Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 825 * 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 825 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 30 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 16 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 825 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 16 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 100119,125731,-7403.9902,-11224.7441,32,0.7,39,53.2,0.3,234.6,11,7.2 SPEED_LIMITS 0.100,0.244

_CALLS 2 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.65 MHEAD_RNG_PITCHd_Wd 346.4,255,-43.9,-10.000,-45.00,342

_SM_ANGLEo -62.8 D_GRID 990

GPS2 100119,133255,-7404.1079,-11225.3096,4,0.7,6,53.2,0.2,0.0,11,7.6

Post-dive calculations and measurements:

FREEZE -0.05,-0.328,-1.854,2,1,0 ALTIM_BOTTOM_PING 858.6,11.0

FINISH -0.1,1.027159 _24V_AH 10.09,261.258

SM_CCo 11467,247.98,0.190,0,0,1898,399.91 _10V_AH 10.33,0.000

SM_GC 0.64,12.52,3.92,247.98,0.075,0.065,0.190,198,2807,1898,-8.03,-0.20,399.91,0,0,0,0,0,0,11.45,11.46,11.27 FG_AHR_24Vo 0.000

RAFOS_CLK 493 FG_AHR_10Vo 0.000

RAFOS 0,1547132473,15.032354,15.020278,177,63,60,59,55,52,515,182,217,157,198,720 MEM 279420

RAFOS_FIX -7404.778320,-11221.868164,100119,151548,2,166,0.37 DATA_FILE_SIZE 30047,914

IRIDIUM_FIX -7406.44,-11217.25,100119,130735 CAP_FILE_SIZE 149317,0

TT8_MAMPS 0.045689,0.3745 CFSIZE 1024409600,921124864

HUMID 48.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1451.9

TCM_TEMP 13.10 CURRENT 0.086,211.68,1

XPDR_PINGS 0 GPS 100119,165000,-7403.857,-11223.885,38,0.9,38,53.2,0.4,202.6,8,7.0

ALTIM_TOP_PING 16.0,16.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 417 144.45 nil 0 0 0.00

Roll_motor 108 90 98.80 nil 0 0 0.00

VBD_pump_during_apogee 213 3068 6595.32 nil 0 0 0.00

VBD_pump_during_surface 247 190 476.61 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 3918 4 191.14

Iridium_during_xfer 1470 273 4051.40 nil 0 0 0.00

Transponder_ping 59 420 253.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.69

TT8 0 0 0.00

LPSleep 8870 2 211.68

TT8_Active 585 10 65.71

TT8_Sampling 3348 30 1049.86

TT8_CF8 1031 51 547.06

TT8_Kalman 0 0 0.00

Analog_circuits 2836 10 295.90

GPS_charging 0 0 0.00

Compass 1304 6 90.83

RAFOS 720 1 11.16

Transponder 447 30 138.78

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

13.2 14.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

19.2 20.70 9000.00 0.0 0.00 0.00 20.70 0.0 1.03 1.00

25.6 27.30 27.30 0.0 1.03 1.00 27.30 0.0 1.03 1.00

32.0 34.00 34.00 0.0 1.04 1.00 34.00 0.0 1.05 1.00

38.3 40.80 40.70 0.0 1.05 1.00 40.80 0.0 1.08 1.00

52.0 54.90 54.90 0.0 1.04 1.00 54.90 0.0 1.03 1.00

819.1 45.90 9000.00 0.0 0.00 0.02 45.90 865.0 -0.01 1.00

825.9 40.60 9000.00 0.0 -0.02 0.87 40.60 866.5 -0.78 1.00

832.6 37.70 9000.00 0.0 -0.60 0.97 37.70 870.3 -0.43 1.00

839.3 30.70 9000.00 0.0 -0.74 0.94 30.70 870.0 -1.04 1.00

845.9 23.60 23.60 869.5 -1.07 1.00 23.60 869.5 -1.08 1.00

852.3 16.80 16.80 869.1 -1.07 1.00 16.80 869.1 -1.06 1.00

858.6 11.20 11.00 869.6 -0.98 1.00 11.20 869.8 -0.89 1.00

862.0 10.20 9000.00 0.0 -0.71 0.95 10.20 872.2 -0.29 1.00

66.2 68.70 9000.00 0.0 -0.07 1.00 68.70 0.0 -0.07 1.00

51.1 52.80 9000.00 0.0 -0.06 0.92 52.80 -1.7 1.05 1.00

36.6 37.80 37.70 -1.1 1.04 1.00 37.80 -1.2 1.03 1.00

29.6 30.70 30.70 -1.1 1.03 1.00 30.70 -1.1 1.01 1.00

22.7 23.40 23.40 -0.7 1.04 1.00 23.40 -0.7 1.06 1.00

16.0 16.60 16.50 -0.5 1.04 1.00 16.60 -0.6 1.01 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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

