Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 116 * 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 116 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 17 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 116 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 17 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 090218,012421,-7423.4224,-11236.6719,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 367.44 MHEAD_RNG_PITCHd_Wd 317.7,23449,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.8 D_GRID 990

GPS2 090218,012421,-7423.4224,-11236.6719,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 352.9,1.027402,5 _24V_AH 13.07,53.961

FINISH2 351.9 _10V_AH 12.53,0.000

RAFOS_CLK 384 FG_AHR_24Vo 0.000

RAFOS 0,1518145276,3.032778,3.021111,70,59,58,57,55,52,191,203,179,221,167,139 FG_AHR_10Vo 0.000

RAFOS_FIX -7422.678223,-11236.958984,090218,030308,1,2,0.21 MEM 280128

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 30025,886

TT8_MAMPS 0.041195,0.526547 CAP_FILE_SIZE 106096,0

HUMID 47.63 CFSIZE 1024409600,1006305280

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

TCM_TEMP 13.70 SOUNDSPEED 1458.3

XPDR_PINGS 1 GPS 090218,031408,-7422.678,-11236.959,0,2002.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 370.4,24.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 257 15.37 nil 0 0 0.00

Roll_motor 76 173 173.74 nil 0 0 0.00

VBD_pump_during_apogee 888 1368 15895.20 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 10649 6 960.78

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 7935 2 229.69

TT8_Active 869 12 133.67

TT8_Sampling 1831 31 728.51

TT8_CF8 78 45 44.37

TT8_Kalman 0 0 0.00

Analog_circuits 1595 10 203.86

GPS_charging 0 0 0.00

Compass 1269 7 119.12

RAFOS 720 1 13.53

Transponder 255 30 96.08

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

367.7 6.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

375.8 14.30 9000.00 0.0 0.00 0.00 14.30 0.0 1.01 1.00

384.1 19.10 9000.00 0.0 0.79 0.97 19.10 0.0 0.58 1.00

392.7 27.20 9000.00 0.0 0.76 0.98 27.20 0.0 0.94 1.00

401.2 35.60 35.50 0.0 0.96 1.00 35.60 0.0 0.99 1.00

993.6 24.50 9000.00 0.0 -0.01 0.46 24.50 1018.1 -0.02 1.00

985.1 21.50 9000.00 0.0 -0.02 0.95 21.50 963.6 0.35 1.00

976.7 15.70 9000.00 0.0 0.52 0.97 15.70 961.0 0.69 1.00

968.3 20.60 9000.00 0.0 0.06 0.02 20.60 0.0 -0.58 1.00

960.1 14.40 9000.00 0.0 0.07 0.04 14.40 945.7 0.76 1.00

456.5 109.80 9000.00 0.0 -0.18 0.99 109.80 0.0 -0.19 1.00

404.3 60.10 9000.00 0.0 -0.13 0.65 60.10 344.2 0.95 1.00

396.3 52.20 52.30 344.0 0.95 1.00 52.20 344.1 0.99 1.00

387.2 43.70 43.70 343.5 0.96 1.00 43.70 343.5 0.93 1.00

378.7 34.20 34.50 344.2 1.02 1.00 34.20 344.5 1.12 1.00

370.4 24.40 24.50 345.9 1.15 1.00 24.40 346.0 1.18 1.00

362.3 12.90 9000.00 0.0 1.30 1.00 12.90 349.4 1.42 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 2716 2503 2833 2613 0.0 0.0 0 11 0.00 0.00 -1.98 0.047 16390 0.000 0.000 2716 2503 3328 3467 3190 0 0 0 0 0 0 15.07 13.54 15.07

12 -0.94 -146.0 2716 2504 3466 3193 0.0 0.0 0 19 0.98 2.33 0.00 0.000 4356 0.116 0.151 2395 3758 3328 3460 3197 0 0 0 0 0 0 14.80 14.74 14.87

93 -0.94 -146.0 2395 3758 3450 3207 375.4 -11.8 16 102 0.00 2.30 0.00 0.000 1030 0.000 0.102 2394 2491 3328 3450 3207 0 0 0 0 0 0 14.85 14.78 14.88

