Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 827 * 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 827 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 27 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 827 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 27 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 100119,203031,-7403.6289,-11226.7148,38,0.8,44,53.2,0.2,0.0,12,6.3 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 18.5,1027,-43.9,-10.000,-45.00,342

_SM_ANGLEo -63.7 D_GRID 990

GPS2 100119,204920,-7403.7505,-11226.8047,4,0.7,5,53.2,0.3,143.4,12,10.0

Post-dive calculations and measurements:

FREEZE -0.19,-0.165,-1.861,2,1,0 ALTIM_BOTTOM_PING 816.7,11.1

FINISH -0.2,1.027259 _24V_AH 10.00,261.930

SM_CCo 10967,247.45,0.189,0,0,1899,399.91 _10V_AH 10.24,0.000

SM_GC 0.66,12.73,0.60,247.45,0.073,0.071,0.189,201,2807,1899,-8.03,-0.40,399.91,0,0,0,0,0,0,11.26,11.30,11.10 FG_AHR_24Vo 0.000

RAFOS_CLK 463 FG_AHR_10Vo 0.000

RAFOS 0,1547154060,21.032354,21.016666,134,69,58,57,57,56,591,220,188,200,210,130 MEM 279452

RAFOS_FIX -7404.310059,-11225.717773,100119,212120,2,146,0.98 DATA_FILE_SIZE 29991,907

IRIDIUM_FIX -7403.74,-11221.53,100119,171134 CAP_FILE_SIZE 134955,0

TT8_MAMPS 0.04494,0.414946 CFSIZE 1024409600,920928256

HUMID 48.85 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 INTR 0,690.73,0x234cda,0,24

TCM_TEMP 13.00 SOUNDSPEED 1452.3

XPDR_PINGS 0 CURRENT 0.075,211.71,1

ALTIM_TOP_PING 7.4,7.0 GPS 100119,235801,-7403.808,-11224.496,14,0.8,33,53.2,0.3,349.8,12,6.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 418 146.35 nil 0 0 0.00

Roll_motor 103 82 85.37 nil 0 0 0.00

VBD_pump_during_apogee 218 3043 6640.34 nil 0 0 0.00

VBD_pump_during_surface 247 188 467.57 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 3735 5 187.61

Iridium_during_xfer 848 281 2387.92 nil 0 0 0.00

Transponder_ping 57 420 240.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.64

