Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 124 * 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 124 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 14 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 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 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 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 2 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 -3 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 0.1 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 2 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 3 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 0.1 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 2

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 -3

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 124 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 14 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 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 090218,211544,-7414.6406,-11217.1504,0,4113.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME out1

_XMS_NAKs 0 TGT_LATLONG -7409.000,-11226.520

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 342.89 MHEAD_RNG_PITCHd_Wd 282.1,11471,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.4 D_GRID 980

GPS2 090218,211544,-7414.6406,-11217.1504,0,4113.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 359.8,1.027461,2 _24V_AH 13.00,57.064

FINISH2 358.5 _10V_AH 12.49,0.000

RAFOS_CLK 353 FG_AHR_24Vo 0.000

RAFOS 0,1518220876,0.032778,0.021111,139,69,55,53,52,50,456,208,165,217,183,138 FG_AHR_10Vo 0.000

RAFOS_FIX -7413.375977,-11217.773438,100218,000056,3,129,0.22 MEM 280012

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 20089,572

TT8_MAMPS 0.041944,0.294357 CAP_FILE_SIZE 87028,0

HUMID 48.30 CFSIZE 1024409600,1005486080

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

TCM_TEMP 13.60 SOUNDSPEED 1458.7

XPDR_PINGS 1 CURRENT 0.084,358.84,1

ALTIM_TOP_PING 369.7,15.1 GPS 100218,001456,-7413.376,-11217.773,0,4128.7,0,53.5,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 915.1,15.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 266 15.71 nil 0 0 0.00

Roll_motor 79 171 176.99 nil 0 0 0.00

VBD_pump_during_apogee 914 1558 18531.99 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 9650 3 494.52

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 167.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7470 2 215.54

TT8_Active 930 12 142.59

TT8_Sampling 1262 31 500.57

TT8_CF8 106 45 60.35

TT8_Kalman 0 0 0.00

Analog_circuits 1447 10 184.45

GPS_charging 0 0 0.00

Compass 822 7 76.92

RAFOS 720 1 13.49

Transponder 215 30 80.65

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

354.1 16.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

363.5 30.60 9000.00 0.0 0.00 0.00 30.60 0.0 1.52 1.00

880.1 35.70 9000.00 0.0 0.02 0.51 35.70 0.0 0.01 1.00

888.4 31.10 9000.00 0.0 0.01 0.32 31.10 919.5 -0.55 1.00

896.6 31.60 9000.00 0.0 -0.25 0.66 31.60 0.0 0.06 1.00

906.2 24.80 9000.00 0.0 -0.37 0.73 24.80 931.0 -0.71 1.00

915.1 15.20 15.80 930.9 -0.88 0.98 15.20 930.3 -1.08 1.00

922.8 9.70 9.20 932.0 -0.91 0.98 9.70 932.5 -0.71 1.00

914.4 17.40 16.60 0.0 -0.82 0.96 17.40 0.0 -0.92 1.00

906.4 18.30 9000.00 0.0 -0.52 0.84 18.30 0.0 -0.11 1.00

897.6 20.60 9000.00 0.0 -0.20 0.95 20.60 0.0 -0.26 1.00

880.5 41.30 40.10 0.0 -0.93 0.94 41.30 0.0 -1.21 1.00

413.2 60.80 9000.00 0.0 -0.06 0.76 60.80 0.0 -0.04 1.00

404.9 52.00 9000.00 0.0 -0.03 0.79 52.00 352.9 1.06 1.00

396.5 43.00 43.00 353.5 1.07 1.00 43.00 353.5 1.07 1.00

388.2 34.30 34.30 353.9 1.06 1.00 34.30 353.9 1.05 1.00

380.0 25.70 25.70 354.3 1.04 1.00 25.70 354.3 1.05 1.00

369.7 15.10 15.10 354.6 1.04 1.00 15.10 354.6 1.03 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 2702 2502 2825 2608 0.0 0.0 0 11 0.00 0.00 -2.05 0.044 16390 0.000 0.000 2701 2502 3323 3460 3186 0 0 0 0 0 0 15.07 13.59 15.08

