Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 149 * 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 149 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 19 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 10 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 19 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 10 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 149 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 020115,211403,6701.919,-5646.891,41,1.0,46,-32.5 SPEED_LIMITS 0.173,0.262

_CALLS 2 TGT_NAME TARGET_W

_XMS_NAKs 0 TGT_LATLONG 6644.000,-6026.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 2.09 MHEAD_RNG_PITCHd_Wd 290.8,163566,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -54.6 D_GRID 540

GPS2 020115,212141,6701.943,-5647.078,5,1.0,5,-32.5

Post-dive calculations and measurements:

FINISH1 16.0,1.026376,55 _24V_AH 12.97,33.508

FINISH2 13.8 _10V_AH 13.19,0.000

RAFOS_CLK 446 FG_AHR_24Vo 0.000

RAFOS 0,1420243277,0.033333,0.021389,63,60,56,52,51,51,219,166,201,234,122,152 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.320312,-5658.294922,020115,161656,2,120,1.92 MEM 270940

IRIDIUM_FIX 6631.12,-5653.72,020115,211616 DATA_FILE_SIZE 23390,732

TT8_MAMPS 0.028462,0.028462 CAP_FILE_SIZE 120241,0

HUMID 45.31 CFSIZE 260034560,242331648

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

TCM_TEMP 14.50 INTR 0,10749.47,0x23769e,7,5

XPDR_PINGS 2 SOUNDSPEED 1469.4

ALTIM_TOP_PING 19.7,7.7 GPS 020115,212141,6701.943,-5647.078,5,1.0,5,-32.5

SC_FREEKB 7722240

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 468 88.19 nil 0 0 0.00

Roll_motor 96 163 205.70 nil 0 0 0.00

VBD_pump_during_apogee 388 2119 10664.51 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 10717 7 979.53

Iridium_during_xfer 267 152 527.63 nil 0 0 0.00

Transponder_ping 0 420 4.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.71

TT8 1482 11 224.29

LPSleep 7572 2 230.73

TT8_Active 544 11 82.37

TT8_Sampling 1428 30 582.80

TT8_CF8 147 36 70.32

TT8_Kalman 0 0 0.00

Analog_circuits 1447 11 210.02

GPS_charging 0 0 0.00

Compass 1086 6 85.98

RAFOS 1080 1 21.37

Transponder 2 30 1.03

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

19 -1.60 -146.0 195 2553 1530 1507 0.0 0.0 0 122 0.00 0.00 -101.40 0.000 16386 0.000 0.000 195 2553 3343 3320 3367 0 0 0 0 0 0 28.83 28.83 28.83

125 -1.60 -146.0 195 2554 3322 3368 3.9 -3.5 10 147 10.15 2.53 -5.45 0.000 18692 0.469 0.164 2182 3842 3549 3544 3554 0 0 0 0 0 0 14.31 14.47 14.72

373 -1.55 -146.0 2182 3842 3549 3554 41.8 -12.9 59 380 0.12 2.22 0.00 0.000 3078 0.308 0.062 2208 2536 3551 3549 3554 0 0 0 0 0 0 14.47 14.61 28.83

692 -1.55 -146.0 2208 2536 3550 3554 77.4 -10.3 77 697 0.00 2.47 0.00 0.000 260 0.000 0.146 2199 3844 3551 3549 3554 0 0 0 0 0 0 28.83 14.59 28.83

908 -1.55 -146.0 2198 3844 3549 3552 101.4 -11.1 120 915 0.00 2.22 0.00 0.000 1030 0.000 0.063 2198 2540 3550 3550 3551 0 0 0 0 0 0 28.83 14.68 28.83

1215 -1.55 -146.0 2199 2539 3549 3550 132.8 -9.9 136 1220 0.00 2.40 0.00 0.000 516 0.000 0.098 2199 1146 3549 3549 3549 0 0 0 0 0 0 28.83 14.66 28.83

1287 -1.55 -146.0 2199 1146 3549 3549 139.8 -9.6 150 1293 0.00 2.50 0.00 0.000 1030 0.000 0.116 2193 2555 3549 3550 3549 0 0 0 0 0 0 28.83 14.64 28.83

