Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 118 * 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 118 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 118 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 090218,072514,-7421.6152,-11237.1660,0,1001.0,0,53.5,0.0,0.0,0,0.0 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 347.52 MHEAD_RNG_PITCHd_Wd 320.2,20233,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.2 D_GRID 990

GPS2 090218,072514,-7421.6152,-11237.1660,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 358.2,1.027438,3 ALTIM_BOTTOM_PING 987.3,11.4

FINISH2 357.2 _24V_AH 13.07,54.814

RAFOS_CLK 386 _10V_AH 12.99,0.000

RAFOS 0,1518166879,9.032778,9.021944,57,57,55,53,47,45,108,183,213,151,163,72 FG_AHR_24Vo 0.000

RAFOS_FIX -7420.320801,-11237.757812,090218,101014,0,1,0.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 MEM 280128

TT8_MAMPS 0.041944,0.211967 DATA_FILE_SIZE 29983,872

HUMID 47.67 CAP_FILE_SIZE 108449,0

INTERNAL_PRESSURE 7.63859 CFSIZE 1024409600,1006092288

TCM_TEMP 13.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1458.0

ALTIM_TOP_PING 376.5,24.2 GPS 090218,102514,-7420.321,-11237.758,0,1001.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 16.30 nil 0 0 0.00

Roll_motor 87 201 229.96 nil 0 0 0.00

VBD_pump_during_apogee 996 1435 18683.19 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 10681 7 978.46

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 198.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7851 2 235.59

TT8_Active 1019 12 162.56

TT8_Sampling 1817 31 749.41

TT8_CF8 80 45 47.05

TT8_Kalman 0 0 0.00

Analog_circuits 1727 10 228.92

GPS_charging 0 0 0.00

Compass 1249 7 121.58

RAFOS 720 1 14.03

Transponder 255 30 99.69

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

347.9 8.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

959.3 41.70 9000.00 0.0 0.00 0.00 41.70 0.0 0.05 1.00

968.4 29.50 9000.00 0.0 0.04 0.86 29.50 997.9 -1.34 1.00

978.0 18.60 18.30 996.3 -1.23 1.00 18.60 996.6 -1.14 1.00

987.3 12.10 11.40 998.7 -0.92 0.98 12.10 999.4 -0.70 1.00

992.4 20.70 9000.00 0.0 0.04 0.00 20.70 0.0 1.69 1.00

984.0 12.70 9000.00 0.0 1.00 0.79 12.70 971.3 0.95 1.00

975.8 14.70 9000.00 0.0 0.36 0.52 14.70 0.0 -0.24 1.00

967.7 18.20 9000.00 0.0 -0.34 0.97 18.20 0.0 -0.43 1.00

958.9 16.80 9000.00 0.0 -0.12 0.32 16.80 942.1 0.16 1.00

950.7 21.30 9000.00 0.0 -0.18 0.43 21.30 0.0 -0.55 1.00

419.8 70.00 9000.00 0.0 -0.10 1.00 70.00 0.0 -0.09 1.00

411.2 61.10 9000.00 0.0 -0.08 0.97 61.10 350.1 1.03 1.00

403.1 53.30 53.20 349.9 1.00 1.00 53.30 349.8 0.96 1.00

395.0 45.20 45.30 349.7 0.98 1.00 45.20 349.8 1.00 1.00

385.8 35.30 35.40 350.4 1.04 1.00 35.30 350.5 1.08 1.00

376.5 24.00 24.20 352.3 1.15 1.00 24.00 352.5 1.22 1.00

367.8 11.20 9000.00 0.0 1.34 1.00 11.20 356.6 1.47 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 2511 2826 2607 0.0 0.0 0 11 0.00 0.00 -2.05 0.046 16390 0.000 0.000 2710 2510 3325 3464 3187 0 0 0 0 0 0 15.07 13.57 15.07

13 -0.94 -146.0 2711 2511 3465 3191 0.0 0.0 0 15 0.98 0.00 0.00 0.000 4102 0.109 0.000 2392 2510 3327 3462 3192 0 0 0 0 0 0 14.83 14.97 14.95

310 -0.94 -146.0 2392 2512 3446 3207 381.4 -12.3 30 315 0.00 2.35 0.00 0.000 260 0.000 0.151 2383 3756 3325 3445 3206 0 0 0 0 0 0 15.06 14.76 15.09

