Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 167 * 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 167 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 43 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 167 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 43 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 170218,211544,-7417.4224,-11213.3594,0,4137.3,0,53.3,0.0,0.0,0,0.0 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 358.97 MHEAD_RNG_PITCHd_Wd 308.3,11899,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.5 D_GRID 990

GPS2 170218,211544,-7417.4224,-11213.3594,0,4137.3,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 360.7,1.027479,1 _24V_AH 13.09,69.940

FINISH2 359.8 _10V_AH 12.43,0.000

RAFOS_CLK 387 FG_AHR_24Vo 0.000

RAFOS 0,1518912066,0.032778,0.018333,152,61,61,56,53,52,514,199,162,215,188,115 FG_AHR_10Vo 0.000

RAFOS_FIX -7415.853516,-11213.914062,180218,000056,3,147,0.27 MEM 280048

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 33364,939

TT8_MAMPS 0.038948,0.292859 CAP_FILE_SIZE 117296,0

HUMID 48.97 CFSIZE 1024409600,1000472576

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

TCM_TEMP 12.70 SOUNDSPEED 1457.0

XPDR_PINGS 0 GPS 180218,001456,-7415.854,-11213.914,0,4147.3,0,53.3,0.0,0.0,0,0.0

ALTIM_TOP_PING 361.7,7.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 300 18.10 nil 0 0 0.00

Roll_motor 100 120 158.65 nil 0 0 0.00

VBD_pump_during_apogee 763 1351 13504.86 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 10546 6 844.85

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 233.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7745 2 222.41

TT8_Active 802 13 137.93

TT8_Sampling 1965 34 849.90

TT8_CF8 101 52 66.50

TT8_Kalman 0 0 0.00

Analog_circuits 1554 10 210.65

GPS_charging 0 0 0.00

Compass 1344 7 125.18

RAFOS 720 1 13.42

Transponder 304 30 113.41

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

922.8 20.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

936.5 40.80 9000.00 0.0 0.00 0.00 40.80 0.0 1.52 1.00

923.9 18.80 9000.00 0.0 1.62 0.99 18.80 905.1 1.75 1.00

917.8 36.50 9000.00 0.0 0.46 0.14 36.50 0.0 -2.90 1.00

429.5 75.70 9000.00 0.0 -0.10 0.91 75.70 0.0 -0.08 1.00

422.6 68.80 9000.00 0.0 -0.07 0.97 68.80 353.8 1.00 1.00

416.3 62.40 62.40 353.9 1.01 1.00 62.40 353.9 1.02 1.00

409.4 55.30 55.30 354.1 1.02 1.00 55.30 354.1 1.03 1.00

402.4 48.30 48.30 354.1 1.02 1.00 48.30 354.1 1.00 1.00

395.4 41.20 41.20 354.2 1.01 1.00 41.20 354.2 1.01 1.00

388.5 34.10 34.10 354.4 1.02 1.00 34.10 354.4 1.03 1.00

382.3 27.80 27.80 354.5 1.02 1.00 27.80 354.5 1.02 1.00

375.3 20.70 20.70 354.6 1.01 1.00 20.70 354.6 1.01 1.00

368.5 13.80 13.80 354.7 1.01 1.00 13.80 354.7 1.01 1.00

361.7 7.30 7.20 354.5 0.99 1.00 7.30 354.4 0.96 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 2809 2280 2827 2764 0.0 0.0 0 11 0.00 0.00 -2.10 0.045 16390 0.000 0.000 2807 2276 3391 3413 3370 0 0 0 0 0 0 15.08 13.50 15.07

13 -0.93 -146.0 2807 2280 3413 3372 0.0 0.0 0 19 0.93 2.42 0.00 0.000 4612 0.112 0.085 2495 885 3392 3413 3372 0 0 0 0 0 0 14.79 14.78 14.87

