Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 224 * 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 224 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 46 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 39 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 224 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 46 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 39 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 240218,181424,-7420.8433,-11217.9072,0,4115.7,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7412.000,-11220.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 375.49 MHEAD_RNG_PITCHd_Wd 302.6,16412,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.5 D_GRID 990

GPS2 240218,181424,-7420.8433,-11217.9072,0,4115.7,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 373.5,1.027483,1 ALTIM_BOTTOM_PING 924.6,10.5

FINISH2 372.6 _24V_AH 12.26,88.790

RAFOS_CLK 349 _10V_AH 12.24,0.000

RAFOS 0,1519506067,21.032778,21.018612,85,65,62,58,55,53,536,163,191,211,141,182 FG_AHR_24Vo 0.000

RAFOS_FIX -7419.497559,-11217.309570,240218,212144,3,95,0.23 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.040446,0.653877 DATA_FILE_SIZE 30017,854

HUMID 50.11 CAP_FILE_SIZE 109922,0

INTERNAL_PRESSURE 8.26789 CFSIZE 1024409600,993722368

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 1457.3

ALTIM_TOP_PING 376.4,9.9 GPS 240218,211544,-7419.498,-11217.310,0,4095.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 289 16.26 nil 0 0 0.00

Roll_motor 95 175 206.06 nil 0 0 0.00

VBD_pump_during_apogee 350 3103 13345.16 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 9653 10 1193.16

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 39 420 204.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7352 2 207.88

TT8_Active 442 13 74.88

TT8_Sampling 1814 34 772.58

TT8_CF8 114 52 74.24

TT8_Kalman 0 0 0.00

Analog_circuits 1097 10 146.40

GPS_charging 0 0 0.00

Compass 1224 7 112.22

RAFOS 720 1 13.22

Transponder 284 30 104.30

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

882.8 54.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

908.1 27.00 9000.00 0.0 0.00 0.00 27.00 935.1 -1.09 1.00

916.3 18.20 18.10 934.4 -1.08 1.00 18.20 934.5 -1.07 1.00

924.6 10.70 10.50 935.1 -0.98 1.00 10.70 935.3 -0.90 1.00

924.6 9.00 9.90 0.0 -1.01 0.97 0.00 0.0 0.00 0.00

918.0 14.80 9000.00 0.0 -0.75 0.92 14.80 0.0 -0.88 1.00

902.3 33.80 33.50 0.0 -1.13 1.00 33.80 0.0 -1.21 1.00

442.3 78.20 9000.00 0.0 -0.12 0.93 78.20 0.0 -0.10 1.00

436.2 72.10 9000.00 0.0 -0.09 0.98 72.10 364.1 1.00 1.00

429.9 65.70 65.70 364.2 1.01 1.00 65.70 364.2 1.02 1.00

423.2 58.50 58.50 364.7 1.05 1.00 58.50 364.7 1.07 1.00

416.5 51.60 51.60 364.9 1.05 1.00 51.60 364.9 1.03 1.00

409.8 44.60 44.60 365.2 1.03 1.00 44.60 365.2 1.04 1.00

403.2 37.80 37.80 365.4 1.04 1.00 37.80 365.4 1.03 1.00

396.6 31.00 31.00 365.6 1.04 1.00 31.00 365.6 1.03 1.00

389.8 23.80 23.80 366.0 1.04 1.00 23.80 366.0 1.06 1.00

383.1 16.90 16.90 366.2 1.05 1.00 16.90 366.2 1.03 1.00

376.4 9.90 9.90 366.5 1.04 1.00 9.90 366.5 1.04 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 2806 2279 2830 2766 0.0 0.0 0 13 0.00 0.00 -2.05 0.047 16390 0.000 0.000 2804 2278 3397 3418 3376 0 0 0 0 0 0 15.06 13.33 15.05

14 -0.93 -146.0 2806 2279 3420 3377 0.0 0.0 0 21 0.90 2.42 0.00 0.000 4612 0.107 0.081 2501 908 3397 3418 3377 0 0 0 0 0 0 14.69 14.69 14.77

95 -0.93 -146.0 2502 908 3419 3376 385.0 -13.7 16 101 0.00 2.42 0.00 0.000 1030 0.000 0.074 2489 2284 3396 3417 3376 0 0 0 0 0 0 14.88 14.75 14.92

405 -0.93 -146.0 2490 2284 3417 3375 429.7 -14.5 48 406 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2284 3395 3416 3375 0 0 0 0 0 0 15.09 15.12 15.12

