Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 844 * 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 844 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 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 844 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 15 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 130119,132301,-7403.9082,-11224.5762,34,0.9,35,53.2,0.3,236.9,9,6.2 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 0.66 MHEAD_RNG_PITCHd_Wd 359.9,312,-41.6,-10.000,-42.83,378

_SM_ANGLEo -62.4 D_GRID 990

GPS2 130119,141033,-7404.0859,-11225.5273,7,0.9,8,53.2,0.2,0.0,8,10.0

Post-dive calculations and measurements:

FREEZE 0.17,-0.281,-1.854,2,1,0 ALTIM_BOTTOM_PING 833.0,11.8

FINISH 0.2,1.027157 _24V_AH 10.00,268.833

SM_CCo 11553,258.17,0.190,0,0,1898,399.91 _10V_AH 10.24,0.000

SM_GC 0.66,12.75,0.62,258.17,0.073,0.080,0.190,199,2806,1898,-8.03,-0.28,399.91,0,0,0,0,0,0,11.14,11.16,11.03 FG_AHR_24Vo 0.000

RAFOS_CLK 470 FG_AHR_10Vo 0.000

RAFOS 0,1547391659,15.032354,15.016389,113,60,57,56,55,52,596,160,207,221,121,633 MEM 279064

RAFOS_FIX -7404.291016,-11225.327148,130119,151548,2,100,0.11 DATA_FILE_SIZE 33348,992

IRIDIUM_FIX -7403.74,-11221.53,130119,134852 CAP_FILE_SIZE 159569,0

TT8_MAMPS 0.046438,0.199983 CFSIZE 1024409600,919011328

HUMID 48.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1449.2

TCM_TEMP 13.00 CURRENT 0.091,229.87,1

XPDR_PINGS 0 GPS 130119,172908,-7403.900,-11224.109,25,0.8,25,53.2,0.2,0.0,10,8.7

ALTIM_TOP_PING 8.8,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 417 146.50 nil 0 0 0.00

Roll_motor 130 94 123.10 nil 0 0 0.00

VBD_pump_during_apogee 206 3070 6334.11 nil 0 0 0.00

VBD_pump_during_surface 258 189 489.81 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 11549 4 554.24

Iridium_during_xfer 2222 250 5560.63 nil 0 0 0.00

Transponder_ping 59 420 247.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 8 0.93

TT8 0 0 0.00

LPSleep 8837 2 209.04

TT8_Active 697 10 77.62

TT8_Sampling 4139 30 1286.49

TT8_CF8 992 51 521.32

TT8_Kalman 0 0 0.00

Analog_circuits 3673 10 379.93

GPS_charging 0 0 0.00

Compass 1419 6 97.97

RAFOS 720 1 11.06

Transponder 452 30 139.07

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

12.3 13.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.7 20.00 9000.00 0.0 0.00 0.00 20.00 0.0 1.02 1.00

