Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 216 * 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 216 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 27 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 216 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 27 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 230218,181424,-7420.5825,-11250.3350,0,4133.3,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside1

_XMS_NAKs 0 TGT_LATLONG -7422.000,-11220.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 326.19 MHEAD_RNG_PITCHd_Wd 46.1,15365,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.0 D_GRID 990

GPS2 230218,181424,-7420.5825,-11250.3350,0,4133.3,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 346.9,1.027417,4 ALTIM_BOTTOM_PING 829.6,28.9

FINISH2 346.2 _24V_AH 12.29,86.070

RAFOS_CLK 338 _10V_AH 12.28,0.000

RAFOS 0,1519419667,21.032778,21.018612,128,59,57,53,52,52,569,155,171,195,111,185 FG_AHR_24Vo 0.000

RAFOS_FIX -7420.299805,-11243.128906,230218,212144,3,126,0.33 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.039697,0.2996 DATA_FILE_SIZE 33379,967

HUMID 49.52 CAP_FILE_SIZE 113765,0

INTERNAL_PRESSURE 8.25812 CFSIZE 1024409600,994721792

TCM_TEMP 12.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1456.2

ALTIM_TOP_PING 352.0,11.4 GPS 230218,211544,-7420.300,-11243.129,0,4126.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 266 14.85 nil 0 0 0.00

Roll_motor 103 118 151.52 nil 0 0 0.00

VBD_pump_during_apogee 345 3095 13146.98 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 9359 10 1196.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 38 420 198.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6866 2 194.78

TT8_Active 448 13 76.05

TT8_Sampling 1998 34 853.92

TT8_CF8 113 52 73.37

TT8_Kalman 0 0 0.00

Analog_circuits 1175 10 157.40

GPS_charging 0 0 0.00

Compass 1383 7 127.22

RAFOS 720 1 13.26

Transponder 273 30 100.62

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

326.9 12.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

339.8 17.60 9000.00 0.0 0.00 0.00 17.60 0.0 0.39 1.00

346.0 22.20 9000.00 0.0 0.49 0.97 22.20 0.0 0.74 1.00

352.6 27.00 9000.00 0.0 0.73 1.00 27.00 0.0 0.73 1.00

799.2 71.10 9000.00 0.0 0.10 0.99 71.10 0.0 0.10 1.00

814.1 45.80 9000.00 0.0 0.07 0.65 45.80 859.9 -1.70 1.00

822.0 36.40 9000.00 0.0 -1.55 0.99 36.40 858.4 -1.19 1.00

829.6 29.20 28.90 858.5 -1.07 0.99 29.20 858.8 -0.95 1.00

837.4 14.70 9000.00 0.0 -1.41 0.97 14.70 852.1 -1.86 1.00

839.9 10.80 9000.00 0.0 -1.81 1.00 10.80 0.0 -1.56 1.00

832.8 14.10 9000.00 0.0 -0.41 0.46 14.10 0.0 -0.46 1.00

826.3 25.10 23.70 0.0 -1.05 0.90 25.10 0.0 -1.69 1.00

807.9 49.70 9000.00 0.0 -1.41 1.00 49.70 0.0 -1.34 1.00

404.6 67.40 9000.00 0.0 -0.07 0.70 67.40 0.0 -0.04 1.00

397.6 60.00 9000.00 0.0 -0.03 0.82 60.00 337.6 1.06 1.00

390.8 52.70 52.70 338.1 1.06 1.00 52.70 338.1 1.07 1.00

383.9 45.30 45.40 338.5 1.07 1.00 45.30 338.6 1.07 1.00

377.1 37.80 37.80 339.3 1.09 1.00 37.80 339.3 1.10 1.00

371.0 31.50 31.40 339.6 1.07 1.00 31.50 339.5 1.03 1.00

364.8 24.90 25.00 339.8 1.05 1.00 24.90 339.9 1.06 1.00

358.7 18.50 18.50 340.2 1.06 1.00 18.50 340.2 1.05 1.00

352.0 11.40 11.40 340.6 1.06 1.00 11.40 340.6 1.06 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 2313 2811 2744 0.0 0.0 0 12 0.00 0.00 -2.25 0.042 16390 0.000 0.000 2803 2312 3391 3413 3370 0 0 0 0 0 0 15.07 13.43 15.07

