Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 843 * 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 843 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 25 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 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 843 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 15 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 130119,093209,-7404.3467,-11223.1357,32,0.9,33,53.2,0.2,0.0,11,6.9 SPEED_LIMITS 0.100,0.244

_CALLS 3 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 316.8,1058,-43.9,-10.000,-45.00,342

_SM_ANGLEo -62.6 D_GRID 990

GPS2 130119,100441,-7404.4683,-11223.8076,3,1.0,6,53.2,0.5,0.0,10,10.0

Post-dive calculations and measurements:

FREEZE -0.15,-0.157,-1.855,2,1,0 ALTIM_BOTTOM_PING 872.0,12.8

FINISH -0.1,1.027170 _24V_AH 10.00,268.395

SM_CCo 11557,223.95,0.190,0,0,1899,399.91 _10V_AH 10.22,0.000

SM_GC 0.68,12.93,0.68,223.95,0.076,0.073,0.190,199,2811,1899,-8.03,-0.17,399.91,0,0,0,0,0,0,11.14,11.15,11.03 FG_AHR_24Vo 0.000

RAFOS_CLK 470 FG_AHR_10Vo 0.000

RAFOS 0,1547380875,12.032354,12.020833,126,57,56,53,52,52,505,161,188,220,239,117 MEM 279100

RAFOS_FIX -7405.073242,-11223.216797,130119,121236,2,115,0.15 DATA_FILE_SIZE 33364,948

IRIDIUM_FIX -7405.65,-11224.52,130119,093854 CAP_FILE_SIZE 148642,0

TT8_MAMPS 0.04494,0.177513 CFSIZE 1024409600,918994944

HUMID 48.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1450.7

TCM_TEMP 13.00 CURRENT 0.092,232.10,1

XPDR_PINGS 0 GPS 130119,132301,-7403.908,-11224.576,34,0.9,35,53.2,0.3,236.9,9,6.2

ALTIM_TOP_PING 8.7,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 422 152.87 nil 0 0 0.00

Roll_motor 119 91 109.56 nil 0 0 0.00

VBD_pump_during_apogee 265 3076 8160.80 nil 0 0 0.00

VBD_pump_during_surface 223 190 426.59 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 11553 4 545.07

Iridium_during_xfer 1568 253 3971.42 nil 0 0 0.00

Transponder_ping 58 420 243.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 8 0.76

TT8 0 0 0.00

LPSleep 8873 2 209.48

TT8_Active 714 10 79.33

TT8_Sampling 3486 30 1081.30

TT8_CF8 668 51 350.77

TT8_Kalman 0 0 0.00

Analog_circuits 3008 10 310.52

GPS_charging 0 0 0.00

Compass 1357 6 93.50

RAFOS 720 1 11.04

Transponder 442 30 135.74

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

6.6 7.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

12.8 14.60 9000.00 0.0 0.00 0.00 14.60 0.0 1.08 1.00

19.6 21.00 21.10 0.0 1.01 1.00 21.00 0.0 0.94 1.00

32.1 34.10 34.00 0.0 1.02 1.00 34.10 0.0 1.05 1.00

38.2 40.60 40.60 0.0 1.05 1.00 40.60 0.0 1.07 1.00

45.6 48.30 48.40 0.0 1.05 1.00 48.30 0.0 1.04 1.00

856.3 26.10 9000.00 0.0 -0.02 0.88 26.10 882.4 -0.03 1.00

864.1 19.10 9000.00 0.0 -0.03 0.95 19.10 883.2 -0.90 1.00

872.0 13.00 12.80 884.8 -0.83 1.00 13.00 885.0 -0.77 1.00

870.2 19.50 9000.00 0.0 -0.55 0.39 0.00 0.0 0.00 0.00

862.7 24.70 25.10 0.0 -1.08 0.84 24.70 0.0 -0.69 1.00

84.1 86.20 9000.00 0.0 -0.08 1.00 86.20 0.0 -0.08 1.00

55.7 57.60 9000.00 0.0 -0.06 0.76 57.60 -1.9 1.01 1.00

48.6 50.90 50.70 -2.1 1.00 1.00 50.90 -2.3 0.94 1.00

41.5 42.50 42.80 -1.3 1.07 1.00 42.50 -1.0 1.18 1.00

35.0 36.10 35.80 -0.8 1.09 1.00 36.10 -1.1 0.98 1.00

28.4 28.60 28.80 -0.4 1.06 1.00 28.60 -0.2 1.14 1.00

21.6 21.60 21.50 0.1 1.08 1.00 21.60 0.0 1.03 1.00

14.9 15.10 15.00 -0.1 1.01 1.00 15.10 -0.2 0.97 1.00

8.7 8.80 8.80 -0.1 0.99 1.00 8.80 -0.1 1.02 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -2.02 -22.2 203 2811 1935 1796 0.0 0.0 0 116 0.00 0.00 -103.18 0.003 16390 0.000 0.000 202 2811 3582 3603 3562 0 0 0 0 0 0 11.30 10.54 11.30

