Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 102 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 42 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 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 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 15 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 15 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 30 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 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 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 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 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 15

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 30

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 15

ALTIM_TOP_TURN_MARGIN 10 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 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 223 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 102 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 090218,045937,-7416.6470,-11210.0186,0,1001.0,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7412.500,-11213.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 376.84 MHEAD_RNG_PITCHd_Wd 295.6,7826,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 2.1 D_GRID 990

GPS2 090218,045937,-7416.6470,-11210.0186,0,1001.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 371.4,1.027477,1 ALTIM_BOTTOM_PING 904.8,6.3

FINISH2 370.4 _24V_AH 12.47,48.532

RAFOS_CLK 330 _10V_AH 12.42,0.000

RAFOS 0,1518156075,6.033333,6.020833,91,63,54,53,51,51,478,212,161,133,151,187 FG_AHR_24Vo 0.000

RAFOS_FIX -7417.399414,-11210.290039,090218,060604,2,105,0.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7410.50,-11205.65,080218,140223 MEM 280256

TT8_MAMPS 0.038199,0.287616 DATA_FILE_SIZE 26704,763

HUMID 49.68 CAP_FILE_SIZE 94348,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,1007812608

TCM_TEMP 12.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 SOUNDSPEED 1457.6

ALTIM_TOP_PING 376.9,14.6 GPS 090218,060904,-7417.399,-11210.290,0,3105.0,0,53.4,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 287 15.96 nil 0 0 0.00

Roll_motor 70 158 138.47 nil 0 0 0.00

VBD_pump_during_apogee 621 2154 16688.87 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 9201 7 806.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 154.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6887 2 197.61

TT8_Active 710 13 121.93

TT8_Sampling 1601 34 691.99

TT8_CF8 64 52 42.56

TT8_Kalman 0 0 0.00

Analog_circuits 1290 10 174.65

GPS_charging 0 0 0.00

Compass 1095 7 101.89

RAFOS 720 1 13.41

Transponder 208 30 77.56

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

376.9 7.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

385.6 16.90 9000.00 0.0 0.00 0.00 16.90 0.0 1.03 1.00

393.9 25.10 25.20 0.0 1.01 1.00 25.10 0.0 0.99 1.00

885.9 24.40 9000.00 0.0 0.01 0.19 24.40 910.3 -0.00 1.00

894.1 16.00 9000.00 0.0 -0.01 0.33 16.00 910.1 -1.02 1.00

904.8 6.50 6.30 911.1 -0.94 1.00 6.50 911.3 -0.89 1.00

897.0 24.40 9000.00 0.0 -1.18 0.53 24.40 0.0 -2.29 1.00

454.2 96.20 9000.00 0.0 -0.18 0.97 96.20 0.0 -0.16 1.00

428.6 69.10 9000.00 0.0 -0.13 0.82 69.10 359.5 1.06 1.00

420.0 60.30 60.20 359.8 1.05 1.00 60.30 359.7 1.02 1.00

411.9 51.40 51.60 360.3 1.05 1.00 51.40 360.5 1.10 1.00

402.9 42.00 41.90 361.0 1.08 1.00 42.00 360.9 1.04 1.00

394.0 32.60 32.60 361.4 1.06 1.00 32.60 361.4 1.06 1.00

385.7 23.90 23.90 361.8 1.05 1.00 23.90 361.8 1.05 1.00

376.9 14.60 14.60 362.3 1.05 1.00 14.60 362.3 1.06 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 -0.93 -146.0 2805 2279 2830 2770 0.0 0.0 0 11 0.00 0.00 -2.03 0.046 16390 0.000 0.000 2804 2278 3395 3418 3372 0 0 0 0 0 0 15.09 13.80 15.09

12 -0.93 -146.0 2805 2278 3419 3374 0.0 0.0 0 19 0.93 2.38 0.00 0.000 4612 0.127 0.087 2498 906 3395 3418 3373 0 0 0 0 0 0 14.85 14.84 14.92

