Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 171 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 171 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 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 19 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 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 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 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 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-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 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 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 3890 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 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 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 222 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 -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 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 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 171 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 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 -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 150218,151512,-7420.8804,-11227.5342,0,4134.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 353.51 MHEAD_RNG_PITCHd_Wd 306.3,18299,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.0 D_GRID 990

GPS2 150218,151512,-7420.8804,-11227.5342,0,4134.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 355.7,1.027427,4 _24V_AH 13.07,74.479

FINISH2 354.7 _10V_AH 12.42,0.000

RAFOS_CLK 427 FG_AHR_24Vo 0.000

RAFOS 0,1518717667,18.032778,18.018612,118,65,64,64,60,55,543,146,207,187,197,167 FG_AHR_10Vo 0.000

RAFOS_FIX -7419.340820,-11227.751953,150218,181824,3,120,0.27 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33339,963

TT8_MAMPS 0.040446,0.274134 CAP_FILE_SIZE 119819,0

HUMID 48.34 CFSIZE 1024409600,1000177664

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1458.1

XPDR_PINGS 1 GPS 150218,181424,-7419.341,-11227.752,0,4120.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 357.9,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 260 14.45 nil 0 0 0.00

Roll_motor 76 272 272.66 nil 0 0 0.00

VBD_pump_during_apogee 1015 1295 17183.15 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 11765 6 931.84

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 248.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8730 2 250.48

TT8_Active 991 12 151.04

TT8_Sampling 2016 31 795.02

TT8_CF8 102 45 57.80

TT8_Kalman 0 0 0.00

Analog_circuits 1766 10 223.73

GPS_charging 0 0 0.00

Compass 1378 7 128.27

RAFOS 720 1 13.41

Transponder 322 30 120.25

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

360.3 13.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

366.8 19.70 9000.00 0.0 0.00 0.00 19.70 0.0 0.98 1.00

373.4 26.50 26.50 0.0 1.01 1.00 26.50 0.0 1.03 1.00

985.4 19.30 9000.00 0.0 -0.01 0.29 19.30 0.0 -0.01 1.00

979.2 20.50 9000.00 0.0 -0.01 0.98 20.50 0.0 -0.19 1.00

973.0 17.90 9000.00 0.0 0.11 0.28 17.90 955.1 0.42 1.00

966.6 14.90 9000.00 0.0 0.44 1.00 14.90 951.7 0.47 1.00

960.4 15.30 9000.00 0.0 0.21 0.64 15.30 0.0 -0.06 1.00

954.3 20.40 9000.00 0.0 -0.45 0.80 20.40 0.0 -0.84 1.00

411.3 59.10 9000.00 0.0 -0.08 0.99 59.10 0.0 -0.07 1.00

404.9 53.00 9000.00 0.0 -0.07 0.98 53.00 351.9 0.95 1.00

398.7 47.20 47.20 351.5 0.95 1.00 47.20 351.5 0.94 1.00

385.4 35.10 35.10 350.3 0.92 1.00 35.10 350.3 0.91 1.00

378.6 28.90 28.90 349.7 0.91 1.00 28.90 349.7 0.91 1.00

371.5 21.80 21.90 349.6 0.96 1.00 21.80 349.7 1.00 1.00

364.7 15.60 15.50 349.2 0.96 1.00 15.60 349.1 0.91 1.00

357.9 9.10 9.10 348.8 0.93 1.00 9.10 348.8 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 -0.88 -146.0 2706 2488 2823 2607 0.0 0.0 0 11 0.00 0.00 -2.03 0.049 16390 0.000 0.000 2706 2487 3328 3467 3190 0 0 0 0 0 0 15.08 13.32 15.05

13 -0.88 -146.0 2705 2488 3467 3195 0.0 0.0 0 20 0.88 2.53 0.00 0.000 4612 0.116 0.119 2418 1087 3330 3464 3197 0 0 0 0 0 0 14.74 14.70 14.82

64 -0.88 -146.0 2419 1088 3458 3205 357.4 -8.6 10 69 0.00 2.65 0.00 0.000 1030 0.000 0.127 2410 2506 3330 3457 3204 0 0 0 0 0 0 14.87 14.68 14.94

