Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 123 * 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 123 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 15 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 123 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 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 090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0 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 359.72 MHEAD_RNG_PITCHd_Wd 304.4,9786,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.8 D_GRID 990

GPS2 090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 344.0,1.027451,2 ALTIM_BOTTOM_PING 876.7,10.5

FINISH2 343.0 _24V_AH 13.10,56.678

RAFOS_CLK 326 _10V_AH 12.49,0.000

RAFOS 0,1518210067,21.032778,21.018612,104,69,60,58,56,51,504,175,205,147,215,228 FG_AHR_24Vo 0.000

RAFOS_FIX -7414.640625,-11217.150391,090218,212144,3,113,0.26 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 MEM 280100

TT8_MAMPS 0.041195,0.277879 DATA_FILE_SIZE 29983,837

HUMID 48.07 CAP_FILE_SIZE 100248,0

INTERNAL_PRESSURE 7.62882 CFSIZE 1024409600,1005568000

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1457.3

ALTIM_TOP_PING 354.2,16.5 GPS 090218,211544,-7414.641,-11217.150,0,4113.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 272 16.77 nil 0 0 0.00

Roll_motor 89 254 299.01 nil 0 0 0.00

VBD_pump_during_apogee 1029 1337 18038.97 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 9086 7 854.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 166.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6329 2 182.62

TT8_Active 1026 12 157.36

TT8_Sampling 1718 31 681.27

TT8_CF8 76 45 43.28

TT8_Kalman 0 0 0.00

Analog_circuits 1731 10 220.61

GPS_charging 0 0 0.00

Compass 1199 7 112.24

RAFOS 720 1 13.49

Transponder 212 30 79.76

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 6.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

846.9 41.00 9000.00 0.0 0.00 0.00 41.00 0.0 0.07 1.00

857.6 28.10 9000.00 0.0 0.06 0.85 28.10 885.7 -1.21 1.00

866.7 19.30 18.90 885.6 -1.09 0.99 19.30 886.0 -0.97 1.00

876.7 10.70 10.50 887.2 -0.91 1.00 10.70 887.4 -0.86 1.00

881.3 16.20 9000.00 0.0 -0.32 0.29 16.20 0.0 1.20 1.00

873.3 11.60 9000.00 0.0 0.61 0.69 11.60 861.7 0.58 1.00

864.8 17.20 9000.00 0.0 -0.07 0.03 17.20 0.0 -0.66 1.00

856.7 19.50 9000.00 0.0 -0.48 0.95 19.50 0.0 -0.28 1.00

848.5 18.60 9000.00 0.0 -0.08 0.36 18.60 829.9 0.11 1.00

840.1 18.10 9000.00 0.0 0.08 0.97 18.10 822.0 0.06 1.00

372.0 38.70 9000.00 0.0 -0.04 1.00 38.70 0.0 -0.04 1.00

363.2 27.30 9000.00 0.0 -0.03 0.68 27.30 335.9 1.30 1.00

354.2 16.70 16.50 337.7 1.24 1.00 16.70 337.5 1.18 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 2511 2832 2615 0.0 0.0 0 11 0.00 0.00 -2.00 0.047 16390 0.000 0.000 2716 2511 3329 3467 3191 0 0 0 0 0 0 15.07 13.58 15.07

12 -0.94 -146.0 2717 2511 3466 3194 0.0 0.0 0 19 0.98 2.30 0.00 0.000 4356 0.113 0.151 2394 3751 3330 3461 3199 0 0 0 0 0 0 14.81 14.75 14.88

63 -0.94 -146.0 2394 3752 3453 3207 364.3 -9.7 10 69 0.00 2.28 0.00 0.000 1030 0.000 0.099 2393 2491 3329 3451 3208 0 0 0 0 0 0 14.83 14.76 14.86

373 -0.94 -146.0 2394 2492 3448 3211 400.5 -12.1 42 373 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2491 3329 3448 3210 0 0 0 0 0 0 15.09 15.11 15.11

