Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 124 * 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 124 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 20 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 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 601.23029

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 20 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 124 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 301214,100028,6645.098,-5655.312,40,2.0,40,-32.2 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 1.79 MHEAD_RNG_PITCHd_Wd 44.8,33577,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -48.1 D_GRID 608

GPS2 301214,100633,6645.099,-5655.373,16,1.6,25,-32.2

Post-dive calculations and measurements:

FINISH1 16.3,1.026421,53 _24V_AH 13.35,28.085

FINISH2 14.7 _10V_AH 13.29,0.000

RAFOS_CLK 500 FG_AHR_24Vo 0.000

RAFOS 0,1419940864,12.033333,12.017777,55,55,55,52,50,50,165,199,218,122,188,131 FG_AHR_10Vo 0.000

RAFOS_FIX 6640.624023,-5720.196777,301214,121200,2,91,2.07 MEM 271112

IRIDIUM_FIX 6609.62,-5656.29,301214,063350 DATA_FILE_SIZE 23398,670

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 115816,0

HUMID 46.57 CFSIZE 260034560,244023296

INTERNAL_PRESSURE 8.61584 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 14.30 INTR 1,11770.87,0x23769e,5,5

XPDR_PINGS 0 SOUNDSPEED 1468.1

ALTIM_TOP_PING 19.7,7.7 CURRENT 2.271,238.60,1

SC_FREEKB 7730240 GPS 301214,124800,6640.624,-5720.197,0,2091.0,0,-32.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 457 88.25 nil 0 0 0.00

Roll_motor 67 172 156.78 nil 0 0 0.00

VBD_pump_during_apogee 356 1407 6689.76 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 11811 6 1069.21

Iridium_during_xfer 217 157 456.69 nil 0 0 0.00

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 30 10.45

TT8 1549 11 236.22

LPSleep 8632 2 265.02

TT8_Active 556 11 84.78

TT8_Sampling 1317 30 541.83

TT8_CF8 124 36 59.97

TT8_Kalman 0 0 0.00

Analog_circuits 1345 11 196.76

GPS_charging 0 0 0.00

Compass 1002 6 79.95

RAFOS 2520 1 50.24

Transponder 2 30 1.04

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 -146.0 199 2556 521 480 0.0 0.0 0 172 0.00 0.00 -151.18 0.000 16386 0.000 0.000 198 2557 3339 3313 3365 0 0 0 0 0 0 28.83 28.83 28.83

175 -1.60 -146.0 198 2557 3315 3365 3.3 -2.3 15 198 9.93 2.50 -5.90 0.000 18948 0.457 0.120 2197 1140 3548 3543 3554 0 0 0 0 0 0 14.33 14.50 14.71

381 -1.58 -146.0 2197 1140 3549 3554 29.7 -12.7 55 386 0.00 2.58 0.00 0.000 1030 0.000 0.119 2190 2552 3551 3549 3554 0 0 0 0 0 0 28.83 14.54 28.83

704 -1.55 -146.0 2190 2552 3549 3554 67.8 -11.5 74 710 0.10 2.47 0.00 0.000 2564 0.346 0.099 2209 1138 3551 3549 3554 0 0 0 0 0 0 14.52 14.60 28.83

788 -1.55 -146.0 2209 1139 3549 3554 77.2 -11.7 90 793 0.00 2.55 0.00 0.000 1030 0.000 0.118 2202 2558 3551 3549 3554 0 0 0 0 0 0 28.83 14.59 28.83

1110 -1.55 -146.0 2202 2561 3549 3553 111.0 -10.6 109 1116 0.00 2.40 0.00 0.000 260 0.000 0.144 2193 3839 3551 3549 3553 0 0 0 0 0 0 28.83 14.62 28.83

1178 -1.55 -146.0 2193 3839 3550 3553 118.8 -11.4 122 1183 0.00 2.22 0.00 0.000 1030 0.000 0.065 2193 2533 3551 3549 3553 0 0 0 0 0 0 28.83 14.67 28.83

1495 -1.55 -146.0 2193 2533 3549 3551 153.3 -11.0 140 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2532 3550 3549 3551 0 0 0 0 0 0 28.83 28.83 28.83