TT8 0 0 0.00

LPSleep 8366 2 197.90

TT8_Active 575 10 64.08

TT8_Sampling 2807 30 872.52

TT8_CF8 594 51 312.56

TT8_Kalman 0 0 0.00

Analog_circuits 2207 10 228.31

GPS_charging 0 0 0.00

Compass 1294 6 89.37

RAFOS 720 1 11.06

Transponder 434 30 133.49

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

19.3 21.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

31.8 33.90 9000.00 0.0 0.00 0.00 33.90 0.0 1.03 1.00

796.2 34.00 9000.00 0.0 0.01 0.27 34.00 0.0 0.00 1.00

803.1 25.50 9000.00 0.0 -0.01 0.25 25.50 828.6 -1.23 1.00

809.8 17.80 17.70 827.5 -1.18 1.00 17.80 827.6 -1.15 1.00

816.7 11.30 11.10 827.8 -1.04 0.99 11.30 828.0 -0.94 1.00

820.3 9.90 9000.00 0.0 -0.78 0.97 9.90 830.2 -0.39 1.00

110.2 115.30 9000.00 0.0 -0.15 1.00 115.30 0.0 -0.15 1.00

102.4 106.10 9000.00 0.0 -0.14 0.99 106.10 -3.7 1.18 1.00

80.9 83.90 83.70 -2.8 1.06 1.00 83.90 -3.0 1.03 1.00

74.8 77.90 77.80 -3.0 1.02 1.00 77.90 -3.1 0.98 1.00

60.7 63.20 63.20 -2.5 1.03 1.00 63.20 -2.5 1.04 1.00

54.1 56.00 56.10 -2.0 1.06 1.00 56.00 -1.9 1.09 1.00

47.6 50.00 49.80 -2.2 1.01 1.00 50.00 -2.4 0.92 1.00

41.2 42.50 42.80 -1.6 1.04 1.00 42.50 -1.3 1.17 1.00

35.1 36.20 36.00 -0.9 1.11 1.00 36.20 -1.1 1.03 1.00

28.1 30.00 29.90 -1.8 0.95 1.00 30.00 -1.9 0.89 1.00

21.2 22.40 22.70 -1.5 0.99 1.00 22.40 -1.2 1.10 1.00

14.1 14.10 14.20 -0.1 1.14 1.00 14.10 -0.0 1.17 1.00

7.4 7.20 7.00 0.4 1.10 1.00 7.20 0.2 1.03 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 -22.2 197 2810 1939 1799 0.0 0.0 0 118 0.00 0.00 -102.82 0.003 16390 0.000 0.000 196 2810 3583 3604 3563 0 0 0 0 0 0 11.46 10.60 11.46

122 -2.06 -51.0 196 2812 3608 3566 1.3 -1.4 10 151 14.85 3.28 -5.35 0.014 18980 0.418 0.054 2109 1392 3699 3707 3692 0 0 0 0 0 0 11.07 10.58 11.30

378 -2.06 -51.0 2109 1392 3714 3700 35.8 -16.0 60 383 0.00 3.25 0.00 0.000 1030 0.000 0.051 2101 2807 3706 3713 3699 0 0 0 0 0 0 11.40 11.33 11.42

690 -2.06 -51.0 2101 2807 3715 3701 84.9 -15.1 92 700 0.00 3.12 0.00 0.000 516 0.000 0.039 2100 1387 3707 3714 3701 0 0 0 0 0 0 11.59 11.36 11.59

826 -2.06 -51.0 2101 1387 3716 3702 105.5 -15.0 118 831 0.00 3.25 0.00 0.000 1030 0.000 0.050 2090 2808 3708 3715 3702 0 0 0 0 0 0 11.43 11.36 11.45

1137 -2.06 -51.0 2090 2808 3717 3703 154.1 -15.6 150 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2808 3709 3716 3703 0 0 0 0 0 0 11.59 11.60 11.60

1437 -2.06 -51.0 2090 2809 3717 3705 200.8 -15.7 180 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2808 3709 3716 3703 0 0 0 0 0 0 11.62 11.61 11.62

1738 -2.06 -51.0 2090 2809 3717 3704 246.8 -15.1 210 1743 0.00 3.20 0.00 0.000 516 0.000 0.041 2090 1385 3710 3717 3703 0 0 0 0 0 0 11.63 11.38 11.63

1804 -2.06 -51.0 2090 1386 3717 3705 256.6 -14.5 223 1811 0.20 3.25 0.00 0.000 3078 0.331 0.050 2107 2808 3710 3717 3703 0 0 0 0 0 0 11.20 11.39 11.44

2119 -2.06 -51.0 2108 2808 3718 3703 303.4 -14.8 254 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2808 3710 3717 3703 0 0 0 0 0 0 11.64 11.69 11.64

2422 -2.06 -51.0 2108 2808 3717 3704 345.6 -13.9 269 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2808 3710 3717 3704 0 0 0 0 0 0 11.64 11.64 11.64

2722 -2.06 -51.0 2109 2808 3717 3703 385.2 -13.2 284 2729 0.00 3.17 0.00 0.000 516 0.000 0.041 2107 1390 3710 3717 3703 0 0 0 0 0 0 11.64 11.38 11.64

2750 -2.06 -51.0 2108 1391 3717 3705 389.2 -13.3 289 2756 0.00 3.25 0.00 0.000 1030 0.000 0.051 2100 2812 3710 3717 3703 0 0 0 0 0 0 11.49 11.41 11.51

3067 -2.06 -51.0 2101 2812 3718 3703 430.1 -12.9 307 3072 0.00 3.20 0.00 0.000 516 0.000 0.041 2100 1387 3709 3716 3703 0 0 0 0 0 0 11.67 11.42 11.67

