Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 117 * 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 117 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 20 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 117 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 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 090218,031408,-7422.6782,-11236.9590,0,2002.0,0,53.5,0.0,0.0,0,0.0 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 351.21 MHEAD_RNG_PITCHd_Wd 318.7,22128,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 3.9 D_GRID 990

GPS2 090218,031408,-7422.6782,-11236.9590,0,2002.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 348.8,1.027426,4 _24V_AH 12.49,54.386

FINISH2 347.6 _10V_AH 12.44,0.000

RAFOS_CLK 388 FG_AHR_24Vo 0.000

RAFOS 0,1518156063,6.032778,6.017500,68,63,62,61,58,55,214,173,193,229,137,120 FG_AHR_10Vo 0.000

RAFOS_FIX -7421.615234,-11237.166016,090218,070714,0,1,0.13 MEM 280100

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 33363,932

TT8_MAMPS 0.040446,0.291361 CAP_FILE_SIZE 110068,0

HUMID 47.44 CFSIZE 1024409600,1006190592

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

TCM_TEMP 13.70 SOUNDSPEED 1458.3

XPDR_PINGS 2 GPS 090218,072514,-7421.615,-11237.166,0,1001.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 357.4,15.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 268 15.34 nil 0 0 0.00

Roll_motor 80 1439 1453.41 nil 0 0 0.00

VBD_pump_during_apogee 950 1472 17485.39 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 10808 6 937.52

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 37 420 194.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7943 2 228.28

TT8_Active 932 12 142.28

TT8_Sampling 1915 31 756.24

TT8_CF8 81 45 45.75

TT8_Kalman 0 0 0.00

Analog_circuits 1693 10 214.85

GPS_charging 0 0 0.00

Compass 1334 7 124.32

RAFOS 720 1 13.44

Transponder 258 30 96.43

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

360.0 13.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

368.1 20.40 9000.00 0.0 0.00 0.00 20.40 0.0 0.83 1.00

384.9 33.90 34.00 0.0 0.81 1.00 33.90 0.0 0.80 1.00

393.4 42.40 41.90 0.0 0.86 1.00 42.40 0.0 1.00 1.00

992.2 17.60 9000.00 0.0 -0.03 0.88 17.60 1009.8 -0.04 1.00

983.8 14.50 9000.00 0.0 -0.04 0.99 14.50 969.3 0.37 1.00

975.6 14.90 9000.00 0.0 0.16 0.65 14.90 0.0 -0.05 1.00

967.2 14.00 9000.00 0.0 0.03 0.28 14.00 953.2 0.11 1.00

958.4 20.20 9000.00 0.0 -0.31 0.65 20.20 0.0 -0.70 1.00

400.6 58.90 9000.00 0.0 -0.07 0.99 58.90 0.0 -0.07 1.00

392.6 50.70 9000.00 0.0 -0.06 0.96 50.70 341.9 1.03 1.00

383.3 40.70 40.80 342.5 1.05 1.00 40.70 342.6 1.08 1.00

375.2 32.40 32.30 342.9 1.06 1.00 32.40 342.8 1.02 1.00

366.0 23.40 23.30 342.7 1.00 1.00 23.40 342.6 0.98 1.00

357.4 15.00 15.00 342.4 0.98 1.00 15.00 342.4 0.98 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 2711 2483 2822 2606 0.0 0.0 0 11 0.00 0.05 -2.05 0.046 16390 0.000 1.440 2709 2499 3327 3465 3189 0 0 0 0 0 0 15.07 13.57 15.07

13 -0.94 -146.0 2710 2499 3464 3194 0.0 0.0 0 19 0.95 2.55 0.00 0.000 4612 0.124 0.120 2402 1085 3328 3460 3196 0 0 0 0 0 0 14.78 14.76 14.88

78 -0.94 -146.0 2402 1086 3452 3203 357.4 -10.3 13 87 0.00 2.70 0.00 0.000 1030 0.000 0.128 2394 2511 3327 3452 3202 0 0 0 0 0 0 14.84 14.74 14.89

