Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 141 * 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 141 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 16 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 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 200 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 6 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 350

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 390

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 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 141 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 16 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 13 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 120218,001456,-7414.8311,-11226.8242,0,4135.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 397.72 MHEAD_RNG_PITCHd_Wd 131.9,43096,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 1.9 D_GRID 990

GPS2 120218,001456,-7414.8311,-11226.8242,0,4135.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 302.7,1.027414,4 _24V_AH 13.09,63.066

FINISH2 301.4 _10V_AH 12.46,0.000

RAFOS_CLK 428 FG_AHR_24Vo 0.000

RAFOS 0,1518404463,3.032778,3.017500,126,69,58,58,55,55,559,213,177,198,162,121 FG_AHR_10Vo 0.000

RAFOS_FIX -7416.322266,-11227.240234,120218,030308,3,118,0.26 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 36631,1016

TT8_MAMPS 0.041944,0.286867 CAP_FILE_SIZE 126504,0

HUMID 47.79 CFSIZE 1024409600,1003552768

INTERNAL_PRESSURE 7.60929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.60 SOUNDSPEED 1458.1

XPDR_PINGS 0 GPS 120218,031408,-7416.322,-11227.240,0,4117.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 352.5,56.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 15.50 nil 0 0 0.00

Roll_motor 105 173 240.90 nil 0 0 0.00

VBD_pump_during_apogee 1036 1334 18118.97 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 11779 2 459.48

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 46 420 255.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8577 2 246.89

TT8_Active 1053 12 161.14

TT8_Sampling 2122 31 839.50

TT8_CF8 106 45 59.97

TT8_Kalman 0 0 0.00

Analog_circuits 1885 10 239.60

GPS_charging 0 0 0.00

Compass 1453 7 135.64

RAFOS 720 1 13.46

Transponder 335 30 125.35

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

992.4 23.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

986.3 16.00 9000.00 0.0 0.00 0.00 16.00 970.3 1.16 1.00

980.0 17.60 9000.00 0.0 0.43 0.53 17.60 0.0 -0.25 1.00

973.6 18.00 9000.00 0.0 -0.16 0.88 18.00 0.0 -0.06 1.00

967.3 16.10 9000.00 0.0 0.12 0.58 16.10 951.2 0.30 1.00

960.9 21.60 9000.00 0.0 -0.29 0.44 21.60 0.0 -0.86 1.00

411.3 72.90 9000.00 0.0 -0.10 0.99 72.90 0.0 -0.09 1.00

365.5 68.10 9000.00 0.0 -0.08 0.98 68.10 297.4 0.10 1.00

359.4 61.70 9000.00 0.0 0.17 0.77 61.70 297.7 1.05 1.00

352.5 56.20 56.00 296.5 0.91 0.99 56.20 296.3 0.80 1.00

340.3 52.60 9000.00 0.0 0.45 0.92 52.60 287.7 0.30 1.00

334.2 63.30 9000.00 0.0 -0.29 0.25 63.30 0.0 -1.75 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 -0.88 -146.0 2699 2505 2835 2606 0.0 0.0 0 11 0.00 0.00 -1.90 0.049 16390 0.000 0.000 2698 2504 3326 3460 3192 0 0 0 0 0 0 15.08 13.46 15.08

13 -0.88 -146.0 2699 2506 3459 3196 0.0 0.0 0 15 0.88 0.00 0.00 0.000 4102 0.110 0.000 2411 2505 3326 3457 3196 0 0 0 0 0 0 14.81 14.97 14.94

309 -0.88 -146.0 2412 2505 3442 3210 427.4 -10.7 30 315 0.00 2.60 0.00 0.000 516 0.000 0.114 2411 1076 3325 3441 3210 0 0 0 0 0 0 15.11 14.76 15.14

334 -0.88 -146.0 2411 1076 3442 3210 430.2 -11.1 35 342 0.00 2.70 0.00 0.000 1030 0.000 0.128 2401 2505 3326 3441 3211 0 0 0 0 0 0 14.83 14.72 14.89

