Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 830 * 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 830 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 12 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 830 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 12 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 110119,080939,-7403.9897,-11225.6973,34,0.8,38,53.2,0.3,290.5,11,7.5 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 0.62 MHEAD_RNG_PITCHd_Wd 17.1,523,-37.7,-10.000,-38.97,459

_SM_ANGLEo -62.5 D_GRID 990

GPS2 110119,083016,-7404.0234,-11226.0254,5,1.4,7,53.2,0.5,130.2,8,9.5

Post-dive calculations and measurements:

FREEZE -0.17,0.025,-1.859,2,3,0 ALTIM_BOTTOM_PING 853.4,16.6

FINISH -0.2,1.027215 _24V_AH 9.95,263.139

SM_CCo 11695,255.27,0.189,0,0,1898,399.91 _10V_AH 10.15,0.000

SM_GC 0.60,12.68,2.60,255.27,0.083,0.044,0.189,202,2794,1898,-8.02,0.76,399.91,0,0,0,0,0,0,11.10,11.17,11.00 FG_AHR_24Vo 0.000

RAFOS_CLK 500 FG_AHR_10Vo 0.000

RAFOS 0,1547197267,9.032354,9.018611,145,57,54,54,54,53,547,208,191,121,144,219 MEM 279236

RAFOS_FIX -7404.876953,-11225.232422,110119,090916,2,147,0.72 DATA_FILE_SIZE 30019,902

IRIDIUM_FIX -7406.44,-11217.25,110119,081611 CAP_FILE_SIZE 142085,0

TT8_MAMPS 0.04494,0.279377 CFSIZE 1024409600,920535040

HUMID 49.17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1451.0

TCM_TEMP 12.90 CURRENT 0.068,243.76,1

XPDR_PINGS 0 GPS 110119,115109,-7403.851,-11223.368,25,0.9,26,53.2,0.3,218.2,9,8.2

ALTIM_TOP_PING 13.3,13.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 415 144.66 nil 0 0 0.00

Roll_motor 105 89 94.29 nil 0 0 0.00

VBD_pump_during_apogee 233 3076 7152.30 nil 0 0 0.00

VBD_pump_during_surface 255 188 479.94 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 4620 4 221.80

Iridium_during_xfer 864 272 2343.01 nil 0 0 0.00

Transponder_ping 61 420 257.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 8 0.78

TT8 0 0 0.00

LPSleep 9153 2 214.62

TT8_Active 617 10 68.10

TT8_Sampling 2821 30 869.13

TT8_CF8 598 51 311.79

TT8_Kalman 0 0 0.00

Analog_circuits 2246 10 230.34

GPS_charging 0 0 0.00

Compass 1288 6 88.13

RAFOS 720 1 10.96

Transponder 457 30 139.28

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

6.3 7.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.7 20.20 9000.00 0.0 0.00 0.00 20.20 0.0 1.03 1.00

