Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 907 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 907 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 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 1 R_PORT_OVSHOOT 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 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 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 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 350 UPLOAD_DIVES_MAX 5 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 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 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 12 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 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 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 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 12 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 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 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 5

DIVE 907 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 15 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 7 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 -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 220119,180428,-7438.2461,-11207.5518,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideE

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11200.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 413.01 MHEAD_RNG_PITCHd_Wd 29.5,3734,-26.1,-9.429,-27.93,936

_SM_ANGLEo 5.1 D_GRID 990

GPS2 220119,180428,-7438.2461,-11207.5518,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 415.7,1.027508,-0 _24V_AH 9.92,291.443

FINISH2 413.2 _10V_AH 10.28,0.000

RAFOS_CLK 374 FG_AHR_24Vo 0.000

RAFOS 0,1548190868,21.032354,21.018888,144,64,58,56,56,52,661,212,194,153,120,225 FG_AHR_10Vo 0.000

RAFOS_FIX -7438.725098,-11157.378906,220119,212144,3,133,0.44 MEM 278872

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 26765,829

TT8_MAMPS 0.045689,0.289863 CAP_FILE_SIZE 105103,0

HUMID 50.70 CFSIZE 1024409600,911310848

INTERNAL_PRESSURE 7.95848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.60 SOUNDSPEED 1456.8

XPDR_PINGS 0 GPS 220119,211544,-7438.725,-11157.379,0,4132.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 422.1,11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 287 23.61 nil 0 0 0.00

Roll_motor 119 253 299.54 nil 0 0 0.00

VBD_pump_during_apogee 335 3101 10329.35 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 9194 6 604.32

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 151.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6820 2 161.96

TT8_Active 435 10 48.64

TT8_Sampling 1742 30 543.60

TT8_CF8 315 51 166.41

TT8_Kalman 0 0 0.00

Analog_circuits 1074 10 111.54

GPS_charging 0 0 0.00

Compass 1187 6 82.29

RAFOS 720 1 11.10

Transponder 278 30 85.83

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

915.3 34.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

921.5 24.30 9000.00 0.0 0.00 0.00 24.30 945.8 -1.71 1.00

929.5 13.50 9000.00 0.0 -1.50 1.00 13.50 943.0 -1.35 1.00

937.2 28.40 9000.00 0.0 0.25 0.07 28.40 0.0 1.94 1.00

937.2 24.00 9000.00 0.0 1.64 0.91 0.00 0.0 0.00 0.00

930.9 16.20 9000.00 0.0 1.63 0.89 16.20 914.7 1.24 1.00

924.2 6.60 9000.00 0.0 1.35 1.00 6.60 917.6 1.43 1.00

898.2 9.70 9000.00 0.0 0.11 0.14 9.70 0.0 -0.12 1.00

454.7 43.70 9000.00 0.0 -0.08 1.00 43.70 0.0 -0.08 1.00

448.2 37.40 9000.00 0.0 -0.07 0.97 37.40 410.8 0.97 1.00

441.9 31.20 31.20 410.7 0.98 1.00 31.20 410.7 0.98 1.00

434.7 24.00 24.00 410.7 0.99 1.00 24.00 410.7 1.00 1.00

428.4 17.80 17.80 410.6 0.99 1.00 17.80 410.6 0.98 1.00

422.1 11.80 11.80 410.3 0.97 1.00 11.80 410.3 0.95 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

11 -1.26 -57.5 2781 2798 3527 3523 0.0 0.0 0 13 0.00 0.00 -0.90 0.078 16390 0.000 0.000 2780 2797 3739 3737 3742 0 0 0 0 0 0 11.35 10.59 11.32

17 -1.26 -57.5 2781 2798 3753 3748 0.0 0.0 0 24 1.73 3.22 0.00 0.000 4612 0.123 0.043 2373 1379 3746 3744 3749 0 0 0 0 0 0 11.12 11.18 11.20

96 -1.30 -89.2 2373 1379 3752 3752 417.0 -6.0 15 102 0.00 3.40 -0.47 0.145 17446 0.000 0.057 2370 2810 3869 3866 3873 0 0 0 0 0 0 11.24 11.17 11.26