120 -2.06 -51.1 203 2812 3608 3565 1.3 -1.3 10 149 15.35 2.65 -5.22 0.015 18724 0.422 0.092 2099 3907 3699 3706 3692 0 0 0 0 0 0 10.94 10.52 11.15

377 -2.06 -51.1 2099 3908 3715 3700 40.2 -17.1 60 382 0.00 2.50 0.00 0.000 1030 0.000 0.037 2099 2784 3706 3713 3699 0 0 0 0 0 0 11.21 11.17 11.23

689 -2.06 -51.1 2099 2785 3715 3702 91.6 -15.4 92 694 0.00 2.65 0.00 0.000 260 0.000 0.070 2090 3913 3707 3714 3701 0 0 0 0 0 0 11.31 11.13 11.31

922 -2.06 -51.1 2090 3914 3716 3703 131.0 -17.2 138 927 0.00 2.50 0.00 0.000 1030 0.000 0.036 2090 2788 3708 3715 3702 0 0 0 0 0 0 11.22 11.19 11.24

1233 -2.06 -51.1 2091 2789 3717 3703 179.5 -15.1 170 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2789 3709 3715 3703 0 0 0 0 0 0 11.33 11.33 11.33

1534 -2.06 -51.1 2091 2790 3716 3704 223.1 -14.0 200 1539 0.00 3.20 0.00 0.000 516 0.000 0.041 2090 1394 3709 3716 3703 0 0 0 0 0 0 11.32 11.14 11.32

1566 -2.06 -51.1 2091 1393 3717 3703 227.7 -14.3 206 1571 0.20 3.30 0.00 0.000 3078 0.324 0.049 2107 2806 3709 3716 3703 0 0 0 0 0 0 11.00 11.15 11.20

1878 -2.06 -51.1 2108 2806 3717 3703 269.0 -12.7 238 1883 0.00 2.62 0.00 0.000 260 0.000 0.072 2100 3912 3709 3716 3703 0 0 0 0 0 0 11.32 11.14 11.32

1910 -2.06 -51.1 2100 3913 3717 3703 273.3 -14.0 244 1915 0.00 2.50 0.00 0.000 1030 0.000 0.037 2100 2794 3709 3716 3703 0 0 0 0 0 0 11.23 11.19 11.24

2231 -2.06 -51.1 2100 2794 3717 3703 313.1 -11.9 272 2236 0.00 2.67 0.00 0.000 260 0.000 0.070 2091 3916 3709 3716 3703 0 0 0 0 0 0 11.33 11.14 11.33

2287 -2.06 -51.1 2090 3917 3716 3704 320.2 -12.8 283 2297 0.00 2.53 0.00 0.000 1030 0.000 0.037 2091 2791 3709 3716 3703 0 0 0 0 0 0 11.23 11.18 11.24

2593 -2.06 -51.1 2091 2791 3716 3704 357.3 -12.1 299 2599 0.00 2.70 0.00 0.000 260 0.000 0.070 2082 3913 3708 3716 3700 0 0 0 0 0 0 11.33 11.14 11.33

2680 -2.06 -51.1 2083 3914 3717 3704 368.9 -13.3 316 2685 0.20 2.50 0.00 0.000 3078 0.337 0.037 2109 2796 3709 3716 3702 0 0 0 0 0 0 11.00 11.19 11.21

2998 -2.06 -51.1 2109 2796 3717 3702 407.5 -12.3 334 2998 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2796 3709 3716 3703 0 0 0 0 0 0 11.33 11.33 11.33

3301 -2.06 -51.1 2109 2797 3717 3704 444.6 -12.4 349 3307 0.00 3.22 0.00 0.000 516 0.000 0.042 2109 1395 3709 3716 3702 0 0 0 0 0 0 11.33 11.16 11.34

