Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 121 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 121 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 14 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 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 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 360 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 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 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 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 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 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 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 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 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 3890 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 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 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 222 P_OVSHOOT_WITHG 0 T_MISSION 360

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 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 1

DIVE 121 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 14 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 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 8 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 -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 090218,133317,-7419.1880,-11238.3926,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 368.23 MHEAD_RNG_PITCHd_Wd 326.1,16098,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.4 D_GRID 990

GPS2 090218,133317,-7419.1880,-11238.3926,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 368.4,1.027451,3 ALTIM_BOTTOM_PING 983.7,9.1

FINISH2 367.4 _24V_AH 13.09,55.854

RAFOS_CLK 367 _10V_AH 12.52,0.000

RAFOS 0,1518188479,15.032778,15.021944,77,62,60,54,53,52,462,162,201,218,190,112 FG_AHR_24Vo 0.000

RAFOS_FIX -7416.280762,-11226.994141,090218,151524,1,2,1.47 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 MEM 280100

TT8_MAMPS 0.041195,0.295106 DATA_FILE_SIZE 30076,891

HUMID 48.03 CAP_FILE_SIZE 110568,0

INTERNAL_PRESSURE 7.63859 CFSIZE 1024409600,1005780992

TCM_TEMP 13.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 SOUNDSPEED 1459.0

ALTIM_TOP_PING 377.3,15.6 GPS 090218,150224,-7416.281,-11226.994,0,2002.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 280 17.36 nil 0 0 0.00

Roll_motor 90 153 181.75 nil 0 0 0.00

VBD_pump_during_apogee 962 1363 17188.71 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 10362 7 954.22

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 35 420 195.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7541 2 218.11

TT8_Active 969 12 148.96

TT8_Sampling 1842 31 732.17

TT8_CF8 78 45 44.70

TT8_Kalman 0 0 0.00

Analog_circuits 1717 10 219.27

GPS_charging 0 0 0.00

Compass 1275 7 119.65

RAFOS 720 1 13.52

Transponder 247 30 93.04

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

377.5 15.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

386.0 23.60 9000.00 0.0 0.00 0.00 23.60 0.0 1.01 1.00

394.8 32.70 32.60 0.0 1.02 1.00 32.70 0.0 1.03 1.00

955.6 48.10 9000.00 0.0 0.04 0.88 48.10 0.0 0.03 1.00

964.0 33.00 9000.00 0.0 0.01 0.25 33.00 997.0 -1.80 1.00

973.3 20.10 9000.00 0.0 -1.57 0.99 20.10 993.4 -1.39 1.00

983.7 9.70 9.10 992.8 -1.18 0.99 9.70 993.4 -1.00 1.00

985.0 7.20 7.70 992.7 -1.07 1.00 0.00 0.0 0.00 0.00

976.8 11.80 9000.00 0.0 -0.47 0.84 11.80 0.0 -0.56 1.00

968.6 14.70 9000.00 0.0 -0.46 0.99 14.70 0.0 -0.35 1.00

960.3 13.70 9000.00 0.0 -0.11 0.39 13.70 946.6 0.12 1.00

952.3 14.70 9000.00 0.0 0.00 0.00 14.70 0.0 -0.12 1.00

944.0 15.40 9000.00 0.0 -0.10 0.98 15.40 0.0 -0.08 1.00

935.6 15.00 9000.00 0.0 -0.02 0.19 15.00 920.6 0.05 1.00

927.4 19.90 9000.00 0.0 -0.27 0.68 19.90 0.0 -0.60 1.00

464.5 104.20 9000.00 0.0 -0.19 1.00 104.20 0.0 -0.18 1.00

439.2 78.30 9000.00 0.0 -0.15 0.88 78.30 360.9 1.02 1.00

421.1 60.20 60.10 361.0 1.01 1.00 60.20 360.9 1.00 1.00

412.3 51.10 51.20 361.1 1.01 1.00 51.10 361.2 1.03 1.00

403.5 42.00 42.00 361.5 1.03 1.00 42.00 361.5 1.03 1.00

395.1 33.70 33.60 361.5 1.01 1.00 33.70 361.4 0.99 1.00

386.5 24.80 24.80 361.7 1.01 1.00 24.80 361.7 1.03 1.00

377.3 15.60 15.60 361.7 1.01 1.00 15.60 361.7 1.00 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

