Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 826 * 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 826 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 28 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 826 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 11 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 100119,165000,-7403.8574,-11223.8848,38,0.9,38,53.2,0.4,202.6,8,7.0 SPEED_LIMITS 0.100,0.244

_CALLS 3 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 286.5,416,-43.9,-10.000,-45.00,342

_SM_ANGLEo -63.5 D_GRID 990

GPS2 100119,171948,-7404.0938,-11224.2559,4,1.0,6,53.2,0.2,0.0,7,9.1

Post-dive calculations and measurements:

FREEZE -0.24,0.086,-1.858,2,2,0 ALTIM_BOTTOM_PING 824.1,11.1

FINISH -0.2,1.027193 _24V_AH 10.00,261.598

SM_CCo 11071,250.90,0.191,0,0,1899,399.91 _10V_AH 10.21,0.000

SM_GC 0.64,12.70,0.60,250.90,0.082,0.078,0.191,196,2809,1899,-8.03,-0.20,399.91,0,0,0,0,0,0,11.39,11.41,11.19 FG_AHR_24Vo 0.000

RAFOS_CLK 473 FG_AHR_10Vo 0.000

RAFOS 0,1547143273,18.032354,18.020277,158,65,60,58,57,55,516,193,718,146,113,182 MEM 279408

RAFOS_FIX -7404.639160,-11225.224609,100119,181808,2,144,0.37 DATA_FILE_SIZE 30006,831

IRIDIUM_FIX -7403.74,-11221.53,100119,170231 CAP_FILE_SIZE 140272,0

TT8_MAMPS 0.04494,0.152796 CFSIZE 1024409600,920731648

HUMID 49.13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1450.7

TCM_TEMP 13.00 CURRENT 0.091,213.63,1

XPDR_PINGS 1 GPS 100119,203031,-7403.629,-11226.715,38,0.8,44,53.2,0.2,0.0,12,6.3

ALTIM_TOP_PING 16.6,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 419 145.73 nil 0 0 0.00

Roll_motor 96 84 80.81 nil 0 0 0.00

VBD_pump_during_apogee 208 3056 6381.29 nil 0 0 0.00

VBD_pump_during_surface 250 191 479.85 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 3933 4 193.74

Iridium_during_xfer 1074 270 2900.76 nil 0 0 0.00

Transponder_ping 56 420 237.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.70

TT8 0 0 0.00

LPSleep 8690 2 204.97

TT8_Active 575 10 63.86

TT8_Sampling 2890 30 895.72

TT8_CF8 953 51 499.74

TT8_Kalman 0 0 0.00

Analog_circuits 2382 10 245.64

GPS_charging 0 0 0.00

Compass 1187 6 81.75

RAFOS 720 1 11.03

Transponder 415 30 127.12

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

18.8 20.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.9 27.00 9000.00 0.0 0.00 0.00 27.00 0.0 1.11 1.00

31.0 33.10 33.30 0.0 1.06 1.00 33.10 0.0 1.00 1.00

37.3 39.90 39.80 0.0 1.04 1.00 39.90 0.0 1.08 1.00

809.5 25.40 9000.00 0.0 -0.01 0.78 25.40 834.9 -0.02 1.00

817.6 17.50 9000.00 0.0 -0.02 0.88 17.50 835.1 -0.98 1.00

824.1 11.10 11.10 835.2 -0.98 1.00 11.10 835.2 -0.98 1.00

827.6 20.20 9000.00 0.0 0.11 0.01 20.20 0.0 2.60 1.00

819.9 17.60 9000.00 0.0 0.27 0.05 17.60 802.3 0.34 1.00

130.8 135.30 9000.00 0.0 -0.17 1.00 135.30 0.0 -0.17 1.00

87.0 90.10 9000.00 0.0 -0.13 0.82 90.10 -3.1 1.03 1.00

65.1 66.60 66.90 -1.8 1.04 1.00 66.60 -1.5 1.07 1.00

57.7 60.00 59.50 -1.8 1.04 1.00 60.00 -2.3 0.89 1.00

50.7 52.20 52.40 -1.7 1.00 1.00 52.20 -1.5 1.11 1.00

37.7 38.70 38.60 -0.9 1.05 1.00 38.70 -1.0 1.04 1.00

30.9 31.60 31.70 -0.8 1.04 1.00 31.60 -0.7 1.04 1.00

23.4 24.20 24.10 -0.7 1.02 1.00 24.20 -0.8 0.99 1.00

16.6 16.80 16.90 -0.3 1.04 1.00 16.80 -0.2 1.09 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

