Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 842 * 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 842 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 26 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 842 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 26 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 11 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 130119,055301,-7403.8047,-11224.9023,33,0.9,34,53.2,0.3,215.3,8,7.7 SPEED_LIMITS 0.100,0.244

_CALLS 3 TGT_NAME hold3

_XMS_NAKs 15 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 7 TGT_RADIUS 3000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 39.9,232,-43.9,-10.000,-45.00,342

_SM_ANGLEo -64.3 D_GRID 990

GPS2 130119,061250,-7403.9067,-11225.3047,4,1.1,6,53.2,0.2,0.0,8,8.3

Post-dive calculations and measurements:

FREEZE -0.18,-0.200,-1.868,2,3,0 ALTIM_BOTTOM_PING 875.0,14.6

FINISH -0.2,1.027346 _24V_AH 9.98,267.965

SM_CCo 11624,224.43,0.190,0,0,1897,399.91 _10V_AH 10.22,0.000

SM_GC 0.69,13.12,0.62,224.43,0.086,0.080,0.190,202,2810,1897,-8.03,-0.17,399.91,0,0,0,0,0,0,11.12,11.15,11.03 FG_AHR_24Vo 0.000

RAFOS_CLK 477 FG_AHR_10Vo 0.000

RAFOS 2,1547360026,6.232241,6.229445,170,65,55,48,47,47,271,208,187,154,167,221 MEM 279008

RAFOS_FIX -7404.979004,-11223.973633,130119,090940,3,141,0.19 DATA_FILE_SIZE 33335,929

IRIDIUM_FIX -7407.81,-11209.98,130119,060534 CAP_FILE_SIZE 143854,0

TT8_MAMPS 0.045689,0.282373 CFSIZE 1024409600,918798336

HUMID 48.14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1450.8

TCM_TEMP 13.00 CURRENT 0.081,234.82,1

XPDR_PINGS 0 GPS 130119,093209,-7404.347,-11223.136,32,0.9,33,53.2,0.2,0.0,11,6.9

ALTIM_TOP_PING 8.6,8.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 422 153.82 nil 0 0 0.00

Roll_motor 125 91 114.27 nil 0 0 0.00

VBD_pump_during_apogee 266 3078 8188.96 nil 0 0 0.00

VBD_pump_during_surface 224 189 424.93 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 11617 4 547.11

Iridium_during_xfer 792 228 1808.47 nil 0 0 0.00

Transponder_ping 58 420 245.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.71

TT8 0 0 0.00

LPSleep 8931 2 210.85

TT8_Active 745 10 82.82

TT8_Sampling 2754 30 854.24

TT8_CF8 608 51 318.99

TT8_Kalman 0 0 0.00

Analog_circuits 2244 10 231.73

GPS_charging 0 0 0.00

Compass 1330 6 91.64

RAFOS 960 1 14.72

Transponder 454 30 139.30

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

12.6 13.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

19.0 20.40 9000.00 0.0 0.00 0.00 20.40 0.0 1.03 1.00

25.4 27.30 27.30 0.0 1.06 1.00 27.30 0.0 1.08 1.00

31.9 34.20 34.20 0.0 1.07 1.00 34.20 0.0 1.06 1.00

855.2 32.20 9000.00 0.0 0.00 0.06 32.20 887.4 -0.00 1.00

861.5 26.40 9000.00 0.0 -0.01 0.49 26.40 887.9 -0.92 1.00

868.8 21.10 20.90 889.7 -0.81 0.99 21.10 889.9 -0.73 1.00

875.0 14.10 14.60 889.6 -0.91 0.98 14.10 889.1 -1.13 1.00

873.3 14.40 15.40 0.0 -1.22 0.96 0.00 0.0 0.00 0.00

860.2 47.40 9000.00 0.0 -2.35 0.99 47.40 0.0 -2.52 1.00

87.0 89.80 9000.00 0.0 -0.08 0.82 89.80 0.0 -0.05 1.00

57.2 59.00 9000.00 0.0 -0.03 0.47 59.00 -1.8 1.03 1.00

50.0 51.30 51.40 -1.4 1.04 1.00 51.30 -1.3 1.07 1.00

35.9 36.90 36.90 -1.0 1.03 1.00 36.90 -1.0 1.02 1.00

28.6 29.00 29.20 -0.6 1.03 1.00 29.00 -0.4 1.08 1.00

21.7 21.50 21.50 0.2 1.09 1.00 21.50 0.2 1.09 1.00

15.4 15.30 15.20 0.2 1.04 1.00 15.30 0.1 0.98 1.00

8.6 8.40 8.40 0.2 1.00 1.00 8.40 0.2 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

