Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 878 * 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 878 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 29 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 878 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 29 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 180119,181424,-7431.6621,-11228.1094,0,4133.7,0,53.5,0.0,0.0,0,0.0 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 397.09 MHEAD_RNG_PITCHd_Wd 131.0,11774,-19.3,-9.429,-21.50,1737

_SM_ANGLEo 3.5 D_GRID 990

GPS2 180119,181424,-7431.6621,-11228.1094,0,4133.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 381.8,1.027433,3 _24V_AH 9.99,281.285

FINISH2 380.6 _10V_AH 10.37,0.000

RAFOS_CLK 536 FG_AHR_24Vo 0.000

RAFOS 0,1547845264,21.032354,21.017778,98,57,55,53,52,52,650,216,202,174,107,151 FG_AHR_10Vo 0.000

RAFOS_FIX -7432.899902,-11229.385742,180119,212144,3,147,0.22 MEM 278824

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 33281,1002

TT8_MAMPS 0.045689,0.243425 CAP_FILE_SIZE 126381,0

HUMID 51.96 CFSIZE 1024409600,914866176

INTERNAL_PRESSURE 7.93895 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.30 SOUNDSPEED 1456.0

XPDR_PINGS 1 GPS 180119,211544,-7432.900,-11229.386,0,4147.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 398.5,22.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 263 16.56 nil 0 0 0.00

Roll_motor 115 85 99.03 nil 0 0 0.00

VBD_pump_during_apogee 364 3105 11305.03 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 13185 6 864.73

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 180.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10362 2 248.22

TT8_Active 452 10 51.03

TT8_Sampling 2110 30 664.13

TT8_CF8 356 51 189.75

TT8_Kalman 0 0 0.00

Analog_circuits 1196 10 125.30

GPS_charging 0 0 0.00

Compass 1434 6 100.28

RAFOS 720 1 11.20

Transponder 312 30 97.22

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

409.9 14.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

422.2 29.20 9000.00 0.0 0.00 0.00 29.20 0.0 1.22 1.00

453.2 61.60 61.90 0.0 1.08 1.00 61.60 0.0 1.05 1.00

425.1 50.50 9000.00 0.0 0.78 0.67 50.50 374.6 0.40 1.00

412.6 37.50 9000.00 0.0 0.56 0.93 37.50 375.1 1.04 1.00

405.6 30.10 30.10 375.5 1.04 1.00 30.10 375.5 1.06 1.00

398.5 22.80 22.80 375.7 1.03 1.00 22.80 375.7 1.03 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 2782 2803 3530 3524 0.0 0.0 0 14 0.00 0.00 -1.67 0.043 16390 0.000 0.000 2781 2802 3936 3929 3943 0 0 0 0 0 0 11.36 10.61 11.33

18 -1.01 -107.1 2783 2802 3938 3952 0.0 0.0 0 24 1.42 2.65 0.00 0.000 4356 0.138 0.084 2454 3916 3946 3939 3954 0 0 0 0 0 0 11.15 11.15 11.20

161 -1.01 -107.1 2454 3917 3950 3961 407.4 -7.8 28 166 0.00 2.55 0.00 0.000 1030 0.000 0.044 2457 2798 3955 3950 3960 0 0 0 0 0 0 11.26 11.21 11.25

473 -1.01 -107.1 2455 2798 3954 3962 431.4 -7.6 60 478 0.00 3.25 0.00 0.000 516 0.000 0.046 2454 1388 3957 3952 3962 0 0 0 0 0 0 11.36 11.18 11.36

544 -1.01 -107.1 2455 1386 3955 3963 436.9 -7.6 74 549 0.00 3.38 0.00 0.000 1030 0.000 0.060 2454 2806 3957 3953 3962 0 0 0 0 0 0 11.26 11.17 11.26

856 -1.01 -107.1 2455 2806 3954 3963 461.0 -7.8 106 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2805 3958 3953 3963 0 0 0 0 0 0 11.36 11.36 11.36

1157 -1.01 -107.1 2453 2807 3954 3964 484.7 -8.0 136 1162 0.00 3.30 0.00 0.000 516 0.000 0.045 2454 1390 3958 3954 3963 0 0 0 0 0 0 11.35 11.17 11.36

