Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 837 * 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 837 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 50 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 27 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 48

EXEC_T 0 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.1 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 3 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 48 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 837 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 50 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 27 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 120119,103919,-7403.8906,-11224.1426,2,0.9,3,53.2,0.2,254.3,9,9.1 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.62 MHEAD_RNG_PITCHd_Wd 233.3,295,-43.9,-10.000,-45.00,342

_SM_ANGLEo -58.9 D_GRID 990

GPS2 120119,105739,-7403.9238,-11224.4902,4,0.7,25,53.2,0.5,247.7,12,4.6

Post-dive calculations and measurements:

FREEZE -0.14,0.764,-1.866,2,1,0 ALTIM_BOTTOM_PING 829.2,15.0

FINISH -0.1,1.027266 _24V_AH 9.98,265.951

SM_CCo 11245,236.18,0.189,0,0,1897,399.91 _10V_AH 10.20,0.000

SM_GC 0.61,13.00,0.68,236.18,0.078,0.078,0.189,203,2810,1897,-8.02,-0.17,399.91,0,0,0,0,0,0,11.12,11.14,11.02 FG_AHR_24Vo 0.000

RAFOS_CLK 477 FG_AHR_10Vo 0.000

RAFOS 0,1547294478,12.032354,12.021667,95,67,63,57,55,55,491,217,164,204,138,502 MEM 279328

RAFOS_FIX -7404.152832,-11223.133789,120119,121200,3,124,0.17 DATA_FILE_SIZE 33337,941

IRIDIUM_FIX -7403.74,-11221.53,120119,103553 CAP_FILE_SIZE 142294,0

TT8_MAMPS 0.04494,0.27713 CFSIZE 1024409600,919830528

HUMID 49.09 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1449.8

TCM_TEMP 13.00 CURRENT 0.075,231.79,1

XPDR_PINGS 0 GPS 120119,141101,-7403.971,-11229.201,36,0.9,42,53.3,0.5,255.8,10,7.3

ALTIM_TOP_PING 9.8,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 417 150.48 nil 0 0 0.00

Roll_motor 117 83 97.57 nil 0 0 0.00

VBD_pump_during_apogee 237 3063 7254.10 nil 0 0 0.00

VBD_pump_during_surface 236 188 445.37 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 3484 4 169.44

Iridium_during_xfer 750 249 1866.75 nil 0 0 0.00

Transponder_ping 57 420 241.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 8 2.51

TT8 0 0 0.00

LPSleep 8557 2 201.63

TT8_Active 573 10 63.55

TT8_Sampling 2781 30 860.94

TT8_CF8 688 51 360.65

TT8_Kalman 0 0 0.00

Analog_circuits 2149 10 221.41

GPS_charging 0 0 0.00

Compass 1343 6 92.33

RAFOS 720 1 11.02

Transponder 430 30 131.70

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

12.7 13.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.9 20.80 9000.00 0.0 0.00 0.00 20.80 0.0 1.15 1.00

802.0 44.70 9000.00 0.0 0.03 0.96 44.70 0.0 0.03 1.00

815.0 29.30 9000.00 0.0 0.02 0.58 29.30 844.3 -1.18 1.00

822.9 20.80 20.60 843.5 -1.14 1.00 20.80 843.7 -1.08 1.00

829.2 15.20 15.00 844.2 -0.99 1.00 15.20 844.4 -0.89 1.00

835.6 12.20 9000.00 0.0 -0.68 0.96 12.20 847.8 -0.47 1.00

88.3 92.20 9000.00 0.0 -0.11 1.00 92.20 0.0 -0.11 1.00

57.3 59.00 9000.00 0.0 -0.08 0.80 59.00 -1.7 1.07 1.00

51.0 53.30 52.90 -1.9 1.05 1.00 53.30 -2.3 0.90 1.00

44.8 46.70 46.90 -2.1 0.98 1.00 46.70 -1.9 1.06 1.00

37.6 38.60 38.70 -1.1 1.10 1.00 38.60 -1.0 1.12 1.00

30.9 31.40 31.30 -0.4 1.10 1.00 31.40 -0.5 1.07 1.00

24.2 24.40 24.30 -0.1 1.06 1.00 24.40 -0.2 1.04 1.00

17.5 16.80 16.90 0.6 1.08 1.00 16.80 0.7 1.13 1.00

9.8 9.70 9.50 0.3 1.02 1.00 9.70 0.1 0.92 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

