Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 104 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 104 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 11 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 300 R_STBD_OVSHOOT 14 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 11 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 14 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 104 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 271214,094358,6612.597,-5650.896,68,0.9,68,-31.7 SPEED_LIMITS 0.173,0.262

_CALLS 2 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.98 MHEAD_RNG_PITCHd_Wd 11.7,93377,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -60.0 D_GRID 594

GPS2 271214,095130,6612.594,-5650.952,6,0.9,6,-31.7

Post-dive calculations and measurements:

FINISH1 15.9,1.026573,46 _24V_AH 13.35,23.896

FINISH2 14.7 _10V_AH 13.32,0.000

RAFOS_CLK 511 FG_AHR_24Vo 0.000

RAFOS 0,1419681665,12.033333,12.018056,59,58,52,52,52,51,125,217,205,172,792,193 FG_AHR_10Vo 0.000

RAFOS_FIX 6539.356934,-5649.023926,251214,202028,2,92,5.40 MEM 271124

IRIDIUM_FIX 6543.17,-5651.18,271214,061420 DATA_FILE_SIZE 26693,749

TT8_MAMPS 0.025466,0.025466 CAP_FILE_SIZE 125306,0

HUMID 45.74 CFSIZE 260034560,245432320

INTERNAL_PRESSURE 8.62561 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 14.40 INTR 1,12183.03,0x23769e,5,5

XPDR_PINGS 0 SOUNDSPEED 1470.7

ALTIM_TOP_PING 19.1,7.9 CURRENT 60.093,341.26,1

SC_FREEKB 7736640 GPS 271214,095130,6612.594,-5650.952,6,0.9,6,-31.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 439 80.45 nil 0 0 0.00

Roll_motor 84 171 194.05 nil 0 0 0.00

VBD_pump_during_apogee 349 1377 6426.22 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 12217 6 1106.12

Iridium_during_xfer 264 152 538.47 nil 0 0 0.00

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.76

TT8 1687 11 257.88

LPSleep 8877 2 273.15

TT8_Active 509 11 77.87

TT8_Sampling 1465 30 603.78

TT8_CF8 127 36 61.67

TT8_Kalman 0 0 0.00

Analog_circuits 1406 11 206.10

GPS_charging 0 0 0.00

Compass 1112 6 88.90

RAFOS 2520 1 50.35

Transponder 2 30 1.05

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.60 -146.0 192 2559 1718 1721 0.0 0.0 0 113 0.00 0.00 -92.38 0.000 16386 0.000 0.000 189 2559 3339 3311 3368 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.60 -146.0 189 2560 3315 3368 3.1 -2.4 9 139 9.62 2.45 -6.62 0.000 18692 0.440 0.171 2189 3838 3547 3541 3554 0 0 0 0 0 0 14.37 14.47 14.73

366 -1.55 -146.0 2189 3839 3547 3554 34.7 -13.6 58 372 0.10 2.25 0.00 0.000 3078 0.317 0.067 2208 2520 3550 3547 3554 0 0 0 0 0 0 14.49 14.59 28.83

684 -1.55 -146.0 2208 2519 3548 3554 69.9 -10.5 76 689 0.00 2.50 0.00 0.000 260 0.000 0.151 2198 3837 3550 3548 3553 0 0 0 0 0 0 28.83 14.60 28.83

821 -1.53 -146.0 2199 3837 3548 3554 85.4 -11.6 103 828 0.00 2.20 0.00 0.000 1030 0.000 0.067 2199 2546 3551 3548 3554 0 0 0 0 0 0 28.83 14.67 28.83

1126 -1.53 -146.0 2198 2545 3548 3553 119.3 -11.3 119 1128 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2546 3551 3549 3553 0 0 0 0 0 0 28.83 28.83 28.83

1428 -1.53 -146.0 2199 2546 3548 3551 154.0 -11.4 134 1429 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2546 3549 3548 3551 0 0 0 0 0 0 28.83 28.83 28.83

