Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 108 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 108 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 21 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 300 R_STBD_OVSHOOT 17 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 21 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 17 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 108 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 281214,000821,6619.838,-5649.975,25,1.2,41,-31.8 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.98 MHEAD_RNG_PITCHd_Wd 31.1,80058,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -58.6 D_GRID 579

GPS2 281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

Post-dive calculations and measurements:

FINISH1 16.1,1.026500,49 _24V_AH 13.43,24.625

FINISH2 13.9 _10V_AH 13.68,0.000

RAFOS_CLK 1624 FG_AHR_24Vo 0.000

RAFOS 0,1419724863,0.033333,0.017500,61,61,57,57,55,54,152,206,170,222,187,132 FG_AHR_10Vo 0.000

RAFOS_FIX 6539.356934,-5649.023926,251214,202028,2,92,5.40 MEM 271000

IRIDIUM_FIX 6548.42,-5649.81,271214,204939 DATA_FILE_SIZE 23384,690

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 117927,1

HUMID 45.74 CFSIZE 260034560,245166080

INTERNAL_PRESSURE 8.64514 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 14.80 INTR 1,11542.76,0x23769e,5,5

XPDR_PINGS 1 SOUNDSPEED 1471.1

ALTIM_TOP_PING 19.4,7.8 CURRENT 62.471,358.10,1

SC_FREEKB 7735360 GPS 281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 456 85.87 nil 0 0 0.00

Roll_motor 84 148 168.77 nil 0 0 0.00

VBD_pump_during_apogee 319 1371 5892.48 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 11566 6 1067.13

Iridium_during_xfer 219 157 463.50 nil 0 0 0.00

Transponder_ping 0 420 2.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 30 5.30

TT8 1607 11 252.31

LPSleep 8359 2 264.17

TT8_Active 499 11 78.41

TT8_Sampling 1324 30 560.78

TT8_CF8 125 36 62.09

TT8_Kalman 0 0 0.00

Analog_circuits 1295 11 194.94

GPS_charging 0 0 0.00

Compass 1029 6 84.52

RAFOS 1800 1 36.94

Transponder 2 30 1.08

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.60 -146.0 199 2560 1722 1712 0.0 0.0 0 113 0.00 0.00 -92.50 0.000 16386 0.000 0.000 197 2560 3361 3338 3385 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.60 -146.0 197 2560 3338 3385 3.6 -3.1 9 139 9.90 2.58 -5.40 0.000 18948 0.457 0.132 2197 1139 3550 3544 3557 0 0 0 0 0 0 14.36 14.52 14.73

276 -1.55 -146.0 2197 1139 3549 3557 22.4 -10.7 40 282 0.00 2.55 0.00 0.000 1030 0.000 0.120 2190 2556 3552 3549 3556 0 0 0 0 0 0 28.83 14.55 28.83

600 -1.53 -146.0 2190 2556 3549 3557 59.7 -12.1 58 606 0.12 2.42 0.00 0.000 2308 0.330 0.143 2208 3843 3553 3549 3557 0 0 0 0 0 0 14.53 14.59 28.83

652 -1.53 -146.0 2212 3843 3549 3557 66.2 -12.1 68 658 0.00 2.20 0.00 0.000 1030 0.000 0.062 2211 2539 3553 3549 3557 0 0 0 0 0 0 28.83 14.65 28.83

965 -1.53 -146.0 2212 2539 3549 3555 99.3 -9.7 85 971 0.00 2.40 0.00 0.000 516 0.000 0.102 2212 1147 3551 3549 3554 0 0 0 0 0 0 28.83 14.66 28.83

1013 -1.53 -146.0 2211 1147 3548 3554 104.0 -9.1 94 1019 0.00 2.50 0.00 0.000 1030 0.000 0.119 2204 2549 3552 3556 3549 0 0 0 0 0 0 28.83 14.66 28.83

1331 -1.53 -146.0 2203 2549 3549 3553 136.7 -10.9 112 1336 0.00 2.42 0.00 0.000 516 0.000 0.105 2204 1152 3551 3549 3553 0 0 0 0 0 0 28.83 14.68 28.83

1402 -1.53 -146.0 2204 1152 3549 3552 144.7 -10.9 126 1408 0.00 2.50 0.00 0.000 1030 0.000 0.122 2197 2550 3550 3549 3552 0 0 0 0 0 0 28.83 14.67 28.83