14 -2.02 -22.2 202 2824 1935 1802 0.0 0.0 0 116 0.00 0.00 -100.90 0.003 16390 0.000 0.000 201 2825 3582 3602 3563 0 0 0 0 0 0 11.30 10.53 11.30

120 -2.06 -51.0 202 2825 3608 3564 1.3 -1.4 10 149 15.20 3.30 -5.57 0.014 18980 0.418 0.052 2109 1405 3699 3706 3693 0 0 0 0 0 0 10.94 10.51 11.15

376 -2.06 -51.0 2108 1405 3713 3700 33.6 -14.3 60 381 0.00 3.25 0.00 0.000 1030 0.000 0.050 2099 2798 3706 3713 3700 0 0 0 0 0 0 11.20 11.14 11.22

688 -2.06 -51.0 2100 2799 3715 3703 78.1 -13.4 92 693 0.00 3.10 0.00 0.000 516 0.000 0.038 2100 1412 3708 3714 3702 0 0 0 0 0 0 11.31 11.14 11.32

900 -2.06 -51.0 2100 1412 3717 3704 106.9 -14.0 134 905 0.00 3.25 0.00 0.000 1030 0.000 0.049 2089 2805 3709 3716 3703 0 0 0 0 0 0 11.21 11.14 11.23

1211 -2.06 -51.0 2088 2806 3717 3705 152.4 -14.7 166 1220 0.00 2.58 0.00 0.000 260 0.000 0.071 2080 3904 3710 3717 3704 0 0 0 0 0 0 11.36 11.12 11.35

1281 -2.06 -51.0 2081 3904 3718 3704 163.4 -16.1 179 1287 0.20 2.42 0.00 0.000 3078 0.326 0.037 2107 2812 3710 3717 3704 0 0 0 0 0 0 11.00 11.19 11.20

1586 -2.06 -51.0 2108 2812 3719 3705 207.5 -14.0 210 1592 0.00 3.22 0.00 0.000 516 0.000 0.039 2107 1376 3710 3717 3704 0 0 0 0 0 0 11.36 11.15 11.36

1663 -2.06 -51.0 2108 1376 3719 3704 218.6 -13.9 225 1671 0.00 3.35 0.00 0.000 1030 0.000 0.050 2099 2805 3711 3718 3704 0 0 0 0 0 0 11.22 11.15 11.24

1969 -2.06 -51.0 2100 2805 3718 3705 261.0 -13.7 256 1975 0.00 2.60 0.00 0.000 260 0.000 0.071 2090 3915 3711 3718 3704 0 0 0 0 0 0 11.36 11.12 11.36

2011 -2.06 -51.0 2090 3916 3718 3706 267.2 -14.9 264 2017 0.00 2.47 0.00 0.000 1030 0.000 0.037 2090 2793 3711 3718 3704 0 0 0 0 0 0 11.21 11.19 11.23

2334 -2.06 -51.0 2091 2793 3719 3705 311.3 -13.0 293 2340 0.00 2.67 0.00 0.000 260 0.000 0.070 2082 3912 3710 3717 3704 0 0 0 0 0 0 11.33 11.14 11.33

2411 -2.06 -51.0 2083 3912 3719 3704 322.5 -14.6 308 2418 0.20 2.50 0.00 0.000 3078 0.336 0.037 2108 2792 3711 3718 3704 0 0 0 0 0 0 11.00 11.19 11.21

2717 -2.06 -51.0 2109 2792 3717 3705 361.4 -12.8 324 2717 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2792 3710 3717 3704 0 0 0 0 0 0 11.36 11.36 11.36

3020 -2.06 -51.0 2108 2793 3718 3705 399.0 -12.5 339 3026 0.00 3.20 0.00 0.000 516 0.000 0.041 2108 1391 3710 3717 3703 0 0 0 0 0 0 11.35 11.14 11.36

3107 -2.06 -51.0 2109 1392 3718 3705 410.5 -12.7 356 3112 0.00 3.33 0.00 0.000 1030 0.000 0.050 2099 2809 3710 3717 3703 0 0 0 0 0 0 11.22 11.16 11.24

