Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 877 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 877 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 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 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 13 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 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 2775 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 110 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 0 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 990 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 13 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 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 350

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 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

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 -0.25119999

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 877 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 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 500 NAV_MODE 0 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 500 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 180119,150848,-7430.0352,-11230.0098,0,3131.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideC0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 392.55 MHEAD_RNG_PITCHd_Wd 126.5,14750,-19.3,-9.429,-21.50,1737

_SM_ANGLEo 4.5 D_GRID 990

GPS2 180119,150848,-7430.0352,-11230.0098,0,3131.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 399.5,1.027453,2 _24V_AH 9.98,280.900

FINISH2 397.5 _10V_AH 10.28,0.000

RAFOS_CLK 536 FG_AHR_24Vo 0.000

RAFOS 2,1547824384,15.232242,15.217778,116,67,54,53,53,51,691,206,195,229,186,160 FG_AHR_10Vo 0.000

RAFOS_FIX -7431.662109,-11228.109375,180119,181824,3,134,0.28 MEM 278872

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 33322,1003

TT8_MAMPS 0.046438,0.279377 CAP_FILE_SIZE 128868,0

HUMID 50.78 CFSIZE 1024409600,914997248

INTERNAL_PRESSURE 7.92918 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 13.20 SOUNDSPEED 1455.8

XPDR_PINGS 0 GPS 180119,181424,-7431.662,-11228.109,0,4133.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 407.3,13.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 264 16.51 nil 0 0 0.00

Roll_motor 115 85 98.89 nil 0 0 0.00

VBD_pump_during_apogee 367 3106 11386.41 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 13180 6 863.40

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 176.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10323 2 245.16

TT8_Active 477 10 53.35

TT8_Sampling 2111 30 658.83

TT8_CF8 361 51 190.82

TT8_Kalman 0 0 0.00

Analog_circuits 1224 10 127.15

GPS_charging 0 0 0.00

Compass 1436 6 99.50

RAFOS 720 1 11.10

Transponder 316 30 97.61

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

399.2 10.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

405.3 17.10 9000.00 0.0 0.00 0.00 17.10 0.0 1.08 1.00

439.7 47.70 47.80 391.9 0.91 1.00 47.70 392.0 0.89 1.00

427.4 34.80 36.10 391.3 0.88 0.99 34.80 392.6 1.05 1.00

420.1 27.30 27.30 392.8 1.04 1.00 27.30 392.8 1.03 1.00

413.7 20.90 20.90 392.8 1.02 1.00 20.90 392.8 1.00 1.00

407.3 13.80 13.90 393.4 1.06 1.00 13.80 393.5 1.11 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

11 -1.01 -107.1 2783 2809 3532 3527 0.0 0.0 0 23 0.00 0.00 -7.10 0.024 16390 0.000 0.000 2782 2809 3946 3939 3954 0 0 0 0 1 0 11.35 10.60 11.33

27 -1.01 -107.1 2783 2809 3943 3959 392.7 0.0 1 33 1.42 2.70 0.00 0.000 4356 0.136 0.083 2454 3917 3951 3943 3959 0 0 0 0 0 0 11.12 11.15 11.20

70 -1.01 -107.1 2455 3917 3950 3960 395.5 -6.8 9 76 0.00 2.55 0.00 0.000 1062 0.000 0.045 2454 2797 3954 3948 3960 0 0 0 0 0 0 11.25 11.20 11.26

382 -1.01 -107.1 2455 2797 3955 3965 419.4 -7.9 41 388 0.00 3.28 0.00 0.000 516 0.000 0.045 2454 1380 3959 3954 3965 0 0 0 0 0 0 11.36 11.18 11.36

449 -1.01 -107.1 2455 1380 3957 3966 424.8 -8.2 54 456 0.00 3.42 0.00 0.000 1030 0.000 0.061 2453 2811 3960 3955 3966 0 0 0 0 0 0 11.24 11.17 11.26

754 -1.01 -107.1 2453 2811 3956 3966 449.1 -7.8 85 755 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2811 3960 3955 3966 0 0 0 0 0 0 11.36 11.36 11.36

