Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 111 * 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 111 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 26 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 300 R_STBD_OVSHOOT 16 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 26 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 16 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 111 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 281214,105105,6623.366,-5656.312,36,1.1,36,-31.9 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.92 MHEAD_RNG_PITCHd_Wd 81.7,73770,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -57.2 D_GRID 606

GPS2 281214,110342,6623.309,-5656.592,5,1.1,5,-31.9

Post-dive calculations and measurements:

FINISH1 15.7,1.026562,46 _24V_AH 13.41,25.169

FINISH2 14.4 _10V_AH 13.29,0.000

RAFOS_CLK 493 FG_AHR_24Vo 0.000

RAFOS 0,1419768073,12.033333,12.020278,62,57,57,56,54,52,196,153,220,177,116,131 FG_AHR_10Vo 0.000

RAFOS_FIX 6539.356934,-5649.023926,251214,202028,2,92,5.40 MEM 271140

IRIDIUM_FIX 6548.42,-5649.81,281214,001030 DATA_FILE_SIZE 23423,720

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 126497,0

HUMID 46.06 CFSIZE 260034560,244944896

INTERNAL_PRESSURE 8.63537 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.90 INTR 1,11831.57,0x23769e,5,5

XPDR_PINGS 0 SOUNDSPEED 1471.4

ALTIM_TOP_PING 19.0,7.8 CURRENT 62.470,45.39,1

SC_FREEKB 7734400 GPS 281214,110342,6623.309,-5656.592,5,1.1,5,-31.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 453 87.45 nil 0 0 0.00

Roll_motor 80 149 160.94 nil 0 0 0.00

VBD_pump_during_apogee 315 1379 5827.74 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 11863 6 1079.38

Iridium_during_xfer 587 181 1428.21 nil 0 0 0.00

Transponder_ping 0 420 1.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.72

TT8 1660 11 253.10

LPSleep 8552 2 262.56

TT8_Active 488 11 74.43

TT8_Sampling 1728 30 710.82

TT8_CF8 189 36 91.32

TT8_Kalman 0 0 0.00

Analog_circuits 1668 11 243.89

GPS_charging 0 0 0.00

Compass 1074 6 85.66

RAFOS 2520 1 50.24

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 17 begin dive

19 -1.60 -146.0 198 2536 1720 1719 0.0 0.0 0 113 0.00 0.00 -91.78 0.000 16386 0.000 0.000 197 2536 3291 3265 3317 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.60 -146.0 197 2536 3268 3317 3.2 -2.3 9 139 10.00 2.55 -7.93 0.000 18948 0.454 0.122 2199 1136 3548 3543 3553 0 0 0 0 0 0 14.28 14.42 14.64

366 -1.57 -146.0 2199 1136 3549 3554 35.9 -11.7 58 372 0.00 2.58 0.00 0.000 1030 0.000 0.122 2191 2547 3551 3549 3554 0 0 0 0 0 0 28.83 14.50 28.83

684 -1.53 -146.0 2191 2547 3549 3554 71.9 -11.0 76 691 0.10 2.47 0.00 0.000 2308 0.349 0.148 2202 3839 3551 3549 3554 0 0 0 0 0 0 14.50 14.56 28.83

761 -1.53 -146.0 2202 3839 3549 3554 80.9 -11.8 91 768 0.00 2.20 0.00 0.000 1030 0.000 0.065 2202 2548 3551 3549 3554 0 0 0 0 0 0 28.83 14.64 28.83

1068 -1.53 -146.0 2202 2548 3549 3552 112.8 -9.4 107 1073 0.00 2.42 0.00 0.000 516 0.000 0.104 2202 1147 3550 3549 3551 0 0 0 0 0 0 28.83 14.64 28.83

1146 -1.53 -146.0 2202 1147 3547 3551 120.4 -10.0 122 1153 0.10 2.53 0.00 0.000 3078 0.331 0.121 2214 2551 3550 3549 3551 0 0 0 0 0 0 14.55 14.63 28.83

1451 -1.53 -146.0 2214 2551 3549 3549 148.9 -9.2 138 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2551 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

1751 -1.53 -146.0 2214 2551 3549 3549 176.3 -8.6 153 1758 0.00 2.45 0.00 0.000 516 0.000 0.103 2215 1139 3549 3549 3549 0 0 0 0 0 0 28.83 14.69 28.83

