Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 159 * 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 159 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 29 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 159 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 26 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 160218,211544,-7421.8140,-11213.9941,0,4124.3,0,53.3,0.0,0.0,0,0.0 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 369.91 MHEAD_RNG_PITCHd_Wd 129.6,9617,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.1 D_GRID 990

GPS2 160218,211544,-7421.8140,-11213.9941,0,4124.3,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 370.3,1.027357,7 ALTIM_BOTTOM_PING 978.1,13.5

FINISH2 369.4 _24V_AH 13.02,67.234

RAFOS_CLK 394 _10V_AH 12.50,0.000

RAFOS 0,1518825671,0.032778,0.019722,119,68,63,62,55,53,548,167,208,199,133,143 FG_AHR_24Vo 0.000

RAFOS_FIX -7423.345703,-11206.271484,170218,000056,3,139,0.44 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 MEM 280048

TT8_MAMPS 0.040446,0.362516 DATA_FILE_SIZE 33340,934

HUMID 49.17 CAP_FILE_SIZE 118264,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,1001340928

TCM_TEMP 12.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1458.5

ALTIM_TOP_PING 376.4,12.2 GPS 170218,001456,-7423.346,-11206.271,0,4138.7,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 296 18.07 nil 0 0 0.00

Roll_motor 91 156 187.70 nil 0 0 0.00

VBD_pump_during_apogee 708 1434 13231.17 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 10625 5 727.79

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 248.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7876 2 227.45

TT8_Active 755 13 130.47

TT8_Sampling 1960 34 852.51

TT8_CF8 97 52 64.57

TT8_Kalman 0 0 0.00

Analog_circuits 1492 10 203.32

GPS_charging 0 0 0.00

Compass 1337 7 125.18

RAFOS 720 1 13.50

Transponder 321 30 120.59

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

383.7 20.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

402.0 44.20 9000.00 0.0 0.00 0.00 44.20 0.0 1.28 1.00

930.2 50.40 9000.00 0.0 0.03 0.47 50.40 0.0 0.01 1.00

936.4 50.70 9000.00 0.0 0.01 1.00 50.70 0.0 0.05 1.00

942.7 49.80 9000.00 0.0 -0.05 0.38 49.80 992.5 -0.14 1.00

962.3 30.20 30.80 993.1 -0.84 0.96 30.20 992.5 -1.00 1.00

970.2 21.80 21.90 992.1 -1.01 1.00 21.80 992.0 -1.06 1.00

978.1 13.50 13.50 991.6 -1.05 1.00 13.50 991.6 -1.05 1.00

983.7 11.40 9000.00 0.0 -0.80 0.95 11.40 995.1 -0.38 1.00

977.6 10.40 9000.00 0.0 -0.06 0.02 10.40 967.2 0.16 1.00

970.9 6.60 9000.00 0.0 0.38 0.91 6.60 964.3 0.57 1.00

964.3 15.70 9000.00 0.0 -0.39 0.33 15.70 0.0 -1.38 1.00

939.3 14.40 9000.00 0.0 -0.17 0.32 14.40 924.9 0.05 1.00

906.8 53.50 9000.00 0.0 -0.68 0.79 53.50 0.0 -1.20 1.00

433.1 70.40 9000.00 0.0 -0.08 0.59 70.40 0.0 -0.04 1.00

426.7 63.50 9000.00 0.0 -0.03 0.83 63.50 363.2 1.08 1.00

420.5 57.20 57.20 363.3 1.04 1.00 57.20 363.3 1.02 1.00

414.3 51.10 51.10 363.2 1.00 1.00 51.10 363.2 0.98 1.00

408.2 44.70 44.70 363.5 1.02 1.00 44.70 363.5 1.05 1.00

402.1 38.50 38.40 363.7 1.03 1.00 38.50 363.6 1.02 1.00

395.7 31.90 31.90 363.8 1.02 1.00 31.90 363.8 1.03 1.00

389.1 25.10 25.10 364.0 1.02 1.00 25.10 364.0 1.03 1.00

382.5 18.40 18.40 364.1 1.02 1.00 18.40 364.1 1.02 1.00

376.4 12.20 12.20 364.2 1.02 1.00 12.20 364.2 1.02 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 -0.93 -146.0 2801 2318 2811 2747 0.0 0.0 0 12 0.00 0.00 -2.12 0.046 16390 0.000 0.000 2802 2318 3394 3420 3368 0 0 0 0 0 0 15.08 13.53 15.10

