Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 854 * 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 854 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 34 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 854 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 150119,010430,-7404.8887,-11224.8301,36,0.7,36,53.2,0.4,245.4,12,8.1 SPEED_LIMITS 0.100,0.244

_CALLS 3 TGT_NAME hold3

_XMS_NAKs 3 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.67 MHEAD_RNG_PITCHd_Wd 332.5,1698,-43.4,-10.000,-44.52,350

_SM_ANGLEo -64.5 D_GRID 990

GPS2 150119,011939,-7404.9160,-11225.1494,3,0.7,5,53.3,0.3,293.5,12,8.9

Post-dive calculations and measurements:

FREEZE 0.01,0.781,-1.844,2,1,0 ALTIM_BOTTOM_PING 824.2,14.4

FINISH 0.0,1.026957 _24V_AH 10.02,272.214

SM_CCo 11029,277.08,0.190,0,0,1898,399.91 _10V_AH 10.27,0.000

SM_GC 0.62,13.15,2.62,277.08,0.086,0.046,0.190,196,2793,1898,-8.04,0.62,399.91,0,0,0,0,0,0,11.14,11.20,11.04 FG_AHR_24Vo 0.000

RAFOS_CLK 456 FG_AHR_10Vo 0.000

RAFOS 0,1547521279,3.032355,3.021945,130,58,55,55,54,51,484,146,180,160,131,219 MEM 279312

RAFOS_FIX -7404.897461,-11226.301758,150119,030352,2,96,0.09 DATA_FILE_SIZE 30013,853

IRIDIUM_FIX -7403.74,-11221.53,150119,011034 CAP_FILE_SIZE 136090,0

TT8_MAMPS 0.04494,0.278628 CFSIZE 1024409600,917897216

HUMID 47.91 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1449.7

TCM_TEMP 13.00 CURRENT 0.053,260.91,1

XPDR_PINGS 1 GPS 150119,043001,-7404.038,-11224.743,37,0.7,38,53.2,0.2,0.0,10,6.5

ALTIM_TOP_PING 16.0,16.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 421 152.15 nil 0 0 0.00

Roll_motor 123 89 110.47 nil 0 0 0.00

VBD_pump_during_apogee 211 3066 6504.73 nil 0 0 0.00

VBD_pump_during_surface 277 190 528.84 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 11029 4 530.01

Iridium_during_xfer 589 232 1373.04 nil 0 0 0.00

Transponder_ping 57 420 239.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.68

TT8 0 0 0.00

LPSleep 8577 2 203.49

TT8_Active 713 10 79.62

TT8_Sampling 2412 30 751.97

TT8_CF8 513 51 270.88

TT8_Kalman 0 0 0.00

Analog_circuits 1971 10 204.45

GPS_charging 0 0 0.00

Compass 1223 6 84.66

RAFOS 720 1 11.09

Transponder 416 30 128.19

Altimeter Analysis:

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

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

19.6 21.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

26.3 27.90 9000.00 0.0 0.00 0.00 27.90 0.0 0.93 1.00

45.2 48.10 48.00 0.0 1.04 1.00 48.10 0.0 1.07 1.00

71.0 74.60 74.70 0.0 1.04 1.00 74.60 0.0 1.03 1.00

810.3 27.70 9000.00 0.0 -0.04 0.65 27.70 838.0 -0.06 1.00

816.6 21.30 9000.00 0.0 -0.07 0.99 21.30 837.9 -1.02 1.00

824.2 14.50 14.40 838.6 -0.95 1.00 14.50 838.7 -0.89 1.00

829.8 26.60 9000.00 0.0 0.32 0.13 26.60 803.2 2.16 1.00

129.3 134.80 9000.00 0.0 -0.16 0.99 134.80 0.0 -0.15 1.00

58.8 61.40 9000.00 0.0 -0.09 0.48 61.40 -2.6 1.04 1.00

51.4 53.20 53.40 -2.0 1.04 1.00 53.20 -1.8 1.11 1.00

44.1 45.50 45.40 -1.3 1.09 1.00 45.50 -1.4 1.05 1.00

36.8 37.80 37.80 -1.0 1.05 1.00 37.80 -1.0 1.05 1.00

29.6 30.60 30.50 -0.9 1.03 1.00 30.60 -1.0 1.00 1.00

22.4 23.00 23.10 -0.7 1.02 1.00 23.00 -0.6 1.06 1.00

16.0 16.20 16.20 -0.2 1.06 1.00 16.20 -0.2 1.06 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 -2.00 -22.7 202 2806 1940 1799 0.0 0.0 0 114 0.00 0.00 -101.97 0.003 16390 0.000 0.000 201 2806 3584 3605 3564 0 0 0 0 0 0 11.31 10.57 11.31

