Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 849 * 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 849 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 27 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 849 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 140119,074237,-7404.4771,-11228.0791,28,1.9,35,53.3,0.4,298.6,4,10.0 SPEED_LIMITS 0.100,0.244

_CALLS 2 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.63 MHEAD_RNG_PITCHd_Wd 25.2,1897,-32.1,-10.000,-33.59,634

_SM_ANGLEo -60.7 D_GRID 990

GPS2 140119,075722,-7404.4316,-11228.3838,2,0.9,4,53.3,0.5,269.8,12,9.2

Post-dive calculations and measurements:

FREEZE -0.00,-0.247,-1.855,2,1,0 ALTIM_BOTTOM_PING 832.3,13.0

FINISH -0.0,1.027176 _24V_AH 10.01,270.602

SM_CCo 10938,260.88,0.190,0,0,1898,399.91 _10V_AH 10.26,0.000

SM_GC 0.64,12.07,2.62,260.88,0.067,0.047,0.190,200,2793,1898,-8.03,0.57,399.91,0,0,0,0,0,0,11.15,11.19,11.05 FG_AHR_24Vo 0.000

RAFOS_CLK 451 FG_AHR_10Vo 0.000

RAFOS 0,1547456469,9.032354,9.019167,156,70,55,53,51,48,538,224,178,200,151,118 MEM 279132

RAFOS_FIX -7405.211914,-11223.709961,140119,090924,2,124,0.63 DATA_FILE_SIZE 30066,857

IRIDIUM_FIX -7402.95,-11228.77,140119,074621 CAP_FILE_SIZE 135923,0

TT8_MAMPS 0.046438,0.285369 CFSIZE 1024409600,918470656

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

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1449.1

TCM_TEMP 12.90 CURRENT 0.068,287.21,1

XPDR_PINGS 0 GPS 140119,110602,-7404.023,-11225.054,42,0.8,43,53.2,0.6,294.5,12,6.6

ALTIM_TOP_PING 11.5,11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 419 144.04 nil 0 0 0.00

Roll_motor 111 94 106.23 nil 0 0 0.00

VBD_pump_during_apogee 309 3079 9534.86 nil 0 0 0.00

VBD_pump_during_surface 260 190 497.42 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 10931 4 521.93

Iridium_during_xfer 613 229 1409.05 nil 0 0 0.00

Transponder_ping 60 420 252.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.59

TT8 0 0 0.00

LPSleep 8362 2 198.19

TT8_Active 772 10 86.16

TT8_Sampling 2455 30 764.65

TT8_CF8 497 51 262.09

TT8_Kalman 0 0 0.00

Analog_circuits 2063 10 213.87

GPS_charging 0 0 0.00

Compass 1228 6 84.97

RAFOS 720 1 11.08

Transponder 456 30 140.39

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

19.6 21.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.9 27.30 9000.00 0.0 0.00 0.00 27.30 0.0 0.98 1.00

