Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 855 * 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 855 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 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 855 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 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 150119,043001,-7404.0376,-11224.7432,37,0.7,38,53.2,0.2,0.0,10,6.5 SPEED_LIMITS 0.100,0.244

_CALLS 2 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 340.9,91,-43.9,-10.000,-45.00,342

_SM_ANGLEo -63.1 D_GRID 990

GPS2 150119,044116,-7404.0488,-11225.0098,4,0.8,6,53.2,0.5,259.1,9,8.3

Post-dive calculations and measurements:

FREEZE -0.18,0.563,-1.859,2,1,0 ALTIM_BOTTOM_PING 862.2,19.7

FINISH -0.2,1.027192 _24V_AH 10.02,272.540

SM_CCo 11265,253.30,0.192,0,0,1900,399.91 _10V_AH 10.29,0.000

SM_GC 0.67,12.75,0.68,253.30,0.063,0.080,0.192,198,2804,1900,-8.03,-0.31,399.91,0,0,0,0,0,0,11.14,11.16,11.03 FG_AHR_24Vo 0.000

RAFOS_CLK 465 FG_AHR_10Vo 0.000

RAFOS 0,1547532062,6.032355,6.017222,174,62,59,57,57,57,580,210,155,200,177,189 MEM 279288

RAFOS_FIX -7404.236328,-11225.448242,150119,060604,2,151,0.08 DATA_FILE_SIZE 30080,904

IRIDIUM_FIX -7405.65,-11224.52,150119,043346 CAP_FILE_SIZE 137475,0

TT8_MAMPS 0.046438,0.323568 CFSIZE 1024409600,917782528

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

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1451.2

TCM_TEMP 13.00 CURRENT 0.063,271.56,1

XPDR_PINGS 0 GPS 150119,075503,-7403.184,-11224.150,31,1.7,34,53.2,0.1,0.0,5,10.0

ALTIM_TOP_PING 9.2,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 423 152.98 nil 0 0 0.00

Roll_motor 122 90 111.03 nil 0 0 0.00

VBD_pump_during_apogee 252 3076 7771.81 nil 0 0 0.00

VBD_pump_during_surface 253 192 487.35 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 11260 4 538.06

Iridium_during_xfer 402 232 936.82 nil 0 0 0.00

Transponder_ping 57 420 243.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 8 0.74

TT8 0 0 0.00

LPSleep 8660 2 205.87

TT8_Active 703 10 78.74

TT8_Sampling 2335 30 729.24

TT8_CF8 494 51 261.08

TT8_Kalman 0 0 0.00

Analog_circuits 1818 10 188.97

GPS_charging 0 0 0.00

Compass 1294 6 89.80

RAFOS 720 1 11.11

Transponder 438 30 135.33

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

12.5 14.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.9 20.70 9000.00 0.0 0.00 0.00 20.70 0.0 0.94 1.00

25.2 26.90 26.80 0.0 0.96 1.00 26.90 0.0 0.98 1.00

37.5 40.00 39.90 0.0 1.04 1.00 40.00 0.0 1.07 1.00

843.3 38.60 9000.00 0.0 0.01 0.18 38.60 881.9 -0.00 1.00

850.0 31.60 9000.00 0.0 -0.01 0.40 31.60 881.6 -1.04 1.00

856.1 25.90 25.80 881.9 -1.00 1.00 25.90 882.0 -0.93 1.00

862.2 19.60 19.70 881.9 -0.98 1.00 19.60 881.8 -1.03 1.00

859.7 28.60 9000.00 0.0 -0.92 0.38 28.60 0.0 -3.60 1.00

77.4 80.20 9000.00 0.0 -0.07 0.98 80.20 0.0 -0.07 1.00

62.6 64.60 9000.00 0.0 -0.06 0.90 64.60 -2.0 1.05 1.00

55.8 58.60 58.30 -2.5 1.01 1.00 58.60 -2.8 0.88 1.00

49.1 50.30 50.70 -1.6 1.06 0.99 50.30 -1.2 1.24 1.00

42.3 44.40 44.00 -1.7 1.05 0.99 44.40 -2.1 0.87 1.00

35.5 36.40 36.70 -1.2 1.03 0.99 36.40 -0.9 1.18 1.00

28.7 29.70 29.50 -0.8 1.08 1.00 29.70 -1.0 0.99 1.00

15.6 15.90 15.90 -0.3 1.04 1.00 15.90 -0.3 1.05 1.00

9.2 9.00 9.00 0.2 1.06 1.00 9.00 0.2 1.08 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