401 -1.30 -89.2 2371 2810 3877 3882 447.3 -10.4 46 401 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2810 3878 3875 3882 0 0 0 0 0 0 11.37 11.36 11.36

701 -1.30 -89.2 2370 2810 3876 3884 476.6 -10.3 76 706 0.00 3.33 0.00 0.000 516 0.000 0.045 2370 1384 3879 3876 3883 0 0 0 0 0 0 11.36 11.17 11.36

777 -1.30 -89.2 2370 1385 3877 3884 484.8 -10.5 91 783 0.00 3.38 0.00 0.000 1030 0.000 0.058 2363 2802 3879 3875 3883 0 0 0 0 0 0 11.24 11.17 11.26

1084 -1.30 -89.2 2363 2802 3877 3884 515.9 -10.7 122 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2801 3879 3876 3883 0 0 0 0 0 0 11.35 11.35 11.35

1382 -1.30 -89.2 2363 2802 3877 3884 546.0 -9.5 152 1387 0.00 2.67 0.00 0.000 260 0.000 0.080 2357 3916 3879 3876 3882 0 0 0 0 0 0 11.36 11.14 11.36

1429 -1.30 -89.2 2358 3914 3878 3883 550.7 -10.2 161 1436 0.00 2.55 0.00 0.000 1030 0.000 0.044 2357 2792 3879 3876 3882 0 0 0 0 0 0 11.26 11.21 11.27

1734 -1.30 -89.2 2358 2793 3877 3884 579.5 -9.7 192 1740 0.00 2.67 0.00 0.000 260 0.000 0.080 2351 3905 3879 3876 3883 0 0 0 0 0 0 11.36 11.14 11.37

1766 -1.30 -89.2 2352 3905 3878 3883 582.9 -11.0 198 1771 0.00 2.53 0.00 0.000 1030 0.000 0.044 2351 2794 3879 3876 3883 0 0 0 0 0 0 11.26 11.21 11.26

2078 -1.30 -89.2 2351 2795 3876 3883 613.2 -9.6 230 2079 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2794 3879 3876 3882 0 0 0 0 0 0 11.37 11.36 11.37

2378 -1.30 -89.2 2352 2794 3877 3883 642.7 -10.2 260 2383 0.00 3.28 0.00 0.000 516 0.000 0.046 2351 1382 3879 3876 3882 0 0 0 0 0 0 11.37 11.18 11.36

2493 -1.30 -89.2 2351 1383 3877 3883 653.5 -9.5 282 2499 0.00 3.40 0.00 0.000 1030 0.000 0.060 2351 2805 3879 3876 3882 0 0 0 0 0 0 11.24 11.17 11.25

2805 -1.30 -89.2 2352 2806 3878 3881 683.4 -9.5 314 2806 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2805 3878 3876 3881 0 0 0 0 0 0 11.37 11.37 11.36

3105 -1.30 -89.2 2352 2805 3877 3881 711.1 -9.0 336 3106 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2806 3880 3876 3884 0 0 0 0 0 0 11.37 11.37 11.38

3465 -1.30 -89.2 2352 2805 3878 3880 742.3 -8.5 348 3470 0.00 3.30 0.00 0.000 516 0.000 0.045 2351 1385 3878 3876 3880 0 0 0 0 0 0 11.37 11.18 11.37

3552 -1.30 -89.2 2351 1386 3878 3881 749.9 -8.4 365 3559 0.00 3.40 0.00 0.000 1030 0.000 0.060 2351 2809 3878 3876 3881 0 0 0 0 0 0 11.25 11.18 11.26

3918 -1.30 -89.2 2354 2810 3877 3881 782.6 -9.2 378 3923 0.00 2.65 0.00 0.000 260 0.000 0.082 2348 3912 3878 3876 3880 0 0 0 0 0 0 11.36 11.17 11.36

3975 -1.30 -89.2 2349 3912 3877 3879 788.4 -10.4 389 3983 0.00 2.53 0.00 0.000 1030 0.000 0.044 2349 2796 3877 3876 3879 0 0 0 0 0 0 11.26 11.21 11.27

4343 -1.30 -89.2 2349 2795 3878 3880 822.9 -9.5 402 4348 0.00 3.25 0.00 0.000 516 0.000 0.045 2348 1385 3878 3877 3880 0 0 0 0 0 0 11.37 11.19 11.37