673 -0.94 -146.0 2394 2491 3447 3211 437.1 -12.1 72 679 0.00 2.42 0.00 0.000 260 0.000 0.151 2385 3750 3328 3445 3211 0 0 0 0 0 0 15.09 14.72 15.11

707 -0.94 -146.0 2385 3750 3445 3214 441.6 -12.5 79 715 0.00 2.28 0.00 0.000 1030 0.000 0.098 2385 2489 3328 3444 3213 0 0 0 0 0 0 14.85 14.78 14.91

1014 -0.94 -146.0 2385 2489 3444 3214 478.0 -11.6 110 1019 0.00 2.55 0.00 0.000 516 0.000 0.116 2385 1087 3326 3443 3210 0 0 0 0 0 0 15.06 14.77 15.08

1043 -0.94 -146.0 2385 1086 3443 3214 481.7 -12.4 116 1049 0.00 2.65 0.00 0.000 1030 0.000 0.125 2376 2512 3327 3442 3213 0 0 0 0 0 0 14.90 14.73 14.95

1353 -0.94 -146.0 2376 2512 3442 3215 521.4 -12.8 148 1360 0.00 2.35 0.00 0.000 260 0.000 0.151 2366 3741 3328 3442 3214 0 0 0 0 0 0 15.09 14.69 15.11

1389 -0.94 -146.0 2367 3742 3442 3214 526.2 -13.9 155 1396 0.10 2.25 0.00 0.000 3078 0.266 0.098 2393 2492 3328 3441 3215 0 0 0 0 0 0 14.64 14.81 14.80

1694 -0.94 -146.0 2392 2488 3441 3214 561.7 -11.4 186 1695 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2499 3327 3441 3214 0 0 0 0 0 0 15.09 15.11 15.11

1994 -0.94 -146.0 2393 2494 3440 3214 595.5 -11.0 216 2000 0.00 2.42 0.00 0.000 260 0.000 0.152 2384 3754 3326 3439 3214 0 0 0 0 0 0 15.09 14.71 15.12

2024 -0.94 -146.0 2385 3754 3440 3215 598.9 -12.1 222 2030 0.00 2.28 0.00 0.000 1030 0.000 0.099 2384 2494 3330 3446 3214 0 0 0 0 0 0 14.88 14.81 14.92

2334 -0.94 -146.0 2385 2494 3440 3215 634.4 -11.7 254 2340 0.00 2.42 0.00 0.000 260 0.000 0.152 2376 3755 3326 3439 3214 0 0 0 0 0 0 15.09 14.73 15.11

2359 -0.94 -146.0 2376 3755 3439 3212 637.5 -12.8 259 2366 0.00 2.28 0.00 0.000 1030 0.000 0.100 2376 2498 3327 3439 3215 0 0 0 0 0 0 14.87 14.80 14.91

2664 -0.94 -146.0 2376 2498 3439 3214 674.7 -12.2 290 2664 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2498 3326 3439 3214 0 0 0 0 0 0 15.09 15.12 15.11

2964 -0.94 -146.0 2376 2498 3440 3215 711.5 -12.3 314 2964 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2498 3327 3439 3215 0 0 0 0 0 0 15.10 15.13 15.12

3324 -0.94 -146.0 2376 2499 3439 3216 753.0 -11.0 326 3330 0.00 2.42 0.00 0.000 260 0.000 0.152 2366 3757 3326 3438 3215 0 0 0 0 0 0 15.11 14.73 15.14

3399 -0.94 -146.0 2367 3757 3438 3216 761.7 -12.2 341 3406 0.10 2.28 0.00 0.000 3078 0.272 0.098 2393 2494 3326 3438 3215 0 0 0 0 0 0 14.63 14.81 14.79

3776 -0.94 -146.0 2393 2494 3438 3215 801.6 -10.2 356 3781 0.00 2.55 0.00 0.000 516 0.000 0.115 2393 1085 3326 3437 3215 0 0 0 0 0 0 15.07 14.78 15.09

