Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 215 * 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 215 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 3 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 220 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 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 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 1.5 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 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 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 20 PITCH_MIN 225 CF8_MAXERRORS 20 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

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 0

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 20 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 120

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 4

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 -0.24529999

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 5

DIVE 215 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 26 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 220 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 230218,173821,-7420.3506,-11253.0566,0,1001.0,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside1

_XMS_NAKs 0 TGT_LATLONG -7422.000,-11220.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 293.65 MHEAD_RNG_PITCHd_Wd 46.8,16778,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.0 D_GRID 990

GPS2 230218,173821,-7420.3506,-11253.0566,0,1001.0,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 325.6,1.027400,5 _24V_AH 12.26,85.705

FINISH2 324.8 _10V_AH 12.48,0.000

RAFOS_CLK 394 FG_AHR_24Vo 0.000

RAFOS 0,1519408869,18.032778,18.019167,113,71,59,59,59,58,565,206,192,120,153,223 FG_AHR_10Vo 0.000

RAFOS_FIX -7420.582520,-11250.334961,230218,181824,3,133,0.66 MEM 280040

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 DATA_FILE_SIZE 33396,995

TT8_MAMPS 0.038948,0.270389 CAP_FILE_SIZE 125865,0

HUMID 49.44 CFSIZE 1024409600,994852864

INTERNAL_PRESSURE 8.24835 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 INTR 0,10436.02,0x214570,5,24

XPDR_PINGS 0 SOUNDSPEED 1456.7

ALTIM_TOP_PING 329.8,10.2 GPS 230218,181424,-7420.583,-11250.335,0,4133.3,0,53.7,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 916.7,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 294 17.24 nil 0 0 0.00

Roll_motor 111 138 189.07 nil 0 0 0.00

VBD_pump_during_apogee 351 3103 13356.57 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 10430 10 1314.52

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 233.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7823 2 225.53

