Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 738 * 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 738 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 48 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 49

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 49 SEABIRD_T_I 2.6320724e-05

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

ALTIM_FREQUENCY 13 EXEC_N 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 738 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 48 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 26 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 251218,073031,-7404.1187,-11224.7119,45,1.0,50,53.2,0.5,231.0,8,6.8 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold2

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.38 MHEAD_RNG_PITCHd_Wd 301.5,256,-43.9,-10.000,-45.00,342

_SM_ANGLEo -56.4 D_GRID 990

GPS2 251218,073755,-7404.1353,-11224.8975,3,0.9,4,53.2,0.3,180.4,12,9.5

Post-dive calculations and measurements:

FREEZE -0.38,-0.211,-1.867,2,1,0 ALTIM_BOTTOM_PING 845.2,12.8

FINISH -0.4,1.027347 _24V_AH 11.37,232.435

SM_CCo 10981,208.98,0.218,0,0,1899,399.91 _10V_AH 11.76,0.000

SM_GC 0.33,9.77,0.47,208.98,0.076,0.086,0.218,180,2813,1899,-8.04,-0.37,399.91,0,0,0,0,0,0,14.35,14.33,14.17 FG_AHR_24Vo 0.000

RAFOS_CLK 450 FG_AHR_10Vo 0.000

RAFOS 0,1545728477,9.032354,9.021389,146,67,57,57,55,53,501,200,151,168,214,122 MEM 279600

RAFOS_FIX -7403.937012,-11224.650391,251218,090940,3,130,0.07 DATA_FILE_SIZE 26737,800

IRIDIUM_FIX -7401.04,-11225.78,251218,041332 CAP_FILE_SIZE 126246,0

TT8_MAMPS 0.039697,0.182007 CFSIZE 1024409600,932626432

HUMID 48.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1449.5

TCM_TEMP 13.00 CURRENT 0.025,303.00,1

XPDR_PINGS 1 GPS 251218,104608,-7403.040,-11225.188,30,1.3,30,53.2,0.6,242.1,7,10.0

ALTIM_TOP_PING 10.2,10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 429 123.45 nil 0 0 0.00

Roll_motor 73 104 88.15 nil 0 0 0.00

VBD_pump_during_apogee 190 3087 6695.46 nil 0 0 0.00

VBD_pump_during_surface 208 218 518.04 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 10970 3 428.82

Iridium_during_xfer 245 197 549.80 nil 0 0 0.00

Transponder_ping 56 420 268.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.67

TT8 0 0 0.00

LPSleep 8620 2 234.18

TT8_Active 608 10 77.81

TT8_Sampling 2004 30 715.47

TT8_CF8 405 51 244.55

TT8_Kalman 0 0 0.00

Analog_circuits 1461 10 173.59

GPS_charging 0 0 0.00

Compass 1148 6 91.02

RAFOS 720 1 12.70

Transponder 410 30 144.78

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

12.5 14.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.2 27.10 9000.00 0.0 0.00 0.00 27.10 0.0 0.99 1.00