705 -0.93 -146.0 2490 2284 3417 3375 473.8 -14.3 78 712 0.00 2.47 0.00 0.000 516 0.000 0.081 2490 908 3395 3417 3374 0 0 0 0 0 0 15.09 14.71 15.11

746 -0.93 -146.0 2490 908 3417 3375 479.9 -15.0 86 753 0.00 2.47 0.00 0.000 1030 0.000 0.071 2480 2308 3395 3417 3374 0 0 0 0 0 0 14.88 14.75 14.92

1057 -0.93 -146.0 2481 2309 3419 3375 525.8 -14.6 118 1063 0.00 2.53 0.00 0.000 516 0.000 0.078 2480 911 3392 3412 3373 0 0 0 0 0 0 15.11 14.69 15.13

1098 -0.93 -146.0 2480 911 3417 3374 531.9 -15.0 126 1103 0.00 2.47 0.00 0.000 1030 0.000 0.073 2475 2312 3399 3425 3373 0 0 0 0 0 0 14.84 14.71 14.87

1407 -0.93 -146.0 2476 2313 3419 3374 578.1 -14.9 158 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2312 3395 3417 3373 0 0 0 0 0 0 15.10 15.13 15.12

1709 -0.93 -146.0 2475 2313 3419 3374 622.5 -15.0 188 1714 0.00 2.50 0.00 0.000 516 0.000 0.078 2475 907 3394 3416 3372 0 0 0 0 0 0 15.11 14.71 15.13

1753 -0.93 -146.0 2476 907 3419 3373 629.4 -14.9 197 1761 0.15 2.53 0.00 0.000 3078 0.290 0.071 2496 2310 3395 3417 3373 0 0 0 0 0 0 14.42 14.59 14.68

2058 -0.93 -146.0 2497 2309 3418 3374 670.8 -13.4 228 2059 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2310 3394 3416 3373 0 0 0 0 0 0 15.11 15.14 15.13

2368 -0.93 -146.0 2495 2310 3417 3373 713.8 -14.3 253 2375 0.00 2.50 0.00 0.000 516 0.000 0.077 2496 902 3394 3417 3372 0 0 0 0 0 0 15.11 14.68 15.14

2414 -0.93 -146.0 2497 903 3420 3368 720.4 -14.4 262 2420 0.00 2.50 0.00 0.000 1030 0.000 0.070 2487 2317 3394 3417 3372 0 0 0 0 0 0 14.82 14.69 14.85

2790 -0.93 -146.0 2487 2316 3417 3374 773.8 -14.1 277 2796 0.00 2.50 0.00 0.000 516 0.000 0.079 2487 911 3394 3417 3372 0 0 0 0 0 0 15.06 14.71 15.09

2825 -0.93 -146.0 2489 913 3419 3373 778.9 -14.1 284 2831 0.00 2.50 0.00 0.000 1030 0.000 0.070 2477 2307 3394 3417 3372 0 0 0 0 0 0 14.81 14.73 14.85

3210 -0.93 -146.0 2477 2307 3417 3373 828.7 -12.6 301 3217 0.00 2.47 0.00 0.000 516 0.000 0.076 2477 910 3394 3417 3372 0 0 0 0 0 0 15.12 14.72 15.15

3246 -0.93 -146.0 2476 910 3416 3373 833.6 -13.8 308 3252 0.00 2.50 0.00 0.000 1030 0.000 0.073 2474 2305 3394 3417 3372 0 0 0 0 0 0 14.81 14.73 14.85

3631 -0.93 -146.0 2475 2305 3419 3373 886.9 -14.7 325 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2310 3394 3417 3372 0 0 0 0 0 0 15.13 15.15 15.15

3930 end dive: BOTTOM_OBSTACLE_DETECTED

state 3930 begin apogee

3935 -0.23 0.0 2474 2074 3417 3373 928.5 -13.7 335 4106 0.90 0.08 168.73 3.104 10246 0.225 0.176 2722 2116 2781 2818 2744 0 0 0 0 0 0 14.56 13.34 12.34

4107 end apogee: CONTROL_FINISHED_OK

state 4107 begin climb

4109 0.93 146.0 2723 2116 2821 2745 931.1 0.0 340 4299 1.33 2.88 182.00 3.096 10500 0.145 0.093 3098 3500 2184 2240 2129 0 0 0 0 0 0 13.38 13.26 12.26