374 -0.88 -146.0 2410 2507 3452 3211 392.1 -11.7 42 379 0.00 2.42 0.00 0.000 260 0.000 0.152 2400 3753 3330 3450 3210 0 0 0 0 0 0 15.08 14.63 15.11

418 -0.88 -146.0 2400 3754 3449 3214 397.8 -13.0 51 426 0.00 2.28 0.00 0.000 1030 0.000 0.099 2400 2499 3330 3448 3213 0 0 0 0 0 0 14.81 14.73 14.85

724 -0.88 -146.0 2400 2499 3445 3213 433.8 -11.4 82 724 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2499 3330 3448 3213 0 0 0 0 0 0 15.08 15.11 15.11

1024 -0.88 -146.0 2400 2500 3446 3214 467.6 -11.1 112 1030 0.00 2.45 0.00 0.000 260 0.000 0.157 2391 3749 3329 3446 3213 0 0 0 0 0 0 15.09 14.61 15.14

1095 -0.88 -146.0 2391 3749 3445 3215 476.0 -11.8 126 1100 0.00 2.28 0.00 0.000 1030 0.000 0.098 2391 2497 3329 3444 3214 0 0 0 0 0 0 14.81 14.73 14.86

1405 -0.88 -146.0 2391 2497 3445 3214 510.9 -11.4 158 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2497 3329 3444 3215 0 0 0 0 0 0 15.10 15.13 15.12

1705 -0.88 -146.0 2390 2498 3445 3216 544.9 -11.4 188 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2497 3328 3443 3214 0 0 0 0 0 0 15.11 15.14 15.13

2005 -0.88 -146.0 2391 2497 3444 3214 578.6 -11.1 218 2010 0.00 2.45 0.00 0.000 260 0.000 0.155 2382 3751 3331 3448 3215 0 0 0 0 0 0 15.11 14.62 15.14

2045 -0.88 -146.0 2383 3752 3443 3215 583.3 -11.9 226 2051 0.10 2.28 0.00 0.000 3078 0.260 0.097 2409 2499 3329 3444 3214 0 0 0 0 0 0 14.52 14.74 14.69

2355 -0.88 -146.0 2409 2500 3443 3216 614.2 -9.7 258 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2499 3328 3442 3215 0 0 0 0 0 0 15.10 15.14 15.13

2655 -0.88 -146.0 2409 2497 3443 3215 643.8 -9.8 288 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2499 3328 3442 3215 0 0 0 0 0 0 15.10 15.13 15.12

2955 -0.88 -146.0 2409 2499 3443 3215 673.2 -9.7 318 2956 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2499 3328 3442 3215 0 0 0 0 0 0 15.10 15.12 15.12

3256 -0.88 -146.0 2409 2499 3443 3215 703.2 -9.8 346 3261 0.00 2.40 0.00 0.000 260 0.000 0.155 2399 3756 3328 3442 3215 0 0 0 0 0 0 15.04 14.62 15.07

3305 -0.88 -146.0 2400 3756 3442 3215 708.4 -10.5 356 3311 0.00 2.30 0.00 0.000 1030 0.000 0.098 2400 2494 3328 3442 3215 0 0 0 0 0 0 14.79 14.72 14.83

3676 -0.88 -146.0 2400 2494 3443 3215 745.7 -10.2 370 3681 0.00 2.58 0.00 0.000 516 0.000 0.113 2400 1081 3328 3442 3215 0 0 0 0 0 0 15.05 14.69 15.08

3700 -0.88 -146.0 2400 1075 3443 3215 748.4 -10.6 375 3707 0.00 2.70 0.00 0.000 1030 0.000 0.125 2391 2503 3328 3442 3215 0 0 0 0 0 0 14.75 14.63 14.82

4066 -0.88 -146.0 2390 2504 3442 3216 785.7 -10.2 388 4071 0.00 2.38 0.00 0.000 260 0.000 0.152 2381 3754 3328 3442 3215 0 0 0 0 0 0 15.11 14.64 15.14

4100 -0.88 -146.0 2382 3754 3443 3215 789.4 -9.2 395 4106 0.12 2.30 0.00 0.000 3078 0.257 0.098 2414 2487 3326 3441 3212 0 0 0 0 0 0 14.49 14.73 14.67