14 -2.02 -22.2 201 2803 1934 1798 0.0 0.0 0 124 0.00 0.00 -103.55 0.003 16390 0.000 0.000 200 2802 3586 3607 3565 0 0 0 0 0 0 11.55 10.69 11.55

129 -2.06 -51.4 201 2803 3609 3567 1.5 -1.2 11 152 14.43 2.62 -4.85 0.015 18724 0.418 0.090 2098 3909 3700 3707 3694 0 0 0 0 0 0 11.19 10.67 11.40

379 -2.06 -51.4 2098 3910 3715 3702 41.0 -18.9 60 385 0.00 2.42 0.00 0.000 1030 0.000 0.036 2099 2788 3707 3714 3701 0 0 0 0 0 0 11.51 11.48 11.52

685 -2.06 -51.4 2099 2788 3717 3703 89.3 -15.9 91 690 0.00 2.55 0.00 0.000 260 0.000 0.070 2090 3910 3709 3715 3703 0 0 0 0 0 0 11.69 11.44 11.69

918 -2.06 -51.4 2090 3912 3717 3705 129.2 -16.9 137 924 0.00 2.40 0.00 0.000 1030 0.000 0.036 2090 2797 3710 3717 3704 0 0 0 0 0 0 11.56 11.52 11.57

1230 -2.06 -51.4 2090 2799 3719 3707 178.1 -15.0 169 1237 0.00 2.60 0.00 0.000 260 0.000 0.070 2081 3920 3711 3718 3705 0 0 0 0 0 0 11.73 11.48 11.73

1293 -2.06 -51.4 2081 3922 3719 3707 188.8 -17.2 181 1300 0.20 2.42 0.00 0.000 3078 0.327 0.037 2109 2796 3712 3718 3706 0 0 0 0 0 0 11.31 11.54 11.54

1607 -2.06 -51.4 2110 2797 3718 3708 236.9 -15.2 213 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 2796 3712 3718 3707 0 0 0 0 0 0 11.69 11.69 11.69

1906 -2.06 -51.4 2110 2797 3718 3707 280.8 -14.5 243 1907 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 2796 3711 3718 3705 0 0 0 0 0 0 11.76 11.76 11.76

2207 -2.06 -51.4 2110 2797 3718 3708 322.1 -13.0 265 2213 0.00 3.10 0.00 0.000 516 0.000 0.042 2110 1395 3712 3718 3706 0 0 0 0 0 0 11.72 11.52 11.71

2235 -2.06 -51.4 2110 1394 3718 3706 325.9 -13.5 270 2240 0.00 3.20 0.00 0.000 1030 0.000 0.051 2100 2812 3711 3717 3706 0 0 0 0 0 0 11.60 11.53 11.62

2552 -2.06 -51.4 2100 2813 3718 3708 368.4 -13.3 288 2557 0.00 3.15 0.00 0.000 516 0.000 0.041 2100 1392 3712 3718 3706 0 0 0 0 0 0 11.73 11.54 11.74

2614 -2.06 -51.4 2100 1393 3718 3708 376.3 -12.7 300 2619 0.00 3.17 0.00 0.000 1030 0.000 0.051 2089 2807 3712 3718 3707 0 0 0 0 0 0 11.62 11.54 11.63

2935 -2.06 -51.4 2090 2808 3718 3708 417.8 -12.9 319 2936 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2807 3712 3718 3706 0 0 0 0 0 0 11.79 11.79 11.79

3238 -2.06 -51.4 2090 2808 3718 3706 455.6 -12.5 334 3239 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2807 3711 3718 3705 0 0 0 0 0 0 11.78 11.78 11.78