31.2 33.50 33.50 0.0 1.05 1.00 33.50 0.0 1.06 1.00

802.4 49.50 9000.00 0.0 0.03 0.81 49.50 0.0 0.02 1.00

811.1 49.60 9000.00 0.0 0.02 1.00 49.60 0.0 0.01 1.00

819.9 42.60 9000.00 0.0 -0.40 0.75 42.60 862.5 -0.80 1.00

828.5 38.70 9000.00 0.0 -0.63 0.98 38.70 867.2 -0.45 1.00

837.0 33.40 9000.00 0.0 -0.54 0.99 33.40 870.4 -0.62 1.00

845.3 27.40 9000.00 0.0 -0.67 1.00 27.40 872.7 -0.72 1.00

853.4 15.60 16.60 870.0 -1.08 0.96 15.60 869.0 -1.46 1.00

859.7 16.00 9000.00 0.0 -0.83 0.79 16.00 0.0 0.06 1.00

861.3 9.30 9000.00 0.0 -0.56 0.39 0.00 0.0 0.00 0.00

854.6 18.30 9000.00 0.0 -1.15 0.72 18.30 0.0 -1.34 1.00

112.8 117.50 9000.00 0.0 -0.14 1.00 117.50 0.0 -0.13 1.00

98.8 102.40 9000.00 0.0 -0.12 0.98 102.40 -3.6 1.08 1.00

92.4 96.00 95.80 -3.4 1.06 1.00 96.00 -3.6 1.00 1.00

54.5 57.00 57.10 -2.6 1.02 1.00 57.00 -2.5 1.03 1.00

48.5 50.10 50.40 -1.9 1.04 1.00 50.10 -1.6 1.15 1.00

41.2 42.60 42.50 -1.3 1.09 1.00 42.60 -1.4 1.03 1.00

34.0 34.80 34.90 -0.9 1.06 1.00 34.80 -0.8 1.08 1.00

27.2 27.80 27.70 -0.5 1.06 1.00 27.80 -0.6 1.03 1.00

20.3 21.00 20.90 -0.6 1.01 1.00 21.00 -0.7 0.99 1.00

13.3 13.50 13.60 -0.3 1.03 1.00 13.50 -0.2 1.07 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

14 -1.75 -29.9 202 2803 1938 1799 0.0 0.0 0 126 0.00 0.00 -105.75 0.002 16390 0.000 0.000 201 2803 3611 3631 3591 0 0 0 0 0 0 11.28 10.57 11.28

130 -1.80 -69.1 201 2804 3632 3593 1.4 -1.2 11 158 15.82 2.67 -6.62 0.011 18724 0.415 0.090 2184 3913 3766 3772 3761 0 0 0 0 0 0 10.91 10.55 11.12

365 -1.80 -69.1 2184 3913 3780 3770 38.6 -18.5 57 371 0.00 2.55 0.00 0.000 1030 0.000 0.037 2186 2782 3774 3779 3770 0 0 0 0 0 0 11.19 11.16 11.20

677 -1.80 -69.1 2186 2783 3780 3774 89.5 -14.7 89 678 0.00 0.00 0.00 0.000 6 0.000 0.000 2186 2782 3776 3780 3773 0 0 0 0 0 0 11.33 11.33 11.33

977 -1.80 -69.1 2187 2783 3781 3775 133.3 -14.5 119 986 0.00 2.70 0.00 0.000 260 0.000 0.074 2178 3908 3777 3781 3774 0 0 0 0 0 0 11.33 11.09 11.33

1017 -1.80 -69.1 2179 3907 3782 3774 139.5 -15.9 126 1026 0.00 2.50 0.00 0.000 1030 0.000 0.037 2180 2794 3777 3781 3774 0 0 0 0 0 0 11.21 11.17 11.21

1323 -1.80 -69.1 2181 2794 3782 3774 184.8 -14.7 157 1323 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2794 3777 3781 3774 0 0 0 0 0 0 11.34 11.33 11.34

1623 -1.80 -69.1 2181 2794 3782 3774 228.6 -14.8 187 1628 0.00 2.70 0.00 0.000 260 0.000 0.073 2172 3917 3778 3781 3775 0 0 0 0 0 0 11.34 11.11 11.34

1734 -1.80 -69.1 2172 3918 3781 3776 246.7 -15.9 209 1740 0.00 2.53 0.00 0.000 1030 0.000 0.038 2173 2795 3777 3781 3774 0 0 0 0 0 0 11.21 11.17 11.22

2046 -1.80 -69.1 2173 2796 3781 3776 292.9 -14.6 241 2052 0.00 3.22 0.00 0.000 516 0.000 0.041 2173 1395 3778 3781 3775 0 0 0 0 0 0 11.33 11.12 11.33

2098 -1.80 -69.1 2172 1396 3781 3776 300.5 -14.3 251 2107 0.00 3.33 0.00 0.000 1030 0.000 0.054 2169 2807 3777 3781 3774 0 0 0 0 0 0 11.16 11.11 11.17

2413 -1.80 -69.1 2168 2808 3781 3775 345.7 -14.5 268 2418 0.00 2.65 0.00 0.000 260 0.000 0.075 2162 3911 3778 3781 3775 0 0 0 0 0 0 11.33 11.12 11.33

2485 -1.80 -69.1 2162 3910 3782 3775 356.4 -15.3 282 2490 0.22 2.53 0.00 0.000 3078 0.315 0.038 2193 2794 3778 3781 3775 0 0 0 0 0 0 10.98 11.17 11.19

2797 -1.80 -69.1 2193 2794 3782 3774 398.1 -13.0 299 2802 0.00 3.22 0.00 0.000 516 0.000 0.042 2194 1397 3777 3781 3774 0 0 0 0 0 0 11.33 11.13 11.33