11 -2.02 -22.2 201 2804 1939 1800 0.0 0.0 0 115 0.00 0.00 -102.65 0.003 16390 0.000 0.000 199 2804 3582 3603 3562 0 0 0 0 0 0 11.31 10.55 11.31

119 -2.06 -51.4 201 2804 3607 3566 1.3 -1.3 10 147 15.30 2.70 -5.32 0.018 18724 0.422 0.091 2100 3910 3702 3709 3695 0 0 0 0 0 0 10.93 10.52 11.10

376 -2.06 -51.4 2099 3910 3717 3702 41.8 -17.7 60 381 0.00 2.50 0.00 0.000 1030 0.000 0.036 2098 2789 3709 3716 3702 0 0 0 0 0 0 11.22 11.18 11.23

688 -2.06 -51.4 2099 2789 3718 3704 89.3 -14.8 92 693 0.00 2.70 0.00 0.000 260 0.000 0.070 2090 3922 3710 3716 3704 0 0 0 0 0 0 11.33 11.13 11.33

807 -2.06 -51.4 2091 3922 3718 3703 108.1 -16.2 115 813 0.00 2.53 0.00 0.000 1030 0.000 0.036 2090 2789 3710 3717 3703 0 0 0 0 0 0 11.22 11.19 11.24

1109 -2.06 -51.4 2091 2789 3719 3705 155.0 -15.9 146 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2789 3711 3719 3704 0 0 0 0 0 0 11.33 11.33 11.33

1409 -2.06 -51.4 2091 2788 3720 3706 201.1 -15.7 176 1414 0.00 3.20 0.00 0.000 516 0.000 0.041 2090 1392 3712 3719 3706 0 0 0 0 0 0 11.33 11.14 11.33

1456 -2.06 -51.4 2091 1391 3721 3706 208.1 -14.9 185 1464 0.20 3.33 0.00 0.000 3078 0.322 0.049 2107 2816 3712 3719 3706 0 0 0 0 0 0 11.01 11.15 11.20

1761 -2.06 -51.4 2107 2817 3720 3707 252.0 -14.2 216 1762 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2816 3712 3719 3706 0 0 0 0 0 0 11.33 11.33 11.33

2061 -2.06 -51.4 2107 2817 3720 3707 293.9 -13.5 246 2066 0.00 3.28 0.00 0.000 516 0.000 0.041 2107 1393 3712 3719 3706 0 0 0 0 0 0 11.33 11.15 11.34

2217 -2.06 -51.4 2107 1393 3720 3707 314.5 -12.8 277 2228 0.00 3.33 0.00 0.000 1030 0.000 0.051 2098 2808 3716 3727 3706 0 0 0 0 0 0 11.22 11.15 11.24

2523 -2.06 -51.4 2099 2809 3720 3706 353.4 -12.7 293 2529 0.00 2.65 0.00 0.000 260 0.000 0.072 2091 3917 3712 3719 3706 0 0 0 0 0 0 11.33 11.14 11.33

2551 -2.06 -51.4 2091 3917 3719 3707 357.1 -13.1 298 2556 0.00 2.53 0.00 0.000 1030 0.000 0.038 2091 2790 3710 3719 3702 0 0 0 0 0 0 11.23 11.19 11.24

2867 -2.06 -51.4 2090 2790 3720 3706 397.1 -12.5 316 2872 0.00 3.20 0.00 0.000 516 0.000 0.041 2091 1397 3712 3719 3706 0 0 0 0 0 0 11.33 11.16 11.34

3010 -2.06 -51.4 2092 1397 3721 3706 414.6 -12.1 344 3016 0.20 3.33 0.00 0.000 3078 0.329 0.050 2108 2810 3712 3719 3706 0 0 0 0 0 0 11.01 11.16 11.21

3333 -2.06 -51.4 2108 2811 3720 3707 453.5 -11.7 363 3338 0.00 2.62 0.00 0.000 260 0.000 0.072 2100 3916 3712 3719 3706 0 0 0 0 0 0 11.32 11.14 11.33

3405 -2.06 -51.4 2100 3916 3720 3704 462.5 -12.7 377 3411 0.00 2.53 0.00 0.000 1030 0.000 0.039 2100 2799 3711 3718 3705 0 0 0 0 0 0 11.24 11.19 11.25

