Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 207 * 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 207 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 29 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 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 207 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 24 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 312.64 MHEAD_RNG_PITCHd_Wd 119.6,22617,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.5 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 321.5,1.027404,5 ALTIM_BOTTOM_PING 817.4,12.3

FINISH2 320.6 _24V_AH 12.29,82.991

RAFOS_CLK 323 _10V_AH 12.28,0.000

RAFOS 0,1519354860,3.032778,3.016667,113,66,58,52,52,51,597,213,222,171,123,199 FG_AHR_24Vo 0.000

RAFOS_FIX -7415.506836,-11244.181641,230218,030316,3,121,1.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 MEM 280040

TT8_MAMPS 0.038199,0.841876 DATA_FILE_SIZE 26715,817

HUMID 49.40 CAP_FILE_SIZE 101735,0

INTERNAL_PRESSURE 8.25812 CFSIZE 1024409600,995819520

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

XPDR_PINGS 0 SOUNDSPEED 1455.5

ALTIM_TOP_PING 344.1,29.6 GPS 230218,031616,-7415.507,-11244.182,0,4120.7,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 283 15.61 nil 0 0 0.00

Roll_motor 69 139 119.02 nil 0 0 0.00

VBD_pump_during_apogee 347 3101 13260.24 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 8789 10 1150.38

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 38 420 196.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6600 2 187.22

TT8_Active 414 13 70.32

TT8_Sampling 1737 34 742.49

TT8_CF8 103 52 67.13

TT8_Kalman 0 0 0.00

Analog_circuits 1031 10 138.05

GPS_charging 0 0 0.00

Compass 1172 7 107.86

RAFOS 720 1 13.26

Transponder 269 30 99.15

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

784.9 50.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

791.5 42.20 9000.00 0.0 0.00 0.00 42.20 833.7 -1.29 1.00

798.2 31.60 9000.00 0.0 -1.44 1.00 31.60 829.8 -1.58 1.00

804.3 26.80 26.00 830.3 -1.20 0.96 26.80 831.1 -0.79 1.00

810.9 17.30 18.00 828.9 -1.13 0.97 17.30 828.2 -1.44 1.00

817.4 13.20 12.30 829.7 -1.04 0.95 13.20 830.6 -0.63 1.00

816.3 16.70 9000.00 0.0 -0.46 0.54 0.00 0.0 0.00 0.00

810.0 20.30 20.50 0.0 -0.83 0.87 20.30 0.0 -0.57 1.00

788.5 42.80 42.40 0.0 -0.97 0.99 42.80 0.0 -1.05 1.00

389.3 77.60 9000.00 0.0 -0.11 0.88 77.60 0.0 -0.09 1.00

382.5 70.70 9000.00 0.0 -0.08 0.96 70.70 311.8 1.01 1.00

376.4 64.30 64.30 312.1 1.03 1.00 64.30 312.1 1.05 1.00

369.7 56.70 56.80 312.9 1.09 1.00 56.70 313.0 1.13 1.00

363.3 49.50 49.50 313.8 1.13 1.00 49.50 313.8 1.13 1.00

357.1 42.20 42.20 314.9 1.15 1.00 42.20 314.9 1.18 1.00

350.1 34.70 34.60 315.5 1.12 1.00 34.70 315.4 1.07 1.00

344.1 29.90 29.60 314.5 0.95 0.99 29.90 314.2 0.80 1.00

338.1 33.80 9000.00 0.0 0.07 0.03 33.80 0.0 -0.65 1.00

331.2 36.60 9000.00 0.0 -0.52 0.98 36.60 0.0 -0.41 1.00

324.4 34.70 9000.00 0.0 -0.07 0.09 34.70 289.7 0.28 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 2803 2305 2810 2745 0.0 0.0 0 13 0.00 0.00 -2.30 0.041 16390 0.000 0.000 2803 2305 3392 3416 3368 0 0 0 0 0 0 15.07 13.43 15.05