2834 -1.80 -69.1 2193 1397 3782 3776 402.8 -12.7 306 2840 0.00 3.33 0.00 0.000 1030 0.000 0.053 2183 2807 3777 3781 3774 0 0 0 0 0 0 11.20 11.13 11.22

3142 -1.80 -69.1 2183 2808 3781 3776 442.2 -13.0 322 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2807 3778 3781 3775 0 0 0 0 0 0 11.33 11.33 11.33

3442 -1.80 -69.1 2183 2808 3781 3776 481.4 -12.9 337 3442 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2807 3778 3782 3774 0 0 0 0 0 0 11.33 11.33 11.33

3752 -1.80 -69.1 2183 2808 3781 3774 521.7 -12.7 350 3752 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2806 3777 3781 3773 0 0 0 0 0 0 11.33 11.33 11.33

4112 -1.80 -69.1 2184 2807 3782 3773 566.4 -12.1 362 4113 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2807 3777 3781 3773 0 0 0 0 0 0 11.33 11.33 11.33

4472 -1.80 -69.1 2183 2807 3782 3772 609.3 -11.5 374 4477 0.00 3.28 0.00 0.000 516 0.000 0.041 2182 1397 3776 3781 3771 0 0 0 0 0 0 11.33 11.14 11.33

4543 -1.80 -69.1 2184 1397 3782 3771 617.5 -10.8 388 4548 0.00 3.33 0.00 0.000 1030 0.000 0.054 2175 2804 3776 3781 3771 0 0 0 0 0 0 11.21 11.14 11.22

4925 -1.80 -69.1 2174 2805 3781 3772 660.1 -11.2 404 4926 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2804 3775 3781 3770 0 0 0 0 0 0 11.32 11.32 11.32

5289 -1.80 -69.1 2175 2805 3781 3771 698.8 -10.4 416 5290 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2804 3775 3780 3770 0 0 0 0 0 0 11.32 11.32 11.32

5646 -1.80 -69.1 2175 2804 3782 3770 734.8 -9.9 428 5647 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2804 3775 3780 3770 0 0 0 0 0 0 11.32 11.32 11.32

6005 -1.80 -69.1 2175 2804 3781 3770 770.2 -9.8 440 6010 0.00 3.25 0.00 0.000 516 0.000 0.040 2175 1395 3775 3781 3770 0 0 0 0 0 0 11.36 11.15 11.36

6171 -1.80 -69.1 2174 1395 3782 3770 786.5 -9.3 473 6177 0.00 3.35 0.00 0.000 1030 0.000 0.054 2170 2807 3775 3781 3770 0 0 0 0 0 0 11.21 11.14 11.22

6552 -1.80 -69.1 2171 2807 3782 3770 822.8 -9.8 488 6552 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2807 3775 3781 3770 0 0 0 0 0 0 11.34 11.34 11.34

6912 -1.80 -69.1 2171 2806 3782 3770 856.0 -8.9 500 6917 0.00 3.28 0.00 0.000 516 0.000 0.041 2170 1382 3775 3781 3770 0 0 0 0 0 0 11.34 11.14 11.34

6945 end dive: BOTTOM_OBSTACLE_DETECTED

state 6945 begin apogee

6955 -0.23 0.0 2168 2554 3782 3770 860.1 -8.6 507 7081 3.08 0.00 121.45 3.077 10246 0.291 0.000 2694 2554 3493 3499 3487 0 0 0 0 0 0 11.01 11.00 9.95

7082 end apogee: CONTROL_FINISHED_OK

state 7082 begin climb

7086 1.80 69.1 2695 2554 3500 3486 860.9 0.0 511 7207 2.67 3.38 112.18 3.045 10500 0.103 0.083 3348 3903 3217 3229 3205 0 0 0 0 0 0 11.01 10.90 9.95

7275 1.80 69.1 3347 3902 3227 3200 828.4 23.1 552 7280 0.00 3.15 0.00 0.000 1030 0.000 0.047 3357 2545 3213 3226 3201 0 0 0 0 0 0 11.15 11.11 11.17

7668 1.80 69.1 3358 2545 3221 3197 739.8 22.4 570 7673 0.00 3.33 0.00 0.000 516 0.000 0.059 3368 1139 3208 3219 3198 0 0 0 0 0 0 11.28 11.08 11.28

