Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 868 * 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 868 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 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 18 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 868 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 18 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 170119,031408,-7414.9048,-11229.0527,0,4108.3,0,53.5,0.0,0.0,0,0.0 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 391.59 MHEAD_RNG_PITCHd_Wd 127.2,42775,-19.3,-9.429,-21.50,1737

_SM_ANGLEo 5.0 D_GRID 990

GPS2 170119,031408,-7414.9048,-11229.0527,0,4108.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 331.5,1.027444,3 _24V_AH 10.00,277.221

FINISH2 330.3 _10V_AH 10.29,0.000

RAFOS_CLK 551 FG_AHR_24Vo 0.000

RAFOS 0,1547704864,6.032355,6.017778,137,60,59,55,54,52,549,144,133,216,115,198 FG_AHR_10Vo 0.000

RAFOS_FIX -7415.756348,-11229.562500,170119,060628,3,127,0.15 MEM 278824

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 36629,1046

TT8_MAMPS 0.044191,0.282373 CAP_FILE_SIZE 133982,0

HUMID 51.45 CFSIZE 1024409600,916160512

INTERNAL_PRESSURE 7.91941 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 SOUNDSPEED 1456.0

XPDR_PINGS 0 GPS 170119,061528,-7415.756,-11229.562,0,4127.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 339.7,15.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 270 17.49 nil 0 0 0.00

Roll_motor 129 99 128.46 nil 0 0 0.00

VBD_pump_during_apogee 370 3106 11513.30 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 13462 6 892.93

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 192.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10502 2 249.64

TT8_Active 476 10 53.30

TT8_Sampling 2218 30 692.98

TT8_CF8 389 51 205.94

TT8_Kalman 0 0 0.00

Analog_circuits 1255 10 130.48

GPS_charging 0 0 0.00

Compass 1497 6 103.85

RAFOS 720 1 11.11

Transponder 327 30 101.18

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

391.0 56.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

366.2 38.10 9000.00 0.0 0.00 0.00 38.10 328.1 0.76 1.00

353.0 26.20 26.70 326.3 0.80 1.00 26.20 326.8 0.90 1.00

346.9 21.10 21.00 325.9 0.88 1.00 21.10 325.8 0.84 1.00

339.7 15.10 15.10 324.6 0.83 1.00 15.10 324.6 0.83 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 2780 2803 3530 3529 0.0 0.0 0 13 0.00 0.00 -1.67 0.044 16390 0.000 0.000 2779 2802 3933 3926 3940 0 0 0 0 0 0 11.33 10.60 11.32

17 -1.01 -107.1 2779 2803 3941 3950 0.0 0.0 0 24 1.42 2.65 0.00 0.000 4356 0.148 0.083 2455 3910 3945 3938 3952 0 0 0 0 0 0 11.10 11.13 11.18

91 -1.01 -107.1 2455 3911 3947 3957 395.4 -7.2 14 96 0.00 2.55 0.00 0.000 1062 0.000 0.045 2458 2786 3951 3946 3956 0 0 0 0 0 0 11.24 11.19 11.25

402 -1.01 -107.1 2455 2786 3952 3960 419.5 -7.9 46 407 0.00 3.22 0.00 0.000 516 0.000 0.045 2455 1384 3955 3951 3960 0 0 0 0 0 0 11.35 11.17 11.34

439 -1.01 -107.1 2454 1385 3952 3961 422.4 -8.0 53 447 0.00 3.38 0.00 0.000 1030 0.000 0.062 2453 2797 3955 3951 3960 0 0 0 0 0 0 11.23 11.16 11.24

744 -1.01 -107.1 2454 2797 3952 3961 446.8 -8.2 84 744 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2797 3956 3952 3960 0 0 0 0 0 0 11.35 11.35 11.35

1044 -1.01 -107.1 2454 2797 3954 3961 470.3 -7.7 114 1049 0.00 3.30 0.00 0.000 516 0.000 0.045 2453 1384 3957 3953 3961 0 0 0 0 0 0 11.35 11.17 11.35

1087 -1.01 -107.1 2454 1383 3954 3961 473.6 -7.9 122 1092 0.00 3.40 0.00 0.000 1030 0.000 0.062 2453 2801 3957 3953 3961 0 0 0 0 0 0 11.23 11.15 11.25