4470 -1.30 -89.2 2348 1387 3877 3881 835.7 -11.1 427 4475 0.00 3.40 0.00 0.000 1030 0.000 0.060 2344 2806 3878 3876 3880 0 0 0 0 0 0 11.25 11.18 11.26

4860 -1.30 -89.2 2344 2807 3877 3881 870.1 -9.6 444 4866 0.00 2.62 0.00 0.000 260 0.000 0.081 2336 3906 3878 3876 3880 0 0 0 0 0 0 11.37 11.15 11.37

4943 -1.30 -89.2 2337 3906 3878 3879 879.0 -10.7 460 4948 0.00 2.53 0.00 0.000 1030 0.000 0.044 2336 2794 3877 3876 3879 0 0 0 0 0 0 11.26 11.21 11.27

5318 -1.30 -89.2 2336 2795 3877 3881 914.5 -9.4 474 5324 0.00 3.22 0.00 0.000 516 0.000 0.044 2336 1390 3877 3876 3879 0 0 0 0 0 0 11.36 11.17 11.37

5401 -1.30 -89.2 2337 1389 3877 3880 922.9 -8.9 490 5406 0.00 3.38 0.00 0.000 1030 0.000 0.060 2331 2805 3877 3875 3879 0 0 0 0 0 0 11.26 11.18 11.26

5772 -1.32 -107.1 2333 2806 3877 3881 936.9 -0.0 504 5778 0.00 2.67 0.00 0.000 292 0.000 0.085 2327 3908 3878 3877 3879 0 0 0 0 0 0 11.37 11.17 11.38

5931 end dive: NO_VERTICAL_VELOCITY

state 5931 begin apogee

5942 -0.23 0.0 2328 2542 3878 3880 936.8 0.0 536 6114 1.77 0.00 163.05 3.101 10246 0.190 0.000 2695 2542 3492 3500 3485 0 0 0 0 0 0 11.10 10.98 9.92

6115 end apogee: CONTROL_FINISHED_OK

state 6115 begin climb

6119 1.32 107.1 2695 2543 3500 3484 936.6 0.0 542 6304 2.10 3.40 172.70 3.097 10500 0.106 0.083 3196 3910 3064 3087 3041 0 0 0 0 0 0 11.07 10.99 9.93

6311 1.32 107.1 3197 3910 3086 3040 915.2 16.8 569 6317 0.00 3.15 0.00 0.000 1030 0.000 0.047 3207 2551 3060 3082 3039 0 0 0 0 0 0 11.17 11.12 11.18

6699 1.32 107.1 3208 2551 3077 3032 846.7 19.4 586 6704 0.00 3.35 0.00 0.000 516 0.000 0.060 3218 1138 3053 3075 3032 0 0 0 0 0 0 11.31 11.12 11.31

6809 1.32 107.1 3218 1140 3075 3032 826.6 19.9 607 6814 0.00 3.40 0.00 0.000 1030 0.000 0.062 3218 2558 3052 3074 3031 0 0 0 0 0 0 11.21 11.13 11.21

7186 1.32 107.1 3216 2558 3074 3030 752.8 19.0 622 7194 0.00 3.33 0.00 0.000 516 0.000 0.057 3229 1135 3051 3073 3030 0 0 0 0 0 0 11.33 11.12 11.33

7215 1.32 107.1 3230 1135 3074 3030 747.4 17.5 627 7222 0.17 3.40 0.00 0.000 5126 0.280 0.061 3203 2554 3051 3073 3030 0 0 0 0 0 0 11.02 11.14 11.21

7581 1.32 107.1 3204 2555 3073 3030 682.0 17.1 646 7581 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2554 3051 3072 3030 0 0 0 0 0 0 11.33 11.34 11.34

7881 1.32 107.1 3204 2555 3073 3030 631.5 16.4 676 7886 0.00 3.35 0.00 0.000 516 0.000 0.057 3214 1140 3050 3072 3029 0 0 0 0 0 0 11.34 11.14 11.35

