Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 737 * 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 737 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 41 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 19 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 49

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 49 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 737 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 41 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 19 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 251218,040801,-7403.1787,-11225.6719,25,0.9,26,53.2,0.2,0.0,8,7.5 SPEED_LIMITS 0.100,0.244

_CALLS 2 TGT_NAME hold2

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.40 MHEAD_RNG_PITCHd_Wd 101.0,1594,-43.9,-10.000,-45.00,342

_SM_ANGLEo -57.7 D_GRID 990

GPS2 251218,041745,-7403.1724,-11225.8604,4,1.3,7,53.2,0.7,259.8,7,8.3

Post-dive calculations and measurements:

FREEZE -0.32,-0.364,-1.879,2,1,0 ALTIM_BOTTOM_PING 847.2,14.5

FINISH -0.3,1.027524 _24V_AH 11.33,232.185

SM_CCo 11234,207.20,0.218,0,0,1898,399.91 _10V_AH 11.70,0.000

SM_GC 0.44,9.85,0.47,207.20,0.080,0.080,0.218,193,2817,1898,-8.03,-0.40,399.91,0,0,0,0,0,0,14.36,14.35,14.16 FG_AHR_24Vo 0.000

RAFOS_CLK 459 FG_AHR_10Vo 0.000

RAFOS 0,1545717667,6.032355,6.018611,124,63,58,55,54,48,549,177,145,210,126,191 MEM 279668

RAFOS_FIX -7404.296875,-11224.903320,251218,060604,2,108,0.32 DATA_FILE_SIZE 26687,789

IRIDIUM_FIX -7404.37,-11256.48,251218,041131 CAP_FILE_SIZE 125403,0

TT8_MAMPS 0.038948,0.244174 CFSIZE 1024409600,932741120

HUMID 47.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1449.6

TCM_TEMP 13.00 CURRENT 0.014,291.95,1

XPDR_PINGS 0 GPS 251218,073031,-7404.119,-11224.712,45,1.0,50,53.2,0.5,231.0,8,6.8

ALTIM_TOP_PING 12.0,11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 426 121.90 nil 0 0 0.00

Roll_motor 73 80 67.14 nil 0 0 0.00

VBD_pump_during_apogee 191 3086 6700.07 nil 0 0 0.00

VBD_pump_during_surface 207 218 511.83 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 11224 3 439.49

Iridium_during_xfer 336 198 759.22 nil 0 0 0.00

Transponder_ping 55 420 264.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 8 0.93

TT8 0 0 0.00

LPSleep 8949 2 241.88

TT8_Active 600 10 76.40

TT8_Sampling 2081 30 739.12

TT8_CF8 401 51 241.04

TT8_Kalman 0 0 0.00

Analog_circuits 1540 10 182.01

GPS_charging 0 0 0.00

Compass 1132 6 89.33

RAFOS 720 1 12.64

Transponder 414 30 145.59

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

12.2 14.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.4 20.00 9000.00 0.0 0.00 0.00 20.00 0.0 0.95 1.00

