Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 144 * 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 144 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 22 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 350 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 0 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 350

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 22 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 0 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 144 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 020115,043805,6701.079,-5649.951,43,1.1,43,-32.5 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_W

_XMS_NAKs 0 TGT_LATLONG 6644.000,-6026.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 1.92 MHEAD_RNG_PITCHd_Wd 291.2,161136,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -53.9 D_GRID 605

GPS2 020115,044437,6701.027,-5649.996,5,1.1,5,-32.5

Post-dive calculations and measurements:

FINISH1 16.2,1.026413,54 _24V_AH 12.90,32.438

FINISH2 14.8 _10V_AH 13.16,0.000

RAFOS_CLK 485 FG_AHR_24Vo 0.000

RAFOS 4,1420173186,4.566667,4.551667,63,58,54,52,51,49,215,161,197,177,125,145 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.202637,-5658.831055,020115,000056,2,126,1.45 MEM 271084

IRIDIUM_FIX 6631.12,-5647.69,020115,013211 DATA_FILE_SIZE 36701,1068

TT8_MAMPS 0.028462,0.028462 CAP_FILE_SIZE 137863,0

HUMID 45.78 CFSIZE 260034560,242663424

INTERNAL_PRESSURE 8.60608 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0

TCM_TEMP 14.40 INTR 1,11817.96,0x23769e,5,5

XPDR_PINGS 0 SOUNDSPEED 1471.4

ALTIM_TOP_PING 19.1,7.8 GPS 020115,044437,6701.027,-5649.996,5,1.1,5,-32.5

SC_FREEKB 7723840

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 469 89.53 nil 0 0 0.00

Roll_motor 103 161 215.36 nil 0 0 0.00

VBD_pump_during_apogee 328 2174 9216.44 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 11854 6 1047.02

Iridium_during_xfer 256 153 509.13 nil 0 0 0.00

Transponder_ping 0 420 1.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.70

TT8 2040 11 308.01

LPSleep 7633 2 232.07

TT8_Active 492 11 74.37

TT8_Sampling 1897 30 772.75

TT8_CF8 176 36 84.00

TT8_Kalman 0 0 0.00

Analog_circuits 1588 11 229.96

GPS_charging 0 0 0.00

Compass 1563 6 123.44

RAFOS 720 1 14.21

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 16 begin dive

18 -1.60 -146.0 206 2546 1525 1519 0.0 0.0 0 113 0.00 0.00 -92.05 0.000 16386 0.000 0.000 207 2550 3142 3115 3170 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.60 -146.0 206 2550 3117 3166 3.2 -3.2 9 147 10.12 2.45 -13.93 0.000 18692 0.470 0.161 2184 3836 3548 3544 3553 0 0 0 0 0 0 14.33 14.47 14.71

373 -1.54 -146.0 2184 3837 3550 3553 36.3 -13.5 60 381 0.12 2.22 0.00 0.000 3078 0.305 0.061 2210 2531 3550 3550 3550 0 0 0 0 0 0 14.46 14.59 28.83

679 -1.54 -146.0 2210 2531 3551 3553 72.1 -11.7 76 684 0.00 2.47 0.00 0.000 260 0.000 0.146 2201 3840 3552 3551 3553 0 0 0 0 0 0 28.83 14.58 28.83

816 -1.52 -146.0 2201 3840 3551 3553 88.2 -11.5 103 823 0.00 2.20 0.00 0.000 1030 0.000 0.062 2201 2542 3552 3551 3553 0 0 0 0 0 0 28.83 14.67 28.83

1121 -1.52 -146.0 2201 2541 3551 3551 121.1 -10.5 119 1127 0.00 2.42 0.00 0.000 260 0.000 0.144 2192 3837 3550 3551 3550 0 0 0 0 0 0 28.83 14.63 28.83

1354 -1.50 -146.0 2192 3837 3551 3549 147.0 -10.4 165 1360 0.12 2.17 0.00 0.000 3078 0.300 0.060 2219 2550 3550 3551 3549 0 0 0 0 0 0 14.57 14.71 28.83

1668 -1.53 -146.0 2219 2549 3551 3549 175.5 -8.7 182 1673 0.00 2.42 0.00 0.000 260 0.000 0.144 2210 3842 3550 3551 3549 0 0 0 0 0 0 28.83 14.66 28.83