32.4 34.70 34.60 0.0 1.06 1.00 34.70 0.0 1.14 1.00

818.5 30.00 9000.00 0.0 0.00 0.02 30.00 848.5 -0.01 1.00

825.5 20.20 9000.00 0.0 -0.01 0.57 20.20 845.7 -1.40 1.00

832.3 13.50 13.00 845.3 -1.20 0.99 13.50 845.8 -0.99 1.00

834.2 14.40 9000.00 0.0 -0.75 0.88 0.00 0.0 0.00 0.00

828.1 15.10 9000.00 0.0 -0.15 0.34 15.10 0.0 -0.11 1.00

822.0 20.80 9000.00 0.0 -0.53 0.83 20.80 0.0 -0.93 1.00

815.6 24.60 9000.00 0.0 -0.76 0.98 24.60 0.0 -0.59 1.00

805.6 29.40 9000.00 0.0 -0.51 0.99 29.40 0.0 -0.48 1.00

132.4 137.20 9000.00 0.0 -0.16 1.00 137.20 0.0 -0.16 1.00

125.4 129.80 9000.00 0.0 -0.15 1.00 129.80 -4.4 1.06 1.00

118.4 123.00 122.90 -4.5 1.02 1.00 123.00 -4.6 0.97 1.00

90.5 94.00 94.10 -3.6 1.03 1.00 94.00 -3.5 1.04 1.00

83.5 86.40 86.60 -3.1 1.04 1.00 86.40 -2.9 1.09 1.00

76.3 78.90 78.80 -2.5 1.07 1.00 78.90 -2.6 1.04 1.00

56.8 58.60 58.50 -1.7 1.04 1.00 58.60 -1.8 1.04 1.00

49.3 51.00 50.90 -1.6 1.04 1.00 51.00 -1.7 1.01 1.00

42.9 44.40 44.40 -1.5 1.03 1.00 44.40 -1.5 1.03 1.00

36.4 37.60 37.60 -1.2 1.04 1.00 37.60 -1.2 1.05 1.00

30.1 31.20 31.10 -1.0 1.03 1.00 31.20 -1.1 1.02 1.00

23.9 25.10 25.00 -1.1 0.99 1.00 25.10 -1.2 0.98 1.00

17.7 18.10 18.30 -0.6 1.06 1.00 18.10 -0.4 1.13 1.00

11.5 11.90 11.80 -0.3 1.06 1.00 11.90 -0.4 1.00 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 -1.51 -41.3 196 2810 1940 1802 0.0 0.0 0 122 0.00 0.00 -107.28 0.003 16390 0.000 0.000 196 2810 3659 3679 3640 0 0 0 0 0 0 11.31 10.55 11.31

126 -1.57 -93.9 196 2811 3683 3644 1.6 -1.5 11 160 16.52 2.72 -8.50 0.010 18724 0.419 0.095 2256 3915 3872 3874 3871 0 0 0 0 0 0 10.95 10.54 11.16

387 -1.57 -93.9 2256 3915 3882 3879 43.6 -18.1 62 394 0.00 2.53 0.00 0.000 1030 0.000 0.039 2256 2789 3880 3881 3880 0 0 0 0 0 0 11.22 11.18 11.24

693 -1.57 -93.9 2256 2790 3882 3883 94.3 -15.5 93 699 0.00 2.72 0.00 0.000 260 0.000 0.076 2249 3920 3882 3882 3882 0 0 0 0 0 0 11.33 11.13 11.33

756 -1.57 -93.9 2249 3921 3883 3883 105.2 -17.8 105 762 0.00 2.53 0.00 0.000 1030 0.000 0.040 2249 2795 3882 3882 3882 0 0 0 0 0 0 11.23 11.19 11.24

1068 -1.57 -93.9 2249 2796 3884 3884 155.6 -15.8 137 1074 0.00 3.22 0.00 0.000 516 0.000 0.044 2249 1395 3882 3882 3882 0 0 0 0 0 0 11.33 11.14 11.33

1131 -1.57 -93.9 2250 1396 3885 3882 165.4 -15.5 149 1137 0.00 3.35 0.00 0.000 1030 0.000 0.055 2241 2809 3882 3883 3881 0 0 0 0 0 0 11.22 11.15 11.24

1444 -1.57 -93.9 2240 2810 3884 3883 215.5 -16.0 181 1445 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2809 3882 3883 3882 0 0 0 0 0 0 11.33 11.33 11.33

1743 -1.57 -93.9 2240 2810 3883 3883 262.4 -15.6 211 1748 0.00 3.30 0.00 0.000 516 0.000 0.044 2241 1397 3883 3883 3883 0 0 0 0 0 0 11.34 11.14 11.34

1820 -1.57 -93.9 2241 1391 3884 3882 274.2 -15.4 226 1826 0.22 3.35 0.00 0.000 3078 0.321 0.055 2263 2808 3882 3883 3882 0 0 0 0 0 0 11.02 11.15 11.21

2125 -1.57 -93.9 2264 2808 3884 3879 318.3 -14.0 251 2125 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2808 3882 3883 3882 0 0 0 0 0 0 11.34 11.34 11.34

2428 -1.57 -93.9 2263 2809 3884 3883 360.2 -13.5 266 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2807 3882 3883 3882 0 0 0 0 0 0 11.34 11.34 11.36

2728 -1.57 -93.9 2263 2808 3885 3882 401.0 -13.7 281 2733 0.00 2.65 0.00 0.000 260 0.000 0.078 2257 3910 3882 3883 3881 0 0 0 0 0 0 11.34 11.14 11.34

2780 -1.57 -93.9 2258 3908 3885 3882 409.3 -15.2 291 2785 0.00 2.50 0.00 0.000 1030 0.000 0.041 2257 2798 3882 3883 3882 0 0 0 0 0 0 11.24 11.19 11.26