1194 -1.01 -107.1 2455 1390 3955 3963 487.7 -8.1 143 1200 0.00 3.38 0.00 0.000 1030 0.000 0.060 2454 2806 3958 3954 3963 0 0 0 0 0 0 11.24 11.17 11.26

1499 -1.01 -107.1 2455 2806 3955 3970 511.4 -7.7 174 1499 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2806 3958 3954 3963 0 0 0 0 0 0 11.36 11.36 11.36

1799 -1.01 -107.1 2454 2812 3955 3964 534.9 -7.5 204 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2806 3958 3954 3963 0 0 0 0 0 0 11.36 11.36 11.35

2099 -1.01 -107.1 2454 2807 3955 3964 556.6 -7.3 234 2104 0.00 3.30 0.00 0.000 548 0.000 0.045 2453 1385 3958 3954 3963 0 0 0 0 0 0 11.36 11.19 11.36

2141 -1.01 -107.1 2454 1385 3955 3963 559.8 -7.6 242 2146 0.00 3.40 0.00 0.000 1030 0.000 0.062 2452 2812 3958 3954 3963 0 0 0 0 0 0 11.25 11.17 11.26

2453 -1.01 -107.1 2454 2811 3955 3963 583.0 -7.1 274 2453 0.00 0.00 0.00 0.000 38 0.000 0.000 2453 2811 3958 3954 3963 0 0 0 0 0 0 11.36 11.36 11.36

2754 -1.01 -107.1 2453 2812 3952 3963 605.4 -7.3 304 2754 0.00 0.00 0.00 0.000 38 0.000 0.000 2453 2811 3958 3954 3963 0 0 0 0 0 0 11.36 11.36 11.36

3053 -1.01 -107.1 2456 2813 3954 3964 627.0 -7.1 334 3058 0.00 3.30 0.00 0.000 548 0.000 0.045 2453 1390 3958 3954 3962 0 0 0 0 0 0 11.36 11.18 11.36

3114 -1.01 -107.1 2453 1390 3955 3963 631.5 -7.2 346 3120 0.00 3.38 0.00 0.000 1062 0.000 0.061 2453 2805 3958 3954 3962 0 0 0 0 0 0 11.25 11.17 11.26

3426 -1.01 -107.1 2453 2805 3955 3961 653.7 -7.1 378 3427 0.00 0.00 0.00 0.000 38 0.000 0.000 2453 2804 3957 3953 3961 0 0 0 0 0 0 11.36 11.37 11.36

3726 -1.01 -107.1 2454 2804 3955 3962 674.4 -6.8 408 3727 0.00 0.00 0.00 0.000 38 0.000 0.000 2453 2805 3957 3954 3961 0 0 0 0 0 0 11.37 11.36 11.36

4026 -1.01 -107.1 2453 2805 3955 3962 695.4 -6.9 438 4032 0.00 3.30 0.00 0.000 548 0.000 0.044 2453 1386 3958 3955 3961 0 0 0 0 0 0 11.36 11.18 11.36

4068 -1.01 -107.1 2453 1386 3955 3961 698.4 -7.1 446 4074 0.00 3.40 0.00 0.000 1062 0.000 0.062 2456 2814 3957 3954 3961 0 0 0 0 0 0 11.25 11.18 11.26

4405 -1.01 -107.1 2453 2810 3955 3961 721.4 -7.1 460 4406 0.00 0.00 0.00 0.000 38 0.000 0.000 2453 2810 3957 3954 3961 0 0 0 0 0 0 11.36 11.36 11.36

4760 -1.01 -107.1 2453 2810 3955 3961 745.9 -6.6 472 4767 0.00 3.28 0.00 0.000 548 0.000 0.044 2452 1394 3957 3954 3961 0 0 0 0 0 0 11.38 11.17 11.37

4818 -1.01 -107.1 2453 1395 3955 3962 749.8 -6.5 483 4825 0.00 3.35 0.00 0.000 1062 0.000 0.062 2452 2800 3957 3954 3961 0 0 0 0 0 0 11.25 11.17 11.26