1900 -1.53 -146.0 2210 3842 3551 3548 197.3 -8.5 228 1906 0.00 2.20 0.00 0.000 1030 0.000 0.061 2210 2540 3550 3551 3549 0 0 0 0 0 0 28.83 14.73 28.83

2214 -1.55 -146.0 2210 2540 3551 3548 223.2 -8.1 245 2219 0.00 2.42 0.00 0.000 260 0.000 0.140 2201 3845 3549 3551 3548 0 0 0 0 0 0 28.83 14.68 28.83

2431 -1.55 -146.0 2200 3845 3551 3548 243.2 -9.5 288 2437 0.00 2.17 0.00 0.000 1030 0.000 0.060 2201 2550 3549 3551 3548 0 0 0 0 0 0 28.83 14.76 28.83

2758 -1.55 -146.0 2201 2550 3551 3548 272.4 -9.3 301 2763 0.00 2.40 0.00 0.000 260 0.000 0.143 2192 3838 3549 3551 3548 0 0 0 0 0 0 28.83 14.69 28.83

2990 -1.55 -146.0 2193 3838 3551 3548 296.7 -10.9 347 2995 0.00 2.17 0.00 0.000 1030 0.000 0.061 2193 2542 3549 3551 3548 0 0 0 0 0 0 28.83 14.78 28.83

3304 -1.55 -146.0 2192 2542 3551 3548 326.0 -9.2 359 3309 0.00 2.40 0.00 0.000 260 0.000 0.139 2184 3837 3550 3551 3549 0 0 0 0 0 0 28.83 14.71 28.83

3536 -1.55 -146.0 2184 3837 3551 3549 349.3 -9.7 405 3542 0.12 2.15 0.00 0.000 3078 0.295 0.060 2211 2554 3550 3552 3548 0 0 0 0 0 0 14.64 14.78 28.83

3851 -1.58 -146.0 2211 2552 3552 3549 374.5 -7.9 417 3857 0.00 2.38 0.00 0.000 260 0.000 0.142 2202 3837 3550 3552 3549 0 0 0 0 0 0 28.83 14.71 28.83

4059 -1.58 -146.0 2202 3838 3551 3549 392.8 -8.9 458 4066 0.00 2.17 0.00 0.000 1030 0.000 0.061 2202 2548 3550 3552 3549 0 0 0 0 0 0 28.83 14.79 28.83

4366 -1.60 -146.0 2202 2548 3552 3550 416.8 -7.7 469 4371 0.00 2.42 0.00 0.000 260 0.000 0.142 2193 3845 3550 3551 3549 0 0 0 0 0 0 28.83 14.72 28.83

4598 -1.60 -146.0 2193 3845 3552 3550 437.1 -8.3 515 4603 0.00 2.17 0.00 0.000 1030 0.000 0.060 2193 2549 3550 3552 3549 0 0 0 0 0 0 28.83 14.79 28.83

4912 -1.60 -146.0 2198 2547 3552 3550 461.2 -7.9 527 4917 0.00 2.42 0.00 0.000 260 0.000 0.139 2184 3847 3551 3552 3550 0 0 0 0 0 0 28.83 14.72 28.83

5144 -1.60 -146.0 2184 3847 3552 3550 483.6 -10.1 573 5149 0.00 2.17 0.00 0.000 1030 0.000 0.060 2180 2546 3551 3553 3550 0 0 0 0 0 0 28.83 14.79 28.83

5458 -1.60 -146.0 2184 2546 3554 3551 510.4 -8.1 585 5463 0.00 2.40 0.00 0.000 260 0.000 0.139 2175 3838 3552 3554 3550 0 0 0 0 0 0 28.83 14.76 28.83

5690 -1.60 -146.0 2175 3839 3554 3550 532.7 -10.1 631 5696 0.12 2.15 0.00 0.000 3078 0.294 0.060 2202 2549 3552 3554 3550 0 0 0 0 0 0 14.66 14.80 28.83

6005 -1.62 -146.0 2202 2549 3554 3551 558.5 -8.1 643 6011 0.00 2.40 0.00 0.000 260 0.000 0.142 2193 3841 3553 3555 3551 0 0 0 0 0 0 28.83 14.73 28.83