3717 -2.06 -51.4 2100 2800 3720 3706 499.5 -11.8 394 3722 0.00 3.25 0.00 0.000 516 0.000 0.041 2099 1390 3711 3719 3704 0 0 0 0 0 0 11.34 11.15 11.34

3769 -2.06 -51.4 2100 1390 3721 3704 505.3 -11.2 404 3774 0.00 3.33 0.00 0.000 1030 0.000 0.050 2089 2807 3712 3720 3704 0 0 0 0 0 0 11.22 11.16 11.24

4144 -2.06 -51.4 2090 2806 3721 3704 547.5 -11.2 418 4144 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2806 3711 3719 3703 0 0 0 0 0 0 11.34 11.34 11.34

4504 -2.06 -51.4 2089 2808 3718 3704 586.8 -10.5 430 4509 0.00 3.25 0.00 0.000 516 0.000 0.040 2089 1395 3711 3719 3703 0 0 0 0 0 0 11.33 11.17 11.33

4609 -2.06 -51.4 2089 1396 3718 3704 597.3 -10.1 450 4614 0.22 3.30 0.00 0.000 3078 0.329 0.050 2109 2802 3710 3719 3702 0 0 0 0 0 0 11.00 11.17 11.20

4991 -2.06 -51.4 2110 2803 3719 3702 634.6 -9.4 466 4992 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2802 3710 3718 3703 0 0 0 0 0 0 11.33 11.33 11.33

5352 -2.06 -51.4 2110 2802 3719 3702 666.5 -8.7 478 5357 0.00 3.25 0.00 0.000 516 0.000 0.040 2109 1389 3709 3717 3702 0 0 0 0 0 0 11.33 11.16 11.33

5408 -2.06 -51.4 2110 1389 3719 3702 671.5 -8.2 489 5415 0.00 3.33 0.00 0.000 1030 0.000 0.051 2100 2805 3707 3718 3696 0 0 0 0 0 0 11.22 11.17 11.24

5773 -2.06 -51.4 2100 2806 3719 3703 701.5 -8.0 502 5774 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2805 3710 3718 3702 0 0 0 0 0 0 11.34 11.35 11.34

6133 -2.06 -51.4 2100 2806 3718 3703 731.9 -8.6 514 6134 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2805 3710 3718 3702 0 0 0 0 0 0 11.35 11.35 11.34

6493 -2.06 -51.4 2099 2806 3718 3703 762.4 -8.4 526 6498 0.00 2.62 0.00 0.000 260 0.000 0.073 2092 3913 3710 3718 3702 0 0 0 0 0 0 11.34 11.15 11.35

6618 -2.07 -58.3 2093 3913 3719 3701 773.2 -7.9 550 6623 0.00 2.53 0.00 0.000 1062 0.000 0.039 2092 2790 3709 3717 3701 0 0 0 0 0 0 11.24 11.19 11.24

7014 -2.08 -67.4 2092 2791 3718 3703 804.6 -7.3 568 7019 0.00 3.20 0.00 0.000 548 0.000 0.040 2092 1383 3709 3718 3701 0 0 0 0 0 0 11.33 11.16 11.33

7221 -2.09 -76.8 2092 1384 3718 3702 818.4 -7.2 609 7228 0.00 3.35 0.00 0.000 1062 0.000 0.052 2082 2802 3709 3718 3701 0 0 0 0 0 0 11.21 11.15 11.23

7589 -2.10 -87.1 2082 2803 3718 3702 845.2 -6.9 622 7594 0.00 3.25 0.00 0.000 548 0.000 0.039 2082 1384 3709 3718 3701 0 0 0 0 0 0 11.33 11.17 11.34

7724 -2.12 -98.6 2083 1384 3719 3701 854.1 -6.5 648 7731 0.00 3.28 0.00 0.000 1062 0.000 0.050 2072 2807 3711 3721 3701 0 0 0 0 0 0 11.22 11.16 11.24

8107 -2.13 -107.1 2072 2807 3719 3703 878.8 -6.5 664 8108 0.00 0.00 0.00 0.000 38 0.000 0.000 2071 2807 3709 3718 3701 0 0 0 0 0 0 11.35 11.34 11.35

8134 end dive: BOTTOM_OBSTACLE_DETECTED

state 8134 begin apogee

8142 -0.23 0.0 2071 2541 3718 3702 880.4 -6.4 665 8242 3.83 0.00 94.78 3.078 10246 0.314 0.000 2695 2540 3493 3499 3487 0 0 0 0 0 0 11.02 11.01 9.98