5183 -1.01 -107.1 2453 2800 3955 3961 773.5 -6.5 496 5184 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2800 3957 3954 3961 0 0 0 0 0 0 11.37 11.37 11.37

5544 -1.01 -107.1 2452 2801 3953 3962 797.6 -6.9 508 5549 0.00 3.30 0.00 0.000 548 0.000 0.044 2452 1383 3958 3955 3961 0 0 0 0 0 0 11.36 11.19 11.36

5591 -1.01 -107.1 2452 1383 3954 3960 800.7 -6.9 517 5597 0.00 3.40 0.00 0.000 1062 0.000 0.062 2453 2805 3957 3954 3960 0 0 0 0 0 0 11.25 11.18 11.26

5972 -1.01 -107.1 2452 2805 3954 3962 825.9 -6.7 532 5973 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2805 3957 3954 3961 0 0 0 0 0 0 11.36 11.36 11.37

6329 -1.01 -107.1 2454 2806 3954 3961 849.0 -6.4 544 6334 0.00 3.28 0.00 0.000 548 0.000 0.044 2452 1390 3957 3954 3961 0 0 0 0 0 0 11.37 11.19 11.37

6385 -1.01 -107.1 2452 1391 3955 3960 853.3 -6.7 555 6392 0.00 3.40 0.00 0.000 1062 0.000 0.061 2451 2811 3958 3955 3961 0 0 0 0 0 0 11.25 11.17 11.26

6751 -1.01 -107.1 2452 2812 3954 3960 876.7 -6.7 568 6752 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2812 3957 3954 3961 0 0 0 0 0 0 11.37 11.37 11.37

7110 -1.01 -107.1 2452 2811 3955 3961 900.4 -6.5 580 7111 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2812 3957 3954 3961 0 0 0 0 0 0 11.37 11.36 11.38

7470 -1.01 -107.1 2451 2812 3955 3960 923.3 -6.4 592 7475 0.00 3.30 0.00 0.000 548 0.000 0.044 2451 1385 3957 3954 3961 0 0 0 0 0 0 11.38 11.19 11.37

7542 -1.01 -107.1 2459 1385 3956 3960 927.9 -6.4 606 7547 0.00 3.40 0.00 0.000 1062 0.000 0.063 2451 2811 3957 3954 3960 0 0 0 0 0 0 11.25 11.18 11.26

7927 -1.01 -107.1 2452 2811 3955 3961 951.7 -6.1 622 7928 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2812 3957 3954 3961 0 0 0 0 0 0 11.36 11.37 11.36

8284 -1.01 -107.1 2452 2811 3955 3961 973.9 -6.2 634 8285 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2811 3957 3954 3961 0 0 0 0 0 0 11.37 11.38 11.38

8551 end dive: TARGET_DEPTH_EXCEEDED

state 8551 begin apogee

8559 -0.23 0.0 2452 2539 3955 3960 990.5 -6.3 643 8756 1.20 0.00 193.62 3.106 10246 0.200 0.000 2694 2539 3494 3502 3486 0 0 0 0 0 0 11.11 11.03 9.99

8757 end apogee: CONTROL_FINISHED_OK

state 8757 begin climb

8761 1.01 107.1 2695 2540 3503 3487 992.9 0.0 649 8946 1.65 3.42 170.73 3.102 10500 0.106 0.085 3092 3917 3065 3082 3049 0 0 0 0 0 0 11.05 11.03 9.99

8977 1.01 107.1 3092 3918 3081 3048 968.4 16.6 681 8984 0.00 3.15 0.00 0.000 1030 0.000 0.045 3103 2549 3063 3080 3046 0 0 0 0 0 0 11.19 11.14 11.19

9346 1.01 107.1 3103 2549 3075 3040 913.8 14.8 694 9347 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2549 3058 3075 3041 0 0 0 0 0 0 11.32 11.32 11.32

9706 1.01 107.1 3103 2550 3073 3041 860.5 14.7 706 9712 0.00 3.35 0.00 0.000 260 0.000 0.085 3103 3913 3056 3073 3040 0 0 0 0 0 0 11.33 11.12 11.33