11 -2.02 -22.2 197 2793 1942 1800 0.0 0.0 0 114 0.00 0.00 -101.75 0.003 16390 0.000 0.000 196 2793 3582 3602 3562 0 0 0 0 0 0 11.31 10.57 11.31

118 -2.06 -51.7 197 2794 3607 3566 1.3 -1.2 10 147 15.43 2.75 -5.30 0.015 18724 0.424 0.090 2099 3913 3702 3709 3695 0 0 0 0 0 0 10.97 10.54 11.16

374 -2.06 -51.7 2100 3913 3718 3702 40.9 -17.0 60 379 0.00 2.53 0.00 0.000 1030 0.000 0.037 2099 2783 3709 3716 3702 0 0 0 0 0 0 11.23 11.19 11.24

685 -2.06 -51.7 2104 2782 3719 3704 90.2 -15.9 92 691 0.00 2.67 0.00 0.000 260 0.000 0.070 2091 3917 3711 3718 3704 0 0 0 0 0 0 11.33 11.14 11.33

742 -2.06 -51.7 2091 3918 3719 3705 99.5 -16.4 103 748 0.00 2.50 0.00 0.000 1030 0.000 0.037 2085 2798 3711 3718 3704 0 0 0 0 0 0 11.24 11.20 11.24

1047 -2.06 -51.7 2091 2798 3720 3705 147.3 -15.6 134 1052 0.00 2.67 0.00 0.000 260 0.000 0.071 2082 3916 3712 3719 3705 0 0 0 0 0 0 11.34 11.14 11.34

1190 -2.06 -51.7 2082 3916 3720 3705 172.0 -17.8 162 1196 0.20 2.50 0.00 0.000 3078 0.330 0.037 2109 2798 3712 3719 3705 0 0 0 0 0 0 11.02 11.20 11.21

1503 -2.06 -51.7 2109 2797 3720 3707 219.3 -15.0 194 1509 0.00 3.22 0.00 0.000 516 0.000 0.042 2109 1397 3713 3719 3707 0 0 0 0 0 0 11.33 11.16 11.33

1540 -2.06 -51.7 2109 1398 3720 3708 224.9 -14.7 201 1551 0.00 3.33 0.00 0.000 1030 0.000 0.051 2099 2814 3713 3720 3707 0 0 0 0 0 0 11.23 11.15 11.24

1847 -2.06 -51.7 2099 2816 3720 3708 268.5 -14.4 232 1852 0.00 2.60 0.00 0.000 260 0.000 0.072 2091 3911 3713 3720 3706 0 0 0 0 0 0 11.34 11.15 11.35

1883 -2.06 -51.7 2091 3912 3720 3708 273.9 -15.2 239 1890 0.00 2.50 0.00 0.000 1030 0.000 0.037 2091 2795 3713 3719 3707 0 0 0 0 0 0 11.24 11.19 11.25

2199 -2.06 -51.7 2092 2795 3721 3707 316.2 -13.3 265 2200 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2795 3713 3720 3707 0 0 0 0 0 0 11.33 11.33 11.33

2502 -2.06 -51.7 2091 2796 3721 3708 356.8 -13.3 280 2508 0.00 3.17 0.00 0.000 516 0.000 0.041 2091 1397 3713 3720 3707 0 0 0 0 0 0 11.34 11.16 11.34

2545 -2.06 -51.7 2092 1397 3721 3707 363.2 -13.9 288 2551 0.20 3.33 0.00 0.000 3078 0.327 0.050 2108 2809 3713 3720 3707 0 0 0 0 0 0 11.02 11.17 11.21

2867 -2.06 -51.7 2108 2810 3719 3708 404.9 -12.7 307 2872 0.00 3.28 0.00 0.000 516 0.000 0.041 2108 1389 3713 3720 3706 0 0 0 0 0 0 11.35 11.16 11.35

2939 -2.06 -51.7 2108 1389 3721 3706 413.6 -12.2 321 2945 0.00 3.33 0.00 0.000 1030 0.000 0.052 2099 2806 3713 3720 3706 0 0 0 0 0 0 11.24 11.17 11.25