13 -0.94 -146.0 2702 2503 3458 3189 0.0 0.0 0 21 0.93 2.28 0.00 0.000 4356 0.109 0.154 2391 3769 3323 3451 3195 0 0 0 0 0 0 14.81 14.74 14.88

60 -0.94 -146.0 2392 3769 3445 3202 347.8 -9.8 9 67 0.00 2.33 0.00 0.000 1030 0.000 0.098 2392 2484 3323 3444 3202 0 0 0 0 0 0 14.88 14.81 14.92

376 -0.94 -146.0 2392 2483 3442 3204 385.7 -12.3 27 382 0.00 2.42 0.00 0.000 260 0.000 0.154 2388 3760 3323 3441 3205 0 0 0 0 0 0 15.09 14.76 15.12

436 -0.94 -146.0 2383 3760 3440 3208 393.4 -12.9 39 442 0.00 2.30 0.00 0.000 1030 0.000 0.099 2383 2489 3322 3437 3208 0 0 0 0 0 0 14.90 14.82 14.92

757 -0.94 -146.0 2383 2488 3438 3208 434.2 -13.0 58 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2489 3321 3434 3208 0 0 0 0 0 0 15.10 15.13 15.13

1057 -0.94 -146.0 2384 2488 3438 3208 470.6 -11.6 73 1058 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2488 3322 3437 3208 0 0 0 0 0 0 15.08 15.11 15.12

1356 -0.94 -146.0 2383 2489 3437 3210 508.1 -12.7 87 1363 0.00 2.42 0.00 0.000 260 0.000 0.151 2374 3753 3322 3436 3209 0 0 0 0 0 0 15.12 14.76 15.15

1387 -0.94 -146.0 2375 3753 3436 3210 512.1 -13.3 93 1394 0.00 2.28 0.00 0.000 1030 0.000 0.098 2375 2492 3322 3434 3210 0 0 0 0 0 0 14.90 14.83 14.95

1779 -0.94 -146.0 2374 2496 3436 3211 560.9 -12.6 111 1779 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2492 3322 3435 3210 0 0 0 0 0 0 15.12 15.15 15.15

2138 -0.94 -146.0 2375 2492 3436 3210 605.5 -12.2 123 2139 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2492 3322 3435 3210 0 0 0 0 0 0 15.13 15.16 15.16

2498 -0.94 -146.0 2375 2492 3435 3211 648.6 -12.0 135 2504 0.00 2.40 0.00 0.000 260 0.000 0.151 2365 3749 3323 3435 3211 0 0 0 0 0 0 15.14 14.76 15.16

2553 -0.94 -146.0 2366 3750 3436 3213 655.5 -12.6 146 2561 0.12 2.25 0.00 0.000 3078 0.255 0.097 2398 2494 3323 3434 3212 0 0 0 0 0 0 14.66 14.83 14.81

2919 -0.94 -146.0 2398 2496 3435 3214 695.2 -10.8 159 2924 0.00 2.55 0.00 0.000 516 0.000 0.116 2398 1088 3323 3434 3213 0 0 0 0 0 0 15.14 14.80 15.16

2953 -0.94 -146.0 2398 1089 3435 3214 699.0 -10.8 166 2959 0.00 2.67 0.00 0.000 1030 0.000 0.125 2389 2511 3324 3435 3213 0 0 0 0 0 0 14.87 14.76 14.92

3339 -0.94 -146.0 2389 2511 3436 3215 741.5 -11.2 183 3344 0.00 2.33 0.00 0.000 260 0.000 0.150 2380 3755 3324 3434 3214 0 0 0 0 0 0 15.13 14.78 15.14

3398 -0.94 -146.0 2380 3756 3435 3214 748.6 -12.0 195 3404 0.00 2.28 0.00 0.000 1030 0.000 0.099 2380 2496 3324 3435 3213 0 0 0 0 0 0 14.90 14.83 14.94

