Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 840 * 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 840 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 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 48

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 48 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 840 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 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 120119,224239,-7404.0044,-11224.2773,31,1.0,32,53.2,0.3,0.0,9,7.5 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold3

_XMS_NAKs 1 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 1 TGT_RADIUS 3000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 293.4,262,-43.9,-10.000,-45.00,342

_SM_ANGLEo -63.2 D_GRID 990

GPS2 120119,225915,-7404.0742,-11224.5605,3,0.9,6,53.2,0.3,0.0,10,7.9

Post-dive calculations and measurements:

FREEZE -0.14,0.341,-1.868,2,1,0 ALTIM_BOTTOM_PING 809.2,12.9

FINISH -0.1,1.027321 _24V_AH 9.99,267.232

SM_CCo 11244,253.23,0.188,0,0,1898,399.91 _10V_AH 10.37,0.000

SM_GC 0.71,12.85,0.65,253.23,0.076,0.079,0.188,202,2805,1898,-8.02,-0.31,399.91,0,0,0,0,0,0,11.12,11.15,11.02 FG_AHR_24Vo 0.000

RAFOS_CLK 466 FG_AHR_10Vo 0.000

RAFOS 0,1547337660,0.032355,0.016667,152,61,61,57,55,54,590,212,137,229,175,783 MEM 279208

RAFOS_FIX -7404.443359,-11226.808594,130119,000032,2,134,0.32 DATA_FILE_SIZE 29997,915

IRIDIUM_FIX -7402.95,-11228.77,120119,191852 CAP_FILE_SIZE 139778,0

TT8_MAMPS 0.046438,0.13482 CFSIZE 1024409600,919502848

HUMID 48.46 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1450.0

TCM_TEMP 13.10 CURRENT 0.100,221.62,1

XPDR_PINGS 0 GPS 130119,021240,-7403.604,-11226.791,32,0.8,33,53.2,0.2,0.0,11,8.1

ALTIM_TOP_PING 11.3,11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 419 150.94 nil 0 0 0.00

Roll_motor 114 82 94.71 nil 0 0 0.00

VBD_pump_during_apogee 202 3047 6166.30 nil 0 0 0.00

VBD_pump_during_surface 253 188 476.07 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 11234 4 536.11

Iridium_during_xfer 738 257 1902.76 nil 0 0 0.00

Transponder_ping 57 420 239.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 8 0.76

TT8 0 0 0.00

LPSleep 8599 2 206.01

TT8_Active 677 10 76.35

TT8_Sampling 2660 30 837.19

TT8_CF8 555 51 295.66

TT8_Kalman 0 0 0.00

Analog_circuits 2112 10 221.26

GPS_charging 0 0 0.00

Compass 1311 6 91.64

RAFOS 720 1 11.20

Transponder 435 30 135.60

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

12.6 14.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.8 20.10 9000.00 0.0 0.00 0.00 20.10 0.0 0.95 1.00