14 -0.93 -146.0 2803 2313 3412 3371 0.0 0.0 0 21 0.90 2.47 0.00 0.000 4612 0.112 0.077 2501 883 3391 3412 3370 0 0 0 0 0 0 14.74 14.77 14.82

245 -0.93 -146.0 2502 883 3414 3370 356.0 -13.3 46 251 0.00 2.50 0.00 0.000 1030 0.000 0.072 2492 2299 3390 3412 3369 0 0 0 0 0 0 14.91 14.78 14.94

555 -0.93 -146.0 2491 2299 3412 3369 397.3 -13.8 78 562 0.00 2.50 0.00 0.000 516 0.000 0.080 2492 894 3390 3412 3368 0 0 0 0 0 0 15.08 14.75 15.10

787 -0.93 -146.0 2490 895 3412 3370 429.5 -13.3 124 792 0.00 2.50 0.00 0.000 1030 0.000 0.072 2482 2313 3389 3411 3368 0 0 0 0 0 0 14.92 14.79 14.95

1096 -0.93 -146.0 2482 2314 3412 3368 471.4 -13.3 156 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2314 3389 3412 3367 0 0 0 0 0 0 15.09 15.12 15.12

1396 -0.93 -146.0 2483 2315 3414 3368 511.5 -13.4 186 1402 0.00 2.53 0.00 0.000 516 0.000 0.078 2482 887 3389 3412 3367 0 0 0 0 0 0 15.09 14.76 15.12

1461 -0.93 -146.0 2482 887 3414 3365 520.6 -13.9 199 1468 0.00 2.53 0.00 0.000 1030 0.000 0.072 2472 2300 3389 3412 3367 0 0 0 0 0 0 14.83 14.76 14.88

1766 -0.93 -146.0 2472 2300 3412 3367 562.5 -13.4 230 1772 0.00 2.58 0.00 0.000 260 0.000 0.108 2463 3725 3389 3412 3367 0 0 0 0 0 0 15.10 14.74 15.12

1796 -0.93 -146.0 2462 3726 3412 3367 566.7 -14.6 236 1802 0.15 2.47 0.00 0.000 3078 0.261 0.047 2496 2283 3389 3412 3366 0 0 0 0 0 0 14.61 14.83 14.85

2108 -0.93 -146.0 2496 2284 3413 3368 604.2 -12.1 268 2112 0.00 2.42 0.00 0.000 516 0.000 0.076 2496 904 3391 3416 3366 0 0 0 0 0 0 15.03 14.73 15.06

2162 -0.93 -146.0 2497 904 3413 3367 611.1 -12.5 279 2169 0.00 2.50 0.00 0.000 1030 0.000 0.070 2487 2305 3389 3412 3366 0 0 0 0 0 0 14.83 14.76 14.87

2467 -0.93 -146.0 2487 2305 3412 3367 650.1 -12.5 310 2472 0.00 2.55 0.00 0.000 260 0.000 0.106 2477 3723 3390 3414 3366 0 0 0 0 0 0 15.11 14.74 15.14

2502 -0.93 -146.0 2478 3724 3414 3367 654.7 -13.7 317 2510 0.00 2.45 0.00 0.000 1030 0.000 0.047 2477 2291 3389 3412 3366 0 0 0 0 0 0 14.88 14.83 14.90

2808 -0.93 -146.0 2476 2291 3411 3366 694.8 -12.9 348 2813 0.00 2.42 0.00 0.000 516 0.000 0.075 2477 901 3388 3411 3366 0 0 0 0 0 0 15.06 14.72 15.08

2897 -0.93 -146.0 2478 900 3413 3367 706.7 -13.1 366 2904 0.00 2.47 0.00 0.000 1030 0.000 0.073 2474 2311 3388 3411 3366 0 0 0 0 0 0 14.90 14.78 14.94

