Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 881 * 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 881 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 30 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 881 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 30 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 190119,031408,-7435.7676,-11230.8965,0,4142.3,0,53.5,0.0,0.0,0,0.0 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 401.40 MHEAD_RNG_PITCHd_Wd 120.5,4158,-23.5,-9.429,-25.46,1162

_SM_ANGLEo 4.6 D_GRID 990

GPS2 190119,031408,-7435.7676,-11230.8965,0,4142.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 406.2,1.027492,0 _24V_AH 9.96,282.398

FINISH2 404.0 _10V_AH 10.29,0.000

RAFOS_CLK 497 FG_AHR_24Vo 0.000

RAFOS 0,1547877678,6.032355,6.021667,132,57,55,54,54,53,608,214,204,193,150,107 FG_AHR_10Vo 0.000

RAFOS_FIX -7437.840820,-11236.815430,190119,090940,3,139,0.22 MEM 278872

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 33333,946

TT8_MAMPS 0.046438,0.283871 CAP_FILE_SIZE 123913,0

HUMID 50.74 CFSIZE 1024409600,914489344

INTERNAL_PRESSURE 7.94871 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.30 SOUNDSPEED 1456.5

XPDR_PINGS 0 GPS 190119,091440,-7437.841,-11236.815,0,4139.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 409.3,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 324 25.20 nil 0 0 0.00

Roll_motor 120 97 117.35 nil 0 0 0.00

VBD_pump_during_apogee 308 3102 9546.30 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 12079 6 793.30

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 173.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9394 2 223.31

TT8_Active 425 10 47.62

TT8_Sampling 2015 30 629.41

TT8_CF8 347 51 183.25

TT8_Kalman 0 0 0.00

Analog_circuits 1132 10 117.73

GPS_charging 0 0 0.00

Compass 1355 6 93.98

RAFOS 1440 1 22.23

Transponder 313 30 96.88

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

977.3 16.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

427.8 28.70 9000.00 0.0 0.00 0.00 28.70 0.0 -0.02 1.00

421.7 22.50 9000.00 0.0 -0.02 0.74 22.50 399.2 1.02 1.00

415.5 16.20 16.20 399.3 1.02 1.00 16.20 399.3 1.02 1.00

409.3 9.50 9.60 399.7 1.05 1.00 9.50 399.8 1.08 1.00

Guidance and control:

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -1.16 -71.5 2785 2803 3535 3526 0.0 0.0 0 14 0.00 0.00 -1.10 0.069 16390 0.000 0.000 2784 2802 3792 3789 3796 0 0 0 0 0 0 11.36 10.61 11.33

18 -1.16 -71.5 2785 2803 3797 3802 0.0 0.0 0 25 1.62 2.62 0.00 0.000 4356 0.133 0.083 2407 3912 3800 3797 3803 0 0 0 0 0 0 11.13 11.14 11.19

87 -1.16 -71.5 2407 3913 3804 3806 406.0 -8.0 13 94 0.00 2.55 0.00 0.000 1030 0.000 0.044 2407 2793 3805 3804 3806 0 0 0 0 0 0 11.25 11.21 11.26

392 -1.16 -71.5 2407 2794 3806 3811 430.6 -8.1 44 397 0.00 3.25 0.00 0.000 516 0.000 0.044 2408 1381 3808 3807 3809 0 0 0 0 0 0 11.36 11.17 11.36

512 -1.16 -71.5 2408 1381 3809 3810 440.0 -8.0 67 518 0.00 3.40 0.00 0.000 1030 0.000 0.059 2398 2813 3808 3807 3810 0 0 0 0 0 0 11.23 11.17 11.25

815 -1.16 -71.5 2399 2814 3808 3811 464.8 -7.8 98 815 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2813 3808 3807 3810 0 0 0 0 0 0 11.36 11.36 11.36

1115 -1.16 -71.5 2398 2813 3807 3811 488.9 -8.1 128 1120 0.00 3.33 0.00 0.000 516 0.000 0.044 2399 1385 3809 3808 3810 0 0 0 0 0 0 11.36 11.19 11.36