1600 -1.55 -146.0 2192 2555 3549 3549 169.4 -9.4 167 1606 0.00 2.38 0.00 0.000 260 0.000 0.142 2182 3836 3549 3549 3549 0 0 0 0 0 0 28.83 14.66 28.83

1628 -1.53 -146.0 2182 3836 3549 3549 172.2 -9.6 172 1634 0.15 2.17 0.00 0.000 3078 0.295 0.060 2215 2544 3549 3549 3549 0 0 0 0 0 0 14.58 14.72 28.83

1947 -1.55 -146.0 2215 2544 3549 3549 200.1 -8.4 190 1949 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 2543 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

2248 -1.58 -146.0 2215 2544 3549 3549 225.3 -8.4 205 2253 0.00 2.40 0.00 0.000 516 0.000 0.103 2216 1151 3549 3550 3549 0 0 0 0 0 0 28.83 14.71 28.83

2301 -1.61 -146.0 2215 1151 3549 3549 230.0 -8.9 215 2306 0.00 2.50 0.00 0.000 1030 0.000 0.117 2208 2556 3549 3549 3549 0 0 0 0 0 0 28.83 14.71 28.83

2624 -1.63 -146.0 2208 2556 3549 3549 258.3 -8.6 231 2625 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 2556 3549 3550 3549 0 0 0 0 0 0 28.83 28.83 28.83

2924 -1.65 -146.0 2208 2556 3551 3550 285.3 -9.0 241 2930 0.00 2.42 0.00 0.000 516 0.000 0.102 2208 1149 3550 3551 3549 0 0 0 0 0 0 28.83 14.74 28.83

2981 -1.65 -146.0 2208 1150 3551 3549 291.0 -9.9 252 2988 0.00 2.50 0.00 0.000 1030 0.000 0.118 2202 2558 3549 3551 3548 0 0 0 0 0 0 28.83 14.73 28.83

3288 -1.65 -146.0 2201 2558 3551 3549 318.6 -8.9 263 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2202 2558 3550 3551 3549 0 0 0 0 0 0 28.83 28.83 28.83

3587 -1.65 -146.0 2201 2555 3551 3549 343.5 -8.2 273 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 2202 2558 3550 3552 3549 0 0 0 0 0 0 28.83 28.83 28.83

3888 -1.65 -146.0 2201 2558 3552 3549 367.5 -7.8 283 3893 0.00 2.42 0.00 0.000 516 0.000 0.106 2202 1152 3550 3552 3549 0 0 0 0 0 0 28.83 14.77 28.83

3935 -1.65 -146.0 2202 1152 3552 3549 371.4 -7.9 292 3940 0.00 2.47 0.00 0.000 1030 0.000 0.120 2195 2549 3550 3552 3549 0 0 0 0 0 0 28.83 14.76 28.83

4253 -1.65 -146.0 2195 2549 3552 3550 395.8 -7.5 305 4254 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2549 3551 3552 3550 0 0 0 0 0 0 28.83 28.83 28.83

4553 -1.65 -146.0 2202 2549 3555 3550 418.8 -7.6 315 4554 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2549 3552 3555 3550 0 0 0 0 0 0 28.83 28.83 28.83

4852 -1.65 -146.0 2195 2549 3555 3551 441.8 -7.7 325 4858 0.00 2.42 0.00 0.000 516 0.000 0.110 2195 1151 3553 3555 3551 0 0 0 0 0 0 28.83 14.78 28.83

4900 -1.65 -146.0 2195 1151 3555 3551 445.7 -8.5 334 4905 0.00 2.50 0.00 0.000 1030 0.000 0.122 2190 2558 3553 3555 3552 0 0 0 0 0 0 28.83 14.77 28.83

5218 -1.65 -146.0 2188 2557 3555 3552 471.0 -7.8 347 5224 0.00 2.45 0.00 0.000 516 0.000 0.111 2189 1149 3553 3555 3552 0 0 0 0 0 0 28.83 14.78 28.83

5261 -1.65 -146.0 2189 1149 3555 3552 474.5 -8.0 355 5266 0.00 2.50 0.00 0.000 1030 0.000 0.124 2182 2551 3554 3555 3553 0 0 0 0 0 0 28.83 14.77 28.83

