Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 908 * 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 908 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 8 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 908 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 8 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 220119,211544,-7438.7251,-11157.3789,0,4132.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideC2

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 416.02 MHEAD_RNG_PITCHd_Wd 221.3,16066,-19.3,-9.429,-21.50,1737

_SM_ANGLEo 4.8 D_GRID 990

GPS2 220119,211544,-7438.7251,-11157.3789,0,4132.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 422.1,1.027472,1 _24V_AH 9.95,291.811

FINISH2 420.5 _10V_AH 10.20,0.000

RAFOS_CLK 408 FG_AHR_24Vo 0.000

RAFOS 0,1548201664,0.032355,0.017778,111,65,60,58,53,51,689,192,216,149,165,118 FG_AHR_10Vo 0.000

RAFOS_FIX -7438.754883,-11153.102539,230119,000056,3,138,0.20 MEM 278824

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 30067,846

TT8_MAMPS 0.045689,0.241178 CAP_FILE_SIZE 103864,0

HUMID 51.53 CFSIZE 1024409600,911212544

INTERNAL_PRESSURE 7.92918 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.30 SOUNDSPEED 1455.6

XPDR_PINGS 0 GPS 230119,001456,-7438.755,-11153.103,0,4138.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 427.8,12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 232 14.06 nil 0 0 0.00

Roll_motor 88 85 75.36 nil 0 0 0.00

VBD_pump_during_apogee 363 3099 11202.88 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 9927 6 672.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 34 420 142.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7526 2 177.35

TT8_Active 410 10 45.57

TT8_Sampling 1774 30 549.41

TT8_CF8 315 51 165.14

TT8_Kalman 0 0 0.00

Analog_circuits 1051 10 108.35

GPS_charging 0 0 0.00

Compass 1213 6 83.39

RAFOS 720 1 11.02

Transponder 251 30 76.98

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

429.3 20.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

435.8 26.80 9000.00 0.0 0.00 0.00 26.80 0.0 0.94 1.00

441.9 32.40 32.40 0.0 0.93 1.00 32.40 0.0 0.92 1.00

486.8 69.50 69.60 0.0 0.83 1.00 69.50 0.0 0.83 1.00

831.4 47.80 9000.00 0.0 0.00 0.00 47.80 879.2 -0.06 1.00

845.4 32.30 9000.00 0.0 -0.09 0.85 32.30 877.7 -1.11 1.00

853.3 19.70 9000.00 0.0 -1.26 0.99 19.70 873.0 -1.59 1.00

859.3 11.70 9000.00 0.0 -1.49 1.00 11.70 871.0 -1.33 1.00

869.1 28.90 9000.00 0.0 0.70 0.42 28.90 840.2 1.76 1.00

862.4 20.30 9000.00 0.0 1.67 0.96 20.30 842.1 1.28 1.00

853.3 29.30 9000.00 0.0 -0.08 0.02 29.30 0.0 -0.99 1.00

459.6 43.90 9000.00 0.0 -0.05 0.87 43.90 0.0 -0.04 1.00

453.1 37.30 9000.00 0.0 -0.03 0.78 37.30 415.8 1.02 1.00

447.0 31.10 31.10 415.9 1.02 1.00 31.10 415.9 1.02 1.00

440.9 25.00 25.00 415.9 1.01 1.00 25.00 415.9 1.00 1.00

434.9 19.10 19.00 415.9 1.00 1.00 19.10 415.8 0.98 1.00

427.8 11.90 12.00 415.8 0.99 1.00 11.90 415.9 1.01 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 -1.01 -107.1 2782 2796 3539 3534 0.0 0.0 0 14 0.00 0.00 -1.60 0.046 16390 0.000 0.000 2782 2794 3935 3928 3942 0 0 0 0 0 0 11.35 10.59 11.33

18 -1.01 -107.1 2783 2794 3935 3951 0.0 0.0 0 25 1.40 2.70 0.00 0.000 4356 0.131 0.085 2455 3915 3944 3936 3952 0 0 0 0 0 0 11.12 11.15 11.19

