Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 876 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 876 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 20 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 6

D_BOOST 110 SM_CC 350 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 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2575 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 876 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1.5

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 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 280119,211953,-7405.9331,-11308.8623,4,1.4,6,53.7,0.2,0.0,5,8.2 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.85 MHEAD_RNG_PITCHd_Wd 50.2,22606,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -67.2 D_GRID 990

GPS2 280119,212839,-7405.8857,-11308.9307,16,0.9,16,53.7,0.1,0.0,11,4.4

Post-dive calculations and measurements:

FREEZE 1.05,0.500,-1.852,2,1,0 ALTIM_BOTTOM_PING 617.1,17.1

FINISH 1.1,1.027078 _24V_AH 10.29,287.184

SM_CCo 11448,157.35,0.207,0,0,1146,350.04 _10V_AH 10.45,0.000

SM_GC 0.84,11.90,2.85,157.35,0.069,0.036,0.207,214,2294,1146,-8.25,0.54,350.04,0,0,0,0,0,0,11.31,11.33,11.19 FG_AHR_24Vo 0.000

RAFOS_CLK 437 FG_AHR_10Vo 0.000

RAFOS 0,1548720065,0.032778,0.018056,87,57,52,51,48,46,607,205,220,152,139,119 MEM 279872

RAFOS_FIX -7405.449707,-11254.340820,290119,000056,3,99,0.75 DATA_FILE_SIZE 16786,516

IRIDIUM_FIX -7405.46,-11306.76,280119,183446 CAP_FILE_SIZE 101311,0

TT8_MAMPS 0.047936,0.410452 CFSIZE 1024409600,920453120

HUMID 49.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1449.3

TCM_TEMP 12.00 CURRENT 0.058,352.98,1

XPDR_PINGS 1 GPS 290119,004354,-7405.581,-11304.004,31,1.0,31,53.7,0.3,3.6,8,4.6

ALTIM_TOP_PING 10.8,10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 401 137.83 nil 0 0 0.00

Roll_motor 148 135 206.35 nil 0 0 0.00

VBD_pump_during_apogee 361 2858 10627.03 nil 0 0 0.00

VBD_pump_during_surface 157 207 335.67 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 11405 5 655.32

Iridium_during_xfer 291 221 663.61 nil 0 0 0.00

Transponder_ping 26 420 115.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 10 2.01

TT8 0 0 0.00

LPSleep 9483 2 228.92

TT8_Active 779 13 112.61

TT8_Sampling 1441 34 523.98

TT8_CF8 439 52 242.59

TT8_Kalman 0 0 0.00

Analog_circuits 1517 10 172.89

GPS_charging 0 0 0.00

Compass 743 7 58.19

RAFOS 720 1 11.29

Transponder 188 30 58.98

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

22.2 23.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

33.4 35.70 9000.00 0.0 0.00 0.00 35.70 0.0 1.09 1.00

553.7 57.00 9000.00 0.0 0.05 0.88 57.00 0.0 0.04 1.00

568.0 45.10 9000.00 0.0 0.03 0.67 45.10 613.1 -0.83 1.00

582.3 40.40 9000.00 0.0 -0.58 0.94 40.40 622.7 -0.33 1.00

596.1 36.10 9000.00 0.0 -0.32 1.00 36.10 632.2 -0.31 1.00

606.4 27.20 9000.00 0.0 -0.54 0.92 27.20 633.6 -0.86 1.00

617.1 16.90 17.10 634.2 -0.91 1.00 16.90 634.0 -0.96 1.00

630.6 15.90 9000.00 0.0 -0.45 0.76 15.90 646.5 -0.07 1.00

623.5 21.00 9000.00 0.0 -0.09 0.05 21.00 0.0 -0.72 1.00

613.0 32.00 31.60 0.0 -0.92 0.99 32.00 0.0 -1.05 1.00

178.7 185.30 9000.00 0.0 -0.36 1.00 185.30 0.0 -0.35 1.00

155.6 161.30 9000.00 0.0 -0.31 0.96 161.30 -5.7 1.04 1.00

122.3 126.70 126.70 -4.4 1.04 1.00 126.70 -4.4 1.04 1.00

111.2 116.10 115.80 -4.6 1.02 1.00 116.10 -4.9 0.95 1.00

100.9 104.70 105.00 -4.1 1.02 1.00 104.70 -3.8 1.11 1.00

88.4 92.30 92.10 -3.7 1.04 1.00 92.30 -3.9 0.99 1.00

55.5 57.40 57.50 -2.0 1.05 1.00 57.40 -1.9 1.06 1.00

44.2 45.50 45.50 -1.3 1.06 1.00 45.50 -1.3 1.05 1.00

32.7 33.50 33.50 -0.8 1.05 1.00 33.50 -0.8 1.04 1.00

21.7 22.10 22.10 -0.4 1.04 1.00 22.10 -0.4 1.04 1.00

10.8 10.70 10.70 0.1 1.05 1.00 10.70 0.1 1.05 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 -1.06 -107.1 219 2313 1174 1089 0.0 0.0 0 111 0.00 0.00 -99.57 0.002 16390 0.000 0.000 219 2312 3012 3017 3007 0 0 0 0 0 0 11.45 10.73 11.47

