Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 850 * 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 850 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 24 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 10 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 3 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 330 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 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 0 T_RSLEEP 10 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 48

EXEC_T 0 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 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 0.1 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 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 3 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 48 SEABIRD_T_I 2.6320724e-05

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

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 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 330

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 0.1 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 420

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 10

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 850 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 2 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 140119,110602,-7404.0234,-11225.0537,42,0.8,43,53.2,0.6,294.5,12,6.6 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.62 MHEAD_RNG_PITCHd_Wd 44.6,174,-43.9,-10.000,-45.00,342

_SM_ANGLEo -58.8 D_GRID 990

GPS2 140119,111524,-7404.0171,-11225.3359,3,0.6,4,53.2,0.4,0.0,12,10.0

Post-dive calculations and measurements:

FREEZE -0.22,-0.271,-1.856,2,1,0 ALTIM_BOTTOM_PING 872.2,12.0

FINISH -0.2,1.027193 _24V_AH 10.01,270.925

SM_CCo 11407,255.77,0.189,0,0,1897,399.91 _10V_AH 10.27,0.000

SM_GC 0.68,12.90,0.62,255.77,0.074,0.083,0.189,194,2803,1897,-8.03,-0.31,399.91,0,0,0,0,0,0,11.16,11.15,11.03 FG_AHR_24Vo 0.000

RAFOS_CLK 474 FG_AHR_10Vo 0.000

RAFOS 0,1547467275,12.032354,12.020833,106,73,55,54,54,51,504,214,182,156,197,132 MEM 278960

RAFOS_FIX -7404.688477,-11225.675781,140119,121236,2,112,0.39 DATA_FILE_SIZE 33379,927

IRIDIUM_FIX -7402.95,-11228.77,140119,075455 CAP_FILE_SIZE 137665,0

TT8_MAMPS 0.04494,0.285369 CFSIZE 1024409600,918339584

HUMID 47.99 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 INTR 0,8144.07,0x234cd8,1,24

TCM_TEMP 13.00 SOUNDSPEED 1450.7

XPDR_PINGS 0 CURRENT 0.043,272.49,1

ALTIM_TOP_PING 15.3,15.6 GPS 140119,143139,-7404.187,-11222.569,30,0.8,38,53.2,0.1,0.0,12,7.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 424 153.96 nil 0 0 0.00

Roll_motor 119 88 105.71 nil 0 0 0.00

VBD_pump_during_apogee 251 3079 7750.20 nil 0 0 0.00

VBD_pump_during_surface 255 188 483.78 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 11401 4 538.78

Iridium_during_xfer 336 235 794.54 nil 0 0 0.00

Transponder_ping 59 420 249.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.57

TT8 0 0 0.00

LPSleep 8721 2 206.91

TT8_Active 703 10 78.56

TT8_Sampling 2304 30 718.36

TT8_CF8 496 51 261.69

TT8_Kalman 0 0 0.00

Analog_circuits 1769 10 183.50

GPS_charging 0 0 0.00

Compass 1327 6 91.88

RAFOS 720 1 11.09

Transponder 437 30 134.68

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

12.6 14.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.8 20.40 9000.00 0.0 0.00 0.00 20.40 0.0 1.03 1.00

