Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 206 * 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 206 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 3 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 220 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 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 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 1.5 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 5 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 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 20 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

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 0

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 20 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 120

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 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 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 5

DIVE 206 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 220 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 220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7424.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 398.21 MHEAD_RNG_PITCHd_Wd 119.6,22617,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.4 D_GRID 990

GPS2 220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 313.7,1.027404,5 ALTIM_BOTTOM_PING 794.2,9.8

FINISH2 312.8 _24V_AH 12.31,82.629

RAFOS_CLK 277 _10V_AH 12.30,0.000

RAFOS 1,1519344427,0.133333,0.118611,94,69,61,57,53,53,522,206,124,174,220,147 FG_AHR_24Vo 0.000

RAFOS_FIX -7413.862305,-11251.840820,230218,000056,2,119,8.43 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 MEM 280000

TT8_MAMPS 0.039697,0.331058 DATA_FILE_SIZE 26717,758

HUMID 49.25 CAP_FILE_SIZE 97114,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,995966976

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 1456.0

ALTIM_TOP_PING 322.9,15.1 GPS 220218,235939,-7411.873,-11305.337,0,1001.0,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 275 15.76 nil 0 0 0.00

Roll_motor 86 153 163.11 nil 0 0 0.00

VBD_pump_during_apogee 348 3093 13271.91 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 7614 10 998.30

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 33 420 170.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5540 2 157.42

TT8_Active 434 13 73.78

TT8_Sampling 1619 34 693.00

TT8_CF8 101 52 65.67

TT8_Kalman 0 0 0.00

Analog_circuits 1022 10 137.13

GPS_charging 0 0 0.00

Compass 1087 7 100.22

RAFOS 480 1 8.86

Transponder 235 30 87.01

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

772.4 31.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

779.4 24.30 9000.00 0.0 0.00 0.00 24.30 803.7 -0.97 1.00

786.9 16.50 16.60 803.5 -1.01 1.00 16.50 803.4 -1.04 1.00

794.2 10.00 9.80 804.0 -0.96 1.00 10.00 804.2 -0.89 1.00

789.5 14.80 14.40 0.0 -0.89 0.99 14.80 0.0 -1.02 1.00

783.5 23.40 9000.00 0.0 -1.26 0.99 23.40 0.0 -1.43 1.00

775.1 24.50 9000.00 0.0 -0.64 0.76 24.50 0.0 -0.13 1.00

355.4 54.30 9000.00 0.0 -0.07 1.00 54.30 0.0 -0.07 1.00

348.5 45.70 9000.00 0.0 -0.06 0.91 45.70 302.8 1.25 1.00

341.7 34.80 9000.00 0.0 1.43 0.99 34.80 306.9 1.60 1.00

335.4 28.10 9000.00 0.0 1.35 0.99 28.10 307.3 1.06 1.00

329.2 21.50 21.50 307.7 1.06 1.00 21.50 307.7 1.06 1.00

322.9 15.10 15.10 307.8 1.04 1.00 15.10 307.8 1.02 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 -0.93 -146.0 2799 2320 2834 2771 0.0 0.0 0 12 0.00 0.00 -1.98 0.047 16390 0.000 0.000 2798 2319 3396 3421 3371 0 0 0 0 0 0 15.07 13.44 15.06

14 -0.93 -146.0 2795 2320 3422 3373 0.0 0.0 0 21 0.90 2.47 0.00 0.000 4612 0.120 0.080 2500 895 3398 3423 3373 0 0 0 0 0 0 14.76 14.76 14.84

75 -0.93 -146.0 2501 896 3425 3374 403.8 -10.5 12 81 0.00 2.50 0.00 0.000 1030 0.000 0.074 2495 2295 3397 3422 3372 0 0 0 0 0 0 14.83 14.76 14.88

385 -0.93 -146.0 2500 2295 3422 3371 441.5 -12.3 44 390 0.00 2.60 0.00 0.000 260 0.000 0.108 2484 3725 3396 3422 3371 0 0 0 0 0 0 15.07 14.73 15.10

