 2553 3634 3637 805.1 1.7 341 5871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2551 3634 3633 3635 0 0 0 0 0 0 14.95 14.95 14.95

6471 -0.23 0.0 2649 2553 3634 3636 794.1 1.8 346 6471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2551 3634 3633 3636 0 0 0 0 0 0 15.00 15.01 15.00

7070 -0.23 0.0 2649 2552 3634 3636 780.7 2.2 351 7071 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3634 3633 3636 0 0 0 0 0 0 15.04 15.04 15.04

7670 -0.23 0.0 2649 2553 3634 3637 765.2 2.6 356 7671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3634 3633 3635 0 0 0 0 0 0 15.07 15.07 15.07

8271 -0.23 0.0 2649 2552 3635 3636 749.8 2.6 361 8271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3634 3633 3636 0 0 0 0 0 0 15.08 15.09 15.09

8870 -0.23 0.0 2649 2552 3635 3635 736.1 2.3 366 8871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3634 3636 0 0 0 0 0 0 15.10 15.11 15.10

9470 -0.23 0.0 2649 2553 3634 3637 721.5 2.5 371 9471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3634 3633 3636 0 0 0 0 0 0 15.12 15.11 15.11

10071 -0.23 0.0 2649 2553 3634 3637 707.0 2.3 376 10071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3634 3634 3635 0 0 0 0 0 0 15.11 15.11 15.11

10670 -0.23 0.0 2649 2553 3634 3636 697.5 1.5 381 10671 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2551 3635 3634 3636 0 0 0 0 0 0 15.11 15.11 15.11

11271 -0.23 0.0 2649 2553 3634 3637 691.9 0.9 386 11271 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3635 3634 3636 0 0 0 0 0 0 15.13 15.13 15.13

11870 -0.23 0.0 2647 2553 3634 3637 687.0 0.9 391 11871 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3635 3634 3636 0 0 0 0 0 0 15.14 15.14 15.14

12470 -0.23 0.0 2649 2552 3635 3636 679.2 1.3 396 12471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3634 3636 0 0 0 0 0 0 15.15 15.14 15.14

13070 -0.23 0.0 2649 2552 3635 3635 668.7 1.8 401 13071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2551 3635 3634 3636 0 0 0 0 0 0 15.15 15.15 15.15

13670 -0.23 0.0 2648 2552 3635 3636 659.0 1.6 406 13671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3634 3636 0 0 0 0 0 0 15.16 15.16 15.15

14270 -0.23 0.0 2650 2552 3635 3635 651.7 1.2 411 14271 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3635 3634 3636 0 0 0 0 0 0 15.16 15.16 15.16

14870 -0.23 0.0 2650 2553 3635 3637 645.5 1.0 416 14871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3634 3634 3635 0 0 0 0 0 0 15.16 15.16 15.16

15470 -0.23 0.0 2649 2552 3635 3636 639.9 0.9 421 15471 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3635 3634 3636 0 0 0 0 0 0 15.16 15.16 15.16

16071 -0.23 0.0 2648 2553 3636 3637 633.2 1.1 426 16071 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3635 3634 3636 0 0 0 0 0 0 15.16 15.16 15.16

16670 -0.23 0.0 2649 2553 3635 3636 625.5 1.3 431 16671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3634 3636 0 0 0 0 0 0 15.16 15.17 15.16

17270 -0.23 0.0 2649 2552 3636 3636 616.0 1.6 436 17271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.16

17871 -0.23 0.0 2649 2553 3635 3637 608.0 1.3 441 17871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.17

18471 -0.23 0.0 2649 2552 3636 3636 601.6 1.1 446 18472 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.06 15.06 15.06

19071 -0.23 0.0 2648 2553 3636 3637 593.3 1.4 451 19071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.17

19670 -0.23 0.0 2649 2553 3636 3637 586.5 1.1 456 19671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.18

20270 -0.23 0.0 2649 2552 3636 3635 579.9 1.1 461 20271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.18 15.17

20871 -0.23 0.0 2649 2551 3637 3636 571.7 1.4 466 20871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.15 15.16 15.16

21470 -0.23 0.0 2649 2553 3636 3637 565.7 0.9 471 21471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3637 0 0 0 0 0 0 15.15 15.15 15.15

22071 -0.23 0.0 2649 2552 3637 3636 561.0 0.8 476 22072 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.05 15.05 15.05

22670 -0.23 0.0 2649 2553 3636 3637 556.3 0.8 481 22671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.17