96 -1.01 -107.1 2456 3914 3946 3957 421.8 -7.8 15 102 0.00 2.55 0.00 0.000 1030 0.000 0.044 2455 2795 3950 3944 3957 0 0 0 0 0 0 11.25 11.20 11.26

401 -1.01 -107.1 2456 2795 3951 3960 447.1 -8.9 46 406 0.00 3.25 0.00 0.000 516 0.000 0.046 2455 1384 3955 3950 3960 0 0 0 0 0 0 11.36 11.17 11.36

526 -1.01 -107.1 2456 1384 3951 3960 457.6 -8.5 70 532 0.00 3.42 0.00 0.000 1030 0.000 0.061 2455 2811 3955 3951 3960 0 0 0 0 0 0 11.22 11.15 11.24

838 -1.01 -107.1 2455 2812 3952 3961 483.7 -8.1 102 843 0.00 3.30 0.00 0.000 516 0.000 0.046 2455 1393 3956 3951 3961 0 0 0 0 0 0 11.36 11.17 11.36

890 -1.01 -107.1 2455 1393 3953 3961 488.0 -8.4 112 895 0.00 3.40 0.00 0.000 1030 0.000 0.061 2453 2812 3956 3951 3961 0 0 0 0 0 0 11.24 11.17 11.26

1203 -1.01 -107.1 2453 2813 3952 3962 511.9 -7.8 144 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2812 3956 3951 3961 0 0 0 0 0 0 11.35 11.36 11.36

1502 -1.01 -107.1 2454 2812 3953 3961 535.1 -7.6 174 1503 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2812 3956 3951 3961 0 0 0 0 0 0 11.36 11.37 11.37

1802 -1.01 -107.1 2453 2813 3952 3962 558.8 -7.4 204 1803 0.00 0.00 0.00 0.000 38 0.000 0.000 2453 2812 3956 3951 3961 0 0 0 0 0 0 11.36 11.36 11.36

2103 -1.01 -107.1 2454 2812 3953 3960 581.6 -8.0 234 2104 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2812 3956 3951 3961 0 0 0 0 0 0 11.36 11.36 11.36

2402 -1.01 -107.1 2453 2815 3952 3961 605.9 -8.0 264 2407 0.00 3.33 0.00 0.000 516 0.000 0.045 2453 1385 3955 3951 3960 0 0 0 0 0 0 11.37 11.17 11.36

2438 -1.01 -107.1 2454 1385 3952 3961 608.8 -7.9 271 2445 0.00 3.40 0.00 0.000 1030 0.000 0.062 2453 2806 3956 3951 3961 0 0 0 0 0 0 11.25 11.17 11.26

2744 -1.01 -107.1 2452 2805 3953 3960 632.1 -7.8 302 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2805 3956 3951 3961 0 0 0 0 0 0 11.36 11.36 11.36

3043 -1.01 -107.1 2454 2806 3952 3961 656.4 -8.1 332 3044 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2805 3956 3951 3961 0 0 0 0 0 0 11.37 11.37 11.37

3343 -1.01 -107.1 2453 2805 3953 3960 681.8 -8.6 362 3344 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2805 3956 3951 3961 0 0 0 0 0 0 11.37 11.37 11.36

3644 -1.01 -107.1 2453 2806 3953 3961 708.4 -8.7 386 3644 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2805 3956 3951 3961 0 0 0 0 0 0 11.37 11.37 11.37

4004 -1.01 -107.1 2453 2805 3953 3960 739.4 -8.4 398 4009 0.00 2.67 0.00 0.000 260 0.000 0.084 2449 3912 3955 3951 3960 0 0 0 0 0 0 11.38 11.17 11.38

4035 -1.01 -107.1 2450 3911 3953 3960 742.2 -9.1 404 4040 0.00 2.53 0.00 0.000 1030 0.000 0.045 2450 2796 3955 3951 3960 0 0 0 0 0 0 11.26 11.21 11.27

4430 -1.01 -107.1 2450 2800 3951 3960 771.4 -7.0 422 4435 0.00 3.25 0.00 0.000 548 0.000 0.046 2450 1389 3955 3951 3960 0 0 0 0 0 0 11.36 11.19 11.36