3288 -0.93 -146.0 2474 2312 3412 3367 756.9 -12.8 384 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2308 3388 3411 3366 0 0 0 0 0 0 15.11 15.14 15.14

3649 -0.93 -146.0 2475 2312 3414 3367 802.8 -12.6 396 3649 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2311 3389 3412 3366 0 0 0 0 0 0 15.11 15.14 15.14

4008 -0.93 -146.0 2476 2312 3413 3367 846.1 -10.9 408 4013 0.00 2.53 0.00 0.000 260 0.000 0.108 2474 3716 3389 3412 3366 0 0 0 0 0 0 15.13 14.76 15.15

4171 end dive: NO_VERTICAL_VELOCITY

state 4171 begin apogee

4178 -0.23 0.0 2475 2084 3414 3368 845.9 0.0 441 4346 0.80 0.00 165.98 3.096 10246 0.116 0.000 2733 2083 2781 2818 2744 0 0 0 0 0 0 14.78 13.41 12.40

4347 end apogee: CONTROL_FINISHED_OK

state 4347 begin climb

4349 0.93 146.0 2733 2083 2818 2744 846.2 0.0 446 4538 1.25 2.92 179.55 3.037 11012 0.135 0.096 3092 3519 2185 2241 2129 0 0 0 0 0 0 13.40 13.13 12.29

4582 0.93 146.0 3092 3518 2236 2125 830.7 9.7 491 4589 0.00 2.60 0.00 0.000 1030 0.000 0.048 3102 2110 2180 2236 2124 0 0 0 0 0 0 13.76 13.69 13.78

4959 0.93 146.0 3101 2110 2225 2120 792.8 10.2 506 4964 0.00 2.62 0.00 0.000 260 0.000 0.099 3102 3517 2172 2226 2119 0 0 0 0 0 0 14.62 14.39 14.65

5009 0.93 146.0 3102 3517 2225 2120 787.0 12.3 516 5015 0.00 2.45 0.00 0.000 1030 0.000 0.050 3113 2096 2172 2226 2119 0 0 0 0 0 0 14.58 14.50 14.60

5381 0.93 146.0 3112 2096 2221 2119 747.1 10.7 530 5385 0.00 2.60 0.00 0.000 260 0.000 0.098 3113 3525 2170 2221 2119 0 0 0 0 0 0 14.90 14.66 14.92

5440 0.93 146.0 3114 3525 2223 2119 739.8 12.2 542 5445 0.00 2.42 0.00 0.000 1030 0.000 0.049 3124 2095 2169 2221 2118 0 0 0 0 0 0 14.81 14.73 14.84

5810 0.93 146.0 3125 2096 2222 2119 697.9 11.3 560 5816 0.00 2.60 0.00 0.000 260 0.000 0.098 3124 3511 2168 2219 2118 0 0 0 0 0 0 15.03 14.72 15.05

5845 0.93 146.0 3125 3511 2222 2119 693.6 12.6 567 5854 0.12 2.45 0.00 0.000 5126 0.236 0.049 3098 2086 2168 2218 2118 0 0 0 0 0 0 14.61 14.78 14.76

6150 0.93 146.0 3098 2087 2218 2118 662.8 10.1 598 6156 0.00 2.58 0.00 0.000 260 0.000 0.097 3098 3516 2168 2218 2118 0 0 0 0 0 0 15.06 14.77 15.09

6195 0.93 146.0 3098 3516 2218 2117 657.7 11.5 607 6202 0.00 2.45 0.00 0.000 1030 0.000 0.048 3102 2086 2168 2218 2118 0 0 0 0 0 0 14.87 14.81 14.88

6500 0.93 146.0 3104 2086 2220 2118 627.1 9.6 638 6506 0.00 2.58 0.00 0.000 260 0.000 0.093 3103 3526 2167 2218 2117 0 0 0 0 0 0 15.08 14.78 15.11