3095 -1.57 -93.9 2257 2797 3885 3882 452.0 -13.4 308 3100 0.00 2.72 0.00 0.000 260 0.000 0.078 2248 3915 3882 3883 3882 0 0 0 0 0 0 11.33 11.14 11.33

3146 -1.57 -93.9 2248 3915 3884 3884 460.0 -14.9 318 3151 0.00 2.53 0.00 0.000 1030 0.000 0.041 2246 2797 3882 3883 3882 0 0 0 0 0 0 11.24 11.19 11.25

3458 -1.57 -93.9 2249 2798 3884 3884 502.0 -13.4 335 3463 0.00 3.22 0.00 0.000 516 0.000 0.045 2248 1389 3882 3883 3882 0 0 0 0 0 0 11.35 11.15 11.35

3581 -1.57 -93.9 2250 1389 3884 3882 518.3 -13.2 359 3586 0.00 3.38 0.00 0.000 1030 0.000 0.057 2246 2805 3882 3883 3882 0 0 0 0 0 0 11.23 11.16 11.24

3972 -1.57 -93.9 2246 2806 3884 3883 570.5 -13.0 377 3978 0.00 2.65 0.00 0.000 260 0.000 0.078 2238 3913 3883 3884 3882 0 0 0 0 0 0 11.34 11.14 11.34

4068 -1.57 -93.9 2238 3914 3883 3882 583.3 -14.2 395 4073 0.17 2.53 0.00 0.000 3078 0.308 0.042 2262 2794 3882 3883 3881 0 0 0 0 0 0 11.02 11.19 11.20

4460 -1.57 -93.9 2263 2795 3884 3881 630.4 -11.6 413 4460 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2795 3882 3883 3881 0 0 0 0 0 0 11.35 11.35 11.35

4823 -1.57 -93.9 2263 2795 3885 3880 672.1 -11.6 425 4823 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2795 3881 3883 3879 0 0 0 0 0 0 11.33 11.34 11.33

5183 -1.57 -93.9 2262 2794 3884 3880 713.7 -11.4 437 5189 0.00 3.22 0.00 0.000 516 0.000 0.044 2262 1399 3881 3883 3879 0 0 0 0 0 0 11.34 11.17 11.34

5210 -1.57 -93.9 2262 1399 3884 3880 717.3 -12.0 442 5216 0.00 3.35 0.00 0.000 1030 0.000 0.058 2258 2812 3881 3883 3880 0 0 0 0 0 0 11.23 11.16 11.24

5579 -1.57 -93.9 2259 2813 3884 3880 758.1 -11.0 455 5580 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2812 3881 3883 3880 0 0 0 0 0 0 11.34 11.34 11.34

5939 -1.57 -93.9 2259 2812 3884 3880 796.8 -10.8 467 5944 0.00 3.28 0.00 0.000 516 0.000 0.044 2258 1396 3881 3883 3879 0 0 0 0 0 0 11.34 11.17 11.34

6045 -1.57 -93.9 2259 1395 3884 3880 809.1 -11.5 488 6054 0.00 3.28 0.00 0.000 1030 0.000 0.057 2249 2814 3881 3883 3879 0 0 0 0 0 0 11.19 11.14 11.21

6306 end dive: BOTTOM_OBSTACLE_DETECTED

state 6306 begin apogee

6314 -0.23 0.0 2250 2542 3883 3880 838.9 -11.1 499 6485 2.47 0.00 162.30 3.080 10246 0.265 0.000 2696 2541 3491 3497 3486 0 0 0 0 0 0 11.05 10.93 10.02

6486 end apogee: CONTROL_FINISHED_OK

state 6486 begin climb

6490 1.57 93.9 2697 2541 3499 3485 840.6 0.0 505 6650 2.40 3.33 146.98 3.044 10756 0.105 0.058 3284 1149 3118 3128 3109 0 0 0 0 0 0 11.05 10.93 10.01

6681 1.57 93.9 3284 1150 3124 3107 812.7 19.6 540 6687 0.00 3.38 0.00 0.000 1030 0.000 0.061 3284 2557 3116 3127 3106 0 0 0 0 0 0 11.16 11.08 11.17

7047 1.57 93.9 3284 2557 3119 3100 734.2 21.6 553 7048 0.00 0.00 0.00 0.000 6 0.000 0.000 3284 2557 3109 3118 3101 0 0 0 0 0 0 11.30 11.29 11.30