118 -2.04 -53.0 201 2807 3609 3566 1.3 -1.1 10 146 15.32 2.67 -5.38 0.014 18724 0.422 0.090 2108 3914 3707 3715 3699 0 0 0 0 0 0 10.95 10.55 11.17

183 -2.04 -53.0 2108 3915 3720 3704 7.7 -13.7 22 188 0.00 2.50 0.00 0.000 1030 0.000 0.037 2107 2790 3711 3719 3703 0 0 0 0 0 0 11.21 11.18 11.23

496 -2.04 -53.0 2108 2791 3723 3711 57.9 -15.9 54 501 0.00 2.70 0.00 0.000 260 0.000 0.071 2099 3916 3715 3722 3709 0 0 0 0 0 0 11.32 11.14 11.32

600 -2.04 -53.0 2100 3916 3724 3709 75.4 -17.6 74 605 0.00 2.50 0.00 0.000 1030 0.000 0.037 2100 2794 3716 3723 3710 0 0 0 0 0 0 11.23 11.19 11.24

911 -2.04 -53.0 2100 2794 3725 3711 124.3 -15.5 106 916 0.00 2.67 0.00 0.000 260 0.000 0.070 2091 3918 3717 3724 3711 0 0 0 0 0 0 11.33 11.14 11.34

1017 -2.04 -53.0 2092 3917 3724 3711 141.0 -16.5 126 1022 0.17 2.53 0.00 0.000 3078 0.328 0.037 2114 2794 3717 3724 3711 0 0 0 0 0 0 11.01 11.19 11.21

1329 -2.04 -53.0 2114 2794 3723 3714 188.9 -15.0 158 1330 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2793 3718 3725 3712 0 0 0 0 0 0 11.34 11.34 11.34

1629 -2.04 -53.0 2114 2794 3725 3714 232.6 -14.0 188 1634 0.00 3.22 0.00 0.000 516 0.000 0.042 2114 1391 3718 3725 3712 0 0 0 0 0 0 11.34 11.15 11.34

1670 -2.04 -53.0 2115 1390 3726 3713 238.6 -14.1 196 1676 0.00 3.33 0.00 0.000 1030 0.000 0.050 2103 2810 3719 3725 3713 0 0 0 0 0 0 11.23 11.17 11.24

1982 -2.04 -53.0 2104 2810 3726 3713 283.8 -15.1 228 1983 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2810 3718 3725 3712 0 0 0 0 0 0 11.34 11.35 11.35

2282 -2.04 -53.0 2104 2810 3726 3713 325.7 -13.8 249 2289 0.00 2.60 0.00 0.000 260 0.000 0.073 2097 3907 3718 3725 3712 0 0 0 0 0 0 11.34 11.13 11.35

2360 -2.04 -53.0 2098 3907 3726 3709 337.2 -14.7 264 2366 0.00 2.50 0.00 0.000 1030 0.000 0.037 2097 2791 3718 3725 3712 0 0 0 0 0 0 11.24 11.20 11.25

2669 -2.04 -53.0 2098 2791 3726 3712 378.6 -13.5 280 2670 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2791 3718 3724 3712 0 0 0 0 0 0 11.34 11.34 11.34

2968 -2.04 -53.0 2098 2792 3725 3713 417.8 -13.0 295 2969 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2791 3718 3725 3712 0 0 0 0 0 0 11.34 11.34 11.34

3268 -2.04 -53.0 2097 2792 3725 3713 457.1 -12.7 310 3277 0.00 3.20 0.00 0.000 516 0.000 0.041 2097 1392 3718 3725 3711 0 0 0 0 0 0 11.34 11.16 11.35

3308 -2.04 -53.0 2097 1393 3726 3711 462.6 -12.8 317 3316 0.22 3.30 0.00 0.000 3078 0.327 0.050 2117 2801 3718 3725 3711 0 0 0 0 0 0 11.02 11.17 11.21