31.6 34.00 33.80 0.0 1.01 1.00 34.00 0.0 1.08 1.00

38.1 40.40 40.50 0.0 1.03 1.00 40.40 0.0 0.98 1.00

45.3 48.60 48.40 0.0 1.07 1.00 48.60 0.0 1.14 1.00

822.3 36.60 9000.00 0.0 -0.01 0.55 36.60 858.9 -0.02 1.00

829.0 29.90 9000.00 0.0 -0.02 0.88 29.90 858.9 -1.00 1.00

837.2 20.90 21.00 858.2 -1.06 1.00 20.90 858.1 -1.10 1.00

845.2 12.90 12.80 858.0 -1.04 1.00 12.90 858.1 -1.00 1.00

849.7 10.60 10.10 859.8 -0.84 0.98 10.60 860.3 -0.51 1.00

834.7 26.40 26.00 0.0 -1.09 0.98 26.40 0.0 -1.05 1.00

115.1 121.30 9000.00 0.0 -0.14 0.99 121.30 0.0 -0.13 1.00

101.1 105.20 9000.00 0.0 -0.12 0.97 105.20 -4.1 1.15 1.00

94.2 97.90 97.70 -3.5 1.12 1.00 97.90 -3.7 1.06 1.00

73.4 77.20 77.10 -3.7 1.01 1.00 77.20 -3.8 1.00 1.00

66.4 69.00 69.40 -3.0 1.03 1.00 69.00 -2.6 1.17 1.00

59.5 61.60 61.40 -1.9 1.12 1.00 61.60 -2.1 1.07 1.00

52.6 54.40 54.40 -1.8 1.05 1.00 54.40 -1.8 1.04 1.00

45.6 47.00 47.00 -1.4 1.05 1.00 47.00 -1.4 1.06 1.00

38.6 40.30 40.20 -1.6 1.01 1.00 40.30 -1.7 0.96 1.00

31.3 33.20 33.20 -1.9 0.96 1.00 33.20 -1.9 0.97 1.00

24.1 24.30 24.60 -0.5 1.10 0.99 24.30 -0.2 1.24 1.00

17.2 17.40 17.10 0.1 1.12 1.00 17.40 -0.2 1.00 1.00

10.2 10.00 10.10 0.1 1.03 1.00 10.00 0.2 1.06 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 -22.2 193 2820 1934 1803 0.0 0.0 0 121 0.00 0.00 -105.50 0.003 16390 0.000 0.000 192 2819 3584 3604 3564 0 0 0 0 0 0 14.77 13.07 14.74

125 -2.06 -51.3 193 2820 3606 3566 1.3 -1.3 11 148 9.70 1.92 -5.95 0.016 18724 0.429 0.105 2103 3910 3700 3707 3693 0 0 0 0 0 0 14.00 12.83 14.44

374 -2.06 -51.3 2104 3910 3716 3700 36.0 -14.7 60 380 0.00 1.88 0.00 0.000 1030 0.000 0.038 2106 2781 3707 3714 3700 0 0 0 0 0 0 14.55 14.50 14.57

680 -2.06 -51.3 2106 2781 3717 3702 81.5 -14.9 91 685 0.00 2.03 0.00 0.000 260 0.000 0.073 2097 3910 3706 3716 3696 0 0 0 0 0 0 14.83 14.27 14.83

911 -2.06 -51.3 2097 3911 3716 3703 119.3 -16.6 137 917 0.00 1.88 0.00 0.000 1030 0.000 0.038 2097 2782 3709 3717 3702 0 0 0 0 0 0 14.51 14.46 14.54

1223 -2.06 -51.3 2097 2782 3719 3704 166.6 -15.1 169 1224 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2782 3710 3717 3704 0 0 0 0 0 0 14.83 14.83 14.83

1523 -2.06 -51.3 2098 2782 3719 3704 210.9 -14.8 199 1528 0.00 2.03 0.00 0.000 260 0.000 0.073 2088 3910 3710 3717 3703 0 0 0 0 0 0 14.82 14.21 14.83

1604 -2.06 -51.3 2088 3910 3718 3705 223.6 -15.8 215 1609 0.00 1.88 0.00 0.000 1030 0.000 0.038 2094 2788 3711 3718 3704 0 0 0 0 0 0 14.40 14.34 14.42

1916 -2.06 -51.3 2089 2787 3719 3704 269.2 -14.2 247 1920 0.00 2.03 0.00 0.000 260 0.000 0.073 2080 3910 3711 3718 3704 0 0 0 0 0 0 14.68 14.20 14.68

1977 -2.06 -51.3 2080 3911 3719 3705 278.4 -15.3 259 1982 0.17 1.90 0.00 0.000 3078 0.354 0.038 2113 2785 3711 3718 3704 0 0 0 0 0 0 13.66 14.40 14.16

2298 -2.06 -51.3 2113 2785 3719 3704 323.1 -13.9 284 2299 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2785 3711 3718 3704 0 0 0 0 0 0 14.82 14.82 14.83

2601 -2.06 -51.3 2113 2787 3718 3705 363.2 -12.8 299 2601 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2785 3711 3718 3704 0 0 0 0 0 0 14.80 14.79 14.80

2901 -2.06 -51.3 2114 2785 3719 3703 400.4 -12.2 314 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2785 3710 3717 3704 0 0 0 0 0 0 14.79 14.79 14.79

