Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 83 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 83 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 10

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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 9 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 360 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.15000001 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 30 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 10 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 360

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 83 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 040218,211544,-7418.7593,-11231.6123,0,4146.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.173,0.220

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7420.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 221.01 MHEAD_RNG_PITCHd_Wd 107.2,2436,-23.5,-10.000,-30.00,1324

_SM_ANGLEo 0.5 D_GRID 990

GPS2 040218,211544,-7418.7593,-11231.6123,0,4146.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 342.8,1.027414,4 _24V_AH 12.21,42.027

FINISH2 341.4 _10V_AH 12.49,0.000

RAFOS_CLK 321 FG_AHR_24Vo 0.000

RAFOS 0,1517788873,0.032778,0.020278,143,57,52,52,52,51,521,186,199,211,170,222 FG_AHR_10Vo 0.000

RAFOS_FIX -7420.027344,-11228.533203,050218,000056,3,132,0.26 MEM 280020

IRIDIUM_FIX -7410.06,-11230.52,040218,063513 DATA_FILE_SIZE 30024,858

TT8_MAMPS 0.041944,0.301847 CAP_FILE_SIZE 109256,0

HUMID 47.79 CFSIZE 1024409600,1009975296

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1455.0

XPDR_PINGS 0 GPS 050218,001456,-7420.027,-11228.533,0,4132.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 342.8,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 372 28.20 nil 0 0 0.00

Roll_motor 103 153 194.19 nil 0 0 0.00

VBD_pump_during_apogee 296 3099 11228.65 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 9060 6 689.29

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 39 420 203.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6813 2 196.59

TT8_Active 429 12 65.83

TT8_Sampling 1811 31 718.14

TT8_CF8 68 45 38.60

TT8_Kalman 0 0 0.00

Analog_circuits 1081 10 137.73

GPS_charging 0 0 0.00

Compass 1229 7 115.00

RAFOS 720 1 13.49

Transponder 280 30 105.02

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

222.0 16.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

230.1 22.20 9000.00 0.0 0.00 0.00 22.20 0.0 0.73 1.00

238.2 27.70 9000.00 0.0 0.70 1.00 27.70 0.0 0.68 1.00

246.6 35.80 35.40 0.0 0.83 0.99 35.80 0.0 0.96 1.00

369.8 20.70 9000.00 0.0 -0.08 0.66 20.70 390.5 -0.12 1.00

379.3 30.90 9000.00 0.0 -0.07 0.50 30.90 0.0 1.07 1.00

996.7 15.30 9000.00 0.0 -0.02 0.57 15.30 1012.0 -0.03 1.00

988.1 13.90 9000.00 0.0 -0.03 0.99 13.90 974.2 0.16 1.00

417.7 87.00 9000.00 0.0 -0.13 1.00 87.00 0.0 -0.13 1.00

409.2 78.30 9000.00 0.0 -0.12 0.99 78.30 330.9 1.02 1.00

392.4 60.70 60.70 331.7 1.04 1.00 60.70 331.7 1.05 1.00

384.1 52.60 52.40 331.7 1.03 1.00 52.60 331.5 0.98 1.00

375.7 43.50 43.70 332.0 1.03 1.00 43.50 332.2 1.08 1.00

367.4 34.90 34.80 332.6 1.07 1.00 34.90 332.5 1.04 1.00

359.2 26.40 26.40 332.8 1.03 1.00 26.40 332.8 1.04 1.00

351.1 18.00 18.00 333.1 1.04 1.00 18.00 333.1 1.04 1.00

342.8 9.40 9.40 333.4 1.04 1.00 9.40 333.4 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.18 -88.1 2694 2492 2814 2568 0.0 0.0 0 11 0.00 0.00 -1.70 0.057 16390 0.000 0.000 2693 2491 3086 3216 2957 0 0 0 0 0 0 14.68 13.56 14.69