4472 -1.01 -107.1 2449 1391 3952 3961 774.3 -7.0 430 4477 0.00 3.40 0.00 0.000 1062 0.000 0.061 2449 2812 3955 3951 3960 0 0 0 0 0 0 11.25 11.17 11.26

4858 -1.01 -107.1 2448 2813 3951 3960 799.0 -6.1 446 4858 0.00 0.00 0.00 0.000 38 0.000 0.000 2449 2812 3955 3951 3960 0 0 0 0 0 0 11.36 11.37 11.37

5214 -1.01 -107.1 2450 2812 3953 3960 820.8 -6.3 458 5219 0.00 2.65 0.00 0.000 292 0.000 0.083 2441 3914 3955 3951 3959 0 0 0 0 0 0 11.38 11.17 11.38

5281 -1.01 -107.1 2441 3914 3953 3958 825.2 -7.1 471 5286 0.00 2.53 0.00 0.000 1062 0.000 0.045 2441 2803 3955 3951 3959 0 0 0 0 0 0 11.26 11.21 11.27

5667 -1.01 -107.1 2442 2803 3953 3959 856.4 -9.2 488 5673 0.00 3.28 0.00 0.000 516 0.000 0.045 2441 1384 3955 3951 3959 0 0 0 0 0 0 11.38 11.19 11.38

5729 -1.01 -107.1 2441 1385 3952 3960 862.1 -9.1 500 5734 0.00 3.40 0.00 0.000 1030 0.000 0.062 2441 2806 3955 3951 3959 0 0 0 0 0 0 11.25 11.18 11.26

6117 end dive: NO_VERTICAL_VELOCITY

state 6121 begin apogee

6129 -0.23 0.0 2440 2539 3952 3960 875.4 0.0 518 6324 1.17 0.00 192.18 3.100 10246 0.151 0.000 2699 2538 3494 3502 3486 0 0 0 0 0 0 11.13 10.98 9.95

6325 end apogee: CONTROL_FINISHED_OK

state 6325 begin climb

6329 1.01 107.1 2701 2538 3502 3485 875.4 0.0 524 6508 1.62 0.00 171.05 3.059 10758 0.104 0.000 3092 2538 3064 3083 3045 0 0 0 0 0 0 11.05 10.97 9.96

6886 1.01 107.1 3092 2539 3074 3036 815.3 13.2 572 6891 0.00 3.40 0.00 0.000 260 0.000 0.084 3092 3911 3054 3074 3035 0 0 0 0 0 0 11.31 11.11 11.31

6912 1.01 107.1 3092 3912 3075 3035 811.2 15.2 577 6920 0.00 3.15 0.00 0.000 1030 0.000 0.047 3102 2542 3054 3074 3035 0 0 0 0 0 0 11.21 11.17 11.23

7281 1.01 107.1 3102 2543 3071 3034 758.4 14.4 590 7286 0.00 3.38 0.00 0.000 260 0.000 0.086 3102 3910 3052 3072 3032 0 0 0 0 0 0 11.33 11.12 11.33

7323 1.01 107.1 3103 3910 3073 3032 751.6 15.9 598 7328 0.00 3.15 0.00 0.000 1030 0.000 0.046 3113 2539 3052 3071 3033 0 0 0 0 0 0 11.22 11.19 11.24

7705 1.01 107.1 3114 2539 3070 3031 696.4 14.1 614 7706 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2539 3051 3071 3032 0 0 0 0 0 0 11.34 11.34 11.34

8004 1.01 107.1 3113 2540 3071 3032 656.1 13.1 644 8010 0.00 3.40 0.00 0.000 260 0.000 0.086 3113 3918 3050 3070 3031 0 0 0 0 0 0 11.35 11.13 11.35

8051 1.01 107.1 3113 3919 3071 3032 649.1 15.4 653 8058 0.00 3.15 0.00 0.000 1030 0.000 0.047 3124 2547 3050 3070 3031 0 0 0 0 0 0 11.24 11.19 11.25

