Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 161 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 161 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 44 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 6

D_BOOST 100 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 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 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 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 1 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 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 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 20 PITCH_MIN 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 3880 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 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 161 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 44 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 5 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 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 170218,031616,-7425.2837,-11210.0439,0,4123.3,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11212.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 359.42 MHEAD_RNG_PITCHd_Wd 303.8,26487,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.6 D_GRID 990

GPS2 170218,031616,-7425.2837,-11210.0439,0,4123.3,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 373.9,1.027446,3 ALTIM_BOTTOM_PING 976.1,12.9

FINISH2 372.9 _24V_AH 13.05,67.909

RAFOS_CLK 393 _10V_AH 12.46,0.000

RAFOS 0,1518847270,6.032778,6.019444,74,67,64,56,51,49,549,181,198,158,126,221 FG_AHR_24Vo 0.000

RAFOS_FIX -7425.235840,-11212.964844,170218,060628,3,78,0.14 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 MEM 280048

TT8_MAMPS 0.038199,0.296604 DATA_FILE_SIZE 33395,946

HUMID 49.17 CAP_FILE_SIZE 122338,0

INTERNAL_PRESSURE 8.26789 CFSIZE 1024409600,1001078784

TCM_TEMP 12.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1458.2

ALTIM_TOP_PING 376.8,9.9 GPS 170218,061528,-7425.236,-11212.965,0,4078.3,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 299 18.05 nil 0 0 0.00

Roll_motor 107 1403 1972.07 nil 0 0 0.00

VBD_pump_during_apogee 730 1481 14114.44 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 10663 5 832.55

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 246.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7852 2 226.00

TT8_Active 787 13 135.56

TT8_Sampling 1990 34 862.98

TT8_CF8 109 52 72.26

TT8_Kalman 0 0 0.00

Analog_circuits 1544 10 209.81

GPS_charging 0 0 0.00

Compass 1354 7 126.38

RAFOS 720 1 13.46

Transponder 321 30 120.04

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

379.5 26.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

413.2 58.70 9000.00 0.0 0.00 0.00 58.70 0.0 0.96 1.00

419.8 64.50 64.70 0.0 0.95 1.00 64.50 0.0 0.88 1.00

954.9 32.00 9000.00 0.0 -0.05 0.97 32.00 986.9 -0.06 1.00

961.9 26.90 9000.00 0.0 -0.07 0.99 26.90 988.8 -0.73 1.00

967.9 20.20 20.60 988.5 -0.90 0.99 20.20 988.1 -1.12 1.00

976.1 13.10 12.90 989.0 -0.96 1.00 13.10 989.2 -0.87 1.00

981.8 9.40 9000.00 0.0 -0.78 1.00 9.40 991.2 -0.65 1.00

975.6 16.20 15.00 0.0 -0.92 0.87 16.20 0.0 -1.10 1.00

969.0 20.40 20.90 0.0 -0.86 0.98 20.40 0.0 -0.64 1.00

962.7 21.90 9000.00 0.0 -0.45 0.94 21.90 0.0 -0.24 1.00

956.0 40.00 9000.00 0.0 -1.53 0.82 40.00 0.0 -2.70 1.00

451.6 87.40 9000.00 0.0 -0.11 0.93 87.40 0.0 -0.09 1.00

439.1 74.70 9000.00 0.0 -0.08 0.92 74.70 364.4 1.02 1.00

432.9 68.40 68.40 364.5 1.02 1.00 68.40 364.5 1.02 1.00

426.6 61.90 61.90 364.7 1.03 1.00 61.90 364.7 1.03 1.00

420.5 55.30 55.40 365.1 1.05 1.00 55.30 365.2 1.08 1.00

414.4 49.10 49.10 365.3 1.05 1.00 49.10 365.3 1.02 1.00

408.3 43.20 43.10 365.2 1.00 1.00 43.20 365.1 0.97 1.00

402.0 36.20 36.40 365.6 1.04 1.00 36.20 365.8 1.11 1.00

395.7 29.50 29.50 366.2 1.08 1.00 29.50 366.2 1.06 1.00

389.3 22.90 22.90 366.4 1.05 1.00 22.90 366.4 1.03 1.00

383.2 16.40 16.40 366.8 1.05 1.00 16.40 366.8 1.07 1.00

376.8 9.90 9.90 366.9 1.04 1.00 9.90 366.9 1.02 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