1399 -1.01 -107.1 2453 2802 3954 3962 497.5 -7.5 154 1399 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2801 3957 3953 3961 0 0 0 0 0 0 11.35 11.36 11.36

1699 -1.01 -107.1 2454 2801 3954 3961 520.2 -7.5 184 1700 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2801 3956 3953 3960 0 0 0 0 0 0 11.36 11.36 11.36

2000 -1.01 -107.1 2454 2802 3955 3962 542.0 -7.3 214 2005 0.00 3.28 0.00 0.000 548 0.000 0.045 2453 1387 3957 3953 3962 0 0 0 0 0 0 11.34 11.17 11.35

2042 -1.01 -107.1 2453 1388 3955 3963 545.1 -7.4 222 2047 0.00 3.40 0.00 0.000 1062 0.000 0.061 2452 2812 3958 3954 3962 0 0 0 0 0 0 11.23 11.15 11.24

2353 -1.01 -107.1 2448 2812 3954 3963 568.3 -7.5 254 2354 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2812 3958 3954 3962 0 0 0 0 0 0 11.36 11.36 11.36

2653 -1.01 -107.1 2453 2811 3955 3962 590.6 -7.3 284 2654 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2812 3958 3954 3962 0 0 0 0 0 0 11.36 11.36 11.36

2953 -1.01 -107.1 2452 2812 3955 3962 612.3 -6.9 314 2959 0.00 3.30 0.00 0.000 548 0.000 0.046 2453 1389 3958 3954 3962 0 0 0 0 0 0 11.36 11.19 11.36

3005 -1.01 -107.1 2453 1388 3956 3961 616.1 -7.2 324 3010 0.00 3.40 0.00 0.000 1062 0.000 0.062 2452 2812 3962 3962 3962 0 0 0 0 0 0 11.24 11.16 11.25

3317 -1.01 -107.1 2452 2813 3955 3963 637.7 -7.1 356 3323 0.00 2.62 0.00 0.000 292 0.000 0.085 2446 3904 3958 3954 3962 0 0 0 0 0 0 11.36 11.14 11.36

3349 -1.01 -107.1 2446 3905 3956 3962 640.2 -8.0 362 3354 0.00 2.53 0.00 0.000 1030 0.000 0.046 2446 2794 3958 3954 3962 0 0 0 0 0 0 11.25 11.20 11.26

3661 -1.01 -107.1 2446 2795 3955 3963 662.8 -7.2 394 3662 0.00 0.00 0.00 0.000 38 0.000 0.000 2446 2794 3958 3954 3962 0 0 0 0 0 0 11.36 11.36 11.36

3961 -1.01 -107.1 2446 2794 3955 3962 684.0 -7.2 424 3966 0.00 3.22 0.00 0.000 548 0.000 0.045 2445 1390 3958 3954 3962 0 0 0 0 0 0 11.35 11.17 11.36

4027 -1.01 -107.1 2446 1390 3956 3962 689.0 -7.3 437 4036 0.00 3.40 0.00 0.000 1062 0.000 0.062 2443 2811 3959 3955 3963 0 0 0 0 0 0 11.22 11.17 11.25

4332 -1.01 -107.1 2443 2811 3956 3962 710.5 -6.9 458 4333 0.00 0.00 0.00 0.000 38 0.000 0.000 2443 2811 3959 3955 3963 0 0 0 0 0 0 11.36 11.36 11.36

4693 -1.01 -107.1 2444 2812 3954 3965 736.0 -7.0 470 4693 0.00 0.00 0.00 0.000 38 0.000 0.000 2443 2811 3959 3955 3964 0 0 0 0 0 0 11.36 11.36 11.36

5052 -1.01 -107.1 2444 2811 3956 3964 760.9 -6.9 482 5058 0.00 3.30 0.00 0.000 548 0.000 0.045 2443 1384 3959 3955 3964 0 0 0 0 0 0 11.36 11.18 11.36

5110 -1.01 -107.1 2444 1384 3957 3965 764.9 -7.1 493 5117 0.00 3.40 0.00 0.000 1062 0.000 0.063 2441 2809 3960 3956 3964 0 0 0 0 0 0 11.24 11.17 11.26

5479 -1.01 -107.1 2441 2810 3956 3966 790.6 -7.0 506 5479 0.00 0.00 0.00 0.000 38 0.000 0.000 2441 2809 3960 3956 3965 0 0 0 0 0 0 11.36 11.36 11.36