394 -0.94 -146.0 2383 3756 3444 3209 392.6 -13.2 47 401 0.00 2.28 0.00 0.000 1030 0.000 0.099 2383 2494 3326 3443 3209 0 0 0 0 0 0 14.88 14.81 14.92

699 -0.94 -146.0 2383 2494 3443 3209 431.1 -12.7 78 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2494 3326 3443 3209 0 0 0 0 0 0 15.09 15.12 15.12

1000 -0.94 -146.0 2383 2495 3441 3210 468.7 -12.1 108 1001 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2494 3325 3442 3209 0 0 0 0 0 0 15.07 15.09 15.09

1299 -0.94 -146.0 2383 2494 3442 3209 505.1 -11.8 138 1305 0.00 2.42 0.00 0.000 260 0.000 0.152 2374 3753 3324 3440 3209 0 0 0 0 0 0 15.10 14.73 15.12

1334 -0.94 -146.0 2374 3753 3439 3212 509.6 -13.1 145 1342 0.00 2.28 0.00 0.000 1030 0.000 0.099 2374 2496 3324 3438 3211 0 0 0 0 0 0 14.88 14.81 14.92

1639 -0.94 -146.0 2375 2495 3439 3211 547.0 -12.0 176 1640 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2495 3324 3437 3211 0 0 0 0 0 0 15.10 15.13 15.13

1939 -0.94 -146.0 2374 2496 3438 3212 583.4 -12.3 206 1940 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2495 3324 3437 3211 0 0 0 0 0 0 15.10 15.14 15.13

2239 -0.94 -146.0 2374 2496 3438 3212 620.2 -12.3 236 2245 0.00 2.42 0.00 0.000 260 0.000 0.152 2365 3757 3324 3437 3211 0 0 0 0 0 0 15.13 14.73 15.13

2279 -0.94 -146.0 2365 3757 3437 3213 625.4 -13.2 244 2285 0.10 2.28 0.00 0.000 3078 0.259 0.099 2391 2496 3324 3436 3212 0 0 0 0 0 0 14.66 14.81 14.81

2589 -0.94 -146.0 2392 2496 3437 3212 660.0 -11.0 276 2590 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2496 3324 3436 3212 0 0 0 0 0 0 15.10 15.13 15.12

2889 -0.94 -146.0 2391 2496 3437 3212 692.5 -11.0 306 2895 0.00 2.42 0.00 0.000 260 0.000 0.152 2383 3753 3324 3436 3212 0 0 0 0 0 0 15.10 14.73 15.13

2934 -0.94 -146.0 2383 3753 3437 3212 697.9 -12.3 315 2942 0.00 2.28 0.00 0.000 1030 0.000 0.099 2383 2494 3324 3436 3212 0 0 0 0 0 0 14.88 14.81 14.91

3260 -0.94 -146.0 2383 2493 3437 3213 734.6 -11.1 328 3261 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2493 3324 3436 3212 0 0 0 0 0 0 15.11 15.14 15.13

3620 -0.94 -146.0 2383 2494 3437 3213 774.7 -11.2 340 3625 0.00 2.42 0.00 0.000 260 0.000 0.151 2374 3757 3323 3435 3212 0 0 0 0 0 0 15.11 14.73 15.14

3664 -0.94 -146.0 2375 3757 3437 3212 780.2 -12.1 349 3671 0.00 2.28 0.00 0.000 1030 0.000 0.099 2375 2498 3324 3435 3213 0 0 0 0 0 0 14.88 14.81 14.92

4041 -0.94 -146.0 2374 2498 3436 3213 823.6 -11.6 364 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2498 3324 3436 3213 0 0 0 0 0 0 15.11 15.14 15.14

4400 -0.94 -146.0 2376 2498 3436 3213 864.0 -11.2 376 4406 0.00 2.42 0.00 0.000 260 0.000 0.152 2365 3756 3324 3436 3213 0 0 0 0 0 0 15.12 14.73 15.14

4445 -0.94 -146.0 2365 3756 3436 3213 869.2 -12.4 385 4452 0.10 2.30 0.00 0.000 3078 0.262 0.099 2391 2485 3324 3435 3213 0 0 0 0 0 0 14.64 14.80 14.80

4822 -0.94 -146.0 2391 2486 3436 3214 908.6 -10.3 400 4822 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2485 3324 3435 3213 0 0 0 0 0 0 15.12 15.15 15.14

