Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 848 * 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 848 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 10 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 848 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 10 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 140119,040900,-7403.8306,-11223.7725,35,0.8,35,53.2,0.5,281.0,9,8.6 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 173.3,511,-43.9,-10.000,-45.00,342

_SM_ANGLEo -63.3 D_GRID 990

GPS2 140119,042817,-7403.8403,-11224.1797,2,0.7,3,53.2,0.4,260.5,9,10.0

Post-dive calculations and measurements:

FREEZE -0.18,-0.540,-1.863,2,1,0 ALTIM_BOTTOM_PING 821.1,8.5

FINISH -0.2,1.027291 _24V_AH 10.02,270.213

SM_CCo 11279,271.70,0.191,0,0,1898,399.91 _10V_AH 10.26,0.000

SM_GC 0.71,12.55,0.60,271.70,0.060,0.075,0.191,198,2806,1898,-8.03,-0.37,399.91,0,0,0,0,0,0,11.16,11.17,11.04 FG_AHR_24Vo 0.000

RAFOS_CLK 468 FG_AHR_10Vo 0.000

RAFOS 0,1547445686,6.032355,6.023889,99,60,59,59,57,56,436,206,215,161,195,123 MEM 279120

RAFOS_FIX -7404.663574,-11222.890625,140119,060640,1,2,0.29 DATA_FILE_SIZE 33316,943

IRIDIUM_FIX -7408.15,-11227.51,140119,003934 CAP_FILE_SIZE 140759,0

TT8_MAMPS 0.046438,0.257656 CFSIZE 1024409600,918568960

HUMID 47.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1449.3

TCM_TEMP 13.00 CURRENT 0.061,279.64,1

XPDR_PINGS 0 GPS 140119,074237,-7404.477,-11228.079,28,1.9,35,53.3,0.4,298.6,4,10.0

ALTIM_TOP_PING 12.8,12.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 424 152.73 nil 0 0 0.00

Roll_motor 123 92 114.52 nil 0 0 0.00

VBD_pump_during_apogee 201 3055 6175.85 nil 0 0 0.00

VBD_pump_during_surface 271 191 520.67 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 11329 4 546.47

Iridium_during_xfer 917 244 2244.48 nil 0 0 0.00

Transponder_ping 56 420 238.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.44

TT8 0 0 0.00

LPSleep 8591 2 203.62

TT8_Active 695 10 77.58

TT8_Sampling 2803 30 872.85

TT8_CF8 614 51 323.47

TT8_Kalman 0 0 0.00

Analog_circuits 2333 10 241.80

GPS_charging 0 0 0.00

Compass 1350 6 93.37

RAFOS 720 1 11.08

Transponder 421 30 129.88

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

12.9 14.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

19.5 22.00 9000.00 0.0 0.00 0.00 22.00 0.0 1.08 1.00

26.9 29.10 29.20 0.0 1.01 1.00 29.10 0.0 0.96 1.00

33.5 35.40 35.40 0.0 0.96 1.00 35.40 0.0 0.95 1.00

40.0 42.70 42.50 0.0 1.04 1.00 42.70 0.0 1.12 1.00

46.3 49.10 49.20 0.0 1.07 1.00 49.10 0.0 1.02 1.00

806.1 27.30 9000.00 0.0 -0.02 0.91 27.30 833.4 -0.03 1.00

812.8 18.00 9000.00 0.0 -0.03 0.92 18.00 830.8 -1.39 1.00

821.1 8.90 8.50 829.6 -1.22 1.00 8.90 830.0 -1.10 1.00

74.0 77.20 9000.00 0.0 -0.09 0.99 77.20 0.0 -0.09 1.00

67.3 69.30 9000.00 0.0 -0.09 0.99 69.30 -2.0 1.18 1.00

53.4 56.20 56.00 -2.6 1.01 1.00 56.20 -2.8 0.94 1.00

46.5 48.30 48.70 -2.2 1.00 1.00 48.30 -1.8 1.14 1.00

39.5 40.90 40.80 -1.3 1.09 1.00 40.90 -1.4 1.06 1.00

26.8 27.40 27.50 -0.7 1.06 1.00 27.40 -0.6 1.06 1.00

20.0 20.10 20.10 -0.1 1.07 1.00 20.10 -0.1 1.07 1.00

12.8 12.90 12.80 0.0 1.04 1.00 12.90 -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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -2.02 -22.2 195 2807 1936 1799 0.0 0.0 0 114 0.00 0.00 -102.22 0.003 16390 0.000 0.000 195 2807 3583 3605 3561 0 0 0 0 0 0 11.31 10.55 11.30