25.0 26.80 26.70 0.0 1.03 1.00 26.80 0.0 1.03 1.00

31.2 33.00 33.00 0.0 1.02 1.00 33.00 0.0 1.00 1.00

37.2 39.30 39.20 0.0 1.02 1.00 39.30 0.0 1.05 1.00

852.6 29.50 9000.00 0.0 -0.01 0.58 29.50 882.1 -0.01 1.00

858.8 24.80 9000.00 0.0 -0.01 0.90 24.80 883.6 -0.76 1.00

865.0 18.90 19.10 884.1 -0.85 0.99 18.90 883.9 -0.95 1.00

872.2 12.00 12.00 884.2 -0.95 1.00 12.00 884.2 -0.96 1.00

870.7 16.20 14.50 0.0 -0.83 0.82 0.00 0.0 0.00 0.00

81.3 84.40 9000.00 0.0 -0.09 1.00 84.40 0.0 -0.09 1.00

74.5 76.90 9000.00 0.0 -0.08 0.99 76.90 -2.4 1.10 1.00

67.5 70.60 70.40 -2.9 1.00 1.00 70.60 -3.1 0.90 1.00

54.2 55.80 56.00 -1.8 1.05 1.00 55.80 -1.6 1.11 1.00

41.2 42.80 42.60 -1.4 1.06 1.00 42.80 -1.6 1.00 1.00

34.7 35.50 35.80 -1.1 1.03 1.00 35.50 -0.8 1.12 1.00

28.2 28.10 28.10 0.1 1.13 1.00 28.10 0.1 1.14 1.00

21.9 22.20 22.00 -0.1 1.04 1.00 22.20 -0.3 0.94 1.00

15.3 15.50 15.60 -0.3 0.98 1.00 15.50 -0.2 1.02 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 -2.02 -22.2 200 2793 1939 1803 0.0 0.0 0 115 0.00 0.00 -102.47 0.003 16390 0.000 0.000 200 2793 3582 3600 3564 0 0 0 0 0 0 11.31 10.56 11.31

119 -2.06 -51.7 200 2793 3607 3566 1.3 -1.1 10 148 15.45 2.75 -5.45 0.014 18724 0.425 0.089 2101 3913 3702 3708 3696 0 0 0 0 0 0 10.96 10.54 11.17

375 -2.06 -51.7 2102 3913 3718 3703 40.0 -18.0 60 380 0.00 2.53 0.00 0.000 1030 0.000 0.037 2101 2783 3709 3716 3702 0 0 0 0 0 0 11.23 11.19 11.24

686 -2.06 -51.7 2101 2784 3718 3706 91.2 -15.6 92 687 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2783 3711 3717 3705 0 0 0 0 0 0 11.33 11.33 11.33

986 -2.06 -51.7 2101 2784 3719 3707 138.5 -15.9 122 987 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2783 3712 3718 3706 0 0 0 0 0 0 11.33 11.33 11.33

1286 -2.06 -51.7 2102 2783 3720 3706 185.7 -15.4 152 1292 0.00 3.17 0.00 0.000 516 0.000 0.041 2101 1400 3713 3719 3707 0 0 0 0 0 0 11.34 11.16 11.33

1328 -2.06 -51.7 2101 1400 3720 3708 192.1 -15.2 160 1333 0.00 3.33 0.00 0.000 1030 0.000 0.050 2090 2816 3713 3719 3707 0 0 0 0 0 0 11.23 11.16 11.24

1640 -2.06 -51.7 2090 2814 3720 3708 239.8 -14.7 192 1646 0.00 3.20 0.00 0.000 516 0.000 0.040 2090 1398 3713 3719 3707 0 0 0 0 0 0 11.34 11.15 11.34

1767 -2.06 -51.7 2090 1399 3720 3708 257.9 -14.3 217 1775 0.20 3.30 0.00 0.000 3078 0.322 0.051 2107 2803 3713 3719 3707 0 0 0 0 0 0 11.02 11.16 11.21

2072 -2.06 -51.7 2108 2804 3721 3707 297.8 -13.0 248 2077 0.00 2.62 0.00 0.000 260 0.000 0.072 2100 3909 3713 3719 3707 0 0 0 0 0 0 11.34 11.13 11.34

2190 -2.06 -51.7 2100 3909 3721 3707 314.3 -14.5 271 2196 0.00 2.50 0.00 0.000 1030 0.000 0.037 2100 2794 3711 3719 3704 0 0 0 0 0 0 11.24 11.20 11.25

2498 -2.06 -51.7 2100 2795 3720 3708 353.8 -13.3 287 2503 0.00 3.22 0.00 0.000 516 0.000 0.041 2100 1389 3713 3719 3707 0 0 0 0 0 0 11.33 11.16 11.34

2549 -2.06 -51.7 2100 1390 3720 3708 360.9 -12.7 297 2555 0.00 3.33 0.00 0.000 1030 0.000 0.050 2088 2808 3713 3719 3707 0 0 0 0 0 0 11.23 11.17 11.24

2862 -2.06 -51.7 2089 2810 3720 3708 400.5 -12.4 314 2867 0.00 2.65 0.00 0.000 260 0.000 0.072 2081 3916 3713 3719 3707 0 0 0 0 0 0 11.34 11.15 11.34

2888 -2.06 -51.7 2081 3916 3720 3706 404.1 -13.8 319 2893 0.20 2.50 0.00 0.000 3078 0.331 0.038 2108 2800 3712 3720 3705 0 0 0 0 0 0 11.01 11.20 11.21