1796 -1.55 -146.0 2192 2534 3549 3551 185.0 -10.3 155 1797 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2533 3549 3549 3550 0 0 0 0 0 0 28.83 28.83 28.83

2097 -1.55 -146.0 2192 2533 3556 3551 215.2 -9.9 170 2103 0.00 2.40 0.00 0.000 516 0.000 0.105 2192 1144 3550 3549 3551 0 0 0 0 0 0 28.83 14.71 28.83

2164 -1.55 -146.0 2193 1144 3549 3551 222.1 -9.6 183 2170 0.12 2.53 0.00 0.000 3078 0.321 0.122 2212 2550 3550 3549 3551 0 0 0 0 0 0 14.60 14.70 28.83

2483 -1.58 -146.0 2212 2550 3549 3551 251.4 -9.5 201 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2550 3550 3549 3551 0 0 0 0 0 0 28.83 28.83 28.83

2783 -1.61 -146.0 2212 2550 3551 3551 279.7 -9.4 211 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2550 3551 3551 3551 0 0 0 0 0 0 28.83 28.83 28.83

3083 -1.63 -146.0 2211 2550 3551 3551 308.3 -9.4 221 3089 0.00 2.42 0.00 0.000 516 0.000 0.106 2212 1148 3551 3552 3551 0 0 0 0 0 0 28.83 14.75 28.83

3126 -1.66 -146.0 2212 1147 3551 3551 312.6 -10.0 229 3132 0.00 2.53 0.00 0.000 1030 0.000 0.122 2205 2556 3551 3552 3551 0 0 0 0 0 0 28.83 14.73 28.83

3451 -1.68 -146.0 2203 2556 3552 3551 342.6 -9.3 243 3452 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2556 3551 3552 3550 0 0 0 0 0 0 28.83 28.83 28.83

3749 -1.68 -146.0 2205 2556 3552 3552 367.7 -8.1 253 3751 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2553 3552 3552 3552 0 0 0 0 0 0 28.83 28.83 28.83

4050 -1.68 -146.0 2205 2556 3555 3552 390.6 -7.6 263 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2556 3554 3555 3553 0 0 0 0 0 0 28.83 28.83 28.83

4350 -1.70 -146.0 2205 2557 3556 3553 413.8 -7.8 273 4357 0.10 2.47 0.00 0.000 4612 0.174 0.109 2160 1141 3554 3556 3553 0 0 0 0 0 0 14.81 14.77 28.83

4399 -1.68 -146.0 2160 1142 3556 3553 418.5 -10.5 282 4406 0.15 2.53 0.00 0.000 3078 0.315 0.126 2185 2551 3557 3556 3559 0 0 0 0 0 0 14.68 14.76 28.83

4719 -1.68 -146.0 2185 2551 3558 3553 446.2 -8.5 295 4720 0.00 0.00 0.00 0.000 6 0.000 0.000 2185 2551 3555 3556 3554 0 0 0 0 0 0 28.83 28.83 28.83

5018 -1.68 -146.0 2185 2551 3557 3554 471.7 -8.5 305 5025 0.00 2.45 0.00 0.000 516 0.000 0.113 2186 1147 3555 3557 3554 0 0 0 0 0 0 28.83 14.78 28.83

5068 -1.68 -146.0 2186 1147 3557 3554 476.0 -9.1 314 5073 0.00 2.53 0.00 0.000 1030 0.000 0.129 2179 2550 3555 3557 3554 0 0 0 0 0 0 28.83 14.77 28.83

5387 -1.68 -146.0 2178 2550 3557 3554 503.0 -8.6 327 5388 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2550 3555 3557 3554 0 0 0 0 0 0 28.83 28.83 28.83

5686 -1.68 -146.0 2178 2550 3557 3554 527.9 -8.5 337 5687 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2550 3555 3557 3554 0 0 0 0 0 0 28.83 28.83 28.83

5986 -1.68 -146.0 2178 2550 3557 3554 554.1 -8.7 347 5991 0.00 2.47 0.00 0.000 516 0.000 0.116 2178 1133 3556 3558 3554 0 0 0 0 0 0 28.83 14.78 28.83