8356 1.01 107.1 3124 2548 3071 3033 606.9 13.9 684 8362 0.00 3.25 0.00 0.000 516 0.000 0.058 3134 1141 3050 3070 3031 0 0 0 0 0 0 11.35 11.12 11.34

8394 1.01 107.1 3134 1142 3071 3033 601.9 13.3 691 8401 0.17 3.38 0.00 0.000 5126 0.233 0.060 3105 2556 3050 3070 3031 0 0 0 0 0 0 11.07 11.15 11.22

8699 1.01 107.1 3105 2557 3071 3032 565.2 11.2 722 8700 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2556 3050 3070 3031 0 0 0 0 0 0 11.36 11.36 11.36

8999 1.01 107.1 3105 2557 3071 3032 531.2 12.3 752 9000 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2556 3050 3070 3031 0 0 0 0 0 0 11.36 11.36 11.36

9299 1.01 107.1 3105 2556 3071 3031 495.0 12.1 782 9304 0.00 3.33 0.00 0.000 260 0.000 0.086 3105 3910 3050 3070 3031 0 0 0 0 0 0 11.37 11.14 11.36

9336 1.01 107.1 3105 3910 3071 3030 490.0 14.0 789 9343 0.00 3.12 0.00 0.000 1030 0.000 0.047 3115 2549 3050 3070 3031 0 0 0 0 0 0 11.25 11.20 11.26

9641 1.01 107.1 3116 2550 3071 3031 450.7 12.0 820 9642 0.00 0.00 0.00 0.000 6 0.000 0.000 3116 2549 3050 3070 3031 0 0 0 0 0 0 11.36 11.36 11.36

9877 end climb: SURFACE_OBSTACLE_DETECTED

state 9877 begin subsurface finish

9886 0.00 1.4 3116 2551 3070 3032 422.1 11.3 844 9899 1.70 3.38 -1.75 0.051 20996 0.230 0.070 2788 1146 3524 3528 3520 0 0 0 0 0 0 11.07 10.59 11.18

9900 end subsurface finish: CONTROL_FINISHED_OK

state 9900 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	908	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	8	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	220119,211544,-7438.7251,-11157.3789,0,4132.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideC2
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	416.02	MHEAD_RNG_PITCHd_Wd	221.3,16066,-19.3,-9.429,-21.50,1737
_SM_ANGLEo	4.8	D_GRID	990
GPS2	220119,211544,-7438.7251,-11157.3789,0,4132.7,0,53.5,0.0,0.0,0,0.0

FINISH1	422.1,1.027472,1	_24V_AH	9.95,291.811
FINISH2	420.5	_10V_AH	10.20,0.000
RAFOS_CLK	408	FG_AHR_24Vo	0.000
RAFOS	0,1548201664,0.032355,0.017778,111,65,60,58,53,51,689,192,216,149,165,118	FG_AHR_10Vo	0.000
RAFOS_FIX	-7438.754883,-11153.102539,230119,000056,3,138,0.20	MEM	278824
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	30067,846
TT8_MAMPS	0.045689,0.241178	CAP_FILE_SIZE	103864,0
HUMID	51.53	CFSIZE	1024409600,911212544
INTERNAL_PRESSURE	7.92918	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.30	SOUNDSPEED	1455.6
XPDR_PINGS	0	GPS	230119,001456,-7438.755,-11153.103,0,4138.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	427.8,12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	232	14.06	nil	0	0	0.00
Roll_motor	88	85	75.36	nil	0	0	0.00
VBD_pump_during_apogee	363	3099	11202.88	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	9927	6	672.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	34	420	142.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7526	2	177.35
TT8_Active	410	10	45.57
TT8_Sampling	1774	30	549.41
TT8_CF8	315	51	165.14
TT8_Kalman	0	0	0.00
Analog_circuits	1051	10	108.35
GPS_charging	0	0	0.00
Compass	1213	6	83.39
RAFOS	720	1	11.02
Transponder	251	30	76.98