115 -1.06 -107.1 219 2313 3016 3007 1.6 -1.1 3 137 17.27 3.55 0.00 0.000 2308 0.402 0.093 2513 3716 3012 3018 3007 0 0 0 0 0 0 11.11 11.23 11.31

259 -1.06 -107.1 2512 3717 3023 3003 32.0 -17.6 24 265 0.00 3.25 0.00 0.000 1030 0.000 0.037 2513 2267 3012 3023 3002 0 0 0 0 0 0 11.37 11.31 11.38

618 -1.06 -107.1 2512 2267 3026 3001 89.1 -15.7 39 623 0.00 3.25 0.00 0.000 516 0.000 0.062 2512 899 3012 3024 3000 0 0 0 0 0 0 11.47 11.29 11.49

671 -1.06 -107.1 2512 900 3026 3000 98.2 -15.5 47 677 0.00 3.38 0.00 0.000 1030 0.000 0.060 2502 2302 3012 3025 3000 0 0 0 0 0 0 11.36 11.28 11.38

1039 -1.06 -107.1 2506 2302 3028 3000 154.4 -14.9 63 1044 0.00 3.53 0.00 0.000 260 0.000 0.099 2491 3714 3012 3026 2999 0 0 0 0 0 0 11.48 11.27 11.49

1078 -1.06 -107.1 2490 3714 3026 2999 161.2 -16.0 69 1085 0.22 3.22 0.00 0.000 3078 0.259 0.038 2526 2298 3013 3027 2999 0 0 0 0 0 0 11.20 11.33 11.36

1428 -1.06 -107.1 2528 2298 3028 2998 209.5 -13.6 82 1434 0.00 3.33 0.00 0.000 516 0.000 0.061 2526 895 3012 3027 2998 0 0 0 0 0 0 11.48 11.29 11.50

1463 -1.06 -107.1 2525 895 3030 2998 214.4 -14.0 87 1469 0.00 3.33 0.00 0.000 1030 0.000 0.059 2517 2306 3013 3028 2998 0 0 0 0 0 0 11.36 11.28 11.38

1820 -1.06 -107.1 2518 2307 3030 2998 265.6 -14.6 96 1826 0.00 3.38 0.00 0.000 516 0.000 0.060 2517 894 3012 3028 2997 0 0 0 0 0 0 11.48 11.29 11.50

1869 -1.06 -107.1 2518 894 3030 2998 272.9 -15.0 103 1876 0.00 3.35 0.00 0.000 1030 0.000 0.058 2506 2312 3012 3028 2997 0 0 0 0 0 0 11.38 11.29 11.39

2212 -1.06 -107.1 2506 2312 3028 2997 322.0 -14.0 110 2218 0.00 3.38 0.00 0.000 516 0.000 0.060 2506 894 3012 3028 2997 0 0 0 0 0 0 11.48 11.29 11.50

2275 -1.06 -107.1 2508 894 3031 2998 331.3 -14.8 119 2281 0.20 3.33 0.00 0.000 3078 0.264 0.057 2526 2303 3012 3029 2996 0 0 0 0 0 0 11.20 11.30 11.36

2663 -1.06 -107.1 2525 2304 3028 2997 382.5 -13.2 132 2669 0.00 3.38 0.00 0.000 516 0.000 0.060 2525 892 3012 3029 2996 0 0 0 0 0 0 11.48 11.29 11.50

2717 -1.06 -107.1 2525 893 3028 2997 390.1 -14.0 140 2723 0.00 3.33 0.00 0.000 1030 0.000 0.057 2517 2308 3012 3028 2996 0 0 0 0 0 0 11.38 11.30 11.39

3113 -1.06 -107.1 2518 2308 3031 2997 442.7 -13.3 154 3118 0.00 3.53 0.00 0.000 260 0.000 0.100 2506 3719 3012 3028 2996 0 0 0 0 0 0 11.48 11.28 11.50