7407 1.57 93.9 3285 2557 3119 3100 656.7 21.3 565 7408 0.00 0.00 0.00 0.000 6 0.000 0.000 3284 2556 3108 3117 3100 0 0 0 0 0 0 11.31 11.31 11.31

7767 1.57 93.9 3284 2558 3118 3101 579.0 21.4 577 7772 0.00 3.33 0.00 0.000 260 0.000 0.084 3284 3914 3108 3117 3099 0 0 0 0 0 0 11.32 11.12 11.32

7819 1.57 93.9 3285 3915 3118 3099 567.1 23.2 587 7825 0.00 3.15 0.00 0.000 1030 0.000 0.047 3295 2545 3108 3117 3099 0 0 0 0 0 0 11.18 11.16 11.20

8202 1.57 93.9 3295 2546 3119 3099 490.4 19.5 602 8208 0.00 3.30 0.00 0.000 516 0.000 0.060 3306 1147 3108 3117 3099 0 0 0 0 0 0 11.32 11.12 11.32

8229 1.57 93.9 3306 1147 3118 3099 485.0 18.8 607 8235 0.00 3.30 0.00 0.000 1030 0.000 0.062 3304 2554 3108 3117 3099 0 0 0 0 0 0 11.21 11.14 11.23

8548 1.57 93.9 3306 2554 3118 3100 420.6 20.2 625 8549 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2553 3108 3117 3100 0 0 0 0 0 0 11.32 11.33 11.33

8847 1.57 93.9 3305 2555 3117 3101 361.8 19.7 640 8852 0.00 3.33 0.00 0.000 260 0.000 0.086 3305 3912 3108 3117 3100 0 0 0 0 0 0 11.33 11.12 11.34

8893 1.57 93.9 3305 3912 3118 3099 352.0 21.5 649 8899 0.22 3.15 0.00 0.000 5126 0.337 0.047 3286 2549 3111 3123 3099 0 0 0 0 0 0 11.00 11.18 11.21

9200 1.57 93.9 3286 2550 3118 3100 294.7 18.6 667 9206 0.00 3.25 0.00 0.000 516 0.000 0.059 3296 1147 3108 3117 3099 0 0 0 0 0 0 11.34 11.14 11.34

9252 1.57 93.9 3297 1146 3118 3099 285.4 17.2 677 9258 0.00 3.38 0.00 0.000 1030 0.000 0.063 3295 2553 3108 3117 3099 0 0 0 0 0 0 11.22 11.14 11.24

9565 1.57 93.9 3296 2553 3118 3101 229.4 17.7 709 9566 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 2553 3108 3118 3099 0 0 0 0 0 0 11.33 11.33 11.33

9864 1.57 93.9 3296 2554 3118 3100 177.1 17.4 739 9869 0.00 3.33 0.00 0.000 516 0.000 0.057 3306 1146 3108 3117 3099 0 0 0 0 0 0 11.34 11.14 11.34

9917 1.57 93.9 3306 1146 3118 3100 168.2 17.4 749 9922 0.00 3.38 0.00 0.000 1030 0.000 0.063 3306 2552 3108 3117 3100 0 0 0 0 0 0 11.21 11.14 11.23

10229 1.57 93.9 3306 2553 3118 3101 113.2 17.3 781 10229 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2552 3108 3117 3099 0 0 0 0 0 0 11.34 11.34 11.34

10529 1.57 93.9 3307 2552 3118 3099 61.2 16.6 811 10534 0.00 3.33 0.00 0.000 516 0.000 0.057 3316 1146 3108 3117 3099 0 0 0 0 0 0 11.34 11.14 11.35

10575 1.57 93.9 3319 1145 3119 3099 53.4 16.6 820 10582 0.22 3.38 0.00 0.000 5126 0.322 0.063 3286 2559 3108 3117 3099 0 0 0 0 0 0 11.02 11.15 11.21

10881 1.57 93.9 3286 2560 3117 3100 5.2 15.7 851 10887 0.00 3.33 0.00 0.000 260 0.000 0.086 3286 3913 3108 3117 3099 0 0 0 0 0 0 11.33 11.14 11.33