406 -0.94 -146.0 2395 2492 3448 3209 413.4 -12.3 48 407 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2491 3327 3446 3209 0 0 0 0 0 0 15.08 15.11 15.11

706 -0.94 -146.0 2395 2491 3447 3210 449.6 -11.7 78 712 0.00 2.42 0.00 0.000 260 0.000 0.152 2385 3748 3327 3445 3210 0 0 0 0 0 0 15.08 14.72 15.11

751 -0.94 -146.0 2385 3748 3444 3213 455.3 -12.9 87 758 0.00 2.28 0.00 0.000 1030 0.000 0.099 2385 2488 3328 3443 3213 0 0 0 0 0 0 14.88 14.81 14.91

1056 -0.94 -146.0 2385 2489 3444 3213 493.1 -12.2 118 1057 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2488 3328 3443 3213 0 0 0 0 0 0 15.08 15.11 15.11

1357 -0.94 -146.0 2385 2489 3444 3214 529.9 -12.1 148 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2488 3326 3440 3213 0 0 0 0 0 0 15.05 15.08 15.08

1656 -0.94 -146.0 2385 2489 3444 3214 566.0 -11.9 178 1662 0.00 2.42 0.00 0.000 260 0.000 0.150 2377 3749 3328 3442 3214 0 0 0 0 0 0 15.09 14.73 15.11

1716 -0.94 -146.0 2377 3751 3442 3215 573.5 -12.7 190 1722 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2490 3328 3441 3215 0 0 0 0 0 0 14.88 14.81 14.91

2026 -0.94 -146.0 2377 2491 3442 3216 611.6 -12.2 222 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2490 3328 3441 3215 0 0 0 0 0 0 15.08 15.11 15.11

2326 -0.94 -146.0 2377 2490 3441 3216 647.8 -12.1 252 2332 0.00 2.42 0.00 0.000 260 0.000 0.150 2367 3748 3328 3441 3216 0 0 0 0 0 0 15.08 14.72 15.11

2356 -0.94 -146.0 2367 3749 3442 3217 651.6 -13.2 258 2362 0.10 2.28 0.00 0.000 3078 0.255 0.097 2394 2486 3328 3441 3216 0 0 0 0 0 0 14.64 14.81 14.79

2666 -0.94 -146.0 2393 2487 3441 3217 685.9 -11.0 290 2667 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2486 3329 3441 3217 0 0 0 0 0 0 15.09 15.12 15.11

2988 -0.94 -146.0 2394 2486 3442 3218 719.9 -10.5 310 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2486 3331 3446 3217 0 0 0 0 0 0 15.07 15.10 15.09

3347 -0.94 -146.0 2394 2486 3442 3218 757.4 -10.3 322 3352 0.00 2.40 0.00 0.000 260 0.000 0.151 2385 3757 3329 3441 3218 0 0 0 0 0 0 15.07 14.76 15.09

3371 -0.94 -146.0 2385 3757 3441 3218 760.3 -11.3 327 3378 0.00 2.28 0.00 0.000 1030 0.000 0.098 2385 2496 3329 3441 3218 0 0 0 0 0 0 14.88 14.81 14.92

3737 -0.94 -146.0 2385 2496 3442 3220 800.1 -10.9 340 3737 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2495 3330 3441 3220 0 0 0 0 0 0 15.11 15.14 15.14

4096 -0.94 -146.0 2385 2496 3442 3221 839.6 -10.8 352 4097 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2496 3330 3441 3219 0 0 0 0 0 0 15.11 15.15 15.15

4456 -0.94 -146.0 2385 2496 3442 3223 878.9 -11.0 364 4462 0.00 2.40 0.00 0.000 260 0.000 0.150 2376 3747 3332 3441 3223 0 0 0 0 0 0 15.13 14.74 15.15

4502 -0.94 -146.0 2377 3748 3441 3224 884.1 -11.7 373 4508 0.00 2.22 0.00 0.000 1030 0.000 0.097 2374 2491 3332 3441 3223 0 0 0 0 0 0 14.97 14.85 14.99