24.8 27.10 26.90 0.0 1.03 1.00 27.10 0.0 1.11 1.00

39.5 42.20 42.30 0.0 1.05 1.00 42.20 0.0 1.03 1.00

818.4 46.50 9000.00 0.0 0.02 0.46 46.50 0.0 0.01 1.00

825.2 35.50 9000.00 0.0 0.00 0.02 35.50 860.7 -1.62 1.00

831.8 28.00 9000.00 0.0 -1.38 0.99 28.00 859.8 -1.14 1.00

839.6 20.40 20.20 859.8 -1.04 1.00 20.40 860.0 -0.97 1.00

847.2 14.80 14.50 861.7 -0.86 0.99 14.80 862.0 -0.74 1.00

844.1 17.60 9000.00 0.0 -0.73 0.98 17.60 0.0 -0.90 1.00

837.9 24.00 23.90 0.0 -0.99 1.00 24.00 0.0 -1.03 1.00

103.1 108.20 9000.00 0.0 -0.12 1.00 108.20 0.0 -0.11 1.00

96.1 99.50 9000.00 0.0 -0.11 0.99 99.50 -3.4 1.24 1.00

89.1 92.80 92.50 -3.4 1.10 0.99 92.80 -3.7 0.96 1.00

82.0 85.20 85.30 -3.3 1.02 1.00 85.20 -3.2 1.07 1.00

74.9 77.30 77.30 -2.4 1.09 1.00 77.30 -2.4 1.11 1.00

67.8 69.70 69.60 -1.8 1.09 1.00 69.70 -1.9 1.07 1.00

53.6 55.30 55.30 -1.7 1.03 1.00 55.30 -1.7 1.01 1.00

46.5 47.80 47.90 -1.4 1.03 1.00 47.80 -1.3 1.06 1.00

39.1 39.90 39.90 -0.8 1.06 1.00 39.90 -0.8 1.07 1.00

32.4 32.60 32.60 -0.2 1.07 1.00 32.60 -0.2 1.09 1.00

25.8 26.20 26.10 -0.3 1.03 1.00 26.20 -0.4 0.97 1.00

18.9 18.90 19.00 -0.1 1.01 1.00 18.90 0.0 1.06 1.00

12.0 11.90 11.90 0.1 1.04 1.00 11.90 0.1 1.01 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

10 -2.02 -22.2 184 2810 1934 1802 0.0 0.0 0 121 0.00 0.00 -105.15 0.003 16390 0.000 0.000 184 2809 3584 3604 3565 0 0 0 0 0 0 14.77 13.07 14.74

125 -2.06 -50.8 185 2809 3608 3565 1.5 -1.4 11 148 9.68 2.53 -5.22 0.018 18980 0.426 0.067 2110 1383 3697 3705 3690 0 0 0 0 0 0 13.97 12.83 14.40

344 -2.06 -50.8 2112 1383 3714 3696 29.9 -14.5 54 351 0.00 2.53 0.00 0.000 1030 0.000 0.054 2101 2818 3705 3712 3698 0 0 0 0 0 0 14.49 14.39 14.53

650 -2.06 -50.8 2102 2818 3715 3700 75.8 -14.9 85 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2817 3706 3714 3699 0 0 0 0 0 0 14.83 14.83 14.83

949 -2.06 -50.8 2102 2817 3716 3701 120.2 -14.7 115 950 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2817 3708 3715 3701 0 0 0 0 0 0 14.83 14.83 14.83

1250 -2.06 -50.8 2101 2819 3716 3703 164.1 -14.5 145 1250 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2818 3708 3715 3702 0 0 0 0 0 0 14.82 14.82 14.83

1550 -2.06 -50.8 2101 2818 3717 3702 208.5 -15.1 175 1555 0.00 2.50 0.00 0.000 516 0.000 0.043 2101 1385 3709 3716 3702 0 0 0 0 0 0 14.82 14.26 14.82

1570 -2.06 -50.8 2101 1387 3717 3703 211.7 -14.9 179 1576 0.00 2.53 0.00 0.000 1030 0.000 0.052 2091 2815 3709 3716 3702 0 0 0 0 0 0 14.40 14.28 14.45

1882 -2.06 -50.8 2090 2816 3716 3703 256.8 -13.9 211 1887 0.00 2.47 0.00 0.000 516 0.000 0.043 2090 1394 3709 3716 3702 0 0 0 0 0 0 14.81 14.25 14.81

1958 -2.06 -50.8 2090 1394 3716 3703 267.2 -13.5 226 1964 0.17 2.50 0.00 0.000 3078 0.351 0.054 2112 2805 3709 3716 3703 0 0 0 0 0 0 13.65 14.26 14.15

2263 -2.06 -50.8 2113 2805 3717 3702 306.1 -12.6 255 2268 0.00 2.47 0.00 0.000 516 0.000 0.044 2112 1389 3709 3716 3702 0 0 0 0 0 0 14.85 14.16 14.85

2308 -2.06 -50.8 2113 1389 3717 3702 311.9 -12.5 264 2313 0.00 2.50 0.00 0.000 1030 0.000 0.053 2102 2801 3709 3716 3702 0 0 0 0 0 0 14.39 14.25 14.42

2624 -2.06 -50.8 2101 2801 3716 3702 352.8 -12.9 282 2629 0.00 2.47 0.00 0.000 516 0.000 0.043 2102 1387 3709 3716 3702 0 0 0 0 0 0 14.84 14.22 14.83