10900 end climb: SURFACE_DEPTH_REACHED

state 10900 begin surface coast

10910 end surface coast: CONTROL_FINISHED_OK

state 10910 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	849	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	27	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	140119,074237,-7404.4771,-11228.0791,28,1.9,35,53.3,0.4,298.6,4,10.0	SPEED_LIMITS	0.100,0.244
_CALLS	2	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.63	MHEAD_RNG_PITCHd_Wd	25.2,1897,-32.1,-10.000,-33.59,634
_SM_ANGLEo	-60.7	D_GRID	990
GPS2	140119,075722,-7404.4316,-11228.3838,2,0.9,4,53.3,0.5,269.8,12,9.2

FREEZE	-0.00,-0.247,-1.855,2,1,0	ALTIM_BOTTOM_PING	832.3,13.0
FINISH	-0.0,1.027176	_24V_AH	10.01,270.602
SM_CCo	10938,260.88,0.190,0,0,1898,399.91	_10V_AH	10.26,0.000
SM_GC	0.64,12.07,2.62,260.88,0.067,0.047,0.190,200,2793,1898,-8.03,0.57,399.91,0,0,0,0,0,0,11.15,11.19,11.05	FG_AHR_24Vo	0.000
RAFOS_CLK	451	FG_AHR_10Vo	0.000
RAFOS	0,1547456469,9.032354,9.019167,156,70,55,53,51,48,538,224,178,200,151,118	MEM	279132
RAFOS_FIX	-7405.211914,-11223.709961,140119,090924,2,124,0.63	DATA_FILE_SIZE	30066,857
IRIDIUM_FIX	-7402.95,-11228.77,140119,074621	CAP_FILE_SIZE	135923,0
TT8_MAMPS	0.046438,0.285369	CFSIZE	1024409600,918470656
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1449.1
TCM_TEMP	12.90	CURRENT	0.068,287.21,1
XPDR_PINGS	0	GPS	140119,110602,-7404.023,-11225.054,42,0.8,43,53.2,0.6,294.5,12,6.6
ALTIM_TOP_PING	11.5,11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	419	144.04	nil	0	0	0.00
Roll_motor	111	94	106.23	nil	0	0	0.00
VBD_pump_during_apogee	309	3079	9534.86	nil	0	0	0.00
VBD_pump_during_surface	260	190	497.42	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	10931	4	521.93
Iridium_during_xfer	613	229	1409.05	nil	0	0	0.00
Transponder_ping	60	420	252.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.59
TT8	0	0	0.00
LPSleep	8362	2	198.19
TT8_Active	772	10	86.16
TT8_Sampling	2455	30	764.65
TT8_CF8	497	51	262.09
TT8_Kalman	0	0	0.00
Analog_circuits	2063	10	213.87
GPS_charging	0	0	0.00
Compass	1228	6	84.97
RAFOS	720	1	11.08
Transponder	456	30	140.39

		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
19.6	21.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.9	27.30	9000.00	0.0	0.00	0.00	27.30	0.0	0.98	1.00
32.4	34.70	34.60	0.0	1.06	1.00	34.70	0.0	1.14	1.00
818.5	30.00	9000.00	0.0	0.00	0.02	30.00	848.5	-0.01	1.00
825.5	20.20	9000.00	0.0	-0.01	0.57	20.20	845.7	-1.40	1.00
832.3	13.50	13.00	845.3	-1.20	0.99	13.50	845.8	-0.99	1.00