83 -0.93 -146.0 2496 886 3415 3372 366.6 -12.5 14 90 0.00 2.55 0.00 0.000 1030 0.000 0.079 2486 2300 3392 3413 3372 0 0 0 0 0 0 14.86 14.78 14.90

394 -0.93 -146.0 2487 2300 3414 3372 410.9 -14.3 46 399 0.00 2.50 0.00 0.000 516 0.000 0.084 2486 895 3391 3413 3370 0 0 0 0 0 0 15.09 14.76 15.11

428 -0.93 -146.0 2485 895 3412 3371 416.2 -14.9 53 436 0.00 2.53 0.00 0.000 1030 0.000 0.076 2475 2301 3391 3413 3370 0 0 0 0 0 0 14.85 14.77 14.90

734 -0.93 -146.0 2475 2302 3413 3370 461.4 -15.0 84 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2301 3391 3413 3370 0 0 0 0 0 0 15.10 15.13 15.13

1034 -0.93 -146.0 2477 2302 3414 3370 506.3 -15.1 114 1039 0.00 2.50 0.00 0.000 516 0.000 0.080 2475 912 3391 3413 3369 0 0 0 0 0 0 15.10 14.73 15.12

1074 -0.93 -146.0 2477 913 3415 3370 512.4 -15.5 122 1080 0.15 2.50 0.00 0.000 3078 0.301 0.074 2497 2311 3391 3413 3369 0 0 0 0 0 0 14.61 14.77 14.86

1384 -0.93 -146.0 2496 2305 3412 3369 555.5 -13.6 154 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2305 3390 3413 3368 0 0 0 0 0 0 15.09 15.11 15.11

1684 -0.93 -146.0 2498 2306 3415 3369 595.2 -13.0 184 1685 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2304 3390 3413 3368 0 0 0 0 0 0 15.09 15.12 15.11

1984 -0.93 -146.0 2496 2305 3407 3368 634.2 -13.0 214 1990 0.00 2.50 0.00 0.000 516 0.000 0.081 2496 895 3390 3413 3368 0 0 0 0 0 0 15.10 14.76 15.13

2029 -0.93 -146.0 2498 896 3415 3368 640.2 -13.5 223 2036 0.00 2.53 0.00 0.000 1030 0.000 0.073 2488 2300 3390 3413 3368 0 0 0 0 0 0 14.83 14.76 14.88

2334 -0.93 -146.0 2489 2301 3414 3369 680.5 -13.5 254 2335 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2301 3390 3413 3368 0 0 0 0 0 0 15.09 15.11 15.11

2635 -0.93 -146.0 2489 2301 3414 3368 720.5 -13.3 274 2640 0.00 2.47 0.00 0.000 516 0.000 0.080 2488 902 3388 3413 3363 0 0 0 0 0 0 15.06 14.76 15.08

2664 -0.93 -146.0 2489 903 3415 3368 724.7 -14.3 280 2670 0.00 2.53 0.00 0.000 1030 0.000 0.073 2478 2308 3390 3413 3367 0 0 0 0 0 0 14.85 14.76 14.89

3055 -0.93 -146.0 2477 2308 3412 3368 776.7 -13.2 298 3060 0.00 2.47 0.00 0.000 516 0.000 0.080 2478 908 3390 3413 3367 0 0 0 0 0 0 15.06 14.77 15.09

3089 -0.93 -146.0 2477 909 3413 3368 781.3 -13.3 305 3096 0.00 2.50 0.00 0.000 1030 0.000 0.076 2475 2300 3390 3413 3367 0 0 0 0 0 0 14.85 14.78 14.90

3476 -0.93 -146.0 2476 2300 3414 3368 829.6 -12.4 322 3477 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2300 3390 3413 3367 0 0 0 0 0 0 15.07 15.09 15.09

3837 -0.93 -146.0 2474 2300 3413 3368 871.1 -11.1 334 3842 0.00 2.45 0.00 0.000 516 0.000 0.078 2474 910 3390 3414 3367 0 0 0 0 0 0 15.08 14.78 15.11