2665 -2.06 -50.8 2101 1387 3716 3703 358.0 -12.6 290 2671 0.00 2.53 0.00 0.000 1030 0.000 0.053 2091 2804 3709 3716 3702 0 0 0 0 0 0 14.36 14.24 14.40

2988 -2.06 -50.8 2091 2805 3716 3703 398.6 -12.3 309 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2804 3709 3716 3702 0 0 0 0 0 0 14.66 14.66 14.66

3290 -2.06 -50.8 2092 2804 3717 3702 433.8 -11.8 324 3291 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2804 3708 3715 3702 0 0 0 0 0 0 14.64 14.64 14.64

3590 -2.06 -50.8 2091 2805 3716 3703 469.5 -12.1 339 3595 0.00 2.50 0.00 0.000 516 0.000 0.043 2091 1384 3709 3716 3702 0 0 0 0 0 0 14.64 14.20 14.64

3631 -2.06 -50.8 2092 1384 3717 3702 474.7 -11.7 347 3637 0.17 2.53 0.00 0.000 3078 0.354 0.054 2113 2802 3709 3716 3702 0 0 0 0 0 0 13.59 14.20 14.09

3942 -2.06 -50.8 2113 2802 3717 3702 511.0 -11.7 364 3943 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2802 3708 3716 3701 0 0 0 0 0 0 14.80 14.80 14.80

4305 -2.06 -50.8 2113 2803 3717 3700 551.8 -11.2 376 4310 0.00 2.47 0.00 0.000 516 0.000 0.042 2112 1391 3708 3716 3700 0 0 0 0 0 0 14.77 14.19 14.77

4341 -2.06 -50.8 2113 1391 3717 3700 556.1 -11.1 383 4346 0.00 2.53 0.00 0.000 1030 0.000 0.054 2102 2805 3708 3716 3700 0 0 0 0 0 0 14.32 14.19 14.35

4727 -2.06 -50.8 2103 2805 3717 3698 598.1 -10.8 400 4728 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2805 3707 3715 3699 0 0 0 0 0 0 14.78 14.78 14.78

5087 -2.06 -50.8 2102 2806 3715 3700 633.7 -9.5 412 5088 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2805 3706 3714 3699 0 0 0 0 0 0 14.78 14.78 14.78

5447 -2.06 -50.8 2102 2806 3714 3699 665.1 -8.5 424 5448 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2805 3706 3714 3698 0 0 0 0 0 0 14.78 14.78 14.78

5807 -2.06 -50.8 2103 2805 3715 3703 695.3 -8.4 436 5812 0.00 2.47 0.00 0.000 516 0.000 0.042 2102 1392 3706 3714 3698 0 0 0 0 0 0 14.78 14.17 14.78

5838 -2.06 -50.8 2103 1393 3716 3696 698.0 -9.3 442 5844 0.00 2.58 0.00 0.000 1030 0.000 0.055 2094 2813 3706 3714 3698 0 0 0 0 0 0 14.29 14.17 14.33

6230 -2.07 -58.0 2094 2814 3714 3699 729.8 -7.9 460 6235 0.00 1.98 0.00 0.000 292 0.000 0.074 2085 3910 3706 3714 3698 0 0 0 0 0 0 14.78 14.09 14.79

6325 -2.07 -58.0 2085 3909 3715 3698 737.6 -8.1 479 6330 0.00 1.90 0.00 0.000 1030 0.000 0.041 2085 2785 3706 3714 3698 0 0 0 0 0 0 14.38 14.33 14.40

6713 -2.07 -65.5 2085 2786 3715 3699 769.1 -7.7 496 6713 0.00 0.00 0.00 0.000 38 0.000 0.000 2085 2786 3705 3714 3697 0 0 0 0 0 0 14.61 14.62 14.61

7071 -2.09 -76.1 2086 2786 3715 3698 793.3 -6.8 508 7076 0.00 2.42 0.00 0.000 548 0.000 0.042 2085 1392 3706 3714 3698 0 0 0 0 0 0 14.78 14.16 14.78

7107 -2.10 -86.1 2085 1393 3714 3695 795.8 -7.0 515 7112 0.00 2.53 0.00 0.000 1062 0.000 0.054 2074 2806 3705 3714 3697 0 0 0 0 0 0 14.28 14.16 14.32

