Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 105 * 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 105 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 18 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 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 5 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 20 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 45 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 7 GLIDE_SLOPE 45 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 10

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 20 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 5

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 105 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 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 070218,181632,-7414.5503,-11229.7607,0,4118.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7425.000,-11232.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 397.34 MHEAD_RNG_PITCHd_Wd 129.8,19384,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 3.1 D_GRID 990

GPS2 070218,181632,-7414.5503,-11229.7607,0,4118.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 331.9,1.027405,5 _24V_AH 13.07,49.735

FINISH2 330.5 _10V_AH 12.50,0.000

RAFOS_CLK 381 FG_AHR_24Vo 0.000

RAFOS 0,1518037265,21.032778,21.018055,126,63,61,60,55,53,548,205,160,188,221,174 FG_AHR_10Vo 0.000

RAFOS_FIX -7415.418945,-11230.842773,070218,212144,3,127,0.16 MEM 280100

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 33351,942

TT8_MAMPS 0.041944,0.154294 CAP_FILE_SIZE 116618,0

HUMID 47.51 CFSIZE 1024409600,1007386624

INTERNAL_PRESSURE 7.62882 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.60 INTR 0,9308.42,0x214570,1,24

XPDR_PINGS 1 SOUNDSPEED 1458.9

ALTIM_TOP_PING 339.7,14.6 GPS 070218,211544,-7415.419,-11230.843,0,4126.7,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 270 16.72 nil 0 0 0.00

Roll_motor 99 151 196.59 nil 0 0 0.00

VBD_pump_during_apogee 906 1488 17633.55 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 10655 3 545.35

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 200.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7774 2 224.48

TT8_Active 930 12 142.66

TT8_Sampling 1945 31 771.73

TT8_CF8 85 45 48.15

TT8_Kalman 0 0 0.00

Analog_circuits 1699 10 216.70

GPS_charging 0 0 0.00

Compass 1348 7 126.23

RAFOS 720 1 13.50

Transponder 257 30 96.42

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

994.6 24.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

986.0 20.30 9000.00 0.0 0.00 0.00 20.30 965.7 0.44 1.00

977.5 28.80 9000.00 0.0 -0.28 0.31 28.80 0.0 -1.00 1.00

969.3 21.30 9000.00 0.0 -0.07 0.01 21.30 948.0 0.91 1.00

960.9 17.90 9000.00 0.0 0.66 0.95 17.90 943.0 0.40 1.00

398.4 79.60 9000.00 0.0 -0.11 1.00 79.60 0.0 -0.11 1.00

389.7 70.60 9000.00 0.0 -0.10 0.98 70.60 319.1 1.03 1.00

380.9 61.50 61.50 319.4 1.03 1.00 61.50 319.4 1.03 1.00

372.7 52.60 52.70 320.0 1.06 1.00 52.60 320.1 1.09 1.00

364.5 43.60 43.60 320.9 1.09 1.00 43.60 320.9 1.10 1.00

356.1 33.90 33.90 322.2 1.13 1.00 33.90 322.2 1.15 1.00

347.9 24.30 24.30 323.6 1.17 1.00 24.30 323.6 1.17 1.00

339.7 14.60 14.60 325.1 1.17 1.00 14.60 325.1 1.18 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 2705 2504 2809 2657 0.0 0.0 0 11 0.00 0.00 -1.88 0.050 16390 0.000 0.000 2704 2503 3331 3459 3204 0 0 0 0 0 0 15.08 13.59 15.08

13 -0.94 -146.0 2706 2504 3458 3205 0.0 0.0 0 19 0.93 2.33 0.00 0.000 4356 0.118 0.150 2398 3749 3330 3453 3208 0 0 0 0 0 0 14.81 14.74 14.89

108 -0.94 -146.0 2398 3749 3446 3215 406.4 -10.9 19 115 0.00 2.28 0.00 0.000 1030 0.000 0.097 2398 2487 3327 3445 3210 0 0 0 0 0 0 14.87 14.80 14.90