640 -0.88 -146.0 2401 2507 3439 3213 464.8 -11.4 66 645 0.00 2.38 0.00 0.000 260 0.000 0.151 2392 3763 3325 3438 3212 0 0 0 0 0 0 15.07 14.73 15.10

719 -0.88 -146.0 2392 3763 3435 3214 474.6 -12.7 82 725 0.00 2.30 0.00 0.000 1030 0.000 0.099 2391 2491 3325 3436 3214 0 0 0 0 0 0 14.87 14.80 14.91

1029 -0.88 -146.0 2392 2490 3437 3214 511.9 -11.9 114 1030 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2491 3325 3436 3214 0 0 0 0 0 0 15.11 15.14 15.14

1329 -0.88 -146.0 2392 2492 3436 3215 547.8 -11.9 144 1335 0.00 2.45 0.00 0.000 260 0.000 0.153 2383 3758 3324 3435 3214 0 0 0 0 0 0 15.12 14.70 15.15

1369 -0.88 -146.0 2383 3759 3435 3216 552.8 -12.8 152 1375 0.10 2.30 0.00 0.000 3078 0.260 0.099 2409 2487 3327 3434 3221 0 0 0 0 0 0 14.59 14.80 14.77

1679 -0.88 -146.0 2410 2488 3435 3216 585.7 -10.6 184 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2487 3324 3434 3215 0 0 0 0 0 0 15.11 15.15 15.14

1979 -0.88 -146.0 2410 2488 3434 3216 618.2 -10.5 214 1985 0.00 2.45 0.00 0.000 260 0.000 0.154 2401 3754 3322 3429 3215 0 0 0 0 0 0 15.14 14.71 15.15

2014 -0.88 -146.0 2400 3754 3434 3215 622.1 -11.3 221 2022 0.00 2.28 0.00 0.000 1030 0.000 0.099 2400 2495 3324 3433 3215 0 0 0 0 0 0 14.87 14.80 14.92

2319 -0.88 -146.0 2401 2496 3433 3216 654.4 -10.5 252 2320 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2495 3324 3433 3215 0 0 0 0 0 0 15.12 15.15 15.14

2619 -0.88 -146.0 2400 2495 3434 3212 686.8 -10.8 282 2620 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2495 3324 3433 3215 0 0 0 0 0 0 15.12 15.16 15.15

2930 -0.88 -146.0 2401 2495 3434 3215 720.0 -10.7 301 2936 0.00 2.42 0.00 0.000 260 0.000 0.154 2391 3774 3323 3432 3215 0 0 0 0 0 0 15.14 14.72 15.16

2980 -0.88 -146.0 2392 3775 3433 3216 725.6 -11.1 311 2986 0.00 2.30 0.00 0.000 1030 0.000 0.099 2391 2496 3323 3432 3215 0 0 0 0 0 0 14.88 14.80 14.93

3351 -0.88 -146.0 2391 2497 3433 3216 763.9 -10.3 325 3357 0.00 2.40 0.00 0.000 260 0.000 0.154 2383 3761 3323 3432 3215 0 0 0 0 0 0 15.13 14.72 15.15

3386 -0.88 -146.0 2383 3761 3433 3215 768.0 -11.3 332 3392 0.10 2.30 0.00 0.000 3078 0.263 0.099 2410 2487 3323 3432 3215 0 0 0 0 0 0 14.59 14.82 14.76

3771 -0.88 -146.0 2410 2488 3432 3217 805.2 -9.5 349 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2487 3323 3432 3215 0 0 0 0 0 0 15.14 15.16 15.16

4131 -0.88 -146.0 2411 2487 3433 3216 840.0 -9.6 361 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2487 3324 3432 3216 0 0 0 0 0 0 15.14 15.17 15.16

4491 -0.88 -146.0 2410 2488 3433 3217 873.7 -9.1 373 4498 0.00 2.45 0.00 0.000 260 0.000 0.154 2400 3757 3323 3432 3215 0 0 0 0 0 0 15.14 14.70 15.17

4527 -0.88 -146.0 2404 3757 3433 3215 876.9 -10.0 380 4533 0.00 2.28 0.00 0.000 1030 0.000 0.099 2401 2494 3323 3431 3216 0 0 0 0 0 0 14.87 14.80 14.92