14 -0.93 -146.0 2805 2306 3418 3370 0.0 0.0 0 23 0.95 0.00 0.00 0.000 4102 0.120 0.000 2495 2305 3392 3416 3369 0 0 0 0 0 0 14.72 14.91 14.88

320 -0.93 -146.0 2497 2307 3417 3369 348.5 -13.8 31 326 0.00 2.50 0.00 0.000 516 0.000 0.081 2496 895 3391 3415 3368 0 0 0 0 0 0 15.09 14.75 15.12

360 -0.93 -146.0 2495 895 3415 3368 354.1 -13.7 39 366 0.00 2.53 0.00 0.000 1030 0.000 0.074 2490 2297 3391 3415 3368 0 0 0 0 0 0 14.93 14.75 14.96

671 -0.93 -146.0 2490 2298 3415 3368 392.8 -12.0 71 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2297 3391 3415 3368 0 0 0 0 0 0 15.04 15.07 15.07

970 -0.93 -146.0 2489 2297 3415 3367 430.5 -12.6 101 977 0.00 2.50 0.00 0.000 516 0.000 0.080 2489 888 3391 3415 3367 0 0 0 0 0 0 15.11 14.75 15.11

996 -0.93 -146.0 2491 888 3416 3367 433.7 -13.5 106 1003 0.00 2.53 0.00 0.000 1030 0.000 0.073 2480 2299 3394 3422 3367 0 0 0 0 0 0 14.84 14.75 14.88

1301 -0.93 -146.0 2476 2300 3417 3367 472.7 -12.2 137 1308 0.00 2.58 0.00 0.000 260 0.000 0.109 2472 3719 3389 3413 3366 0 0 0 0 0 0 15.09 14.74 15.12

1333 -0.93 -146.0 2471 3720 3414 3367 476.7 -13.5 143 1338 0.00 2.40 0.00 0.000 1030 0.000 0.048 2472 2290 3390 3415 3366 0 0 0 0 0 0 14.88 14.81 14.92

1642 -0.93 -146.0 2471 2288 3415 3366 516.2 -12.8 175 1648 0.00 2.45 0.00 0.000 516 0.000 0.079 2471 895 3390 3414 3366 0 0 0 0 0 0 15.10 14.75 15.12

1683 -0.93 -146.0 2473 896 3416 3367 521.5 -13.2 183 1689 0.17 2.50 0.00 0.000 3078 0.284 0.072 2500 2313 3390 3415 3365 0 0 0 0 0 0 14.56 14.75 14.81

1993 -0.93 -146.0 2499 2314 3414 3366 556.4 -11.0 215 1994 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2314 3390 3415 3365 0 0 0 0 0 0 15.11 15.13 15.13

2293 -0.93 -146.0 2501 2315 3416 3367 590.2 -11.1 245 2293 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2313 3389 3414 3365 0 0 0 0 0 0 15.11 15.14 15.14

2593 -0.93 -146.0 2501 2314 3416 3366 623.7 -11.2 275 2594 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2314 3387 3409 3365 0 0 0 0 0 0 15.11 15.14 15.11

2893 -0.93 -146.0 2501 2314 3416 3366 656.7 -10.9 305 2899 0.00 2.55 0.00 0.000 516 0.000 0.080 2500 902 3389 3414 3365 0 0 0 0 0 0 15.11 14.69 15.14

2919 -0.93 -146.0 2499 903 3409 3365 659.7 -11.7 310 2926 0.00 2.53 0.00 0.000 1030 0.000 0.072 2491 2309 3390 3415 3365 0 0 0 0 0 0 14.83 14.74 14.95

3224 -0.93 -146.0 2492 2310 3416 3366 693.4 -10.9 341 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2309 3389 3414 3364 0 0 0 0 0 0 15.11 15.13 15.13

3534 -0.93 -146.0 2492 2310 3416 3365 727.2 -10.9 356 3535 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2309 3390 3415 3365 0 0 0 0 0 0 15.11 15.14 15.13

3895 -0.93 -146.0 2490 2310 3414 3366 767.7 -11.3 368 3900 0.00 2.53 0.00 0.000 516 0.000 0.078 2491 891 3389 3414 3364 0 0 0 0 0 0 15.11 14.75 15.13