413 -0.94 -146.0 2398 2487 3444 3216 442.6 -12.1 50 414 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2487 3329 3443 3216 0 0 0 0 0 0 15.09 15.13 15.12

713 -0.94 -146.0 2398 2487 3443 3217 477.7 -11.6 80 719 0.00 2.42 0.00 0.000 260 0.000 0.151 2389 3747 3329 3442 3217 0 0 0 0 0 0 15.10 14.75 15.13

768 -0.94 -146.0 2389 3747 3441 3219 484.3 -12.2 91 775 0.00 2.25 0.00 0.000 1030 0.000 0.096 2389 2495 3329 3439 3219 0 0 0 0 0 0 14.86 14.82 14.88

1073 -0.94 -146.0 2389 2496 3440 3219 520.8 -11.8 122 1074 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2496 3329 3439 3219 0 0 0 0 0 0 15.10 15.13 15.13

1374 -0.94 -146.0 2389 2496 3440 3219 556.6 -11.6 152 1379 0.00 2.38 0.00 0.000 260 0.000 0.150 2380 3757 3329 3439 3219 0 0 0 0 0 0 15.07 14.77 15.09

1438 -0.94 -146.0 2381 3757 3438 3221 564.6 -12.2 165 1447 0.00 2.28 0.00 0.000 1030 0.000 0.097 2380 2493 3328 3437 3220 0 0 0 0 0 0 14.90 14.83 14.94

1743 -0.94 -146.0 2381 2494 3438 3222 601.5 -11.9 196 1744 0.00 0.00 0.00 0.000 6 0.000 0.000 2380 2493 3329 3437 3221 0 0 0 0 0 0 15.11 15.14 15.13

2043 -0.94 -146.0 2381 2494 3438 3222 638.2 -12.1 226 2049 0.00 2.40 0.00 0.000 260 0.000 0.150 2372 3744 3329 3437 3221 0 0 0 0 0 0 15.11 14.73 15.14

2108 -0.94 -146.0 2372 3745 3437 3222 646.6 -12.9 239 2115 0.00 2.25 0.00 0.000 1030 0.000 0.096 2371 2490 3328 3436 3221 0 0 0 0 0 0 14.90 14.83 14.93

2414 -0.94 -146.0 2372 2490 3436 3221 683.7 -11.9 270 2415 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2490 3328 3436 3221 0 0 0 0 0 0 15.08 15.11 15.10

2734 -0.94 -146.0 2372 2491 3437 3222 722.8 -12.2 290 2740 0.00 2.38 0.00 0.000 260 0.000 0.149 2362 3751 3328 3436 3221 0 0 0 0 0 0 15.07 14.77 15.11

2788 -0.94 -146.0 2363 3751 3438 3221 729.7 -13.1 301 2797 0.12 2.28 0.00 0.000 3078 0.251 0.096 2396 2485 3328 3436 3221 0 0 0 0 0 0 14.67 14.83 14.83

3154 -0.94 -146.0 2397 2485 3437 3221 769.6 -10.8 314 3155 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2486 3328 3436 3221 0 0 0 0 0 0 15.12 15.15 15.14

3513 -0.94 -146.0 2400 2486 3437 3221 807.4 -10.5 326 3519 0.00 2.42 0.00 0.000 260 0.000 0.150 2386 3753 3328 3436 3221 0 0 0 0 0 0 15.13 14.76 15.16

3588 -0.94 -146.0 2388 3753 3437 3222 816.1 -11.1 341 3596 0.00 2.25 0.00 0.000 1030 0.000 0.097 2387 2495 3329 3436 3222 0 0 0 0 0 0 14.90 14.83 14.95

3966 -0.94 -146.0 2387 2496 3436 3223 857.0 -10.8 356 3967 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2496 3328 3436 3221 0 0 0 0 0 0 15.09 15.12 15.11

