Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 852 * 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 852 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 28 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 852 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 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 140119,180705,-7403.9287,-11226.8350,30,1.7,35,53.2,0.3,0.0,5,10.0 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold3

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.68 MHEAD_RNG_PITCHd_Wd 35.4,1034,-43.9,-10.000,-45.00,342

_SM_ANGLEo -65.1 D_GRID 990

GPS2 140119,181903,-7403.9551,-11227.0264,3,0.7,4,53.2,0.5,164.6,12,10.0

Post-dive calculations and measurements:

FREEZE -0.19,0.320,-1.327,2,1,0 ALTIM_BOTTOM_PING 821.0,10.8

FINISH -0.2,1.019574 _24V_AH 10.02,271.568

SM_CCo 10974,277.45,0.190,0,0,1897,399.91 _10V_AH 10.28,0.000

SM_GC 0.68,13.15,0.68,277.45,0.088,0.077,0.190,201,2803,1897,-8.03,-0.34,399.91,0,0,0,0,0,0,11.13,11.16,11.04 FG_AHR_24Vo 0.000

RAFOS_CLK 458 FG_AHR_10Vo 0.000

RAFOS 0,1547499662,21.032354,21.017221,117,62,60,58,53,52,571,789,186,211,151,163 MEM 279116

RAFOS_FIX -7404.450195,-11225.121094,140119,212144,3,133,0.13 DATA_FILE_SIZE 33354,955

IRIDIUM_FIX -7403.74,-11221.53,140119,143845 CAP_FILE_SIZE 137479,0

TT8_MAMPS 0.04494,0.287616 CFSIZE 1024409600,918110208

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

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1450.3

TCM_TEMP 13.00 CURRENT 0.047,270.32,1

XPDR_PINGS 0 GPS 140119,212831,-7403.845,-11224.618,34,0.8,35,53.2,0.1,0.0,12,6.9

ALTIM_TOP_PING 13.8,13.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 422 153.07 nil 0 0 0.00

Roll_motor 110 91 101.14 nil 0 0 0.00

VBD_pump_during_apogee 212 3063 6515.11 nil 0 0 0.00

VBD_pump_during_surface 277 190 529.56 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 11020 4 529.36

Iridium_during_xfer 493 224 1107.97 nil 0 0 0.00

Transponder_ping 57 420 243.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.52

