Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 165 * 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 165 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 46 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 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 165 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 46 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 20 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 170218,151512,-7419.8843,-11212.6211,0,3086.0,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11212.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 365.32 MHEAD_RNG_PITCHd_Wd 306.5,16454,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -0.9 D_GRID 990

GPS2 170218,151512,-7419.8843,-11212.6211,0,3086.0,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 365.8,1.027460,2 ALTIM_BOTTOM_PING 923.4,15.9

FINISH2 364.7 _24V_AH 12.98,69.268

RAFOS_CLK 362 _10V_AH 12.86,0.000

RAFOS 0,1518890487,18.032778,18.024166,116,57,54,54,52,50,420,215,191,205,158,723 FG_AHR_24Vo 0.000

RAFOS_FIX -7419.413086,-11217.191406,170218,181824,3,117,0.23 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.038199,0.287616 DATA_FILE_SIZE 30091,831

HUMID 48.97 CAP_FILE_SIZE 109485,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,1000701952

TCM_TEMP 12.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1456.4

ALTIM_TOP_PING 365.8,6.9 GPS 170218,181424,-7419.413,-11217.191,0,4116.7,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 296 17.92 nil 0 0 0.00

Roll_motor 95 755 937.40 nil 0 0 0.00

VBD_pump_during_apogee 728 1543 14600.29 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 9918 6 789.79

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 227.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7289 2 216.56

TT8_Active 834 13 148.37

TT8_Sampling 1776 34 795.01

TT8_CF8 97 52 66.01

TT8_Kalman 0 0 0.00

Analog_circuits 1473 10 206.58

GPS_charging 0 0 0.00

Compass 1191 7 114.77

RAFOS 720 1 13.89

Transponder 297 30 114.73

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

902.6 36.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

909.4 29.80 9000.00 0.0 0.00 0.00 29.80 939.2 -1.03 1.00

916.4 25.50 25.00 941.4 -0.82 0.98 25.50 941.9 -0.61 1.00

923.4 14.80 15.90 939.3 -1.07 0.94 14.80 938.2 -1.53 1.00

925.8 17.60 9000.00 0.0 -1.00 0.77 17.60 908.2 1.17 1.00

916.7 34.60 9000.00 0.0 -2.14 0.87 34.60 0.0 -1.87 1.00

423.0 65.00 9000.00 0.0 -0.08 0.88 65.00 0.0 -0.06 1.00

416.5 58.50 9000.00 0.0 -0.05 0.95 58.50 358.0 1.00 1.00

410.1 52.10 52.10 358.0 1.00 1.00 52.10 358.0 1.00 1.00

403.6 45.30 45.40 358.2 1.02 1.00 45.30 358.3 1.05 1.00

397.1 38.70 38.70 358.4 1.04 1.00 38.70 358.4 1.02 1.00

390.7 32.20 32.20 358.5 1.02 1.00 32.20 358.5 1.02 1.00

384.4 26.10 26.00 358.4 0.99 1.00 26.10 358.3 0.97 1.00

378.4 19.70 19.80 358.6 1.01 1.00 19.70 358.7 1.07 1.00

372.2 13.30 13.20 359.0 1.05 1.00 13.30 358.9 1.03 1.00

365.8 7.00 6.90 358.9 1.01 1.00 7.00 358.8 0.98 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.93 -146.0 2805 2265 2822 2761 0.0 0.0 0 12 0.00 0.10 -2.10 0.045 16390 0.000 0.756 2805 2322 3395 3417 3373 0 0 0 0 0 0 15.09 13.52 15.07

14 -0.93 -146.0 2804 2322 3415 3375 0.0 0.0 0 16 0.95 0.00 0.00 0.000 4102 0.111 0.000 2491 2322 3395 3417 3374 0 0 0 0 0 0 14.83 14.98 14.96

310 -0.93 -146.0 2492 2322 3418 3374 403.7 -13.7 30 316 0.00 2.55 0.00 0.000 516 0.000 0.083 2491 910 3395 3417 3373 0 0 0 0 0 0 15.11 14.76 15.13

461 -0.93 -146.0 2492 911 3419 3374 425.0 -14.3 60 466 0.00 2.42 0.00 0.000 1030 0.000 0.074 2481 2294 3395 3417 3373 0 0 0 0 0 0 14.94 14.82 14.97