3146 -1.06 -107.1 2508 3720 3030 2996 447.7 -13.5 159 3152 0.00 3.25 0.00 0.000 1030 0.000 0.038 2506 2295 3010 3025 2995 0 0 0 0 0 0 11.40 11.35 11.40

3503 -1.06 -107.1 2507 2295 3031 2996 496.5 -13.5 168 3509 0.00 3.33 0.00 0.000 516 0.000 0.061 2506 895 3012 3029 2995 0 0 0 0 0 0 11.50 11.30 11.51

3573 -1.06 -107.1 2508 895 3030 2995 506.4 -14.0 178 3579 0.17 3.28 0.00 0.000 3078 0.272 0.060 2525 2309 3012 3029 2995 0 0 0 0 0 0 11.20 11.30 11.36

3955 -1.06 -107.1 2524 2310 3029 2995 553.7 -12.3 190 3956 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2309 3012 3029 2995 0 0 0 0 0 0 11.48 11.50 11.49

4288 -1.06 -107.1 2526 2309 3031 2996 596.1 -12.6 196 4293 0.00 3.40 0.00 0.000 516 0.000 0.060 2525 894 3012 3029 2995 0 0 0 0 0 0 11.45 11.30 11.50

4364 -1.06 -107.1 2526 895 3032 2996 605.7 -12.4 207 4371 0.00 3.28 0.00 0.000 1030 0.000 0.054 2516 2300 3012 3030 2994 0 0 0 0 0 0 11.35 11.31 11.38

4564 end dive: BOTTOM_OBSTACLE_DETECTED

state 4564 begin apogee

4573 -0.23 0.0 2516 2076 3029 2995 630.6 -12.3 215 4742 1.40 0.10 165.52 2.858 10246 0.222 0.135 2789 2120 2575 2606 2544 0 0 0 0 0 0 11.24 11.16 10.29

4743 end apogee: CONTROL_FINISHED_OK

state 4743 begin climb

4747 1.06 107.1 2791 2121 2608 2545 636.8 0.0 218 4924 1.80 3.42 169.62 2.775 10756 0.128 0.073 3215 717 2138 2177 2100 0 0 0 0 0 0 11.19 11.04 10.31

4955 1.08 107.1 3216 717 2176 2098 624.3 8.7 228 4962 0.00 3.15 0.00 0.000 1094 0.000 0.048 3215 2100 2135 2174 2096 0 0 0 0 0 0 11.31 11.24 11.33

5350 1.08 107.1 3216 2100 2168 2095 586.2 9.5 242 5355 0.00 3.50 0.00 0.000 260 0.000 0.092 3214 3517 2127 2167 2087 0 0 0 0 0 0 11.45 11.25 11.47

5431 1.08 107.1 3216 3518 2167 2087 577.2 11.0 254 5437 0.00 3.20 0.00 0.000 1030 0.000 0.040 3224 2119 2125 2165 2086 0 0 0 0 0 0 11.34 11.30 11.38

5795 1.08 107.1 3224 2120 2164 2085 539.8 10.3 264 5801 0.00 3.50 0.00 0.000 260 0.000 0.093 3225 3520 2124 2164 2085 0 0 0 0 0 0 11.48 11.27 11.49

5823 1.08 107.1 3226 3521 2166 2086 536.7 10.8 268 5829 0.00 3.28 0.00 0.000 1030 0.000 0.041 3234 2092 2124 2164 2085 0 0 0 0 0 0 11.35 11.31 11.39

6188 1.08 107.1 3234 2095 2161 2085 498.1 10.6 278 6189 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2094 2123 2162 2084 0 0 0 0 0 0 11.46 11.48 11.48

6524 1.08 107.1 3235 2095 2162 2085 463.2 10.3 284 6529 0.00 3.55 0.00 0.000 260 0.000 0.093 3235 3519 2122 2160 2084 0 0 0 0 0 0 11.46 11.28 11.49

6551 1.08 107.1 3236 3520 2162 2085 459.9 11.6 288 6557 0.00 3.25 0.00 0.000 1030 0.000 0.040 3245 2097 2122 2160 2084 0 0 0 0 0 0 11.41 11.32 11.40

6915 1.08 107.1 3244 2097 2159 2085 423.0 9.8 298 6921 0.00 3.53 0.00 0.000 260 0.000 0.093 3251 3516 2122 2159 2086 0 0 0 0 0 0 11.48 11.28 11.50

7041 1.08 107.1 3245 3514 2161 2085 408.3 11.8 316 7051 0.20 3.25 0.00 0.000 5126 0.241 0.037 3220 2090 2121 2159 2084 0 0 0 0 0 0 11.21 11.33 11.31