TT8 0 0 0.00

LPSleep 8275 2 196.51

TT8_Active 700 10 78.25

TT8_Sampling 2486 30 775.75

TT8_CF8 513 51 271.12

TT8_Kalman 0 0 0.00

Analog_circuits 1928 10 200.22

GPS_charging 0 0 0.00

Compass 1366 6 94.71

RAFOS 720 1 11.10

Transponder 428 30 132.00

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

13.0 15.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

19.6 21.00 9000.00 0.0 0.00 0.00 21.00 0.0 0.91 1.00

26.7 28.20 28.10 0.0 0.96 1.00 28.20 0.0 1.01 1.00

40.0 42.60 42.50 0.0 1.06 1.00 42.60 0.0 1.08 1.00

71.8 76.00 76.10 0.0 1.06 1.00 76.00 0.0 1.05 1.00

801.7 33.40 9000.00 0.0 -0.03 0.41 33.40 835.1 -0.06 1.00

807.9 23.70 9000.00 0.0 -0.06 0.97 23.70 831.6 -1.56 1.00

814.0 17.30 9000.00 0.0 -1.31 0.99 17.30 831.3 -1.05 1.00

821.0 11.00 10.80 831.8 -0.98 1.00 11.00 832.0 -0.90 1.00

823.7 9.50 9.20 832.9 -0.83 0.99 9.50 833.2 -0.56 1.00

817.4 25.30 9000.00 0.0 -2.60 0.88 25.30 0.0 -2.51 1.00

79.2 82.40 9000.00 0.0 -0.09 0.96 82.40 0.0 -0.08 1.00

72.0 74.80 9000.00 0.0 -0.07 0.98 74.80 -2.8 1.06 1.00

64.5 66.70 66.70 -2.2 1.07 1.00 66.70 -2.2 1.08 1.00

58.1 59.60 59.70 -1.6 1.09 1.00 59.60 -1.5 1.11 1.00

50.4 52.30 52.10 -1.7 1.02 1.00 52.30 -1.9 0.95 1.00

43.0 44.10 44.30 -1.3 1.02 1.00 44.10 -1.1 1.11 1.00

35.6 36.30 36.30 -0.7 1.08 1.00 36.30 -0.7 1.05 1.00

28.2 28.80 28.70 -0.5 1.04 1.00 28.80 -0.6 1.01 1.00

21.0 21.40 21.40 -0.4 1.03 1.00 21.40 -0.4 1.03 1.00

13.8 13.70 13.70 0.1 1.05 1.00 13.70 0.1 1.07 1.00

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

10 -2.02 -22.2 201 2803 1940 1799 0.0 0.0 0 114 0.00 0.00 -102.20 0.003 16390 0.000 0.000 200 2803 3582 3602 3562 0 0 0 0 0 0 11.31 10.57 11.31

118 -2.06 -51.6 202 2803 3608 3565 1.3 -1.2 10 147 15.35 2.70 -5.43 0.014 18724 0.422 0.091 2098 3913 3702 3709 3695 0 0 0 0 0 0 10.96 10.54 11.15

274 -2.06 -51.6 2100 3914 3717 3702 23.1 -17.8 40 279 0.00 2.53 0.00 0.000 1030 0.000 0.035 2100 2780 3709 3716 3702 0 0 0 0 0 0 11.22 11.19 11.24

585 -2.06 -51.6 2101 2780 3718 3703 73.3 -15.3 72 586 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2780 3710 3717 3703 0 0 0 0 0 0 11.33 11.33 11.33

885 -2.06 -51.6 2101 2780 3720 3705 119.2 -15.5 102 886 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2780 3711 3718 3705 0 0 0 0 0 0 11.33 11.33 11.33

1185 -2.06 -51.6 2101 2779 3720 3705 165.8 -15.6 132 1190 0.00 2.72 0.00 0.000 260 0.000 0.070 2091 3915 3712 3719 3705 0 0 0 0 0 0 11.33 11.14 11.33

1294 -2.06 -51.6 2092 3916 3720 3705 183.6 -16.9 153 1302 0.00 2.50 0.00 0.000 1030 0.000 0.037 2092 2800 3712 3719 3705 0 0 0 0 0 0 11.24 11.20 11.25

1599 -2.06 -51.6 2092 2800 3720 3707 230.6 -15.1 184 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2800 3712 3719 3706 0 0 0 0 0 0 11.34 11.34 11.34

1899 -2.06 -51.6 2092 2801 3720 3706 273.3 -13.5 214 1904 0.00 3.22 0.00 0.000 516 0.000 0.042 2092 1391 3713 3720 3706 0 0 0 0 0 0 11.34 11.16 11.35

2052 -2.06 -51.6 2092 1392 3720 3707 294.6 -13.4 244 2057 0.20 3.33 0.00 0.000 3078 0.324 0.050 2108 2812 3712 3719 3705 0 0 0 0 0 0 11.02 11.15 11.21

2374 -2.06 -51.6 2108 2813 3720 3707 337.2 -13.1 263 2379 0.00 2.60 0.00 0.000 260 0.000 0.072 2100 3907 3712 3719 3705 0 0 0 0 0 0 11.35 11.14 11.34

2430 -2.06 -51.6 2101 3908 3720 3706 345.1 -14.0 274 2436 0.00 2.50 0.00 0.000 1030 0.000 0.038 2100 2790 3711 3718 3705 0 0 0 0 0 0 11.24 11.20 11.25

2738 -2.06 -51.6 2101 2791 3719 3706 385.5 -13.4 290 2746 0.00 3.17 0.00 0.000 516 0.000 0.041 2099 1398 3712 3719 3705 0 0 0 0 0 0 11.34 11.16 11.34

2908 -2.06 -51.6 2101 1398 3720 3705 408.2 -12.9 323 2913 0.00 3.30 0.00 0.000 1030 0.000 0.051 2090 2805 3712 3719 3705 0 0 0 0 0 0 11.23 11.17 11.25

3224 -2.06 -51.6 2090 2805 3720 3704 448.3 -12.5 341 3230 0.00 2.62 0.00 0.000 260 0.000 0.072 2082 3908 3712 3719 3705 0 0 0 0 0 0 11.35 11.15 11.35

