Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 84 * 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 84 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 15 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 84 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 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 050218,001456,-7420.0273,-11228.5332,0,4132.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.173,0.220

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.616,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 341.01 MHEAD_RNG_PITCHd_Wd 308.0,15583,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.3 D_GRID 990

GPS2 050218,001456,-7420.0273,-11228.5332,0,4132.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 355.6,1.027417,4 _24V_AH 12.22,42.370

FINISH2 354.7 _10V_AH 12.41,0.000

RAFOS_CLK 367 FG_AHR_24Vo 0.000

RAFOS 0,1517799664,3.032778,3.017778,164,65,65,62,58,52,558,208,115,191,138,219 FG_AHR_10Vo 0.000

RAFOS_FIX -7419.754395,-11226.020508,050218,030316,3,133,0.12 MEM 279976

IRIDIUM_FIX -7410.06,-11230.52,040218,063513 DATA_FILE_SIZE 30032,899

TT8_MAMPS 0.041944,0.296604 CAP_FILE_SIZE 110346,0

HUMID 47.40 CFSIZE 1024409600,1009876992

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1457.3

XPDR_PINGS 1 GPS 050218,031616,-7419.754,-11226.021,0,4132.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 360.3,14.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 282 16.04 nil 0 0 0.00

Roll_motor 92 265 299.98 nil 0 0 0.00

VBD_pump_during_apogee 331 3103 12580.07 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 10334 6 760.97

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 188.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8009 2 229.60

TT8_Active 442 12 67.32

TT8_Sampling 1875 31 738.86

TT8_CF8 68 45 38.35

TT8_Kalman 0 0 0.00

Analog_circuits 1120 10 141.87

GPS_charging 0 0 0.00

Compass 1288 7 119.72

RAFOS 720 1 13.40

Transponder 260 30 96.96

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

341.3 8.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

984.6 69.20 9000.00 0.0 0.00 0.00 69.20 0.0 0.09 1.00

992.2 22.10 9000.00 0.0 0.06 0.44 22.10 1014.3 -6.20 1.00

983.8 14.10 9000.00 0.0 -1.93 0.09 14.10 969.7 0.95 1.00

394.0 46.80 9000.00 0.0 -0.05 0.94 46.80 0.0 -0.06 1.00

386.0 39.00 9000.00 0.0 -0.05 0.94 39.00 347.0 0.97 1.00

377.7 31.00 31.00 346.7 0.97 1.00 31.00 346.7 0.96 1.00

368.8 22.40 22.40 346.4 0.97 1.00 22.40 346.4 0.97 1.00

360.3 14.00 14.10 346.2 0.98 1.00 14.00 346.3 0.99 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 -0.94 -146.0 2701 2515 2815 2603 0.0 0.0 0 11 0.00 0.00 -2.10 0.046 16390 0.000 0.000 2701 2514 3330 3461 3200 0 0 0 0 0 0 15.07 13.79 15.08

12 -0.94 -146.0 2701 2514 3460 3198 0.0 0.0 0 19 0.93 2.28 0.00 0.000 4356 0.116 0.151 2392 3753 3327 3453 3202 0 0 0 0 0 0 14.85 14.80 14.92

243 -0.94 -146.0 2393 3753 3439 3215 368.8 -12.7 46 249 0.00 2.28 0.00 0.000 1030 0.000 0.098 2392 2492 3327 3439 3215 0 0 0 0 0 0 14.88 14.83 14.92

553 -0.94 -146.0 2393 2491 3438 3216 407.5 -12.5 78 559 0.00 2.42 0.00 0.000 260 0.000 0.151 2384 3752 3326 3437 3215 0 0 0 0 0 0 15.09 14.78 15.11

647 -0.94 -146.0 2384 3754 3436 3218 420.2 -13.5 97 656 0.00 2.25 0.00 0.000 1030 0.000 0.099 2384 2497 3326 3435 3217 0 0 0 0 0 0 14.91 14.83 14.94

953 -0.94 -146.0 2384 2497 3436 3217 458.9 -12.7 128 953 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2497 3326 3435 3217 0 0 0 0 0 0 15.09 15.12 15.11