25.3 27.30 27.20 0.0 1.03 1.00 27.30 0.0 1.11 1.00

37.8 40.20 40.30 0.0 1.06 1.00 40.20 0.0 1.03 1.00

44.9 47.60 47.60 0.0 1.04 1.00 47.60 0.0 1.04 1.00

796.7 26.20 9000.00 0.0 -0.02 0.88 26.20 822.9 -0.03 1.00

802.9 19.40 9000.00 0.0 -0.03 0.95 19.40 822.3 -1.10 1.00

809.2 13.00 12.90 822.1 -1.06 1.00 13.00 822.2 -1.02 1.00

813.6 11.90 9000.00 0.0 -0.73 0.92 11.90 825.5 -0.25 1.00

801.0 31.80 9000.00 0.0 -1.68 0.91 31.80 0.0 -1.58 1.00

139.2 143.90 9000.00 0.0 -0.18 0.98 143.90 0.0 -0.17 1.00

81.5 84.40 9000.00 0.0 -0.11 0.65 84.40 -2.9 1.03 1.00

74.1 76.50 76.60 -2.5 1.03 1.00 76.50 -2.4 1.07 1.00

66.6 69.10 68.90 -2.3 1.03 1.00 69.10 -2.5 0.99 1.00

59.0 61.30 61.40 -2.4 1.00 1.00 61.30 -2.3 1.03 1.00

52.1 53.50 53.60 -1.5 1.07 1.00 53.50 -1.4 1.13 1.00

45.6 47.30 47.10 -1.5 1.05 1.00 47.30 -1.7 0.95 1.00

39.1 40.50 40.60 -1.5 1.00 1.00 40.50 -1.4 1.05 1.00

31.9 32.90 32.90 -1.0 1.05 1.00 32.90 -1.0 1.06 1.00

24.8 25.20 25.20 -0.4 1.07 1.00 25.20 -0.4 1.08 1.00

17.9 18.50 18.40 -0.5 1.02 1.00 18.50 -0.6 0.97 1.00

11.3 11.70 11.80 -0.5 1.00 1.00 11.70 -0.4 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -2.02 -22.2 199 2801 1938 1801 0.0 0.0 0 115 0.00 0.00 -102.38 0.003 16390 0.000 0.000 199 2801 3583 3604 3562 0 0 0 0 0 0 11.30 10.54 11.30

120 -2.06 -51.2 199 2801 3607 3566 1.3 -1.3 10 148 15.25 3.33 -5.25 0.015 18980 0.420 0.054 2108 1384 3700 3708 3693 0 0 0 0 0 0 10.94 10.51 11.14

378 -2.06 -51.2 2109 1383 3716 3700 36.6 -14.4 60 385 0.00 3.33 0.00 0.000 1030 0.000 0.051 2100 2812 3707 3714 3700 0 0 0 0 0 0 11.19 11.13 11.21

691 -2.06 -51.2 2099 2814 3716 3703 85.5 -15.2 92 696 0.00 3.30 0.00 0.000 516 0.000 0.041 2099 1384 3708 3715 3701 0 0 0 0 0 0 11.33 11.12 11.33

828 -2.06 -51.2 2100 1383 3717 3702 104.8 -13.8 119 834 0.00 3.33 0.00 0.000 1030 0.000 0.050 2088 2804 3708 3715 3702 0 0 0 0 0 0 11.21 11.14 11.23

1133 -2.06 -51.2 2089 2804 3718 3703 147.3 -14.0 150 1138 0.00 2.62 0.00 0.000 260 0.000 0.072 2080 3913 3713 3717 3710 0 0 0 0 0 0 11.33 11.13 11.33

1237 -2.06 -51.2 2080 3914 3718 3705 162.6 -15.4 170 1243 0.20 2.53 0.00 0.000 3078 0.329 0.037 2106 2786 3711 3718 3704 0 0 0 0 0 0 11.00 11.19 11.19

1549 -2.06 -51.2 2108 2786 3719 3705 191.8 -10.3 202 1555 0.00 3.17 0.00 0.000 516 0.000 0.041 2106 1396 3711 3718 3704 0 0 0 0 0 0 11.33 11.14 11.33

1596 -2.06 -51.2 2108 1395 3719 3705 197.6 -12.9 211 1602 0.00 3.30 0.00 0.000 1030 0.000 0.051 2100 2802 3711 3718 3705 0 0 0 0 0 0 11.21 11.15 11.23

1901 -2.06 -51.2 2099 2802 3719 3704 240.1 -13.7 242 1902 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2802 3711 3718 3704 0 0 0 0 0 0 11.33 11.33 11.33

2201 -2.06 -51.2 2098 2801 3719 3704 282.7 -14.2 272 2206 0.00 2.62 0.00 0.000 260 0.000 0.071 2091 3913 3712 3719 3705 0 0 0 0 0 0 11.33 11.14 11.33

2242 -2.06 -51.2 2092 3913 3719 3705 288.9 -15.1 280 2247 0.00 2.50 0.00 0.000 1030 0.000 0.037 2090 2797 3711 3718 3704 0 0 0 0 0 0 11.21 11.18 11.23

2564 -2.06 -51.2 2091 2798 3719 3706 332.2 -13.2 301 2569 0.00 2.67 0.00 0.000 260 0.000 0.071 2082 3914 3711 3718 3704 0 0 0 0 0 0 11.33 11.14 11.33

2606 -2.06 -51.2 2082 3915 3718 3705 338.0 -14.1 309 2612 0.20 2.50 0.00 0.000 3078 0.337 0.037 2108 2798 3711 3718 3704 0 0 0 0 0 0 11.00 11.19 11.20

2928 -2.06 -51.2 2109 2798 3719 3704 379.0 -12.7 328 2933 0.00 3.22 0.00 0.000 516 0.000 0.042 2109 1395 3711 3718 3704 0 0 0 0 0 0 11.33 11.15 11.33