3205 -2.06 -51.7 2108 2800 3720 3706 443.9 -12.6 337 3211 0.00 3.22 0.00 0.000 516 0.000 0.041 2108 1390 3712 3719 3705 0 0 0 0 0 0 11.34 11.16 11.35

3320 -2.06 -51.7 2108 1391 3719 3706 457.6 -11.9 359 3326 0.00 3.28 0.00 0.000 1030 0.000 0.052 2099 2809 3712 3719 3705 0 0 0 0 0 0 11.22 11.16 11.24

3633 -2.06 -51.7 2100 2809 3720 3705 497.3 -12.7 376 3639 0.00 3.28 0.00 0.000 516 0.000 0.041 2100 1397 3712 3719 3705 0 0 0 0 0 0 11.33 11.17 11.33

3746 -2.06 -51.7 2100 1397 3720 3705 511.7 -12.5 398 3751 0.00 3.30 0.00 0.000 1030 0.000 0.051 2088 2807 3712 3719 3705 0 0 0 0 0 0 11.23 11.16 11.24

4121 -2.06 -51.7 2088 2808 3720 3706 556.2 -11.6 412 4126 0.00 2.62 0.00 0.000 260 0.000 0.073 2080 3915 3716 3729 3704 0 0 0 0 0 0 11.34 11.15 11.34

4182 -2.06 -51.7 2081 3916 3721 3704 564.3 -12.6 424 4187 0.20 2.53 0.00 0.000 3078 0.333 0.038 2107 2796 3711 3719 3703 0 0 0 0 0 0 11.01 11.20 11.21

4575 -2.06 -51.7 2107 2797 3719 3706 606.0 -10.2 442 4575 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2796 3711 3720 3703 0 0 0 0 0 0 11.34 11.34 11.33

4934 -2.06 -51.7 2107 2797 3720 3703 641.7 -9.6 454 4940 0.00 3.20 0.00 0.000 516 0.000 0.041 2106 1394 3711 3719 3703 0 0 0 0 0 0 11.35 11.16 11.35

5027 -2.06 -51.7 2101 1392 3719 3704 650.5 -9.4 472 5032 0.00 3.33 0.00 0.000 1030 0.000 0.052 2098 2808 3711 3719 3703 0 0 0 0 0 0 11.24 11.17 11.25

5422 -2.06 -51.7 2098 2810 3719 3704 687.5 -9.4 490 5423 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2808 3710 3718 3702 0 0 0 0 0 0 11.34 11.34 11.35

5778 -2.06 -51.7 2099 2809 3719 3702 719.7 -8.6 502 5779 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2809 3710 3718 3702 0 0 0 0 0 0 11.35 11.35 11.35

6138 -2.06 -51.7 2098 2810 3718 3704 749.6 -8.1 514 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2809 3710 3718 3703 0 0 0 0 0 0 11.35 11.36 11.35

6499 -2.07 -58.7 2099 2809 3719 3703 779.5 -7.9 526 6504 0.00 3.25 0.00 0.000 548 0.000 0.041 2098 1392 3710 3718 3702 0 0 0 0 0 0 11.35 11.17 11.36

6596 -2.07 -58.7 2099 1392 3719 3702 787.0 -8.1 545 6602 0.00 3.30 0.00 0.000 1030 0.000 0.050 2088 2801 3710 3717 3703 0 0 0 0 0 0 11.24 11.17 11.24

6986 -2.08 -68.6 2089 2801 3719 3702 816.3 -7.0 562 6991 0.00 2.62 0.00 0.000 292 0.000 0.071 2079 3911 3710 3718 3703 0 0 0 0 0 0 11.32 11.16 11.34

7096 -2.09 -75.4 2080 3911 3719 3702 824.8 -8.0 583 7101 0.00 2.50 0.00 0.000 1062 0.000 0.039 2079 2797 3710 3718 3702 0 0 0 0 0 0 11.24 11.20 11.25

7475 -2.10 -86.2 2080 2798 3719 3702 852.1 -6.8 598 7482 0.00 3.15 0.00 0.000 548 0.000 0.041 2079 1386 3710 3718 3703 0 0 0 0 0 0 11.35 11.17 11.35