8 -0.93 -146.0 2804 2275 2795 2731 0.0 0.0 0 12 0.00 0.05 -2.22 0.044 16390 0.000 1.404 2804 2300 3398 3422 3374 0 0 0 0 0 0 15.09 13.52 15.08

14 -0.93 -146.0 2806 2301 3424 3376 0.0 0.0 0 20 0.90 2.45 0.00 0.000 4612 0.110 0.084 2500 900 3398 3422 3375 0 0 0 0 0 0 14.80 14.78 14.88

49 -0.93 -146.0 2499 895 3424 3376 363.0 -10.0 7 56 0.00 2.53 0.00 0.000 1030 0.000 0.077 2490 2304 3398 3421 3375 0 0 0 0 0 0 14.86 14.78 14.90

354 -0.93 -146.0 2491 2305 3423 3375 406.3 -14.4 38 361 0.00 2.55 0.00 0.000 516 0.000 0.085 2490 905 3397 3421 3374 0 0 0 0 0 0 15.10 14.73 15.12

585 -0.93 -146.0 2491 904 3424 3375 439.7 -14.3 84 591 0.00 2.50 0.00 0.000 1030 0.000 0.073 2483 2307 3397 3421 3373 0 0 0 0 0 0 14.86 14.79 14.91

895 -0.93 -146.0 2479 2301 3421 3374 484.5 -14.3 116 901 0.00 2.53 0.00 0.000 516 0.000 0.081 2480 908 3397 3421 3373 0 0 0 0 0 0 15.11 14.76 15.15

940 -0.93 -146.0 2479 908 3421 3374 491.1 -14.6 125 948 0.00 2.50 0.00 0.000 1030 0.000 0.075 2474 2300 3397 3421 3373 0 0 0 0 0 0 14.86 14.78 14.90

1245 -0.93 -146.0 2473 2300 3421 3373 534.2 -13.8 156 1246 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2299 3397 3421 3373 0 0 0 0 0 0 15.12 15.14 15.14

1545 -0.93 -146.0 2475 2300 3424 3373 575.6 -13.8 186 1551 0.00 2.50 0.00 0.000 516 0.000 0.080 2472 907 3396 3421 3372 0 0 0 0 0 0 15.12 14.76 15.14

1590 -0.93 -146.0 2474 911 3421 3372 581.9 -14.0 195 1598 0.12 2.50 0.00 0.000 3078 0.275 0.073 2496 2309 3396 3421 3372 0 0 0 0 0 0 14.60 14.78 14.77

1896 -0.93 -146.0 2498 2310 3423 3372 620.5 -12.7 226 1901 0.00 2.47 0.00 0.000 516 0.000 0.081 2496 908 3396 3421 3371 0 0 0 0 0 0 15.12 14.78 15.14

1935 -0.93 -146.0 2498 914 3423 3372 625.7 -12.7 234 1941 0.00 2.50 0.00 0.000 1030 0.000 0.072 2488 2303 3396 3421 3371 0 0 0 0 0 0 14.86 14.79 14.90

2246 -0.93 -146.0 2489 2304 3423 3372 664.7 -12.5 266 2252 0.00 2.53 0.00 0.000 516 0.000 0.083 2488 902 3396 3421 3371 0 0 0 0 0 0 15.11 14.76 15.14

2281 -0.93 -146.0 2489 903 3423 3372 669.3 -13.2 273 2289 0.00 2.50 0.00 0.000 1030 0.000 0.073 2478 2300 3396 3421 3371 0 0 0 0 0 0 14.85 14.77 14.90

2606 -0.93 -146.0 2479 2300 3423 3370 712.6 -13.2 300 2612 0.00 2.45 0.00 0.000 516 0.000 0.080 2478 910 3395 3421 3370 0 0 0 0 0 0 15.11 14.78 15.14

2636 -0.93 -146.0 2477 911 3421 3371 716.7 -13.5 306 2642 0.00 2.45 0.00 0.000 1030 0.000 0.075 2477 2302 3395 3421 3370 0 0 0 0 0 0 14.93 14.82 14.96

3027 -0.93 -146.0 2474 2303 3421 3371 768.3 -13.2 324 3032 0.00 2.47 0.00 0.000 516 0.000 0.080 2475 902 3395 3421 3370 0 0 0 0 0 0 15.07 14.78 15.09