1824 -1.53 -146.0 2215 1140 3549 3548 182.7 -8.3 167 1830 0.00 2.53 0.00 0.000 1030 0.000 0.120 2207 2551 3547 3546 3549 0 0 0 0 0 0 28.83 14.67 28.83

2137 -1.53 -146.0 2207 2552 3549 3549 208.9 -8.0 184 2139 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2552 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

2438 -1.53 -146.0 2207 2552 3549 3549 232.4 -7.7 199 2443 0.00 2.45 0.00 0.000 516 0.000 0.104 2207 1137 3549 3549 3549 0 0 0 0 0 0 28.83 14.73 28.83

2490 -1.53 -146.0 2207 1138 3549 3549 236.7 -8.1 209 2496 0.00 2.55 0.00 0.000 1030 0.000 0.123 2200 2558 3549 3549 3549 0 0 0 0 0 0 28.83 14.71 28.83

2814 -1.53 -146.0 2201 2558 3549 3549 264.0 -8.7 224 2815 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2558 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

3114 -1.53 -146.0 2200 2558 3550 3549 291.4 -8.9 234 3119 0.00 2.47 0.00 0.000 516 0.000 0.110 2200 1138 3549 3550 3549 0 0 0 0 0 0 28.83 14.75 28.83

3276 -1.53 -146.0 2200 1138 3550 3549 307.2 -9.7 266 3282 0.10 2.55 0.00 0.000 3078 0.335 0.129 2213 2552 3550 3550 3550 0 0 0 0 0 0 14.65 14.73 28.83

3601 -1.56 -146.0 2213 2552 3551 3550 336.1 -8.9 280 3602 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3550 3551 3550 0 0 0 0 0 0 28.83 28.83 28.83

3903 -1.58 -146.0 2213 2552 3552 3550 360.1 -7.8 290 3904 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3550 3551 3549 0 0 0 0 0 0 28.83 28.83 28.83

4200 -1.61 -146.0 2213 2552 3551 3551 384.1 -8.1 300 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3551 3552 3551 0 0 0 0 0 0 28.83 28.83 28.83

4502 -1.64 -146.0 2213 2552 3552 3551 406.0 -7.0 310 4503 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3551 3552 3551 0 0 0 0 0 0 28.83 28.83 28.83

4801 -1.67 -146.0 2213 2552 3552 3552 425.4 -6.2 320 4808 0.10 2.47 0.00 0.000 4612 0.174 0.112 2169 1139 3552 3552 3552 0 0 0 0 0 0 14.82 14.78 28.83

4905 -1.67 -146.0 2169 1139 3552 3552 433.6 -7.9 340 4911 0.10 2.55 0.00 0.000 3078 0.336 0.129 2181 2554 3552 3552 3553 0 0 0 0 0 0 14.67 14.76 28.83

5231 -1.67 -146.0 2181 2554 3552 3553 457.7 -7.8 354 5232 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2554 3552 3552 3553 0 0 0 0 0 0 28.83 28.83 28.83

5528 -1.67 -146.0 2181 2554 3552 3553 481.6 -7.8 364 5534 0.00 2.47 0.00 0.000 516 0.000 0.116 2182 1137 3552 3552 3553 0 0 0 0 0 0 28.83 14.78 28.83

5595 -1.67 -146.0 2182 1137 3560 3553 487.5 -9.1 377 5602 0.00 2.55 0.00 0.000 1030 0.000 0.132 2175 2551 3553 3552 3554 0 0 0 0 0 0 28.83 14.76 28.83

5925 -1.67 -146.0 2174 2551 3552 3554 517.3 -9.1 392 5930 0.00 2.45 0.00 0.000 516 0.000 0.116 2174 1147 3553 3552 3554 0 0 0 0 0 0 28.83 14.77 28.83

5982 -1.67 -146.0 2174 1147 3552 3554 523.0 -9.9 403 5989 0.00 2.53 0.00 0.000 1030 0.000 0.132 2167 2552 3553 3552 3554 0 0 0 0 0 0 28.83 14.76 28.83