118 -2.06 -51.0 196 2809 3609 3566 1.3 -1.4 10 147 15.50 2.70 -5.15 0.015 18724 0.425 0.093 2101 3910 3700 3707 3693 0 0 0 0 0 0 10.95 10.53 11.15

279 -2.06 -51.0 2101 3910 3713 3698 22.8 -16.6 41 286 0.00 2.50 0.00 0.000 1030 0.000 0.037 2101 2790 3706 3713 3699 0 0 0 0 0 0 11.21 11.18 11.23

584 -2.06 -51.0 2101 2791 3716 3703 71.5 -14.9 72 592 0.00 3.17 0.00 0.000 516 0.000 0.041 2101 1396 3705 3708 3702 0 0 0 0 0 0 11.33 11.12 11.33

623 -2.06 -51.0 2101 1396 3716 3702 77.5 -15.2 79 630 0.00 3.30 0.00 0.000 1030 0.000 0.050 2090 2810 3708 3714 3702 0 0 0 0 0 0 11.21 11.15 11.23

929 -2.06 -51.0 2091 2810 3717 3703 123.4 -15.0 110 934 0.00 3.28 0.00 0.000 516 0.000 0.041 2090 1397 3709 3716 3703 0 0 0 0 0 0 11.33 11.14 11.33

1065 -2.06 -51.0 2091 1397 3718 3703 143.7 -15.0 137 1073 0.20 3.30 0.00 0.000 3078 0.322 0.050 2107 2807 3710 3717 3703 0 0 0 0 0 0 11.00 11.15 11.20

1371 -2.06 -51.0 2107 2807 3718 3703 188.1 -14.7 168 1371 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2807 3710 3718 3703 0 0 0 0 0 0 11.33 11.33 11.33

1672 -2.06 -51.0 2106 2808 3717 3705 232.6 -14.9 198 1677 0.00 3.25 0.00 0.000 516 0.000 0.041 2107 1397 3710 3717 3704 0 0 0 0 0 0 11.31 11.14 11.33

1781 -2.06 -51.0 2107 1398 3718 3705 247.9 -14.0 219 1788 0.00 3.33 0.00 0.000 1030 0.000 0.052 2099 2807 3710 3717 3703 0 0 0 0 0 0 11.21 11.14 11.23

2084 -2.06 -51.0 2100 2807 3719 3701 291.2 -14.0 250 2085 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2806 3710 3717 3704 0 0 0 0 0 0 11.34 11.33 11.34

2395 -2.06 -51.0 2100 2807 3718 3705 333.3 -13.4 269 2401 0.00 3.25 0.00 0.000 516 0.000 0.041 2099 1400 3710 3717 3704 0 0 0 0 0 0 11.33 11.16 11.33

2427 -2.06 -51.0 2100 1400 3719 3704 337.5 -12.9 275 2433 0.00 3.30 0.00 0.000 1030 0.000 0.051 2089 2803 3709 3717 3702 0 0 0 0 0 0 11.21 11.18 11.24

2739 -2.06 -51.0 2090 2803 3718 3704 379.4 -13.4 292 2744 0.00 2.65 0.00 0.000 260 0.000 0.072 2080 3916 3710 3717 3703 0 0 0 0 0 0 11.31 11.15 11.37

2856 -2.06 -51.0 2081 3917 3718 3704 395.6 -14.1 315 2862 0.20 2.53 0.00 0.000 3078 0.333 0.038 2107 2792 3710 3717 3703 0 0 0 0 0 0 11.00 11.19 11.21

3161 -2.06 -51.0 2108 2792 3718 3703 433.3 -11.9 331 3162 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2792 3710 3717 3703 0 0 0 0 0 0 11.34 11.35 11.34

3464 -2.06 -51.0 2107 2792 3718 3704 468.6 -11.7 346 3469 0.00 3.22 0.00 0.000 516 0.000 0.042 2107 1387 3710 3717 3703 0 0 0 0 0 0 11.34 11.16 11.34