3066 -0.93 -146.0 2476 903 3423 3371 773.7 -13.3 332 3072 0.00 2.53 0.00 0.000 1030 0.000 0.076 2470 2307 3395 3421 3370 0 0 0 0 0 0 14.85 14.78 14.90

3447 -0.93 -146.0 2471 2308 3423 3371 823.0 -13.2 348 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2307 3395 3421 3370 0 0 0 0 0 0 15.07 15.11 15.10

3807 -0.93 -146.0 2470 2308 3421 3371 869.4 -12.9 360 3813 0.12 2.47 0.00 0.000 2564 0.299 0.080 2500 912 3395 3421 3370 0 0 0 0 0 0 14.63 14.78 14.77

3847 -0.93 -146.0 2500 912 3421 3371 874.5 -12.3 368 3853 0.00 2.50 0.00 0.000 1030 0.000 0.071 2492 2312 3396 3422 3370 0 0 0 0 0 0 14.87 14.80 14.92

4228 -0.93 -146.0 2491 2312 3421 3371 919.5 -11.8 384 4229 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2311 3395 3421 3370 0 0 0 0 0 0 15.09 15.11 15.11

4588 -0.93 -146.0 2491 2312 3421 3371 961.9 -11.7 396 4593 0.00 2.50 0.00 0.000 516 0.000 0.080 2495 904 3395 3421 3370 0 0 0 0 0 0 15.09 14.78 15.12

4652 -0.93 -146.0 2491 901 3422 3371 969.7 -11.9 409 4659 0.00 2.50 0.00 0.000 1030 0.000 0.073 2489 2299 3395 3421 3370 0 0 0 0 0 0 14.82 14.76 14.86

4737 end dive: BOTTOM_OBSTACLE_DETECTED

state 4737 begin apogee

4740 -0.23 0.0 2489 2071 3421 3370 980.3 -12.1 416 5135 0.85 0.10 390.52 1.315 10246 0.226 0.152 2724 2132 2782 2818 2747 0 0 0 0 0 0 14.66 13.70 13.18

5136 end apogee: CONTROL_FINISHED_OK

state 5136 begin climb

5138 0.93 146.0 2725 2133 2816 2744 984.9 0.0 429 5491 1.25 2.75 339.75 1.481 10500 0.139 0.094 3091 3494 2182 2227 2138 0 0 0 0 0 0 13.69 13.53 13.05

5541 0.93 146.0 3093 3493 2225 2136 948.3 12.5 507 5547 0.00 2.50 0.00 0.000 1030 0.000 0.048 3101 2122 2177 2222 2132 0 0 0 0 0 0 13.89 13.82 13.90

5931 0.93 146.0 3103 2122 2217 2130 902.7 11.5 525 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2121 2172 2215 2130 0 0 0 0 0 0 14.66 14.69 14.69

6291 0.93 146.0 3100 2121 2213 2129 861.6 11.3 537 6297 0.00 2.53 0.00 0.000 260 0.000 0.097 3101 3507 2171 2214 2128 0 0 0 0 0 0 14.89 14.60 14.92

6321 0.93 146.0 3102 3508 2216 2129 857.9 15.4 543 6327 0.00 2.45 0.00 0.000 1030 0.000 0.050 3110 2101 2171 2214 2128 0 0 0 0 0 0 14.71 14.66 14.74

6712 0.93 146.0 3111 2102 2214 2129 811.3 12.1 561 6717 0.00 2.53 0.00 0.000 260 0.000 0.096 3110 3502 2169 2212 2127 0 0 0 0 0 0 15.00 14.71 15.02

6756 0.93 146.0 3111 3502 2214 2129 805.5 12.9 570 6762 0.00 2.45 0.00 0.000 1030 0.000 0.050 3120 2088 2169 2212 2127 0 0 0 0 0 0 14.81 14.76 14.83

7131 0.93 146.0 3121 2088 2213 2128 759.4 12.3 585 7137 0.00 2.58 0.00 0.000 260 0.000 0.097 3120 3493 2166 2210 2123 0 0 0 0 0 0 15.06 14.73 15.09

7161 0.93 146.0 3121 3494 2212 2129 755.5 13.4 591 7168 0.10 2.42 0.00 0.000 5126 0.241 0.050 3101 2089 2169 2210 2128 0 0 0 0 0 0 14.65 14.78 14.76