3424 -2.06 -51.0 2099 2809 3718 3704 449.7 -12.0 374 3425 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2809 3710 3717 3703 0 0 0 0 0 0 11.33 11.33 11.33

3727 -2.06 -51.0 2099 2809 3718 3702 485.6 -11.9 389 3728 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2809 3709 3717 3702 0 0 0 0 0 0 11.33 11.34 11.33

4048 -2.06 -51.0 2100 2809 3718 3701 522.6 -11.6 402 4053 0.00 3.25 0.00 0.000 516 0.000 0.039 2099 1394 3708 3716 3701 0 0 0 0 0 0 11.34 11.17 11.34

4074 -2.06 -51.0 2100 1395 3718 3701 526.1 -11.3 407 4081 0.00 3.30 0.00 0.000 1030 0.000 0.050 2088 2804 3709 3717 3701 0 0 0 0 0 0 11.23 11.17 11.24

4439 -2.06 -51.0 2088 2804 3716 3700 566.3 -10.9 420 4440 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2804 3707 3715 3700 0 0 0 0 0 0 11.37 11.37 11.37

4802 -2.06 -51.0 2089 2804 3716 3700 604.8 -10.4 432 4808 0.00 3.25 0.00 0.000 516 0.000 0.039 2089 1394 3707 3715 3699 0 0 0 0 0 0 11.35 11.17 11.35

4924 -2.06 -51.0 2089 1394 3716 3699 616.9 -9.4 456 4930 0.22 3.30 0.00 0.000 3078 0.329 0.050 2108 2805 3706 3714 3699 0 0 0 0 0 0 11.01 11.17 11.20

5316 -2.06 -51.0 2109 2806 3714 3700 652.1 -8.9 474 5321 0.00 2.62 0.00 0.000 260 0.000 0.071 2100 3914 3705 3713 3698 0 0 0 0 0 0 11.37 11.15 11.38

5442 -2.06 -51.0 2101 3914 3714 3698 664.2 -9.5 499 5448 0.00 2.53 0.00 0.000 1030 0.000 0.039 2100 2795 3706 3714 3698 0 0 0 0 0 0 11.24 11.24 11.25

5829 -2.06 -51.0 2100 2796 3714 3699 697.5 -8.5 516 5834 0.00 3.20 0.00 0.000 516 0.000 0.040 2100 1395 3706 3714 3698 0 0 0 0 0 0 11.37 11.17 11.37

5861 -2.06 -51.0 2100 1397 3714 3698 700.2 -8.4 522 5866 0.00 3.30 0.00 0.000 1030 0.000 0.050 2089 2803 3705 3713 3698 0 0 0 0 0 0 11.23 11.17 11.24

6252 -2.07 -58.8 2089 2804 3714 3699 731.8 -7.7 540 6257 0.00 2.65 0.00 0.000 292 0.000 0.071 2080 3917 3705 3713 3698 0 0 0 0 0 0 11.38 11.15 11.37

6395 -2.07 -58.8 2081 3917 3714 3698 743.9 -8.5 568 6400 0.20 2.53 0.00 0.000 3078 0.337 0.039 2107 2800 3705 3713 3698 0 0 0 0 0 0 11.00 11.20 11.21

6770 -2.08 -66.4 2107 2801 3714 3698 772.5 -7.7 582 6776 0.00 3.22 0.00 0.000 548 0.000 0.041 2107 1385 3705 3713 3697 0 0 0 0 0 0 11.36 11.17 11.36

6906 -2.09 -74.9 2107 1385 3715 3698 782.6 -7.5 608 6911 0.00 3.33 0.00 0.000 1062 0.000 0.051 2097 2803 3705 3713 3698 0 0 0 0 0 0 11.23 11.17 11.24

7291 -2.10 -82.9 2097 2803 3714 3697 811.1 -7.6 624 7296 0.00 2.62 0.00 0.000 292 0.000 0.070 2088 3909 3705 3713 3697 0 0 0 0 0 0 11.36 11.15 11.36