5584 -1.65 -146.0 2182 2550 3555 3553 500.1 -7.9 369 5585 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2551 3554 3556 3553 0 0 0 0 0 0 28.83 28.83 28.83

5884 -1.73 -146.0 2183 2551 3556 3552 523.8 -7.4 379 5890 0.00 2.45 0.00 0.000 516 0.000 0.116 2182 1152 3555 3557 3553 0 0 0 0 0 0 28.83 14.78 28.83

6025 end dive: NO_VERTICAL_VELOCITY

state 6025 begin apogee

6031 -0.38 0.0 2182 2401 3557 3553 523.9 0.0 407 6238 0.90 0.00 194.23 1.303 10246 0.172 0.000 2465 2401 2955 2974 2937 0 0 0 0 1 0 14.73 28.83 13.18

6240 end apogee: CONTROL_FINISHED_OK

state 6240 begin climb

6241 1.60 146.0 2465 2401 2974 2940 523.1 0.0 414 6412 1.40 2.90 155.10 2.119 10500 0.155 0.145 2896 3806 2356 2400 2312 0 0 0 0 1 0 13.96 13.64 12.97

6630 1.54 146.0 2896 3806 2400 2316 474.8 15.2 492 6635 0.00 2.53 0.00 0.000 1030 0.000 0.080 2906 2408 2357 2400 2315 0 0 0 0 0 0 28.83 14.20 28.83

6964 1.51 146.0 2906 2408 2400 2312 430.0 13.2 508 6970 0.12 2.58 0.00 0.000 4612 0.294 0.119 2884 985 2356 2400 2312 0 0 0 0 0 0 14.35 14.41 28.83

7001 1.51 146.0 2884 985 2395 2311 424.8 12.6 515 7007 0.00 2.60 0.00 0.000 1030 0.000 0.120 2884 2405 2355 2400 2311 0 0 0 0 0 0 28.83 14.43 28.83

7330 1.51 146.0 2884 2406 2400 2310 385.9 11.8 530 7335 0.00 2.67 0.00 0.000 260 0.000 0.146 2884 3810 2355 2400 2310 0 0 0 0 0 0 28.83 14.52 28.83

7367 1.47 146.0 2884 3810 2399 2310 381.1 13.0 537 7373 0.12 2.47 0.00 0.000 5126 0.303 0.079 2867 2396 2354 2399 2310 0 0 0 0 0 0 14.47 14.57 28.83

7695 1.47 146.0 2867 2396 2399 2309 344.5 10.9 552 7700 0.00 2.47 0.00 0.000 516 0.000 0.111 2877 986 2354 2399 2309 0 0 0 0 0 0 28.83 14.61 28.83

7721 1.47 146.0 2876 986 2398 2310 341.5 11.1 557 7728 0.00 2.55 0.00 0.000 1030 0.000 0.119 2876 2405 2354 2397 2311 0 0 0 0 0 0 28.83 14.61 28.83

8027 1.47 146.0 2877 2406 2393 2309 304.8 11.8 568 8033 0.00 2.65 0.00 0.000 260 0.000 0.148 2876 3814 2353 2398 2309 0 0 0 0 0 0 28.83 14.63 28.83

8075 1.44 146.0 2876 3814 2397 2310 298.7 12.9 577 8081 0.10 2.45 0.00 0.000 5126 0.322 0.079 2866 2399 2354 2398 2310 0 0 0 0 0 0 14.59 14.68 28.83

8394 1.44 146.0 2867 2399 2397 2309 261.5 11.6 590 8395 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 2399 2353 2398 2309 0 0 0 0 0 0 28.83 28.83 28.83

8693 1.44 146.0 2866 2399 2398 2309 226.4 11.8 603 8695 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2399 2353 2398 2309 0 0 0 0 0 0 28.83 28.83 28.83

8994 1.44 146.0 2866 2399 2397 2310 190.6 11.6 618 8999 0.00 2.45 0.00 0.000 516 0.000 0.109 2875 987 2353 2398 2309 0 0 0 0 0 0 28.83 14.71 28.83

9026 1.44 146.0 2875 987 2397 2309 186.6 11.9 624 9032 0.00 2.53 0.00 0.000 1030 0.000 0.116 2875 2405 2352 2397 2308 0 0 0 0 0 0 28.83 14.71 28.83