3368 -2.06 -51.1 2109 1395 3717 3704 453.2 -12.0 362 3373 0.00 3.33 0.00 0.000 1030 0.000 0.051 2099 2809 3709 3716 3703 0 0 0 0 0 0 11.22 11.16 11.24

3685 -2.06 -51.1 2100 2809 3717 3702 490.8 -11.7 380 3690 0.00 2.62 0.00 0.000 260 0.000 0.073 2091 3910 3709 3716 3702 0 0 0 0 0 0 11.34 11.14 11.34

3816 -2.06 -51.1 2092 3910 3717 3701 507.7 -12.9 406 3821 0.00 2.50 0.00 0.000 1030 0.000 0.037 2091 2796 3708 3716 3701 0 0 0 0 0 0 11.24 11.19 11.24

4197 -2.06 -51.1 2092 2796 3717 3697 553.0 -11.5 422 4202 0.00 3.20 0.00 0.000 516 0.000 0.041 2091 1395 3707 3715 3700 0 0 0 0 0 0 11.34 11.16 11.34

4294 -2.06 -51.1 2092 1396 3717 3700 563.7 -10.8 441 4300 0.20 3.30 0.00 0.000 3078 0.332 0.051 2107 2803 3708 3716 3700 0 0 0 0 0 0 11.01 11.16 11.20

4682 -2.06 -51.1 2108 2803 3716 3699 603.4 -10.1 458 4687 0.00 2.62 0.00 0.000 260 0.000 0.072 2100 3911 3707 3715 3699 0 0 0 0 0 0 11.34 11.14 11.34

4738 -2.06 -51.1 2100 3911 3716 3699 609.5 -10.8 469 4745 0.00 2.50 0.00 0.000 1030 0.000 0.038 2100 2795 3707 3715 3699 0 0 0 0 0 0 11.24 11.19 11.24

5107 -2.06 -51.1 2100 2796 3716 3700 644.7 -9.4 482 5112 0.00 3.20 0.00 0.000 516 0.000 0.041 2100 1394 3707 3715 3699 0 0 0 0 0 0 11.33 11.16 11.33

5183 -2.06 -51.1 2100 1394 3715 3700 652.2 -9.1 497 5189 0.00 3.30 0.00 0.000 1030 0.000 0.050 2089 2802 3706 3714 3698 0 0 0 0 0 0 11.23 11.17 11.24

5564 -2.06 -51.1 2089 2802 3715 3700 686.9 -9.2 512 5565 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2801 3706 3714 3698 0 0 0 0 0 0 11.34 11.34 11.34

5921 -2.06 -51.1 2090 2802 3716 3699 718.4 -8.6 524 5922 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2801 3706 3714 3698 0 0 0 0 0 0 11.35 11.33 11.35

6282 -2.07 -58.0 2090 2802 3716 3698 747.9 -7.9 536 6287 0.00 2.62 0.00 0.000 292 0.000 0.071 2080 3913 3706 3714 3698 0 0 0 0 0 0 11.35 11.15 11.35

6323 -2.07 -58.0 2080 3914 3714 3699 751.7 -8.4 544 6330 0.15 2.47 0.00 0.000 3078 0.331 0.039 2104 2803 3706 3714 3698 0 0 0 0 0 0 11.00 11.19 11.15

6707 -2.08 -67.7 2105 2803 3715 3698 780.0 -7.1 560 6712 0.00 3.22 0.00 0.000 548 0.000 0.041 2104 1391 3706 3714 3698 0 0 0 0 0 0 11.33 11.16 11.33

6817 -2.09 -77.3 2105 1391 3715 3698 787.9 -7.1 581 6823 0.00 3.33 0.00 0.000 1062 0.000 0.051 2093 2808 3706 3714 3698 0 0 0 0 0 0 11.23 11.17 11.24

7197 -2.10 -89.3 2093 2809 3715 3699 813.1 -6.4 596 7203 0.00 3.20 0.00 0.000 548 0.000 0.040 2093 1389 3706 3714 3698 0 0 0 0 0 0 11.33 11.17 11.34

7269 -2.12 -101.4 2094 1389 3715 3697 817.7 -6.4 610 7275 0.00 3.33 0.00 0.000 1062 0.000 0.051 2083 2806 3706 3714 3698 0 0 0 0 0 0 11.23 11.16 11.24