3538 -2.06 -51.4 2090 2807 3719 3704 492.6 -12.0 349 3544 0.00 3.12 0.00 0.000 516 0.000 0.041 2090 1393 3711 3718 3704 0 0 0 0 0 0 11.78 11.56 11.79

3649 -2.06 -51.4 2090 1394 3718 3706 505.6 -11.7 370 3654 0.20 3.17 0.00 0.000 3078 0.337 0.051 2109 2808 3711 3718 3705 0 0 0 0 0 0 11.38 11.57 11.60

4027 -2.06 -51.4 2109 2809 3719 3704 549.2 -11.2 385 4033 0.00 2.50 0.00 0.000 260 0.000 0.071 2100 3908 3710 3718 3703 0 0 0 0 0 0 11.77 11.55 11.77

4080 -2.06 -51.4 2101 3908 3719 3703 555.7 -12.4 395 4085 0.00 2.40 0.00 0.000 1030 0.000 0.038 2100 2792 3710 3718 3703 0 0 0 0 0 0 11.67 11.62 11.67

4455 -2.06 -51.4 2101 2793 3717 3704 598.1 -11.2 409 4456 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2792 3710 3718 3703 0 0 0 0 0 0 11.77 11.77 11.78

4815 -2.06 -51.4 2100 2793 3717 3703 636.0 -10.3 421 4821 0.00 3.05 0.00 0.000 516 0.000 0.040 2100 1395 3709 3717 3702 0 0 0 0 0 0 11.78 11.59 11.78

4882 -2.06 -51.4 2100 1396 3717 3703 642.9 -9.7 434 4887 0.00 3.17 0.00 0.000 1030 0.000 0.051 2090 2812 3709 3717 3701 0 0 0 0 0 0 11.67 11.59 11.67

5273 -2.06 -51.4 2090 2814 3717 3702 680.4 -9.9 451 5279 0.00 2.47 0.00 0.000 260 0.000 0.073 2082 3907 3708 3716 3700 0 0 0 0 0 0 11.82 11.57 11.82

5416 -2.06 -51.4 2083 3909 3718 3701 695.5 -10.4 479 5421 0.20 2.40 0.00 0.000 3078 0.334 0.038 2110 2791 3708 3716 3700 0 0 0 0 0 0 11.39 11.63 11.62

5787 -2.06 -51.4 2111 2792 3717 3701 730.7 -9.3 493 5793 0.00 3.05 0.00 0.000 516 0.000 0.041 2111 1392 3708 3716 3700 0 0 0 0 0 0 11.83 11.59 11.83

5880 -2.06 -51.4 2111 1392 3718 3700 738.9 -8.8 511 5886 0.00 3.12 0.00 0.000 1030 0.000 0.052 2101 2807 3708 3717 3700 0 0 0 0 0 0 11.67 11.59 11.68

6272 -2.06 -51.4 2102 2807 3718 3700 773.1 -8.8 529 6278 0.00 3.10 0.00 0.000 516 0.000 0.040 2101 1393 3707 3716 3699 0 0 0 0 0 0 11.83 11.60 11.83

6329 -2.06 -51.4 2101 1394 3717 3701 778.0 -8.3 540 6336 0.00 3.17 0.00 0.000 1030 0.000 0.052 2092 2813 3707 3715 3700 0 0 0 0 0 0 11.67 11.60 11.69

6698 -2.07 -59.3 2093 2813 3718 3700 807.3 -7.7 553 6704 0.00 3.12 0.00 0.000 548 0.000 0.040 2092 1386 3708 3716 3700 0 0 0 0 0 0 11.84 11.61 11.84

6813 -2.08 -68.4 2093 1387 3717 3701 815.8 -7.3 575 6818 0.00 3.17 0.00 0.000 1062 0.000 0.052 2084 2803 3708 3717 3700 0 0 0 0 0 0 11.67 11.60 11.69

7185 -2.09 -77.0 2085 2803 3718 3700 843.7 -7.4 589 7185 0.00 0.00 0.00 0.000 38 0.000 0.000 2084 2802 3708 3717 3699 0 0 0 0 0 0 11.86 11.86 11.86

