Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 109 * 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 109 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 14 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 109 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 14 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 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 080218,030952,-7418.9111,-11229.5400,0,3136.5,0,53.5,0.0,0.0,0,0.0 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 335.20 MHEAD_RNG_PITCHd_Wd 132.7,11343,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.4 D_GRID 990

GPS2 080218,030952,-7418.9111,-11229.5400,0,3136.5,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 373.0,1.027440,3 _24V_AH 13.07,51.371

FINISH2 371.9 _10V_AH 12.57,0.000

RAFOS_CLK 380 FG_AHR_24Vo 0.000

RAFOS 0,1518069663,6.032778,6.017500,119,64,53,52,52,51,586,164,211,226,201,179 FG_AHR_10Vo 0.000

RAFOS_FIX -7420.249512,-11230.980469,080218,060604,2,121,0.24 MEM 280100

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 30078,886

TT8_MAMPS 0.041195,0.270389 CAP_FILE_SIZE 105231,0

HUMID 47.63 CFSIZE 1024409600,1007009792

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1458.4

XPDR_PINGS 0 GPS 080218,060904,-7420.250,-11230.980,0,3121.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 381.7,15.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 269 16.01 nil 0 0 0.00

Roll_motor 61 255 204.55 nil 0 0 0.00

VBD_pump_during_apogee 875 1399 16022.07 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 10677 3 546.33

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 197.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8009 2 232.57

TT8_Active 829 12 127.95

TT8_Sampling 1828 31 729.33

TT8_CF8 73 45 41.72

TT8_Kalman 0 0 0.00

Analog_circuits 1550 10 198.74

GPS_charging 0 0 0.00

Compass 1269 7 119.51

RAFOS 720 1 13.58

Transponder 255 30 96.48

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

994.7 27.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

986.5 15.20 9000.00 0.0 0.00 0.00 15.20 971.3 1.50 1.00

978.3 17.00 9000.00 0.0 0.64 0.63 17.00 0.0 -0.22 1.00

969.6 19.90 9000.00 0.0 -0.28 0.98 19.90 0.0 -0.33 1.00

961.1 15.80 9000.00 0.0 0.07 0.08 15.80 945.3 0.48 1.00

443.8 80.00 9000.00 0.0 -0.12 0.99 80.00 0.0 -0.12 1.00

435.2 70.80 9000.00 0.0 -0.11 0.98 70.80 364.4 1.07 1.00

425.9 61.40 61.30 364.6 1.04 1.00 61.40 364.5 1.01 1.00

417.1 52.40 52.40 364.7 1.02 1.00 52.40 364.7 1.02 1.00

408.2 42.80 42.90 365.3 1.05 1.00 42.80 365.4 1.08 1.00

399.2 33.50 33.50 365.7 1.05 1.00 33.50 365.7 1.03 1.00

390.4 24.50 24.50 365.9 1.03 1.00 24.50 365.9 1.02 1.00

381.7 15.40 15.40 366.3 1.04 1.00 15.40 366.3 1.05 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

8 -0.94 -146.0 2706 2504 2820 2600 0.0 0.0 0 12 0.00 0.00 -2.10 0.045 16390 0.000 0.000 2700 2503 3323 3460 3187 0 0 0 0 0 0 15.09 13.66 15.10

13 -0.94 -146.0 2706 2504 3458 3191 0.0 0.0 0 15 0.95 0.00 0.00 0.000 4102 0.116 0.000 2395 2503 3324 3456 3192 0 0 0 0 0 0 14.85 15.00 14.97

309 -0.94 -146.0 2395 2503 3442 3204 369.1 -12.2 30 315 0.00 2.62 0.00 0.000 516 0.000 0.117 2395 1084 3323 3441 3205 0 0 0 0 0 0 15.11 14.79 15.14

339 -0.94 -146.0 2395 1084 3442 3205 373.0 -13.0 36 345 0.00 2.67 0.00 0.000 1030 0.000 0.125 2386 2506 3322 3440 3205 0 0 0 0 0 0 14.88 14.79 14.93

649 -0.94 -146.0 2386 2505 3439 3206 412.9 -12.5 68 655 0.00 2.38 0.00 0.000 260 0.000 0.147 2376 3753 3321 3437 3206 0 0 0 0 0 0 15.12 14.78 15.15

669 -0.94 -146.0 2376 3754 3436 3209 415.5 -13.1 72 675 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2489 3322 3436 3208 0 0 0 0 0 0 14.92 14.85 14.96

