Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 168 * 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 168 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 31 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 168 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 31 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 180218,001456,-7415.8535,-11213.9141,0,4147.3,0,53.3,0.0,0.0,0,0.0 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 361.29 MHEAD_RNG_PITCHd_Wd 310.6,9010,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -2.1 D_GRID 990

GPS2 180218,001456,-7415.8535,-11213.9141,0,4147.3,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 354.5,1.027464,2 ALTIM_BOTTOM_PING 865.5,7.6

FINISH2 353.6 _24V_AH 13.05,70.255

RAFOS_CLK 334 _10V_AH 12.49,0.000

RAFOS 0,1518922860,3.032778,3.016667,152,64,62,59,52,50,536,166,213,188,118,133 FG_AHR_24Vo 0.000

RAFOS_FIX -7414.708496,-11213.820312,180218,030316,3,150,0.20 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.041195,0.288365 DATA_FILE_SIZE 30075,846

HUMID 49.05 CAP_FILE_SIZE 108964,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,1000374272

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

XPDR_PINGS 0 SOUNDSPEED 1456.3

ALTIM_TOP_PING 361.4,13.3 GPS 180218,031616,-7414.708,-11213.820,0,4149.7,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 288 17.22 nil 0 0 0.00

Roll_motor 100 182 238.91 nil 0 0 0.00

VBD_pump_during_apogee 711 1351 12544.53 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 9155 6 755.55

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 38 420 209.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6562 2 189.33

TT8_Active 780 13 134.79

TT8_Sampling 1785 34 775.77

TT8_CF8 96 52 63.71

TT8_Kalman 0 0 0.00

Analog_circuits 1468 10 199.91

GPS_charging 0 0 0.00

Compass 1212 7 113.43

RAFOS 720 1 13.49

Transponder 274 30 102.81

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

841.9 34.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

848.2 27.00 9000.00 0.0 0.00 0.00 27.00 875.2 -1.24 1.00

857.6 15.50 15.50 873.1 -1.22 1.00 15.50 873.1 -1.22 1.00

865.5 8.00 7.60 873.1 -1.10 0.99 8.00 873.5 -0.95 1.00

861.6 13.90 12.50 0.0 -0.95 0.90 13.90 0.0 -1.51 1.00

855.6 70.90 9000.00 0.0 -6.63 0.91 70.90 0.0 -9.50 1.00

849.4 26.10 9000.00 0.0 -0.97 0.04 26.10 823.3 7.23 1.00

432.9 85.80 9000.00 0.0 -0.09 0.47 85.80 0.0 -0.14 1.00

413.1 65.60 9000.00 0.0 -0.11 0.86 65.60 347.5 1.02 1.00

406.7 59.40 59.30 347.4 1.01 1.00 59.40 347.3 0.97 1.00

400.4 53.10 53.10 347.3 0.98 1.00 53.10 347.3 1.00 1.00

393.9 46.40 46.40 347.5 1.01 1.00 46.40 347.5 1.03 1.00

387.8 39.90 39.90 347.9 1.05 1.00 39.90 347.9 1.07 1.00

381.2 33.40 33.30 347.9 1.03 1.00 33.40 347.8 0.98 1.00

374.7 26.80 26.90 347.8 1.00 1.00 26.80 347.9 1.02 1.00

368.1 20.10 20.10 348.0 1.01 1.00 20.10 348.0 1.02 1.00

361.4 13.30 13.30 348.1 1.01 1.00 13.30 348.1 1.01 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 2802 2269 2827 2764 0.0 0.0 0 11 0.00 0.00 -2.10 0.046 16390 0.000 0.000 2801 2268 3394 3415 3373 0 0 0 0 0 0 15.08 13.50 15.07

13 -0.93 -146.0 2802 2269 3419 3375 0.0 0.0 0 19 0.90 2.40 0.00 0.000 4612 0.106 0.084 2493 907 3394 3415 3374 0 0 0 0 0 0 14.79 14.76 14.87