83 -0.93 -146.0 2499 907 3419 3374 383.4 -10.8 14 89 0.00 2.50 0.00 0.000 1030 0.000 0.082 2489 2304 3397 3417 3377 0 0 0 0 0 0 14.88 14.81 14.92

393 -0.93 -146.0 2488 2304 3418 3372 420.1 -12.0 46 393 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2304 3394 3418 3371 0 0 0 0 0 0 15.10 15.13 15.12

693 -0.93 -146.0 2488 2304 3417 3371 456.3 -11.8 76 693 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2303 3394 3418 3370 0 0 0 0 0 0 15.10 15.13 15.13

993 -0.93 -146.0 2488 2304 3418 3370 492.2 -11.9 106 993 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2303 3394 3418 3370 0 0 0 0 0 0 15.10 15.14 15.13

1293 -0.93 -146.0 2488 2304 3418 3370 528.2 -12.0 136 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2304 3393 3418 3369 0 0 0 0 0 0 15.07 15.11 15.10

1593 -0.93 -146.0 2490 2304 3420 3369 563.3 -11.7 166 1593 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2304 3394 3420 3368 0 0 0 0 0 0 15.11 15.14 15.14

1893 -0.93 -146.0 2490 2304 3420 3368 597.8 -11.7 196 1899 0.00 2.53 0.00 0.000 516 0.000 0.086 2489 901 3393 3418 3368 0 0 0 0 0 0 15.11 14.81 15.14

1933 -0.93 -146.0 2488 902 3418 3368 602.6 -11.8 204 1939 0.00 2.53 0.00 0.000 1030 0.000 0.078 2479 2313 3392 3418 3367 0 0 0 0 0 0 14.88 14.81 14.91

2243 -0.93 -146.0 2478 2313 3418 3368 639.1 -11.9 236 2243 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2312 3393 3418 3368 0 0 0 0 0 0 15.10 15.14 15.13

2543 -0.93 -146.0 2480 2310 3420 3368 674.8 -11.7 266 2543 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2313 3393 3418 3368 0 0 0 0 0 0 15.11 15.13 15.13

2863 -0.93 -146.0 2478 2313 3418 3368 711.1 -11.3 292 2863 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2313 3393 3418 3368 0 0 0 0 0 0 15.11 15.14 15.14

3223 -0.93 -146.0 2478 2313 3418 3369 752.7 -11.5 304 3223 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2313 3392 3418 3367 0 0 0 0 0 0 15.12 15.15 15.14

3584 -0.93 -146.0 2480 2314 3420 3369 793.2 -11.4 316 3589 0.00 2.50 0.00 0.000 516 0.000 0.086 2478 900 3392 3418 3367 0 0 0 0 0 0 15.12 14.85 15.15

3623 -0.93 -146.0 2479 900 3419 3368 797.8 -11.5 324 3629 0.00 2.47 0.00 0.000 1030 0.000 0.081 2476 2305 3392 3418 3367 0 0 0 0 0 0 14.98 14.88 15.01

4003 -0.93 -146.0 2476 2306 3418 3368 840.2 -11.5 340 4009 0.00 2.58 0.00 0.000 260 0.000 0.113 2471 3711 3392 3418 3367 0 0 0 0 0 0 15.12 14.81 15.14

4073 -0.93 -146.0 2470 3711 3418 3368 848.7 -12.0 354 4079 0.00 2.40 0.00 0.000 1030 0.000 0.050 2470 2301 3392 3418 3367 0 0 0 0 0 0 14.93 14.87 14.96

4453 -0.93 -146.0 2472 2302 3418 3368 892.5 -11.2 370 4459 0.12 2.53 0.00 0.000 2564 0.288 0.086 2497 899 3392 3418 3367 0 0 0 0 0 0 14.76 14.81 14.95

4483 -0.93 -146.0 2497 900 3420 3368 895.8 -12.2 376 4489 0.00 2.53 0.00 0.000 1030 0.000 0.080 2489 2306 3392 3418 3367 0 0 0 0 0 0 14.88 14.83 14.92