4325 -0.94 -146.0 2387 2496 3436 3223 894.7 -10.5 368 4331 0.00 2.38 0.00 0.000 260 0.000 0.151 2378 3758 3328 3436 3221 0 0 0 0 0 0 15.09 14.78 15.12

4379 -0.94 -146.0 2379 3756 3436 3222 900.6 -11.3 379 4387 0.00 2.28 0.00 0.000 1030 0.000 0.098 2378 2491 3329 3437 3222 0 0 0 0 0 0 14.92 14.84 14.95

4745 -0.94 -146.0 2379 2491 3437 3222 940.2 -10.8 392 4746 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2492 3328 3435 3222 0 0 0 0 0 0 15.14 15.17 15.16

5105 -0.94 -146.0 2386 2492 3436 3223 979.0 -10.7 404 5110 0.00 2.40 0.00 0.000 260 0.000 0.148 2370 3744 3328 3435 3222 0 0 0 0 0 0 15.14 14.76 15.17

5170 -0.94 -146.0 2370 3746 3437 3222 986.3 -11.6 417 5177 0.00 2.25 0.00 0.000 1030 0.000 0.095 2370 2491 3329 3436 3222 0 0 0 0 0 0 14.92 14.85 14.95

5224 end dive: TARGET_DEPTH_EXCEEDED

state 5225 begin apogee

5228 -0.23 0.0 2371 2190 3436 3222 992.6 -9.7 423 5708 0.93 0.00 475.58 1.330 10246 0.239 0.000 2621 2189 2715 2772 2658 0 0 0 0 0 0 14.69 13.70 13.12

5709 end apogee: CONTROL_FINISHED_OK

state 5709 begin climb

5711 0.94 146.0 2621 2190 2770 2658 1002.4 0.0 439 6154 1.30 2.90 430.70 1.489 11012 0.138 0.125 3010 792 2115 2153 2078 0 0 0 0 0 0 13.66 13.57 13.07

6363 0.94 146.0 3010 793 2142 2068 925.0 14.5 568 6370 0.00 2.72 0.00 0.000 1030 0.000 0.112 3010 2200 2103 2140 2066 0 0 0 0 0 0 14.26 14.18 14.29

6738 0.94 146.0 3011 2199 2141 2061 869.9 14.8 583 6744 0.00 2.75 0.00 0.000 260 0.000 0.143 3010 3617 2101 2140 2062 0 0 0 0 0 0 14.80 14.50 14.83

6759 0.94 146.0 3011 3617 2141 2062 866.5 17.6 587 6766 0.00 2.62 0.00 0.000 1030 0.000 0.099 3021 2205 2100 2140 2061 0 0 0 0 0 0 14.62 14.54 14.66

7130 0.94 146.0 3021 2205 2140 2060 809.2 15.4 601 7136 0.00 2.65 0.00 0.000 516 0.000 0.131 3032 776 2099 2139 2059 0 0 0 0 0 0 14.91 14.66 14.94

7160 0.94 146.0 3032 776 2139 2059 804.4 17.5 607 7167 0.10 2.67 0.00 0.000 5126 0.232 0.115 3004 2210 2099 2139 2059 0 0 0 0 0 0 14.58 14.65 14.73

7551 0.94 146.0 3004 2210 2140 2059 749.7 13.9 625 7557 0.00 2.65 0.00 0.000 260 0.000 0.143 3004 3620 2098 2139 2057 0 0 0 0 0 0 14.99 14.72 15.02

7576 0.94 146.0 3004 3620 2140 2057 745.9 15.0 630 7584 0.00 2.60 0.00 0.000 1030 0.000 0.102 3014 2197 2098 2139 2058 0 0 0 0 0 0 14.83 14.75 14.86

7941 0.94 146.0 3012 2197 2140 2057 693.1 14.3 645 7942 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2196 2098 2139 2057 0 0 0 0 0 0 15.06 15.09 15.09