98 -0.93 -146.0 2493 908 3415 3374 371.6 -13.9 17 107 0.00 2.50 0.00 0.000 1030 0.000 0.078 2484 2298 3395 3416 3374 0 0 0 0 0 0 14.85 14.78 14.90

404 -0.93 -146.0 2483 2298 3415 3373 416.5 -14.8 48 410 0.00 2.47 0.00 0.000 516 0.000 0.083 2484 911 3394 3415 3373 0 0 0 0 0 0 15.06 14.77 15.09

428 -0.93 -146.0 2484 911 3416 3374 420.4 -15.2 53 437 0.00 2.47 0.00 0.000 1030 0.000 0.076 2473 2295 3394 3415 3373 0 0 0 0 0 0 14.85 14.77 14.90

734 -0.93 -146.0 2474 2296 3415 3372 466.7 -14.8 84 739 0.00 2.50 0.00 0.000 516 0.000 0.080 2474 912 3393 3415 3372 0 0 0 0 0 0 15.09 14.73 15.11

768 -0.93 -146.0 2473 913 3415 3372 472.0 -15.1 91 776 0.12 2.50 0.00 0.000 3078 0.276 0.074 2496 2305 3393 3415 3372 0 0 0 0 0 0 14.59 14.77 14.76

1074 -0.93 -146.0 2495 2306 3416 3372 514.3 -13.9 122 1074 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2305 3393 3415 3371 0 0 0 0 0 0 15.09 15.11 15.11

1374 -0.93 -146.0 2497 2307 3417 3371 555.4 -13.4 152 1380 0.00 2.53 0.00 0.000 516 0.000 0.080 2496 909 3392 3415 3370 0 0 0 0 0 0 15.09 14.73 15.13

1399 -0.93 -146.0 2497 910 3417 3370 558.9 -13.4 157 1407 0.00 2.53 0.00 0.000 1030 0.000 0.075 2488 2319 3392 3415 3370 0 0 0 0 0 0 14.83 14.76 14.88

1704 -0.93 -146.0 2488 2320 3416 3371 600.7 -13.6 188 1710 0.00 2.53 0.00 0.000 516 0.000 0.081 2488 900 3392 3415 3370 0 0 0 0 0 0 15.07 14.75 15.11

1744 -0.93 -146.0 2489 901 3417 3368 606.4 -14.1 196 1750 0.00 2.47 0.00 0.000 1030 0.000 0.075 2477 2304 3392 3415 3370 0 0 0 0 0 0 14.90 14.78 14.94

2054 -0.93 -146.0 2477 2305 3415 3369 649.8 -14.2 228 2060 0.00 2.53 0.00 0.000 516 0.000 0.080 2477 906 3392 3415 3370 0 0 0 0 0 0 15.08 14.72 15.11

2089 -0.93 -146.0 2477 907 3415 3370 654.9 -14.5 235 2096 0.00 2.53 0.00 0.000 1030 0.000 0.078 2474 2303 3392 3415 3369 0 0 0 0 0 0 14.83 14.76 14.88

2394 -0.93 -146.0 2476 2304 3417 3370 697.5 -14.1 266 2400 0.00 2.53 0.00 0.000 516 0.000 0.080 2474 907 3392 3415 3370 0 0 0 0 0 0 15.08 14.71 15.10

2439 -0.93 -146.0 2473 907 3413 3370 704.0 -13.8 275 2445 0.00 2.53 0.00 0.000 1030 0.000 0.077 2470 2308 3392 3415 3369 0 0 0 0 0 0 14.84 14.76 14.88

2815 -0.93 -146.0 2468 2308 3414 3370 754.5 -13.4 290 2816 0.15 0.00 0.00 0.000 2054 0.288 0.000 2502 2308 3392 3415 3369 0 0 0 0 0 0 14.58 14.87 14.82