5181 -0.94 -146.0 2391 2486 3436 3214 946.4 -10.4 412 5187 0.00 2.42 0.00 0.000 260 0.000 0.151 2383 3747 3321 3435 3208 0 0 0 0 0 0 15.13 14.73 15.16

5216 -0.94 -146.0 2383 3748 3436 3214 950.0 -11.1 419 5222 0.00 2.25 0.00 0.000 1030 0.000 0.096 2383 2497 3324 3435 3213 0 0 0 0 0 0 14.90 14.83 14.94

5600 end dive: TARGET_DEPTH_EXCEEDED

state 5600 begin apogee

5603 -0.23 0.0 2384 2183 3436 3214 990.7 -10.5 436 6174 0.90 0.03 562.22 1.228 10246 0.236 0.201 2627 2195 2713 2769 2658 0 0 0 0 0 0 14.67 13.55 13.12

6175 end apogee: CONTROL_FINISHED_OK

state 6175 begin climb

6177 0.94 146.0 2628 2196 2768 2657 992.4 0.0 455 6623 1.27 2.97 433.83 1.435 10500 0.126 0.143 3001 3623 2115 2150 2081 0 0 0 0 0 0 13.70 13.58 13.07

6647 0.94 146.0 3001 3624 2146 2078 940.9 15.9 528 6653 0.00 2.80 0.00 0.000 1030 0.000 0.098 3009 2204 2110 2145 2076 0 0 0 0 0 0 13.83 13.76 13.85

7022 0.94 146.0 3012 2203 2142 2068 884.4 15.0 543 7028 0.00 2.75 0.00 0.000 516 0.000 0.129 3022 776 2104 2141 2067 0 0 0 0 0 0 14.68 14.40 14.71

7077 0.94 146.0 3023 776 2140 2067 875.7 15.2 554 7085 0.00 2.72 0.00 0.000 1030 0.000 0.115 3022 2209 2103 2139 2067 0 0 0 0 0 0 14.54 14.45 14.57

7443 0.94 146.0 3023 2210 2139 2066 819.4 15.5 567 7444 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2209 2102 2140 2065 0 0 0 0 0 0 14.91 14.94 14.94

7803 0.94 146.0 3023 2209 2139 2064 763.4 15.3 579 7804 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2209 2101 2138 2064 0 0 0 0 0 0 15.00 15.03 15.02

8163 0.94 146.0 3023 2209 2138 2064 709.4 15.0 591 8168 0.00 2.65 0.00 0.000 516 0.000 0.127 3033 775 2100 2137 2063 0 0 0 0 0 0 15.05 14.76 15.07

8207 0.94 146.0 3033 775 2138 2064 702.6 15.2 600 8214 0.10 2.65 0.00 0.000 5126 0.235 0.113 3005 2208 2100 2137 2063 0 0 0 0 0 0 14.67 14.75 14.81

8573 0.94 146.0 3006 2208 2138 2063 651.2 14.3 636 8579 0.00 2.67 0.00 0.000 260 0.000 0.144 3005 3610 2100 2137 2063 0 0 0 0 0 0 15.07 14.74 15.09

8608 0.94 146.0 3005 3611 2137 2064 645.8 15.8 643 8615 0.00 2.55 0.00 0.000 1030 0.000 0.101 3015 2187 2100 2137 2063 0 0 0 0 0 0 14.92 14.81 14.95

8913 0.94 146.0 3015 2186 2137 2064 601.6 14.1 674 8919 0.00 2.62 0.00 0.000 516 0.000 0.131 3025 783 2099 2136 2062 0 0 0 0 0 0 15.08 14.76 15.10

8947 0.94 146.0 3025 784 2137 2063 596.5 14.6 681 8956 0.00 2.62 0.00 0.000 1030 0.000 0.116 3025 2200 2099 2136 2062 0 0 0 0 0 0 14.86 14.77 14.90

9253 0.94 146.0 3025 2201 2137 2063 551.1 14.9 712 9253 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2199 2099 2136 2062 0 0 0 0 0 0 15.09 15.11 15.11

9553 0.94 146.0 3026 2200 2137 2063 507.9 14.2 742 9559 0.00 2.65 0.00 0.000 260 0.000 0.145 3025 3614 2099 2136 2062 0 0 0 0 0 0 15.09 14.78 15.11