3138 -2.06 -51.0 2099 1388 3717 3705 439.1 -12.4 321 3145 0.00 3.25 0.00 0.000 1030 0.000 0.051 2091 2811 3709 3716 3703 0 0 0 0 0 0 11.50 11.43 11.52

3451 -2.06 -51.0 2091 2811 3717 3703 478.4 -12.5 338 3452 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2811 3709 3716 3703 0 0 0 0 0 0 11.68 11.67 11.67

3755 -2.06 -51.0 2091 2812 3717 3704 514.6 -11.7 351 3760 0.00 3.20 0.00 0.000 516 0.000 0.041 2091 1390 3709 3716 3703 0 0 0 0 0 0 11.63 11.43 11.63

3816 -2.06 -51.0 2091 1390 3717 3703 522.3 -11.6 363 3822 0.20 3.22 0.00 0.000 3078 0.334 0.051 2108 2804 3709 3716 3703 0 0 0 0 0 0 11.23 11.43 11.46

4208 -2.06 -51.0 2108 2805 3717 3703 565.8 -11.0 381 4214 0.00 3.17 0.00 0.000 516 0.000 0.041 2108 1385 3709 3716 3702 0 0 0 0 0 0 11.69 11.43 11.69

4305 -2.06 -51.0 2109 1385 3718 3702 576.3 -10.7 400 4310 0.00 3.25 0.00 0.000 1030 0.000 0.052 2101 2806 3709 3717 3702 0 0 0 0 0 0 11.50 11.43 11.52

4692 -2.06 -51.0 2101 2806 3718 3700 616.6 -10.2 417 4698 0.00 3.20 0.00 0.000 516 0.000 0.041 2101 1382 3707 3715 3700 0 0 0 0 0 0 11.69 11.44 11.69

4719 -2.06 -51.0 2101 1381 3718 3700 619.4 -10.4 422 4728 0.00 3.25 0.00 0.000 1030 0.000 0.051 2091 2807 3707 3715 3700 0 0 0 0 0 0 11.51 11.44 11.52

5087 -2.06 -51.0 2092 2807 3717 3700 655.3 -9.7 435 5088 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2807 3708 3716 3700 0 0 0 0 0 0 11.67 11.67 11.67

5444 -2.06 -51.0 2091 2808 3716 3701 688.2 -9.0 447 5449 0.00 2.55 0.00 0.000 260 0.000 0.072 2082 3909 3707 3715 3699 0 0 0 0 0 0 11.70 11.43 11.70

5570 -2.06 -51.0 2083 3909 3717 3699 700.5 -9.8 472 5576 0.20 2.45 0.00 0.000 3078 0.334 0.038 2110 2785 3707 3715 3699 0 0 0 0 0 0 11.24 11.49 11.48

5957 -2.06 -51.0 2110 2786 3716 3700 732.9 -8.1 489 5963 0.00 3.08 0.00 0.000 516 0.000 0.041 2110 1395 3707 3715 3699 0 0 0 0 0 0 11.70 11.45 11.70

6130 -2.07 -58.4 2111 1395 3717 3699 747.2 -7.8 523 6136 0.00 3.22 0.00 0.000 1062 0.000 0.051 2100 2802 3707 3715 3699 0 0 0 0 0 0 11.51 11.44 11.52

6505 -2.08 -69.7 2101 2803 3716 3698 773.8 -6.6 537 6511 0.00 3.15 0.00 0.000 548 0.000 0.040 2100 1388 3707 3716 3699 0 0 0 0 0 0 11.67 11.45 11.68

6739 -2.09 -77.7 2100 1389 3716 3700 790.7 -7.6 583 6744 0.00 3.22 0.00 0.000 1062 0.000 0.051 2091 2804 3707 3715 3699 0 0 0 0 0 0 11.51 11.44 11.52