3176 -0.93 -146.0 2501 2309 3415 3370 797.6 -12.2 302 3177 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2308 3393 3415 3371 0 0 0 0 0 0 15.07 15.07 15.09

3536 -0.93 -146.0 2502 2308 3417 3370 841.9 -12.4 314 3541 0.00 2.50 0.00 0.000 516 0.000 0.083 2502 902 3389 3415 3364 0 0 0 0 0 0 15.08 14.77 15.09

3590 -0.93 -146.0 2502 903 3415 3369 848.9 -13.0 325 3598 0.00 2.53 0.00 0.000 1030 0.000 0.073 2493 2311 3392 3415 3369 0 0 0 0 0 0 14.87 14.79 14.90

3715 end dive: BOTTOM_OBSTACLE_DETECTED

state 3715 begin apogee

3719 -0.23 0.0 2495 2078 3417 3369 865.5 -13.3 330 4115 0.82 0.08 392.70 1.252 10246 0.223 0.182 2720 2120 2784 2818 2750 0 0 0 0 0 0 14.65 13.71 13.26

4117 end apogee: CONTROL_FINISHED_OK

state 4117 begin climb

4118 0.93 146.0 2722 2122 2817 2746 870.4 0.0 343 4449 1.27 2.75 318.42 1.352 10500 0.141 0.095 3095 3509 2181 2227 2136 0 0 0 0 0 0 13.72 13.47 13.05

4518 0.93 146.0 3095 3507 2221 2130 838.1 11.4 420 4525 0.00 2.55 0.00 0.000 1030 0.000 0.048 3098 2131 2174 2220 2129 0 0 0 0 0 0 13.92 13.87 13.95

4885 0.93 146.0 3100 2131 2216 2125 799.6 10.5 433 4886 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2131 2168 2214 2123 0 0 0 0 0 0 14.62 14.66 14.65

5245 0.93 146.0 3098 2131 2211 2124 760.4 10.9 445 5251 0.00 2.53 0.00 0.000 260 0.000 0.099 3098 3511 2167 2211 2124 0 0 0 0 0 0 14.85 14.61 14.88

5275 0.93 146.0 3098 3510 2211 2124 756.9 10.6 451 5281 0.00 2.47 0.00 0.000 1030 0.000 0.050 3107 2092 2167 2212 2123 0 0 0 0 0 0 14.71 14.66 14.75

5666 0.93 146.0 3108 2092 2211 2123 714.8 10.7 469 5672 0.00 2.58 0.00 0.000 260 0.000 0.098 3105 3511 2166 2209 2123 0 0 0 0 0 0 14.96 14.71 14.99

5686 0.93 146.0 3108 3512 2211 2124 712.5 11.0 473 5693 0.00 2.45 0.00 0.000 1030 0.000 0.050 3116 2098 2165 2208 2122 0 0 0 0 0 0 14.82 14.76 14.85

6057 0.93 146.0 3117 2098 2210 2123 671.1 10.5 503 6063 0.00 2.55 0.00 0.000 260 0.000 0.098 3116 3511 2165 2208 2122 0 0 0 0 0 0 15.04 14.75 15.07

6092 0.93 146.0 3117 3512 2210 2123 667.1 11.8 510 6099 0.00 2.45 0.00 0.000 1030 0.000 0.051 3125 2098 2165 2208 2122 0 0 0 0 0 0 14.85 14.80 14.88

6397 0.93 146.0 3125 2098 2208 2123 633.8 11.1 541 6404 0.00 2.58 0.00 0.000 260 0.000 0.098 3125 3521 2165 2208 2122 0 0 0 0 0 0 15.07 14.77 15.09

6433 0.93 146.0 3124 3521 2207 2123 629.5 12.7 548 6441 0.12 2.47 0.00 0.000 5126 0.241 0.050 3098 2093 2164 2207 2122 0 0 0 0 0 0 14.65 14.81 14.78