770 -0.93 -146.0 2482 2295 3419 3373 469.8 -14.0 92 771 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2294 3394 3417 3372 0 0 0 0 0 0 15.10 15.13 15.12

1070 -0.93 -146.0 2483 2295 3419 3372 511.4 -13.8 122 1076 0.00 2.50 0.00 0.000 516 0.000 0.081 2481 906 3391 3411 3371 0 0 0 0 0 0 15.10 14.76 15.12

1120 -0.93 -146.0 2482 907 3419 3372 518.5 -14.3 132 1127 0.00 2.50 0.00 0.000 1030 0.000 0.074 2471 2303 3393 3416 3371 0 0 0 0 0 0 14.86 14.79 14.88

1431 -0.93 -146.0 2470 2304 3417 3371 563.0 -14.3 164 1432 0.12 0.00 0.00 0.000 2054 0.297 0.000 2496 2298 3394 3418 3371 0 0 0 0 0 0 14.63 14.90 14.85

1731 -0.93 -146.0 2495 2304 3417 3371 602.3 -13.1 194 1736 0.00 2.50 0.00 0.000 516 0.000 0.081 2496 916 3393 3417 3370 0 0 0 0 0 0 15.10 14.75 15.13

1785 -0.93 -146.0 2497 917 3419 3372 609.6 -13.2 205 1793 0.00 2.47 0.00 0.000 1030 0.000 0.073 2487 2299 3394 3419 3370 0 0 0 0 0 0 14.85 14.78 14.90

2091 -0.93 -146.0 2488 2300 3419 3371 649.2 -12.7 236 2096 0.00 2.50 0.00 0.000 516 0.000 0.079 2487 910 3393 3417 3370 0 0 0 0 0 0 15.10 14.75 15.13

2121 -0.93 -146.0 2488 911 3419 3371 653.1 -13.0 242 2126 0.00 2.47 0.00 0.000 1030 0.000 0.073 2477 2298 3393 3417 3370 0 0 0 0 0 0 14.86 14.78 14.90

2431 -0.93 -146.0 2478 2299 3419 3370 693.9 -13.3 274 2437 0.00 2.50 0.00 0.000 516 0.000 0.080 2477 907 3393 3417 3369 0 0 0 0 0 0 15.11 14.74 15.14

2481 -0.93 -146.0 2478 908 3419 3370 700.8 -13.7 284 2487 0.00 2.53 0.00 0.000 1030 0.000 0.076 2474 2311 3393 3416 3370 0 0 0 0 0 0 14.85 14.77 14.90

2852 -0.93 -146.0 2475 2312 3419 3370 748.2 -12.7 298 2857 0.00 2.47 0.00 0.000 516 0.000 0.079 2474 909 3393 3417 3369 0 0 0 0 0 0 15.07 14.78 15.09

2896 -0.93 -146.0 2473 909 3416 3369 754.1 -13.1 307 2903 0.12 2.50 0.00 0.000 3078 0.268 0.073 2498 2307 3393 3417 3369 0 0 0 0 0 0 14.61 14.79 14.76

3273 -0.93 -146.0 2500 2308 3419 3370 798.0 -11.9 322 3274 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2307 3393 3417 3369 0 0 0 0 0 0 15.08 15.12 15.10

3634 -0.93 -146.0 2500 2308 3419 3370 839.1 -11.5 334 3639 0.00 2.47 0.00 0.000 516 0.000 0.080 2498 908 3393 3417 3369 0 0 0 0 0 0 15.09 14.78 15.11

3733 -0.93 -146.0 2498 905 3417 3369 850.8 -11.8 354 3739 0.00 2.47 0.00 0.000 1030 0.000 0.070 2490 2300 3393 3417 3369 0 0 0 0 0 0 14.85 14.78 14.90

4114 -0.93 -146.0 2489 2301 3417 3369 895.6 -11.7 370 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2301 3393 3417 3369 0 0 0 0 0 0 15.09 15.12 15.11

4413 end dive: BOTTOM_OBSTACLE_DETECTED

state 4413 begin apogee

4417 -0.23 0.0 2488 2077 3416 3369 930.4 -11.6 380 4842 0.85 0.08 421.73 1.260 10246 0.225 0.181 2725 2115 2782 2817 2747 0 0 0 0 0 0 14.66 13.66 13.19