3252 -2.06 -51.7 2100 2804 3721 3705 452.4 -12.2 338 3257 0.00 3.28 0.00 0.000 516 0.000 0.041 2099 1397 3711 3717 3705 0 0 0 0 0 0 11.34 11.17 11.33

3319 -2.06 -51.7 2100 1397 3721 3705 460.7 -12.1 351 3324 0.00 3.30 0.00 0.000 1030 0.000 0.051 2088 2803 3712 3720 3705 0 0 0 0 0 0 11.24 11.18 11.25

3635 -2.06 -51.7 2089 2803 3721 3704 500.0 -12.3 369 3636 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2803 3712 3720 3704 0 0 0 0 0 0 11.35 11.35 11.35

3959 -2.06 -51.7 2088 2804 3720 3705 537.2 -11.3 380 3960 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2803 3712 3720 3704 0 0 0 0 0 0 11.34 11.34 11.34

4319 -2.06 -51.7 2089 2803 3721 3703 577.1 -11.1 392 4324 0.00 2.62 0.00 0.000 260 0.000 0.073 2080 3911 3711 3720 3703 0 0 0 0 0 0 11.34 11.16 11.34

4371 -2.06 -51.7 2080 3912 3721 3704 583.6 -11.8 402 4377 0.20 2.50 0.00 0.000 3078 0.333 0.039 2106 2800 3711 3720 3702 0 0 0 0 0 0 11.02 11.21 11.21

4747 -2.06 -51.7 2107 2801 3720 3702 621.4 -9.9 416 4753 0.00 3.20 0.00 0.000 516 0.000 0.042 2106 1397 3710 3719 3702 0 0 0 0 0 0 11.34 11.17 11.34

4879 -2.06 -51.7 2107 1397 3720 3703 634.3 -9.7 441 4885 0.00 3.33 0.00 0.000 1030 0.000 0.052 2098 2810 3710 3719 3702 0 0 0 0 0 0 11.23 11.17 11.24

5267 -2.06 -51.7 2098 2811 3719 3702 673.0 -9.7 458 5272 0.00 3.28 0.00 0.000 516 0.000 0.041 2098 1388 3710 3718 3702 0 0 0 0 0 0 11.33 11.17 11.33

5304 -2.06 -51.7 2098 1388 3719 3701 676.6 -9.6 465 5310 0.00 3.33 0.00 0.000 1030 0.000 0.051 2087 2805 3711 3718 3705 0 0 0 0 0 0 11.24 11.19 11.25

5692 -2.06 -51.7 2088 2804 3720 3701 714.1 -9.5 482 5693 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 2805 3709 3718 3701 0 0 0 0 0 0 11.34 11.34 11.33

6052 -2.06 -51.7 2087 2806 3719 3703 746.4 -8.8 494 6057 0.00 3.25 0.00 0.000 516 0.000 0.040 2087 1391 3709 3718 3701 0 0 0 0 0 0 11.34 11.17 11.34

6094 -2.06 -51.7 2088 1392 3719 3703 750.2 -8.9 502 6099 0.22 3.33 0.00 0.000 3078 0.327 0.051 2109 2808 3709 3718 3701 0 0 0 0 0 0 11.02 11.17 11.21

6475 -2.06 -51.7 2108 2809 3718 3702 782.4 -8.1 518 6480 0.00 2.62 0.00 0.000 260 0.000 0.072 2100 3916 3709 3718 3701 0 0 0 0 0 0 11.35 11.16 11.36

6590 -2.07 -59.9 2101 3916 3719 3701 790.7 -7.5 540 6595 0.00 2.55 0.00 0.000 1062 0.000 0.041 2100 2790 3708 3718 3699 0 0 0 0 0 0 11.24 11.20 11.25

6962 -2.08 -70.2 2101 2791 3720 3701 817.3 -6.9 554 6968 0.00 3.17 0.00 0.000 548 0.000 0.041 2100 1391 3709 3719 3699 0 0 0 0 0 0 11.36 11.17 11.36

7039 -2.09 -80.4 2101 1391 3720 3701 822.6 -6.9 569 7046 0.00 3.33 0.00 0.000 1062 0.000 0.051 2089 2804 3710 3719 3701 0 0 0 0 0 0 11.24 11.17 11.25

7422 -2.10 -89.8 2090 2804 3720 3701 850.0 -7.2 584 7427 0.00 2.62 0.00 0.000 292 0.000 0.073 2082 3914 3710 3719 3701 0 0 0 0 0 0 11.35 11.16 11.34