384 -0.94 -146.0 2394 2510 3447 3207 393.4 -12.2 44 389 0.00 2.35 0.00 0.000 260 0.000 0.152 2384 3753 3326 3445 3208 0 0 0 0 0 0 15.06 14.75 15.09

493 -0.94 -146.0 2385 3753 3444 3210 408.2 -13.9 66 499 0.00 2.28 0.00 0.000 1030 0.000 0.100 2385 2498 3326 3443 3210 0 0 0 0 0 0 14.88 14.81 14.92

803 -0.94 -146.0 2384 2499 3443 3212 447.0 -12.3 98 804 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2498 3326 3442 3210 0 0 0 0 0 0 15.09 15.11 15.11

1103 -0.94 -146.0 2384 2498 3443 3210 483.2 -11.9 128 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2497 3326 3442 3211 0 0 0 0 0 0 15.09 15.13 15.12

1403 -0.94 -146.0 2385 2498 3442 3211 519.4 -12.1 158 1404 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2498 3326 3441 3211 0 0 0 0 0 0 15.10 15.13 15.13

1704 -0.94 -146.0 2385 2498 3442 3210 555.4 -11.9 188 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2498 3325 3440 3210 0 0 0 0 0 0 15.07 15.10 15.09

2003 -0.94 -146.0 2385 2497 3441 3211 590.6 -11.5 218 2004 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2498 3325 3440 3211 0 0 0 0 0 0 15.11 15.14 15.13

2303 -0.94 -146.0 2385 2498 3441 3211 625.6 -11.7 248 2309 0.00 2.42 0.00 0.000 260 0.000 0.152 2375 3754 3325 3439 3211 0 0 0 0 0 0 15.11 14.73 15.13

2338 -0.94 -146.0 2376 3755 3439 3214 630.0 -12.7 255 2345 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2497 3324 3436 3213 0 0 0 0 0 0 14.88 14.81 14.92

2643 -0.94 -146.0 2376 2497 3438 3213 667.0 -11.9 286 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2496 3325 3437 3213 0 0 0 0 0 0 15.11 15.14 15.13

2964 -0.94 -146.0 2376 2496 3438 3213 704.5 -11.5 316 2969 0.00 2.38 0.00 0.000 260 0.000 0.152 2366 3753 3325 3437 3213 0 0 0 0 0 0 15.07 14.75 15.10

2998 -0.94 -146.0 2367 3753 3437 3213 708.8 -12.5 323 3004 0.10 2.28 0.00 0.000 3078 0.256 0.097 2393 2492 3324 3436 3213 0 0 0 0 0 0 14.64 14.82 14.80

3384 -0.94 -146.0 2393 2493 3437 3215 750.6 -10.6 340 3384 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2492 3324 3436 3213 0 0 0 0 0 0 15.11 15.14 15.14

3743 -0.94 -146.0 2393 2492 3436 3213 788.8 -10.5 352 3749 0.00 2.42 0.00 0.000 260 0.000 0.150 2384 3756 3324 3436 3213 0 0 0 0 0 0 15.12 14.73 15.14

3778 -0.94 -146.0 2385 3756 3437 3213 793.1 -11.7 359 3784 0.00 2.28 0.00 0.000 1030 0.000 0.098 2384 2495 3325 3436 3214 0 0 0 0 0 0 14.89 14.82 14.93

4164 -0.94 -146.0 2384 2497 3437 3215 834.9 -10.9 376 4170 0.00 2.38 0.00 0.000 260 0.000 0.152 2376 3753 3325 3436 3214 0 0 0 0 0 0 15.12 14.75 15.14

4198 -0.94 -146.0 2376 3753 3437 3214 839.0 -11.8 383 4205 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2496 3325 3436 3214 0 0 0 0 0 0 14.88 14.81 14.92

4584 -0.94 -146.0 2376 2495 3437 3214 881.6 -11.0 400 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2495 3324 3435 3213 0 0 0 0 0 0 15.11 15.15 15.14

4944 -0.94 -146.0 2376 2496 3436 3215 921.1 -11.0 412 4950 0.00 2.42 0.00 0.000 260 0.000 0.151 2368 3753 3325 3436 3214 0 0 0 0 0 0 15.12 14.73 15.15