4573 end dive: BOTTOM_OBSTACLE_DETECTED

state 4573 begin apogee

4577 -0.23 0.0 2489 2067 3418 3368 904.8 -10.1 384 4829 0.85 0.10 244.55 2.154 10246 0.224 0.158 2727 2125 2782 2819 2746 0 0 0 0 1 0 14.76 13.44 12.47

4830 end apogee: CONTROL_FINISHED_OK

state 4830 begin climb

4832 0.93 146.0 2729 2126 2822 2747 908.8 0.0 392 5215 1.27 0.00 376.70 1.498 10758 0.134 0.000 3095 2126 2187 2230 2145 0 0 0 0 0 0 13.46 13.48 12.93

5563 0.93 146.0 3097 2126 2216 2132 828.7 12.7 427 5569 0.00 2.62 0.00 0.000 260 0.000 0.099 3094 3504 2173 2215 2131 0 0 0 0 0 0 14.50 14.27 14.53

5613 0.93 146.0 3097 3508 2216 2132 821.7 14.1 437 5620 0.00 2.47 0.00 0.000 1030 0.000 0.051 3106 2112 2173 2215 2131 0 0 0 0 0 0 14.41 14.36 14.44

5985 0.93 146.0 3106 2111 2212 2131 775.0 12.4 451 5990 0.00 2.55 0.00 0.000 260 0.000 0.100 3106 3508 2171 2212 2130 0 0 0 0 0 0 14.82 14.59 14.85

6009 0.93 146.0 3108 3511 2214 2131 771.5 13.8 456 6017 0.00 2.47 0.00 0.000 1030 0.000 0.054 3116 2091 2171 2212 2131 0 0 0 0 0 0 14.68 14.63 14.71

6376 0.93 146.0 3116 2092 2209 2131 724.0 13.0 469 6376 0.00 0.00 0.00 0.000 6 0.000 0.000 3116 2091 2170 2210 2130 0 0 0 0 0 0 14.92 14.95 14.94

6734 0.93 146.0 3117 2092 2210 2131 676.2 13.5 491 6740 0.00 2.60 0.00 0.000 260 0.000 0.102 3116 3507 2169 2208 2130 0 0 0 0 0 0 15.02 14.76 15.04

6779 0.93 146.0 3117 3506 2210 2131 669.5 15.0 500 6786 0.00 2.42 0.00 0.000 1030 0.000 0.053 3126 2096 2169 2208 2130 0 0 0 0 0 0 14.85 14.81 14.88

7084 0.93 146.0 3126 2096 2208 2131 627.2 14.0 531 7085 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2095 2169 2208 2130 0 0 0 0 0 0 15.04 15.07 15.07

7384 0.93 146.0 3127 2096 2205 2130 587.1 13.1 561 7391 0.00 2.58 0.00 0.000 260 0.000 0.101 3127 3504 2168 2207 2130 0 0 0 0 0 0 15.07 14.81 15.09

7420 0.93 146.0 3127 3505 2210 2130 581.9 14.6 568 7429 0.12 2.42 0.00 0.000 5126 0.259 0.053 3102 2095 2168 2207 2130 0 0 0 0 0 0 14.73 14.85 14.85

7725 0.93 146.0 3101 2096 2207 2131 545.4 11.7 599 7731 0.00 2.58 0.00 0.000 260 0.000 0.099 3101 3507 2168 2207 2129 0 0 0 0 0 0 15.07 14.80 15.10

7760 0.93 146.0 3103 3508 2209 2130 540.9 13.1 606 7767 0.00 2.42 0.00 0.000 1030 0.000 0.053 3110 2094 2168 2207 2129 0 0 0 0 0 0 14.92 14.86 14.95

8065 0.93 146.0 3112 2095 2208 2130 503.6 12.5 637 8066 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2094 2167 2206 2129 0 0 0 0 0 0 15.08 15.10 15.11