8242 0.94 146.0 3014 2195 2140 2056 650.3 14.4 675 8247 0.00 2.60 0.00 0.000 516 0.000 0.129 3025 783 2097 2138 2056 0 0 0 0 0 0 15.07 14.78 15.10

8281 0.94 146.0 3025 782 2139 2056 644.6 14.1 683 8287 0.00 2.62 0.00 0.000 1030 0.000 0.113 3024 2206 2097 2138 2056 0 0 0 0 0 0 14.87 14.78 14.90

8591 0.94 146.0 3025 2209 2139 2056 599.9 14.3 715 8597 0.00 2.67 0.00 0.000 260 0.000 0.142 3024 3614 2096 2138 2054 0 0 0 0 0 0 15.09 14.75 15.11

8627 0.94 146.0 3025 3614 2139 2054 594.4 15.9 722 8634 0.15 2.55 0.00 0.000 5126 0.271 0.101 3002 2190 2096 2138 2054 0 0 0 0 0 0 14.71 14.82 14.92

8931 0.94 146.0 3003 2186 2139 2053 553.7 13.1 753 8938 0.00 2.62 0.00 0.000 516 0.000 0.129 3012 782 2095 2138 2053 0 0 0 0 0 0 15.09 14.77 15.11

8963 0.94 146.0 3012 782 2139 2053 549.5 13.0 759 8968 0.00 2.60 0.00 0.000 1030 0.000 0.114 3010 2214 2095 2138 2053 0 0 0 0 0 0 14.94 14.81 14.97

9273 0.94 146.0 3012 2214 2139 2052 507.7 13.3 791 9278 0.00 2.62 0.00 0.000 260 0.000 0.145 3012 3616 2094 2137 2052 0 0 0 0 0 0 15.07 14.78 15.09

9302 0.94 146.0 3012 3616 2139 2053 503.3 15.0 797 9309 0.00 2.58 0.00 0.000 1030 0.000 0.102 3022 2200 2095 2138 2052 0 0 0 0 0 0 14.89 14.81 14.94

9613 0.94 146.0 3023 2199 2139 2052 460.3 14.0 829 9614 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2199 2095 2138 2052 0 0 0 0 0 0 15.11 15.14 15.13

9913 0.94 146.0 3023 2199 2140 2052 419.0 13.7 859 9919 0.00 2.65 0.00 0.000 516 0.000 0.129 3033 781 2095 2138 2052 0 0 0 0 0 0 15.11 14.78 15.14

9943 0.94 146.0 3033 781 2138 2052 414.8 13.4 865 9950 0.10 2.62 0.00 0.000 5126 0.232 0.114 3005 2204 2095 2138 2052 0 0 0 0 0 0 14.71 14.80 14.85

10254 0.94 146.0 3005 2204 2138 2052 376.0 12.1 897 10261 0.00 2.67 0.00 0.000 260 0.000 0.144 3005 3614 2094 2137 2051 0 0 0 0 0 0 15.11 14.77 15.14

10295 0.94 146.0 3005 3615 2138 2048 370.7 13.3 905 10302 0.00 2.58 0.00 0.000 1030 0.000 0.102 3014 2198 2095 2138 2052 0 0 0 0 0 0 14.90 14.82 14.94

10606 0.94 146.0 3014 2196 2139 2051 333.9 11.6 937 10613 0.00 2.65 0.00 0.000 516 0.000 0.131 3025 781 2094 2138 2051 0 0 0 0 0 0 15.11 14.78 15.14

10620 end climb: SURFACE_OBSTACLE_DETECTED

state 10620 begin subsurface finish

10626 0.01 4.8 3025 2210 2140 2053 331.9 11.9 940 10640 1.10 2.67 -2.17 0.053 20996 0.214 0.151 2718 788 2713 2825 2602 0 0 0 0 0 0 14.70 13.60 14.85