7653 -2.12 -99.2 2082 3915 3719 3702 867.7 -7.2 630 7658 0.00 2.53 0.00 0.000 1062 0.000 0.040 2082 2793 3709 3718 3701 0 0 0 0 0 0 11.24 11.20 11.26

7721 end dive: BOTTOM_OBSTACLE_DETECTED

state 7721 begin apogee

7730 -0.23 0.0 2084 2540 3719 3702 872.6 -7.0 634 7830 3.75 0.00 94.28 3.076 10246 0.314 0.000 2694 2541 3492 3499 3486 0 0 0 0 0 0 11.03 11.02 10.02

7831 end apogee: CONTROL_FINISHED_OK

state 7831 begin climb

7834 2.12 99.2 2695 2541 3500 3486 873.3 0.0 637 8004 3.08 3.40 157.88 3.075 10500 0.099 0.084 3454 3906 3096 3109 3084 0 0 0 0 0 0 11.06 11.02 10.05

8048 2.12 99.2 3454 3906 3110 3078 830.8 31.1 676 8054 0.00 3.15 0.00 0.000 1030 0.000 0.048 3463 2549 3092 3108 3077 0 0 0 0 0 0 11.17 11.12 11.18

8426 2.12 99.2 3465 2549 3104 3074 716.9 28.9 691 8427 0.00 0.00 0.00 0.000 6 0.000 0.000 3464 2549 3087 3101 3074 0 0 0 0 0 0 11.31 11.31 11.31

8786 2.12 99.2 3465 2549 3103 3073 614.5 28.1 703 8791 0.00 3.33 0.00 0.000 516 0.000 0.059 3475 1146 3088 3102 3074 0 0 0 0 0 0 11.32 11.12 11.32

8812 2.12 99.2 3475 1146 3102 3074 607.0 27.6 708 8819 0.00 3.35 0.00 0.000 1030 0.000 0.061 3474 2549 3087 3101 3073 0 0 0 0 0 0 11.21 11.14 11.23

9179 2.12 99.2 3475 2550 3102 3075 504.6 28.0 721 9179 0.00 0.00 0.00 0.000 6 0.000 0.000 3474 2549 3086 3100 3073 0 0 0 0 0 0 11.32 11.32 11.33

9547 2.12 99.2 3475 2549 3103 3074 405.0 26.7 739 9548 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 2549 3087 3101 3074 0 0 0 0 0 0 11.34 11.33 11.34

9849 2.12 99.2 3475 2549 3103 3075 327.0 25.7 754 9849 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 2549 3091 3108 3075 0 0 0 0 0 0 11.33 11.33 11.33

10149 2.12 99.2 3475 2549 3102 3074 250.9 25.4 778 10155 0.00 3.35 0.00 0.000 516 0.000 0.059 3485 1140 3087 3101 3074 0 0 0 0 0 0 11.33 11.14 11.33

10212 2.12 99.2 3485 1142 3102 3076 235.2 24.1 790 10218 0.20 3.40 0.00 0.000 5126 0.337 0.063 3459 2560 3087 3101 3074 0 0 0 0 0 0 11.00 11.14 11.20

10525 2.12 99.2 3459 2561 3101 3075 162.1 22.9 822 10531 0.00 3.30 0.00 0.000 260 0.000 0.084 3457 3909 3087 3101 3074 0 0 0 0 0 0 11.34 11.14 11.35

10597 2.12 99.2 3458 3909 3102 3074 144.2 24.8 836 10603 0.00 3.15 0.00 0.000 1030 0.000 0.047 3467 2541 3088 3102 3074 0 0 0 0 0 0 11.24 11.18 11.25

10909 2.12 99.2 3468 2541 3102 3074 72.8 22.9 868 10914 0.00 3.35 0.00 0.000 260 0.000 0.085 3467 3908 3087 3101 3074 0 0 0 0 0 0 11.34 11.14 11.35

10931 2.12 99.2 3467 3909 3102 3075 67.7 22.7 872 10936 0.00 3.15 0.00 0.000 1030 0.000 0.048 3477 2541 3087 3101 3074 0 0 0 0 0 0 11.24 11.19 11.25

