Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 138 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 138 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 25 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 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 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 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 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -3 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 0.15000001 PITCH_MIN 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 3 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 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 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 138 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 140218,074601,-7409.3896,-11211.2012,20,0.8,20,53.3,0.2,291.2,10,3.6 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME ip0

_XMS_NAKs 0 TGT_LATLONG -7409.000,-11211.520

_XMS_TOUTs 0 TGT_RADIUS 1500.000

_SM_DEPTHo 0.98 MHEAD_RNG_PITCHd_Wd 267.0,673,-43.6,-9.429,-45.00,352

_SM_ANGLEo -62.3 D_GRID 888

GPS2 140218,075228,-7409.3506,-11211.1719,2,0.8,3,53.3,0.2,0.0,10,9.5

Post-dive calculations and measurements:

FREEZE 0.25,-1.404,-1.862,2,1,0 ALTIM_BOTTOM_PING 847.1,15.8

FINISH 0.2,1.027308 _24V_AH 13.40,61.619

SM_CCo 11750,181.80,0.233,0,0,1355,350.04 _10V_AH 12.98,0.000

SM_GC 1.04,9.65,0.38,181.80,0.090,0.079,0.233,213,2318,1355,-8.02,-0.57,350.04,0,0,0,0,0,0,14.87,14.91,14.51 FG_AHR_24Vo 0.000

RAFOS_CLK 430 FG_AHR_10Vo 0.000

RAFOS 0,1518598866,9.032778,9.018333,124,63,61,59,58,55,514,223,197,181,206,163 MEM 280012

RAFOS_FIX -7409.737793,-11212.843750,140218,090940,3,94,0.22 DATA_FILE_SIZE 40009,1203

IRIDIUM_FIX -7411.64,-11215.94,140218,044035 CAP_FILE_SIZE 158015,0

TT8_MAMPS 0.038948,0.605941 CFSIZE 1024409600,1003585536

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1450.6

TCM_TEMP 12.10 CURRENT 0.041,153.18,1

XPDR_PINGS 0 GPS 140218,111254,-7409.222,-11213.105,34,0.8,34,53.3,0.2,287.1,12,3.4

ALTIM_TOP_PING 6.5,6.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 419 138.44 nil 0 0 0.00

Roll_motor 111 190 284.48 nil 0 0 0.00

VBD_pump_during_apogee 198 1575 4192.87 nil 0 0 0.00

VBD_pump_during_surface 181 232 566.54 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 11746 4 656.19

Iridium_during_xfer 280 187 703.34 nil 0 0 0.00

Transponder_ping 61 420 346.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 10 0.66

TT8 0 0 0.00

LPSleep 8779 2 263.23

TT8_Active 631 13 113.27

TT8_Sampling 2773 34 1252.30

TT8_CF8 143 52 98.28

TT8_Kalman 0 0 0.00

Analog_circuits 1786 10 252.82

GPS_charging 0 0 0.00

Compass 1717 7 167.00

RAFOS 720 1 14.02

Transponder 438 30 170.93

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

12.3 13.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.8 20.10 9000.00 0.0 0.00 0.00 20.10 0.0 1.03 1.00