7382 -2.11 -90.4 2088 3909 3714 3697 818.5 -7.8 642 7387 0.00 2.50 0.00 0.000 1062 0.000 0.038 2088 2794 3705 3713 3697 0 0 0 0 0 0 11.24 11.20 11.25

7624 end dive: BOTTOM_OBSTACLE_DETECTED

state 7624 begin apogee

7633 -0.23 0.0 2088 2542 3714 3698 835.6 -7.0 655 7730 3.75 0.00 92.38 3.063 10246 0.317 0.000 2695 2541 3492 3498 3486 0 0 0 0 0 0 11.02 11.01 9.98

7731 end apogee: CONTROL_FINISHED_OK

state 7731 begin climb

7735 2.11 90.4 2697 2541 3500 3486 837.4 0.0 658 7888 3.08 3.42 144.93 3.038 10500 0.099 0.083 3456 3901 3135 3150 3121 0 0 0 0 0 0 11.04 10.93 10.02

7908 2.11 90.4 3455 3906 3150 3120 806.1 29.7 696 7914 0.00 3.12 0.00 0.000 1030 0.000 0.047 3466 2551 3133 3149 3118 0 0 0 0 0 0 11.12 11.10 11.14

8286 2.11 90.4 3465 2551 3141 3116 699.1 28.2 711 8287 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2551 3128 3141 3115 0 0 0 0 0 0 11.29 11.30 11.29

8646 2.11 90.4 3466 2552 3142 3115 599.3 27.7 723 8647 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2551 3127 3141 3114 0 0 0 0 0 0 11.31 11.31 11.31

9006 2.11 90.4 3465 2552 3141 3115 503.2 26.2 735 9011 0.00 3.33 0.00 0.000 516 0.000 0.058 3476 1140 3127 3141 3114 0 0 0 0 0 0 11.31 11.12 11.31

9033 2.11 90.4 3477 1140 3142 3115 496.2 25.8 740 9040 0.00 3.38 0.00 0.000 1030 0.000 0.060 3476 2558 3127 3140 3115 0 0 0 0 0 0 11.20 11.13 11.21

9398 2.11 90.4 3476 2560 3142 3118 404.4 25.1 759 9406 0.00 3.30 0.00 0.000 516 0.000 0.057 3486 1130 3129 3142 3117 0 0 0 0 0 0 11.33 11.11 11.33

9437 2.11 90.4 3487 1130 3143 3117 394.6 24.6 766 9444 0.25 3.42 0.00 0.000 5126 0.352 0.061 3454 2561 3129 3142 3117 0 0 0 0 0 0 10.98 11.13 11.18

9743 2.11 90.4 3455 2561 3143 3117 321.7 23.9 782 9744 0.00 0.00 0.00 0.000 6 0.000 0.000 3454 2561 3129 3141 3117 0 0 0 0 0 0 11.32 11.31 11.32

10042 2.11 90.4 3455 2562 3142 3118 251.6 22.4 807 10043 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2561 3129 3142 3117 0 0 0 0 0 0 11.33 11.33 11.35

10342 2.11 90.4 3454 2561 3142 3121 184.3 22.1 837 10343 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2561 3129 3142 3117 0 0 0 0 0 0 11.33 11.33 11.33

10642 2.11 90.4 3455 2562 3142 3118 118.7 21.8 867 10647 0.00 3.35 0.00 0.000 516 0.000 0.057 3465 1143 3129 3142 3117 0 0 0 0 0 0 11.33 11.12 11.33

10704 2.11 90.4 3465 1143 3143 3117 105.4 21.1 879 10709 0.00 3.38 0.00 0.000 1030 0.000 0.060 3465 2559 3129 3142 3117 0 0 0 0 0 0 11.20 11.16 11.21

11019 2.11 90.4 3465 2559 3143 3117 40.7 20.5 911 11024 0.00 3.33 0.00 0.000 260 0.000 0.083 3465 3916 3129 3142 3117 0 0 0 0 0 0 11.33 11.12 11.33

11117 2.11 90.4 3465 3917 3142 3117 18.6 20.9 930 11125 0.00 3.15 0.00 0.000 1030 0.000 0.047 3474 2546 3128 3140 3116 0 0 0 0 0 0 11.22 11.17 11.23