425 -0.93 -146.0 2483 3725 3422 3371 446.8 -13.5 52 430 0.00 2.47 0.00 0.000 1030 0.000 0.047 2484 2289 3396 3422 3371 0 0 0 0 0 0 14.84 14.79 14.94

735 -0.93 -146.0 2485 2289 3424 3371 485.8 -12.2 84 740 0.00 2.47 0.00 0.000 516 0.000 0.081 2479 890 3396 3422 3370 0 0 0 0 0 0 15.07 14.73 15.09

795 -0.93 -146.0 2485 891 3425 3371 493.3 -12.7 96 801 0.00 2.50 0.00 0.000 1030 0.000 0.073 2474 2309 3396 3422 3370 0 0 0 0 0 0 14.90 14.77 14.93

1105 -0.93 -146.0 2473 2310 3421 3371 533.3 -12.7 128 1111 0.00 2.55 0.00 0.000 260 0.000 0.107 2464 3718 3395 3421 3370 0 0 0 0 0 0 15.09 14.73 15.11

1135 -0.93 -146.0 2462 3718 3421 3371 537.4 -14.1 134 1144 0.15 2.45 0.00 0.000 3078 0.265 0.047 2496 2262 3395 3421 3370 0 0 0 0 0 0 14.60 14.82 14.84

1449 -0.93 -146.0 2497 2263 3423 3371 573.4 -11.2 166 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2262 3395 3421 3370 0 0 0 0 0 0 15.10 15.13 15.12

1749 -0.93 -146.0 2497 2263 3423 3371 607.8 -11.3 196 1755 0.00 2.67 0.00 0.000 260 0.000 0.106 2487 3707 3395 3421 3369 0 0 0 0 0 0 15.11 14.71 15.14

1779 -0.93 -146.0 2487 3709 3420 3370 611.4 -12.5 202 1785 0.00 2.40 0.00 0.000 1030 0.000 0.047 2487 2300 3395 3421 3369 0 0 0 0 0 0 14.95 14.83 14.97

2089 -0.93 -146.0 2486 2299 3421 3370 648.4 -11.9 234 2098 0.00 2.47 0.00 0.000 516 0.000 0.077 2487 888 3395 3421 3369 0 0 0 0 0 0 15.10 14.76 15.13

2122 -0.93 -146.0 2486 889 3421 3369 652.6 -13.3 240 2128 0.00 2.53 0.00 0.000 1030 0.000 0.071 2477 2328 3395 3421 3369 0 0 0 0 0 0 14.90 14.76 14.94

2432 -0.93 -146.0 2478 2328 3423 3369 691.3 -11.9 272 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2328 3395 3421 3369 0 0 0 0 0 0 15.09 15.12 15.11

2754 -0.93 -146.0 2478 2329 3423 3369 729.1 -11.7 288 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2327 3394 3421 3368 0 0 0 0 0 0 15.07 15.09 15.09

3113 -0.93 -146.0 2476 2328 3421 3369 772.4 -12.1 300 3118 0.00 2.55 0.00 0.000 516 0.000 0.077 2476 888 3394 3421 3368 0 0 0 0 0 0 15.08 14.70 15.10

3153 -0.93 -146.0 2476 889 3421 3369 777.6 -12.5 308 3159 0.00 2.53 0.00 0.000 1030 0.000 0.073 2475 2301 3394 3421 3368 0 0 0 0 0 0 14.84 14.76 14.89

3292 end dive: BOTTOM_OBSTACLE_DETECTED

state 3292 begin apogee

3297 -0.23 0.0 2476 2067 3423 3369 794.2 -11.9 316 3467 0.90 0.10 167.77 3.094 10246 0.217 0.153 2726 2125 2782 2821 2743 0 0 0 0 0 0 14.62 13.39 12.41