5835 -1.01 -107.1 2441 2809 3956 3966 816.6 -7.2 518 5836 0.00 0.00 0.00 0.000 38 0.000 0.000 2441 2809 3961 3956 3966 0 0 0 0 0 0 11.36 11.35 11.36

6194 -1.01 -107.1 2446 2809 3957 3967 841.6 -6.8 530 6201 0.00 3.28 0.00 0.000 548 0.000 0.046 2441 1393 3961 3956 3966 0 0 0 0 0 0 11.36 11.17 11.36

6257 -1.01 -107.1 2442 1392 3958 3966 846.1 -7.2 542 6262 0.00 3.40 0.00 0.000 1062 0.000 0.063 2440 2811 3961 3957 3966 0 0 0 0 0 0 11.24 11.17 11.26

6653 -1.01 -107.1 2439 2813 3957 3968 873.4 -6.9 560 6653 0.00 0.00 0.00 0.000 38 0.000 0.000 2439 2812 3961 3957 3966 0 0 0 0 0 0 11.36 11.36 11.36

7009 -1.01 -107.1 2439 2812 3957 3967 898.2 -6.9 572 7010 0.00 0.00 0.00 0.000 38 0.000 0.000 2439 2812 3961 3956 3967 0 0 0 0 0 0 11.36 11.37 11.36

7369 -1.01 -107.1 2439 2813 3958 3969 922.5 -6.6 584 7377 0.00 3.25 0.00 0.000 548 0.000 0.045 2439 1382 3962 3957 3968 0 0 0 0 0 0 11.36 11.19 11.36

7419 -1.01 -107.1 2439 1383 3959 3973 925.9 -6.7 593 7425 0.00 3.42 0.00 0.000 1062 0.000 0.063 2439 2811 3963 3958 3968 0 0 0 0 0 0 11.24 11.17 11.26

7800 -1.01 -107.1 2439 2811 3959 3970 950.2 -6.4 608 7801 0.00 0.00 0.00 0.000 38 0.000 0.000 2439 2811 3963 3958 3969 0 0 0 0 0 0 11.36 11.36 11.36

8157 -1.01 -107.1 2439 2811 3969 3970 972.6 -6.1 620 8162 0.00 3.28 0.00 0.000 548 0.000 0.044 2438 1393 3964 3959 3970 0 0 0 0 0 0 11.36 11.19 11.37

8203 -1.01 -107.1 2439 1394 3960 3971 975.5 -6.3 629 8210 0.00 3.38 0.00 0.000 1062 0.000 0.063 2440 2807 3964 3959 3970 0 0 0 0 0 0 11.25 11.17 11.26

8457 end dive: TARGET_DEPTH_EXCEEDED

state 8457 begin apogee

8466 -0.23 0.0 2439 2538 3961 3972 990.7 -5.8 640 8671 1.27 0.00 199.18 3.107 10246 0.203 0.000 2697 2537 3492 3498 3487 0 0 0 0 0 0 11.10 11.02 10.00

8672 end apogee: CONTROL_FINISHED_OK

state 8672 begin climb

8676 1.01 107.1 2697 2539 3499 3486 991.2 0.0 647 8862 1.65 3.42 171.43 3.103 11012 0.105 0.085 3096 3913 3065 3077 3053 0 0 0 0 0 0 11.05 11.03 10.00

8878 1.01 107.1 3097 3914 3077 3052 969.0 17.0 672 8883 0.00 3.15 0.00 0.000 1030 0.000 0.047 3108 2546 3063 3076 3051 0 0 0 0 0 0 11.18 11.13 11.19

9252 1.01 107.1 3108 2547 3070 3046 913.3 15.0 686 9253 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2546 3056 3069 3044 0 0 0 0 0 0 11.31 11.31 11.32

9612 1.01 107.1 3108 2546 3070 3044 859.4 14.9 698 9619 0.00 3.30 0.00 0.000 260 0.000 0.085 3107 3910 3056 3069 3044 0 0 0 0 0 0 11.33 11.12 11.32

9665 1.01 107.1 3109 3910 3070 3044 850.3 17.1 708 9670 0.00 3.15 0.00 0.000 1030 0.000 0.047 3119 2542 3056 3069 3044 0 0 0 0 0 0 11.22 11.17 11.24

10040 1.01 107.1 3119 2543 3069 3050 794.0 14.6 722 10041 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 2542 3056 3069 3044 0 0 0 0 0 0 11.33 11.33 11.33