4988 -0.94 -146.0 2367 3753 3436 3214 926.4 -12.1 421 4996 0.10 2.28 0.00 0.000 3078 0.269 0.098 2393 2494 3324 3436 3213 0 0 0 0 0 0 14.64 14.82 14.81

5365 -0.94 -146.0 2393 2494 3437 3215 965.1 -10.1 436 5371 0.00 2.38 0.00 0.000 260 0.000 0.151 2385 3750 3325 3436 3214 0 0 0 0 0 0 15.11 14.75 15.14

5395 -0.94 -146.0 2386 3750 3437 3214 968.3 -8.2 442 5401 0.00 2.28 0.00 0.000 1030 0.000 0.099 2385 2491 3325 3436 3214 0 0 0 0 0 0 14.88 14.82 14.92

5604 end dive: TARGET_DEPTH_EXCEEDED

state 5604 begin apogee

5607 -0.23 0.0 2385 2192 3437 3214 990.3 -10.3 454 6125 0.88 0.00 509.25 1.268 10246 0.237 0.000 2622 2192 2714 2769 2659 0 0 0 0 1 0 14.66 13.64 12.49

6127 end apogee: CONTROL_FINISHED_OK

state 6127 begin climb

6128 0.94 146.0 2622 2192 2773 2659 1003.6 0.0 471 6582 1.27 3.05 441.40 1.473 10500 0.134 0.143 2995 3621 2115 2150 2081 0 0 0 0 0 0 13.59 13.54 12.99

6721 0.94 146.0 2996 3622 2137 2064 934.7 15.8 589 6728 0.00 2.72 0.00 0.000 1030 0.000 0.099 3006 2209 2102 2141 2063 0 0 0 0 0 0 14.14 14.07 14.17

7092 0.94 146.0 3006 2208 2139 2060 880.5 14.6 603 7098 0.00 2.70 0.00 0.000 516 0.000 0.130 3017 776 2096 2133 2059 0 0 0 0 0 0 14.72 14.49 14.76

7132 0.94 146.0 3017 777 2132 2060 874.5 15.0 611 7138 0.00 2.70 0.00 0.000 1030 0.000 0.116 3017 2225 2095 2132 2059 0 0 0 0 0 0 14.65 14.52 14.68

7512 0.94 146.0 3017 2224 2133 2057 816.8 15.0 627 7513 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2224 2094 2131 2057 0 0 0 0 0 0 14.90 14.93 14.93

7873 0.94 146.0 3017 2225 2132 2058 762.9 15.1 639 7878 0.00 2.67 0.00 0.000 516 0.000 0.129 3027 783 2093 2131 2056 0 0 0 0 0 0 14.98 14.72 15.01

7922 0.94 146.0 3027 784 2131 2058 755.1 15.3 649 7931 0.00 2.65 0.00 0.000 1030 0.000 0.115 3028 2207 2092 2130 2054 0 0 0 0 0 0 14.81 14.73 14.85

8297 0.94 146.0 3028 2207 2130 2056 697.2 15.6 663 8298 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2207 2093 2130 2056 0 0 0 0 0 0 15.03 15.06 15.06

8596 0.94 146.0 3028 2207 2131 2055 650.9 15.5 693 8597 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2207 2092 2130 2055 0 0 0 0 0 0 15.04 15.07 15.07

8896 0.94 146.0 3028 2208 2130 2055 604.8 15.3 723 8897 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2207 2091 2129 2054 0 0 0 0 0 0 15.05 15.09 15.08

9196 0.94 146.0 3027 2207 2130 2054 559.7 15.3 753 9202 0.00 2.62 0.00 0.000 516 0.000 0.127 3038 782 2091 2129 2053 0 0 0 0 0 0 15.07 14.79 15.09

9230 0.94 146.0 3038 781 2130 2054 554.3 15.5 760 9238 0.12 2.62 0.00 0.000 5126 0.234 0.113 3002 2207 2091 2129 2053 0 0 0 0 0 0 14.70 14.78 14.85