23271 -0.23 0.0 2649 2553 3636 3637 551.7 0.8 486 23271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2551 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.17

23871 -0.23 0.0 2649 2552 3637 3636 548.7 0.5 491 23871 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.17 15.17

24471 -0.23 0.0 2649 2552 3637 3636 547.4 0.2 496 24471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.17 15.17

25070 -0.23 0.0 2649 2553 3636 3637 546.2 0.2 501 25071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.18 15.17 15.18

25671 -0.23 0.0 2648 2553 3636 3636 543.6 0.5 506 25671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.18 15.17

26270 -0.23 0.0 2649 2553 3636 3637 541.7 0.3 511 26271 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.19 15.18 15.18

26870 -0.23 0.0 2649 2552 3637 3636 538.1 0.7 516 26871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

27471 -0.23 0.0 2649 2552 3636 3637 532.9 0.9 521 27471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

28070 -0.23 0.0 2649 2553 3636 3637 529.8 0.5 526 28071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

28671 -0.23 0.0 2649 2552 3637 3636 527.9 0.2 531 28671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

29270 -0.23 0.0 2649 2553 3636 3637 530.3 -0.4 536 29271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

29871 -0.21 0.0 2649 2552 3637 3637 534.5 -0.7 541 29871 0.00 0.00 0.00 0.000 70 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

30470 -0.21 0.0 2649 2553 3636 3637 536.4 -0.3 546 30471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3637 0 0 0 0 0 0 15.18 15.18 15.18

31071 -0.21 0.0 2649 2553 3636 3637 535.0 0.3 551 31071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

31671 -0.21 0.0 2649 2552 3637 3636 534.1 0.1 556 31671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3634 3636 0 0 0 0 0 0 15.16 15.16 15.16

32270 -0.21 0.0 2648 2552 3635 3636 536.0 -0.4 561 32271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.15 15.15 15.15

32871 -0.21 0.0 2649 2553 3636 3637 538.6 -0.4 566 32871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.17 15.17

33470 -0.21 0.0 2649 2553 3636 3637 540.0 -0.2 571 33471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.17 15.18 15.17

34071 -0.21 0.0 2649 2551 3637 3637 537.7 0.5 576 34071 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.17 15.17

34670 -0.21 0.0 2649 2552 3637 3636 533.5 0.7 581 34671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.18 15.18 15.18

35271 -0.21 0.0 2649 2552 3637 3636 528.6 0.8 586 35271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.18 15.18

35870 -0.21 0.0 2649 2552 3637 3636 526.8 0.2 591 35871 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

36471 -0.21 0.0 2649 2552 3637 3637 528.1 -0.3 596 36471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3635 0 0 0 0 0 0 15.18 15.18 15.18

37070 -0.21 0.0 2649 2552 3637 3635 530.4 -0.4 601 37071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

37671 -0.21 0.0 2649 2552 3636 3637 532.4 -0.3 606 37671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

38270 -0.21 0.0 2649 2552 3637 3636 533.7 -0.2 611 38271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.18 15.18

38871 -0.21 0.0 2649 2552 3637 3636 533.0 0.1 616 38871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

39470 -0.21 0.0 2649 2553 3636 3637 531.2 0.3 621 39471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2551 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

40071 -0.21 0.0 2649 2552 3637 3635 530.3 0.1 626 40071 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.18 15.17

40670 -0.21 0.0 2649 2553 3636 3637 530.3 0.0 631 40671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3637 0 0 0 0 0 0 15.17 15.19 15.19

41271 -0.21 0.0 2649 2553 3636 3638 529.8 0.1 636 41271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

41870 -0.21 0.0 2649 2553 3636 3637 529.8 -0.0 641 41871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.19 15.18 15.18

42471 -0.21 0.0 2649 2553 3637 3637 530.6 -0.1 646 42471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.16 15.16 15.16

43070 -0.21 0.0 2649 2552 3637 3636 530.4 0.1 651 43071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.15 15.15 15.15

43671 -0.21 0.0 2649 2553 3636 3637 528.2 0.4 656 43671 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3635 3635 3636 0 0 0 0 0 0 15.16 15.17 15.17

44270 -0.21 0.0 2649 2551 3637 3635 526.2 0.3 661 44271 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

44871 -0.21 0.0 2649 2552 3637 3636 525.4 0.1 666 44871 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.17 15.17

45470 -0.21 0.0 2649 2553 3636 3637 525.3 0.0 671 45471 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

46071 -0.21 0.0 2649 2552 3637 3636 524.9 0.1 676 46071 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.18 15.17