10400 1.01 107.1 3119 2542 3070 3044 740.4 14.7 734 10405 0.00 3.40 0.00 0.000 260 0.000 0.086 3118 3916 3056 3068 3045 0 0 0 0 0 0 11.34 11.13 11.34

10432 1.01 107.1 3119 3917 3069 3044 734.8 15.9 740 10437 0.00 3.15 0.00 0.000 1030 0.000 0.047 3129 2547 3056 3069 3043 0 0 0 0 0 0 11.24 11.19 11.25

10803 1.01 107.1 3129 2548 3067 3044 677.8 15.2 766 10809 0.00 3.35 0.00 0.000 260 0.000 0.086 3129 3912 3056 3068 3044 0 0 0 0 0 0 11.34 11.13 11.34

10825 1.01 107.1 3129 3912 3069 3046 674.3 16.1 770 10831 0.22 3.15 0.00 0.000 5126 0.270 0.047 3103 2543 3056 3069 3044 0 0 0 0 0 0 11.06 11.19 11.21

11138 1.01 107.1 3103 2543 3070 3045 630.7 13.9 802 11139 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2543 3056 3069 3044 0 0 0 0 0 0 11.33 11.33 11.33

11438 1.01 107.1 3103 2544 3070 3045 589.3 13.7 832 11443 0.00 3.35 0.00 0.000 260 0.000 0.086 3103 3910 3057 3070 3044 0 0 0 0 0 0 11.33 11.13 11.33

11481 1.01 107.1 3103 3910 3071 3044 582.8 15.6 840 11486 0.00 3.12 0.00 0.000 1030 0.000 0.046 3114 2543 3056 3069 3044 0 0 0 0 0 0 11.24 11.19 11.26

11792 1.01 107.1 3114 2544 3070 3045 539.5 13.6 872 11793 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2544 3057 3069 3045 0 0 0 0 0 0 11.35 11.36 11.36

12093 1.01 107.1 3114 2544 3071 3045 500.0 13.1 902 12098 0.00 3.35 0.00 0.000 260 0.000 0.086 3114 3907 3057 3070 3045 0 0 0 0 0 0 11.35 11.14 11.35

12124 1.01 107.1 3114 3908 3070 3046 495.4 15.1 908 12129 0.00 3.12 0.00 0.000 1030 0.000 0.046 3124 2543 3057 3070 3045 0 0 0 0 0 0 11.24 11.20 11.26

12436 1.01 107.1 3125 2543 3071 3045 453.9 13.4 940 12437 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2543 3061 3077 3045 0 0 0 0 0 0 11.36 11.36 11.36

12736 1.01 107.1 3124 2543 3072 3045 414.9 13.1 970 12741 0.00 3.38 0.00 0.000 260 0.000 0.086 3124 3916 3057 3070 3045 0 0 0 0 0 0 11.36 11.14 11.36

12772 1.01 107.1 3125 3916 3071 3046 409.6 14.9 977 12780 0.20 3.15 0.00 0.000 5126 0.267 0.047 3101 2543 3055 3070 3040 0 0 0 0 0 0 11.07 11.20 11.22

13078 1.01 107.1 3102 2544 3070 3046 372.6 12.0 1008 13084 0.00 3.30 0.00 0.000 516 0.000 0.057 3113 1140 3057 3070 3045 0 0 0 0 0 0 11.34 11.14 11.34

13100 1.01 107.1 3113 1140 3070 3047 369.9 11.6 1012 13105 0.00 3.38 0.00 0.000 1030 0.000 0.060 3113 2561 3057 3070 3045 0 0 0 0 0 0 11.27 11.16 11.26

13412 1.01 107.1 3114 2560 3071 3046 332.7 11.7 1044 13413 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2561 3057 3070 3045 0 0 0 0 0 0 11.34 11.35 11.34

13418 end climb: SURFACE_OBSTACLE_DETECTED

state 13418 begin subsurface finish

13426 0.00 2.8 3113 2562 3070 3046 331.5 11.7 1045 13435 1.70 3.38 -1.95 0.046 20740 0.238 0.099 2782 3912 3508 3510 3507 0 0 0 0 0 0 11.07 10.60 11.19

