Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 166 * 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 166 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 23 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 166 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 23 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 170218,181424,-7419.4131,-11217.1914,0,4116.7,0,53.3,0.0,0.0,0,0.0 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 365.93 MHEAD_RNG_PITCHd_Wd 315.0,15746,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -2.3 D_GRID 990

GPS2 170218,181424,-7419.4131,-11217.1914,0,4116.7,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 359.4,1.027473,1 _24V_AH 13.05,69.597

FINISH2 358.3 _10V_AH 12.53,0.000

RAFOS_CLK 389 FG_AHR_24Vo 0.000

RAFOS 0,1518901276,21.032778,21.021111,101,65,63,62,60,55,466,195,171,204,143,217 FG_AHR_10Vo 0.000

RAFOS_FIX -7417.422363,-11213.359375,170218,212144,3,137,0.38 MEM 280072

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 33330,916

TT8_MAMPS 0.041195,0.210469 CAP_FILE_SIZE 116621,0

HUMID 49.76 CFSIZE 1024409600,1000570880

INTERNAL_PRESSURE 8.24835 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 SOUNDSPEED 1456.9

XPDR_PINGS 0 GPS 170218,211544,-7417.422,-11213.359,0,4137.3,0,53.3,0.0,0.0,0,0.0

ALTIM_TOP_PING 362.6,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 299 17.37 nil 0 0 0.00

Roll_motor 96 157 197.63 nil 0 0 0.00

VBD_pump_during_apogee 719 1395 13108.98 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 10427 6 834.80

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 231.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7731 2 223.80

TT8_Active 748 13 129.68

TT8_Sampling 1923 34 838.50

TT8_CF8 99 52 65.80

TT8_Kalman 0 0 0.00

Analog_circuits 1487 10 203.11

GPS_charging 0 0 0.00

Compass 1311 7 123.12

RAFOS 720 1 13.53

Transponder 302 30 113.76

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

916.6 26.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

925.6 18.50 9000.00 0.0 0.00 0.00 18.50 944.1 -0.83 1.00

928.6 11.50 13.10 0.0 -1.12 0.93 11.50 0.0 -2.33 1.00

922.4 18.40 9000.00 0.0 -1.11 0.73 18.40 0.0 -1.11 1.00

909.7 30.00 30.10 0.0 -0.96 1.00 30.00 0.0 -0.91 1.00

436.0 84.60 9000.00 0.0 -0.13 0.98 84.60 0.0 -0.12 1.00

415.6 63.60 9000.00 0.0 -0.09 0.83 63.60 352.0 1.03 1.00

396.1 44.60 44.40 351.7 1.00 1.00 44.60 351.5 0.97 1.00

389.3 37.80 37.90 351.4 0.98 1.00 37.80 351.5 1.00 1.00

382.6 31.00 31.00 351.6 1.01 1.00 31.00 351.6 1.01 1.00

376.0 24.20 24.20 351.8 1.02 1.00 24.20 351.8 1.03 1.00

369.3 17.50 17.50 351.8 1.01 1.00 17.50 351.8 1.00 1.00

362.6 9.80 10.00 352.6 1.07 1.00 9.80 352.8 1.15 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 2804 2311 2823 2762 0.0 0.0 0 12 0.00 0.00 -2.10 0.046 16390 0.000 0.000 2804 2311 3395 3418 3373 0 0 0 0 0 0 15.08 13.52 15.07

13 -0.93 -146.0 2804 2311 3418 3375 0.0 0.0 0 15 0.93 0.00 0.00 0.000 4102 0.103 0.000 2495 2311 3396 3418 3375 0 0 0 0 0 0 14.82 14.97 14.95

309 -0.93 -146.0 2494 2311 3418 3374 404.3 -13.5 30 315 0.00 2.58 0.00 0.000 260 0.000 0.110 2485 3708 3396 3418 3374 0 0 0 0 0 0 15.09 14.73 15.11

364 -0.93 -146.0 2484 3708 3417 3374 412.4 -14.9 41 373 0.00 2.45 0.00 0.000 1030 0.000 0.049 2485 2282 3396 3418 3374 0 0 0 0 0 0 14.88 14.83 14.90

670 -0.93 -146.0 2484 2282 3418 3374 455.3 -13.8 72 675 0.00 2.45 0.00 0.000 516 0.000 0.084 2485 898 3395 3418 3373 0 0 0 0 0 0 15.05 14.77 15.08

