Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 157 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 157 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 157 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 11 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 140218,000215,-7437.5635,-11236.2119,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 354.87 MHEAD_RNG_PITCHd_Wd 90.2,1003,-40.6,-9.429,-45.00,527

_SM_ANGLEo 2.6 D_GRID 990

GPS2 140218,000215,-7437.5635,-11236.2119,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 381.2,1.027446,3 _24V_AH 13.07,68.991

FINISH2 378.2 _10V_AH 12.95,0.000

RAFOS_CLK 379 FG_AHR_24Vo 0.000

RAFOS 0,1518566460,0.032778,0.016667,130,65,56,55,53,53,710,206,192,218,107,162 FG_AHR_10Vo 0.000

RAFOS_FIX -7437.994629,-11233.372070,140218,000056,3,128,2.11 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33424,937

TT8_MAMPS 0.041944,0.20972 CAP_FILE_SIZE 112032,0

HUMID 47.59 CFSIZE 1024409600,1001832448

INTERNAL_PRESSURE 7.63859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 14.00 SOUNDSPEED 1459.6

XPDR_PINGS 1 GPS 140218,001456,-7437.995,-11233.372,0,4127.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 393.1,16.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 394 50.56 nil 0 0 0.00

Roll_motor 79 154 160.57 nil 0 0 0.00

VBD_pump_during_apogee 620 1471 11936.25 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 10466 2 400.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 248.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7818 2 233.90

TT8_Active 678 12 107.75

TT8_Sampling 1946 31 800.24

TT8_CF8 89 45 52.36

TT8_Kalman 0 0 0.00

Analog_circuits 1386 10 183.16

GPS_charging 0 0 0.00

Compass 1340 7 130.01

RAFOS 480 1 9.32

Transponder 318 30 123.71

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

367.6 16.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

373.6 22.70 9000.00 0.0 0.00 0.00 22.70 0.0 1.05 1.00

380.1 29.30 29.30 0.0 1.03 1.00 29.30 0.0 1.02 1.00

984.5 14.20 9000.00 0.0 -0.02 0.80 14.20 0.0 -0.02 1.00

975.9 18.20 9000.00 0.0 -0.02 0.94 18.20 0.0 -0.47 1.00

963.7 23.50 9000.00 0.0 -0.44 1.00 23.50 0.0 -0.43 1.00

956.9 23.90 9000.00 0.0 -0.31 0.91 23.90 0.0 -0.06 1.00

950.1 22.30 9000.00 0.0 0.09 0.56 22.30 927.8 0.24 1.00

942.2 23.00 9000.00 0.0 0.05 0.24 23.00 0.0 -0.09 1.00

934.3 18.70 9000.00 0.0 0.23 0.60 18.70 915.6 0.54 1.00

925.9 19.80 9000.00 0.0 0.19 0.49 19.80 0.0 -0.13 1.00

917.0 24.10 9000.00 0.0 -0.32 0.91 24.10 0.0 -0.48 1.00

908.3 16.80 9000.00 0.0 0.17 0.17 16.80 891.5 0.84 1.00

899.4 18.30 9000.00 0.0 0.33 0.56 18.30 0.0 -0.17 1.00

889.9 25.30 9000.00 0.0 -0.47 0.89 25.30 0.0 -0.74 1.00

883.5 20.80 9000.00 0.0 -0.20 0.21 20.80 862.7 0.70 1.00

876.8 18.40 9000.00 0.0 0.53 0.97 18.40 858.4 0.36 1.00

869.6 15.90 9000.00 0.0 0.36 1.00 15.90 853.7 0.35 1.00

414.3 38.70 9000.00 0.0 -0.05 0.99 38.70 0.0 -0.05 1.00

408.1 32.30 9000.00 0.0 -0.04 0.92 32.30 375.8 1.03 1.00

402.0 26.10 26.10 375.9 1.03 1.00 26.10 375.9 1.02 1.00

393.1 16.60 16.60 376.5 1.05 1.00 16.60 376.5 1.07 1.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.88 -32.5 2717 2500 2812 2601 0.0 0.0 0 10 0.00 0.00 -0.55 0.168 16390 0.000 0.000 2717 2499 2861 2980 2742 0 0 0 0 0 0 15.02 13.44 14.99