13435 end subsurface finish: CONTROL_FINISHED_OK

state 13435 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	868	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	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	18	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	170119,031408,-7414.9048,-11229.0527,0,4108.3,0,53.5,0.0,0.0,0,0.0	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	391.59	MHEAD_RNG_PITCHd_Wd	127.2,42775,-19.3,-9.429,-21.50,1737
_SM_ANGLEo	5.0	D_GRID	990
GPS2	170119,031408,-7414.9048,-11229.0527,0,4108.3,0,53.5,0.0,0.0,0,0.0

FINISH1	331.5,1.027444,3	_24V_AH	10.00,277.221
FINISH2	330.3	_10V_AH	10.29,0.000
RAFOS_CLK	551	FG_AHR_24Vo	0.000
RAFOS	0,1547704864,6.032355,6.017778,137,60,59,55,54,52,549,144,133,216,115,198	FG_AHR_10Vo	0.000
RAFOS_FIX	-7415.756348,-11229.562500,170119,060628,3,127,0.15	MEM	278824
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	36629,1046
TT8_MAMPS	0.044191,0.282373	CAP_FILE_SIZE	133982,0
HUMID	51.45	CFSIZE	1024409600,916160512
INTERNAL_PRESSURE	7.91941	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1456.0
XPDR_PINGS	0	GPS	170119,061528,-7415.756,-11229.562,0,4127.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	339.7,15.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	270	17.49	nil	0	0	0.00
Roll_motor	129	99	128.46	nil	0	0	0.00
VBD_pump_during_apogee	370	3106	11513.30	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	13462	6	892.93
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	192.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10502	2	249.64
TT8_Active	476	10	53.30
TT8_Sampling	2218	30	692.98
TT8_CF8	389	51	205.94
TT8_Kalman	0	0	0.00
Analog_circuits	1255	10	130.48
GPS_charging	0	0	0.00
Compass	1497	6	103.85
RAFOS	720	1	11.11
Transponder	327	30	101.18

		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
391.0	56.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