715 -0.93 -146.0 2483 899 3419 3374 461.7 -14.2 81 722 0.00 2.47 0.00 0.000 1030 0.000 0.076 2474 2302 3395 3417 3373 0 0 0 0 0 0 14.92 14.80 14.96

1019 -0.93 -146.0 2474 2303 3418 3373 505.5 -14.4 112 1025 0.00 2.55 0.00 0.000 516 0.000 0.082 2474 891 3395 3418 3372 0 0 0 0 0 0 15.10 14.74 15.12

1055 -0.93 -146.0 2473 891 3418 3374 510.8 -15.2 119 1062 0.15 2.50 0.00 0.000 3078 0.299 0.077 2495 2306 3395 3418 3373 0 0 0 0 0 0 14.62 14.80 14.87

1359 -0.93 -146.0 2494 2307 3418 3372 552.7 -13.3 150 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2306 3395 3418 3372 0 0 0 0 0 0 15.10 15.13 15.12

1659 -0.93 -146.0 2494 2307 3418 3372 592.8 -13.5 180 1665 0.00 2.55 0.00 0.000 516 0.000 0.081 2495 894 3394 3418 3371 0 0 0 0 0 0 15.10 14.75 15.13

1704 -0.93 -146.0 2494 894 3418 3371 598.9 -13.5 189 1712 0.00 2.53 0.00 0.000 1030 0.000 0.073 2486 2303 3394 3418 3371 0 0 0 0 0 0 14.85 14.78 14.89

2009 -0.93 -146.0 2487 2304 3420 3372 639.3 -13.2 220 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2303 3394 3418 3371 0 0 0 0 0 0 15.10 15.14 15.12

2309 -0.93 -146.0 2487 2304 3420 3372 678.3 -12.5 250 2315 0.00 2.53 0.00 0.000 516 0.000 0.080 2486 878 3394 3418 3370 0 0 0 0 0 0 15.11 14.77 15.13

2345 -0.93 -146.0 2487 879 3420 3371 683.1 -13.2 257 2352 0.00 2.50 0.00 0.000 1030 0.000 0.075 2476 2301 3394 3418 3370 0 0 0 0 0 0 14.92 14.80 14.95

2659 -0.93 -146.0 2476 2302 3418 3371 725.2 -13.5 277 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2301 3394 3418 3370 0 0 0 0 0 0 15.11 15.14 15.13

3020 -0.93 -146.0 2477 2302 3420 3371 773.8 -13.4 289 3026 0.00 2.47 0.00 0.000 516 0.000 0.079 2476 897 3394 3418 3370 0 0 0 0 0 0 15.11 14.78 15.14

3050 -0.93 -146.0 2477 897 3420 3371 778.1 -15.4 295 3056 0.10 2.53 0.00 0.000 3078 0.275 0.075 2492 2303 3394 3418 3370 0 0 0 0 0 0 14.60 14.79 14.77

3440 -0.93 -146.0 2493 2304 3420 3371 826.0 -12.0 313 3441 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2303 3393 3417 3370 0 0 0 0 0 0 15.13 15.16 15.16

3801 -0.93 -146.0 2491 2304 3420 3370 868.9 -12.0 325 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2303 3394 3418 3370 0 0 0 0 0 0 15.14 15.16 15.16

4161 -0.93 -146.0 2491 2304 3418 3371 914.2 -12.7 337 4167 0.00 2.50 0.00 0.000 516 0.000 0.080 2492 888 3394 3418 3370 0 0 0 0 0 0 15.14 14.79 15.16

4206 -0.93 -146.0 2493 889 3420 3371 919.9 -13.1 346 4212 0.00 2.53 0.00 0.000 1030 0.000 0.076 2487 2301 3394 3419 3370 0 0 0 0 0 0 14.87 14.79 14.92

4550 end dive: NO_VERTICAL_VELOCITY

state 4550 begin apogee

4554 -0.23 0.0 2488 2060 3420 3371 934.1 0.0 360 4884 0.75 0.10 324.25 1.395 10246 0.103 0.158 2738 2121 2778 2814 2743 0 0 0 0 0 0 14.83 13.76 13.28