8 -0.94 -146.0 2701 2502 2831 2611 0.0 0.0 0 11 0.00 0.00 -1.98 0.047 16390 0.000 0.000 2700 2502 3328 3467 3190 0 0 0 0 0 0 15.07 13.63 15.08

13 -0.94 -146.0 2701 2502 3466 3193 0.0 0.0 0 21 0.93 2.28 0.00 0.000 4356 0.114 0.151 2393 3773 3329 3459 3199 0 0 0 0 0 0 14.83 14.76 14.90

45 -0.94 -146.0 2393 3774 3453 3205 370.9 -8.9 6 51 0.00 2.33 0.00 0.000 1030 0.000 0.098 2393 2487 3329 3453 3205 0 0 0 0 0 0 14.90 14.83 14.92

355 -0.94 -146.0 2393 2488 3449 3210 408.6 -12.6 38 361 0.00 2.60 0.00 0.000 516 0.000 0.116 2393 1081 3328 3447 3209 0 0 0 0 0 0 15.09 14.77 15.11

381 -0.94 -146.0 2393 1081 3448 3209 411.8 -12.9 43 387 0.00 2.65 0.00 0.000 1030 0.000 0.127 2383 2513 3328 3447 3210 0 0 0 0 0 0 14.93 14.78 14.97

685 -0.94 -146.0 2384 2514 3446 3211 449.3 -12.2 74 691 0.00 2.38 0.00 0.000 260 0.000 0.151 2374 3750 3328 3445 3211 0 0 0 0 0 0 15.09 14.75 15.11

710 -0.94 -146.0 2374 3751 3444 3214 452.6 -13.3 79 717 0.00 2.28 0.00 0.000 1030 0.000 0.099 2374 2489 3328 3444 3213 0 0 0 0 0 0 14.89 14.83 14.93

1015 -0.94 -146.0 2375 2489 3444 3213 492.1 -12.9 110 1021 0.00 2.45 0.00 0.000 260 0.000 0.151 2365 3758 3327 3442 3213 0 0 0 0 0 0 15.09 14.74 15.11

1066 -0.94 -146.0 2365 3759 3442 3215 499.0 -13.9 120 1071 0.15 2.25 0.00 0.000 3078 0.281 0.099 2397 2487 3327 3441 3214 0 0 0 0 0 0 14.69 14.84 14.92

1375 -0.94 -146.0 2397 2487 3442 3218 535.5 -11.6 152 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2487 3326 3440 3213 0 0 0 0 0 0 15.09 15.12 15.12

1675 -0.94 -146.0 2397 2487 3442 3214 569.8 -11.3 182 1682 0.00 2.42 0.00 0.000 260 0.000 0.151 2388 3749 3326 3439 3213 0 0 0 0 0 0 15.10 14.75 15.12

1720 -0.94 -146.0 2388 3749 3441 3214 575.2 -12.1 191 1728 0.00 2.25 0.00 0.000 1030 0.000 0.099 2388 2504 3326 3439 3213 0 0 0 0 0 0 14.89 14.83 14.93

2026 -0.94 -146.0 2388 2502 3440 3215 609.3 -11.2 222 2031 0.00 2.40 0.00 0.000 260 0.000 0.154 2379 3749 3326 3439 3214 0 0 0 0 0 0 15.09 14.73 15.12

2051 -0.94 -146.0 2378 3749 3439 3215 612.3 -12.3 227 2058 0.00 2.28 0.00 0.000 1030 0.000 0.099 2379 2489 3326 3439 3214 0 0 0 0 0 0 14.88 14.82 14.92

2356 -0.94 -146.0 2379 2489 3440 3214 647.1 -11.8 258 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2490 3326 3438 3214 0 0 0 0 0 0 15.09 15.12 15.12