3613 -2.04 -53.0 2117 2796 3726 3711 500.9 -12.4 333 3620 0.00 3.25 0.00 0.000 516 0.000 0.041 2117 1393 3718 3725 3711 0 0 0 0 0 0 11.35 11.17 11.35

3656 -2.04 -53.0 2117 1394 3725 3712 506.2 -12.2 341 3662 0.00 3.33 0.00 0.000 1030 0.000 0.051 2113 2808 3718 3725 3711 0 0 0 0 0 0 11.24 11.17 11.25

4039 -2.04 -53.0 2113 2810 3725 3711 551.7 -11.6 357 4045 0.00 2.62 0.00 0.000 260 0.000 0.073 2105 3914 3717 3725 3710 0 0 0 0 0 0 11.34 11.16 11.34

4087 -2.04 -53.0 2105 3915 3725 3710 557.5 -12.1 366 4093 0.00 2.50 0.00 0.000 1030 0.000 0.040 2104 2798 3716 3724 3709 0 0 0 0 0 0 11.23 11.19 11.24

4465 -2.04 -53.0 2105 2798 3726 3709 597.9 -10.3 381 4471 0.00 3.22 0.00 0.000 516 0.000 0.041 2104 1387 3717 3725 3709 0 0 0 0 0 0 11.34 11.17 11.34

4497 -2.04 -53.0 2105 1387 3726 3709 601.3 -10.6 387 4503 0.00 3.35 0.00 0.000 1030 0.000 0.050 2094 2810 3716 3725 3708 0 0 0 0 0 0 11.24 11.17 11.25

4889 -2.04 -53.0 2094 2811 3724 3709 641.1 -10.2 405 4890 0.17 0.00 0.00 0.000 2054 0.341 0.000 2116 2810 3716 3724 3708 0 0 0 0 0 0 11.02 11.24 11.21

5249 -2.04 -53.0 2116 2811 3723 3709 675.2 -9.6 417 5256 0.00 3.22 0.00 0.000 516 0.000 0.041 2116 1382 3716 3724 3708 0 0 0 0 0 0 11.36 11.17 11.36

5337 -2.04 -53.0 2116 1382 3725 3707 683.9 -9.7 434 5344 0.00 3.35 0.00 0.000 1030 0.000 0.052 2108 2808 3715 3723 3708 0 0 0 0 0 0 11.24 11.17 11.24

5702 -2.04 -53.0 2108 2808 3723 3708 719.2 -9.4 447 5707 0.00 3.28 0.00 0.000 516 0.000 0.041 2108 1384 3715 3723 3707 0 0 0 0 0 0 11.36 11.17 11.36

5769 -2.04 -53.0 2108 1385 3724 3708 725.2 -8.9 460 5774 0.00 3.35 0.00 0.000 1030 0.000 0.051 2099 2810 3715 3723 3707 0 0 0 0 0 0 11.24 11.17 11.25

6159 -2.04 -53.0 2099 2811 3724 3708 759.2 -8.6 477 6165 0.00 3.28 0.00 0.000 516 0.000 0.041 2099 1385 3715 3723 3707 0 0 0 0 0 0 11.35 11.17 11.35

6269 -2.04 -53.0 2099 1386 3723 3708 769.0 -8.8 498 6274 0.20 3.35 0.00 0.000 3078 0.333 0.051 2116 2813 3714 3721 3707 0 0 0 0 0 0 11.02 11.17 11.21

6646 -2.05 -60.2 2122 2813 3724 3708 800.6 -7.9 513 6652 0.00 2.62 0.00 0.000 292 0.000 0.073 2112 3911 3715 3723 3707 0 0 0 0 0 0 11.36 11.15 11.36

6669 -2.06 -72.8 2112 3913 3724 3708 802.1 -6.3 517 6675 0.00 2.53 0.00 0.000 1062 0.000 0.040 2112 2789 3715 3724 3706 0 0 0 0 0 0 11.24 11.20 11.25

7011 end dive: BOTTOM_OBSTACLE_DETECTED

state 7011 begin apogee

7020 -0.23 0.0 2113 2537 3725 3706 829.3 -8.5 530 7121 3.53 0.00 95.60 3.066 10246 0.308 0.000 2693 2538 3492 3499 3486 0 0 0 0 0 0 11.03 11.02 10.03