6550 0.93 146.0 3102 3526 2217 2118 621.8 10.9 648 6556 0.00 2.45 0.00 0.000 1030 0.000 0.047 3113 2095 2167 2218 2117 0 0 0 0 0 0 14.88 14.82 14.90

6860 0.93 146.0 3111 2096 2217 2118 589.9 10.3 680 6866 0.00 2.58 0.00 0.000 260 0.000 0.096 3113 3526 2166 2216 2117 0 0 0 0 0 0 15.09 14.78 15.11

6910 0.93 146.0 3114 3527 2218 2117 584.0 11.8 690 6916 0.00 2.45 0.00 0.000 1030 0.000 0.047 3123 2076 2166 2216 2117 0 0 0 0 0 0 14.94 14.85 14.97

7220 0.93 146.0 3123 2076 2216 2118 550.3 11.0 722 7221 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2076 2166 2216 2117 0 0 0 0 0 0 15.10 15.13 15.12

7520 0.93 146.0 3122 2076 2211 2118 518.8 10.3 752 7526 0.00 2.60 0.00 0.000 260 0.000 0.096 3123 3524 2166 2215 2117 0 0 0 0 0 0 15.11 14.80 15.13

7590 0.93 146.0 3131 3525 2216 2118 510.9 11.3 766 7596 0.15 2.42 0.00 0.000 5126 0.267 0.047 3099 2082 2166 2215 2117 0 0 0 0 0 0 14.66 14.86 14.90

7901 0.94 146.0 3100 2083 2216 2118 483.2 8.9 798 7906 0.00 2.58 0.00 0.000 324 0.000 0.096 3099 3515 2165 2214 2116 0 0 0 0 0 0 15.11 14.79 15.14

7960 0.94 146.0 3098 3515 2214 2118 477.1 10.5 810 7966 0.00 2.42 0.00 0.000 1030 0.000 0.047 3107 2097 2165 2214 2117 0 0 0 0 0 0 14.89 14.83 14.92

8271 0.94 146.0 3106 2097 2214 2117 446.8 9.4 842 8276 0.00 2.58 0.00 0.000 260 0.000 0.096 3107 3528 2166 2215 2117 0 0 0 0 0 0 15.10 14.78 15.13

8326 0.94 146.0 3107 3528 2214 2117 441.0 10.7 853 8333 0.00 2.45 0.00 0.000 1030 0.000 0.046 3118 2099 2165 2214 2117 0 0 0 0 0 0 14.88 14.83 14.91

8631 0.94 146.0 3118 2099 2214 2117 411.9 9.3 884 8636 0.00 2.55 0.00 0.000 260 0.000 0.095 3118 3523 2165 2214 2116 0 0 0 0 0 0 15.10 14.78 15.13

8696 0.94 146.0 3118 3523 2216 2118 405.0 10.7 897 8706 0.00 2.45 0.00 0.000 1030 0.000 0.048 3126 2093 2165 2214 2117 0 0 0 0 0 0 14.88 14.83 14.91

9001 0.94 146.0 3125 2094 2213 2117 375.2 9.4 928 9006 0.00 2.55 0.00 0.000 260 0.000 0.094 3126 3518 2165 2214 2117 0 0 0 0 0 0 15.11 14.78 15.14

9042 0.94 146.0 3127 3519 2215 2117 371.0 10.6 936 9047 0.15 2.40 0.00 0.000 5126 0.266 0.047 3102 2095 2165 2214 2116 0 0 0 0 0 0 14.56 14.78 14.78

9320 end climb: SURFACE_OBSTACLE_DETECTED

state 9320 begin subsurface finish

9324 0.01 4.2 3104 2096 2215 2117 346.9 8.4 965 9335 1.00 2.60 -2.28 0.051 20740 0.194 0.119 2806 3530 2786 2821 2752 0 0 0 0 0 0 14.56 13.41 14.69