4885 end apogee: CONTROL_FINISHED_OK

state 4886 begin climb

4887 0.93 146.0 2739 2122 2814 2741 935.7 0.0 371 5296 1.20 2.72 395.65 1.274 10500 0.135 0.096 3094 3504 2181 2227 2136 0 0 0 0 0 0 13.78 13.49 13.05

5425 0.93 146.0 3094 3505 2219 2129 893.3 11.5 476 5431 0.00 2.50 0.00 0.000 1030 0.000 0.049 3098 2133 2173 2218 2128 0 0 0 0 0 0 14.05 14.01 14.08

5800 0.93 146.0 3097 2133 2214 2125 853.8 10.6 491 5801 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2132 2169 2214 2124 0 0 0 0 0 0 14.72 14.75 14.74

6162 0.93 146.0 3098 2133 2212 2124 816.0 10.6 503 6167 0.00 2.50 0.00 0.000 260 0.000 0.100 3098 3504 2167 2211 2123 0 0 0 0 0 0 14.88 14.62 14.91

6186 0.93 146.0 3099 3504 2213 2125 813.2 12.1 508 6193 0.00 2.45 0.00 0.000 1030 0.000 0.050 3107 2093 2168 2212 2124 0 0 0 0 0 0 14.73 14.68 14.76

6552 0.93 146.0 3108 2093 2210 2124 771.4 11.7 521 6558 0.00 2.55 0.00 0.000 260 0.000 0.099 3107 3501 2167 2210 2124 0 0 0 0 0 0 15.00 14.73 15.03

6577 0.93 146.0 3107 3502 2210 2124 768.0 13.1 526 6584 0.00 2.42 0.00 0.000 1030 0.000 0.050 3118 2096 2166 2210 2123 0 0 0 0 0 0 14.82 14.77 14.85

6944 0.93 146.0 3119 2098 2210 2124 725.0 11.9 539 6949 0.00 2.55 0.00 0.000 260 0.000 0.100 3118 3507 2165 2208 2123 0 0 0 0 0 0 15.02 14.77 15.04

6988 0.93 146.0 3117 3509 2208 2123 719.0 13.6 548 6994 0.00 2.40 0.00 0.000 1030 0.000 0.051 3127 2088 2165 2209 2122 0 0 0 0 0 0 14.92 14.83 14.95

7353 0.93 146.0 3126 2088 2209 2124 674.6 11.8 576 7359 0.00 2.55 0.00 0.000 260 0.000 0.099 3127 3503 2165 2209 2122 0 0 0 0 0 0 15.07 14.77 15.10

7388 0.93 146.0 3128 3504 2210 2124 670.2 13.1 583 7396 0.12 2.42 0.00 0.000 5126 0.238 0.051 3099 2098 2165 2208 2123 0 0 0 0 0 0 14.66 14.81 14.79

7694 0.93 146.0 3099 2100 2208 2123 638.0 10.5 614 7695 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2098 2165 2207 2123 0 0 0 0 0 0 15.04 15.07 15.07

7994 0.93 146.0 3099 2099 2203 2123 606.8 10.2 644 7999 0.00 2.53 0.00 0.000 260 0.000 0.099 3100 3506 2165 2208 2123 0 0 0 0 0 0 15.06 14.79 15.08

8053 0.93 146.0 3099 3506 2207 2123 600.1 11.2 656 8059 0.00 2.42 0.00 0.000 1030 0.000 0.051 3108 2091 2165 2208 2123 0 0 0 0 0 0 14.89 14.84 14.93

8363 0.93 146.0 3108 2092 2207 2123 567.9 10.3 688 8369 0.00 2.58 0.00 0.000 260 0.000 0.098 3108 3527 2165 2207 2124 0 0 0 0 0 0 15.11 14.79 15.14

8398 0.93 146.0 3108 3527 2207 2123 563.9 11.8 695 8405 0.00 2.45 0.00 0.000 1030 0.000 0.050 3118 2097 2164 2207 2122 0 0 0 0 0 0 14.90 14.84 14.93

8703 0.93 146.0 3120 2098 2209 2124 530.8 10.5 726 8704 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2097 2165 2207 2123 0 0 0 0 0 0 15.11 15.15 15.14

9003 0.93 146.0 3120 2098 2208 2124 499.9 10.0 756 9009 0.00 2.58 0.00 0.000 260 0.000 0.100 3117 3501 2164 2206 2123 0 0 0 0 0 0 15.12 14.78 15.15