1254 -0.94 -146.0 2384 2497 3435 3218 496.3 -12.2 158 1259 0.00 2.38 0.00 0.000 260 0.000 0.153 2375 3755 3325 3434 3217 0 0 0 0 0 0 15.07 14.81 15.10

1337 -0.94 -146.0 2375 3755 3434 3219 507.5 -13.2 175 1345 0.00 2.28 0.00 0.000 1030 0.000 0.099 2375 2488 3326 3434 3218 0 0 0 0 0 0 14.90 14.83 14.93

1643 -0.94 -146.0 2375 2489 3434 3219 546.3 -12.5 206 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2488 3325 3433 3218 0 0 0 0 0 0 15.09 15.13 15.12

1944 -0.94 -146.0 2375 2489 3434 3219 583.5 -12.3 236 1949 0.00 2.38 0.00 0.000 260 0.000 0.151 2366 3755 3325 3433 3218 0 0 0 0 0 0 15.07 14.81 15.09

1993 -0.94 -146.0 2366 3756 3433 3219 590.1 -13.2 246 1999 0.10 2.28 0.00 0.000 3078 0.265 0.099 2392 2490 3325 3432 3218 0 0 0 0 0 0 14.71 14.84 14.85

2303 -0.94 -146.0 2392 2491 3432 3219 625.6 -11.4 278 2309 0.00 2.40 0.00 0.000 260 0.000 0.151 2384 3748 3325 3432 3218 0 0 0 0 0 0 15.10 14.78 15.12

2373 -0.94 -146.0 2384 3747 3433 3219 634.1 -12.2 292 2379 0.00 2.25 0.00 0.000 1030 0.000 0.098 2384 2493 3325 3432 3218 0 0 0 0 0 0 14.90 14.84 14.93

2683 -0.94 -146.0 2384 2494 3433 3219 671.1 -12.0 324 2689 0.00 2.42 0.00 0.000 260 0.000 0.151 2376 3757 3324 3432 3217 0 0 0 0 0 0 15.09 14.78 15.12

2729 -0.94 -146.0 2376 3758 3432 3220 676.8 -13.0 333 2736 0.00 2.22 0.00 0.000 1030 0.000 0.099 2375 2494 3325 3432 3219 0 0 0 0 0 0 14.96 14.86 14.99

3044 -0.94 -146.0 2376 2494 3432 3219 715.7 -12.3 357 3050 0.00 2.38 0.00 0.000 260 0.000 0.152 2367 3754 3325 3431 3219 0 0 0 0 0 0 15.07 14.81 15.09

3079 -0.94 -146.0 2366 3754 3432 3219 720.5 -13.3 364 3086 0.10 2.28 0.00 0.000 3078 0.277 0.099 2393 2493 3325 3431 3219 0 0 0 0 0 0 14.71 14.85 14.86

3464 -0.94 -146.0 2393 2493 3433 3220 764.3 -11.1 381 3472 0.00 2.40 0.00 0.000 260 0.000 0.151 2384 3748 3325 3432 3219 0 0 0 0 0 0 15.11 14.80 15.14

3540 -0.94 -146.0 2384 3749 3432 3220 773.6 -12.2 396 3547 0.00 2.25 0.00 0.000 1030 0.000 0.098 2385 2495 3325 3431 3219 0 0 0 0 0 0 14.92 14.85 14.96

3917 -0.94 -146.0 2385 2496 3432 3221 816.5 -11.3 411 3922 0.00 2.38 0.00 0.000 260 0.000 0.151 2376 3761 3325 3431 3220 0 0 0 0 0 0 15.09 14.82 15.11

3955 -0.94 -146.0 2376 3762 3431 3221 821.2 -12.0 419 3962 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2494 3324 3430 3219 0 0 0 0 0 0 14.93 14.87 14.95

4336 -0.94 -146.0 2376 2495 3431 3221 864.8 -11.5 435 4342 0.00 2.38 0.00 0.000 260 0.000 0.151 2367 3760 3326 3432 3220 0 0 0 0 0 0 15.11 14.82 15.13

4410 -0.94 -146.0 2367 3760 3431 3221 874.2 -12.8 450 4418 0.10 2.28 0.00 0.000 3078 0.282 0.099 2393 2495 3325 3431 3220 0 0 0 0 0 0 14.72 14.87 14.88