7670 -2.11 -98.1 2080 1386 3719 3702 865.0 -6.4 636 7675 0.00 3.33 0.00 0.000 1062 0.000 0.051 2070 2805 3710 3718 3702 0 0 0 0 0 0 11.24 11.17 11.24

7838 end dive: BOTTOM_OBSTACLE_DETECTED

state 7838 begin apogee

7846 -0.23 0.0 2071 2538 3720 3702 876.1 -6.3 645 7946 3.78 0.00 94.28 3.077 10246 0.307 0.000 2696 2539 3493 3498 3488 0 0 0 0 0 0 11.04 11.02 10.02

7947 end apogee: CONTROL_FINISHED_OK

state 7947 begin climb

7951 2.11 98.1 2697 2541 3499 3488 877.0 0.0 648 8118 3.05 3.30 157.18 3.079 10756 0.099 0.060 3462 1156 3100 3114 3087 0 0 0 0 0 0 11.05 10.93 10.01

8144 2.11 98.1 3463 1157 3110 3083 838.8 28.2 684 8157 0.00 3.33 0.00 0.000 1030 0.000 0.061 3463 2548 3095 3108 3082 0 0 0 0 0 0 11.16 11.08 11.17

8545 2.11 98.1 3463 2548 3107 3078 722.1 29.1 702 8545 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2548 3092 3106 3078 0 0 0 0 0 0 11.31 11.31 11.31

8905 2.11 98.1 3463 2549 3106 3079 617.8 28.5 714 8905 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2548 3091 3105 3077 0 0 0 0 0 0 11.31 11.31 11.31

9265 2.11 98.1 3463 2549 3104 3078 517.0 27.6 726 9270 0.00 3.33 0.00 0.000 516 0.000 0.058 3473 1150 3092 3106 3078 0 0 0 0 0 0 11.32 11.13 11.32

9292 2.11 98.1 3473 1150 3105 3079 509.8 26.2 731 9298 0.00 3.35 0.00 0.000 1030 0.000 0.061 3473 2554 3091 3105 3078 0 0 0 0 0 0 11.21 11.14 11.23

9656 2.11 98.1 3474 2560 3107 3078 412.4 26.9 749 9663 0.00 3.28 0.00 0.000 516 0.000 0.058 3483 1147 3091 3105 3078 0 0 0 0 0 0 11.33 11.13 11.33

9685 2.11 98.1 3483 1147 3106 3079 404.9 27.5 754 9691 0.20 3.35 0.00 0.000 5126 0.343 0.060 3459 2554 3092 3106 3078 0 0 0 0 0 0 11.00 11.14 11.20

10003 2.11 98.1 3458 2554 3106 3079 322.9 25.3 772 10008 0.00 3.35 0.00 0.000 516 0.000 0.059 3468 1150 3092 3106 3078 0 0 0 0 0 0 11.33 11.14 11.33

10069 2.11 98.1 3468 1150 3106 3079 306.4 23.5 785 10076 0.00 3.38 0.00 0.000 1030 0.000 0.062 3468 2559 3092 3106 3078 0 0 0 0 0 0 11.22 11.14 11.24

10378 2.11 98.1 3469 2558 3106 3078 230.2 24.2 816 10383 0.00 3.30 0.00 0.000 260 0.000 0.084 3468 3908 3092 3106 3078 0 0 0 0 0 0 11.33 11.12 11.33

10431 2.11 98.1 3468 3910 3106 3079 216.7 26.2 826 10436 0.00 3.12 0.00 0.000 1030 0.000 0.048 3477 2548 3092 3107 3078 0 0 0 0 0 0 11.23 11.18 11.24

10742 2.11 98.1 3478 2549 3106 3079 142.2 23.2 858 10747 0.00 3.33 0.00 0.000 516 0.000 0.060 3489 1140 3092 3106 3078 0 0 0 0 0 0 11.34 11.14 11.34

10790 2.11 98.1 3489 1141 3106 3079 131.5 23.2 867 10796 0.25 3.38 0.00 0.000 5126 0.352 0.063 3457 2555 3093 3108 3078 0 0 0 0 0 0 11.00 11.15 11.21

11098 2.11 98.1 3457 2556 3106 3079 60.7 22.7 898 11104 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 2554 3092 3106 3078 0 0 0 0 0 0 11.33 11.33 11.33