8243 end apogee: CONTROL_FINISHED_OK

state 8243 begin climb

8247 2.13 107.1 2696 2540 3500 3488 881.2 0.0 668 8424 3.12 0.00 171.77 3.075 10246 0.096 0.000 3457 2540 3067 3082 3052 0 0 0 0 0 0 11.05 11.01 10.01

8772 2.13 107.1 3453 2540 3075 3044 744.4 29.7 686 8777 0.00 3.28 0.00 0.000 516 0.000 0.057 3464 1153 3058 3073 3044 0 0 0 0 0 0 11.30 11.10 11.30

8808 2.13 107.1 3464 1153 3074 3043 732.3 29.4 693 8817 0.00 3.28 0.00 0.000 1030 0.000 0.061 3464 2556 3058 3074 3043 0 0 0 0 0 0 11.15 11.11 11.20

9199 2.13 107.1 3463 2557 3081 3044 619.4 28.3 710 9200 0.00 0.00 0.00 0.000 6 0.000 0.000 3463 2556 3058 3073 3043 0 0 0 0 0 0 11.31 11.31 11.31

9559 2.13 107.1 3464 2556 3074 3043 516.7 28.5 722 9565 0.00 3.33 0.00 0.000 516 0.000 0.057 3474 1150 3058 3073 3043 0 0 0 0 0 0 11.31 11.12 11.31

9586 2.13 107.1 3473 1150 3074 3044 509.1 27.3 727 9592 0.00 3.35 0.00 0.000 1030 0.000 0.060 3474 2557 3058 3073 3043 0 0 0 0 0 0 11.21 11.13 11.22

9961 2.13 107.1 3474 2557 3075 3045 406.2 27.1 746 9969 0.00 3.28 0.00 0.000 516 0.000 0.058 3483 1147 3059 3074 3045 0 0 0 0 0 0 11.33 11.12 11.33

10036 2.13 107.1 3484 1147 3075 3045 386.4 26.7 760 10044 0.00 3.30 0.00 0.000 1030 0.000 0.062 3484 2555 3059 3074 3045 0 0 0 0 0 0 11.20 11.14 11.21

10351 2.13 107.1 3484 2556 3075 3046 301.4 26.5 777 10357 0.00 3.30 0.00 0.000 260 0.000 0.084 3483 3910 3057 3070 3044 0 0 0 0 0 0 11.32 11.12 11.32

10388 2.13 107.1 3484 3910 3076 3045 290.9 28.0 784 10395 0.28 3.12 0.00 0.000 5126 0.382 0.047 3460 2549 3060 3075 3045 0 0 0 0 0 0 10.98 11.17 11.19

10696 2.13 107.1 3460 2549 3076 3045 215.9 24.2 815 10705 0.00 3.25 0.00 0.000 516 0.000 0.060 3470 1143 3060 3075 3045 0 0 0 0 0 0 11.33 11.12 11.33

10795 2.13 107.1 3470 1144 3076 3045 192.6 23.0 833 10801 0.00 3.38 0.00 0.000 1030 0.000 0.062 3470 2559 3060 3075 3045 0 0 0 0 0 0 11.21 11.14 11.23

11107 2.13 107.1 3470 2560 3076 3046 116.4 24.2 865 11114 0.00 3.30 0.00 0.000 516 0.000 0.059 3480 1139 3060 3075 3045 0 0 0 0 0 0 11.33 11.14 11.33

11185 2.13 107.1 3480 1140 3075 3046 97.8 23.1 880 11192 0.00 3.40 0.00 0.000 1030 0.000 0.063 3479 2563 3060 3075 3045 0 0 0 0 0 0 11.22 11.14 11.23

11494 2.13 107.1 3481 2563 3076 3043 23.7 24.3 911 11500 0.00 3.30 0.00 0.000 516 0.000 0.057 3490 1145 3059 3075 3044 0 0 0 0 0 0 11.33 11.13 11.33

11568 2.13 107.1 3491 1145 3076 3044 6.1 22.5 925 11575 0.22 3.38 0.00 0.000 5126 0.363 0.063 3463 2559 3060 3075 3045 0 0 0 0 0 0 10.97 11.13 11.18

