Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 169 * 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 169 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 30 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 169 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 21 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 180218,031616,-7414.7085,-11213.8203,0,4149.7,0,53.3,0.0,0.0,0,0.0 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 355.32 MHEAD_RNG_PITCHd_Wd 311.4,6891,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -2.9 D_GRID 990

GPS2 180218,031616,-7414.7085,-11213.8203,0,4149.7,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 349.0,1.027466,2 _24V_AH 13.07,70.597

FINISH2 348.3 _10V_AH 12.44,0.000

RAFOS_CLK 319 FG_AHR_24Vo 0.000

RAFOS_FIX -7413.429199,-11213.725586,180218,050502,0,1,0.25 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.038199,0.286118 DATA_FILE_SIZE 30079,822

HUMID 49.25 CAP_FILE_SIZE 103361,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,1000292352

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 1456.1

ALTIM_TOP_PING 350.9,8.5 GPS 180218,055602,-7413.429,-11213.726,0,1001.0,0,53.3,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 837.2,11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 273 16.20 nil 0 0 0.00

Roll_motor 96 155 196.58 nil 0 0 0.00

VBD_pump_during_apogee 779 1417 14435.09 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 8683 6 725.98

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 35 420 196.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6109 2 175.56

TT8_Active 827 13 142.33

TT8_Sampling 1719 34 744.25

TT8_CF8 92 52 60.89

TT8_Kalman 0 0 0.00

Analog_circuits 1497 10 202.99

GPS_charging 0 0 0.00

Compass 1178 7 109.82

RAFOS 0 0 0.00

Transponder 253 30 94.70

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

369.2 22.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

813.1 39.20 9000.00 0.0 0.00 0.00 39.20 0.0 0.04 1.00

821.1 29.60 9000.00 0.0 0.03 0.65 29.60 850.7 -1.20 1.00

829.1 19.80 19.80 848.9 -1.21 1.00 19.80 848.9 -1.22 1.00

837.2 12.00 11.60 848.8 -1.09 1.00 12.00 849.2 -0.96 1.00

836.3 21.50 9000.00 0.0 -0.50 0.19 0.00 0.0 0.00 0.00

829.9 29.20 9000.00 0.0 -1.95 0.80 29.20 0.0 -1.20 1.00

823.7 29.60 9000.00 0.0 -0.65 0.79 29.60 0.0 -0.06 1.00

415.3 78.00 9000.00 0.0 -0.12 1.00 78.00 0.0 -0.12 1.00

402.3 64.50 9000.00 0.0 -0.10 0.91 64.50 337.8 1.04 1.00

395.9 57.60 57.70 338.2 1.05 1.00 57.60 338.3 1.08 1.00

389.5 51.00 50.90 338.6 1.05 1.00 51.00 338.5 1.03 1.00

383.0 43.80 43.90 339.1 1.07 1.00 43.80 339.2 1.11 1.00

376.1 35.90 35.90 340.2 1.13 1.00 35.90 340.2 1.14 1.00

370.1 29.40 29.30 340.8 1.12 1.00 29.40 340.7 1.08 1.00

364.0 22.70 22.70 341.3 1.08 1.00 22.70 341.3 1.10 1.00

357.8 16.00 16.00 341.8 1.08 1.00 16.00 341.8 1.08 1.00

350.9 8.40 8.50 342.4 1.10 1.00 8.40 342.5 1.10 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 2306 2828 2764 0.0 0.0 0 11 0.00 0.00 -2.12 0.047 16390 0.000 0.000 2807 2305 3398 3418 3379 0 0 0 0 0 0 15.07 13.50 15.07

13 -0.93 -146.0 2809 2307 3420 3376 0.0 0.0 0 19 0.90 2.50 0.00 0.000 4356 0.103 0.105 2498 3714 3396 3418 3375 0 0 0 0 0 0 14.79 14.77 14.87

88 -0.93 -146.0 2500 3714 3419 3376 364.4 -13.9 15 96 0.00 2.45 0.00 0.000 1030 0.000 0.047 2499 2288 3400 3425 3375 0 0 0 0 0 0 14.87 14.83 14.90