7655 -2.13 -107.1 2084 2806 3715 3698 843.2 -6.6 626 7662 0.00 2.58 0.00 0.000 292 0.000 0.071 2074 3904 3705 3714 3697 0 0 0 0 0 0 11.33 11.14 11.34

7889 -2.13 -107.1 2075 3905 3715 3697 859.4 -6.9 672 7894 0.00 2.50 0.00 0.000 1062 0.000 0.040 2074 2794 3705 3713 3698 0 0 0 0 0 0 11.23 11.19 11.24

8137 end dive: BOTTOM_OBSTACLE_DETECTED

state 8137 begin apogee

8145 -0.23 0.0 2076 2541 3715 3698 875.8 -6.4 682 8244 3.80 0.00 93.12 3.076 10246 0.314 0.000 2692 2540 3493 3499 3487 0 0 0 0 0 0 11.02 11.02 10.00

8245 end apogee: CONTROL_FINISHED_OK

state 8245 begin climb

8249 2.13 107.1 2693 2540 3500 3487 876.5 0.0 685 8430 3.10 0.00 172.18 3.076 10758 0.102 0.000 3454 2540 3066 3081 3051 0 0 0 0 0 0 11.04 11.00 10.01

8771 2.13 107.1 3454 2540 3073 3042 738.6 29.9 713 8776 0.00 3.30 0.00 0.000 516 0.000 0.058 3465 1147 3057 3072 3042 0 0 0 0 0 0 11.30 11.10 11.30

8838 2.13 107.1 3465 1148 3072 3042 718.8 29.0 726 8845 0.00 3.30 0.00 0.000 1030 0.000 0.061 3464 2553 3056 3071 3041 0 0 0 0 0 0 11.19 11.12 11.20

9228 2.13 107.1 3465 2554 3071 3042 602.3 29.9 743 9228 0.00 0.00 0.00 0.000 6 0.000 0.000 3464 2553 3053 3070 3037 0 0 0 0 0 0 11.31 11.31 11.31

9587 2.13 107.1 3465 2554 3071 3042 498.7 28.1 755 9588 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 2553 3056 3071 3041 0 0 0 0 0 0 11.31 11.32 11.32

9886 2.13 107.1 3465 2554 3071 3042 416.7 26.9 770 9893 0.00 3.33 0.00 0.000 516 0.000 0.057 3482 1148 3056 3071 3041 0 0 0 0 0 0 11.33 11.12 11.33

9930 2.13 107.1 3475 1150 3071 3042 405.2 26.5 778 9936 0.00 3.35 0.00 0.000 1030 0.000 0.060 3475 2554 3056 3071 3041 0 0 0 0 0 0 11.21 11.14 11.23

10253 2.13 107.1 3475 2555 3072 3042 317.2 27.3 797 10254 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 2554 3056 3071 3041 0 0 0 0 0 0 11.33 11.32 11.32

10552 2.13 107.1 3475 2555 3071 3042 239.7 25.3 823 10557 0.00 3.33 0.00 0.000 260 0.000 0.083 3475 3916 3056 3071 3041 0 0 0 0 0 0 11.33 11.13 11.33

10650 2.13 107.1 3476 3916 3072 3041 212.9 27.7 842 10657 0.00 3.15 0.00 0.000 1030 0.000 0.047 3485 2543 3056 3071 3041 0 0 0 0 0 0 11.22 11.17 11.24

10956 2.13 107.1 3485 2544 3072 3041 136.1 24.7 873 10961 0.00 3.30 0.00 0.000 516 0.000 0.058 3496 1150 3056 3071 3041 0 0 0 0 0 0 11.33 11.14 11.33

11040 2.13 107.1 3496 1149 3072 3041 116.3 24.0 889 11046 0.28 3.38 0.00 0.000 5126 0.359 0.063 3461 2555 3056 3071 3041 0 0 0 0 0 0 10.98 11.14 11.19

11357 2.13 107.1 3461 2555 3071 3041 41.5 23.8 921 11362 0.00 3.25 0.00 0.000 260 0.000 0.083 3458 3910 3056 3071 3041 0 0 0 0 0 0 11.33 11.13 11.33

11450 2.13 107.1 3458 3911 3071 3041 16.2 24.4 939 11457 0.00 3.08 0.00 0.000 1030 0.000 0.047 3467 2542 3055 3071 3040 0 0 0 0 0 0 11.23 11.18 11.24