12 -1.18 -88.1 2694 2493 3217 2958 0.0 0.0 0 18 1.12 2.58 0.00 0.000 4612 0.096 0.116 2324 1087 3087 3214 2960 0 0 0 0 0 0 14.47 14.45 14.54

242 -1.18 -88.1 2324 1085 3198 2976 242.1 -12.7 46 248 0.00 2.70 0.00 0.000 1030 0.000 0.116 2312 2513 3086 3197 2976 0 0 0 0 0 0 14.64 14.57 14.67

552 -1.18 -88.1 2310 2517 3196 2978 277.8 -10.2 78 558 0.00 2.65 0.00 0.000 516 0.000 0.111 2309 1096 3086 3195 2977 0 0 0 0 0 0 14.93 14.66 14.94

782 -1.23 -130.3 2308 1092 3195 2978 294.4 -6.7 124 789 0.00 2.65 -0.57 0.197 17446 0.000 0.120 2297 2502 3258 3371 3145 0 0 0 0 0 0 14.78 14.69 14.82

1092 -1.23 -130.3 2293 2503 3364 3156 326.7 -17.7 156 1098 0.00 2.62 0.00 0.000 516 0.000 0.115 2292 1090 3259 3363 3156 0 0 0 0 0 0 15.01 14.73 15.04

1173 -1.23 -130.3 2293 1090 3363 3156 341.5 -18.3 172 1179 0.00 2.62 0.00 0.000 1030 0.000 0.126 2281 2507 3259 3362 3156 0 0 0 0 0 0 14.89 14.76 14.92

1482 -1.23 -130.3 2282 2507 3363 3156 399.7 -18.5 204 1488 0.00 2.38 0.00 0.000 260 0.000 0.147 2271 3753 3259 3362 3156 0 0 0 0 0 0 15.04 14.75 15.07

1532 -1.23 -130.3 2272 3754 3363 3157 409.5 -20.1 214 1539 0.12 2.28 0.00 0.000 3078 0.330 0.098 2301 2492 3259 3362 3157 0 0 0 0 0 0 14.62 14.81 14.82

1843 -1.23 -130.3 2301 2493 3362 3157 462.5 -16.6 246 1843 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2492 3258 3361 3156 0 0 0 0 0 0 15.06 15.09 15.08

2142 -1.23 -130.3 2301 2493 3362 3157 511.7 -15.9 276 2149 0.00 2.40 0.00 0.000 260 0.000 0.148 2293 3750 3258 3361 3156 0 0 0 0 0 0 15.07 14.77 15.09

2222 -1.23 -130.3 2293 3750 3362 3156 525.2 -17.2 292 2229 0.00 2.25 0.00 0.000 1030 0.000 0.098 2293 2496 3258 3360 3156 0 0 0 0 0 0 14.88 14.81 14.91

2532 -1.23 -130.3 2293 2496 3362 3156 576.7 -16.5 324 2539 0.00 2.40 0.00 0.000 260 0.000 0.151 2284 3750 3258 3361 3156 0 0 0 0 0 0 15.08 14.77 15.10

2582 -1.23 -130.3 2284 3751 3361 3157 585.3 -17.5 334 2589 0.00 2.28 0.00 0.000 1030 0.000 0.099 2284 2489 3258 3360 3156 0 0 0 0 0 0 14.88 14.82 14.92

2893 -1.23 -130.3 2284 2489 3361 3156 636.6 -16.1 366 2893 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2488 3258 3360 3156 0 0 0 0 0 0 15.08 15.11 15.11

3192 -1.23 -130.3 2284 2488 3361 3157 684.7 -15.8 396 3199 0.00 2.40 0.00 0.000 260 0.000 0.149 2274 3749 3258 3360 3156 0 0 0 0 0 0 15.09 14.78 15.11

3262 -1.23 -130.3 2275 3748 3361 3156 696.8 -17.5 410 3269 0.00 2.25 0.00 0.000 1030 0.000 0.098 2273 2497 3256 3357 3156 0 0 0 0 0 0 14.89 14.83 14.92