1727 -1.53 -146.0 2199 2550 3547 3550 185.4 -9.6 149 1734 0.00 2.45 0.00 0.000 260 0.000 0.150 2190 3843 3549 3548 3550 0 0 0 0 0 0 28.83 14.66 28.83

1780 -1.53 -146.0 2190 3843 3547 3549 190.8 -10.3 159 1786 0.12 2.20 0.00 0.000 3078 0.308 0.063 2216 2538 3549 3548 3550 0 0 0 0 0 0 14.62 14.74 28.83

2094 -1.55 -146.0 2216 2538 3548 3549 217.6 -8.6 176 2099 0.00 2.42 0.00 0.000 516 0.000 0.106 2216 1141 3548 3547 3549 0 0 0 0 0 0 28.83 14.71 28.83

2157 -1.58 -146.0 2216 1142 3554 3549 222.8 -8.8 188 2163 0.00 2.53 0.00 0.000 1030 0.000 0.122 2209 2557 3548 3548 3549 0 0 0 0 0 0 28.83 14.70 28.83

2480 -1.58 -146.0 2210 2557 3548 3549 250.5 -8.4 207 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2557 3548 3548 3549 0 0 0 0 0 0 28.83 28.83 28.83

2780 -1.58 -146.0 2209 2557 3548 3549 272.7 -7.1 217 2787 0.00 2.45 0.00 0.000 516 0.000 0.105 2209 1141 3547 3548 3547 0 0 0 0 0 0 28.83 14.73 28.83

2839 -1.60 -146.0 2209 1141 3548 3549 277.2 -7.7 228 2845 0.00 2.53 0.00 0.000 1030 0.000 0.122 2202 2556 3548 3548 3549 0 0 0 0 0 0 28.83 14.72 28.83

3144 -1.60 -146.0 2202 2561 3548 3549 299.3 -7.4 239 3150 0.00 2.45 0.00 0.000 516 0.000 0.106 2202 1142 3548 3548 3549 0 0 0 0 0 0 28.83 14.74 28.83

3222 -1.60 -146.0 2202 1141 3548 3549 304.9 -7.6 254 3227 0.00 2.55 0.00 0.000 1030 0.000 0.125 2196 2560 3548 3548 3549 0 0 0 0 0 0 28.83 14.73 28.83

3541 -1.60 -146.0 2196 2563 3549 3549 327.8 -7.3 267 3546 0.00 2.45 0.00 0.000 516 0.000 0.107 2196 1145 3549 3549 3549 0 0 0 0 0 0 28.83 14.75 28.83

3598 -1.60 -146.0 2196 1144 3549 3549 332.6 -8.6 278 3605 0.00 2.53 0.00 0.000 1030 0.000 0.126 2189 2554 3547 3549 3545 0 0 0 0 0 0 28.83 14.74 28.83

3904 -1.60 -146.0 2189 2553 3550 3549 357.9 -8.5 289 3905 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2553 3549 3550 3549 0 0 0 0 0 0 28.83 28.83 28.83

4204 -1.60 -146.0 2189 2554 3551 3549 382.7 -8.1 299 4209 0.00 2.45 0.00 0.000 516 0.000 0.112 2189 1145 3550 3551 3549 0 0 0 0 0 0 28.83 14.76 28.83

4261 -1.60 -146.0 2189 1145 3551 3550 387.4 -8.7 310 4268 0.00 2.53 0.00 0.000 1030 0.000 0.129 2183 2551 3550 3551 3550 0 0 0 0 0 0 28.83 14.76 28.83

4567 -1.60 -146.0 2183 2551 3551 3550 411.4 -7.8 321 4568 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2551 3550 3551 3550 0 0 0 0 0 0 28.83 28.83 28.83

4867 -1.60 -146.0 2183 2551 3552 3551 433.1 -7.2 331 4872 0.00 2.45 0.00 0.000 516 0.000 0.112 2183 1150 3551 3552 3550 0 0 0 0 0 0 28.83 14.76 28.83