6739 0.93 146.0 3098 2093 2207 2122 597.8 10.3 579 6744 0.00 2.55 0.00 0.000 260 0.000 0.097 3098 3506 2165 2208 2122 0 0 0 0 0 0 15.04 14.78 15.07

6763 0.93 146.0 3099 3507 2209 2123 595.1 11.4 584 6770 0.00 2.42 0.00 0.000 1030 0.000 0.050 3106 2098 2165 2208 2122 0 0 0 0 0 0 14.87 14.83 14.90

7068 0.93 146.0 3106 2099 2210 2123 563.8 10.2 615 7069 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2098 2165 2208 2122 0 0 0 0 0 0 15.09 15.11 15.11

7368 0.93 146.0 3105 2099 2206 2122 533.5 10.0 645 7375 0.00 2.58 0.00 0.000 260 0.000 0.098 3106 3501 2163 2206 2121 0 0 0 0 0 0 15.09 14.76 15.12

7404 0.93 146.0 3107 3501 2209 2122 529.5 11.2 652 7412 0.00 2.42 0.00 0.000 1030 0.000 0.050 3115 2095 2163 2206 2121 0 0 0 0 0 0 14.89 14.83 14.91

7710 0.93 146.0 3116 2095 2208 2122 498.0 10.2 683 7715 0.00 2.55 0.00 0.000 260 0.000 0.096 3115 3511 2163 2206 2121 0 0 0 0 0 0 15.05 14.80 15.08

7744 0.93 146.0 3116 3512 2208 2122 494.1 11.3 690 7751 0.00 2.45 0.00 0.000 1030 0.000 0.050 3125 2091 2163 2205 2121 0 0 0 0 0 0 14.89 14.84 14.92

8049 0.93 146.0 3125 2091 2204 2122 460.8 11.2 721 8050 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2091 2163 2205 2121 0 0 0 0 0 0 15.11 15.12 15.12

8349 0.93 146.0 3127 2092 2207 2122 428.7 10.5 751 8355 0.00 2.60 0.00 0.000 260 0.000 0.096 3125 3510 2163 2205 2121 0 0 0 0 0 0 15.09 14.78 15.11

8409 0.93 146.0 3125 3510 2206 2122 421.7 11.8 763 8415 0.10 2.45 0.00 0.000 5126 0.242 0.048 3104 2088 2162 2204 2121 0 0 0 0 0 0 14.66 14.83 14.81

8719 0.93 146.0 3103 2089 2204 2121 392.9 9.3 795 8725 0.00 2.58 0.00 0.000 260 0.000 0.096 3104 3522 2162 2205 2120 0 0 0 0 0 0 15.11 14.79 15.14

8764 0.93 146.0 3105 3522 2205 2121 388.3 10.4 804 8776 0.00 2.45 0.00 0.000 1030 0.000 0.048 3112 2103 2162 2204 2120 0 0 0 0 0 0 14.88 14.84 14.92

9070 0.93 146.0 3113 2098 2207 2121 359.5 9.3 835 9075 0.00 2.55 0.00 0.000 260 0.000 0.095 3112 3520 2162 2204 2120 0 0 0 0 0 0 15.12 14.79 15.15

9105 0.93 146.0 3111 3521 2204 2121 356.0 10.3 842 9112 0.00 2.45 0.00 0.000 1030 0.000 0.048 3122 2093 2162 2204 2121 0 0 0 0 0 0 14.90 14.84 14.92

9119 end climb: SURFACE_OBSTACLE_DETECTED

state 9119 begin subsurface finish

9123 0.00 1.8 3122 2094 2204 2121 354.5 10.2 844 9135 1.08 2.58 -2.30 0.051 20996 0.203 0.125 2808 676 2795 2827 2764 0 0 0 0 0 0 14.65 13.52 14.80