7107 end dive: BOTTOM_OBSTACLE_DETECTED

state 7107 begin apogee

7115 -0.23 0.0 2091 2541 3716 3700 819.0 -7.6 597 7213 3.53 0.00 92.43 3.044 10246 0.306 0.000 2696 2541 3492 3498 3487 0 0 0 0 0 0 11.26 11.07 10.00

7213 end apogee: CONTROL_FINISHED_OK

state 7213 begin climb

7217 2.09 77.7 2696 2542 3499 3488 820.2 0.0 600 7355 3.08 3.40 125.72 3.026 10500 0.099 0.083 3446 3903 3183 3196 3170 0 0 0 0 0 0 11.12 10.94 10.00

7376 2.09 77.7 3446 3902 3197 3166 791.2 28.3 615 7382 0.00 3.10 0.00 0.000 1030 0.000 0.048 3456 2552 3180 3195 3166 0 0 0 0 0 0 11.24 11.19 11.26

7742 2.09 77.7 3457 2551 3189 3163 695.4 26.3 628 7747 0.00 3.28 0.00 0.000 516 0.000 0.060 3466 1143 3175 3188 3162 0 0 0 0 0 0 11.45 11.23 11.46

7865 2.09 77.7 3467 1143 3188 3162 663.6 25.5 652 7871 0.00 3.28 0.00 0.000 1030 0.000 0.062 3466 2563 3171 3180 3162 0 0 0 0 0 0 11.33 11.24 11.35

8258 2.09 77.7 3466 2561 3188 3163 561.9 25.8 670 8259 0.00 0.00 0.00 0.000 6 0.000 0.000 3466 2560 3175 3188 3162 0 0 0 0 0 0 11.49 11.49 11.49

8627 2.09 77.7 3467 2559 3189 3163 473.3 23.3 684 8632 0.00 3.33 0.00 0.000 516 0.000 0.058 3477 1137 3175 3188 3162 0 0 0 0 0 0 11.52 11.28 11.52

8679 2.09 77.7 3475 1138 3189 3164 461.2 23.2 694 8684 0.20 3.33 0.00 0.000 5126 0.364 0.061 3452 2555 3175 3188 3163 0 0 0 0 0 0 11.07 11.29 11.33

8991 2.09 77.7 3453 2555 3189 3164 390.4 22.9 711 8992 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2555 3175 3188 3162 0 0 0 0 0 0 11.50 11.50 11.50

9290 2.09 77.7 3452 2556 3189 3165 323.9 21.6 726 9291 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2555 3176 3188 3164 0 0 0 0 0 0 11.52 11.52 11.52

9590 2.09 77.7 3452 2556 3189 3165 260.3 20.9 750 9596 0.00 3.30 0.00 0.000 516 0.000 0.058 3462 1142 3176 3188 3164 0 0 0 0 0 0 11.52 11.28 11.51

9657 2.09 77.7 3462 1141 3189 3164 246.9 19.9 763 9664 0.00 3.33 0.00 0.000 1030 0.000 0.061 3462 2559 3176 3189 3164 0 0 0 0 0 0 11.37 11.28 11.38

9962 2.09 77.7 3463 2559 3190 3164 185.1 20.0 794 9963 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2559 3176 3189 3164 0 0 0 0 0 0 11.50 11.50 11.51

10263 2.09 77.7 3462 2560 3190 3165 125.9 19.8 824 10264 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2560 3176 3189 3164 0 0 0 0 0 0 11.49 11.49 11.49

10563 2.09 77.7 3463 2559 3190 3164 66.9 19.8 854 10568 0.00 3.30 0.00 0.000 516 0.000 0.057 3472 1140 3176 3189 3164 0 0 0 0 0 0 11.48 11.27 11.49

10709 2.09 77.7 3473 1140 3190 3164 39.4 18.0 883 10716 0.00 3.33 0.00 0.000 1030 0.000 0.062 3472 2555 3176 3189 3164 0 0 0 0 0 0 11.36 11.28 11.38