4485 -0.88 -146.0 2415 2488 3442 3217 826.2 -9.2 412 4486 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2487 3328 3441 3215 0 0 0 0 0 0 15.12 15.15 15.14

4845 -0.88 -146.0 2415 2488 3442 3217 858.7 -9.0 424 4846 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2487 3328 3441 3216 0 0 0 0 0 0 15.13 15.16 15.15

5205 -0.88 -146.0 2415 2488 3442 3217 891.3 -8.4 436 5206 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2487 3328 3441 3215 0 0 0 0 0 0 15.13 15.16 15.16

5565 -0.88 -146.0 2415 2488 3442 3217 922.3 -8.4 448 5566 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2487 3328 3441 3216 0 0 0 0 0 0 15.14 15.16 15.16

5925 -0.88 -146.0 2415 2487 3442 3216 954.1 -8.8 460 5926 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2487 3329 3441 3217 0 0 0 0 0 0 15.14 15.16 15.16

6285 -0.88 -146.0 2414 2487 3442 3216 985.0 -8.6 472 6286 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2487 3329 3442 3216 0 0 0 0 0 0 15.14 15.16 15.16

6345 end dive: TARGET_DEPTH_EXCEEDED

state 6345 begin apogee

6349 -0.23 0.0 2415 2188 3442 3217 990.2 -8.8 474 6948 0.77 0.05 589.95 1.140 10246 0.224 0.272 2625 2203 2712 2769 2656 0 0 0 0 0 0 14.56 13.64 13.21

6949 end apogee: CONTROL_FINISHED_OK

state 6949 begin climb

6951 0.88 146.0 2626 2205 2767 2656 997.6 0.0 494 7391 1.17 2.85 425.15 1.295 11012 0.121 0.123 2990 786 2115 2145 2085 0 0 0 0 0 0 13.74 13.59 13.07

7560 0.88 146.0 2990 793 2134 2077 927.9 13.6 612 7566 0.00 2.75 0.00 0.000 1030 0.000 0.111 2990 2228 2104 2133 2075 0 0 0 0 0 0 14.25 14.12 14.28

7930 0.88 146.0 2990 2226 2134 2070 875.7 13.8 626 7931 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2226 2101 2133 2070 0 0 0 0 0 0 14.83 14.85 14.85

8291 0.88 146.0 2990 2227 2133 2068 824.1 14.5 638 8296 0.00 2.67 0.00 0.000 516 0.000 0.124 3000 786 2099 2132 2067 0 0 0 0 0 0 14.96 14.64 14.99

8330 0.88 146.0 3001 786 2132 2067 818.3 14.6 646 8336 0.00 2.65 0.00 0.000 1030 0.000 0.113 3001 2205 2099 2131 2068 0 0 0 0 0 0 14.73 14.66 14.78

8711 0.88 146.0 3001 2206 2132 2067 761.5 15.0 662 8712 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2209 2098 2131 2066 0 0 0 0 0 0 15.00 15.04 15.03

9072 0.88 146.0 3000 2206 2133 2072 709.0 14.5 674 9077 0.00 2.62 0.00 0.000 516 0.000 0.125 3011 786 2099 2133 2066 0 0 0 0 0 0 15.07 14.72 15.07

9106 0.88 146.0 3011 786 2131 2066 703.9 14.5 681 9112 0.00 2.62 0.00 0.000 1030 0.000 0.113 3011 2198 2098 2130 2066 0 0 0 0 0 0 14.81 14.72 14.89

9471 0.88 146.0 3012 2198 2132 2065 650.9 14.3 718 9472 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2198 2097 2130 2065 0 0 0 0 0 0 15.10 15.13 15.13

9771 0.88 146.0 3011 2198 2131 2065 608.6 14.0 748 9777 0.00 2.60 0.00 0.000 516 0.000 0.126 3022 792 2098 2131 2065 0 0 0 0 0 0 15.11 14.73 15.14

9796 0.88 146.0 3022 793 2131 2066 605.0 13.9 753 9804 0.12 2.62 0.00 0.000 5126 0.220 0.113 2986 2206 2097 2130 2064 0 0 0 0 0 0 14.63 14.72 14.91

10101 0.88 146.0 2986 2207 2131 2064 565.0 12.9 784 10107 0.00 2.67 0.00 0.000 260 0.000 0.145 2986 3620 2097 2130 2065 0 0 0 0 0 0 15.11 14.71 15.14