6113 -1.62 -146.0 2193 3842 3555 3551 567.6 -8.5 664 6119 0.00 2.17 0.00 0.000 1030 0.000 0.060 2193 2540 3552 3555 3550 0 0 0 0 0 0 28.83 14.80 28.83

6432 -1.62 -146.0 2194 2540 3553 3551 593.4 -8.1 677 6438 0.00 2.42 0.00 0.000 260 0.000 0.139 2184 3843 3553 3555 3551 0 0 0 0 0 0 28.83 14.73 28.83

6563 end dive: TARGET_DEPTH_EXCEEDED

state 6563 begin apogee

6570 -0.38 0.0 2185 2401 3550 3546 605.3 -8.8 703 6729 1.00 0.00 150.77 2.166 10246 0.253 0.000 2465 2401 2951 2973 2929 0 0 0 0 1 0 14.66 28.83 13.10

6731 end apogee: CONTROL_FINISHED_OK

state 6731 begin climb

6733 1.60 146.0 2465 2400 2974 2936 608.4 0.0 708 6905 1.40 2.72 155.85 2.175 10756 0.152 0.122 2906 1004 2356 2400 2312 0 0 0 0 1 0 13.85 13.59 12.90

7132 1.57 146.0 2906 1004 2400 2311 562.1 13.7 791 7139 0.00 2.62 0.00 0.000 1030 0.000 0.119 2905 2402 2355 2400 2311 0 0 0 0 0 0 28.83 14.14 28.83

7439 1.54 146.0 2905 2403 2400 2308 520.1 13.9 802 7445 0.00 2.53 0.00 0.000 516 0.000 0.115 2915 1001 2354 2400 2308 0 0 0 0 0 0 28.83 14.38 28.83

7532 1.51 146.0 2914 1002 2400 2308 506.9 13.6 820 7538 0.15 2.55 0.00 0.000 5126 0.295 0.118 2881 2401 2353 2400 2307 0 0 0 0 0 0 14.35 14.42 28.83

7865 1.51 146.0 2881 2401 2400 2306 463.6 12.9 836 7871 0.00 2.67 0.00 0.000 260 0.000 0.145 2880 3814 2353 2400 2306 0 0 0 0 0 0 28.83 14.52 28.83

7903 1.47 146.0 2880 3815 2398 2308 458.3 14.5 843 7908 0.00 2.45 0.00 0.000 1030 0.000 0.078 2890 2409 2352 2397 2308 0 0 0 0 0 0 28.83 14.57 28.83

8231 1.47 146.0 2890 2409 2397 2306 414.3 13.1 858 8232 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2409 2352 2398 2306 0 0 0 0 0 0 28.83 28.83 28.83

8531 1.47 146.0 2890 2409 2397 2306 375.5 13.0 868 8532 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2409 2351 2398 2305 0 0 0 0 0 0 28.83 28.83 28.83

8830 1.47 146.0 2890 2409 2398 2305 337.1 13.0 878 8831 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2409 2351 2397 2305 0 0 0 0 0 0 28.83 28.83 28.83

9131 1.47 146.0 2890 2408 2398 2305 300.3 12.1 888 9136 0.00 2.45 0.00 0.000 516 0.000 0.109 2900 993 2351 2398 2305 0 0 0 0 0 0 28.83 14.70 28.83

9183 1.47 146.0 2900 993 2396 2306 293.6 13.2 898 9189 0.12 2.50 0.00 0.000 5126 0.296 0.116 2872 2404 2351 2396 2306 0 0 0 0 0 0 14.63 14.71 28.83

9498 1.47 146.0 2872 2404 2396 2306 257.1 11.8 910 9503 0.00 2.62 0.00 0.000 260 0.000 0.145 2871 3815 2351 2396 2306 0 0 0 0 0 0 28.83 14.71 28.83

9531 1.44 146.0 2871 3814 2396 2306 252.7 13.5 916 9537 0.00 2.45 0.00 0.000 1030 0.000 0.079 2881 2392 2351 2396 2307 0 0 0 0 0 0 28.83 14.75 28.83

9844 1.44 146.0 2881 2392 2396 2307 216.5 11.4 936 9845 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 2392 2351 2396 2306 0 0 0 0 0 0 28.83 28.83 28.83

10145 1.44 146.0 2881 2392 2396 2306 183.1 10.9 951 10150 0.00 2.65 0.00 0.000 260 0.000 0.145 2881 3809 2351 2396 2307 0 0 0 0 0 0 28.83 14.71 28.83