7426 1.10 107.1 3222 2091 2160 2084 373.4 9.0 328 7427 0.00 0.00 0.00 0.000 70 0.000 0.000 3220 2090 2120 2157 2084 0 0 0 0 0 0 11.48 11.50 11.50

7757 1.12 107.1 3221 2090 2160 2084 342.9 9.2 334 7763 0.00 3.53 0.00 0.000 324 0.000 0.090 3220 3515 2119 2156 2083 0 0 0 0 0 0 11.49 11.27 11.50

7834 1.12 107.1 3221 3516 2166 2084 335.2 10.4 345 7841 0.00 3.25 0.00 0.000 1030 0.000 0.037 3229 2094 2120 2157 2083 0 0 0 0 0 0 11.39 11.33 11.40

8205 1.13 107.1 3228 2094 2157 2084 300.3 9.4 356 8211 0.00 3.53 0.00 0.000 324 0.000 0.091 3229 3520 2120 2157 2083 0 0 0 0 0 0 11.49 11.29 11.51

8233 1.13 107.1 3228 3521 2157 2084 297.4 9.9 360 8239 0.00 3.25 0.00 0.000 1030 0.000 0.039 3239 2093 2120 2157 2083 0 0 0 0 0 0 11.39 11.33 11.40

8598 1.14 107.1 3240 2094 2159 2081 263.1 9.4 370 8603 0.00 3.40 0.00 0.000 580 0.000 0.080 3249 697 2120 2157 2083 0 0 0 0 0 0 11.48 11.29 11.50

8632 1.16 107.1 3249 697 2155 2084 259.9 8.9 375 8638 0.00 3.28 0.00 0.000 1094 0.000 0.052 3249 2113 2119 2155 2083 0 0 0 0 0 0 11.38 11.31 11.40

8989 1.18 107.1 3251 2113 2158 2084 227.5 9.1 384 8995 0.00 3.47 0.00 0.000 324 0.000 0.094 3248 3516 2119 2156 2083 0 0 0 0 0 0 11.50 11.29 11.51

9108 1.18 107.1 3250 3516 2157 2084 215.3 10.3 401 9116 0.00 3.25 0.00 0.000 1030 0.000 0.038 3259 2097 2119 2155 2083 0 0 0 0 0 0 11.39 11.33 11.41

9469 1.18 107.1 3259 2097 2155 2084 181.1 9.7 417 9476 0.00 3.45 0.00 0.000 260 0.000 0.092 3259 3512 2119 2155 2083 0 0 0 0 0 0 11.48 11.28 11.50

9532 1.18 107.1 3260 3513 2157 2084 174.2 10.6 426 9537 0.00 3.25 0.00 0.000 1030 0.000 0.039 3270 2100 2119 2155 2083 0 0 0 0 0 0 11.39 11.33 11.41

9892 1.18 107.1 3270 2100 2154 2083 139.0 10.0 441 9892 0.00 0.00 0.00 0.000 6 0.000 0.000 3270 2100 2119 2155 2083 0 0 0 0 0 0 11.48 11.50 11.50

10227 1.18 107.1 3272 2099 2156 2084 105.7 9.8 453 10234 0.00 3.55 0.00 0.000 260 0.000 0.093 3270 3516 2118 2154 2083 0 0 0 0 0 0 11.49 11.28 11.50

10289 1.18 107.1 3271 3517 2156 2084 98.5 11.4 462 10295 0.17 3.28 0.00 0.000 5126 0.272 0.037 3255 2088 2118 2154 2083 0 0 0 0 0 0 11.21 11.33 11.38

10646 1.21 107.1 3255 2092 2154 2083 65.3 8.8 477 10647 0.00 0.00 0.00 0.000 70 0.000 0.000 3256 2092 2118 2154 2082 0 0 0 0 0 0 11.50 11.52 11.51

10982 1.25 107.1 3257 2092 2156 2083 37.3 8.1 489 10983 0.00 0.00 0.00 0.000 70 0.000 0.000 3256 2091 2118 2154 2082 0 0 0 0 0 0 11.50 11.51 11.52

11322 1.29 144.1 3257 2092 2155 2083 10.8 7.7 501 11354 0.00 3.58 26.20 0.238 8484 0.000 0.090 3256 3516 1984 2021 1947 0 0 0 0 0 0 11.48 11.27 11.19