10126 0.88 146.0 2986 3620 2130 2065 561.5 13.9 789 10133 0.00 2.60 0.00 0.000 1030 0.000 0.100 2996 2200 2096 2129 2064 0 0 0 0 0 0 14.84 14.76 14.89

10431 0.88 146.0 2995 2198 2130 2065 521.5 12.8 820 10437 0.00 2.62 0.00 0.000 516 0.000 0.129 3006 776 2097 2130 2065 0 0 0 0 0 0 15.11 14.73 15.16

10491 0.88 146.0 3007 775 2130 2064 513.6 12.8 832 10497 0.00 2.65 0.00 0.000 1030 0.000 0.115 3006 2202 2096 2129 2064 0 0 0 0 0 0 14.81 14.71 14.88

10801 0.88 146.0 3006 2202 2130 2064 472.7 13.3 864 10802 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2202 2096 2129 2064 0 0 0 0 0 0 15.11 15.15 15.14

11101 0.88 146.0 3006 2202 2131 2063 432.3 12.8 894 11102 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2202 2096 2129 2064 0 0 0 0 0 0 15.12 15.15 15.15

11402 0.88 146.0 3007 2202 2131 2063 393.9 12.0 924 11408 0.00 2.62 0.00 0.000 516 0.000 0.127 3017 785 2096 2129 2063 0 0 0 0 0 0 15.13 14.73 15.16

11437 0.88 146.0 3017 786 2130 2064 389.6 12.4 931 11445 0.10 2.62 0.00 0.000 5126 0.212 0.115 2988 2199 2100 2137 2063 0 0 0 0 0 0 14.62 14.71 14.94

11730 end climb: SURFACE_OBSTACLE_DETECTED

state 11730 begin subsurface finish

11734 0.00 3.7 2989 2197 2130 2063 355.7 11.3 961 11745 0.98 2.75 -2.17 0.052 20740 0.200 0.171 2704 3612 2717 2829 2606 0 0 0 0 0 0 14.62 13.30 14.76

11746 end subsurface finish: CONTROL_FINISHED_OK

state 11746 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	171	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	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	19	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	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	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	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	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	150218,151512,-7420.8804,-11227.5342,0,4134.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	353.51	MHEAD_RNG_PITCHd_Wd	306.3,18299,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.0	D_GRID	990
GPS2	150218,151512,-7420.8804,-11227.5342,0,4134.7,0,53.5,0.0,0.0,0,0.0

FINISH1	355.7,1.027427,4	_24V_AH	13.07,74.479
FINISH2	354.7	_10V_AH	12.42,0.000
RAFOS_CLK	427	FG_AHR_24Vo	0.000
RAFOS	0,1518717667,18.032778,18.018612,118,65,64,64,60,55,543,146,207,187,197,167	FG_AHR_10Vo	0.000
RAFOS_FIX	-7419.340820,-11227.751953,150218,181824,3,120,0.27	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33339,963
TT8_MAMPS	0.040446,0.274134	CAP_FILE_SIZE	119819,0
HUMID	48.34	CFSIZE	1024409600,1000177664
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.1
XPDR_PINGS	1	GPS	150218,181424,-7419.341,-11227.752,0,4120.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	357.9,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	260	14.45	nil	0	0	0.00
Roll_motor	76	272	272.66	nil	0	0	0.00
VBD_pump_during_apogee	1015	1295	17183.15	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	11765	6	931.84
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	248.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8730	2	250.48
TT8_Active	991	12	151.04
TT8_Sampling	2016	31	795.02
TT8_CF8	102	45	57.80
TT8_Kalman	0	0	0.00
Analog_circuits	1766	10	223.73
GPS_charging	0	0	0.00
Compass	1378	7	128.27
RAFOS	720	1	13.41
Transponder	322	30	120.25

		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
360.3	13.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
366.8	19.70	9000.00	0.0	0.00	0.00	19.70	0.0	0.98	1.00
373.4	26.50	26.50	0.0	1.01	1.00	26.50	0.0	1.03	1.00