3337 -2.06 -51.6 2081 3908 3719 3705 463.0 -12.8 363 3342 0.20 2.50 0.00 0.000 3078 0.334 0.038 2109 2795 3711 3719 3704 0 0 0 0 0 0 11.01 11.19 11.21

3649 -2.06 -51.6 2108 2795 3720 3705 498.7 -11.0 380 3650 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2794 3715 3727 3704 0 0 0 0 0 0 11.35 11.35 11.35

3969 -2.06 -51.6 2109 2795 3720 3705 533.7 -10.8 391 3974 0.00 3.20 0.00 0.000 516 0.000 0.042 2109 1397 3711 3718 3704 0 0 0 0 0 0 11.35 11.17 11.35

4140 -2.06 -51.6 2108 1397 3718 3705 551.3 -10.5 425 4147 0.00 3.33 0.00 0.000 1030 0.000 0.052 2099 2805 3711 3719 3704 0 0 0 0 0 0 11.24 11.17 11.24

4513 -2.06 -51.6 2099 2806 3719 3704 590.4 -10.5 439 4518 0.00 3.25 0.00 0.000 516 0.000 0.041 2100 1394 3711 3719 3703 0 0 0 0 0 0 11.35 11.17 11.35

4529 -2.06 -51.6 2100 1393 3718 3703 592.2 -10.6 442 4535 0.00 3.33 0.00 0.000 1030 0.000 0.050 2087 2813 3711 3719 3703 0 0 0 0 0 0 11.24 11.17 11.24

4907 -2.06 -51.6 2088 2814 3719 3703 630.5 -10.0 457 4913 0.00 2.62 0.00 0.000 260 0.000 0.072 2080 3921 3710 3719 3702 0 0 0 0 0 0 11.34 11.16 11.34

4999 -2.06 -51.6 2081 3917 3719 3702 640.6 -11.0 475 5005 0.20 2.55 0.00 0.000 3078 0.333 0.040 2106 2789 3710 3719 3701 0 0 0 0 0 0 11.01 11.20 11.20

5391 -2.06 -51.6 2108 2789 3720 3700 677.5 -9.1 493 5397 0.00 3.20 0.00 0.000 516 0.000 0.041 2107 1394 3710 3719 3701 0 0 0 0 0 0 11.35 11.16 11.36

5443 -2.06 -51.6 2107 1395 3719 3702 682.3 -9.0 503 5448 0.00 3.33 0.00 0.000 1030 0.000 0.051 2098 2811 3710 3719 3701 0 0 0 0 0 0 11.24 11.17 11.25

5815 -2.06 -51.6 2097 2812 3719 3702 715.4 -8.9 517 5821 0.00 3.28 0.00 0.000 516 0.000 0.041 2098 1384 3710 3719 3701 0 0 0 0 0 0 11.35 11.17 11.35

5887 -2.06 -51.6 2099 1384 3720 3698 722.0 -9.0 531 5892 0.00 3.33 0.00 0.000 1030 0.000 0.050 2087 2805 3709 3718 3701 0 0 0 0 0 0 11.24 11.17 11.25

6272 -2.06 -51.6 2088 2806 3720 3701 757.5 -9.5 547 6278 0.00 2.60 0.00 0.000 260 0.000 0.072 2079 3912 3709 3718 3701 0 0 0 0 0 0 11.35 11.14 11.35

6398 -2.06 -51.6 2080 3912 3720 3700 770.4 -10.1 571 6406 0.17 2.50 0.00 0.000 3078 0.329 0.039 2107 2791 3709 3719 3700 0 0 0 0 0 0 11.00 11.20 11.15

6793 -2.07 -63.0 2107 2793 3719 3702 801.7 -6.6 589 6799 0.00 3.20 0.00 0.000 548 0.000 0.041 2106 1388 3710 3719 3701 0 0 0 0 0 0 11.34 11.17 11.34

7026 -2.09 -73.9 2107 1388 3720 3701 818.2 -6.7 635 7032 0.00 3.33 0.00 0.000 1062 0.000 0.052 2098 2803 3710 3719 3701 0 0 0 0 0 0 11.21 11.17 11.24

7094 end dive: BOTTOM_OBSTACLE_DETECTED

state 7094 begin apogee

7103 -0.23 0.0 2098 2541 3720 3702 823.0 -6.8 639 7202 3.60 0.00 93.72 3.063 10246 0.307 0.000 2694 2541 3493 3500 3487 0 0 0 0 0 0 11.03 11.01 10.02