8365 0.93 146.0 3112 2095 2208 2130 467.1 12.2 667 8371 0.00 2.53 0.00 0.000 260 0.000 0.100 3110 3504 2167 2205 2129 0 0 0 0 0 0 15.09 14.83 15.11

8395 0.93 146.0 3110 3505 2206 2129 463.2 13.5 673 8403 0.00 2.40 0.00 0.000 1030 0.000 0.052 3121 2099 2167 2206 2129 0 0 0 0 0 0 14.88 14.85 14.94

8707 0.93 146.0 3122 2100 2207 2130 425.0 12.0 705 8714 0.00 2.55 0.00 0.000 516 0.000 0.102 3130 703 2167 2205 2129 0 0 0 0 0 0 15.10 14.84 15.12

8733 0.93 146.0 3130 701 2204 2129 421.8 12.1 710 8741 0.10 2.45 0.00 0.000 5126 0.255 0.070 3101 2100 2167 2205 2129 0 0 0 0 0 0 14.76 14.87 14.88

9038 0.93 146.0 3102 2101 2207 2129 387.6 10.8 741 9045 0.00 2.55 0.00 0.000 260 0.000 0.101 3101 3510 2166 2205 2128 0 0 0 0 0 0 15.10 14.85 15.13

9094 0.93 146.0 3100 3509 2204 2130 380.9 12.2 752 9101 0.00 2.42 0.00 0.000 1030 0.000 0.053 3110 2094 2167 2205 2129 0 0 0 0 0 0 14.94 14.89 14.97

9178 end climb: SURFACE_OBSTACLE_DETECTED

state 9178 begin subsurface finish

9181 0.00 1.2 3111 2095 2207 2129 371.4 11.1 761 9193 1.05 2.58 -2.20 0.054 20996 0.216 0.127 2809 688 2796 2828 2764 0 0 0 0 0 0 14.76 13.81 14.91

9193 end subsurface finish: CONTROL_FINISHED_OK

state 9193 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	102	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	42	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	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	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	15	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	15	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	30	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	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	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	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	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	090218,045937,-7416.6470,-11210.0186,0,1001.0,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7412.500,-11213.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	376.84	MHEAD_RNG_PITCHd_Wd	295.6,7826,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	2.1	D_GRID	990
GPS2	090218,045937,-7416.6470,-11210.0186,0,1001.0,0,53.4,0.0,0.0,0,0.0

FINISH1	371.4,1.027477,1	ALTIM_BOTTOM_PING	904.8,6.3
FINISH2	370.4	_24V_AH	12.47,48.532
RAFOS_CLK	330	_10V_AH	12.42,0.000
RAFOS	0,1518156075,6.033333,6.020833,91,63,54,53,51,51,478,212,161,133,151,187	FG_AHR_24Vo	0.000
RAFOS_FIX	-7417.399414,-11210.290039,090218,060604,2,105,0.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7410.50,-11205.65,080218,140223	MEM	280256
TT8_MAMPS	0.038199,0.287616	DATA_FILE_SIZE	26704,763
HUMID	49.68	CAP_FILE_SIZE	94348,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,1007812608
TCM_TEMP	12.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	SOUNDSPEED	1457.6
ALTIM_TOP_PING	376.9,14.6	GPS	090218,060904,-7417.399,-11210.290,0,3105.0,0,53.4,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	287	15.96	nil	0	0	0.00
Roll_motor	70	158	138.47	nil	0	0	0.00
VBD_pump_during_apogee	621	2154	16688.87	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	9201	7	806.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	154.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6887	2	197.61
TT8_Active	710	13	121.93
TT8_Sampling	1601	34	691.99
TT8_CF8	64	52	42.56
TT8_Kalman	0	0	0.00
Analog_circuits	1290	10	174.65
GPS_charging	0	0	0.00
Compass	1095	7	101.89
RAFOS	720	1	13.41
Transponder	208	30	77.56