25.6 27.20 27.10 0.0 1.04 1.00 27.20 0.0 1.04 1.00

32.5 34.80 34.70 0.0 1.07 1.00 34.80 0.0 1.10 1.00

39.4 41.60 41.70 0.0 1.05 1.00 41.60 0.0 0.99 1.00

47.0 49.50 49.50 0.0 1.02 1.00 49.50 0.0 1.04 1.00

74.0 78.00 78.00 0.0 1.05 1.00 78.00 0.0 1.06 1.00

826.2 38.70 9000.00 0.0 -0.03 0.48 38.70 864.9 -0.05 1.00

832.3 31.10 9000.00 0.0 -0.06 0.98 31.10 863.4 -1.25 1.00

840.4 26.00 25.40 865.8 -0.88 0.97 26.00 866.4 -0.63 1.00

847.1 14.30 15.80 862.9 -1.12 0.93 14.30 861.4 -1.75 1.00

847.6 16.70 9000.00 0.0 -1.50 0.94 0.00 0.0 0.00 0.00

150.6 157.50 9000.00 0.0 -0.20 1.00 157.50 0.0 -0.20 1.00

104.7 108.70 9000.00 0.0 -0.16 0.85 108.70 -4.0 1.06 1.00

91.9 94.90 95.00 -3.1 1.07 1.00 94.90 -3.0 1.08 1.00

85.3 88.80 88.60 -3.3 1.03 1.00 88.80 -3.5 0.92 1.00

78.6 81.50 81.60 -3.0 1.01 1.00 81.50 -2.9 1.09 1.00

65.3 68.90 68.80 -3.5 0.99 1.00 68.90 -3.6 0.95 1.00

58.9 60.40 61.10 -2.2 1.05 0.99 60.40 -1.5 1.33 1.00

52.4 54.50 54.00 -1.6 1.12 0.99 54.50 -2.1 0.91 1.00

45.9 47.70 47.80 -1.9 0.98 1.00 47.70 -1.8 1.05 1.00

39.8 40.80 40.90 -1.1 1.08 1.00 40.80 -1.0 1.13 1.00

33.6 34.70 34.50 -0.9 1.06 1.00 34.70 -1.1 0.98 1.00

27.1 27.60 27.60 -0.5 1.04 1.00 27.60 -0.5 1.09 1.00

20.7 20.90 20.90 -0.2 1.06 1.00 20.90 -0.2 1.05 1.00

13.8 13.80 13.80 0.0 1.03 1.00 13.80 -0.0 1.03 1.00

6.5 6.00 6.10 0.4 1.06 1.00 6.00 0.5 1.07 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 -2.01 -21.5 212 2312 1372 1307 0.0 0.0 0 102 0.00 0.00 -89.78 0.002 16390 0.000 0.000 213 2311 2870 2860 2881 0 0 0 0 0 0 14.79 13.40 14.83

103 -2.04 -50.0 211 2312 2859 2882 1.8 -1.1 9 127 9.27 2.62 -5.32 0.018 18980 0.420 0.105 2137 890 2987 2993 2982 0 0 0 0 0 0 14.32 13.43 14.66

350 -2.04 -50.0 2138 890 2996 2983 44.2 -19.2 58 358 0.00 2.58 0.00 0.000 1030 0.000 0.079 2128 2299 2988 2994 2982 0 0 0 0 0 0 14.70 14.64 14.75

656 -2.04 -50.0 2130 2300 2997 2982 107.6 -21.1 89 662 0.00 2.55 0.00 0.000 516 0.000 0.081 2128 895 2988 2995 2981 0 0 0 0 0 0 14.98 14.68 15.00

888 -2.04 -50.0 2128 896 2995 2981 156.1 -20.8 135 893 0.00 2.53 0.00 0.000 1030 0.000 0.075 2118 2316 2987 2995 2980 0 0 0 0 0 0 14.85 14.74 14.88

1197 -2.04 -50.0 2117 2317 2995 2980 219.6 -20.5 167 1203 0.00 2.58 0.00 0.000 516 0.000 0.080 2118 891 2987 2995 2979 0 0 0 0 0 0 15.03 14.72 15.06

1352 -2.04 -50.0 2118 891 2998 2979 251.2 -20.5 198 1359 0.15 2.55 0.00 0.000 3078 0.362 0.075 2139 2305 2987 2996 2979 0 0 0 0 0 0 14.48 14.73 14.69

1658 -2.04 -50.0 2140 2305 2998 2979 309.1 -18.5 227 1663 0.00 2.50 0.00 0.000 516 0.000 0.079 2139 891 2987 2996 2978 0 0 0 0 0 0 15.02 14.74 15.04

1717 -2.04 -50.0 2139 892 2996 2979 320.0 -17.9 239 1723 0.00 2.55 0.00 0.000 1030 0.000 0.076 2130 2308 2987 2996 2978 0 0 0 0 0 0 14.84 14.77 14.88

2037 -2.04 -50.0 2130 2309 2996 2979 376.4 -18.0 258 2043 0.00 2.55 0.00 0.000 516 0.000 0.079 2131 890 2987 2996 2978 0 0 0 0 0 0 15.07 14.75 15.10

2267 -2.04 -50.0 2131 890 2996 2984 416.0 -16.2 304 2273 0.00 2.55 0.00 0.000 1030 0.000 0.074 2120 2309 2987 2996 2978 0 0 0 0 0 0 14.85 14.78 14.88

2577 -2.04 -50.0 2122 2310 2998 2978 466.1 -15.5 321 2584 0.00 2.55 0.00 0.000 516 0.000 0.080 2120 892 2987 2996 2978 0 0 0 0 0 0 15.08 14.77 15.10

2783 -2.04 -50.0 2120 892 2995 2978 498.2 -15.5 362 2789 0.17 2.53 0.00 0.000 3078 0.385 0.075 2140 2328 2986 2996 2977 0 0 0 0 0 0 14.48 14.74 14.81

3099 -2.04 -50.0 2139 2329 2996 2979 542.4 -13.2 375 3104 0.00 2.55 0.00 0.000 516 0.000 0.080 2140 884 2987 2997 2977 0 0 0 0 0 0 15.06 14.80 15.08