7203 end apogee: CONTROL_FINISHED_OK

state 7203 begin climb

7207 2.09 73.9 2695 2541 3501 3487 823.3 0.0 642 7339 3.05 3.47 118.55 3.042 10500 0.103 0.083 3441 3914 3197 3212 3182 0 0 0 0 0 0 11.06 11.02 10.05

7471 2.09 73.9 3441 3915 3209 3175 765.3 26.7 692 7478 0.00 3.15 0.00 0.000 1030 0.000 0.048 3451 2554 3192 3209 3176 0 0 0 0 0 0 11.15 11.12 11.17

7855 2.09 73.9 3451 2555 3205 3175 666.4 25.9 708 7856 0.00 0.00 0.00 0.000 6 0.000 0.000 3451 2555 3189 3204 3175 0 0 0 0 0 0 11.31 11.31 11.31

8215 2.09 73.9 3451 2555 3204 3175 576.5 24.6 720 8220 0.00 3.35 0.00 0.000 260 0.000 0.083 3451 3913 3189 3203 3175 0 0 0 0 0 0 11.32 11.12 11.32

8232 2.09 73.9 3451 3913 3201 3174 572.0 24.7 723 8237 0.00 3.15 0.00 0.000 1030 0.000 0.047 3461 2544 3187 3203 3172 0 0 0 0 0 0 11.22 11.17 11.24

8609 2.09 73.9 3462 2544 3204 3175 478.8 24.8 739 8615 0.00 3.30 0.00 0.000 516 0.000 0.060 3471 1148 3188 3203 3174 0 0 0 0 0 0 11.33 11.11 11.33

8636 2.09 73.9 3472 1148 3204 3176 472.0 24.7 744 8644 0.00 3.28 0.00 0.000 1030 0.000 0.061 3471 2560 3193 3211 3175 0 0 0 0 0 0 11.18 11.13 11.24

8957 2.09 73.9 3472 2560 3204 3176 395.9 23.0 762 8957 0.00 0.00 0.00 0.000 6 0.000 0.000 3472 2560 3189 3203 3176 0 0 0 0 0 0 11.32 11.33 11.33

9256 2.09 73.9 3472 2560 3205 3176 327.8 22.5 777 9257 0.00 0.00 0.00 0.000 6 0.000 0.000 3472 2560 3189 3203 3176 0 0 0 0 0 0 11.34 11.34 11.34

9556 2.09 73.9 3472 2560 3203 3177 262.3 21.2 800 9557 0.00 0.00 0.00 0.000 6 0.000 0.000 3471 2559 3189 3203 3176 0 0 0 0 0 0 11.34 11.34 11.34

9856 2.09 73.9 3472 2559 3205 3176 200.1 20.6 830 9861 0.00 3.35 0.00 0.000 516 0.000 0.058 3482 1147 3189 3203 3176 0 0 0 0 0 0 11.37 11.14 11.34

9973 2.09 73.9 3482 1147 3204 3176 176.8 19.7 853 9981 0.25 3.38 0.00 0.000 5126 0.347 0.062 3449 2563 3189 3203 3176 0 0 0 0 0 0 11.00 11.15 11.21

10278 2.09 73.9 3450 2563 3203 3177 118.9 18.7 884 10279 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2562 3189 3203 3176 0 0 0 0 0 0 11.34 11.34 11.34

10579 2.09 73.9 3449 2563 3204 3177 64.5 18.6 914 10584 0.00 3.30 0.00 0.000 260 0.000 0.084 3448 3910 3189 3203 3176 0 0 0 0 0 0 11.33 11.14 11.33

10615 2.09 73.9 3448 3911 3204 3177 57.1 20.2 921 10622 0.00 3.15 0.00 0.000 1030 0.000 0.046 3458 2538 3189 3203 3175 0 0 0 0 0 0 11.23 11.19 11.25

10924 2.09 73.9 3458 2540 3204 3175 2.4 15.7 952 10931 0.00 0.00 0.00 0.000 6 0.000 0.000 3458 2539 3189 3204 3175 0 0 0 0 0 0 11.34 11.34 11.34