7552 0.93 146.0 3102 2089 2211 2128 712.7 10.8 609 7558 0.00 2.55 0.00 0.000 260 0.000 0.095 3099 3510 2168 2209 2127 0 0 0 0 0 0 15.09 14.81 15.11

7596 0.93 146.0 3102 3510 2211 2128 707.3 12.4 618 7603 0.00 2.42 0.00 0.000 1030 0.000 0.049 3109 2100 2168 2210 2127 0 0 0 0 0 0 14.89 14.84 14.92

7962 0.93 146.0 3110 2100 2209 2128 665.3 11.3 652 7969 0.00 2.55 0.00 0.000 260 0.000 0.096 3109 3493 2171 2216 2126 0 0 0 0 0 0 15.09 14.78 15.11

7998 0.93 146.0 3108 3493 2208 2128 660.9 12.5 659 8005 0.00 2.40 0.00 0.000 1030 0.000 0.050 3119 2098 2167 2208 2127 0 0 0 0 0 0 14.90 14.88 14.92

8303 0.93 146.0 3120 2099 2211 2127 625.5 11.5 690 8303 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2098 2167 2208 2127 0 0 0 0 0 0 15.09 15.13 15.13

8603 0.93 146.0 3120 2099 2210 2127 591.0 11.5 720 8609 0.00 2.58 0.00 0.000 260 0.000 0.098 3119 3503 2167 2208 2127 0 0 0 0 0 0 15.10 14.78 15.13

8638 0.93 146.0 3120 3504 2210 2127 586.6 12.6 727 8647 0.10 2.42 0.00 0.000 5126 0.249 0.050 3100 2096 2166 2207 2126 0 0 0 0 0 0 14.66 14.85 14.85

8944 0.93 146.0 3100 2097 2207 2126 554.8 10.4 758 8950 0.00 2.53 0.00 0.000 260 0.000 0.098 3100 3505 2167 2208 2126 0 0 0 0 0 0 15.06 14.81 15.09

8979 0.93 146.0 3100 3507 2209 2126 550.6 11.8 765 8986 0.00 2.42 0.00 0.000 1030 0.000 0.050 3109 2098 2167 2208 2126 0 0 0 0 0 0 14.90 14.84 14.93

9284 0.93 146.0 3110 2099 2210 2126 518.0 10.8 796 9284 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2098 2167 2208 2126 0 0 0 0 0 0 15.11 15.14 15.14

9584 0.93 146.0 3110 2099 2209 2126 485.4 10.6 826 9591 0.00 2.58 0.00 0.000 260 0.000 0.098 3109 3504 2166 2207 2125 0 0 0 0 0 0 15.12 14.79 15.14

9615 0.93 146.0 3108 3505 2207 2126 481.8 12.0 832 9621 0.00 2.42 0.00 0.000 1030 0.000 0.050 3119 2094 2166 2207 2125 0 0 0 0 0 0 14.90 14.85 14.94

9925 0.93 146.0 3119 2094 2207 2126 448.4 10.5 864 9926 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2093 2166 2207 2125 0 0 0 0 0 0 15.13 15.16 15.16

10225 0.93 146.0 3120 2094 2208 2126 417.4 10.3 894 10232 0.00 2.58 0.00 0.000 260 0.000 0.097 3119 3502 2165 2206 2125 0 0 0 0 0 0 15.13 14.79 15.16

10276 0.93 146.0 3120 3504 2209 2126 411.5 11.5 904 10282 0.00 2.42 0.00 0.000 1030 0.000 0.050 3128 2091 2166 2207 2125 0 0 0 0 0 0 14.88 14.83 14.90

10586 0.93 146.0 3130 2092 2208 2125 379.1 10.2 936 10592 0.00 2.58 0.00 0.000 260 0.000 0.096 3128 3524 2165 2206 2124 0 0 0 0 0 0 15.12 14.78 15.15

10630 end climb: SURFACE_OBSTACLE_DETECTED

state 10630 begin subsurface finish

10636 0.00 2.7 3139 2094 2206 2126 373.9 11.9 945 10641 1.17 0.00 -2.20 0.054 20742 0.219 0.000 2801 2093 2789 2821 2757 0 0 0 0 0 0 14.66 13.58 14.81