11520 end climb: SURFACE_DEPTH_REACHED

state 11523 begin surface coast

11530 end surface coast: CONTROL_FINISHED_OK

state 11530 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	843	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	25	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	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	130119,093209,-7404.3467,-11223.1357,32,0.9,33,53.2,0.2,0.0,11,6.9	SPEED_LIMITS	0.100,0.244
_CALLS	3	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	316.8,1058,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-62.6	D_GRID	990
GPS2	130119,100441,-7404.4683,-11223.8076,3,1.0,6,53.2,0.5,0.0,10,10.0

FREEZE	-0.15,-0.157,-1.855,2,1,0	ALTIM_BOTTOM_PING	872.0,12.8
FINISH	-0.1,1.027170	_24V_AH	10.00,268.395
SM_CCo	11557,223.95,0.190,0,0,1899,399.91	_10V_AH	10.22,0.000
SM_GC	0.68,12.93,0.68,223.95,0.076,0.073,0.190,199,2811,1899,-8.03,-0.17,399.91,0,0,0,0,0,0,11.14,11.15,11.03	FG_AHR_24Vo	0.000
RAFOS_CLK	470	FG_AHR_10Vo	0.000
RAFOS	0,1547380875,12.032354,12.020833,126,57,56,53,52,52,505,161,188,220,239,117	MEM	279100
RAFOS_FIX	-7405.073242,-11223.216797,130119,121236,2,115,0.15	DATA_FILE_SIZE	33364,948
IRIDIUM_FIX	-7405.65,-11224.52,130119,093854	CAP_FILE_SIZE	148642,0
TT8_MAMPS	0.04494,0.177513	CFSIZE	1024409600,918994944
HUMID	48.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1450.7
TCM_TEMP	13.00	CURRENT	0.092,232.10,1
XPDR_PINGS	0	GPS	130119,132301,-7403.908,-11224.576,34,0.9,35,53.2,0.3,236.9,9,6.2
ALTIM_TOP_PING	8.7,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	422	152.87	nil	0	0	0.00
Roll_motor	119	91	109.56	nil	0	0	0.00
VBD_pump_during_apogee	265	3076	8160.80	nil	0	0	0.00
VBD_pump_during_surface	223	190	426.59	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	11553	4	545.07
Iridium_during_xfer	1568	253	3971.42	nil	0	0	0.00
Transponder_ping	58	420	243.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	8	0.76
TT8	0	0	0.00
LPSleep	8873	2	209.48
TT8_Active	714	10	79.33
TT8_Sampling	3486	30	1081.30
TT8_CF8	668	51	350.77
TT8_Kalman	0	0	0.00
Analog_circuits	3008	10	310.52
GPS_charging	0	0	0.00
Compass	1357	6	93.50
RAFOS	720	1	11.04
Transponder	442	30	135.74

		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
6.6	7.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
12.8	14.60	9000.00	0.0	0.00	0.00	14.60	0.0	1.08	1.00
19.6	21.00	21.10	0.0	1.01	1.00	21.00	0.0	0.94	1.00
32.1	34.10	34.00	0.0	1.02	1.00	34.10	0.0	1.05	1.00
38.2	40.60	40.60	0.0	1.05	1.00	40.60	0.0	1.07	1.00
45.6	48.30	48.40	0.0	1.05	1.00	48.30	0.0	1.04	1.00
856.3	26.10	9000.00	0.0	-0.02	0.88	26.10	882.4	-0.03	1.00
864.1	19.10	9000.00	0.0	-0.03	0.95	19.10	883.2	-0.90	1.00
872.0	13.00	12.80	884.8	-0.83	1.00	13.00	885.0	-0.77	1.00