3201 -2.06 -51.3 2112 2786 3718 3705 436.0 -11.8 329 3207 0.00 2.45 0.00 0.000 516 0.000 0.044 2113 1400 3711 3718 3704 0 0 0 0 0 0 14.77 14.21 14.78

3234 -2.06 -51.3 2113 1401 3718 3705 440.2 -12.1 335 3239 0.00 2.53 0.00 0.000 1030 0.000 0.054 2102 2816 3711 3718 3704 0 0 0 0 0 0 14.35 14.23 14.40

3545 -2.06 -51.3 2103 2816 3719 3704 476.9 -11.6 352 3545 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2816 3711 3718 3704 0 0 0 0 0 0 14.80 14.80 14.80

3857 -2.06 -51.3 2103 2817 3718 3704 512.3 -11.5 366 3858 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2816 3710 3718 3703 0 0 0 0 0 0 14.81 14.81 14.81

4217 -2.06 -51.3 2102 2817 3717 3704 552.4 -10.7 378 4222 0.00 2.50 0.00 0.000 516 0.000 0.043 2102 1401 3710 3718 3703 0 0 0 0 0 0 14.80 14.19 14.80

4283 -2.06 -51.3 2103 1400 3719 3703 559.5 -9.9 391 4288 0.00 2.53 0.00 0.000 1030 0.000 0.054 2092 2812 3712 3717 3707 0 0 0 0 0 0 14.28 14.15 14.33

4670 -2.06 -51.3 2092 2812 3720 3702 599.5 -10.5 408 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2812 3709 3717 3701 0 0 0 0 0 0 14.64 14.64 14.64

5033 -2.06 -51.3 2092 2813 3717 3701 636.9 -10.4 420 5034 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2812 3708 3717 3700 0 0 0 0 0 0 14.62 14.62 14.62

5390 -2.06 -51.3 2093 2812 3718 3700 672.4 -9.5 432 5390 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 2812 3708 3716 3700 0 0 0 0 0 0 14.76 14.76 14.76

5749 -2.06 -51.3 2092 2813 3717 3701 705.8 -9.1 444 5754 0.00 2.50 0.00 0.000 516 0.000 0.043 2092 1399 3707 3716 3699 0 0 0 0 0 0 14.76 14.18 14.76

5858 -2.06 -51.3 2092 1399 3717 3701 715.9 -9.2 465 5864 0.15 2.53 0.00 0.000 3078 0.376 0.057 2111 2807 3707 3716 3699 0 0 0 0 0 0 13.59 14.18 14.04

6235 -2.06 -51.3 2111 2809 3717 3701 749.7 -8.3 480 6240 0.00 2.00 0.00 0.000 260 0.000 0.076 2103 3916 3707 3716 3699 0 0 0 0 0 0 14.81 14.09 14.81

6311 -2.06 -51.3 2103 3916 3718 3699 755.9 -8.8 495 6317 0.00 1.92 0.00 0.000 1030 0.000 0.042 2103 2792 3707 3716 3699 0 0 0 0 0 0 14.38 14.31 14.40

6691 -2.07 -61.1 2103 2792 3718 3699 783.7 -7.1 510 6696 0.00 2.45 0.00 0.000 548 0.000 0.043 2103 1397 3707 3715 3699 0 0 0 0 0 0 14.62 14.19 14.63

6713 -2.09 -75.3 2103 1398 3717 3700 785.1 -5.7 514 6718 0.00 2.53 0.00 0.000 1062 0.000 0.055 2092 2812 3707 3716 3699 0 0 0 0 0 0 14.31 14.18 14.34

7086 -2.10 -85.1 2093 2812 3718 3699 811.3 -7.1 528 7091 0.00 1.98 0.00 0.000 292 0.000 0.076 2085 3905 3707 3716 3699 0 0 0 0 0 0 14.76 14.08 14.76

7117 -2.11 -93.0 2084 3905 3717 3701 813.5 -7.6 534 7122 0.00 1.90 0.00 0.000 1062 0.000 0.042 2085 2784 3708 3717 3699 0 0 0 0 0 0 14.38 14.31 14.40

7509 -2.12 -103.8 2085 2785 3718 3700 841.2 -6.8 552 7510 0.00 0.00 0.00 0.000 38 0.000 0.000 2085 2784 3708 3717 3699 0 0 0 0 0 0 14.78 14.78 14.78