985.4	19.30	9000.00	0.0	-0.01	0.29	19.30	0.0	-0.01	1.00
979.2	20.50	9000.00	0.0	-0.01	0.98	20.50	0.0	-0.19	1.00
973.0	17.90	9000.00	0.0	0.11	0.28	17.90	955.1	0.42	1.00
966.6	14.90	9000.00	0.0	0.44	1.00	14.90	951.7	0.47	1.00
960.4	15.30	9000.00	0.0	0.21	0.64	15.30	0.0	-0.06	1.00
954.3	20.40	9000.00	0.0	-0.45	0.80	20.40	0.0	-0.84	1.00
411.3	59.10	9000.00	0.0	-0.08	0.99	59.10	0.0	-0.07	1.00
404.9	53.00	9000.00	0.0	-0.07	0.98	53.00	351.9	0.95	1.00
398.7	47.20	47.20	351.5	0.95	1.00	47.20	351.5	0.94	1.00
385.4	35.10	35.10	350.3	0.92	1.00	35.10	350.3	0.91	1.00
378.6	28.90	28.90	349.7	0.91	1.00	28.90	349.7	0.91	1.00
371.5	21.80	21.90	349.6	0.96	1.00	21.80	349.7	1.00	1.00
364.7	15.60	15.50	349.2	0.96	1.00	15.60	349.1	0.91	1.00
357.9	9.10	9.10	348.8	0.93	1.00	9.10	348.8	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	-0.88	-146.0	2706	2488	2823	2607	0.0	0.0	0	11	0.00	0.00	-2.03	0.049	16390	0.000	0.000	2706	2487	3328	3467	3190	0	0	0	0	0	0	15.08	13.32	15.05
13	-0.88	-146.0	2705	2488	3467	3195	0.0	0.0	0	20	0.88	2.53	0.00	0.000	4612	0.116	0.119	2418	1087	3330	3464	3197	0	0	0	0	0	0	14.74	14.70	14.82
64	-0.88	-146.0	2419	1088	3458	3205	357.4	-8.6	10	69	0.00	2.65	0.00	0.000	1030	0.000	0.127	2410	2506	3330	3457	3204	0	0	0	0	0	0	14.87	14.68	14.94
374	-0.88	-146.0	2410	2507	3452	3211	392.1	-11.7	42	379	0.00	2.42	0.00	0.000	260	0.000	0.152	2400	3753	3330	3450	3210	0	0	0	0	0	0	15.08	14.63	15.11
418	-0.88	-146.0	2400	3754	3449	3214	397.8	-13.0	51	426	0.00	2.28	0.00	0.000	1030	0.000	0.099	2400	2499	3330	3448	3213	0	0	0	0	0	0	14.81	14.73	14.85
724	-0.88	-146.0	2400	2499	3445	3213	433.8	-11.4	82	724	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2499	3330	3448	3213	0	0	0	0	0	0	15.08	15.11	15.11
1024	-0.88	-146.0	2400	2500	3446	3214	467.6	-11.1	112	1030	0.00	2.45	0.00	0.000	260	0.000	0.157	2391	3749	3329	3446	3213	0	0	0	0	0	0	15.09	14.61	15.14
1095	-0.88	-146.0	2391	3749	3445	3215	476.0	-11.8	126	1100	0.00	2.28	0.00	0.000	1030	0.000	0.098	2391	2497	3329	3444	3214	0	0	0	0	0	0	14.81	14.73	14.86
1405	-0.88	-146.0	2391	2497	3445	3214	510.9	-11.4	158	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2497	3329	3444	3215	0	0	0	0	0	0	15.10	15.13	15.12
1705	-0.88	-146.0	2390	2498	3445	3216	544.9	-11.4	188	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2497	3328	3443	3214	0	0	0	0	0	0	15.11	15.14	15.13
2005	-0.88	-146.0	2391	2497	3444	3214	578.6	-11.1	218	2010	0.00	2.45	0.00	0.000	260	0.000	0.155	2382	3751	3331	3448	3215	0	0	0	0	0	0	15.11	14.62	15.14
2045	-0.88	-146.0	2383	3752	3443	3215	583.3	-11.9	226	2051	0.10	2.28	0.00	0.000	3078	0.260	0.097	2409	2499	3329	3444	3214	0	0	0	0	0	0	14.52	14.74	14.69
2355	-0.88	-146.0	2409	2500	3443	3216	614.2	-9.7	258	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2499	3328	3442	3215	0	0	0	0	0	0	15.10	15.14	15.13