1217 -1.16 -71.5 2399 1385 3809 3810 497.0 -7.8 148 1223 0.00 3.33 0.00 0.000 1030 0.000 0.059 2391 2811 3809 3808 3810 0 0 0 0 0 0 11.24 11.17 11.25

1529 -1.16 -71.5 2391 2812 3808 3811 521.6 -7.9 180 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2811 3809 3808 3810 0 0 0 0 0 0 11.36 11.37 11.36

1829 -1.16 -71.5 2391 2811 3808 3811 544.6 -7.7 210 1834 0.00 3.30 0.00 0.000 516 0.000 0.044 2392 1385 3809 3808 3810 0 0 0 0 0 0 11.36 11.18 11.36

1891 -1.16 -71.5 2390 1387 3809 3811 549.4 -7.7 222 1896 0.00 3.38 0.00 0.000 1030 0.000 0.058 2381 2802 3808 3807 3810 0 0 0 0 0 0 11.25 11.18 11.26

2203 -1.16 -71.5 2381 2804 3808 3811 574.1 -7.9 254 2204 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2802 3809 3808 3810 0 0 0 0 0 0 11.37 11.37 11.36

2504 -1.16 -71.5 2381 2803 3809 3810 597.1 -7.6 284 2509 0.00 3.28 0.00 0.000 516 0.000 0.043 2381 1388 3808 3807 3809 0 0 0 0 0 0 11.36 11.18 11.36

2576 -1.16 -71.5 2381 1388 3809 3810 602.7 -7.5 298 2581 0.17 3.38 0.00 0.000 3078 0.282 0.057 2398 2804 3809 3808 3810 0 0 0 0 0 0 11.07 11.18 11.22

2888 -1.19 -98.5 2398 2805 3809 3812 624.2 -7.0 330 2889 0.00 0.00 0.00 0.000 38 0.000 0.000 2398 2805 3808 3807 3810 0 0 0 0 0 0 11.37 11.37 11.36

3188 -1.20 -107.1 2399 2805 3809 3809 645.1 -6.9 360 3193 0.00 3.28 0.00 0.000 548 0.000 0.044 2399 1391 3808 3807 3809 0 0 0 0 0 0 11.37 11.19 11.37

3225 -1.20 -107.1 2399 1392 3808 3810 647.7 -7.1 367 3231 0.00 3.38 0.00 0.000 1062 0.000 0.058 2388 2811 3808 3807 3809 0 0 0 0 0 0 11.25 11.18 11.26

3530 -1.20 -107.1 2389 2811 3809 3809 669.7 -7.2 398 3531 0.00 0.00 0.00 0.000 38 0.000 0.000 2389 2811 3808 3807 3809 0 0 0 0 0 0 11.37 11.37 11.37

3830 -1.20 -107.1 2389 2811 3809 3808 691.3 -7.2 428 3836 0.00 3.25 0.00 0.000 548 0.000 0.044 2389 1383 3808 3808 3809 0 0 0 0 0 0 11.37 11.19 11.37

3882 -1.20 -107.1 2389 1383 3809 3808 695.1 -7.2 438 3888 0.00 3.38 0.00 0.000 1062 0.000 0.059 2379 2804 3808 3808 3808 0 0 0 0 0 0 11.25 11.17 11.26

4199 -1.20 -107.1 2380 2804 3807 3809 717.2 -7.0 454 4200 0.00 0.00 0.00 0.000 38 0.000 0.000 2379 2804 3807 3807 3808 0 0 0 0 0 0 11.36 11.36 11.36

4555 -1.20 -107.1 2380 2802 3808 3810 742.5 -6.9 466 4556 0.00 0.00 0.00 0.000 38 0.000 0.000 2379 2804 3807 3807 3808 0 0 0 0 0 0 11.36 11.38 11.36

4915 -1.20 -107.1 2380 2805 3808 3810 768.0 -7.1 478 4921 0.00 3.28 0.00 0.000 548 0.000 0.043 2380 1386 3807 3807 3808 0 0 0 0 0 0 11.36 11.19 11.36