9535 0.94 146.0 3003 2207 2130 2053 513.5 13.1 791 9541 0.00 2.67 0.00 0.000 260 0.000 0.145 3003 3633 2090 2128 2052 0 0 0 0 0 0 15.09 14.78 15.12

9586 0.94 146.0 3003 3633 2129 2054 506.3 14.5 801 9592 0.00 2.58 0.00 0.000 1030 0.000 0.102 3013 2193 2091 2129 2053 0 0 0 0 0 0 14.95 14.83 14.98

9896 0.94 146.0 3013 2192 2129 2052 465.4 13.0 833 9902 0.00 2.62 0.00 0.000 516 0.000 0.132 3023 788 2090 2128 2052 0 0 0 0 0 0 15.10 14.78 15.12

9941 0.94 146.0 3023 789 2129 2053 459.4 13.3 842 9949 0.00 2.62 0.00 0.000 1030 0.000 0.116 3023 2205 2090 2128 2052 0 0 0 0 0 0 14.87 14.78 14.91

10246 0.94 146.0 3023 2205 2128 2053 417.7 13.3 873 10247 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2205 2090 2128 2052 0 0 0 0 0 0 15.09 15.12 15.12

10546 0.94 146.0 3023 2205 2129 2052 378.0 13.1 903 10552 0.00 2.70 0.00 0.000 260 0.000 0.146 3023 3640 2089 2127 2052 0 0 0 0 0 0 15.11 14.77 15.12

10576 0.94 146.0 3023 3640 2129 2052 373.7 14.9 909 10582 0.10 2.62 0.00 0.000 5126 0.237 0.103 3006 2200 2090 2128 2052 0 0 0 0 0 0 14.70 14.81 14.84

10776 end climb: SURFACE_OBSTACLE_DETECTED

state 10776 begin subsurface finish

10779 0.00 3.7 3006 2197 2129 2051 348.8 12.1 930 10791 1.05 2.65 -2.20 0.051 20996 0.213 0.154 2710 790 2716 2828 2605 0 0 0 0 0 0 14.71 13.57 14.83

10792 end subsurface finish: CONTROL_FINISHED_OK

state 10792 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	117	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	20	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	090218,031408,-7422.6782,-11236.9590,0,2002.0,0,53.5,0.0,0.0,0,0.0	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	351.21	MHEAD_RNG_PITCHd_Wd	318.7,22128,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	3.9	D_GRID	990
GPS2	090218,031408,-7422.6782,-11236.9590,0,2002.0,0,53.5,0.0,0.0,0,0.0

FINISH1	348.8,1.027426,4	_24V_AH	12.49,54.386
FINISH2	347.6	_10V_AH	12.44,0.000
RAFOS_CLK	388	FG_AHR_24Vo	0.000
RAFOS	0,1518156063,6.032778,6.017500,68,63,62,61,58,55,214,173,193,229,137,120	FG_AHR_10Vo	0.000
RAFOS_FIX	-7421.615234,-11237.166016,090218,070714,0,1,0.13	MEM	280100
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	33363,932
TT8_MAMPS	0.040446,0.291361	CAP_FILE_SIZE	110068,0
HUMID	47.44	CFSIZE	1024409600,1006190592
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.3
XPDR_PINGS	2	GPS	090218,072514,-7421.615,-11237.166,0,1001.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	357.4,15.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	268	15.34	nil	0	0	0.00
Roll_motor	80	1439	1453.41	nil	0	0	0.00
VBD_pump_during_apogee	950	1472	17485.39	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	10808	6	937.52
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	37	420	194.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7943	2	228.28
TT8_Active	932	12	142.28
TT8_Sampling	1915	31	756.24
TT8_CF8	81	45	45.75
TT8_Kalman	0	0	0.00
Analog_circuits	1693	10	214.85
GPS_charging	0	0	0.00
Compass	1334	7	124.32
RAFOS	720	1	13.44
Transponder	258	30	96.43

		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
360.0	13.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
368.1	20.40	9000.00	0.0	0.00	0.00	20.40	0.0	0.83	1.00
384.9	33.90	34.00	0.0	0.81	1.00	33.90	0.0	0.80	1.00
393.4	42.40	41.90	0.0	0.86	1.00	42.40	0.0	1.00	1.00
992.2	17.60	9000.00	0.0	-0.03	0.88	17.60	1009.8	-0.04	1.00