25.1 26.70 26.70 0.0 1.03 1.00 26.70 0.0 1.05 1.00

31.6 33.90 33.80 0.0 1.07 1.00 33.90 0.0 1.11 1.00

38.2 40.40 40.50 0.0 1.04 1.00 40.40 0.0 0.98 1.00

805.8 39.70 9000.00 0.0 0.00 0.18 39.70 845.5 -0.00 1.00

812.0 34.50 9000.00 0.0 0.00 0.35 34.50 846.5 -0.84 1.00

819.5 26.60 26.90 846.4 -0.96 1.00 26.60 846.1 -1.05 1.00

826.1 19.30 19.40 845.5 -1.08 1.00 19.30 845.4 -1.11 1.00

833.0 11.80 11.80 844.8 -1.09 1.00 11.80 844.8 -1.09 1.00

835.8 10.30 9.80 845.6 -0.96 0.99 10.30 846.1 -0.54 1.00

828.9 19.10 9000.00 0.0 -1.29 0.92 19.10 0.0 -1.28 1.00

822.7 20.40 9000.00 0.0 -0.78 0.87 20.40 0.0 -0.21 1.00

100.3 103.90 9000.00 0.0 -0.12 1.00 103.90 0.0 -0.12 1.00

79.8 82.50 9000.00 0.0 -0.10 0.93 82.50 -2.7 1.04 1.00

73.1 75.80 75.60 -2.5 1.04 1.00 75.80 -2.7 1.00 1.00

67.0 70.30 70.20 -3.2 0.95 1.00 70.30 -3.3 0.90 1.00

60.7 62.40 62.80 -2.1 1.08 0.99 62.40 -1.7 1.25 1.00

47.4 48.90 48.70 -1.3 1.08 1.00 48.90 -1.5 1.02 1.00

41.1 42.50 42.50 -1.4 1.02 1.00 42.50 -1.4 1.02 1.00

34.8 35.60 35.70 -0.9 1.06 1.00 35.60 -0.8 1.10 1.00

28.6 29.20 29.10 -0.5 1.06 1.00 29.20 -0.6 1.03 1.00

22.4 22.30 22.40 0.0 1.07 1.00 22.30 0.1 1.11 1.00

16.2 16.30 16.20 0.0 1.04 1.00 16.30 -0.1 0.97 1.00

8.8 8.90 8.90 -0.1 0.98 1.00 8.90 -0.1 1.00 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

12 -1.92 -24.6 200 2813 1934 1797 0.0 0.0 0 122 0.00 0.00 -103.82 0.003 16390 0.000 0.000 199 2814 3594 3616 3572 0 0 0 0 0 0 11.31 10.55 11.31

127 -1.96 -57.1 200 2814 3617 3575 1.4 -1.2 11 154 15.40 2.67 -5.50 0.014 18724 0.418 0.094 2129 3906 3722 3730 3714 0 0 0 0 0 0 10.95 10.52 11.15

382 -1.96 -57.1 2130 3906 3737 3724 42.5 -17.4 61 388 0.00 2.50 0.00 0.000 1030 0.000 0.037 2135 2784 3730 3736 3725 0 0 0 0 0 0 11.21 11.18 11.23

694 -1.96 -57.1 2135 2785 3738 3728 89.4 -14.5 93 700 0.00 2.72 0.00 0.000 260 0.000 0.072 2128 3918 3732 3737 3728 0 0 0 0 0 0 11.33 11.13 11.33

810 -1.96 -57.1 2128 3920 3738 3728 106.9 -15.9 115 815 0.00 2.50 0.00 0.000 1030 0.000 0.037 2134 2798 3732 3737 3728 0 0 0 0 0 0 11.22 11.18 11.24

1121 -1.96 -57.1 2135 2799 3739 3729 153.3 -14.8 147 1127 0.00 3.20 0.00 0.000 516 0.000 0.042 2143 1398 3732 3736 3729 0 0 0 0 0 0 11.33 11.14 11.33

1144 -1.96 -57.1 2143 1397 3739 3729 156.5 -14.3 151 1149 0.00 3.30 0.00 0.000 1030 0.000 0.051 2134 2806 3733 3737 3729 0 0 0 0 0 0 11.21 11.15 11.23

1455 -1.96 -57.1 2134 2806 3739 3730 203.4 -14.8 183 1460 0.00 3.25 0.00 0.000 516 0.000 0.041 2142 1395 3733 3738 3729 0 0 0 0 0 0 11.33 11.15 11.33

1506 -1.96 -57.1 2142 1396 3739 3729 210.9 -14.3 193 1513 0.00 3.33 0.00 0.000 1030 0.000 0.051 2133 2805 3733 3738 3729 0 0 0 0 0 0 11.19 11.13 11.21

1820 -1.96 -57.1 2134 2805 3739 3729 256.1 -14.1 225 1826 0.00 2.65 0.00 0.000 260 0.000 0.073 2125 3916 3733 3738 3729 0 0 0 0 0 0 11.33 11.12 11.33

1877 -1.96 -57.1 2125 3917 3739 3730 264.8 -15.3 236 1883 0.00 2.50 0.00 0.000 1030 0.000 0.038 2127 2800 3733 3738 3728 0 0 0 0 0 0 11.23 11.19 11.24

2182 -1.96 -57.1 2126 2800 3739 3728 308.5 -13.9 264 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2798 3732 3735 3729 0 0 0 0 0 0 11.33 11.36 11.34

2485 -1.96 -57.1 2128 2800 3739 3729 348.8 -13.3 279 2491 0.00 3.20 0.00 0.000 516 0.000 0.042 2130 1400 3733 3738 3729 0 0 0 0 0 0 11.33 11.15 11.33

2597 -1.96 -57.1 2130 1400 3740 3727 363.8 -12.8 301 2603 0.00 3.33 0.00 0.000 1030 0.000 0.052 2120 2808 3733 3738 3729 0 0 0 0 0 0 11.22 11.16 11.24

2910 -1.96 -57.1 2120 2809 3738 3729 404.0 -12.9 318 2915 0.00 3.28 0.00 0.000 516 0.000 0.041 2120 1388 3733 3738 3728 0 0 0 0 0 0 11.34 11.15 11.34