6289 -1.67 -146.0 2167 2552 3552 3554 551.8 -9.0 414 6290 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2552 3553 3552 3554 0 0 0 0 0 0 28.83 28.83 28.83

6588 -1.67 -146.0 2167 2552 3552 3554 579.6 -9.0 424 6593 0.00 2.47 0.00 0.000 516 0.000 0.119 2167 1140 3553 3552 3554 0 0 0 0 0 0 28.83 14.78 28.83

6725 -1.67 -146.0 2167 1146 3552 3554 592.9 -10.1 451 6731 0.10 2.55 0.00 0.000 3078 0.343 0.134 2180 2550 3553 3552 3554 0 0 0 0 0 0 14.67 14.76 28.83

6891 end dive: TARGET_DEPTH_EXCEEDED

state 6891 begin apogee

6896 -0.38 0.0 2181 2390 3552 3554 608.3 -9.1 459 7058 1.00 0.00 158.05 1.379 10246 0.244 0.000 2465 2390 2950 2970 2930 0 0 0 0 0 0 14.69 28.83 13.51

7060 end apogee: CONTROL_FINISHED_OK

state 7060 begin climb

7061 1.60 146.0 2466 2389 2962 2921 611.5 0.0 464 7224 1.38 0.00 157.02 1.311 10502 0.151 0.000 2894 2390 2352 2397 2308 0 0 0 0 0 0 14.00 28.83 13.41

7523 1.60 146.0 2894 2390 2379 2282 561.2 12.3 485 7524 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2389 2330 2379 2281 0 0 0 0 0 0 28.83 28.83 28.83

7823 1.60 146.0 2894 2390 2376 2280 524.4 11.7 495 7828 0.00 2.53 0.00 0.000 516 0.000 0.129 2907 1000 2331 2382 2280 0 0 0 0 0 0 28.83 14.49 28.83

7845 1.60 146.0 2903 1000 2378 2280 521.5 13.1 499 7850 0.00 2.58 0.00 0.000 1030 0.000 0.129 2902 2401 2328 2376 2281 0 0 0 0 0 0 28.83 14.50 28.83

8157 1.60 146.0 2902 2400 2375 2280 477.9 14.7 511 8163 0.00 2.67 0.00 0.000 260 0.000 0.149 2903 3810 2327 2375 2280 0 0 0 0 0 0 28.83 14.57 28.83

8190 1.55 146.0 2899 3810 2373 2281 472.7 16.4 517 8197 0.12 2.45 0.00 0.000 5126 0.298 0.081 2885 2406 2327 2373 2281 0 0 0 0 0 0 14.52 14.62 28.83

8524 1.55 146.0 2885 2406 2373 2280 425.8 13.9 533 8531 0.00 2.53 0.00 0.000 516 0.000 0.121 2895 984 2326 2372 2280 0 0 0 0 0 0 28.83 14.64 28.83

8547 1.55 146.0 2893 985 2373 2280 422.6 13.7 537 8553 0.00 2.55 0.00 0.000 1030 0.000 0.122 2895 2403 2326 2372 2280 0 0 0 0 0 0 28.83 14.64 28.83

8860 1.55 146.0 2895 2404 2372 2279 381.9 12.6 549 8866 0.00 2.50 0.00 0.000 516 0.000 0.116 2904 993 2326 2373 2280 0 0 0 0 0 0 28.83 14.67 28.83

8894 1.55 146.0 2904 993 2372 2280 377.5 13.1 555 8900 0.00 2.53 0.00 0.000 1030 0.000 0.121 2904 2401 2326 2373 2280 0 0 0 0 0 0 28.83 14.67 28.83

9228 1.55 146.0 2904 2401 2372 2280 332.4 13.6 571 9233 0.00 2.65 0.00 0.000 260 0.000 0.148 2904 3810 2326 2372 2280 0 0 0 0 0 0 28.83 14.68 28.83

9310 1.50 146.0 2904 3810 2370 2281 319.8 15.1 587 9316 0.17 2.45 0.00 0.000 5126 0.300 0.080 2873 2394 2325 2370 2281 0 0 0 0 0 0 14.62 14.72 28.83

9625 1.50 146.0 2873 2395 2370 2280 280.2 12.8 599 9626 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2395 2325 2370 2280 0 0 0 0 0 0 28.83 28.83 28.83