13 -2.02 -22.2 198 2809 1936 1800 0.0 0.0 0 124 0.00 0.00 -103.38 0.003 16390 0.000 0.000 198 2808 3586 3607 3565 0 0 0 0 0 0 11.51 10.65 11.51

129 -2.06 -51.4 198 2808 3609 3565 1.5 -1.3 11 156 14.70 3.25 -4.88 0.015 18980 0.420 0.054 2108 1393 3702 3709 3695 0 0 0 0 0 0 11.13 10.63 11.36

383 -2.06 -51.4 2108 1393 3716 3703 38.8 -16.5 61 390 0.00 3.25 0.00 0.000 1030 0.000 0.051 2100 2817 3708 3716 3701 0 0 0 0 0 0 11.45 11.38 11.47

697 -2.06 -51.4 2100 2818 3717 3704 86.4 -14.8 93 703 0.00 3.15 0.00 0.000 516 0.000 0.039 2099 1386 3709 3716 3703 0 0 0 0 0 0 11.60 11.40 11.60

714 -2.06 -51.4 2100 1388 3717 3704 89.1 -14.9 96 720 0.00 3.22 0.00 0.000 1030 0.000 0.050 2089 2806 3709 3716 3702 0 0 0 0 0 0 11.48 11.41 11.50

1019 -2.06 -51.4 2090 2806 3718 3704 133.4 -14.7 127 1020 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2806 3710 3717 3704 0 0 0 0 0 0 11.67 11.67 11.67

1319 -2.06 -51.4 2090 2806 3719 3704 178.7 -15.2 157 1325 0.00 2.55 0.00 0.000 260 0.000 0.072 2081 3915 3711 3718 3705 0 0 0 0 0 0 11.68 11.43 11.68

1407 -2.06 -51.4 2081 3916 3719 3706 192.9 -16.6 174 1413 0.20 2.47 0.00 0.000 3078 0.326 0.037 2109 2771 3711 3718 3705 0 0 0 0 0 0 11.26 11.50 11.50

1712 -2.06 -51.4 2110 2771 3719 3706 238.2 -14.3 205 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2771 3712 3718 3706 0 0 0 0 0 0 11.64 11.64 11.64

2012 -2.06 -51.4 2110 2771 3719 3705 281.4 -14.3 235 2013 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2771 3712 3718 3706 0 0 0 0 0 0 11.65 11.66 11.66

2311 -2.06 -51.4 2109 2772 3718 3707 322.7 -13.6 257 2312 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2771 3712 3718 3706 0 0 0 0 0 0 11.71 11.71 11.71

2614 -2.06 -51.4 2110 2771 3719 3706 361.4 -12.9 272 2619 0.00 3.05 0.00 0.000 516 0.000 0.041 2109 1396 3712 3718 3706 0 0 0 0 0 0 11.69 11.48 11.69

2651 -2.06 -51.4 2109 1398 3718 3707 366.5 -12.9 279 2657 0.00 3.20 0.00 0.000 1030 0.000 0.051 2100 2807 3711 3718 3705 0 0 0 0 0 0 11.55 11.48 11.57

2956 -2.06 -51.4 2100 2808 3719 3706 405.4 -12.5 295 2956 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2808 3711 3718 3705 0 0 0 0 0 0 11.71 11.71 11.71

3259 -2.06 -51.4 2101 2807 3719 3705 442.3 -12.4 310 3264 0.00 3.12 0.00 0.000 516 0.000 0.040 2100 1402 3711 3718 3705 0 0 0 0 0 0 11.71 11.49 11.71