11413 end climb: SURFACE_DEPTH_REACHED

state 11413 begin surface coast

11420 end surface coast: CONTROL_FINISHED_OK

state 11420 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	876	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	20	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	6
D_BOOST	110	SM_CC	350	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	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2575	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	280119,211953,-7405.9331,-11308.8623,4,1.4,6,53.7,0.2,0.0,5,8.2	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.85	MHEAD_RNG_PITCHd_Wd	50.2,22606,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-67.2	D_GRID	990
GPS2	280119,212839,-7405.8857,-11308.9307,16,0.9,16,53.7,0.1,0.0,11,4.4

FREEZE	1.05,0.500,-1.852,2,1,0	ALTIM_BOTTOM_PING	617.1,17.1
FINISH	1.1,1.027078	_24V_AH	10.29,287.184
SM_CCo	11448,157.35,0.207,0,0,1146,350.04	_10V_AH	10.45,0.000
SM_GC	0.84,11.90,2.85,157.35,0.069,0.036,0.207,214,2294,1146,-8.25,0.54,350.04,0,0,0,0,0,0,11.31,11.33,11.19	FG_AHR_24Vo	0.000
RAFOS_CLK	437	FG_AHR_10Vo	0.000
RAFOS	0,1548720065,0.032778,0.018056,87,57,52,51,48,46,607,205,220,152,139,119	MEM	279872
RAFOS_FIX	-7405.449707,-11254.340820,290119,000056,3,99,0.75	DATA_FILE_SIZE	16786,516
IRIDIUM_FIX	-7405.46,-11306.76,280119,183446	CAP_FILE_SIZE	101311,0
TT8_MAMPS	0.047936,0.410452	CFSIZE	1024409600,920453120
HUMID	49.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1449.3
TCM_TEMP	12.00	CURRENT	0.058,352.98,1
XPDR_PINGS	1	GPS	290119,004354,-7405.581,-11304.004,31,1.0,31,53.7,0.3,3.6,8,4.6
ALTIM_TOP_PING	10.8,10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	401	137.83	nil	0	0	0.00
Roll_motor	148	135	206.35	nil	0	0	0.00
VBD_pump_during_apogee	361	2858	10627.03	nil	0	0	0.00
VBD_pump_during_surface	157	207	335.67	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	11405	5	655.32
Iridium_during_xfer	291	221	663.61	nil	0	0	0.00
Transponder_ping	26	420	115.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	10	2.01
TT8	0	0	0.00
LPSleep	9483	2	228.92
TT8_Active	779	13	112.61
TT8_Sampling	1441	34	523.98
TT8_CF8	439	52	242.59
TT8_Kalman	0	0	0.00
Analog_circuits	1517	10	172.89
GPS_charging	0	0	0.00
Compass	743	7	58.19
RAFOS	720	1	11.29
Transponder	188	30	58.98

		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
22.2	23.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
33.4	35.70	9000.00	0.0	0.00	0.00	35.70	0.0	1.09	1.00
553.7	57.00	9000.00	0.0	0.05	0.88	57.00	0.0	0.04	1.00
568.0	45.10	9000.00	0.0	0.03	0.67	45.10	613.1	-0.83	1.00
582.3	40.40	9000.00	0.0	-0.58	0.94	40.40	622.7	-0.33	1.00
596.1	36.10	9000.00	0.0	-0.32	1.00	36.10	632.2	-0.31	1.00
606.4	27.20	9000.00	0.0	-0.54	0.92	27.20	633.6	-0.86	1.00
617.1	16.90	17.10	634.2	-0.91	1.00	16.90	634.0	-0.96	1.00
630.6	15.90	9000.00	0.0	-0.45	0.76	15.90	646.5	-0.07	1.00