4980 -1.60 -146.0 2183 1150 3552 3550 441.6 -8.0 353 4986 0.12 2.53 0.00 0.000 3078 0.310 0.130 2202 2554 3551 3552 3551 0 0 0 0 0 0 14.68 14.77 28.83

5295 -1.62 -146.0 2202 2554 3551 3551 463.7 -7.0 365 5301 0.00 2.45 0.00 0.000 516 0.000 0.116 2203 1151 3551 3551 3551 0 0 0 0 0 0 28.83 14.77 28.83

5404 -1.64 -146.0 2203 1151 3551 3552 472.2 -8.0 386 5410 0.00 2.53 0.00 0.000 1030 0.000 0.131 2197 2554 3552 3552 3553 0 0 0 0 0 0 28.83 14.76 28.83

5723 -1.64 -146.0 2197 2554 3552 3553 494.3 -6.8 399 5724 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2554 3551 3551 3552 0 0 0 0 0 0 28.83 28.83 28.83

6022 -1.64 -146.0 2197 2554 3552 3553 515.5 -7.2 409 6023 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2554 3552 3552 3553 0 0 0 0 0 0 28.83 28.83 28.83

6322 -1.64 -146.0 2197 2554 3552 3553 537.0 -7.4 419 6328 0.00 2.47 0.00 0.000 516 0.000 0.118 2197 1140 3552 3552 3553 0 0 0 0 0 0 28.83 14.78 28.83

6369 -1.64 -146.0 2196 1140 3551 3553 540.6 -7.9 428 6375 0.00 2.55 0.00 0.000 1030 0.000 0.134 2190 2555 3552 3552 3553 0 0 0 0 0 0 28.83 14.77 28.83

6688 -1.64 -146.0 2191 2555 3552 3553 564.8 -7.7 441 6689 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2555 3552 3552 3553 0 0 0 0 0 0 28.83 28.83 28.83

6987 -1.64 -146.0 2190 2555 3552 3554 588.9 -8.0 451 6989 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2555 3552 3552 3553 0 0 0 0 0 0 28.83 28.83 28.83

7075 end dive: TARGET_DEPTH_EXCEEDED

state 7075 begin apogee

7080 -0.38 0.0 2190 2397 3552 3553 595.8 -7.7 454 7241 0.95 0.00 156.70 1.377 10246 0.242 0.000 2461 2397 2950 2971 2930 0 0 0 0 0 0 14.71 28.83 13.53

7242 end apogee: CONTROL_FINISHED_OK

state 7242 begin climb

7244 1.60 146.0 2462 2396 2962 2922 597.9 0.0 459 7428 1.38 2.85 168.45 1.236 10500 0.148 0.149 2893 3807 2355 2398 2313 0 0 0 0 1 0 14.00 13.87 13.35

7475 1.55 146.0 2894 3807 2398 2322 573.0 14.5 493 7481 0.00 2.58 0.00 0.000 1030 0.000 0.083 2903 2401 2360 2398 2322 0 0 0 0 0 0 28.83 14.07 28.83

7804 1.52 146.0 2900 2401 2398 2320 529.8 12.8 508 7806 0.10 0.00 0.00 0.000 4102 0.311 0.000 2883 2401 2359 2398 2320 0 0 0 0 0 0 14.33 28.83 28.83

8104 1.52 146.0 2883 2401 2398 2318 494.4 11.7 518 8105 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 2401 2358 2398 2318 0 0 0 0 0 0 28.83 28.83 28.83

8403 1.52 146.0 2883 2401 2398 2317 458.9 11.7 528 8408 0.00 2.67 0.00 0.000 260 0.000 0.151 2882 3808 2358 2398 2318 0 0 0 0 0 0 28.83 14.57 28.83