3243 -2.04 -50.0 2140 884 2996 2977 561.9 -13.1 404 3250 0.00 2.55 0.00 0.000 1030 0.000 0.076 2132 2306 2986 2996 2977 0 0 0 0 0 0 14.86 14.80 14.90

3610 -2.04 -50.0 2133 2307 2999 2978 609.7 -13.1 417 3616 0.00 2.55 0.00 0.000 260 0.000 0.104 2121 3725 2985 2997 2974 0 0 0 0 0 0 15.07 14.79 15.10

3700 -2.04 -50.0 2122 3730 2999 2978 623.0 -14.6 435 3706 0.00 2.42 0.00 0.000 1030 0.000 0.047 2121 2288 2987 2997 2977 0 0 0 0 0 0 14.96 14.88 14.98

4091 -2.04 -50.0 2121 2288 2997 2977 672.6 -11.4 453 4097 0.00 2.45 0.00 0.000 516 0.000 0.079 2121 889 2987 2998 2976 0 0 0 0 0 0 15.11 14.81 15.14

4321 -2.04 -50.0 2122 890 3000 2977 699.6 -12.4 499 4327 0.17 2.50 0.00 0.000 3078 0.380 0.073 2141 2316 2987 2998 2977 0 0 0 0 0 0 14.52 14.82 14.85

4692 -2.04 -50.0 2142 2317 3000 2977 737.7 -9.4 513 4698 0.00 2.50 0.00 0.000 516 0.000 0.076 2141 898 2987 2998 2976 0 0 0 0 0 0 15.07 14.80 15.09

4922 -2.04 -50.0 2142 898 2999 2977 761.8 -10.9 559 4928 0.00 2.50 0.00 0.000 1030 0.000 0.073 2133 2298 2987 2998 2976 0 0 0 0 0 0 14.86 14.80 14.90

5292 -2.04 -50.0 2133 2299 2999 2977 800.8 -10.0 573 5300 0.00 2.50 0.00 0.000 516 0.000 0.076 2133 901 2987 2999 2976 0 0 0 0 0 0 15.11 14.78 15.14

5524 -2.04 -50.0 2132 901 2998 2977 822.3 -9.5 619 5530 0.00 2.50 0.00 0.000 1030 0.000 0.072 2122 2304 2987 2999 2976 0 0 0 0 0 0 14.86 14.80 14.90

5834 end dive: BOTTOM_OBSTACLE_DETECTED

state 5834 begin apogee

5838 -0.23 0.0 2122 2073 3000 2977 853.7 -11.4 631 5944 2.40 0.08 102.20 1.575 10246 0.309 0.190 2725 2111 2785 2809 2761 0 0 0 0 0 0 14.57 14.24 13.76

5945 end apogee: CONTROL_FINISHED_OK

state 5945 begin climb

5947 2.04 50.0 2726 2112 2806 2758 854.2 0.0 634 6057 2.38 2.67 96.45 1.566 10500 0.140 0.093 3452 3496 2572 2597 2548 0 0 0 0 0 0 14.26 14.00 13.52

6281 2.04 50.0 3452 3496 2587 2542 790.4 22.6 699 6288 0.00 2.42 0.00 0.000 1030 0.000 0.046 3463 2121 2564 2587 2541 0 0 0 0 0 0 14.45 14.39 14.47

6646 2.04 50.0 3464 2122 2588 2538 717.4 19.2 712 6653 0.00 2.60 0.00 0.000 516 0.000 0.087 3473 705 2561 2586 2537 0 0 0 0 0 0 14.85 14.58 14.88

6733 2.04 50.0 3473 701 2585 2538 701.4 18.4 729 6740 0.00 2.45 0.00 0.000 1030 0.000 0.063 3473 2102 2562 2586 2538 0 0 0 0 0 0 14.75 14.66 14.78

7098 2.04 50.0 3473 2104 2585 2537 634.5 18.9 742 7104 0.00 2.53 0.00 0.000 516 0.000 0.086 3484 693 2560 2585 2536 0 0 0 0 0 0 14.97 14.71 15.00

7143 2.04 50.0 3485 694 2587 2537 626.1 17.4 751 7149 0.00 2.50 0.00 0.000 1030 0.000 0.063 3484 2108 2561 2585 2537 0 0 0 0 0 0 14.80 14.73 14.82

7518 2.04 50.0 3483 2108 2583 2537 553.8 19.9 766 7526 0.00 2.53 0.00 0.000 260 0.000 0.095 3484 3505 2559 2583 2536 0 0 0 0 0 0 15.05 14.75 15.07

7670 2.04 50.0 3485 3506 2584 2537 522.8 19.8 796 7676 0.15 2.40 0.00 0.000 5126 0.380 0.046 3463 2102 2559 2582 2536 0 0 0 0 0 0 14.52 14.83 14.73