7749 1.80 69.1 3369 1139 3221 3197 722.0 21.6 586 7755 0.00 3.40 0.00 0.000 1030 0.000 0.061 3368 2556 3208 3220 3197 0 0 0 0 0 0 11.17 11.10 11.19

8122 1.80 69.1 3368 2558 3221 3199 637.7 22.5 600 8123 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2557 3208 3220 3197 0 0 0 0 0 0 11.29 11.29 11.29

8482 1.80 69.1 3368 2558 3220 3198 559.9 20.9 612 8483 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2557 3209 3220 3198 0 0 0 0 0 0 11.29 11.29 11.29

8841 1.80 69.1 3368 2557 3221 3199 485.9 20.5 625 8842 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2557 3209 3220 3199 0 0 0 0 0 0 11.30 11.31 11.31

9142 1.80 69.1 3368 2557 3221 3201 427.2 19.4 640 9147 0.00 3.35 0.00 0.000 516 0.000 0.056 3378 1145 3210 3220 3201 0 0 0 0 0 0 11.29 11.10 11.29

9158 1.80 69.1 3378 1146 3221 3202 423.9 19.1 643 9165 0.00 3.38 0.00 0.000 1030 0.000 0.060 3378 2561 3211 3221 3201 0 0 0 0 0 0 11.19 11.11 11.20

9465 1.80 69.1 3379 2560 3222 3201 365.8 19.0 659 9470 0.00 3.35 0.00 0.000 516 0.000 0.057 3388 1143 3211 3221 3201 0 0 0 0 0 0 11.30 11.10 11.33

9506 1.80 69.1 3389 1144 3222 3202 357.7 18.9 667 9512 0.25 3.38 0.00 0.000 5126 0.363 0.061 3358 2557 3211 3221 3201 0 0 0 0 0 0 10.95 11.12 11.16

9829 1.80 69.1 3358 2558 3223 3202 299.2 17.6 686 9830 0.00 0.00 0.00 0.000 6 0.000 0.000 3358 2557 3211 3221 3201 0 0 0 0 0 0 11.29 11.29 11.29

10128 1.80 69.1 3358 2557 3223 3201 246.7 17.6 716 10133 0.00 3.35 0.00 0.000 516 0.000 0.057 3368 1143 3211 3221 3201 0 0 0 0 0 0 11.31 11.10 11.31

10256 1.80 69.1 3368 1143 3222 3201 224.7 17.6 741 10263 0.00 3.38 0.00 0.000 1030 0.000 0.061 3368 2556 3211 3221 3201 0 0 0 0 0 0 11.19 11.12 11.20

10560 1.80 69.1 3368 2556 3222 3201 173.2 16.8 772 10561 0.00 0.00 0.00 0.000 6 0.000 0.000 3367 2556 3211 3221 3201 0 0 0 0 0 0 11.31 11.31 11.31

10860 1.80 69.1 3368 2556 3222 3201 123.7 16.4 802 10865 0.00 3.38 0.00 0.000 516 0.000 0.057 3378 1138 3211 3221 3201 0 0 0 0 0 0 11.31 11.11 11.31

10970 1.80 69.1 3378 1138 3222 3201 106.4 16.1 823 10977 0.00 3.40 0.00 0.000 1030 0.000 0.062 3378 2561 3211 3221 3201 0 0 0 0 0 0 11.19 11.12 11.20

11273 1.80 69.1 3378 2562 3222 3202 58.1 15.5 854 11278 0.00 3.33 0.00 0.000 260 0.000 0.085 3378 3917 3211 3221 3201 0 0 0 0 0 0 11.31 11.10 11.31

11340 1.80 69.1 3377 3918 3221 3202 46.7 17.2 867 11347 0.28 3.17 0.00 0.000 5126 0.392 0.047 3356 2541 3211 3221 3201 0 0 0 0 0 0 10.94 11.16 11.17

11648 1.80 69.1 3357 2542 3222 3201 3.2 14.4 898 11653 0.00 3.38 0.00 0.000 260 0.000 0.085 3356 3911 3210 3220 3201 0 0 0 0 0 0 11.31 11.10 11.31