3881 -0.93 -146.0 2476 911 3414 3368 876.4 -11.6 343 3887 0.00 2.50 0.00 0.000 1030 0.000 0.075 2472 2306 3390 3413 3367 0 0 0 0 0 0 14.87 14.79 14.91

4256 -0.93 -146.0 2471 2307 3412 3368 920.3 -13.8 358 4262 0.00 2.50 0.00 0.000 516 0.000 0.078 2471 913 3390 3413 3367 0 0 0 0 0 0 15.13 14.75 15.15

4306 -0.93 -146.0 2471 914 3413 3368 926.7 -12.9 368 4312 0.12 2.50 0.00 0.000 3078 0.270 0.077 2494 2305 3390 3413 3367 0 0 0 0 0 0 14.59 14.78 14.92

4615 end dive: NO_VERTICAL_VELOCITY

state 4615 begin apogee

4619 -0.23 0.0 2496 2070 3415 3368 936.0 0.0 380 5040 0.73 0.08 412.33 1.280 10246 0.127 0.109 2727 2129 2777 2812 2743 0 0 0 0 0 0 14.79 13.60 13.17

5041 end apogee: CONTROL_FINISHED_OK

state 5041 begin climb

5043 0.93 146.0 2727 2130 2810 2742 936.5 0.0 394 5406 1.27 2.72 350.90 1.352 10500 0.148 0.094 3096 3504 2185 2230 2140 0 0 0 0 0 0 13.69 13.56 13.09

5460 0.93 146.0 3096 3504 2226 2137 900.1 13.5 476 5466 0.00 2.55 0.00 0.000 1030 0.000 0.047 3105 2126 2180 2226 2135 0 0 0 0 0 0 13.93 13.84 13.95

5830 0.93 146.0 3105 2127 2221 2132 857.7 11.1 490 5831 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2126 2175 2220 2131 0 0 0 0 0 0 14.64 14.68 14.67

6191 0.93 146.0 3104 2126 2217 2131 817.6 11.2 502 6196 0.00 2.53 0.00 0.000 260 0.000 0.101 3104 3504 2174 2218 2130 0 0 0 0 0 0 14.88 14.60 14.90

6231 0.93 146.0 3101 3504 2219 2131 812.7 12.0 510 6236 0.00 2.42 0.00 0.000 1030 0.000 0.051 3113 2089 2173 2217 2130 0 0 0 0 0 0 14.76 14.71 14.79

6611 0.93 146.0 3115 2089 2218 2130 769.9 11.7 526 6616 0.00 2.58 0.00 0.000 260 0.000 0.099 3114 3509 2172 2216 2129 0 0 0 0 0 0 15.00 14.71 15.02

6650 0.93 146.0 3114 3508 2217 2130 765.1 12.8 534 6656 0.00 2.45 0.00 0.000 1030 0.000 0.050 3124 2092 2172 2215 2129 0 0 0 0 0 0 14.82 14.76 14.84

7031 0.93 146.0 3124 2093 2217 2130 720.6 11.7 550 7036 0.00 2.55 0.00 0.000 260 0.000 0.098 3124 3503 2172 2214 2131 0 0 0 0 0 0 15.05 14.76 15.08

7080 0.93 146.0 3124 3504 2216 2130 714.4 12.5 560 7087 0.12 2.42 0.00 0.000 5126 0.251 0.049 3098 2096 2171 2214 2129 0 0 0 0 0 0 14.64 14.80 14.78

7451 0.93 146.0 3097 2096 2213 2132 676.6 10.5 588 7457 0.00 2.55 0.00 0.000 260 0.000 0.098 3099 3509 2171 2214 2129 0 0 0 0 0 0 15.07 14.76 15.10

7506 0.93 146.0 3099 3509 2216 2129 670.2 11.7 599 7513 0.00 2.42 0.00 0.000 1030 0.000 0.049 3106 2098 2171 2214 2129 0 0 0 0 0 0 14.88 14.83 14.91