3468 end apogee: CONTROL_FINISHED_OK

state 3468 begin climb

3470 0.93 146.0 2728 2126 2821 2744 798.5 0.0 321 3659 1.27 2.90 180.73 3.023 10756 0.135 0.090 3104 728 2184 2233 2135 0 0 0 0 0 0 13.41 13.25 12.31

3693 0.93 146.0 3105 727 2227 2133 781.8 11.6 364 3699 0.00 2.58 0.00 0.000 1030 0.000 0.060 3104 2093 2179 2228 2131 0 0 0 0 0 0 13.70 13.62 13.72

4078 0.93 146.0 3105 2094 2221 2125 734.1 12.2 381 4084 0.00 2.62 0.00 0.000 260 0.000 0.099 3106 3520 2171 2219 2124 0 0 0 0 0 0 14.64 14.38 14.66

4133 0.93 146.0 3106 3521 2220 2125 726.9 13.5 392 4140 0.00 2.45 0.00 0.000 1030 0.000 0.050 3114 2132 2171 2218 2124 0 0 0 0 0 0 14.48 14.42 14.50

4499 0.93 146.0 3115 2132 2217 2124 680.5 12.7 415 4504 0.00 2.60 0.00 0.000 516 0.000 0.097 3120 698 2168 2214 2123 0 0 0 0 0 0 14.88 14.63 14.91

4533 0.93 146.0 3124 699 2214 2124 676.1 12.8 422 4541 0.00 2.50 0.00 0.000 1030 0.000 0.064 3125 2106 2168 2214 2123 0 0 0 0 0 0 14.71 14.65 14.73

4838 0.93 146.0 3126 2107 2215 2124 636.5 13.3 453 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2106 2167 2212 2123 0 0 0 0 0 0 15.00 15.03 15.02

5138 0.93 146.0 3124 2106 2211 2124 597.2 13.1 483 5144 0.00 2.55 0.00 0.000 260 0.000 0.102 3125 3521 2167 2212 2123 0 0 0 0 0 0 15.04 14.72 15.07

5168 0.93 146.0 3124 3521 2211 2124 592.9 14.2 489 5175 0.15 2.47 0.00 0.000 5126 0.272 0.051 3101 2089 2166 2211 2122 0 0 0 0 0 0 14.62 14.76 14.85

5479 0.93 146.0 3103 2090 2212 2124 556.7 11.8 521 5484 0.00 2.50 0.00 0.000 516 0.000 0.096 3110 690 2166 2210 2123 0 0 0 0 0 0 15.07 14.76 15.09

5504 0.93 146.0 3111 691 2211 2123 553.7 11.5 526 5512 0.00 2.50 0.00 0.000 1030 0.000 0.062 3110 2112 2166 2209 2123 0 0 0 0 0 0 14.84 14.78 14.88

5809 0.93 146.0 3111 2112 2210 2124 517.2 11.7 557 5814 0.00 2.50 0.00 0.000 260 0.000 0.099 3110 3508 2165 2208 2123 0 0 0 0 0 0 15.08 14.77 15.11

5844 0.93 146.0 3111 3509 2211 2124 512.7 13.2 564 5851 0.00 2.45 0.00 0.000 1030 0.000 0.050 3121 2087 2165 2208 2122 0 0 0 0 0 0 14.78 14.72 14.82

6149 0.93 146.0 3122 2088 2210 2124 474.9 12.3 595 6150 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2087 2165 2208 2123 0 0 0 0 0 0 15.09 15.12 15.11

6449 0.93 146.0 3122 2088 2210 2124 438.4 11.8 625 6454 0.00 2.58 0.00 0.000 260 0.000 0.098 3121 3517 2165 2208 2122 0 0 0 0 0 0 15.09 14.78 15.12

6490 0.93 146.0 3122 3518 2210 2123 433.1 13.4 633 6495 0.15 2.40 0.00 0.000 5126 0.275 0.049 3096 2093 2165 2208 2123 0 0 0 0 0 0 14.64 14.85 14.90