11588 end climb: SURFACE_DEPTH_REACHED

state 11589 begin surface coast

11598 end surface coast: CONTROL_FINISHED_OK

state 11598 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	842	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	26	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	130119,055301,-7403.8047,-11224.9023,33,0.9,34,53.2,0.3,215.3,8,7.7	SPEED_LIMITS	0.100,0.244
_CALLS	3	TGT_NAME	hold3
_XMS_NAKs	15	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	7	TGT_RADIUS	3000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	39.9,232,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-64.3	D_GRID	990
GPS2	130119,061250,-7403.9067,-11225.3047,4,1.1,6,53.2,0.2,0.0,8,8.3

FREEZE	-0.18,-0.200,-1.868,2,3,0	ALTIM_BOTTOM_PING	875.0,14.6
FINISH	-0.2,1.027346	_24V_AH	9.98,267.965
SM_CCo	11624,224.43,0.190,0,0,1897,399.91	_10V_AH	10.22,0.000
SM_GC	0.69,13.12,0.62,224.43,0.086,0.080,0.190,202,2810,1897,-8.03,-0.17,399.91,0,0,0,0,0,0,11.12,11.15,11.03	FG_AHR_24Vo	0.000
RAFOS_CLK	477	FG_AHR_10Vo	0.000
RAFOS	2,1547360026,6.232241,6.229445,170,65,55,48,47,47,271,208,187,154,167,221	MEM	279008
RAFOS_FIX	-7404.979004,-11223.973633,130119,090940,3,141,0.19	DATA_FILE_SIZE	33335,929
IRIDIUM_FIX	-7407.81,-11209.98,130119,060534	CAP_FILE_SIZE	143854,0
TT8_MAMPS	0.045689,0.282373	CFSIZE	1024409600,918798336
HUMID	48.14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1450.8
TCM_TEMP	13.00	CURRENT	0.081,234.82,1
XPDR_PINGS	0	GPS	130119,093209,-7404.347,-11223.136,32,0.9,33,53.2,0.2,0.0,11,6.9
ALTIM_TOP_PING	8.6,8.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	422	153.82	nil	0	0	0.00
Roll_motor	125	91	114.27	nil	0	0	0.00
VBD_pump_during_apogee	266	3078	8188.96	nil	0	0	0.00
VBD_pump_during_surface	224	189	424.93	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	11617	4	547.11
Iridium_during_xfer	792	228	1808.47	nil	0	0	0.00
Transponder_ping	58	420	245.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.71
TT8	0	0	0.00
LPSleep	8931	2	210.85
TT8_Active	745	10	82.82
TT8_Sampling	2754	30	854.24
TT8_CF8	608	51	318.99
TT8_Kalman	0	0	0.00
Analog_circuits	2244	10	231.73
GPS_charging	0	0	0.00
Compass	1330	6	91.64
RAFOS	960	1	14.72
Transponder	454	30	139.30

		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
12.6	13.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
19.0	20.40	9000.00	0.0	0.00	0.00	20.40	0.0	1.03	1.00
25.4	27.30	27.30	0.0	1.06	1.00	27.30	0.0	1.08	1.00
31.9	34.20	34.20	0.0	1.07	1.00	34.20	0.0	1.06	1.00
855.2	32.20	9000.00	0.0	0.00	0.06	32.20	887.4	-0.00	1.00
861.5	26.40	9000.00	0.0	-0.01	0.49	26.40	887.9	-0.92	1.00
868.8	21.10	20.90	889.7	-0.81	0.99	21.10	889.9	-0.73	1.00
875.0	14.10	14.60	889.6	-0.91	0.98	14.10	889.1	-1.13	1.00