7625 end dive: BOTTOM_OBSTACLE_DETECTED

state 7625 begin apogee

7633 -0.23 0.0 2085 2542 3717 3700 849.3 -6.7 556 7702 2.67 0.00 64.62 3.057 10246 0.324 0.000 2693 2541 3490 3497 3484 0 0 0 0 0 0 13.78 13.81 12.50

7703 end apogee: CONTROL_FINISHED_OK

state 7703 begin climb

7706 2.12 103.8 2694 2541 3499 3483 849.6 0.0 558 7840 2.47 0.00 126.10 3.088 10246 0.110 0.000 3459 2541 3077 3093 3062 0 0 0 0 0 0 13.81 12.58 11.37

8199 2.12 103.8 3459 2542 3083 3053 718.9 29.6 575 8204 0.00 2.50 0.00 0.000 516 0.000 0.061 3469 1162 3067 3082 3053 0 0 0 0 0 0 14.43 14.11 14.43

8230 2.12 103.8 3469 1162 3083 3052 709.7 27.5 581 8236 0.00 2.53 0.00 0.000 1030 0.000 0.066 3469 2560 3067 3082 3052 0 0 0 0 0 0 14.34 14.22 14.38

8623 2.12 103.8 3469 2561 3082 3053 594.3 29.1 599 8628 0.00 2.47 0.00 0.000 516 0.000 0.061 3479 1163 3066 3081 3051 0 0 0 0 0 0 14.78 14.42 14.79

8659 2.12 103.8 3480 1164 3082 3052 583.7 28.4 606 8664 0.00 2.47 0.00 0.000 1030 0.000 0.066 3479 2558 3066 3081 3051 0 0 0 0 0 0 14.57 14.43 14.61

9036 2.12 103.8 3480 2558 3082 3052 476.6 28.0 624 9041 0.00 2.47 0.00 0.000 516 0.000 0.062 3490 1165 3066 3081 3052 0 0 0 0 0 0 14.78 14.39 14.78

9072 2.12 103.8 3491 1163 3082 3051 466.5 26.9 631 9079 0.17 2.47 0.00 0.000 5126 0.360 0.067 3457 2554 3066 3081 3052 0 0 0 0 0 0 13.92 14.40 14.40

9379 2.12 103.8 3458 2556 3082 3054 386.4 25.6 647 9384 0.00 2.47 0.00 0.000 516 0.000 0.060 3467 1165 3067 3082 3053 0 0 0 0 0 0 14.77 14.35 14.77

9406 2.12 103.8 3467 1167 3083 3054 379.5 25.2 652 9411 0.00 2.50 0.00 0.000 1030 0.000 0.066 3467 2559 3067 3082 3053 0 0 0 0 0 0 14.52 14.40 14.57

9723 2.12 103.8 3468 2560 3083 3053 297.8 25.6 670 9724 0.00 0.00 0.00 0.000 6 0.000 0.000 3467 2559 3067 3082 3053 0 0 0 0 0 0 14.76 14.78 14.76

10023 2.12 103.8 3468 2559 3083 3053 222.1 24.9 700 10028 0.00 2.50 0.00 0.000 260 0.000 0.088 3467 3914 3067 3082 3052 0 0 0 0 0 0 14.76 14.29 14.76

10054 2.12 103.8 3467 3915 3083 3054 213.8 26.7 706 10059 0.00 2.35 0.00 0.000 1030 0.000 0.050 3477 2560 3067 3082 3053 0 0 0 0 0 0 14.54 14.47 14.57

10365 2.12 103.8 3477 2561 3083 3053 137.0 24.2 738 10372 0.00 2.53 0.00 0.000 516 0.000 0.063 3488 1146 3067 3082 3053 0 0 0 0 0 0 14.85 14.30 14.85

10388 2.12 103.8 3489 1146 3084 3053 131.7 24.2 742 10393 0.17 2.53 0.00 0.000 5126 0.365 0.067 3457 2555 3066 3082 3051 0 0 0 0 0 0 13.79 14.34 14.31

10700 2.12 103.8 3457 2556 3083 3053 59.5 23.1 774 10701 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 2555 3067 3082 3052 0 0 0 0 0 0 14.74 14.74 14.74