7811 0.93 146.0 3106 2099 2213 2129 638.2 10.5 630 7812 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2098 2171 2213 2129 0 0 0 0 0 0 15.08 15.11 15.11

8111 0.93 146.0 3107 2099 2215 2129 607.2 10.3 660 8117 0.00 2.58 0.00 0.000 260 0.000 0.098 3106 3503 2171 2213 2129 0 0 0 0 0 0 15.09 14.74 15.12

8186 0.93 146.0 3107 3503 2213 2130 598.7 11.2 675 8193 0.00 2.42 0.00 0.000 1030 0.000 0.050 3115 2093 2173 2213 2134 0 0 0 0 0 0 14.86 14.80 14.89

8491 0.93 146.0 3117 2094 2212 2129 566.2 10.6 706 8492 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2093 2170 2212 2129 0 0 0 0 0 0 15.11 15.14 15.13

8791 0.93 146.0 3115 2094 2212 2129 534.4 10.3 736 8797 0.00 2.58 0.00 0.000 260 0.000 0.098 3122 3532 2170 2212 2128 0 0 0 0 0 0 15.11 14.77 15.14

8871 0.93 146.0 3117 3528 2214 2128 525.1 11.6 752 8877 0.00 2.47 0.00 0.000 1030 0.000 0.049 3125 2088 2170 2212 2128 0 0 0 0 0 0 14.87 14.82 14.90

9181 0.93 146.0 3126 2089 2213 2128 492.1 11.1 784 9187 0.00 2.58 0.00 0.000 260 0.000 0.097 3125 3517 2170 2212 2128 0 0 0 0 0 0 15.11 14.77 15.14

9241 0.93 146.0 3125 3518 2211 2128 484.8 12.0 796 9247 0.15 2.40 0.00 0.000 5126 0.274 0.050 3101 2092 2169 2211 2128 0 0 0 0 0 0 14.65 14.84 14.89

9551 0.93 146.0 3100 2092 2211 2129 455.4 9.1 828 9557 0.00 2.58 0.00 0.000 260 0.000 0.096 3101 3526 2169 2211 2128 0 0 0 0 0 0 15.12 14.79 15.14

9591 0.93 146.0 3102 3526 2210 2129 451.4 10.2 836 9597 0.00 2.45 0.00 0.000 1030 0.000 0.050 3109 2100 2169 2211 2128 0 0 0 0 0 0 14.88 14.83 14.91

9901 0.93 146.0 3108 2100 2210 2129 421.7 9.8 868 9907 0.00 2.55 0.00 0.000 260 0.000 0.096 3109 3497 2169 2211 2128 0 0 0 0 0 0 15.12 14.76 15.18

9941 0.93 146.0 3113 3498 2211 2129 417.4 10.8 876 9947 0.00 2.42 0.00 0.000 1030 0.000 0.049 3119 2084 2169 2211 2128 0 0 0 0 0 0 14.88 14.83 14.91

10251 0.93 146.0 3120 2084 2212 2129 386.5 9.8 908 10257 0.00 2.55 0.00 0.000 260 0.000 0.097 3119 3503 2169 2210 2128 0 0 0 0 0 0 15.12 14.80 15.15

10276 0.93 146.0 3118 3503 2209 2128 383.8 10.7 913 10284 0.00 2.42 0.00 0.000 1030 0.000 0.050 3127 2095 2169 2210 2128 0 0 0 0 0 0 14.88 14.83 14.90

10510 end climb: SURFACE_OBSTACLE_DETECTED

state 10510 begin subsurface finish

10514 0.00 1.1 3129 2096 2212 2129 360.7 9.7 937 10526 1.12 2.60 -2.25 0.052 20740 0.213 0.121 2801 3506 2794 2825 2763 0 0 0 0 0 0 14.66 13.50 14.82