3584 -1.23 -130.3 2275 2497 3361 3157 748.9 -16.1 423 3589 0.12 2.38 0.00 0.000 2308 0.373 0.149 2292 3761 3258 3360 3157 0 0 0 0 0 0 14.66 14.81 14.84

3634 -1.23 -130.3 2292 3762 3361 3157 757.1 -15.5 433 3640 0.00 2.25 0.00 0.000 1030 0.000 0.099 2291 2487 3258 3360 3156 0 0 0 0 0 0 14.97 14.87 14.99

4005 -1.23 -130.3 2293 2488 3362 3157 813.5 -15.3 447 4010 0.00 2.38 0.00 0.000 260 0.000 0.150 2282 3754 3258 3360 3157 0 0 0 0 0 0 15.08 14.82 15.11

4039 -1.23 -130.3 2283 3755 3360 3158 819.1 -16.6 454 4045 0.00 2.25 0.00 0.000 1030 0.000 0.099 2282 2501 3258 3360 3157 0 0 0 0 0 0 14.92 14.86 14.96

4425 -1.23 -130.3 2283 2502 3361 3158 878.9 -15.3 471 4430 0.00 2.35 0.00 0.000 260 0.000 0.153 2273 3753 3258 3360 3157 0 0 0 0 0 0 15.07 14.82 15.11

4489 -1.23 -130.3 2273 3754 3361 3158 889.4 -17.0 484 4495 0.10 2.28 0.00 0.000 3078 0.342 0.098 2296 2487 3259 3361 3157 0 0 0 0 0 0 14.67 14.88 14.85

4874 -1.23 -130.3 2296 2488 3361 3157 944.9 -14.3 501 4881 0.00 2.40 0.00 0.000 260 0.000 0.149 2288 3747 3258 3360 3157 0 0 0 0 0 0 15.12 14.82 15.14

4910 -1.23 -130.3 2288 3748 3362 3158 950.3 -15.5 508 4916 0.00 2.25 0.00 0.000 1030 0.000 0.098 2288 2491 3258 3360 3157 0 0 0 0 0 0 14.94 14.88 14.97

5205 end dive: TARGET_DEPTH_EXCEEDED

state 5205 begin apogee

5208 -0.23 0.0 2289 2191 3361 3158 994.2 -14.7 522 5358 1.30 0.00 143.18 3.098 10246 0.291 0.000 2620 2190 2712 2771 2654 0 0 0 0 0 0 14.73 13.58 12.46

5359 end apogee: CONTROL_FINISHED_OK

state 5359 begin climb

5360 1.23 130.3 2622 2190 2772 2653 998.6 0.0 527 5522 1.62 3.00 153.50 3.100 10756 0.142 0.130 3097 789 2179 2216 2143 0 0 0 0 0 0 13.59 13.27 12.21

5577 1.23 130.3 3097 790 2212 2139 971.5 18.2 569 5583 0.00 2.80 0.00 0.000 1030 0.000 0.114 3097 2207 2174 2211 2137 0 0 0 0 0 0 13.87 13.76 13.90

5967 1.23 130.3 3097 2208 2209 2128 897.4 18.9 587 5973 0.00 2.75 0.00 0.000 516 0.000 0.129 3108 783 2167 2208 2127 0 0 0 0 0 0 14.66 14.40 14.69

5992 1.23 130.3 3108 784 2207 2129 892.3 20.7 592 5999 0.00 2.70 0.00 0.000 1030 0.000 0.114 3109 2208 2167 2207 2127 0 0 0 0 0 0 14.52 14.44 14.54

6358 1.23 130.3 3108 2208 2208 2125 821.4 19.3 605 6364 0.00 2.65 0.00 0.000 516 0.000 0.129 3119 789 2165 2207 2124 0 0 0 0 0 0 14.87 14.62 14.90

