Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 170 * 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 170 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 22 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 170 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 22 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 180218,055602,-7413.4292,-11213.7256,0,1001.0,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11212.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 349.21 MHEAD_RNG_PITCHd_Wd 313.3,4529,-21.2,-9.429,-23.61,1459

_SM_ANGLEo -1.9 D_GRID 990

GPS2 180218,055602,-7413.4292,-11213.7256,0,1001.0,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 338.7,1.027444,3 ALTIM_BOTTOM_PING 891.9,11.0

FINISH2 337.7 _24V_AH 13.15,70.846

RAFOS_CLK 367 _10V_AH 12.75,0.000

RAFOS 0,1518933663,6.032778,6.017500,75,58,54,52,52,52,520,176,206,158,217,188 FG_AHR_24Vo 0.000

RAFOS_FIX -7413.522461,-11213.756836,180218,060628,3,91,0.15 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.040446,0.418691 DATA_FILE_SIZE 33351,988

HUMID 50.11 CAP_FILE_SIZE 118892,0

INTERNAL_PRESSURE 8.25812 CFSIZE 1024409600,1000161280

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

XPDR_PINGS 0 SOUNDSPEED 1456.4

ALTIM_TOP_PING 342.0,9.9 GPS 180218,061528,-7413.522,-11213.757,0,4090.7,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 326 22.77 nil 0 0 0.00

Roll_motor 100 975 1292.24 nil 0 0 0.00

VBD_pump_during_apogee 491 2519 16279.29 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9995 6 822.91

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 229.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7341 2 216.22

TT8_Active 572 13 100.93

TT8_Sampling 2047 34 908.08

TT8_CF8 99 52 67.14

TT8_Kalman 0 0 0.00

Analog_circuits 1328 10 184.57

GPS_charging 0 0 0.00

Compass 1413 7 135.01

RAFOS 720 1 13.77

Transponder 293 30 112.40

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

872.1 32.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

878.4 25.30 9000.00 0.0 0.00 0.00 25.30 903.7 -1.08 1.00

885.0 15.50 9000.00 0.0 -1.28 0.99 15.50 900.5 -1.48 1.00

891.9 12.00 11.00 902.9 -0.98 0.93 12.00 903.9 -0.51 1.00

896.7 22.20 9000.00 0.0 0.50 0.32 22.20 0.0 2.12 1.00

884.3 18.00 9000.00 0.0 0.24 0.08 18.00 866.3 0.34 1.00

878.0 29.00 9000.00 0.0 -0.26 0.20 29.00 0.0 -1.75 1.00

871.6 31.60 33.00 0.0 -1.07 0.89 31.60 0.0 -0.41 1.00

410.0 77.40 9000.00 0.0 -0.10 1.00 77.40 0.0 -0.10 1.00

397.6 64.30 9000.00 0.0 -0.08 0.91 64.30 333.3 1.06 1.00

391.6 58.20 58.10 333.5 1.05 1.00 58.20 333.4 1.02 1.00

385.5 51.70 51.70 333.8 1.04 1.00 51.70 333.8 1.07 1.00

379.4 47.50 47.10 332.3 0.88 0.98 47.50 331.9 0.69 1.00

367.0 36.80 37.00 330.0 0.81 1.00 36.80 330.2 0.86 1.00

360.9 30.30 30.70 330.2 0.92 1.00 30.30 330.6 1.07 1.00

354.7 23.20 23.30 331.4 1.12 1.00 23.20 331.5 1.15 1.00

348.5 16.70 16.50 332.0 1.11 1.00 16.70 331.8 1.05 1.00

342.0 9.90 9.90 332.1 1.05 1.00 9.90 332.1 1.05 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.07 -89.4 2804 2269 2829 2767 0.0 0.0 0 12 0.00 0.08 -1.33 0.074 16390 0.000 0.975 2802 2307 3163 3190 3137 0 0 0 0 0 0 15.09 13.52 15.07