46670 -0.21 0.0 2649 2553 3636 3637 525.2 -0.1 681 46671 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2552 3636 3636 3636 0 0 0 0 0 0 15.18 15.18 15.18

47271 -0.21 0.0 2649 2553 3636 3637 525.5 -0.0 686 47271 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2552 3636 3636 3636 0 0 0 0 0 0 15.17 15.17 15.18

47509 end loiter: LOITER_COMPLETE

state 47509 begin climb

47510 1.94 73.3 2649 2552 3637 3637 525.7 0.0 688 47593 2.20 2.50 74.70 2.821 10500 0.147 0.087 3343 3903 3349 3356 3343 0 0 0 0 0 0 14.47 13.93 12.97

47817 1.94 73.3 3344 3903 3351 3333 477.6 20.5 748 47823 0.00 2.35 0.00 0.000 1030 0.000 0.053 3354 2557 3341 3349 3333 0 0 0 0 0 0 14.33 14.29 14.35

48138 1.94 73.3 3354 2557 3348 3333 417.8 18.0 767 48138 0.00 0.00 0.00 0.000 6 0.000 0.000 3354 2557 3340 3347 3333 0 0 0 0 0 0 14.70 14.70 14.70

48437 1.94 73.3 3353 2558 3347 3335 365.0 17.4 782 48438 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 2557 3340 3347 3333 0 0 0 0 0 0 14.77 14.77 14.76

48737 1.94 73.3 3354 2558 3347 3334 316.3 15.4 797 48744 0.00 2.47 0.00 0.000 516 0.000 0.064 3364 1155 3339 3346 3333 0 0 0 0 0 0 14.82 14.40 14.81

48878 1.94 73.3 3365 1155 3348 3333 294.9 14.8 825 48885 0.00 2.47 0.00 0.000 1030 0.000 0.067 3364 2552 3339 3346 3333 0 0 0 0 0 0 14.51 14.43 14.54

49189 1.94 73.3 3364 2551 3347 3334 248.9 14.1 857 49196 0.00 2.45 0.00 0.000 516 0.000 0.063 3374 1160 3339 3346 3333 0 0 0 0 0 0 14.85 14.38 14.85

49270 1.94 73.3 3374 1160 3347 3334 237.5 14.3 873 49276 0.00 2.45 0.00 0.000 1030 0.000 0.067 3374 2546 3339 3346 3333 0 0 0 0 0 0 14.53 14.45 14.56

49581 1.94 73.3 3374 2547 3347 3333 192.7 14.4 905 49581 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 2547 3339 3345 3333 0 0 0 0 0 0 14.86 14.85 14.86

49881 1.94 73.3 3375 2547 3346 3333 149.6 14.2 935 49886 0.00 2.42 0.00 0.000 260 0.000 0.090 3374 3906 3338 3345 3332 0 0 0 0 0 0 14.87 14.42 14.87

49941 1.94 73.3 3374 3908 3345 3334 140.5 15.5 947 49947 0.08 2.33 0.00 0.000 5126 0.406 0.054 3360 2551 3339 3345 3333 0 0 0 0 0 0 14.00 14.54 14.52

50251 1.94 73.3 3360 2553 3345 3334 97.5 13.5 979 50251 0.00 0.00 0.00 0.000 6 0.000 0.000 3359 2552 3338 3344 3333 0 0 0 0 0 0 14.88 14.88 14.88

50551 1.94 73.3 3358 2552 3343 3334 56.6 13.6 1009 50551 0.00 0.00 0.00 0.000 6 0.000 0.000 3360 2551 3338 3344 3333 0 0 0 0 0 0 14.88 14.88 14.88

50851 1.94 73.3 3360 2553 3345 3334 14.5 14.8 1039 50857 0.00 2.45 0.00 0.000 260 0.000 0.089 3359 3896 3338 3344 3333 0 0 0 0 0 0 14.87 14.43 14.88

50875 1.94 73.3 3359 3897 3345 3334 10.9 14.7 1044 50883 0.00 2.33 0.00 0.000 1030 0.000 0.054 3369 2545 3338 3344 3333 0 0 0 0 0 0 14.59 14.55 14.62

50930 end climb: FINISH_DEPTH_REACHED

state 50930 begin subsurface finish

50933 0.01 9.8 3369 2546 3345 3334 3.3 13.9 1050 50954 2.67 0.00 -15.12 0.008 20486 0.344 0.000 2743 2545 3607 3604 3610 0 0 0 0 0 0 14.15 13.18 14.57