3929 -0.93 -146.0 2492 891 3416 3365 772.1 -12.5 375 3935 0.00 2.55 0.00 0.000 1030 0.000 0.076 2489 2305 3389 3415 3364 0 0 0 0 0 0 14.81 14.74 14.86

4314 -0.93 -146.0 2490 2307 3417 3363 814.4 -10.9 392 4315 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2306 3389 3414 3365 0 0 0 0 0 0 15.12 15.15 15.15

4373 end dive: BOTTOM_OBSTACLE_DETECTED

state 4373 begin apogee

4377 -0.23 0.0 2488 2058 3414 3365 821.0 -11.0 394 4548 0.85 0.12 167.40 3.101 10246 0.216 0.140 2726 2129 2781 2820 2742 0 0 0 0 0 0 14.62 13.40 12.38

4549 end apogee: CONTROL_FINISHED_OK

state 4549 begin climb

4550 0.93 146.0 2726 2130 2819 2743 825.3 0.0 399 4743 1.27 2.92 180.50 3.053 10756 0.134 0.090 3105 722 2185 2234 2136 0 0 0 0 0 0 13.40 13.25 12.29

4757 0.93 146.0 3105 722 2232 2135 808.8 12.4 439 4763 0.00 2.65 0.00 0.000 1030 0.000 0.062 3105 2106 2182 2232 2133 0 0 0 0 0 0 13.59 13.51 13.62

5127 0.93 146.0 3106 2107 2222 2126 761.9 12.8 453 5133 0.00 2.60 0.00 0.000 260 0.000 0.099 3106 3512 2173 2221 2125 0 0 0 0 0 0 14.60 14.34 14.62

5173 0.93 146.0 3105 3512 2221 2129 755.5 14.2 462 5179 0.00 2.45 0.00 0.000 1030 0.000 0.048 3116 2122 2173 2221 2125 0 0 0 0 0 0 14.47 14.47 14.52

5548 0.93 146.0 3115 2122 2217 2124 706.6 13.0 477 5548 0.00 0.00 0.00 0.000 6 0.000 0.000 3116 2122 2170 2217 2124 0 0 0 0 0 0 14.90 14.93 14.93

5908 0.93 146.0 3117 2122 2224 2124 659.7 13.0 509 5909 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2121 2169 2215 2124 0 0 0 0 0 0 15.00 15.03 15.03

6208 0.93 146.0 3117 2123 2216 2125 621.3 12.7 539 6208 0.00 0.00 0.00 0.000 6 0.000 0.000 3116 2122 2169 2214 2124 0 0 0 0 0 0 15.04 15.07 15.07

6508 0.93 146.0 3115 2122 2213 2124 583.8 12.4 569 6514 0.00 2.53 0.00 0.000 260 0.000 0.099 3116 3523 2168 2213 2123 0 0 0 0 0 0 15.07 14.76 15.09

6529 0.93 146.0 3115 3522 2213 2124 581.0 13.1 573 6536 0.00 2.42 0.00 0.000 1030 0.000 0.051 3125 2088 2168 2213 2124 0 0 0 0 0 0 14.92 14.83 14.95

6840 0.93 146.0 3125 2088 2212 2124 541.0 12.6 605 6841 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2088 2167 2212 2123 0 0 0 0 0 0 15.07 15.10 15.10

7140 0.93 146.0 3125 2088 2211 2124 502.8 12.3 635 7145 0.00 2.60 0.00 0.000 260 0.000 0.099 3126 3524 2167 2211 2123 0 0 0 0 0 0 15.08 14.76 15.11

7170 0.93 146.0 3124 3524 2210 2124 498.8 13.4 641 7177 0.15 2.47 0.00 0.000 5126 0.271 0.050 3100 2088 2167 2211 2123 0 0 0 0 0 0 14.65 14.81 14.89

7482 0.93 146.0 3100 2089 2211 2122 463.5 11.3 673 7488 0.00 2.50 0.00 0.000 516 0.000 0.096 3110 695 2166 2209 2123 0 0 0 0 0 0 15.04 14.76 15.07