2656 -0.94 -146.0 2379 2489 3439 3214 683.4 -12.1 288 2662 0.00 2.42 0.00 0.000 260 0.000 0.151 2371 3751 3324 3438 3210 0 0 0 0 0 0 15.10 14.74 15.12

2720 -0.94 -146.0 2371 3751 3439 3214 691.8 -13.1 301 2729 0.00 2.28 0.00 0.000 1030 0.000 0.098 2370 2489 3327 3438 3217 0 0 0 0 0 0 14.89 14.82 14.92

3035 -0.94 -146.0 2371 2490 3438 3214 730.2 -12.1 317 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2489 3326 3438 3214 0 0 0 0 0 0 15.11 15.14 15.13

3395 -0.94 -146.0 2371 2490 3438 3215 773.4 -11.9 329 3402 0.00 2.42 0.00 0.000 260 0.000 0.150 2361 3754 3325 3437 3214 0 0 0 0 0 0 15.12 14.75 15.14

3451 -0.94 -146.0 2361 3755 3438 3215 780.5 -12.8 340 3459 0.12 2.25 0.00 0.000 3078 0.272 0.098 2394 2499 3326 3437 3215 0 0 0 0 0 0 14.64 14.83 14.81

3817 -0.94 -146.0 2394 2500 3438 3216 817.0 -9.6 353 3818 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2499 3326 3437 3215 0 0 0 0 0 0 15.11 15.15 15.14

4176 -0.94 -146.0 2394 2499 3438 3214 853.4 -10.4 365 4183 0.00 2.42 0.00 0.000 260 0.000 0.153 2385 3760 3326 3437 3215 0 0 0 0 0 0 15.13 14.75 15.15

4232 -0.94 -146.0 2385 3760 3437 3215 859.3 -11.4 376 4240 0.00 2.28 0.00 0.000 1030 0.000 0.099 2384 2495 3324 3437 3212 0 0 0 0 0 0 14.90 14.83 14.94

4598 -0.94 -146.0 2385 2496 3437 3216 897.2 -10.0 389 4599 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2496 3325 3437 3214 0 0 0 0 0 0 15.12 15.16 15.15

4957 -0.94 -146.0 2385 2496 3437 3216 931.9 -9.8 401 4964 0.00 2.42 0.00 0.000 260 0.000 0.152 2377 3757 3326 3437 3215 0 0 0 0 0 0 15.13 14.76 15.16

5003 -0.94 -146.0 2377 3758 3437 3216 936.5 -11.6 410 5010 0.00 2.28 0.00 0.000 1030 0.000 0.099 2377 2495 3326 3437 3215 0 0 0 0 0 0 14.88 14.81 14.92

5380 -0.94 -146.0 2377 2495 3438 3215 973.3 -9.8 425 5386 0.00 2.38 0.00 0.000 260 0.000 0.152 2368 3754 3326 3437 3215 0 0 0 0 0 0 15.09 14.76 15.11

5410 -0.94 -146.0 2368 3755 3437 3216 975.9 -6.1 431 5416 0.10 2.28 0.00 0.000 3110 0.271 0.098 2397 2491 3325 3436 3215 0 0 0 0 0 0 14.64 14.82 14.82

5500 end dive: BOTTOM_OBSTACLE_DETECTED

state 5500 begin apogee

5504 -0.23 0.0 2394 2191 3437 3215 983.7 -8.3 439 6013 0.85 0.00 506.30 1.213 10246 0.233 0.000 2626 2190 2715 2771 2660 0 0 0 0 0 0 14.69 13.76 13.24

6015 end apogee: CONTROL_FINISHED_OK

state 6015 begin climb

6016 0.94 146.0 2628 2191 2768 2658 983.0 0.0 456 6486 1.27 2.88 456.40 1.364 10756 0.135 0.126 3010 793 2116 2150 2082 0 0 0 0 0 0 13.72 13.59 13.09

6600 0.94 146.0 3010 794 2140 2074 907.1 17.1 569 6608 0.00 2.72 0.00 0.000 1030 0.000 0.112 3010 2208 2106 2138 2074 0 0 0 0 0 0 14.14 14.02 14.17