4844 end apogee: CONTROL_FINISHED_OK

state 4844 begin climb

4846 0.93 146.0 2727 2120 2815 2744 936.7 0.0 394 5165 1.30 2.80 306.90 1.544 10500 0.142 0.095 3100 3501 2181 2227 2135 0 0 0 0 0 0 13.69 13.50 12.98

5184 0.93 146.0 3099 3502 2224 2133 906.9 14.8 423 5190 0.00 2.58 0.00 0.000 1030 0.000 0.047 3109 2129 2178 2224 2132 0 0 0 0 0 0 13.73 13.69 13.76

5560 0.93 146.0 3108 2129 2214 2125 861.0 12.4 438 5560 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2129 2170 2215 2125 0 0 0 0 0 0 14.61 14.64 14.64

5920 0.93 146.0 3109 2129 2214 2125 818.3 11.8 450 5921 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2129 2168 2213 2124 0 0 0 0 0 0 14.86 14.89 14.89

6282 0.93 146.0 3108 2129 2210 2124 777.1 11.5 462 6287 0.00 2.50 0.00 0.000 260 0.000 0.099 3108 3516 2167 2210 2124 0 0 0 0 0 0 14.97 14.66 15.00

6307 0.93 146.0 3110 3516 2212 2125 773.7 12.7 467 6313 0.00 2.42 0.00 0.000 1030 0.000 0.051 3119 2095 2167 2210 2124 0 0 0 0 0 0 14.85 14.76 14.87

6673 0.93 146.0 3120 2095 2211 2124 729.2 12.1 480 6678 0.00 2.58 0.00 0.000 260 0.000 0.097 3119 3518 2166 2209 2124 0 0 0 0 0 0 15.00 14.76 15.03

6718 0.93 146.0 3118 3519 2208 2124 723.2 13.4 489 6724 0.00 2.42 0.00 0.000 1030 0.000 0.050 3129 2086 2166 2209 2123 0 0 0 0 0 0 14.90 14.81 14.92

7083 0.93 146.0 3130 2086 2210 2124 678.1 12.3 515 7089 0.00 2.60 0.00 0.000 260 0.000 0.097 3129 3506 2165 2208 2123 0 0 0 0 0 0 15.07 14.76 15.09

7114 0.93 146.0 3129 3506 2208 2124 674.0 14.0 521 7121 0.17 2.40 0.00 0.000 5126 0.264 0.050 3103 2087 2166 2209 2123 0 0 0 0 0 0 14.67 14.84 14.89

7425 0.93 146.0 3099 2087 2210 2124 640.8 10.4 553 7431 0.00 2.55 0.00 0.000 516 0.000 0.099 3106 696 2165 2208 2123 0 0 0 0 0 0 15.07 14.74 15.10

7440 0.93 146.0 3106 697 2208 2124 639.1 11.0 556 7448 0.00 2.47 0.00 0.000 1030 0.000 0.063 3106 2110 2165 2208 2123 0 0 0 0 0 0 14.88 14.81 14.90

7746 0.93 146.0 3108 2112 2209 2124 606.2 10.7 587 7751 0.00 2.55 0.00 0.000 260 0.000 0.101 3106 3509 2165 2207 2123 0 0 0 0 0 0 15.09 14.77 15.12

7785 0.93 146.0 3106 3510 2207 2124 601.5 12.1 595 7791 0.00 2.42 0.00 0.000 1030 0.000 0.050 3116 2098 2165 2207 2123 0 0 0 0 0 0 14.88 14.83 14.91

8096 0.93 146.0 3119 2099 2208 2124 566.6 11.2 627 8101 0.00 2.58 0.00 0.000 260 0.000 0.098 3117 3530 2165 2207 2123 0 0 0 0 0 0 15.10 14.79 15.13

8131 0.93 146.0 3117 3532 2209 2124 562.3 12.6 634 8138 0.00 2.47 0.00 0.000 1030 0.000 0.051 3125 2092 2165 2207 2123 0 0 0 0 0 0 14.90 14.85 14.91

8436 0.93 146.0 3127 2093 2208 2123 527.2 11.4 665 8442 0.00 2.58 0.00 0.000 516 0.000 0.102 3126 663 2164 2206 2123 0 0 0 0 0 0 15.11 14.79 15.14

8451 0.93 146.0 3127 664 2208 2124 525.4 11.2 668 8458 0.00 2.53 0.00 0.000 1030 0.000 0.064 3126 2104 2164 2206 2123 0 0 0 0 0 0 14.88 14.83 14.92