6799 0.93 146.0 3097 2093 2209 2122 399.2 10.8 665 6805 0.00 2.55 0.00 0.000 260 0.000 0.097 3096 3507 2164 2207 2121 0 0 0 0 0 0 15.09 14.78 15.12

6834 0.93 146.0 3097 3507 2210 2122 395.1 11.3 672 6841 0.00 2.42 0.00 0.000 1030 0.000 0.049 3105 2091 2164 2208 2121 0 0 0 0 0 0 14.88 14.83 14.90

7139 0.93 146.0 3106 2091 2210 2122 362.3 10.9 703 7146 0.00 2.50 0.00 0.000 516 0.000 0.093 3112 689 2164 2207 2121 0 0 0 0 0 0 15.09 14.77 15.12

7185 0.93 146.0 3115 689 2206 2121 357.1 11.6 712 7192 0.00 2.50 0.00 0.000 1030 0.000 0.061 3115 2109 2164 2207 2121 0 0 0 0 0 0 14.85 14.80 14.89

7491 0.93 146.0 3117 2109 2208 2122 324.1 10.5 743 7496 0.00 2.53 0.00 0.000 260 0.000 0.099 3112 3519 2163 2206 2121 0 0 0 0 0 0 15.07 14.76 15.09

7530 0.93 146.0 3117 3520 2208 2122 319.4 12.0 751 7536 0.00 2.45 0.00 0.000 1030 0.000 0.049 3125 2098 2163 2206 2121 0 0 0 0 0 0 14.93 14.80 14.96

7579 end climb: SURFACE_OBSTACLE_DETECTED

state 7579 begin subsurface finish

7583 0.01 4.9 3127 2098 2208 2122 313.7 10.9 757 7593 1.12 0.00 -2.45 0.037 20486 0.208 0.000 2803 2098 2778 2812 2745 0 0 0 0 0 0 14.65 13.45 14.89

7593 end subsurface finish: CONTROL_FINISHED_OK

state 7593 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	206	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	3	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	220	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	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	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	1.5	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	5	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	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	20	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	220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7424.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	398.21	MHEAD_RNG_PITCHd_Wd	119.6,22617,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.4	D_GRID	990
GPS2	220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0

FINISH1	313.7,1.027404,5	ALTIM_BOTTOM_PING	794.2,9.8
FINISH2	312.8	_24V_AH	12.31,82.629
RAFOS_CLK	277	_10V_AH	12.30,0.000
RAFOS	1,1519344427,0.133333,0.118611,94,69,61,57,53,53,522,206,124,174,220,147	FG_AHR_24Vo	0.000
RAFOS_FIX	-7413.862305,-11251.840820,230218,000056,2,119,8.43	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280000
TT8_MAMPS	0.039697,0.331058	DATA_FILE_SIZE	26717,758
HUMID	49.25	CAP_FILE_SIZE	97114,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,995966976
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	1456.0
ALTIM_TOP_PING	322.9,15.1	GPS	220218,235939,-7411.873,-11305.337,0,1001.0,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	275	15.76	nil	0	0	0.00
Roll_motor	86	153	163.11	nil	0	0	0.00
VBD_pump_during_apogee	348	3093	13271.91	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	7614	10	998.30
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	33	420	170.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5540	2	157.42
TT8_Active	434	13	73.78
TT8_Sampling	1619	34	693.00
TT8_CF8	101	52	65.67
TT8_Kalman	0	0	0.00
Analog_circuits	1022	10	137.13
GPS_charging	0	0	0.00
Compass	1087	7	100.22
RAFOS	480	1	8.86
Transponder	235	30	87.01

		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
772.4	31.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
779.4	24.30	9000.00	0.0	0.00	0.00	24.30	803.7	-0.97	1.00
786.9	16.50	16.60	803.5	-1.01	1.00	16.50	803.4	-1.04	1.00
794.2	10.00	9.80	804.0	-0.96	1.00	10.00	804.2	-0.89	1.00