6967 0.94 146.0 3010 2209 2139 2069 853.4 14.7 582 6967 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2208 2102 2138 2067 0 0 0 0 0 0 14.73 14.76 14.75

7326 0.94 146.0 3010 2208 2139 2066 797.8 15.3 594 7332 0.00 2.67 0.00 0.000 260 0.000 0.143 3010 3616 2101 2137 2066 0 0 0 0 0 0 14.90 14.64 14.93

7366 0.94 146.0 3010 3615 2138 2066 790.4 17.3 602 7373 0.00 2.60 0.00 0.000 1030 0.000 0.101 3020 2203 2101 2137 2066 0 0 0 0 0 0 14.82 14.67 14.83

7748 0.94 146.0 3021 2200 2138 2065 732.2 14.8 618 7753 0.00 2.62 0.00 0.000 516 0.000 0.132 3032 783 2099 2134 2064 0 0 0 0 0 0 14.98 14.72 15.02

7797 0.94 146.0 3032 784 2137 2066 724.7 14.9 628 7806 0.10 2.65 0.00 0.000 5126 0.227 0.115 3004 2211 2100 2136 2064 0 0 0 0 0 0 14.66 14.73 14.78

8170 0.94 146.0 3004 2211 2137 2063 674.1 13.7 654 8177 0.00 2.67 0.00 0.000 260 0.000 0.145 3004 3610 2100 2136 2064 0 0 0 0 0 0 15.06 14.73 15.08

8195 0.94 146.0 3004 3610 2137 2064 670.3 15.4 659 8203 0.00 2.60 0.00 0.000 1030 0.000 0.102 3013 2188 2099 2136 2062 0 0 0 0 0 0 14.85 14.77 14.90

8501 0.94 146.0 3013 2188 2136 2064 625.9 14.7 690 8507 0.00 2.62 0.00 0.000 516 0.000 0.132 3023 788 2100 2137 2063 0 0 0 0 0 0 15.07 14.74 15.09

8537 0.94 146.0 3024 788 2137 2063 620.6 15.1 697 8544 0.00 2.58 0.00 0.000 1030 0.000 0.116 3024 2205 2099 2135 2063 0 0 0 0 0 0 14.92 14.78 14.95

8841 0.94 146.0 3024 2206 2136 2064 574.7 14.8 728 8841 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2205 2099 2136 2063 0 0 0 0 0 0 15.08 15.09 15.10

9141 0.94 146.0 3024 2205 2136 2062 531.6 14.7 758 9141 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2205 2098 2135 2062 0 0 0 0 0 0 15.09 15.11 15.11

9441 0.94 146.0 3024 2206 2136 2063 489.1 14.4 788 9441 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2205 2098 2135 2062 0 0 0 0 0 0 15.09 15.12 15.12

9741 0.94 146.0 3024 2205 2137 2061 446.3 13.9 818 9747 0.00 2.67 0.00 0.000 516 0.000 0.129 3034 780 2099 2136 2062 0 0 0 0 0 0 15.10 14.76 15.12

9806 0.94 146.0 3034 780 2136 2063 437.2 13.9 831 9813 0.10 2.62 0.00 0.000 5126 0.234 0.115 3006 2198 2098 2135 2062 0 0 0 0 0 0 14.70 14.78 14.84

10111 0.94 146.0 3006 2200 2136 2062 398.5 12.5 862 10117 0.00 2.67 0.00 0.000 260 0.000 0.146 3006 3621 2098 2135 2061 0 0 0 0 0 0 15.10 14.78 15.12

10151 0.94 146.0 3006 3621 2136 2061 393.0 14.0 870 10157 0.00 2.60 0.00 0.000 1030 0.000 0.103 3015 2197 2098 2135 2061 0 0 0 0 0 0 14.88 14.80 14.99

10341 end climb: SURFACE_OBSTACLE_DETECTED

state 10341 begin subsurface finish

10344 0.00 2.5 3016 2197 2135 2062 368.4 12.6 890 10353 1.10 0.00 -2.17 0.042 20486 0.213 0.000 2704 2194 2718 2829 2608 0 0 0 0 0 0 14.72 14.05 14.93