6044 -1.68 -146.0 2179 1133 3558 3554 559.3 -9.3 358 6050 0.00 2.55 0.00 0.000 1030 0.000 0.132 2172 2551 3556 3558 3554 0 0 0 0 0 0 28.83 14.78 28.83

6349 -1.68 -146.0 2172 2551 3557 3554 586.3 -9.4 369 6355 0.00 2.45 0.00 0.000 516 0.000 0.119 2172 1149 3556 3558 3554 0 0 0 0 0 0 28.83 14.78 28.83

6448 -1.68 -146.0 2172 1148 3557 3554 596.1 -9.4 388 6453 0.00 2.53 0.00 0.000 1030 0.000 0.132 2166 2550 3555 3557 3554 0 0 0 0 0 0 28.83 14.78 28.83

6593 end dive: TARGET_DEPTH_EXCEEDED

state 6594 begin apogee

6599 -0.38 0.0 2166 2390 3557 3554 609.9 -9.0 397 6767 1.05 0.00 165.02 1.408 10246 0.257 0.000 2461 2390 2950 2971 2930 0 0 0 0 0 0 14.70 28.83 13.49

6769 end apogee: CONTROL_FINISHED_OK

state 6769 begin climb

6771 1.60 146.0 2461 2390 2962 2921 612.8 0.0 402 6950 1.40 0.00 167.62 1.258 10502 0.154 0.000 2894 2390 2357 2397 2318 0 0 0 0 1 0 13.97 28.83 13.35

7228 1.57 146.0 2895 2390 2397 2313 560.3 12.4 433 7229 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2389 2355 2398 2312 0 0 0 0 0 0 28.83 28.83 28.83

7527 1.57 146.0 2894 2390 2397 2310 523.1 12.4 443 7528 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2390 2353 2397 2310 0 0 0 0 0 0 28.83 28.83 28.83

7827 1.57 146.0 2894 2390 2397 2309 485.1 12.6 453 7834 0.00 2.72 0.00 0.000 260 0.000 0.151 2894 3816 2353 2397 2309 0 0 0 0 0 0 28.83 14.52 28.83

7921 1.53 146.0 2894 3817 2396 2310 472.0 14.4 471 7927 0.10 2.47 0.00 0.000 5126 0.324 0.084 2884 2406 2353 2396 2310 0 0 0 0 0 0 14.50 14.59 28.83

8254 1.53 146.0 2884 2405 2396 2309 431.2 12.4 487 8256 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2407 2352 2396 2308 0 0 0 0 0 0 28.83 28.83 28.83

8554 1.53 146.0 2884 2405 2396 2308 393.7 12.3 497 8556 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2406 2352 2396 2308 0 0 0 0 0 0 28.83 28.83 28.83

8855 1.53 146.0 2884 2405 2396 2308 357.3 12.0 507 8856 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2405 2352 2396 2308 0 0 0 0 0 0 28.83 28.83 28.83

9155 1.53 146.0 2884 2406 2395 2307 321.5 11.9 517 9156 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2405 2351 2396 2307 0 0 0 0 0 0 28.83 28.83 28.83

9455 1.53 146.0 2884 2407 2396 2307 285.0 12.2 527 9460 0.00 2.65 0.00 0.000 260 0.000 0.148 2884 3814 2352 2397 2308 0 0 0 0 0 0 28.83 14.69 28.83

9497 1.49 146.0 2884 3814 2393 2309 279.3 13.5 535 9502 0.00 2.45 0.00 0.000 1030 0.000 0.083 2893 2398 2351 2394 2309 0 0 0 0 0 0 28.83 14.73 28.83

9820 1.49 146.0 2893 2398 2394 2308 239.6 12.4 550 9821 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 2401 2350 2393 2308 0 0 0 0 0 0 28.83 28.83 28.83

10120 1.49 146.0 2893 2398 2393 2308 201.1 13.0 565 10121 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2398 2351 2394 2308 0 0 0 0 0 0 28.83 28.83 28.83