7122 end apogee: CONTROL_FINISHED_OK

state 7122 begin climb

7125 2.06 72.8 2696 2538 3499 3486 832.7 0.0 533 7257 3.03 3.33 116.12 3.052 10756 0.099 0.057 3449 1145 3202 3217 3188 0 0 0 0 0 0 11.06 10.93 10.02

7313 2.06 72.8 3448 1145 3213 3184 801.2 24.5 568 7320 0.00 3.38 0.00 0.000 1030 0.000 0.060 3448 2554 3198 3212 3184 0 0 0 0 0 0 11.17 11.10 11.19

7679 2.06 72.8 3449 2554 3210 3181 709.0 25.1 581 7680 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2554 3195 3209 3181 0 0 0 0 0 0 11.31 11.31 11.31

8039 2.06 72.8 3449 2555 3210 3181 620.7 24.3 593 8045 0.00 3.35 0.00 0.000 516 0.000 0.057 3459 1150 3194 3208 3180 0 0 0 0 0 0 11.32 11.13 11.32

8067 2.06 72.8 3459 1151 3208 3181 614.1 22.9 598 8074 0.00 3.38 0.00 0.000 1030 0.000 0.061 3459 2561 3194 3209 3180 0 0 0 0 0 0 11.21 11.14 11.23

8432 2.06 72.8 3459 2562 3209 3181 524.5 24.2 611 8433 0.00 0.00 0.00 0.000 6 0.000 0.000 3459 2561 3195 3209 3181 0 0 0 0 0 0 11.32 11.32 11.32

8792 2.06 72.8 3460 2561 3210 3181 441.3 22.8 627 8793 0.00 0.00 0.00 0.000 6 0.000 0.000 3459 2561 3194 3208 3180 0 0 0 0 0 0 11.32 11.33 11.31

9091 2.06 72.8 3459 2561 3210 3180 373.5 22.2 642 9097 0.00 3.33 0.00 0.000 516 0.000 0.056 3469 1152 3195 3209 3182 0 0 0 0 0 0 11.33 11.14 11.34

9118 2.06 72.8 3470 1152 3210 3181 367.4 22.4 647 9124 0.22 3.35 0.00 0.000 5126 0.353 0.061 3441 2556 3195 3209 3181 0 0 0 0 0 0 10.99 11.15 11.21

9435 2.06 72.8 3442 2556 3210 3181 300.5 20.8 665 9436 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 2556 3195 3209 3181 0 0 0 0 0 0 11.33 11.34 11.33

9735 2.06 72.8 3441 2557 3209 3182 239.5 19.3 694 9741 0.00 3.30 0.00 0.000 260 0.000 0.082 3434 3914 3195 3209 3181 0 0 0 0 0 0 11.34 11.14 11.34

9809 2.06 72.8 3434 3915 3210 3183 224.3 21.3 708 9814 0.00 3.12 0.00 0.000 1030 0.000 0.047 3444 2552 3194 3209 3180 0 0 0 0 0 0 11.24 11.19 11.25

10121 2.06 72.8 3445 2552 3210 3181 164.7 18.9 740 10127 0.00 3.33 0.00 0.000 516 0.000 0.059 3455 1146 3195 3209 3181 0 0 0 0 0 0 11.33 11.14 11.33

10173 2.06 72.8 3455 1147 3209 3182 154.9 18.2 750 10179 0.00 3.38 0.00 0.000 1030 0.000 0.061 3455 2562 3195 3209 3181 0 0 0 0 0 0 11.23 11.15 11.24

10486 2.06 72.8 3455 2562 3209 3182 97.8 18.3 782 10492 0.00 3.30 0.00 0.000 260 0.000 0.085 3455 3911 3195 3209 3181 0 0 0 0 0 0 11.35 11.14 11.35

10581 2.06 72.8 3456 3911 3208 3182 78.6 20.6 800 10587 0.00 3.12 0.00 0.000 1030 0.000 0.046 3465 2548 3194 3208 3181 0 0 0 0 0 0 11.24 11.19 11.24

10896 2.06 72.8 3465 2549 3208 3182 20.5 18.0 832 10901 0.00 3.38 0.00 0.000 260 0.000 0.085 3465 3914 3195 3209 3181 0 0 0 0 0 0 11.34 11.14 11.34