873.3	14.40	15.40	0.0	-1.22	0.96	0.00	0.0	0.00	0.00
860.2	47.40	9000.00	0.0	-2.35	0.99	47.40	0.0	-2.52	1.00
87.0	89.80	9000.00	0.0	-0.08	0.82	89.80	0.0	-0.05	1.00
57.2	59.00	9000.00	0.0	-0.03	0.47	59.00	-1.8	1.03	1.00
50.0	51.30	51.40	-1.4	1.04	1.00	51.30	-1.3	1.07	1.00
35.9	36.90	36.90	-1.0	1.03	1.00	36.90	-1.0	1.02	1.00
28.6	29.00	29.20	-0.6	1.03	1.00	29.00	-0.4	1.08	1.00
21.7	21.50	21.50	0.2	1.09	1.00	21.50	0.2	1.09	1.00
15.4	15.30	15.20	0.2	1.04	1.00	15.30	0.1	0.98	1.00
8.6	8.40	8.40	0.2	1.00	1.00	8.40	0.2	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
11	-2.02	-22.2	201	2804	1939	1800	0.0	0.0	0	115	0.00	0.00	-102.65	0.003	16390	0.000	0.000	199	2804	3582	3603	3562	0	0	0	0	0	0	11.31	10.55	11.31
119	-2.06	-51.4	201	2804	3607	3566	1.3	-1.3	10	147	15.30	2.70	-5.32	0.018	18724	0.422	0.091	2100	3910	3702	3709	3695	0	0	0	0	0	0	10.93	10.52	11.10
376	-2.06	-51.4	2099	3910	3717	3702	41.8	-17.7	60	381	0.00	2.50	0.00	0.000	1030	0.000	0.036	2098	2789	3709	3716	3702	0	0	0	0	0	0	11.22	11.18	11.23
688	-2.06	-51.4	2099	2789	3718	3704	89.3	-14.8	92	693	0.00	2.70	0.00	0.000	260	0.000	0.070	2090	3922	3710	3716	3704	0	0	0	0	0	0	11.33	11.13	11.33
807	-2.06	-51.4	2091	3922	3718	3703	108.1	-16.2	115	813	0.00	2.53	0.00	0.000	1030	0.000	0.036	2090	2789	3710	3717	3703	0	0	0	0	0	0	11.22	11.19	11.24
1109	-2.06	-51.4	2091	2789	3719	3705	155.0	-15.9	146	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2789	3711	3719	3704	0	0	0	0	0	0	11.33	11.33	11.33
1409	-2.06	-51.4	2091	2788	3720	3706	201.1	-15.7	176	1414	0.00	3.20	0.00	0.000	516	0.000	0.041	2090	1392	3712	3719	3706	0	0	0	0	0	0	11.33	11.14	11.33
1456	-2.06	-51.4	2091	1391	3721	3706	208.1	-14.9	185	1464	0.20	3.33	0.00	0.000	3078	0.322	0.049	2107	2816	3712	3719	3706	0	0	0	0	0	0	11.01	11.15	11.20
1761	-2.06	-51.4	2107	2817	3720	3707	252.0	-14.2	216	1762	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2816	3712	3719	3706	0	0	0	0	0	0	11.33	11.33	11.33
2061	-2.06	-51.4	2107	2817	3720	3707	293.9	-13.5	246	2066	0.00	3.28	0.00	0.000	516	0.000	0.041	2107	1393	3712	3719	3706	0	0	0	0	0	0	11.33	11.15	11.34
2217	-2.06	-51.4	2107	1393	3720	3707	314.5	-12.8	277	2228	0.00	3.33	0.00	0.000	1030	0.000	0.051	2098	2808	3716	3727	3706	0	0	0	0	0	0	11.22	11.15	11.24
2523	-2.06	-51.4	2099	2809	3720	3706	353.4	-12.7	293	2529	0.00	2.65	0.00	0.000	260	0.000	0.072	2091	3917	3712	3719	3706	0	0	0	0	0	0	11.33	11.14	11.33
2551	-2.06	-51.4	2091	3917	3719	3707	357.1	-13.1	298	2556	0.00	2.53	0.00	0.000	1030	0.000	0.038	2091	2790	3710	3719	3702	0	0	0	0	0	0	11.23	11.19	11.24
2867	-2.06	-51.4	2090	2790	3720	3706	397.1	-12.5	316	2872	0.00	3.20	0.00	0.000	516	0.000	0.041	2091	1397	3712	3719	3706	0	0	0	0	0	0	11.33	11.16	11.34
3010	-2.06	-51.4	2092	1397	3721	3706	414.6	-12.1	344	3016	0.20	3.33	0.00	0.000	3078	0.329	0.050	2108	2810	3712	3719	3706	0	0	0	0	0	0	11.01	11.16	11.21