10420 1.49 146.0 2893 2398 2393 2309 164.1 12.3 580 10426 0.00 2.65 0.00 0.000 260 0.000 0.146 2893 3813 2351 2393 2309 0 0 0 0 0 0 28.83 14.71 28.83

10473 1.45 146.0 2893 3813 2393 2309 156.8 13.9 590 10479 0.15 2.45 0.00 0.000 5126 0.291 0.081 2868 2394 2350 2393 2308 0 0 0 0 0 0 14.65 14.74 28.83

10786 1.47 146.0 2869 2394 2394 2309 120.6 11.7 607 10792 0.00 2.45 0.00 0.000 516 0.000 0.114 2878 986 2351 2393 2309 0 0 0 0 0 0 28.83 14.73 28.83

10824 1.50 146.0 2878 986 2393 2309 116.1 11.9 614 10831 0.00 2.53 0.00 0.000 1030 0.000 0.121 2878 2403 2351 2393 2309 0 0 0 0 0 0 28.83 14.73 28.83

11130 1.52 146.0 2877 2403 2393 2309 80.3 11.4 630 11131 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2403 2351 2393 2309 0 0 0 0 0 0 28.83 28.83 28.83

11431 1.55 153.4 2878 2403 2393 2310 48.5 9.7 645 11437 0.00 0.00 4.30 0.219 8198 0.000 0.000 2878 2403 2324 2365 2283 0 0 0 0 0 0 28.83 28.83 14.64

11730 1.62 179.8 2878 2403 2372 2312 20.4 8.8 662 11752 0.10 0.00 19.05 0.203 10502 0.168 0.000 2921 2402 2216 2253 2179 0 0 0 0 0 0 14.78 28.83 14.67

11768 end climb: SURFACE_OBSTACLE_DETECTED

state 11768 begin subsurface finish

11773 0.07 53.3 2921 2400 2252 2191 16.3 10.0 667 11796 1.25 2.70 -10.85 0.000 20740 0.251 0.173 2564 3809 2739 2754 2724 0 0 0 0 0 0 14.65 14.69 14.92

11797 end subsurface finish: CONTROL_FINISHED_OK

state 11797 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	124	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	20	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	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	301214,100028,6645.098,-5655.312,40,2.0,40,-32.2	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	1.79	MHEAD_RNG_PITCHd_Wd	44.8,33577,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-48.1	D_GRID	608
GPS2	301214,100633,6645.099,-5655.373,16,1.6,25,-32.2

FINISH1	16.3,1.026421,53	_24V_AH	13.35,28.085
FINISH2	14.7	_10V_AH	13.29,0.000
RAFOS_CLK	500	FG_AHR_24Vo	0.000
RAFOS	0,1419940864,12.033333,12.017777,55,55,55,52,50,50,165,199,218,122,188,131	FG_AHR_10Vo	0.000
RAFOS_FIX	6640.624023,-5720.196777,301214,121200,2,91,2.07	MEM	271112
IRIDIUM_FIX	6609.62,-5656.29,301214,063350	DATA_FILE_SIZE	23398,670
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	115816,0
HUMID	46.57	CFSIZE	260034560,244023296
INTERNAL_PRESSURE	8.61584	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	14.30	INTR	1,11770.87,0x23769e,5,5
XPDR_PINGS	0	SOUNDSPEED	1468.1
ALTIM_TOP_PING	19.7,7.7	CURRENT	2.271,238.60,1
SC_FREEKB	7730240	GPS	301214,124800,6640.624,-5720.197,0,2091.0,0,-32.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	457	88.25	nil	0	0	0.00
Roll_motor	67	172	156.78	nil	0	0	0.00
VBD_pump_during_apogee	356	1407	6689.76	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	11811	6	1069.21
Iridium_during_xfer	217	157	456.69	nil	0	0	0.00
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	30	10.45
TT8	1549	11	236.22
LPSleep	8632	2	265.02
TT8_Active	556	11	84.78
TT8_Sampling	1317	30	541.83
TT8_CF8	124	36	59.97
TT8_Kalman	0	0	0.00
Analog_circuits	1345	11	196.76
GPS_charging	0	0	0.00
Compass	1002	6	79.95
RAFOS	2520	1	50.24
Transponder	2	30	1.04