10937 end climb: SURFACE_DEPTH_REACHED

state 10937 begin surface coast

10947 end surface coast: CONTROL_FINISHED_OK

state 10947 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	852	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	28	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	140119,180705,-7403.9287,-11226.8350,30,1.7,35,53.2,0.3,0.0,5,10.0	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold3
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.68	MHEAD_RNG_PITCHd_Wd	35.4,1034,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-65.1	D_GRID	990
GPS2	140119,181903,-7403.9551,-11227.0264,3,0.7,4,53.2,0.5,164.6,12,10.0

FREEZE	-0.19,0.320,-1.327,2,1,0	ALTIM_BOTTOM_PING	821.0,10.8
FINISH	-0.2,1.019574	_24V_AH	10.02,271.568
SM_CCo	10974,277.45,0.190,0,0,1897,399.91	_10V_AH	10.28,0.000
SM_GC	0.68,13.15,0.68,277.45,0.088,0.077,0.190,201,2803,1897,-8.03,-0.34,399.91,0,0,0,0,0,0,11.13,11.16,11.04	FG_AHR_24Vo	0.000
RAFOS_CLK	458	FG_AHR_10Vo	0.000
RAFOS	0,1547499662,21.032354,21.017221,117,62,60,58,53,52,571,789,186,211,151,163	MEM	279116
RAFOS_FIX	-7404.450195,-11225.121094,140119,212144,3,133,0.13	DATA_FILE_SIZE	33354,955
IRIDIUM_FIX	-7403.74,-11221.53,140119,143845	CAP_FILE_SIZE	137479,0
TT8_MAMPS	0.04494,0.287616	CFSIZE	1024409600,918110208
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1450.3
TCM_TEMP	13.00	CURRENT	0.047,270.32,1
XPDR_PINGS	0	GPS	140119,212831,-7403.845,-11224.618,34,0.8,35,53.2,0.1,0.0,12,6.9
ALTIM_TOP_PING	13.8,13.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	422	153.07	nil	0	0	0.00
Roll_motor	110	91	101.14	nil	0	0	0.00
VBD_pump_during_apogee	212	3063	6515.11	nil	0	0	0.00
VBD_pump_during_surface	277	190	529.56	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	11020	4	529.36
Iridium_during_xfer	493	224	1107.97	nil	0	0	0.00
Transponder_ping	57	420	243.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.52
TT8	0	0	0.00
LPSleep	8275	2	196.51
TT8_Active	700	10	78.25
TT8_Sampling	2486	30	775.75
TT8_CF8	513	51	271.12
TT8_Kalman	0	0	0.00
Analog_circuits	1928	10	200.22
GPS_charging	0	0	0.00
Compass	1366	6	94.71
RAFOS	720	1	11.10
Transponder	428	30	132.00

		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
13.0	15.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
19.6	21.00	9000.00	0.0	0.00	0.00	21.00	0.0	0.91	1.00
26.7	28.20	28.10	0.0	0.96	1.00	28.20	0.0	1.01	1.00
40.0	42.60	42.50	0.0	1.06	1.00	42.60	0.0	1.08	1.00
71.8	76.00	76.10	0.0	1.06	1.00	76.00	0.0	1.05	1.00
801.7	33.40	9000.00	0.0	-0.03	0.41	33.40	835.1	-0.06	1.00
807.9	23.70	9000.00	0.0	-0.06	0.97	23.70	831.6	-1.56	1.00
814.0	17.30	9000.00	0.0	-1.31	0.99	17.30	831.3	-1.05	1.00
821.0	11.00	10.80	831.8	-0.98	1.00	11.00	832.0	-0.90	1.00
823.7	9.50	9.20	832.9	-0.83	0.99	9.50	833.2	-0.56	1.00