13 -0.93 -146.0 2802 2317 3419 3370 0.0 0.0 0 15 0.93 0.00 0.00 0.000 4102 0.112 0.000 2496 2318 3394 3420 3369 0 0 0 0 0 0 14.82 14.97 14.95

309 -0.93 -146.0 2497 2320 3420 3369 404.5 -12.1 30 315 0.00 2.58 0.00 0.000 516 0.000 0.085 2496 878 3393 3418 3368 0 0 0 0 0 0 15.11 14.78 15.13

440 -0.93 -146.0 2497 879 3421 3369 421.6 -13.3 56 445 0.00 2.50 0.00 0.000 1030 0.000 0.073 2486 2301 3394 3419 3369 0 0 0 0 0 0 14.94 14.82 14.97

749 -0.93 -146.0 2485 2302 3418 3368 462.0 -13.1 88 750 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2301 3393 3419 3368 0 0 0 0 0 0 15.11 15.14 15.13

1049 -0.93 -146.0 2487 2303 3421 3368 501.1 -12.8 118 1055 0.00 2.55 0.00 0.000 516 0.000 0.084 2485 893 3392 3418 3367 0 0 0 0 0 0 15.11 14.77 15.14

1084 -0.93 -146.0 2487 894 3421 3368 505.7 -13.3 125 1093 0.00 2.53 0.00 0.000 1030 0.000 0.073 2475 2300 3392 3418 3367 0 0 0 0 0 0 14.86 14.78 14.90

1390 -0.93 -146.0 2476 2301 3421 3368 546.0 -13.0 156 1395 0.00 2.50 0.00 0.000 516 0.000 0.081 2475 888 3392 3418 3367 0 0 0 0 0 0 15.06 14.78 15.09

1424 -0.93 -146.0 2476 888 3420 3368 550.7 -13.5 163 1432 0.12 2.55 0.00 0.000 3078 0.269 0.073 2497 2308 3392 3418 3367 0 0 0 0 0 0 14.62 14.79 14.78

1729 -0.93 -146.0 2497 2308 3418 3367 587.5 -11.6 194 1730 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2308 3392 3419 3366 0 0 0 0 0 0 15.10 15.13 15.12

2029 -0.93 -146.0 2497 2308 3418 3369 623.6 -12.1 224 2035 0.00 2.55 0.00 0.000 516 0.000 0.083 2498 899 3391 3418 3365 0 0 0 0 0 0 15.10 14.75 15.12

2064 -0.93 -146.0 2500 900 3421 3367 627.9 -12.4 231 2071 0.00 2.53 0.00 0.000 1030 0.000 0.072 2489 2309 3392 3418 3366 0 0 0 0 0 0 14.87 14.79 14.93

2369 -0.93 -146.0 2496 2310 3420 3367 664.7 -11.8 262 2376 0.00 2.55 0.00 0.000 516 0.000 0.083 2489 899 3392 3418 3366 0 0 0 0 0 0 15.11 14.75 15.13

2395 -0.93 -146.0 2490 900 3421 3366 667.8 -13.2 267 2402 0.00 2.53 0.00 0.000 1030 0.000 0.073 2479 2308 3392 3418 3366 0 0 0 0 0 0 14.85 14.78 14.90

2700 -0.93 -146.0 2480 2309 3421 3368 704.2 -12.2 296 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2308 3391 3418 3365 0 0 0 0 0 0 15.11 15.14 15.14

3060 -0.93 -146.0 2478 2309 3419 3367 748.9 -12.4 308 3066 0.00 2.50 0.00 0.000 516 0.000 0.081 2479 897 3394 3418 3371 0 0 0 0 0 0 15.11 14.78 15.14