4912 -0.88 -146.0 2407 2493 3433 3216 915.6 -10.0 397 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2494 3323 3431 3216 0 0 0 0 0 0 15.14 15.17 15.16

5273 -0.88 -146.0 2402 2494 3432 3215 951.1 -9.7 409 5279 0.00 2.40 0.00 0.000 260 0.000 0.153 2392 3758 3323 3431 3215 0 0 0 0 0 0 15.10 14.72 15.13

5339 -0.88 -146.0 2393 3758 3432 3213 958.6 -10.5 422 5344 0.00 2.25 0.00 0.000 1030 0.000 0.098 2393 2492 3323 3431 3215 0 0 0 0 0 0 14.95 14.83 14.98

5662 end dive: TARGET_DEPTH_EXCEEDED

state 5663 begin apogee

5666 -0.23 0.0 2393 2190 3432 3216 990.4 -10.3 437 6254 0.85 0.00 583.83 1.150 10246 0.231 0.000 2624 2190 2715 2773 2658 0 0 0 0 0 0 14.64 13.75 13.21

6255 end apogee: CONTROL_FINISHED_OK

state 6255 begin climb

6257 0.88 146.0 2624 2190 2771 2657 1003.7 0.0 456 6724 1.20 2.97 453.08 1.335 10500 0.134 0.144 2979 3616 2114 2151 2078 0 0 0 0 0 0 13.71 13.59 13.09

6872 0.88 146.0 2979 3616 2144 2066 934.2 14.6 581 6881 0.00 2.70 0.00 0.000 1030 0.000 0.097 2990 2207 2104 2143 2065 0 0 0 0 0 0 14.16 14.10 14.21

7239 0.88 146.0 2990 2207 2142 2062 882.8 13.8 594 7244 0.00 2.67 0.00 0.000 516 0.000 0.129 3001 781 2101 2141 2061 0 0 0 0 0 0 14.76 14.49 14.78

7278 0.88 146.0 3001 781 2142 2061 877.2 12.7 602 7285 0.00 2.70 0.00 0.000 1030 0.000 0.116 3001 2209 2100 2140 2060 0 0 0 0 0 0 14.60 14.50 14.64

7659 0.88 146.0 3001 2211 2141 2060 823.0 14.1 618 7665 0.00 2.65 0.00 0.000 516 0.000 0.128 3011 782 2099 2140 2059 0 0 0 0 0 0 14.97 14.65 14.99

7679 0.88 146.0 3012 782 2141 2059 820.1 13.9 622 7685 0.00 2.65 0.00 0.000 1030 0.000 0.115 3011 2223 2099 2139 2059 0 0 0 0 0 0 14.81 14.67 14.84

8049 0.88 146.0 3012 2224 2140 2058 766.6 14.6 636 8050 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2223 2098 2139 2058 0 0 0 0 0 0 15.04 15.06 15.06

8410 0.88 146.0 3012 2223 2141 2058 714.4 14.3 648 8415 0.00 2.67 0.00 0.000 516 0.000 0.128 3022 775 2097 2138 2057 0 0 0 0 0 0 15.07 14.75 15.09

8454 0.88 146.0 3023 775 2139 2057 708.0 14.3 657 8461 0.10 2.65 0.00 0.000 5126 0.229 0.114 2981 2205 2097 2138 2057 0 0 0 0 0 0 14.69 14.74 14.90

8820 0.88 146.0 2981 2206 2139 2058 661.6 12.6 691 8826 0.00 2.65 0.00 0.000 260 0.000 0.145 2981 3617 2097 2138 2057 0 0 0 0 0 0 15.09 14.75 15.11

8860 0.88 146.0 2981 3617 2139 2056 656.1 13.7 699 8866 0.00 2.60 0.00 0.000 1030 0.000 0.101 2990 2191 2097 2138 2057 0 0 0 0 0 0 14.86 14.78 14.90