393 -0.93 -146.0 2498 2288 3417 3375 408.2 -14.3 46 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2287 3396 3418 3375 0 0 0 0 0 0 15.09 15.11 15.11

693 -0.93 -146.0 2498 2288 3417 3375 450.5 -14.2 76 699 0.00 2.50 0.00 0.000 516 0.000 0.081 2499 903 3395 3417 3374 0 0 0 0 0 0 15.09 14.74 15.11

738 -0.93 -146.0 2500 904 3419 3375 457.0 -14.6 85 746 0.00 2.50 0.00 0.000 1030 0.000 0.073 2488 2301 3395 3417 3374 0 0 0 0 0 0 14.85 14.76 14.90

1043 -0.93 -146.0 2489 2302 3419 3374 500.3 -13.8 116 1049 0.00 2.55 0.00 0.000 516 0.000 0.081 2487 892 3395 3417 3373 0 0 0 0 0 0 15.09 14.73 15.11

1084 -0.93 -146.0 2489 893 3419 3374 506.1 -14.6 124 1089 0.00 2.53 0.00 0.000 1030 0.000 0.073 2478 2302 3398 3417 3379 0 0 0 0 0 0 14.84 14.77 14.95

1393 -0.93 -146.0 2478 2303 3420 3374 551.0 -14.4 156 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2302 3395 3418 3373 0 0 0 0 0 0 15.09 15.11 15.11

1693 -0.93 -146.0 2479 2303 3419 3373 594.5 -14.6 186 1702 0.00 2.53 0.00 0.000 516 0.000 0.080 2478 881 3395 3418 3372 0 0 0 0 0 0 15.09 14.76 15.11

1737 -0.93 -146.0 2478 882 3417 3373 600.9 -14.8 194 1744 0.00 2.55 0.00 0.000 1030 0.000 0.076 2474 2301 3395 3418 3372 0 0 0 0 0 0 14.84 14.77 14.88

2048 -0.93 -146.0 2475 2302 3420 3373 646.2 -14.1 226 2054 0.00 2.50 0.00 0.000 516 0.000 0.080 2474 890 3394 3417 3371 0 0 0 0 0 0 15.10 14.76 15.12

2083 -0.93 -146.0 2473 890 3417 3372 651.3 -14.3 233 2091 0.12 2.55 0.00 0.000 3078 0.274 0.073 2497 2310 3394 3417 3371 0 0 0 0 0 0 14.58 14.77 14.75

2388 -0.93 -146.0 2496 2311 3417 3373 690.4 -12.8 264 2394 0.00 2.50 0.00 0.000 516 0.000 0.080 2497 899 3394 3417 3371 0 0 0 0 0 0 15.11 14.76 15.13

2419 -0.93 -146.0 2496 899 3417 3371 694.5 -13.4 270 2424 0.00 2.47 0.00 0.000 1030 0.000 0.074 2488 2306 3394 3417 3371 0 0 0 0 0 0 14.92 14.80 14.95

2738 -0.93 -146.0 2488 2305 3417 3372 736.9 -13.0 285 2745 0.00 2.60 0.00 0.000 260 0.000 0.109 2477 3740 3394 3417 3371 0 0 0 0 0 0 15.12 14.76 15.14

2759 -0.93 -146.0 2479 3741 3419 3371 739.8 -13.4 289 2766 0.00 2.45 0.00 0.000 1030 0.000 0.049 2478 2288 3394 3417 3371 0 0 0 0 0 0 14.95 14.87 14.97

3131 -0.93 -146.0 2477 2287 3417 3371 789.1 -13.2 303 3136 0.00 2.45 0.00 0.000 516 0.000 0.080 2476 898 3394 3417 3371 0 0 0 0 0 0 15.07 14.78 15.10

3170 -0.93 -146.0 2477 898 3417 3372 794.9 -13.7 311 3176 0.00 2.53 0.00 0.000 1030 0.000 0.077 2474 2300 3394 3417 3371 0 0 0 0 0 0 14.85 14.78 14.90

3519 end dive: BOTTOM_OBSTACLE_DETECTED

state 3519 begin apogee

3523 -0.23 0.0 2474 2064 3417 3371 840.8 -13.4 326 3953 0.93 0.10 425.98 1.242 10246 0.234 0.155 2723 2128 2781 2816 2746 0 0 0 0 0 0 14.64 13.69 13.19