2655	-0.88	-146.0	2409	2497	3443	3215	643.8	-9.8	288	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2499	3328	3442	3215	0	0	0	0	0	0	15.10	15.13	15.12
2955	-0.88	-146.0	2409	2499	3443	3215	673.2	-9.7	318	2956	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2499	3328	3442	3215	0	0	0	0	0	0	15.10	15.12	15.12
3256	-0.88	-146.0	2409	2499	3443	3215	703.2	-9.8	346	3261	0.00	2.40	0.00	0.000	260	0.000	0.155	2399	3756	3328	3442	3215	0	0	0	0	0	0	15.04	14.62	15.07
3305	-0.88	-146.0	2400	3756	3442	3215	708.4	-10.5	356	3311	0.00	2.30	0.00	0.000	1030	0.000	0.098	2400	2494	3328	3442	3215	0	0	0	0	0	0	14.79	14.72	14.83
3676	-0.88	-146.0	2400	2494	3443	3215	745.7	-10.2	370	3681	0.00	2.58	0.00	0.000	516	0.000	0.113	2400	1081	3328	3442	3215	0	0	0	0	0	0	15.05	14.69	15.08
3700	-0.88	-146.0	2400	1075	3443	3215	748.4	-10.6	375	3707	0.00	2.70	0.00	0.000	1030	0.000	0.125	2391	2503	3328	3442	3215	0	0	0	0	0	0	14.75	14.63	14.82
4066	-0.88	-146.0	2390	2504	3442	3216	785.7	-10.2	388	4071	0.00	2.38	0.00	0.000	260	0.000	0.152	2381	3754	3328	3442	3215	0	0	0	0	0	0	15.11	14.64	15.14
4100	-0.88	-146.0	2382	3754	3443	3215	789.4	-9.2	395	4106	0.12	2.30	0.00	0.000	3078	0.257	0.098	2414	2487	3326	3441	3212	0	0	0	0	0	0	14.49	14.73	14.67
4485	-0.88	-146.0	2415	2488	3442	3217	826.2	-9.2	412	4486	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2487	3328	3441	3215	0	0	0	0	0	0	15.12	15.15	15.14
4845	-0.88	-146.0	2415	2488	3442	3217	858.7	-9.0	424	4846	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2487	3328	3441	3216	0	0	0	0	0	0	15.13	15.16	15.15
5205	-0.88	-146.0	2415	2488	3442	3217	891.3	-8.4	436	5206	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2487	3328	3441	3215	0	0	0	0	0	0	15.13	15.16	15.16
5565	-0.88	-146.0	2415	2488	3442	3217	922.3	-8.4	448	5566	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2487	3328	3441	3216	0	0	0	0	0	0	15.14	15.16	15.16
5925	-0.88	-146.0	2415	2487	3442	3216	954.1	-8.8	460	5926	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2487	3329	3441	3217	0	0	0	0	0	0	15.14	15.16	15.16
6285	-0.88	-146.0	2414	2487	3442	3216	985.0	-8.6	472	6286	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2487	3329	3442	3216	0	0	0	0	0	0	15.14	15.16	15.16
6345	end dive: TARGET_DEPTH_EXCEEDED
state	6345	begin apogee
6349	-0.23	0.0	2415	2188	3442	3217	990.2	-8.8	474	6948	0.77	0.05	589.95	1.140	10246	0.224	0.272	2625	2203	2712	2769	2656	0	0	0	0	0	0	14.56	13.64	13.21
6949	end apogee: CONTROL_FINISHED_OK
state	6949	begin climb
6951	0.88	146.0	2626	2205	2767	2656	997.6	0.0	494	7391	1.17	2.85	425.15	1.295	11012	0.121	0.123	2990	786	2115	2145	2085	0	0	0	0	0	0	13.74	13.59	13.07
7560	0.88	146.0	2990	793	2134	2077	927.9	13.6	612	7566	0.00	2.75	0.00	0.000	1030	0.000	0.111	2990	2228	2104	2133	2075	0	0	0	0	0	0	14.25	14.12	14.28