979 -0.94 -146.0 2376 2489 3441 3209 456.0 -12.7 104 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2489 3321 3435 3208 0 0 0 0 0 0 15.12 15.16 15.15

1279 -0.94 -146.0 2376 2490 3435 3209 494.5 -12.9 134 1288 0.00 2.42 0.00 0.000 260 0.000 0.151 2367 3750 3321 3434 3208 0 0 0 0 0 0 15.13 14.78 15.16

1332 -0.94 -146.0 2367 3753 3434 3210 501.7 -13.8 144 1338 0.10 2.25 0.00 0.000 3078 0.265 0.099 2393 2499 3321 3433 3210 0 0 0 0 0 0 14.73 14.85 14.85

1642 -0.94 -146.0 2393 2499 3433 3211 538.7 -11.8 176 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2498 3321 3433 3210 0 0 0 0 0 0 15.13 15.16 15.15

1942 -0.94 -146.0 2393 2499 3433 3211 573.5 -11.5 206 1949 0.00 2.40 0.00 0.000 260 0.000 0.153 2384 3751 3321 3432 3210 0 0 0 0 0 0 15.13 14.78 15.16

1973 -0.94 -146.0 2384 3752 3433 3211 577.2 -12.8 212 1979 0.00 2.28 0.00 0.000 1030 0.000 0.099 2384 2489 3320 3431 3210 0 0 0 0 0 0 14.92 14.85 14.96

2282 -0.94 -146.0 2385 2489 3433 3210 614.3 -11.9 244 2283 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2489 3321 3432 3210 0 0 0 0 0 0 15.13 15.15 15.15

2583 -0.94 -146.0 2384 2490 3432 3211 649.7 -11.6 274 2589 0.00 2.42 0.00 0.000 260 0.000 0.151 2376 3756 3320 3431 3210 0 0 0 0 0 0 15.13 14.77 15.16

2623 -0.94 -146.0 2376 3756 3433 3211 654.7 -12.6 282 2629 0.00 2.28 0.00 0.000 1030 0.000 0.100 2376 2496 3320 3431 3210 0 0 0 0 0 0 14.92 14.85 14.95

2933 -0.94 -146.0 2376 2496 3432 3211 691.6 -11.8 314 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2496 3320 3431 3210 0 0 0 0 0 0 15.12 15.15 15.15

3253 -0.94 -146.0 2376 2496 3432 3211 729.8 -11.8 330 3254 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2495 3321 3431 3211 0 0 0 0 0 0 15.13 15.16 15.16

3613 -0.94 -146.0 2376 2495 3432 3210 772.4 -11.8 342 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2495 3319 3430 3209 0 0 0 0 0 0 15.14 15.17 15.16

3973 -0.94 -146.0 2376 2496 3432 3211 813.4 -11.4 354 3979 0.00 2.40 0.00 0.000 260 0.000 0.151 2366 3749 3320 3431 3210 0 0 0 0 0 0 15.14 14.78 15.16

4003 -0.94 -146.0 2367 3749 3431 3211 817.0 -11.2 360 4009 0.10 2.25 0.00 0.000 3078 0.269 0.099 2393 2494 3320 3430 3211 0 0 0 0 0 0 14.69 14.85 14.84

4394 -0.94 -146.0 2393 2494 3432 3211 858.2 -10.6 378 4395 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2494 3321 3431 3211 0 0 0 0 0 0 15.11 15.14 15.13

4754 -0.94 -146.0 2393 2494 3431 3211 895.9 -10.3 390 4759 0.00 2.38 0.00 0.000 260 0.000 0.150 2384 3761 3320 3430 3211 0 0 0 0 0 0 15.11 14.80 15.14

4783 -0.94 -146.0 2384 3762 3431 3212 899.2 -7.6 396 4789 0.00 2.28 0.00 0.000 1062 0.000 0.099 2384 2497 3320 3430 3211 0 0 0 0 0 0 14.90 14.83 14.94

5174 -0.94 -146.0 2385 2497 3431 3212 941.3 -10.6 414 5174 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2497 3321 3430 3212 0 0 0 0 0 0 15.13 15.16 15.16

5533 -0.94 -146.0 2384 2498 3431 3212 980.1 -10.7 426 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2497 3321 3430 3212 0 0 0 0 0 0 15.14 15.16 15.16

5653 end dive: TARGET_DEPTH_EXCEEDED

state 5653 begin apogee

5656 -0.23 0.0 2385 2182 3431 3212 992.7 -10.5 430 6096 0.88 0.05 435.88 1.251 10246 0.239 0.256 2622 2198 2715 2772 2659 0 0 0 0 0 0 14.71 13.71 13.27