817.4	25.30	9000.00	0.0	-2.60	0.88	25.30	0.0	-2.51	1.00
79.2	82.40	9000.00	0.0	-0.09	0.96	82.40	0.0	-0.08	1.00
72.0	74.80	9000.00	0.0	-0.07	0.98	74.80	-2.8	1.06	1.00
64.5	66.70	66.70	-2.2	1.07	1.00	66.70	-2.2	1.08	1.00
58.1	59.60	59.70	-1.6	1.09	1.00	59.60	-1.5	1.11	1.00
50.4	52.30	52.10	-1.7	1.02	1.00	52.30	-1.9	0.95	1.00
43.0	44.10	44.30	-1.3	1.02	1.00	44.10	-1.1	1.11	1.00
35.6	36.30	36.30	-0.7	1.08	1.00	36.30	-0.7	1.05	1.00
28.2	28.80	28.70	-0.5	1.04	1.00	28.80	-0.6	1.01	1.00
21.0	21.40	21.40	-0.4	1.03	1.00	21.40	-0.4	1.03	1.00
13.8	13.70	13.70	0.1	1.05	1.00	13.70	0.1	1.07	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
10	-2.02	-22.2	201	2803	1940	1799	0.0	0.0	0	114	0.00	0.00	-102.20	0.003	16390	0.000	0.000	200	2803	3582	3602	3562	0	0	0	0	0	0	11.31	10.57	11.31
118	-2.06	-51.6	202	2803	3608	3565	1.3	-1.2	10	147	15.35	2.70	-5.43	0.014	18724	0.422	0.091	2098	3913	3702	3709	3695	0	0	0	0	0	0	10.96	10.54	11.15
274	-2.06	-51.6	2100	3914	3717	3702	23.1	-17.8	40	279	0.00	2.53	0.00	0.000	1030	0.000	0.035	2100	2780	3709	3716	3702	0	0	0	0	0	0	11.22	11.19	11.24
585	-2.06	-51.6	2101	2780	3718	3703	73.3	-15.3	72	586	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2780	3710	3717	3703	0	0	0	0	0	0	11.33	11.33	11.33
885	-2.06	-51.6	2101	2780	3720	3705	119.2	-15.5	102	886	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2780	3711	3718	3705	0	0	0	0	0	0	11.33	11.33	11.33
1185	-2.06	-51.6	2101	2779	3720	3705	165.8	-15.6	132	1190	0.00	2.72	0.00	0.000	260	0.000	0.070	2091	3915	3712	3719	3705	0	0	0	0	0	0	11.33	11.14	11.33
1294	-2.06	-51.6	2092	3916	3720	3705	183.6	-16.9	153	1302	0.00	2.50	0.00	0.000	1030	0.000	0.037	2092	2800	3712	3719	3705	0	0	0	0	0	0	11.24	11.20	11.25
1599	-2.06	-51.6	2092	2800	3720	3707	230.6	-15.1	184	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2800	3712	3719	3706	0	0	0	0	0	0	11.34	11.34	11.34
1899	-2.06	-51.6	2092	2801	3720	3706	273.3	-13.5	214	1904	0.00	3.22	0.00	0.000	516	0.000	0.042	2092	1391	3713	3720	3706	0	0	0	0	0	0	11.34	11.16	11.35
2052	-2.06	-51.6	2092	1392	3720	3707	294.6	-13.4	244	2057	0.20	3.33	0.00	0.000	3078	0.324	0.050	2108	2812	3712	3719	3705	0	0	0	0	0	0	11.02	11.15	11.21
2374	-2.06	-51.6	2108	2813	3720	3707	337.2	-13.1	263	2379	0.00	2.60	0.00	0.000	260	0.000	0.072	2100	3907	3712	3719	3705	0	0	0	0	0	0	11.35	11.14	11.34
2430	-2.06	-51.6	2101	3908	3720	3706	345.1	-14.0	274	2436	0.00	2.50	0.00	0.000	1030	0.000	0.038	2100	2790	3711	3718	3705	0	0	0	0	0	0	11.24	11.20	11.25
2738	-2.06	-51.6	2101	2791	3719	3706	385.5	-13.4	290	2746	0.00	3.17	0.00	0.000	516	0.000	0.041	2099	1398	3712	3719	3705	0	0	0	0	0	0	11.34	11.16	11.34
2908	-2.06	-51.6	2101	1398	3720	3705	408.2	-12.9	323	2913	0.00	3.30	0.00	0.000	1030	0.000	0.051	2090	2805	3712	3719	3705	0	0	0	0	0	0	11.23	11.17	11.25