3333	-2.06	-51.4	2108	2811	3720	3707	453.5	-11.7	363	3338	0.00	2.62	0.00	0.000	260	0.000	0.072	2100	3916	3712	3719	3706	0	0	0	0	0	0	11.32	11.14	11.33
3405	-2.06	-51.4	2100	3916	3720	3704	462.5	-12.7	377	3411	0.00	2.53	0.00	0.000	1030	0.000	0.039	2100	2799	3711	3718	3705	0	0	0	0	0	0	11.24	11.19	11.25
3717	-2.06	-51.4	2100	2800	3720	3706	499.5	-11.8	394	3722	0.00	3.25	0.00	0.000	516	0.000	0.041	2099	1390	3711	3719	3704	0	0	0	0	0	0	11.34	11.15	11.34
3769	-2.06	-51.4	2100	1390	3721	3704	505.3	-11.2	404	3774	0.00	3.33	0.00	0.000	1030	0.000	0.050	2089	2807	3712	3720	3704	0	0	0	0	0	0	11.22	11.16	11.24
4144	-2.06	-51.4	2090	2806	3721	3704	547.5	-11.2	418	4144	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2806	3711	3719	3703	0	0	0	0	0	0	11.34	11.34	11.34
4504	-2.06	-51.4	2089	2808	3718	3704	586.8	-10.5	430	4509	0.00	3.25	0.00	0.000	516	0.000	0.040	2089	1395	3711	3719	3703	0	0	0	0	0	0	11.33	11.17	11.33
4609	-2.06	-51.4	2089	1396	3718	3704	597.3	-10.1	450	4614	0.22	3.30	0.00	0.000	3078	0.329	0.050	2109	2802	3710	3719	3702	0	0	0	0	0	0	11.00	11.17	11.20
4991	-2.06	-51.4	2110	2803	3719	3702	634.6	-9.4	466	4992	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2802	3710	3718	3703	0	0	0	0	0	0	11.33	11.33	11.33
5352	-2.06	-51.4	2110	2802	3719	3702	666.5	-8.7	478	5357	0.00	3.25	0.00	0.000	516	0.000	0.040	2109	1389	3709	3717	3702	0	0	0	0	0	0	11.33	11.16	11.33
5408	-2.06	-51.4	2110	1389	3719	3702	671.5	-8.2	489	5415	0.00	3.33	0.00	0.000	1030	0.000	0.051	2100	2805	3707	3718	3696	0	0	0	0	0	0	11.22	11.17	11.24
5773	-2.06	-51.4	2100	2806	3719	3703	701.5	-8.0	502	5774	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2805	3710	3718	3702	0	0	0	0	0	0	11.34	11.35	11.34
6133	-2.06	-51.4	2100	2806	3718	3703	731.9	-8.6	514	6134	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2805	3710	3718	3702	0	0	0	0	0	0	11.35	11.35	11.34
6493	-2.06	-51.4	2099	2806	3718	3703	762.4	-8.4	526	6498	0.00	2.62	0.00	0.000	260	0.000	0.073	2092	3913	3710	3718	3702	0	0	0	0	0	0	11.34	11.15	11.35
6618	-2.07	-58.3	2093	3913	3719	3701	773.2	-7.9	550	6623	0.00	2.53	0.00	0.000	1062	0.000	0.039	2092	2790	3709	3717	3701	0	0	0	0	0	0	11.24	11.19	11.24
7014	-2.08	-67.4	2092	2791	3718	3703	804.6	-7.3	568	7019	0.00	3.20	0.00	0.000	548	0.000	0.040	2092	1383	3709	3718	3701	0	0	0	0	0	0	11.33	11.16	11.33
7221	-2.09	-76.8	2092	1384	3718	3702	818.4	-7.2	609	7228	0.00	3.35	0.00	0.000	1062	0.000	0.052	2082	2802	3709	3718	3701	0	0	0	0	0	0	11.21	11.15	11.23
7589	-2.10	-87.1	2082	2803	3718	3702	845.2	-6.9	622	7594	0.00	3.25	0.00	0.000	548	0.000	0.039	2082	1384	3709	3718	3701	0	0	0	0	0	0	11.33	11.17	11.34
7724	-2.12	-98.6	2083	1384	3719	3701	854.1	-6.5	648	7731	0.00	3.28	0.00	0.000	1062	0.000	0.050	2072	2807	3711	3721	3701	0	0	0	0	0	0	11.22	11.16	11.24
8107	-2.13	-107.1	2072	2807	3719	3703	878.8	-6.5	664	8108	0.00	0.00	0.00	0.000	38	0.000	0.000	2071	2807	3709	3718	3701	0	0	0	0	0	0	11.35	11.34	11.35
