Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 158 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 158 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 47 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 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 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 3880 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 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 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 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 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 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 158 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 47 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 160218,181424,-7420.4009,-11217.6875,0,3131.0,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7427.000,-11215.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 358.89 MHEAD_RNG_PITCHd_Wd 120.4,12294,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.1 D_GRID 990

GPS2 160218,181424,-7420.4009,-11217.6875,0,3131.0,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 370.5,1.027413,4 ALTIM_BOTTOM_PING 943.4,10.3

FINISH2 369.5 _24V_AH 13.03,66.905

RAFOS_CLK 367 _10V_AH 12.49,0.000

RAFOS 0,1518814860,21.032778,21.016666,102,60,58,57,56,53,594,186,195,167,213,143 FG_AHR_24Vo 0.000

RAFOS_FIX -7421.813965,-11213.994141,160218,212144,3,124,0.29 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 MEM 280072

TT8_MAMPS 0.041195,0.285369 DATA_FILE_SIZE 33346,915

HUMID 49.40 CAP_FILE_SIZE 117385,0

INTERNAL_PRESSURE 8.26789 CFSIZE 1024409600,1001455616

TCM_TEMP 12.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1457.9

ALTIM_TOP_PING 373.8,9.5 GPS 160218,211544,-7421.814,-11213.994,0,4124.3,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 265 16.17 nil 0 0 0.00

Roll_motor 103 983 1326.67 nil 0 0 0.00

VBD_pump_during_apogee 688 1399 12553.70 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 10026 5 693.69

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 235.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7305 2 210.78

TT8_Active 762 13 131.70

TT8_Sampling 1925 34 836.84

TT8_CF8 98 52 64.61

TT8_Kalman 0 0 0.00

Analog_circuits 1492 10 203.15

GPS_charging 0 0 0.00

Compass 1318 7 123.32

RAFOS 720 1 13.49

Transponder 304 30 114.13

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

883.8 42.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

891.3 42.10 9000.00 0.0 0.00 0.00 42.10 933.4 -0.11 1.00

899.0 41.00 9000.00 0.0 -0.13 0.99 41.00 940.0 -0.14 1.00

906.8 40.10 9000.00 0.0 -0.13 1.00 40.10 946.9 -0.12 1.00

914.4 33.40 9000.00 0.0 -0.49 0.83 33.40 947.8 -0.88 1.00

920.7 30.90 9000.00 0.0 -0.67 0.97 30.90 951.6 -0.40 1.00

929.3 23.60 9000.00 0.0 -0.67 0.97 23.60 952.9 -0.85 1.00

936.3 15.70 16.10 952.4 -0.97 0.99 15.70 952.0 -1.13 1.00

943.4 10.80 10.30 953.7 -0.90 0.98 10.80 954.2 -0.69 1.00

942.8 14.70 9000.00 0.0 -0.47 0.50 0.00 0.0 0.00 0.00

936.8 21.40 9000.00 0.0 -1.40 0.92 21.40 0.0 -1.12 1.00

930.7 18.60 9000.00 0.0 -0.32 0.34 18.60 912.1 0.46 1.00

444.4 82.60 9000.00 0.0 -0.13 1.00 82.60 0.0 -0.13 1.00

437.9 75.80 9000.00 0.0 -0.12 0.99 75.80 362.1 1.05 1.00

431.3 69.10 69.10 362.2 1.03 1.00 69.10 362.2 1.02 1.00

424.8 62.50 62.50 362.3 1.02 1.00 62.50 362.3 1.02 1.00

418.2 55.70 55.70 362.5 1.03 1.00 55.70 362.5 1.03 1.00

411.9 49.00 49.00 362.9 1.04 1.00 49.00 362.9 1.06 1.00

405.4 42.20 42.20 363.2 1.05 1.00 42.20 363.2 1.05 1.00

399.1 35.70 35.70 363.4 1.04 1.00 35.70 363.4 1.03 1.00

392.9 29.20 29.20 363.7 1.04 1.00 29.20 363.7 1.05 1.00

386.4 22.40 22.40 364.0 1.04 1.00 22.40 364.0 1.05 1.00

380.0 15.90 15.90 364.1 1.03 1.00 15.90 364.1 1.02 1.00

373.8 9.50 9.50 364.3 1.03 1.00 9.50 364.3 1.03 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