2997 -1.96 -57.1 2121 1388 3739 3728 415.0 -12.5 335 3002 0.20 3.35 0.00 0.000 3078 0.341 0.052 2138 2815 3733 3738 3728 0 0 0 0 0 0 11.01 11.15 11.21

3313 -1.96 -57.1 2139 2815 3739 3728 453.7 -11.9 353 3319 0.00 2.62 0.00 0.000 260 0.000 0.073 2132 3915 3733 3738 3728 0 0 0 0 0 0 11.34 11.14 11.34

3456 -1.96 -57.1 2132 3915 3739 3728 471.7 -12.5 381 3462 0.00 2.55 0.00 0.000 1030 0.000 0.038 2136 2790 3733 3738 3728 0 0 0 0 0 0 11.23 11.19 11.24

3778 -1.96 -57.1 2137 2791 3738 3729 508.7 -11.7 399 3783 0.00 3.20 0.00 0.000 516 0.000 0.043 2139 1396 3732 3738 3727 0 0 0 0 0 0 11.33 11.16 11.34

3882 -1.96 -57.1 2137 1395 3739 3727 520.5 -11.3 419 3888 0.00 3.33 0.00 0.000 1030 0.000 0.053 2133 2804 3732 3738 3727 0 0 0 0 0 0 11.21 11.14 11.23

4264 -1.96 -57.1 2133 2805 3739 3727 563.6 -11.0 435 4265 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2804 3731 3738 3725 0 0 0 0 0 0 11.34 11.34 11.35

4627 -1.96 -57.1 2134 2804 3738 3724 600.9 -10.2 447 4632 0.00 2.65 0.00 0.000 260 0.000 0.073 2125 3908 3730 3737 3724 0 0 0 0 0 0 11.33 11.14 11.33

4683 -1.96 -57.1 2125 3914 3737 3724 607.5 -11.1 458 4690 0.00 2.53 0.00 0.000 1030 0.000 0.040 2132 2792 3730 3737 3724 0 0 0 0 0 0 11.24 11.19 11.24

5053 -1.96 -57.1 2133 2792 3738 3722 643.5 -9.7 471 5058 0.00 3.20 0.00 0.000 516 0.000 0.042 2132 1394 3730 3737 3724 0 0 0 0 0 0 11.33 11.17 11.33

5085 -1.96 -57.1 2133 1395 3737 3725 647.0 -9.4 477 5091 0.00 3.33 0.00 0.000 1030 0.000 0.053 2126 2802 3730 3737 3723 0 0 0 0 0 0 11.23 11.16 11.24

5477 -1.96 -57.1 2127 2802 3738 3723 684.5 -9.5 495 5478 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2802 3730 3737 3723 0 0 0 0 0 0 11.35 11.35 11.34

5837 -1.96 -57.1 2126 2803 3737 3727 719.4 -9.5 507 5838 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2802 3729 3736 3723 0 0 0 0 0 0 11.35 11.35 11.35

6197 -1.96 -57.1 2126 2803 3737 3724 751.9 -8.8 519 6203 0.00 3.25 0.00 0.000 516 0.000 0.041 2126 1389 3730 3736 3724 0 0 0 0 0 0 11.35 11.16 11.35

6345 -1.96 -57.1 2127 1389 3738 3723 764.5 -8.6 548 6351 0.00 3.35 0.00 0.000 1030 0.000 0.054 2123 2804 3730 3737 3723 0 0 0 0 0 0 11.23 11.17 11.24

6713 -1.97 -64.7 2123 2805 3737 3723 795.1 -7.9 561 6719 0.00 2.62 0.00 0.000 292 0.000 0.072 2114 3913 3730 3737 3723 0 0 0 0 0 0 11.34 11.15 11.34

6805 -1.97 -64.7 2114 3917 3737 3723 803.7 -8.7 579 6810 0.00 2.53 0.00 0.000 1030 0.000 0.040 2114 2791 3729 3737 3722 0 0 0 0 0 0 11.24 11.19 11.27

7193 end dive: BOTTOM_OBSTACLE_DETECTED

state 7193 begin apogee

7202 -0.23 0.0 2115 2539 3737 3723 834.8 -7.3 597 7310 3.47 0.00 102.85 3.071 10246 0.304 0.000 2694 2539 3492 3498 3487 0 0 0 0 0 0 11.02 11.02 10.00

7311 end apogee: CONTROL_FINISHED_OK

state 7311 begin climb

7315 1.97 64.7 2694 2538 3500 3487 835.2 0.0 600 7431 2.92 3.40 103.43 3.041 10500 0.103 0.083 3410 3908 3235 3248 3222 0 0 0 0 0 0 11.05 10.94 10.02