7927 1.32 107.1 3215 1141 3073 3029 623.8 16.5 685 7938 0.00 3.38 0.00 0.000 1030 0.000 0.061 3214 2554 3050 3071 3029 0 0 0 0 0 0 11.23 11.15 11.24

8234 1.32 107.1 3214 2555 3073 3030 571.2 16.5 716 8239 0.00 3.35 0.00 0.000 516 0.000 0.057 3225 1140 3050 3072 3029 0 0 0 0 0 0 11.35 11.14 11.36

8266 1.32 107.1 3225 1140 3073 3029 565.8 16.9 722 8271 0.00 3.38 0.00 0.000 1030 0.000 0.061 3225 2555 3050 3072 3029 0 0 0 0 0 0 11.23 11.14 11.24

8577 1.32 107.1 3225 2557 3072 3030 510.5 18.1 754 8583 0.00 3.35 0.00 0.000 516 0.000 0.056 3236 1139 3050 3072 3029 0 0 0 0 0 0 11.36 11.14 11.36

8614 1.32 107.1 3236 1139 3073 3030 504.3 16.9 761 8621 0.22 3.38 0.00 0.000 5126 0.288 0.061 3201 2554 3050 3071 3029 0 0 0 0 0 0 11.04 11.16 11.22

8919 1.32 107.1 3202 2554 3073 3029 456.5 15.3 792 8924 0.00 3.33 0.00 0.000 260 0.000 0.085 3201 3912 3050 3071 3029 0 0 0 0 0 0 11.36 11.14 11.35

9018 1.32 107.1 3201 3910 3072 3030 438.9 17.9 811 9024 0.00 3.15 0.00 0.000 1030 0.000 0.046 3211 2535 3050 3072 3029 0 0 0 0 0 0 11.25 11.20 11.26

9160 end climb: SURFACE_OBSTACLE_DETECTED

state 9160 begin subsurface finish

9169 -0.00 -0.4 3210 2546 3073 3029 415.7 15.9 826 9185 2.28 3.38 -7.35 0.023 20740 0.259 0.098 2782 3924 3523 3526 3520 0 0 0 0 1 0 11.05 10.58 11.21

9185 end subsurface finish: CONTROL_FINISHED_OK

state 9185 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	907	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	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	1	R_PORT_OVSHOOT	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	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	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	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	350	UPLOAD_DIVES_MAX	5	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	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	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	12	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	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	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	3910	ALTIM_PING_FIT	883

GPS1	220119,180428,-7438.2461,-11207.5518,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideE
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11200.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	413.01	MHEAD_RNG_PITCHd_Wd	29.5,3734,-26.1,-9.429,-27.93,936
_SM_ANGLEo	5.1	D_GRID	990
GPS2	220119,180428,-7438.2461,-11207.5518,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	415.7,1.027508,-0	_24V_AH	9.92,291.443
FINISH2	413.2	_10V_AH	10.28,0.000
RAFOS_CLK	374	FG_AHR_24Vo	0.000
RAFOS	0,1548190868,21.032354,21.018888,144,64,58,56,56,52,661,212,194,153,120,225	FG_AHR_10Vo	0.000
RAFOS_FIX	-7438.725098,-11157.378906,220119,212144,3,133,0.44	MEM	278872
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	26765,829
TT8_MAMPS	0.045689,0.289863	CAP_FILE_SIZE	105103,0
HUMID	50.70	CFSIZE	1024409600,911310848
INTERNAL_PRESSURE	7.95848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.60	SOUNDSPEED	1456.8
XPDR_PINGS	0	GPS	220119,211544,-7438.725,-11157.379,0,4132.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	422.1,11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	287	23.61	nil	0	0	0.00
Roll_motor	119	253	299.54	nil	0	0	0.00
VBD_pump_during_apogee	335	3101	10329.35	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	9194	6	604.32
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	151.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6820	2	161.96
TT8_Active	435	10	48.64
TT8_Sampling	1742	30	543.60
TT8_CF8	315	51	166.41
TT8_Kalman	0	0	0.00
Analog_circuits	1074	10	111.54
GPS_charging	0	0	0.00
Compass	1187	6	82.29
RAFOS	720	1	11.10
Transponder	278	30	85.83