9 -0.93 -146.0 2805 2271 2812 2745 0.0 0.0 0 12 0.00 0.08 -2.17 0.044 16390 0.000 0.983 2804 2310 3397 3422 3372 0 0 0 0 0 0 15.07 13.53 15.07

14 -0.93 -146.0 2804 2309 3422 3374 0.0 0.0 0 22 0.95 0.00 0.00 0.000 4102 0.114 0.000 2492 2309 3397 3422 3373 0 0 0 0 0 0 14.81 14.97 14.95

319 -0.93 -146.0 2491 2309 3421 3373 396.6 -13.2 31 325 0.00 2.50 0.00 0.000 516 0.000 0.085 2491 902 3397 3422 3372 0 0 0 0 0 0 15.09 14.76 15.12

421 -0.93 -146.0 2491 903 3422 3373 410.2 -13.7 51 426 0.00 2.45 0.00 0.000 1030 0.000 0.076 2482 2298 3397 3422 3372 0 0 0 0 0 0 14.93 14.81 14.97

730 -0.93 -146.0 2481 2299 3421 3371 452.7 -13.0 83 730 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2299 3396 3422 3371 0 0 0 0 0 0 15.10 15.13 15.13

1030 -0.93 -146.0 2482 2299 3424 3372 492.0 -13.4 113 1036 0.00 2.53 0.00 0.000 516 0.000 0.083 2481 908 3396 3422 3370 0 0 0 0 0 0 15.11 14.74 15.13

1066 -0.93 -146.0 2483 908 3424 3371 496.9 -13.8 120 1073 0.00 2.47 0.00 0.000 1030 0.000 0.076 2472 2313 3396 3422 3370 0 0 0 0 0 0 14.93 14.81 14.97

1370 -0.93 -146.0 2471 2314 3422 3371 539.5 -13.9 151 1371 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2313 3396 3422 3370 0 0 0 0 0 0 15.11 15.14 15.14

1670 -0.93 -146.0 2471 2313 3422 3370 580.4 -13.5 181 1677 0.00 2.53 0.00 0.000 516 0.000 0.082 2471 912 3396 3422 3370 0 0 0 0 0 0 15.12 14.76 15.14

1736 -0.93 -146.0 2471 913 3422 3370 589.2 -13.4 194 1743 0.12 2.50 0.00 0.000 3078 0.265 0.073 2494 2313 3396 3422 3370 0 0 0 0 0 0 14.62 14.79 14.77

2041 -0.93 -146.0 2493 2313 3422 3370 626.7 -12.5 225 2048 0.00 2.58 0.00 0.000 260 0.000 0.109 2486 3742 3395 3421 3369 0 0 0 0 0 0 15.11 14.77 15.14

2062 -0.93 -146.0 2487 3744 3424 3366 629.4 -13.2 229 2069 0.00 2.47 0.00 0.000 1030 0.000 0.048 2485 2300 3395 3422 3369 0 0 0 0 0 0 14.90 14.85 14.93

2374 -0.93 -146.0 2485 2300 3421 3370 668.9 -12.4 261 2380 0.00 2.47 0.00 0.000 516 0.000 0.082 2486 896 3395 3421 3369 0 0 0 0 0 0 15.07 14.78 15.09

2419 -0.93 -146.0 2485 898 3422 3370 674.5 -12.6 270 2429 0.00 2.50 0.00 0.000 1030 0.000 0.073 2475 2299 3395 3421 3369 0 0 0 0 0 0 14.85 14.78 14.90

2744 -0.93 -146.0 2476 2300 3424 3370 715.1 -12.4 295 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2299 3392 3421 3364 0 0 0 0 0 0 15.07 15.10 15.10

3105 -0.93 -146.0 2476 2300 3422 3369 760.1 -12.7 307 3110 0.00 2.50 0.00 0.000 516 0.000 0.082 2475 896 3395 3422 3368 0 0 0 0 0 0 15.09 14.78 15.11

3199 -0.93 -146.0 2475 897 3421 3369 772.5 -12.9 326 3205 0.12 2.53 0.00 0.000 3078 0.265 0.073 2498 2309 3395 3422 3368 0 0 0 0 0 0 14.61 14.79 14.77