4318 0.93 146.0 3099 3501 2238 2130 916.8 10.6 380 4324 0.00 2.60 0.00 0.000 1030 0.000 0.047 3107 2109 2181 2236 2127 0 0 0 0 0 0 13.61 13.54 13.63

4690 0.93 146.0 3106 2109 2226 2120 876.4 10.7 394 4695 0.00 2.65 0.00 0.000 516 0.000 0.097 3117 688 2173 2226 2120 0 0 0 0 0 0 14.59 14.35 14.62

4714 0.93 146.0 3117 688 2224 2120 873.4 11.7 399 4722 0.00 2.55 0.00 0.000 1030 0.000 0.061 3117 2099 2171 2224 2119 0 0 0 0 0 0 14.53 14.40 14.54

5081 0.93 146.0 3118 2100 2222 2120 831.7 11.0 412 5086 0.00 2.55 0.00 0.000 260 0.000 0.096 3117 3513 2169 2220 2119 0 0 0 0 0 0 14.90 14.62 14.92

5145 0.93 146.0 3118 3512 2222 2121 823.4 13.1 425 5151 0.00 2.42 0.00 0.000 1030 0.000 0.047 3126 2091 2169 2220 2119 0 0 0 0 0 0 14.79 14.71 14.80

5532 0.93 146.0 3125 2092 2216 2120 778.7 11.3 442 5537 0.00 2.58 0.00 0.000 260 0.000 0.094 3126 3517 2168 2218 2119 0 0 0 0 0 0 15.00 14.69 15.02

5566 0.93 146.0 3127 3518 2220 2120 774.4 12.6 449 5573 0.10 2.45 0.00 0.000 5126 0.244 0.049 3093 2100 2168 2218 2119 0 0 0 0 0 0 14.61 14.77 14.84

5952 0.93 146.0 3095 2101 2218 2120 736.0 9.9 466 5958 0.00 2.55 0.00 0.000 260 0.000 0.095 3088 3519 2167 2216 2119 0 0 0 0 0 0 15.07 14.74 15.09

5992 0.93 146.0 3094 3518 2219 2123 731.6 11.4 474 5998 0.00 2.42 0.00 0.000 1030 0.000 0.048 3101 2085 2167 2216 2119 0 0 0 0 0 0 14.89 14.78 14.92

6362 0.93 146.0 3101 2085 2215 2118 694.8 10.2 493 6363 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2084 2167 2215 2119 0 0 0 0 0 0 15.10 15.14 15.12

6662 0.93 146.0 3104 2085 2217 2120 664.1 10.5 523 6668 0.00 2.58 0.00 0.000 260 0.000 0.095 3101 3518 2166 2214 2119 0 0 0 0 0 0 15.11 14.68 15.14

6737 0.93 146.0 3102 3518 2217 2119 655.4 11.7 538 6744 0.00 2.45 0.00 0.000 1030 0.000 0.047 3111 2095 2166 2214 2119 0 0 0 0 0 0 14.85 14.78 14.88

7042 0.93 146.0 3110 2096 2214 2119 623.6 10.3 569 7043 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2096 2166 2214 2119 0 0 0 0 0 0 15.11 15.14 15.14

7342 0.93 146.0 3110 2096 2214 2120 593.1 10.5 599 7348 0.00 2.55 0.00 0.000 260 0.000 0.095 3111 3514 2166 2214 2119 0 0 0 0 0 0 15.11 14.75 15.14

7377 0.93 146.0 3110 3513 2213 2119 589.0 11.8 606 7384 0.00 2.40 0.00 0.000 1030 0.000 0.048 3122 2094 2166 2214 2119 0 0 0 0 0 0 14.90 14.81 14.94

7682 0.93 146.0 3121 2096 2213 2119 556.5 10.6 637 7683 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2095 2166 2213 2119 0 0 0 0 0 0 15.11 15.14 15.14

7982 0.93 146.0 3121 2096 2213 2120 525.9 10.1 667 7988 0.00 2.55 0.00 0.000 260 0.000 0.093 3122 3517 2166 2213 2119 0 0 0 0 0 0 15.12 14.66 15.14

8052 0.93 146.0 3124 3517 2215 2120 518.0 11.5 681 8059 0.10 2.45 0.00 0.000 5126 0.235 0.047 3095 2092 2166 2213 2119 0 0 0 0 0 0 14.58 14.78 14.85