3300 -2.06 -51.4 2100 1402 3719 3705 447.8 -12.1 318 3305 0.00 3.17 0.00 0.000 1030 0.000 0.050 2091 2806 3711 3718 3705 0 0 0 0 0 0 11.56 11.49 11.58

3622 -2.06 -51.4 2090 2807 3718 3705 487.6 -12.1 337 3627 0.00 2.55 0.00 0.000 260 0.000 0.072 2083 3913 3711 3718 3704 0 0 0 0 0 0 11.74 11.48 11.74

3669 -2.06 -51.4 2084 3914 3718 3705 493.7 -13.1 346 3674 0.17 2.42 0.00 0.000 3078 0.334 0.038 2107 2794 3710 3718 3703 0 0 0 0 0 0 11.31 11.55 11.55

3996 -2.06 -51.4 2108 2795 3718 3705 532.4 -11.7 360 4001 0.00 2.58 0.00 0.000 260 0.000 0.072 2100 3910 3711 3718 3704 0 0 0 0 0 0 11.69 11.49 11.69

4027 -2.06 -51.4 2101 3910 3719 3704 536.4 -13.2 366 4032 0.00 2.42 0.00 0.000 1030 0.000 0.038 2100 2789 3710 3717 3703 0 0 0 0 0 0 11.59 11.55 11.60

4420 -2.06 -51.4 2100 2790 3718 3704 583.3 -11.8 384 4420 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2789 3710 3718 3703 0 0 0 0 0 0 11.70 11.71 11.70

4783 -2.06 -51.4 2101 2789 3719 3702 623.3 -10.8 396 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2789 3709 3717 3702 0 0 0 0 0 0 11.71 11.71 11.71

5143 -2.06 -51.4 2101 2789 3718 3702 661.5 -10.2 408 5148 0.00 3.08 0.00 0.000 516 0.000 0.041 2100 1395 3709 3717 3701 0 0 0 0 0 0 11.71 11.52 11.71

5169 -2.06 -51.4 2100 1396 3718 3702 664.5 -10.2 413 5176 0.00 3.17 0.00 0.000 1030 0.000 0.051 2091 2801 3709 3717 3701 0 0 0 0 0 0 11.60 11.52 11.61

5534 -2.06 -51.4 2091 2801 3718 3701 699.8 -9.6 426 5541 0.00 3.12 0.00 0.000 516 0.000 0.040 2091 1391 3709 3717 3701 0 0 0 0 0 0 11.77 11.48 11.78

5608 -2.06 -51.4 2092 1391 3718 3701 706.7 -9.6 440 5613 0.20 3.17 0.00 0.000 3078 0.337 0.050 2109 2801 3708 3716 3701 0 0 0 0 0 0 11.34 11.52 11.57

5989 -2.06 -51.4 2109 2802 3717 3702 742.0 -9.1 456 5994 0.00 2.53 0.00 0.000 260 0.000 0.072 2100 3912 3709 3717 3701 0 0 0 0 0 0 11.77 11.51 11.78

6065 -2.06 -51.4 2101 3913 3717 3700 749.4 -9.8 471 6071 0.00 2.42 0.00 0.000 1030 0.000 0.038 2100 2799 3708 3717 3700 0 0 0 0 0 0 11.62 11.57 11.62

6446 -2.07 -58.3 2100 2800 3717 3700 781.0 -7.9 486 6446 0.00 0.00 0.00 0.000 38 0.000 0.000 2100 2799 3708 3716 3700 0 0 0 0 0 0 11.76 11.76 11.76

6802 -2.07 -65.6 2100 2800 3717 3701 808.1 -7.8 498 6807 0.00 2.55 0.00 0.000 292 0.000 0.073 2093 3909 3708 3716 3700 0 0 0 0 0 0 11.78 11.52 11.78

6889 -2.08 -72.7 2093 3910 3717 3700 815.1 -7.9 515 6895 0.00 2.42 0.00 0.000 1062 0.000 0.040 2093 2788 3708 3717 3700 0 0 0 0 0 0 11.62 11.57 11.63