11370 end climb: SURFACE_DEPTH_REACHED

state 11370 begin surface coast

11381 end surface coast: CONTROL_FINISHED_OK

state 11381 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	850	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	24	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	10	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	3	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	330	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	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	0	T_RSLEEP	10	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	48
EXEC_T	0	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	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	0.1	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	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	140119,110602,-7404.0234,-11225.0537,42,0.8,43,53.2,0.6,294.5,12,6.6	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.62	MHEAD_RNG_PITCHd_Wd	44.6,174,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-58.8	D_GRID	990
GPS2	140119,111524,-7404.0171,-11225.3359,3,0.6,4,53.2,0.4,0.0,12,10.0

FREEZE	-0.22,-0.271,-1.856,2,1,0	ALTIM_BOTTOM_PING	872.2,12.0
FINISH	-0.2,1.027193	_24V_AH	10.01,270.925
SM_CCo	11407,255.77,0.189,0,0,1897,399.91	_10V_AH	10.27,0.000
SM_GC	0.68,12.90,0.62,255.77,0.074,0.083,0.189,194,2803,1897,-8.03,-0.31,399.91,0,0,0,0,0,0,11.16,11.15,11.03	FG_AHR_24Vo	0.000
RAFOS_CLK	474	FG_AHR_10Vo	0.000
RAFOS	0,1547467275,12.032354,12.020833,106,73,55,54,54,51,504,214,182,156,197,132	MEM	278960
RAFOS_FIX	-7404.688477,-11225.675781,140119,121236,2,112,0.39	DATA_FILE_SIZE	33379,927
IRIDIUM_FIX	-7402.95,-11228.77,140119,075455	CAP_FILE_SIZE	137665,0
TT8_MAMPS	0.04494,0.285369	CFSIZE	1024409600,918339584
HUMID	47.99	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	INTR	0,8144.07,0x234cd8,1,24
TCM_TEMP	13.00	SOUNDSPEED	1450.7
XPDR_PINGS	0	CURRENT	0.043,272.49,1
ALTIM_TOP_PING	15.3,15.6	GPS	140119,143139,-7404.187,-11222.569,30,0.8,38,53.2,0.1,0.0,12,7.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	424	153.96	nil	0	0	0.00
Roll_motor	119	88	105.71	nil	0	0	0.00
VBD_pump_during_apogee	251	3079	7750.20	nil	0	0	0.00
VBD_pump_during_surface	255	188	483.78	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	11401	4	538.78
Iridium_during_xfer	336	235	794.54	nil	0	0	0.00
Transponder_ping	59	420	249.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.57
TT8	0	0	0.00
LPSleep	8721	2	206.91
TT8_Active	703	10	78.56
TT8_Sampling	2304	30	718.36
TT8_CF8	496	51	261.69
TT8_Kalman	0	0	0.00
Analog_circuits	1769	10	183.50
GPS_charging	0	0	0.00
Compass	1327	6	91.88
RAFOS	720	1	11.09
Transponder	437	30	134.68

		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
12.6	14.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.8	20.40	9000.00	0.0	0.00	0.00	20.40	0.0	1.03	1.00
25.0	26.80	26.70	0.0	1.03	1.00	26.80	0.0	1.03	1.00
31.2	33.00	33.00	0.0	1.02	1.00	33.00	0.0	1.00	1.00
37.2	39.30	39.20	0.0	1.02	1.00	39.30	0.0	1.05	1.00
852.6	29.50	9000.00	0.0	-0.01	0.58	29.50	882.1	-0.01	1.00
858.8	24.80	9000.00	0.0	-0.01	0.90	24.80	883.6	-0.76	1.00
865.0	18.90	19.10	884.1	-0.85	0.99	18.90	883.9	-0.95	1.00
872.2	12.00	12.00	884.2	-0.95	1.00	12.00	884.2	-0.96	1.00