3530 -2.06 -51.0 2108 1387 3718 3703 476.6 -11.3 359 3536 0.00 3.35 0.00 0.000 1030 0.000 0.051 2099 2808 3710 3717 3703 0 0 0 0 0 0 11.23 11.17 11.24

3837 -2.06 -51.0 2099 2809 3718 3704 510.9 -10.9 375 3843 0.00 3.25 0.00 0.000 516 0.000 0.041 2099 1398 3709 3717 3702 0 0 0 0 0 0 11.35 11.17 11.35

4064 -2.06 -51.0 2099 1399 3718 3703 535.9 -10.9 420 4069 0.00 3.30 0.00 0.000 1030 0.000 0.051 2088 2804 3709 3717 3702 0 0 0 0 0 0 11.23 11.17 11.24

4441 -2.06 -51.0 2089 2804 3718 3701 577.6 -10.7 435 4446 0.00 3.25 0.00 0.000 516 0.000 0.041 2088 1392 3709 3717 3701 0 0 0 0 0 0 11.35 11.16 11.35

4637 -2.06 -51.0 2090 1392 3719 3700 598.8 -10.3 474 4644 0.22 3.25 0.00 0.000 3078 0.326 0.050 2110 2805 3708 3717 3700 0 0 0 0 0 0 11.02 11.16 11.21

5015 -2.06 -51.0 2109 2807 3717 3701 636.6 -9.9 489 5016 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2806 3708 3716 3700 0 0 0 0 0 0 11.35 11.35 11.35

5375 -2.06 -51.0 2110 2806 3717 3699 670.6 -9.2 501 5381 0.00 3.25 0.00 0.000 516 0.000 0.041 2109 1390 3707 3716 3699 0 0 0 0 0 0 11.35 11.17 11.35

5427 -2.06 -51.0 2110 1390 3717 3699 675.3 -9.0 511 5433 0.00 3.33 0.00 0.000 1030 0.000 0.052 2100 2802 3707 3715 3699 0 0 0 0 0 0 11.23 11.17 11.24

5802 -2.06 -51.0 2100 2804 3716 3700 710.0 -9.3 525 5810 0.00 3.22 0.00 0.000 516 0.000 0.041 2100 1392 3707 3716 3699 0 0 0 0 0 0 11.33 11.14 11.34

5871 -2.06 -51.0 2100 1393 3717 3699 716.4 -8.9 538 5877 0.00 3.25 0.00 0.000 1030 0.000 0.051 2091 2804 3707 3716 3699 0 0 0 0 0 0 11.23 11.17 11.26

6260 -2.06 -51.0 2092 2804 3717 3699 750.4 -8.7 555 6261 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2804 3707 3715 3699 0 0 0 0 0 0 11.34 11.34 11.34

6619 -2.06 -51.0 2091 2804 3716 3700 781.0 -8.4 567 6624 0.00 3.25 0.00 0.000 516 0.000 0.040 2091 1386 3707 3715 3699 0 0 0 0 0 0 11.35 11.17 11.35

6716 -2.07 -58.0 2092 1386 3717 3699 788.4 -7.9 586 6721 0.20 3.33 0.00 0.000 3110 0.328 0.051 2108 2806 3707 3716 3699 0 0 0 0 0 0 11.02 11.17 11.21

7103 -2.08 -68.5 2105 2806 3716 3700 816.9 -6.9 603 7103 0.00 0.00 0.00 0.000 38 0.000 0.000 2107 2806 3707 3716 3699 0 0 0 0 0 0 11.36 11.35 11.35

7160 end dive: BOTTOM_OBSTACLE_DETECTED

state 7160 begin apogee

7168 -0.23 0.0 2108 2540 3717 3699 821.1 -6.9 605 7266 3.53 0.00 92.70 3.055 10246 0.307 0.000 2693 2539 3493 3499 3487 0 0 0 0 0 0 11.03 11.01 10.02

7267 end apogee: CONTROL_FINISHED_OK

state 7267 begin climb

7271 2.08 68.5 2693 2541 3500 3488 822.3 0.0 608 7389 3.05 0.00 109.03 3.047 10502 0.102 0.000 3441 2539 3222 3236 3209 0 0 0 0 0 0 11.05 11.01 10.03

7733 2.08 68.5 3441 2541 3229 3204 720.8 24.8 639 7734 0.00 0.00 0.00 0.000 6 0.000 0.000 3440 2539 3215 3229 3201 0 0 0 0 0 0 11.31 11.31 11.31