		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
429.3	20.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
435.8	26.80	9000.00	0.0	0.00	0.00	26.80	0.0	0.94	1.00
441.9	32.40	32.40	0.0	0.93	1.00	32.40	0.0	0.92	1.00
486.8	69.50	69.60	0.0	0.83	1.00	69.50	0.0	0.83	1.00
831.4	47.80	9000.00	0.0	0.00	0.00	47.80	879.2	-0.06	1.00
845.4	32.30	9000.00	0.0	-0.09	0.85	32.30	877.7	-1.11	1.00
853.3	19.70	9000.00	0.0	-1.26	0.99	19.70	873.0	-1.59	1.00
859.3	11.70	9000.00	0.0	-1.49	1.00	11.70	871.0	-1.33	1.00

869.1	28.90	9000.00	0.0	0.70	0.42	28.90	840.2	1.76	1.00
862.4	20.30	9000.00	0.0	1.67	0.96	20.30	842.1	1.28	1.00
853.3	29.30	9000.00	0.0	-0.08	0.02	29.30	0.0	-0.99	1.00
459.6	43.90	9000.00	0.0	-0.05	0.87	43.90	0.0	-0.04	1.00
453.1	37.30	9000.00	0.0	-0.03	0.78	37.30	415.8	1.02	1.00
447.0	31.10	31.10	415.9	1.02	1.00	31.10	415.9	1.02	1.00
440.9	25.00	25.00	415.9	1.01	1.00	25.00	415.9	1.00	1.00
434.9	19.10	19.00	415.9	1.00	1.00	19.10	415.8	0.98	1.00
427.8	11.90	12.00	415.8	0.99	1.00	11.90	415.9	1.01	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	-1.01	-107.1	2782	2796	3539	3534	0.0	0.0	0	14	0.00	0.00	-1.60	0.046	16390	0.000	0.000	2782	2794	3935	3928	3942	0	0	0	0	0	0	11.35	10.59	11.33
18	-1.01	-107.1	2783	2794	3935	3951	0.0	0.0	0	25	1.40	2.70	0.00	0.000	4356	0.131	0.085	2455	3915	3944	3936	3952	0	0	0	0	0	0	11.12	11.15	11.19
96	-1.01	-107.1	2456	3914	3946	3957	421.8	-7.8	15	102	0.00	2.55	0.00	0.000	1030	0.000	0.044	2455	2795	3950	3944	3957	0	0	0	0	0	0	11.25	11.20	11.26
401	-1.01	-107.1	2456	2795	3951	3960	447.1	-8.9	46	406	0.00	3.25	0.00	0.000	516	0.000	0.046	2455	1384	3955	3950	3960	0	0	0	0	0	0	11.36	11.17	11.36
526	-1.01	-107.1	2456	1384	3951	3960	457.6	-8.5	70	532	0.00	3.42	0.00	0.000	1030	0.000	0.061	2455	2811	3955	3951	3960	0	0	0	0	0	0	11.22	11.15	11.24
838	-1.01	-107.1	2455	2812	3952	3961	483.7	-8.1	102	843	0.00	3.30	0.00	0.000	516	0.000	0.046	2455	1393	3956	3951	3961	0	0	0	0	0	0	11.36	11.17	11.36
890	-1.01	-107.1	2455	1393	3953	3961	488.0	-8.4	112	895	0.00	3.40	0.00	0.000	1030	0.000	0.061	2453	2812	3956	3951	3961	0	0	0	0	0	0	11.24	11.17	11.26
1203	-1.01	-107.1	2453	2813	3952	3962	511.9	-7.8	144	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2812	3956	3951	3961	0	0	0	0	0	0	11.35	11.36	11.36
1502	-1.01	-107.1	2454	2812	3953	3961	535.1	-7.6	174	1503	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2812	3956	3951	3961	0	0	0	0	0	0	11.36	11.37	11.37
1802	-1.01	-107.1	2453	2813	3952	3962	558.8	-7.4	204	1803	0.00	0.00	0.00	0.000	38	0.000	0.000	2453	2812	3956	3951	3961	0	0	0	0	0	0	11.36	11.36	11.36