3955 end apogee: CONTROL_FINISHED_OK

state 3955 begin climb

3956 0.93 146.0 2729 2125 2813 2744 850.9 0.0 340 4322 1.25 2.72 353.15 1.418 11012 0.144 0.097 3091 3497 2184 2229 2140 0 0 0 0 0 0 13.67 13.54 13.07

4362 0.93 146.0 3093 3498 2229 2137 817.5 13.0 412 4367 0.00 2.50 0.00 0.000 1030 0.000 0.049 3099 2132 2181 2227 2136 0 0 0 0 0 0 13.87 13.79 13.88

4733 0.93 146.0 3101 2132 2221 2132 774.2 12.0 426 4738 0.00 2.67 0.00 0.000 516 0.000 0.097 3110 693 2175 2219 2131 0 0 0 0 0 0 14.59 14.37 14.62

4752 0.93 146.0 3108 694 2220 2131 771.7 11.9 430 4758 0.00 2.53 0.00 0.000 1030 0.000 0.064 3110 2088 2174 2218 2131 0 0 0 0 0 0 14.46 14.41 14.50

5122 0.93 146.0 3111 2089 2218 2131 727.8 11.5 444 5128 0.00 2.60 0.00 0.000 260 0.000 0.099 3110 3517 2173 2217 2130 0 0 0 0 0 0 14.89 14.62 14.92

5162 0.93 146.0 3109 3518 2217 2131 723.0 12.5 452 5168 0.00 2.50 0.00 0.000 1030 0.000 0.051 3120 2091 2173 2216 2130 0 0 0 0 0 0 14.72 14.66 14.75

5532 0.93 146.0 3122 2091 2217 2131 680.7 11.7 477 5539 0.00 2.60 0.00 0.000 260 0.000 0.097 3121 3522 2172 2215 2130 0 0 0 0 0 0 15.00 14.71 15.02

5573 0.93 146.0 3121 3524 2216 2130 675.5 13.1 485 5580 0.00 2.50 0.00 0.000 1030 0.000 0.051 3130 2058 2172 2214 2130 0 0 0 0 0 0 14.86 14.77 14.89

5884 0.93 146.0 3131 2059 2216 2130 638.8 12.0 517 5891 0.15 2.62 0.00 0.000 4356 0.264 0.096 3094 3519 2171 2214 2129 0 0 0 0 0 0 14.66 14.76 14.90

5915 0.93 146.0 3095 3519 2216 2130 635.1 11.6 523 5921 0.00 2.45 0.00 0.000 1030 0.000 0.050 3102 2094 2172 2214 2130 0 0 0 0 0 0 14.82 14.78 14.85

6225 0.93 146.0 3103 2094 2216 2130 602.6 10.3 555 6231 0.00 2.55 0.00 0.000 260 0.000 0.097 3102 3514 2169 2214 2125 0 0 0 0 0 0 15.07 14.75 15.09

6250 0.93 146.0 3101 3515 2212 2130 599.8 10.9 560 6257 0.00 2.45 0.00 0.000 1030 0.000 0.050 3112 2088 2171 2213 2129 0 0 0 0 0 0 14.85 14.80 14.88

6555 0.93 146.0 3110 2088 2213 2130 567.4 10.5 591 6561 0.00 2.58 0.00 0.000 260 0.000 0.098 3111 3518 2171 2213 2129 0 0 0 0 0 0 15.08 14.78 15.11

6585 0.93 146.0 3112 3518 2215 2130 564.0 11.5 597 6591 0.00 2.45 0.00 0.000 1030 0.000 0.051 3122 2094 2171 2213 2129 0 0 0 0 0 0 14.85 14.81 14.89

6896 0.93 146.0 3121 2095 2210 2129 530.7 10.7 629 6902 0.00 2.58 0.00 0.000 260 0.000 0.097 3121 3524 2170 2212 2129 0 0 0 0 0 0 15.09 14.79 15.11

6916 0.93 146.0 3121 3525 2211 2129 528.3 12.3 633 6924 0.00 2.47 0.00 0.000 1030 0.000 0.051 3130 2086 2170 2212 2129 0 0 0 0 0 0 14.88 14.84 14.92