9573 0.94 146.0 3025 3615 2137 2063 504.9 15.2 746 9579 0.15 2.58 0.00 0.000 5126 0.264 0.103 3002 2176 2099 2136 2062 0 0 0 0 0 0 14.71 14.82 14.93

9883 0.94 146.0 3003 2174 2137 2062 464.0 13.1 778 9889 0.00 2.62 0.00 0.000 516 0.000 0.132 3012 780 2098 2136 2061 0 0 0 0 0 0 15.09 14.76 15.12

9908 0.94 146.0 3012 780 2137 2061 460.6 13.2 783 9915 0.00 2.65 0.00 0.000 1030 0.000 0.117 3012 2206 2099 2136 2062 0 0 0 0 0 0 14.86 14.78 14.91

10214 0.94 146.0 3012 2207 2137 2061 419.8 13.2 814 10219 0.00 2.67 0.00 0.000 260 0.000 0.148 3012 3624 2098 2136 2061 0 0 0 0 0 0 15.06 14.77 15.09

10253 0.94 146.0 3012 3625 2136 2062 414.0 14.8 822 10259 0.00 2.62 0.00 0.000 1030 0.000 0.104 3023 2190 2098 2135 2061 0 0 0 0 0 0 14.87 14.80 14.92

10563 0.94 146.0 3023 2189 2136 2062 372.5 13.2 854 10569 0.00 2.60 0.00 0.000 516 0.000 0.132 3033 782 2097 2134 2061 0 0 0 0 0 0 15.09 14.77 15.12

10608 0.94 146.0 3033 782 2136 2061 366.4 13.8 863 10615 0.10 2.65 0.00 0.000 5126 0.236 0.117 3005 2209 2098 2135 2061 0 0 0 0 0 0 14.68 14.77 14.82

10672 end climb: SURFACE_OBSTACLE_DETECTED

state 10672 begin subsurface finish

10675 0.00 3.1 3006 2210 2136 2061 358.2 12.3 870 10686 1.02 2.72 -2.15 0.053 20740 0.209 0.171 2707 3619 2719 2829 2609 0 0 0 0 0 0 14.69 13.57 14.83

10687 end subsurface finish: CONTROL_FINISHED_OK

state 10687 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	118	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	090218,072514,-7421.6152,-11237.1660,0,1001.0,0,53.5,0.0,0.0,0,0.0	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	347.52	MHEAD_RNG_PITCHd_Wd	320.2,20233,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.2	D_GRID	990
GPS2	090218,072514,-7421.6152,-11237.1660,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	358.2,1.027438,3	ALTIM_BOTTOM_PING	987.3,11.4
FINISH2	357.2	_24V_AH	13.07,54.814
RAFOS_CLK	386	_10V_AH	12.99,0.000
RAFOS	0,1518166879,9.032778,9.021944,57,57,55,53,47,45,108,183,213,151,163,72	FG_AHR_24Vo	0.000
RAFOS_FIX	-7420.320801,-11237.757812,090218,101014,0,1,0.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	MEM	280128
TT8_MAMPS	0.041944,0.211967	DATA_FILE_SIZE	29983,872
HUMID	47.67	CAP_FILE_SIZE	108449,0
INTERNAL_PRESSURE	7.63859	CFSIZE	1024409600,1006092288
TCM_TEMP	13.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1458.0
ALTIM_TOP_PING	376.5,24.2	GPS	090218,102514,-7420.321,-11237.758,0,1001.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	16.30	nil	0	0	0.00
Roll_motor	87	201	229.96	nil	0	0	0.00
VBD_pump_during_apogee	996	1435	18683.19	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	10681	7	978.46
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	198.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7851	2	235.59
TT8_Active	1019	12	162.56
TT8_Sampling	1817	31	749.41
TT8_CF8	80	45	47.05
TT8_Kalman	0	0	0.00
Analog_circuits	1727	10	228.92
GPS_charging	0	0	0.00
Compass	1249	7	121.58
RAFOS	720	1	14.03
Transponder	255	30	99.69

		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
347.9	8.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
959.3	41.70	9000.00	0.0	0.00	0.00	41.70	0.0	0.05	1.00
968.4	29.50	9000.00	0.0	0.04	0.86	29.50	997.9	-1.34	1.00
978.0	18.60	18.30	996.3	-1.23	1.00	18.60	996.6	-1.14	1.00
987.3	12.10	11.40	998.7	-0.92	0.98	12.10	999.4	-0.70	1.00
992.4	20.70	9000.00	0.0	0.04	0.00	20.70	0.0	1.69	1.00