3789 -0.94 -146.0 2380 2497 3435 3215 794.3 -11.6 213 3795 0.00 2.55 0.00 0.000 516 0.000 0.115 2380 1085 3325 3435 3215 0 0 0 0 0 0 15.13 14.79 15.16

3809 -0.94 -146.0 2380 1086 3435 3216 796.8 -12.0 217 3816 0.00 2.67 0.00 0.000 1030 0.000 0.125 2372 2511 3325 3435 3215 0 0 0 0 0 0 14.87 14.76 14.92

4180 -0.94 -146.0 2372 2510 3435 3215 841.8 -11.9 231 4181 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2510 3325 3435 3215 0 0 0 0 0 0 15.14 15.16 15.16

4541 -0.94 -146.0 2372 2510 3435 3215 883.1 -11.4 243 4546 0.00 2.38 0.00 0.000 260 0.000 0.149 2362 3756 3327 3434 3220 0 0 0 0 0 0 15.14 14.76 15.16

4580 -0.94 -146.0 2363 3756 3436 3214 887.9 -12.5 251 4588 0.12 2.28 0.00 0.000 3078 0.267 0.098 2395 2490 3325 3435 3215 0 0 0 0 0 0 14.65 14.84 14.81

4901 end dive: BOTTOM_OBSTACLE_DETECTED

state 4901 begin apogee

4905 -0.23 0.0 2396 2192 3435 3215 921.3 -10.3 265 5498 0.82 0.00 589.70 1.222 10246 0.233 0.000 2621 2192 2716 2772 2660 0 0 0 0 0 0 14.69 13.69 13.13

5499 end apogee: CONTROL_FINISHED_OK

state 5499 begin climb

5501 0.94 146.0 2621 2192 2770 2660 929.0 0.0 284 5841 1.27 2.88 325.10 1.558 10756 0.133 0.127 3004 789 2110 2142 2078 0 0 0 0 0 0 13.66 13.55 13.00

6010 0.94 146.0 3000 789 2129 2065 870.9 14.0 384 6016 0.00 2.72 0.00 0.000 1030 0.000 0.113 3004 2214 2096 2128 2065 0 0 0 0 0 0 14.25 14.13 14.28

6381 0.94 146.0 3005 2214 2129 2060 815.3 15.0 398 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2214 2093 2127 2060 0 0 0 0 0 0 14.76 14.79 14.79

6741 0.94 146.0 3004 2215 2128 2059 763.1 14.4 410 6747 0.00 2.65 0.00 0.000 516 0.000 0.128 3015 794 2092 2127 2058 0 0 0 0 0 0 14.92 14.66 14.95

6791 0.94 146.0 3015 798 2128 2058 755.6 14.5 420 6798 0.00 2.62 0.00 0.000 1030 0.000 0.114 3014 2200 2092 2127 2058 0 0 0 0 0 0 14.75 14.67 14.80

7164 0.94 146.0 3015 2200 2127 2057 701.9 14.4 434 7169 0.00 2.67 0.00 0.000 260 0.000 0.144 3015 3620 2092 2127 2057 0 0 0 0 0 0 15.00 14.71 15.02

7208 0.94 146.0 3015 3621 2126 2058 694.5 16.5 443 7216 0.00 2.60 0.00 0.000 1030 0.000 0.102 3026 2199 2091 2126 2057 0 0 0 0 0 0 14.83 14.76 14.87

7585 0.94 146.0 3026 2197 2128 2057 636.4 15.4 458 7591 0.00 2.62 0.00 0.000 516 0.000 0.130 3036 770 2090 2126 2055 0 0 0 0 0 0 15.04 14.77 15.07

7625 0.94 146.0 3036 770 2127 2055 630.0 15.7 466 7632 0.12 2.65 0.00 0.000 5126 0.230 0.115 3001 2199 2090 2126 2055 0 0 0 0 0 0 14.69 14.77 14.83

8006 0.94 146.0 3001 2200 2126 2055 577.5 13.3 482 8007 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2199 2089 2126 2053 0 0 0 0 0 0 15.09 15.12 15.12