3585 -0.93 -146.0 2497 2309 3421 3369 814.9 -10.7 343 3590 0.00 2.53 0.00 0.000 516 0.000 0.083 2498 895 3395 3422 3368 0 0 0 0 0 0 15.08 14.79 15.11

3614 -0.93 -146.0 2497 895 3421 3369 817.9 -10.1 349 3621 0.00 2.53 0.00 0.000 1030 0.000 0.073 2489 2308 3395 3422 3368 0 0 0 0 0 0 14.88 14.79 14.91

4006 -0.93 -146.0 2490 2309 3422 3369 861.8 -11.3 367 4011 0.00 2.50 0.00 0.000 516 0.000 0.081 2489 893 3395 3423 3368 0 0 0 0 0 0 15.09 14.78 15.11

4051 -0.93 -146.0 2490 892 3424 3369 866.9 -11.8 376 4056 0.00 2.50 0.00 0.000 1030 0.000 0.073 2479 2320 3395 3422 3368 0 0 0 0 0 0 14.95 14.82 14.98

4426 -0.93 -146.0 2481 2321 3424 3369 914.4 -12.8 391 4432 0.00 2.53 0.00 0.000 516 0.000 0.082 2479 895 3395 3422 3369 0 0 0 0 0 0 15.09 14.82 15.11

4456 -0.93 -146.0 2480 896 3423 3368 918.1 -11.0 397 4463 0.00 2.53 0.00 0.000 1030 0.000 0.076 2475 2302 3394 3421 3368 0 0 0 0 0 0 14.88 14.80 14.92

4696 end dive: BOTTOM_OBSTACLE_DETECTED

state 4696 begin apogee

4699 -0.23 0.0 2476 2068 3422 3369 946.9 -11.8 410 5090 0.90 0.08 384.83 1.306 10246 0.226 0.176 2725 2115 2780 2817 2744 0 0 0 0 0 0 14.67 13.70 13.24

5091 end apogee: CONTROL_FINISHED_OK

state 5091 begin climb

5093 0.93 146.0 2727 2116 2818 2743 952.6 0.0 423 5407 1.25 2.78 303.38 1.400 10756 0.136 0.093 3104 714 2182 2226 2138 0 0 0 0 0 0 13.72 13.47 13.03

5556 0.93 146.0 3105 715 2211 2130 906.7 12.1 514 5562 0.00 2.58 0.00 0.000 1030 0.000 0.062 3104 2098 2169 2209 2130 0 0 0 0 0 0 14.06 14.02 14.09

5941 0.93 146.0 3104 2098 2207 2127 857.5 13.0 531 5947 0.00 2.65 0.00 0.000 260 0.000 0.100 3104 3537 2167 2207 2127 0 0 0 0 0 0 14.72 14.47 14.74

5996 0.93 146.0 3105 3538 2208 2127 849.2 14.8 542 6004 0.00 2.50 0.00 0.000 1030 0.000 0.051 3114 2119 2166 2206 2127 0 0 0 0 0 0 14.57 14.52 14.59

6362 0.93 146.0 3114 2120 2204 2125 801.6 13.1 555 6367 0.00 2.53 0.00 0.000 260 0.000 0.099 3114 3511 2165 2205 2125 0 0 0 0 0 0 14.89 14.65 14.92

6396 0.93 146.0 3114 3512 2204 2126 796.8 14.8 562 6402 0.00 2.45 0.00 0.000 1030 0.000 0.052 3124 2102 2164 2204 2125 0 0 0 0 0 0 14.72 14.66 14.76

6782 0.93 146.0 3125 2103 2205 2129 744.5 13.5 579 6787 0.00 2.58 0.00 0.000 260 0.000 0.101 3124 3521 2163 2203 2124 0 0 0 0 0 0 14.97 14.73 15.00

6806 0.93 146.0 3124 3521 2203 2125 741.0 14.3 584 6814 0.08 2.47 0.00 0.000 5126 0.265 0.053 3099 2098 2163 2203 2124 0 0 0 0 0 0 14.61 14.74 14.82

7171 0.93 146.0 3100 2099 2205 2124 698.3 11.7 597 7178 0.00 2.60 0.00 0.000 260 0.000 0.099 3099 3539 2164 2203 2125 0 0 0 0 0 0 15.06 14.77 15.09