9136 end subsurface finish: CONTROL_FINISHED_OK

state 9136 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	168	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	31	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	180218,001456,-7415.8535,-11213.9141,0,4147.3,0,53.3,0.0,0.0,0,0.0	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	361.29	MHEAD_RNG_PITCHd_Wd	310.6,9010,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-2.1	D_GRID	990
GPS2	180218,001456,-7415.8535,-11213.9141,0,4147.3,0,53.3,0.0,0.0,0,0.0

FINISH1	354.5,1.027464,2	ALTIM_BOTTOM_PING	865.5,7.6
FINISH2	353.6	_24V_AH	13.05,70.255
RAFOS_CLK	334	_10V_AH	12.49,0.000
RAFOS	0,1518922860,3.032778,3.016667,152,64,62,59,52,50,536,166,213,188,118,133	FG_AHR_24Vo	0.000
RAFOS_FIX	-7414.708496,-11213.820312,180218,030316,3,150,0.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280072
TT8_MAMPS	0.041195,0.288365	DATA_FILE_SIZE	30075,846
HUMID	49.05	CAP_FILE_SIZE	108964,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,1000374272
TCM_TEMP	12.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1456.3
ALTIM_TOP_PING	361.4,13.3	GPS	180218,031616,-7414.708,-11213.820,0,4149.7,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	288	17.22	nil	0	0	0.00
Roll_motor	100	182	238.91	nil	0	0	0.00
VBD_pump_during_apogee	711	1351	12544.53	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	9155	6	755.55
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	38	420	209.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6562	2	189.33
TT8_Active	780	13	134.79
TT8_Sampling	1785	34	775.77
TT8_CF8	96	52	63.71
TT8_Kalman	0	0	0.00
Analog_circuits	1468	10	199.91
GPS_charging	0	0	0.00
Compass	1212	7	113.43
RAFOS	720	1	13.49
Transponder	274	30	102.81

		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
841.9	34.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
848.2	27.00	9000.00	0.0	0.00	0.00	27.00	875.2	-1.24	1.00
857.6	15.50	15.50	873.1	-1.22	1.00	15.50	873.1	-1.22	1.00
865.5	8.00	7.60	873.1	-1.10	0.99	8.00	873.5	-0.95	1.00