8134	end dive: BOTTOM_OBSTACLE_DETECTED
state	8134	begin apogee
8142	-0.23	0.0	2071	2541	3718	3702	880.4	-6.4	665	8242	3.83	0.00	94.78	3.078	10246	0.314	0.000	2695	2540	3493	3499	3487	0	0	0	0	0	0	11.02	11.01	9.98
8243	end apogee: CONTROL_FINISHED_OK
state	8243	begin climb
8247	2.13	107.1	2696	2540	3500	3488	881.2	0.0	668	8424	3.12	0.00	171.77	3.075	10246	0.096	0.000	3457	2540	3067	3082	3052	0	0	0	0	0	0	11.05	11.01	10.01
8772	2.13	107.1	3453	2540	3075	3044	744.4	29.7	686	8777	0.00	3.28	0.00	0.000	516	0.000	0.057	3464	1153	3058	3073	3044	0	0	0	0	0	0	11.30	11.10	11.30
8808	2.13	107.1	3464	1153	3074	3043	732.3	29.4	693	8817	0.00	3.28	0.00	0.000	1030	0.000	0.061	3464	2556	3058	3074	3043	0	0	0	0	0	0	11.15	11.11	11.20
9199	2.13	107.1	3463	2557	3081	3044	619.4	28.3	710	9200	0.00	0.00	0.00	0.000	6	0.000	0.000	3463	2556	3058	3073	3043	0	0	0	0	0	0	11.31	11.31	11.31
9559	2.13	107.1	3464	2556	3074	3043	516.7	28.5	722	9565	0.00	3.33	0.00	0.000	516	0.000	0.057	3474	1150	3058	3073	3043	0	0	0	0	0	0	11.31	11.12	11.31
9586	2.13	107.1	3473	1150	3074	3044	509.1	27.3	727	9592	0.00	3.35	0.00	0.000	1030	0.000	0.060	3474	2557	3058	3073	3043	0	0	0	0	0	0	11.21	11.13	11.22
9961	2.13	107.1	3474	2557	3075	3045	406.2	27.1	746	9969	0.00	3.28	0.00	0.000	516	0.000	0.058	3483	1147	3059	3074	3045	0	0	0	0	0	0	11.33	11.12	11.33
10036	2.13	107.1	3484	1147	3075	3045	386.4	26.7	760	10044	0.00	3.30	0.00	0.000	1030	0.000	0.062	3484	2555	3059	3074	3045	0	0	0	0	0	0	11.20	11.14	11.21
10351	2.13	107.1	3484	2556	3075	3046	301.4	26.5	777	10357	0.00	3.30	0.00	0.000	260	0.000	0.084	3483	3910	3057	3070	3044	0	0	0	0	0	0	11.32	11.12	11.32
10388	2.13	107.1	3484	3910	3076	3045	290.9	28.0	784	10395	0.28	3.12	0.00	0.000	5126	0.382	0.047	3460	2549	3060	3075	3045	0	0	0	0	0	0	10.98	11.17	11.19
10696	2.13	107.1	3460	2549	3076	3045	215.9	24.2	815	10705	0.00	3.25	0.00	0.000	516	0.000	0.060	3470	1143	3060	3075	3045	0	0	0	0	0	0	11.33	11.12	11.33
10795	2.13	107.1	3470	1144	3076	3045	192.6	23.0	833	10801	0.00	3.38	0.00	0.000	1030	0.000	0.062	3470	2559	3060	3075	3045	0	0	0	0	0	0	11.21	11.14	11.23
11107	2.13	107.1	3470	2560	3076	3046	116.4	24.2	865	11114	0.00	3.30	0.00	0.000	516	0.000	0.059	3480	1139	3060	3075	3045	0	0	0	0	0	0	11.33	11.14	11.33
11185	2.13	107.1	3480	1140	3075	3046	97.8	23.1	880	11192	0.00	3.40	0.00	0.000	1030	0.000	0.063	3479	2563	3060	3075	3045	0	0	0	0	0	0	11.22	11.14	11.23
11494	2.13	107.1	3481	2563	3076	3043	23.7	24.3	911	11500	0.00	3.30	0.00	0.000	516	0.000	0.057	3490	1145	3059	3075	3044	0	0	0	0	0	0	11.33	11.13	11.33
11568	2.13	107.1	3491	1145	3076	3044	6.1	22.5	925	11575	0.22	3.38	0.00	0.000	5126	0.363	0.063	3463	2559	3060	3075	3045	0	0	0	0	0	0	10.97	11.13	11.18
11588	end climb: SURFACE_DEPTH_REACHED
state	11589	begin surface coast
11598	end surface coast: CONTROL_FINISHED_OK
state	11598	begin surface