3795 -0.94 -146.0 2393 1085 3439 3215 803.5 -9.1 360 3801 0.00 2.67 0.00 0.000 1030 0.000 0.123 2384 2509 3326 3437 3215 0 0 0 0 0 0 14.96 14.74 14.98

4165 -0.94 -146.0 2384 2510 3438 3216 841.5 -9.9 374 4171 0.00 2.38 0.00 0.000 260 0.000 0.149 2376 3756 3326 3437 3215 0 0 0 0 0 0 15.11 14.73 15.14

4230 -0.94 -146.0 2376 3756 3438 3216 848.5 -11.0 387 4236 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2495 3326 3437 3216 0 0 0 0 0 0 14.87 14.81 14.92

4525 end dive: BOTTOM_OBSTACLE_DETECTED

state 4525 begin apogee

4528 -0.23 0.0 2376 2183 3438 3217 879.7 -10.8 401 5109 0.93 0.05 574.90 1.176 10246 0.245 0.255 2627 2199 2716 2772 2660 0 0 0 0 0 0 14.66 13.63 13.18

5110 end apogee: CONTROL_FINISHED_OK

state 5110 begin climb

5111 0.94 146.0 2624 2200 2770 2659 882.7 0.0 420 5580 1.27 2.85 454.27 1.338 10756 0.137 0.125 3007 791 2116 2150 2083 0 0 0 0 0 0 13.69 13.54 13.10

5633 0.94 146.0 3006 791 2142 2076 823.9 14.7 521 5642 0.00 2.83 0.00 0.000 1030 0.000 0.112 3006 2211 2108 2141 2076 0 0 0 0 0 0 13.94 13.86 13.97

6000 0.94 146.0 3006 2211 2141 2069 769.6 15.1 534 6001 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2211 2104 2140 2069 0 0 0 0 0 0 14.68 14.71 14.71

6360 0.94 146.0 3006 2211 2141 2067 716.2 14.9 546 6366 0.00 2.65 0.00 0.000 516 0.000 0.127 3016 792 2103 2139 2067 0 0 0 0 0 0 14.88 14.62 14.90

6380 0.94 146.0 3017 793 2140 2068 713.0 14.3 550 6387 0.00 2.65 0.00 0.000 1030 0.000 0.113 3016 2209 2102 2138 2067 0 0 0 0 0 0 14.72 14.63 14.76

6751 0.94 146.0 3017 2210 2139 2068 657.0 15.2 582 6758 0.00 2.67 0.00 0.000 516 0.000 0.127 3026 791 2103 2139 2067 0 0 0 0 0 0 15.00 14.69 15.02

6778 0.94 146.0 3027 792 2139 2067 653.1 14.6 587 6785 0.00 2.60 0.00 0.000 1030 0.000 0.114 3026 2215 2102 2138 2066 0 0 0 0 0 0 14.85 14.72 14.88

7082 0.94 146.0 3027 2217 2139 2068 606.8 14.9 618 7083 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2215 2102 2138 2067 0 0 0 0 0 0 15.02 15.05 15.05

7382 0.94 146.0 3027 2216 2139 2067 562.4 14.5 648 7388 0.00 2.67 0.00 0.000 516 0.000 0.128 3037 791 2102 2138 2066 0 0 0 0 0 0 15.04 14.73 15.07

7427 0.94 146.0 3038 790 2139 2066 555.9 14.4 657 7436 0.12 2.62 0.00 0.000 5126 0.228 0.113 3001 2212 2102 2138 2066 0 0 0 0 0 0 14.67 14.77 14.81

7732 0.94 146.0 3002 2212 2139 2066 516.9 12.6 688 7738 0.00 2.65 0.00 0.000 260 0.000 0.144 3002 3622 2102 2138 2066 0 0 0 0 0 0 15.07 14.76 15.09

7772 0.94 146.0 3002 3622 2139 2066 511.5 13.9 696 7779 0.00 2.60 0.00 0.000 1030 0.000 0.103 3011 2197 2102 2138 2066 0 0 0 0 0 0 14.85 14.79 14.90