861.6	13.90	12.50	0.0	-0.95	0.90	13.90	0.0	-1.51	1.00
855.6	70.90	9000.00	0.0	-6.63	0.91	70.90	0.0	-9.50	1.00
849.4	26.10	9000.00	0.0	-0.97	0.04	26.10	823.3	7.23	1.00
432.9	85.80	9000.00	0.0	-0.09	0.47	85.80	0.0	-0.14	1.00
413.1	65.60	9000.00	0.0	-0.11	0.86	65.60	347.5	1.02	1.00
406.7	59.40	59.30	347.4	1.01	1.00	59.40	347.3	0.97	1.00
400.4	53.10	53.10	347.3	0.98	1.00	53.10	347.3	1.00	1.00
393.9	46.40	46.40	347.5	1.01	1.00	46.40	347.5	1.03	1.00
387.8	39.90	39.90	347.9	1.05	1.00	39.90	347.9	1.07	1.00
381.2	33.40	33.30	347.9	1.03	1.00	33.40	347.8	0.98	1.00
374.7	26.80	26.90	347.8	1.00	1.00	26.80	347.9	1.02	1.00
368.1	20.10	20.10	348.0	1.01	1.00	20.10	348.0	1.02	1.00
361.4	13.30	13.30	348.1	1.01	1.00	13.30	348.1	1.01	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	2802	2269	2827	2764	0.0	0.0	0	11	0.00	0.00	-2.10	0.046	16390	0.000	0.000	2801	2268	3394	3415	3373	0	0	0	0	0	0	15.08	13.50	15.07
13	-0.93	-146.0	2802	2269	3419	3375	0.0	0.0	0	19	0.90	2.40	0.00	0.000	4612	0.106	0.084	2493	907	3394	3415	3374	0	0	0	0	0	0	14.79	14.76	14.87
98	-0.93	-146.0	2493	908	3415	3374	371.6	-13.9	17	107	0.00	2.50	0.00	0.000	1030	0.000	0.078	2484	2298	3395	3416	3374	0	0	0	0	0	0	14.85	14.78	14.90
404	-0.93	-146.0	2483	2298	3415	3373	416.5	-14.8	48	410	0.00	2.47	0.00	0.000	516	0.000	0.083	2484	911	3394	3415	3373	0	0	0	0	0	0	15.06	14.77	15.09
428	-0.93	-146.0	2484	911	3416	3374	420.4	-15.2	53	437	0.00	2.47	0.00	0.000	1030	0.000	0.076	2473	2295	3394	3415	3373	0	0	0	0	0	0	14.85	14.77	14.90
734	-0.93	-146.0	2474	2296	3415	3372	466.7	-14.8	84	739	0.00	2.50	0.00	0.000	516	0.000	0.080	2474	912	3393	3415	3372	0	0	0	0	0	0	15.09	14.73	15.11
768	-0.93	-146.0	2473	913	3415	3372	472.0	-15.1	91	776	0.12	2.50	0.00	0.000	3078	0.276	0.074	2496	2305	3393	3415	3372	0	0	0	0	0	0	14.59	14.77	14.76
1074	-0.93	-146.0	2495	2306	3416	3372	514.3	-13.9	122	1074	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2305	3393	3415	3371	0	0	0	0	0	0	15.09	15.11	15.11
1374	-0.93	-146.0	2497	2307	3417	3371	555.4	-13.4	152	1380	0.00	2.53	0.00	0.000	516	0.000	0.080	2496	909	3392	3415	3370	0	0	0	0	0	0	15.09	14.73	15.13
1399	-0.93	-146.0	2497	910	3417	3370	558.9	-13.4	157	1407	0.00	2.53	0.00	0.000	1030	0.000	0.075	2488	2319	3392	3415	3370	0	0	0	0	0	0	14.83	14.76	14.88
1704	-0.93	-146.0	2488	2320	3416	3371	600.7	-13.6	188	1710	0.00	2.53	0.00	0.000	516	0.000	0.081	2488	900	3392	3415	3370	0	0	0	0	0	0	15.07	14.75	15.11
1744	-0.93	-146.0	2489	901	3417	3368	606.4	-14.1	196	1750	0.00	2.47	0.00	0.000	1030	0.000	0.075	2477	2304	3392	3415	3370	0	0	0	0	0	0	14.90	14.78	14.94
2054	-0.93	-146.0	2477	2305	3415	3369	649.8	-14.2	228	2060	0.00	2.53	0.00	0.000	516	0.000	0.080	2477	906	3392	3415	3370	0	0	0	0	0	0	15.08	14.72	15.11