789.5	14.80	14.40	0.0	-0.89	0.99	14.80	0.0	-1.02	1.00
783.5	23.40	9000.00	0.0	-1.26	0.99	23.40	0.0	-1.43	1.00
775.1	24.50	9000.00	0.0	-0.64	0.76	24.50	0.0	-0.13	1.00
355.4	54.30	9000.00	0.0	-0.07	1.00	54.30	0.0	-0.07	1.00
348.5	45.70	9000.00	0.0	-0.06	0.91	45.70	302.8	1.25	1.00
341.7	34.80	9000.00	0.0	1.43	0.99	34.80	306.9	1.60	1.00
335.4	28.10	9000.00	0.0	1.35	0.99	28.10	307.3	1.06	1.00
329.2	21.50	21.50	307.7	1.06	1.00	21.50	307.7	1.06	1.00
322.9	15.10	15.10	307.8	1.04	1.00	15.10	307.8	1.02	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	-0.93	-146.0	2799	2320	2834	2771	0.0	0.0	0	12	0.00	0.00	-1.98	0.047	16390	0.000	0.000	2798	2319	3396	3421	3371	0	0	0	0	0	0	15.07	13.44	15.06
14	-0.93	-146.0	2795	2320	3422	3373	0.0	0.0	0	21	0.90	2.47	0.00	0.000	4612	0.120	0.080	2500	895	3398	3423	3373	0	0	0	0	0	0	14.76	14.76	14.84
75	-0.93	-146.0	2501	896	3425	3374	403.8	-10.5	12	81	0.00	2.50	0.00	0.000	1030	0.000	0.074	2495	2295	3397	3422	3372	0	0	0	0	0	0	14.83	14.76	14.88
385	-0.93	-146.0	2500	2295	3422	3371	441.5	-12.3	44	390	0.00	2.60	0.00	0.000	260	0.000	0.108	2484	3725	3396	3422	3371	0	0	0	0	0	0	15.07	14.73	15.10
425	-0.93	-146.0	2483	3725	3422	3371	446.8	-13.5	52	430	0.00	2.47	0.00	0.000	1030	0.000	0.047	2484	2289	3396	3422	3371	0	0	0	0	0	0	14.84	14.79	14.94
735	-0.93	-146.0	2485	2289	3424	3371	485.8	-12.2	84	740	0.00	2.47	0.00	0.000	516	0.000	0.081	2479	890	3396	3422	3370	0	0	0	0	0	0	15.07	14.73	15.09
795	-0.93	-146.0	2485	891	3425	3371	493.3	-12.7	96	801	0.00	2.50	0.00	0.000	1030	0.000	0.073	2474	2309	3396	3422	3370	0	0	0	0	0	0	14.90	14.77	14.93
1105	-0.93	-146.0	2473	2310	3421	3371	533.3	-12.7	128	1111	0.00	2.55	0.00	0.000	260	0.000	0.107	2464	3718	3395	3421	3370	0	0	0	0	0	0	15.09	14.73	15.11
1135	-0.93	-146.0	2462	3718	3421	3371	537.4	-14.1	134	1144	0.15	2.45	0.00	0.000	3078	0.265	0.047	2496	2262	3395	3421	3370	0	0	0	0	0	0	14.60	14.82	14.84
1449	-0.93	-146.0	2497	2263	3423	3371	573.4	-11.2	166	1449	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2262	3395	3421	3370	0	0	0	0	0	0	15.10	15.13	15.12
1749	-0.93	-146.0	2497	2263	3423	3371	607.8	-11.3	196	1755	0.00	2.67	0.00	0.000	260	0.000	0.106	2487	3707	3395	3421	3369	0	0	0	0	0	0	15.11	14.71	15.14
1779	-0.93	-146.0	2487	3709	3420	3370	611.4	-12.5	202	1785	0.00	2.40	0.00	0.000	1030	0.000	0.047	2487	2300	3395	3421	3369	0	0	0	0	0	0	14.95	14.83	14.97