12 -1.88 -32.5 2718 2500 2980 2747 0.0 0.0 0 18 1.83 2.40 0.00 0.000 4356 0.093 0.155 2086 3755 2862 2977 2747 0 0 0 0 0 0 14.78 14.68 14.90

207 -1.88 -32.5 2087 3755 2969 2757 380.8 -14.3 39 214 0.00 2.28 0.00 0.000 1030 0.000 0.098 2086 2500 2862 2967 2757 0 0 0 0 0 0 14.82 14.75 14.86

512 -1.88 -32.5 2086 2500 2968 2758 421.5 -12.8 70 513 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 2500 2862 2967 2757 0 0 0 0 0 0 15.08 15.11 15.11

813 -1.88 -32.5 2086 2501 2968 2759 458.4 -12.0 100 818 0.00 2.38 0.00 0.000 260 0.000 0.151 2076 3755 2862 2966 2758 0 0 0 0 0 0 15.05 14.71 15.08

897 -1.88 -32.5 2077 3756 2966 2760 469.0 -12.3 117 906 0.00 2.28 0.00 0.000 1030 0.000 0.097 2076 2495 2862 2964 2760 0 0 0 0 0 0 14.84 14.77 14.88

1202 -1.88 -32.5 2076 2495 2965 2759 504.0 -10.9 148 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2076 2495 2862 2964 2760 0 0 0 0 0 0 15.11 15.14 15.14

1502 -1.88 -32.5 2077 2495 2965 2760 536.3 -10.7 178 1503 0.00 0.00 0.00 0.000 6 0.000 0.000 2076 2495 2862 2964 2760 0 0 0 0 0 0 15.12 15.15 15.14

1802 -1.88 -32.5 2076 2496 2964 2761 567.2 -10.0 208 1803 0.00 0.00 0.00 0.000 6 0.000 0.000 2077 2495 2861 2963 2760 0 0 0 0 0 0 15.12 15.16 15.15

2102 -1.88 -32.5 2076 2495 2964 2760 597.1 -10.0 238 2109 0.00 2.40 0.00 0.000 260 0.000 0.147 2066 3750 2861 2962 2760 0 0 0 0 0 0 15.13 14.71 15.16

2147 -1.88 -32.5 2067 3750 2962 2762 601.9 -10.8 247 2155 0.00 2.25 0.00 0.000 1030 0.000 0.095 2066 2495 2861 2961 2761 0 0 0 0 0 0 14.86 14.79 14.91

2453 -1.88 -32.5 2066 2496 2962 2762 631.7 -9.6 278 2454 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2495 2861 2961 2761 0 0 0 0 0 0 15.12 15.15 15.15

2753 -1.88 -32.5 2067 2495 2962 2761 659.4 -9.1 308 2759 0.00 2.42 0.00 0.000 260 0.000 0.147 2056 3757 2865 2962 2769 0 0 0 0 0 0 15.13 14.67 15.15

2843 -1.88 -32.5 2061 3757 2962 2762 668.3 -10.3 326 2849 0.15 2.28 0.00 0.000 3078 0.395 0.096 2088 2495 2858 2961 2756 0 0 0 0 0 0 14.42 14.78 14.66

3153 -1.88 -32.5 2089 2496 2962 2763 695.7 -8.5 358 3154 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2495 2861 2961 2762 0 0 0 0 0 0 15.12 15.19 15.14

3454 -1.88 -32.5 2089 2496 2962 2763 719.7 -7.9 372 3454 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2495 2861 2961 2762 0 0 0 0 0 0 15.09 15.12 15.11

3814 -1.90 -43.6 2089 2495 2962 2761 746.3 -7.3 384 3819 0.00 2.38 0.00 0.000 292 0.000 0.147 2080 3755 2861 2961 2762 0 0 0 0 0 0 15.10 14.72 15.12

3983 -1.90 -43.6 2079 3756 2961 2763 760.1 -7.7 418 3989 0.00 2.28 0.00 0.000 1030 0.000 0.092 2080 2488 2861 2961 2762 0 0 0 0 0 0 14.85 14.79 14.91

4354 -1.91 -56.9 2080 2489 2961 2763 786.3 -6.8 432 4359 0.00 2.40 0.00 0.000 292 0.000 0.146 2070 3759 2861 2960 2762 0 0 0 0 0 0 15.14 14.71 15.16