6097 end apogee: CONTROL_FINISHED_OK

state 6097 begin climb

6098 0.94 146.0 2622 2198 2766 2656 1002.1 0.0 444 6551 1.27 2.88 439.77 1.400 11012 0.138 0.125 3008 785 2117 2154 2081 0 0 0 0 0 0 13.77 13.54 13.07

6720 0.94 146.0 3009 785 2144 2072 928.5 14.4 571 6726 0.00 2.78 0.00 0.000 1030 0.000 0.113 3008 2234 2106 2142 2071 0 0 0 0 0 0 14.24 14.13 14.27

7106 0.94 146.0 3008 2234 2143 2066 871.8 14.8 588 7106 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2234 2104 2142 2066 0 0 0 0 0 0 14.76 14.78 14.78

7466 0.94 146.0 3008 2235 2143 2066 818.7 14.5 600 7471 0.00 2.67 0.00 0.000 516 0.000 0.127 3019 792 2103 2142 2065 0 0 0 0 0 0 14.90 14.66 14.93

7495 0.94 146.0 3019 793 2143 2066 814.1 14.4 606 7501 0.00 2.65 0.00 0.000 1030 0.000 0.115 3019 2209 2103 2142 2065 0 0 0 0 0 0 14.75 14.66 14.78

7886 0.94 146.0 3019 2211 2142 2064 755.4 15.2 624 7887 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2209 2102 2142 2063 0 0 0 0 0 0 14.98 15.02 15.01

8246 0.94 146.0 3019 2210 2142 2064 701.6 14.8 636 8247 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2209 2102 2142 2062 0 0 0 0 0 0 15.02 15.06 15.05

8606 0.94 146.0 3019 2210 2142 2062 648.6 14.7 670 8607 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2210 2102 2142 2062 0 0 0 0 0 0 15.05 15.08 15.08

8906 0.94 146.0 3019 2210 2142 2062 604.6 14.6 700 8911 0.00 2.62 0.00 0.000 516 0.000 0.127 3029 780 2100 2140 2061 0 0 0 0 0 0 15.07 14.81 15.09

8930 0.94 146.0 3029 782 2142 2063 600.8 14.4 705 8938 0.00 2.62 0.00 0.000 1030 0.000 0.112 3029 2205 2101 2140 2062 0 0 0 0 0 0 14.88 14.80 14.92

9235 0.94 146.0 3029 2206 2142 2062 554.8 14.8 736 9241 0.00 2.67 0.00 0.000 260 0.000 0.143 3029 3612 2101 2141 2061 0 0 0 0 0 0 15.11 14.78 15.14

9265 0.94 146.0 3029 3612 2142 2062 550.0 15.8 742 9272 0.17 2.58 0.00 0.000 5126 0.269 0.101 3000 2197 2101 2142 2061 0 0 0 0 0 0 14.74 14.83 14.95

9576 0.94 146.0 3000 2193 2142 2060 509.3 12.7 774 9576 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2193 2100 2141 2060 0 0 0 0 0 0 15.11 15.14 15.14

9876 0.94 146.0 3000 2194 2142 2061 471.2 12.5 804 9876 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2193 2100 2141 2060 0 0 0 0 0 0 15.11 15.14 15.14

10176 0.94 146.0 3000 2194 2142 2061 433.9 12.3 834 10182 0.00 2.67 0.00 0.000 260 0.000 0.144 3000 3619 2100 2141 2060 0 0 0 0 0 0 15.11 14.81 15.14

10201 0.94 146.0 3000 3620 2141 2060 430.5 13.6 839 10208 0.00 2.60 0.00 0.000 1030 0.000 0.103 3009 2188 2100 2140 2060 0 0 0 0 0 0 14.91 14.83 14.95

10506 0.94 146.0 3009 2186 2141 2060 391.6 12.4 870 10506 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2186 2100 2141 2059 0 0 0 0 0 0 15.12 15.15 15.14

10656 end climb: SURFACE_OBSTACLE_DETECTED

state 10656 begin subsurface finish

10659 0.00 3.1 3010 2187 2141 2060 373.0 12.2 885 10670 1.08 0.00 -2.12 0.043 20486 0.215 0.000 2705 2183 2710 2820 2600 0 0 0 0 0 0 14.75 14.09 14.96