1715 -1.53 -146.0 2197 2550 3549 3551 175.3 -9.9 143 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2550 3550 3549 3551 0 0 0 0 0 0 28.83 28.83 28.83

2016 -1.53 -146.0 2197 2550 3549 3551 203.4 -9.7 158 2022 0.00 2.42 0.00 0.000 516 0.000 0.107 2197 1153 3549 3549 3550 0 0 0 0 0 0 28.83 14.71 28.83

2080 -1.53 -146.0 2197 1153 3549 3550 209.8 -10.0 170 2086 0.10 2.50 0.00 0.000 3078 0.327 0.125 2212 2550 3549 3549 3550 0 0 0 0 0 0 14.62 14.70 28.83

2403 -1.55 -146.0 2212 2550 3549 3550 236.6 -8.4 189 2404 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2551 3549 3549 3550 0 0 0 0 0 0 28.83 28.83 28.83

2704 -1.55 -146.0 2212 2551 3548 3550 260.9 -7.9 202 2705 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2551 3550 3549 3551 0 0 0 0 0 0 28.83 28.83 28.83

3004 -1.58 -146.0 2212 2550 3549 3550 284.4 -7.8 212 3005 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2547 3549 3549 3550 0 0 0 0 0 0 28.83 28.83 28.83

3304 -1.60 -146.0 2212 2551 3550 3551 306.2 -7.1 222 3310 0.00 2.42 0.00 0.000 516 0.000 0.108 2212 1150 3550 3550 3551 0 0 0 0 0 0 28.83 14.76 28.83

3398 -1.62 -146.0 2212 1150 3550 3551 313.3 -7.8 240 3403 0.00 2.50 0.00 0.000 1030 0.000 0.125 2205 2550 3550 3550 3551 0 0 0 0 0 0 28.83 14.75 28.83

3732 -1.62 -146.0 2205 2552 3551 3551 338.6 -7.6 256 3737 0.00 2.42 0.00 0.000 516 0.000 0.109 2205 1150 3551 3551 3551 0 0 0 0 0 0 28.83 14.75 28.83

3819 -1.62 -146.0 2205 1152 3551 3551 345.6 -7.6 273 3826 0.00 2.50 0.00 0.000 1030 0.000 0.126 2198 2551 3551 3551 3552 0 0 0 0 0 0 28.83 14.73 28.83

4125 -1.62 -146.0 2198 2551 3552 3552 369.7 -8.0 284 4126 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2551 3551 3550 3552 0 0 0 0 0 0 28.83 28.83 28.83

4425 -1.62 -146.0 2198 2551 3552 3552 394.5 -8.3 294 4426 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2551 3552 3552 3552 0 0 0 0 0 0 28.83 28.83 28.83

4725 -1.62 -146.0 2198 2551 3552 3552 419.0 -8.1 304 4731 0.00 2.45 0.00 0.000 516 0.000 0.112 2198 1143 3552 3551 3553 0 0 0 0 0 0 28.83 14.78 28.83

4822 -1.62 -146.0 2198 1143 3551 3553 427.1 -7.8 323 4828 0.00 2.55 0.00 0.000 1030 0.000 0.130 2191 2550 3552 3552 3553 0 0 0 0 0 0 28.83 14.77 28.83

5151 -1.62 -146.0 2191 2551 3551 3553 453.6 -8.0 338 5153 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2551 3552 3552 3553 0 0 0 0 0 0 28.83 28.83 28.83

5450 -1.62 -146.0 2191 2550 3552 3553 478.6 -8.2 348 5455 0.00 2.45 0.00 0.000 516 0.000 0.116 2191 1145 3552 3551 3553 0 0 0 0 0 0 28.83 14.78 28.83

5513 -1.62 -146.0 2191 1145 3551 3554 483.8 -8.7 360 5519 0.00 2.53 0.00 0.000 1030 0.000 0.131 2184 2551 3553 3553 3553 0 0 0 0 0 0 28.83 14.77 28.83

5847 -1.62 -146.0 2185 2551 3552 3554 513.1 -8.6 376 5848 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2551 3552 3551 3554 0 0 0 0 0 0 28.83 28.83 28.83

6147 -1.62 -146.0 2184 2550 3552 3554 537.2 -7.5 386 6152 0.00 2.45 0.00 0.000 516 0.000 0.116 2184 1147 3553 3552 3554 0 0 0 0 0 0 28.83 14.79 28.83