4523 -1.93 -67.7 2070 3760 2961 2763 798.9 -7.3 466 4529 0.00 2.28 0.00 0.000 1062 0.000 0.093 2070 2493 2861 2960 2762 0 0 0 0 0 0 14.86 14.80 14.90

4894 -1.95 -85.1 2070 2495 2961 2768 822.0 -6.0 480 4899 0.00 2.42 0.00 0.000 292 0.000 0.146 2060 3779 2861 2960 2762 0 0 0 0 0 0 15.14 14.71 15.16

5123 -1.96 -97.3 2060 3780 2961 2763 837.2 -7.1 526 5129 0.00 2.30 0.00 0.000 1062 0.000 0.092 2059 2499 2861 2960 2762 0 0 0 0 0 0 14.85 14.78 14.90

5495 -1.99 -117.3 2060 2500 2961 2764 859.1 -5.5 540 5500 0.00 2.38 0.00 0.000 292 0.000 0.146 2050 3758 2861 2960 2763 0 0 0 0 0 0 15.09 14.71 15.11

5609 -2.01 -134.9 2050 3759 2961 2763 865.6 -6.0 563 5616 0.00 2.22 0.00 0.000 1062 0.000 0.093 2050 2492 2861 2960 2762 0 0 0 0 0 0 14.93 14.81 14.97

5975 -2.02 -146.0 2051 2492 2961 2763 885.7 -5.3 576 5980 0.00 2.53 0.00 0.000 548 0.000 0.106 2050 1088 2861 2960 2762 0 0 0 0 0 0 15.09 14.76 15.11

6159 -2.02 -146.0 2050 1089 2961 2764 895.3 -5.4 613 6166 0.00 2.62 0.00 0.000 1062 0.000 0.118 2039 2513 2861 2960 2763 0 0 0 0 0 0 14.90 14.76 14.94

6546 -2.02 -146.0 2040 2514 2961 2763 914.3 -5.0 630 6547 0.00 0.00 0.00 0.000 38 0.000 0.000 2039 2514 2861 2960 2763 0 0 0 0 0 0 15.13 15.16 15.15

6905 -2.02 -146.0 2040 2514 2960 2764 932.5 -5.0 642 6911 0.00 2.35 0.00 0.000 292 0.000 0.142 2029 3747 2861 2960 2763 0 0 0 0 0 0 15.14 14.68 15.16

7016 -2.02 -146.0 2030 3748 2960 2764 938.2 -5.1 664 7021 0.00 2.20 0.00 0.000 1062 0.000 0.089 2029 2488 2861 2960 2763 0 0 0 0 0 0 14.92 14.82 14.96

7387 -2.02 -146.0 2030 2489 2960 2764 955.7 -4.4 678 7387 0.00 0.00 0.00 0.000 38 0.000 0.000 2030 2488 2861 2959 2763 0 0 0 0 0 0 15.09 15.11 15.11

7745 -2.02 -146.0 2030 2488 2960 2765 969.1 -4.0 690 7746 0.00 0.00 0.00 0.000 38 0.000 0.000 2029 2488 2864 2966 2763 0 0 0 0 0 0 15.14 15.17 15.16

8105 -2.02 -146.0 2030 2488 2961 2763 982.1 -3.4 702 8111 0.00 2.38 0.00 0.000 292 0.000 0.142 2020 3758 2861 2959 2763 0 0 0 0 0 0 15.14 14.70 15.16

8314 end dive: TARGET_DEPTH_EXCEEDED

state 8314 begin apogee

8320 -0.23 0.0 2020 2193 2960 2764 990.2 -3.9 744 8438 2.70 0.00 104.60 1.471 10246 0.371 0.000 2620 2191 2714 2800 2629 0 0 0 0 1 0 14.44 14.31 13.07

8439 end apogee: CONTROL_FINISHED_OK

state 8439 begin climb

8440 2.02 146.0 2621 2192 2802 2631 990.2 0.0 748 8968 2.35 2.80 516.20 1.250 11012 0.132 0.120 3354 793 2117 2140 2095 0 0 0 0 0 0 14.29 13.56 13.08