10527 end subsurface finish: CONTROL_FINISHED_OK

state 10527 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	167	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	43	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	170218,211544,-7417.4224,-11213.3594,0,4137.3,0,53.3,0.0,0.0,0,0.0	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	358.97	MHEAD_RNG_PITCHd_Wd	308.3,11899,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.5	D_GRID	990
GPS2	170218,211544,-7417.4224,-11213.3594,0,4137.3,0,53.3,0.0,0.0,0,0.0

FINISH1	360.7,1.027479,1	_24V_AH	13.09,69.940
FINISH2	359.8	_10V_AH	12.43,0.000
RAFOS_CLK	387	FG_AHR_24Vo	0.000
RAFOS	0,1518912066,0.032778,0.018333,152,61,61,56,53,52,514,199,162,215,188,115	FG_AHR_10Vo	0.000
RAFOS_FIX	-7415.853516,-11213.914062,180218,000056,3,147,0.27	MEM	280048
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	33364,939
TT8_MAMPS	0.038948,0.292859	CAP_FILE_SIZE	117296,0
HUMID	48.97	CFSIZE	1024409600,1000472576
INTERNAL_PRESSURE	8.24835	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.70	SOUNDSPEED	1457.0
XPDR_PINGS	0	GPS	180218,001456,-7415.854,-11213.914,0,4147.3,0,53.3,0.0,0.0,0,0.0
ALTIM_TOP_PING	361.7,7.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	300	18.10	nil	0	0	0.00
Roll_motor	100	120	158.65	nil	0	0	0.00
VBD_pump_during_apogee	763	1351	13504.86	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	10546	6	844.85
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	233.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7745	2	222.41
TT8_Active	802	13	137.93
TT8_Sampling	1965	34	849.90
TT8_CF8	101	52	66.50
TT8_Kalman	0	0	0.00
Analog_circuits	1554	10	210.65
GPS_charging	0	0	0.00
Compass	1344	7	125.18
RAFOS	720	1	13.42
Transponder	304	30	113.41

		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
922.8	20.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
936.5	40.80	9000.00	0.0	0.00	0.00	40.80	0.0	1.52	1.00