10946 end climb: SURFACE_DEPTH_REACHED

state 10946 begin surface coast

10959 end surface coast: CONTROL_FINISHED_OK

state 10959 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	738	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	48	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	49
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	251218,073031,-7404.1187,-11224.7119,45,1.0,50,53.2,0.5,231.0,8,6.8	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold2
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.38	MHEAD_RNG_PITCHd_Wd	301.5,256,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-56.4	D_GRID	990
GPS2	251218,073755,-7404.1353,-11224.8975,3,0.9,4,53.2,0.3,180.4,12,9.5

FREEZE	-0.38,-0.211,-1.867,2,1,0	ALTIM_BOTTOM_PING	845.2,12.8
FINISH	-0.4,1.027347	_24V_AH	11.37,232.435
SM_CCo	10981,208.98,0.218,0,0,1899,399.91	_10V_AH	11.76,0.000
SM_GC	0.33,9.77,0.47,208.98,0.076,0.086,0.218,180,2813,1899,-8.04,-0.37,399.91,0,0,0,0,0,0,14.35,14.33,14.17	FG_AHR_24Vo	0.000
RAFOS_CLK	450	FG_AHR_10Vo	0.000
RAFOS	0,1545728477,9.032354,9.021389,146,67,57,57,55,53,501,200,151,168,214,122	MEM	279600
RAFOS_FIX	-7403.937012,-11224.650391,251218,090940,3,130,0.07	DATA_FILE_SIZE	26737,800
IRIDIUM_FIX	-7401.04,-11225.78,251218,041332	CAP_FILE_SIZE	126246,0
TT8_MAMPS	0.039697,0.182007	CFSIZE	1024409600,932626432
HUMID	48.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1449.5
TCM_TEMP	13.00	CURRENT	0.025,303.00,1
XPDR_PINGS	1	GPS	251218,104608,-7403.040,-11225.188,30,1.3,30,53.2,0.6,242.1,7,10.0
ALTIM_TOP_PING	10.2,10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	429	123.45	nil	0	0	0.00
Roll_motor	73	104	88.15	nil	0	0	0.00
VBD_pump_during_apogee	190	3087	6695.46	nil	0	0	0.00
VBD_pump_during_surface	208	218	518.04	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	10970	3	428.82
Iridium_during_xfer	245	197	549.80	nil	0	0	0.00
Transponder_ping	56	420	268.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.67
TT8	0	0	0.00
LPSleep	8620	2	234.18
TT8_Active	608	10	77.81
TT8_Sampling	2004	30	715.47
TT8_CF8	405	51	244.55
TT8_Kalman	0	0	0.00
Analog_circuits	1461	10	173.59
GPS_charging	0	0	0.00
Compass	1148	6	91.02
RAFOS	720	1	12.70
Transponder	410	30	144.78

		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
12.5	14.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.2	27.10	9000.00	0.0	0.00	0.00	27.10	0.0	0.99	1.00
31.6	34.00	33.80	0.0	1.01	1.00	34.00	0.0	1.08	1.00
38.1	40.40	40.50	0.0	1.03	1.00	40.40	0.0	0.98	1.00
45.3	48.60	48.40	0.0	1.07	1.00	48.60	0.0	1.14	1.00
822.3	36.60	9000.00	0.0	-0.01	0.55	36.60	858.9	-0.02	1.00
829.0	29.90	9000.00	0.0	-0.02	0.88	29.90	858.9	-1.00	1.00
837.2	20.90	21.00	858.2	-1.06	1.00	20.90	858.1	-1.10	1.00
845.2	12.90	12.80	858.0	-1.04	1.00	12.90	858.1	-1.00	1.00
849.7	10.60	10.10	859.8	-0.84	0.98	10.60	860.3	-0.51	1.00