3020 -2.06 -51.2 2109 1395 3718 3705 390.5 -12.3 346 3025 0.00 3.33 0.00 0.000 1030 0.000 0.050 2098 2812 3711 3718 3704 0 0 0 0 0 0 11.22 11.15 11.24

3331 -2.06 -51.2 2099 2813 3719 3705 429.3 -12.1 363 3336 0.00 2.62 0.00 0.000 260 0.000 0.072 2090 3915 3710 3717 3704 0 0 0 0 0 0 11.34 11.14 11.34

3362 -2.06 -51.2 2090 3916 3719 3703 433.4 -13.4 369 3368 0.00 2.53 0.00 0.000 1030 0.000 0.038 2089 2791 3710 3718 3703 0 0 0 0 0 0 11.23 11.19 11.25

3676 -2.06 -51.2 2090 2793 3719 3705 470.7 -11.7 386 3681 0.00 2.67 0.00 0.000 260 0.000 0.070 2081 3909 3711 3718 3704 0 0 0 0 0 0 11.33 11.14 11.33

3712 -2.06 -51.2 2082 3910 3719 3704 475.3 -12.8 393 3720 0.20 2.50 0.00 0.000 3078 0.338 0.037 2107 2796 3710 3718 3703 0 0 0 0 0 0 11.00 11.18 11.20

4028 -2.06 -51.2 2108 2797 3719 3704 511.6 -11.3 408 4034 0.00 3.20 0.00 0.000 516 0.000 0.042 2108 1391 3710 3718 3703 0 0 0 0 0 0 11.34 11.14 11.34

4050 -2.06 -51.2 2108 1390 3719 3703 514.2 -11.2 412 4056 0.00 3.28 0.00 0.000 1030 0.000 0.051 2099 2809 3710 3718 3703 0 0 0 0 0 0 11.22 11.15 11.23

4425 -2.06 -51.2 2098 2809 3718 3704 556.9 -11.6 426 4430 0.00 2.60 0.00 0.000 260 0.000 0.070 2089 3906 3710 3718 3702 0 0 0 0 0 0 11.33 11.14 11.33

4451 -2.06 -51.2 2090 3906 3719 3701 560.3 -12.3 431 4457 0.00 2.50 0.00 0.000 1030 0.000 0.039 2089 2795 3710 3718 3702 0 0 0 0 0 0 11.23 11.19 11.24

4816 -2.06 -51.2 2090 2795 3719 3701 600.0 -10.6 444 4821 0.00 3.22 0.00 0.000 516 0.000 0.041 2090 1385 3709 3717 3702 0 0 0 0 0 0 11.34 11.12 11.33

4898 -2.06 -51.2 2090 1386 3718 3702 608.3 -10.0 460 4903 0.22 3.33 0.00 0.000 3078 0.334 0.050 2109 2803 3709 3717 3701 0 0 0 0 0 0 11.00 11.16 11.20

5269 -2.06 -51.2 2110 2802 3718 3701 645.1 -9.8 474 5270 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2803 3708 3716 3701 0 0 0 0 0 0 11.34 11.33 11.34

5629 -2.06 -51.2 2109 2805 3718 3702 678.8 -9.2 486 5634 0.00 2.62 0.00 0.000 260 0.000 0.071 2102 3911 3708 3716 3700 0 0 0 0 0 0 11.34 11.14 11.34

5681 -2.06 -51.2 2102 3912 3717 3699 683.7 -9.7 496 5686 0.00 2.53 0.00 0.000 1030 0.000 0.039 2101 2794 3706 3716 3697 0 0 0 0 0 0 11.24 11.19 11.24

6052 -2.06 -51.2 2102 2795 3717 3699 716.7 -8.8 510 6057 0.00 2.67 0.00 0.000 260 0.000 0.073 2094 3914 3707 3716 3698 0 0 0 0 0 0 11.34 11.14 11.35

6214 -2.06 -51.2 2094 3914 3717 3699 732.3 -9.7 542 6222 0.00 2.50 0.00 0.000 1030 0.000 0.039 2094 2797 3707 3716 3699 0 0 0 0 0 0 11.21 11.19 11.21

6599 -2.06 -51.2 2093 2798 3717 3700 764.8 -8.3 558 6600 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 2797 3707 3716 3699 0 0 0 0 0 0 11.34 11.34 11.34

6959 -2.07 -59.8 2094 2799 3717 3700 792.8 -7.4 570 6964 0.00 3.22 0.00 0.000 548 0.000 0.041 2094 1388 3707 3716 3699 0 0 0 0 0 0 11.34 11.16 11.33