11229 end climb: SURFACE_DEPTH_REACHED

state 11229 begin surface coast

11239 end surface coast: CONTROL_FINISHED_OK

state 11239 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	855	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	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	150119,043001,-7404.0376,-11224.7432,37,0.7,38,53.2,0.2,0.0,10,6.5	SPEED_LIMITS	0.100,0.244
_CALLS	2	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	340.9,91,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-63.1	D_GRID	990
GPS2	150119,044116,-7404.0488,-11225.0098,4,0.8,6,53.2,0.5,259.1,9,8.3

FREEZE	-0.18,0.563,-1.859,2,1,0	ALTIM_BOTTOM_PING	862.2,19.7
FINISH	-0.2,1.027192	_24V_AH	10.02,272.540
SM_CCo	11265,253.30,0.192,0,0,1900,399.91	_10V_AH	10.29,0.000
SM_GC	0.67,12.75,0.68,253.30,0.063,0.080,0.192,198,2804,1900,-8.03,-0.31,399.91,0,0,0,0,0,0,11.14,11.16,11.03	FG_AHR_24Vo	0.000
RAFOS_CLK	465	FG_AHR_10Vo	0.000
RAFOS	0,1547532062,6.032355,6.017222,174,62,59,57,57,57,580,210,155,200,177,189	MEM	279288
RAFOS_FIX	-7404.236328,-11225.448242,150119,060604,2,151,0.08	DATA_FILE_SIZE	30080,904
IRIDIUM_FIX	-7405.65,-11224.52,150119,043346	CAP_FILE_SIZE	137475,0
TT8_MAMPS	0.046438,0.323568	CFSIZE	1024409600,917782528
HUMID	48.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1451.2
TCM_TEMP	13.00	CURRENT	0.063,271.56,1
XPDR_PINGS	0	GPS	150119,075503,-7403.184,-11224.150,31,1.7,34,53.2,0.1,0.0,5,10.0
ALTIM_TOP_PING	9.2,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	423	152.98	nil	0	0	0.00
Roll_motor	122	90	111.03	nil	0	0	0.00
VBD_pump_during_apogee	252	3076	7771.81	nil	0	0	0.00
VBD_pump_during_surface	253	192	487.35	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	11260	4	538.06
Iridium_during_xfer	402	232	936.82	nil	0	0	0.00
Transponder_ping	57	420	243.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	8	0.74
TT8	0	0	0.00
LPSleep	8660	2	205.87
TT8_Active	703	10	78.74
TT8_Sampling	2335	30	729.24
TT8_CF8	494	51	261.08
TT8_Kalman	0	0	0.00
Analog_circuits	1818	10	188.97
GPS_charging	0	0	0.00
Compass	1294	6	89.80
RAFOS	720	1	11.11
Transponder	438	30	135.33

		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
12.5	14.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.9	20.70	9000.00	0.0	0.00	0.00	20.70	0.0	0.94	1.00
25.2	26.90	26.80	0.0	0.96	1.00	26.90	0.0	0.98	1.00
37.5	40.00	39.90	0.0	1.04	1.00	40.00	0.0	1.07	1.00
843.3	38.60	9000.00	0.0	0.01	0.18	38.60	881.9	-0.00	1.00
850.0	31.60	9000.00	0.0	-0.01	0.40	31.60	881.6	-1.04	1.00
856.1	25.90	25.80	881.9	-1.00	1.00	25.90	882.0	-0.93	1.00
862.2	19.60	19.70	881.9	-0.98	1.00	19.60	881.8	-1.03	1.00