11211 end climb: SURFACE_DEPTH_REACHED

state 11211 begin surface coast

11219 end surface coast: CONTROL_FINISHED_OK

state 11219 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	837	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	50	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	27	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	48
EXEC_T	0	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.1	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	120119,103919,-7403.8906,-11224.1426,2,0.9,3,53.2,0.2,254.3,9,9.1	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.62	MHEAD_RNG_PITCHd_Wd	233.3,295,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-58.9	D_GRID	990
GPS2	120119,105739,-7403.9238,-11224.4902,4,0.7,25,53.2,0.5,247.7,12,4.6

FREEZE	-0.14,0.764,-1.866,2,1,0	ALTIM_BOTTOM_PING	829.2,15.0
FINISH	-0.1,1.027266	_24V_AH	9.98,265.951
SM_CCo	11245,236.18,0.189,0,0,1897,399.91	_10V_AH	10.20,0.000
SM_GC	0.61,13.00,0.68,236.18,0.078,0.078,0.189,203,2810,1897,-8.02,-0.17,399.91,0,0,0,0,0,0,11.12,11.14,11.02	FG_AHR_24Vo	0.000
RAFOS_CLK	477	FG_AHR_10Vo	0.000
RAFOS	0,1547294478,12.032354,12.021667,95,67,63,57,55,55,491,217,164,204,138,502	MEM	279328
RAFOS_FIX	-7404.152832,-11223.133789,120119,121200,3,124,0.17	DATA_FILE_SIZE	33337,941
IRIDIUM_FIX	-7403.74,-11221.53,120119,103553	CAP_FILE_SIZE	142294,0
TT8_MAMPS	0.04494,0.27713	CFSIZE	1024409600,919830528
HUMID	49.09	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1449.8
TCM_TEMP	13.00	CURRENT	0.075,231.79,1
XPDR_PINGS	0	GPS	120119,141101,-7403.971,-11229.201,36,0.9,42,53.3,0.5,255.8,10,7.3
ALTIM_TOP_PING	9.8,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	417	150.48	nil	0	0	0.00
Roll_motor	117	83	97.57	nil	0	0	0.00
VBD_pump_during_apogee	237	3063	7254.10	nil	0	0	0.00
VBD_pump_during_surface	236	188	445.37	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	3484	4	169.44
Iridium_during_xfer	750	249	1866.75	nil	0	0	0.00
Transponder_ping	57	420	241.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	8	2.51
TT8	0	0	0.00
LPSleep	8557	2	201.63
TT8_Active	573	10	63.55
TT8_Sampling	2781	30	860.94
TT8_CF8	688	51	360.65
TT8_Kalman	0	0	0.00
Analog_circuits	2149	10	221.41
GPS_charging	0	0	0.00
Compass	1343	6	92.33
RAFOS	720	1	11.02
Transponder	430	30	131.70

		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
12.7	13.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.9	20.80	9000.00	0.0	0.00	0.00	20.80	0.0	1.15	1.00
802.0	44.70	9000.00	0.0	0.03	0.96	44.70	0.0	0.03	1.00
815.0	29.30	9000.00	0.0	0.02	0.58	29.30	844.3	-1.18	1.00
822.9	20.80	20.60	843.5	-1.14	1.00	20.80	843.7	-1.08	1.00
829.2	15.20	15.00	844.2	-0.99	1.00	15.20	844.4	-0.89	1.00
835.6	12.20	9000.00	0.0	-0.68	0.96	12.20	847.8	-0.47	1.00