3120 -0.93 -146.0 2478 897 3418 3365 756.5 -12.5 320 3125 0.00 2.53 0.00 0.000 1030 0.000 0.074 2474 2305 3392 3419 3365 0 0 0 0 0 0 14.86 14.79 14.91

3510 -0.93 -146.0 2476 2306 3420 3362 804.0 -12.7 338 3510 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2305 3392 3419 3365 0 0 0 0 0 0 15.14 15.16 15.15

3870 -0.93 -146.0 2476 2306 3420 3366 846.2 -11.2 350 3876 0.00 2.50 0.00 0.000 516 0.000 0.081 2474 893 3391 3418 3365 0 0 0 0 0 0 15.14 14.79 15.16

3910 -0.93 -146.0 2474 893 3415 3366 850.7 -11.8 358 3916 0.15 2.50 0.00 0.000 3078 0.297 0.072 2496 2319 3392 3419 3365 0 0 0 0 0 0 14.64 14.82 14.89

4290 -0.93 -146.0 2496 2319 3418 3365 892.8 -11.3 374 4296 0.00 2.58 0.00 0.000 516 0.000 0.083 2497 868 3392 3419 3366 0 0 0 0 0 0 15.14 14.78 15.16

4350 -0.93 -146.0 2498 869 3421 3366 899.4 -11.6 386 4356 0.00 2.55 0.00 0.000 1030 0.000 0.072 2488 2302 3391 3418 3365 0 0 0 0 0 0 14.88 14.81 14.92

4741 -0.93 -146.0 2487 2303 3418 3365 942.7 -10.5 404 4746 0.00 2.50 0.00 0.000 516 0.000 0.082 2488 891 3392 3419 3365 0 0 0 0 0 0 15.07 14.79 15.11

4780 -0.93 -146.0 2487 891 3418 3363 947.2 -11.4 412 4786 0.00 2.53 0.00 0.000 1030 0.000 0.071 2477 2307 3391 3419 3364 0 0 0 0 0 0 14.88 14.81 14.92

5069 end dive: BOTTOM_OBSTACLE_DETECTED

state 5069 begin apogee

5073 -0.23 0.0 2478 2059 3418 3366 981.6 -13.1 425 5470 0.90 0.10 393.08 1.291 10246 0.226 0.157 2726 2120 2782 2819 2745 0 0 0 0 0 0 14.66 13.71 13.24

5472 end apogee: CONTROL_FINISHED_OK

state 5472 begin climb

5473 0.93 146.0 2728 2121 2818 2744 985.5 0.0 438 5803 1.25 2.72 315.40 1.434 10756 0.138 0.086 3105 728 2180 2222 2138 0 0 0 0 0 0 13.72 13.53 13.02

5932 0.93 146.0 3107 728 2214 2133 942.4 12.2 528 5938 0.00 2.53 0.00 0.000 1030 0.000 0.062 3106 2090 2172 2212 2132 0 0 0 0 0 0 14.06 14.00 14.09

6323 0.93 146.0 3106 2091 2210 2129 890.6 13.4 546 6329 0.00 2.62 0.00 0.000 260 0.000 0.099 3105 3522 2168 2208 2129 0 0 0 0 0 0 14.69 14.47 14.72

6373 0.93 146.0 3107 3522 2210 2129 882.7 14.6 556 6379 0.00 2.45 0.00 0.000 1030 0.000 0.050 3114 2130 2168 2208 2128 0 0 0 0 0 0 14.59 14.53 14.61

6743 0.93 146.0 3117 2130 2206 2130 833.6 13.3 570 6749 0.00 2.60 0.00 0.000 516 0.000 0.099 3126 700 2167 2206 2129 0 0 0 0 0 0 14.92 14.64 14.95

6773 0.93 146.0 3125 701 2205 2126 829.5 15.7 576 6779 0.00 2.47 0.00 0.000 1030 0.000 0.064 3125 2102 2166 2205 2127 0 0 0 0 0 0 14.73 14.68 14.78

7163 0.93 146.0 3125 2102 2204 2128 777.7 13.2 594 7169 0.00 2.58 0.00 0.000 260 0.000 0.099 3125 3538 2165 2204 2127 0 0 0 0 0 0 15.01 14.73 15.03