859.7	28.60	9000.00	0.0	-0.92	0.38	28.60	0.0	-3.60	1.00
77.4	80.20	9000.00	0.0	-0.07	0.98	80.20	0.0	-0.07	1.00
62.6	64.60	9000.00	0.0	-0.06	0.90	64.60	-2.0	1.05	1.00
55.8	58.60	58.30	-2.5	1.01	1.00	58.60	-2.8	0.88	1.00
49.1	50.30	50.70	-1.6	1.06	0.99	50.30	-1.2	1.24	1.00
42.3	44.40	44.00	-1.7	1.05	0.99	44.40	-2.1	0.87	1.00
35.5	36.40	36.70	-1.2	1.03	0.99	36.40	-0.9	1.18	1.00
28.7	29.70	29.50	-0.8	1.08	1.00	29.70	-1.0	0.99	1.00
15.6	15.90	15.90	-0.3	1.04	1.00	15.90	-0.3	1.05	1.00
9.2	9.00	9.00	0.2	1.06	1.00	9.00	0.2	1.08	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
11	-2.02	-22.2	197	2793	1942	1800	0.0	0.0	0	114	0.00	0.00	-101.75	0.003	16390	0.000	0.000	196	2793	3582	3602	3562	0	0	0	0	0	0	11.31	10.57	11.31
118	-2.06	-51.7	197	2794	3607	3566	1.3	-1.2	10	147	15.43	2.75	-5.30	0.015	18724	0.424	0.090	2099	3913	3702	3709	3695	0	0	0	0	0	0	10.97	10.54	11.16
374	-2.06	-51.7	2100	3913	3718	3702	40.9	-17.0	60	379	0.00	2.53	0.00	0.000	1030	0.000	0.037	2099	2783	3709	3716	3702	0	0	0	0	0	0	11.23	11.19	11.24
685	-2.06	-51.7	2104	2782	3719	3704	90.2	-15.9	92	691	0.00	2.67	0.00	0.000	260	0.000	0.070	2091	3917	3711	3718	3704	0	0	0	0	0	0	11.33	11.14	11.33
742	-2.06	-51.7	2091	3918	3719	3705	99.5	-16.4	103	748	0.00	2.50	0.00	0.000	1030	0.000	0.037	2085	2798	3711	3718	3704	0	0	0	0	0	0	11.24	11.20	11.24
1047	-2.06	-51.7	2091	2798	3720	3705	147.3	-15.6	134	1052	0.00	2.67	0.00	0.000	260	0.000	0.071	2082	3916	3712	3719	3705	0	0	0	0	0	0	11.34	11.14	11.34
1190	-2.06	-51.7	2082	3916	3720	3705	172.0	-17.8	162	1196	0.20	2.50	0.00	0.000	3078	0.330	0.037	2109	2798	3712	3719	3705	0	0	0	0	0	0	11.02	11.20	11.21
1503	-2.06	-51.7	2109	2797	3720	3707	219.3	-15.0	194	1509	0.00	3.22	0.00	0.000	516	0.000	0.042	2109	1397	3713	3719	3707	0	0	0	0	0	0	11.33	11.16	11.33
1540	-2.06	-51.7	2109	1398	3720	3708	224.9	-14.7	201	1551	0.00	3.33	0.00	0.000	1030	0.000	0.051	2099	2814	3713	3720	3707	0	0	0	0	0	0	11.23	11.15	11.24
1847	-2.06	-51.7	2099	2816	3720	3708	268.5	-14.4	232	1852	0.00	2.60	0.00	0.000	260	0.000	0.072	2091	3911	3713	3720	3706	0	0	0	0	0	0	11.34	11.15	11.35
1883	-2.06	-51.7	2091	3912	3720	3708	273.9	-15.2	239	1890	0.00	2.50	0.00	0.000	1030	0.000	0.037	2091	2795	3713	3719	3707	0	0	0	0	0	0	11.24	11.19	11.25
2199	-2.06	-51.7	2092	2795	3721	3707	316.2	-13.3	265	2200	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2795	3713	3720	3707	0	0	0	0	0	0	11.33	11.33	11.33
2502	-2.06	-51.7	2091	2796	3721	3708	356.8	-13.3	280	2508	0.00	3.17	0.00	0.000	516	0.000	0.041	2091	1397	3713	3720	3707	0	0	0	0	0	0	11.34	11.16	11.34
2545	-2.06	-51.7	2092	1397	3721	3707	363.2	-13.9	288	2551	0.20	3.33	0.00	0.000	3078	0.327	0.050	2108	2809	3713	3720	3707	0	0	0	0	0	0	11.02	11.17	11.21
2867	-2.06	-51.7	2108	2810	3719	3708	404.9	-12.7	307	2872	0.00	3.28	0.00	0.000	516	0.000	0.041	2108	1389	3713	3720	3706	0	0	0	0	0	0	11.35	11.16	11.35