10932 end climb: SURFACE_DEPTH_REACHED

state 10932 begin surface coast

10941 end surface coast: CONTROL_FINISHED_OK

state 10941 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	827	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	27	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	100119,203031,-7403.6289,-11226.7148,38,0.8,44,53.2,0.2,0.0,12,6.3	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	18.5,1027,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-63.7	D_GRID	990
GPS2	100119,204920,-7403.7505,-11226.8047,4,0.7,5,53.2,0.3,143.4,12,10.0

FREEZE	-0.19,-0.165,-1.861,2,1,0	ALTIM_BOTTOM_PING	816.7,11.1
FINISH	-0.2,1.027259	_24V_AH	10.00,261.930
SM_CCo	10967,247.45,0.189,0,0,1899,399.91	_10V_AH	10.24,0.000
SM_GC	0.66,12.73,0.60,247.45,0.073,0.071,0.189,201,2807,1899,-8.03,-0.40,399.91,0,0,0,0,0,0,11.26,11.30,11.10	FG_AHR_24Vo	0.000
RAFOS_CLK	463	FG_AHR_10Vo	0.000
RAFOS	0,1547154060,21.032354,21.016666,134,69,58,57,57,56,591,220,188,200,210,130	MEM	279452
RAFOS_FIX	-7404.310059,-11225.717773,100119,212120,2,146,0.98	DATA_FILE_SIZE	29991,907
IRIDIUM_FIX	-7403.74,-11221.53,100119,171134	CAP_FILE_SIZE	134955,0
TT8_MAMPS	0.04494,0.414946	CFSIZE	1024409600,920928256
HUMID	48.85	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	INTR	0,690.73,0x234cda,0,24
TCM_TEMP	13.00	SOUNDSPEED	1452.3
XPDR_PINGS	0	CURRENT	0.075,211.71,1
ALTIM_TOP_PING	7.4,7.0	GPS	100119,235801,-7403.808,-11224.496,14,0.8,33,53.2,0.3,349.8,12,6.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	418	146.35	nil	0	0	0.00
Roll_motor	103	82	85.37	nil	0	0	0.00
VBD_pump_during_apogee	218	3043	6640.34	nil	0	0	0.00
VBD_pump_during_surface	247	188	467.57	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	3735	5	187.61
Iridium_during_xfer	848	281	2387.92	nil	0	0	0.00
Transponder_ping	57	420	240.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.64
TT8	0	0	0.00
LPSleep	8366	2	197.90
TT8_Active	575	10	64.08
TT8_Sampling	2807	30	872.52
TT8_CF8	594	51	312.56
TT8_Kalman	0	0	0.00
Analog_circuits	2207	10	228.31
GPS_charging	0	0	0.00
Compass	1294	6	89.37
RAFOS	720	1	11.06
Transponder	434	30	133.49

		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
19.3	21.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
31.8	33.90	9000.00	0.0	0.00	0.00	33.90	0.0	1.03	1.00
796.2	34.00	9000.00	0.0	0.01	0.27	34.00	0.0	0.00	1.00
803.1	25.50	9000.00	0.0	-0.01	0.25	25.50	828.6	-1.23	1.00
809.8	17.80	17.70	827.5	-1.18	1.00	17.80	827.6	-1.15	1.00
816.7	11.30	11.10	827.8	-1.04	0.99	11.30	828.0	-0.94	1.00
820.3	9.90	9000.00	0.0	-0.78	0.97	9.90	830.2	-0.39	1.00