8083 0.94 146.0 3012 2196 2139 2067 471.0 12.9 728 8089 0.00 2.65 0.00 0.000 516 0.000 0.131 3022 782 2102 2138 2066 0 0 0 0 0 0 15.08 14.75 15.11

8113 0.94 146.0 3022 783 2140 2067 467.1 13.3 734 8121 0.00 2.62 0.00 0.000 1030 0.000 0.116 3022 2196 2102 2138 2066 0 0 0 0 0 0 14.86 14.76 14.91

8426 0.94 146.0 3023 2197 2139 2066 424.9 13.7 766 8432 0.00 2.62 0.00 0.000 516 0.000 0.131 3032 776 2102 2138 2066 0 0 0 0 0 0 15.05 14.78 15.08

8446 0.94 146.0 3033 776 2139 2066 422.0 13.5 770 8453 0.10 2.65 0.00 0.000 5126 0.236 0.116 3004 2207 2102 2138 2066 0 0 0 0 0 0 14.68 14.78 14.83

8757 0.94 146.0 3005 2207 2139 2066 382.6 12.3 802 8764 0.00 2.70 0.00 0.000 260 0.000 0.146 3004 3616 2102 2138 2066 0 0 0 0 0 0 15.09 14.74 15.11

8792 0.94 146.0 3008 3618 2139 2067 377.8 13.7 809 8800 0.00 2.60 0.00 0.000 1030 0.000 0.103 3014 2191 2102 2138 2066 0 0 0 0 0 0 14.87 14.79 14.92

9056 end climb: SURFACE_OBSTACLE_DETECTED

state 9056 begin subsurface finish

9060 0.00 2.5 3015 2189 2139 2066 344.0 12.5 836 9069 1.10 0.00 -2.25 0.041 20486 0.210 0.000 2701 2187 2714 2824 2604 0 0 0 0 0 0 14.72 13.63 14.93

9070 end subsurface finish: CONTROL_FINISHED_OK

state 9070 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	123	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	15	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	090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0	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	359.72	MHEAD_RNG_PITCHd_Wd	304.4,9786,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.8	D_GRID	990
GPS2	090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0

FINISH1	344.0,1.027451,2	ALTIM_BOTTOM_PING	876.7,10.5
FINISH2	343.0	_24V_AH	13.10,56.678
RAFOS_CLK	326	_10V_AH	12.49,0.000
RAFOS	0,1518210067,21.032778,21.018612,104,69,60,58,56,51,504,175,205,147,215,228	FG_AHR_24Vo	0.000
RAFOS_FIX	-7414.640625,-11217.150391,090218,212144,3,113,0.26	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	MEM	280100
TT8_MAMPS	0.041195,0.277879	DATA_FILE_SIZE	29983,837
HUMID	48.07	CAP_FILE_SIZE	100248,0
INTERNAL_PRESSURE	7.62882	CFSIZE	1024409600,1005568000
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1457.3
ALTIM_TOP_PING	354.2,16.5	GPS	090218,211544,-7414.641,-11217.150,0,4113.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	272	16.77	nil	0	0	0.00
Roll_motor	89	254	299.01	nil	0	0	0.00
VBD_pump_during_apogee	1029	1337	18038.97	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	9086	7	854.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	166.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6329	2	182.62
TT8_Active	1026	12	157.36
TT8_Sampling	1718	31	681.27
TT8_CF8	76	45	43.28
TT8_Kalman	0	0	0.00
Analog_circuits	1731	10	220.61
GPS_charging	0	0	0.00
Compass	1199	7	112.24
RAFOS	720	1	13.49
Transponder	212	30	79.76

		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	6.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
846.9	41.00	9000.00	0.0	0.00	0.00	41.00	0.0	0.07	1.00
857.6	28.10	9000.00	0.0	0.06	0.85	28.10	885.7	-1.21	1.00
866.7	19.30	18.90	885.6	-1.09	0.99	19.30	886.0	-0.97	1.00
876.7	10.70	10.50	887.2	-0.91	1.00	10.70	887.4	-0.86	1.00
881.3	16.20	9000.00	0.0	-0.32	0.29	16.20	0.0	1.20	1.00