9170 0.88 146.0 2990 2190 2139 2056 616.7 12.7 731 9176 0.00 2.65 0.00 0.000 516 0.000 0.130 3001 752 2096 2137 2056 0 0 0 0 0 0 15.10 14.76 15.13

9195 0.88 146.0 3001 752 2138 2056 613.5 12.7 736 9203 0.00 2.67 0.00 0.000 1030 0.000 0.115 3001 2199 2096 2137 2056 0 0 0 0 0 0 14.85 14.74 14.91

9500 0.88 146.0 3001 2199 2137 2056 573.6 13.2 767 9506 0.00 2.67 0.00 0.000 260 0.000 0.147 3001 3623 2096 2137 2055 0 0 0 0 0 0 15.11 14.76 15.13

9535 0.88 146.0 3001 3623 2137 2055 568.5 14.9 774 9543 0.00 2.62 0.00 0.000 1030 0.000 0.103 3012 2187 2096 2137 2056 0 0 0 0 0 0 14.86 14.78 14.91

9840 0.88 146.0 3012 2185 2137 2055 527.3 13.4 805 9847 0.00 2.62 0.00 0.000 516 0.000 0.132 3022 782 2095 2136 2055 0 0 0 0 0 0 15.10 14.73 15.13

9867 0.88 146.0 3023 782 2138 2055 523.7 13.5 810 9874 0.17 2.60 0.00 0.000 5126 0.239 0.117 2981 2210 2095 2136 2055 0 0 0 0 0 0 14.69 14.78 14.90

10171 0.88 146.0 2981 2210 2137 2055 487.1 11.7 841 10178 0.00 2.65 0.00 0.000 260 0.000 0.146 2980 3613 2093 2132 2054 0 0 0 0 0 0 15.11 14.75 15.13

10197 0.88 146.0 2979 3613 2137 2054 483.8 12.4 846 10205 0.00 2.60 0.00 0.000 1030 0.000 0.103 2989 2189 2095 2136 2055 0 0 0 0 0 0 14.86 14.78 14.89

10502 0.88 146.0 2990 2187 2137 2054 446.6 12.8 877 10503 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2186 2094 2136 2053 0 0 0 0 0 0 15.10 15.13 15.13

10802 0.88 146.0 2990 2187 2137 2054 411.8 11.9 907 10809 0.00 2.62 0.00 0.000 516 0.000 0.131 3003 763 2094 2136 2053 0 0 0 0 0 0 15.11 14.75 15.14

10828 0.88 146.0 3001 763 2134 2053 408.7 11.9 912 10836 0.00 2.67 0.00 0.000 1030 0.000 0.116 3001 2207 2094 2136 2053 0 0 0 0 0 0 14.85 14.76 14.90

11134 0.91 146.0 3001 2208 2137 2054 374.7 7.8 943 11139 0.00 2.67 0.00 0.000 324 0.000 0.148 3003 3622 2094 2136 2053 0 0 0 0 0 0 15.11 14.75 15.14

11163 0.91 146.0 3001 3621 2137 2053 371.8 10.4 949 11171 0.00 2.60 0.00 0.000 1030 0.000 0.103 3011 2196 2094 2136 2052 0 0 0 0 0 0 14.87 14.78 14.91

11475 0.91 146.0 3011 2192 2137 2054 334.2 12.2 981 11481 0.00 2.60 0.00 0.000 516 0.000 0.132 3022 788 2094 2136 2053 0 0 0 0 0 0 15.08 14.75 15.09

11530 0.91 146.0 3022 789 2136 2054 328.3 10.8 992 11541 0.00 2.62 0.00 0.000 1030 0.000 0.118 3022 2197 2094 2136 2053 0 0 0 0 0 0 14.84 14.76 14.90

11745 end climb: SURFACE_OBSTACLE_DETECTED

state 11745 begin subsurface finish

11749 0.01 4.4 3023 2198 2136 2053 302.7 12.6 1014 11760 1.10 2.72 -2.35 0.049 20740 0.215 0.174 2708 3624 2715 2830 2601 0 0 0 0 0 0 14.63 13.43 14.79