9335 end subsurface finish: CONTROL_FINISHED_OK

state 9335 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	216	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	27	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	230218,181424,-7420.5825,-11250.3350,0,4133.3,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside1
_XMS_NAKs	0	TGT_LATLONG	-7422.000,-11220.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	326.19	MHEAD_RNG_PITCHd_Wd	46.1,15365,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.0	D_GRID	990
GPS2	230218,181424,-7420.5825,-11250.3350,0,4133.3,0,53.7,0.0,0.0,0,0.0

FINISH1	346.9,1.027417,4	ALTIM_BOTTOM_PING	829.6,28.9
FINISH2	346.2	_24V_AH	12.29,86.070
RAFOS_CLK	338	_10V_AH	12.28,0.000
RAFOS	0,1519419667,21.032778,21.018612,128,59,57,53,52,52,569,155,171,195,111,185	FG_AHR_24Vo	0.000
RAFOS_FIX	-7420.299805,-11243.128906,230218,212144,3,126,0.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280000
TT8_MAMPS	0.039697,0.2996	DATA_FILE_SIZE	33379,967
HUMID	49.52	CAP_FILE_SIZE	113765,0
INTERNAL_PRESSURE	8.25812	CFSIZE	1024409600,994721792
TCM_TEMP	12.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1456.2
ALTIM_TOP_PING	352.0,11.4	GPS	230218,211544,-7420.300,-11243.129,0,4126.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	266	14.85	nil	0	0	0.00
Roll_motor	103	118	151.52	nil	0	0	0.00
VBD_pump_during_apogee	345	3095	13146.98	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	9359	10	1196.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	38	420	198.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6866	2	194.78
TT8_Active	448	13	76.05
TT8_Sampling	1998	34	853.92
TT8_CF8	113	52	73.37
TT8_Kalman	0	0	0.00
Analog_circuits	1175	10	157.40
GPS_charging	0	0	0.00
Compass	1383	7	127.22
RAFOS	720	1	13.26
Transponder	273	30	100.62

		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
326.9	12.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
339.8	17.60	9000.00	0.0	0.00	0.00	17.60	0.0	0.39	1.00
346.0	22.20	9000.00	0.0	0.49	0.97	22.20	0.0	0.74	1.00
352.6	27.00	9000.00	0.0	0.73	1.00	27.00	0.0	0.73	1.00
799.2	71.10	9000.00	0.0	0.10	0.99	71.10	0.0	0.10	1.00
814.1	45.80	9000.00	0.0	0.07	0.65	45.80	859.9	-1.70	1.00
822.0	36.40	9000.00	0.0	-1.55	0.99	36.40	858.4	-1.19	1.00
829.6	29.20	28.90	858.5	-1.07	0.99	29.20	858.8	-0.95	1.00
837.4	14.70	9000.00	0.0	-1.41	0.97	14.70	852.1	-1.86	1.00