4992 -1.20 -107.1 2379 1386 3809 3807 773.1 -5.0 493 4998 0.00 3.38 0.00 0.000 1062 0.000 0.057 2371 2809 3808 3807 3809 0 0 0 0 0 0 11.26 11.19 11.26

5373 -1.20 -107.1 2372 2810 3808 3809 798.6 -6.8 508 5378 0.00 2.65 0.00 0.000 292 0.000 0.081 2365 3913 3808 3808 3808 0 0 0 0 0 0 11.36 11.17 11.36

5440 -1.20 -107.1 2365 3913 3809 3807 803.3 -7.2 521 5446 0.00 2.55 0.00 0.000 1062 0.000 0.044 2365 2790 3807 3808 3807 0 0 0 0 0 0 11.26 11.21 11.26

5830 -1.20 -107.1 2365 2790 3809 3807 830.2 -7.5 538 5836 0.00 3.22 0.00 0.000 516 0.000 0.043 2365 1383 3808 3808 3808 0 0 0 0 0 0 11.37 11.19 11.35

5867 -1.20 -107.1 2366 1382 3809 3808 832.8 -7.1 545 5873 0.00 3.40 0.00 0.000 1062 0.000 0.058 2360 2811 3807 3808 3807 0 0 0 0 0 0 11.26 11.19 11.26

6260 -1.20 -107.1 2361 2811 3808 3809 860.4 -7.3 562 6260 0.00 0.00 0.00 0.000 38 0.000 0.000 2360 2811 3807 3807 3807 0 0 0 0 0 0 11.36 11.36 11.36

6616 -1.20 -107.1 2361 2811 3809 3808 884.7 -6.8 574 6617 0.00 0.00 0.00 0.000 38 0.000 0.000 2361 2811 3807 3807 3808 0 0 0 0 0 0 11.36 11.36 11.36

6976 -1.20 -107.1 2361 2812 3807 3809 909.3 -6.6 586 6981 0.00 3.30 0.00 0.000 548 0.000 0.043 2360 1383 3807 3807 3807 0 0 0 0 0 0 11.36 11.19 11.36

7073 -1.20 -107.1 2361 1384 3808 3809 915.4 -6.6 605 7080 0.17 3.38 0.00 0.000 3110 0.291 0.059 2383 2804 3807 3807 3808 0 0 0 0 0 0 11.07 11.19 11.24

7461 -1.20 -107.1 2383 2804 3809 3808 939.2 -6.1 622 7462 0.00 0.00 0.00 0.000 38 0.000 0.000 2383 2804 3807 3807 3807 0 0 0 0 0 0 11.37 11.37 11.37

7821 -1.20 -107.1 2383 2804 3809 3808 961.0 -6.0 634 7822 0.00 0.00 0.00 0.000 38 0.000 0.000 2383 2804 3807 3807 3807 0 0 0 0 0 0 11.37 11.37 11.37

8182 -1.20 -107.1 2384 2804 3809 3807 981.4 -5.7 646 8187 0.00 3.28 0.00 0.000 548 0.000 0.042 2383 1385 3807 3808 3807 0 0 0 0 0 0 11.38 11.19 11.38

8228 -1.20 -107.1 2384 1385 3809 3808 984.2 -5.9 655 8233 0.00 3.38 0.00 0.000 1062 0.000 0.058 2374 2807 3808 3806 3811 0 0 0 0 0 0 11.26 11.19 11.27

8331 end dive: TARGET_DEPTH_EXCEEDED

state 8331 begin apogee

8340 -0.23 0.0 2377 2536 3809 3807 991.2 -6.5 661 8478 1.65 0.00 134.70 3.094 10246 0.226 0.000 2695 2537 3492 3500 3485 0 0 0 0 0 0 11.10 11.02 10.00

8479 end apogee: CONTROL_FINISHED_OK

state 8479 begin climb

8483 1.20 107.1 2695 2537 3500 3485 992.5 0.0 665 8665 1.90 0.00 174.27 3.102 10758 0.106 0.000 3152 2537 3064 3082 3046 0 0 0 0 0 0 11.06 11.01 9.96