6378 1.23 130.3 3119 790 2207 2126 817.3 18.8 609 6385 0.00 2.65 0.00 0.000 1030 0.000 0.115 3119 2208 2165 2206 2124 0 0 0 0 0 0 14.70 14.63 14.73

6749 1.23 130.3 3119 2208 2207 2123 745.3 19.3 623 6755 0.00 2.67 0.00 0.000 516 0.000 0.129 3130 787 2164 2206 2123 0 0 0 0 0 0 14.97 14.70 15.00

6774 1.23 130.3 3130 787 2207 2123 740.5 18.2 628 6782 0.12 2.62 0.00 0.000 5126 0.301 0.115 3098 2199 2164 2206 2122 0 0 0 0 0 0 14.58 14.71 14.75

7140 1.23 130.3 3098 2200 2207 2122 673.8 18.2 649 7146 0.00 2.67 0.00 0.000 260 0.000 0.144 3098 3627 2163 2205 2121 0 0 0 0 0 0 14.99 14.76 15.02

7160 1.23 130.3 3098 3628 2206 2123 669.7 19.6 653 7167 0.00 2.60 0.00 0.000 1030 0.000 0.104 3108 2205 2164 2206 2122 0 0 0 0 0 0 14.85 14.77 14.88

7471 1.23 130.3 3108 2204 2207 2120 612.1 18.3 685 7481 0.00 2.67 0.00 0.000 516 0.000 0.132 3119 780 2163 2206 2121 0 0 0 0 0 0 15.04 14.77 15.07

7510 1.23 130.3 3119 781 2207 2120 604.9 18.4 692 7518 0.00 2.65 0.00 0.000 1030 0.000 0.116 3119 2210 2163 2206 2121 0 0 0 0 0 0 14.86 14.78 14.90

7815 1.23 130.3 3119 2210 2206 2121 548.5 18.1 723 7821 0.00 2.67 0.00 0.000 516 0.000 0.130 3129 780 2163 2206 2120 0 0 0 0 0 0 15.06 14.80 15.09

7845 1.23 130.3 3130 781 2206 2121 543.0 18.7 729 7852 0.12 2.62 0.00 0.000 5126 0.299 0.116 3097 2203 2162 2205 2120 0 0 0 0 0 0 14.68 14.80 14.84

8156 1.23 130.3 3098 2203 2206 2118 490.1 17.0 761 8163 0.00 2.70 0.00 0.000 260 0.000 0.145 3097 3623 2161 2205 2118 0 0 0 0 0 0 15.08 14.79 15.11

8206 1.23 130.3 3098 3623 2206 2119 480.7 18.9 771 8213 0.00 2.60 0.00 0.000 1030 0.000 0.104 3107 2194 2162 2205 2119 0 0 0 0 0 0 14.90 14.82 14.92

8517 1.23 130.3 3107 2194 2206 2119 428.1 16.8 803 8523 0.00 2.62 0.00 0.000 516 0.000 0.133 3118 787 2161 2205 2118 0 0 0 0 0 0 15.08 14.80 15.11

8541 1.23 130.3 3118 789 2205 2120 423.8 17.2 808 8549 0.00 2.62 0.00 0.000 1030 0.000 0.117 3118 2206 2161 2205 2118 0 0 0 0 0 0 14.90 14.82 14.94

8847 1.23 130.3 3118 2207 2205 2119 372.4 16.7 839 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 2206 2161 2205 2118 0 0 0 0 0 0 15.08 15.11 15.11

9026 end climb: SURFACE_OBSTACLE_DETECTED

state 9027 begin subsurface finish

9029 0.01 4.4 3119 2207 2206 2118 342.8 16.6 857 9040 1.55 0.00 -2.00 0.047 20486 0.258 0.000 2700 2206 2708 2815 2602 0 0 0 0 0 0 14.73 14.16 14.93