4878 -0.94 -146.0 2377 2490 3442 3223 926.3 -11.2 388 4879 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2491 3332 3441 3223 0 0 0 0 0 0 15.12 15.15 15.14

5237 -0.94 -146.0 2377 2491 3442 3224 966.3 -11.1 400 5243 0.00 2.42 0.00 0.000 260 0.000 0.149 2368 3752 3332 3441 3223 0 0 0 0 0 0 15.13 14.74 15.15

5292 -0.94 -146.0 2368 3752 3441 3224 972.8 -11.9 411 5300 0.10 2.28 0.00 0.000 3078 0.257 0.097 2394 2491 3331 3440 3223 0 0 0 0 0 0 14.58 14.83 14.75

5477 end dive: TARGET_DEPTH_EXCEEDED

state 5477 begin apogee

5481 -0.23 0.0 2395 2196 3442 3224 991.6 -10.0 418 5930 0.85 0.00 445.62 1.274 10246 0.230 0.000 2627 2191 2714 2769 2659 0 0 0 0 0 0 14.68 13.78 13.24

5931 end apogee: CONTROL_FINISHED_OK

state 5931 begin climb

5933 0.94 146.0 2627 2192 2766 2659 1001.2 0.0 433 6390 1.25 2.90 443.00 1.369 11012 0.132 0.127 3008 788 2116 2150 2082 0 0 0 0 0 0 13.74 13.57 13.07

6549 0.94 146.0 3008 788 2140 2074 929.5 13.9 555 6555 0.00 2.78 0.00 0.000 1030 0.000 0.113 3008 2208 2106 2139 2074 0 0 0 0 0 0 14.16 14.09 14.20

6930 0.94 146.0 3008 2209 2139 2069 873.0 14.8 571 6931 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2208 2103 2138 2068 0 0 0 0 0 0 14.75 14.78 14.78

7291 0.94 146.0 3008 2208 2139 2066 819.6 14.7 583 7292 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2208 2102 2138 2066 0 0 0 0 0 0 14.90 14.94 14.93

7651 0.94 146.0 3008 2209 2139 2066 767.1 14.6 595 7652 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2208 2101 2138 2065 0 0 0 0 0 0 14.99 15.02 15.01

8011 0.94 146.0 3008 2208 2139 2065 715.3 14.3 607 8012 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2208 2101 2138 2064 0 0 0 0 0 0 15.03 15.06 15.06

8370 0.94 146.0 3008 2209 2138 2064 664.6 14.1 635 8376 0.00 2.62 0.00 0.000 516 0.000 0.126 3018 782 2100 2137 2063 0 0 0 0 0 0 15.04 14.77 15.07

8389 0.94 146.0 3019 782 2138 2064 661.7 14.2 639 8395 0.00 2.62 0.00 0.000 1030 0.000 0.113 3019 2205 2100 2137 2064 0 0 0 0 0 0 14.84 14.76 14.92

8699 0.94 146.0 3019 2206 2138 2064 616.4 14.6 671 8700 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 2100 2137 2063 0 0 0 0 0 0 15.08 15.11 15.11

9000 0.94 146.0 3018 2206 2138 2064 573.1 14.2 701 9006 0.00 2.65 0.00 0.000 260 0.000 0.143 3018 3618 2099 2137 2062 0 0 0 0 0 0 15.09 14.78 15.11

9034 0.94 146.0 3019 3620 2138 2064 567.7 15.9 708 9042 0.00 2.60 0.00 0.000 1030 0.000 0.101 3029 2191 2100 2137 2063 0 0 0 0 0 0 14.87 14.78 14.90

9340 0.94 146.0 3029 2191 2138 2062 523.0 14.5 739 9345 0.00 2.65 0.00 0.000 516 0.000 0.130 3040 779 2099 2137 2062 0 0 0 0 0 0 15.09 14.76 15.12

9380 0.94 146.0 3041 780 2137 2064 517.2 14.6 747 9386 0.17 2.60 0.00 0.000 5126 0.245 0.116 2998 2208 2099 2136 2062 0 0 0 0 0 0 14.72 14.80 14.93