TT8_Active 494 13 85.34

TT8_Sampling 2083 34 904.69

TT8_CF8 119 52 78.42

TT8_Kalman 0 0 0.00

Analog_circuits 1245 10 169.38

GPS_charging 0 0 0.00

Compass 1426 7 133.32

RAFOS 720 1 13.48

Transponder 320 30 120.18

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

307.5 20.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

314.1 27.70 9000.00 0.0 0.00 0.00 27.70 0.0 1.08 1.00

860.1 68.10 9000.00 0.0 0.08 0.98 68.10 0.0 0.07 1.00

881.3 43.40 9000.00 0.0 0.05 0.60 43.40 924.7 -1.17 1.00

887.7 40.00 38.60 926.3 -1.05 0.99 40.00 927.7 -0.53 1.00

894.0 30.50 31.60 925.6 -1.01 0.92 30.50 924.5 -1.51 1.00

901.5 22.80 22.30 923.8 -1.25 0.99 22.80 924.3 -1.03 1.00

909.0 15.40 15.40 924.4 -1.00 1.00 15.40 924.4 -0.99 1.00

916.7 10.00 9.60 926.3 -0.84 0.99 10.00 926.7 -0.70 1.00

912.8 8.80 9000.00 0.0 -0.70 0.59 8.80 904.0 0.31 1.00

906.5 8.00 9000.00 0.0 0.18 0.95 8.00 898.5 0.13 1.00

874.6 8.90 9000.00 0.0 -0.01 0.14 8.90 0.0 -0.03 1.00

868.2 16.80 9000.00 0.0 -0.16 0.48 16.80 0.0 -1.23 1.00

862.0 21.40 22.00 0.0 -1.00 0.98 21.40 0.0 -0.74 1.00

855.7 24.70 9000.00 0.0 -0.63 0.99 24.70 0.0 -0.52 1.00

849.0 25.30 9000.00 0.0 -0.29 0.85 25.30 0.0 -0.09 1.00

839.9 25.30 9000.00 0.0 -0.04 0.77 0.00 0.0 0.00 0.00

833.6 27.80 9000.00 0.0 -0.16 0.68 27.80 0.0 -0.40 1.00

827.1 32.00 9000.00 0.0 -0.52 0.98 32.00 0.0 -0.65 1.00

820.2 36.30 9000.00 0.0 -0.63 1.00 36.30 0.0 -0.62 1.00

813.6 38.40 9000.00 0.0 -0.48 0.96 38.40 0.0 -0.32 1.00

805.4 36.70 9000.00 0.0 -0.02 0.01 36.70 768.7 0.21 1.00

797.8 35.20 9000.00 0.0 0.20 1.00 35.20 762.6 0.20 1.00

790.2 36.70 9000.00 0.0 0.00 0.00 36.70 0.0 -0.20 1.00

782.9 39.90 9000.00 0.0 -0.32 0.95 39.90 0.0 -0.44 1.00

406.1 88.40 9000.00 0.0 -0.13 1.00 88.40 0.0 -0.13 1.00

393.5 73.50 9000.00 0.0 -0.11 0.89 73.50 320.0 1.18 1.00

380.3 57.80 57.80 322.5 1.19 1.00 57.80 322.5 1.19 1.00

374.0 52.90 52.10 321.9 1.08 0.99 52.90 321.1 0.78 1.00

361.6 42.30 42.40 319.2 0.83 1.00 42.30 319.3 0.85 1.00

355.3 38.40 9000.00 0.0 0.79 1.00 38.40 316.9 0.62 1.00

349.0 31.50 31.90 317.1 0.86 0.98 31.50 317.5 1.10 1.00

342.3 23.30 23.50 318.8 1.16 1.00 23.30 319.0 1.22 1.00

336.0 16.30 16.20 319.8 1.18 1.00 16.30 319.7 1.11 1.00

329.8 10.40 10.20 319.6 1.03 1.00 10.40 319.4 0.95 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

9 -0.93 -146.0 2801 2312 2804 2739 0.0 0.0 0 12 0.00 0.00 -2.40 0.039 16390 0.000 0.000 2801 2312 3393 3412 3375 0 0 0 0 0 0 15.06 13.55 15.07

14 -0.93 -146.0 2803 2312 3414 3377 0.0 0.0 0 22 0.93 0.00 0.00 0.000 4102 0.112 0.000 2496 2310 3394 3412 3376 0 0 0 0 0 0 14.78 14.93 14.91

320 -0.93 -146.0 2495 2312 3411 3374 333.2 -13.6 31 325 0.00 2.53 0.00 0.000 516 0.000 0.080 2496 885 3393 3412 3374 0 0 0 0 0 0 15.09 14.79 15.11

364 -0.93 -146.0 2497 886 3413 3375 339.4 -13.7 40 371 0.00 2.55 0.00 0.000 1030 0.000 0.074 2488 2299 3393 3413 3373 0 0 0 0 0 0 14.83 14.76 14.87

669 -0.93 -146.0 2487 2303 3412 3374 380.5 -12.9 71 675 0.00 2.50 0.00 0.000 516 0.000 0.080 2486 894 3392 3412 3373 0 0 0 0 0 0 15.09 14.78 15.11

714 -0.93 -146.0 2489 894 3414 3374 386.5 -13.6 80 721 0.00 2.53 0.00 0.000 1030 0.000 0.073 2477 2305 3392 3412 3373 0 0 0 0 0 0 14.86 14.80 14.90

1019 -0.93 -146.0 2478 2305 3413 3373 428.0 -13.5 111 1025 0.00 2.50 0.00 0.000 516 0.000 0.076 2477 895 3392 3412 3372 0 0 0 0 0 0 15.09 14.79 15.12

1054 -0.93 -146.0 2479 896 3414 3372 433.1 -14.8 118 1061 0.00 2.50 0.00 0.000 1030 0.000 0.076 2474 2310 3392 3412 3372 0 0 0 0 0 0 14.92 14.81 14.96

1359 -0.93 -146.0 2474 2311 3412 3372 475.1 -14.0 149 1366 0.00 2.53 0.00 0.000 516 0.000 0.078 2474 891 3391 3412 3371 0 0 0 0 0 0 15.09 14.78 15.11

1421 -0.93 -146.0 2474 891 3411 3369 483.8 -14.3 161 1427 0.15 2.50 0.00 0.000 3078 0.295 0.075 2497 2307 3391 3412 3371 0 0 0 0 0 0 14.64 14.81 14.89

1732 -0.93 -146.0 2498 2307 3414 3372 524.4 -13.1 193 1738 0.00 2.55 0.00 0.000 260 0.000 0.108 2487 3725 3390 3411 3369 0 0 0 0 0 0 15.10 14.77 15.13

1777 -0.93 -146.0 2489 3731 3414 3372 530.6 -13.6 202 1784 0.00 2.45 0.00 0.000 1030 0.000 0.046 2487 2289 3394 3419 3370 0 0 0 0 0 0 14.85 14.81 14.88

2083 -0.93 -146.0 2488 2290 3414 3370 570.2 -12.5 233 2083 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2289 3391 3412 3370 0 0 0 0 0 0 15.09 15.11 15.11

2383 -0.93 -146.0 2487 2290 3412 3370 607.0 -12.1 263 2383 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2289 3391 3412 3370 0 0 0 0 0 0 15.09 15.12 15.13

2683 -0.93 -146.0 2488 2290 3414 3376 644.2 -12.5 293 2689 0.00 2.45 0.00 0.000 516 0.000 0.077 2487 895 3390 3412 3369 0 0 0 0 0 0 15.07 14.78 15.09

2718 -0.93 -146.0 2489 896 3414 3370 648.8 -12.7 300 2726 0.00 2.53 0.00 0.000 1030 0.000 0.071 2478 2307 3390 3412 3369 0 0 0 0 0 0 14.85 14.78 14.90