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	199	2556	521	480	0.0	0.0	0	172	0.00	0.00	-151.18	0.000	16386	0.000	0.000	198	2557	3339	3313	3365	0	0	0	0	0	0	28.83	28.83	28.83
175	-1.60	-146.0	198	2557	3315	3365	3.3	-2.3	15	198	9.93	2.50	-5.90	0.000	18948	0.457	0.120	2197	1140	3548	3543	3554	0	0	0	0	0	0	14.33	14.50	14.71
381	-1.58	-146.0	2197	1140	3549	3554	29.7	-12.7	55	386	0.00	2.58	0.00	0.000	1030	0.000	0.119	2190	2552	3551	3549	3554	0	0	0	0	0	0	28.83	14.54	28.83
704	-1.55	-146.0	2190	2552	3549	3554	67.8	-11.5	74	710	0.10	2.47	0.00	0.000	2564	0.346	0.099	2209	1138	3551	3549	3554	0	0	0	0	0	0	14.52	14.60	28.83
788	-1.55	-146.0	2209	1139	3549	3554	77.2	-11.7	90	793	0.00	2.55	0.00	0.000	1030	0.000	0.118	2202	2558	3551	3549	3554	0	0	0	0	0	0	28.83	14.59	28.83
1110	-1.55	-146.0	2202	2561	3549	3553	111.0	-10.6	109	1116	0.00	2.40	0.00	0.000	260	0.000	0.144	2193	3839	3551	3549	3553	0	0	0	0	0	0	28.83	14.62	28.83
1178	-1.55	-146.0	2193	3839	3550	3553	118.8	-11.4	122	1183	0.00	2.22	0.00	0.000	1030	0.000	0.065	2193	2533	3551	3549	3553	0	0	0	0	0	0	28.83	14.67	28.83
1495	-1.55	-146.0	2193	2533	3549	3551	153.3	-11.0	140	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2532	3550	3549	3551	0	0	0	0	0	0	28.83	28.83	28.83
1796	-1.55	-146.0	2192	2534	3549	3551	185.0	-10.3	155	1797	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2533	3549	3549	3550	0	0	0	0	0	0	28.83	28.83	28.83
2097	-1.55	-146.0	2192	2533	3556	3551	215.2	-9.9	170	2103	0.00	2.40	0.00	0.000	516	0.000	0.105	2192	1144	3550	3549	3551	0	0	0	0	0	0	28.83	14.71	28.83
2164	-1.55	-146.0	2193	1144	3549	3551	222.1	-9.6	183	2170	0.12	2.53	0.00	0.000	3078	0.321	0.122	2212	2550	3550	3549	3551	0	0	0	0	0	0	14.60	14.70	28.83
2483	-1.58	-146.0	2212	2550	3549	3551	251.4	-9.5	201	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2550	3550	3549	3551	0	0	0	0	0	0	28.83	28.83	28.83
2783	-1.61	-146.0	2212	2550	3551	3551	279.7	-9.4	211	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2550	3551	3551	3551	0	0	0	0	0	0	28.83	28.83	28.83
3083	-1.63	-146.0	2211	2550	3551	3551	308.3	-9.4	221	3089	0.00	2.42	0.00	0.000	516	0.000	0.106	2212	1148	3551	3552	3551	0	0	0	0	0	0	28.83	14.75	28.83
3126	-1.66	-146.0	2212	1147	3551	3551	312.6	-10.0	229	3132	0.00	2.53	0.00	0.000	1030	0.000	0.122	2205	2556	3551	3552	3551	0	0	0	0	0	0	28.83	14.73	28.83
3451	-1.68	-146.0	2203	2556	3552	3551	342.6	-9.3	243	3452	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2556	3551	3552	3550	0	0	0	0	0	0	28.83	28.83	28.83
3749	-1.68	-146.0	2205	2556	3552	3552	367.7	-8.1	253	3751	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2553	3552	3552	3552	0	0	0	0	0	0	28.83	28.83	28.83