2089	-0.93	-146.0	2477	907	3415	3370	654.9	-14.5	235	2096	0.00	2.53	0.00	0.000	1030	0.000	0.078	2474	2303	3392	3415	3369	0	0	0	0	0	0	14.83	14.76	14.88
2394	-0.93	-146.0	2476	2304	3417	3370	697.5	-14.1	266	2400	0.00	2.53	0.00	0.000	516	0.000	0.080	2474	907	3392	3415	3370	0	0	0	0	0	0	15.08	14.71	15.10
2439	-0.93	-146.0	2473	907	3413	3370	704.0	-13.8	275	2445	0.00	2.53	0.00	0.000	1030	0.000	0.077	2470	2308	3392	3415	3369	0	0	0	0	0	0	14.84	14.76	14.88
2815	-0.93	-146.0	2468	2308	3414	3370	754.5	-13.4	290	2816	0.15	0.00	0.00	0.000	2054	0.288	0.000	2502	2308	3392	3415	3369	0	0	0	0	0	0	14.58	14.87	14.82
3176	-0.93	-146.0	2501	2309	3415	3370	797.6	-12.2	302	3177	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2308	3393	3415	3371	0	0	0	0	0	0	15.07	15.07	15.09
3536	-0.93	-146.0	2502	2308	3417	3370	841.9	-12.4	314	3541	0.00	2.50	0.00	0.000	516	0.000	0.083	2502	902	3389	3415	3364	0	0	0	0	0	0	15.08	14.77	15.09
3590	-0.93	-146.0	2502	903	3415	3369	848.9	-13.0	325	3598	0.00	2.53	0.00	0.000	1030	0.000	0.073	2493	2311	3392	3415	3369	0	0	0	0	0	0	14.87	14.79	14.90
3715	end dive: BOTTOM_OBSTACLE_DETECTED
state	3715	begin apogee
3719	-0.23	0.0	2495	2078	3417	3369	865.5	-13.3	330	4115	0.82	0.08	392.70	1.252	10246	0.223	0.182	2720	2120	2784	2818	2750	0	0	0	0	0	0	14.65	13.71	13.26
4117	end apogee: CONTROL_FINISHED_OK
state	4117	begin climb
4118	0.93	146.0	2722	2122	2817	2746	870.4	0.0	343	4449	1.27	2.75	318.42	1.352	10500	0.141	0.095	3095	3509	2181	2227	2136	0	0	0	0	0	0	13.72	13.47	13.05
4518	0.93	146.0	3095	3507	2221	2130	838.1	11.4	420	4525	0.00	2.55	0.00	0.000	1030	0.000	0.048	3098	2131	2174	2220	2129	0	0	0	0	0	0	13.92	13.87	13.95
4885	0.93	146.0	3100	2131	2216	2125	799.6	10.5	433	4886	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2131	2168	2214	2123	0	0	0	0	0	0	14.62	14.66	14.65
5245	0.93	146.0	3098	2131	2211	2124	760.4	10.9	445	5251	0.00	2.53	0.00	0.000	260	0.000	0.099	3098	3511	2167	2211	2124	0	0	0	0	0	0	14.85	14.61	14.88
5275	0.93	146.0	3098	3510	2211	2124	756.9	10.6	451	5281	0.00	2.47	0.00	0.000	1030	0.000	0.050	3107	2092	2167	2212	2123	0	0	0	0	0	0	14.71	14.66	14.75
5666	0.93	146.0	3108	2092	2211	2123	714.8	10.7	469	5672	0.00	2.58	0.00	0.000	260	0.000	0.098	3105	3511	2166	2209	2123	0	0	0	0	0	0	14.96	14.71	14.99
5686	0.93	146.0	3108	3512	2211	2124	712.5	11.0	473	5693	0.00	2.45	0.00	0.000	1030	0.000	0.050	3116	2098	2165	2208	2122	0	0	0	0	0	0	14.82	14.76	14.85
6057	0.93	146.0	3117	2098	2210	2123	671.1	10.5	503	6063	0.00	2.55	0.00	0.000	260	0.000	0.098	3116	3511	2165	2208	2122	0	0	0	0	0	0	15.04	14.75	15.07
6092	0.93	146.0	3117	3512	2210	2123	667.1	11.8	510	6099	0.00	2.45	0.00	0.000	1030	0.000	0.051	3125	2098	2165	2208	2122	0	0	0	0	0	0	14.85	14.80	14.88