9025 1.20 107.1 3152 2537 3073 3038 909.8 17.2 694 9032 0.00 3.33 0.00 0.000 260 0.000 0.083 3152 3911 3054 3073 3036 0 0 0 0 0 0 11.33 11.12 11.33

9073 1.20 107.1 3152 3912 3073 3038 900.6 19.6 703 9078 0.00 3.12 0.00 0.000 1030 0.000 0.044 3162 2547 3054 3072 3037 0 0 0 0 0 0 11.22 11.17 11.23

9450 1.20 107.1 3162 2546 3071 3035 834.1 17.5 718 9451 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2546 3052 3070 3035 0 0 0 0 0 0 11.34 11.34 11.34

9813 1.20 107.1 3163 2546 3069 3034 771.9 17.1 730 9822 0.00 3.30 0.00 0.000 260 0.000 0.083 3161 3911 3052 3070 3034 0 0 0 0 0 0 11.34 11.12 11.34

9858 1.20 107.1 3163 3912 3071 3035 762.8 19.4 738 9865 0.00 3.12 0.00 0.000 1030 0.000 0.044 3172 2544 3052 3070 3034 0 0 0 0 0 0 11.24 11.19 11.25

10241 1.20 107.1 3173 2544 3071 3034 696.6 17.0 754 10248 0.00 3.33 0.00 0.000 260 0.000 0.084 3172 3907 3052 3070 3034 0 0 0 0 0 0 11.35 11.13 11.35

10270 1.20 107.1 3173 3907 3071 3034 691.2 18.7 759 10276 0.00 3.12 0.00 0.000 1030 0.000 0.045 3182 2540 3052 3070 3034 0 0 0 0 0 0 11.24 11.19 11.26

10575 1.20 107.1 3183 2541 3070 3033 637.9 17.5 790 10581 0.00 3.38 0.00 0.000 260 0.000 0.085 3182 3917 3051 3070 3033 0 0 0 0 0 0 11.35 11.13 11.35

10597 1.20 107.1 3182 3918 3070 3034 633.8 18.1 794 10605 0.12 3.12 0.00 0.000 5126 0.324 0.046 3165 2545 3051 3070 3033 0 0 0 0 0 0 11.02 11.19 11.21

10911 1.20 107.1 3166 2545 3071 3038 582.0 16.0 826 10912 0.00 0.00 0.00 0.000 6 0.000 0.000 3165 2545 3051 3070 3033 0 0 0 0 0 0 11.35 11.35 11.35

11211 1.20 107.1 3166 2546 3070 3034 534.1 15.9 856 11216 0.00 3.35 0.00 0.000 260 0.000 0.084 3165 3912 3051 3070 3033 0 0 0 0 0 0 11.35 11.14 11.35

11238 1.20 107.1 3166 3913 3071 3033 529.6 17.6 861 11245 0.00 3.12 0.00 0.000 1030 0.000 0.045 3175 2548 3051 3070 3033 0 0 0 0 0 0 11.25 11.20 11.26

11543 1.20 107.1 3176 2548 3071 3033 480.9 15.6 892 11544 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2548 3052 3070 3034 0 0 0 0 0 0 11.36 11.33 11.36

11844 1.20 107.1 3175 2548 3071 3035 435.2 15.1 922 11849 0.00 3.38 0.00 0.000 260 0.000 0.086 3175 3918 3052 3070 3034 0 0 0 0 0 0 11.34 11.15 11.35

11866 1.20 107.1 3176 3921 3070 3034 431.4 16.3 926 11872 0.00 3.15 0.00 0.000 1030 0.000 0.046 3185 2545 3052 3071 3034 0 0 0 0 0 0 11.25 11.20 11.26

12025 end climb: SURFACE_OBSTACLE_DETECTED

state 12025 begin subsurface finish

12033 0.00 0.4 3186 2545 3071 3034 406.2 15.5 943 12049 2.15 3.35 -7.35 0.023 20740 0.261 0.098 2780 3910 3520 3523 3517 0 0 0 0 1 0 11.06 10.60 11.23