9733 1.01 107.1 3103 3913 3074 3040 855.9 15.0 711 9739 0.00 3.15 0.00 0.000 1030 0.000 0.046 3114 2539 3056 3073 3040 0 0 0 0 0 0 11.23 11.18 11.24

10101 1.01 107.1 3114 2541 3073 3041 800.2 15.1 724 10102 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2539 3056 3073 3040 0 0 0 0 0 0 11.33 11.34 11.33

10461 1.01 107.1 3114 2540 3074 3040 747.2 14.6 736 10462 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2539 3056 3073 3040 0 0 0 0 0 0 11.33 11.34 11.34

10821 1.01 107.1 3114 2540 3073 3042 695.9 14.2 748 10827 0.00 3.38 0.00 0.000 260 0.000 0.085 3113 3913 3056 3073 3040 0 0 0 0 0 0 11.35 11.14 11.35

10875 1.01 107.1 3114 3913 3075 3040 687.1 16.7 758 10881 0.00 3.12 0.00 0.000 1030 0.000 0.045 3125 2544 3057 3073 3041 0 0 0 0 0 0 11.23 11.19 11.24

11187 1.01 107.1 3124 2545 3074 3042 640.8 14.4 790 11193 0.00 3.30 0.00 0.000 516 0.000 0.057 3135 1140 3057 3074 3041 0 0 0 0 0 0 11.36 11.15 11.36

11214 1.01 107.1 3135 1140 3073 3042 636.9 14.3 795 11221 0.20 3.38 0.00 0.000 5126 0.238 0.060 3101 2563 3057 3074 3041 0 0 0 0 0 0 11.07 11.15 11.21

11519 1.01 107.1 3101 2564 3074 3042 596.6 13.2 826 11525 0.00 3.30 0.00 0.000 260 0.000 0.086 3101 3910 3057 3074 3041 0 0 0 0 0 0 11.35 11.14 11.36

11562 1.01 107.1 3102 3911 3076 3041 590.4 15.1 834 11568 0.00 3.12 0.00 0.000 1030 0.000 0.045 3111 2541 3058 3075 3041 0 0 0 0 0 0 11.25 11.21 11.26

11874 1.01 107.1 3111 2543 3075 3042 547.6 13.6 866 11880 0.00 3.30 0.00 0.000 516 0.000 0.057 3122 1141 3058 3075 3041 0 0 0 0 0 0 11.36 11.15 11.36

11897 1.01 107.1 3122 1141 3076 3043 544.6 13.6 870 11903 0.00 3.35 0.00 0.000 1030 0.000 0.059 3122 2553 3058 3075 3041 0 0 0 0 0 0 11.24 11.17 11.26

12209 1.01 107.1 3122 2553 3076 3042 503.1 13.1 902 12215 0.00 3.33 0.00 0.000 260 0.000 0.086 3122 3915 3059 3076 3042 0 0 0 0 0 0 11.36 11.15 11.36

12262 1.01 107.1 3123 3915 3077 3042 495.3 15.4 912 12267 0.00 3.15 0.00 0.000 1030 0.000 0.045 3133 2542 3059 3076 3042 0 0 0 0 0 0 11.25 11.21 11.26

12574 1.01 107.1 3133 2544 3076 3043 451.7 14.1 944 12575 0.17 0.00 0.00 0.000 4102 0.263 0.000 3105 2543 3059 3076 3042 0 0 0 0 0 0 11.09 11.24 11.23

12874 1.01 107.1 3105 2542 3076 3042 413.8 12.3 974 12875 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2543 3057 3076 3039 0 0 0 0 0 0 11.36 11.36 11.36

13140 end climb: SURFACE_OBSTACLE_DETECTED

state 13140 begin subsurface finish

13148 0.00 3.4 3106 2544 3077 3043 381.8 11.7 1001 13155 1.65 0.00 -1.80 0.050 20486 0.233 0.000 2783 2543 3503 3507 3500 0 0 0 0 0 0 11.08 10.62 11.19