3224	-2.06	-51.6	2090	2805	3720	3704	448.3	-12.5	341	3230	0.00	2.62	0.00	0.000	260	0.000	0.072	2082	3908	3712	3719	3705	0	0	0	0	0	0	11.35	11.15	11.35
3337	-2.06	-51.6	2081	3908	3719	3705	463.0	-12.8	363	3342	0.20	2.50	0.00	0.000	3078	0.334	0.038	2109	2795	3711	3719	3704	0	0	0	0	0	0	11.01	11.19	11.21
3649	-2.06	-51.6	2108	2795	3720	3705	498.7	-11.0	380	3650	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2794	3715	3727	3704	0	0	0	0	0	0	11.35	11.35	11.35
3969	-2.06	-51.6	2109	2795	3720	3705	533.7	-10.8	391	3974	0.00	3.20	0.00	0.000	516	0.000	0.042	2109	1397	3711	3718	3704	0	0	0	0	0	0	11.35	11.17	11.35
4140	-2.06	-51.6	2108	1397	3718	3705	551.3	-10.5	425	4147	0.00	3.33	0.00	0.000	1030	0.000	0.052	2099	2805	3711	3719	3704	0	0	0	0	0	0	11.24	11.17	11.24
4513	-2.06	-51.6	2099	2806	3719	3704	590.4	-10.5	439	4518	0.00	3.25	0.00	0.000	516	0.000	0.041	2100	1394	3711	3719	3703	0	0	0	0	0	0	11.35	11.17	11.35
4529	-2.06	-51.6	2100	1393	3718	3703	592.2	-10.6	442	4535	0.00	3.33	0.00	0.000	1030	0.000	0.050	2087	2813	3711	3719	3703	0	0	0	0	0	0	11.24	11.17	11.24
4907	-2.06	-51.6	2088	2814	3719	3703	630.5	-10.0	457	4913	0.00	2.62	0.00	0.000	260	0.000	0.072	2080	3921	3710	3719	3702	0	0	0	0	0	0	11.34	11.16	11.34
4999	-2.06	-51.6	2081	3917	3719	3702	640.6	-11.0	475	5005	0.20	2.55	0.00	0.000	3078	0.333	0.040	2106	2789	3710	3719	3701	0	0	0	0	0	0	11.01	11.20	11.20
5391	-2.06	-51.6	2108	2789	3720	3700	677.5	-9.1	493	5397	0.00	3.20	0.00	0.000	516	0.000	0.041	2107	1394	3710	3719	3701	0	0	0	0	0	0	11.35	11.16	11.36
5443	-2.06	-51.6	2107	1395	3719	3702	682.3	-9.0	503	5448	0.00	3.33	0.00	0.000	1030	0.000	0.051	2098	2811	3710	3719	3701	0	0	0	0	0	0	11.24	11.17	11.25
5815	-2.06	-51.6	2097	2812	3719	3702	715.4	-8.9	517	5821	0.00	3.28	0.00	0.000	516	0.000	0.041	2098	1384	3710	3719	3701	0	0	0	0	0	0	11.35	11.17	11.35
5887	-2.06	-51.6	2099	1384	3720	3698	722.0	-9.0	531	5892	0.00	3.33	0.00	0.000	1030	0.000	0.050	2087	2805	3709	3718	3701	0	0	0	0	0	0	11.24	11.17	11.25
6272	-2.06	-51.6	2088	2806	3720	3701	757.5	-9.5	547	6278	0.00	2.60	0.00	0.000	260	0.000	0.072	2079	3912	3709	3718	3701	0	0	0	0	0	0	11.35	11.14	11.35
6398	-2.06	-51.6	2080	3912	3720	3700	770.4	-10.1	571	6406	0.17	2.50	0.00	0.000	3078	0.329	0.039	2107	2791	3709	3719	3700	0	0	0	0	0	0	11.00	11.20	11.15
6793	-2.07	-63.0	2107	2793	3719	3702	801.7	-6.6	589	6799	0.00	3.20	0.00	0.000	548	0.000	0.041	2106	1388	3710	3719	3701	0	0	0	0	0	0	11.34	11.17	11.34
7026	-2.09	-73.9	2107	1388	3720	3701	818.2	-6.7	635	7032	0.00	3.33	0.00	0.000	1062	0.000	0.052	2098	2803	3710	3719	3701	0	0	0	0	0	0	11.21	11.17	11.24
7094	end dive: BOTTOM_OBSTACLE_DETECTED
state	7094	begin apogee