4787 -0.94 -146.0 2393 2496 3432 3220 915.0 -10.5 465 4788 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2496 3325 3431 3220 0 0 0 0 0 0 15.12 15.15 15.15

5147 -0.94 -146.0 2393 2497 3432 3221 951.6 -9.7 477 5154 0.00 2.40 0.00 0.000 260 0.000 0.152 2384 3752 3325 3431 3220 0 0 0 0 0 0 15.13 14.81 15.16

5228 -0.94 -146.0 2384 3752 3432 3221 960.9 -11.2 493 5235 0.00 2.25 0.00 0.000 1030 0.000 0.098 2385 2498 3325 3431 3220 0 0 0 0 0 0 14.94 14.87 14.97

5508 end dive: TARGET_DEPTH_EXCEEDED

state 5508 begin apogee

5511 -0.23 0.0 2382 2184 3432 3221 991.0 -10.7 504 5674 0.88 0.05 160.38 3.102 10246 0.239 0.257 2622 2198 2713 2764 2663 0 0 0 0 0 0 14.76 13.41 12.38

5675 end apogee: CONTROL_FINISHED_OK

state 5675 begin climb

5676 0.94 146.0 2623 2199 2764 2662 994.2 0.0 509 5860 1.30 3.00 171.32 3.104 10756 0.145 0.130 3004 789 2115 2150 2081 0 0 0 0 0 0 13.50 13.28 12.22

5908 0.94 146.0 3005 789 2147 2076 971.0 14.1 554 5916 0.00 2.85 0.00 0.000 1030 0.000 0.113 3004 2208 2110 2146 2075 0 0 0 0 0 0 13.82 13.75 13.85

6285 0.94 146.0 3004 2208 2144 2065 916.2 14.6 569 6285 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2208 2104 2143 2065 0 0 0 0 0 0 14.65 14.68 14.68

6645 0.94 146.0 3005 2208 2143 2063 864.3 14.3 581 6646 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2208 2102 2142 2063 0 0 0 0 0 0 14.86 14.89 14.89

7005 0.94 146.0 3004 2209 2143 2062 813.1 14.1 593 7006 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2208 2101 2142 2061 0 0 0 0 0 0 14.97 15.00 15.00

7366 0.94 146.0 3006 2209 2143 2061 762.9 14.0 605 7371 0.00 2.62 0.00 0.000 516 0.000 0.130 3015 782 2101 2142 2061 0 0 0 0 0 0 15.00 14.76 15.03

7385 0.94 146.0 3015 782 2143 2061 760.1 14.0 609 7391 0.00 2.62 0.00 0.000 1030 0.000 0.115 3014 2203 2101 2142 2061 0 0 0 0 0 0 14.85 14.77 14.89

7755 0.94 146.0 3015 2204 2143 2061 706.7 14.4 623 7756 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2203 2100 2142 2059 0 0 0 0 0 0 15.07 15.09 15.09

8115 0.94 146.0 3015 2204 2142 2060 656.4 13.8 655 8121 0.00 2.65 0.00 0.000 516 0.000 0.130 3025 789 2100 2142 2059 0 0 0 0 0 0 15.08 14.78 15.11

8150 0.94 146.0 3025 789 2143 2059 651.5 14.4 662 8158 0.00 2.62 0.00 0.000 1030 0.000 0.115 3025 2210 2100 2142 2059 0 0 0 0 0 0 14.88 14.80 14.92

8455 0.94 146.0 3025 2211 2142 2058 606.6 14.7 693 8456 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2210 2100 2142 2058 0 0 0 0 0 0 15.08 15.11 15.11

8755 0.94 146.0 3025 2210 2143 2056 564.0 13.9 723 8756 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2210 2100 2142 2058 0 0 0 0 0 0 15.09 15.12 15.12

9055 0.94 146.0 3025 2211 2142 2058 521.7 13.9 753 9061 0.00 2.65 0.00 0.000 516 0.000 0.129 3035 795 2099 2142 2057 0 0 0 0 0 0 15.10 14.83 15.13

9075 0.94 146.0 3036 793 2143 2057 518.9 13.7 757 9081 0.10 2.60 0.00 0.000 5126 0.241 0.114 3007 2206 2099 2141 2057 0 0 0 0 0 0 14.74 14.81 14.89