13156 end subsurface finish: CONTROL_FINISHED_OK

state 13156 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	878	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	29	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	180119,181424,-7431.6621,-11228.1094,0,4133.7,0,53.5,0.0,0.0,0,0.0	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	397.09	MHEAD_RNG_PITCHd_Wd	131.0,11774,-19.3,-9.429,-21.50,1737
_SM_ANGLEo	3.5	D_GRID	990
GPS2	180119,181424,-7431.6621,-11228.1094,0,4133.7,0,53.5,0.0,0.0,0,0.0

FINISH1	381.8,1.027433,3	_24V_AH	9.99,281.285
FINISH2	380.6	_10V_AH	10.37,0.000
RAFOS_CLK	536	FG_AHR_24Vo	0.000
RAFOS	0,1547845264,21.032354,21.017778,98,57,55,53,52,52,650,216,202,174,107,151	FG_AHR_10Vo	0.000
RAFOS_FIX	-7432.899902,-11229.385742,180119,212144,3,147,0.22	MEM	278824
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	33281,1002
TT8_MAMPS	0.045689,0.243425	CAP_FILE_SIZE	126381,0
HUMID	51.96	CFSIZE	1024409600,914866176
INTERNAL_PRESSURE	7.93895	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.30	SOUNDSPEED	1456.0
XPDR_PINGS	1	GPS	180119,211544,-7432.900,-11229.386,0,4147.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	398.5,22.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	263	16.56	nil	0	0	0.00
Roll_motor	115	85	99.03	nil	0	0	0.00
VBD_pump_during_apogee	364	3105	11305.03	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	13185	6	864.73
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	180.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10362	2	248.22
TT8_Active	452	10	51.03
TT8_Sampling	2110	30	664.13
TT8_CF8	356	51	189.75
TT8_Kalman	0	0	0.00
Analog_circuits	1196	10	125.30
GPS_charging	0	0	0.00
Compass	1434	6	100.28
RAFOS	720	1	11.20
Transponder	312	30	97.22

		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
409.9	14.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
422.2	29.20	9000.00	0.0	0.00	0.00	29.20	0.0	1.22	1.00
453.2	61.60	61.90	0.0	1.08	1.00	61.60	0.0	1.05	1.00