8041 2.04 50.0 3462 2101 2581 2536 460.3 15.9 817 8042 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2101 2559 2582 2536 0 0 0 0 0 0 15.03 15.07 15.07

8340 2.04 50.0 3464 2102 2584 2536 412.7 15.5 832 8346 0.00 2.53 0.00 0.000 516 0.000 0.089 3471 696 2558 2582 2535 0 0 0 0 0 0 15.09 14.76 15.12

8350 2.04 50.0 3471 697 2582 2536 411.2 15.8 834 8356 0.00 2.47 0.00 0.000 1030 0.000 0.064 3472 2109 2558 2582 2535 0 0 0 0 0 0 14.88 14.86 14.92

8660 2.04 50.0 3471 2109 2582 2536 364.1 14.5 851 8666 0.00 2.53 0.00 0.000 260 0.000 0.095 3472 3509 2558 2582 2535 0 0 0 0 0 0 15.11 14.81 15.13

8680 2.04 50.0 3473 3509 2583 2536 361.2 14.3 855 8687 0.00 2.40 0.00 0.000 1030 0.000 0.047 3482 2100 2558 2581 2535 0 0 0 0 0 0 14.91 14.85 14.94

9001 2.04 50.0 3483 2100 2583 2536 317.0 13.7 874 9007 0.00 2.53 0.00 0.000 516 0.000 0.086 3492 696 2558 2581 2535 0 0 0 0 0 0 15.11 14.80 15.14

9232 2.04 50.0 3492 696 2581 2536 284.5 13.6 920 9238 0.12 2.47 0.00 0.000 5126 0.373 0.061 3459 2111 2558 2581 2535 0 0 0 0 0 0 14.57 14.85 14.90

9542 2.04 50.0 3459 2111 2580 2535 245.0 12.6 952 9548 0.00 2.53 0.00 0.000 516 0.000 0.087 3468 688 2559 2584 2534 0 0 0 0 0 0 15.11 14.83 15.14

9622 2.04 50.0 3469 689 2583 2535 234.9 12.5 968 9628 0.00 2.47 0.00 0.000 1030 0.000 0.063 3468 2103 2557 2581 2534 0 0 0 0 0 0 14.90 14.84 14.92

9932 2.04 50.0 3465 2104 2582 2535 198.1 11.7 1000 9932 0.00 0.00 0.00 0.000 6 0.000 0.000 3468 2103 2557 2581 2534 0 0 0 0 0 0 15.12 15.15 15.14

10232 2.04 50.0 3468 2104 2581 2535 164.1 11.4 1030 10239 0.00 2.55 0.00 0.000 516 0.000 0.087 3478 693 2557 2581 2534 0 0 0 0 0 0 15.12 14.80 15.15

10273 2.04 50.0 3482 694 2583 2533 159.4 11.3 1038 10279 0.00 2.47 0.00 0.000 1030 0.000 0.064 3478 2108 2557 2581 2534 0 0 0 0 0 0 14.90 14.84 14.94

10583 2.04 50.0 3478 2109 2580 2534 125.5 11.0 1070 10589 0.00 2.53 0.00 0.000 260 0.000 0.096 3478 3505 2557 2580 2534 0 0 0 0 0 0 15.12 14.79 15.14

10633 2.04 50.0 3478 3505 2579 2535 119.7 11.7 1080 10639 0.12 2.40 0.00 0.000 5126 0.386 0.047 3463 2095 2557 2580 2534 0 0 0 0 0 0 14.53 14.87 14.76

10943 2.04 50.0 3463 2096 2580 2535 86.4 10.9 1112 10944 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2095 2557 2580 2534 0 0 0 0 0 0 15.11 15.14 15.14

11243 2.04 50.0 3464 2096 2582 2541 53.5 10.9 1142 11249 0.00 2.58 0.00 0.000 260 0.000 0.095 3463 3536 2556 2580 2533 0 0 0 0 0 0 15.11 14.81 15.14

11353 2.04 50.0 3462 3533 2580 2534 40.8 11.0 1164 11359 0.00 2.45 0.00 0.000 1030 0.000 0.046 3471 2098 2557 2580 2534 0 0 0 0 0 0 14.90 14.86 14.94

11663 2.04 50.0 3472 2098 2581 2533 7.8 12.0 1196 11664 0.00 0.00 0.00 0.000 6 0.000 0.000 3471 2098 2556 2580 2533 0 0 0 0 0 0 15.11 15.14 15.14