10354 end subsurface finish: CONTROL_FINISHED_OK

state 10354 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	121	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	14	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	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	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	360	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	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	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	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	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	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	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	3750	ALTIM_PING_FIT	883

GPS1	090218,133317,-7419.1880,-11238.3926,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	368.23	MHEAD_RNG_PITCHd_Wd	326.1,16098,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.4	D_GRID	990
GPS2	090218,133317,-7419.1880,-11238.3926,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	368.4,1.027451,3	ALTIM_BOTTOM_PING	983.7,9.1
FINISH2	367.4	_24V_AH	13.09,55.854
RAFOS_CLK	367	_10V_AH	12.52,0.000
RAFOS	0,1518188479,15.032778,15.021944,77,62,60,54,53,52,462,162,201,218,190,112	FG_AHR_24Vo	0.000
RAFOS_FIX	-7416.280762,-11226.994141,090218,151524,1,2,1.47	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	MEM	280100
TT8_MAMPS	0.041195,0.295106	DATA_FILE_SIZE	30076,891
HUMID	48.03	CAP_FILE_SIZE	110568,0
INTERNAL_PRESSURE	7.63859	CFSIZE	1024409600,1005780992
TCM_TEMP	13.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	SOUNDSPEED	1459.0
ALTIM_TOP_PING	377.3,15.6	GPS	090218,150224,-7416.281,-11226.994,0,2002.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	280	17.36	nil	0	0	0.00
Roll_motor	90	153	181.75	nil	0	0	0.00
VBD_pump_during_apogee	962	1363	17188.71	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	10362	7	954.22
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	35	420	195.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7541	2	218.11
TT8_Active	969	12	148.96
TT8_Sampling	1842	31	732.17
TT8_CF8	78	45	44.70
TT8_Kalman	0	0	0.00
Analog_circuits	1717	10	219.27
GPS_charging	0	0	0.00
Compass	1275	7	119.65
RAFOS	720	1	13.52
Transponder	247	30	93.04

		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
377.5	15.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
386.0	23.60	9000.00	0.0	0.00	0.00	23.60	0.0	1.01	1.00
394.8	32.70	32.60	0.0	1.02	1.00	32.70	0.0	1.03	1.00
955.6	48.10	9000.00	0.0	0.04	0.88	48.10	0.0	0.03	1.00
964.0	33.00	9000.00	0.0	0.01	0.25	33.00	997.0	-1.80	1.00
973.3	20.10	9000.00	0.0	-1.57	0.99	20.10	993.4	-1.39	1.00
983.7	9.70	9.10	992.8	-1.18	0.99	9.70	993.4	-1.00	1.00
985.0	7.20	7.70	992.7	-1.07	1.00	0.00	0.0	0.00	0.00