7507 1.97 64.7 3410 3908 3249 3218 799.2 25.2 636 7513 0.00 3.15 0.00 0.000 1030 0.000 0.047 3420 2549 3236 3255 3218 0 0 0 0 0 0 11.19 11.13 11.19

7900 1.97 64.7 3420 2549 3243 3217 707.0 23.0 654 7905 0.00 3.30 0.00 0.000 516 0.000 0.058 3431 1148 3230 3243 3217 0 0 0 0 0 0 11.31 11.11 11.31

7937 1.97 64.7 3431 1150 3243 3218 698.5 22.7 661 7943 0.00 3.35 0.00 0.000 1030 0.000 0.060 3431 2553 3229 3242 3217 0 0 0 0 0 0 11.20 11.12 11.21

8325 1.97 64.7 3431 2555 3243 3218 607.5 23.5 678 8326 0.00 0.00 0.00 0.000 6 0.000 0.000 3431 2553 3230 3243 3217 0 0 0 0 0 0 11.31 11.31 11.31

8685 1.97 64.7 3431 2553 3243 3216 523.9 22.7 690 8690 0.00 3.30 0.00 0.000 260 0.000 0.083 3431 3908 3229 3242 3217 0 0 0 0 0 0 11.32 11.12 11.32

8731 1.97 64.7 3432 3909 3244 3218 512.6 24.1 699 8740 0.12 3.12 0.00 0.000 5126 0.374 0.047 3414 2541 3230 3243 3217 0 0 0 0 0 0 10.98 11.16 11.14

9111 1.97 64.7 3413 2542 3243 3220 432.5 20.3 719 9117 0.00 3.38 0.00 0.000 260 0.000 0.083 3408 3914 3229 3242 3217 0 0 0 0 0 0 11.33 11.12 11.33

9168 1.97 64.7 3409 3915 3244 3218 420.2 21.8 730 9174 0.00 3.15 0.00 0.000 1030 0.000 0.048 3418 2546 3230 3243 3218 0 0 0 0 0 0 11.23 11.18 11.24

9474 1.97 64.7 3419 2547 3240 3219 358.9 19.7 746 9475 0.00 0.00 0.00 0.000 6 0.000 0.000 3418 2546 3231 3243 3219 0 0 0 0 0 0 11.33 11.33 11.33

9773 1.97 64.7 3418 2547 3244 3220 301.8 18.6 761 9779 0.00 3.30 0.00 0.000 516 0.000 0.058 3429 1143 3231 3243 3220 0 0 0 0 0 0 11.33 11.14 11.34

9936 1.97 64.7 3430 1143 3244 3219 272.4 17.3 793 9942 0.00 3.38 0.00 0.000 1030 0.000 0.063 3429 2553 3231 3244 3219 0 0 0 0 0 0 11.22 11.14 11.24

10249 1.97 64.7 3430 2553 3245 3220 215.6 18.2 825 10255 0.00 3.35 0.00 0.000 516 0.000 0.057 3439 1141 3231 3243 3219 0 0 0 0 0 0 11.33 11.14 11.33

10341 1.97 64.7 3440 1137 3245 3219 198.6 18.0 843 10347 0.20 3.38 0.00 0.000 5126 0.343 0.063 3414 2552 3230 3243 3218 0 0 0 0 0 0 10.99 11.14 11.19

10653 1.97 64.7 3414 2553 3245 3219 144.2 17.4 875 10658 0.00 3.33 0.00 0.000 260 0.000 0.083 3408 3916 3229 3240 3219 0 0 0 0 0 0 11.33 11.12 11.34

10710 1.97 64.7 3409 3916 3245 3219 133.7 18.6 886 10716 0.00 3.17 0.00 0.000 1030 0.000 0.049 3419 2544 3231 3243 3219 0 0 0 0 0 0 11.24 11.18 11.24

11015 1.97 64.7 3417 2546 3244 3221 81.8 16.6 917 11021 0.00 3.30 0.00 0.000 516 0.000 0.058 3429 1141 3231 3243 3219 0 0 0 0 0 0 11.34 11.14 11.34

11249 1.97 64.7 3430 1142 3245 3219 42.8 15.4 963 11254 0.00 3.38 0.00 0.000 1030 0.000 0.063 3429 2555 3231 3243 3219 0 0 0 0 0 0 11.22 11.14 11.24