7197 0.93 146.0 3100 3539 2205 2124 694.9 13.3 602 7204 0.00 2.50 0.00 0.000 1030 0.000 0.052 3109 2093 2163 2203 2124 0 0 0 0 0 0 14.86 14.81 14.90

7502 0.93 146.0 3108 2094 2202 2124 658.3 11.9 633 7503 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2093 2163 2202 2124 0 0 0 0 0 0 15.07 15.10 15.10

7802 0.93 146.0 3109 2094 2204 2125 623.1 11.5 663 7808 0.00 2.60 0.00 0.000 260 0.000 0.097 3108 3513 2163 2202 2124 0 0 0 0 0 0 15.09 14.77 15.11

7857 0.93 146.0 3108 3512 2201 2124 616.0 13.0 674 7864 0.00 2.45 0.00 0.000 1030 0.000 0.050 3119 2092 2162 2202 2123 0 0 0 0 0 0 14.88 14.84 14.92

8162 0.93 146.0 3118 2094 2202 2124 580.1 11.7 705 8169 0.00 2.55 0.00 0.000 260 0.000 0.096 3119 3511 2162 2201 2124 0 0 0 0 0 0 15.09 14.78 15.12

8194 0.93 146.0 3120 3512 2203 2124 576.0 12.8 711 8199 0.00 2.45 0.00 0.000 1030 0.000 0.050 3128 2091 2163 2202 2124 0 0 0 0 0 0 14.89 14.83 14.94

8504 0.93 146.0 3130 2091 2203 2124 538.3 12.5 743 8504 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2090 2161 2200 2123 0 0 0 0 0 0 15.11 15.14 15.13

8804 0.93 146.0 3128 2090 2201 2124 502.0 12.3 773 8810 0.00 2.55 0.00 0.000 260 0.000 0.095 3128 3511 2162 2201 2123 0 0 0 0 0 0 15.07 14.82 15.09

8870 0.93 146.0 3129 3512 2203 2124 493.0 13.8 786 8877 0.12 2.42 0.00 0.000 5126 0.247 0.049 3095 2098 2161 2200 2123 0 0 0 0 0 0 14.69 14.85 14.92

9174 0.93 146.0 3095 2098 2200 2124 460.8 10.2 817 9181 0.00 2.60 0.00 0.000 260 0.000 0.098 3095 3544 2162 2200 2124 0 0 0 0 0 0 15.12 14.81 15.13

9206 0.93 146.0 3095 3544 2200 2124 457.4 11.5 823 9211 0.00 2.47 0.00 0.000 1030 0.000 0.050 3105 2083 2162 2201 2123 0 0 0 0 0 0 14.91 14.85 14.92

9515 0.93 146.0 3106 2084 2202 2122 423.7 10.9 855 9521 0.00 2.58 0.00 0.000 260 0.000 0.099 3105 3513 2161 2200 2123 0 0 0 0 0 0 15.12 14.81 15.15

9585 0.93 146.0 3104 3513 2200 2124 415.2 11.9 869 9592 0.00 2.45 0.00 0.000 1030 0.000 0.051 3115 2091 2162 2201 2123 0 0 0 0 0 0 14.90 14.85 14.93

9896 0.93 146.0 3115 2091 2200 2124 381.9 11.2 901 9903 0.00 2.60 0.00 0.000 260 0.000 0.096 3115 3535 2161 2200 2123 0 0 0 0 0 0 15.12 14.78 15.14

9922 0.93 146.0 3114 3536 2200 2124 378.8 11.4 906 9929 0.00 2.47 0.00 0.000 1030 0.000 0.050 3125 2097 2160 2199 2122 0 0 0 0 0 0 14.90 14.85 14.93

9996 end climb: SURFACE_OBSTACLE_DETECTED

state 9996 begin subsurface finish

9999 0.01 4.4 3126 2097 2201 2124 370.5 11.0 914 10009 1.12 0.00 -2.28 0.043 20486 0.208 0.000 2802 2096 2779 2812 2746 0 0 0 0 0 0 14.70 13.56 14.92