13 -1.07 -89.4 2802 2307 3190 3138 0.0 0.0 0 20 1.02 2.42 0.00 0.000 4612 0.096 0.082 2450 909 3164 3190 3138 0 0 0 0 0 0 14.82 14.78 14.88

139 -1.07 -89.4 2451 910 3192 3139 364.4 -13.5 25 147 0.00 2.50 0.00 0.000 1030 0.000 0.076 2439 2303 3162 3190 3135 0 0 0 0 0 0 14.87 14.78 14.91

444 -1.07 -89.4 2438 2304 3190 3139 407.1 -14.1 56 450 0.00 2.53 0.00 0.000 516 0.000 0.083 2439 907 3164 3190 3138 0 0 0 0 0 0 15.10 14.74 15.13

499 -1.07 -89.4 2440 913 3190 3139 415.1 -14.6 67 506 0.00 2.50 0.00 0.000 1030 0.000 0.075 2428 2301 3164 3190 3138 0 0 0 0 0 0 14.85 14.78 14.90

804 -1.07 -89.4 2427 2301 3189 3139 459.9 -14.6 98 811 0.00 2.53 0.00 0.000 516 0.000 0.080 2428 878 3164 3190 3138 0 0 0 0 0 0 15.10 14.78 15.13

835 -1.07 -89.4 2429 879 3192 3139 464.5 -15.4 104 841 0.12 2.55 0.00 0.000 3078 0.286 0.074 2449 2300 3164 3190 3138 0 0 0 0 0 0 14.58 14.77 14.90

1145 -1.07 -89.4 2448 2300 3193 3138 505.6 -13.0 136 1151 0.00 2.47 0.00 0.000 516 0.000 0.079 2449 899 3163 3189 3137 0 0 0 0 0 0 15.08 14.77 15.10

1205 -1.07 -89.4 2450 899 3192 3138 513.5 -13.3 148 1211 0.00 2.53 0.00 0.000 1030 0.000 0.073 2440 2304 3164 3190 3138 0 0 0 0 0 0 14.85 14.77 14.88

1515 -1.07 -89.4 2441 2306 3192 3138 555.2 -13.5 180 1521 0.00 2.53 0.00 0.000 516 0.000 0.081 2440 904 3163 3190 3137 0 0 0 0 0 0 15.10 14.74 15.12

1545 -1.07 -89.4 2444 905 3192 3138 559.3 -13.2 186 1551 0.00 2.53 0.00 0.000 1030 0.000 0.076 2429 2310 3163 3190 3137 0 0 0 0 0 0 14.85 14.78 14.89

1856 -1.07 -89.4 2428 2310 3189 3138 601.7 -13.7 218 1861 0.00 2.47 0.00 0.000 516 0.000 0.081 2429 906 3167 3198 3137 0 0 0 0 0 0 15.04 14.78 15.07

1935 -1.07 -89.4 2428 907 3189 3136 612.7 -13.4 234 1941 0.10 2.50 0.00 0.000 3078 0.291 0.073 2456 2303 3163 3190 3137 0 0 0 0 0 0 14.59 14.78 14.85

2247 -1.07 -89.4 2457 2304 3193 3137 649.2 -11.9 266 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2303 3163 3190 3136 0 0 0 0 0 0 15.05 15.07 15.07

2546 -1.07 -89.4 2457 2304 3192 3138 684.8 -11.7 296 2551 0.00 2.50 0.00 0.000 516 0.000 0.079 2455 916 3163 3190 3136 0 0 0 0 0 0 15.11 14.76 15.14

2641 -1.07 -89.4 2457 917 3192 3137 696.4 -12.4 315 2648 0.00 2.42 0.00 0.000 1030 0.000 0.070 2447 2304 3163 3190 3136 0 0 0 0 0 0 14.93 14.81 14.96

2947 -1.07 -89.4 2448 2305 3191 3138 733.0 -12.1 328 2952 0.00 2.55 0.00 0.000 260 0.000 0.107 2436 3719 3162 3189 3135 0 0 0 0 0 0 15.07 14.78 15.10