425.1	50.50	9000.00	0.0	0.78	0.67	50.50	374.6	0.40	1.00
412.6	37.50	9000.00	0.0	0.56	0.93	37.50	375.1	1.04	1.00
405.6	30.10	30.10	375.5	1.04	1.00	30.10	375.5	1.06	1.00
398.5	22.80	22.80	375.7	1.03	1.00	22.80	375.7	1.03	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	2782	2803	3530	3524	0.0	0.0	0	14	0.00	0.00	-1.67	0.043	16390	0.000	0.000	2781	2802	3936	3929	3943	0	0	0	0	0	0	11.36	10.61	11.33
18	-1.01	-107.1	2783	2802	3938	3952	0.0	0.0	0	24	1.42	2.65	0.00	0.000	4356	0.138	0.084	2454	3916	3946	3939	3954	0	0	0	0	0	0	11.15	11.15	11.20
161	-1.01	-107.1	2454	3917	3950	3961	407.4	-7.8	28	166	0.00	2.55	0.00	0.000	1030	0.000	0.044	2457	2798	3955	3950	3960	0	0	0	0	0	0	11.26	11.21	11.25
473	-1.01	-107.1	2455	2798	3954	3962	431.4	-7.6	60	478	0.00	3.25	0.00	0.000	516	0.000	0.046	2454	1388	3957	3952	3962	0	0	0	0	0	0	11.36	11.18	11.36
544	-1.01	-107.1	2455	1386	3955	3963	436.9	-7.6	74	549	0.00	3.38	0.00	0.000	1030	0.000	0.060	2454	2806	3957	3953	3962	0	0	0	0	0	0	11.26	11.17	11.26
856	-1.01	-107.1	2455	2806	3954	3963	461.0	-7.8	106	857	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2805	3958	3953	3963	0	0	0	0	0	0	11.36	11.36	11.36
1157	-1.01	-107.1	2453	2807	3954	3964	484.7	-8.0	136	1162	0.00	3.30	0.00	0.000	516	0.000	0.045	2454	1390	3958	3954	3963	0	0	0	0	0	0	11.35	11.17	11.36
1194	-1.01	-107.1	2455	1390	3955	3963	487.7	-8.1	143	1200	0.00	3.38	0.00	0.000	1030	0.000	0.060	2454	2806	3958	3954	3963	0	0	0	0	0	0	11.24	11.17	11.26
1499	-1.01	-107.1	2455	2806	3955	3970	511.4	-7.7	174	1499	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2806	3958	3954	3963	0	0	0	0	0	0	11.36	11.36	11.36
1799	-1.01	-107.1	2454	2812	3955	3964	534.9	-7.5	204	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2806	3958	3954	3963	0	0	0	0	0	0	11.36	11.36	11.35
2099	-1.01	-107.1	2454	2807	3955	3964	556.6	-7.3	234	2104	0.00	3.30	0.00	0.000	548	0.000	0.045	2453	1385	3958	3954	3963	0	0	0	0	0	0	11.36	11.19	11.36
2141	-1.01	-107.1	2454	1385	3955	3963	559.8	-7.6	242	2146	0.00	3.40	0.00	0.000	1030	0.000	0.062	2452	2812	3958	3954	3963	0	0	0	0	0	0	11.25	11.17	11.26
2453	-1.01	-107.1	2454	2811	3955	3963	583.0	-7.1	274	2453	0.00	0.00	0.00	0.000	38	0.000	0.000	2453	2811	3958	3954	3963	0	0	0	0	0	0	11.36	11.36	11.36
2754	-1.01	-107.1	2453	2812	3952	3963	605.4	-7.3	304	2754	0.00	0.00	0.00	0.000	38	0.000	0.000	2453	2811	3958	3954	3963	0	0	0	0	0	0	11.36	11.36	11.36
3053	-1.01	-107.1	2456	2813	3954	3964	627.0	-7.1	334	3058	0.00	3.30	0.00	0.000	548	0.000	0.045	2453	1390	3958	3954	3962	0	0	0	0	0	0	11.36	11.18	11.36
3114	-1.01	-107.1	2453	1390	3955	3963	631.5	-7.2	346	3120	0.00	3.38	0.00	0.000	1062	0.000	0.061	2453	2805	3958	3954	3962	0	0	0	0	0	0	11.25	11.17	11.26
3426	-1.01	-107.1	2453	2805	3955	3961	653.7	-7.1	378	3427	0.00	0.00	0.00	0.000	38	0.000	0.000	2453	2804	3957	3953	3961	0	0	0	0	0	0	11.36	11.37	11.36
3726	-1.01	-107.1	2454	2804	3955	3962	674.4	-6.8	408	3727	0.00	0.00	0.00	0.000	38	0.000	0.000	2453	2805	3957	3954	3961	0	0	0	0	0	0	11.37	11.36	11.36