623.5	21.00	9000.00	0.0	-0.09	0.05	21.00	0.0	-0.72	1.00
613.0	32.00	31.60	0.0	-0.92	0.99	32.00	0.0	-1.05	1.00
178.7	185.30	9000.00	0.0	-0.36	1.00	185.30	0.0	-0.35	1.00
155.6	161.30	9000.00	0.0	-0.31	0.96	161.30	-5.7	1.04	1.00
122.3	126.70	126.70	-4.4	1.04	1.00	126.70	-4.4	1.04	1.00
111.2	116.10	115.80	-4.6	1.02	1.00	116.10	-4.9	0.95	1.00
100.9	104.70	105.00	-4.1	1.02	1.00	104.70	-3.8	1.11	1.00
88.4	92.30	92.10	-3.7	1.04	1.00	92.30	-3.9	0.99	1.00
55.5	57.40	57.50	-2.0	1.05	1.00	57.40	-1.9	1.06	1.00
44.2	45.50	45.50	-1.3	1.06	1.00	45.50	-1.3	1.05	1.00
32.7	33.50	33.50	-0.8	1.05	1.00	33.50	-0.8	1.04	1.00
21.7	22.10	22.10	-0.4	1.04	1.00	22.10	-0.4	1.04	1.00
10.8	10.70	10.70	0.1	1.05	1.00	10.70	0.1	1.05	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	-1.06	-107.1	219	2313	1174	1089	0.0	0.0	0	111	0.00	0.00	-99.57	0.002	16390	0.000	0.000	219	2312	3012	3017	3007	0	0	0	0	0	0	11.45	10.73	11.47
115	-1.06	-107.1	219	2313	3016	3007	1.6	-1.1	3	137	17.27	3.55	0.00	0.000	2308	0.402	0.093	2513	3716	3012	3018	3007	0	0	0	0	0	0	11.11	11.23	11.31
259	-1.06	-107.1	2512	3717	3023	3003	32.0	-17.6	24	265	0.00	3.25	0.00	0.000	1030	0.000	0.037	2513	2267	3012	3023	3002	0	0	0	0	0	0	11.37	11.31	11.38
618	-1.06	-107.1	2512	2267	3026	3001	89.1	-15.7	39	623	0.00	3.25	0.00	0.000	516	0.000	0.062	2512	899	3012	3024	3000	0	0	0	0	0	0	11.47	11.29	11.49
671	-1.06	-107.1	2512	900	3026	3000	98.2	-15.5	47	677	0.00	3.38	0.00	0.000	1030	0.000	0.060	2502	2302	3012	3025	3000	0	0	0	0	0	0	11.36	11.28	11.38
1039	-1.06	-107.1	2506	2302	3028	3000	154.4	-14.9	63	1044	0.00	3.53	0.00	0.000	260	0.000	0.099	2491	3714	3012	3026	2999	0	0	0	0	0	0	11.48	11.27	11.49
1078	-1.06	-107.1	2490	3714	3026	2999	161.2	-16.0	69	1085	0.22	3.22	0.00	0.000	3078	0.259	0.038	2526	2298	3013	3027	2999	0	0	0	0	0	0	11.20	11.33	11.36
1428	-1.06	-107.1	2528	2298	3028	2998	209.5	-13.6	82	1434	0.00	3.33	0.00	0.000	516	0.000	0.061	2526	895	3012	3027	2998	0	0	0	0	0	0	11.48	11.29	11.50
1463	-1.06	-107.1	2525	895	3030	2998	214.4	-14.0	87	1469	0.00	3.33	0.00	0.000	1030	0.000	0.059	2517	2306	3013	3028	2998	0	0	0	0	0	0	11.36	11.28	11.38
1820	-1.06	-107.1	2518	2307	3030	2998	265.6	-14.6	96	1826	0.00	3.38	0.00	0.000	516	0.000	0.060	2517	894	3012	3028	2997	0	0	0	0	0	0	11.48	11.29	11.50
1869	-1.06	-107.1	2518	894	3030	2998	272.9	-15.0	103	1876	0.00	3.35	0.00	0.000	1030	0.000	0.058	2506	2312	3012	3028	2997	0	0	0	0	0	0	11.38	11.29	11.39
2212	-1.06	-107.1	2506	2312	3028	2997	322.0	-14.0	110	2218	0.00	3.38	0.00	0.000	516	0.000	0.060	2506	894	3012	3028	2997	0	0	0	0	0	0	11.48	11.29	11.50
2275	-1.06	-107.1	2508	894	3031	2998	331.3	-14.8	119	2281	0.20	3.33	0.00	0.000	3078	0.264	0.057	2526	2303	3012	3029	2996	0	0	0	0	0	0	11.20	11.30	11.36
2663	-1.06	-107.1	2525	2304	3028	2997	382.5	-13.2	132	2669	0.00	3.38	0.00	0.000	516	0.000	0.060	2525	892	3012	3029	2996	0	0	0	0	0	0	11.48	11.29	11.50