7494 -2.11 -93.6 2074 2807 3715 3698 825.2 -7.8 532 7495 0.00 0.00 0.00 0.000 38 0.000 0.000 2074 2807 3706 3714 3698 0 0 0 0 0 0 14.62 14.62 14.62

7856 -2.12 -105.6 2074 2808 3715 3699 849.0 -6.4 544 7861 0.00 2.03 0.00 0.000 292 0.000 0.076 2069 3917 3706 3714 3698 0 0 0 0 0 0 14.77 14.05 14.78

7889 end dive: BOTTOM_OBSTACLE_DETECTED

state 7889 begin apogee

7898 -0.23 0.0 2069 2537 3715 3698 851.7 -7.2 551 7967 2.72 0.00 63.92 3.056 10246 0.318 0.000 2694 2537 3491 3499 3484 0 0 0 0 0 0 13.80 13.81 12.52

7968 end apogee: CONTROL_FINISHED_OK

state 7968 begin climb

7971 2.12 105.6 2695 2538 3498 3484 852.7 0.0 553 8108 2.47 0.00 127.70 3.086 10758 0.109 0.000 3461 2537 3070 3085 3055 0 0 0 0 0 0 13.81 12.58 11.33

8466 2.12 105.6 3462 2537 3076 3045 721.6 30.2 575 8467 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 2537 3059 3075 3044 0 0 0 0 0 0 14.44 14.44 14.45

8823 2.12 105.6 3459 2535 3075 3043 614.5 29.6 587 8828 0.00 2.45 0.00 0.000 516 0.000 0.062 3472 1152 3058 3073 3043 0 0 0 0 0 0 14.77 14.41 14.77

8854 2.12 105.6 3471 1152 3073 3044 605.3 28.9 593 8859 0.00 2.50 0.00 0.000 1030 0.000 0.066 3472 2562 3057 3072 3043 0 0 0 0 0 0 14.57 14.45 14.61

9246 2.12 105.6 3471 2563 3073 3044 495.0 27.9 611 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 3472 2562 3057 3073 3042 0 0 0 0 0 0 14.78 14.78 14.78

9545 2.12 105.6 3472 2562 3074 3042 412.9 27.0 626 9553 0.00 2.53 0.00 0.000 516 0.000 0.062 3482 1155 3058 3073 3043 0 0 0 0 0 0 14.85 14.35 14.85

9579 2.12 105.6 3482 1157 3074 3044 404.1 26.4 632 9584 0.00 2.50 0.00 0.000 1030 0.000 0.065 3482 2558 3058 3073 3043 0 0 0 0 0 0 14.52 14.40 14.57

9891 2.12 105.6 3482 2559 3075 3043 320.7 27.0 649 9892 0.00 0.00 0.00 0.000 6 0.000 0.000 3482 2558 3057 3073 3042 0 0 0 0 0 0 14.76 14.76 14.76

10190 2.12 105.6 3482 2559 3075 3043 241.4 26.1 675 10195 0.00 2.50 0.00 0.000 516 0.000 0.060 3492 1161 3058 3073 3043 0 0 0 0 0 0 14.83 14.33 14.85

10246 2.12 105.6 3487 1165 3074 3043 227.0 25.3 686 10254 0.17 2.50 0.00 0.000 5126 0.349 0.064 3460 2558 3058 3073 3043 0 0 0 0 0 0 13.85 14.36 14.33

10552 2.12 105.6 3460 2559 3073 3044 153.2 23.6 717 10558 0.00 2.47 0.00 0.000 516 0.000 0.060 3470 1156 3058 3073 3043 0 0 0 0 0 0 14.83 14.27 14.83

10604 2.12 105.6 3471 1156 3074 3043 141.0 23.2 727 10609 0.00 2.50 0.00 0.000 1030 0.000 0.066 3470 2554 3057 3072 3042 0 0 0 0 0 0 14.48 14.35 14.53

10919 2.12 105.6 3470 2553 3074 3043 67.8 23.8 759 10925 0.00 0.00 0.00 0.000 6 0.000 0.000 3470 2554 3058 3073 3043 0 0 0 0 0 0 14.73 14.73 14.73