7228 0.93 146.0 3130 2088 2213 2131 493.1 11.5 665 7229 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2087 2170 2211 2129 0 0 0 0 0 0 15.11 15.14 15.13

7528 0.93 146.0 3130 2088 2214 2130 459.1 11.2 695 7534 0.00 2.58 0.00 0.000 260 0.000 0.096 3129 3524 2170 2211 2129 0 0 0 0 0 0 15.11 14.83 15.14

7598 0.93 146.0 3130 3525 2213 2129 450.3 12.8 709 7605 0.12 2.42 0.00 0.000 5126 0.242 0.049 3104 2100 2170 2211 2129 0 0 0 0 0 0 14.67 14.85 14.82

7910 0.93 146.0 3105 2101 2214 2129 420.6 9.0 741 7910 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2099 2169 2210 2128 0 0 0 0 0 0 15.15 15.14 15.14

8209 0.93 146.0 3104 2100 2210 2129 393.1 9.3 771 8216 0.00 2.58 0.00 0.000 260 0.000 0.098 3104 3514 2169 2210 2128 0 0 0 0 0 0 15.13 14.77 15.15

8250 0.93 146.0 3104 3515 2210 2129 388.9 10.7 779 8256 0.00 2.42 0.00 0.000 1030 0.000 0.050 3112 2097 2171 2210 2132 0 0 0 0 0 0 14.88 14.83 14.91

8561 0.93 146.0 3111 2097 2210 2129 357.8 10.3 811 8561 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2097 2168 2209 2128 0 0 0 0 0 0 15.08 15.11 15.11

8648 end climb: SURFACE_OBSTACLE_DETECTED

state 8648 begin subsurface finish

8652 0.00 1.8 3114 2098 2212 2129 349.0 9.5 820 8664 1.05 2.60 -2.30 0.051 20740 0.202 0.123 2803 3538 2796 2828 2765 0 0 0 0 0 0 14.69 13.53 14.83

8665 end subsurface finish: CONTROL_FINISHED_OK

state 8665 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	169	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	30	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	180218,031616,-7414.7085,-11213.8203,0,4149.7,0,53.3,0.0,0.0,0,0.0	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	355.32	MHEAD_RNG_PITCHd_Wd	311.4,6891,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-2.9	D_GRID	990
GPS2	180218,031616,-7414.7085,-11213.8203,0,4149.7,0,53.3,0.0,0.0,0,0.0

FINISH1	349.0,1.027466,2	_24V_AH	13.07,70.597
FINISH2	348.3	_10V_AH	12.44,0.000
RAFOS_CLK	319	FG_AHR_24Vo	0.000
RAFOS_FIX	-7413.429199,-11213.725586,180218,050502,0,1,0.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280048
TT8_MAMPS	0.038199,0.286118	DATA_FILE_SIZE	30079,822
HUMID	49.25	CAP_FILE_SIZE	103361,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,1000292352
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	1456.1
ALTIM_TOP_PING	350.9,8.5	GPS	180218,055602,-7413.429,-11213.726,0,1001.0,0,53.3,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	837.2,11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	273	16.20	nil	0	0	0.00
Roll_motor	96	155	196.58	nil	0	0	0.00
VBD_pump_during_apogee	779	1417	14435.09	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	8683	6	725.98
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	35	420	196.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6109	2	175.56
TT8_Active	827	13	142.33
TT8_Sampling	1719	34	744.25
TT8_CF8	92	52	60.89
TT8_Kalman	0	0	0.00
Analog_circuits	1497	10	202.99
GPS_charging	0	0	0.00
Compass	1178	7	109.82
RAFOS	0	0	0.00
Transponder	253	30	94.70

		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
369.2	22.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
813.1	39.20	9000.00	0.0	0.00	0.00	39.20	0.0	0.04	1.00
821.1	29.60	9000.00	0.0	0.03	0.65	29.60	850.7	-1.20	1.00
829.1	19.80	19.80	848.9	-1.21	1.00	19.80	848.9	-1.22	1.00
837.2	12.00	11.60	848.8	-1.09	1.00	12.00	849.2	-0.96	1.00