10009 end subsurface finish: CONTROL_FINISHED_OK

state 10009 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	158	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	47	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	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	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	160218,181424,-7420.4009,-11217.6875,0,3131.0,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7427.000,-11215.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	358.89	MHEAD_RNG_PITCHd_Wd	120.4,12294,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.1	D_GRID	990
GPS2	160218,181424,-7420.4009,-11217.6875,0,3131.0,0,53.3,0.0,0.0,0,0.0

FINISH1	370.5,1.027413,4	ALTIM_BOTTOM_PING	943.4,10.3
FINISH2	369.5	_24V_AH	13.03,66.905
RAFOS_CLK	367	_10V_AH	12.49,0.000
RAFOS	0,1518814860,21.032778,21.016666,102,60,58,57,56,53,594,186,195,167,213,143	FG_AHR_24Vo	0.000
RAFOS_FIX	-7421.813965,-11213.994141,160218,212144,3,124,0.29	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280072
TT8_MAMPS	0.041195,0.285369	DATA_FILE_SIZE	33346,915
HUMID	49.40	CAP_FILE_SIZE	117385,0
INTERNAL_PRESSURE	8.26789	CFSIZE	1024409600,1001455616
TCM_TEMP	12.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1457.9
ALTIM_TOP_PING	373.8,9.5	GPS	160218,211544,-7421.814,-11213.994,0,4124.3,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	265	16.17	nil	0	0	0.00
Roll_motor	103	983	1326.67	nil	0	0	0.00
VBD_pump_during_apogee	688	1399	12553.70	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	10026	5	693.69
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	235.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7305	2	210.78
TT8_Active	762	13	131.70
TT8_Sampling	1925	34	836.84
TT8_CF8	98	52	64.61
TT8_Kalman	0	0	0.00
Analog_circuits	1492	10	203.15
GPS_charging	0	0	0.00
Compass	1318	7	123.32
RAFOS	720	1	13.49
Transponder	304	30	114.13

		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
883.8	42.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
891.3	42.10	9000.00	0.0	0.00	0.00	42.10	933.4	-0.11	1.00
899.0	41.00	9000.00	0.0	-0.13	0.99	41.00	940.0	-0.14	1.00
906.8	40.10	9000.00	0.0	-0.13	1.00	40.10	946.9	-0.12	1.00
914.4	33.40	9000.00	0.0	-0.49	0.83	33.40	947.8	-0.88	1.00
920.7	30.90	9000.00	0.0	-0.67	0.97	30.90	951.6	-0.40	1.00
929.3	23.60	9000.00	0.0	-0.67	0.97	23.60	952.9	-0.85	1.00
936.3	15.70	16.10	952.4	-0.97	0.99	15.70	952.0	-1.13	1.00
943.4	10.80	10.30	953.7	-0.90	0.98	10.80	954.2	-0.69	1.00