8366 0.94 146.0 3001 2199 2127 2052 529.2 13.8 494 8373 0.00 2.70 0.00 0.000 260 0.000 0.145 3001 3614 2089 2126 2053 0 0 0 0 0 0 15.11 14.77 15.14

8392 0.94 146.0 3002 3614 2127 2053 525.5 14.2 499 8400 0.00 2.55 0.00 0.000 1030 0.000 0.102 3010 2185 2089 2126 2053 0 0 0 0 0 0 14.96 14.83 14.99

8757 0.94 146.0 3010 2185 2127 2053 476.2 12.6 515 8763 0.00 2.62 0.00 0.000 516 0.000 0.132 3021 782 2089 2126 2052 0 0 0 0 0 0 15.11 14.78 15.13

8792 0.94 146.0 3021 783 2127 2053 471.6 13.1 522 8800 0.00 2.62 0.00 0.000 1030 0.000 0.116 3021 2200 2088 2125 2052 0 0 0 0 0 0 14.88 14.80 14.93

9098 0.94 146.0 3020 2200 2126 2052 429.6 14.0 538 9099 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2199 2088 2125 2052 0 0 0 0 0 0 15.07 15.10 15.10

9398 0.94 146.0 3022 2200 2126 2052 388.2 13.8 553 9403 0.00 2.62 0.00 0.000 516 0.000 0.130 3031 777 2088 2125 2052 0 0 0 0 0 0 15.08 14.80 15.10

9417 0.94 146.0 3032 777 2126 2052 385.4 14.1 557 9423 0.10 2.65 0.00 0.000 5126 0.230 0.116 3003 2210 2088 2125 2051 0 0 0 0 0 0 14.71 14.81 14.85

9618 end climb: SURFACE_OBSTACLE_DETECTED

state 9618 begin subsurface finish

9621 0.00 2.0 3003 2210 2126 2052 359.8 12.4 570 9632 1.02 2.70 -2.20 0.052 20740 0.206 0.171 2704 3612 2724 2836 2613 0 0 0 0 0 0 14.71 13.59 14.84

9632 end subsurface finish: CONTROL_FINISHED_OK

state 9632 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	124	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	14	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	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	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	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	2	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	-3	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	0.1	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	2	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	090218,211544,-7414.6406,-11217.1504,0,4113.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	out1
_XMS_NAKs	0	TGT_LATLONG	-7409.000,-11226.520
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	342.89	MHEAD_RNG_PITCHd_Wd	282.1,11471,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.4	D_GRID	980
GPS2	090218,211544,-7414.6406,-11217.1504,0,4113.0,0,53.5,0.0,0.0,0,0.0

FINISH1	359.8,1.027461,2	_24V_AH	13.00,57.064
FINISH2	358.5	_10V_AH	12.49,0.000
RAFOS_CLK	353	FG_AHR_24Vo	0.000
RAFOS	0,1518220876,0.032778,0.021111,139,69,55,53,52,50,456,208,165,217,183,138	FG_AHR_10Vo	0.000
RAFOS_FIX	-7413.375977,-11217.773438,100218,000056,3,129,0.22	MEM	280012
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	20089,572
TT8_MAMPS	0.041944,0.294357	CAP_FILE_SIZE	87028,0
HUMID	48.30	CFSIZE	1024409600,1005486080
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.60	SOUNDSPEED	1458.7
XPDR_PINGS	1	CURRENT	0.084,358.84,1
ALTIM_TOP_PING	369.7,15.1	GPS	100218,001456,-7413.376,-11217.773,0,4128.7,0,53.5,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	915.1,15.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	266	15.71	nil	0	0	0.00
Roll_motor	79	171	176.99	nil	0	0	0.00
VBD_pump_during_apogee	914	1558	18531.99	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	9650	3	494.52
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	167.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7470	2	215.54
TT8_Active	930	12	142.59
TT8_Sampling	1262	31	500.57
TT8_CF8	106	45	60.35
TT8_Kalman	0	0	0.00
Analog_circuits	1447	10	184.45
GPS_charging	0	0	0.00
Compass	822	7	76.92
RAFOS	720	1	13.49
Transponder	215	30	80.65