11722 end climb: SURFACE_DEPTH_REACHED

state 11722 begin surface coast

11733 end surface coast: CONTROL_FINISHED_OK

state 11734 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	138	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	25	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	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	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	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	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-3	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	0.15000001	PITCH_MIN	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	140218,074601,-7409.3896,-11211.2012,20,0.8,20,53.3,0.2,291.2,10,3.6	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	ip0
_XMS_NAKs	0	TGT_LATLONG	-7409.000,-11211.520
_XMS_TOUTs	0	TGT_RADIUS	1500.000
_SM_DEPTHo	0.98	MHEAD_RNG_PITCHd_Wd	267.0,673,-43.6,-9.429,-45.00,352
_SM_ANGLEo	-62.3	D_GRID	888
GPS2	140218,075228,-7409.3506,-11211.1719,2,0.8,3,53.3,0.2,0.0,10,9.5

FREEZE	0.25,-1.404,-1.862,2,1,0	ALTIM_BOTTOM_PING	847.1,15.8
FINISH	0.2,1.027308	_24V_AH	13.40,61.619
SM_CCo	11750,181.80,0.233,0,0,1355,350.04	_10V_AH	12.98,0.000
SM_GC	1.04,9.65,0.38,181.80,0.090,0.079,0.233,213,2318,1355,-8.02,-0.57,350.04,0,0,0,0,0,0,14.87,14.91,14.51	FG_AHR_24Vo	0.000
RAFOS_CLK	430	FG_AHR_10Vo	0.000
RAFOS	0,1518598866,9.032778,9.018333,124,63,61,59,58,55,514,223,197,181,206,163	MEM	280012
RAFOS_FIX	-7409.737793,-11212.843750,140218,090940,3,94,0.22	DATA_FILE_SIZE	40009,1203
IRIDIUM_FIX	-7411.64,-11215.94,140218,044035	CAP_FILE_SIZE	158015,0
TT8_MAMPS	0.038948,0.605941	CFSIZE	1024409600,1003585536
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1450.6
TCM_TEMP	12.10	CURRENT	0.041,153.18,1
XPDR_PINGS	0	GPS	140218,111254,-7409.222,-11213.105,34,0.8,34,53.3,0.2,287.1,12,3.4
ALTIM_TOP_PING	6.5,6.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	419	138.44	nil	0	0	0.00
Roll_motor	111	190	284.48	nil	0	0	0.00
VBD_pump_during_apogee	198	1575	4192.87	nil	0	0	0.00
VBD_pump_during_surface	181	232	566.54	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	11746	4	656.19
Iridium_during_xfer	280	187	703.34	nil	0	0	0.00
Transponder_ping	61	420	346.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	10	0.66
TT8	0	0	0.00
LPSleep	8779	2	263.23
TT8_Active	631	13	113.27
TT8_Sampling	2773	34	1252.30
TT8_CF8	143	52	98.28
TT8_Kalman	0	0	0.00
Analog_circuits	1786	10	252.82
GPS_charging	0	0	0.00
Compass	1717	7	167.00
RAFOS	720	1	14.02
Transponder	438	30	170.93

		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
12.3	13.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.8	20.10	9000.00	0.0	0.00	0.00	20.10	0.0	1.03	1.00
25.6	27.20	27.10	0.0	1.04	1.00	27.20	0.0	1.04	1.00
32.5	34.80	34.70	0.0	1.07	1.00	34.80	0.0	1.10	1.00
39.4	41.60	41.70	0.0	1.05	1.00	41.60	0.0	0.99	1.00
47.0	49.50	49.50	0.0	1.02	1.00	49.50	0.0	1.04	1.00
74.0	78.00	78.00	0.0	1.05	1.00	78.00	0.0	1.06	1.00
826.2	38.70	9000.00	0.0	-0.03	0.48	38.70	864.9	-0.05	1.00
832.3	31.10	9000.00	0.0	-0.06	0.98	31.10	863.4	-1.25	1.00
840.4	26.00	25.40	865.8	-0.88	0.97	26.00	866.4	-0.63	1.00
847.1	14.30	15.80	862.9	-1.12	0.93	14.30	861.4	-1.75	1.00