9053 0.93 146.0 3120 3502 2208 2123 494.3 11.5 766 9059 0.00 2.42 0.00 0.000 1030 0.000 0.050 3128 2088 2164 2206 2122 0 0 0 0 0 0 14.91 14.85 14.94

9363 0.93 146.0 3129 2089 2208 2123 461.8 10.0 798 9364 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2088 2164 2206 2122 0 0 0 0 0 0 15.13 15.16 15.16

9663 0.93 146.0 3128 2089 2205 2123 430.6 10.7 828 9669 0.00 2.58 0.00 0.000 260 0.000 0.099 3128 3496 2163 2205 2122 0 0 0 0 0 0 15.13 14.79 15.16

9718 0.93 146.0 3127 3496 2205 2123 424.0 12.2 839 9726 0.12 2.40 0.00 0.000 5126 0.239 0.050 3101 2095 2163 2205 2122 0 0 0 0 0 0 14.68 14.86 14.81

10023 0.93 146.0 3100 2100 2204 2122 395.1 9.3 870 10029 0.00 2.58 0.00 0.000 516 0.000 0.099 3109 688 2163 2205 2121 0 0 0 0 0 0 15.13 14.77 15.16

10053 0.93 146.0 3109 688 2205 2122 392.2 9.7 876 10059 0.00 2.45 0.00 0.000 1030 0.000 0.063 3109 2092 2163 2204 2122 0 0 0 0 0 0 14.90 14.83 14.93

10364 0.93 146.0 3110 2093 2206 2122 362.6 9.6 908 10369 0.00 2.55 0.00 0.000 260 0.000 0.099 3109 3519 2163 2204 2122 0 0 0 0 0 0 15.08 14.81 15.10

10392 end climb: SURFACE_OBSTACLE_DETECTED

state 10392 begin subsurface finish

10398 0.00 1.4 3119 2088 2204 2121 359.4 10.7 914 10410 1.08 2.60 -2.28 0.051 20740 0.210 0.126 2807 3513 2794 2825 2763 0 0 0 0 0 0 14.66 13.52 14.81

10410 end subsurface finish: CONTROL_FINISHED_OK

state 10410 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	166	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	23	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	170218,181424,-7419.4131,-11217.1914,0,4116.7,0,53.3,0.0,0.0,0,0.0	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	365.93	MHEAD_RNG_PITCHd_Wd	315.0,15746,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-2.3	D_GRID	990
GPS2	170218,181424,-7419.4131,-11217.1914,0,4116.7,0,53.3,0.0,0.0,0,0.0

FINISH1	359.4,1.027473,1	_24V_AH	13.05,69.597
FINISH2	358.3	_10V_AH	12.53,0.000
RAFOS_CLK	389	FG_AHR_24Vo	0.000
RAFOS	0,1518901276,21.032778,21.021111,101,65,63,62,60,55,466,195,171,204,143,217	FG_AHR_10Vo	0.000
RAFOS_FIX	-7417.422363,-11213.359375,170218,212144,3,137,0.38	MEM	280072
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	33330,916
TT8_MAMPS	0.041195,0.210469	CAP_FILE_SIZE	116621,0
HUMID	49.76	CFSIZE	1024409600,1000570880
INTERNAL_PRESSURE	8.24835	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	SOUNDSPEED	1456.9
XPDR_PINGS	0	GPS	170218,211544,-7417.422,-11213.359,0,4137.3,0,53.3,0.0,0.0,0,0.0
ALTIM_TOP_PING	362.6,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	299	17.37	nil	0	0	0.00
Roll_motor	96	157	197.63	nil	0	0	0.00
VBD_pump_during_apogee	719	1395	13108.98	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	10427	6	834.80
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	231.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7731	2	223.80
TT8_Active	748	13	129.68
TT8_Sampling	1923	34	838.50
TT8_CF8	99	52	65.80
TT8_Kalman	0	0	0.00
Analog_circuits	1487	10	203.11
GPS_charging	0	0	0.00
Compass	1311	7	123.12
RAFOS	720	1	13.53
Transponder	302	30	113.76

		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
916.6	26.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
925.6	18.50	9000.00	0.0	0.00	0.00	18.50	944.1	-0.83	1.00