366.2	38.10	9000.00	0.0	0.00	0.00	38.10	328.1	0.76	1.00
353.0	26.20	26.70	326.3	0.80	1.00	26.20	326.8	0.90	1.00
346.9	21.10	21.00	325.9	0.88	1.00	21.10	325.8	0.84	1.00
339.7	15.10	15.10	324.6	0.83	1.00	15.10	324.6	0.83	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	2780	2803	3530	3529	0.0	0.0	0	13	0.00	0.00	-1.67	0.044	16390	0.000	0.000	2779	2802	3933	3926	3940	0	0	0	0	0	0	11.33	10.60	11.32
17	-1.01	-107.1	2779	2803	3941	3950	0.0	0.0	0	24	1.42	2.65	0.00	0.000	4356	0.148	0.083	2455	3910	3945	3938	3952	0	0	0	0	0	0	11.10	11.13	11.18
91	-1.01	-107.1	2455	3911	3947	3957	395.4	-7.2	14	96	0.00	2.55	0.00	0.000	1062	0.000	0.045	2458	2786	3951	3946	3956	0	0	0	0	0	0	11.24	11.19	11.25
402	-1.01	-107.1	2455	2786	3952	3960	419.5	-7.9	46	407	0.00	3.22	0.00	0.000	516	0.000	0.045	2455	1384	3955	3951	3960	0	0	0	0	0	0	11.35	11.17	11.34
439	-1.01	-107.1	2454	1385	3952	3961	422.4	-8.0	53	447	0.00	3.38	0.00	0.000	1030	0.000	0.062	2453	2797	3955	3951	3960	0	0	0	0	0	0	11.23	11.16	11.24
744	-1.01	-107.1	2454	2797	3952	3961	446.8	-8.2	84	744	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2797	3956	3952	3960	0	0	0	0	0	0	11.35	11.35	11.35
1044	-1.01	-107.1	2454	2797	3954	3961	470.3	-7.7	114	1049	0.00	3.30	0.00	0.000	516	0.000	0.045	2453	1384	3957	3953	3961	0	0	0	0	0	0	11.35	11.17	11.35
1087	-1.01	-107.1	2454	1383	3954	3961	473.6	-7.9	122	1092	0.00	3.40	0.00	0.000	1030	0.000	0.062	2453	2801	3957	3953	3961	0	0	0	0	0	0	11.23	11.15	11.25
1399	-1.01	-107.1	2453	2802	3954	3962	497.5	-7.5	154	1399	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2801	3957	3953	3961	0	0	0	0	0	0	11.35	11.36	11.36
1699	-1.01	-107.1	2454	2801	3954	3961	520.2	-7.5	184	1700	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2801	3956	3953	3960	0	0	0	0	0	0	11.36	11.36	11.36
2000	-1.01	-107.1	2454	2802	3955	3962	542.0	-7.3	214	2005	0.00	3.28	0.00	0.000	548	0.000	0.045	2453	1387	3957	3953	3962	0	0	0	0	0	0	11.34	11.17	11.35
2042	-1.01	-107.1	2453	1388	3955	3963	545.1	-7.4	222	2047	0.00	3.40	0.00	0.000	1062	0.000	0.061	2452	2812	3958	3954	3962	0	0	0	0	0	0	11.23	11.15	11.24
2353	-1.01	-107.1	2448	2812	3954	3963	568.3	-7.5	254	2354	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2812	3958	3954	3962	0	0	0	0	0	0	11.36	11.36	11.36
2653	-1.01	-107.1	2453	2811	3955	3962	590.6	-7.3	284	2654	0.00	0.00	0.00	0.000	38	0.000	0.000	2452	2812	3958	3954	3962	0	0	0	0	0	0	11.36	11.36	11.36
2953	-1.01	-107.1	2452	2812	3955	3962	612.3	-6.9	314	2959	0.00	3.30	0.00	0.000	548	0.000	0.046	2453	1389	3958	3954	3962	0	0	0	0	0	0	11.36	11.19	11.36
3005	-1.01	-107.1	2453	1388	3956	3961	616.1	-7.2	324	3010	0.00	3.40	0.00	0.000	1062	0.000	0.062	2452	2812	3962	3962	3962	0	0	0	0	0	0	11.24	11.16	11.25
3317	-1.01	-107.1	2452	2813	3955	3963	637.7	-7.1	356	3323	0.00	2.62	0.00	0.000	292	0.000	0.085	2446	3904	3958	3954	3962	0	0	0	0	0	0	11.36	11.14	11.36
3349	-1.01	-107.1	2446	3905	3956	3962	640.2	-8.0	362	3354	0.00	2.53	0.00	0.000	1030	0.000	0.046	2446	2794	3958	3954	3962	0	0	0	0	0	0	11.25	11.20	11.26
3661	-1.01	-107.1	2446	2795	3955	3963	662.8	-7.2	394	3662	0.00	0.00	0.00	0.000	38	0.000	0.000	2446	2794	3958	3954	3962	0	0	0	0	0	0	11.36	11.36	11.36
3961	-1.01	-107.1	2446	2794	3955	3962	684.0	-7.2	424	3966	0.00	3.22	0.00	0.000	548	0.000	0.045	2445	1390	3958	3954	3962	0	0	0	0	0	0	11.35	11.17	11.36