7507 0.93 146.0 3111 695 2212 2124 460.5 11.6 678 7514 0.00 2.47 0.00 0.000 1030 0.000 0.063 3110 2126 2166 2209 2123 0 0 0 0 0 0 14.92 14.81 14.95

7812 0.93 146.0 3111 2127 2211 2123 424.4 11.9 709 7818 0.00 2.47 0.00 0.000 260 0.000 0.099 3110 3513 2166 2210 2123 0 0 0 0 0 0 15.08 14.78 15.11

7878 0.93 146.0 3111 3513 2211 2124 416.0 12.8 722 7885 0.00 2.45 0.00 0.000 1030 0.000 0.048 3121 2089 2166 2209 2123 0 0 0 0 0 0 14.87 14.81 14.90

8183 0.93 146.0 3124 2089 2208 2124 380.2 11.4 753 8189 0.00 2.58 0.00 0.000 260 0.000 0.096 3120 3518 2166 2209 2123 0 0 0 0 0 0 15.10 14.78 15.13

8223 0.93 146.0 3119 3518 2208 2124 375.1 12.7 761 8230 0.08 2.45 0.00 0.000 5126 0.259 0.048 3101 2095 2165 2209 2122 0 0 0 0 0 0 14.54 14.73 14.79

8535 0.93 146.0 3094 2095 2208 2123 343.1 10.1 793 8535 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2095 2165 2208 2122 0 0 0 0 0 0 15.09 15.12 15.12

8753 end climb: SURFACE_OBSTACLE_DETECTED

state 8753 begin subsurface finish

8757 0.01 4.9 3095 2095 2209 2123 321.5 9.7 815 8768 1.00 2.60 -2.35 0.049 20740 0.200 0.120 2800 3531 2782 2816 2748 0 0 0 0 0 0 14.63 13.43 14.79

8768 end subsurface finish: CONTROL_FINISHED_OK

state 8768 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	207	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	29	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	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	312.64	MHEAD_RNG_PITCHd_Wd	119.6,22617,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.5	D_GRID	990
GPS2	220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0

FINISH1	321.5,1.027404,5	ALTIM_BOTTOM_PING	817.4,12.3
FINISH2	320.6	_24V_AH	12.29,82.991
RAFOS_CLK	323	_10V_AH	12.28,0.000
RAFOS	0,1519354860,3.032778,3.016667,113,66,58,52,52,51,597,213,222,171,123,199	FG_AHR_24Vo	0.000
RAFOS_FIX	-7415.506836,-11244.181641,230218,030316,3,121,1.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280040
TT8_MAMPS	0.038199,0.841876	DATA_FILE_SIZE	26715,817
HUMID	49.40	CAP_FILE_SIZE	101735,0
INTERNAL_PRESSURE	8.25812	CFSIZE	1024409600,995819520
TCM_TEMP	12.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1455.5
ALTIM_TOP_PING	344.1,29.6	GPS	230218,031616,-7415.507,-11244.182,0,4120.7,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	283	15.61	nil	0	0	0.00
Roll_motor	69	139	119.02	nil	0	0	0.00
VBD_pump_during_apogee	347	3101	13260.24	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	8789	10	1150.38
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	38	420	196.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6600	2	187.22
TT8_Active	414	13	70.32
TT8_Sampling	1737	34	742.49
TT8_CF8	103	52	67.13
TT8_Kalman	0	0	0.00
Analog_circuits	1031	10	138.05
GPS_charging	0	0	0.00
Compass	1172	7	107.86
RAFOS	720	1	13.26
Transponder	269	30	99.15

		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
784.9	50.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
791.5	42.20	9000.00	0.0	0.00	0.00	42.20	833.7	-1.29	1.00
798.2	31.60	9000.00	0.0	-1.44	1.00	31.60	829.8	-1.58	1.00
804.3	26.80	26.00	830.3	-1.20	0.96	26.80	831.1	-0.79	1.00
810.9	17.30	18.00	828.9	-1.13	0.97	17.30	828.2	-1.44	1.00
817.4	13.20	12.30	829.7	-1.04	0.95	13.20	830.6	-0.63	1.00