10182 1.40 146.0 2887 3809 2396 2307 178.6 12.2 958 10189 0.15 2.42 0.00 0.000 5126 0.290 0.079 2856 2398 2351 2396 2307 0 0 0 0 0 0 14.66 14.76 28.83

10488 1.43 148.1 2856 2395 2396 2306 148.3 9.9 974 10489 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 2398 2351 2396 2306 0 0 0 0 0 0 28.83 28.83 28.83

10789 1.46 148.1 2856 2398 2396 2306 118.0 10.1 989 10794 0.00 2.67 0.00 0.000 260 0.000 0.148 2856 3816 2352 2397 2307 0 0 0 0 0 0 28.83 14.72 28.83

10855 1.46 148.1 2856 3816 2396 2307 110.1 11.6 1002 10861 0.00 2.45 0.00 0.000 1030 0.000 0.078 2865 2402 2351 2396 2307 0 0 0 0 0 0 28.83 14.76 28.83

11174 1.49 148.1 2865 2402 2396 2307 77.4 10.2 1020 11175 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2402 2352 2396 2308 0 0 0 0 0 0 28.83 28.83 28.83

11475 1.57 182.8 2865 2401 2396 2308 50.8 8.4 1035 11504 0.10 2.67 21.88 0.298 10500 0.174 0.142 2909 3813 2207 2248 2166 0 0 0 0 0 0 14.80 14.70 14.61

11531 1.54 182.8 2910 3813 2248 2171 45.0 11.3 1046 11539 0.15 2.45 0.00 0.000 5126 0.291 0.077 2885 2392 2210 2249 2171 0 0 0 0 0 0 14.64 14.73 28.83

11814 end climb: SURFACE_OBSTACLE_DETECTED

state 11814 begin subsurface finish

11820 0.07 53.7 2885 2392 2248 2167 16.2 9.9 1065 11839 1.08 2.45 -11.15 0.000 20996 0.235 0.131 2569 993 2733 2751 2716 0 0 0 0 0 0 14.66 14.71 14.94

11840 end subsurface finish: CONTROL_FINISHED_OK

state 11840 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	144	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	22	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	350	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	0	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	020115,043805,6701.079,-5649.951,43,1.1,43,-32.5	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_W
_XMS_NAKs	0	TGT_LATLONG	6644.000,-6026.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	1.92	MHEAD_RNG_PITCHd_Wd	291.2,161136,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-53.9	D_GRID	605
GPS2	020115,044437,6701.027,-5649.996,5,1.1,5,-32.5

FINISH1	16.2,1.026413,54	_24V_AH	12.90,32.438
FINISH2	14.8	_10V_AH	13.16,0.000
RAFOS_CLK	485	FG_AHR_24Vo	0.000
RAFOS	4,1420173186,4.566667,4.551667,63,58,54,52,51,49,215,161,197,177,125,145	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.202637,-5658.831055,020115,000056,2,126,1.45	MEM	271084
IRIDIUM_FIX	6631.12,-5647.69,020115,013211	DATA_FILE_SIZE	36701,1068
TT8_MAMPS	0.028462,0.028462	CAP_FILE_SIZE	137863,0
HUMID	45.78	CFSIZE	260034560,242663424
INTERNAL_PRESSURE	8.60608	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
TCM_TEMP	14.40	INTR	1,11817.96,0x23769e,5,5
XPDR_PINGS	0	SOUNDSPEED	1471.4
ALTIM_TOP_PING	19.1,7.8	GPS	020115,044437,6701.027,-5649.996,5,1.1,5,-32.5
SC_FREEKB	7723840