8093 2.08 68.5 3441 2541 3228 3203 634.1 23.7 651 8094 0.00 0.00 0.00 0.000 6 0.000 0.000 3440 2540 3214 3227 3202 0 0 0 0 0 0 11.33 11.31 11.31

8453 2.08 68.5 3441 2541 3228 3203 550.9 22.7 663 8458 0.00 3.28 0.00 0.000 516 0.000 0.059 3451 1155 3214 3227 3202 0 0 0 0 0 0 11.31 11.12 11.32

8485 2.08 68.5 3451 1155 3228 3203 543.6 21.6 669 8491 0.00 3.33 0.00 0.000 1030 0.000 0.060 3451 2552 3214 3226 3202 0 0 0 0 0 0 11.21 11.14 11.23

8859 2.08 68.5 3451 2553 3227 3203 461.0 21.6 689 8865 0.00 3.33 0.00 0.000 516 0.000 0.057 3462 1149 3214 3227 3202 0 0 0 0 0 0 11.32 11.13 11.33

8931 2.08 68.5 3463 1150 3229 3202 445.2 21.8 703 8936 0.00 3.35 0.00 0.000 1030 0.000 0.061 3462 2557 3214 3227 3202 0 0 0 0 0 0 11.22 11.13 11.23

9244 2.08 68.5 3462 2558 3228 3203 375.8 22.1 720 9249 0.00 3.33 0.00 0.000 516 0.000 0.057 3472 1149 3214 3227 3202 0 0 0 0 0 0 11.33 11.14 11.33

9306 2.08 68.5 3472 1150 3228 3204 362.5 20.8 732 9312 0.20 3.35 0.00 0.000 5126 0.343 0.061 3447 2555 3215 3228 3202 0 0 0 0 0 0 10.99 11.14 11.19

9629 2.08 68.5 3447 2556 3228 3203 296.7 20.0 751 9635 0.00 3.30 0.00 0.000 260 0.000 0.082 3437 3914 3214 3227 3202 0 0 0 0 0 0 11.33 11.14 11.33

9701 2.08 68.5 3438 3914 3228 3202 280.8 21.9 765 9707 0.00 3.15 0.00 0.000 1030 0.000 0.047 3448 2541 3214 3227 3202 0 0 0 0 0 0 11.24 11.19 11.24

10014 2.08 68.5 3448 2542 3228 3204 221.2 18.3 797 10020 0.00 3.30 0.00 0.000 516 0.000 0.059 3460 1146 3214 3227 3202 0 0 0 0 0 0 11.34 11.14 11.34

10061 2.08 68.5 3459 1146 3228 3202 212.5 18.4 806 10068 0.00 3.38 0.00 0.000 1030 0.000 0.062 3459 2562 3214 3227 3202 0 0 0 0 0 0 11.20 11.14 11.24

10366 2.08 68.5 3460 2562 3228 3203 155.0 18.8 837 10372 0.00 3.35 0.00 0.000 516 0.000 0.059 3473 1146 3214 3227 3202 0 0 0 0 0 0 11.33 11.14 11.34

10439 2.08 68.5 3470 1146 3228 3202 141.7 18.1 851 10444 0.00 3.35 0.00 0.000 1030 0.000 0.062 3469 2552 3214 3227 3202 0 0 0 0 0 0 11.22 11.15 11.24

10750 2.08 68.5 3469 2553 3228 3203 85.8 18.0 883 10751 0.00 0.00 0.00 0.000 6 0.000 0.000 3469 2553 3214 3227 3202 0 0 0 0 0 0 11.38 11.34 11.34

11050 2.08 68.5 3470 2553 3229 3202 34.4 17.0 913 11057 0.00 3.33 0.00 0.000 516 0.000 0.058 3479 1145 3218 3234 3202 0 0 0 0 0 0 11.34 11.13 11.34

11145 2.08 68.5 3479 1145 3228 3202 18.1 16.9 931 11150 0.25 3.38 0.00 0.000 5126 0.356 0.062 3448 2561 3214 3227 3202 0 0 0 0 0 0 10.99 11.15 11.20