11205 end climb: SURFACE_DEPTH_REACHED

state 11205 begin surface coast

11212 end surface coast: CONTROL_FINISHED_OK

state 11212 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	737	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	41	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	19	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	49
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	251218,040801,-7403.1787,-11225.6719,25,0.9,26,53.2,0.2,0.0,8,7.5	SPEED_LIMITS	0.100,0.244
_CALLS	2	TGT_NAME	hold2
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.40	MHEAD_RNG_PITCHd_Wd	101.0,1594,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-57.7	D_GRID	990
GPS2	251218,041745,-7403.1724,-11225.8604,4,1.3,7,53.2,0.7,259.8,7,8.3

FREEZE	-0.32,-0.364,-1.879,2,1,0	ALTIM_BOTTOM_PING	847.2,14.5
FINISH	-0.3,1.027524	_24V_AH	11.33,232.185
SM_CCo	11234,207.20,0.218,0,0,1898,399.91	_10V_AH	11.70,0.000
SM_GC	0.44,9.85,0.47,207.20,0.080,0.080,0.218,193,2817,1898,-8.03,-0.40,399.91,0,0,0,0,0,0,14.36,14.35,14.16	FG_AHR_24Vo	0.000
RAFOS_CLK	459	FG_AHR_10Vo	0.000
RAFOS	0,1545717667,6.032355,6.018611,124,63,58,55,54,48,549,177,145,210,126,191	MEM	279668
RAFOS_FIX	-7404.296875,-11224.903320,251218,060604,2,108,0.32	DATA_FILE_SIZE	26687,789
IRIDIUM_FIX	-7404.37,-11256.48,251218,041131	CAP_FILE_SIZE	125403,0
TT8_MAMPS	0.038948,0.244174	CFSIZE	1024409600,932741120
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1449.6
TCM_TEMP	13.00	CURRENT	0.014,291.95,1
XPDR_PINGS	0	GPS	251218,073031,-7404.119,-11224.712,45,1.0,50,53.2,0.5,231.0,8,6.8
ALTIM_TOP_PING	12.0,11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	426	121.90	nil	0	0	0.00
Roll_motor	73	80	67.14	nil	0	0	0.00
VBD_pump_during_apogee	191	3086	6700.07	nil	0	0	0.00
VBD_pump_during_surface	207	218	511.83	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	11224	3	439.49
Iridium_during_xfer	336	198	759.22	nil	0	0	0.00
Transponder_ping	55	420	264.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	8	0.93
TT8	0	0	0.00
LPSleep	8949	2	241.88
TT8_Active	600	10	76.40
TT8_Sampling	2081	30	739.12
TT8_CF8	401	51	241.04
TT8_Kalman	0	0	0.00
Analog_circuits	1540	10	182.01
GPS_charging	0	0	0.00
Compass	1132	6	89.33
RAFOS	720	1	12.64
Transponder	414	30	145.59

		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
12.2	14.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.4	20.00	9000.00	0.0	0.00	0.00	20.00	0.0	0.95	1.00
24.8	27.10	26.90	0.0	1.03	1.00	27.10	0.0	1.11	1.00
39.5	42.20	42.30	0.0	1.05	1.00	42.20	0.0	1.03	1.00
818.4	46.50	9000.00	0.0	0.02	0.46	46.50	0.0	0.01	1.00
825.2	35.50	9000.00	0.0	0.00	0.02	35.50	860.7	-1.62	1.00
831.8	28.00	9000.00	0.0	-1.38	0.99	28.00	859.8	-1.14	1.00
839.6	20.40	20.20	859.8	-1.04	1.00	20.40	860.0	-0.97	1.00
847.2	14.80	14.50	861.7	-0.86	0.99	14.80	862.0	-0.74	1.00