		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
376.9	7.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
385.6	16.90	9000.00	0.0	0.00	0.00	16.90	0.0	1.03	1.00
393.9	25.10	25.20	0.0	1.01	1.00	25.10	0.0	0.99	1.00
885.9	24.40	9000.00	0.0	0.01	0.19	24.40	910.3	-0.00	1.00
894.1	16.00	9000.00	0.0	-0.01	0.33	16.00	910.1	-1.02	1.00
904.8	6.50	6.30	911.1	-0.94	1.00	6.50	911.3	-0.89	1.00

897.0	24.40	9000.00	0.0	-1.18	0.53	24.40	0.0	-2.29	1.00
454.2	96.20	9000.00	0.0	-0.18	0.97	96.20	0.0	-0.16	1.00
428.6	69.10	9000.00	0.0	-0.13	0.82	69.10	359.5	1.06	1.00
420.0	60.30	60.20	359.8	1.05	1.00	60.30	359.7	1.02	1.00
411.9	51.40	51.60	360.3	1.05	1.00	51.40	360.5	1.10	1.00
402.9	42.00	41.90	361.0	1.08	1.00	42.00	360.9	1.04	1.00
394.0	32.60	32.60	361.4	1.06	1.00	32.60	361.4	1.06	1.00
385.7	23.90	23.90	361.8	1.05	1.00	23.90	361.8	1.05	1.00
376.9	14.60	14.60	362.3	1.05	1.00	14.60	362.3	1.06	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	-0.93	-146.0	2805	2279	2830	2770	0.0	0.0	0	11	0.00	0.00	-2.03	0.046	16390	0.000	0.000	2804	2278	3395	3418	3372	0	0	0	0	0	0	15.09	13.80	15.09
12	-0.93	-146.0	2805	2278	3419	3374	0.0	0.0	0	19	0.93	2.38	0.00	0.000	4612	0.127	0.087	2498	906	3395	3418	3373	0	0	0	0	0	0	14.85	14.84	14.92
83	-0.93	-146.0	2499	907	3419	3374	383.4	-10.8	14	89	0.00	2.50	0.00	0.000	1030	0.000	0.082	2489	2304	3397	3417	3377	0	0	0	0	0	0	14.88	14.81	14.92
393	-0.93	-146.0	2488	2304	3418	3372	420.1	-12.0	46	393	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2304	3394	3418	3371	0	0	0	0	0	0	15.10	15.13	15.12
693	-0.93	-146.0	2488	2304	3417	3371	456.3	-11.8	76	693	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2303	3394	3418	3370	0	0	0	0	0	0	15.10	15.13	15.13
993	-0.93	-146.0	2488	2304	3418	3370	492.2	-11.9	106	993	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2303	3394	3418	3370	0	0	0	0	0	0	15.10	15.14	15.13
1293	-0.93	-146.0	2488	2304	3418	3370	528.2	-12.0	136	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2304	3393	3418	3369	0	0	0	0	0	0	15.07	15.11	15.10
1593	-0.93	-146.0	2490	2304	3420	3369	563.3	-11.7	166	1593	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2304	3394	3420	3368	0	0	0	0	0	0	15.11	15.14	15.14
1893	-0.93	-146.0	2490	2304	3420	3368	597.8	-11.7	196	1899	0.00	2.53	0.00	0.000	516	0.000	0.086	2489	901	3393	3418	3368	0	0	0	0	0	0	15.11	14.81	15.14
1933	-0.93	-146.0	2488	902	3418	3368	602.6	-11.8	204	1939	0.00	2.53	0.00	0.000	1030	0.000	0.078	2479	2313	3392	3418	3367	0	0	0	0	0	0	14.88	14.81	14.91