9339 1.44 146.0 2875 2406 2397 2315 151.8 10.9 641 9344 0.00 2.62 0.00 0.000 260 0.000 0.147 2875 3812 2353 2397 2309 0 0 0 0 0 0 28.83 14.70 28.83

9361 1.44 146.0 2875 3812 2397 2310 149.0 12.0 645 9368 0.05 2.42 0.00 0.000 5126 0.283 0.078 2870 2395 2353 2397 2309 0 0 0 0 0 0 14.64 14.74 28.83

9686 1.46 146.0 2870 2395 2394 2309 112.3 11.5 664 9687 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2395 2353 2398 2309 0 0 0 0 0 0 28.83 28.83 28.83

9987 1.49 146.0 2870 2395 2397 2310 81.4 10.5 679 9992 0.00 2.65 0.00 0.000 260 0.000 0.146 2869 3809 2353 2397 2310 0 0 0 0 0 0 28.83 14.71 28.83

10004 1.49 146.0 2870 3809 2397 2310 79.3 10.5 682 10012 0.00 2.45 0.00 0.000 1030 0.000 0.078 2879 2391 2354 2398 2310 0 0 0 0 0 0 28.83 14.74 28.83

10310 1.52 152.9 2879 2390 2398 2310 49.0 9.7 698 10320 0.00 0.00 4.30 0.282 8454 0.000 0.000 2879 2391 2328 2368 2289 0 0 0 0 0 0 28.83 28.83 14.62

10623 1.62 210.1 2879 2391 2368 2299 21.0 7.4 719 10666 0.10 2.47 34.40 0.207 10756 0.171 0.112 2931 985 2094 2136 2052 0 0 0 0 0 0 14.78 14.66 14.64

10671 end climb: SURFACE_OBSTACLE_DETECTED

state 10671 begin subsurface finish

10680 0.07 55.5 2931 2403 2136 2054 16.0 11.0 728 10701 1.27 2.58 -13.82 0.000 20996 0.249 0.132 2567 984 2728 2744 2712 0 0 0 0 0 0 14.60 14.66 14.90

10702 end subsurface finish: CONTROL_FINISHED_OK

state 10702 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	149	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	19	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	10	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	020115,211403,6701.919,-5646.891,41,1.0,46,-32.5	SPEED_LIMITS	0.173,0.262
_CALLS	2	TGT_NAME	TARGET_W
_XMS_NAKs	0	TGT_LATLONG	6644.000,-6026.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	2.09	MHEAD_RNG_PITCHd_Wd	290.8,163566,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-54.6	D_GRID	540
GPS2	020115,212141,6701.943,-5647.078,5,1.0,5,-32.5

FINISH1	16.0,1.026376,55	_24V_AH	12.97,33.508
FINISH2	13.8	_10V_AH	13.19,0.000
RAFOS_CLK	446	FG_AHR_24Vo	0.000
RAFOS	0,1420243277,0.033333,0.021389,63,60,56,52,51,51,219,166,201,234,122,152	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.320312,-5658.294922,020115,161656,2,120,1.92	MEM	270940
IRIDIUM_FIX	6631.12,-5653.72,020115,211616	DATA_FILE_SIZE	23390,732
TT8_MAMPS	0.028462,0.028462	CAP_FILE_SIZE	120241,0
HUMID	45.31	CFSIZE	260034560,242331648
INTERNAL_PRESSURE	8.62561	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
TCM_TEMP	14.50	INTR	0,10749.47,0x23769e,7,5
XPDR_PINGS	2	SOUNDSPEED	1469.4
ALTIM_TOP_PING	19.7,7.7	GPS	020115,212141,6701.943,-5647.078,5,1.0,5,-32.5
SC_FREEKB	7722240

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	468	88.19	nil	0	0	0.00
Roll_motor	96	163	205.70	nil	0	0	0.00
VBD_pump_during_apogee	388	2119	10664.51	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	10717	7	979.53
Iridium_during_xfer	267	152	527.63	nil	0	0	0.00
Transponder_ping	0	420	4.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.71
TT8	1482	11	224.29
LPSleep	7572	2	230.73
TT8_Active	544	11	82.37
TT8_Sampling	1428	30	582.80
TT8_CF8	147	36	70.32
TT8_Kalman	0	0	0.00
Analog_circuits	1447	11	210.02
GPS_charging	0	0	0.00
Compass	1086	6	85.98
RAFOS	1080	1	21.37
Transponder	2	30	1.03