7191 -2.08 -68.6 2093 1390 3716 3700 809.5 -7.3 616 7196 0.00 3.33 0.00 0.000 1062 0.000 0.051 2084 2804 3710 3722 3699 0 0 0 0 0 0 11.22 11.16 11.24

7229 end dive: BOTTOM_OBSTACLE_DETECTED

state 7229 begin apogee

7238 -0.23 0.0 2085 2538 3717 3699 812.6 -7.5 619 7336 3.75 0.00 92.70 3.048 10246 0.315 0.000 2693 2538 3493 3499 3487 0 0 0 0 0 0 11.02 11.01 10.02

7337 end apogee: CONTROL_FINISHED_OK

state 7337 begin climb

7340 2.08 68.6 2694 2539 3498 3488 813.9 0.0 622 7456 3.10 0.00 109.82 3.023 10502 0.099 0.000 3442 2538 3219 3233 3206 0 0 0 0 0 0 11.04 11.00 9.99

7806 2.08 68.6 3442 2538 3226 3201 712.7 24.8 648 7812 0.00 3.28 0.00 0.000 516 0.000 0.057 3452 1152 3213 3226 3200 0 0 0 0 0 0 11.30 11.10 11.32

7854 2.08 68.6 3453 1152 3227 3200 700.2 24.7 657 7860 0.00 3.35 0.00 0.000 1030 0.000 0.061 3452 2549 3213 3226 3200 0 0 0 0 0 0 11.19 11.12 11.21

8233 2.08 68.6 3453 2550 3226 3200 607.4 24.1 672 8233 0.00 0.00 0.00 0.000 6 0.000 0.000 3451 2550 3212 3225 3199 0 0 0 0 0 0 11.30 11.31 11.31

8592 2.08 68.6 3453 2549 3227 3199 523.9 23.1 684 8593 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2550 3212 3225 3199 0 0 0 0 0 0 11.31 11.31 11.32

8952 2.08 68.6 3452 2550 3226 3200 444.1 21.9 700 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2550 3212 3225 3200 0 0 0 0 0 0 11.32 11.32 11.32

9252 2.08 68.6 3452 2549 3227 3201 380.1 20.9 715 9252 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2550 3212 3225 3200 0 0 0 0 0 0 11.33 11.33 11.33

9553 2.08 68.6 3453 2549 3227 3201 319.1 19.9 730 9558 0.00 3.33 0.00 0.000 516 0.000 0.057 3463 1144 3212 3225 3200 0 0 0 0 0 0 11.33 11.13 11.33

9624 2.08 68.6 3462 1146 3226 3202 304.7 19.7 744 9630 0.00 3.38 0.00 0.000 1030 0.000 0.061 3462 2558 3213 3226 3200 0 0 0 0 0 0 11.21 11.14 11.21

9936 2.08 68.6 3463 2555 3226 3201 240.5 20.1 775 9937 0.00 0.00 0.00 0.000 6 0.000 0.000 3462 2554 3213 3226 3200 0 0 0 0 0 0 11.33 11.33 11.33

10236 2.08 68.6 3463 2554 3227 3200 180.5 20.0 805 10237 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2554 3212 3225 3200 0 0 0 0 0 0 11.33 11.33 11.33

10536 2.08 68.6 3463 2555 3226 3202 121.8 19.4 835 10542 0.00 3.33 0.00 0.000 516 0.000 0.057 3473 1147 3213 3226 3200 0 0 0 0 0 0 11.33 11.12 11.33

10618 2.08 68.6 3473 1147 3227 3200 106.3 18.8 851 10624 0.20 3.35 0.00 0.000 5126 0.411 0.060 3449 2556 3213 3225 3201 0 0 0 0 0 0 10.95 11.14 11.19

10934 2.08 68.6 3449 2557 3226 3202 48.9 16.4 883 10939 0.00 3.30 0.00 0.000 260 0.000 0.083 3443 3912 3212 3225 3200 0 0 0 0 0 0 11.33 11.13 11.33

10965 2.08 68.6 3444 3912 3227 3200 43.0 17.5 889 10971 0.00 3.12 0.00 0.000 1030 0.000 0.047 3453 2550 3213 3225 3201 0 0 0 0 0 0 11.23 11.18 11.24