3023 -0.93 -146.0 2478 2308 3413 3371 688.4 -12.9 331 3024 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2307 3390 3412 3369 0 0 0 0 0 0 15.11 15.14 15.14

3335 -0.93 -146.0 2476 2308 3411 3368 728.9 -13.4 348 3340 0.00 2.50 0.00 0.000 516 0.000 0.074 2477 891 3390 3412 3369 0 0 0 0 0 0 15.07 14.80 15.10

3365 -0.93 -146.0 2476 891 3411 3369 733.1 -13.7 354 3370 0.00 2.50 0.00 0.000 1030 0.000 0.073 2474 2310 3390 3412 3369 0 0 0 0 0 0 14.94 14.81 14.96

3755 -0.93 -146.0 2476 2311 3414 3369 782.6 -12.7 372 3760 0.00 2.55 0.00 0.000 260 0.000 0.108 2469 3721 3390 3412 3369 0 0 0 0 0 0 15.07 14.78 15.09

3810 -0.93 -146.0 2469 3721 3413 3368 790.0 -13.9 383 3817 0.10 2.42 0.00 0.000 3078 0.236 0.046 2496 2295 3390 3412 3368 0 0 0 0 0 0 14.63 14.87 14.78

4175 -0.93 -146.0 2496 2295 3412 3369 828.4 -10.2 396 4181 0.00 2.62 0.00 0.000 260 0.000 0.104 2487 3714 3387 3406 3368 0 0 0 0 0 0 15.14 14.76 15.16

4220 -0.93 -146.0 2489 3716 3414 3369 833.7 -12.1 405 4226 0.00 2.40 0.00 0.000 1030 0.000 0.046 2487 2303 3390 3412 3368 0 0 0 0 0 0 14.91 14.87 14.94

4596 -0.93 -146.0 2487 2303 3412 3369 878.7 -12.7 420 4601 0.00 2.47 0.00 0.000 516 0.000 0.076 2487 892 3390 3412 3368 0 0 0 0 0 0 15.14 14.79 15.16

4726 -0.93 -146.0 2487 893 3412 3369 895.2 -12.5 446 4731 0.00 2.50 0.00 0.000 1030 0.000 0.069 2477 2300 3390 3412 3368 0 0 0 0 0 0 14.90 14.79 14.91

4895 end dive: BOTTOM_OBSTACLE_DETECTED

state 4896 begin apogee

4900 -0.23 0.0 2478 2057 3414 3369 916.7 -12.7 455 5077 0.90 0.12 168.93 3.104 10246 0.223 0.138 2727 2129 2779 2816 2743 0 0 0 0 0 0 14.65 13.37 12.36

5078 end apogee: CONTROL_FINISHED_OK

state 5078 begin climb

5080 0.93 146.0 2729 2130 2821 2744 922.5 0.0 461 5275 1.30 2.85 182.10 3.100 11012 0.137 0.095 3097 3510 2184 2240 2128 0 0 0 0 0 0 13.43 13.26 12.26

5294 0.93 146.0 3097 3510 2239 2127 905.9 11.7 498 5301 0.00 2.55 0.00 0.000 1030 0.000 0.046 3106 2131 2181 2237 2126 0 0 0 0 0 0 13.65 13.58 13.66

5686 0.93 146.0 3106 2131 2223 2120 868.2 10.6 516 5691 0.00 2.65 0.00 0.000 516 0.000 0.096 3108 697 2171 2224 2119 0 0 0 0 0 0 14.62 14.38 14.64

5780 0.93 146.0 3108 698 2222 2120 857.3 13.9 535 5786 0.00 2.50 0.00 0.000 1030 0.000 0.061 3107 2092 2170 2221 2119 0 0 0 0 0 0 14.56 14.51 14.64

6165 0.93 146.0 3109 2093 2221 2120 817.0 11.4 552 6171 0.00 2.58 0.00 0.000 260 0.000 0.099 3108 3520 2169 2219 2119 0 0 0 0 0 0 14.95 14.66 14.97

6210 0.93 146.0 3109 3520 2221 2120 811.0 12.9 561 6216 0.00 2.47 0.00 0.000 1030 0.000 0.049 3118 2091 2169 2219 2119 0 0 0 0 0 0 14.78 14.73 14.81

6585 0.93 146.0 3117 2092 2218 2119 764.5 12.2 576 6591 0.00 2.58 0.00 0.000 260 0.000 0.096 3118 3517 2165 2213 2118 0 0 0 0 0 0 15.04 14.73 15.07

6656 0.93 146.0 3117 3516 2219 2119 755.0 14.0 590 6662 0.00 2.40 0.00 0.000 1030 0.000 0.047 3127 2095 2168 2218 2118 0 0 0 0 0 0 14.89 14.81 14.91