4027	-1.01	-107.1	2446	1390	3956	3962	689.0	-7.3	437	4036	0.00	3.40	0.00	0.000	1062	0.000	0.062	2443	2811	3959	3955	3963	0	0	0	0	0	0	11.22	11.17	11.25
4332	-1.01	-107.1	2443	2811	3956	3962	710.5	-6.9	458	4333	0.00	0.00	0.00	0.000	38	0.000	0.000	2443	2811	3959	3955	3963	0	0	0	0	0	0	11.36	11.36	11.36
4693	-1.01	-107.1	2444	2812	3954	3965	736.0	-7.0	470	4693	0.00	0.00	0.00	0.000	38	0.000	0.000	2443	2811	3959	3955	3964	0	0	0	0	0	0	11.36	11.36	11.36
5052	-1.01	-107.1	2444	2811	3956	3964	760.9	-6.9	482	5058	0.00	3.30	0.00	0.000	548	0.000	0.045	2443	1384	3959	3955	3964	0	0	0	0	0	0	11.36	11.18	11.36
5110	-1.01	-107.1	2444	1384	3957	3965	764.9	-7.1	493	5117	0.00	3.40	0.00	0.000	1062	0.000	0.063	2441	2809	3960	3956	3964	0	0	0	0	0	0	11.24	11.17	11.26
5479	-1.01	-107.1	2441	2810	3956	3966	790.6	-7.0	506	5479	0.00	0.00	0.00	0.000	38	0.000	0.000	2441	2809	3960	3956	3965	0	0	0	0	0	0	11.36	11.36	11.36
5835	-1.01	-107.1	2441	2809	3956	3966	816.6	-7.2	518	5836	0.00	0.00	0.00	0.000	38	0.000	0.000	2441	2809	3961	3956	3966	0	0	0	0	0	0	11.36	11.35	11.36
6194	-1.01	-107.1	2446	2809	3957	3967	841.6	-6.8	530	6201	0.00	3.28	0.00	0.000	548	0.000	0.046	2441	1393	3961	3956	3966	0	0	0	0	0	0	11.36	11.17	11.36
6257	-1.01	-107.1	2442	1392	3958	3966	846.1	-7.2	542	6262	0.00	3.40	0.00	0.000	1062	0.000	0.063	2440	2811	3961	3957	3966	0	0	0	0	0	0	11.24	11.17	11.26
6653	-1.01	-107.1	2439	2813	3957	3968	873.4	-6.9	560	6653	0.00	0.00	0.00	0.000	38	0.000	0.000	2439	2812	3961	3957	3966	0	0	0	0	0	0	11.36	11.36	11.36
7009	-1.01	-107.1	2439	2812	3957	3967	898.2	-6.9	572	7010	0.00	0.00	0.00	0.000	38	0.000	0.000	2439	2812	3961	3956	3967	0	0	0	0	0	0	11.36	11.37	11.36
7369	-1.01	-107.1	2439	2813	3958	3969	922.5	-6.6	584	7377	0.00	3.25	0.00	0.000	548	0.000	0.045	2439	1382	3962	3957	3968	0	0	0	0	0	0	11.36	11.19	11.36
7419	-1.01	-107.1	2439	1383	3959	3973	925.9	-6.7	593	7425	0.00	3.42	0.00	0.000	1062	0.000	0.063	2439	2811	3963	3958	3968	0	0	0	0	0	0	11.24	11.17	11.26
7800	-1.01	-107.1	2439	2811	3959	3970	950.2	-6.4	608	7801	0.00	0.00	0.00	0.000	38	0.000	0.000	2439	2811	3963	3958	3969	0	0	0	0	0	0	11.36	11.36	11.36
8157	-1.01	-107.1	2439	2811	3969	3970	972.6	-6.1	620	8162	0.00	3.28	0.00	0.000	548	0.000	0.044	2438	1393	3964	3959	3970	0	0	0	0	0	0	11.36	11.19	11.37
8203	-1.01	-107.1	2439	1394	3960	3971	975.5	-6.3	629	8210	0.00	3.38	0.00	0.000	1062	0.000	0.063	2440	2807	3964	3959	3970	0	0	0	0	0	0	11.25	11.17	11.26
8457	end dive: TARGET_DEPTH_EXCEEDED
state	8457	begin apogee
8466	-0.23	0.0	2439	2538	3961	3972	990.7	-5.8	640	8671	1.27	0.00	199.18	3.107	10246	0.203	0.000	2697	2537	3492	3498	3487	0	0	0	0	0	0	11.10	11.02	10.00
8672	end apogee: CONTROL_FINISHED_OK
state	8672	begin climb
8676	1.01	107.1	2697	2539	3499	3486	991.2	0.0	647	8862	1.65	3.42	171.43	3.103	11012	0.105	0.085	3096	3913	3065	3077	3053	0	0	0	0	0	0	11.05	11.03	10.00
8878	1.01	107.1	3097	3914	3077	3052	969.0	17.0	672	8883	0.00	3.15	0.00	0.000	1030	0.000	0.047	3108	2546	3063	3076	3051	0	0	0	0	0	0	11.18	11.13	11.19
9252	1.01	107.1	3108	2547	3070	3046	913.3	15.0	686	9253	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2546	3056	3069	3044	0	0	0	0	0	0	11.31	11.31	11.32