11656 end climb: SURFACE_DEPTH_REACHED

state 11656 begin surface coast

11667 end surface coast: CONTROL_FINISHED_OK

state 11667 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	830	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	12	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	110119,080939,-7403.9897,-11225.6973,34,0.8,38,53.2,0.3,290.5,11,7.5	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	0.62	MHEAD_RNG_PITCHd_Wd	17.1,523,-37.7,-10.000,-38.97,459
_SM_ANGLEo	-62.5	D_GRID	990
GPS2	110119,083016,-7404.0234,-11226.0254,5,1.4,7,53.2,0.5,130.2,8,9.5

FREEZE	-0.17,0.025,-1.859,2,3,0	ALTIM_BOTTOM_PING	853.4,16.6
FINISH	-0.2,1.027215	_24V_AH	9.95,263.139
SM_CCo	11695,255.27,0.189,0,0,1898,399.91	_10V_AH	10.15,0.000
SM_GC	0.60,12.68,2.60,255.27,0.083,0.044,0.189,202,2794,1898,-8.02,0.76,399.91,0,0,0,0,0,0,11.10,11.17,11.00	FG_AHR_24Vo	0.000
RAFOS_CLK	500	FG_AHR_10Vo	0.000
RAFOS	0,1547197267,9.032354,9.018611,145,57,54,54,54,53,547,208,191,121,144,219	MEM	279236
RAFOS_FIX	-7404.876953,-11225.232422,110119,090916,2,147,0.72	DATA_FILE_SIZE	30019,902
IRIDIUM_FIX	-7406.44,-11217.25,110119,081611	CAP_FILE_SIZE	142085,0
TT8_MAMPS	0.04494,0.279377	CFSIZE	1024409600,920535040
HUMID	49.17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1451.0
TCM_TEMP	12.90	CURRENT	0.068,243.76,1
XPDR_PINGS	0	GPS	110119,115109,-7403.851,-11223.368,25,0.9,26,53.2,0.3,218.2,9,8.2
ALTIM_TOP_PING	13.3,13.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	415	144.66	nil	0	0	0.00
Roll_motor	105	89	94.29	nil	0	0	0.00
VBD_pump_during_apogee	233	3076	7152.30	nil	0	0	0.00
VBD_pump_during_surface	255	188	479.94	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	4620	4	221.80
Iridium_during_xfer	864	272	2343.01	nil	0	0	0.00
Transponder_ping	61	420	257.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	8	0.78
TT8	0	0	0.00
LPSleep	9153	2	214.62
TT8_Active	617	10	68.10
TT8_Sampling	2821	30	869.13
TT8_CF8	598	51	311.79
TT8_Kalman	0	0	0.00
Analog_circuits	2246	10	230.34
GPS_charging	0	0	0.00
Compass	1288	6	88.13
RAFOS	720	1	10.96
Transponder	457	30	139.28

		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
6.3	7.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.7	20.20	9000.00	0.0	0.00	0.00	20.20	0.0	1.03	1.00
31.2	33.50	33.50	0.0	1.05	1.00	33.50	0.0	1.06	1.00
802.4	49.50	9000.00	0.0	0.03	0.81	49.50	0.0	0.02	1.00
811.1	49.60	9000.00	0.0	0.02	1.00	49.60	0.0	0.01	1.00
819.9	42.60	9000.00	0.0	-0.40	0.75	42.60	862.5	-0.80	1.00
828.5	38.70	9000.00	0.0	-0.63	0.98	38.70	867.2	-0.45	1.00
837.0	33.40	9000.00	0.0	-0.54	0.99	33.40	870.4	-0.62	1.00
845.3	27.40	9000.00	0.0	-0.67	1.00	27.40	872.7	-0.72	1.00
853.4	15.60	16.60	870.0	-1.08	0.96	15.60	869.0	-1.46	1.00
859.7	16.00	9000.00	0.0	-0.83	0.79	16.00	0.0	0.06	1.00
861.3	9.30	9000.00	0.0	-0.56	0.39	0.00	0.0	0.00	0.00