8445 1.48 146.0 2882 3807 2398 2319 453.4 13.1 536 8450 0.00 2.47 0.00 0.000 1030 0.000 0.083 2892 2397 2358 2398 2318 0 0 0 0 0 0 28.83 14.62 28.83

8769 1.48 146.0 2892 2397 2398 2316 413.4 12.5 550 8774 0.00 2.47 0.00 0.000 516 0.000 0.119 2901 993 2357 2398 2316 0 0 0 0 0 0 28.83 14.64 28.83

8832 1.48 146.0 2901 993 2398 2316 405.1 12.8 562 8838 0.12 2.53 0.00 0.000 5126 0.316 0.124 2875 2399 2356 2398 2314 0 0 0 0 0 0 14.56 14.66 28.83

9165 1.48 146.0 2875 2397 2398 2315 363.8 12.4 578 9170 0.00 2.65 0.00 0.000 260 0.000 0.148 2874 3813 2356 2397 2315 0 0 0 0 0 0 28.83 14.65 28.83

9211 1.45 146.0 2874 3813 2397 2315 357.5 13.7 587 9217 0.00 2.47 0.00 0.000 1030 0.000 0.083 2884 2393 2356 2397 2315 0 0 0 0 0 0 28.83 14.69 28.83

9530 1.45 146.0 2884 2393 2398 2315 316.4 13.1 600 9531 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2393 2356 2397 2315 0 0 0 0 0 0 28.83 28.83 28.83

9829 1.45 146.0 2884 2393 2398 2314 277.9 12.4 610 9830 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2393 2356 2398 2314 0 0 0 0 0 0 28.83 28.83 28.83

10140 1.45 146.0 2884 2393 2397 2314 242.1 11.5 621 10142 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2393 2356 2398 2314 0 0 0 0 0 0 28.83 28.83 28.83

10439 1.45 146.0 2885 2394 2394 2315 206.6 12.1 636 10445 0.00 2.45 0.00 0.000 516 0.000 0.116 2895 988 2356 2398 2314 0 0 0 0 0 0 28.83 14.73 28.83

10482 1.45 146.0 2894 988 2397 2314 201.4 11.8 644 10489 0.08 2.47 0.00 0.000 5126 0.289 0.121 2872 2396 2356 2398 2314 0 0 0 0 0 0 14.65 14.71 28.83

10806 1.45 146.0 2872 2396 2397 2314 163.7 11.4 663 10807 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2396 2356 2398 2314 0 0 0 0 0 0 28.83 28.83 28.83

11107 1.45 146.0 2872 2395 2398 2314 129.8 11.7 678 11108 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2396 2356 2398 2314 0 0 0 0 0 0 28.83 28.83 28.83

11407 1.47 146.0 2872 2395 2398 2315 95.7 11.1 693 11408 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2396 2355 2397 2314 0 0 0 0 0 0 28.83 28.83 28.83

11707 1.50 146.0 2872 2396 2398 2316 62.5 10.8 708 11708 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2396 2357 2398 2316 0 0 0 0 0 0 28.83 28.83 28.83

12007 1.55 164.1 2871 2396 2398 2317 33.1 9.2 723 12028 0.00 2.53 11.45 0.239 8708 0.000 0.119 2881 996 2286 2321 2251 0 0 0 0 0 0 28.83 14.73 14.67

12071 1.61 182.9 2882 996 2321 2260 27.4 9.1 735 12092 0.00 2.50 12.98 0.225 9222 0.000 0.122 2882 2399 2204 2241 2167 0 0 0 0 0 0 28.83 14.73 14.66

12180 end climb: SURFACE_OBSTACLE_DETECTED

state 12180 begin subsurface finish

12185 0.06 45.8 2882 2400 2241 2179 15.9 11.0 747 12201 1.10 0.00 -11.75 0.000 20486 0.244 0.000 2564 2400 2767 2783 2752 0 0 0 0 0 0 14.65 28.83 14.94