923.9	18.80	9000.00	0.0	1.62	0.99	18.80	905.1	1.75	1.00
917.8	36.50	9000.00	0.0	0.46	0.14	36.50	0.0	-2.90	1.00
429.5	75.70	9000.00	0.0	-0.10	0.91	75.70	0.0	-0.08	1.00
422.6	68.80	9000.00	0.0	-0.07	0.97	68.80	353.8	1.00	1.00
416.3	62.40	62.40	353.9	1.01	1.00	62.40	353.9	1.02	1.00
409.4	55.30	55.30	354.1	1.02	1.00	55.30	354.1	1.03	1.00
402.4	48.30	48.30	354.1	1.02	1.00	48.30	354.1	1.00	1.00
395.4	41.20	41.20	354.2	1.01	1.00	41.20	354.2	1.01	1.00
388.5	34.10	34.10	354.4	1.02	1.00	34.10	354.4	1.03	1.00
382.3	27.80	27.80	354.5	1.02	1.00	27.80	354.5	1.02	1.00
375.3	20.70	20.70	354.6	1.01	1.00	20.70	354.6	1.01	1.00
368.5	13.80	13.80	354.7	1.01	1.00	13.80	354.7	1.01	1.00
361.7	7.30	7.20	354.5	0.99	1.00	7.30	354.4	0.96	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	2809	2280	2827	2764	0.0	0.0	0	11	0.00	0.00	-2.10	0.045	16390	0.000	0.000	2807	2276	3391	3413	3370	0	0	0	0	0	0	15.08	13.50	15.07
13	-0.93	-146.0	2807	2280	3413	3372	0.0	0.0	0	19	0.93	2.42	0.00	0.000	4612	0.112	0.085	2495	885	3392	3413	3372	0	0	0	0	0	0	14.79	14.78	14.87
83	-0.93	-146.0	2496	886	3415	3372	366.6	-12.5	14	90	0.00	2.55	0.00	0.000	1030	0.000	0.079	2486	2300	3392	3413	3372	0	0	0	0	0	0	14.86	14.78	14.90
394	-0.93	-146.0	2487	2300	3414	3372	410.9	-14.3	46	399	0.00	2.50	0.00	0.000	516	0.000	0.084	2486	895	3391	3413	3370	0	0	0	0	0	0	15.09	14.76	15.11
428	-0.93	-146.0	2485	895	3412	3371	416.2	-14.9	53	436	0.00	2.53	0.00	0.000	1030	0.000	0.076	2475	2301	3391	3413	3370	0	0	0	0	0	0	14.85	14.77	14.90
734	-0.93	-146.0	2475	2302	3413	3370	461.4	-15.0	84	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2301	3391	3413	3370	0	0	0	0	0	0	15.10	15.13	15.13
1034	-0.93	-146.0	2477	2302	3414	3370	506.3	-15.1	114	1039	0.00	2.50	0.00	0.000	516	0.000	0.080	2475	912	3391	3413	3369	0	0	0	0	0	0	15.10	14.73	15.12
1074	-0.93	-146.0	2477	913	3415	3370	512.4	-15.5	122	1080	0.15	2.50	0.00	0.000	3078	0.301	0.074	2497	2311	3391	3413	3369	0	0	0	0	0	0	14.61	14.77	14.86
1384	-0.93	-146.0	2496	2305	3412	3369	555.5	-13.6	154	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2305	3390	3413	3368	0	0	0	0	0	0	15.09	15.11	15.11
1684	-0.93	-146.0	2498	2306	3415	3369	595.2	-13.0	184	1685	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2304	3390	3413	3368	0	0	0	0	0	0	15.09	15.12	15.11
1984	-0.93	-146.0	2496	2305	3407	3368	634.2	-13.0	214	1990	0.00	2.50	0.00	0.000	516	0.000	0.081	2496	895	3390	3413	3368	0	0	0	0	0	0	15.10	14.76	15.13
2029	-0.93	-146.0	2498	896	3415	3368	640.2	-13.5	223	2036	0.00	2.53	0.00	0.000	1030	0.000	0.073	2488	2300	3390	3413	3368	0	0	0	0	0	0	14.83	14.76	14.88
2334	-0.93	-146.0	2489	2301	3414	3369	680.5	-13.5	254	2335	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2301	3390	3413	3368	0	0	0	0	0	0	15.09	15.11	15.11
2635	-0.93	-146.0	2489	2301	3414	3368	720.5	-13.3	274	2640	0.00	2.47	0.00	0.000	516	0.000	0.080	2488	902	3388	3413	3363	0	0	0	0	0	0	15.06	14.76	15.08