2089	-0.93	-146.0	2486	2299	3421	3370	648.4	-11.9	234	2098	0.00	2.47	0.00	0.000	516	0.000	0.077	2487	888	3395	3421	3369	0	0	0	0	0	0	15.10	14.76	15.13
2122	-0.93	-146.0	2486	889	3421	3369	652.6	-13.3	240	2128	0.00	2.53	0.00	0.000	1030	0.000	0.071	2477	2328	3395	3421	3369	0	0	0	0	0	0	14.90	14.76	14.94
2432	-0.93	-146.0	2478	2328	3423	3369	691.3	-11.9	272	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2328	3395	3421	3369	0	0	0	0	0	0	15.09	15.12	15.11
2754	-0.93	-146.0	2478	2329	3423	3369	729.1	-11.7	288	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2327	3394	3421	3368	0	0	0	0	0	0	15.07	15.09	15.09
3113	-0.93	-146.0	2476	2328	3421	3369	772.4	-12.1	300	3118	0.00	2.55	0.00	0.000	516	0.000	0.077	2476	888	3394	3421	3368	0	0	0	0	0	0	15.08	14.70	15.10
3153	-0.93	-146.0	2476	889	3421	3369	777.6	-12.5	308	3159	0.00	2.53	0.00	0.000	1030	0.000	0.073	2475	2301	3394	3421	3368	0	0	0	0	0	0	14.84	14.76	14.89
3292	end dive: BOTTOM_OBSTACLE_DETECTED
state	3292	begin apogee
3297	-0.23	0.0	2476	2067	3423	3369	794.2	-11.9	316	3467	0.90	0.10	167.77	3.094	10246	0.217	0.153	2726	2125	2782	2821	2743	0	0	0	0	0	0	14.62	13.39	12.41
3468	end apogee: CONTROL_FINISHED_OK
state	3468	begin climb
3470	0.93	146.0	2728	2126	2821	2744	798.5	0.0	321	3659	1.27	2.90	180.73	3.023	10756	0.135	0.090	3104	728	2184	2233	2135	0	0	0	0	0	0	13.41	13.25	12.31
3693	0.93	146.0	3105	727	2227	2133	781.8	11.6	364	3699	0.00	2.58	0.00	0.000	1030	0.000	0.060	3104	2093	2179	2228	2131	0	0	0	0	0	0	13.70	13.62	13.72
4078	0.93	146.0	3105	2094	2221	2125	734.1	12.2	381	4084	0.00	2.62	0.00	0.000	260	0.000	0.099	3106	3520	2171	2219	2124	0	0	0	0	0	0	14.64	14.38	14.66
4133	0.93	146.0	3106	3521	2220	2125	726.9	13.5	392	4140	0.00	2.45	0.00	0.000	1030	0.000	0.050	3114	2132	2171	2218	2124	0	0	0	0	0	0	14.48	14.42	14.50
4499	0.93	146.0	3115	2132	2217	2124	680.5	12.7	415	4504	0.00	2.60	0.00	0.000	516	0.000	0.097	3120	698	2168	2214	2123	0	0	0	0	0	0	14.88	14.63	14.91
4533	0.93	146.0	3124	699	2214	2124	676.1	12.8	422	4541	0.00	2.50	0.00	0.000	1030	0.000	0.064	3125	2106	2168	2214	2123	0	0	0	0	0	0	14.71	14.65	14.73
4838	0.93	146.0	3126	2107	2215	2124	636.5	13.3	453	4839	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2106	2167	2212	2123	0	0	0	0	0	0	15.00	15.03	15.02
5138	0.93	146.0	3124	2106	2211	2124	597.2	13.1	483	5144	0.00	2.55	0.00	0.000	260	0.000	0.102	3125	3521	2167	2212	2123	0	0	0	0	0	0	15.04	14.72	15.07