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	469	89.53	nil	0	0	0.00
Roll_motor	103	161	215.36	nil	0	0	0.00
VBD_pump_during_apogee	328	2174	9216.44	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	11854	6	1047.02
Iridium_during_xfer	256	153	509.13	nil	0	0	0.00
Transponder_ping	0	420	1.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.70
TT8	2040	11	308.01
LPSleep	7633	2	232.07
TT8_Active	492	11	74.37
TT8_Sampling	1897	30	772.75
TT8_CF8	176	36	84.00
TT8_Kalman	0	0	0.00
Analog_circuits	1588	11	229.96
GPS_charging	0	0	0.00
Compass	1563	6	123.44
RAFOS	720	1	14.21
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	16	begin dive
18	-1.60	-146.0	206	2546	1525	1519	0.0	0.0	0	113	0.00	0.00	-92.05	0.000	16386	0.000	0.000	207	2550	3142	3115	3170	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.60	-146.0	206	2550	3117	3166	3.2	-3.2	9	147	10.12	2.45	-13.93	0.000	18692	0.470	0.161	2184	3836	3548	3544	3553	0	0	0	0	0	0	14.33	14.47	14.71
373	-1.54	-146.0	2184	3837	3550	3553	36.3	-13.5	60	381	0.12	2.22	0.00	0.000	3078	0.305	0.061	2210	2531	3550	3550	3550	0	0	0	0	0	0	14.46	14.59	28.83
679	-1.54	-146.0	2210	2531	3551	3553	72.1	-11.7	76	684	0.00	2.47	0.00	0.000	260	0.000	0.146	2201	3840	3552	3551	3553	0	0	0	0	0	0	28.83	14.58	28.83
816	-1.52	-146.0	2201	3840	3551	3553	88.2	-11.5	103	823	0.00	2.20	0.00	0.000	1030	0.000	0.062	2201	2542	3552	3551	3553	0	0	0	0	0	0	28.83	14.67	28.83
1121	-1.52	-146.0	2201	2541	3551	3551	121.1	-10.5	119	1127	0.00	2.42	0.00	0.000	260	0.000	0.144	2192	3837	3550	3551	3550	0	0	0	0	0	0	28.83	14.63	28.83
1354	-1.50	-146.0	2192	3837	3551	3549	147.0	-10.4	165	1360	0.12	2.17	0.00	0.000	3078	0.300	0.060	2219	2550	3550	3551	3549	0	0	0	0	0	0	14.57	14.71	28.83
1668	-1.53	-146.0	2219	2549	3551	3549	175.5	-8.7	182	1673	0.00	2.42	0.00	0.000	260	0.000	0.144	2210	3842	3550	3551	3549	0	0	0	0	0	0	28.83	14.66	28.83
1900	-1.53	-146.0	2210	3842	3551	3548	197.3	-8.5	228	1906	0.00	2.20	0.00	0.000	1030	0.000	0.061	2210	2540	3550	3551	3549	0	0	0	0	0	0	28.83	14.73	28.83
2214	-1.55	-146.0	2210	2540	3551	3548	223.2	-8.1	245	2219	0.00	2.42	0.00	0.000	260	0.000	0.140	2201	3845	3549	3551	3548	0	0	0	0	0	0	28.83	14.68	28.83
2431	-1.55	-146.0	2200	3845	3551	3548	243.2	-9.5	288	2437	0.00	2.17	0.00	0.000	1030	0.000	0.060	2201	2550	3549	3551	3548	0	0	0	0	0	0	28.83	14.76	28.83
2758	-1.55	-146.0	2201	2550	3551	3548	272.4	-9.3	301	2763	0.00	2.40	0.00	0.000	260	0.000	0.143	2192	3838	3549	3551	3548	0	0	0	0	0	0	28.83	14.69	28.83
2990	-1.55	-146.0	2193	3838	3551	3548	296.7	-10.9	347	2995	0.00	2.17	0.00	0.000	1030	0.000	0.061	2193	2542	3549	3551	3548	0	0	0	0	0	0	28.83	14.78	28.83
3304	-1.55	-146.0	2192	2542	3551	3548	326.0	-9.2	359	3309	0.00	2.40	0.00	0.000	260	0.000	0.139	2184	3837	3550	3551	3549	0	0	0	0	0	0	28.83	14.71	28.83