836.3	21.50	9000.00	0.0	-0.50	0.19	0.00	0.0	0.00	0.00
829.9	29.20	9000.00	0.0	-1.95	0.80	29.20	0.0	-1.20	1.00
823.7	29.60	9000.00	0.0	-0.65	0.79	29.60	0.0	-0.06	1.00
415.3	78.00	9000.00	0.0	-0.12	1.00	78.00	0.0	-0.12	1.00
402.3	64.50	9000.00	0.0	-0.10	0.91	64.50	337.8	1.04	1.00
395.9	57.60	57.70	338.2	1.05	1.00	57.60	338.3	1.08	1.00
389.5	51.00	50.90	338.6	1.05	1.00	51.00	338.5	1.03	1.00
383.0	43.80	43.90	339.1	1.07	1.00	43.80	339.2	1.11	1.00
376.1	35.90	35.90	340.2	1.13	1.00	35.90	340.2	1.14	1.00
370.1	29.40	29.30	340.8	1.12	1.00	29.40	340.7	1.08	1.00
364.0	22.70	22.70	341.3	1.08	1.00	22.70	341.3	1.10	1.00
357.8	16.00	16.00	341.8	1.08	1.00	16.00	341.8	1.08	1.00
350.9	8.40	8.50	342.4	1.10	1.00	8.40	342.5	1.10	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	2306	2828	2764	0.0	0.0	0	11	0.00	0.00	-2.12	0.047	16390	0.000	0.000	2807	2305	3398	3418	3379	0	0	0	0	0	0	15.07	13.50	15.07
13	-0.93	-146.0	2809	2307	3420	3376	0.0	0.0	0	19	0.90	2.50	0.00	0.000	4356	0.103	0.105	2498	3714	3396	3418	3375	0	0	0	0	0	0	14.79	14.77	14.87
88	-0.93	-146.0	2500	3714	3419	3376	364.4	-13.9	15	96	0.00	2.45	0.00	0.000	1030	0.000	0.047	2499	2288	3400	3425	3375	0	0	0	0	0	0	14.87	14.83	14.90
393	-0.93	-146.0	2498	2288	3417	3375	408.2	-14.3	46	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2287	3396	3418	3375	0	0	0	0	0	0	15.09	15.11	15.11
693	-0.93	-146.0	2498	2288	3417	3375	450.5	-14.2	76	699	0.00	2.50	0.00	0.000	516	0.000	0.081	2499	903	3395	3417	3374	0	0	0	0	0	0	15.09	14.74	15.11
738	-0.93	-146.0	2500	904	3419	3375	457.0	-14.6	85	746	0.00	2.50	0.00	0.000	1030	0.000	0.073	2488	2301	3395	3417	3374	0	0	0	0	0	0	14.85	14.76	14.90
1043	-0.93	-146.0	2489	2302	3419	3374	500.3	-13.8	116	1049	0.00	2.55	0.00	0.000	516	0.000	0.081	2487	892	3395	3417	3373	0	0	0	0	0	0	15.09	14.73	15.11
1084	-0.93	-146.0	2489	893	3419	3374	506.1	-14.6	124	1089	0.00	2.53	0.00	0.000	1030	0.000	0.073	2478	2302	3398	3417	3379	0	0	0	0	0	0	14.84	14.77	14.95
1393	-0.93	-146.0	2478	2303	3420	3374	551.0	-14.4	156	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2302	3395	3418	3373	0	0	0	0	0	0	15.09	15.11	15.11
1693	-0.93	-146.0	2479	2303	3419	3373	594.5	-14.6	186	1702	0.00	2.53	0.00	0.000	516	0.000	0.080	2478	881	3395	3418	3372	0	0	0	0	0	0	15.09	14.76	15.11
1737	-0.93	-146.0	2478	882	3417	3373	600.9	-14.8	194	1744	0.00	2.55	0.00	0.000	1030	0.000	0.076	2474	2301	3395	3418	3372	0	0	0	0	0	0	14.84	14.77	14.88
2048	-0.93	-146.0	2475	2302	3420	3373	646.2	-14.1	226	2054	0.00	2.50	0.00	0.000	516	0.000	0.080	2474	890	3394	3417	3371	0	0	0	0	0	0	15.10	14.76	15.12