9690 0.94 146.0 2998 2207 2137 2063 477.5 12.7 779 9696 0.00 2.70 0.00 0.000 260 0.000 0.146 2998 3643 2099 2136 2062 0 0 0 0 0 0 15.09 14.77 15.12

9725 0.94 146.0 2998 3643 2137 2062 472.6 14.2 786 9733 0.00 2.65 0.00 0.000 1030 0.000 0.103 3008 2192 2099 2136 2062 0 0 0 0 0 0 14.88 14.80 14.91

10030 0.94 146.0 3008 2191 2136 2063 433.1 13.0 817 10036 0.00 2.65 0.00 0.000 516 0.000 0.132 3019 781 2099 2136 2062 0 0 0 0 0 0 15.09 14.76 15.11

10065 0.94 146.0 3019 781 2137 2063 428.3 13.8 824 10072 0.00 2.65 0.00 0.000 1030 0.000 0.117 3019 2208 2099 2136 2062 0 0 0 0 0 0 14.86 14.78 14.91

10371 0.94 146.0 3019 2209 2137 2062 387.2 12.9 855 10376 0.00 2.65 0.00 0.000 260 0.000 0.146 3019 3617 2099 2136 2062 0 0 0 0 0 0 15.07 14.77 15.09

10405 0.94 146.0 3019 3619 2137 2062 382.2 14.5 862 10413 0.00 2.60 0.00 0.000 1030 0.000 0.104 3029 2193 2098 2136 2061 0 0 0 0 0 0 14.87 14.79 14.92

10619 end climb: SURFACE_OBSTACLE_DETECTED

state 10619 begin subsurface finish

10622 0.01 5.0 3031 2192 2138 2061 352.9 13.2 884 10633 1.12 2.72 -2.15 0.053 20740 0.223 0.174 2710 3617 2713 2823 2604 0 0 0 0 0 0 14.68 13.57 14.84

10634 end subsurface finish: CONTROL_FINISHED_OK

state 10634 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	116	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	17	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	090218,012421,-7423.4224,-11236.6719,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	367.44	MHEAD_RNG_PITCHd_Wd	317.7,23449,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.8	D_GRID	990
GPS2	090218,012421,-7423.4224,-11236.6719,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	352.9,1.027402,5	_24V_AH	13.07,53.961
FINISH2	351.9	_10V_AH	12.53,0.000
RAFOS_CLK	384	FG_AHR_24Vo	0.000
RAFOS	0,1518145276,3.032778,3.021111,70,59,58,57,55,52,191,203,179,221,167,139	FG_AHR_10Vo	0.000
RAFOS_FIX	-7422.678223,-11236.958984,090218,030308,1,2,0.21	MEM	280128
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	30025,886
TT8_MAMPS	0.041195,0.526547	CAP_FILE_SIZE	106096,0
HUMID	47.63	CFSIZE	1024409600,1006305280
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.3
XPDR_PINGS	1	GPS	090218,031408,-7422.678,-11236.959,0,2002.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	370.4,24.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	257	15.37	nil	0	0	0.00
Roll_motor	76	173	173.74	nil	0	0	0.00
VBD_pump_during_apogee	888	1368	15895.20	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	10649	6	960.78
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	7935	2	229.69
TT8_Active	869	12	133.67
TT8_Sampling	1831	31	728.51
TT8_CF8	78	45	44.37
TT8_Kalman	0	0	0.00
Analog_circuits	1595	10	203.86
GPS_charging	0	0	0.00
Compass	1269	7	119.12
RAFOS	720	1	13.53
Transponder	255	30	96.08

		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
367.7	6.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
375.8	14.30	9000.00	0.0	0.00	0.00	14.30	0.0	1.01	1.00
384.1	19.10	9000.00	0.0	0.79	0.97	19.10	0.0	0.58	1.00
392.7	27.20	9000.00	0.0	0.76	0.98	27.20	0.0	0.94	1.00
401.2	35.60	35.50	0.0	0.96	1.00	35.60	0.0	0.99	1.00
993.6	24.50	9000.00	0.0	-0.01	0.46	24.50	1018.1	-0.02	1.00