873.3	11.60	9000.00	0.0	0.61	0.69	11.60	861.7	0.58	1.00
864.8	17.20	9000.00	0.0	-0.07	0.03	17.20	0.0	-0.66	1.00
856.7	19.50	9000.00	0.0	-0.48	0.95	19.50	0.0	-0.28	1.00
848.5	18.60	9000.00	0.0	-0.08	0.36	18.60	829.9	0.11	1.00
840.1	18.10	9000.00	0.0	0.08	0.97	18.10	822.0	0.06	1.00
372.0	38.70	9000.00	0.0	-0.04	1.00	38.70	0.0	-0.04	1.00
363.2	27.30	9000.00	0.0	-0.03	0.68	27.30	335.9	1.30	1.00
354.2	16.70	16.50	337.7	1.24	1.00	16.70	337.5	1.18	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	2511	2832	2615	0.0	0.0	0	11	0.00	0.00	-2.00	0.047	16390	0.000	0.000	2716	2511	3329	3467	3191	0	0	0	0	0	0	15.07	13.58	15.07
12	-0.94	-146.0	2717	2511	3466	3194	0.0	0.0	0	19	0.98	2.30	0.00	0.000	4356	0.113	0.151	2394	3751	3330	3461	3199	0	0	0	0	0	0	14.81	14.75	14.88
63	-0.94	-146.0	2394	3752	3453	3207	364.3	-9.7	10	69	0.00	2.28	0.00	0.000	1030	0.000	0.099	2393	2491	3329	3451	3208	0	0	0	0	0	0	14.83	14.76	14.86
373	-0.94	-146.0	2394	2492	3448	3211	400.5	-12.1	42	373	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2491	3329	3448	3210	0	0	0	0	0	0	15.09	15.11	15.11
673	-0.94	-146.0	2394	2491	3447	3211	437.1	-12.1	72	679	0.00	2.42	0.00	0.000	260	0.000	0.151	2385	3750	3328	3445	3211	0	0	0	0	0	0	15.09	14.72	15.11
707	-0.94	-146.0	2385	3750	3445	3214	441.6	-12.5	79	715	0.00	2.28	0.00	0.000	1030	0.000	0.098	2385	2489	3328	3444	3213	0	0	0	0	0	0	14.85	14.78	14.91
1014	-0.94	-146.0	2385	2489	3444	3214	478.0	-11.6	110	1019	0.00	2.55	0.00	0.000	516	0.000	0.116	2385	1087	3326	3443	3210	0	0	0	0	0	0	15.06	14.77	15.08
1043	-0.94	-146.0	2385	1086	3443	3214	481.7	-12.4	116	1049	0.00	2.65	0.00	0.000	1030	0.000	0.125	2376	2512	3327	3442	3213	0	0	0	0	0	0	14.90	14.73	14.95
1353	-0.94	-146.0	2376	2512	3442	3215	521.4	-12.8	148	1360	0.00	2.35	0.00	0.000	260	0.000	0.151	2366	3741	3328	3442	3214	0	0	0	0	0	0	15.09	14.69	15.11
1389	-0.94	-146.0	2367	3742	3442	3214	526.2	-13.9	155	1396	0.10	2.25	0.00	0.000	3078	0.266	0.098	2393	2492	3328	3441	3215	0	0	0	0	0	0	14.64	14.81	14.80
1694	-0.94	-146.0	2392	2488	3441	3214	561.7	-11.4	186	1695	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2499	3327	3441	3214	0	0	0	0	0	0	15.09	15.11	15.11
1994	-0.94	-146.0	2393	2494	3440	3214	595.5	-11.0	216	2000	0.00	2.42	0.00	0.000	260	0.000	0.152	2384	3754	3326	3439	3214	0	0	0	0	0	0	15.09	14.71	15.12
2024	-0.94	-146.0	2385	3754	3440	3215	598.9	-12.1	222	2030	0.00	2.28	0.00	0.000	1030	0.000	0.099	2384	2494	3330	3446	3214	0	0	0	0	0	0	14.88	14.81	14.92