6234 -1.62 -146.0 2185 1147 3552 3554 544.0 -7.5 403 6241 0.00 2.53 0.00 0.000 1030 0.000 0.132 2177 2551 3553 3552 3554 0 0 0 0 0 0 28.83 14.78 28.83

6542 -1.62 -146.0 2177 2551 3551 3554 567.1 -7.5 414 6543 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2551 3553 3552 3554 0 0 0 0 0 0 28.83 28.83 28.83

6718 end dive: TARGET_DEPTH_EXCEEDED

state 6718 begin apogee

6723 -0.38 0.0 2178 2402 3552 3554 581.4 -7.9 420 6883 1.00 0.00 155.95 1.372 10246 0.246 0.000 2460 2401 2950 2970 2930 0 0 0 0 0 0 14.71 28.83 13.54

6884 end apogee: CONTROL_FINISHED_OK

state 6885 begin climb

6887 1.60 146.0 2461 2401 2962 2922 583.5 0.0 425 7050 1.42 0.00 157.35 1.297 10758 0.152 0.000 2904 2402 2349 2395 2303 0 0 0 0 0 0 14.01 28.83 13.43

7350 1.60 146.0 2897 2402 2375 2284 526.8 13.8 446 7351 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2402 2331 2379 2283 0 0 0 0 0 0 28.83 28.83 28.83

7650 1.60 146.0 2898 2402 2379 2281 486.0 13.3 456 7656 0.00 2.70 0.00 0.000 260 0.000 0.148 2898 3812 2329 2378 2281 0 0 0 0 0 0 28.83 14.48 28.83

7692 1.55 146.0 2898 3812 2374 2284 480.0 14.2 464 7697 0.00 2.47 0.00 0.000 1030 0.000 0.081 2907 2400 2329 2375 2284 0 0 0 0 0 0 28.83 14.53 28.83

8016 1.53 146.0 2906 2400 2375 2282 435.8 13.6 478 8018 0.12 0.00 0.00 0.000 4102 0.304 0.000 2880 2400 2328 2375 2282 0 0 0 0 0 0 14.53 28.83 28.83

8315 1.53 146.0 2880 2401 2375 2281 398.2 12.5 488 8316 0.00 0.00 0.00 0.000 6 0.000 0.000 2879 2401 2328 2376 2281 0 0 0 0 0 0 28.83 28.83 28.83

8615 1.53 146.0 2880 2400 2375 2281 360.8 12.3 498 8616 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2401 2328 2376 2281 0 0 0 0 0 0 28.83 28.83 28.83

8914 1.53 146.0 2880 2400 2376 2280 324.6 11.9 508 8915 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2401 2328 2376 2281 0 0 0 0 0 0 28.83 28.83 28.83

9214 1.53 146.0 2879 2400 2375 2280 288.0 12.0 518 9221 0.00 2.47 0.00 0.000 516 0.000 0.120 2888 992 2327 2375 2280 0 0 0 0 0 0 28.83 14.72 28.83

9267 1.53 146.0 2888 992 2373 2281 281.5 12.2 528 9273 0.00 2.50 0.00 0.000 1030 0.000 0.119 2888 2401 2327 2373 2281 0 0 0 0 0 0 28.83 14.70 28.83

9590 1.53 146.0 2888 2401 2373 2282 243.3 12.0 541 9596 0.00 2.62 0.00 0.000 260 0.000 0.146 2888 3809 2329 2376 2282 0 0 0 0 0 0 28.83 14.71 28.83

9638 1.50 146.0 2888 3809 2372 2282 236.7 13.6 550 9645 0.10 2.42 0.00 0.000 5126 0.320 0.081 2878 2399 2327 2373 2282 0 0 0 0 0 0 14.66 14.76 28.83

9957 1.50 146.0 2878 2399 2373 2282 198.1 12.2 568 9962 0.00 2.45 0.00 0.000 516 0.000 0.112 2887 993 2327 2373 2281 0 0 0 0 0 0 28.83 14.72 28.83

9994 1.50 146.0 2887 993 2372 2282 193.4 12.9 575 10001 0.00 2.50 0.00 0.000 1030 0.000 0.118 2887 2408 2327 2372 2282 0 0 0 0 0 0 28.83 14.73 28.83