1054 -1.01 -107.1 2453 2812 3956 3967 472.7 -8.0 115 1060 0.00 3.33 0.00 0.000 516 0.000 0.044 2453 1383 3960 3955 3966 0 0 0 0 0 0 11.36 11.18 11.36

1096 -1.01 -107.1 2453 1384 3957 3967 476.1 -8.1 123 1102 0.00 3.40 0.00 0.000 1030 0.000 0.061 2453 2809 3961 3956 3966 0 0 0 0 0 0 11.24 11.17 11.25

1408 -1.01 -107.1 2453 2809 3958 3966 500.9 -7.9 155 1409 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2809 3961 3956 3966 0 0 0 0 0 0 11.36 11.36 11.36

1708 -1.01 -107.1 2453 2808 3958 3966 523.8 -7.4 185 1714 0.00 3.30 0.00 0.000 548 0.000 0.045 2452 1387 3960 3954 3966 0 0 0 0 0 0 11.36 11.18 11.36

1755 -1.01 -107.1 2453 1386 3958 3967 527.4 -7.6 194 1762 0.00 3.40 0.00 0.000 1030 0.000 0.061 2452 2813 3961 3957 3966 0 0 0 0 0 0 11.25 11.17 11.26

2060 -1.01 -107.1 2453 2814 3957 3967 550.0 -7.5 225 2061 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2812 3961 3956 3966 0 0 0 0 0 0 11.36 11.36 11.36

2360 -1.01 -107.1 2453 2812 3958 3966 572.5 -7.5 255 2361 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2812 3961 3956 3966 0 0 0 0 0 0 11.36 11.36 11.36

2661 -1.01 -107.1 2453 2812 3957 3966 594.7 -7.4 285 2661 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2812 3961 3956 3966 0 0 0 0 0 0 11.36 11.36 11.36

2961 -1.01 -107.1 2452 2814 3957 3967 616.5 -7.2 315 2966 0.00 3.30 0.00 0.000 548 0.000 0.044 2452 1389 3961 3956 3966 0 0 0 0 0 0 11.36 11.18 11.36

3027 -1.01 -107.1 2452 1389 3956 3968 621.5 -7.4 328 3035 0.00 3.40 0.00 0.000 1062 0.000 0.061 2452 2811 3961 3956 3966 0 0 0 0 0 0 11.24 11.17 11.26

3332 -1.01 -107.1 2452 2812 3957 3967 643.3 -7.2 359 3333 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2812 3960 3956 3965 0 0 0 0 0 0 11.36 11.36 11.36

3632 -1.01 -107.1 2452 2812 3957 3965 664.8 -6.9 389 3633 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2812 3960 3955 3965 0 0 0 0 0 0 11.36 11.37 11.36

3933 -1.01 -107.1 2453 2812 3957 3964 685.5 -6.9 419 3938 0.00 3.30 0.00 0.000 548 0.000 0.045 2452 1383 3960 3956 3964 0 0 0 0 0 0 11.36 11.19 11.35

3980 -1.01 -107.1 2453 1383 3957 3964 688.8 -7.1 428 3986 0.00 3.40 0.00 0.000 1062 0.000 0.062 2452 2813 3959 3955 3964 0 0 0 0 0 0 11.27 11.17 11.26

4296 -1.01 -107.1 2452 2814 3957 3965 711.3 -7.1 450 4297 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2813 3960 3956 3964 0 0 0 0 0 0 11.36 11.36 11.36

4656 -1.01 -107.1 2452 2813 3957 3964 734.5 -6.5 462 4661 0.00 3.30 0.00 0.000 548 0.000 0.045 2452 1386 3960 3956 3964 0 0 0 0 0 0 11.36 11.19 11.36

4713 -1.01 -107.1 2452 1386 3958 3964 738.6 -6.9 473 4720 0.00 3.38 0.00 0.000 1062 0.000 0.061 2451 2803 3960 3956 3964 0 0 0 0 0 0 11.25 11.19 11.26

5082 -1.01 -107.1 2451 2805 3957 3965 762.8 -6.7 486 5083 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2803 3960 3956 3964 0 0 0 0 0 0 11.36 11.36 11.37

5438 -1.01 -107.1 2453 2800 3957 3963 786.5 -6.7 498 5439 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2803 3960 3956 3964 0 0 0 0 0 0 11.37 11.37 11.37