7040 end dive: BOTTOM_OBSTACLE_DETECTED

state 7040 begin apogee

7048 -0.23 0.0 2094 2536 3717 3701 826.2 -7.1 521 7146 3.45 0.00 92.20 3.056 10246 0.307 0.000 2696 2536 3492 3498 3487 0 0 0 0 0 0 11.37 11.12 10.04

7146 end apogee: CONTROL_FINISHED_OK

state 7146 begin climb

7150 2.08 72.7 2697 2537 3500 3487 827.6 0.0 524 7271 3.00 0.00 116.60 3.034 10758 0.102 0.000 3443 2537 3204 3218 3191 0 0 0 0 0 0 11.17 10.99 10.00

7617 2.08 72.7 3440 2538 3210 3184 724.9 24.2 545 7623 0.00 3.28 0.00 0.000 260 0.000 0.082 3441 3903 3196 3209 3183 0 0 0 0 0 0 11.52 11.31 11.52

7690 2.08 72.7 3442 3904 3210 3183 705.0 26.4 559 7696 0.00 3.05 0.00 0.000 1030 0.000 0.047 3451 2548 3196 3210 3182 0 0 0 0 0 0 11.43 11.38 11.47

8073 2.08 72.7 3451 2550 3209 3183 612.7 24.0 575 8078 0.00 3.22 0.00 0.000 516 0.000 0.057 3462 1150 3197 3209 3186 0 0 0 0 0 0 11.56 11.34 11.56

8139 2.08 72.7 3463 1151 3210 3183 596.9 23.5 588 8144 0.00 3.25 0.00 0.000 1030 0.000 0.063 3462 2549 3195 3209 3181 0 0 0 0 0 0 11.44 11.36 11.46

8527 2.08 72.7 3462 2550 3210 3183 505.7 23.0 605 8528 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2549 3195 3209 3181 0 0 0 0 0 0 11.57 11.58 11.57

8896 2.08 72.7 3461 2550 3209 3182 421.4 22.6 623 8901 0.00 3.25 0.00 0.000 260 0.000 0.083 3462 3914 3195 3209 3182 0 0 0 0 0 0 11.60 11.37 11.60

8922 2.08 72.7 3463 3914 3210 3182 415.1 24.5 628 8927 0.00 3.08 0.00 0.000 1030 0.000 0.047 3472 2542 3195 3209 3182 0 0 0 0 0 0 11.48 11.43 11.49

9239 2.08 72.7 3473 2542 3210 3183 344.6 21.6 646 9244 0.00 3.28 0.00 0.000 260 0.000 0.084 3472 3916 3196 3209 3183 0 0 0 0 0 0 11.61 11.36 11.60

9270 2.08 72.7 3473 3916 3210 3183 337.5 23.6 652 9276 0.28 3.08 0.00 0.000 5126 0.391 0.047 3448 2544 3196 3209 3183 0 0 0 0 0 0 11.17 11.43 11.43

9582 2.08 72.7 3449 2543 3211 3183 272.6 20.1 675 9583 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2544 3196 3209 3183 0 0 0 0 0 0 11.61 11.60 11.61

9882 2.08 72.7 3448 2543 3209 3183 213.2 19.8 705 9883 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2541 3196 3209 3183 0 0 0 0 0 0 11.62 11.61 11.61

10182 2.08 72.7 3449 2544 3210 3183 155.2 18.7 735 10183 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2544 3194 3209 3179 0 0 0 0 0 0 11.61 11.62 11.61

10482 2.08 72.7 3449 2544 3210 3183 99.7 18.2 765 10483 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2544 3196 3209 3183 0 0 0 0 0 0 11.61 11.61 11.62

10782 2.08 72.7 3449 2544 3218 3183 45.2 18.2 795 10788 0.00 3.20 0.00 0.000 516 0.000 0.058 3459 1125 3196 3209 3183 0 0 0 0 0 0 11.62 11.38 11.62

10876 2.08 72.7 3459 1126 3210 3182 29.0 17.1 813 10882 0.00 3.33 0.00 0.000 1030 0.000 0.062 3458 2559 3195 3209 3182 0 0 0 0 0 0 11.48 11.39 11.50