942.8	14.70	9000.00	0.0	-0.47	0.50	0.00	0.0	0.00	0.00
936.8	21.40	9000.00	0.0	-1.40	0.92	21.40	0.0	-1.12	1.00
930.7	18.60	9000.00	0.0	-0.32	0.34	18.60	912.1	0.46	1.00
444.4	82.60	9000.00	0.0	-0.13	1.00	82.60	0.0	-0.13	1.00
437.9	75.80	9000.00	0.0	-0.12	0.99	75.80	362.1	1.05	1.00
431.3	69.10	69.10	362.2	1.03	1.00	69.10	362.2	1.02	1.00
424.8	62.50	62.50	362.3	1.02	1.00	62.50	362.3	1.02	1.00
418.2	55.70	55.70	362.5	1.03	1.00	55.70	362.5	1.03	1.00
411.9	49.00	49.00	362.9	1.04	1.00	49.00	362.9	1.06	1.00
405.4	42.20	42.20	363.2	1.05	1.00	42.20	363.2	1.05	1.00
399.1	35.70	35.70	363.4	1.04	1.00	35.70	363.4	1.03	1.00
392.9	29.20	29.20	363.7	1.04	1.00	29.20	363.7	1.05	1.00
386.4	22.40	22.40	364.0	1.04	1.00	22.40	364.0	1.05	1.00
380.0	15.90	15.90	364.1	1.03	1.00	15.90	364.1	1.02	1.00
373.8	9.50	9.50	364.3	1.03	1.00	9.50	364.3	1.03	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
9	-0.93	-146.0	2805	2271	2812	2745	0.0	0.0	0	12	0.00	0.08	-2.17	0.044	16390	0.000	0.983	2804	2310	3397	3422	3372	0	0	0	0	0	0	15.07	13.53	15.07
14	-0.93	-146.0	2804	2309	3422	3374	0.0	0.0	0	22	0.95	0.00	0.00	0.000	4102	0.114	0.000	2492	2309	3397	3422	3373	0	0	0	0	0	0	14.81	14.97	14.95
319	-0.93	-146.0	2491	2309	3421	3373	396.6	-13.2	31	325	0.00	2.50	0.00	0.000	516	0.000	0.085	2491	902	3397	3422	3372	0	0	0	0	0	0	15.09	14.76	15.12
421	-0.93	-146.0	2491	903	3422	3373	410.2	-13.7	51	426	0.00	2.45	0.00	0.000	1030	0.000	0.076	2482	2298	3397	3422	3372	0	0	0	0	0	0	14.93	14.81	14.97
730	-0.93	-146.0	2481	2299	3421	3371	452.7	-13.0	83	730	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2299	3396	3422	3371	0	0	0	0	0	0	15.10	15.13	15.13
1030	-0.93	-146.0	2482	2299	3424	3372	492.0	-13.4	113	1036	0.00	2.53	0.00	0.000	516	0.000	0.083	2481	908	3396	3422	3370	0	0	0	0	0	0	15.11	14.74	15.13
1066	-0.93	-146.0	2483	908	3424	3371	496.9	-13.8	120	1073	0.00	2.47	0.00	0.000	1030	0.000	0.076	2472	2313	3396	3422	3370	0	0	0	0	0	0	14.93	14.81	14.97
1370	-0.93	-146.0	2471	2314	3422	3371	539.5	-13.9	151	1371	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2313	3396	3422	3370	0	0	0	0	0	0	15.11	15.14	15.14
1670	-0.93	-146.0	2471	2313	3422	3370	580.4	-13.5	181	1677	0.00	2.53	0.00	0.000	516	0.000	0.082	2471	912	3396	3422	3370	0	0	0	0	0	0	15.12	14.76	15.14
1736	-0.93	-146.0	2471	913	3422	3370	589.2	-13.4	194	1743	0.12	2.50	0.00	0.000	3078	0.265	0.073	2494	2313	3396	3422	3370	0	0	0	0	0	0	14.62	14.79	14.77
2041	-0.93	-146.0	2493	2313	3422	3370	626.7	-12.5	225	2048	0.00	2.58	0.00	0.000	260	0.000	0.109	2486	3742	3395	3421	3369	0	0	0	0	0	0	15.11	14.77	15.14
2062	-0.93	-146.0	2487	3744	3424	3366	629.4	-13.2	229	2069	0.00	2.47	0.00	0.000	1030	0.000	0.048	2485	2300	3395	3422	3369	0	0	0	0	0	0	14.90	14.85	14.93
2374	-0.93	-146.0	2485	2300	3421	3370	668.9	-12.4	261	2380	0.00	2.47	0.00	0.000	516	0.000	0.082	2486	896	3395	3421	3369	0	0	0	0	0	0	15.07	14.78	15.09