854.6	18.30	9000.00	0.0	-1.15	0.72	18.30	0.0	-1.34	1.00
112.8	117.50	9000.00	0.0	-0.14	1.00	117.50	0.0	-0.13	1.00
98.8	102.40	9000.00	0.0	-0.12	0.98	102.40	-3.6	1.08	1.00
92.4	96.00	95.80	-3.4	1.06	1.00	96.00	-3.6	1.00	1.00
54.5	57.00	57.10	-2.6	1.02	1.00	57.00	-2.5	1.03	1.00
48.5	50.10	50.40	-1.9	1.04	1.00	50.10	-1.6	1.15	1.00
41.2	42.60	42.50	-1.3	1.09	1.00	42.60	-1.4	1.03	1.00
34.0	34.80	34.90	-0.9	1.06	1.00	34.80	-0.8	1.08	1.00
27.2	27.80	27.70	-0.5	1.06	1.00	27.80	-0.6	1.03	1.00
20.3	21.00	20.90	-0.6	1.01	1.00	21.00	-0.7	0.99	1.00
13.3	13.50	13.60	-0.3	1.03	1.00	13.50	-0.2	1.07	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
14	-1.75	-29.9	202	2803	1938	1799	0.0	0.0	0	126	0.00	0.00	-105.75	0.002	16390	0.000	0.000	201	2803	3611	3631	3591	0	0	0	0	0	0	11.28	10.57	11.28
130	-1.80	-69.1	201	2804	3632	3593	1.4	-1.2	11	158	15.82	2.67	-6.62	0.011	18724	0.415	0.090	2184	3913	3766	3772	3761	0	0	0	0	0	0	10.91	10.55	11.12
365	-1.80	-69.1	2184	3913	3780	3770	38.6	-18.5	57	371	0.00	2.55	0.00	0.000	1030	0.000	0.037	2186	2782	3774	3779	3770	0	0	0	0	0	0	11.19	11.16	11.20
677	-1.80	-69.1	2186	2783	3780	3774	89.5	-14.7	89	678	0.00	0.00	0.00	0.000	6	0.000	0.000	2186	2782	3776	3780	3773	0	0	0	0	0	0	11.33	11.33	11.33
977	-1.80	-69.1	2187	2783	3781	3775	133.3	-14.5	119	986	0.00	2.70	0.00	0.000	260	0.000	0.074	2178	3908	3777	3781	3774	0	0	0	0	0	0	11.33	11.09	11.33
1017	-1.80	-69.1	2179	3907	3782	3774	139.5	-15.9	126	1026	0.00	2.50	0.00	0.000	1030	0.000	0.037	2180	2794	3777	3781	3774	0	0	0	0	0	0	11.21	11.17	11.21
1323	-1.80	-69.1	2181	2794	3782	3774	184.8	-14.7	157	1323	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2794	3777	3781	3774	0	0	0	0	0	0	11.34	11.33	11.34
1623	-1.80	-69.1	2181	2794	3782	3774	228.6	-14.8	187	1628	0.00	2.70	0.00	0.000	260	0.000	0.073	2172	3917	3778	3781	3775	0	0	0	0	0	0	11.34	11.11	11.34
1734	-1.80	-69.1	2172	3918	3781	3776	246.7	-15.9	209	1740	0.00	2.53	0.00	0.000	1030	0.000	0.038	2173	2795	3777	3781	3774	0	0	0	0	0	0	11.21	11.17	11.22
2046	-1.80	-69.1	2173	2796	3781	3776	292.9	-14.6	241	2052	0.00	3.22	0.00	0.000	516	0.000	0.041	2173	1395	3778	3781	3775	0	0	0	0	0	0	11.33	11.12	11.33
2098	-1.80	-69.1	2172	1396	3781	3776	300.5	-14.3	251	2107	0.00	3.33	0.00	0.000	1030	0.000	0.054	2169	2807	3777	3781	3774	0	0	0	0	0	0	11.16	11.11	11.17
2413	-1.80	-69.1	2168	2808	3781	3775	345.7	-14.5	268	2418	0.00	2.65	0.00	0.000	260	0.000	0.075	2162	3911	3778	3781	3775	0	0	0	0	0	0	11.33	11.12	11.33
2485	-1.80	-69.1	2162	3910	3782	3775	356.4	-15.3	282	2490	0.22	2.53	0.00	0.000	3078	0.315	0.038	2193	2794	3778	3781	3775	0	0	0	0	0	0	10.98	11.17	11.19
2797	-1.80	-69.1	2193	2794	3782	3774	398.1	-13.0	299	2802	0.00	3.22	0.00	0.000	516	0.000	0.042	2194	1397	3777	3781	3774	0	0	0	0	0	0	11.33	11.13	11.33