88.3	92.20	9000.00	0.0	-0.11	1.00	92.20	0.0	-0.11	1.00
57.3	59.00	9000.00	0.0	-0.08	0.80	59.00	-1.7	1.07	1.00
51.0	53.30	52.90	-1.9	1.05	1.00	53.30	-2.3	0.90	1.00
44.8	46.70	46.90	-2.1	0.98	1.00	46.70	-1.9	1.06	1.00
37.6	38.60	38.70	-1.1	1.10	1.00	38.60	-1.0	1.12	1.00
30.9	31.40	31.30	-0.4	1.10	1.00	31.40	-0.5	1.07	1.00
24.2	24.40	24.30	-0.1	1.06	1.00	24.40	-0.2	1.04	1.00
17.5	16.80	16.90	0.6	1.08	1.00	16.80	0.7	1.13	1.00
9.8	9.70	9.50	0.3	1.02	1.00	9.70	0.1	0.92	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
14	-2.02	-22.2	202	2824	1935	1802	0.0	0.0	0	116	0.00	0.00	-100.90	0.003	16390	0.000	0.000	201	2825	3582	3602	3563	0	0	0	0	0	0	11.30	10.53	11.30
120	-2.06	-51.0	202	2825	3608	3564	1.3	-1.4	10	149	15.20	3.30	-5.57	0.014	18980	0.418	0.052	2109	1405	3699	3706	3693	0	0	0	0	0	0	10.94	10.51	11.15
376	-2.06	-51.0	2108	1405	3713	3700	33.6	-14.3	60	381	0.00	3.25	0.00	0.000	1030	0.000	0.050	2099	2798	3706	3713	3700	0	0	0	0	0	0	11.20	11.14	11.22
688	-2.06	-51.0	2100	2799	3715	3703	78.1	-13.4	92	693	0.00	3.10	0.00	0.000	516	0.000	0.038	2100	1412	3708	3714	3702	0	0	0	0	0	0	11.31	11.14	11.32
900	-2.06	-51.0	2100	1412	3717	3704	106.9	-14.0	134	905	0.00	3.25	0.00	0.000	1030	0.000	0.049	2089	2805	3709	3716	3703	0	0	0	0	0	0	11.21	11.14	11.23
1211	-2.06	-51.0	2088	2806	3717	3705	152.4	-14.7	166	1220	0.00	2.58	0.00	0.000	260	0.000	0.071	2080	3904	3710	3717	3704	0	0	0	0	0	0	11.36	11.12	11.35
1281	-2.06	-51.0	2081	3904	3718	3704	163.4	-16.1	179	1287	0.20	2.42	0.00	0.000	3078	0.326	0.037	2107	2812	3710	3717	3704	0	0	0	0	0	0	11.00	11.19	11.20
1586	-2.06	-51.0	2108	2812	3719	3705	207.5	-14.0	210	1592	0.00	3.22	0.00	0.000	516	0.000	0.039	2107	1376	3710	3717	3704	0	0	0	0	0	0	11.36	11.15	11.36
1663	-2.06	-51.0	2108	1376	3719	3704	218.6	-13.9	225	1671	0.00	3.35	0.00	0.000	1030	0.000	0.050	2099	2805	3711	3718	3704	0	0	0	0	0	0	11.22	11.15	11.24
1969	-2.06	-51.0	2100	2805	3718	3705	261.0	-13.7	256	1975	0.00	2.60	0.00	0.000	260	0.000	0.071	2090	3915	3711	3718	3704	0	0	0	0	0	0	11.36	11.12	11.36
2011	-2.06	-51.0	2090	3916	3718	3706	267.2	-14.9	264	2017	0.00	2.47	0.00	0.000	1030	0.000	0.037	2090	2793	3711	3718	3704	0	0	0	0	0	0	11.21	11.19	11.23
2334	-2.06	-51.0	2091	2793	3719	3705	311.3	-13.0	293	2340	0.00	2.67	0.00	0.000	260	0.000	0.070	2082	3912	3710	3717	3704	0	0	0	0	0	0	11.33	11.14	11.33
2411	-2.06	-51.0	2083	3912	3719	3704	322.5	-14.6	308	2418	0.20	2.50	0.00	0.000	3078	0.336	0.037	2108	2792	3711	3718	3704	0	0	0	0	0	0	11.00	11.19	11.21
2717	-2.06	-51.0	2109	2792	3717	3705	361.4	-12.8	324	2717	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2792	3710	3717	3704	0	0	0	0	0	0	11.36	11.36	11.36
3020	-2.06	-51.0	2108	2793	3718	3705	399.0	-12.5	339	3026	0.00	3.20	0.00	0.000	516	0.000	0.041	2108	1391	3710	3717	3703	0	0	0	0	0	0	11.35	11.14	11.36