3021 -1.07 -89.4 2436 3720 3189 3136 743.2 -13.3 343 3027 0.00 2.42 0.00 0.000 1030 0.000 0.047 2432 2299 3162 3189 3135 0 0 0 0 0 0 14.89 14.85 14.92

3396 -1.07 -89.4 2437 2298 3191 3136 786.3 -11.5 358 3402 0.00 2.50 0.00 0.000 516 0.000 0.080 2436 903 3160 3189 3132 0 0 0 0 0 0 15.13 14.75 15.15

3586 -1.07 -89.4 2438 903 3191 3136 809.5 -12.1 396 3592 0.00 2.50 0.00 0.000 1030 0.000 0.071 2426 2306 3162 3189 3136 0 0 0 0 0 0 14.86 14.79 14.90

3966 -1.07 -89.4 2427 2308 3191 3136 855.3 -11.7 412 3972 0.00 2.53 0.00 0.000 516 0.000 0.080 2426 905 3162 3189 3136 0 0 0 0 0 0 15.13 14.76 15.16

4026 -1.07 -89.4 2426 905 3189 3136 862.2 -11.0 424 4032 0.15 2.47 0.00 0.000 3078 0.327 0.076 2449 2311 3163 3190 3136 0 0 0 0 0 0 14.59 14.81 14.87

4326 end dive: BOTTOM_OBSTACLE_DETECTED

state 4326 begin apogee

4329 -0.23 0.0 2450 2058 3189 3136 894.8 -11.2 439 4573 1.00 0.10 240.32 1.337 10246 0.247 0.161 2721 2120 2783 2817 2750 0 0 0 0 0 0 14.62 14.03 13.57

4574 end apogee: CONTROL_FINISHED_OK

state 4574 begin climb

4576 1.07 89.4 2720 2121 2813 2747 896.4 0.0 447 4823 1.40 2.72 233.95 1.301 10756 0.149 0.091 3148 726 2415 2450 2380 0 0 0 0 0 0 14.01 13.59 13.15

4933 1.07 89.4 3149 727 2444 2378 865.7 10.9 517 4941 0.00 2.55 0.00 0.000 1030 0.000 0.062 3148 2093 2409 2442 2377 0 0 0 0 0 0 14.04 13.99 14.07

5306 1.07 89.4 3149 2093 2440 2374 824.6 11.1 531 5311 0.00 2.62 0.00 0.000 260 0.000 0.099 3148 3521 2405 2438 2373 0 0 0 0 0 0 14.69 14.45 14.71

5381 1.07 89.4 3148 3521 2436 2374 815.4 12.9 546 5387 0.00 2.45 0.00 0.000 1030 0.000 0.049 3158 2125 2404 2436 2373 0 0 0 0 0 0 14.65 14.53 14.67

5756 1.07 89.4 3158 2125 2435 2372 773.4 11.3 561 5756 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2125 2403 2435 2372 0 0 0 0 0 0 14.93 14.97 14.96

6116 1.07 89.4 3160 2126 2436 2372 731.2 11.7 573 6117 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2125 2402 2434 2371 0 0 0 0 0 0 15.01 15.04 15.04

6476 1.07 89.4 3158 2126 2434 2371 689.2 11.7 591 6481 0.00 2.50 0.00 0.000 260 0.000 0.099 3158 3512 2401 2433 2370 0 0 0 0 0 0 15.05 14.76 15.07

6551 1.07 89.4 3159 3511 2435 2370 679.9 12.6 606 6558 0.00 2.45 0.00 0.000 1030 0.000 0.049 3169 2093 2401 2433 2370 0 0 0 0 0 0 14.92 14.80 14.95

6856 1.07 89.4 3170 2093 2435 2371 645.2 11.4 637 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2093 2401 2433 2370 0 0 0 0 0 0 15.07 15.11 15.10

7156 1.07 89.4 3170 2093 2435 2371 611.3 11.3 667 7162 0.00 2.60 0.00 0.000 260 0.000 0.099 3169 3511 2401 2432 2370 0 0 0 0 0 0 15.09 14.77 15.11