870.7	16.20	14.50	0.0	-0.83	0.82	0.00	0.0	0.00	0.00
81.3	84.40	9000.00	0.0	-0.09	1.00	84.40	0.0	-0.09	1.00
74.5	76.90	9000.00	0.0	-0.08	0.99	76.90	-2.4	1.10	1.00
67.5	70.60	70.40	-2.9	1.00	1.00	70.60	-3.1	0.90	1.00
54.2	55.80	56.00	-1.8	1.05	1.00	55.80	-1.6	1.11	1.00
41.2	42.80	42.60	-1.4	1.06	1.00	42.80	-1.6	1.00	1.00
34.7	35.50	35.80	-1.1	1.03	1.00	35.50	-0.8	1.12	1.00
28.2	28.10	28.10	0.1	1.13	1.00	28.10	0.1	1.14	1.00
21.9	22.20	22.00	-0.1	1.04	1.00	22.20	-0.3	0.94	1.00
15.3	15.50	15.60	-0.3	0.98	1.00	15.50	-0.2	1.02	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	-2.02	-22.2	200	2793	1939	1803	0.0	0.0	0	115	0.00	0.00	-102.47	0.003	16390	0.000	0.000	200	2793	3582	3600	3564	0	0	0	0	0	0	11.31	10.56	11.31
119	-2.06	-51.7	200	2793	3607	3566	1.3	-1.1	10	148	15.45	2.75	-5.45	0.014	18724	0.425	0.089	2101	3913	3702	3708	3696	0	0	0	0	0	0	10.96	10.54	11.17
375	-2.06	-51.7	2102	3913	3718	3703	40.0	-18.0	60	380	0.00	2.53	0.00	0.000	1030	0.000	0.037	2101	2783	3709	3716	3702	0	0	0	0	0	0	11.23	11.19	11.24
686	-2.06	-51.7	2101	2784	3718	3706	91.2	-15.6	92	687	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2783	3711	3717	3705	0	0	0	0	0	0	11.33	11.33	11.33
986	-2.06	-51.7	2101	2784	3719	3707	138.5	-15.9	122	987	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2783	3712	3718	3706	0	0	0	0	0	0	11.33	11.33	11.33
1286	-2.06	-51.7	2102	2783	3720	3706	185.7	-15.4	152	1292	0.00	3.17	0.00	0.000	516	0.000	0.041	2101	1400	3713	3719	3707	0	0	0	0	0	0	11.34	11.16	11.33
1328	-2.06	-51.7	2101	1400	3720	3708	192.1	-15.2	160	1333	0.00	3.33	0.00	0.000	1030	0.000	0.050	2090	2816	3713	3719	3707	0	0	0	0	0	0	11.23	11.16	11.24
1640	-2.06	-51.7	2090	2814	3720	3708	239.8	-14.7	192	1646	0.00	3.20	0.00	0.000	516	0.000	0.040	2090	1398	3713	3719	3707	0	0	0	0	0	0	11.34	11.15	11.34
1767	-2.06	-51.7	2090	1399	3720	3708	257.9	-14.3	217	1775	0.20	3.30	0.00	0.000	3078	0.322	0.051	2107	2803	3713	3719	3707	0	0	0	0	0	0	11.02	11.16	11.21
2072	-2.06	-51.7	2108	2804	3721	3707	297.8	-13.0	248	2077	0.00	2.62	0.00	0.000	260	0.000	0.072	2100	3909	3713	3719	3707	0	0	0	0	0	0	11.34	11.13	11.34
2190	-2.06	-51.7	2100	3909	3721	3707	314.3	-14.5	271	2196	0.00	2.50	0.00	0.000	1030	0.000	0.037	2100	2794	3711	3719	3704	0	0	0	0	0	0	11.24	11.20	11.25
2498	-2.06	-51.7	2100	2795	3720	3708	353.8	-13.3	287	2503	0.00	3.22	0.00	0.000	516	0.000	0.041	2100	1389	3713	3719	3707	0	0	0	0	0	0	11.33	11.16	11.34
2549	-2.06	-51.7	2100	1390	3720	3708	360.9	-12.7	297	2555	0.00	3.33	0.00	0.000	1030	0.000	0.050	2088	2808	3713	3719	3707	0	0	0	0	0	0	11.23	11.17	11.24
2862	-2.06	-51.7	2089	2810	3720	3708	400.5	-12.4	314	2867	0.00	2.65	0.00	0.000	260	0.000	0.072	2081	3916	3713	3719	3707	0	0	0	0	0	0	11.34	11.15	11.34