5798 -1.01 -107.1 2451 2804 3957 3964 810.3 -6.6 510 5804 0.00 3.28 0.00 0.000 548 0.000 0.044 2451 1388 3960 3956 3964 0 0 0 0 0 0 11.37 11.19 11.37

5855 -1.01 -107.1 2451 1389 3957 3965 814.2 -7.8 521 5863 0.00 3.40 0.00 0.000 1030 0.000 0.061 2450 2814 3960 3956 3964 0 0 0 0 0 0 11.25 11.17 11.26

6223 -1.01 -107.1 2451 2815 3956 3965 838.1 -6.6 534 6224 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2814 3959 3956 3963 0 0 0 0 0 0 11.36 11.37 11.37

6580 -1.01 -107.1 2450 2815 3956 3965 861.8 -6.5 546 6586 0.00 3.30 0.00 0.000 548 0.000 0.044 2451 1388 3960 3956 3964 0 0 0 0 0 0 11.38 11.19 11.37

6643 -1.01 -107.1 2457 1389 3958 3964 865.7 -6.4 558 6648 0.00 3.38 0.00 0.000 1062 0.000 0.061 2449 2807 3960 3956 3964 0 0 0 0 0 0 11.25 11.18 11.26

7038 -1.01 -107.1 2450 2809 3966 3964 890.4 -6.3 576 7039 0.00 0.00 0.00 0.000 38 0.000 0.000 2450 2808 3959 3956 3963 0 0 0 0 0 0 11.36 11.36 11.37

7394 -1.01 -107.1 2451 2809 3957 3965 912.8 -6.3 588 7399 0.00 3.28 0.00 0.000 548 0.000 0.044 2450 1388 3960 3956 3965 0 0 0 0 0 0 11.37 11.19 11.38

7441 -1.01 -107.1 2451 1389 3957 3965 915.8 -6.4 597 7447 0.00 3.38 0.00 0.000 1062 0.000 0.061 2450 2808 3960 3956 3964 0 0 0 0 0 0 11.26 11.18 11.26

7822 -1.01 -107.1 2451 2808 3957 3964 939.3 -6.3 612 7823 0.00 0.00 0.00 0.000 38 0.000 0.000 2450 2808 3960 3956 3964 0 0 0 0 0 0 11.36 11.36 11.36

8179 -1.01 -107.1 2450 2809 3957 3965 961.5 -6.2 624 8179 0.00 0.00 0.00 0.000 38 0.000 0.000 2450 2807 3960 3956 3964 0 0 0 0 0 0 11.37 11.37 11.37

8539 -1.01 -107.1 2450 2808 3957 3965 983.1 -5.9 636 8544 0.00 3.30 0.00 0.000 548 0.000 0.044 2450 1382 3960 3956 3964 0 0 0 0 0 0 11.37 11.19 11.37

8611 -1.01 -107.1 2451 1382 3957 3964 988.3 -6.1 650 8616 0.00 3.40 0.00 0.000 1062 0.000 0.062 2450 2808 3960 3956 3964 0 0 0 0 0 0 11.26 11.18 11.26

8658 end dive: TARGET_DEPTH_EXCEEDED

state 8658 begin apogee

8667 -0.23 0.0 2450 2538 3956 3964 990.5 -5.0 655 8865 1.23 0.00 195.18 3.107 10246 0.199 0.000 2699 2538 3493 3501 3485 0 0 0 0 0 0 11.11 11.02 9.98

8866 end apogee: CONTROL_FINISHED_OK

state 8866 begin climb

8870 1.01 107.1 2700 2538 3502 3485 992.7 0.0 661 9056 1.65 0.00 172.07 3.103 10758 0.106 0.000 3096 2535 3064 3080 3049 0 0 0 0 0 0 11.05 11.01 9.98

9412 1.01 107.1 3096 2538 3072 3042 921.7 14.3 695 9417 0.00 3.38 0.00 0.000 260 0.000 0.083 3096 3909 3056 3071 3041 0 0 0 0 0 0 11.32 11.11 11.33