7233 0.93 146.0 3124 3539 2204 2128 768.1 14.6 608 7239 0.12 2.50 0.00 0.000 5126 0.241 0.051 3098 2097 2165 2204 2127 0 0 0 0 0 0 14.62 14.77 14.87

7613 0.93 146.0 3098 2098 2205 2127 723.3 11.4 624 7614 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2097 2165 2204 2126 0 0 0 0 0 0 15.05 15.08 15.07

7974 0.93 146.0 3098 2097 2203 2125 680.3 12.2 646 7979 0.00 2.55 0.00 0.000 260 0.000 0.099 3098 3513 2164 2203 2125 0 0 0 0 0 0 15.04 14.79 15.07

8033 0.93 146.0 3100 3514 2205 2126 672.1 13.8 658 8039 0.00 2.45 0.00 0.000 1030 0.000 0.051 3107 2089 2164 2203 2125 0 0 0 0 0 0 14.88 14.82 14.90

8344 0.93 146.0 3106 2090 2203 2126 633.8 12.5 690 8344 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2089 2164 2203 2125 0 0 0 0 0 0 15.08 15.11 15.11

8644 0.93 146.0 3108 2090 2204 2126 597.6 11.6 720 8650 0.00 2.55 0.00 0.000 260 0.000 0.098 3107 3515 2163 2202 2125 0 0 0 0 0 0 15.09 14.80 15.11

8679 0.93 146.0 3108 3511 2205 2126 593.0 12.9 727 8687 0.00 2.42 0.00 0.000 1030 0.000 0.051 3116 2098 2163 2202 2125 0 0 0 0 0 0 14.90 14.85 14.92

8985 0.93 146.0 3115 2098 2201 2126 556.4 12.2 758 8986 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2095 2163 2202 2125 0 0 0 0 0 0 15.06 15.09 15.09

9285 0.93 146.0 3116 2099 2200 2125 520.3 11.8 788 9290 0.00 2.58 0.00 0.000 260 0.000 0.099 3117 3506 2163 2202 2125 0 0 0 0 0 0 15.11 14.78 15.14

9329 0.93 146.0 3117 3506 2202 2125 514.5 13.1 797 9337 0.00 2.42 0.00 0.000 1030 0.000 0.052 3126 2100 2163 2202 2125 0 0 0 0 0 0 14.90 14.85 14.93

9635 0.93 146.0 3126 2100 2202 2125 477.5 11.9 828 9635 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2100 2162 2201 2124 0 0 0 0 0 0 15.11 15.18 15.14

9935 0.93 146.0 3128 2100 2204 2125 441.7 12.1 858 9940 0.00 2.55 0.00 0.000 260 0.000 0.099 3126 3520 2162 2201 2124 0 0 0 0 0 0 15.12 14.81 15.15

9969 0.93 146.0 3128 3521 2203 2125 437.1 13.5 865 9978 0.12 2.47 0.00 0.000 5126 0.246 0.051 3101 2086 2162 2201 2124 0 0 0 0 0 0 14.66 14.85 14.81

10275 0.93 146.0 3102 2086 2203 2124 405.0 10.4 896 10280 0.00 2.58 0.00 0.000 260 0.000 0.096 3101 3524 2162 2201 2124 0 0 0 0 0 0 15.12 14.80 15.15

10314 0.93 146.0 3100 3525 2201 2124 400.3 12.2 904 10320 0.00 2.47 0.00 0.000 1030 0.000 0.051 3110 2087 2162 2201 2123 0 0 0 0 0 0 14.90 14.85 14.94

10594 end climb: SURFACE_OBSTACLE_DETECTED

state 10594 begin subsurface finish

10598 0.01 7.3 3111 2088 2203 2125 370.3 10.4 933 10608 1.08 0.00 -2.20 0.044 20486 0.206 0.000 2801 2087 2763 2795 2731 0 0 0 0 0 0 14.71 14.01 14.93