7036 0.93 146.0 3127 2096 2216 2119 706.1 12.6 606 7042 0.00 2.55 0.00 0.000 260 0.000 0.097 3127 3511 2167 2216 2118 0 0 0 0 0 0 15.08 14.79 15.11

7103 0.93 146.0 3128 3512 2218 2119 697.1 13.9 619 7109 0.17 2.40 0.00 0.000 5126 0.267 0.049 3096 2089 2167 2216 2118 0 0 0 0 0 0 14.68 14.85 14.90

7407 0.93 146.0 3095 2090 2215 2119 663.2 11.3 650 7413 0.00 2.58 0.00 0.000 260 0.000 0.097 3095 3520 2166 2215 2118 0 0 0 0 0 0 15.09 14.79 15.11

7448 0.93 146.0 3097 3521 2217 2119 658.2 12.5 658 7454 0.00 2.42 0.00 0.000 1030 0.000 0.049 3105 2087 2166 2215 2118 0 0 0 0 0 0 14.95 14.86 14.97

7758 0.93 146.0 3104 2087 2214 2119 622.7 10.6 690 7759 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2086 2166 2214 2118 0 0 0 0 0 0 15.11 15.14 15.14

8058 0.93 146.0 3104 2087 2214 2119 589.1 11.3 720 8064 0.00 2.55 0.00 0.000 260 0.000 0.096 3105 3510 2166 2214 2118 0 0 0 0 0 0 15.11 14.81 15.14

8134 0.93 146.0 3106 3511 2216 2119 579.6 12.6 735 8140 0.00 2.40 0.00 0.000 1030 0.000 0.047 3115 2082 2166 2214 2118 0 0 0 0 0 0 14.96 14.88 14.99

8439 0.93 146.0 3116 2084 2217 2119 545.3 11.4 766 8446 0.00 2.58 0.00 0.000 260 0.000 0.097 3115 3514 2165 2213 2117 0 0 0 0 0 0 15.12 14.81 15.14

8491 0.93 146.0 3116 3514 2215 2119 538.5 13.6 776 8496 0.00 2.40 0.00 0.000 1030 0.000 0.049 3125 2091 2165 2213 2117 0 0 0 0 0 0 14.96 14.87 14.99

8800 0.93 146.0 3124 2091 2213 2118 499.7 12.1 808 8806 0.00 2.55 0.00 0.000 516 0.000 0.096 3133 687 2164 2210 2118 0 0 0 0 0 0 15.12 14.75 15.14

8831 0.93 146.0 3134 688 2214 2118 496.0 12.5 814 8837 0.10 2.47 0.00 0.000 5126 0.226 0.062 3095 2105 2165 2212 2118 0 0 0 0 0 0 14.67 14.79 14.90

9143 0.93 146.0 3095 2105 2211 2118 463.1 10.6 846 9148 0.00 2.53 0.00 0.000 260 0.000 0.098 3096 3522 2164 2212 2117 0 0 0 0 0 0 15.07 14.80 15.09

9213 0.93 146.0 3097 3516 2214 2118 455.0 11.6 860 9218 0.00 2.45 0.00 0.000 1030 0.000 0.047 3105 2093 2164 2212 2117 0 0 0 0 0 0 14.88 14.83 14.91

9523 0.93 146.0 3105 2093 2211 2118 422.5 10.6 892 9528 0.00 2.55 0.00 0.000 260 0.000 0.096 3105 3512 2164 2212 2117 0 0 0 0 0 0 15.09 14.78 15.12

9609 0.93 146.0 3104 3512 2210 2118 412.2 12.6 909 9615 0.00 2.40 0.00 0.000 1030 0.000 0.048 3116 2086 2164 2212 2117 0 0 0 0 0 0 14.94 14.85 14.97

9913 0.93 146.0 3117 2086 2213 2117 379.4 10.9 940 9914 0.00 0.00 0.00 0.000 6 0.000 0.000 3116 2085 2164 2211 2117 0 0 0 0 0 0 15.09 15.12 15.12

10213 0.93 146.0 3115 2086 2210 2118 348.0 10.5 970 10219 0.00 2.58 0.00 0.000 260 0.000 0.095 3115 3518 2164 2211 2117 0 0 0 0 0 0 15.09 14.78 15.11

10238 0.93 146.0 3116 3519 2212 2118 345.0 11.4 975 10245 0.00 2.45 0.00 0.000 1030 0.000 0.047 3126 2091 2164 2211 2117 0 0 0 0 0 0 14.87 14.83 14.90

10422 end climb: SURFACE_OBSTACLE_DETECTED

state 10422 begin subsurface finish

10426 0.01 5.1 3127 2091 2212 2118 325.6 10.5 994 10437 1.12 0.00 -2.40 0.040 20486 0.207 0.000 2803 2090 2777 2812 2743 0 0 0 0 0 0 14.66 13.45 14.93