		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
915.3	34.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
921.5	24.30	9000.00	0.0	0.00	0.00	24.30	945.8	-1.71	1.00
929.5	13.50	9000.00	0.0	-1.50	1.00	13.50	943.0	-1.35	1.00
937.2	28.40	9000.00	0.0	0.25	0.07	28.40	0.0	1.94	1.00
937.2	24.00	9000.00	0.0	1.64	0.91	0.00	0.0	0.00	0.00

930.9	16.20	9000.00	0.0	1.63	0.89	16.20	914.7	1.24	1.00
924.2	6.60	9000.00	0.0	1.35	1.00	6.60	917.6	1.43	1.00
898.2	9.70	9000.00	0.0	0.11	0.14	9.70	0.0	-0.12	1.00
454.7	43.70	9000.00	0.0	-0.08	1.00	43.70	0.0	-0.08	1.00
448.2	37.40	9000.00	0.0	-0.07	0.97	37.40	410.8	0.97	1.00
441.9	31.20	31.20	410.7	0.98	1.00	31.20	410.7	0.98	1.00
434.7	24.00	24.00	410.7	0.99	1.00	24.00	410.7	1.00	1.00
428.4	17.80	17.80	410.6	0.99	1.00	17.80	410.6	0.98	1.00
422.1	11.80	11.80	410.3	0.97	1.00	11.80	410.3	0.95	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
11	-1.26	-57.5	2781	2798	3527	3523	0.0	0.0	0	13	0.00	0.00	-0.90	0.078	16390	0.000	0.000	2780	2797	3739	3737	3742	0	0	0	0	0	0	11.35	10.59	11.32
17	-1.26	-57.5	2781	2798	3753	3748	0.0	0.0	0	24	1.73	3.22	0.00	0.000	4612	0.123	0.043	2373	1379	3746	3744	3749	0	0	0	0	0	0	11.12	11.18	11.20
96	-1.30	-89.2	2373	1379	3752	3752	417.0	-6.0	15	102	0.00	3.40	-0.47	0.145	17446	0.000	0.057	2370	2810	3869	3866	3873	0	0	0	0	0	0	11.24	11.17	11.26
401	-1.30	-89.2	2371	2810	3877	3882	447.3	-10.4	46	401	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2810	3878	3875	3882	0	0	0	0	0	0	11.37	11.36	11.36
701	-1.30	-89.2	2370	2810	3876	3884	476.6	-10.3	76	706	0.00	3.33	0.00	0.000	516	0.000	0.045	2370	1384	3879	3876	3883	0	0	0	0	0	0	11.36	11.17	11.36
777	-1.30	-89.2	2370	1385	3877	3884	484.8	-10.5	91	783	0.00	3.38	0.00	0.000	1030	0.000	0.058	2363	2802	3879	3875	3883	0	0	0	0	0	0	11.24	11.17	11.26
1084	-1.30	-89.2	2363	2802	3877	3884	515.9	-10.7	122	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2801	3879	3876	3883	0	0	0	0	0	0	11.35	11.35	11.35
1382	-1.30	-89.2	2363	2802	3877	3884	546.0	-9.5	152	1387	0.00	2.67	0.00	0.000	260	0.000	0.080	2357	3916	3879	3876	3882	0	0	0	0	0	0	11.36	11.14	11.36
1429	-1.30	-89.2	2358	3914	3878	3883	550.7	-10.2	161	1436	0.00	2.55	0.00	0.000	1030	0.000	0.044	2357	2792	3879	3876	3882	0	0	0	0	0	0	11.26	11.21	11.27
1734	-1.30	-89.2	2358	2793	3877	3884	579.5	-9.7	192	1740	0.00	2.67	0.00	0.000	260	0.000	0.080	2351	3905	3879	3876	3883	0	0	0	0	0	0	11.36	11.14	11.37
1766	-1.30	-89.2	2352	3905	3878	3883	582.9	-11.0	198	1771	0.00	2.53	0.00	0.000	1030	0.000	0.044	2351	2794	3879	3876	3883	0	0	0	0	0	0	11.26	11.21	11.26