834.2	14.40	9000.00	0.0	-0.75	0.88	0.00	0.0	0.00	0.00
828.1	15.10	9000.00	0.0	-0.15	0.34	15.10	0.0	-0.11	1.00
822.0	20.80	9000.00	0.0	-0.53	0.83	20.80	0.0	-0.93	1.00
815.6	24.60	9000.00	0.0	-0.76	0.98	24.60	0.0	-0.59	1.00
805.6	29.40	9000.00	0.0	-0.51	0.99	29.40	0.0	-0.48	1.00
132.4	137.20	9000.00	0.0	-0.16	1.00	137.20	0.0	-0.16	1.00
125.4	129.80	9000.00	0.0	-0.15	1.00	129.80	-4.4	1.06	1.00
118.4	123.00	122.90	-4.5	1.02	1.00	123.00	-4.6	0.97	1.00
90.5	94.00	94.10	-3.6	1.03	1.00	94.00	-3.5	1.04	1.00
83.5	86.40	86.60	-3.1	1.04	1.00	86.40	-2.9	1.09	1.00
76.3	78.90	78.80	-2.5	1.07	1.00	78.90	-2.6	1.04	1.00
56.8	58.60	58.50	-1.7	1.04	1.00	58.60	-1.8	1.04	1.00
49.3	51.00	50.90	-1.6	1.04	1.00	51.00	-1.7	1.01	1.00
42.9	44.40	44.40	-1.5	1.03	1.00	44.40	-1.5	1.03	1.00
36.4	37.60	37.60	-1.2	1.04	1.00	37.60	-1.2	1.05	1.00
30.1	31.20	31.10	-1.0	1.03	1.00	31.20	-1.1	1.02	1.00
23.9	25.10	25.00	-1.1	0.99	1.00	25.10	-1.2	0.98	1.00
17.7	18.10	18.30	-0.6	1.06	1.00	18.10	-0.4	1.13	1.00
11.5	11.90	11.80	-0.3	1.06	1.00	11.90	-0.4	1.00	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	-1.51	-41.3	196	2810	1940	1802	0.0	0.0	0	122	0.00	0.00	-107.28	0.003	16390	0.000	0.000	196	2810	3659	3679	3640	0	0	0	0	0	0	11.31	10.55	11.31
126	-1.57	-93.9	196	2811	3683	3644	1.6	-1.5	11	160	16.52	2.72	-8.50	0.010	18724	0.419	0.095	2256	3915	3872	3874	3871	0	0	0	0	0	0	10.95	10.54	11.16
387	-1.57	-93.9	2256	3915	3882	3879	43.6	-18.1	62	394	0.00	2.53	0.00	0.000	1030	0.000	0.039	2256	2789	3880	3881	3880	0	0	0	0	0	0	11.22	11.18	11.24
693	-1.57	-93.9	2256	2790	3882	3883	94.3	-15.5	93	699	0.00	2.72	0.00	0.000	260	0.000	0.076	2249	3920	3882	3882	3882	0	0	0	0	0	0	11.33	11.13	11.33
756	-1.57	-93.9	2249	3921	3883	3883	105.2	-17.8	105	762	0.00	2.53	0.00	0.000	1030	0.000	0.040	2249	2795	3882	3882	3882	0	0	0	0	0	0	11.23	11.19	11.24
1068	-1.57	-93.9	2249	2796	3884	3884	155.6	-15.8	137	1074	0.00	3.22	0.00	0.000	516	0.000	0.044	2249	1395	3882	3882	3882	0	0	0	0	0	0	11.33	11.14	11.33
1131	-1.57	-93.9	2250	1396	3885	3882	165.4	-15.5	149	1137	0.00	3.35	0.00	0.000	1030	0.000	0.055	2241	2809	3882	3883	3881	0	0	0	0	0	0	11.22	11.15	11.24
1444	-1.57	-93.9	2240	2810	3884	3883	215.5	-16.0	181	1445	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2809	3882	3883	3882	0	0	0	0	0	0	11.33	11.33	11.33
1743	-1.57	-93.9	2240	2810	3883	3883	262.4	-15.6	211	1748	0.00	3.30	0.00	0.000	516	0.000	0.044	2241	1397	3883	3883	3883	0	0	0	0	0	0	11.34	11.14	11.34
1820	-1.57	-93.9	2241	1391	3884	3882	274.2	-15.4	226	1826	0.22	3.35	0.00	0.000	3078	0.321	0.055	2263	2808	3882	3883	3882	0	0	0	0	0	0	11.02	11.15	11.21
2125	-1.57	-93.9	2264	2808	3884	3879	318.3	-14.0	251	2125	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2808	3882	3883	3882	0	0	0	0	0	0	11.34	11.34	11.34
2428	-1.57	-93.9	2263	2809	3884	3883	360.2	-13.5	266	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2807	3882	3883	3882	0	0	0	0	0	0	11.34	11.34	11.36