10437 end subsurface finish: CONTROL_FINISHED_OK

state 10437 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	215	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	3	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	220	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	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	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	1.5	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	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	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	20	PITCH_MIN	225	CF8_MAXERRORS	20	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	230218,173821,-7420.3506,-11253.0566,0,1001.0,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside1
_XMS_NAKs	0	TGT_LATLONG	-7422.000,-11220.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	293.65	MHEAD_RNG_PITCHd_Wd	46.8,16778,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.0	D_GRID	990
GPS2	230218,173821,-7420.3506,-11253.0566,0,1001.0,0,53.7,0.0,0.0,0,0.0

FINISH1	325.6,1.027400,5	_24V_AH	12.26,85.705
FINISH2	324.8	_10V_AH	12.48,0.000
RAFOS_CLK	394	FG_AHR_24Vo	0.000
RAFOS	0,1519408869,18.032778,18.019167,113,71,59,59,59,58,565,206,192,120,153,223	FG_AHR_10Vo	0.000
RAFOS_FIX	-7420.582520,-11250.334961,230218,181824,3,133,0.66	MEM	280040
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	DATA_FILE_SIZE	33396,995
TT8_MAMPS	0.038948,0.270389	CAP_FILE_SIZE	125865,0
HUMID	49.44	CFSIZE	1024409600,994852864
INTERNAL_PRESSURE	8.24835	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	INTR	0,10436.02,0x214570,5,24
XPDR_PINGS	0	SOUNDSPEED	1456.7
ALTIM_TOP_PING	329.8,10.2	GPS	230218,181424,-7420.583,-11250.335,0,4133.3,0,53.7,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	916.7,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	294	17.24	nil	0	0	0.00
Roll_motor	111	138	189.07	nil	0	0	0.00
VBD_pump_during_apogee	351	3103	13356.57	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	10430	10	1314.52
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	233.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7823	2	225.53
TT8_Active	494	13	85.34
TT8_Sampling	2083	34	904.69
TT8_CF8	119	52	78.42
TT8_Kalman	0	0	0.00
Analog_circuits	1245	10	169.38
GPS_charging	0	0	0.00
Compass	1426	7	133.32
RAFOS	720	1	13.48
Transponder	320	30	120.18

		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
307.5	20.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
314.1	27.70	9000.00	0.0	0.00	0.00	27.70	0.0	1.08	1.00
860.1	68.10	9000.00	0.0	0.08	0.98	68.10	0.0	0.07	1.00
881.3	43.40	9000.00	0.0	0.05	0.60	43.40	924.7	-1.17	1.00
887.7	40.00	38.60	926.3	-1.05	0.99	40.00	927.7	-0.53	1.00
894.0	30.50	31.60	925.6	-1.01	0.92	30.50	924.5	-1.51	1.00
901.5	22.80	22.30	923.8	-1.25	0.99	22.80	924.3	-1.03	1.00
909.0	15.40	15.40	924.4	-1.00	1.00	15.40	924.4	-0.99	1.00
916.7	10.00	9.60	926.3	-0.84	0.99	10.00	926.7	-0.70	1.00