928.6	11.50	13.10	0.0	-1.12	0.93	11.50	0.0	-2.33	1.00
922.4	18.40	9000.00	0.0	-1.11	0.73	18.40	0.0	-1.11	1.00
909.7	30.00	30.10	0.0	-0.96	1.00	30.00	0.0	-0.91	1.00
436.0	84.60	9000.00	0.0	-0.13	0.98	84.60	0.0	-0.12	1.00
415.6	63.60	9000.00	0.0	-0.09	0.83	63.60	352.0	1.03	1.00
396.1	44.60	44.40	351.7	1.00	1.00	44.60	351.5	0.97	1.00
389.3	37.80	37.90	351.4	0.98	1.00	37.80	351.5	1.00	1.00
382.6	31.00	31.00	351.6	1.01	1.00	31.00	351.6	1.01	1.00
376.0	24.20	24.20	351.8	1.02	1.00	24.20	351.8	1.03	1.00
369.3	17.50	17.50	351.8	1.01	1.00	17.50	351.8	1.00	1.00
362.6	9.80	10.00	352.6	1.07	1.00	9.80	352.8	1.15	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	2804	2311	2823	2762	0.0	0.0	0	12	0.00	0.00	-2.10	0.046	16390	0.000	0.000	2804	2311	3395	3418	3373	0	0	0	0	0	0	15.08	13.52	15.07
13	-0.93	-146.0	2804	2311	3418	3375	0.0	0.0	0	15	0.93	0.00	0.00	0.000	4102	0.103	0.000	2495	2311	3396	3418	3375	0	0	0	0	0	0	14.82	14.97	14.95
309	-0.93	-146.0	2494	2311	3418	3374	404.3	-13.5	30	315	0.00	2.58	0.00	0.000	260	0.000	0.110	2485	3708	3396	3418	3374	0	0	0	0	0	0	15.09	14.73	15.11
364	-0.93	-146.0	2484	3708	3417	3374	412.4	-14.9	41	373	0.00	2.45	0.00	0.000	1030	0.000	0.049	2485	2282	3396	3418	3374	0	0	0	0	0	0	14.88	14.83	14.90
670	-0.93	-146.0	2484	2282	3418	3374	455.3	-13.8	72	675	0.00	2.45	0.00	0.000	516	0.000	0.084	2485	898	3395	3418	3373	0	0	0	0	0	0	15.05	14.77	15.08
715	-0.93	-146.0	2483	899	3419	3374	461.7	-14.2	81	722	0.00	2.47	0.00	0.000	1030	0.000	0.076	2474	2302	3395	3417	3373	0	0	0	0	0	0	14.92	14.80	14.96
1019	-0.93	-146.0	2474	2303	3418	3373	505.5	-14.4	112	1025	0.00	2.55	0.00	0.000	516	0.000	0.082	2474	891	3395	3418	3372	0	0	0	0	0	0	15.10	14.74	15.12
1055	-0.93	-146.0	2473	891	3418	3374	510.8	-15.2	119	1062	0.15	2.50	0.00	0.000	3078	0.299	0.077	2495	2306	3395	3418	3373	0	0	0	0	0	0	14.62	14.80	14.87
1359	-0.93	-146.0	2494	2307	3418	3372	552.7	-13.3	150	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2306	3395	3418	3372	0	0	0	0	0	0	15.10	15.13	15.12
1659	-0.93	-146.0	2494	2307	3418	3372	592.8	-13.5	180	1665	0.00	2.55	0.00	0.000	516	0.000	0.081	2495	894	3394	3418	3371	0	0	0	0	0	0	15.10	14.75	15.13
1704	-0.93	-146.0	2494	894	3418	3371	598.9	-13.5	189	1712	0.00	2.53	0.00	0.000	1030	0.000	0.073	2486	2303	3394	3418	3371	0	0	0	0	0	0	14.85	14.78	14.89
2009	-0.93	-146.0	2487	2304	3420	3372	639.3	-13.2	220	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2303	3394	3418	3371	0	0	0	0	0	0	15.10	15.14	15.12
2309	-0.93	-146.0	2487	2304	3420	3372	678.3	-12.5	250	2315	0.00	2.53	0.00	0.000	516	0.000	0.080	2486	878	3394	3418	3370	0	0	0	0	0	0	15.11	14.77	15.13
2345	-0.93	-146.0	2487	879	3420	3371	683.1	-13.2	257	2352	0.00	2.50	0.00	0.000	1030	0.000	0.075	2476	2301	3394	3418	3370	0	0	0	0	0	0	14.92	14.80	14.95