3536	-1.55	-146.0	2184	3837	3551	3549	349.3	-9.7	405	3542	0.12	2.15	0.00	0.000	3078	0.295	0.060	2211	2554	3550	3552	3548	0	0	0	0	0	0	14.64	14.78	28.83
3851	-1.58	-146.0	2211	2552	3552	3549	374.5	-7.9	417	3857	0.00	2.38	0.00	0.000	260	0.000	0.142	2202	3837	3550	3552	3549	0	0	0	0	0	0	28.83	14.71	28.83
4059	-1.58	-146.0	2202	3838	3551	3549	392.8	-8.9	458	4066	0.00	2.17	0.00	0.000	1030	0.000	0.061	2202	2548	3550	3552	3549	0	0	0	0	0	0	28.83	14.79	28.83
4366	-1.60	-146.0	2202	2548	3552	3550	416.8	-7.7	469	4371	0.00	2.42	0.00	0.000	260	0.000	0.142	2193	3845	3550	3551	3549	0	0	0	0	0	0	28.83	14.72	28.83
4598	-1.60	-146.0	2193	3845	3552	3550	437.1	-8.3	515	4603	0.00	2.17	0.00	0.000	1030	0.000	0.060	2193	2549	3550	3552	3549	0	0	0	0	0	0	28.83	14.79	28.83
4912	-1.60	-146.0	2198	2547	3552	3550	461.2	-7.9	527	4917	0.00	2.42	0.00	0.000	260	0.000	0.139	2184	3847	3551	3552	3550	0	0	0	0	0	0	28.83	14.72	28.83
5144	-1.60	-146.0	2184	3847	3552	3550	483.6	-10.1	573	5149	0.00	2.17	0.00	0.000	1030	0.000	0.060	2180	2546	3551	3553	3550	0	0	0	0	0	0	28.83	14.79	28.83
5458	-1.60	-146.0	2184	2546	3554	3551	510.4	-8.1	585	5463	0.00	2.40	0.00	0.000	260	0.000	0.139	2175	3838	3552	3554	3550	0	0	0	0	0	0	28.83	14.76	28.83
5690	-1.60	-146.0	2175	3839	3554	3550	532.7	-10.1	631	5696	0.12	2.15	0.00	0.000	3078	0.294	0.060	2202	2549	3552	3554	3550	0	0	0	0	0	0	14.66	14.80	28.83
6005	-1.62	-146.0	2202	2549	3554	3551	558.5	-8.1	643	6011	0.00	2.40	0.00	0.000	260	0.000	0.142	2193	3841	3553	3555	3551	0	0	0	0	0	0	28.83	14.73	28.83
6113	-1.62	-146.0	2193	3842	3555	3551	567.6	-8.5	664	6119	0.00	2.17	0.00	0.000	1030	0.000	0.060	2193	2540	3552	3555	3550	0	0	0	0	0	0	28.83	14.80	28.83
6432	-1.62	-146.0	2194	2540	3553	3551	593.4	-8.1	677	6438	0.00	2.42	0.00	0.000	260	0.000	0.139	2184	3843	3553	3555	3551	0	0	0	0	0	0	28.83	14.73	28.83
6563	end dive: TARGET_DEPTH_EXCEEDED
state	6563	begin apogee
6570	-0.38	0.0	2185	2401	3550	3546	605.3	-8.8	703	6729	1.00	0.00	150.77	2.166	10246	0.253	0.000	2465	2401	2951	2973	2929	0	0	0	0	1	0	14.66	28.83	13.10
6731	end apogee: CONTROL_FINISHED_OK
state	6731	begin climb
6733	1.60	146.0	2465	2400	2974	2936	608.4	0.0	708	6905	1.40	2.72	155.85	2.175	10756	0.152	0.122	2906	1004	2356	2400	2312	0	0	0	0	1	0	13.85	13.59	12.90
7132	1.57	146.0	2906	1004	2400	2311	562.1	13.7	791	7139	0.00	2.62	0.00	0.000	1030	0.000	0.119	2905	2402	2355	2400	2311	0	0	0	0	0	0	28.83	14.14	28.83
7439	1.54	146.0	2905	2403	2400	2308	520.1	13.9	802	7445	0.00	2.53	0.00	0.000	516	0.000	0.115	2915	1001	2354	2400	2308	0	0	0	0	0	0	28.83	14.38	28.83
7532	1.51	146.0	2914	1002	2400	2308	506.9	13.6	820	7538	0.15	2.55	0.00	0.000	5126	0.295	0.118	2881	2401	2353	2400	2307	0	0	0	0	0	0	14.35	14.42	28.83
7865	1.51	146.0	2881	2401	2400	2306	463.6	12.9	836	7871	0.00	2.67	0.00	0.000	260	0.000	0.145	2880	3814	2353	2400	2306	0	0	0	0	0	0	28.83	14.52	28.83
7903	1.47	146.0	2880	3815	2398	2308	458.3	14.5	843	7908	0.00	2.45	0.00	0.000	1030	0.000	0.078	2890	2409	2352	2397	2308	0	0	0	0	0	0	28.83	14.57	28.83