50954 end subsurface finish: CONTROL_FINISHED_OK

state 50954 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	138	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	20
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	42	ALTIM_FREQUENCY	13
D_TGT	900	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	27	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	100	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	3645	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	320	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	1140	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	43200	T_GPS	5	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	300	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	300	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	0.30000001	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	160218,181330,-7403.7188,-11223.9102,21,0.8,21,53.3,0.2,255.6,10,3.9	SPEED_LIMITS	0.094,0.193
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.70	MHEAD_RNG_PITCHd_Wd	183.7,717,-40.7,-9.375,-45.00,530
_SM_ANGLEo	-59.3	D_GRID	826
GPS2	160218,181938,-7403.7490,-11223.9258,2,0.7,3,53.3,0.2,286.1,12,4.6

FREEZE	3.32,-1.564,-1.864,2,1,0	_24V_AH	12.72,53.341
FINISH1	3.3,1.027307,10	_10V_AH	12.11,0.000
FINISH2	2.2	FG_AHR_24Vo	0.000
RAFOS_CLK	2253	FG_AHR_10Vo	0.000
RAFOS	0,1518814917,21.032778,21.032499,117,55,53,51,51,49,282,198,214,149,119,164	MEM	280760
RAFOS_FIX	-7404.403320,-83224.351562,160218,212136,2,149,2103.92	DATA_FILE_SIZE	36732,1052
IRIDIUM_FIX	-7404.65,-11313.97,160218,092509	CAP_FILE_SIZE	159249,0
TT8_MAMPS	0.038199,0.130326	CFSIZE	1024409600,1003651072
HUMID	48.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.89988	SOUNDSPEED	1451.7
TCM_TEMP	13.10	CURRENT	0.000,0.00,1
XPDR_PINGS	0	GPS	160218,181938,-7403.749,-11223.926,2,0.7,3,53.3,0.2,286.1,12,4.6
ALTIM_TOP_PING	21.9,22.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	468	104.69	nil	0	0	0.00
Roll_motor	56	89	64.58	nil	0	0	0.00
VBD_pump_during_apogee	157	3068	6165.80	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	7769	3	349.14
Iridium_during_xfer	258	191	628.37	nil	0	0	0.00
Transponder_ping	19	420	104.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.56
TT8	0	0	0.00
LPSleep	48326	2	1351.88
TT8_Active	388	10	51.16
TT8_Sampling	2457	30	903.26
TT8_CF8	155	51	96.42
TT8_Kalman	0	0	0.00
Analog_circuits	1451	10	177.55
GPS_charging	0	0	0.00
Compass	1501	6	122.56
RAFOS	1920	1	34.88
Transponder	140	30	50.93

		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
20.5	21.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.3	44.40	9000.00	0.0	0.00	0.00	44.40	0.0	1.08	1.00
820.4	10.40	9000.00	0.0	-0.03	0.56	10.40	830.8	-0.04	1.00
809.3	23.00	9000.00	0.0	-0.04	0.87	23.00	832.3	-1.14	1.00
788.6	54.30	9000.00	0.0	-1.40	1.00	54.30	842.9	-1.51	1.00