2664	-0.93	-146.0	2489	903	3415	3368	724.7	-14.3	280	2670	0.00	2.53	0.00	0.000	1030	0.000	0.073	2478	2308	3390	3413	3367	0	0	0	0	0	0	14.85	14.76	14.89
3055	-0.93	-146.0	2477	2308	3412	3368	776.7	-13.2	298	3060	0.00	2.47	0.00	0.000	516	0.000	0.080	2478	908	3390	3413	3367	0	0	0	0	0	0	15.06	14.77	15.09
3089	-0.93	-146.0	2477	909	3413	3368	781.3	-13.3	305	3096	0.00	2.50	0.00	0.000	1030	0.000	0.076	2475	2300	3390	3413	3367	0	0	0	0	0	0	14.85	14.78	14.90
3476	-0.93	-146.0	2476	2300	3414	3368	829.6	-12.4	322	3477	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2300	3390	3413	3367	0	0	0	0	0	0	15.07	15.09	15.09
3837	-0.93	-146.0	2474	2300	3413	3368	871.1	-11.1	334	3842	0.00	2.45	0.00	0.000	516	0.000	0.078	2474	910	3390	3414	3367	0	0	0	0	0	0	15.08	14.78	15.11
3881	-0.93	-146.0	2476	911	3414	3368	876.4	-11.6	343	3887	0.00	2.50	0.00	0.000	1030	0.000	0.075	2472	2306	3390	3413	3367	0	0	0	0	0	0	14.87	14.79	14.91
4256	-0.93	-146.0	2471	2307	3412	3368	920.3	-13.8	358	4262	0.00	2.50	0.00	0.000	516	0.000	0.078	2471	913	3390	3413	3367	0	0	0	0	0	0	15.13	14.75	15.15
4306	-0.93	-146.0	2471	914	3413	3368	926.7	-12.9	368	4312	0.12	2.50	0.00	0.000	3078	0.270	0.077	2494	2305	3390	3413	3367	0	0	0	0	0	0	14.59	14.78	14.92
4615	end dive: NO_VERTICAL_VELOCITY
state	4615	begin apogee
4619	-0.23	0.0	2496	2070	3415	3368	936.0	0.0	380	5040	0.73	0.08	412.33	1.280	10246	0.127	0.109	2727	2129	2777	2812	2743	0	0	0	0	0	0	14.79	13.60	13.17
5041	end apogee: CONTROL_FINISHED_OK
state	5041	begin climb
5043	0.93	146.0	2727	2130	2810	2742	936.5	0.0	394	5406	1.27	2.72	350.90	1.352	10500	0.148	0.094	3096	3504	2185	2230	2140	0	0	0	0	0	0	13.69	13.56	13.09
5460	0.93	146.0	3096	3504	2226	2137	900.1	13.5	476	5466	0.00	2.55	0.00	0.000	1030	0.000	0.047	3105	2126	2180	2226	2135	0	0	0	0	0	0	13.93	13.84	13.95
5830	0.93	146.0	3105	2127	2221	2132	857.7	11.1	490	5831	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2126	2175	2220	2131	0	0	0	0	0	0	14.64	14.68	14.67
6191	0.93	146.0	3104	2126	2217	2131	817.6	11.2	502	6196	0.00	2.53	0.00	0.000	260	0.000	0.101	3104	3504	2174	2218	2130	0	0	0	0	0	0	14.88	14.60	14.90
6231	0.93	146.0	3101	3504	2219	2131	812.7	12.0	510	6236	0.00	2.42	0.00	0.000	1030	0.000	0.051	3113	2089	2173	2217	2130	0	0	0	0	0	0	14.76	14.71	14.79
6611	0.93	146.0	3115	2089	2218	2130	769.9	11.7	526	6616	0.00	2.58	0.00	0.000	260	0.000	0.099	3114	3509	2172	2216	2129	0	0	0	0	0	0	15.00	14.71	15.02
6650	0.93	146.0	3114	3508	2217	2130	765.1	12.8	534	6656	0.00	2.45	0.00	0.000	1030	0.000	0.050	3124	2092	2172	2215	2129	0	0	0	0	0	0	14.82	14.76	14.84
7031	0.93	146.0	3124	2093	2217	2130	720.6	11.7	550	7036	0.00	2.55	0.00	0.000	260	0.000	0.098	3124	3503	2172	2214	2131	0	0	0	0	0	0	15.05	14.76	15.08