10640 end subsurface finish: CONTROL_FINISHED_OK

state 10640 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	105	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	18	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	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	5	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	20	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	45	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	070218,181632,-7414.5503,-11229.7607,0,4118.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7425.000,-11232.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	397.34	MHEAD_RNG_PITCHd_Wd	129.8,19384,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	3.1	D_GRID	990
GPS2	070218,181632,-7414.5503,-11229.7607,0,4118.0,0,53.5,0.0,0.0,0,0.0

FINISH1	331.9,1.027405,5	_24V_AH	13.07,49.735
FINISH2	330.5	_10V_AH	12.50,0.000
RAFOS_CLK	381	FG_AHR_24Vo	0.000
RAFOS	0,1518037265,21.032778,21.018055,126,63,61,60,55,53,548,205,160,188,221,174	FG_AHR_10Vo	0.000
RAFOS_FIX	-7415.418945,-11230.842773,070218,212144,3,127,0.16	MEM	280100
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	33351,942
TT8_MAMPS	0.041944,0.154294	CAP_FILE_SIZE	116618,0
HUMID	47.51	CFSIZE	1024409600,1007386624
INTERNAL_PRESSURE	7.62882	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.60	INTR	0,9308.42,0x214570,1,24
XPDR_PINGS	1	SOUNDSPEED	1458.9
ALTIM_TOP_PING	339.7,14.6	GPS	070218,211544,-7415.419,-11230.843,0,4126.7,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	270	16.72	nil	0	0	0.00
Roll_motor	99	151	196.59	nil	0	0	0.00
VBD_pump_during_apogee	906	1488	17633.55	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	10655	3	545.35
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	200.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7774	2	224.48
TT8_Active	930	12	142.66
TT8_Sampling	1945	31	771.73
TT8_CF8	85	45	48.15
TT8_Kalman	0	0	0.00
Analog_circuits	1699	10	216.70
GPS_charging	0	0	0.00
Compass	1348	7	126.23
RAFOS	720	1	13.50
Transponder	257	30	96.42

		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
994.6	24.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