11760 end subsurface finish: CONTROL_FINISHED_OK

state 11760 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	141	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	16	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	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	200	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	120218,001456,-7414.8311,-11226.8242,0,4135.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	397.72	MHEAD_RNG_PITCHd_Wd	131.9,43096,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	1.9	D_GRID	990
GPS2	120218,001456,-7414.8311,-11226.8242,0,4135.7,0,53.5,0.0,0.0,0,0.0

FINISH1	302.7,1.027414,4	_24V_AH	13.09,63.066
FINISH2	301.4	_10V_AH	12.46,0.000
RAFOS_CLK	428	FG_AHR_24Vo	0.000
RAFOS	0,1518404463,3.032778,3.017500,126,69,58,58,55,55,559,213,177,198,162,121	FG_AHR_10Vo	0.000
RAFOS_FIX	-7416.322266,-11227.240234,120218,030308,3,118,0.26	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	36631,1016
TT8_MAMPS	0.041944,0.286867	CAP_FILE_SIZE	126504,0
HUMID	47.79	CFSIZE	1024409600,1003552768
INTERNAL_PRESSURE	7.60929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.60	SOUNDSPEED	1458.1
XPDR_PINGS	0	GPS	120218,031408,-7416.322,-11227.240,0,4117.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	352.5,56.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	15.50	nil	0	0	0.00
Roll_motor	105	173	240.90	nil	0	0	0.00
VBD_pump_during_apogee	1036	1334	18118.97	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	11779	2	459.48
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	46	420	255.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8577	2	246.89
TT8_Active	1053	12	161.14
TT8_Sampling	2122	31	839.50
TT8_CF8	106	45	59.97
TT8_Kalman	0	0	0.00
Analog_circuits	1885	10	239.60
GPS_charging	0	0	0.00
Compass	1453	7	135.64
RAFOS	720	1	13.46
Transponder	335	30	125.35

		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
992.4	23.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