8363 0.94 146.0 3096 2093 2214 2119 490.0 8.9 713 8370 0.00 2.55 0.00 0.000 324 0.000 0.093 3094 3511 2165 2212 2119 0 0 0 0 0 0 15.10 14.77 15.13

8394 0.94 146.0 3094 3512 2212 2119 487.0 10.2 719 8400 0.00 2.45 0.00 0.000 1030 0.000 0.047 3103 2096 2165 2213 2118 0 0 0 0 0 0 14.85 14.79 14.96

8704 0.94 146.0 3102 2096 2211 2119 458.4 9.1 751 8705 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2095 2165 2212 2118 0 0 0 0 0 0 15.09 15.12 15.11

9004 0.96 146.0 3102 2096 2211 2118 431.9 8.7 781 9010 0.00 2.55 0.00 0.000 324 0.000 0.094 3103 3514 2165 2212 2118 0 0 0 0 0 0 15.09 14.75 15.11

9055 0.96 146.0 3104 3515 2213 2118 426.9 9.9 791 9060 0.00 2.45 0.00 0.000 1030 0.000 0.047 3113 2100 2165 2212 2119 0 0 0 0 0 0 14.85 14.81 14.89

9365 0.96 146.0 3114 2100 2211 2119 397.6 9.3 823 9371 0.00 2.55 0.00 0.000 260 0.000 0.094 3113 3517 2165 2211 2119 0 0 0 0 0 0 15.11 14.76 15.14

9395 0.96 146.0 3114 3519 2213 2120 394.5 10.4 829 9402 0.00 2.47 0.00 0.000 1030 0.000 0.048 3123 2090 2164 2211 2118 0 0 0 0 0 0 14.85 14.79 14.88

9614 end climb: SURFACE_OBSTACLE_DETECTED

state 9615 begin subsurface finish

9618 0.00 0.8 3123 2091 2211 2119 373.5 9.8 852 9631 1.10 2.58 -2.25 0.052 20996 0.200 0.120 2802 696 2804 2836 2772 0 0 0 0 0 0 14.57 13.32 14.72

9631 end subsurface finish: CONTROL_FINISHED_OK

state 9631 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	224	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	46	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	39	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	240218,181424,-7420.8433,-11217.9072,0,4115.7,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7412.000,-11220.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	375.49	MHEAD_RNG_PITCHd_Wd	302.6,16412,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.5	D_GRID	990
GPS2	240218,181424,-7420.8433,-11217.9072,0,4115.7,0,53.7,0.0,0.0,0,0.0

FINISH1	373.5,1.027483,1	ALTIM_BOTTOM_PING	924.6,10.5
FINISH2	372.6	_24V_AH	12.26,88.790
RAFOS_CLK	349	_10V_AH	12.24,0.000
RAFOS	0,1519506067,21.032778,21.018612,85,65,62,58,55,53,536,163,191,211,141,182	FG_AHR_24Vo	0.000
RAFOS_FIX	-7419.497559,-11217.309570,240218,212144,3,95,0.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280000
TT8_MAMPS	0.040446,0.653877	DATA_FILE_SIZE	30017,854
HUMID	50.11	CAP_FILE_SIZE	109922,0
INTERNAL_PRESSURE	8.26789	CFSIZE	1024409600,993722368
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	1457.3
ALTIM_TOP_PING	376.4,9.9	GPS	240218,211544,-7419.498,-11217.310,0,4095.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	289	16.26	nil	0	0	0.00
Roll_motor	95	175	206.06	nil	0	0	0.00
VBD_pump_during_apogee	350	3103	13345.16	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	9653	10	1193.16
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	39	420	204.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7352	2	207.88
TT8_Active	442	13	74.88
TT8_Sampling	1814	34	772.58
TT8_CF8	114	52	74.24
TT8_Kalman	0	0	0.00
Analog_circuits	1097	10	146.40
GPS_charging	0	0	0.00
Compass	1224	7	112.22
RAFOS	720	1	13.22
Transponder	284	30	104.30

		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
882.8	54.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
908.1	27.00	9000.00	0.0	0.00	0.00	27.00	935.1	-1.09	1.00
916.3	18.20	18.10	934.4	-1.08	1.00	18.20	934.5	-1.07	1.00
924.6	10.70	10.50	935.1	-0.98	1.00	10.70	935.3	-0.90	1.00