10300 1.50 146.0 2887 2408 2372 2282 155.9 11.7 591 10305 0.00 2.62 0.00 0.000 260 0.000 0.145 2888 3810 2327 2372 2282 0 0 0 0 0 0 28.83 14.73 28.83

10352 1.47 146.0 2887 3810 2372 2282 149.2 13.0 601 10358 0.12 2.42 0.00 0.000 5126 0.304 0.080 2870 2398 2327 2372 2282 0 0 0 0 0 0 14.67 14.76 28.83

10666 1.50 146.0 2870 2398 2372 2282 113.9 11.6 618 10672 0.00 2.45 0.00 0.000 516 0.000 0.112 2879 993 2327 2372 2282 0 0 0 0 0 0 28.83 14.73 28.83

10719 1.53 146.0 2879 993 2373 2279 107.6 10.8 628 10725 0.00 2.50 0.00 0.000 1030 0.000 0.117 2879 2400 2327 2372 2283 0 0 0 0 0 0 28.83 14.73 28.83

11032 1.55 146.0 2879 2399 2372 2282 75.4 10.6 645 11033 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2399 2327 2372 2282 0 0 0 0 0 0 28.83 28.83 28.83

11334 1.59 159.9 2878 2400 2372 2283 43.2 9.4 660 11344 0.00 2.47 4.95 0.232 8708 0.000 0.113 2888 993 2300 2341 2260 0 0 0 0 0 0 28.83 14.73 14.64

11418 1.62 159.9 2888 993 2342 2276 32.8 12.3 676 11428 0.00 2.50 1.62 0.198 9222 0.000 0.119 2888 2401 2299 2336 2263 0 0 0 0 0 0 28.83 14.73 14.71

11539 end climb: SURFACE_OBSTACLE_DETECTED

state 11540 begin subsurface finish

11545 0.06 49.3 2888 2401 2342 2277 16.1 14.8 688 11560 1.10 0.00 -9.57 0.000 20486 0.241 0.000 2568 2401 2753 2770 2736 0 0 0 0 0 0 14.70 28.83 14.95

11561 end subsurface finish: CONTROL_FINISHED_OK

state 11562 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	108	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	21	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	300	R_STBD_OVSHOOT	17	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	281214,000821,6619.838,-5649.975,25,1.2,41,-31.8	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.98	MHEAD_RNG_PITCHd_Wd	31.1,80058,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-58.6	D_GRID	579
GPS2	281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

FINISH1	16.1,1.026500,49	_24V_AH	13.43,24.625
FINISH2	13.9	_10V_AH	13.68,0.000
RAFOS_CLK	1624	FG_AHR_24Vo	0.000
RAFOS	0,1419724863,0.033333,0.017500,61,61,57,57,55,54,152,206,170,222,187,132	FG_AHR_10Vo	0.000
RAFOS_FIX	6539.356934,-5649.023926,251214,202028,2,92,5.40	MEM	271000
IRIDIUM_FIX	6548.42,-5649.81,271214,204939	DATA_FILE_SIZE	23384,690
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	117927,1
HUMID	45.74	CFSIZE	260034560,245166080
INTERNAL_PRESSURE	8.64514	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	14.80	INTR	1,11542.76,0x23769e,5,5
XPDR_PINGS	1	SOUNDSPEED	1471.1
ALTIM_TOP_PING	19.4,7.8	CURRENT	62.471,358.10,1
SC_FREEKB	7735360	GPS	281214,001404,6619.780,-5650.049,5,0.9,5,-31.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	456	85.87	nil	0	0	0.00
Roll_motor	84	148	168.77	nil	0	0	0.00
VBD_pump_during_apogee	319	1371	5892.48	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	11566	6	1067.13
Iridium_during_xfer	219	157	463.50	nil	0	0	0.00
Transponder_ping	0	420	2.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	30	5.30
TT8	1607	11	252.31
LPSleep	8359	2	264.17
TT8_Active	499	11	78.41
TT8_Sampling	1324	30	560.78
TT8_CF8	125	36	62.09
TT8_Kalman	0	0	0.00
Analog_circuits	1295	11	194.94
GPS_charging	0	0	0.00
Compass	1029	6	84.52
RAFOS	1800	1	36.94
Transponder	2	30	1.08