976.8	11.80	9000.00	0.0	-0.47	0.84	11.80	0.0	-0.56	1.00
968.6	14.70	9000.00	0.0	-0.46	0.99	14.70	0.0	-0.35	1.00
960.3	13.70	9000.00	0.0	-0.11	0.39	13.70	946.6	0.12	1.00
952.3	14.70	9000.00	0.0	0.00	0.00	14.70	0.0	-0.12	1.00
944.0	15.40	9000.00	0.0	-0.10	0.98	15.40	0.0	-0.08	1.00
935.6	15.00	9000.00	0.0	-0.02	0.19	15.00	920.6	0.05	1.00
927.4	19.90	9000.00	0.0	-0.27	0.68	19.90	0.0	-0.60	1.00
464.5	104.20	9000.00	0.0	-0.19	1.00	104.20	0.0	-0.18	1.00
439.2	78.30	9000.00	0.0	-0.15	0.88	78.30	360.9	1.02	1.00
421.1	60.20	60.10	361.0	1.01	1.00	60.20	360.9	1.00	1.00
412.3	51.10	51.20	361.1	1.01	1.00	51.10	361.2	1.03	1.00
403.5	42.00	42.00	361.5	1.03	1.00	42.00	361.5	1.03	1.00
395.1	33.70	33.60	361.5	1.01	1.00	33.70	361.4	0.99	1.00
386.5	24.80	24.80	361.7	1.01	1.00	24.80	361.7	1.03	1.00
377.3	15.60	15.60	361.7	1.01	1.00	15.60	361.7	1.00	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
8	-0.94	-146.0	2701	2502	2831	2611	0.0	0.0	0	11	0.00	0.00	-1.98	0.047	16390	0.000	0.000	2700	2502	3328	3467	3190	0	0	0	0	0	0	15.07	13.63	15.08
13	-0.94	-146.0	2701	2502	3466	3193	0.0	0.0	0	21	0.93	2.28	0.00	0.000	4356	0.114	0.151	2393	3773	3329	3459	3199	0	0	0	0	0	0	14.83	14.76	14.90
45	-0.94	-146.0	2393	3774	3453	3205	370.9	-8.9	6	51	0.00	2.33	0.00	0.000	1030	0.000	0.098	2393	2487	3329	3453	3205	0	0	0	0	0	0	14.90	14.83	14.92
355	-0.94	-146.0	2393	2488	3449	3210	408.6	-12.6	38	361	0.00	2.60	0.00	0.000	516	0.000	0.116	2393	1081	3328	3447	3209	0	0	0	0	0	0	15.09	14.77	15.11
381	-0.94	-146.0	2393	1081	3448	3209	411.8	-12.9	43	387	0.00	2.65	0.00	0.000	1030	0.000	0.127	2383	2513	3328	3447	3210	0	0	0	0	0	0	14.93	14.78	14.97
685	-0.94	-146.0	2384	2514	3446	3211	449.3	-12.2	74	691	0.00	2.38	0.00	0.000	260	0.000	0.151	2374	3750	3328	3445	3211	0	0	0	0	0	0	15.09	14.75	15.11
710	-0.94	-146.0	2374	3751	3444	3214	452.6	-13.3	79	717	0.00	2.28	0.00	0.000	1030	0.000	0.099	2374	2489	3328	3444	3213	0	0	0	0	0	0	14.89	14.83	14.93
1015	-0.94	-146.0	2375	2489	3444	3213	492.1	-12.9	110	1021	0.00	2.45	0.00	0.000	260	0.000	0.151	2365	3758	3327	3442	3213	0	0	0	0	0	0	15.09	14.74	15.11
1066	-0.94	-146.0	2365	3759	3442	3215	499.0	-13.9	120	1071	0.15	2.25	0.00	0.000	3078	0.281	0.099	2397	2487	3327	3441	3214	0	0	0	0	0	0	14.69	14.84	14.92
1375	-0.94	-146.0	2397	2487	3442	3218	535.5	-11.6	152	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2487	3326	3440	3213	0	0	0	0	0	0	15.09	15.12	15.12
1675	-0.94	-146.0	2397	2487	3442	3214	569.8	-11.3	182	1682	0.00	2.42	0.00	0.000	260	0.000	0.151	2388	3749	3326	3439	3213	0	0	0	0	0	0	15.10	14.75	15.12
1720	-0.94	-146.0	2388	3749	3441	3214	575.2	-12.1	191	1728	0.00	2.25	0.00	0.000	1030	0.000	0.099	2388	2504	3326	3439	3213	0	0	0	0	0	0	14.89	14.83	14.93
2026	-0.94	-146.0	2388	2502	3440	3215	609.3	-11.2	222	2031	0.00	2.40	0.00	0.000	260	0.000	0.154	2379	3749	3326	3439	3214	0	0	0	0	0	0	15.09	14.73	15.12