9002 2.02 146.0 3355 794 2133 2092 851.0 34.0 799 9008 0.00 2.80 0.00 0.000 1030 0.000 0.110 3355 2199 2111 2132 2090 0 0 0 0 0 0 13.94 13.81 13.96

9378 2.02 146.0 3355 2200 2131 2085 725.3 33.5 814 9384 0.00 2.65 0.00 0.000 516 0.000 0.119 3365 786 2105 2129 2082 0 0 0 0 0 0 14.69 14.42 14.72

9418 2.02 146.0 3366 786 2129 2082 711.8 33.4 822 9424 0.00 2.65 0.00 0.000 1030 0.000 0.110 3365 2215 2105 2128 2082 0 0 0 0 0 0 14.60 14.47 14.64

9789 2.02 146.0 3365 2219 2129 2079 589.2 32.7 859 9794 0.00 2.65 0.00 0.000 516 0.000 0.120 3379 780 2103 2128 2079 0 0 0 0 0 0 14.90 14.62 14.93

9838 2.02 146.0 3376 779 2128 2079 572.7 32.9 869 9845 0.00 2.65 0.00 0.000 1030 0.000 0.111 3374 2203 2103 2127 2080 0 0 0 0 0 0 14.71 14.62 14.83

10150 2.02 146.0 3375 2203 2126 2079 471.7 32.3 901 10156 0.00 2.60 0.00 0.000 516 0.000 0.121 3385 786 2102 2127 2078 0 0 0 0 0 0 14.97 14.68 15.00

10191 2.02 146.0 3385 787 2127 2080 458.0 32.8 909 10198 0.17 2.60 0.00 0.000 5126 0.383 0.110 3354 2212 2102 2126 2078 0 0 0 0 0 0 14.44 14.70 14.80

10441 end climb: SURFACE_OBSTACLE_DETECTED

state 10441 begin subsurface finish

10445 0.00 2.7 3355 2213 2127 2079 381.2 29.6 935 10457 2.60 2.65 -2.15 0.044 20996 0.320 0.146 2715 782 2713 2819 2607 0 0 0 0 0 0 14.52 13.90 14.83

10457 end subsurface finish: CONTROL_FINISHED_OK

state 10457 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	157	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	140218,000215,-7437.5635,-11236.2119,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	354.87	MHEAD_RNG_PITCHd_Wd	90.2,1003,-40.6,-9.429,-45.00,527
_SM_ANGLEo	2.6	D_GRID	990
GPS2	140218,000215,-7437.5635,-11236.2119,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	381.2,1.027446,3	_24V_AH	13.07,68.991
FINISH2	378.2	_10V_AH	12.95,0.000
RAFOS_CLK	379	FG_AHR_24Vo	0.000
RAFOS	0,1518566460,0.032778,0.016667,130,65,56,55,53,53,710,206,192,218,107,162	FG_AHR_10Vo	0.000
RAFOS_FIX	-7437.994629,-11233.372070,140218,000056,3,128,2.11	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33424,937
TT8_MAMPS	0.041944,0.20972	CAP_FILE_SIZE	112032,0
HUMID	47.59	CFSIZE	1024409600,1001832448
INTERNAL_PRESSURE	7.63859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	14.00	SOUNDSPEED	1459.6
XPDR_PINGS	1	GPS	140218,001456,-7437.995,-11233.372,0,4127.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	393.1,16.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	394	50.56	nil	0	0	0.00
Roll_motor	79	154	160.57	nil	0	0	0.00
VBD_pump_during_apogee	620	1471	11936.25	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	10466	2	400.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	248.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7818	2	233.90
TT8_Active	678	12	107.75
TT8_Sampling	1946	31	800.24
TT8_CF8	89	45	52.36
TT8_Kalman	0	0	0.00
Analog_circuits	1386	10	183.16
GPS_charging	0	0	0.00
Compass	1340	7	130.01
RAFOS	480	1	9.32
Transponder	318	30	123.71

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
367.6	16.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
373.6	22.70	9000.00	0.0	0.00	0.00	22.70	0.0	1.05	1.00
380.1	29.30	29.30	0.0	1.03	1.00	29.30	0.0	1.02	1.00