2834	-1.80	-69.1	2193	1397	3782	3776	402.8	-12.7	306	2840	0.00	3.33	0.00	0.000	1030	0.000	0.053	2183	2807	3777	3781	3774	0	0	0	0	0	0	11.20	11.13	11.22
3142	-1.80	-69.1	2183	2808	3781	3776	442.2	-13.0	322	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2807	3778	3781	3775	0	0	0	0	0	0	11.33	11.33	11.33
3442	-1.80	-69.1	2183	2808	3781	3776	481.4	-12.9	337	3442	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2807	3778	3782	3774	0	0	0	0	0	0	11.33	11.33	11.33
3752	-1.80	-69.1	2183	2808	3781	3774	521.7	-12.7	350	3752	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2806	3777	3781	3773	0	0	0	0	0	0	11.33	11.33	11.33
4112	-1.80	-69.1	2184	2807	3782	3773	566.4	-12.1	362	4113	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2807	3777	3781	3773	0	0	0	0	0	0	11.33	11.33	11.33
4472	-1.80	-69.1	2183	2807	3782	3772	609.3	-11.5	374	4477	0.00	3.28	0.00	0.000	516	0.000	0.041	2182	1397	3776	3781	3771	0	0	0	0	0	0	11.33	11.14	11.33
4543	-1.80	-69.1	2184	1397	3782	3771	617.5	-10.8	388	4548	0.00	3.33	0.00	0.000	1030	0.000	0.054	2175	2804	3776	3781	3771	0	0	0	0	0	0	11.21	11.14	11.22
4925	-1.80	-69.1	2174	2805	3781	3772	660.1	-11.2	404	4926	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2804	3775	3781	3770	0	0	0	0	0	0	11.32	11.32	11.32
5289	-1.80	-69.1	2175	2805	3781	3771	698.8	-10.4	416	5290	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2804	3775	3780	3770	0	0	0	0	0	0	11.32	11.32	11.32
5646	-1.80	-69.1	2175	2804	3782	3770	734.8	-9.9	428	5647	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2804	3775	3780	3770	0	0	0	0	0	0	11.32	11.32	11.32
6005	-1.80	-69.1	2175	2804	3781	3770	770.2	-9.8	440	6010	0.00	3.25	0.00	0.000	516	0.000	0.040	2175	1395	3775	3781	3770	0	0	0	0	0	0	11.36	11.15	11.36
6171	-1.80	-69.1	2174	1395	3782	3770	786.5	-9.3	473	6177	0.00	3.35	0.00	0.000	1030	0.000	0.054	2170	2807	3775	3781	3770	0	0	0	0	0	0	11.21	11.14	11.22
6552	-1.80	-69.1	2171	2807	3782	3770	822.8	-9.8	488	6552	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2807	3775	3781	3770	0	0	0	0	0	0	11.34	11.34	11.34
6912	-1.80	-69.1	2171	2806	3782	3770	856.0	-8.9	500	6917	0.00	3.28	0.00	0.000	516	0.000	0.041	2170	1382	3775	3781	3770	0	0	0	0	0	0	11.34	11.14	11.34
6945	end dive: BOTTOM_OBSTACLE_DETECTED
state	6945	begin apogee
6955	-0.23	0.0	2168	2554	3782	3770	860.1	-8.6	507	7081	3.08	0.00	121.45	3.077	10246	0.291	0.000	2694	2554	3493	3499	3487	0	0	0	0	0	0	11.01	11.00	9.95
7082	end apogee: CONTROL_FINISHED_OK
state	7082	begin climb
7086	1.80	69.1	2695	2554	3500	3486	860.9	0.0	511	7207	2.67	3.38	112.18	3.045	10500	0.103	0.083	3348	3903	3217	3229	3205	0	0	0	0	0	0	11.01	10.90	9.95
7275	1.80	69.1	3347	3902	3227	3200	828.4	23.1	552	7280	0.00	3.15	0.00	0.000	1030	0.000	0.047	3357	2545	3213	3226	3201	0	0	0	0	0	0	11.15	11.11	11.17