7080	0.93	146.0	3124	3504	2216	2130	714.4	12.5	560	7087	0.12	2.42	0.00	0.000	5126	0.251	0.049	3098	2096	2171	2214	2129	0	0	0	0	0	0	14.64	14.80	14.78
7451	0.93	146.0	3097	2096	2213	2132	676.6	10.5	588	7457	0.00	2.55	0.00	0.000	260	0.000	0.098	3099	3509	2171	2214	2129	0	0	0	0	0	0	15.07	14.76	15.10
7506	0.93	146.0	3099	3509	2216	2129	670.2	11.7	599	7513	0.00	2.42	0.00	0.000	1030	0.000	0.049	3106	2098	2171	2214	2129	0	0	0	0	0	0	14.88	14.83	14.91
7811	0.93	146.0	3106	2099	2213	2129	638.2	10.5	630	7812	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2098	2171	2213	2129	0	0	0	0	0	0	15.08	15.11	15.11
8111	0.93	146.0	3107	2099	2215	2129	607.2	10.3	660	8117	0.00	2.58	0.00	0.000	260	0.000	0.098	3106	3503	2171	2213	2129	0	0	0	0	0	0	15.09	14.74	15.12
8186	0.93	146.0	3107	3503	2213	2130	598.7	11.2	675	8193	0.00	2.42	0.00	0.000	1030	0.000	0.050	3115	2093	2173	2213	2134	0	0	0	0	0	0	14.86	14.80	14.89
8491	0.93	146.0	3117	2094	2212	2129	566.2	10.6	706	8492	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2093	2170	2212	2129	0	0	0	0	0	0	15.11	15.14	15.13
8791	0.93	146.0	3115	2094	2212	2129	534.4	10.3	736	8797	0.00	2.58	0.00	0.000	260	0.000	0.098	3122	3532	2170	2212	2128	0	0	0	0	0	0	15.11	14.77	15.14
8871	0.93	146.0	3117	3528	2214	2128	525.1	11.6	752	8877	0.00	2.47	0.00	0.000	1030	0.000	0.049	3125	2088	2170	2212	2128	0	0	0	0	0	0	14.87	14.82	14.90
9181	0.93	146.0	3126	2089	2213	2128	492.1	11.1	784	9187	0.00	2.58	0.00	0.000	260	0.000	0.097	3125	3517	2170	2212	2128	0	0	0	0	0	0	15.11	14.77	15.14
9241	0.93	146.0	3125	3518	2211	2128	484.8	12.0	796	9247	0.15	2.40	0.00	0.000	5126	0.274	0.050	3101	2092	2169	2211	2128	0	0	0	0	0	0	14.65	14.84	14.89
9551	0.93	146.0	3100	2092	2211	2129	455.4	9.1	828	9557	0.00	2.58	0.00	0.000	260	0.000	0.096	3101	3526	2169	2211	2128	0	0	0	0	0	0	15.12	14.79	15.14
9591	0.93	146.0	3102	3526	2210	2129	451.4	10.2	836	9597	0.00	2.45	0.00	0.000	1030	0.000	0.050	3109	2100	2169	2211	2128	0	0	0	0	0	0	14.88	14.83	14.91
9901	0.93	146.0	3108	2100	2210	2129	421.7	9.8	868	9907	0.00	2.55	0.00	0.000	260	0.000	0.096	3109	3497	2169	2211	2128	0	0	0	0	0	0	15.12	14.76	15.18
9941	0.93	146.0	3113	3498	2211	2129	417.4	10.8	876	9947	0.00	2.42	0.00	0.000	1030	0.000	0.049	3119	2084	2169	2211	2128	0	0	0	0	0	0	14.88	14.83	14.91
10251	0.93	146.0	3120	2084	2212	2129	386.5	9.8	908	10257	0.00	2.55	0.00	0.000	260	0.000	0.097	3119	3503	2169	2210	2128	0	0	0	0	0	0	15.12	14.80	15.15
10276	0.93	146.0	3118	3503	2209	2128	383.8	10.7	913	10284	0.00	2.42	0.00	0.000	1030	0.000	0.050	3127	2095	2169	2210	2128	0	0	0	0	0	0	14.88	14.83	14.90
10510	end climb: SURFACE_OBSTACLE_DETECTED
state	10510	begin subsurface finish
10514	0.00	1.1	3129	2096	2212	2129	360.7	9.7	937	10526	1.12	2.60	-2.25	0.052	20740	0.213	0.121	2801	3506	2794	2825	2763	0	0	0	0	0	0	14.66	13.50	14.82
10527	end subsurface finish: CONTROL_FINISHED_OK
state	10527	begin surface