984.5	14.20	9000.00	0.0	-0.02	0.80	14.20	0.0	-0.02	1.00
975.9	18.20	9000.00	0.0	-0.02	0.94	18.20	0.0	-0.47	1.00
963.7	23.50	9000.00	0.0	-0.44	1.00	23.50	0.0	-0.43	1.00
956.9	23.90	9000.00	0.0	-0.31	0.91	23.90	0.0	-0.06	1.00
950.1	22.30	9000.00	0.0	0.09	0.56	22.30	927.8	0.24	1.00
942.2	23.00	9000.00	0.0	0.05	0.24	23.00	0.0	-0.09	1.00
934.3	18.70	9000.00	0.0	0.23	0.60	18.70	915.6	0.54	1.00
925.9	19.80	9000.00	0.0	0.19	0.49	19.80	0.0	-0.13	1.00
917.0	24.10	9000.00	0.0	-0.32	0.91	24.10	0.0	-0.48	1.00
908.3	16.80	9000.00	0.0	0.17	0.17	16.80	891.5	0.84	1.00
899.4	18.30	9000.00	0.0	0.33	0.56	18.30	0.0	-0.17	1.00
889.9	25.30	9000.00	0.0	-0.47	0.89	25.30	0.0	-0.74	1.00
883.5	20.80	9000.00	0.0	-0.20	0.21	20.80	862.7	0.70	1.00
876.8	18.40	9000.00	0.0	0.53	0.97	18.40	858.4	0.36	1.00
869.6	15.90	9000.00	0.0	0.36	1.00	15.90	853.7	0.35	1.00
414.3	38.70	9000.00	0.0	-0.05	0.99	38.70	0.0	-0.05	1.00
408.1	32.30	9000.00	0.0	-0.04	0.92	32.30	375.8	1.03	1.00
402.0	26.10	26.10	375.9	1.03	1.00	26.10	375.9	1.02	1.00
393.1	16.60	16.60	376.5	1.05	1.00	16.60	376.5	1.07	1.00