986.0	20.30	9000.00	0.0	0.00	0.00	20.30	965.7	0.44	1.00
977.5	28.80	9000.00	0.0	-0.28	0.31	28.80	0.0	-1.00	1.00
969.3	21.30	9000.00	0.0	-0.07	0.01	21.30	948.0	0.91	1.00
960.9	17.90	9000.00	0.0	0.66	0.95	17.90	943.0	0.40	1.00
398.4	79.60	9000.00	0.0	-0.11	1.00	79.60	0.0	-0.11	1.00
389.7	70.60	9000.00	0.0	-0.10	0.98	70.60	319.1	1.03	1.00
380.9	61.50	61.50	319.4	1.03	1.00	61.50	319.4	1.03	1.00
372.7	52.60	52.70	320.0	1.06	1.00	52.60	320.1	1.09	1.00
364.5	43.60	43.60	320.9	1.09	1.00	43.60	320.9	1.10	1.00
356.1	33.90	33.90	322.2	1.13	1.00	33.90	322.2	1.15	1.00
347.9	24.30	24.30	323.6	1.17	1.00	24.30	323.6	1.17	1.00
339.7	14.60	14.60	325.1	1.17	1.00	14.60	325.1	1.18	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	2705	2504	2809	2657	0.0	0.0	0	11	0.00	0.00	-1.88	0.050	16390	0.000	0.000	2704	2503	3331	3459	3204	0	0	0	0	0	0	15.08	13.59	15.08
13	-0.94	-146.0	2706	2504	3458	3205	0.0	0.0	0	19	0.93	2.33	0.00	0.000	4356	0.118	0.150	2398	3749	3330	3453	3208	0	0	0	0	0	0	14.81	14.74	14.89
108	-0.94	-146.0	2398	3749	3446	3215	406.4	-10.9	19	115	0.00	2.28	0.00	0.000	1030	0.000	0.097	2398	2487	3327	3445	3210	0	0	0	0	0	0	14.87	14.80	14.90
413	-0.94	-146.0	2398	2487	3444	3216	442.6	-12.1	50	414	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2487	3329	3443	3216	0	0	0	0	0	0	15.09	15.13	15.12
713	-0.94	-146.0	2398	2487	3443	3217	477.7	-11.6	80	719	0.00	2.42	0.00	0.000	260	0.000	0.151	2389	3747	3329	3442	3217	0	0	0	0	0	0	15.10	14.75	15.13
768	-0.94	-146.0	2389	3747	3441	3219	484.3	-12.2	91	775	0.00	2.25	0.00	0.000	1030	0.000	0.096	2389	2495	3329	3439	3219	0	0	0	0	0	0	14.86	14.82	14.88
1073	-0.94	-146.0	2389	2496	3440	3219	520.8	-11.8	122	1074	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2496	3329	3439	3219	0	0	0	0	0	0	15.10	15.13	15.13
1374	-0.94	-146.0	2389	2496	3440	3219	556.6	-11.6	152	1379	0.00	2.38	0.00	0.000	260	0.000	0.150	2380	3757	3329	3439	3219	0	0	0	0	0	0	15.07	14.77	15.09
1438	-0.94	-146.0	2381	3757	3438	3221	564.6	-12.2	165	1447	0.00	2.28	0.00	0.000	1030	0.000	0.097	2380	2493	3328	3437	3220	0	0	0	0	0	0	14.90	14.83	14.94
1743	-0.94	-146.0	2381	2494	3438	3222	601.5	-11.9	196	1744	0.00	0.00	0.00	0.000	6	0.000	0.000	2380	2493	3329	3437	3221	0	0	0	0	0	0	15.11	15.14	15.13
2043	-0.94	-146.0	2381	2494	3438	3222	638.2	-12.1	226	2049	0.00	2.40	0.00	0.000	260	0.000	0.150	2372	3744	3329	3437	3221	0	0	0	0	0	0	15.11	14.73	15.14
2108	-0.94	-146.0	2372	3745	3437	3222	646.6	-12.9	239	2115	0.00	2.25	0.00	0.000	1030	0.000	0.096	2371	2490	3328	3436	3221	0	0	0	0	0	0	14.90	14.83	14.93
2414	-0.94	-146.0	2372	2490	3436	3221	683.7	-11.9	270	2415	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2490	3328	3436	3221	0	0	0	0	0	0	15.08	15.11	15.10
2734	-0.94	-146.0	2372	2491	3437	3222	722.8	-12.2	290	2740	0.00	2.38	0.00	0.000	260	0.000	0.149	2362	3751	3328	3436	3221	0	0	0	0	0	0	15.07	14.77	15.11