8756 0.93 146.0 3127 2105 2208 2123 491.1 11.3 699 8762 0.00 2.55 0.00 0.000 260 0.000 0.097 3126 3509 2164 2206 2123 0 0 0 0 0 0 15.11 14.78 15.14

8811 0.93 146.0 3126 3509 2207 2123 484.3 12.4 710 8818 0.00 2.45 0.00 0.000 1030 0.000 0.050 3126 2086 2163 2205 2122 0 0 0 0 0 0 14.89 14.83 14.93

9116 0.93 146.0 3127 2087 2207 2122 450.9 10.9 741 9123 0.00 2.58 0.00 0.000 260 0.000 0.098 3126 3518 2163 2205 2122 0 0 0 0 0 0 15.11 14.79 15.14

9152 0.93 146.0 3125 3519 2204 2123 446.7 11.9 748 9159 0.00 2.45 0.00 0.000 1030 0.000 0.052 3126 2100 2163 2205 2122 0 0 0 0 0 0 14.89 14.83 14.92

9457 0.93 146.0 3125 2100 2205 2122 413.4 10.6 779 9458 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2099 2163 2205 2122 0 0 0 0 0 0 15.13 15.14 15.14

9757 0.93 146.0 3126 2100 2206 2123 381.3 10.4 809 9763 0.00 2.55 0.00 0.000 260 0.000 0.097 3126 3521 2163 2204 2122 0 0 0 0 0 0 15.12 14.80 15.15

9812 0.93 146.0 3127 3522 2206 2123 374.9 11.8 820 9820 0.00 2.45 0.00 0.000 1030 0.000 0.049 3131 2094 2163 2204 2122 0 0 0 0 0 0 14.86 14.83 14.88

9897 end climb: SURFACE_OBSTACLE_DETECTED

state 9897 begin subsurface finish

9901 0.00 2.0 3131 2095 2204 2122 365.8 10.7 829 9913 1.12 2.58 -2.25 0.052 20996 0.210 0.123 2804 693 2793 2824 2762 0 0 0 0 0 0 14.69 13.52 14.81

9914 end subsurface finish: CONTROL_FINISHED_OK

state 9914 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	165	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	46	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	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	170218,151512,-7419.8843,-11212.6211,0,3086.0,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11212.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	365.32	MHEAD_RNG_PITCHd_Wd	306.5,16454,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-0.9	D_GRID	990
GPS2	170218,151512,-7419.8843,-11212.6211,0,3086.0,0,53.3,0.0,0.0,0,0.0

FINISH1	365.8,1.027460,2	ALTIM_BOTTOM_PING	923.4,15.9
FINISH2	364.7	_24V_AH	12.98,69.268
RAFOS_CLK	362	_10V_AH	12.86,0.000
RAFOS	0,1518890487,18.032778,18.024166,116,57,54,54,52,50,420,215,191,205,158,723	FG_AHR_24Vo	0.000
RAFOS_FIX	-7419.413086,-11217.191406,170218,181824,3,117,0.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280048
TT8_MAMPS	0.038199,0.287616	DATA_FILE_SIZE	30091,831
HUMID	48.97	CAP_FILE_SIZE	109485,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,1000701952
TCM_TEMP	12.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1456.4
ALTIM_TOP_PING	365.8,6.9	GPS	170218,181424,-7419.413,-11217.191,0,4116.7,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	296	17.92	nil	0	0	0.00
Roll_motor	95	755	937.40	nil	0	0	0.00
VBD_pump_during_apogee	728	1543	14600.29	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	9918	6	789.79
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	227.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7289	2	216.56
TT8_Active	834	13	148.37
TT8_Sampling	1776	34	795.01
TT8_CF8	97	52	66.01
TT8_Kalman	0	0	0.00
Analog_circuits	1473	10	206.58
GPS_charging	0	0	0.00
Compass	1191	7	114.77
RAFOS	720	1	13.89
Transponder	297	30	114.73

		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
902.6	36.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
909.4	29.80	9000.00	0.0	0.00	0.00	29.80	939.2	-1.03	1.00
916.4	25.50	25.00	941.4	-0.82	0.98	25.50	941.9	-0.61	1.00
923.4	14.80	15.90	939.3	-1.07	0.94	14.80	938.2	-1.53	1.00