924.6	9.00	9.90	0.0	-1.01	0.97	0.00	0.0	0.00	0.00
918.0	14.80	9000.00	0.0	-0.75	0.92	14.80	0.0	-0.88	1.00
902.3	33.80	33.50	0.0	-1.13	1.00	33.80	0.0	-1.21	1.00
442.3	78.20	9000.00	0.0	-0.12	0.93	78.20	0.0	-0.10	1.00
436.2	72.10	9000.00	0.0	-0.09	0.98	72.10	364.1	1.00	1.00
429.9	65.70	65.70	364.2	1.01	1.00	65.70	364.2	1.02	1.00
423.2	58.50	58.50	364.7	1.05	1.00	58.50	364.7	1.07	1.00
416.5	51.60	51.60	364.9	1.05	1.00	51.60	364.9	1.03	1.00
409.8	44.60	44.60	365.2	1.03	1.00	44.60	365.2	1.04	1.00
403.2	37.80	37.80	365.4	1.04	1.00	37.80	365.4	1.03	1.00
396.6	31.00	31.00	365.6	1.04	1.00	31.00	365.6	1.03	1.00
389.8	23.80	23.80	366.0	1.04	1.00	23.80	366.0	1.06	1.00
383.1	16.90	16.90	366.2	1.05	1.00	16.90	366.2	1.03	1.00
376.4	9.90	9.90	366.5	1.04	1.00	9.90	366.5	1.04	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	2806	2279	2830	2766	0.0	0.0	0	13	0.00	0.00	-2.05	0.047	16390	0.000	0.000	2804	2278	3397	3418	3376	0	0	0	0	0	0	15.06	13.33	15.05
14	-0.93	-146.0	2806	2279	3420	3377	0.0	0.0	0	21	0.90	2.42	0.00	0.000	4612	0.107	0.081	2501	908	3397	3418	3377	0	0	0	0	0	0	14.69	14.69	14.77
95	-0.93	-146.0	2502	908	3419	3376	385.0	-13.7	16	101	0.00	2.42	0.00	0.000	1030	0.000	0.074	2489	2284	3396	3417	3376	0	0	0	0	0	0	14.88	14.75	14.92
405	-0.93	-146.0	2490	2284	3417	3375	429.7	-14.5	48	406	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2284	3395	3416	3375	0	0	0	0	0	0	15.09	15.12	15.12
705	-0.93	-146.0	2490	2284	3417	3375	473.8	-14.3	78	712	0.00	2.47	0.00	0.000	516	0.000	0.081	2490	908	3395	3417	3374	0	0	0	0	0	0	15.09	14.71	15.11
746	-0.93	-146.0	2490	908	3417	3375	479.9	-15.0	86	753	0.00	2.47	0.00	0.000	1030	0.000	0.071	2480	2308	3395	3417	3374	0	0	0	0	0	0	14.88	14.75	14.92
1057	-0.93	-146.0	2481	2309	3419	3375	525.8	-14.6	118	1063	0.00	2.53	0.00	0.000	516	0.000	0.078	2480	911	3392	3412	3373	0	0	0	0	0	0	15.11	14.69	15.13
1098	-0.93	-146.0	2480	911	3417	3374	531.9	-15.0	126	1103	0.00	2.47	0.00	0.000	1030	0.000	0.073	2475	2312	3399	3425	3373	0	0	0	0	0	0	14.84	14.71	14.87
1407	-0.93	-146.0	2476	2313	3419	3374	578.1	-14.9	158	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2312	3395	3417	3373	0	0	0	0	0	0	15.10	15.13	15.12
1709	-0.93	-146.0	2475	2313	3419	3374	622.5	-15.0	188	1714	0.00	2.50	0.00	0.000	516	0.000	0.078	2475	907	3394	3416	3372	0	0	0	0	0	0	15.11	14.71	15.13
1753	-0.93	-146.0	2476	907	3419	3373	629.4	-14.9	197	1761	0.15	2.53	0.00	0.000	3078	0.290	0.071	2496	2310	3395	3417	3373	0	0	0	0	0	0	14.42	14.59	14.68
2058	-0.93	-146.0	2497	2309	3418	3374	670.8	-13.4	228	2059	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2310	3394	3416	3373	0	0	0	0	0	0	15.11	15.14	15.13
2368	-0.93	-146.0	2495	2310	3417	3373	713.8	-14.3	253	2375	0.00	2.50	0.00	0.000	516	0.000	0.077	2496	902	3394	3417	3372	0	0	0	0	0	0	15.11	14.68	15.14