4026	-1.01	-107.1	2453	2805	3955	3962	695.4	-6.9	438	4032	0.00	3.30	0.00	0.000	548	0.000	0.044	2453	1386	3958	3955	3961	0	0	0	0	0	0	11.36	11.18	11.36
4068	-1.01	-107.1	2453	1386	3955	3961	698.4	-7.1	446	4074	0.00	3.40	0.00	0.000	1062	0.000	0.062	2456	2814	3957	3954	3961	0	0	0	0	0	0	11.25	11.18	11.26
4405	-1.01	-107.1	2453	2810	3955	3961	721.4	-7.1	460	4406	0.00	0.00	0.00	0.000	38	0.000	0.000	2453	2810	3957	3954	3961	0	0	0	0	0	0	11.36	11.36	11.36
4760	-1.01	-107.1	2453	2810	3955	3961	745.9	-6.6	472	4767	0.00	3.28	0.00	0.000	548	0.000	0.044	2452	1394	3957	3954	3961	0	0	0	0	0	0	11.38	11.17	11.37
4818	-1.01	-107.1	2453	1395	3955	3962	749.8	-6.5	483	4825	0.00	3.35	0.00	0.000	1062	0.000	0.062	2452	2800	3957	3954	3961	0	0	0	0	0	0	11.25	11.17	11.26
5183	-1.01	-107.1	2453	2800	3955	3961	773.5	-6.5	496	5184	0.00	0.00	0.00	0.000	38	0.000	0.000	2452	2800	3957	3954	3961	0	0	0	0	0	0	11.37	11.37	11.37
5544	-1.01	-107.1	2452	2801	3953	3962	797.6	-6.9	508	5549	0.00	3.30	0.00	0.000	548	0.000	0.044	2452	1383	3958	3955	3961	0	0	0	0	0	0	11.36	11.19	11.36
5591	-1.01	-107.1	2452	1383	3954	3960	800.7	-6.9	517	5597	0.00	3.40	0.00	0.000	1062	0.000	0.062	2453	2805	3957	3954	3960	0	0	0	0	0	0	11.25	11.18	11.26
5972	-1.01	-107.1	2452	2805	3954	3962	825.9	-6.7	532	5973	0.00	0.00	0.00	0.000	38	0.000	0.000	2452	2805	3957	3954	3961	0	0	0	0	0	0	11.36	11.36	11.37
6329	-1.01	-107.1	2454	2806	3954	3961	849.0	-6.4	544	6334	0.00	3.28	0.00	0.000	548	0.000	0.044	2452	1390	3957	3954	3961	0	0	0	0	0	0	11.37	11.19	11.37
6385	-1.01	-107.1	2452	1391	3955	3960	853.3	-6.7	555	6392	0.00	3.40	0.00	0.000	1062	0.000	0.061	2451	2811	3958	3955	3961	0	0	0	0	0	0	11.25	11.17	11.26
6751	-1.01	-107.1	2452	2812	3954	3960	876.7	-6.7	568	6752	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2812	3957	3954	3961	0	0	0	0	0	0	11.37	11.37	11.37
7110	-1.01	-107.1	2452	2811	3955	3961	900.4	-6.5	580	7111	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2812	3957	3954	3961	0	0	0	0	0	0	11.37	11.36	11.38
7470	-1.01	-107.1	2451	2812	3955	3960	923.3	-6.4	592	7475	0.00	3.30	0.00	0.000	548	0.000	0.044	2451	1385	3957	3954	3961	0	0	0	0	0	0	11.38	11.19	11.37
7542	-1.01	-107.1	2459	1385	3956	3960	927.9	-6.4	606	7547	0.00	3.40	0.00	0.000	1062	0.000	0.063	2451	2811	3957	3954	3960	0	0	0	0	0	0	11.25	11.18	11.26
7927	-1.01	-107.1	2452	2811	3955	3961	951.7	-6.1	622	7928	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2812	3957	3954	3961	0	0	0	0	0	0	11.36	11.37	11.36
8284	-1.01	-107.1	2452	2811	3955	3961	973.9	-6.2	634	8285	0.00	0.00	0.00	0.000	38	0.000	0.000	2451	2811	3957	3954	3961	0	0	0	0	0	0	11.37	11.38	11.38
8551	end dive: TARGET_DEPTH_EXCEEDED
state	8551	begin apogee
8559	-0.23	0.0	2452	2539	3955	3960	990.5	-6.3	643	8756	1.20	0.00	193.62	3.106	10246	0.200	0.000	2694	2539	3494	3502	3486	0	0	0	0	0	0	11.11	11.03	9.99
8757	end apogee: CONTROL_FINISHED_OK
state	8757	begin climb
8761	1.01	107.1	2695	2540	3503	3487	992.9	0.0	649	8946	1.65	3.42	170.73	3.102	10500	0.106	0.085	3092	3917	3065	3082	3049	0	0	0	0	0	0	11.05	11.03	9.99