2078	-1.30	-89.2	2351	2795	3876	3883	613.2	-9.6	230	2079	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2794	3879	3876	3882	0	0	0	0	0	0	11.37	11.36	11.37
2378	-1.30	-89.2	2352	2794	3877	3883	642.7	-10.2	260	2383	0.00	3.28	0.00	0.000	516	0.000	0.046	2351	1382	3879	3876	3882	0	0	0	0	0	0	11.37	11.18	11.36
2493	-1.30	-89.2	2351	1383	3877	3883	653.5	-9.5	282	2499	0.00	3.40	0.00	0.000	1030	0.000	0.060	2351	2805	3879	3876	3882	0	0	0	0	0	0	11.24	11.17	11.25
2805	-1.30	-89.2	2352	2806	3878	3881	683.4	-9.5	314	2806	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2805	3878	3876	3881	0	0	0	0	0	0	11.37	11.37	11.36
3105	-1.30	-89.2	2352	2805	3877	3881	711.1	-9.0	336	3106	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2806	3880	3876	3884	0	0	0	0	0	0	11.37	11.37	11.38
3465	-1.30	-89.2	2352	2805	3878	3880	742.3	-8.5	348	3470	0.00	3.30	0.00	0.000	516	0.000	0.045	2351	1385	3878	3876	3880	0	0	0	0	0	0	11.37	11.18	11.37
3552	-1.30	-89.2	2351	1386	3878	3881	749.9	-8.4	365	3559	0.00	3.40	0.00	0.000	1030	0.000	0.060	2351	2809	3878	3876	3881	0	0	0	0	0	0	11.25	11.18	11.26
3918	-1.30	-89.2	2354	2810	3877	3881	782.6	-9.2	378	3923	0.00	2.65	0.00	0.000	260	0.000	0.082	2348	3912	3878	3876	3880	0	0	0	0	0	0	11.36	11.17	11.36
3975	-1.30	-89.2	2349	3912	3877	3879	788.4	-10.4	389	3983	0.00	2.53	0.00	0.000	1030	0.000	0.044	2349	2796	3877	3876	3879	0	0	0	0	0	0	11.26	11.21	11.27
4343	-1.30	-89.2	2349	2795	3878	3880	822.9	-9.5	402	4348	0.00	3.25	0.00	0.000	516	0.000	0.045	2348	1385	3878	3877	3880	0	0	0	0	0	0	11.37	11.19	11.37
4470	-1.30	-89.2	2348	1387	3877	3881	835.7	-11.1	427	4475	0.00	3.40	0.00	0.000	1030	0.000	0.060	2344	2806	3878	3876	3880	0	0	0	0	0	0	11.25	11.18	11.26
4860	-1.30	-89.2	2344	2807	3877	3881	870.1	-9.6	444	4866	0.00	2.62	0.00	0.000	260	0.000	0.081	2336	3906	3878	3876	3880	0	0	0	0	0	0	11.37	11.15	11.37
4943	-1.30	-89.2	2337	3906	3878	3879	879.0	-10.7	460	4948	0.00	2.53	0.00	0.000	1030	0.000	0.044	2336	2794	3877	3876	3879	0	0	0	0	0	0	11.26	11.21	11.27
5318	-1.30	-89.2	2336	2795	3877	3881	914.5	-9.4	474	5324	0.00	3.22	0.00	0.000	516	0.000	0.044	2336	1390	3877	3876	3879	0	0	0	0	0	0	11.36	11.17	11.37
5401	-1.30	-89.2	2337	1389	3877	3880	922.9	-8.9	490	5406	0.00	3.38	0.00	0.000	1030	0.000	0.060	2331	2805	3877	3875	3879	0	0	0	0	0	0	11.26	11.18	11.26
5772	-1.32	-107.1	2333	2806	3877	3881	936.9	-0.0	504	5778	0.00	2.67	0.00	0.000	292	0.000	0.085	2327	3908	3878	3877	3879	0	0	0	0	0	0	11.37	11.17	11.38
5931	end dive: NO_VERTICAL_VELOCITY
state	5931	begin apogee
5942	-0.23	0.0	2328	2542	3878	3880	936.8	0.0	536	6114	1.77	0.00	163.05	3.101	10246	0.190	0.000	2695	2542	3492	3500	3485	0	0	0	0	0	0	11.10	10.98	9.92