2717	-1.06	-107.1	2525	893	3028	2997	390.1	-14.0	140	2723	0.00	3.33	0.00	0.000	1030	0.000	0.057	2517	2308	3012	3028	2996	0	0	0	0	0	0	11.38	11.30	11.39
3113	-1.06	-107.1	2518	2308	3031	2997	442.7	-13.3	154	3118	0.00	3.53	0.00	0.000	260	0.000	0.100	2506	3719	3012	3028	2996	0	0	0	0	0	0	11.48	11.28	11.50
3146	-1.06	-107.1	2508	3720	3030	2996	447.7	-13.5	159	3152	0.00	3.25	0.00	0.000	1030	0.000	0.038	2506	2295	3010	3025	2995	0	0	0	0	0	0	11.40	11.35	11.40
3503	-1.06	-107.1	2507	2295	3031	2996	496.5	-13.5	168	3509	0.00	3.33	0.00	0.000	516	0.000	0.061	2506	895	3012	3029	2995	0	0	0	0	0	0	11.50	11.30	11.51
3573	-1.06	-107.1	2508	895	3030	2995	506.4	-14.0	178	3579	0.17	3.28	0.00	0.000	3078	0.272	0.060	2525	2309	3012	3029	2995	0	0	0	0	0	0	11.20	11.30	11.36
3955	-1.06	-107.1	2524	2310	3029	2995	553.7	-12.3	190	3956	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2309	3012	3029	2995	0	0	0	0	0	0	11.48	11.50	11.49
4288	-1.06	-107.1	2526	2309	3031	2996	596.1	-12.6	196	4293	0.00	3.40	0.00	0.000	516	0.000	0.060	2525	894	3012	3029	2995	0	0	0	0	0	0	11.45	11.30	11.50
4364	-1.06	-107.1	2526	895	3032	2996	605.7	-12.4	207	4371	0.00	3.28	0.00	0.000	1030	0.000	0.054	2516	2300	3012	3030	2994	0	0	0	0	0	0	11.35	11.31	11.38
4564	end dive: BOTTOM_OBSTACLE_DETECTED
state	4564	begin apogee
4573	-0.23	0.0	2516	2076	3029	2995	630.6	-12.3	215	4742	1.40	0.10	165.52	2.858	10246	0.222	0.135	2789	2120	2575	2606	2544	0	0	0	0	0	0	11.24	11.16	10.29
4743	end apogee: CONTROL_FINISHED_OK
state	4743	begin climb
4747	1.06	107.1	2791	2121	2608	2545	636.8	0.0	218	4924	1.80	3.42	169.62	2.775	10756	0.128	0.073	3215	717	2138	2177	2100	0	0	0	0	0	0	11.19	11.04	10.31
4955	1.08	107.1	3216	717	2176	2098	624.3	8.7	228	4962	0.00	3.15	0.00	0.000	1094	0.000	0.048	3215	2100	2135	2174	2096	0	0	0	0	0	0	11.31	11.24	11.33
5350	1.08	107.1	3216	2100	2168	2095	586.2	9.5	242	5355	0.00	3.50	0.00	0.000	260	0.000	0.092	3214	3517	2127	2167	2087	0	0	0	0	0	0	11.45	11.25	11.47
5431	1.08	107.1	3216	3518	2167	2087	577.2	11.0	254	5437	0.00	3.20	0.00	0.000	1030	0.000	0.040	3224	2119	2125	2165	2086	0	0	0	0	0	0	11.34	11.30	11.38
5795	1.08	107.1	3224	2120	2164	2085	539.8	10.3	264	5801	0.00	3.50	0.00	0.000	260	0.000	0.093	3225	3520	2124	2164	2085	0	0	0	0	0	0	11.48	11.27	11.49
5823	1.08	107.1	3226	3521	2166	2086	536.7	10.8	268	5829	0.00	3.28	0.00	0.000	1030	0.000	0.041	3234	2092	2124	2164	2085	0	0	0	0	0	0	11.35	11.31	11.39
6188	1.08	107.1	3234	2095	2161	2085	498.1	10.6	278	6189	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2094	2123	2162	2084	0	0	0	0	0	0	11.46	11.48	11.48
6524	1.08	107.1	3235	2095	2162	2085	463.2	10.3	284	6529	0.00	3.55	0.00	0.000	260	0.000	0.093	3235	3519	2122	2160	2084	0	0	0	0	0	0	11.46	11.28	11.49
6551	1.08	107.1	3236	3520	2162	2085	459.9	11.6	288	6557	0.00	3.25	0.00	0.000	1030	0.000	0.040	3245	2097	2122	2160	2084	0	0	0	0	0	0	11.41	11.32	11.40