985.1	21.50	9000.00	0.0	-0.02	0.95	21.50	963.6	0.35	1.00
976.7	15.70	9000.00	0.0	0.52	0.97	15.70	961.0	0.69	1.00
968.3	20.60	9000.00	0.0	0.06	0.02	20.60	0.0	-0.58	1.00
960.1	14.40	9000.00	0.0	0.07	0.04	14.40	945.7	0.76	1.00
456.5	109.80	9000.00	0.0	-0.18	0.99	109.80	0.0	-0.19	1.00
404.3	60.10	9000.00	0.0	-0.13	0.65	60.10	344.2	0.95	1.00
396.3	52.20	52.30	344.0	0.95	1.00	52.20	344.1	0.99	1.00
387.2	43.70	43.70	343.5	0.96	1.00	43.70	343.5	0.93	1.00
378.7	34.20	34.50	344.2	1.02	1.00	34.20	344.5	1.12	1.00
370.4	24.40	24.50	345.9	1.15	1.00	24.40	346.0	1.18	1.00
362.3	12.90	9000.00	0.0	1.30	1.00	12.90	349.4	1.42	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	2716	2503	2833	2613	0.0	0.0	0	11	0.00	0.00	-1.98	0.047	16390	0.000	0.000	2716	2503	3328	3467	3190	0	0	0	0	0	0	15.07	13.54	15.07
12	-0.94	-146.0	2716	2504	3466	3193	0.0	0.0	0	19	0.98	2.33	0.00	0.000	4356	0.116	0.151	2395	3758	3328	3460	3197	0	0	0	0	0	0	14.80	14.74	14.87
93	-0.94	-146.0	2395	3758	3450	3207	375.4	-11.8	16	102	0.00	2.30	0.00	0.000	1030	0.000	0.102	2394	2491	3328	3450	3207	0	0	0	0	0	0	14.85	14.78	14.88
406	-0.94	-146.0	2395	2492	3448	3209	413.4	-12.3	48	407	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2491	3327	3446	3209	0	0	0	0	0	0	15.08	15.11	15.11
706	-0.94	-146.0	2395	2491	3447	3210	449.6	-11.7	78	712	0.00	2.42	0.00	0.000	260	0.000	0.152	2385	3748	3327	3445	3210	0	0	0	0	0	0	15.08	14.72	15.11
751	-0.94	-146.0	2385	3748	3444	3213	455.3	-12.9	87	758	0.00	2.28	0.00	0.000	1030	0.000	0.099	2385	2488	3328	3443	3213	0	0	0	0	0	0	14.88	14.81	14.91
1056	-0.94	-146.0	2385	2489	3444	3213	493.1	-12.2	118	1057	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2488	3328	3443	3213	0	0	0	0	0	0	15.08	15.11	15.11
1357	-0.94	-146.0	2385	2489	3444	3214	529.9	-12.1	148	1358	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2488	3326	3440	3213	0	0	0	0	0	0	15.05	15.08	15.08
1656	-0.94	-146.0	2385	2489	3444	3214	566.0	-11.9	178	1662	0.00	2.42	0.00	0.000	260	0.000	0.150	2377	3749	3328	3442	3214	0	0	0	0	0	0	15.09	14.73	15.11
1716	-0.94	-146.0	2377	3751	3442	3215	573.5	-12.7	190	1722	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2490	3328	3441	3215	0	0	0	0	0	0	14.88	14.81	14.91
2026	-0.94	-146.0	2377	2491	3442	3216	611.6	-12.2	222	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2490	3328	3441	3215	0	0	0	0	0	0	15.08	15.11	15.11
2326	-0.94	-146.0	2377	2490	3441	3216	647.8	-12.1	252	2332	0.00	2.42	0.00	0.000	260	0.000	0.150	2367	3748	3328	3441	3216	0	0	0	0	0	0	15.08	14.72	15.11
2356	-0.94	-146.0	2367	3749	3442	3217	651.6	-13.2	258	2362	0.10	2.28	0.00	0.000	3078	0.255	0.097	2394	2486	3328	3441	3216	0	0	0	0	0	0	14.64	14.81	14.79