10670 end subsurface finish: CONTROL_FINISHED_OK

state 10670 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	109	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	14	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	080218,030952,-7418.9111,-11229.5400,0,3136.5,0,53.5,0.0,0.0,0,0.0	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	335.20	MHEAD_RNG_PITCHd_Wd	132.7,11343,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.4	D_GRID	990
GPS2	080218,030952,-7418.9111,-11229.5400,0,3136.5,0,53.5,0.0,0.0,0,0.0

FINISH1	373.0,1.027440,3	_24V_AH	13.07,51.371
FINISH2	371.9	_10V_AH	12.57,0.000
RAFOS_CLK	380	FG_AHR_24Vo	0.000
RAFOS	0,1518069663,6.032778,6.017500,119,64,53,52,52,51,586,164,211,226,201,179	FG_AHR_10Vo	0.000
RAFOS_FIX	-7420.249512,-11230.980469,080218,060604,2,121,0.24	MEM	280100
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	30078,886
TT8_MAMPS	0.041195,0.270389	CAP_FILE_SIZE	105231,0
HUMID	47.63	CFSIZE	1024409600,1007009792
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.4
XPDR_PINGS	0	GPS	080218,060904,-7420.250,-11230.980,0,3121.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	381.7,15.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	269	16.01	nil	0	0	0.00
Roll_motor	61	255	204.55	nil	0	0	0.00
VBD_pump_during_apogee	875	1399	16022.07	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	10677	3	546.33
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	197.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8009	2	232.57
TT8_Active	829	12	127.95
TT8_Sampling	1828	31	729.33
TT8_CF8	73	45	41.72
TT8_Kalman	0	0	0.00
Analog_circuits	1550	10	198.74
GPS_charging	0	0	0.00
Compass	1269	7	119.51
RAFOS	720	1	13.58
Transponder	255	30	96.48

		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
994.7	27.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