870.2	19.50	9000.00	0.0	-0.55	0.39	0.00	0.0	0.00	0.00
862.7	24.70	25.10	0.0	-1.08	0.84	24.70	0.0	-0.69	1.00
84.1	86.20	9000.00	0.0	-0.08	1.00	86.20	0.0	-0.08	1.00
55.7	57.60	9000.00	0.0	-0.06	0.76	57.60	-1.9	1.01	1.00
48.6	50.90	50.70	-2.1	1.00	1.00	50.90	-2.3	0.94	1.00
41.5	42.50	42.80	-1.3	1.07	1.00	42.50	-1.0	1.18	1.00
35.0	36.10	35.80	-0.8	1.09	1.00	36.10	-1.1	0.98	1.00
28.4	28.60	28.80	-0.4	1.06	1.00	28.60	-0.2	1.14	1.00
21.6	21.60	21.50	0.1	1.08	1.00	21.60	0.0	1.03	1.00
14.9	15.10	15.00	-0.1	1.01	1.00	15.10	-0.2	0.97	1.00
8.7	8.80	8.80	-0.1	0.99	1.00	8.80	-0.1	1.02	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-2.02	-22.2	203	2811	1935	1796	0.0	0.0	0	116	0.00	0.00	-103.18	0.003	16390	0.000	0.000	202	2811	3582	3603	3562	0	0	0	0	0	0	11.30	10.54	11.30
120	-2.06	-51.1	203	2812	3608	3565	1.3	-1.3	10	149	15.35	2.65	-5.22	0.015	18724	0.422	0.092	2099	3907	3699	3706	3692	0	0	0	0	0	0	10.94	10.52	11.15
377	-2.06	-51.1	2099	3908	3715	3700	40.2	-17.1	60	382	0.00	2.50	0.00	0.000	1030	0.000	0.037	2099	2784	3706	3713	3699	0	0	0	0	0	0	11.21	11.17	11.23
689	-2.06	-51.1	2099	2785	3715	3702	91.6	-15.4	92	694	0.00	2.65	0.00	0.000	260	0.000	0.070	2090	3913	3707	3714	3701	0	0	0	0	0	0	11.31	11.13	11.31
922	-2.06	-51.1	2090	3914	3716	3703	131.0	-17.2	138	927	0.00	2.50	0.00	0.000	1030	0.000	0.036	2090	2788	3708	3715	3702	0	0	0	0	0	0	11.22	11.19	11.24
1233	-2.06	-51.1	2091	2789	3717	3703	179.5	-15.1	170	1234	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2789	3709	3715	3703	0	0	0	0	0	0	11.33	11.33	11.33
1534	-2.06	-51.1	2091	2790	3716	3704	223.1	-14.0	200	1539	0.00	3.20	0.00	0.000	516	0.000	0.041	2090	1394	3709	3716	3703	0	0	0	0	0	0	11.32	11.14	11.32
1566	-2.06	-51.1	2091	1393	3717	3703	227.7	-14.3	206	1571	0.20	3.30	0.00	0.000	3078	0.324	0.049	2107	2806	3709	3716	3703	0	0	0	0	0	0	11.00	11.15	11.20
1878	-2.06	-51.1	2108	2806	3717	3703	269.0	-12.7	238	1883	0.00	2.62	0.00	0.000	260	0.000	0.072	2100	3912	3709	3716	3703	0	0	0	0	0	0	11.32	11.14	11.32
1910	-2.06	-51.1	2100	3913	3717	3703	273.3	-14.0	244	1915	0.00	2.50	0.00	0.000	1030	0.000	0.037	2100	2794	3709	3716	3703	0	0	0	0	0	0	11.23	11.19	11.24
2231	-2.06	-51.1	2100	2794	3717	3703	313.1	-11.9	272	2236	0.00	2.67	0.00	0.000	260	0.000	0.070	2091	3916	3709	3716	3703	0	0	0	0	0	0	11.33	11.14	11.33
2287	-2.06	-51.1	2090	3917	3716	3704	320.2	-12.8	283	2297	0.00	2.53	0.00	0.000	1030	0.000	0.037	2091	2791	3709	3716	3703	0	0	0	0	0	0	11.23	11.18	11.24
2593	-2.06	-51.1	2091	2791	3716	3704	357.3	-12.1	299	2599	0.00	2.70	0.00	0.000	260	0.000	0.070	2082	3913	3708	3716	3700	0	0	0	0	0	0	11.33	11.14	11.33
2680	-2.06	-51.1	2083	3914	3717	3704	368.9	-13.3	316	2685	0.20	2.50	0.00	0.000	3078	0.337	0.037	2109	2796	3709	3716	3702	0	0	0	0	0	0	11.00	11.19	11.21
2998	-2.06	-51.1	2109	2796	3717	3702	407.5	-12.3	334	2998	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2796	3709	3716	3703	0	0	0	0	0	0	11.33	11.33	11.33