7216 1.07 89.4 3170 3512 2434 2371 604.0 12.3 679 7222 0.12 2.45 0.00 0.000 5126 0.278 0.049 3146 2088 2401 2432 2370 0 0 0 0 0 0 14.62 14.83 14.78

7526 1.07 89.4 3150 2088 2432 2370 572.8 10.1 711 7532 0.00 2.58 0.00 0.000 260 0.000 0.098 3145 3516 2401 2432 2370 0 0 0 0 0 0 15.08 14.78 15.09

7556 1.07 89.4 3145 3516 2432 2370 569.5 11.3 717 7563 0.00 2.45 0.00 0.000 1030 0.000 0.050 3154 2094 2401 2432 2370 0 0 0 0 0 0 14.88 14.83 14.90

7868 1.07 89.4 3155 2095 2434 2370 537.1 10.3 749 7874 0.00 2.58 0.00 0.000 260 0.000 0.099 3154 3520 2400 2431 2369 0 0 0 0 0 0 15.05 14.78 15.08

7933 1.07 89.4 3154 3520 2432 2370 529.6 11.5 762 7940 0.00 2.47 0.00 0.000 1030 0.000 0.050 3165 2083 2400 2431 2370 0 0 0 0 0 0 14.88 14.83 14.94

8238 1.07 89.4 3166 2084 2433 2372 498.1 10.3 793 8244 0.00 2.58 0.00 0.000 260 0.000 0.098 3165 3512 2400 2431 2369 0 0 0 0 0 0 15.11 14.79 15.14

8299 1.07 89.4 3166 3514 2433 2370 491.1 11.7 805 8306 0.00 2.45 0.00 0.000 1030 0.000 0.050 3175 2091 2399 2430 2368 0 0 0 0 0 0 14.88 14.84 14.92

8610 1.07 89.4 3174 2091 2430 2370 458.3 10.2 837 8616 0.00 2.58 0.00 0.000 260 0.000 0.096 3175 3522 2397 2430 2365 0 0 0 0 0 0 15.11 14.80 15.14

8650 1.07 89.4 3174 3521 2430 2370 453.7 11.2 845 8657 0.15 2.45 0.00 0.000 5126 0.267 0.048 3146 2099 2400 2431 2369 0 0 0 0 0 0 14.61 14.84 14.78

8961 1.07 89.4 3145 2099 2430 2370 425.1 9.0 877 8962 0.00 0.00 0.00 0.000 6 0.000 0.000 3146 2098 2399 2430 2369 0 0 0 0 0 0 15.12 15.15 15.14

9262 1.09 89.4 3146 2099 2430 2370 398.5 8.8 907 9262 0.00 0.00 0.00 0.000 70 0.000 0.000 3146 2098 2397 2425 2369 0 0 0 0 0 0 15.12 15.16 15.15

9562 1.11 89.4 3144 2099 2432 2370 372.5 8.5 937 9568 0.00 2.55 0.00 0.000 324 0.000 0.099 3146 3515 2399 2430 2369 0 0 0 0 0 0 15.13 14.81 15.16

9632 1.11 89.4 3147 3516 2431 2371 366.0 9.1 951 9638 0.00 2.45 0.00 0.000 1030 0.000 0.049 3155 2094 2399 2430 2369 0 0 0 0 0 0 14.90 14.85 14.94

9942 1.14 119.1 3154 2094 2429 2370 339.8 7.3 983 9961 0.00 0.00 17.00 2.520 8482 0.000 0.000 3155 2094 2342 2373 2311 0 0 0 0 0 0 15.14 28.83 15.16

9961 end climb: SURFACE_OBSTACLE_DETECTED

state 9961 begin subsurface finish

9965 0.00 2.8 3155 2095 2373 2311 338.7 7.3 986 9976 1.23 2.62 -1.67 0.071 20740 0.222 0.123 2806 3506 2792 2821 2764 0 0 0 0 0 0 14.61 13.83 14.72