11247 end climb: SURFACE_DEPTH_REACHED

state 11247 begin surface coast

11253 end surface coast: CONTROL_FINISHED_OK

state 11253 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	848	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	10	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	140119,040900,-7403.8306,-11223.7725,35,0.8,35,53.2,0.5,281.0,9,8.6	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	173.3,511,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-63.3	D_GRID	990
GPS2	140119,042817,-7403.8403,-11224.1797,2,0.7,3,53.2,0.4,260.5,9,10.0

FREEZE	-0.18,-0.540,-1.863,2,1,0	ALTIM_BOTTOM_PING	821.1,8.5
FINISH	-0.2,1.027291	_24V_AH	10.02,270.213
SM_CCo	11279,271.70,0.191,0,0,1898,399.91	_10V_AH	10.26,0.000
SM_GC	0.71,12.55,0.60,271.70,0.060,0.075,0.191,198,2806,1898,-8.03,-0.37,399.91,0,0,0,0,0,0,11.16,11.17,11.04	FG_AHR_24Vo	0.000
RAFOS_CLK	468	FG_AHR_10Vo	0.000
RAFOS	0,1547445686,6.032355,6.023889,99,60,59,59,57,56,436,206,215,161,195,123	MEM	279120
RAFOS_FIX	-7404.663574,-11222.890625,140119,060640,1,2,0.29	DATA_FILE_SIZE	33316,943
IRIDIUM_FIX	-7408.15,-11227.51,140119,003934	CAP_FILE_SIZE	140759,0
TT8_MAMPS	0.046438,0.257656	CFSIZE	1024409600,918568960
HUMID	47.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1449.3
TCM_TEMP	13.00	CURRENT	0.061,279.64,1
XPDR_PINGS	0	GPS	140119,074237,-7404.477,-11228.079,28,1.9,35,53.3,0.4,298.6,4,10.0
ALTIM_TOP_PING	12.8,12.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	424	152.73	nil	0	0	0.00
Roll_motor	123	92	114.52	nil	0	0	0.00
VBD_pump_during_apogee	201	3055	6175.85	nil	0	0	0.00
VBD_pump_during_surface	271	191	520.67	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	11329	4	546.47
Iridium_during_xfer	917	244	2244.48	nil	0	0	0.00
Transponder_ping	56	420	238.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.44
TT8	0	0	0.00
LPSleep	8591	2	203.62
TT8_Active	695	10	77.58
TT8_Sampling	2803	30	872.85
TT8_CF8	614	51	323.47
TT8_Kalman	0	0	0.00
Analog_circuits	2333	10	241.80
GPS_charging	0	0	0.00
Compass	1350	6	93.37
RAFOS	720	1	11.08
Transponder	421	30	129.88

		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
12.9	14.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
19.5	22.00	9000.00	0.0	0.00	0.00	22.00	0.0	1.08	1.00
26.9	29.10	29.20	0.0	1.01	1.00	29.10	0.0	0.96	1.00
33.5	35.40	35.40	0.0	0.96	1.00	35.40	0.0	0.95	1.00
40.0	42.70	42.50	0.0	1.04	1.00	42.70	0.0	1.12	1.00
46.3	49.10	49.20	0.0	1.07	1.00	49.10	0.0	1.02	1.00
806.1	27.30	9000.00	0.0	-0.02	0.91	27.30	833.4	-0.03	1.00
812.8	18.00	9000.00	0.0	-0.03	0.92	18.00	830.8	-1.39	1.00
821.1	8.90	8.50	829.6	-1.22	1.00	8.90	830.0	-1.10	1.00