986.3	16.00	9000.00	0.0	0.00	0.00	16.00	970.3	1.16	1.00
980.0	17.60	9000.00	0.0	0.43	0.53	17.60	0.0	-0.25	1.00
973.6	18.00	9000.00	0.0	-0.16	0.88	18.00	0.0	-0.06	1.00
967.3	16.10	9000.00	0.0	0.12	0.58	16.10	951.2	0.30	1.00
960.9	21.60	9000.00	0.0	-0.29	0.44	21.60	0.0	-0.86	1.00
411.3	72.90	9000.00	0.0	-0.10	0.99	72.90	0.0	-0.09	1.00
365.5	68.10	9000.00	0.0	-0.08	0.98	68.10	297.4	0.10	1.00
359.4	61.70	9000.00	0.0	0.17	0.77	61.70	297.7	1.05	1.00
352.5	56.20	56.00	296.5	0.91	0.99	56.20	296.3	0.80	1.00
340.3	52.60	9000.00	0.0	0.45	0.92	52.60	287.7	0.30	1.00
334.2	63.30	9000.00	0.0	-0.29	0.25	63.30	0.0	-1.75	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	-0.88	-146.0	2699	2505	2835	2606	0.0	0.0	0	11	0.00	0.00	-1.90	0.049	16390	0.000	0.000	2698	2504	3326	3460	3192	0	0	0	0	0	0	15.08	13.46	15.08
13	-0.88	-146.0	2699	2506	3459	3196	0.0	0.0	0	15	0.88	0.00	0.00	0.000	4102	0.110	0.000	2411	2505	3326	3457	3196	0	0	0	0	0	0	14.81	14.97	14.94
309	-0.88	-146.0	2412	2505	3442	3210	427.4	-10.7	30	315	0.00	2.60	0.00	0.000	516	0.000	0.114	2411	1076	3325	3441	3210	0	0	0	0	0	0	15.11	14.76	15.14
334	-0.88	-146.0	2411	1076	3442	3210	430.2	-11.1	35	342	0.00	2.70	0.00	0.000	1030	0.000	0.128	2401	2505	3326	3441	3211	0	0	0	0	0	0	14.83	14.72	14.89
640	-0.88	-146.0	2401	2507	3439	3213	464.8	-11.4	66	645	0.00	2.38	0.00	0.000	260	0.000	0.151	2392	3763	3325	3438	3212	0	0	0	0	0	0	15.07	14.73	15.10
719	-0.88	-146.0	2392	3763	3435	3214	474.6	-12.7	82	725	0.00	2.30	0.00	0.000	1030	0.000	0.099	2391	2491	3325	3436	3214	0	0	0	0	0	0	14.87	14.80	14.91
1029	-0.88	-146.0	2392	2490	3437	3214	511.9	-11.9	114	1030	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2491	3325	3436	3214	0	0	0	0	0	0	15.11	15.14	15.14
1329	-0.88	-146.0	2392	2492	3436	3215	547.8	-11.9	144	1335	0.00	2.45	0.00	0.000	260	0.000	0.153	2383	3758	3324	3435	3214	0	0	0	0	0	0	15.12	14.70	15.15
1369	-0.88	-146.0	2383	3759	3435	3216	552.8	-12.8	152	1375	0.10	2.30	0.00	0.000	3078	0.260	0.099	2409	2487	3327	3434	3221	0	0	0	0	0	0	14.59	14.80	14.77
1679	-0.88	-146.0	2410	2488	3435	3216	585.7	-10.6	184	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2487	3324	3434	3215	0	0	0	0	0	0	15.11	15.15	15.14
1979	-0.88	-146.0	2410	2488	3434	3216	618.2	-10.5	214	1985	0.00	2.45	0.00	0.000	260	0.000	0.154	2401	3754	3322	3429	3215	0	0	0	0	0	0	15.14	14.71	15.15
2014	-0.88	-146.0	2400	3754	3434	3215	622.1	-11.3	221	2022	0.00	2.28	0.00	0.000	1030	0.000	0.099	2400	2495	3324	3433	3215	0	0	0	0	0	0	14.87	14.80	14.92
2319	-0.88	-146.0	2401	2496	3433	3216	654.4	-10.5	252	2320	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2495	3324	3433	3215	0	0	0	0	0	0	15.12	15.15	15.14
2619	-0.88	-146.0	2400	2495	3434	3212	686.8	-10.8	282	2620	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2495	3324	3433	3215	0	0	0	0	0	0	15.12	15.16	15.15
2930	-0.88	-146.0	2401	2495	3434	3215	720.0	-10.7	301	2936	0.00	2.42	0.00	0.000	260	0.000	0.154	2391	3774	3323	3432	3215	0	0	0	0	0	0	15.14	14.72	15.16