9386 0.94 146.0 3008 2207 2141 2058 478.1 13.1 789 9391 0.00 2.65 0.00 0.000 260 0.000 0.145 3008 3623 2099 2141 2057 0 0 0 0 0 0 15.07 14.83 15.10

9435 0.94 146.0 3008 3624 2142 2058 470.9 14.6 799 9442 0.00 2.58 0.00 0.000 1030 0.000 0.103 3017 2206 2099 2141 2057 0 0 0 0 0 0 14.90 14.83 14.94

9745 0.94 146.0 3017 2205 2142 2058 429.4 13.4 831 9751 0.00 2.67 0.00 0.000 516 0.000 0.134 3028 778 2098 2141 2056 0 0 0 0 0 0 15.11 14.81 15.13

9795 0.94 146.0 3028 779 2142 2058 422.6 13.8 841 9801 0.00 2.65 0.00 0.000 1030 0.000 0.117 3028 2210 2099 2141 2057 0 0 0 0 0 0 14.90 14.81 14.93

10105 0.94 146.0 3028 2210 2142 2056 380.7 13.4 873 10111 0.00 2.67 0.00 0.000 260 0.000 0.145 3028 3615 2098 2141 2056 0 0 0 0 0 0 15.11 14.81 15.13

10135 0.94 146.0 3027 3616 2143 2057 376.3 15.0 879 10142 0.12 2.60 0.00 0.000 5126 0.252 0.103 3004 2188 2098 2141 2056 0 0 0 0 0 0 14.76 14.83 14.88

10304 end climb: SURFACE_OBSTACLE_DETECTED

state 10304 begin subsurface finish

10308 0.01 4.2 3005 2204 2142 2056 355.6 11.8 897 10320 1.02 2.67 -2.15 0.054 20996 0.217 0.156 2717 785 2716 2831 2601 0 0 0 0 0 0 14.76 13.77 14.89

10321 end subsurface finish: CONTROL_FINISHED_OK

state 10321 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	84	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	15	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	050218,001456,-7420.0273,-11228.5332,0,4132.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.173,0.220
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.616,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	341.01	MHEAD_RNG_PITCHd_Wd	308.0,15583,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.3	D_GRID	990
GPS2	050218,001456,-7420.0273,-11228.5332,0,4132.0,0,53.5,0.0,0.0,0,0.0

FINISH1	355.6,1.027417,4	_24V_AH	12.22,42.370
FINISH2	354.7	_10V_AH	12.41,0.000
RAFOS_CLK	367	FG_AHR_24Vo	0.000
RAFOS	0,1517799664,3.032778,3.017778,164,65,65,62,58,52,558,208,115,191,138,219	FG_AHR_10Vo	0.000
RAFOS_FIX	-7419.754395,-11226.020508,050218,030316,3,133,0.12	MEM	279976
IRIDIUM_FIX	-7410.06,-11230.52,040218,063513	DATA_FILE_SIZE	30032,899
TT8_MAMPS	0.041944,0.296604	CAP_FILE_SIZE	110346,0
HUMID	47.40	CFSIZE	1024409600,1009876992
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1457.3
XPDR_PINGS	1	GPS	050218,031616,-7419.754,-11226.021,0,4132.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	360.3,14.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	282	16.04	nil	0	0	0.00
Roll_motor	92	265	299.98	nil	0	0	0.00
VBD_pump_during_apogee	331	3103	12580.07	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	10334	6	760.97
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	188.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8009	2	229.60
TT8_Active	442	12	67.32
TT8_Sampling	1875	31	738.86
TT8_CF8	68	45	38.35
TT8_Kalman	0	0	0.00
Analog_circuits	1120	10	141.87
GPS_charging	0	0	0.00
Compass	1288	7	119.72
RAFOS	720	1	13.40
Transponder	260	30	96.96

		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
341.3	8.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
984.6	69.20	9000.00	0.0	0.00	0.00	69.20	0.0	0.09	1.00
992.2	22.10	9000.00	0.0	0.06	0.44	22.10	1014.3	-6.20	1.00