12202 end subsurface finish: CONTROL_FINISHED_OK

state 12202 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	104	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	11	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	300	R_STBD_OVSHOOT	14	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	271214,094358,6612.597,-5650.896,68,0.9,68,-31.7	SPEED_LIMITS	0.173,0.262
_CALLS	2	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.98	MHEAD_RNG_PITCHd_Wd	11.7,93377,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-60.0	D_GRID	594
GPS2	271214,095130,6612.594,-5650.952,6,0.9,6,-31.7

FINISH1	15.9,1.026573,46	_24V_AH	13.35,23.896
FINISH2	14.7	_10V_AH	13.32,0.000
RAFOS_CLK	511	FG_AHR_24Vo	0.000
RAFOS	0,1419681665,12.033333,12.018056,59,58,52,52,52,51,125,217,205,172,792,193	FG_AHR_10Vo	0.000
RAFOS_FIX	6539.356934,-5649.023926,251214,202028,2,92,5.40	MEM	271124
IRIDIUM_FIX	6543.17,-5651.18,271214,061420	DATA_FILE_SIZE	26693,749
TT8_MAMPS	0.025466,0.025466	CAP_FILE_SIZE	125306,0
HUMID	45.74	CFSIZE	260034560,245432320
INTERNAL_PRESSURE	8.62561	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	14.40	INTR	1,12183.03,0x23769e,5,5
XPDR_PINGS	0	SOUNDSPEED	1470.7
ALTIM_TOP_PING	19.1,7.9	CURRENT	60.093,341.26,1
SC_FREEKB	7736640	GPS	271214,095130,6612.594,-5650.952,6,0.9,6,-31.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	439	80.45	nil	0	0	0.00
Roll_motor	84	171	194.05	nil	0	0	0.00
VBD_pump_during_apogee	349	1377	6426.22	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	12217	6	1106.12
Iridium_during_xfer	264	152	538.47	nil	0	0	0.00
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.76
TT8	1687	11	257.88
LPSleep	8877	2	273.15
TT8_Active	509	11	77.87
TT8_Sampling	1465	30	603.78
TT8_CF8	127	36	61.67
TT8_Kalman	0	0	0.00
Analog_circuits	1406	11	206.10
GPS_charging	0	0	0.00
Compass	1112	6	88.90
RAFOS	2520	1	50.35
Transponder	2	30	1.05