10642 end subsurface finish: CONTROL_FINISHED_OK

state 10642 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	161	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	44	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	6
D_BOOST	100	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	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	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	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	1	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	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	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	20	PITCH_MIN	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	170218,031616,-7425.2837,-11210.0439,0,4123.3,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11212.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	359.42	MHEAD_RNG_PITCHd_Wd	303.8,26487,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.6	D_GRID	990
GPS2	170218,031616,-7425.2837,-11210.0439,0,4123.3,0,53.3,0.0,0.0,0,0.0

FINISH1	373.9,1.027446,3	ALTIM_BOTTOM_PING	976.1,12.9
FINISH2	372.9	_24V_AH	13.05,67.909
RAFOS_CLK	393	_10V_AH	12.46,0.000
RAFOS	0,1518847270,6.032778,6.019444,74,67,64,56,51,49,549,181,198,158,126,221	FG_AHR_24Vo	0.000
RAFOS_FIX	-7425.235840,-11212.964844,170218,060628,3,78,0.14	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280048
TT8_MAMPS	0.038199,0.296604	DATA_FILE_SIZE	33395,946
HUMID	49.17	CAP_FILE_SIZE	122338,0
INTERNAL_PRESSURE	8.26789	CFSIZE	1024409600,1001078784
TCM_TEMP	12.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1458.2
ALTIM_TOP_PING	376.8,9.9	GPS	170218,061528,-7425.236,-11212.965,0,4078.3,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	299	18.05	nil	0	0	0.00
Roll_motor	107	1403	1972.07	nil	0	0	0.00
VBD_pump_during_apogee	730	1481	14114.44	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	10663	5	832.55
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	246.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7852	2	226.00
TT8_Active	787	13	135.56
TT8_Sampling	1990	34	862.98
TT8_CF8	109	52	72.26
TT8_Kalman	0	0	0.00
Analog_circuits	1544	10	209.81
GPS_charging	0	0	0.00
Compass	1354	7	126.38
RAFOS	720	1	13.46
Transponder	321	30	120.04

		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
379.5	26.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
413.2	58.70	9000.00	0.0	0.00	0.00	58.70	0.0	0.96	1.00
419.8	64.50	64.70	0.0	0.95	1.00	64.50	0.0	0.88	1.00
954.9	32.00	9000.00	0.0	-0.05	0.97	32.00	986.9	-0.06	1.00
961.9	26.90	9000.00	0.0	-0.07	0.99	26.90	988.8	-0.73	1.00
967.9	20.20	20.60	988.5	-0.90	0.99	20.20	988.1	-1.12	1.00
976.1	13.10	12.90	989.0	-0.96	1.00	13.10	989.2	-0.87	1.00
981.8	9.40	9000.00	0.0	-0.78	1.00	9.40	991.2	-0.65	1.00