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.60	-146.0	199	2560	1722	1712	0.0	0.0	0	113	0.00	0.00	-92.50	0.000	16386	0.000	0.000	197	2560	3361	3338	3385	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.60	-146.0	197	2560	3338	3385	3.6	-3.1	9	139	9.90	2.58	-5.40	0.000	18948	0.457	0.132	2197	1139	3550	3544	3557	0	0	0	0	0	0	14.36	14.52	14.73
276	-1.55	-146.0	2197	1139	3549	3557	22.4	-10.7	40	282	0.00	2.55	0.00	0.000	1030	0.000	0.120	2190	2556	3552	3549	3556	0	0	0	0	0	0	28.83	14.55	28.83
600	-1.53	-146.0	2190	2556	3549	3557	59.7	-12.1	58	606	0.12	2.42	0.00	0.000	2308	0.330	0.143	2208	3843	3553	3549	3557	0	0	0	0	0	0	14.53	14.59	28.83
652	-1.53	-146.0	2212	3843	3549	3557	66.2	-12.1	68	658	0.00	2.20	0.00	0.000	1030	0.000	0.062	2211	2539	3553	3549	3557	0	0	0	0	0	0	28.83	14.65	28.83
965	-1.53	-146.0	2212	2539	3549	3555	99.3	-9.7	85	971	0.00	2.40	0.00	0.000	516	0.000	0.102	2212	1147	3551	3549	3554	0	0	0	0	0	0	28.83	14.66	28.83
1013	-1.53	-146.0	2211	1147	3548	3554	104.0	-9.1	94	1019	0.00	2.50	0.00	0.000	1030	0.000	0.119	2204	2549	3552	3556	3549	0	0	0	0	0	0	28.83	14.66	28.83
1331	-1.53	-146.0	2203	2549	3549	3553	136.7	-10.9	112	1336	0.00	2.42	0.00	0.000	516	0.000	0.105	2204	1152	3551	3549	3553	0	0	0	0	0	0	28.83	14.68	28.83
1402	-1.53	-146.0	2204	1152	3549	3552	144.7	-10.9	126	1408	0.00	2.50	0.00	0.000	1030	0.000	0.122	2197	2550	3550	3549	3552	0	0	0	0	0	0	28.83	14.67	28.83
1715	-1.53	-146.0	2197	2550	3549	3551	175.3	-9.9	143	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2550	3550	3549	3551	0	0	0	0	0	0	28.83	28.83	28.83
2016	-1.53	-146.0	2197	2550	3549	3551	203.4	-9.7	158	2022	0.00	2.42	0.00	0.000	516	0.000	0.107	2197	1153	3549	3549	3550	0	0	0	0	0	0	28.83	14.71	28.83
2080	-1.53	-146.0	2197	1153	3549	3550	209.8	-10.0	170	2086	0.10	2.50	0.00	0.000	3078	0.327	0.125	2212	2550	3549	3549	3550	0	0	0	0	0	0	14.62	14.70	28.83
2403	-1.55	-146.0	2212	2550	3549	3550	236.6	-8.4	189	2404	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2551	3549	3549	3550	0	0	0	0	0	0	28.83	28.83	28.83
2704	-1.55	-146.0	2212	2551	3548	3550	260.9	-7.9	202	2705	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2551	3550	3549	3551	0	0	0	0	0	0	28.83	28.83	28.83
3004	-1.58	-146.0	2212	2550	3549	3550	284.4	-7.8	212	3005	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2547	3549	3549	3550	0	0	0	0	0	0	28.83	28.83	28.83
3304	-1.60	-146.0	2212	2551	3550	3551	306.2	-7.1	222	3310	0.00	2.42	0.00	0.000	516	0.000	0.108	2212	1150	3550	3550	3551	0	0	0	0	0	0	28.83	14.76	28.83
3398	-1.62	-146.0	2212	1150	3550	3551	313.3	-7.8	240	3403	0.00	2.50	0.00	0.000	1030	0.000	0.125	2205	2550	3550	3550	3551	0	0	0	0	0	0	28.83	14.75	28.83
3732	-1.62	-146.0	2205	2552	3551	3551	338.6	-7.6	256	3737	0.00	2.42	0.00	0.000	516	0.000	0.109	2205	1150	3551	3551	3551	0	0	0	0	0	0	28.83	14.75	28.83