2334	-0.94	-146.0	2385	2494	3440	3215	634.4	-11.7	254	2340	0.00	2.42	0.00	0.000	260	0.000	0.152	2376	3755	3326	3439	3214	0	0	0	0	0	0	15.09	14.73	15.11
2359	-0.94	-146.0	2376	3755	3439	3212	637.5	-12.8	259	2366	0.00	2.28	0.00	0.000	1030	0.000	0.100	2376	2498	3327	3439	3215	0	0	0	0	0	0	14.87	14.80	14.91
2664	-0.94	-146.0	2376	2498	3439	3214	674.7	-12.2	290	2664	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2498	3326	3439	3214	0	0	0	0	0	0	15.09	15.12	15.11
2964	-0.94	-146.0	2376	2498	3440	3215	711.5	-12.3	314	2964	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2498	3327	3439	3215	0	0	0	0	0	0	15.10	15.13	15.12
3324	-0.94	-146.0	2376	2499	3439	3216	753.0	-11.0	326	3330	0.00	2.42	0.00	0.000	260	0.000	0.152	2366	3757	3326	3438	3215	0	0	0	0	0	0	15.11	14.73	15.14
3399	-0.94	-146.0	2367	3757	3438	3216	761.7	-12.2	341	3406	0.10	2.28	0.00	0.000	3078	0.272	0.098	2393	2494	3326	3438	3215	0	0	0	0	0	0	14.63	14.81	14.79
3776	-0.94	-146.0	2393	2494	3438	3215	801.6	-10.2	356	3781	0.00	2.55	0.00	0.000	516	0.000	0.115	2393	1085	3326	3437	3215	0	0	0	0	0	0	15.07	14.78	15.09
3795	-0.94	-146.0	2393	1085	3439	3215	803.5	-9.1	360	3801	0.00	2.67	0.00	0.000	1030	0.000	0.123	2384	2509	3326	3437	3215	0	0	0	0	0	0	14.96	14.74	14.98
4165	-0.94	-146.0	2384	2510	3438	3216	841.5	-9.9	374	4171	0.00	2.38	0.00	0.000	260	0.000	0.149	2376	3756	3326	3437	3215	0	0	0	0	0	0	15.11	14.73	15.14
4230	-0.94	-146.0	2376	3756	3438	3216	848.5	-11.0	387	4236	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2495	3326	3437	3216	0	0	0	0	0	0	14.87	14.81	14.92
4525	end dive: BOTTOM_OBSTACLE_DETECTED
state	4525	begin apogee
4528	-0.23	0.0	2376	2183	3438	3217	879.7	-10.8	401	5109	0.93	0.05	574.90	1.176	10246	0.245	0.255	2627	2199	2716	2772	2660	0	0	0	0	0	0	14.66	13.63	13.18
5110	end apogee: CONTROL_FINISHED_OK
state	5110	begin climb
5111	0.94	146.0	2624	2200	2770	2659	882.7	0.0	420	5580	1.27	2.85	454.27	1.338	10756	0.137	0.125	3007	791	2116	2150	2083	0	0	0	0	0	0	13.69	13.54	13.10
5633	0.94	146.0	3006	791	2142	2076	823.9	14.7	521	5642	0.00	2.83	0.00	0.000	1030	0.000	0.112	3006	2211	2108	2141	2076	0	0	0	0	0	0	13.94	13.86	13.97
6000	0.94	146.0	3006	2211	2141	2069	769.6	15.1	534	6001	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2211	2104	2140	2069	0	0	0	0	0	0	14.68	14.71	14.71
6360	0.94	146.0	3006	2211	2141	2067	716.2	14.9	546	6366	0.00	2.65	0.00	0.000	516	0.000	0.127	3016	792	2103	2139	2067	0	0	0	0	0	0	14.88	14.62	14.90