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.60	-146.0	192	2559	1718	1721	0.0	0.0	0	113	0.00	0.00	-92.38	0.000	16386	0.000	0.000	189	2559	3339	3311	3368	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.60	-146.0	189	2560	3315	3368	3.1	-2.4	9	139	9.62	2.45	-6.62	0.000	18692	0.440	0.171	2189	3838	3547	3541	3554	0	0	0	0	0	0	14.37	14.47	14.73
366	-1.55	-146.0	2189	3839	3547	3554	34.7	-13.6	58	372	0.10	2.25	0.00	0.000	3078	0.317	0.067	2208	2520	3550	3547	3554	0	0	0	0	0	0	14.49	14.59	28.83
684	-1.55	-146.0	2208	2519	3548	3554	69.9	-10.5	76	689	0.00	2.50	0.00	0.000	260	0.000	0.151	2198	3837	3550	3548	3553	0	0	0	0	0	0	28.83	14.60	28.83
821	-1.53	-146.0	2199	3837	3548	3554	85.4	-11.6	103	828	0.00	2.20	0.00	0.000	1030	0.000	0.067	2199	2546	3551	3548	3554	0	0	0	0	0	0	28.83	14.67	28.83
1126	-1.53	-146.0	2198	2545	3548	3553	119.3	-11.3	119	1128	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2546	3551	3549	3553	0	0	0	0	0	0	28.83	28.83	28.83
1428	-1.53	-146.0	2199	2546	3548	3551	154.0	-11.4	134	1429	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2546	3549	3548	3551	0	0	0	0	0	0	28.83	28.83	28.83
1727	-1.53	-146.0	2199	2550	3547	3550	185.4	-9.6	149	1734	0.00	2.45	0.00	0.000	260	0.000	0.150	2190	3843	3549	3548	3550	0	0	0	0	0	0	28.83	14.66	28.83
1780	-1.53	-146.0	2190	3843	3547	3549	190.8	-10.3	159	1786	0.12	2.20	0.00	0.000	3078	0.308	0.063	2216	2538	3549	3548	3550	0	0	0	0	0	0	14.62	14.74	28.83
2094	-1.55	-146.0	2216	2538	3548	3549	217.6	-8.6	176	2099	0.00	2.42	0.00	0.000	516	0.000	0.106	2216	1141	3548	3547	3549	0	0	0	0	0	0	28.83	14.71	28.83
2157	-1.58	-146.0	2216	1142	3554	3549	222.8	-8.8	188	2163	0.00	2.53	0.00	0.000	1030	0.000	0.122	2209	2557	3548	3548	3549	0	0	0	0	0	0	28.83	14.70	28.83
2480	-1.58	-146.0	2210	2557	3548	3549	250.5	-8.4	207	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2557	3548	3548	3549	0	0	0	0	0	0	28.83	28.83	28.83
2780	-1.58	-146.0	2209	2557	3548	3549	272.7	-7.1	217	2787	0.00	2.45	0.00	0.000	516	0.000	0.105	2209	1141	3547	3548	3547	0	0	0	0	0	0	28.83	14.73	28.83
2839	-1.60	-146.0	2209	1141	3548	3549	277.2	-7.7	228	2845	0.00	2.53	0.00	0.000	1030	0.000	0.122	2202	2556	3548	3548	3549	0	0	0	0	0	0	28.83	14.72	28.83
3144	-1.60	-146.0	2202	2561	3548	3549	299.3	-7.4	239	3150	0.00	2.45	0.00	0.000	516	0.000	0.106	2202	1142	3548	3548	3549	0	0	0	0	0	0	28.83	14.74	28.83
3222	-1.60	-146.0	2202	1141	3548	3549	304.9	-7.6	254	3227	0.00	2.55	0.00	0.000	1030	0.000	0.125	2196	2560	3548	3548	3549	0	0	0	0	0	0	28.83	14.73	28.83
3541	-1.60	-146.0	2196	2563	3549	3549	327.8	-7.3	267	3546	0.00	2.45	0.00	0.000	516	0.000	0.107	2196	1145	3549	3549	3549	0	0	0	0	0	0	28.83	14.75	28.83
3598	-1.60	-146.0	2196	1144	3549	3549	332.6	-8.6	278	3605	0.00	2.53	0.00	0.000	1030	0.000	0.126	2189	2554	3547	3549	3545	0	0	0	0	0	0	28.83	14.74	28.83
3904	-1.60	-146.0	2189	2553	3550	3549	357.9	-8.5	289	3905	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2553	3549	3550	3549	0	0	0	0	0	0	28.83	28.83	28.83