2419	-0.93	-146.0	2485	898	3422	3370	674.5	-12.6	270	2429	0.00	2.50	0.00	0.000	1030	0.000	0.073	2475	2299	3395	3421	3369	0	0	0	0	0	0	14.85	14.78	14.90
2744	-0.93	-146.0	2476	2300	3424	3370	715.1	-12.4	295	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2299	3392	3421	3364	0	0	0	0	0	0	15.07	15.10	15.10
3105	-0.93	-146.0	2476	2300	3422	3369	760.1	-12.7	307	3110	0.00	2.50	0.00	0.000	516	0.000	0.082	2475	896	3395	3422	3368	0	0	0	0	0	0	15.09	14.78	15.11
3199	-0.93	-146.0	2475	897	3421	3369	772.5	-12.9	326	3205	0.12	2.53	0.00	0.000	3078	0.265	0.073	2498	2309	3395	3422	3368	0	0	0	0	0	0	14.61	14.79	14.77
3585	-0.93	-146.0	2497	2309	3421	3369	814.9	-10.7	343	3590	0.00	2.53	0.00	0.000	516	0.000	0.083	2498	895	3395	3422	3368	0	0	0	0	0	0	15.08	14.79	15.11
3614	-0.93	-146.0	2497	895	3421	3369	817.9	-10.1	349	3621	0.00	2.53	0.00	0.000	1030	0.000	0.073	2489	2308	3395	3422	3368	0	0	0	0	0	0	14.88	14.79	14.91
4006	-0.93	-146.0	2490	2309	3422	3369	861.8	-11.3	367	4011	0.00	2.50	0.00	0.000	516	0.000	0.081	2489	893	3395	3423	3368	0	0	0	0	0	0	15.09	14.78	15.11
4051	-0.93	-146.0	2490	892	3424	3369	866.9	-11.8	376	4056	0.00	2.50	0.00	0.000	1030	0.000	0.073	2479	2320	3395	3422	3368	0	0	0	0	0	0	14.95	14.82	14.98
4426	-0.93	-146.0	2481	2321	3424	3369	914.4	-12.8	391	4432	0.00	2.53	0.00	0.000	516	0.000	0.082	2479	895	3395	3422	3369	0	0	0	0	0	0	15.09	14.82	15.11
4456	-0.93	-146.0	2480	896	3423	3368	918.1	-11.0	397	4463	0.00	2.53	0.00	0.000	1030	0.000	0.076	2475	2302	3394	3421	3368	0	0	0	0	0	0	14.88	14.80	14.92
4696	end dive: BOTTOM_OBSTACLE_DETECTED
state	4696	begin apogee
4699	-0.23	0.0	2476	2068	3422	3369	946.9	-11.8	410	5090	0.90	0.08	384.83	1.306	10246	0.226	0.176	2725	2115	2780	2817	2744	0	0	0	0	0	0	14.67	13.70	13.24
5091	end apogee: CONTROL_FINISHED_OK
state	5091	begin climb
5093	0.93	146.0	2727	2116	2818	2743	952.6	0.0	423	5407	1.25	2.78	303.38	1.400	10756	0.136	0.093	3104	714	2182	2226	2138	0	0	0	0	0	0	13.72	13.47	13.03
5556	0.93	146.0	3105	715	2211	2130	906.7	12.1	514	5562	0.00	2.58	0.00	0.000	1030	0.000	0.062	3104	2098	2169	2209	2130	0	0	0	0	0	0	14.06	14.02	14.09
5941	0.93	146.0	3104	2098	2207	2127	857.5	13.0	531	5947	0.00	2.65	0.00	0.000	260	0.000	0.100	3104	3537	2167	2207	2127	0	0	0	0	0	0	14.72	14.47	14.74
5996	0.93	146.0	3105	3538	2208	2127	849.2	14.8	542	6004	0.00	2.50	0.00	0.000	1030	0.000	0.051	3114	2119	2166	2206	2127	0	0	0	0	0	0	14.57	14.52	14.59
6362	0.93	146.0	3114	2120	2204	2125	801.6	13.1	555	6367	0.00	2.53	0.00	0.000	260	0.000	0.099	3114	3511	2165	2205	2125	0	0	0	0	0	0	14.89	14.65	14.92
6396	0.93	146.0	3114	3512	2204	2126	796.8	14.8	562	6402	0.00	2.45	0.00	0.000	1030	0.000	0.052	3124	2102	2164	2204	2125	0	0	0	0	0	0	14.72	14.66	14.76
6782	0.93	146.0	3125	2103	2205	2129	744.5	13.5	579	6787	0.00	2.58	0.00	0.000	260	0.000	0.101	3124	3521	2163	2203	2124	0	0	0	0	0	0	14.97	14.73	15.00