10608 end subsurface finish: CONTROL_FINISHED_OK

state 10608 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	159	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	29	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	160218,211544,-7421.8140,-11213.9941,0,4124.3,0,53.3,0.0,0.0,0,0.0	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	369.91	MHEAD_RNG_PITCHd_Wd	129.6,9617,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.1	D_GRID	990
GPS2	160218,211544,-7421.8140,-11213.9941,0,4124.3,0,53.3,0.0,0.0,0,0.0

FINISH1	370.3,1.027357,7	ALTIM_BOTTOM_PING	978.1,13.5
FINISH2	369.4	_24V_AH	13.02,67.234
RAFOS_CLK	394	_10V_AH	12.50,0.000
RAFOS	0,1518825671,0.032778,0.019722,119,68,63,62,55,53,548,167,208,199,133,143	FG_AHR_24Vo	0.000
RAFOS_FIX	-7423.345703,-11206.271484,170218,000056,3,139,0.44	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280048
TT8_MAMPS	0.040446,0.362516	DATA_FILE_SIZE	33340,934
HUMID	49.17	CAP_FILE_SIZE	118264,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,1001340928
TCM_TEMP	12.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1458.5
ALTIM_TOP_PING	376.4,12.2	GPS	170218,001456,-7423.346,-11206.271,0,4138.7,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	296	18.07	nil	0	0	0.00
Roll_motor	91	156	187.70	nil	0	0	0.00
VBD_pump_during_apogee	708	1434	13231.17	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	10625	5	727.79
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	248.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7876	2	227.45
TT8_Active	755	13	130.47
TT8_Sampling	1960	34	852.51
TT8_CF8	97	52	64.57
TT8_Kalman	0	0	0.00
Analog_circuits	1492	10	203.32
GPS_charging	0	0	0.00
Compass	1337	7	125.18
RAFOS	720	1	13.50
Transponder	321	30	120.59

		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
383.7	20.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
402.0	44.20	9000.00	0.0	0.00	0.00	44.20	0.0	1.28	1.00
930.2	50.40	9000.00	0.0	0.03	0.47	50.40	0.0	0.01	1.00
936.4	50.70	9000.00	0.0	0.01	1.00	50.70	0.0	0.05	1.00
942.7	49.80	9000.00	0.0	-0.05	0.38	49.80	992.5	-0.14	1.00
962.3	30.20	30.80	993.1	-0.84	0.96	30.20	992.5	-1.00	1.00
970.2	21.80	21.90	992.1	-1.01	1.00	21.80	992.0	-1.06	1.00
978.1	13.50	13.50	991.6	-1.05	1.00	13.50	991.6	-1.05	1.00
983.7	11.40	9000.00	0.0	-0.80	0.95	11.40	995.1	-0.38	1.00