834.7	26.40	26.00	0.0	-1.09	0.98	26.40	0.0	-1.05	1.00
115.1	121.30	9000.00	0.0	-0.14	0.99	121.30	0.0	-0.13	1.00
101.1	105.20	9000.00	0.0	-0.12	0.97	105.20	-4.1	1.15	1.00
94.2	97.90	97.70	-3.5	1.12	1.00	97.90	-3.7	1.06	1.00
73.4	77.20	77.10	-3.7	1.01	1.00	77.20	-3.8	1.00	1.00
66.4	69.00	69.40	-3.0	1.03	1.00	69.00	-2.6	1.17	1.00
59.5	61.60	61.40	-1.9	1.12	1.00	61.60	-2.1	1.07	1.00
52.6	54.40	54.40	-1.8	1.05	1.00	54.40	-1.8	1.04	1.00
45.6	47.00	47.00	-1.4	1.05	1.00	47.00	-1.4	1.06	1.00
38.6	40.30	40.20	-1.6	1.01	1.00	40.30	-1.7	0.96	1.00
31.3	33.20	33.20	-1.9	0.96	1.00	33.20	-1.9	0.97	1.00
24.1	24.30	24.60	-0.5	1.10	0.99	24.30	-0.2	1.24	1.00
17.2	17.40	17.10	0.1	1.12	1.00	17.40	-0.2	1.00	1.00
10.2	10.00	10.10	0.1	1.03	1.00	10.00	0.2	1.06	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	193	2820	1934	1803	0.0	0.0	0	121	0.00	0.00	-105.50	0.003	16390	0.000	0.000	192	2819	3584	3604	3564	0	0	0	0	0	0	14.77	13.07	14.74
125	-2.06	-51.3	193	2820	3606	3566	1.3	-1.3	11	148	9.70	1.92	-5.95	0.016	18724	0.429	0.105	2103	3910	3700	3707	3693	0	0	0	0	0	0	14.00	12.83	14.44
374	-2.06	-51.3	2104	3910	3716	3700	36.0	-14.7	60	380	0.00	1.88	0.00	0.000	1030	0.000	0.038	2106	2781	3707	3714	3700	0	0	0	0	0	0	14.55	14.50	14.57
680	-2.06	-51.3	2106	2781	3717	3702	81.5	-14.9	91	685	0.00	2.03	0.00	0.000	260	0.000	0.073	2097	3910	3706	3716	3696	0	0	0	0	0	0	14.83	14.27	14.83
911	-2.06	-51.3	2097	3911	3716	3703	119.3	-16.6	137	917	0.00	1.88	0.00	0.000	1030	0.000	0.038	2097	2782	3709	3717	3702	0	0	0	0	0	0	14.51	14.46	14.54
1223	-2.06	-51.3	2097	2782	3719	3704	166.6	-15.1	169	1224	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2782	3710	3717	3704	0	0	0	0	0	0	14.83	14.83	14.83
1523	-2.06	-51.3	2098	2782	3719	3704	210.9	-14.8	199	1528	0.00	2.03	0.00	0.000	260	0.000	0.073	2088	3910	3710	3717	3703	0	0	0	0	0	0	14.82	14.21	14.83
1604	-2.06	-51.3	2088	3910	3718	3705	223.6	-15.8	215	1609	0.00	1.88	0.00	0.000	1030	0.000	0.038	2094	2788	3711	3718	3704	0	0	0	0	0	0	14.40	14.34	14.42
1916	-2.06	-51.3	2089	2787	3719	3704	269.2	-14.2	247	1920	0.00	2.03	0.00	0.000	260	0.000	0.073	2080	3910	3711	3718	3704	0	0	0	0	0	0	14.68	14.20	14.68
1977	-2.06	-51.3	2080	3911	3719	3705	278.4	-15.3	259	1982	0.17	1.90	0.00	0.000	3078	0.354	0.038	2113	2785	3711	3718	3704	0	0	0	0	0	0	13.66	14.40	14.16
2298	-2.06	-51.3	2113	2785	3719	3704	323.1	-13.9	284	2299	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2785	3711	3718	3704	0	0	0	0	0	0	14.82	14.82	14.83
2601	-2.06	-51.3	2113	2787	3718	3705	363.2	-12.8	299	2601	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2785	3711	3718	3704	0	0	0	0	0	0	14.80	14.79	14.80
2901	-2.06	-51.3	2114	2785	3719	3703	400.4	-12.2	314	2901	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2785	3710	3717	3704	0	0	0	0	0	0	14.79	14.79	14.79