		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
354.1	16.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
363.5	30.60	9000.00	0.0	0.00	0.00	30.60	0.0	1.52	1.00
880.1	35.70	9000.00	0.0	0.02	0.51	35.70	0.0	0.01	1.00
888.4	31.10	9000.00	0.0	0.01	0.32	31.10	919.5	-0.55	1.00
896.6	31.60	9000.00	0.0	-0.25	0.66	31.60	0.0	0.06	1.00
906.2	24.80	9000.00	0.0	-0.37	0.73	24.80	931.0	-0.71	1.00
915.1	15.20	15.80	930.9	-0.88	0.98	15.20	930.3	-1.08	1.00
922.8	9.70	9.20	932.0	-0.91	0.98	9.70	932.5	-0.71	1.00

914.4	17.40	16.60	0.0	-0.82	0.96	17.40	0.0	-0.92	1.00
906.4	18.30	9000.00	0.0	-0.52	0.84	18.30	0.0	-0.11	1.00
897.6	20.60	9000.00	0.0	-0.20	0.95	20.60	0.0	-0.26	1.00
880.5	41.30	40.10	0.0	-0.93	0.94	41.30	0.0	-1.21	1.00
413.2	60.80	9000.00	0.0	-0.06	0.76	60.80	0.0	-0.04	1.00
404.9	52.00	9000.00	0.0	-0.03	0.79	52.00	352.9	1.06	1.00
396.5	43.00	43.00	353.5	1.07	1.00	43.00	353.5	1.07	1.00
388.2	34.30	34.30	353.9	1.06	1.00	34.30	353.9	1.05	1.00
380.0	25.70	25.70	354.3	1.04	1.00	25.70	354.3	1.05	1.00
369.7	15.10	15.10	354.6	1.04	1.00	15.10	354.6	1.03	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	2702	2502	2825	2608	0.0	0.0	0	11	0.00	0.00	-2.05	0.044	16390	0.000	0.000	2701	2502	3323	3460	3186	0	0	0	0	0	0	15.07	13.59	15.08
13	-0.94	-146.0	2702	2503	3458	3189	0.0	0.0	0	21	0.93	2.28	0.00	0.000	4356	0.109	0.154	2391	3769	3323	3451	3195	0	0	0	0	0	0	14.81	14.74	14.88
60	-0.94	-146.0	2392	3769	3445	3202	347.8	-9.8	9	67	0.00	2.33	0.00	0.000	1030	0.000	0.098	2392	2484	3323	3444	3202	0	0	0	0	0	0	14.88	14.81	14.92
376	-0.94	-146.0	2392	2483	3442	3204	385.7	-12.3	27	382	0.00	2.42	0.00	0.000	260	0.000	0.154	2388	3760	3323	3441	3205	0	0	0	0	0	0	15.09	14.76	15.12
436	-0.94	-146.0	2383	3760	3440	3208	393.4	-12.9	39	442	0.00	2.30	0.00	0.000	1030	0.000	0.099	2383	2489	3322	3437	3208	0	0	0	0	0	0	14.90	14.82	14.92
757	-0.94	-146.0	2383	2488	3438	3208	434.2	-13.0	58	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2489	3321	3434	3208	0	0	0	0	0	0	15.10	15.13	15.13
1057	-0.94	-146.0	2384	2488	3438	3208	470.6	-11.6	73	1058	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2488	3322	3437	3208	0	0	0	0	0	0	15.08	15.11	15.12
1356	-0.94	-146.0	2383	2489	3437	3210	508.1	-12.7	87	1363	0.00	2.42	0.00	0.000	260	0.000	0.151	2374	3753	3322	3436	3209	0	0	0	0	0	0	15.12	14.76	15.15
1387	-0.94	-146.0	2375	3753	3436	3210	512.1	-13.3	93	1394	0.00	2.28	0.00	0.000	1030	0.000	0.098	2375	2492	3322	3434	3210	0	0	0	0	0	0	14.90	14.83	14.95