2243	-0.93	-146.0	2478	2313	3418	3368	639.1	-11.9	236	2243	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2312	3393	3418	3368	0	0	0	0	0	0	15.10	15.14	15.13
2543	-0.93	-146.0	2480	2310	3420	3368	674.8	-11.7	266	2543	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2313	3393	3418	3368	0	0	0	0	0	0	15.11	15.13	15.13
2863	-0.93	-146.0	2478	2313	3418	3368	711.1	-11.3	292	2863	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2313	3393	3418	3368	0	0	0	0	0	0	15.11	15.14	15.14
3223	-0.93	-146.0	2478	2313	3418	3369	752.7	-11.5	304	3223	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2313	3392	3418	3367	0	0	0	0	0	0	15.12	15.15	15.14
3584	-0.93	-146.0	2480	2314	3420	3369	793.2	-11.4	316	3589	0.00	2.50	0.00	0.000	516	0.000	0.086	2478	900	3392	3418	3367	0	0	0	0	0	0	15.12	14.85	15.15
3623	-0.93	-146.0	2479	900	3419	3368	797.8	-11.5	324	3629	0.00	2.47	0.00	0.000	1030	0.000	0.081	2476	2305	3392	3418	3367	0	0	0	0	0	0	14.98	14.88	15.01
4003	-0.93	-146.0	2476	2306	3418	3368	840.2	-11.5	340	4009	0.00	2.58	0.00	0.000	260	0.000	0.113	2471	3711	3392	3418	3367	0	0	0	0	0	0	15.12	14.81	15.14
4073	-0.93	-146.0	2470	3711	3418	3368	848.7	-12.0	354	4079	0.00	2.40	0.00	0.000	1030	0.000	0.050	2470	2301	3392	3418	3367	0	0	0	0	0	0	14.93	14.87	14.96
4453	-0.93	-146.0	2472	2302	3418	3368	892.5	-11.2	370	4459	0.12	2.53	0.00	0.000	2564	0.288	0.086	2497	899	3392	3418	3367	0	0	0	0	0	0	14.76	14.81	14.95
4483	-0.93	-146.0	2497	900	3420	3368	895.8	-12.2	376	4489	0.00	2.53	0.00	0.000	1030	0.000	0.080	2489	2306	3392	3418	3367	0	0	0	0	0	0	14.88	14.83	14.92
4573	end dive: BOTTOM_OBSTACLE_DETECTED
state	4573	begin apogee
4577	-0.23	0.0	2489	2067	3418	3368	904.8	-10.1	384	4829	0.85	0.10	244.55	2.154	10246	0.224	0.158	2727	2125	2782	2819	2746	0	0	0	0	1	0	14.76	13.44	12.47
4830	end apogee: CONTROL_FINISHED_OK
state	4830	begin climb
4832	0.93	146.0	2729	2126	2822	2747	908.8	0.0	392	5215	1.27	0.00	376.70	1.498	10758	0.134	0.000	3095	2126	2187	2230	2145	0	0	0	0	0	0	13.46	13.48	12.93
5563	0.93	146.0	3097	2126	2216	2132	828.7	12.7	427	5569	0.00	2.62	0.00	0.000	260	0.000	0.099	3094	3504	2173	2215	2131	0	0	0	0	0	0	14.50	14.27	14.53
5613	0.93	146.0	3097	3508	2216	2132	821.7	14.1	437	5620	0.00	2.47	0.00	0.000	1030	0.000	0.051	3106	2112	2173	2215	2131	0	0	0	0	0	0	14.41	14.36	14.44
5985	0.93	146.0	3106	2111	2212	2131	775.0	12.4	451	5990	0.00	2.55	0.00	0.000	260	0.000	0.100	3106	3508	2171	2212	2130	0	0	0	0	0	0	14.82	14.59	14.85
6009	0.93	146.0	3108	3511	2214	2131	771.5	13.8	456	6017	0.00	2.47	0.00	0.000	1030	0.000	0.054	3116	2091	2171	2212	2131	0	0	0	0	0	0	14.68	14.63	14.71