2788	-0.94	-146.0	2363	3751	3438	3221	729.7	-13.1	301	2797	0.12	2.28	0.00	0.000	3078	0.251	0.096	2396	2485	3328	3436	3221	0	0	0	0	0	0	14.67	14.83	14.83
3154	-0.94	-146.0	2397	2485	3437	3221	769.6	-10.8	314	3155	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2486	3328	3436	3221	0	0	0	0	0	0	15.12	15.15	15.14
3513	-0.94	-146.0	2400	2486	3437	3221	807.4	-10.5	326	3519	0.00	2.42	0.00	0.000	260	0.000	0.150	2386	3753	3328	3436	3221	0	0	0	0	0	0	15.13	14.76	15.16
3588	-0.94	-146.0	2388	3753	3437	3222	816.1	-11.1	341	3596	0.00	2.25	0.00	0.000	1030	0.000	0.097	2387	2495	3329	3436	3222	0	0	0	0	0	0	14.90	14.83	14.95
3966	-0.94	-146.0	2387	2496	3436	3223	857.0	-10.8	356	3967	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2496	3328	3436	3221	0	0	0	0	0	0	15.09	15.12	15.11
4325	-0.94	-146.0	2387	2496	3436	3223	894.7	-10.5	368	4331	0.00	2.38	0.00	0.000	260	0.000	0.151	2378	3758	3328	3436	3221	0	0	0	0	0	0	15.09	14.78	15.12
4379	-0.94	-146.0	2379	3756	3436	3222	900.6	-11.3	379	4387	0.00	2.28	0.00	0.000	1030	0.000	0.098	2378	2491	3329	3437	3222	0	0	0	0	0	0	14.92	14.84	14.95
4745	-0.94	-146.0	2379	2491	3437	3222	940.2	-10.8	392	4746	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2492	3328	3435	3222	0	0	0	0	0	0	15.14	15.17	15.16
5105	-0.94	-146.0	2386	2492	3436	3223	979.0	-10.7	404	5110	0.00	2.40	0.00	0.000	260	0.000	0.148	2370	3744	3328	3435	3222	0	0	0	0	0	0	15.14	14.76	15.17
5170	-0.94	-146.0	2370	3746	3437	3222	986.3	-11.6	417	5177	0.00	2.25	0.00	0.000	1030	0.000	0.095	2370	2491	3329	3436	3222	0	0	0	0	0	0	14.92	14.85	14.95
5224	end dive: TARGET_DEPTH_EXCEEDED
state	5225	begin apogee
5228	-0.23	0.0	2371	2190	3436	3222	992.6	-9.7	423	5708	0.93	0.00	475.58	1.330	10246	0.239	0.000	2621	2189	2715	2772	2658	0	0	0	0	0	0	14.69	13.70	13.12
5709	end apogee: CONTROL_FINISHED_OK
state	5709	begin climb
5711	0.94	146.0	2621	2190	2770	2658	1002.4	0.0	439	6154	1.30	2.90	430.70	1.489	11012	0.138	0.125	3010	792	2115	2153	2078	0	0	0	0	0	0	13.66	13.57	13.07
6363	0.94	146.0	3010	793	2142	2068	925.0	14.5	568	6370	0.00	2.72	0.00	0.000	1030	0.000	0.112	3010	2200	2103	2140	2066	0	0	0	0	0	0	14.26	14.18	14.29
6738	0.94	146.0	3011	2199	2141	2061	869.9	14.8	583	6744	0.00	2.75	0.00	0.000	260	0.000	0.143	3010	3617	2101	2140	2062	0	0	0	0	0	0	14.80	14.50	14.83
6759	0.94	146.0	3011	3617	2141	2062	866.5	17.6	587	6766	0.00	2.62	0.00	0.000	1030	0.000	0.099	3021	2205	2100	2140	2061	0	0	0	0	0	0	14.62	14.54	14.66
7130	0.94	146.0	3021	2205	2140	2060	809.2	15.4	601	7136	0.00	2.65	0.00	0.000	516	0.000	0.131	3032	776	2099	2139	2059	0	0	0	0	0	0	14.91	14.66	14.94
7160	0.94	146.0	3032	776	2139	2059	804.4	17.5	607	7167	0.10	2.67	0.00	0.000	5126	0.232	0.115	3004	2210	2099	2139	2059	0	0	0	0	0	0	14.58	14.65	14.73