975.6	16.20	15.00	0.0	-0.92	0.87	16.20	0.0	-1.10	1.00
969.0	20.40	20.90	0.0	-0.86	0.98	20.40	0.0	-0.64	1.00
962.7	21.90	9000.00	0.0	-0.45	0.94	21.90	0.0	-0.24	1.00
956.0	40.00	9000.00	0.0	-1.53	0.82	40.00	0.0	-2.70	1.00
451.6	87.40	9000.00	0.0	-0.11	0.93	87.40	0.0	-0.09	1.00
439.1	74.70	9000.00	0.0	-0.08	0.92	74.70	364.4	1.02	1.00
432.9	68.40	68.40	364.5	1.02	1.00	68.40	364.5	1.02	1.00
426.6	61.90	61.90	364.7	1.03	1.00	61.90	364.7	1.03	1.00
420.5	55.30	55.40	365.1	1.05	1.00	55.30	365.2	1.08	1.00
414.4	49.10	49.10	365.3	1.05	1.00	49.10	365.3	1.02	1.00
408.3	43.20	43.10	365.2	1.00	1.00	43.20	365.1	0.97	1.00
402.0	36.20	36.40	365.6	1.04	1.00	36.20	365.8	1.11	1.00
395.7	29.50	29.50	366.2	1.08	1.00	29.50	366.2	1.06	1.00
389.3	22.90	22.90	366.4	1.05	1.00	22.90	366.4	1.03	1.00
383.2	16.40	16.40	366.8	1.05	1.00	16.40	366.8	1.07	1.00
376.8	9.90	9.90	366.9	1.04	1.00	9.90	366.9	1.02	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
8	-0.93	-146.0	2804	2275	2795	2731	0.0	0.0	0	12	0.00	0.05	-2.22	0.044	16390	0.000	1.404	2804	2300	3398	3422	3374	0	0	0	0	0	0	15.09	13.52	15.08
14	-0.93	-146.0	2806	2301	3424	3376	0.0	0.0	0	20	0.90	2.45	0.00	0.000	4612	0.110	0.084	2500	900	3398	3422	3375	0	0	0	0	0	0	14.80	14.78	14.88
49	-0.93	-146.0	2499	895	3424	3376	363.0	-10.0	7	56	0.00	2.53	0.00	0.000	1030	0.000	0.077	2490	2304	3398	3421	3375	0	0	0	0	0	0	14.86	14.78	14.90
354	-0.93	-146.0	2491	2305	3423	3375	406.3	-14.4	38	361	0.00	2.55	0.00	0.000	516	0.000	0.085	2490	905	3397	3421	3374	0	0	0	0	0	0	15.10	14.73	15.12
585	-0.93	-146.0	2491	904	3424	3375	439.7	-14.3	84	591	0.00	2.50	0.00	0.000	1030	0.000	0.073	2483	2307	3397	3421	3373	0	0	0	0	0	0	14.86	14.79	14.91
895	-0.93	-146.0	2479	2301	3421	3374	484.5	-14.3	116	901	0.00	2.53	0.00	0.000	516	0.000	0.081	2480	908	3397	3421	3373	0	0	0	0	0	0	15.11	14.76	15.15
940	-0.93	-146.0	2479	908	3421	3374	491.1	-14.6	125	948	0.00	2.50	0.00	0.000	1030	0.000	0.075	2474	2300	3397	3421	3373	0	0	0	0	0	0	14.86	14.78	14.90
1245	-0.93	-146.0	2473	2300	3421	3373	534.2	-13.8	156	1246	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2299	3397	3421	3373	0	0	0	0	0	0	15.12	15.14	15.14
1545	-0.93	-146.0	2475	2300	3424	3373	575.6	-13.8	186	1551	0.00	2.50	0.00	0.000	516	0.000	0.080	2472	907	3396	3421	3372	0	0	0	0	0	0	15.12	14.76	15.14
1590	-0.93	-146.0	2474	911	3421	3372	581.9	-14.0	195	1598	0.12	2.50	0.00	0.000	3078	0.275	0.073	2496	2309	3396	3421	3372	0	0	0	0	0	0	14.60	14.78	14.77
1896	-0.93	-146.0	2498	2310	3423	3372	620.5	-12.7	226	1901	0.00	2.47	0.00	0.000	516	0.000	0.081	2496	908	3396	3421	3371	0	0	0	0	0	0	15.12	14.78	15.14
1935	-0.93	-146.0	2498	914	3423	3372	625.7	-12.7	234	1941	0.00	2.50	0.00	0.000	1030	0.000	0.072	2488	2303	3396	3421	3371	0	0	0	0	0	0	14.86	14.79	14.90
2246	-0.93	-146.0	2489	2304	3423	3372	664.7	-12.5	266	2252	0.00	2.53	0.00	0.000	516	0.000	0.083	2488	902	3396	3421	3371	0	0	0	0	0	0	15.11	14.76	15.14
2281	-0.93	-146.0	2489	903	3423	3372	669.3	-13.2	273	2289	0.00	2.50	0.00	0.000	1030	0.000	0.073	2478	2300	3396	3421	3371	0	0	0	0	0	0	14.85	14.77	14.90