839.9	10.80	9000.00	0.0	-1.81	1.00	10.80	0.0	-1.56	1.00
832.8	14.10	9000.00	0.0	-0.41	0.46	14.10	0.0	-0.46	1.00
826.3	25.10	23.70	0.0	-1.05	0.90	25.10	0.0	-1.69	1.00
807.9	49.70	9000.00	0.0	-1.41	1.00	49.70	0.0	-1.34	1.00
404.6	67.40	9000.00	0.0	-0.07	0.70	67.40	0.0	-0.04	1.00
397.6	60.00	9000.00	0.0	-0.03	0.82	60.00	337.6	1.06	1.00
390.8	52.70	52.70	338.1	1.06	1.00	52.70	338.1	1.07	1.00
383.9	45.30	45.40	338.5	1.07	1.00	45.30	338.6	1.07	1.00
377.1	37.80	37.80	339.3	1.09	1.00	37.80	339.3	1.10	1.00
371.0	31.50	31.40	339.6	1.07	1.00	31.50	339.5	1.03	1.00
364.8	24.90	25.00	339.8	1.05	1.00	24.90	339.9	1.06	1.00
358.7	18.50	18.50	340.2	1.06	1.00	18.50	340.2	1.05	1.00
352.0	11.40	11.40	340.6	1.06	1.00	11.40	340.6	1.06	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	2313	2811	2744	0.0	0.0	0	12	0.00	0.00	-2.25	0.042	16390	0.000	0.000	2803	2312	3391	3413	3370	0	0	0	0	0	0	15.07	13.43	15.07
14	-0.93	-146.0	2803	2313	3412	3371	0.0	0.0	0	21	0.90	2.47	0.00	0.000	4612	0.112	0.077	2501	883	3391	3412	3370	0	0	0	0	0	0	14.74	14.77	14.82
245	-0.93	-146.0	2502	883	3414	3370	356.0	-13.3	46	251	0.00	2.50	0.00	0.000	1030	0.000	0.072	2492	2299	3390	3412	3369	0	0	0	0	0	0	14.91	14.78	14.94
555	-0.93	-146.0	2491	2299	3412	3369	397.3	-13.8	78	562	0.00	2.50	0.00	0.000	516	0.000	0.080	2492	894	3390	3412	3368	0	0	0	0	0	0	15.08	14.75	15.10
787	-0.93	-146.0	2490	895	3412	3370	429.5	-13.3	124	792	0.00	2.50	0.00	0.000	1030	0.000	0.072	2482	2313	3389	3411	3368	0	0	0	0	0	0	14.92	14.79	14.95
1096	-0.93	-146.0	2482	2314	3412	3368	471.4	-13.3	156	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2314	3389	3412	3367	0	0	0	0	0	0	15.09	15.12	15.12
1396	-0.93	-146.0	2483	2315	3414	3368	511.5	-13.4	186	1402	0.00	2.53	0.00	0.000	516	0.000	0.078	2482	887	3389	3412	3367	0	0	0	0	0	0	15.09	14.76	15.12
1461	-0.93	-146.0	2482	887	3414	3365	520.6	-13.9	199	1468	0.00	2.53	0.00	0.000	1030	0.000	0.072	2472	2300	3389	3412	3367	0	0	0	0	0	0	14.83	14.76	14.88
1766	-0.93	-146.0	2472	2300	3412	3367	562.5	-13.4	230	1772	0.00	2.58	0.00	0.000	260	0.000	0.108	2463	3725	3389	3412	3367	0	0	0	0	0	0	15.10	14.74	15.12
1796	-0.93	-146.0	2462	3726	3412	3367	566.7	-14.6	236	1802	0.15	2.47	0.00	0.000	3078	0.261	0.047	2496	2283	3389	3412	3366	0	0	0	0	0	0	14.61	14.83	14.85
2108	-0.93	-146.0	2496	2284	3413	3368	604.2	-12.1	268	2112	0.00	2.42	0.00	0.000	516	0.000	0.076	2496	904	3391	3416	3366	0	0	0	0	0	0	15.03	14.73	15.06
2162	-0.93	-146.0	2497	904	3413	3367	611.1	-12.5	279	2169	0.00	2.50	0.00	0.000	1030	0.000	0.070	2487	2305	3389	3412	3366	0	0	0	0	0	0	14.83	14.76	14.87
2467	-0.93	-146.0	2487	2305	3412	3367	650.1	-12.5	310	2472	0.00	2.55	0.00	0.000	260	0.000	0.106	2477	3723	3390	3414	3366	0	0	0	0	0	0	15.11	14.74	15.14