7421 end dive: BOTTOM_OBSTACLE_DETECTED

state 7421 begin apogee

7429 -0.23 0.0 2085 2546 3717 3700 860.6 -6.9 597 7525 3.42 0.00 90.65 3.068 10246 0.304 0.000 2692 2546 3493 3499 3487 0 0 0 0 0 0 11.44 11.18 10.10

7525 end apogee: CONTROL_FINISHED_OK

state 7525 begin climb

7529 2.09 77.0 2693 2546 3499 3488 862.0 0.0 600 7665 3.05 3.38 122.38 3.060 10500 0.102 0.082 3442 3910 3186 3200 3173 0 0 0 0 0 0 11.21 11.03 10.09

7706 2.09 77.0 3442 3910 3200 3170 829.0 28.7 623 7711 0.00 3.08 0.00 0.000 1030 0.000 0.046 3452 2555 3183 3197 3169 0 0 0 0 0 0 11.36 11.31 11.38

8089 2.09 77.0 3452 2557 3193 3166 731.0 25.0 639 8094 0.00 3.22 0.00 0.000 516 0.000 0.058 3462 1149 3178 3192 3165 0 0 0 0 0 0 11.57 11.37 11.57

8125 2.09 77.0 3463 1150 3193 3166 721.9 24.4 646 8130 0.00 3.25 0.00 0.000 1030 0.000 0.061 3462 2553 3178 3192 3165 0 0 0 0 0 0 11.46 11.38 11.48

8512 2.09 77.0 3462 2554 3193 3165 624.1 25.5 663 8513 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2553 3178 3192 3165 0 0 0 0 0 0 11.61 11.61 11.60

8872 2.09 77.0 3463 2554 3193 3167 533.2 24.6 675 8873 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2553 3179 3192 3166 0 0 0 0 0 0 11.63 11.63 11.63

9242 2.09 77.0 3462 2554 3193 3169 445.9 22.9 691 9243 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2553 3180 3192 3168 0 0 0 0 0 0 11.66 11.65 11.65

9542 2.09 77.0 3465 2553 3194 3169 378.5 22.0 706 9543 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2553 3180 3192 3169 0 0 0 0 0 0 11.64 11.64 11.64

9841 2.09 77.0 3463 2553 3193 3169 312.5 21.7 721 9842 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2553 3180 3192 3169 0 0 0 0 0 0 11.67 11.67 11.67

10142 2.09 77.0 3463 2554 3193 3170 248.1 21.3 748 10147 0.00 3.22 0.00 0.000 516 0.000 0.057 3472 1138 3180 3192 3169 0 0 0 0 0 0 11.66 11.45 11.66

10194 2.09 77.0 3473 1138 3194 3171 237.6 19.8 758 10199 0.00 3.25 0.00 0.000 1030 0.000 0.061 3472 2554 3181 3193 3169 0 0 0 0 0 0 11.54 11.46 11.55

10506 2.09 77.0 3473 2555 3194 3169 173.0 20.4 790 10511 0.00 3.20 0.00 0.000 260 0.000 0.084 3472 3911 3181 3193 3169 0 0 0 0 0 0 11.65 11.45 11.66

10569 2.09 77.0 3473 3911 3194 3169 159.6 21.7 802 10574 0.25 3.03 0.00 0.000 5126 0.385 0.047 3451 2549 3180 3192 3169 0 0 0 0 0 0 11.25 11.50 11.51

10881 2.09 77.0 3451 2550 3193 3170 100.2 18.5 834 10886 0.00 3.20 0.00 0.000 516 0.000 0.059 3461 1141 3180 3192 3169 0 0 0 0 0 0 11.66 11.45 11.65

10954 2.09 77.0 3461 1142 3193 3170 87.0 18.5 848 10959 0.00 3.25 0.00 0.000 1030 0.000 0.063 3462 2554 3181 3193 3169 0 0 0 0 0 0 11.55 11.46 11.56

11266 2.09 77.0 3462 2555 3193 3170 29.6 17.4 880 11271 0.00 3.22 0.00 0.000 516 0.000 0.058 3471 1141 3181 3193 3169 0 0 0 0 0 0 11.66 11.45 11.66