912.8	8.80	9000.00	0.0	-0.70	0.59	8.80	904.0	0.31	1.00
906.5	8.00	9000.00	0.0	0.18	0.95	8.00	898.5	0.13	1.00
874.6	8.90	9000.00	0.0	-0.01	0.14	8.90	0.0	-0.03	1.00
868.2	16.80	9000.00	0.0	-0.16	0.48	16.80	0.0	-1.23	1.00
862.0	21.40	22.00	0.0	-1.00	0.98	21.40	0.0	-0.74	1.00
855.7	24.70	9000.00	0.0	-0.63	0.99	24.70	0.0	-0.52	1.00
849.0	25.30	9000.00	0.0	-0.29	0.85	25.30	0.0	-0.09	1.00
839.9	25.30	9000.00	0.0	-0.04	0.77	0.00	0.0	0.00	0.00
833.6	27.80	9000.00	0.0	-0.16	0.68	27.80	0.0	-0.40	1.00
827.1	32.00	9000.00	0.0	-0.52	0.98	32.00	0.0	-0.65	1.00
820.2	36.30	9000.00	0.0	-0.63	1.00	36.30	0.0	-0.62	1.00
813.6	38.40	9000.00	0.0	-0.48	0.96	38.40	0.0	-0.32	1.00
805.4	36.70	9000.00	0.0	-0.02	0.01	36.70	768.7	0.21	1.00
797.8	35.20	9000.00	0.0	0.20	1.00	35.20	762.6	0.20	1.00
790.2	36.70	9000.00	0.0	0.00	0.00	36.70	0.0	-0.20	1.00
782.9	39.90	9000.00	0.0	-0.32	0.95	39.90	0.0	-0.44	1.00
406.1	88.40	9000.00	0.0	-0.13	1.00	88.40	0.0	-0.13	1.00
393.5	73.50	9000.00	0.0	-0.11	0.89	73.50	320.0	1.18	1.00
380.3	57.80	57.80	322.5	1.19	1.00	57.80	322.5	1.19	1.00
374.0	52.90	52.10	321.9	1.08	0.99	52.90	321.1	0.78	1.00
361.6	42.30	42.40	319.2	0.83	1.00	42.30	319.3	0.85	1.00
355.3	38.40	9000.00	0.0	0.79	1.00	38.40	316.9	0.62	1.00
349.0	31.50	31.90	317.1	0.86	0.98	31.50	317.5	1.10	1.00
342.3	23.30	23.50	318.8	1.16	1.00	23.30	319.0	1.22	1.00
336.0	16.30	16.20	319.8	1.18	1.00	16.30	319.7	1.11	1.00
329.8	10.40	10.20	319.6	1.03	1.00	10.40	319.4	0.95	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
9	-0.93	-146.0	2801	2312	2804	2739	0.0	0.0	0	12	0.00	0.00	-2.40	0.039	16390	0.000	0.000	2801	2312	3393	3412	3375	0	0	0	0	0	0	15.06	13.55	15.07
14	-0.93	-146.0	2803	2312	3414	3377	0.0	0.0	0	22	0.93	0.00	0.00	0.000	4102	0.112	0.000	2496	2310	3394	3412	3376	0	0	0	0	0	0	14.78	14.93	14.91
320	-0.93	-146.0	2495	2312	3411	3374	333.2	-13.6	31	325	0.00	2.53	0.00	0.000	516	0.000	0.080	2496	885	3393	3412	3374	0	0	0	0	0	0	15.09	14.79	15.11
364	-0.93	-146.0	2497	886	3413	3375	339.4	-13.7	40	371	0.00	2.55	0.00	0.000	1030	0.000	0.074	2488	2299	3393	3413	3373	0	0	0	0	0	0	14.83	14.76	14.87
669	-0.93	-146.0	2487	2303	3412	3374	380.5	-12.9	71	675	0.00	2.50	0.00	0.000	516	0.000	0.080	2486	894	3392	3412	3373	0	0	0	0	0	0	15.09	14.78	15.11
714	-0.93	-146.0	2489	894	3414	3374	386.5	-13.6	80	721	0.00	2.53	0.00	0.000	1030	0.000	0.073	2477	2305	3392	3412	3373	0	0	0	0	0	0	14.86	14.80	14.90
1019	-0.93	-146.0	2478	2305	3413	3373	428.0	-13.5	111	1025	0.00	2.50	0.00	0.000	516	0.000	0.076	2477	895	3392	3412	3372	0	0	0	0	0	0	15.09	14.79	15.12
1054	-0.93	-146.0	2479	896	3414	3372	433.1	-14.8	118	1061	0.00	2.50	0.00	0.000	1030	0.000	0.076	2474	2310	3392	3412	3372	0	0	0	0	0	0	14.92	14.81	14.96
1359	-0.93	-146.0	2474	2311	3412	3372	475.1	-14.0	149	1366	0.00	2.53	0.00	0.000	516	0.000	0.078	2474	891	3391	3412	3371	0	0	0	0	0	0	15.09	14.78	15.11
1421	-0.93	-146.0	2474	891	3411	3369	483.8	-14.3	161	1427	0.15	2.50	0.00	0.000	3078	0.295	0.075	2497	2307	3391	3412	3371	0	0	0	0	0	0	14.64	14.81	14.89
1732	-0.93	-146.0	2498	2307	3414	3372	524.4	-13.1	193	1738	0.00	2.55	0.00	0.000	260	0.000	0.108	2487	3725	3390	3411	3369	0	0	0	0	0	0	15.10	14.77	15.13
1777	-0.93	-146.0	2489	3731	3414	3372	530.6	-13.6	202	1784	0.00	2.45	0.00	0.000	1030	0.000	0.046	2487	2289	3394	3419	3370	0	0	0	0	0	0	14.85	14.81	14.88