2980	-0.88	-146.0	2392	3775	3433	3216	725.6	-11.1	311	2986	0.00	2.30	0.00	0.000	1030	0.000	0.099	2391	2496	3323	3432	3215	0	0	0	0	0	0	14.88	14.80	14.93
3351	-0.88	-146.0	2391	2497	3433	3216	763.9	-10.3	325	3357	0.00	2.40	0.00	0.000	260	0.000	0.154	2383	3761	3323	3432	3215	0	0	0	0	0	0	15.13	14.72	15.15
3386	-0.88	-146.0	2383	3761	3433	3215	768.0	-11.3	332	3392	0.10	2.30	0.00	0.000	3078	0.263	0.099	2410	2487	3323	3432	3215	0	0	0	0	0	0	14.59	14.82	14.76
3771	-0.88	-146.0	2410	2488	3432	3217	805.2	-9.5	349	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2487	3323	3432	3215	0	0	0	0	0	0	15.14	15.16	15.16
4131	-0.88	-146.0	2411	2487	3433	3216	840.0	-9.6	361	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2487	3324	3432	3216	0	0	0	0	0	0	15.14	15.17	15.16
4491	-0.88	-146.0	2410	2488	3433	3217	873.7	-9.1	373	4498	0.00	2.45	0.00	0.000	260	0.000	0.154	2400	3757	3323	3432	3215	0	0	0	0	0	0	15.14	14.70	15.17
4527	-0.88	-146.0	2404	3757	3433	3215	876.9	-10.0	380	4533	0.00	2.28	0.00	0.000	1030	0.000	0.099	2401	2494	3323	3431	3216	0	0	0	0	0	0	14.87	14.80	14.92
4912	-0.88	-146.0	2407	2493	3433	3216	915.6	-10.0	397	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2494	3323	3431	3216	0	0	0	0	0	0	15.14	15.17	15.16
5273	-0.88	-146.0	2402	2494	3432	3215	951.1	-9.7	409	5279	0.00	2.40	0.00	0.000	260	0.000	0.153	2392	3758	3323	3431	3215	0	0	0	0	0	0	15.10	14.72	15.13
5339	-0.88	-146.0	2393	3758	3432	3213	958.6	-10.5	422	5344	0.00	2.25	0.00	0.000	1030	0.000	0.098	2393	2492	3323	3431	3215	0	0	0	0	0	0	14.95	14.83	14.98
5662	end dive: TARGET_DEPTH_EXCEEDED
state	5663	begin apogee
5666	-0.23	0.0	2393	2190	3432	3216	990.4	-10.3	437	6254	0.85	0.00	583.83	1.150	10246	0.231	0.000	2624	2190	2715	2773	2658	0	0	0	0	0	0	14.64	13.75	13.21
6255	end apogee: CONTROL_FINISHED_OK
state	6255	begin climb
6257	0.88	146.0	2624	2190	2771	2657	1003.7	0.0	456	6724	1.20	2.97	453.08	1.335	10500	0.134	0.144	2979	3616	2114	2151	2078	0	0	0	0	0	0	13.71	13.59	13.09
6872	0.88	146.0	2979	3616	2144	2066	934.2	14.6	581	6881	0.00	2.70	0.00	0.000	1030	0.000	0.097	2990	2207	2104	2143	2065	0	0	0	0	0	0	14.16	14.10	14.21
7239	0.88	146.0	2990	2207	2142	2062	882.8	13.8	594	7244	0.00	2.67	0.00	0.000	516	0.000	0.129	3001	781	2101	2141	2061	0	0	0	0	0	0	14.76	14.49	14.78
7278	0.88	146.0	3001	781	2142	2061	877.2	12.7	602	7285	0.00	2.70	0.00	0.000	1030	0.000	0.116	3001	2209	2100	2140	2060	0	0	0	0	0	0	14.60	14.50	14.64
7659	0.88	146.0	3001	2211	2141	2060	823.0	14.1	618	7665	0.00	2.65	0.00	0.000	516	0.000	0.128	3011	782	2099	2140	2059	0	0	0	0	0	0	14.97	14.65	14.99
7679	0.88	146.0	3012	782	2141	2059	820.1	13.9	622	7685	0.00	2.65	0.00	0.000	1030	0.000	0.115	3011	2223	2099	2139	2059	0	0	0	0	0	0	14.81	14.67	14.84
8049	0.88	146.0	3012	2224	2140	2058	766.6	14.6	636	8050	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2223	2098	2139	2058	0	0	0	0	0	0	15.04	15.06	15.06
8410	0.88	146.0	3012	2223	2141	2058	714.4	14.3	648	8415	0.00	2.67	0.00	0.000	516	0.000	0.128	3022	775	2097	2138	2057	0	0	0	0	0	0	15.07	14.75	15.09