11424 end climb: SURFACE_DEPTH_REACHED

state 11424 begin surface coast

11438 end surface coast: CONTROL_FINISHED_OK

state 11438 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	825	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	30	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	16	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	100119,125731,-7403.9902,-11224.7441,32,0.7,39,53.2,0.3,234.6,11,7.2	SPEED_LIMITS	0.100,0.244
_CALLS	2	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.65	MHEAD_RNG_PITCHd_Wd	346.4,255,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-62.8	D_GRID	990
GPS2	100119,133255,-7404.1079,-11225.3096,4,0.7,6,53.2,0.2,0.0,11,7.6

FREEZE	-0.05,-0.328,-1.854,2,1,0	ALTIM_BOTTOM_PING	858.6,11.0
FINISH	-0.1,1.027159	_24V_AH	10.09,261.258
SM_CCo	11467,247.98,0.190,0,0,1898,399.91	_10V_AH	10.33,0.000
SM_GC	0.64,12.52,3.92,247.98,0.075,0.065,0.190,198,2807,1898,-8.03,-0.20,399.91,0,0,0,0,0,0,11.45,11.46,11.27	FG_AHR_24Vo	0.000
RAFOS_CLK	493	FG_AHR_10Vo	0.000
RAFOS	0,1547132473,15.032354,15.020278,177,63,60,59,55,52,515,182,217,157,198,720	MEM	279420
RAFOS_FIX	-7404.778320,-11221.868164,100119,151548,2,166,0.37	DATA_FILE_SIZE	30047,914
IRIDIUM_FIX	-7406.44,-11217.25,100119,130735	CAP_FILE_SIZE	149317,0
TT8_MAMPS	0.045689,0.3745	CFSIZE	1024409600,921124864
HUMID	48.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1451.9
TCM_TEMP	13.10	CURRENT	0.086,211.68,1
XPDR_PINGS	0	GPS	100119,165000,-7403.857,-11223.885,38,0.9,38,53.2,0.4,202.6,8,7.0
ALTIM_TOP_PING	16.0,16.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	417	144.45	nil	0	0	0.00
Roll_motor	108	90	98.80	nil	0	0	0.00
VBD_pump_during_apogee	213	3068	6595.32	nil	0	0	0.00
VBD_pump_during_surface	247	190	476.61	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	3918	4	191.14
Iridium_during_xfer	1470	273	4051.40	nil	0	0	0.00
Transponder_ping	59	420	253.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.69
TT8	0	0	0.00
LPSleep	8870	2	211.68
TT8_Active	585	10	65.71
TT8_Sampling	3348	30	1049.86
TT8_CF8	1031	51	547.06
TT8_Kalman	0	0	0.00
Analog_circuits	2836	10	295.90
GPS_charging	0	0	0.00
Compass	1304	6	90.83
RAFOS	720	1	11.16
Transponder	447	30	138.78

		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
13.2	14.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
19.2	20.70	9000.00	0.0	0.00	0.00	20.70	0.0	1.03	1.00
25.6	27.30	27.30	0.0	1.03	1.00	27.30	0.0	1.03	1.00
32.0	34.00	34.00	0.0	1.04	1.00	34.00	0.0	1.05	1.00
38.3	40.80	40.70	0.0	1.05	1.00	40.80	0.0	1.08	1.00
52.0	54.90	54.90	0.0	1.04	1.00	54.90	0.0	1.03	1.00
819.1	45.90	9000.00	0.0	0.00	0.02	45.90	865.0	-0.01	1.00
825.9	40.60	9000.00	0.0	-0.02	0.87	40.60	866.5	-0.78	1.00
832.6	37.70	9000.00	0.0	-0.60	0.97	37.70	870.3	-0.43	1.00
839.3	30.70	9000.00	0.0	-0.74	0.94	30.70	870.0	-1.04	1.00
845.9	23.60	23.60	869.5	-1.07	1.00	23.60	869.5	-1.08	1.00
852.3	16.80	16.80	869.1	-1.07	1.00	16.80	869.1	-1.06	1.00
858.6	11.20	11.00	869.6	-0.98	1.00	11.20	869.8	-0.89	1.00
862.0	10.20	9000.00	0.0	-0.71	0.95	10.20	872.2	-0.29	1.00