6915	1.08	107.1	3244	2097	2159	2085	423.0	9.8	298	6921	0.00	3.53	0.00	0.000	260	0.000	0.093	3251	3516	2122	2159	2086	0	0	0	0	0	0	11.48	11.28	11.50
7041	1.08	107.1	3245	3514	2161	2085	408.3	11.8	316	7051	0.20	3.25	0.00	0.000	5126	0.241	0.037	3220	2090	2121	2159	2084	0	0	0	0	0	0	11.21	11.33	11.31
7426	1.10	107.1	3222	2091	2160	2084	373.4	9.0	328	7427	0.00	0.00	0.00	0.000	70	0.000	0.000	3220	2090	2120	2157	2084	0	0	0	0	0	0	11.48	11.50	11.50
7757	1.12	107.1	3221	2090	2160	2084	342.9	9.2	334	7763	0.00	3.53	0.00	0.000	324	0.000	0.090	3220	3515	2119	2156	2083	0	0	0	0	0	0	11.49	11.27	11.50
7834	1.12	107.1	3221	3516	2166	2084	335.2	10.4	345	7841	0.00	3.25	0.00	0.000	1030	0.000	0.037	3229	2094	2120	2157	2083	0	0	0	0	0	0	11.39	11.33	11.40
8205	1.13	107.1	3228	2094	2157	2084	300.3	9.4	356	8211	0.00	3.53	0.00	0.000	324	0.000	0.091	3229	3520	2120	2157	2083	0	0	0	0	0	0	11.49	11.29	11.51
8233	1.13	107.1	3228	3521	2157	2084	297.4	9.9	360	8239	0.00	3.25	0.00	0.000	1030	0.000	0.039	3239	2093	2120	2157	2083	0	0	0	0	0	0	11.39	11.33	11.40
8598	1.14	107.1	3240	2094	2159	2081	263.1	9.4	370	8603	0.00	3.40	0.00	0.000	580	0.000	0.080	3249	697	2120	2157	2083	0	0	0	0	0	0	11.48	11.29	11.50
8632	1.16	107.1	3249	697	2155	2084	259.9	8.9	375	8638	0.00	3.28	0.00	0.000	1094	0.000	0.052	3249	2113	2119	2155	2083	0	0	0	0	0	0	11.38	11.31	11.40
8989	1.18	107.1	3251	2113	2158	2084	227.5	9.1	384	8995	0.00	3.47	0.00	0.000	324	0.000	0.094	3248	3516	2119	2156	2083	0	0	0	0	0	0	11.50	11.29	11.51
9108	1.18	107.1	3250	3516	2157	2084	215.3	10.3	401	9116	0.00	3.25	0.00	0.000	1030	0.000	0.038	3259	2097	2119	2155	2083	0	0	0	0	0	0	11.39	11.33	11.41
9469	1.18	107.1	3259	2097	2155	2084	181.1	9.7	417	9476	0.00	3.45	0.00	0.000	260	0.000	0.092	3259	3512	2119	2155	2083	0	0	0	0	0	0	11.48	11.28	11.50
9532	1.18	107.1	3260	3513	2157	2084	174.2	10.6	426	9537	0.00	3.25	0.00	0.000	1030	0.000	0.039	3270	2100	2119	2155	2083	0	0	0	0	0	0	11.39	11.33	11.41
9892	1.18	107.1	3270	2100	2154	2083	139.0	10.0	441	9892	0.00	0.00	0.00	0.000	6	0.000	0.000	3270	2100	2119	2155	2083	0	0	0	0	0	0	11.48	11.50	11.50
10227	1.18	107.1	3272	2099	2156	2084	105.7	9.8	453	10234	0.00	3.55	0.00	0.000	260	0.000	0.093	3270	3516	2118	2154	2083	0	0	0	0	0	0	11.49	11.28	11.50
10289	1.18	107.1	3271	3517	2156	2084	98.5	11.4	462	10295	0.17	3.28	0.00	0.000	5126	0.272	0.037	3255	2088	2118	2154	2083	0	0	0	0	0	0	11.21	11.33	11.38
10646	1.21	107.1	3255	2092	2154	2083	65.3	8.8	477	10647	0.00	0.00	0.00	0.000	70	0.000	0.000	3256	2092	2118	2154	2082	0	0	0	0	0	0	11.50	11.52	11.51
10982	1.25	107.1	3257	2092	2156	2083	37.3	8.1	489	10983	0.00	0.00	0.00	0.000	70	0.000	0.000	3256	2091	2118	2154	2082	0	0	0	0	0	0	11.50	11.51	11.52
11322	1.29	144.1	3257	2092	2155	2083	10.8	7.7	501	11354	0.00	3.58	26.20	0.238	8484	0.000	0.090	3256	3516	1984	2021	1947	0	0	0	0	0	0	11.48	11.27	11.19
11413	end climb: SURFACE_DEPTH_REACHED
state	11413	begin surface coast
11420	end surface coast: CONTROL_FINISHED_OK
state	11420	begin surface