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
19	-1.60	-146.0	195	2553	1530	1507	0.0	0.0	0	122	0.00	0.00	-101.40	0.000	16386	0.000	0.000	195	2553	3343	3320	3367	0	0	0	0	0	0	28.83	28.83	28.83
125	-1.60	-146.0	195	2554	3322	3368	3.9	-3.5	10	147	10.15	2.53	-5.45	0.000	18692	0.469	0.164	2182	3842	3549	3544	3554	0	0	0	0	0	0	14.31	14.47	14.72
373	-1.55	-146.0	2182	3842	3549	3554	41.8	-12.9	59	380	0.12	2.22	0.00	0.000	3078	0.308	0.062	2208	2536	3551	3549	3554	0	0	0	0	0	0	14.47	14.61	28.83
692	-1.55	-146.0	2208	2536	3550	3554	77.4	-10.3	77	697	0.00	2.47	0.00	0.000	260	0.000	0.146	2199	3844	3551	3549	3554	0	0	0	0	0	0	28.83	14.59	28.83
908	-1.55	-146.0	2198	3844	3549	3552	101.4	-11.1	120	915	0.00	2.22	0.00	0.000	1030	0.000	0.063	2198	2540	3550	3550	3551	0	0	0	0	0	0	28.83	14.68	28.83
1215	-1.55	-146.0	2199	2539	3549	3550	132.8	-9.9	136	1220	0.00	2.40	0.00	0.000	516	0.000	0.098	2199	1146	3549	3549	3549	0	0	0	0	0	0	28.83	14.66	28.83
1287	-1.55	-146.0	2199	1146	3549	3549	139.8	-9.6	150	1293	0.00	2.50	0.00	0.000	1030	0.000	0.116	2193	2555	3549	3550	3549	0	0	0	0	0	0	28.83	14.64	28.83
1600	-1.55	-146.0	2192	2555	3549	3549	169.4	-9.4	167	1606	0.00	2.38	0.00	0.000	260	0.000	0.142	2182	3836	3549	3549	3549	0	0	0	0	0	0	28.83	14.66	28.83
1628	-1.53	-146.0	2182	3836	3549	3549	172.2	-9.6	172	1634	0.15	2.17	0.00	0.000	3078	0.295	0.060	2215	2544	3549	3549	3549	0	0	0	0	0	0	14.58	14.72	28.83
1947	-1.55	-146.0	2215	2544	3549	3549	200.1	-8.4	190	1949	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	2543	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
2248	-1.58	-146.0	2215	2544	3549	3549	225.3	-8.4	205	2253	0.00	2.40	0.00	0.000	516	0.000	0.103	2216	1151	3549	3550	3549	0	0	0	0	0	0	28.83	14.71	28.83
2301	-1.61	-146.0	2215	1151	3549	3549	230.0	-8.9	215	2306	0.00	2.50	0.00	0.000	1030	0.000	0.117	2208	2556	3549	3549	3549	0	0	0	0	0	0	28.83	14.71	28.83
2624	-1.63	-146.0	2208	2556	3549	3549	258.3	-8.6	231	2625	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	2556	3549	3550	3549	0	0	0	0	0	0	28.83	28.83	28.83
2924	-1.65	-146.0	2208	2556	3551	3550	285.3	-9.0	241	2930	0.00	2.42	0.00	0.000	516	0.000	0.102	2208	1149	3550	3551	3549	0	0	0	0	0	0	28.83	14.74	28.83
2981	-1.65	-146.0	2208	1150	3551	3549	291.0	-9.9	252	2988	0.00	2.50	0.00	0.000	1030	0.000	0.118	2202	2558	3549	3551	3548	0	0	0	0	0	0	28.83	14.73	28.83
3288	-1.65	-146.0	2201	2558	3551	3549	318.6	-8.9	263	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2202	2558	3550	3551	3549	0	0	0	0	0	0	28.83	28.83	28.83
3587	-1.65	-146.0	2201	2555	3551	3549	343.5	-8.2	273	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	2202	2558	3550	3552	3549	0	0	0	0	0	0	28.83	28.83	28.83