6380	0.94	146.0	3017	793	2140	2068	713.0	14.3	550	6387	0.00	2.65	0.00	0.000	1030	0.000	0.113	3016	2209	2102	2138	2067	0	0	0	0	0	0	14.72	14.63	14.76
6751	0.94	146.0	3017	2210	2139	2068	657.0	15.2	582	6758	0.00	2.67	0.00	0.000	516	0.000	0.127	3026	791	2103	2139	2067	0	0	0	0	0	0	15.00	14.69	15.02
6778	0.94	146.0	3027	792	2139	2067	653.1	14.6	587	6785	0.00	2.60	0.00	0.000	1030	0.000	0.114	3026	2215	2102	2138	2066	0	0	0	0	0	0	14.85	14.72	14.88
7082	0.94	146.0	3027	2217	2139	2068	606.8	14.9	618	7083	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2215	2102	2138	2067	0	0	0	0	0	0	15.02	15.05	15.05
7382	0.94	146.0	3027	2216	2139	2067	562.4	14.5	648	7388	0.00	2.67	0.00	0.000	516	0.000	0.128	3037	791	2102	2138	2066	0	0	0	0	0	0	15.04	14.73	15.07
7427	0.94	146.0	3038	790	2139	2066	555.9	14.4	657	7436	0.12	2.62	0.00	0.000	5126	0.228	0.113	3001	2212	2102	2138	2066	0	0	0	0	0	0	14.67	14.77	14.81
7732	0.94	146.0	3002	2212	2139	2066	516.9	12.6	688	7738	0.00	2.65	0.00	0.000	260	0.000	0.144	3002	3622	2102	2138	2066	0	0	0	0	0	0	15.07	14.76	15.09
7772	0.94	146.0	3002	3622	2139	2066	511.5	13.9	696	7779	0.00	2.60	0.00	0.000	1030	0.000	0.103	3011	2197	2102	2138	2066	0	0	0	0	0	0	14.85	14.79	14.90
8083	0.94	146.0	3012	2196	2139	2067	471.0	12.9	728	8089	0.00	2.65	0.00	0.000	516	0.000	0.131	3022	782	2102	2138	2066	0	0	0	0	0	0	15.08	14.75	15.11
8113	0.94	146.0	3022	783	2140	2067	467.1	13.3	734	8121	0.00	2.62	0.00	0.000	1030	0.000	0.116	3022	2196	2102	2138	2066	0	0	0	0	0	0	14.86	14.76	14.91
8426	0.94	146.0	3023	2197	2139	2066	424.9	13.7	766	8432	0.00	2.62	0.00	0.000	516	0.000	0.131	3032	776	2102	2138	2066	0	0	0	0	0	0	15.05	14.78	15.08
8446	0.94	146.0	3033	776	2139	2066	422.0	13.5	770	8453	0.10	2.65	0.00	0.000	5126	0.236	0.116	3004	2207	2102	2138	2066	0	0	0	0	0	0	14.68	14.78	14.83
8757	0.94	146.0	3005	2207	2139	2066	382.6	12.3	802	8764	0.00	2.70	0.00	0.000	260	0.000	0.146	3004	3616	2102	2138	2066	0	0	0	0	0	0	15.09	14.74	15.11
8792	0.94	146.0	3008	3618	2139	2067	377.8	13.7	809	8800	0.00	2.60	0.00	0.000	1030	0.000	0.103	3014	2191	2102	2138	2066	0	0	0	0	0	0	14.87	14.79	14.92
9056	end climb: SURFACE_OBSTACLE_DETECTED
state	9056	begin subsurface finish
9060	0.00	2.5	3015	2189	2139	2066	344.0	12.5	836	9069	1.10	0.00	-2.25	0.041	20486	0.210	0.000	2701	2187	2714	2824	2604	0	0	0	0	0	0	14.72	13.63	14.93
9070	end subsurface finish: CONTROL_FINISHED_OK
state	9070	begin surface