12050 end subsurface finish: CONTROL_FINISHED_OK

state 12050 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	881	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	30	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	190119,031408,-7435.7676,-11230.8965,0,4142.3,0,53.5,0.0,0.0,0,0.0	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	401.40	MHEAD_RNG_PITCHd_Wd	120.5,4158,-23.5,-9.429,-25.46,1162
_SM_ANGLEo	4.6	D_GRID	990
GPS2	190119,031408,-7435.7676,-11230.8965,0,4142.3,0,53.5,0.0,0.0,0,0.0

FINISH1	406.2,1.027492,0	_24V_AH	9.96,282.398
FINISH2	404.0	_10V_AH	10.29,0.000
RAFOS_CLK	497	FG_AHR_24Vo	0.000
RAFOS	0,1547877678,6.032355,6.021667,132,57,55,54,54,53,608,214,204,193,150,107	FG_AHR_10Vo	0.000
RAFOS_FIX	-7437.840820,-11236.815430,190119,090940,3,139,0.22	MEM	278872
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	33333,946
TT8_MAMPS	0.046438,0.283871	CAP_FILE_SIZE	123913,0
HUMID	50.74	CFSIZE	1024409600,914489344
INTERNAL_PRESSURE	7.94871	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.30	SOUNDSPEED	1456.5
XPDR_PINGS	0	GPS	190119,091440,-7437.841,-11236.815,0,4139.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	409.3,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	324	25.20	nil	0	0	0.00
Roll_motor	120	97	117.35	nil	0	0	0.00
VBD_pump_during_apogee	308	3102	9546.30	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	12079	6	793.30
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	173.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9394	2	223.31
TT8_Active	425	10	47.62
TT8_Sampling	2015	30	629.41
TT8_CF8	347	51	183.25
TT8_Kalman	0	0	0.00
Analog_circuits	1132	10	117.73
GPS_charging	0	0	0.00
Compass	1355	6	93.98
RAFOS	1440	1	22.23
Transponder	313	30	96.88