844.1	17.60	9000.00	0.0	-0.73	0.98	17.60	0.0	-0.90	1.00
837.9	24.00	23.90	0.0	-0.99	1.00	24.00	0.0	-1.03	1.00
103.1	108.20	9000.00	0.0	-0.12	1.00	108.20	0.0	-0.11	1.00
96.1	99.50	9000.00	0.0	-0.11	0.99	99.50	-3.4	1.24	1.00
89.1	92.80	92.50	-3.4	1.10	0.99	92.80	-3.7	0.96	1.00
82.0	85.20	85.30	-3.3	1.02	1.00	85.20	-3.2	1.07	1.00
74.9	77.30	77.30	-2.4	1.09	1.00	77.30	-2.4	1.11	1.00
67.8	69.70	69.60	-1.8	1.09	1.00	69.70	-1.9	1.07	1.00
53.6	55.30	55.30	-1.7	1.03	1.00	55.30	-1.7	1.01	1.00
46.5	47.80	47.90	-1.4	1.03	1.00	47.80	-1.3	1.06	1.00
39.1	39.90	39.90	-0.8	1.06	1.00	39.90	-0.8	1.07	1.00
32.4	32.60	32.60	-0.2	1.07	1.00	32.60	-0.2	1.09	1.00
25.8	26.20	26.10	-0.3	1.03	1.00	26.20	-0.4	0.97	1.00
18.9	18.90	19.00	-0.1	1.01	1.00	18.90	0.0	1.06	1.00
12.0	11.90	11.90	0.1	1.04	1.00	11.90	0.1	1.01	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
10	-2.02	-22.2	184	2810	1934	1802	0.0	0.0	0	121	0.00	0.00	-105.15	0.003	16390	0.000	0.000	184	2809	3584	3604	3565	0	0	0	0	0	0	14.77	13.07	14.74
125	-2.06	-50.8	185	2809	3608	3565	1.5	-1.4	11	148	9.68	2.53	-5.22	0.018	18980	0.426	0.067	2110	1383	3697	3705	3690	0	0	0	0	0	0	13.97	12.83	14.40
344	-2.06	-50.8	2112	1383	3714	3696	29.9	-14.5	54	351	0.00	2.53	0.00	0.000	1030	0.000	0.054	2101	2818	3705	3712	3698	0	0	0	0	0	0	14.49	14.39	14.53
650	-2.06	-50.8	2102	2818	3715	3700	75.8	-14.9	85	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2817	3706	3714	3699	0	0	0	0	0	0	14.83	14.83	14.83
949	-2.06	-50.8	2102	2817	3716	3701	120.2	-14.7	115	950	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2817	3708	3715	3701	0	0	0	0	0	0	14.83	14.83	14.83
1250	-2.06	-50.8	2101	2819	3716	3703	164.1	-14.5	145	1250	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2818	3708	3715	3702	0	0	0	0	0	0	14.82	14.82	14.83
1550	-2.06	-50.8	2101	2818	3717	3702	208.5	-15.1	175	1555	0.00	2.50	0.00	0.000	516	0.000	0.043	2101	1385	3709	3716	3702	0	0	0	0	0	0	14.82	14.26	14.82
1570	-2.06	-50.8	2101	1387	3717	3703	211.7	-14.9	179	1576	0.00	2.53	0.00	0.000	1030	0.000	0.052	2091	2815	3709	3716	3702	0	0	0	0	0	0	14.40	14.28	14.45
1882	-2.06	-50.8	2090	2816	3716	3703	256.8	-13.9	211	1887	0.00	2.47	0.00	0.000	516	0.000	0.043	2090	1394	3709	3716	3702	0	0	0	0	0	0	14.81	14.25	14.81
1958	-2.06	-50.8	2090	1394	3716	3703	267.2	-13.5	226	1964	0.17	2.50	0.00	0.000	3078	0.351	0.054	2112	2805	3709	3716	3703	0	0	0	0	0	0	13.65	14.26	14.15
2263	-2.06	-50.8	2113	2805	3717	3702	306.1	-12.6	255	2268	0.00	2.47	0.00	0.000	516	0.000	0.044	2112	1389	3709	3716	3702	0	0	0	0	0	0	14.85	14.16	14.85
2308	-2.06	-50.8	2113	1389	3717	3702	311.9	-12.5	264	2313	0.00	2.50	0.00	0.000	1030	0.000	0.053	2102	2801	3709	3716	3702	0	0	0	0	0	0	14.39	14.25	14.42
2624	-2.06	-50.8	2101	2801	3716	3702	352.8	-12.9	282	2629	0.00	2.47	0.00	0.000	516	0.000	0.043	2102	1387	3709	3716	3702	0	0	0	0	0	0	14.84	14.22	14.83