2103	-1.01	-107.1	2454	2812	3953	3960	581.6	-8.0	234	2104	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2812	3956	3951	3961	0	0	0	0	0	0	11.36	11.36	11.36
2402	-1.01	-107.1	2453	2815	3952	3961	605.9	-8.0	264	2407	0.00	3.33	0.00	0.000	516	0.000	0.045	2453	1385	3955	3951	3960	0	0	0	0	0	0	11.37	11.17	11.36
2438	-1.01	-107.1	2454	1385	3952	3961	608.8	-7.9	271	2445	0.00	3.40	0.00	0.000	1030	0.000	0.062	2453	2806	3956	3951	3961	0	0	0	0	0	0	11.25	11.17	11.26
2744	-1.01	-107.1	2452	2805	3953	3960	632.1	-7.8	302	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2805	3956	3951	3961	0	0	0	0	0	0	11.36	11.36	11.36
3043	-1.01	-107.1	2454	2806	3952	3961	656.4	-8.1	332	3044	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2805	3956	3951	3961	0	0	0	0	0	0	11.37	11.37	11.37
3343	-1.01	-107.1	2453	2805	3953	3960	681.8	-8.6	362	3344	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2805	3956	3951	3961	0	0	0	0	0	0	11.37	11.37	11.36
3644	-1.01	-107.1	2453	2806	3953	3961	708.4	-8.7	386	3644	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2805	3956	3951	3961	0	0	0	0	0	0	11.37	11.37	11.37
4004	-1.01	-107.1	2453	2805	3953	3960	739.4	-8.4	398	4009	0.00	2.67	0.00	0.000	260	0.000	0.084	2449	3912	3955	3951	3960	0	0	0	0	0	0	11.38	11.17	11.38
4035	-1.01	-107.1	2450	3911	3953	3960	742.2	-9.1	404	4040	0.00	2.53	0.00	0.000	1030	0.000	0.045	2450	2796	3955	3951	3960	0	0	0	0	0	0	11.26	11.21	11.27
4430	-1.01	-107.1	2450	2800	3951	3960	771.4	-7.0	422	4435	0.00	3.25	0.00	0.000	548	0.000	0.046	2450	1389	3955	3951	3960	0	0	0	0	0	0	11.36	11.19	11.36
4472	-1.01	-107.1	2449	1391	3952	3961	774.3	-7.0	430	4477	0.00	3.40	0.00	0.000	1062	0.000	0.061	2449	2812	3955	3951	3960	0	0	0	0	0	0	11.25	11.17	11.26
4858	-1.01	-107.1	2448	2813	3951	3960	799.0	-6.1	446	4858	0.00	0.00	0.00	0.000	38	0.000	0.000	2449	2812	3955	3951	3960	0	0	0	0	0	0	11.36	11.37	11.37
5214	-1.01	-107.1	2450	2812	3953	3960	820.8	-6.3	458	5219	0.00	2.65	0.00	0.000	292	0.000	0.083	2441	3914	3955	3951	3959	0	0	0	0	0	0	11.38	11.17	11.38
5281	-1.01	-107.1	2441	3914	3953	3958	825.2	-7.1	471	5286	0.00	2.53	0.00	0.000	1062	0.000	0.045	2441	2803	3955	3951	3959	0	0	0	0	0	0	11.26	11.21	11.27
5667	-1.01	-107.1	2442	2803	3953	3959	856.4	-9.2	488	5673	0.00	3.28	0.00	0.000	516	0.000	0.045	2441	1384	3955	3951	3959	0	0	0	0	0	0	11.38	11.19	11.38
5729	-1.01	-107.1	2441	1385	3952	3960	862.1	-9.1	500	5734	0.00	3.40	0.00	0.000	1030	0.000	0.062	2441	2806	3955	3951	3959	0	0	0	0	0	0	11.25	11.18	11.26
6117	end dive: NO_VERTICAL_VELOCITY
state	6121	begin apogee
6129	-0.23	0.0	2440	2539	3952	3960	875.4	0.0	518	6324	1.17	0.00	192.18	3.100	10246	0.151	0.000	2699	2538	3494	3502	3486	0	0	0	0	0	0	11.13	10.98	9.95