847.6	16.70	9000.00	0.0	-1.50	0.94	0.00	0.0	0.00	0.00
150.6	157.50	9000.00	0.0	-0.20	1.00	157.50	0.0	-0.20	1.00
104.7	108.70	9000.00	0.0	-0.16	0.85	108.70	-4.0	1.06	1.00
91.9	94.90	95.00	-3.1	1.07	1.00	94.90	-3.0	1.08	1.00
85.3	88.80	88.60	-3.3	1.03	1.00	88.80	-3.5	0.92	1.00
78.6	81.50	81.60	-3.0	1.01	1.00	81.50	-2.9	1.09	1.00
65.3	68.90	68.80	-3.5	0.99	1.00	68.90	-3.6	0.95	1.00
58.9	60.40	61.10	-2.2	1.05	0.99	60.40	-1.5	1.33	1.00
52.4	54.50	54.00	-1.6	1.12	0.99	54.50	-2.1	0.91	1.00
45.9	47.70	47.80	-1.9	0.98	1.00	47.70	-1.8	1.05	1.00
39.8	40.80	40.90	-1.1	1.08	1.00	40.80	-1.0	1.13	1.00
33.6	34.70	34.50	-0.9	1.06	1.00	34.70	-1.1	0.98	1.00
27.1	27.60	27.60	-0.5	1.04	1.00	27.60	-0.5	1.09	1.00
20.7	20.90	20.90	-0.2	1.06	1.00	20.90	-0.2	1.05	1.00
13.8	13.80	13.80	0.0	1.03	1.00	13.80	-0.0	1.03	1.00
6.5	6.00	6.10	0.4	1.06	1.00	6.00	0.5	1.07	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	-2.01	-21.5	212	2312	1372	1307	0.0	0.0	0	102	0.00	0.00	-89.78	0.002	16390	0.000	0.000	213	2311	2870	2860	2881	0	0	0	0	0	0	14.79	13.40	14.83
103	-2.04	-50.0	211	2312	2859	2882	1.8	-1.1	9	127	9.27	2.62	-5.32	0.018	18980	0.420	0.105	2137	890	2987	2993	2982	0	0	0	0	0	0	14.32	13.43	14.66
350	-2.04	-50.0	2138	890	2996	2983	44.2	-19.2	58	358	0.00	2.58	0.00	0.000	1030	0.000	0.079	2128	2299	2988	2994	2982	0	0	0	0	0	0	14.70	14.64	14.75
656	-2.04	-50.0	2130	2300	2997	2982	107.6	-21.1	89	662	0.00	2.55	0.00	0.000	516	0.000	0.081	2128	895	2988	2995	2981	0	0	0	0	0	0	14.98	14.68	15.00
888	-2.04	-50.0	2128	896	2995	2981	156.1	-20.8	135	893	0.00	2.53	0.00	0.000	1030	0.000	0.075	2118	2316	2987	2995	2980	0	0	0	0	0	0	14.85	14.74	14.88
1197	-2.04	-50.0	2117	2317	2995	2980	219.6	-20.5	167	1203	0.00	2.58	0.00	0.000	516	0.000	0.080	2118	891	2987	2995	2979	0	0	0	0	0	0	15.03	14.72	15.06
1352	-2.04	-50.0	2118	891	2998	2979	251.2	-20.5	198	1359	0.15	2.55	0.00	0.000	3078	0.362	0.075	2139	2305	2987	2996	2979	0	0	0	0	0	0	14.48	14.73	14.69
1658	-2.04	-50.0	2140	2305	2998	2979	309.1	-18.5	227	1663	0.00	2.50	0.00	0.000	516	0.000	0.079	2139	891	2987	2996	2978	0	0	0	0	0	0	15.02	14.74	15.04
1717	-2.04	-50.0	2139	892	2996	2979	320.0	-17.9	239	1723	0.00	2.55	0.00	0.000	1030	0.000	0.076	2130	2308	2987	2996	2978	0	0	0	0	0	0	14.84	14.77	14.88
2037	-2.04	-50.0	2130	2309	2996	2979	376.4	-18.0	258	2043	0.00	2.55	0.00	0.000	516	0.000	0.079	2131	890	2987	2996	2978	0	0	0	0	0	0	15.07	14.75	15.10
2267	-2.04	-50.0	2131	890	2996	2984	416.0	-16.2	304	2273	0.00	2.55	0.00	0.000	1030	0.000	0.074	2120	2309	2987	2996	2978	0	0	0	0	0	0	14.85	14.78	14.88
2577	-2.04	-50.0	2122	2310	2998	2978	466.1	-15.5	321	2584	0.00	2.55	0.00	0.000	516	0.000	0.080	2120	892	2987	2996	2978	0	0	0	0	0	0	15.08	14.77	15.10
2783	-2.04	-50.0	2120	892	2995	2978	498.2	-15.5	362	2789	0.17	2.53	0.00	0.000	3078	0.385	0.075	2140	2328	2986	2996	2977	0	0	0	0	0	0	14.48	14.74	14.81