2666	-0.94	-146.0	2393	2487	3441	3217	685.9	-11.0	290	2667	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2486	3329	3441	3217	0	0	0	0	0	0	15.09	15.12	15.11
2988	-0.94	-146.0	2394	2486	3442	3218	719.9	-10.5	310	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2486	3331	3446	3217	0	0	0	0	0	0	15.07	15.10	15.09
3347	-0.94	-146.0	2394	2486	3442	3218	757.4	-10.3	322	3352	0.00	2.40	0.00	0.000	260	0.000	0.151	2385	3757	3329	3441	3218	0	0	0	0	0	0	15.07	14.76	15.09
3371	-0.94	-146.0	2385	3757	3441	3218	760.3	-11.3	327	3378	0.00	2.28	0.00	0.000	1030	0.000	0.098	2385	2496	3329	3441	3218	0	0	0	0	0	0	14.88	14.81	14.92
3737	-0.94	-146.0	2385	2496	3442	3220	800.1	-10.9	340	3737	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2495	3330	3441	3220	0	0	0	0	0	0	15.11	15.14	15.14
4096	-0.94	-146.0	2385	2496	3442	3221	839.6	-10.8	352	4097	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2496	3330	3441	3219	0	0	0	0	0	0	15.11	15.15	15.15
4456	-0.94	-146.0	2385	2496	3442	3223	878.9	-11.0	364	4462	0.00	2.40	0.00	0.000	260	0.000	0.150	2376	3747	3332	3441	3223	0	0	0	0	0	0	15.13	14.74	15.15
4502	-0.94	-146.0	2377	3748	3441	3224	884.1	-11.7	373	4508	0.00	2.22	0.00	0.000	1030	0.000	0.097	2374	2491	3332	3441	3223	0	0	0	0	0	0	14.97	14.85	14.99
4878	-0.94	-146.0	2377	2490	3442	3223	926.3	-11.2	388	4879	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2491	3332	3441	3223	0	0	0	0	0	0	15.12	15.15	15.14
5237	-0.94	-146.0	2377	2491	3442	3224	966.3	-11.1	400	5243	0.00	2.42	0.00	0.000	260	0.000	0.149	2368	3752	3332	3441	3223	0	0	0	0	0	0	15.13	14.74	15.15
5292	-0.94	-146.0	2368	3752	3441	3224	972.8	-11.9	411	5300	0.10	2.28	0.00	0.000	3078	0.257	0.097	2394	2491	3331	3440	3223	0	0	0	0	0	0	14.58	14.83	14.75
5477	end dive: TARGET_DEPTH_EXCEEDED
state	5477	begin apogee
5481	-0.23	0.0	2395	2196	3442	3224	991.6	-10.0	418	5930	0.85	0.00	445.62	1.274	10246	0.230	0.000	2627	2191	2714	2769	2659	0	0	0	0	0	0	14.68	13.78	13.24
5931	end apogee: CONTROL_FINISHED_OK
state	5931	begin climb
5933	0.94	146.0	2627	2192	2766	2659	1001.2	0.0	433	6390	1.25	2.90	443.00	1.369	11012	0.132	0.127	3008	788	2116	2150	2082	0	0	0	0	0	0	13.74	13.57	13.07
6549	0.94	146.0	3008	788	2140	2074	929.5	13.9	555	6555	0.00	2.78	0.00	0.000	1030	0.000	0.113	3008	2208	2106	2139	2074	0	0	0	0	0	0	14.16	14.09	14.20
6930	0.94	146.0	3008	2209	2139	2069	873.0	14.8	571	6931	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2208	2103	2138	2068	0	0	0	0	0	0	14.75	14.78	14.78
7291	0.94	146.0	3008	2208	2139	2066	819.6	14.7	583	7292	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2208	2102	2138	2066	0	0	0	0	0	0	14.90	14.94	14.93