2606	-0.93	-146.0	2479	2300	3423	3370	712.6	-13.2	300	2612	0.00	2.45	0.00	0.000	516	0.000	0.080	2478	910	3395	3421	3370	0	0	0	0	0	0	15.11	14.78	15.14
2636	-0.93	-146.0	2477	911	3421	3371	716.7	-13.5	306	2642	0.00	2.45	0.00	0.000	1030	0.000	0.075	2477	2302	3395	3421	3370	0	0	0	0	0	0	14.93	14.82	14.96
3027	-0.93	-146.0	2474	2303	3421	3371	768.3	-13.2	324	3032	0.00	2.47	0.00	0.000	516	0.000	0.080	2475	902	3395	3421	3370	0	0	0	0	0	0	15.07	14.78	15.09
3066	-0.93	-146.0	2476	903	3423	3371	773.7	-13.3	332	3072	0.00	2.53	0.00	0.000	1030	0.000	0.076	2470	2307	3395	3421	3370	0	0	0	0	0	0	14.85	14.78	14.90
3447	-0.93	-146.0	2471	2308	3423	3371	823.0	-13.2	348	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2307	3395	3421	3370	0	0	0	0	0	0	15.07	15.11	15.10
3807	-0.93	-146.0	2470	2308	3421	3371	869.4	-12.9	360	3813	0.12	2.47	0.00	0.000	2564	0.299	0.080	2500	912	3395	3421	3370	0	0	0	0	0	0	14.63	14.78	14.77
3847	-0.93	-146.0	2500	912	3421	3371	874.5	-12.3	368	3853	0.00	2.50	0.00	0.000	1030	0.000	0.071	2492	2312	3396	3422	3370	0	0	0	0	0	0	14.87	14.80	14.92
4228	-0.93	-146.0	2491	2312	3421	3371	919.5	-11.8	384	4229	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2311	3395	3421	3370	0	0	0	0	0	0	15.09	15.11	15.11
4588	-0.93	-146.0	2491	2312	3421	3371	961.9	-11.7	396	4593	0.00	2.50	0.00	0.000	516	0.000	0.080	2495	904	3395	3421	3370	0	0	0	0	0	0	15.09	14.78	15.12
4652	-0.93	-146.0	2491	901	3422	3371	969.7	-11.9	409	4659	0.00	2.50	0.00	0.000	1030	0.000	0.073	2489	2299	3395	3421	3370	0	0	0	0	0	0	14.82	14.76	14.86
4737	end dive: BOTTOM_OBSTACLE_DETECTED
state	4737	begin apogee
4740	-0.23	0.0	2489	2071	3421	3370	980.3	-12.1	416	5135	0.85	0.10	390.52	1.315	10246	0.226	0.152	2724	2132	2782	2818	2747	0	0	0	0	0	0	14.66	13.70	13.18
5136	end apogee: CONTROL_FINISHED_OK
state	5136	begin climb
5138	0.93	146.0	2725	2133	2816	2744	984.9	0.0	429	5491	1.25	2.75	339.75	1.481	10500	0.139	0.094	3091	3494	2182	2227	2138	0	0	0	0	0	0	13.69	13.53	13.05
5541	0.93	146.0	3093	3493	2225	2136	948.3	12.5	507	5547	0.00	2.50	0.00	0.000	1030	0.000	0.048	3101	2122	2177	2222	2132	0	0	0	0	0	0	13.89	13.82	13.90
5931	0.93	146.0	3103	2122	2217	2130	902.7	11.5	525	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2121	2172	2215	2130	0	0	0	0	0	0	14.66	14.69	14.69
6291	0.93	146.0	3100	2121	2213	2129	861.6	11.3	537	6297	0.00	2.53	0.00	0.000	260	0.000	0.097	3101	3507	2171	2214	2128	0	0	0	0	0	0	14.89	14.60	14.92
6321	0.93	146.0	3102	3508	2216	2129	857.9	15.4	543	6327	0.00	2.45	0.00	0.000	1030	0.000	0.050	3110	2101	2171	2214	2128	0	0	0	0	0	0	14.71	14.66	14.74
6712	0.93	146.0	3111	2102	2214	2129	811.3	12.1	561	6717	0.00	2.53	0.00	0.000	260	0.000	0.096	3110	3502	2169	2212	2127	0	0	0	0	0	0	15.00	14.71	15.02
6756	0.93	146.0	3111	3502	2214	2129	805.5	12.9	570	6762	0.00	2.45	0.00	0.000	1030	0.000	0.050	3120	2088	2169	2212	2127	0	0	0	0	0	0	14.81	14.76	14.83