925.8	17.60	9000.00	0.0	-1.00	0.77	17.60	908.2	1.17	1.00
916.7	34.60	9000.00	0.0	-2.14	0.87	34.60	0.0	-1.87	1.00
423.0	65.00	9000.00	0.0	-0.08	0.88	65.00	0.0	-0.06	1.00
416.5	58.50	9000.00	0.0	-0.05	0.95	58.50	358.0	1.00	1.00
410.1	52.10	52.10	358.0	1.00	1.00	52.10	358.0	1.00	1.00
403.6	45.30	45.40	358.2	1.02	1.00	45.30	358.3	1.05	1.00
397.1	38.70	38.70	358.4	1.04	1.00	38.70	358.4	1.02	1.00
390.7	32.20	32.20	358.5	1.02	1.00	32.20	358.5	1.02	1.00
384.4	26.10	26.00	358.4	0.99	1.00	26.10	358.3	0.97	1.00
378.4	19.70	19.80	358.6	1.01	1.00	19.70	358.7	1.07	1.00
372.2	13.30	13.20	359.0	1.05	1.00	13.30	358.9	1.03	1.00
365.8	7.00	6.90	358.9	1.01	1.00	7.00	358.8	0.98	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.93	-146.0	2805	2265	2822	2761	0.0	0.0	0	12	0.00	0.10	-2.10	0.045	16390	0.000	0.756	2805	2322	3395	3417	3373	0	0	0	0	0	0	15.09	13.52	15.07
14	-0.93	-146.0	2804	2322	3415	3375	0.0	0.0	0	16	0.95	0.00	0.00	0.000	4102	0.111	0.000	2491	2322	3395	3417	3374	0	0	0	0	0	0	14.83	14.98	14.96
310	-0.93	-146.0	2492	2322	3418	3374	403.7	-13.7	30	316	0.00	2.55	0.00	0.000	516	0.000	0.083	2491	910	3395	3417	3373	0	0	0	0	0	0	15.11	14.76	15.13
461	-0.93	-146.0	2492	911	3419	3374	425.0	-14.3	60	466	0.00	2.42	0.00	0.000	1030	0.000	0.074	2481	2294	3395	3417	3373	0	0	0	0	0	0	14.94	14.82	14.97
770	-0.93	-146.0	2482	2295	3419	3373	469.8	-14.0	92	771	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2294	3394	3417	3372	0	0	0	0	0	0	15.10	15.13	15.12
1070	-0.93	-146.0	2483	2295	3419	3372	511.4	-13.8	122	1076	0.00	2.50	0.00	0.000	516	0.000	0.081	2481	906	3391	3411	3371	0	0	0	0	0	0	15.10	14.76	15.12
1120	-0.93	-146.0	2482	907	3419	3372	518.5	-14.3	132	1127	0.00	2.50	0.00	0.000	1030	0.000	0.074	2471	2303	3393	3416	3371	0	0	0	0	0	0	14.86	14.79	14.88
1431	-0.93	-146.0	2470	2304	3417	3371	563.0	-14.3	164	1432	0.12	0.00	0.00	0.000	2054	0.297	0.000	2496	2298	3394	3418	3371	0	0	0	0	0	0	14.63	14.90	14.85
1731	-0.93	-146.0	2495	2304	3417	3371	602.3	-13.1	194	1736	0.00	2.50	0.00	0.000	516	0.000	0.081	2496	916	3393	3417	3370	0	0	0	0	0	0	15.10	14.75	15.13
1785	-0.93	-146.0	2497	917	3419	3372	609.6	-13.2	205	1793	0.00	2.47	0.00	0.000	1030	0.000	0.073	2487	2299	3394	3419	3370	0	0	0	0	0	0	14.85	14.78	14.90
2091	-0.93	-146.0	2488	2300	3419	3371	649.2	-12.7	236	2096	0.00	2.50	0.00	0.000	516	0.000	0.079	2487	910	3393	3417	3370	0	0	0	0	0	0	15.10	14.75	15.13
2121	-0.93	-146.0	2488	911	3419	3371	653.1	-13.0	242	2126	0.00	2.47	0.00	0.000	1030	0.000	0.073	2477	2298	3393	3417	3370	0	0	0	0	0	0	14.86	14.78	14.90
2431	-0.93	-146.0	2478	2299	3419	3370	693.9	-13.3	274	2437	0.00	2.50	0.00	0.000	516	0.000	0.080	2477	907	3393	3417	3369	0	0	0	0	0	0	15.11	14.74	15.14