110.2	115.30	9000.00	0.0	-0.15	1.00	115.30	0.0	-0.15	1.00
102.4	106.10	9000.00	0.0	-0.14	0.99	106.10	-3.7	1.18	1.00
80.9	83.90	83.70	-2.8	1.06	1.00	83.90	-3.0	1.03	1.00
74.8	77.90	77.80	-3.0	1.02	1.00	77.90	-3.1	0.98	1.00
60.7	63.20	63.20	-2.5	1.03	1.00	63.20	-2.5	1.04	1.00
54.1	56.00	56.10	-2.0	1.06	1.00	56.00	-1.9	1.09	1.00
47.6	50.00	49.80	-2.2	1.01	1.00	50.00	-2.4	0.92	1.00
41.2	42.50	42.80	-1.6	1.04	1.00	42.50	-1.3	1.17	1.00
35.1	36.20	36.00	-0.9	1.11	1.00	36.20	-1.1	1.03	1.00
28.1	30.00	29.90	-1.8	0.95	1.00	30.00	-1.9	0.89	1.00
21.2	22.40	22.70	-1.5	0.99	1.00	22.40	-1.2	1.10	1.00
14.1	14.10	14.20	-0.1	1.14	1.00	14.10	-0.0	1.17	1.00
7.4	7.20	7.00	0.4	1.10	1.00	7.20	0.2	1.03	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	197	2810	1939	1799	0.0	0.0	0	118	0.00	0.00	-102.82	0.003	16390	0.000	0.000	196	2810	3583	3604	3563	0	0	0	0	0	0	11.46	10.60	11.46
122	-2.06	-51.0	196	2812	3608	3566	1.3	-1.4	10	151	14.85	3.28	-5.35	0.014	18980	0.418	0.054	2109	1392	3699	3707	3692	0	0	0	0	0	0	11.07	10.58	11.30
378	-2.06	-51.0	2109	1392	3714	3700	35.8	-16.0	60	383	0.00	3.25	0.00	0.000	1030	0.000	0.051	2101	2807	3706	3713	3699	0	0	0	0	0	0	11.40	11.33	11.42
690	-2.06	-51.0	2101	2807	3715	3701	84.9	-15.1	92	700	0.00	3.12	0.00	0.000	516	0.000	0.039	2100	1387	3707	3714	3701	0	0	0	0	0	0	11.59	11.36	11.59
826	-2.06	-51.0	2101	1387	3716	3702	105.5	-15.0	118	831	0.00	3.25	0.00	0.000	1030	0.000	0.050	2090	2808	3708	3715	3702	0	0	0	0	0	0	11.43	11.36	11.45
1137	-2.06	-51.0	2090	2808	3717	3703	154.1	-15.6	150	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2808	3709	3716	3703	0	0	0	0	0	0	11.59	11.60	11.60
1437	-2.06	-51.0	2090	2809	3717	3705	200.8	-15.7	180	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2808	3709	3716	3703	0	0	0	0	0	0	11.62	11.61	11.62
1738	-2.06	-51.0	2090	2809	3717	3704	246.8	-15.1	210	1743	0.00	3.20	0.00	0.000	516	0.000	0.041	2090	1385	3710	3717	3703	0	0	0	0	0	0	11.63	11.38	11.63
1804	-2.06	-51.0	2090	1386	3717	3705	256.6	-14.5	223	1811	0.20	3.25	0.00	0.000	3078	0.331	0.050	2107	2808	3710	3717	3703	0	0	0	0	0	0	11.20	11.39	11.44
2119	-2.06	-51.0	2108	2808	3718	3703	303.4	-14.8	254	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2808	3710	3717	3703	0	0	0	0	0	0	11.64	11.69	11.64
2422	-2.06	-51.0	2108	2808	3717	3704	345.6	-13.9	269	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2808	3710	3717	3704	0	0	0	0	0	0	11.64	11.64	11.64
2722	-2.06	-51.0	2109	2808	3717	3703	385.2	-13.2	284	2729	0.00	3.17	0.00	0.000	516	0.000	0.041	2107	1390	3710	3717	3703	0	0	0	0	0	0	11.64	11.38	11.64