10990 end climb: SURFACE_DEPTH_REACHED

state 10990 begin surface coast

11000 end surface coast: CONTROL_FINISHED_OK

state 11000 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	854	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	34	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	150119,010430,-7404.8887,-11224.8301,36,0.7,36,53.2,0.4,245.4,12,8.1	SPEED_LIMITS	0.100,0.244
_CALLS	3	TGT_NAME	hold3
_XMS_NAKs	3	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.67	MHEAD_RNG_PITCHd_Wd	332.5,1698,-43.4,-10.000,-44.52,350
_SM_ANGLEo	-64.5	D_GRID	990
GPS2	150119,011939,-7404.9160,-11225.1494,3,0.7,5,53.3,0.3,293.5,12,8.9

FREEZE	0.01,0.781,-1.844,2,1,0	ALTIM_BOTTOM_PING	824.2,14.4
FINISH	0.0,1.026957	_24V_AH	10.02,272.214
SM_CCo	11029,277.08,0.190,0,0,1898,399.91	_10V_AH	10.27,0.000
SM_GC	0.62,13.15,2.62,277.08,0.086,0.046,0.190,196,2793,1898,-8.04,0.62,399.91,0,0,0,0,0,0,11.14,11.20,11.04	FG_AHR_24Vo	0.000
RAFOS_CLK	456	FG_AHR_10Vo	0.000
RAFOS	0,1547521279,3.032355,3.021945,130,58,55,55,54,51,484,146,180,160,131,219	MEM	279312
RAFOS_FIX	-7404.897461,-11226.301758,150119,030352,2,96,0.09	DATA_FILE_SIZE	30013,853
IRIDIUM_FIX	-7403.74,-11221.53,150119,011034	CAP_FILE_SIZE	136090,0
TT8_MAMPS	0.04494,0.278628	CFSIZE	1024409600,917897216
HUMID	47.91	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1449.7
TCM_TEMP	13.00	CURRENT	0.053,260.91,1
XPDR_PINGS	1	GPS	150119,043001,-7404.038,-11224.743,37,0.7,38,53.2,0.2,0.0,10,6.5
ALTIM_TOP_PING	16.0,16.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	421	152.15	nil	0	0	0.00
Roll_motor	123	89	110.47	nil	0	0	0.00
VBD_pump_during_apogee	211	3066	6504.73	nil	0	0	0.00
VBD_pump_during_surface	277	190	528.84	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	11029	4	530.01
Iridium_during_xfer	589	232	1373.04	nil	0	0	0.00
Transponder_ping	57	420	239.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.68
TT8	0	0	0.00
LPSleep	8577	2	203.49
TT8_Active	713	10	79.62
TT8_Sampling	2412	30	751.97
TT8_CF8	513	51	270.88
TT8_Kalman	0	0	0.00
Analog_circuits	1971	10	204.45
GPS_charging	0	0	0.00
Compass	1223	6	84.66
RAFOS	720	1	11.09
Transponder	416	30	128.19

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
19.6	21.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
26.3	27.90	9000.00	0.0	0.00	0.00	27.90	0.0	0.93	1.00
45.2	48.10	48.00	0.0	1.04	1.00	48.10	0.0	1.07	1.00
71.0	74.60	74.70	0.0	1.04	1.00	74.60	0.0	1.03	1.00
810.3	27.70	9000.00	0.0	-0.04	0.65	27.70	838.0	-0.06	1.00
816.6	21.30	9000.00	0.0	-0.07	0.99	21.30	837.9	-1.02	1.00
824.2	14.50	14.40	838.6	-0.95	1.00	14.50	838.7	-0.89	1.00