2083	-0.93	-146.0	2473	890	3417	3372	651.3	-14.3	233	2091	0.12	2.55	0.00	0.000	3078	0.274	0.073	2497	2310	3394	3417	3371	0	0	0	0	0	0	14.58	14.77	14.75
2388	-0.93	-146.0	2496	2311	3417	3373	690.4	-12.8	264	2394	0.00	2.50	0.00	0.000	516	0.000	0.080	2497	899	3394	3417	3371	0	0	0	0	0	0	15.11	14.76	15.13
2419	-0.93	-146.0	2496	899	3417	3371	694.5	-13.4	270	2424	0.00	2.47	0.00	0.000	1030	0.000	0.074	2488	2306	3394	3417	3371	0	0	0	0	0	0	14.92	14.80	14.95
2738	-0.93	-146.0	2488	2305	3417	3372	736.9	-13.0	285	2745	0.00	2.60	0.00	0.000	260	0.000	0.109	2477	3740	3394	3417	3371	0	0	0	0	0	0	15.12	14.76	15.14
2759	-0.93	-146.0	2479	3741	3419	3371	739.8	-13.4	289	2766	0.00	2.45	0.00	0.000	1030	0.000	0.049	2478	2288	3394	3417	3371	0	0	0	0	0	0	14.95	14.87	14.97
3131	-0.93	-146.0	2477	2287	3417	3371	789.1	-13.2	303	3136	0.00	2.45	0.00	0.000	516	0.000	0.080	2476	898	3394	3417	3371	0	0	0	0	0	0	15.07	14.78	15.10
3170	-0.93	-146.0	2477	898	3417	3372	794.9	-13.7	311	3176	0.00	2.53	0.00	0.000	1030	0.000	0.077	2474	2300	3394	3417	3371	0	0	0	0	0	0	14.85	14.78	14.90
3519	end dive: BOTTOM_OBSTACLE_DETECTED
state	3519	begin apogee
3523	-0.23	0.0	2474	2064	3417	3371	840.8	-13.4	326	3953	0.93	0.10	425.98	1.242	10246	0.234	0.155	2723	2128	2781	2816	2746	0	0	0	0	0	0	14.64	13.69	13.19
3955	end apogee: CONTROL_FINISHED_OK
state	3955	begin climb
3956	0.93	146.0	2729	2125	2813	2744	850.9	0.0	340	4322	1.25	2.72	353.15	1.418	11012	0.144	0.097	3091	3497	2184	2229	2140	0	0	0	0	0	0	13.67	13.54	13.07
4362	0.93	146.0	3093	3498	2229	2137	817.5	13.0	412	4367	0.00	2.50	0.00	0.000	1030	0.000	0.049	3099	2132	2181	2227	2136	0	0	0	0	0	0	13.87	13.79	13.88
4733	0.93	146.0	3101	2132	2221	2132	774.2	12.0	426	4738	0.00	2.67	0.00	0.000	516	0.000	0.097	3110	693	2175	2219	2131	0	0	0	0	0	0	14.59	14.37	14.62
4752	0.93	146.0	3108	694	2220	2131	771.7	11.9	430	4758	0.00	2.53	0.00	0.000	1030	0.000	0.064	3110	2088	2174	2218	2131	0	0	0	0	0	0	14.46	14.41	14.50
5122	0.93	146.0	3111	2089	2218	2131	727.8	11.5	444	5128	0.00	2.60	0.00	0.000	260	0.000	0.099	3110	3517	2173	2217	2130	0	0	0	0	0	0	14.89	14.62	14.92
5162	0.93	146.0	3109	3518	2217	2131	723.0	12.5	452	5168	0.00	2.50	0.00	0.000	1030	0.000	0.051	3120	2091	2173	2216	2130	0	0	0	0	0	0	14.72	14.66	14.75
5532	0.93	146.0	3122	2091	2217	2131	680.7	11.7	477	5539	0.00	2.60	0.00	0.000	260	0.000	0.097	3121	3522	2172	2215	2130	0	0	0	0	0	0	15.00	14.71	15.02
5573	0.93	146.0	3121	3524	2216	2130	675.5	13.1	485	5580	0.00	2.50	0.00	0.000	1030	0.000	0.051	3130	2058	2172	2214	2130	0	0	0	0	0	0	14.86	14.77	14.89