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.88	-32.5	2717	2500	2812	2601	0.0	0.0	0	10	0.00	0.00	-0.55	0.168	16390	0.000	0.000	2717	2499	2861	2980	2742	0	0	0	0	0	0	15.02	13.44	14.99
12	-1.88	-32.5	2718	2500	2980	2747	0.0	0.0	0	18	1.83	2.40	0.00	0.000	4356	0.093	0.155	2086	3755	2862	2977	2747	0	0	0	0	0	0	14.78	14.68	14.90
207	-1.88	-32.5	2087	3755	2969	2757	380.8	-14.3	39	214	0.00	2.28	0.00	0.000	1030	0.000	0.098	2086	2500	2862	2967	2757	0	0	0	0	0	0	14.82	14.75	14.86
512	-1.88	-32.5	2086	2500	2968	2758	421.5	-12.8	70	513	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	2500	2862	2967	2757	0	0	0	0	0	0	15.08	15.11	15.11
813	-1.88	-32.5	2086	2501	2968	2759	458.4	-12.0	100	818	0.00	2.38	0.00	0.000	260	0.000	0.151	2076	3755	2862	2966	2758	0	0	0	0	0	0	15.05	14.71	15.08
897	-1.88	-32.5	2077	3756	2966	2760	469.0	-12.3	117	906	0.00	2.28	0.00	0.000	1030	0.000	0.097	2076	2495	2862	2964	2760	0	0	0	0	0	0	14.84	14.77	14.88
1202	-1.88	-32.5	2076	2495	2965	2759	504.0	-10.9	148	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2076	2495	2862	2964	2760	0	0	0	0	0	0	15.11	15.14	15.14
1502	-1.88	-32.5	2077	2495	2965	2760	536.3	-10.7	178	1503	0.00	0.00	0.00	0.000	6	0.000	0.000	2076	2495	2862	2964	2760	0	0	0	0	0	0	15.12	15.15	15.14
1802	-1.88	-32.5	2076	2496	2964	2761	567.2	-10.0	208	1803	0.00	0.00	0.00	0.000	6	0.000	0.000	2077	2495	2861	2963	2760	0	0	0	0	0	0	15.12	15.16	15.15
2102	-1.88	-32.5	2076	2495	2964	2760	597.1	-10.0	238	2109	0.00	2.40	0.00	0.000	260	0.000	0.147	2066	3750	2861	2962	2760	0	0	0	0	0	0	15.13	14.71	15.16
2147	-1.88	-32.5	2067	3750	2962	2762	601.9	-10.8	247	2155	0.00	2.25	0.00	0.000	1030	0.000	0.095	2066	2495	2861	2961	2761	0	0	0	0	0	0	14.86	14.79	14.91
2453	-1.88	-32.5	2066	2496	2962	2762	631.7	-9.6	278	2454	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2495	2861	2961	2761	0	0	0	0	0	0	15.12	15.15	15.15
2753	-1.88	-32.5	2067	2495	2962	2761	659.4	-9.1	308	2759	0.00	2.42	0.00	0.000	260	0.000	0.147	2056	3757	2865	2962	2769	0	0	0	0	0	0	15.13	14.67	15.15
2843	-1.88	-32.5	2061	3757	2962	2762	668.3	-10.3	326	2849	0.15	2.28	0.00	0.000	3078	0.395	0.096	2088	2495	2858	2961	2756	0	0	0	0	0	0	14.42	14.78	14.66
3153	-1.88	-32.5	2089	2496	2962	2763	695.7	-8.5	358	3154	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2495	2861	2961	2762	0	0	0	0	0	0	15.12	15.19	15.14
3454	-1.88	-32.5	2089	2496	2962	2763	719.7	-7.9	372	3454	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2495	2861	2961	2762	0	0	0	0	0	0	15.09	15.12	15.11
3814	-1.90	-43.6	2089	2495	2962	2761	746.3	-7.3	384	3819	0.00	2.38	0.00	0.000	292	0.000	0.147	2080	3755	2861	2961	2762	0	0	0	0	0	0	15.10	14.72	15.12
3983	-1.90	-43.6	2079	3756	2961	2763	760.1	-7.7	418	3989	0.00	2.28	0.00	0.000	1030	0.000	0.092	2080	2488	2861	2961	2762	0	0	0	0	0	0	14.85	14.79	14.91
4354	-1.91	-56.9	2080	2489	2961	2763	786.3	-6.8	432	4359	0.00	2.40	0.00	0.000	292	0.000	0.146	2070	3759	2861	2960	2762	0	0	0	0	0	0	15.14	14.71	15.16
4523	-1.93	-67.7	2070	3760	2961	2763	798.9	-7.3	466	4529	0.00	2.28	0.00	0.000	1062	0.000	0.093	2070	2493	2861	2960	2762	0	0	0	0	0	0	14.86	14.80	14.90
4894	-1.95	-85.1	2070	2495	2961	2768	822.0	-6.0	480	4899	0.00	2.42	0.00	0.000	292	0.000	0.146	2060	3779	2861	2960	2762	0	0	0	0	0	0	15.14	14.71	15.16
5123	-1.96	-97.3	2060	3780	2961	2763	837.2	-7.1	526	5129	0.00	2.30	0.00	0.000	1062	0.000	0.092	2059	2499	2861	2960	2762	0	0	0	0	0	0	14.85	14.78	14.90