9449 1.01 107.1 3097 3910 3073 3041 916.1 16.1 702 9455 0.00 3.12 0.00 0.000 1030 0.000 0.044 3107 2543 3055 3071 3040 0 0 0 0 0 0 11.22 11.17 11.21

9837 1.01 107.1 3106 2545 3070 3040 857.7 15.1 719 9838 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2544 3054 3070 3039 0 0 0 0 0 0 11.32 11.32 11.32

10200 1.01 107.1 3107 2544 3071 3038 805.5 14.2 731 10206 0.00 3.38 0.00 0.000 260 0.000 0.085 3106 3916 3053 3069 3038 0 0 0 0 0 0 11.33 11.13 11.33

10247 1.01 107.1 3107 3915 3071 3038 797.0 16.9 740 10252 0.00 3.12 0.00 0.000 1030 0.000 0.045 3117 2546 3054 3070 3038 0 0 0 0 0 0 11.23 11.21 11.24

10624 1.01 107.1 3117 2548 3070 3039 741.5 14.4 755 10624 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2547 3053 3069 3037 0 0 0 0 0 0 11.34 11.35 11.34

10984 1.01 107.1 3118 2547 3070 3038 689.1 14.5 771 10990 0.00 3.30 0.00 0.000 260 0.000 0.085 3117 3913 3053 3069 3038 0 0 0 0 0 0 11.35 11.14 11.35

11021 1.01 107.1 3114 3913 3071 3038 682.9 16.4 778 11030 0.00 3.12 0.00 0.000 1030 0.000 0.045 3128 2544 3054 3070 3038 0 0 0 0 0 0 11.24 11.19 11.25

11327 1.01 107.1 3129 2545 3070 3038 638.0 14.5 809 11328 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2545 3053 3069 3038 0 0 0 0 0 0 11.34 11.34 11.34

11627 1.01 107.1 3128 2546 3070 3039 593.8 14.4 839 11633 0.00 3.35 0.00 0.000 260 0.000 0.086 3128 3915 3053 3069 3037 0 0 0 0 0 0 11.34 11.14 11.34

11654 1.01 107.1 3128 3911 3070 3038 589.5 16.1 844 11661 0.22 3.12 0.00 0.000 5126 0.265 0.045 3100 2544 3053 3069 3037 0 0 0 0 0 0 11.07 11.21 11.23

11959 1.01 107.1 3102 2544 3071 3038 550.0 12.6 875 11960 0.00 0.00 0.00 0.000 6 0.000 0.000 3102 2544 3053 3069 3037 0 0 0 0 0 0 11.36 11.36 11.36

12259 1.01 107.1 3102 2545 3070 3038 511.6 12.9 905 12264 0.00 3.35 0.00 0.000 260 0.000 0.084 3101 3908 3053 3069 3037 0 0 0 0 0 0 11.36 11.15 11.36

12301 1.01 107.1 3102 3908 3071 3038 505.7 14.7 913 12306 0.00 3.12 0.00 0.000 1030 0.000 0.045 3111 2539 3053 3069 3038 0 0 0 0 0 0 11.25 11.20 11.26

12613 1.01 107.1 3113 2539 3071 3038 465.2 13.0 945 12614 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2539 3051 3064 3038 0 0 0 0 0 0 11.35 11.35 11.35

12913 1.01 107.1 3112 2540 3069 3038 427.4 12.3 975 12919 0.00 3.38 0.00 0.000 260 0.000 0.085 3112 3917 3053 3070 3037 0 0 0 0 0 0 11.35 11.15 11.35

12945 1.01 107.1 3112 3917 3070 3037 423.0 14.2 981 12950 0.00 3.15 0.00 0.000 1030 0.000 0.044 3122 2542 3053 3069 3038 0 0 0 0 0 0 11.26 11.21 11.26

13123 end climb: SURFACE_OBSTACLE_DETECTED

state 13123 begin subsurface finish

13132 0.00 2.4 3122 2538 3070 3038 399.5 13.0 1000 13148 1.73 3.30 -7.32 0.023 20996 0.239 0.068 2782 1138 3513 3517 3510 0 0 0 0 1 0 11.07 10.60 11.23