2888	-2.06	-51.7	2081	3916	3720	3706	404.1	-13.8	319	2893	0.20	2.50	0.00	0.000	3078	0.331	0.038	2108	2800	3712	3720	3705	0	0	0	0	0	0	11.01	11.20	11.21
3205	-2.06	-51.7	2108	2800	3720	3706	443.9	-12.6	337	3211	0.00	3.22	0.00	0.000	516	0.000	0.041	2108	1390	3712	3719	3705	0	0	0	0	0	0	11.34	11.16	11.35
3320	-2.06	-51.7	2108	1391	3719	3706	457.6	-11.9	359	3326	0.00	3.28	0.00	0.000	1030	0.000	0.052	2099	2809	3712	3719	3705	0	0	0	0	0	0	11.22	11.16	11.24
3633	-2.06	-51.7	2100	2809	3720	3705	497.3	-12.7	376	3639	0.00	3.28	0.00	0.000	516	0.000	0.041	2100	1397	3712	3719	3705	0	0	0	0	0	0	11.33	11.17	11.33
3746	-2.06	-51.7	2100	1397	3720	3705	511.7	-12.5	398	3751	0.00	3.30	0.00	0.000	1030	0.000	0.051	2088	2807	3712	3719	3705	0	0	0	0	0	0	11.23	11.16	11.24
4121	-2.06	-51.7	2088	2808	3720	3706	556.2	-11.6	412	4126	0.00	2.62	0.00	0.000	260	0.000	0.073	2080	3915	3716	3729	3704	0	0	0	0	0	0	11.34	11.15	11.34
4182	-2.06	-51.7	2081	3916	3721	3704	564.3	-12.6	424	4187	0.20	2.53	0.00	0.000	3078	0.333	0.038	2107	2796	3711	3719	3703	0	0	0	0	0	0	11.01	11.20	11.21
4575	-2.06	-51.7	2107	2797	3719	3706	606.0	-10.2	442	4575	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2796	3711	3720	3703	0	0	0	0	0	0	11.34	11.34	11.33
4934	-2.06	-51.7	2107	2797	3720	3703	641.7	-9.6	454	4940	0.00	3.20	0.00	0.000	516	0.000	0.041	2106	1394	3711	3719	3703	0	0	0	0	0	0	11.35	11.16	11.35
5027	-2.06	-51.7	2101	1392	3719	3704	650.5	-9.4	472	5032	0.00	3.33	0.00	0.000	1030	0.000	0.052	2098	2808	3711	3719	3703	0	0	0	0	0	0	11.24	11.17	11.25
5422	-2.06	-51.7	2098	2810	3719	3704	687.5	-9.4	490	5423	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2808	3710	3718	3702	0	0	0	0	0	0	11.34	11.34	11.35
5778	-2.06	-51.7	2099	2809	3719	3702	719.7	-8.6	502	5779	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2809	3710	3718	3702	0	0	0	0	0	0	11.35	11.35	11.35
6138	-2.06	-51.7	2098	2810	3718	3704	749.6	-8.1	514	6139	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2809	3710	3718	3703	0	0	0	0	0	0	11.35	11.36	11.35
6499	-2.07	-58.7	2099	2809	3719	3703	779.5	-7.9	526	6504	0.00	3.25	0.00	0.000	548	0.000	0.041	2098	1392	3710	3718	3702	0	0	0	0	0	0	11.35	11.17	11.36
6596	-2.07	-58.7	2099	1392	3719	3702	787.0	-8.1	545	6602	0.00	3.30	0.00	0.000	1030	0.000	0.050	2088	2801	3710	3717	3703	0	0	0	0	0	0	11.24	11.17	11.24
6986	-2.08	-68.6	2089	2801	3719	3702	816.3	-7.0	562	6991	0.00	2.62	0.00	0.000	292	0.000	0.071	2079	3911	3710	3718	3703	0	0	0	0	0	0	11.32	11.16	11.34
7096	-2.09	-75.4	2080	3911	3719	3702	824.8	-8.0	583	7101	0.00	2.50	0.00	0.000	1062	0.000	0.039	2079	2797	3710	3718	3702	0	0	0	0	0	0	11.24	11.20	11.25
7475	-2.10	-86.2	2080	2798	3719	3702	852.1	-6.8	598	7482	0.00	3.15	0.00	0.000	548	0.000	0.041	2079	1386	3710	3718	3703	0	0	0	0	0	0	11.35	11.17	11.35
7670	-2.11	-98.1	2080	1386	3719	3702	865.0	-6.4	636	7675	0.00	3.33	0.00	0.000	1062	0.000	0.051	2070	2805	3710	3718	3702	0	0	0	0	0	0	11.24	11.17	11.24