11518 end climb: SURFACE_DEPTH_REACHED

state 11521 begin surface coast

11527 end surface coast: CONTROL_FINISHED_OK

state 11527 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	844	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	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	130119,132301,-7403.9082,-11224.5762,34,0.9,35,53.2,0.3,236.9,9,6.2	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	0.66	MHEAD_RNG_PITCHd_Wd	359.9,312,-41.6,-10.000,-42.83,378
_SM_ANGLEo	-62.4	D_GRID	990
GPS2	130119,141033,-7404.0859,-11225.5273,7,0.9,8,53.2,0.2,0.0,8,10.0

FREEZE	0.17,-0.281,-1.854,2,1,0	ALTIM_BOTTOM_PING	833.0,11.8
FINISH	0.2,1.027157	_24V_AH	10.00,268.833
SM_CCo	11553,258.17,0.190,0,0,1898,399.91	_10V_AH	10.24,0.000
SM_GC	0.66,12.75,0.62,258.17,0.073,0.080,0.190,199,2806,1898,-8.03,-0.28,399.91,0,0,0,0,0,0,11.14,11.16,11.03	FG_AHR_24Vo	0.000
RAFOS_CLK	470	FG_AHR_10Vo	0.000
RAFOS	0,1547391659,15.032354,15.016389,113,60,57,56,55,52,596,160,207,221,121,633	MEM	279064
RAFOS_FIX	-7404.291016,-11225.327148,130119,151548,2,100,0.11	DATA_FILE_SIZE	33348,992
IRIDIUM_FIX	-7403.74,-11221.53,130119,134852	CAP_FILE_SIZE	159569,0
TT8_MAMPS	0.046438,0.199983	CFSIZE	1024409600,919011328
HUMID	48.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1449.2
TCM_TEMP	13.00	CURRENT	0.091,229.87,1
XPDR_PINGS	0	GPS	130119,172908,-7403.900,-11224.109,25,0.8,25,53.2,0.2,0.0,10,8.7
ALTIM_TOP_PING	8.8,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	417	146.50	nil	0	0	0.00
Roll_motor	130	94	123.10	nil	0	0	0.00
VBD_pump_during_apogee	206	3070	6334.11	nil	0	0	0.00
VBD_pump_during_surface	258	189	489.81	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	11549	4	554.24
Iridium_during_xfer	2222	250	5560.63	nil	0	0	0.00
Transponder_ping	59	420	247.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	8	0.93
TT8	0	0	0.00
LPSleep	8837	2	209.04
TT8_Active	697	10	77.62
TT8_Sampling	4139	30	1286.49
TT8_CF8	992	51	521.32
TT8_Kalman	0	0	0.00
Analog_circuits	3673	10	379.93
GPS_charging	0	0	0.00
Compass	1419	6	97.97
RAFOS	720	1	11.06
Transponder	452	30	139.07

		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
12.3	13.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.7	20.00	9000.00	0.0	0.00	0.00	20.00	0.0	1.02	1.00
25.1	26.70	26.70	0.0	1.03	1.00	26.70	0.0	1.05	1.00
31.6	33.90	33.80	0.0	1.07	1.00	33.90	0.0	1.11	1.00
38.2	40.40	40.50	0.0	1.04	1.00	40.40	0.0	0.98	1.00
805.8	39.70	9000.00	0.0	0.00	0.18	39.70	845.5	-0.00	1.00
812.0	34.50	9000.00	0.0	0.00	0.35	34.50	846.5	-0.84	1.00
819.5	26.60	26.90	846.4	-0.96	1.00	26.60	846.1	-1.05	1.00
826.1	19.30	19.40	845.5	-1.08	1.00	19.30	845.4	-1.11	1.00
833.0	11.80	11.80	844.8	-1.09	1.00	11.80	844.8	-1.09	1.00
835.8	10.30	9.80	845.6	-0.96	0.99	10.30	846.1	-0.54	1.00