9612	1.01	107.1	3108	2546	3070	3044	859.4	14.9	698	9619	0.00	3.30	0.00	0.000	260	0.000	0.085	3107	3910	3056	3069	3044	0	0	0	0	0	0	11.33	11.12	11.32
9665	1.01	107.1	3109	3910	3070	3044	850.3	17.1	708	9670	0.00	3.15	0.00	0.000	1030	0.000	0.047	3119	2542	3056	3069	3044	0	0	0	0	0	0	11.22	11.17	11.24
10040	1.01	107.1	3119	2543	3069	3050	794.0	14.6	722	10041	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	2542	3056	3069	3044	0	0	0	0	0	0	11.33	11.33	11.33
10400	1.01	107.1	3119	2542	3070	3044	740.4	14.7	734	10405	0.00	3.40	0.00	0.000	260	0.000	0.086	3118	3916	3056	3068	3045	0	0	0	0	0	0	11.34	11.13	11.34
10432	1.01	107.1	3119	3917	3069	3044	734.8	15.9	740	10437	0.00	3.15	0.00	0.000	1030	0.000	0.047	3129	2547	3056	3069	3043	0	0	0	0	0	0	11.24	11.19	11.25
10803	1.01	107.1	3129	2548	3067	3044	677.8	15.2	766	10809	0.00	3.35	0.00	0.000	260	0.000	0.086	3129	3912	3056	3068	3044	0	0	0	0	0	0	11.34	11.13	11.34
10825	1.01	107.1	3129	3912	3069	3046	674.3	16.1	770	10831	0.22	3.15	0.00	0.000	5126	0.270	0.047	3103	2543	3056	3069	3044	0	0	0	0	0	0	11.06	11.19	11.21
11138	1.01	107.1	3103	2543	3070	3045	630.7	13.9	802	11139	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2543	3056	3069	3044	0	0	0	0	0	0	11.33	11.33	11.33
11438	1.01	107.1	3103	2544	3070	3045	589.3	13.7	832	11443	0.00	3.35	0.00	0.000	260	0.000	0.086	3103	3910	3057	3070	3044	0	0	0	0	0	0	11.33	11.13	11.33
11481	1.01	107.1	3103	3910	3071	3044	582.8	15.6	840	11486	0.00	3.12	0.00	0.000	1030	0.000	0.046	3114	2543	3056	3069	3044	0	0	0	0	0	0	11.24	11.19	11.26
11792	1.01	107.1	3114	2544	3070	3045	539.5	13.6	872	11793	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2544	3057	3069	3045	0	0	0	0	0	0	11.35	11.36	11.36
12093	1.01	107.1	3114	2544	3071	3045	500.0	13.1	902	12098	0.00	3.35	0.00	0.000	260	0.000	0.086	3114	3907	3057	3070	3045	0	0	0	0	0	0	11.35	11.14	11.35
12124	1.01	107.1	3114	3908	3070	3046	495.4	15.1	908	12129	0.00	3.12	0.00	0.000	1030	0.000	0.046	3124	2543	3057	3070	3045	0	0	0	0	0	0	11.24	11.20	11.26
12436	1.01	107.1	3125	2543	3071	3045	453.9	13.4	940	12437	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2543	3061	3077	3045	0	0	0	0	0	0	11.36	11.36	11.36
12736	1.01	107.1	3124	2543	3072	3045	414.9	13.1	970	12741	0.00	3.38	0.00	0.000	260	0.000	0.086	3124	3916	3057	3070	3045	0	0	0	0	0	0	11.36	11.14	11.36
12772	1.01	107.1	3125	3916	3071	3046	409.6	14.9	977	12780	0.20	3.15	0.00	0.000	5126	0.267	0.047	3101	2543	3055	3070	3040	0	0	0	0	0	0	11.07	11.20	11.22
13078	1.01	107.1	3102	2544	3070	3046	372.6	12.0	1008	13084	0.00	3.30	0.00	0.000	516	0.000	0.057	3113	1140	3057	3070	3045	0	0	0	0	0	0	11.34	11.14	11.34
13100	1.01	107.1	3113	1140	3070	3047	369.9	11.6	1012	13105	0.00	3.38	0.00	0.000	1030	0.000	0.060	3113	2561	3057	3070	3045	0	0	0	0	0	0	11.27	11.16	11.26
13412	1.01	107.1	3114	2560	3071	3046	332.7	11.7	1044	13413	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2561	3057	3070	3045	0	0	0	0	0	0	11.34	11.35	11.34
13418	end climb: SURFACE_OBSTACLE_DETECTED
state	13418	begin subsurface finish
13426	0.00	2.8	3113	2562	3070	3046	331.5	11.7	1045	13435	1.70	3.38	-1.95	0.046	20740	0.238	0.099	2782	3912	3508	3510	3507	0	0	0	0	0	0	11.07	10.60	11.19
13435	end subsurface finish: CONTROL_FINISHED_OK
state	13435	begin surface