74.0	77.20	9000.00	0.0	-0.09	0.99	77.20	0.0	-0.09	1.00
67.3	69.30	9000.00	0.0	-0.09	0.99	69.30	-2.0	1.18	1.00
53.4	56.20	56.00	-2.6	1.01	1.00	56.20	-2.8	0.94	1.00
46.5	48.30	48.70	-2.2	1.00	1.00	48.30	-1.8	1.14	1.00
39.5	40.90	40.80	-1.3	1.09	1.00	40.90	-1.4	1.06	1.00
26.8	27.40	27.50	-0.7	1.06	1.00	27.40	-0.6	1.06	1.00
20.0	20.10	20.10	-0.1	1.07	1.00	20.10	-0.1	1.07	1.00
12.8	12.90	12.80	0.0	1.04	1.00	12.90	-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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-2.02	-22.2	195	2807	1936	1799	0.0	0.0	0	114	0.00	0.00	-102.22	0.003	16390	0.000	0.000	195	2807	3583	3605	3561	0	0	0	0	0	0	11.31	10.55	11.30
118	-2.06	-51.0	196	2809	3609	3566	1.3	-1.4	10	147	15.50	2.70	-5.15	0.015	18724	0.425	0.093	2101	3910	3700	3707	3693	0	0	0	0	0	0	10.95	10.53	11.15
279	-2.06	-51.0	2101	3910	3713	3698	22.8	-16.6	41	286	0.00	2.50	0.00	0.000	1030	0.000	0.037	2101	2790	3706	3713	3699	0	0	0	0	0	0	11.21	11.18	11.23
584	-2.06	-51.0	2101	2791	3716	3703	71.5	-14.9	72	592	0.00	3.17	0.00	0.000	516	0.000	0.041	2101	1396	3705	3708	3702	0	0	0	0	0	0	11.33	11.12	11.33
623	-2.06	-51.0	2101	1396	3716	3702	77.5	-15.2	79	630	0.00	3.30	0.00	0.000	1030	0.000	0.050	2090	2810	3708	3714	3702	0	0	0	0	0	0	11.21	11.15	11.23
929	-2.06	-51.0	2091	2810	3717	3703	123.4	-15.0	110	934	0.00	3.28	0.00	0.000	516	0.000	0.041	2090	1397	3709	3716	3703	0	0	0	0	0	0	11.33	11.14	11.33
1065	-2.06	-51.0	2091	1397	3718	3703	143.7	-15.0	137	1073	0.20	3.30	0.00	0.000	3078	0.322	0.050	2107	2807	3710	3717	3703	0	0	0	0	0	0	11.00	11.15	11.20
1371	-2.06	-51.0	2107	2807	3718	3703	188.1	-14.7	168	1371	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2807	3710	3718	3703	0	0	0	0	0	0	11.33	11.33	11.33
1672	-2.06	-51.0	2106	2808	3717	3705	232.6	-14.9	198	1677	0.00	3.25	0.00	0.000	516	0.000	0.041	2107	1397	3710	3717	3704	0	0	0	0	0	0	11.31	11.14	11.33
1781	-2.06	-51.0	2107	1398	3718	3705	247.9	-14.0	219	1788	0.00	3.33	0.00	0.000	1030	0.000	0.052	2099	2807	3710	3717	3703	0	0	0	0	0	0	11.21	11.14	11.23
2084	-2.06	-51.0	2100	2807	3719	3701	291.2	-14.0	250	2085	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2806	3710	3717	3704	0	0	0	0	0	0	11.34	11.33	11.34
2395	-2.06	-51.0	2100	2807	3718	3705	333.3	-13.4	269	2401	0.00	3.25	0.00	0.000	516	0.000	0.041	2099	1400	3710	3717	3704	0	0	0	0	0	0	11.33	11.16	11.33
2427	-2.06	-51.0	2100	1400	3719	3704	337.5	-12.9	275	2433	0.00	3.30	0.00	0.000	1030	0.000	0.051	2089	2803	3709	3717	3702	0	0	0	0	0	0	11.21	11.18	11.24
2739	-2.06	-51.0	2090	2803	3718	3704	379.4	-13.4	292	2744	0.00	2.65	0.00	0.000	260	0.000	0.072	2080	3916	3710	3717	3703	0	0	0	0	0	0	11.31	11.15	11.37
2856	-2.06	-51.0	2081	3917	3718	3704	395.6	-14.1	315	2862	0.20	2.53	0.00	0.000	3078	0.333	0.038	2107	2792	3710	3717	3703	0	0	0	0	0	0	11.00	11.19	11.21