2939	-2.06	-51.7	2108	1389	3721	3706	413.6	-12.2	321	2945	0.00	3.33	0.00	0.000	1030	0.000	0.052	2099	2806	3713	3720	3706	0	0	0	0	0	0	11.24	11.17	11.25
3252	-2.06	-51.7	2100	2804	3721	3705	452.4	-12.2	338	3257	0.00	3.28	0.00	0.000	516	0.000	0.041	2099	1397	3711	3717	3705	0	0	0	0	0	0	11.34	11.17	11.33
3319	-2.06	-51.7	2100	1397	3721	3705	460.7	-12.1	351	3324	0.00	3.30	0.00	0.000	1030	0.000	0.051	2088	2803	3712	3720	3705	0	0	0	0	0	0	11.24	11.18	11.25
3635	-2.06	-51.7	2089	2803	3721	3704	500.0	-12.3	369	3636	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2803	3712	3720	3704	0	0	0	0	0	0	11.35	11.35	11.35
3959	-2.06	-51.7	2088	2804	3720	3705	537.2	-11.3	380	3960	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2803	3712	3720	3704	0	0	0	0	0	0	11.34	11.34	11.34
4319	-2.06	-51.7	2089	2803	3721	3703	577.1	-11.1	392	4324	0.00	2.62	0.00	0.000	260	0.000	0.073	2080	3911	3711	3720	3703	0	0	0	0	0	0	11.34	11.16	11.34
4371	-2.06	-51.7	2080	3912	3721	3704	583.6	-11.8	402	4377	0.20	2.50	0.00	0.000	3078	0.333	0.039	2106	2800	3711	3720	3702	0	0	0	0	0	0	11.02	11.21	11.21
4747	-2.06	-51.7	2107	2801	3720	3702	621.4	-9.9	416	4753	0.00	3.20	0.00	0.000	516	0.000	0.042	2106	1397	3710	3719	3702	0	0	0	0	0	0	11.34	11.17	11.34
4879	-2.06	-51.7	2107	1397	3720	3703	634.3	-9.7	441	4885	0.00	3.33	0.00	0.000	1030	0.000	0.052	2098	2810	3710	3719	3702	0	0	0	0	0	0	11.23	11.17	11.24
5267	-2.06	-51.7	2098	2811	3719	3702	673.0	-9.7	458	5272	0.00	3.28	0.00	0.000	516	0.000	0.041	2098	1388	3710	3718	3702	0	0	0	0	0	0	11.33	11.17	11.33
5304	-2.06	-51.7	2098	1388	3719	3701	676.6	-9.6	465	5310	0.00	3.33	0.00	0.000	1030	0.000	0.051	2087	2805	3711	3718	3705	0	0	0	0	0	0	11.24	11.19	11.25
5692	-2.06	-51.7	2088	2804	3720	3701	714.1	-9.5	482	5693	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	2805	3709	3718	3701	0	0	0	0	0	0	11.34	11.34	11.33
6052	-2.06	-51.7	2087	2806	3719	3703	746.4	-8.8	494	6057	0.00	3.25	0.00	0.000	516	0.000	0.040	2087	1391	3709	3718	3701	0	0	0	0	0	0	11.34	11.17	11.34
6094	-2.06	-51.7	2088	1392	3719	3703	750.2	-8.9	502	6099	0.22	3.33	0.00	0.000	3078	0.327	0.051	2109	2808	3709	3718	3701	0	0	0	0	0	0	11.02	11.17	11.21
6475	-2.06	-51.7	2108	2809	3718	3702	782.4	-8.1	518	6480	0.00	2.62	0.00	0.000	260	0.000	0.072	2100	3916	3709	3718	3701	0	0	0	0	0	0	11.35	11.16	11.36
6590	-2.07	-59.9	2101	3916	3719	3701	790.7	-7.5	540	6595	0.00	2.55	0.00	0.000	1062	0.000	0.041	2100	2790	3708	3718	3699	0	0	0	0	0	0	11.24	11.20	11.25
6962	-2.08	-70.2	2101	2791	3720	3701	817.3	-6.9	554	6968	0.00	3.17	0.00	0.000	548	0.000	0.041	2100	1391	3709	3719	3699	0	0	0	0	0	0	11.36	11.17	11.36
7039	-2.09	-80.4	2101	1391	3720	3701	822.6	-6.9	569	7046	0.00	3.33	0.00	0.000	1062	0.000	0.051	2089	2804	3710	3719	3701	0	0	0	0	0	0	11.24	11.17	11.25