7103	-0.23	0.0	2098	2541	3720	3702	823.0	-6.8	639	7202	3.60	0.00	93.72	3.063	10246	0.307	0.000	2694	2541	3493	3500	3487	0	0	0	0	0	0	11.03	11.01	10.02
7203	end apogee: CONTROL_FINISHED_OK
state	7203	begin climb
7207	2.09	73.9	2695	2541	3501	3487	823.3	0.0	642	7339	3.05	3.47	118.55	3.042	10500	0.103	0.083	3441	3914	3197	3212	3182	0	0	0	0	0	0	11.06	11.02	10.05
7471	2.09	73.9	3441	3915	3209	3175	765.3	26.7	692	7478	0.00	3.15	0.00	0.000	1030	0.000	0.048	3451	2554	3192	3209	3176	0	0	0	0	0	0	11.15	11.12	11.17
7855	2.09	73.9	3451	2555	3205	3175	666.4	25.9	708	7856	0.00	0.00	0.00	0.000	6	0.000	0.000	3451	2555	3189	3204	3175	0	0	0	0	0	0	11.31	11.31	11.31
8215	2.09	73.9	3451	2555	3204	3175	576.5	24.6	720	8220	0.00	3.35	0.00	0.000	260	0.000	0.083	3451	3913	3189	3203	3175	0	0	0	0	0	0	11.32	11.12	11.32
8232	2.09	73.9	3451	3913	3201	3174	572.0	24.7	723	8237	0.00	3.15	0.00	0.000	1030	0.000	0.047	3461	2544	3187	3203	3172	0	0	0	0	0	0	11.22	11.17	11.24
8609	2.09	73.9	3462	2544	3204	3175	478.8	24.8	739	8615	0.00	3.30	0.00	0.000	516	0.000	0.060	3471	1148	3188	3203	3174	0	0	0	0	0	0	11.33	11.11	11.33
8636	2.09	73.9	3472	1148	3204	3176	472.0	24.7	744	8644	0.00	3.28	0.00	0.000	1030	0.000	0.061	3471	2560	3193	3211	3175	0	0	0	0	0	0	11.18	11.13	11.24
8957	2.09	73.9	3472	2560	3204	3176	395.9	23.0	762	8957	0.00	0.00	0.00	0.000	6	0.000	0.000	3472	2560	3189	3203	3176	0	0	0	0	0	0	11.32	11.33	11.33
9256	2.09	73.9	3472	2560	3205	3176	327.8	22.5	777	9257	0.00	0.00	0.00	0.000	6	0.000	0.000	3472	2560	3189	3203	3176	0	0	0	0	0	0	11.34	11.34	11.34
9556	2.09	73.9	3472	2560	3203	3177	262.3	21.2	800	9557	0.00	0.00	0.00	0.000	6	0.000	0.000	3471	2559	3189	3203	3176	0	0	0	0	0	0	11.34	11.34	11.34
9856	2.09	73.9	3472	2559	3205	3176	200.1	20.6	830	9861	0.00	3.35	0.00	0.000	516	0.000	0.058	3482	1147	3189	3203	3176	0	0	0	0	0	0	11.37	11.14	11.34
9973	2.09	73.9	3482	1147	3204	3176	176.8	19.7	853	9981	0.25	3.38	0.00	0.000	5126	0.347	0.062	3449	2563	3189	3203	3176	0	0	0	0	0	0	11.00	11.15	11.21
10278	2.09	73.9	3450	2563	3203	3177	118.9	18.7	884	10279	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2562	3189	3203	3176	0	0	0	0	0	0	11.34	11.34	11.34
10579	2.09	73.9	3449	2563	3204	3177	64.5	18.6	914	10584	0.00	3.30	0.00	0.000	260	0.000	0.084	3448	3910	3189	3203	3176	0	0	0	0	0	0	11.33	11.14	11.33
10615	2.09	73.9	3448	3911	3204	3177	57.1	20.2	921	10622	0.00	3.15	0.00	0.000	1030	0.000	0.046	3458	2538	3189	3203	3175	0	0	0	0	0	0	11.23	11.19	11.25
10924	2.09	73.9	3458	2540	3204	3175	2.4	15.7	952	10931	0.00	0.00	0.00	0.000	6	0.000	0.000	3458	2539	3189	3204	3175	0	0	0	0	0	0	11.34	11.34	11.34
10937	end climb: SURFACE_DEPTH_REACHED
state	10937	begin surface coast
10947	end surface coast: CONTROL_FINISHED_OK
state	10947	begin surface