816.3	16.70	9000.00	0.0	-0.46	0.54	0.00	0.0	0.00	0.00
810.0	20.30	20.50	0.0	-0.83	0.87	20.30	0.0	-0.57	1.00
788.5	42.80	42.40	0.0	-0.97	0.99	42.80	0.0	-1.05	1.00
389.3	77.60	9000.00	0.0	-0.11	0.88	77.60	0.0	-0.09	1.00
382.5	70.70	9000.00	0.0	-0.08	0.96	70.70	311.8	1.01	1.00
376.4	64.30	64.30	312.1	1.03	1.00	64.30	312.1	1.05	1.00
369.7	56.70	56.80	312.9	1.09	1.00	56.70	313.0	1.13	1.00
363.3	49.50	49.50	313.8	1.13	1.00	49.50	313.8	1.13	1.00
357.1	42.20	42.20	314.9	1.15	1.00	42.20	314.9	1.18	1.00
350.1	34.70	34.60	315.5	1.12	1.00	34.70	315.4	1.07	1.00
344.1	29.90	29.60	314.5	0.95	0.99	29.90	314.2	0.80	1.00
338.1	33.80	9000.00	0.0	0.07	0.03	33.80	0.0	-0.65	1.00
331.2	36.60	9000.00	0.0	-0.52	0.98	36.60	0.0	-0.41	1.00
324.4	34.70	9000.00	0.0	-0.07	0.09	34.70	289.7	0.28	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	2803	2305	2810	2745	0.0	0.0	0	13	0.00	0.00	-2.30	0.041	16390	0.000	0.000	2803	2305	3392	3416	3368	0	0	0	0	0	0	15.07	13.43	15.05
14	-0.93	-146.0	2805	2306	3418	3370	0.0	0.0	0	23	0.95	0.00	0.00	0.000	4102	0.120	0.000	2495	2305	3392	3416	3369	0	0	0	0	0	0	14.72	14.91	14.88
320	-0.93	-146.0	2497	2307	3417	3369	348.5	-13.8	31	326	0.00	2.50	0.00	0.000	516	0.000	0.081	2496	895	3391	3415	3368	0	0	0	0	0	0	15.09	14.75	15.12
360	-0.93	-146.0	2495	895	3415	3368	354.1	-13.7	39	366	0.00	2.53	0.00	0.000	1030	0.000	0.074	2490	2297	3391	3415	3368	0	0	0	0	0	0	14.93	14.75	14.96
671	-0.93	-146.0	2490	2298	3415	3368	392.8	-12.0	71	672	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2297	3391	3415	3368	0	0	0	0	0	0	15.04	15.07	15.07
970	-0.93	-146.0	2489	2297	3415	3367	430.5	-12.6	101	977	0.00	2.50	0.00	0.000	516	0.000	0.080	2489	888	3391	3415	3367	0	0	0	0	0	0	15.11	14.75	15.11
996	-0.93	-146.0	2491	888	3416	3367	433.7	-13.5	106	1003	0.00	2.53	0.00	0.000	1030	0.000	0.073	2480	2299	3394	3422	3367	0	0	0	0	0	0	14.84	14.75	14.88
1301	-0.93	-146.0	2476	2300	3417	3367	472.7	-12.2	137	1308	0.00	2.58	0.00	0.000	260	0.000	0.109	2472	3719	3389	3413	3366	0	0	0	0	0	0	15.09	14.74	15.12
1333	-0.93	-146.0	2471	3720	3414	3367	476.7	-13.5	143	1338	0.00	2.40	0.00	0.000	1030	0.000	0.048	2472	2290	3390	3415	3366	0	0	0	0	0	0	14.88	14.81	14.92
1642	-0.93	-146.0	2471	2288	3415	3366	516.2	-12.8	175	1648	0.00	2.45	0.00	0.000	516	0.000	0.079	2471	895	3390	3414	3366	0	0	0	0	0	0	15.10	14.75	15.12
1683	-0.93	-146.0	2473	896	3416	3367	521.5	-13.2	183	1689	0.17	2.50	0.00	0.000	3078	0.284	0.072	2500	2313	3390	3415	3365	0	0	0	0	0	0	14.56	14.75	14.81