3107	-2.06	-51.0	2109	1392	3718	3705	410.5	-12.7	356	3112	0.00	3.33	0.00	0.000	1030	0.000	0.050	2099	2809	3710	3717	3703	0	0	0	0	0	0	11.22	11.16	11.24
3424	-2.06	-51.0	2099	2809	3718	3704	449.7	-12.0	374	3425	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2809	3710	3717	3703	0	0	0	0	0	0	11.33	11.33	11.33
3727	-2.06	-51.0	2099	2809	3718	3702	485.6	-11.9	389	3728	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2809	3709	3717	3702	0	0	0	0	0	0	11.33	11.34	11.33
4048	-2.06	-51.0	2100	2809	3718	3701	522.6	-11.6	402	4053	0.00	3.25	0.00	0.000	516	0.000	0.039	2099	1394	3708	3716	3701	0	0	0	0	0	0	11.34	11.17	11.34
4074	-2.06	-51.0	2100	1395	3718	3701	526.1	-11.3	407	4081	0.00	3.30	0.00	0.000	1030	0.000	0.050	2088	2804	3709	3717	3701	0	0	0	0	0	0	11.23	11.17	11.24
4439	-2.06	-51.0	2088	2804	3716	3700	566.3	-10.9	420	4440	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2804	3707	3715	3700	0	0	0	0	0	0	11.37	11.37	11.37
4802	-2.06	-51.0	2089	2804	3716	3700	604.8	-10.4	432	4808	0.00	3.25	0.00	0.000	516	0.000	0.039	2089	1394	3707	3715	3699	0	0	0	0	0	0	11.35	11.17	11.35
4924	-2.06	-51.0	2089	1394	3716	3699	616.9	-9.4	456	4930	0.22	3.30	0.00	0.000	3078	0.329	0.050	2108	2805	3706	3714	3699	0	0	0	0	0	0	11.01	11.17	11.20
5316	-2.06	-51.0	2109	2806	3714	3700	652.1	-8.9	474	5321	0.00	2.62	0.00	0.000	260	0.000	0.071	2100	3914	3705	3713	3698	0	0	0	0	0	0	11.37	11.15	11.38
5442	-2.06	-51.0	2101	3914	3714	3698	664.2	-9.5	499	5448	0.00	2.53	0.00	0.000	1030	0.000	0.039	2100	2795	3706	3714	3698	0	0	0	0	0	0	11.24	11.24	11.25
5829	-2.06	-51.0	2100	2796	3714	3699	697.5	-8.5	516	5834	0.00	3.20	0.00	0.000	516	0.000	0.040	2100	1395	3706	3714	3698	0	0	0	0	0	0	11.37	11.17	11.37
5861	-2.06	-51.0	2100	1397	3714	3698	700.2	-8.4	522	5866	0.00	3.30	0.00	0.000	1030	0.000	0.050	2089	2803	3705	3713	3698	0	0	0	0	0	0	11.23	11.17	11.24
6252	-2.07	-58.8	2089	2804	3714	3699	731.8	-7.7	540	6257	0.00	2.65	0.00	0.000	292	0.000	0.071	2080	3917	3705	3713	3698	0	0	0	0	0	0	11.38	11.15	11.37
6395	-2.07	-58.8	2081	3917	3714	3698	743.9	-8.5	568	6400	0.20	2.53	0.00	0.000	3078	0.337	0.039	2107	2800	3705	3713	3698	0	0	0	0	0	0	11.00	11.20	11.21
6770	-2.08	-66.4	2107	2801	3714	3698	772.5	-7.7	582	6776	0.00	3.22	0.00	0.000	548	0.000	0.041	2107	1385	3705	3713	3697	0	0	0	0	0	0	11.36	11.17	11.36
6906	-2.09	-74.9	2107	1385	3715	3698	782.6	-7.5	608	6911	0.00	3.33	0.00	0.000	1062	0.000	0.051	2097	2803	3705	3713	3698	0	0	0	0	0	0	11.23	11.17	11.24
7291	-2.10	-82.9	2097	2803	3714	3697	811.1	-7.6	624	7296	0.00	2.62	0.00	0.000	292	0.000	0.070	2088	3909	3705	3713	3697	0	0	0	0	0	0	11.36	11.15	11.36
7382	-2.11	-90.4	2088	3909	3714	3697	818.5	-7.8	642	7387	0.00	2.50	0.00	0.000	1062	0.000	0.038	2088	2794	3705	3713	3697	0	0	0	0	0	0	11.24	11.20	11.25