9924 1.50 146.0 2873 2395 2370 2280 242.2 12.7 610 9929 0.00 2.45 0.00 0.000 516 0.000 0.112 2882 990 2325 2370 2280 0 0 0 0 0 0 28.83 14.71 28.83

9967 1.52 146.0 2882 990 2370 2280 236.4 13.5 618 9973 0.00 2.50 0.00 0.000 1030 0.000 0.118 2882 2402 2325 2370 2280 0 0 0 0 0 0 28.83 14.72 28.83

10290 1.52 146.0 2883 2401 2370 2280 193.0 12.8 637 10291 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2401 2325 2370 2280 0 0 0 0 0 0 28.83 28.83 28.83

10591 1.52 146.0 2882 2401 2370 2280 155.4 12.2 652 10592 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2401 2325 2370 2280 0 0 0 0 0 0 28.83 28.83 28.83

10890 1.52 146.0 2882 2401 2370 2280 118.5 12.6 667 10892 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2401 2325 2370 2280 0 0 0 0 0 0 28.83 28.83 28.83

11191 1.52 146.0 2882 2402 2370 2281 82.7 11.2 682 11192 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2402 2325 2370 2280 0 0 0 0 0 0 28.83 28.83 28.83

11491 1.54 146.0 2882 2402 2370 2281 50.4 11.1 697 11492 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2402 2325 2370 2281 0 0 0 0 0 0 28.83 28.83 28.83

11790 1.54 146.0 2882 2401 2370 2282 20.2 10.3 714 11791 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2402 2326 2370 2282 0 0 0 0 0 0 28.83 28.83 28.83

11829 end climb: SURFACE_OBSTACLE_DETECTED

state 11829 begin subsurface finish

11834 0.06 46.3 2882 2401 2370 2283 15.7 11.4 718 11848 1.10 0.00 -9.38 0.000 20998 0.243 0.000 2564 2402 2764 2783 2746 0 0 0 0 0 0 14.69 28.83 14.97

11849 end subsurface finish: CONTROL_FINISHED_OK

state 11849 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	111	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	26	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	300	R_STBD_OVSHOOT	16	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	281214,105105,6623.366,-5656.312,36,1.1,36,-31.9	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.92	MHEAD_RNG_PITCHd_Wd	81.7,73770,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-57.2	D_GRID	606
GPS2	281214,110342,6623.309,-5656.592,5,1.1,5,-31.9