2051	-0.94	-146.0	2378	3749	3439	3215	612.3	-12.3	227	2058	0.00	2.28	0.00	0.000	1030	0.000	0.099	2379	2489	3326	3439	3214	0	0	0	0	0	0	14.88	14.82	14.92
2356	-0.94	-146.0	2379	2489	3440	3214	647.1	-11.8	258	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2490	3326	3438	3214	0	0	0	0	0	0	15.09	15.12	15.12
2656	-0.94	-146.0	2379	2489	3439	3214	683.4	-12.1	288	2662	0.00	2.42	0.00	0.000	260	0.000	0.151	2371	3751	3324	3438	3210	0	0	0	0	0	0	15.10	14.74	15.12
2720	-0.94	-146.0	2371	3751	3439	3214	691.8	-13.1	301	2729	0.00	2.28	0.00	0.000	1030	0.000	0.098	2370	2489	3327	3438	3217	0	0	0	0	0	0	14.89	14.82	14.92
3035	-0.94	-146.0	2371	2490	3438	3214	730.2	-12.1	317	3036	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2489	3326	3438	3214	0	0	0	0	0	0	15.11	15.14	15.13
3395	-0.94	-146.0	2371	2490	3438	3215	773.4	-11.9	329	3402	0.00	2.42	0.00	0.000	260	0.000	0.150	2361	3754	3325	3437	3214	0	0	0	0	0	0	15.12	14.75	15.14
3451	-0.94	-146.0	2361	3755	3438	3215	780.5	-12.8	340	3459	0.12	2.25	0.00	0.000	3078	0.272	0.098	2394	2499	3326	3437	3215	0	0	0	0	0	0	14.64	14.83	14.81
3817	-0.94	-146.0	2394	2500	3438	3216	817.0	-9.6	353	3818	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2499	3326	3437	3215	0	0	0	0	0	0	15.11	15.15	15.14
4176	-0.94	-146.0	2394	2499	3438	3214	853.4	-10.4	365	4183	0.00	2.42	0.00	0.000	260	0.000	0.153	2385	3760	3326	3437	3215	0	0	0	0	0	0	15.13	14.75	15.15
4232	-0.94	-146.0	2385	3760	3437	3215	859.3	-11.4	376	4240	0.00	2.28	0.00	0.000	1030	0.000	0.099	2384	2495	3324	3437	3212	0	0	0	0	0	0	14.90	14.83	14.94
4598	-0.94	-146.0	2385	2496	3437	3216	897.2	-10.0	389	4599	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2496	3325	3437	3214	0	0	0	0	0	0	15.12	15.16	15.15
4957	-0.94	-146.0	2385	2496	3437	3216	931.9	-9.8	401	4964	0.00	2.42	0.00	0.000	260	0.000	0.152	2377	3757	3326	3437	3215	0	0	0	0	0	0	15.13	14.76	15.16
5003	-0.94	-146.0	2377	3758	3437	3216	936.5	-11.6	410	5010	0.00	2.28	0.00	0.000	1030	0.000	0.099	2377	2495	3326	3437	3215	0	0	0	0	0	0	14.88	14.81	14.92
5380	-0.94	-146.0	2377	2495	3438	3215	973.3	-9.8	425	5386	0.00	2.38	0.00	0.000	260	0.000	0.152	2368	3754	3326	3437	3215	0	0	0	0	0	0	15.09	14.76	15.11
5410	-0.94	-146.0	2368	3755	3437	3216	975.9	-6.1	431	5416	0.10	2.28	0.00	0.000	3110	0.271	0.098	2397	2491	3325	3436	3215	0	0	0	0	0	0	14.64	14.82	14.82
5500	end dive: BOTTOM_OBSTACLE_DETECTED
state	5500	begin apogee
5504	-0.23	0.0	2394	2191	3437	3215	983.7	-8.3	439	6013	0.85	0.00	506.30	1.213	10246	0.233	0.000	2626	2190	2715	2771	2660	0	0	0	0	0	0	14.69	13.76	13.24
6015	end apogee: CONTROL_FINISHED_OK
state	6015	begin climb
6016	0.94	146.0	2628	2191	2768	2658	983.0	0.0	456	6486	1.27	2.88	456.40	1.364	10756	0.135	0.126	3010	793	2116	2150	2082	0	0	0	0	0	0	13.72	13.59	13.09