3819	-1.62	-146.0	2205	1152	3551	3551	345.6	-7.6	273	3826	0.00	2.50	0.00	0.000	1030	0.000	0.126	2198	2551	3551	3551	3552	0	0	0	0	0	0	28.83	14.73	28.83
4125	-1.62	-146.0	2198	2551	3552	3552	369.7	-8.0	284	4126	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2551	3551	3550	3552	0	0	0	0	0	0	28.83	28.83	28.83
4425	-1.62	-146.0	2198	2551	3552	3552	394.5	-8.3	294	4426	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2551	3552	3552	3552	0	0	0	0	0	0	28.83	28.83	28.83
4725	-1.62	-146.0	2198	2551	3552	3552	419.0	-8.1	304	4731	0.00	2.45	0.00	0.000	516	0.000	0.112	2198	1143	3552	3551	3553	0	0	0	0	0	0	28.83	14.78	28.83
4822	-1.62	-146.0	2198	1143	3551	3553	427.1	-7.8	323	4828	0.00	2.55	0.00	0.000	1030	0.000	0.130	2191	2550	3552	3552	3553	0	0	0	0	0	0	28.83	14.77	28.83
5151	-1.62	-146.0	2191	2551	3551	3553	453.6	-8.0	338	5153	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2551	3552	3552	3553	0	0	0	0	0	0	28.83	28.83	28.83
5450	-1.62	-146.0	2191	2550	3552	3553	478.6	-8.2	348	5455	0.00	2.45	0.00	0.000	516	0.000	0.116	2191	1145	3552	3551	3553	0	0	0	0	0	0	28.83	14.78	28.83
5513	-1.62	-146.0	2191	1145	3551	3554	483.8	-8.7	360	5519	0.00	2.53	0.00	0.000	1030	0.000	0.131	2184	2551	3553	3553	3553	0	0	0	0	0	0	28.83	14.77	28.83
5847	-1.62	-146.0	2185	2551	3552	3554	513.1	-8.6	376	5848	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2551	3552	3551	3554	0	0	0	0	0	0	28.83	28.83	28.83
6147	-1.62	-146.0	2184	2550	3552	3554	537.2	-7.5	386	6152	0.00	2.45	0.00	0.000	516	0.000	0.116	2184	1147	3553	3552	3554	0	0	0	0	0	0	28.83	14.79	28.83
6234	-1.62	-146.0	2185	1147	3552	3554	544.0	-7.5	403	6241	0.00	2.53	0.00	0.000	1030	0.000	0.132	2177	2551	3553	3552	3554	0	0	0	0	0	0	28.83	14.78	28.83
6542	-1.62	-146.0	2177	2551	3551	3554	567.1	-7.5	414	6543	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2551	3553	3552	3554	0	0	0	0	0	0	28.83	28.83	28.83
6718	end dive: TARGET_DEPTH_EXCEEDED
state	6718	begin apogee
6723	-0.38	0.0	2178	2402	3552	3554	581.4	-7.9	420	6883	1.00	0.00	155.95	1.372	10246	0.246	0.000	2460	2401	2950	2970	2930	0	0	0	0	0	0	14.71	28.83	13.54
6884	end apogee: CONTROL_FINISHED_OK
state	6885	begin climb
6887	1.60	146.0	2461	2401	2962	2922	583.5	0.0	425	7050	1.42	0.00	157.35	1.297	10758	0.152	0.000	2904	2402	2349	2395	2303	0	0	0	0	0	0	14.01	28.83	13.43
7350	1.60	146.0	2897	2402	2375	2284	526.8	13.8	446	7351	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2402	2331	2379	2283	0	0	0	0	0	0	28.83	28.83	28.83
7650	1.60	146.0	2898	2402	2379	2281	486.0	13.3	456	7656	0.00	2.70	0.00	0.000	260	0.000	0.148	2898	3812	2329	2378	2281	0	0	0	0	0	0	28.83	14.48	28.83
7692	1.55	146.0	2898	3812	2374	2284	480.0	14.2	464	7697	0.00	2.47	0.00	0.000	1030	0.000	0.081	2907	2400	2329	2375	2284	0	0	0	0	0	0	28.83	14.53	28.83