984.0	12.70	9000.00	0.0	1.00	0.79	12.70	971.3	0.95	1.00
975.8	14.70	9000.00	0.0	0.36	0.52	14.70	0.0	-0.24	1.00
967.7	18.20	9000.00	0.0	-0.34	0.97	18.20	0.0	-0.43	1.00
958.9	16.80	9000.00	0.0	-0.12	0.32	16.80	942.1	0.16	1.00
950.7	21.30	9000.00	0.0	-0.18	0.43	21.30	0.0	-0.55	1.00
419.8	70.00	9000.00	0.0	-0.10	1.00	70.00	0.0	-0.09	1.00
411.2	61.10	9000.00	0.0	-0.08	0.97	61.10	350.1	1.03	1.00
403.1	53.30	53.20	349.9	1.00	1.00	53.30	349.8	0.96	1.00
395.0	45.20	45.30	349.7	0.98	1.00	45.20	349.8	1.00	1.00
385.8	35.30	35.40	350.4	1.04	1.00	35.30	350.5	1.08	1.00
376.5	24.00	24.20	352.3	1.15	1.00	24.00	352.5	1.22	1.00
367.8	11.20	9000.00	0.0	1.34	1.00	11.20	356.6	1.47	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	2511	2826	2607	0.0	0.0	0	11	0.00	0.00	-2.05	0.046	16390	0.000	0.000	2710	2510	3325	3464	3187	0	0	0	0	0	0	15.07	13.57	15.07
13	-0.94	-146.0	2711	2511	3465	3191	0.0	0.0	0	15	0.98	0.00	0.00	0.000	4102	0.109	0.000	2392	2510	3327	3462	3192	0	0	0	0	0	0	14.83	14.97	14.95
310	-0.94	-146.0	2392	2512	3446	3207	381.4	-12.3	30	315	0.00	2.35	0.00	0.000	260	0.000	0.151	2383	3756	3325	3445	3206	0	0	0	0	0	0	15.06	14.76	15.09
394	-0.94	-146.0	2383	3756	3444	3209	392.6	-13.2	47	401	0.00	2.28	0.00	0.000	1030	0.000	0.099	2383	2494	3326	3443	3209	0	0	0	0	0	0	14.88	14.81	14.92
699	-0.94	-146.0	2383	2494	3443	3209	431.1	-12.7	78	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2494	3326	3443	3209	0	0	0	0	0	0	15.09	15.12	15.12
1000	-0.94	-146.0	2383	2495	3441	3210	468.7	-12.1	108	1001	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2494	3325	3442	3209	0	0	0	0	0	0	15.07	15.09	15.09
1299	-0.94	-146.0	2383	2494	3442	3209	505.1	-11.8	138	1305	0.00	2.42	0.00	0.000	260	0.000	0.152	2374	3753	3324	3440	3209	0	0	0	0	0	0	15.10	14.73	15.12
1334	-0.94	-146.0	2374	3753	3439	3212	509.6	-13.1	145	1342	0.00	2.28	0.00	0.000	1030	0.000	0.099	2374	2496	3324	3438	3211	0	0	0	0	0	0	14.88	14.81	14.92
1639	-0.94	-146.0	2375	2495	3439	3211	547.0	-12.0	176	1640	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2495	3324	3437	3211	0	0	0	0	0	0	15.10	15.13	15.13
1939	-0.94	-146.0	2374	2496	3438	3212	583.4	-12.3	206	1940	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2495	3324	3437	3211	0	0	0	0	0	0	15.10	15.14	15.13
2239	-0.94	-146.0	2374	2496	3438	3212	620.2	-12.3	236	2245	0.00	2.42	0.00	0.000	260	0.000	0.152	2365	3757	3324	3437	3211	0	0	0	0	0	0	15.13	14.73	15.13
2279	-0.94	-146.0	2365	3757	3437	3213	625.4	-13.2	244	2285	0.10	2.28	0.00	0.000	3078	0.259	0.099	2391	2496	3324	3436	3212	0	0	0	0	0	0	14.66	14.81	14.81
2589	-0.94	-146.0	2392	2496	3437	3212	660.0	-11.0	276	2590	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2496	3324	3436	3212	0	0	0	0	0	0	15.10	15.13	15.12