3888	-1.65	-146.0	2201	2558	3552	3549	367.5	-7.8	283	3893	0.00	2.42	0.00	0.000	516	0.000	0.106	2202	1152	3550	3552	3549	0	0	0	0	0	0	28.83	14.77	28.83
3935	-1.65	-146.0	2202	1152	3552	3549	371.4	-7.9	292	3940	0.00	2.47	0.00	0.000	1030	0.000	0.120	2195	2549	3550	3552	3549	0	0	0	0	0	0	28.83	14.76	28.83
4253	-1.65	-146.0	2195	2549	3552	3550	395.8	-7.5	305	4254	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2549	3551	3552	3550	0	0	0	0	0	0	28.83	28.83	28.83
4553	-1.65	-146.0	2202	2549	3555	3550	418.8	-7.6	315	4554	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2549	3552	3555	3550	0	0	0	0	0	0	28.83	28.83	28.83
4852	-1.65	-146.0	2195	2549	3555	3551	441.8	-7.7	325	4858	0.00	2.42	0.00	0.000	516	0.000	0.110	2195	1151	3553	3555	3551	0	0	0	0	0	0	28.83	14.78	28.83
4900	-1.65	-146.0	2195	1151	3555	3551	445.7	-8.5	334	4905	0.00	2.50	0.00	0.000	1030	0.000	0.122	2190	2558	3553	3555	3552	0	0	0	0	0	0	28.83	14.77	28.83
5218	-1.65	-146.0	2188	2557	3555	3552	471.0	-7.8	347	5224	0.00	2.45	0.00	0.000	516	0.000	0.111	2189	1149	3553	3555	3552	0	0	0	0	0	0	28.83	14.78	28.83
5261	-1.65	-146.0	2189	1149	3555	3552	474.5	-8.0	355	5266	0.00	2.50	0.00	0.000	1030	0.000	0.124	2182	2551	3554	3555	3553	0	0	0	0	0	0	28.83	14.77	28.83
5584	-1.65	-146.0	2182	2550	3555	3553	500.1	-7.9	369	5585	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2551	3554	3556	3553	0	0	0	0	0	0	28.83	28.83	28.83
5884	-1.73	-146.0	2183	2551	3556	3552	523.8	-7.4	379	5890	0.00	2.45	0.00	0.000	516	0.000	0.116	2182	1152	3555	3557	3553	0	0	0	0	0	0	28.83	14.78	28.83
6025	end dive: NO_VERTICAL_VELOCITY
state	6025	begin apogee
6031	-0.38	0.0	2182	2401	3557	3553	523.9	0.0	407	6238	0.90	0.00	194.23	1.303	10246	0.172	0.000	2465	2401	2955	2974	2937	0	0	0	0	1	0	14.73	28.83	13.18
6240	end apogee: CONTROL_FINISHED_OK
state	6240	begin climb
6241	1.60	146.0	2465	2401	2974	2940	523.1	0.0	414	6412	1.40	2.90	155.10	2.119	10500	0.155	0.145	2896	3806	2356	2400	2312	0	0	0	0	1	0	13.96	13.64	12.97
6630	1.54	146.0	2896	3806	2400	2316	474.8	15.2	492	6635	0.00	2.53	0.00	0.000	1030	0.000	0.080	2906	2408	2357	2400	2315	0	0	0	0	0	0	28.83	14.20	28.83
6964	1.51	146.0	2906	2408	2400	2312	430.0	13.2	508	6970	0.12	2.58	0.00	0.000	4612	0.294	0.119	2884	985	2356	2400	2312	0	0	0	0	0	0	14.35	14.41	28.83
7001	1.51	146.0	2884	985	2395	2311	424.8	12.6	515	7007	0.00	2.60	0.00	0.000	1030	0.000	0.120	2884	2405	2355	2400	2311	0	0	0	0	0	0	28.83	14.43	28.83
7330	1.51	146.0	2884	2406	2400	2310	385.9	11.8	530	7335	0.00	2.67	0.00	0.000	260	0.000	0.146	2884	3810	2355	2400	2310	0	0	0	0	0	0	28.83	14.52	28.83