2502	-0.93	-146.0	2478	3724	3414	3367	654.7	-13.7	317	2510	0.00	2.45	0.00	0.000	1030	0.000	0.047	2477	2291	3389	3412	3366	0	0	0	0	0	0	14.88	14.83	14.90
2808	-0.93	-146.0	2476	2291	3411	3366	694.8	-12.9	348	2813	0.00	2.42	0.00	0.000	516	0.000	0.075	2477	901	3388	3411	3366	0	0	0	0	0	0	15.06	14.72	15.08
2897	-0.93	-146.0	2478	900	3413	3367	706.7	-13.1	366	2904	0.00	2.47	0.00	0.000	1030	0.000	0.073	2474	2311	3388	3411	3366	0	0	0	0	0	0	14.90	14.78	14.94
3288	-0.93	-146.0	2474	2312	3412	3367	756.9	-12.8	384	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2308	3388	3411	3366	0	0	0	0	0	0	15.11	15.14	15.14
3649	-0.93	-146.0	2475	2312	3414	3367	802.8	-12.6	396	3649	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2311	3389	3412	3366	0	0	0	0	0	0	15.11	15.14	15.14
4008	-0.93	-146.0	2476	2312	3413	3367	846.1	-10.9	408	4013	0.00	2.53	0.00	0.000	260	0.000	0.108	2474	3716	3389	3412	3366	0	0	0	0	0	0	15.13	14.76	15.15
4171	end dive: NO_VERTICAL_VELOCITY
state	4171	begin apogee
4178	-0.23	0.0	2475	2084	3414	3368	845.9	0.0	441	4346	0.80	0.00	165.98	3.096	10246	0.116	0.000	2733	2083	2781	2818	2744	0	0	0	0	0	0	14.78	13.41	12.40
4347	end apogee: CONTROL_FINISHED_OK
state	4347	begin climb
4349	0.93	146.0	2733	2083	2818	2744	846.2	0.0	446	4538	1.25	2.92	179.55	3.037	11012	0.135	0.096	3092	3519	2185	2241	2129	0	0	0	0	0	0	13.40	13.13	12.29
4582	0.93	146.0	3092	3518	2236	2125	830.7	9.7	491	4589	0.00	2.60	0.00	0.000	1030	0.000	0.048	3102	2110	2180	2236	2124	0	0	0	0	0	0	13.76	13.69	13.78
4959	0.93	146.0	3101	2110	2225	2120	792.8	10.2	506	4964	0.00	2.62	0.00	0.000	260	0.000	0.099	3102	3517	2172	2226	2119	0	0	0	0	0	0	14.62	14.39	14.65
5009	0.93	146.0	3102	3517	2225	2120	787.0	12.3	516	5015	0.00	2.45	0.00	0.000	1030	0.000	0.050	3113	2096	2172	2226	2119	0	0	0	0	0	0	14.58	14.50	14.60
5381	0.93	146.0	3112	2096	2221	2119	747.1	10.7	530	5385	0.00	2.60	0.00	0.000	260	0.000	0.098	3113	3525	2170	2221	2119	0	0	0	0	0	0	14.90	14.66	14.92
5440	0.93	146.0	3114	3525	2223	2119	739.8	12.2	542	5445	0.00	2.42	0.00	0.000	1030	0.000	0.049	3124	2095	2169	2221	2118	0	0	0	0	0	0	14.81	14.73	14.84
5810	0.93	146.0	3125	2096	2222	2119	697.9	11.3	560	5816	0.00	2.60	0.00	0.000	260	0.000	0.098	3124	3511	2168	2219	2118	0	0	0	0	0	0	15.03	14.72	15.05
5845	0.93	146.0	3125	3511	2222	2119	693.6	12.6	567	5854	0.12	2.45	0.00	0.000	5126	0.236	0.049	3098	2086	2168	2218	2118	0	0	0	0	0	0	14.61	14.78	14.76
6150	0.93	146.0	3098	2087	2218	2118	662.8	10.1	598	6156	0.00	2.58	0.00	0.000	260	0.000	0.097	3098	3516	2168	2218	2118	0	0	0	0	0	0	15.06	14.77	15.09