FINISH1	15.7,1.026562,46	_24V_AH	13.41,25.169
FINISH2	14.4	_10V_AH	13.29,0.000
RAFOS_CLK	493	FG_AHR_24Vo	0.000
RAFOS	0,1419768073,12.033333,12.020278,62,57,57,56,54,52,196,153,220,177,116,131	FG_AHR_10Vo	0.000
RAFOS_FIX	6539.356934,-5649.023926,251214,202028,2,92,5.40	MEM	271140
IRIDIUM_FIX	6548.42,-5649.81,281214,001030	DATA_FILE_SIZE	23423,720
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	126497,0
HUMID	46.06	CFSIZE	260034560,244944896
INTERNAL_PRESSURE	8.63537	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.90	INTR	1,11831.57,0x23769e,5,5
XPDR_PINGS	0	SOUNDSPEED	1471.4
ALTIM_TOP_PING	19.0,7.8	CURRENT	62.470,45.39,1
SC_FREEKB	7734400	GPS	281214,110342,6623.309,-5656.592,5,1.1,5,-31.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	453	87.45	nil	0	0	0.00
Roll_motor	80	149	160.94	nil	0	0	0.00
VBD_pump_during_apogee	315	1379	5827.74	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	11863	6	1079.38
Iridium_during_xfer	587	181	1428.21	nil	0	0	0.00
Transponder_ping	0	420	1.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.72
TT8	1660	11	253.10
LPSleep	8552	2	262.56
TT8_Active	488	11	74.43
TT8_Sampling	1728	30	710.82
TT8_CF8	189	36	91.32
TT8_Kalman	0	0	0.00
Analog_circuits	1668	11	243.89
GPS_charging	0	0	0.00
Compass	1074	6	85.66
RAFOS	2520	1	50.24
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	17	begin dive
19	-1.60	-146.0	198	2536	1720	1719	0.0	0.0	0	113	0.00	0.00	-91.78	0.000	16386	0.000	0.000	197	2536	3291	3265	3317	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.60	-146.0	197	2536	3268	3317	3.2	-2.3	9	139	10.00	2.55	-7.93	0.000	18948	0.454	0.122	2199	1136	3548	3543	3553	0	0	0	0	0	0	14.28	14.42	14.64
366	-1.57	-146.0	2199	1136	3549	3554	35.9	-11.7	58	372	0.00	2.58	0.00	0.000	1030	0.000	0.122	2191	2547	3551	3549	3554	0	0	0	0	0	0	28.83	14.50	28.83
684	-1.53	-146.0	2191	2547	3549	3554	71.9	-11.0	76	691	0.10	2.47	0.00	0.000	2308	0.349	0.148	2202	3839	3551	3549	3554	0	0	0	0	0	0	14.50	14.56	28.83
761	-1.53	-146.0	2202	3839	3549	3554	80.9	-11.8	91	768	0.00	2.20	0.00	0.000	1030	0.000	0.065	2202	2548	3551	3549	3554	0	0	0	0	0	0	28.83	14.64	28.83
1068	-1.53	-146.0	2202	2548	3549	3552	112.8	-9.4	107	1073	0.00	2.42	0.00	0.000	516	0.000	0.104	2202	1147	3550	3549	3551	0	0	0	0	0	0	28.83	14.64	28.83
1146	-1.53	-146.0	2202	1147	3547	3551	120.4	-10.0	122	1153	0.10	2.53	0.00	0.000	3078	0.331	0.121	2214	2551	3550	3549	3551	0	0	0	0	0	0	14.55	14.63	28.83
1451	-1.53	-146.0	2214	2551	3549	3549	148.9	-9.2	138	1452	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2551	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
1751	-1.53	-146.0	2214	2551	3549	3549	176.3	-8.6	153	1758	0.00	2.45	0.00	0.000	516	0.000	0.103	2215	1139	3549	3549	3549	0	0	0	0	0	0	28.83	14.69	28.83
1824	-1.53	-146.0	2215	1140	3549	3548	182.7	-8.3	167	1830	0.00	2.53	0.00	0.000	1030	0.000	0.120	2207	2551	3547	3546	3549	0	0	0	0	0	0	28.83	14.67	28.83
2137	-1.53	-146.0	2207	2552	3549	3549	208.9	-8.0	184	2139	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2552	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
2438	-1.53	-146.0	2207	2552	3549	3549	232.4	-7.7	199	2443	0.00	2.45	0.00	0.000	516	0.000	0.104	2207	1137	3549	3549	3549	0	0	0	0	0	0	28.83	14.73	28.83