7367	1.47	146.0	2884	3810	2399	2310	381.1	13.0	537	7373	0.12	2.47	0.00	0.000	5126	0.303	0.079	2867	2396	2354	2399	2310	0	0	0	0	0	0	14.47	14.57	28.83
7695	1.47	146.0	2867	2396	2399	2309	344.5	10.9	552	7700	0.00	2.47	0.00	0.000	516	0.000	0.111	2877	986	2354	2399	2309	0	0	0	0	0	0	28.83	14.61	28.83
7721	1.47	146.0	2876	986	2398	2310	341.5	11.1	557	7728	0.00	2.55	0.00	0.000	1030	0.000	0.119	2876	2405	2354	2397	2311	0	0	0	0	0	0	28.83	14.61	28.83
8027	1.47	146.0	2877	2406	2393	2309	304.8	11.8	568	8033	0.00	2.65	0.00	0.000	260	0.000	0.148	2876	3814	2353	2398	2309	0	0	0	0	0	0	28.83	14.63	28.83
8075	1.44	146.0	2876	3814	2397	2310	298.7	12.9	577	8081	0.10	2.45	0.00	0.000	5126	0.322	0.079	2866	2399	2354	2398	2310	0	0	0	0	0	0	14.59	14.68	28.83
8394	1.44	146.0	2867	2399	2397	2309	261.5	11.6	590	8395	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	2399	2353	2398	2309	0	0	0	0	0	0	28.83	28.83	28.83
8693	1.44	146.0	2866	2399	2398	2309	226.4	11.8	603	8695	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	2399	2353	2398	2309	0	0	0	0	0	0	28.83	28.83	28.83
8994	1.44	146.0	2866	2399	2397	2310	190.6	11.6	618	8999	0.00	2.45	0.00	0.000	516	0.000	0.109	2875	987	2353	2398	2309	0	0	0	0	0	0	28.83	14.71	28.83
9026	1.44	146.0	2875	987	2397	2309	186.6	11.9	624	9032	0.00	2.53	0.00	0.000	1030	0.000	0.116	2875	2405	2352	2397	2308	0	0	0	0	0	0	28.83	14.71	28.83
9339	1.44	146.0	2875	2406	2397	2315	151.8	10.9	641	9344	0.00	2.62	0.00	0.000	260	0.000	0.147	2875	3812	2353	2397	2309	0	0	0	0	0	0	28.83	14.70	28.83
9361	1.44	146.0	2875	3812	2397	2310	149.0	12.0	645	9368	0.05	2.42	0.00	0.000	5126	0.283	0.078	2870	2395	2353	2397	2309	0	0	0	0	0	0	14.64	14.74	28.83
9686	1.46	146.0	2870	2395	2394	2309	112.3	11.5	664	9687	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2395	2353	2398	2309	0	0	0	0	0	0	28.83	28.83	28.83
9987	1.49	146.0	2870	2395	2397	2310	81.4	10.5	679	9992	0.00	2.65	0.00	0.000	260	0.000	0.146	2869	3809	2353	2397	2310	0	0	0	0	0	0	28.83	14.71	28.83
10004	1.49	146.0	2870	3809	2397	2310	79.3	10.5	682	10012	0.00	2.45	0.00	0.000	1030	0.000	0.078	2879	2391	2354	2398	2310	0	0	0	0	0	0	28.83	14.74	28.83
10310	1.52	152.9	2879	2390	2398	2310	49.0	9.7	698	10320	0.00	0.00	4.30	0.282	8454	0.000	0.000	2879	2391	2328	2368	2289	0	0	0	0	0	0	28.83	28.83	14.62
10623	1.62	210.1	2879	2391	2368	2299	21.0	7.4	719	10666	0.10	2.47	34.40	0.207	10756	0.171	0.112	2931	985	2094	2136	2052	0	0	0	0	0	0	14.78	14.66	14.64
10671	end climb: SURFACE_OBSTACLE_DETECTED
state	10671	begin subsurface finish
10680	0.07	55.5	2931	2403	2136	2054	16.0	11.0	728	10701	1.27	2.58	-13.82	0.000	20996	0.249	0.132	2567	984	2728	2744	2712	0	0	0	0	0	0	14.60	14.66	14.90
10702	end subsurface finish: CONTROL_FINISHED_OK
state	10702	begin surface