9041 end subsurface finish: CONTROL_FINISHED_OK

state 9041 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	83	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	10
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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	9	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	360	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.15000001	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	30	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	040218,211544,-7418.7593,-11231.6123,0,4146.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.173,0.220
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7420.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	221.01	MHEAD_RNG_PITCHd_Wd	107.2,2436,-23.5,-10.000,-30.00,1324
_SM_ANGLEo	0.5	D_GRID	990
GPS2	040218,211544,-7418.7593,-11231.6123,0,4146.0,0,53.5,0.0,0.0,0,0.0

FINISH1	342.8,1.027414,4	_24V_AH	12.21,42.027
FINISH2	341.4	_10V_AH	12.49,0.000
RAFOS_CLK	321	FG_AHR_24Vo	0.000
RAFOS	0,1517788873,0.032778,0.020278,143,57,52,52,52,51,521,186,199,211,170,222	FG_AHR_10Vo	0.000
RAFOS_FIX	-7420.027344,-11228.533203,050218,000056,3,132,0.26	MEM	280020
IRIDIUM_FIX	-7410.06,-11230.52,040218,063513	DATA_FILE_SIZE	30024,858
TT8_MAMPS	0.041944,0.301847	CAP_FILE_SIZE	109256,0
HUMID	47.79	CFSIZE	1024409600,1009975296
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1455.0
XPDR_PINGS	0	GPS	050218,001456,-7420.027,-11228.533,0,4132.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	342.8,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	372	28.20	nil	0	0	0.00
Roll_motor	103	153	194.19	nil	0	0	0.00
VBD_pump_during_apogee	296	3099	11228.65	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	9060	6	689.29
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	39	420	203.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6813	2	196.59
TT8_Active	429	12	65.83
TT8_Sampling	1811	31	718.14
TT8_CF8	68	45	38.60
TT8_Kalman	0	0	0.00
Analog_circuits	1081	10	137.73
GPS_charging	0	0	0.00
Compass	1229	7	115.00
RAFOS	720	1	13.49
Transponder	280	30	105.02

		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
222.0	16.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
230.1	22.20	9000.00	0.0	0.00	0.00	22.20	0.0	0.73	1.00
238.2	27.70	9000.00	0.0	0.70	1.00	27.70	0.0	0.68	1.00
246.6	35.80	35.40	0.0	0.83	0.99	35.80	0.0	0.96	1.00
369.8	20.70	9000.00	0.0	-0.08	0.66	20.70	390.5	-0.12	1.00
379.3	30.90	9000.00	0.0	-0.07	0.50	30.90	0.0	1.07	1.00
996.7	15.30	9000.00	0.0	-0.02	0.57	15.30	1012.0	-0.03	1.00