2665	-2.06	-50.8	2101	1387	3716	3703	358.0	-12.6	290	2671	0.00	2.53	0.00	0.000	1030	0.000	0.053	2091	2804	3709	3716	3702	0	0	0	0	0	0	14.36	14.24	14.40
2988	-2.06	-50.8	2091	2805	3716	3703	398.6	-12.3	309	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2804	3709	3716	3702	0	0	0	0	0	0	14.66	14.66	14.66
3290	-2.06	-50.8	2092	2804	3717	3702	433.8	-11.8	324	3291	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2804	3708	3715	3702	0	0	0	0	0	0	14.64	14.64	14.64
3590	-2.06	-50.8	2091	2805	3716	3703	469.5	-12.1	339	3595	0.00	2.50	0.00	0.000	516	0.000	0.043	2091	1384	3709	3716	3702	0	0	0	0	0	0	14.64	14.20	14.64
3631	-2.06	-50.8	2092	1384	3717	3702	474.7	-11.7	347	3637	0.17	2.53	0.00	0.000	3078	0.354	0.054	2113	2802	3709	3716	3702	0	0	0	0	0	0	13.59	14.20	14.09
3942	-2.06	-50.8	2113	2802	3717	3702	511.0	-11.7	364	3943	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2802	3708	3716	3701	0	0	0	0	0	0	14.80	14.80	14.80
4305	-2.06	-50.8	2113	2803	3717	3700	551.8	-11.2	376	4310	0.00	2.47	0.00	0.000	516	0.000	0.042	2112	1391	3708	3716	3700	0	0	0	0	0	0	14.77	14.19	14.77
4341	-2.06	-50.8	2113	1391	3717	3700	556.1	-11.1	383	4346	0.00	2.53	0.00	0.000	1030	0.000	0.054	2102	2805	3708	3716	3700	0	0	0	0	0	0	14.32	14.19	14.35
4727	-2.06	-50.8	2103	2805	3717	3698	598.1	-10.8	400	4728	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2805	3707	3715	3699	0	0	0	0	0	0	14.78	14.78	14.78
5087	-2.06	-50.8	2102	2806	3715	3700	633.7	-9.5	412	5088	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2805	3706	3714	3699	0	0	0	0	0	0	14.78	14.78	14.78
5447	-2.06	-50.8	2102	2806	3714	3699	665.1	-8.5	424	5448	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2805	3706	3714	3698	0	0	0	0	0	0	14.78	14.78	14.78
5807	-2.06	-50.8	2103	2805	3715	3703	695.3	-8.4	436	5812	0.00	2.47	0.00	0.000	516	0.000	0.042	2102	1392	3706	3714	3698	0	0	0	0	0	0	14.78	14.17	14.78
5838	-2.06	-50.8	2103	1393	3716	3696	698.0	-9.3	442	5844	0.00	2.58	0.00	0.000	1030	0.000	0.055	2094	2813	3706	3714	3698	0	0	0	0	0	0	14.29	14.17	14.33
6230	-2.07	-58.0	2094	2814	3714	3699	729.8	-7.9	460	6235	0.00	1.98	0.00	0.000	292	0.000	0.074	2085	3910	3706	3714	3698	0	0	0	0	0	0	14.78	14.09	14.79
6325	-2.07	-58.0	2085	3909	3715	3698	737.6	-8.1	479	6330	0.00	1.90	0.00	0.000	1030	0.000	0.041	2085	2785	3706	3714	3698	0	0	0	0	0	0	14.38	14.33	14.40
6713	-2.07	-65.5	2085	2786	3715	3699	769.1	-7.7	496	6713	0.00	0.00	0.00	0.000	38	0.000	0.000	2085	2786	3705	3714	3697	0	0	0	0	0	0	14.61	14.62	14.61
7071	-2.09	-76.1	2086	2786	3715	3698	793.3	-6.8	508	7076	0.00	2.42	0.00	0.000	548	0.000	0.042	2085	1392	3706	3714	3698	0	0	0	0	0	0	14.78	14.16	14.78