104.3	109.60	9000.00	0.0	-0.10	0.89	109.60	0.0	-0.08	1.00
63.4	65.50	9000.00	0.0	-0.04	0.38	65.50	-2.1	1.08	1.00
43.0	44.30	44.10	-1.1	1.07	1.00	44.30	-1.3	1.04	1.00
21.9	22.00	22.10	-0.2	1.05	1.00	22.00	-0.1	1.06	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	-1.89	-32.7	199	2806	2266	2172	0.0	0.0	0	113	0.00	0.00	-98.88	0.003	16390	0.000	0.000	198	2806	3779	3790	3768	0	0	0	0	0	0	14.57	13.00	14.57
114	-1.94	-73.3	199	2806	3793	3769	1.8	-1.5	10	138	10.25	2.47	-6.78	0.015	18980	0.469	0.071	2098	1401	3941	3941	3942	0	0	0	0	0	0	14.00	13.14	14.37
362	-1.94	-73.3	2099	1402	3952	3954	53.3	-23.8	59	369	0.00	2.47	0.00	0.000	1030	0.000	0.065	2098	2791	3950	3949	3952	0	0	0	0	0	0	14.40	14.35	14.42
668	-1.94	-73.3	2098	2792	3952	3954	125.7	-23.4	90	673	0.00	2.38	0.00	0.000	516	0.000	0.047	2098	1389	3952	3951	3953	0	0	0	0	0	0	14.71	14.45	14.71
747	-1.94	-73.3	2098	1389	3952	3954	144.0	-22.7	106	753	0.00	2.50	0.00	0.000	1030	0.000	0.065	2096	2799	3952	3952	3953	0	0	0	0	0	0	14.49	14.41	14.52
1057	-1.94	-73.3	2097	2799	3953	3952	216.0	-22.9	138	1058	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2799	3952	3952	3953	0	0	0	0	0	0	14.80	14.80	14.80
1357	-1.94	-73.3	2097	2799	3953	3954	282.7	-22.1	168	1363	0.00	2.40	0.00	0.000	516	0.000	0.047	2097	1404	3953	3952	3954	0	0	0	0	0	0	14.82	14.47	14.82
1377	-1.94	-73.3	2097	1403	3952	3954	287.0	-21.8	172	1383	0.00	2.47	0.00	0.000	1030	0.000	0.065	2096	2799	3952	3951	3954	0	0	0	0	0	0	14.54	14.46	14.57
1687	-1.94	-73.3	2096	2801	3953	3955	354.9	-21.8	192	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2799	3953	3952	3954	0	0	0	0	0	0	14.85	14.85	14.85
1987	-1.94	-73.3	2095	2799	3953	3954	417.4	-21.0	207	1993	0.00	2.40	0.00	0.000	516	0.000	0.045	2096	1371	3953	3952	3954	0	0	0	0	0	0	14.87	14.52	14.86
2002	-1.94	-73.3	2096	1372	3953	3955	420.7	-21.3	210	2010	0.00	2.53	0.00	0.000	1030	0.000	0.064	2095	2799	3953	3952	3954	0	0	0	0	0	0	14.56	14.48	14.59
2309	-1.94	-73.3	2096	2799	3953	3954	483.8	-20.7	226	2314	0.00	1.92	0.00	0.000	260	0.000	0.082	2086	3909	3953	3952	3954	0	0	0	0	0	0	14.83	14.51	14.83
2358	-1.94	-73.3	2087	3909	3954	3954	494.2	-20.8	236	2364	0.00	1.88	0.00	0.000	1030	0.000	0.042	2085	2778	3953	3952	3954	0	0	0	0	0	0	14.64	14.60	14.64
2688	-1.94	-73.3	2086	2779	3952	3955	557.1	-19.3	249	2688	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2778	3953	3953	3954	0	0	0	0	0	0	14.88	14.88	14.88
3048	-1.94	-73.3	2087	2778	3953	3954	625.8	-19.0	261	3055	0.00	2.03	0.00	0.000	260	0.000	0.080	2078	3912	3953	3952	3954	0	0	0	0	0	0	14.90	14.49	14.90
3124	-1.94	-73.3	2078	3913	3953	3954	640.7	-19.8	276	3130	0.10	1.85	0.00	0.000	3078	0.369	0.042	2101	2800	3952	3952	3953	0	0	0	0	0	0	14.10	14.62	14.39
3500	-1.94	-73.3	2101	2801	3953	3954	707.3	-17.8	291	3505	0.00	2.33	0.00	0.000	516	0.000	0.045	2101	1407	3951	3952	3950	0	0	0	0	0	0	14.84	14.58	14.84
3549	-1.94	-73.3	2101	1406	3953	3953	716.2	-17.5	301	3556	0.00	2.47	0.00	0.000	1030	0.000	0.065	2100	2808	3952	3952	3953	0	0	0	0	0	0	14.59	14.51	14.62
3920	-1.94	-73.3	2100	2808	3953	3954	779.5	-17.0	315	3921	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2807	3952	3952	3953	0	0	0	0	0	0	14.90	14.90	14.90
4219	end dive: TARGET_DEPTH_EXCEEDED
state	4219	begin apogee
4223	-0.23	0.0	2101	2552	3953	3954	829.9	-16.7	325	4313	2.25	0.00	83.28	3.068	10246	0.314	0.000	2649	2552	3642	3644	3640	0	0	0	0	0	0	14.23	13.81	12.72
4314	end apogee: CONTROL_FINISHED_OK
state	4314	begin loiter
4670	-0.23	0.0	2649	2552	3637	3636	822.8	2.1	331	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	14.64	14.64	14.64
5270	-0.23	0.0	2649	2551	3634	3637	814.8	1.3	336	5271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3634	3633	3635	0	0	0	0	0	0	14.86	14.86	14.85
5871	-0.23	0.0	2648	2553	3634	3637	805.1	1.7	341	5871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2551	3634	3633	3635	0	0	0	0	0	0	14.95	14.95	14.95