9977 end subsurface finish: CONTROL_FINISHED_OK

state 9977 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	170	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	22	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	180218,055602,-7413.4292,-11213.7256,0,1001.0,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11212.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	349.21	MHEAD_RNG_PITCHd_Wd	313.3,4529,-21.2,-9.429,-23.61,1459
_SM_ANGLEo	-1.9	D_GRID	990
GPS2	180218,055602,-7413.4292,-11213.7256,0,1001.0,0,53.3,0.0,0.0,0,0.0

FINISH1	338.7,1.027444,3	ALTIM_BOTTOM_PING	891.9,11.0
FINISH2	337.7	_24V_AH	13.15,70.846
RAFOS_CLK	367	_10V_AH	12.75,0.000
RAFOS	0,1518933663,6.032778,6.017500,75,58,54,52,52,52,520,176,206,158,217,188	FG_AHR_24Vo	0.000
RAFOS_FIX	-7413.522461,-11213.756836,180218,060628,3,91,0.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280072
TT8_MAMPS	0.040446,0.418691	DATA_FILE_SIZE	33351,988
HUMID	50.11	CAP_FILE_SIZE	118892,0
INTERNAL_PRESSURE	8.25812	CFSIZE	1024409600,1000161280
TCM_TEMP	12.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1456.4
ALTIM_TOP_PING	342.0,9.9	GPS	180218,061528,-7413.522,-11213.757,0,4090.7,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	326	22.77	nil	0	0	0.00
Roll_motor	100	975	1292.24	nil	0	0	0.00
VBD_pump_during_apogee	491	2519	16279.29	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9995	6	822.91
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	229.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7341	2	216.22
TT8_Active	572	13	100.93
TT8_Sampling	2047	34	908.08
TT8_CF8	99	52	67.14
TT8_Kalman	0	0	0.00
Analog_circuits	1328	10	184.57
GPS_charging	0	0	0.00
Compass	1413	7	135.01
RAFOS	720	1	13.77
Transponder	293	30	112.40

		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
872.1	32.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
878.4	25.30	9000.00	0.0	0.00	0.00	25.30	903.7	-1.08	1.00
885.0	15.50	9000.00	0.0	-1.28	0.99	15.50	900.5	-1.48	1.00
891.9	12.00	11.00	902.9	-0.98	0.93	12.00	903.9	-0.51	1.00
896.7	22.20	9000.00	0.0	0.50	0.32	22.20	0.0	2.12	1.00