3201	-2.06	-51.3	2112	2786	3718	3705	436.0	-11.8	329	3207	0.00	2.45	0.00	0.000	516	0.000	0.044	2113	1400	3711	3718	3704	0	0	0	0	0	0	14.77	14.21	14.78
3234	-2.06	-51.3	2113	1401	3718	3705	440.2	-12.1	335	3239	0.00	2.53	0.00	0.000	1030	0.000	0.054	2102	2816	3711	3718	3704	0	0	0	0	0	0	14.35	14.23	14.40
3545	-2.06	-51.3	2103	2816	3719	3704	476.9	-11.6	352	3545	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2816	3711	3718	3704	0	0	0	0	0	0	14.80	14.80	14.80
3857	-2.06	-51.3	2103	2817	3718	3704	512.3	-11.5	366	3858	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2816	3710	3718	3703	0	0	0	0	0	0	14.81	14.81	14.81
4217	-2.06	-51.3	2102	2817	3717	3704	552.4	-10.7	378	4222	0.00	2.50	0.00	0.000	516	0.000	0.043	2102	1401	3710	3718	3703	0	0	0	0	0	0	14.80	14.19	14.80
4283	-2.06	-51.3	2103	1400	3719	3703	559.5	-9.9	391	4288	0.00	2.53	0.00	0.000	1030	0.000	0.054	2092	2812	3712	3717	3707	0	0	0	0	0	0	14.28	14.15	14.33
4670	-2.06	-51.3	2092	2812	3720	3702	599.5	-10.5	408	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2812	3709	3717	3701	0	0	0	0	0	0	14.64	14.64	14.64
5033	-2.06	-51.3	2092	2813	3717	3701	636.9	-10.4	420	5034	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2812	3708	3717	3700	0	0	0	0	0	0	14.62	14.62	14.62
5390	-2.06	-51.3	2093	2812	3718	3700	672.4	-9.5	432	5390	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	2812	3708	3716	3700	0	0	0	0	0	0	14.76	14.76	14.76
5749	-2.06	-51.3	2092	2813	3717	3701	705.8	-9.1	444	5754	0.00	2.50	0.00	0.000	516	0.000	0.043	2092	1399	3707	3716	3699	0	0	0	0	0	0	14.76	14.18	14.76
5858	-2.06	-51.3	2092	1399	3717	3701	715.9	-9.2	465	5864	0.15	2.53	0.00	0.000	3078	0.376	0.057	2111	2807	3707	3716	3699	0	0	0	0	0	0	13.59	14.18	14.04
6235	-2.06	-51.3	2111	2809	3717	3701	749.7	-8.3	480	6240	0.00	2.00	0.00	0.000	260	0.000	0.076	2103	3916	3707	3716	3699	0	0	0	0	0	0	14.81	14.09	14.81
6311	-2.06	-51.3	2103	3916	3718	3699	755.9	-8.8	495	6317	0.00	1.92	0.00	0.000	1030	0.000	0.042	2103	2792	3707	3716	3699	0	0	0	0	0	0	14.38	14.31	14.40
6691	-2.07	-61.1	2103	2792	3718	3699	783.7	-7.1	510	6696	0.00	2.45	0.00	0.000	548	0.000	0.043	2103	1397	3707	3715	3699	0	0	0	0	0	0	14.62	14.19	14.63
6713	-2.09	-75.3	2103	1398	3717	3700	785.1	-5.7	514	6718	0.00	2.53	0.00	0.000	1062	0.000	0.055	2092	2812	3707	3716	3699	0	0	0	0	0	0	14.31	14.18	14.34
7086	-2.10	-85.1	2093	2812	3718	3699	811.3	-7.1	528	7091	0.00	1.98	0.00	0.000	292	0.000	0.076	2085	3905	3707	3716	3699	0	0	0	0	0	0	14.76	14.08	14.76
7117	-2.11	-93.0	2084	3905	3717	3701	813.5	-7.6	534	7122	0.00	1.90	0.00	0.000	1062	0.000	0.042	2085	2784	3708	3717	3699	0	0	0	0	0	0	14.38	14.31	14.40
7509	-2.12	-103.8	2085	2785	3718	3700	841.2	-6.8	552	7510	0.00	0.00	0.00	0.000	38	0.000	0.000	2085	2784	3708	3717	3699	0	0	0	0	0	0	14.78	14.78	14.78