983.8	14.50	9000.00	0.0	-0.04	0.99	14.50	969.3	0.37	1.00
975.6	14.90	9000.00	0.0	0.16	0.65	14.90	0.0	-0.05	1.00
967.2	14.00	9000.00	0.0	0.03	0.28	14.00	953.2	0.11	1.00
958.4	20.20	9000.00	0.0	-0.31	0.65	20.20	0.0	-0.70	1.00
400.6	58.90	9000.00	0.0	-0.07	0.99	58.90	0.0	-0.07	1.00
392.6	50.70	9000.00	0.0	-0.06	0.96	50.70	341.9	1.03	1.00
383.3	40.70	40.80	342.5	1.05	1.00	40.70	342.6	1.08	1.00
375.2	32.40	32.30	342.9	1.06	1.00	32.40	342.8	1.02	1.00
366.0	23.40	23.30	342.7	1.00	1.00	23.40	342.6	0.98	1.00
357.4	15.00	15.00	342.4	0.98	1.00	15.00	342.4	0.98	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	2711	2483	2822	2606	0.0	0.0	0	11	0.00	0.05	-2.05	0.046	16390	0.000	1.440	2709	2499	3327	3465	3189	0	0	0	0	0	0	15.07	13.57	15.07
13	-0.94	-146.0	2710	2499	3464	3194	0.0	0.0	0	19	0.95	2.55	0.00	0.000	4612	0.124	0.120	2402	1085	3328	3460	3196	0	0	0	0	0	0	14.78	14.76	14.88
78	-0.94	-146.0	2402	1086	3452	3203	357.4	-10.3	13	87	0.00	2.70	0.00	0.000	1030	0.000	0.128	2394	2511	3327	3452	3202	0	0	0	0	0	0	14.84	14.74	14.89
384	-0.94	-146.0	2394	2510	3447	3207	393.4	-12.2	44	389	0.00	2.35	0.00	0.000	260	0.000	0.152	2384	3753	3326	3445	3208	0	0	0	0	0	0	15.06	14.75	15.09
493	-0.94	-146.0	2385	3753	3444	3210	408.2	-13.9	66	499	0.00	2.28	0.00	0.000	1030	0.000	0.100	2385	2498	3326	3443	3210	0	0	0	0	0	0	14.88	14.81	14.92
803	-0.94	-146.0	2384	2499	3443	3212	447.0	-12.3	98	804	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2498	3326	3442	3210	0	0	0	0	0	0	15.09	15.11	15.11
1103	-0.94	-146.0	2384	2498	3443	3210	483.2	-11.9	128	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2497	3326	3442	3211	0	0	0	0	0	0	15.09	15.13	15.12
1403	-0.94	-146.0	2385	2498	3442	3211	519.4	-12.1	158	1404	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2498	3326	3441	3211	0	0	0	0	0	0	15.10	15.13	15.13
1704	-0.94	-146.0	2385	2498	3442	3210	555.4	-11.9	188	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2498	3325	3440	3210	0	0	0	0	0	0	15.07	15.10	15.09
2003	-0.94	-146.0	2385	2497	3441	3211	590.6	-11.5	218	2004	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2498	3325	3440	3211	0	0	0	0	0	0	15.11	15.14	15.13
2303	-0.94	-146.0	2385	2498	3441	3211	625.6	-11.7	248	2309	0.00	2.42	0.00	0.000	260	0.000	0.152	2375	3754	3325	3439	3211	0	0	0	0	0	0	15.11	14.73	15.13
2338	-0.94	-146.0	2376	3755	3439	3214	630.0	-12.7	255	2345	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2497	3324	3436	3213	0	0	0	0	0	0	14.88	14.81	14.92
2643	-0.94	-146.0	2376	2497	3438	3213	667.0	-11.9	286	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2496	3325	3437	3213	0	0	0	0	0	0	15.11	15.14	15.13