2750	-2.06	-51.0	2108	1391	3717	3705	389.2	-13.3	289	2756	0.00	3.25	0.00	0.000	1030	0.000	0.051	2100	2812	3710	3717	3703	0	0	0	0	0	0	11.49	11.41	11.51
3067	-2.06	-51.0	2101	2812	3718	3703	430.1	-12.9	307	3072	0.00	3.20	0.00	0.000	516	0.000	0.041	2100	1387	3709	3716	3703	0	0	0	0	0	0	11.67	11.42	11.67
3138	-2.06	-51.0	2099	1388	3717	3705	439.1	-12.4	321	3145	0.00	3.25	0.00	0.000	1030	0.000	0.051	2091	2811	3709	3716	3703	0	0	0	0	0	0	11.50	11.43	11.52
3451	-2.06	-51.0	2091	2811	3717	3703	478.4	-12.5	338	3452	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2811	3709	3716	3703	0	0	0	0	0	0	11.68	11.67	11.67
3755	-2.06	-51.0	2091	2812	3717	3704	514.6	-11.7	351	3760	0.00	3.20	0.00	0.000	516	0.000	0.041	2091	1390	3709	3716	3703	0	0	0	0	0	0	11.63	11.43	11.63
3816	-2.06	-51.0	2091	1390	3717	3703	522.3	-11.6	363	3822	0.20	3.22	0.00	0.000	3078	0.334	0.051	2108	2804	3709	3716	3703	0	0	0	0	0	0	11.23	11.43	11.46
4208	-2.06	-51.0	2108	2805	3717	3703	565.8	-11.0	381	4214	0.00	3.17	0.00	0.000	516	0.000	0.041	2108	1385	3709	3716	3702	0	0	0	0	0	0	11.69	11.43	11.69
4305	-2.06	-51.0	2109	1385	3718	3702	576.3	-10.7	400	4310	0.00	3.25	0.00	0.000	1030	0.000	0.052	2101	2806	3709	3717	3702	0	0	0	0	0	0	11.50	11.43	11.52
4692	-2.06	-51.0	2101	2806	3718	3700	616.6	-10.2	417	4698	0.00	3.20	0.00	0.000	516	0.000	0.041	2101	1382	3707	3715	3700	0	0	0	0	0	0	11.69	11.44	11.69
4719	-2.06	-51.0	2101	1381	3718	3700	619.4	-10.4	422	4728	0.00	3.25	0.00	0.000	1030	0.000	0.051	2091	2807	3707	3715	3700	0	0	0	0	0	0	11.51	11.44	11.52
5087	-2.06	-51.0	2092	2807	3717	3700	655.3	-9.7	435	5088	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2807	3708	3716	3700	0	0	0	0	0	0	11.67	11.67	11.67
5444	-2.06	-51.0	2091	2808	3716	3701	688.2	-9.0	447	5449	0.00	2.55	0.00	0.000	260	0.000	0.072	2082	3909	3707	3715	3699	0	0	0	0	0	0	11.70	11.43	11.70
5570	-2.06	-51.0	2083	3909	3717	3699	700.5	-9.8	472	5576	0.20	2.45	0.00	0.000	3078	0.334	0.038	2110	2785	3707	3715	3699	0	0	0	0	0	0	11.24	11.49	11.48
5957	-2.06	-51.0	2110	2786	3716	3700	732.9	-8.1	489	5963	0.00	3.08	0.00	0.000	516	0.000	0.041	2110	1395	3707	3715	3699	0	0	0	0	0	0	11.70	11.45	11.70
6130	-2.07	-58.4	2111	1395	3717	3699	747.2	-7.8	523	6136	0.00	3.22	0.00	0.000	1062	0.000	0.051	2100	2802	3707	3715	3699	0	0	0	0	0	0	11.51	11.44	11.52
6505	-2.08	-69.7	2101	2803	3716	3698	773.8	-6.6	537	6511	0.00	3.15	0.00	0.000	548	0.000	0.040	2100	1388	3707	3716	3699	0	0	0	0	0	0	11.67	11.45	11.68
6739	-2.09	-77.7	2100	1389	3716	3700	790.7	-7.6	583	6744	0.00	3.22	0.00	0.000	1062	0.000	0.051	2091	2804	3707	3715	3699	0	0	0	0	0	0	11.51	11.44	11.52
7107	end dive: BOTTOM_OBSTACLE_DETECTED
state	7107	begin apogee