5495	-1.99	-117.3	2060	2500	2961	2764	859.1	-5.5	540	5500	0.00	2.38	0.00	0.000	292	0.000	0.146	2050	3758	2861	2960	2763	0	0	0	0	0	0	15.09	14.71	15.11
5609	-2.01	-134.9	2050	3759	2961	2763	865.6	-6.0	563	5616	0.00	2.22	0.00	0.000	1062	0.000	0.093	2050	2492	2861	2960	2762	0	0	0	0	0	0	14.93	14.81	14.97
5975	-2.02	-146.0	2051	2492	2961	2763	885.7	-5.3	576	5980	0.00	2.53	0.00	0.000	548	0.000	0.106	2050	1088	2861	2960	2762	0	0	0	0	0	0	15.09	14.76	15.11
6159	-2.02	-146.0	2050	1089	2961	2764	895.3	-5.4	613	6166	0.00	2.62	0.00	0.000	1062	0.000	0.118	2039	2513	2861	2960	2763	0	0	0	0	0	0	14.90	14.76	14.94
6546	-2.02	-146.0	2040	2514	2961	2763	914.3	-5.0	630	6547	0.00	0.00	0.00	0.000	38	0.000	0.000	2039	2514	2861	2960	2763	0	0	0	0	0	0	15.13	15.16	15.15
6905	-2.02	-146.0	2040	2514	2960	2764	932.5	-5.0	642	6911	0.00	2.35	0.00	0.000	292	0.000	0.142	2029	3747	2861	2960	2763	0	0	0	0	0	0	15.14	14.68	15.16
7016	-2.02	-146.0	2030	3748	2960	2764	938.2	-5.1	664	7021	0.00	2.20	0.00	0.000	1062	0.000	0.089	2029	2488	2861	2960	2763	0	0	0	0	0	0	14.92	14.82	14.96
7387	-2.02	-146.0	2030	2489	2960	2764	955.7	-4.4	678	7387	0.00	0.00	0.00	0.000	38	0.000	0.000	2030	2488	2861	2959	2763	0	0	0	0	0	0	15.09	15.11	15.11
7745	-2.02	-146.0	2030	2488	2960	2765	969.1	-4.0	690	7746	0.00	0.00	0.00	0.000	38	0.000	0.000	2029	2488	2864	2966	2763	0	0	0	0	0	0	15.14	15.17	15.16
8105	-2.02	-146.0	2030	2488	2961	2763	982.1	-3.4	702	8111	0.00	2.38	0.00	0.000	292	0.000	0.142	2020	3758	2861	2959	2763	0	0	0	0	0	0	15.14	14.70	15.16
8314	end dive: TARGET_DEPTH_EXCEEDED
state	8314	begin apogee
8320	-0.23	0.0	2020	2193	2960	2764	990.2	-3.9	744	8438	2.70	0.00	104.60	1.471	10246	0.371	0.000	2620	2191	2714	2800	2629	0	0	0	0	1	0	14.44	14.31	13.07
8439	end apogee: CONTROL_FINISHED_OK
state	8439	begin climb
8440	2.02	146.0	2621	2192	2802	2631	990.2	0.0	748	8968	2.35	2.80	516.20	1.250	11012	0.132	0.120	3354	793	2117	2140	2095	0	0	0	0	0	0	14.29	13.56	13.08
9002	2.02	146.0	3355	794	2133	2092	851.0	34.0	799	9008	0.00	2.80	0.00	0.000	1030	0.000	0.110	3355	2199	2111	2132	2090	0	0	0	0	0	0	13.94	13.81	13.96
9378	2.02	146.0	3355	2200	2131	2085	725.3	33.5	814	9384	0.00	2.65	0.00	0.000	516	0.000	0.119	3365	786	2105	2129	2082	0	0	0	0	0	0	14.69	14.42	14.72
9418	2.02	146.0	3366	786	2129	2082	711.8	33.4	822	9424	0.00	2.65	0.00	0.000	1030	0.000	0.110	3365	2215	2105	2128	2082	0	0	0	0	0	0	14.60	14.47	14.64
9789	2.02	146.0	3365	2219	2129	2079	589.2	32.7	859	9794	0.00	2.65	0.00	0.000	516	0.000	0.120	3379	780	2103	2128	2079	0	0	0	0	0	0	14.90	14.62	14.93
9838	2.02	146.0	3376	779	2128	2079	572.7	32.9	869	9845	0.00	2.65	0.00	0.000	1030	0.000	0.111	3374	2203	2103	2127	2080	0	0	0	0	0	0	14.71	14.62	14.83
10150	2.02	146.0	3375	2203	2126	2079	471.7	32.3	901	10156	0.00	2.60	0.00	0.000	516	0.000	0.121	3385	786	2102	2127	2078	0	0	0	0	0	0	14.97	14.68	15.00
10191	2.02	146.0	3385	787	2127	2080	458.0	32.8	909	10198	0.17	2.60	0.00	0.000	5126	0.383	0.110	3354	2212	2102	2126	2078	0	0	0	0	0	0	14.44	14.70	14.80
10441	end climb: SURFACE_OBSTACLE_DETECTED
state	10441	begin subsurface finish
10445	0.00	2.7	3355	2213	2127	2079	381.2	29.6	935	10457	2.60	2.65	-2.15	0.044	20996	0.320	0.146	2715	782	2713	2819	2607	0	0	0	0	0	0	14.52	13.90	14.83
10457	end subsurface finish: CONTROL_FINISHED_OK
state	10457	begin surface