8977	1.01	107.1	3092	3918	3081	3048	968.4	16.6	681	8984	0.00	3.15	0.00	0.000	1030	0.000	0.045	3103	2549	3063	3080	3046	0	0	0	0	0	0	11.19	11.14	11.19
9346	1.01	107.1	3103	2549	3075	3040	913.8	14.8	694	9347	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2549	3058	3075	3041	0	0	0	0	0	0	11.32	11.32	11.32
9706	1.01	107.1	3103	2550	3073	3041	860.5	14.7	706	9712	0.00	3.35	0.00	0.000	260	0.000	0.085	3103	3913	3056	3073	3040	0	0	0	0	0	0	11.33	11.12	11.33
9733	1.01	107.1	3103	3913	3074	3040	855.9	15.0	711	9739	0.00	3.15	0.00	0.000	1030	0.000	0.046	3114	2539	3056	3073	3040	0	0	0	0	0	0	11.23	11.18	11.24
10101	1.01	107.1	3114	2541	3073	3041	800.2	15.1	724	10102	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2539	3056	3073	3040	0	0	0	0	0	0	11.33	11.34	11.33
10461	1.01	107.1	3114	2540	3074	3040	747.2	14.6	736	10462	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2539	3056	3073	3040	0	0	0	0	0	0	11.33	11.34	11.34
10821	1.01	107.1	3114	2540	3073	3042	695.9	14.2	748	10827	0.00	3.38	0.00	0.000	260	0.000	0.085	3113	3913	3056	3073	3040	0	0	0	0	0	0	11.35	11.14	11.35
10875	1.01	107.1	3114	3913	3075	3040	687.1	16.7	758	10881	0.00	3.12	0.00	0.000	1030	0.000	0.045	3125	2544	3057	3073	3041	0	0	0	0	0	0	11.23	11.19	11.24
11187	1.01	107.1	3124	2545	3074	3042	640.8	14.4	790	11193	0.00	3.30	0.00	0.000	516	0.000	0.057	3135	1140	3057	3074	3041	0	0	0	0	0	0	11.36	11.15	11.36
11214	1.01	107.1	3135	1140	3073	3042	636.9	14.3	795	11221	0.20	3.38	0.00	0.000	5126	0.238	0.060	3101	2563	3057	3074	3041	0	0	0	0	0	0	11.07	11.15	11.21
11519	1.01	107.1	3101	2564	3074	3042	596.6	13.2	826	11525	0.00	3.30	0.00	0.000	260	0.000	0.086	3101	3910	3057	3074	3041	0	0	0	0	0	0	11.35	11.14	11.36
11562	1.01	107.1	3102	3911	3076	3041	590.4	15.1	834	11568	0.00	3.12	0.00	0.000	1030	0.000	0.045	3111	2541	3058	3075	3041	0	0	0	0	0	0	11.25	11.21	11.26
11874	1.01	107.1	3111	2543	3075	3042	547.6	13.6	866	11880	0.00	3.30	0.00	0.000	516	0.000	0.057	3122	1141	3058	3075	3041	0	0	0	0	0	0	11.36	11.15	11.36
11897	1.01	107.1	3122	1141	3076	3043	544.6	13.6	870	11903	0.00	3.35	0.00	0.000	1030	0.000	0.059	3122	2553	3058	3075	3041	0	0	0	0	0	0	11.24	11.17	11.26
12209	1.01	107.1	3122	2553	3076	3042	503.1	13.1	902	12215	0.00	3.33	0.00	0.000	260	0.000	0.086	3122	3915	3059	3076	3042	0	0	0	0	0	0	11.36	11.15	11.36
12262	1.01	107.1	3123	3915	3077	3042	495.3	15.4	912	12267	0.00	3.15	0.00	0.000	1030	0.000	0.045	3133	2542	3059	3076	3042	0	0	0	0	0	0	11.25	11.21	11.26
12574	1.01	107.1	3133	2544	3076	3043	451.7	14.1	944	12575	0.17	0.00	0.00	0.000	4102	0.263	0.000	3105	2543	3059	3076	3042	0	0	0	0	0	0	11.09	11.24	11.23
12874	1.01	107.1	3105	2542	3076	3042	413.8	12.3	974	12875	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2543	3057	3076	3039	0	0	0	0	0	0	11.36	11.36	11.36
13140	end climb: SURFACE_OBSTACLE_DETECTED
state	13140	begin subsurface finish
13148	0.00	3.4	3106	2544	3077	3043	381.8	11.7	1001	13155	1.65	0.00	-1.80	0.050	20486	0.233	0.000	2783	2543	3503	3507	3500	0	0	0	0	0	0	11.08	10.62	11.19
13156	end subsurface finish: CONTROL_FINISHED_OK
state	13156	begin surface