983.8	14.10	9000.00	0.0	-1.93	0.09	14.10	969.7	0.95	1.00
394.0	46.80	9000.00	0.0	-0.05	0.94	46.80	0.0	-0.06	1.00
386.0	39.00	9000.00	0.0	-0.05	0.94	39.00	347.0	0.97	1.00
377.7	31.00	31.00	346.7	0.97	1.00	31.00	346.7	0.96	1.00
368.8	22.40	22.40	346.4	0.97	1.00	22.40	346.4	0.97	1.00
360.3	14.00	14.10	346.2	0.98	1.00	14.00	346.3	0.99	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	-0.94	-146.0	2701	2515	2815	2603	0.0	0.0	0	11	0.00	0.00	-2.10	0.046	16390	0.000	0.000	2701	2514	3330	3461	3200	0	0	0	0	0	0	15.07	13.79	15.08
12	-0.94	-146.0	2701	2514	3460	3198	0.0	0.0	0	19	0.93	2.28	0.00	0.000	4356	0.116	0.151	2392	3753	3327	3453	3202	0	0	0	0	0	0	14.85	14.80	14.92
243	-0.94	-146.0	2393	3753	3439	3215	368.8	-12.7	46	249	0.00	2.28	0.00	0.000	1030	0.000	0.098	2392	2492	3327	3439	3215	0	0	0	0	0	0	14.88	14.83	14.92
553	-0.94	-146.0	2393	2491	3438	3216	407.5	-12.5	78	559	0.00	2.42	0.00	0.000	260	0.000	0.151	2384	3752	3326	3437	3215	0	0	0	0	0	0	15.09	14.78	15.11
647	-0.94	-146.0	2384	3754	3436	3218	420.2	-13.5	97	656	0.00	2.25	0.00	0.000	1030	0.000	0.099	2384	2497	3326	3435	3217	0	0	0	0	0	0	14.91	14.83	14.94
953	-0.94	-146.0	2384	2497	3436	3217	458.9	-12.7	128	953	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2497	3326	3435	3217	0	0	0	0	0	0	15.09	15.12	15.11
1254	-0.94	-146.0	2384	2497	3435	3218	496.3	-12.2	158	1259	0.00	2.38	0.00	0.000	260	0.000	0.153	2375	3755	3325	3434	3217	0	0	0	0	0	0	15.07	14.81	15.10
1337	-0.94	-146.0	2375	3755	3434	3219	507.5	-13.2	175	1345	0.00	2.28	0.00	0.000	1030	0.000	0.099	2375	2488	3326	3434	3218	0	0	0	0	0	0	14.90	14.83	14.93
1643	-0.94	-146.0	2375	2489	3434	3219	546.3	-12.5	206	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2488	3325	3433	3218	0	0	0	0	0	0	15.09	15.13	15.12
1944	-0.94	-146.0	2375	2489	3434	3219	583.5	-12.3	236	1949	0.00	2.38	0.00	0.000	260	0.000	0.151	2366	3755	3325	3433	3218	0	0	0	0	0	0	15.07	14.81	15.09
1993	-0.94	-146.0	2366	3756	3433	3219	590.1	-13.2	246	1999	0.10	2.28	0.00	0.000	3078	0.265	0.099	2392	2490	3325	3432	3218	0	0	0	0	0	0	14.71	14.84	14.85
2303	-0.94	-146.0	2392	2491	3432	3219	625.6	-11.4	278	2309	0.00	2.40	0.00	0.000	260	0.000	0.151	2384	3748	3325	3432	3218	0	0	0	0	0	0	15.10	14.78	15.12
2373	-0.94	-146.0	2384	3747	3433	3219	634.1	-12.2	292	2379	0.00	2.25	0.00	0.000	1030	0.000	0.098	2384	2493	3325	3432	3218	0	0	0	0	0	0	14.90	14.84	14.93
2683	-0.94	-146.0	2384	2494	3433	3219	671.1	-12.0	324	2689	0.00	2.42	0.00	0.000	260	0.000	0.151	2376	3757	3324	3432	3217	0	0	0	0	0	0	15.09	14.78	15.12
2729	-0.94	-146.0	2376	3758	3432	3220	676.8	-13.0	333	2736	0.00	2.22	0.00	0.000	1030	0.000	0.099	2375	2494	3325	3432	3219	0	0	0	0	0	0	14.96	14.86	14.99