8454	0.88	146.0	3023	775	2139	2057	708.0	14.3	657	8461	0.10	2.65	0.00	0.000	5126	0.229	0.114	2981	2205	2097	2138	2057	0	0	0	0	0	0	14.69	14.74	14.90
8820	0.88	146.0	2981	2206	2139	2058	661.6	12.6	691	8826	0.00	2.65	0.00	0.000	260	0.000	0.145	2981	3617	2097	2138	2057	0	0	0	0	0	0	15.09	14.75	15.11
8860	0.88	146.0	2981	3617	2139	2056	656.1	13.7	699	8866	0.00	2.60	0.00	0.000	1030	0.000	0.101	2990	2191	2097	2138	2057	0	0	0	0	0	0	14.86	14.78	14.90
9170	0.88	146.0	2990	2190	2139	2056	616.7	12.7	731	9176	0.00	2.65	0.00	0.000	516	0.000	0.130	3001	752	2096	2137	2056	0	0	0	0	0	0	15.10	14.76	15.13
9195	0.88	146.0	3001	752	2138	2056	613.5	12.7	736	9203	0.00	2.67	0.00	0.000	1030	0.000	0.115	3001	2199	2096	2137	2056	0	0	0	0	0	0	14.85	14.74	14.91
9500	0.88	146.0	3001	2199	2137	2056	573.6	13.2	767	9506	0.00	2.67	0.00	0.000	260	0.000	0.147	3001	3623	2096	2137	2055	0	0	0	0	0	0	15.11	14.76	15.13
9535	0.88	146.0	3001	3623	2137	2055	568.5	14.9	774	9543	0.00	2.62	0.00	0.000	1030	0.000	0.103	3012	2187	2096	2137	2056	0	0	0	0	0	0	14.86	14.78	14.91
9840	0.88	146.0	3012	2185	2137	2055	527.3	13.4	805	9847	0.00	2.62	0.00	0.000	516	0.000	0.132	3022	782	2095	2136	2055	0	0	0	0	0	0	15.10	14.73	15.13
9867	0.88	146.0	3023	782	2138	2055	523.7	13.5	810	9874	0.17	2.60	0.00	0.000	5126	0.239	0.117	2981	2210	2095	2136	2055	0	0	0	0	0	0	14.69	14.78	14.90
10171	0.88	146.0	2981	2210	2137	2055	487.1	11.7	841	10178	0.00	2.65	0.00	0.000	260	0.000	0.146	2980	3613	2093	2132	2054	0	0	0	0	0	0	15.11	14.75	15.13
10197	0.88	146.0	2979	3613	2137	2054	483.8	12.4	846	10205	0.00	2.60	0.00	0.000	1030	0.000	0.103	2989	2189	2095	2136	2055	0	0	0	0	0	0	14.86	14.78	14.89
10502	0.88	146.0	2990	2187	2137	2054	446.6	12.8	877	10503	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2186	2094	2136	2053	0	0	0	0	0	0	15.10	15.13	15.13
10802	0.88	146.0	2990	2187	2137	2054	411.8	11.9	907	10809	0.00	2.62	0.00	0.000	516	0.000	0.131	3003	763	2094	2136	2053	0	0	0	0	0	0	15.11	14.75	15.14
10828	0.88	146.0	3001	763	2134	2053	408.7	11.9	912	10836	0.00	2.67	0.00	0.000	1030	0.000	0.116	3001	2207	2094	2136	2053	0	0	0	0	0	0	14.85	14.76	14.90
11134	0.91	146.0	3001	2208	2137	2054	374.7	7.8	943	11139	0.00	2.67	0.00	0.000	324	0.000	0.148	3003	3622	2094	2136	2053	0	0	0	0	0	0	15.11	14.75	15.14
11163	0.91	146.0	3001	3621	2137	2053	371.8	10.4	949	11171	0.00	2.60	0.00	0.000	1030	0.000	0.103	3011	2196	2094	2136	2052	0	0	0	0	0	0	14.87	14.78	14.91
11475	0.91	146.0	3011	2192	2137	2054	334.2	12.2	981	11481	0.00	2.60	0.00	0.000	516	0.000	0.132	3022	788	2094	2136	2053	0	0	0	0	0	0	15.08	14.75	15.09
11530	0.91	146.0	3022	789	2136	2054	328.3	10.8	992	11541	0.00	2.62	0.00	0.000	1030	0.000	0.118	3022	2197	2094	2136	2053	0	0	0	0	0	0	14.84	14.76	14.90
11745	end climb: SURFACE_OBSTACLE_DETECTED
state	11745	begin subsurface finish
11749	0.01	4.4	3023	2198	2136	2053	302.7	12.6	1014	11760	1.10	2.72	-2.35	0.049	20740	0.215	0.174	2708	3624	2715	2830	2601	0	0	0	0	0	0	14.63	13.43	14.79
11760	end subsurface finish: CONTROL_FINISHED_OK
state	11760	begin surface