6471	-0.23	0.0	2649	2553	3634	3636	794.1	1.8	346	6471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2551	3634	3633	3636	0	0	0	0	0	0	15.00	15.01	15.00
7070	-0.23	0.0	2649	2552	3634	3636	780.7	2.2	351	7071	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3634	3633	3636	0	0	0	0	0	0	15.04	15.04	15.04
7670	-0.23	0.0	2649	2553	3634	3637	765.2	2.6	356	7671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3634	3633	3635	0	0	0	0	0	0	15.07	15.07	15.07
8271	-0.23	0.0	2649	2552	3635	3636	749.8	2.6	361	8271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3634	3633	3636	0	0	0	0	0	0	15.08	15.09	15.09
8870	-0.23	0.0	2649	2552	3635	3635	736.1	2.3	366	8871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3634	3636	0	0	0	0	0	0	15.10	15.11	15.10
9470	-0.23	0.0	2649	2553	3634	3637	721.5	2.5	371	9471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3634	3633	3636	0	0	0	0	0	0	15.12	15.11	15.11
10071	-0.23	0.0	2649	2553	3634	3637	707.0	2.3	376	10071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3634	3634	3635	0	0	0	0	0	0	15.11	15.11	15.11
10670	-0.23	0.0	2649	2553	3634	3636	697.5	1.5	381	10671	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2551	3635	3634	3636	0	0	0	0	0	0	15.11	15.11	15.11
11271	-0.23	0.0	2649	2553	3634	3637	691.9	0.9	386	11271	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3635	3634	3636	0	0	0	0	0	0	15.13	15.13	15.13
11870	-0.23	0.0	2647	2553	3634	3637	687.0	0.9	391	11871	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3635	3634	3636	0	0	0	0	0	0	15.14	15.14	15.14
12470	-0.23	0.0	2649	2552	3635	3636	679.2	1.3	396	12471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3634	3636	0	0	0	0	0	0	15.15	15.14	15.14
13070	-0.23	0.0	2649	2552	3635	3635	668.7	1.8	401	13071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2551	3635	3634	3636	0	0	0	0	0	0	15.15	15.15	15.15
13670	-0.23	0.0	2648	2552	3635	3636	659.0	1.6	406	13671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3634	3636	0	0	0	0	0	0	15.16	15.16	15.15
14270	-0.23	0.0	2650	2552	3635	3635	651.7	1.2	411	14271	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3635	3634	3636	0	0	0	0	0	0	15.16	15.16	15.16
14870	-0.23	0.0	2650	2553	3635	3637	645.5	1.0	416	14871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3634	3634	3635	0	0	0	0	0	0	15.16	15.16	15.16
15470	-0.23	0.0	2649	2552	3635	3636	639.9	0.9	421	15471	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3635	3634	3636	0	0	0	0	0	0	15.16	15.16	15.16
16071	-0.23	0.0	2648	2553	3636	3637	633.2	1.1	426	16071	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3635	3634	3636	0	0	0	0	0	0	15.16	15.16	15.16
16670	-0.23	0.0	2649	2553	3635	3636	625.5	1.3	431	16671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3634	3636	0	0	0	0	0	0	15.16	15.17	15.16
17270	-0.23	0.0	2649	2552	3636	3636	616.0	1.6	436	17271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.16
17871	-0.23	0.0	2649	2553	3635	3637	608.0	1.3	441	17871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.17
18471	-0.23	0.0	2649	2552	3636	3636	601.6	1.1	446	18472	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.06	15.06	15.06
19071	-0.23	0.0	2648	2553	3636	3637	593.3	1.4	451	19071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.17
19670	-0.23	0.0	2649	2553	3636	3637	586.5	1.1	456	19671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.18
20270	-0.23	0.0	2649	2552	3636	3635	579.9	1.1	461	20271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.18	15.17
20871	-0.23	0.0	2649	2551	3637	3636	571.7	1.4	466	20871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.15	15.16	15.16
21470	-0.23	0.0	2649	2553	3636	3637	565.7	0.9	471	21471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3637	0	0	0	0	0	0	15.15	15.15	15.15
22071	-0.23	0.0	2649	2552	3637	3636	561.0	0.8	476	22072	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.05	15.05	15.05
22670	-0.23	0.0	2649	2553	3636	3637	556.3	0.8	481	22671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.17