986.5	15.20	9000.00	0.0	0.00	0.00	15.20	971.3	1.50	1.00
978.3	17.00	9000.00	0.0	0.64	0.63	17.00	0.0	-0.22	1.00
969.6	19.90	9000.00	0.0	-0.28	0.98	19.90	0.0	-0.33	1.00
961.1	15.80	9000.00	0.0	0.07	0.08	15.80	945.3	0.48	1.00
443.8	80.00	9000.00	0.0	-0.12	0.99	80.00	0.0	-0.12	1.00
435.2	70.80	9000.00	0.0	-0.11	0.98	70.80	364.4	1.07	1.00
425.9	61.40	61.30	364.6	1.04	1.00	61.40	364.5	1.01	1.00
417.1	52.40	52.40	364.7	1.02	1.00	52.40	364.7	1.02	1.00
408.2	42.80	42.90	365.3	1.05	1.00	42.80	365.4	1.08	1.00
399.2	33.50	33.50	365.7	1.05	1.00	33.50	365.7	1.03	1.00
390.4	24.50	24.50	365.9	1.03	1.00	24.50	365.9	1.02	1.00
381.7	15.40	15.40	366.3	1.04	1.00	15.40	366.3	1.05	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
8	-0.94	-146.0	2706	2504	2820	2600	0.0	0.0	0	12	0.00	0.00	-2.10	0.045	16390	0.000	0.000	2700	2503	3323	3460	3187	0	0	0	0	0	0	15.09	13.66	15.10
13	-0.94	-146.0	2706	2504	3458	3191	0.0	0.0	0	15	0.95	0.00	0.00	0.000	4102	0.116	0.000	2395	2503	3324	3456	3192	0	0	0	0	0	0	14.85	15.00	14.97
309	-0.94	-146.0	2395	2503	3442	3204	369.1	-12.2	30	315	0.00	2.62	0.00	0.000	516	0.000	0.117	2395	1084	3323	3441	3205	0	0	0	0	0	0	15.11	14.79	15.14
339	-0.94	-146.0	2395	1084	3442	3205	373.0	-13.0	36	345	0.00	2.67	0.00	0.000	1030	0.000	0.125	2386	2506	3322	3440	3205	0	0	0	0	0	0	14.88	14.79	14.93
649	-0.94	-146.0	2386	2505	3439	3206	412.9	-12.5	68	655	0.00	2.38	0.00	0.000	260	0.000	0.147	2376	3753	3321	3437	3206	0	0	0	0	0	0	15.12	14.78	15.15
669	-0.94	-146.0	2376	3754	3436	3209	415.5	-13.1	72	675	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2489	3322	3436	3208	0	0	0	0	0	0	14.92	14.85	14.96
979	-0.94	-146.0	2376	2489	3441	3209	456.0	-12.7	104	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2489	3321	3435	3208	0	0	0	0	0	0	15.12	15.16	15.15
1279	-0.94	-146.0	2376	2490	3435	3209	494.5	-12.9	134	1288	0.00	2.42	0.00	0.000	260	0.000	0.151	2367	3750	3321	3434	3208	0	0	0	0	0	0	15.13	14.78	15.16
1332	-0.94	-146.0	2367	3753	3434	3210	501.7	-13.8	144	1338	0.10	2.25	0.00	0.000	3078	0.265	0.099	2393	2499	3321	3433	3210	0	0	0	0	0	0	14.73	14.85	14.85
1642	-0.94	-146.0	2393	2499	3433	3211	538.7	-11.8	176	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2498	3321	3433	3210	0	0	0	0	0	0	15.13	15.16	15.15
1942	-0.94	-146.0	2393	2499	3433	3211	573.5	-11.5	206	1949	0.00	2.40	0.00	0.000	260	0.000	0.153	2384	3751	3321	3432	3210	0	0	0	0	0	0	15.13	14.78	15.16
1973	-0.94	-146.0	2384	3752	3433	3211	577.2	-12.8	212	1979	0.00	2.28	0.00	0.000	1030	0.000	0.099	2384	2489	3320	3431	3210	0	0	0	0	0	0	14.92	14.85	14.96
2282	-0.94	-146.0	2385	2489	3433	3210	614.3	-11.9	244	2283	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2489	3321	3432	3210	0	0	0	0	0	0	15.13	15.15	15.15
2583	-0.94	-146.0	2384	2490	3432	3211	649.7	-11.6	274	2589	0.00	2.42	0.00	0.000	260	0.000	0.151	2376	3756	3320	3431	3210	0	0	0	0	0	0	15.13	14.77	15.16
2623	-0.94	-146.0	2376	3756	3433	3211	654.7	-12.6	282	2629	0.00	2.28	0.00	0.000	1030	0.000	0.100	2376	2496	3320	3431	3210	0	0	0	0	0	0	14.92	14.85	14.95
2933	-0.94	-146.0	2376	2496	3432	3211	691.6	-11.8	314	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2496	3320	3431	3210	0	0	0	0	0	0	15.12	15.15	15.15
3253	-0.94	-146.0	2376	2496	3432	3211	729.8	-11.8	330	3254	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2495	3321	3431	3211	0	0	0	0	0	0	15.13	15.16	15.16
3613	-0.94	-146.0	2376	2495	3432	3210	772.4	-11.8	342	3613	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2495	3319	3430	3209	0	0	0	0	0	0	15.14	15.17	15.16
3973	-0.94	-146.0	2376	2496	3432	3211	813.4	-11.4	354	3979	0.00	2.40	0.00	0.000	260	0.000	0.151	2366	3749	3320	3431	3210	0	0	0	0	0	0	15.14	14.78	15.16
4003	-0.94	-146.0	2367	3749	3431	3211	817.0	-11.2	360	4009	0.10	2.25	0.00	0.000	3078	0.269	0.099	2393	2494	3320	3430	3211	0	0	0	0	0	0	14.69	14.85	14.84
4394	-0.94	-146.0	2393	2494	3432	3211	858.2	-10.6	378	4395	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2494	3321	3431	3211	0	0	0	0	0	0	15.11	15.14	15.13