7625	end dive: BOTTOM_OBSTACLE_DETECTED
state	7625	begin apogee
7633	-0.23	0.0	2085	2542	3717	3700	849.3	-6.7	556	7702	2.67	0.00	64.62	3.057	10246	0.324	0.000	2693	2541	3490	3497	3484	0	0	0	0	0	0	13.78	13.81	12.50
7703	end apogee: CONTROL_FINISHED_OK
state	7703	begin climb
7706	2.12	103.8	2694	2541	3499	3483	849.6	0.0	558	7840	2.47	0.00	126.10	3.088	10246	0.110	0.000	3459	2541	3077	3093	3062	0	0	0	0	0	0	13.81	12.58	11.37
8199	2.12	103.8	3459	2542	3083	3053	718.9	29.6	575	8204	0.00	2.50	0.00	0.000	516	0.000	0.061	3469	1162	3067	3082	3053	0	0	0	0	0	0	14.43	14.11	14.43
8230	2.12	103.8	3469	1162	3083	3052	709.7	27.5	581	8236	0.00	2.53	0.00	0.000	1030	0.000	0.066	3469	2560	3067	3082	3052	0	0	0	0	0	0	14.34	14.22	14.38
8623	2.12	103.8	3469	2561	3082	3053	594.3	29.1	599	8628	0.00	2.47	0.00	0.000	516	0.000	0.061	3479	1163	3066	3081	3051	0	0	0	0	0	0	14.78	14.42	14.79
8659	2.12	103.8	3480	1164	3082	3052	583.7	28.4	606	8664	0.00	2.47	0.00	0.000	1030	0.000	0.066	3479	2558	3066	3081	3051	0	0	0	0	0	0	14.57	14.43	14.61
9036	2.12	103.8	3480	2558	3082	3052	476.6	28.0	624	9041	0.00	2.47	0.00	0.000	516	0.000	0.062	3490	1165	3066	3081	3052	0	0	0	0	0	0	14.78	14.39	14.78
9072	2.12	103.8	3491	1163	3082	3051	466.5	26.9	631	9079	0.17	2.47	0.00	0.000	5126	0.360	0.067	3457	2554	3066	3081	3052	0	0	0	0	0	0	13.92	14.40	14.40
9379	2.12	103.8	3458	2556	3082	3054	386.4	25.6	647	9384	0.00	2.47	0.00	0.000	516	0.000	0.060	3467	1165	3067	3082	3053	0	0	0	0	0	0	14.77	14.35	14.77
9406	2.12	103.8	3467	1167	3083	3054	379.5	25.2	652	9411	0.00	2.50	0.00	0.000	1030	0.000	0.066	3467	2559	3067	3082	3053	0	0	0	0	0	0	14.52	14.40	14.57
9723	2.12	103.8	3468	2560	3083	3053	297.8	25.6	670	9724	0.00	0.00	0.00	0.000	6	0.000	0.000	3467	2559	3067	3082	3053	0	0	0	0	0	0	14.76	14.78	14.76
10023	2.12	103.8	3468	2559	3083	3053	222.1	24.9	700	10028	0.00	2.50	0.00	0.000	260	0.000	0.088	3467	3914	3067	3082	3052	0	0	0	0	0	0	14.76	14.29	14.76
10054	2.12	103.8	3467	3915	3083	3054	213.8	26.7	706	10059	0.00	2.35	0.00	0.000	1030	0.000	0.050	3477	2560	3067	3082	3053	0	0	0	0	0	0	14.54	14.47	14.57
10365	2.12	103.8	3477	2561	3083	3053	137.0	24.2	738	10372	0.00	2.53	0.00	0.000	516	0.000	0.063	3488	1146	3067	3082	3053	0	0	0	0	0	0	14.85	14.30	14.85
10388	2.12	103.8	3489	1146	3084	3053	131.7	24.2	742	10393	0.17	2.53	0.00	0.000	5126	0.365	0.067	3457	2555	3066	3082	3051	0	0	0	0	0	0	13.79	14.34	14.31
10700	2.12	103.8	3457	2556	3083	3053	59.5	23.1	774	10701	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	2555	3067	3082	3052	0	0	0	0	0	0	14.74	14.74	14.74
10946	end climb: SURFACE_DEPTH_REACHED
state	10946	begin surface coast
10959	end surface coast: CONTROL_FINISHED_OK
state	10959	begin surface