		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

977.3	16.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
427.8	28.70	9000.00	0.0	0.00	0.00	28.70	0.0	-0.02	1.00
421.7	22.50	9000.00	0.0	-0.02	0.74	22.50	399.2	1.02	1.00
415.5	16.20	16.20	399.3	1.02	1.00	16.20	399.3	1.02	1.00
409.3	9.50	9.60	399.7	1.05	1.00	9.50	399.8	1.08	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-1.16	-71.5	2785	2803	3535	3526	0.0	0.0	0	14	0.00	0.00	-1.10	0.069	16390	0.000	0.000	2784	2802	3792	3789	3796	0	0	0	0	0	0	11.36	10.61	11.33
18	-1.16	-71.5	2785	2803	3797	3802	0.0	0.0	0	25	1.62	2.62	0.00	0.000	4356	0.133	0.083	2407	3912	3800	3797	3803	0	0	0	0	0	0	11.13	11.14	11.19
87	-1.16	-71.5	2407	3913	3804	3806	406.0	-8.0	13	94	0.00	2.55	0.00	0.000	1030	0.000	0.044	2407	2793	3805	3804	3806	0	0	0	0	0	0	11.25	11.21	11.26
392	-1.16	-71.5	2407	2794	3806	3811	430.6	-8.1	44	397	0.00	3.25	0.00	0.000	516	0.000	0.044	2408	1381	3808	3807	3809	0	0	0	0	0	0	11.36	11.17	11.36
512	-1.16	-71.5	2408	1381	3809	3810	440.0	-8.0	67	518	0.00	3.40	0.00	0.000	1030	0.000	0.059	2398	2813	3808	3807	3810	0	0	0	0	0	0	11.23	11.17	11.25
815	-1.16	-71.5	2399	2814	3808	3811	464.8	-7.8	98	815	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2813	3808	3807	3810	0	0	0	0	0	0	11.36	11.36	11.36
1115	-1.16	-71.5	2398	2813	3807	3811	488.9	-8.1	128	1120	0.00	3.33	0.00	0.000	516	0.000	0.044	2399	1385	3809	3808	3810	0	0	0	0	0	0	11.36	11.19	11.36
1217	-1.16	-71.5	2399	1385	3809	3810	497.0	-7.8	148	1223	0.00	3.33	0.00	0.000	1030	0.000	0.059	2391	2811	3809	3808	3810	0	0	0	0	0	0	11.24	11.17	11.25
1529	-1.16	-71.5	2391	2812	3808	3811	521.6	-7.9	180	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2811	3809	3808	3810	0	0	0	0	0	0	11.36	11.37	11.36
1829	-1.16	-71.5	2391	2811	3808	3811	544.6	-7.7	210	1834	0.00	3.30	0.00	0.000	516	0.000	0.044	2392	1385	3809	3808	3810	0	0	0	0	0	0	11.36	11.18	11.36
1891	-1.16	-71.5	2390	1387	3809	3811	549.4	-7.7	222	1896	0.00	3.38	0.00	0.000	1030	0.000	0.058	2381	2802	3808	3807	3810	0	0	0	0	0	0	11.25	11.18	11.26
2203	-1.16	-71.5	2381	2804	3808	3811	574.1	-7.9	254	2204	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2802	3809	3808	3810	0	0	0	0	0	0	11.37	11.37	11.36
2504	-1.16	-71.5	2381	2803	3809	3810	597.1	-7.6	284	2509	0.00	3.28	0.00	0.000	516	0.000	0.043	2381	1388	3808	3807	3809	0	0	0	0	0	0	11.36	11.18	11.36
2576	-1.16	-71.5	2381	1388	3809	3810	602.7	-7.5	298	2581	0.17	3.38	0.00	0.000	3078	0.282	0.057	2398	2804	3809	3808	3810	0	0	0	0	0	0	11.07	11.18	11.22
2888	-1.19	-98.5	2398	2805	3809	3812	624.2	-7.0	330	2889	0.00	0.00	0.00	0.000	38	0.000	0.000	2398	2805	3808	3807	3810	0	0	0	0	0	0	11.37	11.37	11.36
3188	-1.20	-107.1	2399	2805	3809	3809	645.1	-6.9	360	3193	0.00	3.28	0.00	0.000	548	0.000	0.044	2399	1391	3808	3807	3809	0	0	0	0	0	0	11.37	11.19	11.37
3225	-1.20	-107.1	2399	1392	3808	3810	647.7	-7.1	367	3231	0.00	3.38	0.00	0.000	1062	0.000	0.058	2388	2811	3808	3807	3809	0	0	0	0	0	0	11.25	11.18	11.26