1779	-0.94	-146.0	2374	2496	3436	3211	560.9	-12.6	111	1779	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2492	3322	3435	3210	0	0	0	0	0	0	15.12	15.15	15.15
2138	-0.94	-146.0	2375	2492	3436	3210	605.5	-12.2	123	2139	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2492	3322	3435	3210	0	0	0	0	0	0	15.13	15.16	15.16
2498	-0.94	-146.0	2375	2492	3435	3211	648.6	-12.0	135	2504	0.00	2.40	0.00	0.000	260	0.000	0.151	2365	3749	3323	3435	3211	0	0	0	0	0	0	15.14	14.76	15.16
2553	-0.94	-146.0	2366	3750	3436	3213	655.5	-12.6	146	2561	0.12	2.25	0.00	0.000	3078	0.255	0.097	2398	2494	3323	3434	3212	0	0	0	0	0	0	14.66	14.83	14.81
2919	-0.94	-146.0	2398	2496	3435	3214	695.2	-10.8	159	2924	0.00	2.55	0.00	0.000	516	0.000	0.116	2398	1088	3323	3434	3213	0	0	0	0	0	0	15.14	14.80	15.16
2953	-0.94	-146.0	2398	1089	3435	3214	699.0	-10.8	166	2959	0.00	2.67	0.00	0.000	1030	0.000	0.125	2389	2511	3324	3435	3213	0	0	0	0	0	0	14.87	14.76	14.92
3339	-0.94	-146.0	2389	2511	3436	3215	741.5	-11.2	183	3344	0.00	2.33	0.00	0.000	260	0.000	0.150	2380	3755	3324	3434	3214	0	0	0	0	0	0	15.13	14.78	15.14
3398	-0.94	-146.0	2380	3756	3435	3214	748.6	-12.0	195	3404	0.00	2.28	0.00	0.000	1030	0.000	0.099	2380	2496	3324	3435	3213	0	0	0	0	0	0	14.90	14.83	14.94
3789	-0.94	-146.0	2380	2497	3435	3215	794.3	-11.6	213	3795	0.00	2.55	0.00	0.000	516	0.000	0.115	2380	1085	3325	3435	3215	0	0	0	0	0	0	15.13	14.79	15.16
3809	-0.94	-146.0	2380	1086	3435	3216	796.8	-12.0	217	3816	0.00	2.67	0.00	0.000	1030	0.000	0.125	2372	2511	3325	3435	3215	0	0	0	0	0	0	14.87	14.76	14.92
4180	-0.94	-146.0	2372	2510	3435	3215	841.8	-11.9	231	4181	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2510	3325	3435	3215	0	0	0	0	0	0	15.14	15.16	15.16
4541	-0.94	-146.0	2372	2510	3435	3215	883.1	-11.4	243	4546	0.00	2.38	0.00	0.000	260	0.000	0.149	2362	3756	3327	3434	3220	0	0	0	0	0	0	15.14	14.76	15.16
4580	-0.94	-146.0	2363	3756	3436	3214	887.9	-12.5	251	4588	0.12	2.28	0.00	0.000	3078	0.267	0.098	2395	2490	3325	3435	3215	0	0	0	0	0	0	14.65	14.84	14.81
4901	end dive: BOTTOM_OBSTACLE_DETECTED
state	4901	begin apogee
4905	-0.23	0.0	2396	2192	3435	3215	921.3	-10.3	265	5498	0.82	0.00	589.70	1.222	10246	0.233	0.000	2621	2192	2716	2772	2660	0	0	0	0	0	0	14.69	13.69	13.13
5499	end apogee: CONTROL_FINISHED_OK
state	5499	begin climb
5501	0.94	146.0	2621	2192	2770	2660	929.0	0.0	284	5841	1.27	2.88	325.10	1.558	10756	0.133	0.127	3004	789	2110	2142	2078	0	0	0	0	0	0	13.66	13.55	13.00
6010	0.94	146.0	3000	789	2129	2065	870.9	14.0	384	6016	0.00	2.72	0.00	0.000	1030	0.000	0.113	3004	2214	2096	2128	2065	0	0	0	0	0	0	14.25	14.13	14.28