66.2	68.70	9000.00	0.0	-0.07	1.00	68.70	0.0	-0.07	1.00
51.1	52.80	9000.00	0.0	-0.06	0.92	52.80	-1.7	1.05	1.00
36.6	37.80	37.70	-1.1	1.04	1.00	37.80	-1.2	1.03	1.00
29.6	30.70	30.70	-1.1	1.03	1.00	30.70	-1.1	1.01	1.00
22.7	23.40	23.40	-0.7	1.04	1.00	23.40	-0.7	1.06	1.00
16.0	16.60	16.50	-0.5	1.04	1.00	16.60	-0.6	1.01	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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
14	-2.02	-22.2	201	2803	1934	1798	0.0	0.0	0	124	0.00	0.00	-103.55	0.003	16390	0.000	0.000	200	2802	3586	3607	3565	0	0	0	0	0	0	11.55	10.69	11.55
129	-2.06	-51.4	201	2803	3609	3567	1.5	-1.2	11	152	14.43	2.62	-4.85	0.015	18724	0.418	0.090	2098	3909	3700	3707	3694	0	0	0	0	0	0	11.19	10.67	11.40
379	-2.06	-51.4	2098	3910	3715	3702	41.0	-18.9	60	385	0.00	2.42	0.00	0.000	1030	0.000	0.036	2099	2788	3707	3714	3701	0	0	0	0	0	0	11.51	11.48	11.52
685	-2.06	-51.4	2099	2788	3717	3703	89.3	-15.9	91	690	0.00	2.55	0.00	0.000	260	0.000	0.070	2090	3910	3709	3715	3703	0	0	0	0	0	0	11.69	11.44	11.69
918	-2.06	-51.4	2090	3912	3717	3705	129.2	-16.9	137	924	0.00	2.40	0.00	0.000	1030	0.000	0.036	2090	2797	3710	3717	3704	0	0	0	0	0	0	11.56	11.52	11.57
1230	-2.06	-51.4	2090	2799	3719	3707	178.1	-15.0	169	1237	0.00	2.60	0.00	0.000	260	0.000	0.070	2081	3920	3711	3718	3705	0	0	0	0	0	0	11.73	11.48	11.73
1293	-2.06	-51.4	2081	3922	3719	3707	188.8	-17.2	181	1300	0.20	2.42	0.00	0.000	3078	0.327	0.037	2109	2796	3712	3718	3706	0	0	0	0	0	0	11.31	11.54	11.54
1607	-2.06	-51.4	2110	2797	3718	3708	236.9	-15.2	213	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	2796	3712	3718	3707	0	0	0	0	0	0	11.69	11.69	11.69
1906	-2.06	-51.4	2110	2797	3718	3707	280.8	-14.5	243	1907	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	2796	3711	3718	3705	0	0	0	0	0	0	11.76	11.76	11.76
2207	-2.06	-51.4	2110	2797	3718	3708	322.1	-13.0	265	2213	0.00	3.10	0.00	0.000	516	0.000	0.042	2110	1395	3712	3718	3706	0	0	0	0	0	0	11.72	11.52	11.71
2235	-2.06	-51.4	2110	1394	3718	3706	325.9	-13.5	270	2240	0.00	3.20	0.00	0.000	1030	0.000	0.051	2100	2812	3711	3717	3706	0	0	0	0	0	0	11.60	11.53	11.62
2552	-2.06	-51.4	2100	2813	3718	3708	368.4	-13.3	288	2557	0.00	3.15	0.00	0.000	516	0.000	0.041	2100	1392	3712	3718	3706	0	0	0	0	0	0	11.73	11.54	11.74
2614	-2.06	-51.4	2100	1393	3718	3708	376.3	-12.7	300	2619	0.00	3.17	0.00	0.000	1030	0.000	0.051	2089	2807	3712	3718	3707	0	0	0	0	0	0	11.62	11.54	11.63
2935	-2.06	-51.4	2090	2808	3718	3708	417.8	-12.9	319	2936	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2807	3712	3718	3706	0	0	0	0	0	0	11.79	11.79	11.79
3238	-2.06	-51.4	2090	2808	3718	3706	455.6	-12.5	334	3239	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2807	3711	3718	3705	0	0	0	0	0	0	11.78	11.78	11.78