2659	-0.93	-146.0	2476	2302	3418	3371	725.2	-13.5	277	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2301	3394	3418	3370	0	0	0	0	0	0	15.11	15.14	15.13
3020	-0.93	-146.0	2477	2302	3420	3371	773.8	-13.4	289	3026	0.00	2.47	0.00	0.000	516	0.000	0.079	2476	897	3394	3418	3370	0	0	0	0	0	0	15.11	14.78	15.14
3050	-0.93	-146.0	2477	897	3420	3371	778.1	-15.4	295	3056	0.10	2.53	0.00	0.000	3078	0.275	0.075	2492	2303	3394	3418	3370	0	0	0	0	0	0	14.60	14.79	14.77
3440	-0.93	-146.0	2493	2304	3420	3371	826.0	-12.0	313	3441	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2303	3393	3417	3370	0	0	0	0	0	0	15.13	15.16	15.16
3801	-0.93	-146.0	2491	2304	3420	3370	868.9	-12.0	325	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2303	3394	3418	3370	0	0	0	0	0	0	15.14	15.16	15.16
4161	-0.93	-146.0	2491	2304	3418	3371	914.2	-12.7	337	4167	0.00	2.50	0.00	0.000	516	0.000	0.080	2492	888	3394	3418	3370	0	0	0	0	0	0	15.14	14.79	15.16
4206	-0.93	-146.0	2493	889	3420	3371	919.9	-13.1	346	4212	0.00	2.53	0.00	0.000	1030	0.000	0.076	2487	2301	3394	3419	3370	0	0	0	0	0	0	14.87	14.79	14.92
4550	end dive: NO_VERTICAL_VELOCITY
state	4550	begin apogee
4554	-0.23	0.0	2488	2060	3420	3371	934.1	0.0	360	4884	0.75	0.10	324.25	1.395	10246	0.103	0.158	2738	2121	2778	2814	2743	0	0	0	0	0	0	14.83	13.76	13.28
4885	end apogee: CONTROL_FINISHED_OK
state	4886	begin climb
4887	0.93	146.0	2739	2122	2814	2741	935.7	0.0	371	5296	1.20	2.72	395.65	1.274	10500	0.135	0.096	3094	3504	2181	2227	2136	0	0	0	0	0	0	13.78	13.49	13.05
5425	0.93	146.0	3094	3505	2219	2129	893.3	11.5	476	5431	0.00	2.50	0.00	0.000	1030	0.000	0.049	3098	2133	2173	2218	2128	0	0	0	0	0	0	14.05	14.01	14.08
5800	0.93	146.0	3097	2133	2214	2125	853.8	10.6	491	5801	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2132	2169	2214	2124	0	0	0	0	0	0	14.72	14.75	14.74
6162	0.93	146.0	3098	2133	2212	2124	816.0	10.6	503	6167	0.00	2.50	0.00	0.000	260	0.000	0.100	3098	3504	2167	2211	2123	0	0	0	0	0	0	14.88	14.62	14.91
6186	0.93	146.0	3099	3504	2213	2125	813.2	12.1	508	6193	0.00	2.45	0.00	0.000	1030	0.000	0.050	3107	2093	2168	2212	2124	0	0	0	0	0	0	14.73	14.68	14.76
6552	0.93	146.0	3108	2093	2210	2124	771.4	11.7	521	6558	0.00	2.55	0.00	0.000	260	0.000	0.099	3107	3501	2167	2210	2124	0	0	0	0	0	0	15.00	14.73	15.03
6577	0.93	146.0	3107	3502	2210	2124	768.0	13.1	526	6584	0.00	2.42	0.00	0.000	1030	0.000	0.050	3118	2096	2166	2210	2123	0	0	0	0	0	0	14.82	14.77	14.85
6944	0.93	146.0	3119	2098	2210	2124	725.0	11.9	539	6949	0.00	2.55	0.00	0.000	260	0.000	0.100	3118	3507	2165	2208	2123	0	0	0	0	0	0	15.02	14.77	15.04
6988	0.93	146.0	3117	3509	2208	2123	719.0	13.6	548	6994	0.00	2.40	0.00	0.000	1030	0.000	0.051	3127	2088	2165	2209	2122	0	0	0	0	0	0	14.92	14.83	14.95