4204	-1.60	-146.0	2189	2554	3551	3549	382.7	-8.1	299	4209	0.00	2.45	0.00	0.000	516	0.000	0.112	2189	1145	3550	3551	3549	0	0	0	0	0	0	28.83	14.76	28.83
4261	-1.60	-146.0	2189	1145	3551	3550	387.4	-8.7	310	4268	0.00	2.53	0.00	0.000	1030	0.000	0.129	2183	2551	3550	3551	3550	0	0	0	0	0	0	28.83	14.76	28.83
4567	-1.60	-146.0	2183	2551	3551	3550	411.4	-7.8	321	4568	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2551	3550	3551	3550	0	0	0	0	0	0	28.83	28.83	28.83
4867	-1.60	-146.0	2183	2551	3552	3551	433.1	-7.2	331	4872	0.00	2.45	0.00	0.000	516	0.000	0.112	2183	1150	3551	3552	3550	0	0	0	0	0	0	28.83	14.76	28.83
4980	-1.60	-146.0	2183	1150	3552	3550	441.6	-8.0	353	4986	0.12	2.53	0.00	0.000	3078	0.310	0.130	2202	2554	3551	3552	3551	0	0	0	0	0	0	14.68	14.77	28.83
5295	-1.62	-146.0	2202	2554	3551	3551	463.7	-7.0	365	5301	0.00	2.45	0.00	0.000	516	0.000	0.116	2203	1151	3551	3551	3551	0	0	0	0	0	0	28.83	14.77	28.83
5404	-1.64	-146.0	2203	1151	3551	3552	472.2	-8.0	386	5410	0.00	2.53	0.00	0.000	1030	0.000	0.131	2197	2554	3552	3552	3553	0	0	0	0	0	0	28.83	14.76	28.83
5723	-1.64	-146.0	2197	2554	3552	3553	494.3	-6.8	399	5724	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2554	3551	3551	3552	0	0	0	0	0	0	28.83	28.83	28.83
6022	-1.64	-146.0	2197	2554	3552	3553	515.5	-7.2	409	6023	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2554	3552	3552	3553	0	0	0	0	0	0	28.83	28.83	28.83
6322	-1.64	-146.0	2197	2554	3552	3553	537.0	-7.4	419	6328	0.00	2.47	0.00	0.000	516	0.000	0.118	2197	1140	3552	3552	3553	0	0	0	0	0	0	28.83	14.78	28.83
6369	-1.64	-146.0	2196	1140	3551	3553	540.6	-7.9	428	6375	0.00	2.55	0.00	0.000	1030	0.000	0.134	2190	2555	3552	3552	3553	0	0	0	0	0	0	28.83	14.77	28.83
6688	-1.64	-146.0	2191	2555	3552	3553	564.8	-7.7	441	6689	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2555	3552	3552	3553	0	0	0	0	0	0	28.83	28.83	28.83
6987	-1.64	-146.0	2190	2555	3552	3554	588.9	-8.0	451	6989	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2555	3552	3552	3553	0	0	0	0	0	0	28.83	28.83	28.83
7075	end dive: TARGET_DEPTH_EXCEEDED
state	7075	begin apogee
7080	-0.38	0.0	2190	2397	3552	3553	595.8	-7.7	454	7241	0.95	0.00	156.70	1.377	10246	0.242	0.000	2461	2397	2950	2971	2930	0	0	0	0	0	0	14.71	28.83	13.53
7242	end apogee: CONTROL_FINISHED_OK
state	7242	begin climb
7244	1.60	146.0	2462	2396	2962	2922	597.9	0.0	459	7428	1.38	2.85	168.45	1.236	10500	0.148	0.149	2893	3807	2355	2398	2313	0	0	0	0	1	0	14.00	13.87	13.35
7475	1.55	146.0	2894	3807	2398	2322	573.0	14.5	493	7481	0.00	2.58	0.00	0.000	1030	0.000	0.083	2903	2401	2360	2398	2322	0	0	0	0	0	0	28.83	14.07	28.83
7804	1.52	146.0	2900	2401	2398	2320	529.8	12.8	508	7806	0.10	0.00	0.00	0.000	4102	0.311	0.000	2883	2401	2359	2398	2320	0	0	0	0	0	0	14.33	28.83	28.83
8104	1.52	146.0	2883	2401	2398	2318	494.4	11.7	518	8105	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	2401	2358	2398	2318	0	0	0	0	0	0	28.83	28.83	28.83