4050	-1.68	-146.0	2205	2556	3555	3552	390.6	-7.6	263	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2556	3554	3555	3553	0	0	0	0	0	0	28.83	28.83	28.83
4350	-1.70	-146.0	2205	2557	3556	3553	413.8	-7.8	273	4357	0.10	2.47	0.00	0.000	4612	0.174	0.109	2160	1141	3554	3556	3553	0	0	0	0	0	0	14.81	14.77	28.83
4399	-1.68	-146.0	2160	1142	3556	3553	418.5	-10.5	282	4406	0.15	2.53	0.00	0.000	3078	0.315	0.126	2185	2551	3557	3556	3559	0	0	0	0	0	0	14.68	14.76	28.83
4719	-1.68	-146.0	2185	2551	3558	3553	446.2	-8.5	295	4720	0.00	0.00	0.00	0.000	6	0.000	0.000	2185	2551	3555	3556	3554	0	0	0	0	0	0	28.83	28.83	28.83
5018	-1.68	-146.0	2185	2551	3557	3554	471.7	-8.5	305	5025	0.00	2.45	0.00	0.000	516	0.000	0.113	2186	1147	3555	3557	3554	0	0	0	0	0	0	28.83	14.78	28.83
5068	-1.68	-146.0	2186	1147	3557	3554	476.0	-9.1	314	5073	0.00	2.53	0.00	0.000	1030	0.000	0.129	2179	2550	3555	3557	3554	0	0	0	0	0	0	28.83	14.77	28.83
5387	-1.68	-146.0	2178	2550	3557	3554	503.0	-8.6	327	5388	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2550	3555	3557	3554	0	0	0	0	0	0	28.83	28.83	28.83
5686	-1.68	-146.0	2178	2550	3557	3554	527.9	-8.5	337	5687	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2550	3555	3557	3554	0	0	0	0	0	0	28.83	28.83	28.83
5986	-1.68	-146.0	2178	2550	3557	3554	554.1	-8.7	347	5991	0.00	2.47	0.00	0.000	516	0.000	0.116	2178	1133	3556	3558	3554	0	0	0	0	0	0	28.83	14.78	28.83
6044	-1.68	-146.0	2179	1133	3558	3554	559.3	-9.3	358	6050	0.00	2.55	0.00	0.000	1030	0.000	0.132	2172	2551	3556	3558	3554	0	0	0	0	0	0	28.83	14.78	28.83
6349	-1.68	-146.0	2172	2551	3557	3554	586.3	-9.4	369	6355	0.00	2.45	0.00	0.000	516	0.000	0.119	2172	1149	3556	3558	3554	0	0	0	0	0	0	28.83	14.78	28.83
6448	-1.68	-146.0	2172	1148	3557	3554	596.1	-9.4	388	6453	0.00	2.53	0.00	0.000	1030	0.000	0.132	2166	2550	3555	3557	3554	0	0	0	0	0	0	28.83	14.78	28.83
6593	end dive: TARGET_DEPTH_EXCEEDED
state	6594	begin apogee
6599	-0.38	0.0	2166	2390	3557	3554	609.9	-9.0	397	6767	1.05	0.00	165.02	1.408	10246	0.257	0.000	2461	2390	2950	2971	2930	0	0	0	0	0	0	14.70	28.83	13.49
6769	end apogee: CONTROL_FINISHED_OK
state	6769	begin climb
6771	1.60	146.0	2461	2390	2962	2921	612.8	0.0	402	6950	1.40	0.00	167.62	1.258	10502	0.154	0.000	2894	2390	2357	2397	2318	0	0	0	0	1	0	13.97	28.83	13.35
7228	1.57	146.0	2895	2390	2397	2313	560.3	12.4	433	7229	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2389	2355	2398	2312	0	0	0	0	0	0	28.83	28.83	28.83
7527	1.57	146.0	2894	2390	2397	2310	523.1	12.4	443	7528	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2390	2353	2397	2310	0	0	0	0	0	0	28.83	28.83	28.83
7827	1.57	146.0	2894	2390	2397	2309	485.1	12.6	453	7834	0.00	2.72	0.00	0.000	260	0.000	0.151	2894	3816	2353	2397	2309	0	0	0	0	0	0	28.83	14.52	28.83