884.3	18.00	9000.00	0.0	0.24	0.08	18.00	866.3	0.34	1.00
878.0	29.00	9000.00	0.0	-0.26	0.20	29.00	0.0	-1.75	1.00
871.6	31.60	33.00	0.0	-1.07	0.89	31.60	0.0	-0.41	1.00
410.0	77.40	9000.00	0.0	-0.10	1.00	77.40	0.0	-0.10	1.00
397.6	64.30	9000.00	0.0	-0.08	0.91	64.30	333.3	1.06	1.00
391.6	58.20	58.10	333.5	1.05	1.00	58.20	333.4	1.02	1.00
385.5	51.70	51.70	333.8	1.04	1.00	51.70	333.8	1.07	1.00
379.4	47.50	47.10	332.3	0.88	0.98	47.50	331.9	0.69	1.00
367.0	36.80	37.00	330.0	0.81	1.00	36.80	330.2	0.86	1.00
360.9	30.30	30.70	330.2	0.92	1.00	30.30	330.6	1.07	1.00
354.7	23.20	23.30	331.4	1.12	1.00	23.20	331.5	1.15	1.00
348.5	16.70	16.50	332.0	1.11	1.00	16.70	331.8	1.05	1.00
342.0	9.90	9.90	332.1	1.05	1.00	9.90	332.1	1.05	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.07	-89.4	2804	2269	2829	2767	0.0	0.0	0	12	0.00	0.08	-1.33	0.074	16390	0.000	0.975	2802	2307	3163	3190	3137	0	0	0	0	0	0	15.09	13.52	15.07
13	-1.07	-89.4	2802	2307	3190	3138	0.0	0.0	0	20	1.02	2.42	0.00	0.000	4612	0.096	0.082	2450	909	3164	3190	3138	0	0	0	0	0	0	14.82	14.78	14.88
139	-1.07	-89.4	2451	910	3192	3139	364.4	-13.5	25	147	0.00	2.50	0.00	0.000	1030	0.000	0.076	2439	2303	3162	3190	3135	0	0	0	0	0	0	14.87	14.78	14.91
444	-1.07	-89.4	2438	2304	3190	3139	407.1	-14.1	56	450	0.00	2.53	0.00	0.000	516	0.000	0.083	2439	907	3164	3190	3138	0	0	0	0	0	0	15.10	14.74	15.13
499	-1.07	-89.4	2440	913	3190	3139	415.1	-14.6	67	506	0.00	2.50	0.00	0.000	1030	0.000	0.075	2428	2301	3164	3190	3138	0	0	0	0	0	0	14.85	14.78	14.90
804	-1.07	-89.4	2427	2301	3189	3139	459.9	-14.6	98	811	0.00	2.53	0.00	0.000	516	0.000	0.080	2428	878	3164	3190	3138	0	0	0	0	0	0	15.10	14.78	15.13
835	-1.07	-89.4	2429	879	3192	3139	464.5	-15.4	104	841	0.12	2.55	0.00	0.000	3078	0.286	0.074	2449	2300	3164	3190	3138	0	0	0	0	0	0	14.58	14.77	14.90
1145	-1.07	-89.4	2448	2300	3193	3138	505.6	-13.0	136	1151	0.00	2.47	0.00	0.000	516	0.000	0.079	2449	899	3163	3189	3137	0	0	0	0	0	0	15.08	14.77	15.10
1205	-1.07	-89.4	2450	899	3192	3138	513.5	-13.3	148	1211	0.00	2.53	0.00	0.000	1030	0.000	0.073	2440	2304	3164	3190	3138	0	0	0	0	0	0	14.85	14.77	14.88
1515	-1.07	-89.4	2441	2306	3192	3138	555.2	-13.5	180	1521	0.00	2.53	0.00	0.000	516	0.000	0.081	2440	904	3163	3190	3137	0	0	0	0	0	0	15.10	14.74	15.12
1545	-1.07	-89.4	2444	905	3192	3138	559.3	-13.2	186	1551	0.00	2.53	0.00	0.000	1030	0.000	0.076	2429	2310	3163	3190	3137	0	0	0	0	0	0	14.85	14.78	14.89
1856	-1.07	-89.4	2428	2310	3189	3138	601.7	-13.7	218	1861	0.00	2.47	0.00	0.000	516	0.000	0.081	2429	906	3167	3198	3137	0	0	0	0	0	0	15.04	14.78	15.07
1935	-1.07	-89.4	2428	907	3189	3136	612.7	-13.4	234	1941	0.10	2.50	0.00	0.000	3078	0.291	0.073	2456	2303	3163	3190	3137	0	0	0	0	0	0	14.59	14.78	14.85