8403	1.52	146.0	2883	2401	2398	2317	458.9	11.7	528	8408	0.00	2.67	0.00	0.000	260	0.000	0.151	2882	3808	2358	2398	2318	0	0	0	0	0	0	28.83	14.57	28.83
8445	1.48	146.0	2882	3807	2398	2319	453.4	13.1	536	8450	0.00	2.47	0.00	0.000	1030	0.000	0.083	2892	2397	2358	2398	2318	0	0	0	0	0	0	28.83	14.62	28.83
8769	1.48	146.0	2892	2397	2398	2316	413.4	12.5	550	8774	0.00	2.47	0.00	0.000	516	0.000	0.119	2901	993	2357	2398	2316	0	0	0	0	0	0	28.83	14.64	28.83
8832	1.48	146.0	2901	993	2398	2316	405.1	12.8	562	8838	0.12	2.53	0.00	0.000	5126	0.316	0.124	2875	2399	2356	2398	2314	0	0	0	0	0	0	14.56	14.66	28.83
9165	1.48	146.0	2875	2397	2398	2315	363.8	12.4	578	9170	0.00	2.65	0.00	0.000	260	0.000	0.148	2874	3813	2356	2397	2315	0	0	0	0	0	0	28.83	14.65	28.83
9211	1.45	146.0	2874	3813	2397	2315	357.5	13.7	587	9217	0.00	2.47	0.00	0.000	1030	0.000	0.083	2884	2393	2356	2397	2315	0	0	0	0	0	0	28.83	14.69	28.83
9530	1.45	146.0	2884	2393	2398	2315	316.4	13.1	600	9531	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2393	2356	2397	2315	0	0	0	0	0	0	28.83	28.83	28.83
9829	1.45	146.0	2884	2393	2398	2314	277.9	12.4	610	9830	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2393	2356	2398	2314	0	0	0	0	0	0	28.83	28.83	28.83
10140	1.45	146.0	2884	2393	2397	2314	242.1	11.5	621	10142	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2393	2356	2398	2314	0	0	0	0	0	0	28.83	28.83	28.83
10439	1.45	146.0	2885	2394	2394	2315	206.6	12.1	636	10445	0.00	2.45	0.00	0.000	516	0.000	0.116	2895	988	2356	2398	2314	0	0	0	0	0	0	28.83	14.73	28.83
10482	1.45	146.0	2894	988	2397	2314	201.4	11.8	644	10489	0.08	2.47	0.00	0.000	5126	0.289	0.121	2872	2396	2356	2398	2314	0	0	0	0	0	0	14.65	14.71	28.83
10806	1.45	146.0	2872	2396	2397	2314	163.7	11.4	663	10807	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2396	2356	2398	2314	0	0	0	0	0	0	28.83	28.83	28.83
11107	1.45	146.0	2872	2395	2398	2314	129.8	11.7	678	11108	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2396	2356	2398	2314	0	0	0	0	0	0	28.83	28.83	28.83
11407	1.47	146.0	2872	2395	2398	2315	95.7	11.1	693	11408	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2396	2355	2397	2314	0	0	0	0	0	0	28.83	28.83	28.83
11707	1.50	146.0	2872	2396	2398	2316	62.5	10.8	708	11708	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2396	2357	2398	2316	0	0	0	0	0	0	28.83	28.83	28.83
12007	1.55	164.1	2871	2396	2398	2317	33.1	9.2	723	12028	0.00	2.53	11.45	0.239	8708	0.000	0.119	2881	996	2286	2321	2251	0	0	0	0	0	0	28.83	14.73	14.67
12071	1.61	182.9	2882	996	2321	2260	27.4	9.1	735	12092	0.00	2.50	12.98	0.225	9222	0.000	0.122	2882	2399	2204	2241	2167	0	0	0	0	0	0	28.83	14.73	14.66
12180	end climb: SURFACE_OBSTACLE_DETECTED
state	12180	begin subsurface finish
12185	0.06	45.8	2882	2400	2241	2179	15.9	11.0	747	12201	1.10	0.00	-11.75	0.000	20486	0.244	0.000	2564	2400	2767	2783	2752	0	0	0	0	0	0	14.65	28.83	14.94
12202	end subsurface finish: CONTROL_FINISHED_OK
state	12202	begin surface