8016	1.53	146.0	2906	2400	2375	2282	435.8	13.6	478	8018	0.12	0.00	0.00	0.000	4102	0.304	0.000	2880	2400	2328	2375	2282	0	0	0	0	0	0	14.53	28.83	28.83
8315	1.53	146.0	2880	2401	2375	2281	398.2	12.5	488	8316	0.00	0.00	0.00	0.000	6	0.000	0.000	2879	2401	2328	2376	2281	0	0	0	0	0	0	28.83	28.83	28.83
8615	1.53	146.0	2880	2400	2375	2281	360.8	12.3	498	8616	0.00	0.00	0.00	0.000	6	0.000	0.000	2880	2401	2328	2376	2281	0	0	0	0	0	0	28.83	28.83	28.83
8914	1.53	146.0	2880	2400	2376	2280	324.6	11.9	508	8915	0.00	0.00	0.00	0.000	6	0.000	0.000	2880	2401	2328	2376	2281	0	0	0	0	0	0	28.83	28.83	28.83
9214	1.53	146.0	2879	2400	2375	2280	288.0	12.0	518	9221	0.00	2.47	0.00	0.000	516	0.000	0.120	2888	992	2327	2375	2280	0	0	0	0	0	0	28.83	14.72	28.83
9267	1.53	146.0	2888	992	2373	2281	281.5	12.2	528	9273	0.00	2.50	0.00	0.000	1030	0.000	0.119	2888	2401	2327	2373	2281	0	0	0	0	0	0	28.83	14.70	28.83
9590	1.53	146.0	2888	2401	2373	2282	243.3	12.0	541	9596	0.00	2.62	0.00	0.000	260	0.000	0.146	2888	3809	2329	2376	2282	0	0	0	0	0	0	28.83	14.71	28.83
9638	1.50	146.0	2888	3809	2372	2282	236.7	13.6	550	9645	0.10	2.42	0.00	0.000	5126	0.320	0.081	2878	2399	2327	2373	2282	0	0	0	0	0	0	14.66	14.76	28.83
9957	1.50	146.0	2878	2399	2373	2282	198.1	12.2	568	9962	0.00	2.45	0.00	0.000	516	0.000	0.112	2887	993	2327	2373	2281	0	0	0	0	0	0	28.83	14.72	28.83
9994	1.50	146.0	2887	993	2372	2282	193.4	12.9	575	10001	0.00	2.50	0.00	0.000	1030	0.000	0.118	2887	2408	2327	2372	2282	0	0	0	0	0	0	28.83	14.73	28.83
10300	1.50	146.0	2887	2408	2372	2282	155.9	11.7	591	10305	0.00	2.62	0.00	0.000	260	0.000	0.145	2888	3810	2327	2372	2282	0	0	0	0	0	0	28.83	14.73	28.83
10352	1.47	146.0	2887	3810	2372	2282	149.2	13.0	601	10358	0.12	2.42	0.00	0.000	5126	0.304	0.080	2870	2398	2327	2372	2282	0	0	0	0	0	0	14.67	14.76	28.83
10666	1.50	146.0	2870	2398	2372	2282	113.9	11.6	618	10672	0.00	2.45	0.00	0.000	516	0.000	0.112	2879	993	2327	2372	2282	0	0	0	0	0	0	28.83	14.73	28.83
10719	1.53	146.0	2879	993	2373	2279	107.6	10.8	628	10725	0.00	2.50	0.00	0.000	1030	0.000	0.117	2879	2400	2327	2372	2283	0	0	0	0	0	0	28.83	14.73	28.83
11032	1.55	146.0	2879	2399	2372	2282	75.4	10.6	645	11033	0.00	0.00	0.00	0.000	6	0.000	0.000	2880	2399	2327	2372	2282	0	0	0	0	0	0	28.83	28.83	28.83
11334	1.59	159.9	2878	2400	2372	2283	43.2	9.4	660	11344	0.00	2.47	4.95	0.232	8708	0.000	0.113	2888	993	2300	2341	2260	0	0	0	0	0	0	28.83	14.73	14.64
11418	1.62	159.9	2888	993	2342	2276	32.8	12.3	676	11428	0.00	2.50	1.62	0.198	9222	0.000	0.119	2888	2401	2299	2336	2263	0	0	0	0	0	0	28.83	14.73	14.71
11539	end climb: SURFACE_OBSTACLE_DETECTED
state	11540	begin subsurface finish
11545	0.06	49.3	2888	2401	2342	2277	16.1	14.8	688	11560	1.10	0.00	-9.57	0.000	20486	0.241	0.000	2568	2401	2753	2770	2736	0	0	0	0	0	0	14.70	28.83	14.95
11561	end subsurface finish: CONTROL_FINISHED_OK
state	11562	begin surface