4754	-0.94	-146.0	2393	2494	3431	3211	895.9	-10.3	390	4759	0.00	2.38	0.00	0.000	260	0.000	0.150	2384	3761	3320	3430	3211	0	0	0	0	0	0	15.11	14.80	15.14
4783	-0.94	-146.0	2384	3762	3431	3212	899.2	-7.6	396	4789	0.00	2.28	0.00	0.000	1062	0.000	0.099	2384	2497	3320	3430	3211	0	0	0	0	0	0	14.90	14.83	14.94
5174	-0.94	-146.0	2385	2497	3431	3212	941.3	-10.6	414	5174	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2497	3321	3430	3212	0	0	0	0	0	0	15.13	15.16	15.16
5533	-0.94	-146.0	2384	2498	3431	3212	980.1	-10.7	426	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2497	3321	3430	3212	0	0	0	0	0	0	15.14	15.16	15.16
5653	end dive: TARGET_DEPTH_EXCEEDED
state	5653	begin apogee
5656	-0.23	0.0	2385	2182	3431	3212	992.7	-10.5	430	6096	0.88	0.05	435.88	1.251	10246	0.239	0.256	2622	2198	2715	2772	2659	0	0	0	0	0	0	14.71	13.71	13.27
6097	end apogee: CONTROL_FINISHED_OK
state	6097	begin climb
6098	0.94	146.0	2622	2198	2766	2656	1002.1	0.0	444	6551	1.27	2.88	439.77	1.400	11012	0.138	0.125	3008	785	2117	2154	2081	0	0	0	0	0	0	13.77	13.54	13.07
6720	0.94	146.0	3009	785	2144	2072	928.5	14.4	571	6726	0.00	2.78	0.00	0.000	1030	0.000	0.113	3008	2234	2106	2142	2071	0	0	0	0	0	0	14.24	14.13	14.27
7106	0.94	146.0	3008	2234	2143	2066	871.8	14.8	588	7106	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2234	2104	2142	2066	0	0	0	0	0	0	14.76	14.78	14.78
7466	0.94	146.0	3008	2235	2143	2066	818.7	14.5	600	7471	0.00	2.67	0.00	0.000	516	0.000	0.127	3019	792	2103	2142	2065	0	0	0	0	0	0	14.90	14.66	14.93
7495	0.94	146.0	3019	793	2143	2066	814.1	14.4	606	7501	0.00	2.65	0.00	0.000	1030	0.000	0.115	3019	2209	2103	2142	2065	0	0	0	0	0	0	14.75	14.66	14.78
7886	0.94	146.0	3019	2211	2142	2064	755.4	15.2	624	7887	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2209	2102	2142	2063	0	0	0	0	0	0	14.98	15.02	15.01
8246	0.94	146.0	3019	2210	2142	2064	701.6	14.8	636	8247	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2209	2102	2142	2062	0	0	0	0	0	0	15.02	15.06	15.05
8606	0.94	146.0	3019	2210	2142	2062	648.6	14.7	670	8607	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2210	2102	2142	2062	0	0	0	0	0	0	15.05	15.08	15.08
8906	0.94	146.0	3019	2210	2142	2062	604.6	14.6	700	8911	0.00	2.62	0.00	0.000	516	0.000	0.127	3029	780	2100	2140	2061	0	0	0	0	0	0	15.07	14.81	15.09
8930	0.94	146.0	3029	782	2142	2063	600.8	14.4	705	8938	0.00	2.62	0.00	0.000	1030	0.000	0.112	3029	2205	2101	2140	2062	0	0	0	0	0	0	14.88	14.80	14.92
9235	0.94	146.0	3029	2206	2142	2062	554.8	14.8	736	9241	0.00	2.67	0.00	0.000	260	0.000	0.143	3029	3612	2101	2141	2061	0	0	0	0	0	0	15.11	14.78	15.14
9265	0.94	146.0	3029	3612	2142	2062	550.0	15.8	742	9272	0.17	2.58	0.00	0.000	5126	0.269	0.101	3000	2197	2101	2142	2061	0	0	0	0	0	0	14.74	14.83	14.95
9576	0.94	146.0	3000	2193	2142	2060	509.3	12.7	774	9576	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2193	2100	2141	2060	0	0	0	0	0	0	15.11	15.14	15.14
9876	0.94	146.0	3000	2194	2142	2061	471.2	12.5	804	9876	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2193	2100	2141	2060	0	0	0	0	0	0	15.11	15.14	15.14
10176	0.94	146.0	3000	2194	2142	2061	433.9	12.3	834	10182	0.00	2.67	0.00	0.000	260	0.000	0.144	3000	3619	2100	2141	2060	0	0	0	0	0	0	15.11	14.81	15.14
10201	0.94	146.0	3000	3620	2141	2060	430.5	13.6	839	10208	0.00	2.60	0.00	0.000	1030	0.000	0.103	3009	2188	2100	2140	2060	0	0	0	0	0	0	14.91	14.83	14.95
10506	0.94	146.0	3009	2186	2141	2060	391.6	12.4	870	10506	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2186	2100	2141	2059	0	0	0	0	0	0	15.12	15.15	15.14
10656	end climb: SURFACE_OBSTACLE_DETECTED
state	10656	begin subsurface finish
10659	0.00	3.1	3010	2187	2141	2060	373.0	12.2	885	10670	1.08	0.00	-2.12	0.043	20486	0.215	0.000	2705	2183	2710	2820	2600	0	0	0	0	0	0	14.75	14.09	14.96
10670	end subsurface finish: CONTROL_FINISHED_OK
state	10670	begin surface