11035 end climb: SURFACE_DEPTH_REACHED

state 11035 begin surface coast

11045 end surface coast: CONTROL_FINISHED_OK

state 11045 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	826	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	28	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	100119,165000,-7403.8574,-11223.8848,38,0.9,38,53.2,0.4,202.6,8,7.0	SPEED_LIMITS	0.100,0.244
_CALLS	3	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	286.5,416,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-63.5	D_GRID	990
GPS2	100119,171948,-7404.0938,-11224.2559,4,1.0,6,53.2,0.2,0.0,7,9.1

FREEZE	-0.24,0.086,-1.858,2,2,0	ALTIM_BOTTOM_PING	824.1,11.1
FINISH	-0.2,1.027193	_24V_AH	10.00,261.598
SM_CCo	11071,250.90,0.191,0,0,1899,399.91	_10V_AH	10.21,0.000
SM_GC	0.64,12.70,0.60,250.90,0.082,0.078,0.191,196,2809,1899,-8.03,-0.20,399.91,0,0,0,0,0,0,11.39,11.41,11.19	FG_AHR_24Vo	0.000
RAFOS_CLK	473	FG_AHR_10Vo	0.000
RAFOS	0,1547143273,18.032354,18.020277,158,65,60,58,57,55,516,193,718,146,113,182	MEM	279408
RAFOS_FIX	-7404.639160,-11225.224609,100119,181808,2,144,0.37	DATA_FILE_SIZE	30006,831
IRIDIUM_FIX	-7403.74,-11221.53,100119,170231	CAP_FILE_SIZE	140272,0
TT8_MAMPS	0.04494,0.152796	CFSIZE	1024409600,920731648
HUMID	49.13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1450.7
TCM_TEMP	13.00	CURRENT	0.091,213.63,1
XPDR_PINGS	1	GPS	100119,203031,-7403.629,-11226.715,38,0.8,44,53.2,0.2,0.0,12,6.3
ALTIM_TOP_PING	16.6,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	419	145.73	nil	0	0	0.00
Roll_motor	96	84	80.81	nil	0	0	0.00
VBD_pump_during_apogee	208	3056	6381.29	nil	0	0	0.00
VBD_pump_during_surface	250	191	479.85	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	3933	4	193.74
Iridium_during_xfer	1074	270	2900.76	nil	0	0	0.00
Transponder_ping	56	420	237.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.70
TT8	0	0	0.00
LPSleep	8690	2	204.97
TT8_Active	575	10	63.86
TT8_Sampling	2890	30	895.72
TT8_CF8	953	51	499.74
TT8_Kalman	0	0	0.00
Analog_circuits	2382	10	245.64
GPS_charging	0	0	0.00
Compass	1187	6	81.75
RAFOS	720	1	11.03
Transponder	415	30	127.12

		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
18.8	20.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.9	27.00	9000.00	0.0	0.00	0.00	27.00	0.0	1.11	1.00
31.0	33.10	33.30	0.0	1.06	1.00	33.10	0.0	1.00	1.00
37.3	39.90	39.80	0.0	1.04	1.00	39.90	0.0	1.08	1.00
809.5	25.40	9000.00	0.0	-0.01	0.78	25.40	834.9	-0.02	1.00
817.6	17.50	9000.00	0.0	-0.02	0.88	17.50	835.1	-0.98	1.00
824.1	11.10	11.10	835.2	-0.98	1.00	11.10	835.2	-0.98	1.00
827.6	20.20	9000.00	0.0	0.11	0.01	20.20	0.0	2.60	1.00