828.9	19.10	9000.00	0.0	-1.29	0.92	19.10	0.0	-1.28	1.00
822.7	20.40	9000.00	0.0	-0.78	0.87	20.40	0.0	-0.21	1.00
100.3	103.90	9000.00	0.0	-0.12	1.00	103.90	0.0	-0.12	1.00
79.8	82.50	9000.00	0.0	-0.10	0.93	82.50	-2.7	1.04	1.00
73.1	75.80	75.60	-2.5	1.04	1.00	75.80	-2.7	1.00	1.00
67.0	70.30	70.20	-3.2	0.95	1.00	70.30	-3.3	0.90	1.00
60.7	62.40	62.80	-2.1	1.08	0.99	62.40	-1.7	1.25	1.00
47.4	48.90	48.70	-1.3	1.08	1.00	48.90	-1.5	1.02	1.00
41.1	42.50	42.50	-1.4	1.02	1.00	42.50	-1.4	1.02	1.00
34.8	35.60	35.70	-0.9	1.06	1.00	35.60	-0.8	1.10	1.00
28.6	29.20	29.10	-0.5	1.06	1.00	29.20	-0.6	1.03	1.00
22.4	22.30	22.40	0.0	1.07	1.00	22.30	0.1	1.11	1.00
16.2	16.30	16.20	0.0	1.04	1.00	16.30	-0.1	0.97	1.00
8.8	8.90	8.90	-0.1	0.98	1.00	8.90	-0.1	1.00	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
12	-1.92	-24.6	200	2813	1934	1797	0.0	0.0	0	122	0.00	0.00	-103.82	0.003	16390	0.000	0.000	199	2814	3594	3616	3572	0	0	0	0	0	0	11.31	10.55	11.31
127	-1.96	-57.1	200	2814	3617	3575	1.4	-1.2	11	154	15.40	2.67	-5.50	0.014	18724	0.418	0.094	2129	3906	3722	3730	3714	0	0	0	0	0	0	10.95	10.52	11.15
382	-1.96	-57.1	2130	3906	3737	3724	42.5	-17.4	61	388	0.00	2.50	0.00	0.000	1030	0.000	0.037	2135	2784	3730	3736	3725	0	0	0	0	0	0	11.21	11.18	11.23
694	-1.96	-57.1	2135	2785	3738	3728	89.4	-14.5	93	700	0.00	2.72	0.00	0.000	260	0.000	0.072	2128	3918	3732	3737	3728	0	0	0	0	0	0	11.33	11.13	11.33
810	-1.96	-57.1	2128	3920	3738	3728	106.9	-15.9	115	815	0.00	2.50	0.00	0.000	1030	0.000	0.037	2134	2798	3732	3737	3728	0	0	0	0	0	0	11.22	11.18	11.24
1121	-1.96	-57.1	2135	2799	3739	3729	153.3	-14.8	147	1127	0.00	3.20	0.00	0.000	516	0.000	0.042	2143	1398	3732	3736	3729	0	0	0	0	0	0	11.33	11.14	11.33
1144	-1.96	-57.1	2143	1397	3739	3729	156.5	-14.3	151	1149	0.00	3.30	0.00	0.000	1030	0.000	0.051	2134	2806	3733	3737	3729	0	0	0	0	0	0	11.21	11.15	11.23
1455	-1.96	-57.1	2134	2806	3739	3730	203.4	-14.8	183	1460	0.00	3.25	0.00	0.000	516	0.000	0.041	2142	1395	3733	3738	3729	0	0	0	0	0	0	11.33	11.15	11.33
1506	-1.96	-57.1	2142	1396	3739	3729	210.9	-14.3	193	1513	0.00	3.33	0.00	0.000	1030	0.000	0.051	2133	2805	3733	3738	3729	0	0	0	0	0	0	11.19	11.13	11.21
1820	-1.96	-57.1	2134	2805	3739	3729	256.1	-14.1	225	1826	0.00	2.65	0.00	0.000	260	0.000	0.073	2125	3916	3733	3738	3729	0	0	0	0	0	0	11.33	11.12	11.33
1877	-1.96	-57.1	2125	3917	3739	3730	264.8	-15.3	236	1883	0.00	2.50	0.00	0.000	1030	0.000	0.038	2127	2800	3733	3738	3728	0	0	0	0	0	0	11.23	11.19	11.24
2182	-1.96	-57.1	2126	2800	3739	3728	308.5	-13.9	264	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2798	3732	3735	3729	0	0	0	0	0	0	11.33	11.36	11.34
2485	-1.96	-57.1	2128	2800	3739	3729	348.8	-13.3	279	2491	0.00	3.20	0.00	0.000	516	0.000	0.042	2130	1400	3733	3738	3729	0	0	0	0	0	0	11.33	11.15	11.33
2597	-1.96	-57.1	2130	1400	3740	3727	363.8	-12.8	301	2603	0.00	3.33	0.00	0.000	1030	0.000	0.052	2120	2808	3733	3738	3729	0	0	0	0	0	0	11.22	11.16	11.24