2964	-0.94	-146.0	2376	2496	3438	3213	704.5	-11.5	316	2969	0.00	2.38	0.00	0.000	260	0.000	0.152	2366	3753	3325	3437	3213	0	0	0	0	0	0	15.07	14.75	15.10
2998	-0.94	-146.0	2367	3753	3437	3213	708.8	-12.5	323	3004	0.10	2.28	0.00	0.000	3078	0.256	0.097	2393	2492	3324	3436	3213	0	0	0	0	0	0	14.64	14.82	14.80
3384	-0.94	-146.0	2393	2493	3437	3215	750.6	-10.6	340	3384	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2492	3324	3436	3213	0	0	0	0	0	0	15.11	15.14	15.14
3743	-0.94	-146.0	2393	2492	3436	3213	788.8	-10.5	352	3749	0.00	2.42	0.00	0.000	260	0.000	0.150	2384	3756	3324	3436	3213	0	0	0	0	0	0	15.12	14.73	15.14
3778	-0.94	-146.0	2385	3756	3437	3213	793.1	-11.7	359	3784	0.00	2.28	0.00	0.000	1030	0.000	0.098	2384	2495	3325	3436	3214	0	0	0	0	0	0	14.89	14.82	14.93
4164	-0.94	-146.0	2384	2497	3437	3215	834.9	-10.9	376	4170	0.00	2.38	0.00	0.000	260	0.000	0.152	2376	3753	3325	3436	3214	0	0	0	0	0	0	15.12	14.75	15.14
4198	-0.94	-146.0	2376	3753	3437	3214	839.0	-11.8	383	4205	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2496	3325	3436	3214	0	0	0	0	0	0	14.88	14.81	14.92
4584	-0.94	-146.0	2376	2495	3437	3214	881.6	-11.0	400	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2495	3324	3435	3213	0	0	0	0	0	0	15.11	15.15	15.14
4944	-0.94	-146.0	2376	2496	3436	3215	921.1	-11.0	412	4950	0.00	2.42	0.00	0.000	260	0.000	0.151	2368	3753	3325	3436	3214	0	0	0	0	0	0	15.12	14.73	15.15
4988	-0.94	-146.0	2367	3753	3436	3214	926.4	-12.1	421	4996	0.10	2.28	0.00	0.000	3078	0.269	0.098	2393	2494	3324	3436	3213	0	0	0	0	0	0	14.64	14.82	14.81
5365	-0.94	-146.0	2393	2494	3437	3215	965.1	-10.1	436	5371	0.00	2.38	0.00	0.000	260	0.000	0.151	2385	3750	3325	3436	3214	0	0	0	0	0	0	15.11	14.75	15.14
5395	-0.94	-146.0	2386	3750	3437	3214	968.3	-8.2	442	5401	0.00	2.28	0.00	0.000	1030	0.000	0.099	2385	2491	3325	3436	3214	0	0	0	0	0	0	14.88	14.82	14.92
5604	end dive: TARGET_DEPTH_EXCEEDED
state	5604	begin apogee
5607	-0.23	0.0	2385	2192	3437	3214	990.3	-10.3	454	6125	0.88	0.00	509.25	1.268	10246	0.237	0.000	2622	2192	2714	2769	2659	0	0	0	0	1	0	14.66	13.64	12.49
6127	end apogee: CONTROL_FINISHED_OK
state	6127	begin climb
6128	0.94	146.0	2622	2192	2773	2659	1003.6	0.0	471	6582	1.27	3.05	441.40	1.473	10500	0.134	0.143	2995	3621	2115	2150	2081	0	0	0	0	0	0	13.59	13.54	12.99
6721	0.94	146.0	2996	3622	2137	2064	934.7	15.8	589	6728	0.00	2.72	0.00	0.000	1030	0.000	0.099	3006	2209	2102	2141	2063	0	0	0	0	0	0	14.14	14.07	14.17
7092	0.94	146.0	3006	2208	2139	2060	880.5	14.6	603	7098	0.00	2.70	0.00	0.000	516	0.000	0.130	3017	776	2096	2133	2059	0	0	0	0	0	0	14.72	14.49	14.76
7132	0.94	146.0	3017	777	2132	2060	874.5	15.0	611	7138	0.00	2.70	0.00	0.000	1030	0.000	0.116	3017	2225	2095	2132	2059	0	0	0	0	0	0	14.65	14.52	14.68