7422	-2.10	-89.8	2090	2804	3720	3701	850.0	-7.2	584	7427	0.00	2.62	0.00	0.000	292	0.000	0.073	2082	3914	3710	3719	3701	0	0	0	0	0	0	11.35	11.16	11.34
7653	-2.12	-99.2	2082	3915	3719	3702	867.7	-7.2	630	7658	0.00	2.53	0.00	0.000	1062	0.000	0.040	2082	2793	3709	3718	3701	0	0	0	0	0	0	11.24	11.20	11.26
7721	end dive: BOTTOM_OBSTACLE_DETECTED
state	7721	begin apogee
7730	-0.23	0.0	2084	2540	3719	3702	872.6	-7.0	634	7830	3.75	0.00	94.28	3.076	10246	0.314	0.000	2694	2541	3492	3499	3486	0	0	0	0	0	0	11.03	11.02	10.02
7831	end apogee: CONTROL_FINISHED_OK
state	7831	begin climb
7834	2.12	99.2	2695	2541	3500	3486	873.3	0.0	637	8004	3.08	3.40	157.88	3.075	10500	0.099	0.084	3454	3906	3096	3109	3084	0	0	0	0	0	0	11.06	11.02	10.05
8048	2.12	99.2	3454	3906	3110	3078	830.8	31.1	676	8054	0.00	3.15	0.00	0.000	1030	0.000	0.048	3463	2549	3092	3108	3077	0	0	0	0	0	0	11.17	11.12	11.18
8426	2.12	99.2	3465	2549	3104	3074	716.9	28.9	691	8427	0.00	0.00	0.00	0.000	6	0.000	0.000	3464	2549	3087	3101	3074	0	0	0	0	0	0	11.31	11.31	11.31
8786	2.12	99.2	3465	2549	3103	3073	614.5	28.1	703	8791	0.00	3.33	0.00	0.000	516	0.000	0.059	3475	1146	3088	3102	3074	0	0	0	0	0	0	11.32	11.12	11.32
8812	2.12	99.2	3475	1146	3102	3074	607.0	27.6	708	8819	0.00	3.35	0.00	0.000	1030	0.000	0.061	3474	2549	3087	3101	3073	0	0	0	0	0	0	11.21	11.14	11.23
9179	2.12	99.2	3475	2550	3102	3075	504.6	28.0	721	9179	0.00	0.00	0.00	0.000	6	0.000	0.000	3474	2549	3086	3100	3073	0	0	0	0	0	0	11.32	11.32	11.33
9547	2.12	99.2	3475	2549	3103	3074	405.0	26.7	739	9548	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	2549	3087	3101	3074	0	0	0	0	0	0	11.34	11.33	11.34
9849	2.12	99.2	3475	2549	3103	3075	327.0	25.7	754	9849	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	2549	3091	3108	3075	0	0	0	0	0	0	11.33	11.33	11.33
10149	2.12	99.2	3475	2549	3102	3074	250.9	25.4	778	10155	0.00	3.35	0.00	0.000	516	0.000	0.059	3485	1140	3087	3101	3074	0	0	0	0	0	0	11.33	11.14	11.33
10212	2.12	99.2	3485	1142	3102	3076	235.2	24.1	790	10218	0.20	3.40	0.00	0.000	5126	0.337	0.063	3459	2560	3087	3101	3074	0	0	0	0	0	0	11.00	11.14	11.20
10525	2.12	99.2	3459	2561	3101	3075	162.1	22.9	822	10531	0.00	3.30	0.00	0.000	260	0.000	0.084	3457	3909	3087	3101	3074	0	0	0	0	0	0	11.34	11.14	11.35
10597	2.12	99.2	3458	3909	3102	3074	144.2	24.8	836	10603	0.00	3.15	0.00	0.000	1030	0.000	0.047	3467	2541	3088	3102	3074	0	0	0	0	0	0	11.24	11.18	11.25
10909	2.12	99.2	3468	2541	3102	3074	72.8	22.9	868	10914	0.00	3.35	0.00	0.000	260	0.000	0.085	3467	3908	3087	3101	3074	0	0	0	0	0	0	11.34	11.14	11.35
10931	2.12	99.2	3467	3909	3102	3075	67.7	22.7	872	10936	0.00	3.15	0.00	0.000	1030	0.000	0.048	3477	2541	3087	3101	3074	0	0	0	0	0	0	11.24	11.19	11.25
11229	end climb: SURFACE_DEPTH_REACHED
state	11229	begin surface coast
11239	end surface coast: CONTROL_FINISHED_OK
state	11239	begin surface