7115	-0.23	0.0	2091	2541	3716	3700	819.0	-7.6	597	7213	3.53	0.00	92.43	3.044	10246	0.306	0.000	2696	2541	3492	3498	3487	0	0	0	0	0	0	11.26	11.07	10.00
7213	end apogee: CONTROL_FINISHED_OK
state	7213	begin climb
7217	2.09	77.7	2696	2542	3499	3488	820.2	0.0	600	7355	3.08	3.40	125.72	3.026	10500	0.099	0.083	3446	3903	3183	3196	3170	0	0	0	0	0	0	11.12	10.94	10.00
7376	2.09	77.7	3446	3902	3197	3166	791.2	28.3	615	7382	0.00	3.10	0.00	0.000	1030	0.000	0.048	3456	2552	3180	3195	3166	0	0	0	0	0	0	11.24	11.19	11.26
7742	2.09	77.7	3457	2551	3189	3163	695.4	26.3	628	7747	0.00	3.28	0.00	0.000	516	0.000	0.060	3466	1143	3175	3188	3162	0	0	0	0	0	0	11.45	11.23	11.46
7865	2.09	77.7	3467	1143	3188	3162	663.6	25.5	652	7871	0.00	3.28	0.00	0.000	1030	0.000	0.062	3466	2563	3171	3180	3162	0	0	0	0	0	0	11.33	11.24	11.35
8258	2.09	77.7	3466	2561	3188	3163	561.9	25.8	670	8259	0.00	0.00	0.00	0.000	6	0.000	0.000	3466	2560	3175	3188	3162	0	0	0	0	0	0	11.49	11.49	11.49
8627	2.09	77.7	3467	2559	3189	3163	473.3	23.3	684	8632	0.00	3.33	0.00	0.000	516	0.000	0.058	3477	1137	3175	3188	3162	0	0	0	0	0	0	11.52	11.28	11.52
8679	2.09	77.7	3475	1138	3189	3164	461.2	23.2	694	8684	0.20	3.33	0.00	0.000	5126	0.364	0.061	3452	2555	3175	3188	3163	0	0	0	0	0	0	11.07	11.29	11.33
8991	2.09	77.7	3453	2555	3189	3164	390.4	22.9	711	8992	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2555	3175	3188	3162	0	0	0	0	0	0	11.50	11.50	11.50
9290	2.09	77.7	3452	2556	3189	3165	323.9	21.6	726	9291	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2555	3176	3188	3164	0	0	0	0	0	0	11.52	11.52	11.52
9590	2.09	77.7	3452	2556	3189	3165	260.3	20.9	750	9596	0.00	3.30	0.00	0.000	516	0.000	0.058	3462	1142	3176	3188	3164	0	0	0	0	0	0	11.52	11.28	11.51
9657	2.09	77.7	3462	1141	3189	3164	246.9	19.9	763	9664	0.00	3.33	0.00	0.000	1030	0.000	0.061	3462	2559	3176	3189	3164	0	0	0	0	0	0	11.37	11.28	11.38
9962	2.09	77.7	3463	2559	3190	3164	185.1	20.0	794	9963	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2559	3176	3189	3164	0	0	0	0	0	0	11.50	11.50	11.51
10263	2.09	77.7	3462	2560	3190	3165	125.9	19.8	824	10264	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2560	3176	3189	3164	0	0	0	0	0	0	11.49	11.49	11.49
10563	2.09	77.7	3463	2559	3190	3164	66.9	19.8	854	10568	0.00	3.30	0.00	0.000	516	0.000	0.057	3472	1140	3176	3189	3164	0	0	0	0	0	0	11.48	11.27	11.49
10709	2.09	77.7	3473	1140	3190	3164	39.4	18.0	883	10716	0.00	3.33	0.00	0.000	1030	0.000	0.062	3472	2555	3176	3189	3164	0	0	0	0	0	0	11.36	11.28	11.38
10932	end climb: SURFACE_DEPTH_REACHED
state	10932	begin surface coast
10941	end surface coast: CONTROL_FINISHED_OK
state	10941	begin surface