7624	end dive: BOTTOM_OBSTACLE_DETECTED
state	7624	begin apogee
7633	-0.23	0.0	2088	2542	3714	3698	835.6	-7.0	655	7730	3.75	0.00	92.38	3.063	10246	0.317	0.000	2695	2541	3492	3498	3486	0	0	0	0	0	0	11.02	11.01	9.98
7731	end apogee: CONTROL_FINISHED_OK
state	7731	begin climb
7735	2.11	90.4	2697	2541	3500	3486	837.4	0.0	658	7888	3.08	3.42	144.93	3.038	10500	0.099	0.083	3456	3901	3135	3150	3121	0	0	0	0	0	0	11.04	10.93	10.02
7908	2.11	90.4	3455	3906	3150	3120	806.1	29.7	696	7914	0.00	3.12	0.00	0.000	1030	0.000	0.047	3466	2551	3133	3149	3118	0	0	0	0	0	0	11.12	11.10	11.14
8286	2.11	90.4	3465	2551	3141	3116	699.1	28.2	711	8287	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2551	3128	3141	3115	0	0	0	0	0	0	11.29	11.30	11.29
8646	2.11	90.4	3466	2552	3142	3115	599.3	27.7	723	8647	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2551	3127	3141	3114	0	0	0	0	0	0	11.31	11.31	11.31
9006	2.11	90.4	3465	2552	3141	3115	503.2	26.2	735	9011	0.00	3.33	0.00	0.000	516	0.000	0.058	3476	1140	3127	3141	3114	0	0	0	0	0	0	11.31	11.12	11.31
9033	2.11	90.4	3477	1140	3142	3115	496.2	25.8	740	9040	0.00	3.38	0.00	0.000	1030	0.000	0.060	3476	2558	3127	3140	3115	0	0	0	0	0	0	11.20	11.13	11.21
9398	2.11	90.4	3476	2560	3142	3118	404.4	25.1	759	9406	0.00	3.30	0.00	0.000	516	0.000	0.057	3486	1130	3129	3142	3117	0	0	0	0	0	0	11.33	11.11	11.33
9437	2.11	90.4	3487	1130	3143	3117	394.6	24.6	766	9444	0.25	3.42	0.00	0.000	5126	0.352	0.061	3454	2561	3129	3142	3117	0	0	0	0	0	0	10.98	11.13	11.18
9743	2.11	90.4	3455	2561	3143	3117	321.7	23.9	782	9744	0.00	0.00	0.00	0.000	6	0.000	0.000	3454	2561	3129	3141	3117	0	0	0	0	0	0	11.32	11.31	11.32
10042	2.11	90.4	3455	2562	3142	3118	251.6	22.4	807	10043	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2561	3129	3142	3117	0	0	0	0	0	0	11.33	11.33	11.35
10342	2.11	90.4	3454	2561	3142	3121	184.3	22.1	837	10343	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2561	3129	3142	3117	0	0	0	0	0	0	11.33	11.33	11.33
10642	2.11	90.4	3455	2562	3142	3118	118.7	21.8	867	10647	0.00	3.35	0.00	0.000	516	0.000	0.057	3465	1143	3129	3142	3117	0	0	0	0	0	0	11.33	11.12	11.33
10704	2.11	90.4	3465	1143	3143	3117	105.4	21.1	879	10709	0.00	3.38	0.00	0.000	1030	0.000	0.060	3465	2559	3129	3142	3117	0	0	0	0	0	0	11.20	11.16	11.21
11019	2.11	90.4	3465	2559	3143	3117	40.7	20.5	911	11024	0.00	3.33	0.00	0.000	260	0.000	0.083	3465	3916	3129	3142	3117	0	0	0	0	0	0	11.33	11.12	11.33
11117	2.11	90.4	3465	3917	3142	3117	18.6	20.9	930	11125	0.00	3.15	0.00	0.000	1030	0.000	0.047	3474	2546	3128	3140	3116	0	0	0	0	0	0	11.22	11.17	11.23
11211	end climb: SURFACE_DEPTH_REACHED
state	11211	begin surface coast
11219	end surface coast: CONTROL_FINISHED_OK
state	11219	begin surface