3530	-1.20	-107.1	2389	2811	3809	3809	669.7	-7.2	398	3531	0.00	0.00	0.00	0.000	38	0.000	0.000	2389	2811	3808	3807	3809	0	0	0	0	0	0	11.37	11.37	11.37
3830	-1.20	-107.1	2389	2811	3809	3808	691.3	-7.2	428	3836	0.00	3.25	0.00	0.000	548	0.000	0.044	2389	1383	3808	3808	3809	0	0	0	0	0	0	11.37	11.19	11.37
3882	-1.20	-107.1	2389	1383	3809	3808	695.1	-7.2	438	3888	0.00	3.38	0.00	0.000	1062	0.000	0.059	2379	2804	3808	3808	3808	0	0	0	0	0	0	11.25	11.17	11.26
4199	-1.20	-107.1	2380	2804	3807	3809	717.2	-7.0	454	4200	0.00	0.00	0.00	0.000	38	0.000	0.000	2379	2804	3807	3807	3808	0	0	0	0	0	0	11.36	11.36	11.36
4555	-1.20	-107.1	2380	2802	3808	3810	742.5	-6.9	466	4556	0.00	0.00	0.00	0.000	38	0.000	0.000	2379	2804	3807	3807	3808	0	0	0	0	0	0	11.36	11.38	11.36
4915	-1.20	-107.1	2380	2805	3808	3810	768.0	-7.1	478	4921	0.00	3.28	0.00	0.000	548	0.000	0.043	2380	1386	3807	3807	3808	0	0	0	0	0	0	11.36	11.19	11.36
4992	-1.20	-107.1	2379	1386	3809	3807	773.1	-5.0	493	4998	0.00	3.38	0.00	0.000	1062	0.000	0.057	2371	2809	3808	3807	3809	0	0	0	0	0	0	11.26	11.19	11.26
5373	-1.20	-107.1	2372	2810	3808	3809	798.6	-6.8	508	5378	0.00	2.65	0.00	0.000	292	0.000	0.081	2365	3913	3808	3808	3808	0	0	0	0	0	0	11.36	11.17	11.36
5440	-1.20	-107.1	2365	3913	3809	3807	803.3	-7.2	521	5446	0.00	2.55	0.00	0.000	1062	0.000	0.044	2365	2790	3807	3808	3807	0	0	0	0	0	0	11.26	11.21	11.26
5830	-1.20	-107.1	2365	2790	3809	3807	830.2	-7.5	538	5836	0.00	3.22	0.00	0.000	516	0.000	0.043	2365	1383	3808	3808	3808	0	0	0	0	0	0	11.37	11.19	11.35
5867	-1.20	-107.1	2366	1382	3809	3808	832.8	-7.1	545	5873	0.00	3.40	0.00	0.000	1062	0.000	0.058	2360	2811	3807	3808	3807	0	0	0	0	0	0	11.26	11.19	11.26
6260	-1.20	-107.1	2361	2811	3808	3809	860.4	-7.3	562	6260	0.00	0.00	0.00	0.000	38	0.000	0.000	2360	2811	3807	3807	3807	0	0	0	0	0	0	11.36	11.36	11.36
6616	-1.20	-107.1	2361	2811	3809	3808	884.7	-6.8	574	6617	0.00	0.00	0.00	0.000	38	0.000	0.000	2361	2811	3807	3807	3808	0	0	0	0	0	0	11.36	11.36	11.36
6976	-1.20	-107.1	2361	2812	3807	3809	909.3	-6.6	586	6981	0.00	3.30	0.00	0.000	548	0.000	0.043	2360	1383	3807	3807	3807	0	0	0	0	0	0	11.36	11.19	11.36
7073	-1.20	-107.1	2361	1384	3808	3809	915.4	-6.6	605	7080	0.17	3.38	0.00	0.000	3110	0.291	0.059	2383	2804	3807	3807	3808	0	0	0	0	0	0	11.07	11.19	11.24
7461	-1.20	-107.1	2383	2804	3809	3808	939.2	-6.1	622	7462	0.00	0.00	0.00	0.000	38	0.000	0.000	2383	2804	3807	3807	3807	0	0	0	0	0	0	11.37	11.37	11.37
7821	-1.20	-107.1	2383	2804	3809	3808	961.0	-6.0	634	7822	0.00	0.00	0.00	0.000	38	0.000	0.000	2383	2804	3807	3807	3807	0	0	0	0	0	0	11.37	11.37	11.37
8182	-1.20	-107.1	2384	2804	3809	3807	981.4	-5.7	646	8187	0.00	3.28	0.00	0.000	548	0.000	0.042	2383	1385	3807	3808	3807	0	0	0	0	0	0	11.38	11.19	11.38
8228	-1.20	-107.1	2384	1385	3809	3808	984.2	-5.9	655	8233	0.00	3.38	0.00	0.000	1062	0.000	0.058	2374	2807	3808	3806	3811	0	0	0	0	0	0	11.26	11.19	11.27
8331	end dive: TARGET_DEPTH_EXCEEDED
state	8331	begin apogee