13149 end subsurface finish: CONTROL_FINISHED_OK

state 13149 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	877	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	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	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	13	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	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	2775	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	110	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	0	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	180119,150848,-7430.0352,-11230.0098,0,3131.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideC0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	392.55	MHEAD_RNG_PITCHd_Wd	126.5,14750,-19.3,-9.429,-21.50,1737
_SM_ANGLEo	4.5	D_GRID	990
GPS2	180119,150848,-7430.0352,-11230.0098,0,3131.0,0,53.5,0.0,0.0,0,0.0

FINISH1	399.5,1.027453,2	_24V_AH	9.98,280.900
FINISH2	397.5	_10V_AH	10.28,0.000
RAFOS_CLK	536	FG_AHR_24Vo	0.000
RAFOS	2,1547824384,15.232242,15.217778,116,67,54,53,53,51,691,206,195,229,186,160	FG_AHR_10Vo	0.000
RAFOS_FIX	-7431.662109,-11228.109375,180119,181824,3,134,0.28	MEM	278872
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	33322,1003
TT8_MAMPS	0.046438,0.279377	CAP_FILE_SIZE	128868,0
HUMID	50.78	CFSIZE	1024409600,914997248
INTERNAL_PRESSURE	7.92918	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	13.20	SOUNDSPEED	1455.8
XPDR_PINGS	0	GPS	180119,181424,-7431.662,-11228.109,0,4133.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	407.3,13.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	264	16.51	nil	0	0	0.00
Roll_motor	115	85	98.89	nil	0	0	0.00
VBD_pump_during_apogee	367	3106	11386.41	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	13180	6	863.40
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	176.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10323	2	245.16
TT8_Active	477	10	53.35
TT8_Sampling	2111	30	658.83
TT8_CF8	361	51	190.82
TT8_Kalman	0	0	0.00
Analog_circuits	1224	10	127.15
GPS_charging	0	0	0.00
Compass	1436	6	99.50
RAFOS	720	1	11.10
Transponder	316	30	97.61

		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
399.2	10.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
405.3	17.10	9000.00	0.0	0.00	0.00	17.10	0.0	1.08	1.00