6195	0.93	146.0	3098	3516	2218	2117	657.7	11.5	607	6202	0.00	2.45	0.00	0.000	1030	0.000	0.048	3102	2086	2168	2218	2118	0	0	0	0	0	0	14.87	14.81	14.88
6500	0.93	146.0	3104	2086	2220	2118	627.1	9.6	638	6506	0.00	2.58	0.00	0.000	260	0.000	0.093	3103	3526	2167	2218	2117	0	0	0	0	0	0	15.08	14.78	15.11
6550	0.93	146.0	3102	3526	2217	2118	621.8	10.9	648	6556	0.00	2.45	0.00	0.000	1030	0.000	0.047	3113	2095	2167	2218	2117	0	0	0	0	0	0	14.88	14.82	14.90
6860	0.93	146.0	3111	2096	2217	2118	589.9	10.3	680	6866	0.00	2.58	0.00	0.000	260	0.000	0.096	3113	3526	2166	2216	2117	0	0	0	0	0	0	15.09	14.78	15.11
6910	0.93	146.0	3114	3527	2218	2117	584.0	11.8	690	6916	0.00	2.45	0.00	0.000	1030	0.000	0.047	3123	2076	2166	2216	2117	0	0	0	0	0	0	14.94	14.85	14.97
7220	0.93	146.0	3123	2076	2216	2118	550.3	11.0	722	7221	0.00	0.00	0.00	0.000	6	0.000	0.000	3123	2076	2166	2216	2117	0	0	0	0	0	0	15.10	15.13	15.12
7520	0.93	146.0	3122	2076	2211	2118	518.8	10.3	752	7526	0.00	2.60	0.00	0.000	260	0.000	0.096	3123	3524	2166	2215	2117	0	0	0	0	0	0	15.11	14.80	15.13
7590	0.93	146.0	3131	3525	2216	2118	510.9	11.3	766	7596	0.15	2.42	0.00	0.000	5126	0.267	0.047	3099	2082	2166	2215	2117	0	0	0	0	0	0	14.66	14.86	14.90
7901	0.94	146.0	3100	2083	2216	2118	483.2	8.9	798	7906	0.00	2.58	0.00	0.000	324	0.000	0.096	3099	3515	2165	2214	2116	0	0	0	0	0	0	15.11	14.79	15.14
7960	0.94	146.0	3098	3515	2214	2118	477.1	10.5	810	7966	0.00	2.42	0.00	0.000	1030	0.000	0.047	3107	2097	2165	2214	2117	0	0	0	0	0	0	14.89	14.83	14.92
8271	0.94	146.0	3106	2097	2214	2117	446.8	9.4	842	8276	0.00	2.58	0.00	0.000	260	0.000	0.096	3107	3528	2166	2215	2117	0	0	0	0	0	0	15.10	14.78	15.13
8326	0.94	146.0	3107	3528	2214	2117	441.0	10.7	853	8333	0.00	2.45	0.00	0.000	1030	0.000	0.046	3118	2099	2165	2214	2117	0	0	0	0	0	0	14.88	14.83	14.91
8631	0.94	146.0	3118	2099	2214	2117	411.9	9.3	884	8636	0.00	2.55	0.00	0.000	260	0.000	0.095	3118	3523	2165	2214	2116	0	0	0	0	0	0	15.10	14.78	15.13
8696	0.94	146.0	3118	3523	2216	2118	405.0	10.7	897	8706	0.00	2.45	0.00	0.000	1030	0.000	0.048	3126	2093	2165	2214	2117	0	0	0	0	0	0	14.88	14.83	14.91
9001	0.94	146.0	3125	2094	2213	2117	375.2	9.4	928	9006	0.00	2.55	0.00	0.000	260	0.000	0.094	3126	3518	2165	2214	2117	0	0	0	0	0	0	15.11	14.78	15.14
9042	0.94	146.0	3127	3519	2215	2117	371.0	10.6	936	9047	0.15	2.40	0.00	0.000	5126	0.266	0.047	3102	2095	2165	2214	2116	0	0	0	0	0	0	14.56	14.78	14.78
9320	end climb: SURFACE_OBSTACLE_DETECTED
state	9320	begin subsurface finish
9324	0.01	4.2	3104	2096	2215	2117	346.9	8.4	965	9335	1.00	2.60	-2.28	0.051	20740	0.194	0.119	2806	3530	2786	2821	2752	0	0	0	0	0	0	14.56	13.41	14.69
9335	end subsurface finish: CONTROL_FINISHED_OK
state	9335	begin surface