3099	-2.04	-50.0	2139	2329	2996	2979	542.4	-13.2	375	3104	0.00	2.55	0.00	0.000	516	0.000	0.080	2140	884	2987	2997	2977	0	0	0	0	0	0	15.06	14.80	15.08
3243	-2.04	-50.0	2140	884	2996	2977	561.9	-13.1	404	3250	0.00	2.55	0.00	0.000	1030	0.000	0.076	2132	2306	2986	2996	2977	0	0	0	0	0	0	14.86	14.80	14.90
3610	-2.04	-50.0	2133	2307	2999	2978	609.7	-13.1	417	3616	0.00	2.55	0.00	0.000	260	0.000	0.104	2121	3725	2985	2997	2974	0	0	0	0	0	0	15.07	14.79	15.10
3700	-2.04	-50.0	2122	3730	2999	2978	623.0	-14.6	435	3706	0.00	2.42	0.00	0.000	1030	0.000	0.047	2121	2288	2987	2997	2977	0	0	0	0	0	0	14.96	14.88	14.98
4091	-2.04	-50.0	2121	2288	2997	2977	672.6	-11.4	453	4097	0.00	2.45	0.00	0.000	516	0.000	0.079	2121	889	2987	2998	2976	0	0	0	0	0	0	15.11	14.81	15.14
4321	-2.04	-50.0	2122	890	3000	2977	699.6	-12.4	499	4327	0.17	2.50	0.00	0.000	3078	0.380	0.073	2141	2316	2987	2998	2977	0	0	0	0	0	0	14.52	14.82	14.85
4692	-2.04	-50.0	2142	2317	3000	2977	737.7	-9.4	513	4698	0.00	2.50	0.00	0.000	516	0.000	0.076	2141	898	2987	2998	2976	0	0	0	0	0	0	15.07	14.80	15.09
4922	-2.04	-50.0	2142	898	2999	2977	761.8	-10.9	559	4928	0.00	2.50	0.00	0.000	1030	0.000	0.073	2133	2298	2987	2998	2976	0	0	0	0	0	0	14.86	14.80	14.90
5292	-2.04	-50.0	2133	2299	2999	2977	800.8	-10.0	573	5300	0.00	2.50	0.00	0.000	516	0.000	0.076	2133	901	2987	2999	2976	0	0	0	0	0	0	15.11	14.78	15.14
5524	-2.04	-50.0	2132	901	2998	2977	822.3	-9.5	619	5530	0.00	2.50	0.00	0.000	1030	0.000	0.072	2122	2304	2987	2999	2976	0	0	0	0	0	0	14.86	14.80	14.90
5834	end dive: BOTTOM_OBSTACLE_DETECTED
state	5834	begin apogee
5838	-0.23	0.0	2122	2073	3000	2977	853.7	-11.4	631	5944	2.40	0.08	102.20	1.575	10246	0.309	0.190	2725	2111	2785	2809	2761	0	0	0	0	0	0	14.57	14.24	13.76
5945	end apogee: CONTROL_FINISHED_OK
state	5945	begin climb
5947	2.04	50.0	2726	2112	2806	2758	854.2	0.0	634	6057	2.38	2.67	96.45	1.566	10500	0.140	0.093	3452	3496	2572	2597	2548	0	0	0	0	0	0	14.26	14.00	13.52
6281	2.04	50.0	3452	3496	2587	2542	790.4	22.6	699	6288	0.00	2.42	0.00	0.000	1030	0.000	0.046	3463	2121	2564	2587	2541	0	0	0	0	0	0	14.45	14.39	14.47
6646	2.04	50.0	3464	2122	2588	2538	717.4	19.2	712	6653	0.00	2.60	0.00	0.000	516	0.000	0.087	3473	705	2561	2586	2537	0	0	0	0	0	0	14.85	14.58	14.88
6733	2.04	50.0	3473	701	2585	2538	701.4	18.4	729	6740	0.00	2.45	0.00	0.000	1030	0.000	0.063	3473	2102	2562	2586	2538	0	0	0	0	0	0	14.75	14.66	14.78
7098	2.04	50.0	3473	2104	2585	2537	634.5	18.9	742	7104	0.00	2.53	0.00	0.000	516	0.000	0.086	3484	693	2560	2585	2536	0	0	0	0	0	0	14.97	14.71	15.00
7143	2.04	50.0	3485	694	2587	2537	626.1	17.4	751	7149	0.00	2.50	0.00	0.000	1030	0.000	0.063	3484	2108	2561	2585	2537	0	0	0	0	0	0	14.80	14.73	14.82
7518	2.04	50.0	3483	2108	2583	2537	553.8	19.9	766	7526	0.00	2.53	0.00	0.000	260	0.000	0.095	3484	3505	2559	2583	2536	0	0	0	0	0	0	15.05	14.75	15.07
7670	2.04	50.0	3485	3506	2584	2537	522.8	19.8	796	7676	0.15	2.40	0.00	0.000	5126	0.380	0.046	3463	2102	2559	2582	2536	0	0	0	0	0	0	14.52	14.83	14.73