2247	-1.07	-89.4	2457	2304	3193	3137	649.2	-11.9	266	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2303	3163	3190	3136	0	0	0	0	0	0	15.05	15.07	15.07
2546	-1.07	-89.4	2457	2304	3192	3138	684.8	-11.7	296	2551	0.00	2.50	0.00	0.000	516	0.000	0.079	2455	916	3163	3190	3136	0	0	0	0	0	0	15.11	14.76	15.14
2641	-1.07	-89.4	2457	917	3192	3137	696.4	-12.4	315	2648	0.00	2.42	0.00	0.000	1030	0.000	0.070	2447	2304	3163	3190	3136	0	0	0	0	0	0	14.93	14.81	14.96
2947	-1.07	-89.4	2448	2305	3191	3138	733.0	-12.1	328	2952	0.00	2.55	0.00	0.000	260	0.000	0.107	2436	3719	3162	3189	3135	0	0	0	0	0	0	15.07	14.78	15.10
3021	-1.07	-89.4	2436	3720	3189	3136	743.2	-13.3	343	3027	0.00	2.42	0.00	0.000	1030	0.000	0.047	2432	2299	3162	3189	3135	0	0	0	0	0	0	14.89	14.85	14.92
3396	-1.07	-89.4	2437	2298	3191	3136	786.3	-11.5	358	3402	0.00	2.50	0.00	0.000	516	0.000	0.080	2436	903	3160	3189	3132	0	0	0	0	0	0	15.13	14.75	15.15
3586	-1.07	-89.4	2438	903	3191	3136	809.5	-12.1	396	3592	0.00	2.50	0.00	0.000	1030	0.000	0.071	2426	2306	3162	3189	3136	0	0	0	0	0	0	14.86	14.79	14.90
3966	-1.07	-89.4	2427	2308	3191	3136	855.3	-11.7	412	3972	0.00	2.53	0.00	0.000	516	0.000	0.080	2426	905	3162	3189	3136	0	0	0	0	0	0	15.13	14.76	15.16
4026	-1.07	-89.4	2426	905	3189	3136	862.2	-11.0	424	4032	0.15	2.47	0.00	0.000	3078	0.327	0.076	2449	2311	3163	3190	3136	0	0	0	0	0	0	14.59	14.81	14.87
4326	end dive: BOTTOM_OBSTACLE_DETECTED
state	4326	begin apogee
4329	-0.23	0.0	2450	2058	3189	3136	894.8	-11.2	439	4573	1.00	0.10	240.32	1.337	10246	0.247	0.161	2721	2120	2783	2817	2750	0	0	0	0	0	0	14.62	14.03	13.57
4574	end apogee: CONTROL_FINISHED_OK
state	4574	begin climb
4576	1.07	89.4	2720	2121	2813	2747	896.4	0.0	447	4823	1.40	2.72	233.95	1.301	10756	0.149	0.091	3148	726	2415	2450	2380	0	0	0	0	0	0	14.01	13.59	13.15
4933	1.07	89.4	3149	727	2444	2378	865.7	10.9	517	4941	0.00	2.55	0.00	0.000	1030	0.000	0.062	3148	2093	2409	2442	2377	0	0	0	0	0	0	14.04	13.99	14.07
5306	1.07	89.4	3149	2093	2440	2374	824.6	11.1	531	5311	0.00	2.62	0.00	0.000	260	0.000	0.099	3148	3521	2405	2438	2373	0	0	0	0	0	0	14.69	14.45	14.71
5381	1.07	89.4	3148	3521	2436	2374	815.4	12.9	546	5387	0.00	2.45	0.00	0.000	1030	0.000	0.049	3158	2125	2404	2436	2373	0	0	0	0	0	0	14.65	14.53	14.67
5756	1.07	89.4	3158	2125	2435	2372	773.4	11.3	561	5756	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2125	2403	2435	2372	0	0	0	0	0	0	14.93	14.97	14.96
6116	1.07	89.4	3160	2126	2436	2372	731.2	11.7	573	6117	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2125	2402	2434	2371	0	0	0	0	0	0	15.01	15.04	15.04
6476	1.07	89.4	3158	2126	2434	2371	689.2	11.7	591	6481	0.00	2.50	0.00	0.000	260	0.000	0.099	3158	3512	2401	2433	2370	0	0	0	0	0	0	15.05	14.76	15.07
6551	1.07	89.4	3159	3511	2435	2370	679.9	12.6	606	6558	0.00	2.45	0.00	0.000	1030	0.000	0.049	3169	2093	2401	2433	2370	0	0	0	0	0	0	14.92	14.80	14.95