23271	-0.23	0.0	2649	2553	3636	3637	551.7	0.8	486	23271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2551	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.17
23871	-0.23	0.0	2649	2552	3637	3636	548.7	0.5	491	23871	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.17	15.17
24471	-0.23	0.0	2649	2552	3637	3636	547.4	0.2	496	24471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.17	15.17
25070	-0.23	0.0	2649	2553	3636	3637	546.2	0.2	501	25071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.18	15.17	15.18
25671	-0.23	0.0	2648	2553	3636	3636	543.6	0.5	506	25671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.18	15.17
26270	-0.23	0.0	2649	2553	3636	3637	541.7	0.3	511	26271	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.19	15.18	15.18
26870	-0.23	0.0	2649	2552	3637	3636	538.1	0.7	516	26871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
27471	-0.23	0.0	2649	2552	3636	3637	532.9	0.9	521	27471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
28070	-0.23	0.0	2649	2553	3636	3637	529.8	0.5	526	28071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
28671	-0.23	0.0	2649	2552	3637	3636	527.9	0.2	531	28671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
29270	-0.23	0.0	2649	2553	3636	3637	530.3	-0.4	536	29271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
29871	-0.21	0.0	2649	2552	3637	3637	534.5	-0.7	541	29871	0.00	0.00	0.00	0.000	70	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
30470	-0.21	0.0	2649	2553	3636	3637	536.4	-0.3	546	30471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3637	0	0	0	0	0	0	15.18	15.18	15.18
31071	-0.21	0.0	2649	2553	3636	3637	535.0	0.3	551	31071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
31671	-0.21	0.0	2649	2552	3637	3636	534.1	0.1	556	31671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3634	3636	0	0	0	0	0	0	15.16	15.16	15.16
32270	-0.21	0.0	2648	2552	3635	3636	536.0	-0.4	561	32271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.15	15.15	15.15
32871	-0.21	0.0	2649	2553	3636	3637	538.6	-0.4	566	32871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.17	15.17
33470	-0.21	0.0	2649	2553	3636	3637	540.0	-0.2	571	33471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.17	15.18	15.17
34071	-0.21	0.0	2649	2551	3637	3637	537.7	0.5	576	34071	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.17	15.17
34670	-0.21	0.0	2649	2552	3637	3636	533.5	0.7	581	34671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.18	15.18	15.18
35271	-0.21	0.0	2649	2552	3637	3636	528.6	0.8	586	35271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.18	15.18
35870	-0.21	0.0	2649	2552	3637	3636	526.8	0.2	591	35871	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
36471	-0.21	0.0	2649	2552	3637	3637	528.1	-0.3	596	36471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3635	0	0	0	0	0	0	15.18	15.18	15.18
37070	-0.21	0.0	2649	2552	3637	3635	530.4	-0.4	601	37071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
37671	-0.21	0.0	2649	2552	3636	3637	532.4	-0.3	606	37671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
38270	-0.21	0.0	2649	2552	3637	3636	533.7	-0.2	611	38271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.18	15.18
38871	-0.21	0.0	2649	2552	3637	3636	533.0	0.1	616	38871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
39470	-0.21	0.0	2649	2553	3636	3637	531.2	0.3	621	39471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2551	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
40071	-0.21	0.0	2649	2552	3637	3635	530.3	0.1	626	40071	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.18	15.17
40670	-0.21	0.0	2649	2553	3636	3637	530.3	0.0	631	40671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3637	0	0	0	0	0	0	15.17	15.19	15.19
41271	-0.21	0.0	2649	2553	3636	3638	529.8	0.1	636	41271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