8041	2.04	50.0	3462	2101	2581	2536	460.3	15.9	817	8042	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2101	2559	2582	2536	0	0	0	0	0	0	15.03	15.07	15.07
8340	2.04	50.0	3464	2102	2584	2536	412.7	15.5	832	8346	0.00	2.53	0.00	0.000	516	0.000	0.089	3471	696	2558	2582	2535	0	0	0	0	0	0	15.09	14.76	15.12
8350	2.04	50.0	3471	697	2582	2536	411.2	15.8	834	8356	0.00	2.47	0.00	0.000	1030	0.000	0.064	3472	2109	2558	2582	2535	0	0	0	0	0	0	14.88	14.86	14.92
8660	2.04	50.0	3471	2109	2582	2536	364.1	14.5	851	8666	0.00	2.53	0.00	0.000	260	0.000	0.095	3472	3509	2558	2582	2535	0	0	0	0	0	0	15.11	14.81	15.13
8680	2.04	50.0	3473	3509	2583	2536	361.2	14.3	855	8687	0.00	2.40	0.00	0.000	1030	0.000	0.047	3482	2100	2558	2581	2535	0	0	0	0	0	0	14.91	14.85	14.94
9001	2.04	50.0	3483	2100	2583	2536	317.0	13.7	874	9007	0.00	2.53	0.00	0.000	516	0.000	0.086	3492	696	2558	2581	2535	0	0	0	0	0	0	15.11	14.80	15.14
9232	2.04	50.0	3492	696	2581	2536	284.5	13.6	920	9238	0.12	2.47	0.00	0.000	5126	0.373	0.061	3459	2111	2558	2581	2535	0	0	0	0	0	0	14.57	14.85	14.90
9542	2.04	50.0	3459	2111	2580	2535	245.0	12.6	952	9548	0.00	2.53	0.00	0.000	516	0.000	0.087	3468	688	2559	2584	2534	0	0	0	0	0	0	15.11	14.83	15.14
9622	2.04	50.0	3469	689	2583	2535	234.9	12.5	968	9628	0.00	2.47	0.00	0.000	1030	0.000	0.063	3468	2103	2557	2581	2534	0	0	0	0	0	0	14.90	14.84	14.92
9932	2.04	50.0	3465	2104	2582	2535	198.1	11.7	1000	9932	0.00	0.00	0.00	0.000	6	0.000	0.000	3468	2103	2557	2581	2534	0	0	0	0	0	0	15.12	15.15	15.14
10232	2.04	50.0	3468	2104	2581	2535	164.1	11.4	1030	10239	0.00	2.55	0.00	0.000	516	0.000	0.087	3478	693	2557	2581	2534	0	0	0	0	0	0	15.12	14.80	15.15
10273	2.04	50.0	3482	694	2583	2533	159.4	11.3	1038	10279	0.00	2.47	0.00	0.000	1030	0.000	0.064	3478	2108	2557	2581	2534	0	0	0	0	0	0	14.90	14.84	14.94
10583	2.04	50.0	3478	2109	2580	2534	125.5	11.0	1070	10589	0.00	2.53	0.00	0.000	260	0.000	0.096	3478	3505	2557	2580	2534	0	0	0	0	0	0	15.12	14.79	15.14
10633	2.04	50.0	3478	3505	2579	2535	119.7	11.7	1080	10639	0.12	2.40	0.00	0.000	5126	0.386	0.047	3463	2095	2557	2580	2534	0	0	0	0	0	0	14.53	14.87	14.76
10943	2.04	50.0	3463	2096	2580	2535	86.4	10.9	1112	10944	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2095	2557	2580	2534	0	0	0	0	0	0	15.11	15.14	15.14
11243	2.04	50.0	3464	2096	2582	2541	53.5	10.9	1142	11249	0.00	2.58	0.00	0.000	260	0.000	0.095	3463	3536	2556	2580	2533	0	0	0	0	0	0	15.11	14.81	15.14
11353	2.04	50.0	3462	3533	2580	2534	40.8	11.0	1164	11359	0.00	2.45	0.00	0.000	1030	0.000	0.046	3471	2098	2557	2580	2534	0	0	0	0	0	0	14.90	14.86	14.94
11663	2.04	50.0	3472	2098	2581	2533	7.8	12.0	1196	11664	0.00	0.00	0.00	0.000	6	0.000	0.000	3471	2098	2556	2580	2533	0	0	0	0	0	0	15.11	15.14	15.14
11722	end climb: SURFACE_DEPTH_REACHED
state	11722	begin surface coast
11733	end surface coast: CONTROL_FINISHED_OK
state	11734	begin surface