829.8	26.60	9000.00	0.0	0.32	0.13	26.60	803.2	2.16	1.00
129.3	134.80	9000.00	0.0	-0.16	0.99	134.80	0.0	-0.15	1.00
58.8	61.40	9000.00	0.0	-0.09	0.48	61.40	-2.6	1.04	1.00
51.4	53.20	53.40	-2.0	1.04	1.00	53.20	-1.8	1.11	1.00
44.1	45.50	45.40	-1.3	1.09	1.00	45.50	-1.4	1.05	1.00
36.8	37.80	37.80	-1.0	1.05	1.00	37.80	-1.0	1.05	1.00
29.6	30.60	30.50	-0.9	1.03	1.00	30.60	-1.0	1.00	1.00
22.4	23.00	23.10	-0.7	1.02	1.00	23.00	-0.6	1.06	1.00
16.0	16.20	16.20	-0.2	1.06	1.00	16.20	-0.2	1.06	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	-2.00	-22.7	202	2806	1940	1799	0.0	0.0	0	114	0.00	0.00	-101.97	0.003	16390	0.000	0.000	201	2806	3584	3605	3564	0	0	0	0	0	0	11.31	10.57	11.31
118	-2.04	-53.0	201	2807	3609	3566	1.3	-1.1	10	146	15.32	2.67	-5.38	0.014	18724	0.422	0.090	2108	3914	3707	3715	3699	0	0	0	0	0	0	10.95	10.55	11.17
183	-2.04	-53.0	2108	3915	3720	3704	7.7	-13.7	22	188	0.00	2.50	0.00	0.000	1030	0.000	0.037	2107	2790	3711	3719	3703	0	0	0	0	0	0	11.21	11.18	11.23
496	-2.04	-53.0	2108	2791	3723	3711	57.9	-15.9	54	501	0.00	2.70	0.00	0.000	260	0.000	0.071	2099	3916	3715	3722	3709	0	0	0	0	0	0	11.32	11.14	11.32
600	-2.04	-53.0	2100	3916	3724	3709	75.4	-17.6	74	605	0.00	2.50	0.00	0.000	1030	0.000	0.037	2100	2794	3716	3723	3710	0	0	0	0	0	0	11.23	11.19	11.24
911	-2.04	-53.0	2100	2794	3725	3711	124.3	-15.5	106	916	0.00	2.67	0.00	0.000	260	0.000	0.070	2091	3918	3717	3724	3711	0	0	0	0	0	0	11.33	11.14	11.34
1017	-2.04	-53.0	2092	3917	3724	3711	141.0	-16.5	126	1022	0.17	2.53	0.00	0.000	3078	0.328	0.037	2114	2794	3717	3724	3711	0	0	0	0	0	0	11.01	11.19	11.21
1329	-2.04	-53.0	2114	2794	3723	3714	188.9	-15.0	158	1330	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2793	3718	3725	3712	0	0	0	0	0	0	11.34	11.34	11.34
1629	-2.04	-53.0	2114	2794	3725	3714	232.6	-14.0	188	1634	0.00	3.22	0.00	0.000	516	0.000	0.042	2114	1391	3718	3725	3712	0	0	0	0	0	0	11.34	11.15	11.34
1670	-2.04	-53.0	2115	1390	3726	3713	238.6	-14.1	196	1676	0.00	3.33	0.00	0.000	1030	0.000	0.050	2103	2810	3719	3725	3713	0	0	0	0	0	0	11.23	11.17	11.24
1982	-2.04	-53.0	2104	2810	3726	3713	283.8	-15.1	228	1983	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2810	3718	3725	3712	0	0	0	0	0	0	11.34	11.35	11.35
2282	-2.04	-53.0	2104	2810	3726	3713	325.7	-13.8	249	2289	0.00	2.60	0.00	0.000	260	0.000	0.073	2097	3907	3718	3725	3712	0	0	0	0	0	0	11.34	11.13	11.35
2360	-2.04	-53.0	2098	3907	3726	3709	337.2	-14.7	264	2366	0.00	2.50	0.00	0.000	1030	0.000	0.037	2097	2791	3718	3725	3712	0	0	0	0	0	0	11.24	11.20	11.25
2669	-2.04	-53.0	2098	2791	3726	3712	378.6	-13.5	280	2670	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2791	3718	3724	3712	0	0	0	0	0	0	11.34	11.34	11.34
2968	-2.04	-53.0	2098	2792	3725	3713	417.8	-13.0	295	2969	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2791	3718	3725	3712	0	0	0	0	0	0	11.34	11.34	11.34