8231	1.47	146.0	2890	2409	2397	2306	414.3	13.1	858	8232	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2409	2352	2398	2306	0	0	0	0	0	0	28.83	28.83	28.83
8531	1.47	146.0	2890	2409	2397	2306	375.5	13.0	868	8532	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2409	2351	2398	2305	0	0	0	0	0	0	28.83	28.83	28.83
8830	1.47	146.0	2890	2409	2398	2305	337.1	13.0	878	8831	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2409	2351	2397	2305	0	0	0	0	0	0	28.83	28.83	28.83
9131	1.47	146.0	2890	2408	2398	2305	300.3	12.1	888	9136	0.00	2.45	0.00	0.000	516	0.000	0.109	2900	993	2351	2398	2305	0	0	0	0	0	0	28.83	14.70	28.83
9183	1.47	146.0	2900	993	2396	2306	293.6	13.2	898	9189	0.12	2.50	0.00	0.000	5126	0.296	0.116	2872	2404	2351	2396	2306	0	0	0	0	0	0	14.63	14.71	28.83
9498	1.47	146.0	2872	2404	2396	2306	257.1	11.8	910	9503	0.00	2.62	0.00	0.000	260	0.000	0.145	2871	3815	2351	2396	2306	0	0	0	0	0	0	28.83	14.71	28.83
9531	1.44	146.0	2871	3814	2396	2306	252.7	13.5	916	9537	0.00	2.45	0.00	0.000	1030	0.000	0.079	2881	2392	2351	2396	2307	0	0	0	0	0	0	28.83	14.75	28.83
9844	1.44	146.0	2881	2392	2396	2307	216.5	11.4	936	9845	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	2392	2351	2396	2306	0	0	0	0	0	0	28.83	28.83	28.83
10145	1.44	146.0	2881	2392	2396	2306	183.1	10.9	951	10150	0.00	2.65	0.00	0.000	260	0.000	0.145	2881	3809	2351	2396	2307	0	0	0	0	0	0	28.83	14.71	28.83
10182	1.40	146.0	2887	3809	2396	2307	178.6	12.2	958	10189	0.15	2.42	0.00	0.000	5126	0.290	0.079	2856	2398	2351	2396	2307	0	0	0	0	0	0	14.66	14.76	28.83
10488	1.43	148.1	2856	2395	2396	2306	148.3	9.9	974	10489	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	2398	2351	2396	2306	0	0	0	0	0	0	28.83	28.83	28.83
10789	1.46	148.1	2856	2398	2396	2306	118.0	10.1	989	10794	0.00	2.67	0.00	0.000	260	0.000	0.148	2856	3816	2352	2397	2307	0	0	0	0	0	0	28.83	14.72	28.83
10855	1.46	148.1	2856	3816	2396	2307	110.1	11.6	1002	10861	0.00	2.45	0.00	0.000	1030	0.000	0.078	2865	2402	2351	2396	2307	0	0	0	0	0	0	28.83	14.76	28.83
11174	1.49	148.1	2865	2402	2396	2307	77.4	10.2	1020	11175	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2402	2352	2396	2308	0	0	0	0	0	0	28.83	28.83	28.83
11475	1.57	182.8	2865	2401	2396	2308	50.8	8.4	1035	11504	0.10	2.67	21.88	0.298	10500	0.174	0.142	2909	3813	2207	2248	2166	0	0	0	0	0	0	14.80	14.70	14.61
11531	1.54	182.8	2910	3813	2248	2171	45.0	11.3	1046	11539	0.15	2.45	0.00	0.000	5126	0.291	0.077	2885	2392	2210	2249	2171	0	0	0	0	0	0	14.64	14.73	28.83
11814	end climb: SURFACE_OBSTACLE_DETECTED
state	11814	begin subsurface finish
11820	0.07	53.7	2885	2392	2248	2167	16.2	9.9	1065	11839	1.08	2.45	-11.15	0.000	20996	0.235	0.131	2569	993	2733	2751	2716	0	0	0	0	0	0	14.66	14.71	14.94
11840	end subsurface finish: CONTROL_FINISHED_OK
state	11840	begin surface