2414	-0.93	-146.0	2497	903	3420	3368	720.4	-14.4	262	2420	0.00	2.50	0.00	0.000	1030	0.000	0.070	2487	2317	3394	3417	3372	0	0	0	0	0	0	14.82	14.69	14.85
2790	-0.93	-146.0	2487	2316	3417	3374	773.8	-14.1	277	2796	0.00	2.50	0.00	0.000	516	0.000	0.079	2487	911	3394	3417	3372	0	0	0	0	0	0	15.06	14.71	15.09
2825	-0.93	-146.0	2489	913	3419	3373	778.9	-14.1	284	2831	0.00	2.50	0.00	0.000	1030	0.000	0.070	2477	2307	3394	3417	3372	0	0	0	0	0	0	14.81	14.73	14.85
3210	-0.93	-146.0	2477	2307	3417	3373	828.7	-12.6	301	3217	0.00	2.47	0.00	0.000	516	0.000	0.076	2477	910	3394	3417	3372	0	0	0	0	0	0	15.12	14.72	15.15
3246	-0.93	-146.0	2476	910	3416	3373	833.6	-13.8	308	3252	0.00	2.50	0.00	0.000	1030	0.000	0.073	2474	2305	3394	3417	3372	0	0	0	0	0	0	14.81	14.73	14.85
3631	-0.93	-146.0	2475	2305	3419	3373	886.9	-14.7	325	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2310	3394	3417	3372	0	0	0	0	0	0	15.13	15.15	15.15
3930	end dive: BOTTOM_OBSTACLE_DETECTED
state	3930	begin apogee
3935	-0.23	0.0	2474	2074	3417	3373	928.5	-13.7	335	4106	0.90	0.08	168.73	3.104	10246	0.225	0.176	2722	2116	2781	2818	2744	0	0	0	0	0	0	14.56	13.34	12.34
4107	end apogee: CONTROL_FINISHED_OK
state	4107	begin climb
4109	0.93	146.0	2723	2116	2821	2745	931.1	0.0	340	4299	1.33	2.88	182.00	3.096	10500	0.145	0.093	3098	3500	2184	2240	2129	0	0	0	0	0	0	13.38	13.26	12.26
4318	0.93	146.0	3099	3501	2238	2130	916.8	10.6	380	4324	0.00	2.60	0.00	0.000	1030	0.000	0.047	3107	2109	2181	2236	2127	0	0	0	0	0	0	13.61	13.54	13.63
4690	0.93	146.0	3106	2109	2226	2120	876.4	10.7	394	4695	0.00	2.65	0.00	0.000	516	0.000	0.097	3117	688	2173	2226	2120	0	0	0	0	0	0	14.59	14.35	14.62
4714	0.93	146.0	3117	688	2224	2120	873.4	11.7	399	4722	0.00	2.55	0.00	0.000	1030	0.000	0.061	3117	2099	2171	2224	2119	0	0	0	0	0	0	14.53	14.40	14.54
5081	0.93	146.0	3118	2100	2222	2120	831.7	11.0	412	5086	0.00	2.55	0.00	0.000	260	0.000	0.096	3117	3513	2169	2220	2119	0	0	0	0	0	0	14.90	14.62	14.92
5145	0.93	146.0	3118	3512	2222	2121	823.4	13.1	425	5151	0.00	2.42	0.00	0.000	1030	0.000	0.047	3126	2091	2169	2220	2119	0	0	0	0	0	0	14.79	14.71	14.80
5532	0.93	146.0	3125	2092	2216	2120	778.7	11.3	442	5537	0.00	2.58	0.00	0.000	260	0.000	0.094	3126	3517	2168	2218	2119	0	0	0	0	0	0	15.00	14.69	15.02
5566	0.93	146.0	3127	3518	2220	2120	774.4	12.6	449	5573	0.10	2.45	0.00	0.000	5126	0.244	0.049	3093	2100	2168	2218	2119	0	0	0	0	0	0	14.61	14.77	14.84
5952	0.93	146.0	3095	2101	2218	2120	736.0	9.9	466	5958	0.00	2.55	0.00	0.000	260	0.000	0.095	3088	3519	2167	2216	2119	0	0	0	0	0	0	15.07	14.74	15.09
5992	0.93	146.0	3094	3518	2219	2123	731.6	11.4	474	5998	0.00	2.42	0.00	0.000	1030	0.000	0.048	3101	2085	2167	2216	2119	0	0	0	0	0	0	14.89	14.78	14.92