439.7	47.70	47.80	391.9	0.91	1.00	47.70	392.0	0.89	1.00
427.4	34.80	36.10	391.3	0.88	0.99	34.80	392.6	1.05	1.00
420.1	27.30	27.30	392.8	1.04	1.00	27.30	392.8	1.03	1.00
413.7	20.90	20.90	392.8	1.02	1.00	20.90	392.8	1.00	1.00
407.3	13.80	13.90	393.4	1.06	1.00	13.80	393.5	1.11	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
11	-1.01	-107.1	2783	2809	3532	3527	0.0	0.0	0	23	0.00	0.00	-7.10	0.024	16390	0.000	0.000	2782	2809	3946	3939	3954	0	0	0	0	1	0	11.35	10.60	11.33
27	-1.01	-107.1	2783	2809	3943	3959	392.7	0.0	1	33	1.42	2.70	0.00	0.000	4356	0.136	0.083	2454	3917	3951	3943	3959	0	0	0	0	0	0	11.12	11.15	11.20
70	-1.01	-107.1	2455	3917	3950	3960	395.5	-6.8	9	76	0.00	2.55	0.00	0.000	1062	0.000	0.045	2454	2797	3954	3948	3960	0	0	0	0	0	0	11.25	11.20	11.26
382	-1.01	-107.1	2455	2797	3955	3965	419.4	-7.9	41	388	0.00	3.28	0.00	0.000	516	0.000	0.045	2454	1380	3959	3954	3965	0	0	0	0	0	0	11.36	11.18	11.36
449	-1.01	-107.1	2455	1380	3957	3966	424.8	-8.2	54	456	0.00	3.42	0.00	0.000	1030	0.000	0.061	2453	2811	3960	3955	3966	0	0	0	0	0	0	11.24	11.17	11.26
754	-1.01	-107.1	2453	2811	3956	3966	449.1	-7.8	85	755	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2811	3960	3955	3966	0	0	0	0	0	0	11.36	11.36	11.36
1054	-1.01	-107.1	2453	2812	3956	3967	472.7	-8.0	115	1060	0.00	3.33	0.00	0.000	516	0.000	0.044	2453	1383	3960	3955	3966	0	0	0	0	0	0	11.36	11.18	11.36
1096	-1.01	-107.1	2453	1384	3957	3967	476.1	-8.1	123	1102	0.00	3.40	0.00	0.000	1030	0.000	0.061	2453	2809	3961	3956	3966	0	0	0	0	0	0	11.24	11.17	11.25
1408	-1.01	-107.1	2453	2809	3958	3966	500.9	-7.9	155	1409	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2809	3961	3956	3966	0	0	0	0	0	0	11.36	11.36	11.36
1708	-1.01	-107.1	2453	2808	3958	3966	523.8	-7.4	185	1714	0.00	3.30	0.00	0.000	548	0.000	0.045	2452	1387	3960	3954	3966	0	0	0	0	0	0	11.36	11.18	11.36
1755	-1.01	-107.1	2453	1386	3958	3967	527.4	-7.6	194	1762	0.00	3.40	0.00	0.000	1030	0.000	0.061	2452	2813	3961	3957	3966	0	0	0	0	0	0	11.25	11.17	11.26
2060	-1.01	-107.1	2453	2814	3957	3967	550.0	-7.5	225	2061	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2812	3961	3956	3966	0	0	0	0	0	0	11.36	11.36	11.36
2360	-1.01	-107.1	2453	2812	3958	3966	572.5	-7.5	255	2361	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2812	3961	3956	3966	0	0	0	0	0	0	11.36	11.36	11.36
2661	-1.01	-107.1	2453	2812	3957	3966	594.7	-7.4	285	2661	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2812	3961	3956	3966	0	0	0	0	0	0	11.36	11.36	11.36
2961	-1.01	-107.1	2452	2814	3957	3967	616.5	-7.2	315	2966	0.00	3.30	0.00	0.000	548	0.000	0.044	2452	1389	3961	3956	3966	0	0	0	0	0	0	11.36	11.18	11.36
3027	-1.01	-107.1	2452	1389	3956	3968	621.5	-7.4	328	3035	0.00	3.40	0.00	0.000	1062	0.000	0.061	2452	2811	3961	3956	3966	0	0	0	0	0	0	11.24	11.17	11.26
3332	-1.01	-107.1	2452	2812	3957	3967	643.3	-7.2	359	3333	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2812	3960	3956	3965	0	0	0	0	0	0	11.36	11.36	11.36
3632	-1.01	-107.1	2452	2812	3957	3965	664.8	-6.9	389	3633	0.00	0.00	0.00	0.000	38	0.000	0.000	2452	2812	3960	3955	3965	0	0	0	0	0	0	11.36	11.37	11.36