1993	-0.93	-146.0	2499	2314	3414	3366	556.4	-11.0	215	1994	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2314	3390	3415	3365	0	0	0	0	0	0	15.11	15.13	15.13
2293	-0.93	-146.0	2501	2315	3416	3367	590.2	-11.1	245	2293	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2313	3389	3414	3365	0	0	0	0	0	0	15.11	15.14	15.14
2593	-0.93	-146.0	2501	2314	3416	3366	623.7	-11.2	275	2594	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2314	3387	3409	3365	0	0	0	0	0	0	15.11	15.14	15.11
2893	-0.93	-146.0	2501	2314	3416	3366	656.7	-10.9	305	2899	0.00	2.55	0.00	0.000	516	0.000	0.080	2500	902	3389	3414	3365	0	0	0	0	0	0	15.11	14.69	15.14
2919	-0.93	-146.0	2499	903	3409	3365	659.7	-11.7	310	2926	0.00	2.53	0.00	0.000	1030	0.000	0.072	2491	2309	3390	3415	3365	0	0	0	0	0	0	14.83	14.74	14.95
3224	-0.93	-146.0	2492	2310	3416	3366	693.4	-10.9	341	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2309	3389	3414	3364	0	0	0	0	0	0	15.11	15.13	15.13
3534	-0.93	-146.0	2492	2310	3416	3365	727.2	-10.9	356	3535	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2309	3390	3415	3365	0	0	0	0	0	0	15.11	15.14	15.13
3895	-0.93	-146.0	2490	2310	3414	3366	767.7	-11.3	368	3900	0.00	2.53	0.00	0.000	516	0.000	0.078	2491	891	3389	3414	3364	0	0	0	0	0	0	15.11	14.75	15.13
3929	-0.93	-146.0	2492	891	3416	3365	772.1	-12.5	375	3935	0.00	2.55	0.00	0.000	1030	0.000	0.076	2489	2305	3389	3415	3364	0	0	0	0	0	0	14.81	14.74	14.86
4314	-0.93	-146.0	2490	2307	3417	3363	814.4	-10.9	392	4315	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2306	3389	3414	3365	0	0	0	0	0	0	15.12	15.15	15.15
4373	end dive: BOTTOM_OBSTACLE_DETECTED
state	4373	begin apogee
4377	-0.23	0.0	2488	2058	3414	3365	821.0	-11.0	394	4548	0.85	0.12	167.40	3.101	10246	0.216	0.140	2726	2129	2781	2820	2742	0	0	0	0	0	0	14.62	13.40	12.38
4549	end apogee: CONTROL_FINISHED_OK
state	4549	begin climb
4550	0.93	146.0	2726	2130	2819	2743	825.3	0.0	399	4743	1.27	2.92	180.50	3.053	10756	0.134	0.090	3105	722	2185	2234	2136	0	0	0	0	0	0	13.40	13.25	12.29
4757	0.93	146.0	3105	722	2232	2135	808.8	12.4	439	4763	0.00	2.65	0.00	0.000	1030	0.000	0.062	3105	2106	2182	2232	2133	0	0	0	0	0	0	13.59	13.51	13.62
5127	0.93	146.0	3106	2107	2222	2126	761.9	12.8	453	5133	0.00	2.60	0.00	0.000	260	0.000	0.099	3106	3512	2173	2221	2125	0	0	0	0	0	0	14.60	14.34	14.62
5173	0.93	146.0	3105	3512	2221	2129	755.5	14.2	462	5179	0.00	2.45	0.00	0.000	1030	0.000	0.048	3116	2122	2173	2221	2125	0	0	0	0	0	0	14.47	14.47	14.52