11204 end climb: SURFACE_DEPTH_REACHED

state 11204 begin surface coast

11218 end surface coast: CONTROL_FINISHED_OK

state 11218 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	840	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	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	48
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	120119,224239,-7404.0044,-11224.2773,31,1.0,32,53.2,0.3,0.0,9,7.5	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold3
_XMS_NAKs	1	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	1	TGT_RADIUS	3000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	293.4,262,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-63.2	D_GRID	990
GPS2	120119,225915,-7404.0742,-11224.5605,3,0.9,6,53.2,0.3,0.0,10,7.9

FREEZE	-0.14,0.341,-1.868,2,1,0	ALTIM_BOTTOM_PING	809.2,12.9
FINISH	-0.1,1.027321	_24V_AH	9.99,267.232
SM_CCo	11244,253.23,0.188,0,0,1898,399.91	_10V_AH	10.37,0.000
SM_GC	0.71,12.85,0.65,253.23,0.076,0.079,0.188,202,2805,1898,-8.02,-0.31,399.91,0,0,0,0,0,0,11.12,11.15,11.02	FG_AHR_24Vo	0.000
RAFOS_CLK	466	FG_AHR_10Vo	0.000
RAFOS	0,1547337660,0.032355,0.016667,152,61,61,57,55,54,590,212,137,229,175,783	MEM	279208
RAFOS_FIX	-7404.443359,-11226.808594,130119,000032,2,134,0.32	DATA_FILE_SIZE	29997,915
IRIDIUM_FIX	-7402.95,-11228.77,120119,191852	CAP_FILE_SIZE	139778,0
TT8_MAMPS	0.046438,0.13482	CFSIZE	1024409600,919502848
HUMID	48.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1450.0
TCM_TEMP	13.10	CURRENT	0.100,221.62,1
XPDR_PINGS	0	GPS	130119,021240,-7403.604,-11226.791,32,0.8,33,53.2,0.2,0.0,11,8.1
ALTIM_TOP_PING	11.3,11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	419	150.94	nil	0	0	0.00
Roll_motor	114	82	94.71	nil	0	0	0.00
VBD_pump_during_apogee	202	3047	6166.30	nil	0	0	0.00
VBD_pump_during_surface	253	188	476.07	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	11234	4	536.11
Iridium_during_xfer	738	257	1902.76	nil	0	0	0.00
Transponder_ping	57	420	239.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	8	0.76
TT8	0	0	0.00
LPSleep	8599	2	206.01
TT8_Active	677	10	76.35
TT8_Sampling	2660	30	837.19
TT8_CF8	555	51	295.66
TT8_Kalman	0	0	0.00
Analog_circuits	2112	10	221.26
GPS_charging	0	0	0.00
Compass	1311	6	91.64
RAFOS	720	1	11.20
Transponder	435	30	135.60

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
12.6	14.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.8	20.10	9000.00	0.0	0.00	0.00	20.10	0.0	0.95	1.00
25.3	27.30	27.20	0.0	1.03	1.00	27.30	0.0	1.11	1.00
37.8	40.20	40.30	0.0	1.06	1.00	40.20	0.0	1.03	1.00
44.9	47.60	47.60	0.0	1.04	1.00	47.60	0.0	1.04	1.00
796.7	26.20	9000.00	0.0	-0.02	0.88	26.20	822.9	-0.03	1.00
802.9	19.40	9000.00	0.0	-0.03	0.95	19.40	822.3	-1.10	1.00
809.2	13.00	12.90	822.1	-1.06	1.00	13.00	822.2	-1.02	1.00
813.6	11.90	9000.00	0.0	-0.73	0.92	11.90	825.5	-0.25	1.00