6397	0.93	146.0	3125	2098	2208	2123	633.8	11.1	541	6404	0.00	2.58	0.00	0.000	260	0.000	0.098	3125	3521	2165	2208	2122	0	0	0	0	0	0	15.07	14.77	15.09
6433	0.93	146.0	3124	3521	2207	2123	629.5	12.7	548	6441	0.12	2.47	0.00	0.000	5126	0.241	0.050	3098	2093	2164	2207	2122	0	0	0	0	0	0	14.65	14.81	14.78
6739	0.93	146.0	3098	2093	2207	2122	597.8	10.3	579	6744	0.00	2.55	0.00	0.000	260	0.000	0.097	3098	3506	2165	2208	2122	0	0	0	0	0	0	15.04	14.78	15.07
6763	0.93	146.0	3099	3507	2209	2123	595.1	11.4	584	6770	0.00	2.42	0.00	0.000	1030	0.000	0.050	3106	2098	2165	2208	2122	0	0	0	0	0	0	14.87	14.83	14.90
7068	0.93	146.0	3106	2099	2210	2123	563.8	10.2	615	7069	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2098	2165	2208	2122	0	0	0	0	0	0	15.09	15.11	15.11
7368	0.93	146.0	3105	2099	2206	2122	533.5	10.0	645	7375	0.00	2.58	0.00	0.000	260	0.000	0.098	3106	3501	2163	2206	2121	0	0	0	0	0	0	15.09	14.76	15.12
7404	0.93	146.0	3107	3501	2209	2122	529.5	11.2	652	7412	0.00	2.42	0.00	0.000	1030	0.000	0.050	3115	2095	2163	2206	2121	0	0	0	0	0	0	14.89	14.83	14.91
7710	0.93	146.0	3116	2095	2208	2122	498.0	10.2	683	7715	0.00	2.55	0.00	0.000	260	0.000	0.096	3115	3511	2163	2206	2121	0	0	0	0	0	0	15.05	14.80	15.08
7744	0.93	146.0	3116	3512	2208	2122	494.1	11.3	690	7751	0.00	2.45	0.00	0.000	1030	0.000	0.050	3125	2091	2163	2205	2121	0	0	0	0	0	0	14.89	14.84	14.92
8049	0.93	146.0	3125	2091	2204	2122	460.8	11.2	721	8050	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2091	2163	2205	2121	0	0	0	0	0	0	15.11	15.12	15.12
8349	0.93	146.0	3127	2092	2207	2122	428.7	10.5	751	8355	0.00	2.60	0.00	0.000	260	0.000	0.096	3125	3510	2163	2205	2121	0	0	0	0	0	0	15.09	14.78	15.11
8409	0.93	146.0	3125	3510	2206	2122	421.7	11.8	763	8415	0.10	2.45	0.00	0.000	5126	0.242	0.048	3104	2088	2162	2204	2121	0	0	0	0	0	0	14.66	14.83	14.81
8719	0.93	146.0	3103	2089	2204	2121	392.9	9.3	795	8725	0.00	2.58	0.00	0.000	260	0.000	0.096	3104	3522	2162	2205	2120	0	0	0	0	0	0	15.11	14.79	15.14
8764	0.93	146.0	3105	3522	2205	2121	388.3	10.4	804	8776	0.00	2.45	0.00	0.000	1030	0.000	0.048	3112	2103	2162	2204	2120	0	0	0	0	0	0	14.88	14.84	14.92
9070	0.93	146.0	3113	2098	2207	2121	359.5	9.3	835	9075	0.00	2.55	0.00	0.000	260	0.000	0.095	3112	3520	2162	2204	2120	0	0	0	0	0	0	15.12	14.79	15.15
9105	0.93	146.0	3111	3521	2204	2121	356.0	10.3	842	9112	0.00	2.45	0.00	0.000	1030	0.000	0.048	3122	2093	2162	2204	2121	0	0	0	0	0	0	14.90	14.84	14.92
9119	end climb: SURFACE_OBSTACLE_DETECTED
state	9119	begin subsurface finish
9123	0.00	1.8	3122	2094	2204	2121	354.5	10.2	844	9135	1.08	2.58	-2.30	0.051	20996	0.203	0.125	2808	676	2795	2827	2764	0	0	0	0	0	0	14.65	13.52	14.80
9136	end subsurface finish: CONTROL_FINISHED_OK
state	9136	begin surface