977.6	10.40	9000.00	0.0	-0.06	0.02	10.40	967.2	0.16	1.00
970.9	6.60	9000.00	0.0	0.38	0.91	6.60	964.3	0.57	1.00
964.3	15.70	9000.00	0.0	-0.39	0.33	15.70	0.0	-1.38	1.00
939.3	14.40	9000.00	0.0	-0.17	0.32	14.40	924.9	0.05	1.00
906.8	53.50	9000.00	0.0	-0.68	0.79	53.50	0.0	-1.20	1.00
433.1	70.40	9000.00	0.0	-0.08	0.59	70.40	0.0	-0.04	1.00
426.7	63.50	9000.00	0.0	-0.03	0.83	63.50	363.2	1.08	1.00
420.5	57.20	57.20	363.3	1.04	1.00	57.20	363.3	1.02	1.00
414.3	51.10	51.10	363.2	1.00	1.00	51.10	363.2	0.98	1.00
408.2	44.70	44.70	363.5	1.02	1.00	44.70	363.5	1.05	1.00
402.1	38.50	38.40	363.7	1.03	1.00	38.50	363.6	1.02	1.00
395.7	31.90	31.90	363.8	1.02	1.00	31.90	363.8	1.03	1.00
389.1	25.10	25.10	364.0	1.02	1.00	25.10	364.0	1.03	1.00
382.5	18.40	18.40	364.1	1.02	1.00	18.40	364.1	1.02	1.00
376.4	12.20	12.20	364.2	1.02	1.00	12.20	364.2	1.02	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	-0.93	-146.0	2801	2318	2811	2747	0.0	0.0	0	12	0.00	0.00	-2.12	0.046	16390	0.000	0.000	2802	2318	3394	3420	3368	0	0	0	0	0	0	15.08	13.53	15.10
13	-0.93	-146.0	2802	2317	3419	3370	0.0	0.0	0	15	0.93	0.00	0.00	0.000	4102	0.112	0.000	2496	2318	3394	3420	3369	0	0	0	0	0	0	14.82	14.97	14.95
309	-0.93	-146.0	2497	2320	3420	3369	404.5	-12.1	30	315	0.00	2.58	0.00	0.000	516	0.000	0.085	2496	878	3393	3418	3368	0	0	0	0	0	0	15.11	14.78	15.13
440	-0.93	-146.0	2497	879	3421	3369	421.6	-13.3	56	445	0.00	2.50	0.00	0.000	1030	0.000	0.073	2486	2301	3394	3419	3369	0	0	0	0	0	0	14.94	14.82	14.97
749	-0.93	-146.0	2485	2302	3418	3368	462.0	-13.1	88	750	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2301	3393	3419	3368	0	0	0	0	0	0	15.11	15.14	15.13
1049	-0.93	-146.0	2487	2303	3421	3368	501.1	-12.8	118	1055	0.00	2.55	0.00	0.000	516	0.000	0.084	2485	893	3392	3418	3367	0	0	0	0	0	0	15.11	14.77	15.14
1084	-0.93	-146.0	2487	894	3421	3368	505.7	-13.3	125	1093	0.00	2.53	0.00	0.000	1030	0.000	0.073	2475	2300	3392	3418	3367	0	0	0	0	0	0	14.86	14.78	14.90
1390	-0.93	-146.0	2476	2301	3421	3368	546.0	-13.0	156	1395	0.00	2.50	0.00	0.000	516	0.000	0.081	2475	888	3392	3418	3367	0	0	0	0	0	0	15.06	14.78	15.09
1424	-0.93	-146.0	2476	888	3420	3368	550.7	-13.5	163	1432	0.12	2.55	0.00	0.000	3078	0.269	0.073	2497	2308	3392	3418	3367	0	0	0	0	0	0	14.62	14.79	14.78
1729	-0.93	-146.0	2497	2308	3418	3367	587.5	-11.6	194	1730	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2308	3392	3419	3366	0	0	0	0	0	0	15.10	15.13	15.12
2029	-0.93	-146.0	2497	2308	3418	3369	623.6	-12.1	224	2035	0.00	2.55	0.00	0.000	516	0.000	0.083	2498	899	3391	3418	3365	0	0	0	0	0	0	15.10	14.75	15.12
2064	-0.93	-146.0	2500	900	3421	3367	627.9	-12.4	231	2071	0.00	2.53	0.00	0.000	1030	0.000	0.072	2489	2309	3392	3418	3366	0	0	0	0	0	0	14.87	14.79	14.93
2369	-0.93	-146.0	2496	2310	3420	3367	664.7	-11.8	262	2376	0.00	2.55	0.00	0.000	516	0.000	0.083	2489	899	3392	3418	3366	0	0	0	0	0	0	15.11	14.75	15.13