3933	-1.01	-107.1	2453	2812	3957	3964	685.5	-6.9	419	3938	0.00	3.30	0.00	0.000	548	0.000	0.045	2452	1383	3960	3956	3964	0	0	0	0	0	0	11.36	11.19	11.35
3980	-1.01	-107.1	2453	1383	3957	3964	688.8	-7.1	428	3986	0.00	3.40	0.00	0.000	1062	0.000	0.062	2452	2813	3959	3955	3964	0	0	0	0	0	0	11.27	11.17	11.26
4296	-1.01	-107.1	2452	2814	3957	3965	711.3	-7.1	450	4297	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2813	3960	3956	3964	0	0	0	0	0	0	11.36	11.36	11.36
4656	-1.01	-107.1	2452	2813	3957	3964	734.5	-6.5	462	4661	0.00	3.30	0.00	0.000	548	0.000	0.045	2452	1386	3960	3956	3964	0	0	0	0	0	0	11.36	11.19	11.36
4713	-1.01	-107.1	2452	1386	3958	3964	738.6	-6.9	473	4720	0.00	3.38	0.00	0.000	1062	0.000	0.061	2451	2803	3960	3956	3964	0	0	0	0	0	0	11.25	11.19	11.26
5082	-1.01	-107.1	2451	2805	3957	3965	762.8	-6.7	486	5083	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2803	3960	3956	3964	0	0	0	0	0	0	11.36	11.36	11.37
5438	-1.01	-107.1	2453	2800	3957	3963	786.5	-6.7	498	5439	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2803	3960	3956	3964	0	0	0	0	0	0	11.37	11.37	11.37
5798	-1.01	-107.1	2451	2804	3957	3964	810.3	-6.6	510	5804	0.00	3.28	0.00	0.000	548	0.000	0.044	2451	1388	3960	3956	3964	0	0	0	0	0	0	11.37	11.19	11.37
5855	-1.01	-107.1	2451	1389	3957	3965	814.2	-7.8	521	5863	0.00	3.40	0.00	0.000	1030	0.000	0.061	2450	2814	3960	3956	3964	0	0	0	0	0	0	11.25	11.17	11.26
6223	-1.01	-107.1	2451	2815	3956	3965	838.1	-6.6	534	6224	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2814	3959	3956	3963	0	0	0	0	0	0	11.36	11.37	11.37
6580	-1.01	-107.1	2450	2815	3956	3965	861.8	-6.5	546	6586	0.00	3.30	0.00	0.000	548	0.000	0.044	2451	1388	3960	3956	3964	0	0	0	0	0	0	11.38	11.19	11.37
6643	-1.01	-107.1	2457	1389	3958	3964	865.7	-6.4	558	6648	0.00	3.38	0.00	0.000	1062	0.000	0.061	2449	2807	3960	3956	3964	0	0	0	0	0	0	11.25	11.18	11.26
7038	-1.01	-107.1	2450	2809	3966	3964	890.4	-6.3	576	7039	0.00	0.00	0.00	0.000	38	0.000	0.000	2450	2808	3959	3956	3963	0	0	0	0	0	0	11.36	11.36	11.37
7394	-1.01	-107.1	2451	2809	3957	3965	912.8	-6.3	588	7399	0.00	3.28	0.00	0.000	548	0.000	0.044	2450	1388	3960	3956	3965	0	0	0	0	0	0	11.37	11.19	11.38
7441	-1.01	-107.1	2451	1389	3957	3965	915.8	-6.4	597	7447	0.00	3.38	0.00	0.000	1062	0.000	0.061	2450	2808	3960	3956	3964	0	0	0	0	0	0	11.26	11.18	11.26
7822	-1.01	-107.1	2451	2808	3957	3964	939.3	-6.3	612	7823	0.00	0.00	0.00	0.000	38	0.000	0.000	2450	2808	3960	3956	3964	0	0	0	0	0	0	11.36	11.36	11.36
8179	-1.01	-107.1	2450	2809	3957	3965	961.5	-6.2	624	8179	0.00	0.00	0.00	0.000	38	0.000	0.000	2450	2807	3960	3956	3964	0	0	0	0	0	0	11.37	11.37	11.37
8539	-1.01	-107.1	2450	2808	3957	3965	983.1	-5.9	636	8544	0.00	3.30	0.00	0.000	548	0.000	0.044	2450	1382	3960	3956	3964	0	0	0	0	0	0	11.37	11.19	11.37
8611	-1.01	-107.1	2451	1382	3957	3964	988.3	-6.1	650	8616	0.00	3.40	0.00	0.000	1062	0.000	0.062	2450	2808	3960	3956	3964	0	0	0	0	0	0	11.26	11.18	11.26
8658	end dive: TARGET_DEPTH_EXCEEDED
state	8658	begin apogee
8667	-0.23	0.0	2450	2538	3956	3964	990.5	-5.0	655	8865	1.23	0.00	195.18	3.107	10246	0.199	0.000	2699	2538	3493	3501	3485	0	0	0	0	0	0	11.11	11.02	9.98