819.9	17.60	9000.00	0.0	0.27	0.05	17.60	802.3	0.34	1.00
130.8	135.30	9000.00	0.0	-0.17	1.00	135.30	0.0	-0.17	1.00
87.0	90.10	9000.00	0.0	-0.13	0.82	90.10	-3.1	1.03	1.00
65.1	66.60	66.90	-1.8	1.04	1.00	66.60	-1.5	1.07	1.00
57.7	60.00	59.50	-1.8	1.04	1.00	60.00	-2.3	0.89	1.00
50.7	52.20	52.40	-1.7	1.00	1.00	52.20	-1.5	1.11	1.00
37.7	38.70	38.60	-0.9	1.05	1.00	38.70	-1.0	1.04	1.00
30.9	31.60	31.70	-0.8	1.04	1.00	31.60	-0.7	1.04	1.00
23.4	24.20	24.10	-0.7	1.02	1.00	24.20	-0.8	0.99	1.00
16.6	16.80	16.90	-0.3	1.04	1.00	16.80	-0.2	1.09	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
13	-2.02	-22.2	198	2809	1936	1800	0.0	0.0	0	124	0.00	0.00	-103.38	0.003	16390	0.000	0.000	198	2808	3586	3607	3565	0	0	0	0	0	0	11.51	10.65	11.51
129	-2.06	-51.4	198	2808	3609	3565	1.5	-1.3	11	156	14.70	3.25	-4.88	0.015	18980	0.420	0.054	2108	1393	3702	3709	3695	0	0	0	0	0	0	11.13	10.63	11.36
383	-2.06	-51.4	2108	1393	3716	3703	38.8	-16.5	61	390	0.00	3.25	0.00	0.000	1030	0.000	0.051	2100	2817	3708	3716	3701	0	0	0	0	0	0	11.45	11.38	11.47
697	-2.06	-51.4	2100	2818	3717	3704	86.4	-14.8	93	703	0.00	3.15	0.00	0.000	516	0.000	0.039	2099	1386	3709	3716	3703	0	0	0	0	0	0	11.60	11.40	11.60
714	-2.06	-51.4	2100	1388	3717	3704	89.1	-14.9	96	720	0.00	3.22	0.00	0.000	1030	0.000	0.050	2089	2806	3709	3716	3702	0	0	0	0	0	0	11.48	11.41	11.50
1019	-2.06	-51.4	2090	2806	3718	3704	133.4	-14.7	127	1020	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2806	3710	3717	3704	0	0	0	0	0	0	11.67	11.67	11.67
1319	-2.06	-51.4	2090	2806	3719	3704	178.7	-15.2	157	1325	0.00	2.55	0.00	0.000	260	0.000	0.072	2081	3915	3711	3718	3705	0	0	0	0	0	0	11.68	11.43	11.68
1407	-2.06	-51.4	2081	3916	3719	3706	192.9	-16.6	174	1413	0.20	2.47	0.00	0.000	3078	0.326	0.037	2109	2771	3711	3718	3705	0	0	0	0	0	0	11.26	11.50	11.50
1712	-2.06	-51.4	2110	2771	3719	3706	238.2	-14.3	205	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2771	3712	3718	3706	0	0	0	0	0	0	11.64	11.64	11.64
2012	-2.06	-51.4	2110	2771	3719	3705	281.4	-14.3	235	2013	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2771	3712	3718	3706	0	0	0	0	0	0	11.65	11.66	11.66
2311	-2.06	-51.4	2109	2772	3718	3707	322.7	-13.6	257	2312	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2771	3712	3718	3706	0	0	0	0	0	0	11.71	11.71	11.71
2614	-2.06	-51.4	2110	2771	3719	3706	361.4	-12.9	272	2619	0.00	3.05	0.00	0.000	516	0.000	0.041	2109	1396	3712	3718	3706	0	0	0	0	0	0	11.69	11.48	11.69
2651	-2.06	-51.4	2109	1398	3718	3707	366.5	-12.9	279	2657	0.00	3.20	0.00	0.000	1030	0.000	0.051	2100	2807	3711	3718	3705	0	0	0	0	0	0	11.55	11.48	11.57
2956	-2.06	-51.4	2100	2808	3719	3706	405.4	-12.5	295	2956	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2808	3711	3718	3705	0	0	0	0	0	0	11.71	11.71	11.71