988.1	13.90	9000.00	0.0	-0.03	0.99	13.90	974.2	0.16	1.00
417.7	87.00	9000.00	0.0	-0.13	1.00	87.00	0.0	-0.13	1.00
409.2	78.30	9000.00	0.0	-0.12	0.99	78.30	330.9	1.02	1.00
392.4	60.70	60.70	331.7	1.04	1.00	60.70	331.7	1.05	1.00
384.1	52.60	52.40	331.7	1.03	1.00	52.60	331.5	0.98	1.00
375.7	43.50	43.70	332.0	1.03	1.00	43.50	332.2	1.08	1.00
367.4	34.90	34.80	332.6	1.07	1.00	34.90	332.5	1.04	1.00
359.2	26.40	26.40	332.8	1.03	1.00	26.40	332.8	1.04	1.00
351.1	18.00	18.00	333.1	1.04	1.00	18.00	333.1	1.04	1.00
342.8	9.40	9.40	333.4	1.04	1.00	9.40	333.4	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.18	-88.1	2694	2492	2814	2568	0.0	0.0	0	11	0.00	0.00	-1.70	0.057	16390	0.000	0.000	2693	2491	3086	3216	2957	0	0	0	0	0	0	14.68	13.56	14.69
12	-1.18	-88.1	2694	2493	3217	2958	0.0	0.0	0	18	1.12	2.58	0.00	0.000	4612	0.096	0.116	2324	1087	3087	3214	2960	0	0	0	0	0	0	14.47	14.45	14.54
242	-1.18	-88.1	2324	1085	3198	2976	242.1	-12.7	46	248	0.00	2.70	0.00	0.000	1030	0.000	0.116	2312	2513	3086	3197	2976	0	0	0	0	0	0	14.64	14.57	14.67
552	-1.18	-88.1	2310	2517	3196	2978	277.8	-10.2	78	558	0.00	2.65	0.00	0.000	516	0.000	0.111	2309	1096	3086	3195	2977	0	0	0	0	0	0	14.93	14.66	14.94
782	-1.23	-130.3	2308	1092	3195	2978	294.4	-6.7	124	789	0.00	2.65	-0.57	0.197	17446	0.000	0.120	2297	2502	3258	3371	3145	0	0	0	0	0	0	14.78	14.69	14.82
1092	-1.23	-130.3	2293	2503	3364	3156	326.7	-17.7	156	1098	0.00	2.62	0.00	0.000	516	0.000	0.115	2292	1090	3259	3363	3156	0	0	0	0	0	0	15.01	14.73	15.04
1173	-1.23	-130.3	2293	1090	3363	3156	341.5	-18.3	172	1179	0.00	2.62	0.00	0.000	1030	0.000	0.126	2281	2507	3259	3362	3156	0	0	0	0	0	0	14.89	14.76	14.92
1482	-1.23	-130.3	2282	2507	3363	3156	399.7	-18.5	204	1488	0.00	2.38	0.00	0.000	260	0.000	0.147	2271	3753	3259	3362	3156	0	0	0	0	0	0	15.04	14.75	15.07
1532	-1.23	-130.3	2272	3754	3363	3157	409.5	-20.1	214	1539	0.12	2.28	0.00	0.000	3078	0.330	0.098	2301	2492	3259	3362	3157	0	0	0	0	0	0	14.62	14.81	14.82
1843	-1.23	-130.3	2301	2493	3362	3157	462.5	-16.6	246	1843	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2492	3258	3361	3156	0	0	0	0	0	0	15.06	15.09	15.08
2142	-1.23	-130.3	2301	2493	3362	3157	511.7	-15.9	276	2149	0.00	2.40	0.00	0.000	260	0.000	0.148	2293	3750	3258	3361	3156	0	0	0	0	0	0	15.07	14.77	15.09
2222	-1.23	-130.3	2293	3750	3362	3156	525.2	-17.2	292	2229	0.00	2.25	0.00	0.000	1030	0.000	0.098	2293	2496	3258	3360	3156	0	0	0	0	0	0	14.88	14.81	14.91
2532	-1.23	-130.3	2293	2496	3362	3156	576.7	-16.5	324	2539	0.00	2.40	0.00	0.000	260	0.000	0.151	2284	3750	3258	3361	3156	0	0	0	0	0	0	15.08	14.77	15.10