2910	-1.96	-57.1	2120	2809	3738	3729	404.0	-12.9	318	2915	0.00	3.28	0.00	0.000	516	0.000	0.041	2120	1388	3733	3738	3728	0	0	0	0	0	0	11.34	11.15	11.34
2997	-1.96	-57.1	2121	1388	3739	3728	415.0	-12.5	335	3002	0.20	3.35	0.00	0.000	3078	0.341	0.052	2138	2815	3733	3738	3728	0	0	0	0	0	0	11.01	11.15	11.21
3313	-1.96	-57.1	2139	2815	3739	3728	453.7	-11.9	353	3319	0.00	2.62	0.00	0.000	260	0.000	0.073	2132	3915	3733	3738	3728	0	0	0	0	0	0	11.34	11.14	11.34
3456	-1.96	-57.1	2132	3915	3739	3728	471.7	-12.5	381	3462	0.00	2.55	0.00	0.000	1030	0.000	0.038	2136	2790	3733	3738	3728	0	0	0	0	0	0	11.23	11.19	11.24
3778	-1.96	-57.1	2137	2791	3738	3729	508.7	-11.7	399	3783	0.00	3.20	0.00	0.000	516	0.000	0.043	2139	1396	3732	3738	3727	0	0	0	0	0	0	11.33	11.16	11.34
3882	-1.96	-57.1	2137	1395	3739	3727	520.5	-11.3	419	3888	0.00	3.33	0.00	0.000	1030	0.000	0.053	2133	2804	3732	3738	3727	0	0	0	0	0	0	11.21	11.14	11.23
4264	-1.96	-57.1	2133	2805	3739	3727	563.6	-11.0	435	4265	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2804	3731	3738	3725	0	0	0	0	0	0	11.34	11.34	11.35
4627	-1.96	-57.1	2134	2804	3738	3724	600.9	-10.2	447	4632	0.00	2.65	0.00	0.000	260	0.000	0.073	2125	3908	3730	3737	3724	0	0	0	0	0	0	11.33	11.14	11.33
4683	-1.96	-57.1	2125	3914	3737	3724	607.5	-11.1	458	4690	0.00	2.53	0.00	0.000	1030	0.000	0.040	2132	2792	3730	3737	3724	0	0	0	0	0	0	11.24	11.19	11.24
5053	-1.96	-57.1	2133	2792	3738	3722	643.5	-9.7	471	5058	0.00	3.20	0.00	0.000	516	0.000	0.042	2132	1394	3730	3737	3724	0	0	0	0	0	0	11.33	11.17	11.33
5085	-1.96	-57.1	2133	1395	3737	3725	647.0	-9.4	477	5091	0.00	3.33	0.00	0.000	1030	0.000	0.053	2126	2802	3730	3737	3723	0	0	0	0	0	0	11.23	11.16	11.24
5477	-1.96	-57.1	2127	2802	3738	3723	684.5	-9.5	495	5478	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2802	3730	3737	3723	0	0	0	0	0	0	11.35	11.35	11.34
5837	-1.96	-57.1	2126	2803	3737	3727	719.4	-9.5	507	5838	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2802	3729	3736	3723	0	0	0	0	0	0	11.35	11.35	11.35
6197	-1.96	-57.1	2126	2803	3737	3724	751.9	-8.8	519	6203	0.00	3.25	0.00	0.000	516	0.000	0.041	2126	1389	3730	3736	3724	0	0	0	0	0	0	11.35	11.16	11.35
6345	-1.96	-57.1	2127	1389	3738	3723	764.5	-8.6	548	6351	0.00	3.35	0.00	0.000	1030	0.000	0.054	2123	2804	3730	3737	3723	0	0	0	0	0	0	11.23	11.17	11.24
6713	-1.97	-64.7	2123	2805	3737	3723	795.1	-7.9	561	6719	0.00	2.62	0.00	0.000	292	0.000	0.072	2114	3913	3730	3737	3723	0	0	0	0	0	0	11.34	11.15	11.34
6805	-1.97	-64.7	2114	3917	3737	3723	803.7	-8.7	579	6810	0.00	2.53	0.00	0.000	1030	0.000	0.040	2114	2791	3729	3737	3722	0	0	0	0	0	0	11.24	11.19	11.27
7193	end dive: BOTTOM_OBSTACLE_DETECTED
state	7193	begin apogee
7202	-0.23	0.0	2115	2539	3737	3723	834.8	-7.3	597	7310	3.47	0.00	102.85	3.071	10246	0.304	0.000	2694	2539	3492	3498	3487	0	0	0	0	0	0	11.02	11.02	10.00