801.0	31.80	9000.00	0.0	-1.68	0.91	31.80	0.0	-1.58	1.00
139.2	143.90	9000.00	0.0	-0.18	0.98	143.90	0.0	-0.17	1.00
81.5	84.40	9000.00	0.0	-0.11	0.65	84.40	-2.9	1.03	1.00
74.1	76.50	76.60	-2.5	1.03	1.00	76.50	-2.4	1.07	1.00
66.6	69.10	68.90	-2.3	1.03	1.00	69.10	-2.5	0.99	1.00
59.0	61.30	61.40	-2.4	1.00	1.00	61.30	-2.3	1.03	1.00
52.1	53.50	53.60	-1.5	1.07	1.00	53.50	-1.4	1.13	1.00
45.6	47.30	47.10	-1.5	1.05	1.00	47.30	-1.7	0.95	1.00
39.1	40.50	40.60	-1.5	1.00	1.00	40.50	-1.4	1.05	1.00
31.9	32.90	32.90	-1.0	1.05	1.00	32.90	-1.0	1.06	1.00
24.8	25.20	25.20	-0.4	1.07	1.00	25.20	-0.4	1.08	1.00
17.9	18.50	18.40	-0.5	1.02	1.00	18.50	-0.6	0.97	1.00
11.3	11.70	11.80	-0.5	1.00	1.00	11.70	-0.4	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-2.02	-22.2	199	2801	1938	1801	0.0	0.0	0	115	0.00	0.00	-102.38	0.003	16390	0.000	0.000	199	2801	3583	3604	3562	0	0	0	0	0	0	11.30	10.54	11.30
120	-2.06	-51.2	199	2801	3607	3566	1.3	-1.3	10	148	15.25	3.33	-5.25	0.015	18980	0.420	0.054	2108	1384	3700	3708	3693	0	0	0	0	0	0	10.94	10.51	11.14
378	-2.06	-51.2	2109	1383	3716	3700	36.6	-14.4	60	385	0.00	3.33	0.00	0.000	1030	0.000	0.051	2100	2812	3707	3714	3700	0	0	0	0	0	0	11.19	11.13	11.21
691	-2.06	-51.2	2099	2814	3716	3703	85.5	-15.2	92	696	0.00	3.30	0.00	0.000	516	0.000	0.041	2099	1384	3708	3715	3701	0	0	0	0	0	0	11.33	11.12	11.33
828	-2.06	-51.2	2100	1383	3717	3702	104.8	-13.8	119	834	0.00	3.33	0.00	0.000	1030	0.000	0.050	2088	2804	3708	3715	3702	0	0	0	0	0	0	11.21	11.14	11.23
1133	-2.06	-51.2	2089	2804	3718	3703	147.3	-14.0	150	1138	0.00	2.62	0.00	0.000	260	0.000	0.072	2080	3913	3713	3717	3710	0	0	0	0	0	0	11.33	11.13	11.33
1237	-2.06	-51.2	2080	3914	3718	3705	162.6	-15.4	170	1243	0.20	2.53	0.00	0.000	3078	0.329	0.037	2106	2786	3711	3718	3704	0	0	0	0	0	0	11.00	11.19	11.19
1549	-2.06	-51.2	2108	2786	3719	3705	191.8	-10.3	202	1555	0.00	3.17	0.00	0.000	516	0.000	0.041	2106	1396	3711	3718	3704	0	0	0	0	0	0	11.33	11.14	11.33
1596	-2.06	-51.2	2108	1395	3719	3705	197.6	-12.9	211	1602	0.00	3.30	0.00	0.000	1030	0.000	0.051	2100	2802	3711	3718	3705	0	0	0	0	0	0	11.21	11.15	11.23
1901	-2.06	-51.2	2099	2802	3719	3704	240.1	-13.7	242	1902	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2802	3711	3718	3704	0	0	0	0	0	0	11.33	11.33	11.33
2201	-2.06	-51.2	2098	2801	3719	3704	282.7	-14.2	272	2206	0.00	2.62	0.00	0.000	260	0.000	0.071	2091	3913	3712	3719	3705	0	0	0	0	0	0	11.33	11.14	11.33
2242	-2.06	-51.2	2092	3913	3719	3705	288.9	-15.1	280	2247	0.00	2.50	0.00	0.000	1030	0.000	0.037	2090	2797	3711	3718	3704	0	0	0	0	0	0	11.21	11.18	11.23
2564	-2.06	-51.2	2091	2798	3719	3706	332.2	-13.2	301	2569	0.00	2.67	0.00	0.000	260	0.000	0.071	2082	3914	3711	3718	3704	0	0	0	0	0	0	11.33	11.14	11.33
2606	-2.06	-51.2	2082	3915	3718	3705	338.0	-14.1	309	2612	0.20	2.50	0.00	0.000	3078	0.337	0.037	2108	2798	3711	3718	3704	0	0	0	0	0	0	11.00	11.19	11.20