6325	end apogee: CONTROL_FINISHED_OK
state	6325	begin climb
6329	1.01	107.1	2701	2538	3502	3485	875.4	0.0	524	6508	1.62	0.00	171.05	3.059	10758	0.104	0.000	3092	2538	3064	3083	3045	0	0	0	0	0	0	11.05	10.97	9.96
6886	1.01	107.1	3092	2539	3074	3036	815.3	13.2	572	6891	0.00	3.40	0.00	0.000	260	0.000	0.084	3092	3911	3054	3074	3035	0	0	0	0	0	0	11.31	11.11	11.31
6912	1.01	107.1	3092	3912	3075	3035	811.2	15.2	577	6920	0.00	3.15	0.00	0.000	1030	0.000	0.047	3102	2542	3054	3074	3035	0	0	0	0	0	0	11.21	11.17	11.23
7281	1.01	107.1	3102	2543	3071	3034	758.4	14.4	590	7286	0.00	3.38	0.00	0.000	260	0.000	0.086	3102	3910	3052	3072	3032	0	0	0	0	0	0	11.33	11.12	11.33
7323	1.01	107.1	3103	3910	3073	3032	751.6	15.9	598	7328	0.00	3.15	0.00	0.000	1030	0.000	0.046	3113	2539	3052	3071	3033	0	0	0	0	0	0	11.22	11.19	11.24
7705	1.01	107.1	3114	2539	3070	3031	696.4	14.1	614	7706	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2539	3051	3071	3032	0	0	0	0	0	0	11.34	11.34	11.34
8004	1.01	107.1	3113	2540	3071	3032	656.1	13.1	644	8010	0.00	3.40	0.00	0.000	260	0.000	0.086	3113	3918	3050	3070	3031	0	0	0	0	0	0	11.35	11.13	11.35
8051	1.01	107.1	3113	3919	3071	3032	649.1	15.4	653	8058	0.00	3.15	0.00	0.000	1030	0.000	0.047	3124	2547	3050	3070	3031	0	0	0	0	0	0	11.24	11.19	11.25
8356	1.01	107.1	3124	2548	3071	3033	606.9	13.9	684	8362	0.00	3.25	0.00	0.000	516	0.000	0.058	3134	1141	3050	3070	3031	0	0	0	0	0	0	11.35	11.12	11.34
8394	1.01	107.1	3134	1142	3071	3033	601.9	13.3	691	8401	0.17	3.38	0.00	0.000	5126	0.233	0.060	3105	2556	3050	3070	3031	0	0	0	0	0	0	11.07	11.15	11.22
8699	1.01	107.1	3105	2557	3071	3032	565.2	11.2	722	8700	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2556	3050	3070	3031	0	0	0	0	0	0	11.36	11.36	11.36
8999	1.01	107.1	3105	2557	3071	3032	531.2	12.3	752	9000	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2556	3050	3070	3031	0	0	0	0	0	0	11.36	11.36	11.36
9299	1.01	107.1	3105	2556	3071	3031	495.0	12.1	782	9304	0.00	3.33	0.00	0.000	260	0.000	0.086	3105	3910	3050	3070	3031	0	0	0	0	0	0	11.37	11.14	11.36
9336	1.01	107.1	3105	3910	3071	3030	490.0	14.0	789	9343	0.00	3.12	0.00	0.000	1030	0.000	0.047	3115	2549	3050	3070	3031	0	0	0	0	0	0	11.25	11.20	11.26
9641	1.01	107.1	3116	2550	3071	3031	450.7	12.0	820	9642	0.00	0.00	0.00	0.000	6	0.000	0.000	3116	2549	3050	3070	3031	0	0	0	0	0	0	11.36	11.36	11.36
9877	end climb: SURFACE_OBSTACLE_DETECTED
state	9877	begin subsurface finish
9886	0.00	1.4	3116	2551	3070	3032	422.1	11.3	844	9899	1.70	3.38	-1.75	0.051	20996	0.230	0.070	2788	1146	3524	3528	3520	0	0	0	0	0	0	11.07	10.59	11.18
9900	end subsurface finish: CONTROL_FINISHED_OK
state	9900	begin surface