7311	end apogee: CONTROL_FINISHED_OK
state	7311	begin climb
7315	1.97	64.7	2694	2538	3500	3487	835.2	0.0	600	7431	2.92	3.40	103.43	3.041	10500	0.103	0.083	3410	3908	3235	3248	3222	0	0	0	0	0	0	11.05	10.94	10.02
7507	1.97	64.7	3410	3908	3249	3218	799.2	25.2	636	7513	0.00	3.15	0.00	0.000	1030	0.000	0.047	3420	2549	3236	3255	3218	0	0	0	0	0	0	11.19	11.13	11.19
7900	1.97	64.7	3420	2549	3243	3217	707.0	23.0	654	7905	0.00	3.30	0.00	0.000	516	0.000	0.058	3431	1148	3230	3243	3217	0	0	0	0	0	0	11.31	11.11	11.31
7937	1.97	64.7	3431	1150	3243	3218	698.5	22.7	661	7943	0.00	3.35	0.00	0.000	1030	0.000	0.060	3431	2553	3229	3242	3217	0	0	0	0	0	0	11.20	11.12	11.21
8325	1.97	64.7	3431	2555	3243	3218	607.5	23.5	678	8326	0.00	0.00	0.00	0.000	6	0.000	0.000	3431	2553	3230	3243	3217	0	0	0	0	0	0	11.31	11.31	11.31
8685	1.97	64.7	3431	2553	3243	3216	523.9	22.7	690	8690	0.00	3.30	0.00	0.000	260	0.000	0.083	3431	3908	3229	3242	3217	0	0	0	0	0	0	11.32	11.12	11.32
8731	1.97	64.7	3432	3909	3244	3218	512.6	24.1	699	8740	0.12	3.12	0.00	0.000	5126	0.374	0.047	3414	2541	3230	3243	3217	0	0	0	0	0	0	10.98	11.16	11.14
9111	1.97	64.7	3413	2542	3243	3220	432.5	20.3	719	9117	0.00	3.38	0.00	0.000	260	0.000	0.083	3408	3914	3229	3242	3217	0	0	0	0	0	0	11.33	11.12	11.33
9168	1.97	64.7	3409	3915	3244	3218	420.2	21.8	730	9174	0.00	3.15	0.00	0.000	1030	0.000	0.048	3418	2546	3230	3243	3218	0	0	0	0	0	0	11.23	11.18	11.24
9474	1.97	64.7	3419	2547	3240	3219	358.9	19.7	746	9475	0.00	0.00	0.00	0.000	6	0.000	0.000	3418	2546	3231	3243	3219	0	0	0	0	0	0	11.33	11.33	11.33
9773	1.97	64.7	3418	2547	3244	3220	301.8	18.6	761	9779	0.00	3.30	0.00	0.000	516	0.000	0.058	3429	1143	3231	3243	3220	0	0	0	0	0	0	11.33	11.14	11.34
9936	1.97	64.7	3430	1143	3244	3219	272.4	17.3	793	9942	0.00	3.38	0.00	0.000	1030	0.000	0.063	3429	2553	3231	3244	3219	0	0	0	0	0	0	11.22	11.14	11.24
10249	1.97	64.7	3430	2553	3245	3220	215.6	18.2	825	10255	0.00	3.35	0.00	0.000	516	0.000	0.057	3439	1141	3231	3243	3219	0	0	0	0	0	0	11.33	11.14	11.33
10341	1.97	64.7	3440	1137	3245	3219	198.6	18.0	843	10347	0.20	3.38	0.00	0.000	5126	0.343	0.063	3414	2552	3230	3243	3218	0	0	0	0	0	0	10.99	11.14	11.19
10653	1.97	64.7	3414	2553	3245	3219	144.2	17.4	875	10658	0.00	3.33	0.00	0.000	260	0.000	0.083	3408	3916	3229	3240	3219	0	0	0	0	0	0	11.33	11.12	11.34
10710	1.97	64.7	3409	3916	3245	3219	133.7	18.6	886	10716	0.00	3.17	0.00	0.000	1030	0.000	0.049	3419	2544	3231	3243	3219	0	0	0	0	0	0	11.24	11.18	11.24
11015	1.97	64.7	3417	2546	3244	3221	81.8	16.6	917	11021	0.00	3.30	0.00	0.000	516	0.000	0.058	3429	1141	3231	3243	3219	0	0	0	0	0	0	11.34	11.14	11.34
11249	1.97	64.7	3430	1142	3245	3219	42.8	15.4	963	11254	0.00	3.38	0.00	0.000	1030	0.000	0.063	3429	2555	3231	3243	3219	0	0	0	0	0	0	11.22	11.14	11.24
11518	end climb: SURFACE_DEPTH_REACHED
state	11521	begin surface coast
11527	end surface coast: CONTROL_FINISHED_OK
state	11527	begin surface