2490	-1.53	-146.0	2207	1138	3549	3549	236.7	-8.1	209	2496	0.00	2.55	0.00	0.000	1030	0.000	0.123	2200	2558	3549	3549	3549	0	0	0	0	0	0	28.83	14.71	28.83
2814	-1.53	-146.0	2201	2558	3549	3549	264.0	-8.7	224	2815	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2558	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
3114	-1.53	-146.0	2200	2558	3550	3549	291.4	-8.9	234	3119	0.00	2.47	0.00	0.000	516	0.000	0.110	2200	1138	3549	3550	3549	0	0	0	0	0	0	28.83	14.75	28.83
3276	-1.53	-146.0	2200	1138	3550	3549	307.2	-9.7	266	3282	0.10	2.55	0.00	0.000	3078	0.335	0.129	2213	2552	3550	3550	3550	0	0	0	0	0	0	14.65	14.73	28.83
3601	-1.56	-146.0	2213	2552	3551	3550	336.1	-8.9	280	3602	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3550	3551	3550	0	0	0	0	0	0	28.83	28.83	28.83
3903	-1.58	-146.0	2213	2552	3552	3550	360.1	-7.8	290	3904	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3550	3551	3549	0	0	0	0	0	0	28.83	28.83	28.83
4200	-1.61	-146.0	2213	2552	3551	3551	384.1	-8.1	300	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3551	3552	3551	0	0	0	0	0	0	28.83	28.83	28.83
4502	-1.64	-146.0	2213	2552	3552	3551	406.0	-7.0	310	4503	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3551	3552	3551	0	0	0	0	0	0	28.83	28.83	28.83
4801	-1.67	-146.0	2213	2552	3552	3552	425.4	-6.2	320	4808	0.10	2.47	0.00	0.000	4612	0.174	0.112	2169	1139	3552	3552	3552	0	0	0	0	0	0	14.82	14.78	28.83
4905	-1.67	-146.0	2169	1139	3552	3552	433.6	-7.9	340	4911	0.10	2.55	0.00	0.000	3078	0.336	0.129	2181	2554	3552	3552	3553	0	0	0	0	0	0	14.67	14.76	28.83
5231	-1.67	-146.0	2181	2554	3552	3553	457.7	-7.8	354	5232	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2554	3552	3552	3553	0	0	0	0	0	0	28.83	28.83	28.83
5528	-1.67	-146.0	2181	2554	3552	3553	481.6	-7.8	364	5534	0.00	2.47	0.00	0.000	516	0.000	0.116	2182	1137	3552	3552	3553	0	0	0	0	0	0	28.83	14.78	28.83
5595	-1.67	-146.0	2182	1137	3560	3553	487.5	-9.1	377	5602	0.00	2.55	0.00	0.000	1030	0.000	0.132	2175	2551	3553	3552	3554	0	0	0	0	0	0	28.83	14.76	28.83
5925	-1.67	-146.0	2174	2551	3552	3554	517.3	-9.1	392	5930	0.00	2.45	0.00	0.000	516	0.000	0.116	2174	1147	3553	3552	3554	0	0	0	0	0	0	28.83	14.77	28.83
5982	-1.67	-146.0	2174	1147	3552	3554	523.0	-9.9	403	5989	0.00	2.53	0.00	0.000	1030	0.000	0.132	2167	2552	3553	3552	3554	0	0	0	0	0	0	28.83	14.76	28.83
6289	-1.67	-146.0	2167	2552	3552	3554	551.8	-9.0	414	6290	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2552	3553	3552	3554	0	0	0	0	0	0	28.83	28.83	28.83
6588	-1.67	-146.0	2167	2552	3552	3554	579.6	-9.0	424	6593	0.00	2.47	0.00	0.000	516	0.000	0.119	2167	1140	3553	3552	3554	0	0	0	0	0	0	28.83	14.78	28.83
6725	-1.67	-146.0	2167	1146	3552	3554	592.9	-10.1	451	6731	0.10	2.55	0.00	0.000	3078	0.343	0.134	2180	2550	3553	3552	3554	0	0	0	0	0	0	14.67	14.76	28.83
6891	end dive: TARGET_DEPTH_EXCEEDED
state	6891	begin apogee
6896	-0.38	0.0	2181	2390	3552	3554	608.3	-9.1	459	7058	1.00	0.00	158.05	1.379	10246	0.244	0.000	2465	2390	2950	2970	2930	0	0	0	0	0	0	14.69	28.83	13.51
7060	end apogee: CONTROL_FINISHED_OK
state	7060	begin climb
7061	1.60	146.0	2466	2389	2962	2921	611.5	0.0	464	7224	1.38	0.00	157.02	1.311	10502	0.151	0.000	2894	2390	2352	2397	2308	0	0	0	0	0	0	14.00	28.83	13.41
7523	1.60	146.0	2894	2390	2379	2282	561.2	12.3	485	7524	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2389	2330	2379	2281	0	0	0	0	0	0	28.83	28.83	28.83