2889	-0.94	-146.0	2391	2496	3437	3212	692.5	-11.0	306	2895	0.00	2.42	0.00	0.000	260	0.000	0.152	2383	3753	3324	3436	3212	0	0	0	0	0	0	15.10	14.73	15.13
2934	-0.94	-146.0	2383	3753	3437	3212	697.9	-12.3	315	2942	0.00	2.28	0.00	0.000	1030	0.000	0.099	2383	2494	3324	3436	3212	0	0	0	0	0	0	14.88	14.81	14.91
3260	-0.94	-146.0	2383	2493	3437	3213	734.6	-11.1	328	3261	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2493	3324	3436	3212	0	0	0	0	0	0	15.11	15.14	15.13
3620	-0.94	-146.0	2383	2494	3437	3213	774.7	-11.2	340	3625	0.00	2.42	0.00	0.000	260	0.000	0.151	2374	3757	3323	3435	3212	0	0	0	0	0	0	15.11	14.73	15.14
3664	-0.94	-146.0	2375	3757	3437	3212	780.2	-12.1	349	3671	0.00	2.28	0.00	0.000	1030	0.000	0.099	2375	2498	3324	3435	3213	0	0	0	0	0	0	14.88	14.81	14.92
4041	-0.94	-146.0	2374	2498	3436	3213	823.6	-11.6	364	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2498	3324	3436	3213	0	0	0	0	0	0	15.11	15.14	15.14
4400	-0.94	-146.0	2376	2498	3436	3213	864.0	-11.2	376	4406	0.00	2.42	0.00	0.000	260	0.000	0.152	2365	3756	3324	3436	3213	0	0	0	0	0	0	15.12	14.73	15.14
4445	-0.94	-146.0	2365	3756	3436	3213	869.2	-12.4	385	4452	0.10	2.30	0.00	0.000	3078	0.262	0.099	2391	2485	3324	3435	3213	0	0	0	0	0	0	14.64	14.80	14.80
4822	-0.94	-146.0	2391	2486	3436	3214	908.6	-10.3	400	4822	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2485	3324	3435	3213	0	0	0	0	0	0	15.12	15.15	15.14
5181	-0.94	-146.0	2391	2486	3436	3214	946.4	-10.4	412	5187	0.00	2.42	0.00	0.000	260	0.000	0.151	2383	3747	3321	3435	3208	0	0	0	0	0	0	15.13	14.73	15.16
5216	-0.94	-146.0	2383	3748	3436	3214	950.0	-11.1	419	5222	0.00	2.25	0.00	0.000	1030	0.000	0.096	2383	2497	3324	3435	3213	0	0	0	0	0	0	14.90	14.83	14.94
5600	end dive: TARGET_DEPTH_EXCEEDED
state	5600	begin apogee
5603	-0.23	0.0	2384	2183	3436	3214	990.7	-10.5	436	6174	0.90	0.03	562.22	1.228	10246	0.236	0.201	2627	2195	2713	2769	2658	0	0	0	0	0	0	14.67	13.55	13.12
6175	end apogee: CONTROL_FINISHED_OK
state	6175	begin climb
6177	0.94	146.0	2628	2196	2768	2657	992.4	0.0	455	6623	1.27	2.97	433.83	1.435	10500	0.126	0.143	3001	3623	2115	2150	2081	0	0	0	0	0	0	13.70	13.58	13.07
6647	0.94	146.0	3001	3624	2146	2078	940.9	15.9	528	6653	0.00	2.80	0.00	0.000	1030	0.000	0.098	3009	2204	2110	2145	2076	0	0	0	0	0	0	13.83	13.76	13.85
7022	0.94	146.0	3012	2203	2142	2068	884.4	15.0	543	7028	0.00	2.75	0.00	0.000	516	0.000	0.129	3022	776	2104	2141	2067	0	0	0	0	0	0	14.68	14.40	14.71
7077	0.94	146.0	3023	776	2140	2067	875.7	15.2	554	7085	0.00	2.72	0.00	0.000	1030	0.000	0.115	3022	2209	2103	2139	2067	0	0	0	0	0	0	14.54	14.45	14.57
7443	0.94	146.0	3023	2210	2139	2066	819.4	15.5	567	7444	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2209	2102	2140	2065	0	0	0	0	0	0	14.91	14.94	14.94