6600	0.94	146.0	3010	794	2140	2074	907.1	17.1	569	6608	0.00	2.72	0.00	0.000	1030	0.000	0.112	3010	2208	2106	2138	2074	0	0	0	0	0	0	14.14	14.02	14.17
6967	0.94	146.0	3010	2209	2139	2069	853.4	14.7	582	6967	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2208	2102	2138	2067	0	0	0	0	0	0	14.73	14.76	14.75
7326	0.94	146.0	3010	2208	2139	2066	797.8	15.3	594	7332	0.00	2.67	0.00	0.000	260	0.000	0.143	3010	3616	2101	2137	2066	0	0	0	0	0	0	14.90	14.64	14.93
7366	0.94	146.0	3010	3615	2138	2066	790.4	17.3	602	7373	0.00	2.60	0.00	0.000	1030	0.000	0.101	3020	2203	2101	2137	2066	0	0	0	0	0	0	14.82	14.67	14.83
7748	0.94	146.0	3021	2200	2138	2065	732.2	14.8	618	7753	0.00	2.62	0.00	0.000	516	0.000	0.132	3032	783	2099	2134	2064	0	0	0	0	0	0	14.98	14.72	15.02
7797	0.94	146.0	3032	784	2137	2066	724.7	14.9	628	7806	0.10	2.65	0.00	0.000	5126	0.227	0.115	3004	2211	2100	2136	2064	0	0	0	0	0	0	14.66	14.73	14.78
8170	0.94	146.0	3004	2211	2137	2063	674.1	13.7	654	8177	0.00	2.67	0.00	0.000	260	0.000	0.145	3004	3610	2100	2136	2064	0	0	0	0	0	0	15.06	14.73	15.08
8195	0.94	146.0	3004	3610	2137	2064	670.3	15.4	659	8203	0.00	2.60	0.00	0.000	1030	0.000	0.102	3013	2188	2099	2136	2062	0	0	0	0	0	0	14.85	14.77	14.90
8501	0.94	146.0	3013	2188	2136	2064	625.9	14.7	690	8507	0.00	2.62	0.00	0.000	516	0.000	0.132	3023	788	2100	2137	2063	0	0	0	0	0	0	15.07	14.74	15.09
8537	0.94	146.0	3024	788	2137	2063	620.6	15.1	697	8544	0.00	2.58	0.00	0.000	1030	0.000	0.116	3024	2205	2099	2135	2063	0	0	0	0	0	0	14.92	14.78	14.95
8841	0.94	146.0	3024	2206	2136	2064	574.7	14.8	728	8841	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2205	2099	2136	2063	0	0	0	0	0	0	15.08	15.09	15.10
9141	0.94	146.0	3024	2205	2136	2062	531.6	14.7	758	9141	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2205	2098	2135	2062	0	0	0	0	0	0	15.09	15.11	15.11
9441	0.94	146.0	3024	2206	2136	2063	489.1	14.4	788	9441	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2205	2098	2135	2062	0	0	0	0	0	0	15.09	15.12	15.12
9741	0.94	146.0	3024	2205	2137	2061	446.3	13.9	818	9747	0.00	2.67	0.00	0.000	516	0.000	0.129	3034	780	2099	2136	2062	0	0	0	0	0	0	15.10	14.76	15.12
9806	0.94	146.0	3034	780	2136	2063	437.2	13.9	831	9813	0.10	2.62	0.00	0.000	5126	0.234	0.115	3006	2198	2098	2135	2062	0	0	0	0	0	0	14.70	14.78	14.84
10111	0.94	146.0	3006	2200	2136	2062	398.5	12.5	862	10117	0.00	2.67	0.00	0.000	260	0.000	0.146	3006	3621	2098	2135	2061	0	0	0	0	0	0	15.10	14.78	15.12
10151	0.94	146.0	3006	3621	2136	2061	393.0	14.0	870	10157	0.00	2.60	0.00	0.000	1030	0.000	0.103	3015	2197	2098	2135	2061	0	0	0	0	0	0	14.88	14.80	14.99
10341	end climb: SURFACE_OBSTACLE_DETECTED
state	10341	begin subsurface finish
10344	0.00	2.5	3016	2197	2135	2062	368.4	12.6	890	10353	1.10	0.00	-2.17	0.042	20486	0.213	0.000	2704	2194	2718	2829	2608	0	0	0	0	0	0	14.72	14.05	14.93
10354	end subsurface finish: CONTROL_FINISHED_OK
state	10354	begin surface