2083	-0.93	-146.0	2488	2290	3414	3370	570.2	-12.5	233	2083	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2289	3391	3412	3370	0	0	0	0	0	0	15.09	15.11	15.11
2383	-0.93	-146.0	2487	2290	3412	3370	607.0	-12.1	263	2383	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2289	3391	3412	3370	0	0	0	0	0	0	15.09	15.12	15.13
2683	-0.93	-146.0	2488	2290	3414	3376	644.2	-12.5	293	2689	0.00	2.45	0.00	0.000	516	0.000	0.077	2487	895	3390	3412	3369	0	0	0	0	0	0	15.07	14.78	15.09
2718	-0.93	-146.0	2489	896	3414	3370	648.8	-12.7	300	2726	0.00	2.53	0.00	0.000	1030	0.000	0.071	2478	2307	3390	3412	3369	0	0	0	0	0	0	14.85	14.78	14.90
3023	-0.93	-146.0	2478	2308	3413	3371	688.4	-12.9	331	3024	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2307	3390	3412	3369	0	0	0	0	0	0	15.11	15.14	15.14
3335	-0.93	-146.0	2476	2308	3411	3368	728.9	-13.4	348	3340	0.00	2.50	0.00	0.000	516	0.000	0.074	2477	891	3390	3412	3369	0	0	0	0	0	0	15.07	14.80	15.10
3365	-0.93	-146.0	2476	891	3411	3369	733.1	-13.7	354	3370	0.00	2.50	0.00	0.000	1030	0.000	0.073	2474	2310	3390	3412	3369	0	0	0	0	0	0	14.94	14.81	14.96
3755	-0.93	-146.0	2476	2311	3414	3369	782.6	-12.7	372	3760	0.00	2.55	0.00	0.000	260	0.000	0.108	2469	3721	3390	3412	3369	0	0	0	0	0	0	15.07	14.78	15.09
3810	-0.93	-146.0	2469	3721	3413	3368	790.0	-13.9	383	3817	0.10	2.42	0.00	0.000	3078	0.236	0.046	2496	2295	3390	3412	3368	0	0	0	0	0	0	14.63	14.87	14.78
4175	-0.93	-146.0	2496	2295	3412	3369	828.4	-10.2	396	4181	0.00	2.62	0.00	0.000	260	0.000	0.104	2487	3714	3387	3406	3368	0	0	0	0	0	0	15.14	14.76	15.16
4220	-0.93	-146.0	2489	3716	3414	3369	833.7	-12.1	405	4226	0.00	2.40	0.00	0.000	1030	0.000	0.046	2487	2303	3390	3412	3368	0	0	0	0	0	0	14.91	14.87	14.94
4596	-0.93	-146.0	2487	2303	3412	3369	878.7	-12.7	420	4601	0.00	2.47	0.00	0.000	516	0.000	0.076	2487	892	3390	3412	3368	0	0	0	0	0	0	15.14	14.79	15.16
4726	-0.93	-146.0	2487	893	3412	3369	895.2	-12.5	446	4731	0.00	2.50	0.00	0.000	1030	0.000	0.069	2477	2300	3390	3412	3368	0	0	0	0	0	0	14.90	14.79	14.91
4895	end dive: BOTTOM_OBSTACLE_DETECTED
state	4896	begin apogee
4900	-0.23	0.0	2478	2057	3414	3369	916.7	-12.7	455	5077	0.90	0.12	168.93	3.104	10246	0.223	0.138	2727	2129	2779	2816	2743	0	0	0	0	0	0	14.65	13.37	12.36
5078	end apogee: CONTROL_FINISHED_OK
state	5078	begin climb
5080	0.93	146.0	2729	2130	2821	2744	922.5	0.0	461	5275	1.30	2.85	182.10	3.100	11012	0.137	0.095	3097	3510	2184	2240	2128	0	0	0	0	0	0	13.43	13.26	12.26
5294	0.93	146.0	3097	3510	2239	2127	905.9	11.7	498	5301	0.00	2.55	0.00	0.000	1030	0.000	0.046	3106	2131	2181	2237	2126	0	0	0	0	0	0	13.65	13.58	13.66
5686	0.93	146.0	3106	2131	2223	2120	868.2	10.6	516	5691	0.00	2.65	0.00	0.000	516	0.000	0.096	3108	697	2171	2224	2119	0	0	0	0	0	0	14.62	14.38	14.64
5780	0.93	146.0	3108	698	2222	2120	857.3	13.9	535	5786	0.00	2.50	0.00	0.000	1030	0.000	0.061	3107	2092	2170	2221	2119	0	0	0	0	0	0	14.56	14.51	14.64
6165	0.93	146.0	3109	2093	2221	2120	817.0	11.4	552	6171	0.00	2.58	0.00	0.000	260	0.000	0.099	3108	3520	2169	2219	2119	0	0	0	0	0	0	14.95	14.66	14.97
6210	0.93	146.0	3109	3520	2221	2120	811.0	12.9	561	6216	0.00	2.47	0.00	0.000	1030	0.000	0.049	3118	2091	2169	2219	2119	0	0	0	0	0	0	14.78	14.73	14.81