6856	1.07	89.4	3170	2093	2435	2371	645.2	11.4	637	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2093	2401	2433	2370	0	0	0	0	0	0	15.07	15.11	15.10
7156	1.07	89.4	3170	2093	2435	2371	611.3	11.3	667	7162	0.00	2.60	0.00	0.000	260	0.000	0.099	3169	3511	2401	2432	2370	0	0	0	0	0	0	15.09	14.77	15.11
7216	1.07	89.4	3170	3512	2434	2371	604.0	12.3	679	7222	0.12	2.45	0.00	0.000	5126	0.278	0.049	3146	2088	2401	2432	2370	0	0	0	0	0	0	14.62	14.83	14.78
7526	1.07	89.4	3150	2088	2432	2370	572.8	10.1	711	7532	0.00	2.58	0.00	0.000	260	0.000	0.098	3145	3516	2401	2432	2370	0	0	0	0	0	0	15.08	14.78	15.09
7556	1.07	89.4	3145	3516	2432	2370	569.5	11.3	717	7563	0.00	2.45	0.00	0.000	1030	0.000	0.050	3154	2094	2401	2432	2370	0	0	0	0	0	0	14.88	14.83	14.90
7868	1.07	89.4	3155	2095	2434	2370	537.1	10.3	749	7874	0.00	2.58	0.00	0.000	260	0.000	0.099	3154	3520	2400	2431	2369	0	0	0	0	0	0	15.05	14.78	15.08
7933	1.07	89.4	3154	3520	2432	2370	529.6	11.5	762	7940	0.00	2.47	0.00	0.000	1030	0.000	0.050	3165	2083	2400	2431	2370	0	0	0	0	0	0	14.88	14.83	14.94
8238	1.07	89.4	3166	2084	2433	2372	498.1	10.3	793	8244	0.00	2.58	0.00	0.000	260	0.000	0.098	3165	3512	2400	2431	2369	0	0	0	0	0	0	15.11	14.79	15.14
8299	1.07	89.4	3166	3514	2433	2370	491.1	11.7	805	8306	0.00	2.45	0.00	0.000	1030	0.000	0.050	3175	2091	2399	2430	2368	0	0	0	0	0	0	14.88	14.84	14.92
8610	1.07	89.4	3174	2091	2430	2370	458.3	10.2	837	8616	0.00	2.58	0.00	0.000	260	0.000	0.096	3175	3522	2397	2430	2365	0	0	0	0	0	0	15.11	14.80	15.14
8650	1.07	89.4	3174	3521	2430	2370	453.7	11.2	845	8657	0.15	2.45	0.00	0.000	5126	0.267	0.048	3146	2099	2400	2431	2369	0	0	0	0	0	0	14.61	14.84	14.78
8961	1.07	89.4	3145	2099	2430	2370	425.1	9.0	877	8962	0.00	0.00	0.00	0.000	6	0.000	0.000	3146	2098	2399	2430	2369	0	0	0	0	0	0	15.12	15.15	15.14
9262	1.09	89.4	3146	2099	2430	2370	398.5	8.8	907	9262	0.00	0.00	0.00	0.000	70	0.000	0.000	3146	2098	2397	2425	2369	0	0	0	0	0	0	15.12	15.16	15.15
9562	1.11	89.4	3144	2099	2432	2370	372.5	8.5	937	9568	0.00	2.55	0.00	0.000	324	0.000	0.099	3146	3515	2399	2430	2369	0	0	0	0	0	0	15.13	14.81	15.16
9632	1.11	89.4	3147	3516	2431	2371	366.0	9.1	951	9638	0.00	2.45	0.00	0.000	1030	0.000	0.049	3155	2094	2399	2430	2369	0	0	0	0	0	0	14.90	14.85	14.94
9942	1.14	119.1	3154	2094	2429	2370	339.8	7.3	983	9961	0.00	0.00	17.00	2.520	8482	0.000	0.000	3155	2094	2342	2373	2311	0	0	0	0	0	0	15.14	28.83	15.16
9961	end climb: SURFACE_OBSTACLE_DETECTED
state	9961	begin subsurface finish
9965	0.00	2.8	3155	2095	2373	2311	338.7	7.3	986	9976	1.23	2.62	-1.67	0.071	20740	0.222	0.123	2806	3506	2792	2821	2764	0	0	0	0	0	0	14.61	13.83	14.72
9977	end subsurface finish: CONTROL_FINISHED_OK
state	9977	begin surface