2728	-1.57	-93.9	2263	2808	3885	3882	401.0	-13.7	281	2733	0.00	2.65	0.00	0.000	260	0.000	0.078	2257	3910	3882	3883	3881	0	0	0	0	0	0	11.34	11.14	11.34
2780	-1.57	-93.9	2258	3908	3885	3882	409.3	-15.2	291	2785	0.00	2.50	0.00	0.000	1030	0.000	0.041	2257	2798	3882	3883	3882	0	0	0	0	0	0	11.24	11.19	11.26
3095	-1.57	-93.9	2257	2797	3885	3882	452.0	-13.4	308	3100	0.00	2.72	0.00	0.000	260	0.000	0.078	2248	3915	3882	3883	3882	0	0	0	0	0	0	11.33	11.14	11.33
3146	-1.57	-93.9	2248	3915	3884	3884	460.0	-14.9	318	3151	0.00	2.53	0.00	0.000	1030	0.000	0.041	2246	2797	3882	3883	3882	0	0	0	0	0	0	11.24	11.19	11.25
3458	-1.57	-93.9	2249	2798	3884	3884	502.0	-13.4	335	3463	0.00	3.22	0.00	0.000	516	0.000	0.045	2248	1389	3882	3883	3882	0	0	0	0	0	0	11.35	11.15	11.35
3581	-1.57	-93.9	2250	1389	3884	3882	518.3	-13.2	359	3586	0.00	3.38	0.00	0.000	1030	0.000	0.057	2246	2805	3882	3883	3882	0	0	0	0	0	0	11.23	11.16	11.24
3972	-1.57	-93.9	2246	2806	3884	3883	570.5	-13.0	377	3978	0.00	2.65	0.00	0.000	260	0.000	0.078	2238	3913	3883	3884	3882	0	0	0	0	0	0	11.34	11.14	11.34
4068	-1.57	-93.9	2238	3914	3883	3882	583.3	-14.2	395	4073	0.17	2.53	0.00	0.000	3078	0.308	0.042	2262	2794	3882	3883	3881	0	0	0	0	0	0	11.02	11.19	11.20
4460	-1.57	-93.9	2263	2795	3884	3881	630.4	-11.6	413	4460	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2795	3882	3883	3881	0	0	0	0	0	0	11.35	11.35	11.35
4823	-1.57	-93.9	2263	2795	3885	3880	672.1	-11.6	425	4823	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2795	3881	3883	3879	0	0	0	0	0	0	11.33	11.34	11.33
5183	-1.57	-93.9	2262	2794	3884	3880	713.7	-11.4	437	5189	0.00	3.22	0.00	0.000	516	0.000	0.044	2262	1399	3881	3883	3879	0	0	0	0	0	0	11.34	11.17	11.34
5210	-1.57	-93.9	2262	1399	3884	3880	717.3	-12.0	442	5216	0.00	3.35	0.00	0.000	1030	0.000	0.058	2258	2812	3881	3883	3880	0	0	0	0	0	0	11.23	11.16	11.24
5579	-1.57	-93.9	2259	2813	3884	3880	758.1	-11.0	455	5580	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2812	3881	3883	3880	0	0	0	0	0	0	11.34	11.34	11.34
5939	-1.57	-93.9	2259	2812	3884	3880	796.8	-10.8	467	5944	0.00	3.28	0.00	0.000	516	0.000	0.044	2258	1396	3881	3883	3879	0	0	0	0	0	0	11.34	11.17	11.34
6045	-1.57	-93.9	2259	1395	3884	3880	809.1	-11.5	488	6054	0.00	3.28	0.00	0.000	1030	0.000	0.057	2249	2814	3881	3883	3879	0	0	0	0	0	0	11.19	11.14	11.21
6306	end dive: BOTTOM_OBSTACLE_DETECTED
state	6306	begin apogee
6314	-0.23	0.0	2250	2542	3883	3880	838.9	-11.1	499	6485	2.47	0.00	162.30	3.080	10246	0.265	0.000	2696	2541	3491	3497	3486	0	0	0	0	0	0	11.05	10.93	10.02
6486	end apogee: CONTROL_FINISHED_OK
state	6486	begin climb
6490	1.57	93.9	2697	2541	3499	3485	840.6	0.0	505	6650	2.40	3.33	146.98	3.044	10756	0.105	0.058	3284	1149	3118	3128	3109	0	0	0	0	0	0	11.05	10.93	10.01
6681	1.57	93.9	3284	1150	3124	3107	812.7	19.6	540	6687	0.00	3.38	0.00	0.000	1030	0.000	0.061	3284	2557	3116	3127	3106	0	0	0	0	0	0	11.16	11.08	11.17