3259	-2.06	-51.4	2101	2807	3719	3705	442.3	-12.4	310	3264	0.00	3.12	0.00	0.000	516	0.000	0.040	2100	1402	3711	3718	3705	0	0	0	0	0	0	11.71	11.49	11.71
3300	-2.06	-51.4	2100	1402	3719	3705	447.8	-12.1	318	3305	0.00	3.17	0.00	0.000	1030	0.000	0.050	2091	2806	3711	3718	3705	0	0	0	0	0	0	11.56	11.49	11.58
3622	-2.06	-51.4	2090	2807	3718	3705	487.6	-12.1	337	3627	0.00	2.55	0.00	0.000	260	0.000	0.072	2083	3913	3711	3718	3704	0	0	0	0	0	0	11.74	11.48	11.74
3669	-2.06	-51.4	2084	3914	3718	3705	493.7	-13.1	346	3674	0.17	2.42	0.00	0.000	3078	0.334	0.038	2107	2794	3710	3718	3703	0	0	0	0	0	0	11.31	11.55	11.55
3996	-2.06	-51.4	2108	2795	3718	3705	532.4	-11.7	360	4001	0.00	2.58	0.00	0.000	260	0.000	0.072	2100	3910	3711	3718	3704	0	0	0	0	0	0	11.69	11.49	11.69
4027	-2.06	-51.4	2101	3910	3719	3704	536.4	-13.2	366	4032	0.00	2.42	0.00	0.000	1030	0.000	0.038	2100	2789	3710	3717	3703	0	0	0	0	0	0	11.59	11.55	11.60
4420	-2.06	-51.4	2100	2790	3718	3704	583.3	-11.8	384	4420	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2789	3710	3718	3703	0	0	0	0	0	0	11.70	11.71	11.70
4783	-2.06	-51.4	2101	2789	3719	3702	623.3	-10.8	396	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2789	3709	3717	3702	0	0	0	0	0	0	11.71	11.71	11.71
5143	-2.06	-51.4	2101	2789	3718	3702	661.5	-10.2	408	5148	0.00	3.08	0.00	0.000	516	0.000	0.041	2100	1395	3709	3717	3701	0	0	0	0	0	0	11.71	11.52	11.71
5169	-2.06	-51.4	2100	1396	3718	3702	664.5	-10.2	413	5176	0.00	3.17	0.00	0.000	1030	0.000	0.051	2091	2801	3709	3717	3701	0	0	0	0	0	0	11.60	11.52	11.61
5534	-2.06	-51.4	2091	2801	3718	3701	699.8	-9.6	426	5541	0.00	3.12	0.00	0.000	516	0.000	0.040	2091	1391	3709	3717	3701	0	0	0	0	0	0	11.77	11.48	11.78
5608	-2.06	-51.4	2092	1391	3718	3701	706.7	-9.6	440	5613	0.20	3.17	0.00	0.000	3078	0.337	0.050	2109	2801	3708	3716	3701	0	0	0	0	0	0	11.34	11.52	11.57
5989	-2.06	-51.4	2109	2802	3717	3702	742.0	-9.1	456	5994	0.00	2.53	0.00	0.000	260	0.000	0.072	2100	3912	3709	3717	3701	0	0	0	0	0	0	11.77	11.51	11.78
6065	-2.06	-51.4	2101	3913	3717	3700	749.4	-9.8	471	6071	0.00	2.42	0.00	0.000	1030	0.000	0.038	2100	2799	3708	3717	3700	0	0	0	0	0	0	11.62	11.57	11.62
6446	-2.07	-58.3	2100	2800	3717	3700	781.0	-7.9	486	6446	0.00	0.00	0.00	0.000	38	0.000	0.000	2100	2799	3708	3716	3700	0	0	0	0	0	0	11.76	11.76	11.76
6802	-2.07	-65.6	2100	2800	3717	3701	808.1	-7.8	498	6807	0.00	2.55	0.00	0.000	292	0.000	0.073	2093	3909	3708	3716	3700	0	0	0	0	0	0	11.78	11.52	11.78
6889	-2.08	-72.7	2093	3910	3717	3700	815.1	-7.9	515	6895	0.00	2.42	0.00	0.000	1062	0.000	0.040	2093	2788	3708	3717	3700	0	0	0	0	0	0	11.62	11.57	11.63
7040	end dive: BOTTOM_OBSTACLE_DETECTED
state	7040	begin apogee