7803	0.94	146.0	3023	2209	2139	2064	763.4	15.3	579	7804	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2209	2101	2138	2064	0	0	0	0	0	0	15.00	15.03	15.02
8163	0.94	146.0	3023	2209	2138	2064	709.4	15.0	591	8168	0.00	2.65	0.00	0.000	516	0.000	0.127	3033	775	2100	2137	2063	0	0	0	0	0	0	15.05	14.76	15.07
8207	0.94	146.0	3033	775	2138	2064	702.6	15.2	600	8214	0.10	2.65	0.00	0.000	5126	0.235	0.113	3005	2208	2100	2137	2063	0	0	0	0	0	0	14.67	14.75	14.81
8573	0.94	146.0	3006	2208	2138	2063	651.2	14.3	636	8579	0.00	2.67	0.00	0.000	260	0.000	0.144	3005	3610	2100	2137	2063	0	0	0	0	0	0	15.07	14.74	15.09
8608	0.94	146.0	3005	3611	2137	2064	645.8	15.8	643	8615	0.00	2.55	0.00	0.000	1030	0.000	0.101	3015	2187	2100	2137	2063	0	0	0	0	0	0	14.92	14.81	14.95
8913	0.94	146.0	3015	2186	2137	2064	601.6	14.1	674	8919	0.00	2.62	0.00	0.000	516	0.000	0.131	3025	783	2099	2136	2062	0	0	0	0	0	0	15.08	14.76	15.10
8947	0.94	146.0	3025	784	2137	2063	596.5	14.6	681	8956	0.00	2.62	0.00	0.000	1030	0.000	0.116	3025	2200	2099	2136	2062	0	0	0	0	0	0	14.86	14.77	14.90
9253	0.94	146.0	3025	2201	2137	2063	551.1	14.9	712	9253	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2199	2099	2136	2062	0	0	0	0	0	0	15.09	15.11	15.11
9553	0.94	146.0	3026	2200	2137	2063	507.9	14.2	742	9559	0.00	2.65	0.00	0.000	260	0.000	0.145	3025	3614	2099	2136	2062	0	0	0	0	0	0	15.09	14.78	15.11
9573	0.94	146.0	3025	3615	2137	2063	504.9	15.2	746	9579	0.15	2.58	0.00	0.000	5126	0.264	0.103	3002	2176	2099	2136	2062	0	0	0	0	0	0	14.71	14.82	14.93
9883	0.94	146.0	3003	2174	2137	2062	464.0	13.1	778	9889	0.00	2.62	0.00	0.000	516	0.000	0.132	3012	780	2098	2136	2061	0	0	0	0	0	0	15.09	14.76	15.12
9908	0.94	146.0	3012	780	2137	2061	460.6	13.2	783	9915	0.00	2.65	0.00	0.000	1030	0.000	0.117	3012	2206	2099	2136	2062	0	0	0	0	0	0	14.86	14.78	14.91
10214	0.94	146.0	3012	2207	2137	2061	419.8	13.2	814	10219	0.00	2.67	0.00	0.000	260	0.000	0.148	3012	3624	2098	2136	2061	0	0	0	0	0	0	15.06	14.77	15.09
10253	0.94	146.0	3012	3625	2136	2062	414.0	14.8	822	10259	0.00	2.62	0.00	0.000	1030	0.000	0.104	3023	2190	2098	2135	2061	0	0	0	0	0	0	14.87	14.80	14.92
10563	0.94	146.0	3023	2189	2136	2062	372.5	13.2	854	10569	0.00	2.60	0.00	0.000	516	0.000	0.132	3033	782	2097	2134	2061	0	0	0	0	0	0	15.09	14.77	15.12
10608	0.94	146.0	3033	782	2136	2061	366.4	13.8	863	10615	0.10	2.65	0.00	0.000	5126	0.236	0.117	3005	2209	2098	2135	2061	0	0	0	0	0	0	14.68	14.77	14.82
10672	end climb: SURFACE_OBSTACLE_DETECTED
state	10672	begin subsurface finish
10675	0.00	3.1	3006	2210	2136	2061	358.2	12.3	870	10686	1.02	2.72	-2.15	0.053	20740	0.209	0.171	2707	3619	2719	2829	2609	0	0	0	0	0	0	14.69	13.57	14.83
10687	end subsurface finish: CONTROL_FINISHED_OK
state	10687	begin surface