7921	1.53	146.0	2894	3817	2396	2310	472.0	14.4	471	7927	0.10	2.47	0.00	0.000	5126	0.324	0.084	2884	2406	2353	2396	2310	0	0	0	0	0	0	14.50	14.59	28.83
8254	1.53	146.0	2884	2405	2396	2309	431.2	12.4	487	8256	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2407	2352	2396	2308	0	0	0	0	0	0	28.83	28.83	28.83
8554	1.53	146.0	2884	2405	2396	2308	393.7	12.3	497	8556	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2406	2352	2396	2308	0	0	0	0	0	0	28.83	28.83	28.83
8855	1.53	146.0	2884	2405	2396	2308	357.3	12.0	507	8856	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2405	2352	2396	2308	0	0	0	0	0	0	28.83	28.83	28.83
9155	1.53	146.0	2884	2406	2395	2307	321.5	11.9	517	9156	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2405	2351	2396	2307	0	0	0	0	0	0	28.83	28.83	28.83
9455	1.53	146.0	2884	2407	2396	2307	285.0	12.2	527	9460	0.00	2.65	0.00	0.000	260	0.000	0.148	2884	3814	2352	2397	2308	0	0	0	0	0	0	28.83	14.69	28.83
9497	1.49	146.0	2884	3814	2393	2309	279.3	13.5	535	9502	0.00	2.45	0.00	0.000	1030	0.000	0.083	2893	2398	2351	2394	2309	0	0	0	0	0	0	28.83	14.73	28.83
9820	1.49	146.0	2893	2398	2394	2308	239.6	12.4	550	9821	0.00	0.00	0.00	0.000	6	0.000	0.000	2893	2401	2350	2393	2308	0	0	0	0	0	0	28.83	28.83	28.83
10120	1.49	146.0	2893	2398	2393	2308	201.1	13.0	565	10121	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2398	2351	2394	2308	0	0	0	0	0	0	28.83	28.83	28.83
10420	1.49	146.0	2893	2398	2393	2309	164.1	12.3	580	10426	0.00	2.65	0.00	0.000	260	0.000	0.146	2893	3813	2351	2393	2309	0	0	0	0	0	0	28.83	14.71	28.83
10473	1.45	146.0	2893	3813	2393	2309	156.8	13.9	590	10479	0.15	2.45	0.00	0.000	5126	0.291	0.081	2868	2394	2350	2393	2308	0	0	0	0	0	0	14.65	14.74	28.83
10786	1.47	146.0	2869	2394	2394	2309	120.6	11.7	607	10792	0.00	2.45	0.00	0.000	516	0.000	0.114	2878	986	2351	2393	2309	0	0	0	0	0	0	28.83	14.73	28.83
10824	1.50	146.0	2878	986	2393	2309	116.1	11.9	614	10831	0.00	2.53	0.00	0.000	1030	0.000	0.121	2878	2403	2351	2393	2309	0	0	0	0	0	0	28.83	14.73	28.83
11130	1.52	146.0	2877	2403	2393	2309	80.3	11.4	630	11131	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2403	2351	2393	2309	0	0	0	0	0	0	28.83	28.83	28.83
11431	1.55	153.4	2878	2403	2393	2310	48.5	9.7	645	11437	0.00	0.00	4.30	0.219	8198	0.000	0.000	2878	2403	2324	2365	2283	0	0	0	0	0	0	28.83	28.83	14.64
11730	1.62	179.8	2878	2403	2372	2312	20.4	8.8	662	11752	0.10	0.00	19.05	0.203	10502	0.168	0.000	2921	2402	2216	2253	2179	0	0	0	0	0	0	14.78	28.83	14.67
11768	end climb: SURFACE_OBSTACLE_DETECTED
state	11768	begin subsurface finish
11773	0.07	53.3	2921	2400	2252	2191	16.3	10.0	667	11796	1.25	2.70	-10.85	0.000	20740	0.251	0.173	2564	3809	2739	2754	2724	0	0	0	0	0	0	14.65	14.69	14.92
11797	end subsurface finish: CONTROL_FINISHED_OK
state	11797	begin surface