5548	0.93	146.0	3115	2122	2217	2124	706.6	13.0	477	5548	0.00	0.00	0.00	0.000	6	0.000	0.000	3116	2122	2170	2217	2124	0	0	0	0	0	0	14.90	14.93	14.93
5908	0.93	146.0	3117	2122	2224	2124	659.7	13.0	509	5909	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2121	2169	2215	2124	0	0	0	0	0	0	15.00	15.03	15.03
6208	0.93	146.0	3117	2123	2216	2125	621.3	12.7	539	6208	0.00	0.00	0.00	0.000	6	0.000	0.000	3116	2122	2169	2214	2124	0	0	0	0	0	0	15.04	15.07	15.07
6508	0.93	146.0	3115	2122	2213	2124	583.8	12.4	569	6514	0.00	2.53	0.00	0.000	260	0.000	0.099	3116	3523	2168	2213	2123	0	0	0	0	0	0	15.07	14.76	15.09
6529	0.93	146.0	3115	3522	2213	2124	581.0	13.1	573	6536	0.00	2.42	0.00	0.000	1030	0.000	0.051	3125	2088	2168	2213	2124	0	0	0	0	0	0	14.92	14.83	14.95
6840	0.93	146.0	3125	2088	2212	2124	541.0	12.6	605	6841	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2088	2167	2212	2123	0	0	0	0	0	0	15.07	15.10	15.10
7140	0.93	146.0	3125	2088	2211	2124	502.8	12.3	635	7145	0.00	2.60	0.00	0.000	260	0.000	0.099	3126	3524	2167	2211	2123	0	0	0	0	0	0	15.08	14.76	15.11
7170	0.93	146.0	3124	3524	2210	2124	498.8	13.4	641	7177	0.15	2.47	0.00	0.000	5126	0.271	0.050	3100	2088	2167	2211	2123	0	0	0	0	0	0	14.65	14.81	14.89
7482	0.93	146.0	3100	2089	2211	2122	463.5	11.3	673	7488	0.00	2.50	0.00	0.000	516	0.000	0.096	3110	695	2166	2209	2123	0	0	0	0	0	0	15.04	14.76	15.07
7507	0.93	146.0	3111	695	2212	2124	460.5	11.6	678	7514	0.00	2.47	0.00	0.000	1030	0.000	0.063	3110	2126	2166	2209	2123	0	0	0	0	0	0	14.92	14.81	14.95
7812	0.93	146.0	3111	2127	2211	2123	424.4	11.9	709	7818	0.00	2.47	0.00	0.000	260	0.000	0.099	3110	3513	2166	2210	2123	0	0	0	0	0	0	15.08	14.78	15.11
7878	0.93	146.0	3111	3513	2211	2124	416.0	12.8	722	7885	0.00	2.45	0.00	0.000	1030	0.000	0.048	3121	2089	2166	2209	2123	0	0	0	0	0	0	14.87	14.81	14.90
8183	0.93	146.0	3124	2089	2208	2124	380.2	11.4	753	8189	0.00	2.58	0.00	0.000	260	0.000	0.096	3120	3518	2166	2209	2123	0	0	0	0	0	0	15.10	14.78	15.13
8223	0.93	146.0	3119	3518	2208	2124	375.1	12.7	761	8230	0.08	2.45	0.00	0.000	5126	0.259	0.048	3101	2095	2165	2209	2122	0	0	0	0	0	0	14.54	14.73	14.79
8535	0.93	146.0	3094	2095	2208	2123	343.1	10.1	793	8535	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2095	2165	2208	2122	0	0	0	0	0	0	15.09	15.12	15.12
8753	end climb: SURFACE_OBSTACLE_DETECTED
state	8753	begin subsurface finish
8757	0.01	4.9	3095	2095	2209	2123	321.5	9.7	815	8768	1.00	2.60	-2.35	0.049	20740	0.200	0.120	2800	3531	2782	2816	2748	0	0	0	0	0	0	14.63	13.43	14.79
8768	end subsurface finish: CONTROL_FINISHED_OK
state	8768	begin surface