7651	0.94	146.0	3008	2209	2139	2066	767.1	14.6	595	7652	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2208	2101	2138	2065	0	0	0	0	0	0	14.99	15.02	15.01
8011	0.94	146.0	3008	2208	2139	2065	715.3	14.3	607	8012	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2208	2101	2138	2064	0	0	0	0	0	0	15.03	15.06	15.06
8370	0.94	146.0	3008	2209	2138	2064	664.6	14.1	635	8376	0.00	2.62	0.00	0.000	516	0.000	0.126	3018	782	2100	2137	2063	0	0	0	0	0	0	15.04	14.77	15.07
8389	0.94	146.0	3019	782	2138	2064	661.7	14.2	639	8395	0.00	2.62	0.00	0.000	1030	0.000	0.113	3019	2205	2100	2137	2064	0	0	0	0	0	0	14.84	14.76	14.92
8699	0.94	146.0	3019	2206	2138	2064	616.4	14.6	671	8700	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	2100	2137	2063	0	0	0	0	0	0	15.08	15.11	15.11
9000	0.94	146.0	3018	2206	2138	2064	573.1	14.2	701	9006	0.00	2.65	0.00	0.000	260	0.000	0.143	3018	3618	2099	2137	2062	0	0	0	0	0	0	15.09	14.78	15.11
9034	0.94	146.0	3019	3620	2138	2064	567.7	15.9	708	9042	0.00	2.60	0.00	0.000	1030	0.000	0.101	3029	2191	2100	2137	2063	0	0	0	0	0	0	14.87	14.78	14.90
9340	0.94	146.0	3029	2191	2138	2062	523.0	14.5	739	9345	0.00	2.65	0.00	0.000	516	0.000	0.130	3040	779	2099	2137	2062	0	0	0	0	0	0	15.09	14.76	15.12
9380	0.94	146.0	3041	780	2137	2064	517.2	14.6	747	9386	0.17	2.60	0.00	0.000	5126	0.245	0.116	2998	2208	2099	2136	2062	0	0	0	0	0	0	14.72	14.80	14.93
9690	0.94	146.0	2998	2207	2137	2063	477.5	12.7	779	9696	0.00	2.70	0.00	0.000	260	0.000	0.146	2998	3643	2099	2136	2062	0	0	0	0	0	0	15.09	14.77	15.12
9725	0.94	146.0	2998	3643	2137	2062	472.6	14.2	786	9733	0.00	2.65	0.00	0.000	1030	0.000	0.103	3008	2192	2099	2136	2062	0	0	0	0	0	0	14.88	14.80	14.91
10030	0.94	146.0	3008	2191	2136	2063	433.1	13.0	817	10036	0.00	2.65	0.00	0.000	516	0.000	0.132	3019	781	2099	2136	2062	0	0	0	0	0	0	15.09	14.76	15.11
10065	0.94	146.0	3019	781	2137	2063	428.3	13.8	824	10072	0.00	2.65	0.00	0.000	1030	0.000	0.117	3019	2208	2099	2136	2062	0	0	0	0	0	0	14.86	14.78	14.91
10371	0.94	146.0	3019	2209	2137	2062	387.2	12.9	855	10376	0.00	2.65	0.00	0.000	260	0.000	0.146	3019	3617	2099	2136	2062	0	0	0	0	0	0	15.07	14.77	15.09
10405	0.94	146.0	3019	3619	2137	2062	382.2	14.5	862	10413	0.00	2.60	0.00	0.000	1030	0.000	0.104	3029	2193	2098	2136	2061	0	0	0	0	0	0	14.87	14.79	14.92
10619	end climb: SURFACE_OBSTACLE_DETECTED
state	10619	begin subsurface finish
10622	0.01	5.0	3031	2192	2138	2061	352.9	13.2	884	10633	1.12	2.72	-2.15	0.053	20740	0.223	0.174	2710	3617	2713	2823	2604	0	0	0	0	0	0	14.68	13.57	14.84
10634	end subsurface finish: CONTROL_FINISHED_OK
state	10634	begin surface