6806	0.93	146.0	3124	3521	2203	2125	741.0	14.3	584	6814	0.08	2.47	0.00	0.000	5126	0.265	0.053	3099	2098	2163	2203	2124	0	0	0	0	0	0	14.61	14.74	14.82
7171	0.93	146.0	3100	2099	2205	2124	698.3	11.7	597	7178	0.00	2.60	0.00	0.000	260	0.000	0.099	3099	3539	2164	2203	2125	0	0	0	0	0	0	15.06	14.77	15.09
7197	0.93	146.0	3100	3539	2205	2124	694.9	13.3	602	7204	0.00	2.50	0.00	0.000	1030	0.000	0.052	3109	2093	2163	2203	2124	0	0	0	0	0	0	14.86	14.81	14.90
7502	0.93	146.0	3108	2094	2202	2124	658.3	11.9	633	7503	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2093	2163	2202	2124	0	0	0	0	0	0	15.07	15.10	15.10
7802	0.93	146.0	3109	2094	2204	2125	623.1	11.5	663	7808	0.00	2.60	0.00	0.000	260	0.000	0.097	3108	3513	2163	2202	2124	0	0	0	0	0	0	15.09	14.77	15.11
7857	0.93	146.0	3108	3512	2201	2124	616.0	13.0	674	7864	0.00	2.45	0.00	0.000	1030	0.000	0.050	3119	2092	2162	2202	2123	0	0	0	0	0	0	14.88	14.84	14.92
8162	0.93	146.0	3118	2094	2202	2124	580.1	11.7	705	8169	0.00	2.55	0.00	0.000	260	0.000	0.096	3119	3511	2162	2201	2124	0	0	0	0	0	0	15.09	14.78	15.12
8194	0.93	146.0	3120	3512	2203	2124	576.0	12.8	711	8199	0.00	2.45	0.00	0.000	1030	0.000	0.050	3128	2091	2163	2202	2124	0	0	0	0	0	0	14.89	14.83	14.94
8504	0.93	146.0	3130	2091	2203	2124	538.3	12.5	743	8504	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2090	2161	2200	2123	0	0	0	0	0	0	15.11	15.14	15.13
8804	0.93	146.0	3128	2090	2201	2124	502.0	12.3	773	8810	0.00	2.55	0.00	0.000	260	0.000	0.095	3128	3511	2162	2201	2123	0	0	0	0	0	0	15.07	14.82	15.09
8870	0.93	146.0	3129	3512	2203	2124	493.0	13.8	786	8877	0.12	2.42	0.00	0.000	5126	0.247	0.049	3095	2098	2161	2200	2123	0	0	0	0	0	0	14.69	14.85	14.92
9174	0.93	146.0	3095	2098	2200	2124	460.8	10.2	817	9181	0.00	2.60	0.00	0.000	260	0.000	0.098	3095	3544	2162	2200	2124	0	0	0	0	0	0	15.12	14.81	15.13
9206	0.93	146.0	3095	3544	2200	2124	457.4	11.5	823	9211	0.00	2.47	0.00	0.000	1030	0.000	0.050	3105	2083	2162	2201	2123	0	0	0	0	0	0	14.91	14.85	14.92
9515	0.93	146.0	3106	2084	2202	2122	423.7	10.9	855	9521	0.00	2.58	0.00	0.000	260	0.000	0.099	3105	3513	2161	2200	2123	0	0	0	0	0	0	15.12	14.81	15.15
9585	0.93	146.0	3104	3513	2200	2124	415.2	11.9	869	9592	0.00	2.45	0.00	0.000	1030	0.000	0.051	3115	2091	2162	2201	2123	0	0	0	0	0	0	14.90	14.85	14.93
9896	0.93	146.0	3115	2091	2200	2124	381.9	11.2	901	9903	0.00	2.60	0.00	0.000	260	0.000	0.096	3115	3535	2161	2200	2123	0	0	0	0	0	0	15.12	14.78	15.14
9922	0.93	146.0	3114	3536	2200	2124	378.8	11.4	906	9929	0.00	2.47	0.00	0.000	1030	0.000	0.050	3125	2097	2160	2199	2122	0	0	0	0	0	0	14.90	14.85	14.93
9996	end climb: SURFACE_OBSTACLE_DETECTED
state	9996	begin subsurface finish
9999	0.01	4.4	3126	2097	2201	2124	370.5	11.0	914	10009	1.12	0.00	-2.28	0.043	20486	0.208	0.000	2802	2096	2779	2812	2746	0	0	0	0	0	0	14.70	13.56	14.92
10009	end subsurface finish: CONTROL_FINISHED_OK
state	10009	begin surface