2582	-1.23	-130.3	2284	3751	3361	3157	585.3	-17.5	334	2589	0.00	2.28	0.00	0.000	1030	0.000	0.099	2284	2489	3258	3360	3156	0	0	0	0	0	0	14.88	14.82	14.92
2893	-1.23	-130.3	2284	2489	3361	3156	636.6	-16.1	366	2893	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2488	3258	3360	3156	0	0	0	0	0	0	15.08	15.11	15.11
3192	-1.23	-130.3	2284	2488	3361	3157	684.7	-15.8	396	3199	0.00	2.40	0.00	0.000	260	0.000	0.149	2274	3749	3258	3360	3156	0	0	0	0	0	0	15.09	14.78	15.11
3262	-1.23	-130.3	2275	3748	3361	3156	696.8	-17.5	410	3269	0.00	2.25	0.00	0.000	1030	0.000	0.098	2273	2497	3256	3357	3156	0	0	0	0	0	0	14.89	14.83	14.92
3584	-1.23	-130.3	2275	2497	3361	3157	748.9	-16.1	423	3589	0.12	2.38	0.00	0.000	2308	0.373	0.149	2292	3761	3258	3360	3157	0	0	0	0	0	0	14.66	14.81	14.84
3634	-1.23	-130.3	2292	3762	3361	3157	757.1	-15.5	433	3640	0.00	2.25	0.00	0.000	1030	0.000	0.099	2291	2487	3258	3360	3156	0	0	0	0	0	0	14.97	14.87	14.99
4005	-1.23	-130.3	2293	2488	3362	3157	813.5	-15.3	447	4010	0.00	2.38	0.00	0.000	260	0.000	0.150	2282	3754	3258	3360	3157	0	0	0	0	0	0	15.08	14.82	15.11
4039	-1.23	-130.3	2283	3755	3360	3158	819.1	-16.6	454	4045	0.00	2.25	0.00	0.000	1030	0.000	0.099	2282	2501	3258	3360	3157	0	0	0	0	0	0	14.92	14.86	14.96
4425	-1.23	-130.3	2283	2502	3361	3158	878.9	-15.3	471	4430	0.00	2.35	0.00	0.000	260	0.000	0.153	2273	3753	3258	3360	3157	0	0	0	0	0	0	15.07	14.82	15.11
4489	-1.23	-130.3	2273	3754	3361	3158	889.4	-17.0	484	4495	0.10	2.28	0.00	0.000	3078	0.342	0.098	2296	2487	3259	3361	3157	0	0	0	0	0	0	14.67	14.88	14.85
4874	-1.23	-130.3	2296	2488	3361	3157	944.9	-14.3	501	4881	0.00	2.40	0.00	0.000	260	0.000	0.149	2288	3747	3258	3360	3157	0	0	0	0	0	0	15.12	14.82	15.14
4910	-1.23	-130.3	2288	3748	3362	3158	950.3	-15.5	508	4916	0.00	2.25	0.00	0.000	1030	0.000	0.098	2288	2491	3258	3360	3157	0	0	0	0	0	0	14.94	14.88	14.97
5205	end dive: TARGET_DEPTH_EXCEEDED
state	5205	begin apogee
5208	-0.23	0.0	2289	2191	3361	3158	994.2	-14.7	522	5358	1.30	0.00	143.18	3.098	10246	0.291	0.000	2620	2190	2712	2771	2654	0	0	0	0	0	0	14.73	13.58	12.46
5359	end apogee: CONTROL_FINISHED_OK
state	5359	begin climb
5360	1.23	130.3	2622	2190	2772	2653	998.6	0.0	527	5522	1.62	3.00	153.50	3.100	10756	0.142	0.130	3097	789	2179	2216	2143	0	0	0	0	0	0	13.59	13.27	12.21
5577	1.23	130.3	3097	790	2212	2139	971.5	18.2	569	5583	0.00	2.80	0.00	0.000	1030	0.000	0.114	3097	2207	2174	2211	2137	0	0	0	0	0	0	13.87	13.76	13.90
5967	1.23	130.3	3097	2208	2209	2128	897.4	18.9	587	5973	0.00	2.75	0.00	0.000	516	0.000	0.129	3108	783	2167	2208	2127	0	0	0	0	0	0	14.66	14.40	14.69
5992	1.23	130.3	3108	784	2207	2129	892.3	20.7	592	5999	0.00	2.70	0.00	0.000	1030	0.000	0.114	3109	2208	2167	2207	2127	0	0	0	0	0	0	14.52	14.44	14.54