3301	-2.06	-51.1	2109	2797	3717	3704	444.6	-12.4	349	3307	0.00	3.22	0.00	0.000	516	0.000	0.042	2109	1395	3709	3716	3702	0	0	0	0	0	0	11.33	11.16	11.34
3368	-2.06	-51.1	2109	1395	3717	3704	453.2	-12.0	362	3373	0.00	3.33	0.00	0.000	1030	0.000	0.051	2099	2809	3709	3716	3703	0	0	0	0	0	0	11.22	11.16	11.24
3685	-2.06	-51.1	2100	2809	3717	3702	490.8	-11.7	380	3690	0.00	2.62	0.00	0.000	260	0.000	0.073	2091	3910	3709	3716	3702	0	0	0	0	0	0	11.34	11.14	11.34
3816	-2.06	-51.1	2092	3910	3717	3701	507.7	-12.9	406	3821	0.00	2.50	0.00	0.000	1030	0.000	0.037	2091	2796	3708	3716	3701	0	0	0	0	0	0	11.24	11.19	11.24
4197	-2.06	-51.1	2092	2796	3717	3697	553.0	-11.5	422	4202	0.00	3.20	0.00	0.000	516	0.000	0.041	2091	1395	3707	3715	3700	0	0	0	0	0	0	11.34	11.16	11.34
4294	-2.06	-51.1	2092	1396	3717	3700	563.7	-10.8	441	4300	0.20	3.30	0.00	0.000	3078	0.332	0.051	2107	2803	3708	3716	3700	0	0	0	0	0	0	11.01	11.16	11.20
4682	-2.06	-51.1	2108	2803	3716	3699	603.4	-10.1	458	4687	0.00	2.62	0.00	0.000	260	0.000	0.072	2100	3911	3707	3715	3699	0	0	0	0	0	0	11.34	11.14	11.34
4738	-2.06	-51.1	2100	3911	3716	3699	609.5	-10.8	469	4745	0.00	2.50	0.00	0.000	1030	0.000	0.038	2100	2795	3707	3715	3699	0	0	0	0	0	0	11.24	11.19	11.24
5107	-2.06	-51.1	2100	2796	3716	3700	644.7	-9.4	482	5112	0.00	3.20	0.00	0.000	516	0.000	0.041	2100	1394	3707	3715	3699	0	0	0	0	0	0	11.33	11.16	11.33
5183	-2.06	-51.1	2100	1394	3715	3700	652.2	-9.1	497	5189	0.00	3.30	0.00	0.000	1030	0.000	0.050	2089	2802	3706	3714	3698	0	0	0	0	0	0	11.23	11.17	11.24
5564	-2.06	-51.1	2089	2802	3715	3700	686.9	-9.2	512	5565	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2801	3706	3714	3698	0	0	0	0	0	0	11.34	11.34	11.34
5921	-2.06	-51.1	2090	2802	3716	3699	718.4	-8.6	524	5922	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2801	3706	3714	3698	0	0	0	0	0	0	11.35	11.33	11.35
6282	-2.07	-58.0	2090	2802	3716	3698	747.9	-7.9	536	6287	0.00	2.62	0.00	0.000	292	0.000	0.071	2080	3913	3706	3714	3698	0	0	0	0	0	0	11.35	11.15	11.35
6323	-2.07	-58.0	2080	3914	3714	3699	751.7	-8.4	544	6330	0.15	2.47	0.00	0.000	3078	0.331	0.039	2104	2803	3706	3714	3698	0	0	0	0	0	0	11.00	11.19	11.15
6707	-2.08	-67.7	2105	2803	3715	3698	780.0	-7.1	560	6712	0.00	3.22	0.00	0.000	548	0.000	0.041	2104	1391	3706	3714	3698	0	0	0	0	0	0	11.33	11.16	11.33
6817	-2.09	-77.3	2105	1391	3715	3698	787.9	-7.1	581	6823	0.00	3.33	0.00	0.000	1062	0.000	0.051	2093	2808	3706	3714	3698	0	0	0	0	0	0	11.23	11.17	11.24
7197	-2.10	-89.3	2093	2809	3715	3699	813.1	-6.4	596	7203	0.00	3.20	0.00	0.000	548	0.000	0.040	2093	1389	3706	3714	3698	0	0	0	0	0	0	11.33	11.17	11.34
7269	-2.12	-101.4	2094	1389	3715	3697	817.7	-6.4	610	7275	0.00	3.33	0.00	0.000	1062	0.000	0.051	2083	2806	3706	3714	3698	0	0	0	0	0	0	11.23	11.16	11.24