8866	end apogee: CONTROL_FINISHED_OK
state	8866	begin climb
8870	1.01	107.1	2700	2538	3502	3485	992.7	0.0	661	9056	1.65	0.00	172.07	3.103	10758	0.106	0.000	3096	2535	3064	3080	3049	0	0	0	0	0	0	11.05	11.01	9.98
9412	1.01	107.1	3096	2538	3072	3042	921.7	14.3	695	9417	0.00	3.38	0.00	0.000	260	0.000	0.083	3096	3909	3056	3071	3041	0	0	0	0	0	0	11.32	11.11	11.33
9449	1.01	107.1	3097	3910	3073	3041	916.1	16.1	702	9455	0.00	3.12	0.00	0.000	1030	0.000	0.044	3107	2543	3055	3071	3040	0	0	0	0	0	0	11.22	11.17	11.21
9837	1.01	107.1	3106	2545	3070	3040	857.7	15.1	719	9838	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2544	3054	3070	3039	0	0	0	0	0	0	11.32	11.32	11.32
10200	1.01	107.1	3107	2544	3071	3038	805.5	14.2	731	10206	0.00	3.38	0.00	0.000	260	0.000	0.085	3106	3916	3053	3069	3038	0	0	0	0	0	0	11.33	11.13	11.33
10247	1.01	107.1	3107	3915	3071	3038	797.0	16.9	740	10252	0.00	3.12	0.00	0.000	1030	0.000	0.045	3117	2546	3054	3070	3038	0	0	0	0	0	0	11.23	11.21	11.24
10624	1.01	107.1	3117	2548	3070	3039	741.5	14.4	755	10624	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2547	3053	3069	3037	0	0	0	0	0	0	11.34	11.35	11.34
10984	1.01	107.1	3118	2547	3070	3038	689.1	14.5	771	10990	0.00	3.30	0.00	0.000	260	0.000	0.085	3117	3913	3053	3069	3038	0	0	0	0	0	0	11.35	11.14	11.35
11021	1.01	107.1	3114	3913	3071	3038	682.9	16.4	778	11030	0.00	3.12	0.00	0.000	1030	0.000	0.045	3128	2544	3054	3070	3038	0	0	0	0	0	0	11.24	11.19	11.25
11327	1.01	107.1	3129	2545	3070	3038	638.0	14.5	809	11328	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2545	3053	3069	3038	0	0	0	0	0	0	11.34	11.34	11.34
11627	1.01	107.1	3128	2546	3070	3039	593.8	14.4	839	11633	0.00	3.35	0.00	0.000	260	0.000	0.086	3128	3915	3053	3069	3037	0	0	0	0	0	0	11.34	11.14	11.34
11654	1.01	107.1	3128	3911	3070	3038	589.5	16.1	844	11661	0.22	3.12	0.00	0.000	5126	0.265	0.045	3100	2544	3053	3069	3037	0	0	0	0	0	0	11.07	11.21	11.23
11959	1.01	107.1	3102	2544	3071	3038	550.0	12.6	875	11960	0.00	0.00	0.00	0.000	6	0.000	0.000	3102	2544	3053	3069	3037	0	0	0	0	0	0	11.36	11.36	11.36
12259	1.01	107.1	3102	2545	3070	3038	511.6	12.9	905	12264	0.00	3.35	0.00	0.000	260	0.000	0.084	3101	3908	3053	3069	3037	0	0	0	0	0	0	11.36	11.15	11.36
12301	1.01	107.1	3102	3908	3071	3038	505.7	14.7	913	12306	0.00	3.12	0.00	0.000	1030	0.000	0.045	3111	2539	3053	3069	3038	0	0	0	0	0	0	11.25	11.20	11.26
12613	1.01	107.1	3113	2539	3071	3038	465.2	13.0	945	12614	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2539	3051	3064	3038	0	0	0	0	0	0	11.35	11.35	11.35
12913	1.01	107.1	3112	2540	3069	3038	427.4	12.3	975	12919	0.00	3.38	0.00	0.000	260	0.000	0.085	3112	3917	3053	3070	3037	0	0	0	0	0	0	11.35	11.15	11.35
12945	1.01	107.1	3112	3917	3070	3037	423.0	14.2	981	12950	0.00	3.15	0.00	0.000	1030	0.000	0.044	3122	2542	3053	3069	3038	0	0	0	0	0	0	11.26	11.21	11.26
13123	end climb: SURFACE_OBSTACLE_DETECTED
state	13123	begin subsurface finish
13132	0.00	2.4	3122	2538	3070	3038	399.5	13.0	1000	13148	1.73	3.30	-7.32	0.023	20996	0.239	0.068	2782	1138	3513	3517	3510	0	0	0	0	1	0	11.07	10.60	11.23
13149	end subsurface finish: CONTROL_FINISHED_OK
state	13149	begin surface