3538	-2.06	-51.4	2090	2807	3719	3704	492.6	-12.0	349	3544	0.00	3.12	0.00	0.000	516	0.000	0.041	2090	1393	3711	3718	3704	0	0	0	0	0	0	11.78	11.56	11.79
3649	-2.06	-51.4	2090	1394	3718	3706	505.6	-11.7	370	3654	0.20	3.17	0.00	0.000	3078	0.337	0.051	2109	2808	3711	3718	3705	0	0	0	0	0	0	11.38	11.57	11.60
4027	-2.06	-51.4	2109	2809	3719	3704	549.2	-11.2	385	4033	0.00	2.50	0.00	0.000	260	0.000	0.071	2100	3908	3710	3718	3703	0	0	0	0	0	0	11.77	11.55	11.77
4080	-2.06	-51.4	2101	3908	3719	3703	555.7	-12.4	395	4085	0.00	2.40	0.00	0.000	1030	0.000	0.038	2100	2792	3710	3718	3703	0	0	0	0	0	0	11.67	11.62	11.67
4455	-2.06	-51.4	2101	2793	3717	3704	598.1	-11.2	409	4456	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2792	3710	3718	3703	0	0	0	0	0	0	11.77	11.77	11.78
4815	-2.06	-51.4	2100	2793	3717	3703	636.0	-10.3	421	4821	0.00	3.05	0.00	0.000	516	0.000	0.040	2100	1395	3709	3717	3702	0	0	0	0	0	0	11.78	11.59	11.78
4882	-2.06	-51.4	2100	1396	3717	3703	642.9	-9.7	434	4887	0.00	3.17	0.00	0.000	1030	0.000	0.051	2090	2812	3709	3717	3701	0	0	0	0	0	0	11.67	11.59	11.67
5273	-2.06	-51.4	2090	2814	3717	3702	680.4	-9.9	451	5279	0.00	2.47	0.00	0.000	260	0.000	0.073	2082	3907	3708	3716	3700	0	0	0	0	0	0	11.82	11.57	11.82
5416	-2.06	-51.4	2083	3909	3718	3701	695.5	-10.4	479	5421	0.20	2.40	0.00	0.000	3078	0.334	0.038	2110	2791	3708	3716	3700	0	0	0	0	0	0	11.39	11.63	11.62
5787	-2.06	-51.4	2111	2792	3717	3701	730.7	-9.3	493	5793	0.00	3.05	0.00	0.000	516	0.000	0.041	2111	1392	3708	3716	3700	0	0	0	0	0	0	11.83	11.59	11.83
5880	-2.06	-51.4	2111	1392	3718	3700	738.9	-8.8	511	5886	0.00	3.12	0.00	0.000	1030	0.000	0.052	2101	2807	3708	3717	3700	0	0	0	0	0	0	11.67	11.59	11.68
6272	-2.06	-51.4	2102	2807	3718	3700	773.1	-8.8	529	6278	0.00	3.10	0.00	0.000	516	0.000	0.040	2101	1393	3707	3716	3699	0	0	0	0	0	0	11.83	11.60	11.83
6329	-2.06	-51.4	2101	1394	3717	3701	778.0	-8.3	540	6336	0.00	3.17	0.00	0.000	1030	0.000	0.052	2092	2813	3707	3715	3700	0	0	0	0	0	0	11.67	11.60	11.69
6698	-2.07	-59.3	2093	2813	3718	3700	807.3	-7.7	553	6704	0.00	3.12	0.00	0.000	548	0.000	0.040	2092	1386	3708	3716	3700	0	0	0	0	0	0	11.84	11.61	11.84
6813	-2.08	-68.4	2093	1387	3717	3701	815.8	-7.3	575	6818	0.00	3.17	0.00	0.000	1062	0.000	0.052	2084	2803	3708	3717	3700	0	0	0	0	0	0	11.67	11.60	11.69
7185	-2.09	-77.0	2085	2803	3718	3700	843.7	-7.4	589	7185	0.00	0.00	0.00	0.000	38	0.000	0.000	2084	2802	3708	3717	3699	0	0	0	0	0	0	11.86	11.86	11.86
7421	end dive: BOTTOM_OBSTACLE_DETECTED
state	7421	begin apogee
7429	-0.23	0.0	2085	2546	3717	3700	860.6	-6.9	597	7525	3.42	0.00	90.65	3.068	10246	0.304	0.000	2692	2546	3493	3499	3487	0	0	0	0	0	0	11.44	11.18	10.10