3044	-0.94	-146.0	2376	2494	3432	3219	715.7	-12.3	357	3050	0.00	2.38	0.00	0.000	260	0.000	0.152	2367	3754	3325	3431	3219	0	0	0	0	0	0	15.07	14.81	15.09
3079	-0.94	-146.0	2366	3754	3432	3219	720.5	-13.3	364	3086	0.10	2.28	0.00	0.000	3078	0.277	0.099	2393	2493	3325	3431	3219	0	0	0	0	0	0	14.71	14.85	14.86
3464	-0.94	-146.0	2393	2493	3433	3220	764.3	-11.1	381	3472	0.00	2.40	0.00	0.000	260	0.000	0.151	2384	3748	3325	3432	3219	0	0	0	0	0	0	15.11	14.80	15.14
3540	-0.94	-146.0	2384	3749	3432	3220	773.6	-12.2	396	3547	0.00	2.25	0.00	0.000	1030	0.000	0.098	2385	2495	3325	3431	3219	0	0	0	0	0	0	14.92	14.85	14.96
3917	-0.94	-146.0	2385	2496	3432	3221	816.5	-11.3	411	3922	0.00	2.38	0.00	0.000	260	0.000	0.151	2376	3761	3325	3431	3220	0	0	0	0	0	0	15.09	14.82	15.11
3955	-0.94	-146.0	2376	3762	3431	3221	821.2	-12.0	419	3962	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2494	3324	3430	3219	0	0	0	0	0	0	14.93	14.87	14.95
4336	-0.94	-146.0	2376	2495	3431	3221	864.8	-11.5	435	4342	0.00	2.38	0.00	0.000	260	0.000	0.151	2367	3760	3326	3432	3220	0	0	0	0	0	0	15.11	14.82	15.13
4410	-0.94	-146.0	2367	3760	3431	3221	874.2	-12.8	450	4418	0.10	2.28	0.00	0.000	3078	0.282	0.099	2393	2495	3325	3431	3220	0	0	0	0	0	0	14.72	14.87	14.88
4787	-0.94	-146.0	2393	2496	3432	3220	915.0	-10.5	465	4788	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2496	3325	3431	3220	0	0	0	0	0	0	15.12	15.15	15.15
5147	-0.94	-146.0	2393	2497	3432	3221	951.6	-9.7	477	5154	0.00	2.40	0.00	0.000	260	0.000	0.152	2384	3752	3325	3431	3220	0	0	0	0	0	0	15.13	14.81	15.16
5228	-0.94	-146.0	2384	3752	3432	3221	960.9	-11.2	493	5235	0.00	2.25	0.00	0.000	1030	0.000	0.098	2385	2498	3325	3431	3220	0	0	0	0	0	0	14.94	14.87	14.97
5508	end dive: TARGET_DEPTH_EXCEEDED
state	5508	begin apogee
5511	-0.23	0.0	2382	2184	3432	3221	991.0	-10.7	504	5674	0.88	0.05	160.38	3.102	10246	0.239	0.257	2622	2198	2713	2764	2663	0	0	0	0	0	0	14.76	13.41	12.38
5675	end apogee: CONTROL_FINISHED_OK
state	5675	begin climb
5676	0.94	146.0	2623	2199	2764	2662	994.2	0.0	509	5860	1.30	3.00	171.32	3.104	10756	0.145	0.130	3004	789	2115	2150	2081	0	0	0	0	0	0	13.50	13.28	12.22
5908	0.94	146.0	3005	789	2147	2076	971.0	14.1	554	5916	0.00	2.85	0.00	0.000	1030	0.000	0.113	3004	2208	2110	2146	2075	0	0	0	0	0	0	13.82	13.75	13.85
6285	0.94	146.0	3004	2208	2144	2065	916.2	14.6	569	6285	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2208	2104	2143	2065	0	0	0	0	0	0	14.65	14.68	14.68
6645	0.94	146.0	3005	2208	2143	2063	864.3	14.3	581	6646	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2208	2102	2142	2063	0	0	0	0	0	0	14.86	14.89	14.89