5168	0.93	146.0	3124	3521	2211	2124	592.9	14.2	489	5175	0.15	2.47	0.00	0.000	5126	0.272	0.051	3101	2089	2166	2211	2122	0	0	0	0	0	0	14.62	14.76	14.85
5479	0.93	146.0	3103	2090	2212	2124	556.7	11.8	521	5484	0.00	2.50	0.00	0.000	516	0.000	0.096	3110	690	2166	2210	2123	0	0	0	0	0	0	15.07	14.76	15.09
5504	0.93	146.0	3111	691	2211	2123	553.7	11.5	526	5512	0.00	2.50	0.00	0.000	1030	0.000	0.062	3110	2112	2166	2209	2123	0	0	0	0	0	0	14.84	14.78	14.88
5809	0.93	146.0	3111	2112	2210	2124	517.2	11.7	557	5814	0.00	2.50	0.00	0.000	260	0.000	0.099	3110	3508	2165	2208	2123	0	0	0	0	0	0	15.08	14.77	15.11
5844	0.93	146.0	3111	3509	2211	2124	512.7	13.2	564	5851	0.00	2.45	0.00	0.000	1030	0.000	0.050	3121	2087	2165	2208	2122	0	0	0	0	0	0	14.78	14.72	14.82
6149	0.93	146.0	3122	2088	2210	2124	474.9	12.3	595	6150	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2087	2165	2208	2123	0	0	0	0	0	0	15.09	15.12	15.11
6449	0.93	146.0	3122	2088	2210	2124	438.4	11.8	625	6454	0.00	2.58	0.00	0.000	260	0.000	0.098	3121	3517	2165	2208	2122	0	0	0	0	0	0	15.09	14.78	15.12
6490	0.93	146.0	3122	3518	2210	2123	433.1	13.4	633	6495	0.15	2.40	0.00	0.000	5126	0.275	0.049	3096	2093	2165	2208	2123	0	0	0	0	0	0	14.64	14.85	14.90
6799	0.93	146.0	3097	2093	2209	2122	399.2	10.8	665	6805	0.00	2.55	0.00	0.000	260	0.000	0.097	3096	3507	2164	2207	2121	0	0	0	0	0	0	15.09	14.78	15.12
6834	0.93	146.0	3097	3507	2210	2122	395.1	11.3	672	6841	0.00	2.42	0.00	0.000	1030	0.000	0.049	3105	2091	2164	2208	2121	0	0	0	0	0	0	14.88	14.83	14.90
7139	0.93	146.0	3106	2091	2210	2122	362.3	10.9	703	7146	0.00	2.50	0.00	0.000	516	0.000	0.093	3112	689	2164	2207	2121	0	0	0	0	0	0	15.09	14.77	15.12
7185	0.93	146.0	3115	689	2206	2121	357.1	11.6	712	7192	0.00	2.50	0.00	0.000	1030	0.000	0.061	3115	2109	2164	2207	2121	0	0	0	0	0	0	14.85	14.80	14.89
7491	0.93	146.0	3117	2109	2208	2122	324.1	10.5	743	7496	0.00	2.53	0.00	0.000	260	0.000	0.099	3112	3519	2163	2206	2121	0	0	0	0	0	0	15.07	14.76	15.09
7530	0.93	146.0	3117	3520	2208	2122	319.4	12.0	751	7536	0.00	2.45	0.00	0.000	1030	0.000	0.049	3125	2098	2163	2206	2121	0	0	0	0	0	0	14.93	14.80	14.96
7579	end climb: SURFACE_OBSTACLE_DETECTED
state	7579	begin subsurface finish
7583	0.01	4.9	3127	2098	2208	2122	313.7	10.9	757	7593	1.12	0.00	-2.45	0.037	20486	0.208	0.000	2803	2098	2778	2812	2745	0	0	0	0	0	0	14.65	13.45	14.89
7593	end subsurface finish: CONTROL_FINISHED_OK
state	7593	begin surface