41870	-0.21	0.0	2649	2553	3636	3637	529.8	-0.0	641	41871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.19	15.18	15.18
42471	-0.21	0.0	2649	2553	3637	3637	530.6	-0.1	646	42471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.16	15.16	15.16
43070	-0.21	0.0	2649	2552	3637	3636	530.4	0.1	651	43071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.15	15.15	15.15
43671	-0.21	0.0	2649	2553	3636	3637	528.2	0.4	656	43671	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3635	3635	3636	0	0	0	0	0	0	15.16	15.17	15.17
44270	-0.21	0.0	2649	2551	3637	3635	526.2	0.3	661	44271	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
44871	-0.21	0.0	2649	2552	3637	3636	525.4	0.1	666	44871	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.17	15.17
45470	-0.21	0.0	2649	2553	3636	3637	525.3	0.0	671	45471	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
46071	-0.21	0.0	2649	2552	3637	3636	524.9	0.1	676	46071	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.18	15.17
46670	-0.21	0.0	2649	2553	3636	3637	525.2	-0.1	681	46671	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2552	3636	3636	3636	0	0	0	0	0	0	15.18	15.18	15.18
47271	-0.21	0.0	2649	2553	3636	3637	525.5	-0.0	686	47271	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2552	3636	3636	3636	0	0	0	0	0	0	15.17	15.17	15.18
47509	end loiter: LOITER_COMPLETE
state	47509	begin climb
47510	1.94	73.3	2649	2552	3637	3637	525.7	0.0	688	47593	2.20	2.50	74.70	2.821	10500	0.147	0.087	3343	3903	3349	3356	3343	0	0	0	0	0	0	14.47	13.93	12.97
47817	1.94	73.3	3344	3903	3351	3333	477.6	20.5	748	47823	0.00	2.35	0.00	0.000	1030	0.000	0.053	3354	2557	3341	3349	3333	0	0	0	0	0	0	14.33	14.29	14.35
48138	1.94	73.3	3354	2557	3348	3333	417.8	18.0	767	48138	0.00	0.00	0.00	0.000	6	0.000	0.000	3354	2557	3340	3347	3333	0	0	0	0	0	0	14.70	14.70	14.70
48437	1.94	73.3	3353	2558	3347	3335	365.0	17.4	782	48438	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	2557	3340	3347	3333	0	0	0	0	0	0	14.77	14.77	14.76
48737	1.94	73.3	3354	2558	3347	3334	316.3	15.4	797	48744	0.00	2.47	0.00	0.000	516	0.000	0.064	3364	1155	3339	3346	3333	0	0	0	0	0	0	14.82	14.40	14.81
48878	1.94	73.3	3365	1155	3348	3333	294.9	14.8	825	48885	0.00	2.47	0.00	0.000	1030	0.000	0.067	3364	2552	3339	3346	3333	0	0	0	0	0	0	14.51	14.43	14.54
49189	1.94	73.3	3364	2551	3347	3334	248.9	14.1	857	49196	0.00	2.45	0.00	0.000	516	0.000	0.063	3374	1160	3339	3346	3333	0	0	0	0	0	0	14.85	14.38	14.85
49270	1.94	73.3	3374	1160	3347	3334	237.5	14.3	873	49276	0.00	2.45	0.00	0.000	1030	0.000	0.067	3374	2546	3339	3346	3333	0	0	0	0	0	0	14.53	14.45	14.56
49581	1.94	73.3	3374	2547	3347	3333	192.7	14.4	905	49581	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	2547	3339	3345	3333	0	0	0	0	0	0	14.86	14.85	14.86
49881	1.94	73.3	3375	2547	3346	3333	149.6	14.2	935	49886	0.00	2.42	0.00	0.000	260	0.000	0.090	3374	3906	3338	3345	3332	0	0	0	0	0	0	14.87	14.42	14.87
49941	1.94	73.3	3374	3908	3345	3334	140.5	15.5	947	49947	0.08	2.33	0.00	0.000	5126	0.406	0.054	3360	2551	3339	3345	3333	0	0	0	0	0	0	14.00	14.54	14.52
50251	1.94	73.3	3360	2553	3345	3334	97.5	13.5	979	50251	0.00	0.00	0.00	0.000	6	0.000	0.000	3359	2552	3338	3344	3333	0	0	0	0	0	0	14.88	14.88	14.88
50551	1.94	73.3	3358	2552	3343	3334	56.6	13.6	1009	50551	0.00	0.00	0.00	0.000	6	0.000	0.000	3360	2551	3338	3344	3333	0	0	0	0	0	0	14.88	14.88	14.88
50851	1.94	73.3	3360	2553	3345	3334	14.5	14.8	1039	50857	0.00	2.45	0.00	0.000	260	0.000	0.089	3359	3896	3338	3344	3333	0	0	0	0	0	0	14.87	14.43	14.88
50875	1.94	73.3	3359	3897	3345	3334	10.9	14.7	1044	50883	0.00	2.33	0.00	0.000	1030	0.000	0.054	3369	2545	3338	3344	3333	0	0	0	0	0	0	14.59	14.55	14.62
50930	end climb: FINISH_DEPTH_REACHED
state	50930	begin subsurface finish
50933	0.01	9.8	3369	2546	3345	3334	3.3	13.9	1050	50954	2.67	0.00	-15.12	0.008	20486	0.344	0.000	2743	2545	3607	3604	3610	0	0	0	0	0	0	14.15	13.18	14.57
50954	end subsurface finish: CONTROL_FINISHED_OK
state	50954	begin surface