7838	end dive: BOTTOM_OBSTACLE_DETECTED
state	7838	begin apogee
7846	-0.23	0.0	2071	2538	3720	3702	876.1	-6.3	645	7946	3.78	0.00	94.28	3.077	10246	0.307	0.000	2696	2539	3493	3498	3488	0	0	0	0	0	0	11.04	11.02	10.02
7947	end apogee: CONTROL_FINISHED_OK
state	7947	begin climb
7951	2.11	98.1	2697	2541	3499	3488	877.0	0.0	648	8118	3.05	3.30	157.18	3.079	10756	0.099	0.060	3462	1156	3100	3114	3087	0	0	0	0	0	0	11.05	10.93	10.01
8144	2.11	98.1	3463	1157	3110	3083	838.8	28.2	684	8157	0.00	3.33	0.00	0.000	1030	0.000	0.061	3463	2548	3095	3108	3082	0	0	0	0	0	0	11.16	11.08	11.17
8545	2.11	98.1	3463	2548	3107	3078	722.1	29.1	702	8545	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2548	3092	3106	3078	0	0	0	0	0	0	11.31	11.31	11.31
8905	2.11	98.1	3463	2549	3106	3079	617.8	28.5	714	8905	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2548	3091	3105	3077	0	0	0	0	0	0	11.31	11.31	11.31
9265	2.11	98.1	3463	2549	3104	3078	517.0	27.6	726	9270	0.00	3.33	0.00	0.000	516	0.000	0.058	3473	1150	3092	3106	3078	0	0	0	0	0	0	11.32	11.13	11.32
9292	2.11	98.1	3473	1150	3105	3079	509.8	26.2	731	9298	0.00	3.35	0.00	0.000	1030	0.000	0.061	3473	2554	3091	3105	3078	0	0	0	0	0	0	11.21	11.14	11.23
9656	2.11	98.1	3474	2560	3107	3078	412.4	26.9	749	9663	0.00	3.28	0.00	0.000	516	0.000	0.058	3483	1147	3091	3105	3078	0	0	0	0	0	0	11.33	11.13	11.33
9685	2.11	98.1	3483	1147	3106	3079	404.9	27.5	754	9691	0.20	3.35	0.00	0.000	5126	0.343	0.060	3459	2554	3092	3106	3078	0	0	0	0	0	0	11.00	11.14	11.20
10003	2.11	98.1	3458	2554	3106	3079	322.9	25.3	772	10008	0.00	3.35	0.00	0.000	516	0.000	0.059	3468	1150	3092	3106	3078	0	0	0	0	0	0	11.33	11.14	11.33
10069	2.11	98.1	3468	1150	3106	3079	306.4	23.5	785	10076	0.00	3.38	0.00	0.000	1030	0.000	0.062	3468	2559	3092	3106	3078	0	0	0	0	0	0	11.22	11.14	11.24
10378	2.11	98.1	3469	2558	3106	3078	230.2	24.2	816	10383	0.00	3.30	0.00	0.000	260	0.000	0.084	3468	3908	3092	3106	3078	0	0	0	0	0	0	11.33	11.12	11.33
10431	2.11	98.1	3468	3910	3106	3079	216.7	26.2	826	10436	0.00	3.12	0.00	0.000	1030	0.000	0.048	3477	2548	3092	3107	3078	0	0	0	0	0	0	11.23	11.18	11.24
10742	2.11	98.1	3478	2549	3106	3079	142.2	23.2	858	10747	0.00	3.33	0.00	0.000	516	0.000	0.060	3489	1140	3092	3106	3078	0	0	0	0	0	0	11.34	11.14	11.34
10790	2.11	98.1	3489	1141	3106	3079	131.5	23.2	867	10796	0.25	3.38	0.00	0.000	5126	0.352	0.063	3457	2555	3093	3108	3078	0	0	0	0	0	0	11.00	11.15	11.21
11098	2.11	98.1	3457	2556	3106	3079	60.7	22.7	898	11104	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	2554	3092	3106	3078	0	0	0	0	0	0	11.33	11.33	11.33
11370	end climb: SURFACE_DEPTH_REACHED
state	11370	begin surface coast
11381	end surface coast: CONTROL_FINISHED_OK
state	11381	begin surface