2928	-2.06	-51.2	2109	2798	3719	3704	379.0	-12.7	328	2933	0.00	3.22	0.00	0.000	516	0.000	0.042	2109	1395	3711	3718	3704	0	0	0	0	0	0	11.33	11.15	11.33
3020	-2.06	-51.2	2109	1395	3718	3705	390.5	-12.3	346	3025	0.00	3.33	0.00	0.000	1030	0.000	0.050	2098	2812	3711	3718	3704	0	0	0	0	0	0	11.22	11.15	11.24
3331	-2.06	-51.2	2099	2813	3719	3705	429.3	-12.1	363	3336	0.00	2.62	0.00	0.000	260	0.000	0.072	2090	3915	3710	3717	3704	0	0	0	0	0	0	11.34	11.14	11.34
3362	-2.06	-51.2	2090	3916	3719	3703	433.4	-13.4	369	3368	0.00	2.53	0.00	0.000	1030	0.000	0.038	2089	2791	3710	3718	3703	0	0	0	0	0	0	11.23	11.19	11.25
3676	-2.06	-51.2	2090	2793	3719	3705	470.7	-11.7	386	3681	0.00	2.67	0.00	0.000	260	0.000	0.070	2081	3909	3711	3718	3704	0	0	0	0	0	0	11.33	11.14	11.33
3712	-2.06	-51.2	2082	3910	3719	3704	475.3	-12.8	393	3720	0.20	2.50	0.00	0.000	3078	0.338	0.037	2107	2796	3710	3718	3703	0	0	0	0	0	0	11.00	11.18	11.20
4028	-2.06	-51.2	2108	2797	3719	3704	511.6	-11.3	408	4034	0.00	3.20	0.00	0.000	516	0.000	0.042	2108	1391	3710	3718	3703	0	0	0	0	0	0	11.34	11.14	11.34
4050	-2.06	-51.2	2108	1390	3719	3703	514.2	-11.2	412	4056	0.00	3.28	0.00	0.000	1030	0.000	0.051	2099	2809	3710	3718	3703	0	0	0	0	0	0	11.22	11.15	11.23
4425	-2.06	-51.2	2098	2809	3718	3704	556.9	-11.6	426	4430	0.00	2.60	0.00	0.000	260	0.000	0.070	2089	3906	3710	3718	3702	0	0	0	0	0	0	11.33	11.14	11.33
4451	-2.06	-51.2	2090	3906	3719	3701	560.3	-12.3	431	4457	0.00	2.50	0.00	0.000	1030	0.000	0.039	2089	2795	3710	3718	3702	0	0	0	0	0	0	11.23	11.19	11.24
4816	-2.06	-51.2	2090	2795	3719	3701	600.0	-10.6	444	4821	0.00	3.22	0.00	0.000	516	0.000	0.041	2090	1385	3709	3717	3702	0	0	0	0	0	0	11.34	11.12	11.33
4898	-2.06	-51.2	2090	1386	3718	3702	608.3	-10.0	460	4903	0.22	3.33	0.00	0.000	3078	0.334	0.050	2109	2803	3709	3717	3701	0	0	0	0	0	0	11.00	11.16	11.20
5269	-2.06	-51.2	2110	2802	3718	3701	645.1	-9.8	474	5270	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2803	3708	3716	3701	0	0	0	0	0	0	11.34	11.33	11.34
5629	-2.06	-51.2	2109	2805	3718	3702	678.8	-9.2	486	5634	0.00	2.62	0.00	0.000	260	0.000	0.071	2102	3911	3708	3716	3700	0	0	0	0	0	0	11.34	11.14	11.34
5681	-2.06	-51.2	2102	3912	3717	3699	683.7	-9.7	496	5686	0.00	2.53	0.00	0.000	1030	0.000	0.039	2101	2794	3706	3716	3697	0	0	0	0	0	0	11.24	11.19	11.24
6052	-2.06	-51.2	2102	2795	3717	3699	716.7	-8.8	510	6057	0.00	2.67	0.00	0.000	260	0.000	0.073	2094	3914	3707	3716	3698	0	0	0	0	0	0	11.34	11.14	11.35
6214	-2.06	-51.2	2094	3914	3717	3699	732.3	-9.7	542	6222	0.00	2.50	0.00	0.000	1030	0.000	0.039	2094	2797	3707	3716	3699	0	0	0	0	0	0	11.21	11.19	11.21
6599	-2.06	-51.2	2093	2798	3717	3700	764.8	-8.3	558	6600	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	2797	3707	3716	3699	0	0	0	0	0	0	11.34	11.34	11.34
6959	-2.07	-59.8	2094	2799	3717	3700	792.8	-7.4	570	6964	0.00	3.22	0.00	0.000	548	0.000	0.041	2094	1388	3707	3716	3699	0	0	0	0	0	0	11.34	11.16	11.33