6362	0.93	146.0	3101	2085	2215	2118	694.8	10.2	493	6363	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2084	2167	2215	2119	0	0	0	0	0	0	15.10	15.14	15.12
6662	0.93	146.0	3104	2085	2217	2120	664.1	10.5	523	6668	0.00	2.58	0.00	0.000	260	0.000	0.095	3101	3518	2166	2214	2119	0	0	0	0	0	0	15.11	14.68	15.14
6737	0.93	146.0	3102	3518	2217	2119	655.4	11.7	538	6744	0.00	2.45	0.00	0.000	1030	0.000	0.047	3111	2095	2166	2214	2119	0	0	0	0	0	0	14.85	14.78	14.88
7042	0.93	146.0	3110	2096	2214	2119	623.6	10.3	569	7043	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2096	2166	2214	2119	0	0	0	0	0	0	15.11	15.14	15.14
7342	0.93	146.0	3110	2096	2214	2120	593.1	10.5	599	7348	0.00	2.55	0.00	0.000	260	0.000	0.095	3111	3514	2166	2214	2119	0	0	0	0	0	0	15.11	14.75	15.14
7377	0.93	146.0	3110	3513	2213	2119	589.0	11.8	606	7384	0.00	2.40	0.00	0.000	1030	0.000	0.048	3122	2094	2166	2214	2119	0	0	0	0	0	0	14.90	14.81	14.94
7682	0.93	146.0	3121	2096	2213	2119	556.5	10.6	637	7683	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2095	2166	2213	2119	0	0	0	0	0	0	15.11	15.14	15.14
7982	0.93	146.0	3121	2096	2213	2120	525.9	10.1	667	7988	0.00	2.55	0.00	0.000	260	0.000	0.093	3122	3517	2166	2213	2119	0	0	0	0	0	0	15.12	14.66	15.14
8052	0.93	146.0	3124	3517	2215	2120	518.0	11.5	681	8059	0.10	2.45	0.00	0.000	5126	0.235	0.047	3095	2092	2166	2213	2119	0	0	0	0	0	0	14.58	14.78	14.85
8363	0.94	146.0	3096	2093	2214	2119	490.0	8.9	713	8370	0.00	2.55	0.00	0.000	324	0.000	0.093	3094	3511	2165	2212	2119	0	0	0	0	0	0	15.10	14.77	15.13
8394	0.94	146.0	3094	3512	2212	2119	487.0	10.2	719	8400	0.00	2.45	0.00	0.000	1030	0.000	0.047	3103	2096	2165	2213	2118	0	0	0	0	0	0	14.85	14.79	14.96
8704	0.94	146.0	3102	2096	2211	2119	458.4	9.1	751	8705	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2095	2165	2212	2118	0	0	0	0	0	0	15.09	15.12	15.11
9004	0.96	146.0	3102	2096	2211	2118	431.9	8.7	781	9010	0.00	2.55	0.00	0.000	324	0.000	0.094	3103	3514	2165	2212	2118	0	0	0	0	0	0	15.09	14.75	15.11
9055	0.96	146.0	3104	3515	2213	2118	426.9	9.9	791	9060	0.00	2.45	0.00	0.000	1030	0.000	0.047	3113	2100	2165	2212	2119	0	0	0	0	0	0	14.85	14.81	14.89
9365	0.96	146.0	3114	2100	2211	2119	397.6	9.3	823	9371	0.00	2.55	0.00	0.000	260	0.000	0.094	3113	3517	2165	2211	2119	0	0	0	0	0	0	15.11	14.76	15.14
9395	0.96	146.0	3114	3519	2213	2120	394.5	10.4	829	9402	0.00	2.47	0.00	0.000	1030	0.000	0.048	3123	2090	2164	2211	2118	0	0	0	0	0	0	14.85	14.79	14.88
9614	end climb: SURFACE_OBSTACLE_DETECTED
state	9615	begin subsurface finish
9618	0.00	0.8	3123	2091	2211	2119	373.5	9.8	852	9631	1.10	2.58	-2.25	0.052	20996	0.200	0.120	2802	696	2804	2836	2772	0	0	0	0	0	0	14.57	13.32	14.72
9631	end subsurface finish: CONTROL_FINISHED_OK
state	9631	begin surface