7512	0.94	146.0	3017	2224	2133	2057	816.8	15.0	627	7513	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2224	2094	2131	2057	0	0	0	0	0	0	14.90	14.93	14.93
7873	0.94	146.0	3017	2225	2132	2058	762.9	15.1	639	7878	0.00	2.67	0.00	0.000	516	0.000	0.129	3027	783	2093	2131	2056	0	0	0	0	0	0	14.98	14.72	15.01
7922	0.94	146.0	3027	784	2131	2058	755.1	15.3	649	7931	0.00	2.65	0.00	0.000	1030	0.000	0.115	3028	2207	2092	2130	2054	0	0	0	0	0	0	14.81	14.73	14.85
8297	0.94	146.0	3028	2207	2130	2056	697.2	15.6	663	8298	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2207	2093	2130	2056	0	0	0	0	0	0	15.03	15.06	15.06
8596	0.94	146.0	3028	2207	2131	2055	650.9	15.5	693	8597	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2207	2092	2130	2055	0	0	0	0	0	0	15.04	15.07	15.07
8896	0.94	146.0	3028	2208	2130	2055	604.8	15.3	723	8897	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2207	2091	2129	2054	0	0	0	0	0	0	15.05	15.09	15.08
9196	0.94	146.0	3027	2207	2130	2054	559.7	15.3	753	9202	0.00	2.62	0.00	0.000	516	0.000	0.127	3038	782	2091	2129	2053	0	0	0	0	0	0	15.07	14.79	15.09
9230	0.94	146.0	3038	781	2130	2054	554.3	15.5	760	9238	0.12	2.62	0.00	0.000	5126	0.234	0.113	3002	2207	2091	2129	2053	0	0	0	0	0	0	14.70	14.78	14.85
9535	0.94	146.0	3003	2207	2130	2053	513.5	13.1	791	9541	0.00	2.67	0.00	0.000	260	0.000	0.145	3003	3633	2090	2128	2052	0	0	0	0	0	0	15.09	14.78	15.12
9586	0.94	146.0	3003	3633	2129	2054	506.3	14.5	801	9592	0.00	2.58	0.00	0.000	1030	0.000	0.102	3013	2193	2091	2129	2053	0	0	0	0	0	0	14.95	14.83	14.98
9896	0.94	146.0	3013	2192	2129	2052	465.4	13.0	833	9902	0.00	2.62	0.00	0.000	516	0.000	0.132	3023	788	2090	2128	2052	0	0	0	0	0	0	15.10	14.78	15.12
9941	0.94	146.0	3023	789	2129	2053	459.4	13.3	842	9949	0.00	2.62	0.00	0.000	1030	0.000	0.116	3023	2205	2090	2128	2052	0	0	0	0	0	0	14.87	14.78	14.91
10246	0.94	146.0	3023	2205	2128	2053	417.7	13.3	873	10247	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2205	2090	2128	2052	0	0	0	0	0	0	15.09	15.12	15.12
10546	0.94	146.0	3023	2205	2129	2052	378.0	13.1	903	10552	0.00	2.70	0.00	0.000	260	0.000	0.146	3023	3640	2089	2127	2052	0	0	0	0	0	0	15.11	14.77	15.12
10576	0.94	146.0	3023	3640	2129	2052	373.7	14.9	909	10582	0.10	2.62	0.00	0.000	5126	0.237	0.103	3006	2200	2090	2128	2052	0	0	0	0	0	0	14.70	14.81	14.84
10776	end climb: SURFACE_OBSTACLE_DETECTED
state	10776	begin subsurface finish
10779	0.00	3.7	3006	2197	2129	2051	348.8	12.1	930	10791	1.05	2.65	-2.20	0.051	20996	0.213	0.154	2710	790	2716	2828	2605	0	0	0	0	0	0	14.71	13.57	14.83
10792	end subsurface finish: CONTROL_FINISHED_OK
state	10792	begin surface