7930	0.88	146.0	2990	2226	2134	2070	875.7	13.8	626	7931	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2226	2101	2133	2070	0	0	0	0	0	0	14.83	14.85	14.85
8291	0.88	146.0	2990	2227	2133	2068	824.1	14.5	638	8296	0.00	2.67	0.00	0.000	516	0.000	0.124	3000	786	2099	2132	2067	0	0	0	0	0	0	14.96	14.64	14.99
8330	0.88	146.0	3001	786	2132	2067	818.3	14.6	646	8336	0.00	2.65	0.00	0.000	1030	0.000	0.113	3001	2205	2099	2131	2068	0	0	0	0	0	0	14.73	14.66	14.78
8711	0.88	146.0	3001	2206	2132	2067	761.5	15.0	662	8712	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2209	2098	2131	2066	0	0	0	0	0	0	15.00	15.04	15.03
9072	0.88	146.0	3000	2206	2133	2072	709.0	14.5	674	9077	0.00	2.62	0.00	0.000	516	0.000	0.125	3011	786	2099	2133	2066	0	0	0	0	0	0	15.07	14.72	15.07
9106	0.88	146.0	3011	786	2131	2066	703.9	14.5	681	9112	0.00	2.62	0.00	0.000	1030	0.000	0.113	3011	2198	2098	2130	2066	0	0	0	0	0	0	14.81	14.72	14.89
9471	0.88	146.0	3012	2198	2132	2065	650.9	14.3	718	9472	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2198	2097	2130	2065	0	0	0	0	0	0	15.10	15.13	15.13
9771	0.88	146.0	3011	2198	2131	2065	608.6	14.0	748	9777	0.00	2.60	0.00	0.000	516	0.000	0.126	3022	792	2098	2131	2065	0	0	0	0	0	0	15.11	14.73	15.14
9796	0.88	146.0	3022	793	2131	2066	605.0	13.9	753	9804	0.12	2.62	0.00	0.000	5126	0.220	0.113	2986	2206	2097	2130	2064	0	0	0	0	0	0	14.63	14.72	14.91
10101	0.88	146.0	2986	2207	2131	2064	565.0	12.9	784	10107	0.00	2.67	0.00	0.000	260	0.000	0.145	2986	3620	2097	2130	2065	0	0	0	0	0	0	15.11	14.71	15.14
10126	0.88	146.0	2986	3620	2130	2065	561.5	13.9	789	10133	0.00	2.60	0.00	0.000	1030	0.000	0.100	2996	2200	2096	2129	2064	0	0	0	0	0	0	14.84	14.76	14.89
10431	0.88	146.0	2995	2198	2130	2065	521.5	12.8	820	10437	0.00	2.62	0.00	0.000	516	0.000	0.129	3006	776	2097	2130	2065	0	0	0	0	0	0	15.11	14.73	15.16
10491	0.88	146.0	3007	775	2130	2064	513.6	12.8	832	10497	0.00	2.65	0.00	0.000	1030	0.000	0.115	3006	2202	2096	2129	2064	0	0	0	0	0	0	14.81	14.71	14.88
10801	0.88	146.0	3006	2202	2130	2064	472.7	13.3	864	10802	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2202	2096	2129	2064	0	0	0	0	0	0	15.11	15.15	15.14
11101	0.88	146.0	3006	2202	2131	2063	432.3	12.8	894	11102	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2202	2096	2129	2064	0	0	0	0	0	0	15.12	15.15	15.15
11402	0.88	146.0	3007	2202	2131	2063	393.9	12.0	924	11408	0.00	2.62	0.00	0.000	516	0.000	0.127	3017	785	2096	2129	2063	0	0	0	0	0	0	15.13	14.73	15.16
11437	0.88	146.0	3017	786	2130	2064	389.6	12.4	931	11445	0.10	2.62	0.00	0.000	5126	0.212	0.115	2988	2199	2100	2137	2063	0	0	0	0	0	0	14.62	14.71	14.94
11730	end climb: SURFACE_OBSTACLE_DETECTED
state	11730	begin subsurface finish
11734	0.00	3.7	2989	2197	2130	2063	355.7	11.3	961	11745	0.98	2.75	-2.17	0.052	20740	0.200	0.171	2704	3612	2717	2829	2606	0	0	0	0	0	0	14.62	13.30	14.76
11746	end subsurface finish: CONTROL_FINISHED_OK
state	11746	begin surface