7823	1.60	146.0	2894	2390	2376	2280	524.4	11.7	495	7828	0.00	2.53	0.00	0.000	516	0.000	0.129	2907	1000	2331	2382	2280	0	0	0	0	0	0	28.83	14.49	28.83
7845	1.60	146.0	2903	1000	2378	2280	521.5	13.1	499	7850	0.00	2.58	0.00	0.000	1030	0.000	0.129	2902	2401	2328	2376	2281	0	0	0	0	0	0	28.83	14.50	28.83
8157	1.60	146.0	2902	2400	2375	2280	477.9	14.7	511	8163	0.00	2.67	0.00	0.000	260	0.000	0.149	2903	3810	2327	2375	2280	0	0	0	0	0	0	28.83	14.57	28.83
8190	1.55	146.0	2899	3810	2373	2281	472.7	16.4	517	8197	0.12	2.45	0.00	0.000	5126	0.298	0.081	2885	2406	2327	2373	2281	0	0	0	0	0	0	14.52	14.62	28.83
8524	1.55	146.0	2885	2406	2373	2280	425.8	13.9	533	8531	0.00	2.53	0.00	0.000	516	0.000	0.121	2895	984	2326	2372	2280	0	0	0	0	0	0	28.83	14.64	28.83
8547	1.55	146.0	2893	985	2373	2280	422.6	13.7	537	8553	0.00	2.55	0.00	0.000	1030	0.000	0.122	2895	2403	2326	2372	2280	0	0	0	0	0	0	28.83	14.64	28.83
8860	1.55	146.0	2895	2404	2372	2279	381.9	12.6	549	8866	0.00	2.50	0.00	0.000	516	0.000	0.116	2904	993	2326	2373	2280	0	0	0	0	0	0	28.83	14.67	28.83
8894	1.55	146.0	2904	993	2372	2280	377.5	13.1	555	8900	0.00	2.53	0.00	0.000	1030	0.000	0.121	2904	2401	2326	2373	2280	0	0	0	0	0	0	28.83	14.67	28.83
9228	1.55	146.0	2904	2401	2372	2280	332.4	13.6	571	9233	0.00	2.65	0.00	0.000	260	0.000	0.148	2904	3810	2326	2372	2280	0	0	0	0	0	0	28.83	14.68	28.83
9310	1.50	146.0	2904	3810	2370	2281	319.8	15.1	587	9316	0.17	2.45	0.00	0.000	5126	0.300	0.080	2873	2394	2325	2370	2281	0	0	0	0	0	0	14.62	14.72	28.83
9625	1.50	146.0	2873	2395	2370	2280	280.2	12.8	599	9626	0.00	0.00	0.00	0.000	6	0.000	0.000	2874	2395	2325	2370	2280	0	0	0	0	0	0	28.83	28.83	28.83
9924	1.50	146.0	2873	2395	2370	2280	242.2	12.7	610	9929	0.00	2.45	0.00	0.000	516	0.000	0.112	2882	990	2325	2370	2280	0	0	0	0	0	0	28.83	14.71	28.83
9967	1.52	146.0	2882	990	2370	2280	236.4	13.5	618	9973	0.00	2.50	0.00	0.000	1030	0.000	0.118	2882	2402	2325	2370	2280	0	0	0	0	0	0	28.83	14.72	28.83
10290	1.52	146.0	2883	2401	2370	2280	193.0	12.8	637	10291	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2401	2325	2370	2280	0	0	0	0	0	0	28.83	28.83	28.83
10591	1.52	146.0	2882	2401	2370	2280	155.4	12.2	652	10592	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2401	2325	2370	2280	0	0	0	0	0	0	28.83	28.83	28.83
10890	1.52	146.0	2882	2401	2370	2280	118.5	12.6	667	10892	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2401	2325	2370	2280	0	0	0	0	0	0	28.83	28.83	28.83
11191	1.52	146.0	2882	2402	2370	2281	82.7	11.2	682	11192	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2402	2325	2370	2280	0	0	0	0	0	0	28.83	28.83	28.83
11491	1.54	146.0	2882	2402	2370	2281	50.4	11.1	697	11492	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2402	2325	2370	2281	0	0	0	0	0	0	28.83	28.83	28.83
11790	1.54	146.0	2882	2401	2370	2282	20.2	10.3	714	11791	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2402	2326	2370	2282	0	0	0	0	0	0	28.83	28.83	28.83
11829	end climb: SURFACE_OBSTACLE_DETECTED
state	11829	begin subsurface finish
11834	0.06	46.3	2882	2401	2370	2283	15.7	11.4	718	11848	1.10	0.00	-9.38	0.000	20998	0.243	0.000	2564	2402	2764	2783	2746	0	0	0	0	0	0	14.69	28.83	14.97
11849	end subsurface finish: CONTROL_FINISHED_OK
state	11849	begin surface