6381	0.94	146.0	3005	2214	2129	2060	815.3	15.0	398	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2214	2093	2127	2060	0	0	0	0	0	0	14.76	14.79	14.79
6741	0.94	146.0	3004	2215	2128	2059	763.1	14.4	410	6747	0.00	2.65	0.00	0.000	516	0.000	0.128	3015	794	2092	2127	2058	0	0	0	0	0	0	14.92	14.66	14.95
6791	0.94	146.0	3015	798	2128	2058	755.6	14.5	420	6798	0.00	2.62	0.00	0.000	1030	0.000	0.114	3014	2200	2092	2127	2058	0	0	0	0	0	0	14.75	14.67	14.80
7164	0.94	146.0	3015	2200	2127	2057	701.9	14.4	434	7169	0.00	2.67	0.00	0.000	260	0.000	0.144	3015	3620	2092	2127	2057	0	0	0	0	0	0	15.00	14.71	15.02
7208	0.94	146.0	3015	3621	2126	2058	694.5	16.5	443	7216	0.00	2.60	0.00	0.000	1030	0.000	0.102	3026	2199	2091	2126	2057	0	0	0	0	0	0	14.83	14.76	14.87
7585	0.94	146.0	3026	2197	2128	2057	636.4	15.4	458	7591	0.00	2.62	0.00	0.000	516	0.000	0.130	3036	770	2090	2126	2055	0	0	0	0	0	0	15.04	14.77	15.07
7625	0.94	146.0	3036	770	2127	2055	630.0	15.7	466	7632	0.12	2.65	0.00	0.000	5126	0.230	0.115	3001	2199	2090	2126	2055	0	0	0	0	0	0	14.69	14.77	14.83
8006	0.94	146.0	3001	2200	2126	2055	577.5	13.3	482	8007	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2199	2089	2126	2053	0	0	0	0	0	0	15.09	15.12	15.12
8366	0.94	146.0	3001	2199	2127	2052	529.2	13.8	494	8373	0.00	2.70	0.00	0.000	260	0.000	0.145	3001	3614	2089	2126	2053	0	0	0	0	0	0	15.11	14.77	15.14
8392	0.94	146.0	3002	3614	2127	2053	525.5	14.2	499	8400	0.00	2.55	0.00	0.000	1030	0.000	0.102	3010	2185	2089	2126	2053	0	0	0	0	0	0	14.96	14.83	14.99
8757	0.94	146.0	3010	2185	2127	2053	476.2	12.6	515	8763	0.00	2.62	0.00	0.000	516	0.000	0.132	3021	782	2089	2126	2052	0	0	0	0	0	0	15.11	14.78	15.13
8792	0.94	146.0	3021	783	2127	2053	471.6	13.1	522	8800	0.00	2.62	0.00	0.000	1030	0.000	0.116	3021	2200	2088	2125	2052	0	0	0	0	0	0	14.88	14.80	14.93
9098	0.94	146.0	3020	2200	2126	2052	429.6	14.0	538	9099	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2199	2088	2125	2052	0	0	0	0	0	0	15.07	15.10	15.10
9398	0.94	146.0	3022	2200	2126	2052	388.2	13.8	553	9403	0.00	2.62	0.00	0.000	516	0.000	0.130	3031	777	2088	2125	2052	0	0	0	0	0	0	15.08	14.80	15.10
9417	0.94	146.0	3032	777	2126	2052	385.4	14.1	557	9423	0.10	2.65	0.00	0.000	5126	0.230	0.116	3003	2210	2088	2125	2051	0	0	0	0	0	0	14.71	14.81	14.85
9618	end climb: SURFACE_OBSTACLE_DETECTED
state	9618	begin subsurface finish
9621	0.00	2.0	3003	2210	2126	2052	359.8	12.4	570	9632	1.02	2.70	-2.20	0.052	20740	0.206	0.171	2704	3612	2724	2836	2613	0	0	0	0	0	0	14.71	13.59	14.84
9632	end subsurface finish: CONTROL_FINISHED_OK
state	9632	begin surface