7668	1.80	69.1	3358	2545	3221	3197	739.8	22.4	570	7673	0.00	3.33	0.00	0.000	516	0.000	0.059	3368	1139	3208	3219	3198	0	0	0	0	0	0	11.28	11.08	11.28
7749	1.80	69.1	3369	1139	3221	3197	722.0	21.6	586	7755	0.00	3.40	0.00	0.000	1030	0.000	0.061	3368	2556	3208	3220	3197	0	0	0	0	0	0	11.17	11.10	11.19
8122	1.80	69.1	3368	2558	3221	3199	637.7	22.5	600	8123	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2557	3208	3220	3197	0	0	0	0	0	0	11.29	11.29	11.29
8482	1.80	69.1	3368	2558	3220	3198	559.9	20.9	612	8483	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2557	3209	3220	3198	0	0	0	0	0	0	11.29	11.29	11.29
8841	1.80	69.1	3368	2557	3221	3199	485.9	20.5	625	8842	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2557	3209	3220	3199	0	0	0	0	0	0	11.30	11.31	11.31
9142	1.80	69.1	3368	2557	3221	3201	427.2	19.4	640	9147	0.00	3.35	0.00	0.000	516	0.000	0.056	3378	1145	3210	3220	3201	0	0	0	0	0	0	11.29	11.10	11.29
9158	1.80	69.1	3378	1146	3221	3202	423.9	19.1	643	9165	0.00	3.38	0.00	0.000	1030	0.000	0.060	3378	2561	3211	3221	3201	0	0	0	0	0	0	11.19	11.11	11.20
9465	1.80	69.1	3379	2560	3222	3201	365.8	19.0	659	9470	0.00	3.35	0.00	0.000	516	0.000	0.057	3388	1143	3211	3221	3201	0	0	0	0	0	0	11.30	11.10	11.33
9506	1.80	69.1	3389	1144	3222	3202	357.7	18.9	667	9512	0.25	3.38	0.00	0.000	5126	0.363	0.061	3358	2557	3211	3221	3201	0	0	0	0	0	0	10.95	11.12	11.16
9829	1.80	69.1	3358	2558	3223	3202	299.2	17.6	686	9830	0.00	0.00	0.00	0.000	6	0.000	0.000	3358	2557	3211	3221	3201	0	0	0	0	0	0	11.29	11.29	11.29
10128	1.80	69.1	3358	2557	3223	3201	246.7	17.6	716	10133	0.00	3.35	0.00	0.000	516	0.000	0.057	3368	1143	3211	3221	3201	0	0	0	0	0	0	11.31	11.10	11.31
10256	1.80	69.1	3368	1143	3222	3201	224.7	17.6	741	10263	0.00	3.38	0.00	0.000	1030	0.000	0.061	3368	2556	3211	3221	3201	0	0	0	0	0	0	11.19	11.12	11.20
10560	1.80	69.1	3368	2556	3222	3201	173.2	16.8	772	10561	0.00	0.00	0.00	0.000	6	0.000	0.000	3367	2556	3211	3221	3201	0	0	0	0	0	0	11.31	11.31	11.31
10860	1.80	69.1	3368	2556	3222	3201	123.7	16.4	802	10865	0.00	3.38	0.00	0.000	516	0.000	0.057	3378	1138	3211	3221	3201	0	0	0	0	0	0	11.31	11.11	11.31
10970	1.80	69.1	3378	1138	3222	3201	106.4	16.1	823	10977	0.00	3.40	0.00	0.000	1030	0.000	0.062	3378	2561	3211	3221	3201	0	0	0	0	0	0	11.19	11.12	11.20
11273	1.80	69.1	3378	2562	3222	3202	58.1	15.5	854	11278	0.00	3.33	0.00	0.000	260	0.000	0.085	3378	3917	3211	3221	3201	0	0	0	0	0	0	11.31	11.10	11.31
11340	1.80	69.1	3377	3918	3221	3202	46.7	17.2	867	11347	0.28	3.17	0.00	0.000	5126	0.392	0.047	3356	2541	3211	3221	3201	0	0	0	0	0	0	10.94	11.16	11.17
11648	1.80	69.1	3357	2542	3222	3201	3.2	14.4	898	11653	0.00	3.38	0.00	0.000	260	0.000	0.085	3356	3911	3210	3220	3201	0	0	0	0	0	0	11.31	11.10	11.31
11656	end climb: SURFACE_DEPTH_REACHED
state	11656	begin surface coast
11667	end surface coast: CONTROL_FINISHED_OK
state	11667	begin surface