7048	-0.23	0.0	2094	2536	3717	3701	826.2	-7.1	521	7146	3.45	0.00	92.20	3.056	10246	0.307	0.000	2696	2536	3492	3498	3487	0	0	0	0	0	0	11.37	11.12	10.04
7146	end apogee: CONTROL_FINISHED_OK
state	7146	begin climb
7150	2.08	72.7	2697	2537	3500	3487	827.6	0.0	524	7271	3.00	0.00	116.60	3.034	10758	0.102	0.000	3443	2537	3204	3218	3191	0	0	0	0	0	0	11.17	10.99	10.00
7617	2.08	72.7	3440	2538	3210	3184	724.9	24.2	545	7623	0.00	3.28	0.00	0.000	260	0.000	0.082	3441	3903	3196	3209	3183	0	0	0	0	0	0	11.52	11.31	11.52
7690	2.08	72.7	3442	3904	3210	3183	705.0	26.4	559	7696	0.00	3.05	0.00	0.000	1030	0.000	0.047	3451	2548	3196	3210	3182	0	0	0	0	0	0	11.43	11.38	11.47
8073	2.08	72.7	3451	2550	3209	3183	612.7	24.0	575	8078	0.00	3.22	0.00	0.000	516	0.000	0.057	3462	1150	3197	3209	3186	0	0	0	0	0	0	11.56	11.34	11.56
8139	2.08	72.7	3463	1151	3210	3183	596.9	23.5	588	8144	0.00	3.25	0.00	0.000	1030	0.000	0.063	3462	2549	3195	3209	3181	0	0	0	0	0	0	11.44	11.36	11.46
8527	2.08	72.7	3462	2550	3210	3183	505.7	23.0	605	8528	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2549	3195	3209	3181	0	0	0	0	0	0	11.57	11.58	11.57
8896	2.08	72.7	3461	2550	3209	3182	421.4	22.6	623	8901	0.00	3.25	0.00	0.000	260	0.000	0.083	3462	3914	3195	3209	3182	0	0	0	0	0	0	11.60	11.37	11.60
8922	2.08	72.7	3463	3914	3210	3182	415.1	24.5	628	8927	0.00	3.08	0.00	0.000	1030	0.000	0.047	3472	2542	3195	3209	3182	0	0	0	0	0	0	11.48	11.43	11.49
9239	2.08	72.7	3473	2542	3210	3183	344.6	21.6	646	9244	0.00	3.28	0.00	0.000	260	0.000	0.084	3472	3916	3196	3209	3183	0	0	0	0	0	0	11.61	11.36	11.60
9270	2.08	72.7	3473	3916	3210	3183	337.5	23.6	652	9276	0.28	3.08	0.00	0.000	5126	0.391	0.047	3448	2544	3196	3209	3183	0	0	0	0	0	0	11.17	11.43	11.43
9582	2.08	72.7	3449	2543	3211	3183	272.6	20.1	675	9583	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2544	3196	3209	3183	0	0	0	0	0	0	11.61	11.60	11.61
9882	2.08	72.7	3448	2543	3209	3183	213.2	19.8	705	9883	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2541	3196	3209	3183	0	0	0	0	0	0	11.62	11.61	11.61
10182	2.08	72.7	3449	2544	3210	3183	155.2	18.7	735	10183	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2544	3194	3209	3179	0	0	0	0	0	0	11.61	11.62	11.61
10482	2.08	72.7	3449	2544	3210	3183	99.7	18.2	765	10483	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2544	3196	3209	3183	0	0	0	0	0	0	11.61	11.61	11.62
10782	2.08	72.7	3449	2544	3218	3183	45.2	18.2	795	10788	0.00	3.20	0.00	0.000	516	0.000	0.058	3459	1125	3196	3209	3183	0	0	0	0	0	0	11.62	11.38	11.62
10876	2.08	72.7	3459	1126	3210	3182	29.0	17.1	813	10882	0.00	3.33	0.00	0.000	1030	0.000	0.062	3458	2559	3195	3209	3182	0	0	0	0	0	0	11.48	11.39	11.50
11035	end climb: SURFACE_DEPTH_REACHED
state	11035	begin surface coast
11045	end surface coast: CONTROL_FINISHED_OK
state	11045	begin surface