5884	0.93	146.0	3131	2059	2216	2130	638.8	12.0	517	5891	0.15	2.62	0.00	0.000	4356	0.264	0.096	3094	3519	2171	2214	2129	0	0	0	0	0	0	14.66	14.76	14.90
5915	0.93	146.0	3095	3519	2216	2130	635.1	11.6	523	5921	0.00	2.45	0.00	0.000	1030	0.000	0.050	3102	2094	2172	2214	2130	0	0	0	0	0	0	14.82	14.78	14.85
6225	0.93	146.0	3103	2094	2216	2130	602.6	10.3	555	6231	0.00	2.55	0.00	0.000	260	0.000	0.097	3102	3514	2169	2214	2125	0	0	0	0	0	0	15.07	14.75	15.09
6250	0.93	146.0	3101	3515	2212	2130	599.8	10.9	560	6257	0.00	2.45	0.00	0.000	1030	0.000	0.050	3112	2088	2171	2213	2129	0	0	0	0	0	0	14.85	14.80	14.88
6555	0.93	146.0	3110	2088	2213	2130	567.4	10.5	591	6561	0.00	2.58	0.00	0.000	260	0.000	0.098	3111	3518	2171	2213	2129	0	0	0	0	0	0	15.08	14.78	15.11
6585	0.93	146.0	3112	3518	2215	2130	564.0	11.5	597	6591	0.00	2.45	0.00	0.000	1030	0.000	0.051	3122	2094	2171	2213	2129	0	0	0	0	0	0	14.85	14.81	14.89
6896	0.93	146.0	3121	2095	2210	2129	530.7	10.7	629	6902	0.00	2.58	0.00	0.000	260	0.000	0.097	3121	3524	2170	2212	2129	0	0	0	0	0	0	15.09	14.79	15.11
6916	0.93	146.0	3121	3525	2211	2129	528.3	12.3	633	6924	0.00	2.47	0.00	0.000	1030	0.000	0.051	3130	2086	2170	2212	2129	0	0	0	0	0	0	14.88	14.84	14.92
7228	0.93	146.0	3130	2088	2213	2131	493.1	11.5	665	7229	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2087	2170	2211	2129	0	0	0	0	0	0	15.11	15.14	15.13
7528	0.93	146.0	3130	2088	2214	2130	459.1	11.2	695	7534	0.00	2.58	0.00	0.000	260	0.000	0.096	3129	3524	2170	2211	2129	0	0	0	0	0	0	15.11	14.83	15.14
7598	0.93	146.0	3130	3525	2213	2129	450.3	12.8	709	7605	0.12	2.42	0.00	0.000	5126	0.242	0.049	3104	2100	2170	2211	2129	0	0	0	0	0	0	14.67	14.85	14.82
7910	0.93	146.0	3105	2101	2214	2129	420.6	9.0	741	7910	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2099	2169	2210	2128	0	0	0	0	0	0	15.15	15.14	15.14
8209	0.93	146.0	3104	2100	2210	2129	393.1	9.3	771	8216	0.00	2.58	0.00	0.000	260	0.000	0.098	3104	3514	2169	2210	2128	0	0	0	0	0	0	15.13	14.77	15.15
8250	0.93	146.0	3104	3515	2210	2129	388.9	10.7	779	8256	0.00	2.42	0.00	0.000	1030	0.000	0.050	3112	2097	2171	2210	2132	0	0	0	0	0	0	14.88	14.83	14.91
8561	0.93	146.0	3111	2097	2210	2129	357.8	10.3	811	8561	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2097	2168	2209	2128	0	0	0	0	0	0	15.08	15.11	15.11
8648	end climb: SURFACE_OBSTACLE_DETECTED
state	8648	begin subsurface finish
8652	0.00	1.8	3114	2098	2212	2129	349.0	9.5	820	8664	1.05	2.60	-2.30	0.051	20740	0.202	0.123	2803	3538	2796	2828	2765	0	0	0	0	0	0	14.69	13.53	14.83
8665	end subsurface finish: CONTROL_FINISHED_OK
state	8665	begin surface