7131	0.93	146.0	3121	2088	2213	2128	759.4	12.3	585	7137	0.00	2.58	0.00	0.000	260	0.000	0.097	3120	3493	2166	2210	2123	0	0	0	0	0	0	15.06	14.73	15.09
7161	0.93	146.0	3121	3494	2212	2129	755.5	13.4	591	7168	0.10	2.42	0.00	0.000	5126	0.241	0.050	3101	2089	2169	2210	2128	0	0	0	0	0	0	14.65	14.78	14.76
7552	0.93	146.0	3102	2089	2211	2128	712.7	10.8	609	7558	0.00	2.55	0.00	0.000	260	0.000	0.095	3099	3510	2168	2209	2127	0	0	0	0	0	0	15.09	14.81	15.11
7596	0.93	146.0	3102	3510	2211	2128	707.3	12.4	618	7603	0.00	2.42	0.00	0.000	1030	0.000	0.049	3109	2100	2168	2210	2127	0	0	0	0	0	0	14.89	14.84	14.92
7962	0.93	146.0	3110	2100	2209	2128	665.3	11.3	652	7969	0.00	2.55	0.00	0.000	260	0.000	0.096	3109	3493	2171	2216	2126	0	0	0	0	0	0	15.09	14.78	15.11
7998	0.93	146.0	3108	3493	2208	2128	660.9	12.5	659	8005	0.00	2.40	0.00	0.000	1030	0.000	0.050	3119	2098	2167	2208	2127	0	0	0	0	0	0	14.90	14.88	14.92
8303	0.93	146.0	3120	2099	2211	2127	625.5	11.5	690	8303	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2098	2167	2208	2127	0	0	0	0	0	0	15.09	15.13	15.13
8603	0.93	146.0	3120	2099	2210	2127	591.0	11.5	720	8609	0.00	2.58	0.00	0.000	260	0.000	0.098	3119	3503	2167	2208	2127	0	0	0	0	0	0	15.10	14.78	15.13
8638	0.93	146.0	3120	3504	2210	2127	586.6	12.6	727	8647	0.10	2.42	0.00	0.000	5126	0.249	0.050	3100	2096	2166	2207	2126	0	0	0	0	0	0	14.66	14.85	14.85
8944	0.93	146.0	3100	2097	2207	2126	554.8	10.4	758	8950	0.00	2.53	0.00	0.000	260	0.000	0.098	3100	3505	2167	2208	2126	0	0	0	0	0	0	15.06	14.81	15.09
8979	0.93	146.0	3100	3507	2209	2126	550.6	11.8	765	8986	0.00	2.42	0.00	0.000	1030	0.000	0.050	3109	2098	2167	2208	2126	0	0	0	0	0	0	14.90	14.84	14.93
9284	0.93	146.0	3110	2099	2210	2126	518.0	10.8	796	9284	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2098	2167	2208	2126	0	0	0	0	0	0	15.11	15.14	15.14
9584	0.93	146.0	3110	2099	2209	2126	485.4	10.6	826	9591	0.00	2.58	0.00	0.000	260	0.000	0.098	3109	3504	2166	2207	2125	0	0	0	0	0	0	15.12	14.79	15.14
9615	0.93	146.0	3108	3505	2207	2126	481.8	12.0	832	9621	0.00	2.42	0.00	0.000	1030	0.000	0.050	3119	2094	2166	2207	2125	0	0	0	0	0	0	14.90	14.85	14.94
9925	0.93	146.0	3119	2094	2207	2126	448.4	10.5	864	9926	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2093	2166	2207	2125	0	0	0	0	0	0	15.13	15.16	15.16
10225	0.93	146.0	3120	2094	2208	2126	417.4	10.3	894	10232	0.00	2.58	0.00	0.000	260	0.000	0.097	3119	3502	2165	2206	2125	0	0	0	0	0	0	15.13	14.79	15.16
10276	0.93	146.0	3120	3504	2209	2126	411.5	11.5	904	10282	0.00	2.42	0.00	0.000	1030	0.000	0.050	3128	2091	2166	2207	2125	0	0	0	0	0	0	14.88	14.83	14.90
10586	0.93	146.0	3130	2092	2208	2125	379.1	10.2	936	10592	0.00	2.58	0.00	0.000	260	0.000	0.096	3128	3524	2165	2206	2124	0	0	0	0	0	0	15.12	14.78	15.15
10630	end climb: SURFACE_OBSTACLE_DETECTED
state	10630	begin subsurface finish
10636	0.00	2.7	3139	2094	2206	2126	373.9	11.9	945	10641	1.17	0.00	-2.20	0.054	20742	0.219	0.000	2801	2093	2789	2821	2757	0	0	0	0	0	0	14.66	13.58	14.81
10642	end subsurface finish: CONTROL_FINISHED_OK
state	10642	begin surface