7191	-2.08	-68.6	2093	1390	3716	3700	809.5	-7.3	616	7196	0.00	3.33	0.00	0.000	1062	0.000	0.051	2084	2804	3710	3722	3699	0	0	0	0	0	0	11.22	11.16	11.24
7229	end dive: BOTTOM_OBSTACLE_DETECTED
state	7229	begin apogee
7238	-0.23	0.0	2085	2538	3717	3699	812.6	-7.5	619	7336	3.75	0.00	92.70	3.048	10246	0.315	0.000	2693	2538	3493	3499	3487	0	0	0	0	0	0	11.02	11.01	10.02
7337	end apogee: CONTROL_FINISHED_OK
state	7337	begin climb
7340	2.08	68.6	2694	2539	3498	3488	813.9	0.0	622	7456	3.10	0.00	109.82	3.023	10502	0.099	0.000	3442	2538	3219	3233	3206	0	0	0	0	0	0	11.04	11.00	9.99
7806	2.08	68.6	3442	2538	3226	3201	712.7	24.8	648	7812	0.00	3.28	0.00	0.000	516	0.000	0.057	3452	1152	3213	3226	3200	0	0	0	0	0	0	11.30	11.10	11.32
7854	2.08	68.6	3453	1152	3227	3200	700.2	24.7	657	7860	0.00	3.35	0.00	0.000	1030	0.000	0.061	3452	2549	3213	3226	3200	0	0	0	0	0	0	11.19	11.12	11.21
8233	2.08	68.6	3453	2550	3226	3200	607.4	24.1	672	8233	0.00	0.00	0.00	0.000	6	0.000	0.000	3451	2550	3212	3225	3199	0	0	0	0	0	0	11.30	11.31	11.31
8592	2.08	68.6	3453	2549	3227	3199	523.9	23.1	684	8593	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2550	3212	3225	3199	0	0	0	0	0	0	11.31	11.31	11.32
8952	2.08	68.6	3452	2550	3226	3200	444.1	21.9	700	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2550	3212	3225	3200	0	0	0	0	0	0	11.32	11.32	11.32
9252	2.08	68.6	3452	2549	3227	3201	380.1	20.9	715	9252	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2550	3212	3225	3200	0	0	0	0	0	0	11.33	11.33	11.33
9553	2.08	68.6	3453	2549	3227	3201	319.1	19.9	730	9558	0.00	3.33	0.00	0.000	516	0.000	0.057	3463	1144	3212	3225	3200	0	0	0	0	0	0	11.33	11.13	11.33
9624	2.08	68.6	3462	1146	3226	3202	304.7	19.7	744	9630	0.00	3.38	0.00	0.000	1030	0.000	0.061	3462	2558	3213	3226	3200	0	0	0	0	0	0	11.21	11.14	11.21
9936	2.08	68.6	3463	2555	3226	3201	240.5	20.1	775	9937	0.00	0.00	0.00	0.000	6	0.000	0.000	3462	2554	3213	3226	3200	0	0	0	0	0	0	11.33	11.33	11.33
10236	2.08	68.6	3463	2554	3227	3200	180.5	20.0	805	10237	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2554	3212	3225	3200	0	0	0	0	0	0	11.33	11.33	11.33
10536	2.08	68.6	3463	2555	3226	3202	121.8	19.4	835	10542	0.00	3.33	0.00	0.000	516	0.000	0.057	3473	1147	3213	3226	3200	0	0	0	0	0	0	11.33	11.12	11.33
10618	2.08	68.6	3473	1147	3227	3200	106.3	18.8	851	10624	0.20	3.35	0.00	0.000	5126	0.411	0.060	3449	2556	3213	3225	3201	0	0	0	0	0	0	10.95	11.14	11.19
10934	2.08	68.6	3449	2557	3226	3202	48.9	16.4	883	10939	0.00	3.30	0.00	0.000	260	0.000	0.083	3443	3912	3212	3225	3200	0	0	0	0	0	0	11.33	11.13	11.33
10965	2.08	68.6	3444	3912	3227	3200	43.0	17.5	889	10971	0.00	3.12	0.00	0.000	1030	0.000	0.047	3453	2550	3213	3225	3201	0	0	0	0	0	0	11.23	11.18	11.24
11204	end climb: SURFACE_DEPTH_REACHED
state	11204	begin surface coast
11218	end surface coast: CONTROL_FINISHED_OK
state	11218	begin surface