7353	0.93	146.0	3126	2088	2209	2124	674.6	11.8	576	7359	0.00	2.55	0.00	0.000	260	0.000	0.099	3127	3503	2165	2209	2122	0	0	0	0	0	0	15.07	14.77	15.10
7388	0.93	146.0	3128	3504	2210	2124	670.2	13.1	583	7396	0.12	2.42	0.00	0.000	5126	0.238	0.051	3099	2098	2165	2208	2123	0	0	0	0	0	0	14.66	14.81	14.79
7694	0.93	146.0	3099	2100	2208	2123	638.0	10.5	614	7695	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2098	2165	2207	2123	0	0	0	0	0	0	15.04	15.07	15.07
7994	0.93	146.0	3099	2099	2203	2123	606.8	10.2	644	7999	0.00	2.53	0.00	0.000	260	0.000	0.099	3100	3506	2165	2208	2123	0	0	0	0	0	0	15.06	14.79	15.08
8053	0.93	146.0	3099	3506	2207	2123	600.1	11.2	656	8059	0.00	2.42	0.00	0.000	1030	0.000	0.051	3108	2091	2165	2208	2123	0	0	0	0	0	0	14.89	14.84	14.93
8363	0.93	146.0	3108	2092	2207	2123	567.9	10.3	688	8369	0.00	2.58	0.00	0.000	260	0.000	0.098	3108	3527	2165	2207	2124	0	0	0	0	0	0	15.11	14.79	15.14
8398	0.93	146.0	3108	3527	2207	2123	563.9	11.8	695	8405	0.00	2.45	0.00	0.000	1030	0.000	0.050	3118	2097	2164	2207	2122	0	0	0	0	0	0	14.90	14.84	14.93
8703	0.93	146.0	3120	2098	2209	2124	530.8	10.5	726	8704	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2097	2165	2207	2123	0	0	0	0	0	0	15.11	15.15	15.14
9003	0.93	146.0	3120	2098	2208	2124	499.9	10.0	756	9009	0.00	2.58	0.00	0.000	260	0.000	0.100	3117	3501	2164	2206	2123	0	0	0	0	0	0	15.12	14.78	15.15
9053	0.93	146.0	3120	3502	2208	2123	494.3	11.5	766	9059	0.00	2.42	0.00	0.000	1030	0.000	0.050	3128	2088	2164	2206	2122	0	0	0	0	0	0	14.91	14.85	14.94
9363	0.93	146.0	3129	2089	2208	2123	461.8	10.0	798	9364	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2088	2164	2206	2122	0	0	0	0	0	0	15.13	15.16	15.16
9663	0.93	146.0	3128	2089	2205	2123	430.6	10.7	828	9669	0.00	2.58	0.00	0.000	260	0.000	0.099	3128	3496	2163	2205	2122	0	0	0	0	0	0	15.13	14.79	15.16
9718	0.93	146.0	3127	3496	2205	2123	424.0	12.2	839	9726	0.12	2.40	0.00	0.000	5126	0.239	0.050	3101	2095	2163	2205	2122	0	0	0	0	0	0	14.68	14.86	14.81
10023	0.93	146.0	3100	2100	2204	2122	395.1	9.3	870	10029	0.00	2.58	0.00	0.000	516	0.000	0.099	3109	688	2163	2205	2121	0	0	0	0	0	0	15.13	14.77	15.16
10053	0.93	146.0	3109	688	2205	2122	392.2	9.7	876	10059	0.00	2.45	0.00	0.000	1030	0.000	0.063	3109	2092	2163	2204	2122	0	0	0	0	0	0	14.90	14.83	14.93
10364	0.93	146.0	3110	2093	2206	2122	362.6	9.6	908	10369	0.00	2.55	0.00	0.000	260	0.000	0.099	3109	3519	2163	2204	2122	0	0	0	0	0	0	15.08	14.81	15.10
10392	end climb: SURFACE_OBSTACLE_DETECTED
state	10392	begin subsurface finish
10398	0.00	1.4	3119	2088	2204	2121	359.4	10.7	914	10410	1.08	2.60	-2.28	0.051	20740	0.210	0.126	2807	3513	2794	2825	2763	0	0	0	0	0	0	14.66	13.52	14.81
10410	end subsurface finish: CONTROL_FINISHED_OK
state	10410	begin surface