7525	end apogee: CONTROL_FINISHED_OK
state	7525	begin climb
7529	2.09	77.0	2693	2546	3499	3488	862.0	0.0	600	7665	3.05	3.38	122.38	3.060	10500	0.102	0.082	3442	3910	3186	3200	3173	0	0	0	0	0	0	11.21	11.03	10.09
7706	2.09	77.0	3442	3910	3200	3170	829.0	28.7	623	7711	0.00	3.08	0.00	0.000	1030	0.000	0.046	3452	2555	3183	3197	3169	0	0	0	0	0	0	11.36	11.31	11.38
8089	2.09	77.0	3452	2557	3193	3166	731.0	25.0	639	8094	0.00	3.22	0.00	0.000	516	0.000	0.058	3462	1149	3178	3192	3165	0	0	0	0	0	0	11.57	11.37	11.57
8125	2.09	77.0	3463	1150	3193	3166	721.9	24.4	646	8130	0.00	3.25	0.00	0.000	1030	0.000	0.061	3462	2553	3178	3192	3165	0	0	0	0	0	0	11.46	11.38	11.48
8512	2.09	77.0	3462	2554	3193	3165	624.1	25.5	663	8513	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2553	3178	3192	3165	0	0	0	0	0	0	11.61	11.61	11.60
8872	2.09	77.0	3463	2554	3193	3167	533.2	24.6	675	8873	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2553	3179	3192	3166	0	0	0	0	0	0	11.63	11.63	11.63
9242	2.09	77.0	3462	2554	3193	3169	445.9	22.9	691	9243	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2553	3180	3192	3168	0	0	0	0	0	0	11.66	11.65	11.65
9542	2.09	77.0	3465	2553	3194	3169	378.5	22.0	706	9543	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2553	3180	3192	3169	0	0	0	0	0	0	11.64	11.64	11.64
9841	2.09	77.0	3463	2553	3193	3169	312.5	21.7	721	9842	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2553	3180	3192	3169	0	0	0	0	0	0	11.67	11.67	11.67
10142	2.09	77.0	3463	2554	3193	3170	248.1	21.3	748	10147	0.00	3.22	0.00	0.000	516	0.000	0.057	3472	1138	3180	3192	3169	0	0	0	0	0	0	11.66	11.45	11.66
10194	2.09	77.0	3473	1138	3194	3171	237.6	19.8	758	10199	0.00	3.25	0.00	0.000	1030	0.000	0.061	3472	2554	3181	3193	3169	0	0	0	0	0	0	11.54	11.46	11.55
10506	2.09	77.0	3473	2555	3194	3169	173.0	20.4	790	10511	0.00	3.20	0.00	0.000	260	0.000	0.084	3472	3911	3181	3193	3169	0	0	0	0	0	0	11.65	11.45	11.66
10569	2.09	77.0	3473	3911	3194	3169	159.6	21.7	802	10574	0.25	3.03	0.00	0.000	5126	0.385	0.047	3451	2549	3180	3192	3169	0	0	0	0	0	0	11.25	11.50	11.51
10881	2.09	77.0	3451	2550	3193	3170	100.2	18.5	834	10886	0.00	3.20	0.00	0.000	516	0.000	0.059	3461	1141	3180	3192	3169	0	0	0	0	0	0	11.66	11.45	11.65
10954	2.09	77.0	3461	1142	3193	3170	87.0	18.5	848	10959	0.00	3.25	0.00	0.000	1030	0.000	0.063	3462	2554	3181	3193	3169	0	0	0	0	0	0	11.55	11.46	11.56
11266	2.09	77.0	3462	2555	3193	3170	29.6	17.4	880	11271	0.00	3.22	0.00	0.000	516	0.000	0.058	3471	1141	3181	3193	3169	0	0	0	0	0	0	11.66	11.45	11.66
11424	end climb: SURFACE_DEPTH_REACHED
state	11424	begin surface coast
11438	end surface coast: CONTROL_FINISHED_OK
state	11438	begin surface