2395	-0.93	-146.0	2490	900	3421	3366	667.8	-13.2	267	2402	0.00	2.53	0.00	0.000	1030	0.000	0.073	2479	2308	3392	3418	3366	0	0	0	0	0	0	14.85	14.78	14.90
2700	-0.93	-146.0	2480	2309	3421	3368	704.2	-12.2	296	2700	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2308	3391	3418	3365	0	0	0	0	0	0	15.11	15.14	15.14
3060	-0.93	-146.0	2478	2309	3419	3367	748.9	-12.4	308	3066	0.00	2.50	0.00	0.000	516	0.000	0.081	2479	897	3394	3418	3371	0	0	0	0	0	0	15.11	14.78	15.14
3120	-0.93	-146.0	2478	897	3418	3365	756.5	-12.5	320	3125	0.00	2.53	0.00	0.000	1030	0.000	0.074	2474	2305	3392	3419	3365	0	0	0	0	0	0	14.86	14.79	14.91
3510	-0.93	-146.0	2476	2306	3420	3362	804.0	-12.7	338	3510	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2305	3392	3419	3365	0	0	0	0	0	0	15.14	15.16	15.15
3870	-0.93	-146.0	2476	2306	3420	3366	846.2	-11.2	350	3876	0.00	2.50	0.00	0.000	516	0.000	0.081	2474	893	3391	3418	3365	0	0	0	0	0	0	15.14	14.79	15.16
3910	-0.93	-146.0	2474	893	3415	3366	850.7	-11.8	358	3916	0.15	2.50	0.00	0.000	3078	0.297	0.072	2496	2319	3392	3419	3365	0	0	0	0	0	0	14.64	14.82	14.89
4290	-0.93	-146.0	2496	2319	3418	3365	892.8	-11.3	374	4296	0.00	2.58	0.00	0.000	516	0.000	0.083	2497	868	3392	3419	3366	0	0	0	0	0	0	15.14	14.78	15.16
4350	-0.93	-146.0	2498	869	3421	3366	899.4	-11.6	386	4356	0.00	2.55	0.00	0.000	1030	0.000	0.072	2488	2302	3391	3418	3365	0	0	0	0	0	0	14.88	14.81	14.92
4741	-0.93	-146.0	2487	2303	3418	3365	942.7	-10.5	404	4746	0.00	2.50	0.00	0.000	516	0.000	0.082	2488	891	3392	3419	3365	0	0	0	0	0	0	15.07	14.79	15.11
4780	-0.93	-146.0	2487	891	3418	3363	947.2	-11.4	412	4786	0.00	2.53	0.00	0.000	1030	0.000	0.071	2477	2307	3391	3419	3364	0	0	0	0	0	0	14.88	14.81	14.92
5069	end dive: BOTTOM_OBSTACLE_DETECTED
state	5069	begin apogee
5073	-0.23	0.0	2478	2059	3418	3366	981.6	-13.1	425	5470	0.90	0.10	393.08	1.291	10246	0.226	0.157	2726	2120	2782	2819	2745	0	0	0	0	0	0	14.66	13.71	13.24
5472	end apogee: CONTROL_FINISHED_OK
state	5472	begin climb
5473	0.93	146.0	2728	2121	2818	2744	985.5	0.0	438	5803	1.25	2.72	315.40	1.434	10756	0.138	0.086	3105	728	2180	2222	2138	0	0	0	0	0	0	13.72	13.53	13.02
5932	0.93	146.0	3107	728	2214	2133	942.4	12.2	528	5938	0.00	2.53	0.00	0.000	1030	0.000	0.062	3106	2090	2172	2212	2132	0	0	0	0	0	0	14.06	14.00	14.09
6323	0.93	146.0	3106	2091	2210	2129	890.6	13.4	546	6329	0.00	2.62	0.00	0.000	260	0.000	0.099	3105	3522	2168	2208	2129	0	0	0	0	0	0	14.69	14.47	14.72
6373	0.93	146.0	3107	3522	2210	2129	882.7	14.6	556	6379	0.00	2.45	0.00	0.000	1030	0.000	0.050	3114	2130	2168	2208	2128	0	0	0	0	0	0	14.59	14.53	14.61
6743	0.93	146.0	3117	2130	2206	2130	833.6	13.3	570	6749	0.00	2.60	0.00	0.000	516	0.000	0.099	3126	700	2167	2206	2129	0	0	0	0	0	0	14.92	14.64	14.95