6115	end apogee: CONTROL_FINISHED_OK
state	6115	begin climb
6119	1.32	107.1	2695	2543	3500	3484	936.6	0.0	542	6304	2.10	3.40	172.70	3.097	10500	0.106	0.083	3196	3910	3064	3087	3041	0	0	0	0	0	0	11.07	10.99	9.93
6311	1.32	107.1	3197	3910	3086	3040	915.2	16.8	569	6317	0.00	3.15	0.00	0.000	1030	0.000	0.047	3207	2551	3060	3082	3039	0	0	0	0	0	0	11.17	11.12	11.18
6699	1.32	107.1	3208	2551	3077	3032	846.7	19.4	586	6704	0.00	3.35	0.00	0.000	516	0.000	0.060	3218	1138	3053	3075	3032	0	0	0	0	0	0	11.31	11.12	11.31
6809	1.32	107.1	3218	1140	3075	3032	826.6	19.9	607	6814	0.00	3.40	0.00	0.000	1030	0.000	0.062	3218	2558	3052	3074	3031	0	0	0	0	0	0	11.21	11.13	11.21
7186	1.32	107.1	3216	2558	3074	3030	752.8	19.0	622	7194	0.00	3.33	0.00	0.000	516	0.000	0.057	3229	1135	3051	3073	3030	0	0	0	0	0	0	11.33	11.12	11.33
7215	1.32	107.1	3230	1135	3074	3030	747.4	17.5	627	7222	0.17	3.40	0.00	0.000	5126	0.280	0.061	3203	2554	3051	3073	3030	0	0	0	0	0	0	11.02	11.14	11.21
7581	1.32	107.1	3204	2555	3073	3030	682.0	17.1	646	7581	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2554	3051	3072	3030	0	0	0	0	0	0	11.33	11.34	11.34
7881	1.32	107.1	3204	2555	3073	3030	631.5	16.4	676	7886	0.00	3.35	0.00	0.000	516	0.000	0.057	3214	1140	3050	3072	3029	0	0	0	0	0	0	11.34	11.14	11.35
7927	1.32	107.1	3215	1141	3073	3029	623.8	16.5	685	7938	0.00	3.38	0.00	0.000	1030	0.000	0.061	3214	2554	3050	3071	3029	0	0	0	0	0	0	11.23	11.15	11.24
8234	1.32	107.1	3214	2555	3073	3030	571.2	16.5	716	8239	0.00	3.35	0.00	0.000	516	0.000	0.057	3225	1140	3050	3072	3029	0	0	0	0	0	0	11.35	11.14	11.36
8266	1.32	107.1	3225	1140	3073	3029	565.8	16.9	722	8271	0.00	3.38	0.00	0.000	1030	0.000	0.061	3225	2555	3050	3072	3029	0	0	0	0	0	0	11.23	11.14	11.24
8577	1.32	107.1	3225	2557	3072	3030	510.5	18.1	754	8583	0.00	3.35	0.00	0.000	516	0.000	0.056	3236	1139	3050	3072	3029	0	0	0	0	0	0	11.36	11.14	11.36
8614	1.32	107.1	3236	1139	3073	3030	504.3	16.9	761	8621	0.22	3.38	0.00	0.000	5126	0.288	0.061	3201	2554	3050	3071	3029	0	0	0	0	0	0	11.04	11.16	11.22
8919	1.32	107.1	3202	2554	3073	3029	456.5	15.3	792	8924	0.00	3.33	0.00	0.000	260	0.000	0.085	3201	3912	3050	3071	3029	0	0	0	0	0	0	11.36	11.14	11.35
9018	1.32	107.1	3201	3910	3072	3030	438.9	17.9	811	9024	0.00	3.15	0.00	0.000	1030	0.000	0.046	3211	2535	3050	3072	3029	0	0	0	0	0	0	11.25	11.20	11.26
9160	end climb: SURFACE_OBSTACLE_DETECTED
state	9160	begin subsurface finish
9169	-0.00	-0.4	3210	2546	3073	3029	415.7	15.9	826	9185	2.28	3.38	-7.35	0.023	20740	0.259	0.098	2782	3924	3523	3526	3520	0	0	0	0	1	0	11.05	10.58	11.21
9185	end subsurface finish: CONTROL_FINISHED_OK
state	9185	begin surface