3161	-2.06	-51.0	2108	2792	3718	3703	433.3	-11.9	331	3162	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2792	3710	3717	3703	0	0	0	0	0	0	11.34	11.35	11.34
3464	-2.06	-51.0	2107	2792	3718	3704	468.6	-11.7	346	3469	0.00	3.22	0.00	0.000	516	0.000	0.042	2107	1387	3710	3717	3703	0	0	0	0	0	0	11.34	11.16	11.34
3530	-2.06	-51.0	2108	1387	3718	3703	476.6	-11.3	359	3536	0.00	3.35	0.00	0.000	1030	0.000	0.051	2099	2808	3710	3717	3703	0	0	0	0	0	0	11.23	11.17	11.24
3837	-2.06	-51.0	2099	2809	3718	3704	510.9	-10.9	375	3843	0.00	3.25	0.00	0.000	516	0.000	0.041	2099	1398	3709	3717	3702	0	0	0	0	0	0	11.35	11.17	11.35
4064	-2.06	-51.0	2099	1399	3718	3703	535.9	-10.9	420	4069	0.00	3.30	0.00	0.000	1030	0.000	0.051	2088	2804	3709	3717	3702	0	0	0	0	0	0	11.23	11.17	11.24
4441	-2.06	-51.0	2089	2804	3718	3701	577.6	-10.7	435	4446	0.00	3.25	0.00	0.000	516	0.000	0.041	2088	1392	3709	3717	3701	0	0	0	0	0	0	11.35	11.16	11.35
4637	-2.06	-51.0	2090	1392	3719	3700	598.8	-10.3	474	4644	0.22	3.25	0.00	0.000	3078	0.326	0.050	2110	2805	3708	3717	3700	0	0	0	0	0	0	11.02	11.16	11.21
5015	-2.06	-51.0	2109	2807	3717	3701	636.6	-9.9	489	5016	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2806	3708	3716	3700	0	0	0	0	0	0	11.35	11.35	11.35
5375	-2.06	-51.0	2110	2806	3717	3699	670.6	-9.2	501	5381	0.00	3.25	0.00	0.000	516	0.000	0.041	2109	1390	3707	3716	3699	0	0	0	0	0	0	11.35	11.17	11.35
5427	-2.06	-51.0	2110	1390	3717	3699	675.3	-9.0	511	5433	0.00	3.33	0.00	0.000	1030	0.000	0.052	2100	2802	3707	3715	3699	0	0	0	0	0	0	11.23	11.17	11.24
5802	-2.06	-51.0	2100	2804	3716	3700	710.0	-9.3	525	5810	0.00	3.22	0.00	0.000	516	0.000	0.041	2100	1392	3707	3716	3699	0	0	0	0	0	0	11.33	11.14	11.34
5871	-2.06	-51.0	2100	1393	3717	3699	716.4	-8.9	538	5877	0.00	3.25	0.00	0.000	1030	0.000	0.051	2091	2804	3707	3716	3699	0	0	0	0	0	0	11.23	11.17	11.26
6260	-2.06	-51.0	2092	2804	3717	3699	750.4	-8.7	555	6261	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2804	3707	3715	3699	0	0	0	0	0	0	11.34	11.34	11.34
6619	-2.06	-51.0	2091	2804	3716	3700	781.0	-8.4	567	6624	0.00	3.25	0.00	0.000	516	0.000	0.040	2091	1386	3707	3715	3699	0	0	0	0	0	0	11.35	11.17	11.35
6716	-2.07	-58.0	2092	1386	3717	3699	788.4	-7.9	586	6721	0.20	3.33	0.00	0.000	3110	0.328	0.051	2108	2806	3707	3716	3699	0	0	0	0	0	0	11.02	11.17	11.21
7103	-2.08	-68.5	2105	2806	3716	3700	816.9	-6.9	603	7103	0.00	0.00	0.00	0.000	38	0.000	0.000	2107	2806	3707	3716	3699	0	0	0	0	0	0	11.36	11.35	11.35
7160	end dive: BOTTOM_OBSTACLE_DETECTED
state	7160	begin apogee
7168	-0.23	0.0	2108	2540	3717	3699	821.1	-6.9	605	7266	3.53	0.00	92.70	3.055	10246	0.307	0.000	2693	2539	3493	3499	3487	0	0	0	0	0	0	11.03	11.01	10.02
7267	end apogee: CONTROL_FINISHED_OK
state	7267	begin climb