7107	-2.10	-86.1	2085	1393	3714	3695	795.8	-7.0	515	7112	0.00	2.53	0.00	0.000	1062	0.000	0.054	2074	2806	3705	3714	3697	0	0	0	0	0	0	14.28	14.16	14.32
7494	-2.11	-93.6	2074	2807	3715	3698	825.2	-7.8	532	7495	0.00	0.00	0.00	0.000	38	0.000	0.000	2074	2807	3706	3714	3698	0	0	0	0	0	0	14.62	14.62	14.62
7856	-2.12	-105.6	2074	2808	3715	3699	849.0	-6.4	544	7861	0.00	2.03	0.00	0.000	292	0.000	0.076	2069	3917	3706	3714	3698	0	0	0	0	0	0	14.77	14.05	14.78
7889	end dive: BOTTOM_OBSTACLE_DETECTED
state	7889	begin apogee
7898	-0.23	0.0	2069	2537	3715	3698	851.7	-7.2	551	7967	2.72	0.00	63.92	3.056	10246	0.318	0.000	2694	2537	3491	3499	3484	0	0	0	0	0	0	13.80	13.81	12.52
7968	end apogee: CONTROL_FINISHED_OK
state	7968	begin climb
7971	2.12	105.6	2695	2538	3498	3484	852.7	0.0	553	8108	2.47	0.00	127.70	3.086	10758	0.109	0.000	3461	2537	3070	3085	3055	0	0	0	0	0	0	13.81	12.58	11.33
8466	2.12	105.6	3462	2537	3076	3045	721.6	30.2	575	8467	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	2537	3059	3075	3044	0	0	0	0	0	0	14.44	14.44	14.45
8823	2.12	105.6	3459	2535	3075	3043	614.5	29.6	587	8828	0.00	2.45	0.00	0.000	516	0.000	0.062	3472	1152	3058	3073	3043	0	0	0	0	0	0	14.77	14.41	14.77
8854	2.12	105.6	3471	1152	3073	3044	605.3	28.9	593	8859	0.00	2.50	0.00	0.000	1030	0.000	0.066	3472	2562	3057	3072	3043	0	0	0	0	0	0	14.57	14.45	14.61
9246	2.12	105.6	3471	2563	3073	3044	495.0	27.9	611	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	3472	2562	3057	3073	3042	0	0	0	0	0	0	14.78	14.78	14.78
9545	2.12	105.6	3472	2562	3074	3042	412.9	27.0	626	9553	0.00	2.53	0.00	0.000	516	0.000	0.062	3482	1155	3058	3073	3043	0	0	0	0	0	0	14.85	14.35	14.85
9579	2.12	105.6	3482	1157	3074	3044	404.1	26.4	632	9584	0.00	2.50	0.00	0.000	1030	0.000	0.065	3482	2558	3058	3073	3043	0	0	0	0	0	0	14.52	14.40	14.57
9891	2.12	105.6	3482	2559	3075	3043	320.7	27.0	649	9892	0.00	0.00	0.00	0.000	6	0.000	0.000	3482	2558	3057	3073	3042	0	0	0	0	0	0	14.76	14.76	14.76
10190	2.12	105.6	3482	2559	3075	3043	241.4	26.1	675	10195	0.00	2.50	0.00	0.000	516	0.000	0.060	3492	1161	3058	3073	3043	0	0	0	0	0	0	14.83	14.33	14.85
10246	2.12	105.6	3487	1165	3074	3043	227.0	25.3	686	10254	0.17	2.50	0.00	0.000	5126	0.349	0.064	3460	2558	3058	3073	3043	0	0	0	0	0	0	13.85	14.36	14.33
10552	2.12	105.6	3460	2559	3073	3044	153.2	23.6	717	10558	0.00	2.47	0.00	0.000	516	0.000	0.060	3470	1156	3058	3073	3043	0	0	0	0	0	0	14.83	14.27	14.83
10604	2.12	105.6	3471	1156	3074	3043	141.0	23.2	727	10609	0.00	2.50	0.00	0.000	1030	0.000	0.066	3470	2554	3057	3072	3042	0	0	0	0	0	0	14.48	14.35	14.53
10919	2.12	105.6	3470	2553	3074	3043	67.8	23.8	759	10925	0.00	0.00	0.00	0.000	6	0.000	0.000	3470	2554	3058	3073	3043	0	0	0	0	0	0	14.73	14.73	14.73
11205	end climb: SURFACE_DEPTH_REACHED
state	11205	begin surface coast
11212	end surface coast: CONTROL_FINISHED_OK
state	11212	begin surface