2481	-0.93	-146.0	2478	908	3419	3370	700.8	-13.7	284	2487	0.00	2.53	0.00	0.000	1030	0.000	0.076	2474	2311	3393	3416	3370	0	0	0	0	0	0	14.85	14.77	14.90
2852	-0.93	-146.0	2475	2312	3419	3370	748.2	-12.7	298	2857	0.00	2.47	0.00	0.000	516	0.000	0.079	2474	909	3393	3417	3369	0	0	0	0	0	0	15.07	14.78	15.09
2896	-0.93	-146.0	2473	909	3416	3369	754.1	-13.1	307	2903	0.12	2.50	0.00	0.000	3078	0.268	0.073	2498	2307	3393	3417	3369	0	0	0	0	0	0	14.61	14.79	14.76
3273	-0.93	-146.0	2500	2308	3419	3370	798.0	-11.9	322	3274	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2307	3393	3417	3369	0	0	0	0	0	0	15.08	15.12	15.10
3634	-0.93	-146.0	2500	2308	3419	3370	839.1	-11.5	334	3639	0.00	2.47	0.00	0.000	516	0.000	0.080	2498	908	3393	3417	3369	0	0	0	0	0	0	15.09	14.78	15.11
3733	-0.93	-146.0	2498	905	3417	3369	850.8	-11.8	354	3739	0.00	2.47	0.00	0.000	1030	0.000	0.070	2490	2300	3393	3417	3369	0	0	0	0	0	0	14.85	14.78	14.90
4114	-0.93	-146.0	2489	2301	3417	3369	895.6	-11.7	370	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2301	3393	3417	3369	0	0	0	0	0	0	15.09	15.12	15.11
4413	end dive: BOTTOM_OBSTACLE_DETECTED
state	4413	begin apogee
4417	-0.23	0.0	2488	2077	3416	3369	930.4	-11.6	380	4842	0.85	0.08	421.73	1.260	10246	0.225	0.181	2725	2115	2782	2817	2747	0	0	0	0	0	0	14.66	13.66	13.19
4844	end apogee: CONTROL_FINISHED_OK
state	4844	begin climb
4846	0.93	146.0	2727	2120	2815	2744	936.7	0.0	394	5165	1.30	2.80	306.90	1.544	10500	0.142	0.095	3100	3501	2181	2227	2135	0	0	0	0	0	0	13.69	13.50	12.98
5184	0.93	146.0	3099	3502	2224	2133	906.9	14.8	423	5190	0.00	2.58	0.00	0.000	1030	0.000	0.047	3109	2129	2178	2224	2132	0	0	0	0	0	0	13.73	13.69	13.76
5560	0.93	146.0	3108	2129	2214	2125	861.0	12.4	438	5560	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2129	2170	2215	2125	0	0	0	0	0	0	14.61	14.64	14.64
5920	0.93	146.0	3109	2129	2214	2125	818.3	11.8	450	5921	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2129	2168	2213	2124	0	0	0	0	0	0	14.86	14.89	14.89
6282	0.93	146.0	3108	2129	2210	2124	777.1	11.5	462	6287	0.00	2.50	0.00	0.000	260	0.000	0.099	3108	3516	2167	2210	2124	0	0	0	0	0	0	14.97	14.66	15.00
6307	0.93	146.0	3110	3516	2212	2125	773.7	12.7	467	6313	0.00	2.42	0.00	0.000	1030	0.000	0.051	3119	2095	2167	2210	2124	0	0	0	0	0	0	14.85	14.76	14.87
6673	0.93	146.0	3120	2095	2211	2124	729.2	12.1	480	6678	0.00	2.58	0.00	0.000	260	0.000	0.097	3119	3518	2166	2209	2124	0	0	0	0	0	0	15.00	14.76	15.03
6718	0.93	146.0	3118	3519	2208	2124	723.2	13.4	489	6724	0.00	2.42	0.00	0.000	1030	0.000	0.050	3129	2086	2166	2209	2123	0	0	0	0	0	0	14.90	14.81	14.92
7083	0.93	146.0	3130	2086	2210	2124	678.1	12.3	515	7089	0.00	2.60	0.00	0.000	260	0.000	0.097	3129	3506	2165	2208	2123	0	0	0	0	0	0	15.07	14.76	15.09