7005	0.94	146.0	3004	2209	2143	2062	813.1	14.1	593	7006	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2208	2101	2142	2061	0	0	0	0	0	0	14.97	15.00	15.00
7366	0.94	146.0	3006	2209	2143	2061	762.9	14.0	605	7371	0.00	2.62	0.00	0.000	516	0.000	0.130	3015	782	2101	2142	2061	0	0	0	0	0	0	15.00	14.76	15.03
7385	0.94	146.0	3015	782	2143	2061	760.1	14.0	609	7391	0.00	2.62	0.00	0.000	1030	0.000	0.115	3014	2203	2101	2142	2061	0	0	0	0	0	0	14.85	14.77	14.89
7755	0.94	146.0	3015	2204	2143	2061	706.7	14.4	623	7756	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2203	2100	2142	2059	0	0	0	0	0	0	15.07	15.09	15.09
8115	0.94	146.0	3015	2204	2142	2060	656.4	13.8	655	8121	0.00	2.65	0.00	0.000	516	0.000	0.130	3025	789	2100	2142	2059	0	0	0	0	0	0	15.08	14.78	15.11
8150	0.94	146.0	3025	789	2143	2059	651.5	14.4	662	8158	0.00	2.62	0.00	0.000	1030	0.000	0.115	3025	2210	2100	2142	2059	0	0	0	0	0	0	14.88	14.80	14.92
8455	0.94	146.0	3025	2211	2142	2058	606.6	14.7	693	8456	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2210	2100	2142	2058	0	0	0	0	0	0	15.08	15.11	15.11
8755	0.94	146.0	3025	2210	2143	2056	564.0	13.9	723	8756	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2210	2100	2142	2058	0	0	0	0	0	0	15.09	15.12	15.12
9055	0.94	146.0	3025	2211	2142	2058	521.7	13.9	753	9061	0.00	2.65	0.00	0.000	516	0.000	0.129	3035	795	2099	2142	2057	0	0	0	0	0	0	15.10	14.83	15.13
9075	0.94	146.0	3036	793	2143	2057	518.9	13.7	757	9081	0.10	2.60	0.00	0.000	5126	0.241	0.114	3007	2206	2099	2141	2057	0	0	0	0	0	0	14.74	14.81	14.89
9386	0.94	146.0	3008	2207	2141	2058	478.1	13.1	789	9391	0.00	2.65	0.00	0.000	260	0.000	0.145	3008	3623	2099	2141	2057	0	0	0	0	0	0	15.07	14.83	15.10
9435	0.94	146.0	3008	3624	2142	2058	470.9	14.6	799	9442	0.00	2.58	0.00	0.000	1030	0.000	0.103	3017	2206	2099	2141	2057	0	0	0	0	0	0	14.90	14.83	14.94
9745	0.94	146.0	3017	2205	2142	2058	429.4	13.4	831	9751	0.00	2.67	0.00	0.000	516	0.000	0.134	3028	778	2098	2141	2056	0	0	0	0	0	0	15.11	14.81	15.13
9795	0.94	146.0	3028	779	2142	2058	422.6	13.8	841	9801	0.00	2.65	0.00	0.000	1030	0.000	0.117	3028	2210	2099	2141	2057	0	0	0	0	0	0	14.90	14.81	14.93
10105	0.94	146.0	3028	2210	2142	2056	380.7	13.4	873	10111	0.00	2.67	0.00	0.000	260	0.000	0.145	3028	3615	2098	2141	2056	0	0	0	0	0	0	15.11	14.81	15.13
10135	0.94	146.0	3027	3616	2143	2057	376.3	15.0	879	10142	0.12	2.60	0.00	0.000	5126	0.252	0.103	3004	2188	2098	2141	2056	0	0	0	0	0	0	14.76	14.83	14.88
10304	end climb: SURFACE_OBSTACLE_DETECTED
state	10304	begin subsurface finish
10308	0.01	4.2	3005	2204	2142	2056	355.6	11.8	897	10320	1.02	2.67	-2.15	0.054	20996	0.217	0.156	2717	785	2716	2831	2601	0	0	0	0	0	0	14.76	13.77	14.89
10321	end subsurface finish: CONTROL_FINISHED_OK
state	10321	begin surface