7655	-2.13	-107.1	2084	2806	3715	3698	843.2	-6.6	626	7662	0.00	2.58	0.00	0.000	292	0.000	0.071	2074	3904	3705	3714	3697	0	0	0	0	0	0	11.33	11.14	11.34
7889	-2.13	-107.1	2075	3905	3715	3697	859.4	-6.9	672	7894	0.00	2.50	0.00	0.000	1062	0.000	0.040	2074	2794	3705	3713	3698	0	0	0	0	0	0	11.23	11.19	11.24
8137	end dive: BOTTOM_OBSTACLE_DETECTED
state	8137	begin apogee
8145	-0.23	0.0	2076	2541	3715	3698	875.8	-6.4	682	8244	3.80	0.00	93.12	3.076	10246	0.314	0.000	2692	2540	3493	3499	3487	0	0	0	0	0	0	11.02	11.02	10.00
8245	end apogee: CONTROL_FINISHED_OK
state	8245	begin climb
8249	2.13	107.1	2693	2540	3500	3487	876.5	0.0	685	8430	3.10	0.00	172.18	3.076	10758	0.102	0.000	3454	2540	3066	3081	3051	0	0	0	0	0	0	11.04	11.00	10.01
8771	2.13	107.1	3454	2540	3073	3042	738.6	29.9	713	8776	0.00	3.30	0.00	0.000	516	0.000	0.058	3465	1147	3057	3072	3042	0	0	0	0	0	0	11.30	11.10	11.30
8838	2.13	107.1	3465	1148	3072	3042	718.8	29.0	726	8845	0.00	3.30	0.00	0.000	1030	0.000	0.061	3464	2553	3056	3071	3041	0	0	0	0	0	0	11.19	11.12	11.20
9228	2.13	107.1	3465	2554	3071	3042	602.3	29.9	743	9228	0.00	0.00	0.00	0.000	6	0.000	0.000	3464	2553	3053	3070	3037	0	0	0	0	0	0	11.31	11.31	11.31
9587	2.13	107.1	3465	2554	3071	3042	498.7	28.1	755	9588	0.00	0.00	0.00	0.000	6	0.000	0.000	3465	2553	3056	3071	3041	0	0	0	0	0	0	11.31	11.32	11.32
9886	2.13	107.1	3465	2554	3071	3042	416.7	26.9	770	9893	0.00	3.33	0.00	0.000	516	0.000	0.057	3482	1148	3056	3071	3041	0	0	0	0	0	0	11.33	11.12	11.33
9930	2.13	107.1	3475	1150	3071	3042	405.2	26.5	778	9936	0.00	3.35	0.00	0.000	1030	0.000	0.060	3475	2554	3056	3071	3041	0	0	0	0	0	0	11.21	11.14	11.23
10253	2.13	107.1	3475	2555	3072	3042	317.2	27.3	797	10254	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	2554	3056	3071	3041	0	0	0	0	0	0	11.33	11.32	11.32
10552	2.13	107.1	3475	2555	3071	3042	239.7	25.3	823	10557	0.00	3.33	0.00	0.000	260	0.000	0.083	3475	3916	3056	3071	3041	0	0	0	0	0	0	11.33	11.13	11.33
10650	2.13	107.1	3476	3916	3072	3041	212.9	27.7	842	10657	0.00	3.15	0.00	0.000	1030	0.000	0.047	3485	2543	3056	3071	3041	0	0	0	0	0	0	11.22	11.17	11.24
10956	2.13	107.1	3485	2544	3072	3041	136.1	24.7	873	10961	0.00	3.30	0.00	0.000	516	0.000	0.058	3496	1150	3056	3071	3041	0	0	0	0	0	0	11.33	11.14	11.33
11040	2.13	107.1	3496	1149	3072	3041	116.3	24.0	889	11046	0.28	3.38	0.00	0.000	5126	0.359	0.063	3461	2555	3056	3071	3041	0	0	0	0	0	0	10.98	11.14	11.19
11357	2.13	107.1	3461	2555	3071	3041	41.5	23.8	921	11362	0.00	3.25	0.00	0.000	260	0.000	0.083	3458	3910	3056	3071	3041	0	0	0	0	0	0	11.33	11.13	11.33
11450	2.13	107.1	3458	3911	3071	3041	16.2	24.4	939	11457	0.00	3.08	0.00	0.000	1030	0.000	0.047	3467	2542	3055	3071	3040	0	0	0	0	0	0	11.23	11.18	11.24
11520	end climb: SURFACE_DEPTH_REACHED
state	11523	begin surface coast
11530	end surface coast: CONTROL_FINISHED_OK
state	11530	begin surface