3268	-2.04	-53.0	2097	2792	3725	3713	457.1	-12.7	310	3277	0.00	3.20	0.00	0.000	516	0.000	0.041	2097	1392	3718	3725	3711	0	0	0	0	0	0	11.34	11.16	11.35
3308	-2.04	-53.0	2097	1393	3726	3711	462.6	-12.8	317	3316	0.22	3.30	0.00	0.000	3078	0.327	0.050	2117	2801	3718	3725	3711	0	0	0	0	0	0	11.02	11.17	11.21
3613	-2.04	-53.0	2117	2796	3726	3711	500.9	-12.4	333	3620	0.00	3.25	0.00	0.000	516	0.000	0.041	2117	1393	3718	3725	3711	0	0	0	0	0	0	11.35	11.17	11.35
3656	-2.04	-53.0	2117	1394	3725	3712	506.2	-12.2	341	3662	0.00	3.33	0.00	0.000	1030	0.000	0.051	2113	2808	3718	3725	3711	0	0	0	0	0	0	11.24	11.17	11.25
4039	-2.04	-53.0	2113	2810	3725	3711	551.7	-11.6	357	4045	0.00	2.62	0.00	0.000	260	0.000	0.073	2105	3914	3717	3725	3710	0	0	0	0	0	0	11.34	11.16	11.34
4087	-2.04	-53.0	2105	3915	3725	3710	557.5	-12.1	366	4093	0.00	2.50	0.00	0.000	1030	0.000	0.040	2104	2798	3716	3724	3709	0	0	0	0	0	0	11.23	11.19	11.24
4465	-2.04	-53.0	2105	2798	3726	3709	597.9	-10.3	381	4471	0.00	3.22	0.00	0.000	516	0.000	0.041	2104	1387	3717	3725	3709	0	0	0	0	0	0	11.34	11.17	11.34
4497	-2.04	-53.0	2105	1387	3726	3709	601.3	-10.6	387	4503	0.00	3.35	0.00	0.000	1030	0.000	0.050	2094	2810	3716	3725	3708	0	0	0	0	0	0	11.24	11.17	11.25
4889	-2.04	-53.0	2094	2811	3724	3709	641.1	-10.2	405	4890	0.17	0.00	0.00	0.000	2054	0.341	0.000	2116	2810	3716	3724	3708	0	0	0	0	0	0	11.02	11.24	11.21
5249	-2.04	-53.0	2116	2811	3723	3709	675.2	-9.6	417	5256	0.00	3.22	0.00	0.000	516	0.000	0.041	2116	1382	3716	3724	3708	0	0	0	0	0	0	11.36	11.17	11.36
5337	-2.04	-53.0	2116	1382	3725	3707	683.9	-9.7	434	5344	0.00	3.35	0.00	0.000	1030	0.000	0.052	2108	2808	3715	3723	3708	0	0	0	0	0	0	11.24	11.17	11.24
5702	-2.04	-53.0	2108	2808	3723	3708	719.2	-9.4	447	5707	0.00	3.28	0.00	0.000	516	0.000	0.041	2108	1384	3715	3723	3707	0	0	0	0	0	0	11.36	11.17	11.36
5769	-2.04	-53.0	2108	1385	3724	3708	725.2	-8.9	460	5774	0.00	3.35	0.00	0.000	1030	0.000	0.051	2099	2810	3715	3723	3707	0	0	0	0	0	0	11.24	11.17	11.25
6159	-2.04	-53.0	2099	2811	3724	3708	759.2	-8.6	477	6165	0.00	3.28	0.00	0.000	516	0.000	0.041	2099	1385	3715	3723	3707	0	0	0	0	0	0	11.35	11.17	11.35
6269	-2.04	-53.0	2099	1386	3723	3708	769.0	-8.8	498	6274	0.20	3.35	0.00	0.000	3078	0.333	0.051	2116	2813	3714	3721	3707	0	0	0	0	0	0	11.02	11.17	11.21
6646	-2.05	-60.2	2122	2813	3724	3708	800.6	-7.9	513	6652	0.00	2.62	0.00	0.000	292	0.000	0.073	2112	3911	3715	3723	3707	0	0	0	0	0	0	11.36	11.15	11.36
6669	-2.06	-72.8	2112	3913	3724	3708	802.1	-6.3	517	6675	0.00	2.53	0.00	0.000	1062	0.000	0.040	2112	2789	3715	3724	3706	0	0	0	0	0	0	11.24	11.20	11.25
7011	end dive: BOTTOM_OBSTACLE_DETECTED
state	7011	begin apogee
7020	-0.23	0.0	2113	2537	3725	3706	829.3	-8.5	530	7121	3.53	0.00	95.60	3.066	10246	0.308	0.000	2693	2538	3492	3499	3486	0	0	0	0	0	0	11.03	11.02	10.03