6358	1.23	130.3	3108	2208	2208	2125	821.4	19.3	605	6364	0.00	2.65	0.00	0.000	516	0.000	0.129	3119	789	2165	2207	2124	0	0	0	0	0	0	14.87	14.62	14.90
6378	1.23	130.3	3119	790	2207	2126	817.3	18.8	609	6385	0.00	2.65	0.00	0.000	1030	0.000	0.115	3119	2208	2165	2206	2124	0	0	0	0	0	0	14.70	14.63	14.73
6749	1.23	130.3	3119	2208	2207	2123	745.3	19.3	623	6755	0.00	2.67	0.00	0.000	516	0.000	0.129	3130	787	2164	2206	2123	0	0	0	0	0	0	14.97	14.70	15.00
6774	1.23	130.3	3130	787	2207	2123	740.5	18.2	628	6782	0.12	2.62	0.00	0.000	5126	0.301	0.115	3098	2199	2164	2206	2122	0	0	0	0	0	0	14.58	14.71	14.75
7140	1.23	130.3	3098	2200	2207	2122	673.8	18.2	649	7146	0.00	2.67	0.00	0.000	260	0.000	0.144	3098	3627	2163	2205	2121	0	0	0	0	0	0	14.99	14.76	15.02
7160	1.23	130.3	3098	3628	2206	2123	669.7	19.6	653	7167	0.00	2.60	0.00	0.000	1030	0.000	0.104	3108	2205	2164	2206	2122	0	0	0	0	0	0	14.85	14.77	14.88
7471	1.23	130.3	3108	2204	2207	2120	612.1	18.3	685	7481	0.00	2.67	0.00	0.000	516	0.000	0.132	3119	780	2163	2206	2121	0	0	0	0	0	0	15.04	14.77	15.07
7510	1.23	130.3	3119	781	2207	2120	604.9	18.4	692	7518	0.00	2.65	0.00	0.000	1030	0.000	0.116	3119	2210	2163	2206	2121	0	0	0	0	0	0	14.86	14.78	14.90
7815	1.23	130.3	3119	2210	2206	2121	548.5	18.1	723	7821	0.00	2.67	0.00	0.000	516	0.000	0.130	3129	780	2163	2206	2120	0	0	0	0	0	0	15.06	14.80	15.09
7845	1.23	130.3	3130	781	2206	2121	543.0	18.7	729	7852	0.12	2.62	0.00	0.000	5126	0.299	0.116	3097	2203	2162	2205	2120	0	0	0	0	0	0	14.68	14.80	14.84
8156	1.23	130.3	3098	2203	2206	2118	490.1	17.0	761	8163	0.00	2.70	0.00	0.000	260	0.000	0.145	3097	3623	2161	2205	2118	0	0	0	0	0	0	15.08	14.79	15.11
8206	1.23	130.3	3098	3623	2206	2119	480.7	18.9	771	8213	0.00	2.60	0.00	0.000	1030	0.000	0.104	3107	2194	2162	2205	2119	0	0	0	0	0	0	14.90	14.82	14.92
8517	1.23	130.3	3107	2194	2206	2119	428.1	16.8	803	8523	0.00	2.62	0.00	0.000	516	0.000	0.133	3118	787	2161	2205	2118	0	0	0	0	0	0	15.08	14.80	15.11
8541	1.23	130.3	3118	789	2205	2120	423.8	17.2	808	8549	0.00	2.62	0.00	0.000	1030	0.000	0.117	3118	2206	2161	2205	2118	0	0	0	0	0	0	14.90	14.82	14.94
8847	1.23	130.3	3118	2207	2205	2119	372.4	16.7	839	8848	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	2206	2161	2205	2118	0	0	0	0	0	0	15.08	15.11	15.11
9026	end climb: SURFACE_OBSTACLE_DETECTED
state	9027	begin subsurface finish
9029	0.01	4.4	3119	2207	2206	2118	342.8	16.6	857	9040	1.55	0.00	-2.00	0.047	20486	0.258	0.000	2700	2206	2708	2815	2602	0	0	0	0	0	0	14.73	14.16	14.93
9041	end subsurface finish: CONTROL_FINISHED_OK
state	9041	begin surface