6376	0.93	146.0	3116	2092	2209	2131	724.0	13.0	469	6376	0.00	0.00	0.00	0.000	6	0.000	0.000	3116	2091	2170	2210	2130	0	0	0	0	0	0	14.92	14.95	14.94
6734	0.93	146.0	3117	2092	2210	2131	676.2	13.5	491	6740	0.00	2.60	0.00	0.000	260	0.000	0.102	3116	3507	2169	2208	2130	0	0	0	0	0	0	15.02	14.76	15.04
6779	0.93	146.0	3117	3506	2210	2131	669.5	15.0	500	6786	0.00	2.42	0.00	0.000	1030	0.000	0.053	3126	2096	2169	2208	2130	0	0	0	0	0	0	14.85	14.81	14.88
7084	0.93	146.0	3126	2096	2208	2131	627.2	14.0	531	7085	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2095	2169	2208	2130	0	0	0	0	0	0	15.04	15.07	15.07
7384	0.93	146.0	3127	2096	2205	2130	587.1	13.1	561	7391	0.00	2.58	0.00	0.000	260	0.000	0.101	3127	3504	2168	2207	2130	0	0	0	0	0	0	15.07	14.81	15.09
7420	0.93	146.0	3127	3505	2210	2130	581.9	14.6	568	7429	0.12	2.42	0.00	0.000	5126	0.259	0.053	3102	2095	2168	2207	2130	0	0	0	0	0	0	14.73	14.85	14.85
7725	0.93	146.0	3101	2096	2207	2131	545.4	11.7	599	7731	0.00	2.58	0.00	0.000	260	0.000	0.099	3101	3507	2168	2207	2129	0	0	0	0	0	0	15.07	14.80	15.10
7760	0.93	146.0	3103	3508	2209	2130	540.9	13.1	606	7767	0.00	2.42	0.00	0.000	1030	0.000	0.053	3110	2094	2168	2207	2129	0	0	0	0	0	0	14.92	14.86	14.95
8065	0.93	146.0	3112	2095	2208	2130	503.6	12.5	637	8066	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2094	2167	2206	2129	0	0	0	0	0	0	15.08	15.10	15.11
8365	0.93	146.0	3112	2095	2208	2130	467.1	12.2	667	8371	0.00	2.53	0.00	0.000	260	0.000	0.100	3110	3504	2167	2205	2129	0	0	0	0	0	0	15.09	14.83	15.11
8395	0.93	146.0	3110	3505	2206	2129	463.2	13.5	673	8403	0.00	2.40	0.00	0.000	1030	0.000	0.052	3121	2099	2167	2206	2129	0	0	0	0	0	0	14.88	14.85	14.94
8707	0.93	146.0	3122	2100	2207	2130	425.0	12.0	705	8714	0.00	2.55	0.00	0.000	516	0.000	0.102	3130	703	2167	2205	2129	0	0	0	0	0	0	15.10	14.84	15.12
8733	0.93	146.0	3130	701	2204	2129	421.8	12.1	710	8741	0.10	2.45	0.00	0.000	5126	0.255	0.070	3101	2100	2167	2205	2129	0	0	0	0	0	0	14.76	14.87	14.88
9038	0.93	146.0	3102	2101	2207	2129	387.6	10.8	741	9045	0.00	2.55	0.00	0.000	260	0.000	0.101	3101	3510	2166	2205	2128	0	0	0	0	0	0	15.10	14.85	15.13
9094	0.93	146.0	3100	3509	2204	2130	380.9	12.2	752	9101	0.00	2.42	0.00	0.000	1030	0.000	0.053	3110	2094	2167	2205	2129	0	0	0	0	0	0	14.94	14.89	14.97
9178	end climb: SURFACE_OBSTACLE_DETECTED
state	9178	begin subsurface finish
9181	0.00	1.2	3111	2095	2207	2129	371.4	11.1	761	9193	1.05	2.58	-2.20	0.054	20996	0.216	0.127	2809	688	2796	2828	2764	0	0	0	0	0	0	14.76	13.81	14.91
9193	end subsurface finish: CONTROL_FINISHED_OK
state	9193	begin surface