6773	0.93	146.0	3125	701	2205	2126	829.5	15.7	576	6779	0.00	2.47	0.00	0.000	1030	0.000	0.064	3125	2102	2166	2205	2127	0	0	0	0	0	0	14.73	14.68	14.78
7163	0.93	146.0	3125	2102	2204	2128	777.7	13.2	594	7169	0.00	2.58	0.00	0.000	260	0.000	0.099	3125	3538	2165	2204	2127	0	0	0	0	0	0	15.01	14.73	15.03
7233	0.93	146.0	3124	3539	2204	2128	768.1	14.6	608	7239	0.12	2.50	0.00	0.000	5126	0.241	0.051	3098	2097	2165	2204	2127	0	0	0	0	0	0	14.62	14.77	14.87
7613	0.93	146.0	3098	2098	2205	2127	723.3	11.4	624	7614	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2097	2165	2204	2126	0	0	0	0	0	0	15.05	15.08	15.07
7974	0.93	146.0	3098	2097	2203	2125	680.3	12.2	646	7979	0.00	2.55	0.00	0.000	260	0.000	0.099	3098	3513	2164	2203	2125	0	0	0	0	0	0	15.04	14.79	15.07
8033	0.93	146.0	3100	3514	2205	2126	672.1	13.8	658	8039	0.00	2.45	0.00	0.000	1030	0.000	0.051	3107	2089	2164	2203	2125	0	0	0	0	0	0	14.88	14.82	14.90
8344	0.93	146.0	3106	2090	2203	2126	633.8	12.5	690	8344	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2089	2164	2203	2125	0	0	0	0	0	0	15.08	15.11	15.11
8644	0.93	146.0	3108	2090	2204	2126	597.6	11.6	720	8650	0.00	2.55	0.00	0.000	260	0.000	0.098	3107	3515	2163	2202	2125	0	0	0	0	0	0	15.09	14.80	15.11
8679	0.93	146.0	3108	3511	2205	2126	593.0	12.9	727	8687	0.00	2.42	0.00	0.000	1030	0.000	0.051	3116	2098	2163	2202	2125	0	0	0	0	0	0	14.90	14.85	14.92
8985	0.93	146.0	3115	2098	2201	2126	556.4	12.2	758	8986	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2095	2163	2202	2125	0	0	0	0	0	0	15.06	15.09	15.09
9285	0.93	146.0	3116	2099	2200	2125	520.3	11.8	788	9290	0.00	2.58	0.00	0.000	260	0.000	0.099	3117	3506	2163	2202	2125	0	0	0	0	0	0	15.11	14.78	15.14
9329	0.93	146.0	3117	3506	2202	2125	514.5	13.1	797	9337	0.00	2.42	0.00	0.000	1030	0.000	0.052	3126	2100	2163	2202	2125	0	0	0	0	0	0	14.90	14.85	14.93
9635	0.93	146.0	3126	2100	2202	2125	477.5	11.9	828	9635	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2100	2162	2201	2124	0	0	0	0	0	0	15.11	15.18	15.14
9935	0.93	146.0	3128	2100	2204	2125	441.7	12.1	858	9940	0.00	2.55	0.00	0.000	260	0.000	0.099	3126	3520	2162	2201	2124	0	0	0	0	0	0	15.12	14.81	15.15
9969	0.93	146.0	3128	3521	2203	2125	437.1	13.5	865	9978	0.12	2.47	0.00	0.000	5126	0.246	0.051	3101	2086	2162	2201	2124	0	0	0	0	0	0	14.66	14.85	14.81
10275	0.93	146.0	3102	2086	2203	2124	405.0	10.4	896	10280	0.00	2.58	0.00	0.000	260	0.000	0.096	3101	3524	2162	2201	2124	0	0	0	0	0	0	15.12	14.80	15.15
10314	0.93	146.0	3100	3525	2201	2124	400.3	12.2	904	10320	0.00	2.47	0.00	0.000	1030	0.000	0.051	3110	2087	2162	2201	2123	0	0	0	0	0	0	14.90	14.85	14.94
10594	end climb: SURFACE_OBSTACLE_DETECTED
state	10594	begin subsurface finish
10598	0.01	7.3	3111	2088	2203	2125	370.3	10.4	933	10608	1.08	0.00	-2.20	0.044	20486	0.206	0.000	2801	2087	2763	2795	2731	0	0	0	0	0	0	14.71	14.01	14.93
10608	end subsurface finish: CONTROL_FINISHED_OK
state	10608	begin surface