6585	0.93	146.0	3117	2092	2218	2119	764.5	12.2	576	6591	0.00	2.58	0.00	0.000	260	0.000	0.096	3118	3517	2165	2213	2118	0	0	0	0	0	0	15.04	14.73	15.07
6656	0.93	146.0	3117	3516	2219	2119	755.0	14.0	590	6662	0.00	2.40	0.00	0.000	1030	0.000	0.047	3127	2095	2168	2218	2118	0	0	0	0	0	0	14.89	14.81	14.91
7036	0.93	146.0	3127	2096	2216	2119	706.1	12.6	606	7042	0.00	2.55	0.00	0.000	260	0.000	0.097	3127	3511	2167	2216	2118	0	0	0	0	0	0	15.08	14.79	15.11
7103	0.93	146.0	3128	3512	2218	2119	697.1	13.9	619	7109	0.17	2.40	0.00	0.000	5126	0.267	0.049	3096	2089	2167	2216	2118	0	0	0	0	0	0	14.68	14.85	14.90
7407	0.93	146.0	3095	2090	2215	2119	663.2	11.3	650	7413	0.00	2.58	0.00	0.000	260	0.000	0.097	3095	3520	2166	2215	2118	0	0	0	0	0	0	15.09	14.79	15.11
7448	0.93	146.0	3097	3521	2217	2119	658.2	12.5	658	7454	0.00	2.42	0.00	0.000	1030	0.000	0.049	3105	2087	2166	2215	2118	0	0	0	0	0	0	14.95	14.86	14.97
7758	0.93	146.0	3104	2087	2214	2119	622.7	10.6	690	7759	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2086	2166	2214	2118	0	0	0	0	0	0	15.11	15.14	15.14
8058	0.93	146.0	3104	2087	2214	2119	589.1	11.3	720	8064	0.00	2.55	0.00	0.000	260	0.000	0.096	3105	3510	2166	2214	2118	0	0	0	0	0	0	15.11	14.81	15.14
8134	0.93	146.0	3106	3511	2216	2119	579.6	12.6	735	8140	0.00	2.40	0.00	0.000	1030	0.000	0.047	3115	2082	2166	2214	2118	0	0	0	0	0	0	14.96	14.88	14.99
8439	0.93	146.0	3116	2084	2217	2119	545.3	11.4	766	8446	0.00	2.58	0.00	0.000	260	0.000	0.097	3115	3514	2165	2213	2117	0	0	0	0	0	0	15.12	14.81	15.14
8491	0.93	146.0	3116	3514	2215	2119	538.5	13.6	776	8496	0.00	2.40	0.00	0.000	1030	0.000	0.049	3125	2091	2165	2213	2117	0	0	0	0	0	0	14.96	14.87	14.99
8800	0.93	146.0	3124	2091	2213	2118	499.7	12.1	808	8806	0.00	2.55	0.00	0.000	516	0.000	0.096	3133	687	2164	2210	2118	0	0	0	0	0	0	15.12	14.75	15.14
8831	0.93	146.0	3134	688	2214	2118	496.0	12.5	814	8837	0.10	2.47	0.00	0.000	5126	0.226	0.062	3095	2105	2165	2212	2118	0	0	0	0	0	0	14.67	14.79	14.90
9143	0.93	146.0	3095	2105	2211	2118	463.1	10.6	846	9148	0.00	2.53	0.00	0.000	260	0.000	0.098	3096	3522	2164	2212	2117	0	0	0	0	0	0	15.07	14.80	15.09
9213	0.93	146.0	3097	3516	2214	2118	455.0	11.6	860	9218	0.00	2.45	0.00	0.000	1030	0.000	0.047	3105	2093	2164	2212	2117	0	0	0	0	0	0	14.88	14.83	14.91
9523	0.93	146.0	3105	2093	2211	2118	422.5	10.6	892	9528	0.00	2.55	0.00	0.000	260	0.000	0.096	3105	3512	2164	2212	2117	0	0	0	0	0	0	15.09	14.78	15.12
9609	0.93	146.0	3104	3512	2210	2118	412.2	12.6	909	9615	0.00	2.40	0.00	0.000	1030	0.000	0.048	3116	2086	2164	2212	2117	0	0	0	0	0	0	14.94	14.85	14.97
9913	0.93	146.0	3117	2086	2213	2117	379.4	10.9	940	9914	0.00	0.00	0.00	0.000	6	0.000	0.000	3116	2085	2164	2211	2117	0	0	0	0	0	0	15.09	15.12	15.12
10213	0.93	146.0	3115	2086	2210	2118	348.0	10.5	970	10219	0.00	2.58	0.00	0.000	260	0.000	0.095	3115	3518	2164	2211	2117	0	0	0	0	0	0	15.09	14.78	15.11
10238	0.93	146.0	3116	3519	2212	2118	345.0	11.4	975	10245	0.00	2.45	0.00	0.000	1030	0.000	0.047	3126	2091	2164	2211	2117	0	0	0	0	0	0	14.87	14.83	14.90
10422	end climb: SURFACE_OBSTACLE_DETECTED
state	10422	begin subsurface finish
10426	0.01	5.1	3127	2091	2212	2118	325.6	10.5	994	10437	1.12	0.00	-2.40	0.040	20486	0.207	0.000	2803	2090	2777	2812	2743	0	0	0	0	0	0	14.66	13.45	14.93
10437	end subsurface finish: CONTROL_FINISHED_OK
state	10437	begin surface