7551	0.94	146.0	3004	2210	2140	2059	749.7	13.9	625	7557	0.00	2.65	0.00	0.000	260	0.000	0.143	3004	3620	2098	2139	2057	0	0	0	0	0	0	14.99	14.72	15.02
7576	0.94	146.0	3004	3620	2140	2057	745.9	15.0	630	7584	0.00	2.60	0.00	0.000	1030	0.000	0.102	3014	2197	2098	2139	2058	0	0	0	0	0	0	14.83	14.75	14.86
7941	0.94	146.0	3012	2197	2140	2057	693.1	14.3	645	7942	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2196	2098	2139	2057	0	0	0	0	0	0	15.06	15.09	15.09
8242	0.94	146.0	3014	2195	2140	2056	650.3	14.4	675	8247	0.00	2.60	0.00	0.000	516	0.000	0.129	3025	783	2097	2138	2056	0	0	0	0	0	0	15.07	14.78	15.10
8281	0.94	146.0	3025	782	2139	2056	644.6	14.1	683	8287	0.00	2.62	0.00	0.000	1030	0.000	0.113	3024	2206	2097	2138	2056	0	0	0	0	0	0	14.87	14.78	14.90
8591	0.94	146.0	3025	2209	2139	2056	599.9	14.3	715	8597	0.00	2.67	0.00	0.000	260	0.000	0.142	3024	3614	2096	2138	2054	0	0	0	0	0	0	15.09	14.75	15.11
8627	0.94	146.0	3025	3614	2139	2054	594.4	15.9	722	8634	0.15	2.55	0.00	0.000	5126	0.271	0.101	3002	2190	2096	2138	2054	0	0	0	0	0	0	14.71	14.82	14.92
8931	0.94	146.0	3003	2186	2139	2053	553.7	13.1	753	8938	0.00	2.62	0.00	0.000	516	0.000	0.129	3012	782	2095	2138	2053	0	0	0	0	0	0	15.09	14.77	15.11
8963	0.94	146.0	3012	782	2139	2053	549.5	13.0	759	8968	0.00	2.60	0.00	0.000	1030	0.000	0.114	3010	2214	2095	2138	2053	0	0	0	0	0	0	14.94	14.81	14.97
9273	0.94	146.0	3012	2214	2139	2052	507.7	13.3	791	9278	0.00	2.62	0.00	0.000	260	0.000	0.145	3012	3616	2094	2137	2052	0	0	0	0	0	0	15.07	14.78	15.09
9302	0.94	146.0	3012	3616	2139	2053	503.3	15.0	797	9309	0.00	2.58	0.00	0.000	1030	0.000	0.102	3022	2200	2095	2138	2052	0	0	0	0	0	0	14.89	14.81	14.94
9613	0.94	146.0	3023	2199	2139	2052	460.3	14.0	829	9614	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2199	2095	2138	2052	0	0	0	0	0	0	15.11	15.14	15.13
9913	0.94	146.0	3023	2199	2140	2052	419.0	13.7	859	9919	0.00	2.65	0.00	0.000	516	0.000	0.129	3033	781	2095	2138	2052	0	0	0	0	0	0	15.11	14.78	15.14
9943	0.94	146.0	3033	781	2138	2052	414.8	13.4	865	9950	0.10	2.62	0.00	0.000	5126	0.232	0.114	3005	2204	2095	2138	2052	0	0	0	0	0	0	14.71	14.80	14.85
10254	0.94	146.0	3005	2204	2138	2052	376.0	12.1	897	10261	0.00	2.67	0.00	0.000	260	0.000	0.144	3005	3614	2094	2137	2051	0	0	0	0	0	0	15.11	14.77	15.14
10295	0.94	146.0	3005	3615	2138	2048	370.7	13.3	905	10302	0.00	2.58	0.00	0.000	1030	0.000	0.102	3014	2198	2095	2138	2052	0	0	0	0	0	0	14.90	14.82	14.94
10606	0.94	146.0	3014	2196	2139	2051	333.9	11.6	937	10613	0.00	2.65	0.00	0.000	516	0.000	0.131	3025	781	2094	2138	2051	0	0	0	0	0	0	15.11	14.78	15.14
10620	end climb: SURFACE_OBSTACLE_DETECTED
state	10620	begin subsurface finish
10626	0.01	4.8	3025	2210	2140	2053	331.9	11.9	940	10640	1.10	2.67	-2.17	0.053	20996	0.214	0.151	2718	788	2713	2825	2602	0	0	0	0	0	0	14.70	13.60	14.85
10640	end subsurface finish: CONTROL_FINISHED_OK
state	10640	begin surface