8340	-0.23	0.0	2377	2536	3809	3807	991.2	-6.5	661	8478	1.65	0.00	134.70	3.094	10246	0.226	0.000	2695	2537	3492	3500	3485	0	0	0	0	0	0	11.10	11.02	10.00
8479	end apogee: CONTROL_FINISHED_OK
state	8479	begin climb
8483	1.20	107.1	2695	2537	3500	3485	992.5	0.0	665	8665	1.90	0.00	174.27	3.102	10758	0.106	0.000	3152	2537	3064	3082	3046	0	0	0	0	0	0	11.06	11.01	9.96
9025	1.20	107.1	3152	2537	3073	3038	909.8	17.2	694	9032	0.00	3.33	0.00	0.000	260	0.000	0.083	3152	3911	3054	3073	3036	0	0	0	0	0	0	11.33	11.12	11.33
9073	1.20	107.1	3152	3912	3073	3038	900.6	19.6	703	9078	0.00	3.12	0.00	0.000	1030	0.000	0.044	3162	2547	3054	3072	3037	0	0	0	0	0	0	11.22	11.17	11.23
9450	1.20	107.1	3162	2546	3071	3035	834.1	17.5	718	9451	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	2546	3052	3070	3035	0	0	0	0	0	0	11.34	11.34	11.34
9813	1.20	107.1	3163	2546	3069	3034	771.9	17.1	730	9822	0.00	3.30	0.00	0.000	260	0.000	0.083	3161	3911	3052	3070	3034	0	0	0	0	0	0	11.34	11.12	11.34
9858	1.20	107.1	3163	3912	3071	3035	762.8	19.4	738	9865	0.00	3.12	0.00	0.000	1030	0.000	0.044	3172	2544	3052	3070	3034	0	0	0	0	0	0	11.24	11.19	11.25
10241	1.20	107.1	3173	2544	3071	3034	696.6	17.0	754	10248	0.00	3.33	0.00	0.000	260	0.000	0.084	3172	3907	3052	3070	3034	0	0	0	0	0	0	11.35	11.13	11.35
10270	1.20	107.1	3173	3907	3071	3034	691.2	18.7	759	10276	0.00	3.12	0.00	0.000	1030	0.000	0.045	3182	2540	3052	3070	3034	0	0	0	0	0	0	11.24	11.19	11.26
10575	1.20	107.1	3183	2541	3070	3033	637.9	17.5	790	10581	0.00	3.38	0.00	0.000	260	0.000	0.085	3182	3917	3051	3070	3033	0	0	0	0	0	0	11.35	11.13	11.35
10597	1.20	107.1	3182	3918	3070	3034	633.8	18.1	794	10605	0.12	3.12	0.00	0.000	5126	0.324	0.046	3165	2545	3051	3070	3033	0	0	0	0	0	0	11.02	11.19	11.21
10911	1.20	107.1	3166	2545	3071	3038	582.0	16.0	826	10912	0.00	0.00	0.00	0.000	6	0.000	0.000	3165	2545	3051	3070	3033	0	0	0	0	0	0	11.35	11.35	11.35
11211	1.20	107.1	3166	2546	3070	3034	534.1	15.9	856	11216	0.00	3.35	0.00	0.000	260	0.000	0.084	3165	3912	3051	3070	3033	0	0	0	0	0	0	11.35	11.14	11.35
11238	1.20	107.1	3166	3913	3071	3033	529.6	17.6	861	11245	0.00	3.12	0.00	0.000	1030	0.000	0.045	3175	2548	3051	3070	3033	0	0	0	0	0	0	11.25	11.20	11.26
11543	1.20	107.1	3176	2548	3071	3033	480.9	15.6	892	11544	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2548	3052	3070	3034	0	0	0	0	0	0	11.36	11.33	11.36
11844	1.20	107.1	3175	2548	3071	3035	435.2	15.1	922	11849	0.00	3.38	0.00	0.000	260	0.000	0.086	3175	3918	3052	3070	3034	0	0	0	0	0	0	11.34	11.15	11.35
11866	1.20	107.1	3176	3921	3070	3034	431.4	16.3	926	11872	0.00	3.15	0.00	0.000	1030	0.000	0.046	3185	2545	3052	3071	3034	0	0	0	0	0	0	11.25	11.20	11.26
12025	end climb: SURFACE_OBSTACLE_DETECTED
state	12025	begin subsurface finish
12033	0.00	0.4	3186	2545	3071	3034	406.2	15.5	943	12049	2.15	3.35	-7.35	0.023	20740	0.261	0.098	2780	3910	3520	3523	3517	0	0	0	0	1	0	11.06	10.60	11.23
12050	end subsurface finish: CONTROL_FINISHED_OK
state	12050	begin surface