7047	1.57	93.9	3284	2557	3119	3100	734.2	21.6	553	7048	0.00	0.00	0.00	0.000	6	0.000	0.000	3284	2557	3109	3118	3101	0	0	0	0	0	0	11.30	11.29	11.30
7407	1.57	93.9	3285	2557	3119	3100	656.7	21.3	565	7408	0.00	0.00	0.00	0.000	6	0.000	0.000	3284	2556	3108	3117	3100	0	0	0	0	0	0	11.31	11.31	11.31
7767	1.57	93.9	3284	2558	3118	3101	579.0	21.4	577	7772	0.00	3.33	0.00	0.000	260	0.000	0.084	3284	3914	3108	3117	3099	0	0	0	0	0	0	11.32	11.12	11.32
7819	1.57	93.9	3285	3915	3118	3099	567.1	23.2	587	7825	0.00	3.15	0.00	0.000	1030	0.000	0.047	3295	2545	3108	3117	3099	0	0	0	0	0	0	11.18	11.16	11.20
8202	1.57	93.9	3295	2546	3119	3099	490.4	19.5	602	8208	0.00	3.30	0.00	0.000	516	0.000	0.060	3306	1147	3108	3117	3099	0	0	0	0	0	0	11.32	11.12	11.32
8229	1.57	93.9	3306	1147	3118	3099	485.0	18.8	607	8235	0.00	3.30	0.00	0.000	1030	0.000	0.062	3304	2554	3108	3117	3099	0	0	0	0	0	0	11.21	11.14	11.23
8548	1.57	93.9	3306	2554	3118	3100	420.6	20.2	625	8549	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2553	3108	3117	3100	0	0	0	0	0	0	11.32	11.33	11.33
8847	1.57	93.9	3305	2555	3117	3101	361.8	19.7	640	8852	0.00	3.33	0.00	0.000	260	0.000	0.086	3305	3912	3108	3117	3100	0	0	0	0	0	0	11.33	11.12	11.34
8893	1.57	93.9	3305	3912	3118	3099	352.0	21.5	649	8899	0.22	3.15	0.00	0.000	5126	0.337	0.047	3286	2549	3111	3123	3099	0	0	0	0	0	0	11.00	11.18	11.21
9200	1.57	93.9	3286	2550	3118	3100	294.7	18.6	667	9206	0.00	3.25	0.00	0.000	516	0.000	0.059	3296	1147	3108	3117	3099	0	0	0	0	0	0	11.34	11.14	11.34
9252	1.57	93.9	3297	1146	3118	3099	285.4	17.2	677	9258	0.00	3.38	0.00	0.000	1030	0.000	0.063	3295	2553	3108	3117	3099	0	0	0	0	0	0	11.22	11.14	11.24
9565	1.57	93.9	3296	2553	3118	3101	229.4	17.7	709	9566	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	2553	3108	3118	3099	0	0	0	0	0	0	11.33	11.33	11.33
9864	1.57	93.9	3296	2554	3118	3100	177.1	17.4	739	9869	0.00	3.33	0.00	0.000	516	0.000	0.057	3306	1146	3108	3117	3099	0	0	0	0	0	0	11.34	11.14	11.34
9917	1.57	93.9	3306	1146	3118	3100	168.2	17.4	749	9922	0.00	3.38	0.00	0.000	1030	0.000	0.063	3306	2552	3108	3117	3100	0	0	0	0	0	0	11.21	11.14	11.23
10229	1.57	93.9	3306	2553	3118	3101	113.2	17.3	781	10229	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2552	3108	3117	3099	0	0	0	0	0	0	11.34	11.34	11.34
10529	1.57	93.9	3307	2552	3118	3099	61.2	16.6	811	10534	0.00	3.33	0.00	0.000	516	0.000	0.057	3316	1146	3108	3117	3099	0	0	0	0	0	0	11.34	11.14	11.35
10575	1.57	93.9	3319	1145	3119	3099	53.4	16.6	820	10582	0.22	3.38	0.00	0.000	5126	0.322	0.063	3286	2559	3108	3117	3099	0	0	0	0	0	0	11.02	11.15	11.21
10881	1.57	93.9	3286	2560	3117	3100	5.2	15.7	851	10887	0.00	3.33	0.00	0.000	260	0.000	0.086	3286	3913	3108	3117	3099	0	0	0	0	0	0	11.33	11.14	11.33
10900	end climb: SURFACE_DEPTH_REACHED
state	10900	begin surface coast
10910	end surface coast: CONTROL_FINISHED_OK
state	10910	begin surface