7122	end apogee: CONTROL_FINISHED_OK
state	7122	begin climb
7125	2.06	72.8	2696	2538	3499	3486	832.7	0.0	533	7257	3.03	3.33	116.12	3.052	10756	0.099	0.057	3449	1145	3202	3217	3188	0	0	0	0	0	0	11.06	10.93	10.02
7313	2.06	72.8	3448	1145	3213	3184	801.2	24.5	568	7320	0.00	3.38	0.00	0.000	1030	0.000	0.060	3448	2554	3198	3212	3184	0	0	0	0	0	0	11.17	11.10	11.19
7679	2.06	72.8	3449	2554	3210	3181	709.0	25.1	581	7680	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2554	3195	3209	3181	0	0	0	0	0	0	11.31	11.31	11.31
8039	2.06	72.8	3449	2555	3210	3181	620.7	24.3	593	8045	0.00	3.35	0.00	0.000	516	0.000	0.057	3459	1150	3194	3208	3180	0	0	0	0	0	0	11.32	11.13	11.32
8067	2.06	72.8	3459	1151	3208	3181	614.1	22.9	598	8074	0.00	3.38	0.00	0.000	1030	0.000	0.061	3459	2561	3194	3209	3180	0	0	0	0	0	0	11.21	11.14	11.23
8432	2.06	72.8	3459	2562	3209	3181	524.5	24.2	611	8433	0.00	0.00	0.00	0.000	6	0.000	0.000	3459	2561	3195	3209	3181	0	0	0	0	0	0	11.32	11.32	11.32
8792	2.06	72.8	3460	2561	3210	3181	441.3	22.8	627	8793	0.00	0.00	0.00	0.000	6	0.000	0.000	3459	2561	3194	3208	3180	0	0	0	0	0	0	11.32	11.33	11.31
9091	2.06	72.8	3459	2561	3210	3180	373.5	22.2	642	9097	0.00	3.33	0.00	0.000	516	0.000	0.056	3469	1152	3195	3209	3182	0	0	0	0	0	0	11.33	11.14	11.34
9118	2.06	72.8	3470	1152	3210	3181	367.4	22.4	647	9124	0.22	3.35	0.00	0.000	5126	0.353	0.061	3441	2556	3195	3209	3181	0	0	0	0	0	0	10.99	11.15	11.21
9435	2.06	72.8	3442	2556	3210	3181	300.5	20.8	665	9436	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	2556	3195	3209	3181	0	0	0	0	0	0	11.33	11.34	11.33
9735	2.06	72.8	3441	2557	3209	3182	239.5	19.3	694	9741	0.00	3.30	0.00	0.000	260	0.000	0.082	3434	3914	3195	3209	3181	0	0	0	0	0	0	11.34	11.14	11.34
9809	2.06	72.8	3434	3915	3210	3183	224.3	21.3	708	9814	0.00	3.12	0.00	0.000	1030	0.000	0.047	3444	2552	3194	3209	3180	0	0	0	0	0	0	11.24	11.19	11.25
10121	2.06	72.8	3445	2552	3210	3181	164.7	18.9	740	10127	0.00	3.33	0.00	0.000	516	0.000	0.059	3455	1146	3195	3209	3181	0	0	0	0	0	0	11.33	11.14	11.33
10173	2.06	72.8	3455	1147	3209	3182	154.9	18.2	750	10179	0.00	3.38	0.00	0.000	1030	0.000	0.061	3455	2562	3195	3209	3181	0	0	0	0	0	0	11.23	11.15	11.24
10486	2.06	72.8	3455	2562	3209	3182	97.8	18.3	782	10492	0.00	3.30	0.00	0.000	260	0.000	0.085	3455	3911	3195	3209	3181	0	0	0	0	0	0	11.35	11.14	11.35
10581	2.06	72.8	3456	3911	3208	3182	78.6	20.6	800	10587	0.00	3.12	0.00	0.000	1030	0.000	0.046	3465	2548	3194	3208	3181	0	0	0	0	0	0	11.24	11.19	11.24
10896	2.06	72.8	3465	2549	3208	3182	20.5	18.0	832	10901	0.00	3.38	0.00	0.000	260	0.000	0.085	3465	3914	3195	3209	3181	0	0	0	0	0	0	11.34	11.14	11.34
10990	end climb: SURFACE_DEPTH_REACHED
state	10990	begin surface coast
11000	end surface coast: CONTROL_FINISHED_OK
state	11000	begin surface