7114	0.93	146.0	3129	3506	2208	2124	674.0	14.0	521	7121	0.17	2.40	0.00	0.000	5126	0.264	0.050	3103	2087	2166	2209	2123	0	0	0	0	0	0	14.67	14.84	14.89
7425	0.93	146.0	3099	2087	2210	2124	640.8	10.4	553	7431	0.00	2.55	0.00	0.000	516	0.000	0.099	3106	696	2165	2208	2123	0	0	0	0	0	0	15.07	14.74	15.10
7440	0.93	146.0	3106	697	2208	2124	639.1	11.0	556	7448	0.00	2.47	0.00	0.000	1030	0.000	0.063	3106	2110	2165	2208	2123	0	0	0	0	0	0	14.88	14.81	14.90
7746	0.93	146.0	3108	2112	2209	2124	606.2	10.7	587	7751	0.00	2.55	0.00	0.000	260	0.000	0.101	3106	3509	2165	2207	2123	0	0	0	0	0	0	15.09	14.77	15.12
7785	0.93	146.0	3106	3510	2207	2124	601.5	12.1	595	7791	0.00	2.42	0.00	0.000	1030	0.000	0.050	3116	2098	2165	2207	2123	0	0	0	0	0	0	14.88	14.83	14.91
8096	0.93	146.0	3119	2099	2208	2124	566.6	11.2	627	8101	0.00	2.58	0.00	0.000	260	0.000	0.098	3117	3530	2165	2207	2123	0	0	0	0	0	0	15.10	14.79	15.13
8131	0.93	146.0	3117	3532	2209	2124	562.3	12.6	634	8138	0.00	2.47	0.00	0.000	1030	0.000	0.051	3125	2092	2165	2207	2123	0	0	0	0	0	0	14.90	14.85	14.91
8436	0.93	146.0	3127	2093	2208	2123	527.2	11.4	665	8442	0.00	2.58	0.00	0.000	516	0.000	0.102	3126	663	2164	2206	2123	0	0	0	0	0	0	15.11	14.79	15.14
8451	0.93	146.0	3127	664	2208	2124	525.4	11.2	668	8458	0.00	2.53	0.00	0.000	1030	0.000	0.064	3126	2104	2164	2206	2123	0	0	0	0	0	0	14.88	14.83	14.92
8756	0.93	146.0	3127	2105	2208	2123	491.1	11.3	699	8762	0.00	2.55	0.00	0.000	260	0.000	0.097	3126	3509	2164	2206	2123	0	0	0	0	0	0	15.11	14.78	15.14
8811	0.93	146.0	3126	3509	2207	2123	484.3	12.4	710	8818	0.00	2.45	0.00	0.000	1030	0.000	0.050	3126	2086	2163	2205	2122	0	0	0	0	0	0	14.89	14.83	14.93
9116	0.93	146.0	3127	2087	2207	2122	450.9	10.9	741	9123	0.00	2.58	0.00	0.000	260	0.000	0.098	3126	3518	2163	2205	2122	0	0	0	0	0	0	15.11	14.79	15.14
9152	0.93	146.0	3125	3519	2204	2123	446.7	11.9	748	9159	0.00	2.45	0.00	0.000	1030	0.000	0.052	3126	2100	2163	2205	2122	0	0	0	0	0	0	14.89	14.83	14.92
9457	0.93	146.0	3125	2100	2205	2122	413.4	10.6	779	9458	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2099	2163	2205	2122	0	0	0	0	0	0	15.13	15.14	15.14
9757	0.93	146.0	3126	2100	2206	2123	381.3	10.4	809	9763	0.00	2.55	0.00	0.000	260	0.000	0.097	3126	3521	2163	2204	2122	0	0	0	0	0	0	15.12	14.80	15.15
9812	0.93	146.0	3127	3522	2206	2123	374.9	11.8	820	9820	0.00	2.45	0.00	0.000	1030	0.000	0.049	3131	2094	2163	2204	2122	0	0	0	0	0	0	14.86	14.83	14.88
9897	end climb: SURFACE_OBSTACLE_DETECTED
state	9897	begin subsurface finish
9901	0.00	2.0	3131	2095	2204	2122	365.8	10.7	829	9913	1.12	2.58	-2.25	0.052	20996	0.210	0.123	2804	693	2793	2824	2762	0	0	0	0	0	0	14.69	13.52	14.81
9914	end subsurface finish: CONTROL_FINISHED_OK
state	9914	begin surface