7271	2.08	68.5	2693	2541	3500	3488	822.3	0.0	608	7389	3.05	0.00	109.03	3.047	10502	0.102	0.000	3441	2539	3222	3236	3209	0	0	0	0	0	0	11.05	11.01	10.03
7733	2.08	68.5	3441	2541	3229	3204	720.8	24.8	639	7734	0.00	0.00	0.00	0.000	6	0.000	0.000	3440	2539	3215	3229	3201	0	0	0	0	0	0	11.31	11.31	11.31
8093	2.08	68.5	3441	2541	3228	3203	634.1	23.7	651	8094	0.00	0.00	0.00	0.000	6	0.000	0.000	3440	2540	3214	3227	3202	0	0	0	0	0	0	11.33	11.31	11.31
8453	2.08	68.5	3441	2541	3228	3203	550.9	22.7	663	8458	0.00	3.28	0.00	0.000	516	0.000	0.059	3451	1155	3214	3227	3202	0	0	0	0	0	0	11.31	11.12	11.32
8485	2.08	68.5	3451	1155	3228	3203	543.6	21.6	669	8491	0.00	3.33	0.00	0.000	1030	0.000	0.060	3451	2552	3214	3226	3202	0	0	0	0	0	0	11.21	11.14	11.23
8859	2.08	68.5	3451	2553	3227	3203	461.0	21.6	689	8865	0.00	3.33	0.00	0.000	516	0.000	0.057	3462	1149	3214	3227	3202	0	0	0	0	0	0	11.32	11.13	11.33
8931	2.08	68.5	3463	1150	3229	3202	445.2	21.8	703	8936	0.00	3.35	0.00	0.000	1030	0.000	0.061	3462	2557	3214	3227	3202	0	0	0	0	0	0	11.22	11.13	11.23
9244	2.08	68.5	3462	2558	3228	3203	375.8	22.1	720	9249	0.00	3.33	0.00	0.000	516	0.000	0.057	3472	1149	3214	3227	3202	0	0	0	0	0	0	11.33	11.14	11.33
9306	2.08	68.5	3472	1150	3228	3204	362.5	20.8	732	9312	0.20	3.35	0.00	0.000	5126	0.343	0.061	3447	2555	3215	3228	3202	0	0	0	0	0	0	10.99	11.14	11.19
9629	2.08	68.5	3447	2556	3228	3203	296.7	20.0	751	9635	0.00	3.30	0.00	0.000	260	0.000	0.082	3437	3914	3214	3227	3202	0	0	0	0	0	0	11.33	11.14	11.33
9701	2.08	68.5	3438	3914	3228	3202	280.8	21.9	765	9707	0.00	3.15	0.00	0.000	1030	0.000	0.047	3448	2541	3214	3227	3202	0	0	0	0	0	0	11.24	11.19	11.24
10014	2.08	68.5	3448	2542	3228	3204	221.2	18.3	797	10020	0.00	3.30	0.00	0.000	516	0.000	0.059	3460	1146	3214	3227	3202	0	0	0	0	0	0	11.34	11.14	11.34
10061	2.08	68.5	3459	1146	3228	3202	212.5	18.4	806	10068	0.00	3.38	0.00	0.000	1030	0.000	0.062	3459	2562	3214	3227	3202	0	0	0	0	0	0	11.20	11.14	11.24
10366	2.08	68.5	3460	2562	3228	3203	155.0	18.8	837	10372	0.00	3.35	0.00	0.000	516	0.000	0.059	3473	1146	3214	3227	3202	0	0	0	0	0	0	11.33	11.14	11.34
10439	2.08	68.5	3470	1146	3228	3202	141.7	18.1	851	10444	0.00	3.35	0.00	0.000	1030	0.000	0.062	3469	2552	3214	3227	3202	0	0	0	0	0	0	11.22	11.15	11.24
10750	2.08	68.5	3469	2553	3228	3203	85.8	18.0	883	10751	0.00	0.00	0.00	0.000	6	0.000	0.000	3469	2553	3214	3227	3202	0	0	0	0	0	0	11.38	11.34	11.34
11050	2.08	68.5	3470	2553	3229	3202	34.4	17.0	913	11057	0.00	3.33	0.00	0.000	516	0.000	0.058	3479	1145	3218	3234	3202	0	0	0	0	0	0	11.34	11.13	11.34
11145	2.08	68.5	3479	1145	3228	3202	18.1	16.9	931	11150	0.25	3.38	0.00	0.000	5126	0.356	0.062	3448	2561	3214	3227	3202	0	0	0	0	0	0	10.99	11.15	11.20
11247	end climb: SURFACE_DEPTH_REACHED
state	11247	begin surface coast
11253	end surface coast: CONTROL_FINISHED_OK
state	11253	begin surface